USNA ES305
/
TwoTank
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main.cpp@1:daaa91186ace, 2014-08-07 (annotated)
- Committer:
- riobrien
- Date:
- Thu Aug 07 17:55:45 2014 +0000
- Revision:
- 1:daaa91186ace
- Parent:
- 0:722b391fe228
- Child:
- 2:a9366dce183b
...;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
riobrien | 0:722b391fe228 | 1 | #include "mbed.h" |
riobrien | 0:722b391fe228 | 2 | // APIs |
riobrien | 0:722b391fe228 | 3 | Serial pc(USBTX, USBRX); // tx, rx for serial USB interface to pc |
riobrien | 0:722b391fe228 | 4 | SPI spi_max1270(p5, p6, p7); |
riobrien | 0:722b391fe228 | 5 | SPI spi(p5, p6, p7); |
riobrien | 0:722b391fe228 | 6 | DigitalOut max1270_cs(p8); //MAX1270 ADC CS |
riobrien | 0:722b391fe228 | 7 | DigitalOut mot1_ph1(p21); |
riobrien | 0:722b391fe228 | 8 | DigitalOut mot1_ph2(p22); |
riobrien | 0:722b391fe228 | 9 | PwmOut mot_en1(p23); |
riobrien | 0:722b391fe228 | 10 | |
riobrien | 1:daaa91186ace | 11 | LocalFileSystem local("local"); // Create the local filesystem under the name "local" |
riobrien | 0:722b391fe228 | 12 | |
riobrien | 0:722b391fe228 | 13 | int read_max1270(int chan, int range, int bipol){ |
riobrien | 0:722b391fe228 | 14 | int cword=0x80; //set the start bit |
riobrien | 0:722b391fe228 | 15 | |
riobrien | 0:722b391fe228 | 16 | spi_max1270.frequency(10000000); |
riobrien | 0:722b391fe228 | 17 | spi_max1270.format(8, 0); // 8 data bits, CPOL0, and CPHA0 (datasheet Digital Interface) |
riobrien | 0:722b391fe228 | 18 | |
riobrien | 0:722b391fe228 | 19 | cword |= (chan << 4); //shift channel |
riobrien | 0:722b391fe228 | 20 | cword |= (range << 3); |
riobrien | 0:722b391fe228 | 21 | cword |= (bipol << 2); |
riobrien | 0:722b391fe228 | 22 | |
riobrien | 0:722b391fe228 | 23 | max1270_cs = 0; |
riobrien | 0:722b391fe228 | 24 | |
riobrien | 0:722b391fe228 | 25 | spi_max1270.write(cword); |
riobrien | 0:722b391fe228 | 26 | wait_us(15); //15us |
riobrien | 0:722b391fe228 | 27 | spi_max1270.format(12, 3); |
riobrien | 0:722b391fe228 | 28 | |
riobrien | 0:722b391fe228 | 29 | int result = spi_max1270.write(0); |
riobrien | 0:722b391fe228 | 30 | |
riobrien | 0:722b391fe228 | 31 | max1270_cs = 1; |
riobrien | 0:722b391fe228 | 32 | spi_max1270.format(8, 0); |
riobrien | 0:722b391fe228 | 33 | return result; |
riobrien | 0:722b391fe228 | 34 | } |
riobrien | 0:722b391fe228 | 35 | |
riobrien | 0:722b391fe228 | 36 | float read_max1270_volts(int chan, int range, int bipol){ |
riobrien | 0:722b391fe228 | 37 | float rangevolts=0.0; |
riobrien | 0:722b391fe228 | 38 | float volts=0.0; |
riobrien | 0:722b391fe228 | 39 | int adc_res; |
riobrien | 0:722b391fe228 | 40 | |
riobrien | 0:722b391fe228 | 41 | //read the ADC converter |
riobrien | 0:722b391fe228 | 42 | adc_res = read_max1270(chan, range, bipol) & 0xFFF; |
riobrien | 0:722b391fe228 | 43 | |
riobrien | 0:722b391fe228 | 44 | //Determine the voltage range |
riobrien | 0:722b391fe228 | 45 | if(range) //RNG bit |
riobrien | 0:722b391fe228 | 46 | rangevolts=10.0; |
riobrien | 0:722b391fe228 | 47 | else |
riobrien | 0:722b391fe228 | 48 | rangevolts=5.0; |
riobrien | 0:722b391fe228 | 49 | |
riobrien | 0:722b391fe228 | 50 | //bi-polar input range |
riobrien | 0:722b391fe228 | 51 | if(bipol){ //BIP is set, input is +/- |
riobrien | 0:722b391fe228 | 52 | if(adc_res < 0x800){ //if result was positive |
riobrien | 0:722b391fe228 | 53 | volts = ((float)adc_res/0x7FF) * rangevolts; |
