tweaked detection to use photoresistor through an opamp
Fork of rgb_sensor by
rgb_sensor.cpp@3:50e1ac3c56db, 2014-06-27 (annotated)
- Committer:
- meriac
- Date:
- Fri Jun 27 11:36:15 2014 +0000
- Revision:
- 3:50e1ac3c56db
- Parent:
- 2:4545984e62b6
- Child:
- 4:0ffadc2caaf6
Added callback support for asynchronous case
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
meriac | 0:576e43bd193d | 1 | /* Discrete RGB color sensor |
meriac | 0:576e43bd193d | 2 | * |
meriac | 0:576e43bd193d | 3 | * - uses single-channel light-dependent resistor (via ADC) |
meriac | 0:576e43bd193d | 4 | * and a RGB LED. |
meriac | 0:576e43bd193d | 5 | * - compensates background light |
meriac | 0:576e43bd193d | 6 | * |
meriac | 0:576e43bd193d | 7 | * Copyright (c) 2014 ARM Limited |
meriac | 0:576e43bd193d | 8 | * |
meriac | 0:576e43bd193d | 9 | * Licensed under the Apache License, Version 2.0 (the "License"); |
meriac | 0:576e43bd193d | 10 | * you may not use this file except in compliance with the License. |
meriac | 0:576e43bd193d | 11 | * You may obtain a copy of the License at |
meriac | 0:576e43bd193d | 12 | * |
meriac | 0:576e43bd193d | 13 | * http://www.apache.org/licenses/LICENSE-2.0 |
meriac | 0:576e43bd193d | 14 | * |
meriac | 0:576e43bd193d | 15 | * Unless required by applicable law or agreed to in writing, software |
meriac | 0:576e43bd193d | 16 | * distributed under the License is distributed on an "AS IS" BASIS, |
meriac | 0:576e43bd193d | 17 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
meriac | 0:576e43bd193d | 18 | * See the License for the specific language governing permissions and |
meriac | 0:576e43bd193d | 19 | * limitations under the License. |
meriac | 0:576e43bd193d | 20 | */ |
meriac | 0:576e43bd193d | 21 | |
meriac | 0:576e43bd193d | 22 | #include <mbed.h> |
meriac | 0:576e43bd193d | 23 | #include <pinmap.h> |
meriac | 0:576e43bd193d | 24 | #include "rgb_sensor.h" |
meriac | 0:576e43bd193d | 25 | |
meriac | 0:576e43bd193d | 26 | static const PinMap RGB_Sensor__PinMap_ADC[] = { |
meriac | 0:576e43bd193d | 27 | {P0_23, ADC0_0, 1}, |
meriac | 0:576e43bd193d | 28 | {P0_24, ADC0_1, 1}, |
meriac | 0:576e43bd193d | 29 | {P0_25, ADC0_2, 1}, |
meriac | 0:576e43bd193d | 30 | {P0_26, ADC0_3, 1}, |
meriac | 0:576e43bd193d | 31 | {P1_30, ADC0_4, 3}, |
meriac | 0:576e43bd193d | 32 | {P1_31, ADC0_5, 3}, |
meriac | 0:576e43bd193d | 33 | {P0_2, ADC0_7, 2}, |
meriac | 0:576e43bd193d | 34 | {P0_3, ADC0_6, 2}, |
meriac | 0:576e43bd193d | 35 | {NC, NC, 0} |
meriac | 0:576e43bd193d | 36 | }; |
meriac | 0:576e43bd193d | 37 | |
meriac | 0:576e43bd193d | 38 | DigitalOut g_dbg(LED1); |
meriac | 0:576e43bd193d | 39 | |
meriac | 0:576e43bd193d | 40 | /* initialize globally */ |
meriac | 0:576e43bd193d | 41 | RGB_Sensor* RGB_Sensor::m_global = NULL; |
meriac | 0:576e43bd193d | 42 | |
meriac | 0:576e43bd193d | 43 | RGB_Sensor::RGB_Sensor(PinName red, PinName green, PinName blue, PinName adc) |
