Shih-Ho Hsieh / Mbed 2 deprecated Motor_XYZ_UI_SPI_I2C_5mag

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Dependencies:   mbed

ui.cpp@14:9672e91010a3, 2018-03-06 (annotated)

Committer:
hober
Date:
Tue Mar 06 08:35:40 2018 +0000
Branch:
envelope
Revision:
14:9672e91010a3
Parent:
13:6850d2b41b2c
Child:
15:5dd07840023c
20180306

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hober 6:ce02d396c961 1 #include "motor.h"
hober 6:ce02d396c961 2 #include "xyz_sensor_platform.h"
hober 8:33d34a775873 3 //#include "ParseArray.h"
hober 8:33d34a775873 4 #include "envelopetracker.h"
hober 6:ce02d396c961 5
hober 7:ee0569d49c52 6 #define I2C_FREQUENCY 400000
hober 6:ce02d396c961 7
hober 8:33d34a775873 8 typedef unsigned char byte;
hober 10:a49cdab3810f 9 uint8_t* dataToSend;
hober 8:33d34a775873 10 int sendArrayIndex = 0;
hober 8:33d34a775873 11 int sendBufferMax = 10000;
hober 8:33d34a775873 12 const int BAUD = 921600;
hober 8:33d34a775873 13 Serial pc(SERIAL_TX, SERIAL_RX, BAUD );
hober 7:ee0569d49c52 14 DigitalOut led(LED2),led3(LED3);
hober 7:ee0569d49c52 15 DigitalOut mag_test(D11);
hober 12:2e1b1b1726fa 16 InterruptIn button(USER_BUTTON);
hober 6:ce02d396c961 17 XYZSensorPlatform platform;
hober 8:33d34a775873 18 Envelope *command;
hober 8:33d34a775873 19 EnvelopeTracker tracker;
hober 7:ee0569d49c52 20 byte commandToSend[10]= {'H','O','1','2','3','4','5','6','E',0};
hober 7:ee0569d49c52 21 bool isRecording = false;
hober 9:c4f7257dee47 22 Envelope* result;
hober 9:c4f7257dee47 23 float x, y, z;
hober 9:c4f7257dee47 24 float pos[3];
hober 9:c4f7257dee47 25 int n = 0;
hober 9:c4f7257dee47 26 int getMag = 0;
hober 9:c4f7257dee47 27 int leftCount = 0;
hober 9:c4f7257dee47 28 int rightCount = 0;
hober 9:c4f7257dee47 29 int upCount = 0;
hober 9:c4f7257dee47 30 int downCount = 0;
hober 9:c4f7257dee47 31 int forwardCount = 0;
hober 9:c4f7257dee47 32 int backwardCount = 0;
hober 9:c4f7257dee47 33 bool commandToDo = false;
hober 9:c4f7257dee47 34 int recordTime;
hober 9:c4f7257dee47 35 float waitTime;
hober 12:2e1b1b1726fa 36 bool isEcho = false;
hober 12:2e1b1b1726fa 37 bool isReset = true;
hober 12:2e1b1b1726fa 38 enum PatternRecordState{NONE,INIT,MAGNET,TO};
hober 12:2e1b1b1726fa 39 struct Pattern
hober 12:2e1b1b1726fa 40 {
hober 12:2e1b1b1726fa 41 float xStart, xEnd, xStep, yStart, yEnd, yStep, zStart, zEnd, zStep;
hober 12:2e1b1b1726fa 42 int num;
hober 12:2e1b1b1726fa 43 float x, y, z;
hober 12:2e1b1b1726fa 44 int count;
hober 12:2e1b1b1726fa 45 PatternRecordState state;
hober 12:2e1b1b1726fa 46 } pattern;
hober 12:2e1b1b1726fa 47
hober 8:33d34a775873 48
hober 9:c4f7257dee47 49 const int Fs = 1000; // sampling rate -- max: 1kHz
