albatross / Mbed 2 deprecated ControlYokutan2018

2018年度用翼端mbedプログラム

Dependencies:   Control_Yokutan_CANver1 XBusServo mbed mbed-rtos

Fork of ControlYokutan2017_2 by albatross

main.cpp@77:ca4ab599ba2b, 2018-02-28 (annotated)

Committer:
tsumagari
Date:
Wed Feb 28 03:36:22 2018 +0000
Branch:
mpu????????
Revision:
77:ca4ab599ba2b
Parent:
74:8ccd04302a7f
Child:
78:e272e65f5a0e
???????????????????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
taurin 0:e052602db102 1 //翼端can program
tsumagari 73:05feda5b0f98 2 /*****************************************
tsumagari 73:05feda5b0f98 3 * -----
tsumagari 73:05feda5b0f98 4 * | 1 | Is R pin
tsumagari 73:05feda5b0f98 5 * | 2 | In set mode pin
tsumagari 73:05feda5b0f98 6 * | 3 | on:Elevon, off:Drug
tsumagari 73:05feda5b0f98 7 * | 4 | on:Trim, off:Max deg
tsumagari 73:05feda5b0f98 8 * -----
tsumagari 73:05feda5b0f98 9 *
tsumagari 73:05feda5b0f98 10 ******************************************
tsumagari 73:05feda5b0f98 11 **magic character of debug**
tsumagari 73:05feda5b0f98 12 *
tsumagari 73:05feda5b0f98 13 *(0)s:sending datas: mpu, servoV
tsumagari 73:05feda5b0f98 14 *(1)g:getting datas: eruronfloat, drugInput, servoOff
tsumagari 73:05feda5b0f98 15 *(2)c:servo config:eruronTrim,drugTrim,eMD,dMD
tsumagari 74:8ccd04302a7f 16 *(3)j:data to debug what you want(joker)
tsumagari 73:05feda5b0f98 17 ******************************************
tsumagari 73:05feda5b0f98 18 */
taurin 0:e052602db102 19 #include "mbed.h"
tsumagari 22:b38bc18ec3a1 20 #include "MPU6050.h"
taurin 0:e052602db102 21 #include "INA226.hpp"
YusukeWakuta 42:bf98a29e81ac 22 #include "rtos.h"
YusukeWakuta 24:d416722b4aad 23 #include "XBusServo.h"
YusukeWakuta 57:d7b709dd1c4f 24 #include "math.h"
taurin 4:450cafd95ac3 25
taurin 2:7fcb4f970a02 26 #define INIT_SERVO_PERIOD_MS 20
taurin 4:450cafd95ac3 27 #define WAIT_LOOP_TIME 0.02
tsumagari 74:8ccd04302a7f 28 #define YOKUTAN_DATAS_NUM 7
tsumagari 74:8ccd04302a7f 29 #define INPUT_DATAS_NUM 4 //ここは8バイトまでしかCANでは一度に送れないため、8以下。そして、操舵コードと数字を合わせる必要あり。
tsumagari 74:8ccd04302a7f 30 #define ERURON_DATAS_NUM 3 //送られてくるエルロンインプットの文字数
tsumagari 74:8ccd04302a7f 31 #define TO_SEND_CAN_ID 0x701 //0x0>>0x7ff
taurin 4:450cafd95ac3 32 #define SEND_DATAS_LOOP_TIME 0.1
tsumagari 33:d075918d4846 33 #define RECEIVE_DATAS_LOOP_TIME 0.1
taurin 12:fd9d241843f4 34
YusukeWakuta 42:bf98a29e81ac 35 #define MPU_LOOP_TIME 0.01
YusukeWakuta 42:bf98a29e81ac 36 #define MPU_DELT_MIN 250
YusukeWakuta 42:bf98a29e81ac 37
tsumagari 67:94fe2180f39a 38 #define ERURON_MOVE_DEG_INI_R 14.4*0.8//18.0 //degree
tsumagari 67:94fe2180f39a 39 #define DRUG_MOVE_DEG_INI_R 0.49
tsumagari 66:2d1a7f270e27 40 #define ERURON_TRIM_INI_R 0.39633 //値lowerすると頭上げ 0.37で後縁一致
YusukeWakuta 58:f84bd22fd586 41 #define DRUG_TRIM_INI_R 0.37
taurin 12:fd9d241843f4 42
tsumagari 64:9d7582920f50 43 #define ERURON_MOVE_DEG_INI_L -15.52//-19.4 //degree
YusukeWakuta 63:52b882a5968c 44 #define DRUG_MOVE_DEG_INI_L -0.52
tsumagari 67:94fe2180f39a 45 #define ERURON_TRIM_INI_L 0.41567 // 値を大きくすると頭上げ
YusukeWakuta 58:f84bd22fd586 46 #define DRUG_TRIM_INI_L 0.73//値を小さくすると開く側
taurin 2:7fcb4f970a02 47
