Cortney Padua / accel_to_blenano_i2c

code with new accelerometers

Dependencies:   BLE_API i2c-serial-conflict nRF51822

Fork of accel_to_blenano_i2c by Nicholas Kosarek

main.cpp@0:6a249a5be3a4, 2017-04-04 (annotated)

Committer:
znew711
Date:
Tue Apr 04 03:17:10 2017 +0000
Revision:
0:6a249a5be3a4
Child:
1:e2ba28405dd5
it compile;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
znew711 0:6a249a5be3a4 1 /*
znew711 0:6a249a5be3a4 2
znew711 0:6a249a5be3a4 3 Copyright (c) 2012-2014 RedBearLab
znew711 0:6a249a5be3a4 4
znew711 0:6a249a5be3a4 5 Permission is hereby granted, free of charge, to any person obtaining a copy of this software
znew711 0:6a249a5be3a4 6 and associated documentation files (the "Software"), to deal in the Software without restriction,
znew711 0:6a249a5be3a4 7 including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
znew711 0:6a249a5be3a4 8 and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so,
znew711 0:6a249a5be3a4 9 subject to the following conditions:
znew711 0:6a249a5be3a4 10 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
znew711 0:6a249a5be3a4 11
znew711 0:6a249a5be3a4 12 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
znew711 0:6a249a5be3a4 13 INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
znew711 0:6a249a5be3a4 14 PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE
znew711 0:6a249a5be3a4 15 FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
znew711 0:6a249a5be3a4 16 ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
znew711 0:6a249a5be3a4 17
znew711 0:6a249a5be3a4 18 */
znew711 0:6a249a5be3a4 19
znew711 0:6a249a5be3a4 20 #include "mbed.h"
znew711 0:6a249a5be3a4 21 #include "wire.h"
znew711 0:6a249a5be3a4 22
znew711 0:6a249a5be3a4 23 #define BLE_Nano
znew711 0:6a249a5be3a4 24 //#define nRF_51822
znew711 0:6a249a5be3a4 25
znew711 0:6a249a5be3a4 26
znew711 0:6a249a5be3a4 27 #ifdef nRF_51822
znew711 0:6a249a5be3a4 28 #define SCL 28
znew711 0:6a249a5be3a4 29 #define SDA 29
znew711 0:6a249a5be3a4 30 #endif
znew711 0:6a249a5be3a4 31
znew711 0:6a249a5be3a4 32 #ifdef BLE_Nano
znew711 0:6a249a5be3a4 33 #define SCL 7
znew711 0:6a249a5be3a4 34 #define SDA 6
znew711 0:6a249a5be3a4 35 #endif
znew711 0:6a249a5be3a4 36
znew711 0:6a249a5be3a4 37 #define DEV_ADDR 0xA0
znew711 0:6a249a5be3a4 38 #define ADDR_ONE 0x19
znew711 0:6a249a5be3a4 39 #define ADDR_TWO 0x18
znew711 0:6a249a5be3a4 40 #define AXIS_X 0x00
znew711 0:6a249a5be3a4 41 #define AXIS_Y 0x01
znew711 0:6a249a5be3a4 42 #define AXIS_Z 0x02
znew711 0:6a249a5be3a4 43 #define REG_OUT_X_L 0x28
znew711 0:6a249a5be3a4 44 #define REG_CTRL1 0x20
znew711 0:6a249a5be3a4 45 #define REG_CTRL4 0x23
znew711 0:6a249a5be3a4 46 #define RANGE_2G 0x00
znew711 0:6a249a5be3a4 47
znew711 0:6a249a5be3a4 48
znew711 0:6a249a5be3a4 49 #define DATARATE_400HZ 0b0111 // 400Hz
znew711 0:6a249a5be3a4 50 #define DATARATE_200HZ 0b0110 // 200Hz
znew711 0:6a249a5be3a4 51 #define DATARATE_100HZ 0b0101 // 100Hz
