SES
test
Dependencies: mbed
Fork of
BNO055_HelloWorld
by 
Dave Turner
Diff: main.cpp
- Revision:
- 1:b178e785986d
- Parent:
- 0:a8e6e26ebe0f
--- a/main.cpp Sun May 31 07:23:02 2015 +0000
+++ b/main.cpp Tue May 22 11:29:05 2018 +0000
@@ -1,40 +1,356 @@
#include "mbed.h"
+#include <math.h>
+
#include "BNO055.h"
+#define DIGITS 8
+//円周率
+#define PI 3.14159265358979
+//モータードライバ
+#define HF_MOTRE 0x01
+#define HB_MOTRE 0x02
+#define MF_MOTRE 0x03
+#define MB_MOTRE 0x04
+#define ARM_UD 0x05
+#define ARM_OC 0x06
+#define RERAY 0x07
+#define R1 0x0A
+//モータードライバへの命令
+#define STOP 0
+#define CW 1
+#define CCW -1
+#define bSTOP 10
+#define bCW 11
+#define bCCW -11
+
+#define sCW 21
+#define sCCW -21
+#define shCW 31
+#define shCCW -31
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+//DigitalOut ledx(LED4);
+Serial serial(P0_15, P0_1);
+Serial s485(P0_26, P0_16);
+DigitalOut DE(P0_27);
+
+AnalogIn test(P0_4);
+
+//Serial serial2(p28, p27);
+I2C md_i2c_tx(P0_11, P0_10);
+Ticker timer;
Serial pc(USBTX, USBRX);
-BNO055 imu(I2C_SDA,I2C_SCL);
-DigitalOut led(LED1);
+
+BNO055 imu(dp15, dp25);
+double yaw, roll, pitch;
+
+
+int cnt_now = -1;
+volatile unsigned char dualshock_cmd_getflag = 0;
+volatile unsigned char dualshock_data[9] = {0x00, 0x00, 0x00, 0x80, 0x80, 0x80, 0x80};
+volatile unsigned char dualshock_data_number = 0;
+
+uint16_t cnt1 = 0;
+volatile unsigned char dualshock_cmd_getflag1 = 0;
+volatile unsigned char dualshock_data1[9] = {0x00, 0x00, 0x00, 0x80, 0x80, 0x80, 0x80};
+volatile unsigned char dualshock_data_number1 = 0;
+
+uint16_t cnt2 = 0;
+volatile unsigned char dualshock_cmd_getflag2 = 0;
+volatile unsigned char dualshock_data2[9] = {0x00, 0x00, 0x00, 0x80, 0x80, 0x80, 0x80};
+volatile unsigned char dualshock_data_number2 = 0;
+char str[20];
+char usart_rx = 0;
+double lx, ly, lraw_rad, lclearance, ldistance, langle;
+double rx, ry, rraw_rad, rclearance, rdistance, rangle;
+
+void cv2bin( unsigned char n ) {
+ int i;
+
+ for( i = DIGITS-1; i >= 0; i-- ) {
+ printf( "%d", ( n >> i ) & 1 );
+ }
+ printf( "\n" );
+}
+
+void joy_cal() {
+ //以下ジョイスティック計算
+ rx = -(128-dualshock_data[3])*2;
+ ry = (128-dualshock_data[4])*2;
+ if (rx >= 255) rx = 255;
+ if (rx <= -255) rx = -255;
+ if (ry >= 255) ry = 255;
+ if (ry <= -255) ry = -255;
+ rraw_rad = atan2(ry, rx)/PI;
+ rdistance = hypot(rx, ry) - rclearance;
+ rdistance *= (255 / (255 - rclearance));
+ if (rdistance < 0) rdistance = 0;
+ if (rdistance >= 255) rdistance = 255;
+ rangle = (rraw_rad < 0 ? 2 + rraw_rad : rraw_rad) * 180;
+ rangle = rdistance == 0 ? 0 : rangle;
+
