albatross / Mbed 2 deprecated Souda_Yokutan_ver3

3/18 翼端操舵

Dependencies:   ADXL345_I2C Control_Yokutan_CANver1 mbed

Fork of ControlYokutan02 by albatross

main.cpp@15:1db5ee4fe7ce, 2016-03-07 (annotated)

Committer:
taurin
Date:
Mon Mar 07 13:43:18 2016 +0000
Revision:
15:1db5ee4fe7ce
Parent:
14:1f6dd929d7de
Child:
16:82310bf7c326
3/4????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
taurin 0:e052602db102 1 //翼端can program
taurin 0:e052602db102 2 #include "mbed.h"
taurin 0:e052602db102 3 #include "ADXL345_I2C.h"
taurin 0:e052602db102 4 #include "INA226.hpp"
taurin 4:450cafd95ac3 5
taurin 4:450cafd95ac3 6 #define TO_SEND_DATAS_NUM 4
taurin 2:7fcb4f970a02 7 #define INIT_SERVO_PERIOD_MS 20
taurin 4:450cafd95ac3 8 #define WAIT_LOOP_TIME 0.02
taurin 0:e052602db102 9 #define CONTROL_VALUES_NUM 2
taurin 0:e052602db102 10 #define TO_SEND_CAN_ID 100
taurin 4:450cafd95ac3 11 #define ADXL_MEAN_NUM 10
taurin 4:450cafd95ac3 12 #define SEND_DATAS_LOOP_TIME 0.1
taurin 12:fd9d241843f4 13
taurin 15:1db5ee4fe7ce 14 #define ERURON_MOVE_DEG_INI_R -12
YusukeWakuta 14:1f6dd929d7de 15 #define DRUG_MOVE_DEG_INI_R 96
taurin 15:1db5ee4fe7ce 16 #define ERURON_TRIM_INI_R 99
YusukeWakuta 14:1f6dd929d7de 17 #define DRUG_TRIM_INI_R 3
taurin 12:fd9d241843f4 18
taurin 15:1db5ee4fe7ce 19 #define ERURON_MOVE_DEG_INI_L 12
YusukeWakuta 14:1f6dd929d7de 20 #define DRUG_MOVE_DEG_INI_L 87
taurin 15:1db5ee4fe7ce 21 #define ERURON_TRIM_INI_L 101
taurin 15:1db5ee4fe7ce 22 #define DRUG_TRIM_INI_L 12
taurin 2:7fcb4f970a02 23
taurin 0:e052602db102 24 CAN can(p30,p29);
taurin 0:e052602db102 25 CANMessage recmsg;
taurin 0:e052602db102 26 Serial pc(USBTX,USBRX);
taurin 0:e052602db102 27 ADXL345_I2C accelerometer(p9, p10);
taurin 0:e052602db102 28 I2C ina226_i2c(p28,p27);
taurin 0:e052602db102 29 INA226 VCmonitor(ina226_i2c);
taurin 13:5e3b4120dbbf 30 PwmOut drugServo(p22);
taurin 13:5e3b4120dbbf 31 PwmOut eruronServo(p23);
taurin 1:9cc932a16d17 32 DigitalOut led1(LED1);
taurin 4:450cafd95ac3 33 AnalogIn drugAna(p20);
taurin 4:450cafd95ac3 34 AnalogIn eruronAna(p19);
taurin 12:fd9d241843f4 35 DigitalIn LRstatePin(p14);
taurin 4:450cafd95ac3 36 DigitalIn setTrimPin(p15);
taurin 12:fd9d241843f4 37 DigitalIn EDstatePin(p16);
taurin 4:450cafd95ac3 38 DigitalIn checkMaxDegPin(p17);
taurin 4:450cafd95ac3 39 DigitalOut debugLED(LED2);
taurin 4:450cafd95ac3 40 DigitalOut led3(LED3);
taurin 4:450cafd95ac3 41 DigitalOut led4(LED4);
taurin 4:450cafd95ac3 42 Ticker sendDatasTicker;
taurin 4:450cafd95ac3 43 Ticker toStringTicker;
taurin 13:5e3b4120dbbf 44 //
taurin 0:e052602db102 45 char toSendDatas[TO_SEND_DATAS_NUM];
taurin 1:9cc932a16d17 46 char controlValues[CONTROL_VALUES_NUM];//0:eruruon,1:drug
taurin 0:e052602db102 47
