Revision 6:63de50ac29be, committed 2015-11-06

Comitter:

DeWayneDennis

Date:

Fri Nov 06 20:50:30 2015 +0000

Parent:

5:1b2dc43e8947

Child:

7:af255a90505e

Commit message:

Jared's DAC Code

Changed in this revision

--- a/AngleEncoder.cpp	Fri Nov 06 19:28:49 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,126 +0,0 @@
-#include "AngleEncoder.h"
-#include "mbed.h"
- 
-AngleEncoder::AngleEncoder(PinName mosi, PinName miso, PinName sclk, PinName cs, int bits, int mode, int hz) :  
-        _spi(mosi, miso, sclk), 
-        _cs(cs) {
-    // constructor
-    _cs = 1;
-    _spi.format(bits,mode);
-    _spi.frequency(hz);
-    
-    wait_ms(1000); // Angle encoder requires 0.1 seconds to boot up, so I gave it an entire second.
-    
-}
-
-
-
-/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 
- * 
- * Sends a NOP command.  This is a read command.
- *
- * Returns the 8 bit data read from the encoder.  
- *      0xA5 indicates communication is good, but no data to receive from encoder
- *      
- *      0x00 indicates that angle encoder probably wasn't read.  May need to 
- *      increase SPI_DELAY
- *  
- * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ 
-int AngleEncoder::nop() { // this function takes about 90us to complete (tested using Timer library)
-    _cs = 0;
-    wait_us(SPI_DELAY);
-    int received = _spi.write(0x00);
-    wait_us(SPI_DELAY);
-    _cs = 1;
-    wait_us(SPI_DELAY);
-    return received;
-}
-
-
-/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 
- * 
- * Sets the current position as the zero point from which angles are calculated
- *  
- * Returns true if successful, false otherwise
- * 
- * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
-bool AngleEncoder::set_zero() {
-    char received;
-    
-    // send "set_zero_point" command
-    _cs = 0;
-    wait_us(SPI_DELAY);
-    received = _spi.write(0x70); // send the command
-    wait_us(SPI_DELAY);
-    _cs = 1;
-    wait_us(SPI_DELAY);
-    
-    // send NOP until reset is confirmed 
-    while(received == 0xa5) received = nop();
-    
-    // 0x80 indicates that reset is confirmed
-    if(received == 0x80) return true;
-    else return false;
-}
-
-
-/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 
- * 
- *  Sets the current position as the zero point from which angles are calculated
- *  @param rotary_count  The address to the rotary_count variable, allowing this 
- *                       function to reset both the absolute and relative angles.
- *  
- *  Returns true if successful, false otherwise
- *
- * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
-bool AngleEncoder::set_zero(int* rotary_count) {
-    
-    *rotary_count = 0;  // reset relative counter
-    return set_zero();  // reset absolute counter
-}
-
-
-/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 
- * 
- * Reads the absolute angle from the angle encoder via SPI
- * Returns the 12 bit angle (-2048, 2047)
- *  
- * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
-int AngleEncoder::absolute_angle() { // this function takes about 500us to complete (tested using Timer library)
-    char received;
-    uint16_t absolute_pos;
-    
-    // send read command
-    _cs = 0;
-    wait_us(SPI_DELAY);
-    received = _spi.write(0x10);
-    wait_us(SPI_DELAY);
-    _cs = 1;
-    
-    // wait for angle encoder to echo the command
-    wait_us(SPI_DELAY);
-    
-    // read until encoder sends 0x10
-    for(uint32_t i = 0; i < 100; i++)
-    {
-        received = nop();
-        if(received == 0x10) break;
-    }
-    
-    //while(received != 0x10) received = nop(); // read until 0x10 is received
-        
-    // the command should have been echoed back.  If so, then read the angle    
-    if(received == 0x10)
-    {
-        // receive the most significatn 4 bits of the 12 bit angle
-        absolute_pos = nop();  // read first 4 bits of absolute angle
-        absolute_pos <<= 8; // shift the 4 bits into the right spot
-        absolute_pos |= nop(); // receive the last 8 bits of absolute angle
-        
-        //make data symmetric around 0.
-        //if(absolute_pos > 2048) absolute_pos -= 4096;
-        //absolute_pos = ~absolute_pos + 1; // inverts the data
-        return absolute_pos;
-        }
-    else return 0x00ff0000; // this is just a random number outside of the range of the encoder
-}

