dotHR_URG
Dependencies: FatFileSystem TextLCD mbed
Revision 0:a1accf06b614, committed 2012-11-30
- Comitter:
- higedura
- Date:
- Fri Nov 30 12:34:22 2012 +0000
- Child:
- 1:52d3136e1a22
- Commit message:
- dotHR_URG
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.lib Fri Nov 30 12:34:22 2012 +0000 @@ -0,0 +1,1 @@ + \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ASCII.h Fri Nov 30 12:34:22 2012 +0000 @@ -0,0 +1,68 @@ +#define aPeriod 0x2e +#define aLF 0x0a +#define aSpace 0x20 +#define aHash 0x23 +#define aZero 0x30 +#define a1 0x31 +#define a2 0x32 +#define a3 0x33 +#define a4 0x34 +#define a5 0x35 +#define a6 0x36 +#define a7 0x37 +#define a8 0x38 +#define a9 0x39 +#define aColon 0x3a +#define aSemicolon 0x3b +#define aA 0x41 +#define aB 0x42 +#define aC 0x43 +#define aD 0x44 +#define aE 0x45 +#define aF 0x46 +#define aG 0x47 +#define aH 0x48 +#define aI 0x49 +#define aJ 0x4a +#define aK 0x4b +#define aL 0x4c +#define aM 0x4d +#define aN 0x4e +#define aO 0x4f +#define aP 0x50 +#define aQ 0x51 +#define aR 0x52 +#define aS 0x53 +#define aT 0x54 +#define aU 0x55 +#define aV 0x56 +#define aW 0x57 +#define aX 0x58 +#define aY 0x59 +#define aZ 0x5a +#define aa 0x61 +#define ab 0x62 +#define ac 0x63 +#define ad 0x64 +#define ae 0x65 +#define af 0x66 +#define ag 0x67 +#define ah 0x68 +#define ai 0x69 +#define aj 0x6a +#define ak 0x6b +#define al 0x6c +#define am 0x6d +#define an 0x6e +#define ao 0x6f +#define ap 0x70 +#define aq 0x71 +#define ar 0x72 +#define as 0x73 +#define at 0x74 +#define au 0x75 +#define av 0x76 +#define aw 0x77 +#define ax 0x78 +#define ay 0x79 +#define az 0x7a \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FatFileSystem.lib Fri Nov 30 12:34:22 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/shintamainjp/code/FatFileSystem/#8c55801ce311
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.cpp Fri Nov 30 12:34:22 2012 +0000 @@ -0,0 +1,457 @@ +/* mbed SDFileSystem Library, for providing file access to SD cards + * Copyright (c) 2008-2010, sford + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +/* Introduction + * ------------ + * SD and MMC cards support a number of interfaces, but common to them all + * is one based on SPI. This is the one I'm implmenting because it means + * it is much more portable even though not so performant, and we already + * have the mbed SPI Interface! + * + * The main reference I'm using is Chapter 7, "SPI Mode" of: + * http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf + * + * SPI Startup + * ----------- + * The SD card powers up in SD mode. The SPI interface mode is selected by + * asserting CS low and sending the reset command (CMD0). The card will + * respond with a (R1) response. + * + * CMD8 is optionally sent to determine the voltage range supported, and + * indirectly determine whether it is a version 1.x SD/non-SD card or + * version 2.x. I'll just ignore this for now. + * + * ACMD41 is repeatedly issued to initialise the card, until "in idle" + * (bit 0) of the R1 response goes to '0', indicating it is initialised. + * + * You should also indicate whether the host supports High Capicity cards, + * and check whether the card is high capacity - i'll also ignore this + * + * SPI