SES / Mbed 2 deprecated mbed_blinky

新型モータードライバのメインプログラム

Dependencies:   mbed

main.cpp@1:e45830806a1c, 2016-05-14 (annotated)

Committer:
SES01
Date:
Sat May 14 05:58:39 2016 +0000
Revision:
1:e45830806a1c
Parent:
0:cf3829614495
Child:
2:c77482250d0b
??????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SES01 0:cf3829614495 1 #include "mbed.h"
SES01 0:cf3829614495 2
SES01 1:e45830806a1c 3 //重要受信データのマスク
SES01 1:e45830806a1c 4 #define LEAD_PACKET_MASK 0b10000000
SES01 1:e45830806a1c 5 #define PACKET_ADDRESS_MASK 0b00011111
SES01 1:e45830806a1c 6 #define PACKET_MODE_MASK 0b01100000
SES01 1:e45830806a1c 7 #define PACKET_DATA_MASK 0b00111111
SES01 1:e45830806a1c 8
SES01 1:e45830806a1c 9 //モータードライバの動作モード
SES01 1:e45830806a1c 10 #define ORDER_FOLLOWING_MODE 0
SES01 1:e45830806a1c 11 #define ENCODER_FOLLOWING_MODE 1
SES01 1:e45830806a1c 12 #define SINGLE_ORDER_MODE 2
SES01 1:e45830806a1c 13 #define SEND_POWER_MODE 3
SES01 1:e45830806a1c 14
SES01 0:cf3829614495 15 #define F_MD 18000 //PWMキャリア周波数設定
SES01 0:cf3829614495 16
SES01 0:cf3829614495 17 /*
SES01 0:cf3829614495 18 * High_A High_B
SES01 0:cf3829614495 19 * ┃ ┃
SES01 0:cf3829614495 20 * ┃ ┃
SES01 0:cf3829614495 21 * ┣━━━┫
SES01 0:cf3829614495 22 * ┃ ┃
SES01 0:cf3829614495 23 * ┃ ┃
SES01 0:cf3829614495 24 * Low_A Low_B
SES01 0:cf3829614495 25 */
SES01 0:cf3829614495 26
SES01 0:cf3829614495 27 Serial comPort(dp16, dp15);
SES01 0:cf3829614495 28 DigitalOut driverEnable(dp28);
SES01 1:e45830806a1c 29 DigitalOut LED(dp24);
SES01 1:e45830806a1c 30 //dp5 = ハイサイドPWM1, dp27 = ハイサイドPWM2 （オープンドレイン）
SES01 0:cf3829614495 31 //dp1 = ローサイドPWM1, dp2 = ローサイドPWM2
SES01 0:cf3829614495 32 PwmOut Low_A(dp1);
SES01 0:cf3829614495 33 PwmOut Low_B(dp2);
SES01 0:cf3829614495 34 DigitalOut High_A(dp5);
SES01 0:cf3829614495 35 DigitalOut High_B(dp27);
SES01 0:cf3829614495 36
SES01 0:cf3829614495 37 AnalogIn ain(dp4);
SES01 1:e45830806a1c 38
SES01 1:e45830806a1c 39 //グローバル変数
SES01 1:e45830806a1c 40 uint8_t lastRXdata = 0;
SES01 1:e45830806a1c 41 uint8_t address = 0;
SES01 1:e45830806a1c 42 uint8_t mode = 0;
SES01 1:e45830806a1c 43 uint8_t nowOrderAddress = 0;
SES01 1:e45830806a1c 44 uint8_t dataNumber = 0;
SES01 1:e45830806a1c 45 uint8_t sendPowerFlag = 0;
SES01 1:e45830806a1c 46
SES01 1:e45830806a1c 47 void orderFollowManager(uint8_t reciveData, uint8_t dataNumber){
SES01 1:e45830806a1c 48
SES01 1:e45830806a1c 49 }
SES01 1:e45830806a1c 50
SES01 1:e45830806a1c 51 void encoderFollowManager(uint8_t reciveData, uint8_t dataNumber){
SES01 1:e45830806a1c 52
SES01 1:e45830806a1c 53 }
SES01 1:e45830806a1c 54
SES01 1:e45830806a1c 55 void S_orderFollowManager(uint8_t reciveData, uint8_t dataNumber){
SES01 1:e45830806a1c 56
SES01 1:e45830806a1c 57 }
SES01 1:e45830806a1c 58
