Miya Miyagawa / Mbed 2 deprecated NEW_LineTraceHub_2

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Dependencies:   mbed SO1602A

main.cpp@2:77fe1a8f5bac, 2019-09-06 (annotated)

Committer:
Ryosei
Date:
Fri Sep 06 00:39:05 2019 +0000
Revision:
2:77fe1a8f5bac
Parent:
1:63ae8cbbe758 
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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 };
M_souta 1:63ae8cbbe758 49
M_souta 1:63ae8cbbe758 50 Serial pc(USBTX,USBRX);
Ryosei 0:8aa125a0a09a 51 Serial uart(PA_9,PA_10);
Ryosei 0:8aa125a0a09a 52 I2C i2c(SDA,SCL);
Ryosei 0:8aa125a0a09a 53 SO1602A oled(i2c,0x78);
Ryosei 2:77fe1a8f5bac 54 Ticker komatuharuka;
Ryosei 0:8aa125a0a09a 55 void PinSelect(int pin)
Ryosei 0:8aa125a0a09a 56 {
Ryosei 0:8aa125a0a09a 57 bool selectnum[16][4]= {
Ryosei 0:8aa125a0a09a 58 {0,0,0,0},
Ryosei 0:8aa125a0a09a 59 {0,0,0,1},
Ryosei 0:8aa125a0a09a 60 {0,0,1,0},
Ryosei 0:8aa125a0a09a 61 {0,0,1,1},
Ryosei 0:8aa125a0a09a 62 {0,1,0,0},
Ryosei 0:8aa125a0a09a 63 {0,1,0,1},
Ryosei 0:8aa125a0a09a 64 {0,1,1,0},
Ryosei 0:8aa125a0a09a 65 {0,1,1,1},
Ryosei 0:8aa125a0a09a 66 {1,0,0,0},
Ryosei 0:8aa125a0a09a 67 {1,0,0,1},
Ryosei 0:8aa125a0a09a 68 {1,0,1,0},
Ryosei 0:8aa125a0a09a 69 {1,0,1,1},
Ryosei 0:8aa125a0a09a 70 {1,1,0,0},
Ryosei 0:8aa125a0a09a 71 {1,1,0,1},
Ryosei 0:8aa125a0a09a 72 {1,1,1,0},
Ryosei 0:8aa125a0a09a 73 {1,1,1,1},
Ryosei 0:8aa125a0a09a 74 };
Ryosei 0:8aa125a0a09a 75 if(pin<=15) {
Ryosei 0:8aa125a0a09a 76 select1[0]=selectnum[pin][3];
Ryosei 0:8aa125a0a09a 77 select1[1]=selectnum[pin][2];
Ryosei 0:8aa125a0a09a 78 select1[2]=selectnum[pin][1];
Ryosei 0:8aa125a0a09a 79 select1[3]=selectnum[pin][0];
Ryosei 0:8aa125a0a09a 80 for(int i=0; i<=3; i++) {
Ryosei 0:8aa125a0a09a 81 select2[i]=0;
Ryosei 0:8aa125a0a09a 82 select3[i]=0;
Ryosei 0:8aa125a0a09a 83 }
Ryosei 0:8aa125a0a09a 84 } else if(pin<=31) {
Ryosei 0:8aa125a0a09a 85 select2[0]=selectnum[pin-16][3];
Ryosei 0:8aa125a0a09a 86 select2[1]=selectnum[pin-16][2];
Ryosei 0:8aa125a0a09a 87 select2[2]=selectnum[pin-16][1];
Ryosei 0:8aa125a0a09a 88 select2[3]=selectnum[pin-16][0];
Ryosei 0:8aa125a0a09a 89 for(int i=0; i<=3; i++) {
Ryosei 0:8aa125a0a09a 90 select1[i]=0;
Ryosei 0:8aa125a0a09a 91 select3[i]=0;
Ryosei 0:8aa125a0a09a 92 }
Ryosei 0:8aa125a0a09a 93 } else if(pin<=47) {
Ryosei 0:8aa125a0a09a 94 select3[0]=selectnum[pin-32][3];
Ryosei 0:8aa125a0a09a 95 select3[1]=selectnum[pin-32][2];
Ryosei 0:8aa125a0a09a 96 select3[2]=selectnum[pin-32][1];
Ryosei 0:8aa125a0a09a 97 select3[3]=selectnum[pin-32][0];
Ryosei 0:8aa125a0a09a 98 for(int i=0; i<=3; i++) {
Ryosei 0:8aa125a0a09a 99 select1[i]=0;
Ryosei 0:8aa125a0a09a 100 select2[i]=0;
