141 lines
3.2 KiB
C++
141 lines
3.2 KiB
C++
#include <Wire.h>
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#define lim 512
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#define DEVICE 0x53 //ADXL345 device address
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#define TO_READ 6 //num of bytes we are going to read each time (two bytes for each axis)
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int lecturas = 1;
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byte buff[TO_READ] ; //6 bytes buffer for saving data read from the device
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char str[512]; //string buffer to transform data before writeing it to the serial port
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int regAddress = 0x32; //first axis-acceleration-data register on the ADXL345
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long int x=0;
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long int y=0;
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long int z=0;
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int x_old=0;
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int y_old=0;
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int z_old=0;
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uint32_t lastSend = 0;
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void setup()
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{
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Serial.begin(9600);
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Wire.begin(); // join i2c bus (address optional for master)
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writeTo(DEVICE, 0x2D, 0x08);
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// writeTo(DEVICE, 0x31, 0x00); //2g
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// writeTo(DEVICE, 0x31, 0x01); //4g
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writeTo(DEVICE, 0x31, 0x02); //8g
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// writeTo(DEVICE, 0x31, 0x03); //16g
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delay(15);
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}
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void loop()
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{
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checkAdxl();
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Serial.print("x= ");
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Serial.print(x);
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Serial.print(", ");
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Serial.print("y= ");
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Serial.print(y);
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Serial.print(", ");
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Serial.print("z= ");
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Serial.println(z);
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delay(100);
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}
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void checkAdxl()
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{
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byte res = 0;
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averageADXL();
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if ( (x > (x_old + res) ) || (x < (x_old - res) ) )
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{
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x_old = x;
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}
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if ( (y > (y_old + res) ) || (y < (y_old - res) ) )
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{
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y_old = y;
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}
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if ( (z > (z_old + res) ) || (z < (z_old - res) ) )
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{
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z_old = z;
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}
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}
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int average(int anaPin)
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{
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long total = 0;
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long average = 0;
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int count = 0;
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for(int i=0; i<lecturas; i++)
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{
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total = total + analogRead(anaPin);
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}
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average = total / lecturas;
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return(average);
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}
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int averageADXL()
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{
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int temp_x=0;
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int temp_y=0;
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int temp_z=0;
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x=0;
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y=0;
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z=0;
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for(int i=0; i<lecturas; i++)
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{
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readFrom(DEVICE, regAddress, TO_READ, buff); //read the acceleration data from the ADXL345
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temp_x = (((int)buff[1]) << 8) | buff[0];
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temp_x = map(temp_x,-lim,lim,0,1023);
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temp_y = (((int)buff[3])<< 8) | buff[2];
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temp_y = map(temp_y,-lim,lim,0,1023);
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temp_z = (((int)buff[5]) << 8) | buff[4];
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temp_z = map(temp_z,-lim,lim,0,1023);
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x = (int)(temp_x + x);
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y = (int)(temp_y + y);
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z = (int)(temp_z + z);
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}
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x = (int)(x / lecturas);
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y = (int)(y / lecturas);
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z = (int)(z / lecturas);
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}
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//---------------- Functions
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//Writes val to address register on device
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void writeTo(int device, byte address, byte val) {
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Wire.beginTransmission(device); //start transmission to device
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Wire.write(address); // write register address
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Wire.write(val); // write value to write
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Wire.endTransmission(); //end transmission
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}
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//reads num bytes starting from address register on device in to buff array
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void readFrom(int device, byte address, int num, byte buff[]) {
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Wire.beginTransmission(device); //start transmission to device
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Wire.write(address); //writes address to read from
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Wire.endTransmission(); //end transmission
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Wire.beginTransmission(device); //start transmission to device
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Wire.requestFrom(device, num); // request 6 bytes from device
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int i = 0;
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while(Wire.available()) //device may write less than requested (abnormal)
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{
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buff[i] = Wire.read(); // read a byte
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i++;
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}
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Wire.endTransmission(); //end transmission
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}
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