Robert Katzschmann / Mbed 2 deprecated bmbed_watch_imu

blue mbed code for the BNO055 imu from adafruit

Dependencies:   BNO055 MODSERIAL mbed

Fork of bmbed_lidar_belt by sensory_array

main.cpp@1:5b1d88d69aa2, 2015-09-24 (annotated)

Committer:
baraki
Date:
Thu Sep 24 18:08:53 2015 +0000
Revision:
1:5b1d88d69aa2
Parent:
0:ce4f790399d9
Child:
2:ec53792aef80
works and is faster but still kind of slow

Who changed what in which revision?

UserRevisionLine numberNew contents of line
baraki 0:ce4f790399d9 1 #include "mbed.h"
baraki 0:ce4f790399d9 2 #include "MODSERIAL.h"
baraki 0:ce4f790399d9 3
baraki 0:ce4f790399d9 4 #define PC_BAUD 9600
baraki 0:ce4f790399d9 5 #define BT_BAUD 9600
baraki 0:ce4f790399d9 6 #define TX_PIN p13
baraki 0:ce4f790399d9 7 #define RX_PIN p14
baraki 0:ce4f790399d9 8 #define SDA_PIN p9 //SDA pin on LPC1768
baraki 0:ce4f790399d9 9 #define SCL_PIN p10 //SCL pin on LPC1768
baraki 0:ce4f790399d9 10
baraki 0:ce4f790399d9 11 I2C sensor(SDA_PIN, SCL_PIN); //Define LIDAR Lite sensor 1
baraki 0:ce4f790399d9 12 MODSERIAL bt(TX_PIN, RX_PIN);
baraki 0:ce4f790399d9 13 MODSERIAL pc(USBTX,USBRX);
baraki 0:ce4f790399d9 14
baraki 0:ce4f790399d9 15 bool newline_detected = false;
baraki 0:ce4f790399d9 16 bool newline_sent = false;
baraki 0:ce4f790399d9 17
baraki 0:ce4f790399d9 18 // Called everytime a new character goes into
baraki 0:ce4f790399d9 19 // the RX buffer. Test that character for \n
baraki 0:ce4f790399d9 20 // Note, rxGetLastChar() gets the last char that
baraki 0:ce4f790399d9 21 // we received but it does NOT remove it from
baraki 0:ce4f790399d9 22 // the RX buffer.
baraki 0:ce4f790399d9 23 void rxCallback(MODSERIAL_IRQ_INFO *q)
baraki 0:ce4f790399d9 24 {
baraki 0:ce4f790399d9 25 MODSERIAL *serial = q->serial;
baraki 0:ce4f790399d9 26 if ( serial->rxGetLastChar() == '\n') {
baraki 0:ce4f790399d9 27 newline_detected = true;
baraki 0:ce4f790399d9 28 }
baraki 0:ce4f790399d9 29
baraki 0:ce4f790399d9 30 }
baraki 0:ce4f790399d9 31
baraki 0:ce4f790399d9 32 void txCallback(MODSERIAL_IRQ_INFO *q)
baraki 0:ce4f790399d9 33 {
baraki 0:ce4f790399d9 34 MODSERIAL *serial = q->serial;
baraki 0:ce4f790399d9 35 if ( serial->txGetLastChar() == '\0') {
baraki 0:ce4f790399d9 36 newline_sent = true;
baraki 0:ce4f790399d9 37 }
baraki 0:ce4f790399d9 38 }
baraki 0:ce4f790399d9 39
baraki 0:ce4f790399d9 40 int main()
baraki 0:ce4f790399d9 41 {
baraki 0:ce4f790399d9 42 pc.baud(PC_BAUD);
baraki 0:ce4f790399d9 43 bt.baud(BT_BAUD);
baraki 0:ce4f790399d9 44 pc.attach(&rxCallback, MODSERIAL::RxIrq);
baraki 0:ce4f790399d9 45 bt.attach(&txCallback, MODSERIAL::TxIrq);
baraki 0:ce4f790399d9 46
baraki 0:ce4f790399d9 47 sensor.frequency(100000);
baraki 0:ce4f790399d9 48
baraki 0:ce4f790399d9 49 char sendData[1] = {0x00};
baraki 0:ce4f790399d9 50
baraki 0:ce4f790399d9 51 int addresses[7];
baraki 0:ce4f790399d9 52 addresses[0] = 0x60; //0x60
baraki 0:ce4f790399d9 53 addresses[1] = 0x64; //0x64
baraki 0:ce4f790399d9 54 addresses[2] = 0x68; //middle
baraki 0:ce4f790399d9 55 addresses[3] = 0x6C;
