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@77:ca4ab599ba2b, 2018-02-28 (annotated)
- Committer:
- tsumagari
- Date:
- Wed Feb 28 03:36:22 2018 +0000
- Branch:
- mpu????????
- Revision:
- 77:ca4ab599ba2b
- Parent:
- 74:8ccd04302a7f
- Child:
- 78:e272e65f5a0e
???????????????????????????
Who changed what in which revision?
User | Revision | Line number | New 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 | 73:05feda5b0f98 | 11 | **magic character of debug** |
tsumagari | 73:05feda5b0f98 | 12 | * |
tsumagari | 73:05feda5b0f98 | 13 | *(0)s:sending datas: mpu, servoV |
tsumagari | 73:05feda5b0f98 | 14 | *(1)g:getting datas: eruronfloat, drugInput, servoOff |
tsumagari | 73:05feda5b0f98 | 15 | *(2)c:servo config:eruronTrim,drugTrim,eMD,dMD |
tsumagari | 74:8ccd04302a7f | 16 | *(3)j:data to debug what you want(joker) |
tsumagari | 73:05feda5b0f98 | 17 | ****************************************** |
tsumagari | 73:05feda5b0f98 | 18 | */ |
taurin | 0:e052602db102 | 19 | #include "mbed.h" |
tsumagari | 22:b38bc18ec3a1 | 20 | #include "MPU6050.h" |
taurin | 0:e052602db102 | 21 | #include "INA226.hpp" |
YusukeWakuta | 42:bf98a29e81ac | 22 | #include "rtos.h" |
YusukeWakuta | 24:d416722b4aad | 23 | #include "XBusServo.h" |
YusukeWakuta | 57:d7b709dd1c4f | 24 | #include "math.h" |
taurin | 4:450cafd95ac3 | 25 | |
taurin | 2:7fcb4f970a02 | 26 | #define INIT_SERVO_PERIOD_MS 20 |
taurin | 4:450cafd95ac3 | 27 | #define WAIT_LOOP_TIME 0.02 |
tsumagari | 74:8ccd04302a7f | 28 | #define YOKUTAN_DATAS_NUM 7 |
tsumagari | 74:8ccd04302a7f | 29 | #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 | 30 | #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 | 31 | #define TO_SEND_CAN_ID 0x701 //0x0>>0x7ff |
taurin | 4:450cafd95ac3 | 32 | #define SEND_DATAS_LOOP_TIME 0.1 |
tsumagari | 33:d075918d4846 | 33 | #define RECEIVE_DATAS_LOOP_TIME 0.1 |
taurin | 12:fd9d241843f4 | 34 | |
YusukeWakuta | 42:bf98a29e81ac | 35 | #define MPU_LOOP_TIME 0.01 |
YusukeWakuta | 42:bf98a29e81ac | 36 | #define MPU_DELT_MIN 250 |
YusukeWakuta | 42:bf98a29e81ac | 37 | |
tsumagari | 67:94fe2180f39a | 38 | #define ERURON_MOVE_DEG_INI_R 14.4*0.8//18.0 //degree |
tsumagari | 67:94fe2180f39a | 39 | #define DRUG_MOVE_DEG_INI_R 0.49 |
tsumagari | 66:2d1a7f270e27 | 40 | #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 | 41 | #define DRUG_TRIM_INI_R 0.37 |
taurin | 12:fd9d241843f4 | 42 | |
tsumagari | 64:9d7582920f50 | 43 | #define ERURON_MOVE_DEG_INI_L -15.52//-19.4 //degree |
YusukeWakuta | 63:52b882a5968c | 44 | #define DRUG_MOVE_DEG_INI_L -0.52 |
tsumagari | 67:94fe2180f39a | 45 | #define ERURON_TRIM_INI_L 0.41567 // 値を大きくすると頭上げ |
YusukeWakuta | 58:f84bd22fd586 | 46 | #define DRUG_TRIM_INI_L 0.73//値を小さくすると開く側 |
taurin | 2:7fcb4f970a02 | 47 | |
tsumagari | 74:8ccd04302a7f | 48 | /*ドラッグラダー |
tsumagari | 74:8ccd04302a7f | 49 | 初期値 0.65 |
tsumagari | 74:8ccd04302a7f | 50 | 最大角0.99 |
tsumagari | 74:8ccd04302a7f | 51 | */ |
tsumagari | 74:8ccd04302a7f | 52 | |
tsumagari | 73:05feda5b0f98 | 53 | #define print2pc(flag,fmt,...) do{if(flag){pc.printf(fmt,__VA_ARGS__);}}while(0) |
tsumagari | 73:05feda5b0f98 | 54 | #define SENDING_DATA_DEBUG_FLAG debugflag[0].flag |
tsumagari | 73:05feda5b0f98 | 55 | #define GETTING_DATA_DEBUG_FLAG debugflag[1].flag |
tsumagari | 77:ca4ab599ba2b | 56 | #define SERVO_CONFIG_DEBUG_FLAG debugflag[2].flag |
tsumagari | 74:8ccd04302a7f | 57 | #define DEBUG_FLAG debugflag[3].flag |
tsumagari | 67:94fe2180f39a | 58 | |
