mukuyo hirohashi
raspberry pi to stm32f303k8 for serial communication
Revision 0:7bc24e8d1591, committed 2021-05-02
- Comitter:
- mukuyo
- Date:
- Sun May 02 15:01:33 2021 +0000
- Commit message:
- update;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Drive/Drive.cpp Sun May 02 15:01:33 2021 +0000
@@ -0,0 +1,67 @@
+#include "Drive.hpp"
+#define LED_PIN PF_0
+
+Drive::Drive(PinName CAN_TX, PinName CAN_RX): Rasp(USBTX,USBRX), canMBED(CAN_TX, CAN_RX), LED(LED_PIN), servo(PA_8){
+ initCAN();
+ //can_Timer.attach(callback(this,&UDP::can_send), 16ms);
+ count = 0;
+}
+
+void Drive::setVelocity(){
+ //LED=0;
+ for(int i = 0; i < 4; i++)
+ {
+ M[i] = 0;
+ Rasp::get(M[i], i);
+ }
+ dribble_set();
+ calcWheelVelocity();
+ setMotVel();
+ can_send();
+}
+
+void Drive::dribble_set(){
+ if(dribble_power > 0){
+ dribble_power = 0.25;
+ }
+ servo = dribble_power;
+}
+
+void Drive::calcWheelVelocity(){
+
+ float max;
+ double plus;
+
+ order.Mot0Order.Vel_short = M[0];
+ order.Mot1Order.Vel_short = M[1];
+ order.Mot2Order.Vel_short = M[2];
+ order.Mot3Order.Vel_short = M[3];
+ /*order.Mot0Order.Vel_short = -100;
+ order.Mot1Order.Vel_short = -100;
+ order.Mot2Order.Vel_short = 100;
+ order.Mot3Order.Vel_short = 100;*/
+}
+
+void Drive::setMotVel(){
+ send_motvel_data[0] = (char)order.Mot0Order.Vel_char.L;
+ send_motvel_data[1] = (char)order.Mot0Order.Vel_char.H;
+ send_motvel_data[2] = (char)order.Mot1Order.Vel_char.L;
+ send_motvel_data[3] = (char)order.Mot1Order.Vel_char.H;
+ send_motvel_data[4] = (char)order.Mot2Order.Vel_char.L;
+ send_motvel_data[5] = (char)order.Mot2Order.Vel_char.H;
+ send_motvel_data[6] = (char)order.Mot3Order.Vel_char.L;
+ send_motvel_data[7] = (char)order.Mot3Order.Vel_char.H;
+}
+
+void Drive::initCAN(){
+ canMBED.frequency(100000);
+
+}
+
+void Drive::can_send(){
+ canMBED.write(CANMessage(0x1AA,send_motvel_data,8));
+}
+
+int Drive::masuo_send(){
+ return 1;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Drive/Drive.hpp Sun May 02 15:01:33 2021 +0000
@@ -0,0 +1,67 @@
+#ifndef Drive_hpp
+#define Drive_hpp
+
+#include "mbed.h"
+#include "serial.h"
+#include "Servo.h"
+
+class Drive : public Rasp{
+ public:
+ Drive(PinName CAN_TX, PinName CAN_RX);
+ void setVelocity();
+ void calcWheelVelocity();
+ void dribble_set();
+ void setMotVel();
+ void initCAN();
+ void can_send();
+ int masuo_send();
+
+ private:
+ typedef struct {
+ union{
+ signed short Vel_short;
+ struct{
+ signed short L:8;
+ signed short H:8;
+ }Vel_char;
+ }Mot0Order;
+
+ union{
+ signed short Vel_short;
+ struct{
+ signed short L:8;
+ signed short H:8;
+ }Vel_char;
+ }Mot1Order;
+
+ union{
+ signed short Vel_short;
+ struct{
+ signed short L:8;
+ signed short H:8;
+ }Vel_char;
+ }Mot2Order;
+
+ union{
+ signed short Vel_short;
+ struct{
+ signed short L:8;
+ signed short H:8;
+ }Vel_char;
+ }Mot3Order;
+
+ } OrderMotVel;
+
+ OrderMotVel order;
+
+ Ticker can_Timer;
+ char send_motvel_data[8];
+ CAN canMBED;
+ float M[4];
+ float dribble_power;
+ DigitalOut LED;
+ Servo servo;
+ int count;
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Sun May 02 15:01:33 2021 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun May 02 15:01:33 2021 +0000
@@ -0,0 +1,17 @@
+#include "mbed.h"
+#include "serial.h"
+#include "Drive.hpp"
+
+Rasp rasp(USBTX, USBRX);
+
+Drive drive(PA_11, PA_12);
+
+void DR_setup(){
+}
+
+int main(void) {
+ DR_setup();
+ while (1) {
+ drive.setVelocity();
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun May 02 15:01:33 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/serial/serial.cpp Sun May 02 15:01:33 2021 +0000
@@ -0,0 +1,34 @@
+#include "serial.h"
+Rasp::Rasp(PinName TX,PinName RX): device(USBTX,USBRX) {
+ device.baud(115200);//通信速度最速
+ device.attach(callback(this,&Rasp::dev_rx), RawSerial::RxIrq);//角度割り込み入力
+ u=0;
+ ID=0;
+ rx_val=0;
+ BUFFER_SIZE=6;
+}
+
+void Rasp::dev_rx(){
+ u++;
+ buffer[u-1]=device.getc();
+ rx_val=buffer[0];
+ if(buffer[0]!=0xFF)u--;
+ if(u==BUFFER_SIZE){
+ if(buffer[0]==0xFF){
+ u=0;
+ motor_limit = buffer[1]/100;
+ for(int i = 0; i < 4; i++){
+ Motor_pow[i] = buffer[i+2] - 100;
+ Motor_pow[i] *= 0.4;
+ }
+ }
+ }
+}
+void Rasp::put(int val){
+ device.putc(val);
+}
+void Rasp::get(float &a, int num){
+
+ a= Motor_pow[num];
+
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/serial/serial.h Sun May 02 15:01:33 2021 +0000
@@ -0,0 +1,19 @@
+#pragma once
+#include "mbed.h"
+
+class Rasp {
+public:
+ Rasp(PinName TX,PinName RX);
+ void dev_rx();
+ void put(int val);
+ void get(float &a, int num);
+
+ int rx_val,ID,u,vel_norm,vel_theta,flag,DKpow;
+ float omega;
+private:
+ int BUFFER_SIZE,val_1,val_2;
+ int buffer[100];
+ float Motor_pow[4];
+ float motor_limit;
+ RawSerial device;
+};