P R / Mbed 2 deprecated Xadow-M0_Xadow-OLED_Accelerometer

A quick and dirty demo of the Xadow M0 acceleromoeter values displayed on the Xadow OLED 0.96" (using the SSD1308 128x64 OLED Driver with I2C interface library).

Dependencies:   mbed SSD1308_128x64_I2C_opt XadowGPS BMP180 ADXL345_I2C MPU9250 USBDevice

main.cpp@7:4931dbfbc042, 2018-10-26 (annotated)

Committer:
ruevs
Date:
Fri Oct 26 06:35:24 2018 +0000
Revision:
7:4931dbfbc042
Parent:
5:50051611b5bd
Child:
8:4e8991196bb8
Clear screen on serial terminal; ; Send ANSI clear screen ESC[2J on USB serial before each set of data. This clears the terminal window and makes it more convenient to look at the data.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ruevs 2:7abdbccdf0c8 1 #define __STDC_LIMIT_MACROS 1
ruevs 2:7abdbccdf0c8 2 #include <stdint.h>
seeed 0:b017c907d53d 3
ruevs 2:7abdbccdf0c8 4 #include "ADXL345_I2C.h"
ruevs 2:7abdbccdf0c8 5 #include "SSD1308.h"
ruevs 5:50051611b5bd 6 #include "MPU9250.h"
ruevs 5:50051611b5bd 7 #include "BMP180.h"
ruevs 2:7abdbccdf0c8 8
ruevs 5:50051611b5bd 9 #define DEBUG
seeed 0:b017c907d53d 10
seeed 0:b017c907d53d 11 #ifdef DEBUG
seeed 0:b017c907d53d 12 #include "USBSerial.h" // To use USB virtual serial, a driver is needed, check http://mbed.org/handbook/USBSerial
seeed 0:b017c907d53d 13 #define LOG(args...) pc.printf(args)
seeed 0:b017c907d53d 14 USBSerial pc;
seeed 0:b017c907d53d 15 #else
seeed 0:b017c907d53d 16 #define LOG(args...)
seeed 0:b017c907d53d 17 #endif
seeed 0:b017c907d53d 18
ruevs 2:7abdbccdf0c8 19 #define MAX_ACC_AXIS 3
seeed 0:b017c907d53d 20 ADXL345_I2C accelerometer(P0_5, P0_4);
seeed 0:b017c907d53d 21
ruevs 2:7abdbccdf0c8 22 // Xhadow - OLED 128x64 is connected with I2C
ruevs 2:7abdbccdf0c8 23 I2C i2c(P0_5, P0_4); // SDA, SCL
ruevs 2:7abdbccdf0c8 24 SSD1308 oled = SSD1308(i2c, SSD1308_SA0);
ruevs 5:50051611b5bd 25 SSD1308 oled2 = SSD1308(i2c, SSD1308_SA1);
ruevs 5:50051611b5bd 26
ruevs 5:50051611b5bd 27 // MPU9250 9DOF IMU - accelerometer, gyroscope, magnetometer access class
ruevs 5:50051611b5bd 28 MPU9250 mpu9250(i2c);
ruevs 5:50051611b5bd 29
ruevs 5:50051611b5bd 30 // BMP180 pressure and temperature sensor access class
ruevs 5:50051611b5bd 31 BMP180 bmp180(&i2c);
ruevs 2:7abdbccdf0c8 32
ruevs 2:7abdbccdf0c8 33 AnalogIn AD00(P0_11);
ruevs 2:7abdbccdf0c8 34 AnalogIn AD01(P0_12);
ruevs 2:7abdbccdf0c8 35 AnalogIn ChargerStatus(P0_13); // ADC input from VCC through a 200K/200K divider with extara 100K pull down on !DONE and 49.9K on !CHRG
ruevs 2:7abdbccdf0c8 36
ruevs 2:7abdbccdf0c8 37 DigitalOut blue_led(P0_20, 0);
ruevs 2:7abdbccdf0c8 38 DigitalOut white_led(P0_23, 1);
ruevs 2:7abdbccdf0c8 39 DigitalOut Bus3V3En(P0_14, 1); // Pin that controls the BUS-3V3 (3.3V) regulator output to the Xadow Bus
ruevs 2:7abdbccdf0c8 40
