ジャパンオープン用のLPC824専用プログラム
Dependencies: mbed-src Ping SDFileSystem
main/format.cpp@3:8ef3afcf4ade, 2016-03-02 (annotated)
- Committer:
- lilac0112_1
- Date:
- Wed Mar 02 09:18:11 2016 +0000
- Revision:
- 3:8ef3afcf4ade
- Parent:
- 2:83b8bf9f0ea1
- Child:
- 4:a0755903bd6e
somehow
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lilac0112_1 | 0:6c79a352010b | 1 | #include "mbed.h" |
lilac0112_1 | 0:6c79a352010b | 2 | #include "extern.h" |
lilac0112_1 | 0:6c79a352010b | 3 | |
lilac0112_1 | 0:6c79a352010b | 4 | #if defined(ULTRA_SONIC) || defined(ULTRA_SONIC_2) |
lilac0112_1 | 0:6c79a352010b | 5 | |
lilac0112_1 | 0:6c79a352010b | 6 | uint16_t packet, val, order; |
lilac0112_1 | 0:6c79a352010b | 7 | uint16_t front_dis=0, rear_dis=0; |
lilac0112_1 | 0:6c79a352010b | 8 | |
lilac0112_1 | 0:6c79a352010b | 9 | void emergency(void){ |
lilac0112_1 | 0:6c79a352010b | 10 | led[1]=1; |
lilac0112_1 | 0:6c79a352010b | 11 | //front_dis = 0xAA; |
lilac0112_1 | 0:6c79a352010b | 12 | //rear_dis = 0xBB; |
lilac0112_1 | 0:6c79a352010b | 13 | val = nucleo.receive(); |
lilac0112_1 | 0:6c79a352010b | 14 | if(val==1){ |
lilac0112_1 | 0:6c79a352010b | 15 | order = nucleo.read(); |
lilac0112_1 | 0:6c79a352010b | 16 | if(order == 0xABCD){ |
lilac0112_1 | 0:6c79a352010b | 17 | packet = ((front_dis<<8)|(rear_dis))&0xFFFF;nucleo.reply(packet); |
lilac0112_1 | 0:6c79a352010b | 18 | } |
lilac0112_1 | 0:6c79a352010b | 19 | else{ |
lilac0112_1 | 0:6c79a352010b | 20 | packet = 0xFFFF;nucleo.reply(packet); |
lilac0112_1 | 0:6c79a352010b | 21 | } |
lilac0112_1 | 0:6c79a352010b | 22 | //pc.printf("SSSSSSSSSSSSSSSSS%d\r\n", order); |
lilac0112_1 | 0:6c79a352010b | 23 | } |
lilac0112_1 | 0:6c79a352010b | 24 | else{ |
lilac0112_1 | 0:6c79a352010b | 25 | //pc.printf("FFFF\r\n"); |
lilac0112_1 | 0:6c79a352010b | 26 | } |
lilac0112_1 | 0:6c79a352010b | 27 | wait_us(100); |
lilac0112_1 | 0:6c79a352010b | 28 | led[1]=0; |
lilac0112_1 | 0:6c79a352010b | 29 | } |
lilac0112_1 | 0:6c79a352010b | 30 | void Usw_System(void){ |
lilac0112_1 | 0:6c79a352010b | 31 | |
lilac0112_1 | 0:6c79a352010b | 32 | nucleo.format(16, 3); |
lilac0112_1 | 0:6c79a352010b | 33 | nucleo.frequency(1000000); |
lilac0112_1 | 0:6c79a352010b | 34 | nucleo.reply(0x0000); |
lilac0112_1 | 0:6c79a352010b | 35 | |
lilac0112_1 | 0:6c79a352010b | 36 | call.fall(&emergency); |
lilac0112_1 | 0:6c79a352010b | 37 | |
lilac0112_1 | 0:6c79a352010b | 38 | //led[0]=led[1]=1; |
lilac0112_1 | 0:6c79a352010b | 39 | while(1){ |
lilac0112_1 | 0:6c79a352010b | 40 | |
lilac0112_1 | 0:6c79a352010b | 41 | led[0]=1; |
lilac0112_1 | 0:6c79a352010b | 42 | front.Send(); |
lilac0112_1 | 0:6c79a352010b | 43 | wait_ms(30); |
