taka yamanouchi
/
2019_tourobo_Master
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Revision 0:0239d9f7bf79, committed 2019-11-19
- Comitter:
- sink
- Date:
- Tue Nov 19 09:41:50 2019 +0000
- Commit message:
- feild
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/define.h Tue Nov 19 09:41:50 2019 +0000 @@ -0,0 +1,11 @@ +#define INT_TIME 0.05 + +#define CB_COLLECT 0b00000001 +#define AUTOMATION 0b00000010 + +#define LOADING 0b00000100 +#define POINTS_1 0b00001000 +#define POINTS_2 0b00010000 +#define POINTS_3 0b00100000 +#define POSITIONS 0b10000000 +#define EMERGENCY 0b01000000 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Nov 19 09:41:50 2019 +0000
@@ -0,0 +1,247 @@
+#include "mbed.h"
+#include "define.h"
+#include "string"
+
+Ticker timer;
+
+RawSerial upper( p9, p10, 115200);
+RawSerial under( p13, p14, 115200);
+RawSerial con ( p28, p27, 115200);
+RawSerial pc( USBTX, USBRX, 115200);
+
+DigitalIn sw1(p24);
+DigitalIn sw2(p25);
+DigitalIn sw3(p26);
+
+DigitalOut led(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+//_________________________↓変数宣言
+
+string BLE_str = "";
+bool set_end = 0;
+bool Connected = 0;
+bool mldp_online = 0;
+bool pre_sw1 = 0, pre_sw2 = 0, pre_sw3 = 0;
+char x = 127, y = 127, rot = 127;
+char global_mode = 0b00000000;
+char up_recv = 0b00000000, und_recv = 0b00000000;
+//___________________________↓各送信処理系
+
+void BLE_send(string send_str){
+ con.printf(send_str.c_str());
+}
+
+void upper_send(char mode){
+ upper.putc(mode);
+ upper.printf("\n");
+}
+
+void under_send(string send_str){
+ under.putc(send_str[0]);
+ under.putc(send_str[1]);
+ under.putc(send_str[2]);
+ under.putc(send_str[3]);
+ under.printf("\n");
+}
+//____________________________↓BLEモジュール設定
+
+void BLE_setup(){
+ led2 = 1;
+ wait(1.0);
+ BLE_send("+\r");
+ wait(0.5);
+ BLE_send("SF,1\r");
+ wait(0.5);
+ BLE_send("SR,92000000\r");
+ wait(0.5);
+ BLE_send("R,1\r");
+ wait(4.0);
+ BLE_send("F\r");
+ wait(0.5);
+ BLE_send("X\r");
+ wait(0.5);
+ BLE_send("E,0,0491621AD835\r");
+ set_end = 1;
+}
+//________________________________↓各受信割込み
+
+void upper_recv(){
+ static string up_str = "";
+ char up_c = upper.getc();
+
+ if(up_c == '\n'){
+ up_recv = up_str[0];
+ up_str = "";
+ }
+ else up_str += up_c;
+}
+
+void under_recv(){
+ led4 = 1;
+ static string und_str = "";
+ static int und_co = 0;
+ char und_c = under.getc();
+
+ if(und_c == '\n'){
+ und_recv = und_str[1];
+ und_str = "";
+ }
+ else {
+ if(und_co > 2) und_str = "";
+ und_str += und_c;
+ und_co++;
+ }
+}
+
+void con_recv(){
+ char bt_c = con.getc();
+ static int con_co = 0;
+
+ if (bt_c == 'd' && !Connected) {
+ BLE_str += bt_c;
+ Connected = 1;
+ BLE_str = "";
+ }
+ if (Connected && mldp_online && bt_c == '\r'){
+ if (BLE_str == "Connection End"){
+ x = 127;
+ y = 127;
+ rot = 127;
