add pindef

CREATE-ROCKET · Nov 6, 2023 · 36035dd · 36035dd
1 parent a61d529
commit 36035dd
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Showing 6 changed files with 53 additions and 19 deletions.
diff --git a/src/PID.h b/src/PID.h
@@ -1,3 +1,4 @@
+#pragma once
 #ifndef PID_H
 #define PID_H
 

diff --git a/src/dataTask.h b/src/dataTask.h
@@ -0,0 +1,6 @@
+#pragma once 
+#include <Arduino.h>
+
+class dataLog{
+
+}
diff --git a/src/encoder.h b/src/encoder.h
@@ -23,7 +23,8 @@ pcnt_unit_t encoder::next_pcnt_unit = PCNT_UNIT_0;
 
 encoder::encoder() {
     pcnt_unit = next_pcnt_unit;
-    next_pcnt_unit = static_cast<pcnt_unit_t>(static_cast<int>(next_pcnt_unit) + 1);
+    next_pcnt_unit =
+        static_cast<pcnt_unit_t>(static_cast<int>(next_pcnt_unit) + 1);
 }
 
 void encoder::begin(int pinA, int pinB) {
@@ -40,10 +41,11 @@ void encoder::begin(int pinA, int pinB) {
         .channel = PCNT_CHANNEL_0,
     };
     pcnt_config_t pcnt_config_B = {
-        .pulse_gpio_num = pinB,           // ↓A相用のconfigで設定したのと入れ替える
-        .ctrl_gpio_num = pinA,            // ↑A相用のconfigで設定したのと入れ替える
-        .lctrl_mode = PCNT_MODE_REVERSE,  // ↓A相用のconfigで設定したのと入れ替える
-        .hctrl_mode = PCNT_MODE_KEEP,     // ↑A相用のconfigで設定したのと入れ替える
+        .pulse_gpio_num = pinB,  // ↓A相用のconfigで設定したのと入れ替える
+        .ctrl_gpio_num = pinA,  // ↑A相用のconfigで設定したのと入れ替える
+        .lctrl_mode =
+            PCNT_MODE_REVERSE,  // ↓A相用のconfigで設定したのと入れ替える
+        .hctrl_mode = PCNT_MODE_KEEP,  // ↑A相用のconfigで設定したのと入れ替える
         .pos_mode = PCNT_COUNT_INC,
         .neg_mode = PCNT_COUNT_DEC,
         .counter_h_lim = INT16_MAX,
@@ -55,8 +57,8 @@ void encoder::begin(int pinA, int pinB) {
     pcnt_unit_config(&pcnt_config_A);
     pcnt_counter_pause(pcnt_unit);
     pcnt_counter_clear(pcnt_unit);
-    pcnt_filter_disable(pcnt_unit);                // フィルターを無効化
-    pcnt_counter_resume(pcnt_unit);                // カウント開始
+    pcnt_filter_disable(pcnt_unit);  // フィルターを無効化
+    pcnt_counter_resume(pcnt_unit);  // カウント開始
     pcnt_event_enable(pcnt_unit, PCNT_EVT_H_LIM);  // イベントを有効化
     pcnt_event_enable(pcnt_unit, PCNT_EVT_L_LIM);  // イベントを有効化
     pcnt_isr_register(caller, this, 0,

diff --git a/src/gimbalpin.h b/src/gimbalpin.h
@@ -0,0 +1,20 @@
+#pragma once
+namespace PIN {
+const uint8_t R_ENC_A = 4;  // ロール方向のエンコーダーのピン
+const uint8_t R_ENCB = 16;
+const uint8_t R_PWM_CW = 19;
+const uint8_t R_PWM_CCW = 18;
+const uint8_t P_ENC_A = 21;  // ピッチ方向のエンコーダーのピン
+const uint8_t P_ENCB = 22;
+const uint8_t P_PWM_CW = 2;
+const uint8_t P_PWM_CCW = 13;
+const uint8_t MISO = 33;
+const uint8_t MOSI = 26;
+const uint8_t CLK = 25;
+const uint8_t ICMCS = 27;
+const uint8_t FLASHCS = 23;
+const uint8_t RTD_TX = 32;
+const uint8_t RTD_RX = 36;
+const uint8_t CAM_TX = 14;
+const uint8_t CAM_RX = 39;
+}  // namespace PIN
diff --git a/src/motordriver.h b/src/motordriver.h
@@ -2,33 +2,35 @@
 #include "PWMwrapper.h"
 
 class MotorDriver {
-private:
+   private:
     PWMWrapper cwpwm;
     PWMWrapper ccwpwm;
 
