Onishi Itsuki / Mbed 2 deprecated mbed_PWM_control

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Dependencies:   mbed

main.cpp@4:9c39770e13e6, 2020-07-30 (annotated)

Committer:
onishiitsuki
Date:
Thu Jul 30 05:57:12 2020 +0000
Revision:
4:9c39770e13e6
Parent:
3:e877a237c329 
finish making PWM controller.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
onishiitsuki 0:762583fdd0de 1 // Construction macine controler for MBET
onishiitsuki 0:762583fdd0de 2 // Onishi Itsuki
onishiitsuki 0:762583fdd0de 3 // July 2020
onishiitsuki 0:762583fdd0de 4
onishiitsuki 0:762583fdd0de 5 #include "mbed.h"
onishiitsuki 0:762583fdd0de 6
onishiitsuki 0:762583fdd0de 7 #define START_BYTE 0x0f
onishiitsuki 4:9c39770e13e6 8 #define SAMPLING_PERIOD 5000.0f // scale is us
onishiitsuki 0:762583fdd0de 9 #define BYTE_A 2*i
onishiitsuki 0:762583fdd0de 10 #define BYTE_B 2*i+1
onishiitsuki 0:762583fdd0de 11
onishiitsuki 0:762583fdd0de 12 uint8_t buffer[8];
onishiitsuki 4:9c39770e13e6 13
onishiitsuki 4:9c39770e13e6 14 int outputBuffer[12]; // for setting output 0 or 1 to each Digital
onishiitsuki 0:762583fdd0de 15 int bufferIndex = 0;
onishiitsuki 0:762583fdd0de 16 int outProcCounter = 0;
onishiitsuki 0:762583fdd0de 17 int outProcFlag = 0;
onishiitsuki 0:762583fdd0de 18
onishiitsuki 0:762583fdd0de 19 Ticker ticker;
onishiitsuki 4:9c39770e13e6 20 Ticker input_test_data;
onishiitsuki 0:762583fdd0de 21 Serial pc(USBTX, USBRX);
onishiitsuki 0:762583fdd0de 22 DigitalOut stateChecker(LED1);
onishiitsuki 0:762583fdd0de 23 DigitalOut startByteError(LED3);
onishiitsuki 0:762583fdd0de 24 DigitalOut parityByteError(LED4);
onishiitsuki 0:762583fdd0de 25
onishiitsuki 0:762583fdd0de 26 // set output pins
onishiitsuki 0:762583fdd0de 27 DigitalOut boomOutA(p21);
onishiitsuki 0:762583fdd0de 28 DigitalOut boomOutB(p22);
onishiitsuki 0:762583fdd0de 29 DigitalOut armOutA(p23);
onishiitsuki 0:762583fdd0de 30 DigitalOut armOutB(p24);
onishiitsuki 0:762583fdd0de 31 DigitalOut bucketOutA(p25);
onishiitsuki 0:762583fdd0de 32 DigitalOut bucketOutB(p26);
onishiitsuki 0:762583fdd0de 33 DigitalOut slewingOutA(p20);
onishiitsuki 0:762583fdd0de 34 DigitalOut slewingOutB(p19);
onishiitsuki 0:762583fdd0de 35 DigitalOut rightWheelOutA(p18);
onishiitsuki 0:762583fdd0de 36 DigitalOut rightWheelOutB(p17);
onishiitsuki 0:762583fdd0de 37 DigitalOut leftWheelOutA(p16);
onishiitsuki 0:762583fdd0de 38 DigitalOut leftWheelOutB(p15);
onishiitsuki 0:762583fdd0de 39
onishiitsuki 0:762583fdd0de 40
onishiitsuki 0:762583fdd0de 41 void set_test_buffer(void)
onishiitsuki 0:762583fdd0de 42 {
onishiitsuki 0:762583fdd0de 43 buffer[0] = 31;
onishiitsuki 4:9c39770e13e6 44 buffer[1] = 100;
onishiitsuki 4:9c39770e13e6 45 buffer[2] = 50;
onishiitsuki 4:9c39770e13e6 46 buffer[3] = 10;
onishiitsuki 4:9c39770e13e6 47 buffer[4] = 228;
onishiitsuki 4:9c39770e13e6 48 buffer[5] = 178;
onishiitsuki 4:9c39770e13e6 49 buffer[6] = 138;
onishiitsuki 0:762583fdd0de 50 buffer[7] = 248;
onishiitsuki 0:762583fdd0de 51 }
onishiitsuki 0:762583fdd0de 52
onishiitsuki 0:762583fdd0de 53
onishiitsuki 0:762583fdd0de 54 void set_output(void)
onishiitsuki 0:762583fdd0de 55 {
