Tami Farber
Revised to disable BLE for radio communication as needed.
Dependencies: BLE_API nRF51822 mbed-dev-bin
inc/drivers/MicroBitAccelerometer.h@74:26717338739d, 2019-11-26 (annotated)
- Committer:
- tsfarber
- Date:
- Tue Nov 26 04:12:46 2019 +0000
- Revision:
- 74:26717338739d
- Parent:
- 65:f7ebabf23e15
This program combines samples programs radio TX and radio RX so that both units can send or receive depending on which unit's buttons are pressed. Tested successfully. MicroBitConfig.h has been edited to disable BLE.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Jonathan Austin |
1:8aa5cdb4ab67 | 1 | /* |
| Jonathan Austin |
1:8aa5cdb4ab67 | 2 | The MIT License (MIT) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 3 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 4 | Copyright (c) 2016 British Broadcasting Corporation. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 5 | This software is provided by Lancaster University by arrangement with the BBC. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 6 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 7 | Permission is hereby granted, free of charge, to any person obtaining a |
| Jonathan Austin |
1:8aa5cdb4ab67 | 8 | copy of this software and associated documentation files (the "Software"), |
| Jonathan Austin |
1:8aa5cdb4ab67 | 9 | to deal in the Software without restriction, including without limitation |
| Jonathan Austin |
1:8aa5cdb4ab67 | 10 | the rights to use, copy, modify, merge, publish, distribute, sublicense, |
| Jonathan Austin |
1:8aa5cdb4ab67 | 11 | and/or sell copies of the Software, and to permit persons to whom the |
| Jonathan Austin |
1:8aa5cdb4ab67 | 12 | Software is furnished to do so, subject to the following conditions: |
| Jonathan Austin |
1:8aa5cdb4ab67 | 13 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 14 | The above copyright notice and this permission notice shall be included in |
| Jonathan Austin |
1:8aa5cdb4ab67 | 15 | all copies or substantial portions of the Software. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 16 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 17 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| Jonathan Austin |
1:8aa5cdb4ab67 | 18 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| Jonathan Austin |
1:8aa5cdb4ab67 | 19 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL |
| Jonathan Austin |
1:8aa5cdb4ab67 | 20 | THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| Jonathan Austin |
1:8aa5cdb4ab67 | 21 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
| Jonathan Austin |
1:8aa5cdb4ab67 | 22 | FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER |
| Jonathan Austin |
1:8aa5cdb4ab67 | 23 | DEALINGS IN THE SOFTWARE. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 24 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 25 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 26 | #ifndef MICROBIT_ACCELEROMETER_H |
| Jonathan Austin |
1:8aa5cdb4ab67 | 27 | #define MICROBIT_ACCELEROMETER_H |
| Jonathan Austin |
1:8aa5cdb4ab67 | 28 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 29 | #include "mbed.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 30 | #include "MicroBitConfig.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 31 | #include "MicroBitComponent.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 32 | #include "MicroBitCoordinateSystem.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 33 | #include "MicroBitI2C.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 34 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 35 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 36 | * Relevant pin assignments |
| Jonathan Austin |
1:8aa5cdb4ab67 | 37 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 38 | #define MICROBIT_PIN_ACCEL_DATA_READY P0_28 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 39 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 40 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 41 | * Status flags |
| Jonathan Austin |
1:8aa5cdb4ab67 | 42 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 43 | #define MICROBIT_ACCEL_PITCH_ROLL_VALID 0x02 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 44 | #define MICROBIT_ACCEL_ADDED_TO_IDLE 0x04 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 45 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 46 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 47 | * I2C constants |
| Jonathan Austin |
1:8aa5cdb4ab67 | 48 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 49 | #define MMA8653_DEFAULT_ADDR 0x3A |
| Jonathan Austin |
1:8aa5cdb4ab67 | 50 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 51 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 52 | * MMA8653 Register map (partial) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 53 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 54 | #define MMA8653_STATUS 0x00 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 55 | #define MMA8653_OUT_X_MSB 0x01 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 56 | #define MMA8653_WHOAMI 0x0D |
| Jonathan Austin |
1:8aa5cdb4ab67 | 57 | #define MMA8653_XYZ_DATA_CFG 0x0E |
| Jonathan Austin |
1:8aa5cdb4ab67 | 58 | #define MMA8653_CTRL_REG1 0x2A |
| Jonathan Austin |
1:8aa5cdb4ab67 | 59 | #define MMA8653_CTRL_REG2 0x2B |
| Jonathan Austin |
1:8aa5cdb4ab67 | 60 | #define MMA8653_CTRL_REG3 0x2C |
| Jonathan Austin |
1:8aa5cdb4ab67 | 61 | #define MMA8653_CTRL_REG4 0x2D |
| Jonathan Austin |
1:8aa5cdb4ab67 | 62 | #define MMA8653_CTRL_REG5 0x2E |
| Jonathan Austin |
1:8aa5cdb4ab67 | 63 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 64 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 65 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 66 | * MMA8653 constants |
| Jonathan Austin |
1:8aa5cdb4ab67 | 67 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 68 | #define MMA8653_WHOAMI_VAL 0x5A |
| Jonathan Austin |
1:8aa5cdb4ab67 | 69 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 70 | #define MMA8653_SAMPLE_RANGES 3 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 71 | #define MMA8653_SAMPLE_RATES 8 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 72 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 73 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 74 | * Accelerometer events |