lilac0112_1 | 0:6c79a352010b | 44 | front_dis = front.Read_cm(); |
lilac0112_1 | 0:6c79a352010b | 45 | if(front_dis>0xFE) front_dis=0xFE; |
lilac0112_1 | 0:6c79a352010b | 46 | |
lilac0112_1 | 0:6c79a352010b | 47 | |
lilac0112_1 | 0:6c79a352010b | 48 | rear.Send(); |
lilac0112_1 | 0:6c79a352010b | 49 | wait_ms(30); |
lilac0112_1 | 0:6c79a352010b | 50 | rear_dis = rear.Read_cm(); |
lilac0112_1 | 0:6c79a352010b | 51 | if(rear_dis>0xFE) rear_dis=0xFE; |
lilac0112_1 | 0:6c79a352010b | 52 | led[0]=0; |
lilac0112_1 | 0:6c79a352010b | 53 | wait_us(1000); |
lilac0112_1 | 0:6c79a352010b | 54 | //pc.printf("%d\t%d\t\r\n", front_dis, rear_dis); |
lilac0112_1 | 0:6c79a352010b | 55 | |
lilac0112_1 | 0:6c79a352010b | 56 | //emergency(); |
lilac0112_1 | 0:6c79a352010b | 57 | } |
lilac0112_1 | 0:6c79a352010b | 58 | } |
lilac0112_1 | 0:6c79a352010b | 59 | #endif /*(ULTRA_SONIC) || (ULTRA_SONIC_2)*/ |
lilac0112_1 | 0:6c79a352010b | 60 | |
lilac0112_1 | 0:6c79a352010b | 61 | |
lilac0112_1 | 0:6c79a352010b | 62 | #ifdef IR_SENSOR |
lilac0112_1 | 0:6c79a352010b | 63 | |
lilac0112_1 | 0:6c79a352010b | 64 | uint8_t ir_notice=0;//4bit |
lilac0112_1 | 1:ea7307724f1c | 65 | uint8_t ir_val_phase[2]; |
lilac0112_1 | 0:6c79a352010b | 66 | static uint8_t const ir_key=IR_KEY;//4bit |
lilac0112_1 | 0:6c79a352010b | 67 | uint8_t ir_position[2]={0};//4bit*2 |
lilac0112_1 | 0:6c79a352010b | 68 | |
lilac0112_1 | 0:6c79a352010b | 69 | void emergency(void){ |
lilac0112_1 | 1:ea7307724f1c | 70 | |
lilac0112_1 | 0:6c79a352010b | 71 | uint16_t order,packet,val; |
lilac0112_1 | 0:6c79a352010b | 72 | //ir_key=0xA; |
lilac0112_1 | 0:6c79a352010b | 73 | //ir_notice=0xC; |
lilac0112_1 | 0:6c79a352010b | 74 | //ir_position[1]=0xE; |
lilac0112_1 | 0:6c79a352010b | 75 | //ir_position[0]=0xF; |
lilac0112_1 | 0:6c79a352010b | 76 | val = nucleo.receive(); |
lilac0112_1 | 0:6c79a352010b | 77 | if(val==1){ |
lilac0112_1 | 0:6c79a352010b | 78 | order = nucleo.read(); |
lilac0112_1 | 0:6c79a352010b | 79 | if(order == 0xABCD){ |
lilac0112_1 | 1:ea7307724f1c | 80 | //key/phaseL/phaseS/long/short/ |
lilac0112_1 | 1:ea7307724f1c | 81 | // 2/ 3/ 3/ 4/ 4/ |
lilac0112_1 | 1:ea7307724f1c | 82 | packet = ( |
lilac0112_1 | 1:ea7307724f1c | 83 | ((0xC000)&(ir_key<<14)) |//1100000000000000 |
lilac0112_1 | 1:ea7307724f1c | 84 | ((0x3800)&(ir_val_phase[IR_LONG]<<11)) |//0011100000000000 |
lilac0112_1 | 1:ea7307724f1c | 85 | ((0x0700)&(ir_val_phase[IR_SHORT]<<8)) |//0000011100000000 |
lilac0112_1 | 1:ea7307724f1c | 86 | ((0x00F0)&(ir_position[IR_LONG]<<4)) |//0000000011110000 |
lilac0112_1 | 1:ea7307724f1c | 87 | ((0x000F)&(ir_position[IR_SHORT]<<0)) //0000000000001111 |
lilac0112_1 | 1:ea7307724f1c | 88 | )&0xFFFF; |
