T.H. Lu / Mbed 2 deprecated Accelestick

Use Accelerometer and Joystick to mimic a mouse. This is for a class project. It is done for educational purpose. It is not practical to real world use.

Dependencies:   C12832_lcd MMA7660 USBDevice mbed

accelestick.cpp@2:3d012df30652, 2014-03-28 (annotated)

Committer:
thlu
Date:
Fri Mar 28 06:08:33 2014 +0000
Revision:
2:3d012df30652
Parent:
1:03d0f8a4a2d7 
Fixed filter_noise comparison logic.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
thlu 1:03d0f8a4a2d7 1 // Name: T.H. Lu
thlu 1:03d0f8a4a2d7 2 // Date: 03/27/2014
thlu 1:03d0f8a4a2d7 3 // Description:
thlu 1:03d0f8a4a2d7 4 // This program is not for practical use. It is my first mbed C code,
thlu 1:03d0f8a4a2d7 5 // and is released only because my instructor mandates it.
thlu 1:03d0f8a4a2d7 6 // The Accelestick uses the accelerometer and joystick on the mbed to emulate
thlu 1:03d0f8a4a2d7 7 // a mouse. It is somewhat awkward to use, which is why it is only intended
thlu 1:03d0f8a4a2d7 8 // for educational purpose.
thlu 1:03d0f8a4a2d7 9 // The accelerometer provides the mouse movement, and the joystick acts as
thlu 1:03d0f8a4a2d7 10 // the mouse buttons. A real-time debug mode prints messages onto the USB
thlu 1:03d0f8a4a2d7 11 // serial interface.
thlu 1:03d0f8a4a2d7 12 // Some features are:
thlu 1:03d0f8a4a2d7 13 // 1. left joystick emulates left mouse button (with double click support)
thlu 1:03d0f8a4a2d7 14 // right joystick emulates right mouse button, center position emulates
thlu 1:03d0f8a4a2d7 15 // middle mouse button
thlu 1:03d0f8a4a2d7 16 // 2. up and down joystick positions emulate mouse scroll
thlu 1:03d0f8a4a2d7 17 // 3. push and hold left joystick for 1 second to initiate left mouse button
thlu 1:03d0f8a4a2d7 18 // press and hold feature. LED1 will lit up. Push left joystick again to
thlu 1:03d0f8a4a2d7 19 // release
thlu 2:3d012df30652 20 // 4. press joystick center position down twice to initiate accelestick
thlu 1:03d0f8a4a2d7 21 // calibration. This will reduce cursor movement at rest position. LED3
thlu 1:03d0f8a4a2d7 22 // will flash rapidly and then remain lit when done
thlu 1:03d0f8a4a2d7 23 // 5. push right joystick twice to enable debug mode printing. Debug messages
thlu 1:03d0f8a4a2d7 24 // are written to USB serial (COM port). LED2 will lit when debug is on
thlu 1:03d0f8a4a2d7 25 // LED4 will blink every second if accelestick is initialized properly
