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blaar
raspinobo
Commits
6e124a1b
Commit
6e124a1b
authored
Jul 14, 2019
by
ARnaud Blanchard
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Nig improvement but not yet working
parent
6c573609
Changes
5
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5 changed files
with
153 additions
and
137 deletions
+153
-137
CMakeLists.txt
CMakeLists.txt
+1
-1
README.md
README.md
+9
-0
bl_raspi.cpp
bl_raspi.cpp
+115
-87
bl_raspi.h
bl_raspi.h
+3
-2
raspinobo.cpp
raspinobo.cpp
+25
-47
No files found.
CMakeLists.txt
View file @
6e124a1b
...
...
@@ -22,7 +22,7 @@ add_executable(raspinobo raspinobo.cpp bl_raspi.cpp)
target_link_libraries
(
raspinobo
${
BL_LIBRARIES
}
)
if
(
NOT APPLE
)
#Give the raw capbility to the target /dev/mem
#Give the raw cap
a
bility to the target /dev/mem
add_custom_command
(
TARGET raspinobo POST_BUILD COMMAND sudo setcap
"cap_dac_override+ep cap_sys_rawio+ep cap_sys_nice=eip"
$<TARGET_FILE:raspinobo>
)
endif
()
README.md
View file @
6e124a1b
...
...
@@ -4,6 +4,15 @@ Setup the raspberry has an access point
More details here in the original tuatorial ( https://github.com/SurferTim/documentation/blob/6bc583965254fa292a470990c40b145f553f6b34/configuration/wireless/access-point.md )
Check the frequency:
`sudo cat /sys/devices/system/cpu/cpufreq/policy0/cpuinfo_cur_freq`
Check temperature:
`/opt/vc/bin/vcgencmd measure_temp`
Video tracking
...
...
bl_raspi.cpp
View file @
6e124a1b
This diff is collapsed.
Click to expand it.
bl_raspi.h
View file @
6e124a1b
...
...
@@ -7,11 +7,12 @@ extern uint32_t *bl_raspi_RC_inputs;
extern
unsigned
char
const
*
bl_raspi_volt_outputs
;
extern
int
bl_raspi_RC_inputs_nb
;
extern
int
bl_raspi_volt_outputs_nb
;
extern
int
buffer_size
;
/** Number of iterations of the loop. Useful to check the rate of the refreshing loop */
extern
int
bl_raspi_iterations_nb
;
extern
volatile
int
bl_raspi_iterations_nb
;
void
bl_raspi_add_RC_input
(
int
pin
,
int
us_tau
,
char
const
*
filename
);
void
bl_raspi_add_RC_input
(
int
pin
,
int
us_tau
,
uint32_t
*
buffer
);
void
bl_raspi_add_voltage_output
(
int
pin
,
char
const
*
filename
,
char
const
*
filename_input
);
void
bl_raspi_start_loop
(
uint32_t
*
RC_results
,
unsigned
char
const
*
voltage_commands
);
...
...
raspinobo.cpp
View file @
6e124a1b
...
...
@@ -7,14 +7,17 @@
#include <math.h>
#include <iostream>
#include <fstream>
#include <chrono>
#include <thread>
#include <chrono>
#include <time.h>
#include "blc_program.h"
#include "blc_channel.h"
#include "bl_raspi.h"
static
const
int
SOUND_PIN
=
13
;
static
const
int
LEFT_POT_PIN
=
6
;
static
const
int
RIGHT_POT_PIN
=
12
;
static
const
int
LEFT_MOTOR_PIN
=
26
;
...
...
@@ -34,7 +37,7 @@ static uchar gaussian_cdf(uint32_t s, float mu, float var){
blc_channel
motor_channel
,
sensor_channel
,
neurons_channel
;
int
main
(
int
argc
,
char
**
argv
){
blc_channel
gain_channel
,
target_channel
;
blc_channel
gain_channel
,
target_channel
,
buffer_channel
;
char
const
*
gpio_channel_name
,
*
period_str
,
*
volts_channel_name
,
*
target_channel_name
,
*
tracking
,
*
gain_name
;
int
us_period
,
previous_iterations_nb
;
char
const
*
values_debug
;
...
