LPC824専用プログラム
Dependencies: Ping SDFileSystem mbed-src
format.cpp@9:7f98d4415425, 2016-01-24 (annotated)
- Committer:
- lilac0112_1
- Date:
- Sun Jan 24 15:16:26 2016 +0000
- Revision:
- 9:7f98d4415425
- Parent:
- 8:a2eadba03040
- Child:
- 10:641da47d4a14
utilized interrupt on chip select.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lilac0112_1 | 0:2f48b11b154f | 1 | #include "mbed.h" |
lilac0112_1 | 0:2f48b11b154f | 2 | #include "extern.h" |
lilac0112_1 | 0:2f48b11b154f | 3 | |
lilac0112_1 | 0:2f48b11b154f | 4 | #ifdef SD_CARD |
lilac0112_1 | 0:2f48b11b154f | 5 | void Sd_System(void){ |
lilac0112_1 | 0:2f48b11b154f | 6 | |
lilac0112_1 | 0:2f48b11b154f | 7 | char buf[BUFSIZE]; |
lilac0112_1 | 0:2f48b11b154f | 8 | uint16_t FileData[FDATA_NUM]={0}, num, data; |
lilac0112_1 | 2:9a51bb2694aa | 9 | uint8_t spi_num, h_byte, l_byte, val, packet; |
lilac0112_1 | 0:2f48b11b154f | 10 | int i; |
lilac0112_1 | 0:2f48b11b154f | 11 | FILE *fp; |
lilac0112_1 | 1:7070fb876a2c | 12 | char *fname="/sd/mydir/sdtest.txt"; |
lilac0112_1 | 1:7070fb876a2c | 13 | char *dname="/sd/mydir"; |
lilac0112_1 | 1:7070fb876a2c | 14 | |
lilac0112_1 | 1:7070fb876a2c | 15 | mkdir(dname, 0777); |
lilac0112_1 | 1:7070fb876a2c | 16 | |
lilac0112_1 | 0:2f48b11b154f | 17 | pc.printf("Hello World!\n"); |
lilac0112_1 | 0:2f48b11b154f | 18 | |
lilac0112_1 | 1:7070fb876a2c | 19 | fp = fopen(fname, "r"); |
lilac0112_1 | 0:2f48b11b154f | 20 | if(fp == NULL) { |
lilac0112_1 | 0:2f48b11b154f | 21 | error("Could not open file for read\n"); |
lilac0112_1 | 0:2f48b11b154f | 22 | } |
lilac0112_1 | 0:2f48b11b154f | 23 | while(fgets(buf, sizeof(buf), fp) != NULL){ |
lilac0112_1 | 0:2f48b11b154f | 24 | if(buf[0] == '#') continue; |
lilac0112_1 | 0:2f48b11b154f | 25 | |
lilac0112_1 | 0:2f48b11b154f | 26 | num = atol(strtok(buf, ",")); |
lilac0112_1 | 0:2f48b11b154f | 27 | data = atol(strtok(NULL, "\r\n\0")); |
lilac0112_1 | 0:2f48b11b154f | 28 | |
lilac0112_1 | 2:9a51bb2694aa | 29 | if(num<FDATA_NUM){ |
lilac0112_1 | 0:2f48b11b154f | 30 | FileData[num] = data; |
lilac0112_1 | 0:2f48b11b154f | 31 | pc.printf("%d, %ld\n", num, FileData[num]); |
lilac0112_1 | 0:2f48b11b154f | 32 | } |
lilac0112_1 | 0:2f48b11b154f | 33 | else{ |
lilac0112_1 | 0:2f48b11b154f | 34 | continue; |
lilac0112_1 | 0:2f48b11b154f | 35 | } |
lilac0112_1 | 0:2f48b11b154f | 36 | } |
lilac0112_1 | 0:2f48b11b154f | 37 | fclose(fp); |
lilac0112_1 | 0:2f48b11b154f | 38 | |
lilac0112_1 | 1:7070fb876a2c | 39 | while(1){ |
