CatPot 2015-2016
右側のほうのセンサLPC1114FN28
Dependencies: IRM2121 Ping interruptin_mod mbed
右側(仮)のセンサデータ処理等を行うプログラム
まだまだ改良の余地ありり．
Revision 0:182437c14483, committed 2014-12-06
- Comitter:
- ryuna
- Date:
- Sat Dec 06 07:42:33 2014 +0000
- Commit message:
- Sensor catch and send to main .
Changed in this revision
diff -r 000000000000 -r 182437c14483 IRM2121.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/IRM2121.lib Sat Dec 06 07:42:33 2014 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/ryuna/code/IRM2121/#b25c8ac20d5b
diff -r 000000000000 -r 182437c14483 Ping.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Ping.lib Sat Dec 06 07:42:33 2014 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/ryuna/code/Ping/#6be59631152a
diff -r 000000000000 -r 182437c14483 interruptin_mod.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/interruptin_mod.lib Sat Dec 06 07:42:33 2014 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/bousiya03/code/interruptin_mod/#1cc9d9e3cf8c
diff -r 000000000000 -r 182437c14483 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Dec 06 07:42:33 2014 +0000
@@ -0,0 +1,141 @@
+/*
+メインと通信するLPC1114のプログラム()
+
+現在は両方がmainと通信します．
+
+
+*/
+
+#include "mbed.h"
+
+#define SYSAHBCLKDIV_Val 0x00000001 // Reset: 0x001
+#define CLOCK_SETUP 1 // デフォルト=1
+#define SYSPLLCTRL_Val 0x00000023 // デフォルト=23 Reset: 0x000
+#define SYSPLLCLKSEL_Val 0x00000001 // デフォルト=0 Reset: 0x000
+#define MAINCLKSEL_Val 0x00000003 // デフォルト=3 Reset: 0x000
+
+#include "IRM2121.h"
+#include "Ping.h"
+
+#define PING_COUNT 5 //5回に1回にPing処理
+#define LINE_LINE 0.45 //すごく雑
+
+IRM2121 Ir[6] = {dp17,dp18,dp24,dp25,dp26,dp28};
+Ping Ping1(dp1,dp2);
+Ping Ping2(dp4,dp6);
+AnalogIn Line[4] ={dp9,dp10,dp11,dp13};
+DigitalOut Led(LED1);
+
+I2CSlave Mbed(dp5,dp27);//sda,scl
+Serial pc(USBTX,USBRX);
+
+
+uint8_t IrMovig_ave(uint8_t num, int data){
+ static unsigned int sum[6];
+ static unsigned temp[6][5];
+
+ sum[num] -= temp[num][4];
+ sum[num] += data;
+
+ temp[num][4] = temp[num][3];
+ temp[num][3] = temp[num][2];
+ temp[num][2] = temp[num][1];
+ temp[num][1] = temp[num][0];
+ temp[num][0] = data;
+
+ return sum[data]/5;
+}
+
+
+
+void ResetSet(uint8_t *PingCk){
+
+ Led = 1;//周回の初め
+ PingCk ++;
+
+}
+
+
+
+int main() {
+
+ //default Mbed.frequency();
+ Mbed.address(0x0A);
+ /*Data*/
+ uint8_t IrMemory[6] = {0};//IRのデータ保管
+ uint8_t PingMemory[2] = {0};
+ unsigned int LineMemory[4] = {0};
+
+ /*Flag*/
+ uint8_t LineFlag;//配置 - - - - Line[3] Line[2] Line[1] Line[0]
+
+ /*Count*/
+ uint8_t PingCk = 0;
+
+ /* I2Cdata*/
+ char SendData[9]={0};
+
+ while(1) {
+
+ ResetSet(&PingCk);
+ Ir[0].Set();
+ Ir[1].Set();
+ Ir[2].Set();
+ Ir[3].Set();
+ Ir[4].Set();
+ Ir[5].Set();
+
+ wait_ms(30);//wait値は最適値を探す必要がある．
+
+ IrMemory[0] = IrMovig_ave(0,Ir[0].Read());
+ IrMemory[1] = IrMovig_ave(1,Ir[1].Read());
+ IrMemory[2] = IrMovig_ave(2,Ir[2].Read());
+ IrMemory[3] = IrMovig_ave(3,Ir[3].Read());
+ IrMemory[4] = IrMovig_ave(4,Ir[4].Read());
+ IrMemory[5] = IrMovig_ave(5,Ir[5].Read());
+
+ /*大きい二つだけでいい気がする．*/
+ if(PingCk >= PING_COUNT){
+ Ping1.Send();
+ Ping2.Send();
+ wait_ms(30);
+ PingMemory[0] = Ping1.Read_cm();
+ PingMemory[1] = Ping2.Read_cm();
+ PingCk = 0;
+ }
+
+ LineMemory[0] = Line[0];
+ LineMemory[1] = Line[1];
+ LineMemory[2] = Line[2];
+ LineMemory[3] = Line[3];
+
+ LineFlag = ((int)(LineMemory[3]+LINE_LINE))*8 +
+ ((int)(LineMemory[2]+LINE_LINE))*4 +
+ ((int)(LineMemory[1]+LINE_LINE))*2 +
+ ((int)(LineMemory[0]+LINE_LINE))*1;
+
+ SendData[0] = (char)IrMemory[0];
+ SendData[1] = (char)IrMemory[1];
+ SendData[2] = (char)IrMemory[2];
+ SendData[3] = (char)IrMemory[3];
+ SendData[4] = (char)IrMemory[4];
+ SendData[5] = (char)IrMemory[5];
+ SendData[6] = (char)PingMemory[0];
+ SendData[7] = (char)PingMemory[1];
+ SendData[8] = (char)LineFlag;
+
+ switch(Mbed.receive()){
+ case I2CSlave::ReadAddressed:
+ Mbed.write(SendData, 9); // Includes null char
+ break;
+ case I2CSlave::WriteGeneral:
+ break;
+ case I2CSlave::WriteAddressed:
+ break;
+
+ }
+
+ Led = 0;
+
+ }
+}
diff -r 000000000000 -r 182437c14483 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Dec 06 07:42:33 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/4fc01daae5a5 \ No newline at end of file