Siphamandla Simelane
Mid_term1
Dependencies: MMA8451Q SLCD mbed
Fork of
ACC_LCD_341_MID
by 
Stanley Cohen
Revision 3:0e7f46de6d17, committed 2014-10-06
- Comitter:
- sphasim
- Date:
- Mon Oct 06 07:16:01 2014 +0000
- Parent:
- 2:6003ed409def
- Child:
- 4:f17af9f983dc
- Commit message:
- Here is Part 1 of the midterm
Changed in this revision
| acc_341.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/acc_341.cpp Thu Sep 25 23:45:35 2014 +0000
+++ b/acc_341.cpp Mon Oct 06 07:16:01 2014 +0000
@@ -1,19 +1,31 @@
+/*
+ Test of the accelerometer, digital I/O, on-board LCD screen.
+ RED: When absolute horizontal
+ GREEN : When absolute vertical
+ BLINKY: When in intermediate state
+
+ Author: Siphamandla Simelane
+ Date: 10/6/2014
+ */
+
+#include "mbed.h"
+#include "MMA8451Q.h"/*
+ Test of the accelerometer, digital I/O, on-board LCD screen.
+ MISSION
+ LED RED: absolute horizontal
+ LED GREEN : absolute vertical
+ Should Blink: in intermediate state
+
+ Author: Siphamandla P. Simelane
+ Date: 10/7/2014
+ */
+
#include "mbed.h"
#include "MMA8451Q.h"
#include "SLCD.h"
-
-/*
-Test of the accelerometer, digital I/O, on-board LCD screen.
- Looing at vector product of the x-y components of the accelerometer.
- Works pretty well. Still rough, program wise - sc 140710
- */
+#include "math.h"
-#define DATATIME 0.200
-
-#define PROGNAME "ACCLCD341\r/n"
-
-#define PRINTDBUG
-//
+// Configuring Accelerometer/Magnetometer:
#if defined (TARGET_KL25Z) || defined (TARGET_KL46Z)
PinName const SDA = PTE25; // Data pins for the accelerometer/magnetometer.
PinName const SCL = PTE24; // DO NOT CHANGE
@@ -26,52 +38,277 @@
#define MMA8451_I2C_ADDRESS (0x1d<<1)
+#define PI 3.14159265
+#define DATATIME 0.150
+#define PROGNAME "ACCLCD341VB\r/n"
+#define PRINTDBUG
+#define LEDON false
+#define LEDOFF true
+#define LCDLEN 10
+#define LOW_POINT 0.0
+#define LOW_LIMIT 0.1
+#define HIGH_LIMIT 1.05
+#define BLINKTIME 0.5// milliseconds
+
+
+enum orientStates {INTERMEDIATE, LANDSCAPE, PORTRAIT}; // define the states
+PwmOut greenLed(LED_GREEN);
+PwmOut redLed(LED_RED);
SLCD slcd; //define LCD display
MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
Serial pc(USBTX, USBRX);
-float sqrt_newt(float argument) {
- return (sqrt(argument));
+float sqrt_newt(float arg) {
+ int i = 0;
+ float X1 = 0.0;
+ int intMax = 30;
+ int epsilon = 1e-7;
+ float my_x = float(arg/2.0);
+ int delta = 1;
+ for(i=0; i<intMax; i++){
+ X1 = 0.5*(my_x + (arg/my_x));
+ delta = abs(X1-my_x);
+ if (delta < epsilon)
+ break;
+ else
+ my_x = X1;
+ }
+ return my_x;
+
}
-
+// Print using LCD screen
void LCDMess(char *lMess, float dWait){
- slcd.Home();
- slcd.clear();
- slcd.printf(lMess);
- wait(dWait);
+ slcd.Home();
+ slcd.clear();
+ slcd.printf(lMess);
+ wait(dWait);
}
int main() {
float xAcc;
float yAcc;
- float vector;
- char lcdData[10]; //buffer needs places dor decimal pt and colon
-
-#ifdef PRINTDBUG
+ float vector;
+ float angle;
+ char lcdData[LCDLEN]; //buffer needs places dor decimal pt and colon
+ orientStates PGMState = INTERMEDIATE;
+ Timer LEDTimer; // time till next PWM values is to change.
