Rohan Gurav / Mbed OS COG4050_adxl355_tilt

Rohan-Code to measure the tilt of the ADXL355 using COG-AD4050.

Dependencies:   include ADXL355 ttmath

Fork of COG4050_adxl355_tilt by ADI_CAC

main.cpp@1:ba6c18cce219, 2018-09-04 (annotated)

Committer:
RGurav
Date:
Tue Sep 04 11:53:19 2018 +0000
Revision:
1:ba6c18cce219
Parent:
0:e551dfd13154
Child:
2:13377441fbd8
Rohan-Code to measure the tilt of the ADXL355 using COG-AD4050.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RGurav 0:e551dfd13154 1 /*
RGurav 1:ba6c18cce219 2
RGurav 1:ba6c18cce219 3 Created on: 27/08/2018
RGurav 0:e551dfd13154 4 Author: Rohan Gurav
RGurav 0:e551dfd13154 5
RGurav 0:e551dfd13154 6 Code: Use the following code to read the ADXL355 values connected to the SPI channel
RGurav 0:e551dfd13154 7 of the EV-COG4050-Expander board port0. Check the readme.md for connection info
RGurav 0:e551dfd13154 8
RGurav 0:e551dfd13154 9 */
RGurav 0:e551dfd13154 10 #include "mbed.h"
RGurav 0:e551dfd13154 11 #include "ADXL355.h"
RGurav 0:e551dfd13154 12
RGurav 0:e551dfd13154 13 Serial pc(USBTX, USBRX);
RGurav 0:e551dfd13154 14 int axis = 0;
RGurav 0:e551dfd13154 15
RGurav 0:e551dfd13154 16 ADXL355 accl(SPI1_CS0, SPI1_MOSI, SPI1_MISO, SPI1_SCLK); // PMOD port
RGurav 0:e551dfd13154 17
RGurav 1:ba6c18cce219 18 float single_axis(float a);
RGurav 1:ba6c18cce219 19 float dual_axis(float a, float b);
RGurav 1:ba6c18cce219 20 float tri_axis(float a, float b, float c);
RGurav 0:e551dfd13154 21
RGurav 0:e551dfd13154 22 int main()
RGurav 0:e551dfd13154 23 {
RGurav 0:e551dfd13154 24 pc.baud(9600);
RGurav 0:e551dfd13154 25 pc.printf("SPI ADXL355 and ADXL357 Demo\r\n");
RGurav 0:e551dfd13154 26 pc.printf("GET device ID\r\n");
RGurav 0:e551dfd13154 27
RGurav 0:e551dfd13154 28 accl.reset();
RGurav 1:ba6c18cce219 29 uint8_t d, ad, mems, device, rev;
RGurav 0:e551dfd13154 30
RGurav 0:e551dfd13154 31 wait(0.2);
RGurav 0:e551dfd13154 32
RGurav 1:ba6c18cce219 33 ad = accl.read_reg(accl.DEVID_AD);
RGurav 1:ba6c18cce219 34 mems = accl.read_reg(accl.DEVID_MST);
RGurav 1:ba6c18cce219 35 device = accl.read_reg(accl.PARTID);
RGurav 1:ba6c18cce219 36 rev = accl.read_reg(accl.REVID);
RGurav 0:e551dfd13154 37
RGurav 0:e551dfd13154 38 pc.printf("GET device data [x, y, z, t] \r\n");
RGurav 1:ba6c18cce219 39
RGurav 0:e551dfd13154 40 accl.set_power_ctl_reg(accl.MEASUREMENT);
RGurav 0:e551dfd13154 41 d=accl.read_reg(accl.POWER_CTL);
RGurav 0:e551dfd13154 42 pc.printf("power control on measurement mode = %x \r\n",d);
RGurav 0:e551dfd13154 43
RGurav 0:e551dfd13154 44 float x,y,z,t;
RGurav 1:ba6c18cce219 45 float a,b,c;
RGurav 0:e551dfd13154 46
