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+3度のやつ
Dependencies: ADXL345_I2C Control_Yokutan_CANver1 mbed
Fork of Souda_Yokutan_ver4 by
main.cpp
- Committer:
- taurin
- Date:
- 2016-01-29
- Revision:
- 0:e052602db102
- Child:
- 1:9cc932a16d17
File content as of revision 0:e052602db102:
//翼端can program #include "mbed.h" #include "ADXL345_I2C.h" #include "INA226.hpp" #define TO_SEND_DATAS_NUM 5 #define INIT_SERVO_PERIOD_MS 20000 #define WAIT_LOOP_TIME_MS 10 #define CONTROL_VALUES_NUM 2 #define TO_SEND_CAN_ID 100 CAN can(p30,p29); CANMessage recmsg; Serial pc(USBTX,USBRX); ADXL345_I2C accelerometer(p9, p10); I2C ina226_i2c(p28,p27); INA226 VCmonitor(ina226_i2c); PwmOut servo1(p21); PwmOut servo2(p22); char toSendDatas[TO_SEND_DATAS_NUM]; char controlValues[CONTROL_VALUES_NUM]; int counter = 0; int eruron_deg = 0; int drug_deg = 0; unsigned short ina_val; double V,C; bool SERVO_FLAG; bool ADXL_FLAG; bool INA_FLAG; int acc[3] = {0,0,0}; bool servoInit(){ servo1.period_ms(INIT_SERVO_PERIOD_MS); servo2.period_ms(INIT_SERVO_PERIOD_MS); return true; } bool adxlInit(){ accelerometer.setPowerControl(0x00); accelerometer.setDataFormatControl(0x0B); accelerometer.setDataRate(ADXL345_3200HZ); accelerometer.setPowerControl(0x08); return true; } 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; } void init(){ pc.printf("Receiver\n\r"); SERVO_FLAG = servoInit(); ADXL_FLAG = adxlInit(); INA_FLAG = inaInit(); } void updateDatas(){ if(ADXL_FLAG){ accelerometer.getOutput(acc); } if(INA_FLAG){ int tmp = VCmonitor.getVoltage(&V); tmp = VCmonitor.getCurrent(&C); } for(int i = 0; i < 3; i++){ toSendDatas[i] = acc[i]; } toSendDatas[3] = (char)(V/100); toSendDatas[4] = (char)(C/0100); } void receiveDatas(){ if(can.read(recmsg)){ for(int i = 0; i < recmsg.len; i++){ controlValues[i] = recmsg.data[i]; } } } void toString(){ //for(int i = 0; i < TO_SEND_DATAS_NUM; i++){ pc.printf("%i:",toSendDatas[3]); pc.printf("%i:",toSendDatas[4]); pc.printf("%f:",V); pc.printf("%f:",C); //} //for(int i = 0; i <CONTROL_VALUES_NUM; i++){ // pc.printf("%i:",controlValues[i]); // } // pc.printf("%d",INA_FLAG); pc.printf("\n\r"); } void sendDatas(){ if(can.write(CANMessage(TO_SEND_CAN_ID, toSendDatas, TO_SEND_DATAS_NUM))) pc.printf("resend suc\n\r"); } void int main(){ init(); while(1){ receiveDatas(); updateDatas(); //WriteServo(); toString(); sendDatas(); wait_ms(WAIT_LOOP_TIME_MS); } }