Oskar Weigl
/
Eurobot2013
We are going to win! wohoo
Kalman/IR/IR.cpp
- Committer:
- madcowswe
- Date:
- 2012-11-14
- Revision:
- 9:08552997b544
- Parent:
- 1:6799c07fe510
File content as of revision 9:08552997b544:
#include "IR.h" #include "Kalman.h" #include "system.h" #include "geometryfuncs.h" #include "globals.h" #include "mbed.h" IR::IR(Kalman &kalmanin): #ifdef ROBOT_PRIMARY IRserial(p9, p10), #else IRserial(p13, p14), #endif kalman(kalmanin) { //Setting up IR serial IRserial.baud(115200); IRserial.format(8,Serial::Odd,1); } void IR::detachisr() { IRserial.attach(NULL,Serial::RxIrq); } void IR::attachisr() { IRserial.attach(this, &IR::vIRValueISR, Serial::RxIrq); } void IR::vIRValueISR (void) { // A workaround for mbed UART ISR bug // Clear the RBR flag to make sure the interrupt doesn't loop // UART3 for the port on pins 9/10, UART2 for pins 28/27, and UART1 for pins 13/14. // UART0 for USB UART #ifdef ROBOT_PRIMARY unsigned char RBR = LPC_UART3->RBR; #else unsigned char RBR = LPC_UART1->RBR; #endif // bytes packing/unpacking for IR turret serial comm static union IRValue_t { float IR_floats[3]; int IR_ints[3]; unsigned char IR_chars[12]; } IRValues; const char Alignment_char[4] = {0xFF,0xFE,0xFD,0xFC}; static int Alignment_ptr = 0; static bool data_flag = false; static int buff_pointer = 0; if (!data_flag) { // look for alignment bytes if (RBR == Alignment_char[Alignment_ptr]) { Alignment_ptr ++; } if (Alignment_ptr >= 4) { Alignment_ptr = 0; data_flag = true; // set the dataflag } } else { // fetch data bytes IRValues.IR_chars[buff_pointer] = RBR; buff_pointer ++; if (buff_pointer >= 12) { buff_pointer = 0; data_flag = false; // dessert the dataflag kalman.runupdate(Kalman::measurement_t(IRValues.IR_ints[0]+3),IRValues.IR_floats[1],IRvariance); } } }