Diff: main.cpp

Revision:

5:bf2ed3846087

Parent:

4:c38f7e4e8fda

diff -r c38f7e4e8fda -r bf2ed3846087 main.cpp
--- a/main.cpp	Mon Aug 13 12:44:56 2012 +0000
+++ b/main.cpp	Mon Mar 04 16:21:35 2013 +0000
@@ -1,176 +1,176 @@
-/* PIservo
- implement a PI controller with USB serial gain setting to stabilize dipole trap power.
- Two analog inputs (control and sensor), one analog output (to RF VCA).
-
-20120806 Andreas Steffen
-*/
-
-
-#include "mbed.h"
-
-DigitalOut adcCS(p8);
-DigitalOut dacCS(p14);
-DigitalOut cyc(p10);
-AnalogOut vca(p18);
-SPI adc(p5,p6,p7); //talk to ad7921 on SSP1
-SPI dac(p11,p12,p13); //talk to ad5551 on SSP0
-Serial pc(USBTX, USBRX);
-
-
-Ticker commTick;
-Ticker limTick;
-
-// PI variables
-int pGain = 7000;
-int iGain = 12000; 
-int ctl=0;
-int pd=0;
-int err=0;
-int out = 0;
-int integrator = 0; //the building up integrator value
-
-//control variables
-int monitor = 0; //echo to serial?
-int testDAC = 0; //stops PI, just 0-5V jumps on output
-
-
-extern "C" void mbed_reset(); 
-
-
-void serialComm(){
-    char c;
-    int i;
-    
-    if (monitor) {
-        pc.printf("Measuring ctl=%i and pd=%i, err=%i, integrator= %i, out=%i\n",ctl,pd,err,integrator,out);
-    }
-    
-    if (pc.readable()) { 
-        c = pc.getc();
-        pc.scanf("%i", &i);
-        switch (c) {
-            case 'p':
-                pGain = i;   
-                pc.printf("Changed p gain to %i.\n",pGain);
-                break;
-            case 'i':
-                iGain = i;   
-                pc.printf("Changed i gain to %i.\n",iGain);
-                if (i==0)
-                    integrator = 0;
-                break;
-            case 'm':
-                monitor = i;
-                break;
-            case 't':
-                testDAC = i;
-                pc.printf("Turning on test mode... outputting 0-5 V on DAC\n");
-                break;
-            case 'z':
-                mbed_reset();
-                break;
-            default:
-                pc.printf("Command not understood.\n",iGain);
-                pc.printf("Read %c and %i.\n",c,i);
-                break;
-        }
-    }
-}
-
-
-void limitIntegrator() {
-    if(integrator < -(1<<14)/iGain) {
-        integrator = -(1<<14)/iGain;
-    }
-    if(integrator > (1<<14)/iGain) {
-        integrator = (1<<14)/iGain;
-    }
-}
-
-int main() {
-    pc.printf("mbed restarted!\n");
-    
-    adc.format(16,2);
-    adc.frequency(5e6); 
-    dac.format(14,2);
-    dac.frequency(20e6); 
-    
-    commTick.attach(&serialComm,1); //check serial every  second  
-    //limTick.attach_us(&limitIntegrator,500); //check integrator overflow every 500 us  
-    cyc = 0;    
-
-    while(1) {
-        cyc = cyc^1; //toggle debug pin
-        
-        while (testDAC) {
-            dacCS = 1;
-            dacCS = 0;
-            LPC_SSP0->DR = 0x3FFF;
-            wait_us(1000);
-            dacCS = 1;
-            dacCS = 0;
-            LPC_SSP0->DR = 0;
-            wait_us(1000);
-        } 
-        
-        //stagger read and output
-        //The SPI read takes a long time, so start it by writing to the data
-        //register, do sth. else (write new output), then get the value 
-        //and start the read from the other channel
-       
-       //begin SPI transfer
-        adcCS = 0;
-        LPC_SSP1->DR = 3<<13; //select ch 1
-        
-        //write to DAC  
-        err = ctl - pd;   
-        integrator += err;          
-        dacCS = 0;
-        // if control is very low (probably 0V), no output and no integrator
-        // otherwise integrator overflows from stray light!
-        if (ctl < 10) { 
-            err = 0;    
-            integrator = 0;
-        }
-        out = ( (err * pGain  + integrator)>>12 ) & 0x3FFF;
-        LPC_SSP0->DR = out;
-                
-        //read SPI transfer results
-        while(LPC_SSP1->SR & 0x10) {} //check for busy p 10   
-        pd =  LPC_SSP1->DR & 0xFFF; //last 12 bits are data    
-        wait_us(1);  //delay necessary for unknown reason    
-        adcCS = 1;
-        while(LPC_SSP0->SR & 0x10) {}
-        dacCS = 1; 
-          
-
-        
-        //begin transfer from other channel
-        adcCS = 0;
-        LPC_SSP1->DR = 1; //select ch 0
-        
-        //write to DAC
-        err = ctl-pd;   
-        integrator += err*iGain;                   
-        dacCS = 0;
-        // if control is very low (probably 0V), no output and no integrator
-        // otherwise integrator overflows from stray light!
-        if (ctl < 10) { 
-            err = 0;    
-            integrator = 0;
-        }
-        out = ( (err * pGain  + integrator)>>12 ) & 0x3FFF;
-        LPC_SSP0->DR = out; 
-              
-        //read SPI transfer results
-        while(LPC_SSP1->SR & 0x10) {}        
-        ctl = LPC_SSP1->DR & 0xFFF; //last 12 bits are data  
-        wait_us(1);  //delay necessary for unknown reason    
-        adcCS = 1;    
