HEPTA-Sat Hands－On / Mbed 2 deprecated ChargeControl

ChargeControl

Dependencies:   mbed PowerControl SDFileSystem

Fork of ChargeControl by 智也 大野

hepta_sat/HeptaAccel.cpp@0:0842f00470eb, 2016-12-09 (annotated)

Committer:
tomoya123
Date:
Fri Dec 09 05:04:37 2016 +0000
Revision:
0:0842f00470eb
Charge control

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tomoya123 0:0842f00470eb 1 #include "HeptaAccel.h"
tomoya123 0:0842f00470eb 2 #include "mbed.h"
tomoya123 0:0842f00470eb 3
tomoya123 0:0842f00470eb 4 HeptaAccel::HeptaAccel(PinName sda, PinName scl, int aaddr ) : accel(sda,scl),addr(aaddr)
tomoya123 0:0842f00470eb 5 {
tomoya123 0:0842f00470eb 6 _cmd[0] = 0x2A;//CTL_REG
tomoya123 0:0842f00470eb 7 _cmd[1] = 0x01;//ACTIVE
tomoya123 0:0842f00470eb 8 accel.write(addr, _cmd, 2);
tomoya123 0:0842f00470eb 9 accel.start();
tomoya123 0:0842f00470eb 10 accel.write(addr);
tomoya123 0:0842f00470eb 11 accel.stop();
tomoya123 0:0842f00470eb 12 }
tomoya123 0:0842f00470eb 13
tomoya123 0:0842f00470eb 14 void HeptaAccel::setup()
tomoya123 0:0842f00470eb 15 {
tomoya123 0:0842f00470eb 16 _cmd[0] = 0x2A;
tomoya123 0:0842f00470eb 17 _cmd[1] = 0x01;
tomoya123 0:0842f00470eb 18 accel.frequency(100000);
tomoya123 0:0842f00470eb 19 accel.write(addr, _cmd, 2);
tomoya123 0:0842f00470eb 20 accel.start();
tomoya123 0:0842f00470eb 21 accel.write(addr);
tomoya123 0:0842f00470eb 22 accel.stop();
tomoya123 0:0842f00470eb 23 }
tomoya123 0:0842f00470eb 24
tomoya123 0:0842f00470eb 25 void HeptaAccel::sensing(float *ax,float *ay,float *az)
tomoya123 0:0842f00470eb 26 {
tomoya123 0:0842f00470eb 27 int16_t acc;
tomoya123 0:0842f00470eb 28 accel.start();//start
tomoya123 0:0842f00470eb 29 accel.write(addr);//write address
tomoya123 0:0842f00470eb 30 accel.write(0x01);//X-axis_MSB_REG
tomoya123 0:0842f00470eb 31 accel.start();//restart, switch from write to read
tomoya123 0:0842f00470eb 32 accel.write(addr|0x01);//read address
tomoya123 0:0842f00470eb 33 _xmsb = accel.read(0);//read from selected register with NACK
tomoya123 0:0842f00470eb 34 accel.stop();
tomoya123 0:0842f00470eb 35 accel.start();
tomoya123 0:0842f00470eb 36 accel.write(addr);
tomoya123 0:0842f00470eb 37 accel.write(0x02);//X-axis_LSB_REG
tomoya123 0:0842f00470eb 38 accel.start();
tomoya123 0:0842f00470eb 39 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 40 _xlsb = accel.read(0);
tomoya123 0:0842f00470eb 41 accel.stop();
tomoya123 0:0842f00470eb 42 acc = (_xmsb << 6) | (_xlsb >> 2);
tomoya123 0:0842f00470eb 43 if (acc > UINT14_MAX/2)
tomoya123 0:0842f00470eb 44 {
tomoya123 0:0842f00470eb 45 acc -= UINT14_MAX;
tomoya123 0:0842f00470eb 46 }
tomoya123 0:0842f00470eb 47 *ax = acc/4096.0*9.81;
tomoya123 0:0842f00470eb 48
tomoya123 0:0842f00470eb 49 accel.start();
tomoya123 0:0842f00470eb 50 accel.write(addr);
tomoya123 0:0842f00470eb 51 accel.write(0x03);
tomoya123 0:0842f00470eb 52 accel.start();
tomoya123 0:0842f00470eb 53 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 54 _ymsb = accel.read(0);
tomoya123 0:0842f00470eb 55 accel.stop();
tomoya123 0:0842f00470eb 56 accel.start();