| Jonathan Austin |
1:8aa5cdb4ab67 | 75 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 76 | #define MICROBIT_ACCELEROMETER_EVT_DATA_UPDATE 1 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 77 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 78 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 79 | * Gesture events |
| Jonathan Austin |
1:8aa5cdb4ab67 | 80 | */ |
| LancasterUniversity | 39:112df23f039f | 81 | #define MICROBIT_ACCELEROMETER_EVT_NONE 0 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 82 | #define MICROBIT_ACCELEROMETER_EVT_TILT_UP 1 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 83 | #define MICROBIT_ACCELEROMETER_EVT_TILT_DOWN 2 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 84 | #define MICROBIT_ACCELEROMETER_EVT_TILT_LEFT 3 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 85 | #define MICROBIT_ACCELEROMETER_EVT_TILT_RIGHT 4 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 86 | #define MICROBIT_ACCELEROMETER_EVT_FACE_UP 5 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 87 | #define MICROBIT_ACCELEROMETER_EVT_FACE_DOWN 6 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 88 | #define MICROBIT_ACCELEROMETER_EVT_FREEFALL 7 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 89 | #define MICROBIT_ACCELEROMETER_EVT_3G 8 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 90 | #define MICROBIT_ACCELEROMETER_EVT_6G 9 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 91 | #define MICROBIT_ACCELEROMETER_EVT_8G 10 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 92 | #define MICROBIT_ACCELEROMETER_EVT_SHAKE 11 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 93 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 94 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 95 | * Gesture recogniser constants |
| Jonathan Austin |
1:8aa5cdb4ab67 | 96 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 97 | #define MICROBIT_ACCELEROMETER_REST_TOLERANCE 200 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 98 | #define MICROBIT_ACCELEROMETER_TILT_TOLERANCE 200 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 99 | #define MICROBIT_ACCELEROMETER_FREEFALL_TOLERANCE 400 |
| LancasterUniversity | 65:f7ebabf23e15 | 100 | #define MICROBIT_ACCELEROMETER_SHAKE_TOLERANCE 400 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 101 | #define MICROBIT_ACCELEROMETER_3G_TOLERANCE 3072 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 102 | #define MICROBIT_ACCELEROMETER_6G_TOLERANCE 6144 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 103 | #define MICROBIT_ACCELEROMETER_8G_TOLERANCE 8192 |
| LancasterUniversity | 65:f7ebabf23e15 | 104 | #define MICROBIT_ACCELEROMETER_GESTURE_DAMPING 5 |
| LancasterUniversity | 65:f7ebabf23e15 | 105 | #define MICROBIT_ACCELEROMETER_SHAKE_DAMPING 10 |
| LancasterUniversity | 65:f7ebabf23e15 | 106 | #define MICROBIT_ACCELEROMETER_SHAKE_RTX 30 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 107 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 108 | #define MICROBIT_ACCELEROMETER_REST_THRESHOLD (MICROBIT_ACCELEROMETER_REST_TOLERANCE * MICROBIT_ACCELEROMETER_REST_TOLERANCE) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 109 | #define MICROBIT_ACCELEROMETER_FREEFALL_THRESHOLD (MICROBIT_ACCELEROMETER_FREEFALL_TOLERANCE * MICROBIT_ACCELEROMETER_FREEFALL_TOLERANCE) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 110 | #define MICROBIT_ACCELEROMETER_3G_THRESHOLD (MICROBIT_ACCELEROMETER_3G_TOLERANCE * MICROBIT_ACCELEROMETER_3G_TOLERANCE) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 111 | #define MICROBIT_ACCELEROMETER_6G_THRESHOLD (MICROBIT_ACCELEROMETER_6G_TOLERANCE * MICROBIT_ACCELEROMETER_6G_TOLERANCE) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 112 | #define MICROBIT_ACCELEROMETER_8G_THRESHOLD (MICROBIT_ACCELEROMETER_8G_TOLERANCE * MICROBIT_ACCELEROMETER_8G_TOLERANCE) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 113 | #define MICROBIT_ACCELEROMETER_SHAKE_COUNT_THRESHOLD 4 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 114 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 115 | struct MMA8653Sample |
| Jonathan Austin |
1:8aa5cdb4ab67 | 116 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 117 | int16_t x; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 118 | int16_t y; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 119 | int16_t z; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 120 | }; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 121 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 122 | struct MMA8653SampleRateConfig |
| Jonathan Austin |
1:8aa5cdb4ab67 | 123 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 124 | uint32_t sample_period; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 125 | uint8_t ctrl_reg1; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 126 | }; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 127 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 128 | struct MMA8653SampleRangeConfig |
| Jonathan Austin |
1:8aa5cdb4ab67 | 129 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 130 | uint8_t sample_range; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 131 | uint8_t xyz_data_cfg; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 132 | }; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 133 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 134 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 135 | extern const MMA8653SampleRangeConfig MMA8653SampleRange[]; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 136 | extern const MMA8653SampleRateConfig MMA8653SampleRate[]; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 137 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 138 | struct ShakeHistory |
| Jonathan Austin |
1:8aa5cdb4ab67 | 139 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 140 | uint16_t shaken:1, |
| Jonathan Austin |
1:8aa5cdb4ab67 | 141 | x:1, |
| Jonathan Austin |
1:8aa5cdb4ab67 | 142 | y:1, |
| Jonathan Austin |
1:8aa5cdb4ab67 | 143 | z:1, |
| LancasterUniversity | 42:e2869e0fa366 | 144 | unused, |
| LancasterUniversity | 38:1a9e8e5e23f2 | 145 | impulse_3, |
| LancasterUniversity | 38:1a9e8e5e23f2 | 146 | impulse_6, |
