Qmax / Mbed 2 deprecated LIS_Accelerometer_WIP

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Dependencies:   mbed

ACCELEROMETER.cpp@2:c4fb968de7d3, 2017-09-02 (annotated)

Committer:
subinmbed
Date:
Sat Sep 02 11:09:35 2017 +0000
Revision:
2:c4fb968de7d3
Accelerometer commented

Who changed what in which revision?

UserRevisionLine numberNew contents of line
subinmbed 2:c4fb968de7d3 1
subinmbed 2:c4fb968de7d3 2 #include "mbed.h"
subinmbed 2:c4fb968de7d3 3 #include "ACCELEROMETER.h"
subinmbed 2:c4fb968de7d3 4 #include "OBD.h"
subinmbed 2:c4fb968de7d3 5 #include "main.h"
subinmbed 2:c4fb968de7d3 6
subinmbed 2:c4fb968de7d3 7
subinmbed 2:c4fb968de7d3 8 #define acc_address 0x32
subinmbed 2:c4fb968de7d3 9 int i=0,j=0,Steady_cnt=0;
subinmbed 2:c4fb968de7d3 10 char src_data[1],FIRST=1,SECOND,MOVING_FLAG=0,TIMER_RUNNING;
subinmbed 2:c4fb968de7d3 11 unsigned int int1_src_data,cnt=0;
subinmbed 2:c4fb968de7d3 12 char acc_reg[1] = {0x29};
subinmbed 2:c4fb968de7d3 13 char acc_data[6];
subinmbed 2:c4fb968de7d3 14 //char int1_dur[2] = {0x33, 0x70};
subinmbed 2:c4fb968de7d3 15 long speed,FIRST_SPEED=0,CURRENT_SPEED=0;
subinmbed 2:c4fb968de7d3 16 Timer t;
subinmbed 2:c4fb968de7d3 17 void configure_accelerometer()
subinmbed 2:c4fb968de7d3 18 {
subinmbed 2:c4fb968de7d3 19 /*
subinmbed 2:c4fb968de7d3 20 char ctrl_reg_0[2] = {0x1E, 0x10}; // SA0 Internal pullup Enabled
subinmbed 2:c4fb968de7d3 21 char ctrl_reg_1[2] = {0x20, 0x2F}; // ODR -> 10Hz, X,Y,Z axis Enabled
subinmbed 2:c4fb968de7d3 22 char ctrl_reg_2[2] = {0x21, 0x8E}; // High pass filter enabled for CLICK function, cutoff : 0.2Hz, High pass filter AOI function is routed to INT2 pin
subinmbed 2:c4fb968de7d3 23 char ctrl_reg_3[2] = {0x22, 0x40}; // (Default value of this register is 0x00, so eliminate this statement later)...Disable CLICK, IA, ZYXDA, WTM, OVERRUN interrupts on INT1 pin.....
subinmbed 2:c4fb968de7d3 24 char ctrl_reg_4[2] = {0x23, 0x80}; // BDU enabled, 2g full scale selection, Self test diabled
subinmbed 2:c4fb968de7d3 25 char ctrl_reg_5[2] = {0x24, 0x40}; // Reboot memory content disabled, FIFO enabled, Interrupt request not latched on INT1 & INT2, 4D detection disbaled
subinmbed 2:c4fb968de7d3 26 char ctrl_reg_6[2] = {0x25, 0xA0}; // CLICK Interrupt on INT2 pin, INT1 function on INT2 pin disabled, INT2 function on INt2 pin enabled, BOOT on INT2 pi disabled, Activity on INT2 pin disabled, INT1 & INT2 pin polarity is set to active HIGH
subinmbed 2:c4fb968de7d3 27 char fifo_ctrl_reg[2] = {0x2E, 0x80}; // STREAM Mode selected, Trigger event allows triggerring signal on INT1, WATER MARK LEVEL set to 0 (default value)
subinmbed 2:c4fb968de7d3 28 char int1_cfg[2] = {0x30, 0x1F}; // OR combination of interrupts, Interrupts enabled for all X/Y/Z high and low except Z-high event
subinmbed 2:c4fb968de7d3 29 char int1_ths[2] = {0x32, 7}; // For 2g Full scale, 1LSB = 16mg, Aim : Threshold : 100mg, 100/16 = 6.25, rounded to '7'
