2020NSE_SSLB4
MCP3204をSTM303K8T6で同時に6個使ってみた
Dependencies: mbed 24LC1025 MCP3204
Diff: main.cpp
- Revision:
- 3:99c659d89698
- Parent:
- 2:133b3bf22850
- Child:
- 4:56d1f3a81b30
--- a/main.cpp Wed Aug 05 06:44:23 2020 +0000
+++ b/main.cpp Wed Sep 09 08:07:13 2020 +0000
@@ -1,8 +1,9 @@
#include "mbed.h"
#include "MCP3204.h"
+#include "24LC1025.h"
Serial pc(PA_2, PA_3, 115200); //pin19,20 TX,RX
-CAN can(PA_11, PA_12,100000); //pin21,22 rd,td
+CAN can(PA_11, PA_12); //pin21,22 rd,td
SPI spi(PA_7, PA_6, PA_5);
MCP3204 mcp1(spi,PB_0); //下z-
MCP3204 mcp2(spi,PB_1); //右x+
@@ -10,21 +11,36 @@
MCP3204 mcp4(spi,PA_8); // 前y+
MCP3204 mcp5(spi,PA_10); //上z+
MCP3204 mcp6(spi,PF_0); //後y-
+LC1025 eeprom = LC1025(PB_7, PB_6);
+DigitalOut led(PB_5);
+
CANMessage msg;
#define T 0.03
+float cal_x=0,cal_y=0,cal_z=0;
+int i,j,cnt=0,page_frg=0;
+float world_time;
+uint16_t eeprom_cnt = 0x0000;
+char serialData[4];
+
union Float2Byte{
float _float;
char _byte[4];
};
typedef union Float2Byte Float2Byte;
+union Int2Byte{
+ unsigned short _int;
+ char _byte[2];
+};
+typedef union Int2Byte Int2Byte;
+
+
void send(float senddata,int id){
//pc.printf("Master send()\n\r");
- /*ID: 0x01*/
Float2Byte sendFloat;
sendFloat._float = senddata;
//ここに送りたい値を入れる．
@@ -40,18 +56,100 @@
}
}
+void send2(unsigned short senddata1,unsigned short senddata2,unsigned short senddata3,int id){
+ //pc.printf("Master send()\n\r");
+
+ /*ID: 0x01*/
+ Int2Byte sendInt;
+ sendInt._int = senddata1;
+ //ここに送りたい値を入れる．
+
+ char serialData[6];
+
+ serialData[0] = sendInt._byte[0];
+ serialData[1] = sendInt._byte[1];
+ //pc.printf("send_char: %d\n\r", serialData[i]);
+ sendInt._int = senddata2;
+ serialData[2] = sendInt._byte[0];
+ serialData[3] = sendInt._byte[1];
+
+ sendInt._int = senddata3;
+ serialData[4] = sendInt._byte[0];
+ serialData[5] = sendInt._byte[1];
+ //pc.printf("sendFloat: %f\n\r", sendFloat._float);
+ if(can.write(CANMessage(id, serialData, 6))){
+ //pc.printf("Send.\n\r");
+ }
+}
+
void receive(){
Float2Byte getFloat;
+ Int2Byte getInt;
+ led = 0;
if(can.read(msg)){
- /*ID: 0x01*/
+ //ID: 0x01
if(msg.id == 0x01){
//pc.printf("ID: 0x01\n\r");
for(int i=0;i<4;++i){
getFloat._byte[i] = msg.data[i];
//pc.printf("get_char: %d\n\r", getFloat._byte[i]);
}
- pc.printf("world_time:%.2f\r\n", getFloat._float);
+ world_time = getFloat._float;
+ pc.printf("world_time:%.2f\r\n", world_time);
+ }
+
+ if(msg.id == 0x02){
+ //pc.printf("ID: 0x02\n\r");
+ getInt._byte[0] = msg.data[0];
+ getInt._byte[1] = msg.data[1];
+ cal_x=(float)getInt._int /10.0f;
+ pc.printf("Mag:%.2f", cal_x);
+
+ getInt._byte[0] = msg.data[2];
+ getInt._byte[1] = msg.data[3];
+ cal_y=(float)getInt._int /10.0f;
+ pc.printf(",%.2f", cal_y);
+
+ getInt._byte[0] = msg.data[4];
+ getInt._byte[1] = msg.data[5];
+ cal_z=(float)getInt._int /10.0f;
+ pc.printf(",%.2f\r\n", cal_z);
+
