Revision 0:c8c04928d025, committed 2012-02-29
- Comitter:
- narshu
- Date:
- Wed Feb 29 17:50:49 2012 +0000
- Commit message:
- Primary Robot with Sonar function - needs PID tuning for motor control
Changed in this revision
diff -r 000000000000 -r c8c04928d025 PID.lib
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.lib Wed Feb 29 17:50:49 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/aberk/code/PID/#6e12a3e5af19
diff -r 000000000000 -r c8c04928d025 RF12B/RF12B.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RF12B/RF12B.cpp Wed Feb 29 17:50:49 2012 +0000
@@ -0,0 +1,380 @@
+#include "RF12B.h"
+
+#include "RF_defs.h"
+#include <algorithm>
+
+
+RF12B::RF12B(PinName _SDI,
+ PinName _SDO,
+ PinName _SCK,
+ PinName _NCS,
+ PinName _NIRQ):spi(_SDI, _SDO, _SCK),
+ NCS(_NCS), NIRQ(_NIRQ), NIRQ_in(_NIRQ), rfled(LED3) {
+
+ /* SPI frequency, word lenght, polarity and phase */
+ spi.format(16,0);
+ spi.frequency(2000000);
+
+ /* Set ~CS high */
+ NCS = 1;
+
+ /* Initialise RF Module */
+ init();
+
+ /* Setup interrupt to happen on falling edge of NIRQ */
+ NIRQ.fall(this, &RF12B::rxISR);
+}
+
+/* Returns the packet length if data is available in the receive buffer, 0 otherwise*/
+unsigned int RF12B::available() {
+ return fifo.size();
+}
+
+/* Reads a packet of data, with length "size" Returns false if read failed. TODO: make a metafifo to isolate packets*/
+bool RF12B::read(unsigned char* data, unsigned int size) {
+ if (fifo.size() == 0) {
+ return false;
+ } else {
+ unsigned int i = 0;
+ while (fifo.size() > 0 && i < size) {
+ data[i++] = fifo.front();
+ fifo.pop();
+ }
+ return true;
+ }
+}
+
+/* Reads a byte of data from the receive buffer */
+unsigned char RF12B::read() {
+ if (available()) {
+ unsigned char data = fifo.front();
+ fifo.pop();
+ return data;
+ } else {
+ return 0xFF; // Error val although could also be data...
+ }
+}
+
+/* Sends a packet of data to the RF module for transmission TODO: Make asych*/
+void RF12B::write(unsigned char *data, unsigned char length) {
+ unsigned char crc = 0;
+
+ /* Transmitter mode */
+ changeMode(TX);
+
+ writeCmd(0x0000);
+ send(0xAA); // PREAMBLE
+ send(0xAA);
+ send(0xAA);
+ send(0x2D); // SYNC
+ send(0xD4);
+ /* Packet Length */
+ send(length);
+ crc = crc8(crc, length);
+ send(crc);
+ crc = crc8(crc, crc);
+ /* Packet Data */
+ for (unsigned char i=0; i<length; i++) {
+ send(data[i]);
+ crc = crc8(crc, data[i]);
+ }
+ send(crc);
+ send(0xAA); // DUMMY BYTES
+ send(0xAA);
+ send(0xAA);
+
+ /* Back to receiver mode */
+ changeMode(RX);
+ status();
+
+
+}
+
+/* Transmit a 1-byte data packet */
+void RF12B::write(unsigned char data) {
+ write(&data, 1);
+}
+
+void RF12B::write(queue<char> &data, int length) {
+ char crc = 0;
+ char length_byte = 0;
+
+ /* -1 means try to transmit everything in the queue */
+ if(length == -1) {
+ length = data.size();
+ }
+
+ /* max length of packet is 255 */
+ length_byte = min(length, 255);
+
+ /* Transmitter mode */
+ changeMode(TX);
+
+ writeCmd(0x0000);
+ send(0xAA); // PREAMBLE
+ send(0xAA);
+ send(0xAA);
+ send(0x2D); // SYNC
+ send(0xD4);
+ /* Packet Length */
+ send(length_byte);
+ crc = crc8(crc, length_byte);
+ send(crc);
+ crc = crc8(crc, crc);
+ /* Packet Data */
+ for (char i=0; i<length_byte; i++) {
+ send(data.front());
+ crc = crc8(crc, data.front());
+ data.pop();
+ }
+ send(crc);
+ send(0xAA); // DUMMY BYTES
+ send(0xAA);
+ send(0xAA);
+
+ /* Back to receiver mode */
+ changeMode(RX);
+ status();
+}
+
+/**********************************************************************
+ * PRIVATE FUNCTIONS
+ *********************************************************************/
+
+/* Initialises the RF12B module */
+void RF12B::init() {
+ /* writeCmd(0x80E7); //EL,EF,868band,12.0pF
+ changeMode(RX);
+ writeCmd(0xA640); //frequency select
+ writeCmd(0xC647); //4.8kbps
+ writeCmd(0x94A0); //VDI,FAST,134kHz,0dBm,-103dBm
+ writeCmd(0xC2AC); //AL,!ml,DIG,DQD4
+ writeCmd(0xCA81); //FIFO8,SYNC,!ff,DR
+ writeCmd(0xCED4); //SYNC=2DD4
+ writeCmd(0xC483); //@PWR,NO RSTRIC,!st,!fi,OE,EN
+ writeCmd(0x9850); //!mp,90kHz,MAX OUT
+ writeCmd(0xCC17); //OB1, COB0, LPX, Iddy, CDDIT�CBW0
+ writeCmd(0xE000); //NOT USED
+ writeCmd(0xC800); //NOT USED
+ writeCmd(0xC040); //1.66MHz,2.2V */
+
+ writeCmd(
+ RFM_CONFIG_EL |
+ RFM_CONFIG_EF |
+ RFM_CONFIG_BAND_433 //|
+ //RFM_CONFIG_X_11_0pf // meh, using default
+ );
+
+ // 2. Power Management Command
+ // leave everything switched off for now
+ /*
+ writeCmd(
+ RFM_POWER_MANAGEMENT // switch all off
+ );
+ */
+
+ // 3. Frequency Setting Command
+ writeCmd(
+ RFM_FREQUENCY |
+ RFM_FREQ_433Band(435.7) //I totally made this value up... if someone knows where the sweetspots are in this band, tell me!
+ );
+
+
+ // 4. Data Rate Command
+ writeCmd(RFM_DATA_RATE_9600);
+
+
+ // 5. Receiver Control Command
+ writeCmd(
+ RFM_RX_CONTROL_P20_VDI |
+ RFM_RX_CONTROL_VDI_FAST |
+ //RFM_RX_CONTROL_BW(RFM_BAUD_RATE) |
+ RFM_RX_CONTROL_BW_134 | // CHANGE THIS TO 67 TO IMPROVE RANGE! (though the bitrate must then be below 8kbaud, and fsk modulation changed)
+ RFM_RX_CONTROL_GAIN_0 |
+ RFM_RX_CONTROL_RSSI_103 // Might need adjustment. Datasheet says around 10^-5 bit error rate at this level and baudrate.
