2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

main.cpp@24:1de0291bc5eb, 2017-06-29 (annotated)

Committer:
sift
Date:
Thu Jun 29 01:58:49 2017 +0000
Revision:
24:1de0291bc5eb
Parent:
21:bbf2ad7e6602
Child:
25:c21d35c7f0de
first commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sift 0:276c1dab2d62 1 #include "mbed.h"
sift 0:276c1dab2d62 2 #include "TVDCTRL.h"
sift 2:9d69f27a3d3b 3 #include "Steering.h"
sift 0:276c1dab2d62 4 #include "MCP4922.h"
sift 0:276c1dab2d62 5
sift 2:9d69f27a3d3b 6 Serial pc(USBTX, USBRX); // tx, rx
sift 2:9d69f27a3d3b 7
sift 0:276c1dab2d62 8 ////////////////////////////////////////
sift 0:276c1dab2d62 9 //IO宣言
sift 0:276c1dab2d62 10 SPI spi(p5,p6,p7);
sift 24:1de0291bc5eb 11 MCP4922 mcp(p5,p7,p8); // MOSI, SCLK, CS
sift 24:1de0291bc5eb 12 DigitalOut ioExpCs(p9);
sift 24:1de0291bc5eb 13 DigitalOut indicatorLed(p10);
sift 24:1de0291bc5eb 14 DigitalOut shutDown(p11);
sift 24:1de0291bc5eb 15 DigitalOut brakeSignal(p12);
sift 24:1de0291bc5eb 16 DigitalOut sdState(p13);
sift 24:1de0291bc5eb 17 DigitalIn RTDSW(p14);
sift 24:1de0291bc5eb 18 AnalogIn apsS(p15); //"S"econdary
sift 24:1de0291bc5eb 19 AnalogIn apsP(p16); //"P"rimary
sift 0:276c1dab2d62 20 AnalogIn brake(p17);
sift 19:571a4d00b89c 21 AnalogOut STR2AN(p18);
sift 24:1de0291bc5eb 22 DigitalIn SLCTSW[3] = {p19, p20, p21};
sift 24:1de0291bc5eb 23 InterruptIn rightMotorPulse(p22);
sift 24:1de0291bc5eb 24 InterruptIn leftMotorPulse(p23);
sift 24:1de0291bc5eb 25 InterruptIn rightTirePulse1(p24);
sift 24:1de0291bc5eb 26 InterruptIn rightTirePulse2(p25);
sift 24:1de0291bc5eb 27 InterruptIn leftTirePulse1(p26);
sift 24:1de0291bc5eb 28 InterruptIn leftTirePulse2(p27);
sift 24:1de0291bc5eb 29 DigitalOut WDT(p28);
sift 19:571a4d00b89c 30 CAN can(p30, p29);
sift 0:276c1dab2d62 31
sift 0:276c1dab2d62 32 DigitalOut LED[] = {LED1, LED2, LED3, LED4};
sift 0:276c1dab2d62 33
sift 0:276c1dab2d62 34 #define indicateSystem(x) (indicatorLed.write(x))
sift 0:276c1dab2d62 35 #define shutdownSystem(void) (shutDown.write(0))
sift 0:276c1dab2d62 36 #define bootSystem(void) (shutDown.write(1))
sift 0:276c1dab2d62 37 #define isPressedRTD(void) (!RTDSW.read())
sift 0:276c1dab2d62 38 #define isShutdownSystem(void) (SDState.read())
sift 0:276c1dab2d62 39
sift 2:9d69f27a3d3b 40 Timer timer;
sift 2:9d69f27a3d3b 41
sift 0:276c1dab2d62 42 void initIO(void)
sift 0:276c1dab2d62 43 {
sift 0:276c1dab2d62 44 indicatorLed = 0;
