CatPot 2015-2016
LPC824's Program for RoboCup 2016 Leipzig
Dependencies: mbed-src Ping SDFileSystem
Revision 0:3e24cf7f8a27, committed 2016-06-14
- Comitter:
- lilac0112_1
- Date:
- Tue Jun 14 07:24:23 2016 +0000
- Commit message:
- Code of Japan open.
Changed in this revision
diff -r 000000000000 -r 3e24cf7f8a27 lib/Ping.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lib/Ping.lib Tue Jun 14 07:24:23 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/2014/code/Ping/#b9760df91b3d
diff -r 000000000000 -r 3e24cf7f8a27 lib/SDFileSystem.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lib/SDFileSystem.lib Tue Jun 14 07:24:23 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/mbed_official/code/SDFileSystem/#7b35d1709458
diff -r 000000000000 -r 3e24cf7f8a27 main/def.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main/def.h Tue Jun 14 07:24:23 2016 +0000 @@ -0,0 +1,56 @@ +#ifndef _DEF_H_ +#define _DEF_H_ + +//3つの内どれか一つを定義する． +//#define ULTRA_SONIC//HC-SR04 +//#define ULTRA_SONIC_2//HC-SR04_on_DebugBoard +#define IR_SENSOR//MCP3208 + +#if defined(ULTRA_SONIC) || defined(ULTRA_SONIC_2) + +#endif /*(ULTRA_SONIC) || (ULTRA_SONIC_2)*/ + +#ifdef IR_SENSOR + + #define IC_NUM 3 + #define IR_NUM 8 + + #define IR_KEY 0x2 + #define IR_SHORT 0 + #define IR_LONG 1 + + #define IR_NOTE_NONE 0x0 + #define IR_NOTE_FAR 0x1 + #define IR_NOTE_CLOSE 0x2 + #define IR_NOTE_CLOSER 0x3 + + #define DIS_FAR 500 + #define DIS_CLOSE 1000 + #define DIS_MORE_CLOSE 1500 + + #define DIS_0 0x0//low_value + #define DIS_1 0x1 + #define DIS_2 0x2 + #define DIS_3 0x3 + #define DIS_4 0x4 + #define DIS_5 0x5 + #define DIS_6 0x6 + #define DIS_7 0x7//high_value + + #define DIF_0 0x0//low_value + #define DIF_1 0x1 + #define DIF_2 0x2 + #define DIF_3 0x3 + #define DIF_4 0x4 + #define DIF_5 0x5 + #define DIF_6 0x6 + #define DIF_7 0x7//high_value + + #define LONG_AVE 5 + + #define START_BIT 0x04 + #define MODE_SINGLE 0x02 // Single-ended mode + #define MODE_DIFF 0x00 // Differential mode +#endif /*IR_SENSOR*/ + +#endif \ No newline at end of file
diff -r 000000000000 -r 3e24cf7f8a27 main/extern.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main/extern.h Tue Jun 14 07:24:23 2016 +0000 @@ -0,0 +1,31 @@ +#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*/ + +#if defined(ULTRA_SONIC) || defined(ULTRA_SONIC_2) +extern Serial pc; +extern SPISlave nucleo; +extern InterruptIn call; +extern Ping rear; +extern Ping front; +extern DigitalOut led[2]; +#endif /*(ULTRA_SONIC) || (ULTRA_SONIC_2)*/ + +#ifdef IR_SENSOR +extern Serial pc; +extern SPISlave nucleo; +extern InterruptIn call; +extern SPI ir; +extern DigitalOut cs[]; +extern PwmOut supply; +#endif /*IR_SENSOR*/ + +#endif /*_EXTERN_H_*/ \ No newline at end of file
diff -r 000000000000 -r 3e24cf7f8a27 main/format.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main/format.cpp Tue Jun 14 07:24:23 2016 +0000
@@ -0,0 +1,425 @@
+#include "mbed.h"
+#include "extern.h"
+
+#if defined(ULTRA_SONIC) || defined(ULTRA_SONIC_2)
+
