CatPot 2015-2016 / CatPot_2v30_T_Sub

LPC824's Program for RoboCup 2016 Leipzig

Dependencies:   mbed-src Ping SDFileSystem

main/main.h@0:3e24cf7f8a27, 2016-06-14 (annotated)

Committer:
lilac0112_1
Date:
Tue Jun 14 07:24:23 2016 +0000
Revision:
0:3e24cf7f8a27
Code of Japan open.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 0:3e24cf7f8a27 1 #ifndef _MAIN_H_
lilac0112_1 0:3e24cf7f8a27 2 #define _MAIN_H_
lilac0112_1 0:3e24cf7f8a27 3
lilac0112_1 0:3e24cf7f8a27 4 #include "def.h"
lilac0112_1 0:3e24cf7f8a27 5
lilac0112_1 0:3e24cf7f8a27 6 //PinConfig
lilac0112_1 0:3e24cf7f8a27 7
lilac0112_1 0:3e24cf7f8a27 8 //超音波用(20pin)
lilac0112_1 0:3e24cf7f8a27 9 #ifdef ULTRA_SONIC
lilac0112_1 0:3e24cf7f8a27 10
lilac0112_1 0:3e24cf7f8a27 11 static PinName const monitor_tx = P0_4;
lilac0112_1 0:3e24cf7f8a27 12 static PinName const monitor_rx = P0_0;
lilac0112_1 0:3e24cf7f8a27 13
lilac0112_1 0:3e24cf7f8a27 14 static PinName const write_rx = P0_0;
lilac0112_1 0:3e24cf7f8a27 15 static PinName const write_tx = P0_4;
lilac0112_1 0:3e24cf7f8a27 16 static PinName const write_reset = P0_5;
lilac0112_1 0:3e24cf7f8a27 17 static PinName const write_isp = P0_12;
lilac0112_1 0:3e24cf7f8a27 18
lilac0112_1 0:3e24cf7f8a27 19 static PinName const SPI_mosi = P0_10;
lilac0112_1 0:3e24cf7f8a27 20 static PinName const SPI_miso = P0_11;
lilac0112_1 0:3e24cf7f8a27 21 static PinName const SPI_slck = P0_1;
lilac0112_1 0:3e24cf7f8a27 22 static PinName const SPI_ss_sonic = P0_15;
lilac0112_1 0:3e24cf7f8a27 23
lilac0112_1 0:3e24cf7f8a27 24 static PinName const Sonic1_echo = P0_23;
lilac0112_1 0:3e24cf7f8a27 25 static PinName const Sonic2_echo = P0_17;
lilac0112_1 0:3e24cf7f8a27 26
lilac0112_1 0:3e24cf7f8a27 27 static PinName const led_umr1 = P0_14;
lilac0112_1 0:3e24cf7f8a27 28 static PinName const led_umr2 = P0_13;
lilac0112_1 0:3e24cf7f8a27 29
lilac0112_1 0:3e24cf7f8a27 30 Serial pc(monitor_tx, monitor_rx);
lilac0112_1 0:3e24cf7f8a27 31 SPISlave nucleo(SPI_mosi, SPI_miso, SPI_slck, SPI_ss_sonic);
lilac0112_1 0:3e24cf7f8a27 32 InterruptIn call(SPI_ss_sonic);
lilac0112_1 0:3e24cf7f8a27 33 Ping rear(Sonic1_echo);
lilac0112_1 0:3e24cf7f8a27 34 Ping front(Sonic2_echo);
lilac0112_1 0:3e24cf7f8a27 35 DigitalOut led[2]={led_umr1, led_umr2};
lilac0112_1 0:3e24cf7f8a27 36 #endif /*ULTRA_SONIC*/
lilac0112_1 0:3e24cf7f8a27 37
lilac0112_1 0:3e24cf7f8a27 38
lilac0112_1 0:3e24cf7f8a27 39 //超音波用onDebugBoard(20pin)
lilac0112_1 0:3e24cf7f8a27 40 #ifdef ULTRA_SONIC_2
lilac0112_1 0:3e24cf7f8a27 41
lilac0112_1 0:3e24cf7f8a27 42 static PinName const monitor_tx = P0_4;
lilac0112_1 0:3e24cf7f8a27 43 static PinName const monitor_rx = P0_0;
lilac0112_1 0:3e24cf7f8a27 44
lilac0112_1 0:3e24cf7f8a27 45 static PinName const write_rx = P0_0;
lilac0112_1 0:3e24cf7f8a27 46 static PinName const write_tx = P0_4;
lilac0112_1 0:3e24cf7f8a27 47 static PinName const write_reset = P0_5;
lilac0112_1 0:3e24cf7f8a27 48 static PinName const write_isp = P0_12;
lilac0112_1 0:3e24cf7f8a27 49
lilac0112_1 0:3e24cf7f8a27 50 static PinName const SPI_mosi = P0_10;
