Miya Miyagawa / Mbed 2 deprecated NEW_LineTraceHub

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Dependencies:   mbed SO1602A

main.cpp@0:8aa125a0a09a, 2019-08-30 (annotated)

Committer:
Ryosei
Date:
Fri Aug 30 06:19:52 2019 +0000
Revision:
0:8aa125a0a09a
aa

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Ryosei 0:8aa125a0a09a 1 #include "mbed.h"
Ryosei 0:8aa125a0a09a 2 #include "SO1602A.h"
Ryosei 0:8aa125a0a09a 3 #define select1_0 PB_4
Ryosei 0:8aa125a0a09a 4 #define select1_1 PB_5
Ryosei 0:8aa125a0a09a 5 #define select1_2 PB_3
Ryosei 0:8aa125a0a09a 6 #define select1_3 PB_1
Ryosei 0:8aa125a0a09a 7 #define select2_0 PF_0
Ryosei 0:8aa125a0a09a 8 #define select2_1 PF_1
Ryosei 0:8aa125a0a09a 9 #define select2_2 PA_8
Ryosei 0:8aa125a0a09a 10 #define select2_3 PA_11
Ryosei 0:8aa125a0a09a 11 #define select3_0 PA_4
Ryosei 0:8aa125a0a09a 12 #define select3_1 PA_5
Ryosei 0:8aa125a0a09a 13 #define select3_2 PA_7
Ryosei 0:8aa125a0a09a 14 #define select3_3 PA_6
Ryosei 0:8aa125a0a09a 15
Ryosei 0:8aa125a0a09a 16 #define Z0 PA_0
Ryosei 0:8aa125a0a09a 17 #define Z1 PA_1
Ryosei 0:8aa125a0a09a 18 #define Z2 PA_3
Ryosei 0:8aa125a0a09a 19
Ryosei 0:8aa125a0a09a 20 #define SDA PB_7
Ryosei 0:8aa125a0a09a 21 #define SCL PB_6
Ryosei 0:8aa125a0a09a 22
Ryosei 0:8aa125a0a09a 23 #define uartSEpin PA_2
Ryosei 0:8aa125a0a09a 24
Ryosei 0:8aa125a0a09a 25 DigitalOut uartSE(uartSEpin);
Ryosei 0:8aa125a0a09a 26
Ryosei 0:8aa125a0a09a 27 AnalogIn y1(Z0);
Ryosei 0:8aa125a0a09a 28 AnalogIn y2(Z1);
Ryosei 0:8aa125a0a09a 29 AnalogIn y3(Z2);
Ryosei 0:8aa125a0a09a 30
Ryosei 0:8aa125a0a09a 31 DigitalOut select1[]= {
Ryosei 0:8aa125a0a09a 32 DigitalOut(select1_0),
Ryosei 0:8aa125a0a09a 33 DigitalOut(select1_1),
Ryosei 0:8aa125a0a09a 34 DigitalOut(select1_2),
Ryosei 0:8aa125a0a09a 35 DigitalOut(select1_3),
Ryosei 0:8aa125a0a09a 36 };
Ryosei 0:8aa125a0a09a 37 DigitalOut select2[]= {
Ryosei 0:8aa125a0a09a 38 DigitalOut(select2_0),
Ryosei 0:8aa125a0a09a 39 DigitalOut(select2_1),
Ryosei 0:8aa125a0a09a 40 DigitalOut(select2_2),
Ryosei 0:8aa125a0a09a 41 DigitalOut(select2_3),
Ryosei 0:8aa125a0a09a 42 };
Ryosei 0:8aa125a0a09a 43 DigitalOut select3[]= {
Ryosei 0:8aa125a0a09a 44 DigitalOut(select3_0),
Ryosei 0:8aa125a0a09a 45 DigitalOut(select3_1),
Ryosei 0:8aa125a0a09a 46 DigitalOut(select3_2),
Ryosei 0:8aa125a0a09a 47 DigitalOut(select3_3),
Ryosei 0:8aa125a0a09a 48 };