thlu 1:03d0f8a4a2d7 26 //
thlu 1:03d0f8a4a2d7 27
thlu 0:22bdcdc386df 28 #include "accelestick.h"
thlu 0:22bdcdc386df 29
thlu 1:03d0f8a4a2d7 30 //--- Global Variables declaration ---//
thlu 1:03d0f8a4a2d7 31
thlu 1:03d0f8a4a2d7 32 C12832_LCD lcd; // for debugging
thlu 1:03d0f8a4a2d7 33 MMA7660 mma(p28, p27); // I2C Accelerometer
thlu 1:03d0f8a4a2d7 34 USBMouseKeyboard mouse; // USB mouse
thlu 1:03d0f8a4a2d7 35 DigitalOut leds[] = {LED1, LED2, LED3, LED4};
thlu 1:03d0f8a4a2d7 36
thlu 1:03d0f8a4a2d7 37 DigitalIn jd = p12; // joystick down
thlu 1:03d0f8a4a2d7 38 DigitalIn jl = p13; // joystick left
thlu 1:03d0f8a4a2d7 39 DigitalIn jc = p14; // joystick center
thlu 1:03d0f8a4a2d7 40 DigitalIn ju = p15; // joystick up
thlu 1:03d0f8a4a2d7 41 DigitalIn jr = p16; // joystick right
thlu 1:03d0f8a4a2d7 42 BusIn joyb(p12, p13, p14, p15, p16); // joystick in vector form
thlu 1:03d0f8a4a2d7 43
thlu 1:03d0f8a4a2d7 44
thlu 1:03d0f8a4a2d7 45 Max_min_t peaks;
thlu 1:03d0f8a4a2d7 46 Mouse_state_t mouse_info;
thlu 1:03d0f8a4a2d7 47 G_int_t offset; // calibration offset value
thlu 1:03d0f8a4a2d7 48
thlu 1:03d0f8a4a2d7 49 int mouse_scroll = 0; // mouse scroll value
thlu 1:03d0f8a4a2d7 50 bool calib_on = 0; // calibrate mouse
thlu 1:03d0f8a4a2d7 51 bool debug_on = 0; // print debug message
thlu 1:03d0f8a4a2d7 52
thlu 1:03d0f8a4a2d7 53 // two joystick active timers: one for long hold detection, one for double click detection
thlu 1:03d0f8a4a2d7 54 uint8_t joystick_timers_active[2] = {JS_NONE,JS_NONE};
thlu 1:03d0f8a4a2d7 55 uint8_t debug_sel;
thlu 1:03d0f8a4a2d7 56
thlu 1:03d0f8a4a2d7 57 G_float_t mma_g; // g values from accelerometer
thlu 1:03d0f8a4a2d7 58
thlu 1:03d0f8a4a2d7 59 Ticker tk_led_alive; // Ticker for flashing LED as program alive beacon
thlu 1:03d0f8a4a2d7 60 Ticker tk_print_debug; // Ticker for printing debug information
thlu 1:03d0f8a4a2d7 61 Timer tm_joystick_dc; // Timer for joystick double-click detection
thlu 1:03d0f8a4a2d7 62 Timer tm_joystick_lock; // Timer for locking mouse button position
thlu 1:03d0f8a4a2d7 63
thlu 1:03d0f8a4a2d7 64 RawSerial debug_rs(USBTX, USBRX); // Raw serial is non-blocking, and is used for debugging
thlu 1:03d0f8a4a2d7 65
thlu 1:03d0f8a4a2d7 66 // End of Global Variable Declaration
thlu 1:03d0f8a4a2d7 67
thlu 1:03d0f8a4a2d7 68
thlu 0:22bdcdc386df 69 inline void reset_tm_joystick_dc()
thlu 0:22bdcdc386df 70 {