| LancasterUniversity | 38:1a9e8e5e23f2 | 147 | impulse_8, |
| LancasterUniversity | 65:f7ebabf23e15 | 148 | count:8; |
| LancasterUniversity | 65:f7ebabf23e15 | 149 | |
| LancasterUniversity | 65:f7ebabf23e15 | 150 | uint16_t timer; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 151 | }; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 152 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 153 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 154 | * Class definition for MicroBit Accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 155 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 156 | * Represents an implementation of the Freescale MMA8653 3 axis accelerometer |
| Jonathan Austin |
1:8aa5cdb4ab67 | 157 | * Also includes basic data caching and on demand activation. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 158 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 159 | class MicroBitAccelerometer : public MicroBitComponent |
| Jonathan Austin |
1:8aa5cdb4ab67 | 160 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 161 | uint16_t address; // I2C address of this accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 162 | uint16_t samplePeriod; // The time between samples, in milliseconds. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 163 | uint8_t sampleRange; // The sample range of the accelerometer in g. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 164 | MMA8653Sample sample; // The last sample read. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 165 | DigitalIn int1; // Data ready interrupt. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 166 | float pitch; // Pitch of the device, in radians. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 167 | MicroBitI2C& i2c; // The I2C interface to use. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 168 | float roll; // Roll of the device, in radians. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 169 | uint8_t sigma; // the number of ticks that the instantaneous gesture has been stable. |
| LancasterUniversity | 38:1a9e8e5e23f2 | 170 | uint8_t impulseSigma; // the number of ticks since an impulse event has been generated. |
| LancasterUniversity | 39:112df23f039f | 171 | uint16_t lastGesture; // the last, stable gesture recorded. |
| LancasterUniversity | 39:112df23f039f | 172 | uint16_t currentGesture; // the instantaneous, unfiltered gesture detected. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 173 | ShakeHistory shake; // State information needed to detect shake events. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 174 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 175 | public: |
| Jonathan Austin |
1:8aa5cdb4ab67 | 176 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 177 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 178 | * Constructor. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 179 | * Create a software abstraction of an accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 180 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 181 | * @param _i2c an instance of MicroBitI2C used to communicate with the onboard accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 182 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 183 | * @param address the default I2C address of the accelerometer. Defaults to: MMA8653_DEFAULT_ADDR. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 184 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 185 | * @param id the unique EventModel id of this component. Defaults to: MICROBIT_ID_ACCELEROMETER |
| Jonathan Austin |
1:8aa5cdb4ab67 | 186 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 187 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 188 | * MicroBitI2C i2c = MicroBitI2C(I2C_SDA0, I2C_SCL0); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 189 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 190 | * MicroBitAccelerometer accelerometer = MicroBitAccelerometer(i2c); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 191 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 192 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 193 | MicroBitAccelerometer(MicroBitI2C &_i2c, uint16_t address = MMA8653_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_ACCELEROMETER); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 194 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 195 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 196 | * Configures the accelerometer for G range and sample rate defined |
| Jonathan Austin |
1:8aa5cdb4ab67 | 197 | * in this object. The nearest values are chosen to those defined |
| Jonathan Austin |
1:8aa5cdb4ab67 | 198 | * that are supported by the hardware. The instance variables are then |
| Jonathan Austin |
1:8aa5cdb4ab67 | 199 | * updated to reflect reality. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 200 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 201 | * @return MICROBIT_OK on success, MICROBIT_I2C_ERROR if the accelerometer could not be configured. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 202 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 203 | int configure(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 204 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 205 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 206 | * Reads the acceleration data from the accelerometer, and stores it in our buffer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 207 | * This only happens if the accelerometer indicates that it has new data via int1. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 208 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 209 | * On first use, this member function will attempt to add this component to the |
| Jonathan Austin |
1:8aa5cdb4ab67 | 210 | * list of fiber components in order to constantly update the values stored |
| Jonathan Austin |
1:8aa5cdb4ab67 | 211 | * by this object. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 212 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 213 | * This technique is called lazy instantiation, and it means that we do not |
| Jonathan Austin |
