rakha asyrofi
this is program how build nRF51822 to get ADXL345 data
Dependencies: BLE_API mbed nRF51822
Fork of
ADXL345_I2C
by 
Peter Swanson
Diff: main.cpp
- Revision:
- 19:5b0da580c77e
- Parent:
- 17:75e827cd0923
--- a/main.cpp Mon Feb 19 09:11:16 2018 +0000
+++ b/main.cpp Wed Apr 18 05:02:24 2018 +0000
@@ -3,6 +3,10 @@
#include "ble/BLE.h"
#include "ble/services/UARTService.h"
#include "Serial.h"
+#include <math.h>
+#include <stdlib.h>
+#define MAX 20
+#define k 4
#define NEED_CONSOLE_OUTPUT 1 /* Set this if you need debug messages on the console;
* it will have an impact on code-size and power consumption. */
@@ -53,62 +57,28 @@
int xval[10]={0};
int yval[10]={0};
int zval[10]={0};
-int xavg;
-int yavg;
-int zavg;
-
-/*int calibratex()
-{
- int readings[3] = {0, 0, 0};
- led1=1;
- int sum1 = 0;
- for (int i=0; i<10; i++)
- {
- accelerometer.getOutput(readings);
- xval[i]=(readings[0] - 345); //nilai x adxl345
- sum1 = xval[i]+sum1;
- }
-
- xavg=sum1/10.0;
-
- led1=0;
- return xavg;
-}
-int calibratey()
+using namespace std;
+enum category{STANDING,CLIMBING,WALKING};
+class data{
+ int x,y;
+ category cat;
+ public:
+ void setd(int a,int b,category c){
+ x=a;
+ y=b;
+ cat=c;
+ }
+ int getx(){return x;}
+ int gety(){return y;}
+ category getcat(){
+ return cat;
+ }
+};//end of class
+int dis(data d1,data d2)
{
- int readings[3] = {0, 0, 0};
- led1=1;
- long int sum2 = 0;
- for (int i=0; i<10; i++)
- {
- accelerometer.getOutput(readings);
- yval[i]=(readings[1] - 346); //nilai y adxl345
- sum2 = yval[i]+sum2;
- }
- yavg=sum2/10.0;
- led1=0;
- return yavg;
+ return sqrt(pow(((double)d2.getx()-(double)d1.getx()),2.0)+pow(((double)d2.gety()-(double)d1.gety()),2.0));
}
-int calibratez()
-{
- int readings[3] = {0, 0, 0};
-
- led1=1;
- long int sum3 = 0;
- for (int i=0; i<10; i++)
- {
- accelerometer.getOutput(readings);
- zval[i]=(readings[2] - 416); //nilai z adxl345
- sum3 = zval[i]+sum3;
- }
-
- zavg=sum3/10.0;
- led1=0;
- return zavg;
-}*/
-
-
int main()
{
@@ -124,7 +94,7 @@
int totave [20] = {0};
int totvel [20] = {0};
int totdist [20] = {0};
- int totheight [20] = {0};
+
//float sum1, sum2, sum3 = 0
@@ -140,14 +110,12 @@
int16_t avg_1= 0;
int16_t avg_2= 0;
int16_t avg_3= 0;
+ snprintf(buffer, 20, "data: %d,%d,%d,%d,%d,%d\n",(int16_t)reading_1,(int16_t)reading_2,(int16_t)reading_3,(int16_t)avg_1,(int16_t)avg_2,(int16_t)avg_3);
-/* int16_t lang = 0;
- int16_t perc = 0;
- int16_t kec = 0;
- int16_t jar = 0;
- int16_t ting = 0;
- snprintf(buffer, 20, "data: %d,%d,%d,%d,%d\n",(int16_t)lang,(int16_t)perc,(int16_t)kec,(int16_t)jar,(int16_t)ting);*/
- snprintf(buffer, 20, "data: %d,%d,%d,%d,%d,%d\n",(int16_t)reading_1,(int16_t)reading_2,(int16_t)reading_3,(int16_t)avg_1,(int16_t)avg_2,(int16_t)avg_3);
+ int p,q; //input
+ int a[MAX]; //store distances
+ int b[k]; //to get min distances, used in calc
+ int c[k]; //to store freq
led1 = 1;
@@ -191,47 +159,42 @@
accelerometer.setDataRate(ADXL345_3200HZ);
//Measurement mode.
