CatPot 2015-2016 / CatPot_2v00_T_Sub

LPC824専用プログラム

Dependencies:   Ping SDFileSystem mbed-src

main.h@16:f0d3e58b3ca5, 2016-02-25 (annotated)

Committer:
lilac0112_1
Date:
Thu Feb 25 06:17:49 2016 +0000
Revision:
16:f0d3e58b3ca5
Parent:
12:c90a124169e6 
Hokushinetsu(SubCPU)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 0:2f48b11b154f 1 #ifndef _MAIN_H_
lilac0112_1 0:2f48b11b154f 2 #define _MAIN_H_
lilac0112_1 0:2f48b11b154f 3
lilac0112_1 0:2f48b11b154f 4 #include "def.h"
lilac0112_1 0:2f48b11b154f 5
lilac0112_1 3:410a2812b0dc 6 //PinConfig
lilac0112_1 3:410a2812b0dc 7
lilac0112_1 3:410a2812b0dc 8 //SDカード管理用(20pin)
lilac0112_1 0:2f48b11b154f 9 #ifdef SD_CARD
lilac0112_1 3:410a2812b0dc 10
lilac0112_1 3:410a2812b0dc 11 static PinName const monitor_tx = P0_4;
lilac0112_1 3:410a2812b0dc 12 static PinName const monitor_rx = P0_0;
lilac0112_1 3:410a2812b0dc 13
lilac0112_1 3:410a2812b0dc 14 static PinName const write_RXD = P0_0;
lilac0112_1 3:410a2812b0dc 15 static PinName const write_TXD = P0_4;
lilac0112_1 3:410a2812b0dc 16 static PinName const write_RESET = P0_5;
lilac0112_1 3:410a2812b0dc 17 static PinName const write_ISP = P0_12;
lilac0112_1 0:2f48b11b154f 18
lilac0112_1 3:410a2812b0dc 19 static PinName const SPI_MOSI = P0_23;
lilac0112_1 3:410a2812b0dc 20 static PinName const SPI_MISO = P0_17;
lilac0112_1 3:410a2812b0dc 21 static PinName const SPI_SCLK = P0_13;
lilac0112_1 3:410a2812b0dc 22 static PinName const SPI_CS = P0_0;
lilac0112_1 0:2f48b11b154f 23
lilac0112_1 3:410a2812b0dc 24 static PinName const SD_MISO = P0_1;
lilac0112_1 3:410a2812b0dc 25 static PinName const SD_MOSI = P0_10;
lilac0112_1 3:410a2812b0dc 26 static PinName const SD_SCK = P0_15;
lilac0112_1 3:410a2812b0dc 27 static PinName const SD_CS = P0_11;
lilac0112_1 3:410a2812b0dc 28 static PinName const SD_SW = P0_14;
lilac0112_1 3:410a2812b0dc 29
lilac0112_1 3:410a2812b0dc 30 Serial pc(monitor_tx, monitor_rx);
lilac0112_1 3:410a2812b0dc 31 SPISlave nucleo(SPI_MOSI, SPI_MISO, SPI_SCLK, SPI_CS);
lilac0112_1 3:410a2812b0dc 32 SDFileSystem sd(SD_MOSI, SD_MISO, SD_SCK, SD_CS, "sd");
lilac0112_1 3:410a2812b0dc 33 DigitalIn SdSwitch(SD_SW);
lilac0112_1 0:2f48b11b154f 34 #endif /*SD_CARD*/
lilac0112_1 0:2f48b11b154f 35
lilac0112_1 3:410a2812b0dc 36 //超音波用(20pin)
lilac0112_1 0:2f48b11b154f 37 #ifdef ULTRA_SONIC
lilac0112_1 3:410a2812b0dc 38
lilac0112_1 3:410a2812b0dc 39 static PinName const monitor_tx = P0_4;
lilac0112_1 3:410a2812b0dc 40 static PinName const monitor_rx = P0_0;
lilac0112_1 3:410a2812b0dc 41
