Kim GiJeong / Mbed 2 deprecated cocoa_STM_ver_BIPOLAR

cocoa_STM_ver_BIPOLAR

Dependencies:   mbed FastPWM

main.cpp@1:be9b2f6d39c2, 2019-08-20 (annotated)

Committer:
GiJeongKim
Date:
Tue Aug 20 12:35:26 2019 +0000
Revision:
1:be9b2f6d39c2
Parent:
0:51c43836c1d7 
abc;

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 1:be9b2f6d39c2 13 DigitalIn a(PB_7);
GiJeongKim 1:be9b2f6d39c2 14 DigitalIn b(PB_6);
GiJeongKim 1:be9b2f6d39c2 15 DigitalIn c(PA_6);
GiJeongKim 1:be9b2f6d39c2 16 DigitalIn d(PC_9);
GiJeongKim 0:51c43836c1d7 17
GiJeongKim 0:51c43836c1d7 18 // pwm
GiJeongKim 1:be9b2f6d39c2 19 float dtc=0;
GiJeongKim 0:51c43836c1d7 20
GiJeongKim 0:51c43836c1d7 21 // I2C
GiJeongKim 1:be9b2f6d39c2 22 I2C i2c(PB_3,PB_10); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 23 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 24 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 25
GiJeongKim 0:51c43836c1d7 26 // SPI
GiJeongKim 0:51c43836c1d7 27 SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
GiJeongKim 0:51c43836c1d7 28 DigitalOut eeprom_cs(PB_12);
GiJeongKim 0:51c43836c1d7 29 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 30 DigitalOut enc_cs(PD_2);
GiJeongKim 0:51c43836c1d7 31
GiJeongKim 0:51c43836c1d7 32 // UART
GiJeongKim 0:51c43836c1d7 33 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 34
GiJeongKim 0:51c43836c1d7 35 //CAN
GiJeongKim 0:51c43836c1d7 36 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 37 CANMessage msg;
GiJeongKim 0:51c43836c1d7 38 void onMsgReceived()
GiJeongKim 0:51c43836c1d7 39 {
GiJeongKim 0:51c43836c1d7 40 can.read(msg);
GiJeongKim 0:51c43836c1d7 41 pc.printf("Message received: %d\n", msg.data[0]);
GiJeongKim 0:51c43836c1d7 42 }
GiJeongKim 0:51c43836c1d7 43
GiJeongKim 0:51c43836c1d7 44
GiJeongKim 0:51c43836c1d7 45 Timer t;
GiJeongKim 0:51c43836c1d7 46 //t.start();
GiJeongKim 0:51c43836c1d7 47 //t.stop();
GiJeongKim 0:51c43836c1d7 48 //pc.printf("The time taken was %f seconds\n",t.read());
GiJeongKim 0:51c43836c1d7 49 int a1;
GiJeongKim 0:51c43836c1d7 50 int i=0;
GiJeongKim 0:51c43836c1d7 51 float y;
GiJeongKim 0:51c43836c1d7 52
GiJeongKim 1:be9b2f6d39c2 53 extern "C" void TIM1_UP_TIM10_IRQHandler(void)
GiJeongKim 0:51c43836c1d7 54 {
GiJeongKim 1:be9b2f6d39c2 55 if (TIM1->SR & TIM_SR_UIF ) {
GiJeongKim 0:51c43836c1d7 56 // y=0.05*sin(i*0.00001);
GiJeongKim 0:51c43836c1d7 57 // y= 0.1;
GiJeongKim 0:51c43836c1d7 58 // if (i>10000){i=0;}
GiJeongKim 0:51c43836c1d7 59 // y=0.01*i/100000;
GiJeongKim 0:51c43836c1d7 60 y=-0.04683;
GiJeongKim 0:51c43836c1d7 61 //
GiJeongKim 0:51c43836c1d7 62 // dtc_w = 0.1;
GiJeongKim 0:51c43836c1d7 63 // dtc_v = 1;
GiJeongKim 0:51c43836c1d7 64 //
GiJeongKim 0:51c43836c1d7 65
GiJeongKim 0:51c43836c1d7 66 //PIN_V dir
GiJeongKim 1:be9b2f6d39c2 67 dtc=0.5;
GiJeongKim 0:51c43836c1d7 68 i++;
GiJeongKim 0:51c43836c1d7 69 //ADC
GiJeongKim 0:51c43836c1d7 70 ADC1->CR2 |= 0x40000000; // adc _ 12bit
GiJeongKim 0:51c43836c1d7 71 // a1=ADC1->DR;
GiJeongKim 0:51c43836c1d7 72 // a1=ADC2->DR;
GiJeongKim 0:51c43836c1d7 73 a1=ADC3->DR;
GiJeongKim 1:be9b2f6d39c2 74
GiJeongKim 0:51c43836c1d7 75 // //pwm
GiJeongKim 1:be9b2f6d39c2 76 TIM1->CCR1 = (PWM_ARR)*(1.0f-dtc);
GiJeongKim 0:51c43836c1d7 77 // check = 0;
GiJeongKim 0:51c43836c1d7 78 }
GiJeongKim 1:be9b2f6d39c2 79 TIM1->SR = 0x0; // reset the status register
GiJeongKim 0:51c43836c1d7 80 }
GiJeongKim 0:51c43836c1d7 81
GiJeongKim 0:51c43836c1d7 82
GiJeongKim 0:51c43836c1d7 83
GiJeongKim 0:51c43836c1d7 84 int main()
GiJeongKim 0:51c43836c1d7 85 {
GiJeongKim 0:51c43836c1d7 86
GiJeongKim 0:51c43836c1d7 87 // ADC init
GiJeongKim 0:51c43836c1d7 88 Init_ADC();
GiJeongKim 0:51c43836c1d7 89 // Pwm init
GiJeongKim 0:51c43836c1d7 90 Init_PWM();
GiJeongKim 1:be9b2f6d39c2 91 TIM1->CR1 ^= TIM_CR1_UDIS;
GiJeongKim 0:51c43836c1d7 92 // CAN
GiJeongKim 0:51c43836c1d7 93 can.attach(&onMsgReceived);
GiJeongKim 0:51c43836c1d7 94 while(1) {
GiJeongKim 0:51c43836c1d7 95 pc.printf("%d\n",a1);
GiJeongKim 0:51c43836c1d7 96 // msg.data[0]=0xFF&a1;
GiJeongKim 0:51c43836c1d7 97 // msg.data[1]=0xFF&(a1>>8);
GiJeongKim 0:51c43836c1d7 98 // can.write(msg);
GiJeongKim 0:51c43836c1d7 99 check_2=0;
GiJeongKim 0:51c43836c1d7 100 // wait(0.00005f);
GiJeongKim 0:51c43836c1d7 101 }
GiJeongKim 0:51c43836c1d7 102 }