Haozun Sun / Mbed OS Accelerometer2_hzsun

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

main.cpp@6:d58d982c647a, 2020-03-05 (annotated)

Committer:
190299053
Date:
Thu Mar 05 21:13:16 2020 +0000
Revision:
6:d58d982c647a
Parent:
4:72b8fb7423dd
Child:
7:884fb008cee8
Question 2

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
WilliamMarshQMUL 0:a1caba5c4e48 4 PinName const SDA = PTE25;
WilliamMarshQMUL 0:a1caba5c4e48 5 PinName const SCL = PTE24;
190299053 6:d58d982c647a 6 EventQueue queue;
190299053 6:d58d982c647a 7 Serial pc(USBTX, USBRX); // tx, rx
190299053 6:d58d982c647a 8 Thread eventThread ;
190299053 6:d58d982c647a 9 DigitalOut rled(LED1, 1); //red led
190299053 6:d58d982c647a 10 DigitalOut gled(LED2,1); //green led
190299053 6:d58d982c647a 11 DigitalOut bled(LED3,1); //blue led
190299053 6:d58d982c647a 12 EventFlags event_flags;
190299053 6:d58d982c647a 13 Timer x;
WilliamMarshQMUL 0:a1caba5c4e48 14 #define MMA8451_I2C_ADDRESS (0x1d<<1)
190299053 6:d58d982c647a 15 enum pos {up, down, left, right, flat, over, intermediate};
190299053 6:d58d982c647a 16 volatile int pos = intermediate;
190299053 6:d58d982c647a 17 enum state {first, second, third, success, e};
190299053 6:d58d982c647a 18 volatile int state = first;
190299053 6:d58d982c647a 19 volatile uint32_t flags_read = 1;
190299053 6:d58d982c647a 20 void seqchecking(){
190299053 6:d58d982c647a 21 switch(state){
190299053 6:d58d982c647a 22 case first:
190299053 6:d58d982c647a 23 flags_read = event_flags.wait_any(up|down|right|left|over|flat|intermediate,10000,true);
190299053 6:d58d982c647a 24 pc.printf("flag_read:%d\r\n", flags_read);
190299053 6:d58d982c647a 25 //if(flags_read == -2){rled = 1;}
190299053 6:d58d982c647a 26 //else{
190299053 6:d58d982c647a 27 if(flags_read == 4){if(flags_read == -2){state = second; x.reset();pc.printf("turn right please");}}
190299053 6:d58d982c647a 28 if(flags_read != 4 && x.read() < 10){state = e;}
190299053 6:d58d982c647a 29 if((flags_read != 4 && flags_read != 6) && x.read() < 10){state = e;pc.printf("b");}
190299053 6:d58d982c647a 30 //}
190299053 6:d58d982c647a 31 break;
190299053 6:d58d982c647a 32 case second:
190299053 6:d58d982c647a 33 flags_read = event_flags.wait_any(up|down|right|left|over|flat|intermediate,6000,true);
190299053 6:d58d982c647a 34 if(flags_read != 3 && x.read() < 2){state = e;}
190299053 6:d58d982c647a 35 if(flags_read == 0 && x.read() >= 2){state = second; x.reset();pc.printf("turn upward please");}
190299053 6:d58d982c647a 36 if((flags_read != 3 && flags_read != 0)){state = e;}
190299053 6:d58d982c647a 37 break;
190299053 6:d58d982c647a 38 case third:
190299053 6:d58d982c647a 39 flags_read = event_flags.wait_any(up|down|right|left|over|flat|intermediate,8000,true);
190299053 6:d58d982c647a 40 if(flags_read != 0 && x.read() < 4){state = e;}
190299053 6:d58d982c647a 41 if(flags_read == 4 && x.read() >= 4){state = second; x.reset();}
190299053 6:d58d982c647a 42 if((flags_read != 4 && flags_read != 0)){state = e;}