+ global_mode = EMERGENCY;
+ Connected = 0;
+ led = 1;
+ }
+ pc.printf(BLE_str.c_str());
+ BLE_str == "";
+ }
+ if (Connected && mldp_online && bt_c == '\n' && con_co == 4){
+ if(BLE_str[3] == EMERGENCY){
+ x = 127;
+ y = 127;
+ rot = 127;
+ global_mode = EMERGENCY;
+
+ }
+ else{
+ x = BLE_str[0];
+ y = BLE_str[1];
+ rot = BLE_str[2];
+ global_mode = BLE_str[3];
+ }
+ BLE_str = "";
+ }
+ else {
+ if(con_co > 5){
+ BLE_str = "";
+ con_co = 0;
+ }
+ BLE_str += bt_c;
+ con_co++;
+ }
+}
+//_________________________________↓主要処理(周期割込み)
+
+void timer_warikomi(){
+ string und_send = "";
+ char up_send = 0b00000000, und_mode = 0b00000000;
+ static int time_co = 0, power = 0;
+
+ if (Connected && !mldp_online && time_co > 10) {
+ BLE_send("I\r");
+ pc.printf(BLE_str.c_str());
+ pc.printf("MLDP_ONLINE\n");
+ mldp_online = 1;
+ Connected = 1;
+ BLE_str = "";
+ }
+ else if (Connected && mldp_online){
+
+ if(global_mode == EMERGENCY){
+ und_mode = global_mode;
+ up_send = global_mode;
+ x = 127;
+ y = 127;
+ rot = 127;
+ led3 = 1;
+ led4 = 1;
+ }
+
+ else if(global_mode & AUTOMATION){
+ led2 = 1;
+ x = 127;
+ y = 127;
+ rot = 127;
+ und_mode |= AUTOMATION;
+ up_send |= AUTOMATION;
+ if(und_recv & POINTS_1){
+ if(up_recv & POSITIONS){
+ und_mode &= ~POINTS_1;
+ und_mode |= POINTS_2;
+ }
+ else if(und_recv & POSITIONS) up_send |= POSITIONS;
+ else up_send &= ~POSITIONS;
+ }if(und_recv & POINTS_2){
+ if(up_recv & POSITIONS){
+ und_mode &= ~POINTS_2;
+ und_mode |= POINTS_3;
+ }
+ else if(und_recv & POSITIONS) up_send |= POSITIONS;
+ else up_send &= ~POSITIONS;
+ }if(und_recv & POINTS_3){
+ if(up_recv & POSITIONS){
+ und_mode &= ~POINTS_3;
+ }
+ else if(und_recv & POSITIONS) up_send |= POSITIONS;
+ else up_send &= ~POSITIONS;
+ }else if(und_recv & POSITIONS) {
+ und_mode |= POINTS_1;
+ up_send |= POINTS_1;
+ }
+ else{
+ }
+ }
+
+ else{
+ led = 1;
+ led2 = 0;
+ und_mode = 0b00000000;
+
+ BLE_send("\n");
+ if(global_mode & LOADING) up_send |= LOADING;
+ if(global_mode & CB_COLLECT) up_send |= CB_COLLECT;
+ else up_send &= ~CB_COLLECT;
+ }
+
+ und_send += x;
+ und_send += y;
+ und_send += rot;
+ und_send += und_mode;
+
+ under_send(und_send);
+ upper_send(und_recv);
+ pc.printf("x:%d\ty:%d\trot:%d\tmode:%d\n",und_send[0],und_send[1],und_send[2],und_recv);
+ und_send = "";
+ }
+ else {
+ time_co++;
+ }
+}
+//______________________________________
+
+int main() {
+ pre_sw1 = sw1.read();
+ pre_sw2 = sw2.read();
+ pre_sw3 = sw3.read();
+
+ BLE_setup();
+ while(!set_end);
+
+ timer.attach(&timer_warikomi, INT_TIME);
+ upper.attach(&upper_recv, RawSerial::RxIrq);
+ under.attach(&upper_recv, RawSerial::RxIrq);
+ con.attach(&con_recv, RawSerial::RxIrq);
+ while(true) {
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Nov 19 09:41:50 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file