Ryota Маэда / Mbed 2 deprecated AstroC_planetarium_master

投影機本体のプログラム

Dependencies:   mbed

Fork of AstroC_planetarium_master by Ryota Маэда

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main.cpp@1:b6a142877de4, 2017-12-21 (annotated)

Committer:
Raccoon
Date:
Thu Dec 21 13:02:23 2017 +0000
Revision:
1:b6a142877de4
Parent:
0:ee25c3c95837
Child:
2:9aaad52da789
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Raccoon 0:ee25c3c95837 1 #include "mbed.h"
Raccoon 1:b6a142877de4 2 #define STEPPER_DELTA_T 150
Raccoon 1:b6a142877de4 3 #define k 5
Raccoon 1:b6a142877de4 4 #define MAX 4
Raccoon 0:ee25c3c95837 5
Raccoon 0:ee25c3c95837 6 /*ステッピングモーター*/
Raccoon 0:ee25c3c95837 7 Ticker step_timer;
Raccoon 0:ee25c3c95837 8 DigitalOut APHASE(p5);
Raccoon 0:ee25c3c95837 9 DigitalOut AENBL(p6);
Raccoon 0:ee25c3c95837 10 DigitalOut BPHASE(p7);
Raccoon 0:ee25c3c95837 11 DigitalOut BENBL(p8);
Raccoon 0:ee25c3c95837 12
Raccoon 0:ee25c3c95837 13 /*MCP4922*/
Raccoon 0:ee25c3c95837 14 Ticker spi_timer;
Raccoon 0:ee25c3c95837 15 SPI spi(p11, p12, p13);//mosi(SDO), miso, sclk
Raccoon 0:ee25c3c95837 16 DigitalOut CS(p14);
Raccoon 0:ee25c3c95837 17 DigitalOut LDAC(p17);
Raccoon 0:ee25c3c95837 18
Raccoon 0:ee25c3c95837 19 /*RGB_LED_3*/
Raccoon 0:ee25c3c95837 20 Ticker rgb_timer;
Raccoon 0:ee25c3c95837 21 BusOut signal(p24, p25, p26);
Raccoon 1:b6a142877de4 22 PwmOut R_led(p22);
Raccoon 1:b6a142877de4 23 PwmOut G_led(p21);
Raccoon 1:b6a142877de4 24 PwmOut B_led(p23);
Raccoon 0:ee25c3c95837 25
Raccoon 0:ee25c3c95837 26 /*シリアル通信(xbee)*/
Raccoon 0:ee25c3c95837 27 Serial xbee(p28, p27); // tx, rx
Raccoon 0:ee25c3c95837 28
Raccoon 0:ee25c3c95837 29 /*受信データ格納*/
Raccoon 1:b6a142877de4 30 unsigned char data[MAX] = {0};
Raccoon 1:b6a142877de4 31 unsigned char tmp_data[MAX][k] ={0};
Raccoon 0:ee25c3c95837 32
Raccoon 0:ee25c3c95837 33 /*ステッピングモーター*/
Raccoon 0:ee25c3c95837 34 void stepper(void)
Raccoon 0:ee25c3c95837 35 {
Raccoon 0:ee25c3c95837 36 static unsigned int cnt = 0;
Raccoon 0:ee25c3c95837 37 static int i = 1;
Raccoon 0:ee25c3c95837 38 static unsigned int delay = 1000;
Raccoon 0:ee25c3c95837 39
Raccoon 0:ee25c3c95837 40 /*速度制限:MAX周期1500[us]（脱調防止)*/
Raccoon 1:b6a142877de4 41 delay = (255 - data[0]) + 10;
Raccoon 0:ee25c3c95837 42
Raccoon 0:ee25c3c95837 43 /*ステッピングモーターの制御*/
Raccoon 0:ee25c3c95837 44 if((++cnt > delay) && data[0]!=0)
Raccoon 0:ee25c3c95837 45 {
Raccoon 0:ee25c3c95837 46 AENBL = 1;
Raccoon 0:ee25c3c95837 47 BENBL = 1;
Raccoon 0:ee25c3c95837 48 switch(i)
