Revision 1:426fbd0d126a, committed 2015-12-09

Comitter:

Suchakhree

Date:

Wed Dec 09 10:19:11 2015 +0000

Parent:

0:238df339023b

Commit message:

????????????????? ????????

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GetAcceloroY.cpp	Wed Dec 09 10:19:11 2015 +0000
@@ -0,0 +1,125 @@
+/*
+//int main()
+  t.start();
+  //___ Set up I2C: use fast (400 kHz) I2C ___
+  i2c.frequency(400000);  
+  // Read the WHO_AM_I register, this is a good test of communication
+  whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
+  pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
+  if (I2Cstate != 0) // error on I2C
+    pc.printf("I2C failure while reading WHO_AM_I register");
+  
+  if (whoami == 0x71) // WHO_AM_I should always be 0x71
+  {  
+        pc.printf("MPU9250 is online...\n\r");
+        sprintf(buffer, "0x%x", whoami);
+        wait(1);
+        mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
+        mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values (accelerometer and gyroscope self test)
+        mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometer, load biases in bias registers  
+        wait(2);
+        //Initialize device for active mode read of acclerometer, gyroscope, and temperature
+        mpu9250.initMPU9250();
+        pc.printf("MPU9250 initialized for active data mode....\n\r");
+        //Initialize device for active mode read of magnetometer, 16 bit resolution, 100Hz.
+        mpu9250.initAK8963(magCalibration);
+        wait(1);
+   }
+   
+   else // Connection failure
+   {
+    pc.printf("Could not connect to MPU9250: \n\r");
+    pc.printf("%#x \n",  whoami);    
+    sprintf(buffer, "WHO_AM_I 0x%x", whoami);
+    //while(1) ; // Loop forever if communication doesn't happen
+    }
+  
+    mpu9250.getAres(); // Get accelerometer sensitivity
+    mpu9250.getGres(); // Get gyro sensitivity
+    mpu9250.getMres(); // Get magnetometer sensitivity
+    magbias[0] = +470.;  // User environmental x-axis correction in milliGauss, should be automatically calculated
+    magbias[1] = +120.;  // User environmental x-axis correction in milliGauss
+    magbias[2] = +125.;  // User environmental x-axis correction in milliGauss
+    
+    
+      Ay[0]=GetAcceloroY(); pc.printf("1: %d\n",Ay[0]);
+      Ay[1]=GetAcceloroY(); pc.printf("2: %d\n",Ay[1]);
+      if( Ay[1]+Ay[0]< -20 ) pc.printf("#BR$\n\n\n");
+
+
+//Function 4 GetAcceloroY
+
+int GetAcceloroY()
+{
+         // If intPin goes high, all data registers have new data
+        if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) {  // On interrupt, check if data ready interrupt   
+            mpu9250.readAccelData(accelCount);  // Read the x/y/z adc values   
+            // Now we'll calculate the accleration value into actual g's
+            if (I2Cstate != 0) //error on I2C
+                pc.printf("I2C error ocurred while reading accelerometer data. I2Cstate = %d \n\r", I2Cstate);
+            else{ // I2C read or write ok
+                I2Cstate = 1;
+                ax = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
+                ay = (float)accelCount[1]*aRes - accelBias[1];
+                az = (float)accelCount[2]*aRes - accelBias[2];
+            }   
+            mpu9250.readGyroData(gyroCount);  // Read the x/y/z adc values
+            // Calculate the gyro value into actual degrees per second
+            if (I2Cstate != 0) //error on I2C
+                pc.printf("I2C error ocurred while reading gyrometer data. I2Cstate = %d \n\r", I2Cstate);
+            else{ // I2C read or write ok
+                I2Cstate = 1;
+                gx = (float)gyroCount[0]*gRes - gyroBias[0];  // get actual gyro value, this depends on scale being set
+                gy = (float)gyroCount[1]*gRes - gyroBias[1]; 
+                gz = (float)gyroCount[2]*gRes - gyroBias[2];
+            }
+            mpu9250.readMagData(magCount);  // Read the x/y/z adc values   
+            // Calculate the magnetometer values in milliGauss
+            // Include factory calibration per data sheet and user environmental corrections
+            if (I2Cstate != 0) //error on I2C
+                pc.printf("I2C error ocurred while reading magnetometer data. I2Cstate = %d \n\r", I2Cstate);
+            else{ // I2C read or write ok
+                I2Cstate = 1;
+                mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0];  // get actual magnetometer value, this depends on scale being set
+                my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];  
+                mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
+            }
+                       
+            mpu9250.getCompassOrientation(orientation);
+        }
+   
+        Now = t.read_us();
+        deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
+        lastUpdate = Now;    
+        sum += deltat;
+        sumCount++;
+    
+        // Pass gyro rate as rad/s
+        // mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f,  my,  mx, mz);
+         mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
+
+        // Serial print and/or display at 1.5 s rate independent of data rates
+        delt_t = t.read_ms() - count;
+        if (delt_t > 500) { // update LCD once per half-second independent of read rate
+            mpu9250.MadgwickQuaternionUpdate(ax,ay,az,gx,gy,gz,mx,my,mz);  
+            pc.printf(" ay = %.2f\n", 1000*ay);
+            tempCount = mpu9250.readTempData();  // Read the adc values
+            if (I2Cstate != 0) //error on I2C
+                pc.printf("I2C error ocurred while reading sensor temp. I2Cstate = %d \n\r", I2Cstate);
+            else{ // I2C read or write ok                
+                I2Cstate = 1;
+                temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
+                //pc.printf(" temperature = %f  C\n\r", temperature);
+            }
+            count = t.read_ms(); 
+            if(count > 1<<21) {
+                t.start(); // start the timer over again if ~30 minutes has passed
+                count = 0;
+                deltat= 0;
+                lastUpdate = t.read_us();
+            }
+        sum = 0;
+        sumCount = 0; 
+        }
+        return ay*1000;
+}*/
\ No newline at end of file

