Revision 2:9c61fbf1e6ac, committed 2018-11-15

Comitter:

martwerl

Date:

Thu Nov 15 18:08:43 2018 +0000

Parent:

1:e88b745f2ca2

Commit message:

ProcVisDemo_Accelerator

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MMA7660.cpp	Thu Nov 15 18:08:43 2018 +0000
@@ -0,0 +1,194 @@
+#include "MMA7660.h"
+
+MMA7660::MMA7660(PinName sda, PinName scl, bool active) : _i2c(sda, scl)
+{
+    setActive(active);
+    samplerate = 64;
+}
+
+//Since the MMA lacks a WHO_AM_I register, we can only check if there is a device that answers to the I2C address
+bool MMA7660::testConnection( void )
+{
+    if (_i2c.write(MMA7660_ADDRESS, NULL, 0) == 0 )
+        return true;
+    else
+        return false;
+}
+
+void MMA7660::setActive(bool state)
+{
+    active = state;
+    char modereg = read(MMA7660_MODE_R);
+    modereg &= ~(1<<0);
+
+    //If it somehow was in testmode, disable that
+    if (modereg && (1<<2)) {
+        modereg &= ~(1<<2);
+        write(MMA7660_MODE_R, modereg);
+    }
+
+    modereg += state;
+    write(MMA7660_MODE_R, modereg);
+}
+
+void MMA7660::readData(int *data)
+{
+    bool active_old = active;
+    if (!active) {
+        setActive(true);
+        wait(0.012 + 1/samplerate); //Wait until new sample is ready, my experience is that 1/samplerate isnt needed, but datasheet says so
+    }
+
+    char temp[3];
+    bool alert;
+
+    do {
+        alert = false;
+        read(MMA7660_XOUT_R, temp, 3);
+        for (int i = 0; i<3; i++) {
+            if (temp[i] > 63)
+                alert = true;
+            if (temp[i] > 31)
+                temp[i] += 128+64;
+            data[i] = (signed char)temp[i];
+        }
+    } while (alert);
+
+    if (!active_old)
+        setActive(false);
+}
+
+
+void MMA7660::readData(float *data)
+{
+    int intdata[3];
+    readData(intdata);
+    for (int i = 0; i<3; i++)
+        data[i] = intdata[i]/MMA7660_SENSITIVITY;
+}
+
+float MMA7660::x( void )
+{
+    return getSingle(0);
+}
+
+float MMA7660::y( void )
+{
+    return getSingle(1);
+}
+
+float MMA7660::z( void )
+{
+    return getSingle(2);
+}
+
+
+void MMA7660::setSampleRate(int samplerate)
+{
+    bool active_old = active;
+    setActive(false);                               //Not allowed to be active to change anything
+    int rates[] = {120, 64, 32, 16, 8, 4, 2, 1};    //Alowed samplerates (and their number in array is also number required for MMA)
+    int sampleLoc = 0, sampleError = 10000, temp;
+    for (int i = 0; i<8; i++) {
+        temp = abs( rates[i] - samplerate );
+        if (temp<sampleError) {
+            sampleLoc = i;
+            sampleError=temp;
+        }
+    }
+
+    //Update the samplerate reg
+    temp = read(MMA7660_SR_R);
+    temp &= ~0x07;                                  //Awake sample rate are lowest 3 bit
+    temp |= sampleLoc;
+    write(MMA7660_SR_R, temp);
+    this->samplerate = rates[sampleLoc];
+    setActive(active_old);                              //Restore previous active state
+}
+
+
+MMA7660::Orientation MMA7660::getSide( void )
+{
+    char tiltreg = read(MMA7660_TILT_R);
+    //We care about 2 LSBs
+    tiltreg &= 0x03;
+    if (tiltreg == 0x01)
+        return MMA7660::Front;
+    if (tiltreg == 0x02)
+        return MMA7660::Back;
+    return MMA7660::Unknown;
+}
+
+MMA7660::Orientation MMA7660::getOrientation( void )
+{
+    char tiltreg = read(MMA7660_TILT_R);
+
+    //We care about bit 2, 3 and 4 (counting from zero)
+    tiltreg &= 0x07<<2;
+    tiltreg >>= 2;
+    if (tiltreg == 0x01)
+        return MMA7660::Left;
+    if (tiltreg == 0x02)
+        return MMA7660::Right;
+    if (tiltreg == 0x05)
+        return MMA7660::Down;
+    if (tiltreg == 0x06)
+        return MMA7660::Up;
+    return MMA7660::Unknown;
+}
+
+
+
+//////////////////////////////////////////////
+///////////////PRIVATE////////////////////////
+//////////////////////////////////////////////
+
+
+void MMA7660::write(char address, char data)
+{
+    char temp[2];
+    temp[0]=address;
+    temp[1]=data;
+
+    _i2c.write(MMA7660_ADDRESS, temp, 2);
+}
+
+char MMA7660::read(char address)
+{
+    char retval;
+    _i2c.write(MMA7660_ADDRESS, &address, 1, true);
+    _i2c.read(MMA7660_ADDRESS, &retval, 1);
+    return retval;
+}
+
+void MMA7660::read(char address, char *data, int length)
+{
+    _i2c.write(MMA7660_ADDRESS, &address, 1, true);
+    _i2c.read(MMA7660_ADDRESS, data, length);
+}
+
+float MMA7660::getSingle( int number )
+{
+    bool active_old = active;
+    if (!active) {
+        setActive(true);
+        wait(0.012 + 1/samplerate); //Wait until new sample is ready
+    }
+
+    signed char temp;
+    bool alert;
+
+    do {
+        alert = false;
+        temp = read(MMA7660_XOUT_R + number);
+        if (temp > 63)
+            alert = true;
+        if (temp > 31)
+            temp += 128+64;
+    } while (alert);
+
+    if (!active_old)
