岡本 陸 / Mbed 2 deprecated VL53L0X_STM32compatible_3

レーザー用のプログラムです（複数不可） 正規の方法じゃないから問題が起こるかもね がんばって

Dependencies:   mbed

Fork of VL53L0X_STM32compatible_2 by 2018年春ロボ1班

main.cpp@3:ce75ca8e2011, 2017-12-26 (annotated)

Committer:
riku3141
Date:
Tue Dec 26 05:35:10 2017 +0000
Revision:
3:ce75ca8e2011
Parent:
2:30363c43d575 
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
open4416 0:d738e3a03cf8 1 #include "mbed.h"
open4416 0:d738e3a03cf8 2 #include "VL53L0X_SH.h"
open4416 0:d738e3a03cf8 3
riku3141 2:30363c43d575 4 #define Rms 500000 //TT rate
riku3141 1:4fe66089799c 5 #define dt 0.005f //lps rate
open4416 0:d738e3a03cf8 6
riku3141 1:4fe66089799c 7 //#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt))) //これはよく分からん
open4416 0:d738e3a03cf8 8
open4416 0:d738e3a03cf8 9 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓GPIO registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 0:d738e3a03cf8 10 //~~~structure~~~//
riku3141 2:30363c43d575 11 DigitalOut reset(PC_10);
riku3141 2:30363c43d575 12 DigitalIn button(USER_BUTTON);
open4416 0:d738e3a03cf8 13 //~~~VL53L0X_I2C~~~//
open4416 0:d738e3a03cf8 14 //I2C i2c(D14, D15); //I2C reg(SDA, SCL)
open4416 0:d738e3a03cf8 15 VL53L0X sensor;
open4416 0:d738e3a03cf8 16 //~~~Serial~~~//
riku3141 1:4fe66089799c 17 Serial pc(USBTX, USBRX); //Serial reg(TX RX)
open4416 0:d738e3a03cf8 18 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of GPIO registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 0:d738e3a03cf8 19 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Varible registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 0:d738e3a03cf8 20 //~~~globle~~~//
open4416 0:d738e3a03cf8 21 Ticker TT; //call a timer
open4416 0:d738e3a03cf8 22 //~~~VL53L0X_I2C~~~//
open4416 0:d738e3a03cf8 23 int Distance = 0;
riku3141 3:ce75ca8e2011 24 int Distance_2 = 0;
open4416 0:d738e3a03cf8 25 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Varible registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 0:d738e3a03cf8 26 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Function registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 0:d738e3a03cf8 27 void init_TIMER(); //set TT_main() rate
open4416 0:d738e3a03cf8 28 void TT_main(); //timebase function rated by TT
open4416 0:d738e3a03cf8 29 void init_IO(); //initialize IO state
open4416 0:d738e3a03cf8 30 float lpf(float input, float output_old, float frequency); //lpf discrete
open4416 0:d738e3a03cf8 31 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Function registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
riku3141 1:4fe66089799c 32 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Timebase funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
riku3141 1:4fe66089799c 33 void init_TIMER() //set TT_main{} rate 割り込み用関数
riku3141 1:4fe66089799c 34 {
riku3141 1:4fe66089799c 35 TT.attach_us(&TT_main, Rms);
riku3141 1:4fe66089799c 36 }
riku3141 1:4fe66089799c 37 void TT_main() //interrupt function by TT 測定用関数
riku3141 1:4fe66089799c 38 {
riku3141 3:ce75ca8e2011 39 //for Serial-Oscilloscope
riku3141 3:ce75ca8e2011 40
riku3141 3:ce75ca8e2011 41 pc.printf("number: %d ;;",sensor.address);
riku3141 1:4fe66089799c 42 Distance = sensor.readRangeContinuousMillimeters();
riku3141 2:30363c43d575 43 pc.printf("%d ", Distance);
riku3141 3:ce75ca8e2011 44 sensor.address=41;
riku3141 3:ce75ca8e2011 45 pc.printf("number: %d ;;",sensor.address);
riku3141 3:ce75ca8e2011 46 Distance_2 = sensor.readRangeContinuousMillimeters();
riku3141 3:ce75ca8e2011 47 pc.printf("%d ", Distance_2);
riku3141 3:ce75ca8e2011 48 sensor.address=84;
riku3141 3:ce75ca8e2011 49 if(Distance==Distance_2){
riku3141 3:ce75ca8e2011 50 pc.printf("error");
riku3141 3:ce75ca8e2011 51 }
riku3141 3:ce75ca8e2011 52 else
riku3141 3:ce75ca8e2011 53 if(abs(Distance+13-Distance_2)>10){
riku3141 3:ce75ca8e2011 54 if(Distance+13>Distance_2){
