Michael Limbird / Mbed 2 deprecated VideoOutput

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Dependencies:   mbed

main.cpp@19:76632ff3e9fc, 2015-01-11 (annotated)

Committer:
mlimbird
Date:
Sun Jan 11 16:45:40 2015 +0000
Revision:
19:76632ff3e9fc
Parent:
18:7066655957b3
Child:
20:03a3357de805
Added functionality of the magnetometer.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mlimbird 0:80725699690f 1 #include "mbed.h"
mlimbird 0:80725699690f 2
mlimbird 8:c64f76d4deff 3 //Accelerometer
mlimbird 14:762baad15486 4 #define ADXL345_ADDRESS_W (0xA6)
mlimbird 14:762baad15486 5 #define ADXL345_ADDRESS_R (0xA7)
mlimbird 8:c64f76d4deff 6 #define ADXL345_REGISTER_XLSB (0x32)
mlimbird 8:c64f76d4deff 7 #define ADXL_REGISTER_PWRCTL (0x2D)
mlimbird 11:65ae1cf6f7d9 8 #define ADXL_PWRCTL_MEASURE (0x01 << 3)
mlimbird 8:c64f76d4deff 9
mlimbird 8:c64f76d4deff 10 //Gyroscope
mlimbird 16:1121b66ef27b 11 #define ITG3200_ADDRESS_W (0xD0)
mlimbird 16:1121b66ef27b 12 #define ITG3200_ADDRESS_R (0xD1)
mlimbird 8:c64f76d4deff 13 #define ITG3200_REGISTER_XMSB (0x1D)
mlimbird 8:c64f76d4deff 14 #define ITG3200_REGISTER_DLPF_FS (0x16)
mlimbird 8:c64f76d4deff 15 #define ITG3200_FULLSCALE (0x03 << 3)
mlimbird 8:c64f76d4deff 16 #define ITG3200_42HZ (0x03)
mlimbird 8:c64f76d4deff 17
mlimbird 8:c64f76d4deff 18 //3-Axis Digital Compass IC
mlimbird 19:76632ff3e9fc 19 #define HMC5883_ADDRESS_W (0x3C)
mlimbird 19:76632ff3e9fc 20 #define HMC5883_ADDRESS_R (0x3D)
mlimbird 19:76632ff3e9fc 21 #define HMC5883_REGISTER_XMSB (0x03)
mlimbird 19:76632ff3e9fc 22 #define HMC5883_REGISTER_MEASMODE (0x02)
mlimbird 19:76632ff3e9fc 23 #define HMC5883_MEASMODE_CONT (0x00)
mlimbird 8:c64f76d4deff 24
mlimbird 11:65ae1cf6f7d9 25 I2C i2c( p9, p10 ); // sda, scl
mlimbird 8:c64f76d4deff 26
mlimbird 11:65ae1cf6f7d9 27 void init_adxl345();
mlimbird 13:83bea035c658 28 void read_adxl345();
mlimbird 16:1121b66ef27b 29 void init_itg3200();
mlimbird 16:1121b66ef27b 30 void read_itg3200();
mlimbird 19:76632ff3e9fc 31 void init_hmc5883();
mlimbird 19:76632ff3e9fc 32 void read_hmc5883();
mlimbird 8:c64f76d4deff 33
mlimbird 8:c64f76d4deff 34 Serial pc(USBTX, USBRX); //tx, rx
mlimbird 8:c64f76d4deff 35
mlimbird 12:509ed716bd58 36 int accelerometer_data[3];
mlimbird 16:1121b66ef27b 37 int gyro_data[3];
mlimbird 19:76632ff3e9fc 38 int magnetometer_data[3];
mlimbird 8:c64f76d4deff 39
mlimbird 9:331dbf3b341d 40 PwmOut led(LED1);
mlimbird 9:331dbf3b341d 41
