Shang Tianting / Mbed 2 deprecated Accelerometer and angle meter

Accelerometer and angle meter

Dependencies:   Beep mbed

main.cpp@0:a57e07e44ab0, 2015-05-10 (annotated)

Committer:
shangtianting
Date:
Sun May 10 00:23:23 2015 +0000
Revision:
0:a57e07e44ab0
Accelerometer and angle meter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shangtianting 0:a57e07e44ab0 1 /**
shangtianting 0:a57e07e44ab0 2 @file N5110.cpp
shangtianting 0:a57e07e44ab0 3
shangtianting 0:a57e07e44ab0 4 @brief Member functions implementations
shangtianting 0:a57e07e44ab0 5
shangtianting 0:a57e07e44ab0 6 */
shangtianting 0:a57e07e44ab0 7 #include "mbed.h"
shangtianting 0:a57e07e44ab0 8 #include "N5110.h"
shangtianting 0:a57e07e44ab0 9 #include "MMA8452.h"
shangtianting 0:a57e07e44ab0 10 #include "Beep.h"
shangtianting 0:a57e07e44ab0 11
shangtianting 0:a57e07e44ab0 12
shangtianting 0:a57e07e44ab0 13 N5110::N5110(PinName pwrPin, PinName scePin, PinName rstPin, PinName dcPin, PinName mosiPin, PinName sclkPin, PinName ledPin)
shangtianting 0:a57e07e44ab0 14 {
shangtianting 0:a57e07e44ab0 15
shangtianting 0:a57e07e44ab0 16 spi = new SPI(mosiPin,NC,sclkPin); // create new SPI instance and initialise
shangtianting 0:a57e07e44ab0 17 initSPI();
shangtianting 0:a57e07e44ab0 18
shangtianting 0:a57e07e44ab0 19 // set up pins as required
shangtianting 0:a57e07e44ab0 20 led = new PwmOut(ledPin);
shangtianting 0:a57e07e44ab0 21 pwr = new DigitalOut(pwrPin);
shangtianting 0:a57e07e44ab0 22 sce = new DigitalOut(scePin);
shangtianting 0:a57e07e44ab0 23 rst = new DigitalOut(rstPin);
shangtianting 0:a57e07e44ab0 24 dc = new DigitalOut(dcPin);
shangtianting 0:a57e07e44ab0 25
shangtianting 0:a57e07e44ab0 26 }
shangtianting 0:a57e07e44ab0 27
shangtianting 0:a57e07e44ab0 28 // initialise function - powers up and sends the initialisation commands
shangtianting 0:a57e07e44ab0 29 void N5110::init()
shangtianting 0:a57e07e44ab0 30 {
shangtianting 0:a57e07e44ab0 31 turnOn(); // power up
shangtianting 0:a57e07e44ab0 32 wait_ms(10); // small delay seems to prevent spurious pixels during mbed reset
shangtianting 0:a57e07e44ab0 33 reset(); // reset LCD - must be done within 100 ms
shangtianting 0:a57e07e44ab0 34
shangtianting 0:a57e07e44ab0 35 // function set - extended
shangtianting 0:a57e07e44ab0 36 sendCommand(0x20 | CMD_FS_ACTIVE_MODE | CMD_FS_HORIZONTAL_MODE | CMD_FS_EXTENDED_MODE);
shangtianting 0:a57e07e44ab0 37 // Don't completely understand these parameters - they seem to work as they are
shangtianting 0:a57e07e44ab0 38 // Consult the datasheet if you need to change them
shangtianting 0:a57e07e44ab0 39 sendCommand(CMD_VOP_7V38); // operating voltage - these values are from Chris Yan's Library
shangtianting 0:a57e07e44ab0 40 sendCommand(CMD_TC_TEMP_2); // temperature control
shangtianting 0:a57e07e44ab0 41 sendCommand(CMD_BI_MUX_48); // bias
shangtianting 0:a57e07e44ab0 42
shangtianting 0:a57e07e44ab0 43 // function set - basic
shangtianting 0:a57e07e44ab0 44 sendCommand(0x20 | CMD_FS_ACTIVE_MODE | CMD_FS_HORIZONTAL_MODE | CMD_FS_BASIC_MODE);
shangtianting 0:a57e07e44ab0 45 normalMode(); // normal video mode by default
shangtianting 0:a57e07e44ab0 46 sendCommand(CMD_DC_NORMAL_MODE); // black on white
shangtianting 0:a57e07e44ab0 47
shangtianting 0:a57e07e44ab0 48 // RAM is undefined at power-up so clear
shangtianting 0:a57e07e44ab0 49 clearRAM();
shangtianting 0:a57e07e44ab0 50
shangtianting 0:a57e07e44ab0 51 }
shangtianting 0:a57e07e44ab0 52
shangtianting 0:a57e07e44ab0 53 // sets normal video mode (black on white)
shangtianting 0:a57e07e44ab0 54 void N5110::normalMode()
shangtianting 0:a57e07e44ab0 55 {
shangtianting 0:a57e07e44ab0 56 sendCommand(CMD_DC_NORMAL_MODE);
shangtianting 0:a57e07e44ab0 57
shangtianting 0:a57e07e44ab0 58 }
shangtianting 0:a57e07e44ab0 59
shangtianting 0:a57e07e44ab0 60 // sets normal video mode (white on black)
shangtianting 0:a57e07e44ab0 61 void N5110::inverseMode()
shangtianting 0:a57e07e44ab0 62 {
shangtianting 0:a57e07e44ab0 63 sendCommand(CMD_DC_INVERT_VIDEO);
shangtianting 0:a57e07e44ab0 64 }
shangtianting 0:a57e07e44ab0 65
shangtianting 0:a57e07e44ab0 66 // function to power up the LCD and backlight
shangtianting 0:a57e07e44ab0 67 void N5110::turnOn()
shangtianting 0:a57e07e44ab0 68 {
shangtianting 0:a57e07e44ab0 69 // set brightness of LED - 0.0 to 1.0 - default is 50%
shangtianting 0:a57e07e44ab0 70 setBrightness(0.5);
shangtianting 0:a57e07e44ab0 71 pwr->write(1); // apply power
shangtianting 0:a57e07e44ab0 72 }
shangtianting 0:a57e07e44ab0 73
shangtianting 0:a57e07e44ab0 74 // function to power down LCD
shangtianting 0:a57e07e44ab0 75 void N5110::turnOff()
shangtianting 0:a57e07e44ab0 76 {
shangtianting 0:a57e07e44ab0 77 setBrightness(0.0); // turn backlight off
shangtianting 0:a57e07e44ab0 78 clearRAM(); // clear RAM to ensure specified current consumption
shangtianting 0:a57e07e44ab0 79 // send command to ensure we are in basic mode
