Diff: main.cpp

Revision:

3:5dcf9b78f3ad

Parent:

2:9aacd567c70b

Child:

4:ffd7cef72270

--- a/main.cpp	Sun Jan 15 19:40:31 2017 +0000
+++ b/main.cpp	Mon Jan 16 19:09:24 2017 +0000
@@ -1,5 +1,7 @@
 #include "mbed.h"
 
+#define PI 3.1416
+
 Serial pc(USBTX, USBRX);
 SPI spi(p11, p12, p13);
 DigitalOut cs(p14);
@@ -8,35 +10,53 @@
 int addrChip = 0x3A;
 char buffer[3];
 
-int calculer_angle(char accX, char accY, char accZ)
+void calculer_angle(char bufferAngle[], int accZ)
 {
-    pc.printf(&accX);
-    pc.printf(&accY);
-    pc.printf(&accZ);
-    return 0;
+    float angle = abs(cos(static_cast<float>(accZ*90/64)*PI/180)*90);
+    pc.printf("%c\n", angle);
+    int angleInt = (int)(angle*100);
+    snprintf(bufferAngle, sizeof bufferAngle, "%d", angleInt);
+    
+    if(angle < 10)
+    {
+        bufferAngle[3] = bufferAngle[2];
+        bufferAngle[2] = bufferAngle[1];
+        bufferAngle[1] = bufferAngle[0];
+        bufferAngle[0] = '0';
+    }    
 }
 
 int main() {
-    
-    //Activer l'accéléromètre pour lecture 8 bits
-    char activation[2] = {0x2A, 0x03};
-    i2c.write(addrChip, activation, 2, true);
-    
-    //Aller lire les valeurs d'accélération
-    buffer[0] = 0x01;
-    i2c.write(addrChip, buffer, 1, true);
-    i2c.read(addrChip, buffer, 3);
-    int angle = calculer_angle(buffer[0], buffer[1], buffer[2]);
-    //pc.printf("%02x\t", buffer[0]);
-    //pc.printf("%02x\t", buffer[1]);
-    //pc.printf("%02x\t", buffer[2]);
-    //pc.printf("\n");
-    
-    
-    //----Base SPI----
-    cs = 0;
     spi.format(8,0);
     spi.frequency(250000);
-    wait(0.1);
-    cs = 1;
+    while(1)
+    {
+        //Activer l'accéléromètre pour lecture 8 bits
+        char activation[2] = {0x2A, 0x03};
+        char fullScale[2] = {0x0E, 0x00};
+        char resultat[5] = {0};
+        i2c.write(addrChip, activation, 2, true);
+        i2c.write(addrChip, fullScale, 2, true);
+        
+        //Aller lire les valeurs d'accélération
+        buffer[0] = 0x01;
+        i2c.write(addrChip, buffer, 1, true);
+        i2c.read(addrChip, buffer, 3);
+        calculer_angle(resultat, buffer[2]);
+        
+        cs = 0;
+        wait_us(25);
+        spi.write(0x77);
+        spi.write(0b00000010);
+        spi.write(0x7A);
+        spi.write(0xFF);
+        wait_us(100);
+        spi.write(resultat[0]);
+        spi.write(resultat[1]);
+        spi.write(resultat[3]);
+        spi.write(resultat[4]);
+        wait_us(25);
+        cs = 1;
+        wait(0.25);
+    }
 }