most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown
Dependencies: mbed MODSERIAL FATFileSystem
LTC1298/ltc1298.cpp@63:6cb0405fc6e6, 2018-06-18 (annotated)
- Committer:
- tnhnrl
- Date:
- Mon Jun 18 21:02:55 2018 +0000
- Revision:
- 63:6cb0405fc6e6
- Parent:
- 51:c5c40272ecc3
- Child:
- 68:8f549749b8ce
Version with code updates on multi-dive (still testing) and PID inputs and fixed data transmissions so it's working very quickly now on USB.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mkelly10 | 9:d5fcdcb3c89d | 1 | #include "ltc1298.hpp" |
mkelly10 | 9:d5fcdcb3c89d | 2 | |
danstrider | 10:085ab7328054 | 3 | SpiADC::SpiADC(PinName mosi, PinName miso, PinName sclk, PinName csel, PinName led) : |
danstrider | 10:085ab7328054 | 4 | _spi(mosi, miso, sclk), // mosi, miso, sclk |
danstrider | 10:085ab7328054 | 5 | adcLed(led), // status led |
danstrider | 10:085ab7328054 | 6 | cs(csel) // chip select |
mkelly10 | 9:d5fcdcb3c89d | 7 | { |
mkelly10 | 9:d5fcdcb3c89d | 8 | } |
mkelly10 | 9:d5fcdcb3c89d | 9 | |
danstrider | 10:085ab7328054 | 10 | void SpiADC::initialize() { |
mkelly10 | 9:d5fcdcb3c89d | 11 | //set up the spi bus and frequency |
mkelly10 | 51:c5c40272ecc3 | 12 | _spi.format(12,0); |
mkelly10 | 9:d5fcdcb3c89d | 13 | _spi.frequency(1000000); |
mkelly10 | 51:c5c40272ecc3 | 14 | |
mkelly10 | 9:d5fcdcb3c89d | 15 | //chip select high puts ltc1298 in standby |
danstrider | 10:085ab7328054 | 16 | cs = 1; |
danstrider | 10:085ab7328054 | 17 | |
danstrider | 10:085ab7328054 | 18 | //zero the initial ch0 and ch1 oversampled readings |
mkelly10 | 9:d5fcdcb3c89d | 19 | ch0_filt = 0; |
mkelly10 | 9:d5fcdcb3c89d | 20 | ch1_filt = 0; |
mkelly10 | 51:c5c40272ecc3 | 21 | ch2_filt = 0; |
mkelly10 | 51:c5c40272ecc3 | 22 | ch3_filt = 0; |
mkelly10 | 51:c5c40272ecc3 | 23 | ch4_filt = 0; |
mkelly10 | 51:c5c40272ecc3 | 24 | ch5_filt = 0; |
mkelly10 | 51:c5c40272ecc3 | 25 | ch6_filt = 0; |
mkelly10 | 51:c5c40272ecc3 | 26 | ch7_filt = 0; |
mkelly10 | 9:d5fcdcb3c89d | 27 | |
danstrider | 10:085ab7328054 | 28 | //led on to say hello |
tnhnrl | 63:6cb0405fc6e6 | 29 | adcLed = 0; |
mkelly10 | 9:d5fcdcb3c89d | 30 | } |
mkelly10 | 9:d5fcdcb3c89d | 31 | |
danstrider | 10:085ab7328054 | 32 | // start an interupt driven trigger of the external ADC |
danstrider | 10:085ab7328054 | 33 | void SpiADC::start() { |
mkelly10 | 51:c5c40272ecc3 | 34 | interval.attach_us(this, &SpiADC::update, 10000); //this should be a 100 Hz sample rate |
mkelly10 | 9:d5fcdcb3c89d | 35 | } |
