Andrew Miller / Mbed 2 deprecated Serial_PWM

Serial Controll of a Quadricopter's ESC using -Hobby King x230 -ZTW 12A ESC -Brushless 2222 three phase motors

Dependencies:   mbed

main.cpp@0:ceb5a7253afd, 2013-10-19 (annotated)

Committer:
awmiller
Date:
Sat Oct 19 17:21:00 2013 +0000
Revision:
0:ceb5a7253afd
main

Who changed what in which revision?

UserRevisionLine numberNew contents of line
awmiller 0:ceb5a7253afd 1 #include "mbed.h"
awmiller 0:ceb5a7253afd 2
awmiller 0:ceb5a7253afd 3 PwmOut led1(LED1);
awmiller 0:ceb5a7253afd 4 PwmOut led2(LED2);
awmiller 0:ceb5a7253afd 5 PwmOut mP22(p22);
awmiller 0:ceb5a7253afd 6 Serial pc(USBTX, USBRX); // tx, rx
awmiller 0:ceb5a7253afd 7
awmiller 0:ceb5a7253afd 8 float LastPosition =0.02;
awmiller 0:ceb5a7253afd 9 volatile float Scale = 1;
awmiller 0:ceb5a7253afd 10 volatile float Multiplier = 100;
awmiller 0:ceb5a7253afd 11 volatile float offset = 1000;
awmiller 0:ceb5a7253afd 12 volatile char SetScale;// =0;
awmiller 0:ceb5a7253afd 13 volatile char SetMultiplier;//=0;
awmiller 0:ceb5a7253afd 14
awmiller 0:ceb5a7253afd 15 void SerialPC_RX_CB() {
awmiller 0:ceb5a7253afd 16 // Note: you need to actually read from the serial to clear the RX interrupt
awmiller 0:ceb5a7253afd 17 char RXchar = pc.getc();
awmiller 0:ceb5a7253afd 18
awmiller 0:ceb5a7253afd 19 if(SetScale == 1)
awmiller 0:ceb5a7253afd 20 {
awmiller 0:ceb5a7253afd 21 if( (RXchar > '0') && (RXchar <= '9'))
awmiller 0:ceb5a7253afd 22 {
awmiller 0:ceb5a7253afd 23 SetScale =0;
awmiller 0:ceb5a7253afd 24 Scale = (RXchar - '0');
awmiller 0:ceb5a7253afd 25 pc.printf("Scale Set\r\n");
awmiller 0:ceb5a7253afd 26 }
awmiller 0:ceb5a7253afd 27 else pc.printf("Scale values must be 0-9");
awmiller 0:ceb5a7253afd 28 }
awmiller 0:ceb5a7253afd 29
awmiller 0:ceb5a7253afd 30 else
awmiller 0:ceb5a7253afd 31 if(SetMultiplier == 1)
awmiller 0:ceb5a7253afd 32 {
awmiller 0:ceb5a7253afd 33 if( (RXchar > '0') && (RXchar <= '9'))
awmiller 0:ceb5a7253afd 34 {
awmiller 0:ceb5a7253afd 35 SetMultiplier =0;
awmiller 0:ceb5a7253afd 36 Multiplier =1;
awmiller 0:ceb5a7253afd 37 for(int i =0;i < (RXchar - '0'); i++)
awmiller 0:ceb5a7253afd 38 Multiplier*=10;
awmiller 0:ceb5a7253afd 39 pc.printf("Multiplier Set to %f\r\n",Multiplier);
awmiller 0:ceb5a7253afd 40 }
awmiller 0:ceb5a7253afd 41 else {
awmiller 0:ceb5a7253afd 42 pc.printf("Multiplier values must be 0-3 representing zeroes");
awmiller 0:ceb5a7253afd 43 }
awmiller 0:ceb5a7253afd 44 }
awmiller 0:ceb5a7253afd 45
awmiller 0:ceb5a7253afd 46 else
awmiller 0:ceb5a7253afd 47 if((RXchar > 0x29) && (RXchar < 0x40)){
awmiller 0:ceb5a7253afd 48 float Delta = ((float)( RXchar - '0'));