+ if (rx > 0) {
+ rx -= rclearance;
+ if (rx < 0) rx = 0;
+ } else if (rx < 0) {
+ rx += rclearance;
+ if (rx > 0) rx = 0;
+ }
+ rx *= (255 / (255 - rclearance));
+
+ lx = -(128-dualshock_data[5])*2;
+ ly = (128-dualshock_data[6])*2;
+ if (lx >= 255) lx = 255;
+ if (lx <= -255) lx = -255;
+ if (ly >= 255) ly = 255;
+ if (ly <= -255) ly = -255;
+ lraw_rad = atan2(ly, lx)/PI;
+ ldistance = hypot(lx, ly) - lclearance;
+ ldistance *= (255 / (255 - lclearance));
+ if (ldistance < 0) ldistance = 0;
+ if (ldistance >= 255) ldistance = 255;
+ langle = (lraw_rad < 0 ? 2 + lraw_rad : lraw_rad) * 180;
+ langle = ldistance == 0 ? 0 : langle;
+}
+
+//タイマ割り込み
+void time() {
+
+ if (dualshock_cmd_getflag & 0x02) {
+ dualshock_cmd_getflag = 0;
+ dualshock_data[1] = 0x00;
+ dualshock_data[2] = 0x00;
+ dualshock_data[3] = 0x80;
+ dualshock_data[4] = 0x80;
+ dualshock_data[5] = 0x80;
+ dualshock_data[6] = 0x80;
+ led2 = 0;
+ }
+ else
+ dualshock_cmd_getflag |= 0x02;
+}
+
+
+void usart(){
+ unsigned char rxdata;
+
+ rxdata = serial.getc();
+ serial.putc(dualshock_data_number);
+ if (dualshock_data_number == 0 && rxdata == 'S')
+ dualshock_data_number++;
+ else if(dualshock_data_number >= 1 && dualshock_data_number <= 6) {
+ if (dualshock_data_number <= 2)
+ dualshock_data[dualshock_data_number] = ~rxdata;
+ else
+ dualshock_data[dualshock_data_number] = rxdata;
+ dualshock_data_number++;
+ }
+ else if (dualshock_data_number == 7 && rxdata == 'E') {
+ dualshock_cmd_getflag = 0x01;
+ dualshock_data_number = 0;
+ led2 = 1;
+ joy_cal();
+ }
+ //ledx = !ledx;
+}
+
+void ics() {
+ wait_ms(1);
+ led3 = 0;
+ //EN_IN = 0;
+}
+
+
+//i2c通信
+void md_setoutput(unsigned char address, int rotate, int duty) {
+ char val;
+ char data[2];
+
+ /* H30新型：処理最適化 */
+ switch (rotate) {
+ case CW: data[0] = 'F'; break;// 電圧比例制御モード（PWMがLの区間はフリー）
+ case CCW: data[0] = 'R'; break;
+ case STOP: data[0] = 'S'; break;
+
+ case bCW: data[0] = 'f'; break; // 電圧比例制御モード（PWMがLの区間はブレーキ）
+ case bCCW: data[0] = 'r'; break;
+ case bSTOP: data[0] = 's'; break;
+
+ case sCW: data[0] = 'A'; break; // 速度比例制御モード
+ case sCCW: data[0] = 'B'; break;
+
+ case shCW: data[0] = 'a'; break; // 速度比例制御モード（命令パケット最上位ビットに指令値9ビット目を入れることで分解能2倍）
+ case shCCW: data[0] = 'b'; break;
+ }
+
+ data[1] = duty & 0xFF;
+
+ val = md_i2c_tx.write(address << 1, data, 2); //duty送信
+}
+
+void set_pos(int id, float angle) {
+ float pos = 0;
+ int data = 0; //3500～11500
+ angle += 135;
+ pos = (8000 / 270) * angle;
+ data = (int)(pos > 0.5 ? pos + 0.5 : pos - 0.5);
+ data += 3500;
+
+ //int CMD = 0b10000000 + id;