+ );
+
+ // 6. Data Filter Command
+ writeCmd(
+ RFM_DATA_FILTER_AL |
+ RFM_DATA_FILTER_ML |
+ RFM_DATA_FILTER_DIG //|
+ //RFM_DATA_FILTER_DQD(4)
+ );
+
+ // 7. FIFO and Reset Mode Command
+ writeCmd(
+ RFM_FIFO_IT(8) |
+ RFM_FIFO_DR |
+ 0x8 //turn on 16bit sync word
+ );
+
+ // 8. FIFO Syncword
+ // Leave as default: 0xD4
+
+ // 9. Receiver FIFO Read
+ // when the interupt goes high, (and if we can assume that it was a fifo fill interrupt) we can read a byte using:
+ // result = RFM_READ_FIFO();
+
+ // 10. AFC Command
+ writeCmd(
+ //RFM_AFC_AUTO_VDI | //Note this might be changed to improve range. Refer to datasheet.
+ RFM_AFC_AUTO_INDEPENDENT |
+ RFM_AFC_RANGE_LIMIT_7_8 |
+ RFM_AFC_EN |
+ RFM_AFC_OE |
+ RFM_AFC_FI
+ );
+
+ // 11. TX Configuration Control Command
+ writeCmd(
+ RFM_TX_CONTROL_MOD_60 |
+ RFM_TX_CONTROL_POW_0
+ );
+
+
+ // 12. PLL Setting Command
+ writeCmd(
+ 0xCC77 & ~0x01 // Setting the PLL bandwith, less noise, but max bitrate capped at 86.2
+ // I think this will slow down the pll's reaction time. Not sure, check with someone!
+ );
+
+ changeMode(RX);
+ resetRX();
+ status();
+}
+
+/* Write a command to the RF Module */
+unsigned int RF12B::writeCmd(unsigned int cmd) {
+ NCS = 0;
+ unsigned int recv = spi.write(cmd);
+ NCS = 1;
+ return recv;
+}
+
+/* Sends a byte of data across RF */
+void RF12B::send(unsigned char data) {
+ while (NIRQ);
+ writeCmd(0xB800 + data);
+}
+
+/* Change the mode of the RF module to Transmitting or Receiving */
+void RF12B::changeMode(rfmode_t _mode) {
+ mode = _mode;
+ if (_mode == TX) {
+ writeCmd(0x8239); //!er,!ebb,ET,ES,EX,!eb,!ew,DC
+ } else { /* mode == RX */
+ writeCmd(0x8299); //er,!ebb,ET,ES,EX,!eb,!ew,DC
+ }
+}
+
+/* Interrupt routine for data reception */
+void RF12B::rxISR() {
+ unsigned int data = 0;
+ static int i = -2;
+ static unsigned char packet_length = 0;
+ static unsigned char crc = 0;
+ static queue<unsigned char> temp;
+
+ //Loop while interrupt is asserted
+ while (!NIRQ_in && mode == RX) {
+
+ /* Grab the packet's length byte */
+ if (i == -2) {
+ data = writeCmd(0x0000);
+ if ( (data&0x8000) ) {
+ data = writeCmd(0xB000);
+ packet_length = (data&0x00FF);
+ crc = crc8(crc, packet_length);
+ i++;
+ }
+ }
+
+ //If we exhaust the interrupt, exit
+ if (NIRQ_in)
+ break;
+
+ // Check that packet length was correct
+ if (i == -1) {
+ data = writeCmd(0x0000);
+ if ( (data&0x8000) ) {
+ data = writeCmd(0xB000);
+ unsigned char crcofsize = (data&0x00FF);
+ if (crcofsize != crc) {
+ //It was wrong, start over
+ i = -2;
+ packet_length = 0;
+ crc = 0;
+ temp = queue<unsigned char>();
+ resetRX();
+ } else {
+ crc = crc8(crc, crcofsize);
+ i++;
+ }
+ }
+ }
+
+ //If we exhaust the interrupt, exit
+ if (NIRQ_in)
+ break;
+
+ /* Grab the packet's data */
+ if (i >= 0 && i < packet_length) {
+ data = writeCmd(0x0000);
+ if ( (data&0x8000) ) {
+ data = writeCmd(0xB000);
+ temp.push(data&0x00FF);
+ crc = crc8(crc, (unsigned char)(data&0x00FF));
+ i++;
+ }
+ }
+
+ //If we exhaust the interrupt, exit
+ if (NIRQ_in)
+ break;
+
+ if (i >= packet_length) {
+ data = writeCmd(0x0000);
+ if ( (data&0x8000) ) {
+ data = writeCmd(0xB000);
+ if ((unsigned char)(data & 0x00FF) == crc) {
+ //If the checksum is correct, add our data to the end of the output buffer
+ while (!temp.empty()) {
+ fifo.push(temp.front());
+ temp.pop();
+ }
+ }
+
+ /* Tell RF Module we are finished, and clean up */
+ i = -2;
+ packet_length = 0;
+ crc = 0;
+ temp = queue<unsigned char>();
+ resetRX();
+ }
+ }
+ }
+}
+
+unsigned int RF12B::status() {
+ return writeCmd(0x0000);
+}
+
+/* Tell the RF Module this packet is received and wait for the next */
+void RF12B::resetRX() {
+ writeCmd(0xCA81);
+ writeCmd(0xCA83);
+};
+
+/* Calculate CRC8 */
+unsigned char RF12B::crc8(unsigned char crc, unsigned char data) {
+ crc = crc ^ data;
+ for (int i = 0; i < 8; i++) {
+ if (crc & 0x01) {
+ crc = (crc >> 1) ^ 0x8C;
+ } else {
+ crc >>= 1;
+ }
+ }
+ return crc;
+}
\ No newline at end of file
diff -r 000000000000 -r c8c04928d025 RF12B/RF12B.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RF12B/RF12B.h Wed Feb 29 17:50:49 2012 +0000
@@ -0,0 +1,75 @@
+#ifndef _RF12B_H
+#define _RF12B_H
+
+#include "mbed.h"
+#include <queue>
+
+enum rfmode_t{RX, TX};
+
+class RF12B {
+public:
+ /* Constructor */
+ RF12B(PinName SDI,
+ PinName SDO,
+ PinName SCK,
+ PinName NCS,
+ PinName NIRQ);
+
+
+
+ /* Reads a packet of data. Returns false if read failed. Use available() to check how much space to allocate for buffer */
+ bool read(unsigned char* data, unsigned int size);
+
+ /* Reads a byte of data from the receive buffer
+ Returns 0xFF if there is no data */
+ unsigned char read();
+
+ /* Transmits a packet of data */
+ void write(unsigned char* data, unsigned char length);
+ void write(unsigned char data); /* 1-byte packet */
+ void write(queue<char> &data, int length = -1); /* sends a whole queue */
+
+ /* Returns the packet length if data is available in the receive buffer, 0 otherwise*/
+ unsigned int available();
+
+protected:
