implemented untested version of freefall detection

ASYD_Safety/Ada_Microbit/examples/MicroBit/jumper/src/main.adb

@@ -1,5 +1,5 @@
 ------------------------------------------------------------------------------
--- Template                                                                         --
+-- JUMPER TEAM BJS                                                                         --
 ------------------------------------------------------------------------------
 
 with LSM303; use LSM303;
@@ -7,24 +7,31 @@ with LSM303; use LSM303;
 with MicroBit.Display;
 with MicroBit.Accelerometer;
 with MicroBit.Console;
-with MicroBit.IOs;
 with MicroBit.Time;
 
 use MicroBit;
-use MicroBit.IOs;
 
 
 procedure Main is
 
    Data : LSM303.All_Axes_Data;
-   Value : MicroBit.IOs.Analog_Value;
+   FreeFallCounter : Integer;
+   FreeFallDetectionCycles : Integer;
+   FreeFallCondition : Boolean;
+   Threshold : Axis_Data;
 
 begin
 
    Console.Put_Line ("Jumper - starting up ..");
 
-   loop
+   -- Initialization
+   FreeFallCondition := False;
+   FreeFallCounter := 0;
+   FreeFallDetectionCycles := 100;  -- 100 * 5ms = 500ms
+   Threshold := 20;
 
+   loop
+      -- READ DATA
       --  Read the accelerometer data
       Data := Accelerometer.Data;
 
@@ -32,28 +39,37 @@ begin
       Console.Put_Line ("X:" & Data.X'Img & ASCII.HT &
                         "Y:" & Data.Y'Img & ASCII.HT &
                         "Z:" & Data.Z'Img);
+      --------------------------------------------------------------------
+
+      -- FREEFALL DETECTION
+      -- check wether all axis are sub-threshold => increment counter
+      if abs(Data.X) < Threshold and
+         abs(Data.Y) < Threshold and
+         abs(Data.Z) < Threshold then
+         FreeFallCounter := FreeFallCounter + 1;
+      -- otherwise reset counter
+      else
+         FreeFallCounter := 0;
+      end if;
 
+      -- Set free fall condition when counter reaches threshold
+      if FreeFallCounter >= FreeFallDetectionCycles then
+         FreeFallCondition := True;
+      end if;
+      --------------------------------------------------------------------
+
+      -- DISPLAY
       --  Clear the LED matrix
       Display.Clear;
 
-      -- Check, whether we are free floating or not (to be refined ...)
+      -- Check, wether FreeFallCondition was triggered
-      if -100 < Data.X and Data.X < 100 then
+      if FreeFallCondition then
-         Display.Display ('0');
-      else
          Display.Display ('X');
-      end if;
-
-      -- Read analogue pin (could be 0,1,2,3,4, or 10)
-      Value := MicroBit.IOs.Analog (2);
-      Console.Put_Line ("Value : " & Value'Image);
-
-      -- Set output
-      if Value > Analog_Value(200) then
-         MicroBit.IOs.Set (12, True);
       else
-         MicroBit.IOs.Set (12, False);
+         Display.Display ('0');
       end if;
 
-      Time.Sleep (50);
+      Time.Sleep (5);  -- 200 samples / s
+
    end loop;
 end Main;