Diff: Maxon_setting.cpp

Revision:

0:9b75a5e505d0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Maxon_setting.cpp	Sat Dec 22 02:50:21 2018 +0000
@@ -0,0 +1,245 @@
+#include <Maxon_setting.h>
+//#include <mbed.h>
+//#include <math.h>
+//#include <stdarg.h>
+
+
+/*#define DEBUG_MODE                              // compile as debug mode (comment out if you don't use)
+#ifdef DEBUG_MODE
+#define DEBUG_PRINT                             // enable debug_printf
+#endif*/
+
+Serial pc(USBTX,USBRX);
+void debug_printf(const char* format,...);      // work as printf in debug
+void Debug_Control();                           // control by PC keybord
+
+#define SPI_FREQ    1000000         // 1MHz
+#define SPI_BITS    16
+#define SPI_MODE    0
+#define SPI_WAIT_US 1               // 1us
+
+/*モーターの配置
+*     md1//---F---\\md4
+*        |         |
+*        L    +    R
+*        |         |
+*     md2\\---B---//md3
+*/
+
+//-----mbed-----//
+SPI spi(p5,p6,p7);
+//CAN can1(p30,p29,1000000);
+
+DigitalOut ss_md1(p15);           //エスコンの設定
+DigitalOut ss_md2(p16);
+DigitalOut ss_md3(p17);
+DigitalOut ss_md4(p18);
+
+DigitalOut md_enable(p25);
+//DigitalIn md_ch_enable(p10);        // check enable switch is open or close
+//Timer md_disable;
+DigitalOut md_stop(p24);          // stop all motor
+DigitalIn  md_check(p23);           // check error of all motor driver  //とりあえず使わない
+
+/*Ec EC1(p8,p26,NC,500,0.05);
+Ec EC2(p21,p22,NC,500,0.05);
+R1370P gyro(p28,p27);*/
+
+//Ticker motor_tick;  //角速度計算用ticker
+//Ticker ticker;  //for enc
+
+/*-----nucleo-----//
+SPI spi(PB_5,PB_4,PB_3);
+
+DigitalOut ss_md1(PB_15);           //エスコンの設定
+DigitalOut ss_md2(PB_14);
+DigitalOut ss_md3(PB_13);
+DigitalOut ss_md4(PC_4);
+
+DigitalOut md_enable(PA_13);        // do all motor driver enable
+//DigitalIn md_ch_enable(p10);        // check enable switch is open or close
+//Timer md_disable;
+DigitalOut md_stop(PA_14);          // stop all motor
+DigitalIn  md_check(PB_7);           // check error of all motor driver  //とりあえず使わない
+
+Ec EC1(PC_6,PC_8,NC,500,0.05);
+Ec EC2(PB_1,PB_12,NC,500,0.05);
+R1370P gyro(PC_6,PC_7);
+
+Ticker motor_tick; //角速度計算用ticker
+Ticker ticker;  //for enc  */
+
+
+
+//DigitalOut can_led(LED1);           //if can enable -> toggle
+DigitalOut debug_led(LED2);         //if debugmode -> on
+DigitalOut md_stop_led(LED3);       //if motor stop -> on
+DigitalOut md_err_led(LED4);        //if driver error -> on  //とりあえず使わない
+
+void UserLoopSetting()
+{
+//------機体情報の初期化------//
+
+//info.nowX = {0,0,0};
+//info.nowY = {0,0,0};
+
+//-----エスコンの初期設定-----//
+    spi.format(SPI_BITS, SPI_MODE);
+    spi.frequency(SPI_FREQ);
+    ss_md1 = 1;
+    ss_md2 = 1;
+    ss_md3 = 1;
+    ss_md4 = 1;
+    md_enable = 1;  //enable on
+    md_err_led = 0;
+    md_stop = 1;
+    md_stop_led = 1;
+//-----センサーの初期設定-----//
+   /* gyro.initialize();
+    motor_tick.attach(&calOmega,0.05);  //0.05秒間隔で角速度を計算
+    EC1.setDiameter_mm(48);
+    EC2.setDiameter_mm(48);  //測定輪半径//後で測定*/
+
+#ifdef DEBUG_MODE
+    debug_led = 1;
+    pc.attach(Debug_Control, Serial::RxIrq);
