Revision 0:7c0f5d94db37, committed 2015-07-31

Comitter:

Ricky_Kwon

Date:

Fri Jul 31 03:34:57 2015 +0000

Commit message:

FREEDMAN

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CameraC328.lib	Fri Jul 31 03:34:57 2015 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/shintamainjp/code/CameraC328/#49cfda6c547f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/WIZnetInterface.lib	Fri Jul 31 03:34:57 2015 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/teams/WIZnet/code/WIZnetInterface_Ricky/#5a1969320666

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jul 31 03:34:57 2015 +0000
@@ -0,0 +1,531 @@
+#include "mbed.h"
+#include "EthernetInterface.h"
+#include "CameraC328.h"
+/* AX-12 */
+#define AX12_REG_GOAL_POSITION 0x1E
+#define AX12_REG_MOVING 0x2E
+#define AX_Iniit 512
+/* CAMERA */
+#define USE_JPEG_HIGH_RESOLUTION    3//1=80x64 <--- not working -_-;;, 2=160x128, 3=320x240, 4=640x480
+#define START                       "start"
+#define END                         "end"
+CameraC328 camera(PA_13, PA_14, CameraC328::Baud115200);
+
+/* TCP/IP */
+static char buf[128];
+const char dest_ip[] = "192.168.0.2";
+int dest_port = 1212;
+uint8_t mac_addr[6] = {0x00, 0x08, 0xdc, 0x12, 0x34, 0x45};
+const char ip_addr[] = "192.168.0.123"; 
+const char mask_addr[] = "255.255.255.0"; 
+const char gateway_addr[] = "192.168.0.1"; 
+EthernetInterface eth;
+TCPSocketConnection Streaming;
+
+/* UART */
+Serial pc(USBTX, USBRX);
+
+/* AX-12 */
+int HeadUD = 200;
+int HeadRL = AX_Iniit;
+/* Function*/ 
+void jpeg_callback(char *buf, size_t siz);
+void sync(void);
+void test_jpeg_snapshot_picture(void);
+void SetGoal(int ID, int degrees, int flags);
+int write(int ID, int start, int bytes, char* data, int flag);
+int read(int ID, int start, int bytes, char* data);
+int isMoving(int ID);
+void Forward();
+void Backward();
+void Right();
+void Left();
+void FreedmanInit();
+int main() {
+
+    printf("Hello Freedman World!\r\n"); 
+      
+    
+    eth.init(mac_addr, ip_addr, mask_addr, gateway_addr); //Use Static
+    eth.connect();
+
+    
+    FreedmanInit();
+    sync();
+    while (Streaming.connect(dest_ip, dest_port) < 0) {
+        printf("Unable to connect to (%s) on port (%d)\r\n", dest_ip, dest_port);
+        wait(1);
+    }
+    while(true)
+    {
+        int n = Streaming.receive(buf, sizeof(buf));
+        buf[n] = '\0';
+                
+        if (!strncmp(buf, "123", 3)){
+            Forward();
+        }
+        else if(!strncmp(buf, "220", 3)){
+            Backward();
+        }
+        else if(!strncmp(buf, "789", 3)){
+            Right();
+        }
+        else if(!strncmp(buf, "456", 3)){
+            Left();
+        }
+        else if(!strncmp(buf, "110", 3)){
+            //Head up
+            HeadUD = HeadUD + 20;
+            if(HeadUD>800){
+                HeadUD = 800;
+            }
+            SetGoal(4, HeadUD, 1);
+        }
+        else if(!strncmp(buf, "550", 3)){
+            //Head down
+            HeadUD = HeadUD - 20;
+            if(HeadUD<200){
+                HeadUD = 200;
+            }
+            SetGoal(4, HeadUD, 1);
+        }
+        else if(!strncmp(buf, "330", 3)){
+            //Head Right
+            HeadRL = HeadRL - 20;
+            if(HeadRL<200){
+                HeadRL = 200;
+            }
+            SetGoal(16, HeadRL, 1);
+        }
+        else if(!strncmp(buf, "440", 3)){
+            //Head Left
+            HeadRL = HeadRL + 20;
+            if(HeadRL>800){
+                HeadRL = 800;
+            }
+            SetGoal(16, HeadRL, 1);
+        }
+        
+        Streaming.send(START, sizeof(START)-1);
+        test_jpeg_snapshot_picture();
+        Streaming.send(END, sizeof(END)-1);
+    }
+}
+
