Revision 3:429829612cf9, committed 2012-04-26

Comitter:

narshu

Date:

Thu Apr 26 21:11:05 2012 +0000

Parent:

2:cffa347bb943

Child:

4:7b7334441da9

Commit message:

not working still!

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Kalman.lib	Thu Apr 26 21:11:05 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/narshu/libraries/Kalman/m93uhf
\ No newline at end of file

--- a/Kalman/.lib	Thu Apr 26 21:02:12 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/narshu/libraries/Kalman/m93uhf
\ No newline at end of file

--- a/Kalman/IR/IR.cpp	Thu Apr 26 21:02:12 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,77 +0,0 @@
-#include "IR.h"
-#include "Kalman.h"
-#include "system.h"
-#include "geometryfuncs.h"
-
-IR::IR(Kalman &kalmanin, PinName TX, PinName RX):
-    IRserial(p9, p10),
-    kalman(kalmanin) {
-    
-    //Starting values of IR calibration
-    angleInit = false;
-    angleOffset = 0;
-    
-    //Setting up IR serial
-    IRserial.baud(115200);
-    IRserial.format(8,Serial::Odd,1);
-    IRserial.attach(this, &IR::vIRValueISR, Serial::RxIrq);
-    
-    }
-    
-void IR::detachisr(){
-    IRserial.attach(NULL,Serial::RxIrq);
-}
-
-void IR::attachisr(){
-    IRserial.attach(this, &IR::vIRValueISR, Serial::RxIrq);
-}
-
-void IR::vIRValueISR (void) {
-
-    // bytes packing/unpacking for IR turret serial comm
-    union IRValue_t {
-        float IR_floats[3];
-        int IR_ints[3];
-        unsigned char IR_chars[12];
-    } IRValues;
-
-    
-    // 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
-    unsigned char RBR = LPC_UART1->RBR;
-
-    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
-            OLED3 = !OLED3;
-            if (angleInit) {
-                kalman.runupdate(Kalman::measurement_t(IRValues.IR_ints[0]+3),rectifyAng(IRValues.IR_floats[1] - angleOffset),IRValues.IR_floats[2]);
-            } else {
-                //dont bother to update if we dont know the offset of the IR, as it messes up the P matrix
-                //kalman->runupdate(kalman.measurement_t(IRValues.IR_ints[0]+3),IRValues.IR_floats[1],IRValues.IR_floats[2]);
-                
-                //only update the IRMeasures used by kalman init
-                kalman.IRMeasures[IRValues.IR_ints[0]] = IRValues.IR_floats[1];
-            }
-        }
-
-    }
-}
\ No newline at end of file

--- a/Kalman/IR/IR.h	Thu Apr 26 21:02:12 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,28 +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;
-
-bool angleInit; // = false;
-float angleOffset; // = 0;
-
-IR(Kalman &kalmanin, PinName TX, PinName RX);
-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