awmiller 0:ceb5a7253afd 49 Delta = (Delta*Scale * Multiplier)+offset;
awmiller 0:ceb5a7253afd 50 mP22.pulsewidth_us(Delta);
awmiller 0:ceb5a7253afd 51 pc.printf("Pulse Width Changed to : %f \r\n",Delta);
awmiller 0:ceb5a7253afd 52
awmiller 0:ceb5a7253afd 53 }
awmiller 0:ceb5a7253afd 54
awmiller 0:ceb5a7253afd 55 else
awmiller 0:ceb5a7253afd 56 if(RXchar == 's')
awmiller 0:ceb5a7253afd 57 {
awmiller 0:ceb5a7253afd 58 SetScale = 1;
awmiller 0:ceb5a7253afd 59 }
awmiller 0:ceb5a7253afd 60 if(RXchar == 'm')
awmiller 0:ceb5a7253afd 61 {
awmiller 0:ceb5a7253afd 62 SetMultiplier =1;
awmiller 0:ceb5a7253afd 63 }
awmiller 0:ceb5a7253afd 64
awmiller 0:ceb5a7253afd 65 //else{ if(RXchar == 'm') mP22 = 0.01;
awmiller 0:ceb5a7253afd 66 // else if(RXchar == 'u') mP22 = 1.2;
awmiller 0:ceb5a7253afd 67 // }
awmiller 0:ceb5a7253afd 68
awmiller 0:ceb5a7253afd 69 }
awmiller 0:ceb5a7253afd 70
awmiller 0:ceb5a7253afd 71 int main() {
awmiller 0:ceb5a7253afd 72
awmiller 0:ceb5a7253afd 73 pc.attach(&SerialPC_RX_CB);
awmiller 0:ceb5a7253afd 74
awmiller 0:ceb5a7253afd 75 mP22 = LastPosition;
awmiller 0:ceb5a7253afd 76 SetScale = 0;
awmiller 0:ceb5a7253afd 77 SetMultiplier = 0;
awmiller 0:ceb5a7253afd 78
awmiller 0:ceb5a7253afd 79 pc.printf("Set Scale/Offset with (s/o)\r\nEnter a number from 0-9 \r\n");
awmiller 0:ceb5a7253afd 80
awmiller 0:ceb5a7253afd 81 while(1)
awmiller 0:ceb5a7253afd 82 {
awmiller 0:ceb5a7253afd 83 if (SetScale == 1)
awmiller 0:ceb5a7253afd 84 {
awmiller 0:ceb5a7253afd 85 pc.printf("Change the Scale Factor according to P(x) = Offset + (Scale* Multiplier * x) \r\n");
awmiller 0:ceb5a7253afd 86 while(SetScale == 1){
awmiller 0:ceb5a7253afd 87 led2 = !led2;
awmiller 0:ceb5a7253afd 88 wait(100);
awmiller 0:ceb5a7253afd 89 }
awmiller 0:ceb5a7253afd 90
awmiller 0:ceb5a7253afd 91 led2 = 0;
awmiller 0:ceb5a7253afd 92 //wait(100);
awmiller 0:ceb5a7253afd 93 pc.printf("Set Scale/Offset with (s/o)\r\nEnter a number from 0-9 \r\n");
awmiller 0:ceb5a7253afd 94 }
awmiller 0:ceb5a7253afd 95 else if(SetMultiplier ==1)
awmiller 0:ceb5a7253afd 96 {
awmiller 0:ceb5a7253afd 97 pc.printf("Change the Multiplier according to P(x) = Offset + (Scale* Multiplier * x) \r\n");
awmiller 0:ceb5a7253afd 98 while(SetMultiplier == 1){
awmiller 0:ceb5a7253afd 99 led1 = !led1;
awmiller 0:ceb5a7253afd 100 wait(100);
awmiller 0:ceb5a7253afd 101 }
awmiller 0:ceb5a7253afd 102 led1 = 0;
awmiller 0:ceb5a7253afd 103 //wait(100);
awmiller 0:ceb5a7253afd 104 pc.printf("Set Scale/Offset with (s/o)\r\nEnter a number from 0-9 \r\n");
awmiller 0:ceb5a7253afd 105 }
awmiller 0:ceb5a7253afd 106
awmiller 0:ceb5a7253afd 107 }
awmiller 0:ceb5a7253afd 108
awmiller 0:ceb5a7253afd 109 }
awmiller 0:ceb5a7253afd 110