ruevs 2:7abdbccdf0c8 41 InterruptIn test_int(P0_7);
ruevs 2:7abdbccdf0c8 42
ruevs 2:7abdbccdf0c8 43 void test_pin_int(void)
ruevs 2:7abdbccdf0c8 44 {
ruevs 2:7abdbccdf0c8 45 white_led = !white_led;
ruevs 2:7abdbccdf0c8 46 Bus3V3En = !Bus3V3En;
ruevs 2:7abdbccdf0c8 47 }
ruevs 2:7abdbccdf0c8 48
ruevs 5:50051611b5bd 49 void MPU9250Test()
ruevs 5:50051611b5bd 50 {
ruevs 5:50051611b5bd 51 Timer t;
ruevs 5:50051611b5bd 52 float sum = 0;
ruevs 5:50051611b5bd 53 uint32_t sumCount = 0;
ruevs 5:50051611b5bd 54
ruevs 5:50051611b5bd 55 char buffer[14];
ruevs 5:50051611b5bd 56
ruevs 5:50051611b5bd 57 uint8_t whoami;
ruevs 5:50051611b5bd 58
ruevs 5:50051611b5bd 59 //___ Set up I2C: use fast (400 kHz) I2C ___
ruevs 5:50051611b5bd 60 i2c.frequency(400000);
ruevs 5:50051611b5bd 61
ruevs 5:50051611b5bd 62 wait(10); // to allow terminal to cooect on PC
ruevs 5:50051611b5bd 63
ruevs 5:50051611b5bd 64 while(1) {
ruevs 5:50051611b5bd 65 if (bmp180.init() != 0) {
ruevs 5:50051611b5bd 66 LOG("Error communicating with BMP180r\n");
ruevs 5:50051611b5bd 67 } else {
ruevs 7:4931dbfbc042 68 LOG("Initialized BMP180\r\n");
ruevs 5:50051611b5bd 69 break;
ruevs 5:50051611b5bd 70 }
ruevs 5:50051611b5bd 71 wait(1);
ruevs 5:50051611b5bd 72 }
ruevs 5:50051611b5bd 73
ruevs 5:50051611b5bd 74 LOG("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
ruevs 5:50051611b5bd 75
ruevs 5:50051611b5bd 76 t.start(); // Timer ON
ruevs 5:50051611b5bd 77
ruevs 5:50051611b5bd 78 // Read the WHO_AM_I register, this is a good test of communication
ruevs 5:50051611b5bd 79 whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
ruevs 5:50051611b5bd 80
ruevs 5:50051611b5bd 81 LOG("I AM 0x%x\r\n", whoami); LOG("I SHOULD BE 0x71\r\n");
ruevs 5:50051611b5bd 82 if (I2Cstate != 0) // error on I2C
ruevs 5:50051611b5bd 83 LOG("I2C failure while reading WHO_AM_I register");
ruevs 5:50051611b5bd 84
ruevs 5:50051611b5bd 85 if (whoami == 0x71) // WHO_AM_I should always be 0x71
ruevs 5:50051611b5bd 86 {
ruevs 5:50051611b5bd 87 LOG("MPU9250 WHO_AM_I is 0x%x\r\n", whoami);
ruevs 5:50051611b5bd 88 LOG("MPU9250 is online...\r\n");
ruevs 5:50051611b5bd 89 sprintf(buffer, "0x%x", whoami);
ruevs 5:50051611b5bd 90 wait(1);
ruevs 5:50051611b5bd 91
ruevs 5:50051611b5bd 92 mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
ruevs 5:50051611b5bd 93
ruevs 5:50051611b5bd 94 mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values (accelerometer and gyroscope self test)
ruevs 5:50051611b5bd 95 LOG("x-axis self test: acceleration trim within : %f % of factory value\r\n", SelfTest[0]);
ruevs 5:50051611b5bd 96 LOG("y-axis self test: acceleration trim within : %f % of factory value\r\n", SelfTest[1]);
ruevs 5:50051611b5bd 97 LOG("z-axis self test: acceleration trim within : %f % of factory value\r\n", SelfTest[2]);
