Diff: main.cpp

Revision:

1:b42c3522a50a

Parent:

0:d68e088dfbcd

Child:

2:0d90c0436797

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Sep 01 16:37:11 2016 +0000
@@ -0,0 +1,129 @@
+#include "mbed.h"
+#include "LSM9DS0_SH.h"
+#define pi 3.141592
+#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
+
+
+//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓GPIO registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
+//~~~structure~~~//
+DigitalOut  led(D13);           //detection
+DigitalOut  TT_ext(D12);
+
+//~~~SPI~~~//
+DigitalOut  SPI_CSG(D7,1);      //low for GYRO enable
+DigitalOut  SPI_CSXM(D6,1);     //low for ACC/MAG enable
+SPI spi(D4, D5, D3);            //MOSI MISO SCLK
+
+//~~~Serial~~~//
+Serial      pc(D1, D0);         //Serial reg(TX RX)
+//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of GPIO registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
+
+
+
+//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Varible registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
+//~~~globle~~~//
+Ticker  TT;                         //call a timer
+int     count = 0;                  //one second counter for extrenal led blink
+//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Varible registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
+
+
+
+//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Function registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
+void init_IO();             //initialize IO state
+void init_IMU();            //initialize IMU
+void init_TIMER();          //set TT_main() rate
+void TT_main();             //timebase function rated by TT
+//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Function registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
+
+
+
+//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓main funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
+int main()
+{
+    init_IO();                      //initialized value
+    init_IMU();                     //initialize IMU
+    init_TIMER();                   //start TT_main
+    pc.baud(115200);                //set baud rate
+
+    while(1) {                      //main() loop
+        if(count >= 200) {          //check if main working
+            count=0;
+            led = !led;
+        }
+    }
+
+}
+//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of main funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
+
+
+
+//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓init_IO funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
+void init_IO(void)                  //initialize
+{
+    TT_ext = 0;
+    led = 1;
+}
+//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of init_IO funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
+
+
+
+//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓init_IMU funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
+void init_IMU(void)                  //initialize
+{
+    SPI_CSXM = 1;                   //high as init for disable SPI
+    SPI_CSG = 1;
+    spi.format(8, 0);               //byte width, spi mode
+    spi.frequency(4000000);         //8MHz
+
+//for GYRO config
+    SPI_CSG = 0;                    //start spi talking
+    spi.write(CTRL_REG1_G);
+    spi.write(0x9F);                //data rate 380 Hz/ cut off 25 Hz
+    SPI_CSG = 1;                    //end spi talking
+
+    SPI_CSG = 0;                    //start spi talking
+    spi.write(CTRL_REG4_G);
+    spi.write(0x10);                //Scle 500dps
+    SPI_CSG = 1;                    //end spi talking
+
+//for ACC config
+    SPI_CSXM = 0;                   //start spi talking
+    spi.write(CTRL_REG1_XM);
+    spi.write(0x87);                //data rate 400 Hz/ Enable
+    SPI_CSXM = 1;                   //end spi talking
+
+    SPI_CSXM = 0;                   //start spi talking
+    spi.write(CTRL_REG2_XM);
+    spi.write(0xC0);                //cut off 50 Hz/ Scale +-2g
+    SPI_CSXM = 1;                   //end spi talking
+
+}
+//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of init_IMU funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
+
+
+
+//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Timebase funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
+void init_TIMER()                   //set TT_main{} rate
+{
+    TT.attach_us(&TT_main, 5000);
+}
+void TT_main()                      //interrupt function by TT
+{
+    TT_ext = !TT_ext;               //indicate TT_main() function working
+    count = count+1;                //one second counter
+
+    SPI_CSG = 0;                    //start spi talking
+    spi.write(0x8f);                //read WHO_AM_I_G   0x0f | B1000 0000
+    int temp = spi.write(0);
+    SPI_CSG = 1;                    //end spi talking
+
+
+    SPI_CSXM = 0;                   //start spi talking
+    spi.write(0x8f);                //read WHO_AM_I_XM  0x0f | B1000 0000
+    int temp2 = spi.write(0);
+    SPI_CSXM = 1;                   //end spi talking
+
+    pc.printf("who_am_I_G:%d\t", temp);
+    pc.printf("who_am_I_XM:%d\n", temp2);
+}
+//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Timebase funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
\ No newline at end of file