kumar singh
Dummy Lora Packet Sending
Fork of
Dealer_18feb17
by 
kumar singh
Diff: Accelerometer.cpp
- Revision:
- 11:77e595130230
diff -r dc33cd3f4eb9 -r 77e595130230 Accelerometer.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Accelerometer.cpp Fri Jan 27 18:30:02 2017 +0000
@@ -0,0 +1,426 @@
+
+// INTERFACING ADXL345 ACCELEROMETER USING I2C
+
+/*
+NOTE :
+
+ACTIVITY : ACCELEROMETER IS ACCELERATING AND ITS VALUES ARE GREATER THAN THE ACTIVITY THRESHOLD
+INACTIVITY : ACCELEROMETER IS NOT IN ACCELERATION OR ACCELERATING VERY SLIGHTLY THAT ITS VALUES ARE BELOW THE INACTIVITY THRESHOLD
+DOUBLE TAP : SUDDEN JERK CONDITION (IDENIFIED BY SUDDEN VARIATIONS IN THE ACCELERATION VALUES)
+
+
+Due to communication speed limitations, the maximum output
+data rate when using 400 kHz I2C is 800 Hz and scales linearly with
+a change in the I2C communication speed
+
+*/
+/*
+#include "Accelerometer.h"
+
+#define DOUBLE_TAP_INTERRUPT 0x20
+#define ACTIVITY_INTERRUPT 0x10
+#define INACTIVITY_INTERRUPT 0x08
+
+#define TAP_THRESHOLD 75
+#define ACTIVITY_THRESHOLD 64 // THRES_ACT register value 62.5mg/LSB , therfore value 32 indicates 2g activity
+#define INACTIVITY_THRESHOLD 50
+
+#define DUR_TIME 0x15 // DUR Register value providing maximum time to be held to generate an interrupt
+#define LATENT_TIME 0x15 // The interrupt latency
+#define WINDOW_TIME 0x45 // The time of the interrupt window in which the next tap will be detected
+#define INACTIVITY_VALIDATION_TIME 5 // The time until which the acceleration must be held below the inactivity threshold to generate an inactvity interrupt
+ // Here the value 5 indicates literally 5 secs
+#define X_AXIS_OFFSET 0x7F
+#define Y_AXIS_OFFSET 0x7F
+#define Z_AXIS_OFFSET 0x05
+
+
+I2C i2c(PB_9, PB_8);
+RawSerial DEBUG_UART1(PA_9, PA_10);//USART1_TX->PA_9,USART1_RX->PA_10
+
+InterruptIn activity(PB_0);
+InterruptIn inactivity(PA_4); // As for now only this is used
+DigitalOut led(LED1);
+
+const int slave_address_acc = 0xA6;
+char axis_data[6] = {0,0,0,0,0,0};
+
+char interrupt_source[2];
+char axis_data_start_address[2] = {0x32, 0};
+char intr_source_address[2] = {0x30, 0};
+char all_interrupt_clear_command[2] = {0x2E, 0x00};
+char all_interrupt_enable_command[2] = {0x2E, 0x38};
+char activity_interrupt_disable_command[2] = {0x2E, 0x08};
+char inactivity_interrupt_disable_command[2] = {0x2E, 0x30};
+char accelerometer_status_registered = 0;
+unsigned int interrupt_source_duplicate;
+
+char threshold_offset_command[5];
+char act_inact_time_config_command[8];
+char interrupt_enable_command[3];
+char tap_axis_enable_command[2];
+char baud_rate_command[2];
+char data_format_command[2];
+char measure_bit_on_command[2];
+
+
+char previous_state = 0;
+char current_state = 0;
+
+unsigned char vehicle_speed = 25; // Kmph
+unsigned char current_speed, previous_speed, speed_threshold = 10; // Kmph
+
+unsigned char x_axis, y_axis, z_axis;
+
+unsigned char Motion_Detect_Status = FALSE;
+uint8 Accelerometer_Interrupt_Generated = FALSE;
+unsigned char Motion_Type_Detected = MOTION_TYPE_UNKNOWN; //By default set motion type as unknown
+void Accelerometer_Process_thread(void const *args) ;
+
+//----------------------------------------------------------------------------------------------------------
+
+// CONVERTS THE CHAR DATA TO UNSIGNED INTERGER DATA
+
+void char_to_int(char data_fetched)
+{
+ unsigned int shifter;
+ interrupt_source_duplicate = 0x00;
+ for(shifter = 0; shifter < 8; shifter++)
+ {
+ interrupt_source_duplicate |= (((data_fetched >> shifter) & 0x01) << shifter); // Converts char data into unsigned int
+ }
+}
+
+//----------------------------------------------------------------------------------------------------------
+
+// LEAVE THIS ROUTINE COMMENTED (IT JUST PRINTS THE DATA IN BINARY FORMAT)
+
+void print_data_bits(char data_fetched)
+{
+ unsigned int shifter;
+ for(shifter = 0; shifter < 8; shifter++)
+ {
+ DEBUG_UART1.printf("%d",((data_fetched&0x80)>>7));
+ data_fetched = data_fetched << 1;
+ }
+ DEBUG_UART1.printf("\r\n\r\n");
+}
+
+//----------------------------------------------------------------------------------------------------------
+
+void get_vehicle_speed(void)
+{
+ // PASS OBD COMMAND "010D<CR>" AND FETCH THE VEHICLE SPEED AT THIS POINT
+}
+
+
+void interrupt_activity_inactivity()
+{
+ i2c.write(slave_address_acc, all_interrupt_clear_command, 2);
+ Motion_Detect_Status = TRUE;
+}
+
+//----------------------------------------------------------------------------------------------------------
+ //this thread is to send lora packets periodically.
