Eurobot2012_Primary
Dependencies: mbed Eurobot_2012_Primary
Revision 2:cffa347bb943, committed 2012-04-26
- Comitter:
- narshu
- Date:
- Thu Apr 26 21:02:12 2012 +0000
- Parent:
- 1:bbabbd997d21
- Child:
- 3:429829612cf9
- Commit message:
- not working
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Kalman/.lib Thu Apr 26 21:02:12 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/narshu/libraries/Kalman/m93uhf \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Kalman/IR/IR.cpp Thu Apr 26 21:02:12 2012 +0000 @@ -0,0 +1,77 @@ +#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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Kalman/IR/IR.h Thu Apr 26 21:02:12 2012 +0000 @@ -0,0 +1,28 @@ + +#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
--- a/Kalman/Kalman.cpp Fri Apr 20 21:56:15 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,262 +0,0 @@ -//*************************************************************************************** -//Kalman Filter implementation -//*************************************************************************************** -#include "Kalman.h" -#include "rtos.h" -#include "RFSRF05.h" -//#include "MatrixMath.h" -//#include "Matrix.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; -DigitalOut led1(LED1); -DigitalOut led2(LED2); -DigitalOut led3(LED3); -DigitalOut led4(LED4); - - -Kalman::Kalman(Motors &motorsin) : - sonararray(p23,p14,p14,p14,p15,p15,p15,p5,p6,p7,p8,p11), - motors(motorsin), - predictthread(predictloopwrapper, this, osPriorityNormal, 512), - predictticker( SIGTICKARGS(predictthread, 0x1) ), -// sonarthread(sonarloopwrapper, this, osPriorityNormal, 256), -// sonarticker( SIGTICKARGS(sonarthread, 0x1) ), - updatethread(updateloopwrapper, this, osPriorityNormal, 2048) { - - //Initilising matrices - - // X = x, y, theta; - X = 0.5, 0, 0; - - P = 1, 0, 0, - 0, 1, 0, - 0, 0, 0.04; - - //Q = 0.002, 0, 0, //temporary matrix, Use dt! - // 0, 0.002, 0, - // 0, 0, 0.002; - - //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); - - -} - - -void Kalman::predictloop() { - - float lastleft = 0; - float lastright = 0; - - while (1) { - Thread::signal_wait(0x1); - led1 = !led1; - - 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(); - - //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 - Matrix<float, 3, 3> F; - F = 1, 0, (dxp * -sin(X(2)) - dyp * cos(X(2))), - 0, 1, (dxp * cos(X(2)) - dyp * sin(X(2))), - 0, 0, 1; - - //Generating forward and rotational variance - float varfwd = fwdvarperunit * (dright + dleft) / 2.0f; - float varang = varperang * thetap; - float varxydt = xyvarpertime * PREDICTPERIOD; - float varangdt = angvarpertime * PREDICTPERIOD; - - //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; - - statelock.unlock(); - //Thread::wait(PREDICTPERIOD); - - //cout << "predict" << X << endl; - //cout << P << endl; - } -} - -//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) - led4 = 1; - // printf("putting in MQ error code %#x\r\n", putret); - } else { - led4 = 1; - //printf("MQalloc returned NULL ptr\r\n"); - } - -} - -void Kalman::updateloop() { - 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) { - led2 = !led2; - - 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) { - - float dist = value / 1000.0f; //converting to m from mm - int sonarid = type; - aborton2stddev = false; - - statelock.lock(); - SonarMeasures[sonarid] = dist; //update the current sonar readings - - 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; - - dhdx = rbx / expecdist; - dhdy = rby / expecdist; - - H = dhdx, dhdy, 0; - - } else if (type <= IR3) { - - aborton2stddev = false; - int IRidx = type-3; - - statelock.lock(); - IRMeasures[IRidx] = value; - - rbx = X(0) - beaconpos[IRidx].x/1000.0f; - rby = X(1) - beaconpos[IRidx].y/1000.0f; - - float expecang = atan2(-rbx, -rby) - X(2); - //printf("expecang: %0.4f, value: %0.4f \n\r", expecang*180/PI,value*180/PI); - Y = rectifyAng(value + expecang); - - 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 { - led4 = 1; - //printf("ERROR: in updateloop, code %#x", evt); - } - - } - -} \ No newline at end of file
--- a/Kalman/Kalman.h Fri Apr 20 21:56:15 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,59 +0,0 @@ -#include "rtos.h" -//#include "Matrix.h" -#include "motors.h" -#include "RFSRF05.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); - - 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]; - -private: - - //Matrix<float, 3, 3> Q; //perhaps calculate on the fly? dependant on speed etc? - - RFSRF05 sonararray; - Motors& motors; - - 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(); } - - -}; \ No newline at end of file
--- a/Kalman/Sonar/.lib Fri Apr 20 21:56:15 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/narshu/libraries/Sonar/m7pll8 \ No newline at end of file