+ /* Receive FIFO buffer */
+ queue<unsigned char> fifo;
+
+ /* SPI module */
+ SPI spi;
+
+ /* Other digital pins */
+ DigitalOut NCS;
+ InterruptIn NIRQ;
+ DigitalIn NIRQ_in;
+ DigitalOut rfled;
+
+ rfmode_t mode;
+
+ /* Initialises the RF12B module */
+ void init();
+
+ /* Write a command to the RF Module */
+ unsigned int writeCmd(unsigned int cmd);
+
+ /* Sends a byte of data across RF */
+ void send(unsigned char data);
+
+ /* Switch module between receive and transmit modes */
+ void changeMode(rfmode_t mode);
+
+ /* Interrupt routine for data reception */
+ void rxISR();
+
+ /* Tell the RF Module this packet is received and wait for the next */
+ void resetRX();
+
+ /* Return the RF Module Status word */
+ unsigned int status();
+
+ /* Calculate CRC8 */
+ unsigned char crc8(unsigned char crc, unsigned char data);
+};
+
+#endif /* _RF12B_H */
\ No newline at end of file
diff -r 000000000000 -r c8c04928d025 RF12B/RFSerial.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RF12B/RFSerial.cpp Wed Feb 29 17:50:49 2012 +0000
@@ -0,0 +1,25 @@
+
+/* Constructor */
+#include "RFSerial.h"
+
+RFSerial::RFSerial(PinName _SDI,
+ PinName _SDO,
+ PinName _SCK,
+ PinName _NCS,
+ PinName _NIRQ)
+:RF12B(_SDI, _SDO, _SCK, _NCS, _NIRQ) {
+
+}
+
+// Stream implementation functions
+int RFSerial::_putc(int value) {
+ RF12B::write((unsigned char) value);
+ return value;
+}
+int RFSerial::_getc() {
+ if(available()) {
+ return RF12B::read();
+ } else {
+ return EOF;
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r c8c04928d025 RF12B/RFSerial.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RF12B/RFSerial.h Wed Feb 29 17:50:49 2012 +0000
@@ -0,0 +1,17 @@
+#include "mbed.h"
+#include "RF12B.h"
+
+class RFSerial : public Stream, public RF12B {
+public:
+ /* Constructor */
+ RFSerial(PinName _SDI,
+ PinName _SDO,
+ PinName _SCK,
+ PinName _NCS,
+ PinName _NIRQ);
+
+protected:
+ // Stream implementation functions
+ virtual int _putc(int value);
+ virtual int _getc();
+};
\ No newline at end of file
diff -r 000000000000 -r c8c04928d025 RF12B/RF_defs.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RF12B/RF_defs.h Wed Feb 29 17:50:49 2012 +0000
@@ -0,0 +1,478 @@
+/*
+ * Open HR20
+ *
+ * target: ATmega169 @ 4 MHz in Honnywell Rondostat HR20E
+ *
+ * compiler: WinAVR-20071221
+ * avr-libc 1.6.0
+ * GCC 4.2.2
+ *
+ * copyright: 2008 Dario Carluccio (hr20-at-carluccio-dot-de)
+ * 2008 Jiri Dobry (jdobry-at-centrum-dot-cz)
+ * 2008 Mario Fischer (MarioFischer-at-gmx-dot-net)
+ * 2007 Michael Smola (Michael-dot-Smola-at-gmx-dot-net)
+ *
+ * license: This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Library General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http:*www.gnu.org/licenses
+ */
+
+/*
+ * \file rfm.h
+ * \brief functions to control the RFM12 Radio Transceiver Module
+ * \author Mario Fischer <MarioFischer-at-gmx-dot-net>; Michael Smola <Michael-dot-Smola-at-gmx-dot-net>
+ * \date $Date: 2010/04/17 17:57:02 $
+ * $Rev: 260 $
+ */
+
+
+//#pragma once // multi-iclude prevention. gcc knows this pragma
+#ifndef rfm_H
+#define rfm_H
+
+
+#define RFM_SPI_16(OUTVAL) rfm_spi16(OUTVAL) //<! a function that gets a uint16_t (clocked out value) and returns a uint16_t (clocked in value)
+
+#define RFM_CLK_OUTPUT 0
+
+/*
+#define RFM_TESTPIN_INIT
+#define RFM_TESTPIN_ON
+#define RFM_TESTPIN_OFF
+#define RFM_TESTPIN_TOG
+
+#define RFM_CONFIG_DISABLE 0x00 //<! RFM_CONFIG_*** are combinable flags, what the RFM shold do
+#define RFM_CONFIG_BROADCASTSTATUS 0x01 //<! Flag that enables the HR20's status broadcast every minute
+
+#define RFM_CONFIG_ENABLEALL 0xff
+*/
+
+
+///////////////////////////////////////////////////////////////////////////////
+//
+// RFM status bits
+//
+///////////////////////////////////////////////////////////////////////////////
+
+// Interrupt bits, latched ////////////////////////////////////////////////////
+
+#define RFM_STATUS_FFIT 0x8000 // RX FIFO reached the progr. number of bits
+ // Cleared by any FIFO read method
+
+#define RFM_STATUS_RGIT 0x8000 // TX register is ready to receive
+ // Cleared by TX write
+
+#define RFM_STATUS_POR 0x4000 // Power On reset
+ // Cleared by read status
+
+#define RFM_STATUS_RGUR 0x2000 // TX register underrun, register over write
+ // Cleared by read status
+
+#define RFM_STATUS_FFOV 0x2000 // RX FIFO overflow
+ // Cleared by read status
+
+#define RFM_STATUS_WKUP 0x1000 // Wake up timer overflow
+ // Cleared by read status
+
+#define RFM_STATUS_EXT 0x0800 // Interupt changed to low
+ // Cleared by read status
+
+#define RFM_STATUS_LBD 0x0400 // Low battery detect
+
+// Status bits ////////////////////////////////////////////////////////////////
+
+#define RFM_STATUS_FFEM 0x0200 // FIFO is empty
+#define RFM_STATUS_ATS 0x0100 // TX mode: Strong enough RF signal
+#define RFM_STATUS_RSSI 0x0100 // RX mode: signal strength above programmed limit
+#define RFM_STATUS_DQD 0x0080 // Data Quality detector output
+#define RFM_STATUS_CRL 0x0040 // Clock recovery lock
