Chris Elsholz / Mbed 2 deprecated Quadrocopter

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed TextLCD

Fork of Quadrocopter by Marco Friedmann

messen/messen.cpp@6:27a09e8bebfb, 2017-08-02 (annotated)

Committer:
MarcoF89
Date:
Wed Aug 02 13:11:30 2017 +0000
Revision:
6:27a09e8bebfb
Parent:
5:584acd257531
Child:
7:a54c97795013
Initialisierung; Auslesen der Rohdaten

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MarcoF89 4:3eaf38e4809f 1 #include "mbed.h"
MarcoF89 4:3eaf38e4809f 2 #include "stdio.h"
MarcoF89 4:3eaf38e4809f 3
MarcoF89 6:27a09e8bebfb 4 int16_t high, low;
MarcoF89 4:3eaf38e4809f 5
MarcoF89 4:3eaf38e4809f 6 extern Serial pc(SERIAL_TX, SERIAL_RX);
MarcoF89 4:3eaf38e4809f 7 extern SPI spi(PE_6,PE_5,PE_2); //mosi,miso,sclk
MarcoF89 4:3eaf38e4809f 8 extern DigitalOut ncs(PE_4); //ssel
MarcoF89 4:3eaf38e4809f 9
chriselsholz 5:584acd257531 10 /**********************/
chriselsholz 5:584acd257531 11 /*Initialisieren**Gyro*/
chriselsholz 5:584acd257531 12 /**********************/
chriselsholz 5:584acd257531 13 int initialisierung_gyro()
chriselsholz 5:584acd257531 14 {
chriselsholz 5:584acd257531 15 spi.format(8,0);
chriselsholz 5:584acd257531 16 spi.frequency(1000000);
chriselsholz 5:584acd257531 17
chriselsholz 5:584acd257531 18 ncs = 0;
chriselsholz 5:584acd257531 19 spi.write(0x6B); // Register 107
chriselsholz 5:584acd257531 20 spi.write(0x80); //Reset // Standby off
chriselsholz 5:584acd257531 21 ncs = 1;
chriselsholz 5:584acd257531 22 wait_ms(1000);
chriselsholz 5:584acd257531 23
chriselsholz 5:584acd257531 24
chriselsholz 5:584acd257531 25 ncs=0;
chriselsholz 5:584acd257531 26 spi.write(0x1A); //CONFIG write // DLPF_CFG // Register 26
chriselsholz 5:584acd257531 27 spi.write(0x06); //Bandwidth: 250Hz// Delay: 0.97ms// Fs: 8kHz
chriselsholz 5:584acd257531 28 ncs = 1;
chriselsholz 5:584acd257531 29 wait_ms(1);
chriselsholz 5:584acd257531 30
chriselsholz 5:584acd257531 31 ncs=0;
chriselsholz 5:584acd257531 32 spi.write(0x1B); //Gyro_CONFIG write
chriselsholz 5:584acd257531 33 spi.write(0x18); //Max. Skalenwert//00=+250dps;08=+500dps;10=+1000dps;18=+2000dps
chriselsholz 5:584acd257531 34 ncs = 1;
chriselsholz 5:584acd257531 35 wait_ms(1);
chriselsholz 5:584acd257531 36
chriselsholz 5:584acd257531 37 ncs = 0;
chriselsholz 5:584acd257531 38 spi.write(0x17); // Register 23
MarcoF89 6:27a09e8bebfb 39 spi.write(0x00); // Offset High Byte Z
chriselsholz 5:584acd257531 40 ncs = 1;
chriselsholz 5:584acd257531 41 wait_ms(1);
chriselsholz 5:584acd257531 42
chriselsholz 5:584acd257531 43 ncs = 0;
chriselsholz 5:584acd257531 44 spi.write(0x18); // Register 24
MarcoF89 6:27a09e8bebfb 45 spi.write(0x17); // Offset Low Byte Z
chriselsholz 5:584acd257531 46 ncs = 1;
chriselsholz 5:584acd257531 47 wait_ms(1000);
chriselsholz 5:584acd257531 48 }
chriselsholz 5:584acd257531 49
chriselsholz 5:584acd257531 50 /**********************/
chriselsholz 5:584acd257531 51 /*Initialisieren Acc */
chriselsholz 5:584acd257531 52 /**********************/
