albatross
/
ControlMain2017
2017年度の製作を開始します
Fork of Control_Main_Full_20160608 by
main.cpp@9:c32999b4d2f9, 2017-01-21 (annotated)
- Committer:
- tsumagari
- Date:
- Sat Jan 21 11:46:19 2017 +0000
- Branch:
- test
- Revision:
- 9:c32999b4d2f9
- Parent:
- 8:dbc8c87dac78
- Child:
- 10:b7159feb11fd
reset_mbed???p26?????????????????????softwareserial????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
YusukeWakuta | 0:b1290ca6c4a2 | 1 | //中央can program |
YusukeWakuta | 0:b1290ca6c4a2 | 2 | |
YusukeWakuta | 0:b1290ca6c4a2 | 3 | #include "mbed.h" |
tsumagari | 9:c32999b4d2f9 | 4 | //#include "BufferedSoftSerial.h" |
taurin | 4:4a13dd263a7b | 5 | #define WAIT_LOOP_TIME 0.1 |
tsumagari | 9:c32999b4d2f9 | 6 | #define YOKUTAN_DATAS_NUM 7 |
YusukeWakuta | 0:b1290ca6c4a2 | 7 | #define IMPUT_DATAS_NUM 2 |
YusukeWakuta | 0:b1290ca6c4a2 | 8 | #define SEND_DATAS_CAN_ID 100 |
tsumagari | 8:dbc8c87dac78 | 9 | #define SEND_DATAS_TIME 0.5 |
tsumagari | 8:dbc8c87dac78 | 10 | #define THRESHOLD_OH_VALUE 0.14 |
tsumagari | 8:dbc8c87dac78 | 11 | #define CALC_CADENCE_TIME 0.05 |
YusukeWakuta | 0:b1290ca6c4a2 | 12 | |
tsumagari | 9:c32999b4d2f9 | 13 | //-----------------------------------(resetInterrupt def) |
tsumagari | 9:c32999b4d2f9 | 14 | extern "C" void mbed_reset(); |
tsumagari | 9:c32999b4d2f9 | 15 | InterruptIn resetPin(p26); |
tsumagari | 9:c32999b4d2f9 | 16 | Timer resetTimeCount; |
tsumagari | 9:c32999b4d2f9 | 17 | void resetInterrupt(){ |
tsumagari | 9:c32999b4d2f9 | 18 | while(resetPin){ |
tsumagari | 9:c32999b4d2f9 | 19 | resetTimeCount.start(); |
tsumagari | 9:c32999b4d2f9 | 20 | if(resetTimeCount.read()>3) mbed_reset(); |
tsumagari | 9:c32999b4d2f9 | 21 | } |
tsumagari | 9:c32999b4d2f9 | 22 | resetTimeCount.reset(); |
tsumagari | 9:c32999b4d2f9 | 23 | } |
tsumagari | 9:c32999b4d2f9 | 24 | //------------------------------------------------------- |
tsumagari | 9:c32999b4d2f9 | 25 | |
taurin | 6:7484315ba88a | 26 | CAN can_R(p30,p29); |
taurin | 6:7484315ba88a | 27 | CAN can_L(p9,p10); |
tsumagari | 9:c32999b4d2f9 | 28 | Serial toKeikiSerial(p13,p14); |
tsumagari | 9:c32999b4d2f9 | 29 | //BufferedSoftSerial toKeikiSerial(p17,p18); |
tsumagari | 7:59ddbe239835 | 30 | Serial pc(USBTX,USBRX); |
taurin | 6:7484315ba88a | 31 | DigitalIn eruron_R(p22); |
taurin | 6:7484315ba88a | 32 | DigitalIn eruron_L(p20); |
taurin | 6:7484315ba88a | 33 | DigitalIn drug_R(p23); |
taurin | 6:7484315ba88a | 34 | DigitalIn drug_L(p19); |
YusukeWakuta | 0:b1290ca6c4a2 | 35 | DigitalOut myled1(LED1); |
YusukeWakuta | 0:b1290ca6c4a2 | 36 | DigitalOut myled2(LED2); |
tsumagari | 9:c32999b4d2f9 | 37 | //Ticker sendDatasTicker; |
tsumagari | 8:dbc8c87dac78 | 38 | Ticker cadenceTicker; |
tsumagari | 8:dbc8c87dac78 | 39 | Timer cadenceTimer; |
taurin | 4:4a13dd263a7b | 40 | AnalogIn p(p15); |
taurin | 4:4a13dd263a7b | 41 | AnalogIn q(p16); |
YusukeWakuta | 0:b1290ca6c4a2 | 42 | |
taurin | 4:4a13dd263a7b | 43 | char yokutanDatas_R[YOKUTAN_DATAS_NUM]; |
taurin | 4:4a13dd263a7b | 44 | char yokutanDatas_L[YOKUTAN_DATAS_NUM]; |
YusukeWakuta | 0:b1290ca6c4a2 | 45 | char inputDatas_R[IMPUT_DATAS_NUM]; |
YusukeWakuta | 0:b1290ca6c4a2 | 46 | char inputDatas_L[IMPUT_DATAS_NUM]; |
taurin | 4:4a13dd263a7b | 47 | char cadence = 0; |
taurin | 4:4a13dd263a7b | 48 | bool stateP = true; |
taurin | 4:4a13dd263a7b | 49 | bool stateQ = true; |
taurin | 4:4a13dd263a7b | 50 | bool stateP_old = true; |
taurin | 4:4a13dd263a7b | 51 | bool stateQ_old = true; |
YusukeWakuta | 0:b1290ca6c4a2 | 52 | |
