Team Walter / Mbed OS Low_Power_Long_Distance_IR_Vision_Robot

LP Long Distance IR Vision Robot

Dependencies:   max77650_charger_sample BufferedSerial SX1276GenericLib Adafruit-MotorShield NEO-6m-GPS MAX17055_EZconfig Adafruit_GFX USBDeviceHT Adafruit-PWM-Servo-Driver

GridEye/GridEye.h@23:f74a50977593, 2018-07-18 (annotated)

Committer:
dev_alexander
Date:
Wed Jul 18 18:52:30 2018 +0000
Revision:
23:f74a50977593
Child:
28:0ed92c590607
I added file global_buffers.h and also reworked a portion of the main.cpp to adjust to the new method of using global buffers defined in a different file.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dev_alexander 23:f74a50977593 1 /**********************************************************************
dev_alexander 23:f74a50977593 2 * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
dev_alexander 23:f74a50977593 3 *
dev_alexander 23:f74a50977593 4 * Permission is hereby granted, free of charge, to any person obtaining a
dev_alexander 23:f74a50977593 5 * copy of this software and associated documentation files (the "Software"),
dev_alexander 23:f74a50977593 6 * to deal in the Software without restriction, including without limitation
dev_alexander 23:f74a50977593 7 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
dev_alexander 23:f74a50977593 8 * and/or sell copies of the Software, and to permit persons to whom the
dev_alexander 23:f74a50977593 9 * Software is furnished to do so, subject to the following conditions:
dev_alexander 23:f74a50977593 10 *
dev_alexander 23:f74a50977593 11 * The above copyright notice and this permission notice shall be included
dev_alexander 23:f74a50977593 12 * in all copies or substantial portions of the Software.
dev_alexander 23:f74a50977593 13 *
dev_alexander 23:f74a50977593 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
dev_alexander 23:f74a50977593 15 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
dev_alexander 23:f74a50977593 16 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
dev_alexander 23:f74a50977593 17 * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
dev_alexander 23:f74a50977593 18 * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
dev_alexander 23:f74a50977593 19 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
dev_alexander 23:f74a50977593 20 * OTHER DEALINGS IN THE SOFTWARE.
dev_alexander 23:f74a50977593 21 *
dev_alexander 23:f74a50977593 22 * Except as contained in this notice, the name of Maxim Integrated
dev_alexander 23:f74a50977593 23 * Products, Inc. shall not be used except as stated in the Maxim Integrated
dev_alexander 23:f74a50977593 24 * Products, Inc. Branding Policy.
dev_alexander 23:f74a50977593 25 *
dev_alexander 23:f74a50977593 26 * The mere transfer of this software does not imply any licenses
dev_alexander 23:f74a50977593 27 * of trade secrets, proprietary technology, copyrights, patents,
dev_alexander 23:f74a50977593 28 * trademarks, maskwork rights, or any other form of intellectual
dev_alexander 23:f74a50977593 29 * property whatsoever. Maxim Integrated Products, Inc. retains all
dev_alexander 23:f74a50977593 30 * ownership rights.
dev_alexander 23:f74a50977593 31 **********************************************************************/
dev_alexander 23:f74a50977593 32
dev_alexander 23:f74a50977593 33
dev_alexander 23:f74a50977593 34 #ifndef GRIDEYE_H
dev_alexander 23:f74a50977593 35 #define GRIDEYE_H
dev_alexander 23:f74a50977593 36
dev_alexander 23:f74a50977593 37
dev_alexander 23:f74a50977593 38 #include "mbed.h"
dev_alexander 23:f74a50977593 39
dev_alexander 23:f74a50977593 40 #define I2C_WR_SUCCESS 0
dev_alexander 23:f74a50977593 41 #define I2C_WR_ERROR -1
dev_alexander 23:f74a50977593 42
dev_alexander 23:f74a50977593 43 /**
dev_alexander 23:f74a50977593 44 * @brief Object for interfacing to MAXREFDES131#
dev_alexander 23:f74a50977593 45 *
dev_alexander 23:f74a50977593 46 * @details MAXREFDES131# combines the DS28E17 1-wire to I2C bridge
dev_alexander 23:f74a50977593 47 * with the Panasonic AMG8833 GridEye sensor. The reference design also
dev_alexander 23:f74a50977593 48 * includes a DS2413 2ch open drain switch for controlling the MAX4717
dev_alexander 23:f74a50977593 49 * dual SPDT analog switch. The DS28E17 and AMG8833 are connected to
dev_alexander 23:f74a50977593 50 * the 1-wire bus via COM2 of the MAX4717 and COM1 is used for
dev_alexander 23:f74a50977593 51 * daisy-chaining additional modules. Disconnecting the DS28E17/AMG8833
dev_alexander 23:f74a50977593 52 * from the main 1-wire branch puts both devices to sleep and reduces current
dev_alexander 23:f74a50977593 53 * consumption from 10mA to a couple hundred uA.
