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Removed old serial code for Maple ADC

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This commit is contained in:
Philip Rosedale 2013-05-09 14:01:22 -07:00
parent dbdd4160cc
commit dd33cedf8d
4 changed files with 23 additions and 158 deletions
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26
interface/src/Avatar.cpp
View file

@ -269,16 +269,10 @@ void Avatar::updateHeadFromGyros(float frametime, SerialInterface* serialInterfa
float measuredRollRate = 0.0f; float measuredRollRate = 0.0f;
float measuredYawRate = 0.0f; float measuredYawRate = 0.0f;
if (serialInterface->active && USING_INVENSENSE_MPU9150) { measuredPitchRate = serialInterface->getLastPitchRate();
measuredPitchRate = serialInterface->getLastPitchRate(); measuredYawRate = serialInterface->getLastYawRate();
measuredYawRate = serialInterface->getLastYawRate(); measuredRollRate = serialInterface->getLastRollRate();
measuredRollRate = serialInterface->getLastRollRate();
} else {
measuredPitchRate = serialInterface->getRelativeValue(HEAD_PITCH_RATE);
measuredYawRate = serialInterface->getRelativeValue(HEAD_YAW_RATE);
measuredRollRate = serialInterface->getRelativeValue(HEAD_ROLL_RATE);
}
// Update avatar head position based on measured gyro rates // Update avatar head position based on measured gyro rates
const float MAX_PITCH = 45; const float MAX_PITCH = 45;
const float MIN_PITCH = -45; const float MIN_PITCH = -45;
@ -521,14 +515,12 @@ void Avatar::updateHead(float deltaTime) {
} }
// For invensense gyro, decay only slightly when roughly centered // For invensense gyro, decay only slightly when roughly centered
if (USING_INVENSENSE_MPU9150) { const float RETURN_RANGE = 15.0;
const float RETURN_RANGE = 5.0; const float RETURN_STRENGTH = 2.0;
const float RETURN_STRENGTH = 1.0; if (fabs(_headPitch) < RETURN_RANGE) { _headPitch *= (1.0f - RETURN_STRENGTH * deltaTime); }
if (fabs(_headPitch) < RETURN_RANGE) { _headPitch *= (1.0f - RETURN_STRENGTH * deltaTime); } if (fabs(_headYaw) < RETURN_RANGE) { _headYaw *= (1.0f - RETURN_STRENGTH * deltaTime); }
if (fabs(_headYaw) < RETURN_RANGE) { _headYaw *= (1.0f - RETURN_STRENGTH * deltaTime); } if (fabs(_headRoll) < RETURN_RANGE) { _headRoll *= (1.0f - RETURN_STRENGTH * deltaTime); }
if (fabs(_headRoll) < RETURN_RANGE) { _headRoll *= (1.0f - RETURN_STRENGTH * deltaTime); }
}
if (_head.noise) { if (_head.noise) {
// Move toward new target // Move toward new target

