jack zen
ADXL345Test_for_motor
Fork of
ADXL345Test
by 
Frederick Huang
main.cpp
- Committer:
- jack__zen
- Date:
- 2017-09-05
- Revision:
- 5:ff61547eaee6
- Parent:
- 4:f5a78245f2d0
File content as of revision 5:ff61547eaee6:
#include "ADXL345_I2C.h"
#include "TM1638.h"
#include "mbed.h"
#if(1)
#include "Font_7Seg.h"
// DisplayData_t size is 16 bytes (8 Grids @ 10 Segments)
TM1638::DisplayData_t all_str = {0xFF,0x00, 0xFF,0x03, 0xFF,0x03, 0xFF,0x03, 0xFF,0x03, 0xFF,0x03, 0xFF,0x03, 0xFF,0x03};
TM1638::DisplayData_t cls_str = {0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00};
TM1638::DisplayData_t hello_str = {C7_H,0x00, C7_E,0x00, C7_L,0x00, C7_L,0x00, C7_O,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00};
TM1638::DisplayData_t ledx[] = {
{C7_R,0x00, C7_A,0x00, C7_W,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_X,0x00},
{C7_M,0x02, C7_E,0x00, C7_A,0x00, C7_N,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_X,0x00},
{C7_S,0x00, C7_U,0x02, C7_M,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_X,0x00},
{C7_S,0x00, C7_T,0x00, C7_D,0x02, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_X,0x00},
{C7_1,0x00, C7_I,0x00, C7_O,0x00, 0x00,0x02, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_X,0x00},
{C7_2,0x00, C7_I,0x00, C7_O,0x00, 0x00,0x00, 0x00,0x02, 0x00,0x00, 0x00,0x00, C7_X,0x00},
{C7_3,0x00, C7_I,0x00, C7_O,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x02, 0x00,0x00, C7_X,0x00},
{C7_1,0x00, C7_D,0x00, C7_O,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x02, C7_X,0x00},
{C7_2,0x00, C7_D,0x00, C7_O,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_X,0x02},
};
TM1638::DisplayData_t ledy[] = {
{C7_R,0x00, C7_A,0x00, C7_W,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_Y,0x00},
{C7_M,0x02, C7_E,0x00, C7_A,0x00, C7_N,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_Y,0x00},
{C7_S,0x00, C7_U,0x02, C7_M,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_Y,0x00},
{C7_S,0x00, C7_T,0x00, C7_D,0x02, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_Y,0x00},
{C7_1,0x00, C7_I,0x00, C7_O,0x00, 0x00,0x02, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_Y,0x00},
{C7_2,0x00, C7_I,0x00, C7_O,0x00, 0x00,0x00, 0x00,0x02, 0x00,0x00, 0x00,0x00, C7_Y,0x00},
{C7_3,0x00, C7_I,0x00, C7_O,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x02, 0x00,0x00, C7_Y,0x00},
{C7_1,0x00, C7_D,0x00, C7_O,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x02, C7_Y,0x00},
{C7_2,0x00, C7_D,0x00, C7_O,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_Y,0x02},
};
TM1638::DisplayData_t ledz[] = {
{C7_R,0x00, C7_A,0x00, C7_W,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_Z,0x00},
{C7_M,0x02, C7_E,0x00, C7_A,0x00, C7_N,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_Z,0x00},
{C7_S,0x00, C7_U,0x02, C7_M,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_Z,0x00},
{C7_S,0x00, C7_T,0x00, C7_D,0x02, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_Z,0x00},
{C7_1,0x00, C7_I,0x00, C7_O,0x00, 0x00,0x02, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_Z,0x00},
{C7_2,0x00, C7_I,0x00, C7_O,0x00, 0x00,0x00, 0x00,0x02, 0x00,0x00, 0x00,0x00, C7_Z,0x00},
{C7_3,0x00, C7_I,0x00, C7_O,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x02, 0x00,0x00, C7_Z,0x00},
{C7_1,0x00, C7_D,0x00, C7_O,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x02, C7_Z,0x00},
{C7_2,0x00, C7_D,0x00, C7_O,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_Z,0x02},
