Diff: main.cpp

Revision:

1:b53d82528534

Parent:

0:b76e3288e79a

--- a/main.cpp	Wed Jun 01 05:39:10 2016 +0000
+++ b/main.cpp	Wed Jun 08 14:41:15 2016 +0000
@@ -1,80 +1,130 @@
 #include "mbed.h"
 #include "TRP105F_Spline.h"
+#include "TRP105FS_SPIWrapper.h"
 
 Serial pc(USBTX, USBRX); // tx, rx ( the usb serial communication )
-extern AnalogIn g_Sensor_Voltage;
-SPI spi; // mosi(out), miso(in), sclk(clock)
-DigitalOut cs; // cs (the chip select signal)
+extern AnalogIn* g_Sensor_Voltage;
 DigitalOut myled1(LED1),myled2(LED2);
 Timer t;
+TRP105FS TRP(5, AsDEBUG, p16);
 
 
-//  For SPI
-int DAread(int channel)
+SPI_TRP105FS sensor[8] = {
+    SPI_TRP105FS(0),
+    SPI_TRP105FS(1),
+    SPI_TRP105FS(2),
+    SPI_TRP105FS(3),
+    SPI_TRP105FS(4),
+    SPI_TRP105FS(5),
+    SPI_TRP105FS(6),
+    SPI_TRP105FS(7)
+};
+
+//  A sensor Calibration 
+//  個別キャリブレーション
+void calibrateSensor(unsigned int ch)//channel
 {
-    int command_high=0x06|((channel&0x04)>>2);
-    int command_low=(channel&0x03)<<14;
-    __disable_irq(); // 割り込み禁止
-    cs = 0;
-    spi.write(command_high);
-    int resultbyte=spi.write(command_low) & 0xfff;
-    cs = 1;
-    __enable_irq(); // 割り込み許可
-    return(resultbyte);
+    char c;
+
+    printf("\nload save-data or calibration[l/c]>");
+    c = pc.getc();
+    if(c == 'l') {
+        printf("%c\n",c);
+        printf("Now loading...\n");
+        sensor[ch].loaddata();
+        printf("Done.\n");
+    } else {
+        printf("%c\n",c);
+        for(int i = 0; i < sensor[ch].getNsample(); i++) {
+            printf("press ENTER holding the distance at <%d>", i * 255 / 4);
+            do {
+                c = pc.getc();
+            } while (!( c == 0x0a || c == 0x0d ));
+            printf("\n");
+            sensor[ch].setSample(i * 255 / 4);
+        }
+        printf("Done.\n");
+        printf("Now Calibrating...\n");
+        sensor[ch].calibrate();
+        printf("Done.\n");
+        printf("Calibration Result being saved...\n");
+        sensor[ch].savedata();
+        printf("Done.\n");
+    }
 }
 
-class SPI_TRP105FS
+//  Multiple Sensors Calibration(Not Tested)
+//  一斉キャリブレーション（動作未確認）
+void calibrateSensor(unsigned int ch_first, unsigned int ch_end, unsigned int ch_teacher)
 {
-    TRP105FS trp(5);
-    unsigned int channel;
-    
-    void setSample(unsigned short arg_x) {
-        trp.setSample(arg_x, (unsigned short)DAread(channel));
+    printf("Calibration at once");
+    unsigned int nsample = sensor[ch_teacher].getNsample();
+    unsigned short dst;
+    bool* bnsample = new bool[nsample];
+    bool flag = false;
+    unsigned int n_ui;
+
+    for (int i = 0; i < nsample; i++) bnsample[i] = false;
+    printf("Press keys at once...");
+    do {
+        dst = sensor[ch_teacher].getDistance();
+
+        for (unsigned int i = 0; i < nsample; i++) {
+            if(dst == i * 255 / (nsample - 1)) {
+                flag = true;
+                n_ui = i;
+            }
+        }
+
+        if(flag || (!bnsample[n_ui])) {
+            for(unsigned int ch = ch_first; ch < ch_end + 1; ch++) {
+                if(ch != ch_teacher)sensor[ch].setSample(dst);
+            }
+            bnsample[n_ui] = true;
+        }
+        for (unsigned int i = 0; i < nsample; i++) {
+            if(bnsample[i] == false) flag = false;
+        }
+    } while(!flag);
+    printf("Done.\n");
+    for (unsigned int ch = 0; ch < nsample; ch++) {
+        sensor[ch].calibrate();
+        sensor[ch].savedata();
     }
-    void calibrate(){
-        trp.calibrate();
-    }
-    unsigned short get
+
+    delete[] bnsample;
 }
-TRP105FS senseor[8];
-int main() {
+
+//Main
+int main()
+{
     // Setup the spi for 7 bit data, high steady state clock,
     // second edge capture, with a 1MHz clock rate
-    spi.format(16,0);
-    spi.frequency(1000000);
-    
+    sensor[0].spi.format(16,0);
+    sensor[0].spi.frequency(1000000);
+
+    calibrateSensor(0);       //calibration sensor channel 0 
+    //calibrateSensor(1);         //calibration sensor channel 1
+    //calibrateSensor(1,2,0);   //Multiple Calibration channel 1-2, sensor channel 0 is teacher.
+
     myled1 = 1;
-    //pc.printf("start\n");
-    pc.printf("\nload save-data or calibration[l/c]>");
-    if(pc.getc() == 'l'){
-        pc.printf("\n");
-        //sensor.loadSetting();
-        sensor0.loadSetting("savedata.log");
-    }
-    else {
-        pc.printf("\n");
-        sensor0.calibrateSensor();
-        sensor0.printOutData();
-        sensor0.saveSetting("savedata.log");
-    }
     myled2 = 1;
     unsigned short dst;
     while(1) {
         t.start();
-        dst=sensor0.getDistance();
+        dst = sensor[0].getDistance();
+        //dst = sensor[1].getDistance();
+        
         t.stop();
-        pc.printf("dst:%d(%f s)\n",dst, t.read());
+        printf("dst:%d(%f s)\n",dst, t.read());
         t.reset();
-        //pc.printf("vol:%d",g_Sensor_Voltage.read_u16());
-        pc.printf("vol:%d",DAread(0));
-        wait(0.5);
+        //printf("vol:%d\n",SPI_TPR105FS::ADread(0));
+
+        wait(0.1);
         pc.putc('\n');
+        //  if 'p' is pressed quit the loop
         if(pc.readable())if(pc.getc() == 'q') break;
-    }/*
-    while(1){
-        myled2 = 1;
-        pc.printf("vol:%d\n",DAread(1));
-    }*/
+    }
     myled1 = myled2 = 0;
 
 }