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割り込みで壁センサの値取得完了、要リファクタ、また割り込み周期も修正する
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@@ -65,4 +65,8 @@ namespace Mode { | |
| LOG | ||
| }; | ||
| } | ||
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| namespace ADCParam { | ||
| const int SENSOR_COUNT = 4; | ||
| } | ||
| #endif // INC_PARAMS_HPP | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,22 +1,24 @@ | ||
| #ifndef INC_PHOTO_TRANS_HPP_ | ||
| #define INC_PHOTO_TRANS_HPP_ | ||
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| #include "../../Core/Inc/main.h" | ||
| #include "adc.h" | ||
| #include "tim.h" | ||
| #include "stm32f4xx_hal.h" | ||
| #include "stm32f405xx.h" | ||
| #include "led.hpp" | ||
| #include "params.hpp" | ||
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| class PhotoTransSensor { | ||
| public: | ||
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| GPIO_TypeDef* LED_PORTS[4] = {LL_LED_GPIO_Port, RF_LED_GPIO_Port, LF_LED_GPIO_Port, RR_LED_GPIO_Port}; | ||
| uint16_t LED_PINS[4] = {LL_LED_Pin, RF_LED_Pin, LF_LED_Pin, RR_LED_Pin}; | ||
| uint32_t adc_value = 0; | ||
| float adc_val[4]; | ||
| void getWallSensorData(); | ||
| LedSensor led_sensor; | ||
| uint32_t adc_channels[4] = {ADC_CHANNEL_9, ADC_CHANNEL_13, ADC_CHANNEL_15, ADC_CHANNEL_11}; | ||
| void configureADCChannel(uint32_t channel); | ||
| uint16_t getCurrentADC(int i) const; | ||
| void updateADC(int i); | ||
| uint16_t adc_val[4] = {0}; | ||
| }; | ||
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| #endif /* INC_PHOTO_TRANS_HPP_ */ |
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@@ -7,6 +7,7 @@ | |
| #include "motor.hpp" | ||
| #include "log.hpp" | ||
| #include "adc.h" | ||
| #include "photo_trans.hpp" | ||
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| // TODO: | ||
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