Eurobot2012_Primary
Dependencies: mbed Eurobot_2012_Primary
Revision 23:1901cb6d0d95, committed 2012-05-04
- Comitter:
- narshu
- Date:
- Fri May 04 02:50:07 2012 +0000
- Parent:
- 22:7ba09c0af0d0
- Child:
- 24:7a3906c2f5d5
- Commit message:
- working commit, on red
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Eurobot_shared.lib Fri May 04 02:50:07 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/narshu/libraries/Eurobot_shared/m9h39r \ No newline at end of file
--- a/Eurobot_shared/.lib Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/narshu/libraries/Eurobot_shared/m9cjn5 \ No newline at end of file
--- a/Eurobot_shared/Kalman/IR/IR.cpp Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,74 +0,0 @@ -#include "IR.h" -#include "Kalman.h" -#include "system.h" -#include "geometryfuncs.h" -#include "globals.h" -#include "mbed.h" - -IR::IR(Kalman &kalmanin): -#ifdef ROBOT_PRIMARY - IRserial(p9, p10), -#else - IRserial(p13, p14), -#endif - kalman(kalmanin) { - - //Setting up IR serial - IRserial.baud(115200); - IRserial.format(8,Serial::Odd,1); -} - -void IR::detachisr() { - IRserial.attach(NULL,Serial::RxIrq); -} - -void IR::attachisr() { - IRserial.attach(this, &IR::vIRValueISR, Serial::RxIrq); -} - -void IR::vIRValueISR (void) { - - // A workaround for mbed UART ISR bug - // Clear the RBR flag to make sure the interrupt doesn't loop - // UART3 for the port on pins 9/10, UART2 for pins 28/27, and UART1 for pins 13/14. - // UART0 for USB UART - -#ifdef ROBOT_PRIMARY - unsigned char RBR = LPC_UART3->RBR; -#else - unsigned char RBR = LPC_UART1->RBR; -#endif - - // bytes packing/unpacking for IR turret serial comm - static union IRValue_t { - float IR_floats[3]; - int IR_ints[3]; - unsigned char IR_chars[12]; - } IRValues; - - const char Alignment_char[4] = {0xFF,0xFE,0xFD,0xFC}; - static int Alignment_ptr = 0; - static bool data_flag = false; - static int buff_pointer = 0; - - if (!data_flag) { // look for alignment bytes - if (RBR == Alignment_char[Alignment_ptr]) { - Alignment_ptr ++; - } - if (Alignment_ptr >= 4) { - Alignment_ptr = 0; - data_flag = true; // set the dataflag - } - } else { // fetch data bytes - IRValues.IR_chars[buff_pointer] = RBR; - buff_pointer ++; - if (buff_pointer >= 12) { - buff_pointer = 0; - data_flag = false; // dessert the dataflag - kalman.runupdate(Kalman::measurement_t(IRValues.IR_ints[0]+3),IRValues.IR_floats[1],IRvariance); - - - } - - } -} \ No newline at end of file
--- a/Eurobot_shared/Kalman/IR/IR.h Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,25 +0,0 @@ - -#ifndef IR_H -#define IR_H - -#include "mbed.h" - -//forward declaration of class Kalman to avoid cyclic include -class Kalman; - -class IR { -public: - - Serial IRserial; - - IR(Kalman &kalmanin); - void detachisr(); - void attachisr(); - void vIRValueISR (void); - -private: -//reference to the kalman object to run the updates on - Kalman& kalman; -}; - -#endif //IR_H \ No newline at end of file
--- a/Eurobot_shared/Kalman/Kalman.cpp Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,413 +0,0 @@ -//*************************************************************************************** -//Kalman Filter implementation -//*************************************************************************************** -#include "Kalman.h" -#include "rtos.h" -#include "RFSRF05.h" -#include "math.h" -#include "globals.h" -#include "motors.h" -#include "system.h" -#include "geometryfuncs.h" - -#include <tvmet/Matrix.h> -#include <tvmet/Vector.h> -using namespace tvmet; - -Kalman::Kalman(Motors &motorsin, - UI &uiin, - PinName Sonar_Trig, - PinName Sonar_Echo0, - PinName Sonar_Echo1, - PinName Sonar_Echo2, - PinName Sonar_Echo3, - PinName Sonar_Echo4, - PinName Sonar_Echo5, - PinName Sonar_SDI, - PinName Sonar_SDO, - PinName Sonar_SCK, - PinName Sonar_NCS, - PinName Sonar_NIRQ) : - ir(*this), - sonararray(Sonar_Trig, - Sonar_Echo0, - Sonar_Echo1, - Sonar_Echo2, - Sonar_Echo3, - Sonar_Echo4, - Sonar_Echo5, - Sonar_SDI, - Sonar_SDO, - Sonar_SCK, - Sonar_NCS, - Sonar_NIRQ), - motors(motorsin), - ui(uiin), - predictthread(predictloopwrapper, this, osPriorityNormal, 512), - predictticker( SIGTICKARGS(predictthread, 0x1) ), -// sonarthread(sonarloopwrapper, this, osPriorityNormal, 256), -// sonarticker( SIGTICKARGS(sonarthread, 0x1) ), - updatethread(updateloopwrapper, this, osPriorityNormal, 512) { - - //Initilising offsets - InitLock.lock(); - IR_Offset = 0; - Sonar_Offset = 0; - InitLock.unlock(); - - - //Initilising matrices - - // X = x, y, theta; - X = 0.5, 0, 0; - - P = 1, 0, 0, - 0, 1, 0, - 0, 0, 0.04; - - //measurment variance R is provided by each sensor when calling runupdate - - //attach callback - sonararray.callbackobj = (DummyCT*)this; - sonararray.mcallbackfunc = (void (DummyCT::*)(int beaconnum, float distance, float variance)) &Kalman::runupdate; - - - predictticker.start(20); -// sonarticker.start(50); - -} - - -//Note: this init function assumes that the robot faces east, theta=0, in the +x direction -void Kalman::KalmanInit() { - motors.stop(); - float SonarMeasuresx1000[3]; - float IRMeasuresloc[3]; - int beacon_cnt = 0; - - -// doesn't work since they break the ISR -/* -#ifdef ROBOT_PRIMARY - LPC_UART3->FCR = LPC_UART3->FCR | 0x06; // Flush the serial FIFO buffer / OR with FCR -#else - LPC_UART1->FCR = LPC_UART1->FCR | 0x06; // Flush the serial FIFO buffer / OR with FCR -#endif -*/ - // zeros the measurements - for (int i = 0; i < 3; i++) { - SonarMeasures[i] = 0; - IRMeasures[i] = 0; - } - - InitLock.lock(); - //zeros offsets - IR_Offset = 0; - Sonar_Offset = 0; - InitLock.unlock(); - - // attaches ir interrup - ir.attachisr(); - - //wating untill the IR has reved up and picked up some valid data - wait(1); - - //temporaraly disable IR updates - ir.detachisr(); - - //lock the state throughout the computation, as we will override the state at the end - InitLock.lock(); - statelock.lock(); - - - - SonarMeasuresx1000[0] = SonarMeasures[0]*1000.0f; - SonarMeasuresx1000[1] = SonarMeasures[1]*1000.0f; - SonarMeasuresx1000[2] = SonarMeasures[2]*1000.0f; - IRMeasuresloc[0] = IRMeasures[0]; - IRMeasuresloc[1] = IRMeasures[1]; - IRMeasuresloc[2] = IRMeasures[2]; - //printf("0: %0.4f, 1: %0.4f, 2: %0.4f \n\r", IRMeasuresloc[0]*180/PI, IRMeasuresloc[1]*180/PI, IRMeasuresloc[2]*180/PI); - - float d = beaconpos[2].y - beaconpos[1].y; - float i = beaconpos[0].y - beaconpos[1].y; - float j = beaconpos[0].x - beaconpos[1].x; - float y_coor = (SonarMeasuresx1000[1]*SonarMeasuresx1000[1]- SonarMeasuresx1000[2]*SonarMeasuresx1000[2] + d*d) / (2*d); - float x_coor = (SonarMeasuresx1000[1]*SonarMeasuresx1000[1] - SonarMeasuresx1000[0]*SonarMeasuresx1000[0] + i*i + j*j)/(2*j) - i*y_coor/j; - - //debug for trilateration - printf("Cal at x: %0.4f, y: %0.4f \r\n",x_coor,y_coor ); - - float Dist_Exp[3]; - for (int i = 0; i < 3; i++) { - //Compute sonar offset - Dist_Exp[i] = hypot(beaconpos[i].y - y_coor,beaconpos[i].x - x_coor); - Sonar_Offset += (SonarMeasuresx1000[i]-Dist_Exp[i])/3000.0f; - - //Compute IR offset - float angle_est = atan2(beaconpos[i].y - y_coor,beaconpos[i].x - x_coor); - // take average offset angle from valid readings - if (IRMeasuresloc[i] != 0) { - beacon_cnt ++; - // changed to current angle - estimated angle - float angle_temp = IRMeasuresloc[i] - angle_est; - angle_temp -= (floor(angle_temp/(2*PI)))*2*PI; - IR_Offset += angle_temp; - } - } - IR_Offset /= float(beacon_cnt); - - //debug - printf("Offsets IR: %0.4f, Sonar: %0.4f \r\n",IR_Offset*180/PI,Sonar_Offset ); - - //statelock already locked - X(0) = x_coor/1000.0f; - X(1) = y_coor/1000.0f; - X(2) = 0; - - // unlocks mutexes - InitLock.unlock(); - statelock.unlock(); - - - //reattach the IR processing - ir.attachisr(); -} - - -void Kalman::predictloop() { - - OLED4 = !ui.regid(0, 3); - OLED4 = !ui.regid(1, 4); - - float lastleft = 0; - float lastright = 0; - - while (1) { - Thread::signal_wait(0x1); - OLED1 = !OLED1; - - int leftenc = motors.getEncoder1(); - int rightenc = motors.getEncoder2(); - - float dleft = motors.encoderToDistance(leftenc-lastleft)/1000.0f; - float dright = motors.encoderToDistance(rightenc-lastright)/1000.0f; - - lastleft = leftenc; - lastright = rightenc; - - - //The below calculation are in body frame (where +x is forward) - float dxp, dyp,d,r; - float thetap = (dright - dleft)*PI / (float(robotCircumference)/1000.0f); - if (abs(thetap) < 0.02) { //if the rotation through the integration step is small, approximate with a straight line to avoid numerical error - d = (dright + dleft)/2.0f; - dxp = d*cos(thetap/2.0f); - dyp = d*sin(thetap/2.0f); - - } else { //calculate circle arc - //float r = (right + left) / (4.0f * PI * thetap); - r = (dright + dleft) / (2.0f*thetap); - dxp = abs(r)*sin(thetap); - dyp = r - r*cos(thetap); - } - - statelock.lock(); - - float tempX2 = X(2); - //rotating to cartesian frame and updating state - X(0) += dxp * cos(X(2)) - dyp * sin(X(2)); - X(1) += dxp * sin(X(2)) + dyp * cos(X(2)); - X(2) = rectifyAng(X(2) + thetap); - - //Linearising F around X - float avgX2 = (X(2) + tempX2)/2.0f; - Matrix<float, 3, 3> F; - F = 1, 0, (dxp * -sin(avgX2) - dyp * cos(avgX2)), - 0, 1, (dxp * cos(avgX2) - dyp * sin(avgX2)), - 