CatPot 2015-2016
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Dependencies: HMC6352 Ping mbed
Revision 0:e742eb5a0f3e, committed 2015-02-25
- Comitter:
- ryuna
- Date:
- Wed Feb 25 08:01:53 2015 +0000
- Commit message:
- ?????????sensor??
Changed in this revision
diff -r 000000000000 -r e742eb5a0f3e HMC6352.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC6352.lib Wed Feb 25 08:01:53 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/HMC6352/#83c0cb554099
diff -r 000000000000 -r e742eb5a0f3e Ping.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Ping.lib Wed Feb 25 08:01:53 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/rosienej/code/Ping/#6996f66161d7
diff -r 000000000000 -r e742eb5a0f3e common.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/common.h Wed Feb 25 08:01:53 2015 +0000
@@ -0,0 +1,7 @@
+//variable
+enum{
+ FRONT = 0,
+ LEFT,
+ BACK,
+ RIGHT,
+};
\ No newline at end of file
diff -r 000000000000 -r e742eb5a0f3e main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Feb 25 08:01:53 2015 +0000
@@ -0,0 +1,224 @@
+#include "mbed.h"
+#include "HMC6352.h"
+#include "Ping.h"
+#include "common.h"
+
+#define ALL_IR 11
+#define BREAK_TIME_IR 833
+#define ERROR_IR 0x9F6 //=2550
+#define NOT_F 255
+#define BUT_WAIT 0.3 //s
+#define ENTER 0
+#define EXIT 1
+Serial sensor(p13,p14);
+Serial pc(USBTX,USBRX);
+HMC6352 compass(p9,p10);
+Ping PING_F(p5); /* 超音波距離センサのピンを設定 */
+Ping PING_L(p6);
+Ping PING_B(p7);
+Ping PING_R(p8);
+Timer timer_ir;
+DigitalIn CalibEnterButton(p15);
+
+
+
+DigitalIn ir[ALL_IR] = {p21,p22,p23,p24,p25,p26,p27,p28,p29,p30,p12};
+DigitalOut myled[4] = {LED1,LED2,LED3,LED4};
+
+extern void micon_tx();
+uint8_t compass_data[2] = {0};
+uint8_t ping_data[4] = {0};//DENGER: VALUE is N/A end
+uint8_t ir_min = NOT_F, ir_num = NOT_F;//data format
+uint8_t ir_main = 0;
+const uint8_t flag_case[ALL_IR] = {1,1,1,1,1,1,1,1,1,1,1};// use ir_flag
+
+unsigned int moving_ave(uint8_t num, unsigned int data){
+ static unsigned int sum[ALL_IR] = {0};
+ static unsigned int temp[ALL_IR][10] = {0};
+
+ 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;
+ //sum[num]+=modulate[num];
+
+ //return ir_data[num] = sum[num]/100;
+ return sum[num]/10;//return ir_value
+}
+
+unsigned int ir_function (uint8_t num){
+ uint8_t flag = 0;
+ unsigned int memory = 0;
+ unsigned int data = 0;
+
+ flag = flag_case[num];
+ timer_ir.start();
+ if(ir[num]){
+ while(ir[num]){
+ if(timer_ir.read_us() >= BREAK_TIME_IR){
+ flag = 0;
+ break;
+ }
+ }
+ }
+ timer_ir.stop();
+ timer_ir.reset();
+
+ if(flag){
+ timer_ir.start();
+ while(!ir[num]){
+ if(timer_ir.read_us() >= BREAK_TIME_IR){
+ break;
+ }
+ }
+ memory = timer_ir.read_us();
+ while(1){
+ if(!ir[num]){
+ data = (timer_ir.read_us() - memory);
+ timer_ir.stop();
+ timer_ir.reset();
+ //wait(0.01);
+ return data;
+ }
+ if((timer_ir.read_us()-memory)>2550){
+ break;
+ }
+ }
+ }
+ timer_ir.stop();
+ timer_ir.reset();
+
+ return ERROR_IR;
+}
+void ir_fun(unsigned int ir_data[]){
+ uint8_t num;
+ uint8_t i;//count
+ unsigned int min;
+
+ min = ERROR_IR;
+ num = NOT_F;
+
+ for (i = 3;i < (ALL_IR+2) ;i++){
+ if(i ==10){
+ if(min > ir_data[0]){
+ min = ir_data[0];
+ num = 0;
+ }
+ }else if(i == 11){
+ if(min > ir_data[1]){
+ min = ir_data[1];
+ num = 1;
+ }
+ }else if(i == 12){
+ if(min > ir_data[2]){
+ min = ir_data[2];
+ num = 2;
+ }
+ }else{
+ if(min > ir_data[i]){
+ min = ir_data[i];
+ num = i;
+ }
+ }
+ }
+ if(num == 2){
+ if(ir_data[5]<ir_data[1]) num = 3;
+ }
+ if(num == 4){
+ if(ir_data[1]<ir_data[5]) num = 3;
+ }
+
+ ir_min = min/10;
+ ir_num = num;
+
+
+}
+int main(void){
+
+ int compassdef = 0,compass_A = 0;/*compass_A = original_value,used compass_data*/
+ uint8_t i = 0;
+ unsigned int ir_data[ALL_IR] = {0}; //DENGER: VALUE is N/A
+
+
+
+ compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
