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For LIGHT
Diff: main.cpp
- Revision:
- 11:82d8768d7351
- Parent:
- 10:83a6baa77a2e
- Child:
- 12:6f2531038ea4
--- a/main.cpp Fri Aug 23 01:02:32 2019 +0000 +++ b/main.cpp Fri Aug 23 12:28:08 2019 +0000 @@ -5,6 +5,7 @@ #include "SPI_EEP_ENC.h" #include "I2C_AS5510.h" #include "setting.h" +#include "function_utilities.h" // dac & check /////////////////////////////////////////// DigitalOut check(PC_2); @@ -27,7 +28,7 @@ DigitalOut eeprom_cs(PB_12); SPI enc(PC_12,PC_11,PC_10); DigitalOut enc_cs(PD_2); -DigitalOut indi_led(PA_15); +DigitalOut LED(PA_15); // UART /////////////////////////////////////////// Serial pc(PA_9,PA_10); // _ UART @@ -35,6 +36,10 @@ // CAN /////////////////////////////////////////// CAN can(PB_8, PB_9, 1000000); CANMessage msg; +void onMsgReceived() +{ + CAN_RX_HANDLER(); +} // Variables /////////////////////////////////////////// State pos; @@ -50,7 +55,7 @@ double V_MAX = 12000.0; // Maximum Voltage : 12V = 12000mV double PWM_out=0.0; - +int ID_index_array[100] = {0}; // ============================================================================= // ============================================================================= // ============================================================================= @@ -61,44 +66,61 @@ *** Initialization *********************************/ - indi_led = 0; + LED = 1; pc.baud(9600); - - //Timer t; - //t.start(); - //t.stop(); - //pc.printf("The time taken was %f seconds\n",t.read()); // 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); + make_delay(); // // spi init eeprom.format(8,3); eeprom.frequency(5000000); //5M enc.format(8,0); enc.frequency(5000000); //5M + make_delay(); // ADC init Init_ADC(); + make_delay(); // Pwm init Init_PWM(); TIM4->CR1 ^= TIM_CR1_UDIS; + make_delay(); -// //SPI -// spi_eeprom_ready(); -// spi_eeprom_write(0x1,0x112); -// spi_eeprom_ready(); -// int i = spi_eeprom_read(0x1); + // TMR3 init + Init_TMR3(); + TIM3->CR1 ^= TIM_CR1_UDIS; + make_delay(); // CAN can.attach(&CAN_RX_HANDLER); + CAN_ID_INIT(); + make_delay(); // spi _ enc spi_enc_set_init(); + make_delay(); + + //eeprom + ROM_INIT_DATA(); + make_delay(); + + //DAC init + dac_1 = PRES_A_VREF/3.3; + dac_2 = PRES_B_VREF/3.3; + make_delay(); + + for (int i=0; i<100; i++){ + if(i%2==0) + ID_index_array[i] = - i * 0.5; + else + ID_index_array[i] = (i+1) * 0.5; + } /************************************ @@ -107,16 +129,10 @@ while(1) { //spi _ enc - int a = spi_enc_read(); + //int a = spi_enc_read(); + //i2c read_field(i2c_slave_addr1); - - check_2=0; - - pc.printf("%f\n",1234567); -// pc.printf("%d\n",a1); - -// wait(0.01f); } } @@ -138,31 +154,39 @@ ********************************************************/ if((CNT_TMR4%2)==0){ - //spi - // eeprom.write(0xff); - // eeprom.write(0xff); - // ready(); - // read(1); - - //i2c - //// read_field(i2c_slave_addr1); //ADC ADC3->CR2 |= 0x40000000; // adc _ 12bit - // a1=ADC1->DR; - // a1=ADC2->DR; -// int raw_cur = ADC3->DR; +// a1=ADC1->DR; +// a1=ADC2->DR; +// int raw_cur = ADC3->DR; while((ADC3->SR & 0b10)); double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); // f_cutoff : 500Hz double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA cur.sen=cur.sen*(1.0-alpha_update_cur)+cur_new*(alpha_update_cur); - } //DAC // dac_1 = ADC1->DR; // dac_2 = ADC2->DR; + + + + /******************************************************* + *** Timer Counting & etc. + ********************************************************/ + CNT_TMR4++; + } + TIM4->SR = 0x0; // reset the status register +} + +unsigned long CNT_TMR3 = 0; +double FREQ_TMR3 = (double)FREQ_5k; +double DT_TMR3 = (double)DT_5k; +extern "C" void TIM3_IRQHandler(void) +{ + if ( TIM3->SR & TIM_SR_UIF ) { /******************************************************* *** Valve Control @@ -199,30 +223,47 @@ /******************************************************* *** Data Send (CAN) & Print out (UART) ********************************************************/ - if((CNT_TMR4%40)==0){ - msg.id = 50; - msg.len = 4; - int temp_CUR = (int)(cur.sen*1000.0); - msg.data[0]=0x00FF&temp_CUR; - msg.data[1]=0x00FF&(temp_CUR>>8); - int temp_PWM = (int)(V_out); - msg.data[2]=0x00FF&temp_PWM; - msg.data[3]=0x00FF&(temp_PWM>>8); - can.write(msg); + //if((CNT_TMR3%40)==0){ +// msg.id = 50; +// msg.len = 4; +// int temp_CUR = (int)(cur.sen*1000.0); +// msg.data[0]=0x00FF&temp_CUR; +// msg.data[1]=0x00FF&(temp_CUR>>8); +// int temp_PWM = (int)(V_out); +// msg.data[2]=0x00FF&temp_PWM; +// msg.data[3]=0x00FF&(temp_PWM>>8); +// can.write(msg); +// } + + if((CNT_TMR3%5000)==0){ + if(LED==1) + { + LED=0; + } + else + LED = 1; +// LED != LED; } -// if((CNT_TMR4%4000)==0){ -// pc.printf("%d\n",a1); -// } - /******************************************************* *** Timer Counting & etc. ********************************************************/ - CNT_TMR4++; + CNT_TMR3++; } - TIM4->SR = 0x0; // reset the status register + TIM3->SR = 0x0; // reset the status register } +/******************************************************************************* + * REFERENCE MODE + ******************************************************************************/ +enum _REFERENCE_MODE{ + MODE_REF_NO_ACT = 0, //0 + MODE_REF_DIRECT, //1 + MODE_REF_COS_INC, //2 + MODE_REF_LINE_INC, //3 + MODE_REF_SIN_WAVE, //4 + MODE_REF_SQUARE_WAVE, //5 +}; /******************************************************************************* * CONTROL MODE @@ -252,6 +293,10 @@ MODE_PRESSURE_SENSOR_NULLING, //24 MODE_PRESSURE_SENSOR_CALIB, //25 MODE_ROTARY_FRICTION_TUNING, //26 + + MODE_DDV_POS_VS_PWM_ID = 30, //30 + MODE_DDV_DEADZONE_AND_CENTER, //31 + MODE_DDV_POS_VS_FLOWRATE, //32 }; void ValveControl(unsigned int ControlMode)