Víctor Najarro
Program for FRDM-64k for read five accelerometers
Dependencies: FXOS8700CQ LSM303D MMA8451Q MPU6050 mbed
Fork of
fxos8700cq_example
by 
Thomas Murphy
Revision 4:c6b4d8c152cd, committed 2018-01-18
- Comitter:
- vinajarr
- Date:
- Thu Jan 18 07:58:01 2018 +0000
- Parent:
- 3:f41412728da1
- Commit message:
- Program can read 5 accelerometer 400Hz at same time
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FXLS8471Q.lib Thu Jan 18 07:58:01 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/vinajarr/code/FXLS8471Q/#b6e0c4ad3aee
--- a/FXOS8700CQ.lib Mon Dec 05 09:24:47 2016 +0000 +++ b/FXOS8700CQ.lib Thu Jan 18 07:58:01 2018 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/users/vinajarr/code/FXOS8700CQ/#75494f28f57f +https://developer.mbed.org/users/vinajarr/code/FXOS8700CQ/#26db88bf6b70
--- a/LSM303D.lib Mon Dec 05 09:24:47 2016 +0000 +++ b/LSM303D.lib Thu Jan 18 07:58:01 2018 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/users/vinajarr/code/LSM303D/#27d47f5de82c +https://developer.mbed.org/users/vinajarr/code/LSM303D/#fcd607760ee8
--- a/MMA8451Q.lib Mon Dec 05 09:24:47 2016 +0000 +++ b/MMA8451Q.lib Thu Jan 18 07:58:01 2018 +0000 @@ -1,1 +1,1 @@ -http://developer.mbed.org/users/emilmont/code/MMA8451Q/#c4d879a39775 +https://os.mbed.com/users/vinajarr/code/MMA8451Q-Vinajarr/#aefb5974f42a
--- a/MPU6050.lib Mon Dec 05 09:24:47 2016 +0000 +++ b/MPU6050.lib Thu Jan 18 07:58:01 2018 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/users/vinajarr/code/MPU6050/#6d0ea7c8c5c4 +https://developer.mbed.org/users/vinajarr/code/MPU6050/#52b05c0e09a6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Thu Jan 18 07:58:01 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/vinajarr/code/SDFileSystem-vinajarr/#001785e982d8
--- a/main.cpp Mon Dec 05 09:24:47 2016 +0000
+++ b/main.cpp Thu Jan 18 07:58:01 2018 +0000
@@ -1,4 +1,9 @@
#include "mbed.h"
+#include "SDFileSystem.h"
+Serial pc(USBTX, USBRX); // Primary output to demonstrate library
+
+SDFileSystem sd(PTE3, PTE1, PTE2, PTE4, "sd"); // MOSI, MISO, SCK, CS
+FILE *fp;
#include "FXOS8700CQ.h"
#include "MMA8451Q.h"
@@ -13,29 +18,35 @@
#define DATA_RECORD_TIME_MS 1000
+uint32_t do_list(const char *fsrc);
-Serial pc(USBTX, USBRX); // Primary output to demonstrate library
-
+I2C i2c(SDA, SCL);
//objetos de los acelerometros
-MMA8451Q mma(SDA, SCL, MMA8451_I2C_ADDRESS);
-LSM303D lsm(SDA, SCL);
+MMA8451Q mma(&i2c, MMA8451_I2C_ADDRESS);
+LSM303D lsm(&i2c);
ADXL335 adx(PTB2,PTB3,PTB10);
-MPU6050 mpu(SDA, SCL);
-FXOS8700CQ fxos(SDA, SCL, FXOS8700CQ_SLAVE_ADDR1); // SDA, SCL, (addr << 1)
+MPU6050 mpu(&i2c);
+FXOS8700CQ fxos(&i2c, FXOS8700CQ_SLAVE_ADDR1); // SDA, SCL, (addr << 1)
DigitalOut green(LED_GREEN); // waiting light
DigitalOut blue(LED_BLUE); // collection-in-progress light
DigitalOut red(LED_RED); // completed/error ligt
Timer t; // Microsecond timer, 32 bit int, maximum count of ~30 minutes
