Yoji KURODA / Mbed OS mbed-os-control-ex1

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Fork of mbed-os-example-mbed5-blinky by mbed-os-examples

main.cpp@23:bc5ad77d56bb, 2018-10-07 (annotated)

Committer:
ykuroda
Date:
Sun Oct 07 12:51:03 2018 +0000
Revision:
23:bc5ad77d56bb
Parent:
22:f0164a2a09b0
Child:
24:e414c7234bcc
Mechatro code v1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ykuroda 20:13fcc82f4cab 1 // mbed-os-io-control
ykuroda 20:13fcc82f4cab 2 // I/O制御プログラム（機械工学実験１）
ykuroda 19:9381d775bfc5 3 //
ykuroda 20:13fcc82f4cab 4 // 20161027 ... v1.0 ... originally written by Y.Kuroda for Mechatronics
ykuroda 20:13fcc82f4cab 5 // 20180917 ... v2.0 ... customised for Jikken1（mbed LPC1768専用）
ykuroda 22:f0164a2a09b0 6 // 20181004 ... v3.0 ... uses EventQueue
ykuroda 19:9381d775bfc5 7 //
Jonathan Austin 0:2757d7abb7d9 8 #include "mbed.h"
ykuroda 20:13fcc82f4cab 9
ykuroda 23:bc5ad77d56bb 10 const int DELTA_T = 1; // mainスレッドの時間間隔の設定[ms]（デフォルトは1ms）
ykuroda 20:13fcc82f4cab 11 int delta_t = DELTA_T;
ykuroda 20:13fcc82f4cab 12 int qbits = 6; // 量子化シフト値
ykuroda 20:13fcc82f4cab 13 DigitalOut led1(LED1);
ykuroda 20:13fcc82f4cab 14 DigitalOut led2(LED2);
ykuroda 23:bc5ad77d56bb 15 //PwmOut led3(LED3);
ykuroda 20:13fcc82f4cab 16 DigitalOut led4(LED4);
ykuroda 20:13fcc82f4cab 17
ykuroda 20:13fcc82f4cab 18 // p11,12　サンプリング周期設定ピン（デフォルトは0）
ykuroda 22:f0164a2a09b0 19 // p11上位ビット，p12下位ビット．0:1kHz, 1: 100Hz, 2: 10Hz, 3: 1Hz
ykuroda 20:13fcc82f4cab 20 InterruptIn samplingtime_MSB(p11);
ykuroda 20:13fcc82f4cab 21 InterruptIn samplingtime_LSB(p12);
Jonathan Austin 0:2757d7abb7d9 22
ykuroda 20:13fcc82f4cab 23 // p13,14　量子化粒度設定ピン（デフォルトは0）
ykuroda 20:13fcc82f4cab 24 // p13上位ビット，p14下位ビット．0:10bit, 1:8bit, 2:6bit, 3:4bit
ykuroda 20:13fcc82f4cab 25 InterruptIn quantization_MSB(p13);
ykuroda 20:13fcc82f4cab 26 InterruptIn quantization_LSB(p14);
ykuroda 20:13fcc82f4cab 27
ykuroda 20:13fcc82f4cab 28 // アナログ入出力ピン（入出力共に0 - 3.3V）
ykuroda 20:13fcc82f4cab 29 AnalogOut aout(p18);
ykuroda 20:13fcc82f4cab 30 AnalogIn ain(p20);
Jonathan Austin 0:2757d7abb7d9 31
ykuroda 20:13fcc82f4cab 32 // デジタル入力ピン（割り込みにより実現）
ykuroda 20:13fcc82f4cab 33 InterruptIn din1(p21);
ykuroda 20:13fcc82f4cab 34 InterruptIn din2(p22);
ykuroda 20:13fcc82f4cab 35
ykuroda 20:13fcc82f4cab 36 // 方形波，パルス波出力ピン
ykuroda 20:13fcc82f4cab 37 PwmOut squarewave(p23);
ykuroda 20:13fcc82f4cab 38 PwmOut pulsewave(p24);
ykuroda 20:13fcc82f4cab 39
ykuroda 23:bc5ad77d56bb 40 const int SIG_ST = 0x1; // signal番号
ykuroda 23:bc5ad77d56bb 41 Thread* sthread;
ykuroda 23:bc5ad77d56bb 42 EventQueue queue;
ykuroda 23:bc5ad77d56bb 43 int id = 0;
ykuroda 23:bc5ad77d56bb 44
ykuroda 20:13fcc82f4cab 45 // サンプリング処理をするスレッド（時間管理された処理）
ykuroda 23:bc5ad77d56bb 46 void sampling_job(void* v)
ykuroda 23:bc5ad77d56bb 47 {
ykuroda 22:f0164a2a09b0 48 unsigned short a_data = ain.read_u16(); // AD入力（ADは12ビット）
ykuroda 22:f0164a2a09b0 49 aout.write_u16((a_data>>qbits)<<qbits);// DA出力（量子化粒度はピンにより設定）
