Michael Ernst Peter
Libary for PM2.
Dependencies: LSM9DS1 RangeFinder FastPWM
Dependents: PM2_Example_PES_board PM2_Example_PES_board PM2_Example_PES_board PM2_Example_PES_board ... more
SensorBar.h
- Committer:
- pmic
- Date:
- 2022-06-22
- Revision:
- 32:bb074bb17d39
- Parent:
- 25:51e92f2c89e2
File content as of revision 32:bb074bb17d39:
#ifndef SensorBar_H
#define SensorBar_H
#include <mbed.h>
#include "AvgFilter.h"
#include "ThreadFlag.h"
#define REG_INPUT_DISABLE_B 0x00 // RegInputDisableB Input buffer disable register _ I/O[15_8] (Bank B) 0000 0000
#define REG_INPUT_DISABLE_A 0x01 // RegInputDisableA Input buffer disable register _ I/O[7_0] (Bank A) 0000 0000
#define REG_LONG_SLEW_B 0x02 // RegLongSlewB Output buffer long slew register _ I/O[15_8] (Bank B) 0000 0000
#define REG_LONG_SLEW_A 0x03 // RegLongSlewA Output buffer long slew register _ I/O[7_0] (Bank A) 0000 0000
#define REG_LOW_DRIVE_B 0x04 // RegLowDriveB Output buffer low drive register _ I/O[15_8] (Bank B) 0000 0000
#define REG_LOW_DRIVE_A 0x05 // RegLowDriveA Output buffer low drive register _ I/O[7_0] (Bank A) 0000 0000
#define REG_PULL_UP_B 0x06 // RegPullUpB Pull_up register _ I/O[15_8] (Bank B) 0000 0000
#define REG_PULL_UP_A 0x07 // RegPullUpA Pull_up register _ I/O[7_0] (Bank A) 0000 0000
#define REG_PULL_DOWN_B 0x08 // RegPullDownB Pull_down register _ I/O[15_8] (Bank B) 0000 0000
#define REG_PULL_DOWN_A 0x09 // RegPullDownA Pull_down register _ I/O[7_0] (Bank A) 0000 0000
#define REG_OPEN_DRAIN_B 0x0A // RegOpenDrainB Open drain register _ I/O[15_8] (Bank B) 0000 0000
#define REG_OPEN_DRAIN_A 0x0B // RegOpenDrainA Open drain register _ I/O[7_0] (Bank A) 0000 0000
#define REG_POLARITY_B 0x0C // RegPolarityB Polarity register _ I/O[15_8] (Bank B) 0000 0000
#define REG_POLARITY_A 0x0D // RegPolarityA Polarity register _ I/O[7_0] (Bank A) 0000 0000
#define REG_DIR_B 0x0E // RegDirB Direction register _ I/O[15_8] (Bank B) 1111 1111
#define REG_DIR_A 0x0F // RegDirA Direction register _ I/O[7_0] (Bank A) 1111 1111
#define REG_DATA_B 0x10 // RegDataB Data register _ I/O[15_8] (Bank B) 1111 1111*
#define REG_DATA_A 0x11 // RegDataA Data register _ I/O[7_0] (Bank A) 1111 1111*
#define REG_INTERRUPT_MASK_B 0x12 // RegInterruptMaskB Interrupt mask register _ I/O[15_8] (Bank B) 1111 1111
#define REG_INTERRUPT_MASK_A 0x13 // RegInterruptMaskA Interrupt mask register _ I/O[7_0] (Bank A) 1111 1111
#define REG_SENSE_HIGH_B 0x14 // RegSenseHighB Sense register for I/O[15:12] 0000 0000
#define REG_SENSE_LOW_B 0x15 // RegSenseLowB Sense register for I/O[11:8] 0000 0000
#define REG_SENSE_HIGH_A 0x16 // RegSenseHighA Sense register for I/O[7:4] 0000 0000
#define REG_SENSE_LOW_A 0x17 // RegSenseLowA Sense register for I/O[3:0] 0000 0000
#define REG_INTERRUPT_SOURCE_B 0x18 // RegInterruptSourceB Interrupt source register _ I/O[15_8] (Bank B) 0000 0000
#define REG_INTERRUPT_SOURCE_A 0x19 // RegInterruptSourceA Interrupt source register _ I/O[7_0] (Bank A) 0000 0000
#define REG_EVENT_STATUS_B 0x1A // RegEventStatusB Event status register _ I/O[15_8] (Bank B) 0000 0000
#define REG_EVENT_STATUS_A 0x1B // RegEventStatusA Event status register _ I/O[7_0] (Bank A) 0000 0000
#define REG_LEVEL_SHIFTER_1 0x1C // RegLevelShifter1 Level shifter register 0000 0000
