Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

Dependencies:   mbed FastPWM

main.cpp@1:e04e563be5ce, 2019-08-19 (annotated)

Committer:
jobuuu
Date:
Mon Aug 19 08:05:09 2019 +0000
Revision:
1:e04e563be5ce
Parent:
0:51c43836c1d7
Child:
2:a1c0a37df760
HCB

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3 #include "INIT_HW.h"
GiJeongKim 0:51c43836c1d7 4 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 5 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 6 #include "setting.h"
GiJeongKim 0:51c43836c1d7 7
GiJeongKim 0:51c43836c1d7 8 // dac & check
GiJeongKim 0:51c43836c1d7 9 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 10 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 11 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 12 AnalogOut dac_2(PA_5);
GiJeongKim 0:51c43836c1d7 13
GiJeongKim 0:51c43836c1d7 14 // pwm
GiJeongKim 0:51c43836c1d7 15 float dtc_v=0;
GiJeongKim 0:51c43836c1d7 16 float dtc_w=0;
GiJeongKim 0:51c43836c1d7 17
GiJeongKim 0:51c43836c1d7 18 // I2C
GiJeongKim 0:51c43836c1d7 19 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 20 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 21 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 22
GiJeongKim 0:51c43836c1d7 23 // SPI
GiJeongKim 0:51c43836c1d7 24 SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
GiJeongKim 0:51c43836c1d7 25 DigitalOut eeprom_cs(PB_12);
GiJeongKim 0:51c43836c1d7 26 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 27 DigitalOut enc_cs(PD_2);
GiJeongKim 0:51c43836c1d7 28
GiJeongKim 0:51c43836c1d7 29 // UART
GiJeongKim 0:51c43836c1d7 30 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 31
GiJeongKim 0:51c43836c1d7 32 //CAN
GiJeongKim 0:51c43836c1d7 33 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 34 CANMessage msg;
GiJeongKim 0:51c43836c1d7 35 void onMsgReceived()
GiJeongKim 0:51c43836c1d7 36 {
GiJeongKim 0:51c43836c1d7 37 can.read(msg);
GiJeongKim 0:51c43836c1d7 38 pc.printf("Message received: %d\n", msg.data[0]);
GiJeongKim 0:51c43836c1d7 39 }
GiJeongKim 0:51c43836c1d7 40
GiJeongKim 0:51c43836c1d7 41
jobuuu 1:e04e563be5ce 42 //Timer t;
GiJeongKim 0:51c43836c1d7 43 //t.start();
GiJeongKim 0:51c43836c1d7 44 //t.stop();
GiJeongKim 0:51c43836c1d7 45 //pc.printf("The time taken was %f seconds\n",t.read());
GiJeongKim 0:51c43836c1d7 46 int a1;
jobuuu 1:e04e563be5ce 47 float PWM_out;
GiJeongKim 0:51c43836c1d7 48
GiJeongKim 0:51c43836c1d7 49 int main()
GiJeongKim 0:51c43836c1d7 50 {
jobuuu 1:e04e563be5ce 51 /*******************************************************
jobuuu 1:e04e563be5ce 52 *** Initialization
jobuuu 1:e04e563be5ce 53 ********************************************************/
jobuuu 1:e04e563be5ce 54
jobuuu 1:e04e563be5ce 55 pc.baud(9600);
GiJeongKim 0:51c43836c1d7 56 // i2c init
GiJeongKim 0:51c43836c1d7 57 // i2c.frequency(400 * 1000); // 0.4 mHz
GiJeongKim 0:51c43836c1d7 58 // wait_ms(2); // Power Up wait
GiJeongKim 0:51c43836c1d7 59 // look_for_hardware_i2c(); // Hardware present
GiJeongKim 0:51c43836c1d7 60 // init_as5510(i2c_slave_addr1);
GiJeongKim 0:51c43836c1d7 61 // // spi init
GiJeongKim 0:51c43836c1d7 62 eeprom.format(8,3);
GiJeongKim 0:51c43836c1d7 63 eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 64 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 65 enc.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 66 // ADC init
GiJeongKim 0:51c43836c1d7 67 Init_ADC();
GiJeongKim 0:51c43836c1d7 68 // Pwm init
GiJeongKim 0:51c43836c1d7 69 Init_PWM();
GiJeongKim 0:51c43836c1d7 70 TIM4->CR1 ^= TIM_CR1_UDIS;
GiJeongKim 0:51c43836c1d7 71 // //SPI
GiJeongKim 0:51c43836c1d7 72 // spi_eeprom_ready();
GiJeongKim 0:51c43836c1d7 73 // spi_eeprom_write(0x1,0x112);
GiJeongKim 0:51c43836c1d7 74 // spi_eeprom_ready();
GiJeongKim 0:51c43836c1d7 75 // int i = spi_eeprom_read(0x1);
GiJeongKim 0:51c43836c1d7 76 // CAN
GiJeongKim 0:51c43836c1d7 77 can.attach(&onMsgReceived);
GiJeongKim 0:51c43836c1d7 78 // spi _ enc
GiJeongKim 0:51c43836c1d7 79 spi_enc_set_init();
GiJeongKim 0:51c43836c1d7 80 msg.len=2;
jobuuu 1:e04e563be5ce 81
jobuuu 1:e04e563be5ce 82
