Diff: main.cpp

Revision:

0:ecd79ba7c7b2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Nov 13 06:58:55 2017 +0000
@@ -0,0 +1,146 @@
+/****** R/C to Ethernet Signal Converter feat.I2C *******/
+/******                  Ver. 1.0                 *******/
+/******            Written by Wada Suisei         *******/
+/******                 2017 Oct 1                *******/
+//
+// Modified on Oct.20th, 2017  by Mato Hattori
+//
+
+/*** Including Header Files***/
+#include "mbed.h"
+#include "EthernetInterface.h"
+
+/*** Ethernet Configuration data***/
+const char IpAddr[] = "192.168.11.241";
+const char NetMask[] = "255.255.255.0";
+const char GatewayAddr[] = "192.168.11.1";
+const int Port_Num = 4001;
+
+const char MotorDriverIpAddr[] = "192.168.11.242";   // motor driver ip address
+const int MotorDriverPortNum = 4000;               // motor driver ip port
+
+/*** I2C Configure***/
+#define SDA_PIN p28
+#define SCL_PIN p27
+#define SLAVE_NUMBER 3
+#define MSEC    /1000.0
+#define LOOP_INTERVAL_MILISEC   500   // loop interval in mili-seconds 
+const int SlaveAddr[SLAVE_NUMBER] = {0x0b, 0x0c, 0x0d};
+const int min_cnt[SLAVE_NUMBER] ={1119,1650,1650};/*1ch:SW, 2ch:Rudder, 5ch:Thrustor*/
+const int max_cnt[SLAVE_NUMBER] ={1960, 2915,2915};/*1ch:SW, 2ch:Rudder, 5ch:Thrustor*/
+
+/***Pin Mode Initializing***/
+int pin_init(void){
+    return 1;
+}
+
+
+int main(){
+    
+    /*Pin Init*/
+    pin_init();
+    printf("Pin Initialize Complete!\n");
+    
+    /*I2C Init*/
+    I2C i2c_master(SDA_PIN, SCL_PIN);
+    printf("I2C Initialize Complete!\n");
+    
+    /*Ethernet Init*/
+    EthernetInterface eth;
+    if(eth.init(IpAddr, NetMask, GatewayAddr)){
+        return -1;
+    }
+    eth.connect();
+    printf("Ethernet Connected\n");
+    printf("------------------------------\n");
+    printf("IP Address is %s\n",eth.getIPAddress());
+    printf("Net Mask is %s\n",eth.getNetworkMask());
+    printf("------------------------------\n");
+    
+    /*UDP Init*/
+    UDPSocket sock;
+    sock.bind(Port_Num);
+    
+    /*Endpoint Init*/
+    Endpoint md;
+    md.set_address (MotorDriverIpAddr, MotorDriverPortNum);
+    
+    
+    /**Main Routine**/
+    int  udpout_buffer[3];
+    int  udpin_buffer[3];
+    int  data_int[SLAVE_NUMBER];
+    int  data_ratio[SLAVE_NUMBER];
+    int  seq;
+    long tick = 0;
+    DigitalOut  myled (LED1);
+    
+    myled = 0; // turn off LED1
+    
+    while(1){
+
+        /*i2c Initialize*/        
+        printf("I2C Data fetch.....  ");
+        
+        /*i2c communication sequence*/
+        for(seq=0; seq<SLAVE_NUMBER; seq++)
+        {    
+            data_int[seq] = 0;
+            /*data_frac[seq] = 0;*/
+#if 0            
+            i2c_master.start();  /*Send start condition*/
+            while(i2c_master.read( ((SlaveAddr[seq]<<1)|0x01), receive_data, sizeof(receive_data) )); /*Wait ACK  --Master Receive*/
+            i2c_master.stop();
+
+            /*Value Modification Sequence*/           
+            data_int[seq] = ( (receive_data[0]<<8)| receive_data[1] );
+            data_ratio[seq] = (data_int[seq] - min_cnt[seq])*200/(max_cnt[seq] - min_cnt[seq])-100;
+#else
+            AnalogIn vr (p18);          // DEBUG for testing 
+            if (! seq)
+                printf ("ain=%f ", (float) vr);
+            data_ratio[seq] = (int)(( (float) vr - 0.527) * 277.0);
+#endif  
+
+            if(-5<=data_ratio[seq] && data_ratio[seq]<=5){
+                data_ratio[seq] = 0;
+            }else if(data_ratio[seq]<=-96){
+                data_ratio[seq] = -100;
+            }else if(data_ratio[seq]>=96){
+                data_ratio[seq] = 100;
+            }
+            
+            printf("%d%% (0x%02x)   ", data_ratio[seq], SlaveAddr[seq]);
+        }
+        printf("\n");
+ 
+        // UDP Communication Sequence        
+        //for(seq=0; seq<SLAVE_NUMBER; seq++)
+        //    udpout_buffer[seq] = data_ratio[seq];
+        udpout_buffer[0] = data_ratio[0];
+        udpout_buffer[1] = 0;
+        
+        printf("tx -> #%ld : %d %d\n", tick, udpout_buffer[0], udpout_buffer[1]);
+        sock.sendTo(md, (char *)udpout_buffer, 4);
+ 
+//        memset (udpin_buffer, sizeof (udpin_buffer), 0);
+//        sock.receiveFrom (md, (char *)udpin_buffer, sizeof (udpin_buffer));
+//        printf("rx <- #%ld : %d %d %d\n", tick, udpin_buffer[0], udpin_buffer[1], udpin_buffer[2]);
+        
+        // end of main loop
+        myled = ! myled; // toggle LED1
+        wait (LOOP_INTERVAL_MILISEC MSEC);
+    }
+    
+    sock.close();
+    eth.disconnect();
+    myled = 0; // turn off LED1
+}
+            
+            
+            
+        
+    
+
+        
+