STM32 / Mbed 2 deprecated Nucleo_read_analog_value

program 1 driver

Dependencies:   mbed motorController2

main.cpp@4:6956b568c810, 2017-02-14 (annotated)

Committer:
abckcp
Date:
Tue Feb 14 22:50:24 2017 +0000
Revision:
4:6956b568c810
Parent:
3:e3b61eb0590b
Child:
5:f2edd689cc38
Should add arduino - STM 32 ACK protocol

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BalB 0:1d2060237094 1 #include "mbed.h"
BalB 1:3370c513ff5c 2 #include "math.h"
abckcp 4:6956b568c810 3 #include "DigitalInOut.h"
abckcp 4:6956b568c810 4
abckcp 4:6956b568c810 5 /* Como el movimiento de los motores lo hace el arduino y las medidas la stm32 tienen que coordinarse de alguna manera
abckcp 4:6956b568c810 6 Este codigo tiene que hacer las medidas cuando le llegue un 1 por el puerto digital input 13 ,significa q los motores ya estan en posición
abckcp 4:6956b568c810 7 Cuando acabe de medir, enviar un 1 por el puerto digital output 12 , le dice al arduino q ha acabado y tiene q cambiar la posición
abckcp 4:6956b568c810 8
abckcp 4:6956b568c810 9 */
BalB 0:1d2060237094 10 AnalogIn top_left(A0); // Analog InPut
BalB 0:1d2060237094 11 AnalogIn top_right(A1); // Analog InPut
BalB 0:1d2060237094 12 AnalogIn bot_left(A2); // Analog InPut
BalB 0:1d2060237094 13 AnalogIn bot_right(A3); // Analog InPut
abckcp 4:6956b568c810 14 //Para coordinar el arduino y el stm32 utilizamos dos pines digitales de mas
abckcp 4:6956b568c810 15 //pin 13: si 0 arduino se esta moviendo no tomar medidas, si 1 arduino en posicion empezar a tomar medidas
abckcp 4:6956b568c810 16 //pin 12: si 0 aun se esta midiendo no mover, si 1 medidas acabadas arduino ya se puede mover
abckcp 4:6956b568c810 17 DigitalInOut medir(D6); //si llega 1=high el arduino ya esta en posicion y ya se puede medir
abckcp 4:6956b568c810 18 DigitalInOut mover(D5); // ya hemos medido, decimos al arduino q cambie la posicion, enviar 1=high
abckcp 4:6956b568c810 19 DigitalInOut end(D4); //calibracion acabada
BalB 1:3370c513ff5c 20
BalB 0:1d2060237094 21
BalB 2:50b081df251a 22 const int N =100; //Number of measures x position
BalB 2:50b081df251a 23
BalB 2:50b081df251a 24
BalB 0:1d2060237094 25 DigitalOut myled(LED1); // Digital OutPut
BalB 0:1d2060237094 26 Serial pc(SERIAL_TX, SERIAL_RX); // Default USART is: 8N1 NO FlowControl
BalB 1:3370c513ff5c 27
BalB 1:3370c513ff5c 28
BalB 0:1d2060237094 29 // Variables --------------------------------------------------------------
BalB 1:3370c513ff5c 30 uint16_t measTL = 0;
BalB 1:3370c513ff5c 31 uint16_t measTR = 0;
BalB 1:3370c513ff5c 32 uint16_t measBL = 0;
BalB 1:3370c513ff5c 33 uint16_t measBR = 0;
abckcp 4:6956b568c810 34 int j=0; //iterator 1
BalB 2:50b081df251a 35
BalB 2:50b081df251a 36 int mitja_esquerra_adalt= 0; //Average of measures of PH
BalB 2:50b081df251a 37 int mitja_dreta_adalt=0; //Average of measures of PH
BalB 2:50b081df251a 38 int mitja_esquerra_abaix=0; //Average of measures of PH
BalB 2:50b081df251a 39 int mitja_dreta_abaix = 0; //Average of measures of PH
BalB 2:50b081df251a 40
BalB 2:50b081df251a 41 int val_top_left [N]= {0}; //instantaneous value of measure of PH
BalB 2:50b081df251a 42 int val_top_right [N]= {0}; //instantaneous value of measure of PH
BalB 2:50b081df251a 43 int val_bot_left [N]= {0}; //instantaneous value of measure of PH
BalB 2:50b081df251a 44 int val_bot_right [N]= {0}; //instantaneous value of measure of PH
BalB 2:50b081df251a 45
BalB 2:50b081df251a 46 double sum_top_left= 0; //sumatory of measures of PH
