Akifumi Takahashi / CubicSpline

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Fork of TRP105F_Spline by Akifumi Takahashi

TRP105F_Spline.h@2:40ae18445079, 2016-02-16 (annotated)

Committer:
aktk
Date:
Tue Feb 16 11:19:39 2016 +0000
Revision:
2:40ae18445079
Parent:
1:2053662b1167 
my first publish><

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aktk 0:e85788b14028 1 /**
aktk 0:e85788b14028 2 * TRP105F_Spline.h,.cpp
aktk 0:e85788b14028 3 *
aktk 2:40ae18445079 4 * Author: aktk, aktk.j.uec@gmail.com
aktk 2:40ae18445079 5 * Tokyo, Japan.
aktk 2:40ae18445079 6 *
aktk 2:40ae18445079 7 * - This library is for providing a distance from TRP105F, photo-reflect proximity sensor,
aktk 0:e85788b14028 8 * to whatever reflect the flash.
aktk 2:40ae18445079 9 * - Deistance is derived as a voltage signal of TRP105F.
aktk 0:e85788b14028 10 * - An object of TRPFS class has an array of sets of
aktk 0:e85788b14028 11 * distance(16 bit-value) and voltage(16bit-value) at the distance.
aktk 2:40ae18445079 12 * - The range of distances that an array has in sets is [0:255] by 1.
aktk 2:40ae18445079 13 * - an array is derived from a cubic spline curve model.
aktk 0:e85788b14028 14 * - In order to derive spline curve, some value sets should be got
aktk 0:e85788b14028 15 * at the first calibration.
aktk 0:e85788b14028 16 *
aktk 0:e85788b14028 17 * LOG:
aktk 0:e85788b14028 18 * ver.1 2015/10/19 - 2015/10/22
aktk 0:e85788b14028 19 * ver.2 2015/10/22 -
aktk 0:e85788b14028 20 * Distance data type has become unsigned short from int.
aktk 0:e85788b14028 21 * Distance data range : [2:20] by 1 -> [0:1024] by 1.
aktk 2:40ae18445079 22 * ver.2.1 2016/02.12 - 2016/02/16
aktk 1:2053662b1167 23 * Distance data range : [0:1024] -> [0:255].
aktk 0:e85788b14028 24 */
aktk 0:e85788b14028 25 #ifndef TRP105F_Spline_H
aktk 0:e85788b14028 26 #define TRP105F_Spline_H
aktk 0:e85788b14028 27
aktk 0:e85788b14028 28 #include "mbed.h"
aktk 0:e85788b14028 29
aktk 0:e85788b14028 30
aktk 0:e85788b14028 31 // Set of voltage-distance
aktk 0:e85788b14028 32 typedef struct {
aktk 0:e85788b14028 33 unsigned short vol; // voltage
aktk 0:e85788b14028 34 unsigned short dst; // distance
aktk 0:e85788b14028 35 } VDset;
aktk 0:e85788b14028 36
aktk 1:2053662b1167 37 // Type of modality to input data for calibration
aktk 0:e85788b14028 38 enum DataInType{
aktk 0:e85788b14028 39 KEYBORD, // set this if input data by 0-9 key
aktk 0:e85788b14028 40 SYSTEM // set this if any other input method, for instance, like GUI.
aktk 0:e85788b14028 41 } ;
aktk 0:e85788b14028 42
aktk 0:e85788b14028 43 //
aktk 0:e85788b14028 44 // TRP105FS Class for get distance from voltage
aktk 2:40ae18445079 45 //
aktk 0:e85788b14028 46 /////////////////////////////////////////////////////////////////////////////////
aktk 1:2053662b1167 47 //// At calibration, at sampling data, first the class send '>' via serial com,
aktk 1:2053662b1167 48 //// after which You can send distance data [0:255](in ver2.2).
aktk 1:2053662b1167 49 //// Then the class measure the voltage data for 1 sec.
aktk 1:2053662b1167 50 //// Above procedure is looped for the number you input as 1st arg of the constructor.
aktk 0:e85788b14028 51 ////------------------------------------------
