2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

main.cpp@44:d433bb5f77c0, 2017-12-02 (annotated)

Committer:
sift
Date:
Sat Dec 02 10:52:00 2017 +0000
Revision:
44:d433bb5f77c0
Parent:
43:5da6b1574227
Child:
47:949e6c2e69fc
2017/12/01????????; ???????????????????????(????????????); ??????????????????(??????????????????...

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 44:d433bb5f77c0 53 #define CANID_RR_RPS 0xFA
sift 44:d433bb5f77c0 54 #define CANID_RL_RPS 0xFB
sift 44:d433bb5f77c0 55 #define CANID_FR_RPS 0xFC
sift 44:d433bb5f77c0 56 #define CANID_FL_RPS 0xFD
sift 44:d433bb5f77c0 57 #define CANID_APS_P 0xFE
sift 44:d433bb5f77c0 58 #define CANID_APS_S 0xFF
sift 28:47e9531a3a9d 59 //++++++++++++++++++++++++++
sift 28:47e9531a3a9d 60
sift 28:47e9531a3a9d 61 //++++++++++++++++++++++++++
sift 27:37a8b4f6d28d 62 //CANデータのバイト数
sift 28:47e9531a3a9d 63 #define CANDATANUM_BRAKE 1
sift 28:47e9531a3a9d 64 #define CANDATANUM_REQTRQ 4
sift 38:11753ee9734f 65 #define CANDATANUM_MOTORTRQ 4
sift 28:47e9531a3a9d 66 #define CANDATANUM_STEERING 1
sift 28:47e9531a3a9d 67 #define CANDATANUM_WHEELSPEED 4
sift 28:47e9531a3a9d 68 #define CANDATANUM_MOTORSPEED 4
sift 28:47e9531a3a9d 69 #define CANDATANUM_VEHICLESPEED 2
sift 31:042c08a7434f 70 #define CANDATANUM_DISTRQ 2
sift 44:d433bb5f77c0 71 #define CANDATANUM_RPS 2
sift 44:d433bb5f77c0 72 #define CANDATANUM_APS 2
sift 27:37a8b4f6d28d 73 //++++++++++++++++++++++++++
sift 2:9d69f27a3d3b 74
sift 34:594ddb4008b2 75 void writeCanBuff(long long data, char* buff, int byteNum)
sift 28:47e9531a3a9d 76 {
sift 28:47e9531a3a9d 77 for(int i=0; i<byteNum; i++) {
sift 28:47e9531a3a9d 78 buff[i] = 0xff & (data >> (i*8));
sift 28:47e9531a3a9d 79 }
sift 28:47e9531a3a9d 80 }
sift 28:47e9531a3a9d 81
sift 27:37a8b4f6d28d 82 void init(void)
sift 0:276c1dab2d62 83 {
sift 0:276c1dab2d62 84 indicatorLed = 0;
sift 0:276c1dab2d62 85 shutDown = 0;
sift 25:c21d35c7f0de 86 brakeSignal = 0;
sift 0:276c1dab2d62 87 LED[0] = LED[1] = LED[2] = LED[3] = 0;
sift 0:276c1dab2d62 88
sift 25:c21d35c7f0de 89 sdState.mode(PullNone);
sift 25:c21d35c7f0de 90 RTDSW.mode(PullNone);
sift 25:c21d35c7f0de 91 SLCTSW[0].mode(PullNone);
sift 25:c21d35c7f0de 92 SLCTSW[1].mode(PullNone);
sift 25:c21d35c7f0de 93 SLCTSW[2].mode(PullNone);
sift 26:331e77bb479b 94
sift 25:c21d35c7f0de 95 rightMotorPulse.mode(PullNone);
sift 25:c21d35c7f0de 96 leftMotorPulse.mode(PullNone);
sift 39:c05074379713 97 rightWheelPulse1.mode(PullNone);
sift 39:c05074379713 98 rightWheelPulse2.mode(PullNone);
sift 39:c05074379713 99 leftWheelPulse1.mode(PullNone);
sift 39:c05074379713 100 leftWheelPulse2.mode(PullNone);
sift 26:331e77bb479b 101
sift 27:37a8b4f6d28d 102 can.frequency(500000); //500kHz
sift 27:37a8b4f6d28d 103
sift 2:9d69f27a3d3b 104 indicateSystem(1);
sift 2:9d69f27a3d3b 105 bootSystem();
sift 0:276c1dab2d62 106 }
sift 0:276c1dab2d62 107
sift 1:4d86ec2fe4b1 108 int main(void)
sift 0:276c1dab2d62 109 {
sift 39:c05074379713 110 // char canBrake[CANDATANUM_BRAKE]= {0};
sift 28:47e9531a3a9d 111 char canRequestTorque[CANDATANUM_REQTRQ]= {0};
sift 38:11753ee9734f 112 char canMotorTorqueR[CANDATANUM_MOTORTRQ]= {0};
sift 38:11753ee9734f 113 char canMotorTorqueL[CANDATANUM_MOTORTRQ]= {0};
