Revision 0:362c1482232c, committed 2016-06-02

Comitter:

lixianyu

Date:

Thu Jun 02 04:03:31 2016 +0000

Commit message:

work fine.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MicroduinoPinNames.h	Thu Jun 02 04:03:31 2016 +0000
@@ -0,0 +1,25 @@
+
+#define D0  P0_0
+#define D1  P0_4
+#define D2  P0_28
+#define D3  P0_26
+#define D4  P0_25
+#define D5  P0_24
+#define D6  P0_1
+#define D7  P0_20
+#define D8  P0_19
+#define D9  P0_18
+#define D10 P0_17
+#define D11 P0_16
+#define D12 P0_15
+#define D13 P0_13
+
+#define A0  P0_7
+#define A1  P0_6
+#define A2  P0_14
+#define A3  P0_23
+#define A6  P0_22
+#define A7  P0_21
+
+#define  SCL P0_10
+#define  SDA P0_11
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Microduino_Motor.cpp	Thu Jun 02 04:03:31 2016 +0000
@@ -0,0 +1,159 @@
+#include "Microduino_Motor.h"
+
+static motor_t motors[10];                          // static array of key structures
+
+uint8_t MotorCount = 0;                                     // the total number of attached keys
+
+Motor::Motor(PinName _motor_pinA, PinName _motor_pinB)
+{
+    if ( MotorCount < 10) {
+        this->motorIndex = MotorCount++;                    // assign a key index to this instance
+        //if (_motor_pinA < NUM_DIGITAL_PINS && _motor_pinB < NUM_DIGITAL_PINS) {
+        if (true) {
+#if 0
+            pinMode( _motor_pinA, OUTPUT) ;
+#else
+            _period_us = 255; // 500Hz
+            pwmout_init(&_pwmA, _motor_pinA);
+            pwmout_period_us(&_pwmA, _period_us); // 500Hz
+            pwmout_pulsewidth_us(&_pwmA, 1);
+#endif
+            motors[this->motorIndex].Pin.nbr_A = _motor_pinA;
+
+#if 0
+            pinMode( _motor_pinB, OUTPUT) ;
+#else
+            pwmout_init(&_pwmB, _motor_pinB);
+            pwmout_period_us(&_pwmB, _period_us); // 500Hz
+            pwmout_pulsewidth_us(&_pwmB, 1);
+#endif
+            motors[this->motorIndex].Pin.nbr_B = _motor_pinB;
+
+            this->fix=1;
+        }
+    } else {
+        this->motorIndex = 255 ;  // too many keys
+    }
+}
+
+void Motor::Fix(float _fix)
+{
+    this->fix=_fix;
+}
+
+int16_t Motor::GetData(int16_t _throttle, int16_t _steering, uint8_t _dir)
+{
+    this->_motor_vol = _throttle;
+
+    if(_dir == 1)
+    {
+        this->_motor_vol -= _steering / 2;
+    }
+    else
+    {
+        this->_motor_vol += _steering / 2;
+    }
+    if (this->_motor_vol > 255)
+        this->_motor_vol = 255;
+    else if (this->_motor_vol < -255)
+        this->_motor_vol = -255;
+
+    //this->_motor_vol *= fix;
+
+    return this->_motor_vol;
+}
+
+#if 0
+void Motor::Driver(int16_t _motor_driver)
+{
+    int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
+    int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
+    if (_motor_driver == 0)   {
+        digitalWrite(channel_A, LOW);
+        digitalWrite(channel_B, LOW);
+    } else if (_motor_driver > 0)   {
+        analogWrite(channel_A, _motor_driver);
+        digitalWrite(channel_B, LOW);
+    } else  {
+        analogWrite(channel_A, 255 + _motor_driver);
+        digitalWrite(channel_B, HIGH);
+    }
+}
+#else
+void Motor::Driver(int16_t _motor_driver)
+{
+    //static bool flag = true;
+    uint32_t pulseWidth = 0;
+    //PinName channel_A = motors[this->motorIndex].Pin.nbr_A;
+    //PinName channel_B = motors[this->motorIndex].Pin.nbr_B;
+    #if 0
+    pwmout_pulsewidth_us(&_pwmA, _period_us/2);
+    pwmout_pulsewidth_us(&_pwmB, 0);
+    return;
+    #endif
+    #if 0
+    pwmout_pulsewidth_us(&_pwmA, 0);
+    pwmout_pulsewidth_us(&_pwmB, _period_us/2);
+    return;