shangtianting 0:a57e07e44ab0 80 sendCommand(0x20 | CMD_FS_ACTIVE_MODE | CMD_FS_HORIZONTAL_MODE | CMD_FS_BASIC_MODE);
shangtianting 0:a57e07e44ab0 81 // clear the display
shangtianting 0:a57e07e44ab0 82 sendCommand(CMD_DC_CLEAR_DISPLAY);
shangtianting 0:a57e07e44ab0 83 // enter the extended mode and power down
shangtianting 0:a57e07e44ab0 84 sendCommand(0x20 | CMD_FS_POWER_DOWN_MODE | CMD_FS_HORIZONTAL_MODE | CMD_FS_EXTENDED_MODE);
shangtianting 0:a57e07e44ab0 85 // small delay and then turn off the power pin
shangtianting 0:a57e07e44ab0 86 wait_ms(10);
shangtianting 0:a57e07e44ab0 87 pwr->write(0);
shangtianting 0:a57e07e44ab0 88
shangtianting 0:a57e07e44ab0 89 }
shangtianting 0:a57e07e44ab0 90
shangtianting 0:a57e07e44ab0 91 // function to change LED backlight brightness
shangtianting 0:a57e07e44ab0 92 void N5110::setBrightness(float brightness)
shangtianting 0:a57e07e44ab0 93 {
shangtianting 0:a57e07e44ab0 94 // check whether brightness is within range
shangtianting 0:a57e07e44ab0 95 if (brightness < 0.0)
shangtianting 0:a57e07e44ab0 96 brightness = 0.0;
shangtianting 0:a57e07e44ab0 97 if (brightness > 1.0)
shangtianting 0:a57e07e44ab0 98 brightness = 1.0;
shangtianting 0:a57e07e44ab0 99 // set PWM duty cycle
shangtianting 0:a57e07e44ab0 100 led->write(brightness);
shangtianting 0:a57e07e44ab0 101 }
shangtianting 0:a57e07e44ab0 102
shangtianting 0:a57e07e44ab0 103
shangtianting 0:a57e07e44ab0 104 // pulse the active low reset line
shangtianting 0:a57e07e44ab0 105 void N5110::reset()
shangtianting 0:a57e07e44ab0 106 {
shangtianting 0:a57e07e44ab0 107 rst->write(0); // reset the LCD
shangtianting 0:a57e07e44ab0 108 rst->write(1);
shangtianting 0:a57e07e44ab0 109 }
shangtianting 0:a57e07e44ab0 110
shangtianting 0:a57e07e44ab0 111 // function to initialise SPI peripheral
shangtianting 0:a57e07e44ab0 112 void N5110::initSPI()
shangtianting 0:a57e07e44ab0 113 {
shangtianting 0:a57e07e44ab0 114 spi->format(8,1); // 8 bits, Mode 1 - polarity 0, phase 1 - base value of clock is 0, data captured on falling edge/propagated on rising edge
shangtianting 0:a57e07e44ab0 115 spi->frequency(4000000); // maximum of screen is 4 MHz
shangtianting 0:a57e07e44ab0 116 }
shangtianting 0:a57e07e44ab0 117
shangtianting 0:a57e07e44ab0 118 // send a command to the display
shangtianting 0:a57e07e44ab0 119 void N5110::sendCommand(unsigned char command)
shangtianting 0:a57e07e44ab0 120 {
shangtianting 0:a57e07e44ab0 121 dc->write(0); // set DC low for command
shangtianting 0:a57e07e44ab0 122 sce->write(0); // set CE low to begin frame
shangtianting 0:a57e07e44ab0 123 spi->write(command); // send command
shangtianting 0:a57e07e44ab0 124 dc->write(1); // turn back to data by default
shangtianting 0:a57e07e44ab0 125 sce->write(1); // set CE high to end frame (expected for transmission of single byte)
shangtianting 0:a57e07e44ab0 126
shangtianting 0:a57e07e44ab0 127 }
shangtianting 0:a57e07e44ab0 128
shangtianting 0:a57e07e44ab0 129 // send data to the display at the current XY address
shangtianting 0:a57e07e44ab0 130 // dc is set to 1 (i.e. data) after sending a command and so should
shangtianting 0:a57e07e44ab0 131 // be the default mode.
shangtianting 0:a57e07e44ab0 132 void N5110::sendData(unsigned char data)
shangtianting 0:a57e07e44ab0 133 {
shangtianting 0:a57e07e44ab0 134 sce->write(0); // set CE low to begin frame
shangtianting 0:a57e07e44ab0 135 spi->write(data);
shangtianting 0:a57e07e44ab0 136 sce->write(1); // set CE high to end frame (expected for transmission of single byte)
shangtianting 0:a57e07e44ab0 137 }
shangtianting 0:a57e07e44ab0 138
shangtianting 0:a57e07e44ab0 139 // this function writes 0 to the 504 bytes to clear the RAM
shangtianting 0:a57e07e44ab0 140 void N5110::clearRAM()
shangtianting 0:a57e07e44ab0 141 {
shangtianting 0:a57e07e44ab0 142 int i;
shangtianting 0:a57e07e44ab0 143 sce->write(0); //set CE low to begin frame
shangtianting 0:a57e07e44ab0 144 for(i = 0; i < WIDTH * HEIGHT; i++) { // 48 x 84 bits = 504 bytes
shangtianting 0:a57e07e44ab0 145 spi->write(0x00); // send 0's
shangtianting 0:a57e07e44ab0 146 }
shangtianting 0:a57e07e44ab0 147 sce->write(1); // set CE high to end frame
shangtianting 0:a57e07e44ab0 148
shangtianting 0:a57e07e44ab0 149 }
shangtianting 0:a57e07e44ab0 150
shangtianting 0:a57e07e44ab0 151 // function to set the XY address in RAM for subsequenct data write
shangtianting 0:a57e07e44ab0 152 void N5110::setXYAddress(int x, int y)
shangtianting 0:a57e07e44ab0 153 {
shangtianting 0:a57e07e44ab0 154 if (x>=0 && x<WIDTH && y>=0 && y<HEIGHT) { // check within range
shangtianting 0:a57e07e44ab0 155 sendCommand(0x80 | x); // send addresses to display with relevant mask
shangtianting 0:a57e07e44ab0 156 sendCommand(0x40 | y);
shangtianting 0:a57e07e44ab0 157 }
shangtianting 0:a57e07e44ab0 158 }
shangtianting 0:a57e07e44ab0 159
shangtianting 0:a57e07e44ab0 160 // These functions are used to set, clear and get the value of pixels in the display