onishiitsuki 0:762583fdd0de 56 boomOutA = outputBuffer[0];
onishiitsuki 0:762583fdd0de 57 boomOutB = outputBuffer[1];
onishiitsuki 0:762583fdd0de 58 armOutA = outputBuffer[2];
onishiitsuki 0:762583fdd0de 59 armOutB = outputBuffer[3];
onishiitsuki 0:762583fdd0de 60 bucketOutA = outputBuffer[4];
onishiitsuki 0:762583fdd0de 61 bucketOutB = outputBuffer[5];
onishiitsuki 0:762583fdd0de 62 slewingOutA = outputBuffer[6];
onishiitsuki 0:762583fdd0de 63 slewingOutB = outputBuffer[7];
onishiitsuki 0:762583fdd0de 64 rightWheelOutA = outputBuffer[8];
onishiitsuki 0:762583fdd0de 65 rightWheelOutB = outputBuffer[9];
onishiitsuki 0:762583fdd0de 66 leftWheelOutA = outputBuffer[10];
onishiitsuki 0:762583fdd0de 67 leftWheelOutB = outputBuffer[11];
onishiitsuki 0:762583fdd0de 68 }
onishiitsuki 0:762583fdd0de 69
onishiitsuki 0:762583fdd0de 70
onishiitsuki 0:762583fdd0de 71 void init_state(void)
onishiitsuki 0:762583fdd0de 72 {
onishiitsuki 1:ccc6ed1e4cd8 73 for(int i=0; i<8; i++){
onishiitsuki 2:3c335fcdd7f4 74 buffer[i] = 0;
onishiitsuki 1:ccc6ed1e4cd8 75 }
onishiitsuki 0:762583fdd0de 76 for(int i=0; i<6; i++) {
onishiitsuki 0:762583fdd0de 77 outputBuffer[BYTE_A] = 0;
onishiitsuki 2:3c335fcdd7f4 78 outputBuffer[BYTE_B] = 1;
onishiitsuki 0:762583fdd0de 79 }
onishiitsuki 0:762583fdd0de 80 set_output();
onishiitsuki 0:762583fdd0de 81 }
onishiitsuki 0:762583fdd0de 82
onishiitsuki 0:762583fdd0de 83
onishiitsuki 0:762583fdd0de 84 void PWM_processor(void)
onishiitsuki 0:762583fdd0de 85 {
onishiitsuki 4:9c39770e13e6 86 for(int i=0; i<6; i++) {
onishiitsuki 4:9c39770e13e6 87 if((buffer[i+1]==0) || (buffer[i+1]==128)) {
onishiitsuki 4:9c39770e13e6 88 outputBuffer[BYTE_A] = 0;
onishiitsuki 4:9c39770e13e6 89 outputBuffer[BYTE_B] = 0;
onishiitsuki 4:9c39770e13e6 90 continue;
onishiitsuki 4:9c39770e13e6 91 }
onishiitsuki 4:9c39770e13e6 92
onishiitsuki 4:9c39770e13e6 93 if(buffer[i+1]>128) {
onishiitsuki 4:9c39770e13e6 94 outputBuffer[BYTE_A] = 0;
onishiitsuki 4:9c39770e13e6 95 outputBuffer[BYTE_B] = 1;
onishiitsuki 4:9c39770e13e6 96 } else {
onishiitsuki 4:9c39770e13e6 97 outputBuffer[BYTE_A] = 1;
onishiitsuki 4:9c39770e13e6 98 outputBuffer[BYTE_B] = 0;
onishiitsuki 4:9c39770e13e6 99 }
onishiitsuki 4:9c39770e13e6 100
onishiitsuki 4:9c39770e13e6 101 // decrement
onishiitsuki 4:9c39770e13e6 102 if (buffer[i+1] > 0)
onishiitsuki 4:9c39770e13e6 103 buffer[i+1]--;
onishiitsuki 4:9c39770e13e6 104 }
onishiitsuki 4:9c39770e13e6 105 set_output();
onishiitsuki 0:762583fdd0de 106 }
onishiitsuki 0:762583fdd0de 107
onishiitsuki 0:762583fdd0de 108
onishiitsuki 0:762583fdd0de 109 void event_func(void)
onishiitsuki 0:762583fdd0de 110 {
onishiitsuki 0:762583fdd0de 111 stateChecker = 1;
onishiitsuki 0:762583fdd0de 112
onishiitsuki 0:762583fdd0de 113 // For test
onishiitsuki 0:762583fdd0de 114 bufferIndex = 8;
onishiitsuki 0:762583fdd0de 115 // for(int i=0; i<8; i++){
onishiitsuki 0:762583fdd0de 116 // pc.printf("%d:%d ", i, buffer[i]);
onishiitsuki 0:762583fdd0de 117 // }
onishiitsuki 0:762583fdd0de 118 uint8_t rx = buffer[0];
onishiitsuki 0:762583fdd0de 119 // end of code for test
onishiitsuki 0:762583fdd0de 120
onishiitsuki 0:762583fdd0de 121 // uint8_t rx = pc.getc();