sift 28:47e9531a3a9d 114 char canSteer[CANDATANUM_STEERING]= {0};
sift 39:c05074379713 115 // char canMotorSpeed[CANDATANUM_MOTORSPEED]= {0};
sift 39:c05074379713 116 // char canWheelSpeed[CANDATANUM_WHEELSPEED]= {0};
sift 28:47e9531a3a9d 117 char canVehicleSpeed[CANDATANUM_VEHICLESPEED]= {0};
sift 44:d433bb5f77c0 118 char canTorqueDistribution[CANDATANUM_DISTRQ]= {0};
sift 44:d433bb5f77c0 119 char canRR_RPS[CANDATANUM_RPS]= {0};
sift 44:d433bb5f77c0 120 char canRL_RPS[CANDATANUM_RPS]= {0};
sift 44:d433bb5f77c0 121 char canFR_RPS[CANDATANUM_RPS]= {0};
sift 44:d433bb5f77c0 122 char canFL_RPS[CANDATANUM_RPS]= {0};
sift 44:d433bb5f77c0 123 char canAPS_P[CANDATANUM_APS]= {0};
sift 44:d433bb5f77c0 124 char canAPS_S[CANDATANUM_APS]= {0};
sift 26:331e77bb479b 125
sift 44:d433bb5f77c0 126 unsigned int canWriteSucceeded = 0;
sift 31:042c08a7434f 127
sift 31:042c08a7434f 128 //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 129
sift 25:c21d35c7f0de 130 pc.baud(115200);
sift 26:331e77bb479b 131 printf("\033[2J"); //teratermの画面クリア
sift 25:c21d35c7f0de 132 printf("\033[1;1H"); //teratermの画面クリア
sift 25:c21d35c7f0de 133 printf("\r\nVersion:TVDctrller2017_brdRev1...start!!!!!\r\n");
sift 1:4d86ec2fe4b1 134
sift 27:37a8b4f6d28d 135 init(); //IOポート初期化
sift 0:276c1dab2d62 136
sift 1:4d86ec2fe4b1 137 initTVD();
sift 1:4d86ec2fe4b1 138
sift 2:9d69f27a3d3b 139 initSteering();
sift 2:9d69f27a3d3b 140
sift 2:9d69f27a3d3b 141 timer.start();
sift 12:ae291fa7239c 142
sift 12:ae291fa7239c 143 struct errCounter_t eCounter= {0,0,0,0,0,0,0,0};
sift 26:331e77bb479b 144
sift 29:a51cb2cf22ae 145 wait(3);
sift 26:331e77bb479b 146
sift 1:4d86ec2fe4b1 147 while(1) {
sift 34:594ddb4008b2 148
sift 34:594ddb4008b2 149 canWriteSucceeded = 0;
sift 34:594ddb4008b2 150
sift 30:c596a0f5d685 151 getCurrentErrCount(&eCounter);
sift 26:331e77bb479b 152
sift 2:9d69f27a3d3b 153 timer.reset();
sift 1:4d86ec2fe4b1 154
sift 26:331e77bb479b 155 driveTVD(0, isPressedRTD());
sift 31:042c08a7434f 156
sift 30:c596a0f5d685 157 brakeSignal.write(isBrakeOn());
sift 6:26fa8c78500e 158
sift 31:042c08a7434f 159 writeCanBuff((int)(getVelocity() / LSB_MOTORSPEED),canVehicleSpeed,CANDATANUM_VEHICLESPEED);
sift 31:042c08a7434f 160 writeCanBuff(getSteerAngle()+127, canSteer, CANDATANUM_STEERING);
sift 30:c596a0f5d685 161 writeCanBuff(calcRequestTorque(), canRequestTorque, CANDATANUM_REQTRQ);
sift 43:5da6b1574227 162 writeCanBuff(getMotorTorque(RR_MOTOR), canMotorTorqueR, CANDATANUM_MOTORTRQ);
sift 43:5da6b1574227 163 writeCanBuff(getMotorTorque(RL_MOTOR), canMotorTorqueL, CANDATANUM_MOTORTRQ);
sift 34:594ddb4008b2 164
sift 44:d433bb5f77c0 165 writeCanBuff(getWheelRps(FR_WHEEL) / LSB_RPS, canFR_RPS, CANDATANUM_RPS);
sift 44:d433bb5f77c0 166 writeCanBuff(getWheelRps(FL_WHEEL) / LSB_RPS, canFL_RPS, CANDATANUM_RPS);
sift 44:d433bb5f77c0 167 writeCanBuff(getWheelRps(RR_MOTOR) / LSB_RPS, canRR_RPS, CANDATANUM_RPS);
sift 44:d433bb5f77c0 168 writeCanBuff(getWheelRps(RL_MOTOR) / LSB_RPS, canRL_RPS, CANDATANUM_RPS);
sift 44:d433bb5f77c0 169
sift 44:d433bb5f77c0 170 writeCanBuff(getRawSensor(APS_PRIMARY), canAPS_P, CANDATANUM_APS);
sift 44:d433bb5f77c0 171 writeCanBuff(getRawSensor(APS_SECONDARY), canAPS_S, CANDATANUM_APS);
