Ben Evans / Mbed 2 deprecated Defender_Game

Ben Evans University Second Year Project. Game Called Defender.

Dependencies:   mbed

https://os.mbed.com/media/uploads/evanso/84bc1a30759fd6a1e3f1fd1fae3e97c2.png

Hello, soldier, you have been specially selected as the defender of planet earth.

Your mission, if you choose to accept it. Fly around the planet and pulverise invading alien ships for as long as you can. Stop the aliens abducting the innocent people on the ground. Be warned if an alien ship manages to abduct a person and take them to top of the screen, they will no longer move randomly and will begin to hunt you down. This sounds like a challenge you were trained for.

But don’t worry soldier you’re not going into battle empty-handed. Your ship is equipped with a state of the art laser beam that has unlimited ammo and four smart bombs that will destroy anything on the screen. The ship also has three lives so use them wisely.

As time goes on more alien ships will arrive on planet earth increasing the difficulty of your mission. And remember the landscape bellow loops around so if you continually fly in the same direction you go to your original position. Good luck soldier.

FXOS8700CQ/FXOS8700CQ.cpp@87:832ca78426b5, 2020-05-27 (annotated)

Committer:
evanso
Date:
Wed May 27 02:06:05 2020 +0000
Revision:
87:832ca78426b5
Parent:
48:e308067cfea5 
Final Submission. I have read and agreed with Statement of Academic Integrity.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
evanso 46:142a3914c3e3 1 /* FXOS8700CQ Library
evanso 46:142a3914c3e3 2
evanso 46:142a3914c3e3 3 Sample code from ELEC2645 - demonstrates how to create a library
evanso 46:142a3914c3e3 4 for the K64F on-board accelerometer and magnetometer
evanso 46:142a3914c3e3 5
evanso 46:142a3914c3e3 6 (c) Craig A. Evans, University of Leeds, Jan 2017
evanso 46:142a3914c3e3 7
evanso 46:142a3914c3e3 8 */
evanso 46:142a3914c3e3 9
evanso 46:142a3914c3e3 10 #include "FXOS8700CQ.h"
evanso 48:e308067cfea5 11 #define PI 3.14159265359f
evanso 46:142a3914c3e3 12
evanso 46:142a3914c3e3 13 // constructor is called when the object is created - use it to set pins and frequency
evanso 46:142a3914c3e3 14 FXOS8700CQ::FXOS8700CQ(PinName sda, PinName scl)
evanso 46:142a3914c3e3 15 {
evanso 46:142a3914c3e3 16 i2c = new I2C(sda,scl); // create new I2C instance and initialise
evanso 46:142a3914c3e3 17 }
evanso 46:142a3914c3e3 18
evanso 46:142a3914c3e3 19 // destructor is called when the object goes out of scope
evanso 46:142a3914c3e3 20 FXOS8700CQ::~FXOS8700CQ()
evanso 46:142a3914c3e3 21 {
evanso 46:142a3914c3e3 22 delete i2c; // free memory
evanso 46:142a3914c3e3 23 }
evanso 46:142a3914c3e3 24
evanso 46:142a3914c3e3 25 // based on 13.4 in datasheet - 200 Hz hybrid mode (both acc and mag)
evanso 46:142a3914c3e3 26 void FXOS8700CQ::init()
evanso 46:142a3914c3e3 27 {
evanso 46:142a3914c3e3 28 // i2c fast-mode - 10.1.1 data sheet
evanso 46:142a3914c3e3 29 i2c->frequency(400000); // I2C Fast Mode - 400kHz
