Diff: format.cpp

Revision:

0:2f48b11b154f

Child:

1:7070fb876a2c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/format.cpp	Thu Dec 31 05:16:23 2015 +0000
@@ -0,0 +1,198 @@
+#include "mbed.h"
+#include "extern.h"
+
+#ifdef SD_CARD
+void Sd_System(void){
+    
+    char buf[BUFSIZE];
+    uint16_t FileData[FDATA_NUM]={0}, num, data;
+    uint8_t spi_num, h_byte, l_byte;
+    uint16_t spi_data;
+    int i;
+    FILE *fp;
+    pc.printf("Hello World!\n");
+
+    mkdir("/sd/mydir", 0777);
+    
+    while(1){
+        
+        val = nucleo.receive();
+        if(!val) return;
+        
+        spi_num = device.read();
+        h_byte = device.read();
+        l_byte = device.read();
+        
+        if((spi_num&0x80)>>7 == 1){
+            
+        }
+        else{
+            
+        }
+        if(val) {
+            
+            packet = (front_dis&0x00FF);
+            nucleo.reply(packet);
+            packet = (front_dis&0xFF00)>>8;
+            nucleo.reply(packet);
+            packet = (rear_dis&0x00FF);
+            nucleo.reply(packet);
+            packet = (rear_dis&0xFF00)>>8;
+            nucleo.reply(packet);
+        }
+        // example writing to SD card, sford
+        
+        fp = fopen("/sd/mydir/sdtest.txt", "r");
+        if(fp == NULL) {
+            error("Could not open file for read\n");
+        }
+        while(fgets(buf, sizeof(buf), fp) != NULL){
+            if(buf[0] == '#') continue;
+            
+            num = atol(strtok(buf, ","));
+            data = atol(strtok(NULL, "\r\n\0"));
+            
+            if((num>=0)&&(num<FDATA_NUM)){
+                FileData[num] = data;
+                pc.printf("%d, %ld\n", num, FileData[num]);
+            }
+            else{
+                continue;
+            }
+        }
+        fclose(fp);
+        
+        FileData[0] = 1;
+        FileData[1] = 2;
+        FileData[2] = 5;
+        FileData[3] = 10;
+        FileData[4] = 20;
+        FileData[5] = 50;
+        FileData[6] = 10;
+        FileData[7] = 20;
+        FileData[8] = 50;
+        FileData[9] = 100;
+        
+        fp = fopen("/sd/mydir/sdtest.txt", "w");
+        for(i=0; i<FDATA_NUM; i++) fprintf(fp, "%d, %ld\n", i, FileData[i]);
+        fclose(fp);
+    
+        //pc.printf("Goodbye World!\n");
+    }
+}
+#endif /*SD_CARD*/
+
+#ifdef ULTRA_SONIC
+void Usw_System(void){
+    uint8_t paket, val, order;
+    uint16_t front_dis=0, rear_dis=0;
+    
+    while(1){
+        front.Send();
+        wait_ms(30);
+        front_dis = front.Read_cm();
+        
+        rear.Send();
+        wait_ms(30);
+        rear_dis = rear.Read_cm();
+        
+        while(1){
+            val = nucleo.receive();
+            if(val){
+                order = nucleo.read();
+                switch(order){
+                    case 0x01:
+                        packet = (front_dis&0x00FF);break;
+                    case 0x02:
+                        packet = (front_dis&0xFF00)>>8;break;
+                    case 0x03:
+                        packet = (rear_dis&0x00FF);break;
+                    case 0x04:
+                        packet = (rear_dis&0xFF00)>>8;break;
+                    default:
+                        packet = 0x00;break;
+                }
+                nucleo.reply(packet);
+            }
+            else{
+                break;
+            }
+        }
+    }
+}
+#endif /*ULTRA_SONIC*/
+
+#ifdef COLOR_SENSOR
+void Color_System(void){
+    
+    while(1){
+        
+        ColorSensor[0]
+    }
+}
+#endif /*COLOR_SENSOR*/
+
+#ifdef IR_SENSOR
+void Ir_System(void){
+    
+    static uint8_t const START_BIT      = 0x04;
+    static uint8_t const MODE_SINGLE    = 0x02;    // Single-ended mode
+    //static uint8_t const MODE_DIFF      = 0x00;    // Differential mode
+    
+    static uint8_t const IR_NUM[IC_NUM] = {6, 6, 8};
+    
+    uint8_t ic, ch;
+    unsigned int command_high, command_low;
+    unsigned int high_byte, low_byte;
+    
+    uint8_t packet, val, order;
+    
+    uint16_t ir_data[IC_NUM][CH_NUM];
+    
+    ir.frequency(1000000);
+    
+    for(ic=0; ic<IC_NUM; ic++) cs[ic]=1;
+    while(1) {
+        for(ic=0; ic<IC_NUM; ic++){//IC
+            for(ch=0; ch<IR_NUM[ic]; ch++){//Ch
+                command_high = START_BIT | MODE_SINGLE | ((ch & 0x04) >> 2);
+                command_low = (ch & 0x03) << 6;
+                
+                cs[ic] = 0;
+                
+                ir.write(command_high);
+                high_byte = ir.write(command_low) & 0x0F;
+                low_byte = ir.write(0);
+                
+                cs[ic] = 1;
+                wait_us(1);
+                
+                //ir_data[ic][ch] = (high_byte << 8) | low_byte;
+               ir_data[ic][ch] = ((high_byte << 4) | (low_byte >> 4))&0xFF;
+            }
+        }
+        while(1){
+            val = nucleo.receive();
+            if(val){
+                order = nucleo.read();
+                packet = ir_data[order/10][order%10] & 0x00FF;
+                nucleo.reply(packet);
+                //for(ic=0; ic<IC_NUM; ic++){//IC
+                //    for(ch=0; ch<IR_NUM[ic]; ch++){//Ch
+                //        packet = ir_data[ic][ch] & 0x00FF;
+                //        nucleo.reply(packet);
+                //    }
+                //}
+            }
+            else{
+                break;
+            }
+        }
+        
+    }
+}
+#endif /*IR_SENSOR*/
+
+
+
+