Ryosei 0:8aa125a0a09a 49 Serial uart(PA_9,PA_10);
Ryosei 0:8aa125a0a09a 50 Serial pc(USBTX,USBRX);
Ryosei 0:8aa125a0a09a 51 I2C i2c(SDA,SCL);
Ryosei 0:8aa125a0a09a 52 SO1602A oled(i2c,0x78);
Ryosei 0:8aa125a0a09a 53
Ryosei 0:8aa125a0a09a 54 void PinSelect(int pin)
Ryosei 0:8aa125a0a09a 55 {
Ryosei 0:8aa125a0a09a 56 bool selectnum[16][4]= {
Ryosei 0:8aa125a0a09a 57 {0,0,0,0},
Ryosei 0:8aa125a0a09a 58 {0,0,0,1},
Ryosei 0:8aa125a0a09a 59 {0,0,1,0},
Ryosei 0:8aa125a0a09a 60 {0,0,1,1},
Ryosei 0:8aa125a0a09a 61 {0,1,0,0},
Ryosei 0:8aa125a0a09a 62 {0,1,0,1},
Ryosei 0:8aa125a0a09a 63 {0,1,1,0},
Ryosei 0:8aa125a0a09a 64 {0,1,1,1},
Ryosei 0:8aa125a0a09a 65 {1,0,0,0},
Ryosei 0:8aa125a0a09a 66 {1,0,0,1},
Ryosei 0:8aa125a0a09a 67 {1,0,1,0},
Ryosei 0:8aa125a0a09a 68 {1,0,1,1},
Ryosei 0:8aa125a0a09a 69 {1,1,0,0},
Ryosei 0:8aa125a0a09a 70 {1,1,0,1},
Ryosei 0:8aa125a0a09a 71 {1,1,1,0},
Ryosei 0:8aa125a0a09a 72 {1,1,1,1},
Ryosei 0:8aa125a0a09a 73 };
Ryosei 0:8aa125a0a09a 74 if(pin<=15) {
Ryosei 0:8aa125a0a09a 75 select1[0]=selectnum[pin][3];
Ryosei 0:8aa125a0a09a 76 select1[1]=selectnum[pin][2];
Ryosei 0:8aa125a0a09a 77 select1[2]=selectnum[pin][1];
Ryosei 0:8aa125a0a09a 78 select1[3]=selectnum[pin][0];
Ryosei 0:8aa125a0a09a 79 for(int i=0; i<=3; i++) {
Ryosei 0:8aa125a0a09a 80 select2[i]=0;
Ryosei 0:8aa125a0a09a 81 select3[i]=0;
Ryosei 0:8aa125a0a09a 82 }
Ryosei 0:8aa125a0a09a 83 } else if(pin<=31) {
Ryosei 0:8aa125a0a09a 84 select2[0]=selectnum[pin-16][3];
Ryosei 0:8aa125a0a09a 85 select2[1]=selectnum[pin-16][2];
Ryosei 0:8aa125a0a09a 86 select2[2]=selectnum[pin-16][1];
Ryosei 0:8aa125a0a09a 87 select2[3]=selectnum[pin-16][0];
Ryosei 0:8aa125a0a09a 88 for(int i=0; i<=3; i++) {
Ryosei 0:8aa125a0a09a 89 select1[i]=0;
Ryosei 0:8aa125a0a09a 90 select3[i]=0;
Ryosei 0:8aa125a0a09a 91 }
Ryosei 0:8aa125a0a09a 92 } else if(pin<=47) {
Ryosei 0:8aa125a0a09a 93 select3[0]=selectnum[pin-32][3];
Ryosei 0:8aa125a0a09a 94 select3[1]=selectnum[pin-32][2];
Ryosei 0:8aa125a0a09a 95 select3[2]=selectnum[pin-32][1];
Ryosei 0:8aa125a0a09a 96 select3[3]=selectnum[pin-32][0];
Ryosei 0:8aa125a0a09a 97 for(int i=0; i<=3; i++) {
Ryosei 0:8aa125a0a09a 98 select1[i]=0;
Ryosei 0:8aa125a0a09a 99 select2[i]=0;
Ryosei 0:8aa125a0a09a 100 }
Ryosei 0:8aa125a0a09a 101 }
Ryosei 0:8aa125a0a09a 102 }
Ryosei 0:8aa125a0a09a 103
Ryosei 0:8aa125a0a09a 104 void LineDataRead(int read[48])
Ryosei 0:8aa125a0a09a 105 {