};
TM1638::DisplayData_t animate[] = {
{S7_A,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00},
{0x00,0x00, S7_A,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00},
{0x00,0x00, 0x00,0x00, S7_A,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00},
{0x00,0x00, 0x00,0x00, 0x00,0x00, S7_A,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00},
{0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, S7_A,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00},
{0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, S7_A,0x00, 0x00,0x00, 0x00,0x00},
{0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, S7_A,0x00, 0x00,0x00},
{0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, S7_A,0x00},
{0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, S7_B,0x00},
{0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, S7_C,0x00},
{0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, S7_D,0x00},
{0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, S7_D,0x00, 0x00,0x00},
{0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, S7_D,0x00, 0x00,0x00, 0x00,0x00},
{0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, S7_D,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00},
{0x00,0x00, 0x00,0x00, 0x00,0x00, S7_D,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00},
{0x00,0x00, 0x00,0x00, S7_D,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00},
{0x00,0x00, S7_D,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00},
{S7_D,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00},
{S7_E,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00},
{S7_F,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00},
};
//TM1638::DisplayData_t axis[] = {
// {0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_X,0x00},
// {0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_Y,0x00},
// {0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, 0x00,0x00, C7_Z,0x00},
// };
//TM1638::DisplayData_t axis1[] = {
// {C7_1,0x00, C7_X,0x00, 0x00,0x00, 0x00,0x00 ,C7_2,0x00, C7_X,0x00, 0x00,0x00, 0x00,0x00 },
// {C7_1,0x00, C7_Y,0x00, 0x00,0x00, 0x00,0x00 ,C7_2,0x00, C7_X,0x00, 0x00,0x00, 0x00,0x00 },
// {C7_1,0x00, C7_Z,0x00, 0x00,0x00, 0x00,0x00 ,C7_2,0x00, C7_X,0x00, 0x00,0x00, 0x00,0x00 },
// };
//TM1638::DisplayData_t axis2[] = {
// {C7_1,0x00, C7_X,0x00, 0x00,0x00, 0x00,0x00 ,C7_2,0x00, C7_Y,0x00, 0x00,0x00, 0x00,0x00 },
// {C7_1,0x00, C7_Y,0x00, 0x00,0x00, 0x00,0x00 ,C7_2,0x00, C7_Y,0x00, 0x00,0x00, 0x00,0x00 },
// {C7_1,0x00, C7_Z,0x00, 0x00,0x00, 0x00,0x00 ,C7_2,0x00, C7_Y,0x00, 0x00,0x00, 0x00,0x00 },
// };
//TM1638::DisplayData_t axis3[] = {
// {C7_1,0x00, C7_X,0x00, 0x00,0x00, 0x00,0x00 ,C7_2,0x00, C7_Z,0x00, 0x00,0x00, 0x00,0x00 },
// {C7_1,0x00, C7_Y,0x00, 0x00,0x00, 0x00,0x00 ,C7_2,0x00, C7_Z,0x00, 0x00,0x00, 0x00,0x00 },
// {C7_1,0x00, C7_Z,0x00, 0x00,0x00, 0x00,0x00 ,C7_2,0x00, C7_Z,0x00, 0x00,0x00, 0x00,0x00 },
// };
// KeyData_t size is 4 bytes
TM1638::KeyData_t keydata;
//TM1638_LEDKEY8 declaration
TM1638_LEDKEY8 LEDKEY8(PA_7,PA_6,PB_3, PD_14);
#endif
ADXL345_I2C accelerometer(I2C_SDA, I2C_SCL);
Serial pc(USBTX, USBRX);
AnalogOut AO1(PA_4),AO2(PA_5);
DigitalOut DO1(PG_0),DO2(PE_0);
DigitalIn DI(PG_1);
class RangeMapper
{
/*
RangeMapper convert data from input range to output range
Math formular is y_output = ratio * x_input + offset;
*/
protected:
double _ratio;
double _offset;
double _outrange;
public:
RangeMapper(double x_min, double x_max, double y_min, double y_max)