dev_alexander 23:f74a50977593 54 */
dev_alexander 23:f74a50977593 55 class GridEye
dev_alexander 23:f74a50977593 56 {
dev_alexander 23:f74a50977593 57 private:
dev_alexander 23:f74a50977593 58 I2C &m_i2cBus;
dev_alexander 23:f74a50977593 59
dev_alexander 23:f74a50977593 60 static const uint8_t I2C_ADRS = 0x68;
dev_alexander 23:f74a50977593 61 static const uint8_t I2C_W_ADRS = (uint8_t)((0x68)<<1);
dev_alexander 23:f74a50977593 62 static const uint8_t I2C_R_ADRS = (uint8_t)((0x68)<<1)+1;
dev_alexander 23:f74a50977593 63
dev_alexander 23:f74a50977593 64
dev_alexander 23:f74a50977593 65 public:
dev_alexander 23:f74a50977593 66
dev_alexander 23:f74a50977593 67 /**
dev_alexander 23:f74a50977593 68 * @brief GridEye operating modes
dev_alexander 23:f74a50977593 69 */
dev_alexander 23:f74a50977593 70 enum OperatingMode
dev_alexander 23:f74a50977593 71 {
dev_alexander 23:f74a50977593 72 NormalMode = 0x00,
dev_alexander 23:f74a50977593 73 SleepMode = 0x10,
dev_alexander 23:f74a50977593 74 StandBy60sec = 0x20,
dev_alexander 23:f74a50977593 75 StandBy10sec = 0x21
dev_alexander 23:f74a50977593 76 };
dev_alexander 23:f74a50977593 77
dev_alexander 23:f74a50977593 78 /**
dev_alexander 23:f74a50977593 79 * @brief GridEye operating modes
dev_alexander 23:f74a50977593 80 */
dev_alexander 23:f74a50977593 81 enum FrameRate
dev_alexander 23:f74a50977593 82 {
dev_alexander 23:f74a50977593 83 TenFPS = 0x00,
dev_alexander 23:f74a50977593 84 OneFPS = 0x01
dev_alexander 23:f74a50977593 85 };
dev_alexander 23:f74a50977593 86
dev_alexander 23:f74a50977593 87 /**
dev_alexander 23:f74a50977593 88 * @brief AMG8833 register map
dev_alexander 23:f74a50977593 89 */
dev_alexander 23:f74a50977593 90 enum GridEyeRegister
dev_alexander 23:f74a50977593 91 {
dev_alexander 23:f74a50977593 92 OPERATING_MODE,
dev_alexander 23:f74a50977593 93 RESET,
dev_alexander 23:f74a50977593 94 FRAME_RATE,
dev_alexander 23:f74a50977593 95 INT_CONTROL,
dev_alexander 23:f74a50977593 96 STATUS,
dev_alexander 23:f74a50977593 97 STATUS_CLEAR,
dev_alexander 23:f74a50977593 98 AVERAGE = 7,
dev_alexander 23:f74a50977593 99 INT_LEVEL_1,
dev_alexander 23:f74a50977593 100 INT_LEVEL_2,
dev_alexander 23:f74a50977593 101 INT_LEVEL_3,
dev_alexander 23:f74a50977593 102 INT_LEVEL_4,
dev_alexander 23:f74a50977593 103 INT_LEVEL_5,
dev_alexander 23:f74a50977593 104 INT_LEVEL_6,
dev_alexander 23:f74a50977593 105 THERMISTOR_LOW,
dev_alexander 23:f74a50977593 106 THERMISTOR_HI,
dev_alexander 23:f74a50977593 107 INT_1,
dev_alexander 23:f74a50977593 108 INT_2,
dev_alexander 23:f74a50977593 109 INT_3,
dev_alexander 23:f74a50977593 110 INT_4,
dev_alexander 23:f74a50977593 111 INT_5,
dev_alexander 23:f74a50977593 112 INT_6,
dev_alexander 23:f74a50977593 113 INT_7,
dev_alexander 23:f74a50977593 114 INT_8,
dev_alexander 23:f74a50977593 115 PIXEL_BASE_ADRS = 0x80
dev_alexander 23:f74a50977593 116 };
dev_alexander 23:f74a50977593 117
dev_alexander 23:f74a50977593 118 /* static const uint8_t DS2413_FAMILY_CODE = 0x3A;
dev_alexander 23:f74a50977593 119
dev_alexander 23:f74a50977593 120 static const uint8_t DS28E17_FAMILY_CODE = 0x19;
dev_alexander 23:f74a50977593 121 */
dev_alexander 23:f74a50977593 122 /**
dev_alexander 23:f74a50977593 123 * @brief GridEye Constructor
dev_alexander 23:f74a50977593 124 *
