Revision 0:b26b94a6a065, committed 2010-12-01

Comitter:

AjK

Date:

Wed Dec 01 19:20:43 2010 +0000

Commit message:

0.1 Untested

Changed in this revision

diff -r 000000000000 -r b26b94a6a065 MODSERIAL.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL.lib	Wed Dec 01 19:20:43 2010 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/AjK/code/MODSERIAL/#c11ea36f17f9

diff -r 000000000000 -r b26b94a6a065 Roomba/Roomba.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Roomba/Roomba.cpp	Wed Dec 01 19:20:43 2010 +0000
@@ -0,0 +1,127 @@
+/*
+    Copyright (c) 2010 Andy Kirkham
+ 
+    Permission is hereby granted, free of charge, to any person obtaining a copy
+    of this software and associated documentation files (the "Software"), to deal
+    in the Software without restriction, including without limitation the rights
+    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+    copies of the Software, and to permit persons to whom the Software is
+    furnished to do so, subject to the following conditions:
+ 
+    The above copyright notice and this permission notice shall be included in
+    all copies or substantial portions of the Software.
+ 
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+    THE SOFTWARE.
+    
+    @file          Roomba.cpp
+    @purpose       http://mbed.org/forum/mbed/topic/1476
+    @version       0.1 (untested)
+    @date          Dec 2010
+    @author        Andy Kirkham    
+    @see           http://mbed.org/forum/mbed/topic/1476 
+*/
+
+#include "Roomba.h"
+
+void
+Roomba::init(PinName tx, PinName rx)
+{
+    state = Idle;    
+    uart = new MODSERIAL(tx, rx);
+    tick = new Ticker;
+    uart->attach(this, &Roomba::cbSerial, MODSERIAL::RxIrq);
+    tick->attach(this, &Roomba::cbTicker, 0.1);   
+}
+
+int
+Roomba::command(RoombaState cmd, int opts, char *opt, bool block) {
+    if (state != Idle) return (int)NotIdle;
+    
+    // Impose our state on teh system. Use a loop to
+    // make sure no interrupt "nips in" and alters 
+    // the state machine.
+    while (state != cmd) {
+        state = cmd;
+    }
+    
+    // Send command.
+    uart->putc(cmd);
+    
+    // Send any additional option bytes.
+    if (opts > 0) {
+        for (int i = 0; i < opts; i++) {
+            uart->putc(opt[i]);
+        }
+    }
+    
+    // Wait until the serial characters have left the Mbed.
+    // Only do this is arg block is true (which is the default).
+    if (block) while (uart->txIsBusy() || uart->txBufferGetCount() != 0);
+    
+    // Return state back to idle
+    state = Idle;
+    
+    return cmd;
+}
+
+int
+Roomba::cmdSensors(CallType type)
+{
+    if (type == Invoke) {
+        if (state != Idle) {
+            return (int)NotIdle;
+        }
+        
+        // We are already in interrupt context
+        // so no need to loop here, nothing is
+        // going to interrupt us.
+        state = CmdSensors;
+        
+        // Flush the buffers and send teh command+opt
+        uart->rxBufferFlush();
+        uart->putc(CmdSensors);
+        uart->putc(0); 
+        
+        // Leave state in CmdSensors so nothing else can use the
+        // serial port until the CmdSensors has completed. See
+        // below where the command end is detected and terminated.
+    }
+    
+    if (type == SerialCallback) {
+        if (state == CmdSensors && uart->rxBufferGetCount() == 26) {
+            sensors8bit[bumpsWheeldrops]        =  uart->getc();
+            sensors8bit[wall]                   =  uart->getc();
+            sensors8bit[cliffLeft]              =  uart->getc();
+            sensors8bit[cliffFrontLeft]         =  uart->getc();
+            sensors8bit[cliffFrontRight]        =  uart->getc();
+            sensors8bit[cliffRight]             =  uart->getc();
+            sensors8bit[virtualWall]            =  uart->getc();
+            sensors8bit[motorOvercurrents]      =  uart->getc();
+            sensors8bit[dirtDetectorLeft]       =  uart->getc();
+            sensors8bit[dirtDetectorRight]      =  uart->getc();
+            sensors8bit[remoteControlCommand]   =  uart->getc();
+            sensors8bit[buttons]                =  uart->getc();
+            sensors16bit[distance]              = (uart->getc() << 8) | uart->getc();
+            sensors16bit[angle]                 = (uart->getc() << 8) | uart->getc();
+            sensors8bit[chargingState]          =  uart->getc();
+            sensors16bit[voltage]               = (uart->getc() << 8) | uart->getc();
+            sensors16bit[current]               = (uart->getc() << 8) | uart->getc();
+            sensors8bit[temperature]            =  uart->getc();
+            sensors16bit[charge]                = (uart->getc() << 8) | uart->getc();
+            sensors16bit[capacity]              = (uart->getc() << 8) | uart->getc();             
+            
+            // All done, release teh serial port back to idle.
+            state = Idle;                       
+        }
+    }   
+    
+    return Ok;
+}
+
+

