受け取りのコントローラのプログラム
Dependencies: TextLCD mbed MultiSerial Pswitch_Lib
main.cpp@5:a5c324942570, 2014-09-25 (annotated)
- Committer:
- lilac0112_1
- Date:
- Thu Sep 25 08:20:34 2014 +0000
- Revision:
- 5:a5c324942570
- Parent:
- 4:39edc16ee5c3
- Child:
- 6:08b5c5bdace9
;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lilac0112_1 | 0:d3702a4e32ea | 1 | #include "mbed.h" |
lilac0112_1 | 0:d3702a4e32ea | 2 | #include "TextLCD.h" |
lilac0112_1 | 1:84625a611c5f | 3 | #include "MultiSerial.h" |
lilac0112_1 | 0:d3702a4e32ea | 4 | |
lilac0112_1 | 2:7820849bf534 | 5 | #define DATA_NUM 2 |
lilac0112_1 | 5:a5c324942570 | 6 | #define LINKCODE 0xCC |
lilac0112_1 | 5:a5c324942570 | 7 | #define LINK_INTERVAL 100 |
lilac0112_1 | 2:7820849bf534 | 8 | #define KEYCODE 0xAA |
lilac0112_1 | 5:a5c324942570 | 9 | #define INTERVAL .5 //12 |
lilac0112_1 | 0:d3702a4e32ea | 10 | |
lilac0112_1 | 0:d3702a4e32ea | 11 | enum HAND{RIGHT=0, LEFT}; |
lilac0112_1 | 0:d3702a4e32ea | 12 | enum FINGER{INDEX=0, MIDDLE}; |
lilac0112_1 | 0:d3702a4e32ea | 13 | enum COMPASS{NORTH=0, EAST, SOUTH, WEST}; |
lilac0112_1 | 0:d3702a4e32ea | 14 | enum COLOR{YELLOW=0, RED, GREEN, BLUE}; |
lilac0112_1 | 0:d3702a4e32ea | 15 | |
lilac0112_1 | 5:a5c324942570 | 16 | uint8_t TXdata[DATA_NUM]={0}; |
lilac0112_1 | 5:a5c324942570 | 17 | uint8_t RXdata[DATA_NUM]={0}; |
lilac0112_1 | 5:a5c324942570 | 18 | |
lilac0112_1 | 5:a5c324942570 | 19 | uint8_t INdata[DATA_NUM]={0}; |
lilac0112_1 | 5:a5c324942570 | 20 | uint8_t EXdata[DATA_NUM]={0}; |
lilac0112_1 | 5:a5c324942570 | 21 | |
lilac0112_1 | 0:d3702a4e32ea | 22 | volatile uint8_t count=0; |
lilac0112_1 | 4:39edc16ee5c3 | 23 | bool SW; |
lilac0112_1 | 0:d3702a4e32ea | 24 | |
lilac0112_1 | 0:d3702a4e32ea | 25 | void SetUp(); |
lilac0112_1 | 5:a5c324942570 | 26 | void connect_check(); |
lilac0112_1 | 0:d3702a4e32ea | 27 | uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one); |
lilac0112_1 | 0:d3702a4e32ea | 28 | void illumination(); |
lilac0112_1 | 0:d3702a4e32ea | 29 | |
lilac0112_1 | 0:d3702a4e32ea | 30 | Ticker flick; |
lilac0112_1 | 0:d3702a4e32ea | 31 | BusOut LED(LED1, LED2, LED3, LED4); |
lilac0112_1 | 0:d3702a4e32ea | 32 | |
lilac0112_1 | 0:d3702a4e32ea | 33 | DigitalOut YLED(p6); |
lilac0112_1 | 0:d3702a4e32ea | 34 | |
lilac0112_1 | 0:d3702a4e32ea | 35 | DigitalIn CrossKey[4][2]={{p8, p30}, {p11, p29}, {p15, p28}, {p16, p27}};//p7, p12=reserve |
lilac0112_1 | 0:d3702a4e32ea | 36 | DigitalIn SideKey[2][2]={{p17, p20}, {p18, p19}}; |
lilac0112_1 | 5:a5c324942570 | 37 | DigitalIn Toggle(p5); |
lilac0112_1 | 0:d3702a4e32ea | 38 | |
lilac0112_1 | 5:a5c324942570 | 39 | MultiSerial Xbee(p9, p10); |
lilac0112_1 | 5:a5c324942570 | 40 | Serial pc(USBTX,USBRX); |
lilac0112_1 | 5:a5c324942570 | 41 | |
