[128] | 1 | /*
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| 2 | * Copyright (C) 2013-2014 by Embedded and Real-Time Systems Laboratory
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| 3 | * Graduate School of Information Science, Nagoya Univ., JAPAN
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| 4 | *
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| 5 | * $Id: cmd_rcb3_can.c 228 2014-09-12 13:21:15Z honda $
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| 6 | */
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| 7 |
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| 8 | /*
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| 9 |
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| 10 | dl
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| 11 |
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| 12 | ER}h
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| 13 | SBXBTÌ PS3Rg[/USBQ[pbhUARTÏ·t@[EFA
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| 14 | (http://runningele.web.fc2.com/) ÅT|[gµÄ¢éRCB3ÉÎ
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| 15 | µÄ¢éD
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| 16 |
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| 17 | UART|[g2ÆCANoRÅR}hðó¯æéD¹p·éÆUART©çÌ
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| 18 | R}hÌæè±Úµª¶·é½ßÓ·é±ÆD
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| 19 |
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| 20 | EN®
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| 21 | SÄÌLEDð0.5büúÅ3b_ų¹éD
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| 22 |
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| 23 | E{^Ç
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| 24 | ¶EE {^
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| 25 | EXeAOÌj
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| 26 | [gð²®D
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| 27 | E{^ð·Æûüw¦íªONC£·ÆOFF
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| 28 | ã{^
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| 29 | EXeAOðj
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| 30 | [gÉ·é
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| 31 | º{^
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| 32 | E[^§äÌQCðúlÉ·é
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| 33 | L1/R1
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| 34 | Eûüw¦íðON/OFF·éD
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| 35 | L2/R2
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| 36 | E[^§äÌQCðÏX
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| 37 | ~
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| 38 | Eu[L
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| 39 | ¢
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| 40 | EnU[h
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| 41 |
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| 42 | ECwbhCgØèÖ¦()
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| 43 |
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| 44 | EMAØèÖ¦(D -> N -> B -> N)
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| 45 | */
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| 46 | //#include "rc.h"
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| 47 | //#include "cmd_msg.h"
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| 48 | //#include "uart.h"
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| 49 | //#include "fcan.h"
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| 50 | #include "rcb3.h"
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| 51 | #include "comuart.h"
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| 52 |
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| 53 | /*
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| 54 | * OûQÆ
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| 55 | */
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| 56 | static void onMsgUart(void);
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| 57 | static void onMsgCAN(void);
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| 58 | static void onMsgPS3(void);
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| 59 | static void onTimer10m(void);
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| 60 | static void onTimer50m(void);
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| 61 | static void onTimer100m(void);
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| 62 |
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| 63 | /*
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| 64 | * eíè`
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| 65 | */
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| 66 |
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| 67 | /*
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| 68 | * j
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| 69 | [gÌXeAOpxÌúl
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| 70 | */
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| 71 | #define STEER_NEUTRAL_INIT 0
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| 72 |
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| 73 |
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| 74 | /*
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| 75 | * [^QCÌúl
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| 76 | */
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| 77 | #define MOTOR_GAIN_INIT 2
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| 78 |
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| 79 |
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| 80 | /*
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| 81 | * OoÍpÌ|[gÔÆCxgÔ
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| 82 | */
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| 83 | #define RC_OUTPUT_PORT 2
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| 84 | #define RC_EVENT_OUTPUT_PORT (0x10 << RC_OUTPUT_PORT)
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| 85 |
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| 86 |
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| 87 | /*
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| 88 | * N®Ì{fB[nÌÚ±eXgpÝè
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| 89 | */