diff -r 000000000000 -r b26b94a6a065 Roomba/Roomba.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Roomba/Roomba.h	Wed Dec 01 19:20:43 2010 +0000
@@ -0,0 +1,142 @@
+/*
+    Copyright (c) 2010 Andy Kirkham
+ 
+    Permission is hereby granted, free of charge, to any person obtaining a copy
+    of this software and associated documentation files (the "Software"), to deal
+    in the Software without restriction, including without limitation the rights
+    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+    copies of the Software, and to permit persons to whom the Software is
+    furnished to do so, subject to the following conditions:
+ 
+    The above copyright notice and this permission notice shall be included in
+    all copies or substantial portions of the Software.
+ 
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+    THE SOFTWARE.
+    
+    @file          Roomba.h
+    @purpose       http://mbed.org/forum/mbed/topic/1476
+    @version       0.1 (untested)
+    @date          Dec 2010
+    @author        Andy Kirkham    
+    @see           http://mbed.org/forum/mbed/topic/1476 
+    @require       http://mbed.org/cookbook/MODSERIAL
+*/
+
+#ifndef ROOMBA_H
+#define ROOMBA_H
+
+#include "mbed.h"
+#include "MODSERIAL.h"
+
+/**
+ * @brief Class efinition of a Roomba robot.
+ * @author Andy Kirkham
+ * @see http://mbed.org/forum/mbed/topic/1476
+ * @see http://mbed.org/cookbook/MODSERIAL
+ *
+ * <b>Roomba</b> manages communications with teh robot.
+ * It exports a simple API to send commands or read
+ * sensor data.
+ *
+ * This module requires MODSERIAL
+ */
+class Roomba {
+public:
+
+    // States (and commands)
+    enum RoombaState { 
+          Idle = 0
+        , GetSensors
+        , CmdStart = 128
+        , CmdBaud
+        , CmdControl
+        , CmdSafe
+        , CmdFull
+        , CmdPower
+        , CmdSpot
+        , CmdClean
+        , CmdMax
+        , CmdDrive
+        , CmdMotors
+        , CmdLeds
+        , CmdSong
+        , CmdPlay
+        , CmdSensors
+        , CmdForceSeekingDock        
+    };
+    
+    // Calltypes and return types
+    enum CallType {
+          NotIdle = -1
+        , Ok = 0
+        , Invoke = 1
+        , SerialCallback    
+    };
+    
+    
+    // Indexes into array to select what var
+    enum Sensor8bit {
+          bumpsWheeldrops = 0
+        , wall
+        , cliffLeft
+        , cliffFrontLeft
+        , cliffFrontRight
+        , cliffRight
+        , virtualWall
+        , motorOvercurrents
+        , dirtDetectorLeft
+        , dirtDetectorRight
+        , remoteControlCommand
+        , buttons
+        , chargingState
+        , temperature
+        , NumOf8bitSensors
+    };
+    
+    // Indexes into array to select what var
+    enum Sensor16bit {
+          distance
+        , angle
+        , voltage
+        , charge        
+        , current
+        , capacity        
+        , NumOf16bitSensors
+    };
+    
+    Roomba(PinName tx, PinName rx) { init(tx, rx); }
+    ~Roomba() { delete uart; delete tick; }
+    
+    int command(RoombaState cmd, int opts = 0, char *opt = (char *)NULL, bool block = true);
+    
+    uint8_t  sensor(Sensor8bit  idx) { return sensors8bit[idx]; }
+    uint16_t sensor(Sensor16bit idx) { return sensors16bit[idx]; }
+    
+    // Interrupt callback functions.
+    void cbSerial(void) { cmdSensors(SerialCallback); }
+    void cbTicker(void) { cmdSensors(Invoke); } ;
+    
+protected:
+    int state;
+    MODSERIAL *uart;
+    Ticker    *tick;
+    
+    // Internal methods
+    void init(PinName tx, PinName rx);
+    int  cmdSensors(CallType type);
+
+    // Sensor values. Populated with data
+    // via ticker/serial interrupts. Available
+    // to the user program via the .sensor() API
+    // function.
+    uint8_t  sensors8bit[NumOf8bitSensors];
+    uint16_t sensors16bit[NumOf16bitSensors];
+};
+
+#endif

diff -r 000000000000 -r b26b94a6a065 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Dec 01 19:20:43 2010 +0000
@@ -0,0 +1,46 @@
+
+#include "Roomba.h"
+
+DigitalOut myled(LED1);
+Roomba roomba(p9, p10);
+
+int main() {
+
+    // Examples of sending commands. Note that when
+    // teh function returns, if it was successful
+    // it returns the command code. Otherwise it 
+    // will return Roomba::NotIdle which means it
+    // couldn't send the command because the serial
+    // port was busy reading sensor data.
+    int result = roomba.command(Roomba::CmdPower);
+    if (result != Roomba::CmdPower) {
+        // Failed to send command because the 
+        // serial port was busy getting sensor data
+    }
+    
+    // A sure fire way to make the command happen.
+    while (roomba.command(Roomba::CmdPower) != Roomba::CmdPower);
+    
+    // Some commands have additional bytes, heres an example
+    char leds[3];
+    leds[0] = 0x01; // First byte sent
+    leds[1] = 0x05;
+    leds[2] = 0x76; // Last byte sent
+    roomba.command(Roomba::CmdLeds, 3, leds);
+        
+    // Sensors are read automartically. Here's how we
+    // get the wall sensor and voltage values.    
+    uint8_t  wall    = roomba.sensor(Roomba::wall);    
+    uint16_t voltage = roomba.sensor(Roomba::voltage);
+    
+    // Note, when reading sensor data make sure your variable
+    // is of the right type, either uint8_t for single byte
+    // and uint16_t for double byte variables. 
+      
+    while(1) {
+        myled = 1;
+        wait(0.2);
+        myled = 0;
+        wait(0.2);    
+    }
+}

diff -r 000000000000 -r b26b94a6a065 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Dec 01 19:20:43 2010 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e