/************ Solid PWM ************/
void sol_pwm(DigitalOut pwm, int r_turn, int l_turn)
{
for(i=0; i<10; i++)
{
pwm = 1;
wait_us(r_turn);
pwm = 0;
wait_ms(26);
}
for(i=0; i<10; i++)
{
pwm = 1;
wait_us(1525);
pwm = 0;
wait_ms(26);
}
for(i=0; i<10; i++)
{
pwm = 1;
wait_us(l_turn);
pwm = 0;
wait_ms(26);
}
for(i=0; i<10; i++)
{
pwm = 1;
wait_us(1525);
pwm = 0;
wait_ms(26);
}
}
/************ Liquid PWM ************/
void liq_pwm(DigitalOut pwm, int drop)
{
for(i=1000; i<drop; i=i+25)
{
pwm = 1;
wait_us(i);
pwm = 0;
wait_ms(26);
}
wait(3);
for(i=0; i<40; i++)
{
pwm= 1;
wait_us(1300);
pwm = 0;
wait_ms(26);
}
wait(3);
for(i=1300; i>1000; i=i-25)
{
pwm= 1;
wait_us(i);
pwm = 0;
wait_ms(26);
}
wait(7);
}
void reset_rn42()
{
P3OUT &= ~BIT0;
wait_us(BLUETOOTH_RESET_HOLD_TIME);
P3OUT |= BIT0;
wait_us(BLUETOOTH_STARTUP_TIME);
}
void VNH5019::clear_fault()
{
// if ENDIAG is high, then there is no fault
if (ENDIAG.read())
return;
// toggle the inputs
INA = 0;
INB = 0;
wait_us(250);
INA = 1;
INB = 1;
wait_us(250);
// pull low all inputs and wait 1600us for t_DEL
INA = 0;
INB = 0;
PWM = 0;
ENDIAG.output();
ENDIAG = 0;
wait_us(1600);
// and finally re-enable the motor
ENDIAG.input();
}
// Based on http://arduinodev.woofex.net/2012/12/01/standalone-sharp-dust-sensor/
float GP2Y10::read()
{
float voMeasured = 0;
float calcVoltage = 0;
float dustDensity = 0;
led = 0;
wait_us(SAMPLING_TIME);
voMeasured = analog; // read the dust value
wait_us(DELTA_TIME);
led = 1; // turn the LED off
wait_us(SLEEP_TIME);
// 0 - 3.3V mapped to 0 - 1023 integer values
// recover voltage
calcVoltage = voMeasured * 3.3;
// linear eqaution taken from http://www.howmuchsnow.com/arduino/airquality/
// Chris Nafis (c) 2012
dustDensity = 0.17 * calcVoltage - 0.1;
return dustDensity;
}
uint8_t matrix_scan(void)
{
if (mcp23018_status) { // if there was an error
if (++mcp23018_reset_loop == 0) {
// since mcp23018_reset_loop is 8 bit - we'll try to reset once in 255 matrix scans
// this will be approx bit more frequent than once per second
print("trying to reset mcp23018\n");
mcp23018_status = init_mcp23018();
if (mcp23018_status) {
print("left side not responding\n");
} else {
print("left side attached\n");
frenchdev_blink_all_leds();
}
}
}
#ifdef DEBUG_MATRIX_SCAN_RATE
matrix_scan_count++;
uint32_t timer_now = timer_read32();
if (TIMER_DIFF_32(timer_now, matrix_timer)>1000) {
print("matrix scan frequency: ");
pdec(matrix_scan_count);
print("\n");
matrix_timer = timer_now;
matrix_scan_count = 0;
}
#endif
for (uint8_t i = 0; i < MATRIX_ROWS; i++) {
select_row(i);
wait_us(30); // without this wait read unstable value.
