La Suno / Mbed 2 deprecated afero_poc15_180223

Color sensor reset at the end of calibration added. sensor id auto assignment was changed to be a fixed value assignment to avoid sensor id shift when some sensor is absent.

Dependencies:   UniGraphic mbed vt100

edge_sensor/edge_accel.cpp@1:8818b793d147, 2018-02-23 (annotated)

Committer:
Rhyme
Date:
Fri Feb 23 07:51:55 2018 +0000
Revision:
1:8818b793d147
Parent:
0:ce97f6d34336 
Wrong behavior when one of color sensor is missing has been fixed.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Rhyme 0:ce97f6d34336 1 #include "mbed.h"
Rhyme 0:ce97f6d34336 2 #include "afLib.h"
Rhyme 0:ce97f6d34336 3 #include "edge_reset_mgr.h"
Rhyme 0:ce97f6d34336 4 #include "edge_sensor.h"
Rhyme 0:ce97f6d34336 5 #include "edge_accel.h"
Rhyme 0:ce97f6d34336 6 #include "MMA8451Q.h"
Rhyme 0:ce97f6d34336 7
Rhyme 0:ce97f6d34336 8 edge_accel::edge_accel(MMA8451Q *accel) : edge_sensor()
Rhyme 0:ce97f6d34336 9 {
Rhyme 0:ce97f6d34336 10 _accel = accel ;
Rhyme 0:ce97f6d34336 11 _sample_count = 0 ;
Rhyme 0:ce97f6d34336 12 _accumulation = 0 ;
Rhyme 0:ce97f6d34336 13 _prev_x = 0 ;
Rhyme 0:ce97f6d34336 14 _prev_y = 0 ;
Rhyme 0:ce97f6d34336 15 _prev_z = 0 ;
Rhyme 0:ce97f6d34336 16
Rhyme 0:ce97f6d34336 17 _interval = 30 ;
Rhyme 0:ce97f6d34336 18 }
Rhyme 0:ce97f6d34336 19
Rhyme 0:ce97f6d34336 20 edge_accel::~edge_accel(void)
Rhyme 0:ce97f6d34336 21 {
Rhyme 0:ce97f6d34336 22 delete _accel ;
Rhyme 0:ce97f6d34336 23 }
Rhyme 0:ce97f6d34336 24
Rhyme 0:ce97f6d34336 25 void edge_accel::reset(void)
Rhyme 0:ce97f6d34336 26 {
Rhyme 0:ce97f6d34336 27 clear_value() ;
Rhyme 0:ce97f6d34336 28 edge_sensor::reset() ;
Rhyme 0:ce97f6d34336 29 }
Rhyme 0:ce97f6d34336 30
Rhyme 0:ce97f6d34336 31 #if 0
Rhyme 0:ce97f6d34336 32 void edge_accel::prepare(void)
Rhyme 0:ce97f6d34336 33 {
Rhyme 0:ce97f6d34336 34 // printf("accel prepare\n") ;
Rhyme 0:ce97f6d34336 35 }
Rhyme 0:ce97f6d34336 36 #endif
Rhyme 0:ce97f6d34336 37
Rhyme 0:ce97f6d34336 38 int edge_accel::sample(void)
Rhyme 0:ce97f6d34336 39 {
Rhyme 0:ce97f6d34336 40 int result ;
Rhyme 0:ce97f6d34336 41 float theValue = 0.0 ;
Rhyme 0:ce97f6d34336 42 if (_sample_count > 1) { /* if sample is 1 or less, no data */
Rhyme 0:ce97f6d34336 43 _num_sampled = _sample_count - 1 ;
Rhyme 0:ce97f6d34336 44 theValue = (float)_accumulation / (float)(_num_sampled) ;
Rhyme 0:ce97f6d34336 45 result = 0 ; /* success */
Rhyme 0:ce97f6d34336 46 } else {
Rhyme 0:ce97f6d34336 47 result = 1 ; /* fail! */
Rhyme 0:ce97f6d34336 48 }
Rhyme 0:ce97f6d34336 49 _value = theValue / 4096.0 ;
