Diff: main.cpp

Revision:

2:9aaad52da789

Parent:

1:b6a142877de4

--- a/main.cpp	Thu Dec 21 13:02:23 2017 +0000
+++ b/main.cpp	Tue Dec 26 01:24:33 2017 +0000
@@ -1,6 +1,4 @@
 #include "mbed.h"
-#define STEPPER_DELTA_T 150
-#define k 5
 #define MAX 4
 
 /*ステッピングモーター*/
@@ -27,8 +25,18 @@
 Serial xbee(p28, p27); // tx, rx
 
 /*受信データ格納*/
-unsigned char data[MAX] = {0};
-unsigned char tmp_data[MAX][k] ={0};
+uint8_t data[MAX] = {0};
+uint8_t tmp_data[MAX][3] ={0};
+
+void stepper(void);
+void spi_write(unsigned int config, unsigned int mask, unsigned int value);
+void LightBulb(void);
+void DomeLapm(float val);
+void RGB_LED(void);
+void ArrayShift_3(uint8_t array[3]);
+uint8_t MedianFilter_3(uint8_t src[3]);
+void ChannelDecoding(uint8_t CodeWord);
+void receve(void);
 
 /*ステッピングモーター*/
 void stepper(void)
@@ -37,10 +45,8 @@
     static int i = 1;
     static unsigned int delay = 1000;
     
-    /*速度制限:MAX周期1500[us]（脱調防止)*/
     delay = (255 - data[0]) + 10;
     
-    /*ステッピングモーターの制御*/
     if((++cnt > delay) && data[0]!=0)
     {
         AENBL = 1;
@@ -72,7 +78,7 @@
 }
 
 /*spiでの書き込み用関数*/
-void spi_write(unsigned int config, unsigned int mask, unsigned int value)
+void spi_write(int config, int mask, int value)
 {
     unsigned int spi_data;
     spi_data = config | (mask & value);
@@ -84,118 +90,80 @@
 }    
 
 /*SPI通信でMCP4922(DAC)を動かすための関数*/
-void light_bulb(void)
-{
-    static unsigned char ss = 0;
-    
-    //MCP4922へ送信するデータ
-    static unsigned int mask = 0b0000111111111111;
-    unsigned int config;
-    unsigned int value;
-    
-    static unsigned int EX_MAX = 2300;//2.0[V]
-    static unsigned int Milky_MAX = 3150;//2.5[V]
+void LightBulb(void)
+{   
+    static int mask = 0b0000111111111111;
+    int config;
+    int value;
     
-    if(ss==0)//減らせる
-    {
-        /*EX球(2V2A)用*/
-        config = 0b0111000000000000;
-        value = (data[1] * EX_MAX) * 0.0039215f;
-        spi_write(config, mask, value);
-        ss = 1;
-    }
-    else if(ss==1)//減らせる
-    {
-        /*天の川(2.5V2A)用*/
-        config = 0b1111000000000000;
-        //value = (data[2] * Milky_MAX) / 255;
-        value = (data[1] * EX_MAX) * 0.0039215f;
-        spi_write(config, mask, value);
-        ss = 0;
-    }
+    static int EX_MAX = 2300;
+    
+    config = 0b0111000000000000;
+    value = (data[1] * EX_MAX) * 0.0039215f;
+    spi_write(config, mask, value);
 }
 
-//light//
-void light(float val)
+/*室内灯(暖色系の色)*/
+void DomeLamp(float val)
 {
     R_led = val;
     G_led = 0.38f*val;
-    B_led = 0.0;
-}   
-
+    B_led = 0.04f*val;
+}
+    
 /*RGB_LEDをダイナミック点灯するための関数*/
-void RGB_LED(void){
+void RGB_LED(void)
+{
     static uint8_t dig;
     uint8_t binary = 0b00001;
     
-    light((float)data[3]*0.0039215f);
-    
+    DomeLamp((float)data[3]*0.0039215f);
+
     signal = binary << dig;
-    
     if(++dig == 3)dig = 0;
 }
 
