| User | Revision | Line number | New contents of line |
|---|
| yxyang |
0:4e108bee7994
|
1
|
#include "TSL1401CL.h"
|
| yxyang |
0:4e108bee7994
|
2
|
|
| yxyang |
0:4e108bee7994
|
3
|
TSL1401CL::TSL1401CL(PinName pin_clk, PinName pin_si, PinName pin_adc) : clk(pin_clk), si(pin_si), adc(pin_adc), integration_time(0)
|
| yxyang |
0:4e108bee7994
|
4
|
{
|
| yxyang |
0:4e108bee7994
|
5
|
clk.write(0);
|
| yxyang |
0:4e108bee7994
|
6
|
integration_timer.start();
|
| yxyang |
0:4e108bee7994
|
7
|
}
|
| yxyang |
0:4e108bee7994
|
8
|
|
| yxyang |
0:4e108bee7994
|
9
|
bool TSL1401CL::integrationReady()
|
| yxyang |
0:4e108bee7994
|
10
|
{
|
| yxyang |
0:4e108bee7994
|
11
|
return static_cast<uint32_t>(integration_timer.read_us()) >= integration_time;
|
| yxyang |
0:4e108bee7994
|
12
|
}
|
| yxyang |
0:4e108bee7994
|
13
|
|
| yxyang |
0:4e108bee7994
|
14
|
void TSL1401CL::read()
|
| yxyang |
0:4e108bee7994
|
15
|
{
|
| yxyang |
0:4e108bee7994
|
16
|
integration_timer.reset();
|
| yxyang |
0:4e108bee7994
|
17
|
integration_timer.start();
|
| yxyang |
0:4e108bee7994
|
18
|
clk.write(0);
|
| yxyang |
0:4e108bee7994
|
19
|
si.write(1);
|
| yxyang |
0:4e108bee7994
|
20
|
clk.write(1);
|
| yxyang |
0:4e108bee7994
|
21
|
si.write(0);
|
| yxyang |
0:4e108bee7994
|
22
|
|
| yxyang |
0:4e108bee7994
|
23
|
for (uint8_t i = 0; i < TSL1401CL_PIXEL_COUNT; i++) {
|
| yxyang |
0:4e108bee7994
|
24
|
clk.write(0);
|
| yxyang |
0:4e108bee7994
|
25
|
data[i] = adc.read_u16();
|
| yxyang |
0:4e108bee7994
|
26
|
clk.write(1);
|
| yxyang |
0:4e108bee7994
|
27
|
}
|
| yxyang |
0:4e108bee7994
|
28
|
clk.write(0);
|
| yxyang |
0:4e108bee7994
|
29
|
}
|
| yxyang |
0:4e108bee7994
|
30
|
|
| yxyang |
0:4e108bee7994
|
31
|
void TSL1401CL::setIntegrationTime(uint32_t int_time_desired)
|
| yxyang |
0:4e108bee7994
|
32
|
{
|
| yxyang |
0:4e108bee7994
|
33
|
integration_time = int_time_desired;
|
| yxyang |
0:4e108bee7994
|
34
|
}
|
| yxyang |
0:4e108bee7994
|
35
|
|
| yxyang |
0:4e108bee7994
|
36
|
int TSL1401CL::findLineEdge (uint16_t threshold, uint8_t precision, size_t crop_amount, bool invert)
|
| yxyang |
0:4e108bee7994
|
37
|
{
|
| yxyang |
0:4e108bee7994
|
38
|
if(precision == 0) precision = 1;
|
| yxyang |
0:4e108bee7994
|
39
|
|
| yxyang |
0:4e108bee7994
|
40
|
// Create an array with resolution determined by precision containing the change between points in data
|
| yxyang |
0:4e108bee7994
|
41
|
uint16_t change_len = (TSL1401CL_PIXEL_COUNT - 2*crop_amount)/precision - 1;
|
| yxyang |
0:4e108bee7994
|
42
|
int32_t change_in_data[change_len];
|
| yxyang |
0:4e108bee7994
|
43
|
for(uint16_t i = crop_amount, j = 0; i < TSL1401CL_PIXEL_COUNT - crop_amount - precision; i += precision, j++) {
|
| yxyang |
0:4e108bee7994
|
44
|
change_in_data[j] = (int)data[i+precision] - (int)data[i];
|
| yxyang |
0:4e108bee7994
|
45
|
}
|
| yxyang |
0:4e108bee7994
|
46
|
|
| yxyang |
0:4e108bee7994
|
47
|
// Find the index of the maximum value in change_in_data
|
| yxyang |
0:4e108bee7994
|
48
|
uint16_t maxchange = 0;
|
| yxyang |
0:4e108bee7994
|
49
|
