Diff: main.cpp

Revision:

0:51c43836c1d7

Child:

1:be9b2f6d39c2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Aug 14 08:13:36 2019 +0000
@@ -0,0 +1,150 @@
+#include "mbed.h"
+#include "FastPWM.h"
+#include "INIT_HW.h"
+#include "SPI_EEP_ENC.h"
+#include "I2C_AS5510.h"
+#include "setting.h"
+
+// dac & check
+DigitalOut check(PC_2);
+DigitalOut check_2(PC_3);
+AnalogOut dac_1(PA_4);
+AnalogOut dac_2(PA_5);
+
+// pwm
+float dtc_v=0;
+float dtc_w=0;
+
+// I2C
+I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
+const int i2c_slave_addr1 =  0x56;
+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 enc(PC_12,PC_11,PC_10);
+DigitalOut enc_cs(PD_2);
+
+// UART
+Serial pc(PA_9,PA_10); //  _ UART
+
+//CAN
+CAN can(PB_8, PB_9, 1000000);
+CANMessage msg;
+void onMsgReceived()
+{
+    can.read(msg);
+    pc.printf("Message received: %d\n", msg.data[0]);
+}
+
+
+Timer t;
+//t.start();
+//t.stop();
+//pc.printf("The time taken was %f seconds\n",t.read());
+int a1;
+int i=0;
+float y;
+
+extern "C" void TIM4_IRQHandler(void)
+{
+    if (TIM4->SR & TIM_SR_UIF ) {
+//        y=0.05*sin(i*0.00001);
+//        y= 0.1;
+//        if (i>10000){i=0;}
+//        y=0.01*i/100000;
+        y=-0.04683;
+        //
+//        dtc_w = 0.1;
+//        dtc_v = 1;
+        //
+        
+        //PIN_V dir
+        
+        if (y>0) {
+            dtc_v=0;
+            dtc_w=y;
+        } else {
+            dtc_v=0;
+            dtc_w=-y;
+        }
+        i++;
+//    check = 1;
+//    //spi
+//    eeprom.write(0xff);
+//    eeprom.write(0xff);
+////    ready();
+////    read(1);
+//    //i2c
+////    read_field(i2c_slave_addr1);
+        //ADC
+        ADC1->CR2  |= 0x40000000;                        // adc _ 12bit
+//      a1=ADC1->DR;
+//    a1=ADC2->DR;
+        a1=ADC3->DR;
+//    //계산
+//    //
+//    //
+//
+//    //DAC
+//    dac_1 = ADC1->DR;
+//    dac_2 = ADC2->DR;
+//    //pwm
+        TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
+        TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
+//    check = 0;
+    }
+    TIM4->SR = 0x0;  // reset the status register
+}
+
+
+
+int main()
+{
+
+    // i2c init
+//    i2c.frequency(400 * 1000);          // 0.4 mHz
+//    wait_ms(2);                         // Power Up wait
+//    look_for_hardware_i2c();            // Hardware present
+//    init_as5510(i2c_slave_addr1);
+//    // spi init
+    eeprom.format(8,3);
+    eeprom.frequency(5000000); //5M
+    enc.format(8,0);
+    enc.frequency(5000000); //5M
+    // ADC init
+    Init_ADC();
+    // Pwm init
+    Init_PWM();
+    TIM4->CR1 ^= TIM_CR1_UDIS;
+//    //SPI
+//    spi_eeprom_ready();
+//    spi_eeprom_write(0x1,0x112);
+//    spi_eeprom_ready();
+//    int i = spi_eeprom_read(0x1);
+    // CAN
+    can.attach(&onMsgReceived);
+    // spi _ enc
+    spi_enc_set_init();
+    msg.len=2;
+    while(1) {
+//        dac_1=0.5;
+//        dac_2=0.1;
+        check_2 = 1;
+        //spi _ eeprom
+//        spi_eeprom_ready();
+//        spi_eeprom_write(0x0001,0xFFFFFFFF);
+//        spi_eeprom_ready();
+//        int a=spi_eeprom_read(0x0001);
+        //spi _ enc
+        int a = spi_enc_read();
+//        read_field(i2c_slave_addr1);
+        pc.printf("%d\n",a1);
+//        msg.data[0]=0xFF&a1;
+//        msg.data[1]=0xFF&(a1>>8);
+//        can.write(msg);
+        check_2=0;
+//        wait(0.00005f);
+    }
+}
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