0, 0, 1; - - //Generating forward and rotational variance - float varfwd = fwdvarperunit * abs(dright + dleft) / 2.0f; - float varang = varperang * abs(thetap); - float varxydt = xyvarpertime * PREDICTPERIOD/1000.0f; - float varangdt = angvarpertime * PREDICTPERIOD/1000.0f; - - //Rotating into cartesian frame - Matrix<float, 2, 2> Qsub,Qsubrot,Qrot; - Qsub = varfwd + varxydt, 0, - 0, varxydt; - - Qrot = Rotmatrix(X(2)); - - Qsubrot = Qrot * Qsub * trans(Qrot); - - //Generate Q - Matrix<float, 3, 3> Q;//(Qsubrot); - Q = Qsubrot(0,0), Qsubrot(0,1), 0, - Qsubrot(1,0), Qsubrot(1,1), 0, - 0, 0, varang + varangdt; - - P = F * P * trans(F) + Q; - - //Update UI - float statecpy[] = {X(0), X(1), X(2)}; - ui.updateval(0, statecpy, 3); - - float Pcpy[] = {P(0,0), P(0,1), P(1,0), P(1,1)}; - ui.updateval(1, Pcpy, 4); - - statelock.unlock(); - } -} - -//void Kalman::sonarloop() { -// while (1) { -// Thread::signal_wait(0x1); -// sonararray.startRange(); -// } -//} - - -void Kalman::runupdate(measurement_t type, float value, float variance) { - //printf("beacon %d dist %f\r\n", sonarid, dist); - //led2 = !led2; - - measurmentdata* measured = (measurmentdata*)measureMQ.alloc(); - if (measured) { - measured->mtype = type; - measured->value = value; - measured->variance = variance; - - osStatus putret = measureMQ.put(measured); - if (putret) - OLED4 = 1; - // printf("putting in MQ error code %#x\r\n", putret); - } else { - OLED4 = 1; - //printf("MQalloc returned NULL ptr\r\n"); - } - -} - -void Kalman::updateloop() { - - //sonar Y chanels - ui.regid(2, 1); - ui.regid(3, 1); - ui.regid(4, 1); - - //IR Y chanels - ui.regid(5, 1); - ui.regid(6, 1); - ui.regid(7, 1); - - measurement_t type; - float value,variance,rbx,rby,expecdist,Y; - float dhdx,dhdy; - bool aborton2stddev = false; - - Matrix<float, 1, 3> H; - - float S; - Matrix<float, 3, 3> I3( identity< Matrix<float, 3, 3> >() ); - - - while (1) { - OLED2 = !OLED2; - - osEvent evt = measureMQ.get(); - - if (evt.status == osEventMail) { - - measurmentdata &measured = *(measurmentdata*)evt.value.p; - type = measured.mtype; //Note, may support more measurment types than sonar in the future! - value = measured.value; - variance = measured.variance; - - // don't forget to free the memory - measureMQ.free(&measured); - - if (type <= maxmeasure) { - - if (type <= SONAR3) { - - InitLock.lock(); - float dist = value / 1000.0f - Sonar_Offset; //converting to m from mm,subtract the offset - InitLock.unlock(); - - int sonarid = type; - aborton2stddev = true; - - statelock.lock(); - //update the current sonar readings - SonarMeasures[sonarid] = dist; - - rbx = X(0) - beaconpos[sonarid].x/1000.0f; - rby = X(1) - beaconpos[sonarid].y/1000.0f; - - expecdist = hypot(rbx, rby);//sqrt(rbx*rbx + rby*rby); - Y = dist - expecdist; - - //send to ui - ui.updateval(sonarid+2, Y); - - dhdx = rbx / expecdist; - dhdy = rby / expecdist; - - H = dhdx, dhdy, 0; - - } else if (type <= IR3) { - - aborton2stddev = false; - int IRidx = type-3; - - // subtract the IR offset - InitLock.lock(); - value -= IR_Offset; - InitLock.unlock(); - - statelock.lock(); - IRMeasures[IRidx] = value; - - rbx = X(0) - beaconpos[IRidx].x/1000.0f; - rby = X(1) - beaconpos[IRidx].y/1000.0f; - - float expecang = atan2(-rby, -rbx) - X(2); - Y = rectifyAng(value - expecang); - - //send to ui - ui.updateval(IRidx + 5, Y); - - float dstsq = rbx*rbx + rby*rby; - H = -rby/dstsq, rbx/dstsq, -1; - } - - Matrix<float, 3, 1> PH (P * trans(H)); - S = (H * PH)(0,0) + variance; - - if (aborton2stddev && Y*Y > 4 * S) { - statelock.unlock(); - continue; - } - - Matrix<float, 3, 1> K (PH * (1/S)); - - //Updating state - X += col(K, 0) * Y; - X(2) = rectifyAng(X(2)); - - P = (I3 - K * H) * P; - - statelock.unlock(); - - } - - } else { - OLED4 = 1; - //printf("ERROR: in updateloop, code %#x", evt); - } - - } - -} \ No newline at end of file
--- a/Eurobot_shared/Kalman/Kalman.h Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,97 +0,0 @@ -#ifndef KALMAN_H -#define KALMAN_H - -#include "globals.h" - - -#include "rtos.h" -//#include "Matrix.h" -#include "motors.h" -#include "RFSRF05.h" -#include "IR.h" -#include "ui.h" - -#include <tvmet/Matrix.h> -#include <tvmet/Vector.h> -using namespace tvmet; - - -class Kalman { -public: - enum measurement_t {SONAR1 = 0, SONAR2, SONAR3, IR1, IR2, IR3}; - static const measurement_t maxmeasure = IR3; - - Kalman(Motors &motorsin, - UI &uiin, - PinName Sonar_Trig, - PinName Sonar_Echo0, - PinName Sonar_Echo1, - PinName Sonar_Echo2, - PinName Sonar_Echo3, - PinName Sonar_Echo4, - PinName Sonar_Echo5, - PinName Sonar_SDI, - PinName Sonar_SDO, - PinName Sonar_SCK, - PinName Sonar_NCS, - PinName Sonar_NIRQ); - - void predict(); - void runupdate(measurement_t type, float value, float variance); - - //State variables - Vector<float, 3> X; - Matrix<float, 3, 3> P; - Mutex statelock; - - float SonarMeasures[3]; - float IRMeasures[3]; - float IR_Offset; - float Sonar_Offset; - Mutex InitLock; - - bool Kalman_init; - - //The IR is public so it's possible to print the offset in the print function - IR ir; - - //Initialises the kalman filter - void KalmanInit(); - -private: - - //Sensor interfaces - RFSRF05 sonararray; - Motors& motors; - UI& ui; - - Thread predictthread; - void predictloop(); - static void predictloopwrapper(void const *argument) { - ((Kalman*)argument)->predictloop(); - } - RtosTimer predictticker; - -// Thread sonarthread; -// void sonarloop(); -// static void sonarloopwrapper(void const *argument){ ((Kalman*)argument)->sonarloop(); } -// RtosTimer sonarticker; - - struct measurmentdata { - measurement_t mtype; - float value; - float variance; - } ; - - Mail <measurmentdata, 16> measureMQ; - - Thread updatethread; - void updateloop(); - static void updateloopwrapper(void const *argument) { - ((Kalman*)argument)->updateloop(); - } - - -}; - -#endif //KALMAN_H \ No newline at end of file
--- a/Eurobot_shared/Kalman/Sonar/RF12B/RF12B.cpp Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,400 +0,0 @@ -#include "RF12B.h" - -#include "RF_defs.h" -#include <algorithm> -#include "system.h" -#include "globals.h" - - -RF12B::RF12B(PinName _SDI, - PinName _SDO, - PinName _SCK, - PinName _NCS, - PinName _NIRQ):spi(_SDI, _SDO, _SCK), - NCS(_NCS), NIRQ(_NIRQ), NIRQ_in(_NIRQ) {// rfled(LED3) { - - // SPI frequency, word lenght, polarity and phase */ - spi.format(16,0); - spi.frequency(2000000); - - // Set ~CS high - NCS = 1; - - // Initialise RF Module - init(); - - // Setup interrupt to happen on falling edge of NIRQ - NIRQ.fall(this, &RF12B::rxISR); -} - -// Returns the packet length if data is available in the receive buffer, 0 otherwise -//unsigned int RF12B::available() { -// return fifo.size(); -//} - -// Reads a packet of data, with length "size" Returns false if read failed. TODO: make a metafifo to isolate packets -/*bool RF12B::read(unsigned char* data, unsigned int size) { - if (fifo.size() == 0) { - return false; - } else { - unsigned int i = 0; - while (fifo.size() > 0 && i < size) { - data[i++] = fifo.front(); - fifo.pop(); - } - return true; - } -} -*/ - -// Reads a byte of data from the receive buffer -/* -unsigned char RF12B::read() { - if (available()) { - unsigned char data = fifo.front(); - fifo.pop(); - return data; - } else { - return 0xFF; // Error val although could also be data... - } -} -*/ - -// Sends a packet of data to the RF module for transmission TODO: Make asych -void RF12B::write(unsigned char *data, unsigned char length) { - unsigned char crc = 0; - - // Transmitter mode - changeMode(TX); - - writeCmd(0x0000); - send(0xAA); // PREAMBLE - send(0xAA); - send(0xAA); - send(0x2D); // SYNC - send(0xD4); - // Packet Length - send(length); - crc = crc8(crc, length); - send(crc); - crc = crc8(crc, crc); - // Packet Data - for (unsigned char i=0; i<length; i++) { - send(data[i]); - crc = crc8(crc, data[i]); - } - send(crc); - send(0xAA); // DUMMY BYTES - send(0xAA); - send(0xAA); - - // Back to receiver mode - changeMode(RX); - status(); - - -} - -// Transmit a 1-byte data packet -void RF12B::write(unsigned char data) { - write(&data, 1); -} -/* -void RF12B::write(queue<char> &data, int length) { - char crc = 0; - char length_byte = 0; - - // -1 means try to transmit everything in the queue - if (length == -1) { - length = data.size(); - } - - // max length of packet is 255 - length_byte = min(length, 255); - - // Transmitter mode - changeMode(TX); - - writeCmd(0x0000); - send(0xAA); // PREAMBLE - send(0xAA); - send(0xAA); - send(0x2D); // SYNC - send(0xD4); - // Packet Length - send(length_byte); - crc = crc8(crc, length_byte); - send(crc); - crc = crc8(crc, crc); - // Packet Data - for (char i=0; i<length_byte; i++) { - send(data.front()); - crc = crc8(crc, data.front()); - data.pop(); - } - send(crc); - send(0xAA); // DUMMY BYTES - send(0xAA); - send(0xAA); - - // Back to receiver mode - changeMode(RX); - status(); -} -*/ -/********************************************************************** - * PRIVATE FUNCTIONS - *********************************************************************/ - -// Initialises the RF12B module -void RF12B::init() { - // writeCmd(0x80E7); //EL,EF,868band,12.0pF - changeMode(RX); - writeCmd(0xA640); //frequency select - writeCmd(0xC647); //4.8kbps - writeCmd(0x94A0); //VDI,FAST,134kHz,0dBm,-103dBm - writeCmd(0xC2AC); //AL,!ml,DIG,DQD4 - writeCmd(0xCA81); //FIFO8,SYNC,!ff,DR - writeCmd(0xCED4); //SYNC=2DD4 - writeCmd(0xC483); //@PWR,NO RSTRIC,!st,!fi,OE,EN - writeCmd(0x9850); //!mp,90kHz,MAX OUT - writeCmd(0xCC17); //OB1, COB0, LPX, Iddy, CDDIT�CBW0 - writeCmd(0xE000); //NOT USED - writeCmd(0xC800); //NOT USED - writeCmd(0xC040); //1.66MHz,2.2V - - writeCmd( - RFM_CONFIG_EL | - RFM_CONFIG_EF | - RFM_CONFIG_BAND_433 //| - //RFM_CONFIG_X_11_0pf // meh, using default - ); - - // 2. Power Management Command - // leave everything switched off for now - /* - writeCmd( - RFM_POWER_MANAGEMENT // switch all off - ); - */ - - // 3. Frequency Setting Command - writeCmd( - RFM_FREQUENCY | - RFM_FREQ_433Band(435.7) //I totally made this value up... if someone knows where the sweetspots are in this band, tell me! - ); - - - // 4. Data Rate Command - //writeCmd(RFM_DATA_RATE_9600); - writeCmd(RFM_DATA_RATE_57600); - - - // 5. Receiver Control Command - writeCmd( - RFM_RX_CONTROL_P20_VDI | - RFM_RX_CONTROL_VDI_FAST | - //RFM_RX_CONTROL_BW(RFM_BAUD_RATE) | - RFM_RX_CONTROL_BW_134 | // CHANGE THIS TO 67 TO IMPROVE RANGE! (though the bitrate must then be below 8kbaud, and fsk modulation changed) - RFM_RX_CONTROL_GAIN_0 | - RFM_RX_CONTROL_RSSI_103 // Might need adjustment. Datasheet says around 10^-5 bit error rate at this level and baudrate. - ); - - // 6. Data Filter Command - writeCmd( - RFM_DATA_FILTER_AL | - RFM_DATA_FILTER_ML | - RFM_DATA_FILTER_DIG //| - //RFM_DATA_FILTER_DQD(4) - ); - - // 7. FIFO and Reset Mode Command - writeCmd( - RFM_FIFO_IT(8) | - RFM_FIFO_DR | - 0x8 //turn on 16bit sync word - ); - - // 8. FIFO Syncword - // Leave as default: 0xD4 - - // 9. Receiver FIFO Read - // when the interupt goes high, (and if we can assume that it was a fifo fill interrupt) we can read a byte using: - // result = RFM_READ_FIFO(); - - // 10. AFC Command - writeCmd( - //RFM_AFC_AUTO_VDI | //Note this might be changed to improve range. Refer to datasheet. - RFM_AFC_AUTO_INDEPENDENT | - RFM_AFC_RANGE_LIMIT_7_8 | - RFM_AFC_EN | - RFM_AFC_OE | - RFM_AFC_FI - ); - - // 11. TX Configuration Control Command - writeCmd( - RFM_TX_CONTROL_MOD_60 | - RFM_TX_CONTROL_POW_0 - ); - - - // 12. PLL Setting Command - writeCmd( - 0xCC77 & ~0x01 // Setting the PLL bandwith, less noise, but max bitrate capped at 86.2 - // I think this will slow down the pll's reaction time. Not sure, check with someone! - ); - - changeMode(RX); - resetRX(); - status(); -} - -/* Write a command to the RF Module */ -unsigned int RF12B::writeCmd(unsigned int cmd) { - NCS = 0; - unsigned int recv = spi.write(cmd); - NCS = 1; - return recv; -} - -/* Sends a byte of data across RF */ -void RF12B::send(unsigned char data) { - while (NIRQ); - writeCmd(0xB800 + data); -} - -/* Change the mode of the RF module to Transmitting or Receiving */ -void RF12B::changeMode(rfmode_t _mode) { - mode = _mode; - if (_mode == TX) { - writeCmd(0x8239); //!er,!ebb,ET,ES,EX,!eb,!ew,DC - } else { /* mode == RX */ - writeCmd(0x8299); //er,!ebb,ET,ES,EX,!eb,!ew,DC - } -} - -// Interrupt routine for data reception */ -void RF12B::rxISR() { - - unsigned int data = 0; - static int i = -2; - static unsigned char packet_length = 0; - static unsigned char crc = 0; - #ifdef ROBOT_SECONDARY - static unsigned char temp; - #endif - - //Loop while interrupt is asserted - while (!NIRQ_in && mode == RX) { - - // Grab the packet's length byte - if (i == -2) { - data = writeCmd(0x0000); - if ( (data&0x8000) ) { - data = writeCmd(0xB000); - packet_length = (data&0x00FF); - crc = crc8(crc, packet_length); - i++; - } - } - - //If we exhaust the interrupt, exit - if (NIRQ_in) - break; - - // Check that packet length was correct - if (i == -1) { - data = writeCmd(0x0000); - if ( (data&0x8000) ) { - data = writeCmd(0xB000); - unsigned char crcofsize = (data&0x00FF); - if (crcofsize != crc) { - //It was wrong, start over - i = -2; - packet_length = 0; - crc = 0; - //temp = queue<unsigned char>(); - resetRX(); - } else { - crc = crc8(crc, crcofsize); - i++; - } - } - } - - //If we exhaust the interrupt, exit - if (NIRQ_in) - break; - - // Grab the packet's data - if (i >= 0 && i < packet_length) { - data = writeCmd(0x0000); - if ( (data&0x8000) ) { - data = writeCmd(0xB000); - #ifdef ROBOT_SECONDARY - temp = data&0x00FF; - #endif - //temp.push(data&0x00FF); - crc = crc8(crc, (unsigned char)(data&0x00FF)); - i++; - } - } - - //If we exhaust the interrupt, exit - if (NIRQ_in) - break; - - if (i >= packet_length) { - data = writeCmd(0x0000); - if ( (data&0x8000) ) { - data = writeCmd(0xB000); - if ((unsigned char)(data & 0x00FF) == crc) { - //If the checksum is correct, add our data to the end of the output buffer - //while (!temp.empty()) { - //fifo.push(temp); - // temp.pop(); -#ifdef ROBOT_SECONDARY - if (callbackfunc) - (*callbackfunc)(temp); - - if (callbackobj && mcallbackfunc) - (callbackobj->*mcallbackfunc)(temp); -#endif - // } - } - - // Tell RF Module we are finished, and clean up - i = -2; - packet_length = 0; - crc = 0; - //temp = queue<unsigned char>(); - resetRX(); - } - } - } - -} - -unsigned int RF12B::status() { - return writeCmd(0x0000); -} - -// Tell the RF Module this packet is received and wait for the next */ -void RF12B::resetRX() { - writeCmd(0xCA81); - writeCmd(0xCA83); -}; - -// Calculate CRC8 */ -unsigned char RF12B::crc8(unsigned char crc, unsigned char data) { - crc = crc ^ data; - for (int i = 0; i < 8; i++) { - if (crc & 0x01) { - crc = (crc >> 1) ^ 0x8C; - } else { - crc >>= 1; - } - } - return crc; -} \ No newline at end of file
--- a/Eurobot_shared/Kalman/Sonar/RF12B/RF12B.h Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,83 +0,0 @@ -#ifndef _RF12B_H -#define _RF12B_H - -#include "mbed.h" -//#include <queue> - -enum rfmode_t{RX, TX}; - -class DummyCT; - -class RF12B { -public: - /* Constructor */ - RF12B(PinName SDI, - PinName SDO, - PinName SCK, - PinName NCS, - PinName NIRQ); - - - - /* Reads a packet of data. Returns false if read failed. Use available() to check how much space to allocate for buffer */ - bool read(unsigned char* data, unsigned int size); - - /* Reads a byte of data from the receive buffer - Returns 0xFF if there is no data */ - unsigned char read(); - - /* Transmits a packet of data */ - void write(unsigned char* data, unsigned char length); - void write(unsigned char data); /* 1-byte packet */ -// void write(std::queue<char> &data, int length = -1); /* sends a whole queue */ - - /* Returns the packet length if data is available in the receive buffer, 0 otherwise*/ - unsigned int available(); - - /** A assigns a callback function when a new reading is available **/ - void (*callbackfunc)(unsigned char rx_code); - DummyCT* callbackobj; - void (DummyCT::*mcallbackfunc)(unsigned char rx_code); - -protected: - /* Receive FIFO buffer */ -// std::queue<unsigned char> fifo; -// std::queue<unsigned char> temp; //for storing stuff mid-packet - - /* SPI module */ - SPI spi; - - /* Other digital pins */ - DigitalOut NCS; - InterruptIn NIRQ; - DigitalIn NIRQ_in; - //DigitalOut rfled; - - rfmode_t mode; - - /* Initialises the RF12B module */ - void init(); - - /* Write a command to the RF Module */ - unsigned int writeCmd(unsigned int cmd); - - /* Sends a byte of data across RF */ - void send(unsigned char data); - - /* Switch module between receive and transmit modes */ - void changeMode(rfmode_t mode); - - /* Interrupt routine for data reception */ - void rxISR(); - - /* Tell the RF Module this packet is received and wait for the next */ - void resetRX(); - - /* Return the RF Module Status word */ - unsigned int status(); - - /* Calculate CRC8 */ - unsigned char crc8(unsigned char crc, unsigned char data); -}; - -#endif /* _RF12B_H */ \ No newline at end of file
