main.cpp

00001 #include "mbed.h"
00002 #define R 0
00003 #define L 1
00004 
00005 #define DEBUG 0
00006 #define DEBUG_R 1
00007 #define CALIB 0
00008 
00009 #define SetupCMD 'A'
00010 #define Respons 'S'
00011 DigitalOut debugLed1(D6);
00012 DigitalOut debugLed2(D7);
00013 bool send = false;
00014 union floatInByte
00015 {
00016     uint16_t si;
00017     unsigned char c[2];
00018 };
00019 class AnalogInLPF : public AnalogIn
00020 {
00021     private:
00022     float alpha;
00023     float prevAnalog;
00024     float nowAnalog;
00025     public : AnalogInLPF(PinName pin,float alpha_) : AnalogIn(pin)
00026     {
00027         alpha = alpha_;
00028         prevAnalog = 0.0;
00029     } 
00030     float read(){
00031         nowAnalog = AnalogIn::read();
00032         nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog;
00033         prevAnalog = nowAnalog;
00034         return nowAnalog;
00035     }
00036     short read_u16(){
00037         nowAnalog = AnalogIn::read();
00038         nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog;
00039         nowAnalog = float(short(nowAnalog*0xFFFF)&0xFF00)/0xFFFF;
00040         prevAnalog = nowAnalog;
00041         return short(nowAnalog*0xFFFF);
00042     }
00043 };
00044 class InLPF
00045 {
00046     private:
00047     float alpha;
00048     float prevAnalog;
00049     float nowAnalog;
00050     public : InLPF(float alpha_ = 0.2)
00051     {
00052         alpha = alpha_;
00053         prevAnalog = 0.0;
00054     } 
00055     float read(float in){
00056         nowAnalog = in;
00057         nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog;
00058         prevAnalog = nowAnalog;
00059         return nowAnalog;
00060     }
00061     short read_u16(float in){
00062         nowAnalog = in;
00063         nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog;
00064         prevAnalog = nowAnalog;
00065         return short(nowAnalog*0xFFFF)&0xFF00;
00066     }
00067 };
00068 uint16_t map(uint16_t in, uint16_t inMin, uint16_t inMax, uint16_t outMin, uint16_t outMax);
00069 #define LP 0.30
00070 AnalogInLPF ArmSense[4] = {AnalogInLPF(A6,LP-0.018),AnalogInLPF(A5,LP),AnalogInLPF(A4,LP),AnalogInLPF(A3,LP)};
00071 InLPF ArmSense2[4] = {InLPF(LP),InLPF(LP),InLPF(LP),InLPF(LP)};
00072 #if !CALIB
00073 //1号機
00074 /*
00075 uint16_t MinimumRangeR[4] = {12800,41414,26368,11776};
00076 uint16_t MaxmumRangeR[4] = {36608,52242,55552,38144};
00077 uint16_t MinimumRangeL[4] = {23040,24832,24576,32256};
00078 uint16_t MaxmumRangeL[4] = {44312,47296,59392,58624};
00079 
00080 bool ReverseL[4] = {false,true,true,false};
00081 bool ReverseR[4] = {true,false,true,false};
00082 */
00083 /*
00084 uint16_t MinimumRangeR[4] = {14592,41414,16128,12288};
00085 uint16_t MaxmumRangeR[4] = {41216,52242,61952,38144};
00086 uint16_t MinimumRangeL[4] = {23040,18176,11008,34303};
00087 uint16_t MaxmumRangeL[4] = {44312,47296,60106,58368};
00088 
00089 bool ReverseL[4] = {false,true,true,false};
00090 bool ReverseR[4] = {true,false,true,false};
00091 */
00092 /*
00093 uint16_t MinimumRangeR[4] = {1280,42240,36096,17152};
00094 uint16_t MaxmumRangeR[4] = {45312,52992,58624,41216};