+#define RFM_STATUS_ATGL 0x0020 // Toggling in each AFC cycle
+
+///////////////////////////////////////////////////////////////////////////////
+//
+// 1. Configuration Setting Command
+//
+///////////////////////////////////////////////////////////////////////////////
+
+#define RFM_CONFIG 0x8000
+
+#define RFM_CONFIG_EL 0x8080 // Enable TX Register
+#define RFM_CONFIG_EF 0x8040 // Enable RX FIFO buffer
+#define RFM_CONFIG_BAND_315 0x8000 // Frequency band
+#define RFM_CONFIG_BAND_433 0x8010
+#define RFM_CONFIG_BAND_868 0x8020
+#define RFM_CONFIG_BAND_915 0x8030
+#define RFM_CONFIG_X_8_5pf 0x8000 // Crystal Load Capacitor
+#define RFM_CONFIG_X_9_0pf 0x8001
+#define RFM_CONFIG_X_9_5pf 0x8002
+#define RFM_CONFIG_X_10_0pf 0x8003
+#define RFM_CONFIG_X_10_5pf 0x8004
+#define RFM_CONFIG_X_11_0pf 0x8005
+#define RFM_CONFIG_X_11_5pf 0x8006
+#define RFM_CONFIG_X_12_0pf 0x8007
+#define RFM_CONFIG_X_12_5pf 0x8008
+#define RFM_CONFIG_X_13_0pf 0x8009
+#define RFM_CONFIG_X_13_5pf 0x800A
+#define RFM_CONFIG_X_14_0pf 0x800B
+#define RFM_CONFIG_X_14_5pf 0x800C
+#define RFM_CONFIG_X_15_0pf 0x800D
+#define RFM_CONFIG_X_15_5pf 0x800E
+#define RFM_CONFIG_X_16_0pf 0x800F
+
+///////////////////////////////////////////////////////////////////////////////
+//
+// 2. Power Management Command
+//
+///////////////////////////////////////////////////////////////////////////////
+
+#define RFM_POWER_MANAGEMENT 0x8200
+
+#define RFM_POWER_MANAGEMENT_ER 0x8280 // Enable receiver
+#define RFM_POWER_MANAGEMENT_EBB 0x8240 // Enable base band block
+#define RFM_POWER_MANAGEMENT_ET 0x8220 // Enable transmitter
+#define RFM_POWER_MANAGEMENT_ES 0x8210 // Enable synthesizer
+#define RFM_POWER_MANAGEMENT_EX 0x8208 // Enable crystal oscillator
+#define RFM_POWER_MANAGEMENT_EB 0x8204 // Enable low battery detector
+#define RFM_POWER_MANAGEMENT_EW 0x8202 // Enable wake-up timer
+#define RFM_POWER_MANAGEMENT_DC 0x8201 // Disable clock output of CLK pin
+
+#ifndef RFM_CLK_OUTPUT
+ #error RFM_CLK_OUTPUT must be defined to 0 or 1
+#endif
+#if RFM_CLK_OUTPUT
+ #define RFM_TX_ON_PRE() RFM_SPI_16( \
+ RFM_POWER_MANAGEMENT_ES | \
+ RFM_POWER_MANAGEMENT_EX )
+ #define RFM_TX_ON() RFM_SPI_16( \
+ RFM_POWER_MANAGEMENT_ET | \
+ RFM_POWER_MANAGEMENT_ES | \
+ RFM_POWER_MANAGEMENT_EX )
+ #define RFM_RX_ON() RFM_SPI_16( \
+ RFM_POWER_MANAGEMENT_ER | \
+ RFM_POWER_MANAGEMENT_EBB | \
+ RFM_POWER_MANAGEMENT_ES | \
+ RFM_POWER_MANAGEMENT_EX )
+ #define RFM_OFF() RFM_SPI_16( \
+ RFM_POWER_MANAGEMENT_EX )
+#else
+ #define RFM_TX_ON_PRE() RFM_SPI_16( \
+ RFM_POWER_MANAGEMENT_DC | \
+ RFM_POWER_MANAGEMENT_ES | \
+ RFM_POWER_MANAGEMENT_EX )
+ #define RFM_TX_ON() RFM_SPI_16( \
+ RFM_POWER_MANAGEMENT_DC | \
+ RFM_POWER_MANAGEMENT_ET | \
+ RFM_POWER_MANAGEMENT_ES | \
+ RFM_POWER_MANAGEMENT_EX )
+ #define RFM_RX_ON() RFM_SPI_16( \
+ RFM_POWER_MANAGEMENT_DC | \
+ RFM_POWER_MANAGEMENT_ER | \
+ RFM_POWER_MANAGEMENT_EBB | \
+ RFM_POWER_MANAGEMENT_ES | \
+ RFM_POWER_MANAGEMENT_EX )
+ #define RFM_OFF() RFM_SPI_16(RFM_POWER_MANAGEMENT_DC)
+#endif
+///////////////////////////////////////////////////////////////////////////////
+//
+// 3. Frequency Setting Command
+//
+///////////////////////////////////////////////////////////////////////////////
+
+#define RFM_FREQUENCY 0xA000
+
+#define RFM_FREQ_315Band(v) (uint16_t)((v/10.0-31)*4000)
+#define RFM_FREQ_433Band(v) (uint16_t)((v/10.0-43)*4000)
+#define RFM_FREQ_868Band(v) (uint16_t)((v/20.0-43)*4000)
+#define RFM_FREQ_915Band(v) (uint16_t)((v/30.0-30)*4000)
+
+///////////////////////////////////////////////////////////////////////////////
+//
+// 4. Data Rate Command
+//
+/////////////////////////////////////////////////////////////////////////////////
+
+#define RFM_BAUD_RATE 9600
+
+#define RFM_DATA_RATE 0xC600
+
+#define RFM_DATA_RATE_CS 0xC680
+#define RFM_DATA_RATE_4800 0xC647
+#define RFM_DATA_RATE_9600 0xC623
+#define RFM_DATA_RATE_19200 0xC611
+#define RFM_DATA_RATE_38400 0xC608
+#define RFM_DATA_RATE_57600 0xC605
+
+#define RFM_SET_DATARATE(baud) ( ((baud)<5400) ? (RFM_DATA_RATE_CS|((43104/(baud))-1)) : (RFM_DATA_RATE|((344828UL/(baud))-1)) )
+
+///////////////////////////////////////////////////////////////////////////////
+//
+// 5. Receiver Control Command
+//
+///////////////////////////////////////////////////////////////////////////////
+
+#define RFM_RX_CONTROL 0x9000
+
+#define RFM_RX_CONTROL_P20_INT 0x9000 // Pin20 = ExternalInt
+#define RFM_RX_CONTROL_P20_VDI 0x9400 // Pin20 = VDI out
+
+#define RFM_RX_CONTROL_VDI_FAST 0x9000 // fast VDI Response time
+#define RFM_RX_CONTROL_VDI_MED 0x9100 // medium
+#define RFM_RX_CONTROL_VDI_SLOW 0x9200 // slow
+#define RFM_RX_CONTROL_VDI_ON 0x9300 // Always on
+
+#define RFM_RX_CONTROL_BW_400 0x9020 // bandwidth 400kHz
+#define RFM_RX_CONTROL_BW_340 0x9040 // bandwidth 340kHz
+#define RFM_RX_CONTROL_BW_270 0x9060 // bandwidth 270kHz
+#define RFM_RX_CONTROL_BW_200 0x9080 // bandwidth 200kHz
+#define RFM_RX_CONTROL_BW_134 0x90A0 // bandwidth 134kHz
+#define RFM_RX_CONTROL_BW_67 0x90C0 // bandwidth 67kHz
+
