Chen Wei Ting / Mbed 2 deprecated LSM9DS1_project_3

read encoder

Dependencies:   mbed

main.cpp@1:2f2a74337b77, 2018-07-31 (annotated)

Committer:
JJting
Date:
Tue Jul 31 13:24:56 2018 +0000
Revision:
1:2f2a74337b77
Parent:
0:f2657b94ea70
Child:
2:33062fc279ca
20180731ver2;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JJting 0:f2657b94ea70 1 #include "mbed.h"
JJting 1:2f2a74337b77 2 #include "encoder.h"
JJting 0:f2657b94ea70 3
JJting 0:f2657b94ea70 4 Serial uart(USBTX, USBRX);
JJting 0:f2657b94ea70 5 //Serial uart(D10,D2); // TX : D10 RX : D2 // blueteeth
JJting 0:f2657b94ea70 6 DigitalOut LED(A4); // check if the code is running
JJting 0:f2657b94ea70 7
JJting 0:f2657b94ea70 8 // timer
JJting 0:f2657b94ea70 9 Ticker timer1;
JJting 0:f2657b94ea70 10 float ITR_time1 = 10000.0; // unit：ms
JJting 0:f2657b94ea70 11
JJting 0:f2657b94ea70 12
JJting 0:f2657b94ea70 13 // encoder
JJting 1:2f2a74337b77 14 //DigitalOut encoder_cs(D9);
JJting 1:2f2a74337b77 15 //SPI spi_encoder(D11, D12, D13); // mosi, miso, sclk
JJting 1:2f2a74337b77 16 //unsigned short encoder_value = 0;
JJting 1:2f2a74337b77 17 //unsigned short angle = 0;
JJting 1:2f2a74337b77 18 //unsigned short angle_old;
JJting 1:2f2a74337b77 19 //unsigned short angle_init;
JJting 1:2f2a74337b77 20 //int angle_dif;
JJting 1:2f2a74337b77 21 //int a_dif;
JJting 1:2f2a74337b77 22 //int Angle;
JJting 1:2f2a74337b77 23 //unsigned short k = 0;
JJting 0:f2657b94ea70 24
JJting 0:f2657b94ea70 25 // uart_tx
JJting 0:f2657b94ea70 26 union splitter {
JJting 0:f2657b94ea70 27 short j;
JJting 0:f2657b94ea70 28 char C[2];
JJting 0:f2657b94ea70 29 // C[0] is lowbyte of j, C[1] is highbyte of j
JJting 0:f2657b94ea70 30 };
JJting 0:f2657b94ea70 31 char T[16] = {255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
JJting 0:f2657b94ea70 32 int i = 0;
JJting 0:f2657b94ea70 33
JJting 0:f2657b94ea70 34 // function
JJting 1:2f2a74337b77 35 //void init_encoder();
JJting 1:2f2a74337b77 36 //void init_SPI_encoder();
JJting 0:f2657b94ea70 37 void init_UART();
JJting 0:f2657b94ea70 38 void init_TIMER();
JJting 0:f2657b94ea70 39 void timer1_ITR();
JJting 1:2f2a74337b77 40 //void angle_measure();
JJting 1:2f2a74337b77 41 //int angle_count(unsigned short,unsigned short);
JJting 0:f2657b94ea70 42 void uart_tx();
JJting 0:f2657b94ea70 43
JJting 0:f2657b94ea70 44
JJting 0:f2657b94ea70 45 int main()
JJting 0:f2657b94ea70 46 {
JJting 0:f2657b94ea70 47 LED = 1;
JJting 0:f2657b94ea70 48 wait_ms(500);
JJting 0:f2657b94ea70 49 // initial sensor
JJting 0:f2657b94ea70 50 init_encoder();