evanso 46:142a3914c3e3 30
evanso 46:142a3914c3e3 31 // the device has an ID number so we check the value to ensure the correct
evanso 46:142a3914c3e3 32 // drive is on the i2c bus
evanso 46:142a3914c3e3 33 char data = read_byte_from_reg(FXOS8700CQ_WHO_AM_I);
evanso 46:142a3914c3e3 34 if (data != FXOS8700CQ_WHO_AM_I_VAL) { // if correct ID not found, hang and flash error message
evanso 46:142a3914c3e3 35 error("Incorrect ID!");
evanso 46:142a3914c3e3 36 }
evanso 46:142a3914c3e3 37
evanso 46:142a3914c3e3 38 // write 0000 0000 = 0x00 to accelerometer control register 1 to place
evanso 46:142a3914c3e3 39 // FXOS8700CQ into standby
evanso 46:142a3914c3e3 40 // [7-1] = 0000 000
evanso 46:142a3914c3e3 41 // [0]: active=0
evanso 46:142a3914c3e3 42 data = 0x00;
evanso 46:142a3914c3e3 43 send_byte_to_reg(data,FXOS8700CQ_CTRL_REG1);
evanso 46:142a3914c3e3 44
evanso 46:142a3914c3e3 45 // write 0001 1111 = 0x1F to magnetometer control register 1
evanso 46:142a3914c3e3 46 // [7]: m_acal=0: auto calibration disabled
evanso 46:142a3914c3e3 47 // [6]: m_rst=0: no one-shot magnetic reset
evanso 46:142a3914c3e3 48 // [5]: m_ost=0: no one-shot magnetic measurement
evanso 46:142a3914c3e3 49 // [4-2]: m_os=111=7: 8x oversampling (for 200Hz) to reduce magnetometer noise
evanso 46:142a3914c3e3 50 // [1-0]: m_hms=11=3: select hybrid mode with accel and magnetometer active
evanso 46:142a3914c3e3 51 data = 0x1F;
evanso 46:142a3914c3e3 52 send_byte_to_reg(data,FXOS8700CQ_M_CTRL_REG1);
evanso 46:142a3914c3e3 53
evanso 46:142a3914c3e3 54 // write 0010 0000 = 0x20 to magnetometer control register 2
evanso 46:142a3914c3e3 55 // [7]: reserved
evanso 46:142a3914c3e3 56 // [6]: reserved
evanso 46:142a3914c3e3 57 // [5]: hyb_autoinc_mode=1 to map the magnetometer registers to follow
evanso 46:142a3914c3e3 58 // the accelerometer registers
evanso 46:142a3914c3e3 59 // [4]: m_maxmin_dis=0 to retain default min/max latching even though not used
evanso 46:142a3914c3e3 60 // [3]: m_maxmin_dis_ths=0
evanso 46:142a3914c3e3 61 // [2]: m_maxmin_rst=0
evanso 46:142a3914c3e3 62 // [1-0]: m_rst_cnt=00 to enable magnetic reset each cycle
evanso 46:142a3914c3e3 63 data = 0x20;
evanso 46:142a3914c3e3 64 send_byte_to_reg(data,FXOS8700CQ_M_CTRL_REG2);
evanso 46:142a3914c3e3 65
evanso 46:142a3914c3e3 66 // write 0000 0001= 0x01 to XYZ_DATA_CFG register
evanso 46:142a3914c3e3 67 // [7]: reserved
evanso 46:142a3914c3e3 68 // [6]: reserved
evanso 46:142a3914c3e3 69 // [5]: reserved
evanso 46:142a3914c3e3 70 // [4]: hpf_out=0
evanso 46:142a3914c3e3 71 // [3]: reserved
evanso 46:142a3914c3e3 72 // [2]: reserved
evanso 46:142a3914c3e3 73 // [1-0]: fs=01 for accelerometer range of +/-4g range with 0.488mg/LSB
evanso 46:142a3914c3e3 74 data = 0x01;
evanso 46:142a3914c3e3 75 send_byte_to_reg(data,FXOS8700CQ_XYZ_DATA_CFG);
evanso 46:142a3914c3e3 76
evanso 46:142a3914c3e3 77 // write 0000 1101 = 0x0D to accelerometer control register 1
