Diff: messen/messen.cpp

Revision:

5:584acd257531

Parent:

4:3eaf38e4809f

Child:

6:27a09e8bebfb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/messen/messen.cpp	Wed Aug 02 12:01:14 2017 +0000
@@ -0,0 +1,163 @@
+#include "mbed.h"
+#include "stdio.h"
+
+
+
+extern Serial pc(SERIAL_TX, SERIAL_RX);
+extern SPI spi(PE_6,PE_5,PE_2);         //mosi,miso,sclk
+extern DigitalOut ncs(PE_4);            //ssel
+
+/**********************/
+/*Initialisieren**Gyro*/
+/**********************/
+int initialisierung_gyro()
+{
+    spi.format(8,0);
+    spi.frequency(1000000);
+    
+    ncs = 0;
+    spi.write(0x6B);     // Register 107
+    spi.write(0x80);     //Reset // Standby off
+    ncs = 1;               
+    wait_ms(1000); 
+    
+        
+    ncs=0;
+    spi.write(0x1A);     //CONFIG  write // DLPF_CFG // Register 26
+    spi.write(0x06);     //Bandwidth: 250Hz// Delay: 0.97ms// Fs: 8kHz
+    ncs = 1;                
+    wait_ms(1);
+        
+    ncs=0;
+    spi.write(0x1B);     //Gyro_CONFIG  write  
+    spi.write(0x18);     //Max. Skalenwert//00=+250dps;08=+500dps;10=+1000dps;18=+2000dps
+    ncs = 1;                
+    wait_ms(1); 
+
+    ncs = 0;
+    spi.write(0x17);     // Register 23
+    spi.write(0x00);     // Offset High Byte
+    ncs = 1;               
+    wait_ms(1); 
+    
+    ncs = 0;
+    spi.write(0x18);     // Register 24
+    spi.write(0x17);     // Offset Low Byte
+    ncs = 1;               
+    wait_ms(1000); 
+}
+
+/**********************/
+/*Initialisieren Acc  */
+/**********************/
+
+int16_t initialisierung_acc ()
+{
+    int i,faktor = 0x00; 
+    for(i=0;i<=2;i++)
+    {
+    ncs=0;
+    spi.write(0x1c);     //ACC_CONFIG  write  
+    spi.write(faktor);  //Skalierung    00=2g;08=4g;10=8g;18=16g
+    ncs=1;               //Teilung 16384;8192;4096;2048
+    wait_us(0.1);      
+    
+    ncs=0;
+    spi.write(0x1d);     //ACC_CONFIG_2  08=460Hz;09=184Hz;0a=92Hz
+    spi.write(0x0e); //TP-Filter     0b=41Hz;0c=20Hz;0d=10Hz;0e=5Hz
+    ncs=1;
+    wait_us(0.1);
+    }
+    switch (faktor)
+    {
+        case 0x00: return 16384; break;
+        case 0x08: return  8192; break;
+        case 0x10: return  4096; break;
+        case 0x18: return  2048; break;
+    }
+}
+
+
+/***************/
+/*Messen Gyro Z*/
+/***************/
+
+int aktuell_gyro_z()
+{
+    int16_t z_high, z_low, z_high_low;   
+    float messwert[7];
+    char j, i;
+    
+    ncs = 0;
+    spi.write(0xc7);                    //Z_OUT_H
+    z_high = spi.write(0x0);
+    ncs = 1;
+    wait_us(1);
+       
+    ncs = 0;
+    spi.write(0xc8);                    //Z_OUT_L
+    z_low = spi.write(0x0);
+    ncs = 1;
+    wait_us(1);  
+          
+    z_high_low = z_low | z_high << 8;   //Low und High Byte zusammenfügen
+    return z_high_low;                  
+}
+
+/************/
+/*Messen Acc*/
+/************/
+
+int16_t aktuell_acc_x ()
+{   
+    ncs=0;
+    spi.write(0xbb);            
+    int16_t x_high = spi.write(0x0);
+    ncs=1;
+    wait_us(0.1);
+   
+    ncs=0;
+    spi.write(0xbc);            
+    int16_t x_low = spi.write(0x0);
+    ncs=1;
+    wait_us(0.1);  
+    
+    int16_t x = (x_high<<8) | x_low;
+    return x; 
+}    
+
+int16_t aktuell_acc_y ()
+{   
+    ncs=0;
+    spi.write(0xbd);            
+    int16_t y_high = spi.write(0x0);
+    ncs=1;
+    wait_us(0.1);
+   
+    ncs=0;
+    spi.write(0xbe);            
+    int16_t y_low = spi.write(0x0);
+    ncs=1;
+    wait_us(0.1);  
+    
+    int16_t y = (y_high<<8) | y_low;
+    return y; 
+} 
+
+int16_t aktuell_acc_z ()
+{   
+    ncs=0;
+    spi.write(0xbf);            
+    int16_t z_high = spi.write(0x0);
+    ncs=1;
+    wait_us(0.1);
+   
+    ncs=0;
+    spi.write(0xc0);            
+    int16_t z_low = spi.write(0x0);
+    ncs=1;
+    wait_us(0.1);  
+    
+    int16_t z = (z_high<<8) | z_low;
+    return z; 
+}