Shohei Kamiguchi / Mbed 2 deprecated Iwatobi_Power_Modulebn

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Dependencies:   mbed

main.cpp@1:4a358f08c963, 2020-11-15 (annotated)

Committer:
DiGengengen
Date:
Sun Nov 15 14:51:28 2020 +0000
Revision:
1:4a358f08c963
Parent:
0:b44e107ade58
Child:
2:4d280faa7d59
added comment out

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kintoki231 0:b44e107ade58 1
kintoki231 0:b44e107ade58 2 #include "mbed.h"
kintoki231 0:b44e107ade58 3
DiGengengen 1:4a358f08c963 4 /* Define */
DiGengengen 1:4a358f08c963 5 //#define USB_DEBUG // xbeeでは送れない量の情報をusb通して送信
DiGengengen 1:4a358f08c963 6 #define SIMPLE_USE // xbeeで情報送信
DiGengengen 1:4a358f08c963 7
DiGengengen 1:4a358f08c963 8 /* ID */
kintoki231 0:b44e107ade58 9 const int kModuleID = 1;
kintoki231 0:b44e107ade58 10
DiGengengen 1:4a358f08c963 11 /* グローバル変数 */
kintoki231 0:b44e107ade58 12 int sluster_up = 0;
kintoki231 0:b44e107ade58 13
kintoki231 0:b44e107ade58 14 float battery_voltage;
kintoki231 0:b44e107ade58 15 float motor_current;
kintoki231 0:b44e107ade58 16 int sluster_power;
kintoki231 0:b44e107ade58 17 int pump_power;
kintoki231 0:b44e107ade58 18
DiGengengen 1:4a358f08c963 19 /* オフセット */
kintoki231 0:b44e107ade58 20 const float k_vbat_offset[] = {
kintoki231 0:b44e107ade58 21 1.4f,
kintoki231 0:b44e107ade58 22 0.6f
kintoki231 0:b44e107ade58 23 };
kintoki231 0:b44e107ade58 24 const float k_Im_offset[] = {
kintoki231 0:b44e107ade58 25 0.0f,
kintoki231 0:b44e107ade58 26 0.0f
kintoki231 0:b44e107ade58 27 };
kintoki231 0:b44e107ade58 28
DiGengengen 1:4a358f08c963 29 /* ピン設定 */
kintoki231 0:b44e107ade58 30 DigitalOut led[] = {
kintoki231 0:b44e107ade58 31 DigitalOut(PA_4),
kintoki231 0:b44e107ade58 32 DigitalOut(PA_5),
kintoki231 0:b44e107ade58 33 DigitalOut(PA_6),
kintoki231 0:b44e107ade58 34 };
kintoki231 0:b44e107ade58 35 DigitalOut user[] = {
kintoki231 0:b44e107ade58 36 DigitalOut(PB_1),
kintoki231 0:b44e107ade58 37 DigitalOut(PF_0),
kintoki231 0:b44e107ade58 38 DigitalOut(PF_1),
kintoki231 0:b44e107ade58 39 };
kintoki231 0:b44e107ade58 40 DigitalOut xbee_nreset(PB_5);
kintoki231 0:b44e107ade58 41 AnalogIn raw_battery_voltage(PA_1);
kintoki231 0:b44e107ade58 42 AnalogIn raw_motor_shunt_voltage(PA_0);
kintoki231 0:b44e107ade58 43 //DigitalOut sluster(PA_8);
kintoki231 0:b44e107ade58 44 //DigitalOut pump(PA_11);
kintoki231 0:b44e107ade58 45 DigitalOut pump(PA_8);
kintoki231 0:b44e107ade58 46 DigitalOut sluster(PA_11); //修正
kintoki231 0:b44e107ade58 47 #ifndef USE_DEBUG
kintoki231 0:b44e107ade58 48 Serial xbee(PA_9, PA_10);
kintoki231 0:b44e107ade58 49 #else
kintoki231 0:b44e107ade58 50 Serial xbee(USBTX, USBRX);
kintoki231 0:b44e107ade58 51 #endif
