Michael Ernst Peter
/
PM2_Libary
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Dependencies: LSM9DS1 RangeFinder FastPWM
Dependents: PM2_Example_PES_board PM2_Example_PES_board PM2_Example_PES_board PM2_Example_PES_board ... more
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SensorBar.h
00001 #ifndef SensorBar_H 00002 #define SensorBar_H 00003 00004 #include <mbed.h> 00005 #include "AvgFilter.h" 00006 #include "ThreadFlag.h" 00007 00008 #define REG_INPUT_DISABLE_B 0x00 // RegInputDisableB Input buffer disable register _ I/O[15_8] (Bank B) 0000 0000 00009 #define REG_INPUT_DISABLE_A 0x01 // RegInputDisableA Input buffer disable register _ I/O[7_0] (Bank A) 0000 0000 00010 #define REG_LONG_SLEW_B 0x02 // RegLongSlewB Output buffer long slew register _ I/O[15_8] (Bank B) 0000 0000 00011 #define REG_LONG_SLEW_A 0x03 // RegLongSlewA Output buffer long slew register _ I/O[7_0] (Bank A) 0000 0000 00012 #define REG_LOW_DRIVE_B 0x04 // RegLowDriveB Output buffer low drive register _ I/O[15_8] (Bank B) 0000 0000 00013 #define REG_LOW_DRIVE_A 0x05 // RegLowDriveA Output buffer low drive register _ I/O[7_0] (Bank A) 0000 0000 00014 #define REG_PULL_UP_B 0x06 // RegPullUpB Pull_up register _ I/O[15_8] (Bank B) 0000 0000 00015 #define REG_PULL_UP_A 0x07 // RegPullUpA Pull_up register _ I/O[7_0] (Bank A) 0000 0000 00016 #define REG_PULL_DOWN_B 0x08 // RegPullDownB Pull_down register _ I/O[15_8] (Bank B) 0000 0000 00017 #define REG_PULL_DOWN_A 0x09 // RegPullDownA Pull_down register _ I/O[7_0] (Bank A) 0000 0000 00018 #define REG_OPEN_DRAIN_B 0x0A // RegOpenDrainB Open drain register _ I/O[15_8] (Bank B) 0000 0000 00019 #define REG_OPEN_DRAIN_A 0x0B // RegOpenDrainA Open drain register _ I/O[7_0] (Bank A) 0000 0000 00020 #define REG_POLARITY_B 0x0C // RegPolarityB Polarity register _ I/O[15_8] (Bank B) 0000 0000 00021 #define REG_POLARITY_A 0x0D // RegPolarityA Polarity register _ I/O[7_0] (Bank A) 0000 0000 00022 #define REG_DIR_B 0x0E // RegDirB Direction register _ I/O[15_8] (Bank B) 1111 1111 00023 #define REG_DIR_A 0x0F // RegDirA Direction register _ I/O[7_0] (Bank A) 1111 1111 00024 #define REG_DATA_B 0x10 // RegDataB Data register _ I/O[15_8] (Bank B) 1111 1111* 00025 #define REG_DATA_A 0x11 // RegDataA Data register _ I/O[7_0] (Bank A) 1111 1111* 00026 #define REG_INTERRUPT_MASK_B 0x12 // RegInterruptMaskB Interrupt mask register _ I/O[15_8] (Bank B) 1111 1111 00027 #define REG_INTERRUPT_MASK_A 0x13 // RegInterruptMaskA Interrupt mask register _ I/O[7_0] (Bank A) 1111 1111 00028 #define REG_SENSE_HIGH_B 0x14 // RegSenseHighB Sense register for I/O[15:12] 0000 0000 00029 #define REG_SENSE_LOW_B 0x15 // RegSenseLowB Sense register for I/O[11:8] 0000 0000 00030 #define REG_SENSE_HIGH_A 0x16 // RegSenseHighA Sense register for I/O[7:4] 0000 0000 00031 #define REG_SENSE_LOW_A 0x17 // RegSenseLowA Sense register for I/O[3:0] 0000 0000 00032 #define REG_INTERRUPT_SOURCE_B 0x18 // RegInterruptSourceB Interrupt source register _ I/O[15_8] (Bank B) 0000 0000 00033 #define REG_INTERRUPT_SOURCE_A 0x19 // RegInterruptSourceA Interrupt source register _ I/O[7_0] (Bank A) 0000 0000 00034 #define REG_EVENT_STATUS_B 0x1A // RegEventStatusB Event status register _ I/O[15_8] (Bank B) 0000 0000 00035 #define REG_EVENT_STATUS_A 0x1B // RegEventStatusA Event status register _ I/O[7_0] (Bank A) 0000 0000 00036 #define REG_LEVEL_SHIFTER_1 0x1C // RegLevelShifter1 Level shifter register 0000 0000 00037 #define REG_LEVEL_SHIFTER_2 0x1D // RegLevelShifter2 Level shifter register 0000 0000 00038 #define REG_CLOCK 0x1E // RegClock Clock management register 0000 0000 00039 #define REG_MISC 0x1F // RegMisc