Shaojie Wang / ee202Homework1

ee202hw1

Dependencies:   Useless SB TSI mbed

Fork of Final_Homework1 by Shaojie Wang

main.cpp@1:a00bb47c1028, 2014-02-15 (annotated)

Committer:
bmdlh
Date:
Sat Feb 15 06:10:17 2014 +0000
Revision:
1:a00bb47c1028
Parent:
0:c8a7071d8692 
ee202hw1(main function)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bmdlh 0:c8a7071d8692 1 #include "mbed.h"
bmdlh 0:c8a7071d8692 2 #include "TSISensor.h"
bmdlh 0:c8a7071d8692 3 #include "MMA8451Q.h"
bmdlh 0:c8a7071d8692 4 #include "MAG3110.h"
bmdlh 1:a00bb47c1028 5
bmdlh 1:a00bb47c1028 6 #define OFF 0
bmdlh 1:a00bb47c1028 7 #define ON 1
bmdlh 0:c8a7071d8692 8
bmdlh 0:c8a7071d8692 9 Serial pc(USBTX, USBRX);
bmdlh 0:c8a7071d8692 10
bmdlh 0:c8a7071d8692 11 PwmOut rled(PTE29);
bmdlh 0:c8a7071d8692 12 PwmOut gled(PTD5);
bmdlh 1:a00bb47c1028 13
bmdlh 1:a00bb47c1028 14 MMA8451Q acc(PTE25, PTE24,0x1d<<1);
bmdlh 1:a00bb47c1028 15 MAG3110 mag(PTE25, PTE24);
bmdlh 0:c8a7071d8692 16 AnalogIn lightSensor(PTE22);
bmdlh 1:a00bb47c1028 17 TSISensor tsi;
bmdlh 1:a00bb47c1028 18 AnalogIn sinwave(PTB1);
bmdlh 1:a00bb47c1028 19
bmdlh 1:a00bb47c1028 20 struct
bmdlh 1:a00bb47c1028 21 {
bmdlh 1:a00bb47c1028 22 int mag : 1;
bmdlh 1:a00bb47c1028 23 int acc : 1;
bmdlh 1:a00bb47c1028 24 int light : 1;
bmdlh 1:a00bb47c1028 25 int touch : 1;
bmdlh 1:a00bb47c1028 26 int sine : 1;
bmdlh 1:a00bb47c1028 27 } status;
bmdlh 1:a00bb47c1028 28
bmdlh 1:a00bb47c1028 29 Timer timer_mag;
bmdlh 1:a00bb47c1028 30 Timer timer_acc;
bmdlh 1:a00bb47c1028 31 Timer timer_light;
bmdlh 1:a00bb47c1028 32 Timer timer_touch;
bmdlh 1:a00bb47c1028 33 Timer timer_sin;
bmdlh 1:a00bb47c1028 34
bmdlh 1:a00bb47c1028 35 int threshold1 = 32767;
bmdlh 1:a00bb47c1028 36 int threshold2 = 32767;
bmdlh 1:a00bb47c1028 37 int threshold3 = 32767;
bmdlh 1:a00bb47c1028 38 int threshold4 = 32767;
bmdlh 1:a00bb47c1028 39 int threshold5 = 32767;
bmdlh 1:a00bb47c1028 40
bmdlh 1:a00bb47c1028 41 int START = OFF;
bmdlh 0:c8a7071d8692 42
bmdlh 0:c8a7071d8692 43 void calXY() //magnetometer calibration: finding max and min of X, Y axis
bmdlh 0:c8a7071d8692 44 {
bmdlh 0:c8a7071d8692 45 int tempXmax, tempXmin, tempYmax, tempYmin, newX, newY;
bmdlh 0:c8a7071d8692 46
bmdlh 0:c8a7071d8692 47 rled = ON;
bmdlh 0:c8a7071d8692 48
bmdlh 0:c8a7071d8692 49 printf("Waiting for initial press\n");
bmdlh 0:c8a7071d8692 50 // Wait for slider to be pressed
bmdlh 0:c8a7071d8692 51 while( tsi.readDistance() == 0 ) {