YusukeWakuta | 3:0e66ce2ab2fb | 53 | CANMessage recmsg_R; |
YusukeWakuta | 3:0e66ce2ab2fb | 54 | CANMessage recmsg_L; |
YusukeWakuta | 0:b1290ca6c4a2 | 55 | |
taurin | 4:4a13dd263a7b | 56 | void InputControlValues(){ |
taurin | 4:4a13dd263a7b | 57 | inputDatas_R[1] = (char)drug_R; |
taurin | 4:4a13dd263a7b | 58 | inputDatas_L[1] = (char)drug_L; |
taurin | 4:4a13dd263a7b | 59 | if(eruron_R){ |
taurin | 4:4a13dd263a7b | 60 | inputDatas_R[0] = 0; |
taurin | 4:4a13dd263a7b | 61 | inputDatas_L[0] = 2; |
taurin | 4:4a13dd263a7b | 62 | } |
taurin | 4:4a13dd263a7b | 63 | else if(eruron_L){ |
taurin | 4:4a13dd263a7b | 64 | inputDatas_R[0] = 2; |
taurin | 4:4a13dd263a7b | 65 | inputDatas_L[0] = 0; |
taurin | 4:4a13dd263a7b | 66 | } |
taurin | 4:4a13dd263a7b | 67 | else{ |
taurin | 4:4a13dd263a7b | 68 | inputDatas_R[0] = 1; |
taurin | 4:4a13dd263a7b | 69 | inputDatas_L[0] = 1; |
taurin | 4:4a13dd263a7b | 70 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 71 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 72 | |
taurin | 4:4a13dd263a7b | 73 | void toString_R(){ |
taurin | 4:4a13dd263a7b | 74 | pc.printf("R:"); |
taurin | 4:4a13dd263a7b | 75 | for(int i = 0; i < IMPUT_DATAS_NUM; i++){ |
taurin | 4:4a13dd263a7b | 76 | pc.printf("%d:%i ",i,inputDatas_R[i]); |
taurin | 4:4a13dd263a7b | 77 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 78 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 79 | |
taurin | 4:4a13dd263a7b | 80 | void toString_L(){ |
taurin | 4:4a13dd263a7b | 81 | pc.printf("L:"); |
taurin | 4:4a13dd263a7b | 82 | for(int i = 0; i < IMPUT_DATAS_NUM; i++){ |
taurin | 4:4a13dd263a7b | 83 | pc.printf("%d:%i ",i,inputDatas_L[i]); |
taurin | 4:4a13dd263a7b | 84 | } |
taurin | 4:4a13dd263a7b | 85 | pc.printf("\n\r"); |
YusukeWakuta | 0:b1290ca6c4a2 | 86 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 87 | |
taurin | 4:4a13dd263a7b | 88 | void SendDatas(){ |
taurin | 4:4a13dd263a7b | 89 | can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, IMPUT_DATAS_NUM)); |
taurin | 4:4a13dd263a7b | 90 | can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, IMPUT_DATAS_NUM)); |
tsumagari | 8:dbc8c87dac78 | 91 | toKeikiSerial.putc(';'); |
YusukeWakuta | 0:b1290ca6c4a2 | 92 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){ |
tsumagari | 8:dbc8c87dac78 | 93 | // toKeikiSerial.putc(i); |
tsumagari | 8:dbc8c87dac78 | 94 | // toKeikiSerial.putc(10+i); |
YusukeWakuta | 0:b1290ca6c4a2 | 95 | toKeikiSerial.putc(yokutanDatas_R[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 96 | toKeikiSerial.putc(yokutanDatas_L[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 97 | } |
taurin | 4:4a13dd263a7b | 98 | for(int i = 0; i < IMPUT_DATAS_NUM; i++){ |
tsumagari | 8:dbc8c87dac78 | 99 | // toKeikiSerial.putc(4+i); |
tsumagari | 8:dbc8c87dac78 | 100 | // toKeikiSerial.putc(14+i); |
taurin | 4:4a13dd263a7b | 101 | toKeikiSerial.putc(inputDatas_R[i]); |
taurin | 4:4a13dd263a7b | 102 | toKeikiSerial.putc(inputDatas_L[i]); |
taurin | 4:4a13dd263a7b | 103 | } |
tsumagari | 8:dbc8c87dac78 | 104 | // toKeikiSerial.putc(cadence); |
taurin | 4:4a13dd263a7b | 105 | pc.printf("test\n\r"); |
YusukeWakuta | 0:b1290ca6c4a2 | 106 | } |
tsumagari | 8:dbc8c87dac78 | 107 | |
tsumagari | 8:dbc8c87dac78 | 108 | void calcCadence(){ |
tsumagari | 8:dbc8c87dac78 | 109 | //pc.printf("%f,%f\n\r",p.read(),q.read()); |
tsumagari | 8:dbc8c87dac78 | 110 | if(p.read() > THRESHOLD_OH_VALUE) stateP = true; |
tsumagari | 8:dbc8c87dac78 | 111 | else stateP = false; |
