Mechatronics / Mbed 2 deprecated FRDM_wahadlo_torsyjne

FRDM_wahadlo_torsyjne

Dependencies:   mbed BufferedSerial

Fork of FRDM_wahadlo_torsyjne by Wojciech M

TSISensor.cpp@19:2012df6b8e56, 2019-02-27 (annotated)

Committer:
Lukasz_K
Date:
Wed Feb 27 21:13:54 2019 +0000
Revision:
19:2012df6b8e56
Parent:
8:434d613f0929 
termistor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Pawel_13 8:434d613f0929 1 /* Freescale Semiconductor Inc.
Pawel_13 8:434d613f0929 2 * (c) Copyright 2004-2005 Freescale Semiconductor, Inc.
Pawel_13 8:434d613f0929 3 * (c) Copyright 2001-2004 Motorola, Inc.
Pawel_13 8:434d613f0929 4 *
Pawel_13 8:434d613f0929 5 * mbed Microcontroller Library
Pawel_13 8:434d613f0929 6 * (c) Copyright 2009-2012 ARM Limited.
Pawel_13 8:434d613f0929 7 *
Pawel_13 8:434d613f0929 8 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
Pawel_13 8:434d613f0929 9 * and associated documentation files (the "Software"), to deal in the Software without
Pawel_13 8:434d613f0929 10 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
Pawel_13 8:434d613f0929 11 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
Pawel_13 8:434d613f0929 12 * Software is furnished to do so, subject to the following conditions:
Pawel_13 8:434d613f0929 13 *
Pawel_13 8:434d613f0929 14 * The above copyright notice and this permission notice shall be included in all copies or
Pawel_13 8:434d613f0929 15 * substantial portions of the Software.
Pawel_13 8:434d613f0929 16 *
Pawel_13 8:434d613f0929 17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
Pawel_13 8:434d613f0929 18 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
Pawel_13 8:434d613f0929 19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
Pawel_13 8:434d613f0929 20 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Pawel_13 8:434d613f0929 21 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
Pawel_13 8:434d613f0929 22 */
Pawel_13 8:434d613f0929 23
Pawel_13 8:434d613f0929 24 #include "mbed.h"
Pawel_13 8:434d613f0929 25 #include "TSISensor.h"
Pawel_13 8:434d613f0929 26
Pawel_13 8:434d613f0929 27 #define NO_TOUCH 0
Pawel_13 8:434d613f0929 28 #define SLIDER_LENGTH 40 //LENGTH in mm
Pawel_13 8:434d613f0929 29 #define TOTAL_ELECTRODE 2
Pawel_13 8:434d613f0929 30
Pawel_13 8:434d613f0929 31 #define TSI0a 0
Pawel_13 8:434d613f0929 32 #define TSI1 1
Pawel_13 8:434d613f0929 33 #define TSI2 2
Pawel_13 8:434d613f0929 34 #define TSI3 3
Pawel_13 8:434d613f0929 35 #define TSI4 4
Pawel_13 8:434d613f0929 36 #define TSI5 5
Pawel_13 8:434d613f0929 37 #define TSI6 6
Pawel_13 8:434d613f0929 38 #define TSI7 7
Pawel_13 8:434d613f0929 39 #define TSI8 8
Pawel_13 8:434d613f0929 40 #define TSI9 9
