CatPot 2015-2016
右側のほうのセンサLPC1114FN28 fumiya版
Dependencies: IRM2121_2 Ping mbed HMC6352 Watchdog
Fork of
CatPot_SensorRight
by 
CatPot 2015-2016
Diff: main.cpp
- Revision:
- 13:c73f90a890b6
- Parent:
- 12:4bf564955c53
- Child:
- 14:f6f5dad3e75f
--- a/main.cpp Thu Mar 05 10:01:37 2015 +0000
+++ b/main.cpp Thu Mar 05 13:51:29 2015 +0000
@@ -1,7 +1,7 @@
/*
- *メインと通信するLPC1114のプログラム()
+ *main用LPC1768と通信するSensor用LPC1768のプログラム()
*
- *現在は両方がmainと通信します．
+ *現在は2つのLPC1768でSerial通信します．
*
*/
@@ -10,20 +10,24 @@
#include "IRM2121.h"
#include "Ping.h"
#include "MultiSerial.h"
+#include "HMC6352.h"
+#include "Watchdog.h"
#define PING_COUNT 5 //5回に1回にPing処理
#define IR_LEVEL 400 //irのしきい値
#define ADDRESS 0xAA//
-#define DATA_NUM 8
+#define DATA_NUM 7
-IRM2121 Ir[6] = {p25, p26, p27, p28, p29, p30};
-
+IRM2121 Ir[12] = {p5,p6,p7,p8, p11,p12, p15,p16,p17,p18,p19,p20};
+
Ping Ping1(p21, p22);
Ping Ping2(p23, p24);
-DigitalOut Led(LED1);
+Ping Ping3(p25, p26);
+Ping Ping4(p29, p30);
+
+DigitalOut Led[4] = {LED1, LED2, LED3, LED4};
-//I2CSlave Mbed(dp5,dp27);//sda,scl
MultiSerial Mbed(p13, p14);
Serial pc(USBTX,USBRX);
@@ -50,7 +54,7 @@
return sum[num]/10;
}
-void IrSort(unsigned int input[], char output[]){
+void IrSort(unsigned int input[], uint8_t output[]){
/*
*1,2位の値とその場所の番号をアウトプットに格納する.
@@ -59,7 +63,7 @@
unsigned int near[2] = {1000,1000};
uint8_t num[2] = {12,0}, i;
- for(i = 0; i < 6; i++ ){
+ for(i = 0; i < 12; i++ ){
if(!input[i]){
continue;
}
@@ -98,10 +102,8 @@
int main() {
/*begin SetUp*/
- //default Mbed.frequency();
- //Mbed.address(I2C_ADDRESS);
- //Watchdog g;
- //g.kick(1.0f);//1秒でWDT発生
+ Watchdog g;
+ g.Configure(1.0f);//1秒でWDT発生
/*end Setup*/
@@ -109,132 +111,93 @@
uint8_t PingCk = 0;
/*Data*/
- uint8_t PingData[2] = {0};
- char IrData[3] = {0};
- unsigned int IrBase[6] = {0};
-
- /*State(operate_value etc...)*/
- //int I2CState;
-
- /* I2Cdata*/
- //char SendData[9]={0};
- //char AddressData[1] = {0};
+ unsigned int PingData[4] = {0};
+ unsigned int IrBase[12] = {0};
+ uint8_t IrData[3] = {0};
/*Serial*/
uint8_t tx_data[DATA_NUM]={0};
-
Mbed.write_data(tx_data, ADDRESS);
Mbed.start_write();
while(1) {
- Led = 1;//周回の初め
-
- //通信していないとき
- if(1/*!AddressData[0]*/)
- {
- PingCk ++;
-
- IrBase[0] = Ir[0].Read();
- IrBase[1] = Ir[1].Read();
- IrBase[2] = Ir[2].Read();
- IrBase[3] = Ir[3].Read();
- IrBase[4] = Ir[4].Read();
- IrBase[5] = Ir[5].Read();
-
- /*平均化
-
- IrTemp[0] = IrMoving_ave(0,IrTemp[0]);
- IrTemp[1] = IrMoving_ave(1,IrTemp[1]);
- IrTemp[2] = IrMoving_ave(2,IrTemp[2]);
- IrTemp[3] = IrMoving_ave(3,IrTemp[3]);
- IrTemp[4] = IrMoving_ave(4,IrTemp[4]);
- IrTemp[5] = IrMoving_ave(5,IrTemp[5]);
-
- */
+
+ g.Service();
+
+ PingCk ++;
+
+ Led[0] = 1;//周回の初め
+
+
+
+ IrBase[0] = Ir[0].Read();
+ IrBase[1] = Ir[1].Read();
+ IrBase[2] = Ir[2].Read();
+ IrBase[3] = Ir[3].Read();