riobrien | 0:722b391fe228 | 54 | } |
riobrien | 0:722b391fe228 | 55 | else{ //result was negative |
riobrien | 0:722b391fe228 | 56 | volts = -(-((float)adc_res/0x7FF) * rangevolts) - (rangevolts * 2.0); |
riobrien | 0:722b391fe228 | 57 | } |
riobrien | 0:722b391fe228 | 58 | } |
riobrien | 0:722b391fe228 | 59 | else{ //input is positive polarity only |
riobrien | 0:722b391fe228 | 60 | volts = ((float)adc_res/0xFFF) * rangevolts; |
riobrien | 0:722b391fe228 | 61 | } |
riobrien | 0:722b391fe228 | 62 | |
riobrien | 0:722b391fe228 | 63 | return volts; |
riobrien | 0:722b391fe228 | 64 | } |
riobrien | 0:722b391fe228 | 65 | |
riobrien | 0:722b391fe228 | 66 | float Tank1,Tank2,dt,h1,h2; |
riobrien | 1:daaa91186ace | 67 | float Ts = 1.0; // Sampling period 1/Ts Hz |
riobrien | 1:daaa91186ace | 68 | //float Tl = 0.5; // Logging period |
riobrien | 0:722b391fe228 | 69 | float c1 = 15.0/(2.77+1.24); // cm/V |
riobrien | 0:722b391fe228 | 70 | float c2 = 11.5/(3.58-0.79); // cm/V |
riobrien | 0:722b391fe228 | 71 | float v10 = -0.52; // V |
riobrien | 0:722b391fe228 | 72 | float v20 = -3.35; // V |
riobrien | 1:daaa91186ace | 73 | // Arrays for data storage |
riobrien | 1:daaa91186ace | 74 | float etime[200]; |
riobrien | 1:daaa91186ace | 75 | float t1v[200]; |
riobrien | 1:daaa91186ace | 76 | float t2v[200]; |
riobrien | 1:daaa91186ace | 77 | //float t1h[200]; |
riobrien | 1:daaa91186ace | 78 | //float t2h[200]; |
riobrien | 1:daaa91186ace | 79 | float dcp[200]; |
riobrien | 0:722b391fe228 | 80 | Timer t; |
riobrien | 0:722b391fe228 | 81 | |
riobrien | 1:daaa91186ace | 82 | // Open "results.M" on the local file system for writing |
riobrien | 1:daaa91186ace | 83 | FILE *fp = fopen("/local/results.M", "w"); |
riobrien | 1:daaa91186ace | 84 | |
riobrien | 0:722b391fe228 | 85 | float cntr; |
riobrien | 0:722b391fe228 | 86 | float dc; |
riobrien | 1:daaa91186ace | 87 | int k; |
riobrien | 1:daaa91186ace | 88 | |
riobrien | 0:722b391fe228 | 89 | int main () |
riobrien | 0:722b391fe228 | 90 | { |
riobrien | 1:daaa91186ace | 91 | pc.baud(921600); // Establish baud rate |
riobrien | 1:daaa91186ace | 92 | mot_en1.period_us(50); // Set PWM length to 50 us |
riobrien | 1:daaa91186ace | 93 | max1270_cs = 1; // Activate A/D |
riobrien | 1:daaa91186ace | 94 | cntr = 0.0; // cntr used to keep track of sample period and elpased time |
riobrien | 1:daaa91186ace | 95 | |
riobrien | 1:daaa91186ace | 96 | // initialize data vectors |
riobrien | 1:daaa91186ace | 97 | for(k=0;k<200;k++) |
riobrien | 1:daaa91186ace | 98 | { etime[k] = 0.0; |
riobrien | 1:daaa91186ace | 99 | t1v[k] = 0.0; |
riobrien | 1:daaa91186ace | 100 | t2v[k] = 0.0; |
riobrien | 1:daaa91186ace | 101 | //t1h[k] = 0.0; |
riobrien | 1:daaa91186ace | 102 | //t2h[k] = 0.0; |
riobrien | 1:daaa91186ace | 103 | dcp[k] = 0.0; |
riobrien | 1:daaa91186ace | 104 | } |
riobrien | 1:daaa91186ace | 105 | k = 0; // Reset index counter |
riobrien | 1:daaa91186ace | 106 | |
riobrien | 1:daaa91186ace | 107 | while(cntr*Ts <= 180) { |
riobrien | 0:722b391fe228 | 108 | t.start(); // start measuring comp time |
riobrien | 1:daaa91186ace | 109 | |
riobrien | 1:daaa91186ace | 110 | // Read pressure sensors |
riobrien | 1:daaa91186ace | 111 | Tank1 = read_max1270_volts(1, 1, 1); |
riobrien | 1:daaa91186ace | 112 | Tank2 = read_max1270_volts(0, 1, 1); |
riobrien | 1:daaa91186ace | 113 | |
