Diff: main.cpp

Revision:

0:42c627a323da

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri May 06 13:31:42 2022 +0000
@@ -0,0 +1,226 @@
+
+//i2c_slave_ir_length_010_1
+
+
+#include "mbed.h"
+
+
+//10の割り算 0から1028までは、正しい。主に0から999
+#define DIV10(n) ((n*205)>>11)
+
+/*
+DigitalOut TX(PB_1);
+
+//仮想シリアルへの一文字出力 1200bps
+int pc_putc(char ch)
+{
+    TX=1;
+    TX=0;//Start
+    wait_us(832);
+
+    for(int ii=0; ii<8; ii++) { //Data x 8
+        TX=(ch>>ii)&1;
+        wait_us(832);
+    }; //for
+
+    TX=1;//Stop
+    wait_us(832);
+
+    return(0);
+} //pc_putc
+*/
+
+//80-20
+unsigned char qq[] = {
+    80, 78, 77, 76, 75, 75, 74, 73, 72, 71,
+    70, 69, 68, 68, 67, 66, 65, 65, 64, 63,
+    63, 62, 61, 61, 60, 60, 59, 58, 58, 57,
+    57, 56, 56, 55, 55, 54, 54, 53, 53, 52,
+    52, 51, 51, 50, 50, 50, 49, 49, 48, 48,
+    47, 47, 47, 46, 46, 46, 45, 45, 45, 44,
+    44, 44, 43, 43, 43, 42, 42, 42, 41, 41,
+    41, 41, 40, 40, 40, 40, 39, 39, 39, 38,
+    38, 38, 38, 37, 37, 37, 37, 37, 36, 36,
+    36, 36, 35, 35, 35, 35, 35, 34, 34, 34,
+    34, 34, 33, 33, 33, 33, 33, 32, 32, 32,
+    32, 32, 32, 31, 31, 31, 31, 31, 31, 30,
+    30, 30, 30, 30, 30, 30, 29, 29, 29, 29,
+    29, 29, 28, 28, 28, 28, 28, 28, 28, 28,
+    27, 27, 27, 27, 27, 27, 27, 27, 26, 26,
+    26, 26, 26, 26, 26, 26, 25, 25, 25, 25,
+    25, 25, 25, 25, 25, 25, 24, 24, 24, 24,
+    24, 24, 24, 24, 24, 24, 23, 23, 23, 23,
+    23, 23, 23, 23, 23, 23, 22, 22, 22, 22,
+    22, 22, 22, 22, 22, 22, 22, 22, 21, 21,
+    21, 21, 21, 21, 21, 21, 21, 21, 21, 21,
+    21, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+    20, 20, 20, 20, 20, 20
+};
+
+//20-10
+unsigned char pp[] = {
+    200, 199, 198, 197, 196, 196, 195, 194, 193, 193,
+    192, 191, 190, 190, 189, 188, 187, 187, 186, 185,
+    185, 184, 183, 183, 182, 181, 181, 180, 179, 179,
+    178, 177, 177, 176, 176, 175, 174, 174, 173, 173,
+    172, 171, 171, 170, 170, 169, 168, 168, 167, 167,
+    166, 166, 165, 165, 164, 163, 163, 162, 162, 161,
+    161, 160, 160, 159, 159, 158, 158, 157, 157, 156,
+    156, 155, 155, 154, 154, 153, 153, 152, 152, 151,
+    151, 151, 150, 150, 149, 149, 148, 148, 147, 147,
+    147, 146, 146, 145, 145, 144, 144, 144, 143, 143,
+    142, 142, 142, 141, 141, 140, 140, 140, 139, 139,
+    138, 138, 138, 137, 137, 136, 136, 136, 135, 135,
+    135, 134, 134, 134, 133, 133, 132, 132, 132, 131,
+    131, 131, 130, 130, 130, 129, 129, 129, 128, 128,
+    128, 127, 127, 127, 126, 126, 126, 125, 125, 125,
+    125, 124, 124, 124, 123, 123, 123, 122, 122, 122,
+    121, 121, 121, 121, 120, 120, 120, 119, 119, 119,
+    119, 118, 118, 118, 117, 117, 117, 117, 116, 116,
+    116, 116, 115, 115, 115, 114, 114, 114, 114, 113,
+    113, 113, 113, 112, 112, 112, 112, 111, 111, 111,
+    111, 110, 110, 110, 110, 109, 109, 109, 109, 108,
+    108, 108, 108, 107, 107, 107, 107, 107, 106, 106,
+    106, 106, 105, 105, 105, 105, 105, 104, 104, 104,
+    104, 103, 103, 103, 103, 103, 102, 102, 102, 102,