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| 90 | #define INIT_BODY_BLINK_COUNT 3
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| 91 | #define INIT_BODY_BLINK_CYCLE 500
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| 92 |
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| 93 |
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| 94 | /*
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| 95 | * §äÖAÌÏ
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| 96 | */
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| 97 | float g_steer_neutral = STEER_NEUTRAL_INIT;
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| 98 | float g_angle = 0;
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| 99 | float g_speed = 0;
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| 100 | int g_speed_gain = MOTOR_GAIN_INIT;
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| 101 | boolean g_blinker_l_blink = FALSE;
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| 102 | boolean g_blinker_r_blink = FALSE;
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| 103 | boolean g_isBrake = FALSE;
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| 104 |
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| 105 |
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| 106 | /*
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| 107 | * CANÖA
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| 108 | */
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| 109 |
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| 110 | /*
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| 111 | * {fB[nÖÌw¦R}hpCANbZ[WID
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| 112 | */
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| 113 | #define BODY_CAN_MSG_ID 16
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| 114 |
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| 115 | /*
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| 116 | * óMR}hpCANbZ[WID
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| 117 | */
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| 118 | #define CONT_CMD_CAN_MSG_ID 3
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| 119 |
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| 120 | /*
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| 121 | * MÌgCñÌãÀ
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| 122 | */
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| 123 | #define CAN_RETRY_LIMIT 50
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| 124 |
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| 125 | /*
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| 126 | * CANÊMðgp·é©ÌtO
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| 127 | */
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| 128 | boolean g_use_can = TRUE;
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| 129 |
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| 130 | /*
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| 131 | * CANÊMðÄJ·éñ
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| 132 | */
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| 133 | #define CAN_REUSE_CNT_LIMIT 1000
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| 134 |
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| 135 | /*
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| 136 | * CANÊMÄJpÏ
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| 137 | */
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| 138 | int g_can_reuse_cnt = 0;
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| 139 |
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| 140 | /*
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| 141 | * CANÖAÌú»
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| 142 | */
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| 143 | void
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| 144 | can_init(void)
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| 145 | {
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| 146 | /* CAN|[gú» */
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| 147 | FCan0InitPort(0);
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| 148 |
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| 149 | /* CAMú» */
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| 150 | FcanInit(0);
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| 151 |
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| 152 | /* [{bNXú» */
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| 153 | FcanSetMailBoxInfo(0, 0, DIR_SEND, IDE_STD, BODY_CAN_MSG_ID, 0, 0 );
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| 154 | FcanSetMailBoxInfo(0, 1, DIR_RECV, IDE_STD, CONT_CMD_CAN_MSG_ID, 0, 0 );
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| 155 |
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| 156 | /* CANX^[g */
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| 157 | FcanEnable(0);
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| 158 | }
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| 159 |
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| 160 | /*
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| 161 | * CANbZ[WÌM
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| 162 | */
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| 163 | void
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| 164 | can_send(uint8 *tx_data, uint8 len)
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| 165 | {
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| 166 | int cnt = 0;
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| 167 | STATUS status;
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| 168 |
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| 169 | /* CANÊMâ~óÔÌê */
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| 170 | if (!g_use_can) {
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| 171 | g_can_reuse_cnt++;
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| 172 | if (g_can_reuse_cnt == CAN_REUSE_CNT_LIMIT) {
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| 173 | g_use_can = TRUE;
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| 174 | g_can_reuse_cnt = 0;
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| 175 | } else {
