valeria toffoli
base program for tilt measurement
Dependencies: COG4050_ADT7420 ADXL362
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COG4050_adxl355_adxl357-ver2
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ADI_CAC
Revision 7:5aaa09c40283, committed 2018-08-14
- Comitter:
- vtoffoli
- Date:
- Tue Aug 14 11:33:30 2018 +0000
- Parent:
- 6:45d2393ef468
- Child:
- 8:9e6ead2ee8d7
- Commit message:
- update 14.08.2018;
Changed in this revision
--- a/ADXL35x/ADXL355.cpp Tue Aug 14 06:49:07 2018 +0000
+++ b/ADXL35x/ADXL355.cpp Tue Aug 14 11:33:30 2018 +0000
@@ -6,6 +6,9 @@
//DigitalOut int1; ///< DigitalOut instance for the chipselect of the ADXL
//DigitalOut int2; ///< DigitalOut instance for the chipselect of the ADXL
+/** ----------------------------------- */
+/** SPI (MAX 10MHZ) and reset */
+/** ----------------------------------- */
ADXL355::ADXL355(PinName cs_pin, PinName MOSI, PinName MISO, PinName SCK): adxl355(MOSI, MISO, SCK), cs(cs_pin)
{
cs = 1;
@@ -13,15 +16,14 @@
adxl355.lock();
axis355_sens = 3.9e-6;
axis357_sens = 19.5e-6;
+ calib_data.Sxx = 3.9e-6;
+ calib_data.Syy = 3.9e-6;
+ calib_data.Szz = 3.9e-6;
}
-
-/** SPI bus frequency */
void ADXL355::frequency(int hz)
{
adxl355.frequency(hz);
}
-
-/** Software resets */
void ADXL355::reset(void)
{
adxl355.format(8, _SPI_MODE);
@@ -221,4 +223,18 @@
ret_val |= static_cast<uint64_t>(y) << 24;
ret_val |= static_cast<uint64_t>(z) ;
return ret_val;
+ }
+
+/** ----------------------------------- */
+/** CALIBRATION AND CONVERSION */
+/** ----------------------------------- */
+float ADXL355::convert(uint32_t data){
+ // If a positive value, return it
+ if ((data & 0x80000) == 0)
+ {
+ return float(data);
+ }
+ //uint32_t rawValue = data<<(32-nbit);
+ // Otherwise perform the 2's complement math on the value
+ return float((~(data - 0x01)) & 0xfffff) * -1;
}
\ No newline at end of file
--- a/ADXL35x/ADXL355.h Tue Aug 14 06:49:07 2018 +0000
+++ b/ADXL35x/ADXL355.h Tue Aug 14 11:33:30 2018 +0000
@@ -5,11 +5,32 @@
class ADXL355
{
public:
+ // -------------------------- //
+ // CONST AND VARIABLES //
+ // -------------------------- //
+ typedef struct {
+ // sensitivity
+ float Sxx;
+ float Sxy;
+ float Sxz;
+ float Syx;
+ float Syy;
+ float Syz;
+ float Szx;
+ float Szy;
+ float Szz;
+ float St;
+ // 0g offset
+ float Bx;
+ float By;
+ float Bz;
+ float Bt;
+ } ADXL355_calib_t;
const static float t_sens = -9.05;
const static float t_bias = 1852;
float axis355_sens;
float axis357_sens;
-
+ ADXL355_calib_t calib_data;
// -------------------------- //
// REGISTERS //
// -------------------------- //
@@ -115,7 +136,6 @@
ST2 = 0x02,
ST1 = 0x01
} ADXL355_int_ctl_t;
-
// -------------------------- //
