yuki makura / Mbed 2 deprecated mbed_driver_ver_0_3_0

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.

Dependencies:   EthernetInterface mbed-rtos mbed

Fork of mbed_driver_ver_0_2_0 by yuki makura

main.cpp@1:b1c3d31236f8, 2018-10-22 (annotated)

Committer:
yukisega
Date:
Mon Oct 22 15:47:42 2018 +0000
Revision:
1:b1c3d31236f8
Parent:
0:c490b05d753e
Child:
2:233951f9354d
ethernet???????; ???????????????????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yukisega 0:c490b05d753e 1
yukisega 0:c490b05d753e 2 /**
yukisega 0:c490b05d753e 3
yukisega 0:c490b05d753e 4 @file main.cpp
yukisega 0:c490b05d753e 5 @brief Thrust Motor Controller 2018 edition ver. 0.2.0
yukisega 0:c490b05d753e 6 \mainpage Thrust Motor Controller 2018 edition
yukisega 0:c490b05d753e 7 TCPSocket経由でスラスターを制御するプログラムです。
yukisega 0:c490b05d753e 8 DHCPサーバとしては機能しません。
yukisega 0:c490b05d753e 9 固定IPを割り振る必要があります。
yukisega 0:c490b05d753e 10 \htmlonly
yukisega 0:c490b05d753e 11 <font color="red">mbedの電源を投入する前に,あらかじめクライアントのコンピュータを接続しておく必要があります。</font>
yukisega 0:c490b05d753e 12 \endhtmlonly
yukisega 0:c490b05d753e 13 @sa ethernet_thread
yukisega 0:c490b05d753e 14 @author Wada Suisei Copyright (C) 2018 - All rights reserved
yukisega 0:c490b05d753e 15 @author modified by yukimakura
yukisega 0:c490b05d753e 16
yukisega 1:b1c3d31236f8 17 @date LastModified:2018 Oct 23
yukisega 0:c490b05d753e 18 */
yukisega 0:c490b05d753e 19
yukisega 0:c490b05d753e 20 /*** Including Libraries ***/
yukisega 0:c490b05d753e 21 #include "mbed.h"
yukisega 0:c490b05d753e 22 #include "EthernetInterface.h"
yukisega 0:c490b05d753e 23 #include "rtos.h"
yukisega 0:c490b05d753e 24
yukisega 0:c490b05d753e 25
yukisega 0:c490b05d753e 26 /**
yukisega 0:c490b05d753e 27 * @brief PWMの周期（秒）
yukisega 0:c490b05d753e 28 *
yukisega 0:c490b05d753e 29 */
yukisega 0:c490b05d753e 30 #define PWM_FREQ 0.01
yukisega 0:c490b05d753e 31
yukisega 0:c490b05d753e 32 /**
yukisega 0:c490b05d753e 33 * @brief 接続のタイムアウト（ミリ秒）
yukisega 0:c490b05d753e 34 *
yukisega 0:c490b05d753e 35 */
yukisega 1:b1c3d31236f8 36 #define TIMEOUT_MS 1000
yukisega 0:c490b05d753e 37
yukisega 0:c490b05d753e 38
yukisega 0:c490b05d753e 39 /*** Network Information ***/
yukisega 0:c490b05d753e 40 ///myIpAddrこのモータドライバのIPアドレスを入力
yukisega 1:b1c3d31236f8 41 #define myIpAddr "10.42.0.98"
yukisega 0:c490b05d753e 42 /// myPortこのプログラムで使用するポートを入力
yukisega 1:b1c3d31236f8 43 #define myPort 50000
yukisega 0:c490b05d753e 44 /// NetMask このモータドライバ用のネットマスクを入力
yukisega 1:b1c3d31236f8 45 #define NetMask "255.255.255.0"