taurin 12:fd9d241843f4 48 float eruronTrim;
taurin 12:fd9d241843f4 49 float drugTrim;
taurin 12:fd9d241843f4 50 float eruronMoveDeg;
taurin 12:fd9d241843f4 51 float drugMoveDeg;
taurin 0:e052602db102 52 unsigned short ina_val;
taurin 0:e052602db102 53 double V,C;
taurin 0:e052602db102 54 bool SERVO_FLAG;
taurin 0:e052602db102 55 bool ADXL_FLAG;
taurin 0:e052602db102 56 bool INA_FLAG;
taurin 0:e052602db102 57
taurin 0:e052602db102 58 int acc[3] = {0,0,0};
taurin 4:450cafd95ac3 59 char acc_mean[3][ADXL_MEAN_NUM];
taurin 4:450cafd95ac3 60 int adxl_mean_counter = 0;
taurin 4:450cafd95ac3 61
taurin 4:450cafd95ac3 62 void toString();
taurin 0:e052602db102 63
taurin 0:e052602db102 64 bool servoInit(){
taurin 4:450cafd95ac3 65 drugServo.period_ms(INIT_SERVO_PERIOD_MS);
taurin 4:450cafd95ac3 66 eruronServo.period_ms(INIT_SERVO_PERIOD_MS);
taurin 0:e052602db102 67 return true;
taurin 0:e052602db102 68 }
taurin 0:e052602db102 69
taurin 0:e052602db102 70 bool adxlInit(){
taurin 0:e052602db102 71 accelerometer.setPowerControl(0x00);
taurin 0:e052602db102 72 accelerometer.setDataFormatControl(0x0B);
taurin 0:e052602db102 73 accelerometer.setDataRate(ADXL345_3200HZ);
taurin 0:e052602db102 74 accelerometer.setPowerControl(0x08);
taurin 0:e052602db102 75 return true;
taurin 0:e052602db102 76 }
taurin 0:e052602db102 77
taurin 4:450cafd95ac3 78 void sendDatas(){
taurin 4:450cafd95ac3 79 if(can.write(CANMessage(TO_SEND_CAN_ID, toSendDatas, TO_SEND_DATAS_NUM))){
taurin 4:450cafd95ac3 80 }
taurin 4:450cafd95ac3 81 }
taurin 4:450cafd95ac3 82
taurin 0:e052602db102 83 bool inaInit(){
taurin 0:e052602db102 84 if(!VCmonitor.isExist()){
taurin 0:e052602db102 85 pc.printf("VCmonitor NOT FOUND\n");
taurin 0:e052602db102 86 return false;
taurin 0:e052602db102 87 }
taurin 0:e052602db102 88 ina_val = 0;
taurin 0:e052602db102 89 if(VCmonitor.rawRead(0x00,&ina_val) != 0){
taurin 0:e052602db102 90 pc.printf("VCmonitor READ ERROR\n");
taurin 0:e052602db102 91 return false;
taurin 0:e052602db102 92 }
taurin 0:e052602db102 93 VCmonitor.setCurrentCalibration();
taurin 0:e052602db102 94 return true;
taurin 0:e052602db102 95 }
taurin 0:e052602db102 96
taurin 0:e052602db102 97 void init(){
taurin 15:1db5ee4fe7ce 98 if(!LRstatePin){
taurin 13:5e3b4120dbbf 99 eruronTrim = ERURON_TRIM_INI_L;
taurin 13:5e3b4120dbbf 100 drugTrim = DRUG_TRIM_INI_L;
taurin 13:5e3b4120dbbf 101 eruronMoveDeg = ERURON_MOVE_DEG_INI_L;
taurin 13:5e3b4120dbbf 102 drugMoveDeg = DRUG_MOVE_DEG_INI_L;
taurin 13:5e3b4120dbbf 103 }
taurin 13:5e3b4120dbbf 104 else{
taurin 12:fd9d241843f4 105 eruronTrim = ERURON_TRIM_INI_R;
taurin 12:fd9d241843f4 106 drugTrim = DRUG_TRIM_INI_R;
taurin 12:fd9d241843f4 107 eruronMoveDeg = ERURON_MOVE_DEG_INI_R;
taurin 13:5e3b4120dbbf 108 drugMoveDeg =DRUG_MOVE_DEG_INI_R;