// FUNCTIONS //
// -------------------------- //
@@ -161,8 +181,12 @@
void fifo_setup(uint8_t nr_of_entries);
uint32_t fifo_read_u32();
uint64_t fifo_scan();
- // ADXL tilt methods and calibration
- // TBD
+ // ADXL calibration
+ float convert(uint32_t data);
+ ADXL355_calib_t convert_2p();
+ ADXL355_calib_t convert_3to8p();
+ ADXL355_calib_t convert_12p();
+
private:
// SPI adxl355; ///< SPI instance of the ADXL
SPI adxl355; DigitalOut cs;
--- a/ADXRS290/ADXRS290.cpp Tue Aug 14 06:49:07 2018 +0000
+++ b/ADXRS290/ADXRS290.cpp Tue Aug 14 11:33:30 2018 +0000
@@ -2,7 +2,9 @@
#include "mbed.h"
#include "ADXRS290.h"
-
+/** ----------------------------------- */
+/** SPI - MAX 5MHZ */
+/** ----------------------------------- */
ADXRS290::ADXRS290(PinName cs_pin, PinName MOSI, PinName MISO, PinName SCK): adxrs290(MOSI, MISO, SCK), cs(cs_pin)
{
cs = 1;
@@ -11,8 +13,6 @@
gyro_sens = 5e-3;
t_sens = 0.1;
}
-
-/** SPI bus frequency */
void ADXRS290::frequency(int hz)
{
adxrs290.frequency(hz);
@@ -21,15 +21,53 @@
/** ----------------------------------- */
/** Writes the reg register with data */
/** ----------------------------------- */
-void ADXRS290::write_reg(ADXRS290_register_t reg, uint8_t data){}
-uint8_t ADXRS290::read_reg(ADXRS290_register_t reg){}
-uint16_t ADXRS290::read_reg_u16(ADXRS290_register_t reg){}
-
-void ADXRS290::set_power_ctl_reg(uint8_t data){}
-void ADXRS290::set_filter_ctl_reg(ADXRS290_filter_ctl_t hpf, ADXRS290_filter_ctl_t odr){}
+void ADXRS290::write_reg(ADXRS290_register_t reg, uint8_t data){
+ adxrs290.format(8, _SPI_MODE);
+ cs = false;
+ adxrs290.write(static_cast<uint8_t>(reg) | _WRITE_REG_CMD);
+ adxrs290.write(data);
+ cs = true;
+}
+/** ----------------------------------- */
+/** Reads the reg register */
+/** ----------------------------------- */
+uint8_t ADXRS290::read_reg(ADXRS290_register_t reg){
+ uint8_t ret_val;
+ adxrs290.format(8, _SPI_MODE);
+ cs = false;
+ adxrs290.write(static_cast<uint8_t>(reg) | _READ_REG_CMD);
+ ret_val = adxrs290.write(_DUMMY_BYTE);
+ cs = true;
+ return ret_val;
+}
+uint16_t ADXRS290::read_reg_u16(ADXRS290_register_t reg){
+ uint16_t ret_val = 0;
+ adxrs290.format(8, _SPI_MODE);
+ cs = false;
+ adxrs290.write(static_cast<uint8_t>(reg) | _READ_REG_CMD);
+ ret_val = adxrs290.write(_DUMMY_BYTE);
+ ret_val = (ret_val) | (adxrs290.write(_DUMMY_BYTE)<<8);
+ cs = true;
+ return ret_val;
+}
+/** ----------------------------------- */
+/** Sets the CTL registers */
+/** ----------------------------------- */
+void ADXRS290::set_power_ctl_reg(uint8_t data){
+ write_reg(POWER_CTL, data);
+ wait(0.1);
+}
+void ADXRS290::set_filter_ctl_reg(ADXRS290_filter_ctl_t hpf, ADXRS290_filter_ctl_t lpf){
+ write_reg(FILTER, hpf|lpf);