hober 8:33d34a775873 50
hober 8:33d34a775873 51
hober 6:ce02d396c961 52 void echo(char typ, float x, float y, float z);
hober 6:ce02d396c961 53 void echo(char typ, int16_t *p_data);
hober 9:c4f7257dee47 54 void Rx_interrupt();
hober 12:2e1b1b1726fa 55 void released()
hober 12:2e1b1b1726fa 56 {
hober 12:2e1b1b1726fa 57 led = !led;
hober 12:2e1b1b1726fa 58 pc.attach(&Rx_interrupt, Serial::RxIrq);
hober 12:2e1b1b1726fa 59 }
hober 8:33d34a775873 60
hober 6:ce02d396c961 61 int main()
hober 6:ce02d396c961 62 {
hober 6:ce02d396c961 63 led=1;
hober 8:33d34a775873 64 command = new Envelope;
hober 8:33d34a775873 65 command->enableHeader(std::string("H"));// 48 H
hober 8:33d34a775873 66 command->enableFooter(std::string("E"),8);// 45 E
hober 8:33d34a775873 67 command->enableCheckXOR(9);
hober 8:33d34a775873 68 tracker.setEnvelope(*command);
hober 8:33d34a775873 69 tracker.setBufferLength(100);
hober 12:2e1b1b1726fa 70 pattern.state = NONE;
hober 7:ee0569d49c52 71 pc.format(8,SerialBase::None,1);
hober 12:2e1b1b1726fa 72 button.rise(&released);
hober 6:ce02d396c961 73 platform.set_speed(2.5);
hober 12:2e1b1b1726fa 74 // platform.reset(); // need to be modified here
hober 7:ee0569d49c52 75 platform.setSensorI2cFrequency(I2C_FREQUENCY);
hober 9:c4f7257dee47 76 // Setup a serial interrupt function to receive data
hober 9:c4f7257dee47 77 pc.attach(&Rx_interrupt, Serial::RxIrq);
hober 12:2e1b1b1726fa 78 echo('B',0,0,0);
hober 6:ce02d396c961 79 while(1) {
hober 12:2e1b1b1726fa 80 if(isReset){
hober 12:2e1b1b1726fa 81 platform.set_speed(1);
hober 12:2e1b1b1726fa 82 platform.reset();
hober 12:2e1b1b1726fa 83 isReset = false;
hober 12:2e1b1b1726fa 84 platform.set_speed(2.5);
hober 12:2e1b1b1726fa 85 }
hober 12:2e1b1b1726fa 86 if(pattern.state != NONE)
hober 12:2e1b1b1726fa 87 {
hober 13:6850d2b41b2c 88 if(pattern.state == INIT)
hober 13:6850d2b41b2c 89 {
hober 13:6850d2b41b2c 90 pattern.x = pattern.xStart;
hober 13:6850d2b41b2c 91 pattern.y = pattern.yStart;
hober 13:6850d2b41b2c 92 pattern.z = pattern.zStart;
hober 13:6850d2b41b2c 93 pattern.count = pattern.num;
hober 13:6850d2b41b2c 94 pattern.state = MAGNET;
hober 13:6850d2b41b2c 95 isEcho = true;
hober 13:6850d2b41b2c 96 platform.to(pattern.x,pattern.y,pattern.z);
hober 13:6850d2b41b2c 97 }
hober 12:2e1b1b1726fa 98 if(pattern.count == 0) pattern.state = TO;
hober 12:2e1b1b1726fa 99 if(pattern.state == TO)
hober 12:2e1b1b1726fa 100 {
hober 13:6850d2b41b2c 101 if(abs(pattern.x-pattern.xEnd)>abs(pattern.xStep))
hober 13:6850d2b41b2c 102 {
hober 13:6850d2b41b2c 103 pattern.x += pattern.xStep;
hober 13:6850d2b41b2c 104 platform.set_speed(1.5);
hober 13:6850d2b41b2c 105 }