-InterruptIn int_sw2(PTC6); // unused, common with SW2 on FRDM-K64F
InterruptIn fxos_int2(PTC13); // should just be the Data-Ready interrupt
-InterruptIn int_sw3(PTA4); // switch SW3
+InterruptIn sw3_int(PTA4); // switch SW3
+InterruptIn sw2_int(PTC6); // switch SW2
+InterruptIn mpu_int(PTC3);// should just be the Data-Ready interrupt
+InterruptIn mma_int1(PTD1);// should just be the Data-Ready interrupt
+InterruptIn lsm_int1(PTA2); // should just be the Data-Ready interrupt
// Interrupt status flags and data
bool fxos_int2_triggered = false;
+bool mpu_int_triggered = false;
+bool mma_int1_triggered = false;
+bool lsm_int1_triggered = false;
uint32_t us_ellapsed = 0, beforePrint = 0;
bool sw2_push = false;
bool sw3_push = false;
@@ -45,199 +56,429 @@
-void trigger_fxos_int2(void)
+volatile SRAWDATA ac;
+const uint16_t size = 400;
+volatile float accT[size][2];
+volatile uint32_t tiempo[size][2];
+volatile uint32_t puntero[2] = {0,0};
+bool escribirSD = false;
+
+void fxos_int2_interrupt(void)
{
fxos_int2_triggered = true;
- us_ellapsed = t.read_us();
+ //fxos.get_dataAcc(&acc[0]);
+}
+
+void mpu_int_interrupt (void)
+{
+ mpu_int_triggered = true;
}
-void interruptSW3(void)
+void mma_int1_interrupt (void)
+{
+ mma_int1_triggered = true;
+
+ ac.x=mma.getAccX();
+ ac.y=mma.getAccY();
+ ac.z=mma.getAccZ();
+
+ accT[puntero[0]][puntero[1]]=sqrt(ac.x*ac.x+ac.y*ac.y+ac.z*ac.z);
+ tiempo[puntero[0]][puntero[1]]=t.read_us();
+ puntero[0]++;
+ if(puntero[0]>(size-1)){
+ puntero[0]=0;
+ puntero[1] = (puntero[1] + 1) % 2;
+ escribirSD=true;
+ }
+}
+
+void lsm_int1_interrupt (void)
+{
+ lsm_int1_triggered = true;
+}
+
+void SW3_interrupt(void)
{
sw3_push=true;
-
}
void print_cabecera(){
pc.printf("T\t");
- for(int i=0;i<1;i++){
- pc.printf("X%d\tY%d\tZ%d\t",i,i,i);
- }
+ pc.printf("Va\t\t");
+ /*for(int i=1;i<5;i++){
+ pc.printf("Z%d\t\t",i);
+ }*/
pc.printf("\r\n");
- }
+}
void print_data(){
-
//us_ellapsed= t.read_us()-beforePrint;
pc.printf("%d\t",t.read_us());
- for(int i=0;i<1;i++){
- pc.printf("%+.5f\t\t", acc[i].z);
+ pc.printf("%.5f\t", accT);
+ /*for(int i=0;i<5;i++){
+ if(i!=7){
+ pc.printf("%+.3f\t", acc[i].z);
// pc.printf("%+.4f\t%+.4f\t%+.4f\t", acc[i].x, acc[i].y, acc[i].z);
- }
+ }
+ }*/
pc.printf("\r\n");
//beforePrint=t.read_us();
-
}
void print_reading()
{
us_ellapsed= t.read_us()-beforePrint;
+ beforePrint=t.read_us();
pc.printf("%d ",us_ellapsed);
- for(int i=0;i<5;i++){
-
- pc.printf("A[%d] X:%+.4f,Y:%+.4f,Z:%+.4f\t",
+ for(int i=1;i<5;i++){
+ pc.printf("A[%d] X:%+.3f,Y:%+.3f,Z:%+.3f\t",
i,
acc[i].x, acc[i].y, acc[i].z
);
}
pc.printf("\r\n");
- beforePrint=t.read_us();
}
void readAcc()
{
+ uint64_t int_time = t.read_us();
- //acelerometro 0
-
- while(!fxos_int2_triggered && fxos_int2.read()==1){}
+ //acelerometro 0
+ /*
+ while(!fxos_int2_triggered && t.read_us()-int_time < 4000 && fxos_int2.read()){wait_us(1);}
