USNA ES305
...
Diff: main.cpp
- Revision:
- 1:daaa91186ace
- Parent:
- 0:722b391fe228
- Child:
- 2:a9366dce183b
--- a/main.cpp Tue Aug 05 19:22:19 2014 +0000
+++ b/main.cpp Thu Aug 07 17:55:45 2014 +0000
@@ -4,14 +4,11 @@
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);*/
+LocalFileSystem local("local"); // Create the local filesystem under the name "local"
int read_max1270(int chan, int range, int bipol){
int cword=0x80; //set the start bit
@@ -66,117 +63,66 @@
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 Ts = 1.0; // Sampling period 1/Ts Hz
+//float Tl = 0.5; // Logging period
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
+// Arrays for data storage
+float etime[200];
+float t1v[200];
+float t2v[200];
+//float t1h[200];
+//float t2h[200];
+float dcp[200];
Timer t;
+ // Open "results.M" on the local file system for writing
+FILE *fp = fopen("/local/results.M", "w");
+
float cntr;
float dc;
+int k;
+
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) {
+ pc.baud(921600); // Establish baud rate
+ mot_en1.period_us(50); // Set PWM length to 50 us
+ max1270_cs = 1; // Activate A/D
+ cntr = 0.0; // cntr used to keep track of sample period and elpased time
+
+ // initialize data vectors
+ for(k=0;k<200;k++)
+ { etime[k] = 0.0;
+ t1v[k] = 0.0;
+ t2v[k] = 0.0;
+ //t1h[k] = 0.0;
+ //t2h[k] = 0.0;
+ dcp[k] = 0.0;
+ }
+ k = 0; // Reset index counter
+
+ while(cntr*Ts <= 180) {
t.start(); // start measuring comp time
- // Read pressure sensors
+
+ // Read pressure sensors
+ Tank1 = read_max1270_volts(1, 1, 1);
+ Tank2 = read_max1270_volts(0, 1, 1);
+
+ // Convert pressure voltage to tank height
+ //h1 = c1*(Tank1 - v10);
+ //h2 = c2*(Tank2 - v20);
- 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;
- //}
-
+ // Drive pump for ID
if (cntr*Ts <= 5) {
dc = 0.0;
- } else if (cntr*Ts <= 110) {
- dc = -0.75;
+ } else if (cntr*Ts <= 175) {
+ dc = -0.7;
} else {
dc = 0.0;
- }
-
- //dc = 0.75;
- //mot_control(1,-dc);
+ }
if(dc > 0.0){
mot1_ph2 = 0;
@@ -187,18 +133,41 @@
mot1_ph1 = 0;
mot1_ph2 = 1;
mot_en1 = abs(dc);}
-
-
+ // Log data
+ etime[k] = cntr*Ts;
+ t1v[k] = Tank1;
+ t2v[k] = Tank2;
+ //t1h[k] = h1;
+ //t2h[k] = h2;
+ dcp[k] = -dc;
+ k++;
+
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);
+ pc.printf("%5.2f %5.2f %5.2f %5.2f \n\r",cntr*Ts,Tank1,Tank2,dc);
+ //pc.printf("%5.2f %5.2f %5.2f %5.2f %5.2f %5.2f \n\r",cntr*Ts,Tank1,Tank2,h1,h2,dc);
t.reset();
cntr=cntr+1;
wait(dt); // wait to ensure sampling period set by Ts
}//while
mot1_ph2 = 0;
mot_en1 = 0.0;
+
+ // Print out log variables in MATLAB structured variable format.
+ pc.printf("Printing log variables to file on mBed ... ");
+ if(1) {
+ for(k=0; k<200; k++) {
+ fprintf(fp,"t(%d,1) = %.5f;\n",k+1,etime[k]);
+ fprintf(fp,"t1v(%d,1) = %.5f;\n",k+1,t1v[k]);
+ fprintf(fp,"t2v(%d,1) = %.5f;\n",k+1,t2v[k]);
+ //fprintf(fp,"t1h(%d,1) = %.5f;\n",k+1,t1h[k]);
+ //fprintf(fp,"t2h(%d,1) = %.5f;\n",k+1,t2h[k]);
+ fprintf(fp,"dcp(%d,1) = %.5f;\n",k+1,dcp[k]);
+ }
+ }
+ printf("done.\r\n");
+
+ // Close file
+ fclose(fp);
+
}//main
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