--- a/Kalman/Sonar/RF12B/RF12B.cpp Fri Apr 20 21:56:15 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,393 +0,0 @@ -#include "RF12B.h" - -#include "RF_defs.h" -#include <algorithm> - -//#include "globals.h" - -//DigitalOut DBG2(LED2); -//DigitalOut DBG3(LED3); -//DigitalOut DBG4(LED4); - -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); - - - // 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() { - - //static int cnt = 0; - //printf("%d hits\r\n", cnt); - //cnt++; - - //DBG2 = !(cnt%3); - //DBG3 = !((cnt+1)%3); - //DBG4 = !((cnt+2)%3); - - unsigned int data = 0; - static int i = -2; - static unsigned char packet_length = 0; - static unsigned char crc = 0; - - //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); - //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.front()); - // temp.pop(); - //} - } - - // 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/Kalman/Sonar/RF12B/RF12B.h Fri Apr 20 21:56:15 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,75 +0,0 @@ -#ifndef _RF12B_H -#define _RF12B_H - -#include "mbed.h" -#include <queue> - -enum rfmode_t{RX, TX}; - -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(); - -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/Kalman/Sonar/RF12B/RFSerial.cpp Fri Apr 20 21:56:15 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,25 +0,0 @@ - -/* Constructor */ -#include "RFSerial.h" - -RFSerial::RFSerial(PinName _SDI, - PinName _SDO, - PinName _SCK, - PinName _NCS, - PinName _NIRQ) -:RF12B(_SDI, _SDO, _SCK, _NCS, _NIRQ) { - -} - -// Stream implementation functions -int RFSerial::_putc(int value) { - RF12B::write((unsigned char) value); - return value; -} -int RFSerial::_getc() { - if(available()) { - return RF12B::read(); - } else { - return EOF; - } -} \ No newline at end of file
--- a/Kalman/Sonar/RF12B/RFSerial.h Fri Apr 20 21:56:15 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,17 +0,0 @@ -#include "mbed.h" -#include "RF12B.h" - -class RFSerial : public Stream, public RF12B { -public: - /* Constructor */ - RFSerial(PinName _SDI, - PinName _SDO, - PinName _SCK, - PinName _NCS, - PinName _NIRQ); - -protected: - // Stream implementation functions - virtual int _putc(int value); - virtual int _getc(); -}; \ No newline at end of file
--- a/Kalman/Sonar/RF12B/RF_defs.h Fri Apr 20 21:56:15 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/Kalman/Sonar/RFSRF05.cpp Fri Apr 20 21:56:15 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,135 +0,0 @@ - -#include "RFSRF05.h" -#include "mbed.h" -#include "globals.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 - _code[0] = CODE0; - _code[1] = CODE1; - _code[2] = CODE2; - - //set callback execute to true - ValidPulse = false; - - // Attach interrupts - _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); - - - //init callabck function - callbackfunc = NULL; - callbackobj = NULL; - mcallbackfunc = NULL; - - // innitialises beacon counter - _beacon_counter = 0; - - //Interrupts every 50ms - _ticker.attach(this, &RFSRF05::_startRange, 0.05); -} - - -void RFSRF05::_startRange() { - - //printf("Srange\r\r"); - - // increments counter - _beacon_counter = (_beacon_counter + 1) % 3; - - // writes code to RF port - _rf.write(_code[_beacon_counter]); - - // send a trigger pulse, 10uS long - ValidPulse = false; - expValidPulse = true; - - _trigger = 1; - wait_us (10); - _trigger = 0; - wait_us(50); -} - - -// 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 - _dist[_beacon_counter] = _timer.read_us()/2.9 + 300; - - 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]); -} - -//SRF05::operator float() { -// return read(); -//}
--- a/Kalman/Sonar/RFSRF05.h Fri Apr 20 21:56:15 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,91 +0,0 @@ - -#ifndef MBED_RFSRF05_H -#define MBED_RFSRF05_H - -#include "mbed.h" -#include "RF12B.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 - - - /** 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; - void _startRange(); - void _rising (void); - void _falling (void); - float _dist[3]; - char _code[3]; - int _beacon_counter; - bool ValidPulse; - bool expValidPulse; - -}; - -#endif
--- a/Kalman/tvmet.lib Fri Apr 20 21:56:15 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/madcowswe/libraries/tvmet/m7lmpz \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ai.lib Thu Apr 26 21:02:12 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/narshu/libraries/ai/m94fo9 \ No newline at end of file
--- a/geometryfuncs.h Fri Apr 20 21:56:15 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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/geometryfuncs.lib Thu Apr 26 21:02:12 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/narshu/libraries/geometryfuncs/m943ji \ No newline at end of file
--- a/globals.h Fri Apr 20 21:56:15 2012 +0000 +++ b/globals.h Thu Apr 26 21:02:12 2012 +0000 @@ -1,21 +1,28 @@ #ifndef GLOBALS_H #define GLOBALS_H +//#define ROBOT_SECONDARY + +#ifndef ROBOT_SECONDARY +#define ROBOT_PRIMARY +// invert echo polarity for primary +#define SONAR_ECHO_INV +#endif + #include "mbed.h" #define PI 3.14159265 //Robot constants -const int robot_width = 395; -const int encoderRevCount = 1856; -const int wheelmm = 314; -const int robotCircumference = 1256; +//const int encoderRevCount = 1856; +//const int wheelmm = 314; +//const int robotCircumference = 1256; //Robot constants in mm -//const int robot_width = 260; -//const int encoderRevCount = 360; -//const int wheelmm = 226; -//const int robotCircumference = 816; +const int robot_width = 260; +const int encoderRevCount = 360; +const int wheelmm = 226; +const int robotCircumference = 816; //Robot movement constants const float fwdvarperunit = 0.005; //1 std dev = 7% //NEEDS TO BE MEASURED AGAIN!