-public:
+   public:
     MotorDriver(uint32_t f = 312500, uint8_t res = 8)
         : cwpwm(f, res), ccwpwm(f, res) {}
     void begin(uint8_t cwpin, uint8_t ccwpin);
     void setRotation(double voltage);
     void brake();
-}; 
+};
 void MotorDriver::begin(uint8_t cwpin, uint8_t ccwpin) {
     cwpwm.begin(cwpin);
     ccwpwm.begin(ccwpin);
 }
 
 void MotorDriver::setRotation(double voltage) {
-    if (voltage > 5) voltage = 5;
-    else if (voltage < -5) voltage = -5;
+    if (voltage > 5)
+        voltage = 5;
+    else if (voltage < -5)
+        voltage = -5;
     if (voltage > 0) {
         cwpwm.setVoltage(voltage);
         ccwpwm.setVoltage(0);
     } else if (voltage < 0) {
         cwpwm.setVoltage(0);
         ccwpwm.setVoltage(-voltage);
-    } 
-} 
+    }
+}
 
 void MotorDriver::brake() {
     cwpwm.setVoltage(5);

diff --git a/src/systemid.h b/src/systemid.h
@@ -37,13 +37,14 @@ class COUNTER {
     int16_t getcount();
 };
 void COUNTER::begin(int pinA, int pinB) {
-    pcnt_config_A.pulse_gpio_num = pinA;        // 入力ピン(A)
-    pcnt_config_A.ctrl_gpio_num = pinB;         // 制御ピン(B)
+    pcnt_config_A.pulse_gpio_num = pinA;  // 入力ピン(A)
+    pcnt_config_A.ctrl_gpio_num = pinB;   // 制御ピン(B)
     pcnt_config_A.lctrl_mode = PCNT_MODE_KEEP;  // 制御ピンがlowのときの振る舞い
     pcnt_config_A.hctrl_mode = PCNT_MODE_REVERSE;
     pcnt_config_A.channel = PCNT_CHANNEL_0;
     pcnt_config_A.unit = PCNT_UNIT_0;
-    pcnt_config_A.pos_mode = PCNT_COUNT_INC;  // 入力ピンが立ち上がり時の振る舞い
+    pcnt_config_A.pos_mode =
+        PCNT_COUNT_INC;  // 入力ピンが立ち上がり時の振る舞い
     pcnt_config_A.neg_mode = PCNT_COUNT_DEC;
     pcnt_config_A.counter_h_lim = INT16_MAX;
     pcnt_config_A.counter_l_lim = INT16_MIN;
@@ -54,7 +55,8 @@ void COUNTER::begin(int pinA, int pinB) {
     pcnt_config_B.hctrl_mode = PCNT_MODE_KEEP;
     pcnt_config_B.channel = PCNT_CHANNEL_1;
     pcnt_config_B.unit = PCNT_UNIT_0;
-    pcnt_config_B.pos_mode = PCNT_COUNT_INC;  // 入力ピンが立ち上がり時の振る舞い
+    pcnt_config_B.pos_mode =
+        PCNT_COUNT_INC;  // 入力ピンが立ち上がり時の振る舞い
     pcnt_config_B.neg_mode = PCNT_COUNT_DEC;
     pcnt_config_B.counter_h_lim = INT16_MAX;
     pcnt_config_B.counter_l_lim = INT16_MIN;
@@ -154,7 +156,8 @@ void Systemid::loop() {
 }
 
 float Systemid::calculate_omega() {
-    omega = (count - last_count) * 2 * PI / (float)(sampling_time * PULSE * GEAR);
+    omega =
+        (count - last_count) * 2 * PI / (float)(sampling_time * PULSE * GEAR);
     last_count = count;
     return omega;
 }