Sungwoo Kim
rainbow
Diff: main.cpp
- Revision:
- 2:a1c0a37df760
- Parent:
- 1:e04e563be5ce
- Child:
- 5:a4319f79457b
diff -r e04e563be5ce -r a1c0a37df760 main.cpp
--- a/main.cpp Mon Aug 19 08:05:09 2019 +0000
+++ b/main.cpp Tue Aug 20 07:38:55 2019 +0000
@@ -1,6 +1,7 @@
#include "mbed.h"
#include "FastPWM.h"
#include "INIT_HW.h"
+#include "function_CAN.h"
#include "SPI_EEP_ENC.h"
#include "I2C_AS5510.h"
#include "setting.h"
@@ -10,10 +11,11 @@
DigitalOut check_2(PC_3);
AnalogOut dac_1(PA_4);
AnalogOut dac_2(PA_5);
+AnalogIn adc3(PC_1);
// pwm
-float dtc_v=0;
-float dtc_w=0;
+double dtc_v=0.0;
+double dtc_w=0.0;
// I2C
I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
@@ -25,6 +27,7 @@
DigitalOut eeprom_cs(PB_12);
SPI enc(PC_12,PC_11,PC_10);
DigitalOut enc_cs(PD_2);
+DigitalOut indi_led(PA_15);
// UART
Serial pc(PA_9,PA_10); // _ UART
@@ -32,52 +35,57 @@
//CAN
CAN can(PB_8, PB_9, 1000000);
CANMessage msg;
-void onMsgReceived()
-{
- can.read(msg);
- pc.printf("Message received: %d\n", msg.data[0]);
-}
+
+// Variables
-//Timer t;
-//t.start();
-//t.stop();
-//pc.printf("The time taken was %f seconds\n",t.read());
-int a1;
-float PWM_out;
-
+double a1;
+double PWM_out;
+double temp_cur=0.0;
int main()
{
/*******************************************************
*** Initialization
********************************************************/
+ indi_led = 0;
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);
+
// // spi init
eeprom.format(8,3);
eeprom.frequency(5000000); //5M
enc.format(8,0);
enc.frequency(5000000); //5M
+
// ADC init
- Init_ADC();
+// Init_ADC();
+
// Pwm init
Init_PWM();
TIM4->CR1 ^= TIM_CR1_UDIS;
+
// //SPI
// spi_eeprom_ready();
// spi_eeprom_write(0x1,0x112);
// spi_eeprom_ready();
// int i = spi_eeprom_read(0x1);
+
// CAN
- can.attach(&onMsgReceived);
+ can.attach(&CAN_RX_HANDLER);
+
// spi _ enc
spi_enc_set_init();
- msg.len=2;
/*******************************************************
@@ -95,38 +103,52 @@
//spi _ enc
int a = spi_enc_read();
// read_field(i2c_slave_addr1);
- pc.printf("7 \n");
-// msg.data[0]=0xFF&a1;
-// msg.data[1]=0xFF&(a1>>8);
-// can.write(msg);
+
check_2=0;
-// wait(0.00005f);
+
+// pc.printf("%f\n",PWM_out);
+// pc.printf("%d\n",a1);
+
+// wait(0.01f);
}
}
-unsigned int CNT_TMR4 = 0;
+/*******************************************************************************
+ TIMER INTERRUPT
+*******************************************************************************/
+
+unsigned long CNT_TMR4 = 0;
+double FREQ_TMR4 = (double)FREQ_20k;
extern "C" void TIM4_IRQHandler(void)
{
- if (TIM4->SR & TIM_SR_UIF ) {
+ if ( TIM4->SR & TIM_SR_UIF ) {
/*******************************************************
*** Sensor Read & Data Handling
********************************************************/
- //spi
-// eeprom.write(0xff);
-// eeprom.write(0xff);
-// ready();
-// read(1);
+ if((CNT_TMR4%2)==0){
+ //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;
+ // int raw_cur = ADC3->DR;
+ double raw_cur=(double)adc3*4096.0;
+
+ double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*100.0)); // f_cutoff : 500Hz
+ double new_a1 = (double)raw_cur;
+ a1=a1*(1.0-alpha_update_cur)+new_a1*(alpha_update_cur);
+// a1=new_a1;
+ }
- //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;
@@ -135,34 +157,54 @@
*** Valve Control
********************************************************/
-// PWM_out=-0.04683;
- PWM_out=-0.95;
-
- if (PWM_out>0) {
- dtc_v=0;
+ // PWM_out : -1.0~1.0(full duty)
+ PWM_out = -0.0104;
+ double t = (double)CNT_TMR4/FREQ_TMR4;
+ double T = 10.0;
+// PWM_out = 0.36*sin(2.0*PI*t/T);
+ PWM_out = 0.04*sin(2.0*PI*t/T);
+// if(PWM_out > 0.0) PWM_out = 0.02;
+// else if(PWM_out < 0.0) PWM_out = -0.02;
+
+ // Saturation of output voltage to 5.0V
+ if(PWM_out > (5.0/12.0)) PWM_out=(5.0/12.0);
+ else if (PWM_out < (-5.0/12.0)) PWM_out=(-5.0/12.0);
+
+ if (PWM_out>0.0) {
+ dtc_v=0.0;
dtc_w=PWM_out;
} else {
- dtc_v=0;
- dtc_w=-PWM_out;
+ dtc_v=-PWM_out;
+ dtc_w=0.0;
}
//pwm
- TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
- TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
+ TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v);
+ TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w);
/*******************************************************
- *** Data Send (CAN)
+ *** Data Send (CAN) & Print out (UART)
********************************************************/
+ if((CNT_TMR4%40)==0){
+ msg.id = 50;
+ msg.len = 4;
+ int temp_CUR = (int)(a1);
+ msg.data[0]=0x00FF&temp_CUR;
+ msg.data[1]=0x00FF&(temp_CUR>>8);
+ int temp_PWM = (int)(PWM_out*10000.0);
+ msg.data[2]=0x00FF&temp_PWM;
+ msg.data[3]=0x00FF&(temp_PWM>>8);
+ can.write(msg);
+ }
-
-
+// if((CNT_TMR4%4000)==0){
+// pc.printf("%d\n",a1);
+// }
/*******************************************************
*** Timer Counting & etc.
********************************************************/
- if(CNT_TMR4 == 100000) CNT_TMR4 = 0;
- else CNT_TMR4++;
-
+ CNT_TMR4++;
}
TIM4->SR = 0x0; // reset the status register
}
\ No newline at end of file