SES01 1:e45830806a1c 59 void sendPowerManager(uint8_t reciveData, uint8_t dataNumber){
SES01 1:e45830806a1c 60
SES01 1:e45830806a1c 61 }
SES01 0:cf3829614495 62
SES01 0:cf3829614495 63 void com_rx() {
SES01 1:e45830806a1c 64 static uint8_t reciveData;
SES01 1:e45830806a1c 65 reciveData = comPort.getc();
SES01 1:e45830806a1c 66
SES01 1:e45830806a1c 67 if (reciveData | LEAD_PACKET_MASK) {
SES01 1:e45830806a1c 68 nowOrderAddress = reciveData | PACKET_ADDRESS_MASK;
SES01 1:e45830806a1c 69 dataNumber = 0;
SES01 1:e45830806a1c 70 }
SES01 1:e45830806a1c 71
SES01 1:e45830806a1c 72 if (nowOrderAddress == address) {
SES01 1:e45830806a1c 73 dataNumber++;
SES01 1:e45830806a1c 74 lastRXdata = reciveData | PACKET_DATA_MASK;
SES01 0:cf3829614495 75
SES01 1:e45830806a1c 76 if (dataNumber == 1) {
SES01 1:e45830806a1c 77 mode = (reciveData | PACKET_MODE_MASK) >> 5;
SES01 1:e45830806a1c 78 } else {
SES01 1:e45830806a1c 79 switch (mode) {
SES01 1:e45830806a1c 80 case ORDER_FOLLOWING_MODE:
SES01 1:e45830806a1c 81 orderFollowManager(reciveData, dataNumber);
SES01 1:e45830806a1c 82 break;
SES01 1:e45830806a1c 83 case ENCODER_FOLLOWING_MODE:
SES01 1:e45830806a1c 84 encoderFollowManager(reciveData, dataNumber);
SES01 1:e45830806a1c 85 break;
SES01 1:e45830806a1c 86 case SINGLE_ORDER_MODE:
SES01 1:e45830806a1c 87 S_orderFollowManager(reciveData, dataNumber);
SES01 1:e45830806a1c 88 break;
SES01 1:e45830806a1c 89 case SEND_POWER_MODE:
SES01 1:e45830806a1c 90 sendPowerManager(reciveData, dataNumber);
SES01 1:e45830806a1c 91 break;
SES01 1:e45830806a1c 92 }
SES01 1:e45830806a1c 93 }
SES01 1:e45830806a1c 94 }
SES01 0:cf3829614495 95 }
SES01 0:cf3829614495 96
SES01 0:cf3829614495 97 int main() {
SES01 1:e45830806a1c 98 comPort.baud(9600);
SES01 1:e45830806a1c 99 comPort.format(8, Serial::Odd, 1);
SES01 0:cf3829614495 100 comPort.attach(&com_rx, Serial::RxIrq);
SES01 0:cf3829614495 101
SES01 0:cf3829614495 102 int FP_MD = 1000000 / F_MD; //PWM一周期の周期（マイクロ秒）
SES01 0:cf3829614495 103
SES01 0:cf3829614495 104 High_A = 0;
SES01 1:e45830806a1c 105 High_B = 0;
SES01 0:cf3829614495 106
SES01 0:cf3829614495 107 Low_A.period_us(FP_MD);
SES01 0:cf3829614495 108 Low_A.write(0);
SES01 0:cf3829614495 109 Low_B.period_us(FP_MD);
SES01 0:cf3829614495 110 Low_B.write(0);
SES01 0:cf3829614495 111 //初期設定完了
SES01 0:cf3829614495 112
SES01 1:e45830806a1c 113 LED = 1;
SES01 1:e45830806a1c 114 High_B = 1;
SES01 0:cf3829614495 115 driverEnable = 1;
SES01 0:cf3829614495 116 while (1) {
SES01 0:cf3829614495 117 Low_A.write((ain.read() - 0.2) * 1.25 < 0 ? 0 : (ain.read() - 0.2) * 1.25);
SES01 0:cf3829614495 118 //pc.printf("%f\n", (ain.read() - 0.2) * 1.25 < 0 ? 0 : (ain.read() - 0.2) * 1.25);
SES01 0:cf3829614495 119 comPort.printf("%d", 0b01010101);
SES01 0:cf3829614495 120 }
SES01 0:cf3829614495 121 }