tomoya123 0:0842f00470eb 57 accel.write(addr);
tomoya123 0:0842f00470eb 58 accel.write(0x04);
tomoya123 0:0842f00470eb 59 accel.start();
tomoya123 0:0842f00470eb 60 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 61 _ylsb = accel.read(0);
tomoya123 0:0842f00470eb 62 accel.stop();
tomoya123 0:0842f00470eb 63 acc = (_ymsb << 6) | (_ylsb >> 2);
tomoya123 0:0842f00470eb 64 if (acc > UINT14_MAX/2)
tomoya123 0:0842f00470eb 65 {
tomoya123 0:0842f00470eb 66 acc -= UINT14_MAX;
tomoya123 0:0842f00470eb 67 }
tomoya123 0:0842f00470eb 68 *ay = acc/4096.0*9.81;
tomoya123 0:0842f00470eb 69
tomoya123 0:0842f00470eb 70 accel.start();
tomoya123 0:0842f00470eb 71 accel.write(addr);
tomoya123 0:0842f00470eb 72 accel.write(0x05);
tomoya123 0:0842f00470eb 73 accel.start();
tomoya123 0:0842f00470eb 74 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 75 _zmsb = accel.read(0);
tomoya123 0:0842f00470eb 76 accel.stop();
tomoya123 0:0842f00470eb 77 accel.start();
tomoya123 0:0842f00470eb 78 accel.write(addr);
tomoya123 0:0842f00470eb 79 accel.write(0x06);
tomoya123 0:0842f00470eb 80 accel.start();
tomoya123 0:0842f00470eb 81 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 82 _zlsb = accel.read(0);
tomoya123 0:0842f00470eb 83 accel.stop();
tomoya123 0:0842f00470eb 84 acc = (_zmsb << 6) | (_zlsb >> 2);
tomoya123 0:0842f00470eb 85 if (acc > UINT14_MAX/2)
tomoya123 0:0842f00470eb 86 {
tomoya123 0:0842f00470eb 87 acc -= UINT14_MAX;
tomoya123 0:0842f00470eb 88 }
tomoya123 0:0842f00470eb 89 *az = acc/4096.0*9.81;
tomoya123 0:0842f00470eb 90 }
tomoya123 0:0842f00470eb 91
tomoya123 0:0842f00470eb 92 float HeptaAccel::x()
tomoya123 0:0842f00470eb 93 {
tomoya123 0:0842f00470eb 94 int16_t acc;
tomoya123 0:0842f00470eb 95 float ax;
tomoya123 0:0842f00470eb 96 accel.start();
tomoya123 0:0842f00470eb 97 accel.write(addr);
tomoya123 0:0842f00470eb 98 accel.write(0x01);
tomoya123 0:0842f00470eb 99 accel.start();
tomoya123 0:0842f00470eb 100 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 101 _xmsb = accel.read(0);
tomoya123 0:0842f00470eb 102 accel.stop();
tomoya123 0:0842f00470eb 103 accel.start();
tomoya123 0:0842f00470eb 104 accel.write(addr);
tomoya123 0:0842f00470eb 105 accel.write(0x02);
tomoya123 0:0842f00470eb 106 accel.start();
tomoya123 0:0842f00470eb 107 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 108 _xlsb = accel.read(0);
tomoya123 0:0842f00470eb 109 accel.stop();
tomoya123 0:0842f00470eb 110 acc = (_xmsb << 6) | (_xlsb >> 2);
tomoya123 0:0842f00470eb 111 if (acc > UINT14_MAX/2)
tomoya123 0:0842f00470eb 112 {
tomoya123 0:0842f00470eb 113 acc -= UINT14_MAX;
tomoya123 0:0842f00470eb 114 }
tomoya123 0:0842f00470eb 115 ax = acc/4096.0*9.81;
tomoya123 0:0842f00470eb 116 return(ax);
tomoya123 0:0842f00470eb 117 }
tomoya123 0:0842f00470eb 118
tomoya123 0:0842f00470eb 119 float HeptaAccel::y()
tomoya123 0:0842f00470eb 120 {
tomoya123 0:0842f00470eb 121 int16_t acc;
tomoya123 0:0842f00470eb 122 float ay;
tomoya123 0:0842f00470eb 123 accel.start();
tomoya123 0:0842f00470eb 124 accel.write(addr);
tomoya123 0:0842f00470eb 125 accel.write(0x03);
