Revision 0:0c4fafa398b4, committed 2012-09-26

Comitter:

maetugr

Date:

Wed Sep 26 12:15:00 2012 +0000

Child:

1:5a64632b1eb9

Commit message:

Sensor Test; Acc, Gyro working, result on LCD (servo lib included)

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LCD/LCD.cpp	Wed Sep 26 12:15:00 2012 +0000
@@ -0,0 +1,143 @@
+/* mbed LCD Library, for a 4-bit LCD based on HD44780
+ * Copyright (c) 2007-2010, hb9gaa
+ *
+ */
+
+#include "LCD.h"
+#include "mbed.h"
+
+TextLCD::TextLCD(PinName rs, PinName rw, PinName e, PinName d0, PinName d1,
+                 PinName d2, PinName d3, LCDType type) : _rs(rs), _rw(rw),
+        _e(e), _d(d0, d1, d2, d3),
+        _type(type) {
+
+    _e  = 1;
+    _rw = 0;
+    _rs = 0;            // command mode
+
+     wait(0.015);        // Wait 15ms to ensure powered up
+
+    // send "Display Settings" 3 times (Only top nibble of 0x30 as we've got 4-bit bus)
+    for (int i=0; i<3; i++) {
+        writeByte(0x3);
+        wait(0.00164);  // this command takes 1.64ms, so wait for it
+    }
+    writeByte(0x2);     // 4-bit mode
+    wait(0.0001f);    // most instructions take 100us
+
+    writeCommand(0x28); // Function set 001 BW N F - -
+    writeCommand(0x0C);
+    writeCommand(0x6);  // Cursor Direction and Display Shift : 0000 01 CD S (CD 0-left, 1-right S(hift) 0-no, 1-yes
+    cls();
+}
+
+void TextLCD::character(int column, int row, int c) {
+    int a = address(column, row);
+    writeCommand(a);
+    writeData(c);
+}
+
+void TextLCD::cls() {
+    writeCommand(0x01); // cls, and set cursor to 0
+    wait(0.004100f);    // This command takes 4.1 ms
+    locate(0, 0);
+}
+
+void TextLCD::locate(int row, int column) {
+    _row = row;
+    _column = column;
+}
+
+int TextLCD::_putc(int value) {
+    if (value == '\n') {
+        _column = 0;
+        _row++;
+        if (_row >= rows()) {
+            _row = 0;
+        }
+    } else {
+        character(_column, _row, value);
+        _column++;
+        if (_column >= columns()) {
+            _column = 0;
+            _row++;
+            if (_row >= rows()) {
+                _row = 0;
+            }
+        }
+    }
+    return value;
+}
+
+int TextLCD::_getc() {
+    return -1;
+}
+
+void TextLCD::writeByte(int value) {
+    _d = value >> 4;
+    wait(0.0001); // most instructions take 100us
+    _e = 0;
+    wait(0.0001);
+    _e = 1;
+    _d = value >> 0;
+    wait(0.0001);
+    _e = 0;
+    wait(0.0001);  // most instructions take 100us
+    _e = 1;
+}
+
+void TextLCD::writeCommand(int command) {
+    _rs = 0;
+    writeByte(command);
+}
+
+void TextLCD::writeData(int data) {
+    _rs = 1;
+    writeByte(data);
+}
+
+int TextLCD::address(int column, int row) {
+    switch (_type) {
+        case LCD20x4:
+            switch (row) {
+                case 0:
+                    return 0x80 + column;
+                case 1:
+                    return 0xc0 + column;
+                case 2:
+                    return 0x94 + column;
+                case 3:
+                    return 0xd4 + column;
+            }
+        case LCD16x2B:
+            return 0x80 + (row * 40) + column;
+        case LCD16x2:
+        case LCD20x2:
+        default:
+            return 0x80 + (row * 0x40) + column;
+    }
+}
+
+int TextLCD::columns() {
+    switch (_type) {
+        case LCD20x4:
+        case LCD20x2:
+            return 20;
+        case LCD16x2:
+        case LCD16x2B:
+        default:
+            return 16;
+    }
+}
+
+int TextLCD::rows() {
+    switch (_type) {
+        case LCD20x4:
+            return 4;
+        case LCD16x2:
+        case LCD16x2B:
+        case LCD20x2:
+        default:
+            return 2;
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LCD/LCD.h	Wed Sep 26 12:15:00 2012 +0000
@@ -0,0 +1,74 @@
+/* mbed LCD Library, for a 4-bit LCD based on HD44780
+ * Copyright (c) 2007-2010, hb9gaa
+ */
+
+#ifndef __LCD_H
+#define __LCD_H
+
+#include "mbed.h"
+
+class TextLCD : public Stream {
+public:
+
+    /** LCD panel format */
+    enum LCDType {
+        LCD16x2     /**< 16x2 LCD panel (default) */
+        , LCD16x2B  /**< 16x2 LCD panel alternate addressing */
+        , LCD20x2   /**< 20x2 LCD panel */
+        , LCD20x4   /**< 20x4 LCD panel */
+    };
+
+    /** Create a TextLCD interface
+     * @param rs    Instruction/data control line
+     * @param e     Enable line (clock)
+     * @param d0-d3 Data lines
+     * @param type  Sets the panel size/addressing mode (default = LCD16x2)
+     */
+    TextLCD(PinName rs, PinName rw, PinName e, PinName d0, PinName d1, PinName d2, PinName d3, LCDType type = LCD16x2);
+
+#if DOXYGEN_ONLY
+    /** Write a character to the LCD
+     * @param c The character to write to the display
+     */
+    int putc(int c);
+
+    /** Write a formated string to the LCD
+     * @param format A printf-style format string, followed by the
+     *               variables to use in formating the string.
