Robert Hill
This program tests and verifies the funcitonality of the Accelerometer as a means of calculating incline angle.
Revision 0:101b684deb00, committed 2016-02-24
- Comitter:
- roberthill04
- Date:
- Wed Feb 24 17:39:14 2016 +0000
- Commit message:
- Accelerometer Solo Functionality Program
Changed in this revision
diff -r 000000000000 -r 101b684deb00 Accel.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Accel.cpp Wed Feb 24 17:39:14 2016 +0000
@@ -0,0 +1,145 @@
+/* FXOS8700Q Example Program
+ * Copyright (c) 2014-2015 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "mbed.h"
+#include "FXOS8700Q.h"
+
+
+
+
+#define PI 3.14159265
+
+Serial pc(USBTX, USBRX);
+I2C i2c(PTE25, PTE24);
+//FXOS8700Q fxos(i2c, FXOS8700CQ_SLAVE_ADDR1);
+FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR1); // Configured for the FRDM-K64F with onboard sensors
+//FXOS8700QMagnetometer mag(i2c, FXOS8700CQ_SLAVE_ADDR1);
+
+//FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR0); // Configured for use with the FRDM-MULTI shield
+//FXOS8700QMagnetometer mag(i2c, FXOS8700CQ_SLAVE_ADDR0);
+
+DigitalOut led_red(LED_RED);
+DigitalOut led_green(LED_GREEN);
+DigitalOut led_blue(LED_BLUE);
+DigitalIn sw2(SW2);
+DigitalIn sw3(SW3);
+double angleX, denomX_T, denomX_A, denomX_B, denomX_C; //intializing variable to hold the angle calculation
+double angleY, denomY_T, denomY_A, denomY_B, denomY_C; //and denominator pieces of algorithm
+bool Button_Pressed = true; //see algorithm in main for what denom_A & _B are defined as
+
+
+
+int main(void)
+{
+ motion_data_units_t acc_data;
+ // motion_data_counts_t acc_raw; //commented out because we don't need this data
+ float faX, faY, faZ, tmp_float;
+ // int16_t raX, raY, raZ, tmp_int; //commented out because we don't need this data
+
+ acc.enable();
+
+ printf("FXOS8700QAccelerometer Who Am I= %X\r\n", acc.whoAmI());
+ //printf("FXOS8700QMagnetometer Who Am I= %X\r\n", acc.whoAmI());
+ while (1) {
+ // counts based results
+ /*
+ acc.getAxis(acc_raw);
+
+ printf("ACC: X=%06dd Y=%06dd Z=%06dd \t \r\n", acc_raw.x, acc_raw.y, acc_raw.z);
+ acc.getX(raX);
+ acc.getY(raY);
+ acc.getZ(raZ);
+
+ printf("ACC: X=%06dd Y=%06dd Z=%06dd \t \r\n", raX, raY, raZ);
+ printf("ACC: X=%06dd Y=%06dd Z=%06dd \t \r\n", acc.getX(tmp_int), acc.getY(tmp_int), acc.getZ(tmp_int));
+ */
+
+ // unit based results
+ acc.getAxis(acc_data);
+
+ printf("ACC: X=%1.4ff Y=%1.4ff Z=%1.4ff \t \r\n", acc_data.x, acc_data.y, acc_data.z);
+ acc.getX(faX);
+ acc.getY(faY);
+ acc.getZ(faZ);
+
+ printf("ACC: X=%1.4ff Y=%1.4ff Z=%1.4ff \t \r\n", faX, faY, faZ);
+ printf("ACC: X=%1.4ff Y=%1.4ff Z=%1.4ff \t \r\n", acc.getX(tmp_float), acc.getY(tmp_float), acc.getZ(tmp_float));
+
+
+ /*
+ In order to calculate angle from accel data use the following algorithm:
+ Ax = arctan( rawX/sqrt(rawY^2 + rawZ^2))
+ Ay = arctan( rawY/sqrt(rawX^2 + rawZ^2))
+ using Ax as an example:
+ we have denom_T = the total denominator = (sqrt(rawY^2 + rawZ^2 )
+ denom_A = rawY^2 && denom_B = rawZ^2 && denom_C = denom_A + denom_B
+ we may only be concerned with one of these angles for our application
+ also note value is output in radians will need to convert to degrees using: 180/PI
+
+ example of how to use inverse tangent function :
+
+ int main ()
+ {
+ double param, result;
+ param = 1.0;
+ result = atan (param) * 180 / PI;
+ printf ("The arc tangent of %f is %f degrees\n", param, result );
+ return 0;
+ }
+ */
+
+ /*
+ Example of pow: 7 ^ 3 would be written as pow(7.0, 3.0);
+ we can use this find squareroots by making the power exponent = 0.5
+ */
+
+ //X-AXIS
+ denomX_A = pow(faY, 2);
+ denomX_B = pow(faZ, 2);
+ denomX_C = denomX_A + denomX_B;
+ denomX_T = pow(denomX_C, .5); //pow returns base raised to the power exponent
+
+ angleX = atan(faX/denomX_T) * 180/PI; //should calculate the angle on the X axis in degrees based on raw data
+
+ //Y-AXIS
+ denomY_A = pow(faX, 2);
+ denomY_B = pow(faZ, 2);
+ denomY_C = denomY_A + denomY_B;
+ denomY_T = pow(denomY_C, .5); //pow returns base raised to the power exponent
+
+ angleY = atan(faY/denomY_T) * 180/PI; //should calculate the angle on the Y axis in degrees based on raw data
+
+ printf("Approximate angle in the X-Axis =%f degrees \t \r\n", angleX); //should print out angle in degrees
+ printf("Approximate angle in the Y-Axis =%f degrees \t \r\n", angleY);
+ puts("");
+ wait(5.0f);
+
+ if(sw3 == 0 && Button_Pressed == true)
+ {
+ acc.disable();
+ printf("Program is paused, press button again to resume.\t \r\n");
+ Button_Pressed =false;
+ }
+ wait(2);
+ if(sw3 == 0 && Button_Pressed == false)
+ {
+ acc.enable();
+ Button_Pressed = true;
+ }
+
+
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 101b684deb00 FXOS8700Q.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FXOS8700Q.lib Wed Feb 24 17:39:14 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/Freescale/code/FXOS8700Q/#aee7dea904e2
diff -r 000000000000 -r 101b684deb00 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Feb 24 17:39:14 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/252557024ec3 \ No newline at end of file