--- a/GetDistance2LED.cpp	Mon Dec 07 12:20:46 2015 +0000
+++ b/GetDistance2LED.cpp	Wed Dec 09 10:19:11 2015 +0000
@@ -1,10 +1,10 @@
 
 //Function 4 getdistance2led
 
-/*DigitalOut pinled0(PC_3);  DigitalOut pinled1(PC_2);  DigitalOut pinled2(PH_1);
-DigitalOut pinled3(PH_0);  DigitalOut pinled4(PC_15); DigitalOut pinled5(PC_14);
-DigitalOut pinled6(PC_13); DigitalOut pinled7(PB_7);  DigitalOut pinled8(PA_15);
-DigitalOut pinled9(PA_14); DigitalOut pinbuzz(PA_13);
+/*DigitalOut pinled0(PC_8);  DigitalOut pinled1(PC_6);  DigitalOut pinled2(PC_5);
+DigitalOut pinled3(PA_12);  DigitalOut pinled4(PA_11); DigitalOut pinled5(PB_12);
+DigitalOut pinled6(PB_2); DigitalOut pinled7(PB_15);  DigitalOut pinled8(PB_14);
+DigitalOut pinled9(PB_13); DigitalOut pinbuzz(D3);
 
 void getdistance2led(char step)
 {

--- a/Getswitch2Send.cpp	Mon Dec 07 12:20:46 2015 +0000
+++ b/Getswitch2Send.cpp	Wed Dec 09 10:19:11 2015 +0000
@@ -1,10 +1,35 @@
-
-/*DigitalIn switch1(D5);
-DigitalIn switch2(D6);
-DigitalIn switch3(D7);
+/*
+//Setup
+InterruptIn switch1(D11);
+InterruptIn switch2(D10);
+InterruptIn switch3(D7);
+void switch1();
+void switch2();
+void switch3();
+int matrix_state=0;
 
