2024_umiusi_nucleo

ウミウシの足

Flow of data

sequenceDiagram
    participant RPi as Raspberry Pi
    participant N as Nucleo
    RPi ->>+ N: Request sensors' data `0x01`
    N ->>- RPi: Return data

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sequenceDiagram
    participant RPi as Raspberry Pi
    participant N as Nucleo
    RPi ->>+ N: Notify sending power data `0x00`
    RPi ->> N: Send power data
    N -->>- RPi: Receive data

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sequenceDiagram
    participant RPi as Raspberry Pi
    participant N as Nucleo
    RPi ->>+ N: Request nucleo's status `0x02`
    N ->>- RPi: Return data

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sequenceDiagram
    participant RPi as Raspberry Pi
    participant N as Nucleo
    RPi ->>+ N: Request (re)starting `0xFE`
    N -->>- RPi: Trigger (re)start

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sequenceDiagram
    participant RPi as Raspberry Pi
    participant N as Nucleo
    RPi ->>+ N: Request suspending `0xFF`
    N -->>- RPi: Abort immediately

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Data contents

Nucleo to Raspberry Pi (0x01)

byte index	content
0	まげセンサー1の値 LSB
1	まげセンサー1の値 MSB
2	まげセンサー2の値 LSB
3	まげセンサー2の値 MSB
4	電流センサーの値 LSB
5	電流センサーの値 MSB
6	電圧計の値 LSB
7	電圧計の値 MSB

Raspberry Pi to Nucleo (0x00)

byte index	content
0	BLDC1のパルス幅[us] LSB
1	BLDC1のパルス幅[us] MSB
2	BLDC2のパルス幅[us] LSB
3	BLDC2のパルス幅[us] MSB
4	BLDC3のパルス幅[us] LSB
5	BLDC3のパルス幅[us] MSB
6	BLDC4のパルス幅[us] LSB
7	BLDC4のパルス幅[us] MSB
8	Servo1のパルス幅[us] LSB
9	Servo1のパルス幅[us] MSB
10	Servo2のパルス幅[us] LSB
11	Servo2のパルス幅[us] MSB
12	Servo3のパルス幅[us] LSB
13	Servo3のパルス幅[us] MSB
14	Servo4のパルス幅[us] LSB
15	Servo4のパルス幅[us] MSB

Nucleo Status (0x02)

byte index	content
0	Nucleoの状態 (0: 初期化中, 1: 停止中, 2: 動作中)

Nucleo Status Flow

stateDiagram
    Initializing --> Running: init complete
    Initializing --> Suspend: abort initializing
    Running --> Suspend: no input, or suspend by user
    Running --> Initializing: restart by user
    Suspend --> Initializing: restart by user

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