znew711 0:6a249a5be3a4 52 #define DATARATE_50HZ 0b0100 // 50Hz
znew711 0:6a249a5be3a4 53 #define DATARATE_25HZ 0b0011 // 25Hz
znew711 0:6a249a5be3a4 54 #define DATARATE_10HZ 0b0010 // 10Hz
znew711 0:6a249a5be3a4 55 #define DATARATE_1HZ 0b0001 // 1Hz
znew711 0:6a249a5be3a4 56 #define DATARATE_POWERDOWN 0 // Power down
znew711 0:6a249a5be3a4 57 #define DATARATE_LOWPOWER_1K6HZ 0b1000 // Low power mode (1.6KHz)
znew711 0:6a249a5be3a4 58 #define DATARATE_LOWPOWER_5KHZ 0b1001 // Low power mode (5KHz) / Normal power mode (1.25KHz)
znew711 0:6a249a5be3a4 59
znew711 0:6a249a5be3a4 60 Serial pc(USBTX, USBRX);
znew711 0:6a249a5be3a4 61 TwoWire Wire = TwoWire(NRF_TWI0);
znew711 0:6a249a5be3a4 62
znew711 0:6a249a5be3a4 63 void AT24C512_WriteBytes(uint16_t addr, uint8_t *pbuf, uint16_t length, uint16_t i2cAddr)
znew711 0:6a249a5be3a4 64 {
znew711 0:6a249a5be3a4 65 Wire.beginTransmission(i2cAddr);
znew711 0:6a249a5be3a4 66 Wire.write( (uint8_t)addr>>8 );
znew711 0:6a249a5be3a4 67 Wire.write( (uint8_t)addr );
znew711 0:6a249a5be3a4 68 Wire.write(pbuf, length);
znew711 0:6a249a5be3a4 69 Wire.endTransmission();
znew711 0:6a249a5be3a4 70 }
znew711 0:6a249a5be3a4 71
znew711 0:6a249a5be3a4 72 void AT24C512_ReadBytes(uint16_t addr, uint8_t *pbuf, uint16_t length, uint16_t i2cAddr)
znew711 0:6a249a5be3a4 73 {
znew711 0:6a249a5be3a4 74 Wire.beginTransmission(i2cAddr);
znew711 0:6a249a5be3a4 75 Wire.write( (uint8_t)addr>>8 );
znew711 0:6a249a5be3a4 76 Wire.write( (uint8_t)addr );
znew711 0:6a249a5be3a4 77 Wire.endTransmission();
znew711 0:6a249a5be3a4 78
znew711 0:6a249a5be3a4 79 Wire.requestFrom(i2cAddr+1, length);
znew711 0:6a249a5be3a4 80 while( Wire.available() > 0 )
znew711 0:6a249a5be3a4 81 {
znew711 0:6a249a5be3a4 82 *pbuf = Wire.read();
znew711 0:6a249a5be3a4 83 pbuf++;
znew711 0:6a249a5be3a4 84 }
znew711 0:6a249a5be3a4 85 }
znew711 0:6a249a5be3a4 86
znew711 0:6a249a5be3a4 87 //Set the bit at index 'bit' to 'value' on 'input' and return
znew711 0:6a249a5be3a4 88 uint8_t setBit(uint8_t input, uint8_t bit, uint8_t value) {
znew711 0:6a249a5be3a4 89 uint8_t mask = 1 << bit;
znew711 0:6a249a5be3a4 90 input &= ~mask;
znew711 0:6a249a5be3a4 91 if (value == 1) {
znew711 0:6a249a5be3a4 92 input |= mask;
znew711 0:6a249a5be3a4 93 }
znew711 0:6a249a5be3a4 94 return input;
znew711 0:6a249a5be3a4 95 }
znew711 0:6a249a5be3a4 96
znew711 0:6a249a5be3a4 97 uint16_t getAxis(uint16_t axis, uint16_t i2cAddr)
znew711 0:6a249a5be3a4 98 {
znew711 0:6a249a5be3a4 99 uint8_t base = REG_OUT_X_L + (2 * axis);
znew711 0:6a249a5be3a4 100 uint8_t* low = new uint8_t[1];
znew711 0:6a249a5be3a4 101 uint8_t* high = new uint8_t[1];
znew711 0:6a249a5be3a4 102 AT24C512_ReadBytes(base, low, 1, i2cAddr);
znew711 0:6a249a5be3a4 103 AT24C512_ReadBytes(base + 1, high, 1, i2cAddr);
znew711 0:6a249a5be3a4 104 uint16_t res = low[0] | (high[0] << 8);
znew711 0:6a249a5be3a4 105 return res;
znew711 0:6a249a5be3a4 106 }
znew711 0:6a249a5be3a4 107
