Vincent Belanger
/
APP
APP 1 S5.
APP.cpp@13:08ef55cd14c6, 2016-01-12 (annotated)
- Committer:
- vinbel93
- Date:
- Tue Jan 12 15:17:21 2016 +0000
- Revision:
- 13:08ef55cd14c6
- Parent:
- 12:4961ec71bc8f
- Child:
- 14:d48d869ed365
UART without mbed.h
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vinbel93 | 11:eafa5c07f060 | 1 | // APP.cpp |
vinbel93 | 11:eafa5c07f060 | 2 | // Vincent Belanger - belv1802 |
vinbel93 | 11:eafa5c07f060 | 3 | // Jeremy Pare - parj2713 |
vinbel93 | 11:eafa5c07f060 | 4 | |
vinbel93 | 7:b00843da0530 | 5 | #include <math.h> |
vinbel93 | 7:b00843da0530 | 6 | #include <stdint.h> |
vinbel93 | 7:b00843da0530 | 7 | |
vinbel93 | 7:b00843da0530 | 8 | #include "mbed.h" |
vinbel93 | 13:08ef55cd14c6 | 9 | #include "UART.h" |
vinbel93 | 7:b00843da0530 | 10 | #include "APP.h" |
vinbel93 | 13:08ef55cd14c6 | 11 | #include "LPC17xx.h" |
vinbel93 | 7:b00843da0530 | 12 | |
vinbel93 | 7:b00843da0530 | 13 | |
vinbel93 | 13:08ef55cd14c6 | 14 | static I2C i2c(p28, p27); |
vinbel93 | 7:b00843da0530 | 15 | |
vinbel93 | 7:b00843da0530 | 16 | void setup() |
vinbel93 | 7:b00843da0530 | 17 | { |
vinbel93 | 13:08ef55cd14c6 | 18 | SystemCoreClockUpdate(); |
vinbel93 | 13:08ef55cd14c6 | 19 | |
vinbel93 | 7:b00843da0530 | 20 | // Setup UART and I2C. |
vinbel93 | 13:08ef55cd14c6 | 21 | UARTInit(9600); |
vinbel93 | 7:b00843da0530 | 22 | i2c.frequency(100000); |
vinbel93 | 13:08ef55cd14c6 | 23 | |
vinbel93 | 7:b00843da0530 | 24 | // Clear display |
vinbel93 | 13:08ef55cd14c6 | 25 | UARTSend(0x76); |
vinbel93 | 13:08ef55cd14c6 | 26 | |
vinbel93 | 7:b00843da0530 | 27 | // Decimal point for display |
vinbel93 | 13:08ef55cd14c6 | 28 | UARTSend(0x77); |
vinbel93 | 13:08ef55cd14c6 | 29 | UARTSend(0x02); |
vinbel93 | 7:b00843da0530 | 30 | |
vinbel93 | 7:b00843da0530 | 31 | // Maximum brightness |
vinbel93 | 13:08ef55cd14c6 | 32 | UARTSend(0x7A); |
vinbel93 | 13:08ef55cd14c6 | 33 | UARTSend(0xFF); |
vinbel93 | 7:b00843da0530 | 34 | } |
vinbel93 | 13:08ef55cd14c6 | 35 | |
vinbel93 | 7:b00843da0530 | 36 | void activateAccelerometer() |
vinbel93 | 7:b00843da0530 | 37 | { |
vinbel93 | 7:b00843da0530 | 38 | uint8_t data[2] = {CTRL_REG, 0x01}; |
vinbel93 | 7:b00843da0530 | 39 | i2c.write(ACC_ADDRESS, (char*) data, 2); |
vinbel93 | 7:b00843da0530 | 40 | } |
vinbel93 | 13:08ef55cd14c6 | 41 | |
vinbel93 | 7:b00843da0530 | 42 | uint8_t readStatus() |
vinbel93 | 7:b00843da0530 | 43 | { |
vinbel93 | 7:b00843da0530 | 44 | uint8_t result[1]; |
vinbel93 | 7:b00843da0530 | 45 | uint8_t reg[1] = {STATUS_REG}; |
vinbel93 | 7:b00843da0530 | 46 | i2c.write(ACC_ADDRESS, (char*) reg, 1, true); |
vinbel93 | 7:b00843da0530 | 47 | i2c.read(ACC_ADDRESS, (char*) result, 1); |
vinbel93 | 7:b00843da0530 | 48 | |
vinbel93 | 7:b00843da0530 | 49 | return result[0]; |
vinbel93 | 7:b00843da0530 | 50 | } |
vinbel93 | 13:08ef55cd14c6 | 51 | |
vinbel93 | 7:b00843da0530 | 52 | int16_t convertToAcceleration(uint8_t hi, uint8_t lo) |
vinbel93 | 7:b00843da0530 | 53 | { |
vinbel93 | 7:b00843da0530 | 54 | int16_t value = (lo >> 2) | (hi << 6); |
vinbel93 | 7:b00843da0530 | 55 | if (value > UINT14_MAX/2) |
vinbel93 | 7:b00843da0530 | 56 | { |
vinbel93 | 7:b00843da0530 | 57 | value -= UINT14_MAX; |
vinbel93 | 7:b00843da0530 | 58 | } |
vinbel93 | 7:b00843da0530 | 59 | |
vinbel93 | 7:b00843da0530 | 60 | return value; |
vinbel93 | 7:b00843da0530 | 61 | } |
vinbel93 | 13:08ef55cd14c6 | 62 | |
vinbel93 | 7:b00843da0530 | 63 | int16_t readAndComputeAngle() |
vinbel93 | 7:b00843da0530 | 64 | { |
vinbel93 | 7:b00843da0530 | 65 | uint8_t result[6]; |