Ryosei 0:8aa125a0a09a 101 }
Ryosei 0:8aa125a0a09a 102 }
Ryosei 0:8aa125a0a09a 103 }
Ryosei 0:8aa125a0a09a 104
Ryosei 0:8aa125a0a09a 105 void LineDataRead(int read[48])
Ryosei 0:8aa125a0a09a 106 {
Ryosei 0:8aa125a0a09a 107 float anal[48];
Ryosei 0:8aa125a0a09a 108 for(int i=0; i<=47; i++) {
Ryosei 0:8aa125a0a09a 109 PinSelect(i);
Ryosei 0:8aa125a0a09a 110 if(i<=15) {
Ryosei 0:8aa125a0a09a 111 anal[i]=y1.read();
Ryosei 0:8aa125a0a09a 112 } else if(i<=31) {
Ryosei 0:8aa125a0a09a 113 anal[i]=y2.read();
Ryosei 0:8aa125a0a09a 114 } else if(i<=47) {
Ryosei 0:8aa125a0a09a 115 anal[i]=y3.read();
Ryosei 0:8aa125a0a09a 116 }
M_souta 1:63ae8cbbe758 117 // pc.printf("%f ",anal[i]);
Ryosei 0:8aa125a0a09a 118
Ryosei 0:8aa125a0a09a 119 if(anal[i]<0.8f) {
Ryosei 0:8aa125a0a09a 120 read[i]=0;
Ryosei 0:8aa125a0a09a 121 } else {
Ryosei 0:8aa125a0a09a 122 read[i]=1;
Ryosei 0:8aa125a0a09a 123 }
Ryosei 0:8aa125a0a09a 124 // oled.printf("%.3f",read[i]);
Ryosei 0:8aa125a0a09a 125
Ryosei 0:8aa125a0a09a 126 }
Ryosei 0:8aa125a0a09a 127 // oled.printf("%d %f",read[0],anal[0]);
Ryosei 0:8aa125a0a09a 128 }
Ryosei 0:8aa125a0a09a 129
Ryosei 0:8aa125a0a09a 130 void DataTrim(char send[6],int data[48])
Ryosei 0:8aa125a0a09a 131 {
M_souta 1:63ae8cbbe758 132 send[0]=char((data[0]<<7)+(data[1]<<6)+(data[2]<<5)+(data[3]<<4)+(data[4]<<3)+(data[5]<<2)+(data[12]<<1)+(data[13]<<0));
M_souta 1:63ae8cbbe758 133 send[1]=char((data[14]<<7)+(data[15]<<6)+(data[7]<<5)+(data[6]<<4)+(data[22]<<3)+(data[23]<<2)+(data[8]<<1)+(data[9]<<0));
M_souta 1:63ae8cbbe758 134 send[2]=char((data[10]<<7)+(data[11]<<6)+(data[16]<<5)+(data[17]<<4)+(data[18]<<3)+(data[19]<<2)+(data[20]<<1)+(data[21]<<0));
M_souta 1:63ae8cbbe758 135 send[3]=char((data[27]<<7)+(data[26]<<6)+(data[25]<<5)+(data[24]<<4)+(data[40]<<3)+(data[41]<<2)+(data[28]<<1)+(data[29]<<0));
M_souta 1:63ae8cbbe758 136 send[4]=char((data[30]<<7)+(data[31]<<6)+(data[38]<<5)+(data[39]<<4)+(data[32]<<3)+(data[33]<<2)+(data[34]<<1)+(data[35]<<0));
M_souta 1:63ae8cbbe758 137 send[5]=char((data[36]<<7)+(data[37]<<6)+(data[42]<<5)+(data[43]<<4)+(data[44]<<3)+(data[45]<<2)+(data[46]<<1)+(data[47]<<0));
M_souta 1:63ae8cbbe758 138
M_souta 1:63ae8cbbe758 139 uart.putc('S');
M_souta 1:63ae8cbbe758 140 wait_ms(50);
Ryosei 0:8aa125a0a09a 141 for(int i=0; i<=5; i++) {
Ryosei 0:8aa125a0a09a 142 uart.putc(send[i]);
M_souta 1:63ae8cbbe758 143 wait_ms(50);
M_souta 1:63ae8cbbe758 144 //pc.printf("%d : %d\n\r",i,send[i]);
Ryosei 0:8aa125a0a09a 145 }
M_souta 1:63ae8cbbe758 146 uart.putc('F');
M_souta 1:63ae8cbbe758 147
Ryosei 0:8aa125a0a09a 148 for(int i=0; i<=47; i++) {
Ryosei 0:8aa125a0a09a 149 // oled.printf("%d",data[i]);
