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6 years, 7 months ago.
help me to combine this KNN using nRF51822_ADXL345 data
Hello world..
I have implement KNN and my own nRF51822_ADXL345 program. that's not like what I wonder.. the program failure mixing nRF51822 code and KNN code. So the prediction scramble like this one..
how to mix the good code for sort of step, acc, vel, dist and prediction in 1 row at serial monitor.. please help me to fix it..
this is my mbed program https://os.mbed.com/users/asyrofi/code/nRF51_ADXL345_UART/
nRF51822_adxl345_knn_failure
#include "mbed.h"
#include "ADXL345_I2C.h"
#include "ble/BLE.h"
#include "ble/services/UARTService.h"
#include "Serial.h"
#include <math.h>
#include <stdlib.h>
#define MAX 20
#define k 4
#define NEED_CONSOLE_OUTPUT 1 /* Set this if you need debug messages on the console;
* it will have an impact on code-size and power consumption. */
#if NEED_CONSOLE_OUTPUT
#define DEBUG(...) { printf(__VA_ARGS__); }
#else
#define DEBUG(...) /* nothing */
#endif /* #if NEED_CONSOLE_OUTPUT */
ADXL345_I2C accelerometer(p30, p7);
BLEDevice ble;
DigitalOut led1(LED1);
Serial uart1(USBTX,USBRX);
UARTService *uartServicePtr;
void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
{
DEBUG("Disconnected!\n\r");
DEBUG("Restarting the advertising process\n\r");
ble.startAdvertising();
}
void connectionCallback(const Gap::ConnectionCallbackParams_t *params) {
DEBUG("Connected!\n\r");
}
uint8_t b[40]={'a','d','q','w'};
void onDataWritten(const GattWriteCallbackParams *params)
{
if ((uartServicePtr != NULL) && (params->handle == uartServicePtr->getTXCharacteristicHandle())) {
uint16_t bytesRead = params->len;
DEBUG("received %u bytes %s\n\r", bytesRead,params->data);
}
}
void periodicCallback(void)
{
led1 = !led1;
}
int threshold =6.8;
int xval[10]={0};
int yval[10]={0};
int zval[10]={0};
using namespace std;
enum category{STANDING,CLIMBING,WALKING};
class data{
int x,y;
category cat;
public:
void setd(int a,int b,category c){
x=a;
y=b;
cat=c;
}
int getx(){return x;}
int gety(){return y;}
category getcat(){
return cat;
}
};//end of class
int dis(data d1,data d2)
{
return sqrt(pow(((double)d2.getx()-(double)d1.getx()),2.0)+pow(((double)d2.gety()-(double)d1.gety()),2.0));
}
int main()
{
uart1.baud(9600);
int readings[3] = {0, 0, 0};
char buffer [20];
//inisiliasi
int steps=0;
int flag=0;
int acc=0;
int totvect [20] = {0};
int totave [20] = {0};
int totvel [20] = {0};
int totdist [20] = {0};
//float sum1, sum2, sum3 = 0
int xaccl[20];
int yaccl[20];
int zaccl[20];
// Test Daata
memset(&buffer, 0, sizeof(buffer));
int16_t reading_1= 0;
int16_t reading_2= 0;
int16_t reading_3= 0;
int16_t avg_1= 0;
int16_t avg_2= 0;
int16_t avg_3= 0;
snprintf(buffer, 20, "data: %d,%d,%d,%d,%d,%d\n",(int16_t)reading_1,(int16_t)reading_2,(int16_t)reading_3,(int16_t)avg_1,(int16_t)avg_2,(int16_t)avg_3);
int p,q; //input
int a[MAX]; //store distances
int b[k]; //to get min distances, used in calc
int c[k]; //to store freq
led1 = 1;
uart1.baud(9600);
Ticker ticker;
ticker.attach(periodicCallback, 1);
DEBUG("Initialising the nRF51822\n\r");
ble.init();
ble.onDisconnection(disconnectionCallback);
ble.onConnection(connectionCallback);
ble.onDataWritten(onDataWritten);
/* setup advertising */
ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
(const uint8_t *)"BLE UART", sizeof("BLE UART") - 1);
ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
(const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
ble.setAdvertisingInterval(1000); /* 1000ms; in multiples of 0.625ms. */
ble.startAdvertising();
UARTService uartService(ble);
uartServicePtr = &uartService;
uart1.printf("Starting ADXL345 test...\n");
wait(0.1);
uart1.printf("Device ID is: 0x%02x\n", accelerometer.getDeviceID());
wait(0.1);
//Go into standby mode to configure the device.
accelerometer.setPowerControl(0x00);
//Full resolution, +/-16g, 4mg/LSB.
accelerometer.setDataFormatControl(0x0B);
//3.2kHz data rate.
accelerometer.setDataRate(ADXL345_3200HZ);
//Measurement mode.
