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acceleration et etallonage du zero
Fork of ADXL335_3axis_Accel by
Revision 4:ee0a25a1c3dc, committed 2018-04-11
- Comitter:
- Zlatan10
- Date:
- Wed Apr 11 19:28:43 2018 +0000
- Parent:
- 3:7cef8e5abfe5
- Commit message:
- Acceleration et etallonage du zero
Changed in this revision
diff -r 7cef8e5abfe5 -r ee0a25a1c3dc main.cpp --- a/main.cpp Sun Sep 04 08:04:35 2016 +0000 +++ b/main.cpp Wed Apr 11 19:28:43 2018 +0000 @@ -1,28 +1,210 @@ -/**************************************************************************** - ****** 3-axis Accelerometer ADXL335 or GY-61 interfacing to FRDM-KL25Z ***** - ****** Author : SHIVAM TRIPATHI ****** - ***************************************************************************/ +/***************************************** + ****** 3-axis Accelerometer ADXL335 ***** + *****************************************/ #include "mbed.h" -Serial pc(USBTX, USBRX); -AnalogIn analog_value1(A0); //Output of X-axis at analog pin A0 ........ (Refer pinout) -AnalogIn analog_value2(A1); //Output of y-axis at analog pin A1 -AnalogIn analog_value3(A2); //Output of z-axis at analog pin A1 +#define ETALONNAGE 100 +#define VERIFICATION 100 +#define MESURE 500 +//#define LIMITE 65535 * 1 / 1000 +#define LIMITE 4095 * 1 / 1000 +#define LSB 14.365 + +Timer timer; + +Serial pc(SERIAL_TX, SERIAL_RX); + +AnalogIn acc_x(A0); // Output of X-axis +AnalogIn acc_y(A1); // Output of y-axis +AnalogIn acc_z(A2); // Output of z-axis +DigitalOut led(LED1); // output of LED + +void mesure_zero_acceleration(int *zero_x, int *zero_y, int *zero_z) +{ + float fx, fy, fz; + float f_etalonnage = (float)ETALONNAGE; + int x, y, z; + int c, k; + + for (c = 0; c < ETALONNAGE; c++) + { + x = 0; + y = 0; + z = 0; + for (k = 0; k < MESURE; k++) + { + x += acc_x.read_u16() >> 4; + y += acc_y.read_u16() >> 4; + z += acc_z.read_u16() >> 4; + } + *zero_x += x; + *zero_y += y; + *zero_z += z; + } + fx = *zero_x / f_etalonnage; + fy = *zero_y / f_etalonnage; + fz = *zero_z / f_etalonnage; + *zero_x /= ETALONNAGE; + *zero_y /= ETALONNAGE; + *zero_z /= ETALONNAGE; + + if ((fx - *zero_x) >= 0.5) *zero_x ++; + if ((fy - *zero_y) >= 0.5) *zero_y ++; + if ((fz - *zero_z) >= 0.5) *zero_z ++; + + pc.printf("AX_0;AY_0;AZ_0\n"); + pc.printf("%d;%d;%d\n", *zero_x, *zero_y, *zero_z); +} -DigitalOut led(LED1); +void verif_zero_acceleration(int zero_x, int zero_y, int zero_z) +{ + int x, y, z; + float fx, fy, fz; + float f_mesure = (float)MESURE; + int c, k; + + for (c = 0; c < VERIFICATION; c++) + { + x = 0; y = 0; z = 0; + + for (k = 0; k < MESURE; k++) + { + x += ( acc_x.read_u16() >> 4 ); + y += ( acc_y.read_u16() >> 4 ); + z += ( acc_z.read_u16() >> 4 ); + } + + x -= zero_x; + y -= zero_y; + z -= zero_z; + + fx = x / f_mesure; + fy = y / f_mesure; + fz = z / f_mesure; + x /= MESURE; + y /= MESURE; + z /= MESURE; + + if (fx < 0) + { + if ( (fx - x) <= - 0.5 ) x--; + }else + if ( (fx - x) >= 0.5 ) x++; + if (fy < 0) + { + if ( (fy - y) <= - 0.5 ) y--; + }else + if ( (fy - y) >= 0.5 ) y++; + if (fz < 0) + { + if ( (fz - z) <= - 0.5 ) z--; + }else + if ( (fz - z) >= 0.5 ) z++; + + if( abs (x) > LIMITE ) + { + pc.printf("Etalonnage en X manque! Ecart = %d\n", abs(x) - LIMITE); + exit(EXIT_FAILURE); + } + if( abs (y) > LIMITE > LIMITE ) + { + pc.printf("Etalonnage en Y manque! Ecart = %d\n", abs(y) - LIMITE); + exit(EXIT_FAILURE); + } + if( abs (z) > LIMITE ) + { + pc.printf("Etalonnage en Z manque! Ecart = %d\n", abs(z) - LIMITE); + exit(EXIT_FAILURE); + } + } +} int main() { - int x,y,z; + int ax, ay, az; // Store the acceleration + /* + float vx = 0, vy = 0, vz = 0; // Store the speed + float x = 0, y = 0, z = 0; // Store the position + */ + float