File content as of revision 10:f5ba762b58b4:

#include "mbed.h"
#include <math.h>
#include <inttypes.h>
#include "ADXL355.h"
#include "CALIBRATION.h"
 
Serial pc(USBTX, USBRX);
 
ADXL355 accl(SPI1_CS0, SPI1_MOSI, SPI1_MISO, SPI1_SCLK);    // PMOD port
CALIBRATION test;
#define pi 3.14159265;
float angle[3][12] = {  {-55, -125, -147, 33, -128, 52, 0, 0, 0, 0, 0, 0},
                        {6, -6, 20, -20, -69, 69, 0, 0, 0, 0, 0, 0 }, 
                        {1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0}}; 
float meas[3][12] =  {  {-0.09, 0.16,  -0.31,  0.37,  0.91,  -0.88},
                            {-0.78, 0.81,  -0.46,  0.49,  -0.28,  0.32},
                            {0.54,  -0.55, -0.78,  0.76,  -0.20,  0.20}};   
int main(){
    pc.baud(9600);
    pc.printf("SPI ADXL355 and ADXL357 Demo\n");
    pc.printf("GET device ID\n");
    accl.reset();
    uint8_t d; 
    d=accl.read_reg(accl.DEVID_AD);
    pc.printf("AD id = %x \r\n",d);
    d=accl.read_reg(accl.DEVID_MST);
    pc.printf("MEMS id = %x \r\n",d);
    d=accl.read_reg(accl.PARTID);
    pc.printf("device id = %x \r\n",d);
    d=accl.read_reg(accl.REVID);
    pc.printf("revision id = %x \r\n",d);
    pc.printf("GET device data [x, y, z, t] \r\n");
    accl.set_power_ctl_reg(accl.MEASUREMENT);
    d=accl.read_reg(accl.POWER_CTL);
    pc.printf("power control on measurement mode = %x \r\n",d);
    float x, y, z, w, k, h;
    float t;
    // save data info a file
    pc.printf("x \t y \t z \t t\r\n");
    for(int i=0; i<100; i++) {
        x = accl.convert(accl.scanx())*accl.axis355_sens;
        y = accl.convert(accl.scany())*accl.axis355_sens;
        z = accl.convert(accl.scanz())*accl.axis355_sens;
        t = 25+float(accl.scant()-1852)/(-9.05);
        pc.printf("%f \t %f \t %f  \t %f   \r\n" , x,y,z,t);
        wait(0.1);}    
   // test the calibration procedure
   test.matrix_reset();
   pc.printf("Start calibration test (y/n)?\r\n");
   char calib = pc.getc();
   switch(calib){
       case 'y': pc.printf("Select the calibration procedure: 2point or 4point? (2/4)\r\n");
                char point = pc.getc();
                if(point == '2'){
                    pc.printf("Place the device verticaly to obtain x value close to -1, press any character to start the aquisition \r\n");
                    pc.getc();
                    x = accl.convert(accl.scanx())*accl.axis355_sens; y = x;
                    for(int i=0; i<50; i++){
                        x = accl.convert(accl.scanx())*accl.axis355_sens;
                        if (x<y) {y=x;}
                        pc.printf("%f  \t %f \r\n" , x,y);
                        wait(0.1);}
                    pc.printf("Place the device verticaly to obtain x value close to +1, press any character to start the aquisition \r\n");
                    pc.getc();
                    x = accl.convert(accl.scanx())*accl.axis355_sens; z = x;
                    for(int i=0; i<50; i++){
                        x = accl.convert(accl.scanx())*accl.axis355_sens;
                        if (x>z) {z=x;}
                        pc.printf("%f  \t %f \r\n" , x,z);
                        wait(0.1);}     
                    float meas[] = {z, y};
                    test.convert_2p(meas, 0);
                    pc.printf("The input for the calibration process are: %f  \t %f \r\n" , meas[0], meas[1]);
                    pc.printf("The result (Sensibility and Bias) is: %f  \t %f \r\n" , test.adxl355_sensitivity.S[0], test.adxl355_sensitivity.B[0]);
                    }
                else if(point == '4'){
                    pc.printf("Place the device verticaly to obtain x value close to 0, press any character to start the aquisition \r\n");
                    pc.getc();
                    x = accl.convert(accl.scanx())*accl.axis355_sens; y = x;
                    for(int i=0; i<50; i++){
                        x = accl.convert(accl.scanx())*accl.axis355_sens;
                        y=(y+x)/2;
                        pc.printf("%f  \t %f \r\n" , x,y);
                        wait(0.1);}
                    pc.printf("Rotate the device to obtain x value close to -1, press any character to start the aquisition \r\n");
                    pc.getc();
                    x = accl.convert(accl.scanx())*accl.axis355_sens; z = x;
