Diff: main.cpp

Revision:

0:99f4010878fa

Child:

1:6c4524bbb546

diff -r 000000000000 -r 99f4010878fa main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Feb 21 07:23:20 2014 +0000
@@ -0,0 +1,97 @@
+/*
+超音波を参考にした
+
+*/
+
+#include "mbed.h"
+#define BREAKPT_IR 833
+#define ERROR_IR 0
+//#define OVERLINE_IR 46
+#define ALL_IR 10
+volatile unsigned int ave[ALL_IR] = {0};
+Serial pc(USBTX,USBRX);//tx,rx
+Timer time_ir;
+PinName num_ir[ALL_IR] = {p21,p22,p23,p24,p25,p26,p27,p28,p29,p30};
+
+unsigned int moving_ave(int num,unsigned int data){
+    static unsigned int sum[ALL_IR] = {0};
+    static unsigned int temp[ALL_IR][10] = {{0}};
+    //static unsigned int ave[ALL_IR] = {0};
+    sum[num] -= temp[num][9];
+    sum[num] += data;
+    temp[num][9] = temp[num][8];
+    temp[num][8] = temp[num][7];
+    temp[num][7] = temp[num][6];
+    temp[num][6] = temp[num][5];
+    temp[num][5] = temp[num][4];
+    temp[num][4] = temp[num][3];
+    temp[num][3] = temp[num][2];
+    temp[num][2] = temp[num][1];
+    temp[num][1] = temp[num][0];
+    temp[num][0] = data;
+    ave[num] = sum[num]/100;
+    
+    /*if(ave[num] >= OVERLINE_IR){
+        ave[num] = 0;
+    }*/
+    return ave[num];
+       
+}
+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 main() {
+    int num = 0;
+    unsigned int hangar[ALL_IR] = {0};
+    while(1) {
+       
+        hangar[num] = moving_ave(num ,ir_function(num));
+       
+        pc.printf("han[%d]=%d ",num, hangar[num]);
+        num++;
+        if(num >= ALL_IR){
+            num = 0;
+            putchar('\n');
+        }
+    }
+}