thlu 1:03d0f8a4a2d7 71 joystick_timers_active[0] = JS_NONE;
thlu 0:22bdcdc386df 72 tm_joystick_dc.stop();
thlu 0:22bdcdc386df 73 tm_joystick_dc.reset();
thlu 0:22bdcdc386df 74 }
thlu 0:22bdcdc386df 75
thlu 1:03d0f8a4a2d7 76 inline void reset_tm_joystick_lock()
thlu 1:03d0f8a4a2d7 77 {
thlu 1:03d0f8a4a2d7 78 joystick_timers_active[1] = JS_NONE;
thlu 1:03d0f8a4a2d7 79 tm_joystick_lock.stop();
thlu 1:03d0f8a4a2d7 80 tm_joystick_lock.reset();
thlu 1:03d0f8a4a2d7 81 }
thlu 1:03d0f8a4a2d7 82
thlu 0:22bdcdc386df 83 // This function checks for joystick button presses which emulate a mouse's
thlu 0:22bdcdc386df 84 // left button, right button, middle button, double click, and scroll
thlu 1:03d0f8a4a2d7 85 // features. Double click and press and hold detections are done using a timer
thlu 0:22bdcdc386df 86 void get_joystick_input()
thlu 0:22bdcdc386df 87 {
thlu 0:22bdcdc386df 88 static uint8_t prev_js = 0;
thlu 0:22bdcdc386df 89 static bool debug_sel_en = 0;
thlu 1:03d0f8a4a2d7 90 static uint8_t mouse_lock = JS_NONE;
thlu 0:22bdcdc386df 91
thlu 1:03d0f8a4a2d7 92 // clear mouse buttons by default
thlu 0:22bdcdc386df 93 mouse_info.button = 0;
thlu 0:22bdcdc386df 94 mouse_info.scroll = 0;
thlu 0:22bdcdc386df 95 mouse_info.dc = 0;
thlu 0:22bdcdc386df 96
thlu 0:22bdcdc386df 97 if (debug_on && debug_sel_en && (joyb != JS_NONE)) {
thlu 0:22bdcdc386df 98 debug_sel_en = 0;
thlu 0:22bdcdc386df 99 debug_sel = joyb;
thlu 1:03d0f8a4a2d7 100 leds[LED_DEBUG] = 1;
thlu 0:22bdcdc386df 101 }
thlu 0:22bdcdc386df 102
thlu 0:22bdcdc386df 103 if (debug_on && (debug_sel == JS_NONE) && (joyb == JS_NONE)) {
thlu 0:22bdcdc386df 104 debug_sel_en = 1;
thlu 0:22bdcdc386df 105 }
thlu 0:22bdcdc386df 106
thlu 0:22bdcdc386df 107 switch(joyb) { // 1 = down, 2 = left, 4 = center, 8 = up, 16 = right
thlu 0:22bdcdc386df 108 case JS_LEFT:
thlu 0:22bdcdc386df 109 // 1 click = left button, 2 clicks = double click
thlu 1:03d0f8a4a2d7 110 if ((prev_js != JS_LEFT) && (joystick_timers_active[0] == JS_LEFT)) { // double click left to lock
thlu 0:22bdcdc386df 111 mouse_info.dc = 1;
thlu 0:22bdcdc386df 112 reset_tm_joystick_dc();
thlu 1:03d0f8a4a2d7 113 } else if (!joystick_timers_active[0]) {
thlu 1:03d0f8a4a2d7 114 joystick_timers_active[0] = JS_LEFT;
thlu 0:22bdcdc386df 115 tm_joystick_dc.start();
thlu 0:22bdcdc386df 116 }
thlu 0:22bdcdc386df 117 mouse_info.button = MOUSE_LEFT;
thlu 0:22bdcdc386df 118 break;
thlu 0:22bdcdc386df 119 case JS_CENTER: // center