fxos_int2_triggered = false; // un-trigger
fxos.get_dataAcc(&acc[0]); // clear interrupt from device
- /*
+
+ if(t.read_us()-int_time>4000) pc.printf("Error lectura Fxos ");
+ */
+ int_time = t.read_us();
+ while(!mma_int1_triggered && t.read_us()-int_time<4000 && mma_int1.read()){}
+ mma_int1_triggered = false; // un-trigger
//acelerometro 1
- acc[1].x=mma.getAccX();
+ /*acc[1].x=mma.getAccX();
acc[1].y=mma.getAccY();
- acc[1].z=mma.getAccZ();
+ acc[1].z=mma.getAccZ();*/
+
+ //accT=sqrt(ac.x*ac.x+ac.y*ac.y+ac.z*ac.z);
+ if(t.read_us()-int_time>4000) pc.printf("Error lectura mma \t\t");
+
+ /*
+ int_time = t.read_us();
+ while(!mpu_int_triggered && t.read_us()-int_time<4000 && mpu_int.read()){wait_us(1);}
+ mpu_int_triggered = false; // un-trigger
//acelerometro 2
float xyz[3];
mpu.getAccelero( xyz );
+ mpu.read(0x3A);
acc[2].x = xyz[0];
acc[2].y = xyz[1];
acc[2].z = xyz[2];
+
+ if(t.read_us()-int_time>4000) pc.printf("Error lectura mpu ");
+
+ int_time = t.read_us();
+ while(!lsm_int1_triggered && t.read_us()-int_time<4000 && !lsm_int1.read()){ wait_us(1);}
+ lsm_int1_triggered = false; // un-trigger
//acelerometro 3
lsm.readA(&acc[3].x,&acc[3].y,&acc[3].z);
+ if(t.read_us()-int_time>4000) pc.printf("Error lectura lsm ");
+
//acclerometro 4
adx.getAcc(acc[4]);
*/
-
}
void initFxox(){
- SRAWDATA accel_data;
// Diagnostic printing of the FXOS WHOAMI register value
pc.printf("\r\n\nFXOS8700Q Who Am I= %X\r\n", fxos.get_whoami());
fxos.enable();
- fxos.get_dataAcc(&accel_data);
- while(!fxos_int2_triggered && fxos_int2.read()==1){}
+
+ fxos_int2.mode(PullUp);
+ wait_ms(20);
+ fxos_int2.fall(&fxos_int2_interrupt);
+
+ /*for(int i=0;i<0x7A;i++){
+ uint8_t data =0;
+ fxos.read_regs(i,&data,1);
+ pc.printf("0x%x:\t0x%x\r\n",i,data);
+ }*/
+
+ while(fxos_int2.read()==0){
+ uint8_t data =0;
+ fxos.get_dataAcc(&acc[0]);
+ fxos.read_regs(0x00,&data,1);
+ pc.printf("0x%x:\t0x%x\r\n",0x00,data);
+ }
+
+
+
+ while(!fxos_int2_triggered){ wait_ms(1); }
+
fxos_int2_triggered = false; // un-trigger
- fxos.get_dataAcc(&accel_data); // clear interrupt from device
- pc.printf(" A[0] X:%+.4f,Y:%+.4f,Z:%+.4f\n\r",
- accel_data.x, accel_data.y, accel_data.z
- );
+ fxos.get_dataAcc(&acc[0]);
+ // clear interrupt from device
+ pc.printf(" A[0] X:%+.4f,Y:%+.4f,Z:%+.4f\n\r",
+ acc[0].x, acc[0].y, acc[0].z);
}
void initMma(){
- printf("MMA8451 ID: %d\n", mma.getWhoAmI());
- pc.printf(" A[1] X:%+.4f,Y:%+.4f,Z:%+.4f\n\r",
- mma.getAccX(), mma.getAccX(), mma.getAccX()
- );
+
+ pc.printf("MMA8451 ID: %d\n", mma.getWhoAmI());
+
+ /*for(int i=0;i<0x32;i++){
+ uint8_t data =0;
+ mma.readRegs(i,&data,1);
+ pc.printf("0x%x:\t0x%x\r\n",i,data);
+ }*/
+
+ mma_int1.mode(PullUp);
+ wait_ms(20);
+ mma_int1.fall(&mma_int1_interrupt);
+
+ while(mma_int1.read()==0){
+ ac.x=mma.getAccX();
+ ac.y=mma.getAccY();
+ ac.z=mma.getAccZ();
+ }
+
+
+
