Diff: main.cpp

Revision:

0:722b391fe228

Child:

1:daaa91186ace

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Aug 05 19:22:19 2014 +0000
@@ -0,0 +1,204 @@
+#include "mbed.h"
+// APIs
+Serial pc(USBTX, USBRX); // tx, rx for serial USB interface to pc
+SPI spi_max1270(p5, p6, p7);
+SPI spi(p5, p6, p7);
+DigitalOut max1270_cs(p8);  //MAX1270 ADC CS
+//DigitalOut max522_cs(p11);  //MAX522 DAC CS
+DigitalOut mot1_ph1(p21);
+DigitalOut mot1_ph2(p22);
+PwmOut mot_en1(p23);
+
+/*DigitalOut mot2_ph1(p24);
+DigitalOut mot2_ph2(p25);
+PwmOut mot_en2(p26);*/
+
+int read_max1270(int chan, int range, int bipol){
+    int cword=0x80;     //set the start bit
+    
+    spi_max1270.frequency(10000000);
+    spi_max1270.format(8, 0);   // 8 data bits, CPOL0, and CPHA0 (datasheet Digital Interface)
+        
+    cword |= (chan << 4);   //shift channel
+    cword |= (range << 3);
+    cword |= (bipol << 2);
+            
+    max1270_cs = 0;
+           
+    spi_max1270.write(cword);
+    wait_us(15);    //15us
+    spi_max1270.format(12, 3);
+    
+    int result = spi_max1270.write(0);
+    
+    max1270_cs = 1;
+    spi_max1270.format(8, 0);
+    return result;
+}
+
+float read_max1270_volts(int chan, int range, int bipol){
+    float rangevolts=0.0;
+    float volts=0.0;
+    int adc_res;
+
+    //read the ADC converter
+    adc_res = read_max1270(chan, range, bipol) & 0xFFF;
+        
+   //Determine the voltage range
+   if(range)  //RNG bit 
+     rangevolts=10.0;
+   else
+     rangevolts=5.0;
+             
+   //bi-polar input range
+   if(bipol){ //BIP is set, input is +/-
+     if(adc_res < 0x800){ //if result was positive
+      volts = ((float)adc_res/0x7FF) * rangevolts;      
+     }       
+     else{  //result was negative
+      volts = -(-((float)adc_res/0x7FF) * rangevolts) - (rangevolts * 2.0); 
+     }
+   }
+   else{  //input is positive polarity only
+      volts = ((float)adc_res/0xFFF) * rangevolts;   
+   }
+   
+   return volts;     
+}
+
+//Motor control routine for PWM on 5 pin motor driver header
+// drv_num is 1 or 2 (defaults to 1, anything but 2)
+// dc is signed duty cycle (+/-1.0)
+
+/*void mot_control(int drv_num, float dc){        
+    if(dc>1.0)
+        dc=1.0;
+    if(dc<-1.0)
+        dc=-1.0;
+    
+    if(drv_num != 2){           
+        if(dc > 0.0){
+            mot1_ph2 = 0;
+            mot1_ph1 = 1;
+            mot_en1 = dc;
+        }
+        else if(dc < -0.0){
+            mot1_ph1 = 0;
+            mot1_ph2 = 1;
+            mot_en1 = abs(dc);
+        }
+        else{
+            mot1_ph1 = 0;
+            mot1_ph2 = 0;
+            mot_en1 = 0.0;
+        }
+    }                
+    else{
+        if(dc > 0.0){
+            mot2_ph2 = 0;
+            mot2_ph1 = 1;
+            mot_en2 = dc;
+        }
+        else if(dc < -0.0){
+            mot2_ph1 = 0;
+            mot2_ph2 = 1;
+            mot_en2 = abs(dc);
+        }
+        else{
+            mot2_ph1 = 0;
+            mot2_ph2 = 0;
+            mot_en2 = 0.0;
+        }
+    }                   
+}*/
+
+//------- MAX522 routines ---------------------------------
+/*void write_max522(int chan, float volts){
+    int cmd=0x20;   //set UB3
+    int data_word = (int)((volts/5.0) * 256.0);
+    if(chan != 2)
+        cmd |= 0x01;    //set DAC A out
+    else
+        cmd |= 0x02;    //set DACB out        
+    
+ //   pc.printf("cmd=0x%4X  data_word=0x%4X \r\n", cmd, data_word);
+    
+    spi.format(8, 0);
+    spi.frequency(2000000);
+    max522_cs = 0;
+    spi.write(cmd & 0xFF);
+    spi.write(data_word & 0xFF);
+    max522_cs = 1;    
+    spi.frequency(10000000);
+}*/
+
+float Tank1,Tank2,dt,h1,h2;
+float Ts = 0.5; // 1/Ts Hz
+float c1 = 15.0/(2.77+1.24); // cm/V
+float c2 = 11.5/(3.58-0.79); // cm/V
+float v10 = -0.52; // V
+float v20 = -3.35; // V
+Timer t;
+
+float cntr;
+float dc;
+int main ()
+{
+    pc.baud(921600);
+    mot_en1.period_us(50);    
+    max1270_cs = 1;
+    //Ts = 0.1; 
+    //dc = 0.2;
+    cntr = 0.0;
+    while(cntr*Ts <= 120) {
+        t.start(); // start measuring comp time
+        // Read pressure sensors
+                
+        Tank1 = read_max1270_volts(0, 1, 1);
+        h1 = c1*(Tank1 - v10);
+        Tank2 = read_max1270_volts(1, 1, 1);
+        h2 = c2*(Tank2 - v20);
+        // drive motor
+        //if (cntr*Ts <= 0.05) {
+        //    dc = 0.0;
+        //} else if (cntr*Ts <= 0.2) {
+        //    dc = 0.3;
+        //} else {
+        //    dc = 0.7;
+        //}
+        
+        if (cntr*Ts <= 5) {
+            dc = 0.0;
+        } else if (cntr*Ts <= 110) {
+            dc = -0.75;
+        } else {
+            dc = 0.0;
+        }
+        
+        //dc = 0.75;
+        //mot_control(1,-dc);
+        
+        if(dc > 0.0){
+            mot1_ph2 = 0;
+            mot1_ph1 = 1;
+            mot_en1 = dc;
+        }
+        else if(dc < -0.0){
+            mot1_ph1 = 0;
+            mot1_ph2 = 1;
+            mot_en1 = abs(dc);}
+        
+       
+        t.stop(); // end measuring comp time
+        //printf("%f\n\r",t.read());
+        dt = Ts-t.read();
+        //printf("%f\n\r",dt);
+        pc.printf("%5.2f %5.2f %5.2f %5.2f %5.2f %5.2f \n\r",cntr*Ts,Tank1,Tank2,h1,h2,dc);
+        //printf("%5.2f \n\r",angleNew);
+        t.reset();
+        cntr=cntr+1;
+        wait(dt); // wait to ensure sampling period set by Ts    
+    }//while
+    mot1_ph2 = 0;
+    mot_en1 = 0.0;
+}//main
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