いからしMDCスレーブプログラム
Dependencies: mbed SoftPWM MotorSMLAP
main.cpp@13:0cd5e8c91941, 2018-11-27 (annotated)
- Committer:
- WAT34
- Date:
- Tue Nov 27 08:01:19 2018 +0000
- Revision:
- 13:0cd5e8c91941
- Parent:
- 12:3a734542a2b3
test added
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
WAT34 | 0:4791d1cb39f8 | 1 | #include "mbed.h" |
WAT34 | 0:4791d1cb39f8 | 2 | #include "motorsmlap.h" |
WAT34 | 4:2fb782334564 | 3 | #include "MDC3_0pinConfig.h" |
takeuchi |
10:5f932239b8a5 | 4 | #include "SoftPWM.h" |
Wataru Nakata |
7:5ebe1058ca5b | 5 | #include <vector> |
WAT34 | 6:eccd0b81ba62 | 6 | #define TIMEOUT 0.5 |
WAT34 | 4:2fb782334564 | 7 | using namespace pinConfig; |
WAT34 | 9:1579e5cfa499 | 8 | motorSmLap motor[]= { |
WAT34 | 4:2fb782334564 | 9 | motorSmLap(DIR_H_0,DIR_L_0,PWM0), |
WAT34 | 4:2fb782334564 | 10 | motorSmLap(DIR_H_1,DIR_L_1,PWM1), |
WAT34 | 4:2fb782334564 | 11 | motorSmLap(DIR_H_2,DIR_L_2,PWM2), |
WAT34 | 4:2fb782334564 | 12 | motorSmLap(DIR_H_3,DIR_L_3,PWM3) |
WAT34 | 4:2fb782334564 | 13 | }; |
WAT34 | 4:2fb782334564 | 14 | Serial rs485(RS485_TX,RS485_RX); |
WAT34 | 4:2fb782334564 | 15 | Serial serial(UART1_TX,UART1_RX); |
WAT34 | 11:3ef351087c94 | 16 | CAN can(CAN_RX, CAN_TX); |
WAT34 | 4:2fb782334564 | 17 | |
WAT34 | 4:2fb782334564 | 18 | DigitalOut RSControl(RS485_CS); |
Wataru Nakata |
7:5ebe1058ca5b | 19 | bool addrChecked; |
Wataru Nakata |
7:5ebe1058ca5b | 20 | bool headerRecieved; |
WAT34 | 13:0cd5e8c91941 | 21 | DigitalIn test1(pinConfig::I2C_SDA); |
WAT34 | 13:0cd5e8c91941 | 22 | DigitalIn test2(pinConfig::I2C_SCL); |
WAT34 | 9:1579e5cfa499 | 23 | DigitalOut debugLED0(LED_0); |
WAT34 | 9:1579e5cfa499 | 24 | DigitalOut debugLED1(LED_1); |
WAT34 | 5:bcf70ca27a55 | 25 | BusOut debugLED(LED_2,LED_3); |
WAT34 | 0:4791d1cb39f8 | 26 | Timeout timeout; |
WAT34 | 0:4791d1cb39f8 | 27 | uint8_t pointedMotor; |
WAT34 | 3:22c5eb74817f | 28 | bool estop =false,doubleHeader = false; |
WAT34 | 5:bcf70ca27a55 | 29 | BusIn addr(DIP_0,DIP_1,DIP_2); |
WAT34 | 5:bcf70ca27a55 | 30 | //uint8_t addr = 2; |
takeuchi |
10:5f932239b8a5 | 31 | SoftPWM beep(BUZER); |
WAT34 | 5:bcf70ca27a55 | 32 | bool brakeing[4] = {false}; |
WAT34 | 11:3ef351087c94 | 33 | bool canRecieved = false; |
WAT34 | 3:22c5eb74817f | 34 | |
WAT34 | 4:2fb782334564 | 35 | int mode[4] = {0}; |
WAT34 | 0:4791d1cb39f8 | 36 | |
Wataru Nakata |
7:5ebe1058ca5b | 37 | std::vector<unsigned char> buf; |