--- a/AngleEncoder.h	Fri Nov 06 19:28:49 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,21 +0,0 @@
-#ifndef ANGLE_ENCODER_H
-#define ANGLE_ENCODER_H
- 
-#include "mbed.h"
- 
-#define SPI_DELAY 4 // must be 4 or greater, otherwise the angle encoder can't keep up with the communication
- 
-class AngleEncoder {
-public:
-    AngleEncoder(PinName mosi, PinName miso, PinName sclk, PinName cs, int bits, int mode, int hz);
-    int nop();
-    int absolute_angle();
-    bool set_zero();
-    bool set_zero(int*);
-    
-private:  
-    SPI _spi;
-    DigitalOut _cs;
-};
- 
-#endif
\ No newline at end of file

--- a/MotorControl.cpp	Fri Nov 06 19:28:49 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,76 +0,0 @@
-#include "MotorControl.h"
-#include "mbed.h"
-
-// constructor 
-MotorControl::MotorControl(PinName cw, PinName ccw, int period, int safetyPeriod) :  
-        _cw(cw),
-        _ccw(ccw) {
-    
-    // turn motor off
-    _cw = 0;
-    _ccw = 0;
-    
-    _cw.period_us(period);
-    _ccw.period_us(period);
-    
-    _period = period;
-    _safetyPeriod = safetyPeriod;
-}
-
-void MotorControl::off() {
-    _cw = 0;
-    _ccw = 0;    
-    pause_us(_safetyPeriod);
-}
-
-void MotorControl::clockwise(float dutyCycle) {
-    _cw = dutyCycle;
-}
-
-void MotorControl::releaseMallet() {
-    // make sure motor is off
-    off();
-    
-    // pulse clockwise to release mallet
-    _cw = 1;
-    pause_ms(10);
-    _cw = 0;
-    pause_ms(75);
-    
-    // pulse counter-clockwise to stop snail cam
-    _ccw = 0.7;
-    pause_ms(8);
-    _ccw = 0;
-    
-    // make sure motor is off
-    off();
-}
-
-void MotorControl::reset() {
-    
-}
-
-void MotorControl::hardReset(int duration) {
-    // make sure motor is off
-    off();
-    
-    // long pulse clockwise to reset mallet
-    _cw = 1;
-    pause_ms(200);
-    _cw = 0;
-    
-    // short pulse counter-clockwise to stop snail cam
-    _ccw = 1;
-    pause_ms(10);
-    _ccw = 0;
-    
-    
-    wait_ms(duration);
-    // short pulse counter-clockwise to set snail cam in groove on mallet
-    _ccw = 1;
-    pause_ms(3);
-    _ccw = 0;
-    
-    // make sure motor is off
-    off();
-}
\ No newline at end of file

--- a/MotorControl.h	Fri Nov 06 19:28:49 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,26 +0,0 @@
-#ifndef MOTOR_CONTROL_H
-#define MOTOR_CONTROL_H
- 
-#include "mbed.h"
-#include "pause.cpp"
- 
-class MotorControl {
-public:
-    MotorControl(PinName cw, PinName ccw, int period, int safetyPeriod);
-    
-    void off(); // make sure the motor is off
-    void clockwise(float);
-    void releaseMallet(); // release mallet using hard coded timing
-    void reset(); // reset mallet using feedback (NEEDS TO BE IMPLEMENTED)
-    
-    // what we threw together just for testing
-    void hardReset(int);         // reset mallet using hard coded timing
-    
-private:  
-    PwmOut _cw;    // clock wise rotation when _cw = 1
-    PwmOut _ccw;   // counter-clock wise rotation when _ccw = 1
-    int _period;       // the period of the motor switching cycle
-    int _safetyPeriod; // dead time between transition from cw to ccw (and visa versa)
-};
- 
-#endif
\ No newline at end of file

