Diff: main.cpp

Revision:

1:ecd469d7323d

Parent:

0:491bc4ee502e

--- a/main.cpp	Thu Aug 24 08:54:43 2017 +0000
+++ b/main.cpp	Fri Sep 01 17:58:24 2017 +0000
@@ -1,36 +1,7 @@
 
 /*
 _____________________________________________________________________________________________________
-_____________________________________________________________________________________________________
 
-//                                  ACCELEROMETER : LIS2DE12                                       //
-_____________________________________________________________________________________________________
-_____________________________________________________________________________________________________
-
-
->>>>>>>>>>>>>>>>>>>>>>>>>>>>> THIS CODE IS SUBJECTED TO MODIFICATION <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
-
-Updates :
---------
->>> Communication established with SA0 HIGH with internal pullup (Hence Slave Address : 0x32) // 
->>> I2C Communciation verified
->>> Interrupt trigger verified for INT1 (configurent for low event) but later trigger not working
->>> Interrupt source register was read successfully
->>> Interrupt source register reflects the immediate changes of the High and Low event of the axes
->>> IA bits goes high only when an interrupt is triggered
->>> IA bits is automatically cleared once the opposite event is observed (i.e) If IA bit goes high for a Low event, then it remains high until a High event is observed on these axis
->>> INTERRUPT SOURCE REGISTER 2 has a;so been checked and the corressponding event data has been reflected in that
->>> INTERRUPT ACTIVE nit is not getting set int the INTERRUPT SRC 2 REG, and have to be resolved
->>> INT2 pin toggling verified
-
-Issues to be Resolved :
-----------------------
->>> Acceleration data is not changing and always read as '0'
->>> If the INT_SRC register is not continuosly read, after the interrupt, reading INT_SRC inside the ISR returns 0x00 as value
->>> If the INT_SRC register is continuosly read inside a while loop, reading the INT_SRC inside the ISR returns correct value
-
-To dos:
-------
 >>> ACTIVITY & INACTIVITY Interrupts to be configured on INT1 pin
 >>> CLICK & DOUBLE CLICK Interrupt to be configured on INT2 pin
 
@@ -65,374 +36,92 @@
 
 #include "mbed.h"
 #include "main.h"
+#include "OBD.h"
+#include "ACCELEROMETER.h"
 
 
-I2C i2c(PB_14, PB_13);
-Serial pc(PC_0, NC,115200);
+
 InterruptIn change(PC_6);  // INT1
 InterruptIn jerk(PB_15);   //INT2
 DigitalOut  ACC_LED(PC_10);
+I2C i2c(PB_14, PB_13); 
 
 #define     acc_address             0x32       
+int TIMING_M;
+float speed_m=1;
+Serial pc(PC_0, NC,115200);
+char JERK_FLAG=0,MOVEMENT_FLAG=0,MOTION=0,START_TO_MOVING=0,MOVING_TO_STOP=0,NO_MOVING=0,MOTION_FIRST_STEP=0;
+float TIMING=0,FIRST_TIME=0,CURRENT_TIME=0;
 
-int i=0,j=0,Steady_cnt=0;
-float TIMING=0;
-char src_data[1];
-unsigned int int1_src_data,cnt=0;
-char acc_reg[1] = {0x29};
-char acc_data[6];
-unsigned int x, y, z;
-float X, Y, Z;
-char int1_dur[2] = {0x33, 70};
-char JERK_FLAG=0,MOVEMENT_FLAG=0,MOTION=0;
-//char first_event = 1;
-
-//____________________________________________________________________________________________________
-
-
-
-//____________________________________________________________________________________________________
 
 void movement_inertia()
 { 
-
-    
-//-------------------------------------------------------------------------------   
-  //  pc.printf("\r\n\r\nINTERRUPT SOURCE REGISTER 1: ");
- //   print_data_bits(src_data[0]);
-
+pc.printf("\nmvmnt");
     MOVEMENT_FLAG=1;
-    
-
+   if(fetch_vehicle_speed()>speed_m)
+    {
+        MOTION=1;
+        MOTION_FIRST_STEP=1;
+       
+    }
+//    else if(MOVING_FLAG)
+//    {
+//         pc.printf("MOVING_TO_STOP");
+//         ACC_LED=0;
+//         MOVING_FLAG=0;
+//    }
+    else
+    {
+        MOVING_TO_STOP=0;
+        START_TO_MOVING=0;        
+        ACC_LED=0;
+    }
 }
 