Raccoon 0:ee25c3c95837 49 {
Raccoon 0:ee25c3c95837 50 case 1:
Raccoon 0:ee25c3c95837 51 APHASE = 1;
Raccoon 0:ee25c3c95837 52 break;
Raccoon 0:ee25c3c95837 53 case 2:
Raccoon 0:ee25c3c95837 54 BPHASE = 1;
Raccoon 0:ee25c3c95837 55 break;
Raccoon 0:ee25c3c95837 56 case 3:
Raccoon 0:ee25c3c95837 57 APHASE = 0;
Raccoon 0:ee25c3c95837 58 break;
Raccoon 0:ee25c3c95837 59 case 4:
Raccoon 0:ee25c3c95837 60 BPHASE = 0;
Raccoon 0:ee25c3c95837 61 break;
Raccoon 0:ee25c3c95837 62 }
Raccoon 0:ee25c3c95837 63
Raccoon 0:ee25c3c95837 64 if(++i==5)i = 1;
Raccoon 0:ee25c3c95837 65 cnt = 0;
Raccoon 0:ee25c3c95837 66 }
Raccoon 0:ee25c3c95837 67 else if(data[0]==0)
Raccoon 0:ee25c3c95837 68 {
Raccoon 0:ee25c3c95837 69 AENBL = 0;
Raccoon 0:ee25c3c95837 70 BENBL = 0;
Raccoon 1:b6a142877de4 71 }
Raccoon 0:ee25c3c95837 72 }
Raccoon 0:ee25c3c95837 73
Raccoon 0:ee25c3c95837 74 /*spiでの書き込み用関数*/
Raccoon 0:ee25c3c95837 75 void spi_write(unsigned int config, unsigned int mask, unsigned int value)
Raccoon 0:ee25c3c95837 76 {
Raccoon 0:ee25c3c95837 77 unsigned int spi_data;
Raccoon 0:ee25c3c95837 78 spi_data = config | (mask & value);
Raccoon 0:ee25c3c95837 79 CS = 0;
Raccoon 0:ee25c3c95837 80 LDAC = 1;
Raccoon 0:ee25c3c95837 81 spi.write(spi_data);
Raccoon 0:ee25c3c95837 82 CS = 1;
Raccoon 0:ee25c3c95837 83 LDAC = 0;
Raccoon 0:ee25c3c95837 84 }
Raccoon 0:ee25c3c95837 85
Raccoon 0:ee25c3c95837 86 /*SPI通信でMCP4922(DAC)を動かすための関数*/
Raccoon 0:ee25c3c95837 87 void light_bulb(void)
Raccoon 0:ee25c3c95837 88 {
Raccoon 0:ee25c3c95837 89 static unsigned char ss = 0;
Raccoon 0:ee25c3c95837 90
Raccoon 0:ee25c3c95837 91 //MCP4922へ送信するデータ
Raccoon 0:ee25c3c95837 92 static unsigned int mask = 0b0000111111111111;
Raccoon 0:ee25c3c95837 93 unsigned int config;
Raccoon 0:ee25c3c95837 94 unsigned int value;
Raccoon 0:ee25c3c95837 95
Raccoon 1:b6a142877de4 96 static unsigned int EX_MAX = 2300;//2.0[V]
Raccoon 0:ee25c3c95837 97 static unsigned int Milky_MAX = 3150;//2.5[V]
Raccoon 0:ee25c3c95837 98
Raccoon 1:b6a142877de4 99 if(ss==0)//減らせる
Raccoon 0:ee25c3c95837 100 {
Raccoon 0:ee25c3c95837 101 /*EX球(2V2A)用*/
Raccoon 0:ee25c3c95837 102 config = 0b0111000000000000;
Raccoon 1:b6a142877de4 103 value = (data[1] * EX_MAX) * 0.0039215f;
Raccoon 0:ee25c3c95837 104 spi_write(config, mask, value);
Raccoon 0:ee25c3c95837 105 ss = 1;
Raccoon 0:ee25c3c95837 106 }
Raccoon 1:b6a142877de4 107 else if(ss==1)//減らせる
Raccoon 0:ee25c3c95837 108 {
Raccoon 0:ee25c3c95837 109 /*天の川(2.5V2A)用*/
Raccoon 0:ee25c3c95837 110 config = 0b1111000000000000;
