Xavier GERONIMI
/
ADXL335_3axe_accel_etallonage
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ADXL335_3axis_Accel
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SHIVAM TRIPATHI
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main.cpp
00001 /***************************************** 00002 ****** 3-axis Accelerometer ADXL335 ***** 00003 *****************************************/ 00004 00005 #include "mbed.h" 00006 00007 #define ETALONNAGE 100 00008 #define VERIFICATION 100 00009 #define MESURE 500 00010 //#define LIMITE 65535 * 1 / 1000 00011 #define LIMITE 4095 * 1 / 1000 00012 #define LSB 14.365 00013 00014 Timer timer; 00015 00016 Serial pc(SERIAL_TX, SERIAL_RX); 00017 00018 AnalogIn acc_x(A0); // Output of X-axis 00019 AnalogIn acc_y(A1); // Output of y-axis 00020 AnalogIn acc_z(A2); // Output of z-axis 00021 DigitalOut led(LED1); // output of LED 00022 00023 void mesure_zero_acceleration(int *zero_x, int *zero_y, int *zero_z) 00024 { 00025 float fx, fy, fz; 00026 float f_etalonnage = (float)ETALONNAGE; 00027 int x, y, z; 00028 int c, k; 00029 00030 for (c = 0; c < ETALONNAGE; c++) 00031 { 00032 x = 0; 00033 y = 0; 00034 z = 0; 00035 for (k = 0; k < MESURE; k++) 00036 { 00037 x += acc_x.read_u16() >> 4; 00038 y += acc_y.read_u16() >> 4; 00039 z += acc_z.read_u16() >> 4; 00040 } 00041 *zero_x += x; 00042 *zero_y += y; 00043 *zero_z += z; 00044 } 00045 fx = *zero_x / f_etalonnage; 00046 fy = *zero_y / f_etalonnage; 00047 fz = *zero_z / f_etalonnage; 00048 *zero_x /= ETALONNAGE; 00049 *zero_y /= ETALONNAGE; 00050 *zero_z /= ETALONNAGE; 00051 00052 if ((fx - *zero_x) >= 0.5) *zero_x ++; 00053 if ((fy - *zero_y) >= 0.5) *zero_y ++; 00054 if ((fz - *zero_z) >= 0.5) *zero_z ++; 00055 00056 pc.printf("AX_0;AY_0;AZ_0\n"); 00057 pc.printf("%d;%d;%d\n", *zero_x, *zero_y, *zero_z); 00058 } 00059 00060 void verif_zero_acceleration(int zero_x, int zero_y, int zero_z) 00061 { 00062 int x, y, z; 00063 float fx, fy, fz; 00064 float f_mesure = (float)MESURE; 00065 int c, k; 00066 00067 for (c = 0; c < VERIFICATION; c++) 00068 { 00069 x = 0; y = 0; z = 0; 00070 00071 for (k = 0; k < MESURE; k++) 00072 { 00073 x += ( acc_x.read_u16() >> 4 ); 00074 y += ( acc_y.read_u16() >> 4 ); 00075 z += ( acc_z.read_u16() >> 4 ); 00076 } 00077 00078 x -= zero_x; 00079 y -= zero_y; 00080 z -= zero_z; 00081 00082 fx = x / f_mesure; 00083 fy = y / f_mesure; 00084 fz = z / f_mesure; 00085 x /= MESURE; 00086 y /= MESURE; 00087 z /= MESURE; 00088 00089 if (fx < 0) 00090 { 00091 if ( (fx - x) <= - 0.5 ) x--; 00092 }else 00093 if ( (fx - x) >= 0.5 ) x++; 00094 if (fy < 0) 00095 { 00096 if ( (fy - y) <= - 0.5 ) y--; 00097 }else 00098 if ( (fy - y) >= 0.5 ) y++; 00099 if (fz < 0) 00100 { 00101 if ( (fz - z) <= - 0.5 ) z--; 