+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(1000);
+ //pc.printf("%d\t%d\t\r\n", front_dis, rear_dis);
+
+ //emergency();
+ }
+}
+#endif /*(ULTRA_SONIC) || (ULTRA_SONIC_2)*/
+
+
+#ifdef IR_SENSOR
+
+uint8_t ir_notice=0;//4bit
+uint8_t ir_val_phase[2];
+uint8_t ir_dif_phase[2];
+uint16_t ir_val_diff[2];
+uint8_t ir_place;//0<=x<=20
+static uint8_t const ir_key=IR_KEY;//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/phaseL/phaseS/long_diff/position/
+ // 2/ 3/ 3/ 3/ 5/
+ packet = (
+ ((0xC000)&(ir_key<<14)) |//1100000000000000
+ ((0x3800)&(ir_val_phase[IR_LONG]<<11)) |//0011100000000000
+ ((0x0700)&(ir_val_phase[IR_SHORT]<<8)) |//0000011100000000
+ ((0x00E0)&(ir_dif_phase[IR_LONG]<<5)) |//0000000011100000
+ ((0x001F)&(ir_place<<0)) //0000000000011111
+ )&0xFFFF;
+
+ nucleo.reply(packet);
+ }
+ else if(order == 0xBCDA){
+ //key/phaseL/phaseS/long/short/
+ // 2/ 3/ 3/ 4/ 4/
+ packet = (
+ ((0xC000)&(ir_key<<14)) |//1100000000000000
+ ((0x3800)&(ir_val_phase[IR_LONG]<<11)) |//0011100000000000
+ ((0x0700)&(ir_val_phase[IR_SHORT]<<8)) |//0000011100000000
+ ((0x00F0)&(ir_position[IR_LONG]<<4)) |//0000000011110000
+ ((0x000F)&(ir_position[IR_SHORT]<<0)) //0000000000001111
+ )&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;
+ uint8_t num_short;
+
+ uint16_t ir_val_long[8];
+ uint16_t ir_val_short[12];
+
+ uint16_t ir_val;
+
+ uint8_t ir_posi;
+ uint8_t ir_posi_long[8];
+ uint8_t ir_posi_short[12];
+
+ uint16_t ave_buff_long[LONG_AVE];
+ uint16_t ave_buff_long2[LONG_AVE];
+ uint32_t ave_sum_long;
+ uint32_t ave_sum_long2;
+ //uint16_t ir_val_long_plus;
+ //uint16_t ir_val_long_plus2;
+
+
+ static uint8_t const ch_num[3]={8, 8, 4};
+
+ static uint16_t const ir_dis_range[2][8]={
+ {0, 2000, 2250, 2500, 2600, 2700, 3000, 3500, },//IR_SHORT 0
+ {0, 1000, 1100, 1200, 1300, 1500, 1700, 1900, },//IR_LONG 1
+ };
+
+
+ static uint16_t const ir_dif_range[2][8]={
+ {0, 500, 750, 1000, 1250, 1500, 1600, 1800, },//IR_SHORT 0
+ {0, 500, 600, 650, 700, 800, 900, 1000, },//IR_LONG 1
+ };
+
+ 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%
+
+ //Nucleoとの通信用のピン変化割り込み
+ //Nucleoとの通信をする際はTeraTermへの出力は控えるべき
+ call.fall(&emergency);
+
+ for(i=0,ave_sum_long =2100*LONG_AVE; i<LONG_AVE; i++) ave_buff_long[i]=2100;
+ for(i=0,ave_sum_long2=2100*LONG_AVE; i<LONG_AVE; i++) ave_buff_long2[i]=2100;
+
+ for(i=0; i<IC_NUM; i++) cs[i]=1;
+
+ ir_val_phase[IR_SHORT] = DIS_7;
+ ir_val_phase[IR_LONG] = DIS_7;
+ while(1) {
+ //全ての素子の値を検出
+ num_short=0;
+ num_long=0;
+ for(i=0; i<IC_NUM; i++){//IC
+ for(j=0; j<ch_num[i]; j++){//Ch
+ 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++;
+ }
+
+ }
+ }
+ //バブルソート
+ BubbleSort(ir_val_short, ir_posi_short, 12);
+ BubbleSort(ir_val_long, ir_posi_long, 8);
+
+ //移動平均
+ ave_sum_long += ir_val_long[7];
+ ave_sum_long -= ave_buff_long[LONG_AVE-1];
+ for(i=LONG_AVE-1; i>0; i--){
+ ave_buff_long[i] = ave_buff_long[i-1];
+ }
+ ave_buff_long[0] = ir_val_long[7];
+
+ //ir_val_long_plus = ir_val_long[7];
+ ir_val_long[7] = ave_sum_long/LONG_AVE;
