changed the arduino code to support cleaner current transitions

Made the catheter gui a ros-package to leverage rosdocs and roslint

Author: samuelxu91

src/catheter_arduino_ard_ide/arduino_hardware.h

@@ -40,19 +40,29 @@ void toggle_enable(int channel, int en) {
  */
 void set_direction(int channel, int direction)
 {
+  toggle_enable(channel, 0);
   if (direction == 0)
   {
-    digitalWrite(H_Neg_pins[channel], DIR_ON);
     digitalWrite(H_Pos_pins[channel], !DIR_ON);
+    digitalWrite(H_Neg_pins[channel], DIR_ON);
   }
   else
   {
-    digitalWrite(H_Pos_pins[channel], DIR_ON);
     digitalWrite(H_Neg_pins[channel], !DIR_ON);
+    digitalWrite(H_Pos_pins[channel], DIR_ON);
   }
+  toggle_enable(channel, 1);
 }
 
+// zeros out the channel completely
+void zero(int channel)
+{
+  toggle_enable(channel, 0);
+  
+  digitalWrite(H_Neg_pins[channel], DIR_ON);
+  digitalWrite(H_Pos_pins[channel], DIR_ON);
 
+}
 /** 
  * @brief translate the 16 bit SPI data received from the MCP3201 ADC to the 12 bits sent to the PC 
  *

src/catheter_arduino_ard_ide/catheter_arduino_ard_ide.ino

@@ -55,16 +55,27 @@ unsigned int camera_counter;
 bool mriStatOld;
 
 /**
- * @brief The Arduino time at which the MRI begins scanning.
+ * @brief The MR scanning duration in which the currents are turned off.
+ * 
+ * The duration is defined in scan lines.
  */
-unsigned long scanStartTime = 0;
+double scanLines = 4;
 
-/**
- * @brief The MR scanning duration in ms in which the currents are turned off.
- */
-unsigned long scanDuration = 40;
 
+volatile unsigned long scanStartTime;
+unsigned long scanDuration;
 
+/**
+ * @brief The interrupt handler is meant to always ensure that the current is disabled.
+ */
+void disableChannels()
+{
+  scanStartTime = millis();
+  for (int i = 0; i < NCHANNELS; i++)
+    {
+      zero(i);
+    }
+}
 
 /**
  * @brief The Arduino executes this function once when power on.
@@ -77,12 +88,19 @@ void setup()
 	camera_counter = 0;
   mriStatOld = false;
 
+  // Here, the scanLines is converted to ms.
+  // Each line takes 2.88 ms. 
+  // The arduino turn off delay of 0.5 ms is also added.
+  scanDuration = ceil(scanLines*2.88+0.5);
+
   for ( int i = 0; i < 512; i++)
   {
     inputBytes[i] = 0;
     outputBytes[i] = 0;
   }
 
+  attachInterrupt(mriPin, disableChannels, RISING);
+
 	delay(START_DELAY);
 }
 
@@ -121,25 +139,17 @@ void loop()
   int mriStat(camera_write(camera_counter));
 
   // If the MR scanner is pinging.
-  if (mriStat && !mriStatOld)
-  {
-    mriStatOld = true;
-    scanStartTime = millis();
-
-    for (int i = 0; i < NCHANNELS; i++)
-    {
-      DAC_write(i, 0);
-    }
-  }
 
   // If the MR scanner is neither pinging or scanning.
-  if (!mriStat && mriStatOld && (scanStartTime + scanDuration) <  millis())
+  if (scanStartTime > 0 && (scanStartTime + scanDuration) <  millis())
   {
-    mriStatOld = false;
-
+    scanStartTime = 0;
     for (int i = 0; i  < NCHANNELS; i++)
     {
-      DAC_write(i, channelList[i].DAC_val);
+      set_direction(i,channelList[i].dir);
+      toggle_enable(i, 1);
+      
     }
   }
 }
+

src/catheter_arduino_ard_ide/cmd_support.h

@@ -216,7 +216,7 @@ uint8_t processSingleChannel(int i, channelStatus &local_channel, uint8_t cmdVal
   else
   {
     // enable or disable channel
-    toggle_enable(i, en);
+    // toggle_enable(i, en);
     // saved but useless.
     local_channel.enable = en;
     // set DAC value if necessary

src/catheter_arduino_gui/.gitignore

@@ -1 +1,2 @@
-build/
+build/
+doc/

src/catheter_arduino_gui/CMakeLists.txt

@@ -1,9 +1,7 @@
 cmake_minimum_required(VERSION 2.8)
 
-
 project(catheter_arduino_gui)
 
-
 find_package(catkin)
 
 find_package(Boost COMPONENTS system thread REQUIRED)
@@ -12,22 +10,19 @@ find_package(GTest REQUIRED)
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -g -O0" )
 