1:8aa5cdb4ab67 | 214 | * obtain the overhead from non-chalantly adding this component to fiber components. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 215 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 216 | * @return MICROBIT_OK on success, MICROBIT_I2C_ERROR if the read request fails. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 217 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 218 | int updateSample(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 219 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 220 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 221 | * Attempts to set the sample rate of the accelerometer to the specified value (in ms). |
| Jonathan Austin |
1:8aa5cdb4ab67 | 222 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 223 | * @param period the requested time between samples, in milliseconds. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 224 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 225 | * @return MICROBIT_OK on success, MICROBIT_I2C_ERROR is the request fails. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 226 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 227 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 228 | * // sample rate is now 20 ms. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 229 | * accelerometer.setPeriod(20); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 230 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 231 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 232 | * @note The requested rate may not be possible on the hardware. In this case, the |
| Jonathan Austin |
1:8aa5cdb4ab67 | 233 | * nearest lower rate is chosen. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 234 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 235 | int setPeriod(int period); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 236 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 237 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 238 | * Reads the currently configured sample rate of the accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 239 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 240 | * @return The time between samples, in milliseconds. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 241 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 242 | int getPeriod(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 243 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 244 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 245 | * Attempts to set the sample range of the accelerometer to the specified value (in g). |
| Jonathan Austin |
1:8aa5cdb4ab67 | 246 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 247 | * @param range The requested sample range of samples, in g. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 248 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 249 | * @return MICROBIT_OK on success, MICROBIT_I2C_ERROR is the request fails. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 250 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 251 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 252 | * // the sample range of the accelerometer is now 8G. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 253 | * accelerometer.setRange(8); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 254 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 255 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 256 | * @note The requested range may not be possible on the hardware. In this case, the |
| Jonathan Austin |
1:8aa5cdb4ab67 | 257 | * nearest lower range is chosen. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 258 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 259 | int setRange(int range); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 260 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 261 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 262 | * Reads the currently configured sample range of the accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 263 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 264 | * @return The sample range, in g. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 265 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 266 | int getRange(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 267 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 268 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 269 | * Attempts to read the 8 bit ID from the accelerometer, this can be used for |
| Jonathan Austin |
1:8aa5cdb4ab67 | 270 | * validation purposes. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 271 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 272 | * @return the 8 bit ID returned by the accelerometer, or MICROBIT_I2C_ERROR if the request fails. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 273 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 274 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 275 | * accelerometer.whoAmI(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 276 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 277 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 278 | int whoAmI(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 279 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 280 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 281 | * Reads the value of the X axis from the latest update retrieved from the accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 282 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 283 | * @param system The coordinate system to use. By default, a simple cartesian system is provided. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 284 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 285 | * @return The force measured in the X axis, in milli-g. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 286 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 287 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 288 | * accelerometer.getX(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 289 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 290 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 291 | int getX(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 292 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 293 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 294 | * Reads the value of the Y axis from the latest update retrieved from the accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 295 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 296 | * @return The force measured in the Y axis, in milli-g. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 297 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 298 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 299 | * accelerometer.getY(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 300 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 301 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 302 | int getY(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 303 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 304 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 305 | * Reads the value of the Z axis from the latest update retrieved from the accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 306 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 307 | * @return The force measured in the Z axis, in milli-g. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 308 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 309 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 310 | * accelerometer.getZ(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 311 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 312 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 313 | int getZ(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 314 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 315 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 316 | * Provides a rotation compensated pitch of the device, based on the latest update retrieved from the accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 317 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 318 | * @return The pitch of the device, in degrees. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 319 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 320 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 321 | * accelerometer.getPitch(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 322 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 323 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 324 | int getPitch(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 325 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 326 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 327 | * Provides a rotation compensated pitch of the device, based on the latest update retrieved from the accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 328 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 329 | * @return The pitch of the device, in radians. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 330 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 331 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 332 | * accelerometer.getPitchRadians(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 333 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 334 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 335 | float getPitchRadians(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 336 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 337 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 338 | * Provides a rotation compensated roll of the device, based on the latest update retrieved from the accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 339 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 340 | * @return The roll of the device, in degrees. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 341 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 342 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 343 | * accelerometer.getRoll(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 344 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 345 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 346 | int getRoll(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 347 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 348 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 349 | * Provides a rotation compensated roll of the device, based on the latest update retrieved from the accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 350 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 351 | * @return The roll of the device, in radians. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 352 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 353 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 354 | * accelerometer.getRollRadians(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 355 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 356 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 357 | float getRollRadians(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 358 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 359 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 360 | * Retrieves the last recorded gesture. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 361 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 362 | * @return The last gesture that was detected. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 363 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 364 | * Example: |
| Jonathan Austin |
1:8aa5cdb4ab67 | 365 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 366 | * MicroBitDisplay display; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 367 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 368 | * if (accelerometer.getGesture() == SHAKE) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 369 | * display.scroll("SHAKE!"); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 370 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 371 | */ |
| LancasterUniversity | 39:112df23f039f | 372 | uint16_t getGesture(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 373 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 374 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 375 | * A periodic callback invoked by the fiber scheduler idle thread. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 376 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 377 | * Internally calls updateSample(). |
| Jonathan Austin |
