Kim GiJeong / Mbed 2 deprecated cocoa_STM_ver_BIPOLAR

cocoa_STM_ver_BIPOLAR

Dependencies:   mbed FastPWM

main.cpp@0:51c43836c1d7, 2019-08-14 (annotated)

Committer:
GiJeongKim
Date:
Wed Aug 14 08:13:36 2019 +0000
Revision:
0:51c43836c1d7
Child:
1:be9b2f6d39c2
cocoa;

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
GiJeongKim 0:51c43836c1d7 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;
GiJeongKim 0:51c43836c1d7 47 int i=0;
GiJeongKim 0:51c43836c1d7 48 float y;
GiJeongKim 0:51c43836c1d7 49
GiJeongKim 0:51c43836c1d7 50 extern "C" void TIM4_IRQHandler(void)
GiJeongKim 0:51c43836c1d7 51 {
GiJeongKim 0:51c43836c1d7 52 if (TIM4->SR & TIM_SR_UIF ) {
GiJeongKim 0:51c43836c1d7 53 // y=0.05*sin(i*0.00001);
GiJeongKim 0:51c43836c1d7 54 // y= 0.1;
GiJeongKim 0:51c43836c1d7 55 // if (i>10000){i=0;}
GiJeongKim 0:51c43836c1d7 56 // y=0.01*i/100000;
GiJeongKim 0:51c43836c1d7 57 y=-0.04683;
GiJeongKim 0:51c43836c1d7 58 //
GiJeongKim 0:51c43836c1d7 59 // dtc_w = 0.1;
GiJeongKim 0:51c43836c1d7 60 // dtc_v = 1;
GiJeongKim 0:51c43836c1d7 61 //
GiJeongKim 0:51c43836c1d7 62
GiJeongKim 0:51c43836c1d7 63 //PIN_V dir
GiJeongKim 0:51c43836c1d7 64
GiJeongKim 0:51c43836c1d7 65 if (y>0) {
GiJeongKim 0:51c43836c1d7 66 dtc_v=0;
GiJeongKim 0:51c43836c1d7 67 dtc_w=y;
GiJeongKim 0:51c43836c1d7 68 } else {
GiJeongKim 0:51c43836c1d7 69 dtc_v=0;
GiJeongKim 0:51c43836c1d7 70 dtc_w=-y;
GiJeongKim 0:51c43836c1d7 71 }
GiJeongKim 0:51c43836c1d7 72 i++;
GiJeongKim 0:51c43836c1d7 73 // check = 1;
GiJeongKim 0:51c43836c1d7 74 // //spi
GiJeongKim 0:51c43836c1d7 75 // eeprom.write(0xff);
GiJeongKim 0:51c43836c1d7 76 // eeprom.write(0xff);
GiJeongKim 0:51c43836c1d7 77 //// ready();
GiJeongKim 0:51c43836c1d7 78 //// read(1);
GiJeongKim 0:51c43836c1d7 79 // //i2c
GiJeongKim 0:51c43836c1d7 80 //// read_field(i2c_slave_addr1);
GiJeongKim 0:51c43836c1d7 81 //ADC
GiJeongKim 0:51c43836c1d7 82 ADC1->CR2 |= 0x40000000; // adc _ 12bit
GiJeongKim 0:51c43836c1d7 83 // a1=ADC1->DR;
GiJeongKim 0:51c43836c1d7 84 // a1=ADC2->DR;
GiJeongKim 0:51c43836c1d7 85 a1=ADC3->DR;
GiJeongKim 0:51c43836c1d7 86 // //계산
GiJeongKim 0:51c43836c1d7 87 // //
GiJeongKim 0:51c43836c1d7 88 // //
GiJeongKim 0:51c43836c1d7 89 //
GiJeongKim 0:51c43836c1d7 90 // //DAC
GiJeongKim 0:51c43836c1d7 91 // dac_1 = ADC1->DR;
GiJeongKim 0:51c43836c1d7 92 // dac_2 = ADC2->DR;
GiJeongKim 0:51c43836c1d7 93 // //pwm
GiJeongKim 0:51c43836c1d7 94 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
GiJeongKim 0:51c43836c1d7 95 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
GiJeongKim 0:51c43836c1d7 96 // check = 0;
GiJeongKim 0:51c43836c1d7 97 }
