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@30:6a4ef939a93e, 2014-12-11 (annotated)

Committer:
timmey9
Date:
Thu Dec 11 13:20:07 2014 +0000
Revision:
30:6a4ef939a93e
Parent:
29:e6309316c35d
Child:
31:09e7a8b3c7e7
This is what was working before I started changing it the morning of the presentation.

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 // Ethernet
donatien 0:bb128f0e952f 6 #include "EthernetInterface.h"
timmey9 17:2f978f823020 7 #include "NetworkAPI/buffer.hpp"
timmey9 17:2f978f823020 8 #include "NetworkAPI/select.hpp"
timmey9 17:2f978f823020 9 #include "NetworkAPI/ip/address.hpp"
timmey9 17:2f978f823020 10 #include "NetworkAPI/tcp/socket.hpp"
timmey9 18:b17ddeeb1c09 11
timmey9 22:523e316cbe70 12 // Angle encoder and motor control
timmey9 22:523e316cbe70 13 #include "AngleEncoder.h"
timmey9 22:523e316cbe70 14 #include "MotorControl.h"
timmey9 22:523e316cbe70 15
timmey9 22:523e316cbe70 16 // Analog sampling
timmey9 22:523e316cbe70 17 #include "PeripheralNames.h"
timmey9 22:523e316cbe70 18 #include "PeripheralPins.h"
timmey9 22:523e316cbe70 19 #include "fsl_adc_hal.h"
timmey9 22:523e316cbe70 20 #include "fsl_clock_manager.h"
timmey9 22:523e316cbe70 21 #include "fsl_dspi_hal.h"
timmey9 22:523e316cbe70 22 #include "AngleEncoder.h"
timmey9 22:523e316cbe70 23
timmey9 22:523e316cbe70 24 /*****************************************
timmey9 22:523e316cbe70 25 *
timmey9 22:523e316cbe70 26 * Configuration
timmey9 22:523e316cbe70 27 *
timmey9 22:523e316cbe70 28 * Take the time to set these constants
timmey9 22:523e316cbe70 29 *
timmey9 22:523e316cbe70 30 *****************************************/
timmey9 21:1fb5023b72af 31 #define MALLET 6 // set mallet to a value between 1-7
timmey9 21:1fb5023b72af 32 #define STATIC 1 // set STATIC to 1 for static ip, set STATIC to 0 for dynamic
timmey9 21:1fb5023b72af 33 #define PORT 22 // set to a random port number. All the mallets can use the same port number.
timmey9 21:1fb5023b72af 34 #define MAX_CLIENTS 2 // set the max number of clients to at least 2 (first client is MATLAB, second is the distance unit)
timmey9 22:523e316cbe70 35 #define INVERT_ANGLE 0 // inverts whether the angle encoder counts up or down
timmey9 22:523e316cbe70 36
timmey9 28:4a833d59897b 37
timmey9 22:523e316cbe70 38 // Analog sampling
timmey9 22:523e316cbe70 39 #define MAX_FADC 6000000
timmey9 29:e6309316c35d 40 #define SAMPLING_RATE 10 // In microseconds, so 10 us will be a sampling rate of 100 kHz
timmey9 27:8c2b30c855d1 41 #define TOTAL_SAMPLES 30000 // originally 30000 for 0.3 ms of sampling.
