Revision 2:93f703d2c4d7, committed 2012-10-02
- Comitter:
- maetugr
- Date:
- Tue Oct 02 17:53:40 2012 +0000
- Parent:
- 1:5a64632b1eb9
- Child:
- 3:a97f1d874f4e
- Commit message:
- erstes experiment mit funktionierendem filter (nur eine Achse und noch nicht optimal)
Changed in this revision
--- a/LCD/LCD.h Fri Sep 28 13:24:03 2012 +0000
+++ b/LCD/LCD.h Tue Oct 02 17:53:40 2012 +0000
@@ -2,8 +2,8 @@
* Copyright (c) 2007-2010, hb9gaa
*/
-#ifndef __LCD_H
-#define __LCD_H
+#ifndef LCD_H
+#define LCD_H
#include "mbed.h"
--- a/LED/LED.h Fri Sep 28 13:24:03 2012 +0000
+++ b/LED/LED.h Tue Oct 02 17:53:40 2012 +0000
@@ -1,7 +1,7 @@
// by MaEtUgR
-#ifndef __LED_H
-#define __LED_H
+#ifndef LED_H
+#define LED_H
#include "mbed.h"
--- a/Sensors/Acc/ADXL345.cpp Fri Sep 28 13:24:03 2012 +0000
+++ b/Sensors/Acc/ADXL345.cpp Tue Oct 02 17:53:40 2012 +0000
@@ -1,379 +1,86 @@
-#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);
-
- // MY INITIALISATION -------------------------------------------------------
-
- setPowerControl(0x00);
- setDataFormatControl(0x0B);
- setDataRate(ADXL345_3200HZ);
- setPowerControl(MeasurementMode);
-}
-
-
-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);
-
-}
-
-
-
-
+#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;
+ x[1] = 0x00;
+ i2c.write( ADXL345_WRITE , x, 2);
+ char y[2];
+ y[0] = ADXL345_OFSY_REG ;
+ //y[1] = 0x03;
+ y[1] = 0x00;
+ i2c.write( ADXL345_WRITE , y, 2);
+ char z[2];
+ z[0] = ADXL345_OFSZ_REG ;
+ //z[1] = 0xFE;
+ z[1] = 0x00;
+ i2c.write( ADXL345_WRITE , z, 2);
+
+ // MY INITIALISATION -------------------------------------------------------
+
+ writeReg(ADXL345_POWER_CTL_REG, 0x00); // set power control
+ writeReg(ADXL345_DATA_FORMAT_REG, 0x0B); // set data format
+ setDataRate(ADXL345_3200HZ); // set data rate
+ writeReg(ADXL345_POWER_CTL_REG, 0x08); // set mode
+}
+
+void ADXL345::read(int a[3]){
+ char buffer[6];
+ readMultiReg(ADXL345_DATAX0_REG, buffer, 6);
+
+ a[0] = (short) ((int)buffer[1] << 8 | (int)buffer[0]);
+ a[1] = (short) ((int)buffer[3] << 8 | (int)buffer[2]);
+ a[2] = (short) ((int)buffer[5] << 8 | (int)buffer[4]);
+}
+
+int ADXL345::writeReg(char address, char data){
+ int ack = 0;
+ char tx[2];
+ tx[0] = address;
+ tx[1] = data;
+ return ack | i2c.write(ADXL345_WRITE, tx, 2);
+}
+
+char ADXL345::readReg(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;
+}
+
+void ADXL345::readMultiReg(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::setDataRate(char rate) {
+ //Get the current register contents, so we don't clobber the power bit.
