Wallbot_CaaS
Dependencies: MPU6050 mbed PID
Fork of BLE_MPU6050_test6_challenge_sb by
main.cpp@16:aea4df56fa6b, 2018-05-23 (annotated)
- Committer:
- c201075
- Date:
- Wed May 23 04:23:40 2018 +0000
- Revision:
- 16:aea4df56fa6b
- Parent:
- 14:8a589bb0868c
- Child:
- 17:0a7b2afd075b
add controller integral term reset at enable/disable
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jksoft | 0:8468a4403fea | 1 | #include "mbed.h" |
jksoft | 0:8468a4403fea | 2 | #include "MPU6050.h" |
jksoft | 0:8468a4403fea | 3 | #include "BLEDevice.h" |
jksoft | 0:8468a4403fea | 4 | #include "wallbotble.h" |
c201075 | 6:9fd87d75a24b | 5 | //#include "RCBController.h" |
c201075 | 6:9fd87d75a24b | 6 | //#include "Adafruit_LEDBackpack.h" |
c201075 | 6:9fd87d75a24b | 7 | //#include "Adafruit_GFX.h" |
c201075 | 6:9fd87d75a24b | 8 | //#include "pictLIB.h" |
jksoft | 0:8468a4403fea | 9 | |
c201075 | 4:6b4563aaee2c | 10 | #define DEBUG |
jksoft | 0:8468a4403fea | 11 | |
jksoft | 0:8468a4403fea | 12 | Serial pc(USBTX, USBRX); |
jksoft | 0:8468a4403fea | 13 | BLEDevice ble; |
c201075 | 14:8a589bb0868c | 14 | MPU6050 mpu(I2C_SDA,I2C_SCL); |
jksoft | 0:8468a4403fea | 15 | wallbotble wb; |
jksoft | 0:8468a4403fea | 16 | |
c201075 | 7:5aa479fe5d0b | 17 | //------------------------------------------------------------ |
c201075 | 7:5aa479fe5d0b | 18 | //Service & Characteristic Setting |
c201075 | 7:5aa479fe5d0b | 19 | //------------------------------------------------------------ |
c201075 | 7:5aa479fe5d0b | 20 | //Service UUID |
c201075 | 7:5aa479fe5d0b | 21 | static const uint16_t base_uuid = 0xFFF0; |
c201075 | 7:5aa479fe5d0b | 22 | |
c201075 | 7:5aa479fe5d0b | 23 | //Characteristic UUID |
c201075 | 7:5aa479fe5d0b | 24 | static const uint16_t cmd_uuid = 0xFFF1; |
c201075 | 7:5aa479fe5d0b | 25 | static const uint16_t sen_uuid = 0xFFF2; |
c201075 | 7:5aa479fe5d0b | 26 | static const uint16_t mpu_uuid = 0xFFF3; |
c201075 | 7:5aa479fe5d0b | 27 | |
c201075 | 8:0268032d5849 | 28 | //Characteristic buffer ? |
c201075 | 7:5aa479fe5d0b | 29 | uint8_t cmdPayload[8] = {0,}; |
c201075 | 7:5aa479fe5d0b | 30 | uint8_t senPayload[10] = {0,}; |
c201075 | 7:5aa479fe5d0b | 31 | uint8_t mpuPayload[12] = {0,}; |
c201075 | 7:5aa479fe5d0b | 32 | |
c201075 | 7:5aa479fe5d0b | 33 | //Characteristic Property Setting etc |
c201075 | 7:5aa479fe5d0b | 34 | GattCharacteristic cmdChar (cmd_uuid, cmdPayload, sizeof(cmdPayload), sizeof(cmdPayload), GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE); |
c201075 | 7:5aa479fe5d0b | 35 | GattCharacteristic senChar (sen_uuid, senPayload, sizeof(senPayload), sizeof(senPayload), GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY); |
