ivan fajar
jfd
Dependencies: ADXL345 BufferSerial HMC5883L ITG3200 mbed
Revision 0:149c2a43ef70, committed 2014-02-27
- Comitter:
- ivanff15
- Date:
- Thu Feb 27 13:23:14 2014 +0000
- Commit message:
- nnn
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ADXL345.lib Thu Feb 27 13:23:14 2014 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/Digixx/code/ADXL345/#45faba962a46
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BufferSerial.lib Thu Feb 27 13:23:14 2014 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/KentaShimizu/code/BufferSerial/#633dd0246854
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC5883L.lib Thu Feb 27 13:23:14 2014 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/gmatjuara/code/HMC5883L/#cad18db1e431
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ITG3200.lib Thu Feb 27 13:23:14 2014 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/Vigneshwar/code/ITG3200/#de82c71cfc08
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Feb 27 13:23:14 2014 +0000
@@ -0,0 +1,180 @@
+#include "mbed.h"
+#include <stdio.h>
+#include "ADXL345.h"
+#include "ITG3200.h"
+#include "HMC5883L.h"
+#include "BufferSerial.h"
+
+#define ID_GATHOTKACA 106
+#define itg3200_address (0xD0)
+#define itg3200_reg_xmsb (0x1D)
+#define itg3200_reg_who_am_I (0x00)
+#define itg3200_reg_smplrt_div (0x15)
+#define itg3200_reg_dlpf_fs (0x16)
+#define DLPF_CFG_0 (1<<0)
+#define DLPF_CFG_1 (1<<1)
+#define DLPF_CFG_2 (1<<2)
+#define DLPF_FS_SEL_0 (1<<3)
+#define DLPF_FS_SEL_1 (1<<4)
+
+Serial pc(USBTX,USBRX);
+BufferSerial kirim(USBTX,USBRX,1);
+ADXL345 acc(p28,p27);
+ITG3200 gyro(p28,p27);
+HMC5883L magneto(p28,p27);
+I2C i2c(p28,p27);
+
+int bacaXYZ[3]={0,0,0};
+char gyroX,gyroY,gyroZ;
+char accX,accY,accZ;
+char mx,my,mz;
+char baca;
+short rawAccX, rawAccY, rawAccZ, rawGyroX, rawGyroY, rawGyroZ, rawMagX, rawMagY, rawMagZ;
+unsigned short sendAccX, sendAccY, sendAccZ, sendGyroX, sendGyroY, sendGyroZ, sendMagX, sendMagY, sendMagZ;
+
+void bin_dec_conv(unsigned short data)
+{
+ unsigned short hasil;
+// unsigned char kirim[16];
+
+ hasil = data%100;
+ pc.printf("%d%d%d",(data/100),(hasil/10),(hasil%10));
+
+}
+
+void baca_sensor()
+{
+ acc.getOutput(bacaXYZ);
+ accX=(signed short)bacaXYZ[0];
+ accY=(signed short)bacaXYZ[1];
+ accZ=(signed short)bacaXYZ[2];
+ gyroX=gyro.getGyroX();
+ gyroY=gyro.getGyroY();
+ gyroZ=gyro.getGyroZ();
+ mx=magneto.getMx();
+ my=magneto.getMy();
+ mz=magneto.getMz();
+ rawAccX=-1*accY;
+ rawAccY=accX;
+ rawAccZ=accZ;
+ rawGyroX=-1*gyroY;
+ rawGyroY=gyroX;
+ rawGyroZ=gyroZ;
+ rawMagX=mx;
+ rawMagY=my;
+ rawMagZ=mz;