subinmbed 2:c4fb968de7d3 30 char int1_dur[2] = {0x33, (50 & 127)}; // Configured for 5sec : Duration time = N / ODR ; N = time * ODR = 5 * 10 = '50' (Value should not exceed 127)
subinmbed 2:c4fb968de7d3 31
subinmbed 2:c4fb968de7d3 32 i2c.write(acc_address, ctrl_reg_0, 2);
subinmbed 2:c4fb968de7d3 33 i2c.write(acc_address, ctrl_reg_1, 2);
subinmbed 2:c4fb968de7d3 34 i2c.write(acc_address, ctrl_reg_2, 2);
subinmbed 2:c4fb968de7d3 35 i2c.write(acc_address, ctrl_reg_3, 2);
subinmbed 2:c4fb968de7d3 36 i2c.write(acc_address, ctrl_reg_4, 2);
subinmbed 2:c4fb968de7d3 37 i2c.write(acc_address, ctrl_reg_5, 2);
subinmbed 2:c4fb968de7d3 38 i2c.write(acc_address, ctrl_reg_6, 2);
subinmbed 2:c4fb968de7d3 39 i2c.write(acc_address, fifo_ctrl_reg, 2);
subinmbed 2:c4fb968de7d3 40 i2c.write(acc_address, int1_cfg, 2);
subinmbed 2:c4fb968de7d3 41 i2c.write(acc_address, int1_ths, 2);
subinmbed 2:c4fb968de7d3 42 i2c.write(acc_address, int1_dur, 2);
subinmbed 2:c4fb968de7d3 43
subinmbed 2:c4fb968de7d3 44 char ver_data[1];
subinmbed 2:c4fb968de7d3 45 i2c.write(acc_address, ctrl_reg_1, 1);
subinmbed 2:c4fb968de7d3 46 i2c.read(acc_address, ver_data, 1);
subinmbed 2:c4fb968de7d3 47 pc.printf("\r\n\r\n Verification data : ");
subinmbed 2:c4fb968de7d3 48 print_data_bits(ver_data[0]);
subinmbed 2:c4fb968de7d3 49 */
subinmbed 2:c4fb968de7d3 50
subinmbed 2:c4fb968de7d3 51 char ctrl_reg_0[2] = {0x1E, 0x10}; //added additionally this line
subinmbed 2:c4fb968de7d3 52 char ctrl_reg_1[2] = {0x20, 0x21}; //[ODR3 ODR2 ODR1 ODR0 nop Zen Yen Xen]////data rate=10hz(T=100MS)and x enabled
subinmbed 2:c4fb968de7d3 53 char ctrl_reg_2[2] = {0x21, 0x03}; //HIGH PASS FILTER Autoreset on interrupt event BUT NOT ENABLED FOR ANY FUNCTION
subinmbed 2:c4fb968de7d3 54 char ctrl_reg_3[2] = {0x22, 0x40}; //INT1 on INT1, CLK_INT DISABLED
subinmbed 2:c4fb968de7d3 55 char ctrl_reg_4[2] = {0x23, 0x80}; //block update ENABLED #NOT NEED FOR OUR APPLICATION
subinmbed 2:c4fb968de7d3 56 char ctrl_reg_5[2] = {0x24, 0x04}; //4D ENABLED AND IT ACTS WITH 6D ENABLING IN OTHER REGISTER
subinmbed 2:c4fb968de7d3 57 char ctrl_reg_6[2] = {0x25, 0x20}; // INT2 Interrupt on INT2 pin /clk INT2 & activity INT DISABLED..FOR CLICK=0XA0
subinmbed 2:c4fb968de7d3 58
subinmbed 2:c4fb968de7d3 59 char int1_cfg[2] = {0x30, 0x43}; // 6D direction motion detection enabled ,XH & XL enabled
subinmbed 2:c4fb968de7d3 60 char int1_ths[2] = {0x32, 0x01}; //INT1 threshold value
subinmbed 2:c4fb968de7d3 61 char int1_dur[2] = {0x33, 0x03}; //INT1 DURATION(GIVEN VALUE *100MS) value
subinmbed 2:c4fb968de7d3 62
subinmbed 2:c4fb968de7d3 63 char int2_cfg[2] = {0x34, 0xFF}; //6D direction position detection enabled for XYZ high OR low
subinmbed 2:c4fb968de7d3 64 char int2_ths[2] = {0x36, 0x01}; //INT2 threshold value
subinmbed 2:c4fb968de7d3 65 char int2_dur[2] = {0x37, 0x02}; //INT2 DURATION(GIVEN VALUE *100MS) value
subinmbed 2:c4fb968de7d3 66
subinmbed 2:c4fb968de7d3 67 char act_ths[2] = {0x3E, 0x00}; //#not used .sleep_to_wake up threshold