00102 }else 00103 if ( (fz - z) >= 0.5 ) z++; 00104 00105 if( abs (x) > LIMITE ) 00106 { 00107 pc.printf("Etalonnage en X manque! Ecart = %d\n", abs(x) - LIMITE); 00108 exit(EXIT_FAILURE); 00109 } 00110 if( abs (y) > LIMITE > LIMITE ) 00111 { 00112 pc.printf("Etalonnage en Y manque! Ecart = %d\n", abs(y) - LIMITE); 00113 exit(EXIT_FAILURE); 00114 } 00115 if( abs (z) > LIMITE ) 00116 { 00117 pc.printf("Etalonnage en Z manque! Ecart = %d\n", abs(z) - LIMITE); 00118 exit(EXIT_FAILURE); 00119 } 00120 } 00121 } 00122 00123 int main() { 00124 int ax, ay, az; // Store the acceleration 00125 /* 00126 float vx = 0, vy = 0, vz = 0; // Store the speed 00127 float x = 0, y = 0, z = 0; // Store the position 00128 */ 00129 float fx, fy, fz; 00130 float f_mesure = (float)MESURE; 00131 int zero_x = 0, zero_y = 0, zero_z = 0; // 0 acceleration 00132 float t; // Measurement Time 00133 int i, cpt = 0; // Counters 00134 00135 wait(2); 00136 00137 timer.start(); 00138 00139 pc.baud(9600); 00140 00141 mesure_zero_acceleration(&zero_x, &zero_y, &zero_z); 00142 //verif_zero_acceleration(zero_x, zero_y, zero_z); 00143 00144 led = 1; 00145 00146 pc.printf("Temps d'acquisition;AX;AY;AZ;Numero d'echantillon\n"); 00147 //pc.printf("AX;AY;AZ;VX;VY;VZ;X;Y;Z\n"); 00148 00149 while(1) { 00150 cpt ++; 00151 ax = 0; ay = 0; az = 0; 00152 //timer.start(); 00153 for (i = 0; i < MESURE; i++) 00154 { 00155 ax += ( acc_x.read_u16() >> 4 ); // Reads X-axis value (on 16 bits converted to 12) 00156 ay += ( acc_y.read_u16() >> 4 ); // Reads Y-axis value 00157 az += ( acc_z.read_u16() >> 4 ); // Reads Z-axis value 00158 } 00159 //timer.stop(); 00160 t = timer.read(); 00161 //timer.reset(); 00162 00163 ax -= zero_x; 00164 ay -= zero_y; 00165 az -= zero_z; 00166 00167 fx = ax / f_mesure; 00168 fy = ay / f_mesure; 00169 fz = az / f_mesure; 00170 ax /= MESURE; 00171 ay /= MESURE; 00172 az /= MESURE; 00173 00174 if (fx < 0) 00175 { 00176 if ( (fx - ax) <= - 0.5 ) ax--; 00177 }else 00178 if ( (fx - ax) >= 0.5 ) ax++; 00179 if (fy < 0) 00180 { 00181 if ( (fy - ay) <= - 0.5 ) ay--; 00182 }else 00183 if ( (fy - ay) >= 0.5 ) ay++; 00184 if (fz < 0) 00185 { 00186 if ( (fz - az) <= - 0.5 ) az--; 00187 }else 00188 if ( (fz - az) >= 0.5 ) az++; 00189 00190 if(ax == -1 || ax == 1) ax = 0; 00191 if(ay == -1 || ay == 1) ay = 0; 00192 if(az == -1 || az == 1) az = 0; 00193 00194 pc.printf("%f;%d;%d;%d;%d\n", t, ax, ay, az, cpt); 00195 00196 /* 00197 00198 vx += (ax * t * LSB); 00199 vy += (ay * t * LSB); 00200 vz += (az * t * LSB); 00201 00202 x += (vx * t * LSB); 00203 y += (vy * t * LSB); 00204 z += (vz * t * LSB); 00205 00206 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); 00207 00208 */ 00209 } 00210 }
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