+#define RFM_RX_CONTROL_GAIN_0 0x9000 // LNA gain 0db
+#define RFM_RX_CONTROL_GAIN_6 0x9008 // LNA gain -6db
+#define RFM_RX_CONTROL_GAIN_14 0x9010 // LNA gain -14db
+#define RFM_RX_CONTROL_GAIN_20 0x9018 // LNA gain -20db
+
+#define RFM_RX_CONTROL_RSSI_103 0x9000 // DRSSI threshold -103dbm
+#define RFM_RX_CONTROL_RSSI_97 0x9001 // DRSSI threshold -97dbm
+#define RFM_RX_CONTROL_RSSI_91 0x9002 // DRSSI threshold -91dbm
+#define RFM_RX_CONTROL_RSSI_85 0x9003 // DRSSI threshold -85dbm
+#define RFM_RX_CONTROL_RSSI_79 0x9004 // DRSSI threshold -79dbm
+#define RFM_RX_CONTROL_RSSI_73 0x9005 // DRSSI threshold -73dbm
+//#define RFM_RX_CONTROL_RSSI_67 0x9006 // DRSSI threshold -67dbm // RF12B reserved
+//#define RFM_RX_CONTROL_RSSI_61 0x9007 // DRSSI threshold -61dbm // RF12B reserved
+
+#define RFM_RX_CONTROL_BW(baud) (((baud)<8000) ? \
+ RFM_RX_CONTROL_BW_67 : \
+ ( \
+ ((baud)<30000) ? \
+ RFM_RX_CONTROL_BW_134 : \
+ RFM_RX_CONTROL_BW_200 \
+ ))
+
+///////////////////////////////////////////////////////////////////////////////
+//
+// 6. Data Filter Command
+//
+///////////////////////////////////////////////////////////////////////////////
+
+#define RFM_DATA_FILTER 0xC228
+
+#define RFM_DATA_FILTER_AL 0xC2A8 // clock recovery auto-lock
+#define RFM_DATA_FILTER_ML 0xC268 // clock recovery fast mode
+#define RFM_DATA_FILTER_DIG 0xC228 // data filter type digital
+#define RFM_DATA_FILTER_ANALOG 0xC238 // data filter type analog
+#define RFM_DATA_FILTER_DQD(level) (RFM_DATA_FILTER | (level & 0x7))
+
+///////////////////////////////////////////////////////////////////////////////
+//
+// 7. FIFO and Reset Mode Command
+//
+///////////////////////////////////////////////////////////////////////////////
+
+#define RFM_FIFO 0xCA00
+
+#define RFM_FIFO_AL 0xCA04 // FIFO Start condition sync-word/always
+#define RFM_FIFO_FF 0xCA02 // Enable FIFO fill
+#define RFM_FIFO_DR 0xCA01 // Disable hi sens reset mode
+#define RFM_FIFO_IT(level) (RFM_FIFO | (( (level) & 0xF)<<4))
+
+#define RFM_FIFO_OFF() RFM_SPI_16(RFM_FIFO_IT(8) | RFM_FIFO_DR)
+#define RFM_FIFO_ON() RFM_SPI_16(RFM_FIFO_IT(8) | RFM_FIFO_FF | RFM_FIFO_DR)
+
+/////////////////////////////////////////////////////////////////////////////
+//
+// 8. Receiver FIFO Read
+//
+/////////////////////////////////////////////////////////////////////////////
+
+#define RFM_READ_FIFO() (RFM_SPI_16(0xB000) & 0xFF)
+
+/////////////////////////////////////////////////////////////////////////////
+//
+// 9. AFC Command
+//
+/////////////////////////////////////////////////////////////////////////////
+
+#define RFM_AFC 0xC400
+
+#define RFM_AFC_EN 0xC401
+#define RFM_AFC_OE 0xC402
+#define RFM_AFC_FI 0xC404
+#define RFM_AFC_ST 0xC408
+
+// Limits the value of the frequency offset register to the next values:
+
+#define RFM_AFC_RANGE_LIMIT_NO 0xC400 // 0: No restriction
+#define RFM_AFC_RANGE_LIMIT_15_16 0xC410 // 1: +15 fres to -16 fres
+#define RFM_AFC_RANGE_LIMIT_7_8 0xC420 // 2: +7 fres to -8 fres
+#define RFM_AFC_RANGE_LIMIT_3_4 0xC430 // 3: +3 fres to -4 fres
+
+// fres=2.5 kHz in 315MHz and 433MHz Bands
+// fres=5.0 kHz in 868MHz Band
+// fres=7.5 kHz in 915MHz Band
+
+#define RFM_AFC_AUTO_OFF 0xC400 // 0: Auto mode off (Strobe is controlled by microcontroller)
+#define RFM_AFC_AUTO_ONCE 0xC440 // 1: Runs only once after each power-up
+#define RFM_AFC_AUTO_VDI 0xC480 // 2: Keep the foffset only during receiving(VDI=high)
+#define RFM_AFC_AUTO_INDEPENDENT 0xC4C0 // 3: Keep the foffset value independently trom the state of the VDI signal
+
+///////////////////////////////////////////////////////////////////////////////
+//
+// 10. TX Configuration Control Command
+//
+///////////////////////////////////////////////////////////////////////////////
+
+#define RFM_TX_CONTROL 0x9800
+
+#define RFM_TX_CONTROL_POW_0 0x9800
+#define RFM_TX_CONTROL_POW_3 0x9801
+#define RFM_TX_CONTROL_POW_6 0x9802
+#define RFM_TX_CONTROL_POW_9 0x9803
+#define RFM_TX_CONTROL_POW_12 0x9804
+#define RFM_TX_CONTROL_POW_15 0x9805
+#define RFM_TX_CONTROL_POW_18 0x9806
+#define RFM_TX_CONTROL_POW_21 0x9807
+#define RFM_TX_CONTROL_MOD_15 0x9800
+#define RFM_TX_CONTROL_MOD_30 0x9810
+#define RFM_TX_CONTROL_MOD_45 0x9820
+#define RFM_TX_CONTROL_MOD_60 0x9830
+#define RFM_TX_CONTROL_MOD_75 0x9840
+#define RFM_TX_CONTROL_MOD_90 0x9850
+#define RFM_TX_CONTROL_MOD_105 0x9860
+#define RFM_TX_CONTROL_MOD_120 0x9870
+#define RFM_TX_CONTROL_MOD_135 0x9880
+#define RFM_TX_CONTROL_MOD_150 0x9890
+#define RFM_TX_CONTROL_MOD_165 0x98A0
+#define RFM_TX_CONTROL_MOD_180 0x98B0
+#define RFM_TX_CONTROL_MOD_195 0x98C0
+#define RFM_TX_CONTROL_MOD_210 0x98D0
+#define RFM_TX_CONTROL_MOD_225 0x98E0
+#define RFM_TX_CONTROL_MOD_240 0x98F0
+#define RFM_TX_CONTROL_MP 0x9900
+
+#define RFM_TX_CONTROL_MOD(baud) (((baud)<8000) ? \
+ RFM_TX_CONTROL_MOD_45 : \
+ ( \
+ ((baud)<20000) ? \
+ RFM_TX_CONTROL_MOD_60 : \
+ ( \
+ ((baud)<30000) ? \
+ RFM_TX_CONTROL_MOD_75 : \
+ ( \
+ ((baud)<40000) ? \
+ RFM_TX_CONTROL_MOD_90 : \
+ RFM_TX_CONTROL_MOD_120 \
+ ) \
+ ) \
+ ))