meriac | 0:576e43bd193d | 44 | :m_red(red), m_green(green), m_blue(blue) |
meriac | 0:576e43bd193d | 45 | { |
meriac | 0:576e43bd193d | 46 | uint32_t clkdiv; |
meriac | 0:576e43bd193d | 47 | |
meriac | 0:576e43bd193d | 48 | m_done=true; |
meriac | 0:576e43bd193d | 49 | |
meriac | 0:576e43bd193d | 50 | /* allow only one instance */ |
meriac | 0:576e43bd193d | 51 | if(m_global) |
meriac | 0:576e43bd193d | 52 | { |
meriac | 0:576e43bd193d | 53 | m_adc_channel = (ADCName)NC; |
meriac | 0:576e43bd193d | 54 | return; |
meriac | 0:576e43bd193d | 55 | } |
meriac | 0:576e43bd193d | 56 | |
meriac | 0:576e43bd193d | 57 | /* disable LED's */ |
meriac | 2:4545984e62b6 | 58 | m_red = !RGB_LED_ON; |
meriac | 2:4545984e62b6 | 59 | m_green = !RGB_LED_ON; |
meriac | 2:4545984e62b6 | 60 | m_blue = !RGB_LED_ON; |
meriac | 0:576e43bd193d | 61 | |
meriac | 0:576e43bd193d | 62 | // enable ADC power |
meriac | 0:576e43bd193d | 63 | LPC_SC->PCONP |= (1<<12); |
meriac | 0:576e43bd193d | 64 | // set ADC clock to PCLK |
meriac | 0:576e43bd193d | 65 | LPC_SC->PCLKSEL0 = (LPC_SC->PCLKSEL0 & ~(0x3UL<<24)) | (0x1UL<<24); |
meriac | 0:576e43bd193d | 66 | |
meriac | 0:576e43bd193d | 67 | // determine mapping |
meriac | 0:576e43bd193d | 68 | m_adc_channel = (ADCName)pinmap_peripheral(adc, RGB_Sensor__PinMap_ADC); |
meriac | 0:576e43bd193d | 69 | if (m_adc_channel == (ADCName)NC) |
meriac | 0:576e43bd193d | 70 | return; |
meriac | 0:576e43bd193d | 71 | |
meriac | 0:576e43bd193d | 72 | // initialize ADC |
meriac | 0:576e43bd193d | 73 | clkdiv = ((SystemCoreClock+RGB_MAX_ADC_CLK-1)/RGB_MAX_ADC_CLK)-1; |
meriac | 0:576e43bd193d | 74 | LPC_ADC->ADCR = (1UL<<m_adc_channel) | (clkdiv<<8) | (1UL<<21); |
meriac | 0:576e43bd193d | 75 | |
meriac | 0:576e43bd193d | 76 | // set up ADC IRQ |
meriac | 0:576e43bd193d | 77 | NVIC_SetVector(ADC_IRQn, (uint32_t)&__adc_irq); |
meriac | 0:576e43bd193d | 78 | LPC_ADC->ADINTEN = (1UL<<m_adc_channel); |
meriac | 0:576e43bd193d | 79 | NVIC_EnableIRQ(ADC_IRQn); |
meriac | 0:576e43bd193d | 80 | |
meriac | 0:576e43bd193d | 81 | // propagate pin setting |
meriac | 0:576e43bd193d | 82 | pinmap_pinout(adc, RGB_Sensor__PinMap_ADC); |
meriac | 0:576e43bd193d | 83 | |
meriac | 0:576e43bd193d | 84 | // remember this instance |
meriac | 0:576e43bd193d | 85 | m_global = this; |
meriac | 0:576e43bd193d | 86 | } |
meriac | 0:576e43bd193d | 87 | |
meriac | 0:576e43bd193d | 88 | RGB_Sensor::~RGB_Sensor(void) |
meriac | 0:576e43bd193d | 89 | { |
meriac | 0:576e43bd193d | 90 | /* only deal with fully initialized objects */ |
meriac | 0:576e43bd193d | 91 | if(m_adc_channel == (ADCName)NC) |
meriac | 0:576e43bd193d | 92 | return; |
meriac | 0:576e43bd193d | 93 | /* wait for completion */ |
meriac | 0:576e43bd193d | 94 | wait(); |
meriac | 0:576e43bd193d | 95 | /* reset global reference */ |
meriac | 0:576e43bd193d | 96 | m_global = NULL; |