lilac0112_1 | 4:39edc16ee5c3 | 42 | |
lilac0112_1 | 5:a5c324942570 | 43 | int main() |
lilac0112_1 | 5:a5c324942570 | 44 | { |
lilac0112_1 | 5:a5c324942570 | 45 | SetUp(); |
lilac0112_1 | 5:a5c324942570 | 46 | |
lilac0112_1 | 5:a5c324942570 | 47 | Toggle.mode(PullUp); |
lilac0112_1 | 5:a5c324942570 | 48 | |
lilac0112_1 | 5:a5c324942570 | 49 | connect_check(); |
lilac0112_1 | 5:a5c324942570 | 50 | |
lilac0112_1 | 5:a5c324942570 | 51 | TextLCD lcd(p26, p25, p24, p23, p22, p21, TextLCD::LCD16x2); // rs, e, d4-d7 |
lilac0112_1 | 0:d3702a4e32ea | 52 | |
lilac0112_1 | 5:a5c324942570 | 53 | if(TXdata[0]==LINKCODE) lcd.cls(), lcd.printf("3SecondsLater,\n YouCanRun"); |
lilac0112_1 | 5:a5c324942570 | 54 | |
lilac0112_1 | 5:a5c324942570 | 55 | wait(3); |
lilac0112_1 | 5:a5c324942570 | 56 | |
lilac0112_1 | 5:a5c324942570 | 57 | YLED=!Toggle; |
lilac0112_1 | 5:a5c324942570 | 58 | if(YLED) lcd.cls(), lcd.printf("Pause Mode\n"), SW=0; |
lilac0112_1 | 5:a5c324942570 | 59 | if(!YLED) lcd.cls(), lcd.printf("Run Mode\n"), SW=1; |
lilac0112_1 | 5:a5c324942570 | 60 | |
lilac0112_1 | 5:a5c324942570 | 61 | Xbee.write_data(EXdata, KEYCODE); |
lilac0112_1 | 5:a5c324942570 | 62 | |
lilac0112_1 | 0:d3702a4e32ea | 63 | while(1) { |
lilac0112_1 | 0:d3702a4e32ea | 64 | |
lilac0112_1 | 5:a5c324942570 | 65 | YLED=!Toggle; |
lilac0112_1 | 4:39edc16ee5c3 | 66 | |
lilac0112_1 | 4:39edc16ee5c3 | 67 | if(YLED&&SW) lcd.cls(), lcd.printf("Pause Mode\n"), SW=0; |
lilac0112_1 | 4:39edc16ee5c3 | 68 | if((!YLED)&&(!SW)) lcd.cls(), lcd.printf("Run Mode\n"), SW=1; |
lilac0112_1 | 4:39edc16ee5c3 | 69 | |
lilac0112_1 | 5:a5c324942570 | 70 | if(Toggle){ |
lilac0112_1 | 3:cfd7cd361088 | 71 | |
lilac0112_1 | 3:cfd7cd361088 | 72 | EXdata[0] = LinkBit(!CrossKey[YELLOW][LEFT], !CrossKey[RED][LEFT], !CrossKey[GREEN][LEFT], !CrossKey[BLUE][LEFT], |
lilac0112_1 | 3:cfd7cd361088 | 73 | !CrossKey[YELLOW][RIGHT], !CrossKey[RED][RIGHT], !CrossKey[GREEN][RIGHT], !CrossKey[BLUE][RIGHT]); |
lilac0112_1 | 3:cfd7cd361088 | 74 | EXdata[1] = LinkBit(0, 0, 0, 0, !SideKey[INDEX][LEFT], !SideKey[MIDDLE][LEFT], !SideKey[INDEX][RIGHT], !SideKey[MIDDLE][RIGHT]); |
lilac0112_1 | 3:cfd7cd361088 | 75 | }else{ |
lilac0112_1 | 3:cfd7cd361088 | 76 | |
lilac0112_1 | 3:cfd7cd361088 | 77 | EXdata[0] = EXdata[1] = 0x00; |
lilac0112_1 | 3:cfd7cd361088 | 78 | } |
lilac0112_1 | 0:d3702a4e32ea | 79 | |
lilac0112_1 | 0:d3702a4e32ea | 80 | } |
lilac0112_1 | 5:a5c324942570 | 81 | |
lilac0112_1 | 0:d3702a4e32ea | 82 | } |
lilac0112_1 | 0:d3702a4e32ea | 83 | |
lilac0112_1 | 0:d3702a4e32ea | 84 | void SetUp(void){ |
lilac0112_1 | 0:d3702a4e32ea | 85 | |
lilac0112_1 | 0:d3702a4e32ea | 86 | CrossKey[NORTH][RIGHT].mode(PullUp); |