tsumagari | 8:dbc8c87dac78 | 112 | if(q.read() > THRESHOLD_OH_VALUE) stateQ = true; |
tsumagari | 8:dbc8c87dac78 | 113 | else stateQ = false; |
tsumagari | 8:dbc8c87dac78 | 114 | if((stateP == true && stateP_old == false) || |
tsumagari | 8:dbc8c87dac78 | 115 | stateQ == true && stateQ_old == false){ |
tsumagari | 8:dbc8c87dac78 | 116 | cadenceTimer.stop(); |
tsumagari | 8:dbc8c87dac78 | 117 | cadence = (char)30.0/cadenceTimer.read(); |
tsumagari | 8:dbc8c87dac78 | 118 | pc.printf("Cadence:%i\n\r",cadence); |
tsumagari | 8:dbc8c87dac78 | 119 | cadenceTimer.reset(); |
tsumagari | 8:dbc8c87dac78 | 120 | cadenceTimer.start(); |
tsumagari | 8:dbc8c87dac78 | 121 | } |
tsumagari | 8:dbc8c87dac78 | 122 | stateP_old = stateP; |
tsumagari | 8:dbc8c87dac78 | 123 | stateQ_old = stateQ; |
tsumagari | 8:dbc8c87dac78 | 124 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 125 | |
YusukeWakuta | 0:b1290ca6c4a2 | 126 | void init(){ |
tsumagari | 9:c32999b4d2f9 | 127 | //--------------------------------------(resetInterrupt init) |
tsumagari | 9:c32999b4d2f9 | 128 | resetPin.rise(resetInterrupt); |
tsumagari | 9:c32999b4d2f9 | 129 | resetPin.mode(PullDown); |
tsumagari | 9:c32999b4d2f9 | 130 | //----------------------------------------------------------- |
tsumagari | 8:dbc8c87dac78 | 131 | cadenceTimer.start(); |
tsumagari | 8:dbc8c87dac78 | 132 | cadenceTicker.attach(calcCadence, CALC_CADENCE_TIME); |
tsumagari | 9:c32999b4d2f9 | 133 | // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME); |
taurin | 2:9dc7d5f1e910 | 134 | for(int i = 0; i < IMPUT_DATAS_NUM; i++){ |
taurin | 2:9dc7d5f1e910 | 135 | inputDatas_R[i] = 0; |
taurin | 2:9dc7d5f1e910 | 136 | inputDatas_L[i] = 0; |
taurin | 2:9dc7d5f1e910 | 137 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 138 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 139 | |
YusukeWakuta | 0:b1290ca6c4a2 | 140 | |
YusukeWakuta | 0:b1290ca6c4a2 | 141 | void receiveDatas(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 142 | if(can_R.read(recmsg_R)){ |
YusukeWakuta | 0:b1290ca6c4a2 | 143 | for(int i = 0; i < recmsg_R.len; i++){ |
YusukeWakuta | 0:b1290ca6c4a2 | 144 | yokutanDatas_R[i] = recmsg_R.data[i]; |
YusukeWakuta | 0:b1290ca6c4a2 | 145 | } |
taurin | 4:4a13dd263a7b | 146 | myled1 = !myled1; |
YusukeWakuta | 0:b1290ca6c4a2 | 147 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 148 | if(can_L.read(recmsg_L)){ |
YusukeWakuta | 0:b1290ca6c4a2 | 149 | for(int i = 0; i < recmsg_L.len; i++){ |
YusukeWakuta | 0:b1290ca6c4a2 | 150 | yokutanDatas_L[i] = recmsg_L.data[i]; |
YusukeWakuta | 0:b1290ca6c4a2 | 151 | } |
taurin | 4:4a13dd263a7b | 152 | myled2 = !myled2; |
YusukeWakuta | 0:b1290ca6c4a2 | 153 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 154 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 155 | |
YusukeWakuta | 0:b1290ca6c4a2 | 156 | int main(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 157 | init(); |
YusukeWakuta | 0:b1290ca6c4a2 | 158 | while(1){ |
tsumagari | 8:dbc8c87dac78 | 159 | InputControlValues(); |
YusukeWakuta | 0:b1290ca6c4a2 | 160 | wait_us(10); |
YusukeWakuta | 0:b1290ca6c4a2 | 161 | receiveDatas(); |
tsumagari | 9:c32999b4d2f9 | 162 | SendDatas(); |
taurin | 4:4a13dd263a7b | 163 | //toString_R(); |
taurin | 4:4a13dd263a7b | 164 | // toString_L(); |
YusukeWakuta | 0:b1290ca6c4a2 | 165 | wait(WAIT_LOOP_TIME); |
YusukeWakuta | 0:b1290ca6c4a2 | 166 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 167 | } |