tomoya123 0:0842f00470eb 126 accel.start();
tomoya123 0:0842f00470eb 127 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 128 _ymsb = accel.read(0);
tomoya123 0:0842f00470eb 129 accel.stop();
tomoya123 0:0842f00470eb 130 accel.start();
tomoya123 0:0842f00470eb 131 accel.write(addr);
tomoya123 0:0842f00470eb 132 accel.write(0x04);
tomoya123 0:0842f00470eb 133 accel.start();
tomoya123 0:0842f00470eb 134 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 135 _ylsb = accel.read(0);
tomoya123 0:0842f00470eb 136 accel.stop();
tomoya123 0:0842f00470eb 137 acc = (_ymsb << 6) | (_ylsb >> 2);
tomoya123 0:0842f00470eb 138 if (acc > UINT14_MAX/2)
tomoya123 0:0842f00470eb 139 {
tomoya123 0:0842f00470eb 140 acc -= UINT14_MAX;
tomoya123 0:0842f00470eb 141 }
tomoya123 0:0842f00470eb 142 ay = acc/4096.0*9.81;
tomoya123 0:0842f00470eb 143 return(ay);
tomoya123 0:0842f00470eb 144 }
tomoya123 0:0842f00470eb 145
tomoya123 0:0842f00470eb 146 float HeptaAccel::z()
tomoya123 0:0842f00470eb 147 {
tomoya123 0:0842f00470eb 148 int16_t acc;
tomoya123 0:0842f00470eb 149 float az;
tomoya123 0:0842f00470eb 150 accel.start();
tomoya123 0:0842f00470eb 151 accel.write(addr);
tomoya123 0:0842f00470eb 152 accel.write(0x2C);
tomoya123 0:0842f00470eb 153 accel.start();
tomoya123 0:0842f00470eb 154 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 155 _zmsb = accel.read(0);
tomoya123 0:0842f00470eb 156 accel.stop();
tomoya123 0:0842f00470eb 157 accel.start();
tomoya123 0:0842f00470eb 158 accel.write(addr);
tomoya123 0:0842f00470eb 159 accel.write(0x2D);
tomoya123 0:0842f00470eb 160 accel.start();
tomoya123 0:0842f00470eb 161 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 162 _zlsb = accel.read(0);
tomoya123 0:0842f00470eb 163 accel.stop();
tomoya123 0:0842f00470eb 164 acc = (_zmsb << 6) | (_zlsb >> 2);
tomoya123 0:0842f00470eb 165 if (acc > UINT14_MAX/2)
tomoya123 0:0842f00470eb 166 {
tomoya123 0:0842f00470eb 167 acc -= UINT14_MAX;
tomoya123 0:0842f00470eb 168 }
tomoya123 0:0842f00470eb 169 az = acc/4096.0*9.81;
tomoya123 0:0842f00470eb 170 return(az);
tomoya123 0:0842f00470eb 171 }
tomoya123 0:0842f00470eb 172
tomoya123 0:0842f00470eb 173 void HeptaAccel::sensing_u16(char* ax_u16,char* ay_u16,char* az_u16, int *dsize)
tomoya123 0:0842f00470eb 174 {
tomoya123 0:0842f00470eb 175 char a1[8]={0x00},a2[8]={0x00};
tomoya123 0:0842f00470eb 176 accel.start();
tomoya123 0:0842f00470eb 177 accel.write(addr);
tomoya123 0:0842f00470eb 178 accel.write(0x01);
tomoya123 0:0842f00470eb 179 accel.start();
tomoya123 0:0842f00470eb 180 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 181 _xmsb = accel.read(0);
tomoya123 0:0842f00470eb 182 accel.stop();
tomoya123 0:0842f00470eb 183 accel.start();
tomoya123 0:0842f00470eb 184 accel.write(addr);
tomoya123 0:0842f00470eb 185 accel.write(0x02);
tomoya123 0:0842f00470eb 186 accel.start();
tomoya123 0:0842f00470eb 187 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 188 _xlsb = accel.read(0);
tomoya123 0:0842f00470eb 189 accel.stop();
tomoya123 0:0842f00470eb 190 sprintf( a1, "%02X", ((_xmsb)) & 0xFF);