tsumagari | 73:05feda5b0f98 | 59 | struct flaglist{ |
tsumagari | 73:05feda5b0f98 | 60 | char key; |
tsumagari | 73:05feda5b0f98 | 61 | bool flag; |
tsumagari | 73:05feda5b0f98 | 62 | }; |
tsumagari | 74:8ccd04302a7f | 63 | struct flaglist debugflag[]={ |
tsumagari | 74:8ccd04302a7f | 64 | {'s',0}, |
tsumagari | 74:8ccd04302a7f | 65 | {'g',0}, |
tsumagari | 74:8ccd04302a7f | 66 | {'c',0}, |
tsumagari | 74:8ccd04302a7f | 67 | {'j',0}, |
tsumagari | 74:8ccd04302a7f | 68 | {'0',0} |
tsumagari | 74:8ccd04302a7f | 69 | }; |
tsumagari | 67:94fe2180f39a | 70 | |
tsumagari | 74:8ccd04302a7f | 71 | const char *configfilename = "/local/CONFIG.csv"; |
YusukeWakuta | 24:d416722b4aad | 72 | |
taurin | 0:e052602db102 | 73 | CAN can(p30,p29); |
taurin | 0:e052602db102 | 74 | CANMessage recmsg; |
taurin | 0:e052602db102 | 75 | Serial pc(USBTX,USBRX); |
taurin | 0:e052602db102 | 76 | I2C ina226_i2c(p28,p27); |
taurin | 0:e052602db102 | 77 | INA226 VCmonitor(ina226_i2c); |
tsumagari | 70:7da315abec17 | 78 | PwmOut drugServo(p23); |
tsumagari | 71:a00561d455d1 | 79 | PwmOut eruronServo(p25); |
taurin | 1:9cc932a16d17 | 80 | DigitalOut led1(LED1); |
tsumagari | 69:073116d31a56 | 81 | AnalogIn setDeg10(p20); |
tsumagari | 69:073116d31a56 | 82 | AnalogIn setDeg1(p19); |
tsumagari | 77:ca4ab599ba2b | 83 | DigitalIn IsRPin(p16,PullDown); |
tsumagari | 77:ca4ab599ba2b | 84 | DigitalIn InSetModePin(p15,PullDown); |
tsumagari | 77:ca4ab599ba2b | 85 | DigitalIn EDstatePin(p14,PullDown); |
tsumagari | 77:ca4ab599ba2b | 86 | DigitalIn TrimMaxDegPin(p13,PullDown); |
tsumagari | 71:a00561d455d1 | 87 | DigitalOut servoOff(p17); |
YusukeWakuta | 44:624a4469ae21 | 88 | DigitalOut led2(LED2); |
taurin | 4:450cafd95ac3 | 89 | DigitalOut led3(LED3); |
taurin | 4:450cafd95ac3 | 90 | DigitalOut led4(LED4); |
taurin | 4:450cafd95ac3 | 91 | Ticker sendDatasTicker; |
tsumagari | 22:b38bc18ec3a1 | 92 | //Ticker toStringTicker; |
taurin | 16:82310bf7c326 | 93 | Ticker receiveDatasTicker; |
YusukeWakuta | 42:bf98a29e81ac | 94 | MPU6050 mpu6050; |
YusukeWakuta | 42:bf98a29e81ac | 95 | Timer t; |
YusukeWakuta | 42:bf98a29e81ac | 96 | |
tsumagari | 67:94fe2180f39a | 97 | LocalFileSystem local("local"); |
tsumagari | 67:94fe2180f39a | 98 | |
tsumagari | 74:8ccd04302a7f | 99 | char toSendDatas[YOKUTAN_DATAS_NUM]; |
tsumagari | 74:8ccd04302a7f | 100 | char intValues[ERURON_DATAS_NUM]; |
taurin | 12:fd9d241843f4 | 101 | float eruronTrim; |
taurin | 12:fd9d241843f4 | 102 | float drugTrim; |
taurin | 12:fd9d241843f4 | 103 | float eruronMoveDeg; |
taurin | 12:fd9d241843f4 | 104 | float drugMoveDeg; |
YusukeWakuta | 59:f007e543f8c9 | 105 | float eruronfloat = 0.0; |
taurin | 0:e052602db102 | 106 | unsigned short ina_val; |
taurin | 0:e052602db102 | 107 | double V,C; |
taurin | 0:e052602db102 | 108 | bool SERVO_FLAG; |
taurin | 0:e052602db102 | 109 | bool INA_FLAG; |
tsumagari | 22:b38bc18ec3a1 | 110 | bool MPU_FLAG; |
tsumagari | 74:8ccd04302a7f | 111 | |
YusukeWakuta | 42:bf98a29e81ac | 112 | int gyroX; |
YusukeWakuta | 42:bf98a29e81ac | 113 | int gyroY; |
YusukeWakuta | 42:bf98a29e81ac | 114 | int gyroZ; |
YusukeWakuta | 42:bf98a29e81ac | 115 | float sum = 0; |
tsumagari | 74:8ccd04302a7f | 116 | int drugInput = 0; |
tsumagari | 74:8ccd04302a7f | 117 | int servoOffVer = 0; |
YusukeWakuta | 42:bf98a29e81ac | 118 | uint32_t sumCount = 0; |
taurin | 0:e052602db102 | 119 | |
tsumagari | 22:b38bc18ec3a1 | 120 | char gyro_c[6] = {0,0,0,0,0,0}; |
taurin | 4:450cafd95ac3 | 121 | |