+ if(page_frg == 0){
+ *(float*)serialData=0.0f;
+ eeprom.PageWrite(ADDRESS_24LC1025_BLOCK0,eeprom_cnt,serialData,4);
+ *(float*)serialData=cal_x;
+ eeprom.PageWrite(ADDRESS_24LC1025_BLOCK0,eeprom_cnt,serialData,4);
+ *(float*)serialData=cal_y;
+ eeprom.PageWrite(ADDRESS_24LC1025_BLOCK0,eeprom_cnt,serialData,4);
+ *(float*)serialData=cal_z;
+ eeprom.PageWrite(ADDRESS_24LC1025_BLOCK0,eeprom_cnt,serialData,4);
+ *(float*)serialData=world_time;
+ eeprom.PageWrite(ADDRESS_24LC1025_BLOCK0,eeprom_cnt,serialData,4);
+ *(float*)serialData=0.0f;
+ eeprom.PageWrite(ADDRESS_24LC1025_BLOCK0,eeprom_cnt,serialData,4);
+ //pc.printf("%d,0x%x\r\n",page_frg,eeprom_cnt);
+ }else if(page_frg == 1){
+ *(float*)serialData=0.0f;
+ eeprom.PageWrite(ADDRESS_24LC1025_BLOCK1,eeprom_cnt,serialData,4);
+ *(float*)serialData=cal_x;
+ eeprom.PageWrite(ADDRESS_24LC1025_BLOCK1,eeprom_cnt,serialData,4);
+ *(float*)serialData=cal_y;
+ eeprom.PageWrite(ADDRESS_24LC1025_BLOCK1,eeprom_cnt,serialData,4);
+ *(float*)serialData=cal_z;
+ eeprom.PageWrite(ADDRESS_24LC1025_BLOCK1,eeprom_cnt,serialData,4);
+ *(float*)serialData=world_time;
+ eeprom.PageWrite(ADDRESS_24LC1025_BLOCK1,eeprom_cnt,serialData,4);
+ *(float*)serialData=0.0f;
+ eeprom.PageWrite(ADDRESS_24LC1025_BLOCK1,eeprom_cnt,serialData,4);
+ //pc.printf("%d,0x%x\r\n",page_frg,eeprom_cnt);
+ }else{
+ //pc.printf("EEPROM_ERROR!! You should erase memory\r\n");
+ }
+ eeprom_cnt = 0x18 + eeprom_cnt;
+
+
}
if(msg.id == 0x03){
@@ -62,17 +160,27 @@
}
pc.printf("ID0x03:%.2f\r\n", getFloat._float);
}
+
+ if(msg.id == 0x04){
+ //pc.printf("ID: 0x01\n\r");
+ for(int i=0;i<4;++i){
+ getFloat._byte[i] = msg.data[i];
+ //pc.printf("get_char: %d\n\r", getFloat._byte[i]);
+ }
+ pc.printf("ID0x04:%.2f\r\n", getFloat._float);
+ }
}
+ led=1;
}
int main(){
int adc1[4],adc2[4],adc3[4],adc4[4],adc5[4],adc6[4];
- int i,j,cnt;
float ave[6],buff;
can.attach(receive, CAN::RxIrq);
- pc.printf("Hello world\r\n");
+ pc.printf("Hello world%d\r\n",sizeof(i));
+ led = 1;
wait(1.0);
while(1){
@@ -217,29 +325,52 @@
*/
cnt = 0;
- if(ave[1] < ave[2] && ave[3] > ave[5] && ave[4] < ave[0])pc.printf("x:0,y:0,z:0\r\n");
- //else if(ave[1] < ave[2] && ave[3] < ave[5] && ave[4] < ave[0])pc.printf("x:90,y:0,z:0\r\n");
- else if(ave[1] < ave[2] && ave[3] < ave[5] && ave[4] > ave[0])pc.printf("x:180,y:0,z:0\r\n");
- //else if(ave[1] < ave[2] && ave[3] > ave[5] && ave[4] > ave[0])pc.printf("x:270,y:0,z:0\r\n");
-
- else if(ave[1] < ave[2] && ave[3] > ave[5] && ave[4] < ave[0])pc.printf("x:0,y:0,z:0\r\n");
- //else if(ave[1] < ave[2] && ave[3] < ave[5] && ave[4] < ave[0])pc.printf("x:0,y:0,z:90\r\n");
- else if(ave[1] > ave[2] && ave[3] < ave[5] && ave[4] < ave[0])pc.printf("x:0,y:0,z:180\r\n");
- //else if(ave[1] > ave[2] && ave[3] > ave[5] && ave[4] < ave[0])pc.printf("x:0,y:0,z:270\r\n");