+     */
+    int printf(const char* format, ...);
+#endif
+
+    /** Locate to a screen column and row
+     * @param column  The horizontal position from the left, indexed from 0
+     * @param row     The vertical position from the top, indexed from 0
+     */
+    void locate(int column, int row);
+
+    /** Clear the screen and locate to 0,0 */
+    void cls();
+
+    int rows();
+    int columns();
+
+protected:
+
+    // Stream implementation functions
+    virtual int _putc(int value);
+    virtual int _getc();
+
+    int address(int column, int row);
+    void character(int column, int row, int c);
+    void writeByte(int value);
+    void writeCommand(int command);
+    void writeData(int data);
+
+    DigitalOut _rs, _rw, _e;
+    BusOut _d;
+    LCDType _type;
+
+    int _column;
+    int _row;
+};
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LED/LED.cpp	Wed Sep 26 12:15:00 2012 +0000
@@ -0,0 +1,21 @@
+#include "LED.h"
+#include "mbed.h"
+    
+LED::LED() : Led(LED1, LED2, LED3, LED4){ }
+
+void LED::shownumber(int number) {
+    Led = number;
+}
+
+void LED::roll(int times = 1) {
+    for (int j = 0; j < times; j++) {
+        for(int i=0; i<4; i++) {
+                Led = 1 << i;
+                wait(0.25);
+        }
+    }
+}
+
+void LED::tilt(int index) {
+    Led = Led^(1 << (index-1));
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LED/LED.h	Wed Sep 26 12:15:00 2012 +0000
@@ -0,0 +1,20 @@
+// by MaEtUgR
+
+#ifndef __LED_H
+#define __LED_H
+
+#include "mbed.h"
+
+class LED {
+
+public:
+    LED();
+    void shownumber(int number);
+    void roll(int times);
+    void tilt(int index);
+
+private:
+    BusOut Led;
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/Acc/ADXL345.cpp	Wed Sep 26 12:15:00 2012 +0000
@@ -0,0 +1,424 @@
+/**
+ * @author Peter Swanson
+ * A personal note from me: Jesus Christ has changed my life so much it blows my mind. I say this because
+ *                  today, religion is thought of as something that you do or believe and has about as
+ *                  little impact on a person as their political stance. But for me, God gives me daily
+ *                  strength and has filled my life with the satisfaction that I could never find in any
+ *                  of the other things that I once looked for it in. 
+ * If your interested, heres verse that changed my life:
+ *      Rom 8:1-3: "Therefore, there is now no condemnation for those who are in Christ Jesus,
+ *                  because through Christ Jesus, the law of the Spirit who gives life has set
+ *                  me free from the law of sin (which brings...) and death. For what the law 
+ *                  was powerless to do in that it was weakened by the flesh, God did by sending
+ *                  His own Son in the likeness of sinful flesh to be a sin offering. And so He
+ *                  condemned sin in the flesh in order that the righteous requirements of the 
+ *                  (God's) law might be fully met in us, who live not according to the flesh
+ *                  but according to the Spirit."
+ *
+ *  A special thanks to Ewout van Bekkum for all his patient help in developing this library!
+ *
+ * @section LICENSE
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * ADXL345, triple axis, I2C interface, accelerometer.
+ *
+ * Datasheet:
+ *
+ * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
+ */  
+ 
+/**
+ * Includes
+ */
+#include "ADXL345.h"
+
+//#include "mbed.h"
+
+ADXL345::ADXL345(PinName sda, PinName scl) : i2c_(sda, scl) {
+
+    //400kHz, allowing us to use the fastest data rates.
+    //there are other chips on board, sorry
+    i2c_.frequency(400000);   
+// initialize the BW data rate
+    char tx[2];
+    tx[0] = ADXL345_BW_RATE_REG;
+    tx[1] = ADXL345_1600HZ; //value greater than or equal to 0x0A is written into the rate bits (Bit D3 through Bit D0) in the BW_RATE register 
+ i2c_.write( ADXL345_WRITE , tx, 2);  
+
+//Data format (for +-16g) - This is done by setting Bit D3 of the DATA_FORMAT register (Address 0x31) and writing a value of 0x03 to the range bits (Bit D1 and Bit D0) of the DATA_FORMAT register (Address 0x31).
+   
+ char rx[2];
+    rx[0] = ADXL345_DATA_FORMAT_REG;
+    rx[1] = 0x0B; 
+     // full res and +_16g
+ i2c_.write( ADXL345_WRITE , rx, 2); 
+ 
+ // Set Offset  - programmed into the OFSX, OFSY, and OFXZ registers, respectively, as 0xFD, 0x03 and 0xFE.
+  char x[2];
+    x[0] = ADXL345_OFSX_REG ;
+    x[1] = 0xFD; 
+ i2c_.write( ADXL345_WRITE , x, 2);
+  char y[2];
+    y[0] = ADXL345_OFSY_REG ;
+    y[1] = 0x03; 
+ i2c_.write( ADXL345_WRITE , y, 2);
+ char z[2];
+    z[0] = ADXL345_OFSZ_REG ;
+    z[1] = 0xFE; 
+ i2c_.write( ADXL345_WRITE , z, 2);
+}
+
+
+char ADXL345::SingleByteRead(char address){   
+   char tx = address;
+   char output; 
+    i2c_.write( ADXL345_WRITE , &tx, 1);  //tell it what you want to read
+    i2c_.read( ADXL345_READ , &output, 1);    //tell it where to store the data
+    return output;
+  
+}
+
+
+/*
+***info on the i2c_.write***
+address     8-bit I2C slave address [ addr | 0 ]
+data        Pointer to the byte-array data to send
+length        Number of bytes to send
+repeated    Repeated start, true - do not send stop at end
+returns     0 on success (ack), or non-0 on failure (nack)
+*/
+
+int ADXL345::SingleByteWrite(char address, char data){ 
+   int ack = 0;
+   char tx[2];
+   tx[0] = address;
+   tx[1] = data;
+   return   ack | i2c_.write( ADXL345_WRITE , tx, 2);   
+}
+
+
+
+void ADXL345::multiByteRead(char address, char* output, int size) {
+    i2c_.write( ADXL345_WRITE, &address, 1);  //tell it where to read from
+    i2c_.read( ADXL345_READ , output, size);      //tell it where to store the data read
+}
+
+
+int ADXL345::multiByteWrite(char address, char* ptr_data, int size) {
+        int ack;
+   
+               ack = i2c_.write( ADXL345_WRITE, &address, 1);  //tell it where to write to
+        return ack | i2c_.write( ADXL345_READ, ptr_data, size);  //tell it what data to write
+                                    
+}
+
+
+void ADXL345::getOutput(int* readings){
+    char buffer[6];    
+    multiByteRead(ADXL345_DATAX0_REG, buffer, 6);
+    
+    readings[0] = (int)buffer[1] << 8 | (int)buffer[0];
+    readings[1] = (int)buffer[3] << 8 | (int)buffer[2];
+    readings[2] = (int)buffer[5] << 8 | (int)buffer[4];
+
+}
+
+
+
+char ADXL345::getDeviceID() {  
+    return SingleByteRead(ADXL345_DEVID_REG);
+    }
+//
+int ADXL345::setPowerMode(char mode) { 
+
+    //Get the current register contents, so we don't clobber the rate value.