shangtianting 0:a57e07e44ab0 161 // Pixels are addressed in the range of 0 to 47 (y) and 0 to 83 (x). The refresh()
shangtianting 0:a57e07e44ab0 162 // function must be called after set and clear in order to update the display
shangtianting 0:a57e07e44ab0 163 void N5110::setPixel(int x, int y)
shangtianting 0:a57e07e44ab0 164 {
shangtianting 0:a57e07e44ab0 165 if (x>=0 && x<WIDTH && y>=0 && y<HEIGHT) { // check within range
shangtianting 0:a57e07e44ab0 166 // calculate bank and shift 1 to required position in the data byte
shangtianting 0:a57e07e44ab0 167 buffer[x][y/8] |= (1 << y%8);
shangtianting 0:a57e07e44ab0 168 }
shangtianting 0:a57e07e44ab0 169 }
shangtianting 0:a57e07e44ab0 170
shangtianting 0:a57e07e44ab0 171 void N5110::clearPixel(int x, int y)
shangtianting 0:a57e07e44ab0 172 {
shangtianting 0:a57e07e44ab0 173 if (x>=0 && x<WIDTH && y>=0 && y<HEIGHT) { // check within range
shangtianting 0:a57e07e44ab0 174 // calculate bank and shift 1 to required position (using bit clear)
shangtianting 0:a57e07e44ab0 175 buffer[x][y/8] &= ~(1 << y%8);
shangtianting 0:a57e07e44ab0 176 }
shangtianting 0:a57e07e44ab0 177 }
shangtianting 0:a57e07e44ab0 178
shangtianting 0:a57e07e44ab0 179 int N5110::getPixel(int x, int y)
shangtianting 0:a57e07e44ab0 180 {
shangtianting 0:a57e07e44ab0 181 if (x>=0 && x<WIDTH && y>=0 && y<HEIGHT) { // check within range
shangtianting 0:a57e07e44ab0 182 // return relevant bank and mask required bit
shangtianting 0:a57e07e44ab0 183 return (int) buffer[x][y/8] & (1 << y%8);
shangtianting 0:a57e07e44ab0 184 // note this does not necessarily return 1 - a non-zero number represents a pixel
shangtianting 0:a57e07e44ab0 185 } else {
shangtianting 0:a57e07e44ab0 186 return 0;
shangtianting 0:a57e07e44ab0 187 }
shangtianting 0:a57e07e44ab0 188 }
shangtianting 0:a57e07e44ab0 189
shangtianting 0:a57e07e44ab0 190 // function to refresh the display
shangtianting 0:a57e07e44ab0 191 void N5110::refresh()
shangtianting 0:a57e07e44ab0 192 {
shangtianting 0:a57e07e44ab0 193 int i,j;
shangtianting 0:a57e07e44ab0 194
shangtianting 0:a57e07e44ab0 195 setXYAddress(0,0); // important to set address back to 0,0 before refreshing display
shangtianting 0:a57e07e44ab0 196 // address auto increments after printing string, so buffer[0][0] will not coincide
shangtianting 0:a57e07e44ab0 197 // with top-left pixel after priting string
shangtianting 0:a57e07e44ab0 198
shangtianting 0:a57e07e44ab0 199 sce->write(0); //set CE low to begin frame
shangtianting 0:a57e07e44ab0 200
shangtianting 0:a57e07e44ab0 201 for(j = 0; j < BANKS; j++) { // be careful to use correct order (j,i) for horizontal addressing
shangtianting 0:a57e07e44ab0 202 for(i = 0; i < WIDTH; i++) {
shangtianting 0:a57e07e44ab0 203 spi->write(buffer[i][j]); // send buffer
shangtianting 0:a57e07e44ab0 204 }
shangtianting 0:a57e07e44ab0 205 }
shangtianting 0:a57e07e44ab0 206 sce->write(1); // set CE high to end frame
shangtianting 0:a57e07e44ab0 207
shangtianting 0:a57e07e44ab0 208 }
shangtianting 0:a57e07e44ab0 209
shangtianting 0:a57e07e44ab0 210 // fills the buffer with random bytes. Can be used to test the display.
shangtianting 0:a57e07e44ab0 211 // The rand() function isn't seeded so it probably creates the same pattern everytime
shangtianting 0:a57e07e44ab0 212 void N5110::randomiseBuffer()
shangtianting 0:a57e07e44ab0 213 {
shangtianting 0:a57e07e44ab0 214 int i,j;
shangtianting 0:a57e07e44ab0 215 for(j = 0; j < BANKS; j++) { // be careful to use correct order (j,i) for horizontal addressing
shangtianting 0:a57e07e44ab0 216 for(i = 0; i < WIDTH; i++) {
shangtianting 0:a57e07e44ab0 217 buffer[i][j] = rand()%256; // generate random byte
shangtianting 0:a57e07e44ab0 218 }
shangtianting 0:a57e07e44ab0 219 }
shangtianting 0:a57e07e44ab0 220
shangtianting 0:a57e07e44ab0 221 }
shangtianting 0:a57e07e44ab0 222
shangtianting 0:a57e07e44ab0 223 // function to print 5x7 font
shangtianting 0:a57e07e44ab0 224 void N5110::printChar(char c,int x,int y)
shangtianting 0:a57e07e44ab0 225 {
shangtianting 0:a57e07e44ab0 226 if (y>=0 && y<BANKS) { // check if printing in range of y banks
shangtianting 0:a57e07e44ab0 227
shangtianting 0:a57e07e44ab0 228 for (int i = 0; i < 5 ; i++ ) {
shangtianting 0:a57e07e44ab0 229 int pixel_x = x+i;
shangtianting 0:a57e07e44ab0 230 if (pixel_x > WIDTH-1) // ensure pixel isn't outside the buffer size (0 - 83)
shangtianting 0:a57e07e44ab0 231 break;
shangtianting 0:a57e07e44ab0 232 buffer[pixel_x][y] = font5x7[(c - 32)*5 + i];
shangtianting 0:a57e07e44ab0 233 // array is offset by 32 relative to ASCII, each character is 5 pixels wide
shangtianting 0:a57e07e44ab0 234 }
shangtianting 0:a57e07e44ab0 235
shangtianting 0:a57e07e44ab0 236 refresh(); // this sends the buffer to the display and sets address (cursor) back to 0,0
shangtianting 0:a57e07e44ab0 237 }
shangtianting 0:a57e07e44ab0 238 }
shangtianting 0:a57e07e44ab0 239
shangtianting 0:a57e07e44ab0 240 // function to print string at specified position
shangtianting 0:a57e07e44ab0 241 void N5110::printString(const char * str,int x,int y)
