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雪寄せ時間を記録するためのM5StickCのプログラム
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#include <Arduino.h> | |
#include <M5Unified.h> | |
static float velocity[2] = {0}; | |
static float diff[2] = {0}; | |
static float diff2[2] = {0}; | |
static int num_of_steps = 0; | |
static void imu_task(void*) | |
{ | |
float threshold = 0.004; // 0.008; // 0.010; //0.005; | |
int b_ptr = 0; | |
float val[3]; | |
float vel = 0; | |
float sum = 0; | |
bool over = false; | |
int tap_size = 63; | |
float z_buf[tap_size] = {0}; | |
int ignore_count = 0; | |
while(true) { | |
M5.Imu.getAccel(&val[0], &val[1], &val[2]); | |
vel = sqrt(val[0] * val[0] + val[1] * val[1] + val[2] * val[2]); | |
sum -= z_buf[b_ptr]; | |
z_buf[b_ptr] = vel; | |
sum += z_buf[b_ptr]; | |
b_ptr = (b_ptr + 1) % tap_size; | |
velocity[0] = sum / tap_size; | |
diff[0] = velocity[0] - velocity[1]; | |
diff2[0] = diff[0] - diff[1]; | |
velocity[1] = velocity[0]; | |
diff[1] = diff[0]; | |
diff2[1] = diff2[0]; | |
// 250ms以内は無視 | |
if (ignore_count >= 25) { | |
if (diff2[0] <= - threshold || diff2[0] >= threshold) { | |
if (over == false) { | |
over = true; | |
ignore_count = 0; | |
num_of_steps++; | |
} | |
} else { | |
over = false; | |
} | |
} | |
delay(10); | |
ignore_count++; | |
} | |
} | |
static void display_bar(int no, float fvalue, float gain, int min, int max) { | |
int value = fvalue * gain; | |
int space = 2; | |
int bar_height = 20; | |
int h = M5.Lcd.height(); | |
int w = M5.Lcd.width(); | |
int y = h - (space + bar_height) * (no + 1) + space; | |
int bar_value = map(value, min, max, 0, w); | |
Serial.println(bar_value); | |
bar_value = constrain(bar_value, 0, w); | |
Serial.println(bar_value); | |
M5.Lcd.fillRect(0, y, w, bar_height, TFT_BLACK); | |
if (min >= 0) { | |
// 正方向のみ | |
M5.Lcd.fillRect(0, y, bar_value, bar_height, TFT_GREEN); | |
M5.Lcd.fillRect(0, y, 3, bar_height, TFT_WHITE); | |
} else { | |
// 正負センター振り分け | |
int half_w = w / 2; | |
if (bar_value < half_w) { | |
// 負 | |
M5.Lcd.fillRect(bar_value, y, half_w - bar_value, bar_height, TFT_RED); | |
} else { | |
// 正 | |
M5.Lcd.fillRect(half_w, y, bar_value - half_w, bar_height, TFT_GREEN); | |
} | |
M5.Lcd.fillRect(half_w - 1, y, 2, bar_height, TFT_WHITE); | |
} | |
M5.Lcd.setCursor(1, y + 3); | |
M5.Lcd.printf("%8.4f", fvalue); | |
} | |
static void display() { | |
display_bar(0, velocity[0], 10000, 0, 20000); | |
display_bar(1, diff[0], 10000, -200, 200); | |
display_bar(2, diff2[0], 10000, -200, 200); | |
int x = M5.Lcd.width() * 3 / 4; | |
M5.Lcd.setCursor(x, 1); | |
M5.Lcd.printf("%6d", num_of_steps); | |
} | |
void setup() { | |
auto cfg = M5.config(); | |
cfg.clear_display = true; // default=true. clear the screen when begin. | |
cfg.output_power = false; // default=true. use external port 5V output. | |
cfg.internal_imu = true; // default=true. use internal IMU. | |
cfg.internal_rtc = false; // default=true. use internal RTC. | |
cfg.internal_spk = false; // default=true. use internal speaker. | |
cfg.internal_mic = false; // default=true. use internal microphone. | |
cfg.external_imu = false; // default=false. use Unit Accel & Gyro. | |
cfg.external_rtc = false; // default=false. use Unit RTC. | |
cfg.external_spk = false; // default=false. use SPK_HAT / ATOMIC_SPK | |
//cfg.external_spk_detail.omit_atomic_spk = true; // omit ATOMIC SPK | |
//cfg.external_spk_detail.omit_spk_hat = true; // omit SPK HAT | |
cfg.led_brightness = 50; // default= 0. system LED brightness (0=off / 255=max) (※ not NeoPixel) | |
M5.begin(cfg); | |
// Rotate LCD origin | |
M5.Lcd.setRotation(1); | |
M5.Lcd.setTextSize(1); | |
// LED OFF | |
pinMode(GPIO_NUM_10, OUTPUT); | |
digitalWrite(GPIO_NUM_10, HIGH); | |
// IMU task | |
xTaskCreatePinnedToCore(imu_task, "imu_task", 2048, NULL, 25, NULL, APP_CPU_NUM); | |
} | |
void loop() { | |
Serial.print("."); | |
display(); | |
delay(100); | |
} |
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[env:m5stick-c] | |
platform = espressif32 | |
board = m5stick-c | |
framework = arduino | |
lib_deps = m5stack/M5Unified@^0.0.7 | |
monitor_speed = 115200 |
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