+    char registerContents = (mode << 4) | SingleByteRead(ADXL345_BW_RATE_REG);
+
+   return SingleByteWrite(ADXL345_BW_RATE_REG, registerContents);
+
+}
+
+char ADXL345::getPowerControl() {    
+    return SingleByteRead(ADXL345_POWER_CTL_REG);
+}
+
+int ADXL345::setPowerControl(char settings) {    
+    return SingleByteWrite(ADXL345_POWER_CTL_REG, settings);
+
+}
+
+
+
+char ADXL345::getDataFormatControl(void){
+
+    return SingleByteRead(ADXL345_DATA_FORMAT_REG);
+}
+
+int ADXL345::setDataFormatControl(char settings){
+
+   return SingleByteWrite(ADXL345_DATA_FORMAT_REG, settings);
+    
+}
+
+int ADXL345::setDataRate(char rate) {
+
+    //Get the current register contents, so we don't clobber the power bit.
+    char registerContents = SingleByteRead(ADXL345_BW_RATE_REG);
+
+    registerContents &= 0x10;
+    registerContents |= rate;
+
+    return SingleByteWrite(ADXL345_BW_RATE_REG, registerContents);
+
+}
+
+
+char ADXL345::getOffset(char axis) {     
+
+    char address = 0;
+
+    if (axis == ADXL345_X) {
+        address = ADXL345_OFSX_REG;
+    } else if (axis == ADXL345_Y) {
+        address = ADXL345_OFSY_REG;
+    } else if (axis == ADXL345_Z) {
+        address = ADXL345_OFSZ_REG;
+    }
+
+   return SingleByteRead(address);
+}
+
+int ADXL345::setOffset(char axis, char offset) {        
+
+    char address = 0;
+
+    if (axis == ADXL345_X) {
+        address = ADXL345_OFSX_REG;
+    } else if (axis == ADXL345_Y) {
+        address = ADXL345_OFSY_REG;
+    } else if (axis == ADXL345_Z) {
+        address = ADXL345_OFSZ_REG;
+    }
+
+   return SingleByteWrite(address, offset);
+
+}
+
+
+char ADXL345::getFifoControl(void){
+
+    return SingleByteRead(ADXL345_FIFO_CTL);
+
+}
+
+int ADXL345::setFifoControl(char settings){
+   return SingleByteWrite(ADXL345_FIFO_STATUS, settings);
+
+}
+
+char ADXL345::getFifoStatus(void){
+
+    return SingleByteRead(ADXL345_FIFO_STATUS);
+
+}
+
+
+
+char ADXL345::getTapThreshold(void) {
+
+    return SingleByteRead(ADXL345_THRESH_TAP_REG);
+}
+
+int ADXL345::setTapThreshold(char threshold) {   
+
+   return SingleByteWrite(ADXL345_THRESH_TAP_REG, threshold);
+
+}
+
+
+float ADXL345::getTapDuration(void) {     
+
+    return (float)SingleByteRead(ADXL345_DUR_REG)*625;
+}
+
+int ADXL345::setTapDuration(short int duration_us) {
+
+    short int tapDuration = duration_us / 625;
+    char tapChar[2];
+     tapChar[0] = (tapDuration & 0x00FF);
+     tapChar[1] = (tapDuration >> 8) & 0x00FF;
+    return multiByteWrite(ADXL345_DUR_REG, tapChar, 2);
+
+}
+
+float ADXL345::getTapLatency(void) {
+
+    return (float)SingleByteRead(ADXL345_LATENT_REG)*1.25;
+}
+
+int ADXL345::setTapLatency(short int latency_ms) {
+
+    latency_ms = latency_ms / 1.25;
+    char latChar[2];
+     latChar[0] = (latency_ms & 0x00FF);
+     latChar[1] = (latency_ms << 8) & 0xFF00;
+    return multiByteWrite(ADXL345_LATENT_REG, latChar, 2);
+
+}
+
+float ADXL345::getWindowTime(void) {
+
+    return (float)SingleByteRead(ADXL345_WINDOW_REG)*1.25;
+}
+
+int ADXL345::setWindowTime(short int window_ms) {
+
+    window_ms = window_ms / 1.25;
+    char windowChar[2];
+    windowChar[0] = (window_ms & 0x00FF);
+    windowChar[1] = ((window_ms << 8) & 0xFF00);
+   return multiByteWrite(ADXL345_WINDOW_REG, windowChar, 2);
+
+}
+
+char ADXL345::getActivityThreshold(void) {
+
+    return SingleByteRead(ADXL345_THRESH_ACT_REG);
+}
+
+int ADXL345::setActivityThreshold(char threshold) {
+    return SingleByteWrite(ADXL345_THRESH_ACT_REG, threshold);
+
+}
+
+char ADXL345::getInactivityThreshold(void) {
+    return SingleByteRead(ADXL345_THRESH_INACT_REG);
+       
+}
+
+//int FUNCTION(short int * ptr_Output)
+//short int FUNCTION ()
+
+int ADXL345::setInactivityThreshold(char threshold) {
+    return SingleByteWrite(ADXL345_THRESH_INACT_REG, threshold);
+
+}
+
+char ADXL345::getTimeInactivity(void) {
+
+    return SingleByteRead(ADXL345_TIME_INACT_REG);
+
+}
+
+int ADXL345::setTimeInactivity(char timeInactivity) {
+    return SingleByteWrite(ADXL345_TIME_INACT_REG, timeInactivity);
+
+}
+
+char ADXL345::getActivityInactivityControl(void) {
+
+    return SingleByteRead(ADXL345_ACT_INACT_CTL_REG);
+
+}
+
+int ADXL345::setActivityInactivityControl(char settings) {
