main.cpp

00001 #include "mbed.h"
00002 
00003 #define MLX90614_ADDR   (0x5A)          // Slave address
00004 #define MLX90614_TOBJ   (0x07)          // Object temperature register
00005 
00006 //~~~~~~~~~~~~~~~~~~~~~~~~~~~GPIO registor~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~//
00007 //~~~structure~~~//
00008 DigitalOut  led(D13);                   //link leg
00009 
00010 //~~~Sensor_I2C~~~//
00011 I2C         i2c(D14, D15);              //I2C reg(SDA, SCL)
00012 
00013 //~~~Serial~~~//
00014 Serial      pc(D1, D0);                 //Serial reg
00015 //~~~~~~~~~~~~~~~~~~~~~~~~~~~end of GPIO registor~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~//
00016 
00017 
00018 //~~~~~~~~~~~~~~~~~~~~~~~~~~~Varible registor~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~//
00019 //~~~globle~~~//
00020 Ticker  TT;                             //call a timer
00021 
00022 //~~~Sensor_I2C~~~//
00023 char    data_write[1];                  //buff for write
00024 char    data_read [3];                  //buff for read
00025 short   Buff = 0x00;
00026 float   TOBJ = 0.0;
00027 //~~~~~~~~~~~~~~~~~~~~~~~~~~~end of Varible registor~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~//
00028 
00029 
00030 //~~~~~~~~~~~~~~~~~~~~~~~~~~~Function registor~~~~~~~~~~~~~~~~~~~~~~~~~~~~~//
00031 void    init_IO();                     //initialize IO state
00032 void    init_TIMER();                  //set TT_main{} rate
00033 void    TT_main();                     //timebase function rated by TT
00034 void    read_MLX();                    //read MLX data give raw data
00035 //~~~~~~~~~~~~~~~~~~~~~~~~~~~end of Function registor~~~~~~~~~~~~~~~~~~~~~~~~~~~~~//
00036 
00037 
00038 //~~~~~~~~~~~~~~~~~~~~~~~~~~~main funtion~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~//
00039 int main()
00040 {
00041     init_IO();                          //initialized value and IRQ(Interrupt request)
00042     init_TIMER();                       //start TT_main
00043     
00044     while(1) {                          //main() loop
00045     }
00046 
00047 }
00048 //~~~~~~~~~~~~~~~~~~~~~~~~~~~end of main funtion~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~//
00049 
00050 
00051 //~~~~~~~~~~~~~~~~~~~~~~~~~~~init_IO funtion~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~//
00052 void init_IO(void)                      //initialize
00053 {
00054     led = 0;
00055     pc.baud(9600);                      //set baud rate
00056     i2c.frequency(100000);              //100kHz
00057 //    NVIC_SetPriority(I2C1_ER_IRQn, 0);  //!!!!!!!!!!!!!!!!!!!!!!!!!
00058 //    NVIC_SetPriority(I2C1_EV_IRQn, 0);  //!!!!!!!!!!!!!!!!!!!!!!!!!
00059     NVIC_SetPriority(TIM5_IRQn, 51);    //!!!!!!!!!!!!!!!!!!!!!!!!!
00060 }
00061 //~~~~~~~~~~~~~~~~~~~~~~~~~~~end of init_IO funtion~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~//
00062 
00063 
00064 //~~~~~~~~~~~~~~~~~~~~~~~~~~~Timebase funtion~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~//
00065 void init_TIMER()                       //set TT_main{} rate
00066 {
00067     TT.attach_us(&TT_main, 10000);      //rate set to 100Hz
00068 }
00069 
00070 void TT_main()                          //interrupt function by TT
00071 {
00072     read_MLX();                         //update MLX data
00073     TOBJ = ((float)Buff * 0.02f) - 273.0f;
00074     printf("%.2f\n",TOBJ);
00075 }
00076 //~~~~~~~~~~~~~~~~~~~~~~~~~~~end of Timebase funtion~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~//
00077 
00078 
00079 
00080 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓read_IMU funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
00081 void read_MLX(void)                     //read MLX data give raw data
00082 {
00083     //TOBJ
00084     data_write[0] = MLX90614_TOBJ;      //TOBJ address to buff
00085     i2c.write( MLX90614_ADDR<<1 | 0x00, data_write, 1, 1);  //command to RAM access
00086     i2c.read ( MLX90614_ADDR<<1 | 0x01, data_read , 3, 0);  //read callback
00087     Buff = data_read[1] << 8 |data_read[0];
00088 }
00089 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of read_IMU funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//