116
interface/src/SerialInterface.cpp
View file

@ -131,43 +131,10 @@ void SerialInterface::initializePort(char* portname, int baud) {
#endif #endif
} }
// 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 // Render the serial interface channel values onscreen as vertical lines
void SerialInterface::renderLevels(int width, int height) { void SerialInterface::renderLevels(int width, int height) {
int i;
int displayX = 10;
const int GAP = 16;
char val[40]; char val[40];
if (!USING_INVENSENSE_MPU9150) { if (USING_INVENSENSE_MPU9150) {
// Legacy - Maple ADC gyros
for(i = 0; i < NUM_CHANNELS; i++) {
// Actual value
glLineWidth(2.0);
glColor4f(1, 1, 1, 1);
glBegin(GL_LINES);
glVertex2f(displayX, height * 0.95);
glVertex2f(displayX, height * (0.25 + 0.75f * getValue(i) / 4096));
glColor4f(1, 0, 0, 1);
glVertex2f(displayX - 3, height * (0.25 + 0.75f * getValue(i) / 4096));
glVertex2f(displayX, height * (0.25 + 0.75f * getValue(i) / 4096));
glEnd();
// Trailing Average value
glBegin(GL_LINES);
glColor4f(1, 1, 1, 1);
glVertex2f(displayX, height * (0.25 + 0.75f * getTrailingValue(i) / 4096));
glVertex2f(displayX + 4, height * (0.25 + 0.75f * getTrailingValue(i) / 4096));
glEnd();
sprintf(val, "%d", getValue(i));
drawtext(displayX - GAP / 2, (height * 0.95) + 2, 0.08, 90, 1.0, 0, val, 0, 1, 0);
displayX += GAP;
}
} else {
// For invensense gyros, render as horizontal bars // For invensense gyros, render as horizontal bars
const int LEVEL_CORNER_X = 10; const int LEVEL_CORNER_X = 10;
const int LEVEL_CORNER_Y = 200; const int LEVEL_CORNER_Y = 200;
@ -218,18 +185,6 @@ void SerialInterface::renderLevels(int width, int height) {
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 30); glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 30);
glEnd(); glEnd();
} }
// 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 convertHexToInt(unsigned char* sourceBuffer, int& destinationInt) { void convertHexToInt(unsigned char* sourceBuffer, int& destinationInt) {
@ -263,6 +218,8 @@ void SerialInterface::readData() {
convertHexToInt(sensorBuffer + 14, accelXRate); convertHexToInt(sensorBuffer + 14, accelXRate);
const float LSB_TO_METERS_PER_SECOND2 = 1.f / 16384.f * 9.80665f; const float LSB_TO_METERS_PER_SECOND2 = 1.f / 16384.f * 9.80665f;
// From MPU-9150 register map, with setting on
// highest resolution = +/- 2G
_lastAccelX = ((float) accelXRate) * LSB_TO_METERS_PER_SECOND2; _lastAccelX = ((float) accelXRate) * LSB_TO_METERS_PER_SECOND2;
_lastAccelY = ((float) accelYRate) * LSB_TO_METERS_PER_SECOND2; _lastAccelY = ((float) accelYRate) * LSB_TO_METERS_PER_SECOND2;
@ -296,60 +253,7 @@ void SerialInterface::readData() {
} }
totalSamples++; totalSamples++;
} else { }
// 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[] = {0.002, 0.002, 0.002, 0.002, 0.002, 0.002};
char bufchar[1];
while (read(_serialDescriptor, &bufchar, 1) > 0) {
serialBuffer[serialBufferPos] = bufchar[0];
serialBufferPos++;
// Have we reached end of a line of input?
if ((bufchar[0] == '\n') || (serialBufferPos >= MAX_BUFFER)) {
std::string serialLine(serialBuffer, serialBufferPos-1);
//printLog("%s\n", serialLine.c_str());
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);
//printLog("%s\n", val.c_str());
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);
}
// Update Trailing Averages
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];
}
}
/*
// Use a set of initial samples to compute gravity
if (totalSamples < GRAVITY_SAMPLES) {
gravity.x += lastMeasured[ACCEL_X];
gravity.y += lastMeasured[ACCEL_Y];
gravity.z += lastMeasured[ACCEL_Z];
}
if (totalSamples == GRAVITY_SAMPLES) {
gravity = glm::normalize(gravity);
printLog("gravity: %f,%f,%f\n", gravity.x, gravity.y, gravity.z);
}
*/
totalSamples++;
serialBufferPos = 0;
}
}
}
if (initialSamples == totalSamples) { if (initialSamples == totalSamples) {
timeval now; timeval now;
@ -373,18 +277,6 @@ void SerialInterface::resetSerial() {
gettimeofday(&lastGoodRead, NULL); gettimeofday(&lastGoodRead, NULL);
if (!USING_INVENSENSE_MPU9150) {
// 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++) {
serialBuffer[i] = ' ';
}
}
#endif #endif
} }