+    return SingleByteWrite(ADXL345_ACT_INACT_CTL_REG, settings);
+    
+}
+
+char ADXL345::getFreefallThreshold(void) {
+
+    return SingleByteRead(ADXL345_THRESH_FF_REG);
+
+}
+
+int ADXL345::setFreefallThreshold(char threshold) {
+   return SingleByteWrite(ADXL345_THRESH_FF_REG, threshold);
+
+}
+
+char ADXL345::getFreefallTime(void) {
+
+    return SingleByteRead(ADXL345_TIME_FF_REG)*5;
+
+}
+
+int ADXL345::setFreefallTime(short int freefallTime_ms) {
+     freefallTime_ms = freefallTime_ms / 5;
+     char fallChar[2];
+     fallChar[0] = (freefallTime_ms & 0x00FF);
+     fallChar[1] = (freefallTime_ms << 8) & 0xFF00;
+    
+    return multiByteWrite(ADXL345_TIME_FF_REG, fallChar, 2);
+
+}
+
+char ADXL345::getTapAxisControl(void) {
+
+    return SingleByteRead(ADXL345_TAP_AXES_REG);
+
+}
+
+int ADXL345::setTapAxisControl(char settings) {
+   return SingleByteWrite(ADXL345_TAP_AXES_REG, settings);
+
+}
+
+char ADXL345::getTapSource(void) {
+
+    return SingleByteRead(ADXL345_ACT_TAP_STATUS_REG);
+
+}
+
+
+
+char ADXL345::getInterruptEnableControl(void) {
+
+    return SingleByteRead(ADXL345_INT_ENABLE_REG);
+
+}
+
+int ADXL345::setInterruptEnableControl(char settings) {
+   return SingleByteWrite(ADXL345_INT_ENABLE_REG, settings);
+
+}
+
+char ADXL345::getInterruptMappingControl(void) {
+
+    return SingleByteRead(ADXL345_INT_MAP_REG);
+
+}
+
+int ADXL345::setInterruptMappingControl(char settings) {
+    return SingleByteWrite(ADXL345_INT_MAP_REG, settings);
+
+}
+
+char ADXL345::getInterruptSource(void){
+
+    return SingleByteRead(ADXL345_INT_SOURCE_REG);
+
+}
+
+
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/Acc/ADXL345.h	Wed Sep 26 12:15:00 2012 +0000
@@ -0,0 +1,530 @@
+// based on http://mbed.org/users/Digixx/code/ADXL345/
+
+/*
+ * ADXL345, triple axis, I2C interface, accelerometer.
+ *
+ * Datasheet:
+ *
+ * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
+ */  
+
+
+
+#ifndef __ADXL345_H
+#define __ADXL345_H
+
+#include "mbed.h"
+
+// register addresses
+#define ADXL345_DEVID_REG          0x00
+#define ADXL345_THRESH_TAP_REG     0x1D
+#define ADXL345_OFSX_REG           0x1E
+#define ADXL345_OFSY_REG           0x1F
+#define ADXL345_OFSZ_REG           0x20
+#define ADXL345_DUR_REG            0x21
+#define ADXL345_LATENT_REG         0x22
+#define ADXL345_WINDOW_REG         0x23
+#define ADXL345_THRESH_ACT_REG     0x24
+#define ADXL345_THRESH_INACT_REG   0x25
+#define ADXL345_TIME_INACT_REG     0x26
+#define ADXL345_ACT_INACT_CTL_REG  0x27
+#define ADXL345_THRESH_FF_REG      0x28
+#define ADXL345_TIME_FF_REG        0x29
+#define ADXL345_TAP_AXES_REG       0x2A
+#define ADXL345_ACT_TAP_STATUS_REG 0x2B
+#define ADXL345_BW_RATE_REG        0x2C
+#define ADXL345_POWER_CTL_REG      0x2D
+#define ADXL345_INT_ENABLE_REG     0x2E
+#define ADXL345_INT_MAP_REG        0x2F
+#define ADXL345_INT_SOURCE_REG     0x30
+#define ADXL345_DATA_FORMAT_REG    0x31
+#define ADXL345_DATAX0_REG         0x32
+#define ADXL345_DATAX1_REG         0x33
+#define ADXL345_DATAY0_REG         0x34
+#define ADXL345_DATAY1_REG         0x35
+#define ADXL345_DATAZ0_REG         0x36
+#define ADXL345_DATAZ1_REG         0x37
+
+#define ADXL345_FIFO_CTL           0x38
+#define ADXL345_FIFO_STATUS        0x39
+
+// data rate codes
+#define ADXL345_3200HZ      0x0F
+#define ADXL345_1600HZ      0x0E
+#define ADXL345_800HZ       0x0D
+#define ADXL345_400HZ       0x0C
+#define ADXL345_200HZ       0x0B
+#define ADXL345_100HZ       0x0A
+#define ADXL345_50HZ        0x09
+#define ADXL345_25HZ        0x08
+#define ADXL345_12HZ5       0x07
+#define ADXL345_6HZ25       0x06
+
+// read or write bytes
+#define ADXL345_READ    0xA7  
+#define ADXL345_WRITE   0xA6 
+#define ADXL345_ADDRESS 0x53
+
+//the ADXL345 7-bit address is 0x53 when ALT ADDRESS is low as it is on the sparkfun chip: when ALT ADDRESS is high the address is 0x1D
+
+//when ALT ADDRESS pin is high:
+//#define ADXL345_READ    0x3B   
+//#define ADXL345_WRITE   0x3A
+//#define ADXL345_ADDRESS 0x1D 
+
+#define ADXL345_X           0x00
+#define ADXL345_Y           0x01
+#define ADXL345_Z           0x02
+
+// modes
+#define MeasurementMode     0x08
+
+
+
+
+
+
+
+class ADXL345 {
+
+public:
+
+    /**
+     * Constructor.
