FRA221_2015
software about measure for robotic
Dependencies: A18_RobotMeasure mbed
Diff: main.cpp
- Revision:
- 0:d12e3b4e3b1a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Dec 08 19:24:39 2015 +0000
@@ -0,0 +1,443 @@
+#include "mbed.h"
+#include "TextLCD.h"
+
+Serial pc(USBTX, USBRX);
+//AnalogIn analog_value(A1);
+DigitalOut colO[4]={D5,D4,D3,D2};
+DigitalIn roll1(D6,PullDown);
+DigitalIn roll2(D7,PullDown);
+DigitalIn roll3(D8,PullDown);
+DigitalIn roll4(D9,PullDown);
+I2C i2c_lcd(I2C_SDA,I2C_SCL); // SDA, SCL
+TextLCD_I2C lcd(&i2c_lcd, 0x4E, TextLCD::LCD16x2);
+Timer t1;//TIme keypad
+Timer t2;//Time Lcd
+Timer sampling;//Sampling timer
+volatile int Hz = 196000;//defult sampling
+volatile int rate_sampling_us = (1000000/Hz);//convert to microsecond
+volatile int begin;
+
+
+AnalogIn RawValue(A1);
+SPI device(SPI_MOSI, SPI_MISO, SPI_SCK);
+DigitalOut cs(D10);
+
+int count;
+int cleck=1;
+int screen = 1;
+int test = 1;
+void getKeypad();
+double getvolt(); // get Voltage value ;unit(VOLT)
+double getAmp(); //get Amp value unit(AMP)
+void read();
+
+
+volatile double current=0;
+double I_peak=0;
+volatile double volt=0;
+double V_peak=0;
+double power=0;
+//float meas;
+int enter1 = 0;
+int data[7] = {0} ;
+int dLength = 0;//data length
+int dataHz = 100000;
+int main()
+{
+ pc.baud(9600);//1104000
+ //pc.printf("Start\n");
+
+ t1.start();
+ t2.start();
+ count=0;
+ lcd.printf("Welcome !!!");
+ sampling.start();
+
+ for(count=0;count<4;count++)
+ {
+ colO[count]=0;
+ }
+ count=0;
+ while(1)
+ {
+ //meas = analog_value.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+ //meas = meas * 3300;
+ // pc.printf("%f\n",meas);
+ begin = sampling.read_us();
+ if(begin >= rate_sampling_us) //read sensor
+ {
+ read();
+ sampling.reset();
+ }
+ if(current<0)
+ {current=0;}
+ power=current*volt;
+ if(current>=I_peak)
+ {
+ I_peak=current;
+ }
+ if(volt>=V_peak)
+ {
+ V_peak=volt;
+ }
+ pc.printf("#%.3f,%.3f,%.3f*\n",power,current,volt);
+
+ getKeypad();
+ enter1=0;
+ if(t2.read_ms() > 500)
+ {
+
+ if(screen==6)
+ {
+ screen=1;
+ }
+ else if(screen==0)
+ {
+ screen=5;
+ }
+
+ if(screen==1)
+ {//enter1=0;
+ lcd.cls();
+ lcd.printf("Power %3.3f W",power);
+ }
+ else if(screen==2)
+ {//enter1=0;
+ lcd.cls();
+ lcd.printf("Current %.3f AI_Peak %.3f A",current,I_peak);
+ }
+ else if(screen==3)
+ {//enter1=0;
+ lcd.cls();
+ lcd.printf("Volt %.3f VV_Peak %.3f V",volt,V_peak);
+ }
+ else if(screen==4)
+ {