Raccoon 1:b6a142877de4 111 //value = (data[2] * Milky_MAX) / 255;
Raccoon 1:b6a142877de4 112 value = (data[1] * EX_MAX) * 0.0039215f;
Raccoon 0:ee25c3c95837 113 spi_write(config, mask, value);
Raccoon 0:ee25c3c95837 114 ss = 0;
Raccoon 0:ee25c3c95837 115 }
Raccoon 0:ee25c3c95837 116 }
Raccoon 0:ee25c3c95837 117
Raccoon 1:b6a142877de4 118 //light//
Raccoon 1:b6a142877de4 119 void light(float val)
Raccoon 0:ee25c3c95837 120 {
Raccoon 1:b6a142877de4 121 R_led = val;
Raccoon 1:b6a142877de4 122 G_led = 0.38f*val;
Raccoon 0:ee25c3c95837 123 B_led = 0.0;
Raccoon 1:b6a142877de4 124 }
Raccoon 0:ee25c3c95837 125
Raccoon 0:ee25c3c95837 126 /*RGB_LEDをダイナミック点灯するための関数*/
Raccoon 0:ee25c3c95837 127 void RGB_LED(void){
Raccoon 0:ee25c3c95837 128 static uint8_t dig;
Raccoon 0:ee25c3c95837 129 uint8_t binary = 0b00001;
Raccoon 1:b6a142877de4 130
Raccoon 1:b6a142877de4 131 light((float)data[3]*0.0039215f);
Raccoon 1:b6a142877de4 132
Raccoon 0:ee25c3c95837 133 signal = binary << dig;
Raccoon 1:b6a142877de4 134
Raccoon 0:ee25c3c95837 135 if(++dig == 3)dig = 0;
Raccoon 0:ee25c3c95837 136 }
Raccoon 0:ee25c3c95837 137
Raccoon 1:b6a142877de4 138 void swap(unsigned char *x, unsigned char *y)
Raccoon 1:b6a142877de4 139 {
Raccoon 1:b6a142877de4 140 unsigned char tmp;
Raccoon 1:b6a142877de4 141 tmp = *x;
Raccoon 1:b6a142877de4 142 *x = *y;
Raccoon 1:b6a142877de4 143 *y = tmp;
Raccoon 1:b6a142877de4 144 }
Raccoon 1:b6a142877de4 145
Raccoon 1:b6a142877de4 146 /*通信のスパイクノイズの除去*/
Raccoon 1:b6a142877de4 147 /*k(奇数) の値で参照する過去の値の数を変更する*/
Raccoon 1:b6a142877de4 148 unsigned char MedianFilter(unsigned char array[k])
Raccoon 1:b6a142877de4 149 {
Raccoon 1:b6a142877de4 150 int i, j;
Raccoon 1:b6a142877de4 151 static int index = (int)(k-1)/2;
Raccoon 1:b6a142877de4 152 unsigned char tmp;
Raccoon 1:b6a142877de4 153 unsigned char N[k];
Raccoon 1:b6a142877de4 154
Raccoon 1:b6a142877de4 155 /*copy*/
Raccoon 1:b6a142877de4 156 for(i=k-1; i>=0; i--)
Raccoon 1:b6a142877de4 157 {
Raccoon 1:b6a142877de4 158 N[i]=array[i];
Raccoon 1:b6a142877de4 159 if(i!=k-1)array[i+1] = array[i];
Raccoon 1:b6a142877de4 160 }
Raccoon 1:b6a142877de4 161
Raccoon 1:b6a142877de4 162 for(i=0; i<index; i++)
Raccoon 1:b6a142877de4 163 {
Raccoon 1:b6a142877de4 164 for(j=k-1; i<j; j--)
Raccoon 1:b6a142877de4 165 {
Raccoon 1:b6a142877de4 166 if(N[j] < N[j-1])
Raccoon 1:b6a142877de4 167 {
Raccoon 1:b6a142877de4 168 //swap(&N[j], &N[j-1]);
Raccoon 1:b6a142877de4 169 tmp = N[j];
Raccoon 1:b6a142877de4 170 N[j] = N[j-1];
