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Commit de1a8c0e authored by Václav Jelínek's avatar Václav Jelínek
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Change number of measurement cycles and color recognition for OC rgb sensor

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oc_sensors/rgb_opto/Core/Inc/oc_sensor_modes.h
+ 14
− 1
View file @ de1a8c0e
......@@ -4,13 +4,26 @@
#ifndef OC_SENSOR_MODES_H
#define OC_SENSOR_MODES_H
#include <stdint.h>
#define SENSOR_ID 193
#define DATA_BAUD_RATE 256000
#define PCT_MIN 0
#define PCT_MAX 100
#define ADC_MAX 65535
#define RAW_MIN 0
#define RAW_MAX 1023
#define MEAS_CYCLES 12
#define MEAS_CYCLES_RGB 6
#define MEAS_CYCLES_AMBIENT 15
#define COL_THS 0.1
#define MEAS_CYCLES 1
typedef struct {
volatile uint8_t data_ready;
volatile uint8_t send_data;
volatile uint8_t change_mode;
} oc_rgb_sensor;
typedef enum {
S_MODE_WAIT_ACK = -2,
......
oc_sensors/rgb_opto/Core/Src/main.c
+ 31
− 56
View file @ de1a8c0e
......@@ -30,11 +30,6 @@
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
typedef struct {
volatile uint8_t data_ready;
volatile uint8_t send_data;
volatile uint8_t change_mode;
} oc_rgb_sensor;
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
......@@ -95,7 +90,7 @@ const uint16_t g_max = 24000;
const uint16_t b_min = 0;
const uint16_t b_max = 53000;
uint16_t color=0;
uint8_t color=0;
/* USER CODE END PV */
......@@ -146,10 +141,7 @@ void reset_communication() {
uint16_t meas_light(void){
HAL_ADC_Start(&hadc1);
uint32_t tim1 = __HAL_TIM_GET_COUNTER(&htim1);
HAL_ADC_PollForConversion(&hadc1,1000);
uint32_t tim2 = __HAL_TIM_GET_COUNTER(&htim1);
uint32_t tim3 = tim2-tim1;
return (uint16_t)HAL_ADC_GetValue(&hadc1);
}
......@@ -267,7 +259,7 @@ void rgb_to_hsv(float r, float g, float b, float* h, float* s, float* v) {
uint8_t hsv_to_color(float h, float s, float v) {
if (v < 15) {
return BLACK;
} else if (s < 15) {
} else if (s < 20) {
return WHITE;
} else if (h > 160 && h <= 260) {
return BLUE;
......@@ -294,19 +286,19 @@ float MAP(uint16_t au16_IN, uint16_t au16_INmin, uint16_t au16_INmax, uint16_t a
}
void measure_data(void) {
blue_off();
green_off();
red_off();
switch (sensor_state) {
case S_MODE_REFLECT:
case S_MODE_REF_RAW:
adc_off_sum = 0;
red_sum = 0;
for (int i=0; i < MEAS_CYCLES; i++) {
blue_off();
green_off();
red_off();
delay_us(200);
delay_us(50);
adc_off_sum += meas_light();
red_on();
delay_us(400);
delay_us(50);
red_sum += meas_light();
red_off();
}
......@@ -325,13 +317,10 @@ void measure_data(void) {
adc_off_sum = 0;
green_sum = 0;
for (int i=0; i < MEAS_CYCLES; i++) {
blue_off();
green_off();
red_off();
delay_us(200);
delay_us(50);
adc_off_sum += meas_light();
green_on();
delay_us(400);
delay_us(50);
green_sum += meas_light();
green_off();
}
......@@ -342,13 +331,10 @@ void measure_data(void) {
adc_off_sum = 0;
blue_sum = 0;
for (int i=0; i < MEAS_CYCLES; i++) {