+     *
+     * @param mosi mbed pin to use for SDA line of I2C interface.
+     * @param sck mbed pin to use for SCL line of I2C interface.
+     */
+    ADXL345(PinName sda, PinName scl);
+
+    /**
+     * Get the output of all three axes.
+     *
+     * @param Pointer to a buffer to hold the accelerometer value for the
+     *        x-axis, y-axis and z-axis [in that order].
+     */
+    void getOutput(int* readings);
+
+    /**
+     * Read the device ID register on the device.
+     *
+     * @return The device ID code [0xE5]
+     */
+    char getDeviceID(void);
+    
+     /**
+     * Set the power mode.
+     *
+     * @param mode 0 -> Normal operation.
+     *             1 -> Reduced power operation.
+     */     
+    int setPowerMode(char mode);
+  
+     /**
+     * Set the power control settings.
+     *
+     * See datasheet for details.
+     *
+     * @param The control byte to write to the POWER_CTL register.
+     */
+    int setPowerControl(char settings);     
+      /**
+     * Get the power control settings.
+     *
+     * See datasheet for details.
+     *
+     * @return The contents of the POWER_CTL register.
+     */
+    char getPowerControl(void);
+
+       
+    /**
+     * Get the data format settings.
+     *
+     * @return The contents of the DATA_FORMAT register.
+     */
+     
+    char getDataFormatControl(void);
+    
+    /**
+     * Set the data format settings.
+     *
+     * @param settings The control byte to write to the DATA_FORMAT register.
+     */
+    int setDataFormatControl(char settings);
+  
+       /**
+     * Set the data rate.
+     *
+     * @param rate The rate code (see #defines or datasheet).
+     */
+    int setDataRate(char rate);
+    
+
+       /**
+     * Get the current offset for a particular axis.
+     *
+     * @param axis 0x00 -> X-axis
+     *             0x01 -> Y-axis
+     *             0x02 -> Z-axis
+     * @return The current offset as an 8-bit 2's complement number with scale
+     *         factor 15.6mg/LSB.
+     */
+     
+    char getOffset(char axis);
+
+    /**
+     * Set the offset for a particular axis.
+     *
+     * @param axis 0x00 -> X-axis
+     *             0x01 -> Y-axis
+     *             0x02 -> Z-axis
+     * @param offset The offset as an 8-bit 2's complement number with scale
+     *               factor 15.6mg/LSB.
+     */
+    int setOffset(char axis, char offset);
+    
+    /**
+     * Get the FIFO control settings.
+     *
+     * @return The contents of the FIFO_CTL register.
+     */
+    char getFifoControl(void);
+    
+    /**
+     * Set the FIFO control settings.
+     *
+     * @param The control byte to write to the FIFO_CTL register.
+     */
+    int setFifoControl(char settings);
+    
+    /**
+     * Get FIFO status.
+     *
+     * @return The contents of the FIFO_STATUS register.
+     */
+    char getFifoStatus(void);
+    
+    /**
+     * Read the tap threshold on the device.
+     *
+     * @return The tap threshold as an 8-bit number with a scale factor of
+     *         62.5mg/LSB.
+     */
+    char getTapThreshold(void);
+
+    /**
+     * Set the tap threshold.
+     *
+     * @param The tap threshold as an 8-bit number with a scale factor of
+     *        62.5mg/LSB.
+     */
+    int setTapThreshold(char threshold);
+
+    /**
+     * Get the tap duration required to trigger an event.
+     *
+     * @return The max time that an event must be above the tap threshold to
+     *         qualify as a tap event, in microseconds.
+     */
+    float getTapDuration(void);
+
+    /**
+     * Set the tap duration required to trigger an event.
+     *
+     * @param duration_us The max time that an event must be above the tap
+     *                    threshold to qualify as a tap event, in microseconds.
+     *                    Time will be normalized by the scale factor which is
+     *                    625us/LSB. A value of 0 disables the single/double
+     *                    tap functions.
+     */
+    int setTapDuration(short int duration_us);
+
+    /**
+     * Get the tap latency between the detection of a tap and the time window.
+     *
+     * @return The wait time from the detection of a tap event to the start of
+     *         the time window during which a possible second tap event can be
+     *         detected in milliseconds.
+     */
+    float getTapLatency(void);
+
+    /**
+     * Set the tap latency between the detection of a tap and the time window.
+     *
+     * @param latency_ms The wait time from the detection of a tap event to the
+     *                   start of the time window during which a possible
+     *                   second tap event can be detected in milliseconds.
+     *                   A value of 0 disables the double tap function.
+     */
+    int setTapLatency(short int latency_ms);
+
+    /**
+     * Get the time of window between tap latency and a double tap.
+     *
+     * @return The amount of time after the expiration of the latency time
+     *         during which a second valid tap can begin, in milliseconds.
+     */
+    float getWindowTime(void);
+
+    /**
+     * Set the time of the window between tap latency and a double tap.
+     *
+     * @param window_ms The amount of time after the expiration of the latency
+     *                  time during which a second valid tap can begin,
+     *                  in milliseconds.
+     */
+    int setWindowTime(short int window_ms);
+
+    /**
+     * Get the threshold value for detecting activity.
+     *
+     * @return The threshold value for detecting activity as an 8-bit number.
+     *         Scale factor is 62.5mg/LSB.
+     */
+     char getActivityThreshold(void);
+
+    /**
+     * Set the threshold value for detecting activity.
