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');
+        }
+        
+    }
+}