Pawel_13 8:434d613f0929 41 #define TSI10 10
Pawel_13 8:434d613f0929 42 #define TSI11 11
Pawel_13 8:434d613f0929 43 #define TSI12 12
Pawel_13 8:434d613f0929 44 #define TSI13 13
Pawel_13 8:434d613f0929 45 #define TSI14 14
Pawel_13 8:434d613f0929 46 #define TSI15 15
Pawel_13 8:434d613f0929 47
Pawel_13 8:434d613f0929 48 /*Chose the correct TSI channel for the electrode number*/
Pawel_13 8:434d613f0929 49 #define ELECTRODE0 TSI9
Pawel_13 8:434d613f0929 50 #define ELECTRODE1 TSI10
Pawel_13 8:434d613f0929 51 #define ELECTRODE2 TSI0a
Pawel_13 8:434d613f0929 52 #define ELECTRODE3 TSI1
Pawel_13 8:434d613f0929 53 #define ELECTRODE4 TSI2
Pawel_13 8:434d613f0929 54 #define ELECTRODE5 TSI3
Pawel_13 8:434d613f0929 55 #define ELECTRODE6 TSI4
Pawel_13 8:434d613f0929 56 #define ELECTRODE7 TSI5
Pawel_13 8:434d613f0929 57 #define ELECTRODE8 TSI6
Pawel_13 8:434d613f0929 58 #define ELECTRODE9 TSI7
Pawel_13 8:434d613f0929 59 #define ELECTRODE10 TSI8
Pawel_13 8:434d613f0929 60 #define ELECTRODE11 TSI11
Pawel_13 8:434d613f0929 61 #define ELECTRODE12 TSI12
Pawel_13 8:434d613f0929 62 #define ELECTRODE13 TSI13
Pawel_13 8:434d613f0929 63 #define ELECTRODE14 TSI14
Pawel_13 8:434d613f0929 64 #define ELECTRODE15 TSI15
Pawel_13 8:434d613f0929 65
Pawel_13 8:434d613f0929 66 #define THRESHOLD0 100
Pawel_13 8:434d613f0929 67 #define THRESHOLD1 100
Pawel_13 8:434d613f0929 68 #define THRESHOLD2 100
Pawel_13 8:434d613f0929 69 #define THRESHOLD3 100
Pawel_13 8:434d613f0929 70 #define THRESHOLD4 100
Pawel_13 8:434d613f0929 71 #define THRESHOLD5 100
Pawel_13 8:434d613f0929 72 #define THRESHOLD6 100
Pawel_13 8:434d613f0929 73 #define THRESHOLD7 100
Pawel_13 8:434d613f0929 74 #define THRESHOLD8 100
Pawel_13 8:434d613f0929 75 #define THRESHOLD9 100
Pawel_13 8:434d613f0929 76 #define THRESHOLD10 100
Pawel_13 8:434d613f0929 77 #define THRESHOLD11 100
Pawel_13 8:434d613f0929 78 #define THRESHOLD12 100
Pawel_13 8:434d613f0929 79 #define THRESHOLD13 100
Pawel_13 8:434d613f0929 80 #define THRESHOLD14 100
Pawel_13 8:434d613f0929 81 #define THRESHOLD15 100
Pawel_13 8:434d613f0929 82
Pawel_13 8:434d613f0929 83 static uint8_t total_electrode = TOTAL_ELECTRODE;
Pawel_13 8:434d613f0929 84 static uint8_t elec_array[16]={ELECTRODE0,ELECTRODE1,ELECTRODE2,ELECTRODE3,ELECTRODE4,ELECTRODE5,
Pawel_13 8:434d613f0929 85 ELECTRODE6,ELECTRODE7,ELECTRODE8,ELECTRODE9,ELECTRODE10,ELECTRODE11,
Pawel_13 8:434d613f0929 86 ELECTRODE12,ELECTRODE13,ELECTRODE14,ELECTRODE15};
Pawel_13 8:434d613f0929 87 static uint16_t gu16TSICount[16];
Pawel_13 8:434d613f0929 88 static uint16_t gu16Baseline[16];
Pawel_13 8:434d613f0929 89 static uint16_t gu16Threshold[16]={THRESHOLD0,THRESHOLD1,THRESHOLD2,THRESHOLD3,THRESHOLD4,THRESHOLD5,