--- a/Eurobot_shared/Kalman/Sonar/RF12B/RF_defs.h Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,478 +0,0 @@ -/* - * Open HR20 - * - * target: ATmega169 @ 4 MHz in Honnywell Rondostat HR20E - * - * compiler: WinAVR-20071221 - * avr-libc 1.6.0 - * GCC 4.2.2 - * - * copyright: 2008 Dario Carluccio (hr20-at-carluccio-dot-de) - * 2008 Jiri Dobry (jdobry-at-centrum-dot-cz) - * 2008 Mario Fischer (MarioFischer-at-gmx-dot-net) - * 2007 Michael Smola (Michael-dot-Smola-at-gmx-dot-net) - * - * license: This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU Library General Public - * License as published by the Free Software Foundation; either - * version 2 of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see http:*www.gnu.org/licenses - */ - -/* - * \file rfm.h - * \brief functions to control the RFM12 Radio Transceiver Module - * \author Mario Fischer <MarioFischer-at-gmx-dot-net>; Michael Smola <Michael-dot-Smola-at-gmx-dot-net> - * \date $Date: 2010/04/17 17:57:02 $ - * $Rev: 260 $ - */ - - -//#pragma once // multi-iclude prevention. gcc knows this pragma -#ifndef rfm_H -#define rfm_H - - -#define RFM_SPI_16(OUTVAL) rfm_spi16(OUTVAL) //<! a function that gets a uint16_t (clocked out value) and returns a uint16_t (clocked in value) - -#define RFM_CLK_OUTPUT 0 - -/* -#define RFM_TESTPIN_INIT -#define RFM_TESTPIN_ON -#define RFM_TESTPIN_OFF -#define RFM_TESTPIN_TOG - -#define RFM_CONFIG_DISABLE 0x00 //<! RFM_CONFIG_*** are combinable flags, what the RFM shold do -#define RFM_CONFIG_BROADCASTSTATUS 0x01 //<! Flag that enables the HR20's status broadcast every minute - -#define RFM_CONFIG_ENABLEALL 0xff -*/ - - -/////////////////////////////////////////////////////////////////////////////// -// -// RFM status bits -// -/////////////////////////////////////////////////////////////////////////////// - -// Interrupt bits, latched //////////////////////////////////////////////////// - -#define RFM_STATUS_FFIT 0x8000 // RX FIFO reached the progr. number of bits - // Cleared by any FIFO read method - -#define RFM_STATUS_RGIT 0x8000 // TX register is ready to receive - // Cleared by TX write - -#define RFM_STATUS_POR 0x4000 // Power On reset - // Cleared by read status - -#define RFM_STATUS_RGUR 0x2000 // TX register underrun, register over write - // Cleared by read status - -#define RFM_STATUS_FFOV 0x2000 // RX FIFO overflow - // Cleared by read status - -#define RFM_STATUS_WKUP 0x1000 // Wake up timer overflow - // Cleared by read status - -#define RFM_STATUS_EXT 0x0800 // Interupt changed to low - // Cleared by read status - -#define RFM_STATUS_LBD 0x0400 // Low battery detect - -// Status bits //////////////////////////////////////////////////////////////// - -#define RFM_STATUS_FFEM 0x0200 // FIFO is empty -#define RFM_STATUS_ATS 0x0100 // TX mode: Strong enough RF signal -#define RFM_STATUS_RSSI 0x0100 // RX mode: signal strength above programmed limit -#define RFM_STATUS_DQD 0x0080 // Data Quality detector output -#define RFM_STATUS_CRL 0x0040 // Clock recovery lock -#define RFM_STATUS_ATGL 0x0020 // Toggling in each AFC cycle - -/////////////////////////////////////////////////////////////////////////////// -// -// 1. Configuration Setting Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_CONFIG 0x8000 - -#define RFM_CONFIG_EL 0x8080 // Enable TX Register -#define RFM_CONFIG_EF 0x8040 // Enable RX FIFO buffer -#define RFM_CONFIG_BAND_315 0x8000 // Frequency band -#define RFM_CONFIG_BAND_433 0x8010 -#define RFM_CONFIG_BAND_868 0x8020 -#define RFM_CONFIG_BAND_915 0x8030 -#define RFM_CONFIG_X_8_5pf 0x8000 // Crystal Load Capacitor -#define RFM_CONFIG_X_9_0pf 0x8001 -#define RFM_CONFIG_X_9_5pf 0x8002 -#define RFM_CONFIG_X_10_0pf 0x8003 -#define RFM_CONFIG_X_10_5pf 0x8004 -#define RFM_CONFIG_X_11_0pf 0x8005 -#define RFM_CONFIG_X_11_5pf 0x8006 -#define RFM_CONFIG_X_12_0pf 0x8007 -#define RFM_CONFIG_X_12_5pf 0x8008 -#define RFM_CONFIG_X_13_0pf 0x8009 -#define RFM_CONFIG_X_13_5pf 0x800A -#define RFM_CONFIG_X_14_0pf 0x800B -#define RFM_CONFIG_X_14_5pf 0x800C -#define RFM_CONFIG_X_15_0pf 0x800D -#define RFM_CONFIG_X_15_5pf 0x800E -#define RFM_CONFIG_X_16_0pf 0x800F - -/////////////////////////////////////////////////////////////////////////////// -// -// 2. Power Management Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_POWER_MANAGEMENT 0x8200 - -#define RFM_POWER_MANAGEMENT_ER 0x8280 // Enable receiver -#define RFM_POWER_MANAGEMENT_EBB 0x8240 // Enable base band block -#define RFM_POWER_MANAGEMENT_ET 0x8220 // Enable transmitter -#define RFM_POWER_MANAGEMENT_ES 0x8210 // Enable synthesizer -#define RFM_POWER_MANAGEMENT_EX 0x8208 // Enable crystal oscillator -#define RFM_POWER_MANAGEMENT_EB 0x8204 // Enable low battery detector -#define RFM_POWER_MANAGEMENT_EW 0x8202 // Enable wake-up timer -#define RFM_POWER_MANAGEMENT_DC 0x8201 // Disable clock output of CLK pin - -#ifndef RFM_CLK_OUTPUT - #error RFM_CLK_OUTPUT must be defined to 0 or 1 -#endif -#if RFM_CLK_OUTPUT - #define RFM_TX_ON_PRE() RFM_SPI_16( \ - RFM_POWER_MANAGEMENT_ES | \ - RFM_POWER_MANAGEMENT_EX ) - #define RFM_TX_ON() RFM_SPI_16( \ - RFM_POWER_MANAGEMENT_ET | \ - RFM_POWER_MANAGEMENT_ES | \ - RFM_POWER_MANAGEMENT_EX ) - #define RFM_RX_ON() RFM_SPI_16( \ - RFM_POWER_MANAGEMENT_ER | \ - RFM_POWER_MANAGEMENT_EBB | \ - RFM_POWER_MANAGEMENT_ES | \ - RFM_POWER_MANAGEMENT_EX ) - #define RFM_OFF() RFM_SPI_16( \ - RFM_POWER_MANAGEMENT_EX ) -#else - #define RFM_TX_ON_PRE() RFM_SPI_16( \ - RFM_POWER_MANAGEMENT_DC | \ - RFM_POWER_MANAGEMENT_ES | \ - RFM_POWER_MANAGEMENT_EX ) - #define RFM_TX_ON() RFM_SPI_16( \ - RFM_POWER_MANAGEMENT_DC | \ - RFM_POWER_MANAGEMENT_ET | \ - RFM_POWER_MANAGEMENT_ES | \ - RFM_POWER_MANAGEMENT_EX ) - #define RFM_RX_ON() RFM_SPI_16( \ - RFM_POWER_MANAGEMENT_DC | \ - RFM_POWER_MANAGEMENT_ER | \ - RFM_POWER_MANAGEMENT_EBB | \ - RFM_POWER_MANAGEMENT_ES | \ - RFM_POWER_MANAGEMENT_EX ) - #define RFM_OFF() RFM_SPI_16(RFM_POWER_MANAGEMENT_DC) -#endif -/////////////////////////////////////////////////////////////////////////////// -// -// 3. Frequency Setting Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_FREQUENCY 0xA000 - -#define RFM_FREQ_315Band(v) (uint16_t)((v/10.0-31)*4000) -#define RFM_FREQ_433Band(v) (uint16_t)((v/10.0-43)*4000) -#define RFM_FREQ_868Band(v) (uint16_t)((v/20.0-43)*4000) -#define RFM_FREQ_915Band(v) (uint16_t)((v/30.0-30)*4000) - -/////////////////////////////////////////////////////////////////////////////// -// -// 4. Data Rate Command -// -///////////////////////////////////////////////////////////////////////////////// - -#define RFM_BAUD_RATE 9600 - -#define RFM_DATA_RATE 0xC600 - -#define RFM_DATA_RATE_CS 0xC680 -#define RFM_DATA_RATE_4800 0xC647 -#define RFM_DATA_RATE_9600 0xC623 -#define RFM_DATA_RATE_19200 0xC611 -#define RFM_DATA_RATE_38400 0xC608 -#define RFM_DATA_RATE_57600 0xC605 - -#define RFM_SET_DATARATE(baud) ( ((baud)<5400) ? (RFM_DATA_RATE_CS|((43104/(baud))-1)) : (RFM_DATA_RATE|((344828UL/(baud))-1)) ) - -/////////////////////////////////////////////////////////////////////////////// -// -// 5. Receiver Control Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_RX_CONTROL 0x9000 - -#define RFM_RX_CONTROL_P20_INT 0x9000 // Pin20 = ExternalInt -#define RFM_RX_CONTROL_P20_VDI 0x9400 // Pin20 = VDI out - -#define RFM_RX_CONTROL_VDI_FAST 0x9000 // fast VDI Response time -#define RFM_RX_CONTROL_VDI_MED 0x9100 // medium -#define RFM_RX_CONTROL_VDI_SLOW 0x9200 // slow -#define RFM_RX_CONTROL_VDI_ON 0x9300 // Always on - -#define RFM_RX_CONTROL_BW_400 0x9020 // bandwidth 400kHz -#define RFM_RX_CONTROL_BW_340 0x9040 // bandwidth 340kHz -#define RFM_RX_CONTROL_BW_270 0x9060 // bandwidth 270kHz -#define RFM_RX_CONTROL_BW_200 0x9080 // bandwidth 200kHz -#define RFM_RX_CONTROL_BW_134 0x90A0 // bandwidth 134kHz -#define RFM_RX_CONTROL_BW_67 0x90C0 // bandwidth 67kHz - -#define RFM_RX_CONTROL_GAIN_0 0x9000 // LNA gain 0db -#define RFM_RX_CONTROL_GAIN_6 0x9008 // LNA gain -6db -#define RFM_RX_CONTROL_GAIN_14 0x9010 // LNA gain -14db -#define RFM_RX_CONTROL_GAIN_20 0x9018 // LNA gain -20db - -#define RFM_RX_CONTROL_RSSI_103 0x9000 // DRSSI threshold -103dbm -#define RFM_RX_CONTROL_RSSI_97 0x9001 // DRSSI threshold -97dbm -#define RFM_RX_CONTROL_RSSI_91 0x9002 // DRSSI threshold -91dbm -#define RFM_RX_CONTROL_RSSI_85 0x9003 // DRSSI threshold -85dbm -#define RFM_RX_CONTROL_RSSI_79 0x9004 // DRSSI threshold -79dbm -#define RFM_RX_CONTROL_RSSI_73 0x9005 // DRSSI threshold -73dbm -//#define RFM_RX_CONTROL_RSSI_67 0x9006 // DRSSI threshold -67dbm // RF12B reserved -//#define RFM_RX_CONTROL_RSSI_61 0x9007 // DRSSI threshold -61dbm // RF12B reserved - -#define RFM_RX_CONTROL_BW(baud) (((baud)<8000) ? \ - RFM_RX_CONTROL_BW_67 : \ - ( \ - ((baud)<30000) ? \ - RFM_RX_CONTROL_BW_134 : \ - RFM_RX_CONTROL_BW_200 \ - )) - -/////////////////////////////////////////////////////////////////////////////// -// -// 6. Data Filter Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_DATA_FILTER 0xC228 - -#define RFM_DATA_FILTER_AL 0xC2A8 // clock recovery auto-lock -#define RFM_DATA_FILTER_ML 0xC268 // clock recovery fast mode -#define RFM_DATA_FILTER_DIG 0xC228 // data filter type digital -#define RFM_DATA_FILTER_ANALOG 0xC238 // data filter type analog -#define RFM_DATA_FILTER_DQD(level) (RFM_DATA_FILTER | (level & 0x7)) - -/////////////////////////////////////////////////////////////////////////////// -// -// 7. FIFO and Reset Mode Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_FIFO 0xCA00 - -#define RFM_FIFO_AL 0xCA04 // FIFO Start condition sync-word/always -#define RFM_FIFO_FF 0xCA02 // Enable FIFO fill -#define RFM_FIFO_DR 0xCA01 // Disable hi sens reset mode -#define RFM_FIFO_IT(level) (RFM_FIFO | (( (level) & 0xF)<<4)) - -#define RFM_FIFO_OFF() RFM_SPI_16(RFM_FIFO_IT(8) | RFM_FIFO_DR) -#define RFM_FIFO_ON() RFM_SPI_16(RFM_FIFO_IT(8) | RFM_FIFO_FF | RFM_FIFO_DR) - -///////////////////////////////////////////////////////////////////////////// -// -// 8. Receiver FIFO Read -// -///////////////////////////////////////////////////////////////////////////// - -#define RFM_READ_FIFO() (RFM_SPI_16(0xB000) & 0xFF) - -///////////////////////////////////////////////////////////////////////////// -// -// 9. AFC Command -// -///////////////////////////////////////////////////////////////////////////// - -#define RFM_AFC 0xC400 - -#define RFM_AFC_EN 0xC401 -#define RFM_AFC_OE 0xC402 -#define RFM_AFC_FI 0xC404 -#define RFM_AFC_ST 0xC408 - -// Limits the value of the frequency offset register to the next values: - -#define