+}
void ADXRS290::set_sync(ADXRS290_dataready_ctl_t data){}
-uint16_t ADXRS290::scanx(){}
-uint16_t ADXRS290::scany(){}
-uint16_t ADXRS290::scant(){}
-
\ No newline at end of file
+uint16_t ADXRS290::scanx(){
+ return read_reg_u16(DATAX0);
+}
+uint16_t ADXRS290::scany(){
+ return read_reg_u16(DATAY0);
+}
+uint16_t ADXRS290::scant(){
+ return read_reg_u16(TEMP0);
+}
\ No newline at end of file
--- a/READMEcalibration.md Tue Aug 14 06:49:07 2018 +0000 +++ b/READMEcalibration.md Tue Aug 14 11:33:30 2018 +0000 @@ -16,8 +16,7 @@ We assumed that pij=0 when i!=j -3 MEASUREMENT ORIENTATIONS -4 MEASUREMENT ORIENTATIONS -6 MEASUREMENT ORIENTATIONS -8 MEASUREMENT ORIENTATIONS +3to8 MEASUREMENT ORIENTATIONS + + 12 MEASUREMENT ORIENTATIONS \ No newline at end of file
--- a/READMEconnection.md Tue Aug 14 06:49:07 2018 +0000 +++ b/READMEconnection.md Tue Aug 14 11:33:30 2018 +0000 @@ -1,5 +1,6 @@ +// https://wiki.analog.com/resources/eval/user-guides/ev-gear-expander1z -ADxl35x on the EV-GEAR-EXPANDER1Z +ADXL35x on the EV-GEAR-EXPANDER1Z CONNECTION DIAGRAM through P4 PMOD_SP1 SIGNAL_NAME PIN NUM EVAL-ADXL35xZ @@ -12,3 +13,17 @@ FT_EXT_VDD_OUT PMOD-P4 12 P1 3 +ADXRS290 on the EV-GEAR-EXPANDER1Z +CONNECTION DIAGRAM through A5 ARDUINO UNO COMPATIBLE + +SIGNAL_NAME PIN NUM EVAL-ADXL35xZ +SPI0_CS2 A5 8 P2 5 +SPI0_MOSI A5 7 P2 3 +SPI0_MISO A5 6 P2 4 +SPI0_CLK A5 5 P2 2 +SYNC P2 1 +GND A3 6 P1 3 +FT_EXT_VDD_OUT A3 2 P1 1 +FT_EXT_VDD_OUT A3 4 P1 2 +PDMX P1 4 +PDMY P1 5 \ No newline at end of file
--- a/main.cpp Tue Aug 14 06:49:07 2018 +0000
+++ b/main.cpp Tue Aug 14 11:33:30 2018 +0000
@@ -1,22 +1,13 @@
#include "mbed.h"
#include <inttypes.h>
#include "ADXL355.h"
+#include "ADXRS290.h"
Serial pc(USBTX, USBRX);
-ADXL355 accl(SPI1_CS0, SPI1_MOSI, SPI1_MISO, SPI1_SCLK); // PMOD port
-
+ADXL355 accl(SPI1_CS0, SPI1_MOSI, SPI1_MISO, SPI1_SCLK); // PMOD port
+ADXRS290 gyro(SPI0_CS2, SPI0_MOSI, SPI0_MISO, SPI0_SCLK); // PMOD port
-float convert(uint32_t data){
- // If a positive value, return it
- if ((data & 0x80000) == 0)
- {
- return float(data);
- }
- //uint32_t rawValue = data<<(32-nbit);
- // Otherwise perform the 2's complement math on the value
- return float((~(data - 0x01)) & 0xfffff) * -1;
- }
int main(){
pc.baud(9600);
@@ -24,27 +15,28 @@
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);
+ 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;
float t;
- while(1) {
- x = convert(accl.scanx())*accl.axis355_sens;
- y = convert(accl.scany())*accl.axis355_sens;
- z = convert(accl.scanz())*accl.axis355_sens;
+ // save data info a file
+ while(1000) {
+ 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(0.50);
+ wait(0.1);
}
}
\ No newline at end of file