yuki makura / Mbed 2 deprecated mbed_driver_ver_0_3_0

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Dependencies:   EthernetInterface mbed-rtos mbed

Fork of mbed_driver_ver_0_2_0 by yuki makura

main.cpp@3:c8ae2c222d57, 2018-10-28 (annotated)

Committer:
yukisega
Date:
Sun Oct 28 04:35:33 2018 +0000
Revision:
3:c8ae2c222d57
Parent:
2:233951f9354d 
client????????????

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 3:c8ae2c222d57 78 * pwmをduty比それぞれ50%にします
yukisega 0:c490b05d753e 79 *
yukisega 0:c490b05d753e 80 *
yukisega 0:c490b05d753e 81 */
yukisega 1:b1c3d31236f8 82 void timeout(void){
yukisega 1:b1c3d31236f8 83 g_mtx.lock();
yukisega 0:c490b05d753e 84 pipe_pwmduty = 0.0;
yukisega 1:b1c3d31236f8 85 g_mtx.unlock();
yukisega 0:c490b05d753e 86 motor_P = 0.5;
yukisega 0:c490b05d753e 87 motor_N = 0.5;
yukisega 0:c490b05d753e 88 }
yukisega 0:c490b05d753e 89
yukisega 0:c490b05d753e 90
yukisega 0:c490b05d753e 91
yukisega 0:c490b05d753e 92 /**
yukisega 0:c490b05d753e 93 *
yukisega 0:c490b05d753e 94 * @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 95 *
yukisega 0:c490b05d753e 96 * RTOSによって管理されているスレッドで,
yukisega 0:c490b05d753e 97 * 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 98 * mbedOSに−１を返します。
yukisega 0:c490b05d753e 99 */
yukisega 0:c490b05d753e 100 void ethernet_thread(void){
yukisega 1:b1c3d31236f8 101 char in_buf[64];
yukisega 0:c490b05d753e 102
yukisega 1:b1c3d31236f8 103 EthernetInterface eth;
yukisega 1:b1c3d31236f8 104 //eth.init();
yukisega 1:b1c3d31236f8 105 eth.init(myIpAddr,NetMask,Gateway);
yukisega 1:b1c3d31236f8 106 eth.connect();
yukisega 1:b1c3d31236f8 107 printf("\nServer IP Address is %s\n", eth.getIPAddress());
yukisega 1:b1c3d31236f8 108
yukisega 1:b1c3d31236f8 109 TCPSocketServer server;
yukisega 1:b1c3d31236f8 110 server.bind(myPort);
yukisega 1:b1c3d31236f8 111 server.listen();
yukisega 1:b1c3d31236f8 112
yukisega 0:c490b05d753e 113 while (true) {
yukisega 1:b1c3d31236f8 114 printf("\nWait for new connection...\n");
yukisega 3:c8ae2c222d57 115 TCPSocketConnection *client = new TCPSocketConnection;
yukisega 3:c8ae2c222d57 116 server.accept(*client);
yukisega 1:b1c3d31236f8 117 //client.set_blocking(false, TIMEOUT_MS); // Timeout after (TIMEOUT_MS)ms
yukisega 1:b1c3d31236f8 118
yukisega 3:c8ae2c222d57 119 printf("Connection from: %s\n", client->get_address());
yukisega 1:b1c3d31236f8 120
yukisega 3:c8ae2c222d57 121 while (client->is_connected()) {
yukisega 1:b1c3d31236f8 122
yukisega 0:c490b05d753e 123 Ethconnect_LED = 1;
yukisega 3:c8ae2c222d57 124 int len = client->receive(in_buf, sizeof(in_buf));
yukisega 1:b1c3d31236f8 125 EthRecv_LED = !EthRecv_LED;
yukisega 1:b1c3d31236f8 126 // print received message to terminal
yukisega 1:b1c3d31236f8 127 in_buf[len] = '\0';
yukisega 1:b1c3d31236f8 128 if(len > 0){
yukisega 1:b1c3d31236f8 129 // Timeout_timer.reset();
yukisega 1:b1c3d31236f8 130 in_buf[len] = '\0';
yukisega 1:b1c3d31236f8 131 //Get data
yukisega 1:b1c3d31236f8 132 EthRecv_LED = !EthRecv_LED;
yukisega 1:b1c3d31236f8 133 g_mtx.lock();
yukisega 1:b1c3d31236f8 134 memcpy(&pipe_pwmduty, &in_buf[0], 8);
yukisega 1:b1c3d31236f8 135 //printf("Received message from Client :'%f'\n",pipe_pwmduty);
