ミッションインターフェース基板追加

.github/workflows/arduino_ci.yml

@@ -147,6 +147,14 @@ jobs:
               arch: rp2040
               name: seeed_xiao_rp2040
 
+          - sketch-paths: MissionInterface
+            libraries: |
+              - 
+            board:
+              vendor: rp2040
+              arch: rp2040
+              name: seeed_xiao_rp2040
+
         include:
           - code:
               board:

Main/Main.ino

@@ -12,6 +12,8 @@ float data_ext_v = 0;
 bool data_key_sw_active = false;
 
 // pinout
+const pin_size_t MIF_TX = 2;
+const pin_size_t MIF_RX = 3;
 const pin_size_t BNO_SDA = 4;
 const pin_size_t BNO_SCL = 5;
 const pin_size_t VALVE_TX = 6;
@@ -73,6 +75,8 @@ MY_OPENER opener(OPENER::SHINSASYO);
 char valve_mode = '/';
 SerialPIO Serial_Valve(VALVE_TX, VALVE_RX, 32);
 
+// MissionInterface
+SerialPIO Serial_MIF(MIF_TX, MIF_RX, 256);
 
 // setup()ではdelay()使用可
 void setup() {
@@ -125,6 +129,7 @@ void setup() {
 
   Serial_GNSS.begin(9600);
   Serial_Valve.begin(115200);
+  Serial_MIF.begin(115200);
 
   opener.init();
 }
@@ -341,6 +346,13 @@ void loop() {
     Serial_Valve.print("valve-check\n");
   }
 
+  if (uplink == "mif-on") {
+    Serial_MIF.print("mif-on\n");
+  }
+  if (uplink == "mif-off") {
+    Serial_MIF.print("mif-off\n");
+  }
+
   float uplink_float = uplink.toFloat();
   if (uplink_float != 0) {
     opener.set_open_threshold_time_ms(uplink_float * 1000);

MissionInterface/MissionInterface.ino

@@ -0,0 +1,63 @@
+#include <SPI.h>
+#include <string.h>
+#include <CCP_MCP2515.h>
+
+#define CAN_CS D0
+#define CAN_INT D1
+#define MISSION_POWER D3
+
+// CAN
+CCP_MCP2515 CCP(CAN_CS, CAN_INT);
+
+// Other
+char msgString[128];
+char str_buf[7];  // 6+\0
+
+void setup() {
+  delay(500);
+  Serial.begin(115200);
+  pinMode(CAN_CS, OUTPUT);
+  pinMode(CAN_INT, INPUT);
+  digitalWrite(CAN_CS, HIGH);
+
+  pinMode(MISSION_POWER, OUTPUT);
+  digitalWrite(MISSION_POWER, LOW);
+
+  Serial1.begin(115200);
+  while (Serial1.available()) {
+    Serial1.read();
+  }
+
+  // CAN
+  CCP.begin();
+}
+
+void loop() {
+  while (Serial1.available()) {
+    String data = Serial1.readStringUntil('\n');
+    data.trim();
+
+    if (data == "mif-on") {
+      digitalWrite(MISSION_POWER, HIGH);
+    }
+    if (data == "mif-off") {
+      digitalWrite(MISSION_POWER, LOW);
+    }
+  }
+
+  if (!digitalRead(CAN_INT))  // データ受信確認
+  {
+    CCP.read_device();
+    if (CCP.id < 0x40) {
+      CCP.string(str_buf, 7);
+      snprintf(msgString, sizeof(msgString), "%d,ID,%03x,time,%d000,string,%s,,,,", millis(), CCP.id, CCP.time16(), str_buf);
+    } else if (CCP.id < 0x80) {
+      snprintf(msgString, sizeof(msgString), "%d,ID,%03x,time,%lu,uint32,%lu,,,,", millis(), CCP.id, CCP.time32(), CCP.data_uint32());
+    } else if (CCP.id < 0xC0) {
+      snprintf(msgString, sizeof(msgString), "%d,ID,%03x,time,%lu,float,%8.2f,,,,", millis(), CCP.id, CCP.time32(), CCP.data_float());
+    } else {
+      snprintf(msgString, sizeof(msgString), "%d,ID,%03x,time,%d000,fp16_0,%8.2f,fp16_1,%8.2f,fp16_2,%8.2f", millis(), CCP.id, CCP.time16(), CCP.data_fp16_0(), CCP.data_fp16_1(), CCP.data_fp16_2());
+    }
+    Serial.println(msgString);
+  }
+}