Revision 2:96f81996a332, committed 2012-03-19

Comitter:

SED9008

Date:

Mon Mar 19 11:06:20 2012 +0000

Parent:

1:a88d1309f810

Commit message:

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L3G4200D.lib	Mon Mar 19 11:06:20 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/SED9008/code/L3G4200D/#68f46af710d9

--- a/main.cpp	Fri Mar 02 22:31:23 2012 +0000
+++ b/main.cpp	Mon Mar 19 11:06:20 2012 +0000
@@ -33,6 +33,7 @@
 #include "EthernetNetIf.h"
 #include "TCPSocket.h"
 #include "ADXL345_I2C.h"
+#include "L3G4200D.h"
 //#############################################//
 
 //##############     DEFINES     ##############//
@@ -47,6 +48,7 @@
 int     print       = 0,
         go          = 0,
         calibrated  = 0;
+int  gyro_val[3] = {0,0,0};
 //#############################################//
 
 //##############PIN CONFIGURATION##############//
@@ -54,8 +56,9 @@
 DigitalOut led4(LED4, "led4");
 DigitalIn init(p5);
 DigitalIn calibrate(p20);
-//I2C i2c(p9, p10); // sda, scl
+I2C i2c(p9, p10); // sda, scl
 ADXL345_I2C acc(p9, p10);
+L3G4200D gyro(p9, p10);
 //#############################################//
 
 //##############    PROTOTYPES   ##############//
@@ -64,6 +67,7 @@
 void onConnectedTCPSocketEvent(TCPSocketEvent e);
 void onListeningTCPSocketEvent(TCPSocketEvent e);
 double getAngle(char axis, int precision);
+void getI2CAddress();
 //#############################################//
 
 //############## ETHERNET CONFIG ##############//
@@ -71,8 +75,8 @@
 EthernetNetIf eth(
     IpAddr(192,168,0,16), //IP Address
     IpAddr(255,255,255,0), //Network Mask
-    IpAddr(192,168,0,1), //Gateway
-    IpAddr(192,168,0,1)  //DNS
+    IpAddr(192,168,0,2), //Gateway
+    IpAddr(192,168,0,2)  //DNS
 );
 
 TCPSocket ListeningSock;
@@ -86,24 +90,15 @@
 //##############    INTERRUPT    ##############//
 void interrupt() 
 {
-//    int count = 0;
-//    for (int address=0; address<256; address+=2) {
-//        if (!i2c.write(address, NULL, 0)) { // 0 returned is ok
-//             if(go) {
-//                tcp_send(" - I2C device found at address:");
-//                char buffer [128];
-//                sprintf (buffer, "%i\n",address);
-//                tcp_send(buffer);
-//             }
-//             count++;
-//        }
-//    } 
     if(go){
         if(calibrated){
             if(print){
+ //               char buffer [128];
+ //               sprintf (buffer, "x:%f - y:%f\n",cont[0],cont[1]);
+ //               tcp_send(buffer);  
                 char buffer [128];
-                sprintf (buffer, "x:%f - y:%f\n",cont[0],cont[1]);
-                tcp_send(buffer);  
+                sprintf (buffer, "x:%i - y:%i - z:%i\n",gyro_val[0],gyro_val[1],gyro_val[2]);
+                tcp_send(buffer);
                 print = 0;
             }
         }
@@ -147,6 +142,11 @@
     wait(0.1);
     //#############################################//
     
+    //##################GYRO INIT##################//
+    
+    
+    //#############################################//
+    
     Timer tmr;
     tmr.start();
     
@@ -167,10 +167,15 @@
             led4=!led4; //Show that we are alive
             tmr.reset();
         }
-        if(calibrate){
+/*        if(calibrate){
             while(calibrate){};
-            x_cor = getAngle('x',100);
-            y_cor = getAngle('y',100);
+            char buffer [128];
+            sprintf (buffer, "Calibrated\n");
+            tcp_send(buffer);
+            
+            
+            x_cor = getAngle('x',100);//-90
+            y_cor = getAngle('y',100);//-90
            
             char buffer [128];
             sprintf (buffer, "Calibration values:\n");
@@ -188,11 +193,18 @@
         }
         if(calibrated){
 
-            cont[0] = getAngle('x',10) - x_cor;
-            cont[1] = getAngle('y',10) - y_cor;
-
+//            cont[0] = getAngle('x',10) - x_cor;
+ //           cont[1] = getAngle('y',10) - y_cor;
+            gyro.read(gyro_val);
             print = 1;
+        }*/
+        if(go){
+            gyro.read(gyro_val);
+            char buffer [128];
+            sprintf (buffer, "x:%i - y:%i - z:%i\n",gyro_val[0],gyro_val[1],gyro_val[2]);
+            tcp_send(buffer);
         }
+        
     }  
 }
 //#############################################//
@@ -322,8 +334,19 @@
     y_angle = y_angle/precision;
 //    x_angle = atan(x_angle) * 180 / PI;
 //    y_angle = atan(y_angle) * 180 / PI;
-    if(axis == 'x')return atan(x_angle) * 180 / PI;
-    if(axis == 'y')return atan(y_angle) * 180 / PI;
+    if(axis == 'x')return (atan(x_angle) * 180 / PI);//+90
+    if(axis == 'y')return (atan(y_angle) * 180 / PI);//+90
 }
 
-
+void getI2CAddress()
+{
+    int count = 1;
+    for (int address=0; address<256; address+=2) {
+        if (!i2c.write(address, NULL, 0)) { // 0 returned is ok    
+            char buffer [128];
+            sprintf (buffer, "%i: - %i\n",count, address);
+            tcp_send(buffer);
+            count++;    
+        }           
+    }
+}