-        if(switch1==1) pc.printf("#TR$");
-        if(switch2==1) pc.printf("#TL$");
-        if(switch3==1) pc.printf("#BR$"); 
-        else pc.printf("#MED$");
-        */
\ No newline at end of file
+      
+      // int main()
+      switch1.rise(&switch_1);
+      switch2.rise(&switch_2);
+      switch3.rise(&switch_3);
+      if(matrix_state == 0){mobile.printf("#MED$"); pc.printf("#MED$");}
+      else if(matrix_state == 1){mobile.printf("#TR$");  pc.printf("#TR$\n");}
+      else if(matrix_state == 2){mobile.printf("#TL$");  pc.printf("#TL$\n");}
+      else if(matrix_state == 3){mobile.printf("#BR$");  pc.printf("#BR$\n");}
+      if(switch1 == 0 && switch2 == 0 & switch3 == 0 ) matrix_state = 0;
+      
+//Function     
+void switch_1() 
+{ 
+    matrix_state=1; 
+}
+void switch_2() 
+{
+    matrix_state=2;
+}
+void switch_3() 
+{ 
+    matrix_state=3;
+}*/
+        
\ No newline at end of file

--- a/SendAcceloroY.cpp	Mon Dec 07 12:20:46 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,85 +0,0 @@
-
-//Function 4 SenAcceloroY
-
-/*int SenAcceloroY()
-{
-         // If intPin goes high, all data registers have new data
-        if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) {  // On interrupt, check if data ready interrupt   
-            mpu9250.readAccelData(accelCount);  // Read the x/y/z adc values   
-            // Now we'll calculate the accleration value into actual g's
-            if (I2Cstate != 0) //error on I2C
-                pc.printf("I2C error ocurred while reading accelerometer data. I2Cstate = %d \n\r", I2Cstate);
-            else{ // I2C read or write ok
-                I2Cstate = 1;
-                ax = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
-                ay = (float)accelCount[1]*aRes - accelBias[1];
-                az = (float)accelCount[2]*aRes - accelBias[2];
-            }   
-            
-            mpu9250.readGyroData(gyroCount);  // Read the x/y/z adc values
-            // Calculate the gyro value into actual degrees per second
-            if (I2Cstate != 0) //error on I2C
-                pc.printf("I2C error ocurred while reading gyrometer data. I2Cstate = %d \n\r", I2Cstate);
-            else{ // I2C read or write ok
-                I2Cstate = 1;
-                gx = (float)gyroCount[0]*gRes - gyroBias[0];  // get actual gyro value, this depends on scale being set
-                gy = (float)gyroCount[1]*gRes - gyroBias[1]; 
-                gz = (float)gyroCount[2]*gRes - gyroBias[2];
-            }
-            
-            mpu9250.readMagData(magCount);  // Read the x/y/z adc values   
-            // Calculate the magnetometer values in milliGauss
-            // Include factory calibration per data sheet and user environmental corrections
-            if (I2Cstate != 0) //error on I2C
-                pc.printf("I2C error ocurred while reading magnetometer data. I2Cstate = %d \n\r", I2Cstate);
-            else{ // I2C read or write ok
-                I2Cstate = 1;
-                mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0];  // get actual magnetometer value, this depends on scale being set
-                my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];  
-                mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
-            }
-                       
-            mpu9250.getCompassOrientation(orientation);
-        }
-   
-        Now = t.read_us();
-        deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
-        lastUpdate = Now;    
-        sum += deltat;
-        sumCount++;
-    
-        // Pass gyro rate as rad/s
-        // mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f,  my,  mx, mz);
-         mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
-
-        // Serial print and/or display at 1.5 s rate independent of data rates
-        delt_t = t.read_ms() - count;
-        if (delt_t > 500) { // update LCD once per half-second independent of read rate
-            mpu9250.MadgwickQuaternionUpdate(ax,ay,az,gx,gy,gz,mx,my,mz);  
-
-            pc.printf(" ay = %.2f\n", 1000*ay);
-
-            tempCount = mpu9250.readTempData();  // Read the adc values
-            if (I2Cstate != 0) //error on I2C
-                pc.printf("I2C error ocurred while reading sensor temp. I2Cstate = %d \n\r", I2Cstate);
-            else{ // I2C read or write ok                
-                I2Cstate = 1;
-                temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
-                //pc.printf(" temperature = %f  C\n\r", temperature);
-            }
-
-
-            myled= !myled;
-            count = t.read_ms(); 
-
-            if(count > 1<<21) {
-                t.start(); // start the timer over again if ~30 minutes has passed
-                count = 0;
-                deltat= 0;
-                lastUpdate = t.read_us();
-            }
-        sum = 0;
-        sumCount = 0; 
-        }
-        return ay*1000;
-}*/
\ No newline at end of file