190299053 6:d58d982c647a 43 break;
190299053 6:d58d982c647a 44 case success:
190299053 6:d58d982c647a 45 gled = 0;
190299053 6:d58d982c647a 46 break;
190299053 6:d58d982c647a 47 case e:
190299053 6:d58d982c647a 48 rled = 0;
190299053 6:d58d982c647a 49 event_flags.wait_any(flat, osWaitForever, true);
190299053 6:d58d982c647a 50 state = first;
190299053 6:d58d982c647a 51 x.reset();
190299053 6:d58d982c647a 52 break;
190299053 6:d58d982c647a 53 }
190299053 6:d58d982c647a 54 }
WilliamMarshQMUL 0:a1caba5c4e48 55 int main(void)
WilliamMarshQMUL 0:a1caba5c4e48 56 {
WilliamMarshQMUL 0:a1caba5c4e48 57 MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
190299053 6:d58d982c647a 58
WilliamMarshQMUL 0:a1caba5c4e48 59
WilliamMarshQMUL 0:a1caba5c4e48 60
WilliamMarshQMUL 0:a1caba5c4e48 61 pc.printf("MMA8451 ID: %d\n", acc.getWhoAmI());
190299053 6:d58d982c647a 62
190299053 6:d58d982c647a 63 rled = 1; // turn off all leds when initialising
190299053 6:d58d982c647a 64 gled = 1;
190299053 6:d58d982c647a 65 bled = 1;
190299053 6:d58d982c647a 66 x.start();
190299053 6:d58d982c647a 67 eventThread.start(callback(&queue, &EventQueue::dispatch_forever));
190299053 6:d58d982c647a 68 queue.call_every(10, seqchecking) ;
WilliamMarshQMUL 0:a1caba5c4e48 69 while (true) {
WilliamMarshQMUL 0:a1caba5c4e48 70 float x, y, z;
190299053 6:d58d982c647a 71 x = acc.getAccX(); // get x axis value
190299053 6:d58d982c647a 72 y = acc.getAccY(); // get y axis value
190299053 6:d58d982c647a 73 z = acc.getAccZ(); // get z axis value
WilliamMarshQMUL 4:72b8fb7423dd 74 ThisThread::sleep_for(300); // wait(0.3);
190299053 6:d58d982c647a 75
190299053 6:d58d982c647a 76 switch (pos){
190299053 6:d58d982c647a 77 case intermediate:
190299053 6:d58d982c647a 78 if(x > 0.9){ //if the board is in position down
190299053 6:d58d982c647a 79 pos = down;
190299053 6:d58d982c647a 80 event_flags.set(down);
190299053 6:d58d982c647a 81 pc.printf("down\n"); // print up on pc screen
190299053 6:d58d982c647a 82 }
190299053 6:d58d982c647a 83 if(x < -0.9){ //if the board is in position up
190299053 6:d58d982c647a 84 pos = up;
190299053 6:d58d982c647a 85 event_flags.set(up);
190299053 6:d58d982c647a 86 pc.printf("Up\n");// print down on pc screen
190299053 6:d58d982c647a 87 }
190299053 6:d58d982c647a 88 if(y > 0.9){ //if the board is in position left
190299053 6:d58d982c647a 89 pos = left;
190299053 6:d58d982c647a 90 event_flags.set(left);
190299053 6:d58d982c647a 91 pc.printf("left\n");// print left on pc screen
190299053 6:d58d982c647a 92 }
190299053 6:d58d982c647a 93 if(y < -0.9){ //if the board is in position right
190299053 6:d58d982c647a 94 pos = right;
190299053 6:d58d982c647a 95 event_flags.set(right);
190299053 6:d58d982c647a 96 pc.printf("right\n");// print right on pc screen
190299053 6:d58d982c647a 97 }
190299053 6:d58d982c647a 98 if(z > 0.9){ //if the board is in position flat
190299053 6:d58d982c647a 99 pos = flat;
190299053 6:d58d982c647a 100 event_flags.set(flat);