{
_ratio = (y_max - y_min) / (x_max - x_min);
_offset = y_min - x_min * _ratio;
_outrange = y_max - y_min;
};
~RangeMapper(){};
double getOutput(double x_input)
{return x_input * _ratio + _offset;};
void zoom(float ratio)
{_ratio *= ratio;};
void shift(float ratio)
{_offset += _outrange * ratio ; } ;
};
class DataProcess
{
protected:
// Statistics
int64_t _summary;
double _squardsum; // summary (xi^2)
int64_t _numbers;
int64_t _max;
int64_t _min;
// integration, assume time interval is same
int64_t _itg1; //1 order integration
int64_t _itg2; //2 order integration
int64_t _itg3; //3 order integration
// differentiation, assume time interval is same
int64_t _preData;
int64_t _dif1; //1 order differentiation
int64_t _dif2; //2 order differentiation
double _absolute;
public:
DataProcess():
_summary(0), _squardsum(0), _numbers(0), _max(0), _min(0),
_itg1(0), _itg2(0), _itg3(0), _preData(0), _dif1(0), _dif2(0) ,_absolute(0){};
~DataProcess() {};
void putData(int64_t x) {
int64_t temp;
if (x > _max) _max = x;
if (x < _min) _min = x;
_summary += x;
_squardsum += x*x;
_numbers ++;
_itg1 += x - _summary / _numbers ;
_itg2 += _itg1;
_itg3 += _itg2;
temp = _dif1;
_dif1 = x - _preData;
_preData = x;
_dif2 = _dif1 - temp;
if (x - _summary / _numbers >= 0) _absolute = x - _summary / _numbers;
if (x - _summary / _numbers < 0) _absolute = _summary / _numbers - x ;
};
int64_t getSum(void) {return _summary;};
double getMean(void) {return (double)_summary / (double)_numbers ;};
double getStdDiv(void) {return sqrt((_squardsum - (double)_summary*_summary / (double)_numbers ) / (double)_numbers ); };
int64_t getMax(void) {return _max; };
int64_t getMin(void) {return _min; };
int64_t getCount(void) {return _numbers;} ;
int64_t getO1integration(void) {return _itg1;};
int64_t getO2integration(void) {return _itg2;};
int64_t getO3integration(void) {return _itg3;};
int64_t GetO1differ(void) {return _dif1;};
int64_t GetO2differ(void) {return _dif2;};
double getabsolute(void) {return _absolute;};
};
int main() {
int cmd =0,cmd2=0,cmd3=0,cmd4=0,t=0,tmin=1250;//get12=0;
int test[8]={0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
//int cmd1 =0,ch1=0,ch2=0;
char getc =0;
int channel = 0, datamode= 0;//, datamode2 =9;
bool output = false, mapout = true;
pc.baud(115200);
int readings[3] = {0, 0, 0};
//RangeMapper DAC_Mapper( 0 - 1<<13, 1<<13, 0, 1);
DataProcess dp1, dp2, dp3;
DataProcess dp[3] = {dp1, dp2, dp3};
pc.printf("Starting ADXL345 test...\r\n");
wait(.001);
pc.printf("Device ID is: 0x%02x\r\n", accelerometer.getDeviceID());
wait(.001);
#if(1)
LEDKEY8.cls();
LEDKEY8.writeData(all_str);//全亮
wait(0.1);
LEDKEY8.setBrightness(TM1638_BRT3);
wait(1);
// LEDKEY8.setBrightness(TM1638_BRT0);
// wait(1);
// LEDKEY8.setBrightness(TM1638_BRT4);
// wait(1);
//LEDKEY8.cls(true);
LEDKEY8.writeData(cls_str);
#endif
restart:
// These are here to test whether any of the initialization fails. It will print the failure
if (accelerometer.setPowerControl(0x00)){
pc.printf("didn't intitialize power control\r\n");
return 0; }
wait(.001);
//Full resolution, +/-16g, 4mg/LSB.
if(accelerometer.setDataFormatControl(0x0B)){
//Full resolution, +/-2g, 4mg/LSB.
//if(accelerometer.setDataFormatControl(0x08)){
pc.printf("didn't set data format\r\n");
return 0; }
wait(.001);
//3.2kHz data rate.
if(accelerometer.setDataRate(ADXL345_3200HZ)){
pc.printf("didn't set data rate\r\n");
return 0; }
wait(.001);
//Measurement mode.
