albatross / Mbed 2 deprecated ControlYokutan2018

2018年度用翼端mbedプログラム

Dependencies:   Control_Yokutan_CANver1 XBusServo mbed mbed-rtos

Fork of ControlYokutan2017_2 by albatross

main.cpp@75:4b6f1b976bec, 2018-02-07 (annotated)

Committer:
tsumagari
Date:
Wed Feb 07 13:11:57 2018 +0000
Branch:
mpu????????
Revision:
75:4b6f1b976bec
Parent:
74:8ccd04302a7f 
???

Who changed what in which revision?

UserRevisionLine numberNew contents of line
taurin 0:e052602db102 1 //翼端can program
tsumagari 73:05feda5b0f98 2 /*****************************************
tsumagari 73:05feda5b0f98 3 * -----
tsumagari 73:05feda5b0f98 4 * | 1 | Is R pin
tsumagari 73:05feda5b0f98 5 * | 2 | In set mode pin
tsumagari 73:05feda5b0f98 6 * | 3 | on:Elevon, off:Drug
tsumagari 73:05feda5b0f98 7 * | 4 | on:Trim, off:Max deg
tsumagari 73:05feda5b0f98 8 * -----
tsumagari 73:05feda5b0f98 9 *
tsumagari 73:05feda5b0f98 10 ******************************************
tsumagari 75:4b6f1b976bec 11 *LED1: blink in receiveDatas
tsumagari 75:4b6f1b976bec 12 *LED2: light in setTrim
tsumagari 75:4b6f1b976bec 13 *LED3: blink in main loop
tsumagari 75:4b6f1b976bec 14 *LED4: light in setMaxDeg
tsumagari 75:4b6f1b976bec 15 ******************************************
tsumagari 73:05feda5b0f98 16 **magic character of debug**
tsumagari 73:05feda5b0f98 17 *
tsumagari 73:05feda5b0f98 18 *(0)s:sending datas: mpu, servoV
tsumagari 73:05feda5b0f98 19 *(1)g:getting datas: eruronfloat, drugInput, servoOff
tsumagari 73:05feda5b0f98 20 *(2)c:servo config:eruronTrim,drugTrim,eMD,dMD
tsumagari 74:8ccd04302a7f 21 *(3)j:data to debug what you want(joker)
tsumagari 73:05feda5b0f98 22 ******************************************
tsumagari 73:05feda5b0f98 23 */
taurin 0:e052602db102 24 #include "mbed.h"
tsumagari 22:b38bc18ec3a1 25 #include "MPU6050.h"
taurin 0:e052602db102 26 #include "INA226.hpp"
YusukeWakuta 42:bf98a29e81ac 27 #include "rtos.h"
YusukeWakuta 24:d416722b4aad 28 #include "XBusServo.h"
YusukeWakuta 57:d7b709dd1c4f 29 #include "math.h"
taurin 4:450cafd95ac3 30
taurin 2:7fcb4f970a02 31 #define INIT_SERVO_PERIOD_MS 20
taurin 4:450cafd95ac3 32 #define WAIT_LOOP_TIME 0.02
tsumagari 74:8ccd04302a7f 33 #define YOKUTAN_DATAS_NUM 7
tsumagari 74:8ccd04302a7f 34 #define INPUT_DATAS_NUM 4 //ここは8バイトまでしかCANでは一度に送れないため、8以下。そして、操舵コードと数字を合わせる必要あり。
tsumagari 74:8ccd04302a7f 35 #define ERURON_DATAS_NUM 3 //送られてくるエルロンインプットの文字数
tsumagari 74:8ccd04302a7f 36 #define TO_SEND_CAN_ID 0x701 //0x0>>0x7ff
taurin 4:450cafd95ac3 37 #define SEND_DATAS_LOOP_TIME 0.1
tsumagari 33:d075918d4846 38 #define RECEIVE_DATAS_LOOP_TIME 0.1
taurin 12:fd9d241843f4 39
YusukeWakuta 42:bf98a29e81ac 40 #define MPU_LOOP_TIME 0.01
YusukeWakuta 42:bf98a29e81ac 41 #define MPU_DELT_MIN 250
YusukeWakuta 42:bf98a29e81ac 42
tsumagari 67:94fe2180f39a 43 #define ERURON_MOVE_DEG_INI_R 14.4*0.8//18.0 //degree
tsumagari 67:94fe2180f39a 44 #define DRUG_MOVE_DEG_INI_R 0.49
tsumagari 66:2d1a7f270e27 45 #define ERURON_TRIM_INI_R 0.39633 //値lowerすると頭上げ 0.37で後縁一致
YusukeWakuta 58:f84bd22fd586 46 #define DRUG_TRIM_INI_R 0.37
taurin 12:fd9d241843f4 47
tsumagari 64:9d7582920f50 48 #define ERURON_MOVE_DEG_INI_L -15.52//-19.4 //degree