Protocol + * ------------ + * The SD SPI protocol is based on transactions made up of 8-bit words, with + * the host starting every bus transaction by asserting the CS signal low. The + * card always responds to commands, data blocks and errors. + * + * The protocol supports a CRC, but by default it is off (except for the + * first reset CMD0, where the CRC can just be pre-calculated, and CMD8) + * I'll leave the CRC off I think! + * + * Standard capacity cards have variable data block sizes, whereas High + * Capacity cards fix the size of data block to 512 bytes. I'll therefore + * just always use the Standard Capacity cards with a block size of 512 bytes. + * This is set with CMD16. + * + * You can read and write single blocks (CMD17, CMD25) or multiple blocks + * (CMD18, CMD25). For simplicity, I'll just use single block accesses. When + * the card gets a read command, it responds with a response token, and then + * a data token or an error. + * + * SPI Command Format + * ------------------ + * Commands are 6-bytes long, containing the command, 32-bit argument, and CRC. + * + * +---------------+------------+------------+-----------+----------+--------------+ + * | 01 | cmd[5:0] | arg[31:24] | arg[23:16] | arg[15:8] | arg[7:0] | crc[6:0] | 1 | + * +---------------+------------+------------+-----------+----------+--------------+ + * + * As I'm not using CRC, I can fix that byte to what is needed for CMD0 (0x95) + * + * All Application Specific commands shall be preceded with APP_CMD (CMD55). + * + * SPI Response Format + * ------------------- + * The main response format (R1) is a status byte (normally zero). Key flags: + * idle - 1 if the card is in an idle state/initialising + * cmd - 1 if an illegal command code was detected + * + * +-------------------------------------------------+ + * R1 | 0 | arg | addr | seq | crc | cmd | erase | idle | + * +-------------------------------------------------+ + * + * R1b is the same, except it is followed by a busy signal (zeros) until + * the first non-zero byte when it is ready again. + * + * Data Response Token + * ------------------- + * Every data block written to the card is acknowledged by a byte + * response token + * + * +----------------------+ + * | xxx | 0 | status | 1 | + * +----------------------+ + * 010 - OK! + * 101 - CRC Error + * 110 - Write Error + * + * Single Block Read and Write + * --------------------------- + * + * Block transfers have a byte header, followed by the data, followed + * by a 16-bit CRC. In our case, the data will always be 512 bytes. + * + * +------+---------+---------+- - - -+---------+-----------+----------+ + * | 0xFE | data[0] | data[1] | | data[n] | crc[15:8] | crc[7:0] | + * +------+---------+---------+- - - -+---------+-----------+----------+ + */ + +#include "SDFileSystem.h" + +#define SD_COMMAND_TIMEOUT 5000 + +SDFileSystem::SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name) : + FATFileSystem(name), _spi(mosi, miso, sclk), _cs(cs) { + _cs = 1; +} + +#define R1_IDLE_STATE (1 << 0) +#define R1_ERASE_RESET (1 << 1) +#define R1_ILLEGAL_COMMAND (1 << 2) +#define R1_COM_CRC_ERROR (1 << 3) +#define R1_ERASE_SEQUENCE_ERROR (1 << 4) +#define R1_ADDRESS_ERROR (1 << 5) +#define