[ふたたび](後半)小規模回路マイコンで赤外線距離センサーGP2Y0A21YKで遊ぶ(実装編)(整数)(1/xは表引き または、一次関数で近似)

いろいろ注意

• 最終的には、STM32C011で動かす予定!!!

• STM32H743Z2(480MHz)で開発

• h743は、ある意味、メチャクチャ速い(このままで、いいかも？　！！！

• いろいろ、あつて、1/xとx/1000が反映されていない

• 符号付整数演算のみ

• なぜか、大ヒット

• 過去ログを見よ!!!

目的

赤外線距離センサー(GP2Y0A21YK)で距離を測定し、1/xを変換してシリアルに距離を表示する。

結果

プログラム

//秋月のOLEDとアイテンドウのOLEDのアドレスは3C
//ir_length_integer_calc__H743_1


//インクルド
#include <Arduino.h>


//定義

//1000の割り算 だいたい正しい。
#define DIV1000(n) ((n + ((n * 25) >> 10)) >> 10)

// 1/x (逆数)のテーブル 割る数が0.00125から0.02まで
// 固定小数点5桁 ex1 0.00125->125 , ex1 0.02->2000
//unsigned short qq[] = { //スタテックRAMに配置 debug
const unsigned short qq[] PROGMEM = {  ////フラッシュROMに配置
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 800, 793, 787, 781, 775,
  769, 763, 757, 751, 746, 740, 735, 729, 724, 719,
  714, 709, 704, 699, 694, 689, 684, 680, 675, 671,
  666, 662, 657, 653, 649, 645, 641, 636, 632, 628,
  625, 621, 617, 613, 609, 606, 602, 598, 595, 591,
  588, 584, 581, 578, 574, 571, 568, 564, 561, 558,
  555, 552, 549, 546, 543, 540, 537, 534, 531, 529,
  526, 523, 520, 518, 515, 512, 510, 507, 505, 502,
  500, 497, 495, 492, 490, 487, 485, 483, 480, 478,
  476, 473, 471, 469, 467, 465, 462, 460, 458, 456,
  454, 452, 450, 448, 446, 444, 442, 440, 438, 436,
  434, 432, 431, 429, 427, 425, 423, 421, 420, 418,
  416, 414, 413, 411, 409, 408, 406, 404, 403, 401,
  400, 398, 396, 395, 393, 392, 390, 389, 387, 386,
  384, 383, 381, 380, 378, 377, 375, 374, 373, 371,
  370, 369, 367, 366, 364, 363, 362, 361, 359, 358,
  357, 355, 354, 353, 352, 350, 349, 348, 347, 346,
  344, 343, 342, 341, 340, 338, 337, 336, 335, 334,
  333, 332, 331, 330, 328, 327, 326, 325, 324, 323,
  322, 321, 320, 319, 318, 317, 316, 315, 314, 313,
  312, 311, 310, 309, 308, 307, 306, 305, 304, 303,
  303, 302, 301, 300, 299, 298, 297, 296, 295, 294,
  294, 293, 292, 291, 290, 289, 289, 288, 287, 286,
  285, 284, 284, 283, 282, 281, 280, 280, 279, 278,
  277, 277, 276, 275, 274, 273, 273, 272, 271, 271,
  270, 269, 268, 268, 267, 266, 265, 265, 264, 263,
  263, 262, 261, 261, 260, 259, 259, 258, 257, 257,
  256, 255, 255, 254, 253, 253, 252, 251, 251, 250,
  250, 249, 248, 248, 247, 246, 246, 245, 245, 244,
  243, 243, 242, 242, 241, 240, 240, 239, 239, 238,
  238, 237, 236, 236, 235, 235, 234, 234, 233, 233,
  232, 232, 231, 230, 230, 229, 229, 228, 228, 227,
  227, 226, 226, 225, 225, 224, 224, 223, 223, 222,