znew711 0:6a249a5be3a4 108 void setRange(uint8_t range, uint16_t i2cAddr) {
znew711 0:6a249a5be3a4 109 uint8_t* val = new uint8_t[1];
znew711 0:6a249a5be3a4 110 AT24C512_ReadBytes(REG_CTRL4, val, 1, i2cAddr);//get value from the register
znew711 0:6a249a5be3a4 111 val[0] &= ~(0b110000); //zero out lowest 4 bits
znew711 0:6a249a5be3a4 112 val[0] |= (range << 4); // write in our new range
znew711 0:6a249a5be3a4 113 AT24C512_WriteBytes(REG_CTRL4, val, 1, i2cAddr);
znew711 0:6a249a5be3a4 114 }
znew711 0:6a249a5be3a4 115
znew711 0:6a249a5be3a4 116 //Set whether we want to use high resolution or not
znew711 0:6a249a5be3a4 117 void setHighResolution(bool highRes, uint16_t i2cAddr) {
znew711 0:6a249a5be3a4 118 uint8_t* val = new uint8_t[1];
znew711 0:6a249a5be3a4 119 AT24C512_ReadBytes(REG_CTRL4, val, 1, i2cAddr);//get value from the register
znew711 0:6a249a5be3a4 120 uint8_t final;
znew711 0:6a249a5be3a4 121 if (highRes) {
znew711 0:6a249a5be3a4 122 final = setBit(val[0], 3, 1);
znew711 0:6a249a5be3a4 123 } else {
znew711 0:6a249a5be3a4 124 final = setBit(val[0], 3, 1);
znew711 0:6a249a5be3a4 125 }
znew711 0:6a249a5be3a4 126 val[0] = final;
znew711 0:6a249a5be3a4 127 AT24C512_WriteBytes(REG_CTRL4, val, 1, i2cAddr);
znew711 0:6a249a5be3a4 128 }
znew711 0:6a249a5be3a4 129
znew711 0:6a249a5be3a4 130 void setAxisStatus(uint8_t axis, bool enable, uint16_t i2cAddr) {
znew711 0:6a249a5be3a4 131 uint8_t* current = new uint8_t[1];
znew711 0:6a249a5be3a4 132 AT24C512_ReadBytes(REG_CTRL1, current, 1, i2cAddr);//get value from the register
znew711 0:6a249a5be3a4 133 uint8_t final;
znew711 0:6a249a5be3a4 134 if (enable == 1) {
znew711 0:6a249a5be3a4 135 final = setBit(current[0], axis, 1);
znew711 0:6a249a5be3a4 136 } else {
znew711 0:6a249a5be3a4 137 final = setBit(current[0], axis, 0);
znew711 0:6a249a5be3a4 138 }
znew711 0:6a249a5be3a4 139 current[0] = final;
znew711 0:6a249a5be3a4 140 AT24C512_WriteBytes(REG_CTRL1, current, 1, i2cAddr);
znew711 0:6a249a5be3a4 141 }
znew711 0:6a249a5be3a4 142
znew711 0:6a249a5be3a4 143 void setDataRate(uint8_t dataRate, uint16_t i2cAddr) {
znew711 0:6a249a5be3a4 144 uint8_t* val = new uint8_t[1];
znew711 0:6a249a5be3a4 145 AT24C512_ReadBytes(REG_CTRL1, val, 1, i2cAddr);
znew711 0:6a249a5be3a4 146 val[0] &= 0b1111; //mask off lower bits
znew711 0:6a249a5be3a4 147 val[0] |= (dataRate << 4);
znew711 0:6a249a5be3a4 148 AT24C512_WriteBytes(REG_CTRL1, val, 1, i2cAddr);
znew711 0:6a249a5be3a4 149 }
znew711 0:6a249a5be3a4 150
znew711 0:6a249a5be3a4 151 void setBDU(bool bdu, uint16_t i2cAddr)
znew711 0:6a249a5be3a4 152 {
znew711 0:6a249a5be3a4 153 uint8_t* val = new uint8_t[1];
znew711 0:6a249a5be3a4 154 AT24C512_ReadBytes(REG_CTRL4, val, 1, i2cAddr);//get value from the register
znew711 0:6a249a5be3a4 155 uint8_t final;
znew711 0:6a249a5be3a4 156 if (bdu == true) {
znew711 0:6a249a5be3a4 157 final = setBit(val[0], 7, 1);
znew711 0:6a249a5be3a4 158 } else {
znew711 0:6a249a5be3a4 159 final = setBit(val[0], 7, 1);
