Playing around with accelerometer and magnetometer on mbed KL46Z
Dependencies: MAG3110 MMA8451Q PinDetect mbed TSI
main.cpp@14:1608275a874f, 2014-02-10 (annotated)
- Committer:
- mohammmo
- Date:
- Mon Feb 10 22:52:28 2014 +0000
- Revision:
- 14:1608275a874f
- Parent:
- 13:921cb2856808
add analog input (add also to printf)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
oliverfang | 0:648dde0c4ef8 | 1 | #include "mbed.h" |
oliverfang | 0:648dde0c4ef8 | 2 | #include "PinDetect.h" |
oliverfang | 0:648dde0c4ef8 | 3 | #include "MMA8451Q.h" |
oliverfang | 0:648dde0c4ef8 | 4 | #include "MAG3110.h" |
mohammmo | 2:bb31f097af0f | 5 | #include "TSISensor.h" |
oliverfang | 0:648dde0c4ef8 | 6 | |
oliverfang | 0:648dde0c4ef8 | 7 | #define MMA8451_I2C_ADDRESS (0x1d<<1) |
oliverfang | 0:648dde0c4ef8 | 8 | |
oliverfang | 0:648dde0c4ef8 | 9 | // Declare output LEDs |
oliverfang | 0:648dde0c4ef8 | 10 | DigitalOut ledgreen(PTD5); |
oliverfang | 0:648dde0c4ef8 | 11 | DigitalOut ledred(PTE29); |
oliverfang | 0:648dde0c4ef8 | 12 | |
oliverfang | 0:648dde0c4ef8 | 13 | // Declare USB serial connection |
oliverfang | 0:648dde0c4ef8 | 14 | Serial pc(USBTX,USBRX); |
oliverfang | 0:648dde0c4ef8 | 15 | |
oliverfang | 0:648dde0c4ef8 | 16 | // Declare timer interrupt |
oliverfang | 0:648dde0c4ef8 | 17 | Ticker timerAcc; |
oliverfang | 0:648dde0c4ef8 | 18 | Ticker timerMag; |
mohammmo | 2:bb31f097af0f | 19 | Ticker timerLight; |
mohammmo | 2:bb31f097af0f | 20 | Ticker timerTouch; |
mohammmo | 13:921cb2856808 | 21 | Ticker timerAin; |
oliverfang | 0:648dde0c4ef8 | 22 | |
oliverfang | 0:648dde0c4ef8 | 23 | // Declare pointer variables |
oliverfang | 0:648dde0c4ef8 | 24 | float xAcc; |
oliverfang | 0:648dde0c4ef8 | 25 | float yAcc; |
oliverfang | 0:648dde0c4ef8 | 26 | float zAcc; |
oliverfang | 0:648dde0c4ef8 | 27 | int xMag; |
oliverfang | 0:648dde0c4ef8 | 28 | int yMag; |
oliverfang | 0:648dde0c4ef8 | 29 | int zMag; |
mohammmo | 2:bb31f097af0f | 30 | float xLight; |
mohammmo | 2:bb31f097af0f | 31 | float xTouch; |
mohammmo | 13:921cb2856808 | 32 | float xAin; |
oliverfang | 0:648dde0c4ef8 | 33 | |
oliverfang | 3:552b7c450b2f | 34 | // Sampling rates |
mohammmo | 13:921cb2856808 | 35 | float accRate = 0.1; |
mohammmo | 13:921cb2856808 | 36 | float magRate = 0.1; |
oliverfang | 3:552b7c450b2f | 37 | float lightRate = 0.1; |
oliverfang | 3:552b7c450b2f | 38 | float touchRate = 0.1; |
mohammmo | 13:921cb2856808 | 39 | float AinRate = 0.1; |
oliverfang | 3:552b7c450b2f | 40 | |
oliverfang | 12:d9d577c25961 | 41 | // Enables |
mohammmo | 13:921cb2856808 | 42 | int accEn = 1; |
mohammmo | 13:921cb2856808 | 43 | int magEn = 1; |
oliverfang | 12:d9d577c25961 | 44 | int lightEn = 1; |