YusukeWakuta 63:52b882a5968c 49 #define DRUG_MOVE_DEG_INI_L -0.52
tsumagari 67:94fe2180f39a 50 #define ERURON_TRIM_INI_L 0.41567 // 値を大きくすると頭上げ
YusukeWakuta 58:f84bd22fd586 51 #define DRUG_TRIM_INI_L 0.73//値を小さくすると開く側
taurin 2:7fcb4f970a02 52
tsumagari 74:8ccd04302a7f 53 /*ドラッグラダー
tsumagari 74:8ccd04302a7f 54 初期値 0.65
tsumagari 74:8ccd04302a7f 55 最大角0.99
tsumagari 74:8ccd04302a7f 56 */
tsumagari 74:8ccd04302a7f 57
tsumagari 73:05feda5b0f98 58 #define print2pc(flag,fmt,...) do{if(flag){pc.printf(fmt,__VA_ARGS__);}}while(0)
tsumagari 73:05feda5b0f98 59 #define SENDING_DATA_DEBUG_FLAG debugflag[0].flag
tsumagari 73:05feda5b0f98 60 #define GETTING_DATA_DEBUG_FLAG debugflag[1].flag
tsumagari 73:05feda5b0f98 61 #define SERVO_DONFIG_DEBUG_FLAG debugflag[2].flag
tsumagari 74:8ccd04302a7f 62 #define DEBUG_FLAG debugflag[3].flag
tsumagari 67:94fe2180f39a 63
tsumagari 73:05feda5b0f98 64 struct flaglist{
tsumagari 73:05feda5b0f98 65 char key;
tsumagari 73:05feda5b0f98 66 bool flag;
tsumagari 73:05feda5b0f98 67 };
tsumagari 74:8ccd04302a7f 68 struct flaglist debugflag[]={
tsumagari 74:8ccd04302a7f 69 {'s',0},
tsumagari 74:8ccd04302a7f 70 {'g',0},
tsumagari 74:8ccd04302a7f 71 {'c',0},
tsumagari 74:8ccd04302a7f 72 {'j',0},
tsumagari 74:8ccd04302a7f 73 {'0',0}
tsumagari 74:8ccd04302a7f 74 };
tsumagari 67:94fe2180f39a 75
tsumagari 74:8ccd04302a7f 76 const char *configfilename = "/local/CONFIG.csv";
YusukeWakuta 24:d416722b4aad 77
taurin 0:e052602db102 78 CAN can(p30,p29);
taurin 0:e052602db102 79 CANMessage recmsg;
taurin 0:e052602db102 80 Serial pc(USBTX,USBRX);
taurin 0:e052602db102 81 I2C ina226_i2c(p28,p27);
tsumagari 75:4b6f1b976bec 82 INA226 VCmonitor(ina226_i2c,0x4A,400000);
tsumagari 70:7da315abec17 83 PwmOut drugServo(p23);
tsumagari 71:a00561d455d1 84 PwmOut eruronServo(p25);
taurin 1:9cc932a16d17 85 DigitalOut led1(LED1);
tsumagari 69:073116d31a56 86 AnalogIn setDeg10(p20);
tsumagari 69:073116d31a56 87 AnalogIn setDeg1(p19);
tsumagari 75:4b6f1b976bec 88 DigitalIn IsRPin(p16,PullDown);
tsumagari 75:4b6f1b976bec 89 DigitalIn InSetModePin(p15,PullDown);
tsumagari 75:4b6f1b976bec 90 DigitalIn EDstatePin(p14,PullDown);
tsumagari 75:4b6f1b976bec 91 DigitalIn TrimMaxDegPin(p13,PullDown);
tsumagari 71:a00561d455d1 92 DigitalOut servoOff(p17);
YusukeWakuta 44:624a4469ae21 93 DigitalOut led2(LED2);
taurin 4:450cafd95ac3 94 DigitalOut led3(LED3);
taurin 4:450cafd95ac3 95 DigitalOut led4(LED4);
taurin 4:450cafd95ac3 96 Ticker sendDatasTicker;
tsumagari 22:b38bc18ec3a1 97 //Ticker toStringTicker;
taurin 16:82310bf7c326 98 Ticker receiveDatasTicker;
YusukeWakuta 42:bf98a29e81ac 99 MPU6050 mpu6050;
YusukeWakuta 42:bf98a29e81ac 100 Timer t;
YusukeWakuta 42:bf98a29e81ac 101
tsumagari 67:94fe2180f39a 102 LocalFileSystem local("local");
tsumagari 67:94fe2180f39a 103
tsumagari 74:8ccd04302a7f 104 char toSendDatas[YOKUTAN_DATAS_NUM];
tsumagari 74:8ccd04302a7f 105 char intValues[ERURON_DATAS_NUM];
taurin 12:fd9d241843f4 106 float eruronTrim;
taurin 12:fd9d241843f4 107 float drugTrim;
taurin 12:fd9d241843f4 108 float eruronMoveDeg;
taurin 12:fd9d241843f4 109 float drugMoveDeg;
YusukeWakuta 59:f007e543f8c9 110 float eruronfloat = 0.0;