bmdlh 0:c8a7071d8692 52 rled = ON;
bmdlh 0:c8a7071d8692 53 wait(0.2);
bmdlh 0:c8a7071d8692 54 rled = OFF;
bmdlh 0:c8a7071d8692 55 wait(0.2);
bmdlh 0:c8a7071d8692 56 }
bmdlh 0:c8a7071d8692 57
bmdlh 0:c8a7071d8692 58 printf("Waiting for release\n");
bmdlh 0:c8a7071d8692 59
bmdlh 0:c8a7071d8692 60 // Wait for release
bmdlh 0:c8a7071d8692 61 while( tsi.readDistance() != 0 ) {
bmdlh 0:c8a7071d8692 62 rled = OFF;
bmdlh 0:c8a7071d8692 63 wait(0.2);
bmdlh 0:c8a7071d8692 64 rled = ON;
bmdlh 0:c8a7071d8692 65 wait(0.2);
bmdlh 0:c8a7071d8692 66 }
bmdlh 0:c8a7071d8692 67 rled = OFF;
bmdlh 0:c8a7071d8692 68 wait(0.5);
bmdlh 0:c8a7071d8692 69
bmdlh 0:c8a7071d8692 70 printf("Rotate\n");
bmdlh 0:c8a7071d8692 71
bmdlh 0:c8a7071d8692 72 tempXmax = tempXmin = mag.readVal(MAG_OUT_X_MSB);
bmdlh 0:c8a7071d8692 73 tempYmax = tempYmin = mag.readVal(MAG_OUT_Y_MSB);
bmdlh 0:c8a7071d8692 74
bmdlh 0:c8a7071d8692 75 while(tsi.readDistance() == 0) {
bmdlh 0:c8a7071d8692 76 gled = ON;
bmdlh 0:c8a7071d8692 77 wait(0.1);
bmdlh 0:c8a7071d8692 78 gled = OFF;
bmdlh 0:c8a7071d8692 79 wait(0.1);
bmdlh 0:c8a7071d8692 80 newX = mag.readVal(MAG_OUT_X_MSB);
bmdlh 0:c8a7071d8692 81 newY = mag.readVal(MAG_OUT_Y_MSB);
bmdlh 0:c8a7071d8692 82 if (newX > tempXmax) tempXmax = newX;
bmdlh 0:c8a7071d8692 83 if (newX < tempXmin) tempXmin = newX;
bmdlh 0:c8a7071d8692 84 if (newY > tempYmax) tempYmax = newY;
bmdlh 0:c8a7071d8692 85 if (newY < tempYmin) tempYmin = newY;
bmdlh 0:c8a7071d8692 86 }
bmdlh 0:c8a7071d8692 87
bmdlh 0:c8a7071d8692 88 mag.setCalibration( tempXmin, tempXmax, tempYmin, tempYmax );
bmdlh 0:c8a7071d8692 89
bmdlh 0:c8a7071d8692 90 // Wait for release
bmdlh 0:c8a7071d8692 91 while( tsi.readDistance() != 0 ) {
bmdlh 0:c8a7071d8692 92 gled = OFF;
bmdlh 0:c8a7071d8692 93 wait(0.2);
bmdlh 0:c8a7071d8692 94 gled = ON;
bmdlh 0:c8a7071d8692 95 wait(0.2);
bmdlh 0:c8a7071d8692 96 }
bmdlh 0:c8a7071d8692 97 gled = OFF;
bmdlh 0:c8a7071d8692 98 wait(1.0);
bmdlh 0:c8a7071d8692 99 }
bmdlh 1:a00bb47c1028 100 void send4bytes(char label,void* x){
bmdlh 1:a00bb47c1028 101 char *p = (char *)x;
bmdlh 1:a00bb47c1028 102 pc.putc(label);
bmdlh 1:a00bb47c1028 103 pc.putc(*p);
bmdlh 1:a00bb47c1028 104 pc.putc(*(p+1));
bmdlh 1:a00bb47c1028 105 pc.putc(*(p+2));
bmdlh 1:a00bb47c1028 106 pc.putc(*(p+3));
bmdlh 1:a00bb47c1028 107 }
bmdlh 1:a00bb47c1028 108 void mag_send(){
bmdlh 1:a00bb47c1028 109 int x = 0, y = 0, z = 0;
bmdlh 1:a00bb47c1028 110 float h = mag.getHeading();
