/ Mbed OS BagnoleAuto_PA_PAUL

.

Dependencies:   L432KC_SPI_Pey_Lal

main.cpp@114:c1f7be27aa5d, 2022-05-18 (annotated)

Committer:
voltxd
Date:
Wed May 18 16:12:59 2022 +0000
Revision:
114:c1f7be27aa5d
Parent:
113:2f8f255e99f2
Child:
115:156b8234f2de
ratio;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 82:abf1b1785bd7 1 /* mbed Microcontroller Library
mbed_official 102:6979ad8bc0bc 2 * Copyright (c) 2019 ARM Limited
mbed_official 82:abf1b1785bd7 3 * SPDX-License-Identifier: Apache-2.0
mbed_official 82:abf1b1785bd7 4 */
mbed_official 82:abf1b1785bd7 5
Jonathan Austin 0:2757d7abb7d9 6 #include "mbed.h"
mbed_official 100:ec006d6f3cb6 7 #include "platform/mbed_thread.h"
voltxd 109:4ee7ffc8f175 8 #include "protocol.h"
voltxd 113:2f8f255e99f2 9 #include "asservissement.hpp"
voltxd 114:c1f7be27aa5d 10 #include "toolbox.hpp"
voltxd 114:c1f7be27aa5d 11 #include "main.hpp"
ajuton 107:0965c72c798e 12
voltxd 111:f11575e7c79b 13 //Declaration PWM outputs
voltxd 108:2fd41d299a8c 14 PwmOut propulsion(PWM_PROP);
voltxd 108:2fd41d299a8c 15 PwmOut direction(PWM_DIR);
ajuton 107:0965c72c798e 16
voltxd 113:2f8f255e99f2 17 //Declaration analog input
voltxd 113:2f8f255e99f2 18 InterruptIn speedCaptor(SPEED_CAPTOR);
voltxd 113:2f8f255e99f2 19
voltxd 111:f11575e7c79b 20 //Declaration Links
voltxd 112:478ae92cb106 21 static UnbufferedSerial serial_port(USBTX, USBRX,115200);
voltxd 113:2f8f255e99f2 22
voltxd 113:2f8f255e99f2 23 //Timers
voltxd 113:2f8f255e99f2 24 Timer tSpeed;
voltxd 113:2f8f255e99f2 25 Timer tTerminalWriting;
voltxd 113:2f8f255e99f2 26 Ticker tickAsserv;
voltxd 113:2f8f255e99f2 27
voltxd 113:2f8f255e99f2 28 //Var.
voltxd 113:2f8f255e99f2 29 double currentSpeed = 0;
voltxd 113:2f8f255e99f2 30 double commandSpeed = 5;
voltxd 113:2f8f255e99f2 31
voltxd 113:2f8f255e99f2 32 //Declaration PWM variables
voltxd 113:2f8f255e99f2 33 uint32_t pulsewidth_direction = 1100;
voltxd 113:2f8f255e99f2 34 uint32_t pulsewidth_propulsion = 1500;
mbed_official 102:6979ad8bc0bc 35
mbed_official 82:abf1b1785bd7 36 int main()
voltxd 113:2f8f255e99f2 37 {
voltxd 111:f11575e7c79b 38 //Test Serial port
voltxd 111:f11575e7c79b 39 serial_port.write("Test\n\r",strlen("Test\n\r"));
voltxd 109:4ee7ffc8f175 40
voltxd 113:2f8f255e99f2 41 char terminalOutput[256];
voltxd 113:2f8f255e99f2 42
voltxd 113:2f8f255e99f2 43 //Interrupt
voltxd 112:478ae92cb106 44 serial_port.attach(&onRxInterrupt, SerialBase::RxIrq);
voltxd 113:2f8f255e99f2 45 speedCaptor.fall(&onSpeedCaptorInterrupt);
voltxd 113:2f8f255e99f2 46 tickAsserv.attach(&onTickerAsservissementInterrupt, 1.0 / CONTROL_RATE);
voltxd 112:478ae92cb106 47
voltxd 111:f11575e7c79b 48 //Init. propulsion PWM
ajuton 107:0965c72c798e 49 propulsion.period_us(20000);
voltxd 109:4ee7ffc8f175 50 propulsion.pulsewidth_us(pulsewidth_propulsion);
voltxd 109:4ee7ffc8f175 51
voltxd 108:2fd41d299a8c 52 thread_sleep_for(2000);
voltxd 109:4ee7ffc8f175 53
voltxd 111:f11575e7c79b 54 //Init. Direction PWM
ajuton 107:0965c72c798e 55 direction.period_us(20000);
ajuton 107:0965c72c798e 56 direction.pulsewidth_us(pulsewidth_direction);