  222, 221, 221, 220, 220, 219, 219, 218, 218, 217,
  217, 216, 216, 215, 215, 215, 214, 214, 213, 213,
  212, 212, 211, 211, 210, 210, 210, 209, 209, 208,
  208, 207, 207, 207, 206, 206, 205, 205, 204, 204,
  204, 203, 203, 202, 202, 202, 201, 201, 200, 200,
  200, 199, 199, 198, 198, 198, 197, 197, 196, 196,
  196, 195, 195, 194, 194, 194, 193, 193, 193, 192,
  192, 191, 191, 191, 190, 190, 190, 189, 189, 189,
  188, 188, 187, 187, 187, 186, 186, 186, 185, 185,
  185, 184, 184, 184, 183, 183, 183, 182, 182, 182,
  181, 181, 181, 180, 180, 180, 179, 179, 179, 178,
  178, 178, 177, 177, 177, 176, 176, 176, 176, 175,
  175, 175, 174, 174, 174, 173, 173, 173, 173, 172,
  172, 172, 171, 171, 171, 170, 170, 170, 170, 169,
  169, 169, 168, 168, 168, 168, 167, 167, 167, 166,
  166, 166, 166, 165, 165, 165, 165, 164, 164, 164,
  163, 163, 163, 163, 162, 162, 162, 162, 161, 161,
  161, 161, 160, 160, 160, 160, 159, 159, 159, 158,
  158, 158, 158, 157, 157, 157, 157, 156, 156, 156,
  156, 156, 155, 155, 155, 155, 154, 154, 154, 154,
  153, 153, 153, 153, 152, 152, 152, 152, 151, 151,
  151, 151, 151, 150, 150, 150, 150, 149, 149, 149,
  149, 149, 148, 148, 148, 148, 147, 147, 147, 147,
  147, 146, 146, 146, 146, 145, 145, 145, 145, 145,
  144, 144, 144, 144, 144, 143, 143, 143, 143, 143,
  142, 142, 142, 142, 142, 141, 141, 141, 141, 141,
  140, 140, 140, 140, 140, 139, 139, 139, 139, 139,
  138, 138, 138, 138, 138, 137, 137, 137, 137, 137,
  136, 136, 136, 136, 136, 136, 135, 135, 135, 135,
  135, 134, 134, 134, 134, 134, 134, 133, 133, 133,
  133, 133, 132, 132, 132, 132, 132, 132, 131, 131,
  131, 131, 131, 131, 130, 130, 130, 130, 130, 130,
  129, 129, 129, 129, 129, 129, 128, 128, 128, 128,
  128, 128, 127, 127, 127, 127, 127, 127, 126, 126,
  126, 126, 126, 126, 125, 125, 125, 125, 125, 125,
  125, 124, 124, 124, 124, 124, 124, 123, 123, 123,
  123, 123, 123, 123, 122, 122, 122, 122, 122, 122,
  121, 121, 121, 121, 121, 121, 121, 120, 120, 120,
  120, 120, 120, 120, 119, 119, 119, 119, 119, 119,
  119, 118, 118, 118, 118, 118, 118, 118, 117, 117,
  117, 117, 117, 117, 117, 116, 116, 116, 116, 116,
  116, 116, 116, 115, 115, 115, 115, 115, 115, 115,
  114, 114, 114, 114, 114, 114, 114, 114, 113, 113,
  113, 113, 113, 113, 113, 112, 112, 112, 112, 112,
  112, 112, 112, 111, 111, 111, 111, 111, 111, 111,