lilac0112_1 | 1:7070fb876a2c | 40 | |
lilac0112_1 | 1:7070fb876a2c | 41 | val = nucleo.receive(); |
lilac0112_1 | 1:7070fb876a2c | 42 | if(!val) continue; |
lilac0112_1 | 1:7070fb876a2c | 43 | |
lilac0112_1 | 2:9a51bb2694aa | 44 | spi_num = nucleo.read(); |
lilac0112_1 | 2:9a51bb2694aa | 45 | h_byte = nucleo.read(); |
lilac0112_1 | 2:9a51bb2694aa | 46 | l_byte = nucleo.read(); |
lilac0112_1 | 1:7070fb876a2c | 47 | |
lilac0112_1 | 1:7070fb876a2c | 48 | if((spi_num&0x80)>>7 == 1){//writing to sd |
lilac0112_1 | 1:7070fb876a2c | 49 | spi_num = spi_num & 0x7F; |
lilac0112_1 | 2:9a51bb2694aa | 50 | if(spi_num<FDATA_NUM){ |
lilac0112_1 | 1:7070fb876a2c | 51 | FileData[spi_num] = (h_byte<<8) | l_byte; |
lilac0112_1 | 1:7070fb876a2c | 52 | //pc.printf("%d, %ld\n", num, FileData[num]); |
lilac0112_1 | 1:7070fb876a2c | 53 | fp = fopen(fname, "w"); |
lilac0112_1 | 1:7070fb876a2c | 54 | for(i=0; i<FDATA_NUM; i++) fprintf(fp, "%d, %ld\n", i, FileData[i]); |
lilac0112_1 | 1:7070fb876a2c | 55 | fclose(fp); |
lilac0112_1 | 1:7070fb876a2c | 56 | } |
lilac0112_1 | 1:7070fb876a2c | 57 | } |
lilac0112_1 | 1:7070fb876a2c | 58 | else{//reading from sd |
lilac0112_1 | 1:7070fb876a2c | 59 | spi_num = spi_num & 0x7F; |
lilac0112_1 | 2:9a51bb2694aa | 60 | if(spi_num<FDATA_NUM){ |
lilac0112_1 | 1:7070fb876a2c | 61 | h_byte = (FileData[spi_num] & 0xFF00)>>8; |
lilac0112_1 | 1:7070fb876a2c | 62 | l_byte = (FileData[spi_num] & 0x00FF); |
lilac0112_1 | 1:7070fb876a2c | 63 | |
lilac0112_1 | 1:7070fb876a2c | 64 | packet = h_byte; |
lilac0112_1 | 1:7070fb876a2c | 65 | nucleo.reply(packet); |
lilac0112_1 | 1:7070fb876a2c | 66 | |
lilac0112_1 | 1:7070fb876a2c | 67 | packet = l_byte; |
lilac0112_1 | 1:7070fb876a2c | 68 | nucleo.reply(packet); |
lilac0112_1 | 1:7070fb876a2c | 69 | } |
lilac0112_1 | 1:7070fb876a2c | 70 | } |
lilac0112_1 | 0:2f48b11b154f | 71 | //pc.printf("Goodbye World!\n"); |
lilac0112_1 | 0:2f48b11b154f | 72 | } |
lilac0112_1 | 0:2f48b11b154f | 73 | } |
lilac0112_1 | 0:2f48b11b154f | 74 | #endif /*SD_CARD*/ |
lilac0112_1 | 0:2f48b11b154f | 75 | |
lilac0112_1 | 0:2f48b11b154f | 76 | #ifdef ULTRA_SONIC |
lilac0112_1 | 8:a2eadba03040 | 77 | |
lilac0112_1 | 9:7f98d4415425 | 78 | |
lilac0112_1 | 9:7f98d4415425 | 79 | uint16_t packet, val, order; |
lilac0112_1 | 9:7f98d4415425 | 80 | uint16_t front_dis=0, rear_dis=0; |
lilac0112_1 | 9:7f98d4415425 | 81 | |
lilac0112_1 | 9:7f98d4415425 | 82 | void emergency(void){ |