mlimbird 9:331dbf3b341d 42 float brightness = 0.0;
mlimbird 0:80725699690f 43
mlimbird 0:80725699690f 44 int main() {
mlimbird 8:c64f76d4deff 45
mlimbird 11:65ae1cf6f7d9 46 init_adxl345();
mlimbird 16:1121b66ef27b 47 init_itg3200();
mlimbird 19:76632ff3e9fc 48 init_hmc5883();
mlimbird 9:331dbf3b341d 49
mlimbird 12:509ed716bd58 50 while(1) {
mlimbird 16:1121b66ef27b 51 //read_adxl345();
mlimbird 19:76632ff3e9fc 52 //read_itg3200();
mlimbird 19:76632ff3e9fc 53 read_hmc5883();
mlimbird 0:80725699690f 54 }
mlimbird 0:80725699690f 55 }
mlimbird 8:c64f76d4deff 56
mlimbird 8:c64f76d4deff 57 void init_adxl345() {
mlimbird 11:65ae1cf6f7d9 58 char data[2];
mlimbird 11:65ae1cf6f7d9 59 data[0] = ADXL_REGISTER_PWRCTL;
mlimbird 11:65ae1cf6f7d9 60 data[1] = ADXL_PWRCTL_MEASURE;
mlimbird 8:c64f76d4deff 61
mlimbird 14:762baad15486 62 i2c.write(ADXL345_ADDRESS_W, data, 2); // first part of data is the register
mlimbird 11:65ae1cf6f7d9 63
mlimbird 11:65ae1cf6f7d9 64 wait(0.5);
mlimbird 8:c64f76d4deff 65
mlimbird 14:762baad15486 66 i2c.write(ADXL345_ADDRESS_W, data, 1);
mlimbird 14:762baad15486 67 i2c.read(ADXL345_ADDRESS_R, data, 2);
mlimbird 12:509ed716bd58 68 pc.printf("%i\n",(unsigned int)data);
mlimbird 8:c64f76d4deff 69 }
mlimbird 8:c64f76d4deff 70
mlimbird 8:c64f76d4deff 71 void read_adxl345() {
mlimbird 12:509ed716bd58 72 char bytes[6];
mlimbird 8:c64f76d4deff 73 memset(bytes,0,6);
mlimbird 12:509ed716bd58 74 bytes[0] = ADXL345_REGISTER_XLSB;
mlimbird 12:509ed716bd58 75
mlimbird 14:762baad15486 76 i2c.write(ADXL345_ADDRESS_W, bytes, 1);
mlimbird 14:762baad15486 77 i2c.read(ADXL345_ADDRESS_R, bytes, 6);
mlimbird 8:c64f76d4deff 78
mlimbird 8:c64f76d4deff 79 for (int i=0;i<3;++i) {
mlimbird 8:c64f76d4deff 80 accelerometer_data[i] = (int)bytes[2*i] + (((int)bytes[2*i + 1]) << 8);
mlimbird 8:c64f76d4deff 81 }
mlimbird 13:83bea035c658 82
mlimbird 13:83bea035c658 83 pc.printf("ACCEL: %i\t%i\t%i", accelerometer_data[0], accelerometer_data[1], accelerometer_data[2]);
mlimbird 8:c64f76d4deff 84 }
mlimbird 8:c64f76d4deff 85
mlimbird 16:1121b66ef27b 86
mlimbird 8:c64f76d4deff 87 void init_itg3200() {
mlimbird 16:1121b66ef27b 88 char data[2];
mlimbird 16:1121b66ef27b 89 data[0] = ITG3200_REGISTER_DLPF_FS;
mlimbird 18:7066655957b3 90 data[1] = ITG3200_FULLSCALE | ITG3200_42HZ; //bitwise or
mlimbird 8:c64f76d4deff 91
mlimbird 18:7066655957b3 92 pc.printf("Fullscale : %i, 42HZ : %i\n", ITG3200_FULLSCALE, ITG3200_42HZ);