fx, fy, fz; + float f_mesure = (float)MESURE; + int zero_x = 0, zero_y = 0, zero_z = 0; // 0 acceleration + float t; // Measurement Time + int i, cpt = 0; // Counters - printf("\nAnalogIn example\n"); + wait(2); + + timer.start(); + + pc.baud(9600); + + mesure_zero_acceleration(&zero_x, &zero_y, &zero_z); + //verif_zero_acceleration(zero_x, zero_y, zero_z); + + led = 1; + + pc.printf("Temps d'acquisition;AX;AY;AZ;Numero d'echantillon\n"); + //pc.printf("AX;AY;AZ;VX;VY;VZ;X;Y;Z\n"); while(1) { - x = analog_value1.read_u16(); // Reads X-axis value and then converts in 16 bit format (3.3V --> 65535).........Analog values are read - y = analog_value2.read_u16(); // Reads Y-axis value and then converts in 16 bit format (3.3V --> 65535) - z = analog_value3.read_u16(); // Reads Z-axis value and then converts in 16 bit format (3.3V --> 65535) - printf("\r x = %d y = %d z = %d \n", x,y,z); //Prints output on pc Serial terminal (serial USB com driver is a must) - wait(0.5); // 500 ms + cpt ++; + ax = 0; ay = 0; az = 0; + //timer.start(); + for (i = 0; i < MESURE; i++) + { + ax += ( acc_x.read_u16() >> 4 ); // Reads X-axis value (on 16 bits converted to 12) + ay += ( acc_y.read_u16() >> 4 ); // Reads Y-axis value + az += ( acc_z.read_u16() >> 4 ); // Reads Z-axis value + } + //timer.stop(); + t = timer.read(); + //timer.reset(); + + ax -= zero_x; + ay -= zero_y; + az -= zero_z; + + fx = ax / f_mesure; + fy = ay / f_mesure; + fz = az / f_mesure; + ax /= MESURE; + ay /= MESURE; + az /= MESURE; + if (fx < 0) + { + if ( (fx - ax) <= - 0.5 ) ax--; + }else + if ( (fx - ax) >= 0.5 ) ax++; + if (fy < 0) + { + if ( (fy - ay) <= - 0.5 ) ay--; + }else + if ( (fy - ay) >= 0.5 ) ay++; + if (fz < 0) + { + if ( (fz - az) <= - 0.5 ) az--; + }else + if ( (fz - az) >= 0.5 ) az++; + + if(ax == -1 || ax == 1) ax = 0; + if(ay == -1 || ay == 1) ay = 0; + if(az == -1 || az == 1) az = 0; + + pc.printf("%f;%d;%d;%d;%d\n", t, ax, ay, az, cpt); + + /* + + vx += (ax * t * LSB); + vy += (ay * t * LSB); + vz += (az * t * LSB); + + x += (vx * t * LSB); + y += (vy * t * LSB); + z += (vz * t * LSB); + + if (cpt % 16 == 0) pc.printf("%d;%d;%d;%d;%d;%d;%d;%d;%d\n", ax, ay, az, vx, vy, vz, x, y, z); + + */ } -} +} \ No newline at end of file
diff -r 7cef8e5abfe5 -r ee0a25a1c3dc mbed.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.h Wed Apr 11 19:28:43 2018 +0000 @@ -0,0 +1,59 @@ +/* mbed Microcontroller Library + * Copyright (c) 2006-2011 ARM Limited. All rights reserved. + */ + +#ifndef MBED_H +#define MBED_H + +#define MBED_LIBRARY_VERSION 29 + +// Useful C libraries +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <math.h> +#include <time.h> + +// mbed Debug libraries + +#include "error.h" +#include "mbed_interface.h" + +// mbed Peripheral components + +#include "DigitalIn.h" +#include "DigitalOut.h" +#include "DigitalInOut.h" +#include "BusIn.h" +#include "BusOut.h" +#include "BusInOut.h" +#include "PortIn.h" +#include "PortInOut.h" +#include "PortOut.h" +#include "AnalogIn.h" +#include "AnalogOut.h" +#include "PwmOut.h" +#include "Serial.h" +#include "SerialHalfDuplex.h" +#include "SPI.h" +#include "SPISlave.h" +#include "SPIHalfDuplex.h" +#include "I2C.h" +#include "I2CSlave.h" +#include "Ethernet.h" +#include "CAN.h" + +// mbed Internal components +#include "Timer.h" +#include "Ticker.h" +#include "Timeout.h" +#include "LocalFileSystem.h" +#include "InterruptIn.h" +#include "wait_api.h" +#include "rtc_time.h" + +using namespace mbed; +using namespace std; + +#endif + \ No newline at end of file
diff -r 7cef8e5abfe5 -r ee0a25a1c3dc mbed.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.lib Wed Apr 11 19:28:43 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/gokmenascioglu/code/mbed/#a8fa94490a0a