Miscellaneous device settings register 0000 0000 00040 #define REG_LED_DRIVER_ENABLE_B 0x20 // RegLEDDriverEnableB LED driver enable register _ I/O[15_8] (Bank B) 0000 0000 00041 #define REG_LED_DRIVER_ENABLE_A 0x21 // RegLEDDriverEnableA LED driver enable register _ I/O[7_0] (Bank A) 0000 0000 00042 // Debounce and Keypad Engine 00043 #define REG_DEBOUNCE_CONFIG 0x22 // RegDebounceConfig Debounce configuration register 0000 0000 00044 #define REG_DEBOUNCE_ENABLE_B 0x23 // RegDebounceEnableB Debounce enable register _ I/O[15_8] (Bank B) 0000 0000 00045 #define REG_DEBOUNCE_ENABLE_A 0x24 // RegDebounceEnableA Debounce enable register _ I/O[7_0] (Bank A) 0000 0000 00046 #define REG_KEY_CONFIG_1 0x25 // RegKeyConfig1 Key scan configuration register 0000 0000 00047 #define REG_KEY_CONFIG_2 0x26 // RegKeyConfig2 Key scan configuration register 0000 0000 00048 #define REG_KEY_DATA_1 0x27 // RegKeyData1 Key value (column) 1111 1111 00049 #define REG_KEY_DATA_2 0x28 // RegKeyData2 Key value (row) 1111 1111 00050 // LED Driver (PWM, blinking, breathing) 00051 #define REG_T_ON_0 0x29 // RegTOn0 ON time register for I/O[0] 0000 0000 00052 #define REG_I_ON_0 0x2A // RegIOn0 ON intensity register for I/O[0] 1111 1111 00053 #define REG_OFF_0 0x2B // RegOff0 OFF time/intensity register for I/O[0] 0000 0000 00054 #define REG_T_ON_1 0x2C // RegTOn1 ON time register for I/O[1] 0000 0000 00055 #define REG_I_ON_1 0x2D // RegIOn1 ON intensity register for I/O[1] 1111 1111 00056 #define REG_OFF_1 0x2E // RegOff1 OFF time/intensity register for I/O[1] 0000 0000 00057 #define REG_T_ON_2 0x2F // RegTOn2 ON time register for I/O[2] 0000 0000 00058 #define REG_I_ON_2 0x30 // RegIOn2 ON intensity register for I/O[2] 1111 1111 00059 #define REG_OFF_2 0x31 // RegOff2 OFF time/intensity register for I/O[2] 0000 0000 00060 #define REG_T_ON_3 0x32 // RegTOn3 ON time register for I/O[3] 0000 0000 00061 #define REG_I_ON_3 0x33 // RegIOn3 ON intensity register for I/O[3] 1111 1111 00062 #define REG_OFF_3 0x34 // RegOff3 OFF time/intensity register for I/O[3] 0000 0000 00063 #define REG_T_ON_4 0x35 // RegTOn4 ON time register for I/O[4] 0000 0000 00064 #define REG_I_ON_4 0x36 // RegIOn4 ON intensity register for I/O[4] 1111 1111 00065 #define REG_OFF_4 0x37 // RegOff4 OFF time/intensity register for I/O[4] 0000 0000 00066 #define REG_T_RISE_4 0x38 // RegTRise4 Fade in register for I/O[4] 0000 0000 00067 #define REG_T_FALL_4 0x39 // RegTFall4 Fade out register for I/O[4] 0000 0000 00068 #define REG_T_ON_5 0x3A // RegTOn5 ON time register for I/O[5] 0000 0000 00069 #define REG_I_ON_5 0x3B // RegIOn5 ON intensity register for I/O[5] 1111 1111 00070 #define REG_OFF_5 0x3C // RegOff5 OFF time/intensity register for I/O[5] 0000 0000 00071 #define REG_T_RISE_5 0x3D // RegTRise5 Fade in register for I/O[5] 0000 0000 00072 #define REG_T_FALL_5 0x3E // RegTFall5 Fade out register for I/O[5] 0000 0000 00073 #define REG_T_ON_6 0x3F // RegTOn6 ON time register for I/O[6] 0000 0000 00074 #define REG_I_ON_6 0x40 // RegIOn6 ON intensity register for I/O[6] 1111 1111 00075 #define REG_OFF_6 0x41 // RegOff6 OFF time/intensity register for I/O[6] 0000 0000 00076 #define REG_T_RISE_6 0x42 // RegTRise6 Fade in register for I/O[6] 0000 0000 00077 #define REG_T_FALL_6 0x43 // RegTFall6 Fade out register for I/O[6] 0000 0000 00078 #define REG_T_ON_7 0x44 // RegTOn7 ON time register for I/O[7] 0000 0000 00079 #define REG_I_ON_7 0x45 // RegIOn7 ON intensity register for I/O[7] 1111 1111 00080 #define REG_OFF_7 0x46 // RegOff7 OFF time/intensity register for I/O[7] 0000 0000 00081 #define REG_T_RISE_7 0x47 // RegTRise7 Fade in register for I/O[7] 0000 0000 