Nig improvement but not yet working

CMakeLists.txt

@@ -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 capability 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

@@ -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.h

@@ -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

@@ -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;
     }