CatPot_2v00_T_Sub

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CatPot 2015-2016 / CatPot_2v00_T_Sub

Dependencies: Ping SDFileSystem mbed-src

Revision 0:2f48b11b154f, committed 2015-12-31

Comitter:: lilac0112_1
Date:: Thu Dec 31 05:16:23 2015 +0000
Child:: 1:7070fb876a2c
Commit message:

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Ping.lib	Thu Dec 31 05:16:23 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/rosienej/code/Ping/#e252ca27589b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem.lib	Thu Dec 31 05:16:23 2015 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/mbed_official/code/SDFileSystem/#7b35d1709458

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/def.h	Thu Dec 31 05:16:23 2015 +0000
@@ -0,0 +1,30 @@
+#ifndef _DEF_H_
+#define _DEF_H_
+
+//#define SD_CARD
+//#define ULTRA_SONIC//HC-SR04
+//#define COLOR_SENSOR//S9706→required for changing to S9032
+#define IR_SENSOR//MCP3208
+
+
+
+
+#ifdef SD_CARD
+    #define BUFSIZE 40
+    #define FDATA_NUM 10
+#endif /*SD_CARD*/
+
+#ifdef ULTRA_SONIC
+    
+#endif /*ULTRA_SONIC*/
+
+#ifdef COLOR_SENSOR
+    #define SENSOR_NUM 3; 
+#endif /*COLOR_SENSOR*/
+
+#ifdef IR_SENSOR
+    #define IC_NUM 3
+    #define CH_NUM 8
+#endif /*IR_SENSOR*/
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/extern.h	Thu Dec 31 05:16:23 2015 +0000
@@ -0,0 +1,34 @@
+#ifndef _EXTERN_H_
+#define _EXTERN_H_
+
+#include "def.h"
+
+/*追加ライブラリ*/
+#include "SDFileSystem.h"
+#include "Ping.h"
+
+#include "format.h"
+/*クラス,ピン宣言等*/
+#ifdef SD_CARD
+extern SDFileSystem sd;
+extern SPISlave nucleo;
+#endif /*SD_CARD*/
+
+#ifdef ULTRA_SONIC
+extern Ping rear;
+extern Ping front;
+extern SPISlave nucleo;
+#endif /*ULTRA_SONIC*/
+
+#ifdef COLOR_SENSOR
+extern AnalogIn ColorSensor[][];
+extern SPISlave nucleo;
+#endif /*COLOR_SENSOR*/
+
+#ifdef IR_SENSOR
+extern SPI ir;
+extern DigitalOut cs[];
+extern SPISlave nucleo;
+#endif /*IR_SENSOR*/
+
+#endif /*_EXTERN_H_*/
\ No newline at end of file