RGurav 1:ba6c18cce219 47 double tilt_x, tilt_y, tilt_z;
RGurav 1:ba6c18cce219 48 double tilt_2x, tilt_2y;
RGurav 1:ba6c18cce219 49 double tilt_3x, tilt_3y, tilt_3z;
RGurav 1:ba6c18cce219 50
RGurav 1:ba6c18cce219 51 //pc.printf("Enter no of axis for angle calculation (1/2/3):\r\n");
RGurav 1:ba6c18cce219 52 //pc.scanf("%d",&axis);
RGurav 1:ba6c18cce219 53 axis = 4;
RGurav 1:ba6c18cce219 54 pc.printf("||x_accl||y_accl||z_accl||x_tilt||y_tilt||z_tilt||\r\n");
RGurav 1:ba6c18cce219 55
RGurav 1:ba6c18cce219 56 wait(1);
RGurav 0:e551dfd13154 57
RGurav 1:ba6c18cce219 58 //Device ID display
RGurav 1:ba6c18cce219 59 pc.printf("AD id = %x MEMS id = %x device=%x revision=%x \r\n", ad, mems, device, rev);
RGurav 1:ba6c18cce219 60
RGurav 0:e551dfd13154 61 /*The following part is used to perform 2's complemient and then display the data*/
RGurav 0:e551dfd13154 62 while (1)
RGurav 0:e551dfd13154 63 {
RGurav 1:ba6c18cce219 64
RGurav 1:ba6c18cce219 65 //*accl.axis355_sens
RGurav 1:ba6c18cce219 66 x = (accl.convert(accl.scanx()));
RGurav 1:ba6c18cce219 67 y = (accl.convert(accl.scany()));
RGurav 1:ba6c18cce219 68 z = (accl.convert(accl.scanz()));
RGurav 1:ba6c18cce219 69 t = 25+float(accl.scant()-1852)/(-9.05);
RGurav 1:ba6c18cce219 70
RGurav 1:ba6c18cce219 71 //pc.printf("%d \t %d \t %d \r\n", accl.scanx(), accl.scany(), accl.scanz());
RGurav 1:ba6c18cce219 72 //pc.printf("%f \t %f \t %f \r\n", x, y, z);
RGurav 1:ba6c18cce219 73 //pc.printf("%f\r\n", asin(0.2)*57.2957);
RGurav 1:ba6c18cce219 74
RGurav 1:ba6c18cce219 75 tilt_x = single_axis(x);
RGurav 1:ba6c18cce219 76 tilt_y = single_axis(y);
RGurav 1:ba6c18cce219 77 tilt_z = single_axis(z);
RGurav 1:ba6c18cce219 78
RGurav 1:ba6c18cce219 79 tilt_2x = dual_axis(x,z);
RGurav 1:ba6c18cce219 80 tilt_2y = dual_axis(y,x);
RGurav 1:ba6c18cce219 81 tilt_2y = tilt_2y * (-1);
RGurav 0:e551dfd13154 82
RGurav 1:ba6c18cce219 83 tilt_3x = tri_axis(x,y,z);
RGurav 1:ba6c18cce219 84 tilt_3y = tri_axis(y,x,z);
RGurav 1:ba6c18cce219 85 tilt_3z = sqrt((x*x)+(y*y));
RGurav 1:ba6c18cce219 86 tilt_3z = atan(tilt_3z/z);
RGurav 1:ba6c18cce219 87 tilt_3z = floor(tilt_3z*100)/100;
RGurav 1:ba6c18cce219 88
RGurav 0:e551dfd13154 89 if (axis==1)
RGurav 0:e551dfd13154 90 {
RGurav 1:ba6c18cce219 91 pc.printf("||%0.2f||%0.2f||%0.2f||%0.2f||%0.2f||%0.2f|| \r\n" , x, y, z, tilt_x, tilt_y, tilt_z);
RGurav 1:ba6c18cce219 92 //pc.printf("%f", accl.axis355_sens);
RGurav 1:ba6c18cce219 93 wait(1.0); }
RGurav 0:e551dfd13154 94
RGurav 0:e551dfd13154 95 if (axis==2)
RGurav 0:e551dfd13154 96 {
RGurav 1:ba6c18cce219 97 pc.printf("||%0.2f||%0.2f||%0.2f||%0.2f||%0.2f|| \r\n" , x*accl.axis355_sens, y*accl.axis355_sens, z*accl.axis355_sens, tilt_x, tilt_y);