lilac0112_1 3:410a2812b0dc 42 static PinName const write_rx = P0_0;
lilac0112_1 3:410a2812b0dc 43 static PinName const write_tx = P0_4;
lilac0112_1 3:410a2812b0dc 44 static PinName const write_reset = P0_5;
lilac0112_1 3:410a2812b0dc 45 static PinName const write_isp = P0_12;
lilac0112_1 0:2f48b11b154f 46
lilac0112_1 3:410a2812b0dc 47 static PinName const SPI_mosi = P0_10;
lilac0112_1 8:a2eadba03040 48 static PinName const SPI_miso = P0_11;
lilac0112_1 3:410a2812b0dc 49 static PinName const SPI_slck = P0_1;
lilac0112_1 8:a2eadba03040 50 static PinName const SPI_ss_sonic = P0_15;
lilac0112_1 3:410a2812b0dc 51
lilac0112_1 3:410a2812b0dc 52 static PinName const Sonic1_echo = P0_23;
lilac0112_1 3:410a2812b0dc 53 static PinName const Sonic2_echo = P0_17;
lilac0112_1 0:2f48b11b154f 54
lilac0112_1 3:410a2812b0dc 55 static PinName const led_umr1 = P0_14;
lilac0112_1 3:410a2812b0dc 56 static PinName const led_umr2 = P0_13;
lilac0112_1 3:410a2812b0dc 57
lilac0112_1 3:410a2812b0dc 58 Serial pc(monitor_tx, monitor_rx);
lilac0112_1 3:410a2812b0dc 59 SPISlave nucleo(SPI_mosi, SPI_miso, SPI_slck, SPI_ss_sonic);
lilac0112_1 9:7f98d4415425 60 InterruptIn call(SPI_ss_sonic);
lilac0112_1 3:410a2812b0dc 61 Ping rear(Sonic1_echo);
lilac0112_1 3:410a2812b0dc 62 Ping front(Sonic2_echo);
lilac0112_1 3:410a2812b0dc 63 DigitalOut led[2]={led_umr1, led_umr2};
lilac0112_1 3:410a2812b0dc 64
lilac0112_1 0:2f48b11b154f 65 #endif /*ULTRA_SONIC*/
lilac0112_1 0:2f48b11b154f 66
lilac0112_1 3:410a2812b0dc 67 //カラーセンサ用(33pin?)
lilac0112_1 0:2f48b11b154f 68 #ifdef COLOR_SENSOR
lilac0112_1 0:2f48b11b154f 69 static PinName const TX_PIN = dp10;
lilac0112_1 0:2f48b11b154f 70 static PinName const RX_PIN = dp11;
lilac0112_1 0:2f48b11b154f 71 Serial pc(TX_PIN, RX_PIN);
lilac0112_1 0:2f48b11b154f 72
lilac0112_1 0:2f48b11b154f 73
lilac0112_1 0:2f48b11b154f 74 static PinName const COLOR00 = dp23;
lilac0112_1 0:2f48b11b154f 75 static PinName const COLOR01 = dp22;
lilac0112_1 0:2f48b11b154f 76 static PinName const COLOR02 = dp21;
lilac0112_1 0:2f48b11b154f 77
lilac0112_1 0:2f48b11b154f 78 static PinName const COLOR10 = dp23;
lilac0112_1 0:2f48b11b154f 79 static PinName const COLOR11 = dp22;
lilac0112_1 0:2f48b11b154f 80 static PinName const COLOR12 = dp21;
lilac0112_1 0:2f48b11b154f 81
lilac0112_1 0:2f48b11b154f 82 static PinName const COLOR20 = dp23;
lilac0112_1 0:2f48b11b154f 83 static PinName const COLOR21 = dp22;
lilac0112_1 0:2f48b11b154f 84 static PinName const COLOR22 = dp21;
lilac0112_1 2:9a51bb2694aa 85 AnalogIn ColorSensor[SENSOR_X_COLOR] = {COLOR00, COLOR01, COLOR02, COLOR10, COLOR11, COLOR12, COLOR20, COLOR21, COLOR22};