yukisega 1:b1c3d31236f8 136 g_mtx.unlock();
yukisega 1:b1c3d31236f8 137 Timeout_timer.reset();
yukisega 1:b1c3d31236f8 138 }
yukisega 1:b1c3d31236f8 139 if(Timeout_timer.read_ms() > TIMEOUT_MS){
yukisega 1:b1c3d31236f8 140 break;
yukisega 0:c490b05d753e 141 }
yukisega 0:c490b05d753e 142 }
yukisega 1:b1c3d31236f8 143 printf("\nclient closed\n");
yukisega 1:b1c3d31236f8 144 Ethconnect_LED = 0;
yukisega 1:b1c3d31236f8 145 timeout();
yukisega 3:c8ae2c222d57 146 client->close();
yukisega 3:c8ae2c222d57 147 delete client;
yukisega 0:c490b05d753e 148 }
yukisega 0:c490b05d753e 149 }
yukisega 0:c490b05d753e 150
yukisega 0:c490b05d753e 151 /**
yukisega 0:c490b05d753e 152 * @brief エントリーポイント
yukisega 0:c490b05d753e 153 *
yukisega 0:c490b05d753e 154 * @return OSに返します。
yukisega 0:c490b05d753e 155 */
yukisega 0:c490b05d753e 156 int main(){
yukisega 1:b1c3d31236f8 157 Timeout_timer.start();
yukisega 0:c490b05d753e 158 /* Declaration of Local Variables */
yukisega 0:c490b05d753e 159 float pwmduty;
yukisega 0:c490b05d753e 160
yukisega 0:c490b05d753e 161 /* Initializing Variables */
yukisega 0:c490b05d753e 162 EthRecv_LED = 0;
yukisega 0:c490b05d753e 163 EthSend_LED = 0;
yukisega 0:c490b05d753e 164
yukisega 0:c490b05d753e 165 /* Initializing Interruption */
yukisega 0:c490b05d753e 166
yukisega 0:c490b05d753e 167
yukisega 0:c490b05d753e 168
yukisega 0:c490b05d753e 169 /* Initializing PWM Out */
yukisega 0:c490b05d753e 170 motor_P.period (PWM_FREQ);
yukisega 0:c490b05d753e 171 motor_N.period (PWM_FREQ);
yukisega 0:c490b05d753e 172 motor_P = 0.5;
yukisega 0:c490b05d753e 173 motor_N = 0.5;
yukisega 0:c490b05d753e 174
yukisega 0:c490b05d753e 175 /* Start Thread */
yukisega 0:c490b05d753e 176 Thread thread_get(ethernet_thread);
yukisega 1:b1c3d31236f8 177 eth_pri = &thread_get;
yukisega 1:b1c3d31236f8 178 eth_pri -> set_priority(osPriorityHigh);
yukisega 0:c490b05d753e 179
yukisega 0:c490b05d753e 180 /* Main Routine */
yukisega 0:c490b05d753e 181 while(true){
yukisega 0:c490b05d753e 182 //disconnect timeout
yukisega 0:c490b05d753e 183 if(Timeout_timer.read_ms() > TIMEOUT_MS){
yukisega 1:b1c3d31236f8 184 g_mtx.lock();
yukisega 1:b1c3d31236f8 185 pipe_pwmduty = 0.0;
yukisega 1:b1c3d31236f8 186 g_mtx.unlock();
yukisega 1:b1c3d31236f8 187 timeout();
yukisega 0:c490b05d753e 188 EthRecv_LED = 0;
yukisega 0:c490b05d753e 189 EthSend_LED = 0;
yukisega 0:c490b05d753e 190 Ethconnect_LED = 0;
yukisega 2:233951f9354d 191 //printf("%d\n",Timeout_timer.read_ms());
yukisega 1:b1c3d31236f8 192 Timeout_timer.reset();
yukisega 0:c490b05d753e 193 //return -1;
yukisega 0:c490b05d753e 194 }
yukisega 0:c490b05d753e 195
yukisega 0:c490b05d753e 196 /* Calculate PWM Duty */
yukisega 1:b1c3d31236f8 197 g_mtx.lock();
yukisega 0:c490b05d753e 198 pwmduty = pipe_pwmduty / 2.0;
yukisega 1:b1c3d31236f8 199 g_mtx.unlock();
yukisega 0:c490b05d753e 200
yukisega 0:c490b05d753e 201 /* Output PWM */
yukisega 0:c490b05d753e 202 motor_P = (0.5 + pwmduty);
yukisega 0:c490b05d753e 203 motor_N = (0.5 - pwmduty);
yukisega 0:c490b05d753e 204
yukisega 0:c490b05d753e 205
yukisega 0:c490b05d753e 206 }//while(1) END
yukisega 0:c490b05d753e 207
yukisega 0:c490b05d753e 208 }//main() END
yukisega 0:c490b05d753e 209
yukisega 0:c490b05d753e 210