WAT34 | 11:3ef351087c94 | 38 | uint8_t canbuf[3]; |
WAT34 | 11:3ef351087c94 | 39 | CANMessage msg; |
WAT34 | 13:0cd5e8c91941 | 40 | bool testing = false; |
WAT34 | 13:0cd5e8c91941 | 41 | void runTest() |
WAT34 | 13:0cd5e8c91941 | 42 | { |
WAT34 | 13:0cd5e8c91941 | 43 | testing = true; |
WAT34 | 13:0cd5e8c91941 | 44 | //beep = 1; |
WAT34 | 13:0cd5e8c91941 | 45 | for(int i = 0;i < 4;i++) |
WAT34 | 13:0cd5e8c91941 | 46 | { |
WAT34 | 13:0cd5e8c91941 | 47 | motor[i].setFreq(1600*i); |
WAT34 | 13:0cd5e8c91941 | 48 | motor[i].setMotorSpeed(0.1); |
WAT34 | 13:0cd5e8c91941 | 49 | wait(0.3); |
WAT34 | 13:0cd5e8c91941 | 50 | motor[i].setMotorSpeed(0); |
WAT34 | 13:0cd5e8c91941 | 51 | motor[i].setFreq(20000.0); |
WAT34 | 13:0cd5e8c91941 | 52 | } |
WAT34 | 13:0cd5e8c91941 | 53 | testing = false; |
WAT34 | 13:0cd5e8c91941 | 54 | //beep = 0; |
WAT34 | 13:0cd5e8c91941 | 55 | } |
Wataru Nakata |
7:5ebe1058ca5b | 56 | |
WAT34 | 11:3ef351087c94 | 57 | void canRxIt() |
WAT34 | 11:3ef351087c94 | 58 | { |
tknara | 12:3a734542a2b3 | 59 | if(can.read(msg)&&(msg.id==addr)) |
tknara | 12:3a734542a2b3 | 60 | { |
WAT34 | 11:3ef351087c94 | 61 | canbuf[0] = msg.data[0]; |
WAT34 | 11:3ef351087c94 | 62 | canbuf[1] = msg.data[1]; |
WAT34 | 11:3ef351087c94 | 63 | canbuf[2] = msg.data[2]; |
WAT34 | 11:3ef351087c94 | 64 | canRecieved = true; |
WAT34 | 11:3ef351087c94 | 65 | } |
WAT34 | 11:3ef351087c94 | 66 | } |
Wataru Nakata |
7:5ebe1058ca5b | 67 | |
WAT34 | 0:4791d1cb39f8 | 68 | void forceStop() |
WAT34 | 0:4791d1cb39f8 | 69 | { |
WAT34 | 13:0cd5e8c91941 | 70 | if(testing) |
WAT34 | 13:0cd5e8c91941 | 71 | return; |
WAT34 | 6:eccd0b81ba62 | 72 | for(int i= 0; i< 4; i++) |
WAT34 | 0:4791d1cb39f8 | 73 | motor[i].setMotorSpeed(0); |
WAT34 | 6:eccd0b81ba62 | 74 | estop = true; |
WAT34 | 0:4791d1cb39f8 | 75 | } |
WAT34 | 2:de85eb142f32 | 76 | |
WAT34 | 9:1579e5cfa499 | 77 | void callback() |
WAT34 | 9:1579e5cfa499 | 78 | { |
Wataru Nakata |
7:5ebe1058ca5b | 79 | buf.push_back(rs485.getc()); |
Wataru Nakata |
7:5ebe1058ca5b | 80 | } |
Wataru Nakata |
7:5ebe1058ca5b | 81 | |
WAT34 | 9:1579e5cfa499 | 82 | void processData(unsigned char data[]) |
Wataru Nakata |
7:5ebe1058ca5b | 83 | { |
WAT34 | 9:1579e5cfa499 | 84 | if(data[0]^data[1] == data[2]) { |
WAT34 | 9:1579e5cfa499 | 85 | if((data[0]>>5) == addr) { |
WAT34 | 0:4791d1cb39f8 | 86 | addrChecked =true; |