matrix_row_t cols = read_cols(i);
if (matrix_debouncing[i] != cols) {
matrix_debouncing[i] = cols;
if (debouncing) {
debug("bounce!: "); debug_hex(debouncing); debug("\n");
}
debouncing = DEBOUNCE;
}
unselect_rows();
}
if (debouncing) {
if (--debouncing) {
wait_us(1);
// this should be wait_ms(1) but has been left as-is at EZ's request
} else {
for (uint8_t i = 0; i < MATRIX_ROWS; i++) {
matrix[i] = matrix_debouncing[i];
}
}
}
matrix_scan_quantum();
return 1;
}
int main()
{
float duration = 0.0;
float distance = 0.0;
status = false;
while(1)
{
triggerpin = 0;
wait_us(1); // Wait for 1us for clean low pulse
triggerpin = 1;
wait_us(10); // Trigger Pulse of 10us
triggerpin = 0;
while(!echopin); //Poll echo pin for High
timer.start(); //start Timer
while(echopin); //Poll echo pin for low
timer.stop(); //Stop timer
duration = (float)(timer.read_us()); //Read Timer Value = Echo High Time
//terminal.printf("\n Timer Reading cm : %f \n", duration);
distance = cal_distance(duration);
terminal.printf("\n Object Distance cm : %f \n", distance);
timer.reset(); //Reset Timer
wait(1); // Repeat Trigger after 1sec
}
}
int usbSendBytes(uchar *data,int size)
{
if(size==0) wait_us(140); // 0byte packet対策.
/* Last transmission hasn't finished, abort */
if (countTx) {
return 0;
}
if( GetEPTxStatus(ENDP1) == EP_TX_VALID) return 0;
if( size >= MAX_SEND_BYTES_CDC) {
size = MAX_SEND_BYTES_CDC;
}
UserToPMABufferCopy(data, ENDP1_TXADDR, size);
SetEPTxCount(ENDP1, size);
countTx += size;
if(size==0) countTx++; // 0byte packet対策.
SetEPTxValid(ENDP1);
if(size==0) wait_us(140); // 0byte packet対策.
return size;
}
int CHARMA::lireCharma() {
int i = 0, j = 0, fin = 0;
for(i = 0; i < 64; ++i){
buf[i] = '\0';
}
while (!sepI || !sigI){
wait_ms(delai_ms / 2);
}
wait_us(delai_ms * 1000 / 4);
while (sepI && sigI){
wait_ms(delai_ms / 2);
}
wait_us(delai_ms * 1000 / 4);
for(i = 0; i < 64 && fin == 0; ++i){
for(j = 0; j < 8; ++j){
buf[i] = buf[i] | (sigI << j);
while(!sepI){
wait_ms(delai_ms/2);
} while (sepI){
wait_ms(delai_ms/2);
}
wait_us(delai_ms * 1000 / 2);
}
if (buf[i] == '~'){
fin = 1;
}
}
return 0;
}
int main() {
async_portTX.baud(9600);
async_portRX.baud(9600);
while (1) {
switch_wordTX=0xA0;
if (switch1==1) switch_wordTX=switch_wordTX|0x01;
if (switch2==1) switch_wordTX=switch_wordTX|0x02;
strobe=1;
wait_us(10);
strobe=0;
async_portTX.putc(switch_wordTX);
if (async_portTX.readable()==1) recd_valTX=async_portTX.getc();
myled1 = 0;
myled2 = 0;
if (recd_valTX&0x01) myled1=1;
if (recd_valTX&0x02) myled2=1;
switch_wordRX=0xA0;
if (switch3==1) switch_wordRX=switch_wordRX|0x01;
if (switch4==1) switch_wordRX=switch_wordRX|0x02;
strobe=1;
wait_us(10);
strobe=0;
async_portRX.putc(switch_wordRX);
if (async_portRX.readable()==1) recd_valRX=async_portRX.getc();
myled3 = 0;
myled4 = 0;
if (recd_valRX&0x01) myled3=1;
if (recd_valRX&0x02) myled4=1;
}
}
/*********************************************************************
* TBLPTR から１バイト読み出し. TBLPTRはポスト・インクリメントされる.
*********************************************************************
*/
static uchar GetData8(void)
{
uchar i,data8=0;
SetCmdN(b_1001,4);
SetCmdN(0 , 8);
// return pic18_GetData8b();
/*********************************************************************
* 8 bit 受信. LSBファースト.