+
+/////////////////////////////////////////////////////////////////////////////
+//
+// 11. Transmitter Register Write Command
+//
+/////////////////////////////////////////////////////////////////////////////
+
+//#define RFM_WRITE(byte) RFM_SPI_16(0xB800 | ((byte) & 0xFF))
+#define RFM_WRITE(byte) RFM_SPI_16(0xB800 | (byte) )
+
+///////////////////////////////////////////////////////////////////////////////
+//
+// 12. Wake-up Timer Command
+//
+///////////////////////////////////////////////////////////////////////////////
+
+#define RFM_WAKEUP_TIMER 0xE000
+#define RFM_WAKEUP_SET(time) RFM_SPI_16(RFM_WAKEUP_TIMER | (time))
+
+#define RFM_WAKEUP_480s (RFM_WAKEUP_TIMER |(11 << 8)| 234)
+#define RFM_WAKEUP_240s (RFM_WAKEUP_TIMER |(10 << 8)| 234)
+#define RFM_WAKEUP_120s (RFM_WAKEUP_TIMER |(9 << 8)| 234)
+#define RFM_WAKEUP_119s (RFM_WAKEUP_TIMER |(9 << 8)| 232)
+
+#define RFM_WAKEUP_60s (RFM_WAKEUP_TIMER |(8 << 8) | 235)
+#define RFM_WAKEUP_59s (RFM_WAKEUP_TIMER |(8 << 8) | 230)
+
+#define RFM_WAKEUP_30s (RFM_WAKEUP_TIMER |(7 << 8) | 235)
+#define RFM_WAKEUP_29s (RFM_WAKEUP_TIMER |(7 << 8) | 227)
+
+#define RFM_WAKEUP_8s (RFM_WAKEUP_TIMER |(5 << 8) | 250)
+#define RFM_WAKEUP_7s (RFM_WAKEUP_TIMER |(5 << 8) | 219)
+#define RFM_WAKEUP_6s (RFM_WAKEUP_TIMER |(6 << 8) | 94)
+#define RFM_WAKEUP_5s (RFM_WAKEUP_TIMER |(5 << 8) | 156)
+#define RFM_WAKEUP_4s (RFM_WAKEUP_TIMER |(5 << 8) | 125)
+#define RFM_WAKEUP_1s (RFM_WAKEUP_TIMER |(2 << 8) | 250)
+#define RFM_WAKEUP_900ms (RFM_WAKEUP_TIMER |(2 << 8) | 225)
+#define RFM_WAKEUP_800ms (RFM_WAKEUP_TIMER |(2 << 8) | 200)
+#define RFM_WAKEUP_700ms (RFM_WAKEUP_TIMER |(2 << 8) | 175)
+#define RFM_WAKEUP_600ms (RFM_WAKEUP_TIMER |(2 << 8) | 150)
+#define RFM_WAKEUP_500ms (RFM_WAKEUP_TIMER |(2 << 8) | 125)
+#define RFM_WAKEUP_400ms (RFM_WAKEUP_TIMER |(2 << 8) | 100)
+#define RFM_WAKEUP_300ms (RFM_WAKEUP_TIMER |(2 << 8) | 75)
+#define RFM_WAKEUP_200ms (RFM_WAKEUP_TIMER |(2 << 8) | 50)
+#define RFM_WAKEUP_100ms (RFM_WAKEUP_TIMER |(2 << 8) | 25)
+
+///////////////////////////////////////////////////////////////////////////////
+//
+// 13. Low Duty-Cycle Command
+//
+///////////////////////////////////////////////////////////////////////////////
+
+#define RFM_LOW_DUTY_CYCLE 0xC800
+
+///////////////////////////////////////////////////////////////////////////////
+//
+// 14. Low Battery Detector Command
+//
+///////////////////////////////////////////////////////////////////////////////
+
+#define RFM_LOW_BATT_DETECT 0xC000
+#define RFM_LOW_BATT_DETECT_D_1MHZ 0xC000
+#define RFM_LOW_BATT_DETECT_D_1_25MHZ 0xC020
+#define RFM_LOW_BATT_DETECT_D_1_66MHZ 0xC040
+#define RFM_LOW_BATT_DETECT_D_2MHZ 0xC060
+#define RFM_LOW_BATT_DETECT_D_2_5MHZ 0xC080
+#define RFM_LOW_BATT_DETECT_D_3_33MHZ 0xC0A0
+#define RFM_LOW_BATT_DETECT_D_5MHZ 0xC0C0
+#define RFM_LOW_BATT_DETECT_D_10MHZ 0xC0E0
+
+///////////////////////////////////////////////////////////////////////////////
+//
+// 15. Status Read Command
+//
+///////////////////////////////////////////////////////////////////////////////
+
+#define RFM_READ_STATUS() RFM_SPI_16(0x0000)
+#define RFM_READ_STATUS_FFIT() SPI_1 (0x00)
+#define RFM_READ_STATUS_RGIT RFM_READ_STATUS_FFIT
+
+///////////////////////////////////////////////////////////////////////////////
+
+// RFM air protocol flags:
+
+#define RFMPROTO_FLAGS_BITASK_PACKETTYPE 0b11000000 //!< the uppermost 2 bits of the flags field encode the packettype
+#define RFMPROTO_FLAGS_PACKETTYPE_BROADCAST 0b00000000 //!< broadcast packettype (message from hr20, protocol; step 1)
+#define RFMPROTO_FLAGS_PACKETTYPE_COMMAND 0b01000000 //!< command packettype (message to hr20, protocol; step 2)
+#define RFMPROTO_FLAGS_PACKETTYPE_REPLY 0b10000000 //!< reply packettype (message from hr20, protocol; step 3)
+#define RFMPROTO_FLAGS_PACKETTYPE_SPECIAL 0b11000000 //!< currently unused packettype
+
+#define RFMPROTO_FLAGS_BITASK_DEVICETYPE 0b00011111 //!< the lowermost 5 bytes denote the device type. this way other sensors and actors may coexist
+#define RFMPROTO_FLAGS_DEVICETYPE_OPENHR20 0b00010100 //!< topen HR20 device type. 10100 is for decimal 20
+
+#define RFMPROTO_IS_PACKETTYPE_BROADCAST(FLAGS) ( RFMPROTO_FLAGS_PACKETTYPE_BROADCAST == ((FLAGS) & RFMPROTO_FLAGS_BITASK_PACKETTYPE) )
+#define RFMPROTO_IS_PACKETTYPE_COMMAND(FLAGS) ( RFMPROTO_FLAGS_PACKETTYPE_COMMAND == ((FLAGS) & RFMPROTO_FLAGS_BITASK_PACKETTYPE) )
+#define RFMPROTO_IS_PACKETTYPE_REPLY(FLAGS) ( RFMPROTO_FLAGS_PACKETTYPE_REPLY == ((FLAGS) & RFMPROTO_FLAGS_BITASK_PACKETTYPE) )
+#define RFMPROTO_IS_PACKETTYPE_SPECIAL(FLAGS) ( RFMPROTO_FLAGS_PACKETTYPE_SPECIAL == ((FLAGS) & RFMPROTO_FLAGS_BITASK_PACKETTYPE) )
+#define RFMPROTO_IS_DEVICETYPE_OPENHR20(FLAGS) ( RFMPROTO_FLAGS_DEVICETYPE_OPENHR20 == ((FLAGS) & RFMPROTO_FLAGS_BITASK_DEVICETYPE) )
+
+///////////////////////////////////////////////////////////////////////////////
+
+#endif
\ No newline at end of file
diff -r 000000000000 -r c8c04928d025 SRF05/SRF05.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SRF05/SRF05.cpp Wed Feb 29 17:50:49 2012 +0000