+ IrBase[4] = Ir[4].Read();
+ IrBase[5] = Ir[5].Read();
+ IrBase[6] = Ir[6].Read();
+ IrBase[7] = Ir[7].Read();
+ IrBase[8] = Ir[8].Read();
+ IrBase[9] = Ir[9].Read();
+ IrBase[10] = Ir[10].Read();
+ IrBase[11] = Ir[11].Read();
+
+ /*平均化
+ IrTemp[0] = IrMoving_ave(0,IrTemp[0]);
+ IrTemp[1] = IrMoving_ave(1,IrTemp[1]);
+ IrTemp[2] = IrMoving_ave(2,IrTemp[2]);
+ IrTemp[3] = IrMoving_ave(3,IrTemp[3]);
+ IrTemp[4] = IrMoving_ave(4,IrTemp[4]);
+ IrTemp[5] = IrMoving_ave(5,IrTemp[5]);
+ */
+
+ IrSort(IrBase,IrData);
+
+ if(PingCk == 2){
-
- IrSort(IrBase,IrData);
+ Ping1.Send();
+ wait_ms(30);
+ PingData[0] = Ping1.Read_cm();
+ if(PingData[0]>0xFF) PingData[0]=0xFF;
+ }
+ if(PingCk == 3){
- if(PingCk == 2){
-
- Ping1.Send();
- wait_ms(30);
- PingData[0] = Ping1.Read_cm();
- if(PingData[0]>125) PingData[0]=125;
- }
-
+ Ping2.Send();
+ wait_ms(30);
+ PingData[1] = Ping2.Read_cm();
+ if(PingData[1]>0xFF) PingData[1]=0xFF;
+ }
+ if(PingCk == 4){
- if(PingCk >= PING_COUNT){
-
- Ping2.Send();
- wait_ms(30);
- PingData[1] = Ping2.Read_cm();
- if(PingData[1]>125) PingData[1]=125;
- PingCk = 0;
-
- //pc.printf("%d \t %d \t %d \n",PingData[0],PingData[1],IrBase[0]);
+ Ping3.Send();
+ wait_ms(30);
+ PingData[2] = Ping3.Read_cm();
+ if(PingData[2]>0xFF) PingData[2]=0xFF;
+ }
+ if(PingCk >= PING_COUNT){
- }
+ Ping4.Send();
+ wait_ms(30);
+ PingData[3] = Ping4.Read_cm();
+ if(PingData[3]>0xFF) PingData[3]=0xFF;
-
+ PingCk = 0;
}
- tx_data[0] = PingData[0];
- tx_data[1] = PingData[1];
- tx_data[2] = IrData[0];
- tx_data[3] = IrData[1];
- tx_data[4] = IrData[2];
-
- /*I2CState = Mbed.receive();
+ tx_data[0] = IrData[0];
+ tx_data[1] = IrData[1];
+ tx_data[2] = IrData[2];
+ tx_data[3] = PingData[0];
+ tx_data[4] = PingData[1];
+ tx_data[5] = PingData[2];
+ tx_data[6] = PingData[3];
- switch(I2CState){
- case I2CSlave::ReadAddressed:
-
- if(AddressData[0]){
- switch(AddressData[0]){
- case 0x01://PING
- SendData[0] = (char)PingData[0];
- SendData[1] = (char)PingData[1];
- Mbed.write(SendData, 2);
- break;
- case 0x02://BALL
- SendData[0] = (char)IrData[0];
- SendData[1] = (char)IrData[1];
- SendData[2] = (char)IrData[2];
- Mbed.write(SendData, 3);
- break;
-
- default:
- break;
- }
- AddressData[0] = 0;
- }else{
- SendData[0] = (char)IrData[0];
- SendData[1] = (char)IrData[1];
- SendData[2] = (char)IrData[2];
- SendData[3] = (char)PingData[0];
- SendData[4] = (char)PingData[1];
- Mbed.write(SendData, 5);
- }
-
- break;
- case I2CSlave::WriteAddressed:
- Mbed.read(AddressData,1);
- break;
-
- case I2CSlave::WriteGeneral:
-
- break;
+
+
- }
- */
- Led = 0;
- /*
- pc.printf("%d \t %d \t %d ",IrBase[0],IrBase[1],IrBase[2]);
+ Led[0] = 0;//周回の終わり
- pc.printf("\t %d \t %d \t %d \n",IrBase[3],IrBase[4],IrBase[5]);
- */
-
- //wait(0.1);
+ wait_ms(1);
}
}
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