Diff: main.cpp

Revision:

1:e04e563be5ce

Parent:

0:51c43836c1d7

Child:

2:a1c0a37df760

--- a/main.cpp	Wed Aug 14 08:13:36 2019 +0000
+++ b/main.cpp	Mon Aug 19 08:05:09 2019 +0000
@@ -39,70 +39,20 @@
 }
 
 
-Timer t;
+//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
-}
-
-
+float PWM_out;
 
 int main()
 {
-
+    /*******************************************************
+    ***     Initialization
+    ********************************************************/
+        
+    pc.baud(9600);
     // i2c init
 //    i2c.frequency(400 * 1000);          // 0.4 mHz
 //    wait_ms(2);                         // Power Up wait
@@ -128,6 +78,11 @@
     // spi _ enc
     spi_enc_set_init();
     msg.len=2;
+    
+    
+    /*******************************************************
+    ***     Program is operating!
+    ********************************************************/
     while(1) {
 //        dac_1=0.5;
 //        dac_2=0.1;
@@ -140,11 +95,74 @@
         //spi _ enc
         int a = spi_enc_read();
 //        read_field(i2c_slave_addr1);
-        pc.printf("%d\n",a1);
+        pc.printf("7 \n");
 //        msg.data[0]=0xFF&a1;
 //        msg.data[1]=0xFF&(a1>>8);
 //        can.write(msg);
         check_2=0;
 //        wait(0.00005f);
     }
+}
+
+unsigned int CNT_TMR4 = 0;
+extern "C" void TIM4_IRQHandler(void)
+{
+    if (TIM4->SR & TIM_SR_UIF ) {
+        /*******************************************************
+        ***     Sensor Read & Data Handling 
+        ********************************************************/
+        
+        //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;
+        
+        //DAC
+//      dac_1 = ADC1->DR;
+//      dac_2 = ADC2->DR;
+        
+        /*******************************************************
+        ***     Valve Control 
+        ********************************************************/
+        
+//        PWM_out=-0.04683;
+        PWM_out=-0.95;
+
+        if (PWM_out>0) {
+            dtc_v=0;
+            dtc_w=PWM_out;
+        } else {
+            dtc_v=0;
+            dtc_w=-PWM_out;
+        }
+        
+        //pwm
+        TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
+        TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
+        
+        /*******************************************************
+        ***     Data Send (CAN)
+        ********************************************************/
+
+
+
+
+        /*******************************************************
+        ***     Timer Counting & etc.
+        ********************************************************/
+        if(CNT_TMR4 == 100000) CNT_TMR4 = 0;
+        else CNT_TMR4++; 
+
+    }
+    TIM4->SR = 0x0;  // reset the status register
 }
\ No newline at end of file