Phil COVAL / Mbed OS rzr-example-mbed

Demo example on FRDM-64F https://ide.mbed.com/compiler/#nav:/rzr-example-mbed;

Dependencies:   FXOS8700Q

main.cpp@2:15bfd52937dc, 2020-11-19 (annotated)

Committer:
rzrfreefr
Date:
Thu Nov 19 23:07:40 2020 +0000
Revision:
2:15bfd52937dc
Parent:
1:b2103e99708c
Child:
3:807a69c34b8b
Implement basic keyboard,; ; But unfortunately it will not work as expected due to press/release timestamp

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rzrfreefr 2:15bfd52937dc 1 /// SPDX-License-Indentifier: ISC
rzrfreefr 0:16519bf92477 2 /// Copyright: 2020+ Philippe Coval <https://purl.org/rzr>
rzrfreefr 1:b2103e99708c 3 /// URL: https://os.mbed.com/users/rzrfreefr/code/rzr-example-mbed/
rzrfreefr 0:16519bf92477 4
rzrfreefr 0:16519bf92477 5 #include "mbed.h"
rzrfreefr 0:16519bf92477 6
rzrfreefr 0:16519bf92477 7 #include "EthernetInterface.h"
rzrfreefr 0:16519bf92477 8 #include "USBKeyboard.h"
rzrfreefr 0:16519bf92477 9 #include "FXOS8700Q.h"
rzrfreefr 0:16519bf92477 10
rzrfreefr 2:15bfd52937dc 11 #define CONFIG_LOG 1
rzrfreefr 2:15bfd52937dc 12 //#define CONFIG_NET 1
rzrfreefr 2:15bfd52937dc 13 #define CONFIG_USB 1
rzrfreefr 2:15bfd52937dc 14
rzrfreefr 2:15bfd52937dc 15 #if defined(CONFIG_LOG) && CONFIG_LOG
rzrfreefr 2:15bfd52937dc 16 # define logf printf
rzrfreefr 2:15bfd52937dc 17 #else
rzrfreefr 2:15bfd52937dc 18 # define logf if (false) printf
rzrfreefr 2:15bfd52937dc 19 #endif
rzrfreefr 2:15bfd52937dc 20
rzrfreefr 0:16519bf92477 21
rzrfreefr 0:16519bf92477 22 int main()
rzrfreefr 0:16519bf92477 23 {
rzrfreefr 2:15bfd52937dc 24 logf("#{ %s\n", __FILE__);
rzrfreefr 2:15bfd52937dc 25
rzrfreefr 2:15bfd52937dc 26 DigitalOut led(LED1);
rzrfreefr 2:15bfd52937dc 27 led = false; //on
rzrfreefr 2:15bfd52937dc 28
rzrfreefr 2:15bfd52937dc 29 const float delay = 1000.f / 25;
rzrfreefr 2:15bfd52937dc 30
rzrfreefr 2:15bfd52937dc 31 I2C i2c(PTE25, PTE24);
rzrfreefr 2:15bfd52937dc 32 motion_data_units_t acc_data;
rzrfreefr 2:15bfd52937dc 33 motion_data_counts_t acc_raw;
rzrfreefr 2:15bfd52937dc 34
rzrfreefr 2:15bfd52937dc 35 float vorigin[] = {0, 0, 0};
rzrfreefr 2:15bfd52937dc 36 float vacc[] = {0, 0, 0};
rzrfreefr 2:15bfd52937dc 37 const int len = 16;
rzrfreefr 2:15bfd52937dc 38 float vhist[len][3];
rzrfreefr 2:15bfd52937dc 39
rzrfreefr 2:15bfd52937dc 40 float vmean[] = {0, 0, 0};
rzrfreefr 2:15bfd52937dc 41 float vmin[] = {0, 0, 0};
rzrfreefr 2:15bfd52937dc 42 float vmax[] = {0, 0, 0};
rzrfreefr 2:15bfd52937dc 43
rzrfreefr 2:15bfd52937dc 44 float threshold = 1./3.;
rzrfreefr 2:15bfd52937dc 45 float vthreshold[] = {threshold, threshold, threshold};
rzrfreefr 0:16519bf92477 46
rzrfreefr 2:15bfd52937dc 47 #if 1
rzrfreefr 2:15bfd52937dc 48 int keymap[3][2] = {
rzrfreefr 2:15bfd52937dc 49 { LEFT_ARROW, RIGHT_ARROW },
rzrfreefr 2:15bfd52937dc 50 { DOWN_ARROW, UP_ARROW },
rzrfreefr 2:15bfd52937dc 51 { KEY_PAGE_DOWN, KEY_PAGE_UP }