c201075 | 7:5aa479fe5d0b | 36 | GattCharacteristic mpuChar (mpu_uuid, mpuPayload, sizeof(mpuPayload), sizeof(mpuPayload), GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY); |
c201075 | 7:5aa479fe5d0b | 37 | GattCharacteristic *myChars[] = {&cmdChar, &senChar, &mpuChar}; |
c201075 | 7:5aa479fe5d0b | 38 | |
c201075 | 7:5aa479fe5d0b | 39 | //Service Setting |
c201075 | 7:5aa479fe5d0b | 40 | GattService myService(base_uuid, myChars, sizeof(myChars) / sizeof(GattCharacteristic *)); |
c201075 | 7:5aa479fe5d0b | 41 | |
c201075 | 7:5aa479fe5d0b | 42 | //====================================================================== |
c201075 | 7:5aa479fe5d0b | 43 | //onDisconnection |
c201075 | 7:5aa479fe5d0b | 44 | //====================================================================== |
c201075 | 8:0268032d5849 | 45 | void onDisconnected(Gap::Handle_t handle, Gap::DisconnectionReason_t reason) |
c201075 | 7:5aa479fe5d0b | 46 | { |
c201075 | 8:0268032d5849 | 47 | wb.control_enable(false); |
c201075 | 7:5aa479fe5d0b | 48 | wb.stop(); |
c201075 | 7:5aa479fe5d0b | 49 | |
c201075 | 7:5aa479fe5d0b | 50 | ble.startAdvertising(); |
c201075 | 7:5aa479fe5d0b | 51 | wb.set_led2(0); |
c201075 | 13:ed867b8003c2 | 52 | #ifdef DEBUG |
c201075 | 7:5aa479fe5d0b | 53 | pc.printf("Disconnected\n\r"); |
c201075 | 7:5aa479fe5d0b | 54 | #endif |
c201075 | 7:5aa479fe5d0b | 55 | } |
c201075 | 7:5aa479fe5d0b | 56 | //====================================================================== |
c201075 | 7:5aa479fe5d0b | 57 | //onConnection |
c201075 | 7:5aa479fe5d0b | 58 | //====================================================================== |
c201075 | 7:5aa479fe5d0b | 59 | void onConnected(Gap::Handle_t handle, Gap::addr_type_t peerAddrType ,const Gap::address_t peerAddr,const Gap::ConnectionParams_t *params) |
c201075 | 7:5aa479fe5d0b | 60 | { |
c201075 | 7:5aa479fe5d0b | 61 | wb.set_led2(1); |
c201075 | 7:5aa479fe5d0b | 62 | |
c201075 | 7:5aa479fe5d0b | 63 | wb.control_enable(true); |
c201075 | 7:5aa479fe5d0b | 64 | wb.SetRPM(0,0); |
c201075 | 13:ed867b8003c2 | 65 | #ifdef DEBUG |
c201075 | 7:5aa479fe5d0b | 66 | pc.printf("Connected\n\r"); |
c201075 | 7:5aa479fe5d0b | 67 | #endif |
c201075 | 7:5aa479fe5d0b | 68 | } |
c201075 | 7:5aa479fe5d0b | 69 | |
c201075 | 7:5aa479fe5d0b | 70 | //====================================================================== |
c201075 | 7:5aa479fe5d0b | 71 | //onDataWritten |
c201075 | 7:5aa479fe5d0b | 72 | //====================================================================== |
c201075 | 8:0268032d5849 | 73 | void onDataWritten(const GattCharacteristicWriteCBParams *params) |
c201075 | 7:5aa479fe5d0b | 74 | { |
c201075 | 11:8142dc8348f4 | 75 | float right_cmd; |
c201075 | 11:8142dc8348f4 | 76 | float left_cmd; |