taurin 0:e052602db102 111 unsigned short ina_val;
taurin 0:e052602db102 112 double V,C;
taurin 0:e052602db102 113 bool SERVO_FLAG;
taurin 0:e052602db102 114 bool INA_FLAG;
tsumagari 22:b38bc18ec3a1 115 bool MPU_FLAG;
tsumagari 74:8ccd04302a7f 116
YusukeWakuta 42:bf98a29e81ac 117 int gyroX;
YusukeWakuta 42:bf98a29e81ac 118 int gyroY;
YusukeWakuta 42:bf98a29e81ac 119 int gyroZ;
YusukeWakuta 42:bf98a29e81ac 120 float sum = 0;
tsumagari 74:8ccd04302a7f 121 int drugInput = 0;
tsumagari 74:8ccd04302a7f 122 int servoOffVer = 0;
YusukeWakuta 42:bf98a29e81ac 123 uint32_t sumCount = 0;
taurin 0:e052602db102 124
tsumagari 22:b38bc18ec3a1 125 char gyro_c[6] = {0,0,0,0,0,0};
taurin 4:450cafd95ac3 126
taurin 4:450cafd95ac3 127 void toString();
taurin 16:82310bf7c326 128 void receiveDatas();
taurin 16:82310bf7c326 129 void WriteServo();
YusukeWakuta 42:bf98a29e81ac 130 void MpuInit();
YusukeWakuta 42:bf98a29e81ac 131 void mpuProcessing(void const *arg);
taurin 0:e052602db102 132
YusukeWakuta 24:d416722b4aad 133 Ticker gTimer;
YusukeWakuta 24:d416722b4aad 134
tsumagari 73:05feda5b0f98 135
tsumagari 73:05feda5b0f98 136
tsumagari 73:05feda5b0f98 137 void receiveFromPc(){
tsumagari 74:8ccd04302a7f 138 while(pc.readable()){
tsumagari 73:05feda5b0f98 139 char c = pc.getc();
tsumagari 73:05feda5b0f98 140 for(int i = 0; debugflag[i].key != '0'; i++){
tsumagari 73:05feda5b0f98 141 if(debugflag[i].key == c)
tsumagari 73:05feda5b0f98 142 debugflag[i].flag = !(debugflag[i].flag);
tsumagari 73:05feda5b0f98 143 }
tsumagari 73:05feda5b0f98 144 }
tsumagari 73:05feda5b0f98 145 }
tsumagari 73:05feda5b0f98 146
YusukeWakuta 26:f14579683f98 147 bool servoInit()
YusukeWakuta 26:f14579683f98 148 {
taurin 4:450cafd95ac3 149 drugServo.period_ms(INIT_SERVO_PERIOD_MS);
taurin 0:e052602db102 150 return true;
taurin 0:e052602db102 151 }
taurin 0:e052602db102 152
YusukeWakuta 26:f14579683f98 153 void sendDatas()
YusukeWakuta 24:d416722b4aad 154 {
tsumagari 74:8ccd04302a7f 155 if(can.write(CANMessage(TO_SEND_CAN_ID, toSendDatas, YOKUTAN_DATAS_NUM))) {
taurin 4:450cafd95ac3 156 }
taurin 4:450cafd95ac3 157 }
taurin 4:450cafd95ac3 158
YusukeWakuta 42:bf98a29e81ac 159 void MpuInit()
YusukeWakuta 42:bf98a29e81ac 160 {
tsumagari 72:aef1ec8c66c7 161 i2c.frequency(400000); // use fast (400 kHz) I2C
YusukeWakuta 42:bf98a29e81ac 162 t.start();
YusukeWakuta 42:bf98a29e81ac 163 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
YusukeWakuta 42:bf98a29e81ac 164 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
YusukeWakuta 42:bf98a29e81ac 165 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 166 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
YusukeWakuta 42:bf98a29e81ac 167 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 168 if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) {
YusukeWakuta 42:bf98a29e81ac 169 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
YusukeWakuta 42:bf98a29e81ac 170 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 42:bf98a29e81ac 171 mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
YusukeWakuta 42:bf98a29e81ac 172 Thread::wait(200);
YusukeWakuta 42:bf98a29e81ac 173 } else {
YusukeWakuta 42:bf98a29e81ac 174 }