RGurav 0:e551dfd13154 98 wait(0.5);
RGurav 0:e551dfd13154 99 }
RGurav 0:e551dfd13154 100
RGurav 0:e551dfd13154 101 if (axis==3)
RGurav 0:e551dfd13154 102 {
RGurav 1:ba6c18cce219 103 pc.printf("||%0.2f||%0.2f||%0.2f||%0.2f||%0.2f||%0.2f|| \r\n" , x, y, z, tilt_x, tilt_y, tilt_z);
RGurav 1:ba6c18cce219 104 wait(1.0);
RGurav 1:ba6c18cce219 105 }
RGurav 1:ba6c18cce219 106
RGurav 1:ba6c18cce219 107 if (axis == 4)
RGurav 1:ba6c18cce219 108 {
RGurav 1:ba6c18cce219 109 pc.printf("axis|%0.2f|%0.2f|%0.2f|%0.2f|%0.2f|%0.2f|%0.2f|%0.2f|%0.2f|%0.2f|%0.2f| \r\n" , x*accl.axis355_sens, y*accl.axis355_sens, z*accl.axis355_sens, tilt_x, tilt_y, tilt_z, tilt_2x, tilt_2y, tilt_3x, tilt_3y, tilt_3z);
RGurav 1:ba6c18cce219 110 wait(1.0);
RGurav 0:e551dfd13154 111 }
RGurav 0:e551dfd13154 112
RGurav 0:e551dfd13154 113 }
RGurav 0:e551dfd13154 114
RGurav 0:e551dfd13154 115 }
RGurav 1:ba6c18cce219 116 //the addition of accl should be equal to 1 i.e. ( x+y+z = 1 )
RGurav 0:e551dfd13154 117
RGurav 1:ba6c18cce219 118 //single axis arcsin (0.2)
RGurav 1:ba6c18cce219 119 float single_axis(float a)
RGurav 0:e551dfd13154 120 {
RGurav 1:ba6c18cce219 121 a = a*accl.axis355_sens;
RGurav 1:ba6c18cce219 122
RGurav 1:ba6c18cce219 123 if (a>1.0f)
RGurav 1:ba6c18cce219 124 { a = 1;
RGurav 1:ba6c18cce219 125 }
RGurav 1:ba6c18cce219 126 else if (a<-1)
RGurav 1:ba6c18cce219 127 { a = -1;
RGurav 1:ba6c18cce219 128 }
RGurav 1:ba6c18cce219 129 else
RGurav 1:ba6c18cce219 130 { a = a;
RGurav 1:ba6c18cce219 131 }
RGurav 1:ba6c18cce219 132
RGurav 0:e551dfd13154 133 double Y;
RGurav 1:ba6c18cce219 134
RGurav 1:ba6c18cce219 135 Y = asin(a);
RGurav 1:ba6c18cce219 136 Y = floor((57.2957f*Y)*100)/100;
RGurav 0:e551dfd13154 137 return Y;
RGurav 0:e551dfd13154 138
RGurav 0:e551dfd13154 139 }
RGurav 0:e551dfd13154 140
RGurav 1:ba6c18cce219 141 //Dual Axis
RGurav 1:ba6c18cce219 142 float dual_axis(float a, float b)
RGurav 0:e551dfd13154 143 {
RGurav 0:e551dfd13154 144 double Y;
RGurav 1:ba6c18cce219 145 Y = 57.2957f * (atan(a/b));
RGurav 0:e551dfd13154 146 Y = floor(Y*100)/100;
RGurav 0:e551dfd13154 147 return Y;
RGurav 0:e551dfd13154 148 }
RGurav 0:e551dfd13154 149
RGurav 0:e551dfd13154 150 //Triaxial
RGurav 1:ba6c18cce219 151 float tri_axis(float a, float b, float c)
RGurav 0:e551dfd13154 152 {
RGurav 0:e551dfd13154 153 double Y;
RGurav 0:e551dfd13154 154 double X;
RGurav 1:ba6c18cce219 155 X = (a)/(sqrt((b*b)+(c*c)));
RGurav 0:e551dfd13154 156 Y= atan(X);
RGurav 1:ba6c18cce219 157 Y = floor(Y*57.2957f*100)/100;
RGurav 0:e551dfd13154 158 return Y;
RGurav 0:e551dfd13154 159 }