timmey9 22:523e316cbe70 42
timmey9 22:523e316cbe70 43 #define LAST_SAMPLE_INDEX (TOTAL_SAMPLES-1) // If sampling time is 25 us, then 2000 corresponds to 50 ms
timmey9 22:523e316cbe70 44 #define FIRST_SAMPLE_INDEX 0
timmey9 22:523e316cbe70 45 #define BEGIN_SAMPLING 0xFFFFFFFF
timmey9 22:523e316cbe70 46 #define WAITING_TO_BEGIN (BEGIN_SAMPLING-1)
timmey9 22:523e316cbe70 47
timmey9 22:523e316cbe70 48 #define CHANNEL_STORAGE_OFFSET 16 // For storing the 16 bits and the 16 bits in a single 32 bit array
timmey9 22:523e316cbe70 49 #define PERIOD 3000 // make sure PERIOD >= ON_OFF_TIME
timmey9 22:523e316cbe70 50 #define ON_OFF_TIME 300 // time it takes for relay to turn on
timmey9 22:523e316cbe70 51
timmey9 22:523e316cbe70 52
timmey9 22:523e316cbe70 53 // Ethernet
timmey9 22:523e316cbe70 54 #define GATEWAY "169.254.225.1"
timmey9 22:523e316cbe70 55 #define MASK "255.255.0.0"
timmey9 22:523e316cbe70 56
timmey9 22:523e316cbe70 57 // used for assign different mallets their ip addresses
timmey9 21:1fb5023b72af 58 #if MALLET == 1
timmey9 22:523e316cbe70 59 #define IP "169.254.225.206"
timmey9 21:1fb5023b72af 60 #define NAME "Mallet1\n\r"
timmey9 21:1fb5023b72af 61
timmey9 21:1fb5023b72af 62 #elif MALLET == 2
timmey9 22:523e316cbe70 63 #define IP "169.254.225.207"
timmey9 21:1fb5023b72af 64 #define NAME "Mallet2\n\r"
timmey9 21:1fb5023b72af 65
timmey9 21:1fb5023b72af 66 #elif MALLET == 3
timmey9 22:523e316cbe70 67 #define IP "169.254.225.208"
timmey9 21:1fb5023b72af 68 #define NAME "Mallet3\n\r"
timmey9 21:1fb5023b72af 69
timmey9 21:1fb5023b72af 70 #elif MALLET == 4
timmey9 22:523e316cbe70 71 #define IP "169.254.225.209"
timmey9 21:1fb5023b72af 72 #define NAME "Mallet4\n\r"
timmey9 21:1fb5023b72af 73
timmey9 21:1fb5023b72af 74 #elif MALLET == 5
timmey9 22:523e316cbe70 75 #define IP "169.254.225.210"
timmey9 21:1fb5023b72af 76 #define NAME "Mallet5\n\r"
timmey9 21:1fb5023b72af 77
timmey9 21:1fb5023b72af 78 #elif MALLET == 6
timmey9 22:523e316cbe70 79 #define IP "169.254.225.211"
timmey9 21:1fb5023b72af 80 #define NAME "Mallet6\n\r"
timmey9 21:1fb5023b72af 81
timmey9 21:1fb5023b72af 82 #elif MALLET == 7
timmey9 22:523e316cbe70 83 #define IP "169.254.225.212"
timmey9 21:1fb5023b72af 84 #define NAME "Mallet7\n\r"
timmey9 21:1fb5023b72af 85
timmey9 20:f533b3c9296f 86 #endif
timmey9 20:f533b3c9296f 87
timmey9 21:1fb5023b72af 88
timmey9 22:523e316cbe70 89 // for debug purposes
timmey9 18:b17ddeeb1c09 90 Serial pc(USBTX, USBRX);
timmey9 18:b17ddeeb1c09 91 DigitalOut led_red(LED_RED);
timmey9 18:b17ddeeb1c09 92 DigitalOut led_green(LED_GREEN);
timmey9 18:b17ddeeb1c09 93 DigitalOut led_blue(LED_BLUE);
timmey9 18:b17ddeeb1c09 94
timmey9 22:523e316cbe70 95 // motor control and angle encoder
timmey9 22:523e316cbe70 96 MotorControl motor(PTC2, PTA2, PERIOD, ON_OFF_TIME); // forward, backward, period, safetyPeriod