17
interface/src/SerialInterface.h
View file

@ -32,7 +32,7 @@
#define HEAD_YAW_RATE 0 #define HEAD_YAW_RATE 0
#define HEAD_ROLL_RATE 2 #define HEAD_ROLL_RATE 2
extern const bool USING_INVENSENSE_MPU9150; //const bool USING_INVENSENSE_MPU9150;
class SerialInterface { class SerialInterface {
public: public:
@ -51,13 +51,12 @@ public:
float getLastPitchRate() const { return _lastPitchRate; } float getLastPitchRate() const { return _lastPitchRate; }
float getLastRollRate() const { return _lastRollRate; } float getLastRollRate() const { return _lastRollRate; }
int getLED() {return LED;}; //int getLED() {return LED;};
int getNumSamples() {return samplesAveraged;}; //int getNumSamples() {return samplesAveraged;};
int getValue(int num) {return lastMeasured[num];}; //int getValue(int num) {return lastMeasured[num];};
int getRelativeValue(int num) {return static_cast<int>(lastMeasured[num] - trailingAverage[num]);}; //int getRelativeValue(int num) {return static_cast<int>(lastMeasured[num] - trailingAverage[num]);};
float getTrailingValue(int num) {return trailingAverage[num];}; //float getTrailingValue(int num) {return trailingAverage[num];};
void resetTrailingAverages();
void renderLevels(int width, int height); void renderLevels(int width, int height);
bool active; bool active;
glm::vec3 getGravity() {return _gravity;}; glm::vec3 getGravity() {return _gravity;};
@ -67,10 +66,6 @@ private:
void resetSerial(); void resetSerial();
int _serialDescriptor; int _serialDescriptor;
int lastMeasured[NUM_CHANNELS];
float trailingAverage[NUM_CHANNELS];
int samplesAveraged;
int LED;
int totalSamples; int totalSamples;
timeval lastGoodRead; timeval lastGoodRead;
glm::vec3 _gravity; glm::vec3 _gravity;

22
interface/src/main.cpp
View file

@ -365,10 +365,6 @@ void reset_sensors() {
headMouseY = HEIGHT/2; headMouseY = HEIGHT/2;
myAvatar.reset(); myAvatar.reset();
if (serialPort.active) {
serialPort.resetTrailingAverages();
}
} }
// //
@ -380,15 +376,9 @@ void updateAvatar(float deltaTime) {
myAvatar.updateHeadFromGyros(deltaTime, &serialPort, &gravity); myAvatar.updateHeadFromGyros(deltaTime, &serialPort, &gravity);
// Grab latest readings from the gyros // Grab latest readings from the gyros
float measuredYawRate, measuredPitchRate; float measuredPitchRate = serialPort.getLastPitchRate();
if (USING_INVENSENSE_MPU9150) { float measuredYawRate = serialPort.getLastYawRate();
measuredPitchRate = serialPort.getLastPitchRate();
measuredYawRate = serialPort.getLastYawRate();
} else {
measuredPitchRate = serialPort.getRelativeValue(HEAD_PITCH_RATE);
measuredYawRate = serialPort.getRelativeValue(HEAD_YAW_RATE);
}
// Update gyro-based mouse (X,Y on screen) // Update gyro-based mouse (X,Y on screen)
const float MIN_MOUSE_RATE = 30.0; const float MIN_MOUSE_RATE = 30.0;
const float MOUSE_SENSITIVITY = 0.1f; const float MOUSE_SENSITIVITY = 0.1f;
@ -1714,7 +1704,7 @@ void idle(void) {
} }
// Read serial port interface devices // Read serial port interface devices
if (serialPort.active && USING_INVENSENSE_MPU9150) { if (serialPort.active) {
serialPort.readData(); serialPort.readData();
} }
@ -1748,10 +1738,6 @@ void idle(void) {
lastTimeIdle = check; lastTimeIdle = check;
} }
// Read serial data
if (serialPort.active && !USING_INVENSENSE_MPU9150) {
serialPort.readData();
}
} }
void reshape(int width, int height) { void reshape(int width, int height) {