thlu 1:03d0f8a4a2d7 120 if ((prev_js != JS_CENTER) && (joystick_timers_active[0] == JS_CENTER)) { // double click center to calibrate
thlu 0:22bdcdc386df 121 calib_on = 1;
thlu 0:22bdcdc386df 122 reset_tm_joystick_dc();
thlu 1:03d0f8a4a2d7 123 } else if (!joystick_timers_active[0]) {
thlu 1:03d0f8a4a2d7 124 joystick_timers_active[0] = JS_CENTER;
thlu 0:22bdcdc386df 125 tm_joystick_dc.start();
thlu 0:22bdcdc386df 126
thlu 0:22bdcdc386df 127 }
thlu 0:22bdcdc386df 128 mouse_info.button = MOUSE_MIDDLE;
thlu 0:22bdcdc386df 129 break;
thlu 0:22bdcdc386df 130 case JS_RIGHT:
thlu 1:03d0f8a4a2d7 131 if ((prev_js != JS_RIGHT) && (joystick_timers_active[0] == JS_RIGHT)) { // double click left to turn debug on/off
thlu 0:22bdcdc386df 132 debug_on = !debug_on;
thlu 0:22bdcdc386df 133 reset_tm_joystick_dc();
thlu 0:22bdcdc386df 134 lcd.cls();
thlu 0:22bdcdc386df 135 lcd.locate(0,0);
thlu 0:22bdcdc386df 136 if (debug_on) {
thlu 0:22bdcdc386df 137 lcd.printf("Debug print is ON\n");
thlu 0:22bdcdc386df 138 debug_sel = JS_NONE;
thlu 0:22bdcdc386df 139 debug_sel_en = 0;
thlu 1:03d0f8a4a2d7 140 } else {
thlu 1:03d0f8a4a2d7 141 leds[LED_DEBUG] = 0;
thlu 0:22bdcdc386df 142 }
thlu 1:03d0f8a4a2d7 143 } else if (!joystick_timers_active[0]) {
thlu 1:03d0f8a4a2d7 144 joystick_timers_active[0] = JS_RIGHT;
thlu 0:22bdcdc386df 145 tm_joystick_dc.start();
thlu 0:22bdcdc386df 146 }
thlu 0:22bdcdc386df 147 mouse_info.button = MOUSE_RIGHT;
thlu 0:22bdcdc386df 148 break;
thlu 0:22bdcdc386df 149 case JS_DOWN: // down
thlu 0:22bdcdc386df 150 reset_tm_joystick_dc();
thlu 0:22bdcdc386df 151 break;
thlu 0:22bdcdc386df 152 case JS_UP: // up
thlu 0:22bdcdc386df 153 reset_tm_joystick_dc();
thlu 0:22bdcdc386df 154 break;
thlu 0:22bdcdc386df 155 }
thlu 0:22bdcdc386df 156
thlu 1:03d0f8a4a2d7 157 // Update mouse scroll value
thlu 1:03d0f8a4a2d7 158 switch (joyb) {
thlu 1:03d0f8a4a2d7 159 case JS_DOWN: // down
thlu 1:03d0f8a4a2d7 160 mouse_scroll++;
thlu 1:03d0f8a4a2d7 161 break;
thlu 1:03d0f8a4a2d7 162 case JS_UP: // up
thlu 1:03d0f8a4a2d7 163 mouse_scroll--;
thlu 1:03d0f8a4a2d7 164 break;
thlu 1:03d0f8a4a2d7 165 default:
thlu 1:03d0f8a4a2d7 166 mouse_scroll = 0;
thlu 1:03d0f8a4a2d7 167 }
thlu 1:03d0f8a4a2d7 168 mouse_info.scroll = mouse_scroll;
thlu 0:22bdcdc386df 169
thlu 1:03d0f8a4a2d7 170 // timeouit for double-click detectino
thlu 1:03d0f8a4a2d7 171 if (tm_joystick_dc.read_ms() > 1000) {