1:8aa5cdb4ab67 | 378 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 379 | virtual void idleTick(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 380 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 381 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 382 | * Destructor for MicroBitButton, where we deregister this instance from the array of fiber components. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 383 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 384 | ~MicroBitAccelerometer(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 385 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 386 | private: |
| Jonathan Austin |
1:8aa5cdb4ab67 | 387 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 388 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 389 | * Issues a standard, 2 byte I2C command write to the accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 390 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 391 | * Blocks the calling thread until complete. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 392 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 393 | * @param reg The address of the register to write to. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 394 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 395 | * @param value The value to write. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 396 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 397 | * @return MICROBIT_OK on success, MICROBIT_I2C_ERROR if the the write request failed. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 398 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 399 | int writeCommand(uint8_t reg, uint8_t value); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 400 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 401 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 402 | * Issues a read command, copying data into the specified buffer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 403 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 404 | * Blocks the calling thread until complete. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 405 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 406 | * @param reg The address of the register to access. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 407 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 408 | * @param buffer Memory area to read the data into. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 409 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 410 | * @param length The number of bytes to read. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 411 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 412 | * @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER or MICROBIT_I2C_ERROR if the the read request failed. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 413 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 414 | int readCommand(uint8_t reg, uint8_t* buffer, int length); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 415 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 416 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 417 | * Recalculate roll and pitch values for the current sample. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 418 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 419 | * @note We only do this at most once per sample, as the necessary trigonemteric functions are rather |
| Jonathan Austin |
1:8aa5cdb4ab67 | 420 | * heavyweight for a CPU without a floating point unit. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 421 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 422 | void recalculatePitchRoll(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 423 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 424 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 425 | * Updates the basic gesture recognizer. This performs instantaneous pose recognition, and also some low pass filtering to promote |
| Jonathan Austin |
1:8aa5cdb4ab67 | 426 | * stability. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 427 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 428 | void updateGesture(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 429 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 430 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 431 | * A service function. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 432 | * It calculates the current scalar acceleration of the device (x^2 + y^2 + z^2). |
| Jonathan Austin |
1:8aa5cdb4ab67 | 433 | * It does not, however, square root the result, as this is a relatively high cost operation. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 434 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 435 | * This is left to application code should it be needed. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 436 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 437 | * @return the sum of the square of the acceleration of the device across all axes. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 438 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 439 | int instantaneousAccelerationSquared(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 440 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 441 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 442 | * Service function. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 443 | * Determines a 'best guess' posture of the device based on instantaneous data. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 444 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 445 | * This makes no use of historic data, and forms this input to the filter implemented in updateGesture(). |
| Jonathan Austin |
1:8aa5cdb4ab67 | 446 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 447 | * @return A 'best guess' of the current posture of the device, based on instanataneous data. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 448 | */ |
| LancasterUniversity | 39:112df23f039f | 449 | uint16_t instantaneousPosture(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 450 | }; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 451 | |
| LancasterUniversity | 38:1a9e8e5e23f2 | 452 | #endif |