shangtianting 0:a57e07e44ab0 242 {
shangtianting 0:a57e07e44ab0 243 if (y>=0 && y<BANKS) { // check if printing in range of y banks
shangtianting 0:a57e07e44ab0 244
shangtianting 0:a57e07e44ab0 245 int n = 0 ; // counter for number of characters in string
shangtianting 0:a57e07e44ab0 246 // loop through string and print character
shangtianting 0:a57e07e44ab0 247 while(*str) {
shangtianting 0:a57e07e44ab0 248
shangtianting 0:a57e07e44ab0 249 // writes the character bitmap data to the buffer, so that
shangtianting 0:a57e07e44ab0 250 // text and pixels can be displayed at the same time
shangtianting 0:a57e07e44ab0 251 for (int i = 0; i < 5 ; i++ ) {
shangtianting 0:a57e07e44ab0 252 int pixel_x = x+i+n*6;
shangtianting 0:a57e07e44ab0 253 if (pixel_x > WIDTH-1) // ensure pixel isn't outside the buffer size (0 - 83)
shangtianting 0:a57e07e44ab0 254 break;
shangtianting 0:a57e07e44ab0 255 buffer[pixel_x][y] = font5x7[(*str - 32)*5 + i];
shangtianting 0:a57e07e44ab0 256 }
shangtianting 0:a57e07e44ab0 257
shangtianting 0:a57e07e44ab0 258 str++; // go to next character in string
shangtianting 0:a57e07e44ab0 259
shangtianting 0:a57e07e44ab0 260 n++; // increment index
shangtianting 0:a57e07e44ab0 261
shangtianting 0:a57e07e44ab0 262 }
shangtianting 0:a57e07e44ab0 263
shangtianting 0:a57e07e44ab0 264 refresh(); // this sends the buffer to the display and sets address (cursor) back to 0,0
shangtianting 0:a57e07e44ab0 265 }
shangtianting 0:a57e07e44ab0 266 }
shangtianting 0:a57e07e44ab0 267
shangtianting 0:a57e07e44ab0 268 // function to clear the screen
shangtianting 0:a57e07e44ab0 269 void N5110::clear()
shangtianting 0:a57e07e44ab0 270 {
shangtianting 0:a57e07e44ab0 271 clearBuffer(); // clear the buffer then call the refresh function
shangtianting 0:a57e07e44ab0 272 refresh();
shangtianting 0:a57e07e44ab0 273 }
shangtianting 0:a57e07e44ab0 274
shangtianting 0:a57e07e44ab0 275 // function to clear the buffer
shangtianting 0:a57e07e44ab0 276 void N5110::clearBuffer()
shangtianting 0:a57e07e44ab0 277 {
shangtianting 0:a57e07e44ab0 278 int i,j;
shangtianting 0:a57e07e44ab0 279 for (i=0; i<WIDTH; i++) { // loop through the banks and set the buffer to 0
shangtianting 0:a57e07e44ab0 280 for (j=0; j<BANKS; j++) {
shangtianting 0:a57e07e44ab0 281 buffer[i][j]=0;
shangtianting 0:a57e07e44ab0 282 }
shangtianting 0:a57e07e44ab0 283 }
shangtianting 0:a57e07e44ab0 284 }
shangtianting 0:a57e07e44ab0 285
shangtianting 0:a57e07e44ab0 286 // function to plot array on display
shangtianting 0:a57e07e44ab0 287 void N5110::plotArray(float array[])
shangtianting 0:a57e07e44ab0 288 {
shangtianting 0:a57e07e44ab0 289
shangtianting 0:a57e07e44ab0 290 int i;
shangtianting 0:a57e07e44ab0 291
shangtianting 0:a57e07e44ab0 292 for (i=0; i<WIDTH; i++) { // loop through array
shangtianting 0:a57e07e44ab0 293 // elements are normalised from 0.0 to 1.0, so multiply
shangtianting 0:a57e07e44ab0 294 // by 47 to convert to pixel range, and subtract from 47
shangtianting 0:a57e07e44ab0 295 // since top-left is 0,0 in the display geometry
shangtianting 0:a57e07e44ab0 296 setPixel(i,47 - int(array[i]*47.0));
shangtianting 0:a57e07e44ab0 297 }
shangtianting 0:a57e07e44ab0 298
shangtianting 0:a57e07e44ab0 299 refresh();
shangtianting 0:a57e07e44ab0 300
shangtianting 0:a57e07e44ab0 301 }
shangtianting 0:a57e07e44ab0 302
shangtianting 0:a57e07e44ab0 303 // function to draw circle
shangtianting 0:a57e07e44ab0 304 void N5110:: drawCircle(int x0,int y0,int radius,int fill)
shangtianting 0:a57e07e44ab0 305 {
shangtianting 0:a57e07e44ab0 306 // from http://en.wikipedia.org/wiki/Midpoint_circle_algorithm
shangtianting 0:a57e07e44ab0 307 int x = radius;
shangtianting 0:a57e07e44ab0 308 int y = 0;
shangtianting 0:a57e07e44ab0 309 int radiusError = 1-x;
shangtianting 0:a57e07e44ab0 310
shangtianting 0:a57e07e44ab0 311 while(x >= y) {
shangtianting 0:a57e07e44ab0 312
shangtianting 0:a57e07e44ab0 313 // if transparent, just draw outline
shangtianting 0:a57e07e44ab0 314 if (fill == 0) {
shangtianting 0:a57e07e44ab0 315 setPixel( x + x0, y + y0);
shangtianting 0:a57e07e44ab0 316 setPixel(-x + x0, y + y0);
shangtianting 0:a57e07e44ab0 317 setPixel( y + x0, x + y0);
shangtianting 0:a57e07e44ab0 318 setPixel(-y + x0, x + y0);
shangtianting 0:a57e07e44ab0 319 setPixel(-y + x0, -x + y0);
shangtianting 0:a57e07e44ab0 320 setPixel( y + x0, -x + y0);
shangtianting 0:a57e07e44ab0 321 setPixel( x + x0, -y + y0);
shangtianting 0:a57e07e44ab0 322 setPixel(-x + x0, -y + y0);
shangtianting 0:a57e07e44ab0 323 } else { // drawing filled circle, so draw lines between points at same y value
shangtianting 0:a57e07e44ab0 324
shangtianting 0:a57e07e44ab0 325 int type = (fill==1) ? 1:0; // black or white fill
shangtianting 0:a57e07e44ab0 326
shangtianting 0:a57e07e44ab0 327 drawLine(x+x0,y+y0,-x+x0,y+y0,type);
shangtianting 0:a57e07e44ab0 328 drawLine(y+x0,x+y0,-y+x0,x+y0,type);
shangtianting 0:a57e07e44ab0 329 drawLine(y+x0,-x+y0,-y+x0,-x+y0,type);