+ //char pos_H = (uint16_t)((data & 0b11111110000000) >> 7);
+ //char pos_L = (uint16_t)(data & 0b00000001111111);
+
+
+ led3 = 1;
+ //EN_IN = 1;
+ //servo.putc(CMD);
+ //servo.putc(pos_H);
+ //servo.putc(pos_L);
+}
int main() {
- pc.baud(115200);
- pc.printf("BNO055 Hello World\r\n\r\n");
- led = 1;
-// Reset the BNO055
+ wait_ms(10);
+ unsigned char stick_gain = 4;
+ //led1 = 1;
+ led2 = 0;
+ led3 = 0;
+ //ledx = 1;
+ serial.baud(19200);//シリアル通信
+ s485.baud(19200);
+
+
+ //serial2.baud(19200);//シリアル通信
+ pc.baud(230400);
+
+ md_i2c_tx.frequency(20000000UL/(16 + 2 * 2 * 16)/2);//I2C通信
+ timer.attach_us(time, 100000); //タイマ割り込み
+ serial.attach(&usart, Serial::RxIrq); //受信割り込み
+ //serial2.attach(&usart2, Serial::RxIrq); //受信割り込み
+
+ //EN_IN = 0;
+ //servo.baud(115200);
+ //servo.format(8, Serial::Even, 1);
+ //servo.attach(&ics, Serial::TxIrq);
+
+
imu.reset();
-// Check that the BNO055 is connected and flash LED if not
- if (!imu.check())
- while (true){
- led = !led;
- wait(0.1);
+ imu.check();
+
+
+ // テスト用回転モード切り替え記録
+ int Mcw = CW;
+ int Mccw = CCW;
+ int Mstop = STOP;
+
+ lclearance = 60; //平行移動
+ rclearance = 90; //旋回
+ float power_up = 0;
+ while (1) {
+ DE = 1;
+ s485.printf("S");
+ //DE = 0;
+ //led1 = EMS_STATE;
+ //set_pos(0, -65);
+ //CS = 0;
+ //isoSPI.write(165);
+ //CS = 1;
+ /********************以下速度アップ処理********************/
+ if (dualshock_data[2] & 0x04) power_up = 1;
+ else power_up = 0.8;
+ /********************以下メカナムメイン処理********************/
+ if (rx > 0) {
+ ////////////////////頭を右方向に旋回
+ md_setoutput(HF_MOTRE,Mcw,rx*power_up);
+ md_setoutput(HB_MOTRE,Mcw,rx*power_up);
+ md_setoutput(MF_MOTRE,Mcw,rx*power_up);
+ md_setoutput(MB_MOTRE,Mcw,rx*power_up);
+ } else if (rx < 0) {
+ ////////////////////頭を左方向に旋回
+ md_setoutput(HF_MOTRE,Mccw,-rx*power_up);
+ md_setoutput(HB_MOTRE,Mccw,-rx*power_up);
+ md_setoutput(MF_MOTRE,Mccw,-rx*power_up);
+ md_setoutput(MB_MOTRE,Mccw,-rx*power_up);
+ } else {
+ ////////////////////旋回をしない場合平行移動を行う
+ //
+ if ((ldistance != 0) && ((langle < 45) || (langle >= 315))){ //右
+ md_setoutput(HF_MOTRE,Mcw,ldistance*power_up);
+ md_setoutput(HB_MOTRE,Mcw,ldistance*power_up);
+ md_setoutput(MF_MOTRE,Mccw,ldistance*power_up);
+ md_setoutput(MB_MOTRE,Mccw,ldistance*power_up);
+ } else if ((ldistance != 0) && (langle < 135)) { //前
+ md_setoutput(HF_MOTRE,Mccw,ldistance*power_up);
+ md_setoutput(HB_MOTRE,Mcw,ldistance*power_up);
+ md_setoutput(MF_MOTRE,Mccw,ldistance*power_up);
+ md_setoutput(MB_MOTRE,Mcw,ldistance*power_up);
+ } else if ((ldistance != 0) && (langle < 225)) { //左
