Nanda Fathurrahman
Fixed algorithm to read 3 bytes of accelerometer data registers
Fork of
COG4050_adxl355_adxl357
by 
valeria toffoli
Diff: main.cpp
- Revision:
- 10:e054891b3598
- Parent:
- 9:6c803986dbde
--- a/main.cpp Mon Sep 03 10:39:56 2018 +0000
+++ b/main.cpp Mon Sep 10 10:01:49 2018 +0000
@@ -3,167 +3,122 @@
#include <inttypes.h>
#include "ADXL355.h"
#include "CALIBRATION.h"
-
+
Serial pc(USBTX, USBRX);
-
+
ADXL355 accl(SPI1_CS0, SPI1_MOSI, SPI1_MISO, SPI1_SCLK); // PMOD port
+
CALIBRATION test;
+
#define pi 3.14159265;
+
float angle[3][12] = { {-55, -125, -147, 33, -128, 52, 0, 0, 0, 0, 0, 0},
- {6, -6, 20, -20, -69, 69, 0, 0, 0, 0, 0, 0 },
- {1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0}};
+ {6, -6, 20, -20, -69, 69, 0, 0, 0, 0, 0, 0 },
+ {1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0}
+};
+
float meas[3][12] = { {-0.09, 0.16, -0.31, 0.37, 0.91, -0.88},
- {-0.78, 0.81, -0.46, 0.49, -0.28, 0.32},
- {0.54, -0.55, -0.78, 0.76, -0.20, 0.20}};
-int main(){
- pc.baud(9600);
- pc.printf("SPI ADXL355 and ADXL357 Demo\n");
- pc.printf("GET device ID\n");
- accl.reset();
- uint8_t d;
- d=accl.read_reg(accl.DEVID_AD);
- pc.printf("AD id = %x \r\n",d);
- d=accl.read_reg(accl.DEVID_MST);
- pc.printf("MEMS id = %x \r\n",d);
- d=accl.read_reg(accl.PARTID);
- pc.printf("device id = %x \r\n",d);
- d=accl.read_reg(accl.REVID);
- pc.printf("revision id = %x \r\n",d);
- pc.printf("GET device data [x, y, z, t] \r\n");
+ {-0.78, 0.81, -0.46, 0.49, -0.28, 0.32},
+ {0.54, -0.55, -0.78, 0.76, -0.20, 0.20}
+};
+void adxl_init()
+{
+ uint8_t res;
+
+ //getting Analog Device ID
+ res = accl.read_reg(accl.DEVID_AD);
+ pc.printf("AD id = %x \r\n",res);
+ //getting MEMS ID
+ res = accl.read_reg(accl.DEVID_MST);
+ pc.printf("MEMS id = %x \r\n",res);
+ //getting DEVICE ID
+ res = accl.read_reg(accl.PARTID);
+ pc.printf("DEVICE id = %x \r\n",res);
+ //getting REVISION ID
+ res = accl.read_reg(accl.REVID);
+ pc.printf("REVISION id = %x \r\n",res);
+
+ //setting RANGE
+ accl.set_device(accl.RANGE20);
+ res = accl.read_reg(accl.RANGE);
+ pc.printf("RANGE register value = %x \r\n",res);
+ if(res == 0x01 | res == 0x81 | res == 0xC1 | res == 0x41) {
+ //range of +/-10G
+ pc.printf("RANGE is +/-10G \r\n",res);
+ pc.printf("Sensitivity is %f \r\n",accl.axis357_sens);
+ } else if(res == 0x02 | res == 0x82 | res == 0xC2 | res == 0x42) {
+ //range of +/-20G
+ pc.printf("RANGE is +/-20G \r\n",res);
+ pc.printf("Sensitivity is %f \r\n",accl.axis357_sens);
+ } else if (res == 0x03 | res == 0x83 | res == 0xC3 | res == 0x43) {
+ //range of +/-40G
+ pc.printf("RANGE is +/-30G \r\n",res);
+ pc.printf("Sensitivity is %f \r\n",accl.axis357_sens);
+ } else {
+ pc.printf("Unable to read RANGE Register\r\n");
+
+ }
+
+ //setting FILTER
+ //accl.set_filter_ctl_reg(accl.HPFOFF , accl.ODR3HZ);
+ //setting MODE
accl.set_power_ctl_reg(accl.MEASUREMENT);
- d=accl.read_reg(accl.POWER_CTL);
- pc.printf("power control on measurement mode = %x \r\n",d);
- float x, y, z, w, k, h;
+
+ //reading PWR CTL Register
+ res = accl.read_reg(accl.POWER_CTL);
+ pc.printf("power control on measurement mode = %x \r\n",res);
+}
+
+void adxl_stream_results()
+{