- accelerometer.setPowerControl(0x08);
-
- /*int avg1 = calibratex();
- int avg2 = calibratey();
- int avg3 = calibratez();*/
-
+ accelerometer.setPowerControl(0x08);
+
+
while (1)
{
ble.waitForEvent();
wait(0.1);
accelerometer.getOutput(readings);
-/* uart1.printf("\n%i, %i, %i\n", (int16_t)readings[0], (int16_t)readings[1], (int16_t)readings[2]);
+ /*uart1.printf("\n%i, %i, %i\n", (int16_t)readings[0], (int16_t)readings[1], (int16_t)readings[2]);
memset(&buffer, 0, sizeof(buffer));
snprintf(buffer, 20, "data: %d,%d,%d\n\n", (int16_t)readings[0],(int16_t)readings[1],(int16_t)readings[0]);
ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);*/
- uart1.printf("\n%i, %i, %i\n", (int16_t)avg1, (int16_t)avg2, (int16_t)avg3);
- memset(&buffer, 0, sizeof(buffer));
- snprintf(buffer, 20, "data: %d,%d,%d\n\n", (int16_t)avg1,(int16_t)avg2,(int16_t)avg3);
- ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);
- wait(0.1);
-
-
//float x,y,z
for (int i=0; i<10; i++)
{
- xaccl[i]=(readings[0] - 345);
+ xaccl[i]=(readings[0]);
wait(0.1);
- yaccl[i]=(readings[1] - 346);
+ yaccl[i]=(readings[1]);
wait(0.1);
- zaccl[i]=(readings[2] - 416);
+ zaccl[i]=(readings[2]);
wait(0.1);
+
//formula
- //totvect[i] = sqrt((double)((xaccl[i]-xavg)* (xaccl[i]-xavg))+(double) ((yaccl[i] - yavg)*(yaccl[i] - yavg)) +(double) ((zaccl[i] - zavg)*(zaccl[i] - zavg)));
- totvect[i] = sqrt((double)(xaccl[i]*xaccl[i])+(double)(yaccl[i]*yaccl[i])+(double)(zaccl[i]*zaccl[i]));
- totave[i] = (totvect[i] + totvect[i-1]) / 2 ;
+ totvect[i] = sqrt(pow((double)xaccl[i],2.0)+pow((double)yaccl[i],2.0)+pow((double)zaccl[i],2.0));
+ wait(0.3);
+ totave[i] = ((double)totvect[i]+(double)totvect[i-1])/2.0 ;
+ wait(0.3);
acc=acc+totave[i];
-
+ wait(0.3);
+ totvel[i]=(1*((double)totave[i]-(double)totave[i-1]/2.0)+totvel[i-1]);
+ wait(0.3);
+ totdist[i]=(1*((double)totvel[i]-(double)totvel[i-1]/2.0)+totdist[i-1]);
//cal steps
@@ -248,35 +211,129 @@
{flag=0;}
uart1.printf("\nsteps:%i", (int16_t)steps);
memset(&buffer, 0, sizeof(buffer));
- snprintf(buffer, 20, "\nsteps:%d", (int16_t)steps);
+ snprintf(buffer, 20, "\n%d\t", (int16_t)steps);
ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);
uart1.printf("\tacc:%i", (int16_t)totave[i]);
memset(&buffer, 0, sizeof(buffer));
- snprintf(buffer, 20, "\tacc:%d", (int16_t)totave[i]);
+ snprintf(buffer, 20, "\t%d", (int16_t)totave[i]);
ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);
-
-/* totvel[i]=(totave[i]*0.2);
uart1.printf("\tvel:%i", (int16_t)totvel[i]);
memset(&buffer, 0, sizeof(buffer));
