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v1
Dependencies: Nichrome_lib mbed mpu9250_i2c IM920 INA226_lib PQLPS22HB EEPROM_lib GPS_interrupt
main.cpp
- Committer:
- imadaemi
- Date:
- 2021-08-08
- Revision:
- 3:eca103d94b60
- Parent:
- 2:980edad0eea2
- Child:
- 4:345e55d8e8a3
File content as of revision 3:eca103d94b60:
#include "mbed.h" #include "IM920.h" #include "GPS_interrupt.h" #include "PQLPS22HB.h" #include "mpu9250_i2c.h" #include "INA226.h" #include "Nichrome_lib.h" #include "EEPROM_lib.h" #define RESET_TIME 1800000 //1800000→30分 //#define RESET_TIME 30000000 // 30000000→30秒(実験用) #define FIRE_TIME 2.0 #define TO_SEPARATE_TIME 10.0 //#define TO_SEPARATE_TIME 300.0 #define TO_COLLECTION_TIME 30.0 //#define TO_COLLECTION_TIME 10.0 // 実験用 #define ALTITUDE_LIMIT 30.0 //#define ALTITUDE_LIMIT 10.0 #define ACC_RANGE _16G #define GYRO_RANGE _2000DPS //#define LPF_COEFFICIENT_ALT 0.01 //#define LPF_COEFFICIENT_ALT 0.001 #define LPF_COEFFICIENT_ALT 0.05 #define LPF_COEFFICIENT_VEL 0.2 #define TEMP_MULTIPLIER 100 #define LPF_ALT_MULTIPLIER 100 #define LPF_VEL_MULTIPLIER 100 // *************************************************** // コンストラクタ // *************************************************** Serial pc(USBTX, USBRX, 230400); Serial gps_serial(p9, p10, 115200); Serial im920_serial(p13, p14, 115200); I2C i2c(p28, p27); IM920 im920(im920_serial, pc, 115200); GPS_interrupt gps(&gps_serial); LPS22HB lps22hb(i2c, LPS22HB::SA0_LOW); mpu9250 mpu9250(i2c,AD0_HIGH); myINA226 ina226_main(i2c, myINA226::A1_GND, myINA226::A0_GND); myINA226 ina226_sep(i2c, myINA226::A1_VDD, myINA226::A0_VDD); Nichrome_lib nich(p20); EEPROM_lib EEPROM(i2c, 4); InterruptIn flightpin(p18); DigitalOut nich_led(LED1); DigitalOut im920_busy_led(LED2); DigitalOut pinA(p21); DigitalOut pinB(p22); DigitalOut pinC(p23); DigitalIn im920_busy(p15); Ticker send_data; Ticker save_data; Ticker get_data; Timer main_timer; //Timeout to_separate_time; //Timeout to_collection_time; //Timeout fire_time; Timeout task_timeout; // *************************************************** // 関数の宣言 // *************************************************** void uplink(); void echoIM(); void PerformTask(); void FlightPinDetect(); void ChangeModeToSep(); void ChangeModeToCol(); void Separate(); void StopSeparate(); void SetSensor(); void GetData(); void SendLaunchTime(); void SendData(); void SaveData(); void setEEPROMGroup(int group_num); // *************************************************** // 無線のヘッダまとめ // *************************************************** const char HEADER_SETUP = 0x01; // 0x01, GPS, LPS22HB, MPU9250, MPU9250_MAG, INA226_MAIN, INA226_SEP // 1 1 1 1 1 1 1 const char HEADER_DATA = 0x02; // 0xA2, duration_main_time, duration_flight_time, mode, nich_status, flightpin_status, lat, lon, height, press, temp, altitude, voltage_main, voltage_sep, current_main, current_sep // 1 4 4 1 0.125 0.125 4 4 4 4 4 4 4 4 4 4 const char HEADER_LAUNCH_TIME = 0x03; const char HEADER_ECHO = 0x05; // 0xA5,コマンド // 1 1 // *************************************************** // 変数の宣言 // *************************************************** float launch_time = 0; float previous_main_time = 0; float flight_time = 0; float main_time = 0; int time_reset_counter = 0; bool send_launch_time_status = false; bool top_detect = false; char bitshift_top_detect; bool nich_status = false; char bitshift_nich_status; bool