mukuyo hirohashi
/
Rasp_serial
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
diff -r 000000000000 -r 7bc24e8d1591 Drive/Drive.cpp --- /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
diff -r 000000000000 -r 7bc24e8d1591 Drive/Drive.hpp --- /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
diff -r 000000000000 -r 7bc24e8d1591 Servo.lib --- /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
diff -r 000000000000 -r 7bc24e8d1591 main.cpp --- /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(); + } +}
diff -r 000000000000 -r 7bc24e8d1591 mbed.bld --- /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
diff -r 000000000000 -r 7bc24e8d1591 serial/serial.cpp --- /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
diff -r 000000000000 -r 7bc24e8d1591 serial/serial.h --- /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; +};