ykuroda 23:bc5ad77d56bb 50 led4 = !led4;
ykuroda 23:bc5ad77d56bb 51 }
ykuroda 23:bc5ad77d56bb 52
ykuroda 23:bc5ad77d56bb 53 void setup_thread(void const* arg) // 設定処理をするスレッド
ykuroda 23:bc5ad77d56bb 54 {
ykuroda 23:bc5ad77d56bb 55 while(true) {
ykuroda 23:bc5ad77d56bb 56 Thread::signal_wait(SIG_ST); // シグナルを待つ
ykuroda 23:bc5ad77d56bb 57
ykuroda 23:bc5ad77d56bb 58 // ピンの状態を読み取り，２ビット値に変換
ykuroda 23:bc5ad77d56bb 59 int s_msb = 0, s_lsb = 0;
ykuroda 23:bc5ad77d56bb 60 int q_msb = 0, q_lsb = 0;
ykuroda 23:bc5ad77d56bb 61 const int RETRY = 1000;
ykuroda 23:bc5ad77d56bb 62 for(int i=0; i<RETRY; i++) {
ykuroda 23:bc5ad77d56bb 63 s_msb += samplingtime_MSB;
ykuroda 23:bc5ad77d56bb 64 s_lsb += samplingtime_LSB;
ykuroda 23:bc5ad77d56bb 65 q_msb += quantization_MSB;
ykuroda 23:bc5ad77d56bb 66 q_lsb += quantization_LSB;
ykuroda 23:bc5ad77d56bb 67 }
ykuroda 23:bc5ad77d56bb 68 s_msb /= RETRY; s_lsb /= RETRY;
ykuroda 23:bc5ad77d56bb 69 q_msb /= RETRY; q_lsb /= RETRY;
ykuroda 23:bc5ad77d56bb 70
ykuroda 23:bc5ad77d56bb 71 int samplingtime = (s_msb<<1)&0x2 | s_lsb&0x1;
ykuroda 23:bc5ad77d56bb 72
ykuroda 23:bc5ad77d56bb 73 // 制御周期を10^nとする（n=0:1s, n=1:0.1s, n=2:0.01s, n=3:0.001s)
ykuroda 23:bc5ad77d56bb 74 delta_t = (int)pow(10.0,(double)samplingtime);
ykuroda 23:bc5ad77d56bb 75
ykuroda 23:bc5ad77d56bb 76
ykuroda 23:bc5ad77d56bb 77 squarewave.period_ms(delta_t); // 方形波の周期の設定
ykuroda 23:bc5ad77d56bb 78 pulsewave.period_ms(delta_t); // パルス波の周期の設定
ykuroda 23:bc5ad77d56bb 79 squarewave.write(0.5F); // duty比
ykuroda 23:bc5ad77d56bb 80 pulsewave.write(0.1F); // duty比
ykuroda 23:bc5ad77d56bb 81
ykuroda 23:bc5ad77d56bb 82 // 量子化設定ピン（p13,14）の設定を読んで量子化粒度を決定する
ykuroda 23:bc5ad77d56bb 83 // 設定ピンの状態を読み取り，２ビット値に変換
ykuroda 23:bc5ad77d56bb 84 int quantization = (q_msb<<1)&0x2 | q_lsb&0x1;
ykuroda 23:bc5ad77d56bb 85 qbits = 6+quantization*4; // 量子化サイズの決定
ykuroda 23:bc5ad77d56bb 86 // （デジタル出力時の量子化サイズは 0:1024, 1:256, 2:64, 3:16 steps）
ykuroda 23:bc5ad77d56bb 87
ykuroda 23:bc5ad77d56bb 88
ykuroda 23:bc5ad77d56bb 89 queue.cancel(id);
ykuroda 23:bc5ad77d56bb 90 printf("delta_t = %d, qbits = %d\n", delta_t, qbits);
ykuroda 23:bc5ad77d56bb 91 id = queue.call_every(delta_t, sampling_job, (void*)0);
ykuroda 23:bc5ad77d56bb 92 }
Jonathan Austin 0:2757d7abb7d9 93 }
Jonathan Austin 1:846c97078558 94
ykuroda 20:13fcc82f4cab 95 // 量子化粒度設定ハンドラ
ykuroda 23:bc5ad77d56bb 96 void qsize_handler(void)
ykuroda 23:bc5ad77d56bb 97 {
ykuroda 23:bc5ad77d56bb 98 sthread->signal_set(SIG_ST); // スレッドへ再開シグナルを送る
ykuroda 22:f0164a2a09b0 99 }
ykuroda 20:13fcc82f4cab 100
ykuroda 20:13fcc82f4cab 101 // サンプリングタイム設定割り込みハンドラ．．．時間設定ピンの状態が変化した時に呼び出される
ykuroda 23:bc5ad77d56bb 102 void pinstate_handler(void)
ykuroda 23:bc5ad77d56bb 103 {
ykuroda 23:bc5ad77d56bb 104 sthread->signal_set(SIG_ST); // スレッドへ再開シグナルを送る
ykuroda 20:13fcc82f4cab 105 }
ykuroda 20:13fcc82f4cab 106
ykuroda 20:13fcc82f4cab 107 // デジタル入力割り込みハンドラ．．．デジタル入力信号の状態が変化した時に呼び出される
