File content as of revision 0:276c1dab2d62:

#include "mbed.h"
#include "TVDCTRL.h"
#include "APSdefs.h"
#include "Steering.h"
#include "MCP4922.h"

////////////////////////////////////////
//IO宣言
SPI spi(p5,p6,p7);
MCP4922 mcp(p5,p7,p8);  // MOSI, SCLK, CS
Serial com2(p9, p10);   //xbeeとかデバッグ用
DigitalOut cs(p11);
//12
//13
//14
InterruptIn motorPulse1(p15);
InterruptIn motorPulse2(p16);

AnalogIn brake(p17);
AnalogOut ana(p18);
AnalogIn apsS(p19);     //"S"econdary
AnalogIn apsP(p20);     //"P"rimary
DigitalOut indicatorLed(p21);
DigitalOut shutDown(p22);
DigitalOut MotorPulse[] = {p23, p24};
DigitalIn RTDSW(p25);
DigitalIn SDState(p26);
Serial com1(p28, p27);  //インパネとの通信に使用するかも知れなくもないかもしれない

DigitalOut LED[] = {LED1, LED2, LED3, LED4};
//DigitalOut watchDog();

#define apsPVol (apsP * 3.3f)
#define apsSVol (apsS * 3.3f)

#define indicateSystem(x)       (indicatorLed.write(x))
#define shutdownSystem(void)    (shutDown.write(0))
#define bootSystem(void)        (shutDown.write(1))
#define isPressedRTD(void)      (!RTDSW.read())
#define isShutdownSystem(void)  (SDState.read())

int checkSensorPlausibility(void);
void initIO(void);

////////////////////////////////////////
//センサーサンプリング関係
#define ratioLPF 0.034f    //CutOff:23.89Hz
void loadSensorsLPF(void);
////////////////////////////////////////

/*
//そのうち実装
CAN can();
*/

float apsPSample, apsSSample, brakeSample;
float fixVoltage(float vol)
{
    if(vol > APS_MAX_VOLTAGE)
        return APS_MAX_VOLTAGE;
    else if(APS_MIN_VOLTAGE > vol)
        return APS_MIN_VOLTAGE;
    else
        return vol;
}

//APS信号をモーターコントローラの入力電圧に変換
//fixVoltageを通してから使うこと
float fixSpecifiedOutputData(float aps)
{
    float temp;

    aps = ((aps<APS_MIN_VOLTAGE) ? 0.0f : (aps-APS_MIN_VOLTAGE)); //オフセット修正

    /*
    if(aps < APS_DEADBAND)
        temp = 0.0f;
    else {
        aps -= APS_DEADBAND;
        temp = (aps * (DACOUTPUT_VALID_RANGE/(APS_VALID_RANGE)));
        temp *= LIMIT;
    }

    temp += DACOUTPUT_MIN;
    */

    temp = (aps * (1.1f/(APS_MAX_VOLTAGE-APS_MIN_VOLTAGE)));

    return temp/3.3f;
}

Timer timer;

Ticker ticker1;
Ticker ticker2;

void generatePulse()
{
    static bool flag = false;
    flag = !flag;
    MotorPulse[0] = MotorPulse[1] = LED[0] = flag;
}

int pulseTime = 0;

void countPulse1()
{
    //Do not use "printf" in interrupt!!!
    static int preTime=0;
    int currentTime = timer.read_ms();
    pulseTime = currentTime - preTime;
    preTime = currentTime;
}

int convertPulseToVelocity(int pulseTime1, int pulseTime2)
{
    return (int)convPToV_533[(int)((pulseTime1+pulseTime2)/2.0f)];
}

int main(void)
{
    printf("\r\nVersion:TVDCU_Alpha...start!!!!!\r\n");

    initIO();       //IOポート初期化
    initIoExp();    //エキスパンダIO初期化

    timer.reset();
    timer.start();

    //ticker.attach(&loadSensorsLPF, 0.001);    //サンプリング周期1msec
    ticker1.attach(&generatePulse, 0.001);

    motorPulse1.mode(PullUp);
    motorPulse1.fall(&countPulse1);

    bootSystem();   //システム起動

    indicateSystem(1);  //System OK!

    while(1) {
        printf("%f\r\n", convertPulseToVelocity(pulseTime, pulseTime)*3.6f);
    }
}

void initIO(void)
{
    indicatorLed = 0;
    shutDown = 0;
    LED[0] = LED[1] = LED[2] = LED[3] = 0;

    RTDSW.mode(PullUp);
    SDState.mode(PullUp);
}

int checkSensorPlausibility(void)
{
    int plausibility = 1;

    if(apsPVol < APS_MIN_VOLTAGE) {
        plausibility = 0;
        LED[0] = 1;
    }
    if(apsPVol > APS_MAX_VOLTAGE) {
        plausibility = 0;
        LED[0] = 1;
    }
    if(apsSVol < APS_MIN_VOLTAGE) {
        plausibility = 0;
        LED[1] = 1;
    }
    if(apsSVol > APS_MAX_VOLTAGE) {
        plausibility = 0;
        LED[1] = 1;
    }

    return plausibility;
}

void loadSensorsLPF(void)
{
    //timer.reset();

    static float preApsP, preApsS;

    preApsP = apsPVol*ratioLPF + preApsP*(1.0f-ratioLPF);
    preApsS = apsSVol*ratioLPF + preApsS*(1.0f-ratioLPF);

//    preApsP = apsPVol;
//    preApsS = apsSVol;

    apsPSample = preApsP;
    apsSSample = preApsS;
}