ruevs 5:50051611b5bd 98 LOG("x-axis self test: gyration trim within : %f % of factory value\r\n", SelfTest[3]);
ruevs 5:50051611b5bd 99 LOG("y-axis self test: gyration trim within : %f % of factory value\r\n", SelfTest[4]);
ruevs 5:50051611b5bd 100 LOG("z-axis self test: gyration trim within : %f % of factory value\r\n", SelfTest[5]);
ruevs 5:50051611b5bd 101
ruevs 5:50051611b5bd 102 mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometer, load biases in bias registers
ruevs 5:50051611b5bd 103 LOG("x gyro bias = %f\r\n", gyroBias[0]);
ruevs 5:50051611b5bd 104 LOG("y gyro bias = %f\r\n", gyroBias[1]);
ruevs 5:50051611b5bd 105 LOG("z gyro bias = %f\r\n", gyroBias[2]);
ruevs 5:50051611b5bd 106 LOG("x accel bias = %f\r\n", accelBias[0]);
ruevs 5:50051611b5bd 107 LOG("y accel bias = %f\r\n", accelBias[1]);
ruevs 5:50051611b5bd 108 LOG("z accel bias = %f\r\n", accelBias[2]);
ruevs 5:50051611b5bd 109 wait(2);
ruevs 5:50051611b5bd 110
ruevs 5:50051611b5bd 111 // Initialize device for active mode read of acclerometer, gyroscope, and temperature
ruevs 5:50051611b5bd 112 mpu9250.initMPU9250();
ruevs 5:50051611b5bd 113 LOG("MPU9250 initialized for active data mode....\r\n");
ruevs 5:50051611b5bd 114
ruevs 5:50051611b5bd 115 // Initialize device for active mode read of magnetometer, 16 bit resolution, 100Hz.
ruevs 5:50051611b5bd 116 mpu9250.initAK8963(magCalibration);
ruevs 5:50051611b5bd 117 LOG("AK8963 initialized for active data mode....\r\n");
ruevs 5:50051611b5bd 118 LOG("Accelerometer full-scale range = %f g\r\n", 2.0f*(float)(1<<Ascale));
ruevs 5:50051611b5bd 119 LOG("Gyroscope full-scale range = %f deg/s\r\n", 250.0f*(float)(1<<Gscale));
ruevs 5:50051611b5bd 120 if(Mscale == 0) LOG("Magnetometer resolution = 14 bits\r\n");
ruevs 5:50051611b5bd 121 if(Mscale == 1) LOG("Magnetometer resolution = 16 bits\r\n");
ruevs 5:50051611b5bd 122 if(Mmode == 2) LOG("Magnetometer ODR = 8 Hz\r\n");
ruevs 5:50051611b5bd 123 if(Mmode == 6) LOG("Magnetometer ODR = 100 Hz\r\n");
ruevs 5:50051611b5bd 124 wait(1);
ruevs 5:50051611b5bd 125 }
ruevs 5:50051611b5bd 126
ruevs 5:50051611b5bd 127 else // Connection failure
ruevs 5:50051611b5bd 128 {
ruevs 5:50051611b5bd 129 LOG("Could not connect to MPU9250: \r\n");
ruevs 5:50051611b5bd 130 LOG("%#x \n", whoami);
ruevs 5:50051611b5bd 131 sprintf(buffer, "WHO_AM_I 0x%x", whoami);
ruevs 5:50051611b5bd 132 while(1) ; // Loop forever if communication doesn't happen
ruevs 5:50051611b5bd 133 }
ruevs 5:50051611b5bd 134
ruevs 5:50051611b5bd 135 mpu9250.getAres(); // Get accelerometer sensitivity
ruevs 5:50051611b5bd 136 mpu9250.getGres(); // Get gyro sensitivity
ruevs 5:50051611b5bd 137 mpu9250.getMres(); // Get magnetometer sensitivity
ruevs 5:50051611b5bd 138 LOG("Accelerometer sensitivity is %f LSB/g \r\n", 1.0f/aRes);
