File content as of revision 11:a5023f22f25a:

#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, val, packet;
    int i;
    FILE *fp;
    char *fname="/sd/mydir/sdtest.txt";
    char *dname="/sd/mydir";

    mkdir(dname, 0777);

    pc.printf("Hello World!\n");

    fp = fopen(fname, "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<FDATA_NUM){
                FileData[num] = data;
                pc.printf("%d, %ld\n", num, FileData[num]);
            }
            else{
                continue;
            }
        }
        fclose(fp);
        
    while(1){
        
        val = nucleo.receive();
        if(!val) continue;
        
        spi_num = nucleo.read();
        h_byte = nucleo.read();
        l_byte = nucleo.read();
        
        if((spi_num&0x80)>>7 == 1){//writing to sd
            spi_num = spi_num & 0x7F;
            if(spi_num<FDATA_NUM){
                FileData[spi_num] = (h_byte<<8) | l_byte;
                //pc.printf("%d, %ld\n", num, FileData[num]);
                fp = fopen(fname, "w");
                for(i=0; i<FDATA_NUM; i++) fprintf(fp, "%d, %ld\n", i, FileData[i]);
                fclose(fp);
            }
        }
        else{//reading from sd
            spi_num = spi_num & 0x7F;
            if(spi_num<FDATA_NUM){
                h_byte = (FileData[spi_num] & 0xFF00)>>8;
                l_byte = (FileData[spi_num] & 0x00FF);

                packet = h_byte;
                nucleo.reply(packet);

                packet = l_byte;
                nucleo.reply(packet);
            }
        }
        //pc.printf("Goodbye World!\n");
    }
}
#endif /*SD_CARD*/

#ifdef ULTRA_SONIC


uint16_t packet, val, order;
uint16_t front_dis=0, rear_dis=0;

void emergency(void){
    led[1]=1;
    //front_dis = 0xAA;
    //rear_dis = 0xBB;
    val = nucleo.receive();
    if(val==1){
        order = nucleo.read();
        if(order == 0xABCD){
            packet = ((front_dis<<8)|(rear_dis))&0xFFFF;nucleo.reply(packet);
        }
        else{
            packet = 0xFFFF;nucleo.reply(packet);
        }
        //pc.printf("SSSSSSSSSSSSSSSSS%d\r\n", order);
    }
    else{
        //pc.printf("FFFF\r\n");
    }
    wait_us(100);
    led[1]=0;
}
void Usw_System(void){
    
    nucleo.format(16, 3);
    nucleo.frequency(1000000);
    nucleo.reply(0x0000);
    
    call.fall(&emergency);
    
    //led[0]=led[1]=1;
    while(1){
        
        led[0]=1;
        front.Send();
        wait_ms(30);
        front_dis = front.Read_cm();
        if(front_dis>0xFE) front_dis=0xFE;
        
        
        rear.Send();
        wait_ms(30);
        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);
        
        //emergency();
    }
}
#endif /*ULTRA_SONIC*/

#ifdef COLOR_SENSOR
void Color_System(void){
    uint8_t val, order, packet;
    uint16_t data;

    while(1){
        while(1){
            val = nucleo.receive();
            if(val){
                order = nucleo.read();
                order %= SENSOR_X_COLOR;
                data = ColorSensor[order].read_u16();
                packet = (data & 0xFF00)>>8;
                nucleo.reply(packet);
            }
            else{
                break;
            }
        }
    }
}
#endif /*COLOR_SENSOR*/

#ifdef IR_SENSOR

uint8_t ir_notice=0;//4bit
static uint8_t const ir_key=0xA;//4bit
uint8_t ir_position[2]={0};//4bit*2

void emergency(void){
    uint16_t order,packet,val;
    //ir_key=0xA;
    //ir_notice=0xC;
    //ir_position[1]=0xE;
    //ir_position[0]=0xF;
    val = nucleo.receive();
    if(val==1){
        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);
        }
        else{
            packet = 0xFFFF;nucleo.reply(packet);
        }
        //pc.printf("SSSSSSSSSSSSSSSSS%d\r\n", order);
    }
    else{
        //pc.f("FFFF\r\n");
    }
}
void Ir_System(void){
    
    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];
    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);
    nucleo.reply(0x0000);
    
    ir.format(8, 3);
    ir.frequency(1000000);
    
    //遠距離用電源
    supply.period(0.010);//T=10[ms]
    supply.write(0.9);//L...10%,H...90%
    
    //call.fall(&emergency);
    
    for(i=0; i<IC_NUM; i++) cs[i]=1;
    while(1) {
        
        //num_short=0;
        //num_long=0;
        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);
                
                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);
        /*
        ir_position[0] = ir_posi_short[0];
        ir_position[1] = ir_posi_long[0];
        ir_notice=0;
        */
        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("\r\n");
        //emergency();
    }
}
uint16_t read_input(uint8_t ic, uint8_t channel)
{
    uint16_t command_high = START_BIT | MODE_SINGLE | ((channel & 0x04) >> 2);
    uint16_t command_low = (channel & 0x03) << 6;
    
    cs[ic] = 0;
    
    ir.write(command_high);
    uint16_t high_byte = ir.write(command_low) & 0x0F;
    uint16_t low_byte = ir.write(0);   
    
    wait_us(1);
    cs[ic] = 1;
    
    return (high_byte << 8) | low_byte;//0x0000...0xFFFF
}
uint8_t read_position(uint8_t ic, uint8_t channel){
    //DigitalOut cs[IC_NUM] = {cs1, cs2, cs3};
    static uint8_t const ir_location[3][8]=
    {//0,1,2...7(ch)
        {1, 2, 3, 4, 5, 6, 7, 8},//cs1,Long*8
        {1, 2, 3, 4, 5, 6, 7, 8},//cs2,Short*8
        {9, 10, 11, 12},//cs3,Short*4
    };
    return ir_location[ic][channel];
}
void BubbleSort(uint16_t *data, uint8_t *data2, uint8_t n)//昇順にする
{
    bool flag;
    uint8_t i, j;//inclement
    uint16_t temp;//temporary for value
    uint8_t temp2;//temporary for position
    
    j=0;
    do{
        j++;
        flag=0;
        for (i=0; i<n-j; i++) {
            if (data[i]<data[i+1]) {
                // 左右の並びがおかしければ入れ替える 
                flag=1;
                temp=data[i];
                data[i]=data[i+1];
                data[i+1]=temp;
                
                temp2=data2[i];
                data2[i]=data2[i+1];
                data2[i+1]=temp2;
            }
        }
    } while (flag==1); //入れ替えがある間，繰り返す．
}
#endif /*IR_SENSOR*/