tsumagari 74:8ccd04302a7f 48 /*ドラッグラダー
tsumagari 74:8ccd04302a7f 49 初期値 0.65
tsumagari 74:8ccd04302a7f 50 最大角0.99
tsumagari 74:8ccd04302a7f 51 */
tsumagari 74:8ccd04302a7f 52
tsumagari 73:05feda5b0f98 53 #define print2pc(flag,fmt,...) do{if(flag){pc.printf(fmt,__VA_ARGS__);}}while(0)
tsumagari 73:05feda5b0f98 54 #define SENDING_DATA_DEBUG_FLAG debugflag[0].flag
tsumagari 73:05feda5b0f98 55 #define GETTING_DATA_DEBUG_FLAG debugflag[1].flag
tsumagari 77:ca4ab599ba2b 56 #define SERVO_CONFIG_DEBUG_FLAG debugflag[2].flag
tsumagari 74:8ccd04302a7f 57 #define DEBUG_FLAG debugflag[3].flag
tsumagari 67:94fe2180f39a 58
tsumagari 73:05feda5b0f98 59 struct flaglist{
tsumagari 73:05feda5b0f98 60 char key;
tsumagari 73:05feda5b0f98 61 bool flag;
tsumagari 73:05feda5b0f98 62 };
tsumagari 74:8ccd04302a7f 63 struct flaglist debugflag[]={
tsumagari 74:8ccd04302a7f 64 {'s',0},
tsumagari 74:8ccd04302a7f 65 {'g',0},
tsumagari 74:8ccd04302a7f 66 {'c',0},
tsumagari 74:8ccd04302a7f 67 {'j',0},
tsumagari 74:8ccd04302a7f 68 {'0',0}
tsumagari 74:8ccd04302a7f 69 };
tsumagari 67:94fe2180f39a 70
tsumagari 74:8ccd04302a7f 71 const char *configfilename = "/local/CONFIG.csv";
YusukeWakuta 24:d416722b4aad 72
taurin 0:e052602db102 73 CAN can(p30,p29);
taurin 0:e052602db102 74 CANMessage recmsg;
taurin 0:e052602db102 75 Serial pc(USBTX,USBRX);
taurin 0:e052602db102 76 I2C ina226_i2c(p28,p27);
taurin 0:e052602db102 77 INA226 VCmonitor(ina226_i2c);
tsumagari 70:7da315abec17 78 PwmOut drugServo(p23);
tsumagari 71:a00561d455d1 79 PwmOut eruronServo(p25);
taurin 1:9cc932a16d17 80 DigitalOut led1(LED1);
tsumagari 69:073116d31a56 81 AnalogIn setDeg10(p20);
tsumagari 69:073116d31a56 82 AnalogIn setDeg1(p19);
tsumagari 77:ca4ab599ba2b 83 DigitalIn IsRPin(p16,PullDown);
tsumagari 77:ca4ab599ba2b 84 DigitalIn InSetModePin(p15,PullDown);
tsumagari 77:ca4ab599ba2b 85 DigitalIn EDstatePin(p14,PullDown);
tsumagari 77:ca4ab599ba2b 86 DigitalIn TrimMaxDegPin(p13,PullDown);
tsumagari 71:a00561d455d1 87 DigitalOut servoOff(p17);
YusukeWakuta 44:624a4469ae21 88 DigitalOut led2(LED2);
taurin 4:450cafd95ac3 89 DigitalOut led3(LED3);
taurin 4:450cafd95ac3 90 DigitalOut led4(LED4);
taurin 4:450cafd95ac3 91 Ticker sendDatasTicker;
tsumagari 22:b38bc18ec3a1 92 //Ticker toStringTicker;
taurin 16:82310bf7c326 93 Ticker receiveDatasTicker;
YusukeWakuta 42:bf98a29e81ac 94 MPU6050 mpu6050;
YusukeWakuta 42:bf98a29e81ac 95 Timer t;
YusukeWakuta 42:bf98a29e81ac 96
tsumagari 67:94fe2180f39a 97 LocalFileSystem local("local");
tsumagari 67:94fe2180f39a 98
tsumagari 74:8ccd04302a7f 99 char toSendDatas[YOKUTAN_DATAS_NUM];
tsumagari 74:8ccd04302a7f 100 char intValues[ERURON_DATAS_NUM];
taurin 12:fd9d241843f4 101 float eruronTrim;
taurin 12:fd9d241843f4 102 float drugTrim;
taurin 12:fd9d241843f4 103 float eruronMoveDeg;
taurin 12:fd9d241843f4 104 float drugMoveDeg;
YusukeWakuta 59:f007e543f8c9 105 float eruronfloat = 0.0;
taurin 0:e052602db102 106 unsigned short ina_val;
taurin 0:e052602db102 107 double V,C;
taurin 0:e052602db102 108 bool SERVO_FLAG;
taurin 0:e052602db102 109 bool INA_FLAG;
tsumagari 22:b38bc18ec3a1 110 bool MPU_FLAG;
tsumagari 74:8ccd04302a7f 111