ruevs 5:50051611b5bd 139 LOG("Gyroscope sensitivity is %f LSB/deg/s \r\n", 1.0f/gRes);
ruevs 5:50051611b5bd 140 LOG("Magnetometer sensitivity is %f LSB/G \r\n", 1.0f/mRes);
ruevs 5:50051611b5bd 141 magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
ruevs 5:50051611b5bd 142 magbias[1] = +120.; // User environmental x-axis correction in milliGauss
ruevs 5:50051611b5bd 143 magbias[2] = +125.; // User environmental x-axis correction in milliGauss
ruevs 5:50051611b5bd 144
ruevs 5:50051611b5bd 145 while(1) {
ruevs 5:50051611b5bd 146
ruevs 5:50051611b5bd 147 // If intPin goes high, all data registers have new data
ruevs 5:50051611b5bd 148 if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
ruevs 5:50051611b5bd 149
ruevs 5:50051611b5bd 150 mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
ruevs 5:50051611b5bd 151 // Now we'll calculate the accleration value into actual g's
ruevs 5:50051611b5bd 152 if (I2Cstate != 0) //error on I2C
ruevs 5:50051611b5bd 153 LOG("I2C error ocurred while reading accelerometer data. I2Cstate = %d \r\n", I2Cstate);
ruevs 5:50051611b5bd 154 else{ // I2C read or write ok
ruevs 5:50051611b5bd 155 I2Cstate = 1;
ruevs 5:50051611b5bd 156 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
ruevs 5:50051611b5bd 157 ay = (float)accelCount[1]*aRes - accelBias[1];
ruevs 5:50051611b5bd 158 az = (float)accelCount[2]*aRes - accelBias[2];
ruevs 5:50051611b5bd 159 }
ruevs 5:50051611b5bd 160
ruevs 5:50051611b5bd 161 mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
ruevs 5:50051611b5bd 162 // Calculate the gyro value into actual degrees per second
ruevs 5:50051611b5bd 163 if (I2Cstate != 0) //error on I2C
ruevs 5:50051611b5bd 164 LOG("I2C error ocurred while reading gyrometer data. I2Cstate = %d \r\n", I2Cstate);
ruevs 5:50051611b5bd 165 else{ // I2C read or write ok
ruevs 5:50051611b5bd 166 I2Cstate = 1;
ruevs 5:50051611b5bd 167 gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
ruevs 5:50051611b5bd 168 gy = (float)gyroCount[1]*gRes - gyroBias[1];
ruevs 5:50051611b5bd 169 gz = (float)gyroCount[2]*gRes - gyroBias[2];
ruevs 5:50051611b5bd 170 }
ruevs 5:50051611b5bd 171
ruevs 5:50051611b5bd 172 mpu9250.readMagData(magCount); // Read the x/y/z adc values
ruevs 5:50051611b5bd 173 // Calculate the magnetometer values in milliGauss
ruevs 5:50051611b5bd 174 // Include factory calibration per data sheet and user environmental corrections
ruevs 5:50051611b5bd 175 if (I2Cstate != 0) //error on I2C
ruevs 5:50051611b5bd 176 LOG("I2C error ocurred while reading magnetometer data. I2Cstate = %d \r\n", I2Cstate);
ruevs 5:50051611b5bd 177 else{ // I2C read or write ok
ruevs 5:50051611b5bd 178 I2Cstate = 1;
ruevs 5:50051611b5bd 179 mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set
