Shuto Naruse / Eurobot_2012_shared

Eurobot_shared pubulished from Eurobot Primary

Kalman/IR/IR.cpp@0:434fd09723be, 2012-08-07 (annotated)

Committer:
narshu
Date:
Tue Aug 07 10:25:53 2012 +0000
Revision:
0:434fd09723be
[mbed] converted /Eurobot_2012_Primary/Eurobot_shared

Who changed what in which revision?

UserRevisionLine numberNew contents of line
narshu 0:434fd09723be 1 #include "IR.h"
narshu 0:434fd09723be 2 #include "Kalman.h"
narshu 0:434fd09723be 3 #include "system.h"
narshu 0:434fd09723be 4 #include "geometryfuncs.h"
narshu 0:434fd09723be 5 #include "globals.h"
narshu 0:434fd09723be 6 #include "mbed.h"
narshu 0:434fd09723be 7
narshu 0:434fd09723be 8 IR::IR(Kalman &kalmanin):
narshu 0:434fd09723be 9 #ifdef ROBOT_PRIMARY
narshu 0:434fd09723be 10 IRserial(p9, p10),
narshu 0:434fd09723be 11 #else
narshu 0:434fd09723be 12 IRserial(p13, p14),
narshu 0:434fd09723be 13 #endif
narshu 0:434fd09723be 14 kalman(kalmanin) {
narshu 0:434fd09723be 15
narshu 0:434fd09723be 16 //Setting up IR serial
narshu 0:434fd09723be 17 IRserial.baud(115200);
narshu 0:434fd09723be 18 IRserial.format(8,Serial::Odd,1);
narshu 0:434fd09723be 19 }
narshu 0:434fd09723be 20
narshu 0:434fd09723be 21 void IR::detachisr() {
narshu 0:434fd09723be 22 IRserial.attach(NULL,Serial::RxIrq);
narshu 0:434fd09723be 23 }
narshu 0:434fd09723be 24
narshu 0:434fd09723be 25 void IR::attachisr() {
narshu 0:434fd09723be 26 IRserial.attach(this, &IR::vIRValueISR, Serial::RxIrq);
narshu 0:434fd09723be 27 }
narshu 0:434fd09723be 28
narshu 0:434fd09723be 29 void IR::vIRValueISR (void) {
narshu 0:434fd09723be 30
narshu 0:434fd09723be 31 // A workaround for mbed UART ISR bug
narshu 0:434fd09723be 32 // Clear the RBR flag to make sure the interrupt doesn't loop
narshu 0:434fd09723be 33 // UART3 for the port on pins 9/10, UART2 for pins 28/27, and UART1 for pins 13/14.
narshu 0:434fd09723be 34 // UART0 for USB UART
narshu 0:434fd09723be 35
narshu 0:434fd09723be 36 #ifdef ROBOT_PRIMARY
narshu 0:434fd09723be 37 unsigned char RBR = LPC_UART3->RBR;
narshu 0:434fd09723be 38 #else
narshu 0:434fd09723be 39 unsigned char RBR = LPC_UART1->RBR;
narshu 0:434fd09723be 40 #endif
narshu 0:434fd09723be 41
narshu 0:434fd09723be 42 // bytes packing/unpacking for IR turret serial comm
narshu 0:434fd09723be 43 static union IRValue_t {
narshu 0:434fd09723be 44 float IR_floats[3];
narshu 0:434fd09723be 45 int IR_ints[3];
narshu 0:434fd09723be 46 unsigned char IR_chars[12];
narshu 0:434fd09723be 47 } IRValues;
narshu 0:434fd09723be 48
narshu 0:434fd09723be 49 const char Alignment_char[4] = {0xFF,0xFE,0xFD,0xFC};
narshu 0:434fd09723be 50 static int Alignment_ptr = 0;
narshu 0:434fd09723be 51 static bool data_flag = false;
narshu 0:434fd09723be 52 static int buff_pointer = 0;
narshu 0:434fd09723be 53
narshu 0:434fd09723be 54 if (!data_flag) { // look for alignment bytes
narshu 0:434fd09723be 55 if (RBR == Alignment_char[Alignment_ptr]) {
narshu 0:434fd09723be 56 Alignment_ptr ++;
narshu 0:434fd09723be 57 }
narshu 0:434fd09723be 58 if (Alignment_ptr >= 4) {
narshu 0:434fd09723be 59 Alignment_ptr = 0;
narshu 0:434fd09723be 60 data_flag = true; // set the dataflag
narshu 0:434fd09723be 61 }
narshu 0:434fd09723be 62 } else { // fetch data bytes
narshu 0:434fd09723be 63 IRValues.IR_chars[buff_pointer] = RBR;
narshu 0:434fd09723be 64 buff_pointer ++;
narshu 0:434fd09723be 65 if (buff_pointer >= 12) {
narshu 0:434fd09723be 66 buff_pointer = 0;
narshu 0:434fd09723be 67 data_flag = false; // dessert the dataflag
narshu 0:434fd09723be 68 kalman.runupdate(Kalman::measurement_t(IRValues.IR_ints[0]+3),IRValues.IR_floats[1],IRvariance);
narshu 0:434fd09723be 69
narshu 0:434fd09723be 70
narshu 0:434fd09723be 71 }
narshu 0:434fd09723be 72
narshu 0:434fd09723be 73 }
narshu 0:434fd09723be 74 }