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- // Copyright 2015 Olivier Gillet.
- //
- // Author: Olivier Gillet (ol.gillet@gmail.com)
- //
- // Permission is hereby granted, free of charge, to any person obtaining a copy
- // of this software and associated documentation files (the "Software"), to deal
- // in the Software without restriction, including without limitation the rights
- // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- // copies of the Software, and to permit persons to whom the Software is
- // furnished to do so, subject to the following conditions:
- //
- // The above copyright notice and this permission notice shall be included in
- // all copies or substantial portions of the Software.
- //
- // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- // THE SOFTWARE.
- //
- // See http://creativecommons.org/licenses/MIT/ for more information.
- //
- // -----------------------------------------------------------------------------
- //
- // CV reader.
-
- #ifndef MARBLES_CV_READER_H_
- #define MARBLES_CV_READER_H_
-
- #include "stmlib/stmlib.h"
-
- #include "marbles/drivers/adc.h"
-
- #include "marbles/cv_reader_channel.h"
- #include "marbles/settings.h"
-
- namespace marbles {
-
- class CvReader {
- public:
- CvReader() { }
- ~CvReader() { }
-
- void Init(CalibrationData* calibration_data);
-
- inline bool ready_for_calibration() const {
- return true;
- }
-
- inline void CalibrateRateC1() {
- cv_c1_[0] = channel_[ADC_CHANNEL_T_RATE].unscaled_cv_lp();
- }
-
- inline void CalibrateRateC3() {
- cv_c3_[0] = channel_[ADC_CHANNEL_T_RATE].unscaled_cv_lp();
- }
-
- inline void CalibrateSpreadC1() {
- cv_c1_[1] = 0.5f * channel_[ADC_CHANNEL_X_SPREAD].unscaled_cv_lp() + \
- 0.5f * channel_[ADC_CHANNEL_X_SPREAD_2].unscaled_cv_lp();
- }
-
- inline bool CalibrateSpreadC3() {
- cv_c3_[1] = 0.5f * channel_[ADC_CHANNEL_X_SPREAD].unscaled_cv_lp() + \
- 0.5f * channel_[ADC_CHANNEL_X_SPREAD_2].unscaled_cv_lp();
- for (int i = 0; i < 2; ++i) {
- float c3 = cv_c3_[i]; // 0.2
- float c1 = cv_c1_[i]; // 0.4
- float delta = c3 - c1;
- float target_scale = i == 0 ? 24.0f : 0.4f;
- float target_offset = i == 0 ? 12.0f : 0.2f;
- if (delta > -0.3f && delta < -0.1f) {
- int channel = i == 0 ? ADC_CHANNEL_T_RATE : ADC_CHANNEL_X_SPREAD;
- calibration_data_->adc_scale[channel] = target_scale / (c3 - c1);
- calibration_data_->adc_offset[channel] = target_offset - \
- calibration_data_->adc_scale[channel] * c1;
- } else {
- return false;
- }
- }
- calibration_data_->adc_scale[ADC_CHANNEL_X_SPREAD_2] = calibration_data_->adc_scale[ADC_CHANNEL_X_SPREAD];
- calibration_data_->adc_offset[ADC_CHANNEL_X_SPREAD_2] = calibration_data_->adc_offset[ADC_CHANNEL_X_SPREAD];
- return true;
- }
-
- inline void CalibrateOffsets() {
- for (size_t i = 0; i < ADC_CHANNEL_LAST; ++i) {
- if (i != ADC_CHANNEL_T_RATE && i != ADC_CHANNEL_X_SPREAD) {
- calibration_data_->adc_offset[i] = \
- 2.0f * channel_[i].unscaled_cv_lp();
- }
- }
- }
-
- inline uint8_t adc_value(int index) const {
- return adc_.value(index) >> 8;
- }
-
- void Copy(uint16_t* output);
- void Process(const uint16_t* values, float* output);
-
- inline const CvReaderChannel& channel(size_t index) {
- return channel_[index];
- }
- inline CvReaderChannel* mutable_channel(size_t index) {
- return &channel_[index];
- }
- inline void set_attenuverter(int index, float value) {
- attenuverter_[index] = value;
- }
-
- private:
- Adc adc_;
- CalibrationData* calibration_data_;
- float cv_c1_[2];
- float cv_c3_[2];
-
- CvReaderChannel channel_[ADC_CHANNEL_LAST];
- float attenuverter_[ADC_CHANNEL_LAST];
- static const CvReaderChannel::Settings channel_settings_[ADC_CHANNEL_LAST];
-
- DISALLOW_COPY_AND_ASSIGN(CvReader);
- };
-
- } // namespace marbles
-
- #endif // MARBLES_CV_READER_H_
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