BalB 2:50b081df251a 47 double sum_top_right= 0; //sumatory of measures of PH
BalB 2:50b081df251a 48 double sum_bot_left= 0; //sumatory of measures of PH
BalB 2:50b081df251a 49 double sum_bot_right= 0; //sumatory of measures of PH
BalB 2:50b081df251a 50
BalB 2:50b081df251a 51 double sum_var_top_left=0;
BalB 2:50b081df251a 52 double sum_var_top_right=0;
BalB 2:50b081df251a 53 double sum_var_bot_left=0;
BalB 2:50b081df251a 54 double sum_var_bot_right=0;
BalB 2:50b081df251a 55
BalB 2:50b081df251a 56 int val_var_top_left=0; //Variance Value for this PH
BalB 2:50b081df251a 57 int val_var_top_right=0; //Variance Value for this PH
BalB 2:50b081df251a 58 int val_var_bot_left=0; //Variance Value for this PH
BalB 2:50b081df251a 59 int val_var_bot_right=0; //Variance Value for this PH
BalB 2:50b081df251a 60
BalB 2:50b081df251a 61
BalB 2:50b081df251a 62
BalB 2:50b081df251a 63
BalB 1:3370c513ff5c 64
BalB 0:1d2060237094 65 //DigitalOut led(LED1);
BalB 0:1d2060237094 66
BalB 0:1d2060237094 67
BalB 0:1d2060237094 68 // ATTENTION
BalB 0:1d2060237094 69 // The two value below, must be changed in according to the Vcc and ADC
BalB 0:1d2060237094 70 // resolution
BalB 0:1d2060237094 71 float_t Valim = 3300; // This is the supplay voltage of ADC (or MCU)
BalB 0:1d2060237094 72 float_t ADCres = 4096; // This is the ADC resolution that in this case si 12Bit
abckcp 4:6956b568c810 73 // All NUCLEO boards use an ADC with 12bit resolution
BalB 0:1d2060237094 74
BalB 0:1d2060237094 75 int main()
BalB 0:1d2060237094 76 {
abckcp 4:6956b568c810 77 pc.printf("\n\r\n\rSTART program\n\r");
abckcp 4:6956b568c810 78
BalB 0:1d2060237094 79 pc.printf("\n\r\n\rSTART program\n\r");
abckcp 4:6956b568c810 80 pc.printf("\n mitja_esquerra_adalt , var_top_left , mitja_dreta_adalt , var_top_right , mitja_esquerra_abaix , var_bot_left , mitja_dreta_abaix , var_bot_right\n");
abckcp 4:6956b568c810 81 medir.write(0);
abckcp 4:6956b568c810 82 mover.write(1);
abckcp 4:6956b568c810 83 end.write(0);
abckcp 4:6956b568c810 84 while(end.read()!=1) {
abckcp 4:6956b568c810 85
abckcp 4:6956b568c810 86 //mientras no este en la posicion, el arduino se esta moviendo, no se puede medir, se espera
abckcp 4:6956b568c810 87 while(medir.read()==0) {
abckcp 4:6956b568c810 88 }
abckcp 4:6956b568c810 89
abckcp 4:6956b568c810 90 //cuando esta en posicion, medir
abckcp 4:6956b568c810 91 if(medir.read()==1) {
abckcp 4:6956b568c810 92 mover.write(0);// decir al arduino q aun no ha medido, no se puede mover
abckcp 4:6956b568c810 93 sum_top_left=0;
abckcp 4:6956b568c810 94 sum_top_right=0;
abckcp 4:6956b568c810 95 sum_bot_left=0;
abckcp 4:6956b568c810 96 sum_bot_right=0;
abckcp 4:6956b568c810 97
abckcp 4:6956b568c810 98 sum_var_top_left=0;
abckcp 4:6956b568c810 99 sum_var_top_right=0;
abckcp 4:6956b568c810 100 sum_var_bot_left=0;
abckcp 4:6956b568c810 101 sum_var_bot_right=0;
abckcp 4:6956b568c810 102
abckcp 4:6956b568c810 103 while(j<N) {
abckcp 4:6956b568c810 104 val_top_left[j]=top_left.read_u16(); //Taking N measures
abckcp 4:6956b568c810 105 val_top_right[j]=top_right.read_u16(); //Taking N measures
abckcp 4:6956b568c810 106 val_bot_left[j]=bot_left.read_u16(); //Taking N measures
abckcp 4:6956b568c810 107 val_bot_right[j]=bot_right.read_u16(); //Taking N measures
abckcp 4:6956b568c810 108
abckcp 4:6956b568c810 109
BalB 2:50b081df251a 110
abckcp 4:6956b568c810 111 sum_top_left = sum_top_left + val_top_left[j]; //Making the sum of the measure for each PH