+ float x, y, z;
float t;
+ uint32_t raw_x, raw_y, raw_z, raw_t;
// save data info a file
- pc.printf("x \t y \t z \t t\r\n");
- for(int i=0; i<100; i++) {
- x = accl.convert(accl.scanx())*accl.axis355_sens;
- y = accl.convert(accl.scany())*accl.axis355_sens;
- z = accl.convert(accl.scanz())*accl.axis355_sens;
+ pc.printf("GET device data [x, y, z, t] \r\n");
+ pc.printf("x \t raw x \t y \t raw \t y \t z \t raw z \t t \t raw t \r\n");
+ for(int i=0; i<20; i++) {
+ raw_x = accl.scanx();
+ raw_y = accl.scany();
+ raw_z = accl.scanz();
+ x = accl.convert(raw_x)*accl.axis357_sens;
+ y = accl.convert(raw_y)*accl.axis357_sens;
+ z = accl.convert(raw_z)*accl.axis357_sens;
t = 25+float(accl.scant()-1852)/(-9.05);
- pc.printf("%f \t %f \t %f \t %f \r\n" , x,y,z,t);
- wait(0.1);}
- // test the calibration procedure
- test.matrix_reset();
- pc.printf("Start calibration test (y/n)?\r\n");
- char calib = pc.getc();
- switch(calib){
- case 'y': pc.printf("Select the calibration procedure: 2point or 4point? (2/4)\r\n");
- char point = pc.getc();
- if(point == '2'){
- pc.printf("Place the device verticaly to obtain x value close to -1, press any character to start the aquisition \r\n");
- pc.getc();
- x = accl.convert(accl.scanx())*accl.axis355_sens; y = x;
- for(int i=0; i<50; i++){
- x = accl.convert(accl.scanx())*accl.axis355_sens;
- if (x<y) {y=x;}
- pc.printf("%f \t %f \r\n" , x,y);
- wait(0.1);}
- pc.printf("Place the device verticaly to obtain x value close to +1, press any character to start the aquisition \r\n");
- pc.getc();
- x = accl.convert(accl.scanx())*accl.axis355_sens; z = x;
- for(int i=0; i<50; i++){
- x = accl.convert(accl.scanx())*accl.axis355_sens;
- if (x>z) {z=x;}
- pc.printf("%f \t %f \r\n" , x,z);
- wait(0.1);}
- float meas[] = {z, y};
- test.convert_2p(meas, 0);
- pc.printf("The input for the calibration process are: %f \t %f \r\n" , meas[0], meas[1]);
- pc.printf("The result (Sensibility and Bias) is: %f \t %f \r\n" , test.adxl355_sensitivity.S[0], test.adxl355_sensitivity.B[0]);
- }
- else if(point == '4'){
- pc.printf("Place the device verticaly to obtain x value close to 0, press any character to start the aquisition \r\n");
- pc.getc();
- x = accl.convert(accl.scanx())*accl.axis355_sens; y = x;
- for(int i=0; i<50; i++){
- x = accl.convert(accl.scanx())*accl.axis355_sens;
- y=(y+x)/2;
- pc.printf("%f \t %f \r\n" , x,y);
- wait(0.1);}
- pc.printf("Rotate the device to obtain x value close to -1, press any character to start the aquisition \r\n");
- pc.getc();
- x = accl.convert(accl.scanx())*accl.axis355_sens; z = x;
- for(int i=0; i<50; i++){
- x = accl.convert(accl.scanx())*accl.axis355_sens;
- if (x<z) {z=x;}
- pc.printf("%f \t %f \r\n" , x,z);
- wait(0.1);}
- pc.printf("Place the device verticaly to obtain x value close to 0, press any character to start the aquisition \r\n");
- pc.getc();
- x = accl.convert(accl.scanx())*accl.axis355_sens; w = x;
- for(int i=0; i<50; i++){
- x = accl.convert(accl.scanx())*accl.axis355_sens;
- w=(w+x)/2;
- pc.printf("%f \t %f \r\n" , x,w);
- wait(0.1);}
- pc.printf("Rotate the device verticaly to obtain x value close to +1, press any character to start the aquisition \r\n");