lilac0112_1 | 1:ea7307724f1c | 89 | |
lilac0112_1 | 1:ea7307724f1c | 90 | nucleo.reply(packet); |
lilac0112_1 | 0:6c79a352010b | 91 | } |
lilac0112_1 | 0:6c79a352010b | 92 | else{ |
lilac0112_1 | 0:6c79a352010b | 93 | packet = 0xFFFF;nucleo.reply(packet); |
lilac0112_1 | 0:6c79a352010b | 94 | } |
lilac0112_1 | 0:6c79a352010b | 95 | //pc.printf("SSSSSSSSSSSSSSSSS%d\r\n", order); |
lilac0112_1 | 0:6c79a352010b | 96 | } |
lilac0112_1 | 0:6c79a352010b | 97 | else{ |
lilac0112_1 | 0:6c79a352010b | 98 | //pc.f("FFFF\r\n"); |
lilac0112_1 | 0:6c79a352010b | 99 | } |
lilac0112_1 | 0:6c79a352010b | 100 | } |
lilac0112_1 | 0:6c79a352010b | 101 | void Ir_System(void){ |
lilac0112_1 | 0:6c79a352010b | 102 | |
lilac0112_1 | 0:6c79a352010b | 103 | uint8_t i;//ic |
lilac0112_1 | 0:6c79a352010b | 104 | uint8_t j;//ch |
lilac0112_1 | 0:6c79a352010b | 105 | |
lilac0112_1 | 0:6c79a352010b | 106 | uint8_t num_long; |
lilac0112_1 | 0:6c79a352010b | 107 | uint8_t num_short; |
lilac0112_1 | 0:6c79a352010b | 108 | |
lilac0112_1 | 0:6c79a352010b | 109 | uint16_t ir_val_long[8]; |
lilac0112_1 | 0:6c79a352010b | 110 | uint16_t ir_val_short[12]; |
lilac0112_1 | 0:6c79a352010b | 111 | |
lilac0112_1 | 0:6c79a352010b | 112 | uint16_t ir_val, ir_val_diff; |
lilac0112_1 | 0:6c79a352010b | 113 | |
lilac0112_1 | 0:6c79a352010b | 114 | uint8_t ir_posi; |
lilac0112_1 | 0:6c79a352010b | 115 | uint8_t ir_posi_long[8]; |
lilac0112_1 | 0:6c79a352010b | 116 | uint8_t ir_posi_short[12]; |
lilac0112_1 | 0:6c79a352010b | 117 | static uint8_t const ch_num[3]={8, 8, 4}; |
lilac0112_1 | 0:6c79a352010b | 118 | |
lilac0112_1 | 1:ea7307724f1c | 119 | static uint16_t const ir_dis_range[2][8]={ |
lilac0112_1 | 3:8ef3afcf4ade | 120 | {0, 1500, 2000, 2250, 2500, 2750, 3000, 3900, },//IR_SHORT 0 |
lilac0112_1 | 3:8ef3afcf4ade | 121 | {0, 500, 750, 1000, 1250, 1500, 1750, 2000, },//IR_LONG 1 |
lilac0112_1 | 3:8ef3afcf4ade | 122 | }; |
lilac0112_1 | 1:ea7307724f1c | 123 | |
lilac0112_1 | 0:6c79a352010b | 124 | nucleo.format(16, 3); |
lilac0112_1 | 0:6c79a352010b | 125 | nucleo.frequency(1000000); |
lilac0112_1 | 0:6c79a352010b | 126 | nucleo.reply(0x0000); |
lilac0112_1 | 0:6c79a352010b | 127 | |
lilac0112_1 | 0:6c79a352010b | 128 | ir.format(8, 3); |
lilac0112_1 | 0:6c79a352010b | 129 | ir.frequency(1000000); |
lilac0112_1 | 0:6c79a352010b | 130 | |
lilac0112_1 | 0:6c79a352010b | 131 | //遠距離用電源 |
lilac0112_1 | 0:6c79a352010b | 132 | supply.period(0.010);//T=10[ms] |
lilac0112_1 | 0:6c79a352010b | 133 | supply.write(0.9);//L...10%,H...90% |
lilac0112_1 | 0:6c79a352010b | 134 | |
lilac0112_1 | 0:6c79a352010b | 135 | //Nucleoとの通信用のピン変化割り込み |
lilac0112_1 | 0:6c79a352010b | 136 | //Nucleoとの通信をする際はTeraTermへの出力は控えるべき |