+     *
+     * @param threshold The threshold value for detecting activity as an 8-bit
+     *                  number. Scale factor is 62.5mg/LSB. A value of 0 may
+     *                  result in undesirable behavior if the activity
+     *                  interrupt is enabled.
+     */
+    int setActivityThreshold(char threshold);
+
+    /**
+     * Get the threshold value for detecting inactivity.
+     *
+     * @return The threshold value for detecting inactivity as an 8-bit number.
+     *         Scale factor is 62.5mg/LSB.
+     */
+     char getInactivityThreshold(void);
+
+    /**
+     * Set the threshold value for detecting inactivity.
+     *
+     * @param threshold The threshold value for detecting inactivity as an
+     *                  8-bit number. Scale factor is 62.5mg/LSB.
+     */
+    int setInactivityThreshold(char threshold);
+
+    /**
+     * Get the time required for inactivity to be declared.
+     *
+     * @return The amount of time that acceleration must be less than the
+     *         inactivity threshold for inactivity to be declared, in
+     *         seconds.
+     */
+     char getTimeInactivity(void);
+    
+    /**
+     * Set the time required for inactivity to be declared.
+     *
+     * @param inactivity The amount of time that acceleration must be less than
+     *                   the inactivity threshold for inactivity to be
+     *                   declared, in seconds. A value of 0 results in an
+     *                   interrupt when the output data is less than the
+     *                   threshold inactivity.
+     */
+    int setTimeInactivity(char timeInactivity);
+    
+    /**
+     * Get the activity/inactivity control settings.
+     *
+     *      D7            D6             D5            D4
+     * +-----------+--------------+--------------+--------------+
+     * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable |
+     * +-----------+--------------+--------------+--------------+
+     *
+     *        D3             D2               D1              D0
+     * +-------------+----------------+----------------+----------------+
+     * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable |
+     * +-------------+----------------+----------------+----------------+
+     *
+     * See datasheet for details.
+     *
+     * @return The contents of the ACT_INACT_CTL register.
+     */
+     char getActivityInactivityControl(void);
+    
+    /**
+     * Set the activity/inactivity control settings.
+     *
+     *      D7            D6             D5            D4
+     * +-----------+--------------+--------------+--------------+
+     * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable |
+     * +-----------+--------------+--------------+--------------+
+     *
+     *        D3             D2               D1              D0
+     * +-------------+----------------+----------------+----------------+
+     * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable |
+     * +-------------+----------------+----------------+----------------+
+     *
+     * See datasheet for details.
+     *
+     * @param settings The control byte to write to the ACT_INACT_CTL register.
+     */
+    int setActivityInactivityControl(char settings);
+    
+    /**
+     * Get the threshold for free fall detection.
+     *
+     * @return The threshold value for free-fall detection, as an 8-bit number,
+     *         with scale factor 62.5mg/LSB.
+     */
+     char getFreefallThreshold(void);
+    
+    /**
+     * Set the threshold for free fall detection.
+     *
+     * @return The threshold value for free-fall detection, as an 8-bit number,
+     *         with scale factor 62.5mg/LSB. A value of 0 may result in 
+     *         undesirable behavior if the free-fall interrupt is enabled.
+     *         Values between 300 mg and 600 mg (0x05 to 0x09) are recommended.
+     */
+    int setFreefallThreshold(char threshold);
+    
+    /**
+     * Get the time required to generate a free fall interrupt.
+     *
+     * @return The minimum time that the value of all axes must be less than
+     *         the freefall threshold to generate a free-fall interrupt, in
+     *         milliseconds.
+     */
+     char getFreefallTime(void);
+    
+    /**
+     * Set the time required to generate a free fall interrupt.
+     *
+     * @return The minimum time that the value of all axes must be less than
+     *         the freefall threshold to generate a free-fall interrupt, in
+     *         milliseconds. A value of 0 may result in undesirable behavior
+     *         if the free-fall interrupt is enabled. Values between 100 ms 
+     *         and 350 ms (0x14 to 0x46) are recommended.
+     */
+    int setFreefallTime(short int freefallTime_ms);
+    
+    /**
+     * Get the axis tap settings.
+     *
+     *      D3           D2            D1             D0
+     * +----------+--------------+--------------+--------------+
+     * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable |
+     * +----------+--------------+--------------+--------------+
+     *
+     * (D7-D4 are 0s).
+     *
+     * See datasheet for more details.
+     *
+     * @return The contents of the TAP_AXES register.
+     */ 
+     char getTapAxisControl(void);
+    
+    /**
+     * Set the axis tap settings.
+     *
+     *      D3           D2            D1             D0
+     * +----------+--------------+--------------+--------------+
+     * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable |
+     * +----------+--------------+--------------+--------------+
+     *
+     * (D7-D4 are 0s).
+     *
+     * See datasheet for more details.
+     *
+     * @param The control byte to write to the TAP_AXES register.
+     */
+    int setTapAxisControl(char settings);
+    
+    /**
+     * Get the source of a tap.
+     *
+     * @return The contents of the ACT_TAP_STATUS register.
+     */
+     char getTapSource(void);
+    
+     /**
+     * Get the interrupt enable settings.
+     *
+     * @return The contents of the INT_ENABLE register.
+     */
+
+     char getInterruptEnableControl(void);
+    
+    /**
+     * Set the interrupt enable settings.
+     *
+     * @param settings The control byte to write to the INT_ENABLE register.
+     */
+    int setInterruptEnableControl(char settings);
+    
+    /**
+     * Get the interrupt mapping settings.
+     *
+     * @return The contents of the INT_MAP register.
+     */
+     char getInterruptMappingControl(void);
+    
+    /**
+     * Set the interrupt mapping settings.
+     *
+     * @param settings The control byte to write to the INT_MAP register.
+     */
+    int setInterruptMappingControl(char settings);
+    
+    /**
+     * Get the interrupt source.
+     *
+     * @return The contents of the INT_SOURCE register.
+     */
+     char getInterruptSource(void);
+    
+   
+private:
+
+    I2C i2c_;
+    
+
+    /**
+     * Read one byte from a register on the device.