yukisega 0:c490b05d753e 46 /// Gateway このモータドライバ用のゲートウェイを入力
yukisega 1:b1c3d31236f8 47 #define Gateway "10.42.0.1"
yukisega 0:c490b05d753e 48
yukisega 0:c490b05d753e 49
yukisega 0:c490b05d753e 50 /*** Instantiation ***/
yukisega 0:c490b05d753e 51 Timer Timeout_timer;
yukisega 0:c490b05d753e 52
yukisega 0:c490b05d753e 53 //! PWM信号の差動出力ピンを指定
yukisega 0:c490b05d753e 54 PwmOut motor_P(p26);
yukisega 0:c490b05d753e 55 //! PWM信号の差動出力ピンを指定
yukisega 0:c490b05d753e 56 PwmOut motor_N(p25);
yukisega 0:c490b05d753e 57
yukisega 1:b1c3d31236f8 58 Thread *(eth_pri);
yukisega 1:b1c3d31236f8 59
yukisega 0:c490b05d753e 60 double pipe_pwmduty;
yukisega 0:c490b05d753e 61
yukisega 1:b1c3d31236f8 62 Mutex g_mtx;
yukisega 0:c490b05d753e 63
yukisega 0:c490b05d753e 64 //Network
yukisega 0:c490b05d753e 65 DigitalOut EthRecv_LED(LED1);
yukisega 0:c490b05d753e 66 DigitalOut EthSend_LED(LED2);
yukisega 0:c490b05d753e 67 DigitalOut Ethconnect_LED(LED4);
yukisega 0:c490b05d753e 68 EthernetInterface eth;
yukisega 0:c490b05d753e 69
yukisega 0:c490b05d753e 70
yukisega 0:c490b05d753e 71
yukisega 0:c490b05d753e 72
yukisega 0:c490b05d753e 73
yukisega 0:c490b05d753e 74 /**
yukisega 0:c490b05d753e 75 *
yukisega 0:c490b05d753e 76 * @brief コネクション時に重大なエラーが発生した時に呼び出されます
yukisega 0:c490b05d753e 77 *
yukisega 0:c490b05d753e 78 * pwmをduty比それぞれ50%にしてから、
yukisega 0:c490b05d753e 79 * mbedOSに−１を返します。
yukisega 0:c490b05d753e 80 * \htmlonly
yukisega 0:c490b05d753e 81 * <font color="red">こうなった場合は再起動が必要です。</font>
yukisega 0:c490b05d753e 82 * \endhtmlonly
yukisega 0:c490b05d753e 83 *
yukisega 0:c490b05d753e 84 *
yukisega 0:c490b05d753e 85 */
yukisega 1:b1c3d31236f8 86 void timeout(void){
yukisega 1:b1c3d31236f8 87 g_mtx.lock();
yukisega 0:c490b05d753e 88 pipe_pwmduty = 0.0;
yukisega 1:b1c3d31236f8 89 g_mtx.unlock();
yukisega 0:c490b05d753e 90 motor_P = 0.5;
yukisega 0:c490b05d753e 91 motor_N = 0.5;
yukisega 0:c490b05d753e 92 }
yukisega 0:c490b05d753e 93
yukisega 0:c490b05d753e 94
yukisega 0:c490b05d753e 95
yukisega 0:c490b05d753e 96 /**
yukisega 0:c490b05d753e 97 *
yukisega 0:c490b05d753e 98 * @brief TCP/IPソケットでコミュニケーションかつデータ受信を行います
yukisega 0:c490b05d753e 99 *
yukisega 0:c490b05d753e 100 * RTOSによって管理されているスレッドで,
yukisega 0:c490b05d753e 101 * TCPSocketの確立前にデータリンク層あたりでコネクションされていないと
yukisega 0:c490b05d753e 102 * mbedOSに−１を返します。
yukisega 0:c490b05d753e 103 * \htmlonly
yukisega 0:c490b05d753e 104 * <font color="red">mbedの電源を投入する前に,あらかじめクライアントのコンピュータを接続しておく必要があります。</font>
yukisega 0:c490b05d753e 105 * \endhtmlonly
yukisega 0:c490b05d753e 106 */
