Orefatoi
/
afero_poc15_171201
POC1.5 prototype 2 x color sensor 2 x LM75B 3 x AnalogIn 1 x accel
edge_sensor/edge_color.cpp
- Committer:
- Rhyme
- Date:
- 2017-12-07
- Revision:
- 8:5590f55bdf41
- Parent:
- 7:aa858d789025
- Child:
- 9:f958fa2cdc74
File content as of revision 8:5590f55bdf41:
#include "mbed.h" #include "edge_sensor.h" #include "VEML6040.h" #include "edge_color.h" /* VEML6040 config bits */ /* sensor config loser 4bit */ /* trigger mode etc. */ #define SD_BIT 0x01 #define AF_BIT 0x02 #define TRIG_BIT 0x04 /* sensor config upper 4bit */ /* integration time */ int sensor_delay[] = { 40, 80, 160, 320, 640, 1280, 1280, /* place holder */ 1280 /* place holder */ } ; uint16_t color0_pwm[3] ; uint16_t color1_pwm[3] ; uint16_t color0_target[3] = { 3000, 3000, 3000 } ; uint16_t color1_target[3] = { 3000, 3000, 3000 } ; edge_color::edge_color(VEML6040 *sensor, PwmOut *led[], uint16_t *pwm) : edge_sensor() { uint16_t dummy[3] ; _sensor = sensor ; _sensor_config = AF_BIT | TRIG_BIT ; _interval = 30 ; _pwm_period = 2000 ; /* 2ms */ _probe = 0xFA00 ; /* to avoid satulation at 255, using 250 */ // _probe = 0xFF00 ; for (int i = 0 ; i < 3 ; i++ ) { _led[i] = led[i] ; _led[i]->write(1.0) ; /* turn LED off */ _value[i] = 0 ; _pwm[i] = pwm[i] ; _led[i]->period_us(_pwm_period) ; } getRGB(dummy) ; // dummy read, the first data is usually garbage } edge_color::~edge_color(void) { delete _sensor ; delete [] _led ; } void edge_color::setLEDs(uint16_t led_value[]) { for (int i = 0 ; i < 3 ; i++ ) { _led[i]->write((float)(65535 - led_value[i])/65535.0) ; } } void edge_color::setLEDs(uint16_t r, uint16_t g, uint16_t b) { _led[0]->write((float)(65535 - r)/65535.0) ; _led[1]->write((float)(65535 - g)/65535.0) ; _led[2]->write((float)(65535 - b)/65535.0) ; } void edge_color::reset(void) { for (int i = 0 ; i < 3 ; i++ ) { _value[i] = 0 ; } } void edge_color::prepare(void) { // setLEDs(_pwm) ; // <- the other color sensor turns off (;_;) } void edge_color::sample(void) { setLEDs(_pwm) ; getRGB(_value) ; #if 0 _sensor->setCOLORConf( _sensor_config ) ; wait_ms(sensor_delay[(_sensor_config >> 4)&0x07]*1.25) ; _sensor->getRData(&_value[0]) ; _sensor->getGData(&_value[1]) ; _sensor->getBData(&_value[2]) ; #endif _sampled_time = edge_time ; setLEDs(0, 0, 0) ; /* turn LEDs off */ } int edge_color::deliver(void) { int result ; char timestr[16] ; print_time(_sampled_time) ; time2seq(_sampled_time, timestr) ; printf(" color %d : R = %4d, G = %4d, B = %4d\n", _id, _value[0], _value[1], _value[2]) ; if (_id == 1) { /* color1 */ sprintf(_str_buf, "{\"DEVICE\":\"COLOR\",\"PN\":\"VEML6040\",\"VAL_R\":\"%d\",\"VAL_G\":\"%d\",\"VAL_B\":\"%d\",\"UNIT\":\"mW/cm2\",\"S\":\"%s\",\"E\":\"%d\"}", _value[0], _value[1], _value[2], timestr, _error_count) ; } else { /* color2 */ sprintf(_str_buf, "{\"DEVICE\":\"COLOR02\",\"PN\":\"VEML6040\",\"VAL_R\":\"%d\",\"VAL_G\":\"%d\",\"VAL_B\":\"%d\",\"UNIT\":\"mW/cm2\",\"S\":\"%s\",\"E\":\"%d\"}", _value[0], _value[1], _value[2], timestr, _error_count) ; } result = afero->setAttribute(1, _str_buf) ; return( result == afSUCCESS ) ; } void edge_color::getRGB(uint16_t v[]) { _sensor->setCOLORConf(_sensor_config) ; wait_ms(sensor_delay[(_sensor_config >> 4)&0x07] * 1.25) ; _sensor->getRData(&v[0]) ; _sensor->getGData(&v[1]) ; _sensor->getBData(&v[2]) ; } /** * Measure num_ave + 2 times * and throw away min and max * before calculating average */ void edge_color::getAveColor(uint16_t v[], int num_ave) { int i, c ; long l[3] = {0, 0, 0} ; uint16_t min[3] = { 0, 0, 0 } ; uint16_t max[3] = { 0, 0, 0 } ; uint16_t *tmp ; tmp = new uint16_t[(num_ave+2)*3] ; getRGB(&tmp[0]) ; // dummy read wait(0.1) ; for (i = 0 ; i < num_ave+2 ; i++ ) { getRGB(&tmp[i*3]) ; // printf("%04x %04x %04x\n", tmp[i].r, tmp[i].g, tmp[i].b) ; for (c = 0 ; c < 3 ; c++ ) { /* c = r, g, b */ if (tmp[i*3+c] < tmp[min[c]]) { min[c] = i ; } if (tmp[i*3+c] > tmp[max[c]]) { max[c] = i ; } } } for (i = 0 ; i < num_ave+2 ; i++ ) { for (c = 0 ; c < 3 ; c++ ) { if ((min[c] != i)&&(max[c] != i)) { l[c] += tmp[i*3+c] ; } } } delete [] tmp ; for (c = 0 ; c < 3 ; c++ ) { v[c] = (uint16_t)(l[c] / num_ave) ; } // printf("=== average ===\n") ; // printf("%04x %04x %04x\n", v[0], v[1], v[2]) ; } void edge_color::calibrate(uint16_t target[], uint16_t result[], int num_ave) { const uint16_t led_interval = 10 ; /* wait 10ms for LED */ double denominator ; double numerator[3] ; double a,b,c,d,e,f,g,h,i ; uint16_t v[3], tmp[3] ; // uint16_t L[3][3] ; double L[3][3] ; double ftarget[3] ; int idx ; ftarget[0] = target[0] ; ftarget[1] = target[1] ; ftarget[2] = target[2] ; printf("=== Calibrating Color Sensor %d ===\n", _id) ; for (idx = 0 ; idx < 3 ; idx++ ) { tmp[0] = tmp[1] = tmp[2] = 0 ; tmp[idx] = _probe ; setLEDs(tmp) ; wait_ms(led_interval) ; getAveColor(v, num_ave) ; printf("R:%5d, G:%5d, B:%5d\n", v[0], v[1], v[2]) ; L[idx][0] = v[0] ; L[idx][1] = v[1] ; L[idx][2] = v[2] ; setLEDs(0, 0, 0) ; /* clear LEDs */ } printf("=== Initial Equation ===\n") ; for (idx = 0 ; idx < 3 ; idx++) { printf("%5d * R / %d + %5d * G / %d + %5d * B / %d = %d,\n", (int)L[0][idx], _probe, (int)L[1][idx], _probe, (int)L[2][idx], _probe, target[idx]) ; } a = L[0][0] ; b = L[1][0] ; c = L[2][0] ; d = L[0][1] ; e = L[1][1] ; f = L[2][1] ; g = L[0][2] ; h = L[1][2] ; i = L[2][2] ; denominator = a * (f * h - e * i) + b * (d * i - f * g) + c * (e * g - d * h) ; if (denominator != 0) { numerator[0] = (f * h - e * i) * ftarget[0] + b * (i * ftarget[1] - f * ftarget[2]) + c * (e * ftarget[2] - h * ftarget[1]) ; numerator[1] = -((f * g - d * i) * ftarget[0] + a * (i * ftarget[1] - f * ftarget[2]) + c * (d * ftarget[2] - g * ftarget[1])) ; numerator[2] = (e * g - d * h) * ftarget[0] + a * (h * ftarget[1] - e * ftarget[2]) + b * (d * ftarget[2] - g * ftarget[1]) ; for (idx = 0 ; idx < 3 ; idx++ ) { _pwm[idx] = (uint16_t) (0.5 + ((double)_probe * numerator[idx]) / denominator) ; result[idx] = _pwm[idx] ; } printf("PWM R = %d [0x%04x] ", result[0], result[0]) ; printf("G = %d [0x%04x] ", result[1], result[1]) ; printf("B = %d [0x%04x] ", result[2], result[2]) ; printf("\n") ; printf("=== test ===\n") ; setLEDs(_pwm[0], _pwm[1], _pwm[2]) ; wait_ms(led_interval) ; getAveColor(v, num_ave) ; printf("R:%d, G:%d, B:%d\n", v[0], v[1], v[2]) ; printf("============\n") ; } else { printf("calibration failed, pwm values were not updated\n") ; } }