Ruprecht Altenburger / Mbed OS simple_program

Simple program for introduction of mirror actuator.

main.cpp@6:9ebeffe446e4, 2021-04-01 (annotated)

Committer:
altb2
Date:
Thu Apr 01 13:38:54 2021 +0000
Revision:
6:9ebeffe446e4
Parent:
5:768e10f6d372
Child:
7:942fd77d5e19
first commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 0:a56e9c932891 1 #include "mbed.h"
altb2 0:a56e9c932891 2 #include "math.h"
altb2 0:a56e9c932891 3 //------------------------------------------
altb2 0:a56e9c932891 4 #define PI 3.1415927f
altb2 0:a56e9c932891 5 //------------------------------------------
altb2 0:a56e9c932891 6 #include "EncoderCounter.h"
altb2 5:768e10f6d372 7 #include "EncoderCounterIndex.h"
altb2 0:a56e9c932891 8 #include "DiffCounter.h"
altb2 0:a56e9c932891 9 #include "IIR_filter.h"
altb2 0:a56e9c932891 10 #include "LinearCharacteristics.h"
altb2 5:768e10f6d372 11 #include "PID_Cntrl.h"
altb2 5:768e10f6d372 12 #include "Unwrapper_2pi.h"
altb2 5:768e10f6d372 13 #include "path_1d.h"
altb2 5:768e10f6d372 14 #include "GPA.h"
altb2 5:768e10f6d372 15 #include "ControllerLoop.h"
altb2 6:9ebeffe446e4 16 #include "Mirror_Kinematic.h"
altb2 6:9ebeffe446e4 17 #include "data_structs.h"
altb2 6:9ebeffe446e4 18 #include "uart_comm_thread.h"
altb2 0:a56e9c932891 19
altb2 6:9ebeffe446e4 20 static BufferedSerial serial_port(USBTX, USBRX);
altb2 5:768e10f6d372 21 InterruptIn button(USER_BUTTON); // User Button, short and long presses!
altb2 0:a56e9c932891 22 bool key_was_pressed = false;
altb2 6:9ebeffe446e4 23 float Ts=.0002f; // sampling time
altb2 5:768e10f6d372 24 void pressed(void);
altb2 5:768e10f6d372 25 void released(void);
altb2 6:9ebeffe446e4 26 DigitalOut led1(LED1);
altb2 6:9ebeffe446e4 27 DigitalOut led2(LED2);
altb2 5:768e10f6d372 28 //------------- DEFINE FILTERS ----------------
altb2 5:768e10f6d372 29 // missing
altb2 6:9ebeffe446e4 30 //------------- Define In/Out -----------------
altb2 6:9ebeffe446e4 31 //AnalogOut i_des1(PA_5);
altb2 6:9ebeffe446e4 32 AnalogOut i_des2(PA_4);
altb2 6:9ebeffe446e4 33 DigitalOut i_enable(PC_4);
altb2 6:9ebeffe446e4 34 DigitalOut laser_on(PB_0);
altb2 6:9ebeffe446e4 35 ///------------- Encoder -----------------------
altb2 5:768e10f6d372 36 EncoderCounter counter1(PA_6, PC_7); // initialize counter on PA_6 and PC_7
altb2 5:768e10f6d372 37 InterruptIn indexpulse1(PA_8);
altb2 5:768e10f6d372 38 EncoderCounterIndex index1(counter1,indexpulse1);
altb2 6:9ebeffe446e4 39 // ------------------------------------
altb2 5:768e10f6d372 40 EncoderCounter counter2(PB_6, PB_7); // initialize counter on PB_6 and PB_7
altb2 5:768e10f6d372 41 InterruptIn indexpulse2(PB_4);
altb2 5:768e10f6d372 42 EncoderCounterIndex index2(counter2,indexpulse2); // initialize counter on PA_6 and PC_7
altb2 6:9ebeffe446e4 43 // ------------------------------------
altb2 6:9ebeffe446e4 44 DiffCounter diff1(0.0005f,Ts,4000); // discrete differentiate, based on encoder data
altb2 6:9ebeffe446e4 45 DiffCounter diff2(0.0005f,Ts,4000); // discrete differentiate, based on encoder data
altb2 6:9ebeffe446e4 46 //LinearCharacteristics i2pwm(-1.0,1.0,0.02,0.98,.02,.98);
altb2 6:9ebeffe446e4 47 LinearCharacteristics i2u(-1.0,1.0,0.0,1.0,0.0,1.0);
altb2 6:9ebeffe446e4 48
altb2 6:9ebeffe446e4 49 Unwrapper_2pi uw2pi1;
altb2 6:9ebeffe446e4 50 Unwrapper_2pi uw2pi2;
altb2 0:a56e9c932891 51 //------------------------------------------
altb2 0:a56e9c932891 52 // ----- User defined functions -----------
altb2 5:768e10f6d372 53 ControllerLoop loop(Ts);
altb2 6:9ebeffe446e4 54 uart_comm_thread uart_com(&serial_port,.5f);