taurin | 4:450cafd95ac3 | 122 | void toString(); |
taurin | 16:82310bf7c326 | 123 | void receiveDatas(); |
taurin | 16:82310bf7c326 | 124 | void WriteServo(); |
YusukeWakuta | 42:bf98a29e81ac | 125 | void MpuInit(); |
YusukeWakuta | 42:bf98a29e81ac | 126 | void mpuProcessing(void const *arg); |
taurin | 0:e052602db102 | 127 | |
YusukeWakuta | 24:d416722b4aad | 128 | Ticker gTimer; |
YusukeWakuta | 24:d416722b4aad | 129 | |
tsumagari | 73:05feda5b0f98 | 130 | |
tsumagari | 73:05feda5b0f98 | 131 | |
tsumagari | 73:05feda5b0f98 | 132 | void receiveFromPc(){ |
tsumagari | 74:8ccd04302a7f | 133 | while(pc.readable()){ |
tsumagari | 73:05feda5b0f98 | 134 | char c = pc.getc(); |
tsumagari | 73:05feda5b0f98 | 135 | for(int i = 0; debugflag[i].key != '0'; i++){ |
tsumagari | 73:05feda5b0f98 | 136 | if(debugflag[i].key == c) |
tsumagari | 73:05feda5b0f98 | 137 | debugflag[i].flag = !(debugflag[i].flag); |
tsumagari | 73:05feda5b0f98 | 138 | } |
tsumagari | 73:05feda5b0f98 | 139 | } |
tsumagari | 73:05feda5b0f98 | 140 | } |
tsumagari | 73:05feda5b0f98 | 141 | |
YusukeWakuta | 26:f14579683f98 | 142 | bool servoInit() |
YusukeWakuta | 26:f14579683f98 | 143 | { |
taurin | 4:450cafd95ac3 | 144 | drugServo.period_ms(INIT_SERVO_PERIOD_MS); |
taurin | 0:e052602db102 | 145 | return true; |
taurin | 0:e052602db102 | 146 | } |
taurin | 0:e052602db102 | 147 | |
YusukeWakuta | 26:f14579683f98 | 148 | void sendDatas() |
YusukeWakuta | 24:d416722b4aad | 149 | { |
tsumagari | 74:8ccd04302a7f | 150 | if(can.write(CANMessage(TO_SEND_CAN_ID, toSendDatas, YOKUTAN_DATAS_NUM))) { |
taurin | 4:450cafd95ac3 | 151 | } |
taurin | 4:450cafd95ac3 | 152 | } |
taurin | 4:450cafd95ac3 | 153 | |
YusukeWakuta | 42:bf98a29e81ac | 154 | void MpuInit() |
YusukeWakuta | 42:bf98a29e81ac | 155 | { |
tsumagari | 72:aef1ec8c66c7 | 156 | i2c.frequency(400000); // use fast (400 kHz) I2C |
YusukeWakuta | 42:bf98a29e81ac | 157 | t.start(); |
YusukeWakuta | 42:bf98a29e81ac | 158 | uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 |
YusukeWakuta | 42:bf98a29e81ac | 159 | if (whoami == 0x68) { // WHO_AM_I should always be 0x68 |
YusukeWakuta | 42:bf98a29e81ac | 160 | Thread::wait(100); |
YusukeWakuta | 42:bf98a29e81ac | 161 | mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values |
YusukeWakuta | 42:bf98a29e81ac | 162 | Thread::wait(100); |
YusukeWakuta | 42:bf98a29e81ac | 163 | 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 | 164 | mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration |
YusukeWakuta | 42:bf98a29e81ac | 165 | mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
YusukeWakuta | 42:bf98a29e81ac | 166 | 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 | 167 | Thread::wait(200); |
YusukeWakuta | 42:bf98a29e81ac | 168 | } else { |
YusukeWakuta | 42:bf98a29e81ac | 169 | } |
YusukeWakuta | 42:bf98a29e81ac | 170 | } else { |
YusukeWakuta | 42:bf98a29e81ac | 171 | //pc.printf("out\n\r"); // Loop forever if communication doesn't happen |
YusukeWakuta | 42:bf98a29e81ac | 172 | } |
YusukeWakuta | 42:bf98a29e81ac | 173 | } |
YusukeWakuta | 42:bf98a29e81ac | 174 | |
YusukeWakuta | 42:bf98a29e81ac | 175 | |
YusukeWakuta | 42:bf98a29e81ac | 176 | void mpuProcessing(void const *arg) |
YusukeWakuta | 42:bf98a29e81ac | 177 | { |
YusukeWakuta | 42:bf98a29e81ac | 178 | MpuInit(); |
YusukeWakuta | 42:bf98a29e81ac | 179 | while(1) { |
YusukeWakuta | 42:bf98a29e81ac | 180 | if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt |
YusukeWakuta | 42:bf98a29e81ac | 181 | mpu6050.readAccelData(accelCount); // Read the x/y/z adc values |
YusukeWakuta | 42:bf98a29e81ac | 182 | mpu6050.getAres(); |
YusukeWakuta | 42:bf98a29e81ac | 183 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
YusukeWakuta | 42:bf98a29e81ac | 184 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
YusukeWakuta | 42:bf98a29e81ac | 185 | az = (float)accelCount[2]*aRes - accelBias[2]; |
YusukeWakuta | 42:bf98a29e81ac | 186 | mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values |
YusukeWakuta | 42:bf98a29e81ac | 187 | mpu6050.getGres(); |
YusukeWakuta | 42:bf98a29e81ac | 188 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
YusukeWakuta | 42:bf98a29e81ac | 189 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
YusukeWakuta | 42:bf98a29e81ac | 190 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
YusukeWakuta | 42:bf98a29e81ac | 191 | tempCount = mpu6050.readTempData(); // Read the x/y/z adc values |
YusukeWakuta | 42:bf98a29e81ac | 192 | temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade |
YusukeWakuta | 42:bf98a29e81ac | 193 | } |
YusukeWakuta | 42:bf98a29e81ac | 194 | Now = t.read_us(); |
YusukeWakuta | 42:bf98a29e81ac | 195 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
YusukeWakuta | 42:bf98a29e81ac | 196 | lastUpdate = Now; |
YusukeWakuta | 42:bf98a29e81ac | 197 | sum += deltat; |
YusukeWakuta | 42:bf98a29e81ac | 198 | sumCount++; |
YusukeWakuta | 42:bf98a29e81ac | 199 | if(lastUpdate - firstUpdate > 10000000.0f) { |
YusukeWakuta | 42:bf98a29e81ac | 200 | beta = 0.04; // decrease filter gain after stabilized |
YusukeWakuta | 42:bf98a29e81ac | 201 | zeta = 0.015; // increasey bias drift gain after stabilized |
YusukeWakuta | 42:bf98a29e81ac | 202 | } |
YusukeWakuta | 42:bf98a29e81ac | 203 | mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); |
YusukeWakuta | 42:bf98a29e81ac | 204 | delt_t = t.read_ms() - count; |
YusukeWakuta | 42:bf98a29e81ac | 205 | if (delt_t > MPU_DELT_MIN) { |
YusukeWakuta | 42:bf98a29e81ac | 206 | 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 | 207 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
YusukeWakuta | 42:bf98a29e81ac | 208 | 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 | 209 | pitch *= 180.0f / PI; |
YusukeWakuta | 42:bf98a29e81ac | 210 | yaw *= 180.0f / PI; |
YusukeWakuta | 42:bf98a29e81ac | 211 | roll *= 180.0f / PI; |
YusukeWakuta | 48:0bd406fa4a7f | 212 | // myled= !myled; |
YusukeWakuta | 42:bf98a29e81ac | 213 | count = t.read_ms(); |
YusukeWakuta | 42:bf98a29e81ac | 214 | sum = 0; |
YusukeWakuta | 42:bf98a29e81ac | 215 | sumCount = 0; |
YusukeWakuta | 42:bf98a29e81ac | 216 | } |
tsumagari | 64:9d7582920f50 | 217 | gyro_c[0]=(char)((int)pitch); |
tsumagari | 64:9d7582920f50 | 218 | gyro_c[1]=(char)(int)((pitch - (int)pitch)*100); |
tsumagari | 64:9d7582920f50 | 219 | gyro_c[2]=(char)((int)roll); |
tsumagari | 64:9d7582920f50 | 220 | gyro_c[3]=(char)(int)((roll - (int)roll)*100); |
tsumagari | 64:9d7582920f50 | 221 | gyro_c[4]=(char)((int)yaw); |
tsumagari | 64:9d7582920f50 | 222 | gyro_c[5]=(char)(int)((yaw - (int)yaw)*100); |
tsumagari | 73:05feda5b0f98 | 223 | |
YusukeWakuta | 42:bf98a29e81ac | 224 | Thread::wait(1); |
YusukeWakuta | 42:bf98a29e81ac | 225 | }//while(1) |
YusukeWakuta | 42:bf98a29e81ac | 226 | } |
YusukeWakuta | 42:bf98a29e81ac | 227 | |
YusukeWakuta | 42:bf98a29e81ac | 228 | |
YusukeWakuta | 26:f14579683f98 | 229 | bool inaInit() |
YusukeWakuta | 26:f14579683f98 | 230 | { |