thlu 0:22bdcdc386df 172 reset_tm_joystick_dc();
thlu 0:22bdcdc386df 173 }
thlu 0:22bdcdc386df 174
thlu 1:03d0f8a4a2d7 175 // only support mouse lock feature for left button
thlu 1:03d0f8a4a2d7 176 if ((prev_js != joyb) && (joyb == JS_LEFT)) { // click JS_LEFT to unlock
thlu 1:03d0f8a4a2d7 177 if (mouse_lock == JS_LEFT) {
thlu 1:03d0f8a4a2d7 178 mouse_lock = JS_NONE;
thlu 1:03d0f8a4a2d7 179 } else if (joystick_timers_active[1] == JS_NONE) {
thlu 1:03d0f8a4a2d7 180 joystick_timers_active[1] = JS_LEFT;
thlu 1:03d0f8a4a2d7 181 tm_joystick_lock.start();
thlu 1:03d0f8a4a2d7 182 }
thlu 1:03d0f8a4a2d7 183 }
thlu 1:03d0f8a4a2d7 184
thlu 1:03d0f8a4a2d7 185 if (joyb != JS_LEFT) {
thlu 1:03d0f8a4a2d7 186 reset_tm_joystick_lock();
thlu 1:03d0f8a4a2d7 187 // hold JS_LEFT for 1.2 sec to lock
thlu 1:03d0f8a4a2d7 188 } else if ((joystick_timers_active[1] == JS_LEFT) && tm_joystick_lock.read_ms() > 1000) {
thlu 1:03d0f8a4a2d7 189 mouse_lock = JS_LEFT;
thlu 1:03d0f8a4a2d7 190 }
thlu 1:03d0f8a4a2d7 191
thlu 0:22bdcdc386df 192 prev_js = joyb;
thlu 1:03d0f8a4a2d7 193
thlu 1:03d0f8a4a2d7 194 if (mouse_lock == JS_LEFT) {
thlu 1:03d0f8a4a2d7 195 mouse_info.button = MOUSE_LEFT;
thlu 1:03d0f8a4a2d7 196 }
thlu 1:03d0f8a4a2d7 197 leds[LED_LOCK] = (mouse_lock == JS_LEFT);
thlu 0:22bdcdc386df 198 }
thlu 0:22bdcdc386df 199
thlu 0:22bdcdc386df 200
thlu 0:22bdcdc386df 201 void sample_mma() // Accelerometer value ranges from -1.5 to 1.5
thlu 0:22bdcdc386df 202 {
thlu 0:22bdcdc386df 203 mma_g.x = mma.x();
thlu 0:22bdcdc386df 204 mma_g.y = mma.y();
thlu 0:22bdcdc386df 205 mma_g.z = mma.z();
thlu 0:22bdcdc386df 206 G_int_t current;
thlu 0:22bdcdc386df 207
thlu 0:22bdcdc386df 208 if (mma_g.x > peaks.max_x) {
thlu 0:22bdcdc386df 209 peaks.max_x = mma_g.x;
thlu 0:22bdcdc386df 210 } else if (mma_g.x < peaks.min_x) {
thlu 0:22bdcdc386df 211 peaks.min_x = mma_g.x;
thlu 0:22bdcdc386df 212 }
thlu 0:22bdcdc386df 213 if (mma_g.y > peaks.max_y) {
thlu 0:22bdcdc386df 214 peaks.max_y = mma_g.y;
thlu 0:22bdcdc386df 215 } else if (mma_g.y < peaks.min_y) {
thlu 0:22bdcdc386df 216 peaks.min_y = mma_g.y;
thlu 0:22bdcdc386df 217 }
thlu 0:22bdcdc386df 218 if (mma_g.z > peaks.max_z) {
thlu 0:22bdcdc386df 219 peaks.max_z = mma_g.z;
thlu 0:22bdcdc386df 220 } else if (mma_g.z < peaks.min_z) {
thlu 0:22bdcdc386df 221 peaks.min_z = mma_g.z;
thlu 0:22bdcdc386df 222 }
thlu 0:22bdcdc386df 223
thlu 0:22bdcdc386df 224 current = conv_g2int(mma_g);
