Jared Baxter / Mbed 2 deprecated Impedance_Fast_Circuitry

Impedance Fast Circuitry Software

Dependencies:   mbed-dsp mbed

Fork of DSP_200kHz by Mazzeo Research Group

main.cpp@44:41c262caf898, 2015-01-30 (annotated)

Committer:
timmey9
Date:
Fri Jan 30 14:56:58 2015 +0000
Revision:
44:41c262caf898
Parent:
43:c593a8b9688f
Child:
45:d591d138cdeb
This is before I made changes for posting it online.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
timmey9 20:f533b3c9296f 1 // Server code
donatien 0:bb128f0e952f 2 #include "mbed.h"
timmey9 24:a5891669afc5 3 #include <stdio.h>
timmey9 22:523e316cbe70 4
timmey9 22:523e316cbe70 5 // Analog sampling
timmey9 22:523e316cbe70 6 #include "PeripheralNames.h"
timmey9 22:523e316cbe70 7 #include "PeripheralPins.h"
timmey9 22:523e316cbe70 8 #include "fsl_adc_hal.h"
timmey9 22:523e316cbe70 9 #include "fsl_clock_manager.h"
timmey9 22:523e316cbe70 10 #include "fsl_dspi_hal.h"
timmey9 22:523e316cbe70 11 #include "AngleEncoder.h"
timmey9 39:82dc3daecf32 12 #include "adc.h"
timmey9 34:44cc9b76a507 13 #include "dma.h"
timmey9 43:c593a8b9688f 14 #include "pit.h"
timmey9 28:4a833d59897b 15
timmey9 22:523e316cbe70 16 // Analog sampling
timmey9 22:523e316cbe70 17 #define MAX_FADC 6000000
timmey9 36:07d8a3143967 18 #define SAMPLING_RATE 10 // In microseconds, so 10 us will be a sampling rate of 100 kHz
timmey9 40:bd6d8c35e822 19 #define TOTAL_SAMPLES 100 // originally 30000 for 0.3 ms of sampling.
timmey9 22:523e316cbe70 20
timmey9 22:523e316cbe70 21 // for debug purposes
timmey9 18:b17ddeeb1c09 22 Serial pc(USBTX, USBRX);
timmey9 18:b17ddeeb1c09 23 DigitalOut led_red(LED_RED);
timmey9 18:b17ddeeb1c09 24 DigitalOut led_green(LED_GREEN);
timmey9 18:b17ddeeb1c09 25 DigitalOut led_blue(LED_BLUE);
timmey9 43:c593a8b9688f 26 DigitalOut test1(PTB19);
timmey9 43:c593a8b9688f 27 DigitalOut test2(PTB18);
timmey9 18:b17ddeeb1c09 28
timmey9 22:523e316cbe70 29 AngleEncoder angle_encoder(PTD2, PTD3, PTD1, PTD0, 8, 0, 1000000); // mosi, miso, sclk, cs, bit_width, mode, hz
timmey9 22:523e316cbe70 30 DigitalIn AMT20_A(PTC0); // input for quadrature encoding from angle encoder
timmey9 22:523e316cbe70 31 DigitalIn AMT20_B(PTC1); // input for quadrature encoding from angle encoder
timmey9 22:523e316cbe70 32
timmey9 22:523e316cbe70 33 // Analog sampling
timmey9 34:44cc9b76a507 34 Ticker Sampler;
timmey9 22:523e316cbe70 35
timmey9 40:bd6d8c35e822 36 uint16_t sample_array1[TOTAL_SAMPLES];
timmey9 25:abbc19af13f9 37 uint16_t sample_array2[TOTAL_SAMPLES];
timmey9 22:523e316cbe70 38 uint16_t angle_array[TOTAL_SAMPLES];
timmey9 34:44cc9b76a507 39 float currA0 = 0;
timmey9 34:44cc9b76a507 40 float currA2 = 0;
timmey9 22:523e316cbe70 41
timmey9 41:3e0623d81b9a 42
timmey9 41:3e0623d81b9a 43
timmey9 22:523e316cbe70 44 // Declaration of functions
timmey9 39:82dc3daecf32 45
timmey9 22:523e316cbe70 46 void timed_sampling();
timmey9 22:523e316cbe70 47
timmey9 22:523e316cbe70 48 // Important globabl variables necessary for the sampling every interval
timmey9 22:523e316cbe70 49 int rotary_count = 0;
timmey9 22:523e316cbe70 50 uint32_t last_AMT20_AB_read = 0;
timmey9 23:9e5141647775 51
timmey9 41:3e0623d81b9a 52 DMA dma(sample_array1, sample_array2, angle_array, TOTAL_SAMPLES, &rotary_count);
timmey9 41:3e0623d81b9a 53
timmey9 39:82dc3daecf32 54
timmey9 22:523e316cbe70 55 using namespace std;
timmey9 17:2f978f823020 56