R1_PARAMETER_ERROR (1 << 6) + +// Types +// - v1.x Standard Capacity +// - v2.x Standard Capacity +// - v2.x High Capacity +// - Not recognised as an SD Card + +#define SDCARD_FAIL 0 +#define SDCARD_V1 1 +#define SDCARD_V2 2 +#define SDCARD_V2HC 3 + +int SDFileSystem::initialise_card() { + // Set to 100kHz for initialisation, and clock card with cs = 1 + _spi.frequency(100000); + _cs = 1; + for(int i=0; i<16; i++) { + _spi.write(0xFF); + } + + // send CMD0, should return with all zeros except IDLE STATE set (bit 0) + if(_cmd(0, 0) != R1_IDLE_STATE) { + fprintf(stderr, "No disk, or could not put SD card in to SPI idle state\n"); + return SDCARD_FAIL; + } + + // send CMD8 to determine whther it is ver 2.x + int r = _cmd8(); + if(r == R1_IDLE_STATE) { + return initialise_card_v2(); + } else if(r == (R1_IDLE_STATE | R1_ILLEGAL_COMMAND)) { + return initialise_card_v1(); + } else { + fprintf(stderr, "Not in idle state after sending CMD8 (not an SD card?)\n"); + return SDCARD_FAIL; + } +} + +int SDFileSystem::initialise_card_v1() { + for(int i=0; i<SD_COMMAND_TIMEOUT; i++) { + _cmd(55, 0); + if(_cmd(41, 0) == 0) { + return SDCARD_V1; + } + } + + fprintf(stderr, "Timeout waiting for v1.x card\n"); + return SDCARD_FAIL; +} + +int SDFileSystem::initialise_card_v2() { + + for(int i=0; i<SD_COMMAND_TIMEOUT; i++) { + _cmd(55, 0); + if(_cmd(41, 0) == 0) { + _cmd58(); + return SDCARD_V2; + } + } + + fprintf(stderr, "Timeout waiting for v2.x card\n"); + return SDCARD_FAIL; +} + +int SDFileSystem::disk_initialize() { + + int i = initialise_card(); +// printf("init card = %d\n", i); +// printf("OK\n"); + + _sectors = _sd_sectors(); + + // Set block length to 512 (CMD16) + if(_cmd(16, 512) != 0) { + fprintf(stderr, "Set 512-byte block timed out\n"); + return 1; + } + + _spi.frequency(1000000); // Set to 1MHz for data transfer + return 0; +} + +int SDFileSystem::disk_write(const char *buffer, int block_number) { + // set write address for single block (CMD24) + if(_cmd(24, block_number * 512) != 0) { + return 1; + } + + // send the data block + _write(buffer, 512); + return 0; +} + +int SDFileSystem::disk_read(char *buffer, int block_number) { + // set read address for single block (CMD17) + if(_cmd(17, block_number * 512) != 0) { + return 1; + } + + // receive the data + _read(buffer, 512); + return 0; +} + +int SDFileSystem::disk_status() { return 0; } +int SDFileSystem::disk_sync() { return 0; } +int SDFileSystem::disk_sectors() { return _sectors; } + +// PRIVATE FUNCTIONS + +int SDFileSystem::_cmd(int cmd, int arg) { + _cs = 0; + + // send a command + _spi.write(0x40 | cmd); + _spi.write(arg >> 24); + _spi.write(arg >> 16); + _spi.write(arg >> 8); + _spi.write(arg >> 0); + _spi.write(0x95); + + // wait for the repsonse (response[7] == 0) + for(int i=0; i<SD_COMMAND_TIMEOUT; i++) { + int response = _spi.write(0xFF); + if(!(response & 0x80)) { + _cs = 1; + _spi.write(0xFF); + return response; + } + } + _cs = 1; + _spi.write(0xFF); + return -1; // timeout +} +int SDFileSystem::_cmdx(int cmd, int arg) { + _cs = 0; + + // send a command + _spi.write(0x40 | cmd); + _spi.write(arg >> 24); + _spi.write(arg >> 16); + _spi.write(arg >> 8); + _spi.write(arg >> 0); + _spi.write(0x95); + + // wait for the repsonse (response[7] == 0) + for(int i=0; i<SD_COMMAND_TIMEOUT; i++) { + int response = _spi.write(0xFF); + if(!