+ char registerContents = readReg(ADXL345_BW_RATE_REG);
+
+ registerContents &= 0x10;
+ registerContents |= rate;
+
+ return writeReg(ADXL345_BW_RATE_REG, registerContents);
+}
\ No newline at end of file
--- a/Sensors/Acc/ADXL345.h Fri Sep 28 13:24:03 2012 +0000
+++ b/Sensors/Acc/ADXL345.h Tue Oct 02 17:53:40 2012 +0000
@@ -1,530 +1,84 @@
-// 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
+// based on http://mbed.org/users/Digixx/code/ADXL345/
+
+#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
+
+typedef char byte;
+
+class ADXL345
+{
+ public:
+ ADXL345(PinName sda, PinName scl); // constructor, uses i2c
+ void read(int a[3]); // read all axis to array
+
+
+ private:
+ I2C i2c; // i2c object to communicate
+ int writeReg(byte reg, byte value); // write one single register to sensor
+ byte readReg(byte reg); // read one single register from sensor
+ void readMultiReg(char startAddress, char* ptr_output, int size); // read multiple regs
+ int setDataRate(char rate); // data rate configuration (not only a reg to write)
+};
+
+#endif
--- a/Sensors/Gyro/L3G4200D.cpp Fri Sep 28 13:24:03 2012 +0000
+++ b/Sensors/Gyro/L3G4200D.cpp Tue Oct 02 17:53:40 2012 +0000
@@ -5,17 +5,17 @@
#define L3G4200D_I2C_ADDRESS 0xD0
-L3G4200D::L3G4200D(PinName sda, PinName scl):
- i2c(sda, scl)
+L3G4200D::L3G4200D(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_REG2, 0x05); // control filter
+ writeReg(L3G4200D_CTRL_REG2, 0x00); // highpass filter disabled
writeReg(L3G4200D_CTRL_REG3, 0x00);
- writeReg(L3G4200D_CTRL_REG4, 0x20); // Genauigkeit 2000 dps
+ writeReg(L3G4200D_CTRL_REG4, 0x20); // acuracy 2000 dps
writeReg(L3G4200D_REFERENCE, 0x00);
//writeReg(L3G4200D_STATUS_REG, 0x0F);
@@ -26,18 +26,39 @@
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_REG5, 0x12); // Filter einschalten
+ //writeReg(L3G4200D_CTRL_REG5, 0x01); // hochpass Filter einschalten
+ writeReg(L3G4200D_CTRL_REG5, 0x00); // Filter ausschalten
writeReg(L3G4200D_CTRL_REG1, 0x0F); // Gogo
+
+ // calibrate gyro with an average of count samples (result to offset)
+ #define count 50
+ for (int j = 0; j < 3; j++)
+ offset[j] = 0;
+
+ float Gyro_calib[3] = {0,0,0}; // temporary to sum up
+ float Gyro_data[3];
+
+ for (int i = 0; i < count; i++) {
+ read(Gyro_data);
+ for (int j = 0; j < 3; j++)
+ Gyro_calib[j] += Gyro_data[j];
+ wait(0.001); // maybe less or no wait !!
+ }
+
+ for (int j = 0; j < 3; j++)
+ offset[j] = Gyro_calib[j]/count;
}
// Writes a gyro register
void L3G4200D::writeReg(byte reg, byte value)
{
- data[0] = reg;
- data[1] = value;
+ byte buffer[2];
+ buffer[0] = reg;
+ buffer[1] = value;
- i2c.write(L3G4200D_I2C_ADDRESS, data, 2);
+ i2c.write(L3G4200D_I2C_ADDRESS, buffer, 2);
}
// Reads a gyro register
@@ -52,28 +73,33 @@
}
// Reads the 3 gyro channels and stores them in vector g
-void L3G4200D::read(int g[3])
+void L3G4200D::read(float g[3])
{
+ byte buffer[6]; // 8-Bit pieces of axis data
// 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);
+ buffer[0] = L3G4200D_OUT_X_L | (1 << 7);
+ i2c.write(L3G4200D_I2C_ADDRESS, buffer, 1);
// Wire.requestFrom(GYR_ADDRESS, 6);
// while (Wire.available() < 6);
- i2c.read(L3G4200D_I2C_ADDRESS, data, 6);
+ i2c.read(L3G4200D_I2C_ADDRESS, buffer, 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];
+ uint8_t xla = buffer[0];
+ uint8_t xha = buffer[1];
+ uint8_t yla = buffer[2];
+ uint8_t yha = buffer[3];
+ uint8_t zla = buffer[4];
+ uint8_t zha = buffer[5];
g[0] = (short) (xha << 8 | xla);