ruevs 5:50051611b5bd 180 my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
ruevs 5:50051611b5bd 181 mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
ruevs 5:50051611b5bd 182 }
ruevs 5:50051611b5bd 183
ruevs 5:50051611b5bd 184 mpu9250.getCompassOrientation(orientation);
ruevs 5:50051611b5bd 185 }
ruevs 5:50051611b5bd 186
ruevs 5:50051611b5bd 187 Now = t.read_us();
ruevs 5:50051611b5bd 188 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
ruevs 5:50051611b5bd 189 lastUpdate = Now;
ruevs 5:50051611b5bd 190 sum += deltat;
ruevs 5:50051611b5bd 191 sumCount++;
ruevs 5:50051611b5bd 192
ruevs 5:50051611b5bd 193 // Pass gyro rate as rad/s
ruevs 5:50051611b5bd 194 // mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
ruevs 5:50051611b5bd 195 mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
ruevs 5:50051611b5bd 196
ruevs 5:50051611b5bd 197
ruevs 5:50051611b5bd 198 // Serial print and/or display at 1.5 s rate independent of data rates
ruevs 5:50051611b5bd 199 delt_t = t.read_ms() - count;
ruevs 5:50051611b5bd 200 if (delt_t > 1500) { // update LCD once per half-second independent of read rate
ruevs 7:4931dbfbc042 201 LOG("\033[2J"); // ANSI clear screen ESC[2J
ruevs 5:50051611b5bd 202 LOG("ax = %f", 1000*ax);
ruevs 5:50051611b5bd 203 LOG(" ay = %f", 1000*ay);
ruevs 5:50051611b5bd 204 LOG(" az = %f mg\r\n", 1000*az);
ruevs 5:50051611b5bd 205 LOG("gx = %f", gx);
ruevs 5:50051611b5bd 206 LOG(" gy = %f", gy);
ruevs 5:50051611b5bd 207 LOG(" gz = %f deg/s\r\n", gz);
ruevs 5:50051611b5bd 208 LOG("mx = %f", mx);
ruevs 5:50051611b5bd 209 LOG(" my = %f", my);
ruevs 5:50051611b5bd 210 LOG(" mz = %f mG\r\n", mz);
ruevs 5:50051611b5bd 211
ruevs 5:50051611b5bd 212
ruevs 5:50051611b5bd 213 tempCount = mpu9250.readTempData(); // Read the adc values
ruevs 5:50051611b5bd 214 if (I2Cstate != 0) //error on I2C
ruevs 5:50051611b5bd 215 LOG("I2C error ocurred while reading sensor temp. I2Cstate = %d \r\n", I2Cstate);
ruevs 5:50051611b5bd 216 else{ // I2C read or write ok
ruevs 5:50051611b5bd 217 I2Cstate = 1;
ruevs 5:50051611b5bd 218 temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
ruevs 5:50051611b5bd 219 LOG(" temperature = %f C\r\n", temperature);
ruevs 5:50051611b5bd 220 }
ruevs 5:50051611b5bd 221 LOG("q0 = %f\r\n", q[0]);
ruevs 5:50051611b5bd 222 LOG("q1 = %f\r\n", q[1]);
ruevs 5:50051611b5bd 223 LOG("q2 = %f\r\n", q[2]);
ruevs 5:50051611b5bd 224 LOG("q3 = %f\r\n", q[3]);
ruevs 5:50051611b5bd 225
ruevs 5:50051611b5bd 226 LOG("Compass orientation: %f\r\n", orientation[0]);
ruevs 5:50051611b5bd 227
ruevs 5:50051611b5bd 228
ruevs 5:50051611b5bd 229
ruevs 5:50051611b5bd 230
ruevs 5:50051611b5bd 231 // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
ruevs 5:50051611b5bd 232 // In this coordinate system, the positive z-axis is down toward Earth.