+    #endif
+    if (_motor_driver == 0) {
+        pwmout_pulsewidth_us(&_pwmA, 0);
+        pwmout_pulsewidth_us(&_pwmB, 0);
+    } else if (_motor_driver > 0) {
+        #if 1
+        pulseWidth = _period_us / 255 * _motor_driver;
+        pwmout_pulsewidth_us(&_pwmA, pulseWidth);
+        pwmout_pulsewidth_us(&_pwmB, 2);
+        #else
+        pwmout_pulsewidth_us(&_pwmA, _period_us/2);
+        pwmout_pulsewidth_us(&_pwmB, 0);
+        #endif
+    } else {
+        #if 0
+        _motor_driver = 255 + _motor_driver;
+        pulseWidth = _period_us / 255 * _motor_driver;
+        pwmout_pulsewidth_us(&_pwmA, 0);
+        pwmout_pulsewidth_us(&_pwmB, pulseWidth);
+        #elif 1
+        _motor_driver = abs(_motor_driver);
+        pulseWidth = _period_us / 255 * _motor_driver;
+        pwmout_pulsewidth_us(&_pwmA, 2);
+        pwmout_pulsewidth_us(&_pwmB, pulseWidth);
+        #elif 0
+        _motor_driver = 255 + _motor_driver;
+        pulseWidth = _period_us / 255 * _motor_driver;
+        pwmout_pulsewidth_us(&_pwmA, _period_us);
+        pwmout_pulsewidth_us(&_pwmB, pulseWidth);
+        #else
+        pwmout_pulsewidth_us(&_pwmA, 0);
+        pwmout_pulsewidth_us(&_pwmB, 241);
+        #endif
+    }
+}
+#endif
+
+void Motor::Free()
+{
+    int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
+    int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
+#if 0
+    digitalWrite(channel_A, LOW);
+    digitalWrite(channel_B, LOW);
+#else
+    pwmout_pulsewidth_us(&_pwmA, 0);
+    pwmout_pulsewidth_us(&_pwmB, 0);
+#endif
+}
+
+void Motor::Brake()
+{
+    int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
+    int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
+#if 0
+    digitalWrite(channel_A, HIGH);
+    digitalWrite(channel_B, HIGH);
+#else
+    pwmout_pulsewidth_us(&_pwmA, _period_us);
+    pwmout_pulsewidth_us(&_pwmB, _period_us);
+#endif
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Microduino_Motor.h	Thu Jun 02 04:03:31 2016 +0000
@@ -0,0 +1,46 @@
+#ifndef Motor_h
+#define Motor_h
+
+//#include "Arduino.h"
+#include "mbed.h"
+
+#define CHAN_LEFT 0
+#define CHAN_RIGHT 1
+
+#if 0
+typedef struct  {
+    uint8_t nbr_A        :6 ;
+    uint8_t nbr_B        :6 ;
+} MotorPin_t;
+#else
+typedef struct  {
+    PinName nbr_A;
+    PinName nbr_B;
+} MotorPin_t;
+
+#endif
+
+typedef struct {
+    MotorPin_t Pin;
+} motor_t;
+
+class Motor
+{
+public:
+    Motor(PinName _motor_pinA, PinName _motor_pinB);
+    void Fix(float _fix);
+    void Driver(int16_t _motor_driver);
+    void Free();
+    void Brake();
+    int16_t GetData(int16_t _throttle, int16_t _steering, uint8_t _dir);
+private:
+    uint8_t motorIndex;               // index into the channel data for this key
+    float fix;
+    int16_t _motor_vol;
+protected:
+    pwmout_t _pwmA;
+    pwmout_t _pwmB;
+    int _period_us;
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Microduino_Protocol_HardSer.cpp	Thu Jun 02 04:03:31 2016 +0000
@@ -0,0 +1,114 @@
+#include "Microduino_Protocol_HardSer.h"
+#include "MicroduinoPinNames.h"
+//Timer _timer;
+extern Timer g_cubeTimer;
+//DigitalOut myled(D13);
+uint8_t getChecksum(uint8_t length, uint8_t cmd, uint8_t mydata[])
+{
+    //三个参数分别为： 数据长度  ，  指令代码  ，  实际数据数组
+    uint8_t checksum = 0;
+    checksum ^= (length & 0xFF);
+    checksum ^= (cmd & 0xFF);
+    for (int i = 0; i < length; i++) checksum ^= (mydata[i] & 0xFF);
+    return checksum;
+}
+
+/* Protocol::Protocol(PRO_PORT *ser , byte _channel) {
+  //  common_init();  // Set everything to common state, then...