+
+ //移動平均2
+ ave_sum_long2 += ir_val_long[0];
+ ave_sum_long2 -= ave_buff_long2[LONG_AVE-1];
+ for(i=LONG_AVE-1; i>0; i--){
+ ave_buff_long2[i] = ave_buff_long2[i-1];
+ }
+ ave_buff_long2[0] = ir_val_long[0];
+
+ //ir_val_long_plus2 = ir_val_long[0];
+ ir_val_long[0] = ave_sum_long2/LONG_AVE;
+
+
+ //検出した最大値と最小値の差
+ ir_val_diff[IR_SHORT] = ir_val_short[0]-ir_val_short[11];//After bubble
+ ir_val_diff[IR_LONG] = abs(ir_val_long[0]-ir_val_long[7]);//After bubble
+ //最もボールがあるとされる位置を代入
+ ir_position[IR_SHORT] = ir_posi_short[11];//After bubble
+ ir_position[IR_LONG] = ir_posi_long[7];//After bubble
+
+ /*
+ #define IR_NOTE_NONE 0x0
+ #define IR_NOTE_FAR 0x1
+ #define IR_NOTE_CLOSE 0x2
+ #define IR_NOTE_CLOSER 0x3
+ */
+ //ボールが遠くにあるか，近くか，フィールドにないかを判断（8段階）
+
+
+ //short
+
+ if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_7]){
+ ir_val_phase[IR_SHORT] = DIS_7;
+ }
+ else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_6]){
+ ir_val_phase[IR_SHORT] = DIS_6;
+ }
+ else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_5]){
+ ir_val_phase[IR_SHORT] = DIS_5;
+ }
+ else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_4]){
+ ir_val_phase[IR_SHORT] = DIS_4;
+ }
+ else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_3]){
+ ir_val_phase[IR_SHORT] = DIS_3;
+ }
+ else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_2]){
+ ir_val_phase[IR_SHORT] = DIS_2;
+ }
+ else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_1]){
+ ir_val_phase[IR_SHORT] = DIS_1;
+ }
+ else{//ir_val_short[11]>=0
+ ir_val_phase[IR_SHORT] = DIS_0;
+ }
+
+ //long
+
+ if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_7]){
+ ir_val_phase[IR_LONG] = DIS_7;
+ }
+ else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_6]){
+ ir_val_phase[IR_LONG] = DIS_6;
+ }
+ else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_5]){
+ ir_val_phase[IR_LONG] = DIS_5;
+ }
+ else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_4]){
+ ir_val_phase[IR_LONG] = DIS_4;
+ }
+ else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_3]){
+ ir_val_phase[IR_LONG] = DIS_3;
+ }
+ else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_2]){
+ ir_val_phase[IR_LONG] = DIS_2;
+ }
+ else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_1]){
+ ir_val_phase[IR_LONG] = DIS_1;
+ }
+ else{//ir_val_long[7]>=0
+ ir_val_phase[IR_LONG] = DIS_0;
+ }
+
+ //long_dif
+
+ if(ir_val_diff[IR_LONG]>=ir_dif_range[IR_LONG][DIS_7]){
+ ir_dif_phase[IR_LONG] = DIS_7;
+ }
+ else if(ir_val_diff[IR_LONG]>=ir_dif_range[IR_LONG][DIS_6]){
+ ir_dif_phase[IR_LONG] = DIS_6;
+ }
+ else if(ir_val_diff[IR_LONG]>=ir_dif_range[IR_LONG][DIS_5]){
+ ir_dif_phase[IR_LONG] = DIS_5;
+ }
+ else if(ir_val_diff[IR_LONG]>=ir_dif_range[IR_LONG][DIS_4]){
+ ir_dif_phase[IR_LONG] = DIS_4;
+ }
+ else if(ir_val_diff[IR_LONG]>=ir_dif_range[IR_LONG][DIS_3]){
+ ir_dif_phase[IR_LONG] = DIS_3;
+ }
+ else if(ir_val_diff[IR_LONG]>=ir_dif_range[IR_LONG][DIS_2]){
+ ir_dif_phase[IR_LONG] = DIS_2;
+ }
