Diff: main.cpp

Revision:

1:9a05b0a731f3

Parent:

0:76a0d29416ee

--- a/main.cpp	Tue Nov 03 12:51:15 2020 +0000
+++ b/main.cpp	Tue Dec 01 01:42:01 2020 +0000
@@ -31,15 +31,23 @@
 *******************************************************************************
 * @file EsmacatShield.h
 *******************************************************************************
+  LIVSMED
+  @brief    마스터 로봇 조종기로부터 7개의 절대 엔코더의 값을 SSI통신으로 읽는다.
+            4개의 입력이 있는 풋 페달장치로부터 입력 값을 받는다.
+            총 8가지의 정보(7개의 엔코더 값 + 선택된 1개의 풋 페달값)를 EtherCAT IC
+            로 전달한다.
+
+*******************************************************************************
+
 */
 #include "mbed.h"
 #include <EsmacatShield.h> //Include EsmacatShield Library
-
+#include "keypad.h"
 
 int counter;
 int16_t v[8];              //an array of integer is declared for reading the 
                            //data packet of EtherCAT from EASE 8 registers
-Serial pc(USBTX, USBRX);   // Configuring the serial port to host PC
+BufferedSerial pc(USBTX, USBRX);   // Configuring the serial port to host PC
 Ticker tick1;
 
 
@@ -54,11 +62,16 @@
 DigitalOut CS2(PA_8);
 DigitalOut CS3(PA_9);
 DigitalOut CS4(PC_7);
-DigitalOut CS5(PB_6);
+DigitalOut CS5(PB_8);
 DigitalOut CS6(PC_1);
 DigitalOut CS7(PC_0); 
+
 DigitalOut greenLED(PB_0);                               
+//////////////////////////
 
+
+
+//////////////////////////
 uint8_t  Hbyte_enc1 = 0;
 uint8_t  Lbyte_enc1 = 0;
 uint8_t  Hbyte_enc2 = 0;
@@ -86,6 +99,15 @@
 uint32_t previousT = 0;
 uint32_t DeltaT = 0;
 
+uint8_t TxdataBuffer[20];
+uint8_t KeypadBuffer[4];
+uint8_t keydata = 0;
+uint32_t keypush = 0;
+uint32_t pre_keypush = 0;
+uint8_t keystate = 0;
+uint8_t pushIndex = 0;
+uint16_t Keypad_data = 0;
+
 uint16_t TestData = 0;
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
@@ -95,6 +117,7 @@
   spi.frequency(500000); //500 kHz    
 }
 
+
 void ReadEncoder(SPI&spi, uint8_t &low, uint8_t &high, DigitalOut& CS, uint16_t &angle)
 {
   CS = 0;
@@ -105,11 +128,14 @@
   uint16_t Data = ((uint16_t)high << 2) + ((uint16_t)low >>6); 
   high = Data >> 8;
   low = Data & 0xff;
-  angle = (float)Data * (360.0 / 1024.0);
-  angle = (uint16_t) angle * 1;
+  
+  angle = Data;
+  //angle = (float)Data * (360.0 / 1024.0);
+  //angle = (uint16_t)(angle * 1000);
 }
 
 
+ 
 //////////////////////////////////////////////////////////////////////////////// 
 ////////////////////////////////////////////////////////////////////////////////
 int main() 
@@ -125,21 +151,80 @@
     greenLED = 0;
     //tick1.attach(MeasureEncoder, 0.01);
     