g[1] = (short) (yha << 8 | yla);
g[2] = (short) (zha << 8 | zla);
+
+ //with offset of calibration
+ for (int j = 0; j < 3; j++)
+ g[j] -= offset[j];
}
// Reads the gyros Temperature
--- a/Sensors/Gyro/L3G4200D.h Fri Sep 28 13:24:03 2012 +0000
+++ b/Sensors/Gyro/L3G4200D.h Tue Oct 02 17:53:40 2012 +0000
@@ -1,7 +1,7 @@
// based on http://mbed.org/users/shimniok/code/L3G4200D/
-#ifndef __L3G4200D_H
-#define __L3G4200D_H
+#ifndef L3G4200D_H
+#define L3G4200D_H
#include "mbed.h"
@@ -43,11 +43,11 @@
{
public:
L3G4200D(PinName sda, PinName scl); // constructor, uses i2c
- void read(int g[3]); // read all axis to array
+ void read(float g[3]); // read all axis to array
int readTemp(); // read temperature from sensor
private:
- byte data[6]; // 8-Bit pieces of axis data
+ float offset[3]; // offset that's subtracted from every measurement
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
--- a/main.cpp Fri Sep 28 13:24:03 2012 +0000
+++ b/main.cpp Tue Oct 02 17:53:40 2012 +0000
@@ -12,33 +12,84 @@
ADXL345 Acc(p28, p27);
Servo Motor(p12);
+Timer GlobalTimer;
+
+#define PI 3.1415926535897932384626433832795
+#define Rad2Deg 57.295779513082320876798154814105
+
int main() {
// LCD/LED init
LCD.cls(); // Display löschen
- LCD.printf("FlyBed v0.1");
+ LCD.printf("FlyBed v0.2");
LEDs.roll(2);
//LEDs = 15;
- int Gyro_data[3];
+ float Gyro_data[3];
int Acc_data[3];
+ int Gyro_angle[3] = {0,0,0};
+ unsigned long dt = 0;
+ unsigned long time_loop = 0;
+ Motor.initialize();
+
+ float angle = 0;//TEMP
+ int j = 0;
+ //float drift = 0;
+ GlobalTimer.start();
while(1) {
+ j++;
Gyro.read(Gyro_data);
- Acc.getOutput(Acc_data);
+ Acc.read(Acc_data);
+
+ // Acc data angle
+ float Acc_abs = sqrt(pow((float)Acc_data[0],2) + pow((float)Acc_data[1],2) + pow((float)Acc_data[2],2));
+ //float Acc_angle = Rad2Deg * acos((float)Acc_data[2]/Acc_abs);
+ float Acc_angle = 0.9 * Rad2Deg * atan((float)Acc_data[1]/(float)Acc_data[2]);
+
+ //angle = (0.98)*(angle + Gyro_data[0] * 0.1) + (0.02)*(Acc_angle);
+
+ /*float messfrequenz = 10;
+ float geschwindigkeit = Gyro_data[0] - drift;
+ drift += (geschwindigkeit * messfrequenz * 0.3);
+ angle += (geschwindigkeit * messfrequenz);
+ angle += ((Acc_angle - angle) * messfrequenz * 0.1);*/
+
+ //for (int i= 0; i < 3;i++)
+ //drift[i] += (Gyro_data[i]-drift[i])* 0.1;
+
+ //for (int i= 0; i < 3;i++)
+ //Gyro_angle[i] += (Gyro_data[i]/*-drift[i]*/);
+
+ //dt berechnen
+ dt = GlobalTimer.read_us() - time_loop;
+ time_loop = GlobalTimer.read_us();
+
+ angle += (Acc_angle - angle)/30 + Gyro_data[0] * 0.01;
+ //Gyro_angle[0] += (Gyro_data[0]) * 0.01;
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.printf(" |%2.1f ",Acc_angle); //roll(x) pitch(y) yaw(z)
LCD.locate(1,0);
- LCD.printf("%d %d %d %d ", (int16_t)Acc_data[0],(int16_t)Acc_data[1],(int16_t)Acc_data[2], 1000 + abs((int16_t)Acc_data[1]));
+ //LCD.printf("%d %d %d %2.1f ", Acc_data[0],Acc_data[1],Acc_data[2], Acc_angle);
+ LCD.printf("%d %d %2.4f %2.1f ", Gyro_angle[0],Gyro_angle[1],dt/10000000.0, angle);
+
+ Motor = 1000 + abs(Acc_data[1]); // Motorwert anpassen
- if(abs((int16_t)Acc_data[0]) > 200)
- Motor.initialize();
+ //LED hin und her
+ int ledset = 0;
+ if (Acc_angle < 0)
+ ledset += 1;
+ else
+ ledset += 8;
+ if (angle < 0)
+ ledset += 2;
+ else
+ ledset += 4;
+
+ LEDs = ledset;
- Motor = 1000 + abs((int16_t)Acc_data[1]); // Motorwert anpassen
-
- LEDs.rollnext();
+ //LEDs.rollnext();
wait(0.1);
-
}
}
Matthias Grob
