main.cpp

00001 /*
00002 
00003 Created on: 27/08/2018
00004 Author: Rohan Gurav
00005         
00006 Code: Use the following code to read the ADXL355 values connected to the SPI channel 
00007       of the EV-COG4050-Expander board port0. Check the readme.md for connection info  
00008       
00009 */
00010 #include "mbed.h"
00011 #include "ADXL355.h"
00012 
00013 Serial pc(USBTX, USBRX);
00014 int axis = 0;
00015 
00016 ADXL355 accl(SPI1_CS0, SPI1_MOSI, SPI1_MISO, SPI1_SCLK);    // PMOD port
00017 
00018 float single_axis(float a);
00019 float single_axisz(float a);
00020 float dual_axis(float a, float b);
00021 float tri_axis(float a, float b, float c);
00022     
00023 int main()
00024 {
00025     pc.baud(9600);
00026     pc.printf("SPI ADXL355 and ADXL357 Demo\r\n");
00027     pc.printf("GET device ID\r\n");
00028    
00029     accl.reset();
00030     uint8_t d, ad, mems, device, rev; 
00031     
00032     wait(0.2);
00033     
00034     ad = accl.read_reg(accl.DEVID_AD);
00035     mems = accl.read_reg(accl.DEVID_MST);
00036     device = accl.read_reg(accl.PARTID);
00037     rev = accl.read_reg(accl.REVID);
00038     
00039     pc.printf("GET device data [x, y, z, t] \r\n");
00040     
00041     accl.set_power_ctl_reg(accl.MEASUREMENT);
00042     d=accl.read_reg(accl.POWER_CTL);
00043     pc.printf("power control on measurement mode = %x \r\n",d);
00044     
00045     float x,y,z,t;
00046     float a,b,c;
00047         
00048     double tilt_x, tilt_y, tilt_z;
00049     double tilt_2x, tilt_2y;
00050     double tilt_3x, tilt_3y, tilt_3z;
00051         
00052     //pc.printf("Enter no of axis for angle calculation (1/2/3):\r\n");
00053     //pc.scanf("%d",&axis);
00054     axis = 2;
00055     pc.printf("||x_accl||y_accl||z_accl||x_tilt||y_tilt||z_tilt||\r\n");
00056    
00057     wait(1);
00058     
00059     //Device ID display
00060         pc.printf("AD id = %x MEMS id = %x device=%x revision=%x \r\n", ad, mems, device, rev);
00061         
00062     /*The following part is used to perform 2's complemient and then display the data*/
00063     while (1)
00064     {
00065                     
00066         //*accl.axis355_sens
00067         x = (accl.convert(accl.scanx()));
00068         y = (accl.convert(accl.scany()));
00069         z = (accl.convert(accl.scanz()));
00070         t = 25+float(accl.scant()-1852)/(-9.05);
00071                                   
00072         
00073                                     
00074         if (axis==1)
00075         {
00076             char in = pc.getc();
00077             if(in == 'x')
00078                 {pc.printf("%0.2f" ,x); 
00079                 }
00080                 
00081             else if(in == 'y')
00082                 {pc.printf("%0.2f" ,y); 
00083                 }
00084                 
00085             else if(in == 'z')
00086                 {pc.printf("%0.2f" ,z); 
00087                 }
00088                
00089         }
00090         
00091         if (axis==2)
00092         {
00093             pc.printf("||%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);
00094             wait(0.5);
00095         }
00096       
00097         if (axis==3)
00098         {
00099             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);
00100             wait(1.0);
00101         }
00102         
00103         if (axis == 4)
00104         {
00105             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);
00106             wait(1.0);
00107         }
00108         
00109     }
00110 
00111 }
00112 //the addition of accl should be equal to 1 i.e. ( x+y+z = 1 )
00113 
00114 //single axis arcsin (0.2)
00115     float single_axis(float a)
00116     {
00117         a = a*accl.axis355_sens;
00118         
00119         if (a>1.0f)
00120         { a = 1;
00121         }
00122         else if (a<-1)
00123         { a = -1;
00124         }
00125         else 
00126         { a = a;    
00127         }
00128         
00129         double Y;
00130         
00131         Y = asin(a);
00132         Y = floor((57.2957f*Y)*100)/100;
00133         return Y;
00134                     
00135     }
00136     //particullary for z axis single
00137     float single_axisz(float a)
00138     {
00139         a = a*accl.axis355_sens;
00140         
00141         if (a>1.0f)
00142         { a = 1;
00143         }
00144         else if (a<-1)
00145         { a = -1;
00146         }
00147         else 
00148         { a = a;    
00149         }
00150         
00151         double Y;
00152         
00153         Y = acos(a);
00154         Y = floor((57.2957f*Y)*100)/100;
00155         return Y;
00156                     
00157     }
00158 
00159 //Dual Axis 
00160     float dual_axis(float a, float b)
00161     {
00162         double Y;
00163         Y = 57.2957f * (atan(a/b));
00164         Y = floor(Y*100)/100;
00165         return Y;    
00166     }
00167 
00168 //Triaxial
00169     float tri_axis(float a, float b, float c)
00170     {
00171         double Y;
00172         double X;
00173         X = (a)/(sqrt((b*b)+(c*c)));
00174         Y= atan(X);
00175         Y = floor(Y*57.2957f*100)/100;
00176         return Y;    
00177     }