emilmont 7:65188f4a8c25 57 int main() {
timmey9 22:523e316cbe70 58 led_blue = 1;
timmey9 35:df40c4566826 59 led_green = 1;
timmey9 18:b17ddeeb1c09 60 led_red = 1;
timmey9 34:44cc9b76a507 61
timmey9 18:b17ddeeb1c09 62 pc.baud(230400);
timmey9 34:44cc9b76a507 63 pc.printf("Starting\r\n");
timmey9 27:8c2b30c855d1 64
timmey9 41:3e0623d81b9a 65 dma.reset();
timmey9 42:52a92a8d2cc7 66 adc_init(A1);
timmey9 42:52a92a8d2cc7 67 adc_init(A2);
timmey9 43:c593a8b9688f 68 pit_init(pc);
timmey9 38:ec3b16c130d7 69
timmey9 40:bd6d8c35e822 70 pc.printf("\r\n\r\n\r\n");
timmey9 37:8bdc71f3e874 71
timmey9 34:44cc9b76a507 72 while(1) {
timmey9 43:c593a8b9688f 73
timmey9 36:07d8a3143967 74 rotary_count++;
timmey9 43:c593a8b9688f 75 if(rotary_count & 0x01) AMT20_A.mode(PullUp);
timmey9 43:c593a8b9688f 76 else AMT20_A.mode(PullDown);
timmey9 43:c593a8b9688f 77 if((rotary_count>>1) & 0x01) AMT20_B.mode(PullUp);
timmey9 43:c593a8b9688f 78 else AMT20_B.mode(PullDown);
timmey9 43:c593a8b9688f 79
timmey9 34:44cc9b76a507 80 if(pc.readable() > 0) {
timmey9 34:44cc9b76a507 81 char temp = pc.getc();
timmey9 34:44cc9b76a507 82
timmey9 34:44cc9b76a507 83 switch(temp) {
timmey9 40:bd6d8c35e822 84 case 'a':
timmey9 44:41c262caf898 85 //adc_start();
timmey9 44:41c262caf898 86
timmey9 44:41c262caf898 87 //adc_stop();
timmey9 42:52a92a8d2cc7 88 // then proceed to 's' to display the array
timmey9 42:52a92a8d2cc7 89 case 's':
timmey9 43:c593a8b9688f 90 for(int i = 0; i < TOTAL_SAMPLES; i++) pc.printf("%i: %f\t %f\t %i%i\r\n",i,sample_array1[i]*3.3/65535,sample_array2[i]*3.3/65535, (angle_array[i]>>1)&0x01, angle_array[i]&0x01);
timmey9 42:52a92a8d2cc7 91 pc.printf("\r\n");
timmey9 42:52a92a8d2cc7 92 break;
timmey9 42:52a92a8d2cc7 93 case 'f':
timmey9 43:c593a8b9688f 94 for(int i = 0; i < TOTAL_SAMPLES; i++) {sample_array1[i] = 0; sample_array2[i] = 0; angle_array[i] = 0;}
timmey9 42:52a92a8d2cc7 95 pc.printf("Arrays cleared\r\n");
timmey9 40:bd6d8c35e822 96 break;
timmey9 43:c593a8b9688f 97 case 'r':
timmey9 43:c593a8b9688f 98 pc.printf("Quadrature: %i%i \r\n", (HW_GPIO_PDIR_RD(HW_PORTC)>>1)&0x01, HW_GPIO_PDIR_RD(HW_PORTC)&0x01);
timmey9 34:44cc9b76a507 99 }
timmey9 34:44cc9b76a507 100 }
timmey9 17:2f978f823020 101 }
timmey9 22:523e316cbe70 102 }
timmey9 23:9e5141647775 103
timmey9 22:523e316cbe70 104 void timed_sampling() {
timmey9 22:523e316cbe70 105
timmey9 22:523e316cbe70 106 // The following updates the rotary counter for the AMT20 sensor
timmey9 22:523e316cbe70 107 // Put A on PTC0
timmey9 22:523e316cbe70 108 // Put B on PTC1
timmey9 22:523e316cbe70 109 uint32_t AMT20_AB = HW_GPIO_PDIR_RD(HW_PORTC) & 0x03;
timmey9 22:523e316cbe70 110 if (AMT20_AB != last_AMT20_AB_read)
timmey9 22:523e316cbe70 111 {
timmey9 22:523e316cbe70 112 // change "INVERT_ANGLE" to change whether relative angle counts up or down.
timmey9 22:523e316cbe70 113 if ((AMT20_AB >> 1)^(last_AMT20_AB_read) & 1U)
timmey9 22:523e316cbe70 114 #if INVERT_ANGLE == 1
timmey9 22:523e316cbe70 115 {rotary_count--;}
timmey9 22:523e316cbe70 116 else
timmey9 22:523e316cbe70 117 {rotary_count++;}
timmey9 22:523e316cbe70 118 #else
timmey9 22:523e316cbe70 119 {rotary_count++;}
timmey9 22:523e316cbe70 120 else
timmey9 22:523e316cbe70 121 {rotary_count--;}
timmey9 22:523e316cbe70 122 #endif
timmey9 22:523e316cbe70 123
timmey9 22:523e316cbe70 124 last_AMT20_AB_read = AMT20_AB;
timmey9 22:523e316cbe70 125 }
timmey9 42:52a92a8d2cc7 126 }