#define REG_LEVEL_SHIFTER_2 0x1D // RegLevelShifter2 Level shifter register 0000 0000
#define REG_CLOCK 0x1E // RegClock Clock management register 0000 0000
#define REG_MISC 0x1F // RegMisc Miscellaneous device settings register 0000 0000
#define REG_LED_DRIVER_ENABLE_B 0x20 // RegLEDDriverEnableB LED driver enable register _ I/O[15_8] (Bank B) 0000 0000
#define REG_LED_DRIVER_ENABLE_A 0x21 // RegLEDDriverEnableA LED driver enable register _ I/O[7_0] (Bank A) 0000 0000
// Debounce and Keypad Engine
#define REG_DEBOUNCE_CONFIG 0x22 // RegDebounceConfig Debounce configuration register 0000 0000
#define REG_DEBOUNCE_ENABLE_B 0x23 // RegDebounceEnableB Debounce enable register _ I/O[15_8] (Bank B) 0000 0000
#define REG_DEBOUNCE_ENABLE_A 0x24 // RegDebounceEnableA Debounce enable register _ I/O[7_0] (Bank A) 0000 0000
#define REG_KEY_CONFIG_1 0x25 // RegKeyConfig1 Key scan configuration register 0000 0000
#define REG_KEY_CONFIG_2 0x26 // RegKeyConfig2 Key scan configuration register 0000 0000
#define REG_KEY_DATA_1 0x27 // RegKeyData1 Key value (column) 1111 1111
#define REG_KEY_DATA_2 0x28 // RegKeyData2 Key value (row) 1111 1111
// LED Driver (PWM, blinking, breathing)
#define REG_T_ON_0 0x29 // RegTOn0 ON time register for I/O[0] 0000 0000
#define REG_I_ON_0 0x2A // RegIOn0 ON intensity register for I/O[0] 1111 1111
#define REG_OFF_0 0x2B // RegOff0 OFF time/intensity register for I/O[0] 0000 0000
#define REG_T_ON_1 0x2C // RegTOn1 ON time register for I/O[1] 0000 0000
#define REG_I_ON_1 0x2D // RegIOn1 ON intensity register for I/O[1] 1111 1111
#define REG_OFF_1 0x2E // RegOff1 OFF time/intensity register for I/O[1] 0000 0000
#define REG_T_ON_2 0x2F // RegTOn2 ON time register for I/O[2] 0000 0000
#define REG_I_ON_2 0x30 // RegIOn2 ON intensity register for I/O[2] 1111 1111
#define REG_OFF_2 0x31 // RegOff2 OFF time/intensity register for I/O[2] 0000 0000
#define REG_T_ON_3 0x32 // RegTOn3 ON time register for I/O[3] 0000 0000
#define REG_I_ON_3 0x33 // RegIOn3 ON intensity register for I/O[3] 1111 1111
#define REG_OFF_3 0x34 // RegOff3 OFF time/intensity register for I/O[3] 0000 0000
#define REG_T_ON_4 0x35 // RegTOn4 ON time register for I/O[4] 0000 0000
#define REG_I_ON_4 0x36 // RegIOn4 ON intensity register for I/O[4] 1111 1111
#define REG_OFF_4 0x37 // RegOff4 OFF time/intensity register for I/O[4] 0000 0000
#define REG_T_RISE_4 0x38 // RegTRise4 Fade in register for I/O[4] 0000 0000
#define REG_T_FALL_4 0x39 // RegTFall4 Fade out register for I/O[4] 0000 0000
#define REG_T_ON_5 0x3A // RegTOn5 ON time register for I/O[5] 0000 0000
#define REG_I_ON_5 0x3B // RegIOn5 ON intensity register for I/O[5] 1111 1111
#define REG_OFF_5 0x3C // RegOff5 OFF time/intensity register for I/O[5] 0000 0000
#define REG_T_RISE_5 0x3D // RegTRise5 Fade in register for I/O[5] 0000 0000
#define REG_T_FALL_5 0x3E // RegTFall5 Fade out register for I/O[5] 0000 0000
#define REG_T_ON_6 0x3F // RegTOn6 ON time register for I/O[6] 0000 0000
#define REG_I_ON_6 0x40 // RegIOn6 ON intensity register for I/O[6] 1111 1111
#define REG_OFF_6 0x41 // RegOff6 OFF time/intensity register for I/O[6] 0000 0000
#define REG_T_RISE_6 0x42 // RegTRise6 Fade in register for I/O[6] 0000 0000
#define REG_T_FALL_6 0x43 // RegTFall6 Fade out register for I/O[6] 0000 0000
