STM32L010とGP2Y0A21YK(赤外線距離センサー)で6cmから80cmを求める。配列化、ソフトウェアシリアル出力




目的
adcのテスト用
赤外線距離センターを使い距離を測る。

どうしてこうなったかは、6-10,10-20,20-80を参考


![o_con340.jpg](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/840352/3d9ff880-0db4-14b8-bcf2-05cc6f6e1413.jpeg)


![o_con341.jpg](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/840352/50bf848b-7c32-099b-a885-aa8fbca00984.jpeg)



メインプログラム


```c++




//ir_length_s_010_1

#include "mbed.h"

#include "SER_9600_010_1.h"


//80-20
unsigned char qq[] = {
    80, 78, 77, 76, 75, 75, 74, 73, 72, 71,
    70, 69, 68, 68, 67, 66, 65, 65, 64, 63,
    63, 62, 61, 61, 60, 60, 59, 58, 58, 57,
    57, 56, 56, 55, 55, 54, 54, 53, 53, 52,
    52, 51, 51, 50, 50, 50, 49, 49, 48, 48,
    47, 47, 47, 46, 46, 46, 45, 45, 45, 44,
    44, 44, 43, 43, 43, 42, 42, 42, 41, 41,
    41, 41, 40, 40, 40, 40, 39, 39, 39, 38,
    38, 38, 38, 37, 37, 37, 37, 37, 36, 36,
    36, 36, 35, 35, 35, 35, 35, 34, 34, 34,
    34, 34, 33, 33, 33, 33, 33, 32, 32, 32,
    32, 32, 32, 31, 31, 31, 31, 31, 31, 30,
    30, 30, 30, 30, 30, 30, 29, 29, 29, 29,
    29, 29, 28, 28, 28, 28, 28, 28, 28, 28,
    27, 27, 27, 27, 27, 27, 27, 27, 26, 26,
    26, 26, 26, 26, 26, 26, 25, 25, 25, 25,
    25, 25, 25, 25, 25, 25, 24, 24, 24, 24,
    24, 24, 24, 24, 24, 24, 23, 23, 23, 23,
    23, 23, 23, 23, 23, 23, 22, 22, 22, 22,
    22, 22, 22, 22, 22, 22, 22, 22, 21, 21,
    21, 21, 21, 21, 21, 21, 21, 21, 21, 21,
    21, 20, 20, 20, 20, 20, 20, 20, 20, 20,
    20, 20, 20, 20, 20, 20
};

//20-10
unsigned char pp[] = {
    200, 199, 198, 197, 196, 196, 195, 194, 193, 193,
    192, 191, 190, 190, 189, 188, 187, 187, 186, 185,
    185, 184, 183, 183, 182, 181, 181, 180, 179, 179,
    178, 177, 177, 176, 176, 175, 174, 174, 173, 173,
    172, 171, 171, 170, 170, 169, 168, 168, 167, 167,
    166, 166, 165, 165, 164, 163, 163, 162, 162, 161,
    161, 160, 160, 159, 159, 158, 158, 157, 157, 156,
    156, 155, 155, 154, 154, 153, 153, 152, 152, 151,
    151, 151, 150, 150, 149, 149, 148, 148, 147, 147,
    147, 146, 146, 145, 145, 144, 144, 144, 143, 143,
    142, 142, 142, 141, 141, 140, 140, 140, 139, 139,
    138, 138, 138, 137, 137, 136, 136, 136, 135, 135,
    135, 134, 134, 134, 133, 133, 132, 132, 132, 131,
    131, 131, 130, 130, 130, 129, 129, 129, 128, 128,
    128, 127, 127, 127, 126, 126, 126, 125, 125, 125,
    125, 124, 124, 124, 123, 123, 123, 122, 122, 122,
    121, 121, 121, 121, 120, 120, 120, 119, 119, 119,
    119, 118, 118, 118, 117, 117, 117, 117, 116, 116,
    116, 116, 115, 115, 115, 114, 114, 114, 114, 113,
    113, 113, 113, 112, 112, 112, 112, 111, 111, 111,
    111, 110, 110, 110, 110, 109, 109, 109, 109, 108,
    108, 108, 108, 107, 107, 107, 107, 107, 106, 106,
    106, 106, 105, 105, 105, 105, 105, 104, 104, 104,
    104, 103, 103, 103, 103, 103, 102, 102, 102, 102,
    102, 101, 101, 101, 101, 101, 100, 100, 100, 100,
    100
};

//10-6
unsigned char oo[] = {
    100, 99, 98, 98, 97, 97, 96, 96, 95, 95,
    94, 94, 93, 93, 92, 92, 91, 91, 90, 90,
    90, 89, 89, 88, 88, 87, 87, 86, 86, 86,
    85, 85, 84, 84, 84, 83, 83, 82, 82, 82,
    81, 81, 81, 80, 80, 80, 79, 79, 78, 78,
    77, 77, 76, 76, 75, 75, 74, 74, 74, 73,
    73, 72, 72, 71, 71, 71, 70, 70, 69, 69,
    68, 67, 66, 66, 65, 64, 63, 63, 62, 61,
    61, 60, 60
};


//赤外線距離センサー(GP2Y0A21YK)の電圧から距離を求める。
//Voltage //電圧
int ir_len_i(int Voltage)
{

    int ir_length;   //長さ

    if (Voltage >= 0    && Voltage <= 400 ) {
        return (800);
    }
    if (Voltage >= 3120 && Voltage <= 5000) {
        return (60);
    }

    if        (Voltage >= 400 && Voltage <= 1300 ) { //80-20

        ir_length = (int)qq[(Voltage - 400) >> 2];
        ir_length = ir_length * 10;

    } else if (Voltage >= 1300 && Voltage <= 2300 ) { //20-10

        ir_length = (int)pp[(Voltage - 1300) >> 2];

    } else if (Voltage >= 2300 && Voltage <= 3120  ) { //10-6

        //ir_length = (int)oo[(Voltage - 2300) / 10];
        ir_length = (int)oo[  ((Voltage - 2300)*205)>>11 ]; //10の割り算

    }//end if

    //戻り値
    return (ir_length);

} //ir_le_i


//アナログ入力の設定
AnalogIn adc_vbat(A3); //PA_4


//メイン関数
int main()
{

    //ソフトウェアシリアルの初期化(9600bps)
    pc.baudNS(9600);

    //無限ループ
    while(1) {

        int sensorValue; //センサーの読み取り値
        int Voltage;     //電圧
        int ir_length;   //長さ

        //アナログ値の読み込み  0から4096
        sensorValue = (adc_vbat.read_u16()>>4);

        //アナログ値を電圧に変換
        Voltage = (sensorValue * 3300) >> 12; //stm32　(s*3300)/4096

        //赤外線距離センサー(GP2Y0A21YK)の電圧から距離を求める。
        ir_length = ir_len_i(Voltage);

        //値の表示
        pc.printNS("800");
        pc.printNS(",");

        //前の0を削る
        //  0123  add
        // [1234] data
        int yy;
        if      (ir_length >= 1000) {yy = 0;}
        else if (ir_length >= 100)  {yy = 1;}
        else if (ir_length >= 10)   {yy = 2;}
        else                        {yy = 3;}
        
        pc.printNS( (char *)(ch_hex_a(ir_length)+yy) );

        pc.printNS(",");
        pc.printNS("0");
        pc.printNS("\r\n");//リターン

        // 1/100秒の待ち
        wait_ms(10);

    }//while

}//main


//容量削減
void error(const char* format, ...) {}







