main.cpp

00001 #include "mbed.h"
00002 #include "Hexi_KW40Z.h"
00003 #include "FXOS8700.h"
00004 #include "FXAS21002.h"
00005 
00006 #define LED_ON      0
00007 #define LED_OFF     1
00008    
00009 void StartHaptic(void);
00010 void StopHaptic(void const *n);
00011 
00012 Serial pc(USBTX, USBRX);
00013 static int count=0;
00014 bool ges_flag=false;
00015 
00016 // Pin connections & address for Hexiwear
00017 FXAS21002 gyro(PTC11, PTC10);
00018 FXOS8700 accel(PTC11, PTC10);
00019 FXOS8700 mag(PTC11, PTC10);
00020 Timer t;
00021 
00022 DigitalOut redLed(LED1);
00023 DigitalOut greenLed(LED2);
00024 DigitalOut blueLed(LED3);
00025 DigitalOut haptic(PTB9);
00026 
00027 /* Define timer for haptic feedback */
00028 RtosTimer hapticTimer(StopHaptic, osTimerOnce);
00029 
00030 /* Instantiate the Hexi KW40Z Driver (UART TX, UART RX) */ 
00031 KW40Z kw40z_device(PTE24, PTE25);
00032 
00033 void ButtonUp(void)
00034 {
00035     StartHaptic();
00036     count++;
00037     ges_flag=true;
00038     
00039     /*redLed      = LED_ON;
00040     greenLed    = LED_OFF;
00041     blueLed     = LED_OFF;*/
00042     
00043 }
00044 
00045 void ButtonDown(void)
00046 {
00047     StartHaptic();
00048     
00049     redLed      = LED_OFF;
00050     greenLed    = LED_ON;
00051     blueLed     = LED_OFF;
00052 }
00053 
00054 void ButtonRight(void)
00055 {
00056     StartHaptic();
00057     
00058     redLed      = LED_OFF;
00059     greenLed    = LED_OFF;
00060     blueLed     = LED_ON;
00061 }
00062 
00063 void ButtonLeft(void)
00064 {
00065     StartHaptic();
00066     
00067     redLed      = LED_ON;
00068     greenLed    = LED_ON;
00069     blueLed     = LED_OFF;
00070 }
00071 
00072 void ButtonSlide(void)
00073 {
00074     StartHaptic();
00075     
00076     redLed      = LED_ON;
00077     greenLed    = LED_ON;
00078     blueLed     = LED_ON;
00079 }
00080    
00081 int main()
00082 {
00083     /* Register callbacks to application functions */
00084     kw40z_device.attach_buttonUp(&ButtonUp);
00085     /*kw40z_device.attach_buttonDown(&ButtonDown);
00086     kw40z_device.attach_buttonLeft(&ButtonLeft);
00087     kw40z_device.attach_buttonRight(&ButtonRight);
00088     kw40z_device.attach_buttonSlide(&ButtonSlide);*/
00089     
00090     accel.accel_config();
00091     mag.mag_config();
00092     gyro.gyro_config();
00093 
00094     float accel_data[3]; float accel_rms=0.0;
00095     float mag_data[3];   float mag_rms=0.0;
00096     float gyro_data[3]; 
00097     
00098     while (true) {
00099         if(ges_flag){
00100             
00101             while(count==1){
00102                  
00103                  ges_flag=false;
00104                  t.start();
00105     //while(1){
00106        
00107                    gyro.acquire_gyro_data_dps(gyro_data);
00108                   //accel_rms = sqrt(((accel_data[0]*accel_data[0])+(accel_data[1]*accel_data[1])+(accel_data[2]*accel_data[2]))/3);
00109                   printf("%4.5f \t%4.5f \t%4.5f \t%4.5f \n\r",t.read(),gyro_data[0],gyro_data[1],gyro_data[2]);
00110                   wait(0.01);
00111                   
00112                   accel.acquire_accel_data_g(accel_data);
00113                   //accel_rms = sqrt(((accel_data[0]*accel_data[0])+(accel_data[1]*accel_data[1])+(accel_data[2]*accel_data[2]))/3);
00114                   printf("%4.5f \t%4.5f \t%4.5f \t%4.5f \n\r",t.read(),accel_data[0],accel_data[1],accel_data[2]);
00115                   wait(0.01);
00116                   
00117                   mag.acquire_mag_data_uT(mag_data);
00118                   //mag_rms = sqrt(((mag_data[0]*mag_data[0])+(mag_data[1]*mag_data[1])+(mag_data[2]*mag_data[2]))/3);
00119                   printf("%4.5f \t%4.5f \t%4.5f \t%4.5f \n\r",t.read(),mag_data[0],mag_data[1],mag_data[2]);
00120                   wait(0.01);
00121                   printf("%d\n\r",1);
00122                   
00123                   Thread::wait(500);
00124                 }
00125                 
00126             if(count==2){
00127                     
00128                   ges_flag=false;
00129                   count=0;
00130                   gyro.acquire_gyro_data_dps(gyro_data);
00131                   //accel_rms = sqrt(((accel_data[0]*accel_data[0])+(accel_data[1]*accel_data[1])+(accel_data[2]*accel_data[2]))/3);
00132                   printf("%4.5f \t%4.5f \t%4.5f \t%4.5f \n\r",t.read(),gyro_data[0],gyro_data[1],gyro_data[2]);
00133                   wait(0.01);
00134                   
00135                   accel.acquire_accel_data_g(accel_data);
00136                   //accel_rms = sqrt(((accel_data[0]*accel_data[0])+(accel_data[1]*accel_data[1])+(accel_data[2]*accel_data[2]))/3);
00137                   printf("%4.5f \t%4.5f \t%4.5f \t%4.5f \n\r",t.read(),accel_data[0],accel_data[1],accel_data[2]);
00138                   wait(0.01);
00139                   
00140                   mag.acquire_mag_data_uT(mag_data);
00141                   //mag_rms = sqrt(((mag_data[0]*mag_data[0])+(mag_data[1]*mag_data[1])+(mag_data[2]*mag_data[2]))/3);
00142                   printf("%4.5f \t%4.5f \t%4.5f \t%4.5f \n\r",t.read(),mag_data[0],mag_data[1],mag_data[2]);
00143                   wait(0.01);
00144                   printf("%d\n\r",0);
00145                   Thread::wait(500);
00146                   
00147                   t.reset();
00148                     
00149                     }
00150             
00151             
00152             
00153             
00154             
00155             }
00156         Thread::wait(50);
00157     }
00158 }
00159 
00160 void StartHaptic(void)
00161 {
00162     hapticTimer.start(50);
00163     haptic = 1;
00164 }
00165 
00166 void StopHaptic(void const *n) {
00167     haptic = 0;
00168     hapticTimer.stop();
00169 }