+ void Accelerometer_Process_thread(void const *args)
+ {
+ DEBUG_UART1.baud(115200);
+ DEBUG_UART1.printf(" Hello\n");
+ inactivity.rise(interrupt_activity_inactivity); // Attach the address of interrupt_activity_inactivity function to rising edge
+
+ // THE FOLLOWING GROUP OF COMMAND VARIABLES STORES THE CONFIGURATION VALUES TO BE WRITTEN TO THE ADXL345 ACCELEROMETER
+ threshold_offset_command[0] = 0x1D; // Threshold Tap Register address
+ threshold_offset_command[1] = TAP_THRESHOLD; // Threshold tap Register value
+ threshold_offset_command[2] = X_AXIS_OFFSET; // Offset - X axis
+ threshold_offset_command[3] = Y_AXIS_OFFSET; // Offset - Y axis
+ threshold_offset_command[4] = Z_AXIS_OFFSET; // Offset - Z axis
+
+ act_inact_time_config_command[0] = 0x21; // DUR Register address
+ act_inact_time_config_command[1] = DUR_TIME;
+ act_inact_time_config_command[2] = LATENT_TIME;
+ act_inact_time_config_command[3] = WINDOW_TIME;
+ act_inact_time_config_command[4] = ACTIVITY_THRESHOLD;
+ act_inact_time_config_command[5] = INACTIVITY_THRESHOLD; // THRES_INACT Register
+ act_inact_time_config_command[6] = INACTIVITY_VALIDATION_TIME; // TIME_INACT Register, making inactivity detection time = 5 secs
+ act_inact_time_config_command[7] = 0x77; // Activity, Inactivity detection enabled for all axis
+
+ interrupt_enable_command[0] = 0x2E; // INT Enable Register address
+ interrupt_enable_command[1] = 0x38; // Enabling Double tap (sudden jerk), Activity & Inactivity Interrupts
+ interrupt_enable_command[2] = 0xFF; // Double tap (sudden jerk), Activity & inactivity interrupts are mapped to INT2 pin
+
+ tap_axis_enable_command[0] = 0x2A; // Address of the TAP_AXES Register
+ tap_axis_enable_command[1] = 0x07; // X, Y & Z axis participate in tap detection
+
+ baud_rate_command[0] = 0x2C; // Address of the BW RATE register
+ baud_rate_command[1] = 0x0D; // Increased the data rate to 800Hz, default is 0x0A indicating 100Hz
+
+ data_format_command[0] = 0x31; // Data format register address
+ data_format_command[1] = 0x04; // Making the acceleration data as left justified
+
+ measure_bit_on_command[0] = 0x2D; // Post the Register address of the slave (Have to write this into slave)
+ measure_bit_on_command[1] = 0x08; // Turn ON the Measure Bit
+
+ i2c.write(slave_address_acc, threshold_offset_command, 5);
+ i2c.write(slave_address_acc, act_inact_time_config_command, 8);
+ i2c.write(slave_address_acc, interrupt_enable_command, 3);
+ i2c.write(slave_address_acc, tap_axis_enable_command, 2);
+ i2c.write(slave_address_acc, baud_rate_command, 2);
+ i2c.write(slave_address_acc, data_format_command, 2);
+ i2c.write(slave_address_acc, measure_bit_on_command, 2);
+
+ DEBUG_UART1.printf(" ACCELEROMETER DATA LOG \r\n\r\n");
+
+ while (1)
+ {
+ if(Motion_Detect_Status)
+ {
+ // The following statement disables all interrupts since no other interrupts must disturb at this point
+ i2c.write(slave_address_acc, intr_source_address, 1);
+ i2c.read(slave_address_acc, interrupt_source, 1); // Reads the Interrupt Source Register
+ char_to_int(interrupt_source[0]); // Coverts intr_source(char) to int & stores in intr_source_duplicate
+
+ Motion_Detect_Status = FALSE;
+ Motion_Type_Detected = MOTION_TYPE_UNKNOWN;
+ // USE THE FOLLOWING BLOCK TO READ THE DATA IN X-AXIS, Y-AXIS & Z-AXIS
+ //---------------------------------------------------------------------------------------------------------------------------------