YusukeWakuta | 26:f14579683f98 | 231 | if(!VCmonitor.isExist()) { |
taurin | 0:e052602db102 | 232 | pc.printf("VCmonitor NOT FOUND\n"); |
taurin | 0:e052602db102 | 233 | return false; |
taurin | 0:e052602db102 | 234 | } |
taurin | 0:e052602db102 | 235 | ina_val = 0; |
YusukeWakuta | 26:f14579683f98 | 236 | if(VCmonitor.rawRead(0x00,&ina_val) != 0) { |
taurin | 0:e052602db102 | 237 | pc.printf("VCmonitor READ ERROR\n"); |
taurin | 0:e052602db102 | 238 | return false; |
taurin | 0:e052602db102 | 239 | } |
taurin | 0:e052602db102 | 240 | VCmonitor.setCurrentCalibration(); |
taurin | 0:e052602db102 | 241 | return true; |
taurin | 0:e052602db102 | 242 | } |
taurin | 0:e052602db102 | 243 | |
YusukeWakuta | 57:d7b709dd1c4f | 244 | //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 | 245 | double ConvertDeg(double servo) |
YusukeWakuta | 57:d7b709dd1c4f | 246 | { |
YusukeWakuta | 62:1db967d29809 | 247 | return 0.0011 * pow(servo,3) + 0.017 * pow(servo,2) + 2.3019 * servo - 0.2269; |
YusukeWakuta | 62:1db967d29809 | 248 | //return 0.0003*pow(servo,3)+0.0039*pow(servo,2)+1.746*servo - 0.0105; |
YusukeWakuta | 57:d7b709dd1c4f | 249 | } |
YusukeWakuta | 57:d7b709dd1c4f | 250 | |
YusukeWakuta | 57:d7b709dd1c4f | 251 | //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 | 252 | double GetValueByHorn(double deg) |
YusukeWakuta | 57:d7b709dd1c4f | 253 | { |
YusukeWakuta | 57:d7b709dd1c4f | 254 | return deg*(0.10/25.7); |
YusukeWakuta | 57:d7b709dd1c4f | 255 | } |
YusukeWakuta | 57:d7b709dd1c4f | 256 | |
YusukeWakuta | 57:d7b709dd1c4f | 257 | double GetFloatByErebon(double erebonDeg) |
YusukeWakuta | 57:d7b709dd1c4f | 258 | { |
YusukeWakuta | 57:d7b709dd1c4f | 259 | double servoDeg = ConvertDeg(erebonDeg); |
YusukeWakuta | 61:988e3f4280ac | 260 | return GetValueByHorn(servoDeg); |
YusukeWakuta | 57:d7b709dd1c4f | 261 | } |
tsumagari | 67:94fe2180f39a | 262 | // configファイル作成 |
tsumagari | 67:94fe2180f39a | 263 | int makeConfigFile() { |
tsumagari | 67:94fe2180f39a | 264 | FILE *fp; |
tsumagari | 67:94fe2180f39a | 265 | if((fp = fopen(configfilename, "w")) == NULL) { |
tsumagari | 67:94fe2180f39a | 266 | pc.printf("can't open %s\n", configfilename); |
tsumagari | 67:94fe2180f39a | 267 | return -1; |
tsumagari | 67:94fe2180f39a | 268 | } |
tsumagari | 67:94fe2180f39a | 269 | fprintf(fp, "// This is Yokutan %s.\n", IsRPin ? "R" : "L"); |
tsumagari | 67:94fe2180f39a | 270 | fprintf(fp, "eruronTrim,drugTrim,eruronMoveDeg,drugMoveDeg\n"); |
tsumagari | 67:94fe2180f39a | 271 | fclose(fp); |
tsumagari | 67:94fe2180f39a | 272 | return 0; |
tsumagari | 67:94fe2180f39a | 273 | } |
tsumagari | 67:94fe2180f39a | 274 | |
tsumagari | 67:94fe2180f39a | 275 | // config内容をファイルに追記 |
tsumagari | 67:94fe2180f39a | 276 | int writeConfig() { |
tsumagari | 67:94fe2180f39a | 277 | FILE *fp; |
tsumagari | 67:94fe2180f39a | 278 | if((fp = fopen(configfilename, "a")) == NULL) { |
tsumagari | 67:94fe2180f39a | 279 | pc.printf("can't open %s\n", configfilename); |
tsumagari | 67:94fe2180f39a | 280 | return -1; |
tsumagari | 67:94fe2180f39a | 281 | } |
tsumagari | 67:94fe2180f39a | 282 | fprintf(fp, "%f,%f,%f,%f\n", eruronTrim, drugTrim, eruronMoveDeg, drugMoveDeg); |
tsumagari | 67:94fe2180f39a | 283 | fclose(fp); |
tsumagari | 67:94fe2180f39a | 284 | return 0; |
tsumagari | 67:94fe2180f39a | 285 | } |
tsumagari | 67:94fe2180f39a | 286 | // configの最新情報を読み込み |
tsumagari | 67:94fe2180f39a | 287 | int readConfig() { |
tsumagari | 67:94fe2180f39a | 288 | FILE *fp; |