YusukeWakuta 42:bf98a29e81ac 112 int gyroX;
YusukeWakuta 42:bf98a29e81ac 113 int gyroY;
YusukeWakuta 42:bf98a29e81ac 114 int gyroZ;
YusukeWakuta 42:bf98a29e81ac 115 float sum = 0;
tsumagari 74:8ccd04302a7f 116 int drugInput = 0;
tsumagari 74:8ccd04302a7f 117 int servoOffVer = 0;
YusukeWakuta 42:bf98a29e81ac 118 uint32_t sumCount = 0;
taurin 0:e052602db102 119
tsumagari 22:b38bc18ec3a1 120 char gyro_c[6] = {0,0,0,0,0,0};
taurin 4:450cafd95ac3 121
taurin 4:450cafd95ac3 122 void toString();
taurin 16:82310bf7c326 123 void receiveDatas();
taurin 16:82310bf7c326 124 void WriteServo();
YusukeWakuta 42:bf98a29e81ac 125 void MpuInit();
YusukeWakuta 42:bf98a29e81ac 126 void mpuProcessing(void const *arg);
taurin 0:e052602db102 127
YusukeWakuta 24:d416722b4aad 128 Ticker gTimer;
YusukeWakuta 24:d416722b4aad 129
tsumagari 73:05feda5b0f98 130
tsumagari 73:05feda5b0f98 131
tsumagari 73:05feda5b0f98 132 void receiveFromPc(){
tsumagari 74:8ccd04302a7f 133 while(pc.readable()){
tsumagari 73:05feda5b0f98 134 char c = pc.getc();
tsumagari 73:05feda5b0f98 135 for(int i = 0; debugflag[i].key != '0'; i++){
tsumagari 73:05feda5b0f98 136 if(debugflag[i].key == c)
tsumagari 73:05feda5b0f98 137 debugflag[i].flag = !(debugflag[i].flag);
tsumagari 73:05feda5b0f98 138 }
tsumagari 73:05feda5b0f98 139 }
tsumagari 73:05feda5b0f98 140 }
tsumagari 73:05feda5b0f98 141
YusukeWakuta 26:f14579683f98 142 bool servoInit()
YusukeWakuta 26:f14579683f98 143 {
taurin 4:450cafd95ac3 144 drugServo.period_ms(INIT_SERVO_PERIOD_MS);
taurin 0:e052602db102 145 return true;
taurin 0:e052602db102 146 }
taurin 0:e052602db102 147
YusukeWakuta 26:f14579683f98 148 void sendDatas()
YusukeWakuta 24:d416722b4aad 149 {
tsumagari 74:8ccd04302a7f 150 if(can.write(CANMessage(TO_SEND_CAN_ID, toSendDatas, YOKUTAN_DATAS_NUM))) {
taurin 4:450cafd95ac3 151 }
taurin 4:450cafd95ac3 152 }
taurin 4:450cafd95ac3 153
YusukeWakuta 42:bf98a29e81ac 154 void MpuInit()
YusukeWakuta 42:bf98a29e81ac 155 {
tsumagari 72:aef1ec8c66c7 156 i2c.frequency(400000); // use fast (400 kHz) I2C
YusukeWakuta 42:bf98a29e81ac 157 t.start();
YusukeWakuta 42:bf98a29e81ac 158 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
YusukeWakuta 42:bf98a29e81ac 159 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
YusukeWakuta 42:bf98a29e81ac 160 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 161 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
YusukeWakuta 42:bf98a29e81ac 162 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 163 if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) {
YusukeWakuta 42:bf98a29e81ac 164 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
YusukeWakuta 42:bf98a29e81ac 165 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 42:bf98a29e81ac 166 mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
YusukeWakuta 42:bf98a29e81ac 167 Thread::wait(200);
YusukeWakuta 42:bf98a29e81ac 168 } else {
YusukeWakuta 42:bf98a29e81ac 169 }
YusukeWakuta 42:bf98a29e81ac 170 } else {
YusukeWakuta 42:bf98a29e81ac 171 //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 42:bf98a29e81ac 172 }
YusukeWakuta 42:bf98a29e81ac 173 }