evanso 46:142a3914c3e3 78 // [7-6]: aslp_rate=00
evanso 46:142a3914c3e3 79 // [5-3]: dr=001 for 200Hz data rate (when in hybrid mode)
evanso 46:142a3914c3e3 80 // [2]: lnoise=1 for low noise mode
evanso 46:142a3914c3e3 81 // [1]: f_read=0 for normal 16 bit reads
evanso 46:142a3914c3e3 82 // [0]: active=1 to take the part out of standby and enable sampling
evanso 46:142a3914c3e3 83 data = 0x0D;
evanso 46:142a3914c3e3 84 send_byte_to_reg(data,FXOS8700CQ_CTRL_REG1);
evanso 46:142a3914c3e3 85
evanso 46:142a3914c3e3 86 }
evanso 46:142a3914c3e3 87
evanso 46:142a3914c3e3 88 Data FXOS8700CQ::get_values()
evanso 46:142a3914c3e3 89 {
evanso 46:142a3914c3e3 90 // 13 bytes - status plus 6 channels (2 bytes each)
evanso 46:142a3914c3e3 91 // x,y,z for accelerometer and magnetometer
evanso 46:142a3914c3e3 92 char data[FXOS8700CQ_READ_LEN];
evanso 46:142a3914c3e3 93 read_bytes_from_reg(FXOS8700CQ_STATUS,FXOS8700CQ_READ_LEN,data);
evanso 46:142a3914c3e3 94
evanso 46:142a3914c3e3 95 // copy the 14 bit accelerometer byte data into 16 bit words
evanso 46:142a3914c3e3 96 int acc_x = (int16_t)(((data[1] << 8) | data[2]))>> 2;
evanso 46:142a3914c3e3 97 int acc_y = (int16_t)(((data[3] << 8) | data[4]))>> 2;
evanso 46:142a3914c3e3 98 int acc_z = (int16_t)(((data[5] << 8) | data[6]))>> 2;
evanso 46:142a3914c3e3 99
evanso 46:142a3914c3e3 100 // copy the magnetometer byte data into 16 bit words
evanso 46:142a3914c3e3 101 int mag_x = (int16_t) (data[7] << 8) | data[8];
evanso 46:142a3914c3e3 102 int mag_y = (int16_t) (data[9] << 8) | data[10];
evanso 46:142a3914c3e3 103 int mag_z = (int16_t) (data[11] << 8) | data[12];
evanso 46:142a3914c3e3 104
evanso 46:142a3914c3e3 105 Data values; // struct to hold values
evanso 46:142a3914c3e3 106
evanso 46:142a3914c3e3 107 // 0.488 mg/LSB in 4 g mode (8.1 data sheet)
evanso 46:142a3914c3e3 108 values.ax = 0.488e-3*acc_x;
evanso 46:142a3914c3e3 109 values.ay = 0.488e-3*acc_y;
evanso 46:142a3914c3e3 110 values.az = 0.488e-3*acc_z;
evanso 46:142a3914c3e3 111
evanso 46:142a3914c3e3 112 // the magnetometer sensitivity is fixed at 0.1 μT/LSB
evanso 46:142a3914c3e3 113 values.mx = 0.1e-6*mag_x;
evanso 46:142a3914c3e3 114 values.my = 0.1e-6*mag_y;
evanso 46:142a3914c3e3 115 values.mz = 0.1e-6*mag_z;
evanso 46:142a3914c3e3 116
evanso 46:142a3914c3e3 117 return values;
evanso 46:142a3914c3e3 118 }
evanso 46:142a3914c3e3 119
evanso 46:142a3914c3e3 120 // get roll angle
evanso 46:142a3914c3e3 121 float FXOS8700CQ::get_roll_angle()
evanso 46:142a3914c3e3 122 {
evanso 46:142a3914c3e3 123 Data values = get_values();
evanso 46:142a3914c3e3 124 float roll_angle = atan2(values.ay,values.az)* 180/PI;
evanso 46:142a3914c3e3 125 return roll_angle;
evanso 46:142a3914c3e3 126 }
evanso 46:142a3914c3e3 127
evanso 46:142a3914c3e3 128 // get pitch angle
evanso 46:142a3914c3e3 129 float FXOS8700CQ::get_pitch_angle()
evanso 46:142a3914c3e3 130 {
evanso 46:142a3914c3e3 131 Data values = get_values();
