Diff: format.cpp

Revision:

10:641da47d4a14

Parent:

9:7f98d4415425

Child:

11:a5023f22f25a

--- a/format.cpp	Sun Jan 24 15:16:26 2016 +0000
+++ b/format.cpp	Sun Jan 24 17:23:15 2016 +0000
@@ -154,16 +154,13 @@
 #endif /*COLOR_SENSOR*/
 
 #ifdef IR_SENSOR
+
 uint8_t ir_notice=0;//4bit
-uint8_t ir_key=0;//4bit
+static uint8_t const ir_key=0xA;//4bit
 uint8_t ir_position[2]={0};//4bit*2
 
-uint8_t i;//ic
-uint8_t j;//ch
-uint8_t ch_num[3]={8, 8, 4};
-uint16_t ir_data[IC_NUM][IR_NUM]={0};
-uint16_t order,packet,val;
 void emergency(void){
+    uint16_t order,packet,val;
     //ir_key=0xA;
     //ir_notice=0xC;
     //ir_position[1]=0xE;
@@ -185,6 +182,16 @@
     }
 }
 void Ir_System(void){
+    
+    uint8_t i;//ic
+    uint8_t j;//ch
+    uint8_t num_long, num_short;
+    uint16_t ir_val, ir_val_long[8], ir_val_short[12];
+    uint8_t ir_posi, ir_posi_long[8], ir_posi_short[12];
+    static uint8_t const ch_num[3]={8, 8, 4};
+
+    uint16_t ir_data[IC_NUM][IR_NUM]={0};
+    
     nucleo.format(16, 3);
     nucleo.frequency(1000000);
     nucleo.reply(0x0000);
@@ -192,15 +199,43 @@
     ir.format(8, 3);
     ir.frequency(1000000);
     
-    call.fall(&emergency);
+    supply.period(0.010);//T=10[ms]
+    supply.write(0.9);//L...10%,H...90%
+    
+    //call.fall(&emergency);
     
     for(i=0; i<IC_NUM; i++) cs[i]=1;
     while(1) {
+        
+        num_short=0;
+        num_long=0;
         for(i=0; i<IC_NUM; i++){//IC
             for(j=0; j<ch_num[i]; j++){//Ch
-               ir_data[i][j] = read_input(i, j);
+                ir_data[i][j] = read_input(i, j);
+                /*
+                ir_val = read_input(i, j);
+                ir_posi = read_position(i, j);
+                
+                if(i==0){
+                    ir_val_long[num_long] = ir_val;
+                    ir_posi_long[num_long] = ir_posi;
+                    num_long++;
+                }
+                else{
+                    ir_val_short[num_short] = ir_val;
+                    ir_posi_short[num_short] = ir_posi;
+                    num_short++;
+                }*/
             }
         }
+        
+        //BubbleSort(ir_val_short, ir_posi_short, 12);
+        //BubbleSort(ir_val_long, ir_posi_long, 8);
+        
+        ir_position[0] = ir_posi_short[0];
+        ir_position[1] = ir_posi_long[0];
+        ir_notice=0;
+        
         pc.printf("%Value is ");
         pc.printf("%d\t", ir_data[1][0]);
         pc.printf("%d\t", ir_data[1][1]);
@@ -214,45 +249,56 @@
         //emergency();
     }
 }
-int read_input(int ic, int channel)
+uint16_t read_input(uint8_t ic, uint8_t channel)
 {
-    
-    int command_high = START_BIT | MODE_SINGLE | ((channel & 0x04) >> 2);
-    int command_low = (channel & 0x03) << 6;
+    uint16_t command_high = START_BIT | MODE_SINGLE | ((channel & 0x04) >> 2);
+    uint16_t command_low = (channel & 0x03) << 6;
     
     cs[ic] = 0;
     
     ir.write(command_high);
-    int high_byte = ir.write(command_low) & 0x0F;
-    int low_byte = ir.write(0);
-    
+    uint16_t high_byte = ir.write(command_low) & 0x0F;
+    uint16_t low_byte = ir.write(0);   
     
     wait_us(1);
     cs[ic] = 1;
     
     return (high_byte << 8) | low_byte;//0x0000...0xFFFF
 }
-void BubbleSort(uint16_t *data, uint8_t n)
+uint8_t read_position(uint8_t ic, uint8_t channel){
+    //DigitalOut cs[IC_NUM] = {cs1, cs2, cs3};
+    static uint8_t const ir_location[3][8]=
+    {//0,1,2...7(ch)
+        {1, 2, 3, 4, 5, 6, 7, 8},//cs1,Long*8
+        {1, 2, 3, 4, 5, 6, 7, 8},//cs2,Short*8
+        {9, 10, 11, 12},//cs3,Short*4
+    };
+    return ir_location[ic][channel];
+}
+void BubbleSort(uint16_t *data, uint8_t *data2, uint8_t n)//昇順にする
 {
     bool flag;
-    uint8_t i;//inclement
-    uint16_t temp;//temporary
+    uint8_t i, j;//inclement
+    uint16_t temp;//temporary for value
+    uint8_t temp2;//temporary for position
     
+    j=0;
     do{
+        j++;
         flag=0;
-        for (i=0; i<n-1; i++) {
-            if (data[i]>data[i+1]) {
-                /* 左右の並びがおかしければ入れ替える */
+        for (i=0; i<n-j; i++) {
+            if (data[i]<data[i+1]) {
+                // 左右の並びがおかしければ入れ替える 
                 flag=1;
                 temp=data[i];
                 data[i]=data[i+1];
                 data[i+1]=temp;
+                
+                temp2=data2[i];
+                data2[i]=data2[i+1];
+                data2[i+1]=temp2;
             }
         }
-    } while (flag==1); /* 入れ替えがある間，繰り返す．*/
+    } while (flag==1); //入れ替えがある間，繰り返す．
 }
 #endif /*IR_SENSOR*/
-
-
-
-