subinmbed 2:c4fb968de7d3 68 char act_dur[2] = {0x3F, 0x00}; //#not used.sleep_to_wake up duration
subinmbed 2:c4fb968de7d3 69
subinmbed 2:c4fb968de7d3 70 // char clk_cfg[2] = {0x38, 0x15}; //enable XYZ single clicks
subinmbed 2:c4fb968de7d3 71 // char clk_src[2] = {0x39, 0x5F}; //Enable single click
subinmbed 2:c4fb968de7d3 72 // char clk_ths[2] = {0x3A, 0x01}; //click threshold
subinmbed 2:c4fb968de7d3 73 // char clk_Tlimit[2] = {0x3B, 0x03}; //max time for a tap to abv ths
subinmbed 2:c4fb968de7d3 74 // char clk_Tlatncy[2] = {0x3C, 0x0}; //time delay to start timr for waiting scnd tap
subinmbed 2:c4fb968de7d3 75 // char clk_Twindow[2] = {0x3D, 0x0}; //max time for timer to wait for scnd
subinmbed 2:c4fb968de7d3 76
subinmbed 2:c4fb968de7d3 77 //32 33 30
subinmbed 2:c4fb968de7d3 78 //36 37 34
subinmbed 2:c4fb968de7d3 79 i2c.write(acc_address, ctrl_reg_0, 2);
subinmbed 2:c4fb968de7d3 80 i2c.write(acc_address, ctrl_reg_1, 2);
subinmbed 2:c4fb968de7d3 81 i2c.write(acc_address, ctrl_reg_2, 2);
subinmbed 2:c4fb968de7d3 82 i2c.write(acc_address, ctrl_reg_3, 2);
subinmbed 2:c4fb968de7d3 83 i2c.write(acc_address, ctrl_reg_4, 2);
subinmbed 2:c4fb968de7d3 84 i2c.write(acc_address, ctrl_reg_5, 2);
subinmbed 2:c4fb968de7d3 85 i2c.write(acc_address, ctrl_reg_6, 2);
subinmbed 2:c4fb968de7d3 86
subinmbed 2:c4fb968de7d3 87 i2c.write(acc_address, int1_cfg, 2);
subinmbed 2:c4fb968de7d3 88 i2c.write(acc_address, int1_ths, 2);
subinmbed 2:c4fb968de7d3 89 i2c.write(acc_address, int1_dur, 2);
subinmbed 2:c4fb968de7d3 90
subinmbed 2:c4fb968de7d3 91 i2c.write(acc_address, int2_ths, 2);
subinmbed 2:c4fb968de7d3 92 i2c.write(acc_address, int2_dur, 2);
subinmbed 2:c4fb968de7d3 93 i2c.write(acc_address, int2_cfg, 2);
subinmbed 2:c4fb968de7d3 94
subinmbed 2:c4fb968de7d3 95 i2c.write(acc_address, act_ths, 2);
subinmbed 2:c4fb968de7d3 96 i2c.write(acc_address, act_dur, 2);
subinmbed 2:c4fb968de7d3 97 i2c.write(acc_address, int1_dur, 2);
subinmbed 2:c4fb968de7d3 98
subinmbed 2:c4fb968de7d3 99 // i2c.write(acc_address, clk_cfg, 2);
subinmbed 2:c4fb968de7d3 100 // i2c.write(acc_address, clk_src, 2);
subinmbed 2:c4fb968de7d3 101 // i2c.write(acc_address, clk_ths, 2);
subinmbed 2:c4fb968de7d3 102 // i2c.write(acc_address, clk_Tlimit, 2);
subinmbed 2:c4fb968de7d3 103 // i2c.write(acc_address, clk_Tlatncy, 2);
subinmbed 2:c4fb968de7d3 104 // i2c.write(acc_address, clk_Twindow, 2);
subinmbed 2:c4fb968de7d3 105 }
subinmbed 2:c4fb968de7d3 106 //////////////////////////////////////////////////////////////////
subinmbed 2:c4fb968de7d3 107 char initialize_accelerometer()
subinmbed 2:c4fb968de7d3 108 {
subinmbed 2:c4fb968de7d3 109 i2c.frequency(100000);
subinmbed 2:c4fb968de7d3 110 char dev_id_address[2] = {0x0F};
subinmbed 2:c4fb968de7d3 111 char dev_id[1];
subinmbed 2:c4fb968de7d3 112 //SA0 = 0; // I2C LSB Address
subinmbed 2:c4fb968de7d3 113 i2c.write(acc_address, dev_id_address, 1);
subinmbed 2:c4fb968de7d3 114 wait(0.1);