sift 0:276c1dab2d62 45 shutDown = 0;
sift 0:276c1dab2d62 46 LED[0] = LED[1] = LED[2] = LED[3] = 0;
sift 0:276c1dab2d62 47
sift 0:276c1dab2d62 48 RTDSW.mode(PullUp);
sift 0:276c1dab2d62 49 SDState.mode(PullUp);
sift 6:26fa8c78500e 50
sift 2:9d69f27a3d3b 51 indicateSystem(1);
sift 2:9d69f27a3d3b 52 bootSystem();
sift 0:276c1dab2d62 53 }
sift 0:276c1dab2d62 54
sift 1:4d86ec2fe4b1 55 int main(void)
sift 0:276c1dab2d62 56 {
sift 19:571a4d00b89c 57 int f_whatchdog=0;
sift 2:9d69f27a3d3b 58 pc.baud(115200);
sift 6:26fa8c78500e 59
sift 21:bbf2ad7e6602 60 printf("\r\nVersion:TVDctrller_ALPHA...start!!!!!\r\n");
sift 1:4d86ec2fe4b1 61
sift 1:4d86ec2fe4b1 62 initIO(); //IOポート初期化
sift 0:276c1dab2d62 63
sift 1:4d86ec2fe4b1 64 initTVD();
sift 1:4d86ec2fe4b1 65
sift 2:9d69f27a3d3b 66 initSteering();
sift 2:9d69f27a3d3b 67
sift 2:9d69f27a3d3b 68 timer.start();
sift 12:ae291fa7239c 69
sift 10:87ad65eef0e9 70 wait(1);
sift 6:26fa8c78500e 71
sift 2:9d69f27a3d3b 72 float time;
sift 2:9d69f27a3d3b 73
sift 12:ae291fa7239c 74 struct errCounter_t eCounter= {0,0,0,0,0,0,0,0};
sift 1:4d86ec2fe4b1 75 while(1) {
sift 19:571a4d00b89c 76 f_whatchdog = ~f_whatchdog;
sift 19:571a4d00b89c 77 WDT.write(f_whatchdog);
sift 14:7cc98e159c6e 78 //getCurrentErrCount(&eCounter);
sift 20:3c5061281a7a 79
sift 2:9d69f27a3d3b 80 timer.reset();
sift 1:4d86ec2fe4b1 81
sift 2:9d69f27a3d3b 82 driveTVD();
sift 6:26fa8c78500e 83
sift 3:821e2f07a260 84 //printf("%f\n\r", 45.0/0xFFFF * calcRequestTorque());
sift 6:26fa8c78500e 85
sift 12:ae291fa7239c 86 //printf("%2.2f\t%3.2f\t%1.2f\r\n", 45.0f / 0xffff * calcRequestTorque(), getVelocity(), getSteerAngle());
sift 2:9d69f27a3d3b 87 //printf("%1.6f\r\n", time);
sift 12:ae291fa7239c 88 //printf("%d\r\n", eCounter.brakeOverRide);
sift 2:9d69f27a3d3b 89 time = timer.read();
sift 12:ae291fa7239c 90 while(timer.read_ms() < 10);
sift 2:9d69f27a3d3b 91
sift 13:6dc51981f391 92 //printf("%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t\r\n", eCounter.apsUnderVolt, eCounter.apsExceedVolt, eCounter.apsErrorTolerance, eCounter.apsStick, eCounter.brakeUnderVolt, eCounter.brakeExceedVolt, eCounter.brakeFuzzyVolt, eCounter.brakeOverRide);
sift 12:ae291fa7239c 93 //printf("apsP:%f, apsS:%f, brake:%f\r", 3.3f/65535 * getRawSensor(APS_PRIMARY), 3.3f/65535 * getRawSensor(APS_SECONDARY), 3.3f/65535 * getRawSensor(BRAKE));
sift 2:9d69f27a3d3b 94
sift 2:9d69f27a3d3b 95 //wait(0.05);
sift 0:276c1dab2d62 96 }
sift 2:9d69f27a3d3b 97 }