+    Keypad keypad(PC_3, PC_2, NC, NC, PA_14, PA_13, NC, NC);
+    keypad.enablePullUp();
+    char key;
+    
+    
     while(1)
     {
       TestData++;
       if(TestData == 5) {
         TestData = 0;
-        greenLED = !greenLED;   
+       greenLED = !greenLED;   
+      }
+      
+      key = keypad.getKey();
+      if(key != KEY_RELEASED)
+      {
+          keydata = key;
+          
+          if(keydata == '1'){KeypadBuffer[1]= 0xC1;}
+          else if(keydata == '4'){KeypadBuffer[1]=0xC2;}
+          else if(keydata == '2'){KeypadBuffer[1]=0xC3;}
+          else if(keydata == '5'){keypush++;} 
+        
+      }
+      
+      if (keypush == pre_keypush){
+         keypush = 0;    
+      }
+      
+      if((keypush > 2)&&(keystate == 0x00)){
+         KeypadBuffer[2] = 0x00;
+         keystate = 0x00;
+         pushIndex = 1;   
       }
+      else if((keypush > 2)&&(keystate == 0x01)){
+         KeypadBuffer[2] = 0x01;
+         keystate = 0x01;
+         pushIndex = 1;     
+      }
+      else if ((keypush == 0)&&(keystate == 0x00)){
+         if(pushIndex == 0){
+            KeypadBuffer[2] = 0x00;
+            keystate = 0x00;
+         }
+         if(pushIndex == 1){
+            KeypadBuffer[2] = 0x01;
+            keystate = 0x01;
+            pushIndex = 0;
+         }    
+      }
+      else if ((keypush == 0)&&(keystate == 0x01)){
+         if(pushIndex == 0){
+            KeypadBuffer[2] = 0x01;
+            keystate = 0x01;
+         }
+         if(pushIndex == 1){
+            KeypadBuffer[2] = 0x00;
+            keystate = 0x00;
+            pushIndex = 0;
+         }    
+      }
+      
+      pre_keypush = keypush;
+      
+      Keypad_data = (uint16_t)(KeypadBuffer[1] << 8) | KeypadBuffer[2];
       
       ReadEncoder(spi3, Lbyte_enc4, Hbyte_enc4, CS4, Angle_encoder4);
+      ReadEncoder(spi3, Lbyte_enc5, Hbyte_enc5, CS5, Angle_encoder5);
+      ReadEncoder(spi3, Lbyte_enc6, Hbyte_enc6, CS6, Angle_encoder6);      
+      ReadEncoder(spi3, Lbyte_enc7, Hbyte_enc7, CS7, Angle_encoder7);
       ReadEncoder(spi2, Lbyte_enc1, Hbyte_enc1, CS1, Angle_encoder1);
-      ReadEncoder(spi3, Lbyte_enc5, Hbyte_enc5, CS5, Angle_encoder5);
       ReadEncoder(spi2, Lbyte_enc2, Hbyte_enc2, CS2, Angle_encoder2);
-      ReadEncoder(spi3, Lbyte_enc6, Hbyte_enc6, CS6, Angle_encoder6);
       ReadEncoder(spi2, Lbyte_enc3, Hbyte_enc3, CS3, Angle_encoder3);
-      ReadEncoder(spi3, Lbyte_enc7, Hbyte_enc7, CS7, Angle_encoder7);
+      
       
       slave.write_reg_value(0,Angle_encoder1, true);
       slave.write_reg_value(1,Angle_encoder2, true);
@@ -148,23 +233,12 @@
       slave.write_reg_value(4,Angle_encoder5, true);
       slave.write_reg_value(5,Angle_encoder6, true);
       slave.write_reg_value(6,Angle_encoder7, true);
-      /*
-      pc.printf("enc1: %d", Angle_encoder1);
-      pc.printf("\n");
-      pc.printf("enc2: %d", Angle_encoder2);
-      pc.printf("\n");
-      pc.printf("enc3: %d", Angle_encoder3);
-      pc.printf("\n");
-      pc.printf("enc4: %d", Angle_encoder4);
-      pc.printf("\n");
-      pc.printf("enc5: %d", Angle_encoder5);
-      pc.printf("\n");
-      pc.printf("enc6: %d", Angle_encoder6);
-      pc.printf("\n");
-      pc.printf("enc7: %d", Angle_encoder7);
-      pc.printf("\n");
-      */
-      wait_us(10000);
+      slave.write_reg_value(7,Keypad_data, true);
+      
+      
+      printf("ENC1: %d, ENC2: %d, ENC3: %d, ENC4: %d,ENC5: %d, ENC6: %d, ENC7: %d\n", Angle_encoder1, Angle_encoder2, Angle_encoder3, Angle_encoder4,Angle_encoder5, Angle_encoder6, Angle_encoder7);
+
+      wait_us(100000);
 
     }