WAT34 | 9:1579e5cfa499 | 87 | pointedMotor = data[0]%4; |
WAT34 | 9:1579e5cfa499 | 88 | mode[pointedMotor] = ((data[0]>>4)%2); |
WAT34 | 9:1579e5cfa499 | 89 | motor[pointedMotor].braking = (data[0]>>3)%2; |
Wataru Nakata |
7:5ebe1058ca5b | 90 | |
WAT34 | 9:1579e5cfa499 | 91 | motor[pointedMotor].setMode(mode[pointedMotor]); |
WAT34 | 9:1579e5cfa499 | 92 | if(data[1] == 126) { |
WAT34 | 9:1579e5cfa499 | 93 | motor[pointedMotor].setMotorSpeed(0); |
WAT34 | 9:1579e5cfa499 | 94 | //serial.printf("STOP"); |
WAT34 | 9:1579e5cfa499 | 95 | } else { |
WAT34 | 9:1579e5cfa499 | 96 | motor[pointedMotor].setMotorSpeed((data[1]-126.0)/126.0); |
WAT34 | 9:1579e5cfa499 | 97 | } |
WAT34 | 9:1579e5cfa499 | 98 | addrChecked = false; |
WAT34 | 4:2fb782334564 | 99 | headerRecieved = false; |
WAT34 | 9:1579e5cfa499 | 100 | serial.putc(pointedMotor); |
WAT34 | 9:1579e5cfa499 | 101 | timeout.attach(&forceStop,TIMEOUT); |
WAT34 | 5:bcf70ca27a55 | 102 | } |
WAT34 | 0:4791d1cb39f8 | 103 | } |
WAT34 | 0:4791d1cb39f8 | 104 | } |
WAT34 | 0:4791d1cb39f8 | 105 | |
WAT34 | 9:1579e5cfa499 | 106 | |
WAT34 | 9:1579e5cfa499 | 107 | |
WAT34 | 9:1579e5cfa499 | 108 | int main() |
WAT34 | 9:1579e5cfa499 | 109 | { |
WAT34 | 6:eccd0b81ba62 | 110 | for(int i= 0; i< 4; i++) |
WAT34 | 13:0cd5e8c91941 | 111 | { |
WAT34 | 13:0cd5e8c91941 | 112 | motor[i].setMode(SM); |
WAT34 | 6:eccd0b81ba62 | 113 | motor[i].setMotorSpeed(0); |
WAT34 | 13:0cd5e8c91941 | 114 | } |
takeuchi |
10:5f932239b8a5 | 115 | beep.period(1.0 / 2000.0); |
takeuchi |
10:5f932239b8a5 | 116 | beep = 0.6; |
takeuchi |
10:5f932239b8a5 | 117 | wait(0.1); |
takeuchi |
10:5f932239b8a5 | 118 | beep.period(1.0 / 4000.0); |
takeuchi |
10:5f932239b8a5 | 119 | beep = 0.6; |
takeuchi |
10:5f932239b8a5 | 120 | wait(0.1); |
takeuchi |
10:5f932239b8a5 | 121 | beep.period(1.0 / 6000.0); |
takeuchi |
10:5f932239b8a5 | 122 | beep = 0.6; |
takeuchi |
10:5f932239b8a5 | 123 | wait(0.1); |
takeuchi |
10:5f932239b8a5 | 124 | beep = 0.0; |
takeuchi |
10:5f932239b8a5 | 125 | wait(0.1); |
takeuchi |
10:5f932239b8a5 | 126 | beep.period(1.0 / 2000.0); |
takeuchi |
10:5f932239b8a5 | 127 | for(int i = 0; i<addr; i++) { |
takeuchi |
10:5f932239b8a5 | 128 | beep = 0.6; |
takeuchi |
10:5f932239b8a5 | 129 | wait(0.075); |
takeuchi |
10:5f932239b8a5 | 130 | beep = 0.0; |
takeuchi |
10:5f932239b8a5 | 131 | wait(0.075); |
WAT34 | 8:fd749c243a8f | 132 | } // beep addr times |
