Hello world
after several hours & day, Finally I have to implement this KNN code and nRF51822_adxl345 code. I have implement to one. but there is problem that..
I can't mix data properly like this one..
I wanna to implement this to foot gesture that clasify for standing, walking and climbing up the stairs.
but, that's not look a like. how to mix the good code for sort of step , acc, vel, dist and prediction in 1 row at serial monitor.. please help me to fix it..
this is my mbed code
#include "mbed.h"
#include "ADXL345_I2C.h"
#include "ble/BLE.h"
#include "ble/services/UARTService.h"
#include "Serial.h"
#include <math.h>
#include <stdlib.h>
#define MAX 20
#define k 4
#define NEED_CONSOLE_OUTPUT 1 /* Set this if you need debug messages on the console;
* it will have an impact on code-size and power consumption. */
#if NEED_CONSOLE_OUTPUT
#define DEBUG(...) { printf(__VA_ARGS__); }
#else
#define DEBUG(...) /* nothing */
#endif /* #if NEED_CONSOLE_OUTPUT */
ADXL345_I2C accelerometer(p30, p7);
BLEDevice ble;
DigitalOut led1(LED1);
Serial uart1(USBTX,USBRX);
UARTService *uartServicePtr;
void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
{
DEBUG("Disconnected!\n\r");
DEBUG("Restarting the advertising process\n\r");
ble.startAdvertising();
}
void connectionCallback(const Gap::ConnectionCallbackParams_t *params) {
DEBUG("Connected!\n\r");
}
uint8_t b[40]={'a','d','q','w'};
void onDataWritten(const GattWriteCallbackParams *params)
{
if ((uartServicePtr != NULL) && (params->handle == uartServicePtr->getTXCharacteristicHandle())) {
uint16_t bytesRead = params->len;
DEBUG("received %u bytes %s\n\r", bytesRead,params->data);
}
}
void periodicCallback(void)
{
led1 = !led1;
}
int threshold =6.8;
int xval[10]={0};
int yval[10]={0};
int zval[10]={0};
using namespace std;
enum category{STANDING,CLIMBING,WALKING};
class data{
int x,y;
category cat;
public:
void setd(int a,int b,category c){
x=a;
y=b;
cat=c;
}
int getx(){return x;}
int gety(){return y;}
category getcat(){
return cat;
}
};//end of class
int dis(data d1,data d2)
{
return sqrt(pow(((double)d2.getx()-(double)d1.getx()),2.0)+pow(((double)d2.gety()-(double)d1.gety()),2.0));
}
int main()
{
uart1.baud(9600);
int readings[3] = {0, 0, 0};
char buffer [20];
//inisiliasi
int steps=0;
int flag=0;
int acc=0;
int totvect [20] = {0};
int totave [20] = {0};
int totvel [20] = {0};
int totdist [20] = {0};
//float sum1, sum2, sum3 = 0
int xaccl[20];
int yaccl[20];
int zaccl[20];
// Test Daata
memset(&buffer, 0, sizeof(buffer));
int16_t reading_1= 0;
int16_t reading_2= 0;
int16_t reading_3= 0;
int16_t avg_1= 0;
int16_t avg_2= 0;
int16_t avg_3= 0;
snprintf(buffer, 20, "data: %d,%d,%d,%d,%d,%d\n",(int16_t)reading_1,(int16_t)reading_2,(int16_t)reading_3,(int16_t)avg_1,(int16_t)avg_2,(int16_t)avg_3);
int p,q; //input
int a[MAX]; //store distances
int b[k]; //to get min distances, used in calc
int c[k]; //to store freq
led1 = 1;
uart1.baud(9600);
Ticker ticker;
ticker.attach(periodicCallback, 1);
DEBUG("Initialising the nRF51822\n\r");
ble.init();
ble.onDisconnection(disconnectionCallback);
ble.onConnection(connectionCallback);
ble.onDataWritten(onDataWritten);
/* setup advertising */
ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
(const uint8_t *)"BLE UART", sizeof("BLE UART") - 1);
ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
(const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
ble.setAdvertisingInterval(1000); /* 1000ms; in multiples of 0.625ms. */
ble.startAdvertising();
UARTService uartService(ble);
uartServicePtr = &uartService;
uart1.printf("Starting ADXL345 test...\n");
wait(0.1);
uart1.printf("Device ID is: 0x%02x\n", accelerometer.getDeviceID());
wait(0.1);
//Go into standby mode to configure the device.
accelerometer.setPowerControl(0x00);
//Full resolution, +/-16g, 4mg/LSB.
accelerometer.setDataFormatControl(0x0B);
//3.2kHz data rate.
accelerometer.setDataRate(ADXL345_3200HZ);
//Measurement mode.