flightpin_status = false; char bitshift_flightpin_status; bool save_data_status = false; char bitshift_save_data_status; char bitshift_sum; bool header_set = false; char im_buf[55];//16なのって意味ある? int im_buf_n = 0; float lat, lon, height; int satellite_number; float press, temp; float altitude; //float ground_press = 1013.0,ground_temp = 25.0; float ground_press = -1.0,ground_temp = -1.0; float velocity; float previous_lpf_velocity; float lpf_velocity; float previous_lpf_altitude; float lpf_altitude; float imu[6], mag[3]; float mag_geo[3]; float voltage_main, voltage_sep; float current_main, current_sep; int ptr, n = 0; int eeprom_ptr = 0; int eeprom_group_counter = 0; int eeprom_number = 0; const char MODE_SETUP = 0x00; const char MODE_SAFE = 0x01; const char MODE_TO_ONCALL = 0x02; const char MODE_ONCALL = 0x03; const char MODE_TO_FLIGHT = 0x04; const char MODE_FLIGHT = 0x05; const char MODE_TO_SEPARATE = 0x06; const char MODE_SEPARATE = 0x07; const char MODE_TO_DESCEND = 0x08; const char MODE_DESCEND = 0x09; const char MODE_TO_COLLECTION = 0x0a; const char MODE_COLLECTION = 0x0b; char mode = MODE_SETUP; // *************************************************** // メイン関数 // *************************************************** int main() { pc.printf("Hello Main!\r\n"); im920.attach(&uplink, 0xF0); send_data.attach(&SendData, 1.0); get_data.attach(&GetData, 0.02); while(1){ PerformTask(); /* if(im920_busy){ im920_busy_led = 1; }else{ im920_busy_led = 0; } */ } } // *************************************************** // アップリンク(地上局から) // *************************************************** void uplink(){ echoIM(); switch(im920.data[1]){ case 'U': if(mode == MODE_FLIGHT || mode == MODE_ONCALL){ mode = MODE_SETUP; save_data.detach(); save_data_status = false; pc.printf("********************\r\n"); pc.printf("Set : MODE_SETUP\r\n"); pc.printf("********************\r\n\r\n"); } break; case 'O': if(mode == MODE_SAFE){ mode = MODE_TO_ONCALL; pc.printf("********************\r\n"); pc.printf("Set : MODE_TO_ONCALL\r\n"); pc.printf("********************\r\n\r\n"); } break; case 'F': if(mode == MODE_ONCALL){ mode = MODE_TO_FLIGHT; pc.printf("********************\r\n"); pc.printf("Set : MODE_TO_FLIGHT\r\n"); pc.printf("********************\r\n\r\n"); } break; case 'S': if(mode == MODE_FLIGHT){ mode = MODE_TO_SEPARATE; pc.printf("********************\r\n"); pc.printf("Set : MODE_TO_SEPARATE\r\n"); pc.printf("********************\r\n\r\n"); } break; case 0x01: pc.printf("********************\r\n"); pc.printf("SEPARATE\r\n"); pc.printf("********************\r\n\r\n"); Separate(); break; case 0x00: pc.printf("********************\r\n"); pc.printf("STOP SEPARATE\r\n"); pc.printf("********************\r\n\r\n"); StopSeparate(); break; } } // *************************************************** // 無線信号の送り返し // *************************************************** void echoIM(){ im920.header(HEADER_ECHO); im920.write(im920.data[1]); im920.send(); } // *************************************************** // タスクの実行 // *************************************************** void PerformTask(){ switch(mode){ case(MODE_SETUP): SetSensor(); main_timer.start(); send_data.detach(); send_data.attach(&SendData, 1.0); mode = MODE_SAFE; break; case(MODE_SAFE): break; case(MODE_TO_ONCALL): ground_press = press; save_data.detach(); save_data.attach(&SaveData, 1.0); save_data_status = true; flightpin.rise(&FlightPinDetect); mode = MODE_ONCALL; break; case(MODE_ONCALL): break; case(MODE_TO_FLIGHT): save_data.detach(); save_data.attach(&SaveData, 0.02); launch_time = main_time; //to_separate_time.attach(&ChangeModeToSep,TO_SEPARATE_TIME); task_timeout.detach(); task_timeout.attach(&ChangeModeToSep,TO_SEPARATE_TIME); mode = MODE_FLIGHT; break; case(MODE_FLIGHT): //pc.printf("%f\t%f\t%f\t%f\t%f\r\n",press,altitude,lpf_altitude, ALTITUDE_LIMIT,velocity); if(!im920_busy && !send_launch_time_status){ SendLaunchTime(); } if((lpf_altitude >= ALTITUDE_LIMIT) && (lpf_velocity < 0.0)){//and 速度<0を書き込む mode = MODE_TO_SEPARATE; top_detect = true; } break; case(MODE_TO_SEPARATE): Separate(); mode = MODE_SEPARATE; break; case(MODE_SEPARATE): if(nich.status == false){ mode = MODE_TO_DESCEND; } break; case(MODE_TO_DESCEND): //to_collection_time.attach(&ChangeModeToCol,TO_COLLECTION_TIME); task_timeout.detach(); task_timeout.attach(&ChangeModeToCol,TO_COLLECTION_TIME); mode = MODE_DESCEND; break; case(MODE_DESCEND): break; case(MODE_TO_COLLECTION): save_data.detach(); save_data.attach(&SaveData, 1.0); mode = MODE_COLLECTION; break; case(MODE_COLLECTION): break; } } // *************************************************** // フライトピン検知 // *************************************************** void FlightPinDetect(){ if(mode == MODE_ONCALL){ mode = MODE_TO_FLIGHT; flightpin_status = true; /* pc.printf("********************\r\n"); pc.printf("Set : MODE_TO_FLIGHT\r\n"); pc.printf("********************\r\n\r\n"); */ } } // *************************************************** // 1フライトモード→セパレートモード // *************************************************** void ChangeModeToSep(){ if(mode == MODE_FLIGHT){ mode = MODE_TO_SEPARATE; /* pc.printf("********************\r\n"); pc.printf("Set : MODE_TO_SEPARATE\r\n"); pc.printf("********************\r\n\r\n"); */ } } // *************************************************** // 下降モード→回収モード // *************************************************** void ChangeModeToCol(){ if(mode == MODE_DESCEND){ mode = MODE_TO_COLLECTION; /* pc.printf("********************\r\n"); pc.printf("Set : MODE_TO_COLLECTION\r\n"); pc.printf("********************\r\n\r\n"); */ } } // *************************************************** // 分離実行 // *************************************************** void Separate(){ nich.fire_on(); nich_led = 1; //fire_time.attach(&StopSeparate,FIRE_TIME); task_timeout.detach(); task_timeout.attach(&StopSeparate,FIRE_TIME); } void StopSeparate(){ nich.fire_off(); nich_led = 0; } // *************************************************** // センサーのセットアップ // *************************************************** void SetSensor(){ pc.printf("\r\n"); for(int i = 0; i < 20; i++){ pc.printf("*"); } pc.printf("\r\n"); pc.printf("Start Setting\r\n"); if(!header_set){ im920.header((char)HEADER_SETUP); header_set = true; } //FlightPin flightpin.mode(PullUp); //GPS if(gps.gps_readable == true){ pc.printf("GPS : OK!\r\n"); im920.write((char)0x01); im_buf[im_buf_n] = '1'; im_buf_n ++; }else{ pc.printf("GPS : NG...\r\n"); im920.write((char)0x00); im_buf[im_buf_n] = '0'; im_buf_n ++; } //LPS22HB lps22hb.begin(); if(lps22hb.test() == true){ pc.printf("LPS22HB : OK!\r\n"); im920.write((char)0x01); im_buf[im_buf_n] = '1'; im_buf_n ++; }else{ pc.printf("LPS22HB : NG...\r\n"); im920.write((char)0x00); im_buf[im_buf_n] = '0'; im_buf_n ++; } //MPU9250 if(mpu9250.sensorTest() == true){ pc.printf("MPU9250 : OK!