WAT34 | 9:1579e5cfa499 | 133 | |
Wataru Nakata |
7:5ebe1058ca5b | 134 | unsigned char tmp[3] = {0}; |
eil4nyqn | 1:d802a9793080 | 135 | addrChecked=false,headerRecieved=false; |
WAT34 | 11:3ef351087c94 | 136 | can.attach(&canRxIt, CAN::RxIrq); |
WAT34 | 4:2fb782334564 | 137 | //motor[0].setMotorSpeed(0); |
takeuchi |
10:5f932239b8a5 | 138 | rs485.baud(115200); |
eil4nyqn | 1:d802a9793080 | 139 | serial.baud(115200); |
WAT34 | 5:bcf70ca27a55 | 140 | addr.mode(PullUp); |
WAT34 | 13:0cd5e8c91941 | 141 | test1.mode(PullDown); |
WAT34 | 13:0cd5e8c91941 | 142 | test2.mode(PullDown); |
WAT34 | 4:2fb782334564 | 143 | RSControl = 0; |
WAT34 | 4:2fb782334564 | 144 | rs485.putc((1<<addr)); |
WAT34 | 4:2fb782334564 | 145 | rs485.attach(&callback); |
takeuchi |
10:5f932239b8a5 | 146 | beep = 0.0; |
WAT34 | 5:bcf70ca27a55 | 147 | while(1) { |
Wataru Nakata |
7:5ebe1058ca5b | 148 | debugLED = addr; |
WAT34 | 9:1579e5cfa499 | 149 | if(buf.size() > 4) { |
WAT34 | 9:1579e5cfa499 | 150 | if (buf[0] == 255) { |
WAT34 | 9:1579e5cfa499 | 151 | tmp[0] = buf[1]; |
WAT34 | 9:1579e5cfa499 | 152 | tmp[1] = buf[2]; |
WAT34 | 9:1579e5cfa499 | 153 | tmp[2] = buf[3]; |
WAT34 | 9:1579e5cfa499 | 154 | processData(tmp); |
WAT34 | 9:1579e5cfa499 | 155 | buf.erase(buf.begin(),buf.begin()+3); |
takeuchi |
10:5f932239b8a5 | 156 | debugLED0 = !debugLED0; |
WAT34 | 9:1579e5cfa499 | 157 | } else { |
WAT34 | 9:1579e5cfa499 | 158 | buf.erase(buf.begin()); |
takeuchi |
10:5f932239b8a5 | 159 | debugLED0 = false; |
WAT34 | 9:1579e5cfa499 | 160 | } |
Wataru Nakata |
7:5ebe1058ca5b | 161 | } |
WAT34 | 11:3ef351087c94 | 162 | if(canRecieved) |
WAT34 | 11:3ef351087c94 | 163 | { |
WAT34 | 11:3ef351087c94 | 164 | tmp[0] = canbuf[0]; |
WAT34 | 11:3ef351087c94 | 165 | tmp[1] = canbuf[1]; |
WAT34 | 11:3ef351087c94 | 166 | tmp[2] = canbuf[2]; |
WAT34 | 11:3ef351087c94 | 167 | processData(tmp); |
WAT34 | 11:3ef351087c94 | 168 | debugLED0 = !debugLED0; |
WAT34 | 11:3ef351087c94 | 169 | canRecieved = false; |
WAT34 | 11:3ef351087c94 | 170 | } |
WAT34 | 2:de85eb142f32 | 171 | if(estop) |
WAT34 | 2:de85eb142f32 | 172 | forceStop(); |
WAT34 | 2:de85eb142f32 | 173 | beep = estop; |
WAT34 | 13:0cd5e8c91941 | 174 | |
WAT34 | 13:0cd5e8c91941 | 175 | if(test1 && test2) |
WAT34 | 13:0cd5e8c91941 | 176 | runTest(); |
WAT34 | 0:4791d1cb39f8 | 177 | } |
WAT34 | 0:4791d1cb39f8 | 178 | } |