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| 176 | return;
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| 177 | }
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| 178 | }
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| 179 |
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| 180 | while(1){
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| 181 | status = FcanSetTxData(0, 0, &tx_data[0], len);
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| 182 | if(status != STATUS_OK ) {
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| 183 | if (cnt++ > CAN_RETRY_LIMIT) {
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| 184 | g_use_can = FALSE;
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| 185 | uart_PSendString(RC_OUTPUT_PORT, "CAN connect error! Execute without CAN. \r\n");
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| 186 | break;
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| 187 | }
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| 188 | }else{
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| 189 | break;
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| 190 | }
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| 191 | }
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| 192 | }
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| 193 |
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| 194 | /*
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| 195 | * {fB[ECUÖÌóÔw¦\¢Ì
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| 196 | */
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| 197 | typedef struct {
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| 198 | uint8_t headlight1;
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| 199 | uint8_t headlight2;
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| 200 | uint8_t headlight3;
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| 201 | uint8_t breaklamp;
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| 202 | uint8_t backlamp;
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| 203 | uint8_t buzzer;
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| 204 | uint8_t blinker_l;
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| 205 | uint8_t blinker_r;
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| 206 | uint8_t hazardlamp;
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| 207 | }BODY_CONT_INFO;
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| 208 |
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| 209 | /*
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| 210 | * {fB[ÌACeÌON/OFF}N
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| 211 | */
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| 212 | #define BODY_CONT_ON 1
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| 213 | #define BODY_CONT_OFF 0
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| 214 | #define BODY_CONT_BLINK 2
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| 215 |
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| 216 | /*
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| 217 | * {fB[ECUÖÌóÔw¦pÏ
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| 218 | */
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| 219 | BODY_CONT_INFO g_body_cont_info;
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| 220 |
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| 221 | /*
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| 222 | * üúMÆ·é©
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| 223 | */
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| 224 | boolean g_body_can_msg_cyclic = TRUE;
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| 225 |
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| 226 | /*
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| 227 | {fB[§äCANbZ[Wdl
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| 228 |
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| 229 | Müú : 50ms
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| 230 | bZ[WID : 16
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| 231 | bZ[W· : 11bit
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| 232 |
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| 233 | offset bits bit assign
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| 234 | wbhCg1 : 0 : 1 : 1:ON 0:OFF
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| 235 | wbhCg2 : 1 : 1 : 1:ON 0:OFF
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| 236 | wbhCg3 : 2 : 1 : 1:ON 0:OFF
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| 237 | u[Lv : 3 : 1 : 1:ON 0:OFF
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| 238 | obNv : 4 : 1 : 1:ON 0:OFF
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| 239 | uU[ : 5 : 1 : 1:ON 0:OFF 2:BLINK
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| 240 | EBJ[L : 8 : 2 : 1:ON 0:OFF 2:BLINK
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| 241 | EBJ[R : 10 : 2 : 1:ON 0:OFF 2:BLINK
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| 242 | nU[hv : 12 : 1 : 1:ON 0:OFF 2:BLINK
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| 243 | */
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| 244 |
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| 245 | void
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| 246 | body_can_msg_send(void)
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| 247 | {
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| 248 | uint8 tx_data[8];
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| 249 | /* OñtÌóÔ */
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| 250 | static BODY_CONT_INFO g_pre_body_cont_info;
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| 251 |
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| 252 | /* óÔw¦ÉÏ»ª³¯êÎMµÈ¢ */
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| 253 | if (!g_body_can_msg_cyclic){
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| 254 | if((g_body_cont_info.headlight1 == g_pre_body_cont_info.headlight1) &&
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| 255 | (g_body_cont_info.headlight2 == g_pre_body_cont_info.headlight2) &&
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| 256 | (g_body_cont_info.headlight3 == g_pre_body_cont_info.headlight3) &&
