大季 矢花 / Mbed 2 deprecated MainBoard2019_LineHub11-7

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Dependencies:   mbed

main.cpp@0:0311bb0b38f7, 2019-09-09 (annotated)

Committer:
M_souta
Date:
Mon Sep 09 00:16:13 2019 +0000
Revision:
0:0311bb0b38f7
Child:
1:fe3f80c4beeb
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
M_souta 0:0311bb0b38f7 1 #include "mbed.h"
M_souta 0:0311bb0b38f7 2 #include "RingBuffer.h"
M_souta 0:0311bb0b38f7 3 #include "SO1602A.h"
M_souta 0:0311bb0b38f7 4
M_souta 0:0311bb0b38f7 5 //********** pin define **********//
M_souta 0:0311bb0b38f7 6 #define SELECT1_0 PB_4
M_souta 0:0311bb0b38f7 7 #define SELECT1_1 PB_5
M_souta 0:0311bb0b38f7 8 #define SELECT1_2 PB_3
M_souta 0:0311bb0b38f7 9 #define SELECT1_3 PB_1
M_souta 0:0311bb0b38f7 10 #define SELECT2_0 PF_0
M_souta 0:0311bb0b38f7 11 #define SELECT2_1 PF_1
M_souta 0:0311bb0b38f7 12 #define SELECT2_2 PA_8
M_souta 0:0311bb0b38f7 13 #define SELECT2_3 PA_11
M_souta 0:0311bb0b38f7 14 #define SELECT3_0 PA_4
M_souta 0:0311bb0b38f7 15 #define SELECT3_1 PA_5
M_souta 0:0311bb0b38f7 16 #define SELECT3_2 PA_7
M_souta 0:0311bb0b38f7 17 #define SELECT3_3 PA_6
M_souta 0:0311bb0b38f7 18 #define Z0 PA_0
M_souta 0:0311bb0b38f7 19 #define Z1 PA_1
M_souta 0:0311bb0b38f7 20 #define Z2 PA_3
M_souta 0:0311bb0b38f7 21 #define SDA PB_7
M_souta 0:0311bb0b38f7 22 #define SCL PB_6
M_souta 0:0311bb0b38f7 23 #define UART_SE PA_2
M_souta 0:0311bb0b38f7 24 #define UARTTX PA_9
M_souta 0:0311bb0b38f7 25 #define UARTRX PA_10
M_souta 0:0311bb0b38f7 26 //********** pin define **********//
M_souta 0:0311bb0b38f7 27
M_souta 0:0311bb0b38f7 28 //********** pin select **********//
M_souta 0:0311bb0b38f7 29 AnalogIn y1(Z0);
M_souta 0:0311bb0b38f7 30 AnalogIn y2(Z1);
M_souta 0:0311bb0b38f7 31 AnalogIn y3(Z2);
M_souta 0:0311bb0b38f7 32
M_souta 0:0311bb0b38f7 33 DigitalOut select1[]= {
M_souta 0:0311bb0b38f7 34 DigitalOut(SELECT1_0),
M_souta 0:0311bb0b38f7 35 DigitalOut(SELECT1_1),
M_souta 0:0311bb0b38f7 36 DigitalOut(SELECT1_2),
M_souta 0:0311bb0b38f7 37 DigitalOut(SELECT1_3),
M_souta 0:0311bb0b38f7 38 };
M_souta 0:0311bb0b38f7 39 DigitalOut select2[]= {
M_souta 0:0311bb0b38f7 40 DigitalOut(SELECT2_0),
M_souta 0:0311bb0b38f7 41 DigitalOut(SELECT2_1),
M_souta 0:0311bb0b38f7 42 DigitalOut(SELECT2_2),
M_souta 0:0311bb0b38f7 43 DigitalOut(SELECT2_3),
M_souta 0:0311bb0b38f7 44 };
M_souta 0:0311bb0b38f7 45 DigitalOut select3[]= {
M_souta 0:0311bb0b38f7 46 DigitalOut(SELECT3_0),
M_souta 0:0311bb0b38f7 47 DigitalOut(SELECT3_1),
M_souta 0:0311bb0b38f7 48 DigitalOut(SELECT3_2),
M_souta 0:0311bb0b38f7 49 DigitalOut(SELECT3_3),