+     *
+     * @param: - the address to be read from
+     *
+     * @return: the value of the data read
+     */
+    char SingleByteRead(char address);
+
+    /**
+     * Write one byte to a register on the device.
+     *
+     * @param:
+        - address of the register to write to.
+        - the value of the data to store
+     */
+  
+   
+   int SingleByteWrite(char address, char data);
+
+    /**
+     * Read several consecutive bytes on the device and store them in a given location.
+     *
+     * @param startAddress: The address of the first register to read from.
+     * @param ptr_output: a pointer to the location to store the data being read
+     * @param size: The number of bytes to read.
+     */
+    void multiByteRead(char startAddress, char* ptr_output, int size);
+
+    /**
+     * Write several consecutive bytes  on the device.
+     *
+     * @param startAddress: The address of the first register to write to.
+     * @param ptr_data: Pointer to a location which contains the data to write.
+     * @param size: The number of bytes to write.
+     */
+    int multiByteWrite(char startAddress, char* ptr_data, int size);
+
+};
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/Gyro/L3G4200D.cpp	Wed Sep 26 12:15:00 2012 +0000
@@ -0,0 +1,83 @@
+#include "mbed.h"
+#include "L3G4200D.h"
+#include <math.h>
+
+#define L3G4200D_I2C_ADDRESS 0xD0
+
+
+Gyro::Gyro(PinName sda, PinName scl):
+    i2c(sda, scl)
+{
+    i2c.frequency(400000);
+    // Turns on the L3G4200D's gyro and places it in normal mode.
+    // 0x0F = 0b00001111
+    // Normal power mode, all axes enabled
+    
+    writeReg(L3G4200D_CTRL_REG2, 0x05); // Filter steuern
+    writeReg(L3G4200D_CTRL_REG3, 0x00);
+    writeReg(L3G4200D_CTRL_REG4, 0x20); // Genauigkeit 2000 dps
+    
+    writeReg(L3G4200D_REFERENCE, 0x00);
+    //writeReg(L3G4200D_STATUS_REG, 0x0F);
+    writeReg(L3G4200D_INT1_THS_XH, 0x2C);
+    writeReg(L3G4200D_INT1_THS_XL, 0xA4);
+    writeReg(L3G4200D_INT1_THS_YH, 0x2C);
+    writeReg(L3G4200D_INT1_THS_YL, 0xA4);
+    writeReg(L3G4200D_INT1_THS_ZH, 0x2C);
+    writeReg(L3G4200D_INT1_THS_ZL, 0xA4);
+    //writeReg(L3G4200D_INT1_DURATION, 0x00);
+    writeReg(L3G4200D_CTRL_REG5, 0x12);  // Filter einschalten
+    
+    writeReg(L3G4200D_CTRL_REG1, 0x0F); // Gogo
+}
+
+// Writes a gyro register
+void Gyro::writeReg(byte reg, byte value)
+{
+    data[0] = reg;
+    data[1] = value;
+    
+    i2c.write(L3G4200D_I2C_ADDRESS, data, 2);
+}
+
+// Reads a gyro register
+byte Gyro::readReg(byte reg)
+{
+    byte value = 0;
+    
+    i2c.write(L3G4200D_I2C_ADDRESS, &reg, 1);
+    i2c.read(L3G4200D_I2C_ADDRESS, &value, 1);
+
+    return value;
+}
+
+// Reads the 3 gyro channels and stores them in vector g
+void Gyro::read(int g[3])
+{
+    // assert the MSB of the address to get the gyro 
+    // to do slave-transmit subaddress updating.
+    data[0] = L3G4200D_OUT_X_L | (1 << 7);
+    i2c.write(L3G4200D_I2C_ADDRESS, data, 1); 
+
+//    Wire.requestFrom(GYR_ADDRESS, 6);
+//    while (Wire.available() < 6);
+    
+    i2c.read(L3G4200D_I2C_ADDRESS, data, 6); 
+
+    uint8_t xla = data[0];
+    uint8_t xha = data[1];
+    uint8_t yla = data[2];
+    uint8_t yha = data[3];
+    uint8_t zla = data[4];
+    uint8_t zha = data[5];
+
+    g[0] = (short) (xha << 8 | xla);
+    g[1] = (short) (yha << 8 | yla);
+    g[2] = (short) (zha << 8 | zla);
+}
+
+// Reads the gyros Temperature
+int Gyro::readTemp()
+{
+    return (short) readReg(L3G4200D_OUT_TEMP);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/Gyro/L3G4200D.h	Wed Sep 26 12:15:00 2012 +0000
@@ -0,0 +1,56 @@
+// based on http://mbed.org/users/shimniok/code/L3G4200D/
+
+#ifndef __L3G4200D_H
+#define __L3G4200D_H
+
+#include "mbed.h"
+
+// register addresses
+#define L3G4200D_WHO_AM_I      0x0F
+
+#define L3G4200D_CTRL_REG1     0x20
+#define L3G4200D_CTRL_REG2     0x21
+#define L3G4200D_CTRL_REG3     0x22
+#define L3G4200D_CTRL_REG4     0x23
+#define L3G4200D_CTRL_REG5     0x24
+#define L3G4200D_REFERENCE     0x25
+#define L3G4200D_OUT_TEMP      0x26
+#define L3G4200D_STATUS_REG    0x27
+
+#define L3G4200D_OUT_X_L       0x28
+#define L3G4200D_OUT_X_H       0x29
+#define L3G4200D_OUT_Y_L       0x2A
+#define L3G4200D_OUT_Y_H       0x2B
+#define L3G4200D_OUT_Z_L       0x2C
+#define L3G4200D_OUT_Z_H       0x2D
+
+#define L3G4200D_FIFO_CTRL_REG 0x2E
+#define L3G4200D_FIFO_SRC_REG  0x2F
+
+#define L3G4200D_INT1_CFG      0x30
+#define L3G4200D_INT1_SRC      0x31
+#define L3G4200D_INT1_THS_XH   0x32
+#define L3G4200D_INT1_THS_XL   0x33
+#define L3G4200D_INT1_THS_YH   0x34
+#define L3G4200D_INT1_THS_YL   0x35
+#define L3G4200D_INT1_THS_ZH   0x36
+#define L3G4200D_INT1_THS_ZL   0x37
+#define L3G4200D_INT1_DURATION 0x38