-void swap(unsigned char *x, unsigned char *y)
+/*配列をシフトする*/
+void ArrayShift_3(uint8_t array[3])
 {
-    unsigned char tmp;
-    tmp = *x;
-    *x = *y;
-    *y = tmp;
+    array[2] = array[1];
+    array[1] = array[0];
 }
 
-/*通信のスパイクノイズの除去*/
-/*k(奇数) の値で参照する過去の値の数を変更する*/
-unsigned char MedianFilter(unsigned char array[k])
+/*メディアンフィルター（要素数３の配列）*/
+uint8_t MedianFilter_3(uint8_t src[3])
 {
-    int i, j;
-    static int index = (int)(k-1)/2;
-    unsigned char tmp;
-    unsigned char N[k];
-    
-    /*copy*/
-    for(i=k-1; i>=0; i--)
+    if(src[0]>=src[1])
     {
-        N[i]=array[i];
-        if(i!=k-1)array[i+1] = array[i];
+        if(src[1]>=src[2])return src[1];
+        else if(src[0]<=src[2])return src[0];
+        else return src[2];
     }
+    else if(src[0]>src[2])return src[0];
+    else if(src[1]>src[2])return src[2];
+    else return src[1];
+}
+
+/*復号化*/
+void ChannelDecoding(uint8_t CodeWord)
+{
+    int index;
+    index = CodeWord & 0b00000111;
     
-    for(i=0; i<index; i++)
+    if(index<MAX)
     {
-        for(j=k-1; i<j; j--)
-        {
-            if(N[j] < N[j-1])
-            {
-                //swap(&N[j], &N[j-1]);
-                tmp = N[j];
-                N[j] = N[j-1];
-                N[j-1] = tmp;
-            }
-        }
+        tmp_data[index][0] = (CodeWord >> 3)*8.226f;
+        /*ノイズ除去*/
+        data[index] = MedianFilter_3(tmp_data[index]);
+        ArrayShift_3(tmp_data[index]);
     }
-    return N[index];
-}
+}    
 
 /*シリアル通信受信(xbee)*/
 void receve(void)
 {
-    static int sw = 0;
-    /*送信側から送信開始の合図で'R'が送られてくる*/
-    /*'R'を受信したら、データ受信開始*/
-    /*５個のデータが順番に受信されるので、順番に配列に代入する*/
-    if((sw == 0) && (xbee.getc() == 'R'))
-    { 
-        sw = 1;
-    }
-    else if(1 <= sw && sw <= MAX)//条件式減らせる
-    {
-        //data[sw-1] = xbee.getc();
-        
-        tmp_data[sw-1][0] = xbee.getc();
-        data[sw-1] = MedianFilter(tmp_data[sw-1]);
-        
-        if(++sw > MAX)sw = 0;
-    }
-    xbee.putc(1);//受信確認
+    ChannelDecoding(xbee.getc());
+    xbee.putc(1);
 }
 
 int main(){
@@ -204,24 +172,24 @@
     APHASE = 0;
     BENBL = 0;
     BPHASE = 0;
-    step_timer.attach_us(&stepper, STEPPER_DELTA_T);//100[us],10000[Hz]
+    step_timer.attach_us(&stepper, 100);
     
     /*spi通信(MCP4922)*/
     CS = 1;
     LDAC = 1;
     spi.format(16, 0);
     spi.frequency(1000000);
-    spi_timer.attach_us(&light_bulb, 50000);
+    spi_timer.attach_us(&LightBulb, 50000);
     
     /*RGB_LED_3*/
-    R_led.period(0.000048);//0.00004
-    G_led.period(0.000048);
-    B_led.period(0.000048);
-    rgb_timer.attach_us(&RGB_LED, 4800);//4000
+    R_led.period(0.00004);
+    G_led.period(0.00004);
+    B_led.period(0.00004);
+    rgb_timer.attach_us(&RGB_LED, 4000);
     
     /*シリアル通信(xbee)*/
     xbee.baud(9600);
-    xbee.format(8, Serial::None, 2);
+    xbee.format(8, Serial::None, 1);
     xbee.attach(&receve, Serial::RxIrq);//受信割り込み
     
     while(1);