YusukeWakuta 42:bf98a29e81ac 175 } else {
YusukeWakuta 42:bf98a29e81ac 176 //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 42:bf98a29e81ac 177 }
YusukeWakuta 42:bf98a29e81ac 178 }
YusukeWakuta 42:bf98a29e81ac 179
YusukeWakuta 42:bf98a29e81ac 180
YusukeWakuta 42:bf98a29e81ac 181 void mpuProcessing(void const *arg)
YusukeWakuta 42:bf98a29e81ac 182 {
YusukeWakuta 42:bf98a29e81ac 183 MpuInit();
YusukeWakuta 42:bf98a29e81ac 184 while(1) {
YusukeWakuta 42:bf98a29e81ac 185 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
YusukeWakuta 42:bf98a29e81ac 186 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 187 mpu6050.getAres();
YusukeWakuta 42:bf98a29e81ac 188 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 189 ay = (float)accelCount[1]*aRes - accelBias[1];
YusukeWakuta 42:bf98a29e81ac 190 az = (float)accelCount[2]*aRes - accelBias[2];
YusukeWakuta 42:bf98a29e81ac 191 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 192 mpu6050.getGres();
YusukeWakuta 42:bf98a29e81ac 193 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 194 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
YusukeWakuta 42:bf98a29e81ac 195 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
YusukeWakuta 42:bf98a29e81ac 196 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 197 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
YusukeWakuta 42:bf98a29e81ac 198 }
YusukeWakuta 42:bf98a29e81ac 199 Now = t.read_us();
YusukeWakuta 42:bf98a29e81ac 200 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
YusukeWakuta 42:bf98a29e81ac 201 lastUpdate = Now;
YusukeWakuta 42:bf98a29e81ac 202 sum += deltat;
YusukeWakuta 42:bf98a29e81ac 203 sumCount++;
YusukeWakuta 42:bf98a29e81ac 204 if(lastUpdate - firstUpdate > 10000000.0f) {
YusukeWakuta 42:bf98a29e81ac 205 beta = 0.04; // decrease filter gain after stabilized
YusukeWakuta 42:bf98a29e81ac 206 zeta = 0.015; // increasey bias drift gain after stabilized
YusukeWakuta 42:bf98a29e81ac 207 }
YusukeWakuta 42:bf98a29e81ac 208 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
YusukeWakuta 42:bf98a29e81ac 209 delt_t = t.read_ms() - count;
YusukeWakuta 42:bf98a29e81ac 210 if (delt_t > MPU_DELT_MIN) {
YusukeWakuta 42:bf98a29e81ac 211 yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
YusukeWakuta 42:bf98a29e81ac 212 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
YusukeWakuta 42:bf98a29e81ac 213 roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
YusukeWakuta 42:bf98a29e81ac 214 pitch *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 215 yaw *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 216 roll *= 180.0f / PI;
YusukeWakuta 48:0bd406fa4a7f 217 // myled= !myled;
YusukeWakuta 42:bf98a29e81ac 218 count = t.read_ms();
YusukeWakuta 42:bf98a29e81ac 219 sum = 0;
YusukeWakuta 42:bf98a29e81ac 220 sumCount = 0;
YusukeWakuta 42:bf98a29e81ac 221 }
tsumagari 64:9d7582920f50 222 gyro_c[0]=(char)((int)pitch);
tsumagari 64:9d7582920f50 223 gyro_c[1]=(char)(int)((pitch - (int)pitch)*100);
tsumagari 64:9d7582920f50 224 gyro_c[2]=(char)((int)roll);
tsumagari 64:9d7582920f50 225 gyro_c[3]=(char)(int)((roll - (int)roll)*100);
tsumagari 64:9d7582920f50 226 gyro_c[4]=(char)((int)yaw);
