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@11:6f8e34a71c7e, 2016-07-30 (annotated)

Committer:
inst
Date:
Sat Jul 30 06:00:59 2016 +0000
Revision:
11:6f8e34a71c7e
Parent:
10:819597ff4492
Child:
13:2f9a5207fb51
?? ENCODER_SPEED

Who changed what in which revision?

UserRevisionLine numberNew contents of line
inst 0:9ca9a6eddffa 1 #include "serial_connected_mcu.hpp"
inst 4:1323ef48a984 2 #include "serial_connected_mcu_slave.hpp"
inst 0:9ca9a6eddffa 3 #include "mbed.h"
inst 0:9ca9a6eddffa 4
inst 0:9ca9a6eddffa 5 namespace serial_connected_mcu {
inst 0:9ca9a6eddffa 6
inst 0:9ca9a6eddffa 7 serial_connected_mcu* serial_connected_mcu::_instance = NULL;
inst 6:a0cc9c27cedf 8
inst 11:6f8e34a71c7e 9 const int16_t _init_write_data[] = {
inst 6:a0cc9c27cedf 10 0, // ENCODER1
inst 6:a0cc9c27cedf 11 0, // ENCODER2
inst 6:a0cc9c27cedf 12 0, // ENCODER3
inst 10:819597ff4492 13 0, // POTENTIONMETER1
inst 10:819597ff4492 14 0, // POTENTIONMETER2
inst 10:819597ff4492 15 0 // POTENTIONMETER3
inst 6:a0cc9c27cedf 16 };
inst 11:6f8e34a71c7e 17 const PinName serial_connected_mcu::_servo_pins[] = {
inst 0:9ca9a6eddffa 18 PB_6,
inst 0:9ca9a6eddffa 19 PB_7,
inst 0:9ca9a6eddffa 20 PB_8
inst 0:9ca9a6eddffa 21 };
inst 11:6f8e34a71c7e 22 TIM_TypeDef* serial_connected_mcu::_encoder_timers[] = {
inst 0:9ca9a6eddffa 23 TIM1,
inst 0:9ca9a6eddffa 24 TIM2,
inst 0:9ca9a6eddffa 25 TIM3
inst 0:9ca9a6eddffa 26 };
inst 0:9ca9a6eddffa 27 const size_t serial_connected_mcu::_encoder_pulse_per_revol = 100;
inst 0:9ca9a6eddffa 28
inst 11:6f8e34a71c7e 29 const PinName serial_connected_mcu::_analog_input_pins[] = {
inst 0:9ca9a6eddffa 30 A3,
inst 0:9ca9a6eddffa 31 A4,
inst 0:9ca9a6eddffa 32 A5
inst 0:9ca9a6eddffa 33 };
inst 11:6f8e34a71c7e 34 const size_t serial_connected_mcu::_servo_num = 3;
inst 11:6f8e34a71c7e 35 const size_t serial_connected_mcu::_encoder_num = 3;
inst 11:6f8e34a71c7e 36 const size_t serial_connected_mcu::_analog_input_num = 3;
inst 0:9ca9a6eddffa 37
inst 0:9ca9a6eddffa 38 serial_connected_mcu* serial_connected_mcu::instance() {
inst 0:9ca9a6eddffa 39 if (_instance == NULL) {
inst 0:9ca9a6eddffa 40 _instance = new serial_connected_mcu;
inst 0:9ca9a6eddffa 41 }
inst 0:9ca9a6eddffa 42 return _instance;
inst 0:9ca9a6eddffa 43 }
inst 0:9ca9a6eddffa 44
inst 0:9ca9a6eddffa 45 serial_connected_mcu::serial_connected_mcu() {
inst 11:6f8e34a71c7e 46 _prev_encoders_values = new float[_encoder_num];
inst 11:6f8e34a71c7e 47
inst 8:b916e6f45f75 48 for (size_t i = 0; i < SIZE_OF_WRITE_DATA; ++i) {
inst 6:a0cc9c27cedf 49 _slave.set(i, 0);
inst 4:1323ef48a984 50 }
inst 4:1323ef48a984 51
inst 11:6f8e34a71c7e 52 _servos = new servo*[_servo_num];
inst 11:6f8e34a71c7e 53 for (size_t i = 0; i < _servo_num; ++i) {
inst 0:9ca9a6eddffa 54 _servos[i] = new servo(_servo_pins[i]);
inst 0:9ca9a6eddffa 55 }
inst 11:6f8e34a71c7e 56
inst 11:6f8e34a71c7e 57 _encoders = new rotary_encoder_ab_phase*[_encoder_num];
inst 11:6f8e34a71c7e 58 for (size_t i = 0; i < _encoder_num; ++i) {
inst 0:9ca9a6eddffa 59 _encoders[i] = new rotary_encoder_ab_phase(_encoder_timers[i], _encoder_pulse_per_revol);