sift 44:d433bb5f77c0 172
sift 44:d433bb5f77c0 173 printf("%d %d %d %d %d\r\n", getMotorTorque(RR_MOTOR), getMotorTorque(RL_MOTOR), calcRequestTorque(), 0, 4000);
sift 44:d433bb5f77c0 174
sift 44:d433bb5f77c0 175 // writeCanBuff((int)((distributeTorque(M_PI * getSteerAngle() / 127.0f, getVelocity())*limitTorqueDistribution()) / 2.0f), canTorqueDistribution, CANDATANUM_DISTRQ);
sift 44:d433bb5f77c0 176
sift 34:594ddb4008b2 177 do {
sift 44:d433bb5f77c0 178 if(0 == (canWriteSucceeded & 0b1))
sift 44:d433bb5f77c0 179 canWriteSucceeded |= (can.write(CANMessage(CANID_VEHICLESPEED, canVehicleSpeed, CANDATANUM_VEHICLESPEED)) << 0);
sift 44:d433bb5f77c0 180 if(0 == (canWriteSucceeded & 0b10))
sift 44:d433bb5f77c0 181 canWriteSucceeded |= (can.write(CANMessage(CANID_STEERING, canSteer, CANDATANUM_STEERING)) << 1);
sift 44:d433bb5f77c0 182 if(0 == (canWriteSucceeded & 0b100))
sift 44:d433bb5f77c0 183 canWriteSucceeded |= (can.write(CANMessage(CANID_REQTRQ, canRequestTorque, CANDATANUM_REQTRQ)) << 2);
sift 44:d433bb5f77c0 184 if(0 == (canWriteSucceeded & 0b1000))
sift 44:d433bb5f77c0 185 canWriteSucceeded |= (can.write(CANMessage(CANID_RIGHT_TRQ, canMotorTorqueR, CANDATANUM_MOTORTRQ)) << 3);
sift 44:d433bb5f77c0 186 if(0 == (canWriteSucceeded & 0b10000))
sift 44:d433bb5f77c0 187 canWriteSucceeded |= (can.write(CANMessage(CANID_LEFT_TRQ, canMotorTorqueL, CANDATANUM_MOTORTRQ)) << 4);
sift 44:d433bb5f77c0 188
sift 44:d433bb5f77c0 189 if(0 == (canWriteSucceeded & 0b100000))
sift 44:d433bb5f77c0 190 canWriteSucceeded |= (can.write(CANMessage(CANID_FR_RPS, canFR_RPS, CANDATANUM_RPS)) << 5);
sift 44:d433bb5f77c0 191 if(0 == (canWriteSucceeded & 0b1000000))
sift 44:d433bb5f77c0 192 canWriteSucceeded |= (can.write(CANMessage(CANID_FL_RPS, canFL_RPS, CANDATANUM_RPS)) << 6);
sift 44:d433bb5f77c0 193 if(0 == (canWriteSucceeded & 0b10000000))
sift 44:d433bb5f77c0 194 canWriteSucceeded |= (can.write(CANMessage(CANID_RR_RPS, canRR_RPS, CANDATANUM_RPS)) << 7);
sift 44:d433bb5f77c0 195 if(0 == (canWriteSucceeded & 0b100000000))
sift 44:d433bb5f77c0 196 canWriteSucceeded |= (can.write(CANMessage(CANID_RL_RPS, canRL_RPS, CANDATANUM_RPS)) << 8);
sift 44:d433bb5f77c0 197 if(0 == (canWriteSucceeded & 0b1000000000))
sift 44:d433bb5f77c0 198 canWriteSucceeded |= (can.write(CANMessage(CANID_DISTRQ, canTorqueDistribution, CANDATANUM_DISTRQ)) << 9);
sift 44:d433bb5f77c0 199
sift 44:d433bb5f77c0 200 if(0 == (canWriteSucceeded & 0b10000000000))
sift 44:d433bb5f77c0 201 canWriteSucceeded |= (can.write(CANMessage(CANID_APS_P, canAPS_P, CANDATANUM_APS)) << 10);
sift 44:d433bb5f77c0 202 if(0 == (canWriteSucceeded & 0b100000000000))
sift 44:d433bb5f77c0 203 canWriteSucceeded |= (can.write(CANMessage(CANID_APS_S, canAPS_S, CANDATANUM_APS)) << 11);
sift 44:d433bb5f77c0 204 //printf("%d\r\n", canWriteSucceeded);
sift 43:5da6b1574227 205 } while(timer.read() < CONTROL_CYCLE_S); //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 206 //printf("\r\n");
sift 26:331e77bb479b 207
sift 13:6dc51981f391 208 //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 209 // 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 210 }
sift 2:9d69f27a3d3b 211 }