(response & 0x80)) { + return response; + } + } + _cs = 1; + _spi.write(0xFF); + return -1; // timeout +} + + +int SDFileSystem::_cmd58() { + _cs = 0; + int arg = 0; + + // send a command + _spi.write(0x40 | 58); + _spi.write(arg >> 24); + _spi.write(arg >> 16); + _spi.write(arg >> 8); + _spi.write(arg >> 0); + _spi.write(0x95); + + // wait for the repsonse (response[7] == 0) + for(int i=0; i<SD_COMMAND_TIMEOUT; i++) { + int response = _spi.write(0xFF); + if(!(response & 0x80)) { + int ocr = _spi.write(0xFF) << 24; + ocr |= _spi.write(0xFF) << 16; + ocr |= _spi.write(0xFF) << 8; + ocr |= _spi.write(0xFF) << 0; +// printf("OCR = 0x%08X\n", ocr); + _cs = 1; + _spi.write(0xFF); + return response; + } + } + _cs = 1; + _spi.write(0xFF); + return -1; // timeout +} + +int SDFileSystem::_cmd8() { + _cs = 0; + + // send a command + _spi.write(0x40 | 8); // CMD8 + _spi.write(0x00); // reserved + _spi.write(0x00); // reserved + _spi.write(0x01); // 3.3v + _spi.write(0xAA); // check pattern + _spi.write(0x87); // crc + + // wait for the repsonse (response[7] == 0) + for(int i=0; i<SD_COMMAND_TIMEOUT * 1000; i++) { + char response[5]; + response[0] = _spi.write(0xFF); + if(!(response[0] & 0x80)) { + for(int j=1; j<5; j++) { + response[i] = _spi.write(0xFF); + } + _cs = 1; + _spi.write(0xFF); + return response[0]; + } + } + _cs = 1; + _spi.write(0xFF); + return -1; // timeout +} + +int SDFileSystem::_read(char *buffer, int length) { + _cs = 0; + + // read until start byte (0xFF) + while(_spi.write(0xFF) != 0xFE); + + // read data + for(int i=0; i<length; i++) { + buffer[i] = _spi.write(0xFF); + } + _spi.write(0xFF); // checksum + _spi.write(0xFF); + + _cs = 1; + _spi.write(0xFF); + return 0; +} + +int SDFileSystem::_write(const char *buffer, int length) { + _cs = 0; + + // indicate start of block + _spi.write(0xFE); + + // write the data + for(int i=0; i<length; i++) { + _spi.write(buffer[i]); + } + + // write the checksum + _spi.write(0xFF); + _spi.write(0xFF); + + // check the repsonse token + if((_spi.write(0xFF) & 0x1F) != 0x05) { + _cs = 1; + _spi.write(0xFF); + return 1; + } + + // wait for write to finish + while(_spi.write(0xFF) == 0); + + _cs = 1; + _spi.write(0xFF); + return 0; +} + +static int ext_bits(char *data, int msb, int lsb) { + int bits = 0; + int size = 1 + msb - lsb; + for(int i=0; i<size; i++) { + int position = lsb + i; + int byte = 15 - (position >> 3); + int bit = position & 0x7; + int value = (data[byte] >> bit) & 1; + bits |= value << i; + } + return bits; +} + +int SDFileSystem::_sd_sectors() { + + // CMD9, Response R2 (R1 byte + 16-byte block read) + if(_cmdx(9, 0) != 0) { + fprintf(stderr, "Didn't get a response from the disk\n"); + return 0; + } + + char csd[16]; + if(_read(csd, 16) != 0) { + fprintf(stderr, "Couldn't read csd response from disk\n"); + return 0; + } + + // csd_structure : csd[127:126] + // c_size : csd[73:62] + // c_size_mult : csd[49:47] + // read_bl_len : csd[83:80] - the *maximum* read block length + + int csd_structure = ext_bits(csd, 127, 126); + int c_size = ext_bits(csd, 73, 62); + int c_size_mult = ext_bits(csd, 