aktk 0:e85788b14028 52 //// (when TRP105FS object is made)
aktk 0:e85788b14028 53 //// > (< you can input distance data after this signal('>' <=> 0x3e)
aktk 1:2053662b1167 54 //// >1 (< distance data is limited in [0:255](in ver2.2) on integer.
aktk 1:2053662b1167 55 //// >14[CR or LF] (< you can continue to input unless input ERNTER([CR or LF]).
aktk 1:2053662b1167 56 //// ( But if you set [SYSTEM] on constructor, you can input it only once. (use this in GUI)
aktk 0:e85788b14028 57 //// >14 (< then voltage mesuring begins.
aktk 0:e85788b14028 58 //// (< after mesuring voltage, CR or LF signal is sent, which means tt is started a new line if console.
aktk 0:e85788b14028 59 //// > (< when you shoud input more data, ':'signal is sent again.
aktk 0:e85788b14028 60 ////////////////////////////////////////////////////////////////////////////////
aktk 0:e85788b14028 61 class TRP105FS
aktk 0:e85788b14028 62 {
aktk 0:e85788b14028 63 public:
aktk 1:2053662b1167 64 // Constraction
aktk 0:e85788b14028 65 TRP105FS();
aktk 0:e85788b14028 66 TRP105FS(unsigned int);
aktk 0:e85788b14028 67 TRP105FS(unsigned int arg_num, DataInType arg_dit);
aktk 1:2053662b1167 68 // Destraction
aktk 0:e85788b14028 69 ~TRP105FS();
aktk 1:2053662b1167 70 // Functions
aktk 0:e85788b14028 71 unsigned short getDistance(); // the fuction to get distance.
aktk 0:e85788b14028 72 void calibrateSensor();
aktk 0:e85788b14028 73 void saveSetting();
aktk 1:2053662b1167 74 void saveSetting(const char *filename);
aktk 0:e85788b14028 75 void loadSetting();
aktk 1:2053662b1167 76 void loadSetting(const char *filename);
aktk 0:e85788b14028 77 void printOutData();
aktk 0:e85788b14028 78 void printThresholds();
aktk 0:e85788b14028 79
aktk 0:e85788b14028 80 private:
aktk 1:2053662b1167 81 //
aktk 1:2053662b1167 82 // Defining Constants
aktk 1:2053662b1167 83 //
aktk 0:e85788b14028 84 enum _SetConstant {
aktk 0:e85788b14028 85 _LIDX = 0,
aktk 1:2053662b1167 86 _RIDX = 255,
aktk 0:e85788b14028 87 _ENUM = _RIDX - _LIDX + 1
aktk 0:e85788b14028 88 };
aktk 1:2053662b1167 89 //
aktk 1:2053662b1167 90 // Variables
aktk 1:2053662b1167 91 //
aktk 0:e85788b14028 92 int _Sample_Num; // the number of samples for derive spline
aktk 0:e85788b14028 93 VDset* _Sample_Set;
aktk 0:e85788b14028 94 VDset _Set[_ENUM];
aktk 0:e85788b14028 95 unsigned short _Threshold[_ENUM]; //_Threshold[18] is not used virtually.
aktk 0:e85788b14028 96 DataInType _Data_Input_Type;
aktk 0:e85788b14028 97 double* _u_spline;
aktk 0:e85788b14028 98 //
aktk 0:e85788b14028 99 // For calibration
aktk 0:e85788b14028 100 //
aktk 0:e85788b14028 101 void _sampleData();
aktk 0:e85788b14028 102 void _makeSpline(); // Cubic spline
aktk 0:e85788b14028 103 unsigned short _getSplineYof(double);
aktk 0:e85788b14028 104 //
aktk 0:e85788b14028 105 // For get distance
aktk 0:e85788b14028 106 //
aktk 0:e85788b14028 107 int _getNearest(int, int, unsigned short);
aktk 0:e85788b14028 108 //
aktk 1:2053662b1167 109 // For debug
aktk 1:2053662b1167 110 //
aktk 0:e85788b14028 111 void _printOutData(unsigned short *arg, int num, char* name);
aktk 0:e85788b14028 112 void _printOutData(VDset *arg, int num, char* name);
aktk 0:e85788b14028 113 void _printOutData(double *arg, int num, char* name);
aktk 0:e85788b14028 114 };
aktk 0:e85788b14028 115 #endif