M_souta 0:0311bb0b38f7 50 };
M_souta 0:0311bb0b38f7 51
M_souta 0:0311bb0b38f7 52 DigitalOut uartSE(UART_SE);
M_souta 0:0311bb0b38f7 53
M_souta 0:0311bb0b38f7 54 DigitalOut LED(LED3);
M_souta 0:0311bb0b38f7 55
M_souta 0:0311bb0b38f7 56 //Serial uart(USBTX,USBRX);
M_souta 0:0311bb0b38f7 57 Serial uart(UARTTX,UARTRX);
M_souta 0:0311bb0b38f7 58
M_souta 0:0311bb0b38f7 59 I2C i2c(SDA,SCL);
M_souta 0:0311bb0b38f7 60 SO1602A oled(i2c,0x78);
M_souta 0:0311bb0b38f7 61 //********** pin select **********//
M_souta 0:0311bb0b38f7 62
M_souta 0:0311bb0b38f7 63 //********** define **********//
M_souta 0:0311bb0b38f7 64 #define BUFFER_SIZE 10
M_souta 0:0311bb0b38f7 65 char RS485Data[BUFFER_SIZE];
M_souta 0:0311bb0b38f7 66 RINGBUFFER::RingBuffer RS485uart(RS485Data,BUFFER_SIZE);
M_souta 0:0311bb0b38f7 67
M_souta 0:0311bb0b38f7 68 #define SENDDATA_SIZE 8
M_souta 0:0311bb0b38f7 69 #define SENSORDATA_SIZE 48
M_souta 0:0311bb0b38f7 70
M_souta 0:0311bb0b38f7 71 const int pinDef[48] = { 0, 1, 2, 3, 4, 5,
M_souta 0:0311bb0b38f7 72 12,13,14,15, 7, 6,
M_souta 0:0311bb0b38f7 73 22,23, 8, 9,10,11,
M_souta 0:0311bb0b38f7 74 16,17,18,19,20,21,
M_souta 0:0311bb0b38f7 75 27,26,25,24,40,41,
M_souta 0:0311bb0b38f7 76 28,29,30,31,38,39,
M_souta 0:0311bb0b38f7 77 32,33,34,35,36,37,
M_souta 0:0311bb0b38f7 78 42,43,44,45,36,47};
M_souta 0:0311bb0b38f7 79
M_souta 0:0311bb0b38f7 80 const int weight[6] = { 2, 1, 0, 0,-1,-2};
M_souta 0:0311bb0b38f7 81
M_souta 0:0311bb0b38f7 82 char send[SENDDATA_SIZE] = {60,77,80,55,65,68,90,87};
M_souta 0:0311bb0b38f7 83 bool line[SENSORDATA_SIZE] = {0};
M_souta 0:0311bb0b38f7 84
M_souta 0:0311bb0b38f7 85 void Transmit();
M_souta 0:0311bb0b38f7 86 void PinSelect(int pin);
M_souta 0:0311bb0b38f7 87 void SendDataUpdate(char sendData[], int dataSize);
M_souta 0:0311bb0b38f7 88 void LineDataRead(bool sensorData[], int dataSize);
M_souta 0:0311bb0b38f7 89 void SendDataMake(bool sensorData[], char sendData[]);
M_souta 0:0311bb0b38f7 90 //********** define **********//
M_souta 0:0311bb0b38f7 91
M_souta 0:0311bb0b38f7 92 void InitiaLize(void)
M_souta 0:0311bb0b38f7 93 {
M_souta 0:0311bb0b38f7 94 uartSE = 1; //送信固定
M_souta 0:0311bb0b38f7 95
M_souta 0:0311bb0b38f7 96 uart.baud(9600);
M_souta 0:0311bb0b38f7 97 uart.attach(Transmit,Serial::TxIrq);
M_souta 0:0311bb0b38f7 98 }
M_souta 0:0311bb0b38f7 99
M_souta 0:0311bb0b38f7 100 int main(void)
M_souta 0:0311bb0b38f7 101 {
M_souta 0:0311bb0b38f7 102 InitiaLize();
M_souta 0:0311bb0b38f7 103
M_souta 0:0311bb0b38f7 104 while(1)
M_souta 0:0311bb0b38f7 105 {
M_souta 0:0311bb0b38f7 106 LineDataRead(line,SENSORDATA_SIZE);