lilac0112_1 | 9:7f98d4415425 | 83 | led[1]=1; |
lilac0112_1 | 9:7f98d4415425 | 84 | //front_dis = 0xAA; |
lilac0112_1 | 9:7f98d4415425 | 85 | //rear_dis = 0xBB; |
lilac0112_1 | 8:a2eadba03040 | 86 | val = nucleo.receive(); |
lilac0112_1 | 8:a2eadba03040 | 87 | if(val==1){ |
lilac0112_1 | 8:a2eadba03040 | 88 | order = nucleo.read(); |
lilac0112_1 | 8:a2eadba03040 | 89 | if(order == 0xABCD){ |
lilac0112_1 | 9:7f98d4415425 | 90 | packet = ((front_dis<<8)|(rear_dis))&0xFFFF;nucleo.reply(packet); |
lilac0112_1 | 8:a2eadba03040 | 91 | } |
lilac0112_1 | 8:a2eadba03040 | 92 | else{ |
lilac0112_1 | 9:7f98d4415425 | 93 | packet = 0xFFFF;nucleo.reply(packet); |
lilac0112_1 | 8:a2eadba03040 | 94 | } |
lilac0112_1 | 9:7f98d4415425 | 95 | //pc.printf("SSSSSSSSSSSSSSSSS%d\r\n", order); |
lilac0112_1 | 8:a2eadba03040 | 96 | } |
lilac0112_1 | 8:a2eadba03040 | 97 | else{ |
lilac0112_1 | 9:7f98d4415425 | 98 | //pc.printf("FFFF\r\n"); |
lilac0112_1 | 8:a2eadba03040 | 99 | } |
lilac0112_1 | 9:7f98d4415425 | 100 | led[1]=0; |
lilac0112_1 | 8:a2eadba03040 | 101 | } |
lilac0112_1 | 0:2f48b11b154f | 102 | void Usw_System(void){ |
lilac0112_1 | 0:2f48b11b154f | 103 | |
lilac0112_1 | 8:a2eadba03040 | 104 | nucleo.format(16, 3); |
lilac0112_1 | 8:a2eadba03040 | 105 | nucleo.frequency(1000000); |
lilac0112_1 | 8:a2eadba03040 | 106 | nucleo.reply(0x0000); |
lilac0112_1 | 9:7f98d4415425 | 107 | |
lilac0112_1 | 9:7f98d4415425 | 108 | call.fall(&emergency); |
lilac0112_1 | 8:a2eadba03040 | 109 | |
lilac0112_1 | 9:7f98d4415425 | 110 | //led[0]=led[1]=1; |
lilac0112_1 | 0:2f48b11b154f | 111 | while(1){ |
lilac0112_1 | 9:7f98d4415425 | 112 | |
lilac0112_1 | 9:7f98d4415425 | 113 | led[0]=1; |
lilac0112_1 | 0:2f48b11b154f | 114 | front.Send(); |
lilac0112_1 | 0:2f48b11b154f | 115 | wait_ms(30); |
lilac0112_1 | 0:2f48b11b154f | 116 | front_dis = front.Read_cm(); |
lilac0112_1 | 9:7f98d4415425 | 117 | if(front_dis>0xFE) front_dis=0xFE; |
lilac0112_1 | 9:7f98d4415425 | 118 | |
lilac0112_1 | 0:2f48b11b154f | 119 | |
lilac0112_1 | 0:2f48b11b154f | 120 | rear.Send(); |
lilac0112_1 | 0:2f48b11b154f | 121 | wait_ms(30); |
lilac0112_1 | 0:2f48b11b154f | 122 | rear_dis = rear.Read_cm(); |
lilac0112_1 | 9:7f98d4415425 | 123 | if(rear_dis>0xFE) rear_dis=0xFE; |
lilac0112_1 | 9:7f98d4415425 | 124 | led[0]=0; |
lilac0112_1 | 8:a2eadba03040 | 125 | |
lilac0112_1 | 9:7f98d4415425 | 126 | pc.printf("%d\t%d\t\r\n", front_dis, rear_dis); |
lilac0112_1 | 9:7f98d4415425 | 127 | |
