2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

main.cpp@40:8e33c60c6590, 2017-10-26 (annotated)

Committer:
sift
Date:
Thu Oct 26 07:58:00 2017 +0000
Revision:
40:8e33c60c6590
Parent:
39:c05074379713
Child:
43:5da6b1574227
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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 25:c21d35c7f0de 5 #include "Global.h"
sift 0:276c1dab2d62 6
sift 2:9d69f27a3d3b 7 Serial pc(USBTX, USBRX); // tx, rx
sift 2:9d69f27a3d3b 8
sift 0:276c1dab2d62 9 ////////////////////////////////////////
sift 0:276c1dab2d62 10 //IO宣言
sift 0:276c1dab2d62 11 SPI spi(p5,p6,p7);
sift 24:1de0291bc5eb 12 MCP4922 mcp(p5,p7,p8); // MOSI, SCLK, CS
sift 24:1de0291bc5eb 13 DigitalOut ioExpCs(p9);
sift 24:1de0291bc5eb 14 DigitalOut indicatorLed(p10);
sift 24:1de0291bc5eb 15 DigitalOut shutDown(p11);
sift 24:1de0291bc5eb 16 DigitalOut brakeSignal(p12);
sift 25:c21d35c7f0de 17 DigitalIn sdState(p13);
sift 24:1de0291bc5eb 18 DigitalIn RTDSW(p14);
sift 24:1de0291bc5eb 19 AnalogIn apsS(p15); //"S"econdary
sift 24:1de0291bc5eb 20 AnalogIn apsP(p16); //"P"rimary
sift 0:276c1dab2d62 21 AnalogIn brake(p17);
sift 19:571a4d00b89c 22 AnalogOut STR2AN(p18);
sift 24:1de0291bc5eb 23 DigitalIn SLCTSW[3] = {p19, p20, p21};
sift 24:1de0291bc5eb 24 InterruptIn rightMotorPulse(p22);
sift 24:1de0291bc5eb 25 InterruptIn leftMotorPulse(p23);
sift 39:c05074379713 26 InterruptIn rightWheelPulse1(p24);
sift 39:c05074379713 27 InterruptIn rightWheelPulse2(p25);
sift 39:c05074379713 28 InterruptIn leftWheelPulse1(p26);
sift 39:c05074379713 29 InterruptIn leftWheelPulse2(p27);
sift 24:1de0291bc5eb 30 DigitalOut WDT(p28);
sift 19:571a4d00b89c 31 CAN can(p30, p29);
sift 27:37a8b4f6d28d 32 DigitalOut LED[] = {LED1, LED2, LED3, LED4};
sift 0:276c1dab2d62 33
sift 27:37a8b4f6d28d 34 Timer timer;
sift 0:276c1dab2d62 35
sift 0:276c1dab2d62 36 #define indicateSystem(x) (indicatorLed.write(x))
sift 0:276c1dab2d62 37 #define shutdownSystem(void) (shutDown.write(0))
sift 0:276c1dab2d62 38 #define bootSystem(void) (shutDown.write(1))
sift 0:276c1dab2d62 39 #define isPressedRTD(void) (!RTDSW.read())
sift 0:276c1dab2d62 40 #define isShutdownSystem(void) (SDState.read())
sift 0:276c1dab2d62 41
sift 27:37a8b4f6d28d 42 //++++++++++++++++++++++++++
sift 28:47e9531a3a9d 43 //CAN ID
sift 28:47e9531a3a9d 44 #define CANID_BRAKE 0xF1
sift 28:47e9531a3a9d 45 #define CANID_REQTRQ 0xF2
sift 38:11753ee9734f 46 #define CANID_RIGHT_TRQ 0xF3
sift 38:11753ee9734f 47 #define CANID_LEFT_TRQ 0xF4
sift 38:11753ee9734f 48 #define CANID_STEERING 0xF5
sift 38:11753ee9734f 49 #define CANID_WHEELSPEED 0xF6
sift 38:11753ee9734f 50 #define CANID_MOTORSPEED 0xF7
sift 38:11753ee9734f 51 #define CANID_VEHICLESPEED 0xF8
sift 38:11753ee9734f 52 #define CANID_DISTRQ 0xF9
sift 28:47e9531a3a9d 53 //++++++++++++++++++++++++++
sift 28:47e9531a3a9d 54
sift 28:47e9531a3a9d 55 //++++++++++++++++++++++++++
sift 27:37a8b4f6d28d 56 //CANデータのバイト数
sift 28:47e9531a3a9d 57 #define CANDATANUM_BRAKE 1
sift 28:47e9531a3a9d 58 #define CANDATANUM_REQTRQ 4
sift 38:11753ee9734f 59 #define CANDATANUM_MOTORTRQ 4