inst 8:b916e6f45f75 60 _encoders[i]->start();
inst 11:6f8e34a71c7e 61 _prev_encoders_values[i] = 0.0f;
inst 0:9ca9a6eddffa 62 }
inst 11:6f8e34a71c7e 63
inst 11:6f8e34a71c7e 64 _analog_inputs = new AnalogIn*[_analog_input_num];
inst 11:6f8e34a71c7e 65 for (size_t i = 0; i < _analog_input_num; ++i) {
inst 0:9ca9a6eddffa 66 _analog_inputs[i] = new AnalogIn(_analog_input_pins[i]);
inst 0:9ca9a6eddffa 67 }
inst 11:6f8e34a71c7e 68
inst 11:6f8e34a71c7e 69 _timer.start();
inst 0:9ca9a6eddffa 70 }
inst 0:9ca9a6eddffa 71
inst 1:0ba151c701a3 72 serial_connected_mcu::~serial_connected_mcu() {
inst 11:6f8e34a71c7e 73 for (size_t i = 0; i < _servo_num; ++i) {
inst 1:0ba151c701a3 74 delete _servos[i];
inst 2:9d7a03c79cd3 75 }
inst 11:6f8e34a71c7e 76 for (size_t i = 0; i < _encoder_num; ++i) {
inst 1:0ba151c701a3 77 delete _encoders[i];
inst 1:0ba151c701a3 78 }
inst 11:6f8e34a71c7e 79 for (size_t i = 0; i < _analog_input_num; ++i) {
inst 1:0ba151c701a3 80 delete _analog_inputs[i];
inst 1:0ba151c701a3 81 }
inst 1:0ba151c701a3 82 }
inst 1:0ba151c701a3 83
inst 0:9ca9a6eddffa 84 void serial_connected_mcu::update() {
inst 11:6f8e34a71c7e 85 float encoder_values[_encoder_num];
inst 11:6f8e34a71c7e 86 float encoders_speed[] = {};
inst 11:6f8e34a71c7e 87
inst 11:6f8e34a71c7e 88 for (size_t i = 0; i < _encoder_num; ++i) {
inst 11:6f8e34a71c7e 89 encoder_values[i] = _encoders[i]->get_revol_num();
inst 11:6f8e34a71c7e 90 if ((encoder_values[i] != _prev_encoders_values[i]) &&
inst 11:6f8e34a71c7e 91 _timer.read_us() != 0) {
inst 11:6f8e34a71c7e 92 encoders_speed[i] = (encoder_values[i] - _prev_encoders_values[i]) * 1000.0f / _timer.read_us();
inst 11:6f8e34a71c7e 93 _timer.reset();
inst 11:6f8e34a71c7e 94 }
inst 11:6f8e34a71c7e 95 _prev_encoders_values[i] = encoder_values[i];
inst 11:6f8e34a71c7e 96 }
inst 11:6f8e34a71c7e 97
inst 11:6f8e34a71c7e 98 _slave.set(ENCODER1, encoder_values[0] * 32767.0f);
inst 11:6f8e34a71c7e 99 _slave.set(ENCODER2, encoder_values[1] * 32767.0f);
inst 11:6f8e34a71c7e 100 _slave.set(ENCODER3, encoder_values[2] * 32767.0f);
inst 11:6f8e34a71c7e 101 _slave.set(ENCODER_SPEED1, encoder_speed[0] * 32767.0f);
inst 11:6f8e34a71c7e 102 _slave.set(ENCODER_SPEED2, encoder_speed[1] * 32767.0f);
inst 11:6f8e34a71c7e 103 _slave.set(ENCODER_SPEED3, encoder_speed[2] * 32767.0f);
inst 9:21f623d2ee34 104 _slave.set(POTENTIONMETER1, (_analog_inputs[0]->read() - 0.5f) * 2.0f * 32767.0f);
inst 9:21f623d2ee34 105 _slave.set(POTENTIONMETER2, (_analog_inputs[1]->read() - 0.5f) * 2.0f * 32767.0f);
inst 9:21f623d2ee34 106 _slave.set(POTENTIONMETER3, (_analog_inputs[2]->read() - 0.5f) * 2.0f * 32767.0f);
inst 0:9ca9a6eddffa 107
inst 9:21f623d2ee34 108 _servos[0]->set_position(_slave.get(ESC1) / 32767.0f);
inst 9:21f623d2ee34 109 _servos[1]->set_position(_slave.get(ESC2) / 32767.0f);
inst 9:21f623d2ee34 110 _servos[2]->set_position(_slave.get(ESC3) / 32767.0f);
inst 0:9ca9a6eddffa 111 }
inst 0:9ca9a6eddffa 112
inst 0:9ca9a6eddffa 113 } /* namespace serial_connected_mcu */