main.cpp

00001 #include "mbed.h"
00002 #include "USBHID.h"
00003 #include "USBJoystick.h"
00004 #include "LowPassFilter.h"
00005 #include "AnalogInFiltered.h"
00006 #include "AutoScale.h"
00007 #include "Button.h"
00008 #include "rtos.h"
00009 
00010 // When set, it will send debug data over USB serial
00011 #define TTY_DEBUG false
00012 
00013 // Value that defines when to start sending data this prevents the noise sending loads's of data over HID
00014 #define DATA_CHANGE_TRIGGER 8
00015 
00016 // Activity LED for HID data
00017 #define HIDACTIVITYLED LED3
00018 
00019 // Structure that hold's the dataset of the input's
00020 Mutex analogValueMutex;
00021 struct AnalogData {
00022     union {
00023         struct {
00024             uint32_t bit0:1;
00025             uint32_t bit1:1;
00026             uint32_t bit2:1;
00027             uint32_t bit3:1;
00028             uint32_t bit4:1;
00029             uint32_t bit5:1;
00030             uint32_t bit6:1;
00031             uint32_t bit7:1;
00032             uint32_t bit8:1;
00033             uint32_t bit9:1;
00034             uint32_t bit10:1;
00035             uint32_t bit11:1;
00036             uint32_t bit12:1;
00037             uint32_t bit13:1;
00038             uint32_t bit14:1;
00039             uint32_t bit15:1;
00040             uint32_t bit16:1;
00041             uint32_t bit17:1;
00042             uint32_t bit18:1;
00043             uint32_t bit19:1;
00044             uint32_t bit20:1;
00045             uint32_t bit21:1;
00046             uint32_t bit22:1;
00047             uint32_t bit23:1;
00048             uint32_t bit24:1;
00049             uint32_t bit25:1;
00050             uint32_t bit26:1;
00051             uint32_t bit27:1;
00052             uint32_t bit28:1;
00053             uint32_t bit29:1;
00054             uint32_t bit30:1;
00055             uint32_t bit31:1;
00056         };
00057         uint32_t button;
00058     } buttons;
00059     long value1;
00060     long value2;
00061     long value3;
00062     long value4;
00063 } analogData;
00064 
00065 
00066 
00067 
00068 /**
00069 Debug thread to show some values from the system over USB serial.
00070 Ensure that TTY_DEBUG is defined so that these routines will get activated.
00071 This is what I do to view the values on OSX within a terminal
00072 $ cd /dev
00073 $ ls | grep usbmodem
00074 cu.usbmodemfa1232
00075 tty.usbmodemfa1232
00076 $ screen tty.usbmodemfa1232
00077 */
00078 const char *byte_to_binary16(int x)
00079 {
00080     static char b[17];
00081     b[0] = '\0';
00082 
00083     int z;
00084     for (z = 32768; z > 0; z >>= 1) {
00085         strcat(b, ((x & z) == z) ? "1" : "0");
00086     }
00087 
00088     return b;
00089 }
00090 
00091 
00092 void debug_thread(void const *args)
00093 {
00094     // Serial port for debug data
00095     Serial pc(USBTX, USBRX); // tx, rx
00096 
00097     // Make a local copy
00098     AnalogData previous;
00099     while (true) {
00100         // Lock and copy input values
00101         analogValueMutex.lock();
00102         const AnalogData localCopy = analogData;
00103         analogValueMutex.unlock();
00104 
00105         // Send to USB
00106         pc.printf("\x1B[0;0H");
00107         pc.printf("Yoke and Pedals!\n\r");
00108         pc.printf("Analog in p20: %d  diff: %d    \n\r",localCopy.value1,localCopy.value1-previous.value1);
00109         pc.printf("Analog in p19: %d  diff: %d    \n\r",localCopy.value2,localCopy.value2-previous.value2);
00110         pc.printf("Buttons: %d    \n\r",localCopy.buttons.button);
00111 
00112         // Make local copy so we can show diff version
00113         previous = localCopy;
00114         Thread::wait(1000);
00115     }
00116 }
00117 
00118 
00119 
00120 void hid_thread(void const *args)
00121 {
00122     //USB HID JoyStick
00123     USBJoystick joystick;
00124 
00125     // Activity led for HID data transmissions
00126     DigitalOut hIDActivity(HIDACTIVITYLED);
00127 
00128     while (true) {
00129         // Wait for analog in to have some data
00130         hIDActivity=false;
00131         Thread::signal_wait(0x1);
00132         hIDActivity=true;
00133 
00134         // Make a local copy of the data
00135         analogValueMutex.lock();
00136         const AnalogData localCopy = analogData;
00137         analogValueMutex.unlock();
00138 
00139         // Update joystick's info
00140         joystick.update(
00141             localCopy.value1,
00142             localCopy.value2,
00143             localCopy.value3,
00144             localCopy.value4,
00145             localCopy.buttons.button);
00146 
00147         // Wait 50 ms to send a other USB update
00148         Thread::wait(50);
00149     }
00150 }
00151 
00152 
00153 
00154 int main()
00155 {
00156     analogData.buttons.button = 0;
00157     analogData.value1=0.;
00158     analogData.value2=0.;
00159     analogData.value3=0.;
00160     analogData.value4=0.;
00161 
00162     Button but5(p5, true, true);
00163     Button but6(p6, true, true);
00164     Button but7(p7, true, true);