mlimbird 18:7066655957b3 93 pc.printf("Bitwise Or : %i\n", (unsigned int)data[1]);
mlimbird 18:7066655957b3 94
mlimbird 16:1121b66ef27b 95 i2c.write(ITG3200_ADDRESS_W, data,2);
mlimbird 16:1121b66ef27b 96 i2c.read(ITG3200_ADDRESS_R, data, 1);
mlimbird 8:c64f76d4deff 97
mlimbird 16:1121b66ef27b 98 pc.printf("%i\n",(unsigned int)data);
mlimbird 8:c64f76d4deff 99 }
mlimbird 8:c64f76d4deff 100
mlimbird 8:c64f76d4deff 101 void read_itg3200() {
mlimbird 16:1121b66ef27b 102 char bytes[6];
mlimbird 8:c64f76d4deff 103 memset(bytes,0,6);
mlimbird 16:1121b66ef27b 104 bytes[0] = ITG3200_REGISTER_XMSB;
mlimbird 8:c64f76d4deff 105
mlimbird 16:1121b66ef27b 106 i2c.write(ITG3200_ADDRESS_W, bytes, 1);
mlimbird 16:1121b66ef27b 107 i2c.read(ITG3200_ADDRESS_R, bytes, 6);
mlimbird 16:1121b66ef27b 108
mlimbird 8:c64f76d4deff 109 for (int i=0;i<3;++i) {
mlimbird 8:c64f76d4deff 110 gyro_data[i] = (int)bytes[2*i + 1] + (((int)bytes[2*i]) << 8);
mlimbird 8:c64f76d4deff 111 }
mlimbird 16:1121b66ef27b 112
mlimbird 16:1121b66ef27b 113 pc.printf("GYRO: %i\t%i\t%i", gyro_data[0], gyro_data[1], gyro_data[2]);
mlimbird 8:c64f76d4deff 114 }
mlimbird 19:76632ff3e9fc 115
mlimbird 19:76632ff3e9fc 116 void init_hmc5883() {
mlimbird 19:76632ff3e9fc 117 char data[2];
mlimbird 19:76632ff3e9fc 118 data[0] = HMC5883_REGISTER_MEASMODE;
mlimbird 19:76632ff3e9fc 119 data[1] = HMC5883_MEASMODE_CONT;
mlimbird 8:c64f76d4deff 120
mlimbird 19:76632ff3e9fc 121 i2c.write(HMC5883_ADDRESS_W, data, 2);
mlimbird 19:76632ff3e9fc 122 i2c.read(HMC5883_ADDRESS_R, data, 1);
mlimbird 19:76632ff3e9fc 123
mlimbird 19:76632ff3e9fc 124 pc.printf("%i\n",(unsigned int)data);
mlimbird 8:c64f76d4deff 125 }
mlimbird 8:c64f76d4deff 126
mlimbird 19:76632ff3e9fc 127 void read_hmc5883() {
mlimbird 19:76632ff3e9fc 128 char bytes[6];
mlimbird 8:c64f76d4deff 129 memset(bytes,0,6);
mlimbird 19:76632ff3e9fc 130 bytes[0] = HMC5883_REGISTER_XMSB;
mlimbird 8:c64f76d4deff 131
mlimbird 19:76632ff3e9fc 132 i2c.write(HMC5883_ADDRESS_W, bytes, 1);
mlimbird 19:76632ff3e9fc 133 i2c.read(HMC5883_ADDRESS_R, bytes, 6);
mlimbird 8:c64f76d4deff 134
mlimbird 8:c64f76d4deff 135 for (int i=0;i<3;++i) {
mlimbird 8:c64f76d4deff 136 magnetometer_data[i] = (int)bytes[2*i + 1] + (((int)bytes[2*i]) << 8);
mlimbird 8:c64f76d4deff 137 }
mlimbird 19:76632ff3e9fc 138
mlimbird 19:76632ff3e9fc 139 pc.printf("Magnet: %i\t%i\t%i", magnetometer_data[0], magnetometer_data[1], magnetometer_data[2]);
mlimbird 19:76632ff3e9fc 140 }