rzrfreefr 2:15bfd52937dc 52 };
rzrfreefr 2:15bfd52937dc 53 #else
rzrfreefr 2:15bfd52937dc 54 int keymap[3][2] = {
rzrfreefr 2:15bfd52937dc 55 { KEY_CTRL, KEY_RCTRL },
rzrfreefr 2:15bfd52937dc 56 { DOWN_ARROW, UP_ARROW },
rzrfreefr 2:15bfd52937dc 57 { KEY_PAGE_DOWN, KEY_PAGE_UP }
rzrfreefr 2:15bfd52937dc 58 };
rzrfreefr 2:15bfd52937dc 59 #endif
rzrfreefr 2:15bfd52937dc 60
rzrfreefr 2:15bfd52937dc 61
rzrfreefr 2:15bfd52937dc 62 FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR1); // Proper Ports and I2C Address for K64F Freedom board
rzrfreefr 2:15bfd52937dc 63 #if defined(CONFIG_USB) && CONFIG_USB
rzrfreefr 2:15bfd52937dc 64 logf("# usb:\n");
rzrfreefr 2:15bfd52937dc 65 USBKeyboard usb; ///< https://os.mbed.com/docs/mbed-os/v6.2/apis/usbkeyboard.html
rzrfreefr 2:15bfd52937dc 66 #endif
rzrfreefr 2:15bfd52937dc 67
rzrfreefr 2:15bfd52937dc 68 #if defined(CONFIG_NET) && CONFIG_NET
rzrfreefr 2:15bfd52937dc 69 EthernetInterface eth; ///< https://os.mbed.com/docs/mbed-os/v6.2/apis/ethernet.html
rzrfreefr 2:15bfd52937dc 70 eth.set_dhcp(true);
rzrfreefr 2:15bfd52937dc 71 eth.connect();
rzrfreefr 2:15bfd52937dc 72 logf("\n# MAC address: %s\n", eth.get_mac_address());
rzrfreefr 2:15bfd52937dc 73 SocketAddress a;
rzrfreefr 2:15bfd52937dc 74 eth.get_ip_address(&a);
rzrfreefr 2:15bfd52937dc 75 char* addr = a.get_ip_address() || "127.0.0.1";
rzrfreefr 2:15bfd52937dc 76 logf("# IP address: %s\n", addr);
rzrfreefr 0:16519bf92477 77 #endif
rzrfreefr 0:16519bf92477 78
rzrfreefr 2:15bfd52937dc 79 acc.enable();
rzrfreefr 0:16519bf92477 80 acc.getAxis(acc_data);
rzrfreefr 2:15bfd52937dc 81 vorigin[0] = acc_data.x;
rzrfreefr 2:15bfd52937dc 82 vorigin[1] = acc_data.y;
rzrfreefr 2:15bfd52937dc 83 vorigin[2] = acc_data.z;
rzrfreefr 2:15bfd52937dc 84
rzrfreefr 2:15bfd52937dc 85 logf("\r\n\n# FXOS8700Q: Who Am I= %X\r\n", acc.whoAmI());
rzrfreefr 2:15bfd52937dc 86
rzrfreefr 2:15bfd52937dc 87 int key = 0;
rzrfreefr 2:15bfd52937dc 88 for(int iter=0; iter<len; ++iter) {
rzrfreefr 2:15bfd52937dc 89 if (false) led = !led;
rzrfreefr 2:15bfd52937dc 90 acc.getAxis(acc_data);
rzrfreefr 2:15bfd52937dc 91 vacc[0] = acc_data.x - vorigin[0];
rzrfreefr 2:15bfd52937dc 92 vacc[1] = acc_data.y - vorigin[1];
rzrfreefr 2:15bfd52937dc 93 vacc[2] = acc_data.z - vorigin[2];
rzrfreefr 2:15bfd52937dc 94 logf("{\"accel\":[%.2f,%.2f,%.2f]}\r\n", vacc[0], vacc[1], vacc[2]);
rzrfreefr 2:15bfd52937dc 95
rzrfreefr 2:15bfd52937dc 96 #if defined(CONFIG_USB) && CONFIG_USB
rzrfreefr 2:15bfd52937dc 97 usb.connect();
rzrfreefr 2:15bfd52937dc 98
rzrfreefr 2:15bfd52937dc 99 if (key == 0) {
rzrfreefr 2:15bfd52937dc 100 for(int i=2; i>=0; i--) {
rzrfreefr 2:15bfd52937dc 101 if (vacc[i] > vthreshold[i]) {
rzrfreefr 2:15bfd52937dc 102 key = keymap[i][0];
rzrfreefr 2:15bfd52937dc 103 } else if (vacc[i] < -vthreshold[i]) {
rzrfreefr 2:15bfd52937dc 104 key = keymap[i][1];