190299053 6:d58d982c647a 101 pc.printf("Flat\n");// print flat on pc screen
190299053 6:d58d982c647a 102 }
190299053 6:d58d982c647a 103 if(z < -0.9){ //if the board is in position over
190299053 6:d58d982c647a 104 pos = over;
190299053 6:d58d982c647a 105 event_flags.set(over);
190299053 6:d58d982c647a 106 pc.printf("Over\n");// print over on pc screen
190299053 6:d58d982c647a 107 }
190299053 6:d58d982c647a 108 if(z<0.8 && z>-0.8 && x<0.8 && x>-0.8 && y<0.8 && y>-0.8){
190299053 6:d58d982c647a 109 pos = intermediate;
190299053 6:d58d982c647a 110 event_flags.set(intermediate);
190299053 6:d58d982c647a 111 }
190299053 6:d58d982c647a 112 break;
190299053 6:d58d982c647a 113 case up:
190299053 6:d58d982c647a 114 if(x > 0.9){ //if the board is in position down
190299053 6:d58d982c647a 115 pos = down;
190299053 6:d58d982c647a 116 pc.printf("Down\n");// print down on pc screen
190299053 6:d58d982c647a 117 }
190299053 6:d58d982c647a 118 if(y > 0.9){ //if the board is in position left
190299053 6:d58d982c647a 119 pos = left;
190299053 6:d58d982c647a 120 pc.printf("left\n");// print left on pc screen
190299053 6:d58d982c647a 121 }
190299053 6:d58d982c647a 122 if(y < -0.9){ //if the board is in position right
190299053 6:d58d982c647a 123 pos = right;
190299053 6:d58d982c647a 124 pc.printf("right\n");// print right on pc screen
190299053 6:d58d982c647a 125 }
190299053 6:d58d982c647a 126 if(z > 0.9){ //if the board is in position flat
190299053 6:d58d982c647a 127 pos = flat;
190299053 6:d58d982c647a 128 pc.printf("Flat\n");// print flat on pc screen
190299053 6:d58d982c647a 129 }
190299053 6:d58d982c647a 130 if(z < -0.9){ //if the board is in position over
190299053 6:d58d982c647a 131 pos = over;
190299053 6:d58d982c647a 132 pc.printf("Over\n");// print over on pc screen
190299053 6:d58d982c647a 133 }
190299053 6:d58d982c647a 134 if(z<0.8 && z>-0.8 && x<0.8 && x>-0.8 && y<0.8 && y>-0.8){
190299053 6:d58d982c647a 135 pos = intermediate;
190299053 6:d58d982c647a 136 }
190299053 6:d58d982c647a 137 break;
190299053 6:d58d982c647a 138 case down:
190299053 6:d58d982c647a 139 if(x < -0.9){ //if the board is in position up
190299053 6:d58d982c647a 140 pos = up;
190299053 6:d58d982c647a 141 pc.printf("Up\n"); // print up on pc screen
190299053 6:d58d982c647a 142 }
190299053 6:d58d982c647a 143 if(y > 0.9){ //if the board is in position left
190299053 6:d58d982c647a 144 pos = left;
190299053 6:d58d982c647a 145 pc.printf("left\n");// print left on pc screen
190299053 6:d58d982c647a 146 }
190299053 6:d58d982c647a 147 if(y < -0.9){ //if the board is in position right
190299053 6:d58d982c647a 148 pos = right;
190299053 6:d58d982c647a 149 pc.printf("right\n");// print right on pc screen
190299053 6:d58d982c647a 150 }
190299053 6:d58d982c647a 151 if(z > 0.9){ //if the board is in position flat
190299053 6:d58d982c647a 152 pos = flat;
190299053 6:d58d982c647a 153 pc.printf("Flat\n");// print flat on pc screen
190299053 6:d58d982c647a 154 }
190299053 6:d58d982c647a 155 if(z < -0.9){ //if the board is in position over