RFM_AFC_RANGE_LIMIT_NO 0xC400 // 0: No restriction -#define RFM_AFC_RANGE_LIMIT_15_16 0xC410 // 1: +15 fres to -16 fres -#define RFM_AFC_RANGE_LIMIT_7_8 0xC420 // 2: +7 fres to -8 fres -#define RFM_AFC_RANGE_LIMIT_3_4 0xC430 // 3: +3 fres to -4 fres - -// fres=2.5 kHz in 315MHz and 433MHz Bands -// fres=5.0 kHz in 868MHz Band -// fres=7.5 kHz in 915MHz Band - -#define RFM_AFC_AUTO_OFF 0xC400 // 0: Auto mode off (Strobe is controlled by microcontroller) -#define RFM_AFC_AUTO_ONCE 0xC440 // 1: Runs only once after each power-up -#define RFM_AFC_AUTO_VDI 0xC480 // 2: Keep the foffset only during receiving(VDI=high) -#define RFM_AFC_AUTO_INDEPENDENT 0xC4C0 // 3: Keep the foffset value independently trom the state of the VDI signal - -/////////////////////////////////////////////////////////////////////////////// -// -// 10. TX Configuration Control Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_TX_CONTROL 0x9800 - -#define RFM_TX_CONTROL_POW_0 0x9800 -#define RFM_TX_CONTROL_POW_3 0x9801 -#define RFM_TX_CONTROL_POW_6 0x9802 -#define RFM_TX_CONTROL_POW_9 0x9803 -#define RFM_TX_CONTROL_POW_12 0x9804 -#define RFM_TX_CONTROL_POW_15 0x9805 -#define RFM_TX_CONTROL_POW_18 0x9806 -#define RFM_TX_CONTROL_POW_21 0x9807 -#define RFM_TX_CONTROL_MOD_15 0x9800 -#define RFM_TX_CONTROL_MOD_30 0x9810 -#define RFM_TX_CONTROL_MOD_45 0x9820 -#define RFM_TX_CONTROL_MOD_60 0x9830 -#define RFM_TX_CONTROL_MOD_75 0x9840 -#define RFM_TX_CONTROL_MOD_90 0x9850 -#define RFM_TX_CONTROL_MOD_105 0x9860 -#define RFM_TX_CONTROL_MOD_120 0x9870 -#define RFM_TX_CONTROL_MOD_135 0x9880 -#define RFM_TX_CONTROL_MOD_150 0x9890 -#define RFM_TX_CONTROL_MOD_165 0x98A0 -#define RFM_TX_CONTROL_MOD_180 0x98B0 -#define RFM_TX_CONTROL_MOD_195 0x98C0 -#define RFM_TX_CONTROL_MOD_210 0x98D0 -#define RFM_TX_CONTROL_MOD_225 0x98E0 -#define RFM_TX_CONTROL_MOD_240 0x98F0 -#define RFM_TX_CONTROL_MP 0x9900 - -#define RFM_TX_CONTROL_MOD(baud) (((baud)<8000) ? \ - RFM_TX_CONTROL_MOD_45 : \ - ( \ - ((baud)<20000) ? \ - RFM_TX_CONTROL_MOD_60 : \ - ( \ - ((baud)<30000) ? \ - RFM_TX_CONTROL_MOD_75 : \ - ( \ - ((baud)<40000) ? \ - RFM_TX_CONTROL_MOD_90 : \ - RFM_TX_CONTROL_MOD_120 \ - ) \ - ) \ - )) - -///////////////////////////////////////////////////////////////////////////// -// -// 11. Transmitter Register Write Command -// -///////////////////////////////////////////////////////////////////////////// - -//#define RFM_WRITE(byte) RFM_SPI_16(0xB800 | ((byte) & 0xFF)) -#define RFM_WRITE(byte) RFM_SPI_16(0xB800 | (byte) ) - -/////////////////////////////////////////////////////////////////////////////// -// -// 12. Wake-up Timer Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_WAKEUP_TIMER 0xE000 -#define RFM_WAKEUP_SET(time) RFM_SPI_16(RFM_WAKEUP_TIMER | (time)) - -#define RFM_WAKEUP_480s (RFM_WAKEUP_TIMER |(11 << 8)| 234) -#define RFM_WAKEUP_240s (RFM_WAKEUP_TIMER |(10 << 8)| 234) -#define RFM_WAKEUP_120s (RFM_WAKEUP_TIMER |(9 << 8)| 234) -#define RFM_WAKEUP_119s (RFM_WAKEUP_TIMER |(9 << 8)| 232) - -#define RFM_WAKEUP_60s (RFM_WAKEUP_TIMER |(8 << 8) | 235) -#define RFM_WAKEUP_59s (RFM_WAKEUP_TIMER |(8 << 8) | 230) - -#define RFM_WAKEUP_30s (RFM_WAKEUP_TIMER |(7 << 8) | 235) -#define RFM_WAKEUP_29s (RFM_WAKEUP_TIMER |(7 << 8) | 227) - -#define RFM_WAKEUP_8s (RFM_WAKEUP_TIMER |(5 << 8) | 250) -#define RFM_WAKEUP_7s (RFM_WAKEUP_TIMER |(5 << 8) | 219) -#define RFM_WAKEUP_6s (RFM_WAKEUP_TIMER |(6 << 8) | 94) -#define RFM_WAKEUP_5s (RFM_WAKEUP_TIMER |(5 << 8) | 156) -#define RFM_WAKEUP_4s (RFM_WAKEUP_TIMER |(5 << 8) | 125) -#define RFM_WAKEUP_1s (RFM_WAKEUP_TIMER |(2 << 8) | 250) -#define RFM_WAKEUP_900ms (RFM_WAKEUP_TIMER |(2 << 8) | 225) -#define RFM_WAKEUP_800ms (RFM_WAKEUP_TIMER |(2 << 8) | 200) -#define RFM_WAKEUP_700ms (RFM_WAKEUP_TIMER |(2 << 8) | 175) -#define RFM_WAKEUP_600ms (RFM_WAKEUP_TIMER |(2 << 8) | 150) -#define RFM_WAKEUP_500ms (RFM_WAKEUP_TIMER |(2 << 8) | 125) -#define RFM_WAKEUP_400ms (RFM_WAKEUP_TIMER |(2 << 8) | 100) -#define RFM_WAKEUP_300ms (RFM_WAKEUP_TIMER |(2 << 8) | 75) -#define RFM_WAKEUP_200ms (RFM_WAKEUP_TIMER |(2 << 8) | 50) -#define RFM_WAKEUP_100ms (RFM_WAKEUP_TIMER |(2 << 8) | 25) - -/////////////////////////////////////////////////////////////////////////////// -// -// 13. Low Duty-Cycle Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_LOW_DUTY_CYCLE 0xC800 - -/////////////////////////////////////////////////////////////////////////////// -// -// 14. Low Battery Detector Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_LOW_BATT_DETECT 0xC000 -#define RFM_LOW_BATT_DETECT_D_1MHZ 0xC000 -#define RFM_LOW_BATT_DETECT_D_1_25MHZ 0xC020 -#define RFM_LOW_BATT_DETECT_D_1_66MHZ 0xC040 -#define RFM_LOW_BATT_DETECT_D_2MHZ 0xC060 -#define RFM_LOW_BATT_DETECT_D_2_5MHZ 0xC080 -#define RFM_LOW_BATT_DETECT_D_3_33MHZ 0xC0A0 -#define RFM_LOW_BATT_DETECT_D_5MHZ 0xC0C0 -#define RFM_LOW_BATT_DETECT_D_10MHZ 0xC0E0 - -/////////////////////////////////////////////////////////////////////////////// -// -// 15. Status Read Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_READ_STATUS() RFM_SPI_16(0x0000) -#define RFM_READ_STATUS_FFIT() SPI_1 (0x00) -#define RFM_READ_STATUS_RGIT RFM_READ_STATUS_FFIT - -/////////////////////////////////////////////////////////////////////////////// - -// RFM air protocol flags: - -#define RFMPROTO_FLAGS_BITASK_PACKETTYPE 0b11000000 //!< the uppermost 2 bits of the flags field encode the packettype -#define RFMPROTO_FLAGS_PACKETTYPE_BROADCAST 0b00000000 //!< broadcast packettype (message from hr20, protocol; step 1) -#define RFMPROTO_FLAGS_PACKETTYPE_COMMAND 0b01000000 //!< command packettype (message to hr20, protocol; step 2) -#define RFMPROTO_FLAGS_PACKETTYPE_REPLY 0b10000000 //!< reply packettype (message from hr20, protocol; step 3) -#define RFMPROTO_FLAGS_PACKETTYPE_SPECIAL 0b11000000 //!< currently unused packettype - -#define RFMPROTO_FLAGS_BITASK_DEVICETYPE 0b00011111 //!< the lowermost 5 bytes denote the device type. this way other sensors and actors may coexist -#define RFMPROTO_FLAGS_DEVICETYPE_OPENHR20 0b00010100 //!< topen HR20 device type. 10100 is for decimal 20 - -#define RFMPROTO_IS_PACKETTYPE_BROADCAST(FLAGS) ( RFMPROTO_FLAGS_PACKETTYPE_BROADCAST == ((FLAGS) & RFMPROTO_FLAGS_BITASK_PACKETTYPE) ) -#define RFMPROTO_IS_PACKETTYPE_COMMAND(FLAGS) ( RFMPROTO_FLAGS_PACKETTYPE_COMMAND == ((FLAGS) & RFMPROTO_FLAGS_BITASK_PACKETTYPE) ) -#define RFMPROTO_IS_PACKETTYPE_REPLY(FLAGS) ( RFMPROTO_FLAGS_PACKETTYPE_REPLY == ((FLAGS) & RFMPROTO_FLAGS_BITASK_PACKETTYPE) ) -#define RFMPROTO_IS_PACKETTYPE_SPECIAL(FLAGS) ( RFMPROTO_FLAGS_PACKETTYPE_SPECIAL == ((FLAGS) & RFMPROTO_FLAGS_BITASK_PACKETTYPE) ) -#define RFMPROTO_IS_DEVICETYPE_OPENHR20(FLAGS) ( RFMPROTO_FLAGS_DEVICETYPE_OPENHR20 == ((FLAGS) & RFMPROTO_FLAGS_BITASK_DEVICETYPE) ) - -/////////////////////////////////////////////////////////////////////////////// - -#endif \ No newline at end of file
--- a/Eurobot_shared/Kalman/Sonar/RFSRF05.cpp Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,183 +0,0 @@ - -#include "RFSRF05.h" -#include "mbed.h" -#include "globals.h" -#include "system.h" - - -RFSRF05::RFSRF05(PinName trigger, - PinName echo0, - PinName echo1, - PinName echo2, - PinName echo3, - PinName echo4, - PinName echo5, - PinName SDI, - PinName SDO, - PinName SCK, - PinName NCS, - PinName NIRQ) - : _rf(SDI,SDO,SCK,NCS,NIRQ), - _trigger(trigger), - _echo0(echo0), - _echo1(echo1), - _echo2(echo2), - _echo3(echo3), - _echo4(echo4), - _echo5(echo5) { - - // initialises codes - codes[0] = CODE0; - codes[1] = CODE1; - codes[2] = CODE2; - - //set callback execute to true - ValidPulse = false; - - // Attach interrupts -#ifdef SONAR_ECHO_INV - // inverted sonar inputs - _echo5.fall(this, &RFSRF05::_rising); - _echo0.rise(this, &RFSRF05::_falling); - _echo1.rise(this, &RFSRF05::_falling); - _echo2.rise(this, &RFSRF05::_falling); - _echo3.rise(this, &RFSRF05::_falling); - _echo4.rise(this, &RFSRF05::_falling); - _echo5.rise(this, &RFSRF05::_falling); -#else - _echo5.rise(this, &RFSRF05::_rising); - _echo0.fall(this, &RFSRF05::_falling); - _echo1.fall(this, &RFSRF05::_falling); - _echo2.fall(this, &RFSRF05::_falling); - _echo3.fall(this, &RFSRF05::_falling); - _echo4.fall(this, &RFSRF05::_falling); - _echo5.fall(this, &RFSRF05::_falling); -#endif - - - //init callabck function - callbackfunc = NULL; - callbackobj = NULL; - mcallbackfunc = NULL; - - // innitialises beacon counter - _beacon_counter = 0; - -#ifdef ROBOT_PRIMARY - //Interrupts every 50ms for primary robot - _ticker.attach(this, &RFSRF05::_startRange, 0.05); -#else - //attach callback - _rf.callbackobj = (DummyCT*)this; - _rf.mcallbackfunc = (void (DummyCT::*)(unsigned char rx_data)) &RFSRF05::startRange; -#endif - -} - -#ifdef ROBOT_PRIMARY -void RFSRF05::_startRange() { - - //printf("Srange\r\r"); - - // increments counter - _beacon_counter = (_beacon_counter + 1) % 3; - - - // set flags - ValidPulse = false; - expValidPulse = true; - - // writes code to RF port - _rf.write(codes[_beacon_counter]); - - // send a trigger pulse, 10uS long - _trigger = 1; - wait_us (10); - _trigger = 0; - -} -#else - -void RFSRF05::startRange(unsigned char rx_code) { - for (int i = 0; i < 3; i++) { - if (rx_code == codes[i]) { - - // assign beacon_counter - _beacon_counter = i; - - // set flags - ValidPulse = false; - expValidPulse = true; - - // send a trigger pulse, 10uS long - _trigger = 1; - wait_us (10); - _trigger = 0; - break; - } - } -} -#endif - -// Clear and start the timer at the begining of the echo pulse -void RFSRF05::_rising(void) { - - _timer.reset(); - _timer.start(); - - //Set callback execute to ture - if (expValidPulse) { - ValidPulse = true; - expValidPulse = false; - } -} - -// Stop and read the timer at the end of the pulse -void RFSRF05::_falling(void) { - _timer.stop(); - - if (ValidPulse) { - //printf("Validpulse trig!