motion.cpp

00001 //#include "rtos.h"
00002 #include "Hardware.h"
00003 #include "FXOS8700Q.h"
00004 #include "PaceHeart.h"
00005 
00006 FXOS8700Q_acc acc(PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1);
00007 
00008 //PaceHeart* Pacing = new PaceHeart;
00009 
00010 /* Constants and Declares */
00011 int numCount;
00012 int const MAX_NUM_COUNTS = 3;
00013 int const TIMING_PERIOD = 20; // Sensor polling interval
00014 
00015 uint8_t motion_exceeded_threshold = 0;
00016 
00017 void initialize_motion () {
00018     acc.enable();
00019 }
00020 
00021 bool isMotionThresholdExceeded () {
00022     return motion_exceeded_threshold;    
00023 }
00024 
00025 void resetMotionDetection () {
00026     motion_exceeded_threshold = 0;
00027 }
00028 
00029 /**** Function: a_count
00030  * return: void
00031  * parameters: none
00032  * A function called if motion detection interrupt flag is set.  Maintains
00033  * a global counter and sets a timer to keep track of number of flags within
00034  * timing limit.
00035  */ 
00036 void a_count(void) {
00037     /* step 1 increment the counter */
00038     numCount++;
00039     
00040 
00041     if (numCount >= MAX_NUM_COUNTS) {
00042         //rled = !rled;   // toggle LEDs to show acceleration threshold reached
00043         //gled = !gled;   // toggle LEDS to show acceleration threshold reached
00044         
00045         motion_exceeded_threshold = 1;
00046     }
00047 }
00048 
00049 void motion_thread (PaceHeart &Pacing) {
00050     while(true) {
00051 
00052         float xAcc, yAcc, zAcc;
00053         acc.getX(&xAcc);
00054         acc.getY(&yAcc);
00055         acc.getZ(&zAcc);
00056         float magtd = xAcc*xAcc + yAcc*yAcc + zAcc*zAcc;
00057         
00058         if (magtd > 1.0f) { // Greater than (1.5G of Accel.)^2
00059             a_count();      // increment acceleration event counter
00060             Pacing.set_dir(1);
00061             Pacing.set_p_vPaceWidth(Pacing.get_p_vPaceWidth()+0.1);
00062             Pacing.set_p_vPaceAmp(Pacing.get_p_vPaceAmp()+500);
00063             
00064         }
00065 
00066         wait(TIMING_PERIOD); 
00067     }   
00068 }