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Fork of TVDctrller2017_brdRev1_ver6 by
Diff: main.cpp
- Revision:
- 27:37a8b4f6d28d
- Parent:
- 26:331e77bb479b
- Child:
- 28:47e9531a3a9d
--- a/main.cpp Sat Jul 01 07:24:50 2017 +0000 +++ b/main.cpp Sat Jul 01 08:45:37 2017 +0000 @@ -29,8 +29,9 @@ InterruptIn leftTirePulse2(p27); DigitalOut WDT(p28); CAN can(p30, p29); +DigitalOut LED[] = {LED1, LED2, LED3, LED4}; -DigitalOut LED[] = {LED1, LED2, LED3, LED4}; +Timer timer; #define indicateSystem(x) (indicatorLed.write(x)) #define shutdownSystem(void) (shutDown.write(0)) @@ -38,9 +39,16 @@ #define isPressedRTD(void) (!RTDSW.read()) #define isShutdownSystem(void) (SDState.read()) -Timer timer; +//++++++++++++++++++++++++++ +//CANデータのバイト数 +#define CANDATANUM_REQTRQ 2 +#define CANDATANUM_BRAKE 1 +#define CANDATANUM_MOTORTRQ_R 2 +#define CANDATANUM_MOTORTRQ_L 2 +#define CANDATANUM_MOTORTRQ_L 1 +//++++++++++++++++++++++++++ -void initIO(void) +void init(void) { indicatorLed = 0; shutDown = 0; @@ -60,6 +68,8 @@ leftTirePulse1.mode(PullNone); leftTirePulse2.mode(PullNone); + can.frequency(500000); //500kHz + indicateSystem(1); bootSystem(); } @@ -67,6 +77,7 @@ int main(void) { int f_whatchdog=0; + char canSendData[1]; wait(1); @@ -75,7 +86,7 @@ printf("\033[1;1H"); //teratermの画面クリア printf("\r\nVersion:TVDctrller2017_brdRev1...start!!!!!\r\n"); - initIO(); //IOポート初期化 + init(); //IOポート初期化 initTVD(); @@ -100,7 +111,11 @@ //printf("%f\n\r", 45.0/0xFFFF * calcRequestTorque()); - printf("%2.2f\t%3.2f\t%1.2f\r\n", 45.0f / 0xffff * calcRequestTorque(), getVelocity(), getSteerAngle()); + canSendData[0] = (char)(255.0f * (calcRequestTorque()-MAX_OUTPUT_TORQUE_REGENERATIVE)/(MAX_OUTPUT_TORQUE_POWER-MAX_OUTPUT_TORQUE_REGENERATIVE)); + printf("%2.2f\t%3.2f\t%1.2f\tsend:%d\r\n", 45.0f / 0xffff * calcRequestTorque(), getVelocity(), getSteerAngle(), canSendData[0]); + + can.write(CANMessage(0x0f, canSendData, 1)); + //printf("%1.6f\r\n", time); //printf("%d\r\n", eCounter.brakeOverRide); time = timer.read();