CatPot 2015-2016 / CatPot_2v00_T_Sub

LPC824専用プログラム

Dependencies:   Ping SDFileSystem mbed-src

format.cpp@7:9b1ac6fbf32c, 2016-01-15 (annotated)

Committer:
lilac0112_1
Date:
Fri Jan 15 15:30:57 2016 +0000
Revision:
7:9b1ac6fbf32c
Parent:
6:79dc74e4926a
Child:
8:a2eadba03040
succeed in connecting to 3208

Who changed what in which revision?

UserRevisionLine numberNew 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 0:2f48b11b154f 77 void Usw_System(void){
lilac0112_1 2:9a51bb2694aa 78 uint8_t packet, val, order;
lilac0112_1 0:2f48b11b154f 79 uint16_t front_dis=0, rear_dis=0;
lilac0112_1 0:2f48b11b154f 80
lilac0112_1 0:2f48b11b154f 81 while(1){
lilac0112_1 0:2f48b11b154f 82 front.Send();
lilac0112_1 0:2f48b11b154f 83 wait_ms(30);
lilac0112_1 0:2f48b11b154f 84 front_dis = front.Read_cm();
lilac0112_1 0:2f48b11b154f 85
lilac0112_1 0:2f48b11b154f 86 rear.Send();
lilac0112_1 0:2f48b11b154f 87 wait_ms(30);
lilac0112_1 0:2f48b11b154f 88 rear_dis = rear.Read_cm();
lilac0112_1 0:2f48b11b154f 89
lilac0112_1 0:2f48b11b154f 90 while(1){
lilac0112_1 0:2f48b11b154f 91 val = nucleo.receive();
lilac0112_1 0:2f48b11b154f 92 if(val){
lilac0112_1 0:2f48b11b154f 93 order = nucleo.read();
lilac0112_1 0:2f48b11b154f 94 switch(order){
lilac0112_1 0:2f48b11b154f 95 case 0x01:
lilac0112_1 0:2f48b11b154f 96 packet = (front_dis&0x00FF);break;
lilac0112_1 0:2f48b11b154f 97 case 0x02:
lilac0112_1 0:2f48b11b154f 98 packet = (front_dis&0xFF00)>>8;break;
lilac0112_1 0:2f48b11b154f 99 case 0x03:
lilac0112_1 0:2f48b11b154f 100 packet = (rear_dis&0x00FF);break;
lilac0112_1 0:2f48b11b154f 101 case 0x04:
lilac0112_1 0:2f48b11b154f 102 packet = (rear_dis&0xFF00)>>8;break;
lilac0112_1 0:2f48b11b154f 103 default:
lilac0112_1 0:2f48b11b154f 104 packet = 0x00;break;
lilac0112_1 0:2f48b11b154f 105 }
lilac0112_1 0:2f48b11b154f 106 nucleo.reply(packet);
lilac0112_1 0:2f48b11b154f 107 }
lilac0112_1 0:2f48b11b154f 108 else{
lilac0112_1 0:2f48b11b154f 109 break;
lilac0112_1 0:2f48b11b154f 110 }
lilac0112_1 0:2f48b11b154f 111 }
lilac0112_1 0:2f48b11b154f 112 }
lilac0112_1 0:2f48b11b154f 113 }
lilac0112_1 0:2f48b11b154f 114 #endif /*ULTRA_SONIC*/
lilac0112_1 0:2f48b11b154f 115
lilac0112_1 0:2f48b11b154f 116 #ifdef COLOR_SENSOR
lilac0112_1 0:2f48b11b154f 117 void Color_System(void){
lilac0112_1 1:7070fb876a2c 118 uint8_t val, order, packet;
lilac0112_1 1:7070fb876a2c 119 uint16_t data;
lilac0112_1 1:7070fb876a2c 120
lilac0112_1 0:2f48b11b154f 121 while(1){