baraki 0:ce4f790399d9 56 addresses[4] = 0x70;
baraki 0:ce4f790399d9 57 addresses[5] = 0x80; //up
baraki 0:ce4f790399d9 58 addresses[6] = 0x84; //down
baraki 0:ce4f790399d9 59
baraki 0:ce4f790399d9 60 uint8_t pulses[7] = {0};
baraki 0:ce4f790399d9 61 uint8_t intensity[7] = {0};
baraki 0:ce4f790399d9 62
baraki 0:ce4f790399d9 63 char btData[12] = {'a','b','c','d','e','f','g','\n','\0'};
baraki 0:ce4f790399d9 64
baraki 0:ce4f790399d9 65 //calibrate down sensor
baraki 0:ce4f790399d9 66 int down_cal = 0;
baraki 0:ce4f790399d9 67
baraki 0:ce4f790399d9 68 unsigned int i = 0;
baraki 0:ce4f790399d9 69 int count = 0; //for calibration
baraki 0:ce4f790399d9 70 int count2 = 0;//for averaging
baraki 0:ce4f790399d9 71 int differenceAvgSum = 0;
baraki 0:ce4f790399d9 72 int moving_ave[5] = {0};
baraki 0:ce4f790399d9 73 while (1) {
baraki 0:ce4f790399d9 74 for(int k=0; k<5; k++) {
baraki 0:ce4f790399d9 75 char receiveData[3] = {0};
baraki 0:ce4f790399d9 76 if(sensor.write(addresses[k], sendData, 1)){
baraki 1:5b1d88d69aa2 77 //pc.printf("writing to sensor %d failed\n", k);
baraki 0:ce4f790399d9 78 }
baraki 0:ce4f790399d9 79 //write ---> 0 on success, 1 on failure
baraki 0:ce4f790399d9 80 i = 0;
baraki 0:ce4f790399d9 81 while(sensor.read(addresses[k], receiveData, 3) || i < 10) {
baraki 0:ce4f790399d9 82 i++;
baraki 1:5b1d88d69aa2 83 //pc.printf("reading from sensor %d failed\n",k);
baraki 1:5b1d88d69aa2 84 }
baraki 0:ce4f790399d9 85 //while(!twi_master_transfer(addresses[k], sendData, 1, TWI_ISSUE_STOP)){;}
baraki 0:ce4f790399d9 86 //while(!twi_master_transfer(addresses[k] + 1, receiveData, 3, TWI_ISSUE_STOP)){;}
baraki 0:ce4f790399d9 87 int distance = ((int)receiveData[0]<<8 )+ (int)receiveData[1];
baraki 0:ce4f790399d9 88 if(distance == 0){
baraki 0:ce4f790399d9 89 pulses[k] = 1;
baraki 0:ce4f790399d9 90 intensity[k] = 0;
baraki 0:ce4f790399d9 91 }
baraki 0:ce4f790399d9 92 if(distance > 0 && distance < 650) {
baraki 0:ce4f790399d9 93 pulses[k] = 5;
baraki 0:ce4f790399d9 94 intensity[k] = 7;
baraki 0:ce4f790399d9 95 } else if(distance >= 650 && distance < 900) {
baraki 0:ce4f790399d9 96 pulses[k] = 4;
baraki 0:ce4f790399d9 97 intensity[k] = 6;
baraki 0:ce4f790399d9 98 } else if(distance >= 900 && distance < 1350) {
baraki 0:ce4f790399d9 99 pulses[k] = 3;
baraki 0:ce4f790399d9 100 intensity[k] = 5;
baraki 0:ce4f790399d9 101 } else if(distance >= 1350 && distance < 1850) {
baraki 0:ce4f790399d9 102 pulses[k] = 2;
baraki 0:ce4f790399d9 103 intensity[k] = 2;
baraki 0:ce4f790399d9 104 } else if(distance >= 1800) {
baraki 0:ce4f790399d9 105 pulses[k] = 1;
baraki 0:ce4f790399d9 106 intensity[k] = 0;
baraki 0:ce4f790399d9 107 }
baraki 0:ce4f790399d9 108 pc.printf("num: %d \t pulses: %d \t intensity: %d \n",k,pulses[k],intensity[k]);
baraki 0:ce4f790399d9 109 }
baraki 0:ce4f790399d9 110
baraki 0:ce4f790399d9 111 //find UP distance
baraki 0:ce4f790399d9 112 char receiveData2[3] = {0};
baraki 0:ce4f790399d9 113 sensor.write(addresses[5], sendData, 1);
baraki 0:ce4f790399d9 114 i = 0;
baraki 0:ce4f790399d9 115 while(sensor.read(addresses[5]+1, receiveData2, 3) || i < 10){
