Diff: format.cpp

Revision:

12:c90a124169e6

Parent:

11:a5023f22f25a

Child:

13:938a2dda0626

--- a/format.cpp	Tue Jan 26 15:03:56 2016 +0000
+++ b/format.cpp	Sat Jan 30 08:44:10 2016 +0000
@@ -123,8 +123,8 @@
         rear_dis = rear.Read_cm();
         if(rear_dis>0xFE) rear_dis=0xFE;
         led[0]=0;
-        wait_us(100);
-        pc.printf("%d\t%d\t\r\n", front_dis, rear_dis);
+        wait_us(1000);
+        //pc.printf("%d\t%d\t\r\n", front_dis, rear_dis);
         
         //emergency();
     }
@@ -157,7 +157,7 @@
 #ifdef IR_SENSOR
 
 uint8_t ir_notice=0;//4bit
-static uint8_t const ir_key=0xA;//4bit
+static uint8_t const ir_key=IR_KEY;//4bit
 uint8_t ir_position[2]={0};//4bit*2
 
 void emergency(void){
@@ -171,7 +171,7 @@
         order = nucleo.read();
         if(order == 0xABCD){
             //key/notice/long/short
-            packet = ((ir_key<<12)|(ir_notice<<8)|(ir_position[1]<<4)|(ir_position[0]<<0))&0xFFFF;nucleo.reply(packet);
+            packet = ((ir_key<<12)|(ir_notice<<8)|(ir_position[LONG_SPOT]<<4)|(ir_position[SHORT_SPOT]<<0))&0xFFFF;nucleo.reply(packet);
         }
         else{
             packet = 0xFFFF;nucleo.reply(packet);
@@ -186,12 +186,19 @@
     
     uint8_t i;//ic
     uint8_t j;//ch
-    //uint8_t num_long, num_short;
-    //uint16_t ir_val, ir_val_long[8], ir_val_short[12];
-    //uint8_t ir_posi, ir_posi_long[8], ir_posi_short[12];
+    
+    uint8_t num_long;
+    uint8_t num_short;
+    
+    uint16_t ir_val_long[8];
+    uint16_t ir_val_short[12];
+    
+    uint16_t ir_val, ir_val_diff;
+    
+    uint8_t ir_posi;
+    uint8_t ir_posi_long[8];
+    uint8_t ir_posi_short[12];
     static uint8_t const ch_num[3]={8, 8, 4};
-
-    uint16_t ir_data[IC_NUM][IR_NUM]={0};
     
     nucleo.format(16, 3);
     nucleo.frequency(1000000);
@@ -204,50 +211,96 @@
     supply.period(0.010);//T=10[ms]
     supply.write(0.9);//L...10%,H...90%
     
-    //call.fall(&emergency);
+    call.fall(&emergency);
     
     for(i=0; i<IC_NUM; i++) cs[i]=1;
     while(1) {
         
-        //num_short=0;
-        //num_long=0;
+        num_short=0;
+        num_long=0;
+        //i=1...long_data is not used.
         for(i=0; i<IC_NUM; i++){//IC
             for(j=0; j<ch_num[i]; j++){//Ch
-                ir_data[i][j] = read_input(i, j);
-                /*
                 ir_val = read_input(i, j);
                 ir_posi = read_position(i, j);
+                /*
+                ir_val_short[num_short] = ir_val;
+                ir_posi_short[num_short] = ir_posi;
+                num_short++;
+                */
                 
                 if(i==0){
                     ir_val_long[num_long] = ir_val;
                     ir_posi_long[num_long] = ir_posi;
                     num_long++;
+                    
                 }
                 else{
                     ir_val_short[num_short] = ir_val;
                     ir_posi_short[num_short] = ir_posi;
                     num_short++;
-                }*/
+                }
+                
             }
         }
         
-        //BubbleSort(ir_val_short, ir_posi_short, 12);
-        //BubbleSort(ir_val_long, ir_posi_long, 8);
+        BubbleSort(ir_val_short, ir_posi_short, 12);
+        BubbleSort(ir_val_long, ir_posi_long, 8);
+        
+        ir_val_diff = ir_val_short[0]-ir_val_short[11];//After bubble
+        
+        ir_position[SHORT_SPOT] = ir_posi_short[11];//After bubble
+        ir_position[LONG_SPOT] = ir_posi_long[7];//After bubble
+        
         /*
-        ir_position[0] = ir_posi_short[0];
-        ir_position[1] = ir_posi_long[0];
-        ir_notice=0;
+        #define IR_NOTE_NONE    0x0
+        #define IR_NOTE_FAR     0x1
+        #define IR_NOTE_CLOSE   0x2
+        #define IR_NOTE_CLOSER  0x3
         */
+        ir_notice = IR_NOTE_NONE;//none
+        if((DIS_MORE_CLOSE<=ir_val_diff)&&(1)){
+            ir_notice = IR_NOTE_CLOSER;//short_data
+        }
+        else if((DIS_CLOSE<=ir_val_diff)&&(ir_val_diff<DIS_MORE_CLOSE)){
+            ir_notice = IR_NOTE_CLOSE;//short_data
+        }
+        else if((DIS_FAR<=ir_val_diff)&&(ir_val_diff<DIS_CLOSE)){
+            ir_notice = IR_NOTE_FAR;//long_data
+        }
+        else if((1)&&(ir_val_diff<DIS_FAR)){
+            ir_notice = IR_NOTE_NONE;//none
+            if((ir_val_long[0]-ir_val_long[7])>700){
+                ir_notice = IR_NOTE_FAR;//long_data
+            }
+        }
+        /*
         pc.printf("%Value is ");
-        pc.printf("%d\t", ir_data[1][0]);
-        pc.printf("%d\t", ir_data[1][1]);
-        pc.printf("%d\t", ir_data[1][2]);
-        pc.printf("%d\t", ir_data[1][3]);
-        pc.printf("%d\t", ir_data[1][4]);
-        pc.printf("%d\t", ir_data[1][5]);
-        pc.printf("%d\t", ir_data[1][6]);
-        pc.printf("%d\t", ir_data[1][7]);
+        pc.printf("state_short is %d\t", ir_position[0]);
+        pc.printf("state_long  is %d\t", ir_position[1]);
+        pc.printf("Dirr_short is %d\t", ir_val_short[0]-ir_val_short[11]);
+        pc.printf("Dirr_short is %d\t", ir_val_long[0]-ir_val_long[7]);
+        pc.printf("notice is %d\t", ir_notice);
+        pc.printf("\r\n");
+        */
+        /*
+        pc.printf("%Value is ");
+        pc.printf("Dirr_short is %d\t", ir_val_short[0]-ir_val_short[11]);
+        pc.printf("Dirr_long  is %d\t", ir_val_long[0]-ir_val_long[7]);
         pc.printf("\r\n");
+        */
+        /*
+        pc.printf("%Value is ");
+        for(i=0; i<8; i++){
+            pc.printf("%d\t", ir_val_long[i]);
+        }
+        for(i=0; i<12; i++){
+            pc.printf("%d\t", ir_val_short[i]);
+        }
+        
+        pc.printf("\r\n");
+        */
+        
         //emergency();
     }
 }