\r\n"); im920.write((char)0x01); im_buf[im_buf_n] = '1'; im_buf_n ++; }else{ pc.printf("MPU9250 : NG...\r\n"); im920.write((char)0x00); im_buf[im_buf_n] = '0'; im_buf_n ++; } if(mpu9250.mag_sensorTest() == true){ pc.printf("MPU9250 MAG : OK!\r\n"); im920.write((char)0x01); im_buf[im_buf_n] = '1'; im_buf_n ++; }else{ pc.printf("MPU9250 MAG : NG...\r\n"); im920.write((char)0x00); im_buf[im_buf_n] = '0'; im_buf_n ++; } mpu9250.setAcc(ACC_RANGE); mpu9250.setGyro(GYRO_RANGE); mpu9250.setOffset(0.528892327, -0.660206211, 0.757105891, -0.011691362, 0.025688783, 1.087885322, -159.750004, 121.425005, -392.700012); //INA226 ina226_main.set_callibretion(); ina226_sep.set_callibretion(); //ina226_main.setup(1); //ina226_sep.setup(1); if(ina226_main.Connection_check()==0){ pc.printf("INA226 Main : OK!\r\n"); im920.write((char)0x01); im_buf[im_buf_n] = '1'; im_buf_n ++; }else{ pc.printf("INA226 Main : NG...\r\n"); im920.write((char)0x00); im_buf[im_buf_n] = '0'; im_buf_n ++; } if(ina226_sep.Connection_check()==0){ pc.printf("INA226 Sep : OK!\r\n"); im920.write((char)0x01); im_buf[im_buf_n] = '1'; im_buf_n ++; }else{ pc.printf("INA226 Sep : NG...\r\n"); im920.write((char)0x00); im_buf[im_buf_n] = '0'; im_buf_n ++; } if(header_set){ im920.send(); pc.printf("Send : %s\r\n", im_buf); header_set = false; for(int i = 0; i < im_buf_n; i ++){ im_buf[i] = '\0'; } im_buf_n = 0; } //EEPROM eeprom_group_counter = 0; setEEPROMGroup(eeprom_group_counter); EEPROM.setWriteAddr(1, 0, 0x00, 0x00); pc.printf("\r\n"); for(int i = 0; i < 20; i++){ pc.printf("*"); } pc.printf("\r\n"); } // *************************************************** // センサーのデータ取得 // *************************************************** void GetData(){ //Main_Time previous_main_time = main_time; main_time = main_timer.read_ms(); if(main_time >= RESET_TIME){ main_timer.reset(); time_reset_counter++; } //Nichrome nich_status = nich.status; //GPS lat = gps.Latitude(); lon = gps.Longitude(); height = gps.Height(); satellite_number = gps.Number(); //pc.printf("%f\t%f\t%f\t\r\n", lat, lon, height); //LPS22HB float press_tmp; //lps22hb.read_press(&press); lps22hb.read_press(&press_tmp); if(press_tmp > 500.0){ press = press_tmp; } if(ground_press == -1.0){ ground_press = press; } lps22hb.read_temp(&temp); if(ground_temp == -1.0){ ground_temp = temp; } altitude = (ground_temp + 273.15)/0.0065*(1 - powf(press/ground_press, 287 * 0.0065/9.80665)); //pc.printf("%f\t%f\t%f\r\n",press, temp, altitude); //lpf_altitude previous_lpf_altitude = lpf_altitude; lpf_altitude += LPF_COEFFICIENT_ALT*(altitude - previous_lpf_altitude); //pc.printf("%f\t%f\t\r\n",altitude,lpf_altitude); //velocity計算 velocity = (lpf_altitude - previous_lpf_altitude)*1000/(main_time - previous_main_time); //pc.printf("********************\r\n"); //pc.printf("lpf altitude : %f\r\n",lpf_altitude); //pc.printf("main time : %f\r\n",main_time/1000); //pc.printf("altitude def: %f\r\n",lpf_altitude - previous_lpf_altitude); //pc.printf("velocity : %f\r\n",velocity); //pc.printf("time def: %f\r\n",main_time - previous_main_time); //pc.printf("********************\r\n"); //lpf_velocity previous_lpf_velocity = lpf_velocity; lpf_velocity += LPF_COEFFICIENT_VEL*(velocity - previous_lpf_velocity); //pc.printf("%f\t%f\t%f\t%f\r\n",altitude,lpf_altitude,velocity,lpf_velocity); //MPU9250 