+ while(!mma_int1_triggered){ wait_ms(1); }
+
+ mma_int1_triggered = false; // un-trigger
+ pc.printf(" A[1] X:%+.4f,Y:%+.4f,Z:%+.4f\r\n",
+ mma.getAccX(), mma.getAccY(), mma.getAccZ() );
+
}
void initMpu(){
- mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_2G);
- pc.printf("MPU6050 testConnection \n\r");
-
- bool mpu6050TestResult = mpu.testConnection();
- if(mpu6050TestResult) {
- pc.printf("\r\nMPU6050 test passed\r\n");
- } else {
- pc.printf("\r\nMPU6050 test failed \n\r");
- }
- float acc[3];
-
- pc.printf(" A[2] temp:%+.4f",
- mpu.getTemp()
- );
+ float acc[3];
+
+ mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_2G);
+ pc.printf("MPU6050 testConnection \r\n");
+
+ /*for(int i=0xD;i<0x76;i++)
+ {
+ pc.printf("Ox%x: 0x%x\r\n",i,mpu.read(i));
+ }*/
+
+ mpu_int.mode(PullUp);
+ wait_ms(20);
+ mpu_int.fall(&mpu_int_interrupt);
+
+ while(mpu_int.read()==0){
mpu.getAccelero( acc );
- pc.printf(" X:%+.4f,Y:%+.4f,Z:%+.4f\r\n",
- acc[2], acc[1],acc[2]
- );
+ pc.printf("Ox%x: 0x%x\r\n",0x3A,mpu.read(0x3A));
+ }
+
+ while(!mpu_int_triggered){ wait_ms(1);} //wait interrupt
+ mpu_int_triggered = false; // un-trigger
+
+ bool mpu6050TestResult = mpu.testConnection();
+ if(mpu6050TestResult) {
+ pc.printf("\r\nMPU6050 test passed\r\n");
+ } else {
+ pc.printf("\r\nMPU6050 test failed \r\n");
+ }
+
+ pc.printf(" A[2] temp:%+.4f", mpu.getTemp());
+ mpu.getAccelero( acc );
+ pc.printf(" X:%+.4f,Y:%+.4f,Z:%+.4f\r\n",acc[0], ac,acc[2]);
+ pc.printf("Ox%x: 0x%x\r\n",0x3A,mpu.read(0x3A));
}
void initLsm(){
double acc[3];
+ char reg_v=0;
+ pc.printf("LSM303D comprobacion de configuracion: \r\n");
+ for(int i=0;i<0x3E;i++)
+ {
+ if(lsm.read_reg(addr_acc_mag,i,®_v)){
+ pc.printf("Ox%x: 0x%x\r\n",i,reg_v);
+ }
+ }
+
+
+ lsm.readA(&acc[0],&acc[1],&acc[2]);
+ lsm.readA(&acc[0],&acc[1],&acc[2]);
+
+ lsm.read(&acc[0],&acc[1],&acc[2],&acc[0],&acc[1],&acc[2]);
+ lsm.read(&acc[0],&acc[1],&acc[2],&acc[0],&acc[1],&acc[2]);
+ lsm.read(&acc[0],&acc[1],&acc[2],&acc[0],&acc[1],&acc[2]);
+ lsm.read(&acc[0],&acc[1],&acc[2],&acc[0],&acc[1],&acc[2]);
+
+ for(int i=0;i<0x3E;i++)
+ {
+ if(lsm.read_reg(addr_acc_mag,i,®_v)){
+ pc.printf("Ox%x: 0x%x\r\n",i,reg_v);
+ }
+ }
+
+ lsm_int1.mode(PullUp);
+ wait_ms(20);
+ lsm_int1.rise(&lsm_int1_interrupt);
+
+ while(lsm_int1.read()==1){
+ lsm.readA(&acc[0],&acc[1],&acc[2]);
+ /*if(lsm.read_reg(addr_acc_mag,0x27,®_v)){ //registro de status_A
+ pc.printf("Ox%x: 0x%x\r\n",0x27,reg_v);
+ }*/
+ }
+
+ while(!lsm_int1_triggered){ wait_ms(1);}
+ lsm_int1_triggered = false; // un-trigger
+
+
if (lsm.readA(&acc[0],&acc[1],&acc[2])){
pc.printf(" A[3] X:%+.4f,Y:%+.4f,Z:%+.4f\r\n",
- acc[2], acc[1],acc[2]
- );
+ acc[2], acc[1],acc[2]);
}
else{
pc.printf(" LSM303D don't work ");
- }
+ }
}
+
+
+
+
+
int main(void)
{
-
//inicializacion basico
t.reset();
- pc.baud(230400); //probar con 460800 // Print quickly! 200Hz x line of output data!