190299053 6:d58d982c647a 156 pos = over;
190299053 6:d58d982c647a 157 pc.printf("Over\n");// print over on pc screen
190299053 6:d58d982c647a 158 }
190299053 6:d58d982c647a 159 if(z<0.8 && z>-0.8 && x<0.8 && x>-0.8 && y<0.8 && y>-0.8){
190299053 6:d58d982c647a 160 pos = intermediate;
190299053 6:d58d982c647a 161 }
190299053 6:d58d982c647a 162 break;
190299053 6:d58d982c647a 163 case left:
190299053 6:d58d982c647a 164 if(x > 0.9){ //if the board is in position down
190299053 6:d58d982c647a 165 pos = down;
190299053 6:d58d982c647a 166 pc.printf("Down\n"); // print up on pc screen
190299053 6:d58d982c647a 167 }
190299053 6:d58d982c647a 168 if(x < -0.9){ //if the board is in position up
190299053 6:d58d982c647a 169 pos = up;
190299053 6:d58d982c647a 170 pc.printf("Up\n");// print down on pc screen
190299053 6:d58d982c647a 171 }
190299053 6:d58d982c647a 172 if(y < -0.9){ //if the board is in position right
190299053 6:d58d982c647a 173 pos = right;
190299053 6:d58d982c647a 174 pc.printf("right\n");// print right on pc screen
190299053 6:d58d982c647a 175 }
190299053 6:d58d982c647a 176 if(z > 0.9){ //if the board is in position flat
190299053 6:d58d982c647a 177 pos = flat;
190299053 6:d58d982c647a 178 pc.printf("Flat\n");// print flat on pc screen
190299053 6:d58d982c647a 179 }
190299053 6:d58d982c647a 180 if(z < -0.9){ //if the board is in position over
190299053 6:d58d982c647a 181 pos = over;
190299053 6:d58d982c647a 182 pc.printf("Over\n");// print over on pc screen
190299053 6:d58d982c647a 183 }
190299053 6:d58d982c647a 184 if(z<0.8 && z>-0.8 && x<0.8 && x>-0.8 && y<0.8 && y>-0.8){
190299053 6:d58d982c647a 185 pos = intermediate;
190299053 6:d58d982c647a 186 }
190299053 6:d58d982c647a 187 break;
190299053 6:d58d982c647a 188 case right:
190299053 6:d58d982c647a 189 if(x > 0.9){ //if the board is in position down
190299053 6:d58d982c647a 190 pos = down;
190299053 6:d58d982c647a 191 pc.printf("Down\n"); // print up on pc screen
190299053 6:d58d982c647a 192 }
190299053 6:d58d982c647a 193 if(x < -0.9){ //if the board is in position up
190299053 6:d58d982c647a 194 pos = up;
190299053 6:d58d982c647a 195 pc.printf("Up\n");// print down on pc screen
190299053 6:d58d982c647a 196 }
190299053 6:d58d982c647a 197 if(y > 0.9){ //if the board is in position left
190299053 6:d58d982c647a 198 pos = left;
190299053 6:d58d982c647a 199 pc.printf("left\n");// print left on pc screen
190299053 6:d58d982c647a 200 }
190299053 6:d58d982c647a 201 if(z > 0.9){ //if the board is in position flat
190299053 6:d58d982c647a 202 pos = flat;
190299053 6:d58d982c647a 203 pc.printf("Flat\n");// print flat on pc screen
190299053 6:d58d982c647a 204 }
190299053 6:d58d982c647a 205 if(z < -0.9){ //if the board is in position over
190299053 6:d58d982c647a 206 pos = over;
190299053 6:d58d982c647a 207 pc.printf("Over\n");// print over on pc screen
190299053 6:d58d982c647a 208 }
190299053 6:d58d982c647a 209 if(z<0.8 && z>-0.8 && x<0.8 && x>-0.8 && y<0.8 && y>-0.8){