\r\n"); - ValidPulse = false; - - //Calucate distance - //true offset is about 330, we put 450 so circles overlap - _dist[_beacon_counter] = _timer.read_us()/2.9 + 450; - - if (callbackfunc) - (*callbackfunc)(_beacon_counter, _dist[_beacon_counter]); - - if (callbackobj && mcallbackfunc) - (callbackobj->*mcallbackfunc)(_beacon_counter, _dist[_beacon_counter], sonarvariance); - - } - -} - -float RFSRF05::read0() { - // returns distance - return (_dist[0]); -} - -float RFSRF05::read1() { - // returns distance - return (_dist[1]); -} - -float RFSRF05::read2() { - // returns distance - return (_dist[2]); -} - -float RFSRF05::read(unsigned int beaconnum) { - // returns distance - return (_dist[beaconnum]); -} - -void RFSRF05::setCode(int code_index, unsigned char code) { - codes[code_index] = code; -} - -//SRF05::operator float() { -// return read(); -//}
--- a/Eurobot_shared/Kalman/Sonar/RFSRF05.h Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,102 +0,0 @@ - -#ifndef MBED_RFSRF05_H -#define MBED_RFSRF05_H - - - -#include "mbed.h" -#include "RF12B.h" -#include "globals.h" - - -#define CODE0 0x22 -#define CODE1 0x44 -#define CODE2 0x88 - -/* SAMPLE IMPLEMENTATION! -RFSRF05 my_srf(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9); - - -void callbinmain(int num, float dist) { - //Here is where you deal with your brand new reading ;D -} - -int main() { - pc.printf("Hello World of RobotSonar!\r\n"); - my_srf.callbackfunc = callbinmain; - - while (1); -} - - */ - -class DummyCT; - -class RFSRF05 { -public: - - RFSRF05( - PinName trigger, - PinName echo0, - PinName echo1, - PinName echo2, - PinName echo3, - PinName echo4, - PinName echo5, - PinName SDI, - PinName SDO, - PinName SCK, - PinName NCS, - PinName NIRQ); - - /** A non-blocking function that will return the last measurement - * - * @returns floating point representation of distance in mm - */ - float read0(); - float read1(); - float read2(); - float read(unsigned int beaconnum); - - - /** A assigns a callback function when a new reading is available **/ - void (*callbackfunc)(int beaconnum, float distance); - DummyCT* callbackobj; - void (DummyCT::*mcallbackfunc)(int beaconnum, float distance, float variance); - - //triggers a read - #ifndef ROBOT_PRIMARY - void startRange(unsigned char rx_code); - #endif - - //set codes - void setCode(int code_index, unsigned char code); - unsigned char codes[3]; - - /** A short hand way of using the read function */ - //operator float(); - -private : - RF12B _rf; - DigitalOut _trigger; - InterruptIn _echo0; - InterruptIn _echo1; - InterruptIn _echo2; - InterruptIn _echo3; - InterruptIn _echo4; - InterruptIn _echo5; - Timer _timer; - Ticker _ticker; - #ifdef ROBOT_PRIMARY - void _startRange(void); - #endif - void _rising (void); - void _falling (void); - float _dist[3]; - int _beacon_counter; - bool ValidPulse; - bool expValidPulse; - -}; - -#endif
--- a/Eurobot_shared/Motion/motion.cpp Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,178 +0,0 @@ -#include "motion.h" -#include "geometryfuncs.h" -#include "system.h" -#include "PID.h" - - -Motion::Motion(Motors &motorsin, AI &aiin, Kalman &kalmanin): - thr_motion(mtwrapper,this,osPriorityNormal,1024), - motors(motorsin), - ai(aiin), - kalman(kalmanin) { } - -// motion control thread ------------------------ -void Motion::motion_thread() { - motors.resetEncoders(); - motors.setSpeed(5,5); - motors.stop(); - Thread::wait(1500); - //ai.thr_AI.signal_set(0x01); - - //PID declare - PID PIDControllerMotorTheta2(FWD_MOVE_P, FWD_MOVE_P/7.0f, 0, MOTION_UPDATE_PERIOD/1000.0f); //Going forward - PID PIDControllerMotorTheta(SPIN_MOVE_P, SPIN_MOVE_P/7.0f, 0, MOTION_UPDATE_PERIOD/1000.0f); //Spinning on the spot - - //PID Initialisation - PIDControllerMotorTheta2.setMode(MANUAL_MODE); - PIDControllerMotorTheta.setMode(MANUAL_MODE); - - PIDControllerMotorTheta2.setBias(0); - PIDControllerMotorTheta.setBias(0); - - PIDControllerMotorTheta2.setOutputLimits(-1, 1); - PIDControllerMotorTheta.setOutputLimits(-1, 1); - - PIDControllerMotorTheta2.setInputLimits(-PI, PI); - PIDControllerMotorTheta.setInputLimits(-PI, PI); - - PIDControllerMotorTheta.setSetPoint(0); - PIDControllerMotorTheta2.setSetPoint(0); - - float currX, currY,currTheta; - float speedL,speedR; - float diffDir; - int atTargetFlag = 0; - - while (1) { - //kalman.statelock.lock(); - if (ai.flag_terminate) { - // stops motors and teminates the thread - motors.stop(); - terminate(); - } - // stops motor - else if(ai.flag_motorStop){ - motors.stop(); - } - - - // get kalman localization estimate ------------------------ - kalman.statelock.lock(); - currX = kalman.X(0)*1000.0f; - currY = kalman.X(1)*1000.0f; - currTheta = kalman.X(2); - kalman.statelock.unlock(); - - // make a local copy of the target - ai.targetlock.lock(); - AI::Target loctarget = ai.gettarget(); - ai.targetlock.unlock(); - /* - //PID Tuning Code - if (pc.readable() == 1) { - float cmd; - pc.scanf("%f", &cmd); - //Tune PID referece - PIDControllerMotorTheta2.setTunings(cmd, 0, 0); - } - */ - - // check if target reached ---------------------------------- - if (atTargetFlag || hypot(currX - loctarget.x, currY - loctarget.y) < POSITION_TOR) { - - atTargetFlag = loctarget.reached; - OLED4 = 1; - - diffDir = rectifyAng(currTheta - loctarget.theta); - //diffSpeed = diffDir / PI; - - PIDControllerMotorTheta.setProcessValue(diffDir); - float tempPidVar = PIDControllerMotorTheta.compute(); - motors.setSpeed( -int(tempPidVar*MOVE_SPEED), int(tempPidVar*MOVE_SPEED)); - - if (abs(diffDir) < ANGLE_TOR) { - - if (!loctarget.reached) { - static int counter = 10; - // guarding counter for reaching target - if (counter-- == 0){ - counter = 10; - ai.target.reached = true; - ai.thr_AI.signal_set(0x01); - - } - } - } - } - - // adjust motion to reach target ---------------------------- - else { - - OLED4 = 0; - - // calc direction to target - float targetDir = atan2(loctarget.y - currY, loctarget.x - currX); - if (!loctarget.facing) targetDir = targetDir + PI; - - //Angle differene in -PI to PI - diffDir = rectifyAng(currTheta - targetDir); - - //Set PID process variable - PIDControllerMotorTheta.setProcessValue(diffDir); - PIDControllerMotorTheta2.setProcessValue(diffDir); - - //if diffDIr is neg, spin right - //if diffDir is pos, spin left - - if (abs(diffDir) > ANGLE_TOR*4) { //roughly 32 degrees - //ANGLE_TOR*4 - float tempPidVar = PIDControllerMotorTheta.compute(); - motors.setSpeed( -int(tempPidVar*MOVE_SPEED), int(tempPidVar*MOVE_SPEED)); - //pc.printf("spin,%f\n",diffDir); - - } else { - - float tempPidVar = PIDControllerMotorTheta2.compute(); - float MoveSpeedLimiter = 1; - //pc.printf("turn,%f\n",diffDir); - - float distanceToX = (float)abs(currX - loctarget.x); - float distanceToY = (float)abs(currY - loctarget.y); - - float distanceToTarget = hypot(distanceToX, distanceToY); - - if ((distanceToTarget < 400) && (distanceToTarget > 100)) { - MoveSpeedLimiter = (distanceToTarget)/400; - } - else if(distanceToTarget <= 100) { - MoveSpeedLimiter = 0.25; - } - - - - - // calculte the motor speeds - if (tempPidVar >= 0) { - //turn left - speedL = (1-abs(tempPidVar))*MOVE_SPEED*MoveSpeedLimiter; - speedR = MOVE_SPEED*MoveSpeedLimiter; - - } else { - //turn right - speedR = (1-abs(tempPidVar))*MOVE_SPEED*MoveSpeedLimiter; - speedL = MOVE_SPEED*MoveSpeedLimiter; - } - - - - - if (loctarget.facing) motors.setSpeed( int(speedL), int(speedR)); - else motors.setSpeed( -int(speedR), -int(speedL)); - - } - } - //kalman.statelock.unlock(); - // wait - Thread::wait(MOTION_UPDATE_PERIOD); - } -} \ No newline at end of file
--- a/Eurobot_shared/Motion/motion.h Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,18 +0,0 @@ -#include "motors.h" -#include "ai.h" -#include "Kalman.h" - -class Motion { -public: - Motion(Motors &motorsin, AI &aiin, Kalman &kalmanin); - Thread thr_motion; - -private: - Motors& motors; - AI& ai; - Kalman& kalman; - - void motion_thread(); - static void mtwrapper(void const *arg){ ((Motion*)arg)->motion_thread(); } - -}; \ No newline at end of file
--- a/Eurobot_shared/TSH.h Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,62 +0,0 @@ -#ifndef TSH_H -#define TSH_H - -#include "rtos.h" - -//Thread Safe Hardware - -class TSI2C : public I2C { -public: - - TSI2C( PinName sda, - PinName scl, - const char* name=NULL ) - : I2C(sda, scl, name) { } - - - int read( int address, - char* data, - int length, - bool repeated = false ) { - - rlock.lock(); - int retval = I2C::read(address, data, length, repeated); - rlock.unlock(); - - return retval; - } - - int read(int ack) { - rlock.lock(); - int retval = I2C::read(ack); - rlock.unlock(); - - return retval; - } - - int write( int address, - const char* data, - int length, - bool repeated = false ) { - - wlock.lock(); - int retval = I2C::write(address, data, length, repeated); - wlock.unlock(); - - return retval; - } - - int write(int data) { - wlock.lock(); - int retval = I2C::write(data); - wlock.unlock(); - - return retval; - } - -private: - Mutex rlock; - Mutex wlock; -}; - -#endif \ No newline at end of file