mpu9250.getAll(imu, mag); //pc.printf("%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t\r\n",imu[0], imu[1], imu[2], imu[3], imu[4], imu[5], mag[0], mag[1], mag[2]); //INA226 ina226_main.get_Voltage_current(&voltage_main, ¤t_main); ina226_sep.get_Voltage_current(&voltage_sep, ¤t_sep); //pc.printf("MainVol : %.2f, SepVol : %.2f, MainCur : %.2f, SepCur : %.2f\r\n", voltage_main, voltage_sep, current_main, current_sep); //pc.printf("MainVol : %f, SepVol : %f, MainCur : %f, SepCur : %f\r\n", voltage_main*(1/1000), voltage_sep, current_main, current_sep); } // *************************************************** // 取得データを地上に送信 // *************************************************** void SendData(){ if(!header_set){ im920.header((char)HEADER_DATA); header_set = true; } ///pc.printf("********************\r\n"); //time_reset_counter im920.write((short)time_reset_counter); im_buf_n += 2; //MainTime im920.write((float)main_time); im_buf_n += 4; //mode ///pc.printf("mode : %c\r\n",mode); im920.write((char)mode); im_buf_n ++; //flightpin bitshift_flightpin_status = flightpin_status << 0; //pc.printf("flightpin bool : %d\r\n",flightpin_status); //pc.printf("flightpin bool : %d\r\n",bitshift_flightpin_status); //Nichrome bitshift_nich_status = nich_status << 1; //pc.printf("nich bool : %d\r\n",nich_status); //pc.printf("nich bitshift : %d\r\n",bitshift_nich_status); //頂点検知 bitshift_top_detect = top_detect << 2; //保存データのステータス bitshift_save_data_status = save_data_status << 3; //bool8個を1つのcharで送るとき bitshift_sum = bitshift_flightpin_status | bitshift_nich_status | bitshift_top_detect | bitshift_save_data_status; im920.write((char)bitshift_sum); im_buf_n ++; //EEPROM Number im920.write((char)eeprom_number); im_buf_n ++; //GPS ///pc.printf("Latitude : %f\r\n",lat); ///pc.printf("Longitude : %f\r\n",lon); ///pc.printf("Height : %f\r\n",height); im920.write((float)lat); im_buf_n += 4; im920.write((float)lon); im_buf_n += 4; /* im920.write((float)height); im_buf_n += 4; */ //LPS22HB ///pc.printf("Pressure : %f\r\n",press); ///pc.printf("Temperarure : %f\r\n",temp); ///pc.printf("Altitude : %f\r\n",altitude); im920.write((float)press); im_buf_n += 4; im920.write((short)(temp*TEMP_MULTIPLIER)); im_buf_n += 2; im920.write((short)(lpf_altitude*LPF_ALT_MULTIPLIER)); im_buf_n += 2; im920.write((short)(lpf_velocity*LPF_VEL_MULTIPLIER)); im_buf_n += 2; //INA226 ///pc.printf("Vlotage Mian : %.2f\r\n",voltage_main); ///pc.printf("Current Main : %.2f\r\n",current_main); ///pc.printf("Voltage Sep : %.2f\r\n",voltage_sep); ///pc.printf("Current Sep : %.2f\r\n",current_sep); im920.write((short)voltage_main); im_buf_n += 2; im920.write((short)current_main); im_buf_n += 2; im920.write((short)voltage_sep); im_buf_n += 2; im920.write((short)current_sep); im_buf_n += 2; ///pc.printf("********************\r\n\r\n"); if(header_set){ im920.send(); //pc.printf("Send : %s\r\n", im_buf); header_set = false; for(int i = 0; i < im_buf_n; i ++){ im_buf[i] = '\0'; } im_buf_n = 0; } } // *************************************************** // 打上げ時刻を送信 // *************************************************** void SendLaunchTime(){ if(!header_set){ im920.header((char)HEADER_LAUNCH_TIME); header_set = true; } pc.printf("launch time : %f\r\n",launch_time); im920.write((float)launch_time); im_buf_n += 4; im920.write((short)time_reset_counter); im_buf_n += 2; send_launch_time_status = true; if(header_set){ im920.send(); pc.printf("Send launch