lilac0112_1 | 0:6c79a352010b | 137 | call.fall(&emergency); |
lilac0112_1 | 0:6c79a352010b | 138 | |
lilac0112_1 | 0:6c79a352010b | 139 | for(i=0; i<IC_NUM; i++) cs[i]=1; |
lilac0112_1 | 2:83b8bf9f0ea1 | 140 | |
lilac0112_1 | 2:83b8bf9f0ea1 | 141 | ir_val_phase[IR_SHORT] = DIS_7; |
lilac0112_1 | 2:83b8bf9f0ea1 | 142 | ir_val_phase[IR_LONG] = DIS_7; |
lilac0112_1 | 0:6c79a352010b | 143 | while(1) { |
lilac0112_1 | 0:6c79a352010b | 144 | //全ての素子の値を検出 |
lilac0112_1 | 0:6c79a352010b | 145 | num_short=0; |
lilac0112_1 | 0:6c79a352010b | 146 | num_long=0; |
lilac0112_1 | 0:6c79a352010b | 147 | for(i=0; i<IC_NUM; i++){//IC |
lilac0112_1 | 0:6c79a352010b | 148 | for(j=0; j<ch_num[i]; j++){//Ch |
lilac0112_1 | 0:6c79a352010b | 149 | ir_val = read_input(i, j); |
lilac0112_1 | 0:6c79a352010b | 150 | ir_posi = read_position(i, j); |
lilac0112_1 | 0:6c79a352010b | 151 | |
lilac0112_1 | 0:6c79a352010b | 152 | if(i==0){ |
lilac0112_1 | 0:6c79a352010b | 153 | ir_val_long[num_long] = ir_val; |
lilac0112_1 | 0:6c79a352010b | 154 | ir_posi_long[num_long] = ir_posi; |
lilac0112_1 | 0:6c79a352010b | 155 | num_long++; |
lilac0112_1 | 0:6c79a352010b | 156 | |
lilac0112_1 | 0:6c79a352010b | 157 | } |
lilac0112_1 | 0:6c79a352010b | 158 | else{ |
lilac0112_1 | 0:6c79a352010b | 159 | ir_val_short[num_short] = ir_val; |
lilac0112_1 | 0:6c79a352010b | 160 | ir_posi_short[num_short] = ir_posi; |
lilac0112_1 | 0:6c79a352010b | 161 | num_short++; |
lilac0112_1 | 0:6c79a352010b | 162 | } |
lilac0112_1 | 0:6c79a352010b | 163 | |
lilac0112_1 | 0:6c79a352010b | 164 | } |
lilac0112_1 | 0:6c79a352010b | 165 | } |
lilac0112_1 | 0:6c79a352010b | 166 | //バブルソート |
lilac0112_1 | 0:6c79a352010b | 167 | BubbleSort(ir_val_short, ir_posi_short, 12); |
lilac0112_1 | 0:6c79a352010b | 168 | BubbleSort(ir_val_long, ir_posi_long, 8); |
lilac0112_1 | 0:6c79a352010b | 169 | |
lilac0112_1 | 0:6c79a352010b | 170 | //検出した最大値と最小値の差 |
lilac0112_1 | 0:6c79a352010b | 171 | ir_val_diff = ir_val_short[0]-ir_val_short[11];//After bubble |
lilac0112_1 | 0:6c79a352010b | 172 | //最もボールがあるとされる位置を代入 |
lilac0112_1 | 1:ea7307724f1c | 173 | ir_position[IR_SHORT] = ir_posi_short[11];//After bubble |
lilac0112_1 | 1:ea7307724f1c | 174 | ir_position[IR_LONG] = ir_posi_long[7];//After bubble |
lilac0112_1 | 0:6c79a352010b | 175 | |
lilac0112_1 | 0:6c79a352010b | 176 | /* |
lilac0112_1 | 0:6c79a352010b | 177 | #define IR_NOTE_NONE 0x0 |
lilac0112_1 | 0:6c79a352010b | 178 | #define IR_NOTE_FAR 0x1 |
lilac0112_1 | 0:6c79a352010b | 179 | #define IR_NOTE_CLOSE 0x2 |
lilac0112_1 | 0:6c79a352010b | 180 | #define IR_NOTE_CLOSER 0x3 |
lilac0112_1 | 0:6c79a352010b | 181 | */ |
lilac0112_1 | 1:ea7307724f1c | 182 | //ボールが遠くにあるか,近くか,フィールドにないかを判断(8段階) |