rzrfreefr 2:15bfd52937dc 105 }
rzrfreefr 2:15bfd52937dc 106 }
rzrfreefr 2:15bfd52937dc 107
rzrfreefr 2:15bfd52937dc 108 if (key != 0) {
rzrfreefr 2:15bfd52937dc 109 led = false; //on
rzrfreefr 2:15bfd52937dc 110 logf("# key: %0X\n", key);
rzrfreefr 2:15bfd52937dc 111 if (!true) {
rzrfreefr 2:15bfd52937dc 112 usb.key_code(key, key);
rzrfreefr 2:15bfd52937dc 113 } else {
rzrfreefr 2:15bfd52937dc 114 usb.key_code(key);
rzrfreefr 2:15bfd52937dc 115 }
rzrfreefr 2:15bfd52937dc 116 }
rzrfreefr 2:15bfd52937dc 117 iter=0;
rzrfreefr 2:15bfd52937dc 118 continue;
rzrfreefr 2:15bfd52937dc 119 }
rzrfreefr 0:16519bf92477 120 #endif
rzrfreefr 2:15bfd52937dc 121
rzrfreefr 2:15bfd52937dc 122 for (int i=0; i<3; i++) {
rzrfreefr 2:15bfd52937dc 123 vhist[iter][i] = vacc[i];
rzrfreefr 2:15bfd52937dc 124 }
rzrfreefr 2:15bfd52937dc 125
rzrfreefr 2:15bfd52937dc 126 if (iter==len-1) {
rzrfreefr 2:15bfd52937dc 127 led = false; // heart beat
rzrfreefr 2:15bfd52937dc 128 led = true;
rzrfreefr 2:15bfd52937dc 129
rzrfreefr 2:15bfd52937dc 130 for (int i=0; i<3; i++) {
rzrfreefr 2:15bfd52937dc 131 vmean[i] = 0;
rzrfreefr 2:15bfd52937dc 132 vmin[i] = vmax[i] = vhist[iter][i];
rzrfreefr 2:15bfd52937dc 133 }
rzrfreefr 2:15bfd52937dc 134
rzrfreefr 2:15bfd52937dc 135 for (iter=0; iter<len; iter++) {
rzrfreefr 2:15bfd52937dc 136 for (int i=0; i<3; i++) {
rzrfreefr 2:15bfd52937dc 137 vmean[i] += vhist[iter][i];
rzrfreefr 2:15bfd52937dc 138 if (vmin[i] > vhist[iter][i]) {
rzrfreefr 2:15bfd52937dc 139 vmin[i] = vhist[iter][i];
rzrfreefr 2:15bfd52937dc 140 }
rzrfreefr 2:15bfd52937dc 141 if (vmax[i] < vhist[iter][i]) {
rzrfreefr 2:15bfd52937dc 142 vmax[i] = vhist[iter][i];
rzrfreefr 2:15bfd52937dc 143 }
rzrfreefr 2:15bfd52937dc 144 }
rzrfreefr 2:15bfd52937dc 145 }
rzrfreefr 2:15bfd52937dc 146 for (int i=0; i<3; i++) {
rzrfreefr 2:15bfd52937dc 147 vmean[i] /= len;
rzrfreefr 2:15bfd52937dc 148 }
rzrfreefr 2:15bfd52937dc 149
rzrfreefr 2:15bfd52937dc 150 bool reset = true;
rzrfreefr 2:15bfd52937dc 151 for (int k=0; k<3; k++) {
rzrfreefr 2:15bfd52937dc 152 if (abs(vmax[k] - vmin[k]) > threshold*.8) {
rzrfreefr 2:15bfd52937dc 153 reset &= false;
rzrfreefr 2:15bfd52937dc 154 }
rzrfreefr 2:15bfd52937dc 155 }
rzrfreefr 2:15bfd52937dc 156 if (reset) {
rzrfreefr 2:15bfd52937dc 157 logf("\r\n# Reset origin\n");
rzrfreefr 2:15bfd52937dc 158 vorigin[0] = acc_data.x;
rzrfreefr 2:15bfd52937dc 159 vorigin[1] = acc_data.y;
rzrfreefr 2:15bfd52937dc 160 vorigin[2] = acc_data.z;
rzrfreefr 2:15bfd52937dc 161
rzrfreefr 2:15bfd52937dc 162 key = 0; // unbounce
rzrfreefr 2:15bfd52937dc 163 led = true; //off
rzrfreefr 2:15bfd52937dc 164 }
rzrfreefr 2:15bfd52937dc 165 iter=0;
rzrfreefr 2:15bfd52937dc 166 }
rzrfreefr 2:15bfd52937dc 167 ThisThread::sleep_for(delay);
rzrfreefr 2:15bfd52937dc 168 }
rzrfreefr 2:15bfd52937dc 169 logf("#} %s\n", __FILE__);
rzrfreefr 2:15bfd52937dc 170 }