- pc.getc();
- x = accl.convert(accl.scanx())*accl.axis355_sens; k = x;
- for(int i=0; i<50; i++){
- x = accl.convert(accl.scanx())*accl.axis355_sens;
- if (x>k) {k=x;}
- pc.printf("%f \t %f \r\n" , x,k);
- wait(0.1);}
- float meas[] = {y, z, w, k};
- test.convert_4p(meas, 0);
- pc.printf("The input for the calibration process are: %f \t %f \t %f \t %f \t \r\n" , y, z, w, k);
- pc.printf("The result (Sensibility and Bias) is: %f \t %f \r\n" , test.adxl355_sensitivity.S[0], test.adxl355_sensitivity.B[0]);
- }
- else {pc.printf("Input value not recognized \r\n"); pc.printf("%c \r\n",point);}
+ pc.printf("%f \t %d \t %f \t %d \t %f \t %d \t %f \t %d \r\n" , x, raw_x, y, raw_y, z, raw_z, t, raw_t);
+ wait(0.1);
+ }
+}
+
+
+int main()
+{
+ pc.baud(9600);
+ pc.printf("SPI ADXL355 and ADXL357 Demo\r\n");
+ pc.printf("04/09/2018 V1.0\r\n");
+
+ accl.reset();
+
+ adxl_init();
+
+ adxl_stream_results();
+
+ while(1) {
+ pc.printf("Do you want to repeat the measurement (y/n)?\r\n");
+ char calib = pc.getc();
+ switch(calib) {
+ case 'y': {
+ adxl_stream_results();
break;
- case 'n': pc.printf("No calibration test \r\n");
- break;
- default: pc.printf("Input value not recognized \r\n");
+ }
+ case 'n': {
+ pc.printf("Thank you for evaluating the ADXL355/357\r\n");
+ pc.printf("You may now close the serial terminal\r\n");
break;
- }
- // test reading angle
- pc.printf("Start reading angle after calibration (y/n)?\r\n");
- calib = pc.getc();
- switch(calib){
- case 'y': pc.printf("Select the procedure for angle measurement: 1axis, 2axis or 3axis? (1/2/3)\r\n");
- char point = pc.getc();
- pc.printf("x \t y \t z \t pitch \t roll \t tau \r\n");
- if(point == '1'){
- for(int i=0; i<50; i++){
- x = accl.convert(accl.scanx())*accl.axis355_sens;
- y = accl.convert(accl.scany())*accl.axis355_sens;
- z = accl.convert(accl.scanz())*accl.axis355_sens;
- w = asin(x/9.81)*180/pi;
- k = asin(y/9.81)*180/pi;
- h = asin(z/9.81)*180/pi;
- pc.printf("%f \t %f \t %f \t %f \t %f \t %f \r\n" , x,y,z,w,k,h);
- wait(0.1);}
- }
- else if(point == '2'){
- for(int i=0; i<50; i++){
- x = accl.convert(accl.scanx())*accl.axis355_sens;
- y = accl.convert(accl.scany())*accl.axis355_sens;
- z = accl.convert(accl.scanz())*accl.axis355_sens;
- w = atan(x/z)*180/pi;;
- k = atan(y/z)*180/pi;;
- h = 0;
- pc.printf("%f \t %f \t %f \t %f \t %f \t %f \r\n" , x,y,z,w,k,h);
- wait(0.1);}
- }
- else if(point == '3'){
- for(int i=0; i<50; i++){
- x = accl.convert(accl.scanx())*accl.axis355_sens;
- y = accl.convert(accl.scany())*accl.axis355_sens;
- z = accl.convert(accl.scanz())*accl.axis355_sens;
- w = atan2(x,sqrt(pow(y,2)+pow(z,2)))*180/pi;
- k = atan2(y,sqrt(pow(x,2)+pow(z,2)))*180/pi;
- h = atan2(sqrt(pow(x,2)+pow(y,2)),z)*180/pi;
- pc.printf("%f \t %f \t %f \t %f \t %f \t %f \r\n" , x,y,z,w,k,h);
- wait(0.1);}
- }
- else {pc.printf("Input value not recognized \r\n"); pc.printf("%c \r\n",point);}
+ }
+ default:
+ pc.printf("Input value not recognized, try again! \r\n");
break;
- case 'n': pc.printf("No calibration test \r\n");
- break;
- default: pc.printf("Input value not recognized \r\n");
- break;
- }
+ }
+ }
}
-
\ No newline at end of file