altb2 6:9ebeffe446e4 55 Ticker do_referencing;
altb2 6:9ebeffe446e4 56 Timer glob_ti;
altb2 5:768e10f6d372 57 path_1d p1;
altb2 5:768e10f6d372 58 path_1d p2;
altb2 5:768e10f6d372 59 path_1d *current_path;
altb2 5:768e10f6d372 60 float A = 2.7;
altb2 5:768e10f6d372 61 float dc=0.0;
altb2 6:9ebeffe446e4 62 Mirror_Kinematic mc;
altb2 6:9ebeffe446e4 63 DATA_Xchange data;
altb2 6:9ebeffe446e4 64
altb2 5:768e10f6d372 65 //GPA myGPA(1, 2500, 100, 30, 20, Ts);
altb2 5:768e10f6d372 66 //GPA myGPA(5, 2500, 80, 0.3, 0.3, Ts);
altb2 5:768e10f6d372 67 float exc=0.0; // excitation GPA
altb2 5:768e10f6d372 68 // f1 f2 N A1 A2 Ts
altb2 5:768e10f6d372 69
altb2 5:768e10f6d372 70 // *****************************************************************************
altb2 6:9ebeffe446e4 71
altb2 5:768e10f6d372 72
altb2 5:768e10f6d372 73
altb2 0:a56e9c932891 74 //******************************************************************************
altb2 0:a56e9c932891 75 //---------- main loop -------------
altb2 0:a56e9c932891 76 //******************************************************************************
altb2 0:a56e9c932891 77 int main()
altb2 0:a56e9c932891 78 {
altb2 6:9ebeffe446e4 79 serial_port.set_baud(115200);
altb2 6:9ebeffe446e4 80 serial_port.set_format(
altb2 6:9ebeffe446e4 81 /* bits */ 8,
altb2 6:9ebeffe446e4 82 /* parity */ BufferedSerial::None,
altb2 6:9ebeffe446e4 83 /* stop bit */ 1
altb2 6:9ebeffe446e4 84 );
altb2 6:9ebeffe446e4 85 serial_port.set_blocking(false); // force to send whenever possible and data is there
altb2 5:768e10f6d372 86 i_enable = 0; // disable current first
altb2 0:a56e9c932891 87 counter1.reset(); // encoder reset
altb2 5:768e10f6d372 88 counter2.reset(); // encoder reset
altb2 6:9ebeffe446e4 89 i_enable = 0;
altb2 6:9ebeffe446e4 90 mc.set_offsets(2956,2343);
altb2 5:768e10f6d372 91 glob_ti.start();
altb2 5:768e10f6d372 92 glob_ti.reset();
altb2 6:9ebeffe446e4 93 printf("Start Mirroractuator 1.0\r\n");
altb2 6:9ebeffe446e4 94 loop.init_controllers();
altb2 6:9ebeffe446e4 95 uart_com.start_uart();
altb2 6:9ebeffe446e4 96 loop.start_loop();
altb2 6:9ebeffe446e4 97 //i_des1.write(i2u(0));
altb2 6:9ebeffe446e4 98 i_des2.write(i2u(0));
altb2 6:9ebeffe446e4 99 led1 = 1;
altb2 6:9ebeffe446e4 100 led2 = 1;
altb2 6:9ebeffe446e4 101 /* p1.initialize(300,10,A,0,0,0);
altb2 5:768e10f6d372 102 p2.initialize(300,10,-A,0,0,A);
altb2 6:9ebeffe446e4 103 laser_on = 0;
altb2 6:9ebeffe446e4 104
altb2 6:9ebeffe446e4 105
altb2 6:9ebeffe446e4 106 //for(int wk =0;wk<5;wk++)
altb2 6:9ebeffe446e4 107 while(0)
altb2 5:768e10f6d372 108 {
altb2 6:9ebeffe446e4 109 short c1 = counter1; // get counts from Encoder
altb2 6:9ebeffe446e4 110 short c2 = counter2; // get counts from Encoder
altb2 6:9ebeffe446e4 111 /*current_path = &p1;
altb2 5:768e10f6d372 112 current_path->start(glob_ti.read());
altb2 5:768e10f6d372 113 while(!current_path->finished)
altb2 5:768e10f6d372 114 wait(.1);
altb2 5:768e10f6d372 115 current_path = &p2;
altb2 5:768e10f6d372 116 current_path->start(glob_ti.read());
altb2 5:768e10f6d372 117 while(!current_path->finished)
altb2 5:768e10f6d372 118 wait(.1);
altb2 5:768e10f6d372 119 ThisThread::sleep_for(100);
altb2 6:9ebeffe446e4 120
altb2 6:9ebeffe446e4 121 // printf("c1,c2: %d %d \r\n",c1,c2);
altb2 6:9ebeffe446e4 122
altb2 6:9ebeffe446e4 123 wait(.25);
altb2 6:9ebeffe446e4 124 laser_on = !laser_on;
altb2 5:768e10f6d372 125 }
altb2 6:9ebeffe446e4 126 i_enable = 0;*/
altb2 5:768e10f6d372 127 while(1)
altb2 6:9ebeffe446e4 128 ThisThread::sleep_for(2000);
altb2 0:a56e9c932891 129
altb2 0:a56e9c932891 130 } // END OF main