abckcp 4:6956b568c810 112 sum_top_right = sum_top_right + val_top_right[j]; //Making the sum of the measure for each PH
abckcp 4:6956b568c810 113 sum_bot_left = sum_bot_left + val_bot_left[j]; //Making the sum of the measure for each PH
abckcp 4:6956b568c810 114 sum_bot_right = sum_bot_right + val_bot_right[j]; //Making the sum of the measure for each PH
abckcp 4:6956b568c810 115
abckcp 4:6956b568c810 116 j++;
abckcp 4:6956b568c810 117
abckcp 4:6956b568c810 118 }
abckcp 4:6956b568c810 119
abckcp 4:6956b568c810 120 mitja_esquerra_adalt=double(rint((sum_top_left/N))); //Computiong the average
abckcp 4:6956b568c810 121 mitja_dreta_adalt=double(rint((sum_top_right/N))); //Computiong the average
abckcp 4:6956b568c810 122 mitja_esquerra_abaix=double(rint((sum_bot_left/N))); //Computiong the average
abckcp 4:6956b568c810 123 mitja_dreta_abaix=double(rint((sum_bot_right/N))); //Computiong the average
abckcp 4:6956b568c810 124
abckcp 4:6956b568c810 125 for (j=0; j<N; j++) {
abckcp 4:6956b568c810 126 sum_var_top_left= ((val_top_left[j]-mitja_esquerra_adalt)*(val_top_left[j]-mitja_esquerra_adalt)) + sum_var_top_left; //Variance for each measure
abckcp 4:6956b568c810 127 sum_var_top_right= ((val_top_right[j]-mitja_dreta_adalt)*(val_top_right[j]-mitja_dreta_adalt)) + sum_var_top_right; //Variance for each measure
abckcp 4:6956b568c810 128 sum_var_bot_left= ((val_bot_left[j]-mitja_esquerra_abaix)*(val_bot_left[j]-mitja_esquerra_abaix)) + sum_var_bot_left; //Variance for each measure
abckcp 4:6956b568c810 129 sum_var_bot_right= ((val_bot_right[j]-mitja_dreta_abaix)*(val_bot_right[j]-mitja_dreta_abaix)) + sum_var_bot_right; //Variance for each measure
abckcp 4:6956b568c810 130
abckcp 4:6956b568c810 131 }
abckcp 4:6956b568c810 132 val_var_top_left=double(rint(sqrt(sum_var_top_left/N))); //Obtaining Variance Value for this PH
abckcp 4:6956b568c810 133 val_var_top_right=double(rint(sqrt(sum_var_top_right/N))); //Obtaining Variance Value for this PH
abckcp 4:6956b568c810 134 val_var_bot_left=double(rint(sqrt(sum_var_bot_left/N))); //Obtaining Variance Value for this PH
abckcp 4:6956b568c810 135 val_var_bot_right=double(rint(sqrt(sum_var_bot_right/N))); //Obtaining Variance Value for this PH
abckcp 4:6956b568c810 136
abckcp 4:6956b568c810 137
abckcp 4:6956b568c810 138 //PRINTEJAR RESULTATS
abckcp 4:6956b568c810 139 pc.printf("\n%d ,", mitja_esquerra_adalt);
abckcp 4:6956b568c810 140 pc.printf(" %d ,", val_var_top_left);
abckcp 4:6956b568c810 141 pc.printf(" %d ,", mitja_dreta_adalt);
abckcp 4:6956b568c810 142 pc.printf(" %d ,", val_var_top_right);
abckcp 4:6956b568c810 143 pc.printf(" %d ,", mitja_esquerra_abaix);
abckcp 4:6956b568c810 144 pc.printf(" %d ,", val_var_bot_left);
abckcp 4:6956b568c810 145 pc.printf(" %d ,", mitja_dreta_abaix);
abckcp 4:6956b568c810 146 pc.printf(" %d ,", val_var_bot_right);
BalB 2:50b081df251a 147
BalB 2:50b081df251a 148
abckcp 4:6956b568c810 149 }
abckcp 4:6956b568c810 150
BalB 2:50b081df251a 151
abckcp 4:6956b568c810 152 mover.write(1); //ya ha medido, decir al arduino que cambie la posicion
abckcp 4:6956b568c810 153 //wait_ms(1000); //esperar por si acaso
abckcp 4:6956b568c810 154 //para asegurar que la stm se espere hasta que cambien la posicion
abckcp 4:6956b568c810 155 medir.write(0);//decir que el arduino se esta moviendo, no tomar medidas
BalB 0:1d2060237094 156 }
BalB 0:1d2060237094 157 }
abckcp 4:6956b568c810 158