File content as of revision 1:9caed9f7669d:

#define PeriodUpdate 0.2

#include "mbed.h"
#include "TextLCD.h"
Serial pc(USBTX, USBRX);

Serial bt(PA_9, PA_10);     //Bluetooth : Tx Rx
Ticker tickSend;            //Bluetooth : send data every 200 ms and Update RPM
InterruptIn encoder(PB_3);  //Encoder : Set interrupt
PwmOut Motor(PB_5);         //Motor   : command motor
InterruptIn button(PC_13);  //Motor Drive : User button to set running state
AnalogIn currentSS(PA_0);   //CurrentSensor :
SPI mcp3202(SPI_MOSI, SPI_MISO, SPI_SCK);   //Voltage Sensor ADC MCP3202
DigitalOut cs3202a(PB_6);        //chip select for mcp3202
DigitalOut cs3202b(PC_7);     // chip select for mcp3202 nember 2

I2C i2c_lcd(I2C_SDA,I2C_SCL); // SDA, SCL
TextLCD_I2C lcd(&i2c_lcd, 0x4E, TextLCD::LCD20x4); // I2C bus, PCF8574 addr, LCD Type, Ctrl Type


void getRPM();
void countEncoder();
float getVolt();
float getCurr();
float Display();
void switchRunning();
void dataIn();
void updateData();


float volt=0,curr=0,powerMotor =255;
uint8_t countEn=0;
uint16_t rpm=0;
bool runState=0;

int main()
{
    //Prepare
    bt.baud(9600);
    pc.baud(9600);
    bt.attach(&dataIn);                 //Interupt when recieved data
    tickSend.attach(&updateData,PeriodUpdate);   //Send data every 200 ms
    encoder.rise(&countEncoder);        //set encoder detect rise edge
    button.rise(&switchRunning);        //set user button (blue) to switch running mode
    Motor.period(0.002f);               //set pwm frequency to 500 Hz
    mcp3202.frequency(1000000);         //set SPI mcp3202
    mcp3202.format(8,0);                //set SPI mcp3202
    lcd.setCursor(TextLCD::CurOff_BlkOff);
    lcd.cls();
    lcd.printf("RPM:%5d P:%1.2f    V :%1.2fV I:%3.0fmA\n",rpm,volt*curr,volt,curr*1000);

    while(1) {
        if(runState) { //running loop
            Motor = powerMotor/100.0f;

        } else {
            Motor = 0.0f;
        }
        curr=getCurr();
        volt=getVolt();
    }
}

void switchRunning()
{
    runState = !runState;
}

void dataIn()
{
    char inTmp[6];
    uint8_t i=0;
    do {
        inTmp[i++]=bt.getc();
    } while(inTmp[i-1]!='\n');
    pc.printf("%s\n",inTmp);
    if(inTmp[0]=='m') {
        powerMotor = atoi(inTmp+2);
    }
}

void updateData()
{
    getRPM();
    if(runState)
    {
    lcd.printf("RPM:%5d P:%1.2f    V :%1.2fV I:%3.0fmA\n",rpm,volt*curr,volt,curr*1000);
    bt.printf("s %d\nv %.2f\ni %.2f\np %.2f\n",rpm,volt,curr,volt*curr);
    printf("RPM:%5d P:%1.2f\t",rpm,volt*curr);
    printf("V  :%1.2fV I:%2.0fmA\n",volt,curr*1000);
    }
}

void getRPM()
{
    rpm = (150*countEn);
    countEn=0;
}

void countEncoder()
{
    countEn++;
}

float getVolt()
{
    uint8_t spi_data[3]={0};
    cs3202a=0;
    spi_data[0] = mcp3202.write(0x01);
    wait_us(1);
    spi_data[1] = mcp3202.write(0x20);
    spi_data[2] = mcp3202.write(0);
    wait_us(1);
    cs3202a=1;
    
    return (float)(((spi_data[1]&0x0F)*256.0f)+spi_data[2])/819.0f;
}

float getCurr ()        //mesure current by voltage during R 1 ohm  
{
    uint8_t spi_data[3]={0};
    cs3202b=0;
    spi_data[0] = mcp3202.write(0x01);
    wait_us(1);
    spi_data[1] = mcp3202.write(0x00);
    spi_data[2] = mcp3202.write(0);
    wait_us(1);
    cs3202b=1;
    return (float)((((spi_data[1]&0x0F)*256.0f)+spi_data[2])/819.0f);
    
}