pos.cpp

00001 #include "mbed.h"
00002 #include "C12832.h"
00003 #include "SWSPI.h"
00004 #include <cmath>
00005 
00006 SWSPI spi(PC_4,PC_12,PA_13); // MOSI"bidon" / MISO /CLK
00007 
00008 C12832 lcd(D11, D13, D12, D7, D10);
00009 
00010 DigitalOut CS(PA_14);
00011 
00012 
00013 InterruptIn index(PA_15);
00014 
00015 double cpt_fall=0;
00016 
00017 float distance=0,cpt_rise=0,compteur_index=0;
00018 
00019 short cpt=0;
00020 
00021 long x=0,x1=0,pas,RAZ = 0,pos_finale=0, pos_initiale=0;
00022 
00023 
00024 
00025 void pressed()
00026 {
00027     if (x >= 3000) {
00028         cpt_rise++;
00029     }
00030     if (x <= 1000) {
00031         cpt_rise--;
00032     }
00033 
00034 }
00035 
00036 void released()
00037 {
00038     cpt_fall++;
00039 }
00040 
00041 int main ()
00042 {
00043     spi.format(18,3); //////////////////////////////////////
00044     spi.frequency(100000);          // Initialisation SPI software
00045     CS=1;
00046     lcd.cls();/////////////////////////////////////////////
00047 
00048     wait_ms(100);///////////////////////////////////////////
00049     CS=0;
00050     wait_us(50);
00051 
00052     pos_initiale=spi.write(0);       //Determination pos_initialetion initiale
00053 
00054     wait_us(50);
00055     CS=1;
00056     pos_initiale = pos_initiale>>5;/////////////////////////////////////////////
00057 
00058     pos_finale=x-pos_initiale;
00059 
00060     //pas = (abs(x-x1))%4095;
00061     distance=((pos_finale*(0.000488)+(cpt_rise*2)));
00062 
00063     while(1) {
00064         pos_finale=x-pos_initiale;
00065 
00066         index.fall(&pressed);
00067         index.rise(&released);
00068 
00069         wait_ms(100);
00070         CS=0;
00071         wait_us(50);
00072 
00073         x1=x;
00074         x=spi.write(0);
00075 
00076         //pas = (abs(x-x1))%4095;
00077         distance=((pos_finale*(0.000488)+(cpt_rise*2))); // Calcul de la distance parcouru depuis le 0 en mm
00078 
00079         wait_us(50);
00080         CS=1;
00081         x = x>>5;
00082 
00083         lcd.locate(0,3);
00084         lcd.printf("DIST= %.5f",distance);
00085         lcd.locate(0,14);
00086         lcd.printf("POS= %5ld", x);
00087 
00088         /*
00089         lcd.locate(0,3);
00090         lcd.printf("pos_initiale= %ld",pos_initiale);
00091         lcd.locate(0,14);
00092         lcd.printf("POS= %5ld", x);
00093         */
00094     }
00095 }