+void jpeg_callback(char *buf, size_t siz) {
+    //for (int i = 0; i < (int)siz; i++) {
+        //fprintf(fp_jpeg, "%c", buf[i]);
+        Streaming.send(buf, siz);
+    //}
+}
+void sync(void) {
+    CameraC328::ErrorNumber err = CameraC328::NoError;
+
+    err = camera.sync();
+    if (CameraC328::NoError == err) {
+        printf("[ OK ] : CameraC328::sync\r\n");
+    } else {
+        printf("[FAIL] : CameraC328::sync (Error=%02X)\r\n", (int)err);
+    }
+}
+void test_jpeg_snapshot_picture() {
+    CameraC328::ErrorNumber err = CameraC328::NoError;
+
+#if (USE_JPEG_HIGH_RESOLUTION==1)
+    err = camera.init(CameraC328::Jpeg, CameraC328::RawResolution80x60, CameraC328::JpegResolution80x64);
+#elif (USE_JPEG_HIGH_RESOLUTION==2)
+    err = camera.init(CameraC328::Jpeg, CameraC328::RawResolution80x60, CameraC328::JpegResolution160x128);
+#elif (USE_JPEG_HIGH_RESOLUTION==3)
+    err = camera.init(CameraC328::Jpeg, CameraC328::RawResolution80x60, CameraC328::JpegResolution320x240);
+#elif (USE_JPEG_HIGH_RESOLUTION==4)
+    err = camera.init(CameraC328::Jpeg, CameraC328::RawResolution80x60, CameraC328::JpegResolution640x480);
+#endif
+    if (CameraC328::NoError == err) {
+        printf("[ OK ] : CameraC328::init\r\n");
+    } else {
+        printf("[FAIL] : CameraC328::init (Error=%02X)\r\n", (int)err);
+    }
+
+    err = camera.getJpegSnapshotPicture(jpeg_callback);
+    if (CameraC328::NoError == err) {
+        printf("[ OK ] : CameraC328::getJpegSnapshotPicture\r\n");
+    } else {
+        printf("[FAIL] : CameraC328::getJpegSnapshotPicture (Error=%02X)\r\n", (int)err);
+    }
+}
+void SetGoal(int ID, int degrees, int flags) {
+
+    char reg_flag = 0;
+    char data[2];
+
+    // set the flag is only the register bit is set in the flag
+    if (flags == 0x2) {
+        reg_flag = 1;
+    }
+
+    // 1023 / 300 * degrees
+    int goal = degrees;
+    //short goal = (1023 * degrees) / 300;
+
+    data[0] = goal & 0xff; // bottom 8 bits
+    data[1] = goal >> 8;   // top 8 bits
+
+    // write the packet, return the error code
+    write(ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
+    
+    if (flags == 1) {
+    // block until it comes to a halt
+    
+        while (isMoving(ID)) {}
+    }
+}
+int write(int ID, int start, int bytes, char* data, int flag) {
+// 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
+
+    char TxBuf[16];
+    char sum = 0;
+    char Status[6];
+
+#ifdef AX12_WRITE_DEBUG
+    pc.printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
+#endif
+
+    // Build the TxPacket first in RAM, then we'll send in one go
+#ifdef AX12_WRITE_DEBUG
+    pc.printf("\nInstruction Packet\n  Header : 0xFF, 0xFF\n");
+#endif
+
+    TxBuf[0] = 0xff;
+    TxBuf[1] = 0xff;
+
+    // ID
+    TxBuf[2] = ID;
+    sum += TxBuf[2];
+
+#ifdef AX12_WRITE_DEBUG
+    pc.printf("  ID : %d\n",TxBuf[2]);
+#endif
+
+    // packet Length
+    TxBuf[3] = 3+bytes;
+    sum += TxBuf[3];
+
+#ifdef AX12_WRITE_DEBUG
+    pc.printf("  Length : %d\n",TxBuf[3]);
+#endif
+
+    // Instruction
+    if (flag == 1) {
+        TxBuf[4]=0x04;
+        sum += TxBuf[4];
+    } else {
+        TxBuf[4]=0x03;
+        sum += TxBuf[4];
+    }
+
+#ifdef AX12_WRITE_DEBUG
+    pc.printf("  Instruction : 0x%x\n",TxBuf[4]);
+#endif
+
+    // Start Address
+    TxBuf[5] = start;
+    sum += TxBuf[5];
+
+#ifdef AX12_WRITE_DEBUG
+    pc.printf("  Start : 0x%x\n",TxBuf[5]);
+#endif
+
+    // data
+    for (char i=0; i<bytes ; i++) {
+        TxBuf[6+i] = data[i];
+        sum += TxBuf[6+i];
+
+#ifdef AX12_WRITE_DEBUG
+        pc.printf("  Data : 0x%x\n",TxBuf[6+i]);
+#endif
+
+    }
+
+    // checksum
+    TxBuf[6+bytes] = 0xFF - sum;
+
+#ifdef AX12_WRITE_DEBUG
+    pc.printf("  Checksum : 0x%x\n",TxBuf[6+bytes]);
+#endif
+
