// // SerialInterface.cpp // 2012 by Philip Rosedale for High Fidelity Inc. // // Read interface data from the gyros/accelerometer board using SerialUSB // // Channels are received in the following order (integer 0-4096 based on voltage 0-3.3v) // // AIN 15: Pitch Gyro (nodding your head 'yes') // AIN 16: Yaw Gyro (shaking your head 'no') // AIN 17: Roll Gyro (looking quizzical, tilting your head) // AIN 18: Lateral acceleration (moving from side-to-side in front of your monitor) // AIN 19: Up/Down acceleration (sitting up/ducking in front of your monitor) // AIN 20: Forward/Back acceleration (Toward or away from your monitor) // #include "SerialInterface.h" #include #include #ifdef __APPLE__ #include #endif int serial_fd; const int MAX_BUFFER = 255; char serial_buffer[MAX_BUFFER]; int serial_buffer_pos = 0; const int ZERO_OFFSET = 2048; const short NO_READ_MAXIMUM_MSECS = 3000; const short SAMPLES_TO_DISCARD = 100; void SerialInterface::pair() { #ifdef __APPLE__ // look for a matching gyro setup DIR *devDir; struct dirent *entry; int matchStatus; regex_t regex; // for now this only works on OS X, where the usb serial shows up as /dev/tty.usb* if((devDir = opendir("/dev"))) { while((entry = readdir(devDir))) { regcomp(®ex, "tty\\.usb", REG_EXTENDED|REG_NOSUB); matchStatus = regexec(®ex, entry->d_name, (size_t) 0, NULL, 0); if (matchStatus == 0) { char *serialPortname = new char[100]; sprintf(serialPortname, "/dev/%s", entry->d_name); init(serialPortname, 115200); delete [] serialPortname; } regfree(®ex); } closedir(devDir); } #endif } // Init the serial port to the specified values int SerialInterface::init(char* portname, int baud) { serial_fd = open(portname, O_RDWR | O_NOCTTY | O_NDELAY); printf("Attemping to open serial interface: %s\n", portname); if (serial_fd == -1) return -1; // Failed to open port struct termios options; tcgetattr(serial_fd,&options); switch(baud) { case 9600: cfsetispeed(&options,B9600); cfsetospeed(&options,B9600); break; case 19200: cfsetispeed(&options,B19200); cfsetospeed(&options,B19200); break; case 38400: cfsetispeed(&options,B38400); cfsetospeed(&options,B38400); break; case 115200: cfsetispeed(&options,B115200); cfsetospeed(&options,B115200); break; default:cfsetispeed(&options,B9600); cfsetospeed(&options,B9600); break; } options.c_cflag |= (CLOCAL | CREAD); options.c_cflag &= ~PARENB; options.c_cflag &= ~CSTOPB; options.c_cflag &= ~CSIZE; options.c_cflag |= CS8; tcsetattr(serial_fd,TCSANOW,&options); printf("Serial interface opened!\n"); resetSerial(); active = true; return 0; } // Reset Trailing averages to the current measurement void SerialInterface::resetTrailingAverages() { for (int i = 1; i < NUM_CHANNELS; i++) trailingAverage[i] = lastMeasured[i]; } // Render the serial interface channel values onscreen as vertical lines void SerialInterface::renderLevels(int width, int height) { int i; int disp_x = 10; const int GAP = 16; char val[10]; for(i = 0; i < NUM_CHANNELS; i++) { // Actual value glLineWidth(2.0); glColor4f(1, 1, 1, 1); glBegin(GL_LINES); glVertex2f(disp_x, height*0.95); glVertex2f(disp_x, height*(0.25 + 0.75f*getValue(i)/4096)); glEnd(); // Trailing Average value glColor4f(1, 1, 0, 1); glBegin(GL_LINES); glVertex2f(disp_x + 2, height*0.95); glVertex2f(disp_x + 2, height*(0.25 + 0.75f*getTrailingValue(i)/4096)); glEnd(); /* glColor3f(1,0,0); glBegin(GL_LINES); glLineWidth(4.0); glVertex2f(disp_x - 10, height*0.5 - getValue(i)/4096); glVertex2f(disp_x + 10, height*0.5 - getValue(i)/4096); glEnd(); */ sprintf(val, "%d", getValue(i)); drawtext(disp_x-GAP/2, (height*0.95)+2, 0.08, 90, 1.0, 0, val, 0, 1, 0); disp_x += GAP; } // Display Serial latency block if (LED) { glColor3f(1,0,0); glBegin(GL_QUADS); { glVertex2f(width - 100, height - 100); glVertex2f(width, height - 100); glVertex2f(width, height); glVertex2f(width - 100, height); } glEnd(); } } void SerialInterface::readData() { // This array sets the rate of trailing averaging for each channel. // If the sensor rate is 100Hz, 0.001 will make the long term average a 10-second average const float AVG_RATE[] = {0.01, 0.01, 0.01, 0.01, 0.01, 0.01}; char bufchar[1]; int initialSamples = totalSamples; while (read(serial_fd, &bufchar, 1) > 0) { //std::cout << bufchar[0]; serial_buffer[serial_buffer_pos] = bufchar[0]; serial_buffer_pos++; // Have we reached end of a line of input? if ((bufchar[0] == '\n') || (serial_buffer_pos >= MAX_BUFFER)) { std::string serialLine(serial_buffer, serial_buffer_pos-1); //std::cout << serialLine << "\n"; int spot; //int channel = 0; std::string val; for (int i = 0; i < NUM_CHANNELS + 2; i++) { spot = serialLine.find_first_of(" ", 0); if (spot != std::string::npos) { val = serialLine.substr(0,spot); //std::cout << val << "\n"; if (i < NUM_CHANNELS) lastMeasured[i] = atoi(val.c_str()); else samplesAveraged = atoi(val.c_str()); } else LED = atoi(serialLine.c_str()); serialLine = serialLine.substr(spot+1, serialLine.length() - spot - 1); } for (int i = 0; i < NUM_CHANNELS; i++) { if (totalSamples > SAMPLES_TO_DISCARD) { trailingAverage[i] = (1.f - AVG_RATE[i])*trailingAverage[i] + AVG_RATE[i]*(float)lastMeasured[i]; } else { trailingAverage[i] = (float)lastMeasured[i]; } } totalSamples++; serial_buffer_pos = 0; } } if (initialSamples == totalSamples) { timeval now; gettimeofday(&now, NULL); if (diffclock(&lastGoodRead, &now) > NO_READ_MAXIMUM_MSECS) { std::cout << "No data coming over serial. Shutting down SerialInterface.\n"; resetSerial(); } } else { gettimeofday(&lastGoodRead, NULL); } } void SerialInterface::resetSerial() { active = false; totalSamples = 0; gettimeofday(&lastGoodRead, NULL); // Clear the measured and average channel data for (int i = 0; i < NUM_CHANNELS; i++) { lastMeasured[i] = 0; trailingAverage[i] = 0.0; } // Clear serial input buffer for (int i = 1; i < MAX_BUFFER; i++) { serial_buffer[i] = ' '; } }