Bresdin O'Malley / Mbed 2 deprecated servo_control_shield_v2

Using capacitive touch sensor to control servo speed. Using NMHU Shield.

Dependencies:   Servo mbed

Fork of servo_control_shield_v1 by Bresdin O'Malley

TSISensor.cpp@1:9d15bcabb1f2, 2015-03-12 (annotated)

Committer:
bomalley
Date:
Thu Mar 12 19:29:10 2015 +0000
Revision:
1:9d15bcabb1f2
Using capacitive touch sensor to control servo speed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bomalley 1:9d15bcabb1f2 1 /* Freescale Semiconductor Inc.
bomalley 1:9d15bcabb1f2 2 * (c) Copyright 2004-2005 Freescale Semiconductor, Inc.
bomalley 1:9d15bcabb1f2 3 * (c) Copyright 2001-2004 Motorola, Inc.
bomalley 1:9d15bcabb1f2 4 *
bomalley 1:9d15bcabb1f2 5 * mbed Microcontroller Library
bomalley 1:9d15bcabb1f2 6 * (c) Copyright 2009-2012 ARM Limited.
bomalley 1:9d15bcabb1f2 7 *
bomalley 1:9d15bcabb1f2 8 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
bomalley 1:9d15bcabb1f2 9 * and associated documentation files (the "Software"), to deal in the Software without
bomalley 1:9d15bcabb1f2 10 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
bomalley 1:9d15bcabb1f2 11 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
bomalley 1:9d15bcabb1f2 12 * Software is furnished to do so, subject to the following conditions:
bomalley 1:9d15bcabb1f2 13 *
bomalley 1:9d15bcabb1f2 14 * The above copyright notice and this permission notice shall be included in all copies or
bomalley 1:9d15bcabb1f2 15 * substantial portions of the Software.
bomalley 1:9d15bcabb1f2 16 *
bomalley 1:9d15bcabb1f2 17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
bomalley 1:9d15bcabb1f2 18 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
bomalley 1:9d15bcabb1f2 19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
bomalley 1:9d15bcabb1f2 20 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
bomalley 1:9d15bcabb1f2 21 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
bomalley 1:9d15bcabb1f2 22 */
bomalley 1:9d15bcabb1f2 23
bomalley 1:9d15bcabb1f2 24 #include "mbed.h"
bomalley 1:9d15bcabb1f2 25 #include "TSISensor.h"
bomalley 1:9d15bcabb1f2 26
bomalley 1:9d15bcabb1f2 27 #define NO_TOUCH 0
bomalley 1:9d15bcabb1f2 28 #define SLIDER_LENGTH 40 //LENGTH in mm
bomalley 1:9d15bcabb1f2 29 #define TOTAL_ELECTRODE 2
bomalley 1:9d15bcabb1f2 30
bomalley 1:9d15bcabb1f2 31 #define TSI0a 0
bomalley 1:9d15bcabb1f2 32 #define TSI1 1
bomalley 1:9d15bcabb1f2 33 #define TSI2 2
bomalley 1:9d15bcabb1f2 34 #define TSI3 3
bomalley 1:9d15bcabb1f2 35 #define TSI4 4
bomalley 1:9d15bcabb1f2 36 #define TSI5 5
bomalley 1:9d15bcabb1f2 37 #define TSI6 6
bomalley 1:9d15bcabb1f2 38 #define TSI7 7