thlu 0:22bdcdc386df 225 if (calib_on) {
thlu 0:22bdcdc386df 226 calib_mma(current);
thlu 0:22bdcdc386df 227 }
thlu 2:3d012df30652 228 mouse_info.x = filter_noise(current.x - offset.x);
thlu 2:3d012df30652 229 mouse_info.y = filter_noise(current.y - offset.y);
thlu 2:3d012df30652 230 mouse_info.z = filter_noise(current.z - offset.z);
thlu 0:22bdcdc386df 231 }
thlu 0:22bdcdc386df 232
thlu 1:03d0f8a4a2d7 233 void update_mouse()
thlu 0:22bdcdc386df 234 {
thlu 0:22bdcdc386df 235 // x-direction is reversed on PC screen
thlu 0:22bdcdc386df 236 mouse.move(-mouse_info.x, mouse_info.y);
thlu 0:22bdcdc386df 237 mouse.press(mouse_info.button);
thlu 0:22bdcdc386df 238 mouse.scroll(mouse_info.scroll);
thlu 1:03d0f8a4a2d7 239
thlu 0:22bdcdc386df 240 if (mouse_info.dc) {
thlu 0:22bdcdc386df 241 mouse.doubleClick();
thlu 0:22bdcdc386df 242 }
thlu 0:22bdcdc386df 243 }
thlu 0:22bdcdc386df 244
thlu 0:22bdcdc386df 245 // Used for debugging
thlu 0:22bdcdc386df 246 void print_debug_msg()
thlu 0:22bdcdc386df 247 {
thlu 0:22bdcdc386df 248 if (debug_on) {
thlu 0:22bdcdc386df 249 switch (debug_sel) {
thlu 0:22bdcdc386df 250 case JS_LEFT:
thlu 1:03d0f8a4a2d7 251 debug_rs.printf("Mx = %1.2f, mx = %1.2f ", peaks.max_x, peaks.min_x);
thlu 1:03d0f8a4a2d7 252 debug_rs.printf("My = %1.2f, my = %1.2f ", peaks.max_y, peaks.min_y);
thlu 1:03d0f8a4a2d7 253 debug_rs.printf("Mz = %1.2f, mz = %1.2f\r\n", peaks.max_z, peaks.min_z);
thlu 0:22bdcdc386df 254 break;
thlu 0:22bdcdc386df 255 case JS_CENTER:
thlu 1:03d0f8a4a2d7 256 debug_rs.printf("x=%1.2f y=%1.2f z=%1.2f\r\n", mma_g.x, mma_g.y, mma_g.z);
thlu 1:03d0f8a4a2d7 257 debug_rs.printf(" x=%0d, y=%0d, z=%0d, button=%0d, scroll=%0d, dc=%0d\r\n",
thlu 1:03d0f8a4a2d7 258 mouse_info.x, mouse_info.y, mouse_info.z, mouse_info.button,
thlu 1:03d0f8a4a2d7 259 mouse_info.scroll, mouse_info.dc);
thlu 0:22bdcdc386df 260 break;
thlu 0:22bdcdc386df 261 case JS_RIGHT:
thlu 1:03d0f8a4a2d7 262 debug_rs.printf("offset.x=%0d, y=%0d, z=%0d\r\n", offset.x, offset.y, offset.z);
thlu 1:03d0f8a4a2d7 263 break;
thlu 1:03d0f8a4a2d7 264 case JS_UP:
thlu 1:03d0f8a4a2d7 265 debug_rs.printf("scroll = %0d\r\n", mouse_scroll);
thlu 0:22bdcdc386df 266 break;
thlu 0:22bdcdc386df 267 }
thlu 0:22bdcdc386df 268 }
thlu 0:22bdcdc386df 269 }
thlu 0:22bdcdc386df 270
thlu 1:03d0f8a4a2d7 271 // Calibrate the accelerometer to work on non-level surface. This function is blocking.