if(accelerometer.setPowerControl(MeasurementMode)) {
pc.printf("didn't set the power control to measurement\r\n");
return 0; }
// pc.printf("x-axis, y-axis, z-axis\r\n");
pc.printf("Data Commands: \r\n");
pc.printf(" x -> x channdel \r\n");
pc.printf(" y -> y channdel \r\n");
pc.printf(" z -> z channdel \r\n");
pc.printf(" o,0 -> data output on/off \r\n");
pc.printf(" i,1 -> mapper on/off \r\n");
pc.printf(" a -> raw data \r\n");
pc.printf(" b -> mean \r\n");
pc.printf(" c -> summary \r\n");
pc.printf(" d -> variance \r\n");
pc.printf(" e -> 1st order Integration \r\n");
pc.printf(" f -> 2nd order Integration \r\n");
pc.printf(" g -> 3rd order Integration \r\n");
pc.printf(" h -> print Data Commands \r\n");
pc.printf(" k -> 1nd order Differentiation \r\n");
pc.printf(" m -> 2nd order Differentiation \r\n");
pc.printf(" + -> Output Zoom In 2X \r\n");
pc.printf(" - -> Output Zoom Out 2Z \r\n");
pc.printf(" ^ -> shift up 1% \r\n");
pc.printf(" v -> shift down 1% \r\n");
pc.printf("Press any key to start. \r\n");
//getc = pc.getc();
int error_count=0;
RangeMapper DAC_Mapper1( 0 - 1<<13, 1<<13, 0, 1);
RangeMapper DAC_Mapper2( 0 - 1<<13, 1<<13, 0, 1);
while (1) {
t++;
LEDKEY8.getKeys(&keydata);//130us
#if(1)
if(t>tmin){
if (keydata[LEDKEY8_SW1_IDX] == LEDKEY8_SW1_BIT )
{
t=0;
switch(cmd)
{
case 0 :pc.printf("Data procesing output switch to X channdel\r\n");cmd++;channel = 0;test[0]=C7_X;break;
case 1 :pc.printf("Data procesing output switch to Y channdel\r\n");cmd++;channel = 1;test[0]=C7_Y;break;
case 2 :pc.printf("Data procesing output switch to Z channdel\r\n");cmd=0;channel = 2;test[0]=C7_Z;break;
default: break;
}
TM1638::DisplayData_t animate1={test[0],0x00, test[1],0x00, test[2],0x00,test[3],0x00, test[4],0x00,test[5],0x00, test[6],0x00,test[7],0x00};
LEDKEY8.writeData(animate1);
}
if (keydata[LEDKEY8_SW2_IDX] == LEDKEY8_SW2_BIT )
{
t=0;
// switch(channel)
// {
// case 0 :LEDKEY8.writeData(ledx[cmd2]);break;
// case 1 :LEDKEY8.writeData(ledy[cmd2]);break;
// case 2 :LEDKEY8.writeData(ledz[cmd2]);break;
// default: break;
// }
switch(cmd2)
{
case 0 :pc.printf("CH2(PA_5): Set to raw data output.\r\n");cmd2++;test[1]=C7_R;test[2]=C7_A;test[3]=C7_W;datamode=0;break;
case 1 :pc.printf("CH2(PA_5): Set to mean output.\r\n");cmd2++;datamode=1;test[1]=C7_M;test[2]=C7_E;test[3]=C7_A;break;
case 2 :pc.printf("CH2(PA_5): Set to summary output.\r\n");cmd2++;datamode=2;test[1]=C7_S;test[2]=C7_U;test[3]=C7_M;break;
case 3 :pc.printf("CH2(PA_5): Set to variance output.\r\n");cmd2++;datamode=3;test[1]=C7_S;test[1]=C7_T;test[3]=C7_D;break;
case 4 :pc.printf("CH2(PA_5): Set to 1st order Integration output.\r\n");cmd2++;datamode=4;test[1]=C7_1;test[2]=C7_I;test[3]=C7_O;break;
case 5 :pc.printf("CH2(PA_5): Set to 2nd order Integration output.\r\n");cmd2++;datamode=5;test[1]=C7_2;test[2]=C7_I;test[3]=C7_O;break;
case 6 :pc.printf("CH2(PA_5): Set to 3rd order Integration output.\r\n");cmd2++;datamode=6;test[1]=C7_3;test[2]=C7_I;test[3]=C7_O;break;