taurin 12:fd9d241843f4 109 }
taurin 0:e052602db102 110 SERVO_FLAG = servoInit();
taurin 0:e052602db102 111 ADXL_FLAG = adxlInit();
taurin 0:e052602db102 112 INA_FLAG = inaInit();
taurin 4:450cafd95ac3 113 sendDatasTicker.attach(&sendDatas,SEND_DATAS_LOOP_TIME);
taurin 4:450cafd95ac3 114 // toStringTicker.attach(&toString,0.5);
taurin 0:e052602db102 115 }
taurin 0:e052602db102 116
taurin 0:e052602db102 117 void updateDatas(){
taurin 0:e052602db102 118 if(ADXL_FLAG){
taurin 0:e052602db102 119 accelerometer.getOutput(acc);
taurin 0:e052602db102 120 }
taurin 0:e052602db102 121 if(INA_FLAG){
taurin 0:e052602db102 122 int tmp = VCmonitor.getVoltage(&V);
taurin 0:e052602db102 123 tmp = VCmonitor.getCurrent(&C);
taurin 0:e052602db102 124 }
taurin 0:e052602db102 125 for(int i = 0; i < 3; i++){
taurin 0:e052602db102 126 toSendDatas[i] = acc[i];
taurin 0:e052602db102 127 }
taurin 0:e052602db102 128 toSendDatas[3] = (char)(V/100);
taurin 0:e052602db102 129 }
taurin 0:e052602db102 130
taurin 0:e052602db102 131 void receiveDatas(){
taurin 0:e052602db102 132 if(can.read(recmsg)){
taurin 2:7fcb4f970a02 133 for(int i = 0; i < CONTROL_VALUES_NUM; i++){
YusukeWakuta 3:4417217b4f66 134 controlValues[i] = recmsg.data[i];
taurin 0:e052602db102 135 }
taurin 1:9cc932a16d17 136 led1 = !led1;
taurin 0:e052602db102 137 }
taurin 0:e052602db102 138 }
taurin 0:e052602db102 139
taurin 0:e052602db102 140 void toString(){
taurin 4:450cafd95ac3 141 for(int i = 0; i <CONTROL_VALUES_NUM; i++){
taurin 4:450cafd95ac3 142 pc.printf("%d, ",controlValues[i]);
taurin 4:450cafd95ac3 143 }
taurin 4:450cafd95ac3 144 pc.printf("\n\r");
taurin 0:e052602db102 145 }
taurin 0:e052602db102 146
taurin 1:9cc932a16d17 147 double calcPulse(int deg){
taurin 4:450cafd95ac3 148 return (0.0006+(deg/180.0)*(0.00235-0.00045));
taurin 4:450cafd95ac3 149
taurin 1:9cc932a16d17 150 }
taurin 1:9cc932a16d17 151
taurin 1:9cc932a16d17 152 void WriteServo(){
taurin 12:fd9d241843f4 153 //if(debugServoPin){
taurin 12:fd9d241843f4 154 // led3 = 1;
taurin 12:fd9d241843f4 155 // float a = eruronAna.read()*180;
taurin 12:fd9d241843f4 156 // float b = drugAna.read()*180;
taurin 12:fd9d241843f4 157 // eruronServo.pulsewidth(calcPulse(eruronAna.read()*180));
taurin 12:fd9d241843f4 158 // drugServo.pulsewidth(calcPulse(drugAna.read()*180));
taurin 12:fd9d241843f4 159 // pc.printf("eruron:%f drug:%f\n\r",a,b);
taurin 12:fd9d241843f4 160 // }
taurin 12:fd9d241843f4 161 // else{
taurin 12:fd9d241843f4 162 // led3 = 0;
taurin 4:450cafd95ac3 163 eruronServo.pulsewidth(calcPulse(eruronTrim+eruronMoveDeg*(controlValues[0]-1)));
taurin 4:450cafd95ac3 164 drugServo.pulsewidth(calcPulse(drugTrim+drugMoveDeg*controlValues[1]));
taurin 12:fd9d241843f4 165 //}