kintoki231 0:b44e107ade58 52
DiGengengen 1:4a358f08c963 53 /*タイマー関係設定*/
kintoki231 0:b44e107ade58 54 Ticker pwm;
kintoki231 0:b44e107ade58 55
DiGengengen 1:4a358f08c963 56 /* PWM出力用割り込み関数 */
kintoki231 0:b44e107ade58 57 void myPWM(void)
kintoki231 0:b44e107ade58 58 {
kintoki231 0:b44e107ade58 59 static int t = 0;
kintoki231 0:b44e107ade58 60 if(t == 100){
kintoki231 0:b44e107ade58 61 sluster = 0;
kintoki231 0:b44e107ade58 62 pump = 0;
kintoki231 0:b44e107ade58 63 t = 0;
kintoki231 0:b44e107ade58 64 return;
kintoki231 0:b44e107ade58 65 }
kintoki231 0:b44e107ade58 66 if(t == 100-sluster_power)
kintoki231 0:b44e107ade58 67 sluster = 1;
kintoki231 0:b44e107ade58 68 if(t == 100-pump_power)
kintoki231 0:b44e107ade58 69 pump = 1;
kintoki231 0:b44e107ade58 70 t++;
kintoki231 0:b44e107ade58 71 }
kintoki231 0:b44e107ade58 72
DiGengengen 1:4a358f08c963 73
DiGengengen 1:4a358f08c963 74 /* xbee or usb シリアル受信時実行関数 */
kintoki231 0:b44e107ade58 75 void SerialReceive(void)
kintoki231 0:b44e107ade58 76 {
kintoki231 0:b44e107ade58 77 char message = xbee.getc();
kintoki231 0:b44e107ade58 78 while(xbee.readable()) // bufferを綺麗に
kintoki231 0:b44e107ade58 79 xbee.getc();
kintoki231 0:b44e107ade58 80
kintoki231 0:b44e107ade58 81 switch (message) {
kintoki231 0:b44e107ade58 82 case 'a':
kintoki231 0:b44e107ade58 83 sluster_up = 35;
kintoki231 0:b44e107ade58 84 break;
kintoki231 0:b44e107ade58 85 case 'u':
kintoki231 0:b44e107ade58 86 sluster_power += 5;
kintoki231 0:b44e107ade58 87 break;
kintoki231 0:b44e107ade58 88 case 'd':
kintoki231 0:b44e107ade58 89 sluster_power -= 5;
kintoki231 0:b44e107ade58 90 break;
kintoki231 0:b44e107ade58 91 case '+':
kintoki231 0:b44e107ade58 92 pump_power += 5;
kintoki231 0:b44e107ade58 93 break;
kintoki231 0:b44e107ade58 94 case '-':
kintoki231 0:b44e107ade58 95 pump_power -= 5;
kintoki231 0:b44e107ade58 96 break;
kintoki231 0:b44e107ade58 97 default :
kintoki231 0:b44e107ade58 98 sluster_power = 0;
kintoki231 0:b44e107ade58 99 pump_power = 0;
kintoki231 0:b44e107ade58 100 sluster_up = 0;
kintoki231 0:b44e107ade58 101 break;
kintoki231 0:b44e107ade58 102 }
kintoki231 0:b44e107ade58 103
kintoki231 0:b44e107ade58 104 if (sluster_power > 95){
kintoki231 0:b44e107ade58 105 sluster_power = 95;
kintoki231 0:b44e107ade58 106 } else if (sluster_power < 0) {
kintoki231 0:b44e107ade58 107 sluster_power = 0;
kintoki231 0:b44e107ade58 108 }
kintoki231 0:b44e107ade58 109
kintoki231 0:b44e107ade58 110 if (pump_power > 95){
kintoki231 0:b44e107ade58 111 pump_power = 95;
kintoki231 0:b44e107ade58 112 } else if (pump_power < 0) {
kintoki231 0:b44e107ade58 113 pump_power = 0;
kintoki231 0:b44e107ade58 114 }
