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main.cpp
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/******** Kurione2 main program ********/
#include "mbed.h"
#include "Communication.hpp" // 通信ライブラリ
#define SERIAL_DEBUG
//#define DISABLE_WDT // WDTを使わない場合（標準でON）
#define THRUSTER_HH 1700;
#define THRUSTER_HL 1600;
#define THRUSTER_NN 100;
#define THRUSTER_LH 1400;
#define THRUSTER_LL 1300;
#define SERVO_H 2000;
#define SERVO_N 1500;
#define SERVO_L 1000;
//Serial pc(USBTX, USBRX);
PinName rs485_txd = PA_9;
PinName rs485_rxd = PA_10;
//PinName rs485_nre = PA_12;
//PinName rs485_de = PA_11;
UnbufferedSerial debugger(PA_9, PA_10);
//Serial debugger(USBTX, USBRX);
PwmOut motors[] ={
PwmOut (PA_6_ALT0), // TIM16_CH1
PwmOut (PA_7_ALT1), // TIM17_CH1
PwmOut (PA_8), // TIM1_CH1
PwmOut (PB_5), // TIM3_CH2
PwmOut (PA_3), // TIM15_CH2
PwmOut (PB_0_ALT0) // TIM3_CH3
};
DigitalOut LED_right_green(PB_7);
DigitalOut LED_left_red(PB_6);
DigitalOut emergency_signal(PA_1);
AnalogIn v_sense(PA_4);
AnalogIn i_sense(PA_5); // フィルタ：1k, 0.1uF, 10k
const float ISENSE_OFFSET_VOLTAGE = 0.47f;
const float VSENSE_OFFSET_VOLTAGE = 3.0f;
float voltage,current; // 電圧，電流値（float計算値）
int voltage_int, current_int; // 電圧電流値（int修正値）
int wdt_cnt; // ウオッチドックタイマ変数（地上から信号無かったら強電供給を止める）
const int WDT_MAX = 100;//50; // WDT発動値 → 高速か
//Communication communication(rs485_txd,rs485_rxd,rs485_de,rs485_nre);
//Communication communication(rs485_txd,rs485_rxd,PF_0,PF_1);
Communication communication(USBTX,USBRX,PF_0,PF_1);
int u[6];
//bool is_upd[6];
void updateMotors();
void updateCommunication();
int measureBattery(); // バッテリーの電圧，電流を測定
void sendBatteryData(void); // バッテリーの各種情報をRS485で送る
void pcFlip();
int main()
{
u[0] = THRUSTER_NN;
u[1] = THRUSTER_NN;
u[2] = THRUSTER_NN;
u[3] = SERVO_N;
u[4] = SERVO_N;
u[5] = SERVO_N;
//is_upd[6] = {true,true,true,true,true,true}; //信号アップデートが必要か
//wait_ms(5000);
communication.init(Communication::ROLL_MAIN);
//pc.baud(115200);
//pc.printf("start !\n");
/*
motors[0].pulsewidth_us(1000);
motors[1].pulsewidth_us(1100);
motors[2].pulsewidth_us(1200);
motors[3].pulsewidth_us(1300);
motors[4].pulsewidth_us(1400);
motors[5].pulsewidth_us(1500);
*/
updateMotors();
//debugger.putc(int(communication.freshSerialBuffer()));
wait_us(10000);
int cnt = 0;
LED_left_red = 1;
LED_right_green = 0;
//LED_right_green = 1;
#ifdef SERIAL_DEBUG
debugger.attach(pcFlip, UnbufferedSerial::RxIrq);
#endif
wdt_cnt = 0;
//emergency_signal = 1;
emergency_signal = 0;
while(1) {
measureBattery();
updateCommunication();
updateMotors();
#ifdef SERIAL_DEBUG
cnt++; // シリアルデバッグ
if (cnt>=80){
if (cnt<=85){
//debugger.printf("u[%d]:%4d, ",cnt-80, u[cnt-80]);
}
if (cnt >= 100){
//debugger.printf("\n");
cnt = 0;
}
}
#endif
#ifndef DISABLE_WTD
wdt_cnt++;
#endif
if (wdt_cnt>WDT_MAX) {
wdt_cnt = 0;
//emergency_signal = 1; // WDT発動し，強電供給を停止
LED_right_green = 0;
u[0] = THRUSTER_NN;
u[1] = THRUSTER_NN;
u[2] = THRUSTER_NN;
u[3] = SERVO_N;
u[4] = SERVO_N;
u[5] = SERVO_N;
updateMotors();
}
//wait_ms(20);
wait_us(10000);
}
}
int measureBattery(void) {
float i,v;
v = v_sense; // 測定生値
i = i_sense;
voltage = v/0.011f+VSENSE_OFFSET_VOLTAGE;
current = 25*(3.3f*i-ISENSE_OFFSET_VOLTAGE);
voltage_int = (int)(voltage*10); // 10*V
current_int = (int)(current*10); // 10*I
if((voltage_int<0)||(voltage_int>1000)||(current_int<-100)||(current_int>2000)){
return -1; // 値が外れている場合
}else{
return 0;
}
}
void updateMotors(void) {
for(int i = 0; i<6; i++){
//if (is_upd[i])
motors[i].pulsewidth_us(u[i]);
}
}
void updateCommunication(void) {
//debugger.printf("update! \n");
if (communication.flag_rdat_check){
int s = communication.decode();
//debugger.printf("here: %d \n", s);
//if ((s>10)||(s<-10)){
// debugger.printf("reset !! \n", s);
// NVIC_SystemReset();// ないと動かない(2022/08/07)
//}
communication.flag_rdat_check = false;
switch (communication.receive_command_dat){
case Command::SIGNAL_LAND_TO_MAIN:
for (int i = 0; i<6; i++){
u[i] = communication.receive_num_dat.front();
communication.receive_num_dat.erase(communication.receive_num_dat.begin());
//communication.receive_num_dat.pop_back();
}
wdt_cnt = 0; // wdtカウントをリセット
//wait_ms(10);
wait_us(2000); // 待ち時間高速化
sendBatteryData(); // 10ms後にバッテリー情報送信
LED_right_green = 1;
break;
case Command::POWER_SUPPLY_STOP:
//emergency_signal = 1; // 強電供給停止
break;
case Command::POWER_SUPPLY_START:
//emergency_signal = 0; // 強電供給開始
break;
case Command::BATT_RESET:
NVIC_SystemReset();
break;
default:
break;
}
}
}
void sendBatteryData(void) {
communication.freshSendNumDat();
communication.send_command_dat = Command::SIGNAL_BATT_TO_LAND;
communication.send_num_dat.push_back(voltage_int); // 電圧情報登録
communication.send_num_dat.push_back(current_int); // 電流情報登録
communication.send_num_dat.push_back(emergency_signal==0); // 強電供給状況
communication.encode();
communication.sendDat();
}
void pcFlip(void) {
char c ;
debugger.read(&c,1);
switch(c) {
case '0':
u[0] = THRUSTER_HL;
break;
case '1':
u[1] = THRUSTER_HL;
break;
case '2':
u[2] = THRUSTER_HL;
break;
case '3':
u[3] = SERVO_H;
break;
case '4':
u[4] = SERVO_H;
break;
case '5':
u[5] = SERVO_H;
break;
default:
u[0] = THRUSTER_NN;
u[1] = THRUSTER_NN;
u[2] = THRUSTER_NN;
u[3] = SERVO_N;
u[4] = SERVO_N;
u[5] = SERVO_N;
break;
}
}