--- a/Sample/quad.cpp	Fri Nov 06 19:28:49 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,57 +0,0 @@
-#include "quad.h"
-
-void quad_init() {
-    
-    // Enable clock for FTM2
-    SIM_SCGC3 |= SIM_SCGC3_FTM2_MASK; // there are two of them for some reason
-    SIM_SCGC6 |= SIM_SCGC6_FTM2_MASK; // 
-    
-    // Enable clock for PortB
-    SIM_SCGC5 |= SIM_SCGC5_PORTB_MASK;
-    
-    //enable the counter
-    FTM2_MODE |= FTM_MODE_WPDIS_MASK; // unlock write protection on certain FTM bits and registers
-    FTM2_MODE |= FTM_MODE_FTMEN_MASK; 
-    
-    //enable the counter to run in the BDM mode
-    FTM2_CONF |= FTM_CONF_BDMMODE(3);
-    
-    //load the Modulo register and counter initial value
-    FTM2_MOD = 4095;
-    FTM2_CNTIN = 0;
-    
-    //configuring FTM for quadrature mode
-    FTM2_QDCTRL = 0;
-    FTM2_QDCTRL |= FTM_QDCTRL_QUADEN_MASK; // enable Quadrature decoding
-    FTM2_QDCTRL &= ~FTM_QDCTRL_QUADMODE_MASK; // select phase A and phase B decoding mode (this is what the angle encoder uses)
-    FTM2_QDCTRL |= FTM_QDCTRL_PHAPOL_MASK; // change direction of counting by changing the phase of input A (for some reason QUADIR wouldn't work)
-    
-    
-    // start the timer clock, source is the external clock
-    FTM2_SC |= FTM_SC_CLKS(3);
-    
-    //configuring the input pins:
-    PORTB_PCR18 = PORT_PCR_MUX(6); // FTM2_QD_PHA  (PTB18) ALT6
-    PORTB_PCR19 = PORT_PCR_MUX(6); // FTM2_QD_PHB  (PTB19) ALT6
-    
-    // Enable write protection
-    FTM2_MODE |= FTM_MODE_WPDIS_MASK; // Lock write protection on certain FTM bits and registers
-    
-}   
- 
-int32_t quad_read() {
-    int angle = FTM2_CNT;
-    if(angle > 2048) angle -= 4096;
-    return angle;  // this is the register with the counter in it.
-}
-
-void quad_update(int value) {
-    if(value < 0) value = value + 4096; // convert back to raw form (both absolute angle and relative angle are actually integers between 0-4095)
-    FTM2_CNTIN = value; // change reset value to desired value
-    FTM2_CNT = 0; // writing anything to FTM_CNT loads FTM2_CNTIN into FTM_CNT;
-    FTM2_CNTIN = 0; // change reset value back to 0
-}
-
-void quad_invert(){
-    FTM2_QDCTRL &= ~FTM_QDCTRL_PHAPOL_MASK; // change direction of counting by changing the phase of input A
-}
\ No newline at end of file

--- a/Sample/quad.h	Fri Nov 06 19:28:49 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,17 +0,0 @@
-/*
-Add this to the Angle Encoder class later
-
-http://cache.freescale.com/files/32bit/doc/app_note/AN4381.pdf
-*/
-
-#ifndef QUAD_H_
-#define QUAD_H_
-
-#include "mbed.h"
-
-void quad_update(int);    
-void quad_init();
-int quad_read();
-void quad_invert();
-
-#endif /* DMA_H_ */
\ No newline at end of file

--- a/SignalProcessing.cpp	Fri Nov 06 19:28:49 2015 +0000
+++ b/SignalProcessing.cpp	Fri Nov 06 20:50:30 2015 +0000
@@ -11,6 +11,7 @@
 float i_mod_pre[pre_compute_length];
 float q_mod_pre[pre_compute_length];
 //uint16_t out_val_pre[pre_compute_length]; 
+float filteredLong, filteredLongRef;
 
 #define twopi 3.14159265359 * 2
 
@@ -477,6 +478,7 @@
     
     
     static uint8_t decimationCounter = 0;//used to keep track of how many samples you have currently decimated
+    static uint16_t finalAverageCounter = 0; //used to keep track of how many elements to average across
     static float FIR1K_Sample1_i_DecimatedSum=0;
     static float FIR1K_Sample1_q_DecimatedSum=0;//when decimating sum up all 10 samples at a time have that be your output value
     static float FIR1K_Sample2_i_DecimatedSum=0;
@@ -535,7 +537,10 @@
             finalAverageCounter=0;
             float mag1 = sqrt(Final_Average1_i*Final_Average1_i+Final_Average1_q*Final_Average1_q);
             float mag2 = sqrt(Final_Average2_i*Final_Average2_i+Final_Average2_q*Final_Average2_q);
-            printf("V1: %f\tV2: %f\tRatio: %f\n\r",mag1,mag2,mag2/mag1);
+            //store filtered values for later reading
+            filteredLong = mag1;
+            filteredLongRef = mag2;
+            
             Final_Average1_i=0;
             Final_Average1_q=0;//when decimating sum up all 10 samples at a time have that be your output value
             Final_Average2_i=0;
@@ -714,5 +719,9 @@
     filter10K(FIR100K_Sample1_i_Output, FIR100K_Sample1_q_Output, FIR100K_Sample2_i_Output, FIR100K_Sample2_q_Output);
 }
 
-
-    
+float getFiltered(){
+    return filteredLong;    
+}
+float getFilteredRef(){
+    return filteredLongRef;   
+}    

--- a/SignalProcessing.h	Fri Nov 06 19:28:49 2015 +0000
+++ b/SignalProcessing.h	Fri Nov 06 20:50:30 2015 +0000
@@ -3,4 +3,6 @@
 
 void pre_compute_tables();
 void filter100K(int sample1, int sample2);
+float getFiltered();
+float getFilteredRef();
 #endif
\ No newline at end of file