subinmbed 2:c4fb968de7d3 115 i2c.read(acc_address, dev_id, 1);
subinmbed 2:c4fb968de7d3 116 wait(2);
subinmbed 2:c4fb968de7d3 117 pc.printf("\r\n\r\nDEVICE ID : ");
subinmbed 2:c4fb968de7d3 118 print_data_bits(dev_id[0]);
subinmbed 2:c4fb968de7d3 119 if(dev_id[0] == 0x33)//00110011(who am i)
subinmbed 2:c4fb968de7d3 120 {
subinmbed 2:c4fb968de7d3 121 pc.printf("\r\nAccelerometer Initialized Successfully");
subinmbed 2:c4fb968de7d3 122 return 1;
subinmbed 2:c4fb968de7d3 123 }
subinmbed 2:c4fb968de7d3 124 else
subinmbed 2:c4fb968de7d3 125 {
subinmbed 2:c4fb968de7d3 126 pc.printf("\r\nAccelerometer Initialization Failed..... Can't communicate with the device");
subinmbed 2:c4fb968de7d3 127 return 0;
subinmbed 2:c4fb968de7d3 128 }
subinmbed 2:c4fb968de7d3 129 }
subinmbed 2:c4fb968de7d3 130 ////////////////////////////////////////////////////////////////////////////////
subinmbed 2:c4fb968de7d3 131 void initialise_configure_accelerometer()//CALLED BY PARENT FUNCTION
subinmbed 2:c4fb968de7d3 132 {
subinmbed 2:c4fb968de7d3 133 char retry_attempt = 0;
subinmbed 2:c4fb968de7d3 134 retry:
subinmbed 2:c4fb968de7d3 135 if(initialize_accelerometer())
subinmbed 2:c4fb968de7d3 136 {
subinmbed 2:c4fb968de7d3 137 configure_accelerometer();
subinmbed 2:c4fb968de7d3 138 }
subinmbed 2:c4fb968de7d3 139 else
subinmbed 2:c4fb968de7d3 140 {
subinmbed 2:c4fb968de7d3 141 if(retry_attempt < 100) //it will try 100 times to initialise accelerometer in case prev attempts are failed
subinmbed 2:c4fb968de7d3 142 {
subinmbed 2:c4fb968de7d3 143 retry_attempt++;
subinmbed 2:c4fb968de7d3 144 goto retry;
subinmbed 2:c4fb968de7d3 145 }
subinmbed 2:c4fb968de7d3 146 }
subinmbed 2:c4fb968de7d3 147
subinmbed 2:c4fb968de7d3 148 }
subinmbed 2:c4fb968de7d3 149 ////////////////////////////////////////////////////////////////////
subinmbed 2:c4fb968de7d3 150 void print_data_bits(char data_fetched) //# now not using
subinmbed 2:c4fb968de7d3 151 {
subinmbed 2:c4fb968de7d3 152 unsigned int shifter;
subinmbed 2:c4fb968de7d3 153
subinmbed 2:c4fb968de7d3 154 for(shifter = 0; shifter < 8; shifter++)
subinmbed 2:c4fb968de7d3 155 {
subinmbed 2:c4fb968de7d3 156 pc.printf("%d",((data_fetched&0x80)>>7));
subinmbed 2:c4fb968de7d3 157 data_fetched = data_fetched << 1;
subinmbed 2:c4fb968de7d3 158 }
subinmbed 2:c4fb968de7d3 159 pc.printf("\r\n");
subinmbed 2:c4fb968de7d3 160 }
subinmbed 2:c4fb968de7d3 161 /////////////////////////////////////////////////////////////////////////////
subinmbed 2:c4fb968de7d3 162
subinmbed 2:c4fb968de7d3 163 void process_accelerometer()
subinmbed 2:c4fb968de7d3 164 {
subinmbed 2:c4fb968de7d3 165 // if(MOVEMENT_FLAG)
subinmbed 2:c4fb968de7d3 166 // {
subinmbed 2:c4fb968de7d3 167 // MOVEMENT_FLAG=0;
subinmbed 2:c4fb968de7d3 168 // TIMING=t.read();
subinmbed 2:c4fb968de7d3 169 // }
subinmbed 2:c4fb968de7d3 170
subinmbed 2:c4fb968de7d3 171 // if(MOTION)
subinmbed 2:c4fb968de7d3 172 {
subinmbed 2:c4fb968de7d3 173
subinmbed 2:c4fb968de7d3 174 ///////////////////////////////////////////////////////////if in motion no interrupt comes