+        setActive(false);
+
+    return temp / MMA7660_SENSITIVITY;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MMA7660.h	Thu Nov 15 18:08:43 2018 +0000
@@ -0,0 +1,207 @@
+/* Copyright (c) <year> <copyright holders>, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "mbed.h"
+
+
+#ifndef MMA7660_H
+#define MMA7660_H
+
+#define MMA7660_ADDRESS     0x98
+#define MMA7660_SENSITIVITY 21.33
+
+#define MMA7660_XOUT_R      0x00
+#define MMA7660_YOUT_R      0x01
+#define MMA7660_ZOUT_R      0x02
+#define MMA7660_TILT_R      0x03
+#define MMA7660_INT_R       0x06
+#define MMA7660_MODE_R      0x07
+#define MMA7660_SR_R        0x08
+
+
+/** An interface for the MMA7660 triple axis accelerometer
+ *
+ * @code
+ * //Uses the measured z-acceleration to drive leds 2 and 3 of the mbed
+ *
+ * #include "mbed.h"
+ * #include "MMA7660.h"
+ *
+ * MMA7660 MMA(p28, p27);
+ *
+ * DigitalOut connectionLed(LED1);
+ * PwmOut Zaxis_p(LED2);
+ * PwmOut Zaxis_n(LED3);
+ *
+ * int main() {
+ *     if (MMA.testConnection())
+ *         connectionLed = 1;
+ *
+ *     while(1) {
+ *         Zaxis_p = MMA.z();
+ *         Zaxis_n = -MMA.z();
+ *     }
+ *
+ * }
+ * @endcode
+ */
+class MMA7660
+{
+public:
+    /**
+    * The 6 different orientations and unknown
+    *
+    * Up & Down = X-axis
+    * Right & Left = Y-axis
+    * Back & Front = Z-axis
+    *
+    */
+    enum Orientation {Up, Down,
+                      Right, Left,
+                      Back, Front,
+                      Unknown
+                     };
+
+    /**
+    * Creates a new MMA7660 object
+    *
+    * @param sda - I2C data pin
+    * @param scl - I2C clock pin
+    * @param active - true (default) to enable the device, false to keep it standby
+    */
+    MMA7660(PinName sda, PinName scl, bool active = true);
+
+    /**
+    * Tests if communication is possible with the MMA7660
+    *
+    * Because the MMA7660 lacks a WHO_AM_I register, this function can only check
+    * if there is an I2C device that responds to the MMA7660 address
+    *
+    * @param return - true for successfull connection, false for no connection
+    */
+    bool testConnection( void );
+
+    /**
+    * Sets the active state of the MMA7660
+    *
+    * Note: This is unrelated to awake/sleep mode
+    *
+    * @param state - true for active, false for standby
+    */
+    void setActive( bool state);
+
+    /**
+    * Reads acceleration data from the sensor
+    *
+    * When the parameter is a pointer to an integer array it will be the raw data.
+    * When it is a pointer to a float array it will be the acceleration in g's
+    *
+    * @param data - pointer to array with length 3 where the acceleration data will be stored, X-Y-Z
+    */
+    void readData( int *data);
+    void readData( float *data);
+
+    /**
+    * Get X-data
+    *
+    * @param return - X-acceleration in g's
+    */
+    float x( void );
+
+    /**
+    * Get Y-data
+    *
+    * @param return - Y-acceleration in g's
+    */
+    float y( void );
+
+    /**
+    * Get Z-data
+    *
+    * @param return - Z-acceleration in g's
+    */
+    float z( void );
+
+    /**
+    * Sets the active samplerate
+    *
+    * The entered samplerate will be rounded to nearest supported samplerate.
+    * Supported samplerates are: 120 - 64 - 32 - 16 - 8 - 4 - 2 - 1 samples/second.
+    *
+    * @param samplerate - the samplerate that will be set
+    */
+    void setSampleRate(int samplerate);
+
+    /**
+    * Returns if it is on its front, back, or unknown side
+    *
+    * This is read from MMA7760s registers, page 12 of datasheet
+    *
+    * @param return - Front, Back or Unknown orientation
+    */
+    Orientation getSide( void );
+
+    /**
+    * Returns if it is on it left, right, down or up side
+    *
+    * This is read from MMA7760s registers, page 12 of datasheet
+    *
+    * @param return - Left, Right, Down, Up or Unknown orientation
+    */
+    Orientation getOrientation ( void );
+
+
+private:
+
+    /**
+    * Writes data to the device
+    *
+    * @param adress - register address to write to
+    * @param data - data to write
+    */
+    void write( char address, char data);
+
+    /**
+    * Read data from the device
+    *
+    * @param adress - register address to write to
+    * @return - data from the register specified by RA
+    */
+    char read( char adress);
+
+    /**
+     * Read multiple regigsters from the device, more efficient than using multiple normal reads.
+     *
+     * @param adress - register address to write to
+     * @param length - number of bytes to read
+     * @param data - pointer where the data needs to be written to
+     */
+    void read( char adress, char *data, int length);
+
+    /**
+    * Reads single axis
+    */
+    float getSingle(int number);
+
+    I2C _i2c;
+    bool active;
+    float samplerate;
+};
+
+
+#endif