lilac0112_1 | 1:ea7307724f1c | 183 | |
lilac0112_1 | 1:ea7307724f1c | 184 | |
lilac0112_1 | 1:ea7307724f1c | 185 | //short |
lilac0112_1 | 1:ea7307724f1c | 186 | |
lilac0112_1 | 1:ea7307724f1c | 187 | if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_7]){ |
lilac0112_1 | 1:ea7307724f1c | 188 | ir_val_phase[IR_SHORT] = DIS_7; |
lilac0112_1 | 1:ea7307724f1c | 189 | } |
lilac0112_1 | 1:ea7307724f1c | 190 | else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_6]){ |
lilac0112_1 | 1:ea7307724f1c | 191 | ir_val_phase[IR_SHORT] = DIS_6; |
lilac0112_1 | 1:ea7307724f1c | 192 | } |
lilac0112_1 | 1:ea7307724f1c | 193 | else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_5]){ |
lilac0112_1 | 1:ea7307724f1c | 194 | ir_val_phase[IR_SHORT] = DIS_5; |
lilac0112_1 | 1:ea7307724f1c | 195 | } |
lilac0112_1 | 1:ea7307724f1c | 196 | else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_4]){ |
lilac0112_1 | 1:ea7307724f1c | 197 | ir_val_phase[IR_SHORT] = DIS_4; |
lilac0112_1 | 1:ea7307724f1c | 198 | } |
lilac0112_1 | 1:ea7307724f1c | 199 | else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_3]){ |
lilac0112_1 | 1:ea7307724f1c | 200 | ir_val_phase[IR_SHORT] = DIS_3; |
lilac0112_1 | 1:ea7307724f1c | 201 | } |
lilac0112_1 | 1:ea7307724f1c | 202 | else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_2]){ |
lilac0112_1 | 1:ea7307724f1c | 203 | ir_val_phase[IR_SHORT] = DIS_2; |
lilac0112_1 | 1:ea7307724f1c | 204 | } |
lilac0112_1 | 1:ea7307724f1c | 205 | else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_1]){ |
lilac0112_1 | 1:ea7307724f1c | 206 | ir_val_phase[IR_SHORT] = DIS_1; |
lilac0112_1 | 1:ea7307724f1c | 207 | } |
lilac0112_1 | 1:ea7307724f1c | 208 | else{//ir_val_short[11]>=0 |
lilac0112_1 | 1:ea7307724f1c | 209 | ir_val_phase[IR_SHORT] = DIS_0; |
lilac0112_1 | 1:ea7307724f1c | 210 | } |
lilac0112_1 | 1:ea7307724f1c | 211 | |
lilac0112_1 | 1:ea7307724f1c | 212 | //long |
lilac0112_1 | 1:ea7307724f1c | 213 | |
lilac0112_1 | 1:ea7307724f1c | 214 | if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_7]){ |
lilac0112_1 | 1:ea7307724f1c | 215 | ir_val_phase[IR_LONG] = DIS_7; |
lilac0112_1 | 1:ea7307724f1c | 216 | } |
lilac0112_1 | 1:ea7307724f1c | 217 | else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_6]){ |
lilac0112_1 | 1:ea7307724f1c | 218 | ir_val_phase[IR_LONG] = DIS_6; |
lilac0112_1 | 1:ea7307724f1c | 219 | } |
lilac0112_1 | 1:ea7307724f1c | 220 | else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_5]){ |
lilac0112_1 | 1:ea7307724f1c | 221 | ir_val_phase[IR_LONG] = DIS_5; |
lilac0112_1 | 1:ea7307724f1c | 222 | } |
lilac0112_1 | 1:ea7307724f1c | 223 | else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_4]){ |