tomoya123 0:0842f00470eb 191 sprintf( a2, "%02X", ((_xlsb)) & 0xFF);
tomoya123 0:0842f00470eb 192 ax_u16[0]=a1[0];
tomoya123 0:0842f00470eb 193 ax_u16[1]=a1[1];
tomoya123 0:0842f00470eb 194 ax_u16[2]=a2[0];
tomoya123 0:0842f00470eb 195 ax_u16[3]=a2[1];
tomoya123 0:0842f00470eb 196
tomoya123 0:0842f00470eb 197 accel.start();
tomoya123 0:0842f00470eb 198 accel.write(addr);
tomoya123 0:0842f00470eb 199 accel.write(0x03);
tomoya123 0:0842f00470eb 200 accel.start();
tomoya123 0:0842f00470eb 201 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 202 _ymsb = accel.read(0);
tomoya123 0:0842f00470eb 203 accel.stop();
tomoya123 0:0842f00470eb 204 accel.start();
tomoya123 0:0842f00470eb 205 accel.write(addr);
tomoya123 0:0842f00470eb 206 accel.write(0x04);
tomoya123 0:0842f00470eb 207 accel.start();
tomoya123 0:0842f00470eb 208 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 209 _ylsb = accel.read(0);
tomoya123 0:0842f00470eb 210 accel.stop();
tomoya123 0:0842f00470eb 211 sprintf( a1, "%02X", ((_ymsb)) & 0xFF);
tomoya123 0:0842f00470eb 212 sprintf( a2, "%02X", ((_ylsb)) & 0xFF);
tomoya123 0:0842f00470eb 213 ay_u16[0]=a1[0];
tomoya123 0:0842f00470eb 214 ay_u16[1]=a1[1];
tomoya123 0:0842f00470eb 215 ay_u16[2]=a2[0];
tomoya123 0:0842f00470eb 216 ay_u16[3]=a2[1];
tomoya123 0:0842f00470eb 217
tomoya123 0:0842f00470eb 218 accel.start();
tomoya123 0:0842f00470eb 219 accel.write(addr);
tomoya123 0:0842f00470eb 220 accel.write(0x05);
tomoya123 0:0842f00470eb 221 accel.start();
tomoya123 0:0842f00470eb 222 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 223 _zmsb = accel.read(0);
tomoya123 0:0842f00470eb 224 accel.stop();
tomoya123 0:0842f00470eb 225 accel.start();
tomoya123 0:0842f00470eb 226 accel.write(addr);
tomoya123 0:0842f00470eb 227 accel.write(0x06);
tomoya123 0:0842f00470eb 228 accel.start();
tomoya123 0:0842f00470eb 229 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 230 _zlsb = accel.read(0);
tomoya123 0:0842f00470eb 231 accel.stop();
tomoya123 0:0842f00470eb 232 sprintf( a1, "%02X", ((_zmsb)) & 0xFF);
tomoya123 0:0842f00470eb 233 sprintf( a2, "%02X", ((_zlsb)) & 0xFF);
tomoya123 0:0842f00470eb 234 az_u16[0]=a1[0];
tomoya123 0:0842f00470eb 235 az_u16[1]=a1[1];
tomoya123 0:0842f00470eb 236 az_u16[2]=a2[0];
tomoya123 0:0842f00470eb 237 az_u16[3]=a2[1];
tomoya123 0:0842f00470eb 238 *dsize = 4;
tomoya123 0:0842f00470eb 239 }
tomoya123 0:0842f00470eb 240
tomoya123 0:0842f00470eb 241 void HeptaAccel::x_u16(char* a_u16, int *dsize)
tomoya123 0:0842f00470eb 242 {
tomoya123 0:0842f00470eb 243 char a1[8]={0x00},a2[8]={0x00};
tomoya123 0:0842f00470eb 244 accel.start();
tomoya123 0:0842f00470eb 245 accel.write(addr);
tomoya123 0:0842f00470eb 246 accel.write(0x01);
tomoya123 0:0842f00470eb 247 accel.start();
tomoya123 0:0842f00470eb 248 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 249 _xmsb = accel.read(0);
tomoya123 0:0842f00470eb 250 accel.stop();
tomoya123 0:0842f00470eb 251 accel.start();
tomoya123 0:0842f00470eb 252 accel.write(addr);
tomoya123 0:0842f00470eb 253 accel.write(0x02);
tomoya123 0:0842f00470eb 254 accel.start();