case 7 :pc.printf("CH2(PA_5): Set to 1st order Differentiation output.\r\n");cmd2++;datamode=7;test[1]=C7_1;test[2]=C7_D;test[3]=C7_O;break;
case 8 :pc.printf("CH2(PA_5): Set to 2nd order Differentiation output.\r\n");cmd2++;datamode=8;test[1]=C7_2;test[2]=C7_D;test[3]=C7_O;break;
case 9 :pc.printf("CH2(PA_5): Set to getabsolute output.\r\n");cmd2=0;datamode=9;test[1]=C7_A;test[2]=C7_B;test[3]=C7_S;break;
default: break;
}
TM1638::DisplayData_t animate1={test[0],0x00, test[1],0x00, test[2],0x00,test[3],0x00, test[4],0x00,test[5],0x00, test[6],0x00,test[7],0x00};
LEDKEY8.writeData(animate1);//340us
}
if (keydata[LEDKEY8_SW3_IDX] == LEDKEY8_SW3_BIT | keydata[LEDKEY8_SW4_IDX] == LEDKEY8_SW4_BIT)
{
if (keydata[LEDKEY8_SW3_IDX] == LEDKEY8_SW3_BIT )
{
t=0;
cmd3++;
DAC_Mapper2.zoom(2);
pc.printf("Mapout zoom in.\r\n");
}
if (keydata[LEDKEY8_SW4_IDX] == LEDKEY8_SW4_BIT )
{
t=0;
cmd3--;
DAC_Mapper2.zoom(0.5);
pc.printf("Mapout zoom out.\r\n");
}
test[4]=C7_Z;
if(cmd3<0)
{
test[5]=S7_G;
}
else
{
test[5]=0;
}
switch(cmd3%10)
{
case 0 :test[7]=C7_0;break;
case -1:
case 1 :test[7]=C7_1;break;
case -2:
case 2 :test[7]=C7_2;break;
case -3:
case 3 :test[7]=C7_3;break;
case -4:
case 4 :test[7]=C7_4;break;
case -5:
case 5 :test[7]=C7_5;break;
case -6:
case 6 :test[7]=C7_6;break;
case -7:
case 7 :test[7]=C7_7;break;
case -8:
case 8 :test[7]=C7_8;break;
case -9:
case 9 :test[7]=C7_9;break;
default: break;
}
switch(cmd3/10)
{
case 0 :test[6]=C7_0;break;
case -1:
case 1 :test[6]=C7_1;break;
case -2:
case 2 :test[6]=C7_2;break;
case -3:
case 3 :test[6]=C7_3;break;
case -4:
case 4 :test[6]=C7_4;break;
case -5:
case 5 :test[6]=C7_5;break;
case -6:
case 6 :test[6]=C7_6;break;
case -7:
case 7 :test[6]=C7_7;break;
case -8:
case 8 :test[6]=C7_8;break;
case -9:
case 9 :test[6]=C7_9;break;
default: break;
}
TM1638::DisplayData_t animate1={test[0],0x00, test[1],0x00, test[2],0x00,test[3],0x00, test[4],0x00,test[5],0x00, test[6],0x00,test[7],0x00};
LEDKEY8.writeData(animate1);
}
if(keydata[LEDKEY8_SW5_IDX] == LEDKEY8_SW5_BIT | keydata[LEDKEY8_SW6_IDX] == LEDKEY8_SW6_BIT)
{
if (keydata[LEDKEY8_SW5_IDX] == LEDKEY8_SW5_BIT )
{
t=0;
cmd4++;
DAC_Mapper2.shift(0.1) ;
pc.printf("Mapout shift up.\r\n");
}
if (keydata[LEDKEY8_SW6_IDX] == LEDKEY8_SW6_BIT )
{
t=0;
cmd4--;
DAC_Mapper2.shift(-0.1) ;
pc.printf("Mapout shift down.\r\n");
}
test[4
]=C7_S;
if(cmd4<0)
{
test[5]=S7_G;
}
else
{
test[5]=0;
}
switch(cmd4%10)
{
case 0 :test[7]=C7_0;break;
case -1:
case 1 :test[7]=C7_1;break;
case -2:
case 2 :test[7]=C7_2;break;
case -3:
case 3 :test[7]=C7_3;break;
case -4:
case 4 :test[7]=C7_4;break;
case -5:
case 5 :test[7]=C7_5;break;
case -6:
case 6 :test[7]=C7_6;break;
case -7:
case 7 :test[7]=C7_7;break;
case -8:
case 8 :test[7]=C7_8;break;
case -9:
case 9 :test[7]=C7_9;break;
default: break;
}
switch(cmd4/10)
{
case 0 :test[6]=C7_0;break;
case -1:
case 1 :test[6]=C7_1;break;
case -2:
case 2 :test[6]=C7_2;break;
case -3:
case 3 :test[6]=C7_3;break;
case -4:
case 4 :test[6]=C7_4;break;
case -5:
case 5 :test[6]=C7_5;break;
case -6:
case 6 :test[6]=C7_6;break;
case -7:
case 7 :test[6]=C7_7;break;
case -8:
case 8 :test[6]=C7_8;break;
case -9:
case 9 :test[6]=C7_9;break;
default: break;
}
TM1638::DisplayData_t animate1={test[0],0x00, test[1],0x00, test[2],0x00,test[3],0x00, test[4],0x00,test[5],0x00, test[6],0x00,test[7],0x00};
LEDKEY8.writeData(animate1);
}
if (keydata[LEDKEY8_SW7_IDX] == LEDKEY8_SW7_BIT )
{
t=0;
output=!output;
pc.printf("Turn %s data output.\r\n", (output ? "On" : "Off") );
}
if (keydata[LEDKEY8_SW8_IDX] == LEDKEY8_SW8_BIT )
{
t=0;
mapout=!mapout;
pc.printf("Turn %s mapping output.\r\n", (mapout ? "On" : "Off") );
}
#endif
//pc.printf("%i\r\n", pc.readable());
if (pc.readable())
{
getc = pc.getc();
pc.format(8);
t=0;
switch(getc)
{
case 'x' : channel = 0 ; pc.printf("Data procesing output switch to X channdel \r\n");test[0]=C_X; break;
case 'y' : channel = 1 ; pc.printf("Data procesing output switch to Y channdel \r\n");test[0]=C_Y; break;
case 'z' : channel = 2 ; pc.printf("Data procesing output switch to Z channdel \r\n");test[0]=C_Z; break;
case '0' :
case 'o' : output = !output ; pc.printf("Turn %s data output.\r\n", (output ? "On" : "Off") ); break;
case '1' :
case 'i' : mapout = !mapout ; pc.printf("Turn %s mapping output.\r\n", (mapout ? "On" : "Off") ); break;
case 'a' : datamode = 0 ; pc.printf("CH2(PA_5): Set to raw data output.\r\n"); break;
case 'b' : datamode = 1 ; pc.printf("CH2(PA_5): Set to mean output.\r\n"); break;
case 'c' : datamode = 2 ; pc.printf("CH2(PA_5): Set to summary output.\r\n"); break;
case 'd' : datamode = 3 ; pc.printf("CH2(PA_5): Set to variance output.\r\n"); break;
case 'e' : datamode = 4 ; pc.printf("CH2(PA_5): Set to 1st order Integration output.\r\n"); break;
case 'f' : datamode = 5 ; pc.printf("CH2(PA_5): Set to 2nd order Integration output.\r\n"); break;
case 'g' : datamode = 6 ; pc.printf("CH2(PA_5): Set to 3rd order Integration output.\r\n"); break;
case 'h' : datamode = 0 ; pc.printf("Data Commands: \r\n");
pc.printf(" x -> x channdel \r\n");
pc.printf(" y -> y channdel \r\n");
pc.printf(" z -> z channdel \r\n");
pc.printf(" o,0 -> data output on/off \r\n");
pc.printf(" i,1 -> mapper on/off \r\n");
pc.printf(" a -> raw data \r\n");
pc.printf(" b -> mean \r\n");
pc.printf(" c -> summary \r\n");
pc.printf(" d -> variance \r\n");
pc.printf(" e -> 1st order Integration \r\n");
pc.printf(" f -> 2nd order Integration \r\n");
pc.printf(" g -> 3rd order Integration \r\n");
pc.printf(" h -> print Data Commands \r\n");
pc.printf(" k -> 1nd order Differentiation \r\n");
pc.printf(" m -> 2nd order Differentiation \r\n");
pc.printf(" + -> Output Zoom In 2X \r\n");
pc.printf(" - -> Output Zoom Out 2Z \r\n");
pc.printf(" ^ -> shift up 1% \r\n");
pc.printf(" v -> shift down 1% \r\n");
break;
case 'k' : datamode = 7 ; pc.printf("CH2(PA_5): Set to 1st order Differentiation output.\r\n"); break;
case 'm' : datamode = 8 ; pc.printf("CH2(PA_5): Set to 2nd order Differentiation output.\r\n"); break;