meriac | 0:576e43bd193d | 97 | /* turn off ADC */ |
meriac | 0:576e43bd193d | 98 | LPC_ADC->ADINTEN = 0; |
meriac | 0:576e43bd193d | 99 | LPC_ADC->ADCR = 0; |
meriac | 0:576e43bd193d | 100 | LPC_SC->PCONP &= ~(1UL<<12); |
meriac | 0:576e43bd193d | 101 | } |
meriac | 0:576e43bd193d | 102 | |
meriac | 0:576e43bd193d | 103 | void RGB_Sensor::__adc_irq(void) |
meriac | 0:576e43bd193d | 104 | { |
meriac | 0:576e43bd193d | 105 | if(m_global) |
meriac | 0:576e43bd193d | 106 | m_global->adc_irq(); |
meriac | 0:576e43bd193d | 107 | } |
meriac | 0:576e43bd193d | 108 | |
meriac | 0:576e43bd193d | 109 | void RGB_Sensor::adc_irq(void) |
meriac | 0:576e43bd193d | 110 | { |
meriac | 0:576e43bd193d | 111 | uint32_t sample, status; |
meriac | 0:576e43bd193d | 112 | |
meriac | 0:576e43bd193d | 113 | status = LPC_ADC->ADSTAT; |
meriac | 0:576e43bd193d | 114 | if(status & (1UL<<m_adc_channel)) |
meriac | 0:576e43bd193d | 115 | { |
meriac | 0:576e43bd193d | 116 | /* always read sample to acknowledge IRQ */ |
meriac | 0:576e43bd193d | 117 | sample = (((&LPC_ADC->ADDR0)[m_adc_channel])>>4) & 0xFFF; |
meriac | 0:576e43bd193d | 118 | |
meriac | 0:576e43bd193d | 119 | if(!m_done) |
meriac | 0:576e43bd193d | 120 | { |
meriac | 0:576e43bd193d | 121 | m_adc_aggregation[m_rgb_channel] += sample; |
meriac | 0:576e43bd193d | 122 | |
meriac | 0:576e43bd193d | 123 | m_adc_count++; |
meriac | 0:576e43bd193d | 124 | if(m_adc_count>=RGB_OVERSAMPLING) |
meriac | 0:576e43bd193d | 125 | { |
meriac | 0:576e43bd193d | 126 | m_adc_count=0; |
meriac | 0:576e43bd193d | 127 | m_rgb_channel++; |
meriac | 0:576e43bd193d | 128 | |
meriac | 0:576e43bd193d | 129 | /* prepare LEDs for upcoming channel */ |
meriac | 0:576e43bd193d | 130 | switch(m_rgb_channel) |
meriac | 0:576e43bd193d | 131 | { |
meriac | 0:576e43bd193d | 132 | case 1: |
meriac | 2:4545984e62b6 | 133 | m_red = RGB_LED_ON; |
meriac | 0:576e43bd193d | 134 | break; |
meriac | 0:576e43bd193d | 135 | |
meriac | 0:576e43bd193d | 136 | case 2: |
meriac | 2:4545984e62b6 | 137 | m_red = !RGB_LED_ON; |
meriac | 2:4545984e62b6 | 138 | m_green = RGB_LED_ON; |
meriac | 0:576e43bd193d | 139 | break; |
meriac | 0:576e43bd193d | 140 | |
meriac | 0:576e43bd193d | 141 | case 3: |
meriac | 2:4545984e62b6 | 142 | m_green = !RGB_LED_ON; |
meriac | 2:4545984e62b6 | 143 | m_blue= RGB_LED_ON; |
meriac | 0:576e43bd193d | 144 | break; |
meriac | 0:576e43bd193d | 145 | |
meriac | 0:576e43bd193d | 146 | default: |
meriac | 2:4545984e62b6 | 147 | m_blue= !RGB_LED_ON; |
meriac | 3:50e1ac3c56db | 148 | if(!m_callback) |
meriac | 3:50e1ac3c56db | 149 | m_done = true; |
meriac | 3:50e1ac3c56db | 150 | else |
meriac | 3:50e1ac3c56db | 151 | { |
meriac | 3:50e1ac3c56db | 152 | TRGB rgb; |
meriac | 3:50e1ac3c56db | 153 | convert(rgb); |
meriac | 3:50e1ac3c56db | 154 | m_done = !m_callback(rgb); |
meriac | 3:50e1ac3c56db | 155 | m_rgb_channel = 0; |