--- a/TextLCD.lib	Mon Dec 07 12:20:46 2015 +0000
+++ b/TextLCD.lib	Wed Dec 09 10:19:11 2015 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/users/wim/code/TextLCD/#111ca62e8a59
+https://developer.mbed.org/teams/FRA221_2015/code/TextLCD/#daa61eaff9c6

--- a/main.cpp	Mon Dec 07 12:20:46 2015 +0000
+++ b/main.cpp	Wed Dec 09 10:19:11 2015 +0000
@@ -2,9 +2,7 @@
 #include "MPU9250.h"
 #include "TextLCD.h"
 
-int gyrol_Break();
-
-Serial pc(USBTX, USBRX); // Huyperterminal default config: 9600 bauds, 8-bit data, 1 stop bit, no parity
+Serial pc(USBTX, USBRX); // Huyperterminal default config: 9600 bauds
 Serial mobile(D8,D2);
 //mobile.baud(38400);
 
@@ -15,31 +13,34 @@
 I2C i2c_lcd(D14,D15); // SDA, SCL
 TextLCD_I2C lcd(&i2c_lcd, 0x4E, TextLCD::LCD20x4); // I2C bus, PCF8574 Slaveaddress, LCD Type
 
-char pack[8]={0};
+char pack[14]={0};
 
-int Ay=0;
+int Ay[2]={0};
 float sum=0;
 uint32_t sumCount = 0;
 char buffer[14];
 uint8_t dato_leido[2];
 uint8_t whoami;
-int SendAcceloroY();
+int GetAcceloroY();
 
-DigitalOut pinled0(PC_3);  DigitalOut pinled1(PC_2);  DigitalOut pinled2(PC_13);
-DigitalOut pinled3(PB_7);  DigitalOut pinled4(PA_15); DigitalOut pinled5(PA_13);
-DigitalOut pinled6(PC_12); DigitalOut pinled7(PC_10); DigitalOut pinled8(PB_4);
-DigitalOut pinled9(PB_10); DigitalOut pinbuzz(PA_8);
+DigitalOut pinled0(PC_8);  DigitalOut pinled1(PC_6);  DigitalOut pinled2(PC_5);
+DigitalOut pinled3(PA_12);  DigitalOut pinled4(PA_11); DigitalOut pinled5(PB_12);
+DigitalOut pinled6(PB_2); DigitalOut pinled7(PB_15);  DigitalOut pinled8(PB_14);
+DigitalOut pinled9(PB_13); DigitalOut pinbuzz(D3);
 void resetled();
 void getdistance2led(char step);
 
-DigitalIn switch1(D9);
-DigitalIn switch2(D10);
-DigitalIn switch3(D11);
-void switch_turn();
-int state = 0;
+InterruptIn switch1(D11);//TR
+InterruptIn switch2(D10);//TL
+InterruptIn switch3(D7);//BR
+void switch_1();
+void switch_2();
+void switch_3();
+int matrix_state=0;
 
 int main() {
-    
+  
+  
   //___ Set up I2C: use fast (400 kHz) I2C ___
   i2c.frequency(400000);  
   // Read the WHO_AM_I register, this is a good test of communication
@@ -57,10 +58,10 @@
         mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values (accelerometer and gyroscope self test)
         mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometer, load biases in bias registers  
         wait(2);
-        // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+        //Initialize device for active mode read of acclerometer, gyroscope, and temperature
         mpu9250.initMPU9250();
         pc.printf("MPU9250 initialized for active data mode....\n\r");
-        // Initialize device for active mode read of magnetometer, 16 bit resolution, 100Hz.
+        //Initialize device for active mode read of magnetometer, 16 bit resolution, 100Hz.
         mpu9250.initAK8963(magCalibration);
         wait(1);
    }
@@ -70,73 +71,90 @@
     pc.printf("Could not connect to MPU9250: \n\r");
     pc.printf("%#x \n",  whoami);    
     sprintf(buffer, "WHO_AM_I 0x%x", whoami);
-    while(1) ; // Loop forever if communication doesn't happen
+    //while(1) ; // Loop forever if communication doesn't happen
     }
   