@@ -0,0 +1,71 @@
+/* mbed SRF05 Ultrasonic Rangefiner Library
+ * Copyright (c) 2007-2010, cstyles, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "SRF05.h"
+#include "mbed.h"
+
+SRF05::SRF05(PinName trigger, PinName echo)
+ : _trigger(trigger), _echo(echo) {
+
+ // Attach interrupts
+ _echo.rise(this, &SRF05::_rising);
+ _echo.fall(this, &SRF05::_falling);
+ //Interrupts every 100ms
+ // _ticker.attach(this, &SRF05::_startRange, 0.1);
+}
+
+//void SRF05::_startRange() {
+// // send a trigger pulse, 10uS long
+// _trigger = 1;
+// wait_us (10);
+// _trigger = 0;
+//}
+
+void SRF05::trig(void) {
+ // send a trigger pulse, 10uS long
+ _trigger = 1;
+ wait_us (10);
+ _trigger = 0;
+}
+
+// Clear and start the timer at the begining of the echo pulse
+void SRF05::_rising(void) {
+ _timer.reset();
+ _timer.start();
+}
+
+// Stop and read the timer at the end of the pulse
+void SRF05::_falling(void) {
+ _timer.stop();
+ _dist = _timer.read_us()/29.0;
+}
+
+float SRF05::read(void) {
+// SRF05::_startRange();
+// wait_ms(50);
+ // spin until there is a good value
+ return (_dist);
+}
+
+SRF05::operator float() {
+ return read();
+}
diff -r 000000000000 -r c8c04928d025 SRF05/SRF05.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SRF05/SRF05.h Wed Feb 29 17:50:49 2012 +0000
@@ -0,0 +1,82 @@
+/* mbed SRF05 Ultrasonic Rangefiner Library
+ * Copyright (c) 2007-2010, cstyles, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_SRF05_H
+#define MBED_SRF05_H
+
+#include "mbed.h"
+
+extern volatile char SendByte;
+
+/** Library for the SRF05 Ultrasonic range finder
+ *
+ * Example:
+ * @code
+ * // Print measured distance
+ *
+ * #include "mbed.h"
+ * #include "SRF05.h"
+ *
+ * SRF05 srf(p9,p10);
+ *
+ * int main() {
+ * while(1) {
+ * printf("Measured : %.1f\n", srf.read());
+ * wait(0.2);
+ * }
+ * }
+ * @endcode
+ */
+class SRF05 {
+public:
+
+ /** Create a SRF05 object, connected to the specified pins
+ *
+ * @param trigger DigitalOut to the SRF05 trigger
+ * @param echo InterruptIn to measure the return pulse
+ */
+ SRF05(PinName trigger, PinName echo);
+
+ /** A non-blocking function that will return the last measurement
+ *
+ * @returns floating point representation of distance in cm
+ */
+ float read();
+
+ // Trigs the ranger
+ void trig();
+
+ /** A short hand way of using the read function */
+ operator float();
+
+private :
+ DigitalOut _trigger;
+ InterruptIn _echo;
+ Timer _timer;
+ Ticker _ticker;
+ void _rising (void);
+ void _falling (void);
+// void _startRange (void);
+ float _dist;
+};
+
+#endif
diff -r 000000000000 -r c8c04928d025 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Feb 29 17:50:49 2012 +0000
@@ -0,0 +1,326 @@
+/**********************************************************************
+ * @file i2c_monitor.c
+ * @purpose Eurobot 2012 - Primary Robot MD25 Interface
+ * @version 0.2
+ * @date 13. Feb. 2012
+ * @author Crispian Poon
+ * @email pooncg@gmail.com
+ ______________________________________________________________________
+
+ Setup information:
+ 1. Put pull up 2.2k resistors to +3.3v on I2C SCL and SDA
+ 2. Connect P28 SDA to MD25 yellow cable, P27 SCL to MD25 blue cable
+
+ **********************************************************************/
+
+#include "mbed.h"
+#include "PID.h"
+//Sonar includes
+#include "RF12B.h"
+#include "SRF05.h"
+
+//Constants declaration
+const int md25Address = 0xB0;
+const char cmdSetMotor1 = 0x00;
+const char cmdSetMotor2 = 0x01;
+const char cmdByte = 0x10;
+const char cmdDisableAcceleration = 0x30;
+const char cmdSetMode = 0x0F;
+const char cmdResetEncoders = 0x20;
+const char cmdGetEncoder1 = 0x02;
+const char cmdGetEncoder2 = 0x06;
+const int encoderRevCount = 1856;
+const int wheelmm = 314;
+const int robotCircumference = 1052;
+#define RATE 0.01
+//#include <queue>
+#define CODE 0x88
+
+
+//Global variables declaration
+int tempByte;
+PID PIDController1(0.9, 2, 0, RATE);
+
+//Interface declaration
+I2C i2c(p28, p27); // sda, scl
+Serial pc(USBTX, USBRX); // tx, rx
+DigitalOut OBLED1(LED1);
+DigitalOut OBLED2(LED2);
+SRF05 my_srf1(p13,p21);
+SRF05 my_srf2(p13,p22);
+SRF05 my_srf3(p13,p23);
+RF12B RF_Robot(p5,p6,p7,p8,p9);
+
+//Functions declaration
+void resetEncoders();
+long getEncoder1();
+long getEncoder2();
+void move(long distance, int speed);
+void turn(int angle, int speed);
+int getSignOfInt(int direction);
+void stop();
+void setSpeed(int speed);
+void setSpeed(int speed1, int speed2);
+void setMode(int mode);
+long encoderToDistance(long encoder);
+long distanceToEncoder(long distance);
+void sendCommand(char command);
+void sendCommand(char command1, char command2 );
+long get4Bytes(char command);
+
+//Main loop
+int main() {
+ int Cmd = 30;
+
+
+ //PID controller initialisation
+ PIDController1.setMode(AUTO_MODE);
+ PIDController1.setInputLimits(0, 2500); //arbitarily set limit of 10000, can change!
+ PIDController1.setOutputLimits(0, 2500);
+
+
+ //TODO serial interface code, maybe with interrupt?