--- a/ProcVisDemo.cpp	Fri Oct 09 07:58:26 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,66 +0,0 @@
-#include "mbed.h"
-#include "Serial_HL.h"
-
-SerialBLK pc(USBTX, USBRX);
-SvProtocol ua0(&pc);
-
-// V2.0
-// BusOut leds(LED1,LED2,LED3,LED4); Bertl14
-// M0-Board
-BusOut leds(P1_13,P1_12,P1_7,P1_6,P1_4,P1_3,P1_1,P1_0,LED4,LED3,LED2,LED1);
-
-
-void CommandHandler();
-
-int main(void)
-{
-    pc.format(8,SerialBLK::None,1);
-    pc.baud(115200);
-    leds = 9;
-
-    ua0.SvMessage("SvTest_Serial_HL"); // Meldung zum PC senden
-
-    int16_t sv1=0, sv2=100;
-    Timer stw;
-    stw.start();
-    while(1) {
-        CommandHandler();
-        if( ua0.acqON && (stw.read_ms()>100) ) { // 10Hz
-            // dieser Teil wird mit 10Hz aufgerufen
-            stw.reset();
-            sv1++;
-            sv2++;
-            if( ua0.acqON ) {
-                // nur wenn vom PC aus das Senden eingeschaltet wurde
-                // wird auch etwas gesendet
-                ua0.WriteSvI16(1, sv1);
-                ua0.WriteSvI16(2, sv2);
-            }
-        }
-    }
-    return 1;
-}
-
-void CommandHandler()
-{
-    uint8_t cmd;
-    int16_t idata1, idata2;
-
-    // Fragen ob überhaupt etwas im RX-Reg steht
-    if( !pc.IsDataAvail() )
-        return;
-
-    // wenn etwas im RX-Reg steht
-    // Kommando lesen
-    cmd = ua0.GetCommand();
-
-    if( cmd==2 ) {
-        // cmd2 hat 2 int16 Parameter
-        idata1 = ua0.ReadI16();
-        idata2 = ua0.ReadI16();
-        // für die Analyse den Wert einfach nur zum PC zurücksenden
-        ua0.SvPrintf("Command2 %d %d", idata1, idata2);
-    }
-}
-
-