sift 28:47e9531a3a9d 60 #define CANDATANUM_STEERING 1
sift 28:47e9531a3a9d 61 #define CANDATANUM_WHEELSPEED 4
sift 28:47e9531a3a9d 62 #define CANDATANUM_MOTORSPEED 4
sift 28:47e9531a3a9d 63 #define CANDATANUM_VEHICLESPEED 2
sift 31:042c08a7434f 64 #define CANDATANUM_DISTRQ 2
sift 27:37a8b4f6d28d 65 //++++++++++++++++++++++++++
sift 2:9d69f27a3d3b 66
sift 34:594ddb4008b2 67 void writeCanBuff(long long data, char* buff, int byteNum)
sift 28:47e9531a3a9d 68 {
sift 28:47e9531a3a9d 69 for(int i=0; i<byteNum; i++) {
sift 28:47e9531a3a9d 70 buff[i] = 0xff & (data >> (i*8));
sift 28:47e9531a3a9d 71 }
sift 28:47e9531a3a9d 72 }
sift 28:47e9531a3a9d 73
sift 27:37a8b4f6d28d 74 void init(void)
sift 0:276c1dab2d62 75 {
sift 0:276c1dab2d62 76 indicatorLed = 0;
sift 0:276c1dab2d62 77 shutDown = 0;
sift 25:c21d35c7f0de 78 brakeSignal = 0;
sift 0:276c1dab2d62 79 LED[0] = LED[1] = LED[2] = LED[3] = 0;
sift 0:276c1dab2d62 80
sift 25:c21d35c7f0de 81 sdState.mode(PullNone);
sift 25:c21d35c7f0de 82 RTDSW.mode(PullNone);
sift 25:c21d35c7f0de 83 SLCTSW[0].mode(PullNone);
sift 25:c21d35c7f0de 84 SLCTSW[1].mode(PullNone);
sift 25:c21d35c7f0de 85 SLCTSW[2].mode(PullNone);
sift 26:331e77bb479b 86
sift 25:c21d35c7f0de 87 rightMotorPulse.mode(PullNone);
sift 25:c21d35c7f0de 88 leftMotorPulse.mode(PullNone);
sift 39:c05074379713 89 rightWheelPulse1.mode(PullNone);
sift 39:c05074379713 90 rightWheelPulse2.mode(PullNone);
sift 39:c05074379713 91 leftWheelPulse1.mode(PullNone);
sift 39:c05074379713 92 leftWheelPulse2.mode(PullNone);
sift 26:331e77bb479b 93
sift 27:37a8b4f6d28d 94 can.frequency(500000); //500kHz
sift 27:37a8b4f6d28d 95
sift 2:9d69f27a3d3b 96 indicateSystem(1);
sift 2:9d69f27a3d3b 97 bootSystem();
sift 0:276c1dab2d62 98 }
sift 0:276c1dab2d62 99
sift 1:4d86ec2fe4b1 100 int main(void)
sift 0:276c1dab2d62 101 {
sift 39:c05074379713 102 // char canBrake[CANDATANUM_BRAKE]= {0};
sift 28:47e9531a3a9d 103 char canRequestTorque[CANDATANUM_REQTRQ]= {0};
sift 38:11753ee9734f 104 char canMotorTorqueR[CANDATANUM_MOTORTRQ]= {0};
sift 38:11753ee9734f 105 char canMotorTorqueL[CANDATANUM_MOTORTRQ]= {0};
sift 28:47e9531a3a9d 106 char canSteer[CANDATANUM_STEERING]= {0};
sift 39:c05074379713 107 // char canMotorSpeed[CANDATANUM_MOTORSPEED]= {0};
sift 39:c05074379713 108 // char canWheelSpeed[CANDATANUM_WHEELSPEED]= {0};
sift 28:47e9531a3a9d 109 char canVehicleSpeed[CANDATANUM_VEHICLESPEED]= {0};
sift 39:c05074379713 110 // char canTorqueDistribution[CANDATANUM_DISTRQ]= {0};
sift 26:331e77bb479b 111
sift 34:594ddb4008b2 112 int canWriteSucceeded = 0;
sift 31:042c08a7434f 113
sift 31:042c08a7434f 114 //wait(1); //断線検出に引っかかるためMotorControllerの起動よりも早くTVDCは起動する必要あり
sift 31:042c08a7434f 115
sift 25:c21d35c7f0de 116 pc.baud(115200);
sift 26:331e77bb479b 117 printf("\033[2J"); //teratermの画面クリア
sift 25:c21d35c7f0de 118 printf("\033[1;1H"); //teratermの画面クリア
sift 25:c21d35c7f0de 119 printf("\r\nVersion:TVDctrller2017_brdRev1...start!!!!!\r\n");
sift 1:4d86ec2fe4b1 120
sift 27:37a8b4f6d28d 121 init(); //IOポート初期化
sift 0:276c1dab2d62 122
sift 1:4d86ec2fe4b1 123 initTVD();