JJting 1:2f2a74337b77 51 init_SPI_encoder();
JJting 0:f2657b94ea70 52 // initial uart
JJting 0:f2657b94ea70 53 init_UART();
JJting 0:f2657b94ea70 54
JJting 0:f2657b94ea70 55 wait_ms(500);
JJting 0:f2657b94ea70 56 LED = 0;
JJting 0:f2657b94ea70 57
JJting 0:f2657b94ea70 58 init_TIMER();
JJting 0:f2657b94ea70 59
JJting 0:f2657b94ea70 60 while(1) {
JJting 0:f2657b94ea70 61 }
JJting 0:f2657b94ea70 62
JJting 0:f2657b94ea70 63 }
JJting 1:2f2a74337b77 64 /*
JJting 0:f2657b94ea70 65 void init_encoder()
JJting 0:f2657b94ea70 66 {
JJting 0:f2657b94ea70 67 // encoder_cs = 1; // disable encoder
JJting 0:f2657b94ea70 68
JJting 0:f2657b94ea70 69 encoder_cs = 0; // Select the device by seting chip select low
JJting 0:f2657b94ea70 70 encoder_value = spi_encoder.write(0x00);
JJting 0:f2657b94ea70 71 angle_init = encoder_value >> 3;
JJting 0:f2657b94ea70 72 encoder_cs = 1; // Deselect the device
JJting 0:f2657b94ea70 73
JJting 0:f2657b94ea70 74 }
JJting 1:2f2a74337b77 75 */
JJting 1:2f2a74337b77 76 /*
JJting 1:2f2a74337b77 77 void init_SPI_encoder()
JJting 0:f2657b94ea70 78 {
JJting 0:f2657b94ea70 79 spi_encoder.format(16,3);
JJting 0:f2657b94ea70 80 spi_encoder.frequency(1000000); // 1MHz clock rate
JJting 0:f2657b94ea70 81 }
JJting 1:2f2a74337b77 82 */
JJting 0:f2657b94ea70 83 void init_UART()
JJting 0:f2657b94ea70 84 {
JJting 0:f2657b94ea70 85 uart.baud(115200);
JJting 0:f2657b94ea70 86 }
JJting 0:f2657b94ea70 87
JJting 0:f2657b94ea70 88 void init_TIMER()
JJting 0:f2657b94ea70 89 {
JJting 0:f2657b94ea70 90 timer1.attach_us(&timer1_ITR, ITR_time1);
JJting 0:f2657b94ea70 91 }
JJting 0:f2657b94ea70 92
JJting 0:f2657b94ea70 93 void timer1_ITR()
JJting 0:f2657b94ea70 94 {
JJting 0:f2657b94ea70 95 angle_measure();
JJting 0:f2657b94ea70 96 // angle_count();
JJting 0:f2657b94ea70 97 uart_tx();
JJting 0:f2657b94ea70 98 }
JJting 1:2f2a74337b77 99 /*
JJting 0:f2657b94ea70 100 void angle_measure()
JJting 0:f2657b94ea70 101 {
JJting 0:f2657b94ea70 102 encoder_cs = 0; // Select the device by seting chip select low
JJting 0:f2657b94ea70 103 encoder_value = spi_encoder.write(0x00);
JJting 0:f2657b94ea70 104 angle = encoder_value >> 3;
JJting 0:f2657b94ea70 105 encoder_cs = 1; // Deselect the device
JJting 0:f2657b94ea70 106
JJting 0:f2657b94ea70 107 if (k == 0)
JJting 0:f2657b94ea70 108 {
JJting 0:f2657b94ea70 109 angle_dif = angle_count(angle, angle_init);
JJting 0:f2657b94ea70 110 Angle = angle_init + angle_dif;
JJting 0:f2657b94ea70 111 angle_old = angle;
JJting 0:f2657b94ea70 112 k++;
JJting 0:f2657b94ea70 113 }
