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
- Committer:
- YusukeWakuta
- Date:
- 2017-02-18
- Branch:
- XBus???
- Revision:
- 27:591cf9139ae7
- Parent:
- 26:f14579683f98
- Child:
- 28:99686a3f0e86
File content as of revision 27:591cf9139ae7:
//翼端can program #include "mbed.h" //#include "ADXL345_I2C.h" #include "MPU6050.h" #include "INA226.hpp" #include "XBusServo.h" #define TO_SEND_DATAS_NUM 7 #define INIT_SERVO_PERIOD_MS 20 #define WAIT_LOOP_TIME 0.02 #define CONTROL_VALUES_NUM sizeof(float) + 1 #define TO_SEND_CAN_ID 100 #define ADXL_MEAN_NUM 10 #define SEND_DATAS_LOOP_TIME 0.1 #define RECEIVE_DATAS_LOOP_TIME 0.05 #define ERURON_MOVE_DEG_INI_R 30 // もともと10 #define DRUG_MOVE_DEG_INI_R 76 #define ERURON_TRIM_INI_R 97 //元々94 #define DRUG_TRIM_INI_R 33 #define ERURON_MOVE_DEG_INI_L -30 //もともと-7 #define DRUG_MOVE_DEG_INI_L -80 #define ERURON_TRIM_INI_L 113 //元々95 #define DRUG_TRIM_INI_L 110 #define kMaxServoNum 1 // 1 - 50 #define kMaxServoPause (sizeof(motionData) / sizeof(pauseRec)) #define kMotionInterval 10 // flame / sec #define kMotionMinMark 0x1249 #define kMotionEndMark 0xED86 CAN can(p30,p29); CANMessage recmsg; Serial pc(USBTX,USBRX); //ADXL345_I2C accelerometer(p9, p10); MPU6050 mpu(p9,p10); I2C ina226_i2c(p28,p27); INA226 VCmonitor(ina226_i2c); PwmOut drugServo(p22); PwmOut eruronServo(p23); DigitalOut led1(LED1); AnalogIn drugAna(p20); AnalogIn eruronAna(p19); DigitalIn LRstatePin(p14); DigitalIn setTrimPin(p15); DigitalIn EDstatePin(p16); DigitalIn setMaxDegPin(p17); DigitalOut debugLED(LED2); DigitalOut led3(LED3); DigitalOut led4(LED4); Ticker sendDatasTicker; //Ticker toStringTicker; Ticker receiveDatasTicker; char toSendDatas[TO_SEND_DATAS_NUM]; char controlValues[CONTROL_VALUES_NUM];//0~3:eruruon,4:drug char floatvalues[sizeof(float)]; float eruronTrim; float drugTrim; float eruronMoveDeg; float drugMoveDeg; float eruronfloat; unsigned short ina_val; double V,C; bool SERVO_FLAG; bool ADXL_FLAG; bool INA_FLAG; bool MPU_FLAG; char gyro_c[6] = {0,0,0,0,0,0}; void toString(); void receiveDatas(); void WriteServo(); static const uint8_t servoChannel = 0x01; XBusServo gXBus(p13, NC, NC, kMaxServoNum); Ticker gTimer; bool servoInit() { drugServo.period_ms(INIT_SERVO_PERIOD_MS); eruronServo.period_ms(INIT_SERVO_PERIOD_MS); return true; } void sendDatas() { if(can.write(CANMessage(TO_SEND_CAN_ID, toSendDatas, TO_SEND_DATAS_NUM))) { } } bool inaInit() { if(!VCmonitor.isExist()) { pc.printf("VCmonitor NOT FOUND\n"); return false; } ina_val = 0; if(VCmonitor.rawRead(0x00,&ina_val) != 0) { pc.printf("VCmonitor READ ERROR\n"); return false; } VCmonitor.setCurrentCalibration(); return true; } XBusError initXBus() { XBusError result; result = gXBus.start(); if (result != kXBusError_NoError) { gXBus.stop(); return result; } result = gXBus.addServo(servoChannel, kXbusServoNeutral); if (result != kXBusError_NoError) { gXBus.stop(); return result; } return kXBusError_NoError; } void init() { if(!LRstatePin) { eruronTrim = ERURON_TRIM_INI_L; drugTrim = DRUG_TRIM_INI_L; eruronMoveDeg = ERURON_MOVE_DEG_INI_L; drugMoveDeg = DRUG_MOVE_DEG_INI_L; } else { eruronTrim = ERURON_TRIM_INI_R; drugTrim = DRUG_TRIM_INI_R; eruronMoveDeg = ERURON_MOVE_DEG_INI_R; drugMoveDeg =DRUG_MOVE_DEG_INI_R; } SERVO_FLAG = servoInit(); // ADXL_FLAG = adxlInit(); MPU_FLAG = mpu.testConnection(); INA_FLAG = inaInit(); sendDatasTicker.attach(&sendDatas,SEND_DATAS_LOOP_TIME); // toStringTicker.attach(&toString,0.5); receiveDatasTicker.attach(&receiveDatas,RECEIVE_DATAS_LOOP_TIME); initXBus(); } void updateDatas() { // if(ADXL_FLAG){ //// accelerometer.getOutput(acc); // } if(INA_FLAG) { int tmp = VCmonitor.getVoltage(&V); tmp = VCmonitor.getCurrent(&C); } if(MPU_FLAG) { mpu.read(MPU6050_GYRO_XOUT_H_REG, gyro_c, 6); } for(int i = 0; i < TO_SEND_DATAS_NUM - 1; i++) { toSendDatas[i] = gyro_c[i]; } // toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)(V/100); toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)77; } void receiveDatas() { if(can.read(recmsg)) { for(int i = 0; i < CONTROL_VALUES_NUM; i++) { controlValues[i] = recmsg.data[i]; if(i<CONTROL_VALUES_NUM-1) floatvalues[i] = controlValues[i]; } eruronfloat = *(const float *)floatvalues; led1 = !led1; } } double calcPulse(int deg) { return (0.0006+(deg/180.0)*(0.00235-0.00045)); } void XbusIntervalHandler() { uint16_t value; uint16_t diff = kMotionEndMark - kMotionMinMark; value = (uint16_t)(diff * (eruronTrim + eruronMoveDeg * (eruronfloat-1)) + kMotionMinMark); gXBus.setServo(servoChannel, value); gXBus.sendChannelDataPacket(); } void WriteServo() { drugServo.pulsewidth(calcPulse( drugTrim + drugMoveDeg * controlValues[4])); eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * (eruronfloat-1) )); } void setTrim() { debugLED = 1; if(EDstatePin) { eruronTrim = eruronAna.read(); eruronServo.pulsewidth(calcPulse(eruronTrim)); } else { drugTrim = drugAna.read()*180; drugServo.pulsewidth(calcPulse(drugTrim)); } //pc.printf("eruronTrim:%f drugTrim:%f\n\r",eruronTrim,drugTrim); pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim); pc.printf("eMD:%f dMD:%f ef:%f\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat); } void setMaxDeg() { led4 = 1; float eruronTemp = eruronAna.read(); float drugTemp = drugAna.read()*180; if(EDstatePin) { eruronServo.pulsewidth(calcPulse(eruronTemp)); eruronMoveDeg = eruronTemp-eruronTrim; } else { drugServo.pulsewidth(calcPulse(drugTemp)); drugMoveDeg = drugTemp-drugTrim; } // pc.printf("eMD:%f dMD:%f\n\r",eruronMoveDeg,drugMoveDeg); pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim); pc.printf("eMD:%f dMD:%f ef:%f\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat); wait_us(10); } int main() { init(); XBusError result; // start motion gTimer.attach_us(&XbusIntervalHandler, 1000000 / kMotionInterval); while(1) { while(setTrimPin) { setTrim(); } while (setMaxDegPin) { setMaxDeg(); } // pc.printf("eT:%f\n\r",eruronTrim); pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim); pc.printf("eMD:%f dMD:%f ef:%f\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat); led4 = 0; debugLED = 0; //receiveDatas(); // sendDatas(); WriteServo(); updateDatas(); // pc.printf("%6d,%6d,%6d\n\r",gyro[0],gyro[1],gyro[2]); led3 = !led3; wait(WAIT_LOOP_TIME); } }