LIVS Studio
마스터 로봇 조종기(EsmaCAT EtherCAT Shield 이용)
Dependencies: EsmacatShield
Revision 1:9a05b0a731f3, committed 2020-12-01
- Comitter:
- Jangikjae
- Date:
- Tue Dec 01 01:42:01 2020 +0000
- Parent:
- 0:76a0d29416ee
- Commit message:
Changed in this revision
diff -r 76a0d29416ee -r 9a05b0a731f3 KeypadLib.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/KeypadLib.lib Tue Dec 01 01:42:01 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/LIVS-Studio/code/f401_EASE_7axis_controller/#c33f8b2136b4
diff -r 76a0d29416ee -r 9a05b0a731f3 main.cpp
--- a/main.cpp Tue Nov 03 12:51:15 2020 +0000
+++ b/main.cpp Tue Dec 01 01:42:01 2020 +0000
@@ -31,15 +31,23 @@
*******************************************************************************
* @file EsmacatShield.h
*******************************************************************************
+ LIVSMED
+ @brief 마스터 로봇 조종기로부터 7개의 절대 엔코더의 값을 SSI통신으로 읽는다.
+ 4개의 입력이 있는 풋 페달장치로부터 입력 값을 받는다.
+ 총 8가지의 정보(7개의 엔코더 값 + 선택된 1개의 풋 페달값)를 EtherCAT IC
+ 로 전달한다.
+
+*******************************************************************************
+
*/
#include "mbed.h"
#include <EsmacatShield.h> //Include EsmacatShield Library
-
+#include "keypad.h"
int counter;
int16_t v[8]; //an array of integer is declared for reading the
//data packet of EtherCAT from EASE 8 registers
-Serial pc(USBTX, USBRX); // Configuring the serial port to host PC
+BufferedSerial pc(USBTX, USBRX); // Configuring the serial port to host PC
Ticker tick1;
@@ -54,11 +62,16 @@
DigitalOut CS2(PA_8);
DigitalOut CS3(PA_9);
DigitalOut CS4(PC_7);
-DigitalOut CS5(PB_6);
+DigitalOut CS5(PB_8);
DigitalOut CS6(PC_1);
DigitalOut CS7(PC_0);
+
DigitalOut greenLED(PB_0);
+//////////////////////////
+
+
+//////////////////////////
uint8_t Hbyte_enc1 = 0;
uint8_t Lbyte_enc1 = 0;
uint8_t Hbyte_enc2 = 0;
@@ -86,6 +99,15 @@
uint32_t previousT = 0;
uint32_t DeltaT = 0;
+uint8_t TxdataBuffer[20];
+uint8_t KeypadBuffer[4];
+uint8_t keydata = 0;
+uint32_t keypush = 0;
+uint32_t pre_keypush = 0;
+uint8_t keystate = 0;
+uint8_t pushIndex = 0;
+uint16_t Keypad_data = 0;
+
uint16_t TestData = 0;
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
@@ -95,6 +117,7 @@
spi.frequency(500000); //500 kHz
}
+
void ReadEncoder(SPI&spi, uint8_t &low, uint8_t &high, DigitalOut& CS, uint16_t &angle)
{
CS = 0;
@@ -105,11 +128,14 @@
uint16_t Data = ((uint16_t)high << 2) + ((uint16_t)low >>6);
high = Data >> 8;
low = Data & 0xff;
- angle = (float)Data * (360.0 / 1024.0);
- angle = (uint16_t) angle * 1;
+
+ angle = Data;
+ //angle = (float)Data * (360.0 / 1024.0);
+ //angle = (uint16_t)(angle * 1000);
}
+
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
int main()
@@ -125,21 +151,80 @@
greenLED = 0;
//tick1.attach(MeasureEncoder, 0.01);
+ Keypad keypad(PC_3, PC_2, NC, NC, PA_14, PA_13, NC, NC);
+ keypad.enablePullUp();
+ char key;
+
+
while(1)
{
TestData++;
if(TestData == 5) {
TestData = 0;
- greenLED = !greenLED;
+ greenLED = !greenLED;
+ }
+
+ key = keypad.getKey();
