Diff: main.cpp

Revision:

3:1e85b49a3e18

Parent:

2:48ac01f5024d

Child:

4:6cb640167538

--- a/main.cpp	Thu Dec 19 15:39:52 2013 +0000
+++ b/main.cpp	Thu Dec 19 20:05:17 2013 +0000
@@ -1,26 +1,100 @@
 #include "mbed.h"
+#include "MMA8451Q.h"
+#include "MAG3110.h"
 
+
+// This project has been created to bring together the libraries required to support
+// the hardware and sensors found on the Freescale FRDM-KL46Z board.  The following
+// libraries are included and exercised in this project:
+//
+//  mbed (source: official mbed library)
+//      Serial:
+//          Serial console routed through the mbed interface
+//              PTA2 / UART0_TX = TX Signal - also on Arduino pin D1
+//              PTA1 / UART0_RX = RX Signal - also on Arduino pin D0
+//
+//      DigitalOut:
+//          GPIO to drive onboard LEDs
+//              PTD5 / GPIO = LED1 - drive low to turn on LED - also on Arduino pin D13
+//              PTE29 / GPIO = LED2 - drive low to turn on LED
+//
+//      DigitalIn:
+//          GPIO to monitor the two onboard push buttons
+//              PTC3 / GPIO = SW1 - low input = button pressed
+//              PTC12 / GPIO = SW3 - low input = button pressed
+//
+//  TSI (source: http://mbed.org/users/emilmont/code/TSI/ )
+//      Capacitive Touch library to support the onboard Touch-Slider
+//
+//  FRDM_MMA8451Q (source: http://mbed.org/users/clemente/code/FRDM_MMA8451Q/ )
+//      Freescale MMA8451 Accelerometer connected on I2C0
+//          PTE24 / I2C0_SCL = I2C bus for communication (shared with MAG3110)
+//          PTE25 / I2C0_SDA =  I2C bus for communication (shared with MAG3110)
+//          PTC5 / INT1_ACCEL = INT1 output of MMA8451Q
+//          PTD1 / INT2_ACCEL = INT2 output of MMA8451Q (shared with MAG3110)
+//
+//  MAG3110
+//      Freescale MAG3110 Magnetomoter connected on I2C0
+//          PTE24 / I2C0_SCL = I2C bus for communication (shared with MMA8451)
+//          PTE25 / I2C0_SDA =  I2C bus for communication (shared with MMA8451)
+//          PTD1 / INT1_MAG / INT2_ACCEL = INT1 output of MAG3110 (shared with MMA8451)
+//
+//  FRDM_LightSensor
+//      Ambient light sensor (Q1)
+//          PTE22 / ADC
+//
+//  FRDM_LCD
+//      4 Digit Segment LCD
+//  TempSensor - KL46
+
+
+//////////////////////////////////////////////////////////////////////
 // Include support for USB Serial console
 Serial pc(USBTX, USBRX);
 
+
+//////////////////////////////////////////////////////////////////////
 // Include support for on-board green and red LEDs
+#define LED_ON 0
+#define LED_OFF 1
 DigitalOut greenLED(LED_GREEN);
 DigitalOut redLED(LED_RED);
 
-// Definitions for LED states (logic inverted output value 0 = O)
-#define LED_ON 0
-#define LED_OFF 1
+
+//////////////////////////////////////////////////////////////////////
+// Include support for onboard pushbuttons
+DigitalIn  sw1(PTC3);
+DigitalIn  sw3(PTC12);
+
 
-int main() {
+/////////////////////////////////////////////////////////////////////
+// Include support for MMA8451Q Acceleromoter
+#define MMA8451_I2C_ADDRESS (0x1d<<1)
+MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);
+
+
+/////////////////////////////////////////////////////////////////////
+// Include support for MAG3110 Magnetometer
+void calXY(); //magnetometer calibration: finding max and min of X, Y axis
+MAG3110 mag(PTE25, PTE24);
+
+
+
+int main()
+{
 
     // Ensure LEDs are off
     greenLED = LED_OFF;
     redLED = LED_OFF;
-     
+
     // Set Serial Port data rate and say Hello
     pc.baud( 230400 );
     pc.printf("Hello World\r\n");
 