00082 #define REG_T_FALL_7 0x48 // RegTFall7 Fade out register for I/O[7] 0000 0000 00083 #define REG_T_ON_8 0x49 // RegTOn8 ON time register for I/O[8] 0000 0000 00084 #define REG_I_ON_8 0x4A // RegIOn8 ON intensity register for I/O[8] 1111 1111 00085 #define REG_OFF_8 0x4B // RegOff8 OFF time/intensity register for I/O[8] 0000 0000 00086 #define REG_T_ON_9 0x4C // RegTOn9 ON time register for I/O[9] 0000 0000 00087 #define REG_I_ON_9 0x4D // RegIOn9 ON intensity register for I/O[9] 1111 1111 00088 #define REG_OFF_9 0x4E // RegOff9 OFF time/intensity register for I/O[9] 0000 0000 00089 #define REG_T_ON_10 0x4F // RegTOn10 ON time register for I/O[10] 0000 0000 00090 #define REG_I_ON_10 0x50 // RegIOn10 ON intensity register for I/O[10] 1111 1111 00091 #define REG_OFF_10 0x51 // RegOff10 OFF time/intensity register for I/O[10] 0000 0000 00092 #define REG_T_ON_11 0x52 // RegTOn11 ON time register for I/O[11] 0000 0000 00093 #define REG_I_ON_11 0x53 // RegIOn11 ON intensity register for I/O[11] 1111 1111 00094 #define REG_OFF_11 0x54 // RegOff11 OFF time/intensity register for I/O[11] 0000 0000 00095 #define REG_T_ON_12 0x55 // RegTOn12 ON time register for I/O[12] 0000 0000 00096 #define REG_I_ON_12 0x56 // RegIOn12 ON intensity register for I/O[12] 1111 1111 00097 #define REG_OFF_12 0x57 // RegOff12 OFF time/intensity register for I/O[12] 0000 0000 00098 #define REG_T_RISE_12 0x58 // RegTRise12 Fade in register for I/O[12] 0000 0000 00099 #define REG_T_FALL_12 0x59 // RegTFall12 Fade out register for I/O[12] 0000 0000 00100 #define REG_T_ON_13 0x5A // RegTOn13 ON time register for I/O[13] 0000 0000 00101 #define REG_I_ON_13 0x5B // RegIOn13 ON intensity register for I/O[13] 1111 1111 00102 #define REG_OFF_13 0x5C // RegOff13 OFF time/intensity register for I/O[13] 0000 0000 00103 #define REG_T_RISE_13 0x5D // RegTRise13 Fade in register for I/O[13] 0000 0000 00104 #define REG_T_FALL_13 0x5E // RegTFall13 Fade out register for I/O[13] 0000 0000 00105 #define REG_T_ON_14 0x5F // RegTOn14 ON time register for I/O[14] 0000 0000 00106 #define REG_I_ON_14 0x60 // RegIOn14 ON intensity register for I/O[14] 1111 1111 00107 #define REG_OFF_14 0x61 // RegOff14 OFF time/intensity register for I/O[14] 0000 0000 00108 #define REG_T_RISE_14 0x62 // RegTRise14 Fade in register for I/O[14] 0000 0000 00109 #define REG_T_FALL_14 0x63 // RegTFall14 Fade out register for I/O[14] 0000 0000 00110 #define REG_T_ON_15 0x64 // RegTOn15 ON time register for I/O[15] 0000 0000 00111 #define REG_I_ON_15 0x65 // RegIOn15 ON intensity register for I/O[15] 1111 1111 00112 #define REG_OFF_15 0x66 // RegOff15 OFF time/intensity register for I/O[15] 0000 0000 00113 #define REG_T_RISE_15 0x67 // RegTRise15 Fade in register for I/O[15] 0000 0000 00114 #define REG_T_FALL_15 0x68 // RegTFall15 Fade out register for I/O[15] 0000 0000 00115 // Miscellaneous 00116 #define REG_HIGH_INPUT_B 0x69 // RegHighInputB High input enable register _ I/O[15_8] (Bank B) 0000 0000 00117 #define REG_HIGH_INPUT_A 0x6A // RegHighInputA High input enable register _ I/O[7_0] (Bank A) 0000 0000 00118 // Software Reset 00119 #define REG_RESET 0x7D // RegReset Software reset register 0000 0000 00120 #define REG_TEST_1 0x7E // RegTest1 Test register 0000 0000 00121 #define REG_TEST_2 0x7F // RegTest2 Test register 0000 0000 00122 00123 #define RECEIVE_TIMEOUT_VALUE 1000 // Timeout for I2C receive 00124 00125 // These are used for setting LED driver to linear or log mode: 00126 #define LINEAR 0 00127 #define LOGARITHMIC 1 00128 00129 // These are used for clock config: 00130 #define INTERNAL_CLOCK 2 00131 #define EXTERNAL_CLOCK 1 00132 00133 class