Playing around with accelerometer and magnetometer on mbed KL46Z
Dependencies: MAG3110 MMA8451Q PinDetect mbed TSI
main.cpp
- Committer:
- oliverfang
- Date:
- 2014-02-06
- Revision:
- 8:b87b93a62a6a
- Parent:
- 4:0d2eefc2be8e
- Child:
- 9:90567e22c5e1
- Child:
- 10:f9a1e1dd5de1
File content as of revision 8:b87b93a62a6a:
#include "mbed.h" #include "PinDetect.h" #include "MMA8451Q.h" #include "MAG3110.h" #include "TSISensor.h" #define MMA8451_I2C_ADDRESS (0x1d<<1) // Declare output LEDs DigitalOut ledgreen(PTD5); DigitalOut ledred(PTE29); // Declare USB serial connection Serial pc(USBTX,USBRX); // Declare timer interrupt Ticker timerAcc; Ticker timerMag; Ticker timerLight; Ticker timerTouch; // Declare pointer variables float xAcc; float yAcc; float zAcc; int xMag; int yMag; int zMag; float xLight; float xTouch; // Sampling rates float accRate = 0.1; float magRate = 0.1; float lightRate = 0.1; float touchRate = 0.1; // Receiving Data const int bufferSize = 255; char buffer[bufferSize]; int index = 0; bool received = false; // Declare Accelerometer pins and I2C address MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS, 0, 0); // Declare Magnetometer pins MAG3110 mag(PTE25, PTE24); // Declare touch sensor pin TSISensor touch; // Declare light sensor pin AnalogIn light(PTE22); // Functions void init(); void printData(); void receiveHandler(); void processCommand(); void accTime(); void magTime(); void lightTime(); void touchTime(); void init() { // Attach timerAcc //pc.baud(9600); timerAcc.attach(&accTime, accRate); timerMag.attach(&magTime, magRate); timerLight.attach(&lightTime, lightRate); timerTouch.attach(&touchTime, touchRate); pc.attach(&receiveHandler, Serial::RxIrq); ledred = 0; ledgreen = 0; } int main() { // Initialize init(); while(1) { printData(); wait(0.05); if(received){ __disable_irq(); processCommand(); __enable_irq(); } //ledgreen = !ledgreen; } } void printData() { 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); } void receiveHandler() { index = 0; while (pc.readable() && index < bufferSize){ //ledgreen = !ledgreen; buffer[index] = pc.getc(); if (buffer[index] == '#'){ index = 0; received = true; //ledred = !ledred; break; } index++; } return; } void processCommand() { //pc.printf("%s\r\n", buffer); char* commands; commands = strtok(buffer, "x"); //pc.printf("%s\r\n", commands); switch(*commands) { case '0': commands = strtok(NULL, "x"); //pc.printf("%s\r\n", commands); accRate = strtod(commands, NULL)/1000; timerAcc.detach(); timerAcc.attach(&accTime, accRate); break; case '1': commands = strtok(NULL, "x"); //pc.printf("%s\r\n", commands); magRate = strtod(commands, NULL)/1000; timerMag.detach(); timerMag.attach(&magTime, magRate); break; case '2': commands = strtok(NULL, "x"); //pc.printf("%s\r\n", commands); lightRate = strtod(commands, NULL)/1000; timerLight.detach(); timerLight.attach(&lightTime, lightRate); break; case '3': commands = strtok(NULL, "x"); //pc.printf("%s\r\n", commands); touchRate = strtod(commands, NULL)/1000; timerTouch.detach(); timerTouch.attach(&touchTime, touchRate); break; default: //pc.printf("incorrect input\r\n"); break; } received = false; memset(buffer, 0, bufferSize); //pc.printf("%s\r\n", buffer); } void accTime() { xAcc = abs(acc.getAccX()); yAcc = abs(acc.getAccY()); zAcc = abs(acc.getAccZ()); //ledred = !ledred; } void magTime() { xMag = mag.getXVal(); yMag = mag.getYVal(); zMag = mag.getZVal(); //ledred = !ledred; } void lightTime() { xLight = 1 - light.read(); } void touchTime() { xTouch = 1 - touch.readPercentage(); }