ruevs 5:50051611b5bd 233 // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
ruevs 5:50051611b5bd 234 // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
ruevs 5:50051611b5bd 235 // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
ruevs 5:50051611b5bd 236 // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
ruevs 5:50051611b5bd 237 // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
ruevs 5:50051611b5bd 238 // applied in the correct order which for this configuration is yaw, pitch, and then roll.
ruevs 5:50051611b5bd 239 // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
ruevs 5:50051611b5bd 240
ruevs 5:50051611b5bd 241 yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
ruevs 5:50051611b5bd 242 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
ruevs 5:50051611b5bd 243 roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
ruevs 5:50051611b5bd 244 pitch *= 180.0f / PI;
ruevs 5:50051611b5bd 245 yaw *= 180.0f / PI;
ruevs 5:50051611b5bd 246 yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
ruevs 5:50051611b5bd 247 roll *= 180.0f / PI;
ruevs 5:50051611b5bd 248
ruevs 5:50051611b5bd 249
ruevs 5:50051611b5bd 250 LOG("Yaw, Pitch, Roll: %f %f %f\r\n", yaw, pitch, roll);
ruevs 5:50051611b5bd 251 LOG("average rate = %f\r\n", (float) sumCount/sum);
ruevs 5:50051611b5bd 252
ruevs 5:50051611b5bd 253
ruevs 5:50051611b5bd 254
ruevs 5:50051611b5bd 255 myled= !myled;
ruevs 5:50051611b5bd 256 count = t.read_ms();
ruevs 5:50051611b5bd 257
ruevs 5:50051611b5bd 258 if(count > 1<<21) {
ruevs 5:50051611b5bd 259 t.start(); // start the timer over again if ~30 minutes has passed
ruevs 5:50051611b5bd 260 count = 0;
ruevs 5:50051611b5bd 261 deltat= 0;
ruevs 5:50051611b5bd 262 lastUpdate = t.read_us();
ruevs 5:50051611b5bd 263 }
ruevs 5:50051611b5bd 264 sum = 0;
ruevs 5:50051611b5bd 265 sumCount = 0;
ruevs 5:50051611b5bd 266
ruevs 5:50051611b5bd 267 //BMP180
ruevs 5:50051611b5bd 268 bmp180.startTemperature();
ruevs 5:50051611b5bd 269 wait_ms(5); // Wait for conversion to complete
ruevs 5:50051611b5bd 270 float temp;
ruevs 5:50051611b5bd 271 if(bmp180.getTemperature(&temp) != 0) {
ruevs 5:50051611b5bd 272 LOG("Error getting temperature\n");
ruevs 5:50051611b5bd 273 continue;
ruevs 5:50051611b5bd 274 }
ruevs 5:50051611b5bd 275
ruevs 5:50051611b5bd 276 bmp180.startPressure(BMP180::ULTRA_LOW_POWER);
ruevs 5:50051611b5bd 277 wait_ms(10); // Wait for conversion to complete
ruevs 5:50051611b5bd 278 int pressure;
ruevs 5:50051611b5bd 279 if(bmp180.getPressure(&pressure) != 0) {
ruevs 5:50051611b5bd 280 LOG("Error getting pressure\n");
ruevs 5:50051611b5bd 281 continue;