Raccoon 1:b6a142877de4 171 N[j-1] = tmp;
Raccoon 1:b6a142877de4 172 }
Raccoon 1:b6a142877de4 173 }
Raccoon 1:b6a142877de4 174 }
Raccoon 1:b6a142877de4 175 return N[index];
Raccoon 1:b6a142877de4 176 }
Raccoon 1:b6a142877de4 177
Raccoon 0:ee25c3c95837 178 /*シリアル通信受信(xbee)*/
Raccoon 0:ee25c3c95837 179 void receve(void)
Raccoon 0:ee25c3c95837 180 {
Raccoon 0:ee25c3c95837 181 static int sw = 0;
Raccoon 0:ee25c3c95837 182 /*送信側から送信開始の合図で'R'が送られてくる*/
Raccoon 0:ee25c3c95837 183 /*'R'を受信したら、データ受信開始*/
Raccoon 0:ee25c3c95837 184 /*５個のデータが順番に受信されるので、順番に配列に代入する*/
Raccoon 0:ee25c3c95837 185 if((sw == 0) && (xbee.getc() == 'R'))
Raccoon 0:ee25c3c95837 186 {
Raccoon 0:ee25c3c95837 187 sw = 1;
Raccoon 0:ee25c3c95837 188 }
Raccoon 1:b6a142877de4 189 else if(1 <= sw && sw <= MAX)//条件式減らせる
Raccoon 0:ee25c3c95837 190 {
Raccoon 1:b6a142877de4 191 //data[sw-1] = xbee.getc();
Raccoon 1:b6a142877de4 192
Raccoon 1:b6a142877de4 193 tmp_data[sw-1][0] = xbee.getc();
Raccoon 1:b6a142877de4 194 data[sw-1] = MedianFilter(tmp_data[sw-1]);
Raccoon 1:b6a142877de4 195
Raccoon 1:b6a142877de4 196 if(++sw > MAX)sw = 0;
Raccoon 0:ee25c3c95837 197 }
Raccoon 1:b6a142877de4 198 xbee.putc(1);//受信確認
Raccoon 0:ee25c3c95837 199 }
Raccoon 0:ee25c3c95837 200
Raccoon 0:ee25c3c95837 201 int main(){
Raccoon 0:ee25c3c95837 202 /*ステッピングモーター*/
Raccoon 1:b6a142877de4 203 AENBL = 0;
Raccoon 0:ee25c3c95837 204 APHASE = 0;
Raccoon 1:b6a142877de4 205 BENBL = 0;
Raccoon 0:ee25c3c95837 206 BPHASE = 0;
Raccoon 0:ee25c3c95837 207 step_timer.attach_us(&stepper, STEPPER_DELTA_T);//100[us],10000[Hz]
Raccoon 0:ee25c3c95837 208
Raccoon 0:ee25c3c95837 209 /*spi通信(MCP4922)*/
Raccoon 0:ee25c3c95837 210 CS = 1;
Raccoon 0:ee25c3c95837 211 LDAC = 1;
Raccoon 0:ee25c3c95837 212 spi.format(16, 0);
Raccoon 0:ee25c3c95837 213 spi.frequency(1000000);
Raccoon 1:b6a142877de4 214 spi_timer.attach_us(&light_bulb, 50000);
Raccoon 0:ee25c3c95837 215
Raccoon 0:ee25c3c95837 216 /*RGB_LED_3*/
Raccoon 1:b6a142877de4 217 R_led.period(0.000048);//0.00004
Raccoon 1:b6a142877de4 218 G_led.period(0.000048);
Raccoon 1:b6a142877de4 219 B_led.period(0.000048);
Raccoon 1:b6a142877de4 220 rgb_timer.attach_us(&RGB_LED, 4800);//4000
Raccoon 0:ee25c3c95837 221
Raccoon 0:ee25c3c95837 222 /*シリアル通信(xbee)*/
Raccoon 0:ee25c3c95837 223 xbee.baud(9600);
Raccoon 1:b6a142877de4 224 xbee.format(8, Serial::None, 2);
Raccoon 0:ee25c3c95837 225 xbee.attach(&receve, Serial::RxIrq);//受信割り込み
Raccoon 0:ee25c3c95837 226
Raccoon 1:b6a142877de4 227 while(1);
Raccoon 0:ee25c3c95837 228 }