SW : added overflow protection on millis() use.

Added accelerometer management.

sw/boitarire_sw/boitarire_sw.ino

@@ -16,12 +16,15 @@
   https://code.electrolab.fr/Flax/boitarire
 */
 
+#include<Wire.h>
+
 // Defines - Macros - Constants
 #define SENSOR_INCLINATION
 #define SENSOR_ACCELEROMETER
 #define SENSOR_TOUCH_SENSOR1
 #define SENSOR_TOUCH_SENSOR2
 //#define MP3_RESET
+//#define DEBUG_UART_ACCELEROMETER // Warning : conflict with MP3 player
 
 // Other constants
 #define PIN_SENSOR_POSITION 9     // Position sensor input
@@ -31,6 +34,9 @@
 #define PLAY_BLANK_DELAY    1000  // Blanking when playing a sound (ms)
 #define DELAY_MP3_RESET     100   // Time of ground cut of MP3 module for re-init (ms)
 #define DEBOUNCE_DELAY      200   // Position sensor input debounce (ms)
+#define ACCEL_THRES_GYX     1000
+#define ACCEL_THRES_GYY     1000
+#define ACCEL_THRES_GYZ     1000
 
 
 // Typedefs
@@ -60,6 +66,11 @@ bool stringComplete = false;  // whether the string is complete
 unsigned long debounce_delay;
 int input_position_sensor, input_touch_sensor1, input_touch_sensor2;
 unsigned long play_blank_delay, mp3_reset_delay;
+unsigned long millis_temp;
+
+const int MPU=0x68; 
+int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
+bool accel_detect;
 
 // State machines states
 tStateMachine stmState;
@@ -100,6 +111,28 @@ void setup() {
   input_touch_sensor1 = LOW;
   input_touch_sensor2 = LOW;
 
+#ifdef SENSOR_ACCELEROMETER
+  // Accelerometer setup
+  Wire.begin();
+  Wire.beginTransmission(MPU);
+  Wire.write(0x6B); 
+  Wire.write(0);    
+  Wire.endTransmission(true);
+
+  // Set FIFO enable register
+  /* Wire.beginTransmission(MPU);
+  Wire.write(0x23); 
+  Wire.write(0x78);    
+  Wire.endTransmission(true);*/
+
+  // Set filters
+  Wire.beginTransmission(MPU);
+  Wire.write(0x1A); 
+  Wire.write(0x06);    
+  Wire.endTransmission(true);
+#endif
+  accel_detect = false;
+
   // Connect ground for MP3 module
   digitalWrite(PIN_GROUND_SWITCH, HIGH);
 }
@@ -123,6 +156,37 @@ void loop() {
     inputString = "";
     stringComplete = false;
   }
+
+#ifdef SENSOR_ACCELEROMETER
+  // Accelerometer communication
+  Wire.beginTransmission(MPU);
+  Wire.write(0x3B);  
+  Wire.endTransmission(false);
+  Wire.requestFrom(MPU,14,true);  
+  AcX=Wire.read()<<8|Wire.read();    
+  AcY=Wire.read()<<8|Wire.read();  
+  AcZ=Wire.read()<<8|Wire.read();
+  Tmp=Wire.read()<<8|Wire.read();
+  GyX=Wire.read()<<8|Wire.read();  
+  GyY=Wire.read()<<8|Wire.read();  
+  GyZ=Wire.read()<<8|Wire.read();
+
+  if ((GyX > ACCEL_THRES_GYX) || 
+      (GyY > ACCEL_THRES_GYY) || 
+      (GyZ > ACCEL_THRES_GYZ) || 
+      (GyX < ((int16_t)(-1) * ACCEL_THRES_GYX)) ||
+      (GyY < ((int16_t)(-1) * ACCEL_THRES_GYY)) ||
+      (GyZ < ((int16_t)(-1) * ACCEL_THRES_GYZ)))
+  {
+    accel_detect = true;
+  }
+  else
+  {
+    accel_detect = false;
+  }
+#else
+  accel_detect = false;
+#endif
   