blue_off();
green_off();
red_off();
delay_us(200);
delay_us(50);
adc_off_sum += meas_light();
blue_on();
delay_us(400);
delay_us(50);
blue_sum += meas_light();
blue_off();
}
......@@ -356,65 +342,55 @@ void measure_data(void) {
blue = blue_sum/MEAS_CYCLES;
break;
case S_MODE_AMBIENT:
blue_off();
green_off();
red_off();
adc_off_sum = 0;
for (int i=0; i < MEAS_CYCLES; i++) {
for (int i=0; i < MEAS_CYCLES_AMBIENT; i++) {
adc_off_sum += meas_light();
delay_us(100);
delay_us(10);
}
adc_off = adc_off_sum/MEAS_CYCLES;
adc_off = adc_off_sum/MEAS_CYCLES_AMBIENT;
ambient = MAP(adc_off, 0, ADC_MAX, PCT_MIN, PCT_MAX);
break;
case S_MODE_COLOR:
case S_MODE_RGB_RAW:
blue_off();
green_off();
red_off();
adc_off_sum = 0;
red_sum = 0;
green_sum = 0;
blue_sum = 0;
for (int i=0; i < MEAS_CYCLES; i++) {
delay_us(200);
for (int i=0; i < MEAS_CYCLES_RGB; i++) {
delay_us(50);
adc_off_sum += meas_light();
red_on();
delay_us(400);
delay_us(50);
red_sum += meas_light();
red_off();
green_on();
delay_us(400);
delay_us(50);
green_sum += meas_light();
green_off();
blue_on();
delay_us(400);
delay_us(50);
blue_sum += meas_light();
blue_off();
}
if (red_sum < adc_off_sum) {
red_diff = 0;
} else {
red_diff = (red_sum - adc_off_sum)/MEAS_CYCLES;
}
if (green_sum < adc_off_sum) {
green_diff = 0;
} else {
green_diff = (green_sum - adc_off_sum)/MEAS_CYCLES;
}
if (blue_sum < adc_off_sum) {
blue_diff = 0;
} else {
blue_diff = (blue_sum - adc_off_sum)/MEAS_CYCLES;
}
adc_off = adc_off_sum/MEAS_CYCLES;
red_on();
green_on();
blue_on();
red_diff = red_sum / MEAS_CYCLES_RGB;
green_diff = green_sum / MEAS_CYCLES_RGB;
blue_diff = blue_sum / MEAS_CYCLES_RGB;
adc_off = adc_off_sum / MEAS_CYCLES_RGB;
red_map = MAP(red_diff, r_min, r_max, 0, 1);
green_map = MAP(green_diff, g_min, g_max, 0, 1);
blue_map = MAP(blue_diff, b_min, b_max, 0, 1);
rgb_to_hsv(red_map, green_map, blue_map, &h, &s, &v);
if (red_map < COL_THS && green_map < COL_THS && blue_map < COL_THS) {
color = NONE;
} else {
color = hsv_to_color(h,s,v);
}
break;
default:
break;
......@@ -452,7 +428,6 @@ void choose_send_data(void) {
send_data(sensor_state, &ambient, sizeof(ambient), USART1);
break;
case S_MODE_COLOR:
color = hsv_to_color(h,s,v);
send_data(sensor_state, &color, sizeof(color), USART1);
break;
case S_MODE_RGB_RAW: {
......
oc_sensors/rgb_opto/Core/Src/oc_sensor_modes.c
+ 2
− 2
View file @ de1a8c0e
......@@ -29,11 +29,11 @@ const ev3_mode_info m_ambient = {S_MODE_AMBIENT,
const ev3_mode_info m_color = {S_MODE_COLOR,
"COL-COLOR", 9,
0, 7,
0, 8,
0, 0,
0, 0,
"col", 3,
1, 1, 1, 0};
1, 0, 1, 0};
const ev3_mode_info m_reflect_raw = {S_MODE_REF_RAW,
"REF-RAW", 7,
......
oc_sensors/rgb_opto/rgb_opto Debug.launch
+ 1
− 1
View file @ de1a8c0e
......@@ -40,7 +40,7 @@
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/>
<stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="threadx"/>
......
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