+ if(interrupt_source_duplicate & DOUBLE_TAP_INTERRUPT) // Check whether it is double tap (sudden jerk) interrupt
+ {
+ // ATTACH YOUR SUDDEN JERK EXECUTION ROUTINE HERE
+ i2c.write(slave_address_acc, inactivity_interrupt_disable_command, 2); // Disables Inactivity interrupt & enables Double Tap & Activity interrupt
+ DEBUG_UART1.printf("ENTERED SUDDEN JERK CONDITION \r\n\r\n"); // To be removed
+ interrupt_source_duplicate = 0x00; // Sudden jerk also comes with activity interrupt triggered, hence this statements makes the activity check fail
+ Motion_Type_Detected = MOTION_TYPE_TAP;
+ Accelerometer_Interrupt_Generated = TRUE;
+ }
+ //---------------------------------------------------------------------------------------------------------------------------------
+ // VERIFY WHETHER THE INTERRUPT IS BECAUSE OF ACTIVITY
+
+ if(interrupt_source_duplicate & ACTIVITY_INTERRUPT)
+ {
+ i2c.write(slave_address_acc, activity_interrupt_disable_command, 2); // Disables Activity interrupt & enables Inactivity interrupt
+ get_vehicle_speed();
+ previous_speed = vehicle_speed;
+ wait(5);
+ get_vehicle_speed();
+ current_speed = vehicle_speed;
+ if((current_speed > previous_speed) && (current_speed > speed_threshold))
+ {
+ Motion_Type_Detected = MOTION_TYPE_STOP_TO_START;
+ Accelerometer_Interrupt_Generated = TRUE;
+ DEBUG_UART1.printf("VEHICLE HAS STARTED (STOP TO START) \r\n");
+ // ATTACH UR STOP TO START ROUTINE HERE
+ }
+ }
+ //---------------------------------------------------------------------------------------------------------------------------------
+
+ // VERIFY WHETHER THE INTERRUPT IS BECAUSE OF INACTIVITY
+ if(interrupt_source_duplicate & INACTIVITY_INTERRUPT)
+ {
+ i2c.write(slave_address_acc, inactivity_interrupt_disable_command, 2); // Disables Inactivity interrupt & enables Activity interrupt
+ get_vehicle_speed();
+ if(vehicle_speed == 0)
+ {
+ Motion_Type_Detected = MOTION_TYPE_START_TO_STOP;
+ Accelerometer_Interrupt_Generated = TRUE;
+ // ATTACH YOUR START TO STOP PROCESS OVERFLOW HERE
+ DEBUG_UART1.printf("VEHICLE HAS STOPPED (START TO STOP) \r\n");
+ }
+ }
+ wait(0.25);
+ i2c.write(slave_address_acc, axis_data_start_address, 1);
+ i2c.read(slave_address_acc, axis_data, 6);
+
+ x_axis = axis_data[1]; // Puts MSB data into respective axes
+ y_axis = axis_data[3];
+ z_axis = axis_data[5];
+ }
+ Thread::wait(200); //wait for 100msec
+ }
+ }*/
+
+
+/*
+
+// INTERFACING ADXL345 ACCELEROMETER USING I2C
+
+/*
+NOTE :
+
+ACTIVITY : ACCELEROMETER IS ACCELERATING AND ITS VALUES ARE GREATER THAN THE ACTIVITY THRESHOLD
+INACTIVITY : ACCELEROMETER IS NOT IN ACCELERATION OR ACCELERATING VERY SLIGHTLY THAT ITS VALUES ARE BELOW THE INACTIVITY THRESHOLD
+DOUBLE TAP : SUDDEN JERK CONDITION (IDENIFIED BY SUDDEN VARIATIONS IN THE ACCELERATION VALUES)
+
+
+Due to communication speed limitations, the maximum output
+data rate when using 400 kHz I2C is 800 Hz and scales linearly with
+a change in the I2C communication speed
+
+*/
+
+/*
+
+//----------------------------------------------------------------------------------------------------------
+
+// CONVERTS THE CHAR DATA TO UNSIGNED INTERGER DATA
+
+void char_to_int(char data_fetched)
+{
+ unsigned int shifter;
+ interrupt_source_duplicate = 0x00;
+ for(shifter = 0; shifter < 8; shifter++)
+ {
+ interrupt_source_duplicate |= (((data_fetched >> shifter) & 0x01) << shifter); // Converts char data into unsigned int
+ }
+}
+