 //____________________________________________________________________________________________________
 
 void sudden_jerk()
 {
+   pc.printf("\njerk");
    JERK_FLAG=1;
 }
-
 //____________________________________________________________________________________________________
-
-
-void print_data_bits(char data_fetched)
-{
-    unsigned int shifter;
-    
-        for(shifter = 0; shifter < 8; shifter++)
-        {
-            pc.printf("%d",((data_fetched&0x80)>>7));
-            data_fetched = data_fetched << 1;
-        }
-        pc.printf("\r\n");       
-}
-
-//____________________________________________________________________________________________________
-
-void read_acceleration()
-{
-    
-    i2c.write(acc_address, acc_reg, 1);
-    i2c.read(acc_address, acc_data, 6);
-    
-    x = (acc_data[0] << 6) | (acc_data[1]);
-    y = (acc_data[2] << 6) | (acc_data[3]);
-    z = (acc_data[4] << 6) | (acc_data[5]);
-    
-//    x = acc_data[2];
-//    y = acc_data[4];  
-//    z = acc_data[6];
-
-    X = x;
-    Y = y;
-    Z = z;
-
-
-//    X = x / 15974.4;
-//    Y = y / 15974.4;
-//    Z = z / 15974.4;
-    
-
-  
-//-------------------------------------------------------------------------------
-
-//     i2c.write(acc_address, int1_src, 1);
-//     i2c.read(acc_address, src_data, 1);
-//    
-//     int1_src_data = (unsigned int)src_data[0];
-    
-//    pc.printf("\r\nINTERRUPT SOURCE 2 : ");
-//    print_data_bits(src_data[0]);
-    
-        
-//    if(!(int1_src_data & 0x40) && first_event)
-//    {
-//        first_event = 0;
-//        pc.printf("\r\n\r\n>>> MOTION OBSERVED");
-//    }
-//-------------------------------------------------------------------------------
-}
-
-
-//____________________________________________________________________________________________________
-
-void initialize_internal_temperature_sensor()
-{
-    char temperature_config_1[2] = {0x1F, 12};
-    char temperature_config_2[2] = {0x23, 0x80};
-    char temperature_reg[1] = {0x0C};
-    char temp_value[2];
-    float temperature;
-    
-    i2c.write(acc_address, temperature_config_1, 2);    // Internal Temperature Sensor is enabled
-    i2c.write(acc_address, temperature_config_2, 2);    
-    
-    i2c.write(acc_address, temperature_reg, 1);
-    i2c.read(acc_address, temp_value, 2);
-    
-    temperature = ((temp_value[1] << 8) | (temp_value[0]));
-    
-    pc.printf("\r\nTEMPERATURE : %d deg celsius", temperature);
-} 
-
-//____________________________________________________________________________________________________
-
-
-void configure_accelerometer()
-{
-/*   
-    char ctrl_reg_0[2]      = {0x1E, 0x10};             // SA0 Internal pullup Enabled
-    char ctrl_reg_1[2]      = {0x20, 0x2F};             // ODR -> 10Hz, X,Y,Z axis Enabled
-    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
-    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..... 
-    char ctrl_reg_4[2]      = {0x23, 0x80};             // BDU enabled, 2g full scale selection, Self test diabled
-    char ctrl_reg_5[2]      = {0x24, 0x40};             // Reboot memory content disabled, FIFO enabled, Interrupt request not latched on INT1 & INT2, 4D detection disbaled
-    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
-    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)                  
-    char int1_cfg[2]        = {0x30, 0x1F};             // OR combination of interrupts, Interrupts enabled for all X/Y/Z high and low except Z-high event
-    char int1_ths[2]        = {0x32, 7};                // For 2g Full scale, 1LSB = 16mg, Aim : Threshold : 100mg, 100/16 = 6.25, rounded to '7'
-    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)        
-    
-    i2c.write(acc_address, ctrl_reg_0, 2);
-    i2c.write(acc_address, ctrl_reg_1, 2);
-    i2c.write(acc_address, ctrl_reg_2, 2);
-    i2c.write(acc_address, ctrl_reg_3, 2);
-    i2c.write(acc_address, ctrl_reg_4, 2);
-    i2c.write(acc_address, ctrl_reg_5, 2);
-    i2c.write(acc_address, ctrl_reg_6, 2);
-    i2c.write(acc_address, fifo_ctrl_reg, 2);
-    i2c.write(acc_address, int1_cfg, 2);
-    i2c.write(acc_address, int1_ths, 2);
-    i2c.write(acc_address, int1_dur, 2);  
-    
-    char ver_data[1];
-    i2c.write(acc_address, ctrl_reg_1, 1);
-    i2c.read(acc_address, ver_data, 1);
-    pc.printf("\r\n\r\n Verification data : ");
-    print_data_bits(ver_data[0]);
-*/
-    ///*
-    char ctrl_reg_0[2]      = {0x1E, 0x10};         //added additionally this line
-    char ctrl_reg_1[2]      = {0x20, 0x27};         // Modified point (worked) changed from 0x27
-    char ctrl_reg_2[2]      = {0x21, 0x03};         // Modified to Auto Reset on Interrupt event CHANGE FROM 0X01
-    char ctrl_reg_3[2]      = {0x22, 0x40};         // INT1 on INT1,also attach CLK_INT //#C0
-    char ctrl_reg_4[2]      = {0x23, 0x80};         // Modified changed from 0x08 now block update
-    char ctrl_reg_5[2]      = {0x24, 0x00};         // Modified to FIFO Enabled changed from 00
-    char ctrl_reg_6[2]      = {0x25, 0x28};         // IA2 Interrupt on INT2 pin & activity also on INT2 //activityy int also enabled
-       //fifo bypass mode
-       /////////char fifo_ctrl_reg[2]   = {0x2E, 40};      
-    
-    char int1_cfg[2]        = {0x30, 0x43};         // 6D direction detection enabled ,XH & XL enabled
-    char int1_ths[2]        = {0x32, 0x01};         //INT1 threshold value  
-    char int1_dur[2]        = {0x33, 0x00};
-    
-    char int2_cfg[2]        = {0x34, 0x3F};         //INT2 is Enabled when XHIE
-    char int2_ths[2]        = {0x36, 0x02};         //changed from A8 to 28
-    char int2_dur[2]        = {0x37, 0x01};
-    
-    char act_ths[2]         = {0x3E, 00};
-    char act_dur[2]         = {0x3F, 00};
-    
-    //32 33 30
-    //36 37 34
-    i2c.write(acc_address, ctrl_reg_0, 2);
-    i2c.write(acc_address, ctrl_reg_1, 2);
-    i2c.write(acc_address, ctrl_reg_2, 2);
-    i2c.write(acc_address, ctrl_reg_3, 2);
-    i2c.write(acc_address, ctrl_reg_4, 2);
-    i2c.write(acc_address, ctrl_reg_5, 2);
-    i2c.write(acc_address, ctrl_reg_6, 2);
- 
-    i2c.write(acc_address, int1_cfg, 2);   
-    i2c.write(acc_address, int1_ths, 2);
-    i2c.write(acc_address, int1_dur, 2);
-
-    
-    i2c.write(acc_address, int2_ths, 2);
-    i2c.write(acc_address, int2_dur, 2);
-    i2c.write(acc_address, int2_cfg, 2);
-
-    i2c.write(acc_address, act_ths, 2);
-    i2c.write(acc_address, act_dur, 2);
-    i2c.write(acc_address, int1_dur, 2);
-                    //////i2c.write(acc_address, fifo_ctrl_reg, 2); 
-    //*/
-}
-
-
-//____________________________________________________________________________________________________
-
-char initialize_accelerometer()
-{
-    char dev_id_address[2] = {0x0F};
-    char dev_id[1];
-
-    //SA0 = 0;            // I2C LSB Address
-    
-    i2c.write(acc_address, dev_id_address, 1);
-    wait(0.1);
-    i2c.read(acc_address, dev_id, 1);
-    wait(2);
-    
-    pc.printf("\r\n\r\nDEVICE ID : ");
-    print_data_bits(dev_id[0]);
-    
-    if(dev_id[0] == 0x33)//00110011(who am i)
-    {
-        pc.printf("\r\nAccelerometer Initialized Successfully");
-        return 1;
-    }
-    else
-    {
-        pc.printf("\r\nAccelerometer Initialization Failed..... Can't communicate with the device");
-        return 0; 
-    }      
-}
-
-//____________________________________________________________________________________________________
-Timer t;
 int main()
 {
-    char retry_attempt = 0;
+    change.rise(&movement_inertia);
+    jerk.rise(&sudden_jerk);  
+    initialize_obd();
+    initialise_configure_accelerometer();  
    
