File content as of revision 0:147f106a5503:

//USB Academy - Lab3 rev 00
//_____________________________________________________________//
//======== INCLUDES ===========================================//
//¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯//
#include "mbed.h"
#include "MMA8451Q.h"
#include "MAG3110.h"
#include "SLCD.h"
#include "TSISensor.h"

//#include "USBMouse.h" //Lab1-Hid
//#include "USBSerial.h" //Lab2-cdc
#include "USBHostMSD.h" //Lab3-MSd





//_____________________________________________________________//
//======== DEFINES & VARIABLES ================================//
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#define LED_ON  0 //outON, pwmON
#define LED_OFF 1 //outOFF,pwmOFF
DigitalOut gLED(LED_GREEN); //PTD5

#define rLEDperiod 150      //[ms]
PwmOut rLED(LED_RED);       //PTE29

#define PRESS_ON  0
#define PRESS_OFF 1
DigitalIn  sw1(PTC3);  //if(sw1) Release else Press
DigitalIn  sw3(PTC12); //while(sw3); wait for Press

#define MMA8451_I2C_ADDRESS (0x1d<<1)
MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);

SLCD slcd; //[88:88][8.8.8.8] SegmentLCD

AnalogIn  light(PTE22); //analog-light input

TSISensor slider; //Capacitive Touch Slider

MAG3110 mag(PTE25, PTE24); //Magnetometer

Serial usb_osda(USBTX, USBRX); //OpenSDA Terminal
#define pf usb_osda //printf out -> osda (lab1,2,3)

struct KL46_SENSOR_DATA {
    int   sw1State;
    int   sw3State;
    float   accValX;
    float   accValY;
    float   accValZ;
    
    float   slider;
    float   light;
    int     magValX;
    int     magValY;
    int     magValZ;
    
    float   magHeading;
} sensorData;
#define sD sensorData

void SLCD_blinking_msg_wait(char *slcd_msg1, char *slcd_msg2);

int MagCalibrationXY(void); //mag calib




//_____________________________________________________________//
//======== MAIN() =============================================//
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int main(void)
{
    int mag_calib = 0;
    FILE* fp;

    //---- MAIN/Inits -----------------------------------------//
    
    sw1.mode(PullUp);
    sw3.mode(PullUp);
    
    gLED = LED_ON; //Green LED ON to indicate running/writing
    rLED = LED_OFF; //Red LED OFF
    rLED.period(rLEDperiod); //Red LED (rLED) tsi/accZ/mag
    
    //---- MAIN/Inits (Wait4SW1) -> Start! --------------------//   
    
    //wait for Press SW1 - e.g. for HID/CDC/MSD Windows install.
    //SLCD_blinking_msg_wait("   o","Helo"); //Helo (no usb);
    SLCD_blinking_msg_wait("   o","MSd ");//Lab1=Hid;2=cdc;3=Msd
    
    //---- MAIN/Inits Interface -------------------------------//
    
    usb_osda.baud(115200);
    usb_osda.printf("\n___________________________________\r\n");
    usb_osda.printf("\nFRDM-KL46Z_Lab\r\n \r\n I am a CDC serial port @OpenSDA/mUSB. Baud=115200 \r\n");
    
    //---- MAIN/Inits Labs ------------------------------------//
    
    pf.printf("\r\n Lab3: pls plug USB-stick into mUSB/KL46Z \r\n");
    
    slcd.printf("USb~"); //Lab1=Hid;2=cdc;3=Msd
    USBHostMSD msd("usb"); //wait for plugged USB-stick
    if (!msd.connect()) {
        error(" USB Flash drive not found.\r\n");
    }

    //Attempt to crete file /usb/usb_lab3.txt @USB-stick.
    fp = fopen("/usb/usb_lab3.txt", "w"); //rewrite, or create
    if (fp) {
        pf.printf(" ... sucess file-open (/usb/usb_lab3.txt @USB-stick)!\r\n\r\n");
        fprintf(fp, " Lab3: from FRDM-KL46Z \r\n\r\n");
        fclose(fp); fp=NULL;
    } else pf.printf(" ... failed file-open (/usb/usb_lab3.txt @USB-stick)!\r\n\r\n");

    //---- MAIN/Inits (Wait4SW1) -> Calib. eCompass -----------//
    
    while (!mag_calib) {
        pf.printf(" Press and release SW1 to calibrate eCompass.\r\n");
        SLCD_blinking_msg_wait("   o","CAL ");
        
        // Calibrate Magnetometer to eCompass
        pf.printf(" ... r o t a t e  the FRDM board in 3d/360° until [donE].\r\n");
        
        mag_calib = MagCalibrationXY(); //to wait untill calib or cancel!!! 
        
        if (mag_calib) {
            if (mag_calib == -1)
            {
                pf.printf(" [SKiP]! Calibration skipped!  ... See Accelerometer Z-axe.\r\n");
                SLCD_blinking_msg_wait("   o","SKiP"); //->acc
            } else {
                pf.printf(" [donE]! Calibration completed! ... Press and release SW1 to try eCompass.\r\n");  
                SLCD_blinking_msg_wait("   o","donE"); //->mag
            }
            break; //while (!mag_calib)
        } else {
            slcd.printf("erro");
            pf.printf("r\n Error Calib !!! try again !!!\r\n\r\n");
        } //repet calib
    }
    