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ProcVisDemo_Accelerator.cpp	Thu Nov 15 18:08:43 2018 +0000
@@ -0,0 +1,72 @@
+#include "mbed.h"
+#include "Serial_HL.h"
+#include "MMA7660.h"
+
+SerialBLK pc(USBTX, USBRX);
+SvProtocol ua0(&pc);
+
+// V2.0
+// BusOut leds(LED1,LED2,LED3,LED4); Bertl14
+// M0-Board
+//BusOut leds(P1_13,P1_12,P1_7,P1_6,P1_4,P1_3,P1_1,P1_0,LED4,LED3,LED2,LED1);
+MMA7660 accel (p28, p27);
+
+
+void CommandHandler();
+
+int main(void)
+{
+    pc.format(8,SerialBLK::None,1);
+    pc.baud(115200);
+
+    ua0.SvMessage("Accelerator Test"); // Meldung zum PC senden
+    
+    accel.setSampleRate(120);
+    int val2[3];
+    Timer stw;
+    stw.start();
+    
+    while(1) {
+        CommandHandler();
+        if( ua0.acqON && (stw.read_ms()>100) )  // 10Hz
+        {
+            // dieser Teil wird mit 10Hz aufgerufen
+            stw.reset();
+            accel.readData(val2);//X,Y,Z vom PC lesen
+            ua0.WriteSvI16(1, val2[0]);//X,Y,Z zum PC senden
+            ua0.WriteSvI16(2, val2[1]);
+            ua0.WriteSvI16(3, val2[2]);
+        }
+    return 1;
+    }
+}
+
+void CommandHandler()
+{
+    uint8_t cmd;
+    int16_t idata1, idata2;
+
+    // Fragen ob überhaupt etwas im RX-Reg steht
+    if( !pc.IsDataAvail() )
+        return;
+
+    // wenn etwas im RX-Reg steht
+    // Kommando lesen
+    cmd = ua0.GetCommand();
+
+    if( cmd==2 ) {
+        // cmd2 hat 2 int16 Parameter
+        idata1 = ua0.ReadI16();
+        idata2 = ua0.ReadI16();
+        // für die Analyse den Wert einfach nur zum PC zurücksenden
+        ua0.SvPrintf("Command2 %d %d", idata1, idata2);
+    }   
+    
+    if( cmd==3 )  //leds schalten
+    {
+           
+        ua0.SvMessage("SetLeds Awa pronto!");
+    }
+}
+
+