+
+ while (1) {
+
+ //Read serial to change variable
+ if (pc.readable() == 1) {
+ pc.scanf("%i", &Cmd);
+ }
+
+ //Tune PID referece
+ PIDController1.setTunings(0.4, 2, 0);
+
+ //Debug info
+ pc.printf("%i",Cmd);
+
+
+ move(500, Cmd);
+ wait_ms(2000);
+ //move(-200, 70);
+
+ }
+}
+
+//***************************************************************************************
+//Primary robot specific instructions
+//***************************************************************************************
+
+float getSonar() {
+ float distance[3];
+ float result = 0;
+
+ RF_Robot.write(CODE);
+ my_srf1.trig();
+ wait_ms(50);
+
+ distance[0] = my_srf1.read();
+ distance[1] = my_srf2.read();
+ distance[2] = my_srf3.read();
+
+ for (int i = 0; i < 3; i++) {
+ if ( distance[i] > result) {
+ result = distance[i];
+ }
+ }
+ return result;
+}
+
+//*********************************************
+//Parameter @distance in mm, @speed is 0 to 127
+//Description: moves robot by @distance mm at @speed in straight line
+//*********************************************
+void move(long distance, int speed) {
+
+ long tempEndEncoder = 0;
+ long startEncoderCount = 0;
+ long previousEncoder1Count = 0;
+ long previousEncoder2Count = 0;
+ long tempEncoder1Speed = 0;
+ long tempEncoder2Speed = 0;
+ int directionFlag = 0;
+ float encoderSpeedConstant = 0;
+
+ //Variables initialisation
+ resetEncoders(); //reset MD25 encoder TODO too large distance may cause overflow
+ tempEndEncoder = distanceToEncoder(abs(distance)); //Convert distance to end encoder value
+ directionFlag = getSignOfInt(distance); //get direction from distance e.g. -1mm, +1mm converter to - and + operator
+
+ //setSpeed(speed);
+ //wait_ms(100);
+
+ while (abs(getEncoder1() - startEncoderCount) < tempEndEncoder) {
+
+ //TODO loop counter
+
+ //calculate speed of encoder1 and encoder 2 change
+ tempEncoder1Speed = abs(getEncoder1() - previousEncoder1Count);
+ tempEncoder2Speed = abs(getEncoder2() - previousEncoder2Count);
+
+
+ //TODO optimize so only 1 calc is done per function call
+ //get encoder speed to @speed conversion ratio
+ encoderSpeedConstant = double(speed) / double(tempEncoder1Speed);
+
+ //set previous loop encoder values
+ previousEncoder1Count = getEncoder1();
+ previousEncoder2Count = getEncoder2();
+
+ //Set PID input value, tries to adjust encoder2 speed to encoder1 speed
+ PIDController1.setSetPoint(tempEncoder1Speed);
+ PIDController1.setProcessValue(tempEncoder2Speed);
+
+ float tempVal = PIDController1.compute();
+ //Debug Info
+ //pc.printf("%f \n", tempVal);
+ //PID control of real motor speeds, Motor2 actual speed mirros Motor1 actual speed
+ setSpeed(directionFlag*speed, directionFlag * tempVal * encoderSpeedConstant);
+
+ //delay to increase significant encoder counts
+ wait(RATE);
+
+ }
+
+ //Stop robot
+ stop();
+
+ //Debug info - see if loop is completed.
+ OBLED1 = true;
+
+ //Reset encoder values
+ resetEncoders();
+}
+
+void turn(int angle, int speed) {
+ resetEncoders();
+ long tempDistance = long((float(angle) / 360) * float(robotCircumference));
+ long tempEndEncoder = 0;
+ long startEncoderCount = 0;
+
+ tempEndEncoder = distanceToEncoder(abs(tempDistance));
+ startEncoderCount = getEncoder1();
+ setSpeed(getSignOfInt(tempDistance) * speed, -getSignOfInt(tempDistance) * speed);
+
+ while (abs(getEncoder1() - startEncoderCount) < tempEndEncoder) {
+ setSpeed(getSignOfInt(tempDistance) * speed,-getSignOfInt(tempDistance) * speed);
+
+ }
+
+ resetEncoders();
+ stop();
+}
+
+
+//***************************************************************************************
+//Primary robot specific helper functions
+//***************************************************************************************
+
+int getSignOfInt(int direction) {
+
+ direction = (direction < 0);
+
+ switch (direction) {
+ case 1:
+ return -1;
+ case 0:
+ return 1;
+ }
+
+ return 0;
+}
+
+long encoderToDistance(long encoder) {
+ return long((float(encoder) / float(encoderRevCount)) * wheelmm);
+}
+
+long distanceToEncoder(long distance) {
+ return long((float(distance) / float(wheelmm)) * encoderRevCount);
+}
+
+
+//***************************************************************************************
+//MD25 instructions
+//***************************************************************************************
+
+void stop() {
+ sendCommand(cmdSetMotor1, 0);
+ sendCommand(cmdSetMotor2, 0);
+}
+
+void disableAcceleration() {
+ sendCommand(cmdByte, cmdDisableAcceleration);
+}
+
+void setSpeed(int speed) {
+ setMode(1);
+ disableAcceleration();
+ sendCommand(cmdSetMotor1, speed);
+ sendCommand(cmdSetMotor2, speed);
+}
+
+void setSpeed(int speed1, int speed2) {
+ setMode(1),
+ disableAcceleration();
+ sendCommand(cmdSetMotor1, speed1);
+ sendCommand(cmdSetMotor2, speed2);
+}
+
+void setMode(int mode) {
+ sendCommand(cmdSetMode, mode);
+}
+
+void resetEncoders() {
+ sendCommand(cmdByte, cmdResetEncoders) ;
+}
+
+long getEncoder1() {
+ return get4Bytes(cmdGetEncoder1);
+}
+
+long getEncoder2() {
+ return get4Bytes(cmdGetEncoder2);
+}
+
+
+//***************************************************************************************
+//Abstract MD25 communication methods and functions
+//***************************************************************************************
+
+void sendCommand(char command) {
+ char buffer[1];
+ buffer[0] = command;
+ i2c.write(md25Address, &buffer[0], 1);
+}
+
+void sendCommand(char command1, char command2 ) {
+
+ char buffer[2];
+ buffer[0] = command1;
+ buffer[1] = command2;
+
+ i2c.write(md25Address, &buffer[0], 2);
+}
+
+long get4Bytes(char command) {
+ long tempWord = 0;
+ char cmd[4];
+
+ //i2c request
+ sendCommand(command);
+
+ //i2c read data back
+ i2c.read(md25Address, cmd, 4);// Request 4 bytes from MD25
+
+ //FIXED 22FEB2012 CRISPIAN Taken 0.07 delay off.
+
+ //First byte is largest, shift 4 bytes into tempWord
+ tempWord += cmd[0] << 24;
+ tempWord += cmd[1] << 16;
+ tempWord += cmd[2] << 8;
+ tempWord += cmd[3] ;
+
+ return tempWord;
+}
+
+
+
diff -r 000000000000 -r c8c04928d025 mbed.bld
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld Wed Feb 29 17:50:49 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/7495d544864f
Shuto Naruse