mkelly10 | 9:d5fcdcb3c89d | 36 | |
danstrider | 10:085ab7328054 | 37 | // stop the interupt driven trigger |
danstrider | 10:085ab7328054 | 38 | void SpiADC::stop() { |
mkelly10 | 9:d5fcdcb3c89d | 39 | interval.detach(); |
mkelly10 | 9:d5fcdcb3c89d | 40 | } |
mkelly10 | 9:d5fcdcb3c89d | 41 | |
danstrider | 10:085ab7328054 | 42 | void SpiADC::update() { |
mkelly10 | 9:d5fcdcb3c89d | 43 | //flash the LED |
mkelly10 | 9:d5fcdcb3c89d | 44 | adcLed = !adcLed; |
mkelly10 | 9:d5fcdcb3c89d | 45 | |
mkelly10 | 9:d5fcdcb3c89d | 46 | //chip select low starts data conversion |
mkelly10 | 9:d5fcdcb3c89d | 47 | cs = 0; |
mkelly10 | 51:c5c40272ecc3 | 48 | |
mkelly10 | 9:d5fcdcb3c89d | 49 | //the next thing is the input data word |
mkelly10 | 9:d5fcdcb3c89d | 50 | //it is 4 bits and looks like this |
mkelly10 | 9:d5fcdcb3c89d | 51 | // | start | single/diff | odd/sign | MSB first/LSB first | |
mkelly10 | 9:d5fcdcb3c89d | 52 | // if you want single ended on channel 0 MSB first then input 0xD |
mkelly10 | 9:d5fcdcb3c89d | 53 | // if you want single ended on channel 1 MSB first then input 0xF |
mkelly10 | 9:d5fcdcb3c89d | 54 | |
mkelly10 | 9:d5fcdcb3c89d | 55 | // get channel 0 |
mkelly10 | 51:c5c40272ecc3 | 56 | unsigned int byte = _spi.write((0x18)<<2); |
mkelly10 | 9:d5fcdcb3c89d | 57 | //send a dummy byte to receive the data |
mkelly10 | 9:d5fcdcb3c89d | 58 | unsigned int byte1 = _spi.write(0x0); |
mkelly10 | 9:d5fcdcb3c89d | 59 | ch0_raw = byte1; |
mkelly10 | 9:d5fcdcb3c89d | 60 | ch0_filt += (ch0_raw - ch0_filt)/CH0OVERSAMPLE; |
mkelly10 | 9:d5fcdcb3c89d | 61 | |
mkelly10 | 9:d5fcdcb3c89d | 62 | cs = 1; |
mkelly10 | 9:d5fcdcb3c89d | 63 | cs = 0; |
mkelly10 | 9:d5fcdcb3c89d | 64 | |
mkelly10 | 51:c5c40272ecc3 | 65 | byte = _spi.write((0x19)<<2); |
mkelly10 | 9:d5fcdcb3c89d | 66 | //send a dummy byte to receive the data |
mkelly10 | 9:d5fcdcb3c89d | 67 | byte1 = _spi.write(0x0); |
mkelly10 | 9:d5fcdcb3c89d | 68 | ch1_raw = byte1; |
mkelly10 | 9:d5fcdcb3c89d | 69 | ch1_filt += (ch1_raw - ch1_filt)/CH1OVERSAMPLE; |
mkelly10 | 9:d5fcdcb3c89d | 70 | |
mkelly10 | 9:d5fcdcb3c89d | 71 | //switch chip select back to high |
mkelly10 | 9:d5fcdcb3c89d | 72 | cs = 1; |
mkelly10 | 51:c5c40272ecc3 | 73 | cs = 0; |
mkelly10 | 51:c5c40272ecc3 | 74 | |
mkelly10 | 51:c5c40272ecc3 | 75 | byte = _spi.write((0x1A)<<2); |
mkelly10 | 51:c5c40272ecc3 | 76 | //send a dummy byte to receive the data |
mkelly10 | 51:c5c40272ecc3 | 77 | byte1 = _spi.write(0x0); |