ruevs 5:50051611b5bd 282 }
ruevs 5:50051611b5bd 283
ruevs 5:50051611b5bd 284 LOG("Pressure = %d Pa Temperature = %f C\r\n", pressure, temp);
ruevs 5:50051611b5bd 285
ruevs 5:50051611b5bd 286 }
ruevs 5:50051611b5bd 287 }
ruevs 5:50051611b5bd 288 }
ruevs 5:50051611b5bd 289
seeed 0:b017c907d53d 290 int main()
seeed 0:b017c907d53d 291 {
ruevs 2:7abdbccdf0c8 292 int readings[MAX_ACC_AXIS] = {0, 0, 0};
ruevs 2:7abdbccdf0c8 293 int MAXreadings[MAX_ACC_AXIS] = {INT16_MIN, INT16_MIN, INT16_MIN};
ruevs 2:7abdbccdf0c8 294 int MINreadings[MAX_ACC_AXIS] = {INT16_MAX, INT16_MAX, INT16_MAX};
ruevs 2:7abdbccdf0c8 295
ruevs 2:7abdbccdf0c8 296 char display_buf[17];
ruevs 2:7abdbccdf0c8 297
ruevs 2:7abdbccdf0c8 298 test_int.rise(test_pin_int);
seeed 0:b017c907d53d 299
ruevs 5:50051611b5bd 300 MPU9250Test();
ruevs 5:50051611b5bd 301
seeed 0:b017c907d53d 302 LOG("Starting ADXL345 test...\n");
seeed 0:b017c907d53d 303 LOG("Device ID is: 0x%02x\n", accelerometer.getDeviceID());
ruevs 2:7abdbccdf0c8 304
ruevs 5:50051611b5bd 305 /* // Simple OLED speed test
ruevs 5:50051611b5bd 306 oled.fillDisplay(0xAA);
ruevs 5:50051611b5bd 307 oled.writeBigChar(1,0,'6');
ruevs 5:50051611b5bd 308
ruevs 5:50051611b5bd 309 uint8_t cnt=0;
ruevs 5:50051611b5bd 310 int cycl=0;
ruevs 5:50051611b5bd 311 while(1){
ruevs 5:50051611b5bd 312 snprintf(display_buf, sizeof(display_buf), "%5i", cnt++);
ruevs 5:50051611b5bd 313 oled.writeString(0, 0, display_buf);
ruevs 5:50051611b5bd 314 if (0==cnt) {
ruevs 5:50051611b5bd 315 ++cycl;
ruevs 5:50051611b5bd 316 snprintf(display_buf, sizeof(display_buf), "%5i", cycl);
ruevs 5:50051611b5bd 317 oled.writeString(1, 0, display_buf);
ruevs 5:50051611b5bd 318 }
ruevs 5:50051611b5bd 319 }
ruevs 5:50051611b5bd 320 */
ruevs 5:50051611b5bd 321 oled2.writeString(0, 0, "OLED 2:");
ruevs 5:50051611b5bd 322 oled2.writeString(1, 0, "GEEKCREIT");
ruevs 5:50051611b5bd 323 oled2.writeString(2, 0, "Banggood 0x7A");
ruevs 5:50051611b5bd 324
ruevs 2:7abdbccdf0c8 325 oled.writeString(0, 0, "Accelerometer:");
ruevs 2:7abdbccdf0c8 326 oled.writeString(1, 0, " Curr Min Max");
seeed 0:b017c907d53d 327
seeed 0:b017c907d53d 328 //Go into standby mode to configure the device.
seeed 0:b017c907d53d 329 accelerometer.setPowerControl(0x00);
seeed 0:b017c907d53d 330
seeed 0:b017c907d53d 331 //Full resolution, +/-16g, 4mg/LSB.
seeed 0:b017c907d53d 332 accelerometer.setDataFormatControl(0x0B);
seeed 0:b017c907d53d 333
seeed 0:b017c907d53d 334 //3.2kHz data rate.
seeed 0:b017c907d53d 335 accelerometer.setDataRate(ADXL345_3200HZ);
seeed 0:b017c907d53d 336
seeed 0:b017c907d53d 337 //Measurement mode.
