Final Project
나중에 급하게 PID 알고리즘을 적용해 짜본 코드... 시간이 충분치 않아서 그냥 원래 있던 코드를 수정해서 하기로 했기에 버려진 코드지만, 교수님께 참고용으로 Publish를 했다.
Dependencies: mbed Adafruit_GFX
Diff: RemoteIR/ReceiverIR.cpp
- Revision:
- 0:c4c874d702f9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RemoteIR/ReceiverIR.cpp Sat Jun 15 20:39:39 2019 +0000
@@ -0,0 +1,330 @@
+/**
+ * IR receiver (Version 0.0.4)
+ *
+ * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
+ * http://shinta.main.jp/
+ */
+
+#include "ReceiverIR.h"
+
+#define LOCK()
+#define UNLOCK()
+
+#define InRange(x,y) ((((y) * 0.7) < (x)) && ((x) < ((y) * 1.3)))
+
+/**
+ * Constructor.
+ *
+ * @param rxpin Pin for receive IR signal.
+ */
+ReceiverIR::ReceiverIR(PinName rxpin) : evt(rxpin) {
+ init_state();
+ evt.fall(this, &ReceiverIR::isr_fall);
+ evt.rise(this, &ReceiverIR::isr_rise);
+ evt.mode(PullUp);
+ ticker.attach_us(this, &ReceiverIR::isr_wdt, 10 * 1000);
+}
+
+/**
+ * Destructor.
+ */
+ReceiverIR::~ReceiverIR() {
+}
+
+/**
+ * Get state.
+ *
+ * @return Current state.
+ */
+ReceiverIR::State ReceiverIR::getState() {
+ LOCK();
+ State s = work.state;
+ UNLOCK();
+ return s;
+}
+
+/**
+ * Get data.
+ *
+ * @param format Pointer to format.
+ * @param buf Buffer of a data.
+ * @param bitlength Bit length of the buffer.
+ *
+ * @return Data bit length.
+ */
+int ReceiverIR::getData(RemoteIR::Format *format, uint8_t *buf, int bitlength) {
+ LOCK();
+
+ if (bitlength < data.bitcount) {
+ UNLOCK();
+ return -1;
+ }
+
+ const int nbits = data.bitcount;
+ const int nbytes = data.bitcount / 8 + (((data.bitcount % 8) != 0) ? 1 : 0);
+ *format = data.format;
+ for (int i = 0; i < nbytes; i++) {
+ buf[i] = data.buffer[i];
+ }
+
+ init_state();
+
+ UNLOCK();
+ return nbits;
+}
+
+void ReceiverIR::init_state(void) {
+ work.c1 = -1;
+ work.c2 = -1;
+ work.c3 = -1;
+ work.d1 = -1;
+ work.d2 = -1;
+ work.state = Idle;
+ data.format = RemoteIR::UNKNOWN;
+ data.bitcount = 0;
+ timer.stop();
+ timer.reset();
+ for (int i = 0; i < sizeof(data.buffer); i++) {
+ data.buffer[i] = 0;
+ }
+}
+
+void ReceiverIR::isr_wdt(void) {
+ LOCK();
+ static int cnt = 0;
+ if ((Idle != work.state) || ((0 <= work.c1) || (0 <= work.c2) || (0 <= work.c3) || (0 <= work.d1) || (0 <= work.d2))) {
+ cnt++;
+ if (cnt > 50) {
+#if 0
+ printf("# WDT [c1=%d, c2=%d, c3=%d, d1=%d, d2=%d, state=%d, format=%d, bitcount=%d]\n",
+ work.c1,
+ work.c2,
+ work.c3,
+ work.d1,
+ work.d2,
+ work.state,
+ data.format,
+ data.bitcount);
+#endif
+ init_state();
+ cnt = 0;
+ }
+ } else {
+ cnt = 0;
+ }
+ UNLOCK();
+}
+
+void ReceiverIR::isr_fall(void) {
+ LOCK();
+ switch (work.state) {
+ case Idle:
+ if (work.c1 < 0) {
+ timer.start();
+ work.c1 = timer.read_us();
+ } else {
+ work.c3 = timer.read_us();
+ int a = work.c2 - work.c1;
+ int b = work.c3 - work.c2;
+ if (InRange(a, RemoteIR::TUS_NEC * 16) && InRange(b, RemoteIR::TUS_NEC * 8)) {
+ /*
+ * NEC.
+ */
+ data.format = RemoteIR::NEC;
+ work.state = Receiving;
+ data.bitcount = 0;
+ } else if (InRange(a, RemoteIR::TUS_NEC * 16) && InRange(b, RemoteIR::TUS_NEC * 4)) {
+ /*
+ * NEC Repeat.
+ */
+ data.format = RemoteIR::NEC_REPEAT;
+ work.state = Received;
+ data.bitcount = 0;
+ work.c1 = -1;
+ work.c2 = -1;
+ work.c3 = -1;
+ work.d1 = -1;
+ work.d2 = -1;
+ } else if (InRange(a, RemoteIR::TUS_AEHA * 8) && InRange(b, RemoteIR::TUS_AEHA * 4)) {
+ /*
+ * AEHA.
+ */
+ data.format = RemoteIR::AEHA;
+ work.state = Receiving;
+ data.bitcount = 0;
+ } else if (InRange(a, RemoteIR::TUS_AEHA * 8) && InRange(b, RemoteIR::TUS_AEHA * 8)) {
+ /*
+ * AEHA Repeat.