Pawel_13 8:434d613f0929 90 THRESHOLD6,THRESHOLD7,THRESHOLD8,THRESHOLD9,THRESHOLD10,THRESHOLD11,
Pawel_13 8:434d613f0929 91 THRESHOLD12,THRESHOLD13,THRESHOLD14,THRESHOLD15};
Pawel_13 8:434d613f0929 92 static uint16_t gu16Delta[16];
Pawel_13 8:434d613f0929 93 static uint8_t ongoing_elec;
Pawel_13 8:434d613f0929 94 static uint8_t end_flag = 1;
Pawel_13 8:434d613f0929 95
Pawel_13 8:434d613f0929 96 static uint8_t SliderPercentegePosition[2] = {NO_TOUCH,NO_TOUCH};
Pawel_13 8:434d613f0929 97 static uint8_t SliderDistancePosition[2] = {NO_TOUCH,NO_TOUCH};
Pawel_13 8:434d613f0929 98 static uint32_t AbsolutePercentegePosition = NO_TOUCH;
Pawel_13 8:434d613f0929 99 static uint32_t AbsoluteDistancePosition = NO_TOUCH;
Pawel_13 8:434d613f0929 100
Pawel_13 8:434d613f0929 101 static void tsi_irq();
Pawel_13 8:434d613f0929 102
Pawel_13 8:434d613f0929 103 TSISensor::TSISensor() {
Pawel_13 8:434d613f0929 104 SIM->SCGC5 |= SIM_SCGC5_PORTB_MASK;
Pawel_13 8:434d613f0929 105 SIM->SCGC5 |= SIM_SCGC5_TSI_MASK;
Pawel_13 8:434d613f0929 106
Pawel_13 8:434d613f0929 107 TSI0->GENCS |= (TSI_GENCS_ESOR_MASK
Pawel_13 8:434d613f0929 108 | TSI_GENCS_MODE(0)
Pawel_13 8:434d613f0929 109 | TSI_GENCS_REFCHRG(4)
Pawel_13 8:434d613f0929 110 | TSI_GENCS_DVOLT(0)
Pawel_13 8:434d613f0929 111 | TSI_GENCS_EXTCHRG(7)
Pawel_13 8:434d613f0929 112 | TSI_GENCS_PS(4)
Pawel_13 8:434d613f0929 113 | TSI_GENCS_NSCN(11)
Pawel_13 8:434d613f0929 114 | TSI_GENCS_TSIIEN_MASK
Pawel_13 8:434d613f0929 115 | TSI_GENCS_STPE_MASK
Pawel_13 8:434d613f0929 116 );
Pawel_13 8:434d613f0929 117
Pawel_13 8:434d613f0929 118 TSI0->GENCS |= TSI_GENCS_TSIEN_MASK;
Pawel_13 8:434d613f0929 119
Pawel_13 8:434d613f0929 120 NVIC_SetVector(TSI0_IRQn, (uint32_t)&tsi_irq);
Pawel_13 8:434d613f0929 121 NVIC_EnableIRQ(TSI0_IRQn);
Pawel_13 8:434d613f0929 122
Pawel_13 8:434d613f0929 123 selfCalibration();
Pawel_13 8:434d613f0929 124 }
Pawel_13 8:434d613f0929 125
Pawel_13 8:434d613f0929 126
Pawel_13 8:434d613f0929 127 void TSISensor::selfCalibration(void)
Pawel_13 8:434d613f0929 128 {
Pawel_13 8:434d613f0929 129 unsigned char cnt;
Pawel_13 8:434d613f0929 130 unsigned char trigger_backup;
Pawel_13 8:434d613f0929 131
Pawel_13 8:434d613f0929 132 TSI0->GENCS |= TSI_GENCS_EOSF_MASK; // Clear End of Scan Flag
Pawel_13 8:434d613f0929 133 TSI0->GENCS &= ~TSI_GENCS_TSIEN_MASK; // Disable TSI module
Pawel_13 8:434d613f0929 134
Pawel_13 8:434d613f0929 135 if(TSI0->GENCS & TSI_GENCS_STM_MASK) // Back-up TSI Trigger mode from Application
Pawel_13 8:434d613f0929 136 trigger_backup = 1;
Pawel_13 8:434d613f0929 137 else
Pawel_13 8:434d613f0929 138 trigger_backup = 0;