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| 257 | (g_body_cont_info.breaklamp == g_pre_body_cont_info.breaklamp) &&
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| 258 | (g_body_cont_info.backlamp == g_pre_body_cont_info.backlamp) &&
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| 259 | (g_body_cont_info.buzzer == g_pre_body_cont_info.buzzer) &&
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| 260 | (g_body_cont_info.blinker_l == g_pre_body_cont_info.blinker_l) &&
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| 261 | (g_body_cont_info.blinker_r == g_pre_body_cont_info.blinker_r) &&
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| 262 | (g_body_cont_info.hazardlamp == g_pre_body_cont_info.hazardlamp)) {
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| 263 | return;
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| 264 | }
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| 265 | }
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| 266 |
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| 267 | /* MbZ[W𶬠*/
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| 268 | tx_data[0] = ((g_body_cont_info.headlight1 << 7) & 0x80) |
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| 269 | ((g_body_cont_info.headlight2 << 6) & 0x40) |
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| 270 | ((g_body_cont_info.headlight3 << 5) & 0x20) |
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| 271 | ((g_body_cont_info.breaklamp << 4) & 0x10) |
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| 272 | ((g_body_cont_info.backlamp << 3) & 0x08) |
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| 273 | ((g_body_cont_info.buzzer << 1) & 0x06);
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| 274 |
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| 275 | tx_data[1] = ((g_body_cont_info.blinker_l << 6) & 0xc0) |
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| 276 | ((g_body_cont_info.blinker_r << 4) & 0x30) |
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| 277 | ((g_body_cont_info.hazardlamp << 3) & 0x08);
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| 278 |
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| 279 | can_send(tx_data, 2);
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| 280 |
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| 281 | g_pre_body_cont_info = g_body_cont_info;
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| 282 | }
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| 283 |
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| 284 |
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| 285 | /*
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| 286 | * N®Ì{fB[ÌÚ±mF
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| 287 | *
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| 288 | * SLED_ÅÆuU[ðÂç·D
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| 289 | */
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| 290 | void
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| 291 | body_check(void)
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| 292 | {
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| 293 | int loop, tcnt;
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| 294 | uint8_t status = BODY_CONT_ON;
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| 295 |
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| 296 | for(loop = 0; loop < INIT_BODY_BLINK_COUNT*2; loop++) {
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| 297 | g_body_cont_info.headlight1 = status;
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| 298 | g_body_cont_info.headlight2 = status;
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| 299 | g_body_cont_info.headlight3 = status;
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| 300 | g_body_cont_info.breaklamp = status;
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| 301 | g_body_cont_info.backlamp = status;
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| 302 | g_body_cont_info.buzzer = status;
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| 303 | g_body_cont_info.blinker_l = status;
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| 304 | g_body_cont_info.blinker_r = status;
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| 305 |
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| 306 | body_can_msg_send();
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| 307 |
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| 308 | tcnt = 0;
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| 309 | while(1) {
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| 310 | rc_WaitEvent(RC_EVENT_TIMER);
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| 311 | rc_ClearEvent(RC_EVENT_TIMER);
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| 312 | tcnt++;
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| 313 | if (tcnt == INIT_BODY_BLINK_CYCLE) {
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| 314 | break;
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| 315 | }
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| 316 | }
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| 317 |
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| 318 | status = (status == BODY_CONT_ON)? BODY_CONT_OFF : BODY_CONT_ON;
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| 319 | }
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| 320 | }
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| 321 |
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| 322 |
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| 323 | /*
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| 324 | * CÖ
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| 325 | */
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| 326 | void
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| 327 | cmd_rcb3_Main(void)
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| 328 | {
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| 329 | int tcnt = 0;
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| 330 | uint32_t event;
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| 331 |
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| 332 | uart_Init(RC_OUTPUT_PORT, 115200);
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| 333 |