kintoki231 0:b44e107ade58 115 led[2] =~ led[2];
kintoki231 0:b44e107ade58 116 }
kintoki231 0:b44e107ade58 117
DiGengengen 1:4a358f08c963 118
DiGengengen 1:4a358f08c963 119 /* メイン文 */
kintoki231 0:b44e107ade58 120 int main()
kintoki231 0:b44e107ade58 121 {
kintoki231 0:b44e107ade58 122 // Initialization
kintoki231 0:b44e107ade58 123 pump_power = 0;
kintoki231 0:b44e107ade58 124 sluster_power = 0;
kintoki231 0:b44e107ade58 125 pwm.attach_us(myPWM, 100); // original PWM function
kintoki231 0:b44e107ade58 126 //sluster.period_ms(1);
kintoki231 0:b44e107ade58 127 //pump.period_ms(1);
kintoki231 0:b44e107ade58 128 xbee_nreset = 1; // xBee nreset
kintoki231 0:b44e107ade58 129 xbee.baud(9600);
kintoki231 0:b44e107ade58 130 xbee.attach(SerialReceive,Serial::RxIrq);
kintoki231 0:b44e107ade58 131
kintoki231 0:b44e107ade58 132 // start motion
kintoki231 0:b44e107ade58 133 wait(1);
kintoki231 0:b44e107ade58 134 #ifdef USB_DEBUG
kintoki231 0:b44e107ade58 135 xbee.printf("2020 Project Iwatobi, PowerModule ID : %02d\n", kModuleID);
kintoki231 0:b44e107ade58 136 #else
kintoki231 0:b44e107ade58 137 xbee.printf("PM : %02d\n", kModuleID);
kintoki231 0:b44e107ade58 138 #endif
kintoki231 0:b44e107ade58 139 wait(1);
kintoki231 0:b44e107ade58 140 led[0] = 1;
kintoki231 0:b44e107ade58 141
kintoki231 0:b44e107ade58 142
kintoki231 0:b44e107ade58 143 while(1) {
kintoki231 0:b44e107ade58 144 //sluster.write(0.01*sluster_power);
kintoki231 0:b44e107ade58 145 //pump.write(0.01*pump_power);
kintoki231 0:b44e107ade58 146 if ((sluster_up > 0)&&(sluster_up > sluster_power)){
kintoki231 0:b44e107ade58 147 sluster_power+=20;
kintoki231 0:b44e107ade58 148 }
kintoki231 0:b44e107ade58 149 battery_voltage = k_vbat_offset[kModuleID] + raw_battery_voltage.read() * 33.0f; // 10.0 * 3.3
kintoki231 0:b44e107ade58 150 motor_current = k_Im_offset[kModuleID] + raw_motor_shunt_voltage * 33.0f; // 10.0 * 3.3
kintoki231 0:b44e107ade58 151 led[1] =~ led[1];
kintoki231 0:b44e107ade58 152 #ifndef SIMPLE_USE
kintoki231 0:b44e107ade58 153 #ifdef USB_DEBUG
kintoki231 0:b44e107ade58 154 xbee.printf("p1 : %03d, p2 : %03d\n", sluster_power, pump_power);
kintoki231 0:b44e107ade58 155 xbee.printf("Vbat : %2.1f [V], Im : %2.1f [A]\n", battery_voltage, motor_current);
kintoki231 0:b44e107ade58 156 #else
kintoki231 0:b44e107ade58 157 xbee.printf("%03d, %03d, %2.1f, %2.1f\n", sluster_power, pump_power, battery_voltage, motor_current);
kintoki231 0:b44e107ade58 158 #endif
kintoki231 0:b44e107ade58 159 #else
kintoki231 0:b44e107ade58 160 xbee.printf("PM : %02d\n", kModuleID);
kintoki231 0:b44e107ade58 161 #endif
kintoki231 0:b44e107ade58 162 wait(0.5);
kintoki231 0:b44e107ade58 163 }
kintoki231 0:b44e107ade58 164 }