--- a/main.cpp Fri Apr 20 21:56:15 2012 +0000 +++ b/main.cpp Thu Apr 26 21:02:12 2012 +0000 @@ -7,41 +7,20 @@ #include "math.h" #include "system.h" #include "geometryfuncs.h" +#include "ai.h" +#include "ui.h" //#include <iostream> //Interface declaration -//I2C i2c(p28, p27); // sda, scl -TSI2C i2c(p28, p27); Serial pc(USBTX, USBRX); // tx, rx -Serial IRturret(p9, p10); - -DigitalOut OLED1(LED1); -DigitalOut OLED2(LED2); -DigitalOut OLED3(LED3); -DigitalOut OLED4(LED4); Motors motors; -Kalman kalman(motors); +UI ui; -float targetX = 1000, targetY = 1000, targetTheta = 0; -// 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; - -char Alignment_char[4] = {0xFF,0xFE,0xFD,0xFC}; -int Alignment_ptr = 0; -bool data_flag = false; -int buff_pointer = 0; -bool angleInit = false; -float angleOffset = 0; - -void vIRValueISR (void); -void vKalmanInit(void); +Kalman kalman(motors,ui,p23,p14,p14,p14,p15,p15,p15,p5,p6,p7,p8,p11,p9,p10); +AI ai; //TODO mutex on kalman state, and on motor commands (i.e. on the i2c bus) //NOTE! Recieving data with RF12B now DISABLED due to interferance with rtos! @@ -49,42 +28,30 @@ void vMotorThread(void const *argument); void vPrintState(void const *argument); -void ai_thread (void const *argument); void motion_thread(void const *argument); - -float getAngle (float x, float y); -void getIRValue(void const *argument); - -// Thread pointers -Thread *AI_Thread_Ptr; -Thread *Motion_Thread_Ptr; - -Mutex targetlock; -bool flag_terminate = false; +//bool flag_terminate = false; float temp = 0; //Main loop int main() { pc.baud(115200); - IRturret.baud(115200); - IRturret.format(8,Serial::Odd,1); - //IRturret.attach(&vIRValueISR,Serial::RxIrq); - //vKalmanInit(); + //Init kalman + kalman.KalmanInit(); Thread tMotorThread(vMotorThread,NULL,osPriorityNormal,256); Thread tUpdateState(vPrintState,NULL,osPriorityNormal,1024); - - //Thread thr_AI(ai_thread,NULL,osPriorityNormal,1024); + + + + //Thread thr_motion(motion_thread,NULL,osPriorityNormal,1024); - //AI_Thread_Ptr = &thr_AI; //Motion_Thread_Ptr = &thr_motion; //measure cpu usage. output updated once per second to symbol cpupercent //Thread mCPUthread(measureCPUidle, NULL, osPriorityIdle, 1024); //check if stack overflow with such a small staack - - + pc.printf("We got to main! ;D\r\n"); //REMEMBERT TO PUT PULL UP RESISTORS ON I2C!!!!!!!!!!!!!! @@ -141,80 +108,18 @@ pc.printf("current: %0.4f %0.4f %0.4f \r\n", state[0], state[1],state[2]); pc.printf("Sonar: %0.4f %0.4f %0.4f \r\n",SonarMeasures[0],SonarMeasures[1],SonarMeasures[2]); pc.printf("IR : %0.4f %0.4f %0.4f \r\n",IRMeasures[0]*180/PI,IRMeasures[1]*180/PI,IRMeasures[2]*180/PI); - pc.printf("Angle_Offset: %0.4f \r\n",angleOffset*180/PI); + pc.printf("Angle_Offset: %0.4f \r\n",kalman.ir.angleOffset*180/PI); Thread::wait(100); } } - -// AI thread ------------------------------------ -void ai_thread (void const *argument) { - // goes to the mid - Thread::signal_wait(0x01); - targetlock.lock(); - targetX = 1500; - targetY = 1000; - targetTheta = PI/2; - targetlock.unlock(); - - // left roll - Thread::signal_wait(0x01); - targetlock.lock(); - targetX = 500; - targetY = 1700; - targetTheta = PI/2; - targetlock.unlock(); - - // mid - Thread::signal_wait(0x01); - targetlock.lock(); - targetX = 1500; - targetY = 1000; - targetTheta = PI/2; - targetlock.unlock(); - - // map - Thread::signal_wait(0x01); - targetlock.lock(); - targetX = 1500; - targetY = 1700; - targetTheta = PI/2; - targetlock.unlock(); - - // mid - Thread::signal_wait(0x01); - targetlock.lock(); - targetX = 1500; - targetY = 1000; - targetTheta = -PI/2; - targetlock.unlock(); - - // home - Thread::signal_wait(0x01); - targetlock.lock(); - targetX = 500; - targetY = 500; - targetTheta = 0; - targetlock.unlock(); - - Thread::signal_wait(0x01); - flag_terminate = true; - //OLED3 = true; - - while (true) { - Thread::wait(osWaitForever); - } -} - // motion control thread ------------------------ void motion_thread(void const *argument) { motors.resetEncoders(); - motors.setSpeed(MOVE_SPEED/2,MOVE_SPEED/2); - Thread::wait(1000); + //motors.setSpeed(MOVE_SPEED/2,MOVE_SPEED/2); + //Thread::wait(1000); motors.stop(); - (*AI_Thread_Ptr).signal_set(0x01); - - + ai.thr_AI.signal_set(0x01); float currX, currY,currTheta; float speedL,speedR; @@ -222,7 +127,7 @@ float lastdiffSpeed = 0; while (1) { - if (flag_terminate) { + if (ai.flag_terminate) { terminate(); } @@ -235,11 +140,11 @@ // check if target reached ---------------------------------- - if ( ( abs(currX - targetX) < POSITION_TOR ) - &&( abs(currY - targetY) < POSITION_TOR ) + if ( ( abs(currX - ai.target.x) < POSITION_TOR ) + &&( abs(currY - ai.target.y) < POSITION_TOR ) ) { - diffDir = rectifyAng(currTheta - targetTheta); + diffDir = rectifyAng(currTheta - ai.target.theta); diffSpeed = diffDir / PI; if (abs(diffDir) > ANGLE_TOR) { @@ -252,7 +157,7 @@ } else { motors.stop(); Thread::wait(4000); - (*AI_Thread_Ptr).signal_set(0x01); + ai.thr_AI.signal_set(0x01); } } @@ -260,7 +165,9 @@ else { // calc direction to target - float targetDir = atan2(targetY - currY, targetX - currX); + float targetDir = atan2(ai.target.y - currY, ai.target.x - currX); + if (!ai.target.facing) + targetDir = PI - targetDir; diffDir = rectifyAng(currTheta - targetDir); @@ -292,88 +199,14 @@ speedR = (1-2*abs(diffSpeed))*MOVE_SPEED; speedL = MOVE_SPEED; } - - motors.setSpeed( int(speedL), int(speedR)); + if (ai.target.facing) + motors.setSpeed( int(speedL), int(speedR)); + else + motors.setSpeed( -int(speedL), -int(speedR)); } } // wait Thread::wait(MOTION_UPDATE_PERIOD); } -} - -void