--- a/main.cpp	Fri Nov 06 19:28:49 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,117 +0,0 @@
-#include "mbed.h"
-#include "pause.cpp"
-#include "Sample/adc.h"
-#include "Sample/pdb.h"
-#include "SignalProcessing.h"
-// for debug purposes
-Serial pc(USBTX, USBRX);
-DigitalOut led_red(LED_RED);
-DigitalOut led_green(LED_GREEN);
-DigitalOut led_blue(LED_BLUE);
-
-Timer t1;
-using namespace std;
- 
- 
- 
- 
-#define PDB_DACINTC0_TOE 0x01 // 0x01 -> PDB DAC interal trigger enabled
-
-#define DAC0_DAT0 (uint16_t *)0x400CC000 // DAC word buffer base address
-
-uint16_t *p1;
-void setUpDac()
-{
-    SIM_SCGC2 |= SIM_SCGC2_DAC0_MASK;  // turn on clock to the DAC
-    SIM_SCGC6 |= SIM_SCGC6_DAC0_MASK;  // turn on clock to the DAC
-    DAC0_C0 |= DAC_C0_DACEN_MASK ;   // enable the DAC; must do before any of the following
-    DAC0_C2 =9;//cycle through the first 10 values in the buffer
-    DAC0_C1 = 1;//enable the dac buffer
-    p1 = DAC0_DAT0;
-    for (int i = 0; i < 16; i++)//fill the buffer 
-    {
-        *p1++ = (uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * i) * 460.0 + 2870.0); // 3351.0
-        //printf("Pointer: %d\tValue: %d\n\r", (uint32_t)p1,(int) (cos(3.14159265359 * 2 * 10000 * .00001 * i) * 800.0 + 3103.0));
-    } 
-
-}
- 
-int main()
-{
-    
-    led_blue = 1;
-    led_green = 1;
-    led_red = 1;
-    pre_compute_tables();
-    
-    
-//    t1.reset();
-//    for (int t  = 0; t<500000; t++)
-//    {
-//        int input1 = 5000*cos(3.14159265359 * 2*10000*t*.00001)+2500;
-//        int input2 = 2500*sin(3.14159265359 * 2*10000*t*.00001)+2500;
-//        t1.start();
-//        filter100K(input1, input2);
-//        t1.stop();
-//    }
-//    printf("FINAL TIME: %f\n\r",t1.read());
-   
-    pc.printf("Starting...\r\n");    
-    for(int i = 0; i < 86; i++) 
-    {
-        if(NVIC_GetPriority((IRQn_Type) i) == 0) NVIC_SetPriority((IRQn_Type) i, 2);
-    }
-    
-    // Give hardware associated with 
-    // sampling the highest priority
-    NVIC_SetPriority(ADC1_IRQn,0);
-    NVIC_SetPriority(ADC0_IRQn,0);
-    NVIC_SetPriority(PDB0_IRQn,0);
-    NVIC_SetPriority(DMA0_IRQn,0);
-    NVIC_SetPriority(DMA1_IRQn,0);
-    NVIC_SetPriority(DMA2_IRQn,0);
-    
-    NVIC_SetPriority(ENET_1588_Timer_IRQn,1);
-    NVIC_SetPriority(ENET_Transmit_IRQn,1);
-    NVIC_SetPriority(ENET_Receive_IRQn,1);
-    NVIC_SetPriority(ENET_Error_IRQn,1);
-    
-    adc_init(); // initialize ADCs (always initialize adc before dma)
-    setUpDac();
-    dma_init(); // initializes DMAs
-    pdb_init(); // initialize PDB0 as the timer for ADCs and DMA2 
-    
-    // flash green led indicating startup complete
-    led_red = 1;
-    led_blue = 1;
-    led_green = 0;
-    pause_ms(500);
-    led_green = 1;
-    pause_ms(200);
-    led_green = 0;
-    pause_ms(500); 
-    led_green = 1;
-    pdb_start();
-    int startAddress = (int)&sample_array0[0];
-    int destinationIndex = (DMA_TCD0_DADDR-startAddress)/2;
-    int currentIndex;
-    while (1)
-    {
-        
-    
-        destinationIndex = (DMA_TCD0_DADDR-startAddress)/2;//-1;
-        //if (destinationIndex<0)
-        //    destinationIndex = 1999;
-        while (currentIndex!=destinationIndex)
-        {
-            filter100K(sample_array0[currentIndex], sample_array1[currentIndex]);
-            currentIndex++;
-            if (currentIndex>=2000)
-                currentIndex = 0;
-            
-        }
-        
-    }
-    
-    
-}