--- /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*/
+
+
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/format.h	Thu Dec 31 05:16:23 2015 +0000
@@ -0,0 +1,20 @@
+#ifndef _FORMAT_H_
+#define _FORMAT_H_
+
+#ifdef SD_CARD
+void Sd_System(void);
+#endif /*SD_CARD*/
+
+#ifdef ULTRA_SONIC
+void Usw_System(void);
+#endif /*ULTRA_SONIC*/
+
+#ifdef COLOR_SENSOR
+void Color_System(void);
+#endif /*COLOR_SENSOR*/
+
+#ifdef IR_SENSOR
+void Ir_System(void);
+#endif /*IR_SENSOR*/
+
+#endif /*_FORMAT_H_*/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Dec 31 05:16:23 2015 +0000
@@ -0,0 +1,24 @@
+#include "mbed.h"
+#include "extern.h"
+#include "main.h"
+
+int main() {
+    nucleo.reply(0x00);
+    while(1) {
+        #ifdef SD_CARD
+            Sd_System();
+        #endif /*SD_CARD*/
+        
+        #ifdef ULTRA_SONIC
+            Usw_System();
+        #endif /*ULTRA_SONIC*/
+        
+        #ifdef COLOR_SENSOR
+            Color_System();
+        #endif /*COLOR_SENSOR*/
+        
+        #ifdef IR_SENSOR
+            Ir_System();
+        #endif /*IR_SENSOR*/
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h	Thu Dec 31 05:16:23 2015 +0000
@@ -0,0 +1,89 @@
+#ifndef _MAIN_H_
+#define _MAIN_H_
+
+#include "def.h"
+
+#ifdef SD_CARD
+static PinName const TX_PIN = dp10;
+static PinName const RX_PIN = dp11;
+Serial pc(TX_PIN, RX_PIN);
+
+static PinName const SD_MOSI = dp15;
+static PinName const SD_MISO = dp16;
+static PinName const SD_SCLK = dp17;
+static PinName const SD_CS = dp18;
+SDFileSystem sd(SD_MOSI, SD_MISO, SD_SCLK, SD_CS, "sd");
+
+static PinName const MOSI = dp15;
+static PinName const MISO = dp16;
+static PinName const SCLK = dp17;
+static PinName const SSEL = dp18;
+SPISlave nucleo(MOSI, MISO, SCLK, SSEL);
+#endif /*SD_CARD*/
+
+#ifdef ULTRA_SONIC
+static PinName const TX_PIN = dp10;
+static PinName const RX_PIN = dp11;
+Serial pc(TX_PIN, RX_PIN);
+
+static PinName const FRONT = D11;
+static PinName const REAR = D12;
+Ping rear(REAR);
+Ping front(FRONT);
+
+static PinName const MOSI = dp15;
+static PinName const MISO = dp16;
+static PinName const SCLK = dp17;
+static PinName const SSEL = dp18;
+SPISlave nucleo(MOSI, MISO, SCLK, SSEL);
+#endif /*ULTRA_SONIC*/
+
+#ifdef COLOR_SENSOR
+static PinName const TX_PIN = dp10;
+static PinName const RX_PIN = dp11;
+Serial pc(TX_PIN, RX_PIN);
+
+
+static PinName const COLOR00 = dp23;
+static PinName const COLOR01 = dp22;
+static PinName const COLOR02 = dp21;
+
+static PinName const COLOR10 = dp23;
+static PinName const COLOR11 = dp22;
+static PinName const COLOR12 = dp21;
+
+static PinName const COLOR20 = dp23;
+static PinName const COLOR21 = dp22;
+static PinName const COLOR22 = dp21;
+AnalogIn ColorSensor[SENSOR_NUM] = {COLOR0, COLOR1, COLOR2};
+
+static PinName const MOSI = dp15;
+static PinName const MISO = dp16;
+static PinName const SCLK = dp17;
+static PinName const SSEL = dp18;
+SPISlave nucleo(MOSI, MISO, SCLK, SSEL);
+#endif /*COLOR_SENSOR*/
+
+#ifdef IR_SENSOR
+static PinName const TX_PIN = dp10;
+static PinName const RX_PIN = dp11;
+Serial pc(TX_PIN, RX_PIN);
+
+static PinName const IR_MOSI = dp15;
+static PinName const IR_MISO = dp16;
+static PinName const IR_SCLK = dp17;
+static PinName const IR0_CS = dp18;
+static PinName const IR1_CS = dp19;
+static PinName const IR2_CS = dp20;
+
+SPI ir(IR_MOSI, IR_MISO, IR_SCLK);
+DigitalOut cs[IC_NUM] = {IR0_CS, IR1_CS, IR2_CS};
+
+static PinName const MOSI = dp15;
+static PinName const MISO = dp16;
+static PinName const SCLK = dp17;
+static PinName const SSEL = dp18;
+SPISlave nucleo(MOSI, MISO, SCLK, SSEL);
+#endif /*IR_SENSOR*/
+
+#endif /*_MAIN_H_*/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Dec 31 05:16:23 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/4336505e4b1c
\ No newline at end of file

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Type:	Program
Created:	31 Dec 2015
Imports:	5
Forks:	0
Commits:	17
Dependents:	0
Dependencies:	3
Followers:	4

Ping.lib	Show annotated file Show diff for this revision Revisions of this file
SDFileSystem.lib	Show annotated file Show diff for this revision Revisions of this file
def.h	Show annotated file Show diff for this revision Revisions of this file
extern.h	Show annotated file Show diff for this revision Revisions of this file
format.cpp	Show annotated file Show diff for this revision Revisions of this file
format.h	Show annotated file Show diff for this revision Revisions of this file
main.cpp	Show annotated file Show diff for this revision Revisions of this file
main.h	Show annotated file Show diff for this revision Revisions of this file
mbed.bld	Show annotated file Show diff for this revision Revisions of this file

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