-        while(LPC_SSP0->SR & 0x10) {}
-        dacCS = 1;     
-        
-        
-      
-    }
-}
+/* PIservo
+ implement a PI controller with USB serial gain setting to stabilize dipole trap power.
+ Two analog inputs (control and sensor), one analog output (to RF VCA).
+
+20120806 Andreas Steffen
+*/
+
+
+#include "mbed.h"
+
+DigitalOut adcCS(p8);
+DigitalOut dacCS(p14);
+DigitalOut cyc(p10);
+AnalogOut vca(p18);
+SPI adc(p5,p6,p7); //talk to ad7921 on SSP1
+SPI dac(p11,p12,p13); //talk to ad5551 on SSP0
+Serial pc(USBTX, USBRX);
+
+
+Ticker commTick;
+Ticker limTick;
+
+// PI variables
+int pGain = 7000;
+int iGain = 12000; 
+int ctl=0;
+int pd=0;
+int err=0;
+int out = 0;
+int integrator = 0; //the building up integrator value
+
+//control variables
+int monitor = 0; //echo to serial?
+int testDAC = 0; //stops PI, just 0-5V jumps on output
+
+
+extern "C" void mbed_reset(); 
+
+
+void serialComm(){
+    char c;
+    int i;
+    
+    if (monitor) {
+        pc.printf("Measuring ctl=%i and pd=%i, err=%i, integrator= %i, out=%i\n",ctl,pd,err,integrator,out);
+    }
+    
+    if (pc.readable()) { 
+        c = pc.getc();
+        pc.scanf("%i", &i);
+        switch (c) {
+            case 'p':
+                pGain = i;   
+                pc.printf("Changed p gain to %i.\n",pGain);
+                break;
+            case 'i':
+                iGain = i;   
+                pc.printf("Changed i gain to %i.\n",iGain);
+                if (i==0)
+                    integrator = 0;
+                break;
+            case 'm':
+                monitor = i;
+                break;
+            case 't':
+                testDAC = i;
+                pc.printf("Turning on test mode... outputting 0-5 V on DAC\n");
+                break;
+            case 'z':
+                mbed_reset();
+                break;
+            default:
+                pc.printf("Command not understood.\n",iGain);
+                pc.printf("Read %c and %i.\n",c,i);
+                break;
+        }
+    }
+}
+
+
+void limitIntegrator() {
+    if(integrator < -(1<<14)/iGain) {
+        integrator = -(1<<14)/iGain;
+    }
+    if(integrator > (1<<14)/iGain) {
+        integrator = (1<<14)/iGain;
+    }
+}
+
+int main() {
+    pc.printf("mbed restarted!\n");
+    
+    adc.format(16,2);
+    adc.frequency(5e6); 
+    dac.format(14,2);
+    dac.frequency(20e6); 
+    
+    commTick.attach(&serialComm,1); //check serial every  second  
+    //limTick.attach_us(&limitIntegrator,500); //check integrator overflow every 500 us  
+    cyc = 0;    
+
+    while(1) {
+        cyc = cyc^1; //toggle debug pin
+        
+        while (testDAC) {
+            dacCS = 1;
+            dacCS = 0;
+            LPC_SSP0->DR = 0x3FFF;
+            wait_us(1000);
+            dacCS = 1;
+            dacCS = 0;
+            LPC_SSP0->DR = 0;
+            wait_us(1000);
+        } 
+        
+        //stagger read and output
+        //The SPI read takes a long time, so start it by writing to the data
+        //register, do sth. else (write new output), then get the value 
+        //and start the read from the other channel
+       
+       //begin SPI transfer
+        adcCS = 0;
+        LPC_SSP1->DR = 3<<13; //select ch 1
+        
+        //write to DAC  
+        err = ctl - pd;   
+        integrator += err;          
+        dacCS = 0;
+        // if control is very low (probably 0V), no output and no integrator
+        // otherwise integrator overflows from stray light!
+        if (ctl < 20) { 
+            err = 0;    
+            integrator = 0;
+        }
+        out = ( (err * pGain  + integrator)>>12 ) & 0x3FFF;
+        LPC_SSP0->DR = out;
+                
+        //read SPI transfer results
+        while(LPC_SSP1->SR & 0x10) {} //check for busy p 10   
+        pd =  LPC_SSP1->DR & 0xFFF; //last 12 bits are data    
+        wait_us(1);  //delay necessary for unknown reason    
+        adcCS = 1;
+        while(LPC_SSP0->SR & 0x10) {}
+        dacCS = 1; 
+          
+
+        
+        //begin transfer from other channel
+        adcCS = 0;
+        LPC_SSP1->DR = 1; //select ch 0
+        
+        //write to DAC
+        err = ctl-pd;   
+        integrator += err*iGain;                   
+        dacCS = 0;
+        // if control is very low (probably 0V), no output and no integrator
+        // otherwise integrator overflows from stray light!
+        if (ctl < 20) { 
+            err = 0;    
+            integrator = 0;
+        }
+        out = ( (err * pGain  + integrator)>>12 ) & 0x3FFF;
+        LPC_SSP0->DR = out; 
+              
+        //read SPI transfer results
+        while(LPC_SSP1->SR & 0x10) {}        
+        ctl = LPC_SSP1->DR & 0xFFF; //last 12 bits are data  
+        wait_us(1);  //delay necessary for unknown reason    
+        adcCS = 1;    
+        while(LPC_SSP0->SR & 0x10) {}
+        dacCS = 1;     
+        
+        
+      
+    }
+}