Oliver Fang / Mbed 2 deprecated test

Playing around with accelerometer and magnetometer on mbed KL46Z

Dependencies:   MAG3110 MMA8451Q PinDetect mbed TSI

main.cpp@11:7af59a3d9ac5, 2014-02-06 (annotated)

Committer:
oliverfang
Date:
Thu Feb 06 21:35:02 2014 +0000
Revision:
11:7af59a3d9ac5
Parent:
10:f9a1e1dd5de1
Child:
12:d9d577c25961
updated small tweaks to make system more robust

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 10:f9a1e1dd5de1 42 int received = 0;
oliverfang 10:f9a1e1dd5de1 43 int readEn = 0;
oliverfang 10:f9a1e1dd5de1 44 float temp;
oliverfang 3:552b7c450b2f 45
oliverfang 0:648dde0c4ef8 46 // Declare Accelerometer pins and I2C address
oliverfang 0:648dde0c4ef8 47 MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS, 0, 0);
oliverfang 0:648dde0c4ef8 48 // Declare Magnetometer pins
oliverfang 0:648dde0c4ef8 49 MAG3110 mag(PTE25, PTE24);
mohammmo 2:bb31f097af0f 50 // Declare touch sensor pin
mohammmo 2:bb31f097af0f 51 TSISensor touch;
mohammmo 2:bb31f097af0f 52 // Declare light sensor pin
mohammmo 2:bb31f097af0f 53 AnalogIn light(PTE22);
oliverfang 0:648dde0c4ef8 54
oliverfang 0:648dde0c4ef8 55 // Functions
oliverfang 0:648dde0c4ef8 56 void init();
oliverfang 4:0d2eefc2be8e 57 void printData();
oliverfang 8:b87b93a62a6a 58 void receiveHandler();
oliverfang 8:b87b93a62a6a 59 void processCommand();
oliverfang 0:648dde0c4ef8 60 void accTime();
oliverfang 0:648dde0c4ef8 61 void magTime();
mohammmo 2:bb31f097af0f 62 void lightTime();
mohammmo 2:bb31f097af0f 63 void touchTime();
oliverfang 0:648dde0c4ef8 64
oliverfang 0:648dde0c4ef8 65 void init()
oliverfang 0:648dde0c4ef8 66 {
oliverfang 0:648dde0c4ef8 67 // Attach timerAcc
oliverfang 10:f9a1e1dd5de1 68 pc.baud(9600);
oliverfang 3:552b7c450b2f 69 timerAcc.attach(&accTime, accRate);
oliverfang 3:552b7c450b2f 70 timerMag.attach(&magTime, magRate);
oliverfang 3:552b7c450b2f 71 timerLight.attach(&lightTime, lightRate);
oliverfang 3:552b7c450b2f 72 timerTouch.attach(&touchTime, touchRate);
oliverfang 8:b87b93a62a6a 73 pc.attach(&receiveHandler, Serial::RxIrq);
oliverfang 0:648dde0c4ef8 74 ledred = 0;
oliverfang 0:648dde0c4ef8 75 ledgreen = 0;
oliverfang 0:648dde0c4ef8 76 }
oliverfang 0:648dde0c4ef8 77
oliverfang 0:648dde0c4ef8 78 int main()
oliverfang 0:648dde0c4ef8 79 {
oliverfang 0:648dde0c4ef8 80 // Initialize
oliverfang 0:648dde0c4ef8 81 init();
oliverfang 0:648dde0c4ef8 82
oliverfang 0:648dde0c4ef8 83 while(1)
oliverfang 0:648dde0c4ef8 84 {
oliverfang 10:f9a1e1dd5de1 85 __disable_irq();
oliverfang 4:0d2eefc2be8e 86 printData();
oliverfang 10:f9a1e1dd5de1 87 __enable_irq();
oliverfang 8:b87b93a62a6a 88 wait(0.05);
oliverfang 10:f9a1e1dd5de1 89 if(received == 1){