49, 47); + int read_bl_len = ext_bits(csd, 83, 80); + +// printf("CSD_STRUCT = %d\n", csd_structure); + + if(csd_structure != 0) { + fprintf(stderr, "This disk tastes funny! I only know about type 0 CSD structures\n"); + return 0; + } + + // memory capacity = BLOCKNR * BLOCK_LEN + // where + // BLOCKNR = (C_SIZE+1) * MULT + // MULT = 2^(C_SIZE_MULT+2) (C_SIZE_MULT < 8) + // BLOCK_LEN = 2^READ_BL_LEN, (READ_BL_LEN < 12) + + int block_len = 1 << read_bl_len; + int mult = 1 << (c_size_mult + 2); + int blocknr = (c_size + 1) * mult; + int capacity = blocknr * block_len; + + int blocks = capacity / 512; + + return blocks; +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.h Fri Nov 30 12:34:22 2012 +0000 @@ -0,0 +1,81 @@ +/* mbed SDFileSystem Library, for providing file access to SD cards + * Copyright (c) 2008-2010, sford + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#ifndef MBED_SDFILESYSTEM_H +#define MBED_SDFILESYSTEM_H + +#include "mbed.h" +#include "FATFileSystem.h" + +/** Access the filesystem on an SD Card using SPI + * + * @code + * #include "mbed.h" + * #include "SDFileSystem.h" + * + * SDFileSystem sd(p5, p6, p7, p12, "sd"); // mosi, miso, sclk, cs + * + * int main() { + * FILE *fp = fopen("/sd/myfile.txt", "w"); + * fprintf(fp, "Hello World!\n"); + * fclose(fp); + * } + */ +class SDFileSystem : public FATFileSystem { +public: + + /** Create the File System for accessing an SD Card using SPI + * + * @param mosi SPI mosi pin connected to SD Card + * @param miso SPI miso pin conencted to SD Card + * @param sclk SPI sclk pin connected to SD Card + * @param cs DigitalOut pin used as SD Card chip select + * @param name The name used to access the virtual filesystem + */ + SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name); + virtual int disk_initialize(); + virtual int disk_write(const char *buffer, int block_number); + virtual int disk_read(char *buffer, int block_number); + virtual int disk_status(); + virtual int disk_sync(); + virtual int disk_sectors(); + +protected: + + int _cmd(int cmd, int arg); + int _cmdx(int cmd, int arg); + int _cmd8(); + int _cmd58(); + int initialise_card(); + int initialise_card_v1(); + int initialise_card_v2(); + + int _read(char *buffer, int length); + int _write(const char *buffer, int length); + int _sd_sectors(); + int _sectors; + + SPI _spi; + DigitalOut _cs; +}; + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD.lib Fri Nov 30 12:34:22 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/TextLCD/#e4cb7ddee0d3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/URG.h Fri Nov 30 12:34:22 2012 +0000 @@ -0,0 +1,18 @@ +#include "ASCII.h" + +int SCIP2 [8] = {aS, aC, aI, aP, a2, aPeriod, aZero, aLF}; +int MD [16] = {aM, aD, aZero, aZero, a4, a4, aZero, a7, a2, a5, aZero, a1, aZero, aZero, aZero, aLF}; +int MD1 [16] = {aM, aD, aZero, aZero, a4, a4, aZero, a7, a2, a5, aZero, a1, aZero, aZero, a1, aLF}; +int MD10 [16] = {aM, aD, aZero, aZero, a4, a4, aZero, a7, a2, a5, aZero, a1, aZero, a1, aZero, aLF}; +int BM [3] = {aB, aM, aLF}; +int QT [3] = {aQ, aT, aLF}; +int RS [3] = {aR, aS, aLF}; +int RT [3] = {aR, aT, aLF}; +int TMstart [4] = {aT, aM, aZero, aLF}; +int TMrefer [4] = {aT, aM, a1, aLF}; +int TMstop [4] = {aT, aM, a2, aLF}; +int SS576 [9] = {aS, aS, aZero, a5, a7, a6, aZero, aZero, aLF}; +int SS1152 [9] = {aS, aS, a1, a1, a5, a2, aZero, aZero, aLF}; +int VV [3] = {aV, aV, aLF}; +int PP [3] = {aP, aP, aLF}; +int II [3] = {aI, aI, aLF};