+// rawAccX=accX;
+// rawAccY=accY;
+// rawAccZ=accZ;
+// rawMagX=mx;
+// rawMagY=my;
+// rawMagZ=mz;
+// rawGyroX=gyroY;
+// rawGyroY=gyroX;
+// rawGyroZ=gyroZ;
+}
+
+void raw_to_send()
+{
+ sendAccX = (unsigned short) (rawAccX + 512);//if(sendAccX>999) sendAccX=999;
+ sendAccY = (unsigned short) (rawAccY + 512);//if(sendAccY>999) sendAccY=999;
+ sendAccZ = (unsigned short) (rawAccZ + 512);//if(sendAccZ>999) sendAccZ=999;
+ sendGyroX = (unsigned short)((rawGyroX*0.06956+2400)*0.2083);//if(sendGyroX>999) sendGyroX=999;
+ sendGyroY = (unsigned short)((rawGyroY*0.06956+2400)*0.2083);//if(sendGyroY>999) sendGyroY=999;
+ sendGyroZ = (unsigned short)((rawGyroZ*0.06956+2400)*0.2083);//if(sendGyroZ>999) sendGyroZ=999;
+ sendMagX = (unsigned short)((rawMagX+2048)*0.25);//if(sendMagX>999) sendMagX=999;
+ sendMagY = (unsigned short)((rawMagY+2048)*0.25);//if(sendMagY>999) sendMagY=999;
+ sendMagZ = (unsigned short)((rawMagZ+2048)*0.25);//if(sendMagZ>999) sendMagZ=999;
+}
+
+int main()
+{
+// pc.printf("start");
+ pc.baud(57600);
+ acc.setPowerControl(0);
+ acc.setPowerControl(16);
+ acc.setPowerControl(8);
+ acc.setDataFormatControl(0x03);
+ //acc.setDataRate(ADXL345_3200HZ);
+ gyro.setLpBandwidth(DLPF_FS_SEL_0|DLPF_FS_SEL_1|DLPF_CFG_0);
+ gyro.setSampleRateDivider(9);
+ magneto.setDefault();
+// pc.printf("mulai");
+ while(1)
+ {
+// acc.getOutput(bacaXYZ);
+// accX=(signed short)bacaXYZ[0];
+// accY=(signed short)bacaXYZ[1];
+// accZ=(signed short)bacaXYZ[2];
+// gyroX=gyro.getGyroX();
+// gyroY=gyro.getGyroY();
+// gyroZ=gyro.getGyroZ();
+// mx=magneto.getMx();
+// my=magneto.getMy();
+// mz=magneto.getMz();
+ // pc.printf("%d %d %d|%d %d %d|%d %d %d\n",accX,accY,accZ,gyroX,gyroY,gyroZ,mx,my,mz);
+ wait_ms(200);
+ if(kirim.readable())
+ {
+ baca=kirim.getc();
+ if(baca=='s')
+ baca='0';
+ while(1)
+ {
+ //pc.printf("ivan\n");
+ baca_sensor();
+ raw_to_send();
+
+ pc.putc(0x0D);
+ bin_dec_conv(ID_GATHOTKACA);
+ pc.putc(0x20);
+
+
+ bin_dec_conv(sendAccX);
+ pc.putc(0x20);
+
+
+ bin_dec_conv(sendAccY);
+ pc.putc(0x20);
+
+
+ bin_dec_conv(sendAccZ);
+ pc.putc(0x20);
+
+
+ bin_dec_conv(sendGyroX);
+ pc.putc(0x20);
+
+
+ bin_dec_conv(sendGyroY);
+ pc.putc(0x20);
+
+
+ bin_dec_conv(sendGyroZ);
+ pc.putc(0x20);
+
+
+ bin_dec_conv(sendMagX);
+ pc.putc(0x20);
+
+
+ bin_dec_conv(sendMagY);
+ pc.putc(0x20);
+
+
+ bin_dec_conv(sendMagZ);
+
+ wait_ms(75);
+
+ baca=kirim.getc();
+ if(baca=='x')
+ {
+ baca='0';
+ break;
+ }
+ }
+ }
+
+
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Feb 27 13:23:14 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9114680c05da