Mato Hattori / Mbed 2 deprecated mbed_rc_signal_converter

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Dependencies:   EthernetInterface mbed-rtos mbed

main.cpp@0:ecd79ba7c7b2, 2017-11-13 (annotated)

Committer:
matohatto
Date:
Mon Nov 13 06:58:55 2017 +0000
Revision:
0:ecd79ba7c7b2
Radio Control Propotional receiver to ethernet converter firmware,

; for test purpose of RaccoonII motor driver.

;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
matohatto 0:ecd79ba7c7b2 1 /****** R/C to Ethernet Signal Converter feat.I2C *******/
matohatto 0:ecd79ba7c7b2 2 /****** Ver. 1.0 *******/
matohatto 0:ecd79ba7c7b2 3 /****** Written by Wada Suisei *******/
matohatto 0:ecd79ba7c7b2 4 /****** 2017 Oct 1 *******/
matohatto 0:ecd79ba7c7b2 5 //
matohatto 0:ecd79ba7c7b2 6 // Modified on Oct.20th, 2017 by Mato Hattori
matohatto 0:ecd79ba7c7b2 7 //
matohatto 0:ecd79ba7c7b2 8
matohatto 0:ecd79ba7c7b2 9 /*** Including Header Files***/
matohatto 0:ecd79ba7c7b2 10 #include "mbed.h"
matohatto 0:ecd79ba7c7b2 11 #include "EthernetInterface.h"
matohatto 0:ecd79ba7c7b2 12
matohatto 0:ecd79ba7c7b2 13 /*** Ethernet Configuration data***/
matohatto 0:ecd79ba7c7b2 14 const char IpAddr[] = "192.168.11.241";
matohatto 0:ecd79ba7c7b2 15 const char NetMask[] = "255.255.255.0";
matohatto 0:ecd79ba7c7b2 16 const char GatewayAddr[] = "192.168.11.1";
matohatto 0:ecd79ba7c7b2 17 const int Port_Num = 4001;
matohatto 0:ecd79ba7c7b2 18
matohatto 0:ecd79ba7c7b2 19 const char MotorDriverIpAddr[] = "192.168.11.242"; // motor driver ip address
matohatto 0:ecd79ba7c7b2 20 const int MotorDriverPortNum = 4000; // motor driver ip port
matohatto 0:ecd79ba7c7b2 21
matohatto 0:ecd79ba7c7b2 22 /*** I2C Configure***/
matohatto 0:ecd79ba7c7b2 23 #define SDA_PIN p28
matohatto 0:ecd79ba7c7b2 24 #define SCL_PIN p27
matohatto 0:ecd79ba7c7b2 25 #define SLAVE_NUMBER 3
matohatto 0:ecd79ba7c7b2 26 #define MSEC /1000.0
matohatto 0:ecd79ba7c7b2 27 #define LOOP_INTERVAL_MILISEC 500 // loop interval in mili-seconds
matohatto 0:ecd79ba7c7b2 28 const int SlaveAddr[SLAVE_NUMBER] = {0x0b, 0x0c, 0x0d};
matohatto 0:ecd79ba7c7b2 29 const int min_cnt[SLAVE_NUMBER] ={1119,1650,1650};/*1ch:SW, 2ch:Rudder, 5ch:Thrustor*/
matohatto 0:ecd79ba7c7b2 30 const int max_cnt[SLAVE_NUMBER] ={1960, 2915,2915};/*1ch:SW, 2ch:Rudder, 5ch:Thrustor*/
matohatto 0:ecd79ba7c7b2 31
matohatto 0:ecd79ba7c7b2 32 /***Pin Mode Initializing***/
matohatto 0:ecd79ba7c7b2 33 int pin_init(void){
matohatto 0:ecd79ba7c7b2 34 return 1;
matohatto 0:ecd79ba7c7b2 35 }
matohatto 0:ecd79ba7c7b2 36
matohatto 0:ecd79ba7c7b2 37
matohatto 0:ecd79ba7c7b2 38 int main(){
matohatto 0:ecd79ba7c7b2 39
matohatto 0:ecd79ba7c7b2 40 /*Pin Init*/
