Revision 0:6b088c9d1ac8, committed 2017-01-17

Comitter:

ShaolinPoutine

Date:

Tue Jan 17 15:55:51 2017 +0000

Commit message:

g

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jan 17 15:55:51 2017 +0000
@@ -0,0 +1,149 @@
+#include "mbed.h"
+#include "LPC17xx.h"
+
+//Serial pc(USBTX,USBRX);
+I2C accelero(p28, p27);
+DigitalOut myled(LED1);
+char *afficheur = (char *) 0x40010000;
+
+
+
+const char reg[] = {0x0d};
+const int device = 0x3A;
+char data[1];
+int radtodeg = 57;
+
+int16_t normal[3] = {0,0,1};
+
+int empty = 0x1 << 5;
+void write(int c){
+    while(!LPC_UART1->LSR & empty){}
+    *afficheur = c;
+}
+
+void initUART1(uint32_t baud)
+{
+    uint32_t dll = (SystemCoreClock / (16 * baud)); // Baud rate formula
+
+    LPC_SC->PCONP |= (1 << 4); //Power to UART1
+    
+    LPC_SC->PCLKSEL0 &= ~(3 << 8); 
+    LPC_SC->PCLKSEL0 |=  (1 << 8); 
+
+    LPC_UART1->LCR = 0x03; //8 bits length
+    LPC_UART1->LCR |= (1 << 7); // DLAB = 1;
+
+    LPC_UART1->DLM = (dll >> 8) & 0xFF;
+    LPC_UART1->DLL = (dll) & 0xFF;
+    
+    LPC_UART1->LCR &= ~(1 << 7); // DLAB = 0 
+
+    LPC_UART1->FCR |= 0x7;  //Set FIFO = 1 (Enable), RX and TX reset    
+
+    LPC_PINCON->PINSEL0 &= ~0xC0000000; // Clear bit 31:30
+    LPC_PINCON->PINSEL0 |=  0x40000000; // set  bit 31:30 to 01
+    LPC_PINCON->PINSEL1 &= ~0x00000003; // Clear bit 1:0
+    LPC_PINCON->PINSEL1 |=  0x00000001;  // set  bit 1:0 to 0   
+}
+
+int printDecimalNumber(int i){
+    char chiffres[4];
+    if (i > 9999) {
+        write(0x76);
+        write('e');
+        write('e');
+        write('e');
+        write('e');
+    }
+    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;
+        
+        write(0x76);
+        write(0x77);
+        write(0b00000010);
+        for (int x = 0; x < 4; x++) {
+            write(chiffres[x]);
+        }
+    }
+    return 0;
+}
+
+int main()
+{
+    myled = 0;
+    //pc.printf("Begin");
+    
+    initUART1(9600);
+
+    accelero.write(device,reg,1,true);
+    accelero.read(device,data,1);
+
+    // 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;
+
+    int buffersize = 128;
+    int shiftsize = 7;
+    int mean[buffersize];
+    int angle;
+
+    int iteration = 0;
+    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;
+        
+        z = std::abs(z);
+        if (z > 1024)
+            z = 1024;
+
+        int theta = std::acos((double) z / (double) 1024) * radtodeg * 100;
+        mean[iteration % buffersize] = theta >> shiftsize;
+
+        if (iteration % 64 == 0) {
+            angle = 0;
+            for (int i = 0; i < buffersize; i++) {
+                angle += mean[i];
+            }
+            printDecimalNumber(angle);
+        }
+        wait(0.0006);
+        iteration++;
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Jan 17 15:55:51 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/99b5ccf27215
\ No newline at end of file