--- a/Eurobot_shared/ai/ai.cpp Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,34 +0,0 @@ - -#include "ai.h" -#include "rtos.h" -#include "globals.h" - -AI::AI() : - thr_AI(aithreadwrapper,this,osPriorityNormal,1024) { - flag_terminate = false; - flag_motorStop = true; - //printf("aistart\r\n"); -} - -void AI::settarget(float targetX, float targetY, float targetTheta, bool targetfacing) { - targetlock.lock(); - target.x = targetX; - target.y = targetY; - target.theta = targetTheta; - target.facing = targetfacing; - target.reached = false; - targetlock.unlock(); -} - -void AI::settarget(Target targetin) { - targetlock.lock(); - target = targetin; - targetlock.unlock(); -} - -AI::Target AI::gettarget() { - targetlock.lock(); - Target temptarget = target; - targetlock.unlock(); - return temptarget; -} \ No newline at end of file
--- a/Eurobot_shared/ai/ai.h Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,35 +0,0 @@ -#ifndef AI_H -#define AI_H - -#include "rtos.h" - -class AI { -public: -AI(); - -Mutex targetlock; -Thread thr_AI; - -struct Target { - float x; - float y; - float theta; - bool facing; - bool reached; -} target; - -void settarget(float targetX, float targetY, float targetTheta, bool targetfacing = true); -void settarget(Target); -Target gettarget(); - -bool flag_terminate;// = false; -bool flag_motorStop; // = true; - -private: - -void ai_thread (); -static void aithreadwrapper(void const *arg){ ((AI*)arg)->ai_thread(); } - -}; - -#endif //AI_H \ No newline at end of file
--- a/Eurobot_shared/geometryfuncs/geometryfuncs.h Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,28 +0,0 @@ -#ifndef GEOMETRYFUNCS_H -#define GEOMETRYFUNCS_H - -#include <tvmet/Matrix.h> - -template <typename T> -Matrix <T, 2, 2> Rotmatrix(T theta) { - Matrix <T, 2, 2> outmatrix; - outmatrix = cos(theta), -sin(theta), - sin(theta), cos(theta); - return outmatrix; -} - -// rectifies angle to range -PI to PI -template <typename T> -T rectifyAng (T ang_in) { - ang_in -= (floor(ang_in/(2*PI)))*2*PI; - if (ang_in < -PI) { - ang_in += 2*PI; - } - if (ang_in > PI) { - ang_in -= 2*PI; - } - - return ang_in; -} - -#endif //GEOMETRYFUNCS_H \ No newline at end of file
--- a/Eurobot_shared/system/system.cpp Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,29 +0,0 @@ -#include "system.h" - -//Defining the externs -DigitalOut OLED1(LED1); -DigitalOut OLED2(LED2); -DigitalOut OLED3(LED3); -DigitalOut OLED4(LED4); - -//nop style wait function -void nopwait(int ms){ -while(ms--) - for (volatile int i = 0; i < 24000; i++); -} - -float cpupercent; //defining the extern -void measureCPUidle (void const* arg) { - - Timer timer; - cpupercent = 0; //defined in system.h - - while(1) { - timer.reset(); - timer.start(); - wait(1); - - int thistime = timer.read_us()-1000000; - cpupercent = thistime; - } -} \ No newline at end of file
--- a/Eurobot_shared/system/system.h Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,51 +0,0 @@ - -#ifndef SYSTEM_H -#define SYSTEM_H - -#include "globals.h" -#include "rtos.h" - -//Declaring the onboard LED's for everyone to use -extern DigitalOut OLED1;//(LED1); -extern DigitalOut OLED2;//(LED2); -extern DigitalOut OLED3;//(LED3); -extern DigitalOut OLED4;//(LED4); - -//nop style wait function -void nopwait(int ms); - -//a type which is a pointer to a rtos thread function -typedef void (*tfuncptr_t)(void const *argument); - -//--------------------- -//Signal ticker stuff -#define SIGTICKARGS(thread, signal) \ - (tfuncptr_t) (&Signalsetter::callback), osTimerPeriodic, (void*)(new Signalsetter(thread, signal)) - -class Signalsetter { -public: - Signalsetter(Thread& inthread, int insignal) : - thread(inthread) { - signal = insignal; - //pc.printf("ptr saved as %#x \r\n", (int)(&(inthread))); - } - - static void callback(void* thisin) { - - Signalsetter* fthis = (Signalsetter*)thisin; - //pc.printf("callback will signal thread object at %#x \r\n", (int)(&(fthis->thread))); - fthis->thread.signal_set(fthis->signal); - //delete fthis; //this is useful for single fire tickers! - } - -private: - Thread& thread; - int signal; -}; - -//--------------------- -//cpu usage measurement function -extern float cpupercent; -void measureCPUidle (void const* arg); - -#endif
--- a/Eurobot_shared/ui/ui.cpp Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,103 +0,0 @@ - -#include "ui.h" -#include <iostream> -#include "system.h" - -UI::UI() : - tUI(printtw,this,osPriorityNormal,2048) { - newdataflags = 0; - for (int i = 0; i < NUMIDS; i++) { - idlist[i] = 0; - buffarr[i] = 0; - } - -} - -bool UI::regid(char id, unsigned int length) { - - //check if the id is already taken - if (id < NUMIDS && !idlist[id]) { - idlist[id] = length; - buffarr[id] = new float[length]; - return true; - } else - return false; -} - -bool UI::updateval(char id, float* buffer, unsigned int length) { - - //check if the id is registered, and has buffer of correct length - if (id < NUMIDS && idlist[id] == length && buffarr[id] && !(newdataflags & (1<<id))) { - for (int i = 0; i < length; i++) - buffarr[id][i] = buffer[i]; - newdataflags |= (1<<id); - return true; - } else{ - return false; - } -} - -bool UI::updateval(char id, float value) { - - //check if the id is registered, and the old value has been written - if (id < NUMIDS && idlist[id] == 1 && buffarr[id] && !(newdataflags & (1<<id))) { - buffarr[id][0] = value; - newdataflags |= (1<<id); - return true; - } else - return false; - -} - -bool UI::unregid(char id) { - if (id < NUMIDS) { - idlist[id] = 0; - if (buffarr[id]) - delete buffarr[id]; - return true; - } else - return false; -} - -void UI::printloop() { - -#ifdef UION - Thread::wait(1500); -#else - Thread::wait(osWaitForever); -#endif - - char* sync = "ABCD"; - std::cout.write(sync, 4); - //std::cout.flush(); - std::cout << std::endl; - //printf("\r\n"); - - while (1) { - - OLED3 = !OLED3; - - //send number of packets - char numtosend = 0; - for (int id = 0; id < NUMIDS; id++) - if (newdataflags & (1<<id)) - numtosend++; - - std::cout.put(numtosend); - - //send packets - for (char id = 0; id < NUMIDS; id++) { - if (newdataflags & (1<<id)) { - std::cout.put(id); - std::cout.write((char*)buffarr[id], idlist[id] * sizeof(float)); - newdataflags &= ~(1<<id); - } - } - - std::cout << std::endl; - //std::cout.flush(); - Thread::wait(200); - } - -} -
--- a/Eurobot_shared/ui/ui.h Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,30 +0,0 @@ - -#ifndef UI_H -#define UI_H - -#include "rtos.h" - -#define NUMIDS 32 - -class UI { -public: - Thread tUI; - - UI(); - - bool regid(char id, unsigned int length); - bool updateval(char id, float* buffer, unsigned int length); - bool updateval(char id, float value); - bool unregid(char id); - -private: - Mutex printlock; - char idlist[NUMIDS]; - float* buffarr[NUMIDS]; - volatile int newdataflags; //Only works for NUMID = 32 - - void printloop(); - static void printtw(void const *arg){ ((UI*)arg)->printloop(); } -}; - -#endif //UI_H
--- a/Servo.lib Thu May 03 14:20:04 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/simon/libraries/Servo/le3jpb \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo/.lib Fri May 04 02:50:07 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/jdenkers/libraries/Servo/lgfiff \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo/Servo.cpp Fri May 04 02:50:07 2012 +0000 @@ -0,0 +1,26 @@ +#include "Servo.h" +#include "mbed.h" + + Servo::Servo(PinName Pin) : ServoPin(Pin) {} + + void Servo::SetPosition(int Pos) { + Position = Pos; + } + + void Servo::StartPulse() { + ServoPin = 1; + PulseStop.attach_us(this, &Servo::EndPulse, Position); + } + + void Servo::EndPulse() { + ServoPin = 0; + } + + void Servo::Enable(int StartPos, int Period) { + Position = StartPos; + Pulse.attach_us(this, &Servo::StartPulse, Period); + } + + void Servo::Disable() { + Pulse.detach(); + } \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo/Servo.h Fri May 04 02:50:07 2012 +0000 @@ -0,0 +1,90 @@ +/* mbed Servo Library without using PWM pins + * Copyright (c) 2010 Jasper Denkers + * + * 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_SERVO_H +#define MBED_SERVO_H + +#include "mbed.h" + +/** Class to control a servo on any pin, without using pwm + * + * Example: + * @code + * // Keep sweeping servo from left to right + * #include "mbed.h" + * #include "Servo.h" + * + * Servo Servo1(p20); + * + * Servo1.Enable(1500,20000); + * + * while(1) { + * for (int pos = 1000; pos < 2000; pos += 25) { + * Servo1.SetPosition(pos); + * wait_ms(20); + * } + * for (int pos = 2000; pos > 1000; pos -= 25) { + * Servo1.SetPosition(pos); + * wait_ms(20); + * } + * } + * @endcode + */ + +class Servo { + +public: + /** Create a new Servo object on any mbed pin + * + * @param Pin Pin on mbed to connect servo to + */ + Servo(PinName Pin); + + /** Change the position of the servo. Position in us + * + * @param NewPos The new value of the servos position (us) + */ + void SetPosition(int NewPos); + + /** Enable the servo. Without enabling the servo won't be running. Startposition and period both in us. + * + * @param StartPos The position of the servo to start (us) + * @param Period The time between every pulse. 20000 us = 50 Hz(standard) (us) + */ + void Enable(int StartPos, int Period); + + /** Disable the servo. After disabling the servo won't get any signal anymore + * + */ + void Disable(); + +private: + void StartPulse(); + void EndPulse(); + + int Position; + DigitalOut ServoPin; + Ticker Pulse; + Timeout PulseStop; +}; + +#endif \ No newline at end of file
