Ohnishi_Gundan
FM-test
Dependencies: MODSERIAL mbed-rtos mbed
Fork of
Master
by 
Ohnishi_Gundan
Revision 0:4f07ba929908, committed 2014-09-11
- Comitter:
- 9uS7
- Date:
- Thu Sep 11 10:15:34 2014 +0000
- Child:
- 1:e1cfb5850088
- Commit message:
- main_program
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/bluetooth.cpp Thu Sep 11 10:15:34 2014 +0000
@@ -0,0 +1,16 @@
+#include "mbed.h"
+#include "bluetooth.h"
+
+
+void btSetupMaster(void) //setup master
+{
+ btMaster.baud(9600);
+ btMaster.printf("$$$");
+ wait(0.5);
+ btMaster.printf("C\r");
+ wait(0.5);
+}
+
+void btSetupSlave(void)
+{
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/bluetooth.h Thu Sep 11 10:15:34 2014 +0000
@@ -0,0 +1,17 @@
+#ifndef _INC_MY_BLUETOOTH
+#define _INC_MY_BLUETOOTH
+
+#include "mbed.h"
+
+typedef union _cvt{
+ char byte[4];
+ int in;
+ float fl;
+} Cvt;
+
+Serial btMaster(p13, p14); // tx, rx
+
+void btSetupMaster(void);
+void btSetupSlave(void);
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/control.cpp Thu Sep 11 10:15:34 2014 +0000
@@ -0,0 +1,53 @@
+#include "mbed.h"
+#include "control.h"
+
+void pull(float buf){
+ Sig1 = 0;
+ Sig2 = 1;
+ Pwm = zeroPWM+buf/3;
+}
+
+void loose(float buf){
+ Sig1 = 1;
+ Sig2 = 0;
+ Pwm = zeroPWM+buf/3;
+}
+
+void brake(void){
+ Sig1 = 0;
+ Sig2 = 0;
+ Pwm = 1;
+}
+
+void open(void){
+ Sig1 = 0;
+ Sig2 = 0;
+ Pwm = 0;
+}
+
+void ResetPos(){
+ int pos_flag=0;
+ while(1){
+ if(Red1>center_pos){
+ pull(0.3);
+ }else if(Red1<center_pos){
+ loose(0.3);
+ }
+ if(abs(Red1-center_pos)<0.1){
+ Open1();
+ pos1_flag=1;
+ }
+
+ if(Red2>center_pos){
+ Back2();
+ }else if(Red2<center_pos){
+ Forward2();
+ }
+ if(abs(Red2-center_pos)<0.1){
+ Open2();
+ pos2_flag=1;
+ }
+
+ if(pos1_flag == 1 && pos2_flag ==1) break;
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/control.h Thu Sep 11 10:15:34 2014 +0000 @@ -0,0 +1,16 @@ +#ifndef _INC_MY_CONTROL +#define _INC_MY_CONTROL + +#include "mbed.h" + +//motor +DigitalOut Sig1(p21); +DigitalOut Sig2(p23); +PwmOut Pwm(p22); + +void pull(float); //pull motor(power) power:0~1 +void loose(float); //loose motor(power) power:0~1 +void brake(void); //brake motor +void open(void); //open motor + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/fm.cpp Thu Sep 11 10:15:34 2014 +0000
@@ -0,0 +1,71 @@
+#include "mbed.h"
+#include "fm.h"
+
+
+void i2cSetup(unsigned int _f)
+{
+ freq = _f; //freq/10.MHz 760~910
+ if(freq > 870){
+ freqB = freq - 870;
+ freqH = freqB>>2;
+ freqL = (freqB&3)<<6; // Shift channel selection for matching register 0x03
+ }else{
+ freqB = freq-760;
+ freqH = freqB>>2;
+ freqL = (freqB&3)<<6;
+ }
+
+ i2c.start();
+ i2c.write(addr);
+ i2c.write(0x02);
+ i2c.write(0xC0);
+ i2c.write(0x03);
+ i2c.stop();
+ wait(0.5); // wait 500ms
+
+ i2c.start();
+ i2c.write(addr);
+ i2c.write(0x02);
+ i2c.write(0xC0);
+ i2c.write(0x0D);
+ i2c.stop();
+ wait(0.5);
+
+ if(freq > 870){
+ freqL=freqL | 0x10;
+ }else{
+ freqL=freqL | 0x14;
+ }
+ i2c.start();
+ i2c.write(addr);
+ i2c.write(0x03);
+ i2c.write(freqH);
+ i2c.write(freqL);
+ i2c.stop();
+ wait(0.5);
+
+ char temp0 = 0x00;
+ char temp1 = 0x00;
+ i2c.read(addr,&temp0,1);
+ i2c.read(addr,&temp1,1);
+ temp0 &= 0xff;
+ temp1 &= 0xf0;
+ temp0 |= 0x00;
+ temp1 |= 0x01;
+ i2c.start();
+ i2c.write(addr);
+ i2c.write(0x40);
+ i2c.write(temp0);
+ i2c.write(temp1);
+ i2c.stop();
+ wait(0.5);
+
+ i2c.start();
+ i2c.write(addr);
+ i2c.write(0x42);
+ i2c.write(0x03);
+ i2c.write(0x0F);
+ i2c.stop();
+
+ wait(0.5);
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/fm.h Thu Sep 11 10:15:34 2014 +0000 @@ -0,0 +1,14 @@ +#ifndef _INC_MY_FMI2C +#define _INC_MY_FMI2C + +#include "mbed.h" + +I2C i2c(p9,p10); // SDA,SCI + +char freqH = 0, freqL = 0, c, i; +unsigned int frequencyB, freq, freqB; +const int addr = 0x11 << 1; + +void i2cSetup(unsigned int); //setup i2c (int frequency) -frequency:760~910 + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Sep 11 10:15:34 2014 +0000
@@ -0,0 +1,57 @@
+//Master mbed Program
+
+#include "mbed.h"
+#include "fm.h"
+#include "bluetooth.h"
+
+#define red_v 0.01
+#define center_pos 0.80
+#define late_time 0.3
+#define zeroPWM 0.17
+
+//port
+Serial pc(USBTX, USBRX); // tx, rx
+
+//sensor
+AnalogIn Red1(p17);
+AnalogIn FSR1(p18);
+AnalogIn Red2(p19);
+AnalogIn FSR2(p20);
+
+//debug
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led4(LED4);
+
+//motor
+DigitalOut Sig11(p24);
+DigitalOut Sig12(p26);
+PwmOut Pwm1(p25);
+DigitalOut Sig21(p21);
+DigitalOut Sig22(p23);
+PwmOut Pwm2(p22);
+
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+
+//byte converter
+Cvt cvt;
+
+void btRead(void);
+
+int main()
+{
+ i2cSetup( 780 );
+ btSetupMaster();
+ while(1){
+ /*i2c.start();
+ i2c.write(0x11);
+ i2c.write(0x42);
+ i2c.write(0x07);
+ i2c.write(0x0F);
+ i2c.stop();
+ wait(0.05);*/
+ }
+ }
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Sep 11 10:15:34 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9327015d4013 \ No newline at end of file