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Dependencies:   mbed mbed-rtos

Fork of Control_Main_Full_20160608 by albatross

main.cpp@13:79eb74eb86c4, 2017-02-18 (annotated)

Committer:
YusukeWakuta
Date:
Sat Feb 18 18:32:23 2017 +0000
Revision:
13:79eb74eb86c4
Parent:
10:b7159feb11fd
Child:
14:ffe9460922cb
???????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YusukeWakuta 13:79eb74eb86c4 1 //中央
YusukeWakuta 0:b1290ca6c4a2 2
YusukeWakuta 0:b1290ca6c4a2 3 #include "mbed.h"
tsumagari 10:b7159feb11fd 4 #define WAIT_LOOP_TIME 0.001
tsumagari 9:c32999b4d2f9 5 #define YOKUTAN_DATAS_NUM 7
tsumagari 10:b7159feb11fd 6 #define INPUT_DATAS_NUM 5
YusukeWakuta 0:b1290ca6c4a2 7 #define SEND_DATAS_CAN_ID 100
tsumagari 8:dbc8c87dac78 8 #define SEND_DATAS_TIME 0.5
tsumagari 8:dbc8c87dac78 9 #define THRESHOLD_OH_VALUE 0.14
YusukeWakuta 0:b1290ca6c4a2 10
tsumagari 9:c32999b4d2f9 11 //-----------------------------------(resetInterrupt def)
tsumagari 9:c32999b4d2f9 12 extern "C" void mbed_reset();
YusukeWakuta 13:79eb74eb86c4 13 InterruptIn resetPin(p22);
tsumagari 9:c32999b4d2f9 14 Timer resetTimeCount;
tsumagari 9:c32999b4d2f9 15 void resetInterrupt(){
tsumagari 9:c32999b4d2f9 16 while(resetPin){
tsumagari 9:c32999b4d2f9 17 resetTimeCount.start();
tsumagari 9:c32999b4d2f9 18 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 9:c32999b4d2f9 19 }
tsumagari 9:c32999b4d2f9 20 resetTimeCount.reset();
tsumagari 9:c32999b4d2f9 21 }
tsumagari 9:c32999b4d2f9 22 //-------------------------------------------------------
tsumagari 9:c32999b4d2f9 23
taurin 6:7484315ba88a 24 CAN can_R(p30,p29);
taurin 6:7484315ba88a 25 CAN can_L(p9,p10);
YusukeWakuta 13:79eb74eb86c4 26 Serial toKeikiSerial(p27,p28);
tsumagari 7:59ddbe239835 27 Serial pc(USBTX,USBRX);
tsumagari 10:b7159feb11fd 28 AnalogIn rollPin(p15);
YusukeWakuta 13:79eb74eb86c4 29 AnalogIn pichPin(p20);
YusukeWakuta 13:79eb74eb86c4 30 DigitalIn drug_R(p14);
taurin 6:7484315ba88a 31 DigitalIn drug_L(p19);
YusukeWakuta 0:b1290ca6c4a2 32 DigitalOut myled1(LED1);
YusukeWakuta 0:b1290ca6c4a2 33 DigitalOut myled2(LED2);
tsumagari 9:c32999b4d2f9 34 //Ticker sendDatasTicker;
YusukeWakuta 0:b1290ca6c4a2 35
taurin 4:4a13dd263a7b 36 char yokutanDatas_R[YOKUTAN_DATAS_NUM];
taurin 4:4a13dd263a7b 37 char yokutanDatas_L[YOKUTAN_DATAS_NUM];
tsumagari 10:b7159feb11fd 38 char inputDatas_R[INPUT_DATAS_NUM];
tsumagari 10:b7159feb11fd 39 char inputDatas_L[INPUT_DATAS_NUM];
taurin 4:4a13dd263a7b 40 bool stateP = true;
taurin 4:4a13dd263a7b 41 bool stateQ = true;
taurin 4:4a13dd263a7b 42 bool stateP_old = true;
taurin 4:4a13dd263a7b 43 bool stateQ_old = true;
YusukeWakuta 0:b1290ca6c4a2 44
YusukeWakuta 3:0e66ce2ab2fb 45 CANMessage recmsg_R;
YusukeWakuta 3:0e66ce2ab2fb 46 CANMessage recmsg_L;
YusukeWakuta 0:b1290ca6c4a2 47
tsumagari 10:b7159feb11fd 48 float get_analogin_ave(AnalogIn pin, int n){
tsumagari 10:b7159feb11fd 49 float val = 0;
tsumagari 10:b7159feb11fd 50 for(int i = 0; i<n; i++){
tsumagari 10:b7159feb11fd 51 val += pin.read();
tsumagari 10:b7159feb11fd 52 }return val/n;
tsumagari 10:b7159feb11fd 53 }
tsumagari 10:b7159feb11fd 54
taurin 4:4a13dd263a7b 55 void InputControlValues(){
tsumagari 10:b7159feb11fd 56 *(float *)inputDatas_R = get_analogin_ave(pichPin,8) + get_analogin_ave(rollPin,8);
tsumagari 10:b7159feb11fd 57 *(float *)inputDatas_L = get_analogin_ave(pichPin,8) - get_analogin_ave(rollPin,8);
tsumagari 10:b7159feb11fd 58 pc.printf("input_R:%f input_L:%f\n\r",*(float *)inputDatas_R,*(float *)inputDatas_L);
tsumagari 10:b7159feb11fd 59 inputDatas_R[4] = (char)drug_R;
tsumagari 10:b7159feb11fd 60 inputDatas_L[4] = (char)drug_L;