tomoya123 0:0842f00470eb 255 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 256 _xlsb = accel.read(0);
tomoya123 0:0842f00470eb 257 accel.stop();
tomoya123 0:0842f00470eb 258 sprintf( a1, "%02X", ((_xmsb)) & 0xFF);
tomoya123 0:0842f00470eb 259 sprintf( a2, "%02X", ((_xlsb)) & 0xFF);
tomoya123 0:0842f00470eb 260 a_u16[0]=a1[0];
tomoya123 0:0842f00470eb 261 a_u16[1]=a1[1];
tomoya123 0:0842f00470eb 262 a_u16[2]=a2[0];
tomoya123 0:0842f00470eb 263 a_u16[3]=a2[1];
tomoya123 0:0842f00470eb 264 *dsize = 4;
tomoya123 0:0842f00470eb 265 }
tomoya123 0:0842f00470eb 266
tomoya123 0:0842f00470eb 267 void HeptaAccel::y_u16(char* a_u16, int *dsize)
tomoya123 0:0842f00470eb 268 {
tomoya123 0:0842f00470eb 269 char a1[8]={0x00},a2[8]={0x00};
tomoya123 0:0842f00470eb 270 accel.start();
tomoya123 0:0842f00470eb 271 accel.write(addr);
tomoya123 0:0842f00470eb 272 accel.write(0x03);
tomoya123 0:0842f00470eb 273 accel.start();
tomoya123 0:0842f00470eb 274 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 275 _ymsb = accel.read(0);
tomoya123 0:0842f00470eb 276 accel.stop();
tomoya123 0:0842f00470eb 277 accel.start();
tomoya123 0:0842f00470eb 278 accel.write(addr);
tomoya123 0:0842f00470eb 279 accel.write(0x04);
tomoya123 0:0842f00470eb 280 accel.start();
tomoya123 0:0842f00470eb 281 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 282 _ylsb = accel.read(0);
tomoya123 0:0842f00470eb 283 accel.stop();
tomoya123 0:0842f00470eb 284 sprintf( a1, "%02X", ((_ymsb)) & 0xFF);
tomoya123 0:0842f00470eb 285 sprintf( a2, "%02X", ((_ylsb)) & 0xFF);
tomoya123 0:0842f00470eb 286 a_u16[0]=a1[0];
tomoya123 0:0842f00470eb 287 a_u16[1]=a1[1];
tomoya123 0:0842f00470eb 288 a_u16[2]=a2[0];
tomoya123 0:0842f00470eb 289 a_u16[3]=a2[1];
tomoya123 0:0842f00470eb 290 *dsize = 4;
tomoya123 0:0842f00470eb 291 }
tomoya123 0:0842f00470eb 292
tomoya123 0:0842f00470eb 293 void HeptaAccel::z_u16(char* a_u16, int *dsize)
tomoya123 0:0842f00470eb 294 {
tomoya123 0:0842f00470eb 295 char a1[8]={0x00},a2[8]={0x00};
tomoya123 0:0842f00470eb 296 accel.start();
tomoya123 0:0842f00470eb 297 accel.write(addr);
tomoya123 0:0842f00470eb 298 accel.write(0x05);
tomoya123 0:0842f00470eb 299 accel.start();
tomoya123 0:0842f00470eb 300 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 301 _zmsb = accel.read(0);
tomoya123 0:0842f00470eb 302 accel.stop();
tomoya123 0:0842f00470eb 303 accel.start();
tomoya123 0:0842f00470eb 304 accel.write(addr);
tomoya123 0:0842f00470eb 305 accel.write(0x06);
tomoya123 0:0842f00470eb 306 accel.start();
tomoya123 0:0842f00470eb 307 accel.write(addr|0x01);
tomoya123 0:0842f00470eb 308 _zlsb = accel.read(0);
tomoya123 0:0842f00470eb 309 accel.stop();
tomoya123 0:0842f00470eb 310 sprintf( a1, "%02X", ((_zmsb)) & 0xFF);
tomoya123 0:0842f00470eb 311 sprintf( a2, "%02X", ((_zlsb)) & 0xFF);
tomoya123 0:0842f00470eb 312 a_u16[0]=a1[0];
tomoya123 0:0842f00470eb 313 a_u16[1]=a1[1];
tomoya123 0:0842f00470eb 314 a_u16[2]=a2[0];
tomoya123 0:0842f00470eb 315 a_u16[3]=a2[1];
tomoya123 0:0842f00470eb 316 *dsize = 4;
tomoya123 0:0842f00470eb 317 }