File content as of revision 5:a41471351ae3:

/*
 *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"
#include "WatchDogTimer.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 I2C_ADDRESS 0xAA //



IRM2121 Ir[6] = {dp17,dp18,dp24,dp25,dp26,dp28};
Ping Ping1(dp1,dp2);
Ping Ping2(dp4,dp6);
DigitalOut Led(LED1);

I2CSlave Mbed(dp5,dp27);//sda,scl
Serial pc(USBTX,USBRX);
 
/*irm2121平均化*/
uint8_t IrMoving_ave(uint8_t num, int data){
    static unsigned int sum[10];
    static unsigned temp[6][10];
    
    sum[num] -= temp[num][9]; 
    sum[num] += data;
    
    
    temp[num][9] = temp[num][8];
    temp[num][8] = temp[num][7];
    temp[num][7] = temp[num][6];
    temp[num][6] = temp[num][5];
    temp[num][5] = temp[num][4];
    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[num]/10;   
}

void IrDataSelect(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.
     *値が255以上だとボールを検知してないことになる。
     */
    uint8_t nigh1 = 255, nigh2 = 255;
    uint8_t ni1=12, ni2 = 12, i;
    
    for(i = 6; i > 0; i-- ){
        if(nigh2 < input[i]){
            continue;
        }
        if(nigh1 < input[i]){
            nigh2 = input[i];
            ni2 = i;
            continue;
        }
        nigh2 = nigh1;
        ni2   = ni1;
        nigh1 = input[i];
        ni1   = i;
    }

    if(ni1 == 12){//not found
        output[0] = 255;
        output[1] = 255;
        output[2] = 255;
        return;
    }
    
    output[0] = ni1*6 + ni2;
    output[1] = nigh1;
    output[2] = nigh2;
    
}
/*周回の初期動作*/
void ResetSet(uint8_t *PingCk, uint8_t *IrCk){

    Led = 1;//周回の初め    
    //PingCk ++;

}



int main() {
    
    /*begin SetUp*/
    //default Mbed.frequency();
    Mbed.address(I2C_ADDRESS);
    Watchdog g;
    g.kick(1.0f);//1秒でWDT発生
    /*end   Setup*/
    
    
    /*Count*/
    uint8_t PingCk = 0;
    uint8_t IrCk = 0;
    
    /*Data*/
    uint8_t PingData[2] = {0};
    unsigned long      IrTemp[6]   = {0};  //仮置き場
    uint8_t IrData[3];          // irのデータ
    
    /*State(operate_value etc...)*/
    int I2CState;
    
    /* I2Cdata*/
    char SendData[9]={0};
    char AddressData[1] = {0};
    
    /*Debug valiable*/
    bool valid = 0,busy = 0;

    while(1) {
        
        ResetSet(&PingCk,&IrCk);
        
        Ir[IrCk].Set();
        wait_ms(20);
        IrTemp[IrCk] = Ir[IrCk].Read();
        
        /*
        Ir[0].Set();
        Ir[1].Set();
        Ir[2].Set();
        
        Ir[3].Set();
        Ir[4].Set();
        Ir[5].Set();
        */
        //wait_ms(60);//wait値は最適値を探す必要がある．
        /*8bit*/
        /*
        IrData[0] = (IR_LEVEL - Ir[0].Read())*255/400;
        IrData[1] = (IR_LEVEL - Ir[1].Read())*255/400;
        IrData[2] = (IR_LEVEL - Ir[2].Read())*255/400;
        IrTemp[3] = (IR_LEVEL - Ir[3].Read())*255/400;
        IrTemp[4] = (IR_LEVEL - Ir[4].Read())*255/400;
        IrTemp[5] = (IR_LEVEL - Ir[5].Read())*255/400;
        */
        /*
        IrTemp[0] = Ir[0].Read();
        IrTemp[1] = Ir[1].Read();
        IrTemp[2] = Ir[2].Read();
        
        IrTemp[3] = Ir[3].Read();
        IrTemp[4] = Ir[4].Read();
        IrTemp[5] = Ir[5].Read();
        */
        /*
        Ir[0].ReturnVB(&valid,&busy);
        pc.printf("valid %d, busy %d \n\r",valid, busy);
        */
        
        /*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]);
        */
        

        //IrDataSelect(IrTemp,IrData);
        
        /*
        if(PingCk >= PING_COUNT){
            Ping1.Send();
            Ping2.Send();    
            wait_ms(30);
            PingData[0] = Ping1.Read_cm();
            PingData[1] = Ping2.Read_cm();
            PingCk = 0;
        }
        */
        I2CState = Mbed.receive();
        
        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://IR
                                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;
                 break;
            case I2CSlave::WriteGeneral:
                 Mbed.read(AddressData,1);
                 break;
            case I2CSlave::WriteAddressed:
                 break;
        
        }
        Led = 0;
        pc.printf("%d \t %d \n",IrTemp[0],IrTemp[1]);
        IrCk ++;
        if(IrCk > 5){
            IrCk = 0;
            
        }    
        //wait(0.1);
    }
}