+ int ledState = LEDON;
+ int timeToChangeDF = BLINKTIME;
+ // set up timer for next step of Duty Factor timing
+ LEDTimer.start();
+ LEDTimer.reset();
+
+ #ifdef PRINTDBUG
pc.printf(PROGNAME);
-#endif
-// main loop forever
- while(true) {
+ #endif
-//Get accelerometer data - tilt angles minus offset for zero mark.
- xAcc = abs(acc.getAccX());
- yAcc = abs(acc.getAccY());
- // Calulate vector sum of x and y reading.
- vector = sqrt_newt(pow(xAcc,2) + pow(yAcc,2));
-
-
-#ifdef PRINTDBUG
- pc.printf("xAcc = %f\r\n", xAcc);
- pc.printf("yAcc = %f\r\n", yAcc);
- pc.printf("vector = %f\r\n", vector);
+ // main loop forever
+ while(true) {
+ switch (PGMState){
+ case INTERMEDIATE:
+ //Get accelerometer data - tilt angles minus offset for zero mark.
+ xAcc = abs(acc.getAccX());
+ yAcc = abs(acc.getAccY());
+
+ // Calulate vector sum and angle of x and y reading.
+ vector = sqrt_newt(pow(xAcc,2) + pow(yAcc,2));
+ angle = atan(yAcc / xAcc)* 180 / PI;
+
+
+ #ifdef PRINTDBUG
+ pc.printf("xAcc = %f\r\n", xAcc);
+ pc.printf("yAcc = %f\r\n", yAcc);
+ pc.printf("vector = %f\r\n", vector);
+ pc.printf("Angle = %f\r\n", angle);
+ #endif
+ sprintf (lcdData,"%4.3f", yAcc);
+ LCDMess(lcdData, DATATIME);
+
+
+ // Define the landscape and portrait position using x and y readings
+ if(yAcc < LOW_LIMIT && xAcc > LOW_POINT && xAcc < HIGH_LIMIT){
+ PGMState = PORTRAIT;
+ } else if (xAcc < LOW_LIMIT && yAcc > LOW_POINT && yAcc < HIGH_LIMIT){
+ PGMState = LANDSCAPE;
+ } else {
+ // Blink the LED if in this state
+ ledState = ! ledState;
+ if (LEDTimer.read_ms() > timeToChangeDF){ // check for timer time out transtion
+ redLed.write(ledState);
+ greenLed.write(ledState);
+ LEDTimer.reset();
+ PGMState = INTERMEDIATE;
+ }
+ }
+ break;
+
+ case PORTRAIT:
+ // Green led ON and red OFF
+ redLed.write(LEDON);
+ greenLed.write(LEDOFF);
+ PGMState = INTERMEDIATE; // go idle state
+ break;
+
+ case LANDSCAPE:
+ // Green led OFF and red ON
+ redLed.write(LEDOFF);
+ greenLed.write(LEDON);
+ PGMState = INTERMEDIATE; // go idle state
+ break;
+
+ default:
+ PGMState = INTERMEDIATE; // go idle state
+ break;
+
+ } // end state machine
+ }
+}
+#include "SLCD.h"
+#include "math.h"
+
+// Configure Accelerometer/Magnetometer:
+#if defined (TARGET_KL25Z) || defined (TARGET_KL46Z)
+ PinName const SDA = PTE25; // Data pins for the accelerometer/magnetometer.
+ PinName const SCL = PTE24; // DO NOT CHANGE
+#elif defined (TARGET_KL05Z)
+ PinName const SDA = PTB4;
+ PinName const SCL = PTB3;
+#else
+ #error TARGET NOT DEFINED
#endif
- sprintf (lcdData,"%4.3f",vector);
- LCDMess(lcdData, DATATIME);
-// Wait then do the whole thing again.