+    // Turn on pull up resistors on pushbutton inputs
+    sw1.mode(PullUp);
+    sw3.mode(PullUp);
+
     // Quick blink LEDs
     redLED = LED_ON;
     wait(.05);
@@ -28,22 +102,100 @@
     wait(.05);
     greenLED = LED_OFF;
     redLED = LED_OFF;
-  
+
     wait(1);
 
+    
+    // Get some values
+    printf("DR_STATUS %X\r\n", mag.readReg( MAG_DR_STATUS ));
+    printf("WHO_AM_I %X\r\n", mag.readReg( MAG_WHO_AM_I ));
+    printf("SYSMOD %X\r\n", mag.readReg( MAG_SYSMOD ));
+    printf("DIE_TEMP %d\r\n", mag.readReg( MAG_DIE_TEMP ));
+
+    printf("OFF_X %d\r\n", mag.readVal( MAG_OFF_X_MSB ));
+    printf("OFF_Y %d\r\n", mag.readVal( MAG_OFF_Y_MSB ));
+    printf("OFF_Z %d\r\n", mag.readVal( MAG_OFF_Z_MSB ));
+
+    printf("CTRL_REG1 %X\r\n", mag.readReg( MAG_CTRL_REG1 ));
+    printf("CTRL_REG2 %X\r\n", mag.readReg( MAG_CTRL_REG2 ));
 
 
-    // Blink LEDs - green first
+    // Calibrate the magnetomoter
+    calXY();
+    
+
+    // Loop: Blink LEDs, report pushbutton status, mag data, accel data
     while(1) {
+        
+        // Get Magnetometer data
+        int xVal = mag.readVal(MAG_OUT_X_MSB);
+        int yVal = mag.readVal(MAG_OUT_Y_MSB);
+        float heading = mag.getHeading();        
+        
+        // Do something with heading - display direction 
+        printf("Heading: ");
+        if (abs(heading) <= 22.5) printf("N ");
+        if (abs(heading) >= 157.5) printf("S ");
+        if (heading >= 67.5 && heading <= 112.5) printf("E ");
+        if (heading <= -67.5 && heading >= -112.5) printf("W ");
+        if (heading > 22.5 && heading < 67.5) printf("NE ");
+        if (heading < -22.5 && heading > -67.5) printf("NW ");
+        if (heading > 112.5 && heading < 157.5) printf("SE ");
+        if (heading < -112.5 && heading > -157.5) printf("SW ");
+        if (heading < 0) heading += 360.0;
+        printf("%f\r\n", heading);
+        
+        
         greenLED = LED_ON;
         redLED = LED_OFF;
-        
-        wait(1);
-        
+
+        printf("SW1 = %d, SW3 = %d, X = %f, Y = %f, Z = %f\r\n\n", sw1.read(), sw3.read(), acc.getAccX(), acc.getAccY(), acc.getAccZ());
+        wait(0.25);
+
         greenLED = LED_OFF;
         redLED = LED_ON;
 
-        wait(1);
+        wait(0.25);
 
     }
 }
+
+
+void calXY() //magnetometer calibration: finding max and min of X, Y axis
+{
+    int tempXmax, tempXmin, tempYmax, tempYmin, newX, newY;
+
+
+    printf("Press and release SW1 to Initiate Mag Calibration\r\n");
+    // Wait for SW1 press and release
+    while( sw1 == 1 ) {
+    }
+    while( sw1 == 0 ) {
+    }
+
+    printf("Rotate the board 360 degrees on a level plane then press and release SW1\r\n");
+
+    tempXmax = tempXmin = mag.readVal(MAG_OUT_X_MSB);
+    tempYmax = tempYmin = mag.readVal(MAG_OUT_Y_MSB);
+
+    while(sw1 == 1) {
+
+        newX = mag.readVal(MAG_OUT_X_MSB);
+        newY = mag.readVal(MAG_OUT_Y_MSB);
+        if (newX > tempXmax) tempXmax = newX;
+        if (newX < tempXmin) tempXmin = newX;
+        if (newY > tempYmax) tempYmax = newY;
+        if (newY < tempYmin) tempYmin = newY;
+    }
+
+    mag.setCalibration( tempXmin, tempXmax, tempYmin, tempYmax );
+
+    // Wait for release
+    while( sw1 == 0 ) {
+    }
+    
+    printf("Calibration complete.\r\n");
+
+}
+
+