Summary for my 4 months

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本文详细介绍了使用DTW和SPRING分类算法实现的手势识别智能灯控项目。内容包括串口通讯数据收集、磁力数据矫正、Hue灯桥接控制、PWM信号生成以及3D打印外壳设计等多个方面。

1. 完成了一个小的project

利用DTW和SPRING分类算法，识别用户手势，控制智能灯。

我的职责：

1.1 负责数据收集（serial port communication）及磁力数据矫正

a. 用C语言和Java写的读写串口，参见

http://blog.youkuaiyun.com/u011680118/article/details/49208771

http://blog.youkuaiyun.com/u011680118/article/details/49750099

b. 利用矩阵计算库来做磁力矫正

Java使用的库尝试过la4j, colt 最后决定改成C语言，于是使用了GSL。

http://blog.youkuaiyun.com/u011680118/article/details/49208839

1.2 负责灯的控制（hue lamp api, win socket, http）

a. 需要发现hue lamp bridge，这个通过发送SSDP协议中的特定HTTP请求到多播地址，收到回复后可以找到bridge的IP地址。

http://blog.youkuaiyun.com/u011680118/article/details/49121005

http://blog.youkuaiyun.com/u011680118/article/details/49434639

b. 通过Socket给birdge发送username获得UID，利用这个UID去进行hue lamps的控制。

参考：

http://blog.youkuaiyun.com/u011680118/article/details/49133743

http://blog.youkuaiyun.com/u011680118/article/details/49434855

c. 控制灯就是按照API文档，构建包含Json字符串的HTTP请求。

1.3 负责vibrator子系统（read datasheets online, modify programs in Contiki, flash and see PWM output by Digital Logic, use SolidWorks to design 3D box and print them）

a. 生成PWM信号

//TODO: Added by Amy, 11/12/2015
#define	GPT_CONF_BASE 		GPT_0_BASE
#define IOC_CONF_SEL 		IOC_PXX_SEL_GPT0_ICP1  // act as GPTimer0 ICP1
#define PWM_GPIO_CONF_PORT 	GPIO_A_NUM
#define PWM_GPIO_CONF_PIN 	1

void enable_gptimer(){
	/* Enable */
	REG(GPT_CONF_BASE + GPTIMER_CTL) |= GPTIMER_CTL_TAEN;
}

void disable_gptimer(){
	/* Stop the timer */
	REG(GPT_CONF_BASE + GPTIMER_CTL) = 0;
}

#define GPTIMER_ON 1
#define GPTIMER_OFF 0
int get_gptimer_state(){
	if(REG(GPT_CONF_BASE + GPTIMER_CTL) == 0)
		return GPTIMER_OFF;
	else
		return GPTIMER_ON;
}


//Config PA1 as an PWM output pin
/*
periodCount: 16000 ---> 1kHz   
dutyCycle: 0.25   0.5  0.75
*/
void initPWM(int periodCount, double dutyCycle) {
	//16Mhz 
	//printf("init PWM start\n");
	/* Enable module clock for the GPTx in Active mode, GPT0 clock enable, CPU running */
	REG(SYS_CTRL_RCGCGPT) |= SYS_CTRL_RCGCGPT_GPT0;

	disable_gptimer();

	/* Use 16-bit timer */
	REG(GPT_CONF_BASE + GPTIMER_CFG) = 0x04;

	/* Configure PWM mode, 0x00000008 Timer A alternate mode. */
	REG(GPT_CONF_BASE + GPTIMER_TAMR) = 0;
	REG(GPT_CONF_BASE + GPTIMER_TAMR) |= GPTIMER_TAMR_TAAMS;

	/* To enable PWM mode, the TACM bit must be cleared and the lowest 2 bits 
	   (TAMR) field must be configured to 0x2.
	   GPTIMER_TnMR bit values, GPTIMER_TAMR_TAMR_PERIODIC is 0x00000002 */
	REG(GPT_CONF_BASE + GPTIMER_TAMR) |= GPTIMER_TAMR_TAMR_PERIODIC;

	//how often the counter is incremented:  every  pre-scaler / clock 16000000 seconds
	REG(GPT_CONF_BASE + GPTIMER_TAPR) = 0; 	//PRESCALER_VALUE  

	/* Set the start value (period), count down */
	REG(GPT_CONF_BASE+ GPTIMER_TAILR) = periodCount;//0xF42400; 	//16000: 3E80, so period is 1s.  16000000:F42400

	/* Set the deassert period */
	REG(GPT_CONF_BASE + GPTIMER_TAMATCHR) = periodCount * (1 - dutyCycle);//0x7A1200; //800: 0x1F40, so the duty rate is 50%, 8000000: 7A1200

	// Defined in contiki/cpu/cc2538/dev/ioc.h
	/* Function select for Port:Pin.
	   The third param sel can be any of the IOC_PXX_SEL_xyz defines. 
	   For example, IOC_PXX_SEL_UART0_TXD will set the port to act as UART0 TX.