vinbel93 | 7:b00843da0530 | 66 | uint8_t reg[1] = {ACC_X_REG}; |
vinbel93 | 7:b00843da0530 | 67 | i2c.write(ACC_ADDRESS, (char*) reg, 1, true); |
vinbel93 | 7:b00843da0530 | 68 | i2c.read(ACC_ADDRESS, (char*) result, 6); |
vinbel93 | 7:b00843da0530 | 69 | int16_t accX = convertToAcceleration(result[0], result[1]); |
vinbel93 | 7:b00843da0530 | 70 | int16_t accY = convertToAcceleration(result[2], result[3]); |
vinbel93 | 7:b00843da0530 | 71 | int16_t accZ = convertToAcceleration(result[4], result[5]); |
vinbel93 | 12:4961ec71bc8f | 72 | |
vinbel93 | 12:4961ec71bc8f | 73 | float angle = acos((float) accZ / sqrt((float) accX*accX + accY*accY + accZ*accZ)) * 180.0 / PI; |
vinbel93 | 7:b00843da0530 | 74 | |
vinbel93 | 7:b00843da0530 | 75 | // To use integer operations instead of floating-point arithmetic, the angle is multiplied by 100. |
vinbel93 | 7:b00843da0530 | 76 | // This allows for two decimals of precision on the display. |
vinbel93 | 7:b00843da0530 | 77 | int16_t angleHundreds = angle * 100; |
vinbel93 | 7:b00843da0530 | 78 | if (angleHundreds > 9000) |
vinbel93 | 7:b00843da0530 | 79 | { |
vinbel93 | 7:b00843da0530 | 80 | angleHundreds = 18000 - angleHundreds; |
vinbel93 | 7:b00843da0530 | 81 | } |
vinbel93 | 7:b00843da0530 | 82 | |
vinbel93 | 7:b00843da0530 | 83 | return angleHundreds; |
vinbel93 | 7:b00843da0530 | 84 | } |
vinbel93 | 7:b00843da0530 | 85 | |
vinbel93 | 7:b00843da0530 | 86 | void updateDisplay(int16_t angle) |
vinbel93 | 7:b00843da0530 | 87 | { |
vinbel93 | 7:b00843da0530 | 88 | uint8_t digits[4]; |
vinbel93 | 7:b00843da0530 | 89 | sprintf((char*) digits, "%d", angle); |
vinbel93 | 13:08ef55cd14c6 | 90 | |
vinbel93 | 12:4961ec71bc8f | 91 | if (angle < 100) |
vinbel93 | 12:4961ec71bc8f | 92 | { |
vinbel93 | 13:08ef55cd14c6 | 93 | UARTSend('0'); |
vinbel93 | 13:08ef55cd14c6 | 94 | UARTSend('0'); |
vinbel93 | 13:08ef55cd14c6 | 95 | UARTSend(digits, 2); |
vinbel93 | 12:4961ec71bc8f | 96 | } |
vinbel93 | 12:4961ec71bc8f | 97 | else if (angle < 1000) |
vinbel93 | 7:b00843da0530 | 98 | { |
vinbel93 | 13:08ef55cd14c6 | 99 | UARTSend('0'); |
vinbel93 | 13:08ef55cd14c6 | 100 | UARTSend(digits, 3); |
vinbel93 | 7:b00843da0530 | 101 | } |
vinbel93 | 7:b00843da0530 | 102 | else |
vinbel93 | 7:b00843da0530 | 103 | { |
vinbel93 | 13:08ef55cd14c6 | 104 | UARTSend(digits, 4); |
vinbel93 | 7:b00843da0530 | 105 | } |
vinbel93 | 7:b00843da0530 | 106 | } |
vinbel93 | 7:b00843da0530 | 107 | |
vinbel93 | 7:b00843da0530 | 108 | int32_t main() |
vinbel93 | 7:b00843da0530 | 109 | { |
vinbel93 | 7:b00843da0530 | 110 | setup(); |
vinbel93 | 7:b00843da0530 | 111 | activateAccelerometer(); |
vinbel93 | 7:b00843da0530 | 112 | |
vinbel93 | 7:b00843da0530 | 113 | while (true) |
vinbel93 | 7:b00843da0530 | 114 | { |
vinbel93 | 7:b00843da0530 | 115 | // Read bit 3 from the status register |
vinbel93 | 7:b00843da0530 | 116 | int8_t status = (readStatus() >> 3) & 0x01; |
vinbel93 | 7:b00843da0530 | 117 | |
vinbel93 | 7:b00843da0530 | 118 | if (status == 1) |
vinbel93 | 7:b00843da0530 | 119 | { |
vinbel93 | 7:b00843da0530 | 120 | // Get accelerations, compute angle |
vinbel93 | 7:b00843da0530 | 121 | uint16_t angle = readAndComputeAngle(); |
vinbel93 | 13:08ef55cd14c6 | 122 | |
vinbel93 | 7:b00843da0530 | 123 | // Update 7 segment display |
vinbel93 | 7:b00843da0530 | 124 | updateDisplay(angle); |
vinbel93 | 7:b00843da0530 | 125 | } |
vinbel93 | 13:08ef55cd14c6 | 126 | |
vinbel93 | 7:b00843da0530 | 127 | wait(0.4); |
vinbel93 | 7:b00843da0530 | 128 | } |
vinbel93 | 7:b00843da0530 | 129 | } |