Haozun Sun / Mbed OS Accelerometer2_hzsun

I got the structure of the code but did not get every details right

main.cpp@7:884fb008cee8, 2020-03-06 (annotated)

Committer:
hzsun
Date:
Fri Mar 06 02:13:24 2020 +0000
Revision:
7:884fb008cee8
Parent:
6:d58d982c647a 
zxzx

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WilliamMarshQMUL 0:a1caba5c4e48 1 #include "mbed.h"
WilliamMarshQMUL 0:a1caba5c4e48 2 #include "MMA8451Q.h"
WilliamMarshQMUL 0:a1caba5c4e48 3
hzsun 7:884fb008cee8 4 PinName const SDA = PTE25;
hzsun 7:884fb008cee8 5 PinName const SCL = PTE24;
hzsun 7:884fb008cee8 6 EventQueue queue;
hzsun 7:884fb008cee8 7 Serial pc(USBTX, USBRX); // tx, rx
hzsun 7:884fb008cee8 8
hzsun 7:884fb008cee8 9 Thread eventThread ;
hzsun 7:884fb008cee8 10 DigitalOut rled(LED1); //red led
hzsun 7:884fb008cee8 11 DigitalOut gled(LED2); //green led
hzsun 7:884fb008cee8 12 DigitalOut bled(LED3); //blue led
hzsun 7:884fb008cee8 13
hzsun 7:884fb008cee8 14
hzsun 7:884fb008cee8 15 EventFlags event_flags;
hzsun 7:884fb008cee8 16 Timer A1;
WilliamMarshQMUL 0:a1caba5c4e48 17 #define MMA8451_I2C_ADDRESS (0x1d<<1)
hzsun 7:884fb008cee8 18 enum pos {up, down, left, right, flat, over, intermediate};
hzsun 7:884fb008cee8 19 volatile int pos = intermediate;
hzsun 7:884fb008cee8 20 enum state {first, second, third, success, e};
hzsun 7:884fb008cee8 21 volatile int state = first;
hzsun 7:884fb008cee8 22 volatile uint32_t flags_read = 1;
hzsun 7:884fb008cee8 23
hzsun 7:884fb008cee8 24 void seqchecking()
hzsun 7:884fb008cee8 25 {
hzsun 7:884fb008cee8 26 switch(state) {
190299053 6:d58d982c647a 27 case first:
190299053 6:d58d982c647a 28 flags_read = event_flags.wait_any(up|down|right|left|over|flat|intermediate,10000,true);
190299053 6:d58d982c647a 29 pc.printf("flag_read:%d\r\n", flags_read);
190299053 6:d58d982c647a 30 //if(flags_read == -2){rled = 1;}
190299053 6:d58d982c647a 31 //else{
hzsun 7:884fb008cee8 32 if(flags_read == 4) {
hzsun 7:884fb008cee8 33 if(flags_read == -2) {
hzsun 7:884fb008cee8 34 state = second;
hzsun 7:884fb008cee8 35 A1.reset();
hzsun 7:884fb008cee8 36 pc.printf("turn right please");
hzsun 7:884fb008cee8 37 }
hzsun 7:884fb008cee8 38 }
hzsun 7:884fb008cee8 39 if(flags_read != 4 && A1.read() < 10) {
hzsun 7:884fb008cee8 40 state = e;
hzsun 7:884fb008cee8 41 }
hzsun 7:884fb008cee8 42 if((flags_read != 4 && flags_read != 6) && A1.read() < 10) {
hzsun 7:884fb008cee8 43 state = e;
hzsun 7:884fb008cee8 44 pc.printf("b");
hzsun 7:884fb008cee8 45 }
190299053 6:d58d982c647a 46 //}
190299053 6:d58d982c647a 47 break;
190299053 6:d58d982c647a 48 case second:
190299053 6:d58d982c647a 49 flags_read = event_flags.wait_any(up|down|right|left|over|flat|intermediate,6000,true);
hzsun 7:884fb008cee8 50 if(flags_read != 3 && A1.read() < 2) {
hzsun 7:884fb008cee8 51 state = e;
hzsun 7:884fb008cee8 52 }
hzsun 7:884fb008cee8 53 if(flags_read == 0 && A1.read() >= 2) {
hzsun 7:884fb008cee8 54 state = second;
hzsun 7:884fb008cee8 55 A1.reset();
