Oliver Fang / Mbed 2 deprecated test

Playing around with accelerometer and magnetometer on mbed KL46Z

Dependencies:   MAG3110 MMA8451Q PinDetect mbed TSI

main.cpp@8:b87b93a62a6a, 2014-02-06 (annotated)

Committer:
oliverfang
Date:
Thu Feb 06 06:10:19 2014 +0000
Revision:
8:b87b93a62a6a
Parent:
4:0d2eefc2be8e
Child:
9:90567e22c5e1
Child:
10:f9a1e1dd5de1
updated to transmit all data and read in commands from pyserial; currently unreliable serial communication; working on fix

Who changed what in which revision?

UserRevisionLine numberNew 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;
oliverfang 0:648dde0c4ef8 21
oliverfang 0:648dde0c4ef8 22 // Declare pointer variables
oliverfang 0:648dde0c4ef8 23 float xAcc;
oliverfang 0:648dde0c4ef8 24 float yAcc;
oliverfang 0:648dde0c4ef8 25 float zAcc;
oliverfang 0:648dde0c4ef8 26 int xMag;
oliverfang 0:648dde0c4ef8 27 int yMag;
oliverfang 0:648dde0c4ef8 28 int zMag;
mohammmo 2:bb31f097af0f 29 float xLight;
mohammmo 2:bb31f097af0f 30 float xTouch;
oliverfang 0:648dde0c4ef8 31
oliverfang 3:552b7c450b2f 32 // Sampling rates
oliverfang 4:0d2eefc2be8e 33 float accRate = 0.1;
oliverfang 4:0d2eefc2be8e 34 float magRate = 0.1;
oliverfang 3:552b7c450b2f 35 float lightRate = 0.1;
oliverfang 3:552b7c450b2f 36 float touchRate = 0.1;
oliverfang 3:552b7c450b2f 37
oliverfang 8:b87b93a62a6a 38 // Receiving Data
oliverfang 8:b87b93a62a6a 39 const int bufferSize = 255;
oliverfang 8:b87b93a62a6a 40 char buffer[bufferSize];
oliverfang 8:b87b93a62a6a 41 int index = 0;
oliverfang 8:b87b93a62a6a 42 bool received = false;
oliverfang 3:552b7c450b2f 43
oliverfang 0:648dde0c4ef8 44 // Declare Accelerometer pins and I2C address
oliverfang 0:648dde0c4ef8 45 MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS, 0, 0);
oliverfang 0:648dde0c4ef8 46 // Declare Magnetometer pins
oliverfang 0:648dde0c4ef8 47 MAG3110 mag(PTE25, PTE24);
mohammmo 2:bb31f097af0f 48 // Declare touch sensor pin
mohammmo 2:bb31f097af0f 49 TSISensor touch;
mohammmo 2:bb31f097af0f 50 // Declare light sensor pin
mohammmo 2:bb31f097af0f 51 AnalogIn light(PTE22);
oliverfang 0:648dde0c4ef8 52
oliverfang 0:648dde0c4ef8 53 // Functions
oliverfang 0:648dde0c4ef8 54 void init();
oliverfang 4:0d2eefc2be8e 55 void printData();
oliverfang 8:b87b93a62a6a 56 void receiveHandler();
oliverfang 8:b87b93a62a6a 57 void processCommand();
oliverfang 0:648dde0c4ef8 58 void accTime();
oliverfang 0:648dde0c4ef8 59 void magTime();
mohammmo 2:bb31f097af0f 60 void lightTime();
mohammmo 2:bb31f097af0f 61 void touchTime();
oliverfang 0:648dde0c4ef8 62
oliverfang 0:648dde0c4ef8 63 void init()
oliverfang 0:648dde0c4ef8 64 {
oliverfang 0:648dde0c4ef8 65 // Attach timerAcc
oliverfang 8:b87b93a62a6a 66 //pc.baud(9600);
oliverfang 3:552b7c450b2f 67 timerAcc.attach(&accTime, accRate);