timmey9 22:523e316cbe70 97 AngleEncoder angle_encoder(PTD2, PTD3, PTD1, PTD0, 8, 0, 1000000); // mosi, miso, sclk, cs, bit_width, mode, hz
timmey9 22:523e316cbe70 98 DigitalIn AMT20_A(PTC0); // input for quadrature encoding from angle encoder
timmey9 22:523e316cbe70 99 DigitalIn AMT20_B(PTC1); // input for quadrature encoding from angle encoder
timmey9 22:523e316cbe70 100
timmey9 22:523e316cbe70 101 // Analog sampling
timmey9 28:4a833d59897b 102 //Ticker Sampler;
timmey9 23:9e5141647775 103 //Timer timer;
timmey9 23:9e5141647775 104 //Timer timeStamp;
timmey9 22:523e316cbe70 105 AnalogIn A0_pin(A0);
timmey9 22:523e316cbe70 106 AnalogIn A2_pin(A2);
timmey9 22:523e316cbe70 107
timmey9 22:523e316cbe70 108 //DigitalIn SW3_switch(PTA4);
timmey9 22:523e316cbe70 109 //DigitalIn SW2_switch(PTC6);
timmey9 28:4a833d59897b 110 DigitalOut TotalInd(PTC4);
timmey9 28:4a833d59897b 111 DigitalOut SampleInd(PTC5); // originally PTD0 but needed for CS for spi
timmey9 22:523e316cbe70 112
timmey9 22:523e316cbe70 113 uint32_t current_sample_index = WAITING_TO_BEGIN;
timmey9 25:abbc19af13f9 114 uint16_t sample_array1[TOTAL_SAMPLES];
timmey9 25:abbc19af13f9 115 uint16_t sample_array2[TOTAL_SAMPLES];
timmey9 22:523e316cbe70 116 uint16_t angle_array[TOTAL_SAMPLES];
timmey9 22:523e316cbe70 117
timmey9 22:523e316cbe70 118 // Declaration of functions
timmey9 22:523e316cbe70 119 void analog_initialization(PinName pin);
timmey9 22:523e316cbe70 120 void output_data(uint32_t iteration_number);
timmey9 22:523e316cbe70 121 void timed_sampling();
timmey9 22:523e316cbe70 122
timmey9 22:523e316cbe70 123 // Important globabl variables necessary for the sampling every interval
timmey9 22:523e316cbe70 124 int rotary_count = 0;
timmey9 22:523e316cbe70 125 uint32_t last_AMT20_AB_read = 0;
timmey9 23:9e5141647775 126
timmey9 22:523e316cbe70 127 using namespace std;
timmey9 17:2f978f823020 128
emilmont 7:65188f4a8c25 129 int main() {
timmey9 25:abbc19af13f9 130 //for(int i = 0; i < TOTAL_SAMPLES; i++) {sample_array[i] = i;}
timmey9 28:4a833d59897b 131 TotalInd = 0;
timmey9 28:4a833d59897b 132 SampleInd = 0;
timmey9 22:523e316cbe70 133 led_blue = 1;
timmey9 30:6a4ef939a93e 134 led_green = 0;
timmey9 18:b17ddeeb1c09 135 led_red = 1;
timmey9 22:523e316cbe70 136
timmey9 18:b17ddeeb1c09 137 pc.baud(230400);
timmey9 24:a5891669afc5 138 pc.printf("Starting %s\r\n",NAME);
timmey9 23:9e5141647775 139
timmey9 28:4a833d59897b 140 for(int i = 0; i < 86; i++)
timmey9 28:4a833d59897b 141 {
timmey9 28:4a833d59897b 142 if(NVIC_GetPriority((IRQn_Type) i) == 0) NVIC_SetPriority((IRQn_Type) i, 2);
timmey9 28:4a833d59897b 143 }
timmey9 28:4a833d59897b 144
timmey9 28:4a833d59897b 145 //NVIC_SetPriority(SWI_IRQn,0);
timmey9 28:4a833d59897b 146
timmey9 28:4a833d59897b 147 //NVIC_SetPriority(Watchdog_IRQn,0);
timmey9 28:4a833d59897b 148 //NVIC_SetPriority(MCM_IRQn,0);
timmey9 28:4a833d59897b 149 //NVIC_SetPriority(PIT0_IRQn,0);