-
-
 IF(catkin_FOUND)
 
 MESSAGE(Found Catkin:)
 
-find_package(catkin REQUIRED COMPONENTS roslint roscpp)
+find_package(catkin REQUIRED COMPONENTS roslint)
 
 catkin_package(
-      INCLUDE_DIRS inc
+      INCLUDE_DIRS include
       LIBRARIES pc_utils_lib
       DEPENDS 
         GTest 
         Boost COMPONENTS system thread
         wxWidgets COMPONENTS core base adv propgrid
-      CATKIN_DEPENDS roscpp
 )
 
 ENDIF()
@@ -37,7 +32,7 @@ include_directories(
 ${catkin_INCLUDE_DIRS}
 ${BOOST_INCLUDE_DIRS}
 ${GTEST_INCLUDE_DIRS}
-inc
+include
 )
 
 

src/catheter_arduino_gui/inc/gui/status_text.h

@@ -16,10 +16,10 @@
 
 #pragma once
 
-#ifndef CATHETER_ARDUINO_GUI_CATHETER_CHANNEL_COMMANDS_H
-#define CATHETER_ARDUINO_GUI_CATHETER_CHANNEL_COMMANDS_H
+#ifndef CATHETER_ARDUINO_GUI_CATHETER_COMMANDS_H
+#define CATHETER_ARDUINO_GUI_CATHETER_COMMANDS_H
 
-#include "com/communication_definitions.h"
+#include "catheter_arduino_gui/communication_definitions.h"
 
 #include <vector>
 #include <cstring>
@@ -182,4 +182,4 @@ int estResponseSize(const CatheterChannelCmdSet &);
 
 void printData(const std::vector< uint8_t >& bytesRead);
 
-#endif  // CATHETER_ARDUINO_GUI_CATHETER_CHANNEL_COMMANDS_H
+#endif  // CATHETER_ARDUINO_GUI_CATHETER_COMMANDS_H

src/catheter_arduino_gui/inc/hardware/digital_analog_conversions.h

@@ -1,5 +1,21 @@
-#ifndef CATHETER_GUI_CATHETER_GRID_H
-#define CATHETER_GUI_CATHETER_GRID_H
+/*
+  Copyright 2017 Russell Jackson
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+      http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+*/
+
+#ifndef CATHETER_ARDUINO_GUI_CATHETER_GRID_H
+#define CATHETER_ARDUINO_GUI_CATHETER_GRID_H
 
 #include "wx/wx.h"
 #include "wx/panel.h"
@@ -9,8 +25,8 @@
 #include "wx/generic/grideditors.h"
 #include <vector>
 
-#include "com/communication_definitions.h"
-#include "com/catheter_commands.h"
+#include "catheter_arduino_gui/communication_definitions.h"
+#include "catheter_arduino_gui/catheter_commands.h"
 
 // This file defines the grid in which commands are entered and run.
 // This object does not require any threaded communication as it is only
@@ -55,4 +71,4 @@ class CatheterGrid : public wxGrid
     unsigned int cmdCount;
 };
 
-#endif  // CATHETER_GUI_CATHETER_GRID_H
+#endif  // CATHETER_ARDUINO_GUI_CATHETER_GRID_H

src/catheter_arduino_gui/inc/com/catheter_commands.h renamed to src/catheter_arduino_gui/include/catheter_arduino_gui/catheter_commands.h

@@ -1,14 +1,31 @@
-#ifndef CATHETER_GUI_CATHETER_GUI_H
-#define CATHETER_GUI_CATHETER_GUI_H
+/*
+  Copyright 2017 Russell Jackson
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+      http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+*/
+
+
+#ifndef CATHETER_ARDUINO_GUI_CATHETER_GUI_H
+#define CATHETER_ARDUINO_GUI_CATHETER_GUI_H
 
 
 #include <wx/wx.h>
 #include <boost/bind.hpp>
 #include <boost/thread.hpp>
-#include "gui/catheter_grid.h"
-#include "gui/status_text.h"
-#include "gui/status_frame.h"
-#include "ser/serial_thread.h"
+#include "catheter_arduino_gui/catheter_grid.h"
+#include "catheter_arduino_gui/status_text.h"
+#include "catheter_arduino_gui/status_frame.h"
+#include "catheter_arduino_gui/serial_thread.h"
 #include <vector>
 
 // This file defines the gui layout
@@ -318,4 +335,4 @@ class CatheterGuiApp : public wxApp
 };
 
 
-#endif  // CATHETER_GUI_CATHETER_GUI_H
+#endif  // CATHETER_ARDUINO_GUI_CATHETER_GUI_H