ドローン用計測制御基板の作り方 vol.1 ハードウェア編 p.30掲載 マルチプレクサによるサーボモータへの信号切り替え

Dependencies:   mbed

Files at this revision

API Documentation at this revision

Comitter:
Joeatsumi
Date:
Mon Dec 30 09:17:48 2019 +0000
Commit message:
20191230

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r 00eb873ca4c4 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Dec 30 09:17:48 2019 +0000
@@ -0,0 +1,82 @@
+//==================================================
+//Manual and Auto
+//
+//MPU board: mbed LPC1768
+//Multiplexer TC74HC157AP
+//2019/10/13 A.Toda
+//==================================================
+#include "mbed.h"
+
+//==================================================
+#define THRESHOLD_PWM 0.0015
+#define SERVO_PERIOD  0.020
+//==================================================
+
+//Port Setting
+InterruptIn reading_port(p18); 
+DigitalOut mux_switch(p19);
+PwmOut ELE(p21);
+Serial pc(USBTX, USBRX);    //UART
+
+//==================================================
+//Timer valiables
+//==================================================
+Timer ch_time;//timer for calculate pulse width
+
+double measured_pre_pulse=0.0;
+double measured_pulse=0.0;
+
+double pulse_width_ele;
+//=================================================
+//Functions for rising and falind edge interrution
+//=================================================
+//rise edge
+void rising_edge(){
+    ch_time.reset();//reset timer counter
+    measured_pre_pulse=ch_time.read();
+    
+}
+
+//falling edge
+void falling_edge(){
+    measured_pre_pulse=(ch_time.read()-measured_pre_pulse);
+    pc.printf("The pulse width=%f\r\n",measured_pre_pulse);
+    if(measured_pre_pulse>THRESHOLD_PWM){
+        mux_switch=1;
+        }else{
+            mux_switch=0;
+            }
+}
+
+//==================================================
+//Main
+//==================================================
+int main() {
+
+    //UART initialization
+    pc.baud(115200);
+    
+    //Logging starts
+    pc.printf("Reading starts.");
+    
+    //define servo period
+    ELE.period(SERVO_PERIOD);  // servo requires a 20ms period
+    pulse_width_ele=0.001;
+    
+    //timer starts
+    ch_time.start();
+    
+    //declare interrupitons
+    reading_port.rise(rising_edge);
+    reading_port.fall(falling_edge);
+    
+    mux_switch=0;
+    
+    //while
+    while(1) {
+                
+        pulse_width_ele=0.0015;
+        wait(0.05);
+    }//while ends
+    
+}//main ends
\ No newline at end of file
diff -r 000000000000 -r 00eb873ca4c4 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Dec 30 09:17:48 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc
\ No newline at end of file