thlu 0:22bdcdc386df 272 void calib_mma(const G_int_t current)
thlu 0:22bdcdc386df 273 {
thlu 0:22bdcdc386df 274 static uint8_t ctr = 0;
thlu 0:22bdcdc386df 275 static G_int_t prev[CALIB_SMPLS]; // average array
thlu 1:03d0f8a4a2d7 276 Ticker tk_led_calib;
thlu 0:22bdcdc386df 277
thlu 0:22bdcdc386df 278 int temp;
thlu 0:22bdcdc386df 279
thlu 1:03d0f8a4a2d7 280 tk_led_calib.attach(&flash_led2, 0.05);
thlu 1:03d0f8a4a2d7 281
thlu 1:03d0f8a4a2d7 282 if (debug_on) {
thlu 1:03d0f8a4a2d7 283 if (ctr == 0) {
thlu 1:03d0f8a4a2d7 284 lcd.cls();
thlu 1:03d0f8a4a2d7 285 lcd.locate(0,0);
thlu 1:03d0f8a4a2d7 286 lcd.printf("Calibrating mma");
thlu 1:03d0f8a4a2d7 287 wait(3);
thlu 1:03d0f8a4a2d7 288 } else {
thlu 1:03d0f8a4a2d7 289 lcd.printf(".");
thlu 1:03d0f8a4a2d7 290 }
thlu 0:22bdcdc386df 291 }
thlu 1:03d0f8a4a2d7 292
thlu 0:22bdcdc386df 293 prev[ctr++] = current;
thlu 0:22bdcdc386df 294
thlu 0:22bdcdc386df 295 if (ctr == CALIB_SMPLS) {
thlu 0:22bdcdc386df 296 temp = 0;
thlu 0:22bdcdc386df 297 for (uint8_t i=0; i<CALIB_SMPLS; i++) {
thlu 1:03d0f8a4a2d7 298 debug_rs.printf("CALIB[%0d]: x=%0d, y=%0d, z=%0d\r\n", i, prev[i].x, prev[i].y, prev[i].z);
thlu 0:22bdcdc386df 299 temp += prev[i].x;
thlu 0:22bdcdc386df 300 }
thlu 0:22bdcdc386df 301 offset.x = temp/CALIB_SMPLS; // average
thlu 0:22bdcdc386df 302
thlu 0:22bdcdc386df 303 temp = 0;
thlu 0:22bdcdc386df 304 for (uint8_t i=0; i<CALIB_SMPLS; i++) {
thlu 0:22bdcdc386df 305 temp += prev[i].y;
thlu 0:22bdcdc386df 306 }
thlu 0:22bdcdc386df 307 offset.y = temp/CALIB_SMPLS;
thlu 0:22bdcdc386df 308
thlu 0:22bdcdc386df 309 temp = 0;
thlu 0:22bdcdc386df 310 for (uint8_t i=0; i<CALIB_SMPLS; i++) {
thlu 0:22bdcdc386df 311 temp += prev[i].z;
thlu 0:22bdcdc386df 312 }
thlu 0:22bdcdc386df 313 offset.z = temp/CALIB_SMPLS;
thlu 0:22bdcdc386df 314
thlu 0:22bdcdc386df 315 ctr = 0;
thlu 0:22bdcdc386df 316 calib_on = 0; // calibration done
thlu 1:03d0f8a4a2d7 317
thlu 1:03d0f8a4a2d7 318 if (debug_on) {
thlu 1:03d0f8a4a2d7 319 lcd.cls();
thlu 1:03d0f8a4a2d7 320 lcd.locate(0,0);
thlu 1:03d0f8a4a2d7 321 lcd.printf("Calibration Completed!\n");
thlu 1:03d0f8a4a2d7 322 wait(1);
thlu 1:03d0f8a4a2d7 323 lcd.cls();
thlu 1:03d0f8a4a2d7 324 }
thlu 1:03d0f8a4a2d7 325
thlu 1:03d0f8a4a2d7 326 tk_led_calib.detach();
thlu 1:03d0f8a4a2d7 327 leds[LED_CALIB] = 1;
thlu 0:22bdcdc386df 328 }
thlu 0:22bdcdc386df 329 }
thlu 0:22bdcdc386df 330
thlu 2:3d012df30652 331 //
thlu 2:3d012df30652 332 int16_t filter_noise (int16_t const num)
thlu 0:22bdcdc386df 333 {