00095 uint16_t MinimumRangeL[4] = {23040,18432,24576,58112};
00096 uint16_t MaxmumRangeL[4] = {45312,58112,59392,30976};
00097 */
00098 //2号機
00099 //17468 23308
00100 
00101 uint16_t MinimumRangeR[4] = {19900,41216,45056,13002};
00102 uint16_t MaxmumRangeR[4] = {42544,53248,60676,38312};
00103 uint16_t MinimumRangeL[4] = {21500,19432,10190,55588};
00104 uint16_t MaxmumRangeL[4] = {43520,43300,43264,30208};
00105 
00106 bool ReverseL[4] = {false,true,true,true};
00107 bool ReverseR[4] = {true,false,true,false};
00108 
00109 #endif
00110 #if CALIB
00111 uint16_t MinimumRangeR[4] = {0,0,0,0};
00112 uint16_t MaxmumRangeR[4] = {0xffff,0xffff,0xffff,0xffff};
00113 uint16_t MinimumRangeL[4] = {0,0,0,0};
00114 uint16_t MaxmumRangeL[4] = {0xffff,0xffff,0xffff,0xffff};
00115 #endif
00116 //uint16_t MinimumRangeL[4] = {19000,35000,35600,21000};
00117 //uint16_t MaxmumRangeL[4] = {49000,57000,43000,42000 };
00118 //AnalogIn ArmSense[4] = {AnalogIn(A6),AnalogIn(A5),AnalogIn(A4),AnalogIn(A3)};
00119 Serial dev(D1,D0);
00120 Serial sbdbt(D13,D12);
00121 #define dataNum 12
00122 void waitTime(float ti){
00123     Timer t;
00124     t.start();
00125     while(ti > t.read());
00126     t.stop();
00127     return;
00128 }
00129 Timer timer;
00130 char *tmp[2];
00131 char RXData[dataNum] = {'0'}; 
00132 void RX(){
00133     if(dev.getc() == '0'){
00134         timer.reset();
00135         debugLed1 = true;
00136         for(int i = 1 ; i < dataNum;i++){
00137             RXData[i] = dev.getc();
00138         }
00139         //if(DEBUG && !DEBUG_R)sbdbt.printf("L:");
00140         for(int i = 0 ;i < 4 ; i++){
00141             floatInByte in;//( (uint16_t)tmp[R][5 + i*2] << 8 ) | (uint16_t)tmp[R][4 + i*2];
00142             in.c[0] = RXData[4 + i*2];//tmp[R][5 + i*2];
00143             in.c[1] = RXData[5 + i*2];//tmp[R][4 + i*2];
00144             uint16_t in_ = ArmSense2[i].read_u16(float(in.si)/0xffff);
00145             //uint16_t intt = map(in_,ReverseL[i] == true ? 0xffff - MaxmumRangeL[i] : MinimumRangeL[i],ReverseL[i] == true ? 0xffff - MinimumRangeL[i] : MaxmumRangeL[i],0,65535);
00146             uint16_t intt = map(in_,MinimumRangeL[i],MaxmumRangeL[i],0,65535);
00147             #if !CALIB
00148             intt = ReverseL[i] == true ? 0xffff - intt : intt;
00149             #endif
00150             floatInByte intt_;
00151             intt_.si = intt;
00152             //if(DEBUG && !DEBUG_R)sbdbt.printf(" %5d  ",intt);
00153             //uint16_t intt = map(in_,13107,52428,0,65535);
00154             RXData[4 + i*2] = 0;//intt_.c[0];//uint8_t(intt>>8);//マスター片腕
00155             RXData[5 + i*2] = intt_.c[1];//uint8_t(intt&0xff);   //マスター片腕
00156         }//if(DEBUG && !DEBUG_R)sbdbt.printf("\n");
00157             
00158         timer.reset();
00159         send = true;
00160     }
00161 }
00162 void print(int N,char RXdata[12]){
00163     floatInByte data;
00164     for(int i = 0 ; i < 2 ; i ++){
00165         data.c[i] = RXdata[N+i];
00166     }
00167     sbdbt.printf("%d ",data.si);
00168 }
00169 double offset[4] = {0,0,0,-132};
00170 double range[4] = {120,120,90,240};
00171 double range2[4] = {120,120,90,9};
00172 int main() {
00173 
00174     dev.baud(115200);