jobuuu 1:e04e563be5ce 83 /*******************************************************
jobuuu 1:e04e563be5ce 84 *** Program is operating!
jobuuu 1:e04e563be5ce 85 ********************************************************/
GiJeongKim 0:51c43836c1d7 86 while(1) {
GiJeongKim 0:51c43836c1d7 87 // dac_1=0.5;
GiJeongKim 0:51c43836c1d7 88 // dac_2=0.1;
GiJeongKim 0:51c43836c1d7 89 check_2 = 1;
GiJeongKim 0:51c43836c1d7 90 //spi _ eeprom
GiJeongKim 0:51c43836c1d7 91 // spi_eeprom_ready();
GiJeongKim 0:51c43836c1d7 92 // spi_eeprom_write(0x0001,0xFFFFFFFF);
GiJeongKim 0:51c43836c1d7 93 // spi_eeprom_ready();
GiJeongKim 0:51c43836c1d7 94 // int a=spi_eeprom_read(0x0001);
GiJeongKim 0:51c43836c1d7 95 //spi _ enc
GiJeongKim 0:51c43836c1d7 96 int a = spi_enc_read();
GiJeongKim 0:51c43836c1d7 97 // read_field(i2c_slave_addr1);
jobuuu 1:e04e563be5ce 98 pc.printf("7 \n");
GiJeongKim 0:51c43836c1d7 99 // msg.data[0]=0xFF&a1;
GiJeongKim 0:51c43836c1d7 100 // msg.data[1]=0xFF&(a1>>8);
GiJeongKim 0:51c43836c1d7 101 // can.write(msg);
GiJeongKim 0:51c43836c1d7 102 check_2=0;
GiJeongKim 0:51c43836c1d7 103 // wait(0.00005f);
GiJeongKim 0:51c43836c1d7 104 }
jobuuu 1:e04e563be5ce 105 }
jobuuu 1:e04e563be5ce 106
jobuuu 1:e04e563be5ce 107 unsigned int CNT_TMR4 = 0;
jobuuu 1:e04e563be5ce 108 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 109 {
jobuuu 1:e04e563be5ce 110 if (TIM4->SR & TIM_SR_UIF ) {
jobuuu 1:e04e563be5ce 111 /*******************************************************
jobuuu 1:e04e563be5ce 112 *** Sensor Read & Data Handling
jobuuu 1:e04e563be5ce 113 ********************************************************/
jobuuu 1:e04e563be5ce 114
jobuuu 1:e04e563be5ce 115 //spi
jobuuu 1:e04e563be5ce 116 // eeprom.write(0xff);
jobuuu 1:e04e563be5ce 117 // eeprom.write(0xff);
jobuuu 1:e04e563be5ce 118 // ready();
jobuuu 1:e04e563be5ce 119 // read(1);
jobuuu 1:e04e563be5ce 120
jobuuu 1:e04e563be5ce 121 //i2c
jobuuu 1:e04e563be5ce 122 //// read_field(i2c_slave_addr1);
jobuuu 1:e04e563be5ce 123
jobuuu 1:e04e563be5ce 124 //ADC
jobuuu 1:e04e563be5ce 125 ADC1->CR2 |= 0x40000000; // adc _ 12bit
jobuuu 1:e04e563be5ce 126 // a1=ADC1->DR;
jobuuu 1:e04e563be5ce 127 // a1=ADC2->DR;
jobuuu 1:e04e563be5ce 128 a1=ADC3->DR;
jobuuu 1:e04e563be5ce 129
jobuuu 1:e04e563be5ce 130 //DAC
jobuuu 1:e04e563be5ce 131 // dac_1 = ADC1->DR;
jobuuu 1:e04e563be5ce 132 // dac_2 = ADC2->DR;
jobuuu 1:e04e563be5ce 133
jobuuu 1:e04e563be5ce 134 /*******************************************************
jobuuu 1:e04e563be5ce 135 *** Valve Control
jobuuu 1:e04e563be5ce 136 ********************************************************/
jobuuu 1:e04e563be5ce 137
jobuuu 1:e04e563be5ce 138 // PWM_out=-0.04683;
jobuuu 1:e04e563be5ce 139 PWM_out=-0.95;
jobuuu 1:e04e563be5ce 140
jobuuu 1:e04e563be5ce 141 if (PWM_out>0) {
jobuuu 1:e04e563be5ce 142 dtc_v=0;
jobuuu 1:e04e563be5ce 143 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 144 } else {
jobuuu 1:e04e563be5ce 145 dtc_v=0;
jobuuu 1:e04e563be5ce 146 dtc_w=-PWM_out;
jobuuu 1:e04e563be5ce 147 }
jobuuu 1:e04e563be5ce 148
jobuuu 1:e04e563be5ce 149 //pwm
jobuuu 1:e04e563be5ce 150 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
jobuuu 1:e04e563be5ce 151 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
jobuuu 1:e04e563be5ce 152
jobuuu 1:e04e563be5ce 153 /*******************************************************
jobuuu 1:e04e563be5ce 154 *** Data Send (CAN)
jobuuu 1:e04e563be5ce 155 ********************************************************/
jobuuu 1:e04e563be5ce 156
jobuuu 1:e04e563be5ce 157
jobuuu 1:e04e563be5ce 158
jobuuu 1:e04e563be5ce 159
jobuuu 1:e04e563be5ce 160 /*******************************************************
jobuuu 1:e04e563be5ce 161 *** Timer Counting & etc.
jobuuu 1:e04e563be5ce 162 ********************************************************/
jobuuu 1:e04e563be5ce 163 if(CNT_TMR4 == 100000) CNT_TMR4 = 0;
jobuuu 1:e04e563be5ce 164 else CNT_TMR4++;
jobuuu 1:e04e563be5ce 165
jobuuu 1:e04e563be5ce 166 }
jobuuu 1:e04e563be5ce 167 TIM4->SR = 0x0; // reset the status register
GiJeongKim 0:51c43836c1d7 168 }