dev_alexander 23:f74a50977593 125 * @details setI2CBridge() by passing in I2C parameter
dev_alexander 23:f74a50977593 126 *
dev_alexander 23:f74a50977593 127 * @param[in] selector - MultidropRomIterator object that
dev_alexander 23:f74a50977593 128 * encapsulates ROM fxs of 1-wire protocol
dev_alexander 23:f74a50977593 129 */
dev_alexander 23:f74a50977593 130 GridEye(I2C &i2c);
dev_alexander 23:f74a50977593 131
dev_alexander 23:f74a50977593 132
dev_alexander 23:f74a50977593 133
dev_alexander 23:f74a50977593 134
dev_alexander 23:f74a50977593 135 /**
dev_alexander 23:f74a50977593 136 * @brief gridEyeWriteReg
dev_alexander 23:f74a50977593 137 *
dev_alexander 23:f74a50977593 138 * @details Provides read/write access to the AMG8833
dev_alexander 23:f74a50977593 139 *
dev_alexander 23:f74a50977593 140 * On Entry:
dev_alexander 23:f74a50977593 141 * @param[in] regAdrs - AMG8833 register to start reading/writting
dev_alexander 23:f74a50977593 142 * from/to
dev_alexander 23:f74a50977593 143 * @param[in] numBytes - Number of bytes of data to write
dev_alexander 23:f74a50977593 144 * @param[in] dataBuf - Pointer to data buffer for storing data in
dev_alexander 23:f74a50977593 145 * on read, or data to be written on write
dev_alexander 23:f74a50977593 146 *
dev_alexander 23:f74a50977593 147 * On Exit:
dev_alexander 23:f74a50977593 148 *
dev_alexander 23:f74a50977593 149 * @return CmdResult - return 0 if the operation was sucessful, return -1 if unsucessful
dev_alexander 23:f74a50977593 150 */
dev_alexander 23:f74a50977593 151 int8_t gridEyeWriteReg(GridEyeRegister reg_addr, int num_bytes, char * data_buf);
dev_alexander 23:f74a50977593 152
dev_alexander 23:f74a50977593 153 /**
dev_alexander 23:f74a50977593 154 * @brief gridEyeReadReg
dev_alexander 23:f74a50977593 155 *
dev_alexander 23:f74a50977593 156 * @details Provides read/write access to the AMG8833
dev_alexander 23:f74a50977593 157 *
dev_alexander 23:f74a50977593 158 * On Entry:
dev_alexander 23:f74a50977593 159 * @param[in] regAdrs - AMG8833 register to start reading/writting
dev_alexander 23:f74a50977593 160 * from/to
dev_alexander 23:f74a50977593 161 * @param[in] numBytes - Number of bytes to read
dev_alexander 23:f74a50977593 162 * @param[in] dataBuf - Pointer to data buffer for storing data in
dev_alexander 23:f74a50977593 163 * on read, or data to be written on write
dev_alexander 23:f74a50977593 164 *
dev_alexander 23:f74a50977593 165 * On Exit:
dev_alexander 23:f74a50977593 166 * @param[out] dataBuf - Read data on read operation
dev_alexander 23:f74a50977593 167 *
dev_alexander 23:f74a50977593 168 * @return CmdResult - return 0 if the operation was sucessful, return -1 if unsucessful
dev_alexander 23:f74a50977593 169 */
dev_alexander 23:f74a50977593 170 int8_t gridEyeReadReg(GridEyeRegister reg_addr, int num_bytes, char * data_buf);
dev_alexander 23:f74a50977593 171
dev_alexander 23:f74a50977593 172
dev_alexander 23:f74a50977593 173 /**
dev_alexander 23:f74a50977593 174 * @brief getThermistorTemperature
dev_alexander 23:f74a50977593 175 *
dev_alexander 23:f74a50977593 176 * @details Gets internal thermistor temperature
dev_alexander 23:f74a50977593 177 *
dev_alexander 23:f74a50977593 178 * On Entry:
dev_alexander 23:f74a50977593 179 * @param[in] thermTemp - reference to int16_t var that will be overwritten