Ryosei 0:8aa125a0a09a 106 float anal[48];
Ryosei 0:8aa125a0a09a 107 for(int i=0; i<=47; i++) {
Ryosei 0:8aa125a0a09a 108 PinSelect(i);
Ryosei 0:8aa125a0a09a 109 if(i<=15) {
Ryosei 0:8aa125a0a09a 110 anal[i]=y1.read();
Ryosei 0:8aa125a0a09a 111 } else if(i<=31) {
Ryosei 0:8aa125a0a09a 112 anal[i]=y2.read();
Ryosei 0:8aa125a0a09a 113 } else if(i<=47) {
Ryosei 0:8aa125a0a09a 114 anal[i]=y3.read();
Ryosei 0:8aa125a0a09a 115 }
Ryosei 0:8aa125a0a09a 116 // pc.printf("%f ",anal[i]);
Ryosei 0:8aa125a0a09a 117
Ryosei 0:8aa125a0a09a 118 if(anal[i]<0.8f) {
Ryosei 0:8aa125a0a09a 119 read[i]=0;
Ryosei 0:8aa125a0a09a 120 } else {
Ryosei 0:8aa125a0a09a 121 read[i]=1;
Ryosei 0:8aa125a0a09a 122 }
Ryosei 0:8aa125a0a09a 123 // oled.printf("%.3f",read[i]);
Ryosei 0:8aa125a0a09a 124
Ryosei 0:8aa125a0a09a 125 }
Ryosei 0:8aa125a0a09a 126 // oled.printf("%d %f",read[0],anal[0]);
Ryosei 0:8aa125a0a09a 127 }
Ryosei 0:8aa125a0a09a 128
Ryosei 0:8aa125a0a09a 129 void DataTrim(char send[6],int data[48])
Ryosei 0:8aa125a0a09a 130 {
Ryosei 0:8aa125a0a09a 131 send[0]=char((data[0]<<7)+(data[5]<<6)+(data[1]<<5)+(data[4]<<4)+(data[2]<<3)+(data[3]<<2)+(data[12]<<1)+(data[6]<<0));
Ryosei 0:8aa125a0a09a 132 send[1]=char((data[13]<<7)+(data[7]<<6)+(data[14]<<5)+(data[15]<<4)+(data[22]<<3)+(data[11]<<2)+(data[23]<<1)+(data[10]<<0));
Ryosei 0:8aa125a0a09a 133 send[2]=char((data[8]<<7)+(data[9]<<6)+(data[16]<<5)+(data[21]<<4)+(data[17]<<3)+(data[20]<<2)+(data[18]<<1)+(data[19]<<0));
Ryosei 0:8aa125a0a09a 134 send[3]=char((data[27]<<7)+(data[41]<<6)+(data[37]<<5)+(data[40]<<4)+(data[25]<<3)+(data[24]<<2)+(data[28]<<1)+(data[39]<<0));
Ryosei 0:8aa125a0a09a 135 send[4]=char((data[29]<<7)+(data[38]<<6)+(data[30]<<5)+(data[31]<<4)+(data[32]<<3)+(data[37]<<2)+(data[33]<<1)+(data[36]<<0));
Ryosei 0:8aa125a0a09a 136 send[5]=char((data[34]<<7)+(data[35]<<6)+(data[42]<<5)+(data[47]<<4)+(data[43]<<3)+(data[46]<<2)+(data[44]<<1)+(data[45]<<0));
Ryosei 0:8aa125a0a09a 137 for(int i=0; i<=5; i++) {
Ryosei 0:8aa125a0a09a 138 uart.putc(send[i]);
Ryosei 0:8aa125a0a09a 139 }
Ryosei 0:8aa125a0a09a 140 for(int i=0; i<=47; i++) {
Ryosei 0:8aa125a0a09a 141 // oled.printf("%d",data[i]);
Ryosei 0:8aa125a0a09a 142 }
Ryosei 0:8aa125a0a09a 143 // oled.printf("%d",send[0]);
Ryosei 0:8aa125a0a09a 144 }
Ryosei 0:8aa125a0a09a 145
Ryosei 0:8aa125a0a09a 146
Ryosei 0:8aa125a0a09a 147 void printoled(char printdata[6])
Ryosei 0:8aa125a0a09a 148 {
