main.h

00001 #ifndef _MAIN_H_
00002 #define _MAIN_H_
00003 
00004 #include "def.h"
00005 
00006 //PinConfig
00007 
00008 //超音波用(20pin)
00009 #ifdef ULTRA_SONIC
00010 
00011 static PinName const monitor_tx = P0_4;
00012 static PinName const monitor_rx = P0_0;
00013 
00014 static PinName const write_rx = P0_0;
00015 static PinName const write_tx = P0_4;
00016 static PinName const write_reset = P0_5;
00017 static PinName const write_isp = P0_12;
00018 
00019 static PinName const SPI_mosi = P0_10;
00020 static PinName const SPI_miso = P0_11;
00021 static PinName const SPI_slck = P0_1;
00022 static PinName const SPI_ss_sonic = P0_15;
00023 
00024 static PinName const Sonic1_echo = P0_23;
00025 static PinName const Sonic2_echo = P0_17;
00026 
00027 static PinName const led_umr1 = P0_14;
00028 static PinName const led_umr2 = P0_13;
00029 
00030 Serial pc(monitor_tx, monitor_rx);
00031 SPISlave nucleo(SPI_mosi, SPI_miso, SPI_slck, SPI_ss_sonic);
00032 InterruptIn call(SPI_ss_sonic);
00033 Ping rear(Sonic1_echo);
00034 Ping front(Sonic2_echo);
00035 DigitalOut led[2]={led_umr1, led_umr2};
00036 #endif /*ULTRA_SONIC*/
00037 
00038 
00039 //超音波用onDebugBoard(20pin)
00040 #ifdef ULTRA_SONIC_2
00041 
00042 static PinName const monitor_tx = P0_4;
00043 static PinName const monitor_rx = P0_0;
00044 
00045 static PinName const write_rx = P0_0;
00046 static PinName const write_tx = P0_4;
00047 static PinName const write_reset = P0_5;
00048 static PinName const write_isp = P0_12;
00049 
00050 static PinName const SPI_mosi = P0_10;
00051 static PinName const SPI_miso = P0_11;
00052 static PinName const SPI_slck = P0_1;
00053 static PinName const SPI_ss_sonic = P0_15;
00054 
00055 static PinName const Sonic1_trg = P0_23;
00056 static PinName const Sonic2_trg = P0_17;
00057 
00058 static PinName const Sonic4_trg = P0_14;
00059 static PinName const Sonic3_trg = P0_13;
00060 
00061 Serial pc(monitor_tx, monitor_rx);
00062 SPISlave nucleo(SPI_mosi, SPI_miso, SPI_slck, SPI_ss_sonic);
00063 InterruptIn call(SPI_ss_sonic);
00064 Ping rear(Sonic1_trg);
00065 Ping front(Sonic2_trg);
00066 DigitalOut led[2]={Sonic4_trg, Sonic3_trg};
00067 #endif /*ULTRA_SONI_2*/
00068 
00069 //IRセンサー用(33pin)
00070 #ifdef IR_SENSOR
00071 static PinName const monitor_tx = P0_4;
00072 static PinName const monitor_rx = P0_0;
00073 //static PinName const monitor_tx = USBTX;
00074 //static PinName const monitor_rx = USBRX;
00075 
00076 static PinName const write_rx = P0_0;
00077 static PinName const write_tx = P0_4;
00078 static PinName const write_reset = P0_5;
00079 static PinName const write_isp = P0_12;
00080 
00081 static PinName const SPI_mosi = P0_27;
00082 static PinName const SPI_miso = P0_16;
00083 static PinName const SPI_sclk = P0_11;
00084 static PinName const SPI_ss_ir = P0_10;
00085 
00086 static PinName const din = P0_24;
00087 static PinName const dout = P0_25;
00088 static PinName const clk = P0_15;
00089 static PinName const cs3 = P0_6;
00090 static PinName const cs2 = P0_7;
00091 static PinName const cs1 = P0_1;
00092 static PinName const ir_vcc = P0_26;
00093 
00094 Serial pc(monitor_tx, monitor_rx);
00095 SPISlave nucleo(SPI_mosi, SPI_miso, SPI_sclk, SPI_ss_ir);
00096 InterruptIn call(SPI_ss_ir);
00097 SPI ir(din, dout, clk);
00098 DigitalOut cs[IC_NUM] = {cs1, cs2, cs3};
00099 PwmOut supply(ir_vcc);
00100 #endif /*IR_SENSOR*/
00101 
00102 #endif /*_MAIN_H_*/