shangtianting 0:a57e07e44ab0 330 drawLine(x+x0,-y+y0,-x+x0,-y+y0,type);
shangtianting 0:a57e07e44ab0 331 }
shangtianting 0:a57e07e44ab0 332
shangtianting 0:a57e07e44ab0 333
shangtianting 0:a57e07e44ab0 334 y++;
shangtianting 0:a57e07e44ab0 335 if (radiusError<0) {
shangtianting 0:a57e07e44ab0 336 radiusError += 2 * y + 1;
shangtianting 0:a57e07e44ab0 337 } else {
shangtianting 0:a57e07e44ab0 338 x--;
shangtianting 0:a57e07e44ab0 339 radiusError += 2 * (y - x) + 1;
shangtianting 0:a57e07e44ab0 340 }
shangtianting 0:a57e07e44ab0 341 }
shangtianting 0:a57e07e44ab0 342
shangtianting 0:a57e07e44ab0 343 }
shangtianting 0:a57e07e44ab0 344
shangtianting 0:a57e07e44ab0 345 void N5110::drawLine(int x0,int y0,int x1,int y1,int type)
shangtianting 0:a57e07e44ab0 346 {
shangtianting 0:a57e07e44ab0 347 int y_range = y1-y0; // calc range of y and x
shangtianting 0:a57e07e44ab0 348 int x_range = x1-x0;
shangtianting 0:a57e07e44ab0 349 int start,stop,step;
shangtianting 0:a57e07e44ab0 350
shangtianting 0:a57e07e44ab0 351 // if dotted line, set step to 2, else step is 1
shangtianting 0:a57e07e44ab0 352 step = (type==2) ? 2:1;
shangtianting 0:a57e07e44ab0 353
shangtianting 0:a57e07e44ab0 354 // make sure we loop over the largest range to get the most pixels on the display
shangtianting 0:a57e07e44ab0 355 // for instance, if drawing a vertical line (x_range = 0), we need to loop down the y pixels
shangtianting 0:a57e07e44ab0 356 // or else we'll only end up with 1 pixel in the x column
shangtianting 0:a57e07e44ab0 357 if ( abs(x_range) > abs(y_range) ) {
shangtianting 0:a57e07e44ab0 358
shangtianting 0:a57e07e44ab0 359 // ensure we loop from smallest to largest or else for-loop won't run as expected
shangtianting 0:a57e07e44ab0 360 start = x1>x0 ? x0:x1;
shangtianting 0:a57e07e44ab0 361 stop = x1>x0 ? x1:x0;
shangtianting 0:a57e07e44ab0 362
shangtianting 0:a57e07e44ab0 363 // loop between x pixels
shangtianting 0:a57e07e44ab0 364 for (int x = start; x<= stop ; x+=step) {
shangtianting 0:a57e07e44ab0 365 // do linear interpolation
shangtianting 0:a57e07e44ab0 366 int y = y0 + (y1-y0)*(x-x0)/(x1-x0);
shangtianting 0:a57e07e44ab0 367
shangtianting 0:a57e07e44ab0 368 if (type == 0) // if 'white' line, turn off pixel
shangtianting 0:a57e07e44ab0 369 clearPixel(x,y);
shangtianting 0:a57e07e44ab0 370 else
shangtianting 0:a57e07e44ab0 371 setPixel(x,y); // else if 'black' or 'dotted' turn on pixel
shangtianting 0:a57e07e44ab0 372 }
shangtianting 0:a57e07e44ab0 373 } else {
shangtianting 0:a57e07e44ab0 374
shangtianting 0:a57e07e44ab0 375 // ensure we loop from smallest to largest or else for-loop won't run as expected
shangtianting 0:a57e07e44ab0 376 start = y1>y0 ? y0:y1;
shangtianting 0:a57e07e44ab0 377 stop = y1>y0 ? y1:y0;
shangtianting 0:a57e07e44ab0 378
shangtianting 0:a57e07e44ab0 379 for (int y = start; y<= stop ; y+=step) {
shangtianting 0:a57e07e44ab0 380 // do linear interpolation
shangtianting 0:a57e07e44ab0 381 int x = x0 + (x1-x0)*(y-y0)/(y1-y0);
shangtianting 0:a57e07e44ab0 382
shangtianting 0:a57e07e44ab0 383 if (type == 0) // if 'white' line, turn off pixel
shangtianting 0:a57e07e44ab0 384 clearPixel(x,y);
shangtianting 0:a57e07e44ab0 385 else
shangtianting 0:a57e07e44ab0 386 setPixel(x,y); // else if 'black' or 'dotted' turn on pixel
shangtianting 0:a57e07e44ab0 387
shangtianting 0:a57e07e44ab0 388 }
shangtianting 0:a57e07e44ab0 389 }
shangtianting 0:a57e07e44ab0 390
shangtianting 0:a57e07e44ab0 391 }
shangtianting 0:a57e07e44ab0 392
shangtianting 0:a57e07e44ab0 393 void N5110::drawRect(int x0,int y0,int width,int height,int fill)
shangtianting 0:a57e07e44ab0 394 {
shangtianting 0:a57e07e44ab0 395
shangtianting 0:a57e07e44ab0 396 if (fill == 0) { // transparent, just outline
shangtianting 0:a57e07e44ab0 397 drawLine(x0,y0,x0+width,y0,1); // top
shangtianting 0:a57e07e44ab0 398 drawLine(x0,y0+height,x0+width,y0+height,1); // bottom
shangtianting 0:a57e07e44ab0 399 drawLine(x0,y0,x0,y0+height,1); // left
shangtianting 0:a57e07e44ab0 400 drawLine(x0+width,y0,x0+width,y0+height,1); // right
shangtianting 0:a57e07e44ab0 401 } else { // filled rectangle
shangtianting 0:a57e07e44ab0 402 int type = (fill==1) ? 1:0; // black or white fill
shangtianting 0:a57e07e44ab0 403 for (int y = y0; y<= y0+height; y++) { // loop through rows of rectangle
shangtianting 0:a57e07e44ab0 404 drawLine(x0,y,x0+width,y,type); // draw line across screen
shangtianting 0:a57e07e44ab0 405 }
shangtianting 0:a57e07e44ab0 406 }
shangtianting 0:a57e07e44ab0 407
shangtianting 0:a57e07e44ab0 408 }
shangtianting 0:a57e07e44ab0 409
shangtianting 0:a57e07e44ab0 410
shangtianting 0:a57e07e44ab0 411
shangtianting 0:a57e07e44ab0 412 MMA8452:: MMA8452(PinName sdaPin, PinName sclPin)
shangtianting 0:a57e07e44ab0 413 {
shangtianting 0:a57e07e44ab0 414 i2c = new I2C(sdaPin,sclPin); // create new I2C instance and initialise
shangtianting 0:a57e07e44ab0 415 i2c->frequency(400000); // I2C Fast Mode - 400kHz