oliverfang | 12:d9d577c25961 | 45 | int touchEn = 1; |
mohammmo | 13:921cb2856808 | 46 | int AinEn = 1; |
oliverfang | 12:d9d577c25961 | 47 | |
oliverfang | 8:b87b93a62a6a | 48 | // Receiving Data |
oliverfang | 8:b87b93a62a6a | 49 | const int bufferSize = 255; |
oliverfang | 8:b87b93a62a6a | 50 | char buffer[bufferSize]; |
oliverfang | 8:b87b93a62a6a | 51 | int index = 0; |
oliverfang | 10:f9a1e1dd5de1 | 52 | int received = 0; |
oliverfang | 10:f9a1e1dd5de1 | 53 | int readEn = 0; |
oliverfang | 10:f9a1e1dd5de1 | 54 | float temp; |
oliverfang | 3:552b7c450b2f | 55 | |
oliverfang | 0:648dde0c4ef8 | 56 | // Declare Accelerometer pins and I2C address |
oliverfang | 0:648dde0c4ef8 | 57 | MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS, 0, 0); |
oliverfang | 0:648dde0c4ef8 | 58 | // Declare Magnetometer pins |
oliverfang | 0:648dde0c4ef8 | 59 | MAG3110 mag(PTE25, PTE24); |
mohammmo | 2:bb31f097af0f | 60 | // Declare touch sensor pin |
mohammmo | 2:bb31f097af0f | 61 | TSISensor touch; |
mohammmo | 2:bb31f097af0f | 62 | // Declare light sensor pin |
mohammmo | 2:bb31f097af0f | 63 | AnalogIn light(PTE22); |
mohammmo | 13:921cb2856808 | 64 | // Declare Analog input pin |
mohammmo | 13:921cb2856808 | 65 | AnalogIn Ain(PTB0); |
oliverfang | 0:648dde0c4ef8 | 66 | |
oliverfang | 0:648dde0c4ef8 | 67 | // Functions |
oliverfang | 0:648dde0c4ef8 | 68 | void init(); |
oliverfang | 4:0d2eefc2be8e | 69 | void printData(); |
oliverfang | 8:b87b93a62a6a | 70 | void receiveHandler(); |
oliverfang | 8:b87b93a62a6a | 71 | void processCommand(); |
oliverfang | 0:648dde0c4ef8 | 72 | void accTime(); |
oliverfang | 0:648dde0c4ef8 | 73 | void magTime(); |
mohammmo | 2:bb31f097af0f | 74 | void lightTime(); |
mohammmo | 2:bb31f097af0f | 75 | void touchTime(); |
mohammmo | 13:921cb2856808 | 76 | void AinTime(); |
oliverfang | 0:648dde0c4ef8 | 77 | |
oliverfang | 0:648dde0c4ef8 | 78 | void init() |
oliverfang | 0:648dde0c4ef8 | 79 | { |
oliverfang | 0:648dde0c4ef8 | 80 | // Attach timerAcc |
oliverfang | 10:f9a1e1dd5de1 | 81 | pc.baud(9600); |
oliverfang | 3:552b7c450b2f | 82 | timerAcc.attach(&accTime, accRate); |
oliverfang | 3:552b7c450b2f | 83 | timerMag.attach(&magTime, magRate); |
oliverfang | 3:552b7c450b2f | 84 | timerLight.attach(&lightTime, lightRate); |
oliverfang | 3:552b7c450b2f | 85 | timerTouch.attach(&touchTime, touchRate); |
mohammmo | 13:921cb2856808 | 86 | timerAin.attach(&AinTime, AinRate); |
oliverfang | 8:b87b93a62a6a | 87 | pc.attach(&receiveHandler, Serial::RxIrq); |
oliverfang | 0:648dde0c4ef8 | 88 | ledred = 0; |
oliverfang | 0:648dde0c4ef8 | 89 | ledgreen = 0; |
oliverfang | 0:648dde0c4ef8 | 90 | } |
oliverfang | 0:648dde0c4ef8 | 91 | |