#define REG_T_ON_7 0x44 // RegTOn7 ON time register for I/O[7] 0000 0000
#define REG_I_ON_7 0x45 // RegIOn7 ON intensity register for I/O[7] 1111 1111
#define REG_OFF_7 0x46 // RegOff7 OFF time/intensity register for I/O[7] 0000 0000
#define REG_T_RISE_7 0x47 // RegTRise7 Fade in register for I/O[7] 0000 0000
#define REG_T_FALL_7 0x48 // RegTFall7 Fade out register for I/O[7] 0000 0000
#define REG_T_ON_8 0x49 // RegTOn8 ON time register for I/O[8] 0000 0000
#define REG_I_ON_8 0x4A // RegIOn8 ON intensity register for I/O[8] 1111 1111
#define REG_OFF_8 0x4B // RegOff8 OFF time/intensity register for I/O[8] 0000 0000
#define REG_T_ON_9 0x4C // RegTOn9 ON time register for I/O[9] 0000 0000
#define REG_I_ON_9 0x4D // RegIOn9 ON intensity register for I/O[9] 1111 1111
#define REG_OFF_9 0x4E // RegOff9 OFF time/intensity register for I/O[9] 0000 0000
#define REG_T_ON_10 0x4F // RegTOn10 ON time register for I/O[10] 0000 0000
#define REG_I_ON_10 0x50 // RegIOn10 ON intensity register for I/O[10] 1111 1111
#define REG_OFF_10 0x51 // RegOff10 OFF time/intensity register for I/O[10] 0000 0000
#define REG_T_ON_11 0x52 // RegTOn11 ON time register for I/O[11] 0000 0000
#define REG_I_ON_11 0x53 // RegIOn11 ON intensity register for I/O[11] 1111 1111
#define REG_OFF_11 0x54 // RegOff11 OFF time/intensity register for I/O[11] 0000 0000
#define REG_T_ON_12 0x55 // RegTOn12 ON time register for I/O[12] 0000 0000
#define REG_I_ON_12 0x56 // RegIOn12 ON intensity register for I/O[12] 1111 1111
#define REG_OFF_12 0x57 // RegOff12 OFF time/intensity register for I/O[12] 0000 0000
#define REG_T_RISE_12 0x58 // RegTRise12 Fade in register for I/O[12] 0000 0000
#define REG_T_FALL_12 0x59 // RegTFall12 Fade out register for I/O[12] 0000 0000
#define REG_T_ON_13 0x5A // RegTOn13 ON time register for I/O[13] 0000 0000
#define REG_I_ON_13 0x5B // RegIOn13 ON intensity register for I/O[13] 1111 1111
#define REG_OFF_13 0x5C // RegOff13 OFF time/intensity register for I/O[13] 0000 0000
#define REG_T_RISE_13 0x5D // RegTRise13 Fade in register for I/O[13] 0000 0000
#define REG_T_FALL_13 0x5E // RegTFall13 Fade out register for I/O[13] 0000 0000
#define REG_T_ON_14 0x5F // RegTOn14 ON time register for I/O[14] 0000 0000
#define REG_I_ON_14 0x60 // RegIOn14 ON intensity register for I/O[14] 1111 1111
#define REG_OFF_14 0x61 // RegOff14 OFF time/intensity register for I/O[14] 0000 0000
#define REG_T_RISE_14 0x62 // RegTRise14 Fade in register for I/O[14] 0000 0000
#define REG_T_FALL_14 0x63 // RegTFall14 Fade out register for I/O[14] 0000 0000
#define REG_T_ON_15 0x64 // RegTOn15 ON time register for I/O[15] 0000 0000
#define REG_I_ON_15 0x65 // RegIOn15 ON intensity register for I/O[15] 1111 1111
#define REG_OFF_15 0x66 // RegOff15 OFF time/intensity register for I/O[15] 0000 0000
#define REG_T_RISE_15 0x67 // RegTRise15 Fade in register for I/O[15] 0000 0000
#define REG_T_FALL_15 0x68 // RegTFall15 Fade out register for I/O[15] 0000 0000
// Miscellaneous
#define REG_HIGH_INPUT_B 0x69 // RegHighInputB High input enable register _ I/O[15_8] (Bank B) 0000 0000
#define REG_HIGH_INPUT_A 0x6A // RegHighInputA High input enable register _ I/O[7_0] (Bank A) 0000 0000
// Software Reset
#define REG_RESET 0x7D // RegReset Software reset register 0000 0000
#define REG_TEST_1 0x7E // RegTest1 Test register 0000 0000