                    for(int i=0; i<50; i++){
                        x = accl.convert(accl.scanx())*accl.axis355_sens;
                        if (x<z) {z=x;}
                        pc.printf("%f  \t %f \r\n" , x,z);
                        wait(0.1);}
                    pc.printf("Place the device verticaly to obtain x value close to 0, press any character to start the aquisition \r\n");
                    pc.getc();
                    x = accl.convert(accl.scanx())*accl.axis355_sens; w = x;
                    for(int i=0; i<50; i++){
                        x = accl.convert(accl.scanx())*accl.axis355_sens;
                        w=(w+x)/2;
                        pc.printf("%f  \t %f \r\n" , x,w);
                        wait(0.1);}
                    pc.printf("Rotate the device verticaly to obtain x value close to +1, press any character to start the aquisition \r\n");
                    pc.getc();
                    x = accl.convert(accl.scanx())*accl.axis355_sens; k = x;
                    for(int i=0; i<50; i++){
                        x = accl.convert(accl.scanx())*accl.axis355_sens;
                        if (x>k) {k=x;}
                        pc.printf("%f  \t %f \r\n" , x,k);
                        wait(0.1);}     
                    float meas[] = {y, z, w, k};
                    test.convert_4p(meas, 0);
                    pc.printf("The input for the calibration process are: %f  \t %f \t %f \t %f \t \r\n" , y, z, w, k);
                    pc.printf("The result (Sensibility and Bias) is: %f  \t %f \r\n" , test.adxl355_sensitivity.S[0], test.adxl355_sensitivity.B[0]);
                    }
                else {pc.printf("Input value not recognized \r\n"); pc.printf("%c \r\n",point);}
                break;
       case 'n': pc.printf("No calibration test \r\n"); 
                break;
       default:  pc.printf("Input value not recognized \r\n"); 
                break;
       }     
    // test reading angle
   pc.printf("Start reading angle after calibration (y/n)?\r\n");
   calib = pc.getc();
   switch(calib){
       case 'y': pc.printf("Select the procedure for angle measurement: 1axis, 2axis or 3axis? (1/2/3)\r\n");
                char point = pc.getc();
                pc.printf("x \t y \t z \t pitch \t roll \t tau \r\n");
                if(point == '1'){
                    for(int i=0; i<50; i++){
                        x = accl.convert(accl.scanx())*accl.axis355_sens;
                        y = accl.convert(accl.scany())*accl.axis355_sens;
                        z = accl.convert(accl.scanz())*accl.axis355_sens;
                        w = asin(x)*180/pi;
                        k = asin(y)*180/pi;
                        h = asin(z)*180/pi;
                        pc.printf("%f \t %f \t %f \t %f \t %f \t %f  \r\n" , x,y,z,w,k,h);
                        wait(0.1);}   
                    }
                else if(point == '2'){
                    for(int i=0; i<50; i++){
                        x = accl.convert(accl.scanx());
                        y = accl.convert(accl.scany());
                        z = accl.convert(accl.scanz());
                        w = atan(x/z)*180/pi;;
                        k = atan(y/x)*180/pi;;
                        h = 0;
                        pc.printf("%f \t %f \t %f \t %f \t %f \t %f  \r\n" , x,y,z,w,k,h);
                        wait(0.1);}
                    }
                else if(point == '3'){
                    for(int i=0; i<50; i++){
                        x = accl.convert(accl.scanx());
                        y = accl.convert(accl.scany());
                        z = accl.convert(accl.scanz());
                        w = atan2(x,sqrt(pow(y,2)+pow(z,2)))*180/pi; 
                        k = atan2(y,sqrt(pow(x,2)+pow(z,2)))*180/pi;
                        h = atan2(sqrt(pow(x,2)+pow(y,2)),z)*180/pi;
                        pc.printf("%f \t %f \t %f \t %f \t %f \t %f  \r\n" , x,y,z,w,k,h);
                        wait(0.1);} 
                    }  
                else {pc.printf("Input value not recognized \r\n"); pc.printf("%c \r\n",point);}
                break;
       case 'n': pc.printf("No calibration test \r\n"); 
                break;
       default:  pc.printf("Input value not recognized \r\n"); 
                break;
       }  
}