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Fri Nov 30 12:34:22 2012 +0000 @@ -0,0 +1,232 @@ +#include "mbed.h" +#include "SDFileSystem.h" +#include "ASCII.h" +#include "URG.h" +//#include "TextLCD.h" + +#define pi 3.14159265 + +DigitalOut led1(LED1); +DigitalOut led2(LED2); +DigitalOut led3(LED3); +DigitalOut led4(LED4); +Serial pc(USBTX, USBRX); // tx, rx +SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board +InterruptIn urg_flag(p12); +Serial navi(p13, p14); // tx, rx +DigitalIn stop(p17); // button (green) +Serial urg(p28, p27); // tx, rx +//TextLCD lcd(p24, p26, p27, p28, p29, p30); // rs, e, d4-d7 + +void send_to_navi(); + +int iaf_delta = 500; +double iaf_SR_print = 0; +double iaf_SL_print = 0; + +int t = -1; +int dt = 1; + +int main() { + + //int t = -2; + //int dt = 1; + + int flag = 0; + + char c_urg_data[3] = { 0, aA, 0 }; + char c_urg_data_buf[2110] = {0}; + int i_urg_data_buf[2046] = {0}; + int b_urg_data[3][6] = {0}; + int b_urg_data_sum[3] = {0}; + int pow2[18] = {0}; + int urg_depth[682] = {0}; + + int depth_sum_right = 0; + int depth_sum_left = 0; + + // for IAF +-45deg 1600mm + double range = 1600; + double sin_iaf_angle = sin(0.352*pi/180); // mabiki nashi + double iaf_SE = (range/1000)*(range/1000)*pi/4; + double iaf_IL = 0; + double iaf_gain = 1000; + //int iaf_delta = 0; + double iaf_SR = 0; + double iaf_SL = 0; + + // Information Requirement 0<IR<1 + double iaf_IR = 0.9; + + double i_pow = 0; + + pc.baud(921600); + navi.baud(115200); + urg.baud(19200); + + for( int i=0;i<18;i++ ){ + i_pow=(double)i; + pow2[i] = pow(2,i_pow); + }; + + // Waiting start up URG + //lcd.cls(); + //lcd.printf("Waiting start up URG"); + pc.printf("\n\r\n\rWaiting start up URG\n\r"); + led1 = 1; led2 = 1; led3 = 1; led4 = 1; + wait(.5); led4 = 0; + wait(.5); led3 = 0; + wait(.5); led2 = 0; + wait(.5); led1 = 0; + + // SCIP 1.0 --> SCIP 2.0 + //lcd.cls(); + //lcd.printf("SCIP 2.0"); + pc.printf("SCIP 2.0\n\r"); + for( int i=0;i<8;i++ ){ urg.putc(SCIP2[i]); } + // Waiting SCIP 2.0 + led1 = 1; led2 = 1; led3 = 1; led4 = 1; + wait(.5); led4 = 0; + wait(.5); led3 = 0; + wait(.5); led2 = 0; + wait(.5); led1 = 0; + + // Changing baudrate + //lcd.cls(); + //lcd.printf("Changing baudrate"); + pc.printf("Changing baudrate\n\r"); + for( int i=0;i<9;i++ ){ urg.putc(SS1152[i]); } + urg.baud(115200); + led1 = 1; led2 = 1; led3 = 1; led4 = 1; + wait(.5); led4 = 0; + wait(.5); led3 = 0; + wait(.5); led2 = 0; + wait(.5); led1 = 0; + + // Getting data + led1 = 1; led4 = 1; + //lcd.cls(); + //lcd.printf("Getting data ..."); + pc.printf("Getting data ...