hober 12:2e1b1b1726fa 106 else if(abs(pattern.y-pattern.yEnd)>abs(pattern.yStep)){
hober 12:2e1b1b1726fa 107 pattern.x = pattern.xStart;
hober 12:2e1b1b1726fa 108 pattern.y += pattern.yStep;
hober 12:2e1b1b1726fa 109 }
hober 12:2e1b1b1726fa 110 else if(abs(pattern.z-pattern.zEnd)>abs(pattern.zStep)){
hober 12:2e1b1b1726fa 111 pattern.x = pattern.xStart;
hober 12:2e1b1b1726fa 112 pattern.y = pattern.yStart;
hober 12:2e1b1b1726fa 113 pattern.z += pattern.zStep;
hober 12:2e1b1b1726fa 114 }
hober 12:2e1b1b1726fa 115 else{
hober 12:2e1b1b1726fa 116 pattern.state = NONE;
hober 13:6850d2b41b2c 117 echo('S',0,0,0);
hober 12:2e1b1b1726fa 118 continue;
hober 12:2e1b1b1726fa 119 }
hober 12:2e1b1b1726fa 120 platform.to(pattern.x,pattern.y,pattern.z);
hober 12:2e1b1b1726fa 121 isEcho = true;
hober 12:2e1b1b1726fa 122 pattern.count = pattern.num;
hober 12:2e1b1b1726fa 123 pattern.state = MAGNET;
hober 13:6850d2b41b2c 124 platform.set_speed(2.5);
hober 12:2e1b1b1726fa 125 }
hober 12:2e1b1b1726fa 126 if(pattern.state == MAGNET)
hober 12:2e1b1b1726fa 127 {
hober 12:2e1b1b1726fa 128 if(pattern.count-- <= 0) pattern.state = TO;
hober 12:2e1b1b1726fa 129 getMag++;
hober 14:9672e91010a3 130 wait(waitTime);
hober 12:2e1b1b1726fa 131 }
hober 12:2e1b1b1726fa 132 }
hober 12:2e1b1b1726fa 133 if(isEcho)
hober 12:2e1b1b1726fa 134 {
hober 12:2e1b1b1726fa 135 platform.position(pos);
hober 12:2e1b1b1726fa 136 echo('O',pos[0],pos[1],pos[2]);
hober 12:2e1b1b1726fa 137 led3 = !led3;
hober 12:2e1b1b1726fa 138 isEcho = false;
hober 12:2e1b1b1726fa 139 }
hober 8:33d34a775873 140 if(isRecording && n < recordTime) {
hober 7:ee0569d49c52 141 int16_t mag[3];
hober 7:ee0569d49c52 142 if(platform.get_mag_raw(mag)==0&&pc.writeable()) {
hober 7:ee0569d49c52 143 echo('M',mag);
hober 7:ee0569d49c52 144 mag_test=!mag_test;
hober 8:33d34a775873 145 wait(waitTime);
hober 7:ee0569d49c52 146 }
hober 7:ee0569d49c52 147 n++;
hober 8:33d34a775873 148 } else if(isRecording) {
hober 8:33d34a775873 149 isRecording = false;
hober 8:33d34a775873 150 echo('S',0,0,0);
hober 8:33d34a775873 151 }// end recording if
hober 9:c4f7257dee47 152 if(getMag>0) {
hober 9:c4f7257dee47 153 int16_t mag[3];
hober 9:c4f7257dee47 154 if(platform.get_mag_raw(mag)==0) echo('M',mag);
hober 9:c4f7257dee47 155 getMag--;
hober 9:c4f7257dee47 156 }
hober 9:c4f7257dee47 157 if(commandToDo) {
hober 9:c4f7257dee47 158 platform.to(x,y,z);
hober 9:c4f7257dee47 159 platform.position(pos);
hober 9:c4f7257dee47 160 echo('O',pos[0],pos[1],pos[2]);
hober 9:c4f7257dee47 161 commandToDo = false;
hober 9:c4f7257dee47 162 }
hober 9:c4f7257dee47 163 if(leftCount > 0||rightCount > 0||upCount > 0||downCount > 0||forwardCount > 0||backwardCount > 0) {