taurin 4:450cafd95ac3 166 }
taurin 4:450cafd95ac3 167
taurin 4:450cafd95ac3 168 void setTrim(){
taurin 4:450cafd95ac3 169 debugLED = 1;
taurin 12:fd9d241843f4 170 if(EDstatePin){
taurin 4:450cafd95ac3 171 eruronTrim = eruronAna.read()*180;
taurin 12:fd9d241843f4 172 eruronServo.pulsewidth(calcPulse(eruronTrim));
taurin 12:fd9d241843f4 173 }
taurin 12:fd9d241843f4 174 else{
taurin 4:450cafd95ac3 175 drugTrim = drugAna.read()*180;
taurin 4:450cafd95ac3 176 drugServo.pulsewidth(calcPulse(drugTrim));
taurin 12:fd9d241843f4 177 }
YusukeWakuta 14:1f6dd929d7de 178 //pc.printf("eruronTrim:%f drugTrim:%f\n\r",eruronTrim,drugTrim);
YusukeWakuta 14:1f6dd929d7de 179 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 14:1f6dd929d7de 180 pc.printf("eMD:%f dMD:%f\n\r",eruronMoveDeg,drugMoveDeg);
taurin 4:450cafd95ac3 181 }
taurin 4:450cafd95ac3 182
taurin 4:450cafd95ac3 183 void checkMaxDeg(){
taurin 4:450cafd95ac3 184 led4 = 1;
taurin 4:450cafd95ac3 185 float eruronTemp = eruronAna.read()*180;
taurin 4:450cafd95ac3 186 float drugTemp = drugAna.read()*180;
taurin 12:fd9d241843f4 187 if(EDstatePin){
taurin 4:450cafd95ac3 188 eruronServo.pulsewidth(calcPulse(eruronTemp));
taurin 12:fd9d241843f4 189 eruronMoveDeg = eruronTemp-eruronTrim;
taurin 12:fd9d241843f4 190 }
taurin 12:fd9d241843f4 191 else{
taurin 4:450cafd95ac3 192 drugServo.pulsewidth(calcPulse(drugTemp));
taurin 4:450cafd95ac3 193 drugMoveDeg = drugTemp-drugTrim;
taurin 12:fd9d241843f4 194 }
YusukeWakuta 14:1f6dd929d7de 195 // pc.printf("eMD:%f dMD:%f\n\r",eruronMoveDeg,drugMoveDeg);
YusukeWakuta 14:1f6dd929d7de 196 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 14:1f6dd929d7de 197 pc.printf("eMD:%f dMD:%f\n\r",eruronMoveDeg,drugMoveDeg);
taurin 4:450cafd95ac3 198 wait_us(10);
taurin 1:9cc932a16d17 199 }
taurin 0:e052602db102 200
taurin 0:e052602db102 201 int main(){
taurin 0:e052602db102 202 init();
taurin 0:e052602db102 203 while(1){
taurin 4:450cafd95ac3 204 while(setTrimPin){
taurin 4:450cafd95ac3 205 setTrim();
taurin 4:450cafd95ac3 206 }
taurin 4:450cafd95ac3 207 while(checkMaxDegPin){
taurin 4:450cafd95ac3 208 checkMaxDeg();
taurin 4:450cafd95ac3 209 }
YusukeWakuta 14:1f6dd929d7de 210 // pc.printf("eT:%f\n\r",eruronTrim);
YusukeWakuta 14:1f6dd929d7de 211 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 14:1f6dd929d7de 212 pc.printf("eMD:%f dMD:%f\n\r",eruronMoveDeg,drugMoveDeg);
taurin 4:450cafd95ac3 213 led4 = 0;
YusukeWakuta 14:1f6dd929d7de 214
taurin 4:450cafd95ac3 215 debugLED = 0;
taurin 0:e052602db102 216 receiveDatas();
taurin 1:9cc932a16d17 217 WriteServo();
taurin 4:450cafd95ac3 218 updateDatas();
taurin 2:7fcb4f970a02 219 wait(WAIT_LOOP_TIME);
taurin 0:e052602db102 220 }
taurin 0:e052602db102 221 }