shangtianting 0:a57e07e44ab0 416 leds = new BusOut(LED4,LED3,LED2,LED1); // for debug
shangtianting 0:a57e07e44ab0 417 }
shangtianting 0:a57e07e44ab0 418
shangtianting 0:a57e07e44ab0 419 void MMA8452::init()
shangtianting 0:a57e07e44ab0 420 {
shangtianting 0:a57e07e44ab0 421
shangtianting 0:a57e07e44ab0 422 i2c->frequency(400000); // set Fast Mode I2C frequency (5.10 datasheet)
shangtianting 0:a57e07e44ab0 423
shangtianting 0:a57e07e44ab0 424 char data = readByteFromRegister(WHO_AM_I); // p18 datasheet
shangtianting 0:a57e07e44ab0 425 if (data != 0x2A) { // if correct ID not found, hand and flash error message
shangtianting 0:a57e07e44ab0 426 error();
shangtianting 0:a57e07e44ab0 427 }
shangtianting 0:a57e07e44ab0 428
shangtianting 0:a57e07e44ab0 429 // put into STANDBY while configuring
shangtianting 0:a57e07e44ab0 430 data = readByteFromRegister(CTRL_REG1); // get current value of register
shangtianting 0:a57e07e44ab0 431 data &= ~(1<<0); // clear bit 0 (p37 datasheet)
shangtianting 0:a57e07e44ab0 432 sendByteToRegister(data,CTRL_REG1);
shangtianting 0:a57e07e44ab0 433
shangtianting 0:a57e07e44ab0 434 // Set output data rate, default is 800 Hz, will set to 100 Hz (clear b5, set b4/b3 - p37 datasheet)
shangtianting 0:a57e07e44ab0 435 data = readByteFromRegister(CTRL_REG1);
shangtianting 0:a57e07e44ab0 436 data &= ~(1<<5);
shangtianting 0:a57e07e44ab0 437 data |= (1<<4);
shangtianting 0:a57e07e44ab0 438 data |= (1<<3);
shangtianting 0:a57e07e44ab0 439 sendByteToRegister(data,CTRL_REG1);
shangtianting 0:a57e07e44ab0 440
shangtianting 0:a57e07e44ab0 441 //// Can also change default 2g range to 4g or 8g (p22 datasheet)
shangtianting 0:a57e07e44ab0 442 data = readByteFromRegister(XYZ_DATA_CFG);
shangtianting 0:a57e07e44ab0 443 data |= (1<<0); // set bit 0 - 4g range
shangtianting 0:a57e07e44ab0 444 sendByteToRegister(data,XYZ_DATA_CFG);
shangtianting 0:a57e07e44ab0 445
shangtianting 0:a57e07e44ab0 446 // set ACTIVE
shangtianting 0:a57e07e44ab0 447 data = readByteFromRegister(CTRL_REG1);
shangtianting 0:a57e07e44ab0 448 data |= (1<<0); // set bit 0 in CTRL_REG1
shangtianting 0:a57e07e44ab0 449 sendByteToRegister(data,CTRL_REG1);
shangtianting 0:a57e07e44ab0 450
shangtianting 0:a57e07e44ab0 451 }
shangtianting 0:a57e07e44ab0 452
shangtianting 0:a57e07e44ab0 453 // read acceleration data from device
shangtianting 0:a57e07e44ab0 454 Acceleration MMA8452::readValues()
shangtianting 0:a57e07e44ab0 455 {
shangtianting 0:a57e07e44ab0 456 // acceleration data stored in 6 registers (0x01 to 0x06)
shangtianting 0:a57e07e44ab0 457 // device automatically increments register, so can read 6 bytes starting from OUT_X_MSB
shangtianting 0:a57e07e44ab0 458 char data[6];
shangtianting 0:a57e07e44ab0 459 readBytesFromRegister(OUT_X_MSB,6,data);
shangtianting 0:a57e07e44ab0 460
shangtianting 0:a57e07e44ab0 461 char x_MSB = data[0]; // extract MSB and LSBs for x,y,z values
shangtianting 0:a57e07e44ab0 462 char x_LSB = data[1];
shangtianting 0:a57e07e44ab0 463 char y_MSB = data[2];
shangtianting 0:a57e07e44ab0 464 char y_LSB = data[3];
shangtianting 0:a57e07e44ab0 465 char z_MSB = data[4];
shangtianting 0:a57e07e44ab0 466 char z_LSB = data[5];
shangtianting 0:a57e07e44ab0 467
shangtianting 0:a57e07e44ab0 468 // [0:7] of MSB are 8 MSB of 12-bit value , [7:4] of LSB are 4 LSB's of 12-bit value
shangtianting 0:a57e07e44ab0 469 // need to type-cast as numbers are in signed (2's complement) form (p20 datasheet)
shangtianting 0:a57e07e44ab0 470 int x = (int16_t) (x_MSB << 8) | x_LSB; // combine bytes
shangtianting 0:a57e07e44ab0 471 x >>= 4; // are left-aligned, so shift 4 places right to right-align
shangtianting 0:a57e07e44ab0 472 int y = (int16_t) (y_MSB << 8) | y_LSB;
shangtianting 0:a57e07e44ab0 473 y >>= 4;
shangtianting 0:a57e07e44ab0 474 int z = (int16_t) (z_MSB << 8) | z_LSB;
shangtianting 0:a57e07e44ab0 475 z >>= 4;
shangtianting 0:a57e07e44ab0 476
shangtianting 0:a57e07e44ab0 477 // sensitivity is 1024 counts/g in 2g mode (pg 9 datasheet)
shangtianting 0:a57e07e44ab0 478 // " " 512 " 4g "
shangtianting 0:a57e07e44ab0 479 // " " 256 " 8g "
shangtianting 0:a57e07e44ab0 480 Acceleration acc;
shangtianting 0:a57e07e44ab0 481
shangtianting 0:a57e07e44ab0 482 acc.x = x/512.0;
shangtianting 0:a57e07e44ab0 483 acc.y = y/512.0;
shangtianting 0:a57e07e44ab0 484 acc.z = z/512.0;
shangtianting 0:a57e07e44ab0 485
shangtianting 0:a57e07e44ab0 486 return acc;
shangtianting 0:a57e07e44ab0 487 }
shangtianting 0:a57e07e44ab0 488
shangtianting 0:a57e07e44ab0 489 // reads a byte from a specific register
shangtianting 0:a57e07e44ab0 490 char MMA8452::readByteFromRegister(char reg)
shangtianting 0:a57e07e44ab0 491 {
shangtianting 0:a57e07e44ab0 492 int nack = i2c->write(MMA8452_W_ADDRESS,&reg,1,true); // send the register address to the slave
shangtianting 0:a57e07e44ab0 493 // true as need to send repeated start condition (5.10.1 datasheet)
shangtianting 0:a57e07e44ab0 494 // http://www.i2c-bus.org/repeated-start-condition/