Ryosei 0:8aa125a0a09a 149 int trimdata[48];
Ryosei 0:8aa125a0a09a 150 for(int i=0; i<=47; i++) {
Ryosei 0:8aa125a0a09a 151 if(i<=7) {
Ryosei 0:8aa125a0a09a 152 trimdata[i]=((printdata[0] << i) & 0b10000000)>>7;
Ryosei 0:8aa125a0a09a 153 } else if(i<=15) {
Ryosei 0:8aa125a0a09a 154 trimdata[i]=((printdata[1] << i-8) & 0b10000000)>>7;
Ryosei 0:8aa125a0a09a 155 } else if(i<=23) {
Ryosei 0:8aa125a0a09a 156 trimdata[i]=((printdata[2] << i-16) & 0b10000000)>>7;
Ryosei 0:8aa125a0a09a 157 } else if(i<=31) {
Ryosei 0:8aa125a0a09a 158 trimdata[i]=((printdata[3] << i-24) & 0b10000000)>>7;
Ryosei 0:8aa125a0a09a 159 } else if(i<=39) {
Ryosei 0:8aa125a0a09a 160 trimdata[i]=((printdata[4] << i-32) & 0b10000000)>>7;
Ryosei 0:8aa125a0a09a 161 } else if(i<=47) {
Ryosei 0:8aa125a0a09a 162 trimdata[i]=((printdata[5] << i-40) & 0b10000000)>>7;
Ryosei 0:8aa125a0a09a 163 }
Ryosei 0:8aa125a0a09a 164 }
Ryosei 0:8aa125a0a09a 165 int LAN[8];
Ryosei 0:8aa125a0a09a 166 for(int i=0; i<=7; i++) {
Ryosei 0:8aa125a0a09a 167 LAN[i]=!trimdata[i]*-2+!trimdata[i+2]*2+!trimdata[i+4]*-1+!trimdata[i+5]*1;
Ryosei 0:8aa125a0a09a 168 }
Ryosei 0:8aa125a0a09a 169 oled.locate(0,0);
Ryosei 0:8aa125a0a09a 170 oled.printf("%+2d %+2d %+2d %+2d %+2d %+2d %+2d %+2d",LAN[0],LAN[1],LAN[2],LAN[3],LAN[4],LAN[5],LAN[6],LAN[7]);
Ryosei 0:8aa125a0a09a 171 }
Ryosei 0:8aa125a0a09a 172 int readdata[48];
Ryosei 0:8aa125a0a09a 173 char uartdata[6];
Ryosei 0:8aa125a0a09a 174 void Initialize()
Ryosei 0:8aa125a0a09a 175 {
Ryosei 0:8aa125a0a09a 176 for(int i=0; i<=47; i++) {
Ryosei 0:8aa125a0a09a 177 readdata[i]=0;
Ryosei 0:8aa125a0a09a 178 }
Ryosei 0:8aa125a0a09a 179 for(int i=0; i<=5; i++) {
Ryosei 0:8aa125a0a09a 180 uartdata[i]=0x00;
Ryosei 0:8aa125a0a09a 181 }
Ryosei 0:8aa125a0a09a 182 }
Ryosei 0:8aa125a0a09a 183
Ryosei 0:8aa125a0a09a 184 int main()
Ryosei 0:8aa125a0a09a 185 {
Ryosei 0:8aa125a0a09a 186 pc.baud(9600);
Ryosei 0:8aa125a0a09a 187 uart.baud(38400);
Ryosei 0:8aa125a0a09a 188 Initialize();
Ryosei 0:8aa125a0a09a 189 uartSE=1;
Ryosei 0:8aa125a0a09a 190 oled.init();
Ryosei 0:8aa125a0a09a 191 oled.setDispFlag(true,false,false);
Ryosei 0:8aa125a0a09a 192 while(1) {
Ryosei 0:8aa125a0a09a 193 LineDataRead(readdata);
Ryosei 0:8aa125a0a09a 194 DataTrim(uartdata,readdata);
Ryosei 0:8aa125a0a09a 195 printoled(uartdata);
Ryosei 0:8aa125a0a09a 196 wait(0.01);
Ryosei 0:8aa125a0a09a 197 }
Ryosei 0:8aa125a0a09a 198 }