for(uint16_t i = 1; i < change_len; i++) {
|
| yxyang |
0:4e108bee7994
|
50
|
if(invert) {
|
| yxyang |
0:4e108bee7994
|
51
|
if(change_in_data[i] < change_in_data[maxchange]) maxchange = i;
|
| yxyang |
0:4e108bee7994
|
52
|
} else {
|
| yxyang |
0:4e108bee7994
|
53
|
if(change_in_data[i] > change_in_data[maxchange]) maxchange = i;
|
| yxyang |
0:4e108bee7994
|
54
|
}
|
| yxyang |
0:4e108bee7994
|
55
|
}
|
| yxyang |
0:4e108bee7994
|
56
|
|
| yxyang |
0:4e108bee7994
|
57
|
// If there isn't a sharp enough change returns -1
|
| yxyang |
0:4e108bee7994
|
58
|
if((change_in_data[maxchange] >= threshold && !invert) || (change_in_data[maxchange]*-1 >= threshold && invert)) {
|
| yxyang |
0:4e108bee7994
|
59
|
return maxchange*precision + crop_amount;
|
| yxyang |
0:4e108bee7994
|
60
|
}
|
| yxyang |
0:4e108bee7994
|
61
|
else return -1;
|
| yxyang |
0:4e108bee7994
|
62
|
}
|
| yxyang |
0:4e108bee7994
|
63
|
|
| yxyang |
0:4e108bee7994
|
64
|
int TSL1401CL::findLineCenter (uint16_t threshold, uint8_t precision, size_t crop_amount)
|
| yxyang |
0:4e108bee7994
|
65
|
{
|
| yxyang |
0:4e108bee7994
|
66
|
if(precision == 0) precision = 1;
|
| yxyang |
0:4e108bee7994
|
67
|
|
| yxyang |
0:4e108bee7994
|
68
|
// Create an array with resolution determined by precision containing the change between points in data
|
| yxyang |
0:4e108bee7994
|
69
|
uint16_t change_len = (TSL1401CL_PIXEL_COUNT - 2*crop_amount)/precision - 1;
|
| yxyang |
0:4e108bee7994
|
70
|
int32_t change_in_data[change_len];
|
| yxyang |
0:4e108bee7994
|
71
|
for(uint16_t i = crop_amount, j = 0; i < TSL1401CL_PIXEL_COUNT - crop_amount - precision; i += precision, j++) {
|
| yxyang |
0:4e108bee7994
|
72
|
change_in_data[j] = (int)data[i+precision] - (int)data[i];
|
| yxyang |
0:4e108bee7994
|
73
|
}
|
| yxyang |
0:4e108bee7994
|
74
|
|
| yxyang |
0:4e108bee7994
|
75
|
// Find the index of the maximum and minimum value in change_in_data
|
| yxyang |
0:4e108bee7994
|
76
|
uint16_t maxchange = 0;
|
| yxyang |
0:4e108bee7994
|
77
|
uint16_t minchange = 0;
|
| yxyang |
0:4e108bee7994
|
78
|
for(uint16_t i = 1; i < change_len; i++) {
|
| yxyang |
0:4e108bee7994
|
79
|
if(change_in_data[i] > change_in_data[maxchange]) maxchange = i;
|
| yxyang |
0:4e108bee7994
|
80
|
if(change_in_data[i] < change_in_data[minchange]) minchange = i;
|
| yxyang |
0:4e108bee7994
|
81
|
}
|
| yxyang |
0:4e108bee7994
|
82
|
|
| yxyang |
0:4e108bee7994
|
83
|
// Return the average of the max and min value
|
| yxyang |
0:4e108bee7994
|
84
|
if(change_in_data[maxchange] >= threshold && change_in_data[minchange]*-1 >= threshold) {
|
| yxyang |
0:4e108bee7994
|
85
|
return (precision*maxchange+precision*minchange)/2 + crop_amount;
|
| yxyang |
0:4e108bee7994
|
86
|
}
|
| yxyang |
0:4e108bee7994
|
87
|
return -1;
|
| yxyang |
0:4e108bee7994
|
88
|
}
|
| yxyang |
0:4e108bee7994
|
89
|
|
| yxyang |
0:4e108bee7994
|
90
|
uint32_t TSL1401CL::getData(uint8_t index)
|
| yxyang |
0:4e108bee7994
|
91
|
{
|
| yxyang |
0:4e108bee7994
|
92
|
return data[index];
|
| yxyang |
0:4e108bee7994
|
93
|
} |
Yuxiang Yang