00165     Button but8(p8, true, true);
00166     Button but9(p9, true, true);
00167     Button but10(p10, true, true);
00168     Button but11(p11, true, true);
00169     Button but12(p12, true, true);
00170     Button but13(p13, true, true);
00171     Button but14(p14, true, true);
00172     Button but15(p15, true, true);
00173     Button but16(p16, true, true);
00174     Button but17(p17, true, true);
00175     Button but21(p21, true, true);
00176     Button but22(p22, true, true);
00177     Button but23(p23, true, true);
00178     Button but24(p24, true, true);
00179     Button but25(p25, true, true);
00180 
00181     if (TTY_DEBUG) {
00182         Thread _debugThread(debug_thread);
00183     }
00184 
00185     // Initialise moving average filters
00186     LowPassFilter lowPassFilter1(new AnalogFilterInterface(),0.99f);   // The close the alpha value is to 1, the lower the cut-off frequency
00187     LowPassFilter lowPassFilter2(new AnalogFilterInterface(),0.99f);
00188     LowPassFilter lowPassFilter3(new AnalogFilterInterface(),0.96f);
00189 
00190     AutoScale autoScale1(&lowPassFilter1, -32768, 32767, 1.01);
00191     AutoScale autoScale2(&lowPassFilter2, -32768, 32767, 1.01);
00192     AutoScale autoScale3(&lowPassFilter3, -32768, 32767, 1.01);
00193 
00194     // Initialise analog input and tell it what fulters to use
00195     AnalogInFiltered ai1(&autoScale1, p20, DATA_CHANGE_TRIGGER);
00196     AnalogInFiltered ai2(&autoScale2, p19, DATA_CHANGE_TRIGGER);
00197     AnalogInFiltered ai3(&autoScale3, p18, DATA_CHANGE_TRIGGER);
00198 
00199     Thread _hid_thread(hid_thread);
00200     while (true) {
00201         // Measure analog in's
00202         ai1.setData(0);
00203         ai2.setData(0);
00204         ai3.setData(0);
00205 
00206         but5.measure();
00207         but6.measure();
00208         but7.measure();
00209         but8.measure();
00210         but9.measure();
00211         but10.measure();
00212         but11.measure();
00213         but12.measure();
00214         but13.measure();
00215         but14.measure();
00216         but15.measure();
00217         but16.measure();
00218         but17.measure();
00219 
00220         but21.measure();
00221         but22.measure();
00222         but23.measure();
00223         but24.measure();
00224         but25.measure();
00225 
00226         // test of any of the values have been changed, so we only update when data was actually changed
00227         const bool isChanged =
00228             ai1.getIsChanged() ||
00229             ai2.getIsChanged() ||
00230             ai3.getIsChanged() ||
00231             but5.getIsChanged() ||
00232             but6.getIsChanged() ||
00233             but7.getIsChanged() ||
00234             but8.getIsChanged() ||
00235             but9.getIsChanged() ||
00236             but10.getIsChanged() ||
00237             but11.getIsChanged() ||
00238             but12.getIsChanged() ||
00239             but13.getIsChanged() ||
00240             but14.getIsChanged() ||
00241             but15.getIsChanged() ||
00242             but16.getIsChanged() ||
00243             but17.getIsChanged() ||
00244             but21.getIsChanged() ||
00245             but22.getIsChanged() ||
00246             but23.getIsChanged() ||
00247             but24.getIsChanged() ||
00248             but25.getIsChanged();
00249         if (
00250             isChanged
00251         ) {
00252             // Copy analog data to global data
00253             analogValueMutex.lock();
00254             analogData.buttons.bit0 = but5.getData();
00255             analogData.buttons.bit1 = but6.getData();
00256             analogData.buttons.bit2 = but7.getData();
00257             analogData.buttons.bit3 = but8.getData();
00258             analogData.buttons.bit4 = but9.getData();
00259             analogData.buttons.bit5 = but10.getData();
00260             analogData.buttons.bit6 = but11.getData();
00261             analogData.buttons.bit7 = but12.getData();
00262             analogData.buttons.bit8 = but13.getData();
00263             analogData.buttons.bit9 = but14.getData();
00264             analogData.buttons.bit10 = but15.getData();
00265             analogData.buttons.bit11 = but16.getData();
00266             analogData.buttons.bit12 = but17.getData();
00267             analogData.buttons.bit13 = but21.getData();
00268             analogData.buttons.bit14 = but22.getData();
00269             analogData.buttons.bit15 = but23.getData();
00270             analogData.buttons.bit16 = but24.getData();
00271             analogData.buttons.bit17 = but25.getData();
00272 
00273             analogData.value1 = ai1.getData();
00274             analogData.value2 = ai2.getData();
00275             analogData.value3 = ai3.getData();
00276             analogData.value4 = 0.;
00277             analogValueMutex.unlock();
00278 
00279             // Signal that data has been changed
00280             _hid_thread.signal_set(0x1);
00281         }
00282         Thread::wait(1);
00283     }
00284 }
00285