Diff: sensor_base.cpp

Revision:

0:9f82ee1feae7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_base.cpp	Mon Oct 02 11:18:47 2017 +0000
@@ -0,0 +1,259 @@
+#include "mbed.h"
+#include <stdio.h>
+#include "sensor_base.h"
+#include <iostream> 
+#include "qeihw.h"
+
+using namespace std;
+
+
+
+sensor_base::sensor_base()
+{
+    sensor_id = 0;
+}
+
+/*
+sensor_base::sensor_base(int id)
+{
+    sensor_id = id;
+}
+*/
+
+char * sensor_base::read_data()
+{
+    //char  mretval[50];
+    sprintf(data_sample, "[ID:%d;%5.3f]", sensor_id, 1.0);
+    return "Base";
+    //mretval[0] = 68;
+}
+
+sensor_base::~sensor_base()
+{
+}
+
+///////////////////////////////// Digital sensor starts here //////////////////////////////////////
+
+
+sensor_onoff::sensor_onoff() :din(p22)
+{
+
+}
+
+
+
+sensor_onoff::sensor_onoff(PinName pin) :din(pin)
+{
+
+}
+
+
+char * sensor_onoff::read_data()
+{
+    //char  mretval[50];
+    //sprintf(data_sample, "\r\nOnOff[%d]=%d", sensor_id,din.read());
+    sprintf(data_sample, "[%d;%d]", sensor_id, din.read());
+    return data_sample;
+    //mretval[0] = 68;
+}
+
+
+sensor_onoff::~sensor_onoff()
+{
+}
+
+/////////////////////////////////Start of sensor_vin/////////////////////////////////
+
+sensor_vin::sensor_vin() :ain(p15) {
+}
+
+sensor_vin::sensor_vin(PinName pin) :ain(pin) {
+    Serial pc(USBTX, USBRX);    
+}
+
+char * sensor_vin::read_data()
+{
+    //char  mretval[50];
+    sprintf(data_sample, "[%d;%f]", sensor_id, ain.read());
+    return data_sample;
+    //mretval[0] = 68;
+}
+
+sensor_vin::~sensor_vin() {
+}
+
+
+///////////////////////////////////////// Start of sensor_pulse ///////////////
+
+sensor_pulse::sensor_pulse() :IntIn(p16) {
+}
+
+sensor_pulse::sensor_pulse(PinName pin) :IntIn(pin) {
+    IntIn.rise(this, &sensor_pulse::ISR1);
+}
+
+char * sensor_pulse::read_data()
+{
+    elapsedtime = t.read();
+    if (pulsecount>=2) {
+        period=(lastpulsetime-firstpulsetime)/(pulsecount-1);
+        uptime = (lastpulsetime-firstpulsetime);        
+        if ((firstpulsetime < period) and (elapsedtime - lastpulsetime) < period) {
+            uptime = elapsedtime;
+        }
+        frequency=1/period;
+    }
+    else {
+        uptime=0;
+        frequency=0;
+    }
+    //sprintf(data_sample, "[%d;%f;%f;%d;%f;%f;%f]", sensor_id, frequency, uptime ,pulsecount, firstpulsetime, lastpulsetime, elapsedtime);
+    sprintf(data_sample, "[%d;%d;%f]", sensor_id, pulsecount, uptime);
+    
+    pulsecount ++;    
+    return data_sample;
+    
+}
+
+sensor_pulse::~sensor_pulse() {
+}
+
+void sensor_pulse::reset() {
+    t.reset();
+    t.start();
+    firstpulsetime=0;
+    lastpulsetime=0;
+    pulsecount=0;
+}
+
+
+void sensor_pulse::ISR1() {
+    if (pulsecount==0) {
+        firstpulsetime=t.read();
+    }
+    lastpulsetime=t.read();
+    pulsecount ++;
+    //sensor_id ++;   
+    //DigitalOut light3(LED3);
+    //light3=1;
+}
+
+
+////////////////////////// quadrature encoder HW /////////////////////////////////////////////
+
+void toggleIndexLed(void) {
+    //  led3 = !led3;
+}
+
+sensor_qeihw::sensor_qeihw()  : qei(QEI_DIRINV_NONE, QEI_SIGNALMODE_QUAD, QEI_CAPMODE_4X, QEI_INVINX_NONE)
+{
+    qei.SetDigiFilter(480UL);
+    qei.SetMaxPosition(1000000);
+    qei.SetVelocityTimerReload_us(1000);
+    qei.AppendISR(QEI_INTFLAG_INX_Int, &toggleIndexLed);
+
+    qei.IntCmd(QEI_INTFLAG_INX_Int, ENABLE);
+    //sensor_id=1001;
+    sensor_id=1001;
+}
+
+
+char * sensor_qeihw::read_data()
+{
+    //char  mretval[50];
+    sprintf(data_sample, "[ID:%d;%d;%d;%d]", sensor_id, qei.GetPosition(), qei.GetVelocityCap(), qei.GetIndex());
+    return data_sample;
+    //mretval[0] = 68;
+}
+
+
+sensor_qeihw::~sensor_qeihw()
+{
+}
+
+
+////////////////////////////////////// Quadrature standard ///////////////////////////
+
+
+// The callback functions
+void myCounterChangeCallback(int value)
+{
+    static int valueLast=-1;
+
+    if ( value > valueLast ) {
+        //LEDup = !LEDup;
+        //LEDdown = 0;
+    } else {
+        //LEDdown = !LEDdown;
+        //LEDup = 0;
+    }
+    valueLast = value;
+}
+
+void myIndexTriggerCallback(int value)
+{
+    //qei = 0;   // reset counter
+    //LEDzero = 1;
+}
+
+sensor_qeix4::sensor_qeix4()  : qei(p24, p25, NC,  QEIx4::POLLING)
+{
+QEIx4 qei(p24, p25, NC,  QEIx4::POLLING); 
+qei.attachIndexTrigger(myIndexTriggerCallback);    
+qei.attachCounterChange(myCounterChangeCallback);
+sensor_id=1003;
+}
+
+char * sensor_qeix4::read_data()
+{
+    //char  mretval[50];
+    //sprintf(data_sample, "[%d;%5.3f]\n", (int)qei, 1.0);
+    //sprintf(data_sample,"\r\nQEI=%d", (int)qei);
+    sprintf(data_sample, "[ID:%d;%d;%5.3f]", sensor_id, (int)qei,0.0);
+    return data_sample;
+    //mretval[0] = 68;
+}
+
+void sensor_qeix4::poll()
+{
+    qei.poll();
+}    
+
+sensor_qeix4::~sensor_qeix4()
+{
+}
+
+
+/*
+class Counter {
+public:
+    Counter(PinName pin) : _interrupt(pin) {        // create the InterruptIn on the pin specified to Counter
+        _interrupt.rise(this, &Counter::increment); // attach increment function of this counter instance
+    }
+ 
+    void increment() {
+        _count++;
+    }
+ 
+    int read() {
+        return _count;
+    }
+ 
+private:
+    InterruptIn _interrupt;
+    volatile int _count;
+};
+
+
+    Counter::Counter(PinName pin) : _interrupt(pin) {        // create the InterruptIn on the pin specified to Counter
+        _interrupt.rise(this, &Counter::increment); // attach increment function of this counter instance
+    }
+ 
+    void Counter::increment() {
+        _count++;
+    }
+ 
+    int Counter::read() {
+        return _count;
+    }
+*/
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