...
@@ -62,11 +65,16 @@ int main(int argc, char **argv){
if
(
gpio_channel_name
==
NULL
)
EXIT_ON_ERROR
(
"The ouput channel (option -o) must not be null"
);
// target_channel.create_or_open(target_channel_name, BLC_CHANNEL_WRITE, 'FL32', 'NDEF', 1, 1);
buffer_size
=
1024
;
buffer_channel
.
create_or_open
(
"/buffer"
,
BLC_CHANNEL_WRITE
,
'
UI32
'
,
'
NDEF
'
,
1
,
buffer_size
);
bl_raspi_add_RC_input
(
SOUND_PIN
,
1
,
buffer_channel
.
uints32
);
//"left_pot_file.bin")
/*
bl_raspi_add_RC_input(LEFT_POT_PIN, 333, NULL);//"left_pot_file.bin");
bl_raspi_add_RC_input(RIGHT_POT_PIN, 333, NULL); //"right_pot_file.bin");
bl_raspi_add_voltage_output(LEFT_MOTOR_PIN, NULL, NULL);
bl_raspi_add_voltage_output
(
RIGHT_MOTOR_PIN
,
NULL
,
NULL
);
bl_raspi_add_voltage_output(RIGHT_MOTOR_PIN, NULL, NULL);
*/
motor_channel
.
create_or_open
(
volts_channel_name
,
BLC_CHANNEL_WRITE
,
'
UIN8
'
,
'
NDEF
'
,
1
,
2
);
sensor_channel
.
create_or_open
(
gpio_channel_name
,
BLC_CHANNEL_WRITE
,
'
UI32
'
,
'
NDEF
'
,
1
,
bl_raspi_RC_inputs_nb
);
...
...
@@ -74,11 +82,12 @@ int main(int argc, char **argv){
neurons_channel
.
create_or_open
(
"/pinobo.neurons"
,
BLC_CHANNEL_WRITE
,
'
UIN8
'
,
'
NDEF
'
,
1
,
3
);
target_channel
.
create_or_open
(
target_channel_name
,
BLC_CHANNEL_READ
,
'
UIN8
'
,
'
NDEF
'
,
1
,
2
);
gain_channel
.
create_or_open
(
"/pinobo.gain"
,
BLC_CHANNEL_READ
,
'
UIN8
'
,
'
NDEF
'
,
1
,
1
);
gain_channel
.
create_or_open
(
"/pinobo.gain"
,
BLC_CHANNEL_READ
,
'
UIN8
'
,
'
NDEF
'
,
1
,
1
);
motor_channel
.
uchars
[
0
]
=
0
;
motor_channel
.
uchars
[
1
]
=
0
;
bl_raspi_start_loop
(
sensor_channel
.
uints32
,
motor_channel
.
uchars
);
previous_iterations_nb
=
0
;
...
...
@@ -109,53 +118,22 @@ int main(int argc, char **argv){
uchar
right_motor
;
}
line
;
SYSTEM_ERROR_CHECK
(
record_file
=
fopen
(
"pinobo.data"
,
"w"
),
NULL
,
"Opening 'pinobo.data'"
);
chrono
::
high_resolution_clock
::
time_point
tp
=
chrono
::
high_resolution_clock
::
now
();
//SYSTEM_ERROR_CHECK(record_file=fopen("pinobo.data", "w"), NULL, "Opening 'pinobo.data'");
struct
timespec
timestamp
;
uint32_t
previous_ns
,
delay_ns
;
previous_ns
=
0
;
BLC_COMMAND_LOOP
(
us_period
){
if
(
blc_loop_iteration
!=
0
)
blc_eprint_cursor_up
(
1
);
FOR
(
i
,
2
){
neurons_channel
.
uchars
[
i
]
=
neurons
[
i
].
update
(
sensor_channel
.