ykuroda 23:bc5ad77d56bb 108 void din_handler(void)
ykuroda 23:bc5ad77d56bb 109 {
ykuroda 20:13fcc82f4cab 110 led1 = din1; // ピンの状態をそのままLEDの点灯状態にする
ykuroda 20:13fcc82f4cab 111 led2 = din2;
ykuroda 21:967504024346 112 }
ykuroda 21:967504024346 113
ykuroda 23:bc5ad77d56bb 114 int main()
ykuroda 23:bc5ad77d56bb 115 {
ykuroda 23:bc5ad77d56bb 116 sthread = new Thread(setup_thread); // 設定用スレッドを起動
ykuroda 23:bc5ad77d56bb 117
ykuroda 23:bc5ad77d56bb 118
ykuroda 20:13fcc82f4cab 119 squarewave.period_ms(delta_t); // 初期周期の設定
ykuroda 20:13fcc82f4cab 120 pulsewave.period_ms(delta_t); // 初期周期の設定
ykuroda 20:13fcc82f4cab 121 squarewave.write(0.5F); // 初期duty比（方形波=50%）
ykuroda 20:13fcc82f4cab 122 pulsewave.write(0.1F); // 初期duty比（パルス波=10%）
ykuroda 20:13fcc82f4cab 123
ykuroda 22:f0164a2a09b0 124 samplingtime_MSB.disable_irq();
ykuroda 22:f0164a2a09b0 125 samplingtime_MSB.mode(PullDown);
ykuroda 20:13fcc82f4cab 126 samplingtime_MSB.rise(pinstate_handler);// 周期設定ハンドラの設定．
ykuroda 20:13fcc82f4cab 127 samplingtime_MSB.fall(pinstate_handler);// 設定ピンの状態変化で
ykuroda 22:f0164a2a09b0 128 samplingtime_MSB.enable_irq();
ykuroda 23:bc5ad77d56bb 129
ykuroda 22:f0164a2a09b0 130 samplingtime_LSB.disable_irq();
ykuroda 22:f0164a2a09b0 131 samplingtime_LSB.mode(PullDown);
ykuroda 20:13fcc82f4cab 132 samplingtime_LSB.rise(pinstate_handler);// ハンドラが呼び出される
ykuroda 20:13fcc82f4cab 133 samplingtime_LSB.fall(pinstate_handler);// ようにする
ykuroda 22:f0164a2a09b0 134 samplingtime_LSB.enable_irq();
ykuroda 23:bc5ad77d56bb 135
ykuroda 23:bc5ad77d56bb 136 quantization_MSB.disable_irq();
ykuroda 23:bc5ad77d56bb 137 quantization_MSB.mode(PullDown);
ykuroda 20:13fcc82f4cab 138 quantization_MSB.rise(qsize_handler); // 量子化粒度設定ハンドラの設定
ykuroda 20:13fcc82f4cab 139 quantization_MSB.fall(qsize_handler);
ykuroda 23:bc5ad77d56bb 140 quantization_MSB.enable_irq();
ykuroda 23:bc5ad77d56bb 141
ykuroda 23:bc5ad77d56bb 142 quantization_LSB.disable_irq();
ykuroda 23:bc5ad77d56bb 143 quantization_LSB.mode(PullDown);
ykuroda 20:13fcc82f4cab 144 quantization_LSB.rise(qsize_handler);
ykuroda 20:13fcc82f4cab 145 quantization_LSB.fall(qsize_handler);
ykuroda 23:bc5ad77d56bb 146 quantization_LSB.enable_irq();
ykuroda 23:bc5ad77d56bb 147
ykuroda 23:bc5ad77d56bb 148 din1.disable_irq();
ykuroda 23:bc5ad77d56bb 149 din1.mode(PullDown);
ykuroda 20:13fcc82f4cab 150 din1.rise(&din_handler); // デジタル入力ハンドラの設定
ykuroda 20:13fcc82f4cab 151 din1.fall(&din_handler); // din1,2の状態変化でハンドラ
ykuroda 23:bc5ad77d56bb 152 din1.enable_irq();
ykuroda 23:bc5ad77d56bb 153
ykuroda 23:bc5ad77d56bb 154 din2.disable_irq();
ykuroda 23:bc5ad77d56bb 155 din2.mode(PullDown);
ykuroda 20:13fcc82f4cab 156 din2.rise(&din_handler); // が呼ばれる
ykuroda 20:13fcc82f4cab 157 din2.fall(&din_handler);
ykuroda 23:bc5ad77d56bb 158 din2.enable_irq();
ykuroda 20:13fcc82f4cab 159
ykuroda 23:bc5ad77d56bb 160 id = queue.call_every(delta_t, sampling_job, (void*)0);
ykuroda 22:f0164a2a09b0 161 queue.dispatch();
ykuroda 20:13fcc82f4cab 162 }