  111, 110, 110, 110, 110, 110, 110, 110, 110, 110,
  109, 109, 109, 109, 109, 109, 109, 109, 108, 108,
  108, 108, 108, 108, 108, 108, 107, 107, 107, 107,
  107, 107, 107, 107, 107, 106, 106, 106, 106, 106,
  106, 106, 106, 106, 105, 105, 105, 105, 105, 105,
  105, 105, 105, 104, 104, 104, 104, 104, 104, 104,
  104, 104, 103, 103, 103, 103, 103, 103, 103, 103,
  103, 102, 102, 102, 102, 102, 102, 102, 102, 102,
  102, 101, 101, 101, 101, 101, 101, 101, 101, 101,
  101, 100, 100, 100, 100, 100, 100, 100, 100, 100,
  100, 99, 99, 99, 99, 99, 99, 99, 99, 99,
  99, 98, 98, 98, 98, 98, 98, 98, 98, 98,
  98, 97, 97, 97, 97, 97, 97, 97, 97, 97,
  97, 96, 96, 96, 96, 96, 96, 96, 96, 96,
  96, 96, 95, 95, 95, 95, 95, 95, 95, 95,
  95, 95, 95, 94, 94, 94, 94, 94, 94, 94,
  94, 94, 94, 94, 93, 93, 93, 93, 93, 93,
  93, 93, 93, 93, 93, 93, 92, 92, 92, 92,
  92, 92, 92, 92, 92, 92, 92, 91, 91, 91,
  91, 91, 91, 91, 91, 91, 91, 91, 91, 90,
  90, 90, 90, 90, 90, 90, 90, 90, 90, 90,
  90, 90, 89, 89, 89, 89, 89, 89, 89, 89,
  89, 89, 89, 89, 88, 88, 88, 88, 88, 88,
  88, 88, 88, 88, 88, 88, 88, 87, 87, 87,
  87, 87, 87, 87, 87, 87, 87, 87, 87, 87,
  86, 86, 86, 86, 86, 86, 86, 86, 86, 86,
  86, 86, 86, 85, 85, 85, 85, 85, 85, 85,
  85, 85, 85, 85, 85, 85, 85, 84, 84, 84,
  84, 84, 84, 84, 84, 84, 84, 84, 84, 84,
  84, 83, 83, 83, 83, 83, 83, 83, 83, 83,
  83, 83, 83, 83, 83, 82, 82, 82, 82, 82,
  82, 82, 82, 82, 82, 82, 82, 82, 82, 82,
  81, 81, 81, 81, 81, 81, 81, 81, 81, 81,
  81, 81, 81, 81, 81, 80, 80, 80, 80, 80,
  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
  80, 79, 79, 79, 79, 79, 79, 79, 79, 79,
  79, 79, 79, 79, 79, 79, 78, 78, 78, 78,
  78, 78, 78, 78, 78, 78, 78, 78, 78, 78,
  78, 78, 78, 77, 77, 77, 77, 77, 77, 77,
  77, 77, 77, 77, 77, 77, 77, 77, 77, 76,
  76, 76, 76, 76, 76, 76, 76, 76, 76, 76,
  76, 76, 76, 76, 76, 76, 75, 75, 75, 75,
  75, 75, 75, 75, 75, 75, 75, 75, 75, 75,
  75, 75, 75, 75, 74, 74, 74, 74, 74, 74,
  74, 74, 74, 74, 74, 74, 74, 74, 74, 74,
  74, 74, 73, 73, 73, 73, 73, 73, 73, 73,
  73, 73, 73, 73, 73, 73, 73, 73, 73, 73,
  72, 72, 72, 72, 72, 72, 72, 72, 72, 72,
  72, 72, 72, 72, 72, 72, 72, 72, 72, 71,
  71, 71, 71, 71, 71, 71, 71, 71, 71, 71,
  71, 71, 71, 71, 71, 71, 71, 71, 71, 70,
  70, 70, 70, 70, 70, 70, 70, 70, 70, 70,
  70, 70, 70, 70, 70, 70, 70, 70, 70, 69,
  69, 69, 69, 69, 69, 69, 69, 69, 69, 69,
  69, 69, 69, 69, 69, 69, 69, 69, 69, 69,
