![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
sensor
Fork of program_SensorBlock by
main.cpp
- Committer:
- ryuna
- Date:
- 2014-02-24
- Revision:
- 1:3ecb80796a7f
- Parent:
- 0:010fe1eae7d2
- Child:
- 2:f7da3aa0520a
File content as of revision 1:3ecb80796a7f:
#include "mbed.h" #include "HMC6352.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 0.9 #define ALL_LINE 4 //OTHERS #define ALL_KIND 3 //kind of sensors #define MAX_NUM 10 //sensors most number extern void micon_tx(); /* Ping , IrSensor , LineSensor ,compass */ //LINE sensor is float value Serial sensor(p13,p14); Serial pc(USBTX,USBRX); HMC6352 compass(p9, p10); 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 unsigned int value_ir_min = 0; volatile unsigned int ir_min_num = 0; volatile unsigned int value_line[ALL_LINE] = {0}; volatile unsigned int value_compass = 0; /*unsigned int*/void 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: if((sum[kind][num]/10000.0) >=JUDGEVOL_LINE){ value_line[num] = 1;//white }else{ value_line[num] = 0;//green } 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); } void ir_min_fun(){ static unsigned int min; static int i, num = 0; min = value_ir[0]; for (i = 0;i <=ALL_IR -1;i++){ if(min >= value_ir[i]){ min = value_ir[i]; num = i; } } value_ir_min = min; ir_min_num = num; } int main() { //enum sensors kinds; uint8_t compassdef = 0; int num[ALL_KIND] = {0}; //unsigned int value1[ALL_PING] = {0}; //unsigned int value2[ALL_IR] = {0}; //float value3[ALL_LINE] = {0}; //送信開始 sensor.putc(1); //送信空き割り込み設定 sensor.attach(&micon_tx,Serial::TxIrq); compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); compassdef = (compass.sample() / 10); while(1) { value_compass = ((compass.sample() / 10) + 540 - compassdef) % 360; moving_ave(Ping,num[Ping],ping_function(num[Ping])); pc.printf("value_compass=%d\n",value_compass); //ir_min_fun(); //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'); pc.printf("min=%d ,num = %d\n",value_ir_min,ir_min_num); } if(num[Line]>= ALL_LINE){ num[Line] = 0; putchar('\n'); } } }