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
main.cpp@32:b03557a08efa, 2017-03-10 (annotated)
- Committer:
- YusukeWakuta
- Date:
- Fri Mar 10 12:59:41 2017 +0000
- Branch:
- XBus???
- Revision:
- 32:b03557a08efa
- Parent:
- 31:5d22ebe5f705
- Child:
- 33:d075918d4846
- Child:
- 34:53d2723d9195
????0???
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
taurin | 0:e052602db102 | 1 | //翼端can program |
taurin | 0:e052602db102 | 2 | #include "mbed.h" |
tsumagari | 22:b38bc18ec3a1 | 3 | #include "MPU6050.h" |
taurin | 0:e052602db102 | 4 | #include "INA226.hpp" |
YusukeWakuta | 24:d416722b4aad | 5 | #include "XBusServo.h" |
taurin | 4:450cafd95ac3 | 6 | |
tsumagari | 22:b38bc18ec3a1 | 7 | #define TO_SEND_DATAS_NUM 7 |
taurin | 2:7fcb4f970a02 | 8 | #define INIT_SERVO_PERIOD_MS 20 |
taurin | 4:450cafd95ac3 | 9 | #define WAIT_LOOP_TIME 0.02 |
tsumagari | 23:d551db88df65 | 10 | #define CONTROL_VALUES_NUM sizeof(float) + 1 |
taurin | 0:e052602db102 | 11 | #define TO_SEND_CAN_ID 100 |
taurin | 4:450cafd95ac3 | 12 | #define SEND_DATAS_LOOP_TIME 0.1 |
taurin | 16:82310bf7c326 | 13 | #define RECEIVE_DATAS_LOOP_TIME 0.05 |
taurin | 12:fd9d241843f4 | 14 | |
YusukeWakuta | 32:b03557a08efa | 15 | #define ERURON_MOVE_DEG_INI_R 0 |
YusukeWakuta | 32:b03557a08efa | 16 | #define DRUG_MOVE_DEG_INI_R 0 |
YusukeWakuta | 32:b03557a08efa | 17 | #define ERURON_TRIM_INI_R 0 |
YusukeWakuta | 32:b03557a08efa | 18 | #define DRUG_TRIM_INI_R 0 |
taurin | 12:fd9d241843f4 | 19 | |
YusukeWakuta | 32:b03557a08efa | 20 | #define ERURON_MOVE_DEG_INI_L 0 |
YusukeWakuta | 32:b03557a08efa | 21 | #define DRUG_MOVE_DEG_INI_L 0 |
YusukeWakuta | 32:b03557a08efa | 22 | #define ERURON_TRIM_INI_L 0 |
YusukeWakuta | 32:b03557a08efa | 23 | #define DRUG_TRIM_INI_L 0 |
taurin | 2:7fcb4f970a02 | 24 | |
YusukeWakuta | 24:d416722b4aad | 25 | #define kMaxServoNum 1 // 1 - 50 |
YusukeWakuta | 24:d416722b4aad | 26 | #define kMaxServoPause (sizeof(motionData) / sizeof(pauseRec)) |
YusukeWakuta | 24:d416722b4aad | 27 | #define kMotionInterval 10 // flame / sec |
YusukeWakuta | 24:d416722b4aad | 28 | #define kMotionMinMark 0x1249 |
YusukeWakuta | 24:d416722b4aad | 29 | #define kMotionEndMark 0xED86 |
YusukeWakuta | 24:d416722b4aad | 30 | |
taurin | 0:e052602db102 | 31 | CAN can(p30,p29); |
taurin | 0:e052602db102 | 32 | CANMessage recmsg; |
taurin | 0:e052602db102 | 33 | Serial pc(USBTX,USBRX); |
tsumagari | 22:b38bc18ec3a1 | 34 | MPU6050 mpu(p9,p10); |
taurin | 0:e052602db102 | 35 | I2C ina226_i2c(p28,p27); |
taurin | 0:e052602db102 | 36 | INA226 VCmonitor(ina226_i2c); |
taurin | 13:5e3b4120dbbf | 37 | PwmOut drugServo(p22); |