```


SER_9600_010_1.hのプログラム




```c++



//SER_9600_010.h

//10の割り算 0から1028までは、正しい。主に0から999
#define DIV10(n) ((n*205)>>11)

char ch_hex_a_b[16];
char *ch_hex_a(int x)
{

    ch_hex_a_b[4] = 0;

    if       ( x >= 9000 ) {x = x - 9000; ch_hex_a_b[0] = '9';
    } else if( x >= 8000 ) {x = x - 8000; ch_hex_a_b[0] = '8';
    } else if( x >= 7000 ) {x = x - 7000; ch_hex_a_b[0] = '7';
    } else if( x >= 6000 ) {x = x - 6000; ch_hex_a_b[0] = '6';
    } else if( x >= 5000 ) {x = x - 5000; ch_hex_a_b[0] = '5';
    } else if( x >= 4000 ) {x = x - 4000; ch_hex_a_b[0] = '4';
    } else if( x >= 3000 ) {x = x - 3000; ch_hex_a_b[0] = '3';
    } else if( x >= 2000 ) {x = x - 2000; ch_hex_a_b[0] = '2';
    } else if( x >= 1000 ) {x = x - 1000; ch_hex_a_b[0] = '1';
    } else                 {              ch_hex_a_b[0] = '0';
    }//if

    ch_hex_a_b[3] = '0' + (  x - (DIV10(x) * 10)  );  // 3  <- 120 - 123
    x = DIV10(x);                                     // 12 <= 123 / 10
    ch_hex_a_b[2] = '0' + (  x - (DIV10(x) * 10)  );  // 2  <- 12 - 10
    ch_hex_a_b[1] = '0' +  DIV10(x);                  // 1  <- 12 / 10

    return(ch_hex_a_b);

} //ch_hex_a


#define UART_DELAY 101 //  1/9600 98-105

DigitalOut TX(PA_2);

//クラスの定義
struct _pc
{
  void baudNS(int sp);      //メソッドの宣言
  int  putcNS(char ch);      //メソッドの宣言
  int  printNS(char *str1);  //メソッドの宣言
  int  printNS(int num);     //メソッドの宣言 オーバーロード
};


//ポートをhiにする 初期化
//メソッドの定義
void _pc::baudNS(int sp)
{
  TX=1;
  wait_ms(1);
}//baudNS


//仮想シリアルへの一文字出力 9600bps
//メソッドの定義
int _pc::putcNS(char ch)
{
    TX=1;
    TX=0;//Start
    wait_us(UART_DELAY);

    for(int ii=0; ii<8; ii++) { //Data x 8
        TX=(ch>>ii)&1;
        wait_us(UART_DELAY);
    }; //for

    TX=1;//Stop
    wait_us(UART_DELAY);

    return(0);
}//putcNS


//文字列の表示
//メソッドの定義
int _pc::printNS(char *str1)
{
    //文字の中身がゼロか
    while(*str1) {

        //一文字出力
        putcNS(*str1 ++);

    } //while

    //戻り値
    return(0);  
}//printNS


//文字列の表示 オーバーロード 4桁
//メソッドの定義
int _pc::printNS(int num)
{
    if(num < 0) { putcNS('-'); num = 0 - num;   }
    
    char *str1 = ch_hex_a(num);
    
    //文字の中身がゼロか
    while(*str1) {

        //一文字出力
        putcNS(*str1 ++);

    } //while

    //戻り値
    return(0);  
}//printNS


//実体の作成
_pc pc;





```