Atsumi Toda
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
Revision 0:00eb873ca4c4, committed 2019-12-30
- 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 |
--- /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
--- /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