time\r\n"); header_set = false; for(int i = 0; i < im_buf_n; i ++){ im_buf[i] = '\0'; } im_buf_n = 0; } } // *************************************************** // EEPROMにデータを書き込む // *************************************************** void SaveData(){ if(eeprom_group_counter < 4){ //pc.printf("Save to EEPROM\r\n"); int eep_buf = 0; /* for(int i = eep_buf; i < 128; i++){ //ptr = EEPROM.chargeBuff((char)0x02); ptr = EEPROM.chargeBuff((int)n++); } */ ptr = EEPROM.chargeBuff((char)time_reset_counter); eep_buf += 1; ptr = EEPROM.chargeBuff((int)main_time); eep_buf += 4; //ptr = EEPROM.chargeBuff((float)flight_time); //eep_buf += 4; ptr = EEPROM.chargeBuff((float)lat); eep_buf += 4; ptr = EEPROM.chargeBuff((float)lon); eep_buf += 4; ptr = EEPROM.chargeBuff((float)height); eep_buf += 4; ptr = EEPROM.chargeBuff((char)satellite_number); eep_buf += 1; ptr = EEPROM.chargeBuff((float)press); eep_buf += 4; ptr = EEPROM.chargeBuff((float)temp); eep_buf += 4; ptr = EEPROM.chargeBuff((float)altitude); eep_buf += 4; ptr = EEPROM.chargeBuff((float)lpf_altitude); eep_buf += 4; ptr = EEPROM.chargeBuff((float)velocity); eep_buf += 4; ptr = EEPROM.chargeBuff((float)lpf_velocity); eep_buf += 4; ptr = EEPROM.chargeBuff((float)imu[0]); eep_buf += 4; ptr = EEPROM.chargeBuff((float)imu[1]); eep_buf += 4; ptr = EEPROM.chargeBuff((float)imu[2]); eep_buf += 4; ptr = EEPROM.chargeBuff((float)imu[3]); eep_buf += 4; ptr = EEPROM.chargeBuff((float)imu[4]); eep_buf += 4; ptr = EEPROM.chargeBuff((float)imu[5]); eep_buf += 4; ptr = EEPROM.chargeBuff((float)mag[0]); eep_buf += 4; ptr = EEPROM.chargeBuff((float)mag[1]); eep_buf += 4; ptr = EEPROM.chargeBuff((float)mag[2]); eep_buf += 4; ptr = EEPROM.chargeBuff((float)(voltage_main/1000)); eep_buf += 4; ptr = EEPROM.chargeBuff((float)(current_main/1000)); eep_buf += 4; ptr = EEPROM.chargeBuff((float)(voltage_sep/1000)); eep_buf += 4; ptr = EEPROM.chargeBuff((float)(current_sep/1000)); eep_buf += 4; ptr = EEPROM.chargeBuff((char)mode); eep_buf ++; ptr = EEPROM.chargeBuff((char)flightpin_status); eep_buf ++; ptr = EEPROM.chargeBuff((char)nich_status); eep_buf ++; //ptr = EEPROM.chargeBuff((int)n++); //ptr = EEPROM.chargeBuff((char)0xff); //ptr = EEPROM.chargeBuff((int)0); //pc.printf("%d\r\n",eep_buf); for(int i = eep_buf; i < 128; i++){ ptr = EEPROM.chargeBuff((char)0x00); } //pc.printf("ptr : %d\r\n",ptr); EEPROM.writeBuff(); eeprom_ptr = EEPROM.setNextPage(); if(eeprom_ptr == 0x01000000 || eeprom_ptr == 0x02000000 || eeprom_ptr == 0x03000000 || eeprom_ptr == 0x04000000){ eeprom_number++; pc.printf("eeprom_number : %d\r\n",eeprom_number); } //pc.printf("eeprom_ptr: %x\r\n", eeprom_ptr); /* if(eeprom_ptr == 0x01000000){ ptr = 0; eeprom_ptr = 0; plexer_num++; setEEPROMGroup(plexer_num); EEPROM.setWriteAddr(1, 0, 0x00, 0x00); } */ if(eeprom_ptr == 0x04000000){ eeprom_ptr = 0; eeprom_group_counter++; setEEPROMGroup(eeprom_group_counter); EEPROM.setWriteAddr(1, 0, 0x00, 0x00); pc.printf("EEPROM_Group : %d\r\n",eeprom_group_counter); //pc.printf("SetWriteAddr\r\n"); } } } // *************************************************** // マルチプレクサで使うEEPROMを変更する // *************************************************** void setEEPROMGroup(int group_num){ switch(group_num){ case 0: pinA = 0; pinB = 0; pinC = 0; break; case 1: pinA = 1; pinB = 0; pinC = 0; break; case 2: pinA = 0; pinB = 1; pinC = 0; break; case 3: pinA = 1; pinB = 1; pinC = 0; break; } }