chriselsholz 5:584acd257531 53
chriselsholz 5:584acd257531 54 int16_t initialisierung_acc ()
chriselsholz 5:584acd257531 55 {
chriselsholz 5:584acd257531 56 int i,faktor = 0x00;
chriselsholz 5:584acd257531 57 for(i=0;i<=2;i++)
chriselsholz 5:584acd257531 58 {
chriselsholz 5:584acd257531 59 ncs=0;
chriselsholz 5:584acd257531 60 spi.write(0x1c); //ACC_CONFIG write
chriselsholz 5:584acd257531 61 spi.write(faktor); //Skalierung 00=2g;08=4g;10=8g;18=16g
chriselsholz 5:584acd257531 62 ncs=1; //Teilung 16384;8192;4096;2048
chriselsholz 5:584acd257531 63 wait_us(0.1);
chriselsholz 5:584acd257531 64
chriselsholz 5:584acd257531 65 ncs=0;
chriselsholz 5:584acd257531 66 spi.write(0x1d); //ACC_CONFIG_2 08=460Hz;09=184Hz;0a=92Hz
MarcoF89 6:27a09e8bebfb 67 spi.write(0x0e); //TP-Filter 0b=41Hz;0c=20Hz;0d=10Hz;0e=5Hz
chriselsholz 5:584acd257531 68 ncs=1;
chriselsholz 5:584acd257531 69 wait_us(0.1);
chriselsholz 5:584acd257531 70 }
chriselsholz 5:584acd257531 71 switch (faktor)
chriselsholz 5:584acd257531 72 {
chriselsholz 5:584acd257531 73 case 0x00: return 16384; break;
chriselsholz 5:584acd257531 74 case 0x08: return 8192; break;
chriselsholz 5:584acd257531 75 case 0x10: return 4096; break;
chriselsholz 5:584acd257531 76 case 0x18: return 2048; break;
chriselsholz 5:584acd257531 77 }
chriselsholz 5:584acd257531 78 }
chriselsholz 5:584acd257531 79
chriselsholz 5:584acd257531 80
chriselsholz 5:584acd257531 81 /***************/
chriselsholz 5:584acd257531 82 /*Messen Gyro Z*/
chriselsholz 5:584acd257531 83 /***************/
MarcoF89 4:3eaf38e4809f 84
MarcoF89 6:27a09e8bebfb 85 int16_t aktuell_gyro_z()
MarcoF89 6:27a09e8bebfb 86 {
MarcoF89 4:3eaf38e4809f 87 ncs = 0;
MarcoF89 4:3eaf38e4809f 88 spi.write(0xc7); //Z_OUT_H
MarcoF89 6:27a09e8bebfb 89 high = spi.write(0x0);
MarcoF89 6:27a09e8bebfb 90 ncs = 1;
MarcoF89 6:27a09e8bebfb 91 wait_us(0.1);
MarcoF89 6:27a09e8bebfb 92
MarcoF89 6:27a09e8bebfb 93 ncs = 0;
MarcoF89 6:27a09e8bebfb 94 spi.write(0xc8); //Z_OUT_L
MarcoF89 6:27a09e8bebfb 95 low = spi.write(0x0);
MarcoF89 6:27a09e8bebfb 96 ncs = 1;
MarcoF89 6:27a09e8bebfb 97 wait_us(0.1);
MarcoF89 6:27a09e8bebfb 98 return (low | high << 8);
MarcoF89 6:27a09e8bebfb 99 }
MarcoF89 6:27a09e8bebfb 100
MarcoF89 6:27a09e8bebfb 101 /***************/
MarcoF89 6:27a09e8bebfb 102 /*Messen Gyro X*/
MarcoF89 6:27a09e8bebfb 103 /***************/
MarcoF89 6:27a09e8bebfb 104
MarcoF89 6:27a09e8bebfb 105 int16_t aktuell_gyro_x()
MarcoF89 6:27a09e8bebfb 106 {
MarcoF89 6:27a09e8bebfb 107 ncs = 0;
MarcoF89 6:27a09e8bebfb 108 spi.write(0xc3); //Z_OUT_H
MarcoF89 6:27a09e8bebfb 109 high = spi.write(0x0);
MarcoF89 4:3eaf38e4809f 110 ncs = 1;
MarcoF89 4:3eaf38e4809f 111 wait_us(1);
MarcoF89 4:3eaf38e4809f 112
MarcoF89 4:3eaf38e4809f 113 ncs = 0;
MarcoF89 6:27a09e8bebfb 114 spi.write(0xc4); //Z_OUT_L
MarcoF89 6:27a09e8bebfb 115 low = spi.write(0x0);
MarcoF89 4:3eaf38e4809f 116 ncs = 1;
MarcoF89 6:27a09e8bebfb 117 wait_us(0.1);
MarcoF89 6:27a09e8bebfb 118 return low | high << 8;;
MarcoF89 6:27a09e8bebfb 119 }
