Yuta Kozaki
/
winkey_1_3_11U24_smd
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Dependencies: mbed Servo LSM9DS1_Library_
Revision 0:f66784158dab, committed 2020-02-26
- Comitter:
- kzkyuta
- Date:
- Wed Feb 26 02:49:19 2020 +0000
- Child:
- 1:d22b2e802de9
- Commit message:
- This version is for the sensor which detects voluntary eyelid closure.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM9DS1_Library.lib Wed Feb 26 02:49:19 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/jmar7/code/LSM9DS1_Library/#24878c10a776
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Wed Feb 26 02:49:19 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Feb 26 02:49:19 2020 +0000
@@ -0,0 +1,243 @@
+#define DEVICE_SERIAL_FC 1
+#include "mbed.h"
+#include "Servo.h"
+#include "LSM9DS1.h"
+
+//Serial pc(USBTX, USBRX); // to receive the name of participant
+Serial pc(P0_19, P0_18); // to receive the name of participant
+LSM9DS1 imu(P0_5, P0_4, 0xD6, 0x3C);
+
+AnalogIn sensor_0(P0_11);
+AnalogIn sensor_1(P0_12);
+AnalogIn sensor_2(P0_13);
+
+#define ARRAY_SIZE 10
+int array_0[ARRAY_SIZE];
+int array_1[ARRAY_SIZE];
+int array_2[ARRAY_SIZE];
+
+int diff_0;
+int diff_1;
+int diff_2;
+
+int val_0;
+int val_1;
+int val_2;
+
+bool TH_Vol;
+
+int val;
+
+unsigned short counter_read;
+unsigned short prev_counter_read;
+unsigned short counter_wait;
+unsigned short position;
+
+#define THRESHOLD 800
+#define THRESHOLD_VOL -100
+
+DigitalOut rled(P0_15);
+DigitalOut sp(P0_15);
+DigitalOut gled(P0_23);
+DigitalOut bled(P0_16);
+DigitalIn sw(P0_1);
+DigitalIn bt(P0_14);
+
+Servo myservo(P0_9);
+bool servoState_c = true;
+bool servoState_p = true;
+bool isAutoActuation = false;
+bool isServoClose = false;
+
+Ticker timer_1;
+
+uint8_t mode; // 0:auto, 1:manual, 2:BT base ctrl
+uint8_t bt_state;
+bool sw_state = true;
+
+void counter(){
+ counter_read ++;
+ counter_wait ++;
+ if(counter_read >= 60000) counter_read = 0;
+ if(counter_wait >= 60000) counter_wait = 1000;
+}
+
+void readVal(){
+// imu.readAccel();
+// imu.readMag();
+// imu.readGyro();
+ // read the sensor value and push to the window array for differenciation.
+ val_0 = sensor_0.read_u16();
+ val_1 = sensor_1.read_u16();
+ val_2 = sensor_2.read_u16();
+
+ if(val_1 < 100 && val_2 < 100) TH_Vol = true;
+ else TH_Vol = false;
+
+ if(val_0 > 36000 && val_0 < 27000) val_0 = array_0[ARRAY_SIZE - 1];
+ if(val_1 > 36000 && val_1 < 27000) val_1 = array_1[ARRAY_SIZE - 1];
+ if(val_2 > 36000 && val_2 < 27000) val_2 = array_2[ARRAY_SIZE - 1];
+
+ position ++;
+ int tempPos = position % ARRAY_SIZE;
+
+ array_0[tempPos] = (val_0 + array_0[ARRAY_SIZE - 1] + array_0[ARRAY_SIZE - 2] + array_0[ARRAY_SIZE - 3])/3;
+ array_1[tempPos] = (val_1 + array_1[ARRAY_SIZE - 1] + array_1[ARRAY_SIZE - 2] + array_1[ARRAY_SIZE - 3])/3;
+ array_2[tempPos] = (val_2 + array_2[ARRAY_SIZE - 1] + array_2[ARRAY_SIZE - 2] + array_2[ARRAY_SIZE - 3])/3;
+
+ // calcurate the differenciation.
