tarou yamada / serial_connected_mcu

nucleo側のプログラム

Dependents:   serial_connected_mcu_nucleo serial_connected_mcu_nucleo

Fork of serial_connected_mcu by tarou yamada

serial_connected_mcu.cpp@18:111207e201b6, 2016-09-08 (annotated)

Committer:
inst
Date:
Thu Sep 08 02:27:22 2016 +0000
Revision:
18:111207e201b6
Parent:
17:814679e7b0fc 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
inst 16:4e310c3f3a2b 1
inst 0:9ca9a6eddffa 2 #include "serial_connected_mcu.hpp"
inst 4:1323ef48a984 3 #include "serial_connected_mcu_slave.hpp"
inst 0:9ca9a6eddffa 4 #include "mbed.h"
inst 0:9ca9a6eddffa 5
inst 0:9ca9a6eddffa 6 namespace serial_connected_mcu {
inst 0:9ca9a6eddffa 7
inst 0:9ca9a6eddffa 8 serial_connected_mcu* serial_connected_mcu::_instance = NULL;
inst 16:4e310c3f3a2b 9
inst 18:111207e201b6 10 const float serial_connected_mcu::_sampling_delta_time_usec = 5000.0f;
inst 16:4e310c3f3a2b 11
inst 11:6f8e34a71c7e 12 const PinName serial_connected_mcu::_servo_pins[] = {
inst 0:9ca9a6eddffa 13 PB_6,
inst 0:9ca9a6eddffa 14 PB_7,
inst 0:9ca9a6eddffa 15 PB_8
inst 0:9ca9a6eddffa 16 };
inst 11:6f8e34a71c7e 17 TIM_TypeDef* serial_connected_mcu::_encoder_timers[] = {
inst 0:9ca9a6eddffa 18 TIM1,
inst 16:4e310c3f3a2b 19 TIM3,
inst 16:4e310c3f3a2b 20 TIM2
inst 0:9ca9a6eddffa 21 };
inst 0:9ca9a6eddffa 22 const size_t serial_connected_mcu::_encoder_pulse_per_revol = 100;
inst 0:9ca9a6eddffa 23
inst 11:6f8e34a71c7e 24 const PinName serial_connected_mcu::_analog_input_pins[] = {
inst 0:9ca9a6eddffa 25 A3,
inst 0:9ca9a6eddffa 26 A4,
inst 0:9ca9a6eddffa 27 A5
inst 0:9ca9a6eddffa 28 };
inst 11:6f8e34a71c7e 29 const size_t serial_connected_mcu::_servo_num = 3;
inst 11:6f8e34a71c7e 30 const size_t serial_connected_mcu::_analog_input_num = 3;
inst 0:9ca9a6eddffa 31
inst 0:9ca9a6eddffa 32 serial_connected_mcu* serial_connected_mcu::instance() {
inst 0:9ca9a6eddffa 33 if (_instance == NULL) {
inst 0:9ca9a6eddffa 34 _instance = new serial_connected_mcu;
inst 0:9ca9a6eddffa 35 }
inst 0:9ca9a6eddffa 36 return _instance;
inst 0:9ca9a6eddffa 37 }
inst 0:9ca9a6eddffa 38
inst 0:9ca9a6eddffa 39 serial_connected_mcu::serial_connected_mcu() {
inst 16:4e310c3f3a2b 40 _prev_encoders_values = new float[ENCODER_NUM];
inst 11:6f8e34a71c7e 41
inst 8:b916e6f45f75 42 for (size_t i = 0; i < SIZE_OF_WRITE_DATA; ++i) {
inst 6:a0cc9c27cedf 43 _slave.set(i, 0);
inst 4:1323ef48a984 44 }
inst 4:1323ef48a984 45
inst 11:6f8e34a71c7e 46 _servos = new servo*[_servo_num];
inst 11:6f8e34a71c7e 47 for (size_t i = 0; i < _servo_num; ++i) {
inst 0:9ca9a6eddffa 48 _servos[i] = new servo(_servo_pins[i]);
inst 0:9ca9a6eddffa 49 }
inst 11:6f8e34a71c7e 50
inst 16:4e310c3f3a2b 51 _encoders = new rotary_encoder_ab_phase*[ENCODER_NUM];
inst 16:4e310c3f3a2b 52 for (size_t i = 0; i < ENCODER_NUM; ++i) {
inst 0:9ca9a6eddffa 53 _encoders[i] = new rotary_encoder_ab_phase(_encoder_timers[i], _encoder_pulse_per_revol);
inst 8:b916e6f45f75 54 _encoders[i]->start();
inst 11:6f8e34a71c7e 55 _prev_encoders_values[i] = 0.0f;
inst 0:9ca9a6eddffa 56 }
inst 17:814679e7b0fc 57 _timer.start();
inst 11:6f8e34a71c7e 58
inst 11:6f8e34a71c7e 59 _analog_inputs = new AnalogIn*[_analog_input_num];
