Kenta Tanabe / TRP105F_Spline_for_child

for child

Fork of TRP105F_Spline by Akifumi Takahashi

TRP105F_Spline.h@27:1f38ee841153, 2017-10-24 (annotated)

Committer:
tanaken0605
Date:
Tue Oct 24 00:44:39 2017 +0000
Revision:
27:1f38ee841153
Parent:
20:0453919a76b2 
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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 17:f6ec7796dafd 12 * - The range of distances that an array has in sets is [LIDX:RIDX] 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 17:f6ec7796dafd 22 * ver.2.1 2016/02/12 - 2016/02/16
aktk 1:2053662b1167 23 * Distance data range : [0:1024] -> [0:255].
aktk 17:f6ec7796dafd 24 * ver.3.0 2016/05/23 - 2016/06/08
aktk 17:f6ec7796dafd 25 * Some Functions modified a lot. Even same name function might become uncompatible!!!!!
aktk 17:f6ec7796dafd 26 * (in order to make it be extensivly)
aktk 17:f6ec7796dafd 27 * Following are Implemented:
aktk 17:f6ec7796dafd 28 * -Functions relating to save/load data with serial
aktk 17:f6ec7796dafd 29 * -Some New Members: _ai, or so on.
aktk 17:f6ec7796dafd 30 * -enum UseType
aktk 17:f6ec7796dafd 31 *
aktk 0:e85788b14028 32 */
aktk 11:d60fb729eacf 33
aktk 11:d60fb729eacf 34 #ifndef TRP105F_SPLINE_H
aktk 11:d60fb729eacf 35 #define TRP105F_SPLINE_H
aktk 0:e85788b14028 36
aktk 9:ec1ee4a6b6a4 37
aktk 0:e85788b14028 38 #include "mbed.h"
aktk 11:d60fb729eacf 39 #include "CODE_SELECTIVE.h"
aktk 0:e85788b14028 40
aktk 3:b56e933bebc2 41
aktk 0:e85788b14028 42 // Set of voltage-distance
aktk 0:e85788b14028 43 typedef struct {
aktk 3:b56e933bebc2 44 unsigned short x; // distance
aktk 3:b56e933bebc2 45 unsigned short y; // voltage
aktk 0:e85788b14028 46 } VDset;
aktk 0:e85788b14028 47
aktk 1:2053662b1167 48 // Type of modality to input data for calibration
aktk 3:b56e933bebc2 49 enum UseType {
aktk 3:b56e933bebc2 50 AsDEBUG,
aktk 3:b56e933bebc2 51 AsMODULE
aktk 0:e85788b14028 52 } ;
aktk 0:e85788b14028 53
aktk 0:e85788b14028 54 //
aktk 0:e85788b14028 55 // TRP105FS Class for get distance from voltage
aktk 2:40ae18445079 56 //
aktk 0:e85788b14028 57 class TRP105FS
aktk 0:e85788b14028 58 {
aktk 0:e85788b14028 59 public:
aktk 1:2053662b1167 60 // Constraction
aktk 0:e85788b14028 61 TRP105FS();
aktk 18:b046bba4ffa7 62 TRP105FS(unsigned short);
aktk 18:b046bba4ffa7 63 TRP105FS(unsigned short, UseType);
aktk 18:b046bba4ffa7 64 TRP105FS(unsigned short, PinName);
aktk 18:b046bba4ffa7 65 TRP105FS(unsigned short, UseType, PinName);
aktk 3:b56e933bebc2 66 //TRP105FS(unsigned int arg_num, DataInType arg_dit, unsigned int channel);
aktk 1:2053662b1167 67 // Destraction
aktk 0:e85788b14028 68 ~TRP105FS();
aktk 1:2053662b1167 69 // Functions
aktk 3:b56e933bebc2 70 unsigned short getDistance(unsigned short); // alias of getX
aktk 16:c2b0f3ca63dd 71 unsigned short getDistance(); // get voltage from PinName and getX()
aktk 16:c2b0f3ca63dd 72 unsigned short getVoltage(); // get voltage
aktk 16:c2b0f3ca63dd 73 unsigned short getX(unsigned short); // the fuction to get distance.
aktk 16:c2b0f3ca63dd 74 unsigned short getY(unsigned short); // get y-spline_model value of x(argument)
aktk 14:a99bf22b919d 75 unsigned short getSampleNum();
aktk 0:e85788b14028 76 void calibrateSensor();
aktk 3:b56e933bebc2 77 //void calibrateSensor(VDset* arg_set, unsigned int arg_num);
aktk 3:b56e933bebc2 78 void calibrate();
aktk 3:b56e933bebc2 79 void setSample(unsigned short,unsigned short);
aktk 14:a99bf22b919d 80 #ifdef HAS_LOCAL_FILE_SYSTEM
aktk 14:a99bf22b919d 81 void printOutData(const char* filename);
aktk 0:e85788b14028 82 void saveSetting();
aktk 0:e85788b14028 83 void loadSetting();