vIRValueISR (void) { - - OLED3 = !OLED3; - // 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; - - - 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 - if (angleInit) { - kalman.runupdate(Kalman::measurement_t(IRValues.IR_ints[0]+3),rectifyAng(IRValues.IR_floats[1]+angleOffset),IRValues.IR_floats[2]); - } else { - kalman.runupdate(Kalman::measurement_t(IRValues.IR_ints[0]+3),IRValues.IR_floats[1],IRValues.IR_floats[2]); - } - } - - } -} - -void vKalmanInit(void) { - float SonarMeasures[3]; - float IRMeasures[3]; - int beacon_cnt = 0; - wait(1); - IRturret.attach(NULL,Serial::RxIrq); - kalman.statelock.lock(); - SonarMeasures[0] = kalman.SonarMeasures[0]*1000.0f; - SonarMeasures[1] = kalman.SonarMeasures[1]*1000.0f; - SonarMeasures[2] = kalman.SonarMeasures[2]*1000.0f; - IRMeasures[0] = kalman.IRMeasures[0]; - IRMeasures[1] = kalman.IRMeasures[1]; - IRMeasures[2] = kalman.IRMeasures[2]; - kalman.statelock.unlock(); - //printf("0: %0.4f, 1: %0.4f, 2: %0.4f \n\r", IRMeasures[0]*180/PI, IRMeasures[1]*180/PI, IRMeasures[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 = (SonarMeasures[1]*SonarMeasures[1]- SonarMeasures[2]*SonarMeasures[2] + d*d) / (2*d); - float x_coor = (SonarMeasures[1]*SonarMeasures[1] - SonarMeasures[0]*SonarMeasures[0] + i*i + j*j)/(2*j) - i*y_coor/j; - angleOffset = 0; - for (int i = 0; i < 3; i++) { - float angle_est = atan2(beaconpos[i].y - y_coor,beaconpos[i].x - x_coor); - if (IRMeasures[i] != 0){ - beacon_cnt ++; - float angle_temp = angle_est - IRMeasures[i]; - angle_temp -= (floor(angle_temp/(2*PI)))*2*PI; - angleOffset += angle_temp; - } - } - angleOffset = angleOffset/float(beacon_cnt); - //printf("\n\r"); - angleInit = true; - kalman.statelock.lock(); - kalman.X(0) = x_coor/1000.0f; - kalman.X(1) = y_coor/1000.0f; - kalman.X(2) = 0; - kalman.statelock.unlock(); - //printf("x: %0.4f, y: %0.4f, offset: %0.4f \n\r", x_coor, y_coor, angleOffset*180/PI); - IRturret.attach(&vIRValueISR,Serial::RxIrq); } \ No newline at end of file
--- a/motors.cpp Fri Apr 20 21:56:15 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,382 +0,0 @@ -/********************************************************** - * Motors.cpp - * - * This is a motor control library for the UK1122 L298N based motor controller. - * Includes PID controller to control motors speeds - * - * Author: Crispian Poon - * Email: pooncg@gmail.com - * Purpose: Eurobot 2012 - ICRS Imperial College London - * Date: 4th April 2012 - * Version: v0.12 - **********************************************************/ - -#include "mbed.h" -#include "motors.h" -#include "QEI.h" //quadrature encoder library -#include "globals.h" -#include "TSH.h" - -//************************************************************************************* -// Constructor -//************************************************************************************* -Motors::Motors(): - current1(p15), current2(p16), - Encoder1 (p30, p29, NC, 1856 ,QEI::X4_ENCODING), //connects to motor1 quadracture encoders - 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(3.5, 0.5, 0, 0.010), PIDControllerMotor2(3.5, 0.5, 0, 0.010) { - -//Initialise PID controllers - PIDControllerMotor1.setMode(MANUAL_MODE); - PIDControllerMotor2.setMode(MANUAL_MODE); - PIDControllerMotor1.setBias(-16); - PIDControllerMotor2.setBias(-16); - PIDControllerMotor1.setOutputLimits(-127, 127); - PIDControllerMotor2.setOutputLimits(-127, 127); - PIDControllerMotor1.setInputLimits(-102, 102); - PIDControllerMotor2.setInputLimits(-102, 102); - _lastEncoder1 = 0; - _lastEncoder2 = 0; - -}; - - -//************************************************************************************* -// Public functions -//************************************************************************************* - -//********************************************* -// -// @Description speed regulator task using PID. Run every 10ms. -// -//********************************************* -void Motors::speedRegulatorTask() { - - int latestMotor1Speed = 0; - int latestMotor2Speed = 0; - int computedSpeed1 = 0; - int computedSpeed2 = 0; - - //acceleration control - if (accelerationRegister == 1) { - if (_accelerationSpeed1 != 0) { - - if (abs(_motorSpeed1) < abs(_accelerationSpeed1)) { - _motorSpeed1 += getSignOfInt(_accelerationSpeed1); - } else if (abs(_motorSpeed1) > abs(_accelerationSpeed1)) { - _motorSpeed1 = _accelerationSpeed1; - } - } - if (_accelerationSpeed2 != 0) { - if (abs(_motorSpeed2) < abs(_accelerationSpeed2)) { - _motorSpeed2 += getSignOfInt(_accelerationSpeed2); - } else if (abs(_motorSpeed2) > abs(_accelerationSpeed2)) { - _motorSpeed2 = _accelerationSpeed2; - } - } - } - - - //MOTOR 1 PID - latestMotor1Speed = getEncoder1() - _lastEncoder1; //motor1 encoder change - //PID setpoints for 50ms interval. - if (_motorSpeed1 == 0) { - PIDControllerMotor1.setSetPoint(0); - } else { - PIDControllerMotor1.setSetPoint((int)(102*((float)_motorSpeed1/127))); - } - //Process value - PIDControllerMotor1.setProcessValue(latestMotor1Speed); - //PID Compute - computedSpeed1 = (int)PIDControllerMotor1.compute(); - - - - //MOTOR 2 PID - latestMotor2Speed = getEncoder2() - _lastEncoder2; //motor2 encoder change - //PID setpoints for 50ms interval. - if (_motorSpeed2 == 0) { - PIDControllerMotor2.setSetPoint(0); - } else { - PIDControllerMotor2.setSetPoint((int)(102*((float)_motorSpeed2/127))); - } - //Process value - PIDControllerMotor2.setProcessValue(latestMotor2Speed); - //PID Compute - computedSpeed2 = (int)PIDControllerMotor2.compute(); - - - - //debug variables - _debug1 = latestMotor1Speed; - _debug2 = computedSpeed1; - - - - //Set motors speed - _setSpeed(computedSpeed1, computedSpeed2); - -} - -//********************************************* -// -// @Description External set speed function for both motors -// @Parameter [speed] ranges from -127 (revse motor) to 127 (forward motor) -// -//********************************************* -void Motors::setSpeed(int speed) { - setSpeed(speed, speed); -} - -//********************************************* -// -// @Description External set speed function. Relies on the speedRegulatorTask to change speed. -// @Parameters [speed1] min -127 (reverse motor), max 127 (forward motor) -// @Parameters [speed2] min -127 (reverse motor), max 127 (forward motor) -// -//********************************************* -void Motors::setSpeed(int speed1, int speed2) { - //set global motor values - _motorSpeed1 = speed1; - _motorSpeed2 = speed2; - _lastEncoder1 = getEncoder1(); - _lastEncoder2 = getEncoder2(); - - //acceleration control - if (accelerationRegister == 1) { - //target accelerated speed - _accelerationSpeed1 = speed1; - _accelerationSpeed2 = speed2; - - //current speed - _motorSpeed1 = 0; - _motorSpeed2 = 0; - } -} - -//********************************************* -// -// @Description stops motors -// -//********************************************* -void Motors::stop() -{ - setSpeed(0); -} - -//********************************************* -// -// @Description resets motor1 and motor encoders -// -//********************************************* -void Motors::resetEncoders() { - Encoder1.reset(); - Encoder2.reset(); -} - -//********************************************* -// -// @Description gets motor1 encoder -// @returns motor1 encoder counts -// -//********************************************* -int Motors::getEncoder1() { - return Encoder1.getPulses(); -} - -//********************************************* -// -// @Description gets motor2 encoder -// @returns motor2 encoder counts -// -//********************************************* -int Motors::getEncoder2() { - return Encoder2.getPulses(); -} - -//********************************************* -// -// @Description converts encoder counts to distance in mm -// @Parameters [encoder] (int) encoder counts -// @returns distance in mm -// -//********************************************* -int Motors::encoderToDistance(int encoder) { - return int((float(encoder) / float(encoderRevCount)) * wheelmm); -} - -//********************************************* -// -// @Description converts distance in mm to encoder counts -// @Parameters [distance] (int) distance in mm -// @returns encoder counts -// -//********************************************* -int Motors::distanceToEncoder(int distance) { - return int((float(distance) / float(wheelmm)) * encoderRevCount); -} - -//********************************************* -// -// @Description number sign indicator. determines if number is positive or negative. -// @Parameters [direction] (int) a number -// @returns -1 if negative, 1 if positive -// -//********************************************* -int Motors::getSignOfInt(int direction) { - - if (direction > 0) { - return 1; - } else if (direction < 0) { - return -1; - } - return -1; -} - -//********************************************* -//Start of quarantined functions - -void Motors::move(int distance, int speed) { - //resetEncoders(); TODO use kalman as feedback instead! - - int tempEndEncoder = 0; - int startEncoderCount = 0; - - tempEndEncoder = distanceToEncoder(abs(distance)); - startEncoderCount = getEncoder1(); - - setSpeed(getSignOfInt(distance) * speed); - - while (abs(getEncoder1() - startEncoderCount) < tempEndEncoder) { - setSpeed(getSignOfInt(distance) * speed); - } - - //resetEncoders(); - setSpeed(0); -} - -void Motors::turn(int angle, int speed) { - //resetEncoders(); TODO use kalman as feedback instead! - int tempDistance = int((float(angle) / 360) * float(robotCircumference)); - int tempEndEncoder = 0; - int startEncoderCount = 0; - - tempEndEncoder = distanceToEncoder(abs(tempDistance)); - startEncoderCount = getEncoder1(); - setSpeed(getSignOfInt(tempDistance) * speed, -getSignOfInt(tempDistance) * speed); - - while (abs(getEncoder1() - startEncoderCount) < tempEndEncoder) { - setSpeed(getSignOfInt(tempDistance) * speed,-getSignOfInt(tempDistance) * speed); - - } - - //resetEncoders(); - setSpeed(0); -} - -//Start of quarantined functions -//********************************************* - - -//************************************************************************************* -// Private functions -//************************************************************************************* - -//********************************************* -// -// @Description internal set speed function -// @Parameters speed1 min -127, max 127 -// @Parameters speed2 min -127, max 127 -// -//********************************************* -void Motors::_setSpeed(int speed1, int speed2) { - -//set global encoder values - _lastEncoder1 = getEncoder1(); - _lastEncoder2 = getEncoder2(); - -//Speed ranges from -127 to 127 - if (speed1 > 0) { - //Motor1 forwards - Motor1Enable = (float)speed1/127; - Motor1A = 1; - Motor1B = 0; - //pwm the h bridge driver range 0 to 1 type float. - - } else if (speed1 < 0) { - //Motor1 backwards - Motor1Enable = (float)abs(speed1)/127; - Motor1A = 0; - Motor1B = 1; - - } else if (speed1 ==0) { - _stop(1,0); - } - - if (speed2 > 0) { - //Motor2 forwards - Motor2Enable = (float)speed2/127; - - Motor2A = 1; - Motor2B = 0; - - } else if (speed2 < 