Alex Louden
/
Accelerometer
main.cpp@0:05ddd3ecad81, 2009-12-06 (annotated)
- Committer:
- alex89
- Date:
- Sun Dec 06 12:56:50 2009 +0000
- Revision:
- 0:05ddd3ecad81
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
alex89 | 0:05ddd3ecad81 | 1 | #include "mbed.h" |
alex89 | 0:05ddd3ecad81 | 2 | |
alex89 | 0:05ddd3ecad81 | 3 | Serial pc(USBTX, USBRX); // debugging |
alex89 | 0:05ddd3ecad81 | 4 | |
alex89 | 0:05ddd3ecad81 | 5 | DigitalOut enable(p26); // enable pin |
alex89 | 0:05ddd3ecad81 | 6 | I2C i2c(p28, p27); // accelerometer |
alex89 | 0:05ddd3ecad81 | 7 | |
alex89 | 0:05ddd3ecad81 | 8 | const int address = 0x30; |
alex89 | 0:05ddd3ecad81 | 9 | |
alex89 | 0:05ddd3ecad81 | 10 | const int CTRL_REGB = 0x0D; |
alex89 | 0:05ddd3ecad81 | 11 | const int CTRL_REGC = 0x0C; |
alex89 | 0:05ddd3ecad81 | 12 | |
alex89 | 0:05ddd3ecad81 | 13 | const int XOUT_H = 0x00; //x |
alex89 | 0:05ddd3ecad81 | 14 | const int XOUT_L = 0x01; |
alex89 | 0:05ddd3ecad81 | 15 | |
alex89 | 0:05ddd3ecad81 | 16 | const int YOUT_H = 0x02; //y |
alex89 | 0:05ddd3ecad81 | 17 | const int YOUT_L = 0x03; |
alex89 | 0:05ddd3ecad81 | 18 | |
alex89 | 0:05ddd3ecad81 | 19 | const int ZOUT_H = 0x04; //z |
alex89 | 0:05ddd3ecad81 | 20 | const int ZOUT_L = 0x05; |
alex89 | 0:05ddd3ecad81 | 21 | |
alex89 | 0:05ddd3ecad81 | 22 | |
alex89 | 0:05ddd3ecad81 | 23 | //--------------- IC2 helper functions --------------- |
alex89 | 0:05ddd3ecad81 | 24 | |
alex89 | 0:05ddd3ecad81 | 25 | // write value into register regno, return success |
alex89 | 0:05ddd3ecad81 | 26 | bool write_reg(int regno, int value) { |
alex89 | 0:05ddd3ecad81 | 27 | |
alex89 | 0:05ddd3ecad81 | 28 | char data[2] = {regno, value}; |
alex89 | 0:05ddd3ecad81 | 29 | |
alex89 | 0:05ddd3ecad81 | 30 | return i2c.write(address, data, 2) == 0; |
alex89 | 0:05ddd3ecad81 | 31 | |
alex89 | 0:05ddd3ecad81 | 32 | } |
alex89 | 0:05ddd3ecad81 | 33 | |
alex89 | 0:05ddd3ecad81 | 34 | // read value from register regno, return success |
alex89 | 0:05ddd3ecad81 | 35 | bool read_reg(int regno, int *value) { |
alex89 | 0:05ddd3ecad81 | 36 | |
alex89 | 0:05ddd3ecad81 | 37 | char data = regno; |
alex89 | 0:05ddd3ecad81 | 38 | |
alex89 | 0:05ddd3ecad81 | 39 | if (i2c.write(address, &data, 1) == 0 && i2c.read(address, &data, 1) == 0){ |
alex89 | 0:05ddd3ecad81 | 40 | *value = data; |
alex89 | 0:05ddd3ecad81 | 41 | return true; |
alex89 | 0:05ddd3ecad81 | 42 | } |
alex89 | 0:05ddd3ecad81 | 43 | return false; |
alex89 | 0:05ddd3ecad81 | 44 | |
alex89 | 0:05ddd3ecad81 | 45 | } |
alex89 | 0:05ddd3ecad81 | 46 | |
alex89 | 0:05ddd3ecad81 | 47 | // read complete value of X axis, return it or -1 on failure |
alex89 | 0:05ddd3ecad81 | 48 | int read_x() { |
alex89 | 0:05ddd3ecad81 | 49 | |
alex89 | 0:05ddd3ecad81 | 50 | int low, high; |
alex89 | 0:05ddd3ecad81 | 51 | |
alex89 | 0:05ddd3ecad81 | 52 | if ( read_reg(XOUT_H, &high) && read_reg(XOUT_L, &low) ) |
