Florent Coudronniere / Accelerometre

plop

Dependencies:   ADXL345_I2C

Accelerometre.cpp@0:807955c8969c, 2017-03-14 (annotated)

Committer:
Risord
Date:
Tue Mar 14 13:30:11 2017 +0000
Revision:
0:807955c8969c
plop

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Risord 0:807955c8969c 1 #include "Accelerometre.h"
Risord 0:807955c8969c 2
Risord 0:807955c8969c 3 Accelerometre::Accelerometre(void)
Risord 0:807955c8969c 4 {
Risord 0:807955c8969c 5 position =0;
Risord 0:807955c8969c 6 _acc =NULL;
Risord 0:807955c8969c 7 for (i=0; i<3;i++){
Risord 0:807955c8969c 8 readings[i] = 0 ;
Risord 0:807955c8969c 9 }
Risord 0:807955c8969c 10 }
Risord 0:807955c8969c 11
Risord 0:807955c8969c 12
Risord 0:807955c8969c 13 Accelerometre::Accelerometre(ADXL345_I2C * acc)
Risord 0:807955c8969c 14 {
Risord 0:807955c8969c 15 position =0;
Risord 0:807955c8969c 16 for (i=0; i<3;i++){
Risord 0:807955c8969c 17 readings[i] = 0 ;
Risord 0:807955c8969c 18 }
Risord 0:807955c8969c 19 if (_acc) delete _acc; // destruction de l'objet accelerometre
Risord 0:807955c8969c 20 _acc =acc;
Risord 0:807955c8969c 21
Risord 0:807955c8969c 22 }
Risord 0:807955c8969c 23
Risord 0:807955c8969c 24
Risord 0:807955c8969c 25
Risord 0:807955c8969c 26
Risord 0:807955c8969c 27 Accelerometre ::~Accelerometre(void){
Risord 0:807955c8969c 28 if (_acc) delete _acc; // destruction de l'objet accelerometre
Risord 0:807955c8969c 29 if (readings) delete readings;
Risord 0:807955c8969c 30
Risord 0:807955c8969c 31 }
Risord 0:807955c8969c 32
Risord 0:807955c8969c 33
Risord 0:807955c8969c 34 int Accelerometre::initAcc(void){
Risord 0:807955c8969c 35 if (_acc) {
Risord 0:807955c8969c 36
Risord 0:807955c8969c 37 // These are here to test whether any of the initialization fails. It will print the failure
Risord 0:807955c8969c 38 if (_acc->setPowerControl(0x00)){
Risord 0:807955c8969c 39 //pc.printf("didn't intitialize power control\n\r");
Risord 0:807955c8969c 40 return 1; }
Risord 0:807955c8969c 41 //Full resolution, +/-16g, 4mg/LSB.
Risord 0:807955c8969c 42 wait(.001);
Risord 0:807955c8969c 43
Risord 0:807955c8969c 44 if(_acc->setDataFormatControl(0x0B)){
Risord 0:807955c8969c 45 //pc.printf("didn't set data format\n\r");
Risord 0:807955c8969c 46 return 2; }
Risord 0:807955c8969c 47 wait(.001);
Risord 0:807955c8969c 48
Risord 0:807955c8969c 49 //3.2kHz data rate.
Risord 0:807955c8969c 50 if(_acc->setDataRate(ADXL345_3200HZ)){
Risord 0:807955c8969c 51 //pc.printf("didn't set data rate\n\r");
Risord 0:807955c8969c 52 return 3; }
Risord 0:807955c8969c 53 wait(.001);
Risord 0:807955c8969c 54
Risord 0:807955c8969c 55 //Measurement mode.
Risord 0:807955c8969c 56 if(_acc->setPowerControl(MeasurementMode)) {
Risord 0:807955c8969c 57 //pc.printf("didn't set the power control to measurement\n\r");
Risord 0:807955c8969c 58 return 4; }
Risord 0:807955c8969c 59
Risord 0:807955c8969c 60 _acc->getOutput(readingPrec);
Risord 0:807955c8969c 61
Risord 0:807955c8969c 62 for(i=0;i<3;i++){
