Create sensors-spi.c

sensors-spi.c

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+/*
+ * sensors-spi.c
+ *
+ * Created: 2017-07-31
+ * Author : Craig Hollinger
+ *
+ * This is an example program that uses the I2C bus to read data from sensors
+ * and display it on an SPI OLED display.  The sensors are an accelerometer,
+ * a gyroscope and a magnetometer.  Each sensor has three axes of data and 
+ * communicates on the I2C bus.  The OLED display communicates on the SPI bus.
+ *
+ * The I2C lines are connected as follows:
+ *    SCL - Arduino A5 (ATMEGA PORTC5)
+ *    SDA - Arduino A4 (ATMEGA PORTC4)
+ *
+ * The SPI lines are connected as follows:
+ *    SCK  - Arduino 13 (ATMEGA PORTB5)
+ *    MOSI - Arduino 11 (ATMEGA PORTB3)
+ *    CE   - Arduino 10 (ATMEGA PORTB2)
+ *    DC   - Arduino 9 (ATMEGA PORTB1)
+ *
+ * This file is free software; you can redistribute it and/or modify it under
+ * the terms of either the GNU General Public License version 3 or the GNU
+ * Lesser General Public License version 3, both as published by the Free
+ * Software Foundation.
+ */ 
+
+#include <avr/io.h>
+#include <stdlib.h>
+#include "i2c/i2c.h"
+#include "spi/spi.h"
+#include "adxl345/adxl345.h"
+#include "hmc5883/hmc5883.h"
+#include "itg3205/itg3205.h"
+#include "graphics/graphics.h"
+#include "ssd1306/ssd1306_spi.h"
+
+/* These define the string formatting for the itoa() function. */
+#define HEX_FORMAT 16
+#define DEC_FORMAT 10
+#define OCT_FORMAT 8
+
+int main(void)
+{
+/* temporary storage for raw data read from a sensor, two bytes per axis  */
+  uint8_t sensorBuf[6];
+
+/* temporary storage for a formatted string from itoa() */
+  char tempStr[8];
+
+/* temporary storage for 16-bit raw sensor data */
+  int16_t sensorXData, sensorYData, sensorZData;
+
+/* initialize the I2C bus for the sensors */
+  i2c_init(400000UL);
+
+/* initialize the SPI bus for the display */
+  spi_init((SPI_SPCR_SPE | SPI_SPCR_DORD_MSB | SPI_SPCR_MSTR | SPI_SPCR_MODE3 | SPI_SPCR_DIV2), SPI_SPSR_SPI2X);
+
+/* Initialize the accelerometer.
+   
+    power it up
+    set data format to full resolution and +/-16g
+    set data rate to 12.5Hz
+ */
+  adxl345_setDataFormat(ADXL_DATA_FORMAT_FULL_RES | ADXL_DATA_FORMAT_RANGE_02);
+  adxl345_setBWRate(ADXL_BW_RATE_0012);
+  adxl345_setPowerControl(ADXL_POWER_CTL_MEASURE);
+
+/* Initialize the gyroscope.
+ */
+  itg3205_setPowerMgmt(ITG3205_PWR_MGMT_RESET|ITG3205_PWR_MGMT_PLLZ);
+  itg3205_setSampleRate(ITG3205_FS_SEL|ITG3205_DLPF_20HZ);
+
+/* Initialize the magnetometer.
+   
+    average = 1, data rate = 15Hz
+    gain = 1.3 Ga
+    speed = normal, mode = continuous
+ */
+  hmc5883_init(HMC5883_AVRG_1|HMC5883_DORT_1500|HMC5883_MESC_NORM,
+               HMC5883_GAIN_092,
+               HMC5883_MODE_NS|HMC5883_MODE_CONT);
+
+/* Initialize the display.
+   Setup the display in graphics mode.