+//----------------------------------------------------------------------------------------------------------
+
+// LEAVE THIS ROUTINE COMMENTED (IT JUST PRINTS THE DATA IN BINARY FORMAT)
+
+void print_data_bits(char data_fetched)
+{
+ unsigned int shifter;
+ for(shifter = 0; shifter < 8; shifter++)
+ {
+ DEBUG_UART1.printf("%d",((data_fetched&0x80)>>7));
+ data_fetched = data_fetched << 1;
+ }
+ DEBUG_UART1.printf("\r\n\r\n");
+}
+
+//----------------------------------------------------------------------------------------------------------
+
+void get_vehicle_speed(void)
+{
+ // PASS OBD COMMAND "010D<CR>" AND FETCH THE VEHICLE SPEED AT THIS POINT
+}
+
+
+//void interrupt_activity_inactivity()
+//{
+ //i2c.write(slave_address_acc, all_interrupt_clear_command, 2);
+ //DEBUG_UART1.printf(" A");
+ // Motion_Detect_Status = TRUE;
+//}
+
+//----------------------------------------------------------------------------------------------------------
+ //this thread is to send lora packets periodically.
+ void Accelerometer_Process_thread()//void const *args)
+ {
+ DEBUG_UART1.baud(115200);
+ // inactivity.rise(interrupt_activity_inactivity); // Attach the address of interrupt_activity_inactivity function to rising edge
+
+ // THE FOLLOWING GROUP OF COMMAND VARIABLES STORES THE CONFIGURATION VALUES TO BE WRITTEN TO THE ADXL345 ACCELEROMETER
+ threshold_offset_command[0] = 0x1D; // Threshold Tap Register address
+ threshold_offset_command[1] = TAP_THRESHOLD; // Threshold tap Register value
+ threshold_offset_command[2] = X_AXIS_OFFSET; // Offset - X axis
+ threshold_offset_command[3] = Y_AXIS_OFFSET; // Offset - Y axis
+ threshold_offset_command[4] = Z_AXIS_OFFSET; // Offset - Z axis
+
+ act_inact_time_config_command[0] = 0x21; // DUR Register address
+ act_inact_time_config_command[1] = DUR_TIME;
+ act_inact_time_config_command[2] = LATENT_TIME;
+ act_inact_time_config_command[3] = WINDOW_TIME;
+ act_inact_time_config_command[4] = ACTIVITY_THRESHOLD;
+ act_inact_time_config_command[5] = INACTIVITY_THRESHOLD; // THRES_INACT Register
+ act_inact_time_config_command[6] = INACTIVITY_VALIDATION_TIME; // TIME_INACT Register, making inactivity detection time = 5 secs
+ act_inact_time_config_command[7] = 0x77; // Activity, Inactivity detection enabled for all axis
+
+ interrupt_enable_command[0] = 0x2E; // INT Enable Register address
+ interrupt_enable_command[1] = 0x38; // Enabling Double tap (sudden jerk), Activity & Inactivity Interrupts
+ interrupt_enable_command[2] = 0xFF; // Double tap (sudden jerk), Activity & inactivity interrupts are mapped to INT2 pin
+
+ tap_axis_enable_command[0] = 0x2A; // Address of the TAP_AXES Register
+ tap_axis_enable_command[1] = 0x07; // X, Y & Z axis participate in tap detection
+
+ baud_rate_command[0] = 0x2C; // Address of the BW RATE register
+ baud_rate_command[1] = 0x0D; // Increased the data rate to 800Hz, default is 0x0A indicating 100Hz
+
+ data_format_command[0] = 0x31; // Data format register address
+ data_format_command[1] = 0x04; // Making the acceleration data as left justified
+
+ measure_bit_on_command[0] = 0x2D; // Post the Register address of the slave (Have to write this into slave)
+ measure_bit_on_command[1] = 0x08; // Turn ON the Measure Bit
+
+ i2c.write(slave_address_acc, threshold_offset_command, 5);
+ i2c.write(slave_address_acc, act_inact_time_config_command, 8);
+ i2c.write(slave_address_acc, interrupt_enable_command, 3);
+ i2c.write(slave_address_acc, tap_axis_enable_command, 2);
