File content as of revision 0:6c79a352010b:

#include "mbed.h"
#include "extern.h"

#ifdef SD_CARD
void Sd_System(void){
    
    char buf[BUFSIZE];
    uint16_t FileData[FDATA_NUM]={0}, num, data;
    uint8_t spi_num, h_byte, l_byte, val, packet;
    int i;
    FILE *fp;
    char *fname="/sd/mydir/sdtest.txt";
    char *dname="/sd/mydir";

    mkdir(dname, 0777);

    pc.printf("Hello World!\n");

    fp = fopen(fname, "r");
        if(fp == NULL) {
            error("Could not open file for read\n");
        }
        while(fgets(buf, sizeof(buf), fp) != NULL){
            if(buf[0] == '#') continue;
            
            num = atol(strtok(buf, ","));
            data = atol(strtok(NULL, "\r\n\0"));
            
            if(num<FDATA_NUM){
                FileData[num] = data;
                pc.printf("%d, %ld\n", num, FileData[num]);
            }
            else{
                continue;
            }
        }
        fclose(fp);
        
    while(1){
        
        val = nucleo.receive();
        if(!val) continue;
        
        spi_num = nucleo.read();
        h_byte = nucleo.read();
        l_byte = nucleo.read();
        
        if((spi_num&0x80)>>7 == 1){//writing to sd
            spi_num = spi_num & 0x7F;
            if(spi_num<FDATA_NUM){
                FileData[spi_num] = (h_byte<<8) | l_byte;
                //pc.printf("%d, %ld\n", num, FileData[num]);
                fp = fopen(fname, "w");
                for(i=0; i<FDATA_NUM; i++) fprintf(fp, "%d, %ld\n", i, FileData[i]);
                fclose(fp);
            }
        }
        else{//reading from sd
            spi_num = spi_num & 0x7F;
            if(spi_num<FDATA_NUM){
                h_byte = (FileData[spi_num] & 0xFF00)>>8;
                l_byte = (FileData[spi_num] & 0x00FF);

                packet = h_byte;
                nucleo.reply(packet);

                packet = l_byte;
                nucleo.reply(packet);
            }
        }
        //pc.printf("Goodbye World!\n");
    }
}
#endif /*SD_CARD*/

#if defined(ULTRA_SONIC) || defined(ULTRA_SONIC_2)

uint16_t packet, val, order;
uint16_t front_dis=0, rear_dis=0;

void emergency(void){
    led[1]=1;
    //front_dis = 0xAA;
    //rear_dis = 0xBB;
    val = nucleo.receive();
    if(val==1){
        order = nucleo.read();
        if(order == 0xABCD){
            packet = ((front_dis<<8)|(rear_dis))&0xFFFF;nucleo.reply(packet);
        }
        else{
            packet = 0xFFFF;nucleo.reply(packet);
        }
        //pc.printf("SSSSSSSSSSSSSSSSS%d\r\n", order);
    }
    else{
        //pc.printf("FFFF\r\n");
    }
    wait_us(100);
    led[1]=0;
}
void Usw_System(void){
    
    nucleo.format(16, 3);
    nucleo.frequency(1000000);
    nucleo.reply(0x0000);
    
    call.fall(&emergency);
    
    //led[0]=led[1]=1;
    while(1){
        
        led[0]=1;
        front.Send();
        wait_ms(30);
        front_dis = front.Read_cm();
        if(front_dis>0xFE) front_dis=0xFE;
        
        
        rear.Send();
        wait_ms(30);
        rear_dis = rear.Read_cm();
        if(rear_dis>0xFE) rear_dis=0xFE;
        led[0]=0;
        wait_us(1000);
        //pc.printf("%d\t%d\t\r\n", front_dis, rear_dis);
        
        //emergency();
    }
}

#endif /*(ULTRA_SONIC) || (ULTRA_SONIC_2)*/

#ifdef COLOR_SENSOR
void Color_System(void){
    uint8_t val, order, packet;
    uint16_t data;

    while(1){
        while(1){
            val = nucleo.receive();
            if(val){
                order = nucleo.read();
                order %= SENSOR_X_COLOR;
                data = ColorSensor[order].read_u16();
                packet = (data & 0xFF00)>>8;
                nucleo.reply(packet);
            }
            else{
                break;
            }
        }
    }
}
#endif /*COLOR_SENSOR*/