voltxd 109:4ee7ffc8f175 57
voltxd 113:2f8f255e99f2 58 //Timers init.
voltxd 113:2f8f255e99f2 59 tSpeed.start();
voltxd 113:2f8f255e99f2 60 tTerminalWriting.start();
voltxd 108:2fd41d299a8c 61
voltxd 111:f11575e7c79b 62 //Infinite loop
voltxd 111:f11575e7c79b 63 while(1)
voltxd 111:f11575e7c79b 64 {
voltxd 111:f11575e7c79b 65 //If decoding has ended, get and changes PWM values.
voltxd 110:a6d1d3525014 66 if(isDataAvailable())
voltxd 109:4ee7ffc8f175 67 {
voltxd 110:a6d1d3525014 68 getVerifiedPWMValues(&pulsewidth_propulsion, &pulsewidth_direction);
voltxd 109:4ee7ffc8f175 69 propulsion.pulsewidth_us(pulsewidth_propulsion);
voltxd 109:4ee7ffc8f175 70 direction.pulsewidth_us(pulsewidth_direction);
voltxd 111:f11575e7c79b 71 }
voltxd 112:478ae92cb106 72
voltxd 113:2f8f255e99f2 73 //If no speed captor interrupt, consider speed = 0
voltxd 113:2f8f255e99f2 74 if (tSpeed.read() > 0.25)
voltxd 113:2f8f255e99f2 75 {
voltxd 113:2f8f255e99f2 76 currentSpeed = 0;
voltxd 113:2f8f255e99f2 77 tSpeed.reset();
voltxd 113:2f8f255e99f2 78 }
voltxd 113:2f8f255e99f2 79
voltxd 113:2f8f255e99f2 80 //Write in terminal
voltxd 114:c1f7be27aa5d 81 if (tTerminalWriting.read() > 0.02)
voltxd 113:2f8f255e99f2 82 {
voltxd 114:c1f7be27aa5d 83 sprintf(terminalOutput, "Vcons = %d m/s, Vmes = %d mm/s, PWM = %d\n\r", (int)commandSpeed, (int)(currentSpeed*1000), pulsewidth_propulsion);
voltxd 113:2f8f255e99f2 84 serial_port.write(terminalOutput, strlen(terminalOutput));
voltxd 113:2f8f255e99f2 85 tTerminalWriting.reset();
voltxd 113:2f8f255e99f2 86 }
Jonathan Austin 0:2757d7abb7d9 87 }
Jonathan Austin 0:2757d7abb7d9 88 }
voltxd 112:478ae92cb106 89
voltxd 112:478ae92cb106 90 void onRxInterrupt()
voltxd 112:478ae92cb106 91 {
voltxd 112:478ae92cb106 92 char c;
voltxd 112:478ae92cb106 93
voltxd 112:478ae92cb106 94
voltxd 112:478ae92cb106 95 // Read the data to clear the receive interrupt.
voltxd 113:2f8f255e99f2 96 if (serial_port.read(&c, 1))
voltxd 113:2f8f255e99f2 97 {
voltxd 112:478ae92cb106 98 decodeMessage(c);
voltxd 113:2f8f255e99f2 99 //serial_port.write(&c, 1);
voltxd 112:478ae92cb106 100 }
voltxd 112:478ae92cb106 101
voltxd 113:2f8f255e99f2 102 }
voltxd 113:2f8f255e99f2 103
voltxd 113:2f8f255e99f2 104 void onSpeedCaptorInterrupt()
voltxd 113:2f8f255e99f2 105 {
voltxd 113:2f8f255e99f2 106 //Measure car speed
voltxd 113:2f8f255e99f2 107 double currentSpeedPeriod = tSpeed.read();
voltxd 113:2f8f255e99f2 108 currentSpeed = DISTANCE_FOR_HALF_TURN / currentSpeedPeriod;
voltxd 113:2f8f255e99f2 109 tSpeed.reset();
voltxd 113:2f8f255e99f2 110 }
voltxd 113:2f8f255e99f2 111
voltxd 113:2f8f255e99f2 112 void onTickerAsservissementInterrupt()
voltxd 113:2f8f255e99f2 113 {
voltxd 113:2f8f255e99f2 114 //Command car's speed
voltxd 113:2f8f255e99f2 115 pulsewidth_propulsion = PID(commandSpeed - currentSpeed, CONTROL_RATE);
voltxd 113:2f8f255e99f2 116 propulsion.pulsewidth_us(pulsewidth_propulsion);
voltxd 114:c1f7be27aa5d 117
voltxd 114:c1f7be27aa5d 118 //Open loop (for coef)
voltxd 114:c1f7be27aa5d 119
voltxd 112:478ae92cb106 120 }