aktk 14:a99bf22b919d 84 void saveSetting(const char* filename);
aktk 14:a99bf22b919d 85 void loadSetting(const char* filename);
aktk 14:a99bf22b919d 86 //void saveSetting_fromSirial(const char* filename, Serial* com);
aktk 14:a99bf22b919d 87 //void loadSetting_intoSerial(const char* filename, Serial* com);
aktk 14:a99bf22b919d 88 #endif
aktk 14:a99bf22b919d 89 void saveSetting_intoSerial(Serial *com);
aktk 12:db5110d9d494 90 void loadSetting_fromSerial(Serial *com);
aktk 11:d60fb729eacf 91 #ifdef HAS_COM_TO_CONSOLE
aktk 0:e85788b14028 92 void printThresholds();
aktk 11:d60fb729eacf 93 #endif
aktk 0:e85788b14028 94
aktk 0:e85788b14028 95 private:
aktk 1:2053662b1167 96 //
aktk 1:2053662b1167 97 // Defining Constants
aktk 1:2053662b1167 98 //
aktk 13:16fc61b41eff 99 enum {
aktk 0:e85788b14028 100 _LIDX = 0,
aktk 1:2053662b1167 101 _RIDX = 255,
aktk 0:e85788b14028 102 _ENUM = _RIDX - _LIDX + 1
aktk 0:e85788b14028 103 };
aktk 1:2053662b1167 104 //
aktk 1:2053662b1167 105 // Variables
aktk 1:2053662b1167 106 //
aktk 9:ec1ee4a6b6a4 107 // Debug or Module
aktk 3:b56e933bebc2 108 UseType _useType;
aktk 9:ec1ee4a6b6a4 109 // For data sampling and making spline model
aktk 13:16fc61b41eff 110 unsigned short _Sample_Num; // the number of samples for derive spline
aktk 20:0453919a76b2 111 unsigned short _snum; // for counting set sample data by _setSample(us,us);
aktk 3:b56e933bebc2 112 VDset* _Sample_Set;
aktk 9:ec1ee4a6b6a4 113 double* _u_spline;
aktk 9:ec1ee4a6b6a4 114 // For comvert voltage -> physical quantity e.g. distance
aktk 3:b56e933bebc2 115 VDset _Set[_ENUM];
aktk 3:b56e933bebc2 116 unsigned short _Threshold[_ENUM]; //_Threshold[18] is not used virtually.
aktk 9:ec1ee4a6b6a4 117 // For get voltage
aktk 9:ec1ee4a6b6a4 118 AnalogIn _ai;
aktk 3:b56e933bebc2 119 //
aktk 0:e85788b14028 120 //
aktk 0:e85788b14028 121 // For calibration
aktk 0:e85788b14028 122 //
aktk 11:d60fb729eacf 123 #ifdef HAS_COM_TO_CONSOLE
aktk 0:e85788b14028 124 void _sampleData();
aktk 11:d60fb729eacf 125 #endif
aktk 3:b56e933bebc2 126 void _setSample(unsigned short,unsigned short);
aktk 3:b56e933bebc2 127 void _setSamples(VDset* arg_set, unsigned int arg_num);
aktk 3:b56e933bebc2 128 unsigned short _getSplineYof(double arg_x);
aktk 0:e85788b14028 129 void _makeSpline(); // Cubic spline
aktk 0:e85788b14028 130 //
aktk 0:e85788b14028 131 // For get distance
aktk 0:e85788b14028 132 //
aktk 0:e85788b14028 133 int _getNearest(int, int, unsigned short);
aktk 0:e85788b14028 134 //
aktk 1:2053662b1167 135 // For debug
aktk 1:2053662b1167 136 //
aktk 14:a99bf22b919d 137 #ifdef HAS_LOCAL_FILE_SYSTEM
aktk 0:e85788b14028 138 void _printOutData(unsigned short *arg, int num, char* name);
aktk 0:e85788b14028 139 void _printOutData(VDset *arg, int num, char* name);
aktk 0:e85788b14028 140 void _printOutData(double *arg, int num, char* name);
aktk 14:a99bf22b919d 141 #endif
aktk 0:e85788b14028 142 };
aktk 16:c2b0f3ca63dd 143
aktk 16:c2b0f3ca63dd 144 //inline implemeted
aktk 16:c2b0f3ca63dd 145
aktk 16:c2b0f3ca63dd 146 inline unsigned short TRP105FS::getDistance(unsigned short arg_y)
aktk 16:c2b0f3ca63dd 147 {
aktk 16:c2b0f3ca63dd 148 return getX(arg_y);
aktk 16:c2b0f3ca63dd 149 }
aktk 16:c2b0f3ca63dd 150
aktk 16:c2b0f3ca63dd 151 inline unsigned short TRP105FS::getDistance()
aktk 16:c2b0f3ca63dd 152 {
aktk 16:c2b0f3ca63dd 153 return getX(_ai.read_u16());
aktk 16:c2b0f3ca63dd 154 }
aktk 16:c2b0f3ca63dd 155
aktk 16:c2b0f3ca63dd 156 inline unsigned short TRP105FS::getVoltage()
aktk 16:c2b0f3ca63dd 157 {
aktk 16:c2b0f3ca63dd 158 return _ai.read_u16();
aktk 16:c2b0f3ca63dd 159 }
aktk 16:c2b0f3ca63dd 160
aktk 0:e85788b14028 161 #endif