oliverfang 8:b87b93a62a6a 90 __disable_irq();
oliverfang 8:b87b93a62a6a 91 processCommand();
oliverfang 8:b87b93a62a6a 92 __enable_irq();
oliverfang 8:b87b93a62a6a 93 }
oliverfang 8:b87b93a62a6a 94 //ledgreen = !ledgreen;
oliverfang 0:648dde0c4ef8 95 }
oliverfang 0:648dde0c4ef8 96 }
oliverfang 0:648dde0c4ef8 97
oliverfang 4:0d2eefc2be8e 98 void printData()
oliverfang 4:0d2eefc2be8e 99 {
oliverfang 10:f9a1e1dd5de1 100
oliverfang 10:f9a1e1dd5de1 101 pc.printf("/%f/%f/%f/%d/%d/%d/%f/%f/%f/%f/%f/%f/%d/\r\n",
oliverfang 10:f9a1e1dd5de1 102 xAcc, yAcc, zAcc, xMag, yMag, zMag, xLight, xTouch,
oliverfang 10:f9a1e1dd5de1 103 accRate, magRate, lightRate, touchRate, received);
oliverfang 10:f9a1e1dd5de1 104
oliverfang 8:b87b93a62a6a 105 }
oliverfang 8:b87b93a62a6a 106
oliverfang 8:b87b93a62a6a 107 void receiveHandler()
oliverfang 8:b87b93a62a6a 108 {
oliverfang 10:f9a1e1dd5de1 109 while (pc.readable()){
oliverfang 10:f9a1e1dd5de1 110 temp = pc.getc();
oliverfang 10:f9a1e1dd5de1 111 //begin reading if char is @
oliverfang 10:f9a1e1dd5de1 112 if (temp == '@')
oliverfang 10:f9a1e1dd5de1 113 {
oliverfang 10:f9a1e1dd5de1 114 readEn = 1;
oliverfang 10:f9a1e1dd5de1 115 }
oliverfang 10:f9a1e1dd5de1 116 //stop reading if char is #
oliverfang 10:f9a1e1dd5de1 117 else if (temp == '#' && readEn == 1)
oliverfang 10:f9a1e1dd5de1 118 {
oliverfang 10:f9a1e1dd5de1 119 readEn = 0;
oliverfang 10:f9a1e1dd5de1 120 received = 1;
oliverfang 10:f9a1e1dd5de1 121 //ledred = 1;
oliverfang 8:b87b93a62a6a 122 index = 0;
oliverfang 10:f9a1e1dd5de1 123 return;
oliverfang 8:b87b93a62a6a 124 }
oliverfang 10:f9a1e1dd5de1 125 // if read enable is on, then read in data
oliverfang 10:f9a1e1dd5de1 126 else if (readEn == 1)
oliverfang 10:f9a1e1dd5de1 127 {
oliverfang 10:f9a1e1dd5de1 128 buffer[index] = temp;
oliverfang 10:f9a1e1dd5de1 129 index++;
oliverfang 10:f9a1e1dd5de1 130 }
oliverfang 8:b87b93a62a6a 131 }
oliverfang 8:b87b93a62a6a 132 return;
oliverfang 8:b87b93a62a6a 133 }
oliverfang 8:b87b93a62a6a 134
oliverfang 8:b87b93a62a6a 135 void processCommand()
oliverfang 8:b87b93a62a6a 136 {
oliverfang 8:b87b93a62a6a 137 //pc.printf("%s\r\n", buffer);
oliverfang 11:7af59a3d9ac5 138 char* cmd_index;
oliverfang 11:7af59a3d9ac5 139 char* cmd_val;
oliverfang 11:7af59a3d9ac5 140 // read in first value (0, 1, 2, or 3)
oliverfang 11:7af59a3d9ac5 141 cmd_index = strtok(buffer, "x");
oliverfang 11:7af59a3d9ac5 142 //pc.printf("%s\r\n", cmd_index);
oliverfang 11:7af59a3d9ac5 143 //read in second value (integer larger than 050)
oliverfang 11:7af59a3d9ac5 144 cmd_val = strtok(NULL, "x");
oliverfang 11:7af59a3d9ac5 145 //pc.printf("%s\r\n", cmd_val);
oliverfang 11:7af59a3d9ac5 146 temp = strtod(cmd_val, NULL)/1000;