- else if(ave[1] < ave[2] && ave[3] > ave[5] && ave[4] < ave[0])pc.printf("x:0,y:0,z:0\r\n");
- //else if(ave[1] < ave[2] && ave[3] > ave[5] && ave[4] > ave[0])pc.printf("x:0,y:90,z:0\r\n");
- else if(ave[1] > ave[2] && ave[3] > ave[5] && ave[4] > ave[0])pc.printf("x:0,y:180,z:0\r\n");
- //else if(ave[1] > ave[2] && ave[3] > ave[5] && ave[4] > ave[0])pc.printf("x:0,y:270,z:0\r\n");
-
- else pc.printf("none\r\n");
+ if(ave[1] < ave[2] && ave[3] > ave[5] && ave[4] < ave[0]){
+ send2((unsigned short)(0.0f+cal_x),(unsigned short)(0.0f+cal_y),(unsigned short)(0.0f+cal_z),6);
+ //else if(ave[1] < ave[2] && ave[3] < ave[5] && ave[4] < ave[0])pc.printf("x:90,y:0,z:0\r\n");
+ }else if(ave[1] < ave[2] && ave[3] < ave[5] && ave[4] > ave[0]){
+ send2((unsigned short)(180.0f+cal_x),(unsigned short)(0.0f+cal_y),(unsigned short)(0.0f+cal_z),6);
+ //else if(ave[1] < ave[2] && ave[3] > ave[5] && ave[4] > ave[0])pc.printf("x:270,y:0,z:0\r\n");
+ }else if(ave[1] < ave[2] && ave[3] > ave[5] && ave[4] < ave[0]){
+ send2((unsigned short)(0.0f+cal_x),(unsigned short)(0.0f+cal_y),(unsigned short)(0.0f+cal_z),6);
+ //else if(ave[1] < ave[2] && ave[3] < ave[5] && ave[4] < ave[0])pc.printf("x:0,y:0,z:90\r\n");
+ }else if(ave[1] > ave[2] && ave[3] < ave[5] && ave[4] < ave[0]){
+ send2((unsigned short)(0.0f+cal_x),(unsigned short)(0.0f+cal_y),(unsigned short)(180.0f+cal_z),6);
+ //else if(ave[1] > ave[2] && ave[3] > ave[5] && ave[4] < ave[0])pc.printf("x:0,y:0,z:270\r\n");
+ }else if(ave[1] < ave[2] && ave[3] > ave[5] && ave[4] < ave[0]){
+ send2((unsigned short)(0.0f+cal_x),(unsigned short)(0.0f+cal_y),(unsigned short)(0.0f+cal_z),6);
+ //else if(ave[1] < ave[2] && ave[3] > ave[5] && ave[4] > ave[0])pc.printf("x:0,y:90,z:0\r\n");
+ }else if(ave[1] > ave[2] && ave[3] > ave[5] && ave[4] > ave[0]){
+ send2((unsigned short)(0.0f+cal_x),(unsigned short)(180.0f+cal_y),(unsigned short)(0.0f+cal_z),6);
+ //else if(ave[1] > ave[2] && ave[3] > ave[5] && ave[4] > ave[0])pc.printf("x:0,y:270,z:0\r\n");
+ }else{
+ pc.printf("none\r\n");
+ }
+ pc.printf("%d,%x,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f\r\n",page_frg,eeprom_cnt,ave[1],ave[2],ave[3],ave[5],ave[4],ave[0]);
+ for(i=0; i<6; i++){
+ *(float*)serialData = ave[i];
+ //pc.printf("%f,",ave[i]);
+ if(eeprom_cnt > 0xFFF0){
+ page_frg++;
+ eeprom_cnt = 0;
+ }
-
- pc.printf("%.1f,%.1f,%.1f,%.1f,%.1f,%.1f\r\n",ave[1],ave[2],ave[3],ave[5],ave[4],ave[0]);
-
-
- wait(0.5);
+ if(page_frg == 0){
+ eeprom.PageWrite(ADDRESS_24LC1025_BLOCK0,eeprom_cnt,serialData,4);
+ //pc.printf("%d,0x%x\r\n",page_frg,eeprom_cnt);
+ }else if(page_frg == 1){
+ eeprom.PageWrite(ADDRESS_24LC1025_BLOCK1,eeprom_cnt,serialData,4);
+ //pc.printf("%d,0x%x\r\n",page_frg,eeprom_cnt);
+ }else{
+ //pc.printf("EEPROM_ERROR!! You should erase memory\r\n");
+ }
+ eeprom_cnt = 0x04 + eeprom_cnt;
+ wait(0.01);
+
+ }
+ wait(0.1);
}
}