+ md_setoutput(HF_MOTRE,Mccw,ldistance*power_up);
+ md_setoutput(HB_MOTRE,Mccw,ldistance*power_up);
+ md_setoutput(MF_MOTRE,Mcw,ldistance*power_up);
+ md_setoutput(MB_MOTRE,Mcw,ldistance*power_up);
+ } else if ((ldistance != 0) && (langle < 315)) { //後
+ md_setoutput(HF_MOTRE,Mcw,ldistance*power_up);
+ md_setoutput(HB_MOTRE,Mccw,ldistance*power_up);
+ md_setoutput(MF_MOTRE,Mcw,ldistance*power_up);
+ md_setoutput(MB_MOTRE,Mccw,ldistance*power_up);
+ } else { //停止
+ md_setoutput(HF_MOTRE,Mstop,0);
+ md_setoutput(HB_MOTRE,Mstop,0);
+ md_setoutput(MF_MOTRE,Mstop,0);
+ md_setoutput(MB_MOTRE,Mstop,0);
}
-// Display sensor information
- pc.printf("BNO055 found\r\n\r\n");
- pc.printf("Chip ID: %0z\r\n",imu.ID.id);
- pc.printf("Accelerometer ID: %0z\r\n",imu.ID.accel);
- pc.printf("Gyroscope ID: %0z\r\n",imu.ID.gyro);
- pc.printf("Magnetometer ID: %0z\r\n\r\n",imu.ID.mag);
- pc.printf("Firmware version v%d.%0d\r\n",imu.ID.sw[0],imu.ID.sw[1]);
- pc.printf("Bootloader version v%d\r\n\r\n",imu.ID.bootload);
-// Display chip serial number
- for (int i = 0; i<4; i++){
- pc.printf("%0z.%0z.%0z.%0z\r\n",imu.ID.serial[i*4],imu.ID.serial[i*4+1],imu.ID.serial[i*4+2],imu.ID.serial[i*4+3]);
+ }
+
+ /* 回転モード設定（テスト用） */
+ if (dualshock_data[2] & 0x40) { //通常フリー
+ Mcw = CW;
+ Mccw = CCW;
+ Mstop = STOP;
+ led1 = 0;
+ } else if (dualshock_data[2] & 0x20) { //通常ブレーキ
+ Mcw = bCW;
+ Mccw = bCCW;
+ Mstop = bSTOP;
+ led1 = 1;
+ } else if (dualshock_data[2] & 0x10) { //速調
+ Mcw = sCW;
+ Mccw = sCCW;
+ Mstop = bSTOP;
+ led1 = 1;
+ }
+ {
+ imu.setmode(OPERATION_MODE_IMUPLUS);
+ imu.get_calib();
+ imu.get_angles();
+ imu.get_quat();
+
+ double q1, q2, q3, q4;
+ q1 = imu.quat.w;
+ q2 = imu.quat.x;
+ q3 = imu.quat.y;
+ q4 = imu.quat.z;
+
+ double q3q3 = q3 * q3;
+
+ double m1 = +2.0 * (q1 * q2 + q3 * q4);
+ double m2 = +1.0 - 2.0 * (q2 * q2 + q3q3);
+ //roll = atan2(m1, m2) * 57.2957795131;
+
+ m1 = +2.0 * (q1 * q3 - q4 * q2);
+ m1 = (m1 > 1.0)? 1.0 : m1;
+ m1 = (m1 < -1.0)? -1.0 : m1;
+ //pitch = asin(m1) * 57.2957795131;
+
+ m1 = +2.0 * (q1 * q4 + q2 * q3);
+ m2 = +1.0 - 2.0 * (q3q3 + q4 * q4);
+ //yaw = atan2(m1, m2) * 57.2957795131;
+
+ //pc.printf("yaw\t = %05d, roll\t = %05d, pitch\t = %05d\r\n", (int)yaw, (int)roll, (int)pitch);
+ pc.printf("%05d\r\n", test.read_u16());
+ }
+
+ wait_ms(10);
}
- pc.printf("\r\n");
- while (true) {
- imu.setmode(OPERATION_MODE_NDOF);
- imu.get_calib();
- imu.get_angles();
- pc.printf("%0z %5.1d %5.1d %5.1d\r\n",imu.calib,imu.euler.roll,imu.euler.pitch,imu.euler.yaw);
- wait(1.0);
- }
-}
+}
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