  68, 68, 68, 68, 68, 68, 68, 68, 68, 68,
  68, 68, 68, 68, 68, 68, 68, 68, 68, 68,
  68, 67, 67, 67, 67, 67, 67, 67, 67, 67,
  67, 67, 67, 67, 67, 67, 67, 67, 67, 67,
  67, 67, 67, 66, 66, 66, 66, 66, 66, 66,
  66, 66, 66, 66, 66, 66, 66, 66, 66, 66,
  66, 66, 66, 66, 66, 66, 65, 65, 65, 65,
  65, 65, 65, 65, 65, 65, 65, 65, 65, 65,
  65, 65, 65, 65, 65, 65, 65, 65, 65, 64,
  64, 64, 64, 64, 64, 64, 64, 64, 64, 64,
  64, 64, 64, 64, 64, 64, 64, 64, 64, 64,
  64, 64, 64, 63, 63, 63, 63, 63, 63, 63,
  63, 63, 63, 63, 63, 63, 63, 63, 63, 63,
  63, 63, 63, 63, 63, 63, 63, 63, 62, 62,
  62, 62, 62, 62, 62, 62, 62, 62, 62, 62,
  62, 62, 62, 62, 62, 62, 62, 62, 62, 62,
  62, 62, 62, 61, 61, 61, 61, 61, 61, 61,
  61, 61, 61, 61, 61, 61, 61, 61, 61, 61,
  61, 61, 61, 61, 61, 61, 61, 61, 61, 61,
  60, 60, 60, 60, 60, 60, 60, 60, 60, 60,
  60, 60, 60, 60, 60, 60, 60, 60, 60, 60,
  60, 60, 60, 60, 60, 60, 60, 59, 59, 59,
  59, 59, 59, 59, 59, 59, 59, 59, 59, 59,
  59, 59, 59, 59, 59, 59, 59, 59, 59, 59,
  59, 59, 59, 59, 59, 58, 58, 58, 58, 58,
  58, 58, 58, 58, 58, 58, 58, 58, 58, 58,
  58, 58, 58, 58, 58, 58, 58, 58, 58, 58,
  58, 58, 58, 58, 58, 57, 57, 57, 57, 57,
  57, 57, 57, 57, 57, 57, 57, 57, 57, 57,
  57, 57, 57, 57, 57, 57, 57, 57, 57, 57,
  57, 57, 57, 57, 57, 56, 56, 56, 56, 56,
  56, 56, 56, 56, 56, 56, 56, 56, 56, 56,
  56, 56, 56, 56, 56, 56, 56, 56, 56, 56,
  56, 56, 56, 56, 56, 56, 55, 55, 55, 55,
  55, 55, 55, 55, 55, 55, 55, 55, 55, 55,
  55, 55, 55, 55, 55, 55, 55, 55, 55, 55,
  55, 55, 55, 55, 55, 55, 55, 55, 55, 54,
  54, 54, 54, 54, 54, 54, 54, 54, 54, 54,
  54, 54, 54, 54, 54, 54, 54, 54, 54, 54,
  54, 54, 54, 54, 54, 54, 54, 54, 54, 54,
  54, 54, 53, 53, 53, 53, 53, 53, 53, 53,
  53, 53, 53, 53, 53, 53, 53, 53, 53, 53,
  53, 53, 53, 53, 53, 53, 53, 53, 53, 53,
  53, 53, 53, 53, 53, 53, 53, 52, 52, 52,
  52, 52, 52, 52, 52, 52, 52, 52, 52, 52,
  52, 52, 52, 52, 52, 52, 52, 52, 52, 52,
  52, 52, 52, 52, 52, 52, 52, 52, 52, 52,
  52, 52, 52, 52, 51, 51, 51, 51, 51, 51,
  51, 51, 51, 51, 51, 51, 51, 51, 51, 51,
  51, 51, 51, 51, 51, 51, 51, 51, 51, 51,
  51, 51, 51, 51, 51, 51, 51, 51, 51, 51,
  51, 50, 50, 50, 50, 50, 50, 50, 50, 50,
  50, 50, 50, 50, 50, 50, 50, 50, 50, 50,
  50, 50, 50, 50, 50, 50, 50, 50, 50, 50,
  50, 50, 50, 50, 50, 50, 50, 50, 50, 50,
  50, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 0
};

