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@8:b916e6f45f75, 2016-07-10 (annotated)

Committer:
inst
Date:
Sun Jul 10 07:49:00 2016 +0000
Revision:
8:b916e6f45f75
Parent:
6:a0cc9c27cedf
Child:
9:21f623d2ee34
???; ?????

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 6:a0cc9c27cedf 9 const int16_t _init_write_data[SIZE_OF_WRITE_DATA] = {
inst 6:a0cc9c27cedf 10 0, // ENCODER1
inst 6:a0cc9c27cedf 11 0, // ENCODER2
inst 6:a0cc9c27cedf 12 0, // ENCODER3
inst 6:a0cc9c27cedf 13 65535 / 2, // POTENTIONMETER1
inst 6:a0cc9c27cedf 14 65535 / 2, // POTENTIONMETER2
inst 6:a0cc9c27cedf 15 65535 / 2 // POTENTIONMETER3
inst 6:a0cc9c27cedf 16 };
inst 0:9ca9a6eddffa 17 const PinName serial_connected_mcu::_servo_pins[SERVO_NUM] = {
inst 0:9ca9a6eddffa 18 PB_6,
inst 0:9ca9a6eddffa 19 PB_7,
inst 0:9ca9a6eddffa 20 PB_8
inst 0:9ca9a6eddffa 21 };
inst 0:9ca9a6eddffa 22
inst 0:9ca9a6eddffa 23 TIM_TypeDef* serial_connected_mcu::_encoder_timers[ENCODER_NUM] = {
inst 0:9ca9a6eddffa 24 TIM1,
inst 0:9ca9a6eddffa 25 TIM2,
inst 0:9ca9a6eddffa 26 TIM3
inst 0:9ca9a6eddffa 27 };
inst 0:9ca9a6eddffa 28
inst 0:9ca9a6eddffa 29 const size_t serial_connected_mcu::_encoder_pulse_per_revol = 100;
inst 0:9ca9a6eddffa 30
inst 0:9ca9a6eddffa 31 const PinName serial_connected_mcu::_analog_input_pins[ANALOG_INPUT_NUM] = {
inst 0:9ca9a6eddffa 32 A3,
inst 0:9ca9a6eddffa 33 A4,
inst 0:9ca9a6eddffa 34 A5
inst 0:9ca9a6eddffa 35 };
inst 0:9ca9a6eddffa 36
inst 0:9ca9a6eddffa 37 serial_connected_mcu* serial_connected_mcu::instance() {
inst 0:9ca9a6eddffa 38 if (_instance == NULL) {
inst 0:9ca9a6eddffa 39 _instance = new serial_connected_mcu;
inst 0:9ca9a6eddffa 40 }
inst 0:9ca9a6eddffa 41 return _instance;
inst 0:9ca9a6eddffa 42 }
inst 0:9ca9a6eddffa 43
inst 0:9ca9a6eddffa 44 serial_connected_mcu::serial_connected_mcu() {
inst 8:b916e6f45f75 45 for (size_t i = 0; i < SIZE_OF_WRITE_DATA; ++i) {
inst 6:a0cc9c27cedf 46 _slave.set(i, 0);
inst 4:1323ef48a984 47 }
inst 4:1323ef48a984 48
inst 0:9ca9a6eddffa 49 for (size_t i = 0; i < SERVO_NUM; ++i) {
inst 0:9ca9a6eddffa 50 _servos[i] = new servo(_servo_pins[i]);
inst 0:9ca9a6eddffa 51 }
inst 0:9ca9a6eddffa 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 0:9ca9a6eddffa 55 }
inst 0:9ca9a6eddffa 56 for (size_t i = 0; i < SERVO_NUM; ++i) {
inst 0:9ca9a6eddffa 57 _analog_inputs[i] = new AnalogIn(_analog_input_pins[i]);
inst 0:9ca9a6eddffa 58 }
inst 0:9ca9a6eddffa 59 }
inst 0:9ca9a6eddffa 60
inst 1:0ba151c701a3 61 serial_connected_mcu::~serial_connected_mcu() {
inst 1:0ba151c701a3 62 for (size_t i = 0; i < SERVO_NUM; ++i) {
inst 1:0ba151c701a3 63 delete _servos[i];
inst 2:9d7a03c79cd3 64 }
inst 1:0ba151c701a3 65 for (size_t i = 0; i < ENCODER_NUM; ++i) {
inst 1:0ba151c701a3 66 delete _encoders[i];
inst 1:0ba151c701a3 67 }
inst 1:0ba151c701a3 68 for (size_t i = 0; i < SERVO_NUM; ++i) {
inst 1:0ba151c701a3 69 delete _analog_inputs[i];
inst 1:0ba151c701a3 70 }
inst 1:0ba151c701a3 71 }
inst 1:0ba151c701a3 72
inst 0:9ca9a6eddffa 73 void serial_connected_mcu::update() {
inst 8:b916e6f45f75 74 _slave.set(ENCODER1, _encoders[0]->get_revol_num());
inst 8:b916e6f45f75 75 _slave.set(ENCODER2, _encoders[1]->get_revol_num());
inst 8:b916e6f45f75 76 _slave.set(ENCODER3, _encoders[2]->get_revol_num());
inst 8:b916e6f45f75 77 _slave.set(POTENTIONMETER1, _analog_inputs[0]->read());
inst 8:b916e6f45f75 78 _slave.set(POTENTIONMETER2, _analog_inputs[1]->read());
inst 8:b916e6f45f75 79 _slave.set(POTENTIONMETER3, _analog_inputs[2]->read());
inst 0:9ca9a6eddffa 80
inst 8:b916e6f45f75 81 _servos[0]->set_position(_slave.get(ESC1));
inst 8:b916e6f45f75 82 _servos[1]->set_position(_slave.get(ESC2));
inst 8:b916e6f45f75 83 _servos[2]->set_position(_slave.get(ESC3));
inst 0:9ca9a6eddffa 84 }
inst 0:9ca9a6eddffa 85
inst 0:9ca9a6eddffa 86 } /* namespace serial_connected_mcu */