inst 11:6f8e34a71c7e 60 for (size_t i = 0; i < _analog_input_num; ++i) {
inst 0:9ca9a6eddffa 61 _analog_inputs[i] = new AnalogIn(_analog_input_pins[i]);
inst 0:9ca9a6eddffa 62 }
inst 0:9ca9a6eddffa 63 }
inst 0:9ca9a6eddffa 64
inst 1:0ba151c701a3 65 serial_connected_mcu::~serial_connected_mcu() {
inst 11:6f8e34a71c7e 66 for (size_t i = 0; i < _servo_num; ++i) {
inst 1:0ba151c701a3 67 delete _servos[i];
inst 2:9d7a03c79cd3 68 }
inst 16:4e310c3f3a2b 69 for (size_t i = 0; i < ENCODER_NUM; ++i) {
inst 1:0ba151c701a3 70 delete _encoders[i];
inst 1:0ba151c701a3 71 }
inst 11:6f8e34a71c7e 72 for (size_t i = 0; i < _analog_input_num; ++i) {
inst 1:0ba151c701a3 73 delete _analog_inputs[i];
inst 1:0ba151c701a3 74 }
inst 1:0ba151c701a3 75 }
inst 1:0ba151c701a3 76
inst 0:9ca9a6eddffa 77 void serial_connected_mcu::update() {
inst 16:4e310c3f3a2b 78 float encoder_values[ENCODER_NUM];
inst 18:111207e201b6 79 /*
inst 17:814679e7b0fc 80 if (_timer.read_us() > _sampling_delta_time_usec) {
inst 17:814679e7b0fc 81 float t = _timer.read_us();
inst 17:814679e7b0fc 82 for (size_t i = 0; i < ENCODER_NUM; ++i) {
inst 17:814679e7b0fc 83 encoder_values[i] = _encoders[i]->get_counts();
inst 16:4e310c3f3a2b 84 if (encoder_values[i] == _prev_encoders_values[i]) {
inst 16:4e310c3f3a2b 85 _encoders_speed[i] = 0.0f;
inst 16:4e310c3f3a2b 86 } else {
inst 17:814679e7b0fc 87 _encoders_speed[i] = (encoder_values[i] - _prev_encoders_values[i]) * 1000.0f / t;
inst 16:4e310c3f3a2b 88 }
inst 17:814679e7b0fc 89 _prev_encoders_values[i] = encoder_values[i];
inst 11:6f8e34a71c7e 90 }
inst 17:814679e7b0fc 91 _timer.reset();
inst 11:6f8e34a71c7e 92 }
inst 18:111207e201b6 93 */
inst 18:111207e201b6 94 for (size_t i = 0; i < ENCODER_NUM; ++i) {
inst 18:111207e201b6 95 encoder_values[i] = _encoders[i]->get_counts();
inst 18:111207e201b6 96 //_encoders_speed[i] = encoder_values[i] - _prev_encoders_values[i];
inst 18:111207e201b6 97 //_prev_encoders_values[i] = encoder_values[i];
inst 18:111207e201b6 98 }
inst 11:6f8e34a71c7e 99
inst 16:4e310c3f3a2b 100 _slave.set(ENCODER_SPEED1, _encoders_speed[0]);
inst 16:4e310c3f3a2b 101 _slave.set(ENCODER_SPEED2, _encoders_speed[1]);
inst 16:4e310c3f3a2b 102 _slave.set(ENCODER_SPEED3, _encoders_speed[2]);
inst 13:2f9a5207fb51 103 _slave.set(ENCODER1, encoder_values[0]);
inst 13:2f9a5207fb51 104 _slave.set(ENCODER2, encoder_values[1]);
inst 13:2f9a5207fb51 105 _slave.set(ENCODER3, encoder_values[2]);
inst 9:21f623d2ee34 106 _slave.set(POTENTIONMETER1, (_analog_inputs[0]->read() - 0.5f) * 2.0f * 32767.0f);
inst 9:21f623d2ee34 107 _slave.set(POTENTIONMETER2, (_analog_inputs[1]->read() - 0.5f) * 2.0f * 32767.0f);
inst 16:4e310c3f3a2b 108 _slave.set(POTENTIONMETER3, (_analog_inputs[2]->read() - 0.5f) * 2.0f * 32767.0f);
inst 0:9ca9a6eddffa 109
inst 9:21f623d2ee34 110 _servos[0]->set_position(_slave.get(ESC1) / 32767.0f);
inst 9:21f623d2ee34 111 _servos[1]->set_position(_slave.get(ESC2) / 32767.0f);
inst 9:21f623d2ee34 112 _servos[2]->set_position(_slave.get(ESC3) / 32767.0f);
inst 0:9ca9a6eddffa 113 }
inst 0:9ca9a6eddffa 114
inst 0:9ca9a6eddffa 115 } /* namespace serial_connected_mcu */