lilac0112_1 1:7070fb876a2c 122 while(1){
lilac0112_1 1:7070fb876a2c 123 val = nucleo.receive();
lilac0112_1 1:7070fb876a2c 124 if(val){
lilac0112_1 1:7070fb876a2c 125 order = nucleo.read();
lilac0112_1 1:7070fb876a2c 126 order %= SENSOR_X_COLOR;
lilac0112_1 2:9a51bb2694aa 127 data = ColorSensor[order].read_u16();
lilac0112_1 1:7070fb876a2c 128 packet = (data & 0xFF00)>>8;
lilac0112_1 1:7070fb876a2c 129 nucleo.reply(packet);
lilac0112_1 1:7070fb876a2c 130 }
lilac0112_1 1:7070fb876a2c 131 else{
lilac0112_1 1:7070fb876a2c 132 break;
lilac0112_1 1:7070fb876a2c 133 }
lilac0112_1 1:7070fb876a2c 134 }
lilac0112_1 0:2f48b11b154f 135 }
lilac0112_1 0:2f48b11b154f 136 }
lilac0112_1 0:2f48b11b154f 137 #endif /*COLOR_SENSOR*/
lilac0112_1 0:2f48b11b154f 138
lilac0112_1 0:2f48b11b154f 139 #ifdef IR_SENSOR
lilac0112_1 7:9b1ac6fbf32c 140 void Ir_System(void){
lilac0112_1 6:79dc74e4926a 141 int i;//ic
lilac0112_1 6:79dc74e4926a 142 int j;//ch
lilac0112_1 6:79dc74e4926a 143 uint8_t ch_num[3]={8, 8, 4};
lilac0112_1 7:9b1ac6fbf32c 144 uint16_t ir_data[IC_NUM][IR_NUM]={0};
lilac0112_1 6:79dc74e4926a 145
lilac0112_1 7:9b1ac6fbf32c 146 //nucleo.reply(0x00);
lilac0112_1 7:9b1ac6fbf32c 147 ir.format(8, 3);
lilac0112_1 6:79dc74e4926a 148 ir.frequency(1000000);
lilac0112_1 7:9b1ac6fbf32c 149 int mod=1;
lilac0112_1 6:79dc74e4926a 150
lilac0112_1 6:79dc74e4926a 151 for(i=0; i<IC_NUM; i++) cs[i]=1;
lilac0112_1 6:79dc74e4926a 152 while(1) {
lilac0112_1 7:9b1ac6fbf32c 153 /*cs[1]=1;
lilac0112_1 7:9b1ac6fbf32c 154
lilac0112_1 7:9b1ac6fbf32c 155 mod = ir.write(mod);
lilac0112_1 7:9b1ac6fbf32c 156 //ir.write(0)&0xFF;
lilac0112_1 7:9b1ac6fbf32c 157
lilac0112_1 7:9b1ac6fbf32c 158 cs[1]=0;
lilac0112_1 7:9b1ac6fbf32c 159 wait_us(1);
lilac0112_1 7:9b1ac6fbf32c 160
lilac0112_1 7:9b1ac6fbf32c 161 pc.printf("%Value is ");
lilac0112_1 7:9b1ac6fbf32c 162 pc.printf("%d\t", mod);
lilac0112_1 7:9b1ac6fbf32c 163 pc.printf("\r\n");
lilac0112_1 7:9b1ac6fbf32c 164 */
lilac0112_1 6:79dc74e4926a 165 for(i=0; i<IC_NUM; i++){//IC
lilac0112_1 6:79dc74e4926a 166 for(j=0; j<ch_num[i]; j++){//Ch
lilac0112_1 7:9b1ac6fbf32c 167 ir_data[i][j] = read_input(i, j);
lilac0112_1 6:79dc74e4926a 168 }
lilac0112_1 6:79dc74e4926a 169 }
lilac0112_1 6:79dc74e4926a 170 pc.printf("%Value is ");
lilac0112_1 7:9b1ac6fbf32c 171 pc.printf("%d\t", ir_data[1][0]);
lilac0112_1 7:9b1ac6fbf32c 172 pc.printf("%d\t", ir_data[1][1]);
lilac0112_1 6:79dc74e4926a 173 pc.printf("%d\t", ir_data[1][2]);