0) { - //Motor2 backwards - Motor2Enable = (float)abs(speed2)/127; - Motor2A = 0; - Motor2B = 1; - } else if (speed2 == 0) { - _stop(0,1); - } - -} - - -//********************************************* -// -// @Description stop command for both motors -// -//********************************************* -void Motors::_stop() { - _stop(1,1); -} - -//********************************************* -// -// @Description stop command for individual motors -// @Parameter [motor1] stops motor1. =1 is stop. =0 do nothing -// @Parameter [motor2] stops motor2. =1 is stop. =0 do nothing -// -//********************************************* -void Motors::_stop(int motor1, int motor2) { - if (motor1 == 1) { - Motor1Enable = 1; - Motor1A = 0; - Motor1B = 0; - } - - if (motor2 == 1) { - Motor2Enable = 1; - Motor2A = 0; - Motor2B = 0; - } - -} - -//************************************************************************************* -// Redundant functions -//************************************************************************************* - -//Redudant -void Motors::setMode(int mode) { -} - -//Redudant -void Motors::sendCommand(char command) { -} - -//Redudant -void Motors::sendCommand(char command1, char command2 ) { -} \ No newline at end of file
--- a/motors.h Fri Apr 20 21:56:15 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,63 +0,0 @@ -#ifndef MOTORS_H -#define MOTORS_H - -#include "mbed.h" -#include "QEI.h" -#include "PID.h" -#include "TSH.h" - -class Motors { - -public: - Motors(); - Motors(TSI2C &i2cin); - - //Functions declaration - void resetEncoders(); - int getEncoder1(); - int getEncoder2(); - void move(int distance, int speed); - void turn(int angle, int speed); - int getSignOfInt(int direction); - void setSpeed(int speed); - void setSpeed(int speed1, int speed2); - void stop(); - void setMode(int mode); - int encoderToDistance(int encoder); - int distanceToEncoder(int distance); - void sendCommand(char command); - void sendCommand(char command1, char command2 ); - void speedRegulatorTask(); - AnalogIn current1; - AnalogIn current2; - float _debug1; - float _debug2; - int accelerationRegister; //turns on acceleration control - -private: - - - void _setSpeed(int speed1, int speed2); - void _stop(); - void _stop(int motor1, int motor2); - QEI Encoder1; - QEI Encoder2; - DigitalOut Motor1A; - DigitalOut Motor1B; - DigitalOut Motor2A; - DigitalOut Motor2B; - PwmOut Motor1Enable; - PwmOut Motor2Enable; - int _motorSpeed1; - int _motorSpeed2; - PID PIDControllerMotor1; - PID PIDControllerMotor2; - int _lastEncoder1; - int _lastEncoder2; - int _pidDataBufferIndex; - int _accelerationSpeed1; - int _accelerationSpeed2; - -}; - -#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motors/.lib Thu Apr 26 21:02:12 2012 +0000 @@ -0,0 +1,1 @@ + \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motors/motors.cpp Thu Apr 26 21:02:12 2012 +0000 @@ -0,0 +1,384 @@ +/********************************************************** + * Motors.cpp + * + * This is a motor control library for the UK1122 L298N based motor controller. + * Includes PID controller to control motors speeds + * + * Author: Crispian Poon + * Email: pooncg@gmail.com + * Purpose: Eurobot 2012 - ICRS Imperial College London + * Date: 4th April 2012 + * Version: v0.12 + **********************************************************/ + +#include "mbed.h" +#include "motors.h" +#include "QEI.h" //quadrature encoder library +#include "globals.h" +#include "TSH.h" + +//************************************************************************************* +// Constructor +//************************************************************************************* +Motors::Motors(): + Encoder1 (p30, p29, NC, 1856 ,QEI::X4_ENCODING), //connects to motor1 quadracture encoders + 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(3.5, 0.5, 0, 0.010), PIDControllerMotor2(3.5, 0.5, 0, 0.010) { + +//Initialise PID controllers + PIDControllerMotor1.setMode(MANUAL_MODE); + PIDControllerMotor2.setMode(MANUAL_MODE); + PIDControllerMotor1.setBias(-16); + PIDControllerMotor2.setBias(-16); + PIDControllerMotor1.setOutputLimits(-127, 127); + PIDControllerMotor2.setOutputLimits(-127, 127); + PIDControllerMotor1.setInputLimits(-102, 102); + PIDControllerMotor2.setInputLimits(-102, 102); + _lastEncoder1 = 0; + _lastEncoder2 = 0; + + //speed regulator task using PID. Run every 10ms. + _ticker.attach(this, &Motors::speedRegulatorTask, 0.01); + +}; + + +//************************************************************************************* +// Public functions +//************************************************************************************* + +//********************************************* +// +// @Description speed regulator task using PID. Run every 10ms. +// +//********************************************* +void Motors::speedRegulatorTask() { + + int latestMotor1Speed = 0; + int latestMotor2Speed = 0; + int computedSpeed1 = 0; + int computedSpeed2 = 0; + + //acceleration control + if (accelerationRegister == 1) { + if (_accelerationSpeed1 != 0) { + + if (abs(_motorSpeed1) < abs(_accelerationSpeed1)) { + _motorSpeed1 += getSignOfInt(_accelerationSpeed1); + } else if (abs(_motorSpeed1) > abs(_accelerationSpeed1)) { + _motorSpeed1 = _accelerationSpeed1; + } + } + if (_accelerationSpeed2 != 0) { + if (abs(_motorSpeed2) < abs(_accelerationSpeed2)) { + _motorSpeed2 += getSignOfInt(_accelerationSpeed2); + } else if (abs(_motorSpeed2) > abs(_accelerationSpeed2)) { + _motorSpeed2 = _accelerationSpeed2; + } + } + } + + + //MOTOR 1 PID + latestMotor1Speed = getEncoder1() - _lastEncoder1; //motor1 encoder change + //PID setpoints for 50ms interval. + if (_motorSpeed1 == 0) { + PIDControllerMotor1.setSetPoint(0); + } else { + PIDControllerMotor1.setSetPoint((int)(102*((float)_motorSpeed1/127))); + } + //Process value + PIDControllerMotor1.setProcessValue(latestMotor1Speed); + //PID Compute + computedSpeed1 = (int)PIDControllerMotor1.compute(); + + + + //MOTOR 2 PID + latestMotor2Speed = getEncoder2() - _lastEncoder2; //motor2 encoder change + //PID setpoints for 50ms interval. + if (_motorSpeed2 == 0) { + PIDControllerMotor2.setSetPoint(0); + } else { + PIDControllerMotor2.setSetPoint((int)(102*((float)_motorSpeed2/127))); + } + //Process value + PIDControllerMotor2.setProcessValue(latestMotor2Speed); + //PID Compute + computedSpeed2 = (int)PIDControllerMotor2.compute(); + + + + //debug variables + _debug1 = latestMotor1Speed; + _debug2 = computedSpeed1; + + + + //Set motors speed + _setSpeed(computedSpeed1, computedSpeed2); + +} + +//********************************************* +// +// @Description External set speed function for both motors +// @Parameter [speed] ranges from -127 (revse motor) to 127 (forward motor) +// +//********************************************* +void Motors::setSpeed(int speed) { + setSpeed(speed, speed); +} + +//********************************************* +// +// @Description External set speed function. Relies on the speedRegulatorTask to change speed. +// @Parameters [speed1] min -127 (reverse motor), max 127 (forward motor) +// @Parameters [speed2] min -127 (reverse motor), max 127 (forward motor) +// +//********************************************* +void Motors::setSpeed(int speed1, int speed2) { + //set global motor values + _motorSpeed1 = speed1; + _motorSpeed2 = speed2; + _lastEncoder1 = getEncoder1(); + _lastEncoder2 = getEncoder2(); + + //acceleration control + if (accelerationRegister == 1) { + //target accelerated speed + _accelerationSpeed1 = speed1; + _accelerationSpeed2 = speed2; + + //current speed + _motorSpeed1 = 0; + _motorSpeed2 = 0; + } +} + +//********************************************* +// +// @Description stops motors +// +//********************************************* +void Motors::stop() +{ + setSpeed(0); +} + +//********************************************* +// +// @Description resets motor1 and motor encoders +// +//********************************************* +void Motors::resetEncoders() { + Encoder1.reset(); + Encoder2.reset(); +} + +//********************************************* +// +// @Description gets motor1 encoder +// @returns motor1 encoder counts +// +//********************************************* +int Motors::getEncoder1() { + return Encoder1.getPulses(); +} + +//********************************************* +// +// @Description gets motor2 encoder +// @returns motor2 encoder counts +// +//********************************************* +int Motors::getEncoder2() { + return Encoder2.getPulses(); +} + +//********************************************* +// +// @Description converts encoder counts to distance in mm +// @Parameters [encoder] (int) encoder counts +// @returns distance in mm +// +//********************************************* +int Motors::encoderToDistance(int encoder) { + return int((float(encoder) / float(encoderRevCount)) * wheelmm); +} + +//********************************************* +// +// @Description converts distance in mm to encoder counts +// @Parameters [distance] (int) distance in mm +// @returns encoder counts +// +//********************************************* +int Motors::distanceToEncoder(int distance) { + return int((float(distance) / float(wheelmm)) * encoderRevCount); +} + +//********************************************* +// +// @Description number sign indicator. determines if number is positive or negative. +// @Parameters [direction] (int) a number +// @returns -1 if negative, 1 if positive +// +//********************************************* +int Motors::getSignOfInt(int direction) { + + if (direction > 0) { + return 1; + } else if (direction < 0) { + return -1; + } + return -1; +} + +//********************************************* +//Start of quarantined functions + +void Motors::move(int distance, int speed) { + //resetEncoders(); TODO use kalman as feedback instead! + + int tempEndEncoder = 0; + int startEncoderCount = 0; + + tempEndEncoder = distanceToEncoder(abs(distance)); + startEncoderCount = getEncoder1(); + + setSpeed(getSignOfInt(distance) * speed); + + while (abs(getEncoder1() - startEncoderCount) < tempEndEncoder) { + setSpeed(getSignOfInt(distance) * speed); + } + + //resetEncoders(); + setSpeed(0); +} + +void Motors::turn(int angle, int speed) { + //resetEncoders(); TODO use kalman as feedback instead! + int tempDistance = int((float(angle) / 360) * float(robotCircumference)); + int tempEndEncoder = 0; + int startEncoderCount = 0; + + tempEndEncoder = distanceToEncoder(abs(tempDistance)); + startEncoderCount = getEncoder1(); + setSpeed(getSignOfInt(tempDistance) * speed, -getSignOfInt(tempDistance) * speed); + + while (abs(getEncoder1() - startEncoderCount) < tempEndEncoder) { + setSpeed(getSignOfInt(tempDistance) * speed,-getSignOfInt(tempDistance) * speed); + + } + + //resetEncoders(); + setSpeed(0); +} + +//Start of quarantined functions +//********************************************* + + +//************************************************************************************* +// Private functions +//************************************************************************************* + +//********************************************* +// +// @Description