Revision 1:87f1199672a1, committed 2019-03-18

Comitter:

LukeMar

Date:

Mon Mar 18 04:06:52 2019 +0000

Parent:

0:f4edd3407cc5

Commit message:

Stepper CAN node

Changed in this revision

--- a/main.cpp	Thu Jan 17 00:28:07 2019 +0000
+++ b/main.cpp	Mon Mar 18 04:06:52 2019 +0000
@@ -1,340 +1,75 @@
-
-/*
-  Sailbot Hull 14
-  L Marino and D Robinson,
-  with D Evangelista, P Frontera, M Kutzer, A Laun
-  2018
-
-  Threaded version using mbed OS5
-  Serial links between nodes
-  Stepper motors with Pololu 2968 drivers (MP6500 based)
-  Piher PST360 angle sensors
-  Adafruit Absolute GPS
-  Telemetry via ???Ubiquity???
-*/
-
-//Thread for logging time and Gps, heading and encoder values is mostly complete
-//control thread is a work in progress
+// Program to test the CAN bus using pins 29 and 30 on the mbed connected
+// to an MCP2551 CAN transceiver bus IC
+//  Note that this program will only continue to transmit while the TX message is <= 8 bytes long
 
 #include "mbed.h"
-#include "MBed_Adafruit_GPS.h"
-#include "BNO055.h"
-#include "Spektrum.h"
-#include "unity.h"
+
+#define RUDDER_ID     1   //Address of this CAN device
+#define BNO_ID     2  //Address of Control CAN device
+#define TELE_ID     3 
+#define RC_ID     4 
+
+Serial pc(USBTX, USBRX);    //tx, and rx for tera term
+DigitalOut led1(LED1);      //heartbeat
+DigitalOut led2(LED2);      //CAN read activity
+DigitalOut led3(LED3);      //CAN write activity
 
-Serial pc(USBTX, USBRX, 115200);
-Spektrum rx(p13, p14);
-int i;
-int j;
-float now;
-//***Mast universal variables***
-AnalogIn   ain(p16);
-PwmOut  motor( p25 );
-DigitalOut   dir( p24 );
-DigitalOut    I(p26);
-DigitalOut slp(p29); //sleep
-float d_ang = 180.0;
-float pos = 180.0;
-float RC_O;
-//***rudder universal variables***
-AnalogIn   r_ain(p15);
-PwmOut  rudder( p22 );
-DigitalOut   r_dir( p21 );
-DigitalOut    r_I(p23);
-DigitalOut r_slp(p30); //sleep
-float r_ang;
-float r_pos;
-float RC_1;
+CAN can(p30,p29);      //CAN interface
+
+
+Ticker pulse;
+
+float BNOangle;
+float RC_out;
+float RCval;
+char datastr[20];
+CANMessage msg_read;
 
-float xx = 4.0; //changes the threshold that the motor goes to sleep on
-float zz = 88; //changes the wait time at end of the the mast rudder threads
-float ww = 10; //changes wait time at end of if statments in mast rudder threads
-//****universal variables for Telemetry****
-DigitalOut heartbeat(LED1);
-Serial * gps_Serial;
-BNO055 bno(p28, p27);
-char c; //when read via Adafruit_GPS::read(), the class returns single character stored here
-float info; //a multiuse variable used for sending things over GPS
-Timer refresh_Timer; //sets up a timer for use in loop; how often do we print GPS info?
-const int refresh_Time = 2000; //refresh time in ms
+float CanValue(){ 
+    strcpy(datastr, (char*)msg_read.data+1); 
+    float value = strtod(datastr,NULL);
+    return value;      
+}
+
+void alive(void){
+    led1 = !led1;
+    if(led1)
+        pulse.attach(&alive, .2); // the address of the function to be attached (flip) and the interval (2 seconds)     
+    else
+        pulse.attach(&alive, 1.3); // the address of the function to be attached (flip) and the interval (2 seconds)
+}
 
-union Float {       //slightly mysterious data type that we use to send data over serial
-    float    m_float;
-    uint8_t  m_bytes[sizeof(float)];
-};
-float        data;
-uint8_t      bytes[sizeof(float)];
-Float        myFloat;
 
-//**get position**
-float posi();
-float posr();
-
-//*********read reads yaw from IMU **************
-void yaw_read()
-{
-    bno.get_angles();
-    data = bno.euler.yaw;
-    myFloat.m_float = data;
-    data = myFloat.m_float;   // get the float back from the union
-    pc.printf("%.1f", data);
-    Thread::wait(35);
+float RC_Read(){
+        
+        while(can.read(msg_read)){ //if message is available, read into msg
+            if(msg_read.id == RC_ID){    //if its the BNO ID           
+                if(msg_read.data[0] == 'r' || msg_read.data[0] == 'R'){
+                    led3 = !led3;
+                    RC_out = CanValue();
+                    return RC_out;
+                }//if the first letter was an 's', it is a servo command
+            }   //was the message to this device?
+        }//while a CAN message has been read                         
+   //return datastr;
 