bomalley 1:9d15bcabb1f2 39 #define TSI8 8
bomalley 1:9d15bcabb1f2 40 #define TSI9 9
bomalley 1:9d15bcabb1f2 41 #define TSI10 10
bomalley 1:9d15bcabb1f2 42 #define TSI11 11
bomalley 1:9d15bcabb1f2 43 #define TSI12 12
bomalley 1:9d15bcabb1f2 44 #define TSI13 13
bomalley 1:9d15bcabb1f2 45 #define TSI14 14
bomalley 1:9d15bcabb1f2 46 #define TSI15 15
bomalley 1:9d15bcabb1f2 47
bomalley 1:9d15bcabb1f2 48 /*Chose the correct TSI channel for the electrode number*/
bomalley 1:9d15bcabb1f2 49 #define ELECTRODE0 TSI9
bomalley 1:9d15bcabb1f2 50 #define ELECTRODE1 TSI10
bomalley 1:9d15bcabb1f2 51 #define ELECTRODE2 TSI0a
bomalley 1:9d15bcabb1f2 52 #define ELECTRODE3 TSI1
bomalley 1:9d15bcabb1f2 53 #define ELECTRODE4 TSI2
bomalley 1:9d15bcabb1f2 54 #define ELECTRODE5 TSI3
bomalley 1:9d15bcabb1f2 55 #define ELECTRODE6 TSI4
bomalley 1:9d15bcabb1f2 56 #define ELECTRODE7 TSI5
bomalley 1:9d15bcabb1f2 57 #define ELECTRODE8 TSI6
bomalley 1:9d15bcabb1f2 58 #define ELECTRODE9 TSI7
bomalley 1:9d15bcabb1f2 59 #define ELECTRODE10 TSI8
bomalley 1:9d15bcabb1f2 60 #define ELECTRODE11 TSI11
bomalley 1:9d15bcabb1f2 61 #define ELECTRODE12 TSI12
bomalley 1:9d15bcabb1f2 62 #define ELECTRODE13 TSI13
bomalley 1:9d15bcabb1f2 63 #define ELECTRODE14 TSI14
bomalley 1:9d15bcabb1f2 64 #define ELECTRODE15 TSI15
bomalley 1:9d15bcabb1f2 65
bomalley 1:9d15bcabb1f2 66 #define THRESHOLD0 100
bomalley 1:9d15bcabb1f2 67 #define THRESHOLD1 100
bomalley 1:9d15bcabb1f2 68 #define THRESHOLD2 100
bomalley 1:9d15bcabb1f2 69 #define THRESHOLD3 100
bomalley 1:9d15bcabb1f2 70 #define THRESHOLD4 100
bomalley 1:9d15bcabb1f2 71 #define THRESHOLD5 100
bomalley 1:9d15bcabb1f2 72 #define THRESHOLD6 100
bomalley 1:9d15bcabb1f2 73 #define THRESHOLD7 100
bomalley 1:9d15bcabb1f2 74 #define THRESHOLD8 100
bomalley 1:9d15bcabb1f2 75 #define THRESHOLD9 100
bomalley 1:9d15bcabb1f2 76 #define THRESHOLD10 100
bomalley 1:9d15bcabb1f2 77 #define THRESHOLD11 100
bomalley 1:9d15bcabb1f2 78 #define THRESHOLD12 100
bomalley 1:9d15bcabb1f2 79 #define THRESHOLD13 100
bomalley 1:9d15bcabb1f2 80 #define THRESHOLD14 100
bomalley 1:9d15bcabb1f2 81 #define THRESHOLD15 100
bomalley 1:9d15bcabb1f2 82
bomalley 1:9d15bcabb1f2 83 static uint8_t total_electrode = TOTAL_ELECTRODE;
bomalley 1:9d15bcabb1f2 84 static uint8_t elec_array[16]={ELECTRODE0,ELECTRODE1,ELECTRODE2,ELECTRODE3,ELECTRODE4,ELECTRODE5,
bomalley 1:9d15bcabb1f2 85 ELECTRODE6,ELECTRODE7,ELECTRODE8,ELECTRODE9,ELECTRODE10,ELECTRODE11,
bomalley 1:9d15bcabb1f2 86 ELECTRODE12,ELECTRODE13,ELECTRODE14,ELECTRODE15};
bomalley 1:9d15bcabb1f2 87 static uint16_t gu16TSICount[16];
bomalley 1:9d15bcabb1f2 88 static uint16_t gu16Baseline[16];