subinmbed 2:c4fb968de7d3 175 // if(FIRST)
subinmbed 2:c4fb968de7d3 176 // {
subinmbed 2:c4fb968de7d3 177 // t.reset();
subinmbed 2:c4fb968de7d3 178 // t.start();
subinmbed 2:c4fb968de7d3 179 // FIRST=0;
subinmbed 2:c4fb968de7d3 180 // FIRST_TIME=t.read();
subinmbed 2:c4fb968de7d3 181 // FIRST_SPEED=fetch_vehicle_speed();
subinmbed 2:c4fb968de7d3 182 // }
subinmbed 2:c4fb968de7d3 183 /////////////////////////////////////////////////////////
subinmbed 2:c4fb968de7d3 184 {
subinmbed 2:c4fb968de7d3 185 CURRENT_TIME=t.read();
subinmbed 2:c4fb968de7d3 186
subinmbed 2:c4fb968de7d3 187 CURRENT_SPEED=fetch_vehicle_speed();
subinmbed 2:c4fb968de7d3 188 pc.printf("\nspeed=%ld",CURRENT_SPEED);
subinmbed 2:c4fb968de7d3 189 if((CURRENT_SPEED)>1)
subinmbed 2:c4fb968de7d3 190 {
subinmbed 2:c4fb968de7d3 191 pc.printf("START_TO_MOVING....");
subinmbed 2:c4fb968de7d3 192 ACC_LED=1;
subinmbed 2:c4fb968de7d3 193 MOVING_FLAG=1;
subinmbed 2:c4fb968de7d3 194 START_TO_MOVING=1;
subinmbed 2:c4fb968de7d3 195 MOVING_TO_STOP=0;
subinmbed 2:c4fb968de7d3 196 PRE_MOVING=1;
subinmbed 2:c4fb968de7d3 197 TIMER_RUNNING=1; //# not needed incase of if in motion no interrupt comes,it will enable reading current time in main
subinmbed 2:c4fb968de7d3 198 jerk_disable(); // jerk is disabled by disabling stm32 interrupt
subinmbed 2:c4fb968de7d3 199 }
subinmbed 2:c4fb968de7d3 200 if((CURRENT_SPEED<2)&&(MOVING_FLAG==1))//when speed reach from higher value to 1/0 #can edit according to real speed behavior
subinmbed 2:c4fb968de7d3 201 {
subinmbed 2:c4fb968de7d3 202 pc.printf("MOVING_TO_STOP....");
subinmbed 2:c4fb968de7d3 203 MOVING_FLAG=0;
subinmbed 2:c4fb968de7d3 204 MOVING_TO_STOP=1;
subinmbed 2:c4fb968de7d3 205 START_TO_MOVING=0;
subinmbed 2:c4fb968de7d3 206 ACC_LED=0;
subinmbed 2:c4fb968de7d3 207 jerk_enable(); // jerk is enabled by enabling stm32 interrupt again
subinmbed 2:c4fb968de7d3 208 TIMER_RUNNING=0;
subinmbed 2:c4fb968de7d3 209 t.stop(); //# not needed incase of if in motion no interrupt comes, it will stop timer when stop detected during time interval
subinmbed 2:c4fb968de7d3 210 }
subinmbed 2:c4fb968de7d3 211 else //speed is one at first itself it will not do anythimg consider as fault jerk,this we can eliminate if we set moving speed>1 and stopping at speed=0
subinmbed 2:c4fb968de7d3 212 { MOVING_TO_STOP=0;
subinmbed 2:c4fb968de7d3 213 START_TO_MOVING=0;
subinmbed 2:c4fb968de7d3 214 ACC_LED=0;
subinmbed 2:c4fb968de7d3 215 TIMER_RUNNING=0;
subinmbed 2:c4fb968de7d3 216 t.stop();
subinmbed 2:c4fb968de7d3 217 }
subinmbed 2:c4fb968de7d3 218 }
subinmbed 2:c4fb968de7d3 219 }
subinmbed 2:c4fb968de7d3 220 }
subinmbed 2:c4fb968de7d3 221 /////////////////////////////////////////////////////////////////
subinmbed 2:c4fb968de7d3 222 void stopped()
subinmbed 2:c4fb968de7d3 223 {
subinmbed 2:c4fb968de7d3 224 START_TO_MOVING=0;
subinmbed 2:c4fb968de7d3 225 MOVING_TO_STOP=1;
subinmbed 2:c4fb968de7d3 226 ACC_LED=0;