tsumagari | 67:94fe2180f39a | 289 | char s[256]; |
tsumagari | 67:94fe2180f39a | 290 | if((fp = fopen(configfilename, "r")) == NULL) { |
tsumagari | 67:94fe2180f39a | 291 | return -1; |
tsumagari | 67:94fe2180f39a | 292 | } |
tsumagari | 67:94fe2180f39a | 293 | while(fgets(s, 255, fp) != NULL) { |
tsumagari | 67:94fe2180f39a | 294 | sscanf(s, "%f,%f,%f,%f\n", &eruronTrim, &drugTrim, &eruronMoveDeg, &drugMoveDeg); |
tsumagari | 67:94fe2180f39a | 295 | } |
tsumagari | 67:94fe2180f39a | 296 | fclose(fp); |
tsumagari | 73:05feda5b0f98 | 297 | //debug("eruronTrim:%f,drugtrim:%f,eMD:%f,dMD:%f\n\r",eruronTrim,drugTrim,eruronMoveDeg,drugMoveDeg); |
tsumagari | 67:94fe2180f39a | 298 | return 0; |
tsumagari | 67:94fe2180f39a | 299 | } |
YusukeWakuta | 57:d7b709dd1c4f | 300 | |
YusukeWakuta | 26:f14579683f98 | 301 | void init() |
YusukeWakuta | 26:f14579683f98 | 302 | { |
tsumagari | 67:94fe2180f39a | 303 | if(readConfig() == -1) { |
tsumagari | 67:94fe2180f39a | 304 | makeConfigFile(); |
tsumagari | 67:94fe2180f39a | 305 | if(IsRPin) { |
tsumagari | 67:94fe2180f39a | 306 | eruronTrim = ERURON_TRIM_INI_R; |
tsumagari | 67:94fe2180f39a | 307 | drugTrim = DRUG_TRIM_INI_R; |
tsumagari | 67:94fe2180f39a | 308 | eruronMoveDeg =GetFloatByErebon(ERURON_MOVE_DEG_INI_R); |
tsumagari | 67:94fe2180f39a | 309 | drugMoveDeg =DRUG_MOVE_DEG_INI_R; |
tsumagari | 67:94fe2180f39a | 310 | } else { |
tsumagari | 67:94fe2180f39a | 311 | eruronTrim = ERURON_TRIM_INI_L; |
tsumagari | 67:94fe2180f39a | 312 | drugTrim = DRUG_TRIM_INI_L; |
tsumagari | 67:94fe2180f39a | 313 | eruronMoveDeg = GetFloatByErebon(ERURON_MOVE_DEG_INI_L); |
tsumagari | 67:94fe2180f39a | 314 | drugMoveDeg = DRUG_MOVE_DEG_INI_L; |
tsumagari | 67:94fe2180f39a | 315 | } |
taurin | 12:fd9d241843f4 | 316 | } |
taurin | 0:e052602db102 | 317 | SERVO_FLAG = servoInit(); |
taurin | 0:e052602db102 | 318 | INA_FLAG = inaInit(); |
taurin | 4:450cafd95ac3 | 319 | sendDatasTicker.attach(&sendDatas,SEND_DATAS_LOOP_TIME); |
taurin | 16:82310bf7c326 | 320 | // toStringTicker.attach(&toString,0.5); |
taurin | 16:82310bf7c326 | 321 | receiveDatasTicker.attach(&receiveDatas,RECEIVE_DATAS_LOOP_TIME); |
taurin | 0:e052602db102 | 322 | } |
taurin | 0:e052602db102 | 323 | |
YusukeWakuta | 26:f14579683f98 | 324 | void updateDatas() |
YusukeWakuta | 26:f14579683f98 | 325 | { |
YusukeWakuta | 26:f14579683f98 | 326 | if(INA_FLAG) { |
taurin | 0:e052602db102 | 327 | int tmp = VCmonitor.getVoltage(&V); |
taurin | 0:e052602db102 | 328 | tmp = VCmonitor.getCurrent(&C); |
taurin | 0:e052602db102 | 329 | } |
tsumagari | 73:05feda5b0f98 | 330 | uint8_t r[4]; |
tsumagari | 73:05feda5b0f98 | 331 | uint8_t y[4]; |
tsumagari | 73:05feda5b0f98 | 332 | int rl,yw; |
tsumagari | 73:05feda5b0f98 | 333 | rl = (int)(roll*10000); |
tsumagari | 73:05feda5b0f98 | 334 | yw = (int)(yaw*10000); |
tsumagari | 73:05feda5b0f98 | 335 | r[2] = (rl&0x00ff0000)>>16; y[2] = (yw&0x00ff0000)>>16; |
tsumagari | 73:05feda5b0f98 | 336 | r[1] = (rl&0x0000ff00)>>8; y[1] = (yw&0x0000ff00)>>8; |
tsumagari | 73:05feda5b0f98 | 337 | r[0] = (rl&0x000000ff); y[0] = (yw&0x000000ff); |
tsumagari | 73:05feda5b0f98 | 338 | 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 | 339 | int i = 0; |
tsumagari | 73:05feda5b0f98 | 340 | for(;i<3;i++) |
tsumagari | 73:05feda5b0f98 | 341 | toSendDatas[i] = r[i]; |
tsumagari | 73:05feda5b0f98 | 342 | for(;i<6;i++) |
tsumagari | 73:05feda5b0f98 | 343 | toSendDatas[i] = y[i-3]; |
tsumagari | 73:05feda5b0f98 | 344 | toSendDatas[i] = (char)V; |
