Shohei Kamiguchi / Mbed 2 deprecated Iwatobi_Power_Modulebn

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Dependencies:   mbed

Diff: main.cpp

Revision:
2:4d280faa7d59
Parent:
1:4a358f08c963
Child:
3:f56810dbc1ce
--- a/main.cpp	Sun Nov 15 14:51:28 2020 +0000
+++ b/main.cpp	Sun Nov 15 15:07:08 2020 +0000
@@ -50,10 +50,25 @@
 Serial xbee(USBTX, USBRX);
 #endif
 
-/*タイマー関係設定*/
-Ticker pwm;
+
+/* WatchDogTimer関係 */
+Ticker tick_WDT;
+const double TIME_WDT = 2.0;  // [sec] : WDTの周期設定
+bool flag_WDT = 0;
+void WDT_int(){
+    if(flag_WDT == 1){      // 一定時間反応がなかったためスラスター，ポンプのパワーオフ．
+        sluster_power = 0;
+        pump_power = 0;
+    }
+    flag_WDT = 1;
+}
+void WDT_init(){
+    tick_WDT.attach(&WDT_int, TIME_WDT);
+}
+
 
 /* PWM出力用割り込み関数 */
+Ticker pwm;
 void myPWM(void)
 {
     static int t = 0;
@@ -74,6 +89,7 @@
 /* xbee or usb シリアル受信時実行関数 */
 void SerialReceive(void)
 {
+    flag_WDT = 0;                               // シリアルの信号を受け取るたびにWDTのフラグを折る．
     char message = xbee.getc();
     while(xbee.readable())  // bufferを綺麗に
         xbee.getc();
@@ -116,6 +132,7 @@
 }
 
 
+
 /* メイン文 */
 int main()
 {
@@ -128,6 +145,7 @@
     xbee_nreset = 1;    // xBee nreset
     xbee.baud(9600);
     xbee.attach(SerialReceive,Serial::RxIrq);
+    WDT_init();
     
     // start motion
     wait(1);