albatross
/
ControlMain2017
2017年度の製作を開始します
Fork of Control_Main_Full_20160608 by
main.cpp
- Committer:
- YusukeWakuta
- Date:
- 2017-04-26
- Branch:
- ?????
- Revision:
- 42:6cc53727acc2
- Parent:
- 41:d2d123d7a6fa
- Child:
- 43:2d8bffac06cd
File content as of revision 42:6cc53727acc2:
//中央 #include "mbed.h" #include "ValueProcessor.h" //#include "rtos.h" #define WAIT_LOOP_TIME 0.001 #define YOKUTAN_DATAS_NUM 7 #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。 #define SEND_DATAS_CAN_ID 100 #define SEND_DATAS_TIME 0.5 #define THRESHOLD_OH_VALUE 0.14 #define SAMPLE_INTERVAL 0.05 /* 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 */ //-----------------------------------(resetInterrupt def) extern "C" void mbed_reset(); InterruptIn resetPin(p22); Timer resetTimeCount; void resetInterrupt() { while(resetPin) { resetTimeCount.start(); if(resetTimeCount.read()>3) mbed_reset(); } resetTimeCount.reset(); } //------------------------------------------------------- CAN can_R(p30,p29); CAN can_L(p9,p10); Serial toKeikiSerial(p28,p27); Serial pc(USBTX,USBRX); AnalogIn rollPin(p15); AnalogIn pitchPin(p18); DigitalIn drug_R(p14); DigitalIn drug_L(p17); DigitalOut led1(LED1); DigitalOut led2(LED2); DigitalOut led4(LED4); DigitalOut led3(LED3); ValueProcess VP; //DigitalOut fusokuControl(p25); //Ticker sendDatasTicker; char yokutanDatas_R[YOKUTAN_DATAS_NUM]; char yokutanDatas_L[YOKUTAN_DATAS_NUM]; char inputDatas_R[INPUT_DATAS_NUM]; char inputDatas_L[INPUT_DATAS_NUM]; CANMessage recmsg_R; CANMessage recmsg_L; //void tickFusoku(void const * arg){ // while(1){ // fusokuControl = 1; // wait_us(500); // fusokuControl = 0; // wait_us(4500); // } //} void InputControlValues() { VP.Processing(rollPin.read(),pitchPin.read(),(int *)inputDatas_R,(int *)inputDatas_L); inputDatas_R[sizeof(int)+ 2] = (char)drug_R; led4 =! led4; inputDatas_L[sizeof(int)+2] = (char)drug_L; } void SendDatas() { can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, INPUT_DATAS_NUM)); can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM)); toKeikiSerial.putc(';'); for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) { toKeikiSerial.putc(yokutanDatas_R[i]); } for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) { toKeikiSerial.putc(yokutanDatas_L[i]); } for(int i = 0; i < INPUT_DATAS_NUM; i++) { toKeikiSerial.putc(inputDatas_R[i]); } for(int i = 0; i < INPUT_DATAS_NUM; i++) { toKeikiSerial.putc(inputDatas_L[i]); } } void init() { //--------------------------------------(resetInterrupt init) resetPin.rise(resetInterrupt); resetPin.mode(PullDown); //----------------------------------------------------------- // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME); for(int i = 0; i < INPUT_DATAS_NUM; i++) { inputDatas_R[i] = 0; inputDatas_L[i] = 0; } } void receiveDatas() { if(can_R.read(recmsg_R)) { for(int i = 0; i < recmsg_R.len; i++) { yokutanDatas_R[i] = recmsg_R.data[i]; } led1 = !led1; } if(can_L.read(recmsg_L)) { for(int i = 0; i < recmsg_L.len; i++) { yokutanDatas_L[i] = recmsg_L.data[i]; led3 = !led3; } led2 = !led2; } } int main() { // Thread tickFusokuThread(&tickFusoku); init(); VP.setNeutral(rollPin.read(),pitchPin.read()); while(1) { InputControlValues(); wait_us(5); receiveDatas(); SendDatas(); wait(WAIT_LOOP_TIME); } }