seeed 0:b017c907d53d 338 accelerometer.setPowerControl(0x08);
seeed 0:b017c907d53d 339
seeed 0:b017c907d53d 340 while (1) {
seeed 0:b017c907d53d 341 accelerometer.getOutput(readings);
ruevs 2:7abdbccdf0c8 342
ruevs 2:7abdbccdf0c8 343 for (int i=0; i<MAX_ACC_AXIS; ++i) {
ruevs 2:7abdbccdf0c8 344 if ((int16_t)readings[i] > (int16_t)MAXreadings[i]) {
ruevs 2:7abdbccdf0c8 345 MAXreadings[i] = readings[i];
ruevs 2:7abdbccdf0c8 346 }
ruevs 2:7abdbccdf0c8 347 if ((int16_t)readings[i] < (int16_t)MINreadings[i]) {
ruevs 2:7abdbccdf0c8 348 MINreadings[i] = readings[i];
ruevs 2:7abdbccdf0c8 349 }
ruevs 2:7abdbccdf0c8 350
ruevs 2:7abdbccdf0c8 351 snprintf(display_buf, sizeof(display_buf), "%c%5i%5i%5i",
ruevs 2:7abdbccdf0c8 352 'X'+i, (int16_t)readings[i], (int16_t)MINreadings[i], (int16_t)MAXreadings[i] );
ruevs 2:7abdbccdf0c8 353 oled.writeString(2+i, 0, display_buf);
ruevs 2:7abdbccdf0c8 354 LOG("%c:%i|%i|%i\r\n", 'X'+i, (int16_t)readings[i], (int16_t)MINreadings[i], (int16_t)MAXreadings[i] );
ruevs 2:7abdbccdf0c8 355 }
ruevs 2:7abdbccdf0c8 356
ruevs 2:7abdbccdf0c8 357 /* snprintf(display_buf, sizeof(display_buf), "Ch: %u", ChargerStatus.read_u16());
ruevs 2:7abdbccdf0c8 358 oled.writeString(2+MAX_ACC_AXIS, 0, display_buf);
ruevs 2:7abdbccdf0c8 359
ruevs 2:7abdbccdf0c8 360 snprintf(display_buf, sizeof(display_buf), "Ch: %f", 3.3*(float)ChargerStatus.read_u16()/UINT16_MAX);
ruevs 2:7abdbccdf0c8 361 oled.writeString(2+MAX_ACC_AXIS+1, 0, display_buf);
ruevs 2:7abdbccdf0c8 362 */
ruevs 2:7abdbccdf0c8 363 snprintf(display_buf, sizeof(display_buf), "Bat:%.2fV", 3.3*ChargerStatus);
ruevs 2:7abdbccdf0c8 364 oled.writeString(2+MAX_ACC_AXIS+2, 0, display_buf);
ruevs 2:7abdbccdf0c8 365
ruevs 2:7abdbccdf0c8 366 LOG("Ch: %f\r\n", ChargerStatus.read());
ruevs 2:7abdbccdf0c8 367 LOG("Chu: %u\r\n", ChargerStatus.read_u16());
ruevs 2:7abdbccdf0c8 368 LOG("A0: %f\r\n", (float)AD00.read());
ruevs 2:7abdbccdf0c8 369 LOG("A1: %f\r\n", AD01.read());
ruevs 2:7abdbccdf0c8 370
ruevs 2:7abdbccdf0c8 371 blue_led = !blue_led;
ruevs 2:7abdbccdf0c8 372 // white_led = !white_led; // toggled by pin P0_7 interrupt
ruevs 2:7abdbccdf0c8 373
ruevs 2:7abdbccdf0c8 374 // deepsleep(); // Deep sleep until external interrupt // The wakeup pin on Xadow is on the sme buton at RESET - no good.
seeed 0:b017c907d53d 375
seeed 0:b017c907d53d 376 wait(1);
seeed 0:b017c907d53d 377 }
seeed 0:b017c907d53d 378
seeed 0:b017c907d53d 379 }