- fxos_int2.fall(&trigger_fxos_int2);
+ pc.baud(250000);
+ sw3_int.mode(PullUp);
+ sw3_int.fall(&SW3_interrupt);
+ sw2_int.mode(PullUp);
- int_sw3.mode(PullUp);
- int_sw3.fall(&interruptSW3);
-
- int_sw2.mode(PullUp);
-
+ i2c.frequency(200000); //Configure speed I2C 200kHz
// Lights off (FRDM-K64F has active-low LEDs)
green.write(1);
red.write(1);
blue.write(1);
-
+ /*
//inicializacion Acelerometros
- initFxox();
+ //initFxox();
initMma();
- initMpu();
- initLsm();
-
+ //initMpu();
+ //initLsm();
+
readAcc();
print_reading();
-
+ */
green.write(0);
red.write(1);
blue.write(1);
-
//esperar a pulsador
while(!sw3_push){
wait_ms(50);
}
-
+
pc.printf("Iniciando lectura de acelerometros\r\n");
-
+ t.start();
+ initMma();
green.write(1);
red.write(1);
- blue.write(0);
+ blue.write(0);
+
+ //Escribir en la SD
+ mkdir("/sd/data", 0777);
+ uint32_t number = do_list("/sd/data");
+ char archivo[50];
+ snprintf(archivo,50,"/sd/data/%06ld.xls",number);
+ fp = fopen(archivo, "w");
+ if (fp == NULL) {
+ pc.printf("Unable to write the file \n");
+ while(1){wait(1);}
+ }
+ fprintf(fp,"T\tVa\r\n");
+ while(1)
+ {
+ if(escribirSD)
+ {
+ uint8_t j = puntero[1]==0?1:0;
+ for(uint32_t i=0; i<size;i++)
+ {
+ fprintf(fp,"%d\t %.5f\r\n",tiempo[i][j],accT[i][j]);
+ }
+ escribirSD = false;
+ }
+ if(sw2_int.read()==0){
+ mma_int1.disable_irq ();
+
+ for(uint32_t i=0; i<puntero[0];i++)
+ {
+ fprintf(fp,"%d\t %.5f\r\n",tiempo[i][puntero[1]],accT[i][puntero[1]]);
+ }
+ break;
+ }
+ }
- //lectura de todos los accelerometros
- t.start();
- print_cabecera();
- while(1){
- readAcc();
- print_data();
- if(int_sw2.read()==0) break;
+ pc.printf("fin escritura \r\n");
+ fclose(fp);
+
+ fp = fopen(archivo, "r");
+ if (fp == NULL) {
+ pc.printf("Unable to open the file \n");
+ while(1){wait(1);}
+ }
+ DigitalIn enSerial(D8);
+ enSerial.mode(PullUp);
+ if(enSerial.read()==1){
+ while (1) { // print data por serial
+ char ch = fgetc(fp); // until src EOF read.
+ if (ch == EOF || ch == 0xFF) break;
+ pc.printf("%c",ch);
+ }
}
green.write(1);
red.write(0);
blue.write(1);
- while(1){}
+ while (1) {}
+
+
+
+
+
+ /*
+
+ //lectura de todos los accelerometros
+
+ print_cabecera();
+
+ while(1){
+ readAcc();
+ print_data();
+ if(sw2_int.read()==0) break;
+ }
+
+
+ */
}
-
+
+
+ uint32_t do_list(const char *fsrc)
+{
+ DIR *d = opendir(fsrc);
+ struct dirent *p;
+ uint32_t counter = 0;
+
+ while ((p = readdir(d)) != NULL) {
+ counter++;
+ printf("%s\n", p->d_name);
+ }
+ closedir(d);
+ return counter;
+}
--- a/mbed.bld Mon Dec 05 09:24:47 2016 +0000 +++ b/mbed.bld Thu Jan 18 07:58:01 2018 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/d75b3fe1f5cb \ No newline at end of file +http://mbed.org/users/mbed_official/code/mbed/builds/7130f322cb7e \ No newline at end of file