M_souta 0:0311bb0b38f7 107 SendDataMake(line,send);
M_souta 0:0311bb0b38f7 108 SendDataUpdate(send,SENDDATA_SIZE);
M_souta 0:0311bb0b38f7 109 }
M_souta 0:0311bb0b38f7 110 }
M_souta 0:0311bb0b38f7 111
M_souta 0:0311bb0b38f7 112 void Transmit() {
M_souta 0:0311bb0b38f7 113 __disable_irq();
M_souta 0:0311bb0b38f7 114 //uart.printf("%d\n\r",RS485uart.GetData());
M_souta 0:0311bb0b38f7 115 uart.putc(RS485uart.GetData());
M_souta 0:0311bb0b38f7 116 __enable_irq();
M_souta 0:0311bb0b38f7 117
M_souta 0:0311bb0b38f7 118 }
M_souta 0:0311bb0b38f7 119
M_souta 0:0311bb0b38f7 120 void SendDataUpdate(char sendData[], int dataSize) {
M_souta 0:0311bb0b38f7 121 __disable_irq();
M_souta 0:0311bb0b38f7 122 if(!RS485uart.InAnyData()) {
M_souta 0:0311bb0b38f7 123 RS485uart.PutData('S');
M_souta 0:0311bb0b38f7 124 for(int i = 0; i < dataSize; i++) {
M_souta 0:0311bb0b38f7 125 RS485uart.PutData(sendData[i]);
M_souta 0:0311bb0b38f7 126 }
M_souta 0:0311bb0b38f7 127 RS485uart.PutData('F');
M_souta 0:0311bb0b38f7 128 }
M_souta 0:0311bb0b38f7 129 __enable_irq();
M_souta 0:0311bb0b38f7 130 }
M_souta 0:0311bb0b38f7 131
M_souta 0:0311bb0b38f7 132 void PinSelect(int pin) {
M_souta 0:0311bb0b38f7 133 bool selectnum[16][4]= {
M_souta 0:0311bb0b38f7 134 {0,0,0,0},
M_souta 0:0311bb0b38f7 135 {0,0,0,1},
M_souta 0:0311bb0b38f7 136 {0,0,1,0},
M_souta 0:0311bb0b38f7 137 {0,0,1,1},
M_souta 0:0311bb0b38f7 138 {0,1,0,0},
M_souta 0:0311bb0b38f7 139 {0,1,0,1},
M_souta 0:0311bb0b38f7 140 {0,1,1,0},
M_souta 0:0311bb0b38f7 141 {0,1,1,1},
M_souta 0:0311bb0b38f7 142 {1,0,0,0},
M_souta 0:0311bb0b38f7 143 {1,0,0,1},
M_souta 0:0311bb0b38f7 144 {1,0,1,0},
M_souta 0:0311bb0b38f7 145 {1,0,1,1},
M_souta 0:0311bb0b38f7 146 {1,1,0,0},
M_souta 0:0311bb0b38f7 147 {1,1,0,1},
M_souta 0:0311bb0b38f7 148 {1,1,1,0},
M_souta 0:0311bb0b38f7 149 {1,1,1,1},
M_souta 0:0311bb0b38f7 150 };
M_souta 0:0311bb0b38f7 151 if(pin < 16) {
M_souta 0:0311bb0b38f7 152 select1[0]=selectnum[pin][3];
M_souta 0:0311bb0b38f7 153 select1[1]=selectnum[pin][2];
M_souta 0:0311bb0b38f7 154 select1[2]=selectnum[pin][1];
M_souta 0:0311bb0b38f7 155 select1[3]=selectnum[pin][0];
M_souta 0:0311bb0b38f7 156 for(int i=0; i<=3; i++) {
M_souta 0:0311bb0b38f7 157 select2[i]=0;
M_souta 0:0311bb0b38f7 158 select3[i]=0;
M_souta 0:0311bb0b38f7 159 }
M_souta 0:0311bb0b38f7 160 } else if(pin < 32) {
M_souta 0:0311bb0b38f7 161 select2[0]=selectnum[pin-16][3];
M_souta 0:0311bb0b38f7 162 select2[1]=selectnum[pin-16][2];
M_souta 0:0311bb0b38f7 163 select2[2]=selectnum[pin-16][1];
M_souta 0:0311bb0b38f7 164 select2[3]=selectnum[pin-16][0];
M_souta 0:0311bb0b38f7 165 for(int i=0; i<=3; i++) {
