albatross
/
ControlMain2017
2017年度の製作を開始します
Fork of Control_Main_Full_20160608 by
main.cpp@43:2d8bffac06cd, 2017-04-28 (annotated)
- Committer:
- YusukeWakuta
- Date:
- Fri Apr 28 10:21:00 2017 +0000
- Branch:
- ?????
- Revision:
- 43:2d8bffac06cd
- Parent:
- 42:6cc53727acc2
- Child:
- 46:53eb2ba661c5
pitch?roll?????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
YusukeWakuta | 13:79eb74eb86c4 | 1 | //中央 |
YusukeWakuta | 0:b1290ca6c4a2 | 2 | |
YusukeWakuta | 0:b1290ca6c4a2 | 3 | #include "mbed.h" |
YusukeWakuta | 42:6cc53727acc2 | 4 | #include "ValueProcessor.h" |
tsumagari | 37:7ce6e87b9c36 | 5 | //#include "rtos.h" |
tsumagari | 10:b7159feb11fd | 6 | #define WAIT_LOOP_TIME 0.001 |
tsumagari | 9:c32999b4d2f9 | 7 | #define YOKUTAN_DATAS_NUM 7 |
YusukeWakuta | 32:60af346703d3 | 8 | #define INPUT_DATAS_NUM 7 //ここは1倍とまでしかCANでは一度に送れないため、8以下。そして、翼端コードと数字を合わせる必要あり。 |
YusukeWakuta | 0:b1290ca6c4a2 | 9 | #define SEND_DATAS_CAN_ID 100 |
tsumagari | 8:dbc8c87dac78 | 10 | #define SEND_DATAS_TIME 0.5 |
tsumagari | 8:dbc8c87dac78 | 11 | #define THRESHOLD_OH_VALUE 0.14 |
YusukeWakuta | 15:c5ade23e5de4 | 12 | #define SAMPLE_INTERVAL 0.05 |
YusukeWakuta | 0:b1290ca6c4a2 | 13 | |
YusukeWakuta | 19:6387e3f02b37 | 14 | /* |
YusukeWakuta | 19:6387e3f02b37 | 15 | roll入力とピッチ入力だとピッチの方が1.5倍効くように |
YusukeWakuta | 19:6387e3f02b37 | 16 | */ |
YusukeWakuta | 18:31722545ecf1 | 17 | |
tsumagari | 9:c32999b4d2f9 | 18 | //-----------------------------------(resetInterrupt def) |
tsumagari | 9:c32999b4d2f9 | 19 | extern "C" void mbed_reset(); |
YusukeWakuta | 13:79eb74eb86c4 | 20 | InterruptIn resetPin(p22); |
tsumagari | 9:c32999b4d2f9 | 21 | Timer resetTimeCount; |
YusukeWakuta | 15:c5ade23e5de4 | 22 | void resetInterrupt() |
YusukeWakuta | 15:c5ade23e5de4 | 23 | { |
YusukeWakuta | 15:c5ade23e5de4 | 24 | while(resetPin) { |
tsumagari | 9:c32999b4d2f9 | 25 | resetTimeCount.start(); |
tsumagari | 9:c32999b4d2f9 | 26 | if(resetTimeCount.read()>3) mbed_reset(); |
tsumagari | 9:c32999b4d2f9 | 27 | } |
tsumagari | 9:c32999b4d2f9 | 28 | resetTimeCount.reset(); |
tsumagari | 9:c32999b4d2f9 | 29 | } |
tsumagari | 9:c32999b4d2f9 | 30 | //------------------------------------------------------- |
tsumagari | 9:c32999b4d2f9 | 31 | |
taurin | 6:7484315ba88a | 32 | CAN can_R(p30,p29); |
taurin | 6:7484315ba88a | 33 | CAN can_L(p9,p10); |
YusukeWakuta | 14:ffe9460922cb | 34 | Serial toKeikiSerial(p28,p27); |
tsumagari | 10:b7159feb11fd | 35 | AnalogIn rollPin(p15); |
YusukeWakuta | 31:3a6be197e98f | 36 | AnalogIn pitchPin(p18); |
YusukeWakuta | 13:79eb74eb86c4 | 37 | DigitalIn drug_R(p14); |
YusukeWakuta | 31:3a6be197e98f | 38 | DigitalIn drug_L(p17); |
YusukeWakuta | 25:12408563540d | 39 | DigitalOut led1(LED1); |
YusukeWakuta | 25:12408563540d | 40 | DigitalOut led2(LED2); |
YusukeWakuta | 15:c5ade23e5de4 | 41 | DigitalOut led4(LED4); |
YusukeWakuta | 15:c5ade23e5de4 | 42 | DigitalOut led3(LED3); |