+    102, 101, 101, 101, 101, 101, 100, 100, 100, 100,
+    100
+};
+
+//10-6
+unsigned char oo[] = {
+    100, 99, 98, 98, 97, 97, 96, 96, 95, 95,
+    94, 94, 93, 93, 92, 92, 91, 91, 90, 90,
+    90, 89, 89, 88, 88, 87, 87, 86, 86, 86,
+    85, 85, 84, 84, 84, 83, 83, 82, 82, 82,
+    81, 81, 81, 80, 80, 80, 79, 79, 78, 78,
+    77, 77, 76, 76, 75, 75, 74, 74, 74, 73,
+    73, 72, 72, 71, 71, 71, 70, 70, 69, 69,
+    68, 67, 66, 66, 65, 64, 63, 63, 62, 61,
+    61, 60, 60
+};
+
+
+//赤外線距離センサー(GP2Y0A21YK)の電圧から距離を求める。
+//Voltage //電圧
+int ir_len_i(int Voltage)
+{
+
+    int ir_length;   //長さ
+
+    if (Voltage >= 0    && Voltage <= 400 ) {
+        return (800);
+    }
+    if (Voltage >= 3120 && Voltage <= 5000) {
+        return (60);
+    }
+
+    if        (Voltage >= 400 && Voltage <= 1300 ) { //80-20
+
+        ir_length = (int)qq[(Voltage - 400) >> 2];
+        ir_length = ir_length * 10;
+
+    } else if (Voltage >= 1300 && Voltage <= 2300 ) { //20-10
+
+        ir_length = (int)pp[(Voltage - 1300) >> 2];
+
+    } else if (Voltage >= 2300 && Voltage <= 3120  ) { //10-6
+
+        //ir_length = (int)oo[(Voltage - 2300) / 10];
+        ir_length = (int)oo[  ((Voltage - 2300)*205)>>11 ]; //10の割り算
+
+    }//end if
+
+    //戻り値
+    return (ir_length);
+
+} //ir_le_i
+
+
+//アナログ入力の設定
+AnalogIn adc_vbat(A3); //PA_4
+
+unsigned char b=200; //マスターに返す値
+
+//I2Cの初期化
+I2CSlave slave(PA_10, PA_9); //010
+
+//メインルーチン
+int main()
+{
+
+    int sensorValue; //センサーの読み取り値
+    int Voltage;     //電圧
+    int ir_length;   //長さ
+
+
+    //TX=1; //ポートの初期化
+
+    char buf[10];//I2Cバッファー
+
+    //I2Cスレーブのアドレスの設定
+    slave.address(0x10);
+
+    //無限ループ
+    while(1) {
+
+        //I2Cの状態の読み出し(ポーリング)
+        while(  slave.receive()  == I2CSlave::ReadAddressed   ) {};
+
+
+        buf[0] = b;
+
+        //I2Cマスターに送信する
+        slave.write(buf,1);
+
+/*
+
+        //I2Cスレーブの送信データの表示 num debug
+        int d = b; //buf[0];
+        char data_read[3]; //バッファーの定義
+        data_read[3] = 0;
+        data_read[2] = '0' + (  d - (DIV10(d) * 10)  );  // '0'+(d%10)
+        d = DIV10(d);
+        data_read[1] = '0' + (  d - (DIV10(d) * 10)  );  // '0'+(d%10)
+        data_read[0] = '0' +  DIV10(d);                  // '0'+(d/10)
+        pc_putc(data_read[0]);
+        pc_putc(data_read[1]);
+        pc_putc(data_read[2]);
+        pc_putc('\r');
+        pc_putc('\n');
+*/
+
+        //アナログ値の読み込み  0から4096
+        sensorValue = (adc_vbat.read_u16()>>4);
+        //sensorValue = 1024;
+
+        //アナログ値を電圧に変換
+        Voltage = (sensorValue * 3300) >> 12; //stm32　(s*3300)/4096
+        //Voltage = 2300; //debug
+
+        ir_length = ir_len_i(Voltage);
+
+
+        if ( ir_length <= 199 ) {
+
+            b = ir_length - 60;
+
+        } else {
+
+            b = (unsigned char)(   DIV10(ir_length)-20+140 );
+
+        }
+
+
+        //0.5秒の待ち
+        //wait_ms(500);
+
+    }//while
+
+}//main
+
+
+//容量削減
+void error(const char* format, ...) {}
+
+