bmdlh 1:a00bb47c1028 111 mag.getValues(&x, &y, &z);
bmdlh 1:a00bb47c1028 112 __disable_irq();
bmdlh 1:a00bb47c1028 113 send4bytes(0x00,&x);
bmdlh 1:a00bb47c1028 114 send4bytes(0x01,&y);
bmdlh 1:a00bb47c1028 115 send4bytes(0x02,&z);
bmdlh 1:a00bb47c1028 116 send4bytes(0x03,&h);
bmdlh 1:a00bb47c1028 117 __enable_irq();
bmdlh 1:a00bb47c1028 118 }
bmdlh 1:a00bb47c1028 119 void accl_send(){
bmdlh 1:a00bb47c1028 120 float x = acc.getAccX();
bmdlh 1:a00bb47c1028 121 float y = acc.getAccY();
bmdlh 1:a00bb47c1028 122 float z = acc.getAccZ();
bmdlh 1:a00bb47c1028 123 __disable_irq();
bmdlh 1:a00bb47c1028 124 send4bytes(0x04,&x);
bmdlh 1:a00bb47c1028 125 send4bytes(0x05,&y);
bmdlh 1:a00bb47c1028 126 send4bytes(0x06,&z);
bmdlh 1:a00bb47c1028 127 __enable_irq();
bmdlh 1:a00bb47c1028 128 }
bmdlh 0:c8a7071d8692 129
bmdlh 1:a00bb47c1028 130 void light_send(){
bmdlh 1:a00bb47c1028 131 float cur_value = lightSensor;
bmdlh 1:a00bb47c1028 132 __disable_irq();
bmdlh 1:a00bb47c1028 133 send4bytes(0x07,&cur_value);
bmdlh 1:a00bb47c1028 134 __enable_irq();
bmdlh 1:a00bb47c1028 135 }
bmdlh 1:a00bb47c1028 136 void touch_send(){
bmdlh 1:a00bb47c1028 137 float cur_value = tsi.readPercentage();;
bmdlh 1:a00bb47c1028 138 __disable_irq();
bmdlh 1:a00bb47c1028 139 send4bytes(0x08,&cur_value);
bmdlh 1:a00bb47c1028 140 __enable_irq();
bmdlh 1:a00bb47c1028 141 }
bmdlh 1:a00bb47c1028 142 void sin_send(){
bmdlh 1:a00bb47c1028 143 float cur_value = sinwave.read();;
bmdlh 1:a00bb47c1028 144 __disable_irq();
bmdlh 1:a00bb47c1028 145 send4bytes(0x09,&cur_value);
bmdlh 1:a00bb47c1028 146 __enable_irq();
bmdlh 1:a00bb47c1028 147 }
bmdlh 1:a00bb47c1028 148
bmdlh 1:a00bb47c1028 149 void configuration(){
bmdlh 1:a00bb47c1028 150 rled = OFF;
bmdlh 1:a00bb47c1028 151 char command = pc.getc();
bmdlh 1:a00bb47c1028 152 command = pc.getc();
bmdlh 1:a00bb47c1028 153 float sr;
bmdlh 1:a00bb47c1028 154 char temp[4];
bmdlh 1:a00bb47c1028 155 if (command == 0x01){ // magnetometer
bmdlh 1:a00bb47c1028 156 status.mag = ON;
bmdlh 1:a00bb47c1028 157 temp[0] = pc.getc();
bmdlh 1:a00bb47c1028 158 temp[1] = pc.getc();
bmdlh 1:a00bb47c1028 159 temp[2] = pc.getc();
bmdlh 1:a00bb47c1028 160 temp[3] = pc.getc();
bmdlh 1:a00bb47c1028 161 sr = *(float*)temp;
bmdlh 1:a00bb47c1028 162 threshold1 =(int) 1/sr *1000;
bmdlh 1:a00bb47c1028 163 timer_mag.reset();
bmdlh 1:a00bb47c1028 164 }
bmdlh 1:a00bb47c1028 165 else{
bmdlh 1:a00bb47c1028 166 status.mag = OFF;