MarcoF89 6:27a09e8bebfb 120
MarcoF89 6:27a09e8bebfb 121 /***************/
MarcoF89 6:27a09e8bebfb 122 /*Messen Gyro Y*/
MarcoF89 6:27a09e8bebfb 123 /***************/
MarcoF89 6:27a09e8bebfb 124
MarcoF89 6:27a09e8bebfb 125 int16_t aktuell_gyro_y()
MarcoF89 6:27a09e8bebfb 126 {
MarcoF89 6:27a09e8bebfb 127 ncs = 0;
MarcoF89 6:27a09e8bebfb 128 spi.write(0xc5); //Z_OUT_H
MarcoF89 6:27a09e8bebfb 129 high = spi.write(0x0);
MarcoF89 6:27a09e8bebfb 130 ncs = 1;
MarcoF89 6:27a09e8bebfb 131 wait_us(0.1);
MarcoF89 6:27a09e8bebfb 132
MarcoF89 6:27a09e8bebfb 133 ncs = 0;
MarcoF89 6:27a09e8bebfb 134 spi.write(0xc6); //Z_OUT_L
MarcoF89 6:27a09e8bebfb 135 low = spi.write(0x0);
MarcoF89 6:27a09e8bebfb 136 ncs = 1;
MarcoF89 6:27a09e8bebfb 137 wait_us(0.1);
MarcoF89 6:27a09e8bebfb 138 return low | high << 8;
MarcoF89 4:3eaf38e4809f 139 }
MarcoF89 4:3eaf38e4809f 140
chriselsholz 5:584acd257531 141 /************/
chriselsholz 5:584acd257531 142 /*Messen Acc*/
chriselsholz 5:584acd257531 143 /************/
MarcoF89 4:3eaf38e4809f 144
chriselsholz 5:584acd257531 145 int16_t aktuell_acc_x ()
chriselsholz 5:584acd257531 146 {
MarcoF89 4:3eaf38e4809f 147 ncs=0;
chriselsholz 5:584acd257531 148 spi.write(0xbb);
MarcoF89 6:27a09e8bebfb 149 high = spi.write(0x0);
chriselsholz 5:584acd257531 150 ncs=1;
chriselsholz 5:584acd257531 151 wait_us(0.1);
chriselsholz 5:584acd257531 152
chriselsholz 5:584acd257531 153 ncs=0;
chriselsholz 5:584acd257531 154 spi.write(0xbc);
MarcoF89 6:27a09e8bebfb 155 low = spi.write(0x0);
chriselsholz 5:584acd257531 156 ncs=1;
MarcoF89 6:27a09e8bebfb 157 wait_us(0.1);
MarcoF89 6:27a09e8bebfb 158 return low | high<<8;
chriselsholz 5:584acd257531 159 }
MarcoF89 4:3eaf38e4809f 160
chriselsholz 5:584acd257531 161 int16_t aktuell_acc_y ()
chriselsholz 5:584acd257531 162 {
chriselsholz 5:584acd257531 163 ncs=0;
chriselsholz 5:584acd257531 164 spi.write(0xbd);
MarcoF89 6:27a09e8bebfb 165 high = spi.write(0x0);
chriselsholz 5:584acd257531 166 ncs=1;
chriselsholz 5:584acd257531 167 wait_us(0.1);
chriselsholz 5:584acd257531 168
chriselsholz 5:584acd257531 169 ncs=0;
chriselsholz 5:584acd257531 170 spi.write(0xbe);
MarcoF89 6:27a09e8bebfb 171 low = spi.write(0x0);
chriselsholz 5:584acd257531 172 ncs=1;
MarcoF89 6:27a09e8bebfb 173 wait_us(0.1);
MarcoF89 6:27a09e8bebfb 174 return low | high<<8;
chriselsholz 5:584acd257531 175 }
MarcoF89 4:3eaf38e4809f 176
chriselsholz 5:584acd257531 177 int16_t aktuell_acc_z ()
chriselsholz 5:584acd257531 178 {
chriselsholz 5:584acd257531 179 ncs=0;
chriselsholz 5:584acd257531 180 spi.write(0xbf);
MarcoF89 6:27a09e8bebfb 181 high = spi.write(0x0);
chriselsholz 5:584acd257531 182 ncs=1;
chriselsholz 5:584acd257531 183 wait_us(0.1);
chriselsholz 5:584acd257531 184
chriselsholz 5:584acd257531 185 ncs=0;
chriselsholz 5:584acd257531 186 spi.write(0xc0);
MarcoF89 6:27a09e8bebfb 187 low = spi.write(0x0);
MarcoF89 6:27a09e8bebfb 188 ncs=1;
MarcoF89 6:27a09e8bebfb 189 wait_us(0.1);
MarcoF89 6:27a09e8bebfb 190 return low | high<<8;
chriselsholz 5:584acd257531 191 }