oliverfang 3:552b7c450b2f 68 timerMag.attach(&magTime, magRate);
oliverfang 3:552b7c450b2f 69 timerLight.attach(&lightTime, lightRate);
oliverfang 3:552b7c450b2f 70 timerTouch.attach(&touchTime, touchRate);
oliverfang 8:b87b93a62a6a 71 pc.attach(&receiveHandler, Serial::RxIrq);
oliverfang 0:648dde0c4ef8 72 ledred = 0;
oliverfang 0:648dde0c4ef8 73 ledgreen = 0;
oliverfang 0:648dde0c4ef8 74 }
oliverfang 0:648dde0c4ef8 75
oliverfang 0:648dde0c4ef8 76 int main()
oliverfang 0:648dde0c4ef8 77 {
oliverfang 0:648dde0c4ef8 78 // Initialize
oliverfang 0:648dde0c4ef8 79 init();
oliverfang 0:648dde0c4ef8 80
oliverfang 0:648dde0c4ef8 81 while(1)
oliverfang 0:648dde0c4ef8 82 {
oliverfang 4:0d2eefc2be8e 83 printData();
oliverfang 8:b87b93a62a6a 84 wait(0.05);
oliverfang 8:b87b93a62a6a 85 if(received){
oliverfang 8:b87b93a62a6a 86 __disable_irq();
oliverfang 8:b87b93a62a6a 87 processCommand();
oliverfang 8:b87b93a62a6a 88 __enable_irq();
oliverfang 8:b87b93a62a6a 89 }
oliverfang 8:b87b93a62a6a 90 //ledgreen = !ledgreen;
oliverfang 0:648dde0c4ef8 91 }
oliverfang 0:648dde0c4ef8 92 }
oliverfang 0:648dde0c4ef8 93
oliverfang 4:0d2eefc2be8e 94 void printData()
oliverfang 4:0d2eefc2be8e 95 {
oliverfang 8:b87b93a62a6a 96 pc.printf("/%f/%f/%f/%d/%d/%d/%f/%f/%f/%f/%f/%f/\r\n", xAcc, yAcc, zAcc, xMag, yMag, zMag, xLight, xTouch, accRate, magRate, lightRate, touchRate);
oliverfang 8:b87b93a62a6a 97 }
oliverfang 8:b87b93a62a6a 98
oliverfang 8:b87b93a62a6a 99 void receiveHandler()
oliverfang 8:b87b93a62a6a 100 {
oliverfang 8:b87b93a62a6a 101 index = 0;
oliverfang 8:b87b93a62a6a 102 while (pc.readable() && index < bufferSize){
oliverfang 8:b87b93a62a6a 103 //ledgreen = !ledgreen;
oliverfang 8:b87b93a62a6a 104 buffer[index] = pc.getc();
oliverfang 8:b87b93a62a6a 105 if (buffer[index] == '#'){
oliverfang 8:b87b93a62a6a 106 index = 0;
oliverfang 8:b87b93a62a6a 107 received = true;
oliverfang 8:b87b93a62a6a 108 //ledred = !ledred;
oliverfang 8:b87b93a62a6a 109 break;
oliverfang 8:b87b93a62a6a 110 }
oliverfang 8:b87b93a62a6a 111 index++;
oliverfang 8:b87b93a62a6a 112 }
oliverfang 8:b87b93a62a6a 113 return;
oliverfang 8:b87b93a62a6a 114 }
oliverfang 8:b87b93a62a6a 115
oliverfang 8:b87b93a62a6a 116 void processCommand()
oliverfang 8:b87b93a62a6a 117 {
oliverfang 8:b87b93a62a6a 118 //pc.printf("%s\r\n", buffer);
oliverfang 8:b87b93a62a6a 119 char* commands;
oliverfang 8:b87b93a62a6a 120 commands = strtok(buffer, "x");
oliverfang 8:b87b93a62a6a 121 //pc.printf("%s\r\n", commands);
oliverfang 8:b87b93a62a6a 122 switch(*commands)
oliverfang 8:b87b93a62a6a 123 {
oliverfang 8:b87b93a62a6a 124 case '0':
oliverfang 8:b87b93a62a6a 125 commands = strtok(NULL, "x");
oliverfang 8:b87b93a62a6a 126 //pc.printf("%s\r\n", commands);
oliverfang 8:b87b93a62a6a 127 accRate = strtod(commands, NULL)/1000;
