Oskar Weigl
/
Eurobot2013
We are going to win! wohoo
Kalman/IR/IR.cpp@1:6799c07fe510, 2012-11-07 (annotated)
- Committer:
- sv
- Date:
- Wed Nov 07 14:37:35 2012 +0000
- Revision:
- 1:6799c07fe510
Preliminary copy of 2012 code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sv | 1:6799c07fe510 | 1 | #include "IR.h" |
sv | 1:6799c07fe510 | 2 | #include "Kalman.h" |
sv | 1:6799c07fe510 | 3 | #include "system.h" |
sv | 1:6799c07fe510 | 4 | #include "geometryfuncs.h" |
sv | 1:6799c07fe510 | 5 | #include "globals.h" |
sv | 1:6799c07fe510 | 6 | #include "mbed.h" |
sv | 1:6799c07fe510 | 7 | |
sv | 1:6799c07fe510 | 8 | IR::IR(Kalman &kalmanin): |
sv | 1:6799c07fe510 | 9 | #ifdef ROBOT_PRIMARY |
sv | 1:6799c07fe510 | 10 | IRserial(p9, p10), |
sv | 1:6799c07fe510 | 11 | #else |
sv | 1:6799c07fe510 | 12 | IRserial(p13, p14), |
sv | 1:6799c07fe510 | 13 | #endif |
sv | 1:6799c07fe510 | 14 | kalman(kalmanin) { |
sv | 1:6799c07fe510 | 15 | |
sv | 1:6799c07fe510 | 16 | //Setting up IR serial |
sv | 1:6799c07fe510 | 17 | IRserial.baud(115200); |
sv | 1:6799c07fe510 | 18 | IRserial.format(8,Serial::Odd,1); |
sv | 1:6799c07fe510 | 19 | } |
sv | 1:6799c07fe510 | 20 | |
sv | 1:6799c07fe510 | 21 | void IR::detachisr() { |
sv | 1:6799c07fe510 | 22 | IRserial.attach(NULL,Serial::RxIrq); |
sv | 1:6799c07fe510 | 23 | } |
sv | 1:6799c07fe510 | 24 | |
sv | 1:6799c07fe510 | 25 | void IR::attachisr() { |
sv | 1:6799c07fe510 | 26 | IRserial.attach(this, &IR::vIRValueISR, Serial::RxIrq); |
sv | 1:6799c07fe510 | 27 | } |
sv | 1:6799c07fe510 | 28 | |
sv | 1:6799c07fe510 | 29 | void IR::vIRValueISR (void) { |
sv | 1:6799c07fe510 | 30 | |
sv | 1:6799c07fe510 | 31 | // A workaround for mbed UART ISR bug |
sv | 1:6799c07fe510 | 32 | // Clear the RBR flag to make sure the interrupt doesn't loop |
sv | 1:6799c07fe510 | 33 | // UART3 for the port on pins 9/10, UART2 for pins 28/27, and UART1 for pins 13/14. |
sv | 1:6799c07fe510 | 34 | // UART0 for USB UART |
sv | 1:6799c07fe510 | 35 | |
sv | 1:6799c07fe510 | 36 | #ifdef ROBOT_PRIMARY |
sv | 1:6799c07fe510 | 37 | unsigned char RBR = LPC_UART3->RBR; |
sv | 1:6799c07fe510 | 38 | #else |
sv | 1:6799c07fe510 | 39 | unsigned char RBR = LPC_UART1->RBR; |
sv | 1:6799c07fe510 | 40 | #endif |
sv | 1:6799c07fe510 | 41 | |
sv | 1:6799c07fe510 | 42 | // bytes packing/unpacking for IR turret serial comm |
sv | 1:6799c07fe510 | 43 | static union IRValue_t { |
sv | 1:6799c07fe510 | 44 | float IR_floats[3]; |
sv | 1:6799c07fe510 | 45 | int IR_ints[3]; |
sv | 1:6799c07fe510 | 46 | unsigned char IR_chars[12]; |
sv | 1:6799c07fe510 | 47 | } IRValues; |
sv | 1:6799c07fe510 | 48 | |
sv | 1:6799c07fe510 | 49 | const char Alignment_char[4] = {0xFF,0xFE,0xFD,0xFC}; |
sv | 1:6799c07fe510 | 50 | static int Alignment_ptr = 0; |
sv | 1:6799c07fe510 | 51 | static bool data_flag = false; |
sv | 1:6799c07fe510 | 52 | static int buff_pointer = 0; |
sv | 1:6799c07fe510 | 53 | |
sv | 1:6799c07fe510 | 54 | if (!data_flag) { // look for alignment bytes |
sv | 1:6799c07fe510 | 55 | if (RBR == Alignment_char[Alignment_ptr]) { |
sv | 1:6799c07fe510 | 56 | Alignment_ptr ++; |
sv | 1:6799c07fe510 | 57 | } |
sv | 1:6799c07fe510 | 58 | if (Alignment_ptr >= 4) { |
sv | 1:6799c07fe510 | 59 | Alignment_ptr = 0; |
sv | 1:6799c07fe510 | 60 | data_flag = true; // set the dataflag |
sv | 1:6799c07fe510 | 61 | } |
sv | 1:6799c07fe510 | 62 | } else { // fetch data bytes |
sv | 1:6799c07fe510 | 63 | IRValues.IR_chars[buff_pointer] = RBR; |
sv | 1:6799c07fe510 | 64 | buff_pointer ++; |
sv | 1:6799c07fe510 | 65 | if (buff_pointer >= 12) { |
sv | 1:6799c07fe510 | 66 | buff_pointer = 0; |
sv | 1:6799c07fe510 | 67 | data_flag = false; // dessert the dataflag |
sv | 1:6799c07fe510 | 68 | kalman.runupdate(Kalman::measurement_t(IRValues.IR_ints[0]+3),IRValues.IR_floats[1],IRvariance); |
sv | 1:6799c07fe510 | 69 | |
sv | 1:6799c07fe510 | 70 | |
sv | 1:6799c07fe510 | 71 | } |
sv | 1:6799c07fe510 | 72 | |
sv | 1:6799c07fe510 | 73 | } |
sv | 1:6799c07fe510 | 74 | } |