matohatto 0:ecd79ba7c7b2 41 pin_init();
matohatto 0:ecd79ba7c7b2 42 printf("Pin Initialize Complete!\n");
matohatto 0:ecd79ba7c7b2 43
matohatto 0:ecd79ba7c7b2 44 /*I2C Init*/
matohatto 0:ecd79ba7c7b2 45 I2C i2c_master(SDA_PIN, SCL_PIN);
matohatto 0:ecd79ba7c7b2 46 printf("I2C Initialize Complete!\n");
matohatto 0:ecd79ba7c7b2 47
matohatto 0:ecd79ba7c7b2 48 /*Ethernet Init*/
matohatto 0:ecd79ba7c7b2 49 EthernetInterface eth;
matohatto 0:ecd79ba7c7b2 50 if(eth.init(IpAddr, NetMask, GatewayAddr)){
matohatto 0:ecd79ba7c7b2 51 return -1;
matohatto 0:ecd79ba7c7b2 52 }
matohatto 0:ecd79ba7c7b2 53 eth.connect();
matohatto 0:ecd79ba7c7b2 54 printf("Ethernet Connected\n");
matohatto 0:ecd79ba7c7b2 55 printf("------------------------------\n");
matohatto 0:ecd79ba7c7b2 56 printf("IP Address is %s\n",eth.getIPAddress());
matohatto 0:ecd79ba7c7b2 57 printf("Net Mask is %s\n",eth.getNetworkMask());
matohatto 0:ecd79ba7c7b2 58 printf("------------------------------\n");
matohatto 0:ecd79ba7c7b2 59
matohatto 0:ecd79ba7c7b2 60 /*UDP Init*/
matohatto 0:ecd79ba7c7b2 61 UDPSocket sock;
matohatto 0:ecd79ba7c7b2 62 sock.bind(Port_Num);
matohatto 0:ecd79ba7c7b2 63
matohatto 0:ecd79ba7c7b2 64 /*Endpoint Init*/
matohatto 0:ecd79ba7c7b2 65 Endpoint md;
matohatto 0:ecd79ba7c7b2 66 md.set_address (MotorDriverIpAddr, MotorDriverPortNum);
matohatto 0:ecd79ba7c7b2 67
matohatto 0:ecd79ba7c7b2 68
matohatto 0:ecd79ba7c7b2 69 /**Main Routine**/
matohatto 0:ecd79ba7c7b2 70 int udpout_buffer[3];
matohatto 0:ecd79ba7c7b2 71 int udpin_buffer[3];
matohatto 0:ecd79ba7c7b2 72 int data_int[SLAVE_NUMBER];
matohatto 0:ecd79ba7c7b2 73 int data_ratio[SLAVE_NUMBER];
matohatto 0:ecd79ba7c7b2 74 int seq;
matohatto 0:ecd79ba7c7b2 75 long tick = 0;
matohatto 0:ecd79ba7c7b2 76 DigitalOut myled (LED1);
matohatto 0:ecd79ba7c7b2 77
matohatto 0:ecd79ba7c7b2 78 myled = 0; // turn off LED1
matohatto 0:ecd79ba7c7b2 79
matohatto 0:ecd79ba7c7b2 80 while(1){
matohatto 0:ecd79ba7c7b2 81
matohatto 0:ecd79ba7c7b2 82 /*i2c Initialize*/
matohatto 0:ecd79ba7c7b2 83 printf("I2C Data fetch..... ");
matohatto 0:ecd79ba7c7b2 84
matohatto 0:ecd79ba7c7b2 85 /*i2c communication sequence*/
matohatto 0:ecd79ba7c7b2 86 for(seq=0; seq<SLAVE_NUMBER; seq++)
matohatto 0:ecd79ba7c7b2 87 {
matohatto 0:ecd79ba7c7b2 88 data_int[seq] = 0;
matohatto 0:ecd79ba7c7b2 89 /*data_frac[seq] = 0;*/
matohatto 0:ecd79ba7c7b2 90 #if 0
matohatto 0:ecd79ba7c7b2 91 i2c_master.start(); /*Send start condition*/
matohatto 0:ecd79ba7c7b2 92 while(i2c_master.read( ((SlaveAddr[seq]<<1)|0x01), receive_data, sizeof(receive_data) )); /*Wait ACK --Master Receive*/
matohatto 0:ecd79ba7c7b2 93 i2c_master.stop();
matohatto 0:ecd79ba7c7b2 94
matohatto 0:ecd79ba7c7b2 95 /*Value Modification Sequence*/
