Diff: main.cpp

Revision:

0:97879c8efe59

Child:

1:4eeae0f92c4c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Mar 27 14:09:53 2019 +0000
@@ -0,0 +1,130 @@
+//Module8-9
+//Nucleo Board 1 (Master)
+
+#include "mbed.h"
+#include <Map.hpp>
+
+Serial pc(USBTX, USBRX);
+
+SPI master(PA_7, PA_6, PA_5);       //SPI1_MOSI, SPI1_MISO, SPI1_SCLK
+SPI mstrEnc1(PB_15, PB_14, PB_13);  //SPI2_MOSI, SPI2_MISO, SPI2_SCLK
+SPI mstrEnc2(PC_12, PC_11, PC_10);     //SPI3_MOSI, SPI3_MISO, SPI3_SCLK
+
+DigitalOut csMstr(PA_15);           //SPI1_SSEL Master
+DigitalOut csEnc1(PB_12);           //SPI2_SSEL Encoder 1
+DigitalOut csEnc2(PA_4);            //SPI3_SSEL Encoder 2
+
+
+//Parameters
+
+char array[4];
+char arraySize = sizeof(array);
+char getData = 0;
+char checkData = 0;
+char encArr[2]= {255,255};
+char encLength = 2;
+bool start = false;
+
+/////////////////////////////
+
+//Functions
+
+void RX(int data){
+    array[checkData] = data;
+    checkData++;
+    if(checkData == arraySize){
+        getData = 1;
+        checkData = 0;
+    }
+}
+
+void RX_INT(){
+    int data = pc.getc();
+    RX(data);
+}
+
+float ConvertAngle(int encData){
+    Map map(0, 16383, 0, 359);
+    float angle = map.Calculate(encData);
+    return angle;
+    }
+
+float readEnc1(){
+    //Encoder1 = LOW
+    csEnc1 = 0;
+    char *arrAdd = &encArr[0];
+    int encData = mstrEnc1.write(arrAdd, 2, arrAdd, 2);
+    encData = encArr[0] * 256 + encArr[1];
+    csEnc1 = 1;
+    return ConvertAngle(encData/2);
+}
+
+float readEnc2(){
+    //Encoder2 = LOW
+    csEnc2 = 0;
+    char *arrAdd = &encArr[0];
+    int encData = mstrEnc2.write(arrAdd, 2, arrAdd, 2);
+    encData = encArr[0] * 256 + encArr[1];
+    csEnc2 = 1;
+    return ConvertAngle(encData/2);
+}
+
+//Main
+
+int main() {
+    pc.baud(9600);
+    RX_INT();
+    pc.attach(&RX_INT, Serial::RxIrq);
+    
+    csMstr = 1;
+    csEnc1 = 1;
+    csEnc2 = 1;
+    
+    master.format(8,3);
+    master.frequency(1000000);
+    mstrEnc1.format(14, 3);
+    mstrEnc1.frequency(500000);
+    mstrEnc2.format(14, 3);
+    mstrEnc2.frequency(500000);
+    
+    
+//Program Loop    
+    while(true){
+        if(getData == 1){
+            for(char i = 0; i < arraySize; i++){
+                //printf("array[%d] = %d\n", i,array[i]);
+//                csMstr = 0;
+//                master.write(array[i]);
+//                int masterData = master.write(0x00);
+//                printf("masterData = %d\n", masterData);
+                pc.putc(array[i]);
+            }
+            if(array[2] == 122){ //receive 'z'
+                start = true;
+                csMstr = 0;
+                master.write(array[3]);
+                int masterData = master.write(0x00);
+                //printf("masterData = %d\n", masterData);
+                //state = 0;
+                csMstr = 1;
+                pc.putc(masterData);
+                pc.putc('A');
+                
+//                wait(1);
+            }
+            
+            getData = 0;
+        }
+        if(start == true){
+            float encData1 = readEnc1();
+            float encData2 = readEnc2();
+            printf("Encoder1 = %.2f     ", encData1);
+            printf("Encoder2 = %.2f \n\r", encData2);
+        }
+        
+    }
+    
+    
+    
+    
+}
\ No newline at end of file