YusukeWakuta 42:bf98a29e81ac 174
YusukeWakuta 42:bf98a29e81ac 175
YusukeWakuta 42:bf98a29e81ac 176 void mpuProcessing(void const *arg)
YusukeWakuta 42:bf98a29e81ac 177 {
YusukeWakuta 42:bf98a29e81ac 178 MpuInit();
YusukeWakuta 42:bf98a29e81ac 179 while(1) {
YusukeWakuta 42:bf98a29e81ac 180 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
YusukeWakuta 42:bf98a29e81ac 181 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 182 mpu6050.getAres();
YusukeWakuta 42:bf98a29e81ac 183 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 184 ay = (float)accelCount[1]*aRes - accelBias[1];
YusukeWakuta 42:bf98a29e81ac 185 az = (float)accelCount[2]*aRes - accelBias[2];
YusukeWakuta 42:bf98a29e81ac 186 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 187 mpu6050.getGres();
YusukeWakuta 42:bf98a29e81ac 188 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 189 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
YusukeWakuta 42:bf98a29e81ac 190 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
YusukeWakuta 42:bf98a29e81ac 191 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 192 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
YusukeWakuta 42:bf98a29e81ac 193 }
YusukeWakuta 42:bf98a29e81ac 194 Now = t.read_us();
YusukeWakuta 42:bf98a29e81ac 195 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
YusukeWakuta 42:bf98a29e81ac 196 lastUpdate = Now;
YusukeWakuta 42:bf98a29e81ac 197 sum += deltat;
YusukeWakuta 42:bf98a29e81ac 198 sumCount++;
YusukeWakuta 42:bf98a29e81ac 199 if(lastUpdate - firstUpdate > 10000000.0f) {
YusukeWakuta 42:bf98a29e81ac 200 beta = 0.04; // decrease filter gain after stabilized
YusukeWakuta 42:bf98a29e81ac 201 zeta = 0.015; // increasey bias drift gain after stabilized
YusukeWakuta 42:bf98a29e81ac 202 }
YusukeWakuta 42:bf98a29e81ac 203 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
YusukeWakuta 42:bf98a29e81ac 204 delt_t = t.read_ms() - count;
YusukeWakuta 42:bf98a29e81ac 205 if (delt_t > MPU_DELT_MIN) {
YusukeWakuta 42:bf98a29e81ac 206 yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
YusukeWakuta 42:bf98a29e81ac 207 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
YusukeWakuta 42:bf98a29e81ac 208 roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
YusukeWakuta 42:bf98a29e81ac 209 pitch *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 210 yaw *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 211 roll *= 180.0f / PI;
YusukeWakuta 48:0bd406fa4a7f 212 // myled= !myled;
YusukeWakuta 42:bf98a29e81ac 213 count = t.read_ms();
YusukeWakuta 42:bf98a29e81ac 214 sum = 0;
YusukeWakuta 42:bf98a29e81ac 215 sumCount = 0;
YusukeWakuta 42:bf98a29e81ac 216 }
tsumagari 64:9d7582920f50 217 gyro_c[0]=(char)((int)pitch);
tsumagari 64:9d7582920f50 218 gyro_c[1]=(char)(int)((pitch - (int)pitch)*100);
tsumagari 64:9d7582920f50 219 gyro_c[2]=(char)((int)roll);
tsumagari 64:9d7582920f50 220 gyro_c[3]=(char)(int)((roll - (int)roll)*100);
tsumagari 64:9d7582920f50 221 gyro_c[4]=(char)((int)yaw);
tsumagari 64:9d7582920f50 222 gyro_c[5]=(char)(int)((yaw - (int)yaw)*100);
tsumagari 73:05feda5b0f98 223
YusukeWakuta 42:bf98a29e81ac 224 Thread::wait(1);