+ if(tempPos == ARRAY_SIZE - 1){
+ diff_0 = array_0[tempPos] - array_0[0];
+ diff_1 = array_1[tempPos] - array_1[0];
+ diff_2 = array_2[tempPos] - array_2[0];
+ }else{
+ diff_0 = array_0[tempPos] - array_0[tempPos + 1];
+ diff_1 = array_1[tempPos] - array_1[tempPos + 1];
+ diff_2 = array_2[tempPos] - array_2[tempPos + 1];
+ }
+}
+
+void setup(){
+ timer_1.attach_us(&counter, 1000);
+ myservo.calibrate(0.0005, 45.0);
+ myservo = 0.55;
+ imu.begin();
+ sw.mode(PullUp);
+// pc.set_flow_control(Serial::RTSCTS, p7, p8);
+}
+
+void ledShow(uint8_t _input){
+ switch(_input){
+ case 0:
+ rled = 0;
+ gled = 0;
+ bled = 0;
+ break;
+ case 1:
+ rled = 1;
+ gled = 0;
+ bled = 0;
+ break;
+ case 2:
+ rled = 0;
+ gled = 1;
+ bled = 0;
+ break;
+ case 3:
+ rled = 0;
+ gled = 0;
+ bled = 1;
+ break;
+ default:
+ rled = 0;
+ gled = 0;
+ bled = 0;
+ break;
+ }
+}
+
+void ledCtrl(){
+ if(bt_state){
+ if(counter_read % 500 >= 250){
+ ledShow(mode + 1);
+ }else{
+ ledShow(0);
+ }
+ }else{
+ ledShow(mode + 1);
+ }
+}
+
+void changeMode(){
+ mode++;
+ if(mode >= 3) mode = 0;
+}
+
+void servoOpen(){
+ myservo = 0.55;
+}
+
+void servoClose(){
+ myservo = 0.0;
+}
+
+void autoActuation(){
+ if(isAutoActuation){
+ if(servoState_c && servoState_p){
+ servoState_c = false;
+ myservo = 0.0;
+ counter_wait = 0;
+ }else if(!servoState_c && servoState_p){
+ if(counter_wait >= 250) servoState_p = false;
+ }else if(!servoState_c && !servoState_p){
+ servoState_c = true;
+ myservo = 0.55;
+ counter_wait = 0;
+ }else if(servoState_c && !servoState_p){
+ if(counter_wait >= 500) servoState_p = true;
+ isAutoActuation = false;
+ }
+ }
+}
+
+void btnCtrl(){
+ if(!sw){
+ pc.printf("Pushed");
+ if(sw_state){
+ sw_state = false;
+ counter_wait = 0;
+ }
+ }
+ if(sw && !sw_state){
+ if((counter_wait > 50) && (counter_wait < 800)){
+ if(mode == 1){
+ if(isServoClose){
+ servoOpen();
+ }else{
+ servoClose();
+ }
+ isServoClose = !isServoClose;
+ }
+ }else if(counter_wait >= 800){
+ changeMode();
+ servoOpen();
+ }
+ sw_state = true;
+ pc.printf("mode is %d\n", mode);
+ }
+}
+
+void detection(){
+ if(TH_Vol){
+ if(diff_0 < THRESHOLD_VOL){
+ if((diff_0 > -10000) || (diff_1 > -10000) || (diff_2 < -10000)){
+ pc.printf("detected!!");
+ isAutoActuation = true;
+ }
+ }
+ }
+ //else{
+// if((diff_0 > THRESHOLD) || (diff_1 > THRESHOLD) || (diff_2 > THRESHOLD)){
+// if((diff_0 < 3000) || (diff_1 < 3000) || (diff_2 < 3000)){
+// pc.printf("detected");
+// isAutoActuation = true;
+// }
+// }
+// }
+}
+
+int main() {
+ setup();
+ while(1) {
+ if(counter_read % 3 == 0){
+ readVal();
+ detection();
+ }
+ if(mode == 0){
+ autoActuation();
+ }
+ btnCtrl();
+ bt_state = bt;
+ ledCtrl();
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Feb 26 02:49:19 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file