oliverfang | 0:648dde0c4ef8 | 92 | int main() |
oliverfang | 0:648dde0c4ef8 | 93 | { |
oliverfang | 0:648dde0c4ef8 | 94 | // Initialize |
oliverfang | 0:648dde0c4ef8 | 95 | init(); |
oliverfang | 0:648dde0c4ef8 | 96 | |
oliverfang | 0:648dde0c4ef8 | 97 | while(1) |
oliverfang | 0:648dde0c4ef8 | 98 | { |
oliverfang | 10:f9a1e1dd5de1 | 99 | __disable_irq(); |
oliverfang | 4:0d2eefc2be8e | 100 | printData(); |
oliverfang | 10:f9a1e1dd5de1 | 101 | __enable_irq(); |
oliverfang | 8:b87b93a62a6a | 102 | wait(0.05); |
oliverfang | 10:f9a1e1dd5de1 | 103 | if(received == 1){ |
oliverfang | 8:b87b93a62a6a | 104 | __disable_irq(); |
oliverfang | 8:b87b93a62a6a | 105 | processCommand(); |
oliverfang | 8:b87b93a62a6a | 106 | __enable_irq(); |
oliverfang | 8:b87b93a62a6a | 107 | } |
oliverfang | 8:b87b93a62a6a | 108 | //ledgreen = !ledgreen; |
oliverfang | 0:648dde0c4ef8 | 109 | } |
oliverfang | 0:648dde0c4ef8 | 110 | } |
oliverfang | 0:648dde0c4ef8 | 111 | |
oliverfang | 4:0d2eefc2be8e | 112 | void printData() |
oliverfang | 4:0d2eefc2be8e | 113 | { |
mohammmo | 14:1608275a874f | 114 | pc.printf("/%f/%f/%f/%d/%d/%d/%f/%f/%.3f/%.3f/%.3f/%.3f/%d/%d/%d/%d/%f/\r\n", |
oliverfang | 10:f9a1e1dd5de1 | 115 | xAcc, yAcc, zAcc, xMag, yMag, zMag, xLight, xTouch, |
oliverfang | 12:d9d577c25961 | 116 | accRate, magRate, lightRate, touchRate, |
mohammmo | 14:1608275a874f | 117 | accEn, magEn, lightEn, touchEn, |
mohammmo | 14:1608275a874f | 118 | xAin); |
oliverfang | 10:f9a1e1dd5de1 | 119 | |
oliverfang | 8:b87b93a62a6a | 120 | } |
oliverfang | 8:b87b93a62a6a | 121 | |
oliverfang | 8:b87b93a62a6a | 122 | void receiveHandler() |
oliverfang | 8:b87b93a62a6a | 123 | { |
oliverfang | 10:f9a1e1dd5de1 | 124 | while (pc.readable()){ |
oliverfang | 10:f9a1e1dd5de1 | 125 | temp = pc.getc(); |
oliverfang | 10:f9a1e1dd5de1 | 126 | //begin reading if char is @ |
oliverfang | 10:f9a1e1dd5de1 | 127 | if (temp == '@') |
oliverfang | 10:f9a1e1dd5de1 | 128 | { |
oliverfang | 10:f9a1e1dd5de1 | 129 | readEn = 1; |
oliverfang | 10:f9a1e1dd5de1 | 130 | } |
oliverfang | 10:f9a1e1dd5de1 | 131 | //stop reading if char is # |
oliverfang | 10:f9a1e1dd5de1 | 132 | else if (temp == '#' && readEn == 1) |
oliverfang | 10:f9a1e1dd5de1 | 133 | { |
oliverfang | 10:f9a1e1dd5de1 | 134 | readEn = 0; |
oliverfang | 10:f9a1e1dd5de1 | 135 | received = 1; |
oliverfang | 10:f9a1e1dd5de1 | 136 | //ledred = 1; |
oliverfang | 8:b87b93a62a6a | 137 | index = 0; |
oliverfang | 10:f9a1e1dd5de1 | 138 | return; |
oliverfang | 8:b87b93a62a6a | 139 | } |
oliverfang | 10:f9a1e1dd5de1 | 140 | // if read enable is on, then read in data |
oliverfang | 10:f9a1e1dd5de1 | 141 | else if (readEn == 1) |
oliverfang | 10:f9a1e1dd5de1 | 142 | { |