+ i2c.write(slave_address_acc, baud_rate_command, 2);
+ i2c.write(slave_address_acc, data_format_command, 2);
+ i2c.write(slave_address_acc, measure_bit_on_command, 2);
+
+ DEBUG_UART1.printf(" ACCELEROMETER DATA LOG \r\n\r\n");
+
+ while (1)
+ {
+ if(Motion_Detect_Status)
+ {
+ // The following statement disables all interrupts since no other interrupts must disturb at this point
+ i2c.write(slave_address_acc, intr_source_address, 1);
+ i2c.read(slave_address_acc, interrupt_source, 1); // Reads the Interrupt Source Register
+ char_to_int(interrupt_source[0]); // Coverts intr_source(char) to int & stores in intr_source_duplicate
+
+ Motion_Detect_Status = FALSE;
+ Motion_Type_Detected = MOTION_TYPE_UNKNOWN;
+ DEBUG_UART1.printf("Motion detected");
+ DEBUG_UART1.putc(interrupt_source_duplicate);
+ // USE THE FOLLOWING BLOCK TO READ THE DATA IN X-AXIS, Y-AXIS & Z-AXIS
+ //---------------------------------------------------------------------------------------------------------------------------------
+ if(interrupt_source_duplicate & DOUBLE_TAP_INTERRUPT) // Check whether it is double tap (sudden jerk) interrupt
+ {
+ // ATTACH YOUR SUDDEN JERK EXECUTION ROUTINE HERE
+ i2c.write(slave_address_acc, inactivity_interrupt_disable_command, 2); // Disables Inactivity interrupt & enables Double Tap & Activity interrupt
+ DEBUG_UART1.printf("ENTERED SUDDEN JERK CONDITION \r\n\r\n"); // To be removed
+ interrupt_source_duplicate = 0x00; // Sudden jerk also comes with activity interrupt triggered, hence this statements makes the activity check fail
+ Motion_Type_Detected = MOTION_TYPE_TAP;
+ Accelerometer_Interrupt_Generated = TRUE;
+ }
+ //---------------------------------------------------------------------------------------------------------------------------------
+ / VERIFY WHETHER THE INTERRUPT IS BECAUSE OF ACTIVITY
+
+ if(interrupt_source_duplicate & ACTIVITY_INTERRUPT)
+ {
+ i2c.write(slave_address_acc, activity_interrupt_disable_command, 2); // Disables Activity interrupt & enables Inactivity interrupt
+ get_vehicle_speed();
+ previous_speed = vehicle_speed;
+ wait(5);
+ get_vehicle_speed();
+ current_speed = vehicle_speed;
+ if((current_speed > previous_speed) && (current_speed > speed_threshold))
+ {
+ Motion_Type_Detected = MOTION_TYPE_STOP_TO_START;
+ Accelerometer_Interrupt_Generated = TRUE;
+ DEBUG_UART1.printf("VEHICLE HAS STARTED (STOP TO START) \r\n");
+ // ATTACH UR STOP TO START ROUTINE HERE
+ }
+ }
+ //---------------------------------------------------------------------------------------------------------------------------------
+
+ // VERIFY WHETHER THE INTERRUPT IS BECAUSE OF INACTIVITY
+ if(interrupt_source_duplicate & INACTIVITY_INTERRUPT)
+ {
+ i2c.write(slave_address_acc, inactivity_interrupt_disable_command, 2); // Disables Inactivity interrupt & enables Activity interrupt
+ get_vehicle_speed();
+ if(vehicle_speed == 0)
+ {
+ Motion_Type_Detected = MOTION_TYPE_START_TO_STOP;
+ Accelerometer_Interrupt_Generated = TRUE;
+ // ATTACH YOUR START TO STOP PROCESS OVERFLOW HERE
+ DEBUG_UART1.printf("VEHICLE HAS STOPPED (START TO STOP) \r\n");
+ }
+ }
+ wait(0.25);
+ i2c.write(slave_address_acc, axis_data_start_address, 1);
+ i2c.read(slave_address_acc, axis_data, 6);
+
+ x_axis = axis_data[1]; // Puts MSB data into respective axes
+ y_axis = axis_data[3];
+ z_axis = axis_data[5];
+ }
+ Thread::wait(200); //wait for 100msec
+ }
+ }
+
+
+*/
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