-    change.rise(&movement_inertia);
-    jerk.rise(&sudden_jerk);
-    
-    i2c.frequency(100000);
-    //SA0 = 0;
-    // i2c.write(acc_address, int1_dur, 2);  
-    pc.printf("\r\n\r\n\r\n>>> ACCELEROMETER UNDER TEST <<<");
-    
-    retry:
-    if(initialize_accelerometer())
-    {
-        configure_accelerometer();
-        
+ 
         while(1)
         {
-            //read_acceleration();
-            //pc.printf("\r\n\r\nX : %d", x);
-            //pc.printf("\r\nY : %d", y);
-            // pc.printf("\r\nZ : %d", z);
-            //movement_inertia();
-            //sudden_jerk();
-
-//           pc.printf("\n(%d)",cnt);
-//           cnt++;
-//           if(cnt>100)
-//           cnt=0;
-
-          
-            //t.stop();
-            TIMING=t.read();
-            pc.printf("The time taken was %f seconds\n", t.read());
-            if(TIMING>3)
-                {
-                    pc.printf("MOOOVINGGGG....");
-                    MOTION=1;
-                    //TIMING=0;
-                    //t.stop();
-                    /// t.reset();
-                    ACC_LED=1;
-                    Steady_cnt=0;
-                }
-            else
-                {
-                    if(Steady_cnt>3)
-                        {
-                            ACC_LED=0;
-                            Steady_cnt=0;
-                            pc.printf("REST....");
-                            MOTION=0;
-                        }
-                }
-            wait(1);
-//                                                    if(JERK_FLAG)
-//                                                    {
-//                                                        JERK_FLAG=0;
-//                                                        i2c.write(acc_address, int2_src, 1);
-//                                                        i2c.read(acc_address, src_data, 1);
-//                                                        pc.printf("\rSRC2 : ");
-//                                                        print_data_bits(src_data[0]);
-//                                                        src_data[0]=src_data[0]&0x42;
-//                                                        // if( src_data[0]==0x42)
-//                                                        {
-//                                                             pc.printf(" **********SUDDEN JERK********** ");
-//                                                        }
-//                                        
-//                                                    }
+            if(MOTION_FIRST_STEP)
+            {
+                MOTION_FIRST_STEP=0;
+                process_accelerometer();
+            }
+            if((NO_MOVING)&&(fetch_vehicle_speed()<1))
+            {   
+                stopped();
+            }
+//////////////////////////////////////////////////////////
+//if in motion no interrupt comes it will ckeck after 2s// 
+//            if(TIMER_RUNNING)
+//            {
+//                CURRENT_TIME=t.read();
+//                pc.printf("\nTIMER_RUNNING");
+//                if((CURRENT_TIME-FIRST_TIME)>2)
+//                {
+//                    process_accelerometer();
+//                    TIMER_RUNNING=0;
+//                    FIRST=1;
+//                }
+//            }
+////////////////////////////////////////////////////////
             