taurin | 1:9cc932a16d17 | 38 | DigitalOut led1(LED1); |
taurin | 4:450cafd95ac3 | 39 | AnalogIn drugAna(p20); |
taurin | 4:450cafd95ac3 | 40 | AnalogIn eruronAna(p19); |
YusukeWakuta | 28:99686a3f0e86 | 41 | DigitalIn LRstatePin(p11); |
YusukeWakuta | 28:99686a3f0e86 | 42 | DigitalIn setTrimPin(p12); |
YusukeWakuta | 28:99686a3f0e86 | 43 | DigitalIn EDstatePin(p14); |
YusukeWakuta | 28:99686a3f0e86 | 44 | DigitalIn setMaxDegPin(p15); |
taurin | 4:450cafd95ac3 | 45 | DigitalOut debugLED(LED2); |
taurin | 4:450cafd95ac3 | 46 | DigitalOut led3(LED3); |
taurin | 4:450cafd95ac3 | 47 | DigitalOut led4(LED4); |
taurin | 4:450cafd95ac3 | 48 | Ticker sendDatasTicker; |
tsumagari | 22:b38bc18ec3a1 | 49 | //Ticker toStringTicker; |
taurin | 16:82310bf7c326 | 50 | Ticker receiveDatasTicker; |
taurin | 16:82310bf7c326 | 51 | |
taurin | 0:e052602db102 | 52 | char toSendDatas[TO_SEND_DATAS_NUM]; |
tsumagari | 23:d551db88df65 | 53 | char controlValues[CONTROL_VALUES_NUM];//0~3:eruruon,4:drug |
tsumagari | 23:d551db88df65 | 54 | char floatvalues[sizeof(float)]; |
taurin | 12:fd9d241843f4 | 55 | float eruronTrim; |
taurin | 12:fd9d241843f4 | 56 | float drugTrim; |
taurin | 12:fd9d241843f4 | 57 | float eruronMoveDeg; |
taurin | 12:fd9d241843f4 | 58 | float drugMoveDeg; |
tsumagari | 23:d551db88df65 | 59 | float eruronfloat; |
taurin | 0:e052602db102 | 60 | unsigned short ina_val; |
taurin | 0:e052602db102 | 61 | double V,C; |
taurin | 0:e052602db102 | 62 | bool SERVO_FLAG; |
taurin | 0:e052602db102 | 63 | bool INA_FLAG; |
tsumagari | 22:b38bc18ec3a1 | 64 | bool MPU_FLAG; |
YusukeWakuta | 31:5d22ebe5f705 | 65 | uint16_t XbusValue; |
taurin | 0:e052602db102 | 66 | |
tsumagari | 22:b38bc18ec3a1 | 67 | char gyro_c[6] = {0,0,0,0,0,0}; |
taurin | 4:450cafd95ac3 | 68 | |
taurin | 4:450cafd95ac3 | 69 | void toString(); |
taurin | 16:82310bf7c326 | 70 | void receiveDatas(); |
taurin | 16:82310bf7c326 | 71 | void WriteServo(); |
taurin | 0:e052602db102 | 72 | |
YusukeWakuta | 24:d416722b4aad | 73 | static const uint8_t servoChannel = 0x01; |
YusukeWakuta | 24:d416722b4aad | 74 | |
YusukeWakuta | 27:591cf9139ae7 | 75 | XBusServo gXBus(p13, NC, NC, kMaxServoNum); |
YusukeWakuta | 24:d416722b4aad | 76 | Ticker gTimer; |
YusukeWakuta | 24:d416722b4aad | 77 | |
YusukeWakuta | 26:f14579683f98 | 78 | bool servoInit() |
YusukeWakuta | 26:f14579683f98 | 79 | { |
taurin | 4:450cafd95ac3 | 80 | drugServo.period_ms(INIT_SERVO_PERIOD_MS); |
taurin | 0:e052602db102 | 81 | return true; |
taurin | 0:e052602db102 | 82 | } |
taurin | 0:e052602db102 | 83 | |
YusukeWakuta | 26:f14579683f98 | 84 | void sendDatas() |
YusukeWakuta | 24:d416722b4aad | 85 | { |