M_souta 0:0311bb0b38f7 166 select1[i]=0;
M_souta 0:0311bb0b38f7 167 select3[i]=0;
M_souta 0:0311bb0b38f7 168 }
M_souta 0:0311bb0b38f7 169 } else if(pin < 48) {
M_souta 0:0311bb0b38f7 170 select3[0]=selectnum[pin-32][3];
M_souta 0:0311bb0b38f7 171 select3[1]=selectnum[pin-32][2];
M_souta 0:0311bb0b38f7 172 select3[2]=selectnum[pin-32][1];
M_souta 0:0311bb0b38f7 173 select3[3]=selectnum[pin-32][0];
M_souta 0:0311bb0b38f7 174 for(int i=0; i<=3; i++) {
M_souta 0:0311bb0b38f7 175 select1[i]=0;
M_souta 0:0311bb0b38f7 176 select2[i]=0;
M_souta 0:0311bb0b38f7 177 }
M_souta 0:0311bb0b38f7 178 }
M_souta 0:0311bb0b38f7 179 }
M_souta 0:0311bb0b38f7 180
M_souta 0:0311bb0b38f7 181 void LineDataRead(bool sensorData[], int dataSize) {
M_souta 0:0311bb0b38f7 182 int pin;
M_souta 0:0311bb0b38f7 183 int readData = 0;
M_souta 0:0311bb0b38f7 184 for(int i = 0; i < dataSize; i++) {
M_souta 0:0311bb0b38f7 185 pin = pinDef[i];
M_souta 0:0311bb0b38f7 186 PinSelect(pin);
M_souta 0:0311bb0b38f7 187 if(pin<=15) {
M_souta 0:0311bb0b38f7 188 readData = y1.read();
M_souta 0:0311bb0b38f7 189 } else if(pin<=31) {
M_souta 0:0311bb0b38f7 190 readData = y2.read();
M_souta 0:0311bb0b38f7 191 } else if(pin<=47) {
M_souta 0:0311bb0b38f7 192 readData = y3.read();
M_souta 0:0311bb0b38f7 193 }
M_souta 0:0311bb0b38f7 194 if(readData < 0.8f) {
M_souta 0:0311bb0b38f7 195 sensorData[i] = 0;
M_souta 0:0311bb0b38f7 196 } else {
M_souta 0:0311bb0b38f7 197 sensorData[i] = 1;
M_souta 0:0311bb0b38f7 198 }
M_souta 0:0311bb0b38f7 199
M_souta 0:0311bb0b38f7 200 }
M_souta 0:0311bb0b38f7 201 }
M_souta 0:0311bb0b38f7 202
M_souta 0:0311bb0b38f7 203 void SendDataMake(bool sensorData[], char sendData[]) {
M_souta 0:0311bb0b38f7 204 int data = 0;
M_souta 0:0311bb0b38f7 205 bool ACflag = true;
M_souta 0:0311bb0b38f7 206 bool NCflag = true;
M_souta 0:0311bb0b38f7 207 int count = 0;
M_souta 0:0311bb0b38f7 208 for(int i = 0; i < 8; i++) {
M_souta 0:0311bb0b38f7 209 NCflag = true;
M_souta 0:0311bb0b38f7 210 ACflag = true;
M_souta 0:0311bb0b38f7 211 data = 0;
M_souta 0:0311bb0b38f7 212 for(int j = 0; j < 6; j++) {
M_souta 0:0311bb0b38f7 213 data += (!sensorData[count]) * weight[j];
M_souta 0:0311bb0b38f7 214 if(sensorData[count] == 1) ACflag = false;
M_souta 0:0311bb0b38f7 215 else if(sensorData[count] == 0) NCflag = false;
M_souta 0:0311bb0b38f7 216 count++;
M_souta 0:0311bb0b38f7 217 }
M_souta 0:0311bb0b38f7 218 if(NCflag) sendData[i] = 'N';
M_souta 0:0311bb0b38f7 219 else if(ACflag) sendData[i] = 'A';
M_souta 0:0311bb0b38f7 220 else sendData[i] = data;
M_souta 0:0311bb0b38f7 221 }
M_souta 0:0311bb0b38f7 222 }