thlu 2:3d012df30652 334 if (abs(num) < NOISE_FLOOR) {
thlu 2:3d012df30652 335 return 0;
thlu 2:3d012df30652 336 } else if (num < 0) {
thlu 2:3d012df30652 337 return num + NOISE_FLOOR;
thlu 2:3d012df30652 338 } else {
thlu 2:3d012df30652 339 return num - NOISE_FLOOR;
thlu 0:22bdcdc386df 340 }
thlu 0:22bdcdc386df 341 }
thlu 0:22bdcdc386df 342
thlu 0:22bdcdc386df 343 // convert mma signed g float value into signed int value
thlu 0:22bdcdc386df 344 G_int_t conv_g2int (G_float_t mma_g)
thlu 0:22bdcdc386df 345 {
thlu 0:22bdcdc386df 346 G_int_t temp;
thlu 0:22bdcdc386df 347
thlu 0:22bdcdc386df 348 temp.x = (mma_g.x * SCALE_X);
thlu 0:22bdcdc386df 349 temp.y = (mma_g.y * SCALE_Y);
thlu 0:22bdcdc386df 350 temp.z = (mma_g.z * SCALE_Z);
thlu 0:22bdcdc386df 351 return temp;
thlu 0:22bdcdc386df 352 }
thlu 0:22bdcdc386df 353
thlu 1:03d0f8a4a2d7 354
thlu 1:03d0f8a4a2d7 355 // Ticker cannot attach to functions with parameters
thlu 1:03d0f8a4a2d7 356 void flash_led2()
thlu 0:22bdcdc386df 357 {
thlu 1:03d0f8a4a2d7 358 leds[LED_CALIB] = !leds[LED_CALIB];
thlu 1:03d0f8a4a2d7 359 }
thlu 1:03d0f8a4a2d7 360 void flash_led3()
thlu 1:03d0f8a4a2d7 361 {
thlu 1:03d0f8a4a2d7 362 leds[LED_ALIVE] = !leds[LED_ALIVE];
thlu 0:22bdcdc386df 363 }
thlu 0:22bdcdc386df 364
thlu 0:22bdcdc386df 365 int8_t init_accelestick()
thlu 0:22bdcdc386df 366 {
thlu 0:22bdcdc386df 367 lcd.cls();
thlu 0:22bdcdc386df 368 reset_tm_joystick_dc();
thlu 1:03d0f8a4a2d7 369 reset_tm_joystick_lock();
thlu 0:22bdcdc386df 370
thlu 0:22bdcdc386df 371 offset.x = 0;
thlu 0:22bdcdc386df 372 offset.y = 0;
thlu 0:22bdcdc386df 373 offset.z = 1.0*SCALE_Z;
thlu 0:22bdcdc386df 374
thlu 0:22bdcdc386df 375 peaks.max_x=ACCEL_MIN, peaks.max_y=ACCEL_MIN, peaks.max_z=ACCEL_MIN;
thlu 0:22bdcdc386df 376 peaks.min_x=ACCEL_MAX, peaks.min_y=ACCEL_MAX, peaks.min_z=ACCEL_MAX;
thlu 0:22bdcdc386df 377
thlu 0:22bdcdc386df 378 if (!mma.testConnection()) {
thlu 0:22bdcdc386df 379 lcd.printf("Error in MMA init\n");
thlu 0:22bdcdc386df 380 return -1;
thlu 0:22bdcdc386df 381 }
thlu 1:03d0f8a4a2d7 382 tk_led_alive.attach(&flash_led3, 1.0);
thlu 0:22bdcdc386df 383 tk_print_debug.attach(&print_debug_msg, 1.0);
thlu 0:22bdcdc386df 384 return 0;
thlu 0:22bdcdc386df 385
thlu 0:22bdcdc386df 386 }
thlu 0:22bdcdc386df 387
thlu 1:03d0f8a4a2d7 388 void run_accelestick()
thlu 0:22bdcdc386df 389 {
thlu 1:03d0f8a4a2d7 390 get_joystick_input();
thlu 1:03d0f8a4a2d7 391 sample_mma();
thlu 1:03d0f8a4a2d7 392 update_mouse();
thlu 0:22bdcdc386df 393 }
thlu 0:22bdcdc386df 394