shangtianting 0:a57e07e44ab0 495 if (nack)
shangtianting 0:a57e07e44ab0 496 error(); // if we don't receive acknowledgement, flash error message
shangtianting 0:a57e07e44ab0 497
shangtianting 0:a57e07e44ab0 498 char rx;
shangtianting 0:a57e07e44ab0 499 nack = i2c->read(MMA8452_R_ADDRESS,&rx,1); // read a byte from the register and store in buffer
shangtianting 0:a57e07e44ab0 500 if (nack)
shangtianting 0:a57e07e44ab0 501 error(); // if we don't receive acknowledgement, flash error message
shangtianting 0:a57e07e44ab0 502
shangtianting 0:a57e07e44ab0 503 return rx;
shangtianting 0:a57e07e44ab0 504 }
shangtianting 0:a57e07e44ab0 505
shangtianting 0:a57e07e44ab0 506 // reads a series of bytes, starting from a specific register
shangtianting 0:a57e07e44ab0 507 void MMA8452::readBytesFromRegister(char reg,int numberOfBytes,char bytes[])
shangtianting 0:a57e07e44ab0 508 {
shangtianting 0:a57e07e44ab0 509
shangtianting 0:a57e07e44ab0 510 int nack = i2c->write(MMA8452_W_ADDRESS,&reg,1,true); // send the slave write address and the configuration register address
shangtianting 0:a57e07e44ab0 511 // true as need to send repeated start condition (5.10.1 datasheet)
shangtianting 0:a57e07e44ab0 512 // http://www.i2c-bus.org/repeated-start-condition/
shangtianting 0:a57e07e44ab0 513
shangtianting 0:a57e07e44ab0 514 if (nack)
shangtianting 0:a57e07e44ab0 515 error(); // if we don't receive acknowledgement, flash error message
shangtianting 0:a57e07e44ab0 516
shangtianting 0:a57e07e44ab0 517 nack = i2c->read(MMA8452_R_ADDRESS,bytes,numberOfBytes); // read bytes
shangtianting 0:a57e07e44ab0 518 if (nack)
shangtianting 0:a57e07e44ab0 519 error(); // if we don't receive acknowledgement, flash error message
shangtianting 0:a57e07e44ab0 520
shangtianting 0:a57e07e44ab0 521 }
shangtianting 0:a57e07e44ab0 522
shangtianting 0:a57e07e44ab0 523 // sends a byte to a specific register
shangtianting 0:a57e07e44ab0 524 void MMA8452::sendByteToRegister(char byte,char reg)
shangtianting 0:a57e07e44ab0 525 {
shangtianting 0:a57e07e44ab0 526 char data[2];
shangtianting 0:a57e07e44ab0 527 data[0] = reg;
shangtianting 0:a57e07e44ab0 528 data[1] = byte;
shangtianting 0:a57e07e44ab0 529 // send the register address, followed by the data
shangtianting 0:a57e07e44ab0 530 int nack = i2c->write(MMA8452_W_ADDRESS,data,2);
shangtianting 0:a57e07e44ab0 531 if (nack)
shangtianting 0:a57e07e44ab0 532 error(); // if we don't receive acknowledgement, flash error message
shangtianting 0:a57e07e44ab0 533
shangtianting 0:a57e07e44ab0 534 }
shangtianting 0:a57e07e44ab0 535
shangtianting 0:a57e07e44ab0 536 void MMA8452::error()
shangtianting 0:a57e07e44ab0 537 {
shangtianting 0:a57e07e44ab0 538 while(1) {
shangtianting 0:a57e07e44ab0 539 leds->write(15);
shangtianting 0:a57e07e44ab0 540 wait(0.1);
shangtianting 0:a57e07e44ab0 541 leds->write(0);
shangtianting 0:a57e07e44ab0 542 wait(0.1);
shangtianting 0:a57e07e44ab0 543 }
shangtianting 0:a57e07e44ab0 544 }
shangtianting 0:a57e07e44ab0 545
shangtianting 0:a57e07e44ab0 546
shangtianting 0:a57e07e44ab0 547
shangtianting 0:a57e07e44ab0 548
shangtianting 0:a57e07e44ab0 549
shangtianting 0:a57e07e44ab0 550
shangtianting 0:a57e07e44ab0 551
shangtianting 0:a57e07e44ab0 552
shangtianting 0:a57e07e44ab0 553
shangtianting 0:a57e07e44ab0 554
shangtianting 0:a57e07e44ab0 555
shangtianting 0:a57e07e44ab0 556 N5110 lcd(p7,p8,p9,p10,p11,p13,p26);
shangtianting 0:a57e07e44ab0 557 MMA8452 mma8452(p28,p27); // SDA, SCL
shangtianting 0:a57e07e44ab0 558 Serial serial(USBTX,USBRX);
shangtianting 0:a57e07e44ab0 559 DigitalOut myLED1(p24);
shangtianting 0:a57e07e44ab0 560 InterruptIn button(p29);
shangtianting 0:a57e07e44ab0 561 Beep buzzer(p21);
shangtianting 0:a57e07e44ab0 562 BusOut leds (LED4,LED3,LED2,LED1);
shangtianting 0:a57e07e44ab0 563
shangtianting 0:a57e07e44ab0 564 int fsm[5]={1,3,8,12,0};//array for led in mbed
shangtianting 0:a57e07e44ab0 565 int state=0;
shangtianting 0:a57e07e44ab0 566 int buttonFlag=0;//button
shangtianting 0:a57e07e44ab0 567
shangtianting 0:a57e07e44ab0 568 void buttonPressed(){
shangtianting 0:a57e07e44ab0 569 buttonFlag=1;
shangtianting 0:a57e07e44ab0 570 }
shangtianting 0:a57e07e44ab0 571
shangtianting 0:a57e07e44ab0 572
shangtianting 0:a57e07e44ab0 573 int main()
shangtianting 0:a57e07e44ab0 574 {
shangtianting 0:a57e07e44ab0 575 // first need to initialise display and MMA8452
shangtianting 0:a57e07e44ab0 576
shangtianting 0:a57e07e44ab0 577 lcd.init();
shangtianting 0:a57e07e44ab0 578 mma8452.init();// 100 Hz update rate, ±4g scale
shangtianting 0:a57e07e44ab0 579
shangtianting 0:a57e07e44ab0 580
shangtianting 0:a57e07e44ab0 581 lcd.normalMode();
shangtianting 0:a57e07e44ab0 582
shangtianting 0:a57e07e44ab0 583 //rise up button
shangtianting 0:a57e07e44ab0 584 button.rise(&buttonPressed);
shangtianting 0:a57e07e44ab0 585
shangtianting 0:a57e07e44ab0 586 //show initial interface
shangtianting 0:a57e07e44ab0 587 lcd.printString("Acceleration",4,1);