riobrien | 1:daaa91186ace | 114 | // Convert pressure voltage to tank height |
riobrien | 1:daaa91186ace | 115 | //h1 = c1*(Tank1 - v10); |
riobrien | 1:daaa91186ace | 116 | //h2 = c2*(Tank2 - v20); |
riobrien | 0:722b391fe228 | 117 | |
riobrien | 1:daaa91186ace | 118 | // Drive pump for ID |
riobrien | 0:722b391fe228 | 119 | if (cntr*Ts <= 5) { |
riobrien | 0:722b391fe228 | 120 | dc = 0.0; |
riobrien | 1:daaa91186ace | 121 | } else if (cntr*Ts <= 175) { |
riobrien | 1:daaa91186ace | 122 | dc = -0.7; |
riobrien | 0:722b391fe228 | 123 | } else { |
riobrien | 0:722b391fe228 | 124 | dc = 0.0; |
riobrien | 1:daaa91186ace | 125 | } |
riobrien | 0:722b391fe228 | 126 | |
riobrien | 0:722b391fe228 | 127 | if(dc > 0.0){ |
riobrien | 0:722b391fe228 | 128 | mot1_ph2 = 0; |
riobrien | 0:722b391fe228 | 129 | mot1_ph1 = 1; |
riobrien | 0:722b391fe228 | 130 | mot_en1 = dc; |
riobrien | 0:722b391fe228 | 131 | } |
riobrien | 0:722b391fe228 | 132 | else if(dc < -0.0){ |
riobrien | 0:722b391fe228 | 133 | mot1_ph1 = 0; |
riobrien | 0:722b391fe228 | 134 | mot1_ph2 = 1; |
riobrien | 0:722b391fe228 | 135 | mot_en1 = abs(dc);} |
riobrien | 1:daaa91186ace | 136 | // Log data |
riobrien | 1:daaa91186ace | 137 | etime[k] = cntr*Ts; |
riobrien | 1:daaa91186ace | 138 | t1v[k] = Tank1; |
riobrien | 1:daaa91186ace | 139 | t2v[k] = Tank2; |
riobrien | 1:daaa91186ace | 140 | //t1h[k] = h1; |
riobrien | 1:daaa91186ace | 141 | //t2h[k] = h2; |
riobrien | 1:daaa91186ace | 142 | dcp[k] = -dc; |
riobrien | 1:daaa91186ace | 143 | k++; |
riobrien | 1:daaa91186ace | 144 | |
riobrien | 0:722b391fe228 | 145 | t.stop(); // end measuring comp time |
riobrien | 0:722b391fe228 | 146 | dt = Ts-t.read(); |
riobrien | 1:daaa91186ace | 147 | pc.printf("%5.2f %5.2f %5.2f %5.2f \n\r",cntr*Ts,Tank1,Tank2,dc); |
riobrien | 1:daaa91186ace | 148 | //pc.printf("%5.2f %5.2f %5.2f %5.2f %5.2f %5.2f \n\r",cntr*Ts,Tank1,Tank2,h1,h2,dc); |
riobrien | 0:722b391fe228 | 149 | t.reset(); |
riobrien | 0:722b391fe228 | 150 | cntr=cntr+1; |
riobrien | 0:722b391fe228 | 151 | wait(dt); // wait to ensure sampling period set by Ts |
riobrien | 0:722b391fe228 | 152 | }//while |
riobrien | 0:722b391fe228 | 153 | mot1_ph2 = 0; |
riobrien | 0:722b391fe228 | 154 | mot_en1 = 0.0; |
riobrien | 1:daaa91186ace | 155 | |
riobrien | 1:daaa91186ace | 156 | // Print out log variables in MATLAB structured variable format. |
riobrien | 1:daaa91186ace | 157 | pc.printf("Printing log variables to file on mBed ... "); |
riobrien | 1:daaa91186ace | 158 | if(1) { |
riobrien | 1:daaa91186ace | 159 | for(k=0; k<200; k++) { |
riobrien | 1:daaa91186ace | 160 | fprintf(fp,"t(%d,1) = %.5f;\n",k+1,etime[k]); |
riobrien | 1:daaa91186ace | 161 | fprintf(fp,"t1v(%d,1) = %.5f;\n",k+1,t1v[k]); |
riobrien | 1:daaa91186ace | 162 | fprintf(fp,"t2v(%d,1) = %.5f;\n",k+1,t2v[k]); |
riobrien | 1:daaa91186ace | 163 | //fprintf(fp,"t1h(%d,1) = %.5f;\n",k+1,t1h[k]); |
riobrien | 1:daaa91186ace | 164 | //fprintf(fp,"t2h(%d,1) = %.5f;\n",k+1,t2h[k]); |
riobrien | 1:daaa91186ace | 165 | fprintf(fp,"dcp(%d,1) = %.5f;\n",k+1,dcp[k]); |
riobrien | 1:daaa91186ace | 166 | } |
riobrien | 1:daaa91186ace | 167 | } |
riobrien | 1:daaa91186ace | 168 | printf("done.\r\n"); |
riobrien | 1:daaa91186ace | 169 | |
riobrien | 1:daaa91186ace | 170 | // Close file |
riobrien | 1:daaa91186ace | 171 | fclose(fp); |
riobrien | 1:daaa91186ace | 172 | |
riobrien | 0:722b391fe228 | 173 | }//main |