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sensor
Fork of program_SensorBlock by
Diff: main.cpp
- Revision:
- 0:010fe1eae7d2
- Child:
- 1:3ecb80796a7f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Sat Feb 22 07:05:09 2014 +0000 @@ -0,0 +1,177 @@ +#include "mbed.h" +/*PING DEFINE */ +#define ERROR_PING 0xFFF +#define ALL_PING 4 +/*IR DEFINE*/ +#define BREAKPT_IR 833 +#define ERROR_IR 0xFFF +#define ALL_IR 10 +//#define OVERLINE_IR 46 +/*LINE DEFINE*/ +#define JUDGEVOL_LINE 0.8 +#define ALL_LINE 4 +//OTHERS +#define ALL_KIND 3 //kind of sensors +#define MAX_NUM 10 //sensors most number +/* +Ping , IrSensor , LineSensor +*/ + +//LINE sensor is float value +Serial pc(USBTX,USBRX); +Timer time_ping; +Timer time_ir; + +PinName num_ping[ALL_PING] = {p5,p6,p7,p8}; +PinName num_ir[ALL_IR] = {p21,p22,p23,p24,p25,p26,p27,p28,p29,p30}; +PinName num_line[ALL_LINE] = {p17,p18,p19,p20}; + +enum sensors{Ping,Ir,Line}; +volatile unsigned int value_ping[ALL_PING] = {0}; +volatile unsigned int value_ir[ALL_IR] = {0}; +volatile float value_line[ALL_LINE] = {0}; +DigitalOut myled(LED1); + +unsigned int moving_ave(enum sensors kind,int num, unsigned int data){ + static unsigned int sum[ALL_KIND][MAX_NUM] = {0}; + static unsigned int temp[ALL_KIND][MAX_NUM][10] = {0}; + //static unsigned int ave[MAX_NUM] = {0}; + sum[kind][num] -= temp[kind][num][9]; + sum[kind][num] += data; + temp[kind][num][9] = temp[kind][num][8]; + temp[kind][num][8] = temp[kind][num][7]; + temp[kind][num][7] = temp[kind][num][6]; + temp[kind][num][6] = temp[kind][num][5]; + temp[kind][num][5] = temp[kind][num][4]; + temp[kind][num][4] = temp[kind][num][3]; + temp[kind][num][3] = temp[kind][num][2]; + temp[kind][num][2] = temp[kind][num][1]; + temp[kind][num][1] = temp[kind][num][0]; + temp[kind][num][0] = data; + //ave[kind][num] = sum[kind][num]/100; + + switch (kind) { + case Ping: + value_ping[num] = sum[kind][num]/10; + break; + case Ir: + value_ir[num] = sum[kind][num]/100; + break; + case Line: + value_line[num] = sum[kind][num]/10000.0; + break; + default : + break; + } + + return sum[kind][num];//return no config sum + +} +unsigned int ping_function (int num){ + DigitalInOut sensor_ping(num_ping[num]); + unsigned int memory = 0;//return value + time_ping.reset(); + /*make a pulse */ + sensor_ping.output(); + sensor_ping = 1; + wait_us(5); + sensor_ping = 0; + sensor_ping.input(); + /*finish,and start timer*/ + time_ping.start(); + while(!sensor_ping){ + if(time_ping.read_ms() > 1){ + time_ping.stop(); + return ERROR_PING; + } + } + time_ping.reset(); + while(sensor_ping){ + if(time_ping.read_ms() >18.5){ + time_ping.stop(); + return ERROR_PING; + } + } + memory = time_ping.read_us(); + time_ping.stop(); + + return memory; +} +unsigned int ir_function (int num){ + DigitalIn sensor_ir(num_ir[num]); + int flag = 0; + unsigned int memory = 0; + unsigned int temp = 0; + flag = 1; + time_ir.start(); + if((sensor_ir)){ + while((sensor_ir)){ + if(time_ir.read_us() >= BREAKPT_IR){ + flag = 0; + break; + } + } + } + time_ir.stop(); + time_ir.reset(); + if(flag){ + time_ir.start(); + while(!sensor_ir){//! + if(time_ir.read_us() >= BREAKPT_IR){ + break; + } + } + memory = time_ir.read_us(); + while(1){ + if(!sensor_ir){ + temp = (time_ir.read_us() - memory); + time_ir.stop(); + time_ir.reset(); + wait(0.01); + return temp; + } + } + }else{//not found + } + time_ir.stop(); + time_ir.reset(); + return ERROR_IR; +} +int line_function(int num){ + float memory = 0; + AnalogIn sensor_line(num_line[num]); + memory = sensor_line; + return (int)(memory*1000); + +} +int main() { + //enum sensors kinds; + int num[ALL_KIND] = {0}; + unsigned int value1[ALL_PING] = {0}; + unsigned int value2[ALL_IR] = {0}; + float value3[ALL_LINE] = {0}; + while(1) { + //value1[num[Ping]] = moving_ave(Ping,num[Ping],ping_function(num[Ping]))/10; + value2[num[Ir]] = moving_ave(Ir,num[Ir],ir_function(num[Ir]))/100; + //value3[num[Line]]= moving_ave(Line,num[Line],line_function(num[Line]))/10000.0; + //pc.printf("value1[%d]=%d ",num[Ping], value1[num[Ping]]); + pc.printf("value2[%d]=%d ",num[Ir], value2[num[Ir]]); + //pc.printf("value3[%d]=%lf ",num[Line], value3[num[Line]]); + num[Ping]++; + num[Ir]++; + num[Line]++; + if(num[Ping]>= ALL_PING){ + num[Ping] = 0; + //putchar('\n'); + } + if(num[Ir]>= ALL_IR){ + num[Ir] = 0; + putchar('\n'); + } + if(num[Line]>= ALL_LINE){ + num[Line] = 0; + //putchar('\n'); + } + + } +}