bmdlh 1:a00bb47c1028 167 timer_mag.stop();
bmdlh 1:a00bb47c1028 168 }
bmdlh 1:a00bb47c1028 169 command = pc.getc();
bmdlh 1:a00bb47c1028 170 if (command == 0x01){ // accelerometer
bmdlh 1:a00bb47c1028 171 status.acc = ON;
bmdlh 1:a00bb47c1028 172 temp[0] = pc.getc();
bmdlh 1:a00bb47c1028 173 temp[1] = pc.getc();
bmdlh 1:a00bb47c1028 174 temp[2] = pc.getc();
bmdlh 1:a00bb47c1028 175 temp[3] = pc.getc();
bmdlh 1:a00bb47c1028 176 sr = *(float*)temp;
bmdlh 1:a00bb47c1028 177 threshold2 =(int) 1/sr *1000;
bmdlh 1:a00bb47c1028 178 timer_acc.reset();
bmdlh 1:a00bb47c1028 179 }
bmdlh 1:a00bb47c1028 180 else{
bmdlh 1:a00bb47c1028 181 status.acc = OFF;
bmdlh 1:a00bb47c1028 182 timer_acc.stop();
bmdlh 1:a00bb47c1028 183 }
bmdlh 1:a00bb47c1028 184 command = pc.getc();
bmdlh 1:a00bb47c1028 185 if (command == 0x01){ // light sensor
bmdlh 1:a00bb47c1028 186 status.light = ON;
bmdlh 1:a00bb47c1028 187 temp[0] = pc.getc();
bmdlh 1:a00bb47c1028 188 temp[1] = pc.getc();
bmdlh 1:a00bb47c1028 189 temp[2] = pc.getc();
bmdlh 1:a00bb47c1028 190 temp[3] = pc.getc();
bmdlh 1:a00bb47c1028 191 sr = *(float*)temp;
bmdlh 1:a00bb47c1028 192 threshold3 =(int) 1/sr *1000;
bmdlh 1:a00bb47c1028 193 timer_light.reset();
bmdlh 1:a00bb47c1028 194 }
bmdlh 1:a00bb47c1028 195 else{
bmdlh 1:a00bb47c1028 196 status.light = OFF;
bmdlh 1:a00bb47c1028 197 timer_light.stop();
bmdlh 1:a00bb47c1028 198 }
bmdlh 1:a00bb47c1028 199 command = pc.getc();
bmdlh 1:a00bb47c1028 200 if (command == 0x01){ // touch sensor
bmdlh 1:a00bb47c1028 201 status.touch = ON;
bmdlh 1:a00bb47c1028 202 temp[0] = pc.getc();
bmdlh 1:a00bb47c1028 203 temp[1] = pc.getc();
bmdlh 1:a00bb47c1028 204 temp[2] = pc.getc();
bmdlh 1:a00bb47c1028 205 temp[3] = pc.getc();
bmdlh 1:a00bb47c1028 206 sr = *(float*)temp;
bmdlh 1:a00bb47c1028 207 threshold4 =(int) 1/sr *1000;
bmdlh 1:a00bb47c1028 208 timer_touch.reset();
bmdlh 1:a00bb47c1028 209 }
bmdlh 1:a00bb47c1028 210 else{
bmdlh 1:a00bb47c1028 211 status.touch = OFF;
bmdlh 1:a00bb47c1028 212 timer_touch.stop();
bmdlh 1:a00bb47c1028 213 }
bmdlh 1:a00bb47c1028 214 command = pc.getc();
bmdlh 1:a00bb47c1028 215 if (command == 0x01){ // sinewave receiver
bmdlh 1:a00bb47c1028 216 status.sine = ON;
bmdlh 1:a00bb47c1028 217 temp[0] = pc.getc();
bmdlh 1:a00bb47c1028 218 temp[1] = pc.getc();
bmdlh 1:a00bb47c1028 219 temp[2] = pc.getc();
bmdlh 1:a00bb47c1028 220 temp[3] = pc.getc();
bmdlh 1:a00bb47c1028 221 sr = *(float*)temp;
bmdlh 1:a00bb47c1028 222 threshold5 =(int) 1/sr *1000;
