Diff: main.cpp

Revision:

0:f4f2a7b3364c

Child:

1:6b03278584b2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jun 21 19:50:05 2021 +0000
@@ -0,0 +1,88 @@
+#include "mbed.h"
+#include "math_ops.h"
+
+#define MIN -400.0f
+#define MAX 400.0f
+
+/*
+   This basic example just shows how to read the ADC internal channels raw values.
+   Please look in the corresponding device reference manual for a complete
+   description of how to make a temperature sensor, VBat or Vref measurement.
+*/
+
+//setup SERIAL
+Serial       pc(PA_2, PA_3);
+
+//setup scaling
+float HV_CURRENT_SCALING = 0.0400; //V/A
+float LV_CURRENT_SCALING = 0.0550; //V/A
+float VOL_SENSE_SCALING = (1000000.0+30000.0)/30000.0; //V per Volt
+float SYSTEM_VOLTAGE = 3.3; //volts
+float VCC = 5.0; //volts
+float EXT_CURRENT_SCALING = 0.008; //Sensitivity = 8mv/A external sensor
+
+//setup analog inputs
+AnalogIn hv_current(PC_0);
+AnalogIn lv_current(PC_1);
+AnalogIn voltage_sense(PC_2);
+AnalogIn ext_current_A(PC_3); //V_OUT (for now)
+AnalogIn ext_current_B(PC_4); //V_REF (for now)
+//setup CAN
+CAN          can(PA_11, PA_12, 1000000);  // CAN Rx pin name, CAN Tx pin name
+CANMessage   currMsg, statMsg;
+int                     ledState;
+Ticker                  sendCAN;
+int                     counter = 0;
+volatile bool           msgAvailable = false;
+Ticker loop;
+
+void pack_cmd(CANMessage * msg, float f1, float f2){
+     /// convert floats to unsigned ints ///
+     uint16_t f1_int = float_to_uint(f1, MIN, MAX, 16);            
+     uint16_t f2_int = float_to_uint(f2, MIN, MAX, 16);
+     /// pack ints into the can buffer ///
+     msg->data[0] = f1_int>>8;                                       
+     msg->data[1] = f1_int&0xFF;
+     msg->data[2] = f2_int>>8;
+     msg->data[3] = f2_int&0xFF;
+     /*
+     msg->data[4] = 0x00;
+     msg->data[5] = 0x00;
+     msg->data[6] = 0x00;
+     msg->data[7] = 0x00;
+     */
+     }
+
+int main()
+{
+    wait(1);
+    pc.baud(115200);
+    wait(.01);
+    pc.printf("\n\r\n\r Biomimetics Power Board\n\r\n\r");
+    wait(.01);
+    
+    currMsg.len = 4;                        //transmit 4 bytes
+    statMsg.len = 4;                        //transmit 4 bytes
+    
+    currMsg.id = 0x1;                       //higher priority                
+    statMsg.id = 0x2;                       //lower
+    
+    while(1){
+        //wait(1); //GET RID OF THIS WAIT LATER
+        float hv_cur = (hv_current.read()*SYSTEM_VOLTAGE-VCC/2.0) / HV_CURRENT_SCALING;                                     //PUBLISH
+        float lv_cur = (lv_current.read()*SYSTEM_VOLTAGE-VCC/2.0) / LV_CURRENT_SCALING;                                     //PUBLISH
+        float vol = (voltage_sense.read()*SYSTEM_VOLTAGE)*VOL_SENSE_SCALING; //INACCURATE ON THE HARDWARE SIDE!!!           //PUBLISH
+        
+        float V_OUT_EXT = (ext_current_A.read()*SYSTEM_VOLTAGE);
+        float V_REF_EXT = (ext_current_B.read()*SYSTEM_VOLTAGE);
+        
+        float ext_cur = (V_OUT_EXT*SYSTEM_VOLTAGE-V_REF_EXT*SYSTEM_VOLTAGE) / EXT_CURRENT_SCALING;                            //PUBLISH
+        
+        //now we have to publish the four floats to the CAN BUS
+        pack_cmd(&currMsg, hv_cur, ext_cur);
+        pack_cmd(&statMsg, vol, lv_cur);
+        can.write(currMsg);
+        wait(.00002);
+        can.write(statMsg); 
+    }
+}