 }
 
-//********concatenate time (not currently in use)**********
-float conc(float hr, float min, float sec )
-{
-    return hr+(min/60.0)+(sec/3600.0);
-}
-//********Initialize IMU************
-
-void bno_init(void)
-{
-    if(bno.check()) {
-        //pc.printf("BNO055 connected\r\n");
-        bno.reset();
-        Thread::wait(30);
-        bno.setmode(OPERATION_MODE_CONFIG);
-        bno.SetExternalCrystal(1);
-        //bno.set_orientation(1);
-        bno.setmode(OPERATION_MODE_NDOF);  //Uses magnetometer
-        //bno.setmode(OPERATION_MODE_NDOF_FMC_OFF);   //no magnetometer
-        bno.set_angle_units(RADIANS);
-    } else {
-        //pc.printf("BNO055 NOT connected\r\n Program Trap.");
-        while(1);
-    }
-}
-
-// *****threading*****
-Thread telemetry_thread;
-Thread mast_thread;
-Thread rudder_thread;
-
-void telemetry_callback(void);
-void mast_callback(void);
-void rudder_callback(void);
-
-int main()
-{
-    //start all threads
-    wait(10);
-    //telemetry_thread.start(callback(telemetry_callback));
-    mast_thread.start(callback(mast_callback));
-    rudder_thread.start(callback(rudder_callback));
-    //could have a heart beat but I tried to reduce the number of threads fighting for time
-}//end main
-
-float posi()
-{
-    float p1;
-    float p2;
-    float p3;
-    p1 = (ain-.108)/.002466;
-    Thread::wait(3);
-    p2 = (ain-.108)/.002466;
-    Thread::wait(3);
-    p3 = (ain-.108)/.002466;
-    printf("%f\n",ain);
-    return (p1+p2+p3)/3.0;
-}
-float posr()
-{
-    float r1;
-    float r2;
-    float r3;
-    r1 = (r_ain-.108)/.002466;
-    Thread::wait(3);
-    r2 = (r_ain-.108)/.002466;
-    Thread::wait(3);
-    r3 = (r_ain-.108)/.002466;
-    return (r1+r2+r3)/3.0;
-}
-
-void telemetry_callback(void)
-{
-    //uint64_t now;
-    //debug("telemetry_thread started\r\n");
-
-    pc.baud(115200); //sets virtual COM serial communication to high rate; this is to allow more time to be spent on GPS retrieval
-    gps_Serial = new Serial(p9,p10); //serial object for use w/ GPS
-    Adafruit_GPS myGPS(gps_Serial); //object of Adafruit's GPS class
-
-    myGPS.begin(9600);  //sets baud rate for GPS communication; note this may be changed via Adafruit_GPS::sendCommand(char *)
-    //a list of GPS commands is available at http://www.adafruit.com/datasheets/PMTK_A08.pdf
-
-    myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA); //these commands are defined in MBed_Adafruit_GPS.h; a link is provided there for command creation
-    myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
-    myGPS.sendCommand(PGCMD_ANTENNA);
-
-    //pc.printf("Connection established at 115200 baud...\n");
-    bno_init();
-
-    Thread::wait(1000);
-    refresh_Timer.start();  //starts the clock on the timer
-
-    while(true) {
-
-        c = myGPS.read();   //queries the GPS
-        bno.get_angles();
-        //check if we recieved a new message from GPS, if so, attempt to parse it,
-        if ( myGPS.newNMEAreceived() ) {
-            if ( !myGPS.parse(myGPS.lastNMEA()) ) {
-                continue;
-            }//if ( !myGPS.parse..
-
-            if (refresh_Timer.read_ms() >= refresh_Time) {
-                refresh_Timer.reset();
-            
-                data = conc(myGPS.hour, myGPS.minute, myGPS.seconds );               // conc(myGPS.hour, myGPS.minute, myGPS.seconds );
-                myFloat.m_float = data;
-                data = myFloat.m_float;   // get the float back from the union
-                pc.printf("%2.0f", data);
-                Thread::wait(35);
-                /*  this part can send hr min second separately, commented to save thread space
-                data = myGPS.hour;               // conc(myGPS.hour, myGPS.minute, myGPS.seconds );
-                myFloat.m_float = data;
-                data = myFloat.m_float;   // get the float back from the union
-                pc.printf("%2.0f", data);
-                Thread::wait(35);
-                //send min
-                data = myGPS.minute;               // conc(myGPS.hour, myGPS.minute, myGPS.seconds );
-                myFloat.m_float = data;
-                data = myFloat.m_float;   // get the float back from the union
-                pc.printf("%2.0f", data);
-                Thread::wait(35);
-                //send sec
-                data = myGPS.seconds;               // conc(myGPS.hour, myGPS.minute, myGPS.seconds );
-                myFloat.m_float = data;
-                data = myFloat.m_float;   // get the float back from the union
-                pc.printf("%2.0f", data);
-                Thread::wait(35);
-                */
-                if (myGPS.fix) {
-                    //rudder and mast position will log here
-                    //send mast angle
-                    data = posi();
-                    myFloat.m_float = data;
-                    data = myFloat.m_float;   // get the float back from the union
-                    pc.printf("%.1f", data);
-                    Thread::wait(35);
-                    //send rudder angle
-                    data = posr();
-                    myFloat.m_float = data;
-                    data = myFloat.m_float;   // get the float back from the union
-                    pc.printf("%.1f", data);
-                    Thread::wait(35);
-                    //send latitude
-                    data = myGPS.latitude;
-                    myFloat.m_float = data;
-                    data = myFloat.m_float;   // get the float back from the union
-                    pc.printf("%.2f", data);
-                    Thread::wait(35);
-                    //send logitude
-                    data = myGPS.longitude;
-                    myFloat.m_float = data;
-                    data = myFloat.m_float;   // get the float back from the union
-                    pc.printf("%.2f", data);
-                    Thread::wait(35);
-                    //send yaw
-                    yaw_read();
-                    //send transmittion
-                    pc.printf("q");
-                    Thread::wait(3000);
-                }//if (myGPS.fix)
-            }//if (refresh_Timer..
-        }//if ( myGPS.newNMEAreceived() )
-    }//while(true)
-} // telemetry_callback()
-
-void mast_callback(void)
-{
-
-    I=0; //sets for 1.5amp output
-    motor.period(.001); //sets the pulse width modulation period
-    motor.pulsewidth(0); 
-    slp = 0;
-    r_slp = 0; //sstarts the current driver in off state
-    Thread::wait(10);
-    // loop
-    while(1) {
+int main() {
+    
+    Thread::wait(200);
+    
+    pulse.attach(&alive, 2.0); // the address of the function to be attached (alive) and the interval (2 seconds)
+    can.frequency(500000);
+    pc.baud(115200);                
+    
+    pc.printf("%s\r\n", __FILE__);
+    
+    while(1){
+         
+        RCval = RC_Read();
+        pc.printf("%.1f\n",RCval); 
+        }
         