tsumagari 64:9d7582920f50 227 gyro_c[5]=(char)(int)((yaw - (int)yaw)*100);
tsumagari 73:05feda5b0f98 228
YusukeWakuta 42:bf98a29e81ac 229 Thread::wait(1);
YusukeWakuta 42:bf98a29e81ac 230 }//while(1)
YusukeWakuta 42:bf98a29e81ac 231 }
YusukeWakuta 42:bf98a29e81ac 232
YusukeWakuta 42:bf98a29e81ac 233
YusukeWakuta 26:f14579683f98 234 bool inaInit()
YusukeWakuta 26:f14579683f98 235 {
YusukeWakuta 26:f14579683f98 236 if(!VCmonitor.isExist()) {
taurin 0:e052602db102 237 pc.printf("VCmonitor NOT FOUND\n");
taurin 0:e052602db102 238 return false;
taurin 0:e052602db102 239 }
taurin 0:e052602db102 240 ina_val = 0;
YusukeWakuta 26:f14579683f98 241 if(VCmonitor.rawRead(0x00,&ina_val) != 0) {
taurin 0:e052602db102 242 pc.printf("VCmonitor READ ERROR\n");
taurin 0:e052602db102 243 return false;
taurin 0:e052602db102 244 }
taurin 0:e052602db102 245 VCmonitor.setCurrentCalibration();
taurin 0:e052602db102 246 return true;
taurin 0:e052602db102 247 }
taurin 0:e052602db102 248
YusukeWakuta 57:d7b709dd1c4f 249 //動かしたいエレボンの角度から、動かしたいサーボホーンの角度を得る。
YusukeWakuta 57:d7b709dd1c4f 250 double ConvertDeg(double servo)
YusukeWakuta 57:d7b709dd1c4f 251 {
YusukeWakuta 62:1db967d29809 252 return 0.0011 * pow(servo,3) + 0.017 * pow(servo,2) + 2.3019 * servo - 0.2269;
YusukeWakuta 62:1db967d29809 253 //return 0.0003*pow(servo,3)+0.0039*pow(servo,2)+1.746*servo - 0.0105;
YusukeWakuta 57:d7b709dd1c4f 254 }
YusukeWakuta 57:d7b709dd1c4f 255
YusukeWakuta 57:d7b709dd1c4f 256 //ホーンを動かしたい角度から、変化させるアナログ値の幅を得る。3度変化
YusukeWakuta 57:d7b709dd1c4f 257 double GetValueByHorn(double deg)
YusukeWakuta 57:d7b709dd1c4f 258 {
YusukeWakuta 57:d7b709dd1c4f 259 return deg*(0.10/25.7);
YusukeWakuta 57:d7b709dd1c4f 260 }
YusukeWakuta 57:d7b709dd1c4f 261
YusukeWakuta 57:d7b709dd1c4f 262 double GetFloatByErebon(double erebonDeg)
YusukeWakuta 57:d7b709dd1c4f 263 {
YusukeWakuta 57:d7b709dd1c4f 264 double servoDeg = ConvertDeg(erebonDeg);
YusukeWakuta 61:988e3f4280ac 265 return GetValueByHorn(servoDeg);
YusukeWakuta 57:d7b709dd1c4f 266 }
tsumagari 67:94fe2180f39a 267 // configファイル作成
tsumagari 67:94fe2180f39a 268 int makeConfigFile() {
tsumagari 67:94fe2180f39a 269 FILE *fp;
tsumagari 67:94fe2180f39a 270 if((fp = fopen(configfilename, "w")) == NULL) {
tsumagari 67:94fe2180f39a 271 pc.printf("can't open %s\n", configfilename);
tsumagari 67:94fe2180f39a 272 return -1;
tsumagari 67:94fe2180f39a 273 }
tsumagari 67:94fe2180f39a 274 fprintf(fp, "// This is Yokutan %s.\n", IsRPin ? "R" : "L");
tsumagari 67:94fe2180f39a 275 fprintf(fp, "eruronTrim,drugTrim,eruronMoveDeg,drugMoveDeg\n");
tsumagari 67:94fe2180f39a 276 fclose(fp);
tsumagari 67:94fe2180f39a 277 return 0;
tsumagari 67:94fe2180f39a 278 }
tsumagari 67:94fe2180f39a 279
tsumagari 67:94fe2180f39a 280 // config内容をファイルに追記
tsumagari 67:94fe2180f39a 281 int writeConfig() {
tsumagari 67:94fe2180f39a 282 FILE *fp;
tsumagari 67:94fe2180f39a 283 if((fp = fopen(configfilename, "a")) == NULL) {
tsumagari 67:94fe2180f39a 284 pc.printf("can't open %s\n", configfilename);
tsumagari 67:94fe2180f39a 285 return -1;
tsumagari 67:94fe2180f39a 286 }
tsumagari 67:94fe2180f39a 287 fprintf(fp, "%f,%f,%f,%f\n", eruronTrim, drugTrim, eruronMoveDeg, drugMoveDeg);