YusukeWakuta | 43:2d8bffac06cd | 43 | Serial pc(USBTX,USBRX); |
YusukeWakuta | 42:6cc53727acc2 | 44 | ValueProcess VP; |
tsumagari | 37:7ce6e87b9c36 | 45 | //DigitalOut fusokuControl(p25); |
tsumagari | 9:c32999b4d2f9 | 46 | //Ticker sendDatasTicker; |
YusukeWakuta | 0:b1290ca6c4a2 | 47 | |
taurin | 4:4a13dd263a7b | 48 | char yokutanDatas_R[YOKUTAN_DATAS_NUM]; |
taurin | 4:4a13dd263a7b | 49 | char yokutanDatas_L[YOKUTAN_DATAS_NUM]; |
tsumagari | 10:b7159feb11fd | 50 | char inputDatas_R[INPUT_DATAS_NUM]; |
tsumagari | 10:b7159feb11fd | 51 | char inputDatas_L[INPUT_DATAS_NUM]; |
YusukeWakuta | 24:72f9cb6e9440 | 52 | |
YusukeWakuta | 3:0e66ce2ab2fb | 53 | CANMessage recmsg_R; |
YusukeWakuta | 3:0e66ce2ab2fb | 54 | CANMessage recmsg_L; |
YusukeWakuta | 0:b1290ca6c4a2 | 55 | |
tsumagari | 37:7ce6e87b9c36 | 56 | //void tickFusoku(void const * arg){ |
tsumagari | 37:7ce6e87b9c36 | 57 | // while(1){ |
tsumagari | 37:7ce6e87b9c36 | 58 | // fusokuControl = 1; |
tsumagari | 37:7ce6e87b9c36 | 59 | // wait_us(500); |
tsumagari | 37:7ce6e87b9c36 | 60 | // fusokuControl = 0; |
tsumagari | 37:7ce6e87b9c36 | 61 | // wait_us(4500); |
tsumagari | 37:7ce6e87b9c36 | 62 | // } |
tsumagari | 37:7ce6e87b9c36 | 63 | //} |
tsumagari | 36:5ad172e48384 | 64 | |
YusukeWakuta | 15:c5ade23e5de4 | 65 | void InputControlValues() |
YusukeWakuta | 15:c5ade23e5de4 | 66 | { |
YusukeWakuta | 42:6cc53727acc2 | 67 | VP.Processing(rollPin.read(),pitchPin.read(),(int *)inputDatas_R,(int *)inputDatas_L); |
YusukeWakuta | 43:2d8bffac06cd | 68 | pc.printf("R:%d L:%d\n\r",*(int *)inputDatas_R,*(int *)inputDatas_L); |
YusukeWakuta | 31:3a6be197e98f | 69 | inputDatas_R[sizeof(int)+ 2] = (char)drug_R; |
YusukeWakuta | 31:3a6be197e98f | 70 | inputDatas_L[sizeof(int)+2] = (char)drug_L; |
YusukeWakuta | 43:2d8bffac06cd | 71 | led4 =! led4; |
YusukeWakuta | 0:b1290ca6c4a2 | 72 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 73 | |
YusukeWakuta | 15:c5ade23e5de4 | 74 | void SendDatas() |
YusukeWakuta | 15:c5ade23e5de4 | 75 | { |
tsumagari | 10:b7159feb11fd | 76 | can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, INPUT_DATAS_NUM)); |
tsumagari | 10:b7159feb11fd | 77 | can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM)); |
tsumagari | 8:dbc8c87dac78 | 78 | toKeikiSerial.putc(';'); |
YusukeWakuta | 15:c5ade23e5de4 | 79 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) { |
YusukeWakuta | 34:0cff1601bc13 | 80 | toKeikiSerial.putc(yokutanDatas_R[i]); |
YusukeWakuta | 31:3a6be197e98f | 81 | |
YusukeWakuta | 34:0cff1601bc13 | 82 | } |
YusukeWakuta | 34:0cff1601bc13 | 83 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 84 | toKeikiSerial.putc(yokutanDatas_L[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 85 | } |
YusukeWakuta | 15:c5ade23e5de4 | 86 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 4:4a13dd263a7b | 87 | toKeikiSerial.putc(inputDatas_R[i]); |
YusukeWakuta | 33:d54dacb7a0aa | 88 | } |