accelerometer.setPowerControl(0x08);
while (1)
{
ble.waitForEvent();
wait(0.1);
accelerometer.getOutput(readings);
/*uart1.printf("\n%i, %i, %i\n", (int16_t)readings[0], (int16_t)readings[1], (int16_t)readings[2]);
memset(&buffer, 0, sizeof(buffer));
snprintf(buffer, 20, "data: %d,%d,%d\n\n", (int16_t)readings[0],(int16_t)readings[1],(int16_t)readings[0]);
ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);*/
//float x,y,z
for (int i=0; i<10; i++)
{
xaccl[i]=(readings[0]);
wait(0.1);
yaccl[i]=(readings[1]);
wait(0.1);
zaccl[i]=(readings[2]);
wait(0.1);
//formula
totvect[i] = sqrt(pow((double)xaccl[i],2.0)+pow((double)yaccl[i],2.0)+pow((double)zaccl[i],2.0));
wait(0.3);
totave[i] = ((double)totvect[i]+(double)totvect[i-1])/2.0 ;
wait(0.3);
acc=acc+totave[i];
wait(0.3);
totvel[i]=(1*((double)totave[i]-(double)totave[i-1]/2.0)+totvel[i-1]);
wait(0.3);
totdist[i]=(1*((double)totvel[i]-(double)totvel[i-1]/2.0)+totdist[i-1]);
//cal steps
if (totave[i] > threshold && flag==0)
{
steps = steps+1;
flag=1;
}
else if (totave[i] > threshold && flag == 1)
{
// do nothing
}
if (totave[i] < threshold && flag == 1)
{flag=0;}
uart1.printf("\nsteps:%i", (int16_t)steps);
memset(&buffer, 0, sizeof(buffer));
snprintf(buffer, 20, "\n%d\t", (int16_t)steps);
ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);
uart1.printf("\tacc:%i", (int16_t)totave[i]);
memset(&buffer, 0, sizeof(buffer));
snprintf(buffer, 20, "\t%d", (int16_t)totave[i]);
ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);
uart1.printf("\tvel:%i", (int16_t)totvel[i]);
memset(&buffer, 0, sizeof(buffer));
snprintf(buffer, 20, "\t%d", (int16_t)totvel[i]);
ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);
uart1.printf("\tdist:%i", (int16_t)totdist[i]);
memset(&buffer, 0, sizeof(buffer));
snprintf(buffer, 20, "\t%d\n", (int16_t)totdist[i]);
ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);
}
do{
wait(0.1);
for(int i=0;i<k;i++)
{ //initiLIZATION
b[i]=-1;
c[i]=0;
}
int min=1000;
p = (readings[0]);
q = (readings[1]);
//uart1.scanf("%ld,%ld",&p,&q);
if((p < 0) | (q < 0))
exit(0);
data n; //data point to classify
n.setd(p,q,STANDING);
data d[MAX]; //training set
d[0].setd(1,1,STANDING);
d[1].setd(1,2,STANDING);
d[2].setd(1,3,STANDING);
d[3].setd(1,4,STANDING);
d[4].setd(1,5,STANDING);
d[5].setd(1,6,STANDING);
d[6].setd(1,7,STANDING);
d[7].setd(2,1,STANDING);
d[8].setd(2,2,STANDING);
d[9].setd(2,3,WALKING);
d[10].setd(2,4,WALKING);
d[11].setd(2,5,WALKING);
d[12].setd(2,6,WALKING);
d[13].setd(2,7,WALKING);
d[14].setd(5,1,CLIMBING);
d[15].setd(5,2,CLIMBING);
d[16].setd(5,3,CLIMBING);
d[17].setd(5,4,CLIMBING);
d[18].setd(5,5,CLIMBING);
d[19].setd(5,6,CLIMBING);
for(int i=0;i<20;i++){
a[i]=dis(n,d[i]);
//uart1.printf("\t\t %d\n", a[i]);
}
//k-nearest neighbours calculation i.e smallest k distances
for(int j=0;j<k;j++)
{
min=1000;
for(int i=0;i<20;i++)
{
if(i!=b[0]&&i!=b[1]&&i!=b[2])
{
if((a[i]<=min))
{
min=a[i];
b[j]=i;
}
}
}
//uart1.printf("%d\n",min);
}
//counting frequency of a class in each neighbour
for(int i=0;i<k;i++)
{
switch (d[b[i]].getcat())
{
case STANDING:
c[0]++;
break;
case WALKING:
c[2]++;
break;
case CLIMBING:
c[1]++;
break;
}
} //counting max frequency
int max=-1,j;
for(int i=0;i<k;i++)
{
if(c[i]>max){
max=c[i];
j=i;
}
}
wait(0.1);
printf("Prediction is:");
switch (j)
{
case 0:
uart1.printf("STANDING\n");
break;
case 1:
uart1.printf("CLIMBING\n");
break;
case 2:
uart1.printf("WALKING\n");
break;
}
}while(true);
}
}
please help me soon..
best regards....