c201075 | 8:0268032d5849 | 77 | |
c201075 | 11:8142dc8348f4 | 78 | memcpy( &right_cmd, params->data , sizeof(right_cmd)); |
c201075 | 11:8142dc8348f4 | 79 | memcpy( &left_cmd, params->data + sizeof(right_cmd), sizeof(left_cmd)); |
c201075 | 8:0268032d5849 | 80 | |
c201075 | 11:8142dc8348f4 | 81 | wb.SetRPM(left_cmd,right_cmd); |
c201075 | 8:0268032d5849 | 82 | #ifdef DEBUG |
c201075 | 11:8142dc8348f4 | 83 | pc.printf("SetRPM %f,%f \n\r",left_cmd,right_cmd); |
c201075 | 8:0268032d5849 | 84 | #endif |
c201075 | 7:5aa479fe5d0b | 85 | } |
jksoft | 0:8468a4403fea | 86 | /**************************************************************************/ |
jksoft | 0:8468a4403fea | 87 | /*! |
jksoft | 0:8468a4403fea | 88 | @brief Program entry point |
jksoft | 0:8468a4403fea | 89 | */ |
jksoft | 0:8468a4403fea | 90 | /**************************************************************************/ |
jksoft | 0:8468a4403fea | 91 | int main(void) |
jksoft | 0:8468a4403fea | 92 | { |
jksoft | 0:8468a4403fea | 93 | |
c201075 | 14:8a589bb0868c | 94 | int16_t mpu_a[3]; |
c201075 | 14:8a589bb0868c | 95 | int16_t mpu_g[3]; |
c201075 | 8:0268032d5849 | 96 | short line; |
c201075 | 8:0268032d5849 | 97 | float rrpm,lrpm; |
c201075 | 4:6b4563aaee2c | 98 | |
c201075 | 8:0268032d5849 | 99 | uint8_t sen_buf[10]; |
c201075 | 8:0268032d5849 | 100 | uint8_t mpu_buf[12]; |
c201075 | 8:0268032d5849 | 101 | |
c201075 | 14:8a589bb0868c | 102 | pc.baud(9600); |
c201075 | 13:ed867b8003c2 | 103 | |
c201075 | 14:8a589bb0868c | 104 | //MPU 成功するまでリトライ |
c201075 | 13:ed867b8003c2 | 105 | wb.set_led1(1); |
c201075 | 14:8a589bb0868c | 106 | wait(1); |
c201075 | 14:8a589bb0868c | 107 | |
c201075 | 14:8a589bb0868c | 108 | if(!mpu.testConnection()){ |
c201075 | 14:8a589bb0868c | 109 | pc.printf("MPU connection fail, -> soft reset \n\r"); |
c201075 | 14:8a589bb0868c | 110 | NVIC_SystemReset(); |
c201075 | 14:8a589bb0868c | 111 | } |
c201075 | 14:8a589bb0868c | 112 | |
c201075 | 13:ed867b8003c2 | 113 | wb.set_led1(0); |
c201075 | 13:ed867b8003c2 | 114 | pc.printf("MPU6050 initialize passed \n\r"); |
jksoft | 0:8468a4403fea | 115 | |
c201075 | 16:aea4df56fa6b | 116 | |
c201075 | 16:aea4df56fa6b | 117 | const uint8_t address1[] = {0xe7,0xAA,0xAA,0xAA,0xAA,0xAA}; |
c201075 | 16:aea4df56fa6b | 118 | ble.setAddress(Gap::ADDR_TYPE_PUBLIC, address1); |
c201075 | 16:aea4df56fa6b | 119 | |
c201075 | 16:aea4df56fa6b | 120 | ble.init(); |
c201075 | 4:6b4563aaee2c | 121 | //イベント時のコールバック関数 |
c201075 | 7:5aa479fe5d0b | 122 | ble.onConnection(onConnected); |
c201075 | 7:5aa479fe5d0b | 123 | ble.onDisconnection(onDisconnected); |
c201075 | 7:5aa479fe5d0b | 124 | ble.onDataWritten(onDataWritten); |