lilac0112_1 | 9:7f98d4415425 | 128 | //emergency(); |
lilac0112_1 | 0:2f48b11b154f | 129 | } |
lilac0112_1 | 0:2f48b11b154f | 130 | } |
lilac0112_1 | 0:2f48b11b154f | 131 | #endif /*ULTRA_SONIC*/ |
lilac0112_1 | 0:2f48b11b154f | 132 | |
lilac0112_1 | 0:2f48b11b154f | 133 | #ifdef COLOR_SENSOR |
lilac0112_1 | 0:2f48b11b154f | 134 | void Color_System(void){ |
lilac0112_1 | 1:7070fb876a2c | 135 | uint8_t val, order, packet; |
lilac0112_1 | 1:7070fb876a2c | 136 | uint16_t data; |
lilac0112_1 | 1:7070fb876a2c | 137 | |
lilac0112_1 | 0:2f48b11b154f | 138 | while(1){ |
lilac0112_1 | 1:7070fb876a2c | 139 | while(1){ |
lilac0112_1 | 1:7070fb876a2c | 140 | val = nucleo.receive(); |
lilac0112_1 | 1:7070fb876a2c | 141 | if(val){ |
lilac0112_1 | 1:7070fb876a2c | 142 | order = nucleo.read(); |
lilac0112_1 | 1:7070fb876a2c | 143 | order %= SENSOR_X_COLOR; |
lilac0112_1 | 2:9a51bb2694aa | 144 | data = ColorSensor[order].read_u16(); |
lilac0112_1 | 1:7070fb876a2c | 145 | packet = (data & 0xFF00)>>8; |
lilac0112_1 | 1:7070fb876a2c | 146 | nucleo.reply(packet); |
lilac0112_1 | 1:7070fb876a2c | 147 | } |
lilac0112_1 | 1:7070fb876a2c | 148 | else{ |
lilac0112_1 | 1:7070fb876a2c | 149 | break; |
lilac0112_1 | 1:7070fb876a2c | 150 | } |
lilac0112_1 | 1:7070fb876a2c | 151 | } |
lilac0112_1 | 0:2f48b11b154f | 152 | } |
lilac0112_1 | 0:2f48b11b154f | 153 | } |
lilac0112_1 | 0:2f48b11b154f | 154 | #endif /*COLOR_SENSOR*/ |
lilac0112_1 | 0:2f48b11b154f | 155 | |
lilac0112_1 | 0:2f48b11b154f | 156 | #ifdef IR_SENSOR |
lilac0112_1 | 9:7f98d4415425 | 157 | uint8_t ir_notice=0;//4bit |
lilac0112_1 | 9:7f98d4415425 | 158 | uint8_t ir_key=0;//4bit |
lilac0112_1 | 9:7f98d4415425 | 159 | uint8_t ir_position[2]={0};//4bit*2 |
lilac0112_1 | 9:7f98d4415425 | 160 | |
lilac0112_1 | 9:7f98d4415425 | 161 | uint8_t i;//ic |
lilac0112_1 | 9:7f98d4415425 | 162 | uint8_t j;//ch |
lilac0112_1 | 9:7f98d4415425 | 163 | uint8_t ch_num[3]={8, 8, 4}; |
lilac0112_1 | 9:7f98d4415425 | 164 | uint16_t ir_data[IC_NUM][IR_NUM]={0}; |
lilac0112_1 | 9:7f98d4415425 | 165 | uint16_t order,packet,val; |
lilac0112_1 | 9:7f98d4415425 | 166 | void emergency(void){ |
lilac0112_1 | 9:7f98d4415425 | 167 | //ir_key=0xA; |
lilac0112_1 | 9:7f98d4415425 | 168 | //ir_notice=0xC; |
lilac0112_1 | 9:7f98d4415425 | 169 | //ir_position[1]=0xE; |
lilac0112_1 | 9:7f98d4415425 | 170 | //ir_position[0]=0xF; |
lilac0112_1 | 9:7f98d4415425 | 171 | val = nucleo.receive(); |
lilac0112_1 | 9:7f98d4415425 | 172 | if(val==1){ |