YusukeWakuta | 26:f14579683f98 | 86 | if(can.write(CANMessage(TO_SEND_CAN_ID, toSendDatas, TO_SEND_DATAS_NUM))) { |
taurin | 4:450cafd95ac3 | 87 | } |
taurin | 4:450cafd95ac3 | 88 | } |
taurin | 4:450cafd95ac3 | 89 | |
YusukeWakuta | 26:f14579683f98 | 90 | bool inaInit() |
YusukeWakuta | 26:f14579683f98 | 91 | { |
YusukeWakuta | 26:f14579683f98 | 92 | if(!VCmonitor.isExist()) { |
taurin | 0:e052602db102 | 93 | pc.printf("VCmonitor NOT FOUND\n"); |
taurin | 0:e052602db102 | 94 | return false; |
taurin | 0:e052602db102 | 95 | } |
taurin | 0:e052602db102 | 96 | ina_val = 0; |
YusukeWakuta | 26:f14579683f98 | 97 | if(VCmonitor.rawRead(0x00,&ina_val) != 0) { |
taurin | 0:e052602db102 | 98 | pc.printf("VCmonitor READ ERROR\n"); |
taurin | 0:e052602db102 | 99 | return false; |
taurin | 0:e052602db102 | 100 | } |
taurin | 0:e052602db102 | 101 | VCmonitor.setCurrentCalibration(); |
taurin | 0:e052602db102 | 102 | return true; |
taurin | 0:e052602db102 | 103 | } |
taurin | 0:e052602db102 | 104 | |
YusukeWakuta | 26:f14579683f98 | 105 | XBusError initXBus() |
YusukeWakuta | 26:f14579683f98 | 106 | { |
YusukeWakuta | 24:d416722b4aad | 107 | XBusError result; |
YusukeWakuta | 26:f14579683f98 | 108 | result = gXBus.start(); |
YusukeWakuta | 26:f14579683f98 | 109 | if (result != kXBusError_NoError) { |
YusukeWakuta | 26:f14579683f98 | 110 | gXBus.stop(); |
YusukeWakuta | 26:f14579683f98 | 111 | return result; |
YusukeWakuta | 26:f14579683f98 | 112 | } |
YusukeWakuta | 26:f14579683f98 | 113 | result = gXBus.addServo(servoChannel, kXbusServoNeutral); |
YusukeWakuta | 26:f14579683f98 | 114 | if (result != kXBusError_NoError) { |
YusukeWakuta | 26:f14579683f98 | 115 | gXBus.stop(); |
YusukeWakuta | 26:f14579683f98 | 116 | return result; |
YusukeWakuta | 26:f14579683f98 | 117 | } |
YusukeWakuta | 26:f14579683f98 | 118 | return kXBusError_NoError; |
YusukeWakuta | 26:f14579683f98 | 119 | } |
YusukeWakuta | 26:f14579683f98 | 120 | |
YusukeWakuta | 26:f14579683f98 | 121 | void init() |
YusukeWakuta | 26:f14579683f98 | 122 | { |
YusukeWakuta | 26:f14579683f98 | 123 | if(!LRstatePin) { |
taurin | 13:5e3b4120dbbf | 124 | eruronTrim = ERURON_TRIM_INI_L; |
taurin | 13:5e3b4120dbbf | 125 | drugTrim = DRUG_TRIM_INI_L; |
taurin | 13:5e3b4120dbbf | 126 | eruronMoveDeg = ERURON_MOVE_DEG_INI_L; |
taurin | 13:5e3b4120dbbf | 127 | drugMoveDeg = DRUG_MOVE_DEG_INI_L; |
YusukeWakuta | 26:f14579683f98 | 128 | } else { |
taurin | 12:fd9d241843f4 | 129 | eruronTrim = ERURON_TRIM_INI_R; |
taurin | 12:fd9d241843f4 | 130 | drugTrim = DRUG_TRIM_INI_R; |
taurin | 12:fd9d241843f4 | 131 | eruronMoveDeg = ERURON_MOVE_DEG_INI_R; |
