Fall detection using MPU6050 and sim900a - c++

Question

I am trying to make fall detection using MPU6050, SIM900a, and Arduino Nano. after uploading the code to Arduino, the serial monitor show me this:
serial monitor output
this is the code that I have tried,
#include <SoftwareSerial.h> // Library for using software serial communication
//______________________sms part_____________________________________________
SoftwareSerial SIM900(7, 8); // rx, tx
char c = ' '; // variable to store the data from the sms module
//_______________________MPU part_______________________________________________________
#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(){
randomSeed(analogRead(0));
Serial.begin(9600);// baudrate for serial monitor
while (!Serial) {
; // wait for serial port to connect. Needed for Native USB only
}
SIM900.begin(9600); // baudrate for GSM shield
Serial.println(" Logging time completed!");
delay(1000); // wait for 5 seconds
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);
}
void loop(){
//______________________________________MPU_________________________________________
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 vactor 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");
MakeCall;
delay(100000);
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);
}
//______________________________MPU raeding________________________
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)
}
//______________________________________GSM module calling function________________
void MakeCall()
{
SIM900.println("ATD+*********;"); // ATDxxxxxxxxxx; -- watch out here for semicolon at the end!!
Serial.println("Calling "); // print response over serial port
delay(20000); //wait
}
the configuration of MPU050
VCC --- 5V in arduino
GND ----GND
SCL ----A5
SDA----A4
INT ----- D2
The serial monitor should show some numbers first but instead of showing numbers trigger 1 activated and disactivate automatically and I didn't even touch it . No matter how much I throw the MPU6050, trigger 2 and 3 are not activated. all the three trigger must be activated to make the sim900a module make a call.
what could be the reason ? could be the code or the hardware connection.
here is a picture of the MPU position in case it could be the problem.
MPU6050 position
edit:
i have tried this code but all the values show zero values
#include <MPU6050.h>
/*
MPU6050 Triple Axis Gyroscope & Accelerometer. Simple Gyroscope Example.
Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
GIT: https://github.com/jarzebski/Arduino-MPU6050
Web: http://www.jarzebski.pl
(c) 2014 by Korneliusz Jarzebski
*/
#include <Wire.h>
MPU6050 mpu;
void setup()
{
Serial.begin(115200);
// Initialize MPU6050
Serial.println("Initialize MPU6050");
while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
{
Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
delay(500);
}
// If you want, you can set gyroscope offsets
// mpu.setGyroOffsetX(155);
// mpu.setGyroOffsetY(15);
// mpu.setGyroOffsetZ(15);
// Calibrate gyroscope. The calibration must be at rest.
// If you don't want calibrate, comment this line.
mpu.calibrateGyro();
// Set threshold sensivty. Default 3.
// If you don't want use threshold, comment this line or set 0.
mpu.setThreshold(3);
// Check settings
checkSettings();
}
void checkSettings()
{
Serial.println();
Serial.print(" * Sleep Mode: ");
Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
Serial.print(" * Clock Source: ");
switch(mpu.getClockSource())
{
case MPU6050_CLOCK_KEEP_RESET: Serial.println("Stops the clock and keeps the timing generator in reset"); break;
case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
case MPU6050_CLOCK_PLL_ZGYRO: Serial.println("PLL with Z axis gyroscope reference"); break;
case MPU6050_CLOCK_PLL_YGYRO: Serial.println("PLL with Y axis gyroscope reference"); break;
case MPU6050_CLOCK_PLL_XGYRO: Serial.println("PLL with X axis gyroscope reference"); break;
case MPU6050_CLOCK_INTERNAL_8MHZ: Serial.println("Internal 8MHz oscillator"); break;
}
Serial.print(" * Gyroscope: ");
switch(mpu.getScale())
{
case MPU6050_SCALE_2000DPS: Serial.println("2000 dps"); break;
case MPU6050_SCALE_1000DPS: Serial.println("1000 dps"); break;
case MPU6050_SCALE_500DPS: Serial.println("500 dps"); break;
case MPU6050_SCALE_250DPS: Serial.println("250 dps"); break;
}
Serial.print(" * Gyroscope offsets: ");
Serial.print(mpu.getGyroOffsetX());
Serial.print(" / ");
Serial.print(mpu.getGyroOffsetY());
Serial.print(" / ");
Serial.println(mpu.getGyroOffsetZ());
Serial.println();
}
void loop()
{
Vector rawGyro = mpu.readRawGyro();
Vector normGyro = mpu.readNormalizeGyro();
Serial.print(" Xraw = ");
Serial.print(rawGyro.XAxis);
Serial.print(" Yraw = ");
Serial.print(rawGyro.YAxis);
Serial.print(" Zraw = ");
Serial.println(rawGyro.ZAxis);
Serial.print(" Xnorm = ");
Serial.print(normGyro.XAxis);
Serial.print(" Ynorm = ");
Serial.print(normGyro.YAxis);
Serial.print(" Znorm = ");
Serial.println(normGyro.ZAxis);
delay(10);
}
what could be the reason?