lilac0112_1 7:9b1ac6fbf32c 174 pc.printf("%d\t", ir_data[1][3]);
lilac0112_1 6:79dc74e4926a 175 pc.printf("%d\t", ir_data[1][4]);
lilac0112_1 7:9b1ac6fbf32c 176 pc.printf("%d\t", ir_data[1][5]);
lilac0112_1 7:9b1ac6fbf32c 177 pc.printf("%d\t", ir_data[1][6]);
lilac0112_1 7:9b1ac6fbf32c 178 pc.printf("%d\t", ir_data[1][7]);
lilac0112_1 6:79dc74e4926a 179 pc.printf("\r\n");
lilac0112_1 6:79dc74e4926a 180 }
lilac0112_1 6:79dc74e4926a 181 }
lilac0112_1 7:9b1ac6fbf32c 182 int read_input(int ic, int channel)
lilac0112_1 7:9b1ac6fbf32c 183 {
lilac0112_1 0:2f48b11b154f 184
lilac0112_1 7:9b1ac6fbf32c 185 int command_high = START_BIT | MODE_SINGLE | ((channel & 0x04) >> 2);
lilac0112_1 7:9b1ac6fbf32c 186 int command_low = (channel & 0x03) << 6;
lilac0112_1 0:2f48b11b154f 187
lilac0112_1 7:9b1ac6fbf32c 188 cs[ic] = 0;
lilac0112_1 0:2f48b11b154f 189
lilac0112_1 7:9b1ac6fbf32c 190 ir.write(command_high);
lilac0112_1 7:9b1ac6fbf32c 191 int high_byte = ir.write(command_low) & 0x0F;
lilac0112_1 7:9b1ac6fbf32c 192 int low_byte = ir.write(0);
lilac0112_1 0:2f48b11b154f 193
lilac0112_1 7:9b1ac6fbf32c 194 cs[ic] = 1;
lilac0112_1 7:9b1ac6fbf32c 195 wait_us(1);
lilac0112_1 0:2f48b11b154f 196
lilac0112_1 7:9b1ac6fbf32c 197 return (high_byte << 8) | low_byte;//0x0000...0xFFFF
lilac0112_1 7:9b1ac6fbf32c 198 /*int static mac=0;
lilac0112_1 7:9b1ac6fbf32c 199 int static mast[10][10] =
lilac0112_1 7:9b1ac6fbf32c 200 {
lilac0112_1 7:9b1ac6fbf32c 201 {1,2,3,4,5,6,7,8,9,10},
lilac0112_1 7:9b1ac6fbf32c 202 {2,4,6,8,10,12,14,16,18,20},
lilac0112_1 7:9b1ac6fbf32c 203 {3,6,9,12,15,18,21,24,27,30},
lilac0112_1 7:9b1ac6fbf32c 204 {4,8,12,16,20,24,28,32,36,40},
lilac0112_1 7:9b1ac6fbf32c 205 {5,10,15,20,25,30,35,40,45,50},
lilac0112_1 7:9b1ac6fbf32c 206 {6,12,18,24,30,36,42,48,54,60},
lilac0112_1 7:9b1ac6fbf32c 207 {7,14,21,28,35,42,49,56,63,70},
lilac0112_1 7:9b1ac6fbf32c 208 {8,16,24,32,40,48,56,64,72,80},
lilac0112_1 7:9b1ac6fbf32c 209 {9,18,27,36,45,54,63,72,81,90},
lilac0112_1 7:9b1ac6fbf32c 210 {10,20,30,40,50,60,70,80,90,100},
lilac0112_1 7:9b1ac6fbf32c 211 };
lilac0112_1 7:9b1ac6fbf32c 212 if(channel==0) mac++;
lilac0112_1 7:9b1ac6fbf32c 213 mac = mac%10;
lilac0112_1 7:9b1ac6fbf32c 214 return mast[mac][channel];*/
lilac0112_1 0:2f48b11b154f 215 }
lilac0112_1 0:2f48b11b154f 216 #endif /*IR_SENSOR*/
lilac0112_1 0:2f48b11b154f 217
lilac0112_1 0:2f48b11b154f 218
lilac0112_1 0:2f48b11b154f 219
lilac0112_1 0:2f48b11b154f 220