lilac0112_1 | 1:ea7307724f1c | 224 | ir_val_phase[IR_LONG] = DIS_4; |
lilac0112_1 | 1:ea7307724f1c | 225 | } |
lilac0112_1 | 1:ea7307724f1c | 226 | else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_3]){ |
lilac0112_1 | 1:ea7307724f1c | 227 | ir_val_phase[IR_LONG] = DIS_3; |
lilac0112_1 | 1:ea7307724f1c | 228 | } |
lilac0112_1 | 1:ea7307724f1c | 229 | else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_2]){ |
lilac0112_1 | 1:ea7307724f1c | 230 | ir_val_phase[IR_LONG] = DIS_2; |
lilac0112_1 | 1:ea7307724f1c | 231 | } |
lilac0112_1 | 1:ea7307724f1c | 232 | else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_1]){ |
lilac0112_1 | 1:ea7307724f1c | 233 | ir_val_phase[IR_LONG] = DIS_1; |
lilac0112_1 | 1:ea7307724f1c | 234 | } |
lilac0112_1 | 1:ea7307724f1c | 235 | else{//ir_val_long[7]>=0 |
lilac0112_1 | 1:ea7307724f1c | 236 | ir_val_phase[IR_LONG] = DIS_0; |
lilac0112_1 | 1:ea7307724f1c | 237 | } |
lilac0112_1 | 1:ea7307724f1c | 238 | |
lilac0112_1 | 3:8ef3afcf4ade | 239 | /* |
lilac0112_1 | 1:ea7307724f1c | 240 | //old |
lilac0112_1 | 0:6c79a352010b | 241 | ir_notice = IR_NOTE_NONE;//none |
lilac0112_1 | 0:6c79a352010b | 242 | |
lilac0112_1 | 0:6c79a352010b | 243 | if((ir_val_short[11]>=3900)&&(1)){ |
lilac0112_1 | 0:6c79a352010b | 244 | if((ir_val_long[7]<=1700)&&(1)){ |
lilac0112_1 | 0:6c79a352010b | 245 | ir_notice = IR_NOTE_FAR;//long_data |
lilac0112_1 | 0:6c79a352010b | 246 | } |
lilac0112_1 | 0:6c79a352010b | 247 | else{ |
lilac0112_1 | 0:6c79a352010b | 248 | ir_notice = IR_NOTE_NONE;//none |
lilac0112_1 | 0:6c79a352010b | 249 | } |
lilac0112_1 | 0:6c79a352010b | 250 | } |
lilac0112_1 | 0:6c79a352010b | 251 | else{ |
lilac0112_1 | 0:6c79a352010b | 252 | if((ir_val_short[11]<=2400)&&(1)){ |
lilac0112_1 | 0:6c79a352010b | 253 | if(ir_val_long[7]<=1000){ |
lilac0112_1 | 0:6c79a352010b | 254 | ir_notice = IR_NOTE_CLOSER;//short_data |
lilac0112_1 | 0:6c79a352010b | 255 | } |
lilac0112_1 | 0:6c79a352010b | 256 | else{ |
lilac0112_1 | 0:6c79a352010b | 257 | ir_notice = IR_NOTE_FAR;//long_data |
lilac0112_1 | 0:6c79a352010b | 258 | } |
lilac0112_1 | 0:6c79a352010b | 259 | |
lilac0112_1 | 0:6c79a352010b | 260 | } |
lilac0112_1 | 0:6c79a352010b | 261 | else{ |
lilac0112_1 | 0:6c79a352010b | 262 | ir_notice = IR_NOTE_CLOSE;//short_data |
lilac0112_1 | 0:6c79a352010b | 263 | } |
lilac0112_1 | 0:6c79a352010b | 264 | }*/ |
lilac0112_1 | 0:6c79a352010b | 265 | |
lilac0112_1 | 0:6c79a352010b | 266 | //デバッグ用のTeraTermへの出力 |
lilac0112_1 | 0:6c79a352010b | 267 | |
lilac0112_1 | 0:6c79a352010b | 268 | pc.printf("val_short:%d\t", ir_val_short[11]);//最小検出値(近) |
