Rohan Gurav / Mbed OS COG4050_adxl355_tilt_4050

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

Dependencies:   include ADXL355 ttmath

main.cpp@2:13377441fbd8, 2019-06-14 (annotated)

Committer:
RGurav
Date:
Fri Jun 14 10:56:53 2019 +0000
Revision:
2:13377441fbd8
Parent:
1:ba6c18cce219
Child:
3:6af4defb733f
Cog4050 + ADXL355

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 2:13377441fbd8 19 float single_axisz(float a);
RGurav 1:ba6c18cce219 20 float dual_axis(float a, float b);
RGurav 1:ba6c18cce219 21 float tri_axis(float a, float b, float c);
RGurav 0:e551dfd13154 22
RGurav 0:e551dfd13154 23 int main()
RGurav 0:e551dfd13154 24 {
RGurav 0:e551dfd13154 25 pc.baud(9600);
RGurav 0:e551dfd13154 26 pc.printf("SPI ADXL355 and ADXL357 Demo\r\n");
RGurav 0:e551dfd13154 27 pc.printf("GET device ID\r\n");
RGurav 0:e551dfd13154 28
RGurav 0:e551dfd13154 29 accl.reset();
RGurav 1:ba6c18cce219 30 uint8_t d, ad, mems, device, rev;
RGurav 0:e551dfd13154 31
RGurav 0:e551dfd13154 32 wait(0.2);
RGurav 0:e551dfd13154 33
RGurav 1:ba6c18cce219 34 ad = accl.read_reg(accl.DEVID_AD);
RGurav 1:ba6c18cce219 35 mems = accl.read_reg(accl.DEVID_MST);
RGurav 1:ba6c18cce219 36 device = accl.read_reg(accl.PARTID);
RGurav 1:ba6c18cce219 37 rev = accl.read_reg(accl.REVID);
RGurav 0:e551dfd13154 38
RGurav 0:e551dfd13154 39 pc.printf("GET device data [x, y, z, t] \r\n");
RGurav 1:ba6c18cce219 40
RGurav 0:e551dfd13154 41 accl.set_power_ctl_reg(accl.MEASUREMENT);
RGurav 0:e551dfd13154 42 d=accl.read_reg(accl.POWER_CTL);
RGurav 0:e551dfd13154 43 pc.printf("power control on measurement mode = %x \r\n",d);
RGurav 0:e551dfd13154 44
RGurav 0:e551dfd13154 45 float x,y,z,t;
RGurav 1:ba6c18cce219 46 float a,b,c;
RGurav 0:e551dfd13154 47
RGurav 1:ba6c18cce219 48 double tilt_x, tilt_y, tilt_z;
RGurav 1:ba6c18cce219 49 double tilt_2x, tilt_2y;
RGurav 1:ba6c18cce219 50 double tilt_3x, tilt_3y, tilt_3z;
RGurav 1:ba6c18cce219 51
RGurav 1:ba6c18cce219 52 //pc.printf("Enter no of axis for angle calculation (1/2/3):\r\n");
RGurav 1:ba6c18cce219 53 //pc.scanf("%d",&axis);
RGurav 2:13377441fbd8 54 axis = 2;
RGurav 1:ba6c18cce219 55 pc.printf("||x_accl||y_accl||z_accl||x_tilt||y_tilt||z_tilt||\r\n");
RGurav 1:ba6c18cce219 56
RGurav 1:ba6c18cce219 57 wait(1);
RGurav 0:e551dfd13154 58
RGurav 1:ba6c18cce219 59 //Device ID display
RGurav 1:ba6c18cce219 60 pc.printf("AD id = %x MEMS id = %x device=%x revision=%x \r\n", ad, mems, device, rev);
RGurav 1:ba6c18cce219 61
RGurav 0:e551dfd13154 62 /*The following part is used to perform 2's complemient and then display the data*/
RGurav 0:e551dfd13154 63 while (1)
RGurav 0:e551dfd13154 64 {
RGurav 1:ba6c18cce219 65
RGurav 1:ba6c18cce219 66 //*accl.axis355_sens
RGurav 1:ba6c18cce219 67 x = (accl.convert(accl.scanx()));
RGurav 1:ba6c18cce219 68 y = (accl.convert(accl.scany()));
RGurav 1:ba6c18cce219 69 z = (accl.convert(accl.scanz()));
RGurav 1:ba6c18cce219 70 t = 25+float(accl.scant()-1852)/(-9.05);
RGurav 1:ba6c18cce219 71
RGurav 0:e551dfd13154 72
RGurav 1:ba6c18cce219 73
RGurav 0:e551dfd13154 74 if (axis==1)
RGurav 0:e551dfd13154 75 {
RGurav 2:13377441fbd8 76 char in = pc.getc();
RGurav 2:13377441fbd8 77 if(in == 'x')
RGurav 2:13377441fbd8 78 {pc.printf("%0.2f" ,x);
RGurav 2:13377441fbd8 79 }
RGurav 2:13377441fbd8 80
RGurav 2:13377441fbd8 81 else if(in == 'y')
RGurav 2:13377441fbd8 82 {pc.printf("%0.2f" ,y);
RGurav 2:13377441fbd8 83 }
RGurav 2:13377441fbd8 84