bomalley 1:9d15bcabb1f2 89 static uint16_t gu16Threshold[16]={THRESHOLD0,THRESHOLD1,THRESHOLD2,THRESHOLD3,THRESHOLD4,THRESHOLD5,
bomalley 1:9d15bcabb1f2 90 THRESHOLD6,THRESHOLD7,THRESHOLD8,THRESHOLD9,THRESHOLD10,THRESHOLD11,
bomalley 1:9d15bcabb1f2 91 THRESHOLD12,THRESHOLD13,THRESHOLD14,THRESHOLD15};
bomalley 1:9d15bcabb1f2 92 static uint16_t gu16Delta[16];
bomalley 1:9d15bcabb1f2 93 static uint8_t ongoing_elec;
bomalley 1:9d15bcabb1f2 94 static uint8_t end_flag = 1;
bomalley 1:9d15bcabb1f2 95
bomalley 1:9d15bcabb1f2 96 static uint8_t SliderPercentegePosition[2] = {NO_TOUCH,NO_TOUCH};
bomalley 1:9d15bcabb1f2 97 static uint8_t SliderDistancePosition[2] = {NO_TOUCH,NO_TOUCH};
bomalley 1:9d15bcabb1f2 98 static uint32_t AbsolutePercentegePosition = NO_TOUCH;
bomalley 1:9d15bcabb1f2 99 static uint32_t AbsoluteDistancePosition = NO_TOUCH;
bomalley 1:9d15bcabb1f2 100
bomalley 1:9d15bcabb1f2 101 static void tsi_irq();
bomalley 1:9d15bcabb1f2 102
bomalley 1:9d15bcabb1f2 103 TSISensor::TSISensor() {
bomalley 1:9d15bcabb1f2 104 SIM->SCGC5 |= SIM_SCGC5_PORTB_MASK;
bomalley 1:9d15bcabb1f2 105 SIM->SCGC5 |= SIM_SCGC5_TSI_MASK;
bomalley 1:9d15bcabb1f2 106
bomalley 1:9d15bcabb1f2 107 TSI0->GENCS |= (TSI_GENCS_ESOR_MASK
bomalley 1:9d15bcabb1f2 108 | TSI_GENCS_MODE(0)
bomalley 1:9d15bcabb1f2 109 | TSI_GENCS_REFCHRG(4)
bomalley 1:9d15bcabb1f2 110 | TSI_GENCS_DVOLT(0)
bomalley 1:9d15bcabb1f2 111 | TSI_GENCS_EXTCHRG(7)
bomalley 1:9d15bcabb1f2 112 | TSI_GENCS_PS(4)
bomalley 1:9d15bcabb1f2 113 | TSI_GENCS_NSCN(11)
bomalley 1:9d15bcabb1f2 114 | TSI_GENCS_TSIIEN_MASK
bomalley 1:9d15bcabb1f2 115 | TSI_GENCS_STPE_MASK
bomalley 1:9d15bcabb1f2 116 );
bomalley 1:9d15bcabb1f2 117
bomalley 1:9d15bcabb1f2 118 TSI0->GENCS |= TSI_GENCS_TSIEN_MASK;
bomalley 1:9d15bcabb1f2 119
bomalley 1:9d15bcabb1f2 120 NVIC_SetVector(TSI0_IRQn, (uint32_t)&tsi_irq);
bomalley 1:9d15bcabb1f2 121 NVIC_EnableIRQ(TSI0_IRQn);
bomalley 1:9d15bcabb1f2 122
bomalley 1:9d15bcabb1f2 123 selfCalibration();
bomalley 1:9d15bcabb1f2 124 }
bomalley 1:9d15bcabb1f2 125
bomalley 1:9d15bcabb1f2 126 void TSISensor::selfCalibration(void)
bomalley 1:9d15bcabb1f2 127 {
bomalley 1:9d15bcabb1f2 128 unsigned char cnt;
bomalley 1:9d15bcabb1f2 129 unsigned char trigger_backup;
bomalley 1:9d15bcabb1f2 130
bomalley 1:9d15bcabb1f2 131 TSI0->GENCS |= TSI_GENCS_EOSF_MASK; // Clear End of Scan Flag
bomalley 1:9d15bcabb1f2 132 TSI0->GENCS &= ~TSI_GENCS_TSIEN_MASK; // Disable TSI module
bomalley 1:9d15bcabb1f2 133
bomalley 1:9d15bcabb1f2 134 if(TSI0->GENCS & TSI_GENCS_STM_MASK) // Back-up TSI Trigger mode from Application
bomalley 1:9d15bcabb1f2 135 trigger_backup = 1;