Rhyme 0:ce97f6d34336 50 _sampled_time = edge_time ;
Rhyme 0:ce97f6d34336 51 _sample_count = 0 ;
Rhyme 0:ce97f6d34336 52 _accumulation = 0 ;
Rhyme 0:ce97f6d34336 53 return( result ) ;
Rhyme 0:ce97f6d34336 54 }
Rhyme 0:ce97f6d34336 55
Rhyme 0:ce97f6d34336 56 int edge_accel::deliver(void)
Rhyme 0:ce97f6d34336 57 {
Rhyme 0:ce97f6d34336 58 int result ;
Rhyme 0:ce97f6d34336 59 char timestr[16] ;
Rhyme 0:ce97f6d34336 60
Rhyme 0:ce97f6d34336 61 print_time(_sampled_time) ;
Rhyme 0:ce97f6d34336 62 // _value = get_value() ;
Rhyme 0:ce97f6d34336 63 printf(" accel: %.3f [%d samples]\n", _value, _num_sampled) ;
Rhyme 0:ce97f6d34336 64 time2seq(_sampled_time, timestr) ;
Rhyme 0:ce97f6d34336 65 sprintf(_str_buf,
Rhyme 0:ce97f6d34336 66 "{\"DEVICE\":\"ACCEL\",\"PN\":\"MMA8451Q\",\"VAL_X\":\"%.3f\",\"VAL_Y\":\"0\",\"VAL_Z\":\"0\",\"UNIT\":\"g\",\"T\":\"%s\",\"E\":\"%d\"}",
Rhyme 0:ce97f6d34336 67 _value, timestr, _error_count) ;
Rhyme 0:ce97f6d34336 68 result = afero->setAttribute(1, _str_buf) ;
Rhyme 0:ce97f6d34336 69
Rhyme 0:ce97f6d34336 70 return( result == afSUCCESS ) ;
Rhyme 0:ce97f6d34336 71 }
Rhyme 0:ce97f6d34336 72
Rhyme 0:ce97f6d34336 73 int accel_v2y(float value, edge_chart_type *p)
Rhyme 0:ce97f6d34336 74 {
Rhyme 0:ce97f6d34336 75 int y ;
Rhyme 0:ce97f6d34336 76 if (value < p->min) {
Rhyme 0:ce97f6d34336 77 value = p->min ;
Rhyme 0:ce97f6d34336 78 } else if (value > p->max) {
Rhyme 0:ce97f6d34336 79 value = p->max ;
Rhyme 0:ce97f6d34336 80 }
Rhyme 0:ce97f6d34336 81 y = p->top + p->height/2 - 1
Rhyme 0:ce97f6d34336 82 - (int)((p->height - 2) * value /(p->max - p->min)) ;
Rhyme 0:ce97f6d34336 83 return( y ) ;
Rhyme 0:ce97f6d34336 84 }
Rhyme 0:ce97f6d34336 85
Rhyme 0:ce97f6d34336 86 void edge_accel::show(void)
Rhyme 0:ce97f6d34336 87 {
Rhyme 0:ce97f6d34336 88 int x, y ;
Rhyme 0:ce97f6d34336 89 edge_chart_type *p = &edge_chart[0] ; /* edge_chart for accel */
Rhyme 0:ce97f6d34336 90 reset_watch_dog() ;
Rhyme 0:ce97f6d34336 91 if (display) {
Rhyme 0:ce97f6d34336 92 switch(display_mode) {
Rhyme 0:ce97f6d34336 93 case DISPLAY_MODE_SUMMARY:
Rhyme 0:ce97f6d34336 94 display->BusEnable(true) ;
Rhyme 0:ce97f6d34336 95 display->set_font((unsigned char*) Arial12x12);
Rhyme 0:ce97f6d34336 96 display->set_font_zoom(2, 2) ;
Rhyme 0:ce97f6d34336 97 display->foreground(White) ;
Rhyme 0:ce97f6d34336 98 display->locate(EDGE_SUMMARY_X, EDGE_SUMMARY_TIME_Y) ;
Rhyme 0:ce97f6d34336 99 displayTime(_sampled_time) ;
Rhyme 0:ce97f6d34336 100 // display->locate(10, 5) ;
Rhyme 0:ce97f6d34336 101 // display->printf(timestr) ;