--- a/front_arms.h Thu May 03 14:20:04 2012 +0000 +++ b/front_arms.h Fri May 04 02:50:07 2012 +0000 @@ -2,6 +2,7 @@ #define _FRONT_ARMS_H #include "mbed.h" +#include "Servo.h" #define LEFT_ARM_PIN p21 #define RIGHT_ARM_PIN p24 @@ -9,14 +10,18 @@ Servo leftServo(LEFT_ARM_PIN); Servo rightServo(RIGHT_ARM_PIN); -void setLeftArmPosition(float degrees) { - if(degrees < 90) degrees = 90; // If arm moves past this angle, robot will not fit in the perimeter constraint - leftServo.position(degrees); +void ArmsOpen(void) { + leftServo.SetPosition(1900); + rightServo.SetPosition(1000); +} +void ArmsClose(void) { + leftServo.SetPosition(1000); + rightServo.SetPosition(1900); } -void setRightArmPosition(float degrees) { - if(degrees > 90) degrees = 90; // If arm moves past this angle, robot will not fit in the perimeter constraint - rightServo.position(degrees); +void ArmsEnable(void) { + leftServo.Enable(1000,20000); + rightServo.Enable(1000,20000); } #endif // _FRONT_ARMS_H \ No newline at end of file
--- a/globals.h Thu May 03 14:20:04 2012 +0000 +++ b/globals.h Fri May 04 02:50:07 2012 +0000 @@ -6,8 +6,6 @@ //#define ROBOT_SECONDARY -//#define STARTLOC_RED -#define STARTLOC_BLUE //enables ui //#define UION @@ -51,14 +49,11 @@ int y; }; -// Red start -#ifdef STARTLOC_RED -const pos beaconpos[] = {{3000, 1000},{0,0}, {0,2000}}; +//beacon positions +extern pos beaconpos[]; -// Blue Start -#else -const pos beaconpos[] = {{0, 1000},{3000,0}, {3000,2000}}; -#endif +//Colour +extern bool Colour; // 1 for red, 0 for blue //System constants const int PREDICTPERIOD = 20; //ms @@ -76,11 +71,11 @@ #define RELI_BOUND_HIGH 25 // Movement target tolerances -#define POSITION_TOR 30 // in mm -#define ANGLE_TOR 0.1 // in rad +#define POSITION_TOR 40 // in mm +#define ANGLE_TOR 0.06 // in rad // motion control -#define MOVE_SPEED 20 +#define MOVE_SPEED 35 #define MAX_STEP_RATIO 0.10 //maximum change in the speed //#define TRACK_RATE 10 // +- rate for each wheel when tracking
--- a/main.cpp Thu May 03 14:20:04 2012 +0000 +++ b/main.cpp Fri May 04 02:50:07 2012 +0000 @@ -10,13 +10,18 @@ #include "motion.h" #include "ai.h" #include "ui.h" +#include "front_arms.h" //#include <iostream> //Interface declaration Serial pc(USBTX, USBRX); // tx, rx +bool Colour = 1; // 1 for red, 0 for blue +pos beaconpos[] = {{3000, 1000},{0,0}, {0,2000}}; //predefined red start + DigitalIn StartTrig(p12); +DigitalIn ColourToggle(p16); //high for red, low for blue(purple) Ticker StopTicker; Motors motors; @@ -32,17 +37,48 @@ //Main loop int main() { - pc.baud(115200); // no motor motions till we pull the trig ai.flag_motorStop = true; + + Colour = ColourToggle; + // re-defines beacon positions by the toggle switch + kalman.statelock.lock(); + if (Colour) { + beaconpos[0].x = 3000; + beaconpos[0].y = 1000; + beaconpos[1].x = 0; + beaconpos[1].y = 0; + beaconpos[2].x = 0; + beaconpos[2].y = 2000; + //beaconpos[] = {{3000, 1000},{0,0}, {0,2000}}; + } else { + beaconpos[0].x = 0; + beaconpos[0].y = 1000; + beaconpos[1].x = 3000; + beaconpos[1].y = 0; + beaconpos[2].x = 3000; + beaconpos[2].y = 2000; + //beaconpos[] = {{0, 1000},{3000,0}, {3000,2000}}; + } + kalman.statelock.unlock(); + + pc.baud(115200); + ArmsEnable(); + ArmsClose(); + + //Init kalman, this should be done in the mid of the arena before the game starts kalman.KalmanInit(); //Thread tMotorThread(vMotorThread,NULL,osPriorityNormal,256); - Thread tUpdateState(vPrintState,NULL,osPriorityNormal,1024); + //Thread tUpdateState(vPrintState,NULL,osPriorityNormal,1024); pc.printf("We got to main! ;D\r\n"); + if (Colour) + printf("I'm in Red \n\r"); + else + printf("I'm in Blue \n\r"); //REMEMBERT TO PUT PULL UP RESISTORS ON I2C!!!!!!!!!!!!!! while (1) { @@ -87,39 +123,56 @@ printf("Waiting for the trigger pull ....\r\n"); // wait for the start triger - while (StartTrig) { + while (!StartTrig) { Thread::wait(10); }; + + printf("GO! \r\n"); + kalman.KalmanReset(); + Thread::wait(100); + + - // attach a 90 seconds stop timer - StopTicker.attach(&vStop, 90); + // attach a 87 seconds stop timer + StopTicker.attach(&vStop, 87); // starts motors ai.flag_motorStop = false; -#ifdef STARTLOC_RED + + // no override + ai.flag_manOverride = false; + + +//if (Colour){ // strat 1 RED ================================== + ArmsOpen(); + Thread::wait(500); + // goto middle x - settarget(1500, 250, PI/2, true); + settarget(1500, 250, PI/2, true,Colour); Thread::signal_wait(0x01); Thread::wait(2000); + // to palm tree - settarget(1500, 1000, PI, true); + settarget(1500, 1050, PI, true,Colour); Thread::signal_wait(0x01); Thread::wait(2000); // run over totem - settarget(640,1000,PI, true); + settarget(640,1050,PI, true,Colour); Thread::signal_wait(0x01); Thread::wait(2000); + ArmsClose(); // back to ship - settarget(220,780,PI,true); + settarget(220,780,PI,true,Colour); Thread::signal_wait(0x01); Thread::wait(2000); +//} -#else +/*else{ // strat 1 BLUE ================================== // goto middle x settarget(3000-1500, 250, PI/2, true); @@ -139,18 +192,18 @@ // back to ship settarget(3000-220,780,0,true); Thread::signal_wait(0x01); - Thread::wait(2000); -#endif - + Thread::wait(2000); +} +*/ // going from ship to ship for the remaining secs while (true){ - // back to ship, RED - settarget(220,780,PI,true); + // back to home, RED + settarget(500,400,PI,true); Thread::signal_wait(0x01); Thread::wait(2000); // back to ship, BLUE - settarget(3000-220,780,0,true); + settarget(500,1600,0,true); Thread::signal_wait(0x01); Thread::wait(2000); } @@ -217,7 +270,7 @@ void vStop (void) { // while (true) { - motors.stop(); + motors.coastStop(); ai.flag_motorStop = true; // terminate thread, stopps motors permanently ai.flag_terminate = true;
--- a/motors/motors.cpp Thu May 03 14:20:04 2012 +0000 +++ b/motors/motors.cpp Fri May 04 02:50:07 2012 +0000 @@ -25,14 +25,14 @@ Encoder2 (p27, p28, NC, 1856 ,QEI::X4_ENCODING), //connects to motor2 quadracture encoders Motor1A(p17), Motor1B(p18), Motor2A(p19), Motor2B(p13), //connects to direction pins Motor1Enable(p25), Motor2Enable(p26), //Connects to control board enable pins to control motors speeds. PWM pins. Remember enable must be set before the direction pins changed!! - //PIDControllerMotor1(2.25, 0.3, 0.00001, 0.010), PIDControllerMotor2(2.25, 0.3, 0.00001, 0.010) - PIDControllerMotor1(3.5, 0.5, 0.0, 0.010), PIDControllerMotor2(3.5, 0.5, 0.0, 0.010){ + PIDControllerMotor1(2.25, 0.3, 0.00001, 0.010), PIDControllerMotor2(2.25, 0.3, 0.00001, 0.010) { + //PIDControllerMotor1(3.5, 0.5, 0.0, 0.010), PIDControllerMotor2(3.5, 0.5, 0.0, 0.010){ //Initialise PID controllers PIDControllerMotor1.setMode(MANUAL_MODE); PIDControllerMotor2.setMode(MANUAL_MODE); - PIDControllerMotor1.setBias(-16); - PIDControllerMotor2.setBias(-16); + PIDControllerMotor1.setBias(0); + PIDControllerMotor2.setBias(0); PIDControllerMotor1.setOutputLimits(-127, 127); PIDControllerMotor2.setOutputLimits(-127, 127); PIDControllerMotor1.setInputLimits(-102, 102); @@ -57,6 +57,8 @@ //********************************************* void Motors::speedRegulatorTask() { + if (_enableSpeed == 1) { + int latestMotor1Speed = 0; int latestMotor2Speed = 0; int computedSpeed1 = 0; @@ -122,6 +124,7 @@ _setSpeed(computedSpeed1, computedSpeed2); } +} //********************************************* // @@ -146,7 +149,7 @@ _motorSpeed2 = speed2; _lastEncoder1 = getEncoder1(); _lastEncoder2 = getEncoder2(); - + _enableSpeed = 1; //acceleration control if (accelerationRegister == 1) { //target accelerated speed @@ -171,6 +174,19 @@ //********************************************* // +// @Description stops motors +// +//********************************************* +void Motors::coastStop() +{ + setSpeed(0); + _enableSpeed = 0; + +} + + +//********************************************* +// // @Description resets motor1 and motor encoders // //*********************************************
--- a/motors/motors.h Thu May 03 14:20:04 2012 +0000 +++ b/motors/motors.h Fri May 04 02:50:07 2012 +0000 @@ -31,10 +31,10 @@ float _debug1; float _debug2; int accelerationRegister; //turns on acceleration control + void coastStop(); private: - - + void _setSpeed(int speed1, int speed2); void _stop(); void _stop(int motor1, int motor2); @@ -55,6 +55,7 @@ int _pidDataBufferIndex; int _accelerationSpeed1; int _accelerationSpeed2; + int _enableSpeed; Ticker _ticker; };