bomalley 1:9d15bcabb1f2 136 else
bomalley 1:9d15bcabb1f2 137 trigger_backup = 0;
bomalley 1:9d15bcabb1f2 138
bomalley 1:9d15bcabb1f2 139 TSI0->GENCS &= ~TSI_GENCS_STM_MASK; // Use SW trigger
bomalley 1:9d15bcabb1f2 140 TSI0->GENCS &= ~TSI_GENCS_TSIIEN_MASK; // Enable TSI interrupts
bomalley 1:9d15bcabb1f2 141
bomalley 1:9d15bcabb1f2 142 TSI0->GENCS |= TSI_GENCS_TSIEN_MASK; // Enable TSI module
bomalley 1:9d15bcabb1f2 143
bomalley 1:9d15bcabb1f2 144 for(cnt=0; cnt < total_electrode; cnt++) // Get Counts when Electrode not pressed
bomalley 1:9d15bcabb1f2 145 {
bomalley 1:9d15bcabb1f2 146 TSI0->DATA = ((elec_array[cnt] << TSI_DATA_TSICH_SHIFT) );
bomalley 1:9d15bcabb1f2 147 TSI0->DATA |= TSI_DATA_SWTS_MASK;
bomalley 1:9d15bcabb1f2 148 while(!(TSI0->GENCS & TSI_GENCS_EOSF_MASK));
bomalley 1:9d15bcabb1f2 149 TSI0->GENCS |= TSI_GENCS_EOSF_MASK;
bomalley 1:9d15bcabb1f2 150 gu16Baseline[cnt] = (TSI0->DATA & TSI_DATA_TSICNT_MASK);
bomalley 1:9d15bcabb1f2 151 }
bomalley 1:9d15bcabb1f2 152
bomalley 1:9d15bcabb1f2 153 TSI0->GENCS &= ~TSI_GENCS_TSIEN_MASK; // Disable TSI module
bomalley 1:9d15bcabb1f2 154 TSI0->GENCS |= TSI_GENCS_TSIIEN_MASK; // Enale TSI interrupt
bomalley 1:9d15bcabb1f2 155 if(trigger_backup) // Restore trigger mode
bomalley 1:9d15bcabb1f2 156 TSI0->GENCS |= TSI_GENCS_STM_MASK;
bomalley 1:9d15bcabb1f2 157 else
bomalley 1:9d15bcabb1f2 158 TSI0->GENCS &= ~TSI_GENCS_STM_MASK;
bomalley 1:9d15bcabb1f2 159
bomalley 1:9d15bcabb1f2 160 TSI0->GENCS |= TSI_GENCS_TSIEN_MASK; // Enable TSI module
bomalley 1:9d15bcabb1f2 161
bomalley 1:9d15bcabb1f2 162 TSI0->DATA = ((elec_array[0]<<TSI_DATA_TSICH_SHIFT) );
bomalley 1:9d15bcabb1f2 163 TSI0->DATA |= TSI_DATA_SWTS_MASK;
bomalley 1:9d15bcabb1f2 164 }
bomalley 1:9d15bcabb1f2 165
bomalley 1:9d15bcabb1f2 166 void TSISensor::sliderRead(void ) {
bomalley 1:9d15bcabb1f2 167 if(end_flag) {
bomalley 1:9d15bcabb1f2 168 end_flag = 0;
bomalley 1:9d15bcabb1f2 169 if((gu16Delta[0] > gu16Threshold[0])||(gu16Delta[1] > gu16Threshold[1])) {
bomalley 1:9d15bcabb1f2 170 SliderPercentegePosition[0] = (gu16Delta[0]*100)/(gu16Delta[0]+gu16Delta[1]);
bomalley 1:9d15bcabb1f2 171 SliderPercentegePosition[1] = (gu16Delta[1]*100)/(gu16Delta[0]+gu16Delta[1]);
bomalley 1:9d15bcabb1f2 172 SliderDistancePosition[0] = (SliderPercentegePosition[0]* SLIDER_LENGTH)/100;
bomalley 1:9d15bcabb1f2 173 SliderDistancePosition[1] = (SliderPercentegePosition[1]* SLIDER_LENGTH)/100;
bomalley 1:9d15bcabb1f2 174 AbsolutePercentegePosition = ((100 - SliderPercentegePosition[0]) + SliderPercentegePosition[1])/2;
bomalley 1:9d15bcabb1f2 175 AbsoluteDistancePosition = ((SLIDER_LENGTH - SliderDistancePosition[0]) + SliderDistancePosition[1])/2;