+#else
+    debug_led = 0;
+#endif
+}
+
+#define MCP4922_AB      (1<<15)
+#define MCP4922_BUF     (1<<14)
+#define MCP4922_GA      (1<<13)
+#define MCP4922_SHDN    (1<<12)
+
+#define MCP4922_SET_OUTA    (0x3000)    //( MCP4922_GA || MCP4922_SHDN )  //12288
+#define MCP4922_SET_OUTB    (0xB000)    //( MCP4922_AB || MCP4922_GA || MCP4922_SHDN )  //45056
+#define MCP4922_MASKSET     (0x0FFF)    //4095
+
+void DAC_Write(int16_t data, DigitalOut* DAC_cs)//(出力,出力場所)
+{
+    static uint16_t dataA;  //送るデータ
+    static uint16_t dataB;
+
+    dataA = MCP4922_SET_OUTA;
+    dataB = MCP4922_SET_OUTB;
+
+    if(data >= 0) {
+        if(data > 4095) {
+            data = 4095;
+        }
+        dataA += (MCP4922_MASKSET & (uint16_t)(data));
+    } else {
+        if(data < -4095) {
+            data = -4095;
+        }
+        dataB += (MCP4922_MASKSET & (uint16_t)(-data));
+    }
+
+    //Aの出力設定
+    (DigitalOut)(*DAC_cs)=0;
+    wait_us(SPI_WAIT_US);
+    spi.write(dataA);
+    wait_us(SPI_WAIT_US);
+    (DigitalOut)(*DAC_cs)=1;
+    wait_us(SPI_WAIT_US);
+
+    //Bの出力設定
+    (DigitalOut)(*DAC_cs)=0;
+    wait_us(SPI_WAIT_US);
+    spi.write(dataB);
+    wait_us(SPI_WAIT_US);
+    (DigitalOut)(*DAC_cs)=1;
+
+}
+
+void MotorControl(int16_t val_md1, int16_t val_md2, int16_t val_md3, int16_t val_md4)   //出力
+{
+    static int16_t zero_check;
+
+    DAC_Write(val_md1, &ss_md1);
+    DAC_Write(val_md2, &ss_md2);
+    DAC_Write(val_md3, &ss_md3);
+    DAC_Write(val_md4, &ss_md4);
+
+    zero_check = (val_md1 | val_md2 | val_md3 | val_md4);  //すべての出力が0なら強制停止
+    if(zero_check == 0) {
+        md_stop = 1;
+        md_stop_led = 1;
+    } else {
+        md_stop = 0;
+        md_stop_led = 0;
+    }
+}
+
+//#ifdef DEBUG_MODE
+void Debug_Control()
+{
+    static char pc_command = '\0';
+
+    pc_command = pc.getc();
+
+    if(pc_command == 'w') {  //前進
+        m1+=500;
+        m2+=500;
+        m3-=500;
+        m4-=500;
+    } else if(pc_command == 's') {  //後進
+        m1-=500;
+        m2-=500;
+        m3+=500;
+        m4+=500;
+    } else if(pc_command == 'd') {  //右回り
+        m1+=500;
+        m2+=500;
+        m3+=500;
+        m4+=500;
+    } else if(pc_command == 'a') {  //左回り
+        m1-=500;
+        m2-=500;
+        m3-=500;
+        m4-=500;
+    } else {
+        m1=0;
+        m2=0;
+        m3=0;
+        m4=0;
+    }
+
+    if(m1>4095) {  //最大値を超えないように
+        m1=4095;
+    } else if(m1<-4095) {
+        m1=-4095;
+    }
+    if(m2>4095) {
+        m2=4095;
+    } else if(m2<-4095) {
+        m2=-4095;
+    }
+    if(m3>4095) {
+        m3=4095;
+    } else if(m3<-4095) {
+        m3=-4095;
+    }
+    if(m4>4095) {
+        m4=4095;
+    } else if(m4<-4095) {
+        m4=-4095;
+    }
+
+    debug_printf("%d %d %d %d\r\n",m1,m2,m3,m4);
+    MotorControl(m1,m2,m3,m4);
+    pc_command = '\0';
+}
+//#endif
+
+//#ifdef DEBUG_PRINT
+void debug_printf(const char* format,...)
+{
+    va_list arg;
+    va_start(arg, format);
+    vprintf(format, arg);
+    va_end(arg);
+}
+//#endif
\ No newline at end of file