oliverfang | 10:f9a1e1dd5de1 | 143 | buffer[index] = temp; |
oliverfang | 10:f9a1e1dd5de1 | 144 | index++; |
oliverfang | 10:f9a1e1dd5de1 | 145 | } |
oliverfang | 8:b87b93a62a6a | 146 | } |
oliverfang | 8:b87b93a62a6a | 147 | return; |
oliverfang | 8:b87b93a62a6a | 148 | } |
oliverfang | 8:b87b93a62a6a | 149 | |
oliverfang | 8:b87b93a62a6a | 150 | void processCommand() |
oliverfang | 8:b87b93a62a6a | 151 | { |
oliverfang | 8:b87b93a62a6a | 152 | //pc.printf("%s\r\n", buffer); |
oliverfang | 11:7af59a3d9ac5 | 153 | char* cmd_index; |
oliverfang | 11:7af59a3d9ac5 | 154 | char* cmd_val; |
oliverfang | 12:d9d577c25961 | 155 | char* disStr = "ddd"; |
oliverfang | 12:d9d577c25961 | 156 | char* enStr = "eee"; |
oliverfang | 11:7af59a3d9ac5 | 157 | // read in first value (0, 1, 2, or 3) |
oliverfang | 11:7af59a3d9ac5 | 158 | cmd_index = strtok(buffer, "x"); |
oliverfang | 11:7af59a3d9ac5 | 159 | //pc.printf("%s\r\n", cmd_index); |
oliverfang | 11:7af59a3d9ac5 | 160 | //read in second value (integer larger than 050) |
oliverfang | 11:7af59a3d9ac5 | 161 | cmd_val = strtok(NULL, "x"); |
oliverfang | 11:7af59a3d9ac5 | 162 | //pc.printf("%s\r\n", cmd_val); |
oliverfang | 12:d9d577c25961 | 163 | // ddd means disable |
oliverfang | 12:d9d577c25961 | 164 | if (strcmp(cmd_val, disStr) == 0) |
oliverfang | 12:d9d577c25961 | 165 | { |
oliverfang | 12:d9d577c25961 | 166 | ledgreen = 1; |
oliverfang | 12:d9d577c25961 | 167 | switch(*cmd_index) |
oliverfang | 12:d9d577c25961 | 168 | { |
oliverfang | 12:d9d577c25961 | 169 | case '1': |
oliverfang | 12:d9d577c25961 | 170 | timerAcc.detach(); |
oliverfang | 12:d9d577c25961 | 171 | accEn = 0; |
oliverfang | 12:d9d577c25961 | 172 | break; |
oliverfang | 12:d9d577c25961 | 173 | case '2': |
oliverfang | 12:d9d577c25961 | 174 | timerMag.detach(); |
oliverfang | 12:d9d577c25961 | 175 | magEn = 0; |
oliverfang | 12:d9d577c25961 | 176 | break; |
oliverfang | 12:d9d577c25961 | 177 | case '3': |
oliverfang | 12:d9d577c25961 | 178 | timerLight.detach(); |
oliverfang | 12:d9d577c25961 | 179 | lightEn = 0; |
oliverfang | 12:d9d577c25961 | 180 | break; |
oliverfang | 12:d9d577c25961 | 181 | case '4': |
oliverfang | 12:d9d577c25961 | 182 | timerTouch.detach(); |
oliverfang | 12:d9d577c25961 | 183 | touchEn = 0; |
oliverfang | 12:d9d577c25961 | 184 | break; |
mohammmo | 13:921cb2856808 | 185 | case '5': |
mohammmo | 13:921cb2856808 | 186 | timerAin.detach(); |
mohammmo | 13:921cb2856808 | 187 | AinEn = 0; |
mohammmo | 13:921cb2856808 | 188 | break; |
oliverfang | 12:d9d577c25961 | 189 | default: |
oliverfang | 12:d9d577c25961 | 190 | //pc.printf("incorrect input\r\n"); |
oliverfang | 12:d9d577c25961 | 191 | break; |
oliverfang | 12:d9d577c25961 | 192 | } |