+    // Transmit the packet in one burst with no pausing
+    for (int i = 0; i < (7 + bytes) ; i++) {
+        pc.putc(TxBuf[i]);
+    }
+        // Wait for the bytes to be transmitted
+    wait (0.00002);
+
+    // Skip if the read was to the broadcast address
+    if (ID != 0xFE) {
+
+
+
+        // response packet is always 6 + bytes
+        // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
+        // timeout is a little more than the time to transmit
+        // the packet back, i.e. (6+bytes)*10 bit periods
+
+        int timeout = 0;
+        int plen = 0;
+        while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
+
+            if (pc.readable()) {
+                Status[plen] = pc.getc();
+                plen++;
+                timeout = 0;
+            }
+
+            // wait for the bit period
+            wait (1.0/9600);
+            timeout++;
+        }
+
+        if (timeout == ((6+bytes)*10) ) {
+            return(-1);
+        }
+
+        // Copy the data from Status into data for return
+        for (int i=0; i < Status[3]-2 ; i++) {
+            data[i] = Status[5+i];
+        }
+
+#ifdef AX12_READ_DEBUG
+        printf("\nStatus Packet\n");
+        printf("  Header : 0x%x\n",Status[0]);
+        printf("  Header : 0x%x\n",Status[1]);
+        printf("  ID : 0x%x\n",Status[2]);
+        printf("  Length : 0x%x\n",Status[3]);
+        printf("  Error Code : 0x%x\n",Status[4]);
+
+        for (int i=0; i < Status[3]-2 ; i++) {
+            printf("  Data : 0x%x\n",Status[5+i]);
+        }
+
+        printf("  Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
+#endif
+
+    } // if (ID!=0xFE)
+
+    return(Status[4]);
+}
+int read(int ID, int start, int bytes, char* data) {
+
+    char PacketLength = 0x4;
+    char TxBuf[16];
+    char sum = 0;
+    char Status[16];
+
+    Status[4] = 0xFE; // return code
+
+#ifdef AX12_READ_DEBUG
+    printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
+#endif
+
+    // Build the TxPacket first in RAM, then we'll send in one go
+#ifdef AX12_READ_DEBUG
+    printf("\nInstruction Packet\n  Header : 0xFF, 0xFF\n");
+#endif
+
+    TxBuf[0] = 0xff;
+    TxBuf[1] = 0xff;
+
+    // ID
+    TxBuf[2] = ID;
+    sum += TxBuf[2];
+
+#ifdef AX12_READ_DEBUG
+    printf("  ID : %d\n",TxBuf[2]);
+#endif
+
+    // Packet Length
+    TxBuf[3] = PacketLength;    // Length = 4 ; 2 + 1 (start) = 1 (bytes)
+    sum += TxBuf[3];            // Accululate the packet sum
+
+#ifdef AX12_READ_DEBUG
+    printf("  Length : 0x%x\n",TxBuf[3]);
+#endif
+
+    // Instruction - Read
+    TxBuf[4] = 0x2;
+    sum += TxBuf[4];
+
+#ifdef AX12_READ_DEBUG
+    printf("  Instruction : 0x%x\n",TxBuf[4]);
+#endif
+
+    // Start Address
+    TxBuf[5] = start;
+    sum += TxBuf[5];
+
+#ifdef AX12_READ_DEBUG
+    printf("  Start Address : 0x%x\n",TxBuf[5]);
+#endif
+
+    // Bytes to read
+    TxBuf[6] = bytes;
+    sum += TxBuf[6];
+
+#ifdef AX12_READ_DEBUG
+    printf("  No bytes : 0x%x\n",TxBuf[6]);
+#endif
+
+    // Checksum
+    TxBuf[7] = 0xFF - sum;
+#ifdef AX12_READ_DEBUG
+    printf("  Checksum : 0x%x\n",TxBuf[7]);
+#endif
+
+    // Transmit the packet in one burst with no pausing
+    for (int i = 0; i<8 ; i++) {
+        pc.putc(TxBuf[i]);
+    }
+
+    // Wait for the bytes to be transmitted
+    wait (0.00002);
+
+    // Skip if the read was to the broadcast address
+    if (ID != 0xFE) {
+
+
+
+        // response packet is always 6 + bytes
+        // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
+        // timeout is a little more than the time to transmit
+        // the packet back, i.e. (6+bytes)*10 bit periods
+
+        int timeout = 0;
+        int plen = 0;
+        while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
+