dev_alexander 23:f74a50977593 180 * with thermistor data
dev_alexander 23:f74a50977593 181 *
dev_alexander 23:f74a50977593 182 * On Exit:
dev_alexander 23:f74a50977593 183 * @param[out] thermTemp - thermistor data
dev_alexander 23:f74a50977593 184 *
dev_alexander 23:f74a50977593 185 * @return CmdResult - result of operation
dev_alexander 23:f74a50977593 186 */
dev_alexander 23:f74a50977593 187 int8_t getThermistorTemperature(int16_t & therm_temp);
dev_alexander 23:f74a50977593 188
dev_alexander 23:f74a50977593 189
dev_alexander 23:f74a50977593 190 /**
dev_alexander 23:f74a50977593 191 * @brief getPixelTemperature
dev_alexander 23:f74a50977593 192 *
dev_alexander 23:f74a50977593 193 * @details Gets individual pixel temperature
dev_alexander 23:f74a50977593 194 *
dev_alexander 23:f74a50977593 195 * On Entry:
dev_alexander 23:f74a50977593 196 * @param[in] pixelAdrs - address of pixel to read
dev_alexander 23:f74a50977593 197 * @param[in] pixelTemp - reference to int16_t var that will be overwritten
dev_alexander 23:f74a50977593 198 * with thermistor data
dev_alexander 23:f74a50977593 199 *
dev_alexander 23:f74a50977593 200 * On Exit:
dev_alexander 23:f74a50977593 201 * @param[out] pixelTemp - pixel data
dev_alexander 23:f74a50977593 202 *
dev_alexander 23:f74a50977593 203 * @return CmdResult - result of operation
dev_alexander 23:f74a50977593 204 */
dev_alexander 23:f74a50977593 205 int8_t getPixelTemperature(uint8_t pixel_addr, int16_t & pixel_temp);
dev_alexander 23:f74a50977593 206
dev_alexander 23:f74a50977593 207 /**
dev_alexander 23:f74a50977593 208 * @brief getRaw8x8FrameData
dev_alexander 23:f74a50977593 209 *
dev_alexander 23:f74a50977593 210 * @details Gets pixel frame(64 pixels in 128 bytes) temperature
dev_alexander 23:f74a50977593 211 *
dev_alexander 23:f74a50977593 212 * On Entry:
dev_alexander 23:f74a50977593 213 * @param[in] raw_frame_data - buffer to hold 2 bytes data per pixel
dev_alexander 23:f74a50977593 214 *
dev_alexander 23:f74a50977593 215 * On Exit:
dev_alexander 23:f74a50977593 216 * @param[out] raw_frame_data - pixel data not yet formatted
dev_alexander 23:f74a50977593 217 *
dev_alexander 23:f74a50977593 218 * @return int8_t - result of operation, 0 on success, -1 on failure
dev_alexander 23:f74a50977593 219 */
dev_alexander 23:f74a50977593 220 int8_t getRaw8x8FrameData(char * raw_frame_data);
dev_alexander 23:f74a50977593 221
dev_alexander 23:f74a50977593 222
dev_alexander 23:f74a50977593 223 int8_t setOperatingMode(GridEye::OperatingMode mode);
dev_alexander 23:f74a50977593 224
dev_alexander 23:f74a50977593 225 int8_t setFrameRate(GridEye::FrameRate rate);
dev_alexander 23:f74a50977593 226
dev_alexander 23:f74a50977593 227 };
dev_alexander 23:f74a50977593 228
dev_alexander 23:f74a50977593 229
dev_alexander 23:f74a50977593 230 void convRaw8x8Data2Int(char * data, int16_t * frame_temp);
dev_alexander 23:f74a50977593 231
dev_alexander 23:f74a50977593 232 void convRaw8x8Data2Point25degC(char * data, int16_t * frame_temp);
dev_alexander 23:f74a50977593 233
dev_alexander 23:f74a50977593 234 void convSingleRawTempData2Int(char * data, int16_t & pixel_temp);
dev_alexander 23:f74a50977593 235
dev_alexander 23:f74a50977593 236 #endif /*GridEye_H*/