190299053 6:d58d982c647a 210 pos = intermediate;
190299053 6:d58d982c647a 211 }
190299053 6:d58d982c647a 212 break;
190299053 6:d58d982c647a 213 case flat:
190299053 6:d58d982c647a 214 if(x > 0.9){ //if the board is in position down
190299053 6:d58d982c647a 215 pos = down;
190299053 6:d58d982c647a 216 pc.printf("Down\n"); // print up on pc screen
190299053 6:d58d982c647a 217 }
190299053 6:d58d982c647a 218 if(x < -0.9){ //if the board is in position up
190299053 6:d58d982c647a 219 pos = up;
190299053 6:d58d982c647a 220 pc.printf("Up\n");// print down on pc screen
190299053 6:d58d982c647a 221 }
190299053 6:d58d982c647a 222 if(y > 0.9){ //if the board is in position left
190299053 6:d58d982c647a 223 pos = left;
190299053 6:d58d982c647a 224 pc.printf("left\n");// print left on pc screen
190299053 6:d58d982c647a 225 }
190299053 6:d58d982c647a 226 if(y < -0.9){ //if the board is in position right
190299053 6:d58d982c647a 227 pos = right;
190299053 6:d58d982c647a 228 pc.printf("right\n");// print right on pc screen
190299053 6:d58d982c647a 229 }
190299053 6:d58d982c647a 230 if(z < -0.9){ //if the board is in position over
190299053 6:d58d982c647a 231 pos = over;
190299053 6:d58d982c647a 232 pc.printf("Over\n");// print over on pc screen
190299053 6:d58d982c647a 233 }
190299053 6:d58d982c647a 234 if(z<0.8 && z>-0.8 && x<0.8 && x>-0.8 && y<0.8 && y>-0.8){
190299053 6:d58d982c647a 235 pos = intermediate;
190299053 6:d58d982c647a 236 }
190299053 6:d58d982c647a 237 break;
190299053 6:d58d982c647a 238 case over:
190299053 6:d58d982c647a 239 if(x > 0.9){ //if the board is in position down
190299053 6:d58d982c647a 240 pos = down;
190299053 6:d58d982c647a 241 pc.printf("Down\n"); // print up on pc screen
190299053 6:d58d982c647a 242 }
190299053 6:d58d982c647a 243 if(x < -0.9){ //if the board is in position up
190299053 6:d58d982c647a 244 pos = up;
190299053 6:d58d982c647a 245 pc.printf("Up\n");// print down on pc screen
190299053 6:d58d982c647a 246 }
190299053 6:d58d982c647a 247 if(y > 0.9){ //if the board is in position left
190299053 6:d58d982c647a 248 pos = left;
190299053 6:d58d982c647a 249 pc.printf("left\n");// print left on pc screen
190299053 6:d58d982c647a 250 }
190299053 6:d58d982c647a 251 if(y < -0.9){ //if the board is in position right
190299053 6:d58d982c647a 252 pos = right;
190299053 6:d58d982c647a 253 pc.printf("right\n");// print right on pc screen
190299053 6:d58d982c647a 254 }
190299053 6:d58d982c647a 255 if(z > 0.9){ //if the board is in position flat
190299053 6:d58d982c647a 256 pos = flat;
190299053 6:d58d982c647a 257 pc.printf("Flat\n");// print flat on pc screen
190299053 6:d58d982c647a 258 }
190299053 6:d58d982c647a 259 if(z<0.8 && z>-0.8 && x<0.8 && x>-0.8 && y<0.8 && y>-0.8){
190299053 6:d58d982c647a 260 pos = intermediate;
190299053 6:d58d982c647a 261 }
190299053 6:d58d982c647a 262 break;
190299053 6:d58d982c647a 263 }
190299053 6:d58d982c647a 264
WilliamMarshQMUL 0:a1caba5c4e48 265 }
WilliamMarshQMUL 0:a1caba5c4e48 266 }