I am making a fall detecting device for a project in school and in order for it to work, I need to be able to set pin12 to high when a fall is detected (line 83). However even when a fall is detected and displayed in the serial monitor, pin 12 remains set to low. It is not a hardware problem, as with other code it seems to work fine, however when I attempt to implement the digital write into the fall detecting code it does not seem to work.
Here is the code I am currently using:
#include <SPI.h>
#include "LCD_Driver.h"
#include "GUI_Paint.h"
#include "image.h"
#include "Wire.h"
const int MPU_addr=0x68; // I2C address of the MPU-6050
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
float ax=0, ay=0, az=0, gx=0, gy=0, gz=0;
//int data[STORE_SIZE][5]; //array for saving past data
//byte currentIndex=0; //stores current data array index (0-255)
boolean fall = false; //stores if a fall has occurred
boolean trigger1=false; //stores if first trigger (lower threshold) has occurred
boolean trigger2=false; //stores if second trigger (upper threshold) has occurred
boolean trigger3=false; //stores if third trigger (orientation change) has occurred
byte trigger1count=0; //stores the counts past since trigger 1 was set true
byte trigger2count=0; //stores the counts past since trigger 2 was set true
byte trigger3count=0; //stores the counts past since trigger 3 was set true
int angleChange=0;
void setup(){
pinMode(12, OUTPUT);
Config_Init();
LCD_Init();
LCD_SetBacklight(1000);
Paint_NewImage(LCD_WIDTH, LCD_HEIGHT, 0, LIGHTBLUE);
Paint_Clear(WHITE);
Paint_DrawLine (120, 0, 120, 12,BLACK ,DOT_PIXEL_4X4,LINE_STYLE_SOLID);
Paint_DrawLine (120, 228, 120, 240,BLACK ,DOT_PIXEL_4X4,LINE_STYLE_SOLID);
Paint_DrawLine (0, 120, 12, 120,BLACK ,DOT_PIXEL_4X4,LINE_STYLE_SOLID);
Paint_DrawLine (228, 120, 240, 120,BLACK ,DOT_PIXEL_4X4,LINE_STYLE_SOLID);
Paint_DrawLine (120, 120, 70, 70,BLACK ,DOT_PIXEL_3X3,LINE_STYLE_SOLID);
Paint_DrawLine (120, 120, 176, 64,BLACK ,DOT_PIXEL_3X3,LINE_STYLE_SOLID);
Paint_DrawLine (120, 120, 120, 210,RED ,DOT_PIXEL_2X2,LINE_STYLE_SOLID);
Wire.begin();
Wire.beginTransmission(MPU_addr);
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
Serial.begin(9600);
}
void loop(){
mpu_read();
//2050, 77, 1947 are values for calibration of accelerometer
// values may be different for you
ax = (AcX-2050)/16384.00;
ay = (AcY-77)/16384.00;
az = (AcZ-1947)/16384.00;
//270, 351, 136 for gyroscope
gx = (GyX+270)/131.07;
gy = (GyY-351)/131.07;
gz = (GyZ+136)/131.07;
// calculating Amplitute vector for 3 axis
float Raw_AM = pow(pow(ax,2)+pow(ay,2)+pow(az,2),0.5);
int AM = Raw_AM * 10; // as values are within 0 to 1, I multiplied
// it by for using if else conditions
Serial.println(AM);
//Serial.println(PM);
//delay(500);
if (trigger3==true){
trigger3count++;
//Serial.println(trigger3count);
if (trigger3count>=10){
angleChange = pow(pow(gx,2)+pow(gy,2)+pow(gz,2),0.5);
//delay(10);
Serial.println(angleChange);
if ((angleChange>=0) && (angleChange<=10)){ //if orientation changes remains between 0-10 degrees
fall=true; trigger3=false; trigger3count=0;
Serial.println(angleChange);
}
else{ //user regained normal orientation
trigger3=false; trigger3count=0;
Serial.println("TRIGGER 3 DEACTIVATED");
}
}
}
if (fall==true){ //in event of a fall detection
Serial.println("FALL DETECTED");
digitalWrite(12, HIGH);
delay(10000);
digitalWrite(12, LOW);
fall=false;
// exit(1);
}
if (trigger2count>=6){ //allow 0.5s for orientation change
trigger2=false; trigger2count=0;
Serial.println("TRIGGER 2 DECACTIVATED");
}
if (trigger1count>=6){ //allow 0.5s for AM to break upper threshold
trigger1=false; trigger1count=0;
Serial.println("TRIGGER 1 DECACTIVATED");
}
if (trigger2==true){
trigger2count++;
//angleChange=acos(((double)x*(double)bx+(double)y*(double)by+(double)z*(double)bz)/(double)AM/(double)BM);
angleChange = pow(pow(gx,2)+pow(gy,2)+pow(gz,2),0.5); Serial.println(angleChange);
if (angleChange>=30 && angleChange<=400){ //if orientation changes by between 80-100 degrees
trigger3=true; trigger2=false; trigger2count=0;
Serial.println(angleChange);
Serial.println("TRIGGER 3 ACTIVATED");
}
}
if (trigger1==true){
trigger1count++;
if (AM>=12){ //if AM breaks upper threshold (3g)
trigger2=true;
Serial.println("TRIGGER 2 ACTIVATED");
trigger1=false; trigger1count=0;
}
}
if (AM<=2 && trigger2==false){ //if AM breaks lower threshold (0.4g)
trigger1=true;
Serial.println("TRIGGER 1 ACTIVATED");
}
//It appears that delay is needed in order not to clog the port
delay(100);
}
void mpu_read(){
Wire.beginTransmission(MPU_addr);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers
AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
}
/*********************************************************************************************************
END FILE
*********************************************************************************************************/
Thank you so much