Pawel_13 8:434d613f0929 139
Pawel_13 8:434d613f0929 140 TSI0->GENCS &= ~TSI_GENCS_STM_MASK; // Use SW trigger
Pawel_13 8:434d613f0929 141 TSI0->GENCS &= ~TSI_GENCS_TSIIEN_MASK; // Enable TSI interrupts
Pawel_13 8:434d613f0929 142
Pawel_13 8:434d613f0929 143 TSI0->GENCS |= TSI_GENCS_TSIEN_MASK; // Enable TSI module
Pawel_13 8:434d613f0929 144
Pawel_13 8:434d613f0929 145 for(cnt=0; cnt < total_electrode; cnt++) // Get Counts when Electrode not pressed
Pawel_13 8:434d613f0929 146 {
Pawel_13 8:434d613f0929 147 TSI0->DATA = ((elec_array[cnt] << TSI_DATA_TSICH_SHIFT) );
Pawel_13 8:434d613f0929 148 TSI0->DATA |= TSI_DATA_SWTS_MASK;
Pawel_13 8:434d613f0929 149 while(!(TSI0->GENCS & TSI_GENCS_EOSF_MASK));
Pawel_13 8:434d613f0929 150 TSI0->GENCS |= TSI_GENCS_EOSF_MASK;
Pawel_13 8:434d613f0929 151 gu16Baseline[cnt] = (TSI0->DATA & TSI_DATA_TSICNT_MASK);
Pawel_13 8:434d613f0929 152 }
Pawel_13 8:434d613f0929 153
Pawel_13 8:434d613f0929 154 TSI0->GENCS &= ~TSI_GENCS_TSIEN_MASK; // Disable TSI module
Pawel_13 8:434d613f0929 155 TSI0->GENCS |= TSI_GENCS_TSIIEN_MASK; // Enale TSI interrupt
Pawel_13 8:434d613f0929 156 if(trigger_backup) // Restore trigger mode
Pawel_13 8:434d613f0929 157 TSI0->GENCS |= TSI_GENCS_STM_MASK;
Pawel_13 8:434d613f0929 158 else
Pawel_13 8:434d613f0929 159 TSI0->GENCS &= ~TSI_GENCS_STM_MASK;
Pawel_13 8:434d613f0929 160
Pawel_13 8:434d613f0929 161 TSI0->GENCS |= TSI_GENCS_TSIEN_MASK; // Enable TSI module
Pawel_13 8:434d613f0929 162
Pawel_13 8:434d613f0929 163 TSI0->DATA = ((elec_array[0]<<TSI_DATA_TSICH_SHIFT) );
Pawel_13 8:434d613f0929 164 TSI0->DATA |= TSI_DATA_SWTS_MASK;
Pawel_13 8:434d613f0929 165 }
Pawel_13 8:434d613f0929 166
Pawel_13 8:434d613f0929 167
Pawel_13 8:434d613f0929 168 void TSISensor::sliderRead(void ) {
Pawel_13 8:434d613f0929 169 if(end_flag) {
Pawel_13 8:434d613f0929 170 end_flag = 0;
Pawel_13 8:434d613f0929 171 if((gu16Delta[0] > gu16Threshold[0])||(gu16Delta[1] > gu16Threshold[1])) {
Pawel_13 8:434d613f0929 172 SliderPercentegePosition[0] = (gu16Delta[0]*100)/(gu16Delta[0]+gu16Delta[1]);
Pawel_13 8:434d613f0929 173 SliderPercentegePosition[1] = (gu16Delta[1]*100)/(gu16Delta[0]+gu16Delta[1]);
Pawel_13 8:434d613f0929 174 SliderDistancePosition[0] = (SliderPercentegePosition[0]* SLIDER_LENGTH)/100;
Pawel_13 8:434d613f0929 175 SliderDistancePosition[1] = (SliderPercentegePosition[1]* SLIDER_LENGTH)/100;
Pawel_13 8:434d613f0929 176 AbsolutePercentegePosition = ((100 - SliderPercentegePosition[0]) + SliderPercentegePosition[1])/2;
Pawel_13 8:434d613f0929 177 AbsoluteDistancePosition = ((SLIDER_LENGTH - SliderDistancePosition[0]) + SliderDistancePosition[1])/2;
Pawel_13 8:434d613f0929 178 } else {