mkelly10 | 51:c5c40272ecc3 | 78 | ch2_raw = byte1; |
mkelly10 | 51:c5c40272ecc3 | 79 | ch2_filt += (ch2_raw - ch2_filt)/CH2OVERSAMPLE; |
mkelly10 | 51:c5c40272ecc3 | 80 | |
mkelly10 | 51:c5c40272ecc3 | 81 | //switch chip select back to high |
mkelly10 | 51:c5c40272ecc3 | 82 | cs = 1; |
mkelly10 | 51:c5c40272ecc3 | 83 | cs = 0; |
mkelly10 | 51:c5c40272ecc3 | 84 | |
mkelly10 | 51:c5c40272ecc3 | 85 | byte = _spi.write((0x1B)<<2); |
mkelly10 | 51:c5c40272ecc3 | 86 | //send a dummy byte to receive the data |
mkelly10 | 51:c5c40272ecc3 | 87 | byte1 = _spi.write(0x0); |
mkelly10 | 51:c5c40272ecc3 | 88 | ch3_raw = byte1; |
mkelly10 | 51:c5c40272ecc3 | 89 | ch3_filt += (ch3_raw - ch3_filt)/CH3OVERSAMPLE; |
mkelly10 | 51:c5c40272ecc3 | 90 | |
mkelly10 | 51:c5c40272ecc3 | 91 | //switch chip select back to high |
mkelly10 | 51:c5c40272ecc3 | 92 | cs = 1; |
mkelly10 | 51:c5c40272ecc3 | 93 | |
mkelly10 | 51:c5c40272ecc3 | 94 | cs = 0; |
mkelly10 | 51:c5c40272ecc3 | 95 | |
mkelly10 | 51:c5c40272ecc3 | 96 | byte = _spi.write((0x1C)<<2); |
mkelly10 | 51:c5c40272ecc3 | 97 | //send a dummy byte to receive the data |
mkelly10 | 51:c5c40272ecc3 | 98 | byte1 = _spi.write(0x0); |
mkelly10 | 51:c5c40272ecc3 | 99 | ch4_raw = byte1; |
mkelly10 | 51:c5c40272ecc3 | 100 | ch4_filt += (ch4_raw - ch4_filt)/CH4OVERSAMPLE; |
mkelly10 | 51:c5c40272ecc3 | 101 | |
mkelly10 | 51:c5c40272ecc3 | 102 | //switch chip select back to high |
mkelly10 | 51:c5c40272ecc3 | 103 | cs = 1; |
mkelly10 | 51:c5c40272ecc3 | 104 | |
mkelly10 | 51:c5c40272ecc3 | 105 | cs = 0; |
mkelly10 | 51:c5c40272ecc3 | 106 | |
mkelly10 | 51:c5c40272ecc3 | 107 | byte = _spi.write((0x1D)<<2); |
mkelly10 | 51:c5c40272ecc3 | 108 | //send a dummy byte to receive the data |
mkelly10 | 51:c5c40272ecc3 | 109 | byte1 = _spi.write(0x0); |
mkelly10 | 51:c5c40272ecc3 | 110 | ch5_raw = byte1; |
mkelly10 | 51:c5c40272ecc3 | 111 | ch5_filt += (ch5_raw - ch5_filt)/CH5OVERSAMPLE; |
mkelly10 | 51:c5c40272ecc3 | 112 | |
mkelly10 | 51:c5c40272ecc3 | 113 | //switch chip select back to high |
mkelly10 | 51:c5c40272ecc3 | 114 | cs = 1; |
mkelly10 | 51:c5c40272ecc3 | 115 | |
mkelly10 | 51:c5c40272ecc3 | 116 | cs = 0; |
mkelly10 | 51:c5c40272ecc3 | 117 | |
mkelly10 | 51:c5c40272ecc3 | 118 | byte = _spi.write((0x1E)<<2); |
mkelly10 | 51:c5c40272ecc3 | 119 | //send a dummy byte to receive the data |
mkelly10 | 51:c5c40272ecc3 | 120 | byte1 = _spi.write(0x0); |
mkelly10 | 51:c5c40272ecc3 | 121 | ch6_raw = byte1; |
