nucleo側のプログラム
Dependents: serial_connected_mcu_nucleo serial_connected_mcu_nucleo
Fork of serial_connected_mcu by
serial_connected_mcu.cpp@16:4e310c3f3a2b, 2016-08-08 (annotated)
- Committer:
- inst
- Date:
- Mon Aug 08 05:12:35 2016 +0000
- Revision:
- 16:4e310c3f3a2b
- Parent:
- 15:9a50a5a747ad
- Child:
- 17:814679e7b0fc
????????????????????????????????
Who changed what in which revision?
User | Revision | Line number | New 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 | 16:4e310c3f3a2b | 10 | const float serial_connected_mcu::_sampling_delta_time_usec = 1000.0f; |
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 | 11:6f8e34a71c7e | 57 | |
inst | 11:6f8e34a71c7e | 58 | _analog_inputs = new AnalogIn*[_analog_input_num]; |
inst | 11:6f8e34a71c7e | 59 | for (size_t i = 0; i < _analog_input_num; ++i) { |
inst | 0:9ca9a6eddffa | 60 | _analog_inputs[i] = new AnalogIn(_analog_input_pins[i]); |
inst | 0:9ca9a6eddffa | 61 | } |
inst | 11:6f8e34a71c7e | 62 | |
inst | 11:6f8e34a71c7e | 63 | _timer.start(); |
inst | 0:9ca9a6eddffa | 64 | } |
inst | 0:9ca9a6eddffa | 65 | |
inst | 1:0ba151c701a3 | 66 | serial_connected_mcu::~serial_connected_mcu() { |
inst | 11:6f8e34a71c7e | 67 | for (size_t i = 0; i < _servo_num; ++i) { |
inst | 1:0ba151c701a3 | 68 | delete _servos[i]; |
inst | 2:9d7a03c79cd3 | 69 | } |
inst | 16:4e310c3f3a2b | 70 | for (size_t i = 0; i < ENCODER_NUM; ++i) { |
inst | 1:0ba151c701a3 | 71 | delete _encoders[i]; |
inst | 1:0ba151c701a3 | 72 | } |
inst | 11:6f8e34a71c7e | 73 | for (size_t i = 0; i < _analog_input_num; ++i) { |
inst | 1:0ba151c701a3 | 74 | delete _analog_inputs[i]; |
inst | 1:0ba151c701a3 | 75 | } |
inst | 1:0ba151c701a3 | 76 | } |
inst | 1:0ba151c701a3 | 77 | |
inst | 0:9ca9a6eddffa | 78 | void serial_connected_mcu::update() { |
inst | 16:4e310c3f3a2b | 79 | static bool is_active = false; |
inst | 16:4e310c3f3a2b | 80 | float encoder_values[ENCODER_NUM]; |
inst | 11:6f8e34a71c7e | 81 | |
inst | 16:4e310c3f3a2b | 82 | for (size_t i = 0; i < ENCODER_NUM; ++i) { |
inst | 13:2f9a5207fb51 | 83 | encoder_values[i] = _encoders[i]->get_counts(); |
inst | 16:4e310c3f3a2b | 84 | |
inst | 16:4e310c3f3a2b | 85 | if (_timer.read_us() > _sampling_delta_time_usec) { |
inst | 16:4e310c3f3a2b | 86 | if (encoder_values[i] == _prev_encoders_values[i]) { |
inst | 16:4e310c3f3a2b | 87 | _encoders_speed[i] = 0.0f; |
inst | 16:4e310c3f3a2b | 88 | is_active = false; |
inst | 16:4e310c3f3a2b | 89 | } else { |
inst | 16:4e310c3f3a2b | 90 | if (is_active) { |
inst | 16:4e310c3f3a2b | 91 | _encoders_speed[i] = (encoder_values[i] - _prev_encoders_values[i]) * 1000.0f / _timer.read_us(); |
inst | 16:4e310c3f3a2b | 92 | _prev_encoders_values[i] = encoder_values[i]; |
inst | 16:4e310c3f3a2b | 93 | } else { |
inst | 16:4e310c3f3a2b | 94 | is_active = true; |
inst | 16:4e310c3f3a2b | 95 | } |
inst | 16:4e310c3f3a2b | 96 | _timer.reset(); |
inst | 16:4e310c3f3a2b | 97 | } |
inst | 11:6f8e34a71c7e | 98 | } |
inst | 11:6f8e34a71c7e | 99 | } |
inst | 11:6f8e34a71c7e | 100 | |
inst | 16:4e310c3f3a2b | 101 | _slave.set(ENCODER_SPEED1, _encoders_speed[0]); |
inst | 16:4e310c3f3a2b | 102 | _slave.set(ENCODER_SPEED2, _encoders_speed[1]); |
inst | 16:4e310c3f3a2b | 103 | _slave.set(ENCODER_SPEED3, _encoders_speed[2]); |
inst | 13:2f9a5207fb51 | 104 | _slave.set(ENCODER1, encoder_values[0]); |
inst | 13:2f9a5207fb51 | 105 | _slave.set(ENCODER2, encoder_values[1]); |
inst | 13:2f9a5207fb51 | 106 | _slave.set(ENCODER3, encoder_values[2]); |
inst | 9:21f623d2ee34 | 107 | _slave.set(POTENTIONMETER1, (_analog_inputs[0]->read() - 0.5f) * 2.0f * 32767.0f); |
inst | 9:21f623d2ee34 | 108 | _slave.set(POTENTIONMETER2, (_analog_inputs[1]->read() - 0.5f) * 2.0f * 32767.0f); |
inst | 16:4e310c3f3a2b | 109 | _slave.set(POTENTIONMETER3, (_analog_inputs[2]->read() - 0.5f) * 2.0f * 32767.0f); |
inst | 0:9ca9a6eddffa | 110 | |
inst | 9:21f623d2ee34 | 111 | _servos[0]->set_position(_slave.get(ESC1) / 32767.0f); |
inst | 9:21f623d2ee34 | 112 | _servos[1]->set_position(_slave.get(ESC2) / 32767.0f); |
inst | 9:21f623d2ee34 | 113 | _servos[2]->set_position(_slave.get(ESC3) / 32767.0f); |
inst | 0:9ca9a6eddffa | 114 | } |
inst | 0:9ca9a6eddffa | 115 | |
inst | 0:9ca9a6eddffa | 116 | } /* namespace serial_connected_mcu */ |