+
+typedef char byte;
+
+class Gyro
+{
+    public:            
+        Gyro(PinName sda, PinName scl); // constructor, uses i2c
+        void read(int g[3]); // read all axis to array
+        int readTemp(); // read temperature from sensor
+        
+    private:
+        byte data[6]; // 8-Bit pieces of axis data
+        I2C i2c; // i2c object to communicate
+        void writeReg(byte reg, byte value); // write one single register to sensor
+        byte readReg(byte reg); // read one single register from sensor
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo/Servo.cpp	Wed Sep 26 12:15:00 2012 +0000
@@ -0,0 +1,35 @@
+#include "Servo.h"
+#include "mbed.h"
+
+Servo::Servo(PinName Pin) : ServoPin(Pin) {
+    // initialize ESC
+    Enable(2000,20000);   // full throttle
+    wait(2);    // for 2 secs
+    SetPosition(1000);    // low throttle
+}
+
+void Servo::SetPosition(int Pos) {
+    Position = Pos;
+}
+
+void Servo::StartPulse() {
+    ServoPin = 1;
+    PulseStop.attach_us(this, &Servo::EndPulse, Position);
+}
+
+void Servo::EndPulse() {
+    ServoPin = 0;
+}
+
+void Servo::Enable(int StartPos, int Period) {
+    Position = StartPos;
+    Pulse.attach_us(this, &Servo::StartPulse, Period);
+}
+
+void Servo::Disable() {
+    Pulse.detach();
+}
+
+void Servo::operator=(int position) {
+    SetPosition(position);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo/Servo.h	Wed Sep 26 12:15:00 2012 +0000
@@ -0,0 +1,71 @@
+// based on http://mbed.org/users/jdenkers/code/Servo/
+
+#ifndef __SERVO_H
+#define __SERVO_H
+
+#include "mbed.h"
+
+/** Class to control a servo on any pin, without using pwm
+ *
+ * Example:
+ * @code
+ * // Keep sweeping servo from left to right
+ * #include "mbed.h"
+ * #include "Servo.h"
+ * 
+ * Servo Servo1(p20);
+ *
+ * Servo1.Enable(1500,20000);
+ *
+ * while(1) {
+ *     for (int pos = 1000; pos < 2000; pos += 25) {
+ *         Servo1.SetPosition(pos);  
+ *         wait_ms(20);
+ *     }
+ *     for (int pos = 2000; pos > 1000; pos -= 25) {
+ *         Servo1.SetPosition(pos); 
+ *         wait_ms(20); 
+ *     }
+ * }
+ * @endcode
+ */
+
+class Servo {
+
+public:
+    /** Create a new Servo object on any mbed pin
+     *
+     * @param Pin Pin on mbed to connect servo to
+     */
+    Servo(PinName Pin);
+    
+    /** Change the position of the servo. Position in us
+     *
+     * @param NewPos The new value of the servos position (us)
+     */
+    void SetPosition(int NewPos);
+    
+    /** Enable the servo. Without enabling the servo won't be running. Startposition and period both in us.
+     *
+     * @param StartPos The position of the servo to start (us) 
+     * @param Period The time between every pulse. 20000 us = 50 Hz(standard) (us)
+     */
+    void Enable(int StartPos, int Period);
+    
+    //Disable the servo. After disabling the servo won't get any signal anymore
+    void Disable();
+    
+    //operator for confortable positioning
+    void operator=(int position);
+
+private:
+    void StartPulse();
+    void EndPulse();
+
+    int Position;
+    DigitalOut ServoPin;
+    Ticker Pulse;
+    Timeout PulseStop;
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Sep 26 12:15:00 2012 +0000
@@ -0,0 +1,49 @@
+#include "mbed.h"
+#include "LCD.h" // Display
+#include "LED.h" // LEDs
+#include "L3G4200D.h" // Gyro
+#include "ADXL345.h" // Acc
+
+PinName kl[4] = {LED1, LED2, LED3, LED4};
+LED Led();
+TextLCD LCD(p5, p6, p7, p8, p9, p10, p11, TextLCD::LCD16x2); // RS, RW, E, D0, D1, D2, D3, Typ
+
+// Sensor initialisation
+Gyro Gyro(p28, p27);
+ADXL345 Acc(p28, p27);
+
+int main() {
+
+    LCD.printf("FlyBed v0.1");
+    
+    wait(2);
+    int j = -1;
+    int Gyro_data[3];
+    int Acc_data[3];
+    
+    Acc.setPowerControl(0x00);
+    Acc.setDataFormatControl(0x0B);
+    Acc.setDataRate(ADXL345_3200HZ);
+    Acc.setPowerControl(MeasurementMode);
+    
+    while(1) {
+        
+        Gyro.read(Gyro_data);
+        Acc.getOutput(Acc_data);
+        
+        //LCD.cls(); // Display löschen
+        LCD.locate(0,0);
+        LCD.printf("%d %d %d |%d   ", Gyro_data[0],Gyro_data[1],Gyro_data[2],Gyro.readTemp()); //roll(x) pitch(y) yaw(z)
+        LCD.locate(1,0);
+        //LCD.printf("%d|%d|%d %d", gmitt[0]/j,gmitt[1]/j,gmitt[2]/j,gyro.readTemp()); //roll pitch yaw
+        LCD.locate(1,0);
+        LCD.printf("%d %d %d       ", (int16_t)Acc_data[0],(int16_t)Acc_data[1],(int16_t)Acc_data[2]);
+        
+        j++;
+        
+        //Led[j%4] = !Led[j%4];
+        
+        wait(0.1);
+        
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Sep 26 12:15:00 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/cd19af002ccc
\ No newline at end of file