-            if(MOVEMENT_FLAG)
-            {
-                Steady_cnt++;
-                MOVEMENT_FLAG=0;
-                t.reset();
-                t.start();
-                
-                
-                     ///////////////////////////////////////////////////
-//                                                            i2c.write(acc_address, int1_src, 1);//acc_address=0x32 ..INITIALISE COMMN
-//                                                            i2c.read(acc_address, src_data, 1);//READING FROM INT1 STATUS REG
-//                                                            pc.printf("\rSRC1 : ");
-//                                                            print_data_bits(src_data[0]);
-//                                                            int1_src_data = (unsigned int)src_data[0];//READ DATA STORED
-//                                                            if(i>100)
-//                                                            i=0;
-//                                                            if(j>100)
-//                                                            j=0;
-//                                                            if(int1_src_data & 0x42)                          //changed from (0x2A)
-//                                                            {
-//                                                                 i++;
-//                                                                 pc.printf("                 %d=X_INCREMENT",i);
-//                                                                 //char int1_dur[2] = {0x33, 50};
-//                                                                 //i2c.write(acc_address, int1_dur, 2);    
-//                                                            }
-//                                                        
-//                                                    
-//                                                           else if(int1_src_data & 0x41)
-//                                                            {
-//                                                                j++;
-//                                                                pc.printf("   %d=X_decrement",j);
-//                                                              //  char int1_dur[2] = {0x33, 3};
-//                                                                //i2c.write(acc_address, int1_dur, 2);  
-//                                                            }
-
-            }
        }
-   }
-    
-    else
-    {
-        if(retry_attempt < 100)
-        {
-            retry_attempt++;
-            goto retry;
-        }
-    }
-    
-
-    return 0;
+  return 0;
 }
  
 //____________________________________________________________________________________________________
\ No newline at end of file