shangtianting 0:a57e07e44ab0 588 lcd.printString("And Angle",4,2);
shangtianting 0:a57e07e44ab0 589 lcd.printString("Measurer",4,3);
shangtianting 0:a57e07e44ab0 590 lcd.drawRect(2,2,78,43,0); // transparent, just outline
shangtianting 0:a57e07e44ab0 591 lcd.refresh(); // need to refresh screen after drawing rects
shangtianting 0:a57e07e44ab0 592
shangtianting 0:a57e07e44ab0 593
shangtianting 0:a57e07e44ab0 594 wait(2.0);
shangtianting 0:a57e07e44ab0 595 lcd.clear();
shangtianting 0:a57e07e44ab0 596
shangtianting 0:a57e07e44ab0 597 Acceleration acceleration; // Accleration structure declared in MMA8452 class
shangtianting 0:a57e07e44ab0 598
shangtianting 0:a57e07e44ab0 599
shangtianting 0:a57e07e44ab0 600 while(1) {
shangtianting 0:a57e07e44ab0 601
shangtianting 0:a57e07e44ab0 602
shangtianting 0:a57e07e44ab0 603
shangtianting 0:a57e07e44ab0 604 lcd.printString("Acceleration:",0,0);
shangtianting 0:a57e07e44ab0 605 lcd.printString("Angle:",0,4);
shangtianting 0:a57e07e44ab0 606
shangtianting 0:a57e07e44ab0 607 myLED1 = 0;
shangtianting 0:a57e07e44ab0 608
shangtianting 0:a57e07e44ab0 609 acceleration = mma8452.readValues(); // read current values and print over serial port
shangtianting 0:a57e07e44ab0 610
shangtianting 0:a57e07e44ab0 611
shangtianting 0:a57e07e44ab0 612
shangtianting 0:a57e07e44ab0 613 //show acceleration x,y,z
shangtianting 0:a57e07e44ab0 614 char x[14];
shangtianting 0:a57e07e44ab0 615 int length=sprintf(x,"x = %.2f g",acceleration.x);
shangtianting 0:a57e07e44ab0 616 if (length <= 14)
shangtianting 0:a57e07e44ab0 617 lcd.printString(x,0,1);
shangtianting 0:a57e07e44ab0 618
shangtianting 0:a57e07e44ab0 619 char y[14];
shangtianting 0:a57e07e44ab0 620 int length2=sprintf(y,"y = %.2f g",acceleration.y);
shangtianting 0:a57e07e44ab0 621 if (length2 <= 14)
shangtianting 0:a57e07e44ab0 622 lcd.printString(y,0,2);
shangtianting 0:a57e07e44ab0 623
shangtianting 0:a57e07e44ab0 624 char z[14];
shangtianting 0:a57e07e44ab0 625 int length3=sprintf(z,"z = %.2f g",acceleration.z);
shangtianting 0:a57e07e44ab0 626 if (length3 <= 14)
shangtianting 0:a57e07e44ab0 627 lcd.printString(z,0,3);
shangtianting 0:a57e07e44ab0 628
shangtianting 0:a57e07e44ab0 629 //convert acceration in z to angle
shangtianting 0:a57e07e44ab0 630 char angleZ[14];
shangtianting 0:a57e07e44ab0 631 float anglez=90-(acceleration.z/1*90);
shangtianting 0:a57e07e44ab0 632
shangtianting 0:a57e07e44ab0 633
shangtianting 0:a57e07e44ab0 634
shangtianting 0:a57e07e44ab0 635 // set button
shangtianting 0:a57e07e44ab0 636 if (buttonFlag){
shangtianting 0:a57e07e44ab0 637 buttonFlag=0;
shangtianting 0:a57e07e44ab0 638 int angle3=sprintf(angleZ,"%.2f",anglez);
shangtianting 0:a57e07e44ab0 639 lcd.printString(angleZ,0,5);
shangtianting 0:a57e07e44ab0 640 }
shangtianting 0:a57e07e44ab0 641
shangtianting 0:a57e07e44ab0 642
shangtianting 0:a57e07e44ab0 643
shangtianting 0:a57e07e44ab0 644 if (anglez>=30){
shangtianting 0:a57e07e44ab0 645
shangtianting 0:a57e07e44ab0 646 myLED1 = 1;
shangtianting 0:a57e07e44ab0 647
shangtianting 0:a57e07e44ab0 648 }
shangtianting 0:a57e07e44ab0 649
shangtianting 0:a57e07e44ab0 650
shangtianting 0:a57e07e44ab0 651
shangtianting 0:a57e07e44ab0 652 if(anglez>=30&&acceleration.x>0){
shangtianting 0:a57e07e44ab0 653
shangtianting 0:a57e07e44ab0 654 leds=fsm[0];
shangtianting 0:a57e07e44ab0 655
shangtianting 0:a57e07e44ab0 656 }
shangtianting 0:a57e07e44ab0 657
shangtianting 0:a57e07e44ab0 658
shangtianting 0:a57e07e44ab0 659 if(anglez>=60&&acceleration.x>0){
shangtianting 0:a57e07e44ab0 660 leds=fsm[1];
shangtianting 0:a57e07e44ab0 661
shangtianting 0:a57e07e44ab0 662 }
shangtianting 0:a57e07e44ab0 663
shangtianting 0:a57e07e44ab0 664
shangtianting 0:a57e07e44ab0 665 if(anglez>=30&&acceleration.x<0){
shangtianting 0:a57e07e44ab0 666
shangtianting 0:a57e07e44ab0 667 leds=fsm[2];
shangtianting 0:a57e07e44ab0 668 }
shangtianting 0:a57e07e44ab0 669
shangtianting 0:a57e07e44ab0 670
shangtianting 0:a57e07e44ab0 671 if(anglez>=60&&acceleration.x<0){
shangtianting 0:a57e07e44ab0 672 leds=fsm[3];
shangtianting 0:a57e07e44ab0 673 }
shangtianting 0:a57e07e44ab0 674
shangtianting 0:a57e07e44ab0 675
shangtianting 0:a57e07e44ab0 676 if(anglez<30){
shangtianting 0:a57e07e44ab0 677 leds=fsm[4];
shangtianting 0:a57e07e44ab0 678 }
shangtianting 0:a57e07e44ab0 679
shangtianting 0:a57e07e44ab0 680
shangtianting 0:a57e07e44ab0 681 if(anglez>=60){
shangtianting 0:a57e07e44ab0 682
shangtianting 0:a57e07e44ab0 683 buzzer.beep(2000,0.5);
shangtianting 0:a57e07e44ab0 684 }
shangtianting 0:a57e07e44ab0 685
shangtianting 0:a57e07e44ab0 686
shangtianting 0:a57e07e44ab0 687
shangtianting 0:a57e07e44ab0 688 wait(0.1);
shangtianting 0:a57e07e44ab0 689 lcd.refresh();
shangtianting 0:a57e07e44ab0 690
shangtianting 0:a57e07e44ab0 691
shangtianting 0:a57e07e44ab0 692
shangtianting 0:a57e07e44ab0 693 }
shangtianting 0:a57e07e44ab0 694
shangtianting 0:a57e07e44ab0 695
shangtianting 0:a57e07e44ab0 696 }