+ */
+ data.format = RemoteIR::AEHA_REPEAT;
+ work.state = Received;
+ data.bitcount = 0;
+ work.c1 = -1;
+ work.c2 = -1;
+ work.c3 = -1;
+ work.d1 = -1;
+ work.d2 = -1;
+ } else {
+ init_state();
+ }
+ }
+ break;
+ case Receiving:
+ if (RemoteIR::NEC == data.format) {
+ work.d2 = timer.read_us();
+ int a = work.d2 - work.d1;
+ if (InRange(a, RemoteIR::TUS_NEC * 3)) {
+ data.buffer[data.bitcount / 8] |= (1 << (data.bitcount % 8));
+ } else if (InRange(a, RemoteIR::TUS_NEC * 1)) {
+ data.buffer[data.bitcount / 8] &= ~(1 << (data.bitcount % 8));
+ }
+ data.bitcount++;
+#if 0
+ /*
+ * Length of NEC is always 32 bits.
+ */
+ if (32 <= data.bitcount) {
+ data.state = Received;
+ work.c1 = -1;
+ work.c2 = -1;
+ work.c3 = -1;
+ work.d1 = -1;
+ work.d2 = -1;
+ }
+#else
+ /*
+ * Set timeout for tail detection automatically.
+ */
+ timeout.detach();
+ timeout.attach_us(this, &ReceiverIR::isr_timeout, RemoteIR::TUS_NEC * 5);
+#endif
+ } else if (RemoteIR::AEHA == data.format) {
+ work.d2 = timer.read_us();
+ int a = work.d2 - work.d1;
+ if (InRange(a, RemoteIR::TUS_AEHA * 3)) {
+ data.buffer[data.bitcount / 8] |= (1 << (data.bitcount % 8));
+ } else if (InRange(a, RemoteIR::TUS_AEHA * 1)) {
+ data.buffer[data.bitcount / 8] &= ~(1 << (data.bitcount % 8));
+ }
+ data.bitcount++;
+#if 0
+ /*
+ * Typical length of AEHA is 48 bits.
+ * Please check a specification of your remote controller if you find a problem.
+ */
+ if (48 <= data.bitcount) {
+ data.state = Received;
+ work.c1 = -1;
+ work.c2 = -1;
+ work.c3 = -1;
+ work.d1 = -1;
+ work.d2 = -1;
+ }
+#else
+ /*
+ * Set timeout for tail detection automatically.
+ */
+ timeout.detach();
+ timeout.attach_us(this, &ReceiverIR::isr_timeout, RemoteIR::TUS_AEHA * 5);
+#endif
+ } else if (RemoteIR::SONY == data.format) {
+ work.d1 = timer.read_us();
+ }
+ break;
+ case Received:
+ break;
+ default:
+ break;
+ }
+ UNLOCK();
+}
+
+void ReceiverIR::isr_rise(void) {
+ LOCK();
+ switch (work.state) {
+ case Idle:
+ if (0 <= work.c1) {
+ work.c2 = timer.read_us();
+ int a = work.c2 - work.c1;
+ if (InRange(a, RemoteIR::TUS_SONY * 4)) {
+ data.format = RemoteIR::SONY;
+ work.state = Receiving;
+ data.bitcount = 0;
+ } else {
+ static const int MINIMUM_LEADER_WIDTH = 150;
+ if (a < MINIMUM_LEADER_WIDTH) {
+ init_state();
+ }
+ }
+ } else {
+ init_state();
+ }
+ break;
+ case Receiving:
+ if (RemoteIR::NEC == data.format) {
+ work.d1 = timer.read_us();
+ } else if (RemoteIR::AEHA == data.format) {
+ work.d1 = timer.read_us();
+ } else if (RemoteIR::SONY == data.format) {
+ work.d2 = timer.read_us();
+ int a = work.d2 - work.d1;
+ if (InRange(a, RemoteIR::TUS_SONY * 2)) {
+ data.buffer[data.bitcount / 8] |= (1 << (data.bitcount % 8));
+ } else if (InRange(a, RemoteIR::TUS_SONY * 1)) {
+ data.buffer[data.bitcount / 8] &= ~(1 << (data.bitcount % 8));
+ }
+ data.bitcount++;
+#if 0
+ /*
+ * How do I know the correct length? (6bits, 12bits, 15bits, 20bits...)
+ * By a model only?
+ * Please check a specification of your remote controller if you find a problem.
+ */
+ if (12 <= data.bitcount) {
+ data.state = Received;
+ work.c1 = -1;
+ work.c2 = -1;
+ work.c3 = -1;
+ work.d1 = -1;
+ work.d2 = -1;
+ }
+#else
+ /*
+ * Set timeout for tail detection automatically.
+ */
+ timeout.detach();
+ timeout.attach_us(this, &ReceiverIR::isr_timeout, RemoteIR::TUS_SONY * 4);
+#endif
+ }
+ break;
+ case Received:
+ break;
+ default:
+ break;
+ }
+ UNLOCK();
+}
+
+void ReceiverIR::isr_timeout(void) {
+ LOCK();
+#if 0
+ printf("# TIMEOUT [c1=%d, c2=%d, c3=%d, d1=%d, d2=%d, state=%d, format=%d, bitcount=%d]\n",
+ work.c1,
+ work.c2,
+ work.c3,
+ work.d1,
+ work.d2,
+ work.state,
+ data.format,
+ data.bitcount);
+#endif
+ if (work.state == Receiving) {
+ work.state = Received;
+ work.c1 = -1;
+ work.c2 = -1;
+ work.c3 = -1;
+ work.d1 = -1;
+ work.d2 = -1;
+ }
+ UNLOCK();
+}