taurin | 13:5e3b4120dbbf | 132 | drugMoveDeg =DRUG_MOVE_DEG_INI_R; |
taurin | 12:fd9d241843f4 | 133 | } |
taurin | 0:e052602db102 | 134 | SERVO_FLAG = servoInit(); |
tsumagari | 22:b38bc18ec3a1 | 135 | MPU_FLAG = mpu.testConnection(); |
taurin | 0:e052602db102 | 136 | INA_FLAG = inaInit(); |
taurin | 4:450cafd95ac3 | 137 | sendDatasTicker.attach(&sendDatas,SEND_DATAS_LOOP_TIME); |
taurin | 16:82310bf7c326 | 138 | // toStringTicker.attach(&toString,0.5); |
taurin | 16:82310bf7c326 | 139 | receiveDatasTicker.attach(&receiveDatas,RECEIVE_DATAS_LOOP_TIME); |
YusukeWakuta | 24:d416722b4aad | 140 | |
YusukeWakuta | 26:f14579683f98 | 141 | initXBus(); |
taurin | 0:e052602db102 | 142 | } |
taurin | 0:e052602db102 | 143 | |
YusukeWakuta | 26:f14579683f98 | 144 | void updateDatas() |
YusukeWakuta | 26:f14579683f98 | 145 | { |
YusukeWakuta | 26:f14579683f98 | 146 | if(INA_FLAG) { |
taurin | 0:e052602db102 | 147 | int tmp = VCmonitor.getVoltage(&V); |
taurin | 0:e052602db102 | 148 | tmp = VCmonitor.getCurrent(&C); |
taurin | 0:e052602db102 | 149 | } |
YusukeWakuta | 26:f14579683f98 | 150 | if(MPU_FLAG) { |
tsumagari | 22:b38bc18ec3a1 | 151 | mpu.read(MPU6050_GYRO_XOUT_H_REG, gyro_c, 6); |
taurin | 0:e052602db102 | 152 | } |
YusukeWakuta | 26:f14579683f98 | 153 | for(int i = 0; i < TO_SEND_DATAS_NUM - 1; i++) { |
tsumagari | 22:b38bc18ec3a1 | 154 | toSendDatas[i] = gyro_c[i]; |
tsumagari | 22:b38bc18ec3a1 | 155 | } |
tsumagari | 22:b38bc18ec3a1 | 156 | // toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)(V/100); |
tsumagari | 22:b38bc18ec3a1 | 157 | toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)77; |
taurin | 0:e052602db102 | 158 | } |
taurin | 0:e052602db102 | 159 | |
YusukeWakuta | 26:f14579683f98 | 160 | void receiveDatas() |
YusukeWakuta | 26:f14579683f98 | 161 | { |
YusukeWakuta | 26:f14579683f98 | 162 | if(can.read(recmsg)) { |
YusukeWakuta | 26:f14579683f98 | 163 | for(int i = 0; i < CONTROL_VALUES_NUM; i++) { |
YusukeWakuta | 3:4417217b4f66 | 164 | controlValues[i] = recmsg.data[i]; |
tsumagari | 23:d551db88df65 | 165 | if(i<CONTROL_VALUES_NUM-1) floatvalues[i] = controlValues[i]; |
taurin | 0:e052602db102 | 166 | } |
tsumagari | 23:d551db88df65 | 167 | eruronfloat = *(const float *)floatvalues; |
taurin | 1:9cc932a16d17 | 168 | led1 = !led1; |
taurin | 0:e052602db102 | 169 | } |
taurin | 0:e052602db102 | 170 | } |
taurin | 0:e052602db102 | 171 | |
YusukeWakuta | 26:f14579683f98 | 172 | double calcPulse(int deg) |
YusukeWakuta | 26:f14579683f98 | 173 | { |
taurin | 4:450cafd95ac3 | 174 | return (0.0006+(deg/180.0)*(0.00235-0.00045)); |
taurin | 1:9cc932a16d17 | 175 | } |