\n\r\n\r"); + for( int i=0;i<16;i++ ){ urg.putc(MD[i]); } + //for( int i=0;i<16;i++ ){ urg.putc(MD1[i]); } + //for( int i=0;i<16;i++ ){ urg.putc(MD10[i]); } + + // Cutting first data + while( flag==0 ){ + c_urg_data[0] = urg.getc(); + if( c_urg_data[0]==aLF && c_urg_data[1]==aLF ){ flag = 1; } + for( int i=0;i<2;i++ ){ c_urg_data[i+1] = c_urg_data[i]; } + } + + urg_flag.rise(&send_to_navi); // attach the address of the flip function to the rising edge + + //while(1){ + while( stop==0 ){ + + c_urg_data[2] = c_urg_data[1]; + c_urg_data[1] = c_urg_data[0]; + c_urg_data[0] = urg.getc(); + + if( c_urg_data[2]==a9 && c_urg_data[1]==a9 && c_urg_data[0]==ab ){ + + for( int i=0;i<7;i++ ){ c_urg_data[0] = urg.getc(); } + + for( int i=0;i<2110;i++ ){ c_urg_data_buf[i] = urg.getc(); } + + for( int i=0;i<31;i++ ){ for( int j=66*i;j<66*i+64;j++ ){ i_urg_data_buf[j-2*i] = (int)c_urg_data_buf[j]-48; } } + + for( int j=2046;j<2108;j++ ){ i_urg_data_buf[j-62] = (int)c_urg_data_buf[j]-48; } + /* + for( int i=0;i<2110;i++ ){ pc.printf("%c", c_urg_data_buf[i]); } + pc.printf("\n\r\n\r"); + + for( int i=0;i<2046;i++ ){ pc.printf("%2d ", i_urg_data_buf[i]); } + pc.printf("\n\r\n\r"); + */ + for( int i=0;i<682;i++ ){ + + for( int j=0;j<3;j++ ){ + + for( int k=0;k<6;k++ ){ + b_urg_data[2][k] = b_urg_data[1][k]; + b_urg_data[1][k] = b_urg_data[0][k]; + } + + for( int k=0;k<6;k++ ){ + b_urg_data[0][k] = i_urg_data_buf[3*i+j]%2; + i_urg_data_buf[3*i+j] = i_urg_data_buf[3*i+j]/2; + } + + } + /* binary check + for( int j=0;j<3;j++ ){ + for( int k=0;k<6;k++ ){ + pc.printf("%d", b_urg_data[2-j][5-k]); + } + pc.printf(" "); + } + */ + for( int j=0;j<3;j++ ){ for( int k=0;k<6;k++ ){ b_urg_data_sum[j] += pow2[6*j+k]*b_urg_data[j][k]; } } + for( int j=0;j<3;j++ ){ urg_depth[i] += b_urg_data_sum[j]; } + for( int j=0;j<3;j++ ){ b_urg_data_sum[j] = 0; } + if( urg_depth[i]>range ){ urg_depth[i] = range; } + //pc.printf("%d ", urg_depth[i]); + } + //pc.printf("\r\n\r\n"); + + /* + // Full range + for( int i=0;i<341;i++ ){ + depth_sum_right += urg_depth[i]; + depth_sum_left += urg_depth[i+341]; + } + //pc.printf("\r\n%d %d\r\n\r\n", depth_sum_right, depth_sum_left); + // Initialization + for( int i=0;i<682;i++ ){ urg_depth[i] = 0; } + depth_sum_right = 0; + depth_sum_left = 0; + */ + + // IAF (+-45deg) (/1000000 is length conversion mm to m) + //for( int i=212;i<469;i++ ){ pc.printf("%d ", urg_depth[i]); } + //pc.printf("\r\n"); + for( int i=212;i<340;i++ ){ iaf_SR += (double)urg_depth[i]*(double)urg_depth[i+1]/1000000*sin_iaf_angle/2; } + for( int i=340;i<468;i++ ){ iaf_SL += (double)urg_depth[i]*(double)urg_depth[i+1]/1000000*sin_iaf_angle/2; } + // iaf_delta: (10*delta + 500)[deg/s] + iaf_IL = (iaf_SR+iaf_SL)/iaf_SE; + if( iaf_IR-iaf_IL>0 ){ iaf_delta = (iaf_gain*(iaf_SR-iaf_SL))/iaf_SE+500; } + else{ iaf_delta = 500; } + if( iaf_delta>800 ){ iaf_delta = 800; } + if( iaf_delta<200 ){ iaf_delta = 200; } + + //pc.printf("%6.3f, %6.3f\r\n", iaf_SR, iaf_SL); + pc.printf("%4d\r\n", iaf_delta); + /* + if( urg_flag==1 ){ + navi.printf("%4d",iaf_delta); + //dotHR.printf("a"); + pc.printf("%4d, %4d\r\n", t, iaf_delta); + t = t+dt; + } + */ + // Initialization + for( int i=0;i<682;i++ ){ urg_depth[i] = 0; } + iaf_SR_print = iaf_SR; + iaf_SL_print = iaf_SL; + iaf_SR = 0; + iaf_SL = 0; + + } + + } + +} + +void send_to_navi() { + + navi.printf("%4d",iaf_delta); + pc.printf("%4d, %f, %f, %4d\r\n", t, iaf_SL_print, iaf_SR_print, iaf_delta); + t = t+dt; + +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Nov 30 12:34:22 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e \ No newline at end of file