Kim GiJeong
eeprom_test
Diff: main.cpp
- Revision:
- 16:903b5a4433b4
- Parent:
- 15:bd0d12728506
- Child:
- 17:1865016ca2e7
--- a/main.cpp Fri Aug 30 02:26:11 2019 +0000
+++ b/main.cpp Mon Sep 02 13:32:33 2019 +0000
@@ -6,6 +6,8 @@
#include "I2C_AS5510.h"
#include "setting.h"
#include "function_utilities.h"
+#include "stm32f4xx_flash.h"
+#include "FlashWriter.h"
// dac & check ///////////////////////////////////////////
DigitalOut check(PC_2);
@@ -26,8 +28,9 @@
unsigned int value; // 10bit output of reading sensor AS5510
// SPI ///////////////////////////////////////////
-SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
-DigitalOut eeprom_cs(PB_12);
+//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
+//DigitalOut eeprom_cs(PB_12);
+//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
SPI enc(PC_12,PC_11,PC_10);
DigitalOut enc_cs(PD_2);
DigitalOut LED(PA_15);
@@ -124,14 +127,11 @@
/*********************************
*** Initialization
*********************************/
-
+ pc.printf("a00000");
+
LED = 1;
pc.baud(9600);
- //eeprom
- ROM_INIT_DATA();
- make_delay();
-
// i2c init
i2c.frequency(400 * 1000); // 0.4 mHz
wait_ms(2); // Power Up wait
@@ -140,11 +140,16 @@
make_delay();
// // spi init
- eeprom.format(8,3);
- eeprom.frequency(5000000); //5M
+ //eeprom.format(8,3);
+ //eeprom.frequency(5000000); //5M
enc.format(8,0);
enc.frequency(5000000); //5M
make_delay();
+
+ //rom
+
+ ROM_INIT_DATA();
+ make_delay();
// ADC init
Init_ADC();
@@ -169,13 +174,11 @@
spi_enc_set_init();
make_delay();
-
-
//DAC init
- //dac_1 = PRES_A_VREF/3.3;
- dac_1 = 0.0;
- //dac_2 = PRES_B_VREF/3.3;
- dac_2 = 0.0;
+ dac_1 = PRES_A_VREF / 3.3;
+ //dac_1 = 0.0;
+ dac_2 = PRES_B_VREF / 3.3;
+ //dac_2 = 0.0;
make_delay();
for (int i=0; i<100; i++) {
@@ -185,7 +188,6 @@
ID_index_array[i] = (i+1) * 0.5;
}
-
/************************************
*** Program is operating!
*************************************/
@@ -196,7 +198,8 @@
//pc.printf("Message received: %d\n", msg.data[0]);
//pc.printf("Message received: %d\n", 13);
//i2c
- read_field(i2c_slave_addr1);
+ //read_field(i2c_slave_addr1);
+ //wait(1);
}
}
@@ -310,7 +313,7 @@
*** Sensor Read & Data Handling
********************************************************/
- if((CNT_TMR4%20)==0) {
+ if((CNT_TMR4%2)==0) {
//Using LoadCell
// ADC1->CR2 |= 0x40000000; // adc _ 12bit
// //while((ADC1->SR & 0b10));
@@ -493,7 +496,6 @@
// CONTROL LOOP ------------------------------------------------------------
switch (CONTROL_MODE) {
case MODE_NO_ACT: {
- // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
V_out = 0;
break;
}
@@ -869,15 +871,24 @@
if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3;
if (TORQUE_VREF < 0) TORQUE_VREF = 0;
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
+ dac_1 = TORQUE_VREF / 3.3;
}
} else {
CONTROL_MODE = MODE_NO_ACT;
TMR3_COUNT_TORQUE_NULL = 0;
CUR_TORQUE_sum = 0;
CUR_TORQUE_mean = 0;
- spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
pc.printf("%f\n", TORQUE_VREF);
+ dac_1 = TORQUE_VREF / 3.3;
}
TMR3_COUNT_TORQUE_NULL++;
@@ -947,8 +958,11 @@
VALVE_DEADZONE_MINUS = VALVE_CENTER;
}
VALVE_PWM_RAW = 0;
- spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
- spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
+ //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
CONTROL_MODE = MODE_NO_ACT;
DZ_temp_cnt2 = 0;
@@ -1112,7 +1126,10 @@
}
}
if (fl_temp_cnt2 == 100) {
- spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0));
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0));
cur_vel_sum = 0;
fl_temp_cnt = 0;
fl_temp_cnt2 = 0;
@@ -1146,7 +1163,7 @@
CUR_PRES_A_sum = 0;
CUR_PRES_B_sum = 0;
- double VREF_NullingGain = 0.0003;
+ double VREF_NullingGain = 0.003;
PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
@@ -1154,9 +1171,9 @@
if (PRES_A_VREF < 0) PRES_A_VREF = 0;
if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3;
if (PRES_B_VREF < 0) PRES_B_VREF = 0;
-
-// spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
-// spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
+
+ dac_1 = PRES_A_VREF / 3.3;
+ dac_2 = PRES_B_VREF / 3.3;
}
} else {
CONTROL_MODE = MODE_NO_ACT;
@@ -1166,13 +1183,11 @@
CUR_PRES_A_mean = 0;
CUR_PRES_B_mean = 0;
- spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
- spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
-
+ ROM_RESET_DATA();
+
dac_1 = PRES_A_VREF / 3.3;
dac_2 = PRES_B_VREF / 3.3;
- pc.printf("%f\n", PRES_A_VREF);
- pc.printf("%f\n", PRES_B_VREF);
+ pc.printf("nulling end");
}
TMR3_COUNT_PRES_NULL++;
break;
@@ -1201,9 +1216,11 @@
CUR_PRES_B_sum = 0;
CUR_PRES_A_mean = 0;
CUR_PRES_B_mean = 0;
+
+ ROM_RESET_DATA();
- spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
- spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
+ //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
+ //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
}
TMR3_COUNT_PRES_CALIB++;
break;
@@ -1247,7 +1264,10 @@
VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
for(i=0; i<18; i++) {
VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
- spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) (VALVE_POS_AVG[i]));
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) (VALVE_POS_AVG[i]));
if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
VALVE_MAX_POS = VALVE_POS_AVG[i];
VALVE_POS_AVG_OLD = VALVE_MAX_POS;
@@ -1256,8 +1276,11 @@
VALVE_POS_AVG_OLD = VALVE_MIN_POS;
}
}
- spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) (VALVE_MAX_POS));
- spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) (VALVE_MIN_POS));
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) (VALVE_MAX_POS));
+ //spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) (VALVE_MIN_POS));
CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
ID_index = 0;
CONTROL_MODE = MODE_NO_ACT;
@@ -1436,9 +1459,12 @@
SECOND_DZ = valve_pos.ref;
DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
first_check = 0;
- spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
- spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
- spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
+ //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
+ //spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
//CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
CONTROL_MODE = MODE_NO_ACT;
DZ_index = 1;
@@ -1531,10 +1557,16 @@
DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
first_check = 0;
VALVE_DEADZONE_MINUS = FIRST_DZ;
- spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
VALVE_DEADZONE_PLUS = SECOND_DZ;
- spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
- spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
+ //spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
CONTROL_MODE = MODE_NO_ACT;
DZ_index = 1;
@@ -1599,8 +1631,11 @@
min_check = 1;
}
JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
- spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
- spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
+ //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
VALVE_FR_timer = 0;
one_period_end = 0;
ID_index= ID_index +1;
@@ -1608,7 +1643,10 @@
}
if(max_check == 1 && min_check == 1) {
- spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
VALVE_POS_NUM = ID_index;
ID_index = 0;
first_check = 0;
@@ -1661,7 +1699,7 @@
if (flag_data_request[0] == HIGH) {
//position+velocity
- CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
+ CAN_TX_POSITION((int32_t) PRES_A_VREF, (int32_t) PRES_B_VREF);
//pc.printf("can good");
// CAN_TX_POSITION((int) (PRES_A_VREF * 100.), (int) (PRES_B_VREF * 100.));
// CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
@@ -1773,6 +1811,7 @@
// pc.printf("A %f\n", PRES_SENSOR_A_PULSE_PER_BAR);
// pc.printf("B %f\n", (double) pres_B.sen);
// pc.printf("B %f\n", PRES_SENSOR_B_PULSE_PER_BAR);
+ pc.printf("preAVref %d\n", (int) PRES_A_VREF);
}
/*******************************************************