timmey9 28:4a833d59897b 150 //NVIC_SetPriority(PIT1_IRQn,0);
timmey9 28:4a833d59897b 151 //NVIC_SetPriority(PIT2_IRQn,0);
timmey9 28:4a833d59897b 152 NVIC_SetPriority(PIT3_IRQn,0);
timmey9 28:4a833d59897b 153 //NVIC_SetPriority(LPTimer_IRQn,0);
timmey9 28:4a833d59897b 154
timmey9 28:4a833d59897b 155 NVIC_SetPriority(ADC1_IRQn,0);
timmey9 28:4a833d59897b 156 NVIC_SetPriority(ADC0_IRQn,0);
timmey9 28:4a833d59897b 157 NVIC_SetPriority(ENET_1588_Timer_IRQn,0);
timmey9 28:4a833d59897b 158 NVIC_SetPriority(ENET_Transmit_IRQn,0);
timmey9 28:4a833d59897b 159 NVIC_SetPriority(ENET_Receive_IRQn,0);
timmey9 28:4a833d59897b 160 NVIC_SetPriority(ENET_Error_IRQn,0);
timmey9 28:4a833d59897b 161
timmey9 28:4a833d59897b 162
timmey9 27:8c2b30c855d1 163 // The ethernet setup must be within the first few lines of code, otherwise the program hangs
timmey9 17:2f978f823020 164 EthernetInterface interface;
timmey9 21:1fb5023b72af 165 #if STATIC == 1
timmey9 20:f533b3c9296f 166 interface.init(IP, MASK, GATEWAY);
timmey9 20:f533b3c9296f 167 #else
timmey9 17:2f978f823020 168 interface.init();
timmey9 20:f533b3c9296f 169 #endif
timmey9 17:2f978f823020 170 interface.connect();
timmey9 20:f533b3c9296f 171 pc.printf("IP Address is: %s\n\r", interface.getIPAddress());
timmey9 20:f533b3c9296f 172 pc.printf("Network Mask is: %s\n\r", interface.getNetworkMask());
timmey9 20:f533b3c9296f 173 pc.printf("MAC address is: %s\n\r", interface.getMACAddress());
timmey9 20:f533b3c9296f 174 pc.printf("Gateway is: %s\n\r", interface.getGateway());
timmey9 21:1fb5023b72af 175 pc.printf("Port is: %i\n\r", PORT);
timmey9 20:f533b3c9296f 176
timmey9 28:4a833d59897b 177
timmey9 22:523e316cbe70 178 // ethernet setup failed for some reason. Flash yellow light then uC resets itself
timmey9 23:9e5141647775 179 if(interface.getIPAddress() == 0)
timmey9 22:523e316cbe70 180 {
timmey9 22:523e316cbe70 181 for(int i = 0; i < 5; i++)
timmey9 22:523e316cbe70 182 {
timmey9 22:523e316cbe70 183 led_red = 0;
timmey9 22:523e316cbe70 184 led_green = 0;
timmey9 22:523e316cbe70 185 wait_ms(500);
timmey9 22:523e316cbe70 186 led_red = 1;
timmey9 22:523e316cbe70 187 led_green = 1;
timmey9 22:523e316cbe70 188 wait_ms(1000);
timmey9 22:523e316cbe70 189 }
timmey9 22:523e316cbe70 190 NVIC_SystemReset();
timmey9 23:9e5141647775 191 }
timmey9 22:523e316cbe70 192
timmey9 27:8c2b30c855d1 193
timmey9 27:8c2b30c855d1 194 analog_initialization(A0);
timmey9 27:8c2b30c855d1 195 analog_initialization(A2);
timmey9 27:8c2b30c855d1 196
timmey9 27:8c2b30c855d1 197
timmey9 27:8c2b30c855d1 198 // Start the sampling loop
timmey9 27:8c2b30c855d1 199 current_sample_index = WAITING_TO_BEGIN;
timmey9 28:4a833d59897b 200 //Sampler.attach_us(&timed_sampling, SAMPLING_RATE);
timmey9 27:8c2b30c855d1 201
timmey9 28:4a833d59897b 202 //NVIC_SetPriority(TIMER3_IRQn,0);
timmey9 28:4a833d59897b 203 //pc.printf("Ticker IRQ: %i\r\n", Sampler.irq());