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| 334 | uart_PSendString(RC_OUTPUT_PORT, "Initialize hardware start. \r\n");
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| 335 |
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| 336 | can_init();
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| 337 |
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| 338 | body_check();
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| 339 |
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| 340 | SetServoControlMode(TRUE);
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| 341 | SetServoEnable(SERVO_ON);
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| 342 | SetSteerAngle(STEER_NEUTRAL_INIT);
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| 343 | SetControlParam(1.0f, 1.0f, 0);
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| 344 | SetMotorEnable(MOTOR_ON);
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| 345 |
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| 346 | rcb3_Init();
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| 347 |
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| 348 | uart_PSendString(RC_OUTPUT_PORT, "Initialize hardware done. \r\n");
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| 349 |
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| 350 | while (1) {
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| 351 | event = rc_WaitEvent(RC_EVENT_CMD_PORT|RC_EVENT_TIMER);
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| 352 |
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| 353 | if (event & RC_EVENT_OUTPUT_PORT) {
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| 354 | rc_ClearEvent(RC_EVENT_OUTPUT_PORT);
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| 355 | onMsgUart();
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| 356 | }
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| 357 |
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| 358 | if (event & RC_EVENT_TIMER) {
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| 359 | rc_ClearEvent(RC_EVENT_TIMER);
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| 360 | onMsgCAN();
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| 361 | tcnt++;
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| 362 | if (tcnt % 10 == 0) {
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| 363 | onTimer10m();
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| 364 | }
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| 365 | if (tcnt % 50 == 0) {
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| 366 | onTimer50m();
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| 367 | }
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| 368 | if (tcnt == 100) {
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| 369 | tcnt = 0;
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| 370 | onTimer100m();
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| 371 | }
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| 372 | }
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| 373 | }
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| 374 | }
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| 375 |
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| 376 | /*
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| 377 | * I¹
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| 378 | */
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| 379 | void
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| 380 | cmd_rcb3_Exit(void)
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| 381 | {
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| 382 | /* ì®[^ðâ~ */
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| 383 | mot_SetOutput(0);
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| 384 | }
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| 385 |
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| 386 | /*
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| 387 | * UART©çÌbZ[WÌóM
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| 388 | */
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| 389 | void
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| 390 | onMsgUart(void)
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| 391 | {
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| 392 | uint8_t c;
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| 393 | while (uart_Get(RC_OUTPUT_PORT, &c, 1)) {
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| 394 | /*
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| 395 | * LøÈd¶ðó¯æÁ½êÍCd¶É¶½ðÀ{
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| 396 | */
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| 397 | if (rcb3_AddReceivedByte(c)) {
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| 398 | onMsgPS3();
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| 399 | }
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| 400 | }
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| 401 | }
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| 402 |
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| 403 | /*
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| 404 | * CAN©çÌbZ[WóM
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| 405 | */
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| 406 | void onMsgCAN(void)
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| 407 | {
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| 408 | uint8 rx_data[8];
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| 409 | uint8 rx_size;
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| 410 | int loop;
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| 411 | BOOL result;
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| 412 | char str[30];
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| 413 |
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| 414 | FcanGetRxData(0, 1, &rx_data[0], &rx_size);
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| 415 | if (rx_size == 0) {
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| 416 | return;
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| 417 | }
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| 418 |
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| 419 | // sprintf(str, "Can data 0x%x, 0x%x, 0x%x\r\n", rx_data[0], rx_data[1], rx_data[2]);
