input.cpp

00001 #include "mbed.h"
00002 #include "extern.h"
00003 
00004 //line
00005 void ReadLine(void){
00006     static uint8_t line_buf[3]={0,0,0};
00007     wait_us(100);
00008     if(Line[0].read()==1) line_buf[0] = 100;
00009     if(line_buf[0]==0)  data.lnFlag[0]=0;
00010     else                data.lnFlag[0]=1;
00011     if(line_buf[0]>0) line_buf[0]--;
00012     
00013     if(Line[1].read()==1) line_buf[1] = 100;
00014     if(line_buf[1]==0)  data.lnFlag[1]=0;
00015     else                data.lnFlag[1]=1;
00016     if(line_buf[1]>0) line_buf[1]--;
00017     
00018     if(Line[2].read()==1) line_buf[2] = 100;
00019     if(line_buf[2]==0)  data.lnFlag[2]=0;
00020     else                data.lnFlag[2]=1;
00021     if(line_buf[2]>0) line_buf[2]--;
00022 }
00023 //ball
00024 uint8_t ReadBall(void){//1or0
00025     data.ball = !BallChecker;
00026     return (data.ball>0); 
00027 }
00028 void ReadMouse(void){
00029     if(mouse_sensor.new_motion_data_available()) 
00030     {
00031         int16_t delta_x = 0, delta_y = 0;
00032         mouse_sensor.get_delta_x_y(delta_x, delta_y);
00033         data.mouse[0] += delta_x;
00034         data.mouse[1] += delta_y;
00035     }
00036 }
00037 void ReadGyro(void){
00038     //Data can be got by interrupt.
00039 }
00040 void ReadCmps(void){
00041     data.cmps = hmc.sample()/10.0;
00042 }
00043 void ReadPing(void){
00044     uint16_t spi_data;
00045     //Ultra Sonic Wave
00046     spi_ss[1]=0;
00047     wait_us(200);
00048     
00049     spi_data = spi.write(0xABCD);
00050     
00051     wait_us(200);
00052     spi_ss[1]=1;
00053     
00054     data.ping[0] = (spi_data&0x00FF)>>0;
00055     data.ping[1] = (spi_data&0xFF00)>>8;
00056 }
00057 void ValidIr(void){
00058     if(data.IrFlag==0){
00059         data.IrFlag=1;
00060     }
00061 }
00062 void ReadIr(void){
00063     uint16_t spi_data;
00064     
00065     //Ir
00066     spi_ss[3]=0;
00067     wait_us(200);
00068     
00069     spi_data = spi.write(0xABCD);
00070     
00071     wait_us(200);
00072     spi_ss[3]=1;
00073     //key/notice/long/short
00074     data.irKey = (spi_data&0xF000)>>12;
00075     data.irNotice = (spi_data&0x0F00)>>8;
00076     data.irSpot[IR_LONG] = (spi_data&0x00F0)>>4;
00077     data.irSpot[IR_SHORT] = (spi_data&0x000F)>>0;
00078     
00079     if(data.irKey!=0xA) data.irNotice=IR_NONE;
00080     if(data.irNotice == IR_NONE) data.irPosition=11;
00081     if(data.irNotice == IR_FAR) data.irPosition=data.irSpot[IR_LONG]-1;
00082     if(data.irNotice == IR_CLOSE) data.irPosition=data.irSpot[IR_SHORT]+7;
00083     if(data.irNotice == IR_CLOSER) data.irPosition=data.irSpot[IR_SHORT]+7;
00084 }
00085 void ReadInfo(void){
00086     
00087 }