tsumagari 67:94fe2180f39a 288 fclose(fp);
tsumagari 67:94fe2180f39a 289 return 0;
tsumagari 67:94fe2180f39a 290 }
tsumagari 67:94fe2180f39a 291 // configの最新情報を読み込み
tsumagari 67:94fe2180f39a 292 int readConfig() {
tsumagari 67:94fe2180f39a 293 FILE *fp;
tsumagari 67:94fe2180f39a 294 char s[256];
tsumagari 67:94fe2180f39a 295 if((fp = fopen(configfilename, "r")) == NULL) {
tsumagari 67:94fe2180f39a 296 return -1;
tsumagari 67:94fe2180f39a 297 }
tsumagari 67:94fe2180f39a 298 while(fgets(s, 255, fp) != NULL) {
tsumagari 67:94fe2180f39a 299 sscanf(s, "%f,%f,%f,%f\n", &eruronTrim, &drugTrim, &eruronMoveDeg, &drugMoveDeg);
tsumagari 67:94fe2180f39a 300 }
tsumagari 67:94fe2180f39a 301 fclose(fp);
tsumagari 73:05feda5b0f98 302 //debug("eruronTrim:%f,drugtrim:%f,eMD:%f,dMD:%f\n\r",eruronTrim,drugTrim,eruronMoveDeg,drugMoveDeg);
tsumagari 67:94fe2180f39a 303 return 0;
tsumagari 67:94fe2180f39a 304 }
YusukeWakuta 57:d7b709dd1c4f 305
YusukeWakuta 26:f14579683f98 306 void init()
YusukeWakuta 26:f14579683f98 307 {
tsumagari 67:94fe2180f39a 308 if(readConfig() == -1) {
tsumagari 67:94fe2180f39a 309 makeConfigFile();
tsumagari 67:94fe2180f39a 310 if(IsRPin) {
tsumagari 67:94fe2180f39a 311 eruronTrim = ERURON_TRIM_INI_R;
tsumagari 67:94fe2180f39a 312 drugTrim = DRUG_TRIM_INI_R;
tsumagari 67:94fe2180f39a 313 eruronMoveDeg =GetFloatByErebon(ERURON_MOVE_DEG_INI_R);
tsumagari 67:94fe2180f39a 314 drugMoveDeg =DRUG_MOVE_DEG_INI_R;
tsumagari 67:94fe2180f39a 315 } else {
tsumagari 67:94fe2180f39a 316 eruronTrim = ERURON_TRIM_INI_L;
tsumagari 67:94fe2180f39a 317 drugTrim = DRUG_TRIM_INI_L;
tsumagari 67:94fe2180f39a 318 eruronMoveDeg = GetFloatByErebon(ERURON_MOVE_DEG_INI_L);
tsumagari 67:94fe2180f39a 319 drugMoveDeg = DRUG_MOVE_DEG_INI_L;
tsumagari 67:94fe2180f39a 320 }
taurin 12:fd9d241843f4 321 }
taurin 0:e052602db102 322 SERVO_FLAG = servoInit();
taurin 0:e052602db102 323 INA_FLAG = inaInit();
taurin 4:450cafd95ac3 324 sendDatasTicker.attach(&sendDatas,SEND_DATAS_LOOP_TIME);
taurin 16:82310bf7c326 325 // toStringTicker.attach(&toString,0.5);
taurin 16:82310bf7c326 326 receiveDatasTicker.attach(&receiveDatas,RECEIVE_DATAS_LOOP_TIME);
taurin 0:e052602db102 327 }
taurin 0:e052602db102 328
YusukeWakuta 26:f14579683f98 329 void updateDatas()
YusukeWakuta 26:f14579683f98 330 {
YusukeWakuta 26:f14579683f98 331 if(INA_FLAG) {
taurin 0:e052602db102 332 int tmp = VCmonitor.getVoltage(&V);
taurin 0:e052602db102 333 tmp = VCmonitor.getCurrent(&C);
taurin 0:e052602db102 334 }
tsumagari 73:05feda5b0f98 335 uint8_t r[4];
tsumagari 73:05feda5b0f98 336 uint8_t y[4];
tsumagari 73:05feda5b0f98 337 int rl,yw;
tsumagari 73:05feda5b0f98 338 rl = (int)(roll*10000);
tsumagari 73:05feda5b0f98 339 yw = (int)(yaw*10000);
tsumagari 73:05feda5b0f98 340 r[2] = (rl&0x00ff0000)>>16; y[2] = (yw&0x00ff0000)>>16;
tsumagari 73:05feda5b0f98 341 r[1] = (rl&0x0000ff00)>>8; y[1] = (yw&0x0000ff00)>>8;
tsumagari 73:05feda5b0f98 342 r[0] = (rl&0x000000ff); y[0] = (yw&0x000000ff);
tsumagari 73:05feda5b0f98 343 r[3] = (r[2]>>7 == 0)?0:0xff;y[3] = (y[2]>>7 == 0)?0:0xff;//r[3]can make from r[2]
tsumagari 73:05feda5b0f98 344 int i = 0;