tsumagari | 73:05feda5b0f98 | 345 | print2pc(SENDING_DATA_DEBUG_FLAG,"p:%12f,r:%12f,y:%12f,servoV%12f r[]:%d,y[]:%d\n\r" |
tsumagari | 73:05feda5b0f98 | 346 | ,pitch,roll,yaw,V,*(int*)r,*(int*)y); |
taurin | 0:e052602db102 | 347 | } |
taurin | 0:e052602db102 | 348 | |
YusukeWakuta | 26:f14579683f98 | 349 | void receiveDatas() |
YusukeWakuta | 26:f14579683f98 | 350 | { |
tsumagari | 73:05feda5b0f98 | 351 | if(can.read(recmsg)) { //ここの中でpc.printfすると固まるので注意 |
tsumagari | 74:8ccd04302a7f | 352 | for(int i = 0; i < ERURON_DATAS_NUM; i++) { |
tsumagari | 74:8ccd04302a7f | 353 | intValues[i] = recmsg.data[i]; |
taurin | 0:e052602db102 | 354 | } |
tsumagari | 74:8ccd04302a7f | 355 | drugInput = (recmsg.data[3]-'0')/2; |
tsumagari | 74:8ccd04302a7f | 356 | servoOffVer = ((recmsg.data[3]-'0')%2); |
tsumagari | 74:8ccd04302a7f | 357 | eruronfloat = atoi(intValues)/100.0; |
taurin | 1:9cc932a16d17 | 358 | led1 = !led1; |
taurin | 0:e052602db102 | 359 | } |
tsumagari | 74:8ccd04302a7f | 360 | servoOff = servoOffVer; |
taurin | 0:e052602db102 | 361 | } |
taurin | 0:e052602db102 | 362 | |
YusukeWakuta | 42:bf98a29e81ac | 363 | double calcPulse(float analog) |
YusukeWakuta | 26:f14579683f98 | 364 | { |
tsumagari | 53:3eeaafa49707 | 365 | return (0.0006 + (analog)*(0.00240-0.00060) ); |
taurin | 1:9cc932a16d17 | 366 | } |
taurin | 1:9cc932a16d17 | 367 | |
YusukeWakuta | 29:516a5d383488 | 368 | void WriteServo() |
YusukeWakuta | 26:f14579683f98 | 369 | { |
YusukeWakuta | 62:1db967d29809 | 370 | // for(int i = 0; i< 10; i++) { |
YusukeWakuta | 61:988e3f4280ac | 371 | // pc.printf("%c",floatValues[i]); |
YusukeWakuta | 61:988e3f4280ac | 372 | // } |
YusukeWakuta | 61:988e3f4280ac | 373 | // pc.printf(" : %f",eruronfloat); |
YusukeWakuta | 61:988e3f4280ac | 374 | // pc.printf("\n\r"); |
YusukeWakuta | 61:988e3f4280ac | 375 | drugServo.pulsewidth(calcPulse(drugTrim + drugMoveDeg *drugInput)); |
YusukeWakuta | 59:f007e543f8c9 | 376 | eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * eruronfloat)); |
tsumagari | 74:8ccd04302a7f | 377 | print2pc(GETTING_DATA_DEBUG_FLAG,"ef:%5.2f di:%d so:%d\n\r",eruronfloat,drugInput,int(servoOff)); |
tsumagari | 77:ca4ab599ba2b | 378 | print2pc(SERVO_CONFIG_DEBUG_FLAG,"eTr:%f dTr:%f eMD:%f dMD:%f\n\r",eruronTrim,drugTrim,eruronMoveDeg,drugMoveDeg); |
tsumagari | 74:8ccd04302a7f | 379 | print2pc(DEBUG_FLAG,"servoOffVer:%d\n\r",servoOffVer); |
taurin | 4:450cafd95ac3 | 380 | } |
taurin | 4:450cafd95ac3 | 381 | |
tsumagari | 77:ca4ab599ba2b | 382 | void setTrim(float initEruronState, float initDrugState, float initPinState) |
YusukeWakuta | 26:f14579683f98 | 383 | { |
tsumagari | 77:ca4ab599ba2b | 384 | led2 = 1; |
tsumagari | 77:ca4ab599ba2b | 385 | led4 = 0; |
tsumagari | 77:ca4ab599ba2b | 386 | if(eruronTrim < 0 || drugTrim < 0)led2 = 0; |
YusukeWakuta | 26:f14579683f98 | 387 | if(EDstatePin) { |
tsumagari | 77:ca4ab599ba2b | 388 | eruronTrim = -initPinState + (int)(setDeg10.read()*9)/10.0 + setDeg1.read()/10 + initEruronState; |
YusukeWakuta | 50:b3a8f8e88c50 | 389 | eruronServo.pulsewidth(calcPulse(eruronTrim)); |
YusukeWakuta | 26:f14579683f98 | 390 | } else { |
tsumagari | 77:ca4ab599ba2b | 391 | drugTrim = -initPinState + (int)(setDeg10.read()*9)/10.0 + setDeg1.read()/10 + initDrugState; |
YusukeWakuta | 26:f14579683f98 | 392 | drugServo.pulsewidth(calcPulse(drugTrim)); |
taurin | 12:fd9d241843f4 | 393 | } |
YusukeWakuta | 14:1f6dd929d7de | 394 | //pc.printf("eruronTrim:%f drugTrim:%f\n\r",eruronTrim,drugTrim); |