RGurav 2:13377441fbd8 85 else if(in == 'z')
RGurav 2:13377441fbd8 86 {pc.printf("%0.2f" ,z);
RGurav 2:13377441fbd8 87 }
RGurav 2:13377441fbd8 88
RGurav 2:13377441fbd8 89 }
RGurav 0:e551dfd13154 90
RGurav 0:e551dfd13154 91 if (axis==2)
RGurav 0:e551dfd13154 92 {
RGurav 2:13377441fbd8 93 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);
RGurav 0:e551dfd13154 94 wait(0.5);
RGurav 0:e551dfd13154 95 }
RGurav 0:e551dfd13154 96
RGurav 0:e551dfd13154 97 if (axis==3)
RGurav 0:e551dfd13154 98 {
RGurav 1:ba6c18cce219 99 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 100 wait(1.0);
RGurav 1:ba6c18cce219 101 }
RGurav 1:ba6c18cce219 102
RGurav 1:ba6c18cce219 103 if (axis == 4)
RGurav 1:ba6c18cce219 104 {
RGurav 1:ba6c18cce219 105 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 106 wait(1.0);
RGurav 0:e551dfd13154 107 }
RGurav 0:e551dfd13154 108
RGurav 0:e551dfd13154 109 }
RGurav 0:e551dfd13154 110
RGurav 0:e551dfd13154 111 }
RGurav 1:ba6c18cce219 112 //the addition of accl should be equal to 1 i.e. ( x+y+z = 1 )
RGurav 0:e551dfd13154 113
RGurav 1:ba6c18cce219 114 //single axis arcsin (0.2)
RGurav 1:ba6c18cce219 115 float single_axis(float a)
RGurav 0:e551dfd13154 116 {
RGurav 1:ba6c18cce219 117 a = a*accl.axis355_sens;
RGurav 1:ba6c18cce219 118
RGurav 1:ba6c18cce219 119 if (a>1.0f)
RGurav 1:ba6c18cce219 120 { a = 1;
RGurav 1:ba6c18cce219 121 }
RGurav 1:ba6c18cce219 122 else if (a<-1)
RGurav 1:ba6c18cce219 123 { a = -1;
RGurav 1:ba6c18cce219 124 }
RGurav 1:ba6c18cce219 125 else
RGurav 1:ba6c18cce219 126 { a = a;
RGurav 1:ba6c18cce219 127 }
RGurav 1:ba6c18cce219 128
RGurav 0:e551dfd13154 129 double Y;
RGurav 1:ba6c18cce219 130
RGurav 1:ba6c18cce219 131 Y = asin(a);
RGurav 1:ba6c18cce219 132 Y = floor((57.2957f*Y)*100)/100;
RGurav 0:e551dfd13154 133 return Y;
RGurav 0:e551dfd13154 134
RGurav 0:e551dfd13154 135 }
RGurav 2:13377441fbd8 136 //particullary for z axis single
RGurav 2:13377441fbd8 137 float single_axisz(float a)
RGurav 2:13377441fbd8 138 {
RGurav 2:13377441fbd8 139 a = a*accl.axis355_sens;
RGurav 2:13377441fbd8 140
RGurav 2:13377441fbd8 141 if (a>1.0f)
RGurav 2:13377441fbd8 142 { a = 1;
RGurav 2:13377441fbd8 143 }
RGurav 2:13377441fbd8 144 else if (a<-1)
RGurav 2:13377441fbd8 145 { a = -1;
RGurav 2:13377441fbd8 146 }
RGurav 2:13377441fbd8 147 else
RGurav 2:13377441fbd8 148 { a = a;
RGurav 2:13377441fbd8 149 }
RGurav 2:13377441fbd8 150
RGurav 2:13377441fbd8 151 double Y;
RGurav 2:13377441fbd8 152
RGurav 2:13377441fbd8 153 Y = acos(a);
RGurav 2:13377441fbd8 154 Y = floor((57.2957f*Y)*100)/100;
RGurav 2:13377441fbd8 155 return Y;
RGurav 2:13377441fbd8 156
RGurav 2:13377441fbd8 157 }
RGurav 0:e551dfd13154 158
RGurav 1:ba6c18cce219 159 //Dual Axis
RGurav 1:ba6c18cce219 160 float dual_axis(float a, float b)
RGurav 0:e551dfd13154 161 {
RGurav 0:e551dfd13154 162 double Y;
RGurav 1:ba6c18cce219 163 Y = 57.2957f * (atan(a/b));
RGurav 0:e551dfd13154 164 Y = floor(Y*100)/100;
RGurav 0:e551dfd13154 165 return Y;
RGurav 0:e551dfd13154 166 }
RGurav 0:e551dfd13154 167
RGurav 0:e551dfd13154 168 //Triaxial
RGurav 1:ba6c18cce219 169 float tri_axis(float a, float b, float c)
RGurav 0:e551dfd13154 170 {
RGurav 0:e551dfd13154 171 double Y;
RGurav 0:e551dfd13154 172 double X;
RGurav 1:ba6c18cce219 173 X = (a)/(sqrt((b*b)+(c*c)));
RGurav 0:e551dfd13154 174 Y= atan(X);
RGurav 1:ba6c18cce219 175 Y = floor(Y*57.2957f*100)/100;
RGurav 0:e551dfd13154 176 return Y;
RGurav 0:e551dfd13154 177 }