alex89 | 0:05ddd3ecad81 | 53 | return high<<8 | low; |
alex89 | 0:05ddd3ecad81 | 54 | else |
alex89 | 0:05ddd3ecad81 | 55 | return -1; |
alex89 | 0:05ddd3ecad81 | 56 | } |
alex89 | 0:05ddd3ecad81 | 57 | |
alex89 | 0:05ddd3ecad81 | 58 | // read complete value of Y axis, return it or -1 on failure |
alex89 | 0:05ddd3ecad81 | 59 | int read_y() { |
alex89 | 0:05ddd3ecad81 | 60 | |
alex89 | 0:05ddd3ecad81 | 61 | int low, high; |
alex89 | 0:05ddd3ecad81 | 62 | |
alex89 | 0:05ddd3ecad81 | 63 | if ( read_reg(YOUT_H, &high) && read_reg(YOUT_L, &low) ) |
alex89 | 0:05ddd3ecad81 | 64 | return high<<8 | low; |
alex89 | 0:05ddd3ecad81 | 65 | else |
alex89 | 0:05ddd3ecad81 | 66 | return -1; |
alex89 | 0:05ddd3ecad81 | 67 | } |
alex89 | 0:05ddd3ecad81 | 68 | |
alex89 | 0:05ddd3ecad81 | 69 | // read complete value of Z axis, return it or -1 on failure |
alex89 | 0:05ddd3ecad81 | 70 | int read_z() { |
alex89 | 0:05ddd3ecad81 | 71 | |
alex89 | 0:05ddd3ecad81 | 72 | int low, high; |
alex89 | 0:05ddd3ecad81 | 73 | |
alex89 | 0:05ddd3ecad81 | 74 | if ( read_reg(ZOUT_H, &high) && read_reg(ZOUT_L, &low) ) |
alex89 | 0:05ddd3ecad81 | 75 | return high<<8 | low; |
alex89 | 0:05ddd3ecad81 | 76 | else |
alex89 | 0:05ddd3ecad81 | 77 | return -1; |
alex89 | 0:05ddd3ecad81 | 78 | } |
alex89 | 0:05ddd3ecad81 | 79 | |
alex89 | 0:05ddd3ecad81 | 80 | void accData(){ |
alex89 | 0:05ddd3ecad81 | 81 | |
alex89 | 0:05ddd3ecad81 | 82 | enable = 1; |
alex89 | 0:05ddd3ecad81 | 83 | |
alex89 | 0:05ddd3ecad81 | 84 | write_reg(CTRL_REGB, 0xC2); |
alex89 | 0:05ddd3ecad81 | 85 | write_reg(CTRL_REGC, 0x00); |
alex89 | 0:05ddd3ecad81 | 86 | |
alex89 | 0:05ddd3ecad81 | 87 | for (int i = 0; i < 1000; i++){ |
alex89 | 0:05ddd3ecad81 | 88 | |
alex89 | 0:05ddd3ecad81 | 89 | printf("%d,%d,%d \n", read_x(), read_y(), read_z()); |
alex89 | 0:05ddd3ecad81 | 90 | |
alex89 | 0:05ddd3ecad81 | 91 | wait(0.05); |
alex89 | 0:05ddd3ecad81 | 92 | |
alex89 | 0:05ddd3ecad81 | 93 | } |
alex89 | 0:05ddd3ecad81 | 94 | |
alex89 | 0:05ddd3ecad81 | 95 | enable = 0; |
alex89 | 0:05ddd3ecad81 | 96 | |
alex89 | 0:05ddd3ecad81 | 97 | } |
alex89 | 0:05ddd3ecad81 | 98 | |
alex89 | 0:05ddd3ecad81 | 99 | void accLEDs(){ |
alex89 | 0:05ddd3ecad81 | 100 | |
alex89 | 0:05ddd3ecad81 | 101 | DigitalOut x0(p20); //red |
alex89 | 0:05ddd3ecad81 | 102 | DigitalOut x1(p19); //green |
alex89 | 0:05ddd3ecad81 | 103 | DigitalOut x2(p16); //green |
alex89 | 0:05ddd3ecad81 | 104 | DigitalOut x3(p15); //green |
alex89 | 0:05ddd3ecad81 | 105 | DigitalOut x4(p13); //green |
alex89 | 0:05ddd3ecad81 | 106 | DigitalOut x5(p11); //red |
alex89 | 0:05ddd3ecad81 | 107 | |
alex89 | 0:05ddd3ecad81 | 108 | enable = 1; |
alex89 | 0:05ddd3ecad81 | 109 | |
alex89 | 0:05ddd3ecad81 | 110 | write_reg(CTRL_REGB, 0xC2); //start |
alex89 | 0:05ddd3ecad81 | 111 | write_reg(CTRL_REGC, 0x00); |
alex89 | 0:05ddd3ecad81 | 112 | |
alex89 | 0:05ddd3ecad81 | 113 | for (int i = 0; i < 1000; i++){ |