YusukeWakuta 42:bf98a29e81ac 225 }//while(1)
YusukeWakuta 42:bf98a29e81ac 226 }
YusukeWakuta 42:bf98a29e81ac 227
YusukeWakuta 42:bf98a29e81ac 228
YusukeWakuta 26:f14579683f98 229 bool inaInit()
YusukeWakuta 26:f14579683f98 230 {
YusukeWakuta 26:f14579683f98 231 if(!VCmonitor.isExist()) {
taurin 0:e052602db102 232 pc.printf("VCmonitor NOT FOUND\n");
taurin 0:e052602db102 233 return false;
taurin 0:e052602db102 234 }
taurin 0:e052602db102 235 ina_val = 0;
YusukeWakuta 26:f14579683f98 236 if(VCmonitor.rawRead(0x00,&ina_val) != 0) {
taurin 0:e052602db102 237 pc.printf("VCmonitor READ ERROR\n");
taurin 0:e052602db102 238 return false;
taurin 0:e052602db102 239 }
taurin 0:e052602db102 240 VCmonitor.setCurrentCalibration();
taurin 0:e052602db102 241 return true;
taurin 0:e052602db102 242 }
taurin 0:e052602db102 243
YusukeWakuta 57:d7b709dd1c4f 244 //動かしたいエレボンの角度から、動かしたいサーボホーンの角度を得る。
YusukeWakuta 57:d7b709dd1c4f 245 double ConvertDeg(double servo)
YusukeWakuta 57:d7b709dd1c4f 246 {
YusukeWakuta 62:1db967d29809 247 return 0.0011 * pow(servo,3) + 0.017 * pow(servo,2) + 2.3019 * servo - 0.2269;
YusukeWakuta 62:1db967d29809 248 //return 0.0003*pow(servo,3)+0.0039*pow(servo,2)+1.746*servo - 0.0105;
YusukeWakuta 57:d7b709dd1c4f 249 }
YusukeWakuta 57:d7b709dd1c4f 250
YusukeWakuta 57:d7b709dd1c4f 251 //ホーンを動かしたい角度から、変化させるアナログ値の幅を得る。3度変化
YusukeWakuta 57:d7b709dd1c4f 252 double GetValueByHorn(double deg)
YusukeWakuta 57:d7b709dd1c4f 253 {
YusukeWakuta 57:d7b709dd1c4f 254 return deg*(0.10/25.7);
YusukeWakuta 57:d7b709dd1c4f 255 }
YusukeWakuta 57:d7b709dd1c4f 256
YusukeWakuta 57:d7b709dd1c4f 257 double GetFloatByErebon(double erebonDeg)
YusukeWakuta 57:d7b709dd1c4f 258 {
YusukeWakuta 57:d7b709dd1c4f 259 double servoDeg = ConvertDeg(erebonDeg);
YusukeWakuta 61:988e3f4280ac 260 return GetValueByHorn(servoDeg);
YusukeWakuta 57:d7b709dd1c4f 261 }
tsumagari 67:94fe2180f39a 262 // configファイル作成
tsumagari 67:94fe2180f39a 263 int makeConfigFile() {
tsumagari 67:94fe2180f39a 264 FILE *fp;
tsumagari 67:94fe2180f39a 265 if((fp = fopen(configfilename, "w")) == NULL) {
tsumagari 67:94fe2180f39a 266 pc.printf("can't open %s\n", configfilename);
tsumagari 67:94fe2180f39a 267 return -1;
tsumagari 67:94fe2180f39a 268 }
tsumagari 67:94fe2180f39a 269 fprintf(fp, "// This is Yokutan %s.\n", IsRPin ? "R" : "L");
tsumagari 67:94fe2180f39a 270 fprintf(fp, "eruronTrim,drugTrim,eruronMoveDeg,drugMoveDeg\n");
tsumagari 67:94fe2180f39a 271 fclose(fp);
tsumagari 67:94fe2180f39a 272 return 0;
tsumagari 67:94fe2180f39a 273 }
tsumagari 67:94fe2180f39a 274
tsumagari 67:94fe2180f39a 275 // config内容をファイルに追記
tsumagari 67:94fe2180f39a 276 int writeConfig() {
tsumagari 67:94fe2180f39a 277 FILE *fp;
tsumagari 67:94fe2180f39a 278 if((fp = fopen(configfilename, "a")) == NULL) {
tsumagari 67:94fe2180f39a 279 pc.printf("can't open %s\n", configfilename);
tsumagari 67:94fe2180f39a 280 return -1;
tsumagari 67:94fe2180f39a 281 }
tsumagari 67:94fe2180f39a 282 fprintf(fp, "%f,%f,%f,%f\n", eruronTrim, drugTrim, eruronMoveDeg, drugMoveDeg);
tsumagari 67:94fe2180f39a 283 fclose(fp);
tsumagari 67:94fe2180f39a 284 return 0;
