Aditya Mehrotra / Mbed 2 deprecated dyno_torque_sense_f44

torque sensor thing

Dependencies:   mbed

main.cpp@1:6b03278584b2, 2021-06-21 (annotated)

Committer:
adimmit
Date:
Mon Jun 21 19:56:09 2021 +0000
Revision:
1:6b03278584b2
Parent:
0:f4f2a7b3364c
Child:
2:ab65342daec8
torque sense starting;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
adimmit 0:f4f2a7b3364c 1 #include "mbed.h"
adimmit 0:f4f2a7b3364c 2 #include "math_ops.h"
adimmit 0:f4f2a7b3364c 3
adimmit 0:f4f2a7b3364c 4 #define MIN -400.0f
adimmit 0:f4f2a7b3364c 5 #define MAX 400.0f
adimmit 0:f4f2a7b3364c 6
adimmit 0:f4f2a7b3364c 7 /*
adimmit 0:f4f2a7b3364c 8 This basic example just shows how to read the ADC internal channels raw values.
adimmit 0:f4f2a7b3364c 9 Please look in the corresponding device reference manual for a complete
adimmit 0:f4f2a7b3364c 10 description of how to make a temperature sensor, VBat or Vref measurement.
adimmit 0:f4f2a7b3364c 11 */
adimmit 0:f4f2a7b3364c 12
adimmit 0:f4f2a7b3364c 13 //setup SERIAL
adimmit 0:f4f2a7b3364c 14 Serial pc(PA_2, PA_3);
adimmit 0:f4f2a7b3364c 15
adimmit 0:f4f2a7b3364c 16 //setup scaling
adimmit 1:6b03278584b2 17 float TORQUE_SCALING = 0.0550; //V/A
adimmit 0:f4f2a7b3364c 18
adimmit 0:f4f2a7b3364c 19 //setup analog inputs
adimmit 0:f4f2a7b3364c 20 AnalogIn hv_current(PC_0);
adimmit 1:6b03278584b2 21
adimmit 0:f4f2a7b3364c 22 //setup CAN
adimmit 0:f4f2a7b3364c 23 CAN can(PA_11, PA_12, 1000000); // CAN Rx pin name, CAN Tx pin name
adimmit 1:6b03278584b2 24 CANMessage tauMsg;
adimmit 0:f4f2a7b3364c 25 int ledState;
adimmit 0:f4f2a7b3364c 26 Ticker sendCAN;
adimmit 0:f4f2a7b3364c 27 int counter = 0;
adimmit 0:f4f2a7b3364c 28 volatile bool msgAvailable = false;
adimmit 0:f4f2a7b3364c 29 Ticker loop;
adimmit 0:f4f2a7b3364c 30
adimmit 1:6b03278584b2 31 void pack_cmd(CANMessage * msg, float f1){
adimmit 0:f4f2a7b3364c 32 /// convert floats to unsigned ints ///
adimmit 0:f4f2a7b3364c 33 uint16_t f1_int = float_to_uint(f1, MIN, MAX, 16);
adimmit 1:6b03278584b2 34 //uint16_t f2_int = float_to_uint(f2, MIN, MAX, 16);
adimmit 0:f4f2a7b3364c 35 /// pack ints into the can buffer ///
adimmit 0:f4f2a7b3364c 36 msg->data[0] = f1_int>>8;
adimmit 0:f4f2a7b3364c 37 msg->data[1] = f1_int&0xFF;
adimmit 1:6b03278584b2 38 /*
adimmit 0:f4f2a7b3364c 39 msg->data[2] = f2_int>>8;
adimmit 0:f4f2a7b3364c 40 msg->data[3] = f2_int&0xFF;
adimmit 0:f4f2a7b3364c 41 msg->data[4] = 0x00;
adimmit 0:f4f2a7b3364c 42 msg->data[5] = 0x00;
adimmit 0:f4f2a7b3364c 43 msg->data[6] = 0x00;
adimmit 0:f4f2a7b3364c 44 msg->data[7] = 0x00;
adimmit 0:f4f2a7b3364c 45 */
adimmit 0:f4f2a7b3364c 46 }
adimmit 0:f4f2a7b3364c 47
adimmit 0:f4f2a7b3364c 48 int main()
adimmit 0:f4f2a7b3364c 49 {
adimmit 0:f4f2a7b3364c 50 wait(1);
adimmit 0:f4f2a7b3364c 51 pc.baud(115200);
adimmit 0:f4f2a7b3364c 52 wait(.01);
adimmit 1:6b03278584b2 53 pc.printf("\n\r\n\r Biomimetics Torque Sense Board\n\r\n\r");
adimmit 0:f4f2a7b3364c 54 wait(.01);
adimmit 0:f4f2a7b3364c 55
adimmit 1:6b03278584b2 56 tauMsg.len = 2; //transmit 4 bytes
adimmit 1:6b03278584b2 57 tauMsg.id = 0x2; //higher priority
adimmit 0:f4f2a7b3364c 58
adimmit 0:f4f2a7b3364c 59 while(1){
adimmit 0:f4f2a7b3364c 60 //wait(1); //GET RID OF THIS WAIT LATER
adimmit 0:f4f2a7b3364c 61 float hv_cur = (hv_current.read()*SYSTEM_VOLTAGE-VCC/2.0) / HV_CURRENT_SCALING; //PUBLISH
adimmit 0:f4f2a7b3364c 62 float lv_cur = (lv_current.read()*SYSTEM_VOLTAGE-VCC/2.0) / LV_CURRENT_SCALING; //PUBLISH
adimmit 0:f4f2a7b3364c 63 float vol = (voltage_sense.read()*SYSTEM_VOLTAGE)*VOL_SENSE_SCALING; //INACCURATE ON THE HARDWARE SIDE!!! //PUBLISH
adimmit 0:f4f2a7b3364c 64
adimmit 0:f4f2a7b3364c 65 float V_OUT_EXT = (ext_current_A.read()*SYSTEM_VOLTAGE);
adimmit 0:f4f2a7b3364c 66 float V_REF_EXT = (ext_current_B.read()*SYSTEM_VOLTAGE);
adimmit 0:f4f2a7b3364c 67
adimmit 0:f4f2a7b3364c 68 float ext_cur = (V_OUT_EXT*SYSTEM_VOLTAGE-V_REF_EXT*SYSTEM_VOLTAGE) / EXT_CURRENT_SCALING; //PUBLISH
adimmit 0:f4f2a7b3364c 69
adimmit 0:f4f2a7b3364c 70 //now we have to publish the four floats to the CAN BUS
adimmit 1:6b03278584b2 71 pack_cmd(&tauMsg, hv_cur);
adimmit 1:6b03278584b2 72 can.write(tauMsg);
adimmit 0:f4f2a7b3364c 73 wait(.00002);
adimmit 0:f4f2a7b3364c 74 }
adimmit 0:f4f2a7b3364c 75 }