alex89 | 0:05ddd3ecad81 | 114 | |
alex89 | 0:05ddd3ecad81 | 115 | double x = double (read_x() - 32768)/9000; //normalise to around 0g/1g |
alex89 | 0:05ddd3ecad81 | 116 | double y = double (read_y() - 32768)/9000; |
alex89 | 0:05ddd3ecad81 | 117 | double z = double (read_z() - 32768)/9000; |
alex89 | 0:05ddd3ecad81 | 118 | |
alex89 | 0:05ddd3ecad81 | 119 | //pc.printf("%.2f, %.2f, %.2f \n", x, y, z); |
alex89 | 0:05ddd3ecad81 | 120 | //pc.printf("%.2f \n", x); |
alex89 | 0:05ddd3ecad81 | 121 | |
alex89 | 0:05ddd3ecad81 | 122 | x0 = 0; x1 = 0; x2 = 0; x3 = 0; x4 = 0; x5 = 0; |
alex89 | 0:05ddd3ecad81 | 123 | |
alex89 | 0:05ddd3ecad81 | 124 | int intx = (x+0.1)*5; //scale to an integer from 0 to 5 |
alex89 | 0:05ddd3ecad81 | 125 | |
alex89 | 0:05ddd3ecad81 | 126 | pc.printf("%d \n", intx); |
alex89 | 0:05ddd3ecad81 | 127 | |
alex89 | 0:05ddd3ecad81 | 128 | switch (intx) { |
alex89 | 0:05ddd3ecad81 | 129 | |
alex89 | 0:05ddd3ecad81 | 130 | case 0: |
alex89 | 0:05ddd3ecad81 | 131 | x0 = 1; |
alex89 | 0:05ddd3ecad81 | 132 | break; |
alex89 | 0:05ddd3ecad81 | 133 | case 1: |
alex89 | 0:05ddd3ecad81 | 134 | x1 = 1; |
alex89 | 0:05ddd3ecad81 | 135 | break; |
alex89 | 0:05ddd3ecad81 | 136 | case 2: |
alex89 | 0:05ddd3ecad81 | 137 | x2 = 1; |
alex89 | 0:05ddd3ecad81 | 138 | break; |
alex89 | 0:05ddd3ecad81 | 139 | case 3: |
alex89 | 0:05ddd3ecad81 | 140 | x3 = 1; |
alex89 | 0:05ddd3ecad81 | 141 | break; |
alex89 | 0:05ddd3ecad81 | 142 | case 4: |
alex89 | 0:05ddd3ecad81 | 143 | x4 = 1; |
alex89 | 0:05ddd3ecad81 | 144 | break; |
alex89 | 0:05ddd3ecad81 | 145 | case 5: |
alex89 | 0:05ddd3ecad81 | 146 | x5 = 1; |
alex89 | 0:05ddd3ecad81 | 147 | break; |
alex89 | 0:05ddd3ecad81 | 148 | |
alex89 | 0:05ddd3ecad81 | 149 | default: |
alex89 | 0:05ddd3ecad81 | 150 | break; |
alex89 | 0:05ddd3ecad81 | 151 | } |
alex89 | 0:05ddd3ecad81 | 152 | |
alex89 | 0:05ddd3ecad81 | 153 | wait(0.1); |
alex89 | 0:05ddd3ecad81 | 154 | |
alex89 | 0:05ddd3ecad81 | 155 | } |
alex89 | 0:05ddd3ecad81 | 156 | |
alex89 | 0:05ddd3ecad81 | 157 | x0 = 0; x1 = 0; x2 = 0; x3 = 0; x4 = 0; x5 = 0; |
alex89 | 0:05ddd3ecad81 | 158 | |
alex89 | 0:05ddd3ecad81 | 159 | enable = 0; |
alex89 | 0:05ddd3ecad81 | 160 | |
alex89 | 0:05ddd3ecad81 | 161 | } |
alex89 | 0:05ddd3ecad81 | 162 | |
alex89 | 0:05ddd3ecad81 | 163 | |
alex89 | 0:05ddd3ecad81 | 164 | //-------------------- Main ------------------- |
alex89 | 0:05ddd3ecad81 | 165 | |
alex89 | 0:05ddd3ecad81 | 166 | int main() { |
alex89 | 0:05ddd3ecad81 | 167 | |
alex89 | 0:05ddd3ecad81 | 168 | pc.printf("Program started\n"); |
alex89 | 0:05ddd3ecad81 | 169 | |
alex89 | 0:05ddd3ecad81 | 170 | //accData(); |
alex89 | 0:05ddd3ecad81 | 171 | |
alex89 | 0:05ddd3ecad81 | 172 | accLEDs(); |
alex89 | 0:05ddd3ecad81 | 173 | |
alex89 | 0:05ddd3ecad81 | 174 | pc.printf("Program complete\n\n"); |
alex89 | 0:05ddd3ecad81 | 175 | } |