#ifdef IR_SENSOR

uint8_t ir_notice=0;//4bit
static uint8_t const ir_key=IR_KEY;//4bit
uint8_t ir_position[2]={0};//4bit*2

void emergency(void){
    uint16_t order,packet,val;
    //ir_key=0xA;
    //ir_notice=0xC;
    //ir_position[1]=0xE;
    //ir_position[0]=0xF;
    val = nucleo.receive();
    if(val==1){
        order = nucleo.read();
        if(order == 0xABCD){
            //key/notice/long/short
            packet = ((ir_key<<12)|(ir_notice<<8)|(ir_position[LONG_SPOT]<<4)|(ir_position[SHORT_SPOT]<<0))&0xFFFF;nucleo.reply(packet);
        }
        else{
            packet = 0xFFFF;nucleo.reply(packet);
        }
        //pc.printf("SSSSSSSSSSSSSSSSS%d\r\n", order);
    }
    else{
        //pc.f("FFFF\r\n");
    }
}
void Ir_System(void){
    
    uint8_t i;//ic
    uint8_t j;//ch
    
    uint8_t num_long;
    uint8_t num_short;
    
    uint16_t ir_val_long[8];
    uint16_t ir_val_short[12];
    
    uint16_t ir_val, ir_val_diff;
    
    uint8_t ir_posi;
    uint8_t ir_posi_long[8];
    uint8_t ir_posi_short[12];
    static uint8_t const ch_num[3]={8, 8, 4};
    
    nucleo.format(16, 3);
    nucleo.frequency(1000000);
    nucleo.reply(0x0000);
    
    ir.format(8, 3);
    ir.frequency(1000000);
    
    //遠距離用電源
    supply.period(0.010);//T=10[ms]
    supply.write(0.9);//L...10%,H...90%
    
    //Nucleoとの通信用のピン変化割り込み
    //Nucleoとの通信をする際はTeraTermへの出力は控えるべき
    call.fall(&emergency);
    
    for(i=0; i<IC_NUM; i++) cs[i]=1;
    while(1) {
        //全ての素子の値を検出
        num_short=0;
        num_long=0;
        for(i=0; i<IC_NUM; i++){//IC
            for(j=0; j<ch_num[i]; j++){//Ch
                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++;
                }
                
            }
        }
        //バブルソート
        BubbleSort(ir_val_short, ir_posi_short, 12);
        BubbleSort(ir_val_long, ir_posi_long, 8);
        
        //検出した最大値と最小値の差
        ir_val_diff = ir_val_short[0]-ir_val_short[11];//After bubble
        //最もボールがあるとされる位置を代入
        ir_position[SHORT_SPOT] = ir_posi_short[11];//After bubble
        ir_position[LONG_SPOT] = ir_posi_long[7];//After bubble
        
        /*
        #define IR_NOTE_NONE    0x0
        #define IR_NOTE_FAR     0x1
        #define IR_NOTE_CLOSE   0x2
        #define IR_NOTE_CLOSER  0x3
        */
        //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
        ir_notice = IR_NOTE_NONE;//none
        
        if((ir_val_short[11]>=3900)&&(1)){
            if((ir_val_long[7]<=1700)&&(1)){
                ir_notice = IR_NOTE_FAR;//long_data
            }
            else{
                ir_notice = IR_NOTE_NONE;//none
            }
        }
        else{
            if((ir_val_short[11]<=2400)&&(1)){
                if(ir_val_long[7]<=1000){
                    ir_notice = IR_NOTE_CLOSER;//short_data
                }
                else{
                    ir_notice = IR_NOTE_FAR;//long_data
                }
                
            }
            else{
                ir_notice = IR_NOTE_CLOSE;//short_data
            }
        }
        
        
        /*ir_notice = IR_NOTE_NONE;//none
        if((DIS_MORE_CLOSE<=ir_val_diff)&&(1)){
            ir_notice = IR_NOTE_CLOSER;//short_data
        }
        else if((DIS_CLOSE<=ir_val_diff)&&(ir_val_diff<DIS_MORE_CLOSE)){
            ir_notice = IR_NOTE_CLOSE;//short_data
        }
        else if((DIS_FAR<=ir_val_diff)&&(ir_val_diff<DIS_CLOSE)){
            ir_notice = IR_NOTE_FAR;//long_data
        }
        else if((1)&&(ir_val_diff<DIS_FAR)){
            ir_notice = IR_NOTE_NONE;//none
            if(((ir_val_long[0]-ir_val_long[7])>900)&&1){
                ir_notice = IR_NOTE_FAR;//long_data
            }
        }*/
        
        //デバッグ用のTeraTermへの出力
        
        /*
        pc.printf("val_short:%d\t", ir_val_short[11]);//最小検出値(近)
        pc.printf("val_long:%d\t", ir_val_long[7]);//最小検出値(遠)
        pc.printf("state_short:%d\t", ir_position[0]);//ボール位置(近)
        pc.printf("state_long:%d\t", ir_position[1]);//ボール位置(遠)
        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)
        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)
        pc.printf("notice:%d\t", ir_notice);//判定されたボールの状況
        pc.printf("\r\n");
        */
        /*
        pc.printf("%Value is ");
        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)
        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)
        pc.printf("\r\n");
        */
        
        //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)
        /*pc.printf("%Value is ");
        for(i=0; i<8; i++){
            pc.printf("%d\t", ir_val_long[i]);//遠
        }
        for(i=0; i<12; i++){
            pc.printf("%d\t", ir_val_short[i]);//近
        }
        
        pc.printf("\r\n");
        */
    }
}
uint16_t read_input(uint8_t ic, uint8_t channel)
{
    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);
    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
}
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, 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-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．
}
#endif /*IR_SENSOR*/