+ */
+  ssd1306_spi_init(&PORTB, PORTB2, &PORTB, PORTB1);
+  ssd1306_spi_flip_vertical();
+  graphics_init(SSD1306_GRAPHICS_MAX_X, SSD1306_GRAPHICS_MAX_Y);
+  graphics_set_text_size(2);
+  graphics_set_rotation(GRAPHICS_ROTATION_0);
+
+/* Draw the labels on the screen. */
+  graphics_draw_filled_rectangle(0, 0, 127, 20);
+  graphics_set_cursor(21, 2);
+  graphics_putStr("SENSORS");
+  graphics_set_text_size(1);
+  graphics_set_cursor(0, 27);
+  graphics_putStr("Acc:");
+  graphics_set_cursor(0, 37);
+  graphics_putStr("Gyr:");
+  graphics_set_cursor(0, 47);
+  graphics_putStr("Mag:");
+  ssd1306_spi_graphics_update();
+
+/* Repeatedly read the sensors and send the data to the display. */
+  while(1) 
+  {
+  /* Read the accelerometer, format and display the data. */
+    adxl345_getAccelData(sensorBuf);
+    sensorXData = (int16_t)sensorBuf[1] << 8;
+    sensorXData += (int16_t)sensorBuf[0];
+    sensorYData = (int16_t)sensorBuf[3] << 8;
+    sensorYData += (int16_t)sensorBuf[2];
+    sensorZData = (int16_t)sensorBuf[5] << 8;
+    sensorZData += (int16_t)sensorBuf[4];
+
+    graphics_set_cursor(28, 27);
+    itoa(sensorXData, tempStr, HEX_FORMAT);
+    graphics_putStr(tempStr);
+
+    graphics_set_cursor(64, 27);
+    itoa(sensorYData, tempStr, HEX_FORMAT);
+    graphics_putStr(tempStr);
+
+    graphics_set_cursor(100, 27);
+    itoa(sensorZData, tempStr, HEX_FORMAT);
+    graphics_putStr(tempStr);
+
+  /* Read the gyroscope, format and display the data. */
+    itg3205_getGyroData(sensorBuf);
+    sensorXData = (int16_t)sensorBuf[1] << 8;
+    sensorXData += (int16_t)sensorBuf[0];
+    sensorYData = (int16_t)sensorBuf[3] << 8;
+    sensorYData += (int16_t)sensorBuf[2];
+    sensorZData = (int16_t)sensorBuf[5] << 8;
+    sensorZData += (int16_t)sensorBuf[4];
+
+    graphics_set_cursor(28, 37);
+    itoa(sensorXData, tempStr, HEX_FORMAT);
+    graphics_putStr(tempStr);
+
+    graphics_set_cursor(64, 37);
+    itoa(sensorYData, tempStr, HEX_FORMAT);
+    graphics_putStr(tempStr);
+
+    graphics_set_cursor(100, 37);
+    itoa(sensorZData, tempStr, HEX_FORMAT);
+    graphics_putStr(tempStr);
+
+  /* Read the magnetometer, format and display the data.  The data for each axis
+     is read MSB first. */
+    hmc5883_getMagData(sensorBuf);
+    sensorXData = (int16_t)sensorBuf[0] << 8;
+    sensorXData += (int16_t)sensorBuf[1];
+    sensorYData = (int16_t)sensorBuf[2] << 8;
+    sensorYData += (int16_t)sensorBuf[3];
+    sensorZData = (int16_t)sensorBuf[4] << 8;
+    sensorZData += (int16_t)sensorBuf[5];
+
+    graphics_set_cursor(28, 47);
+    itoa(sensorXData, tempStr, HEX_FORMAT);
+    graphics_putStr(tempStr);
+
+    graphics_set_cursor(64, 47);
+    itoa(sensorYData, tempStr, HEX_FORMAT);
+    graphics_putStr(tempStr);
+
+    graphics_set_cursor(100, 47);
+    itoa(sensorZData, tempStr, HEX_FORMAT);
+    graphics_putStr(tempStr);
+
+  /* everything is written to the graphics RAM, now send it to the display */
+    ssd1306_spi_graphics_update();
+
+  }/* end while(1) */
+
+}/* end main() */
+