c201075 | 4:6b4563aaee2c | 125 | |
jksoft | 0:8468a4403fea | 126 | /* setup advertising */ |
c201075 | 4:6b4563aaee2c | 127 | //クラシックBTはサポートせず、BLEデバイスとして認識してもらう |
c201075 | 7:5aa479fe5d0b | 128 | ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED); |
c201075 | 4:6b4563aaee2c | 129 | //デバイスがセントラルに接続可能であることを設定 |
c201075 | 7:5aa479fe5d0b | 130 | ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); |
c201075 | 4:6b4563aaee2c | 131 | //LOCAL NAMEの設定、BLEでは終端記号は不要なので-1する |
c201075 | 7:5aa479fe5d0b | 132 | ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,(const uint8_t *)"mbed WallbotBLE", sizeof("mbed WallbotBLE") - 1); |
c201075 | 7:5aa479fe5d0b | 133 | |
c201075 | 4:6b4563aaee2c | 134 | //16Bit短縮UUIDの設定 |
c201075 | 8:0268032d5849 | 135 | //HACK:リバースが必要?「mbed BLE APIで128bit UUIDを含むGATT Serviceを2つ以上登録すると Service UUIDがひっくり返る?」 |
c201075 | 7:5aa479fe5d0b | 136 | ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,(const uint8_t *)base_uuid, sizeof(base_uuid)); |
c201075 | 7:5aa479fe5d0b | 137 | |
c201075 | 4:6b4563aaee2c | 138 | //Advertiseパケットの送信周期 |
c201075 | 7:5aa479fe5d0b | 139 | ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */ |
jksoft | 0:8468a4403fea | 140 | |
c201075 | 4:6b4563aaee2c | 141 | //サービスの登録 |
c201075 | 7:5aa479fe5d0b | 142 | ble.addService(myService); |
c201075 | 4:6b4563aaee2c | 143 | |
c201075 | 4:6b4563aaee2c | 144 | //Advertizeの開始 |
c201075 | 7:5aa479fe5d0b | 145 | ble.startAdvertising(); |
jksoft | 0:8468a4403fea | 146 | |
c201075 | 13:ed867b8003c2 | 147 | //ラインセンサキャリブレーション |
c201075 | 13:ed867b8003c2 | 148 | //pc.printf("auto calibrate start\n\r"); |
c201075 | 16:aea4df56fa6b | 149 | |
c201075 | 16:aea4df56fa6b | 150 | //適当キャリブレーション |
c201075 | 16:aea4df56fa6b | 151 | for(int i = 0 ; i < 4 ; i++) |
c201075 | 16:aea4df56fa6b | 152 | { |
c201075 | 16:aea4df56fa6b | 153 | wb._calibratedMinimum[i] = 300; |
c201075 | 16:aea4df56fa6b | 154 | wb._calibratedMaximum[i] = 900; |
c201075 | 16:aea4df56fa6b | 155 | } |
c201075 | 16:aea4df56fa6b | 156 | //wb.auto_calibrate(); //自動キャリブレーション |
c201075 | 6:9fd87d75a24b | 157 | #ifdef DEBUG |
c201075 | 5:eeabd90b6d62 | 158 | for(int i = 0 ; i < 4 ; i++) |
c201075 | 5:eeabd90b6d62 | 159 | { |
c201075 | 5:eeabd90b6d62 | 160 | pc.printf("(%d,%d) ",wb._calibratedMinimum[i],wb._calibratedMaximum[i]); |
c201075 | 5:eeabd90b6d62 | 161 | } |
c201075 | 5:eeabd90b6d62 | 162 | pc.printf("\n\rauto calibrate end\n\r"); |
c201075 | 6:9fd87d75a24b | 163 | #endif |
jksoft | 0:8468a4403fea | 164 | |
c201075 | 5:eeabd90b6d62 | 165 | #if 0 //エンコーダキャリブレーション用コード |
c201075 | 4:6b4563aaee2c | 166 | BusIn enc(P0_8,P0_10,P0_6,P0_7); |
c201075 | 4:6b4563aaee2c | 167 | enc.mode(PullNone); |
c201075 | 4:6b4563aaee2c | 168 | while(1){ |