+ else if(ir_val_diff[IR_LONG]>=ir_dif_range[IR_LONG][DIS_1]){
+ ir_dif_phase[IR_LONG] = DIS_1;
+ }
+ else{//ir_val_diff[IR_LONG]>=0
+ ir_dif_phase[IR_LONG] = DIS_0;
+ }
+
+ //ir_place
+ if(ir_val_phase[IR_SHORT] >= DIS_7){
+ ir_place = ir_position[IR_LONG]-1;
+ }
+ else{
+ ir_place = ir_position[IR_SHORT]+7;
+ }
+
+ //デバッグ用のTeraTermへの出力
+
+ /*
+ pc.printf("val_short:%d\t", ir_val_short[11]);//最小検出値(近)
+ pc.printf("val_long(AVE):%d\t", ir_val_long[7]);//最小検出値(遠)
+ //pc.printf("val_long:%d\t", ir_val_long_plus);//最小検出値(遠)...平均なし
+
+ pc.printf("state_short:%d\t", ir_position[0]);//ボール位置(近)
+ pc.printf("state_long:%d\t", ir_position[1]);//ボール位置(遠)
+ //pc.printf("Diff_short:%d\t", ir_val_diff[IR_SHORT]);//検出した最大値と最小値の差(近)
+ pc.printf("Diff_long:%d\t", ir_val_diff[IR_LONG]);//検出した最大値と最小値の差(遠)
+ pc.printf("ir_val_phase[IR_SHORT]:%d\t", ir_val_phase[IR_SHORT]);//判定されたボールの距離の段階(遠)
+ pc.printf("ir_val_phase[IR_LONG]:%d\t", ir_val_phase[IR_LONG]);//判定されたボールの距離の段階(遠)
+ pc.printf("notice:%d\t", ir_notice);//判定されたボールの状況
+
+ pc.printf("ir_place:%d\t", ir_place);
+
+
+ pc.printf("\r\n");
+ */
+
+ /*
+ pc.printf("%Value is ");
+ pc.printf("Dirr_short is %d\t", ir_val_short[0]-ir_val_short[11]);//検出した最大値と最小値の差(近)
+ pc.printf("Dirr_long is %d\t", ir_val_long[0]-ir_val_long[7]);//検出した最大値と最小値の差(遠)
+ pc.printf("\r\n");
+ */
+
+ //検出した値全てを出力(バブルソートすると位置が変わるので注意)
+ /*pc.printf("%Value is ");
+ for(i=0; i<8; i++){
+ pc.printf("%d\t", ir_val_long[i]);//遠
+ }
+ for(i=0; i<12; i++){
+ pc.printf("%d\t", ir_val_short[i]);//近
+ }
+
+ pc.printf("\r\n");
+ */
+ }
+}
+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)//降順にする
+{
+ 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*/
diff -r 000000000000 -r 3e24cf7f8a27 main/format.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main/format.h Tue Jun 14 07:24:23 2016 +0000 @@ -0,0 +1,15 @@ +#ifndef _FORMAT_H_ +#define _FORMAT_H_ + +#if defined(ULTRA_SONIC) || defined(ULTRA_SONIC_2) +void Usw_System(void); +#endif /*(ULTRA_SONIC) || (ULTRA_SONIC_2)*/ + +#ifdef IR_SENSOR +void Ir_System(void); +uint16_t read_input(uint8_t ic, uint8_t channel); +uint8_t read_position(uint8_t ic, uint8_t channel); +void BubbleSort(uint16_t *data, uint8_t *data2, uint8_t n);//昇順にする.tkb +#endif /*IR_SENSOR*/ + +#endif /*_FORMAT_H_*/ \ No newline at end of file
diff -r 000000000000 -r 3e24cf7f8a27 main/main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main/main.cpp Tue Jun 14 07:24:23 2016 +0000
@@ -0,0 +1,16 @@
+#include "mbed.h"
+#include "extern.h"
+#include "main.h"
+
+int main() {
+ while(1) {
+
+ #if defined(ULTRA_SONIC) || defined(ULTRA_SONIC_2)
+ Usw_System();
+ #endif /*(ULTRA_SONIC) || (ULTRA_SONIC_2)*/
+
+ #ifdef IR_SENSOR
+ Ir_System();
+ #endif /*IR_SENSOR*/
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 3e24cf7f8a27 main/main.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main/main.h Tue Jun 14 07:24:23 2016 +0000
@@ -0,0 +1,102 @@
+#ifndef _MAIN_H_
+#define _MAIN_H_
+
+#include "def.h"
+
+//PinConfig
+
+//超音波用(20pin)
+#ifdef ULTRA_SONIC
