Diff: main.cpp

Revision:

2:d69208cb9224

Parent:

1:150525e9c21f

--- a/main.cpp	Fri Dec 31 09:33:30 2010 +0000
+++ b/main.cpp	Tue May 23 16:50:20 2017 +0000
@@ -1,113 +1,25 @@
+#include "stm32f103c8t6.h"
 #include "mbed.h"
+#include "LidarLitev2.h"
 
-// Adapted from kako's source code: http://www.kako.com/neta/2008-009/2008-009.html
-// i2c protocol details from - http://blog.makezine.com/archive/2008/11/hacking_the_wiimote_ir_ca.html
-// wiring from - http://translate.google.com/translate?u=http://www.kako.com/neta/2007-001/2007-001.html&hl=en&ie=UTF-8&sl=ja&tl=en
-// obviously mbed is 3.3v so no level translation is needed
-// using built in i2c on pins 9/10
-//
-// PC GUI client here: http://code.google.com/p/wii-cam-blobtrack/
-//
-// Interfacing details here: http://www.bot-thoughts.com/2010/12/connecting-mbed-to-wiimote-ir-camera.html
-//
-
-DigitalOut myled(LED1);
-PwmOut servo(p21);
-Serial pc(USBTX, USBRX); // tx, rx
-I2C i2c(p9, p10);        // sda, scl
-const int addr = 0xB0;   // define the I2C Address of camera
 
-void i2c_write2(int addr, char a, char b)
-{
-    char cmd[2];
-    
-    cmd[0] = a;
-    cmd[1] = b;
-    i2c.write(addr, cmd, 2);
-    wait(0.07); // delay 70ms    
-}
 
-void clock_init()
-{
-    // set up ~20-25MHz clock on p21
-    LPC_PWM1->TCR = (1 << 1);               // Reset counter, disable PWM
-    LPC_SC->PCLKSEL0 &= ~(0x3 << 12);  
-    LPC_SC->PCLKSEL0 |= (1 << 12);          // Set peripheral clock divider to /1, i.e. system clock
-    LPC_PWM1->MR0 = 4;                     // Match Register 0 is shared period counter for all PWM1
-    LPC_PWM1->MR6 = 2;                      // Pin 21 is PWM output 6, so Match Register 6
-    LPC_PWM1->LER |= 1;                     // Start updating at next period start
-    LPC_PWM1->TCR = (1 << 0) || (1 << 3);   // Enable counter and PWM
-}
+LidarLitev2 Lidar(PB_9, PB_8);
+//I2C i2c(PB_9, PB_8);        // sda, scl
 
-void cam_init()
-{
-    // Init IR Camera sensor
-    i2c_write2(addr, 0x30, 0x01);
-    i2c_write2(addr, 0x30, 0x08);    
-    i2c_write2(addr, 0x06, 0x90);
-    i2c_write2(addr, 0x08, 0xC0);
-    i2c_write2(addr, 0x1A, 0x40);
-    i2c_write2(addr, 0x33, 0x33);
-    wait(0.1);
-}
 
 int main() {
-    char cmd[8];
-    char buf[16];
-    int Ix1,Iy1,Ix2,Iy2;
-    int Ix3,Iy3,Ix4,Iy4;
-    int s;
-
-    clock_init();
+    confSysClock();
     
-    // PC serial output    
+    Serial      pc(PA_2, PA_3);
     pc.baud(115200);
-    //pc.printf("Initializing camera...");
-
-    cam_init();
-  
-    //pc.printf("complete\n");
-
-    // read I2C stuff
-    while(1) {
-        myled = 1;
-        // IR Sensor read
-        cmd[0] = 0x36;
-        i2c.write(addr, cmd, 1);
-        i2c.read(addr, buf, 16); // read the 16-byte result
-
-        myled = 0;
-        
-        Ix1 = buf[1];
-        Iy1 = buf[2];
-        s   = buf[3];
-        Ix1 += (s & 0x30) <<4;
-        Iy1 += (s & 0xC0) <<2;
-        
-        Ix2 = buf[4];
-        Iy2 = buf[5];
-        s   = buf[6];
-        Ix2 += (s & 0x30) <<4;
-        Iy2 += (s & 0xC0) <<2;
-        
-        Ix3 = buf[7];
-        Iy3 = buf[8];
-        s   = buf[9];
-        Ix3 += (s & 0x30) <<4;
-        Iy3 += (s & 0xC0) <<2;
-        
-        Ix4 = buf[10];
-        Iy4 = buf[11];
-        s   = buf[12];
-        Ix4 += (s & 0x30) <<4;
-        Iy4 += (s & 0xC0) <<2;
-        
-        // print the coordinate data
-        //pc.printf("Ix1: %4d, Iy1: %4d\n", Ix1, Iy1 );
-        //pc.printf("Ix2: %4d, Iy2: %4d\n", Ix2, Iy2 );
-        pc.printf("%d,%d,%d,%d,%d,%d,%d,%d\r\n", Ix1, Iy1, Ix2, Iy2, Ix3, Iy3, Ix4, Iy4);
-        
-        wait(0.050);
+    pc.printf("config\n");
+    Lidar.configure();
+    pc.printf("config\n");
+    //dt.start();
+    while(1){
+         pc.printf("dis = %d cm \n", Lidar.distance());
+         //dt.reset();
     }
 
 }