    //---- MAIN/Inits Done! (Wait4SW1) -> MANI/Loop -----------//
    
    gLED = LED_OFF; //Inits are done

    //---- MAIN/Loop  -----------------------------------------//
    while (1) {
        //disable all SLCD DPs
        slcd.DP(0, false); slcd.DP(1, false); slcd.DP(2, false);

        // MAIN/Loop/Sensing and Storing data -----------------//
        sD.sw1State = sw1; sD.sw3State = sw3;
        sD.accValX = acc.getAccX(); //accX[-1..1]->mouse (Lab1)
        sD.accValY = acc.getAccY(); //accY[-1..1]->mouse (Lab1)
        sD.accValZ = acc.getAccZ(); //accZ[-1..1]->rLED
        
        sD.slider = slider.readPercentage() * 100;
        sD.light = light;
        sD.magValX = mag.readVal(MAG_OUT_X_MSB);
        sD.magValY = mag.readVal(MAG_OUT_Y_MSB);
        sD.magValZ = mag.readVal(MAG_OUT_Z_MSB);
        
        sD.magHeading = mag.getHeading(); //calculate heading
        
        // MAIN/Loop/Processing and Actions -------------------//
        
        //sensor -> terminal
        if (fp) { gLED = !gLED; //blinkig
                pf.printf("%.2f\t", sD.magHeading); //->terminal
                fprintf(fp,"%.2f\t ", sD.magHeading); //->usb_file      

                pf.printf("% 1.2f\r\n", sD.accValZ); //->terminal
                fprintf(fp,"% 1.2f\r\n", sD.accValZ); //->usb_file
        } else gLED = LED_OFF;

        if(!fp && sw1==PRESS_ON)  fp=fopen("/usb/usb_lab3.txt", "a");
        else
        if(fp && sw1==PRESS_OFF) {fclose(fp); fp=NULL; gLED=LED_OFF;}
        
        //acc: z-axis 1g min-blinking//acc: z-axis 1g min-blinking
        rLED = abs(sD.accValZ);
        
        slcd.CharPosition=0; //prevent slcd rolling
        slcd.printf("% 3.0f", sD.magHeading);
        
        wait(0.05); //wait 50ms
    }
}





//_____________________________________________________________//
//======== FUNC() =============================================//
//¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯¯//

//Lab2add
void SLCD_blinking_msg_wait(char *slcd_msg1, char *slcd_msg2)
{
    char wait4sw1=0; //~500ms blinking

    //wait for Press SW1 - to start mag calibration
    while(sw1 == PRESS_ON); //wait for release
    while(sw1 == PRESS_OFF) { //wait for press
        if (++wait4sw1 < 150) //300ms
            slcd.printf(slcd_msg1);
        else //200ms
            slcd.printf(slcd_msg2);
        wait(0.002);
    }
    while(sw1 == PRESS_ON); //wait for release
}

//Lab3add
int MagCalibrationXY(void)
{
    int newX, tempXmax, tempXmin; int newY, tempYmax, tempYmin;
    int newZ, tempZmax, tempZmin;
    int delta_avg=0, delta_avg_min=0, delta_avg_max=0, delta_calib_limit=800;
    
    tempXmax = tempXmin = mag.readVal(MAG_OUT_X_MSB); //init X
    tempYmax = tempYmin = mag.readVal(MAG_OUT_Y_MSB); //init Y
    tempZmax = tempZmin = mag.readVal(MAG_OUT_Z_MSB); //init Z
    
    // Update min and max values until calPin asserted again
    while(sw1) {//wait for Press == manual calib stop
        newX = mag.readVal(MAG_OUT_X_MSB);
        newY = mag.readVal(MAG_OUT_Y_MSB);
        newZ = mag.readVal(MAG_OUT_Z_MSB);
        
        if (newX > tempXmax) tempXmax=newX;
        if (newX < tempXmin) tempXmin=newX; newX=tempXmax - tempXmin;
        if (newY > tempYmax) tempYmax=newY;
        if (newY < tempYmin) tempYmin=newY; newY=tempYmax - tempYmin;
        if (newZ > tempZmax) tempZmax=newZ;
        if (newZ < tempZmin) tempZmin=newZ; newZ=tempZmax - tempZmin;       
        
        delta_avg = (newX + newY + newZ);
        
        //delta is too high? -> error, try new calib!!!
        if (delta_avg > 5 * delta_calib_limit) {delta_avg=0; break;}
        
        //div3 with error +0.8 pct
        delta_avg = (21*(newX + newY + newZ))>>6;

        //calib ok for delat ~800-1200 (~80-120uT)
        if (delta_avg > delta_calib_limit){
            delta_avg_min = delta_avg - (delta_avg>>2);
            delta_avg_max = delta_avg + (delta_avg>>1);
            if (delta_avg_min < newX && delta_avg_max > newX
            &&  delta_avg_min < newY && delta_avg_max > newY
            &&  delta_avg_min < newZ && delta_avg_max > newZ) break;
        }
        
        //show calib progress 0->100%
        slcd.printf("C%3.0f", (float)delta_avg/delta_calib_limit*100);
    }
    
    if (sw1 == PRESS_ON || delta_avg ) {
        mag.setCalibration( tempXmin, tempXmax, tempYmin, tempYmax );
        if (sw1 == PRESS_ON) return -1; //==-1 ..user skip
        return delta_avg; //>0 .. done, ok calib
    }
    return 0; //==0 .. error, no calib
}