     	   Selects one of the 32 pins on the four 8-pin I/O-ports (port A, port B, port C, and port D) to be the GPT0OCP1.
           Configure pin : PA:1 selected as GPT0OCP1*/
	ioc_set_sel(PWM_GPIO_CONF_PORT, PWM_GPIO_CONF_PIN, IOC_CONF_SEL);

	/* Set Port:Pin override function, IOC_OVERRIDE_OE: Output */
	ioc_set_over(PWM_GPIO_CONF_PORT, PWM_GPIO_CONF_PIN, IOC_OVERRIDE_OE);

	/* Configure the pin to be under peripheral control with PIN_MASK of port with PORT_BASE.*/
	GPIO_PERIPHERAL_CONTROL(GPIO_PORT_TO_BASE(PWM_GPIO_CONF_PORT), GPIO_PIN_MASK(PWM_GPIO_CONF_PIN));
	
	enable_gptimer();

	//printf("init PWM end\n");
}

b. 使用3D printer

用SolidWorks直接看它的教程即可，然后先制作parts，做好每个部分之后可以用assembly来仿真看看效果。再将parts保存为stl文件，把stl文件交给工作人员即可打印。

1.4 中间穿插着改了数据传输频率（bluetooth, baudRate）

修改baudRate

/*
 * Baud rate defines used in uart_init() to set the values of UART_IBRD and
 * UART_FBRD in order to achieve the configured baud rates.
 */
#define UART_CLOCK_RATE       16000000 /* 16 MHz */
#define UART_CTL_HSE_VALUE    0
#define UART_CTL_VALUE        (UART_CTL_RXE | UART_CTL_TXE | (UART_CTL_HSE_VALUE << 5))

/* DIV_ROUND() divides integers while avoiding a rounding error: */
#define DIV_ROUND(num, denom) (((num) + (denom) / 2) / (denom))

#define BAUD2BRD(baud)        DIV_ROUND(UART_CLOCK_RATE << (UART_CTL_HSE_VALUE + 2), (baud))
#define BAUD2IBRD(baud)       (BAUD2BRD(baud) >> 6)
#define BAUD2FBRD(baud)       (BAUD2BRD(baud) & 0x3f)
//*********************************************************************************************************************//
// Change UART baud rate from 9600 to 115200 after we set bluetooth frequency to 115200
void set_uart_baud_rate(unsigned int uart_base) {
	/* Make sure the UART is disabled before trying to configure it */
	REG(uart_base + UART_CTL) = UART_CTL_VALUE;

	/* Baud Rate Generation */
	REG(uart_base + UART_IBRD) = BAUD2IBRD(115200);
	REG(uart_base + UART_FBRD) = BAUD2FBRD(115200);

	/* UART Control: 8N1 with FIFOs */
	REG(uart_base + UART_LCRH) = UART_LCRH_WLEN_8 | UART_LCRH_FEN;

	/* UART Enable */
	REG(uart_base + UART_CTL) |= UART_CTL_UARTEN;
}

2. 吃过的美食

去Amy & Jason 家里吃pizza，还有鱼香肉丝，海带汤，大酱汤，蔬菜沙拉，煎荷包蛋。

去Larry & Helen 家里吃的Bible study晚餐，那个起司意面好棒！还有大葱汤，暖暖的好贴心。还有三明治，培根，蔬菜沙拉，pizza。都非常棒！

去恩谷教会吃的各种中餐，非常棒！花椰菜，水煮鱼，红烧肉，凉拌豆腐，麻辣烫，狮子头等等。。

去姚弟兄家里吃的红烧肉和台湾卤肉面，还有海鲜汤，冬瓜汤，荠菜饺子，简直好吃爆！！

和Wendy, Amanda一起去的Cafe Exel，三个人才点了一盘appetizer，然后吃了好多面包，还有一分甜点。

和Wendy, Chelsea一起去的RoadHouse，吃正宗的牛排，就是有点咸，其他面包和烤土豆都非常好吃！

和Wendy 一起去的 Chick fil-A 等快餐，味道也很棒，跟中国的差不多。

和金鸽姐，Amy一起去的China King Buffet，撑死了。。味道也还行。

和Jui一起去的IHOP，最爱那里的鸡蛋饼还有pancakes