oliverfang | 12:d9d577c25961 | 193 | } |
oliverfang | 12:d9d577c25961 | 194 | // eee means enable |
oliverfang | 12:d9d577c25961 | 195 | else if (strcmp(cmd_val, enStr) == 0) |
oliverfang | 12:d9d577c25961 | 196 | { |
oliverfang | 12:d9d577c25961 | 197 | switch(*cmd_index) |
oliverfang | 12:d9d577c25961 | 198 | { |
oliverfang | 12:d9d577c25961 | 199 | case '1': |
oliverfang | 12:d9d577c25961 | 200 | timerAcc.attach(&accTime, accRate); |
oliverfang | 12:d9d577c25961 | 201 | accEn = 1; |
oliverfang | 12:d9d577c25961 | 202 | break; |
oliverfang | 12:d9d577c25961 | 203 | case '2': |
oliverfang | 12:d9d577c25961 | 204 | timerMag.attach(&magTime, magRate); |
oliverfang | 12:d9d577c25961 | 205 | magEn = 1; |
oliverfang | 12:d9d577c25961 | 206 | break; |
oliverfang | 12:d9d577c25961 | 207 | case '3': |
oliverfang | 12:d9d577c25961 | 208 | timerLight.attach(&lightTime, lightRate); |
oliverfang | 12:d9d577c25961 | 209 | lightEn = 1; |
oliverfang | 12:d9d577c25961 | 210 | break; |
oliverfang | 12:d9d577c25961 | 211 | case '4': |
oliverfang | 12:d9d577c25961 | 212 | timerTouch.attach(&touchTime, touchRate); |
oliverfang | 12:d9d577c25961 | 213 | touchEn = 1; |
oliverfang | 12:d9d577c25961 | 214 | break; |
mohammmo | 13:921cb2856808 | 215 | case '5': |
mohammmo | 13:921cb2856808 | 216 | timerAin.attach(&AinTime, AinRate); |
mohammmo | 13:921cb2856808 | 217 | AinEn = 1; |
oliverfang | 12:d9d577c25961 | 218 | default: |
oliverfang | 12:d9d577c25961 | 219 | //pc.printf("incorrect input\r\n"); |
oliverfang | 12:d9d577c25961 | 220 | break; |
oliverfang | 12:d9d577c25961 | 221 | } |
oliverfang | 12:d9d577c25961 | 222 | } |
oliverfang | 11:7af59a3d9ac5 | 223 | temp = strtod(cmd_val, NULL)/1000; |
oliverfang | 12:d9d577c25961 | 224 | if (temp > 0.06 && strlen(cmd_val) >= 3) |
oliverfang | 8:b87b93a62a6a | 225 | { |
oliverfang | 11:7af59a3d9ac5 | 226 | switch(*cmd_index) |
oliverfang | 11:7af59a3d9ac5 | 227 | { |
oliverfang | 11:7af59a3d9ac5 | 228 | case '1': |
oliverfang | 10:f9a1e1dd5de1 | 229 | accRate = temp; |
oliverfang | 10:f9a1e1dd5de1 | 230 | timerAcc.detach(); |
oliverfang | 11:7af59a3d9ac5 | 231 | timerAcc.attach(&accTime, accRate); |
oliverfang | 11:7af59a3d9ac5 | 232 | break; |
oliverfang | 11:7af59a3d9ac5 | 233 | case '2': |
oliverfang | 10:f9a1e1dd5de1 | 234 | magRate = temp; |
oliverfang | 10:f9a1e1dd5de1 | 235 | timerMag.detach(); |
oliverfang | 10:f9a1e1dd5de1 | 236 | timerMag.attach(&magTime, magRate); |
oliverfang | 11:7af59a3d9ac5 | 237 | break; |
oliverfang | 11:7af59a3d9ac5 | 238 | case '3': |
oliverfang | 10:f9a1e1dd5de1 | 239 | lightRate = temp; |
oliverfang | 10:f9a1e1dd5de1 | 240 | timerLight.detach(); |