- snprintf(buffer, 20, "\tvel:%d", (int16_t)totvel[i]);
+ snprintf(buffer, 20, "\t%d", (int16_t)totvel[i]);
ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);
- totdist[i]=(totvect[i]*(0.2*0.2)/2);
uart1.printf("\tdist:%i", (int16_t)totdist[i]);
memset(&buffer, 0, sizeof(buffer));
- snprintf(buffer, 20, "\tdist:%d", (int16_t)totdist[i]);
+ snprintf(buffer, 20, "\t%d\n", (int16_t)totdist[i]);
ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);
- totheight[i]=sqrt((double)(xaccl[i]*xaccl[i])+(double)(yaccl[i]*yaccl[i])) * ((0.2*0.2)/2);
- uart1.printf("\thght:%i", (int16_t)totheight[i]);
- memset(&buffer, 0, sizeof(buffer));
- snprintf(buffer, 20, "\thght:%d", (int16_t)totheight[i]);
- ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);*/
}
+
+ do{
+ wait(0.1);
+ for(int i=0;i<k;i++)
+ { //initiLIZATION
+ b[i]=-1;
+ c[i]=0;
+ }
+ int min=1000;
+ p = (readings[0]);
+ q = (readings[1]);
+ //uart1.scanf("%ld,%ld",&p,&q);
+ if((p < 0) | (q < 0))
+ exit(0);
+ data n; //data point to classify
+ n.setd(p,q,STANDING);
+ data d[MAX]; //training set
+
+ d[0].setd(1,1,STANDING);
+ d[1].setd(1,2,STANDING);
+ d[2].setd(1,3,STANDING);
+ d[3].setd(1,4,STANDING);
+ d[4].setd(1,5,STANDING);
+ d[5].setd(1,6,STANDING);
+ d[6].setd(1,7,STANDING);
+ d[7].setd(2,1,STANDING);
+ d[8].setd(2,2,STANDING);
+ d[9].setd(2,3,WALKING);
+ d[10].setd(2,4,WALKING);
+ d[11].setd(2,5,WALKING);
+ d[12].setd(2,6,WALKING);
+ d[13].setd(2,7,WALKING);
+ d[14].setd(5,1,CLIMBING);
+ d[15].setd(5,2,CLIMBING);
+ d[16].setd(5,3,CLIMBING);
+ d[17].setd(5,4,CLIMBING);
+ d[18].setd(5,5,CLIMBING);
+ d[19].setd(5,6,CLIMBING);
+ for(int i=0;i<20;i++){
+ a[i]=dis(n,d[i]);
+ //uart1.printf("\t\t %d\n", a[i]);
+ }
+ //k-nearest neighbours calculation i.e smallest k distances
+ for(int j=0;j<k;j++)
+ {
+ min=1000;
+ for(int i=0;i<20;i++)
+ {
+ if(i!=b[0]&&i!=b[1]&&i!=b[2])
+ {
+ if((a[i]<=min))
+ {
+ min=a[i];
+ b[j]=i;
+ }
+ }
+ }
+
+ //uart1.printf("%d\n",min);
+ }
+ //counting frequency of a class in each neighbour
+ for(int i=0;i<k;i++)
+ {
+ switch (d[b[i]].getcat())
+ {
+ case STANDING:
+ c[0]++;
+ break;
+ case WALKING:
+ c[2]++;
+ break;
+ case CLIMBING:
+ c[1]++;
+ break;
+ }
+ } //counting max frequency
+ int max=-1,j;
+ for(int i=0;i<k;i++)
+ {
+ if(c[i]>max){
+ max=c[i];
+ j=i;
+ }
+ }
+
+ wait(0.1);
+ printf("Prediction is:");
+ switch (j)
+ {
+ case 0:
+ uart1.printf("STANDING\n");
+ break;
+ case 1:
+ uart1.printf("CLIMBING\n");
+ break;
+ case 2:
+ uart1.printf("WALKING\n");
+ break;
+ }
+
+
+ }while(true);
}