hober 9:c4f7257dee47 164 if(leftCount > 0) {
hober 9:c4f7257dee47 165 platform.go_left();
hober 9:c4f7257dee47 166 leftCount--;
hober 9:c4f7257dee47 167 }
hober 9:c4f7257dee47 168 if(rightCount > 0) {
hober 9:c4f7257dee47 169 platform.go_right();
hober 9:c4f7257dee47 170 rightCount--;
hober 9:c4f7257dee47 171 }
hober 9:c4f7257dee47 172 if(upCount > 0) {
hober 9:c4f7257dee47 173 platform.go_up();
hober 9:c4f7257dee47 174 upCount--;
hober 9:c4f7257dee47 175 }
hober 9:c4f7257dee47 176 if(downCount > 0) {
hober 9:c4f7257dee47 177 platform.go_down();
hober 9:c4f7257dee47 178 downCount--;
hober 9:c4f7257dee47 179 }
hober 9:c4f7257dee47 180 if(forwardCount > 0) {
hober 9:c4f7257dee47 181 platform.go_forward();
hober 9:c4f7257dee47 182 forwardCount--;
hober 9:c4f7257dee47 183 }
hober 9:c4f7257dee47 184 if(backwardCount > 0) {
hober 9:c4f7257dee47 185 platform.go_backward();
hober 9:c4f7257dee47 186 backwardCount--;
hober 9:c4f7257dee47 187 }
hober 9:c4f7257dee47 188 platform.position(pos);
hober 9:c4f7257dee47 189 echo('O',pos[0],pos[1],pos[2]);
hober 9:c4f7257dee47 190 }
hober 7:ee0569d49c52 191 } // end while
hober 6:ce02d396c961 192
hober 6:ce02d396c961 193 }
hober 6:ce02d396c961 194
hober 6:ce02d396c961 195 void echo(char typ,float x, float y, float z)
hober 6:ce02d396c961 196 {
hober 7:ee0569d49c52 197 int16_t p_data[3]= {(int16_t)(x*10), int16_t(y*10), int16_t(z*10)};
hober 7:ee0569d49c52 198 echo(typ,p_data);
hober 6:ce02d396c961 199 }
hober 6:ce02d396c961 200
hober 6:ce02d396c961 201 void echo(char typ, int16_t *p_data)
hober 6:ce02d396c961 202 {
hober 8:33d34a775873 203 char tmp[] = {typ, p_data[0]>>8, p_data[0], p_data[1]>>8, p_data[1], p_data[2]>>8, p_data[2]};
hober 8:33d34a775873 204 command->setEnvelopeData(tmp,7);
hober 10:a49cdab3810f 205 dataToSend = (uint8_t*)(command->getEnvelopeArray());
hober 8:33d34a775873 206 for(int i = 0; i < command->length(); i++) {
hober 10:a49cdab3810f 207 pc.putc(dataToSend[i]);
hober 8:33d34a775873 208 }
hober 6:ce02d396c961 209 }
hober 6:ce02d396c961 210
hober 9:c4f7257dee47 211 void Rx_interrupt()
hober 9:c4f7257dee47 212 {
hober 9:c4f7257dee47 213 char c;
hober 9:c4f7257dee47 214 while(pc.readable()) {
hober 9:c4f7257dee47 215 c = pc.getc();
hober 9:c4f7257dee47 216 tracker.parse(&c,1);
hober 6:ce02d396c961 217
hober 9:c4f7257dee47 218 result = tracker.getEnvelope();
hober 9:c4f7257dee47 219 if(result!=NULL) {
hober 9:c4f7257dee47 220 char *dataArray = result->getPayload();
hober 9:c4f7257dee47 221 switch(dataArray[0]) {
hober 12:2e1b1b1726fa 222 case 'I': // pattern record
hober 12:2e1b1b1726fa 223 if(dataArray[1] == 'X')
