main.cpp

00001 #include "mbed.h"
00002 #include "Adafruit_SSD1306.h"
00003 #include "MPU9150.h"
00004 #include "USBSerial.h"
00005 #include "Controls.h"
00006 #include "nRF24L01P.h"
00007 
00008 
00009 
00010 // #define USE_USBSERIAL
00011 // #define USE_NRF
00012 
00013 // modified für EzSBC2
00014 
00015 DigitalOut ledRed(P1_16);
00016 DigitalOut ledGreen(P1_15);
00017 
00018 float sum = 0;
00019 uint32_t sumCount = 0;
00020 char buffer[14];
00021 
00022 Timer t;
00023 #ifdef USE_USBSERIAL
00024 USBSerial pc;
00025 #endif
00026 
00027 
00028 // an I2C sub-class that provides a constructed default
00029 class I2C2 : public I2C
00030 {
00031 public:
00032     I2C2(PinName sda, PinName scl) : I2C(sda, scl) {
00033         frequency(400000);
00034         start();
00035     };
00036 };
00037 
00038 #ifdef USE_NRF
00039 nRF24L01P my_nrf24l01p(P0_9, P0_8, P1_29, P0_11, P0_7, P0_17);    // mosi, miso, sck, csn, ce, irq
00040 #endif
00041 
00042 I2C2 gI2C(P0_5, P0_4);
00043 Adafruit_SSD1306_I2c gOled2(gI2C, NC, 0x78, 64, 128);
00044 
00045 I2Cdev  i2Cdev;
00046 MPU9150 mpu(i2Cdev);
00047 
00048 #define TRANSFER_SIZE   4
00049 
00050 int main()
00051 {
00052     uint16_t x=0;
00053 
00054     uint16_t txData[2];
00055     
00056 
00057 #ifdef USE_NRF
00058     my_nrf24l01p.powerUp();
00059 
00060     // Display the (default) setup of the nRF24L01+ chip
00061     //pc.printf( "nRF24L01+ Frequency    : %d MHz\r\n",  my_nrf24l01p.getRfFrequency() );
00062     //pc.printf( "nRF24L01+ Output power : %d dBm\r\n",  my_nrf24l01p.getRfOutputPower() );
00063     //pc.printf( "nRF24L01+ Data Rate    : %d kbps\r\n", my_nrf24l01p.getAirDataRate() );
00064     //pc.printf( "nRF24L01+ TX Address   : 0x%010llX\r\n", my_nrf24l01p.getTxAddress() );
00065     //pc.printf( "nRF24L01+ RX Address   : 0x%010llX\r\n", my_nrf24l01p.getRxAddress() );
00066 
00067     //pc.printf( "Type keys to test transfers:\r\n  (transfers are grouped into %d characters)\r\n", TRANSFER_SIZE );
00068 
00069     my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
00070 
00071     //my_nrf24l01p.setReceiveMode();
00072     my_nrf24l01p.setTransmitMode();
00073     my_nrf24l01p.enable();
00074 #endif
00075 
00076     //while(1)
00077     {
00078         ledRed = 1;
00079         ledGreen = 0;
00080         wait(0.5);
00081 
00082         ledRed = 0;
00083         ledGreen = 1;
00084         wait(0.5);
00085     }
00086 
00087     int16_t y = 12;
00088     int16_t ySize = 4;
00089     int16_t yGap = 2;
00090     
00091     float   scaleMin = SHRT_MIN * 0.5f;     // fullscale = -1g
00092     float   scaleMax = SHRT_MAX * 0.5f;     // fullscale = +1g
00093 
00094     Canvas canvasBG(gOled2);
00095     barGraph bgAx(barGraph::bgHorizontal, 0, y, 127, y+ySize);
00096     canvasBG.addControl(bgAx);
00097     bgAx.setScale(scaleMin, scaleMax);
00098     y = y + ySize + yGap;
00099 
00100     barGraph bgAy(barGraph::bgHorizontal, 0, y, 127, y+ySize);
00101     canvasBG.addControl(bgAy);
00102     bgAy.setScale(scaleMin, scaleMax);
00103     y = y + ySize + yGap;
00104 
00105     barGraph bgAz(barGraph::bgHorizontal, 0, y, 127, y+ySize);
00106     canvasBG.addControl(bgAz);
00107     bgAz.setScale(scaleMin, scaleMax);
00108     y = y + ySize + yGap;
00109 
00110     barGraph bgGx(barGraph::bgHorizontal, 0, y, 127, y+ySize);
00111     canvasBG.addControl(bgGx);
00112     bgGx.setScale(scaleMin, scaleMax);
00113     y = y + ySize + yGap;
00114 
00115     barGraph bgGy(barGraph::bgHorizontal, 0, y, 127, y+ySize);
00116     canvasBG.addControl(bgGy);
00117     bgGy.setScale(scaleMin, scaleMax);
00118     y = y + ySize + yGap;
00119 
00120     barGraph bgGz(barGraph::bgHorizontal, 0, y, 127, y+ySize);
00121     canvasBG.addControl(bgGz);
00122     bgGz.setScale(scaleMin, scaleMax);
00123 
00124     gOled2.clearDisplay();
00125     gOled2.display();
00126 
00127     //gOled2.setTextCursor(1, 0);
00128     gOled2.printf("%ux%u OLED Display\r\n", gOled2.width(), gOled2.height());
00129 
00130 #ifdef USE_USBSERIAL
00131     pc.printf("MPU6050 test\n\n");
00132     pc.printf("MPU6050 initialize \n");
00133 #endif
00134 
00135     int16_t ax, ay, az;
00136     int16_t gx, gy, gz;
00137 
00138     mpu.initialize();
00139 
00140 #ifdef USE_USBSERIAL
00141     pc.printf("MPU6050 testConnection \n");
00142 #endif
00143 
00144     bool mpu6050TestResult = mpu.testConnection();
00145 
00146 #ifdef USE_USBSERIAL
00147     if(mpu6050TestResult) {
00148         pc.printf("MPU6050 test passed \n");
00149     } else {
00150         pc.printf("MPU6050 test failed \n");
00151     }
00152 #endif
00153 
00154     char buffer[32];
00155     while(1) {
00156         ledRed = !ledRed;
00157         gOled2.clearDisplay();
00158 
00159         mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
00160         //writing current accelerometer and gyro position
00161         //pc.printf("%d;%d;%d;%d;%d;%d\n",ax,ay,az,gx,gy,gz);
00162 
00163         if (0) {
00164             sprintf(buffer, "%i %i %i", ax, ay, az);
00165         }
00166 
00167 #ifdef USE_NRF
00168         // Send the transmitbuffer via the nRF24L01+
00169         txData[0] = ax;
00170         txData[1] = ay;
00171         my_nrf24l01p.write( NRF24L01P_PIPE_P0, (char*)txData, TRANSFER_SIZE );
00172 #endif
00173 
00174 
00175         gOled2.setTextCursor(0, 0);
00176         //gOled2.printf("wifi ok: %u\r", wifiOk);
00177 
00178         bgAx.setValue(ax);
00179         bgAy.setValue(ay);
00180         bgAz.setValue(az);
00181 
00182         bgGx.setValue(gx);
00183         bgGy.setValue(gy);
00184         bgGz.setValue(gz);
00185 
00186         canvasBG.draw();
00187 
00188         gOled2.display();
00189 
00190         x++;
00191         //wait(0.01);
00192     }
00193 }