Fixed algorithm to read 3 bytes of accelerometer data registers
Fork of COG4050_adxl355_adxl357 by
main.cpp
- Committer:
- vtoffoli
- Date:
- 2018-09-03
- Revision:
- 9:6c803986dbde
- Parent:
- 8:9e6ead2ee8d7
- Child:
- 10:e054891b3598
File content as of revision 9:6c803986dbde:
#include "mbed.h" #include <math.h> #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}}; 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"); 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; float 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; 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);} break; case 'n': pc.printf("No calibration test \r\n"); break; default: pc.printf("Input value not recognized \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);} break; case 'n': pc.printf("No calibration test \r\n"); break; default: pc.printf("Input value not recognized \r\n"); break; } }