taurin | 1:9cc932a16d17 | 176 | |
YusukeWakuta | 26:f14579683f98 | 177 | void XbusIntervalHandler() |
YusukeWakuta | 26:f14579683f98 | 178 | { |
YusukeWakuta | 26:f14579683f98 | 179 | uint16_t diff = kMotionEndMark - kMotionMinMark; |
YusukeWakuta | 32:b03557a08efa | 180 | XbusValue = (uint16_t)(diff * (eruronTrim + eruronMoveDeg * eruronfloat / 2.0) + kMotionMinMark); |
YusukeWakuta | 31:5d22ebe5f705 | 181 | //pc.printf("%f",value); |
YusukeWakuta | 31:5d22ebe5f705 | 182 | gXBus.setServo(servoChannel, XbusValue); |
YusukeWakuta | 29:516a5d383488 | 183 | gXBus.sendChannelDataPacket(); |
YusukeWakuta | 26:f14579683f98 | 184 | } |
YusukeWakuta | 26:f14579683f98 | 185 | |
YusukeWakuta | 29:516a5d383488 | 186 | void WriteServo() |
YusukeWakuta | 26:f14579683f98 | 187 | { |
YusukeWakuta | 26:f14579683f98 | 188 | drugServo.pulsewidth(calcPulse( drugTrim + drugMoveDeg * controlValues[4])); |
taurin | 4:450cafd95ac3 | 189 | } |
taurin | 4:450cafd95ac3 | 190 | |
YusukeWakuta | 26:f14579683f98 | 191 | void setTrim() |
YusukeWakuta | 26:f14579683f98 | 192 | { |
taurin | 4:450cafd95ac3 | 193 | debugLED = 1; |
YusukeWakuta | 26:f14579683f98 | 194 | if(EDstatePin) { |
YusukeWakuta | 26:f14579683f98 | 195 | eruronTrim = eruronAna.read(); |
YusukeWakuta | 26:f14579683f98 | 196 | } else { |
YusukeWakuta | 26:f14579683f98 | 197 | drugTrim = drugAna.read()*180; |
YusukeWakuta | 26:f14579683f98 | 198 | drugServo.pulsewidth(calcPulse(drugTrim)); |
taurin | 12:fd9d241843f4 | 199 | } |
YusukeWakuta | 14:1f6dd929d7de | 200 | //pc.printf("eruronTrim:%f drugTrim:%f\n\r",eruronTrim,drugTrim); |
YusukeWakuta | 26:f14579683f98 | 201 | pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim); |
YusukeWakuta | 26:f14579683f98 | 202 | pc.printf("eMD:%f dMD:%f ef:%f\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat); |
taurin | 4:450cafd95ac3 | 203 | } |
taurin | 4:450cafd95ac3 | 204 | |
YusukeWakuta | 26:f14579683f98 | 205 | void setMaxDeg() |
YusukeWakuta | 26:f14579683f98 | 206 | { |
taurin | 4:450cafd95ac3 | 207 | led4 = 1; |
YusukeWakuta | 26:f14579683f98 | 208 | float eruronTemp = eruronAna.read(); |
taurin | 4:450cafd95ac3 | 209 | float drugTemp = drugAna.read()*180; |
YusukeWakuta | 26:f14579683f98 | 210 | if(EDstatePin) { |
YusukeWakuta | 26:f14579683f98 | 211 | eruronMoveDeg = eruronTemp-eruronTrim; |
YusukeWakuta | 26:f14579683f98 | 212 | } else { |
YusukeWakuta | 26:f14579683f98 | 213 | drugServo.pulsewidth(calcPulse(drugTemp)); |
YusukeWakuta | 26:f14579683f98 | 214 | drugMoveDeg = drugTemp-drugTrim; |
taurin | 12:fd9d241843f4 | 215 | } |
YusukeWakuta | 26:f14579683f98 | 216 | // pc.printf("eMD:%f dMD:%f\n\r",eruronMoveDeg,drugMoveDeg); |