GiJeongKim 0:51c43836c1d7 98 TIM4->SR = 0x0; // reset the status register
GiJeongKim 0:51c43836c1d7 99 }
GiJeongKim 0:51c43836c1d7 100
GiJeongKim 0:51c43836c1d7 101
GiJeongKim 0:51c43836c1d7 102
GiJeongKim 0:51c43836c1d7 103 int main()
GiJeongKim 0:51c43836c1d7 104 {
GiJeongKim 0:51c43836c1d7 105
GiJeongKim 0:51c43836c1d7 106 // i2c init
GiJeongKim 0:51c43836c1d7 107 // i2c.frequency(400 * 1000); // 0.4 mHz
GiJeongKim 0:51c43836c1d7 108 // wait_ms(2); // Power Up wait
GiJeongKim 0:51c43836c1d7 109 // look_for_hardware_i2c(); // Hardware present
GiJeongKim 0:51c43836c1d7 110 // init_as5510(i2c_slave_addr1);
GiJeongKim 0:51c43836c1d7 111 // // spi init
GiJeongKim 0:51c43836c1d7 112 eeprom.format(8,3);
GiJeongKim 0:51c43836c1d7 113 eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 114 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 115 enc.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 116 // ADC init
GiJeongKim 0:51c43836c1d7 117 Init_ADC();
GiJeongKim 0:51c43836c1d7 118 // Pwm init
GiJeongKim 0:51c43836c1d7 119 Init_PWM();
GiJeongKim 0:51c43836c1d7 120 TIM4->CR1 ^= TIM_CR1_UDIS;
GiJeongKim 0:51c43836c1d7 121 // //SPI
GiJeongKim 0:51c43836c1d7 122 // spi_eeprom_ready();
GiJeongKim 0:51c43836c1d7 123 // spi_eeprom_write(0x1,0x112);
GiJeongKim 0:51c43836c1d7 124 // spi_eeprom_ready();
GiJeongKim 0:51c43836c1d7 125 // int i = spi_eeprom_read(0x1);
GiJeongKim 0:51c43836c1d7 126 // CAN
GiJeongKim 0:51c43836c1d7 127 can.attach(&onMsgReceived);
GiJeongKim 0:51c43836c1d7 128 // spi _ enc
GiJeongKim 0:51c43836c1d7 129 spi_enc_set_init();
GiJeongKim 0:51c43836c1d7 130 msg.len=2;
GiJeongKim 0:51c43836c1d7 131 while(1) {
GiJeongKim 0:51c43836c1d7 132 // dac_1=0.5;
GiJeongKim 0:51c43836c1d7 133 // dac_2=0.1;
GiJeongKim 0:51c43836c1d7 134 check_2 = 1;
GiJeongKim 0:51c43836c1d7 135 //spi _ eeprom
GiJeongKim 0:51c43836c1d7 136 // spi_eeprom_ready();
GiJeongKim 0:51c43836c1d7 137 // spi_eeprom_write(0x0001,0xFFFFFFFF);
GiJeongKim 0:51c43836c1d7 138 // spi_eeprom_ready();
GiJeongKim 0:51c43836c1d7 139 // int a=spi_eeprom_read(0x0001);
GiJeongKim 0:51c43836c1d7 140 //spi _ enc
GiJeongKim 0:51c43836c1d7 141 int a = spi_enc_read();
GiJeongKim 0:51c43836c1d7 142 // read_field(i2c_slave_addr1);
GiJeongKim 0:51c43836c1d7 143 pc.printf("%d\n",a1);
GiJeongKim 0:51c43836c1d7 144 // msg.data[0]=0xFF&a1;
GiJeongKim 0:51c43836c1d7 145 // msg.data[1]=0xFF&(a1>>8);
GiJeongKim 0:51c43836c1d7 146 // can.write(msg);
GiJeongKim 0:51c43836c1d7 147 check_2=0;
GiJeongKim 0:51c43836c1d7 148 // wait(0.00005f);
GiJeongKim 0:51c43836c1d7 149 }
GiJeongKim 0:51c43836c1d7 150 }