hober 12:2e1b1b1726fa 224 {
hober 12:2e1b1b1726fa 225 pattern.xStart = (float)((dataArray[2]<<8)+dataArray[3])/10.0f;
hober 12:2e1b1b1726fa 226 pattern.xEnd = (float)((dataArray[4]<<8)+dataArray[5])/10.0f;
hober 12:2e1b1b1726fa 227 pattern.xStep = (float) dataArray[6]/10.0f;
hober 12:2e1b1b1726fa 228 if((pattern.xStart-pattern.xEnd)*pattern.xStep>0) pattern.xStep = -pattern.xStep;
hober 12:2e1b1b1726fa 229 }
hober 12:2e1b1b1726fa 230 else if(dataArray[1] == 'Y')
hober 12:2e1b1b1726fa 231 {
hober 12:2e1b1b1726fa 232 pattern.yStart = (float)((dataArray[2]<<8)+dataArray[3])/10.0f;
hober 12:2e1b1b1726fa 233 pattern.yEnd = (float)((dataArray[4]<<8)+dataArray[5])/10.0f;
hober 12:2e1b1b1726fa 234 pattern.yStep = (float) dataArray[6]/10.0f;
hober 12:2e1b1b1726fa 235 if((pattern.yStart-pattern.yEnd)*pattern.yStep>0) pattern.yStep = -pattern.yStep;
hober 12:2e1b1b1726fa 236 }
hober 12:2e1b1b1726fa 237 else if(dataArray[1] == 'Z')
hober 12:2e1b1b1726fa 238 {
hober 12:2e1b1b1726fa 239 pattern.zStart = (float)((dataArray[2]<<8)+dataArray[3])/10.0f;
hober 12:2e1b1b1726fa 240 pattern.zEnd = (float)((dataArray[4]<<8)+dataArray[5])/10.0f;
hober 12:2e1b1b1726fa 241 pattern.zStep = (float) dataArray[6]/10.0f;
hober 12:2e1b1b1726fa 242 if((pattern.zStart-pattern.zEnd)*pattern.zStep>0) pattern.zStep = -pattern.zStep;
hober 12:2e1b1b1726fa 243 }
hober 12:2e1b1b1726fa 244 else if(dataArray[1] == 'N')
hober 12:2e1b1b1726fa 245 {
hober 14:9672e91010a3 246 pattern.num = (int)((dataArray[2]<<8)+dataArray[3]);
hober 14:9672e91010a3 247 waitTime = 1.0/Fs-0.00052-1/(BAUD/8/10);
hober 12:2e1b1b1726fa 248 }
hober 12:2e1b1b1726fa 249 else if(dataArray[1] == 'M')
hober 12:2e1b1b1726fa 250 {
hober 12:2e1b1b1726fa 251 if(dataArray[2] == 'B'){
hober 12:2e1b1b1726fa 252 pattern.x = (float)((dataArray[3]<<8)+dataArray[4])/10.0f;
hober 12:2e1b1b1726fa 253 pattern.y = (float)((dataArray[5]<<8)+dataArray[6])/10.0f;
hober 12:2e1b1b1726fa 254 }
hober 12:2e1b1b1726fa 255 if(dataArray[2] == 'U'){
hober 12:2e1b1b1726fa 256 pattern.z = (float)((dataArray[3]<<8)+dataArray[4])/10.0f;
hober 12:2e1b1b1726fa 257 pattern.state = TO;
hober 12:2e1b1b1726fa 258 printf("%.2f %.2f %.2f\n %.2f %.2f %.2f\n %.2f %.2f %.2f\n %.2f %.2f %.2f\n %d\n",
hober 12:2e1b1b1726fa 259 pattern.xStart, pattern.xEnd, pattern.xStep, pattern.yStart, pattern.yEnd, pattern.yStep, pattern.zStart, pattern.zEnd, pattern.zStep, pattern.x, pattern.y, pattern.z, pattern.num);
hober 12:2e1b1b1726fa 260 }
hober 12:2e1b1b1726fa 261 }
hober 12:2e1b1b1726fa 262
hober 12:2e1b1b1726fa 263 else if(dataArray[1] == 'B')
hober 12:2e1b1b1726fa 264 {
hober 12:2e1b1b1726fa 265 pattern.state = INIT;