+
+static PinName const monitor_tx = P0_4;
+static PinName const monitor_rx = P0_0;
+
+static PinName const write_rx = P0_0;
+static PinName const write_tx = P0_4;
+static PinName const write_reset = P0_5;
+static PinName const write_isp = P0_12;
+
+static PinName const SPI_mosi = P0_10;
+static PinName const SPI_miso = P0_11;
+static PinName const SPI_slck = P0_1;
+static PinName const SPI_ss_sonic = P0_15;
+
+static PinName const Sonic1_echo = P0_23;
+static PinName const Sonic2_echo = P0_17;
+
+static PinName const led_umr1 = P0_14;
+static PinName const led_umr2 = P0_13;
+
+Serial pc(monitor_tx, monitor_rx);
+SPISlave nucleo(SPI_mosi, SPI_miso, SPI_slck, SPI_ss_sonic);
+InterruptIn call(SPI_ss_sonic);
+Ping rear(Sonic1_echo);
+Ping front(Sonic2_echo);
+DigitalOut led[2]={led_umr1, led_umr2};
+#endif /*ULTRA_SONIC*/
+
+
+//超音波用onDebugBoard(20pin)
+#ifdef ULTRA_SONIC_2
+
+static PinName const monitor_tx = P0_4;
+static PinName const monitor_rx = P0_0;
+
+static PinName const write_rx = P0_0;
+static PinName const write_tx = P0_4;
+static PinName const write_reset = P0_5;
+static PinName const write_isp = P0_12;
+
+static PinName const SPI_mosi = P0_10;
+static PinName const SPI_miso = P0_11;
+static PinName const SPI_slck = P0_1;
+static PinName const SPI_ss_sonic = P0_15;
+
+static PinName const Sonic1_trg = P0_23;
+static PinName const Sonic2_trg = P0_17;
+
+static PinName const Sonic4_trg = P0_14;
+static PinName const Sonic3_trg = P0_13;
+
+Serial pc(monitor_tx, monitor_rx);
+SPISlave nucleo(SPI_mosi, SPI_miso, SPI_slck, SPI_ss_sonic);
+InterruptIn call(SPI_ss_sonic);
+Ping rear(Sonic1_trg);
+Ping front(Sonic2_trg);
+DigitalOut led[2]={Sonic4_trg, Sonic3_trg};
+#endif /*ULTRA_SONI_2*/
+
+//IRセンサー用(33pin)
+#ifdef IR_SENSOR
+static PinName const monitor_tx = P0_4;
+static PinName const monitor_rx = P0_0;
+//static PinName const monitor_tx = USBTX;
+//static PinName const monitor_rx = USBRX;
+
+static PinName const write_rx = P0_0;
+static PinName const write_tx = P0_4;
+static PinName const write_reset = P0_5;
+static PinName const write_isp = P0_12;
+
+static PinName const SPI_mosi = P0_27;
+static PinName const SPI_miso = P0_16;
+static PinName const SPI_sclk = P0_11;
+static PinName const SPI_ss_ir = P0_10;
+
+static PinName const din = P0_24;
+static PinName const dout = P0_25;
+static PinName const clk = P0_15;
+static PinName const cs3 = P0_6;
+static PinName const cs2 = P0_7;
+static PinName const cs1 = P0_1;
+static PinName const ir_vcc = P0_26;
+
+Serial pc(monitor_tx, monitor_rx);
+SPISlave nucleo(SPI_mosi, SPI_miso, SPI_sclk, SPI_ss_ir);
+InterruptIn call(SPI_ss_ir);
+SPI ir(din, dout, clk);
+DigitalOut cs[IC_NUM] = {cs1, cs2, cs3};
+PwmOut supply(ir_vcc);
+#endif /*IR_SENSOR*/
+
+#endif /*_MAIN_H_*/
\ No newline at end of file
diff -r 000000000000 -r 3e24cf7f8a27 mbed-src.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-src.lib Tue Jun 14 07:24:23 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/B/code/mbed-src/#7510690da2c3