onishiitsuki 0:762583fdd0de 122 //
onishiitsuki 0:762583fdd0de 123 // wait start byte
onishiitsuki 0:762583fdd0de 124 if(bufferIndex == 0 && rx != START_BYTE) {
onishiitsuki 0:762583fdd0de 125 startByteError = 1;
onishiitsuki 0:762583fdd0de 126 pc.printf("start byte ERROR");
onishiitsuki 0:762583fdd0de 127 return;
onishiitsuki 0:762583fdd0de 128 } else {
onishiitsuki 0:762583fdd0de 129 startByteError = 0;
onishiitsuki 0:762583fdd0de 130 }
onishiitsuki 0:762583fdd0de 131
onishiitsuki 0:762583fdd0de 132 // // push serial to buffer
onishiitsuki 0:762583fdd0de 133 // buffer[bufferIndex++] = rx;
onishiitsuki 0:762583fdd0de 134
onishiitsuki 0:762583fdd0de 135 // when buffer is full
onishiitsuki 0:762583fdd0de 136 if(bufferIndex == 8) {
onishiitsuki 0:762583fdd0de 137 bufferIndex = 0;
onishiitsuki 0:762583fdd0de 138
onishiitsuki 0:762583fdd0de 139 // check parity
onishiitsuki 0:762583fdd0de 140 // uint8_t serialXOR = buffer[1];
onishiitsuki 0:762583fdd0de 141 // for (int i=2; i<=6; i++) {
onishiitsuki 0:762583fdd0de 142 // serialXOR ^= buffer[i];
onishiitsuki 0:762583fdd0de 143 // }
onishiitsuki 0:762583fdd0de 144 // if (serialXOR != buffer[7]) {
onishiitsuki 0:762583fdd0de 145 // parityByteError = 1;
onishiitsuki 0:762583fdd0de 146 // pc.printf("parity byte ERROR: XOR is %d, buffer byte is %d ", serialXOR, buffer[7]);
onishiitsuki 0:762583fdd0de 147 // return;
onishiitsuki 0:762583fdd0de 148 // } else {
onishiitsuki 0:762583fdd0de 149 // outProcFlag = 1;
onishiitsuki 0:762583fdd0de 150 // parityByteError = 0;
onishiitsuki 0:762583fdd0de 151 // }
onishiitsuki 0:762583fdd0de 152 }
onishiitsuki 0:762583fdd0de 153 }
onishiitsuki 0:762583fdd0de 154
onishiitsuki 0:762583fdd0de 155 int main(void)
onishiitsuki 0:762583fdd0de 156 {
onishiitsuki 0:762583fdd0de 157 pc.baud(921600);
onishiitsuki 0:762583fdd0de 158 startByteError = 0;
onishiitsuki 0:762583fdd0de 159 parityByteError = 0;
onishiitsuki 0:762583fdd0de 160 int test_count = 0;
onishiitsuki 0:762583fdd0de 161
onishiitsuki 0:762583fdd0de 162 // initial state is free run
onishiitsuki 0:762583fdd0de 163 init_state();
onishiitsuki 0:762583fdd0de 164 wait(1);
onishiitsuki 2:3c335fcdd7f4 165 pc.printf("+");
onishiitsuki 4:9c39770e13e6 166 ticker.attach_us(&PWM_processor, SAMPLING_PERIOD/128.0f);
onishiitsuki 4:9c39770e13e6 167 input_test_data.attach_us(&set_test_buffer, SAMPLING_PERIOD);
onishiitsuki 0:762583fdd0de 168 pc.printf("+");
onishiitsuki 0:762583fdd0de 169
onishiitsuki 0:762583fdd0de 170 while(1) {
onishiitsuki 2:3c335fcdd7f4 171 stateChecker = 1;
onishiitsuki 0:762583fdd0de 172 // if(pc.readable(){
onishiitsuki 0:762583fdd0de 173 event_func();
onishiitsuki 0:762583fdd0de 174 test_count++;
onishiitsuki 0:762583fdd0de 175 // }
onishiitsuki 0:762583fdd0de 176
onishiitsuki 0:762583fdd0de 177 // code for test
onishiitsuki 4:9c39770e13e6 178 if(test_count%1000 == 0) {
onishiitsuki 3:e877a237c329 179 pc.printf("+");
onishiitsuki 4:9c39770e13e6 180 test_count = 0;
onishiitsuki 4:9c39770e13e6 181 }
onishiitsuki 0:762583fdd0de 182 // end of code for test
onishiitsuki 0:762583fdd0de 183
onishiitsuki 0:762583fdd0de 184 }
onishiitsuki 0:762583fdd0de 185 }