SensorBar 00134 { 00135 public: 00136 //New functions for bar specific operation 00137 SensorBar(I2C& i2c, float distAxisToSensor = 0.12f); 00138 virtual ~SensorBar(); 00139 00140 //Functions pulled from the SX1509 driver 00141 // void debounceConfig( uint8_t configValue ); 00142 // void debounceEnable( uint8_t pin ); 00143 // unsigned int interruptSource(); 00144 // void configClock( uint8_t oscSource = 2, uint8_t oscPinFunction = 0, uint8_t oscFreqOut = 0, uint8_t oscDivider = 1 ); 00145 00146 void setBarStrobe(); // to only illuminate while reading line 00147 void clearBarStrobe(); // to illuminate all the time 00148 void setInvertBits(); // to make the bar functions look for a white line on dark surface 00149 void clearInvertBits(); // to make the bar look for a dark line on a reflective surface 00150 00151 uint8_t getRaw(); 00152 int8_t getBinaryPosition(); 00153 float getAngleRad(); 00154 float getAvgAngleRad(); 00155 uint8_t getNrOfLedsActive(); 00156 bool isAnyLedActive(); 00157 00158 private: 00159 //Holding variables 00160 uint8_t lastBarRawValue; 00161 uint8_t lastBarPositionValue; 00162 float distAxisToSensor; 00163 00164 //Settings 00165 uint8_t deviceAddress; // I2C Address of SX1509 00166 uint8_t barStrobe; // 0 = always on, 1 = power saving by IR LED strobe 00167 uint8_t invertBits; // 1 = invert 00168 00169 // Pin definitions: 00170 uint8_t pinInterrupt; 00171 uint8_t pinOscillator; 00172 uint8_t pinReset; 00173 00174 bool begin(); // Run this once during initialization to configure the SX1509 as a sensor bar 00175 void reset(); 00176 00177 // Read Functions: 00178 uint8_t readByte(uint8_t registerAddress); 00179 unsigned int readWord(uint8_t registerAddress); 00180 void readBytes(uint8_t firstRegisterAddress, char * destination, uint8_t length); 00181 // Write functions: 00182 void writeByte(uint8_t registerAddress, uint8_t writeValue); 00183 void writeWord(uint8_t registerAddress, unsigned int writeValue); 00184 void writeBytes(uint8_t firstRegisterAddress, uint8_t * writeArray, uint8_t length); 00185 00186 I2C& i2c; 00187 00188 static const float TS; 00189 00190 static const char REG_I_ON[16]; 00191 static const char REG_T_ON[16]; 00192 static const char REG_OFF[16]; 00193 static const char REG_T_RISE[16]; 00194 static const char REG_T_FALL[16]; 00195 00196 ThreadFlag threadFlag; 00197 Thread thread; 00198 Ticker ticker; 00199 00200 float angle, avg_angle; 00201 uint8_t nrOfLedsActive; 00202 AvgFilter avg_filter; 00203 bool is_first_avg; 00204 00205 void update(); 00206 float updateAngleRad(); 00207 uint8_t updateNrOfLedsActive(); 00208 void sendThreadFlag(); 00209 }; 00210 00211 #endif /* SensorBar_H */ 00212 00213 //****************************************************************************// 00214 // 00215 // Circular Buffer 00216 // 00217 //****************************************************************************// 00218 00219 //Class CircularBuffer is int16_t 00220 //Does not care about over-running real data ( if request is outside length's bounds ). 00221 //For example, the underlying machine writes [48], [49], [0], [1] ... 00222 00223 /* 00224 namespace name 00225 { 00226 class CircularBuffer 00227 { 00228 public: 00229 CircularBuffer( uint16_t inputSize ); 00230 ~CircularBuffer(); 00231 int16_t getElement( uint16_t ); //zero is the push location 00232 void pushElement( int16_t ); 00233 int16_t averageLast( uint16_t ); 00234 uint16_t recordLength(); 00235 private: 00236 uint16_t cBufferSize; 00237 int16_t *cBufferData; 00238 int16_t cBufferLastPtr; 00239 uint8_t cBufferElementsUsed; 00240 }; 00241 } 00242 */
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