#define giyaku(uuii) (qq[(uuii)&0x7ff])

// 1/x (逆数) 1次関数で近似
#if 1 == 0

int giyaku(int x) {

  //80-50 200-125

  if (x >= 125 & x <= 200) { return (DIV1000(((-400 * (x - 125)) + 80000) * 10)); }

  //50-20

  if (x >= 200 & x <= 500) { return (DIV1000(((-100 * (x - 200)) + 50000) * 10)); }

  //20-10  500-1000

  if (x >= 500 & x <= 1000) { return (DIV1000(((-20) * (x - 500) + 20000) * 10)); }

  //10-6

  if (x >= 1000 & x <= 1666) { return (DIV1000(((-6 * (x - 1000)) + 10000) * 10)); }


  return (0);
}

#endif

//#define giyaku(ppoo) (100000/(ppoo))


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

  int ir_length;  //長さ

  if (Voltage < 400) {  //80cm以上 1/xは、0.0125

    //400mVまで
    return (800);

  } else if (Voltage < 1300) {  //80cm-20cm 1/xは、0.0125-0.05

    //400mVから1300mV
    ir_length = 417 * (Voltage - 400) + 125000;
    ir_length = ir_length / 1000;    //debug
    ir_length = 100000 / ir_length;  //debug

    return (ir_length);  //戻り値

  } else if (Voltage < 2300) {  //20cm-10cm  1/xは、0.05-0.1

    //1300mVから2300mV
    ir_length = 500 * (Voltage - 1300) + 500000;
    ir_length = ir_length / 1000;    //debug
    ir_length = 100000 / ir_length;  //debug

    return (ir_length);  //戻り値

  } else if (Voltage < 2750) {  //10cm-8cm 1/xは、0.1-0.125

    // 2300mVから2750mV
    ir_length = 556 * (Voltage - 2300) + 1000000;
    ir_length = ir_length / 1000;    //debug
    ir_length = 100000 / ir_length;  //debug

    return (ir_length);  //戻り値

  } else if (Voltage < 2980) {  //8cm-7cm 1/xは、0.125-0.142

    // 2750mVから2980mV
    ir_length = 777 * (Voltage - 2750) + 1250000;
    ir_length = ir_length / 1000;    //debug
    ir_length = 100000 / ir_length;  //debug

    return (ir_length);  //戻り値

  } else if (Voltage < 3120) {  //7cm-6cm 1/xは、0.142-0.166

    // 2980mVから3120mV
    ir_length = 1700 * (Voltage - 2980) + 1428571;
    ir_length = ir_length / 1000;    //debug
    ir_length = 100000 / ir_length;  //debug

    return (ir_length);  //戻り値

  } else {  //6cm以下 1/xは、0.166

    //3120mV以降
    return (60);

  }  //endif

}  //ir_le_i


//初期化
void setup() {

  //シリアルポートの初期化
  Serial.begin(9600);

}  //setup


//メインループ
void loop() {

  int sensorValue;  //センサーの読み取り値
  int Voltage;      //電圧 mV (ミリボルト)
  int ir_length;    //長さ mm (ミリメートル)

  //赤外線距離センサーから値を読み込む
  //センサーから電圧を入力する(3.3Vを4096に分解した値)
  analogReadResolution(12);  //センサーの分解度4096
  sensorValue = analogRead(A0);  //H743 12Bit ADC

  //sensorValue = 1614;            //約1.3V debug
  //Serial.print("sensorValue=");  //debug
  //Serial.println(sensorValue);   //debug

  //センサーの値から電圧に変換
  Voltage = (sensorValue * 3300) >> 12;  //4096step-adc : (x>>12)=(x/4096) [H743]

  //Voltage = 1300;            //距離は、100mmを返せば良い
  //Serial.print("Voltage=");  //debug
  //Serial.println(Voltage);   //debug


  //赤外線距離センサー(GP2Y0A21YK)の電圧から距離を求める。
  //入力は、[mV]
  //出力は、[mm]
  ir_length = ir_len_i(Voltage);


  //距離の表示
  Serial.print("800,");
  //Serial.print("ir_length=");  //debug
  Serial.print(ir_length);
  Serial.print(",0");
  Serial.println();

  //delay(1000);  //1秒待つ
  delay(100);  //100m秒待つ

}  //loop