lilac0112_1 0:3e24cf7f8a27 51 static PinName const SPI_miso = P0_11;
lilac0112_1 0:3e24cf7f8a27 52 static PinName const SPI_slck = P0_1;
lilac0112_1 0:3e24cf7f8a27 53 static PinName const SPI_ss_sonic = P0_15;
lilac0112_1 0:3e24cf7f8a27 54
lilac0112_1 0:3e24cf7f8a27 55 static PinName const Sonic1_trg = P0_23;
lilac0112_1 0:3e24cf7f8a27 56 static PinName const Sonic2_trg = P0_17;
lilac0112_1 0:3e24cf7f8a27 57
lilac0112_1 0:3e24cf7f8a27 58 static PinName const Sonic4_trg = P0_14;
lilac0112_1 0:3e24cf7f8a27 59 static PinName const Sonic3_trg = P0_13;
lilac0112_1 0:3e24cf7f8a27 60
lilac0112_1 0:3e24cf7f8a27 61 Serial pc(monitor_tx, monitor_rx);
lilac0112_1 0:3e24cf7f8a27 62 SPISlave nucleo(SPI_mosi, SPI_miso, SPI_slck, SPI_ss_sonic);
lilac0112_1 0:3e24cf7f8a27 63 InterruptIn call(SPI_ss_sonic);
lilac0112_1 0:3e24cf7f8a27 64 Ping rear(Sonic1_trg);
lilac0112_1 0:3e24cf7f8a27 65 Ping front(Sonic2_trg);
lilac0112_1 0:3e24cf7f8a27 66 DigitalOut led[2]={Sonic4_trg, Sonic3_trg};
lilac0112_1 0:3e24cf7f8a27 67 #endif /*ULTRA_SONI_2*/
lilac0112_1 0:3e24cf7f8a27 68
lilac0112_1 0:3e24cf7f8a27 69 //IRセンサー用(33pin)
lilac0112_1 0:3e24cf7f8a27 70 #ifdef IR_SENSOR
lilac0112_1 0:3e24cf7f8a27 71 static PinName const monitor_tx = P0_4;
lilac0112_1 0:3e24cf7f8a27 72 static PinName const monitor_rx = P0_0;
lilac0112_1 0:3e24cf7f8a27 73 //static PinName const monitor_tx = USBTX;
lilac0112_1 0:3e24cf7f8a27 74 //static PinName const monitor_rx = USBRX;
lilac0112_1 0:3e24cf7f8a27 75
lilac0112_1 0:3e24cf7f8a27 76 static PinName const write_rx = P0_0;
lilac0112_1 0:3e24cf7f8a27 77 static PinName const write_tx = P0_4;
lilac0112_1 0:3e24cf7f8a27 78 static PinName const write_reset = P0_5;
lilac0112_1 0:3e24cf7f8a27 79 static PinName const write_isp = P0_12;
lilac0112_1 0:3e24cf7f8a27 80
lilac0112_1 0:3e24cf7f8a27 81 static PinName const SPI_mosi = P0_27;
lilac0112_1 0:3e24cf7f8a27 82 static PinName const SPI_miso = P0_16;
lilac0112_1 0:3e24cf7f8a27 83 static PinName const SPI_sclk = P0_11;
lilac0112_1 0:3e24cf7f8a27 84 static PinName const SPI_ss_ir = P0_10;
lilac0112_1 0:3e24cf7f8a27 85
lilac0112_1 0:3e24cf7f8a27 86 static PinName const din = P0_24;
lilac0112_1 0:3e24cf7f8a27 87 static PinName const dout = P0_25;
lilac0112_1 0:3e24cf7f8a27 88 static PinName const clk = P0_15;
lilac0112_1 0:3e24cf7f8a27 89 static PinName const cs3 = P0_6;
lilac0112_1 0:3e24cf7f8a27 90 static PinName const cs2 = P0_7;
lilac0112_1 0:3e24cf7f8a27 91 static PinName const cs1 = P0_1;
lilac0112_1 0:3e24cf7f8a27 92 static PinName const ir_vcc = P0_26;
lilac0112_1 0:3e24cf7f8a27 93
lilac0112_1 0:3e24cf7f8a27 94 Serial pc(monitor_tx, monitor_rx);
lilac0112_1 0:3e24cf7f8a27 95 SPISlave nucleo(SPI_mosi, SPI_miso, SPI_sclk, SPI_ss_ir);
lilac0112_1 0:3e24cf7f8a27 96 InterruptIn call(SPI_ss_ir);
lilac0112_1 0:3e24cf7f8a27 97 SPI ir(din, dout, clk);
lilac0112_1 0:3e24cf7f8a27 98 DigitalOut cs[IC_NUM] = {cs1, cs2, cs3};
lilac0112_1 0:3e24cf7f8a27 99 PwmOut supply(ir_vcc);
lilac0112_1 0:3e24cf7f8a27 100 #endif /*IR_SENSOR*/
lilac0112_1 0:3e24cf7f8a27 101
lilac0112_1 0:3e24cf7f8a27 102 #endif /*_MAIN_H_*/