case '=' :
case '+' : DAC_Mapper2.zoom(2) ; pc.printf("Mapout zoom in.\r\n"); cmd3++;break;
case '-' : DAC_Mapper2.zoom(0.5) ; pc.printf("Mapout zoom out.\r\n");cmd3--; break;
case '6' :
case '^' : DAC_Mapper2.shift(0.01) ; pc.printf("Mapout shift up.\r\n");cmd4++; break;
case 'v' : DAC_Mapper2.shift(-0.01) ; pc.printf("Mapout shift down.\r\n");cmd4--; break;
default: break;
}
}//if (pc.readable())
}//t>=tmin
DO2=1;
accelerometer.getOutput(readings);//220us
DO2=0;
if (( 17601 == readings[0] ) || ( 17601 == readings[1] ) || ( 17601 == readings[2] ))
{
error_count++;
if (error_count>10)
{
accelerometer.setPowerControl(0);
pc.printf("Sensor Halt!\r\n");
goto restart;
}
}
else
{
double mapdata;
error_count = 0;
int i;
for (i = 0; i < 3; i++)
{
readings[i] = (int16_t) readings[i];
dp[i].putData(readings[i]);
}
if (output)//output
{
switch (datamode)
{
case 0: pc.printf("RAW: %i, %i, %i\r\n", (int16_t)readings[0], (int16_t)readings[1], (int16_t)readings[2]);break;
//case 0: mapdata = readings[channel]; pc.printf("RAW: %i, %i, %i\r\n", readings[0], readings[1], readings[2]); break;
case 1: pc.printf("MEAN: %f, %f, %f\r\n", dp[0].getMean(), dp[1].getMean(), dp[2].getMean() ); break;
case 2: pc.printf("SUM: %jd, %jd, %jd\r\n", dp[0].getSum(), dp[1].getSum(), dp[2].getSum() ); break;
case 3: pc.printf("STD: %f, %f, %f\r\n", dp[0].getStdDiv(), dp[1].getStdDiv(), dp[2].getStdDiv() ); break;
case 4: pc.printf("1ITG: %jd, %jd, %jd\r\n", dp[0].getO1integration(), dp[1].getO1integration(), dp[2].getO1integration() ); break;
case 5: pc.printf("2ITG: %jd, %jd, %jd\r\n", dp[0].getO2integration(), dp[1].getO2integration(), dp[2].getO2integration() ); break;
case 6: pc.printf("3ITG: %jd, %jd, %jd\r\n", dp[0].getO3integration(), dp[1].getO3integration(), dp[2].getO3integration() ); break;
case 7: pc.printf("1DIF: %jd, %jd, %jd\r\n", dp[0].GetO1differ(), dp[1].GetO1differ(), dp[2].GetO1differ() ); break;
case 8: pc.printf("2DIF: %jd, %jd, %jd\r\n", dp[0].GetO2differ(), dp[1].GetO2differ(), dp[2].GetO2differ() ); break;
case 9: pc.printf("2DIF: %jd, %jd, %jd\r\n", dp[0].getabsolute(), dp[1].GetO2differ(), dp[2].GetO2differ() ); break;
default: break;
}
}
AO1=DAC_Mapper1.getOutput(readings[channel]);
if (mapout)
{
//double mapdata;
switch (datamode)
{
case 0: mapdata = readings[channel]; break;
case 1: mapdata = dp[channel].getMean(); break;
case 2: mapdata = dp[channel].getSum(); break;
case 3: mapdata = dp[channel].getStdDiv(); break;
case 4: mapdata = dp[channel].getO1integration(); break;
case 5: mapdata = dp[channel].getO2integration(); break;
case 6: mapdata = dp[channel].getO3integration(); break;
case 7: mapdata = dp[channel].GetO1differ(); break;
case 8: mapdata = dp[channel].GetO2differ(); break;
case 9: mapdata = dp[channel].getabsolute(); break;
default: mapdata = 0; break;
}
// pc.printf("MAPPING OUTPUT: %jd\r\n", DAC_Mapper2.getOutput(mapdata) );
AO2=DAC_Mapper2.getOutput(mapdata);
}
else
{
AO2=DAC_Mapper2.getOutput(0);
}
}
}
}