hober 12:2e1b1b1726fa 266 }
hober 12:2e1b1b1726fa 267 else if(dataArray[1] == 'S') pattern.state = NONE;
hober 12:2e1b1b1726fa 268
hober 9:c4f7257dee47 269 break;
hober 9:c4f7257dee47 270 case 'O': // echo
hober 12:2e1b1b1726fa 271 isEcho = true;
hober 9:c4f7257dee47 272 break;
hober 9:c4f7257dee47 273 case 'C': // command
hober 12:2e1b1b1726fa 274 if(commandToDo) break;
hober 9:c4f7257dee47 275 x=(float)((dataArray[1]<<8)+dataArray[2])/10.0f;
hober 9:c4f7257dee47 276 y=(float)((dataArray[3]<<8)+dataArray[4])/10.0f;
hober 9:c4f7257dee47 277 z=(float)((dataArray[5]<<8)+dataArray[6])/10.0f;
hober 9:c4f7257dee47 278 commandToDo = true;
hober 9:c4f7257dee47 279 break;
hober 9:c4f7257dee47 280 case 'X':
hober 9:c4f7257dee47 281 if(dataArray[1]&0x80) rightCount++;
hober 9:c4f7257dee47 282 else leftCount++;
hober 9:c4f7257dee47 283 break;
hober 9:c4f7257dee47 284 case 'Y':
hober 9:c4f7257dee47 285 if(dataArray[1]&0x80) forwardCount++;
hober 10:a49cdab3810f 286 else backwardCount++;
hober 9:c4f7257dee47 287 break;
hober 9:c4f7257dee47 288 case 'Z':
hober 9:c4f7257dee47 289 if(dataArray[1]&0x80) upCount++;
hober 9:c4f7257dee47 290 else downCount++;
hober 9:c4f7257dee47 291 break;
hober 9:c4f7257dee47 292 case 'M': // magnet
hober 9:c4f7257dee47 293 getMag++;
hober 9:c4f7257dee47 294 mag_test=!mag_test;
hober 9:c4f7257dee47 295 break;
hober 9:c4f7257dee47 296 case 'R': // record
hober 9:c4f7257dee47 297 recordTime = dataArray[1];
hober 9:c4f7257dee47 298 recordTime *= Fs;
hober 11:bb86ffb378f4 299 waitTime = 1.0/Fs-0.00052-1/(BAUD/8/10);
hober 10:a49cdab3810f 300 n = 0;
hober 9:c4f7257dee47 301 if(waitTime < 0) waitTime = 0;
hober 9:c4f7257dee47 302 isRecording = true;
hober 9:c4f7257dee47 303 break;
hober 9:c4f7257dee47 304 case 'S': // stop
hober 9:c4f7257dee47 305 isRecording = false;
hober 9:c4f7257dee47 306 break;
hober 12:2e1b1b1726fa 307 case 'P': // set position
hober 12:2e1b1b1726fa 308 x=(float)((dataArray[1]<<8)+dataArray[2])/10.0f;
hober 12:2e1b1b1726fa 309 y=(float)((dataArray[3]<<8)+dataArray[4])/10.0f;
hober 12:2e1b1b1726fa 310 z=(float)((dataArray[5]<<8)+dataArray[6])/10.0f;
hober 12:2e1b1b1726fa 311 platform.setPosition(x,y,z);
hober 12:2e1b1b1726fa 312 break;
hober 12:2e1b1b1726fa 313 case 'N': // new set up
hober 12:2e1b1b1726fa 314 isReset = true;
hober 12:2e1b1b1726fa 315 break;
hober 9:c4f7257dee47 316 default:
hober 9:c4f7257dee47 317 break;
hober 9:c4f7257dee47 318 } // end switch
hober 9:c4f7257dee47 319 result = NULL;
hober 9:c4f7257dee47 320 dataArray = NULL;
hober 9:c4f7257dee47 321 } // end result if
hober 9:c4f7257dee47 322 } // end parsing if
hober 9:c4f7257dee47 323 }
hober 9:c4f7257dee47 324