YusukeWakuta | 14:1f6dd929d7de | 217 | pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim); |
tsumagari | 23:d551db88df65 | 218 | pc.printf("eMD:%f dMD:%f ef:%f\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat); |
taurin | 4:450cafd95ac3 | 219 | wait_us(10); |
taurin | 1:9cc932a16d17 | 220 | } |
taurin | 0:e052602db102 | 221 | |
YusukeWakuta | 26:f14579683f98 | 222 | int main() |
YusukeWakuta | 26:f14579683f98 | 223 | { |
taurin | 0:e052602db102 | 224 | init(); |
YusukeWakuta | 24:d416722b4aad | 225 | XBusError result; |
YusukeWakuta | 31:5d22ebe5f705 | 226 | |
YusukeWakuta | 30:00041540e23c | 227 | setTrimPin.mode(PullDown); |
YusukeWakuta | 30:00041540e23c | 228 | setMaxDegPin.mode(PullDown); |
YusukeWakuta | 30:00041540e23c | 229 | EDstatePin.mode(PullDown); |
YusukeWakuta | 30:00041540e23c | 230 | LRstatePin.mode(PullDown); |
YusukeWakuta | 26:f14579683f98 | 231 | |
YusukeWakuta | 24:d416722b4aad | 232 | // start motion |
YusukeWakuta | 24:d416722b4aad | 233 | gTimer.attach_us(&XbusIntervalHandler, 1000000 / kMotionInterval); |
YusukeWakuta | 26:f14579683f98 | 234 | |
YusukeWakuta | 26:f14579683f98 | 235 | while(1) { |
YusukeWakuta | 26:f14579683f98 | 236 | while(setTrimPin) { |
taurin | 4:450cafd95ac3 | 237 | setTrim(); |
taurin | 4:450cafd95ac3 | 238 | } |
YusukeWakuta | 26:f14579683f98 | 239 | while (setMaxDegPin) { |
YusukeWakuta | 29:516a5d383488 | 240 | setMaxDeg(); |
taurin | 4:450cafd95ac3 | 241 | } |
YusukeWakuta | 26:f14579683f98 | 242 | // pc.printf("eT:%f\n\r",eruronTrim); |
YusukeWakuta | 32:b03557a08efa | 243 | pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim); |
YusukeWakuta | 32:b03557a08efa | 244 | pc.printf("eMD:%f dMD:%f ef:%f\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat); |
YusukeWakuta | 32:b03557a08efa | 245 | // pc.printf("%c,%c,%c,DG:%c\n\r",controlValues[0],controlValues[1],controlValues[2],controlValues[3]); |
taurin | 4:450cafd95ac3 | 246 | led4 = 0; |
YusukeWakuta | 26:f14579683f98 | 247 | |
taurin | 4:450cafd95ac3 | 248 | debugLED = 0; |
taurin | 16:82310bf7c326 | 249 | //receiveDatas(); |
tsumagari | 22:b38bc18ec3a1 | 250 | // sendDatas(); |
taurin | 1:9cc932a16d17 | 251 | WriteServo(); |
taurin | 4:450cafd95ac3 | 252 | updateDatas(); |
tsumagari | 22:b38bc18ec3a1 | 253 | // pc.printf("%6d,%6d,%6d\n\r",gyro[0],gyro[1],gyro[2]); |
YusukeWakuta | 32:b03557a08efa | 254 | // pc.printf("%f\n\r",XbusValue); |
tsumagari | 22:b38bc18ec3a1 | 255 | led3 = !led3; |
taurin | 2:7fcb4f970a02 | 256 | wait(WAIT_LOOP_TIME); |
taurin | 0:e052602db102 | 257 | } |
taurin | 0:e052602db102 | 258 | } |