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?
User | Revision | Line number | New 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_*/ |