Pawel_13 8:434d613f0929 179 SliderPercentegePosition[0] = NO_TOUCH;
Pawel_13 8:434d613f0929 180 SliderPercentegePosition[1] = NO_TOUCH;
Pawel_13 8:434d613f0929 181 SliderDistancePosition[0] = NO_TOUCH;
Pawel_13 8:434d613f0929 182 SliderDistancePosition[1] = NO_TOUCH;
Pawel_13 8:434d613f0929 183 AbsolutePercentegePosition = NO_TOUCH;
Pawel_13 8:434d613f0929 184 AbsoluteDistancePosition = NO_TOUCH;
Pawel_13 8:434d613f0929 185 }
Pawel_13 8:434d613f0929 186 }
Pawel_13 8:434d613f0929 187 }
Pawel_13 8:434d613f0929 188
Pawel_13 8:434d613f0929 189 float TSISensor::readPercentage() {
Pawel_13 8:434d613f0929 190 sliderRead();
Pawel_13 8:434d613f0929 191 return (float)AbsolutePercentegePosition/100.0;
Pawel_13 8:434d613f0929 192 }
Pawel_13 8:434d613f0929 193
Pawel_13 8:434d613f0929 194 uint8_t TSISensor::readDistance() {
Pawel_13 8:434d613f0929 195 sliderRead();
Pawel_13 8:434d613f0929 196 return AbsoluteDistancePosition;
Pawel_13 8:434d613f0929 197 }
Pawel_13 8:434d613f0929 198
Pawel_13 8:434d613f0929 199
Pawel_13 8:434d613f0929 200 static void changeElectrode(void)
Pawel_13 8:434d613f0929 201 {
Pawel_13 8:434d613f0929 202 int16_t u16temp_delta;
Pawel_13 8:434d613f0929 203
Pawel_13 8:434d613f0929 204 gu16TSICount[ongoing_elec] = (TSI0->DATA & TSI_DATA_TSICNT_MASK); // Save Counts for current electrode
Pawel_13 8:434d613f0929 205 u16temp_delta = gu16TSICount[ongoing_elec] - gu16Baseline[ongoing_elec]; // Obtains Counts Delta from callibration reference
Pawel_13 8:434d613f0929 206 if(u16temp_delta < 0)
Pawel_13 8:434d613f0929 207 gu16Delta[ongoing_elec] = 0;
Pawel_13 8:434d613f0929 208 else
Pawel_13 8:434d613f0929 209 gu16Delta[ongoing_elec] = u16temp_delta;
Pawel_13 8:434d613f0929 210
Pawel_13 8:434d613f0929 211 //Change Electrode to Scan
Pawel_13 8:434d613f0929 212 if(total_electrode > 1)
Pawel_13 8:434d613f0929 213 {
Pawel_13 8:434d613f0929 214 if((total_electrode-1) > ongoing_elec)
Pawel_13 8:434d613f0929 215 ongoing_elec++;
Pawel_13 8:434d613f0929 216 else
Pawel_13 8:434d613f0929 217 ongoing_elec = 0;
Pawel_13 8:434d613f0929 218
Pawel_13 8:434d613f0929 219 TSI0->DATA = ((elec_array[ongoing_elec]<<TSI_DATA_TSICH_SHIFT) );
Pawel_13 8:434d613f0929 220 TSI0->DATA |= TSI_DATA_SWTS_MASK;
Pawel_13 8:434d613f0929 221 }
Pawel_13 8:434d613f0929 222 }
Pawel_13 8:434d613f0929 223
Pawel_13 8:434d613f0929 224
Pawel_13 8:434d613f0929 225 void tsi_irq(void)
Pawel_13 8:434d613f0929 226 {
Pawel_13 8:434d613f0929 227 end_flag = 1;
Pawel_13 8:434d613f0929 228 TSI0->GENCS |= TSI_GENCS_EOSF_MASK; // Clear End of Scan Flag
Pawel_13 8:434d613f0929 229 changeElectrode();
Pawel_13 8:434d613f0929 230 }
Pawel_13 8:434d613f0929 231