bomalley 1:9d15bcabb1f2 176 } else {
bomalley 1:9d15bcabb1f2 177 SliderPercentegePosition[0] = NO_TOUCH;
bomalley 1:9d15bcabb1f2 178 SliderPercentegePosition[1] = NO_TOUCH;
bomalley 1:9d15bcabb1f2 179 SliderDistancePosition[0] = NO_TOUCH;
bomalley 1:9d15bcabb1f2 180 SliderDistancePosition[1] = NO_TOUCH;
bomalley 1:9d15bcabb1f2 181 AbsolutePercentegePosition = NO_TOUCH;
bomalley 1:9d15bcabb1f2 182 AbsoluteDistancePosition = NO_TOUCH;
bomalley 1:9d15bcabb1f2 183 }
bomalley 1:9d15bcabb1f2 184 }
bomalley 1:9d15bcabb1f2 185 }
bomalley 1:9d15bcabb1f2 186
bomalley 1:9d15bcabb1f2 187 float TSISensor::readPercentage() {
bomalley 1:9d15bcabb1f2 188 sliderRead();
bomalley 1:9d15bcabb1f2 189 return (float)AbsolutePercentegePosition/100.0;
bomalley 1:9d15bcabb1f2 190 }
bomalley 1:9d15bcabb1f2 191
bomalley 1:9d15bcabb1f2 192 uint8_t TSISensor::readDistance() {
bomalley 1:9d15bcabb1f2 193 sliderRead();
bomalley 1:9d15bcabb1f2 194 return AbsoluteDistancePosition;
bomalley 1:9d15bcabb1f2 195 }
bomalley 1:9d15bcabb1f2 196
bomalley 1:9d15bcabb1f2 197 static void changeElectrode(void)
bomalley 1:9d15bcabb1f2 198 {
bomalley 1:9d15bcabb1f2 199 int16_t u16temp_delta;
bomalley 1:9d15bcabb1f2 200
bomalley 1:9d15bcabb1f2 201 gu16TSICount[ongoing_elec] = (TSI0->DATA & TSI_DATA_TSICNT_MASK); // Save Counts for current electrode
bomalley 1:9d15bcabb1f2 202 u16temp_delta = gu16TSICount[ongoing_elec] - gu16Baseline[ongoing_elec]; // Obtains Counts Delta from callibration reference
bomalley 1:9d15bcabb1f2 203 if(u16temp_delta < 0)
bomalley 1:9d15bcabb1f2 204 gu16Delta[ongoing_elec] = 0;
bomalley 1:9d15bcabb1f2 205 else
bomalley 1:9d15bcabb1f2 206 gu16Delta[ongoing_elec] = u16temp_delta;
bomalley 1:9d15bcabb1f2 207
bomalley 1:9d15bcabb1f2 208 //Change Electrode to Scan
bomalley 1:9d15bcabb1f2 209 if(total_electrode > 1)
bomalley 1:9d15bcabb1f2 210 {
bomalley 1:9d15bcabb1f2 211 if((total_electrode-1) > ongoing_elec)
bomalley 1:9d15bcabb1f2 212 ongoing_elec++;
bomalley 1:9d15bcabb1f2 213 else
bomalley 1:9d15bcabb1f2 214 ongoing_elec = 0;
bomalley 1:9d15bcabb1f2 215
bomalley 1:9d15bcabb1f2 216 TSI0->DATA = ((elec_array[ongoing_elec]<<TSI_DATA_TSICH_SHIFT) );
bomalley 1:9d15bcabb1f2 217 TSI0->DATA |= TSI_DATA_SWTS_MASK;
bomalley 1:9d15bcabb1f2 218 }
bomalley 1:9d15bcabb1f2 219 }
bomalley 1:9d15bcabb1f2 220
bomalley 1:9d15bcabb1f2 221 void tsi_irq(void)
bomalley 1:9d15bcabb1f2 222 {
bomalley 1:9d15bcabb1f2 223 end_flag = 1;
bomalley 1:9d15bcabb1f2 224 TSI0->GENCS |= TSI_GENCS_EOSF_MASK; // Clear End of Scan Flag
bomalley 1:9d15bcabb1f2 225 changeElectrode();
bomalley 1:9d15bcabb1f2 226 }