tsumagari 67:94fe2180f39a 285 }
tsumagari 67:94fe2180f39a 286 // configの最新情報を読み込み
tsumagari 67:94fe2180f39a 287 int readConfig() {
tsumagari 67:94fe2180f39a 288 FILE *fp;
tsumagari 67:94fe2180f39a 289 char s[256];
tsumagari 67:94fe2180f39a 290 if((fp = fopen(configfilename, "r")) == NULL) {
tsumagari 67:94fe2180f39a 291 return -1;
tsumagari 67:94fe2180f39a 292 }
tsumagari 67:94fe2180f39a 293 while(fgets(s, 255, fp) != NULL) {
tsumagari 67:94fe2180f39a 294 sscanf(s, "%f,%f,%f,%f\n", &eruronTrim, &drugTrim, &eruronMoveDeg, &drugMoveDeg);
tsumagari 67:94fe2180f39a 295 }
tsumagari 67:94fe2180f39a 296 fclose(fp);
tsumagari 73:05feda5b0f98 297 //debug("eruronTrim:%f,drugtrim:%f,eMD:%f,dMD:%f\n\r",eruronTrim,drugTrim,eruronMoveDeg,drugMoveDeg);
tsumagari 67:94fe2180f39a 298 return 0;
tsumagari 67:94fe2180f39a 299 }
YusukeWakuta 57:d7b709dd1c4f 300
YusukeWakuta 26:f14579683f98 301 void init()
YusukeWakuta 26:f14579683f98 302 {
tsumagari 67:94fe2180f39a 303 if(readConfig() == -1) {
tsumagari 67:94fe2180f39a 304 makeConfigFile();
tsumagari 67:94fe2180f39a 305 if(IsRPin) {
tsumagari 67:94fe2180f39a 306 eruronTrim = ERURON_TRIM_INI_R;
tsumagari 67:94fe2180f39a 307 drugTrim = DRUG_TRIM_INI_R;
tsumagari 67:94fe2180f39a 308 eruronMoveDeg =GetFloatByErebon(ERURON_MOVE_DEG_INI_R);
tsumagari 67:94fe2180f39a 309 drugMoveDeg =DRUG_MOVE_DEG_INI_R;
tsumagari 67:94fe2180f39a 310 } else {
tsumagari 67:94fe2180f39a 311 eruronTrim = ERURON_TRIM_INI_L;
tsumagari 67:94fe2180f39a 312 drugTrim = DRUG_TRIM_INI_L;
tsumagari 67:94fe2180f39a 313 eruronMoveDeg = GetFloatByErebon(ERURON_MOVE_DEG_INI_L);
tsumagari 67:94fe2180f39a 314 drugMoveDeg = DRUG_MOVE_DEG_INI_L;
tsumagari 67:94fe2180f39a 315 }
taurin 12:fd9d241843f4 316 }
taurin 0:e052602db102 317 SERVO_FLAG = servoInit();
taurin 0:e052602db102 318 INA_FLAG = inaInit();
taurin 4:450cafd95ac3 319 sendDatasTicker.attach(&sendDatas,SEND_DATAS_LOOP_TIME);
taurin 16:82310bf7c326 320 // toStringTicker.attach(&toString,0.5);
taurin 16:82310bf7c326 321 receiveDatasTicker.attach(&receiveDatas,RECEIVE_DATAS_LOOP_TIME);
taurin 0:e052602db102 322 }
taurin 0:e052602db102 323
YusukeWakuta 26:f14579683f98 324 void updateDatas()
YusukeWakuta 26:f14579683f98 325 {
YusukeWakuta 26:f14579683f98 326 if(INA_FLAG) {
taurin 0:e052602db102 327 int tmp = VCmonitor.getVoltage(&V);
taurin 0:e052602db102 328 tmp = VCmonitor.getCurrent(&C);
taurin 0:e052602db102 329 }
tsumagari 73:05feda5b0f98 330 uint8_t r[4];
tsumagari 73:05feda5b0f98 331 uint8_t y[4];
tsumagari 73:05feda5b0f98 332 int rl,yw;
tsumagari 73:05feda5b0f98 333 rl = (int)(roll*10000);
tsumagari 73:05feda5b0f98 334 yw = (int)(yaw*10000);
tsumagari 73:05feda5b0f98 335 r[2] = (rl&0x00ff0000)>>16; y[2] = (yw&0x00ff0000)>>16;
tsumagari 73:05feda5b0f98 336 r[1] = (rl&0x0000ff00)>>8; y[1] = (yw&0x0000ff00)>>8;
tsumagari 73:05feda5b0f98 337 r[0] = (rl&0x000000ff); y[0] = (yw&0x000000ff);
tsumagari 73:05feda5b0f98 338 r[3] = (r[2]>>7 == 0)?0:0xff;y[3] = (y[2]>>7 == 0)?0:0xff;//r[3]can make from r[2]
tsumagari 73:05feda5b0f98 339 int i = 0;
tsumagari 73:05feda5b0f98 340 for(;i<3;i++)
tsumagari 73:05feda5b0f98 341 toSendDatas[i] = r[i];