-    mpu9250.getAres(); // Get accelerometer sensitivity
-    mpu9250.getGres(); // Get gyro sensitivity
-    mpu9250.getMres(); // Get magnetometer sensitivity
-    magbias[0] = +470.;  // User environmental x-axis correction in milliGauss, should be automatically calculated
-    magbias[1] = +120.;  // User environmental x-axis correction in milliGauss
-    magbias[2] = +125.;  // User environmental x-axis correction in milliGauss
+    mpu9250.getAres(); 
     
     lcd.locate(0,0);
-    lcd.printf("FRA241 Software-Dev.");
+    lcd.printf("FRA221 DigitalElec.");
     lcd.locate(0,1);
     lcd.printf("Bike_Light");
     resetled();
+    t.start();
+    
 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////         
     while(1) 
-    {
-      if(switch1 == 1 || switch2 == 1 || switch3 == 1) mobile.printf("#");
-        if(switch1 == 1) {mobile.printf("#TR$"); lcd.locate(0,3); lcd.printf("TurnRight"); }
-        if(switch2 == 1) {mobile.printf("#TL$"); lcd.locate(0,3); lcd.printf("TurnLeft.");}
-        if(switch3 == 1) {mobile.printf("#BR$"); lcd.locate(0,3); lcd.printf("Break.");}
-        else {mobile.printf("#MD$"); lcd.locate(0,3); lcd.printf("None.   ");}    
-      
-      //switch_turn();
-      //Read data
-     /* if(mobile.readable())
+    {  
+    
+      if(t.read_ms()<=50)
       {
-            pack[0] = mobile.getc();
-            for(int i=0;i<8;i++)
-                pack[i] = mobile.getc();
-              
-              //Debug_Serial   
-              //for(int i=0;i<8;i++) 
-              //    pc.printf("%c",pack[i]); 
-              //pc.printf("\n"); 
-
-              lcd.locate(0,2); 
-              for(int i=0;i<8;i++) lcd.printf("%c",pack[i]); 
-              
-              if(pack[1] == '#')
-              {
-                
-                if(pack[2] == 'D' && pack[5] == 'S')
-                {
-                     getdistance2led(pack[4]);
-                     lcd.locate(0,2);  
-                     lcd.printf("SPEED : %c%c km/hr",pack[6],pack[7]);
-                     
-                     //switch1.rise(&switch_turn); 
-                     
-                     //for(int i; ((switch1 == 1 || switch2 == 1 || switch3 == 1 )&& state == 0);)  {mobile.printf("#"); break;}
-                     //for(;switch1 == 1 && state == 0;) {mobile.printf("#TR$"); lcd.locate(0,3); lcd.printf("TurnRight"); state=1; break;}
-                     //else if(switch2 == 1 && state == 0) {mobile.printf("#TL$"); lcd.locate(0,3); lcd.printf("TurnLeft."); state=1;}
-                     //else if(switch3 == 1 && state == 0) {mobile.printf("#BR$"); lcd.locate(0,3); lcd.printf("Break.   "); state=1;}
-                     //if((switch1 == 0 || switch2 == 0 || switch3 == 0 )&& state == 1){mobile.printf("#"); mobile.printf("#MD$"); lcd.locate(0,3); lcd.printf("Clear."); state=0;}
-    
-                }*/
-                
-              //}  
-            
-      }
-        
+          //Read data
+          /*if(mobile.readable())
+          {
+                //pack[0] = mobile.getc();
+                for(int i=0;i<13;i++)
+                    pack[i] = mobile.getc();
+                  
+                  //Debug_Serial   
+                  for(int i=0;i<12;i++) 
+                      pc.printf("%c",pack[i]); 
+                  pc.printf("\n"); 
+                  //lcd.locate(0,2); 
+                  //for(int i=0;i<14;i++) lcd.printf("%c",pack[i]); 
+                  
+                  if(pack[0] == '#')
+                  {
+                    
+                    if(pack[1] == 'D' && pack[4] == 'S' && pack[7] == 'K')
+                    {
+                         getdistance2led(pack[3]);
+                         lcd.locate(0,2);  
+                         lcd.printf("SPEED : %c%c km/hr",pack[5],pack[6]);
+                         lcd.locate(0,3);  
+                         lcd.printf("Distance: %c.%c%c km.",pack[8],pack[9],pack[10]);
+                         //pc.printf("read\n");
+                    }  
+                  }
+            }*/ 
+               
+          Ay[0]=GetAcceloroY(); //pc.printf("1: %d\n",Ay[0]);
+          Ay[1]=GetAcceloroY(); //pc.printf("2: %d\n",Ay[1]);
+          if( Ay[1]+Ay[0]< -150 ) {matrix_state=3; pc.printf("#BR$\n\n\n"); }
+          switch1.rise(&switch_1);
+          switch2.rise(&switch_2);
+          switch3.rise(&switch_3);
+          if(matrix_state == 0){mobile.printf("#MED$"); pc.printf("#MED$");}
+          else if(matrix_state == 1){mobile.printf("#TR$");  pc.printf("#TR$\n");}
+          else if(matrix_state == 2){mobile.printf("#TL$");  pc.printf("#TL$\n");}
+          else if(matrix_state == 3){mobile.printf("#BR$");  pc.printf("#BR$\n");}
+          if(switch1 == 0 && switch2 == 0 && switch3 == 0) matrix_state = 0;
+          //if(switch1 == 0 && switch2 == 0 && switch3 == 0 && matrix_state == 0) {matrix_state = 1; mobile.printf("#MED$"); pc.printf("#MED$");}
+          t.reset();
+      }                 
     }
 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////    
 }
 