+ lcd.cls();
+ lcd.printf("Sampling\n%d Hz",Hz);
+
+ }
+ else if(screen==5)
+ {
+ dLength=0;
+ enter1=1;
+ lcd.cls();
+ lcd.printf("Gen Sampling(Hz)");
+ while(screen==5)
+ {
+
+ if(dLength>7)
+ {
+ int i = 0;
+ for(i=0;i<8;i++)
+ {
+ data[i]=0;
+ }
+ dLength=0;
+
+ lcd.cls();
+ lcd.printf("Gen Sampling(Hz)");
+ lcd.printf("Please 0-1m");
+ wait(1);
+ lcd.cls();
+ lcd.printf("Gen Sampling(Hz)");
+ }
+ getKeypad();
+ }
+
+ }
+ t2.reset();
+ }
+ if(t1.read_ms() > (1000*1000))
+ {
+ t1.reset();
+ }
+ }
+
+}
+
+
+//D2, D3, D4, D5, D6, D7, D8, D9
+/*
+|1 2 3 up |
+|4 5 6 down |
+|7 8 9 enter|
+|0 0 0 clear|
+*/
+
+void getKeypad(){
+
+ if(count==0)
+ {
+ colO[3]=0;
+ colO[count]=1;
+ }
+ else
+ {
+ colO[count-1]=0;
+ colO[count]=1;
+ }
+ if(t1.read_ms() >300)
+ {
+ cleck=1;
+ }
+ //pc.printf("%d\n",i);
+ if(roll1==1&&colO[0]==1&&cleck==1)//s1 up
+ {
+ screen--;
+ cleck=0;
+ t1.reset();
+ }
+ else if(roll1==1&&colO[1]==1&&cleck==1)//s2 down
+ {
+ screen++;
+ cleck=0;
+ t1.reset();
+ }
+ else if(roll1==1&&colO[2]==1&&cleck==1)//s3 enter
+ {
+ if(enter1==1)
+ {
+ if(dLength>0)
+ { int j = dLength-1;//loop
+ int k = data[j];//data*something
+ int l = 1;
+ dataHz=0;
+ //lcd.printf("%d",k);
+ for(j = dLength-1;j>=0;j--)
+ {
+ data[j]=k;
+ l=(l*10);
+ if(j>=0)
+ {
+ k=(data[j-1]*l);
+ }
+
+ dataHz=dataHz+data[j];
+ }
+ for(l=0;l<8;l++)
+ {
+ data[l]=0;
+ }
+ dLength=0;
+ if(dataHz==0||dataHz>1000000)
+ {
+ dataHz=100000;
+ lcd.cls();
+ lcd.printf("Gen Sampling(Hz)");
+ lcd.printf("Please 0-1m");
+ wait(1);
+ }
+
+ Hz=dataHz;
+ rate_sampling_us = (1000000/Hz);
+
+ lcd.cls();
+ lcd.printf("Gen Sampling(Hz)");
+ lcd.printf("OK !!!");
+ wait(1);
+
+
+ }
+ //lcd.printf(" ");
+
+ lcd.cls();
+ lcd.printf("Gen Sampling(Hz)");
+ }
+ cleck=0;
+ t1.reset();
+ }
+ else if(roll1==1&&colO[3]==1&&cleck==1)//s4 clear
+ {
+ if(enter1==1)
+ {
+ int m;
+ for(m=0;m<8;m++)
+ {
+ data[m]=0;
+ }
+ lcd.cls();
+ lcd.printf("Gen Sampling(Hz)");
+ dLength=0;
+ }
+ cleck=0;
+ t1.reset();
+ }
+ else if(roll2==1&&colO[0]==1&&cleck==1)//s5 3
+ {
+
+ if(enter1==1)
+ {
+ lcd.printf("3");
+ data[dLength]=3;
+ dLength++;
+ }
+ cleck=0;
+ t1.reset();
+ }
+ else if(roll2==1&&colO[1]==1&&cleck==1)//s6 6
+ {
+ if(enter1==1)
+ {
+ lcd.printf("6");
+ data[dLength]=6;
+ dLength++;
+ }
+ cleck=0;
+ t1.reset();
+ }
+ else if(roll2==1&&colO[2]==1&&cleck==1)//s7 9
+ {
+ if(enter1==1)
+ {
+ lcd.printf("9");
+ data[dLength]=9;
+ dLength++;
+ }
+ cleck=0;
+ t1.reset();