-        if (rx.valid) {
-            RC_O = rx.channel[0];
-        } else {
-            //pc.printf(" invalid\r\n");
-            slp = 0;
-        }
-        //39.19
-        d_ang = (RC_O/6.77)+39.19;
-        pos = (ain-.108)/.002466;
-        printf("%f\n",ain);
-        if((pos > (d_ang-xx))&& (pos < (d_ang+xx))) {
-            motor.pulsewidth(0);
-            slp = 0;
-        }
-        if( (pos > (d_ang+xx))) {
-            slp = 1;
-                dir = 1; //left??
-                motor.pulsewidth(.0005);
-                //pc.printf("pos: %.3f\n",pos);
-                Thread::wait(ww);
-                pos = posi();
-        }//if pos
-        if((pos < (d_ang-xx))) {
-            slp = 1;
-                dir = 0; //right??
-                motor.pulsewidth(.0005);
-                //pc.printf("pos: %.3f\n",pos);
-                Thread::wait(ww);
-                pos = posi();
-        }
-        ThisThread::sleep_until(zz);
-    }//while(1)
-}//mast callback
-
-void rudder_callback(void)
-{
-
-    r_I=0; //sets for 1.5amp output
-    rudder.period(.001); //sets the pulse width modulation period
-    rudder.pulsewidth(0); 
-    slp = 0;
-    r_slp = 0; //sstarts the current driver in off state
-    Thread::wait(10);
-    
-    // loop
-    while(1) {
-        
-        if (rx.valid) {
-            RC_1 = rx.channel[1];
-        } else {
-            //pc.printf(" invalid\r\n");
-            r_slp = 0;
-        }
-        //39.19
-        r_ang = (RC_1/6.77)-5.0;
-        r_pos = (r_ain-.108)/.002466;
-
-        if((r_pos > (r_ang-xx)) && (r_pos < (r_ang+xx))) {
-            rudder.pulsewidth(0);
-            r_slp = 0;
-        }
-        if( (r_pos > (r_ang+xx)) ) {  //&& r_pos < 235.0
-            r_slp = 1;
-                r_dir = 1; //left??
-                rudder.pulsewidth(.0005);
-                Thread::wait(ww);
-                r_pos = posr();
-        }//if pos
-        if((r_pos < (r_ang-xx)) ) {   // && r_pos > 55.0
-            r_slp = 1;
-                r_dir = 0; //right??
-                rudder.pulsewidth(.0005);
-                Thread::wait(ww);
-                r_pos = posr();
-        }
-        ThisThread::sleep_until(zz);
-    }//while(1)
-}//rudder callback
\ No newline at end of file
+   
+}//main
\ No newline at end of file