+ compassdef = (compass.sample() / 10);
+ sensor.attach(&micon_tx,Serial::TxIrq);//送信空き割り込み設定
+ sensor.putc(1); //送信開始+
+
+ CalibEnterButton.mode(PullUp);
+
+ if(!CalibEnterButton){
+ myled[3] =1;
+ compass.setCalibrationMode(ENTER);
+ while(!CalibEnterButton);
+ compass.setCalibrationMode(EXIT);
+ wait(BUT_WAIT);
+ myled[3] = 0;
+ }
+ while(1){
+ compass_A = ((compass.sample() / 10) + 540 - compassdef) % 360;
+ if(compass_A >255 ){
+ compass_data[0] = 255;
+ compass_data[1] = compass_A - 255 ;
+ }else{
+ compass_data[0] = compass_A;
+ compass_data[1] = 0;
+ }
+ /* 超音波発射 */
+ PING_F.Send();
+ PING_L.Send();
+ PING_B.Send();
+ PING_R.Send();
+
+ wait_ms(30); // 待つ
+
+ /* 結果から距離を算出 */
+ ping_data[FRONT] = PING_F.Read_cm() / 2; // FRONT距離を記録 [cm]
+ ping_data[LEFT] = PING_L.Read_cm() / 2; // LEFT距離を記録 [cm]
+ ping_data[BACK] = PING_B.Read_cm() / 2; // BACK距離を記録 [cm]
+ ping_data[RIGHT] = PING_R.Read_cm() / 2; // RIGHT距離を記録 [cm]
+
+ // PING_F.Send(); wait_ms(30); Ping_F=PING_F.Read_cm()/2;
+ // PING_R.Send(); wait_ms(30); Ping_R=PING_R.Read_cm()/2;
+ // PING_B.Send(); wait_ms(30); Ping_B=PING_B.Read_cm()/2;
+ // PING_L.Send(); wait_ms(30); Ping_L=PING_L.Read_cm()/2;
+ /* アクセス可能になるまで待機してから、値を代入 */
+ /*PING_slots.wait();
+ Ping_data[0] = Ping_F;
+ Ping_data[1] = Ping_R;
+ Ping_data[2] = Ping_B;
+ Ping_data[3] = Ping_L;
+ PING_slots.release();
+ */
+ //wait(0.1);
+
+
+ for( i = 0; i < ALL_IR; i++){/*赤外線データの読み取り*/
+ ir_data[i] = moving_ave(i,ir_function(i));
+ }
+
+ ir_fun(ir_data);
+ ir_main = ir_data[10]/10;
+ //
+ //pc.printf("%d\t%d\n",ir_function(8), (moving_ave(8,ir_function(8))));
+ //pc.printf("%d\n",ir_data[8]);
+ //pc.printf("compass: %d\n",compass_A);//check finish
+ //pc.printf("ping0:%d\tping1:%d\tping2:%d\tping3:%d\n",ping_data[0],ping_data[1],ping_data[2],ping_data[3]);
+ //pc.printf("ir_min:%d\tir_num:%d\n",ir_min,ir_num);
+ //pc.printf("0:%d 1:%d 2:%d 3:%d 4:%d 5:%d 6:%d 7:%d 8:%d 9:%d \n",ir_data[0],ir_data[1],ir_data[2],ir_data[3],ir_data[4],ir_data[5],ir_data[6],ir_data[7],ir_data[8],ir_data[9]);
+
+
+ }
+
+
+
+}
\ No newline at end of file
diff -r 000000000000 -r e742eb5a0f3e mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Feb 25 08:01:53 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a9913a65894f \ No newline at end of file
diff -r 000000000000 -r e742eb5a0f3e usart.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/usart.cpp Wed Feb 25 08:01:53 2015 +0000
@@ -0,0 +1,65 @@
+#include "mbed.h"
+
+#define KEYCODE 0xAA
+#define TX_CHECKCODE (tx_data[1]^tx_data[2]^tx_data[3]^tx_data[4]^tx_data[5]^tx_data[6]^tx_data[7]^tx_data[8]^tx_data[9])
+#define RX_CHECKCODE (rx_data[1]^rx_data[2]^rx_data[3]^rx_data[4]^rx_data[5]^rx_data[6]^rx_data[7]^rx_data[8]^rx_data[9])
+#define DATA_NUM 11
+#define CHECK (DATA_NUM - 1)
+#define ALL_IR 11
+
+
+extern Serial sensor;
+extern Serial pc;
+extern uint8_t ping_data[4];
+extern uint8_t ir_min;
+extern uint8_t ir_num;
+extern uint8_t ir_main;
+extern uint8_t compass_data[2];
+/*
+void micon_rx(){
+
+ static uint8_t rx;
+ static uint8_t rx_data[DATA_NUM];
+
+ rx_data[rx] = sensor.getc();
+
+ if(rx_data[0] == KEYCODE){
+ rx++;
+ }
+
+ if(rx >= DATA_NUM){
+ if(rx_data[CHECK] == RX_CHECKCODE){
+ pc.printf("%d %d %d %d %d\n", rx_data[1], rx_data[2], rx_data[3], rx_data[4], rx_data[5]);
+ }
+ rx = 0;
+ }
+
+}
+*/
+void micon_tx(){
+
+ static uint8_t tx;
+ static uint8_t tx_data[DATA_NUM];
+
+ if(tx >= DATA_NUM){
+ tx_data[0] = KEYCODE;
+ tx_data[1] = ir_min;
+ tx_data[2] = ir_num;
+ tx_data[3] = ping_data[0];
+ tx_data[4] = ping_data[1];
+ tx_data[5] = ping_data[2];
+ tx_data[6] = ping_data[3];
+ tx_data[7] = compass_data[0];
+ tx_data[8] = compass_data[1];
+ tx_data[9] = ir_main;
+ tx_data[10] = TX_CHECKCODE;
+
+ tx = 0;
+ }
+
+
+ sensor.putc(tx_data[tx]);
+ //pc.printf("%d\n", tx_data[tx]);
+ tx++;
+ //wait(0.1);
+}
\ No newline at end of file