lilac0112_1 | 0:6c79a352010b | 269 | pc.printf("val_long:%d\t", ir_val_long[7]);//最小検出値(遠) |
lilac0112_1 | 0:6c79a352010b | 270 | pc.printf("state_short:%d\t", ir_position[0]);//ボール位置(近) |
lilac0112_1 | 0:6c79a352010b | 271 | pc.printf("state_long:%d\t", ir_position[1]);//ボール位置(遠) |
lilac0112_1 | 2:83b8bf9f0ea1 | 272 | //pc.printf("Diff_short:%d\t", ir_val_short[0]-ir_val_short[11]);//検出した最大値と最小値の差(近) |
lilac0112_1 | 2:83b8bf9f0ea1 | 273 | //pc.printf("Diff_long:%d\t", ir_val_long[0]-ir_val_long[7]);//検出した最大値と最小値の差(遠) |
lilac0112_1 | 2:83b8bf9f0ea1 | 274 | |
lilac0112_1 | 2:83b8bf9f0ea1 | 275 | pc.printf("ir_val_phase[IR_SHORT]:%d\t", ir_val_phase[IR_SHORT]);//判定されたボールの距離の段階(遠) |
lilac0112_1 | 2:83b8bf9f0ea1 | 276 | pc.printf("ir_val_phase[IR_LONG]:%d\t", ir_val_phase[IR_LONG]);//判定されたボールの距離の段階(遠) |
lilac0112_1 | 2:83b8bf9f0ea1 | 277 | |
lilac0112_1 | 2:83b8bf9f0ea1 | 278 | //pc.printf("notice:%d\t", ir_notice);//判定されたボールの状況 |
lilac0112_1 | 0:6c79a352010b | 279 | pc.printf("\r\n"); |
lilac0112_1 | 2:83b8bf9f0ea1 | 280 | |
lilac0112_1 | 0:6c79a352010b | 281 | /* |
lilac0112_1 | 0:6c79a352010b | 282 | pc.printf("%Value is "); |
lilac0112_1 | 0:6c79a352010b | 283 | pc.printf("Dirr_short is %d\t", ir_val_short[0]-ir_val_short[11]);//検出した最大値と最小値の差(近) |
lilac0112_1 | 0:6c79a352010b | 284 | pc.printf("Dirr_long is %d\t", ir_val_long[0]-ir_val_long[7]);//検出した最大値と最小値の差(遠) |
lilac0112_1 | 0:6c79a352010b | 285 | pc.printf("\r\n"); |
lilac0112_1 | 0:6c79a352010b | 286 | */ |
lilac0112_1 | 0:6c79a352010b | 287 | |
lilac0112_1 | 0:6c79a352010b | 288 | //検出した値全てを出力(バブルソートすると位置が変わるので注意) |
lilac0112_1 | 0:6c79a352010b | 289 | /*pc.printf("%Value is "); |
lilac0112_1 | 0:6c79a352010b | 290 | for(i=0; i<8; i++){ |
lilac0112_1 | 0:6c79a352010b | 291 | pc.printf("%d\t", ir_val_long[i]);//遠 |
lilac0112_1 | 0:6c79a352010b | 292 | } |
lilac0112_1 | 0:6c79a352010b | 293 | for(i=0; i<12; i++){ |
lilac0112_1 | 0:6c79a352010b | 294 | pc.printf("%d\t", ir_val_short[i]);//近 |
lilac0112_1 | 0:6c79a352010b | 295 | } |
lilac0112_1 | 0:6c79a352010b | 296 | |
lilac0112_1 | 0:6c79a352010b | 297 | pc.printf("\r\n"); |
lilac0112_1 | 0:6c79a352010b | 298 | */ |
lilac0112_1 | 0:6c79a352010b | 299 | } |
lilac0112_1 | 0:6c79a352010b | 300 | } |
lilac0112_1 | 0:6c79a352010b | 301 | uint16_t read_input(uint8_t ic, uint8_t channel) |
lilac0112_1 | 0:6c79a352010b | 302 | { |
lilac0112_1 | 0:6c79a352010b | 303 | uint16_t command_high = START_BIT | MODE_SINGLE | ((channel & 0x04) >> 2); |
lilac0112_1 | 0:6c79a352010b | 304 | uint16_t command_low = (channel & 0x03) << 6; |
lilac0112_1 | 0:6c79a352010b | 305 | |
lilac0112_1 | 0:6c79a352010b | 306 | cs[ic] = 0; |
lilac0112_1 | 0:6c79a352010b | 307 | |
lilac0112_1 | 0:6c79a352010b | 308 | ir.write(command_high); |