+  this->channel = _channel;
+  this->num = 0;
+  this->sta = false;
+  this->error = false;
+  P_Serial = ser; // ...override P_Serial with value passed.
+  } */
+static void uart_callback(void)
+{
+    //myled = !myled;
+}
+void Protocol::begin(uint16_t _baud)
+{
+    //myled = 0;
+    //_timer.start();
+    //P_Serial->begin(_baud);
+    P_Serial->baud(_baud);
+    //P_Serial->attach(uart_callback, Serial::RxIrq);
+    //delay(20);
+    //wait_ms(20);
+}
+
+bool Protocol::available(bool _sta)
+{
+    //if (P_Serial->available() > 0) {
+    if (P_Serial->readable() > 0) {
+        if (_sta) {
+            this->inCache = this->inChar;
+            //this->inChar = P_Serial->read();
+            this->inChar = P_Serial->getc();
+            this->buffer[num] = this->inChar;
+
+            if (this->num > BUFFER_MAX - 1) {
+                this->num = 0;
+                return false;
+            } else {
+                this->num++;
+            }
+        }
+        return true;
+    }
+    return false;
+}
+
+uint8_t Protocol::parse(uint16_t* _data, bool _mod)
+{
+    if (available(!_mod)) {
+        //time = millis();
+        //time = _timer.read_ms();
+        time = g_cubeTimer.read_ms();
+        do {
+            if (this->sta) {
+                this->sta = false;
+                this->num = 0;
+                if (this->inChar == this->channel) {
+                    this->error = false;
+                    if (!_mod) {
+                        return P_BUSY;
+                    }
+                } else  {
+                    this->error = true;
+                    return P_ERROR;
+                }
+            }
+
+            if (this->inChar == 0xBB && this->inCache == 0xAA) {
+                this->sta = true;
+                if (!_mod) {
+                    return P_BUSY;
+                }
+            }
+
+            if (this->num  == (CHANNEL_NUM * 2 + 1) && !this->error) {
+                this->inCache = this->buffer[CHANNEL_NUM * 2];
+                this->buffer[CHANNEL_NUM * 2] = NULL;
+                this->inChar = getChecksum(CHANNEL_NUM * 2, 200, this->buffer);
+
+                this->num = 0;
+                if (!this->error && this->inCache == this->inChar) {
+                    for (uint8_t a = 0; a < CHANNEL_NUM; a++) {
+                        _data[a] = ((uint16_t)(this->buffer[a * 2])) | ((uint16_t)this->buffer[a * 2 + 1] << 8);
+                    }
+                    return P_FINE;
+                } else {
+                    return P_ERROR;
+                }
+            } else if (!_mod) {
+                return P_BUSY;
+            }
+        } while (_mod && (available(true) && g_cubeTimer.read_ms() - time < 100));
+
+        if (_mod) {
+            return P_TIMEOUT;
+        }
+    } else {
+        return P_NONE;
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Microduino_Protocol_HardSer.h	Thu Jun 02 04:03:31 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _MICRODUINO_PROTOCOL_HARDSER_H
+#define _MICRODUINO_PROTOCOL_HARDSER_H
+
+#include "mbed.h"
+
+#define PRO_PORT Serial
+
+enum p_sta {
+    P_ERROR,
+    P_BUSY,
+    P_NONE,
+    P_FINE,
+    P_TIMEOUT,
+};
+
+#define MODE_WHILE 1
+#define MODE_LOOP 0
+
+#define BUFFER_MAX 256
+#define CHANNEL_NUM 8
+#define TYPE_NUM 0xC8
+
+class Protocol {
+  public:
+    Protocol(PRO_PORT *ser , uint8_t _channel) : num(0),time(0),sta(false),error(false){ // Constructor when using HardwareSerial
+      //  common_init();  // Set everything to common state, then...