hzsun 7:884fb008cee8 56 pc.printf("turn upward please");
hzsun 7:884fb008cee8 57 }
hzsun 7:884fb008cee8 58 if((flags_read != 3 && flags_read != 0)) {
hzsun 7:884fb008cee8 59 state = e;
hzsun 7:884fb008cee8 60 }
190299053 6:d58d982c647a 61 break;
190299053 6:d58d982c647a 62 case third:
190299053 6:d58d982c647a 63 flags_read = event_flags.wait_any(up|down|right|left|over|flat|intermediate,8000,true);
hzsun 7:884fb008cee8 64 if(flags_read != 0 && A1.read() < 4) {
hzsun 7:884fb008cee8 65 state = e;
hzsun 7:884fb008cee8 66 }
hzsun 7:884fb008cee8 67 if(flags_read == 4 && A1.read() >= 4) {
hzsun 7:884fb008cee8 68 state = second;
hzsun 7:884fb008cee8 69 A1.reset();
hzsun 7:884fb008cee8 70 }
hzsun 7:884fb008cee8 71 if((flags_read != 4 && flags_read != 0)) {
hzsun 7:884fb008cee8 72 state = e;
hzsun 7:884fb008cee8 73 }
190299053 6:d58d982c647a 74 break;
190299053 6:d58d982c647a 75 case success:
190299053 6:d58d982c647a 76 gled = 0;
190299053 6:d58d982c647a 77 break;
190299053 6:d58d982c647a 78 case e:
190299053 6:d58d982c647a 79 rled = 0;
190299053 6:d58d982c647a 80 event_flags.wait_any(flat, osWaitForever, true);
190299053 6:d58d982c647a 81 state = first;
hzsun 7:884fb008cee8 82 A1.reset();
190299053 6:d58d982c647a 83 break;
hzsun 7:884fb008cee8 84 }
190299053 6:d58d982c647a 85 }
WilliamMarshQMUL 0:a1caba5c4e48 86 int main(void)
WilliamMarshQMUL 0:a1caba5c4e48 87 {
WilliamMarshQMUL 0:a1caba5c4e48 88 MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
190299053 6:d58d982c647a 89
WilliamMarshQMUL 0:a1caba5c4e48 90
WilliamMarshQMUL 0:a1caba5c4e48 91
WilliamMarshQMUL 0:a1caba5c4e48 92 pc.printf("MMA8451 ID: %d\n", acc.getWhoAmI());
190299053 6:d58d982c647a 93
190299053 6:d58d982c647a 94 rled = 1; // turn off all leds when initialising
190299053 6:d58d982c647a 95 gled = 1;
190299053 6:d58d982c647a 96 bled = 1;
190299053 6:d58d982c647a 97 x.start();
190299053 6:d58d982c647a 98 eventThread.start(callback(&queue, &EventQueue::dispatch_forever));
190299053 6:d58d982c647a 99 queue.call_every(10, seqchecking) ;
WilliamMarshQMUL 0:a1caba5c4e48 100 while (true) {
WilliamMarshQMUL 0:a1caba5c4e48 101 float x, y, z;
190299053 6:d58d982c647a 102 x = acc.getAccX(); // get x axis value
190299053 6:d58d982c647a 103 y = acc.getAccY(); // get y axis value
190299053 6:d58d982c647a 104 z = acc.getAccZ(); // get z axis value
WilliamMarshQMUL 4:72b8fb7423dd 105 ThisThread::sleep_for(300); // wait(0.3);
190299053 6:d58d982c647a 106
190299053 6:d58d982c647a 107 switch (pos){
190299053 6:d58d982c647a 108 case intermediate:
190299053 6:d58d982c647a 109 if(x > 0.9){ //if the board is in position down
190299053 6:d58d982c647a 110 pos = down;
190299053 6:d58d982c647a 111 event_flags.set(down);
190299053 6:d58d982c647a 112 pc.printf("down\n"); // print up on pc screen
190299053 6:d58d982c647a 113 }
190299053 6:d58d982c647a 114 if(x < -0.9){ //if the board is in position up
190299053 6:d58d982c647a 115 pos = up;