lilac0112_1 | 9:7f98d4415425 | 173 | order = nucleo.read(); |
lilac0112_1 | 9:7f98d4415425 | 174 | if(order == 0xABCD){ |
lilac0112_1 | 9:7f98d4415425 | 175 | //key/notice/long/short |
lilac0112_1 | 9:7f98d4415425 | 176 | packet = ((ir_key<<12)|(ir_notice<<8)|(ir_position[1]<<4)|(ir_position[0]<<0))&0xFFFF;nucleo.reply(packet); |
lilac0112_1 | 9:7f98d4415425 | 177 | } |
lilac0112_1 | 9:7f98d4415425 | 178 | else{ |
lilac0112_1 | 9:7f98d4415425 | 179 | packet = 0xFFFF;nucleo.reply(packet); |
lilac0112_1 | 9:7f98d4415425 | 180 | } |
lilac0112_1 | 9:7f98d4415425 | 181 | //pc.printf("SSSSSSSSSSSSSSSSS%d\r\n", order); |
lilac0112_1 | 9:7f98d4415425 | 182 | } |
lilac0112_1 | 9:7f98d4415425 | 183 | else{ |
lilac0112_1 | 9:7f98d4415425 | 184 | //pc.f("FFFF\r\n"); |
lilac0112_1 | 9:7f98d4415425 | 185 | } |
lilac0112_1 | 9:7f98d4415425 | 186 | } |
lilac0112_1 | 7:9b1ac6fbf32c | 187 | void Ir_System(void){ |
lilac0112_1 | 9:7f98d4415425 | 188 | nucleo.format(16, 3); |
lilac0112_1 | 8:a2eadba03040 | 189 | nucleo.frequency(1000000); |
lilac0112_1 | 9:7f98d4415425 | 190 | nucleo.reply(0x0000); |
lilac0112_1 | 8:a2eadba03040 | 191 | |
lilac0112_1 | 7:9b1ac6fbf32c | 192 | ir.format(8, 3); |
lilac0112_1 | 6:79dc74e4926a | 193 | ir.frequency(1000000); |
lilac0112_1 | 9:7f98d4415425 | 194 | |
lilac0112_1 | 9:7f98d4415425 | 195 | call.fall(&emergency); |
lilac0112_1 | 6:79dc74e4926a | 196 | |
lilac0112_1 | 6:79dc74e4926a | 197 | for(i=0; i<IC_NUM; i++) cs[i]=1; |
lilac0112_1 | 6:79dc74e4926a | 198 | while(1) { |
lilac0112_1 | 6:79dc74e4926a | 199 | for(i=0; i<IC_NUM; i++){//IC |
lilac0112_1 | 6:79dc74e4926a | 200 | for(j=0; j<ch_num[i]; j++){//Ch |
lilac0112_1 | 7:9b1ac6fbf32c | 201 | ir_data[i][j] = read_input(i, j); |
lilac0112_1 | 6:79dc74e4926a | 202 | } |
lilac0112_1 | 6:79dc74e4926a | 203 | } |
lilac0112_1 | 6:79dc74e4926a | 204 | pc.printf("%Value is "); |
lilac0112_1 | 7:9b1ac6fbf32c | 205 | pc.printf("%d\t", ir_data[1][0]); |
lilac0112_1 | 7:9b1ac6fbf32c | 206 | pc.printf("%d\t", ir_data[1][1]); |
lilac0112_1 | 6:79dc74e4926a | 207 | pc.printf("%d\t", ir_data[1][2]); |
lilac0112_1 | 7:9b1ac6fbf32c | 208 | pc.printf("%d\t", ir_data[1][3]); |
lilac0112_1 | 6:79dc74e4926a | 209 | pc.printf("%d\t", ir_data[1][4]); |
lilac0112_1 | 7:9b1ac6fbf32c | 210 | pc.printf("%d\t", ir_data[1][5]); |
lilac0112_1 | 7:9b1ac6fbf32c | 211 | pc.printf("%d\t", ir_data[1][6]); |
lilac0112_1 | 7:9b1ac6fbf32c | 212 | pc.printf("%d\t", ir_data[1][7]); |