00175     
00176     sbdbt.baud(115200);
00177     for(int i = 0 ; i < 2; i++)
00178     {
00179         tmp[i] = new char[dataNum]; 
00180     }
00181     debugLed1 = true;
00182     for(int i = 0 ; i < 10 ; i ++ ){
00183         debugLed2 = !debugLed2;
00184         wait(0.01);
00185     }
00186     wait(0.5);
00187     dev.attach(RX, Serial::RxIrq);
00188     dev.putc('L');
00189     timer.start();        
00190     int count = 0;
00191     while(1) {
00192         //送信データ格納
00193         tmp[R][0] = 'H';    
00194         tmp[R][1] = 0;
00195         tmp[R][2] = 0;
00196         tmp[R][3] = 0;
00197 
00198         for(int i = 0 ;i < 4 ; i++){
00199             floatInByte intt_;
00200             uint16_t in = ArmSense[i].read_u16();
00201             uint16_t intt = map(in, MinimumRangeR[i],MaxmumRangeR[i],0,65535);
00202             #if !CALIB
00203             intt = ReverseR[i] == true ? 0xffff - intt : intt;
00204             #endif 
00205             intt_.si = intt;
00206             tmp[R][4 + i*2] = 0;//intt_.c[0];//uint8_t(intt>>8);//マスター片腕
00207             tmp[R][5 + i*2] = intt_.c[1];//uint8_t(intt&0xff);   //マスター片腕
00208         }
00209         //if(DEBUG && DEBUG_R)sbdbt.printf("\n");
00210         tmp[L] = RXData;
00211         char** SerialData = tmp;
00212         
00213         //送信データを送る
00214         //SerialData = tmp;
00215         if(count > 20 && send == true){
00216             #if CALIB
00217             sbdbt.printf("R:");
00218             for(int i = 4 ; i < 12 ; i+=2)print(i,SerialData[R]);
00219             sbdbt.printf("L:");
00220             for(int i = 4 ; i < 12 ; i+=2)print(i,SerialData[L]);
00221             #endif
00222             for(int j = 0; j < 2 ; j++){
00223                 for(int i = 0 ; i < dataNum ; i++){
00224                     //sbdbt.printf("%3d ",int8_t(SerialData[j][i]));
00225                     #if !CALIB
00226                         if(!DEBUG)sbdbt.putc(SerialData[j][i]);
00227                     #endif
00228                 }
00229             }
00230             count = 0;
00231         if(!DEBUG)sbdbt.printf("\n");
00232         }
00233         dev.putc('L');
00234         send = false;
00235         while(timer.read_ms() >= 2000){
00236             debugLed2 = true;
00237             waitTime(0.1);
00238             debugLed2 = false;
00239             waitTime(0.1);
00240         }
00241         debugLed1 = false;
00242         waitTime(1.0/1000);
00243         count ++;
00244     }
00245 }
00246 uint16_t map(uint16_t in, uint16_t inMin, uint16_t inMax, uint16_t outMin, uint16_t outMax) {
00247   // check it's within the range
00248   if (inMin<inMax) { 
00249     if (in <= inMin) 
00250       return outMin;
00251     if (in >= inMax)
00252       return outMax;
00253   } else {  // cope with input range being backwards.
00254     if (in >= inMin) 
00255       return outMin;
00256     if (in <= inMax)
00257       return outMax;
00258   }
00259   // calculate how far into the range we are
00260   float scale = float(in-inMin)/float(inMax-inMin);
00261   // calculate the output.
00262   return uint16_t(outMin + scale*float(outMax-outMin));
00263 }