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Dependencies:   mbed MPU6050

sm_esc.cpp@2:e9d928fd327a, 2019-09-28 (annotated)

Committer:
GaspardD
Date:
Sat Sep 28 22:58:02 2019 +0000
Revision:
2:e9d928fd327a
Parent:
1:8faddee0e52f
Child:
3:1b7eb426247e
servo state machine

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GaspardD 1:8faddee0e52f 1 #include "sm_esc.h"
GaspardD 1:8faddee0e52f 2
GaspardD 1:8faddee0e52f 3 PwmOut pwm_ESC(PD_12);
GaspardD 1:8faddee0e52f 4 DigitalOut relay_ESC(PG_0);
GaspardD 1:8faddee0e52f 5 E_STATE_ESC e_stateESC;
GaspardD 1:8faddee0e52f 6
GaspardD 1:8faddee0e52f 7 void init_sm_esc()
GaspardD 1:8faddee0e52f 8 {
GaspardD 1:8faddee0e52f 9 e_stateESC = ESC_DISABLED;
GaspardD 1:8faddee0e52f 10 return;
GaspardD 1:8faddee0e52f 11 }
GaspardD 1:8faddee0e52f 12
GaspardD 1:8faddee0e52f 13 void update_sm_esc()
GaspardD 1:8faddee0e52f 14 {
GaspardD 1:8faddee0e52f 15 E_STATE_ESC next_state;
GaspardD 1:8faddee0e52f 16
GaspardD 1:8faddee0e52f 17 switch(e_stateESC) {
GaspardD 1:8faddee0e52f 18 case ESC_DISABLED:
GaspardD 1:8faddee0e52f 19 if(b_UTILS_flag_button) {
GaspardD 1:8faddee0e52f 20 next_state = ESC_INIT;
GaspardD 1:8faddee0e52f 21 b_UTILS_flag_button = false;
GaspardD 1:8faddee0e52f 22 }
GaspardD 1:8faddee0e52f 23 break;
GaspardD 1:8faddee0e52f 24 case ESC_INIT:
GaspardD 1:8faddee0e52f 25 next_state = ESC_COMMAND;
GaspardD 1:8faddee0e52f 26 break;
GaspardD 1:8faddee0e52f 27 case ESC_COMMAND:
GaspardD 1:8faddee0e52f 28 if(b_UTILS_flag_emergency_stop)
GaspardD 1:8faddee0e52f 29 {
GaspardD 1:8faddee0e52f 30 next_state = ESC_DISABLED;
GaspardD 1:8faddee0e52f 31 }
GaspardD 1:8faddee0e52f 32 break;
GaspardD 1:8faddee0e52f 33 default:
GaspardD 1:8faddee0e52f 34 break;
GaspardD 1:8faddee0e52f 35 }
GaspardD 1:8faddee0e52f 36
GaspardD 1:8faddee0e52f 37 e_stateESC = next_state;
GaspardD 1:8faddee0e52f 38 return;
GaspardD 1:8faddee0e52f 39 }
GaspardD 1:8faddee0e52f 40
GaspardD 1:8faddee0e52f 41 void output_sm_esc()
GaspardD 1:8faddee0e52f 42 {
GaspardD 1:8faddee0e52f 43 switch(e_stateESC) {
GaspardD 1:8faddee0e52f 44 case ESC_DISABLED:
GaspardD 1:8faddee0e52f 45 relay_ESC = 0;
GaspardD 1:8faddee0e52f 46 break;
GaspardD 1:8faddee0e52f 47 case ESC_INIT:
GaspardD 2:e9d928fd327a 48 pc.printf("init the ESC");
GaspardD 1:8faddee0e52f 49 relay_ESC = 1;
GaspardD 1:8faddee0e52f 50 wait(0.2);
GaspardD 1:8faddee0e52f 51 pwm_ESC.period_ms(ESC_PERIOD_DURATION_MS); //20 ms is default
GaspardD 1:8faddee0e52f 52 pwm_ESC.pulsewidth_us(600);
GaspardD 1:8faddee0e52f 53 wait(1);
GaspardD 1:8faddee0e52f 54 break;
GaspardD 1:8faddee0e52f 55 case ESC_COMMAND:
GaspardD 1:8faddee0e52f 56 pc.printf("send pulse 1500 to esc");
GaspardD 1:8faddee0e52f 57 pwm_ESC.pulsewidth_us(1500);
GaspardD 1:8faddee0e52f 58 wait(1);
GaspardD 1:8faddee0e52f 59 pc.printf("send pulse 1600 to esc");
GaspardD 1:8faddee0e52f 60 pwm_ESC.pulsewidth_us(1600);
GaspardD 1:8faddee0e52f 61 wait(1);
GaspardD 1:8faddee0e52f 62 pc.printf("send pulse 1700 to esc");
GaspardD 1:8faddee0e52f 63 pwm_ESC.pulsewidth_us(1700);
GaspardD 1:8faddee0e52f 64 wait(1);
GaspardD 1:8faddee0e52f 65 pc.printf("send pulse 1800 to esc");
GaspardD 1:8faddee0e52f 66 pwm_ESC.pulsewidth_us(1800);
GaspardD 1:8faddee0e52f 67 wait(1);
GaspardD 1:8faddee0e52f 68 pc.printf("send pulse 1900 to esc");
GaspardD 1:8faddee0e52f 69 pwm_ESC.pulsewidth_us(1900);
GaspardD 1:8faddee0e52f 70 wait(1);
GaspardD 1:8faddee0e52f 71 pc.printf("send pulse 2000 to esc");
GaspardD 1:8faddee0e52f 72 pwm_ESC.pulsewidth_us(2000);
GaspardD 1:8faddee0e52f 73 wait(1);
GaspardD 1:8faddee0e52f 74 pc.printf("emergency stop");
GaspardD 1:8faddee0e52f 75 b_UTILS_flag_emergency_stop = true;
GaspardD 1:8faddee0e52f 76 break;
GaspardD 1:8faddee0e52f 77 default:
GaspardD 1:8faddee0e52f 78 break;
GaspardD 1:8faddee0e52f 79 }
GaspardD 1:8faddee0e52f 80
GaspardD 1:8faddee0e52f 81 return;
GaspardD 1:8faddee0e52f 82 }