mkelly10 | 51:c5c40272ecc3 | 122 | ch6_filt += (ch6_raw - ch6_filt)/CH6OVERSAMPLE; |
mkelly10 | 51:c5c40272ecc3 | 123 | |
mkelly10 | 51:c5c40272ecc3 | 124 | //switch chip select back to high |
mkelly10 | 51:c5c40272ecc3 | 125 | cs = 1; |
mkelly10 | 51:c5c40272ecc3 | 126 | |
mkelly10 | 51:c5c40272ecc3 | 127 | cs = 0; |
mkelly10 | 51:c5c40272ecc3 | 128 | |
mkelly10 | 51:c5c40272ecc3 | 129 | byte = _spi.write((0x1F)<<2); |
mkelly10 | 51:c5c40272ecc3 | 130 | //send a dummy byte to receive the data |
mkelly10 | 51:c5c40272ecc3 | 131 | byte1 = _spi.write(0x0); |
mkelly10 | 51:c5c40272ecc3 | 132 | ch7_raw = byte1; |
mkelly10 | 51:c5c40272ecc3 | 133 | ch7_filt += (ch7_raw - ch7_filt)/CH7OVERSAMPLE; |
mkelly10 | 51:c5c40272ecc3 | 134 | |
mkelly10 | 51:c5c40272ecc3 | 135 | //switch chip select back to high |
mkelly10 | 51:c5c40272ecc3 | 136 | cs = 1; |
mkelly10 | 51:c5c40272ecc3 | 137 | |
mkelly10 | 9:d5fcdcb3c89d | 138 | return ; |
mkelly10 | 9:d5fcdcb3c89d | 139 | } |
mkelly10 | 9:d5fcdcb3c89d | 140 | |
danstrider | 10:085ab7328054 | 141 | int SpiADC::readCh0() { |
mkelly10 | 9:d5fcdcb3c89d | 142 | return ch0_filt; |
mkelly10 | 9:d5fcdcb3c89d | 143 | } |
mkelly10 | 9:d5fcdcb3c89d | 144 | |
danstrider | 10:085ab7328054 | 145 | int SpiADC::readCh1() { |
mkelly10 | 9:d5fcdcb3c89d | 146 | return ch1_filt; |
mkelly10 | 51:c5c40272ecc3 | 147 | } |
mkelly10 | 51:c5c40272ecc3 | 148 | |
mkelly10 | 51:c5c40272ecc3 | 149 | int SpiADC::readCh2() { |
mkelly10 | 51:c5c40272ecc3 | 150 | return ch2_filt; |
mkelly10 | 51:c5c40272ecc3 | 151 | } |
mkelly10 | 51:c5c40272ecc3 | 152 | |
mkelly10 | 51:c5c40272ecc3 | 153 | int SpiADC::readCh3() { |
mkelly10 | 51:c5c40272ecc3 | 154 | return ch3_filt; |
mkelly10 | 51:c5c40272ecc3 | 155 | } |
mkelly10 | 51:c5c40272ecc3 | 156 | |
mkelly10 | 51:c5c40272ecc3 | 157 | int SpiADC::readCh4() { |
mkelly10 | 51:c5c40272ecc3 | 158 | return ch4_filt; |
mkelly10 | 51:c5c40272ecc3 | 159 | } |
mkelly10 | 51:c5c40272ecc3 | 160 | |
mkelly10 | 51:c5c40272ecc3 | 161 | int SpiADC::readCh5() { |
mkelly10 | 51:c5c40272ecc3 | 162 | return ch5_filt; |
mkelly10 | 51:c5c40272ecc3 | 163 | } |
mkelly10 | 51:c5c40272ecc3 | 164 | |
mkelly10 | 51:c5c40272ecc3 | 165 | int SpiADC::readCh6() { |
mkelly10 | 51:c5c40272ecc3 | 166 | return ch6_filt; |
mkelly10 | 51:c5c40272ecc3 | 167 | } |
mkelly10 | 51:c5c40272ecc3 | 168 | |
mkelly10 | 51:c5c40272ecc3 | 169 | int SpiADC::readCh7() { |
mkelly10 | 51:c5c40272ecc3 | 170 | return ch7_filt; |
mkelly10 | 9:d5fcdcb3c89d | 171 | } |