meriac | 3:50e1ac3c56db | 156 | } |
meriac | 0:576e43bd193d | 157 | /* stop data aquisition */ |
meriac | 3:50e1ac3c56db | 158 | if(m_done) |
meriac | 3:50e1ac3c56db | 159 | LPC_ADC->ADCR &= ~(1UL<<16); |
meriac | 0:576e43bd193d | 160 | } |
meriac | 0:576e43bd193d | 161 | } |
meriac | 0:576e43bd193d | 162 | } |
meriac | 0:576e43bd193d | 163 | } |
meriac | 0:576e43bd193d | 164 | LPC_ADC->ADSTAT = status; |
meriac | 0:576e43bd193d | 165 | } |
meriac | 0:576e43bd193d | 166 | |
meriac | 3:50e1ac3c56db | 167 | bool RGB_Sensor::capture(TRGB_Callback callback) |
meriac | 0:576e43bd193d | 168 | { |
meriac | 0:576e43bd193d | 169 | /* ignore mis-configurations */ |
meriac | 0:576e43bd193d | 170 | if(m_adc_channel==(ADCName)NC) |
meriac | 0:576e43bd193d | 171 | return false; |
meriac | 0:576e43bd193d | 172 | |
meriac | 3:50e1ac3c56db | 173 | m_callback = callback; |
meriac | 0:576e43bd193d | 174 | m_done = false; |
meriac | 0:576e43bd193d | 175 | m_adc_count = m_rgb_channel = 0; |
meriac | 0:576e43bd193d | 176 | memset((void*)&m_adc_aggregation, 0, sizeof(m_adc_aggregation)); |
meriac | 0:576e43bd193d | 177 | /* start ADC burst mode */ |
meriac | 0:576e43bd193d | 178 | LPC_ADC->ADCR |= (1UL<<16); |
meriac | 0:576e43bd193d | 179 | |
meriac | 0:576e43bd193d | 180 | return true; |
meriac | 0:576e43bd193d | 181 | } |
meriac | 0:576e43bd193d | 182 | |
meriac | 0:576e43bd193d | 183 | bool RGB_Sensor::wait(void) |
meriac | 0:576e43bd193d | 184 | { |
meriac | 0:576e43bd193d | 185 | /* ignore mis-configurations */ |
meriac | 0:576e43bd193d | 186 | if(m_adc_channel==(ADCName)NC) |
meriac | 0:576e43bd193d | 187 | return false; |
meriac | 0:576e43bd193d | 188 | |
meriac | 0:576e43bd193d | 189 | while(!m_done) |
meriac | 0:576e43bd193d | 190 | __WFE(); |
meriac | 0:576e43bd193d | 191 | |
meriac | 0:576e43bd193d | 192 | return true; |
meriac | 0:576e43bd193d | 193 | } |
meriac | 0:576e43bd193d | 194 | |
meriac | 3:50e1ac3c56db | 195 | void RGB_Sensor::convert(TRGB &rgb) |
meriac | 0:576e43bd193d | 196 | { |
meriac | 0:576e43bd193d | 197 | /* correct "DC" offset by subdstracting |
meriac | 0:576e43bd193d | 198 | * environment light |
meriac | 0:576e43bd193d | 199 | */ |
meriac | 0:576e43bd193d | 200 | rgb.ch.red = m_adc_aggregation[1] - m_adc_aggregation[0]; |
meriac | 0:576e43bd193d | 201 | rgb.ch.green = m_adc_aggregation[2] - m_adc_aggregation[0]; |
meriac | 0:576e43bd193d | 202 | rgb.ch.blue = m_adc_aggregation[3] - m_adc_aggregation[0]; |
meriac | 3:50e1ac3c56db | 203 | } |
meriac | 0:576e43bd193d | 204 | |
meriac | 3:50e1ac3c56db | 205 | bool RGB_Sensor::capture(TRGB &rgb) |
meriac | 3:50e1ac3c56db | 206 | { |
meriac | 3:50e1ac3c56db | 207 | if(!(capture(NULL) && wait())) |
meriac | 3:50e1ac3c56db | 208 | return false; |
meriac | 3:50e1ac3c56db | 209 | |
meriac | 3:50e1ac3c56db | 210 | convert(rgb); |
meriac | 0:576e43bd193d | 211 | return true; |
meriac | 0:576e43bd193d | 212 | } |