YusukeWakuta 0:b1290ca6c4a2 61 }
YusukeWakuta 0:b1290ca6c4a2 62
taurin 4:4a13dd263a7b 63 void toString_R(){
taurin 4:4a13dd263a7b 64 pc.printf("R:");
tsumagari 10:b7159feb11fd 65 for(int i = 0; i < INPUT_DATAS_NUM; i++){
taurin 4:4a13dd263a7b 66 pc.printf("%d:%i ",i,inputDatas_R[i]);
taurin 4:4a13dd263a7b 67 }
YusukeWakuta 0:b1290ca6c4a2 68 }
YusukeWakuta 0:b1290ca6c4a2 69
taurin 4:4a13dd263a7b 70 void toString_L(){
taurin 4:4a13dd263a7b 71 pc.printf("L:");
tsumagari 10:b7159feb11fd 72 for(int i = 0; i < INPUT_DATAS_NUM; i++){
taurin 4:4a13dd263a7b 73 pc.printf("%d:%i ",i,inputDatas_L[i]);
taurin 4:4a13dd263a7b 74 }
taurin 4:4a13dd263a7b 75 pc.printf("\n\r");
YusukeWakuta 0:b1290ca6c4a2 76 }
YusukeWakuta 0:b1290ca6c4a2 77
taurin 4:4a13dd263a7b 78 void SendDatas(){
tsumagari 10:b7159feb11fd 79 can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, INPUT_DATAS_NUM));
tsumagari 10:b7159feb11fd 80 can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM));
tsumagari 8:dbc8c87dac78 81 toKeikiSerial.putc(';');
YusukeWakuta 0:b1290ca6c4a2 82 for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){
YusukeWakuta 0:b1290ca6c4a2 83 toKeikiSerial.putc(yokutanDatas_R[i]);
YusukeWakuta 0:b1290ca6c4a2 84 toKeikiSerial.putc(yokutanDatas_L[i]);
YusukeWakuta 0:b1290ca6c4a2 85 }
tsumagari 10:b7159feb11fd 86 for(int i = 0; i < INPUT_DATAS_NUM; i++){
taurin 4:4a13dd263a7b 87 toKeikiSerial.putc(inputDatas_R[i]);
taurin 4:4a13dd263a7b 88 toKeikiSerial.putc(inputDatas_L[i]);
taurin 4:4a13dd263a7b 89 }
tsumagari 8:dbc8c87dac78 90 // toKeikiSerial.putc(cadence);
taurin 4:4a13dd263a7b 91 pc.printf("test\n\r");
YusukeWakuta 0:b1290ca6c4a2 92 }
tsumagari 8:dbc8c87dac78 93
YusukeWakuta 0:b1290ca6c4a2 94 void init(){
tsumagari 9:c32999b4d2f9 95 //--------------------------------------(resetInterrupt init)
tsumagari 9:c32999b4d2f9 96 resetPin.rise(resetInterrupt);
tsumagari 9:c32999b4d2f9 97 resetPin.mode(PullDown);
tsumagari 9:c32999b4d2f9 98 //-----------------------------------------------------------
tsumagari 9:c32999b4d2f9 99 // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME);
tsumagari 10:b7159feb11fd 100 for(int i = 0; i < INPUT_DATAS_NUM; i++){
taurin 2:9dc7d5f1e910 101 inputDatas_R[i] = 0;
taurin 2:9dc7d5f1e910 102 inputDatas_L[i] = 0;
taurin 2:9dc7d5f1e910 103 }
YusukeWakuta 0:b1290ca6c4a2 104 }
YusukeWakuta 0:b1290ca6c4a2 105
YusukeWakuta 0:b1290ca6c4a2 106 void receiveDatas(){
YusukeWakuta 0:b1290ca6c4a2 107 if(can_R.read(recmsg_R)){
YusukeWakuta 0:b1290ca6c4a2 108 for(int i = 0; i < recmsg_R.len; i++){
YusukeWakuta 0:b1290ca6c4a2 109 yokutanDatas_R[i] = recmsg_R.data[i];
YusukeWakuta 0:b1290ca6c4a2 110 }
taurin 4:4a13dd263a7b 111 myled1 = !myled1;
YusukeWakuta 0:b1290ca6c4a2 112 }
YusukeWakuta 0:b1290ca6c4a2 113 if(can_L.read(recmsg_L)){
YusukeWakuta 0:b1290ca6c4a2 114 for(int i = 0; i < recmsg_L.len; i++){
YusukeWakuta 0:b1290ca6c4a2 115 yokutanDatas_L[i] = recmsg_L.data[i];
YusukeWakuta 0:b1290ca6c4a2 116 }
taurin 4:4a13dd263a7b 117 myled2 = !myled2;
YusukeWakuta 0:b1290ca6c4a2 118 }
YusukeWakuta 0:b1290ca6c4a2 119 }
YusukeWakuta 0:b1290ca6c4a2 120
YusukeWakuta 0:b1290ca6c4a2 121 int main(){
YusukeWakuta 0:b1290ca6c4a2 122 init();
YusukeWakuta 0:b1290ca6c4a2 123 while(1){
tsumagari 8:dbc8c87dac78 124 InputControlValues();
tsumagari 10:b7159feb11fd 125 wait_us(5);
YusukeWakuta 0:b1290ca6c4a2 126 receiveDatas();
tsumagari 9:c32999b4d2f9 127 SendDatas();
tsumagari 10:b7159feb11fd 128 // toString_R();
taurin 4:4a13dd263a7b 129 // toString_L();
YusukeWakuta 0:b1290ca6c4a2 130 wait(WAIT_LOOP_TIME);
YusukeWakuta 0:b1290ca6c4a2 131 }
YusukeWakuta 0:b1290ca6c4a2 132 }