lilac0112_1 | 0:6c79a352010b | 309 | uint16_t high_byte = ir.write(command_low) & 0x0F; |
lilac0112_1 | 0:6c79a352010b | 310 | uint16_t low_byte = ir.write(0); |
lilac0112_1 | 0:6c79a352010b | 311 | |
lilac0112_1 | 0:6c79a352010b | 312 | wait_us(1); |
lilac0112_1 | 0:6c79a352010b | 313 | cs[ic] = 1; |
lilac0112_1 | 0:6c79a352010b | 314 | |
lilac0112_1 | 0:6c79a352010b | 315 | return (high_byte << 8) | low_byte;//0x0000...0xFFFF |
lilac0112_1 | 0:6c79a352010b | 316 | } |
lilac0112_1 | 0:6c79a352010b | 317 | uint8_t read_position(uint8_t ic, uint8_t channel){ |
lilac0112_1 | 0:6c79a352010b | 318 | //DigitalOut cs[IC_NUM] = {cs1, cs2, cs3}; |
lilac0112_1 | 0:6c79a352010b | 319 | static uint8_t const ir_location[3][8]= |
lilac0112_1 | 0:6c79a352010b | 320 | {//0,1,2...7(ch) |
lilac0112_1 | 0:6c79a352010b | 321 | {1, 2, 3, 4, 5, 6, 7, 8},//cs1,Long*8 |
lilac0112_1 | 0:6c79a352010b | 322 | {1, 2, 3, 4, 5, 6, 7, 8},//cs2,Short*8 |
lilac0112_1 | 0:6c79a352010b | 323 | {9, 10, 11, 12},//cs3,Short*4 |
lilac0112_1 | 0:6c79a352010b | 324 | }; |
lilac0112_1 | 0:6c79a352010b | 325 | return ir_location[ic][channel]; |
lilac0112_1 | 0:6c79a352010b | 326 | } |
lilac0112_1 | 1:ea7307724f1c | 327 | void BubbleSort(uint16_t *data, uint8_t *data2, uint8_t n)//降順にする |
lilac0112_1 | 0:6c79a352010b | 328 | { |
lilac0112_1 | 0:6c79a352010b | 329 | bool flag; |
lilac0112_1 | 0:6c79a352010b | 330 | uint8_t i, j;//inclement |
lilac0112_1 | 0:6c79a352010b | 331 | uint16_t temp;//temporary for value |
lilac0112_1 | 0:6c79a352010b | 332 | uint8_t temp2;//temporary for position |
lilac0112_1 | 0:6c79a352010b | 333 | |
lilac0112_1 | 0:6c79a352010b | 334 | j=0; |
lilac0112_1 | 0:6c79a352010b | 335 | do{ |
lilac0112_1 | 0:6c79a352010b | 336 | j++; |
lilac0112_1 | 0:6c79a352010b | 337 | flag=0; |
lilac0112_1 | 0:6c79a352010b | 338 | for (i=0; i<n-j; i++) { |
lilac0112_1 | 0:6c79a352010b | 339 | if (data[i]<data[i+1]) { |
lilac0112_1 | 0:6c79a352010b | 340 | // 左右の並びがおかしければ入れ替える |
lilac0112_1 | 0:6c79a352010b | 341 | flag=1; |
lilac0112_1 | 0:6c79a352010b | 342 | temp=data[i]; |
lilac0112_1 | 0:6c79a352010b | 343 | data[i]=data[i+1]; |
lilac0112_1 | 0:6c79a352010b | 344 | data[i+1]=temp; |
lilac0112_1 | 0:6c79a352010b | 345 | |
lilac0112_1 | 0:6c79a352010b | 346 | temp2=data2[i]; |
lilac0112_1 | 0:6c79a352010b | 347 | data2[i]=data2[i+1]; |
lilac0112_1 | 0:6c79a352010b | 348 | data2[i+1]=temp2; |
lilac0112_1 | 0:6c79a352010b | 349 | } |
lilac0112_1 | 0:6c79a352010b | 350 | } |
lilac0112_1 | 0:6c79a352010b | 351 | } while (flag==1); //入れ替えがある間,繰り返す. |
lilac0112_1 | 0:6c79a352010b | 352 | } |
lilac0112_1 | 0:6c79a352010b | 353 | #endif /*IR_SENSOR*/ |