lilac0112_1 0:2f48b11b154f 86
lilac0112_1 0:2f48b11b154f 87 static PinName const MOSI = dp15;
lilac0112_1 0:2f48b11b154f 88 static PinName const MISO = dp16;
lilac0112_1 0:2f48b11b154f 89 static PinName const SCLK = dp17;
lilac0112_1 0:2f48b11b154f 90 static PinName const SSEL = dp18;
lilac0112_1 0:2f48b11b154f 91 SPISlave nucleo(MOSI, MISO, SCLK, SSEL);
lilac0112_1 0:2f48b11b154f 92 #endif /*COLOR_SENSOR*/
lilac0112_1 0:2f48b11b154f 93
lilac0112_1 3:410a2812b0dc 94 //IRセンサー用(33pin)
lilac0112_1 0:2f48b11b154f 95 #ifdef IR_SENSOR
lilac0112_1 8:a2eadba03040 96 static PinName const monitor_tx = P0_4;
lilac0112_1 8:a2eadba03040 97 static PinName const monitor_rx = P0_0;
lilac0112_1 8:a2eadba03040 98 //static PinName const monitor_tx = USBTX;
lilac0112_1 8:a2eadba03040 99 //static PinName const monitor_rx = USBRX;
lilac0112_1 3:410a2812b0dc 100
lilac0112_1 3:410a2812b0dc 101 static PinName const write_rx = P0_0;
lilac0112_1 3:410a2812b0dc 102 static PinName const write_tx = P0_4;
lilac0112_1 3:410a2812b0dc 103 static PinName const write_reset = P0_5;
lilac0112_1 3:410a2812b0dc 104 static PinName const write_isp = P0_12;
lilac0112_1 0:2f48b11b154f 105
lilac0112_1 12:c90a124169e6 106 static PinName const SPI_mosi = P0_27;
lilac0112_1 12:c90a124169e6 107 static PinName const SPI_miso = P0_16;
lilac0112_1 12:c90a124169e6 108 static PinName const SPI_sclk = P0_11;
lilac0112_1 12:c90a124169e6 109 static PinName const SPI_ss_ir = P0_10;
lilac0112_1 0:2f48b11b154f 110
lilac0112_1 12:c90a124169e6 111 static PinName const din = P0_24;
lilac0112_1 12:c90a124169e6 112 static PinName const dout = P0_25;
lilac0112_1 12:c90a124169e6 113 static PinName const clk = P0_15;
lilac0112_1 12:c90a124169e6 114 static PinName const cs3 = P0_6;
lilac0112_1 12:c90a124169e6 115 static PinName const cs2 = P0_7;
lilac0112_1 12:c90a124169e6 116 static PinName const cs1 = P0_1;
lilac0112_1 12:c90a124169e6 117 static PinName const ir_vcc = P0_26;
lilac0112_1 0:2f48b11b154f 118
lilac0112_1 3:410a2812b0dc 119 Serial pc(monitor_tx, monitor_rx);
lilac0112_1 3:410a2812b0dc 120 SPISlave nucleo(SPI_mosi, SPI_miso, SPI_sclk, SPI_ss_ir);
lilac0112_1 9:7f98d4415425 121 InterruptIn call(SPI_ss_ir);
lilac0112_1 3:410a2812b0dc 122 SPI ir(din, dout, clk);
lilac0112_1 3:410a2812b0dc 123 DigitalOut cs[IC_NUM] = {cs1, cs2, cs3};
lilac0112_1 9:7f98d4415425 124 PwmOut supply(ir_vcc);
lilac0112_1 0:2f48b11b154f 125 #endif /*IR_SENSOR*/
lilac0112_1 0:2f48b11b154f 126
lilac0112_1 0:2f48b11b154f 127 #endif /*_MAIN_H_*/