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| 420 | // uart_PSendString(RC_OUTPUT_PORT, str);
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| 421 |
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| 422 | for (loop = 0; loop < rx_size; loop++){
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| 423 | result = rcb3_AddReceivedByte(rx_data[loop]);
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| 424 | }
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| 425 |
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| 426 | if (result) {
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| 427 | onMsgPS3();
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| 428 | }
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| 429 | else {
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| 430 | sprintf(str, "Received Can data Error!\r\n");
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| 431 | uart_PSendString(RC_OUTPUT_PORT, str);
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| 432 | }
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| 433 | }
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| 434 |
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| 435 | /*
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| 436 | * 10müúÅÄÑo³êéD
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| 437 | */
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| 438 | void onTimer10m(void)
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| 439 | {
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| 440 |
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| 441 | }
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| 442 |
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| 443 | /*
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| 444 | * 50müúÅÄÑo³êéD
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| 445 | */
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| 446 | void onTimer50m(void)
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| 447 | {
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| 448 | /* {fB[nÖÌw¦ðM */
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| 449 | body_can_msg_send();
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| 450 | }
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| 451 |
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| 452 | /*
|
---|
| 453 | * 100müúÅÄÑo³êéD
|
---|
| 454 | */
|
---|
| 455 | void onTimer100m(void)
|
---|
| 456 | {
|
---|
| 457 |
|
---|
| 458 | }
|
---|
| 459 |
|
---|
| 460 |
|
---|
| 461 | /*
|
---|
| 462 | * RoboCar§äCu
|
---|
| 463 | */
|
---|
| 464 |
|
---|
| 465 |
|
---|
| 466 | /*
|
---|
| 467 | * XeAOj
|
---|
| 468 | [gðúlÉ
|
---|
| 469 | */
|
---|
| 470 | void
|
---|
| 471 | InitSteerNetural(void)
|
---|
| 472 | {
|
---|
| 473 | char str[30];
|
---|
| 474 | g_steer_neutral = STEER_NEUTRAL_INIT;
|
---|
| 475 | SetSteerAngle(g_steer_neutral);
|
---|
| 476 | sprintf(str, "Set steer neutral = %2.1f \r\n", g_steer_neutral);
|
---|
| 477 | uart_PSendString(RC_OUTPUT_PORT, str);
|
---|
| 478 | }
|
---|
| 479 |
|
---|
| 480 | /*
|
---|
| 481 | * XeAOj
|
---|
| 482 | [gð¶¤É
|
---|
| 483 | */
|
---|
| 484 | void
|
---|
| 485 | AdjustSteerNeturalL(void)
|
---|
| 486 | {
|
---|
| 487 | char str[30];
|
---|
| 488 | if(g_steer_neutral < 30) {
|
---|
| 489 | g_steer_neutral++;
|
---|
| 490 | SetSteerAngle(g_steer_neutral);
|
---|
| 491 | sprintf(str, "Adjust steer neutral = %2.1f \r\n", g_steer_neutral);
|
---|
| 492 | uart_PSendString(RC_OUTPUT_PORT, str);
|
---|
| 493 | }
|
---|
| 494 | }
|
---|
| 495 |
|
---|
| 496 | /*
|
---|
| 497 | * XeAOj
|
---|
| 498 | [gðE¤É
|
---|
| 499 | */
|
---|
| 500 | void
|
---|
| 501 | AdjustSteerNeturalR(void)
|
---|
| 502 | {
|
---|
| 503 | char str[30];
|
---|
| 504 | if(g_steer_neutral > -30) {
|
---|
| 505 | g_steer_neutral--;
|
---|
| 506 | SetSteerAngle(g_steer_neutral);
|
---|
| 507 | sprintf(str, "Adjust steer neutral = %2.1f \r\n", g_steer_neutral);
|
---|
| 508 | uart_PSendString(RC_OUTPUT_PORT, str);
|
---|
| 509 | }
|
---|
| 510 | }
|
---|
| 511 |
|
---|
| 512 |
|
---|
| 513 | /*
|
---|
| 514 | * Xs[hQCðã°é
|
---|
| 515 | */
|
---|
| 516 | void
|
---|
| 517 | AdjustSpeedGainU(void)
|
---|
| 518 | {
|
---|
| 519 | char str[30];
|
---|
| 520 | if(g_speed_gain < 10) {
|
---|
| 521 | g_speed_gain++;
|
---|
| 522 | SetDriveSpeed(g_speed/g_speed_gain);
|
---|
| 523 | sprintf(str, "Adjust speed gain = %d \r\n", g_speed_gain);
|
---|
| 524 | uart_PSendString(RC_OUTPUT_PORT, str);
|
---|
| 525 | }
|
---|
| 526 | }
|
---|
| 527 |
|
---|
| 528 | /*
|
---|
| 529 | * Xs[hQCðº°é
|
---|
| 530 | */
|
---|
| 531 | void
|
---|
| 532 | AdjustSpeedGainD(void)
|
---|
| 533 | {
|
---|
| 534 | char str[30];
|
---|
| 535 | if(g_speed_gain > 1) {
|
---|
| 536 | g_speed_gain--;
|
---|
| 537 | SetDriveSpeed(g_speed/g_speed_gain);
|
---|
| 538 | sprintf(str, "Adjust speed gain = %d \r\n", g_speed_gain);
|
---|
| 539 | uart_PSendString(RC_OUTPUT_PORT, str);
|
---|
| 540 | }
|
---|
| 541 | }
|
---|
| 542 |
|
---|
| 543 |
|
---|
| 544 | /*
|
---|
| 545 | * PS3Rg[ÌAiO{^Ì
|
---|
| 546 | */
|
---|
| 547 | #define PS3ANALOG_MAX 63
|
---|
| 548 | #define PS3ANALOG_MIN -63
|
---|
| 549 |
|
---|
| 550 | /*
|
---|
| 551 | * ¶AiORg[̶E®ì
|
---|
| 552 | * XeAOðì
|
---|
| 553 | */
|
---|
| 554 | void
|
---|
| 555 | onPS3AnalogL_LR(void)
|
---|
| 556 | {
|
---|
| 557 | char str[30];
|
---|
| 558 | float angle;
|
---|
| 559 | float cur_analog = p_g_cur_ps3analog[NO_PS3ANALOG_L_LR];
|
---|
| 560 |
|
---|
| 561 | if ((cur_analog <= PS3ANALOG_MAX) && (cur_analog >= PS3ANALOG_MIN)) {
|
---|
| 562 | angle = -(cur_analog/2);
|
---|
| 563 | angle += g_steer_neutral;
|
---|
| 564 | if (angle != g_angle) {
|
---|
| 565 | g_angle = angle;
|
---|
| 566 | SetSteerAngle(g_angle);
|
---|
| 567 | sprintf(str, "Steer angle = %2.1f\r\n", g_angle);
|
---|
| 568 | uart_PSendString(RC_OUTPUT_PORT, str);
|
---|
| 569 | }
|
---|
| 570 | }
|
---|
| 571 | }
|
---|
| 572 |
|
---|
| 573 | /*
|
---|
| 574 | * ¶AiORg[Ì㺮ì
|
---|
| 575 | */
|
---|
| 576 | void
|
---|
| 577 | onPS3AnalogL_UD(void)
|
---|
| 578 | {
|
---|
| 579 |
|
---|
| 580 | }
|
---|
| 581 |
|
---|
| 582 | /*
|
---|
| 583 | * EAiORg[̶E®ì
|
---|
| 584 | */
|
---|
| 585 | void
|
---|
| 586 | onPS3AnalogR_LR(void)
|
---|
| 587 | {
|
---|
| 588 |
|
---|