bmdlh 1:a00bb47c1028 223 timer_sin.reset();
bmdlh 1:a00bb47c1028 224 }
bmdlh 1:a00bb47c1028 225 else{
bmdlh 1:a00bb47c1028 226 status.sine = OFF;
bmdlh 1:a00bb47c1028 227 timer_sin.stop();
bmdlh 1:a00bb47c1028 228 }
bmdlh 1:a00bb47c1028 229 rled = ON;
bmdlh 1:a00bb47c1028 230 START = ON;
bmdlh 1:a00bb47c1028 231 }
bmdlh 1:a00bb47c1028 232
bmdlh 1:a00bb47c1028 233 int main(){
bmdlh 1:a00bb47c1028 234 status.mag = 0;
bmdlh 1:a00bb47c1028 235 status.acc = 0;
bmdlh 1:a00bb47c1028 236 status.light = 0;
bmdlh 1:a00bb47c1028 237 status.touch = 0;
bmdlh 1:a00bb47c1028 238 status.sine = 0;
bmdlh 0:c8a7071d8692 239 calXY();
bmdlh 1:a00bb47c1028 240 pc.attach(&configuration);
bmdlh 1:a00bb47c1028 241 while(START == OFF){
bmdlh 1:a00bb47c1028 242 pc.putc(0xFF);
bmdlh 1:a00bb47c1028 243 }
bmdlh 1:a00bb47c1028 244 pc.putc(0xFE);
bmdlh 1:a00bb47c1028 245
bmdlh 0:c8a7071d8692 246
bmdlh 1:a00bb47c1028 247 timer_mag.start();
bmdlh 1:a00bb47c1028 248 timer_acc.start();
bmdlh 1:a00bb47c1028 249 timer_light.start();
bmdlh 1:a00bb47c1028 250 timer_touch.start();
bmdlh 1:a00bb47c1028 251 timer_sin.start();
bmdlh 1:a00bb47c1028 252 while(1) {
bmdlh 1:a00bb47c1028 253 if (status.mag == ON){
bmdlh 1:a00bb47c1028 254 if (timer_mag.read_ms()>threshold1){
bmdlh 1:a00bb47c1028 255 mag_send();
bmdlh 1:a00bb47c1028 256 timer_mag.reset();
bmdlh 1:a00bb47c1028 257 }
bmdlh 1:a00bb47c1028 258 }
bmdlh 1:a00bb47c1028 259 if (status.acc == ON){
bmdlh 1:a00bb47c1028 260 if (timer_acc.read_ms()>threshold2){
bmdlh 1:a00bb47c1028 261 accl_send();
bmdlh 1:a00bb47c1028 262 timer_acc.reset();
bmdlh 1:a00bb47c1028 263 }
bmdlh 1:a00bb47c1028 264 }
bmdlh 1:a00bb47c1028 265 if (status.light == ON){
bmdlh 1:a00bb47c1028 266 if (timer_light.read_ms()>threshold3){
bmdlh 1:a00bb47c1028 267 light_send();
bmdlh 1:a00bb47c1028 268 timer_light.reset();
bmdlh 1:a00bb47c1028 269 }
bmdlh 1:a00bb47c1028 270 }
bmdlh 1:a00bb47c1028 271 if (status.touch == ON){
bmdlh 1:a00bb47c1028 272 if (timer_touch.read_ms()>threshold4){
bmdlh 1:a00bb47c1028 273 touch_send();
bmdlh 1:a00bb47c1028 274 timer_touch.reset();
bmdlh 1:a00bb47c1028 275 }
bmdlh 1:a00bb47c1028 276 }
bmdlh 1:a00bb47c1028 277 if (status.sine == ON){
bmdlh 1:a00bb47c1028 278 if (timer_sin.read_ms()>threshold5){
bmdlh 1:a00bb47c1028 279 sin_send();
bmdlh 1:a00bb47c1028 280 timer_sin.reset();
bmdlh 1:a00bb47c1028 281 }
bmdlh 1:a00bb47c1028 282 }
bmdlh 0:c8a7071d8692 283 }
bmdlh 1:a00bb47c1028 284 }