JJting 0:f2657b94ea70 114 else
JJting 0:f2657b94ea70 115 {
JJting 0:f2657b94ea70 116 angle_dif = angle_count(angle, angle_old);
JJting 0:f2657b94ea70 117 Angle = Angle + angle_dif;
JJting 0:f2657b94ea70 118 angle_old = angle;
JJting 0:f2657b94ea70 119 }
JJting 0:f2657b94ea70 120 }
JJting 1:2f2a74337b77 121 */
JJting 1:2f2a74337b77 122 /*
JJting 0:f2657b94ea70 123 int angle_count(unsigned short now,unsigned short old)
JJting 0:f2657b94ea70 124 {
JJting 0:f2657b94ea70 125 a_dif = now - old;
JJting 0:f2657b94ea70 126 if (a_dif > 4096/2)
JJting 0:f2657b94ea70 127 a_dif = -(4096 - a_dif);
JJting 0:f2657b94ea70 128 else if (a_dif < -4096/2)
JJting 0:f2657b94ea70 129 a_dif = 4096 + a_dif;
JJting 0:f2657b94ea70 130 else
JJting 0:f2657b94ea70 131 a_dif = a_dif;
JJting 0:f2657b94ea70 132
JJting 0:f2657b94ea70 133 return a_dif;
JJting 0:f2657b94ea70 134 }
JJting 1:2f2a74337b77 135 */
JJting 0:f2657b94ea70 136 void uart_tx()
JJting 0:f2657b94ea70 137 {
JJting 0:f2657b94ea70 138 splitter s1;
JJting 0:f2657b94ea70 139 splitter s2;
JJting 0:f2657b94ea70 140 splitter s3;
JJting 0:f2657b94ea70 141 splitter s4;
JJting 0:f2657b94ea70 142 splitter s5;
JJting 0:f2657b94ea70 143 splitter s6;
JJting 0:f2657b94ea70 144 splitter s7;
JJting 0:f2657b94ea70 145
JJting 0:f2657b94ea70 146 s1.j = angle;
JJting 0:f2657b94ea70 147 s2.j = Angle;
JJting 0:f2657b94ea70 148 s3.j = 2;
JJting 0:f2657b94ea70 149 s4.j = 3;
JJting 0:f2657b94ea70 150 s5.j = 1;
JJting 0:f2657b94ea70 151 s6.j = 2;
JJting 0:f2657b94ea70 152 s7.j = 3;
JJting 0:f2657b94ea70 153
JJting 0:f2657b94ea70 154 T[2] = s1.C[0];
JJting 0:f2657b94ea70 155 T[3] = s1.C[1];
JJting 0:f2657b94ea70 156 T[4] = s2.C[0];
JJting 0:f2657b94ea70 157 T[5] = s2.C[1];
JJting 0:f2657b94ea70 158 T[6] = s3.C[0];
JJting 0:f2657b94ea70 159 T[7] = s3.C[1];
JJting 0:f2657b94ea70 160 T[8] = s4.C[0];
JJting 0:f2657b94ea70 161 T[9] = s4.C[1];
JJting 0:f2657b94ea70 162 T[10] = s5.C[0];
JJting 0:f2657b94ea70 163 T[11] = s5.C[1];
JJting 0:f2657b94ea70 164 T[12] = s6.C[0];
JJting 0:f2657b94ea70 165 T[13] = s6.C[1];
JJting 0:f2657b94ea70 166 T[14] = s7.C[0];
JJting 0:f2657b94ea70 167 T[15] = s7.C[1];
JJting 0:f2657b94ea70 168
JJting 0:f2657b94ea70 169 while(1) {
JJting 0:f2657b94ea70 170 if (uart.writable() == 1) {
JJting 0:f2657b94ea70 171 uart.putc(T[i]);
JJting 0:f2657b94ea70 172 i++;
JJting 0:f2657b94ea70 173 }
JJting 0:f2657b94ea70 174 if (i >= (sizeof(T)-1)) {
JJting 0:f2657b94ea70 175 i = 0;
JJting 0:f2657b94ea70 176 break;
JJting 0:f2657b94ea70 177 }
JJting 0:f2657b94ea70 178 }
JJting 0:f2657b94ea70 179 }