190299053 6:d58d982c647a 116 event_flags.set(up);
190299053 6:d58d982c647a 117 pc.printf("Up\n");// print down on pc screen
190299053 6:d58d982c647a 118 }
190299053 6:d58d982c647a 119 if(y > 0.9){ //if the board is in position left
190299053 6:d58d982c647a 120 pos = left;
190299053 6:d58d982c647a 121 event_flags.set(left);
190299053 6:d58d982c647a 122 pc.printf("left\n");// print left on pc screen
190299053 6:d58d982c647a 123 }
190299053 6:d58d982c647a 124 if(y < -0.9){ //if the board is in position right
190299053 6:d58d982c647a 125 pos = right;
190299053 6:d58d982c647a 126 event_flags.set(right);
190299053 6:d58d982c647a 127 pc.printf("right\n");// print right on pc screen
190299053 6:d58d982c647a 128 }
190299053 6:d58d982c647a 129 if(z > 0.9){ //if the board is in position flat
190299053 6:d58d982c647a 130 pos = flat;
190299053 6:d58d982c647a 131 event_flags.set(flat);
190299053 6:d58d982c647a 132 pc.printf("Flat\n");// print flat on pc screen
190299053 6:d58d982c647a 133 }
190299053 6:d58d982c647a 134 if(z < -0.9){ //if the board is in position over
190299053 6:d58d982c647a 135 pos = over;
190299053 6:d58d982c647a 136 event_flags.set(over);
190299053 6:d58d982c647a 137 pc.printf("Over\n");// print over on pc screen
190299053 6:d58d982c647a 138 }
190299053 6:d58d982c647a 139 if(z<0.8 && z>-0.8 && x<0.8 && x>-0.8 && y<0.8 && y>-0.8){
190299053 6:d58d982c647a 140 pos = intermediate;
190299053 6:d58d982c647a 141 event_flags.set(intermediate);
190299053 6:d58d982c647a 142 }
190299053 6:d58d982c647a 143 break;
hzsun 7:884fb008cee8 144 case flat:
hzsun 7:884fb008cee8 145 if(z<0.8) {
hzsun 7:884fb008cee8 146 pos=intermediate;
190299053 6:d58d982c647a 147 }
190299053 6:d58d982c647a 148 break;
hzsun 7:884fb008cee8 149
hzsun 7:884fb008cee8 150 case over:
hzsun 7:884fb008cee8 151 if(z>-0.8) {
hzsun 7:884fb008cee8 152 pos=intermediate;
190299053 6:d58d982c647a 153 }
190299053 6:d58d982c647a 154 break;
hzsun 7:884fb008cee8 155
190299053 6:d58d982c647a 156 case left:
hzsun 7:884fb008cee8 157 if(y>-0.8) {
hzsun 7:884fb008cee8 158 pos=intermediate;
190299053 6:d58d982c647a 159 }
190299053 6:d58d982c647a 160 break;
hzsun 7:884fb008cee8 161
190299053 6:d58d982c647a 162 case right:
hzsun 7:884fb008cee8 163 if(y<0.8) {
hzsun 7:884fb008cee8 164 pos=intermediate;
190299053 6:d58d982c647a 165 }
190299053 6:d58d982c647a 166 break;
hzsun 7:884fb008cee8 167
hzsun 7:884fb008cee8 168 case up:
hzsun 7:884fb008cee8 169 if(x<0.8) {
hzsun 7:884fb008cee8 170 pos=intermediate;
190299053 6:d58d982c647a 171 }
190299053 6:d58d982c647a 172 break;
hzsun 7:884fb008cee8 173
hzsun 7:884fb008cee8 174 case down:
hzsun 7:884fb008cee8 175 if(x>-0.8) {
hzsun 7:884fb008cee8 176 pos=intermediate;
190299053 6:d58d982c647a 177 }
190299053 6:d58d982c647a 178 break;
190299053 6:d58d982c647a 179 }
hzsun 7:884fb008cee8 180
hzsun 7:884fb008cee8 181 }
190299053 6:d58d982c647a 182
WilliamMarshQMUL 0:a1caba5c4e48 183 }
WilliamMarshQMUL 0:a1caba5c4e48 184 }