#define REG_TEST_2 0x7F // RegTest2 Test register 0000 0000
#define RECEIVE_TIMEOUT_VALUE 1000 // Timeout for I2C receive
// These are used for setting LED driver to linear or log mode:
#define LINEAR 0
#define LOGARITHMIC 1
// These are used for clock config:
#define INTERNAL_CLOCK 2
#define EXTERNAL_CLOCK 1
class SensorBar
{
public:
//New functions for bar specific operation
SensorBar(I2C& i2c, float distAxisToSensor = 0.12f);
virtual ~SensorBar();
//Functions pulled from the SX1509 driver
// void debounceConfig( uint8_t configValue );
// void debounceEnable( uint8_t pin );
// unsigned int interruptSource();
// void configClock( uint8_t oscSource = 2, uint8_t oscPinFunction = 0, uint8_t oscFreqOut = 0, uint8_t oscDivider = 1 );
void setBarStrobe(); // to only illuminate while reading line
void clearBarStrobe(); // to illuminate all the time
void setInvertBits(); // to make the bar functions look for a white line on dark surface
void clearInvertBits(); // to make the bar look for a dark line on a reflective surface
uint8_t getRaw();
int8_t getBinaryPosition();
float getAngleRad();
float getAvgAngleRad();
uint8_t getNrOfLedsActive();
bool isAnyLedActive();
private:
//Holding variables
uint8_t lastBarRawValue;
uint8_t lastBarPositionValue;
float distAxisToSensor;
//Settings
uint8_t deviceAddress; // I2C Address of SX1509
uint8_t barStrobe; // 0 = always on, 1 = power saving by IR LED strobe
uint8_t invertBits; // 1 = invert
// Pin definitions:
uint8_t pinInterrupt;
uint8_t pinOscillator;
uint8_t pinReset;
bool begin(); // Run this once during initialization to configure the SX1509 as a sensor bar
void reset();
// Read Functions:
uint8_t readByte(uint8_t registerAddress);
unsigned int readWord(uint8_t registerAddress);
void readBytes(uint8_t firstRegisterAddress, char * destination, uint8_t length);
// Write functions:
void writeByte(uint8_t registerAddress, uint8_t writeValue);
void writeWord(uint8_t registerAddress, unsigned int writeValue);
void writeBytes(uint8_t firstRegisterAddress, uint8_t * writeArray, uint8_t length);
I2C& i2c;
static const float TS;
static const char REG_I_ON[16];
static const char REG_T_ON[16];
static const char REG_OFF[16];
static const char REG_T_RISE[16];
static const char REG_T_FALL[16];
ThreadFlag threadFlag;
Thread thread;
Ticker ticker;
float angle, avg_angle;
uint8_t nrOfLedsActive;
AvgFilter avg_filter;
bool is_first_avg;
void update();
float updateAngleRad();
uint8_t updateNrOfLedsActive();
void sendThreadFlag();
};
#endif /* SensorBar_H */
//****************************************************************************//
//
// Circular Buffer
//
//****************************************************************************//
//Class CircularBuffer is int16_t
//Does not care about over-running real data ( if request is outside length's bounds ).
//For example, the underlying machine writes [48], [49], [0], [1] ...
/*
namespace name
{
class CircularBuffer
{
public:
CircularBuffer( uint16_t inputSize );
~CircularBuffer();
int16_t getElement( uint16_t ); //zero is the push location
void pushElement( int16_t );
int16_t averageLast( uint16_t );
uint16_t recordLength();
private:
uint16_t cBufferSize;
int16_t *cBufferData;
int16_t cBufferLastPtr;
uint8_t cBufferElementsUsed;
};
}
*/
