main.cpp

00001 #include "mbed.h"
00002 #include "ReceiverIR.h"
00003 #include "rtos.h"
00004 #include "TextLCD.h"
00005 #include <string.h>
00006 //#include <stdint.h>
00007 //3.30
00008 //2.23
00009 ReceiverIR ir_rx(p16);
00010 Serial pc(USBTX, USBRX);
00011 I2C i2c_lcd(p28, p27);
00012 TextLCD_I2C lcd(&i2c_lcd, (0x27 << 1), TextLCD::LCD16x2, TextLCD::HD44780);
00013 enum Mode{
00014     ADVANCE,
00015     RIGHT,
00016     LEFT,
00017     BACK,
00018     STOP,
00019     LINE_TRACE,
00020     AVOIDANCE,
00021     READY
00022 };
00023 
00024 Timer viewTimer;
00025 Mode mode = READY;
00026 int remind = 100;
00027 
00028 uint32_t remoter_code;
00029 void remoter_thread(void const *argument){
00030      RemoteIR::Format format;
00031     //uint8_t buf[32];
00032     uint8_t buf[32];
00033     //uint32_t bitcount;
00034     int bitcount;
00035     
00036      while(1){
00037         // 受信待ち
00038         if (ir_rx.getState() == ReceiverIR::Received) {
00039      //       pc.printf("get ir data\r\n");
00040             // コード受信
00041             //bitcount = ir_rx.getData(&format, buf, sizeof(buf) * 16);
00042             remoter_code=0;
00043             bitcount = ir_rx.getData(&format, buf, sizeof(buf) * 8);
00044             pc.printf("bitcount %d\r\n",bitcount);
00045           
00046             for(int i=0;i<(bitcount>>3);i++){
00047                 pc.printf("16 : %02X \r\n",buf[i]);
00048                 pc.printf("10 : %d\r\n",buf[i]);
00049                 remoter_code=remoter_code<<(i > 0 ? 8 : 0);
00050                 //remoter_code << 2;
00051                 remoter_code += buf[i];
00052             }
00053             pc.printf("remote_code %08X \r\n",remoter_code);
00054             pc.printf("\r\n");
00055         }
00056     }
00057 }
00058 
00059 void defaultView(){
00060     lcd.setAddress(0,0);
00061     lcd.printf("Battery:");
00062     lcd.setAddress(0,1);
00063     lcd.printf("Mode:");
00064 }
00065 
00066 void display(){
00067     /*lcd.cls();
00068     //i2c_lcd.frequency(500);
00069     lcd.setBacklight(TextLCD::LightOn);
00070     lcd.locate(0,0);
00071     lcd.printf("Battery:%3d%%",remind);
00072     lcd.locate(0,1);
00073     lcd.printf("Mode:Ready");*/
00074     //char DispMode[16];
00075     while (true) {
00076         lcd.locate(0,1);
00077         switch(mode){
00078             case ADVANCE:
00079                 //strcpy(DispMode,"Mode:Advance");
00080                 lcd.printf("Mode:Advance    ");
00081                 break;
00082             case RIGHT:
00083                 //strcpy(DispMode,"Mode:Right");
00084                 lcd.printf("Mode:TurnRight  ");
00085                 break;
00086             case LEFT:
00087                 //strcpy(DispMode,"Mode:Left");
00088                 lcd.printf("Mode:TurnLeft   ");
00089                 break;
00090             case BACK:
00091                 //strcpy(DispMode,"Mode:Back");
00092                 lcd.printf("Mode:Back       ");
00093                 break;
00094             case STOP:
00095                 //strcpy(DispMode,"Mode:Stop");
00096                 lcd.printf("Mode:Stop       ");
00097                 break;
00098             case LINE_TRACE:
00099                 //strcpy(DispMode,"Mode:LineTrace");
00100                 lcd.printf("Mode:LineTrace  ");
00101                 break;
00102             case AVOIDANCE:
00103                 //strcpy(DispMode,"Mode:Avoidance");
00104                 lcd.printf("Mode:Avoidance  ");
00105                 break;
00106             case READY:
00107                 //strcpy(DispMode,"Mode:Ready");
00108                 lcd.printf("Mode:Ready      ");
00109                 break;
00110             case SPEED:
00111                 switch(flag_sp){
00112                     case(NORMAL):
00113                         lcd.printf("Speed:Normal    ");
00114                         break;
00115                     case(FAST):
00116                         lcd.printf("Speed:Fast      ");
00117                         break;
00118                     case(VERYFAST):
00119                         lcd.printf("Speed:VeryFast  ");
00120                         break;
00121                 }
00122                 viewTimer.reset();
00123                 viewTimer.start();                
00124         }
00125         //lcd.printf("%16d",DispMode);
00126         
00127     }
00128 }
00129 
00130 int main() {
00131 //    Thread thread_Re(remoter_thread , NULL ,  osPriorityHigh);
00132     // ポートD6を赤外線受信モジュールの接続先に指定
00133     int i = 100;
00134     int printC = 0;
00135     lcd.cls();
00136     //i2c_lcd.frequency(500);
00137     lcd.setBacklight(TextLCD::LightOn);
00138     lcd.locate(0,0);
00139     lcd.printf("Battery:%3d%%",remind);
00140     lcd.locate(0,1);
00141     lcd.printf("Mode:Ready");
00142     while (true) {
00143         lcd.locate(0,0);
00144         lcd.locate(8,0);
00145         lcd.printf("%3d",i--);
00146         if(i == -1){
00147             i = 100;
00148             lcd.locate(0,1);
00149             /*switch(mode){
00150                 case ADVANCE:
00151                     lcd.printf("Mode:ADVENCE");
00152                     break;
00153                 case 0:
00154                     lcd.printf("Mode:Line.trace ");
00155                     break;
00156             }*/
00157             //lcd.printf("%-11s",);
00158             
00159         }
00160         thread_sleep_for(10);
00161     }
00162    
00163 }