tsumagari | 77:ca4ab599ba2b | 395 | pc.printf("eTr:%f dTr:%f ",eruronTrim,drugTrim); |
tsumagari | 73:05feda5b0f98 | 396 | pc.printf("eMD:%f dMD:%f\n\r",eruronMoveDeg,drugMoveDeg); |
taurin | 4:450cafd95ac3 | 397 | } |
taurin | 4:450cafd95ac3 | 398 | |
tsumagari | 77:ca4ab599ba2b | 399 | void setMaxDeg(float initEruronState, float initDrugState, float initPinState) |
YusukeWakuta | 26:f14579683f98 | 400 | { |
taurin | 4:450cafd95ac3 | 401 | led4 = 1; |
tsumagari | 77:ca4ab599ba2b | 402 | led2 = 0; |
tsumagari | 77:ca4ab599ba2b | 403 | float eruronTemp = -initPinState + (int)(setDeg10.read()*9)/10.0 + setDeg1.read()/10 + initEruronState; |
tsumagari | 77:ca4ab599ba2b | 404 | float drugTemp = -initPinState + (int)(setDeg10.read()*9)/10.0 + setDeg1.read()/10 + initDrugState; |
tsumagari | 77:ca4ab599ba2b | 405 | if(eruronTemp < 0 || drugTemp < 0)led4 = 0; |
YusukeWakuta | 26:f14579683f98 | 406 | if(EDstatePin) { |
YusukeWakuta | 26:f14579683f98 | 407 | eruronMoveDeg = eruronTemp-eruronTrim; |
YusukeWakuta | 49:8522856fe0cd | 408 | eruronServo.pulsewidth(calcPulse(eruronTemp)); |
YusukeWakuta | 26:f14579683f98 | 409 | } else { |
tsumagari | 68:ae3c3500074c | 410 | drugMoveDeg = drugTemp-drugTrim; |
YusukeWakuta | 26:f14579683f98 | 411 | drugServo.pulsewidth(calcPulse(drugTemp)); |
taurin | 12:fd9d241843f4 | 412 | } |
tsumagari | 77:ca4ab599ba2b | 413 | pc.printf("eTr:%f dTr:%f ",eruronTrim,drugTrim); |
tsumagari | 73:05feda5b0f98 | 414 | pc.printf("eMD:%f dMD:%f\n\r",eruronMoveDeg,drugMoveDeg); |
taurin | 4:450cafd95ac3 | 415 | wait_us(10); |
taurin | 1:9cc932a16d17 | 416 | } |
taurin | 0:e052602db102 | 417 | |
YusukeWakuta | 26:f14579683f98 | 418 | int main() |
YusukeWakuta | 26:f14579683f98 | 419 | { |
taurin | 0:e052602db102 | 420 | init(); |
YusukeWakuta | 42:bf98a29e81ac | 421 | Thread mpu_thread(&mpuProcessing); |
YusukeWakuta | 26:f14579683f98 | 422 | |
tsumagari | 74:8ccd04302a7f | 423 | // start motion |
tsumagari | 33:d075918d4846 | 424 | // gTimer.attach_us(&XbusIntervalHandler, 1000000 / kMotionInterval); |
YusukeWakuta | 26:f14579683f98 | 425 | |
YusukeWakuta | 26:f14579683f98 | 426 | while(1) { |
tsumagari | 68:ae3c3500074c | 427 | if(InSetModePin){ |
tsumagari | 77:ca4ab599ba2b | 428 | float initEruronState = eruronTrim; |
tsumagari | 77:ca4ab599ba2b | 429 | float initDrugState = drugTrim; |
tsumagari | 77:ca4ab599ba2b | 430 | float initPinState = (int)(setDeg10.read()*9)/10.0 + setDeg1.read()/10; |
tsumagari | 68:ae3c3500074c | 431 | do{ |
tsumagari | 68:ae3c3500074c | 432 | if(TrimMaxDegPin) |
tsumagari | 77:ca4ab599ba2b | 433 | setTrim(initEruronState,initDrugState,initPinState); |
tsumagari | 68:ae3c3500074c | 434 | else |
tsumagari | 77:ca4ab599ba2b | 435 | setMaxDeg(initEruronState,initDrugState,initPinState); |
tsumagari | 68:ae3c3500074c | 436 | }while(InSetModePin); |
tsumagari | 67:94fe2180f39a | 437 | writeConfig(); |
taurin | 4:450cafd95ac3 | 438 | } |
taurin | 4:450cafd95ac3 | 439 | led4 = 0; |
YusukeWakuta | 44:624a4469ae21 | 440 | led2 = 0; |
tsumagari | 68:ae3c3500074c | 441 | receiveDatas(); |
tsumagari | 71:a00561d455d1 | 442 | sendDatas(); |
taurin | 1:9cc932a16d17 | 443 | WriteServo(); |
taurin | 4:450cafd95ac3 | 444 | updateDatas(); |
tsumagari | 73:05feda5b0f98 | 445 | receiveFromPc(); |
tsumagari | 22:b38bc18ec3a1 | 446 | led3 = !led3; |
taurin | 2:7fcb4f970a02 | 447 | wait(WAIT_LOOP_TIME); |
taurin | 0:e052602db102 | 448 | } |
taurin | 0:e052602db102 | 449 | } |