Rhyme 0:ce97f6d34336 102 display->locate(EDGE_SUMMARY_X, EDGE_SUMMARY_ACCEL_Y) ;
Rhyme 0:ce97f6d34336 103 display->printf("Accel: %.3f [%4d]", _value, _num_sampled) ;
Rhyme 0:ce97f6d34336 104 display->BusEnable(false) ;
Rhyme 0:ce97f6d34336 105 reset_watch_dog() ;
Rhyme 0:ce97f6d34336 106 break ;
Rhyme 0:ce97f6d34336 107 case DISPLAY_MODE_CHART:
Rhyme 0:ce97f6d34336 108 x = p->left + p->index + 1;
Rhyme 0:ce97f6d34336 109 y = accel_v2y(_value, p) ;
Rhyme 0:ce97f6d34336 110 display->BusEnable(true) ;
Rhyme 0:ce97f6d34336 111 if (p->index == 0) {
Rhyme 0:ce97f6d34336 112 draw_chart_frame(p) ;
Rhyme 0:ce97f6d34336 113 }
Rhyme 0:ce97f6d34336 114 display->pixel(x, y, White) ;
Rhyme 0:ce97f6d34336 115 display->BusEnable(false) ;
Rhyme 0:ce97f6d34336 116 p->index = (p->index + 1) % (p->width - 2) ;
Rhyme 0:ce97f6d34336 117 break ;
Rhyme 0:ce97f6d34336 118 default:
Rhyme 0:ce97f6d34336 119 break ;
Rhyme 0:ce97f6d34336 120 }
Rhyme 0:ce97f6d34336 121 }
Rhyme 0:ce97f6d34336 122 clear_value() ;
Rhyme 0:ce97f6d34336 123 reset_watch_dog() ;
Rhyme 0:ce97f6d34336 124 }
Rhyme 0:ce97f6d34336 125
Rhyme 0:ce97f6d34336 126 int edge_accel::accum(void)
Rhyme 0:ce97f6d34336 127 {
Rhyme 0:ce97f6d34336 128 int result ;
Rhyme 0:ce97f6d34336 129 int16_t value[3] ;
Rhyme 0:ce97f6d34336 130
Rhyme 0:ce97f6d34336 131 if (_enable) {
Rhyme 0:ce97f6d34336 132 result = _accel->getAllRawData(value) ;
Rhyme 0:ce97f6d34336 133
Rhyme 0:ce97f6d34336 134 if (result == 0) { /* success */
Rhyme 0:ce97f6d34336 135 if (_sample_count != 0) { /* first data does not have prev_data */
Rhyme 0:ce97f6d34336 136 _accumulation +=
Rhyme 0:ce97f6d34336 137 abs(_prev_x - value[0])
Rhyme 0:ce97f6d34336 138 + abs(_prev_y - value[1])
Rhyme 0:ce97f6d34336 139 + abs(_prev_z - value[2]) ;
Rhyme 0:ce97f6d34336 140 }
Rhyme 0:ce97f6d34336 141
Rhyme 0:ce97f6d34336 142 _sample_count++ ;
Rhyme 0:ce97f6d34336 143
Rhyme 0:ce97f6d34336 144 _prev_x = value[0] ;
Rhyme 0:ce97f6d34336 145 _prev_y = value[1] ;
Rhyme 0:ce97f6d34336 146 _prev_z = value[2] ;
Rhyme 0:ce97f6d34336 147 }
Rhyme 0:ce97f6d34336 148 }
Rhyme 0:ce97f6d34336 149
Rhyme 0:ce97f6d34336 150 return( result ) ;
Rhyme 0:ce97f6d34336 151 }
Rhyme 0:ce97f6d34336 152
Rhyme 0:ce97f6d34336 153 void edge_accel::clear_value(void)
Rhyme 0:ce97f6d34336 154 {
Rhyme 0:ce97f6d34336 155 _sample_count = 0 ;
Rhyme 0:ce97f6d34336 156 _accumulation = 0 ;
Rhyme 0:ce97f6d34336 157 _prev_x = 0 ;
Rhyme 0:ce97f6d34336 158 _prev_y = 0 ;
Rhyme 0:ce97f6d34336 159 _prev_z = 0 ;
Rhyme 0:ce97f6d34336 160 }
Rhyme 0:ce97f6d34336 161
Rhyme 0:ce97f6d34336 162
Rhyme 0:ce97f6d34336 163