Akifumi Takahashi / CubicSpline

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Fork of TRP105F_Spline by Akifumi Takahashi

TRP105F_Spline.h@0:e85788b14028, 2016-02-12 (annotated)

Committer:
aktk
Date:
Fri Feb 12 11:02:15 2016 +0000
Revision:
0:e85788b14028
Child:
1:2053662b1167
Distance data range : [0:1024] -> [0:256];

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 0:e85788b14028 4 * - This library is for provide a distance from TRP105F, proximity sensor,
aktk 0:e85788b14028 5 * to whatever reflect the flash.
aktk 0:e85788b14028 6 * - Deistance is derived from a voltage signal of TRP105F.
aktk 0:e85788b14028 7 * - An object of TRPFS class has an array of sets of
aktk 0:e85788b14028 8 * distance(16 bit-value) and voltage(16bit-value) at the distance.
aktk 0:e85788b14028 9 * - The range of distances that an array has in sets is [0:1024] by 1.
aktk 0:e85788b14028 10 * - an array is derived from a spline curve model.
aktk 0:e85788b14028 11 * - In order to derive spline curve, some value sets should be got
aktk 0:e85788b14028 12 * at the first calibration.
aktk 0:e85788b14028 13 *
aktk 0:e85788b14028 14 * LOG:
aktk 0:e85788b14028 15 * ver.1 2015/10/19 - 2015/10/22
aktk 0:e85788b14028 16 * ver.2 2015/10/22 -
aktk 0:e85788b14028 17 * Distance data type has become unsigned short from int.
aktk 0:e85788b14028 18 * Distance data range : [2:20] by 1 -> [0:1024] by 1.
aktk 0:e85788b14028 19 * ver.2.1 2016/02.12 -
aktk 0:e85788b14028 20 * Distance data range : [0:1024] -> [0:256].
aktk 0:e85788b14028 21 */
aktk 0:e85788b14028 22 #ifndef TRP105F_Spline_H
aktk 0:e85788b14028 23 #define TRP105F_Spline_H
aktk 0:e85788b14028 24
aktk 0:e85788b14028 25 #include "mbed.h"
aktk 0:e85788b14028 26
aktk 0:e85788b14028 27
aktk 0:e85788b14028 28 // Set of voltage-distance
aktk 0:e85788b14028 29 typedef struct {
aktk 0:e85788b14028 30 unsigned short vol; // voltage
aktk 0:e85788b14028 31 unsigned short dst; // distance
aktk 0:e85788b14028 32 } VDset;
aktk 0:e85788b14028 33
aktk 0:e85788b14028 34 // Type of modality to input data
aktk 0:e85788b14028 35 enum DataInType{
aktk 0:e85788b14028 36 KEYBORD, // set this if input data by 0-9 key
aktk 0:e85788b14028 37 SYSTEM // set this if any other input method, for instance, like GUI.
aktk 0:e85788b14028 38 } ;
aktk 0:e85788b14028 39
aktk 0:e85788b14028 40 //
aktk 0:e85788b14028 41 // TRP105FS Class for get distance from voltage
aktk 0:e85788b14028 42 /////////////////////////////////////////////////////////////////////////////////
aktk 0:e85788b14028 43 //// At calibration, at sampling data, first the class send '>' via seral com,
aktk 0:e85788b14028 44 //// after which You can send distancedata [2,20][mm]. Then the class measure
aktk 0:e85788b14028 45 //// the voltage data for 1 sec.
aktk 0:e85788b14028 46 //// Above procedure is looped for the number you input in the constructor.
aktk 0:e85788b14028 47 ////------------------------------------------
aktk 0:e85788b14028 48 //// (when TRP105FS object is made)
aktk 0:e85788b14028 49 //// > (< you can input distance data after this signal('>' <=> 0x3e)
aktk 0:e85788b14028 50 //// >1 (< in this version, distance data is limited[2,20] integer.
aktk 0:e85788b14028 51 //// >14[CR or LF] (< you can continue to input unless input ERNTER. But if you set [SYSTEM] on constructor you can input it only once. (use this in GUI)
aktk 0:e85788b14028 52 //// >14 (< then voltage mesuring begins.
aktk 0:e85788b14028 53 //// (< after mesuring voltage, CR or LF signal is sent, which means tt is started a new line if console.
aktk 0:e85788b14028 54 //// > (< when you shoud input more data, ':'signal is sent again.
aktk 0:e85788b14028 55 ////////////////////////////////////////////////////////////////////////////////
aktk 0:e85788b14028 56 class TRP105FS
aktk 0:e85788b14028 57 {
aktk 0:e85788b14028 58 public:
aktk 0:e85788b14028 59 TRP105FS();
aktk 0:e85788b14028 60 TRP105FS(unsigned int);
aktk 0:e85788b14028 61 TRP105FS(unsigned int arg_num, DataInType arg_dit);
aktk 0:e85788b14028 62 ~TRP105FS();
aktk 0:e85788b14028 63 unsigned short getDistance(); // the fuction to get distance.
aktk 0:e85788b14028 64 void calibrateSensor();
aktk 0:e85788b14028 65 void saveSetting();
aktk 0:e85788b14028 66 void saveSetting(const char *filename);//not usable yet
aktk 0:e85788b14028 67 void loadSetting();
aktk 0:e85788b14028 68 void loadSetting(const char *filename);//not usable yet
aktk 0:e85788b14028 69 void printOutData();
aktk 0:e85788b14028 70 void printThresholds();
aktk 0:e85788b14028 71
aktk 0:e85788b14028 72 private:
aktk 0:e85788b14028 73 enum _SetConstant {
aktk 0:e85788b14028 74 _LIDX = 0,
aktk 0:e85788b14028 75 _RIDX = 1024,
aktk 0:e85788b14028 76 _ENUM = _RIDX - _LIDX + 1
aktk 0:e85788b14028 77 };
aktk 0:e85788b14028 78 int _Sample_Num; // the number of samples for derive spline
aktk 0:e85788b14028 79 VDset* _Sample_Set;
aktk 0:e85788b14028 80 VDset _Set[_ENUM];
aktk 0:e85788b14028 81 unsigned short _Threshold[_ENUM]; //_Threshold[18] is not used virtually.
aktk 0:e85788b14028 82 DataInType _Data_Input_Type;
aktk 0:e85788b14028 83 double* _u_spline;
aktk 0:e85788b14028 84 //
aktk 0:e85788b14028 85 // For calibration
aktk 0:e85788b14028 86 //
aktk 0:e85788b14028 87 void _sampleData();
aktk 0:e85788b14028 88 void _makeSpline(); // Cubic spline
aktk 0:e85788b14028 89 unsigned short _getSplineYof(double);
aktk 0:e85788b14028 90 //
aktk 0:e85788b14028 91 // For get distance
aktk 0:e85788b14028 92 //
aktk 0:e85788b14028 93 int _getNearest(int, int, unsigned short);
aktk 0:e85788b14028 94 //
aktk 0:e85788b14028 95 //For debug
aktk 0:e85788b14028 96 void _printOutData(unsigned short *arg, int num, char* name);
aktk 0:e85788b14028 97 void _printOutData(VDset *arg, int num, char* name);
aktk 0:e85788b14028 98 void _printOutData(double *arg, int num, char* name);
aktk 0:e85788b14028 99 };
aktk 0:e85788b14028 100 #endif