Diff: main.cpp

Revision:

1:7f23dfc59683

Parent:

0:656742ec86ae

Child:

2:a83e46376681

--- a/main.cpp	Wed Jan 11 22:53:22 2017 +0000
+++ b/main.cpp	Mon Jan 16 17:20:22 2017 +0000
@@ -1,35 +1,102 @@
 #include "mbed.h"
- 
- //read register value 
+
+Serial pc(USBTX,USBRX);
+I2C accelero(p28, p27);
+SPI afficheurSPI(p5, p6, p7);
+DigitalOut afficheurSelect(p8);
+
  
-I2C i2c(p9, p10);
- 
-const char reg[1] = {0x0D};
-const char device = 0x3A;
+const char reg[] = {0x0d};
+const int device = 0x3A;
 char data[1];
- 
+int radtodeg = 57;
+
+int16_t normal[3] = {0,0,1};
+
+int printDecimalNumber(int i){
+    char chiffres[4];
+    if (i > 9999) {
+        afficheurSelect = 0;
+        afficheurSPI.write(0x76);
+        afficheurSPI.write('e');
+        afficheurSPI.write('e');
+        afficheurSPI.write('e');
+        afficheurSPI.write('e');
+        wait(0.001);
+        afficheurSelect = 1;
+    }
+    else {
+        // Convert number to char list
+        chiffres[0] = i / 1000;
+        chiffres[1] = (i - int(chiffres[0]) * 1000) / 100;
+        chiffres[2] = (i - int(chiffres[0]) * 1000 - int(chiffres[1]) * 100) / 10;
+        chiffres[3] = i - int(chiffres[0]) * 1000 - int(chiffres[1]) * 100 - int(chiffres[2]) * 10;
+        
+        afficheurSelect= 0;
+        afficheurSPI.write(0x76);
+        afficheurSPI.write(0x77);
+        afficheurSPI.write(0b00000010);
+        for (int x = 0; x < 4; x++) {
+            afficheurSPI.write(chiffres[x]);
+        }
+        wait(0.001);
+        afficheurSelect = 1;
+    }
+    return 0;
+}
+
 int main() {
     
-        i2c.write(device,reg,1,true);
-        i2c.read(device,data,1);
-        
-        printf("Result : %d \r\n", data[1]);
-        
-        
-        /*i2c.read(addr,);
-        
+    afficheurSPI.frequency(100000);
+    
+    accelero.write(device,reg,1,true);
+    accelero.read(device,data,1);
         
-        cmd[0] = 0x01;
-        cmd[1] = 0x00;
-        i2c.write(addr, cmd, 2);
- 
-        wait(0.5);
+    pc.printf("Result : %d \r\n", data[0]);
+    printDecimalNumber((int) data[0]);
+    
+    // Set 2g max
+    char XYZ_DATA_CFG[2] = {0x0e, 0};
+    char value[1]; 
+    accelero.read(device, XYZ_DATA_CFG, 1, true);
+    accelero.write(device, value, 1);
+    value[0] = value[0] & 0xFC;
+    
+    XYZ_DATA_CFG[1] = value[0];
+    accelero.write(device, XYZ_DATA_CFG, 2);
+    
+    // Activate accelerometer
+    char ctrlReg1[2] = {0x2a, 0};
+    accelero.write(device, ctrlReg1, 1, true);
+    accelero.read(device, value, 1);
+    value[0] = value[0] | 0x1;
+    
+    ctrlReg1[1] = value[0];
+    accelero.write(device, ctrlReg1, 2);
+    
+    char XYZ_Data = 0x01;
+    char data[6];
+    int16_t x, y, z;
+    int16_t buffer;
  
-        cmd[0] = 0x00;
-        i2c.write(addr, cmd, 1);
-        i2c.read(addr, cmd, 2);
- 
-        float tmp = (float((cmd[0]<<8)|cmd[1]) / 256.0);
-        printf("Temp = %.2f\n", tmp);*/
+    while(1) {
+        accelero.write(device, &XYZ_Data, 1, true);
+        accelero.read(device, data, 6);
+        
+        ((char*) &buffer)[0]= data[1];    //LSB
+        ((char*) &buffer)[1]= data[0];    //MSB
+        x = buffer >> 4;
+        ((char*) &buffer)[0]= data[3];    //LSB
+        ((char*) &buffer)[1]= data[2];    //MSB
+        y = buffer >> 4;
+        ((char*) &buffer)[0]= data[5];    //LSB
+        ((char*) &buffer)[1]= data[4];    //MSB
+        z = buffer >> 4;
+        
+        int theta = std::acos((double)z * z / (double) (x*x + y*y + z*z)) * radtodeg * 100; 
+
+        printDecimalNumber(theta);
+        wait(0.5);
+    }
     
 }
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