oliverfang | 10:f9a1e1dd5de1 | 241 | timerLight.attach(&lightTime, lightRate); |
oliverfang | 11:7af59a3d9ac5 | 242 | break; |
oliverfang | 11:7af59a3d9ac5 | 243 | case '4': |
oliverfang | 10:f9a1e1dd5de1 | 244 | touchRate = temp; |
oliverfang | 10:f9a1e1dd5de1 | 245 | timerTouch.detach(); |
oliverfang | 10:f9a1e1dd5de1 | 246 | timerTouch.attach(&touchTime, touchRate); |
oliverfang | 11:7af59a3d9ac5 | 247 | break; |
mohammmo | 13:921cb2856808 | 248 | case '5': |
mohammmo | 13:921cb2856808 | 249 | AinRate = temp; |
mohammmo | 13:921cb2856808 | 250 | timerAin.detach(); |
mohammmo | 13:921cb2856808 | 251 | timerAin.attach(&AinTime, AinRate); |
mohammmo | 13:921cb2856808 | 252 | break; |
oliverfang | 11:7af59a3d9ac5 | 253 | default: |
oliverfang | 11:7af59a3d9ac5 | 254 | //pc.printf("incorrect input\r\n"); |
oliverfang | 11:7af59a3d9ac5 | 255 | break; |
oliverfang | 11:7af59a3d9ac5 | 256 | } |
oliverfang | 8:b87b93a62a6a | 257 | } |
oliverfang | 11:7af59a3d9ac5 | 258 | |
oliverfang | 10:f9a1e1dd5de1 | 259 | received = 0; |
oliverfang | 8:b87b93a62a6a | 260 | memset(buffer, 0, bufferSize); |
oliverfang | 8:b87b93a62a6a | 261 | //pc.printf("%s\r\n", buffer); |
oliverfang | 8:b87b93a62a6a | 262 | } |
oliverfang | 8:b87b93a62a6a | 263 | |
oliverfang | 0:648dde0c4ef8 | 264 | void accTime() |
oliverfang | 0:648dde0c4ef8 | 265 | { |
oliverfang | 0:648dde0c4ef8 | 266 | xAcc = abs(acc.getAccX()); |
oliverfang | 0:648dde0c4ef8 | 267 | yAcc = abs(acc.getAccY()); |
oliverfang | 0:648dde0c4ef8 | 268 | zAcc = abs(acc.getAccZ()); |
oliverfang | 10:f9a1e1dd5de1 | 269 | ledred = !ledred; |
oliverfang | 0:648dde0c4ef8 | 270 | } |
oliverfang | 0:648dde0c4ef8 | 271 | |
oliverfang | 0:648dde0c4ef8 | 272 | void magTime() |
oliverfang | 0:648dde0c4ef8 | 273 | { |
oliverfang | 0:648dde0c4ef8 | 274 | xMag = mag.getXVal(); |
oliverfang | 0:648dde0c4ef8 | 275 | yMag = mag.getYVal(); |
oliverfang | 0:648dde0c4ef8 | 276 | zMag = mag.getZVal(); |
oliverfang | 8:b87b93a62a6a | 277 | //ledred = !ledred; |
mohammmo | 2:bb31f097af0f | 278 | } |
mohammmo | 2:bb31f097af0f | 279 | |
mohammmo | 2:bb31f097af0f | 280 | void lightTime() |
mohammmo | 2:bb31f097af0f | 281 | { |
mohammmo | 2:bb31f097af0f | 282 | xLight = 1 - light.read(); |
mohammmo | 2:bb31f097af0f | 283 | } |
mohammmo | 2:bb31f097af0f | 284 | |
mohammmo | 2:bb31f097af0f | 285 | void touchTime() |
mohammmo | 2:bb31f097af0f | 286 | { |
mohammmo | 2:bb31f097af0f | 287 | xTouch = 1 - touch.readPercentage(); |
oliverfang | 8:b87b93a62a6a | 288 | } |
mohammmo | 13:921cb2856808 | 289 | |
mohammmo | 13:921cb2856808 | 290 | void AinTime() |
mohammmo | 13:921cb2856808 | 291 | { |
mohammmo | 13:921cb2856808 | 292 | xAin = Ain.read(); |
mohammmo | 13:921cb2856808 | 293 | } |