![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
This is the project for the Old Model Robots for OU's Dr. Davis's Configurable Robots Research. This is being published so future robots can be set up easily.
Dependencies: FatFileSystem MCP3008 Motor PinDetect QTR_8A SRF05 SSD1308_128x64_I2C mbed
RemoteIR/ReceiverIR.cpp
- Committer:
- DrewSchaef
- Date:
- 2017-11-01
- Revision:
- 0:bcad524c1856
File content as of revision 0:bcad524c1856:
/** * IR receiver (Version 0.0.4) * * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems) * http://shinta.main.jp/ */ #include "ReceiverIR.h" #define LOCK() #define UNLOCK() #define InRange(x,y) ((((y) * 0.7) < (x)) && ((x) < ((y) * 1.3))) /** * Constructor. * * @param rxpin Pin for receive IR signal. */ ReceiverIR::ReceiverIR(PinName rxpin) : evt(rxpin) { init_state(); evt.fall(this, &ReceiverIR::isr_fall); evt.rise(this, &ReceiverIR::isr_rise); evt.mode(PullUp); ticker.attach_us(this, &ReceiverIR::isr_wdt, 10 * 1000); } /** * Destructor. */ ReceiverIR::~ReceiverIR() { } /** * Get state. * * @return Current state. */ ReceiverIR::State ReceiverIR::getState() { LOCK(); State s = work.state; UNLOCK(); return s; } /** * Get data. * * @param format Pointer to format. * @param buf Buffer of a data. * @param bitlength Bit length of the buffer. * * @return Data bit length. */ int ReceiverIR::getData(RemoteIR::Format *format, uint8_t *buf, int bitlength) { LOCK(); if (bitlength < data.bitcount) { UNLOCK(); return -1; } const int nbits = data.bitcount; const int nbytes = data.bitcount / 8 + (((data.bitcount % 8) != 0) ? 1 : 0); *format = data.format; for (int i = 0; i < nbytes; i++) { buf[i] = data.buffer[i]; } init_state(); UNLOCK(); return nbits; } void ReceiverIR::init_state(void) { work.c1 = -1; work.c2 = -1; work.c3 = -1; work.d1 = -1; work.d2 = -1; work.state = Idle; data.format = RemoteIR::UNKNOWN; data.bitcount = 0; timer.stop(); timer.reset(); for (int i = 0; i < sizeof(data.buffer); i++) { data.buffer[i] = 0; } } void ReceiverIR::isr_wdt(void) { LOCK(); static int cnt = 0; if ((Idle != work.state) || ((0 <= work.c1) || (0 <= work.c2) || (0 <= work.c3) || (0 <= work.d1) || (0 <= work.d2))) { cnt++; if (cnt > 50) { #if 0 printf("# WDT [c1=%d, c2=%d, c3=%d, d1=%d, d2=%d, state=%d, format=%d, bitcount=%d]\n", work.c1, work.c2, work.c3, work.d1, work.d2, work.state, data.format, data.bitcount); #endif init_state(); cnt = 0; } } else { cnt = 0; } UNLOCK(); } void ReceiverIR::isr_fall(void) { LOCK(); switch (work.state) { case Idle: if (work.c1 < 0) { timer.start(); work.c1 = timer.read_us(); } else { work.c3 = timer.read_us(); int a = work.c2 - work.c1; int b = work.c3 - work.c2; if (InRange(a, RemoteIR::TUS_NEC * 16) && InRange(b, RemoteIR::TUS_NEC * 8)) { /* * NEC. */ data.format = RemoteIR::NEC; work.state = Receiving; data.bitcount = 0; } else if (InRange(a, RemoteIR::TUS_NEC * 16) && InRange(b, RemoteIR::TUS_NEC * 4)) { /* * NEC Repeat. */ data.format = RemoteIR::NEC_REPEAT; work.state = Received; data.bitcount = 0; work.c1 = -1; work.c2 = -1; work.c3 = -1; work.d1 = -1; work.d2 = -1; } else if (InRange(a, RemoteIR::TUS_AEHA * 8) && InRange(b, RemoteIR::TUS_AEHA * 4)) { /* * AEHA. */ data.format = RemoteIR::AEHA; work.state = Receiving; data.bitcount = 0; } else if (InRange(a, RemoteIR::TUS_AEHA * 8) && InRange(b, RemoteIR::TUS_AEHA * 8)) { /* * AEHA Repeat. */ data.format = RemoteIR::AEHA_REPEAT; work.state = Received; data.bitcount = 0; work.c1 = -1; work.c2 = -1; work.c3 = -1; work.d1 = -1; work.d2 = -1; } else { init_state(); } } break; case Receiving: if (RemoteIR::NEC == data.format) { work.d2 = timer.read_us(); int a = work.d2 - work.d1; if (InRange(a, RemoteIR::TUS_NEC * 3)) { data.buffer[data.bitcount / 8] |= (1 << (data.bitcount % 8)); } else if (InRange(a, RemoteIR::TUS_NEC * 1)) { data.buffer[data.bitcount / 8] &= ~(1 << (data.bitcount % 8)); } data.bitcount++; #if 0 /* * Length of NEC is always 32 bits. */ if (32 <= data.bitcount) { data.state = Received; work.c1 = -1; work.c2 = -1; work.c3 = -1; work.d1 = -1; work.d2 = -1; } #else /* * Set timeout for tail detection automatically. */ timeout.detach(); timeout.attach_us(this, &ReceiverIR::isr_timeout, RemoteIR::TUS_NEC * 5); #endif } else if (RemoteIR::AEHA == data.format) { work.d2 = timer.read_us(); int a = work.d2 - work.d1; if (InRange(a, RemoteIR::TUS_AEHA * 3)) { data.buffer[data.bitcount / 8] |= (1 << (data.bitcount % 8)); } else if (InRange(a, RemoteIR::TUS_AEHA * 1)) { data.buffer[data.bitcount / 8] &= ~(1 << (data.bitcount % 8)); } data.bitcount++; #if 0 /* * Typical length of AEHA is 48 bits. * Please check a specification of your remote controller if you find a problem. */ if (48 <= data.bitcount) { data.state = Received; work.c1 = -1; work.c2 = -1; work.c3 = -1; work.d1 = -1; work.d2 = -1; } #else /* * Set timeout for tail detection automatically. */ timeout.detach(); timeout.attach_us(this, &ReceiverIR::isr_timeout, RemoteIR::TUS_AEHA * 5); #endif } else if (RemoteIR::SONY == data.format) { work.d1 = timer.read_us(); } break; case Received: break; default: break; } UNLOCK(); } void ReceiverIR::isr_rise(void) { LOCK(); switch (work.state) { case Idle: if (0 <= work.c1) { work.c2 = timer.read_us(); int a = work.c2 - work.c1; if (InRange(a, RemoteIR::TUS_SONY * 4)) { data.format = RemoteIR::SONY; work.state = Receiving; data.bitcount = 0; } else { static const int MINIMUM_LEADER_WIDTH = 150; if (a < MINIMUM_LEADER_WIDTH) { init_state(); } } } else { init_state(); } break; case Receiving: if (RemoteIR::NEC == data.format) { work.d1 = timer.read_us(); } else if (RemoteIR::AEHA == data.format) { work.d1 = timer.read_us(); } else if (RemoteIR::SONY == data.format) { work.d2 = timer.read_us(); int a = work.d2 - work.d1; if (InRange(a, RemoteIR::TUS_SONY * 2)) { data.buffer[data.bitcount / 8] |= (1 << (data.bitcount % 8)); } else if (InRange(a, RemoteIR::TUS_SONY * 1)) { data.buffer[data.bitcount / 8] &= ~(1 << (data.bitcount % 8)); } data.bitcount++; #if 0 /* * How do I know the correct length? (6bits, 12bits, 15bits, 20bits...) * By a model only? * Please check a specification of your remote controller if you find a problem. */ if (12 <= data.bitcount) { data.state = Received; work.c1 = -1; work.c2 = -1; work.c3 = -1; work.d1 = -1; work.d2 = -1; } #else /* * Set timeout for tail detection automatically. */ timeout.detach(); timeout.attach_us(this, &ReceiverIR::isr_timeout, RemoteIR::TUS_SONY * 4); #endif } break; case Received: break; default: break; } UNLOCK(); } void ReceiverIR::isr_timeout(void) { LOCK(); #if 0 printf("# TIMEOUT [c1=%d, c2=%d, c3=%d, d1=%d, d2=%d, state=%d, format=%d, bitcount=%d]\n", work.c1, work.c2, work.c3, work.d1, work.d2, work.state, data.format, data.bitcount); #endif if (work.state == Receiving) { work.state = Received; work.c1 = -1; work.c2 = -1; work.c3 = -1; work.d1 = -1; work.d2 = -1; } UNLOCK(); }