YusukeWakuta | 33:d54dacb7a0aa | 89 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 4:4a13dd263a7b | 90 | toKeikiSerial.putc(inputDatas_L[i]); |
taurin | 4:4a13dd263a7b | 91 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 92 | } |
tsumagari | 8:dbc8c87dac78 | 93 | |
YusukeWakuta | 15:c5ade23e5de4 | 94 | void init() |
YusukeWakuta | 15:c5ade23e5de4 | 95 | { |
tsumagari | 9:c32999b4d2f9 | 96 | //--------------------------------------(resetInterrupt init) |
tsumagari | 9:c32999b4d2f9 | 97 | resetPin.rise(resetInterrupt); |
tsumagari | 9:c32999b4d2f9 | 98 | resetPin.mode(PullDown); |
tsumagari | 9:c32999b4d2f9 | 99 | //----------------------------------------------------------- |
tsumagari | 9:c32999b4d2f9 | 100 | // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME); |
YusukeWakuta | 15:c5ade23e5de4 | 101 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 2:9dc7d5f1e910 | 102 | inputDatas_R[i] = 0; |
taurin | 2:9dc7d5f1e910 | 103 | inputDatas_L[i] = 0; |
taurin | 2:9dc7d5f1e910 | 104 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 105 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 106 | |
YusukeWakuta | 15:c5ade23e5de4 | 107 | void receiveDatas() |
YusukeWakuta | 15:c5ade23e5de4 | 108 | { |
YusukeWakuta | 15:c5ade23e5de4 | 109 | if(can_R.read(recmsg_R)) { |
YusukeWakuta | 15:c5ade23e5de4 | 110 | for(int i = 0; i < recmsg_R.len; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 111 | yokutanDatas_R[i] = recmsg_R.data[i]; |
YusukeWakuta | 0:b1290ca6c4a2 | 112 | } |
YusukeWakuta | 25:12408563540d | 113 | led1 = !led1; |
YusukeWakuta | 0:b1290ca6c4a2 | 114 | } |
YusukeWakuta | 15:c5ade23e5de4 | 115 | if(can_L.read(recmsg_L)) { |
YusukeWakuta | 15:c5ade23e5de4 | 116 | for(int i = 0; i < recmsg_L.len; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 117 | yokutanDatas_L[i] = recmsg_L.data[i]; |
YusukeWakuta | 15:c5ade23e5de4 | 118 | led3 = !led3; |
YusukeWakuta | 0:b1290ca6c4a2 | 119 | } |
YusukeWakuta | 25:12408563540d | 120 | led2 = !led2; |
YusukeWakuta | 0:b1290ca6c4a2 | 121 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 122 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 123 | |
YusukeWakuta | 15:c5ade23e5de4 | 124 | int main() |
YusukeWakuta | 15:c5ade23e5de4 | 125 | { |
tsumagari | 37:7ce6e87b9c36 | 126 | // Thread tickFusokuThread(&tickFusoku); |
YusukeWakuta | 0:b1290ca6c4a2 | 127 | init(); |
YusukeWakuta | 42:6cc53727acc2 | 128 | VP.setNeutral(rollPin.read(),pitchPin.read()); |
YusukeWakuta | 15:c5ade23e5de4 | 129 | while(1) { |
tsumagari | 8:dbc8c87dac78 | 130 | InputControlValues(); |
tsumagari | 10:b7159feb11fd | 131 | wait_us(5); |
YusukeWakuta | 0:b1290ca6c4a2 | 132 | receiveDatas(); |
tsumagari | 9:c32999b4d2f9 | 133 | SendDatas(); |
YusukeWakuta | 0:b1290ca6c4a2 | 134 | wait(WAIT_LOOP_TIME); |
YusukeWakuta | 0:b1290ca6c4a2 | 135 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 136 | } |