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torque sensor thing
main.cpp
- Committer:
- adimmit
- Date:
- 2021-06-21
- Revision:
- 0:f4f2a7b3364c
- Child:
- 1:6b03278584b2
File content as of revision 0:f4f2a7b3364c:
#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); } }