riku3141 3:ce75ca8e2011 55 pc.printf("move left");
riku3141 3:ce75ca8e2011 56 }
riku3141 3:ce75ca8e2011 57 else{
riku3141 3:ce75ca8e2011 58 pc.printf("move right");
riku3141 3:ce75ca8e2011 59 }
riku3141 3:ce75ca8e2011 60 }
riku3141 3:ce75ca8e2011 61 else{
riku3141 3:ce75ca8e2011 62 pc.printf("OK");
riku3141 3:ce75ca8e2011 63 }
riku3141 3:ce75ca8e2011 64 pc.printf("\r");
riku3141 1:4fe66089799c 65 }
riku3141 1:4fe66089799c 66 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Timebase funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
riku3141 1:4fe66089799c 67 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓init_IO funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
riku3141 2:30363c43d575 68 /*
riku3141 1:4fe66089799c 69 void init_IO(void) //initialize シリアル通信速度設定
riku3141 1:4fe66089799c 70 {
riku3141 1:4fe66089799c 71 pc.baud(9600); //set baud rate
riku3141 1:4fe66089799c 72 }
riku3141 2:30363c43d575 73 */
riku3141 1:4fe66089799c 74 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of init_IO funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
riku3141 1:4fe66089799c 75 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓lpf funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
riku3141 1:4fe66089799c 76 float lpf(float input, float output_old, float frequency) //ローパスフィルタ
riku3141 1:4fe66089799c 77 {
riku3141 1:4fe66089799c 78 float output = 0;
riku3141 1:4fe66089799c 79 output = (output_old + frequency*dt*input) / (1 + frequency*dt);
riku3141 1:4fe66089799c 80 return output;
riku3141 1:4fe66089799c 81 }
riku3141 1:4fe66089799c 82 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of lpf funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
open4416 0:d738e3a03cf8 83 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓main funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
open4416 0:d738e3a03cf8 84 int main()
open4416 0:d738e3a03cf8 85 {
riku3141 2:30363c43d575 86 reset = 1;
riku3141 2:30363c43d575 87 button.mode(PullDown);
riku3141 2:30363c43d575 88 sensor.setAddress(0x54);
riku3141 2:30363c43d575 89 // reset_2 = 0;
riku3141 2:30363c43d575 90 // reset_2 = 1;
riku3141 2:30363c43d575 91 // reset_2 = 1;
riku3141 1:4fe66089799c 92 printf("start\r\n");
riku3141 2:30363c43d575 93 //init_IO(); //initialized value
open4416 0:d738e3a03cf8 94 sensor.init(); //init SENSOR
open4416 0:d738e3a03cf8 95 sensor.setTimeout(500);
open4416 0:d738e3a03cf8 96 sensor.startContinuous();
open4416 0:d738e3a03cf8 97 NVIC_SetPriority(TIM5_IRQn, 51); //!!!!!!!!!!!!!!!!!!!!!!!!!
riku3141 2:30363c43d575 98 // sensor.setAddress(0x54);
riku3141 2:30363c43d575 99 reset =0;
riku3141 2:30363c43d575 100 reset =1;
riku3141 2:30363c43d575 101 sensor.address = 41;
riku3141 2:30363c43d575 102 sensor.init();
riku3141 2:30363c43d575 103 sensor.setTimeout(500);
riku3141 2:30363c43d575 104 sensor.startContinuous();
riku3141 2:30363c43d575 105 NVIC_SetPriority(TIM5_IRQn, 51); //!!!!!!!!!!!!!!!!!!!!!!!!!
riku3141 2:30363c43d575 106 sensor.address=84;
riku3141 2:30363c43d575 107 // reset = 0;
open4416 0:d738e3a03cf8 108 while(1) { //main() loop
riku3141 3:ce75ca8e2011 109 // wait(0.1);
riku3141 1:4fe66089799c 110 TT_main();
riku3141 2:30363c43d575 111 sensor.address=41;
riku3141 2:30363c43d575 112 pc.printf("button state %d \n", button.read());
riku3141 2:30363c43d575 113 if(button.read()==0){
riku3141 2:30363c43d575 114 sensor.init();
riku3141 2:30363c43d575 115 sensor.setTimeout(500);
riku3141 2:30363c43d575 116 sensor.startContinuous();
riku3141 2:30363c43d575 117 NVIC_SetPriority(TIM5_IRQn, 51); //!!!!!!!!!!!!!!!!!!!!!!!!!
riku3141 2:30363c43d575 118 }
riku3141 2:30363c43d575 119 sensor.address=84;
open4416 0:d738e3a03cf8 120 }
open4416 0:d738e3a03cf8 121 }
riku3141 1:4fe66089799c 122 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of main funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//