- wait(DATATIME);
+#define MMA8451_I2C_ADDRESS (0x1d<<1)
+
+#define PI 3.14159265
+#define DATATIME 0.150
+#define PROGNAME "ACCLCD341VB\r/n"
+#define PRINTDBUG
+#define LEDON false
+#define LEDOFF true
+#define LCDLEN 10
+#define LOW_POINT 0.0
+#define LOW_LIMIT 0.125
+#define HIGH_LIMIT 1.1
+#define ONTIME 1.0
+#define BLINKTIME 0.1// milliseconds
+
+
+enum orientStates {INTERMEDIATE, LANDSCAPE, PORTRAIT}; // define the states
+PwmOut greenLed(LED_GREEN);
+PwmOut redLed(LED_RED);
+SLCD slcd; //define LCD display
+
+MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
+Serial pc(USBTX, USBRX);
+
+float sqrt_newt(float arg) {
+ int i = 0;
+ float X1 = 0.0;
+ int intMax = 20;
+ int epsilon = 1e-7;
+ float my_x = float(arg/2.0);
+ int delta = 1;
+ for(i=0; i<intMax; i++){
+ X1 = 0.5*(my_x + (arg/my_x));
+ delta = abs(X1-my_x);
+ if (delta < epsilon)
+ break;
+ else
+ my_x = X1;
+ }
+ return my_x;
+
+// return (sqrt(arg));
+}
+
+// Print using LCD screen
+void LCDMess(char *lMess, float dWait){
+ slcd.Home();
+ slcd.clear();
+ slcd.printf(lMess);
+ wait(dWait);
+}
+
+
+int main() {
+ float xAcc;
+ float yAcc;
+ float vector;
+ float angle;
+ char lcdData[LCDLEN]; //buffer needs places dor decimal pt and colon
+ orientStates PGMState = INTERMEDIATE;
+ Timer LEDTimer; // time till next PWM values is to change.
+ int ledState = LEDON;
+ int timeToChangeDF = BLINKTIME;
+ // set up timer for next step of Duty Factor timing
+ LEDTimer.start();
+ LEDTimer.reset();
+
+ #ifdef PRINTDBUG
+ pc.printf(PROGNAME);
+ #endif
+
+ // main loop forever
+ while(true) {
+ switch (PGMState){
+ case INTERMEDIATE:
+ //Get accelerometer data - tilt angles minus offset for zero mark.
+ xAcc = abs(acc.getAccX());
+ yAcc = abs(acc.getAccY());
+
+ // Calulate vector sum and angle of x and y reading.
+ vector = sqrt_newt(pow(xAcc,2) + pow(yAcc,2));
+ angle = atan(yAcc / xAcc)* 180 / PI;
+
+
+ #ifdef PRINTDBUG
+ pc.printf("xAcc = %f\r\n", xAcc);
+ pc.printf("yAcc = %f\r\n", yAcc);
+ pc.printf("vector = %f\r\n", vector);
+ pc.printf("Angle = %f\r\n", angle);
+ #endif
+ sprintf (lcdData,"%4.3f", yAcc);
+ LCDMess(lcdData, DATATIME);
+
+
+ // Define the landscape and portrait position using x and y readings
+ if(yAcc < LOW_LIMIT && xAcc > LOW_POINT && xAcc < HIGH_LIMIT){
+ PGMState = PORTRAIT;
+ } else if (xAcc < LOW_LIMIT && yAcc > LOW_POINT && yAcc < HIGH_LIMIT){
+ PGMState = LANDSCAPE;
+ } else {
+ // Blink the LED if in this state
+ ledState = ! ledState;
+ if (LEDTimer.read_ms() > timeToChangeDF){ // check for timer time out transtion
+ redLed.write(ledState);
+ greenLed.write(ledState);
+ LEDTimer.reset();
+ PGMState = INTERMEDIATE;
+ }
+ }
+ break;
+
+ case PORTRAIT:
+ // Green led ON and red OFF
+ redLed.write(LEDON);
+ greenLed.write(LEDOFF);
+ PGMState = INTERMEDIATE; // go idle state
+ break;
+
+ case LANDSCAPE:
+ // Green led OFF and red ON
+ redLed.write(LEDOFF);
+ greenLed.write(LEDON);
+ PGMState = INTERMEDIATE; // go idle state
+ break;
+
+ default:
+ PGMState = INTERMEDIATE; // go idle state
+ break;
+
+ } // end state machine
}
}
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