subinmbed 2:c4fb968de7d3 227 PRE_MOVING=0;
subinmbed 2:c4fb968de7d3 228 pc.printf("STOPPED");
subinmbed 2:c4fb968de7d3 229 jerk_enable();
subinmbed 2:c4fb968de7d3 230 TIMER_RUNNING=0;
subinmbed 2:c4fb968de7d3 231 }
subinmbed 2:c4fb968de7d3 232 ////////////////////////////////////////////////////////////////
subinmbed 2:c4fb968de7d3 233 void jerk_threshold(char jt) //#editing via this function is not working,inorder to edit threshold we have to change in configuration function
subinmbed 2:c4fb968de7d3 234 {
subinmbed 2:c4fb968de7d3 235
subinmbed 2:c4fb968de7d3 236 char int2_cfg[2] = {0x34, 0xFF}; //INT2 is disabled for XYZ HIE/LIE
subinmbed 2:c4fb968de7d3 237 char int2_ths[2] = {0x36, 0x09}; //changed from 2 more threshold
subinmbed 2:c4fb968de7d3 238 char int2_dur[2] = {0x37, 0x02};
subinmbed 2:c4fb968de7d3 239 i2c.write(acc_address, int2_ths, 2);
subinmbed 2:c4fb968de7d3 240 i2c.write(acc_address, int2_dur, 2);
subinmbed 2:c4fb968de7d3 241 i2c.write(acc_address, int2_cfg, 2);
subinmbed 2:c4fb968de7d3 242
subinmbed 2:c4fb968de7d3 243 }
subinmbed 2:c4fb968de7d3 244 void jerk_duration(char jd)//#editing via this function is not working,inorder to edit threshold we have to change in configuration function
subinmbed 2:c4fb968de7d3 245 {
subinmbed 2:c4fb968de7d3 246 char int2_dur[1] = {jd};
subinmbed 2:c4fb968de7d3 247 i2c.write(acc_address, int2_dur, 2);
subinmbed 2:c4fb968de7d3 248 }
subinmbed 2:c4fb968de7d3 249 void movement_threshold(char mt)//#editing via this function is not working,inorder to edit threshold we have to change in configuration function
subinmbed 2:c4fb968de7d3 250 {
subinmbed 2:c4fb968de7d3 251 char int1_ths[1] = {mt};
subinmbed 2:c4fb968de7d3 252 i2c.write(acc_address, int1_ths, 2);
subinmbed 2:c4fb968de7d3 253 }
subinmbed 2:c4fb968de7d3 254 void movement_duration(char md)//#editing via this function is not working,inorder to edit threshold we have to change in configuration function
subinmbed 2:c4fb968de7d3 255 {
subinmbed 2:c4fb968de7d3 256 char int1_dur[1] = {md};
subinmbed 2:c4fb968de7d3 257 i2c.write(acc_address, int1_dur,2);
subinmbed 2:c4fb968de7d3 258 }
subinmbed 2:c4fb968de7d3 259 void jerk_enable() //enable stm32 interrupt
subinmbed 2:c4fb968de7d3 260 {
subinmbed 2:c4fb968de7d3 261 jerk.rise(&sudden_jerk);
subinmbed 2:c4fb968de7d3 262
subinmbed 2:c4fb968de7d3 263 }
subinmbed 2:c4fb968de7d3 264 void jerk_disable() //enable stm32 interrupt
subinmbed 2:c4fb968de7d3 265 {
subinmbed 2:c4fb968de7d3 266 jerk.rise(NULL);
subinmbed 2:c4fb968de7d3 267 JERK_FLAG=0;
subinmbed 2:c4fb968de7d3 268 }
subinmbed 2:c4fb968de7d3 269 void movement_enable() //enable stm32 interrupt
subinmbed 2:c4fb968de7d3 270 {
subinmbed 2:c4fb968de7d3 271 change.rise(&movement_inertia);
subinmbed 2:c4fb968de7d3 272 }
subinmbed 2:c4fb968de7d3 273 void movement_disable() //enable stm32 interrupt
subinmbed 2:c4fb968de7d3 274 {
subinmbed 2:c4fb968de7d3 275 change.rise(NULL);
subinmbed 2:c4fb968de7d3 276 }