Kenta Tanabe / TRP105F_Spline_for_child

for child

Fork of TRP105F_Spline by Akifumi Takahashi

TRP105F_Spline.h@13:16fc61b41eff, 2016-06-07 (annotated)

Committer:
aktk
Date:
Tue Jun 07 16:23:19 2016 +0000
Revision:
13:16fc61b41eff
Parent:
12:db5110d9d494
Child:
14:a99bf22b919d
type of _Sample_Num was modified: int -> unsigned short.; in saveSetting(any), size of _Sample_num to write into savedata file was modified: int -> unsigned short.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aktk 0:e85788b14028 1 /**
aktk 0:e85788b14028 2 * TRP105F_Spline.h,.cpp
aktk 0:e85788b14028 3 *
aktk 2:40ae18445079 4 * Author: aktk, aktk.j.uec@gmail.com
aktk 2:40ae18445079 5 * Tokyo, Japan.
aktk 2:40ae18445079 6 *
aktk 2:40ae18445079 7 * - This library is for providing a distance from TRP105F, photo-reflect proximity sensor,
aktk 0:e85788b14028 8 * to whatever reflect the flash.
aktk 2:40ae18445079 9 * - Deistance is derived as a voltage signal of TRP105F.
aktk 0:e85788b14028 10 * - An object of TRPFS class has an array of sets of
aktk 0:e85788b14028 11 * distance(16 bit-value) and voltage(16bit-value) at the distance.
aktk 2:40ae18445079 12 * - The range of distances that an array has in sets is [0:255] by 1.
aktk 2:40ae18445079 13 * - an array is derived from a cubic spline curve model.
aktk 0:e85788b14028 14 * - In order to derive spline curve, some value sets should be got
aktk 0:e85788b14028 15 * at the first calibration.
aktk 0:e85788b14028 16 *
aktk 0:e85788b14028 17 * LOG:
aktk 0:e85788b14028 18 * ver.1 2015/10/19 - 2015/10/22
aktk 0:e85788b14028 19 * ver.2 2015/10/22 -
aktk 0:e85788b14028 20 * Distance data type has become unsigned short from int.
aktk 0:e85788b14028 21 * Distance data range : [2:20] by 1 -> [0:1024] by 1.
aktk 2:40ae18445079 22 * ver.2.1 2016/02.12 - 2016/02/16
aktk 1:2053662b1167 23 * Distance data range : [0:1024] -> [0:255].
aktk 11:d60fb729eacf 24 * ver.3.0 2016/05.23 -
aktk 0:e85788b14028 25 */
aktk 11:d60fb729eacf 26
aktk 11:d60fb729eacf 27 #ifndef TRP105F_SPLINE_H
aktk 11:d60fb729eacf 28 #define TRP105F_SPLINE_H
aktk 0:e85788b14028 29
aktk 9:ec1ee4a6b6a4 30
aktk 0:e85788b14028 31 #include "mbed.h"
aktk 11:d60fb729eacf 32 #include "CODE_SELECTIVE.h"
aktk 0:e85788b14028 33
aktk 3:b56e933bebc2 34
aktk 0:e85788b14028 35 // Set of voltage-distance
aktk 0:e85788b14028 36 typedef struct {
aktk 3:b56e933bebc2 37 unsigned short x; // distance
aktk 3:b56e933bebc2 38 unsigned short y; // voltage
aktk 0:e85788b14028 39 } VDset;
aktk 0:e85788b14028 40
aktk 1:2053662b1167 41 // Type of modality to input data for calibration
aktk 3:b56e933bebc2 42 enum UseType {
aktk 3:b56e933bebc2 43 AsDEBUG,
aktk 3:b56e933bebc2 44 AsMODULE
aktk 0:e85788b14028 45 } ;
aktk 0:e85788b14028 46
aktk 0:e85788b14028 47 //
aktk 0:e85788b14028 48 // TRP105FS Class for get distance from voltage
aktk 2:40ae18445079 49 //
aktk 0:e85788b14028 50 class TRP105FS
aktk 0:e85788b14028 51 {
aktk 0:e85788b14028 52 public:
aktk 1:2053662b1167 53 // Constraction
aktk 0:e85788b14028 54 TRP105FS();
aktk 0:e85788b14028 55 TRP105FS(unsigned int);
aktk 3:b56e933bebc2 56 TRP105FS(unsigned int, UseType);
aktk 10:b50e4bb40571 57 TRP105FS(unsigned int, PinName);
aktk 3:b56e933bebc2 58 TRP105FS(unsigned int, UseType, PinName);
aktk 3:b56e933bebc2 59 //TRP105FS(unsigned int arg_num, DataInType arg_dit, unsigned int channel);