| 589 | }
|
---|
| 590 |
|
---|
| 591 | /*
|
---|
| 592 | * ¶AiORg[Ì㺮ì
|
---|
| 593 | */
|
---|
| 594 | void
|
---|
| 595 | onPS3AnalogR_UD(void)
|
---|
| 596 | {
|
---|
| 597 | float speed = 0;
|
---|
| 598 | char str[30];
|
---|
| 599 | float cur_analog = p_g_cur_ps3analog[NO_PS3ANALOG_R_UD];
|
---|
| 600 |
|
---|
| 601 | /* u[L{^ª³êÄ¢êÎobNvÆuU[ðÁ· */
|
---|
| 602 | if (g_isBrake == TRUE) {
|
---|
| 603 | g_body_cont_info.backlamp = BODY_CONT_OFF;
|
---|
| 604 | g_body_cont_info.buzzer = BODY_CONT_OFF;
|
---|
| 605 | return;
|
---|
| 606 | }
|
---|
| 607 |
|
---|
| 608 | /* Rg[Ìißl©çXs[hðßé */
|
---|
| 609 | speed = -((cur_analog / 2) * 0.1);
|
---|
| 610 |
|
---|
| 611 | /* ißlÉÏ»ª Á½ê */
|
---|
| 612 | if (g_speed != speed) {
|
---|
| 613 | float abs_g_speed;
|
---|
| 614 | float abs_speed;
|
---|
| 615 |
|
---|
| 616 | /*
|
---|
| 617 | * ^u[L
|
---|
| 618 | */
|
---|
| 619 | /* OñißlÆVµ¢ißlÌâÎðßé */
|
---|
| 620 | abs_g_speed = (g_speed < 0)? -g_speed : g_speed;
|
---|
| 621 | abs_speed = (speed < 0)? -speed : speed;
|
---|
| 622 |
|
---|
| 623 | if(abs_g_speed > abs_speed){
|
---|
| 624 | /* Oñißlæè¸Á½êÍu[LvðON */
|
---|
| 625 | g_body_cont_info.breaklamp = BODY_CONT_ON;
|
---|
| 626 | }
|
---|
| 627 | else {
|
---|
| 628 | /* OñißlæèÁµ½êÍu[LvðOFF */
|
---|
| 629 | g_body_cont_info.breaklamp = BODY_CONT_OFF;
|
---|
| 630 | }
|
---|
| 631 |
|
---|
| 632 | /*
|
---|
| 633 | * ANZ
|
---|
| 634 | */
|
---|
| 635 | g_speed = speed;
|
---|
| 636 | SetDriveSpeed(g_speed/g_speed_gain);
|
---|
| 637 | if (speed < 0){
|
---|
| 638 | g_body_cont_info.backlamp = BODY_CONT_ON;
|
---|
| 639 | g_body_cont_info.buzzer = BODY_CONT_BLINK;
|
---|
| 640 | }
|
---|
| 641 | else {
|
---|
| 642 | g_body_cont_info.backlamp = BODY_CONT_OFF;
|
---|
| 643 | g_body_cont_info.buzzer = BODY_CONT_OFF;
|
---|
| 644 | }
|
---|
| 645 |
|
---|
| 646 | sprintf(str, "Drive speed = %1.1f\r\n", speed/g_speed_gain);
|
---|
| 647 | uart_PSendString(RC_OUTPUT_PORT, str);
|
---|
| 648 | }
|
---|
| 649 | }
|
---|
| 650 |
|
---|
| 651 | /*
|
---|
| 652 | * PS3Rg[ÌfW^{^Ì
|
---|
| 653 | */
|
---|
| 654 |
|
---|
| 655 | #define TOGGLE_ON_OFF(item) item = (item == BODY_CONT_ON)? BODY_CONT_OFF : BODY_CONT_ON;
|
---|
| 656 |
|
---|
| 657 | /*
|
---|
| 658 | * ~ : u[L
|
---|
| 659 | */
|
---|
| 660 | void
|
---|
| 661 | onPS3ButtonCrossEdgeOn(void) {
|
---|
| 662 | g_isBrake = TRUE;
|
---|
| 663 | SetDriveSpeed(0);
|
---|
| 664 | g_body_cont_info.breaklamp = BODY_CONT_ON;
|
---|
| 665 | }
|
---|
| 666 |
|
---|
| 667 |
|
---|
| 668 | void
|
---|
| 669 | onPS3ButtonCrossEdgeOff(void) {
|
---|
| 670 | g_isBrake = FALSE;
|
---|
| 671 | g_body_cont_info.breaklamp = BODY_CONT_OFF;
|
---|
| 672 | }
|
---|
| 673 |
|
---|
| 674 | /*
|
---|
| 675 | * ¢ : nU[h
|
---|
| 676 | */
|
---|
| 677 | void
|
---|
| 678 | onPS3ButtonTriangleEdgeOn(void) {
|
---|
| 679 | TOGGLE_ON_OFF(g_body_cont_info.hazardlamp);
|
---|
| 680 | }
|
---|
| 681 |
|
---|
| 682 | void
|
---|
| 683 | onPS3ButtonTriangleEdgeOff(void) {
|
---|
| 684 |
|
---|
| 685 | }
|
---|
| 686 |
|
---|
| 687 | /*
|
---|
| 688 | * : CwbhCg(wbhCg1/wbhCg2) ØèÖ¦
|
---|
| 689 | */
|
---|
| 690 | void
|
---|
| 691 | onPS3ButtonNoughtEdgeOn(void) {
|
---|
| 692 | TOGGLE_ON_OFF(g_body_cont_info.headlight1);
|
---|
| 693 | TOGGLE_ON_OFF(g_body_cont_info.headlight2);
|
---|
| 694 | }
|
---|
| 695 |
|
---|
| 696 | void
|
---|
| 697 | onPS3ButtonNoughtEdgeOff(void) {
|
---|
| 698 |
|
---|
| 699 | }
|
---|
| 700 |
|
---|
| 701 | /*
|
---|
| 702 | * : tHO(wbhCg3) ØèÖ¦
|
---|
| 703 | */
|
---|
| 704 | void
|
---|
| 705 | onPS3ButtonSquareEdgeOn(void) {
|
---|
| 706 | TOGGLE_ON_OFF(g_body_cont_info.headlight3);
|
---|
| 707 | }
|
---|
| 708 |
|
---|
| 709 | void
|
---|
| 710 | onPS3ButtonSquareEdgeOff(void) {
|
---|
| 711 |
|
---|
| 712 | }
|
---|
| 713 |
|
---|
| 714 | /*
|
---|
| 715 | * ¶{^ : XeAOÌj
|
---|
| 716 | [gð²®
|
---|
| 717 | */
|
---|
| 718 | void
|
---|
| 719 | onPS3ButtonLeftEdgeOn(void) {
|
---|
| 720 | AdjustSteerNeturalL();
|
---|
| 721 | g_body_cont_info.blinker_l = BODY_CONT_ON;
|
---|
| 722 | }
|
---|
| 723 |
|
---|
| 724 | void
|
---|
| 725 | onPS3ButtonLeftEdgeOff(void) {
|
---|
| 726 | g_body_cont_info.blinker_l = (g_blinker_l_blink)? BODY_CONT_BLINK : BODY_CONT_OFF;
|
---|
| 727 | }
|
---|
| 728 |
|
---|
| 729 | /*
|
---|
| 730 | * E{^ : XeAOÌj
|
---|
| 731 | [gð²®
|
---|
| 732 | */
|
---|
| 733 | void
|
---|
| 734 | onPS3ButtonRightEdgeOn(void) {
|
---|
| 735 | AdjustSteerNeturalR();
|
---|
| 736 | g_body_cont_info.blinker_r = BODY_CONT_ON;
|
---|
| 737 | }
|
---|
| 738 |
|
---|
| 739 | void
|
---|
| 740 | onPS3ButtonRightEdgeOff(void) {
|
---|
| 741 | g_body_cont_info.blinker_r = (g_blinker_r_blink)? BODY_CONT_BLINK : BODY_CONT_OFF;
|
---|
| 742 | }
|
---|
| 743 |
|
---|
| 744 | /*
|
---|
| 745 | * ã{^ : XeAOðj
|
---|
| 746 | [gÉ·é
|
---|
| 747 | */
|
---|
| 748 | void
|
---|
| 749 | onPS3ButtonUpEdgeOn(void) {
|
---|
| 750 | InitSteerNetural();
|
---|
| 751 | g_body_cont_info.blinker_l = BODY_CONT_ON;
|
---|
| 752 | g_body_cont_info.blinker_r = BODY_CONT_ON;
|
---|
| 753 | }
|
---|
| 754 |
|
---|
| 755 | void
|
---|
| 756 | onPS3ButtonUpEdgeOff(void) {
|
---|
| 757 | g_body_cont_info.blinker_l = (g_blinker_l_blink)? BODY_CONT_BLINK : BODY_CONT_OFF;
|
---|
| 758 | g_body_cont_info.blinker_r = (g_blinker_r_blink)? BODY_CONT_BLINK : BODY_CONT_OFF;
|
---|
| 759 | }
|
---|
| 760 |
|
---|
| 761 | /*
|
---|
| 762 | * º{^ : [^§äÌQCðúlÉ·é
|
---|
| 763 | */
|
---|
| 764 | void
|
---|
| 765 | onPS3ButtonDownEdgeOn(void) {
|
---|
| 766 | char str[30];
|
---|
| 767 |
|
---|
| 768 | g_speed_gain = MOTOR_GAIN_INIT;
|
---|
| 769 | SetDriveSpeed(g_speed/g_speed_gain);
|
---|
| 770 | g_body_cont_info.blinker_l = BODY_CONT_ON;
|
---|
| 771 | g_body_cont_info.blinker_r = BODY_CONT_ON;
|
---|
| 772 |
|
---|
| 773 | sprintf(str, "Adjust speed gain = %d \r\n", g_speed_gain);
|
---|
| 774 | uart_PSendString(RC_OUTPUT_PORT, str);
|
---|
| 775 | }
|
---|
| 776 |
|
---|
| 777 | void
|
---|
| 778 | onPS3ButtonDownEdgeOff(void) {
|
---|
| 779 | g_body_cont_info.blinker_l = (g_blinker_l_blink)? BODY_CONT_BLINK : BODY_CONT_OFF;
|
---|
| 780 | g_body_cont_info.blinker_r = (g_blinker_r_blink)? BODY_CONT_BLINK : BODY_CONT_OFF;
|
---|
| 781 | }
|
---|
| 782 |
|
---|
| 783 |
|
---|
| 784 | /*
|
---|
| 785 | * L1/R1 : ûüw¦íÌON/OFF
|
---|
| 786 | */
|
---|
| 787 | void
|
---|
| 788 | onPS3ButtonL1EdgeOn(void){