internal set speed function +// @Parameters speed1 min -127, max 127 +// @Parameters speed2 min -127, max 127 +// +//********************************************* +void Motors::_setSpeed(int speed1, int speed2) { + +//set global encoder values + _lastEncoder1 = getEncoder1(); + _lastEncoder2 = getEncoder2(); + +//Speed ranges from -127 to 127 + if (speed1 > 0) { + //Motor1 forwards + Motor1Enable = (float)speed1/127; + Motor1A = 1; + Motor1B = 0; + //pwm the h bridge driver range 0 to 1 type float. + + } else if (speed1 < 0) { + //Motor1 backwards + Motor1Enable = (float)abs(speed1)/127; + Motor1A = 0; + Motor1B = 1; + + } else if (speed1 ==0) { + _stop(1,0); + } + + if (speed2 > 0) { + //Motor2 forwards + Motor2Enable = (float)speed2/127; + + Motor2A = 1; + Motor2B = 0; + + } else if (speed2 < 0) { + //Motor2 backwards + Motor2Enable = (float)abs(speed2)/127; + Motor2A = 0; + Motor2B = 1; + } else if (speed2 == 0) { + _stop(0,1); + } + +} + + +//********************************************* +// +// @Description stop command for both motors +// +//********************************************* +void Motors::_stop() { + _stop(1,1); +} + +//********************************************* +// +// @Description stop command for individual motors +// @Parameter [motor1] stops motor1. =1 is stop. =0 do nothing +// @Parameter [motor2] stops motor2. =1 is stop. =0 do nothing +// +//********************************************* +void Motors::_stop(int motor1, int motor2) { + if (motor1 == 1) { + Motor1Enable = 1; + Motor1A = 0; + Motor1B = 0; + } + + if (motor2 == 1) { + Motor2Enable = 1; + Motor2A = 0; + Motor2B = 0; + } + +} + +//************************************************************************************* +// Redundant functions +//************************************************************************************* + +//Redudant +void Motors::setMode(int mode) { +} + +//Redudant +void Motors::sendCommand(char command) { +} + +//Redudant +void Motors::sendCommand(char command1, char command2 ) { +} \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motors/motors.h Thu Apr 26 21:02:12 2012 +0000 @@ -0,0 +1,62 @@ +#ifndef MOTORS_H +#define MOTORS_H + +#include "mbed.h" +#include "QEI.h" +#include "PID.h" +#include "TSH.h" + +class Motors { + +public: + Motors(); + Motors(TSI2C &i2cin); + + //Functions declaration + void resetEncoders(); + int getEncoder1(); + int getEncoder2(); + void move(int distance, int speed); + void turn(int angle, int speed); + int getSignOfInt(int direction); + void setSpeed(int speed); + void setSpeed(int speed1, int speed2); + void stop(); + void setMode(int mode); + int encoderToDistance(int encoder); + int distanceToEncoder(int distance); + void sendCommand(char command); + void sendCommand(char command1, char command2 ); + void speedRegulatorTask(); + float _debug1; + float _debug2; + int accelerationRegister; //turns on acceleration control + +private: + + + void _setSpeed(int speed1, int speed2); + void _stop(); + void _stop(int motor1, int motor2); + QEI Encoder1; + QEI Encoder2; + DigitalOut Motor1A; + DigitalOut Motor1B; + DigitalOut Motor2A; + DigitalOut Motor2B; + PwmOut Motor1Enable; + PwmOut Motor2Enable; + int _motorSpeed1; + int _motorSpeed2; + PID PIDControllerMotor1; + PID PIDControllerMotor2; + int _lastEncoder1; + int _lastEncoder2; + int _pidDataBufferIndex; + int _accelerationSpeed1; + int _accelerationSpeed2; + Ticker _ticker; + +}; + +#endif
--- a/system.h Fri Apr 20 21:56:15 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,42 +0,0 @@ - -#ifndef SYSTEM_H -#define SYSTEM_H - -#include "globals.h" -#include "rtos.h" - -//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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/system.lib Thu Apr 26 21:02:12 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/narshu/libraries/system/m92heu \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tvmet.lib Thu Apr 26 21:02:12 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/madcowswe/libraries/tvmet/m7lmpz \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ui/.lib Thu Apr 26 21:02:12 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/narshu/libraries/ui/m93vvw \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ui/ui.cpp Thu Apr 26 21:02:12 2012 +0000 @@ -0,0 +1,95 @@ + +#include "ui.h" +#include <iostream> + +UI::UI() : + tUI(printtw,this,osPriorityNormal,1024) { + newdataflags = 0; + for (int i = 0; i < NUMIDS; i++) { + idlist[i] = 0; + buffarr[i] = 0; + } + + //char* sync = "ABCD"; + //std::cout.write(sync, 4); +} + +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() { + + char* sync = "ABCD"; + + while (1) { + + //output num packets + char numidstosend = 0; + for (int id = 0; id < NUMIDS; id++) + if (newdataflags & (1<<id)) + numidstosend++; + + if (numidstosend) { + std::cout.write(sync, 4); + std::cout.put(numidstosend); + + //send packets + for (int id = 0; id < NUMIDS; id++) { + if (newdataflags & (1<<id)) { + std::cout.put(id); + std::cout.write((char*)buffarr[id], 4*idlist[id]); + newdataflags &= ~(1<<id); + } + } + + std::cout.flush(); + } + + Thread::wait(200); + + } + +} +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ui/ui.h Thu Apr 26 21:02:12 2012 +0000 @@ -0,0 +1,29 @@ + +#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: + char idlist[NUMIDS]; + float* buffarr[NUMIDS]; + int newdataflags; //Only works for NUMID = 32 + + void printloop(); + static void printtw(void const *arg){ ((UI*)arg)->printloop(); } +}; + +#endif //UI_H