+ }
+ else if(roll2==1&&colO[3]==1&&cleck==1)//s8
+ {
+ cleck=0;
+ t1.reset();
+ }
+ else if(roll3==1&&colO[0]==1&&cleck==1)//s9 2
+ {
+ if(enter1==1)
+ {
+ lcd.printf("2");
+ data[dLength]=2;
+ dLength++;
+ }
+ cleck=0;
+ t1.reset();
+ }
+ else if(roll3==1&&colO[1]==1&&cleck==1)//s10 5
+ {
+ if(enter1==1)
+ {
+ lcd.printf("5");
+ data[dLength]=5;
+ dLength++;
+ }
+ cleck=0;
+ t1.reset();
+ }
+ else if(roll3==1&&colO[2]==1&&cleck==1)//s11 8
+ {
+ if(enter1==1)
+ {
+ lcd.printf("8");
+ data[dLength]=8;
+ dLength++;
+ }
+ cleck=0;
+ t1.reset();
+ }
+ else if(roll3==1&&colO[3]==1&&cleck==1)//s12 0
+ {
+ if(enter1==1)
+ {
+ lcd.printf("0");
+ data[dLength]=0;
+ dLength++;
+ }
+ cleck=0;
+ t1.reset();
+ }
+ else if(roll4==1&&colO[0]==1&&cleck==1)//s13 1
+ {
+ if(enter1==1)
+ {
+ lcd.printf("1");
+ data[dLength]=1;
+ dLength++;
+ }
+ cleck=0;
+ t1.reset();
+ }
+ else if(roll4==1&&colO[1]==1&&cleck==1)//s14 4
+ {
+ if(enter1==1)
+ {
+ lcd.printf("4");
+ data[dLength]=4;
+ dLength++;
+ }
+ cleck=0;
+ t1.reset();
+ }
+ else if(roll4==1&&colO[2]==1&&cleck==1)//s15 7
+ {
+ if(enter1==1)
+ {
+ lcd.printf("7");
+ data[dLength]=7;
+ dLength++;
+ }
+ cleck=0;
+ t1.reset();
+ }
+ else if(roll4==1&&colO[3]==1&&cleck==1)//s16
+ {
+ cleck=0;
+ t1.reset();
+ }
+
+ count++;
+ if(count==4)
+ {
+ count=0;
+ }
+ }
+
+double getvolt() // get Voltage value ;unit(VOLT)
+{
+ uint16_t value0[3];
+ float volt,sval0;
+ cs=1; //slave select
+
+ cs=0;
+ value0[0] = device.write(0xD0); //read CH0
+ value0[1] = device.write(0x00);
+ value0[2] = device.write(0x00);
+ cs=1;
+
+ value0[0] = (value0[0] & 0x07)<<9;//convert to 12bit
+ value0[1] = (value0[1] & 0xFF)<<1;
+ value0[2] = (value0[2] & 0x80)>>7;
+
+ sval0 = value0[0]|value0[1]|value0[2];//sum bit
+
+
+ volt = (sval0/4095)*5; //calculate ;volt
+ return volt;
+}
+
+double getAmp() //get current ;unit(AMP)
+{
+ char buffer[50] = "/0";
+ float Ampoffset = 2.5;//use positive current
+ float mVperAmp = 0.1; //typical set
+ float Voltage;
+ float Amp,val;
+
+ val = ((RawValue.read()*((3.3/5)* 1023))+17);//read anaog value
+ sprintf(buffer,"%.0f",val); //convert to integer
+ val = (float)atof(buffer);
+ //pc.printf("%f\n",val);
+ Voltage = (5*val)/1023;//calculate to Vin
+ sprintf(buffer,"%.3f",Voltage);//convert to integer
+ Voltage = (float)atof(buffer);
+
+ Amp = (Voltage-2.5)/0.1; //calculate to Amp
+
+ return Amp;
+ }
+
+void read()
+{
+ current = getAmp();
+ volt = getvolt();
+}