|
---|
| 789 | if (g_blinker_l_blink) {
|
---|
| 790 | g_blinker_l_blink = FALSE;
|
---|
| 791 | /* {fB[ÖÌw¦ªONÌêͼÌ@\ªONɵĢé½ß½àµÈ¢ */
|
---|
| 792 | if (!(g_body_cont_info.blinker_l == BODY_CONT_ON)) {
|
---|
| 793 | g_body_cont_info.blinker_l = BODY_CONT_OFF;
|
---|
| 794 | }
|
---|
| 795 | } else {
|
---|
| 796 | g_blinker_l_blink = TRUE;
|
---|
| 797 | /* {fB[ÖÌw¦ªONÌêͼÌ@\ªONɵĢé½ß½àµÈ¢ */
|
---|
| 798 | if (!(g_body_cont_info.blinker_l == BODY_CONT_ON)) {
|
---|
| 799 | g_body_cont_info.blinker_l = BODY_CONT_BLINK;
|
---|
| 800 | }
|
---|
| 801 | }
|
---|
| 802 | }
|
---|
| 803 |
|
---|
| 804 | void
|
---|
| 805 | onPS3ButtonL1EdgeOff(void) {
|
---|
| 806 |
|
---|
| 807 | }
|
---|
| 808 |
|
---|
| 809 | void
|
---|
| 810 | onPS3ButtonR1EdgeOn(void){
|
---|
| 811 | if (g_blinker_r_blink) {
|
---|
| 812 | g_blinker_r_blink = FALSE;
|
---|
| 813 | /* {fB[ÖÌw¦ªONÌêͼÌ@\ªONɵĢé½ß½àµÈ¢ */
|
---|
| 814 | if (!(g_body_cont_info.blinker_r == BODY_CONT_ON)) {
|
---|
| 815 | g_body_cont_info.blinker_r = BODY_CONT_OFF;
|
---|
| 816 | }
|
---|
| 817 | } else {
|
---|
| 818 | g_blinker_r_blink = TRUE;
|
---|
| 819 | /* {fB[ÖÌw¦ªONÌêͼÌ@\ªONɵĢé½ß½àµÈ¢ */
|
---|
| 820 | if (!(g_body_cont_info.blinker_r == BODY_CONT_ON)) {
|
---|
| 821 | g_body_cont_info.blinker_r = BODY_CONT_BLINK;
|
---|
| 822 | }
|
---|
| 823 | }
|
---|
| 824 | }
|
---|
| 825 |
|
---|
| 826 | void
|
---|
| 827 | onPS3ButtonR1EdgeOff(void) {
|
---|
| 828 |
|
---|
| 829 | }
|
---|
| 830 |
|
---|
| 831 | /*
|
---|
| 832 | * L2/R2 : [^§äÌQCðÏX
|
---|
| 833 | */
|
---|
| 834 | void
|
---|
| 835 | onPS3ButtonL2EdgeOn(void){
|
---|
| 836 | AdjustSpeedGainD();
|
---|
| 837 | g_body_cont_info.blinker_l = BODY_CONT_ON;
|
---|
| 838 | }
|
---|
| 839 |
|
---|
| 840 | void
|
---|
| 841 | onPS3ButtonL2EdgeOff(void){
|
---|
| 842 | g_body_cont_info.blinker_l = (g_blinker_l_blink)? BODY_CONT_BLINK : BODY_CONT_OFF;
|
---|
| 843 | }
|
---|
| 844 |
|
---|
| 845 | void
|
---|
| 846 | onPS3ButtonR2EdgeOn(void){
|
---|
| 847 | AdjustSpeedGainU();
|
---|
| 848 | g_body_cont_info.blinker_r = BODY_CONT_ON;
|
---|
| 849 | }
|
---|
| 850 |
|
---|
| 851 | void
|
---|
| 852 | onPS3ButtonR2EdgeOff(void){
|
---|
| 853 | g_body_cont_info.blinker_r = (g_blinker_r_blink)? BODY_CONT_BLINK : BODY_CONT_OFF;
|
---|
| 854 | }
|
---|
| 855 |
|
---|
| 856 |
|
---|
| 857 | /*
|
---|
| 858 | * {^ÌÏ»o̽ßÌ}N
|
---|
| 859 | */
|
---|
| 860 | #define PS3BUTTON_EDGE_ON(no) ((p_g_pre_ps3button[no] == FALSE) && (p_g_cur_ps3button[no] == TRUE))
|
---|
| 861 | #define PS3BUTTON_EDGE_OFF(no) ((p_g_pre_ps3button[no] == TRUE) && (p_g_cur_ps3button[no] == FALSE))
|
---|
| 862 | #define PS3ANALOG_CHANGE(no) (p_g_pre_ps3analog[no] != p_g_cur_ps3analog[no])
|
---|
| 863 |
|
---|
| 864 | /*
|
---|
| 865 | * PS3Rg[©çÌCxgÌ
|
---|
| 866 | */
|
---|
| 867 | void
|
---|
| 868 | onMsgPS3(void) {
|
---|
| 869 | if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_CROSS)){
|
---|
| 870 | onPS3ButtonCrossEdgeOff();
|
---|
| 871 | }
|
---|
| 872 | if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_TRIANGLE)){
|
---|
| 873 | onPS3ButtonTriangleEdgeOn();
|
---|
| 874 | }
|
---|
| 875 | if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_TRIANGLE)){
|
---|
| 876 | onPS3ButtonTriangleEdgeOff();
|
---|
| 877 | }
|
---|
| 878 | if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_NOUGHT)){
|
---|
| 879 | onPS3ButtonNoughtEdgeOn();
|
---|
| 880 | }
|
---|
| 881 | if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_NOUGHT)){
|
---|
| 882 | onPS3ButtonNoughtEdgeOff();
|
---|
| 883 | }
|
---|
| 884 | if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_SQUARE)){
|
---|
| 885 | onPS3ButtonSquareEdgeOn();
|
---|
| 886 | }
|
---|
| 887 | if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_SQUARE)){
|
---|
| 888 | onPS3ButtonSquareEdgeOff();
|
---|
| 889 | }
|
---|
| 890 |
|
---|
| 891 |
|
---|
| 892 | if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_LEFT)){
|
---|
| 893 | onPS3ButtonLeftEdgeOn();
|
---|
| 894 | }
|
---|
| 895 | if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_LEFT)){
|
---|
| 896 | onPS3ButtonLeftEdgeOff();
|
---|
| 897 | }
|
---|
| 898 | if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_RIGHT)){
|
---|
| 899 | onPS3ButtonRightEdgeOn();
|
---|
| 900 | }
|
---|
| 901 | if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_RIGHT)){
|
---|
| 902 | onPS3ButtonRightEdgeOff();
|
---|
| 903 | }
|
---|
| 904 | if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_UP)){
|
---|
| 905 | onPS3ButtonUpEdgeOn();
|
---|
| 906 | }
|
---|
| 907 | if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_UP)){
|
---|
| 908 | onPS3ButtonUpEdgeOff();
|
---|
| 909 | }
|
---|
| 910 | if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_DOWN)){
|
---|
| 911 | onPS3ButtonDownEdgeOn();
|
---|
| 912 | }
|
---|
| 913 | if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_DOWN)){
|
---|
| 914 | onPS3ButtonDownEdgeOff();
|
---|
| 915 | }
|
---|
| 916 | if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_CROSS)){
|
---|
| 917 | onPS3ButtonCrossEdgeOn();
|
---|
| 918 | }
|
---|
| 919 |
|
---|
| 920 |
|
---|
| 921 | if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_L1)){
|
---|
| 922 | onPS3ButtonL1EdgeOn();
|
---|
| 923 | }
|
---|
| 924 | if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_R1)){
|
---|
| 925 | onPS3ButtonR1EdgeOn();
|
---|
| 926 | }
|
---|
| 927 |
|
---|
| 928 | if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_L2)){
|
---|
| 929 | onPS3ButtonL2EdgeOn();
|
---|
| 930 | }
|
---|
| 931 | if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_L2)){
|
---|
| 932 | onPS3ButtonL2EdgeOff();
|
---|
| 933 | }
|
---|
| 934 | if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_R2)){
|
---|
| 935 | onPS3ButtonR2EdgeOn();
|
---|
| 936 | }
|
---|
| 937 | if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_R2)){
|
---|
| 938 | onPS3ButtonR2EdgeOff();
|
---|
| 939 | }
|
---|
| 940 | if (PS3ANALOG_CHANGE(NO_PS3ANALOG_L_LR)) {
|
---|
| 941 | onPS3AnalogL_LR();
|
---|
| 942 | }
|
---|
| 943 | if (PS3ANALOG_CHANGE(NO_PS3ANALOG_L_UD)) {
|
---|
| 944 | onPS3AnalogL_UD();
|
---|
| 945 | }
|
---|
| 946 | if (PS3ANALOG_CHANGE(NO_PS3ANALOG_R_LR)) {
|
---|
| 947 | onPS3AnalogR_LR();
|
---|
| 948 | }
|
---|
| 949 | if (PS3ANALOG_CHANGE(NO_PS3ANALOG_R_UD)) {
|
---|
| 950 | onPS3AnalogR_UD();
|
---|
| 951 | }
|
---|
| 952 | }
|
---|