*********************************************************************
static uchar pic18_GetData8b(void)
{
*/
SetPGDDir(0); // PGD=in
// for(i=0;i<8;i++,mask<<=1) {
// if( GetCmdb1() ) {
// data8 |= mask;
// }
i=8;
do {
set_bit(PGC,1);
data8>>=1;
wait_us(1);
// if(inPGD) {
if(digitalRead(inPGD)) {
data8 |= 0x80;
}
set_bit(PGC,0);
wait_us(1);
} while(--i);
SetPGDDir(1); // PGD=out
return data8;
}
//写一个字节到DS18B20
//dat：要写入的字节
void DS18B20_Write_Byte(u8 dat)
{
u8 j;
u8 testb;
DS18B20_IO_OUT();//SET PA0 OUTPUT;
for (j=1;j<=8;j++)
{
testb=dat&0x01;
dat=dat>>1;
if (testb)
{
DS18B20_DQ_OUT=0;// Write 1
wait_us(2);
DS18B20_DQ_OUT=1;
wait_us(60);
}
else
{
DS18B20_DQ_OUT=0;// Write 0
wait_us(60);
DS18B20_DQ_OUT=1;
wait_us(2);
}
}
}
/*********************************************************************
* 4 bit 送信 , 最後の PGC_H時間を指定.
*********************************************************************
*/
void SetCmdNLong(uchar cmdn,uchar len,uchar ms)
{
uchar i; //,b;
for(i=0; i<(len-1); i++) {
// b = cmdn & 1;
// SetCmdb1(b);
// cmdn >>=1;
{
if(cmdn&1) set_bit(PGD,1);
else set_bit(PGD,0);
set_bit(PGC,1);
wait_us(1);
cmdn >>=1;
set_bit(PGC,0);
}
}
{
// SetCmdb1Long(cmdn & 1,ms);
{
if(cmdn&1) set_bit(PGD,1);
else set_bit(PGD,0);
set_bit(PGC,1);
if(ms) wait_ms(ms);
wait_us(1);
cmdn >>=1;
set_bit(PGC,0);
}
}
}
/*-------------------------------------------------------
* 复位1-wire总线，并探测是否有温度芯片DS18B20(TO-92
* 封装)挂在总线上，有返回SUCC，没有返回FAIL
*/
BOOL ds18b20_reset(void)
{
BOOL bus_flag;
DQ_TO_0(); // 设置1-wire总线为低电平(占领总线)...
/* 现在延迟480us~960us, 与硬件密切相关，但应尽可能选小值(480us)， 把抖动留给系统(比如在延迟期间发生中断导致延迟变长)。
*/
wait_us(490); // 490us
cli(); // 下面这段时间要求比较严格，为保险起见，关中断
DQ_TO_1(); // 设置1-wire总线为高电平(释放总线)
/* 这个浮点数是由编译器计算好的，而不是由你的MCU在运行时临时计算的， 所以不会占用用户MCU的时间，不必担心(看看前面的宏你就可以确定了)
*/
wait_us(67.5); // 最佳时间: 60us+7.5us!(忙延时，只是一种策略)
// 探测总线上是否有器件
if(DQ_status()) bus_flag=FAIL; // 复位单总线但没有发现有器件在线
else bus_flag=SUCC; // 复位单总线并发现有器件在线
sei(); // 退出临界代码区(开中断)
/* 保证Master释放总线的时间(不是说总线处于高电平的时间)不小于 480us即可，这一时间从读总线状态之前就开始了，所以这里把这个 时间计算在内。在Master释放总线的前半段，也是被动器件声明它们在线之时。
*/
wait_us(490-67.5); // 490-67.5us
return(bus_flag);
}
bool DHT22::sample() {
DigitalInOut DHT22(_data_pin);
int dht22_dat [5];
DHT22.output();
DHT22.write(0);
wait_ms(18);
DHT22.write(1);
DHT22.input();
wait_us(40);
wait_us(80);
int i,j,result=0;
for (i=0; i<5; i++) {
result=0;
for (j=0; j<8; j++) {
while (DHT22);
while (!DHT22);
wait_us(50);
int p;
p=DHT22;
p=p <<(7-j);
result=result|p;
}
dht22_dat[i] = result;
}
int dht22_check_sum;
dht22_check_sum=dht22_dat[0]+dht22_dat[1]+dht22_dat[2]+dht22_dat[3];
dht22_check_sum= dht22_check_sum%256;
if (dht22_check_sum==dht22_dat[4]) {