+            if (pc.readable()) {
+                Status[plen] = pc.getc();
+                plen++;
+                timeout = 0;
+            }
+
+            // wait for the bit period
+            wait (1.0/9600);
+            timeout++;
+        }
+
+        if (timeout == ((6+bytes)*10) ) {
+            return(-1);
+        }
+
+        // Copy the data from Status into data for return
+        for (int i=0; i < Status[3]-2 ; i++) {
+            data[i] = Status[5+i];
+        }
+
+#ifdef AX12_READ_DEBUG
+        printf("\nStatus Packet\n");
+        printf("  Header : 0x%x\n",Status[0]);
+        printf("  Header : 0x%x\n",Status[1]);
+        printf("  ID : 0x%x\n",Status[2]);
+        printf("  Length : 0x%x\n",Status[3]);
+        printf("  Error Code : 0x%x\n",Status[4]);
+
+        for (int i=0; i < Status[3]-2 ; i++) {
+            printf("  Data : 0x%x\n",Status[5+i]);
+        }
+
+        printf("  Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
+#endif
+
+    } // if (ID!=0xFE)
+
+    return(Status[4]);
+}
+int isMoving(int ID) {
+
+    char data[1];
+    read(ID,AX12_REG_MOVING,1,data);
+    return(data[0]);
+}
+void Forward()
+{
+    char i, j;
+    int Forward_LegUR[8]={646, 646, 448, 377, 372, 587, 643, 512};
+    int Forward_LegUL[8]={650, 650, 437, 375, 367, 590, 650, 512};
+    int Forward_LegDR[8]={512, 444, 412, 512, 643, 682, 512, 512};
+    int Forward_LegDL[8]={512, 359, 326, 512, 572, 607, 512, 512};
+    
+    for(i=0; i<8; i++){
+        for(j=0; j<2; j++){
+            SetGoal(15, Forward_LegUR[i], 1);
+            SetGoal(5, Forward_LegUL[i], 1);
+            SetGoal(8, Forward_LegDR[i], 1);
+            SetGoal(3, Forward_LegDL[i], 1);
+        }
+        wait(0.2);
+    } 
+}
+void Backward()
+{
+    char i, j;
+    int Backward_LegUR[8]={641, 641, 425, 378, 385, 589, 643, 512};
+    int Backward_LegUL[8]={646, 646, 422, 379, 377, 593, 648, 512};
+    int Backward_LegDR[8]={512, 653, 672, 512, 433, 417, 512, 512};
+    int Backward_LegDL[8]={512, 582, 605, 512, 357, 344, 512, 512};
+    
+    for(i=0; i<8; i++){
+        for(j=0; j<2; j++){
+            SetGoal(15, Backward_LegUR[i], 1);
+            SetGoal(5, Backward_LegUL[i], 1);
+            SetGoal(8, Backward_LegDR[i], 1);
+            SetGoal(3, Backward_LegDL[i], 1);
+        }
+        wait(0.2);
+    } 
+}
+void Right()
+{
+    char i, j;
+    int Right_LegUR[6]={512, 512, 512, 512, 512, 512};
+    int Right_LegUL[6]={512, 512, 404, 404, 404, 512};
+    int Right_LegDR[6]={512, 684, 661, 512, 458, 512};
+    int Right_LegDL[6]={512, 585, 604, 512, 398, 512};
+    
+    for(i=0; i<6; i++){
+        for(j=0; j<2; j++){
+            SetGoal(15, Right_LegUR[i], 1);
+            SetGoal(5, Right_LegUL[i], 1);
+            SetGoal(8, Right_LegDR[i], 1);
+            SetGoal(3, Right_LegDL[i], 1);
+        }
+        wait(0.2);
+    } 
+}
+void Left()
+{
+    char i, j;
+    int Left_LegUR[6]={512, 512, 620, 620, 620, 512};
+    int Left_LegUL[6]={512, 512, 512, 512, 512, 512};
+    int Left_LegDR[6]={512, 441, 419, 512, 660, 512};
+    int Left_LegDL[6]={512, 332, 341, 512, 575, 512};
+    
+    for(i=0; i<6; i++){
+        for(j=0; j<2; j++){
+            SetGoal(15, Left_LegUR[i], 1);
+            SetGoal(5, Left_LegUL[i], 1);
+            SetGoal(8, Left_LegDR[i], 1);
+            SetGoal(3, Left_LegDL[i], 1);
+        }
+        wait(0.2);
+    } 
+}
+
+void FreedmanInit()
+{
+    SetGoal(4, HeadUD, 1);
+    SetGoal(16, AX_Iniit, 1);
+    SetGoal(15, AX_Iniit, 1);
+    SetGoal(5, AX_Iniit, 1);
+    SetGoal(8, AX_Iniit, 1);
+    SetGoal(3, AX_Iniit, 1);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-src.lib	Fri Jul 31 03:34:57 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed-src/#523654f2b367