+void switch_1() 
+{ 
+    matrix_state=1; 
+    //matrix_state = 0;
+    //mobile.printf("#TR$");
+}
+void switch_2() 
+{
+    matrix_state=2;
+    //matrix_state = 0;
+    //mobile.printf("#TL$");
+}
+void switch_3() 
+{ 
+    matrix_state=3;
+    //matrix_state = 0;
+    //mobile.printf("#BR$");
+}
+
 void getdistance2led(char step)
 {
          resetled();
@@ -155,9 +173,9 @@
          else if(step == '6'){
             pinled0=1; pinled1=1; pinled2=1; pinled3=1; pinled4=1; pinled5=1; pinled6=1; pinled7=0; pinled8=0; pinled9=0;}
          else if(step == '7'){
-            pinled0=1; pinled1=1; pinled2=1; pinled3=1; pinled4=1; pinled5=1; pinled6=1; pinled7=1; pinled8=0; pinled9=0; pinbuzz=1;}
+            pinled0=1; pinled1=1; pinled2=1; pinled3=1; pinled4=1; pinled5=1; pinled6=1; pinled7=1; pinled8=0; pinled9=0;}
          else if(step == '8'){
-            pinled0=1; pinled1=1; pinled2=1; pinled3=1; pinled4=1; pinled5=1; pinled6=1; pinled7=1; pinled8=1; pinled9=0; pinbuzz=1;}
+            pinled0=1; pinled1=1; pinled2=1; pinled3=1; pinled4=1; pinled5=1; pinled6=1; pinled7=1; pinled8=1; pinled9=0;}
          else if(step == '9'){
             pinled0=1; pinled1=1; pinled2=1; pinled3=1; pinled4=1; pinled5=1; pinled6=1; pinled7=1; pinled8=1; pinled9=1; pinbuzz=1;}
          else { pinled0=0; pinled1=0; pinled2=0; pinled3=0; pinled4=0; pinled5=0; pinled6=0; pinled7=0; pinled8=0; pinled9=0; pinbuzz=0; }
@@ -169,96 +187,19 @@
          pinled5=0; pinled6=0; pinled7=0; pinled8=0; pinled9=0;
          pinbuzz=0;
 }
-
-
 //Function 4 SenAcceloroY
-void switch_turn()
-{
-        if(switch1 == 1 || switch2 == 1 || switch3 == 1) mobile.printf("#");
-        if(switch1 == 1) {mobile.printf("#TR$"); lcd.locate(0,3); lcd.printf("TurnRight"); }
-        if(switch2 == 1) {mobile.printf("#TL$"); lcd.locate(0,3); lcd.printf("TurnLeft.");}
-        if(switch3 == 1) {mobile.printf("#BR$"); lcd.locate(0,3); lcd.printf("Break.");}
-        else {mobile.printf("#MD$"); lcd.locate(0,3); lcd.printf("None.   ");}    
-}
-int SendAcceloroY()
+int GetAcceloroY()
 {
          // If intPin goes high, all data registers have new data
         if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) {  // On interrupt, check if data ready interrupt   
             mpu9250.readAccelData(accelCount);  // Read the x/y/z adc values   
-            // Now we'll calculate the accleration value into actual g's
-            if (I2Cstate != 0) //error on I2C
-                pc.printf("I2C error ocurred while reading accelerometer data. I2Cstate = %d \n\r", I2Cstate);
-            else{ // I2C read or write ok
                 I2Cstate = 1;
-                ax = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
                 ay = (float)accelCount[1]*aRes - accelBias[1];
-                az = (float)accelCount[2]*aRes - accelBias[2];
             }   
-            
-            mpu9250.readGyroData(gyroCount);  // Read the x/y/z adc values
-            // Calculate the gyro value into actual degrees per second
-            if (I2Cstate != 0) //error on I2C