_humidity=dht22_dat[0]*256+dht22_dat[1];
_temperature=dht22_dat[2]*256+dht22_dat[3];
return true;
}
return false;
}
int main() {
int i, j;
setup();
while(1) {
i = 0;
while(i < D_SIZE) {
j = 0;
if(data[i]) {
while(j < FREQ/(D_SIZE * BEACON) ) {
wait_us(1000000/(2*FREQ) );
LPC_GPIO2->FIOCLR = IR_ARRAY;
wait_us(1000000/(2*FREQ) );
LPC_GPIO2->FIOSET = IR_ARRAY;
j++;
}
} else {
while(j < FREQ/(D_SIZE * BEACON) ) {
wait_us(1000000/FREQ);
j++;
}
}
i++;
}
}
}
inline void SetCmdb1(uchar b)
{
if(b) set_bit(PGD,1);
else set_bit(PGD,0);
wait_us(1);
set_bit(PGC,1);wait_us(1);
set_bit(PGC,0);wait_us(1);
}
void flash25spi::enableWrite()
{
_enable->write(0);
wait_us(1);
_spi->write(0x06);
wait_us(1);
_enable->write(1);
}
//复位DS18B20
void DS18B20_Rst(void)
{
DS18B20_IO_OUT(); //SET PA0 OUTPUT
DS18B20_DQ_OUT=0; //拉低DQ
wait_us(750); //拉低750us
DS18B20_DQ_OUT=1; //DQ=1
wait_us(15); //15US
}
void LED_Hi_Bit() {
mDIN_H=1;
mDIN_L=1;
wait_us(mWait_US);
mDIN_H=0;
mDIN_L=1;
wait_us(mWait_US);
}
void LED_Low_Bit() {
mDIN_H=0;
mDIN_L=0;
wait_us(mWait_US);
mDIN_H=0;
mDIN_L=1;
wait_us(mWait_US);
}
int flash25spi::readStatus() {
_enable->write(0);
wait_us(1);
_spi->write(0x5);
int status=_spi->write(0x00);
wait_us(1);
_enable->write(1);
return status;
}
void flash25spi::clearMem() {
enableWrite();
_enable->write(0);
wait_us(1);
_spi->write(0xc7);
wait_us(1);
_enable->write(1);
waitForWrite();
}
//static
void wait_ms(uchar ms)
{
do {
wait_us(250);
wait_us(250);
wait_us(250);
wait_us(250);
}while(--ms);
}
int nRF24L01P::write(int pipe, char *data, int count) {
// Note: the pipe number is ignored in a Transmit / write
//
// Save the CE state
//
int originalCe = ce_;
disable();
if ( count <= 0 ) return 0;
if ( count > _NRF24L01P_TX_FIFO_SIZE ) count = _NRF24L01P_TX_FIFO_SIZE;
// Clear the Status bit
setRegister(_NRF24L01P_REG_STATUS, _NRF24L01P_STATUS_TX_DS);
nCS_ = 0;
int status = spi_.write(_NRF24L01P_SPI_CMD_WR_TX_PAYLOAD);
for ( int i = 0; i < count; i++ ) {
spi_.write(*data++);
}
nCS_ = 1;
int originalMode = mode;
setTransmitMode();
enable();
wait_us(_NRF24L01P_TIMING_Thce_us);
disable();
while ( !( getStatusRegister() & _NRF24L01P_STATUS_TX_DS ) ) {
// Wait for the transfer to complete
}
// Clear the Status bit
setRegister(_NRF24L01P_REG_STATUS, _NRF24L01P_STATUS_TX_DS);
if ( originalMode == _NRF24L01P_MODE_RX ) {
setReceiveMode();
}
ce_ = originalCe;
wait_us( _NRF24L01P_TIMING_Tpece2csn_us );
return count;
}
inline uchar GetCmdb1(void)
{
uchar b=0;
set_bit(PGC,1);
wait_us(1);
// b = get_port(Pinb) & (1<<PGD);
if(inPGD) b=1;
set_bit(PGC,0);
wait_us(1);
return b;
}
void Init_SPITemp420()
{
char cmdByte, cfgByte;