tsumagari 73:05feda5b0f98 345 for(;i<3;i++)
tsumagari 73:05feda5b0f98 346 toSendDatas[i] = r[i];
tsumagari 73:05feda5b0f98 347 for(;i<6;i++)
tsumagari 73:05feda5b0f98 348 toSendDatas[i] = y[i-3];
tsumagari 73:05feda5b0f98 349 toSendDatas[i] = (char)V;
tsumagari 73:05feda5b0f98 350 print2pc(SENDING_DATA_DEBUG_FLAG,"p:%12f,r:%12f,y:%12f,servoV%12f r[]:%d,y[]:%d\n\r"
tsumagari 73:05feda5b0f98 351 ,pitch,roll,yaw,V,*(int*)r,*(int*)y);
taurin 0:e052602db102 352 }
taurin 0:e052602db102 353
YusukeWakuta 26:f14579683f98 354 void receiveDatas()
YusukeWakuta 26:f14579683f98 355 {
tsumagari 73:05feda5b0f98 356 if(can.read(recmsg)) { //ここの中でpc.printfすると固まるので注意
tsumagari 74:8ccd04302a7f 357 for(int i = 0; i < ERURON_DATAS_NUM; i++) {
tsumagari 74:8ccd04302a7f 358 intValues[i] = recmsg.data[i];
taurin 0:e052602db102 359 }
tsumagari 74:8ccd04302a7f 360 drugInput = (recmsg.data[3]-'0')/2;
tsumagari 74:8ccd04302a7f 361 servoOffVer = ((recmsg.data[3]-'0')%2);
tsumagari 74:8ccd04302a7f 362 eruronfloat = atoi(intValues)/100.0;
taurin 1:9cc932a16d17 363 led1 = !led1;
taurin 0:e052602db102 364 }
tsumagari 74:8ccd04302a7f 365 servoOff = servoOffVer;
taurin 0:e052602db102 366 }
taurin 0:e052602db102 367
YusukeWakuta 42:bf98a29e81ac 368 double calcPulse(float analog)
YusukeWakuta 26:f14579683f98 369 {
tsumagari 75:4b6f1b976bec 370 return (0.6 + (analog)*(2.40-0.60) );
taurin 1:9cc932a16d17 371 }
taurin 1:9cc932a16d17 372
YusukeWakuta 29:516a5d383488 373 void WriteServo()
YusukeWakuta 26:f14579683f98 374 {
YusukeWakuta 62:1db967d29809 375 // for(int i = 0; i< 10; i++) {
YusukeWakuta 61:988e3f4280ac 376 // pc.printf("%c",floatValues[i]);
YusukeWakuta 61:988e3f4280ac 377 // }
YusukeWakuta 61:988e3f4280ac 378 // pc.printf(" : %f",eruronfloat);
YusukeWakuta 61:988e3f4280ac 379 // pc.printf("\n\r");
tsumagari 75:4b6f1b976bec 380 drugServo.pulsewidth_ms(calcPulse(drugTrim + drugMoveDeg *drugInput));
tsumagari 75:4b6f1b976bec 381 eruronServo.pulsewidth_ms(calcPulse( eruronTrim + eruronMoveDeg * eruronfloat));
tsumagari 74:8ccd04302a7f 382 print2pc(GETTING_DATA_DEBUG_FLAG,"ef:%5.2f di:%d so:%d\n\r",eruronfloat,drugInput,int(servoOff));
tsumagari 74:8ccd04302a7f 383 print2pc(DEBUG_FLAG,"servoOffVer:%d\n\r",servoOffVer);
taurin 4:450cafd95ac3 384 }
taurin 4:450cafd95ac3 385
tsumagari 75:4b6f1b976bec 386 void setTrim(float baseinp)
YusukeWakuta 26:f14579683f98 387 {
tsumagari 75:4b6f1b976bec 388 float inp = (setDeg10.read()*9)/10.0 + setDeg1.read()/10 - baseinp;
YusukeWakuta 44:624a4469ae21 389 led2 = 1;
YusukeWakuta 26:f14579683f98 390 if(EDstatePin) {
tsumagari 75:4b6f1b976bec 391 eruronTrim = eruronServo.read();
tsumagari 75:4b6f1b976bec 392
tsumagari 75:4b6f1b976bec 393 eruronServo.pulsewidth_ms(calcPulse(inp));
YusukeWakuta 26:f14579683f98 394 } else {
tsumagari 75:4b6f1b976bec 395 drugTrim = drugServo.read();
tsumagari 75:4b6f1b976bec 396 drugServo.pulsewidth_ms(calcPulse(inp));
taurin 12:fd9d241843f4 397 }
taurin 4:450cafd95ac3 398 }
taurin 4:450cafd95ac3 399
tsumagari 75:4b6f1b976bec 400 void setMaxDeg(float baseinp)
YusukeWakuta 26:f14579683f98 401 {
tsumagari 75:4b6f1b976bec 402 float inp = (setDeg10.read()*9)/10.0 + setDeg1.read()/10 - baseinp;