tsumagari 73:05feda5b0f98 342 for(;i<6;i++)
tsumagari 73:05feda5b0f98 343 toSendDatas[i] = y[i-3];
tsumagari 73:05feda5b0f98 344 toSendDatas[i] = (char)V;
tsumagari 73:05feda5b0f98 345 print2pc(SENDING_DATA_DEBUG_FLAG,"p:%12f,r:%12f,y:%12f,servoV%12f r[]:%d,y[]:%d\n\r"
tsumagari 73:05feda5b0f98 346 ,pitch,roll,yaw,V,*(int*)r,*(int*)y);
taurin 0:e052602db102 347 }
taurin 0:e052602db102 348
YusukeWakuta 26:f14579683f98 349 void receiveDatas()
YusukeWakuta 26:f14579683f98 350 {
tsumagari 73:05feda5b0f98 351 if(can.read(recmsg)) { //ここの中でpc.printfすると固まるので注意
tsumagari 74:8ccd04302a7f 352 for(int i = 0; i < ERURON_DATAS_NUM; i++) {
tsumagari 74:8ccd04302a7f 353 intValues[i] = recmsg.data[i];
taurin 0:e052602db102 354 }
tsumagari 74:8ccd04302a7f 355 drugInput = (recmsg.data[3]-'0')/2;
tsumagari 74:8ccd04302a7f 356 servoOffVer = ((recmsg.data[3]-'0')%2);
tsumagari 74:8ccd04302a7f 357 eruronfloat = atoi(intValues)/100.0;
taurin 1:9cc932a16d17 358 led1 = !led1;
taurin 0:e052602db102 359 }
tsumagari 74:8ccd04302a7f 360 servoOff = servoOffVer;
taurin 0:e052602db102 361 }
taurin 0:e052602db102 362
YusukeWakuta 42:bf98a29e81ac 363 double calcPulse(float analog)
YusukeWakuta 26:f14579683f98 364 {
tsumagari 53:3eeaafa49707 365 return (0.0006 + (analog)*(0.00240-0.00060) );
taurin 1:9cc932a16d17 366 }
taurin 1:9cc932a16d17 367
YusukeWakuta 29:516a5d383488 368 void WriteServo()
YusukeWakuta 26:f14579683f98 369 {
YusukeWakuta 62:1db967d29809 370 // for(int i = 0; i< 10; i++) {
YusukeWakuta 61:988e3f4280ac 371 // pc.printf("%c",floatValues[i]);
YusukeWakuta 61:988e3f4280ac 372 // }
YusukeWakuta 61:988e3f4280ac 373 // pc.printf(" : %f",eruronfloat);
YusukeWakuta 61:988e3f4280ac 374 // pc.printf("\n\r");
YusukeWakuta 61:988e3f4280ac 375 drugServo.pulsewidth(calcPulse(drugTrim + drugMoveDeg *drugInput));
YusukeWakuta 59:f007e543f8c9 376 eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * eruronfloat));
tsumagari 74:8ccd04302a7f 377 print2pc(GETTING_DATA_DEBUG_FLAG,"ef:%5.2f di:%d so:%d\n\r",eruronfloat,drugInput,int(servoOff));
tsumagari 77:ca4ab599ba2b 378 print2pc(SERVO_CONFIG_DEBUG_FLAG,"eTr:%f dTr:%f eMD:%f dMD:%f\n\r",eruronTrim,drugTrim,eruronMoveDeg,drugMoveDeg);
tsumagari 74:8ccd04302a7f 379 print2pc(DEBUG_FLAG,"servoOffVer:%d\n\r",servoOffVer);
taurin 4:450cafd95ac3 380 }
taurin 4:450cafd95ac3 381
tsumagari 77:ca4ab599ba2b 382 void setTrim(float initEruronState, float initDrugState, float initPinState)
YusukeWakuta 26:f14579683f98 383 {
tsumagari 77:ca4ab599ba2b 384 led2 = 1;
tsumagari 77:ca4ab599ba2b 385 led4 = 0;
tsumagari 77:ca4ab599ba2b 386 if(eruronTrim < 0 || drugTrim < 0)led2 = 0;
YusukeWakuta 26:f14579683f98 387 if(EDstatePin) {
tsumagari 77:ca4ab599ba2b 388 eruronTrim = -initPinState + (int)(setDeg10.read()*9)/10.0 + setDeg1.read()/10 + initEruronState;
YusukeWakuta 50:b3a8f8e88c50 389 eruronServo.pulsewidth(calcPulse(eruronTrim));
YusukeWakuta 26:f14579683f98 390 } else {
tsumagari 77:ca4ab599ba2b 391 drugTrim = -initPinState + (int)(setDeg10.read()*9)/10.0 + setDeg1.read()/10 + initDrugState;
YusukeWakuta 26:f14579683f98 392 drugServo.pulsewidth(calcPulse(drugTrim));
taurin 12:fd9d241843f4 393 }
