Diff: main.cpp

Revision:

0:9eba4fa208fb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed May 10 09:35:28 2017 +0000
@@ -0,0 +1,84 @@
+#include "mbed.h"
+ 
+//AnalogOut aout1(PA_5); //A4 Motor 1
+//AnalogOut aout2(PA_6); //A5 Motor 2
+
+InterruptIn rising2(D3); //Inkrementalgeber Spur A Motor 1
+//DigitalIn direction2(D2); //Inkrementalgeber Spur B Motor 1
+InterruptIn rising1(D8); //Inkrementalgeber Spur A Motor 2
+//DigitalIn direction1(D9); //Inkrementalgeber Spur B Motor 2
+
+Timer t1;   //Timer für den Inkrementalgeber des Motor 1
+
+int t_period1 = 0;                  // This is the period between interrupts in microseconds
+float t_freq1 = 0;                  // Umrechnung in Frequenz 
+int calculation1;                   // Kennlinien Berechnung 
+int calculation2;
+int t_period2 = 0;                  // This is the period between interrupts in microseconds
+float t_freq2 = 0;                  // Umrechnung in Frequenz 
+int tneu1,tneu2, tdiff1, tdiff2, talt1, talt2;
+
+void extTrigger1();
+void extTrigger2();
+
+int main()
+{
+    RCC->APB1ENR |= 0x24000000;     // Enable Interface clock for DAC1 and DAC2
+    GPIOA->MODER |= 0x00003f00;     // MODE PortA, PA4 PA5 & PA6 are analog!
+    DAC->CR |= 0x00030003;          // DAC control reg, both channels ON
+    DAC2->CR |= 0x00000003;         // DAC2 control reg channel 1 ON
+    
+    wait(0.1);
+    
+    rising1.mode(PullDown);
+    rising1.rise(&extTrigger1);
+    rising2.mode(PullDown);
+    rising2.rise(&extTrigger2);
+    t1.start();
+    
+    while(1)
+    {
+        //printf("tdiff1: %d \n", tdiff1);
+        //printf("tdiff2: %d \n", tdiff2);
+        t_freq1 = (1.0/((float)tdiff1)*(1000000.0/256.0));
+        t_freq2 = (1.0/((float)tdiff2)*(1000000.0/256.0));
+        calculation1 = (((0.66f*t_freq1+1.65f)/3.3f)*4095.0f);
+        if (calculation1 >= 4095) 
+        {
+            calculation1 = 4095;
+        }
+        DAC2->DHR12R1 = calculation1;
+        //printf("Motor 1: %.2f Hz %i Bitwert\n",t_freq1, calculation1);
+        
+        calculation2 = (((0.66f*t_freq2+1.65f)/3.3f)*4095.0f);
+        if (calculation2 >= 4095) 
+        {
+            calculation2 = 4095;
+        }
+        //printf("Motor 2: %.2f Hz %i Bitwert\n",t_freq2, calculation2);
+       if (calculation2 >= 4095000){  printf("a");} //Printf Funktion wird gebracuht damit das Programm Ordnungsgemäß arbeitet
+        DAC->DHR12R2 = calculation2;
+        }                
+}
+
+void extTrigger1()
+{
+    tneu1 = t1.read_us();
+    tdiff1 = tneu1 - talt1;
+    //printf("tdiff1: %d \n", tdiff1);
+    if (tdiff1 > 0)
+    {
+        talt1=tneu1;
+    }
+}
+
+void extTrigger2()
+{
+    tneu2 = t1.read_us();
+    tdiff2 = tneu2 - talt2;
+    //printf("tdiff2: %d \n", tdiff2);
+    if (tdiff2 > 0)
+    {
+        talt2=tneu2;
+    }
+}
\ No newline at end of file