accelerometer.setPowerControl(0x08);
while (1)
{
ble.waitForEvent();
wait(0.1);
accelerometer.getOutput(readings);
/*uart1.printf("\n%i, %i, %i\n", (int16_t)readings[0], (int16_t)readings[1], (int16_t)readings[2]);
memset(&buffer, 0, sizeof(buffer));
snprintf(buffer, 20, "data: %d,%d,%d\n\n", (int16_t)readings[0],(int16_t)readings[1],(int16_t)readings[0]);
ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);*/
//float x,y,z
for (int i=0; i<10; i++)
{
xaccl[i]=(readings[0]);
wait(0.1);
yaccl[i]=(readings[1]);
wait(0.1);
zaccl[i]=(readings[2]);
wait(0.1);
//formula
totvect[i] = sqrt(pow((double)xaccl[i],2.0)+pow((double)yaccl[i],2.0)+pow((double)zaccl[i],2.0));
wait(0.3);
totave[i] = ((double)totvect[i]+(double)totvect[i-1])/2.0 ;
wait(0.3);
acc=acc+totave[i];
wait(0.3);
totvel[i]=(1*((double)totave[i]-(double)totave[i-1]/2.0)+totvel[i-1]);
wait(0.3);
totdist[i]=(1*((double)totvel[i]-(double)totvel[i-1]/2.0)+totdist[i-1]);
//cal steps
if (totave[i] > threshold && flag==0)
{
steps = steps+1;
flag=1;
}
else if (totave[i] > threshold && flag == 1)
{
// do nothing
}
if (totave[i] < threshold && flag == 1)
{flag=0;}
uart1.printf("\nsteps:%i", (int16_t)steps);
memset(&buffer, 0, sizeof(buffer));
snprintf(buffer, 20, "\n%d\t", (int16_t)steps);
ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);
uart1.printf("\tacc:%i", (int16_t)totave[i]);
memset(&buffer, 0, sizeof(buffer));
snprintf(buffer, 20, "\t%d", (int16_t)totave[i]);
ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);
uart1.printf("\tvel:%i", (int16_t)totvel[i]);
memset(&buffer, 0, sizeof(buffer));
snprintf(buffer, 20, "\t%d", (int16_t)totvel[i]);
ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);
uart1.printf("\tdist:%i", (int16_t)totdist[i]);
memset(&buffer, 0, sizeof(buffer));
snprintf(buffer, 20, "\t%d\n", (int16_t)totdist[i]);
ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);
}
do{
wait(0.1);
for(int i=0;i<k;i++)
{ //initiLIZATION
b[i]=-1;
c[i]=0;
}
int min=1000;
p = (readings[0]);
q = (readings[1]);
//uart1.scanf("%ld,%ld",&p,&q);
if((p < 0) | (q < 0))
exit(0);
data n; //data point to classify
n.setd(p,q,STANDING);
data d[MAX]; //training set
d[0].setd(1,1,STANDING);
d[1].setd(1,2,STANDING);
d[2].setd(1,3,STANDING);
d[3].setd(1,4,STANDING);
d[4].setd(1,5,STANDING);
d[5].setd(1,6,STANDING);
d[6].setd(1,7,STANDING);
d[7].setd(2,1,STANDING);
d[8].setd(2,2,STANDING);
d[9].setd(2,3,WALKING);
d[10].setd(2,4,WALKING);
d[11].setd(2,5,WALKING);
d[12].setd(2,6,WALKING);
d[13].setd(2,7,WALKING);
d[14].setd(5,1,CLIMBING);
d[15].setd(5,2,CLIMBING);
d[16].setd(5,3,CLIMBING);
d[17].setd(5,4,CLIMBING);
d[18].setd(5,5,CLIMBING);
d[19].setd(5,6,CLIMBING);
for(int i=0;i<20;i++){
a[i]=dis(n,d[i]);
//uart1.printf("\t\t %d\n", a[i]);
}
//k-nearest neighbours calculation i.e smallest k distances
for(int j=0;j<k;j++)
{
min=1000;
for(int i=0;i<20;i++)
{
if(i!=b[0]&&i!=b[1]&&i!=b[2])
{
if((a[i]<=min))
{
min=a[i];
b[j]=i;
}
}
}
//uart1.printf("%d\n",min);
}
//counting frequency of a class in each neighbour
for(int i=0;i<k;i++)
{
switch (d[b[i]].getcat())
{
case STANDING:
c[0]++;
break;
case WALKING:
c[2]++;
break;
case CLIMBING:
c[1]++;
break;
}
} //counting max frequency
int max=-1,j;
for(int i=0;i<k;i++)
{
if(c[i]>max){
max=c[i];
j=i;
}
}
wait(0.1);
printf("Prediction is:");
switch (j)
{
case 0:
uart1.printf("STANDING\n");
break;
case 1:
uart1.printf("CLIMBING\n");
break;
case 2:
uart1.printf("WALKING\n");
break;
}
}while(true);
}
}
please soon help me.. best regards..
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