c201075 | 4:6b4563aaee2c | 169 | char c = enc.read(); |
c201075 | 4:6b4563aaee2c | 170 | pc.putc(c); |
c201075 | 4:6b4563aaee2c | 171 | wait_ms(10); |
c201075 | 4:6b4563aaee2c | 172 | } |
c201075 | 4:6b4563aaee2c | 173 | #endif |
c201075 | 12:96fbb4cb7c48 | 174 | |
c201075 | 13:ed867b8003c2 | 175 | //速度制御 |
c201075 | 12:96fbb4cb7c48 | 176 | //wb.control_enable(true); |
c201075 | 12:96fbb4cb7c48 | 177 | //wb.SetRPM(-30,30); |
c201075 | 12:96fbb4cb7c48 | 178 | |
jksoft | 0:8468a4403fea | 179 | while (true) { |
c201075 | 11:8142dc8348f4 | 180 | |
c201075 | 8:0268032d5849 | 181 | //センサ値の取得 |
c201075 | 8:0268032d5849 | 182 | line = wb.GetLinePosition(); |
c201075 | 8:0268032d5849 | 183 | rrpm = wb.get_right_rpm(); |
c201075 | 8:0268032d5849 | 184 | lrpm = wb.get_left_rpm(); |
c201075 | 14:8a589bb0868c | 185 | mpu.getAcceleroRaw(mpu_a); |
c201075 | 14:8a589bb0868c | 186 | mpu.getGyroRaw(mpu_g); |
c201075 | 8:0268032d5849 | 187 | |
c201075 | 16:aea4df56fa6b | 188 | //送信の準備(リトルエンディアン) |
c201075 | 8:0268032d5849 | 189 | memcpy(sen_buf ,&line,sizeof(line)); |
c201075 | 8:0268032d5849 | 190 | memcpy(sen_buf+sizeof(line) ,&rrpm,sizeof(rrpm)); |
c201075 | 8:0268032d5849 | 191 | memcpy(sen_buf+sizeof(line)+sizeof(rrpm),&lrpm,sizeof(lrpm)); |
c201075 | 8:0268032d5849 | 192 | |
c201075 | 14:8a589bb0868c | 193 | memcpy(mpu_buf ,mpu_a,sizeof(mpu_a)); |
c201075 | 14:8a589bb0868c | 194 | memcpy(mpu_buf+sizeof(mpu_a),mpu_g,sizeof(mpu_g)); |
c201075 | 8:0268032d5849 | 195 | |
c201075 | 11:8142dc8348f4 | 196 | //送信 |
c201075 | 8:0268032d5849 | 197 | ble.updateCharacteristicValue(senChar.getValueAttribute().getHandle(), (uint8_t *)sen_buf, sizeof(sen_buf)); |
c201075 | 8:0268032d5849 | 198 | ble.updateCharacteristicValue(mpuChar.getValueAttribute().getHandle(), (uint8_t *)mpu_buf, sizeof(mpu_buf)); |
c201075 | 8:0268032d5849 | 199 | |
c201075 | 8:0268032d5849 | 200 | // |
c201075 | 4:6b4563aaee2c | 201 | #ifdef DEBUG |
c201075 | 11:8142dc8348f4 | 202 | pc.printf("Pulse(%d,%d) RPM(%.2f,%.2f) ",wb._left_pulses,wb._right_pulses,lrpm, rrpm); |
c201075 | 8:0268032d5849 | 203 | pc.printf("LinePos:%d ",line); |
c201075 | 14:8a589bb0868c | 204 | pc.printf("Sens(%d,%d,%d,%d)",wb.sensor_values[0],wb.sensor_values[1],wb.sensor_values[2],wb.sensor_values[3]); |
c201075 | 14:8a589bb0868c | 205 | pc.printf("MPU(%d,%d,%d, %d,%d,%d)",mpu_a[0],mpu_a[1],mpu_a[2],mpu_g[0],mpu_g[1],mpu_g[2]); |
c201075 | 14:8a589bb0868c | 206 | |
c201075 | 5:eeabd90b6d62 | 207 | pc.printf("\n\r"); |
c201075 | 4:6b4563aaee2c | 208 | #endif |
c201075 | 8:0268032d5849 | 209 | wait_ms(10); |
c201075 | 14:8a589bb0868c | 210 | |
jksoft | 0:8468a4403fea | 211 | } |
jksoft | 0:8468a4403fea | 212 | } |
jksoft | 0:8468a4403fea | 213 |