oliverfang 8:b87b93a62a6a 128 timerAcc.detach();
oliverfang 8:b87b93a62a6a 129 timerAcc.attach(&accTime, accRate);
oliverfang 8:b87b93a62a6a 130 break;
oliverfang 8:b87b93a62a6a 131 case '1':
oliverfang 8:b87b93a62a6a 132 commands = strtok(NULL, "x");
oliverfang 8:b87b93a62a6a 133 //pc.printf("%s\r\n", commands);
oliverfang 8:b87b93a62a6a 134 magRate = strtod(commands, NULL)/1000;
oliverfang 8:b87b93a62a6a 135 timerMag.detach();
oliverfang 8:b87b93a62a6a 136 timerMag.attach(&magTime, magRate);
oliverfang 8:b87b93a62a6a 137 break;
oliverfang 8:b87b93a62a6a 138 case '2':
oliverfang 8:b87b93a62a6a 139 commands = strtok(NULL, "x");
oliverfang 8:b87b93a62a6a 140 //pc.printf("%s\r\n", commands);
oliverfang 8:b87b93a62a6a 141 lightRate = strtod(commands, NULL)/1000;
oliverfang 8:b87b93a62a6a 142 timerLight.detach();
oliverfang 8:b87b93a62a6a 143 timerLight.attach(&lightTime, lightRate);
oliverfang 8:b87b93a62a6a 144 break;
oliverfang 8:b87b93a62a6a 145 case '3':
oliverfang 8:b87b93a62a6a 146 commands = strtok(NULL, "x");
oliverfang 8:b87b93a62a6a 147 //pc.printf("%s\r\n", commands);
oliverfang 8:b87b93a62a6a 148 touchRate = strtod(commands, NULL)/1000;
oliverfang 8:b87b93a62a6a 149 timerTouch.detach();
oliverfang 8:b87b93a62a6a 150 timerTouch.attach(&touchTime, touchRate);
oliverfang 8:b87b93a62a6a 151 break;
oliverfang 8:b87b93a62a6a 152 default:
oliverfang 8:b87b93a62a6a 153 //pc.printf("incorrect input\r\n");
oliverfang 8:b87b93a62a6a 154 break;
oliverfang 8:b87b93a62a6a 155 }
oliverfang 8:b87b93a62a6a 156 received = false;
oliverfang 8:b87b93a62a6a 157 memset(buffer, 0, bufferSize);
oliverfang 8:b87b93a62a6a 158 //pc.printf("%s\r\n", buffer);
oliverfang 8:b87b93a62a6a 159 }
oliverfang 8:b87b93a62a6a 160
oliverfang 0:648dde0c4ef8 161 void accTime()
oliverfang 0:648dde0c4ef8 162 {
oliverfang 0:648dde0c4ef8 163 xAcc = abs(acc.getAccX());
oliverfang 0:648dde0c4ef8 164 yAcc = abs(acc.getAccY());
oliverfang 0:648dde0c4ef8 165 zAcc = abs(acc.getAccZ());
oliverfang 8:b87b93a62a6a 166 //ledred = !ledred;
oliverfang 0:648dde0c4ef8 167 }
oliverfang 0:648dde0c4ef8 168
oliverfang 0:648dde0c4ef8 169 void magTime()
oliverfang 0:648dde0c4ef8 170 {
oliverfang 0:648dde0c4ef8 171 xMag = mag.getXVal();
oliverfang 0:648dde0c4ef8 172 yMag = mag.getYVal();
oliverfang 0:648dde0c4ef8 173 zMag = mag.getZVal();
oliverfang 8:b87b93a62a6a 174 //ledred = !ledred;
mohammmo 2:bb31f097af0f 175 }
mohammmo 2:bb31f097af0f 176
mohammmo 2:bb31f097af0f 177 void lightTime()
mohammmo 2:bb31f097af0f 178 {
mohammmo 2:bb31f097af0f 179 xLight = 1 - light.read();
mohammmo 2:bb31f097af0f 180 }
mohammmo 2:bb31f097af0f 181
mohammmo 2:bb31f097af0f 182 void touchTime()
mohammmo 2:bb31f097af0f 183 {
mohammmo 2:bb31f097af0f 184 xTouch = 1 - touch.readPercentage();
oliverfang 8:b87b93a62a6a 185 }