// Setup the spi for 8 bit data, high steady state clock,
// second edge capture, with a 1MHz clock rate
spitemp420.format(8,0);
spitemp420.frequency(5000);
// deSelect the device by setting chip select high
cs420A=1;
cs420B=1;
cstemp=1;
// Initialize ADT7310
cstemp=0;
cmdByte=0x08; // to write cfg register
cfgByte=0x40; //01000000, 1 SPS mode
spitemp420.write(cmdByte);
wait_us(10); // wait 10us for sending cmdByte
spitemp420.write(cfgByte);
wait_us(10); // wait 10us for sending cmdByte
// cmdByte=0x54;// 01010100, continuous read
// spitemp420.write(cmdByte);
cstemp=1;
// Initialize AD420
/* 4-20mA test codes
*/
/*
while(1)
{
// readTemp();
// wait_ms(10);
// set420mAOutput(4.000488, 1);
set420mAOutput(4.000488, 1);
// set420mAOutput(8, 2);
wait_ms(25);
set420mAOutput(8.000488, 1);
wait_ms(25);
set420mAOutput(10.000, 1);
wait_ms(25);
set420mAOutput(14.000, 1);
wait_ms(25);
set420mAOutput(18.000, 1);
wait_ms(25);
set420mAOutput(19.000, 1);
wait_ms(75);
}
*/
printf("Init SPI temperature sensor & AD420...OK\n");
}
long HCSR04::echo_duration() {
timer.reset(); //reset timer
trig = 0; // trigger low
wait_us(2); // wait
trig = 1; // trigger high
wait_us(10);
trig = 0; // trigger low
while(!echo); // start pulseIN
timer.start();
while(echo);
timer.stop();
return timer.read_us();
}
flash25spi::flash25spi(SPI *spi, PinName enable) {
unsigned char chipid[3] = {0};
unsigned int i = 0;
_spi=spi;
_enable=new DigitalOut(enable);
_enable->write(1);
// wait_us(1000);
_enable->write(0);
wait_us(1);
// send address
_spi->write(0x9f);
chipid[0] = _spi->write(0); // get vendor ID
chipid[1] = _spi->write(0); // get device ID
chipid[2] = _spi->write(0); // get capacity
wait_us(1);
_enable->write(1);
_size = 0;
#ifdef DEBUG
printf ("got flash ids: %x, %x, %x\n", chipid[0], chipid[1], chipid[2]);
#endif
while (_size == 0) {
#ifdef DEBUG
printf ("checking: %x, %x, %x\n", devices[i].vendor, devices[i].device, devices[i].capacity);
#endif
if (devices[i].vendor == 0) {
printf("flash device not found\n");
return;
}
if ((chipid[0] == devices[i].vendor) &&
(chipid[1] == devices[i].device) &&
(chipid[2] == devices[i].capacity)) {
_size=devices[i].memsize;
_blockSize=devices[i].blocksize;
_sectorSize=devices[i].sectorsize;
_pageSize=devices[i].pagesize;
#ifdef DEBUG
printf("device found: %x - %x, %x, %x, %x\n",i, _size, _blockSize, _sectorSize, _pageSize);
#endif
}
else
i++;
}
return;
}
//从DS18B20读取一个位
//返回值：1/0
u8 DS18B20_Read_Bit(void) // read one bit
{
u8 data;
DS18B20_IO_OUT();//SET PA0 OUTPUT
DS18B20_DQ_OUT=0;
wait_us(2);
DS18B20_DQ_OUT=1;
DS18B20_IO_IN();//SET PA0 INPUT
wait_us(12);
if(DS18B20_DQ_IN)data=1;
else data=0;
wait_us(50);
return data;
}