taurin 4:450cafd95ac3 403 led4 = 1;
YusukeWakuta 26:f14579683f98 404 if(EDstatePin) {
tsumagari 75:4b6f1b976bec 405 float eruronTemp = eruronServo.read();
YusukeWakuta 26:f14579683f98 406 eruronMoveDeg = eruronTemp-eruronTrim;
tsumagari 75:4b6f1b976bec 407 eruronServo.pulsewidth_ms(calcPulse(inp));
YusukeWakuta 26:f14579683f98 408 } else {
tsumagari 75:4b6f1b976bec 409 float drugTemp = drugServo.read();
tsumagari 68:ae3c3500074c 410 drugMoveDeg = drugTemp-drugTrim;
tsumagari 75:4b6f1b976bec 411 drugServo.pulsewidth_ms(calcPulse(inp));
taurin 12:fd9d241843f4 412 }
taurin 4:450cafd95ac3 413 wait_us(10);
taurin 1:9cc932a16d17 414 }
tsumagari 75:4b6f1b976bec 415 void setServoConfig(PwmOut servo, float* trim, float* movedeg, float base){
tsumagari 75:4b6f1b976bec 416
tsumagari 75:4b6f1b976bec 417 float neji = (setDeg10.read()*9)/10.0 + setDeg1.read()/10;
tsumagari 75:4b6f1b976bec 418 printf("\nneji:%f\n\r",neji);
tsumagari 75:4b6f1b976bec 419
tsumagari 75:4b6f1b976bec 420 if(TrimMaxDegPin){
tsumagari 75:4b6f1b976bec 421 servo.write(base + neji);
tsumagari 75:4b6f1b976bec 422 *trim = base + neji;
tsumagari 75:4b6f1b976bec 423 led2 = !led2;
tsumagari 75:4b6f1b976bec 424 }else{
tsumagari 75:4b6f1b976bec 425 servo.write(base + neji);
tsumagari 75:4b6f1b976bec 426 *movedeg = base + neji - *trim;
tsumagari 75:4b6f1b976bec 427 led4 = !led4;
tsumagari 75:4b6f1b976bec 428 }
tsumagari 75:4b6f1b976bec 429 }
taurin 0:e052602db102 430
YusukeWakuta 26:f14579683f98 431 int main()
YusukeWakuta 26:f14579683f98 432 {
taurin 0:e052602db102 433 init();
YusukeWakuta 42:bf98a29e81ac 434 Thread mpu_thread(&mpuProcessing);
YusukeWakuta 26:f14579683f98 435
YusukeWakuta 26:f14579683f98 436 while(1) {
tsumagari 68:ae3c3500074c 437 if(InSetModePin){
tsumagari 75:4b6f1b976bec 438 float baseinp = (setDeg10.read()*9)/10.0 + setDeg1.read()/10;
tsumagari 75:4b6f1b976bec 439 float eruronIni = eruronServo.read();
tsumagari 75:4b6f1b976bec 440 float drugIni = drugServo.read();
tsumagari 75:4b6f1b976bec 441
tsumagari 68:ae3c3500074c 442 do{
tsumagari 75:4b6f1b976bec 443 if(EDstatePin){
tsumagari 75:4b6f1b976bec 444 setServoConfig(eruronServo, &eruronTrim, &eruronMoveDeg, eruronIni - baseinp);
tsumagari 75:4b6f1b976bec 445 }else{
tsumagari 75:4b6f1b976bec 446 setServoConfig(drugServo, &drugTrim, &drugMoveDeg, drugIni - baseinp);
tsumagari 75:4b6f1b976bec 447 }
tsumagari 75:4b6f1b976bec 448
tsumagari 75:4b6f1b976bec 449 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
tsumagari 75:4b6f1b976bec 450 pc.printf("eMD:%f dMD:%f\n\r",eruronMoveDeg,drugMoveDeg);
tsumagari 75:4b6f1b976bec 451
tsumagari 68:ae3c3500074c 452 }while(InSetModePin);
tsumagari 67:94fe2180f39a 453 writeConfig();
taurin 4:450cafd95ac3 454 }
taurin 4:450cafd95ac3 455 led4 = 0;
YusukeWakuta 44:624a4469ae21 456 led2 = 0;
tsumagari 68:ae3c3500074c 457 receiveDatas();
tsumagari 71:a00561d455d1 458 sendDatas();
taurin 1:9cc932a16d17 459 WriteServo();
taurin 4:450cafd95ac3 460 updateDatas();
tsumagari 73:05feda5b0f98 461 receiveFromPc();
tsumagari 22:b38bc18ec3a1 462 led3 = !led3;
taurin 2:7fcb4f970a02 463 wait(WAIT_LOOP_TIME);
taurin 0:e052602db102 464 }
taurin 0:e052602db102 465 }