lilac0112_1 | 0:d3702a4e32ea | 87 | CrossKey[EAST][RIGHT].mode(PullUp); |
lilac0112_1 | 0:d3702a4e32ea | 88 | CrossKey[WEST][RIGHT].mode(PullUp); |
lilac0112_1 | 0:d3702a4e32ea | 89 | CrossKey[SOUTH][RIGHT].mode(PullUp); |
lilac0112_1 | 0:d3702a4e32ea | 90 | CrossKey[NORTH][LEFT].mode(PullUp); |
lilac0112_1 | 0:d3702a4e32ea | 91 | CrossKey[EAST][LEFT].mode(PullUp); |
lilac0112_1 | 0:d3702a4e32ea | 92 | CrossKey[WEST][LEFT].mode(PullUp); |
lilac0112_1 | 0:d3702a4e32ea | 93 | CrossKey[SOUTH][LEFT].mode(PullUp); |
lilac0112_1 | 0:d3702a4e32ea | 94 | |
lilac0112_1 | 0:d3702a4e32ea | 95 | SideKey[INDEX][RIGHT].mode(PullUp); |
lilac0112_1 | 0:d3702a4e32ea | 96 | SideKey[MIDDLE][RIGHT].mode(PullUp); |
lilac0112_1 | 0:d3702a4e32ea | 97 | SideKey[INDEX][LEFT].mode(PullUp); |
lilac0112_1 | 0:d3702a4e32ea | 98 | SideKey[MIDDLE][LEFT].mode(PullUp); |
lilac0112_1 | 0:d3702a4e32ea | 99 | |
lilac0112_1 | 1:84625a611c5f | 100 | flick.attach(illumination, INTERVAL); |
lilac0112_1 | 5:a5c324942570 | 101 | flick.detach(); |
lilac0112_1 | 5:a5c324942570 | 102 | } |
lilac0112_1 | 5:a5c324942570 | 103 | void connect_check(void){ |
lilac0112_1 | 5:a5c324942570 | 104 | |
lilac0112_1 | 5:a5c324942570 | 105 | while(1){ |
lilac0112_1 | 5:a5c324942570 | 106 | |
lilac0112_1 | 5:a5c324942570 | 107 | //YLED = !Toggle; |
lilac0112_1 | 5:a5c324942570 | 108 | //LED = 12; |
lilac0112_1 | 5:a5c324942570 | 109 | Xbee.start_write(); |
lilac0112_1 | 5:a5c324942570 | 110 | TXdata[0]=LINKCODE; |
lilac0112_1 | 5:a5c324942570 | 111 | Xbee.write_data(TXdata,KEYCODE); |
lilac0112_1 | 5:a5c324942570 | 112 | wait_ms(100); |
lilac0112_1 | 5:a5c324942570 | 113 | Xbee.stop_write(); |
lilac0112_1 | 5:a5c324942570 | 114 | |
lilac0112_1 | 5:a5c324942570 | 115 | Xbee.start_read(); |
lilac0112_1 | 5:a5c324942570 | 116 | Xbee.read_data(RXdata,KEYCODE); |
lilac0112_1 | 5:a5c324942570 | 117 | LED = 3; |
lilac0112_1 | 5:a5c324942570 | 118 | wait_ms(100); |
lilac0112_1 | 5:a5c324942570 | 119 | if(RXdata[0]==LINKCODE) break; |
lilac0112_1 | 5:a5c324942570 | 120 | |
lilac0112_1 | 5:a5c324942570 | 121 | Xbee.stop_read(); |
lilac0112_1 | 5:a5c324942570 | 122 | |
lilac0112_1 | 5:a5c324942570 | 123 | } |
lilac0112_1 | 5:a5c324942570 | 124 | |
lilac0112_1 | 0:d3702a4e32ea | 125 | } |
lilac0112_1 | 0:d3702a4e32ea | 126 | uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one){//0と1を集めて整数を作る |
lilac0112_1 | 0:d3702a4e32ea | 127 | return 0x80*eight + 0x40*seven + 0x20*six + 0x10*five + 0x08*fore + 0x04*three + 0x02*two + 0x01*one; |
lilac0112_1 | 0:d3702a4e32ea | 128 | } |
lilac0112_1 | 0:d3702a4e32ea | 129 | void illumination(void){//literally |
lilac0112_1 | 0:d3702a4e32ea | 130 | count++; |
lilac0112_1 | 0:d3702a4e32ea | 131 | LED = count; |
lilac0112_1 | 0:d3702a4e32ea | 132 | } |