sift 1:4d86ec2fe4b1 124
sift 2:9d69f27a3d3b 125 initSteering();
sift 2:9d69f27a3d3b 126
sift 2:9d69f27a3d3b 127 timer.start();
sift 12:ae291fa7239c 128
sift 12:ae291fa7239c 129 struct errCounter_t eCounter= {0,0,0,0,0,0,0,0};
sift 26:331e77bb479b 130
sift 29:a51cb2cf22ae 131 wait(3);
sift 26:331e77bb479b 132
sift 1:4d86ec2fe4b1 133 while(1) {
sift 34:594ddb4008b2 134
sift 34:594ddb4008b2 135 canWriteSucceeded = 0;
sift 34:594ddb4008b2 136
sift 30:c596a0f5d685 137 getCurrentErrCount(&eCounter);
sift 26:331e77bb479b 138
sift 2:9d69f27a3d3b 139 timer.reset();
sift 1:4d86ec2fe4b1 140
sift 26:331e77bb479b 141 driveTVD(0, isPressedRTD());
sift 31:042c08a7434f 142
sift 30:c596a0f5d685 143 brakeSignal.write(isBrakeOn());
sift 6:26fa8c78500e 144
sift 31:042c08a7434f 145 writeCanBuff((int)(getVelocity() / LSB_MOTORSPEED),canVehicleSpeed,CANDATANUM_VEHICLESPEED);
sift 31:042c08a7434f 146 writeCanBuff(getSteerAngle()+127, canSteer, CANDATANUM_STEERING);
sift 30:c596a0f5d685 147 writeCanBuff(calcRequestTorque(), canRequestTorque, CANDATANUM_REQTRQ);
sift 38:11753ee9734f 148 writeCanBuff(getMotorTorque(RIGHT), canMotorTorqueR, CANDATANUM_MOTORTRQ);
sift 38:11753ee9734f 149 writeCanBuff(getMotorTorque(LEFT), canMotorTorqueL, CANDATANUM_MOTORTRQ);
sift 34:594ddb4008b2 150
sift 34:594ddb4008b2 151 do {
sift 38:11753ee9734f 152 if(canWriteSucceeded != 0b11111) {
sift 38:11753ee9734f 153 if(0 == (canWriteSucceeded & 0b00001))
sift 34:594ddb4008b2 154 canWriteSucceeded |= (can.write(CANMessage(CANID_VEHICLESPEED, canVehicleSpeed, CANDATANUM_VEHICLESPEED)) << 0);
sift 38:11753ee9734f 155 else if(0 == (canWriteSucceeded & 0b00010))
sift 34:594ddb4008b2 156 canWriteSucceeded |= (can.write(CANMessage(CANID_STEERING, canSteer, CANDATANUM_STEERING)) << 1);
sift 38:11753ee9734f 157 else if(0 == (canWriteSucceeded & 0b00100))
sift 34:594ddb4008b2 158 canWriteSucceeded |= (can.write(CANMessage(CANID_REQTRQ, canRequestTorque, CANDATANUM_REQTRQ)) << 2);
sift 38:11753ee9734f 159 else if(0 == (canWriteSucceeded & 0b01000))
sift 38:11753ee9734f 160 canWriteSucceeded |= (can.write(CANMessage(CANID_RIGHT_TRQ, canMotorTorqueR, CANDATANUM_MOTORTRQ)) << 3);
sift 38:11753ee9734f 161 else if(0 == (canWriteSucceeded & 0b10000))
sift 38:11753ee9734f 162 canWriteSucceeded |= (can.write(CANMessage(CANID_LEFT_TRQ, canMotorTorqueL, CANDATANUM_MOTORTRQ)) << 4);
sift 34:594ddb4008b2 163 //printf("%d\r\n", canWriteSucceeded);
sift 34:594ddb4008b2 164 }
sift 34:594ddb4008b2 165 } while(timer.read_ms() < CONTROL_CYCLE_MS); //制御周期管理 関数内処理時間より短い時間の制御周期の設定は禁止
sift 34:594ddb4008b2 166 //printf("\r\n");
sift 26:331e77bb479b 167
sift 13:6dc51981f391 168 //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 38:11753ee9734f 169 // printf("apsP:%1.2f, apsS:%1.2f, brake:%1.2f,RPS_R:%1.2f, RPS_L%1.2f\r", 3.3f/65535 * getRawSensor(APS_PRIMARY), 3.3f/65535 * getRawSensor(APS_SECONDARY), 3.3f/65535 * getRawSensor(BRAKE), getRPS(RIGHT)*LSB_MOTORSPEED*GEAR_RATIO*60.0f, getRPS(LEFT)*LSB_MOTORSPEED*GEAR_RATIO*60.0f);
sift 0:276c1dab2d62 170 }
sift 2:9d69f27a3d3b 171 }