lilac0112_1 | 6:79dc74e4926a | 213 | pc.printf("\r\n"); |
lilac0112_1 | 9:7f98d4415425 | 214 | //emergency(); |
lilac0112_1 | 6:79dc74e4926a | 215 | } |
lilac0112_1 | 6:79dc74e4926a | 216 | } |
lilac0112_1 | 7:9b1ac6fbf32c | 217 | int read_input(int ic, int channel) |
lilac0112_1 | 7:9b1ac6fbf32c | 218 | { |
lilac0112_1 | 0:2f48b11b154f | 219 | |
lilac0112_1 | 7:9b1ac6fbf32c | 220 | int command_high = START_BIT | MODE_SINGLE | ((channel & 0x04) >> 2); |
lilac0112_1 | 7:9b1ac6fbf32c | 221 | int command_low = (channel & 0x03) << 6; |
lilac0112_1 | 0:2f48b11b154f | 222 | |
lilac0112_1 | 7:9b1ac6fbf32c | 223 | cs[ic] = 0; |
lilac0112_1 | 0:2f48b11b154f | 224 | |
lilac0112_1 | 7:9b1ac6fbf32c | 225 | ir.write(command_high); |
lilac0112_1 | 7:9b1ac6fbf32c | 226 | int high_byte = ir.write(command_low) & 0x0F; |
lilac0112_1 | 7:9b1ac6fbf32c | 227 | int low_byte = ir.write(0); |
lilac0112_1 | 0:2f48b11b154f | 228 | |
lilac0112_1 | 8:a2eadba03040 | 229 | |
lilac0112_1 | 8:a2eadba03040 | 230 | wait_us(1); |
lilac0112_1 | 7:9b1ac6fbf32c | 231 | cs[ic] = 1; |
lilac0112_1 | 0:2f48b11b154f | 232 | |
lilac0112_1 | 7:9b1ac6fbf32c | 233 | return (high_byte << 8) | low_byte;//0x0000...0xFFFF |
lilac0112_1 | 0:2f48b11b154f | 234 | } |
lilac0112_1 | 9:7f98d4415425 | 235 | void BubbleSort(uint16_t *data, uint8_t n) |
lilac0112_1 | 9:7f98d4415425 | 236 | { |
lilac0112_1 | 9:7f98d4415425 | 237 | bool flag; |
lilac0112_1 | 9:7f98d4415425 | 238 | uint8_t i;//inclement |
lilac0112_1 | 9:7f98d4415425 | 239 | uint16_t temp;//temporary |
lilac0112_1 | 9:7f98d4415425 | 240 | |
lilac0112_1 | 9:7f98d4415425 | 241 | do{ |
lilac0112_1 | 9:7f98d4415425 | 242 | flag=0; |
lilac0112_1 | 9:7f98d4415425 | 243 | for (i=0; i<n-1; i++) { |
lilac0112_1 | 9:7f98d4415425 | 244 | if (data[i]>data[i+1]) { |
lilac0112_1 | 9:7f98d4415425 | 245 | /* 左右の並びがおかしければ入れ替える */ |
lilac0112_1 | 9:7f98d4415425 | 246 | flag=1; |
lilac0112_1 | 9:7f98d4415425 | 247 | temp=data[i]; |
lilac0112_1 | 9:7f98d4415425 | 248 | data[i]=data[i+1]; |
lilac0112_1 | 9:7f98d4415425 | 249 | data[i+1]=temp; |
lilac0112_1 | 9:7f98d4415425 | 250 | } |
lilac0112_1 | 9:7f98d4415425 | 251 | } |
lilac0112_1 | 9:7f98d4415425 | 252 | } while (flag==1); /* 入れ替えがある間,繰り返す.*/ |
lilac0112_1 | 9:7f98d4415425 | 253 | } |
lilac0112_1 | 0:2f48b11b154f | 254 | #endif /*IR_SENSOR*/ |
lilac0112_1 | 0:2f48b11b154f | 255 | |
lilac0112_1 | 0:2f48b11b154f | 256 | |
lilac0112_1 | 0:2f48b11b154f | 257 | |
lilac0112_1 | 0:2f48b11b154f | 258 |