evanso 46:142a3914c3e3 132 float pitch_angle = atan2((-values.ax),(sqrt(pow(values.ay,2) + pow(values.az,2)))) * 180/PI ;
evanso 46:142a3914c3e3 133 return pitch_angle;
evanso 46:142a3914c3e3 134 }
evanso 46:142a3914c3e3 135
evanso 46:142a3914c3e3 136 void FXOS8700CQ::send_byte_to_reg(char byte,char reg)
evanso 46:142a3914c3e3 137 {
evanso 46:142a3914c3e3 138 char data[2];
evanso 46:142a3914c3e3 139 data[0] = reg;
evanso 46:142a3914c3e3 140 data[1] = byte;
evanso 46:142a3914c3e3 141 // send the register address, followed by the data
evanso 46:142a3914c3e3 142 int nack = i2c->write(FXOS8700CQ_ADDR,data,2);
evanso 46:142a3914c3e3 143 if (nack)
evanso 46:142a3914c3e3 144 error("No acknowledgement received!"); // if we don't receive acknowledgement, send error message
evanso 46:142a3914c3e3 145
evanso 46:142a3914c3e3 146 }
evanso 46:142a3914c3e3 147
evanso 46:142a3914c3e3 148 // reads a byte from a specific register
evanso 46:142a3914c3e3 149 char FXOS8700CQ::read_byte_from_reg(char reg)
evanso 46:142a3914c3e3 150 {
evanso 46:142a3914c3e3 151 int nack = i2c->write(FXOS8700CQ_ADDR,&reg,1,true); // send the register address to the slave
evanso 46:142a3914c3e3 152 // true as need to send repeated start condition (5.10.1 datasheet)
evanso 46:142a3914c3e3 153 // http://www.i2c-bus.org/repeated-start-condition/
evanso 46:142a3914c3e3 154 if (nack)
evanso 46:142a3914c3e3 155 error("No acknowledgement received!"); // if we don't receive acknowledgement, send error message
evanso 46:142a3914c3e3 156
evanso 46:142a3914c3e3 157 char rx;
evanso 46:142a3914c3e3 158 nack = i2c->read(FXOS8700CQ_ADDR,&rx,1); // read a byte from the register and store in buffer
evanso 46:142a3914c3e3 159 if (nack)
evanso 46:142a3914c3e3 160 error("No acknowledgement received!"); // if we don't receive acknowledgement, send error message
evanso 46:142a3914c3e3 161
evanso 46:142a3914c3e3 162 return rx;
evanso 46:142a3914c3e3 163 }
evanso 46:142a3914c3e3 164
evanso 46:142a3914c3e3 165 // reads a series of bytes, starting from a specific register
evanso 46:142a3914c3e3 166 void FXOS8700CQ::read_bytes_from_reg(char reg,int number_of_bytes,char bytes[])
evanso 46:142a3914c3e3 167 {
evanso 46:142a3914c3e3 168 int nack = i2c->write(FXOS8700CQ_ADDR,&reg,1,true); // send the slave write address and the configuration register address
evanso 46:142a3914c3e3 169 // true as need to send repeated start condition (5.10.1 datasheet)
evanso 46:142a3914c3e3 170 // http://www.i2c-bus.org/repeated-start-condition/
evanso 46:142a3914c3e3 171
evanso 46:142a3914c3e3 172 if (nack)
evanso 46:142a3914c3e3 173 error("No acknowledgement received!"); // if we don't receive acknowledgement, send error message
evanso 46:142a3914c3e3 174
evanso 46:142a3914c3e3 175 nack = i2c->read(FXOS8700CQ_ADDR,bytes,number_of_bytes); // read bytes
evanso 46:142a3914c3e3 176 if (nack)
evanso 46:142a3914c3e3 177 error("No acknowledgement received!"); // if we don't receive acknowledgement, send error message
evanso 46:142a3914c3e3 178
evanso 46:142a3914c3e3 179 }