yukisega 0:c490b05d753e 107 void ethernet_thread(void){
yukisega 1:b1c3d31236f8 108 char in_buf[64];
yukisega 0:c490b05d753e 109
yukisega 1:b1c3d31236f8 110 EthernetInterface eth;
yukisega 1:b1c3d31236f8 111 //eth.init();
yukisega 1:b1c3d31236f8 112 eth.init(myIpAddr,NetMask,Gateway);
yukisega 1:b1c3d31236f8 113 eth.connect();
yukisega 1:b1c3d31236f8 114 printf("\nServer IP Address is %s\n", eth.getIPAddress());
yukisega 1:b1c3d31236f8 115
yukisega 1:b1c3d31236f8 116 TCPSocketServer server;
yukisega 1:b1c3d31236f8 117 server.bind(myPort);
yukisega 1:b1c3d31236f8 118 server.listen();
yukisega 1:b1c3d31236f8 119
yukisega 0:c490b05d753e 120 while (true) {
yukisega 1:b1c3d31236f8 121 printf("\nWait for new connection...\n");
yukisega 1:b1c3d31236f8 122 TCPSocketConnection client;
yukisega 1:b1c3d31236f8 123 server.accept(client);
yukisega 1:b1c3d31236f8 124 //client.set_blocking(false, TIMEOUT_MS); // Timeout after (TIMEOUT_MS)ms
yukisega 1:b1c3d31236f8 125
yukisega 1:b1c3d31236f8 126 printf("Connection from: %s\n", client.get_address());
yukisega 1:b1c3d31236f8 127
yukisega 1:b1c3d31236f8 128 while (client.is_connected()) {
yukisega 1:b1c3d31236f8 129
yukisega 0:c490b05d753e 130 Ethconnect_LED = 1;
yukisega 1:b1c3d31236f8 131 int len = client.receive(in_buf, sizeof(in_buf));
yukisega 1:b1c3d31236f8 132 EthRecv_LED = !EthRecv_LED;
yukisega 1:b1c3d31236f8 133 // print received message to terminal
yukisega 1:b1c3d31236f8 134 in_buf[len] = '\0';
yukisega 1:b1c3d31236f8 135 if(len > 0){
yukisega 1:b1c3d31236f8 136 // Timeout_timer.reset();
yukisega 1:b1c3d31236f8 137 in_buf[len] = '\0';
yukisega 1:b1c3d31236f8 138 //Get data
yukisega 1:b1c3d31236f8 139 EthRecv_LED = !EthRecv_LED;
yukisega 1:b1c3d31236f8 140 g_mtx.lock();
yukisega 1:b1c3d31236f8 141 memcpy(&pipe_pwmduty, &in_buf[0], 8);
yukisega 1:b1c3d31236f8 142 //printf("Received message from Client :'%f'\n",pipe_pwmduty);
yukisega 1:b1c3d31236f8 143 g_mtx.unlock();
yukisega 1:b1c3d31236f8 144 Timeout_timer.reset();
yukisega 1:b1c3d31236f8 145 }
yukisega 1:b1c3d31236f8 146 if(Timeout_timer.read_ms() > TIMEOUT_MS){
yukisega 1:b1c3d31236f8 147 break;
yukisega 0:c490b05d753e 148 }
yukisega 0:c490b05d753e 149 }
yukisega 1:b1c3d31236f8 150 printf("\nclient closed\n");
yukisega 1:b1c3d31236f8 151 Ethconnect_LED = 0;
yukisega 1:b1c3d31236f8 152 timeout();
yukisega 1:b1c3d31236f8 153 client.close();
yukisega 0:c490b05d753e 154 }
yukisega 0:c490b05d753e 155 }
yukisega 0:c490b05d753e 156
yukisega 0:c490b05d753e 157 /**
yukisega 0:c490b05d753e 158 * @brief エントリーポイント