uints32
[
i
]);
}
fprintf
(
stderr
,
"Freq:%fHz
\n
n0:%d n0mu:%f n0var:%f"
,
(
bl_raspi_iterations_nb
-
previous_iterations_nb
)
/
((
float
)
us_period
/
1000000.
f
),
neurons_channel
.
uchars
[
2
],
neurons
[
0
].
mu
,
neurons
[
0
].
var
);
int
tmp
=
(
255
-
neurons_channel
.
uchars
[
1
]);
int
avg
=
128
+
(
neurons_channel
.
uchars
[
0
]
-
neurons_channel
.
uchars
[
1
])
/
2
;
int
dist_avg
=
abs
(
avg
-
neurons_channel
.
uchars
[
2
]);
int
dist_tmp
=
abs
(
tmp
-
neurons_channel
.
uchars
[
2
]);
int
dist_0
=
abs
(
neurons_channel
.
uchars
[
0
]
-
neurons_channel
.
uchars
[
2
]);
if
(
avg
<=
dist_tmp
){
if
(
avg
<=
dist_0
)
neurons_channel
.
uchars
[
2
]
=
avg
;
else
neurons_channel
.
uchars
[
2
]
=
neurons_channel
.
uchars
[
0
];
}
else
if
(
dist_0
<
dist_tmp
)
neurons_channel
.
uchars
[
2
]
=
neurons_channel
.
uchars
[
0
];
else
neurons_channel
.
uchars
[
2
]
=
tmp
;
clock_gettime
(
CLOCK_MONOTONIC
,
&
timestamp
);
if
(
timestamp
.
tv_nsec
>
previous_ns
)
delay_ns
=
timestamp
.
tv_nsec
-
previous_ns
;
else
delay_ns
=
1000000000
-
previous_ns
+
timestamp
.
tv_nsec
;
previous_ns
=
timestamp
.
tv_nsec
;
if
(
gain_channel
.
uchars
[
0
]
!=
0
)
{
if
(
gain_channel
.
uchars
[
0
]
>
30
)
error
=
(
target_channel
.
uchars
[
0
]
-
neurons_channel
.
uchars
[
2
])
*
gain_channel
.
uchars
[
0
]
/
128
;
else
error
=
(
target_channel
.
uchars
[
0
]
-
128
)
*
gain_channel
.
uchars
[
0
]
/
128
+
error
/
2
;
if
(
neurons_channel
.
uchars
[
2
]
==
0
)
error
=-
20
;
else
if
(
neurons_channel
.
uchars
[
2
]
==
255
)
error
=
20
;
if
(
abs
(
error
)
>
1
){
motor_channel
.
uchars
[
0
]
+=
(
CLIP_UCHAR
(
-
error
)
-
motor_channel
.
uchars
[
0
]);
motor_channel
.
uchars
[
1
]
+=
(
CLIP_UCHAR
(
+
error
)
-
motor_channel
.
uchars
[
1
]);
}
else
{
motor_channel
.
uchars
[
0
]
=
0
;
motor_channel
.
uchars
[
1
]
=
0
;
}
}
line
.
time
=
chrono
::
duration_cast
<
chrono
::
microseconds
>
(
chrono
::
high_resolution_clock
::
now
()
-
tp
).
count
();
line
.
left_pot
=
sensor_channel
.
uints32
[
0
];
line
.
right_pot
=
sensor_channel
.
uints32
[
1
];
line
.
left_motor
=
motor_channel
.
uchars
[
0
];
line
.
right_motor
=
motor_channel
.
uchars
[
1
];
fwrite
(
&
line
,
sizeof
(
line
),
1
,
record_file
);
fprintf
(
stderr
,
"%f, Freq:%fMHz
\n
n0:%d n0mu:%f n0var:%f"
,
(
float
)
delay_ns
,
(
bl_raspi_iterations_nb
-
previous_iterations_nb
)
/
((
float
)(
delay_ns
/
1000
)),
neurons_channel
.
uchars
[
2
],
neurons
[
0
].
mu
,
neurons
[
0
].
var
);
previous_iterations_nb
=
bl_raspi_iterations_nb
;
}
...
...
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