YusukeWakuta 14:1f6dd929d7de 394 //pc.printf("eruronTrim:%f drugTrim:%f\n\r",eruronTrim,drugTrim);
tsumagari 77:ca4ab599ba2b 395 pc.printf("eTr:%f dTr:%f ",eruronTrim,drugTrim);
tsumagari 73:05feda5b0f98 396 pc.printf("eMD:%f dMD:%f\n\r",eruronMoveDeg,drugMoveDeg);
taurin 4:450cafd95ac3 397 }
taurin 4:450cafd95ac3 398
tsumagari 77:ca4ab599ba2b 399 void setMaxDeg(float initEruronState, float initDrugState, float initPinState)
YusukeWakuta 26:f14579683f98 400 {
taurin 4:450cafd95ac3 401 led4 = 1;
tsumagari 77:ca4ab599ba2b 402 led2 = 0;
tsumagari 77:ca4ab599ba2b 403 float eruronTemp = -initPinState + (int)(setDeg10.read()*9)/10.0 + setDeg1.read()/10 + initEruronState;
tsumagari 77:ca4ab599ba2b 404 float drugTemp = -initPinState + (int)(setDeg10.read()*9)/10.0 + setDeg1.read()/10 + initDrugState;
tsumagari 77:ca4ab599ba2b 405 if(eruronTemp < 0 || drugTemp < 0)led4 = 0;
YusukeWakuta 26:f14579683f98 406 if(EDstatePin) {
YusukeWakuta 26:f14579683f98 407 eruronMoveDeg = eruronTemp-eruronTrim;
YusukeWakuta 49:8522856fe0cd 408 eruronServo.pulsewidth(calcPulse(eruronTemp));
YusukeWakuta 26:f14579683f98 409 } else {
tsumagari 68:ae3c3500074c 410 drugMoveDeg = drugTemp-drugTrim;
YusukeWakuta 26:f14579683f98 411 drugServo.pulsewidth(calcPulse(drugTemp));
taurin 12:fd9d241843f4 412 }
tsumagari 77:ca4ab599ba2b 413 pc.printf("eTr:%f dTr:%f ",eruronTrim,drugTrim);
tsumagari 73:05feda5b0f98 414 pc.printf("eMD:%f dMD:%f\n\r",eruronMoveDeg,drugMoveDeg);
taurin 4:450cafd95ac3 415 wait_us(10);
taurin 1:9cc932a16d17 416 }
taurin 0:e052602db102 417
YusukeWakuta 26:f14579683f98 418 int main()
YusukeWakuta 26:f14579683f98 419 {
taurin 0:e052602db102 420 init();
YusukeWakuta 42:bf98a29e81ac 421 Thread mpu_thread(&mpuProcessing);
YusukeWakuta 26:f14579683f98 422
tsumagari 74:8ccd04302a7f 423 // start motion
tsumagari 33:d075918d4846 424 // gTimer.attach_us(&XbusIntervalHandler, 1000000 / kMotionInterval);
YusukeWakuta 26:f14579683f98 425
YusukeWakuta 26:f14579683f98 426 while(1) {
tsumagari 68:ae3c3500074c 427 if(InSetModePin){
tsumagari 77:ca4ab599ba2b 428 float initEruronState = eruronTrim;
tsumagari 77:ca4ab599ba2b 429 float initDrugState = drugTrim;
tsumagari 77:ca4ab599ba2b 430 float initPinState = (int)(setDeg10.read()*9)/10.0 + setDeg1.read()/10;
tsumagari 68:ae3c3500074c 431 do{
tsumagari 68:ae3c3500074c 432 if(TrimMaxDegPin)
tsumagari 77:ca4ab599ba2b 433 setTrim(initEruronState,initDrugState,initPinState);
tsumagari 68:ae3c3500074c 434 else
tsumagari 77:ca4ab599ba2b 435 setMaxDeg(initEruronState,initDrugState,initPinState);
tsumagari 68:ae3c3500074c 436 }while(InSetModePin);
tsumagari 67:94fe2180f39a 437 writeConfig();
taurin 4:450cafd95ac3 438 }
taurin 4:450cafd95ac3 439 led4 = 0;
YusukeWakuta 44:624a4469ae21 440 led2 = 0;
tsumagari 68:ae3c3500074c 441 receiveDatas();
tsumagari 71:a00561d455d1 442 sendDatas();
taurin 1:9cc932a16d17 443 WriteServo();
taurin 4:450cafd95ac3 444 updateDatas();
tsumagari 73:05feda5b0f98 445 receiveFromPc();
tsumagari 22:b38bc18ec3a1 446 led3 = !led3;
taurin 2:7fcb4f970a02 447 wait(WAIT_LOOP_TIME);
taurin 0:e052602db102 448 }
taurin 0:e052602db102 449 }