yukisega 0:c490b05d753e 159 *
yukisega 0:c490b05d753e 160 * @return OSに返します。
yukisega 0:c490b05d753e 161 */
yukisega 0:c490b05d753e 162 int main(){
yukisega 1:b1c3d31236f8 163 Timeout_timer.start();
yukisega 0:c490b05d753e 164 /* Declaration of Local Variables */
yukisega 0:c490b05d753e 165 float pwmduty;
yukisega 0:c490b05d753e 166
yukisega 0:c490b05d753e 167 /* Initializing Variables */
yukisega 0:c490b05d753e 168 EthRecv_LED = 0;
yukisega 0:c490b05d753e 169 EthSend_LED = 0;
yukisega 0:c490b05d753e 170
yukisega 0:c490b05d753e 171 /* Initializing Interruption */
yukisega 0:c490b05d753e 172
yukisega 0:c490b05d753e 173
yukisega 0:c490b05d753e 174
yukisega 0:c490b05d753e 175 /* Initializing PWM Out */
yukisega 0:c490b05d753e 176 motor_P.period (PWM_FREQ);
yukisega 0:c490b05d753e 177 motor_N.period (PWM_FREQ);
yukisega 0:c490b05d753e 178 motor_P = 0.5;
yukisega 0:c490b05d753e 179 motor_N = 0.5;
yukisega 0:c490b05d753e 180
yukisega 0:c490b05d753e 181 /* Start Thread */
yukisega 0:c490b05d753e 182 Thread thread_get(ethernet_thread);
yukisega 1:b1c3d31236f8 183 eth_pri = &thread_get;
yukisega 1:b1c3d31236f8 184 eth_pri -> set_priority(osPriorityHigh);
yukisega 0:c490b05d753e 185
yukisega 0:c490b05d753e 186 /* Main Routine */
yukisega 0:c490b05d753e 187 while(true){
yukisega 0:c490b05d753e 188 //disconnect timeout
yukisega 0:c490b05d753e 189 if(Timeout_timer.read_ms() > TIMEOUT_MS){
yukisega 1:b1c3d31236f8 190 g_mtx.lock();
yukisega 1:b1c3d31236f8 191 pipe_pwmduty = 0.0;
yukisega 1:b1c3d31236f8 192 g_mtx.unlock();
yukisega 1:b1c3d31236f8 193 timeout();
yukisega 0:c490b05d753e 194 EthRecv_LED = 0;
yukisega 0:c490b05d753e 195 EthSend_LED = 0;
yukisega 0:c490b05d753e 196 Ethconnect_LED = 0;
yukisega 1:b1c3d31236f8 197 printf("%d\n",Timeout_timer.read_ms());
yukisega 1:b1c3d31236f8 198 Timeout_timer.reset();
yukisega 0:c490b05d753e 199 //return -1;
yukisega 0:c490b05d753e 200 }
yukisega 0:c490b05d753e 201
yukisega 0:c490b05d753e 202 /* Calculate PWM Duty */
yukisega 1:b1c3d31236f8 203 g_mtx.lock();
yukisega 0:c490b05d753e 204 pwmduty = pipe_pwmduty / 2.0;
yukisega 1:b1c3d31236f8 205 g_mtx.unlock();
yukisega 0:c490b05d753e 206
yukisega 0:c490b05d753e 207 /* Output PWM */
yukisega 0:c490b05d753e 208 motor_P = (0.5 + pwmduty);
yukisega 0:c490b05d753e 209 motor_N = (0.5 - pwmduty);
yukisega 0:c490b05d753e 210
yukisega 0:c490b05d753e 211
yukisega 0:c490b05d753e 212 }//while(1) END
yukisega 0:c490b05d753e 213
yukisega 0:c490b05d753e 214 }//main() END
yukisega 0:c490b05d753e 215
yukisega 0:c490b05d753e 216