+      channel = _channel;
+      num = 0;
+      sta = false;
+      error = false;
+      P_Serial = ser; // ...override P_Serial with value passed.
+      //_timer.start();
+    }
+    void begin(uint16_t _baud);
+    uint8_t parse(uint16_t* _data, bool _mod);
+
+  private:
+    uint8_t inChar, inCache;
+    uint8_t buffer[BUFFER_MAX];
+    uint8_t channel;
+    uint32_t num ;
+    uint32_t time;
+    bool sta;
+    bool error;
+
+    bool available(bool _sta);
+    PRO_PORT *P_Serial;
+    
+    
+};
+
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Protocol.h	Thu Jun 02 04:03:31 2016 +0000
@@ -0,0 +1,52 @@
+#include "Microduino_Protocol_HardSer.h"
+
+//BLE//////////////////////
+Serial pc(P0_4,P0_0);
+//Serial pc(P0_0, P0_4);
+Protocol bleProtocol(&pc, TYPE_NUM);  //软串口,校验数据类
+
+#define this_node  1  //设置本机ID
+#define other_node 0
+struct send_a { //发送
+    uint32_t node_ms;   //节点运行时间
+};
+struct receive_a { //接收
+    uint32_t ms;
+    uint16_t rf_CH[CHANNEL_NUM];
+};
+
+//Mode//////////////////////
+enum _Mode {
+    NRF,
+    BLE
+};
+
+bool protocolSetup(void)
+{
+    bleProtocol.begin(BLE_SPEED);
+    return BLE;
+}
+
+bool protocolRead(uint16_t *_channel, bool _mode)
+{
+    switch (bleProtocol.parse(_channel, MODE_WHILE)) {
+        case P_NONE:  //DATA NONE
+            break;
+        case P_FINE:  //DATA OK
+            return true;
+            break;
+        case P_ERROR: //DATA ERROR
+#ifdef BLE_SoftSerial
+            mySerial.stopListening();
+            mySerial.listen();
+#endif
+            break;
+        case P_TIMEOUT: //DATA TIMEOUT
+#ifdef BLE_SoftSerial
+            mySerial.stopListening();
+            mySerial.listen();
+#endif
+            break;
+    }
+    return false;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jun 02 04:03:31 2016 +0000
@@ -0,0 +1,107 @@
+#include "mbed.h"
+//#include "rtos.h"
+#include "MicroduinoPinNames.h"
+#include "userDef.h"
+#include "Protocol.h"
+#include "Microduino_Motor.h"
+
+Timer g_cubeTimer;
+Timeout g_cubeTimeout;
+#if 1
+Motor MotorLeft(motor_pin0A, motor_pin0B);
+Motor MotorRight(motor_pin1A, motor_pin1B);
+///////////////////////////////////////////////////////////
+#define CHANNEL_NUM 8
+uint16_t channalData[CHANNEL_NUM]; //8通道数据
+bool mode = 0; //nrf或者ble模式
+int16_t throttle = 0; //油门
+int16_t steering = 0; //转向
+int safe_ms = 0;
+DigitalOut myled(D13);
+InterruptIn wkp(D0);
+InterruptIn wkp1(D1);
+static long map(long x, long in_min, long in_max, long out_min, long out_max)
+{
+    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
+
+static void wake_up(void)
+{
+    //myled = 0;
+}
+
+int main()
+{
+#if 1// To test wake up from deepsleep(), failed....but wake up from sleep() work. sleep() will reduce 2mA.