+ if(key != KEY_RELEASED)
+ {
+ keydata = key;
+
+ if(keydata == '1'){KeypadBuffer[1]= 0xC1;}
+ else if(keydata == '4'){KeypadBuffer[1]=0xC2;}
+ else if(keydata == '2'){KeypadBuffer[1]=0xC3;}
+ else if(keydata == '5'){keypush++;}
+
+ }
+
+ if (keypush == pre_keypush){
+ keypush = 0;
+ }
+
+ if((keypush > 2)&&(keystate == 0x00)){
+ KeypadBuffer[2] = 0x00;
+ keystate = 0x00;
+ pushIndex = 1;
}
+ else if((keypush > 2)&&(keystate == 0x01)){
+ KeypadBuffer[2] = 0x01;
+ keystate = 0x01;
+ pushIndex = 1;
+ }
+ else if ((keypush == 0)&&(keystate == 0x00)){
+ if(pushIndex == 0){
+ KeypadBuffer[2] = 0x00;
+ keystate = 0x00;
+ }
+ if(pushIndex == 1){
+ KeypadBuffer[2] = 0x01;
+ keystate = 0x01;
+ pushIndex = 0;
+ }
+ }
+ else if ((keypush == 0)&&(keystate == 0x01)){
+ if(pushIndex == 0){
+ KeypadBuffer[2] = 0x01;
+ keystate = 0x01;
+ }
+ if(pushIndex == 1){
+ KeypadBuffer[2] = 0x00;
+ keystate = 0x00;
+ pushIndex = 0;
+ }
+ }
+
+ pre_keypush = keypush;
+
+ Keypad_data = (uint16_t)(KeypadBuffer[1] << 8) | KeypadBuffer[2];
ReadEncoder(spi3, Lbyte_enc4, Hbyte_enc4, CS4, Angle_encoder4);
+ ReadEncoder(spi3, Lbyte_enc5, Hbyte_enc5, CS5, Angle_encoder5);
+ ReadEncoder(spi3, Lbyte_enc6, Hbyte_enc6, CS6, Angle_encoder6);
+ ReadEncoder(spi3, Lbyte_enc7, Hbyte_enc7, CS7, Angle_encoder7);
ReadEncoder(spi2, Lbyte_enc1, Hbyte_enc1, CS1, Angle_encoder1);
- ReadEncoder(spi3, Lbyte_enc5, Hbyte_enc5, CS5, Angle_encoder5);
ReadEncoder(spi2, Lbyte_enc2, Hbyte_enc2, CS2, Angle_encoder2);
- ReadEncoder(spi3, Lbyte_enc6, Hbyte_enc6, CS6, Angle_encoder6);
ReadEncoder(spi2, Lbyte_enc3, Hbyte_enc3, CS3, Angle_encoder3);
- ReadEncoder(spi3, Lbyte_enc7, Hbyte_enc7, CS7, Angle_encoder7);
+
slave.write_reg_value(0,Angle_encoder1, true);
slave.write_reg_value(1,Angle_encoder2, true);
@@ -148,23 +233,12 @@
slave.write_reg_value(4,Angle_encoder5, true);
slave.write_reg_value(5,Angle_encoder6, true);
slave.write_reg_value(6,Angle_encoder7, true);
- /*
- pc.printf("enc1: %d", Angle_encoder1);
- pc.printf("\n");
- pc.printf("enc2: %d", Angle_encoder2);
- pc.printf("\n");
- pc.printf("enc3: %d", Angle_encoder3);
- pc.printf("\n");
- pc.printf("enc4: %d", Angle_encoder4);
- pc.printf("\n");
- pc.printf("enc5: %d", Angle_encoder5);
- pc.printf("\n");
- pc.printf("enc6: %d", Angle_encoder6);
- pc.printf("\n");
- pc.printf("enc7: %d", Angle_encoder7);
- pc.printf("\n");
- */
- wait_us(10000);
+ slave.write_reg_value(7,Keypad_data, true);
+
+
+ printf("ENC1: %d, ENC2: %d, ENC3: %d, ENC4: %d,ENC5: %d, ENC6: %d, ENC7: %d\n", Angle_encoder1, Angle_encoder2, Angle_encoder3, Angle_encoder4,Angle_encoder5, Angle_encoder6, Angle_encoder7);
+
+ wait_us(100000);
}
diff -r 76a0d29416ee -r 9a05b0a731f3 mbed-os.lib --- a/mbed-os.lib Tue Nov 03 12:51:15 2020 +0000 +++ b/mbed-os.lib Tue Dec 01 01:42:01 2020 +0000 @@ -1,1 +1,1 @@ -https://github.com/armmbed/mbed-os/#430e64fce8098fd5e54f6de32f3f029f35dc705f +https://github.com/armmbed/mbed-os/#c6d65fe5082aeef6bf0d7043b4cbf0a9cc9a9d5e