main.cpp

00001 #include "mbed.h"
00002 #include "TRP105F_Spline.h"
00003 #include "TRP105FS_SPIWrapper.h"
00004 
00005 Serial pc(USBTX, USBRX); // tx, rx ( the usb serial communication )
00006 extern AnalogIn* g_Sensor_Voltage;
00007 DigitalOut myled1(LED1),myled2(LED2);
00008 Timer t;
00009 TRP105FS TRP(5, AsDEBUG, p16);
00010 
00011 
00012 SPI_TRP105FS sensor[8] = {
00013     SPI_TRP105FS(0),
00014     SPI_TRP105FS(1),
00015     SPI_TRP105FS(2),
00016     SPI_TRP105FS(3),
00017     SPI_TRP105FS(4),
00018     SPI_TRP105FS(5),
00019     SPI_TRP105FS(6),
00020     SPI_TRP105FS(7)
00021 };
00022 
00023 //  A sensor Calibration 
00024 //  個別キャリブレーション
00025 void calibrateSensor(unsigned int ch)//channel
00026 {
00027     char c;
00028 
00029     printf("\nload save-data or calibration[l/c]>");
00030     c = pc.getc();
00031     if(c == 'l') {
00032         printf("%c\n",c);
00033         printf("Now loading...\n");
00034         sensor[ch].loaddata();
00035         printf("Done.\n");
00036     } else {
00037         printf("%c\n",c);
00038         for(int i = 0; i < sensor[ch].getNsample(); i++) {
00039             printf("press ENTER holding the distance at <%d>", i * 255 / 4);
00040             do {
00041                 c = pc.getc();
00042             } while (!( c == 0x0a || c == 0x0d ));
00043             printf("\n");
00044             sensor[ch].setSample(i * 255 / 4);
00045         }
00046         printf("Done.\n");
00047         printf("Now Calibrating...\n");
00048         sensor[ch].calibrate();
00049         printf("Done.\n");
00050         printf("Calibration Result being saved...\n");
00051         sensor[ch].savedata();
00052         printf("Done.\n");
00053     }
00054 }
00055 
00056 //  Multiple Sensors Calibration(Not Tested)
00057 //  一斉キャリブレーション（動作未確認）
00058 void calibrateSensor(unsigned int ch_first, unsigned int ch_end, unsigned int ch_teacher)
00059 {
00060     printf("Calibration at once");
00061     unsigned int nsample = sensor[ch_teacher].getNsample();
00062     unsigned short dst;
00063     bool* bnsample = new bool[nsample];
00064     bool flag = false;
00065     unsigned int n_ui;
00066 
00067     for (int i = 0; i < nsample; i++) bnsample[i] = false;
00068     printf("Press keys at once...");
00069     do {
00070         dst = sensor[ch_teacher].getDistance();
00071 
00072         for (unsigned int i = 0; i < nsample; i++) {
00073             if(dst == i * 255 / (nsample - 1)) {
00074                 flag = true;
00075                 n_ui = i;
00076             }
00077         }
00078 
00079         if(flag || (!bnsample[n_ui])) {
00080             for(unsigned int ch = ch_first; ch < ch_end + 1; ch++) {
00081                 if(ch != ch_teacher)sensor[ch].setSample(dst);
00082             }
00083             bnsample[n_ui] = true;
00084         }
00085         for (unsigned int i = 0; i < nsample; i++) {
00086             if(bnsample[i] == false) flag = false;
00087         }
00088     } while(!flag);
00089     printf("Done.\n");
00090     for (unsigned int ch = 0; ch < nsample; ch++) {
00091         sensor[ch].calibrate();
00092         sensor[ch].savedata();
00093     }
00094 
00095     delete[] bnsample;
00096 }
00097 
00098 //Main
00099 int main()
00100 {
00101     // Setup the spi for 7 bit data, high steady state clock,
00102     // second edge capture, with a 1MHz clock rate
00103     sensor[0].spi.format(16,0);
00104     sensor[0].spi.frequency(1000000);
00105 
00106     calibrateSensor(0);       //calibration sensor channel 0 
00107     //calibrateSensor(1);         //calibration sensor channel 1
00108     //calibrateSensor(1,2,0);   //Multiple Calibration channel 1-2, sensor channel 0 is teacher.
00109 
00110     myled1 = 1;
00111     myled2 = 1;
00112     unsigned short dst;
00113     while(1) {
00114         t.start();
00115         dst = sensor[0].getDistance();
00116         //dst = sensor[1].getDistance();
00117         
00118         t.stop();
00119         printf("dst:%d(%f s)\n",dst, t.read());
00120         t.reset();
00121         //printf("vol:%d\n",SPI_TPR105FS::ADread(0));
00122 
00123         wait(0.1);
00124         pc.putc('\n');
00125         //  if 'p' is pressed quit the loop
00126         if(pc.readable())if(pc.getc() == 'q') break;
00127     }
00128     myled1 = myled2 = 0;
00129 
00130 }