oliverfang 11:7af59a3d9ac5 147 if (temp >= 0.05 && strlen(cmd_val) >= 3)
oliverfang 8:b87b93a62a6a 148 {
oliverfang 11:7af59a3d9ac5 149 switch(*cmd_index)
oliverfang 11:7af59a3d9ac5 150 {
oliverfang 11:7af59a3d9ac5 151 case '1':
oliverfang 10:f9a1e1dd5de1 152 accRate = temp;
oliverfang 10:f9a1e1dd5de1 153 timerAcc.detach();
oliverfang 11:7af59a3d9ac5 154 timerAcc.attach(&accTime, accRate);
oliverfang 11:7af59a3d9ac5 155 break;
oliverfang 11:7af59a3d9ac5 156 case '2':
oliverfang 10:f9a1e1dd5de1 157 magRate = temp;
oliverfang 10:f9a1e1dd5de1 158 timerMag.detach();
oliverfang 10:f9a1e1dd5de1 159 timerMag.attach(&magTime, magRate);
oliverfang 11:7af59a3d9ac5 160 break;
oliverfang 11:7af59a3d9ac5 161 case '3':
oliverfang 10:f9a1e1dd5de1 162 lightRate = temp;
oliverfang 10:f9a1e1dd5de1 163 timerLight.detach();
oliverfang 10:f9a1e1dd5de1 164 timerLight.attach(&lightTime, lightRate);
oliverfang 11:7af59a3d9ac5 165 break;
oliverfang 11:7af59a3d9ac5 166 case '4':
oliverfang 10:f9a1e1dd5de1 167 touchRate = temp;
oliverfang 10:f9a1e1dd5de1 168 timerTouch.detach();
oliverfang 10:f9a1e1dd5de1 169 timerTouch.attach(&touchTime, touchRate);
oliverfang 11:7af59a3d9ac5 170 break;
oliverfang 11:7af59a3d9ac5 171 default:
oliverfang 11:7af59a3d9ac5 172 //pc.printf("incorrect input\r\n");
oliverfang 11:7af59a3d9ac5 173 break;
oliverfang 11:7af59a3d9ac5 174 }
oliverfang 8:b87b93a62a6a 175 }
oliverfang 11:7af59a3d9ac5 176
oliverfang 10:f9a1e1dd5de1 177 received = 0;
oliverfang 8:b87b93a62a6a 178 memset(buffer, 0, bufferSize);
oliverfang 8:b87b93a62a6a 179 //pc.printf("%s\r\n", buffer);
oliverfang 8:b87b93a62a6a 180 }
oliverfang 8:b87b93a62a6a 181
oliverfang 0:648dde0c4ef8 182 void accTime()
oliverfang 0:648dde0c4ef8 183 {
oliverfang 0:648dde0c4ef8 184 xAcc = abs(acc.getAccX());
oliverfang 0:648dde0c4ef8 185 yAcc = abs(acc.getAccY());
oliverfang 0:648dde0c4ef8 186 zAcc = abs(acc.getAccZ());
oliverfang 10:f9a1e1dd5de1 187 ledred = !ledred;
oliverfang 0:648dde0c4ef8 188 }
oliverfang 0:648dde0c4ef8 189
oliverfang 0:648dde0c4ef8 190 void magTime()
oliverfang 0:648dde0c4ef8 191 {
oliverfang 0:648dde0c4ef8 192 xMag = mag.getXVal();
oliverfang 0:648dde0c4ef8 193 yMag = mag.getYVal();
oliverfang 0:648dde0c4ef8 194 zMag = mag.getZVal();
oliverfang 8:b87b93a62a6a 195 //ledred = !ledred;
mohammmo 2:bb31f097af0f 196 }
mohammmo 2:bb31f097af0f 197
mohammmo 2:bb31f097af0f 198 void lightTime()
mohammmo 2:bb31f097af0f 199 {
mohammmo 2:bb31f097af0f 200 xLight = 1 - light.read();
mohammmo 2:bb31f097af0f 201 }
mohammmo 2:bb31f097af0f 202
mohammmo 2:bb31f097af0f 203 void touchTime()
mohammmo 2:bb31f097af0f 204 {
mohammmo 2:bb31f097af0f 205 xTouch = 1 - touch.readPercentage();
oliverfang 8:b87b93a62a6a 206 }