matohatto 0:ecd79ba7c7b2 96 data_int[seq] = ( (receive_data[0]<<8)| receive_data[1] );
matohatto 0:ecd79ba7c7b2 97 data_ratio[seq] = (data_int[seq] - min_cnt[seq])*200/(max_cnt[seq] - min_cnt[seq])-100;
matohatto 0:ecd79ba7c7b2 98 #else
matohatto 0:ecd79ba7c7b2 99 AnalogIn vr (p18); // DEBUG for testing
matohatto 0:ecd79ba7c7b2 100 if (! seq)
matohatto 0:ecd79ba7c7b2 101 printf ("ain=%f ", (float) vr);
matohatto 0:ecd79ba7c7b2 102 data_ratio[seq] = (int)(( (float) vr - 0.527) * 277.0);
matohatto 0:ecd79ba7c7b2 103 #endif
matohatto 0:ecd79ba7c7b2 104
matohatto 0:ecd79ba7c7b2 105 if(-5<=data_ratio[seq] && data_ratio[seq]<=5){
matohatto 0:ecd79ba7c7b2 106 data_ratio[seq] = 0;
matohatto 0:ecd79ba7c7b2 107 }else if(data_ratio[seq]<=-96){
matohatto 0:ecd79ba7c7b2 108 data_ratio[seq] = -100;
matohatto 0:ecd79ba7c7b2 109 }else if(data_ratio[seq]>=96){
matohatto 0:ecd79ba7c7b2 110 data_ratio[seq] = 100;
matohatto 0:ecd79ba7c7b2 111 }
matohatto 0:ecd79ba7c7b2 112
matohatto 0:ecd79ba7c7b2 113 printf("%d%% (0x%02x) ", data_ratio[seq], SlaveAddr[seq]);
matohatto 0:ecd79ba7c7b2 114 }
matohatto 0:ecd79ba7c7b2 115 printf("\n");
matohatto 0:ecd79ba7c7b2 116
matohatto 0:ecd79ba7c7b2 117 // UDP Communication Sequence
matohatto 0:ecd79ba7c7b2 118 //for(seq=0; seq<SLAVE_NUMBER; seq++)
matohatto 0:ecd79ba7c7b2 119 // udpout_buffer[seq] = data_ratio[seq];
matohatto 0:ecd79ba7c7b2 120 udpout_buffer[0] = data_ratio[0];
matohatto 0:ecd79ba7c7b2 121 udpout_buffer[1] = 0;
matohatto 0:ecd79ba7c7b2 122
matohatto 0:ecd79ba7c7b2 123 printf("tx -> #%ld : %d %d\n", tick, udpout_buffer[0], udpout_buffer[1]);
matohatto 0:ecd79ba7c7b2 124 sock.sendTo(md, (char *)udpout_buffer, 4);
matohatto 0:ecd79ba7c7b2 125
matohatto 0:ecd79ba7c7b2 126 // memset (udpin_buffer, sizeof (udpin_buffer), 0);
matohatto 0:ecd79ba7c7b2 127 // sock.receiveFrom (md, (char *)udpin_buffer, sizeof (udpin_buffer));
matohatto 0:ecd79ba7c7b2 128 // printf("rx <- #%ld : %d %d %d\n", tick, udpin_buffer[0], udpin_buffer[1], udpin_buffer[2]);
matohatto 0:ecd79ba7c7b2 129
matohatto 0:ecd79ba7c7b2 130 // end of main loop
matohatto 0:ecd79ba7c7b2 131 myled = ! myled; // toggle LED1
matohatto 0:ecd79ba7c7b2 132 wait (LOOP_INTERVAL_MILISEC MSEC);
matohatto 0:ecd79ba7c7b2 133 }
matohatto 0:ecd79ba7c7b2 134
matohatto 0:ecd79ba7c7b2 135 sock.close();
matohatto 0:ecd79ba7c7b2 136 eth.disconnect();
matohatto 0:ecd79ba7c7b2 137 myled = 0; // turn off LED1
matohatto 0:ecd79ba7c7b2 138 }
matohatto 0:ecd79ba7c7b2 139
matohatto 0:ecd79ba7c7b2 140
matohatto 0:ecd79ba7c7b2 141
matohatto 0:ecd79ba7c7b2 142
matohatto 0:ecd79ba7c7b2 143
matohatto 0:ecd79ba7c7b2 144
matohatto 0:ecd79ba7c7b2 145
matohatto 0:ecd79ba7c7b2 146