Ryosei 0:8aa125a0a09a 150 }
Ryosei 0:8aa125a0a09a 151 // oled.printf("%d",send[0]);
Ryosei 0:8aa125a0a09a 152 }
Ryosei 0:8aa125a0a09a 153
Ryosei 0:8aa125a0a09a 154
Ryosei 2:77fe1a8f5bac 155
Ryosei 2:77fe1a8f5bac 156 int readdata[48];
Ryosei 2:77fe1a8f5bac 157 char uartdata[6];
Ryosei 2:77fe1a8f5bac 158 void printoled()
Ryosei 0:8aa125a0a09a 159 {
Ryosei 0:8aa125a0a09a 160 int trimdata[48];
Ryosei 2:77fe1a8f5bac 161 int LAN[8];
Ryosei 0:8aa125a0a09a 162 for(int i=0; i<=47; i++) {
Ryosei 0:8aa125a0a09a 163 if(i<=7) {
Ryosei 2:77fe1a8f5bac 164 trimdata[i]=((uartdata[0] << i) & 0b10000000)>>7;
Ryosei 0:8aa125a0a09a 165 } else if(i<=15) {
Ryosei 2:77fe1a8f5bac 166 trimdata[i]=((uartdata[1] << i-8) & 0b10000000)>>7;
Ryosei 0:8aa125a0a09a 167 } else if(i<=23) {
Ryosei 2:77fe1a8f5bac 168 trimdata[i]=((uartdata[2] << i-16) & 0b10000000)>>7;
Ryosei 0:8aa125a0a09a 169 } else if(i<=31) {
Ryosei 2:77fe1a8f5bac 170 trimdata[i]=((uartdata[3] << i-24) & 0b10000000)>>7;
Ryosei 0:8aa125a0a09a 171 } else if(i<=39) {
Ryosei 2:77fe1a8f5bac 172 trimdata[i]=((uartdata[4] << i-32) & 0b10000000)>>7;
Ryosei 0:8aa125a0a09a 173 } else if(i<=47) {
Ryosei 2:77fe1a8f5bac 174 trimdata[i]=((uartdata[5] << i-40) & 0b10000000)>>7;
Ryosei 0:8aa125a0a09a 175 }
Ryosei 0:8aa125a0a09a 176 }
Ryosei 2:77fe1a8f5bac 177 for(int i=0;i<=7;i++){
Ryosei 2:77fe1a8f5bac 178 LAN[i]=trimdata[i*6]*-2+trimdata[i*6+1]*-1+trimdata[i*6+4]*1+trimdata[i*6+5]*2;
Ryosei 0:8aa125a0a09a 179 }
Ryosei 2:77fe1a8f5bac 180 oled.locate(0,0);
Ryosei 2:77fe1a8f5bac 181 pc.printf("%+2d %+2d %+2d %+2d %+2d %+2d %+2d %+2d\n",LAN[0],LAN[1],LAN[2],LAN[3],LAN[4],LAN[5],LAN[6],LAN[7]);
Ryosei 0:8aa125a0a09a 182 }
Ryosei 0:8aa125a0a09a 183 void Initialize()
Ryosei 0:8aa125a0a09a 184 {
Ryosei 0:8aa125a0a09a 185 for(int i=0; i<=47; i++) {
Ryosei 0:8aa125a0a09a 186 readdata[i]=0;
Ryosei 0:8aa125a0a09a 187 }
Ryosei 0:8aa125a0a09a 188 for(int i=0; i<=5; i++) {
Ryosei 0:8aa125a0a09a 189 uartdata[i]=0x00;
Ryosei 0:8aa125a0a09a 190 }
Ryosei 0:8aa125a0a09a 191 }
Ryosei 0:8aa125a0a09a 192
Ryosei 0:8aa125a0a09a 193 int main()
Ryosei 0:8aa125a0a09a 194 {
Ryosei 0:8aa125a0a09a 195 pc.baud(9600);
Ryosei 0:8aa125a0a09a 196 uart.baud(38400);
Ryosei 0:8aa125a0a09a 197 Initialize();
Ryosei 0:8aa125a0a09a 198 uartSE=1;
Ryosei 0:8aa125a0a09a 199 oled.init();
Ryosei 0:8aa125a0a09a 200 oled.setDispFlag(true,false,false);
Ryosei 0:8aa125a0a09a 201 while(1) {
Ryosei 0:8aa125a0a09a 202 LineDataRead(readdata);
Ryosei 0:8aa125a0a09a 203 DataTrim(uartdata,readdata);
Ryosei 2:77fe1a8f5bac 204 // komatuharuka.attach(&printoled,0.1);
Ryosei 2:77fe1a8f5bac 205 // wait(0.01);
Ryosei 0:8aa125a0a09a 206 }
Ryosei 0:8aa125a0a09a 207 }