aktk 1:2053662b1167 60 // Destraction
aktk 0:e85788b14028 61 ~TRP105FS();
aktk 1:2053662b1167 62 // Functions
aktk 3:b56e933bebc2 63 unsigned short getDistance(unsigned short); // alias of getX
aktk 3:b56e933bebc2 64 unsigned short getDistance(); // get voltage from PinName and getX()
aktk 3:b56e933bebc2 65 unsigned short getX(unsigned short); // the fuction to get distance.
aktk 3:b56e933bebc2 66 unsigned short getY(unsigned short);
aktk 0:e85788b14028 67 void calibrateSensor();
aktk 3:b56e933bebc2 68 //void calibrateSensor(VDset* arg_set, unsigned int arg_num);
aktk 3:b56e933bebc2 69 void calibrate();
aktk 3:b56e933bebc2 70 void setSample(unsigned short,unsigned short);
aktk 0:e85788b14028 71 void saveSetting();
aktk 1:2053662b1167 72 void saveSetting(const char *filename);
aktk 0:e85788b14028 73 void loadSetting();
aktk 1:2053662b1167 74 void loadSetting(const char *filename);
aktk 12:db5110d9d494 75 void loadSetting_fromSerial(Serial *com);
aktk 5:7d4fc0979976 76 void printOutData(const char *filename);
aktk 11:d60fb729eacf 77 #ifdef HAS_COM_TO_CONSOLE
aktk 0:e85788b14028 78 void printThresholds();
aktk 11:d60fb729eacf 79 #endif
aktk 0:e85788b14028 80
aktk 0:e85788b14028 81 private:
aktk 1:2053662b1167 82 //
aktk 1:2053662b1167 83 // Defining Constants
aktk 1:2053662b1167 84 //
aktk 13:16fc61b41eff 85 enum {
aktk 0:e85788b14028 86 _LIDX = 0,
aktk 1:2053662b1167 87 _RIDX = 255,
aktk 0:e85788b14028 88 _ENUM = _RIDX - _LIDX + 1
aktk 0:e85788b14028 89 };
aktk 1:2053662b1167 90 //
aktk 1:2053662b1167 91 // Variables
aktk 1:2053662b1167 92 //
aktk 9:ec1ee4a6b6a4 93 // Debug or Module
aktk 3:b56e933bebc2 94 UseType _useType;
aktk 9:ec1ee4a6b6a4 95 // For data sampling and making spline model
aktk 13:16fc61b41eff 96 unsigned short _Sample_Num; // the number of samples for derive spline
aktk 3:b56e933bebc2 97 VDset* _Sample_Set;
aktk 9:ec1ee4a6b6a4 98 double* _u_spline;
aktk 9:ec1ee4a6b6a4 99 // For comvert voltage -> physical quantity e.g. distance
aktk 3:b56e933bebc2 100 VDset _Set[_ENUM];
aktk 3:b56e933bebc2 101 unsigned short _Threshold[_ENUM]; //_Threshold[18] is not used virtually.
aktk 9:ec1ee4a6b6a4 102 // For get voltage
aktk 9:ec1ee4a6b6a4 103 AnalogIn _ai;
aktk 3:b56e933bebc2 104 //
aktk 0:e85788b14028 105 //
aktk 0:e85788b14028 106 // For calibration
aktk 0:e85788b14028 107 //
aktk 11:d60fb729eacf 108 #ifdef HAS_COM_TO_CONSOLE
aktk 0:e85788b14028 109 void _sampleData();
aktk 11:d60fb729eacf 110 #endif
aktk 3:b56e933bebc2 111 void _setSample(unsigned short,unsigned short);
aktk 3:b56e933bebc2 112 void _setSamples(VDset* arg_set, unsigned int arg_num);
aktk 3:b56e933bebc2 113 unsigned short _getSplineYof(double arg_x);
aktk 0:e85788b14028 114 void _makeSpline(); // Cubic spline
aktk 0:e85788b14028 115 //
aktk 0:e85788b14028 116 // For get distance
aktk 0:e85788b14028 117 //
aktk 0:e85788b14028 118 int _getNearest(int, int, unsigned short);
aktk 0:e85788b14028 119 //
aktk 1:2053662b1167 120 // For debug
aktk 1:2053662b1167 121 //
aktk 0:e85788b14028 122 void _printOutData(unsigned short *arg, int num, char* name);
aktk 0:e85788b14028 123 void _printOutData(VDset *arg, int num, char* name);
aktk 0:e85788b14028 124 void _printOutData(double *arg, int num, char* name);
aktk 0:e85788b14028 125 };
aktk 0:e85788b14028 126 #endif