 #ifdef SENSOR_INCLINATION
   // Read instantaneous value of position sensor
@@ -152,25 +216,35 @@ void loop() {
     break;
 
     case STM_DEBOUNCE_DETECT_0:
+      millis_temp = millis();
       if (input_position_sensor == HIGH)
       {
         stmDebounceState = STM_DEBOUNCE_IDLE_1;
       }
-      else if ((millis() - debounce_delay) > DEBOUNCE_DELAY)
+      else if ((millis_temp >= debounce_delay) && ((millis_temp - debounce_delay) > DEBOUNCE_DELAY))
       {
         stmDebounceState = STM_DEBOUNCE_DEBOUNCE_0;
       }
+      else if (millis_temp < debounce_delay)
+      { // Overflow protection
+        debounce_delay = 0;
+      }
     break;
 
     case STM_DEBOUNCE_DETECT_1:
+      millis_temp = millis();
       if (input_position_sensor == LOW)
       {
         stmDebounceState = STM_DEBOUNCE_IDLE_0;
       }
-      else if ((millis() - debounce_delay) > DEBOUNCE_DELAY)
+      else if ((millis_temp >= debounce_delay) && ((millis_temp - debounce_delay) > DEBOUNCE_DELAY))
       {
         stmDebounceState = STM_DEBOUNCE_DEBOUNCE_1;
       }
+      else if (millis_temp < debounce_delay)
+      { // Overflow protection
+        debounce_delay = 0;
+      }
     break;
 
     case STM_DEBOUNCE_DEBOUNCE_0:
@@ -208,12 +282,10 @@ void loop() {
     break;
 
     case STM_IDLE:
-      if (stmDebounceState == STM_DEBOUNCE_DEBOUNCE_1)
-      {
-        stmState = STM_PLAY;
-      }
-
-      if ((input_touch_sensor1 == HIGH) | (input_touch_sensor2 == HIGH))
+      if ((stmDebounceState == STM_DEBOUNCE_DEBOUNCE_1) || 
+          (input_touch_sensor1 == HIGH) || 
+          (input_touch_sensor2 == HIGH) ||
+          (accel_detect == true))
       {
         stmState = STM_PLAY;
       }
@@ -226,7 +298,8 @@ void loop() {
     break;
 
     case STM_BLANK:
-      if ((millis() - play_blank_delay) > PLAY_BLANK_DELAY)
+      millis_temp = millis();
+      if ((millis_temp >= play_blank_delay) && ((millis_temp - play_blank_delay) > PLAY_BLANK_DELAY))
       {
 #ifdef MP3_RESET
         stmState = STM_MP3_RESET;
@@ -236,14 +309,23 @@ void loop() {
         stmState = STM_IDLE;
 #endif
       }
+      else if (millis_temp < play_blank_delay)
+      { // Overflow protection
+        play_blank_delay = 0;
+      }
     break;
 
     case STM_MP3_RESET:
-      if ((millis() - mp3_reset_delay) > DELAY_MP3_RESET)
+      millis_temp = millis();
+      if ((millis_temp >= mp3_reset_delay) && ((millis_temp - mp3_reset_delay) > DELAY_MP3_RESET))
       {
         stmState = STM_IDLE;
         digitalWrite(PIN_GROUND_SWITCH, HIGH);
       }
+      else if (millis_temp < mp3_reset_delay)
+      { // Overflow protection
+        mp3_reset_delay = 0;
+      }
     break;
 
     default:
@@ -251,6 +333,20 @@ void loop() {
     break;
   }
 
+#ifdef DEBUG_UART_ACCELEROMETER
+  Serial.print("Accelerometer: ");
+  Serial.print("X = "); Serial.print(AcX);
+  Serial.print(" | Y = "); Serial.print(AcY);
+  Serial.print(" | Z = "); Serial.println(AcZ); 
+  
+  Serial.print("Gyroscope: ");
+  Serial.print("X = "); Serial.print(GyX);
+  Serial.print(" | Y = "); Serial.print(GyY);
+  Serial.print(" | Z = "); Serial.println(GyZ);
+
+  Serial.print("Temperature: "); Serial.print(Tmp);
+  Serial.println(" ");
+#endif
 }
 
 /*