Risord 0:807955c8969c 63 if ((int16_t)readingPrec[i]<0){
Risord 0:807955c8969c 64 readingPrecABS[i] = readingPrec[i]*(-1);
Risord 0:807955c8969c 65 }
Risord 0:807955c8969c 66 else{
Risord 0:807955c8969c 67
Risord 0:807955c8969c 68 readingPrecABS[i] = readingPrec[i];
Risord 0:807955c8969c 69 }
Risord 0:807955c8969c 70
Risord 0:807955c8969c 71 }
Risord 0:807955c8969c 72 return 10;
Risord 0:807955c8969c 73 }
Risord 0:807955c8969c 74 return 0;
Risord 0:807955c8969c 75 }
Risord 0:807955c8969c 76
Risord 0:807955c8969c 77 void Accelerometre::calculeABS(){
Risord 0:807955c8969c 78 for(i=0;i<3;i++){
Risord 0:807955c8969c 79 if ((int16_t)readings[i]<0){
Risord 0:807955c8969c 80 readingsABS[i] = readings[i]*(-1);
Risord 0:807955c8969c 81 }
Risord 0:807955c8969c 82 else{
Risord 0:807955c8969c 83 readingsABS[i] = readings[i];
Risord 0:807955c8969c 84 }
Risord 0:807955c8969c 85
Risord 0:807955c8969c 86 }
Risord 0:807955c8969c 87 }
Risord 0:807955c8969c 88
Risord 0:807955c8969c 89
Risord 0:807955c8969c 90
Risord 0:807955c8969c 91
Risord 0:807955c8969c 92
Risord 0:807955c8969c 93 char Accelerometre::getPosition(void){
Risord 0:807955c8969c 94 _acc->getOutput(readings);
Risord 0:807955c8969c 95
Risord 0:807955c8969c 96 calculeABS();
Risord 0:807955c8969c 97
Risord 0:807955c8969c 98
Risord 0:807955c8969c 99
Risord 0:807955c8969c 100 if(((int16_t)readings[0]>150)&&((int16_t)readings[1]<150)&&((int16_t)readings[1]>-150)){ //bas
Risord 0:807955c8969c 101 position = 1;
Risord 0:807955c8969c 102 }
Risord 0:807955c8969c 103 else {if(((int16_t)readings[0]<-100)&&((int16_t)readings[1]<150)&&((int16_t)readings[1]>-150)){//haut
Risord 0:807955c8969c 104 position = 2;
Risord 0:807955c8969c 105 }
Risord 0:807955c8969c 106 else {if(((int16_t)readings[1]>150)&&((int16_t)readings[0]<150)&&((int16_t)readings[0]>-100)){//gauche
Risord 0:807955c8969c 107 position = 3;
Risord 0:807955c8969c 108 }
Risord 0:807955c8969c 109 else {if(((int16_t)readings[1]<-150)&&((int16_t)readings[0]<150)&&((int16_t)readings[0]>-100)){//droite
Risord 0:807955c8969c 110 position = 4;
Risord 0:807955c8969c 111 }
Risord 0:807955c8969c 112 else{position=0;} // attente
Risord 0:807955c8969c 113 }
Risord 0:807955c8969c 114 }
Risord 0:807955c8969c 115 }
Risord 0:807955c8969c 116
Risord 0:807955c8969c 117
Risord 0:807955c8969c 118 for (i=0;i<3;i++){
Risord 0:807955c8969c 119 readingPrecABS[i] = readingsABS[i];
Risord 0:807955c8969c 120 readingPrec[i] = readings[i];
Risord 0:807955c8969c 121 }
Risord 0:807955c8969c 122
Risord 0:807955c8969c 123
Risord 0:807955c8969c 124 return position;
Risord 0:807955c8969c 125
Risord 0:807955c8969c 126 }
Risord 0:807955c8969c 127
Risord 0:807955c8969c 128 void Accelerometre::getXYZ(int* posXYZ){
Risord 0:807955c8969c 129 _acc->getOutput(readings);
Risord 0:807955c8969c 130 posXYZ[0] = readings[0];
Risord 0:807955c8969c 131 posXYZ[1] = readings[1];
Risord 0:807955c8969c 132 posXYZ[2] = readings[2];
Risord 0:807955c8969c 133 }
Risord 0:807955c8969c 134