znew711 0:6a249a5be3a4 160 }
znew711 0:6a249a5be3a4 161 val[0] = final;
znew711 0:6a249a5be3a4 162 AT24C512_WriteBytes(REG_CTRL4, val, 1, i2cAddr);
znew711 0:6a249a5be3a4 163 }
znew711 0:6a249a5be3a4 164
znew711 0:6a249a5be3a4 165 uint16_t getX(uint16_t i2cAddr)
znew711 0:6a249a5be3a4 166 {
znew711 0:6a249a5be3a4 167 return getAxis(AXIS_X, i2cAddr);
znew711 0:6a249a5be3a4 168 }
znew711 0:6a249a5be3a4 169
znew711 0:6a249a5be3a4 170 uint16_t getY(uint16_t i2cAddr)
znew711 0:6a249a5be3a4 171 {
znew711 0:6a249a5be3a4 172 return getAxis(AXIS_Y, i2cAddr);
znew711 0:6a249a5be3a4 173 }
znew711 0:6a249a5be3a4 174
znew711 0:6a249a5be3a4 175 uint16_t getZ(uint16_t i2cAddr)
znew711 0:6a249a5be3a4 176 {
znew711 0:6a249a5be3a4 177 return getAxis(AXIS_Z, i2cAddr);
znew711 0:6a249a5be3a4 178 }
znew711 0:6a249a5be3a4 179
znew711 0:6a249a5be3a4 180 int main(void)
znew711 0:6a249a5be3a4 181 {
znew711 0:6a249a5be3a4 182 pc.baud(9600);
znew711 0:6a249a5be3a4 183 wait(5);
znew711 0:6a249a5be3a4 184 //Wire.begin();
znew711 0:6a249a5be3a4 185 Wire.begin(SCL, SDA, TWI_FREQUENCY_100K);
znew711 0:6a249a5be3a4 186 pc.printf("IIC Demo Start \r\n");
znew711 0:6a249a5be3a4 187
znew711 0:6a249a5be3a4 188 setAxisStatus(AXIS_X, true, ADDR_ONE);
znew711 0:6a249a5be3a4 189 setAxisStatus(AXIS_Y, true, ADDR_ONE);
znew711 0:6a249a5be3a4 190 setAxisStatus(AXIS_Z, true, ADDR_ONE);
znew711 0:6a249a5be3a4 191 setDataRate(DATARATE_400HZ, ADDR_ONE);
znew711 0:6a249a5be3a4 192 setHighResolution(true, ADDR_ONE);
znew711 0:6a249a5be3a4 193 setBDU(true, ADDR_ONE);
znew711 0:6a249a5be3a4 194 setRange(RANGE_2G, ADDR_ONE);
znew711 0:6a249a5be3a4 195
znew711 0:6a249a5be3a4 196 setAxisStatus(AXIS_X, true, ADDR_TWO);
znew711 0:6a249a5be3a4 197 setAxisStatus(AXIS_Y, true, ADDR_TWO);
znew711 0:6a249a5be3a4 198 setAxisStatus(AXIS_Z, true, ADDR_TWO);
znew711 0:6a249a5be3a4 199 setDataRate(DATARATE_400HZ, ADDR_ONE);
znew711 0:6a249a5be3a4 200 setHighResolution(true, ADDR_TWO);
znew711 0:6a249a5be3a4 201 setBDU(true, ADDR_TWO);
znew711 0:6a249a5be3a4 202 setRange(RANGE_2G, ADDR_TWO);
znew711 0:6a249a5be3a4 203
znew711 0:6a249a5be3a4 204 wait(0.1);
znew711 0:6a249a5be3a4 205
znew711 0:6a249a5be3a4 206 while(1)
znew711 0:6a249a5be3a4 207 {
znew711 0:6a249a5be3a4 208 pc.printf("Read data from AT24C512 \r\n");
znew711 0:6a249a5be3a4 209 uint16_t x1 = getX(ADDR_ONE);
znew711 0:6a249a5be3a4 210 uint16_t y1 = getY(ADDR_ONE);
znew711 0:6a249a5be3a4 211 uint16_t z1 = getZ(ADDR_ONE);
znew711 0:6a249a5be3a4 212
znew711 0:6a249a5be3a4 213 uint16_t x2 = getX(ADDR_TWO);
znew711 0:6a249a5be3a4 214 uint16_t y2 = getY(ADDR_TWO);
znew711 0:6a249a5be3a4 215 uint16_t z2 = getZ(ADDR_TWO);
znew711 0:6a249a5be3a4 216 pc.printf("Accel one: x %d y %d z %d\r\n", x1, y1, z1);
znew711 0:6a249a5be3a4 217 pc.printf("Accel two: x %d y %d z %d\r\n", x2, y2, z2);
znew711 0:6a249a5be3a4 218 pc.printf("\r\n");
znew711 0:6a249a5be3a4 219 wait(1);
znew711 0:6a249a5be3a4 220 }
znew711 0:6a249a5be3a4 221 }