baraki 0:ce4f790399d9 116 i++;}
baraki 0:ce4f790399d9 117 int distance2 = (receiveData2[0]<<8 )+ receiveData2[1];
baraki 0:ce4f790399d9 118 if(distance2 >= 500 && distance2 < 1000) {
baraki 0:ce4f790399d9 119 pulses[5] = 5;
baraki 0:ce4f790399d9 120 intensity[5] = 7;
baraki 0:ce4f790399d9 121 } else {
baraki 0:ce4f790399d9 122 pulses[5] = 1;
baraki 0:ce4f790399d9 123 intensity[5] = 0;
baraki 0:ce4f790399d9 124 }
baraki 0:ce4f790399d9 125
baraki 0:ce4f790399d9 126 //find DOWN distance
baraki 0:ce4f790399d9 127 char receiveData3[3] = {0};
baraki 0:ce4f790399d9 128 sensor.write(addresses[6], sendData, 1);
baraki 0:ce4f790399d9 129 while(sensor.read(addresses[6]+1, receiveData3, 3) || i < 10){
baraki 0:ce4f790399d9 130 i++;}
baraki 0:ce4f790399d9 131 int distance3 = (receiveData3[0]<<8 )+ receiveData3[1];
baraki 0:ce4f790399d9 132 if(count > 400) {
baraki 0:ce4f790399d9 133 int difference = abs(down_cal - distance3);
baraki 0:ce4f790399d9 134 differenceAvgSum = differenceAvgSum - moving_ave[count2];
baraki 0:ce4f790399d9 135 moving_ave[count2] = difference;
baraki 0:ce4f790399d9 136 differenceAvgSum = differenceAvgSum + difference;
baraki 0:ce4f790399d9 137 count2 = count2 + 1;
baraki 0:ce4f790399d9 138 int ave = (int)(differenceAvgSum/5);
baraki 0:ce4f790399d9 139 if(ave >= 160) {
baraki 0:ce4f790399d9 140 pulses[6] = 5;
baraki 0:ce4f790399d9 141 intensity[6] = 7;
baraki 0:ce4f790399d9 142 } else {
baraki 0:ce4f790399d9 143 pulses[6] = 1;
baraki 0:ce4f790399d9 144 intensity[6] = 0;
baraki 0:ce4f790399d9 145 }
baraki 0:ce4f790399d9 146
baraki 0:ce4f790399d9 147 if(count2 >4) {
baraki 0:ce4f790399d9 148 count2 = 0;
baraki 0:ce4f790399d9 149 }
baraki 0:ce4f790399d9 150 } else {
baraki 0:ce4f790399d9 151 down_cal = distance3;
baraki 0:ce4f790399d9 152 count = count+1;
baraki 0:ce4f790399d9 153 }
baraki 0:ce4f790399d9 154
baraki 1:5b1d88d69aa2 155 //pc.printf("about to send data\n");
baraki 0:ce4f790399d9 156 btData[0] = (pulses[0] << 5) | (intensity[0] << 2);
baraki 0:ce4f790399d9 157 btData[1] = (pulses[1] << 4) | (intensity[1] << 1);
baraki 0:ce4f790399d9 158 btData[2] = (pulses[2] << 3) | (intensity[2]);
baraki 0:ce4f790399d9 159 btData[3] = (pulses[3] << 2) | (intensity[3] >> 1);
baraki 0:ce4f790399d9 160 btData[4] = (intensity[3] << 7) | (pulses[4] << 1) | (intensity[4] >> 2);
baraki 0:ce4f790399d9 161 btData[5] = (intensity[4] << 6) | (0x3);
baraki 0:ce4f790399d9 162 btData[6] = (pulses[5] << 5) | (intensity[5] << 2);
baraki 0:ce4f790399d9 163 btData[7] = (pulses[6] << 5) | (intensity[6] << 2);
baraki 0:ce4f790399d9 164 btData[8] = '\0';
baraki 0:ce4f790399d9 165 for(int j=0;j<9;j++){
baraki 1:5b1d88d69aa2 166 if(bt.writeable())
baraki 1:5b1d88d69aa2 167 bt.putc(btData[j]);
baraki 1:5b1d88d69aa2 168 //wait(0.001);
baraki 0:ce4f790399d9 169 }
baraki 1:5b1d88d69aa2 170 //pc.printf("finished sending data\n");
baraki 0:ce4f790399d9 171 //ble_uart_c_write_string(&m_ble_uart_c, (uint8_t *)btData, 9);
baraki 0:ce4f790399d9 172 }
baraki 0:ce4f790399d9 173 }