-                pc.printf("I2C error ocurred while reading gyrometer data. I2Cstate = %d \n\r", I2Cstate);
-            else{ // I2C read or write ok
-                I2Cstate = 1;
-                gx = (float)gyroCount[0]*gRes - gyroBias[0];  // get actual gyro value, this depends on scale being set
-                gy = (float)gyroCount[1]*gRes - gyroBias[1]; 
-                gz = (float)gyroCount[2]*gRes - gyroBias[2];
-            }
-            
-            mpu9250.readMagData(magCount);  // Read the x/y/z adc values   
-            // Calculate the magnetometer values in milliGauss
-            // Include factory calibration per data sheet and user environmental corrections
-            if (I2Cstate != 0) //error on I2C
-                pc.printf("I2C error ocurred while reading magnetometer data. I2Cstate = %d \n\r", I2Cstate);
-            else{ // I2C read or write ok
-                I2Cstate = 1;
-                mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0];  // get actual magnetometer value, this depends on scale being set
-                my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];  
-                mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
-            }
-                       
-            mpu9250.getCompassOrientation(orientation);
-        }
-   
-        Now = t.read_us();
-        deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
-        lastUpdate = Now;    
-        sum += deltat;
-        sumCount++;
-    
-        // Pass gyro rate as rad/s
-        // mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f,  my,  mx, mz);
-         mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
-
-        // Serial print and/or display at 1.5 s rate independent of data rates
-        delt_t = t.read_ms() - count;
-        if (delt_t > 500) { // update LCD once per half-second independent of read rate
-            mpu9250.MadgwickQuaternionUpdate(ax,ay,az,gx,gy,gz,mx,my,mz);  
-
-            pc.printf(" ay = %.2f\n", 1000*ay);
-
-            tempCount = mpu9250.readTempData();  // Read the adc values
-            if (I2Cstate != 0) //error on I2C
-                pc.printf("I2C error ocurred while reading sensor temp. I2Cstate = %d \n\r", I2Cstate);
-            else{ // I2C read or write ok                
-                I2Cstate = 1;
-                temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
-                //pc.printf(" temperature = %f  C\n\r", temperature);
-            }
-
-
-            myled= !myled;
-            count = t.read_ms(); 
-
-            if(count > 1<<21) {
-                t.start(); // start the timer over again if ~30 minutes has passed
-                count = 0;
-                deltat= 0;
-                lastUpdate = t.read_us();
-            }
-        sum = 0;
-        sumCount = 0; 
-        }
+       
+        mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
+        mpu9250.MadgwickQuaternionUpdate(ax,ay,az,gx,gy,gz,mx,my,mz);  
+            //pc.printf(" ay = %.2f\n", 1000*ay);
+        
         return ay*1000;
-}       
\ No newline at end of file
+}
\ No newline at end of file