Jiajun Zhang / Mbed OS Accelerometer

Part 2 lab 4

Dependencies:   MMA8451Q

Fork of Accelerometer_example by William Marsh

main.cpp@3:1861f741c2df, 2018-02-28 (annotated)

Committer:
Bossman
Date:
Wed Feb 28 14:24:52 2018 +0000
Revision:
3:1861f741c2df
Parent:
2:304358fa24aa 
Version 2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WilliamMarshQMUL 0:a1caba5c4e48 1 #include "mbed.h"
WilliamMarshQMUL 0:a1caba5c4e48 2 #include "rtos.h"
WilliamMarshQMUL 0:a1caba5c4e48 3 #include "MMA8451Q.h"
WilliamMarshQMUL 0:a1caba5c4e48 4
Bossman 3:1861f741c2df 5 PinName const SDA = PTE25;
Bossman 3:1861f741c2df 6 PinName const SCL = PTE24;
WilliamMarshQMUL 0:a1caba5c4e48 7
WilliamMarshQMUL 0:a1caba5c4e48 8 #define MMA8451_I2C_ADDRESS (0x1d<<1)
WilliamMarshQMUL 0:a1caba5c4e48 9
Bossman 3:1861f741c2df 10 Timer t;
WilliamMarshQMUL 0:a1caba5c4e48 11 int main(void)
WilliamMarshQMUL 0:a1caba5c4e48 12 {
WilliamMarshQMUL 0:a1caba5c4e48 13 MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
WilliamMarshQMUL 0:a1caba5c4e48 14 PwmOut rled(LED1);
WilliamMarshQMUL 0:a1caba5c4e48 15 PwmOut gled(LED2);
WilliamMarshQMUL 0:a1caba5c4e48 16 PwmOut bled(LED3);
WilliamMarshQMUL 0:a1caba5c4e48 17 Serial pc(USBTX, USBRX); // tx, rx
Bossman 3:1861f741c2df 18 enum s { flat, right, up,error};
Bossman 3:1861f741c2df 19 s state=flat;
WilliamMarshQMUL 0:a1caba5c4e48 20
WilliamMarshQMUL 0:a1caba5c4e48 21 pc.printf("MMA8451 ID: %d\n", acc.getWhoAmI());
WilliamMarshQMUL 0:a1caba5c4e48 22
WilliamMarshQMUL 0:a1caba5c4e48 23 while (true) {
WilliamMarshQMUL 0:a1caba5c4e48 24 float x, y, z;
Bossman 3:1861f741c2df 25 double th,time1,time2,time3;
Bossman 3:1861f741c2df 26 th=0.5;
WilliamMarshQMUL 0:a1caba5c4e48 27 x = acc.getAccX();
WilliamMarshQMUL 0:a1caba5c4e48 28 y = acc.getAccY();
WilliamMarshQMUL 0:a1caba5c4e48 29 z = acc.getAccZ();
Bossman 3:1861f741c2df 30 //rled = 1.0f - abs(x);
Bossman 3:1861f741c2df 31 //gled = 1.0f - abs(y);
Bossman 3:1861f741c2df 32 // bled = 1.0f - abs(z);
Bossman 3:1861f741c2df 33 if (z>0.5) {
Bossman 3:1861f741c2df 34 state=flat;
Bossman 3:1861f741c2df 35 } else if ((x>th)&&(abs(y)<th)&&(abs(z)<th)) {
Bossman 3:1861f741c2df 36 state=right;
Bossman 3:1861f741c2df 37 } else if ((y>th)&&(abs(x)<th)&&(abs(z)<th)) {
Bossman 3:1861f741c2df 38 state=up;
Bossman 3:1861f741c2df 39 } else {
Bossman 3:1861f741c2df 40 state=error;
Bossman 3:1861f741c2df 41 }
Bossman 3:1861f741c2df 42 switch (state) {
Bossman 3:1861f741c2df 43 case flat:
Bossman 3:1861f741c2df 44 t.start();
Bossman 3:1861f741c2df 45 gled=0;
Bossman 3:1861f741c2df 46 bled=1;
Bossman 3:1861f741c2df 47 rled=1;
Bossman 3:1861f741c2df 48 pc.printf("flat");
Bossman 3:1861f741c2df 49 t.stop();
Bossman 3:1861f741c2df 50 time1=t.read();
Bossman 3:1861f741c2df 51 t.reset();
Bossman 3:1861f741c2df 52 if (time1>=10) {
Bossman 3:1861f741c2df 53 state=right;
Bossman 3:1861f741c2df 54 } else {
Bossman 3:1861f741c2df 55 state=error;
Bossman 3:1861f741c2df 56 }
Bossman 3:1861f741c2df 57 break;
Bossman 3:1861f741c2df 58 case right:
Bossman 3:1861f741c2df 59 gled=1;
Bossman 3:1861f741c2df 60 bled=1;
Bossman 3:1861f741c2df 61 rled=1;
Bossman 3:1861f741c2df 62 t.start();
Bossman 3:1861f741c2df 63 pc.printf("right");
Bossman 3:1861f741c2df 64 t.stop();
Bossman 3:1861f741c2df 65 time2=t.read();
Bossman 3:1861f741c2df 66 t.reset();
Bossman 3:1861f741c2df 67 if ((time2>2)&&(time2<6)) {
Bossman 3:1861f741c2df 68 state=up;
Bossman 3:1861f741c2df 69 } else {
Bossman 3:1861f741c2df 70 state=error;
Bossman 3:1861f741c2df 71 }
Bossman 3:1861f741c2df 72 break;
Bossman 3:1861f741c2df 73 case up:
Bossman 3:1861f741c2df 74 gled=1;
Bossman 3:1861f741c2df 75 bled=1;
Bossman 3:1861f741c2df 76 rled=1;
Bossman 3:1861f741c2df 77 t.start();
Bossman 3:1861f741c2df 78 pc.printf("up");
Bossman 3:1861f741c2df 79 t.stop();
Bossman 3:1861f741c2df 80 time3=t.read();
Bossman 3:1861f741c2df 81 t.reset();
Bossman 3:1861f741c2df 82 if ((time3>4)&&(time3)<8) {
Bossman 3:1861f741c2df 83 state=flat;
Bossman 3:1861f741c2df 84 } else {
Bossman 3:1861f741c2df 85 state=error;
Bossman 3:1861f741c2df 86 }
Bossman 3:1861f741c2df 87 break;
Bossman 3:1861f741c2df 88 case error:
Bossman 3:1861f741c2df 89 printf("error");
Bossman 3:1861f741c2df 90 rled=0;
Bossman 3:1861f741c2df 91 gled=1;
Bossman 3:1861f741c2df 92 bled=1;
Bossman 3:1861f741c2df 93 break;
Bossman 3:1861f741c2df 94
Bossman 3:1861f741c2df 95
Bossman 3:1861f741c2df 96
Bossman 3:1861f741c2df 97
Bossman 3:1861f741c2df 98
Bossman 3:1861f741c2df 99
Bossman 3:1861f741c2df 100 }
Bossman 3:1861f741c2df 101
Bossman 3:1861f741c2df 102
Bossman 3:1861f741c2df 103
Bossman 3:1861f741c2df 104
Bossman 3:1861f741c2df 105
Bossman 3:1861f741c2df 106
Bossman 3:1861f741c2df 107
Bossman 3:1861f741c2df 108
WilliamMarshQMUL 0:a1caba5c4e48 109 Thread::wait(300);
Bossman 3:1861f741c2df 110 //pc.printf("X: %1.2f, Y: %1.2f, Z: %1.2f\n \r", x, y, z);
WilliamMarshQMUL 0:a1caba5c4e48 111 }
WilliamMarshQMUL 0:a1caba5c4e48 112 }