+    wkp.fall(wake_up);
+    wkp.rise(&wake_up);
+    wkp1.fall(&wake_up);
+    wkp1.rise(&wake_up);
+#endif
+    //myled = 1;
+    g_cubeTimer.start();
+
+    mode = protocolSetup();  //遥控接收器初始化
+
+    MotorLeft.Fix(motor_fixL);
+    MotorRight.Fix(motor_fixR);
+    //mypc.baud(115200);
+    while (1) {
+        if (protocolRead(channalData, mode)) { //判断是否接收到遥控信号
+            throttle = map(channalData[CHANNEL_THROTTLE], 1000, 2000, -MAX_THROTTLE, MAX_THROTTLE);
+            steering = map(channalData[CHANNEL_STEERING], 1000, 2000, -MAX_STEERING, MAX_STEERING);
+
+            MotorLeft.Driver(MotorLeft.GetData(throttle, steering, CHAN_LEFT));
+            MotorRight.Driver(MotorRight.GetData(throttle, steering, CHAN_RIGHT));
+
+#ifdef _DEBUG
+            Serial.print("DATA OK :[");
+            for (int a = 0; a < CHANNEL_NUM; a++) {
+                Serial.print(channalData[a]);
+                Serial.print(" ");
+            }
+            Serial.print("],throttle:");
+            Serial.print(throttle);
+            Serial.print(",steering:");
+            Serial.println(steering);
+#endif
+            safe_ms = g_cubeTimer.read_ms();
+        }
+
+        if (safe_ms > g_cubeTimer.read_ms()) {
+            safe_ms = g_cubeTimer.read_ms();
+        }
+        if (g_cubeTimer.read_ms() - safe_ms > SAFE_TIME_OUT) {
+            MotorLeft.Free();
+            MotorRight.Free();
+            sleep();//待机待机电流可减少4mA左右
+            //deepsleep();
+        }
+    } // while
+}
+#else
+DigitalOut myled(D13);
+PwmOut PWM_A(motor_pin0A);
+PwmOut PWM_B(motor_pin0B);
+int pv = 0;
+int main()
+{
+    myled.write(1);
+    PWM_A.period_us(255);
+    PWM_B.period_us(255);
+
+    PWM_A.pulsewidth_us(200);
+    PWM_B.pulsewidth_us(0);
+    while (1) {
+#if 0
+        PWM_B.pulsewidth_us(pv);
+        pv++;
+#endif
+        wait(0.5);
+        myled = !myled;
+        if (pv >= 255) {
+            pv = 0;
+        }
+    }
+}
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Jun 02 04:03:31 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/6c34061e7c34
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/userDef.h	Thu Jun 02 04:03:31 2016 +0000
@@ -0,0 +1,55 @@
+//#include <arduino.h>
+#include "MicroduinoPinNames.h"
+//#define _DEBUG  //DEBUG调试
+
+#if 0
+//#define BLE_SoftSerial  //软串口模式
+#ifndef BLE_SoftSerial  //如果没开启软串口,就开硬串口模式
+#if defined(__AVR_ATmega32U4__)
+#define BLE_HardSerial Serial1
+#else
+#define BLE_HardSerial Serial
+#endif
+#endif
+#endif
+
+#define BLE_SPEED 9600  //蓝牙接口速度
+#define NRF_CHANNEL 70  //nRF通道
+
+#define SAFE_TIME_OUT 250   //失控保护时间
+#define MAX_THROTTLE 255 //最大油门 < 255
+#define MAX_STEERING 512 //最大转向 < 512
+#define CHANNEL_THROTTLE  1 //油门通道
+#define CHANNEL_STEERING  0 //转向通道
+
+#if defined(__AVR_ATmega32U4__) || (__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
+#define motor_pin0A 8  //PWM
+#define motor_pin0B 6
+#define motor_pin1A 7  //PWM 
+#define motor_pin1B 5
+#define motor_fixL 1  //速度修正 -1到1之间
+#define motor_fixR 1  //速度修正 -1到1之间
+#else
+#if 0
+#define motor_pin0A D6  //PWM
+#define motor_pin0B D8
+#define motor_pin1A D5  //PWM
+#define motor_pin1B D7
+#define motor_fixL -1 //速度修正 -1到1之间
+#define motor_fixR -1 //速度修正 -1到1之间
+#elif 1
+#define motor_pin0A D8  //PWM
+#define motor_pin0B D6
+#define motor_pin1A D7  //PWM 
+#define motor_pin1B D5
+#define motor_fixL 1  //速度修正 -1到1之间
+#define motor_fixR 1  //速度修正 -1到1之间
+#else
+#define motor_pin0A D8  //PWM
+#define motor_pin0B D6
+#define motor_pin1A D7  //PWM
+#define motor_pin1B D5
+#define motor_fixL -1 //速度修正 -1到1之间
+#define motor_fixR -1 //速度修正 -1到1之间
+#endif
+#endif