timmey9 27:8c2b30c855d1 204
timmey9 27:8c2b30c855d1 205 // corresponding duty 1 0 0.7 1 0.75
timmey9 27:8c2b30c855d1 206 uint32_t duration[8] = {0, 0, 0, 0, 0, 0, 0, 0};
timmey9 27:8c2b30c855d1 207
timmey9 27:8c2b30c855d1 208 double duty_cycle = 0.25;
timmey9 27:8c2b30c855d1 209
timmey9 22:523e316cbe70 210 network::Select select;
timmey9 22:523e316cbe70 211 network::tcp::Socket server;
timmey9 22:523e316cbe70 212 network::tcp::Socket client[MAX_CLIENTS];
timmey9 22:523e316cbe70 213 network::tcp::Socket *socket = NULL;
timmey9 17:2f978f823020 214
timmey9 17:2f978f823020 215 int result = 0;
timmey9 17:2f978f823020 216 int index = 0;
timmey9 17:2f978f823020 217
timmey9 27:8c2b30c855d1 218 network::Buffer buffer(50);
timmey9 21:1fb5023b72af 219 std::string message(NAME);
timmey9 17:2f978f823020 220
timmey9 21:1fb5023b72af 221 // Configure the server socket (assume every thing works)
timmey9 17:2f978f823020 222 server.open();
timmey9 20:f533b3c9296f 223 server.bind(PORT);
timmey9 17:2f978f823020 224 server.listen(MAX_CLIENTS);
timmey9 27:8c2b30c855d1 225
timmey9 17:2f978f823020 226 // Add sockets to the select api
timmey9 22:523e316cbe70 227 select.set(&server, network::Select::Read);
timmey9 17:2f978f823020 228 for (index = 0; index < MAX_CLIENTS; index++) {
timmey9 22:523e316cbe70 229 select.set(&client[index], network::Select::Read);
timmey9 17:2f978f823020 230 }
timmey9 22:523e316cbe70 231
timmey9 22:523e316cbe70 232 led_red = 1;
timmey9 22:523e316cbe70 233 led_green = 1;
timmey9 22:523e316cbe70 234 led_blue = 0;
timmey9 23:9e5141647775 235 wait_ms(500);
timmey9 22:523e316cbe70 236 led_blue = 1;
timmey9 23:9e5141647775 237 wait_ms(200);
timmey9 23:9e5141647775 238 led_blue = 0;
timmey9 23:9e5141647775 239 wait_ms(500);
timmey9 23:9e5141647775 240 led_blue = 1;
timmey9 22:523e316cbe70 241
timmey9 28:4a833d59897b 242 NVIC_SetPriority(ENET_1588_Timer_IRQn,1);
timmey9 28:4a833d59897b 243 NVIC_SetPriority(ENET_Transmit_IRQn,1);
timmey9 28:4a833d59897b 244 NVIC_SetPriority(ENET_Receive_IRQn,1);
timmey9 28:4a833d59897b 245 NVIC_SetPriority(ENET_Error_IRQn,1);
timmey9 28:4a833d59897b 246
timmey9 28:4a833d59897b 247 //for(int i = 0; i < 86; i++) pc.printf("%i: %i\r\n", i, NVIC_GetPriority((IRQn_Type) i));
timmey9 28:4a833d59897b 248
timmey9 17:2f978f823020 249 do {
timmey9 17:2f978f823020 250 // Wait for activity
timmey9 17:2f978f823020 251 result = select.wait();
timmey9 17:2f978f823020 252 if (result < -1) {
timmey9 18:b17ddeeb1c09 253 pc.printf("Failed to select\n\r");
emilmont 7:65188f4a8c25 254 break;
timmey9 16:c3f922f61b8f 255 }
timmey9 17:2f978f823020 256
timmey9 17:2f978f823020 257 // Get the first socket
timmey9 22:523e316cbe70 258 socket = (network::tcp::Socket *)select.getReadable();
timmey9 17:2f978f823020 259
timmey9 22:523e316cbe70 260 for (; socket != NULL; socket = (network::tcp::Socket *)select.getReadable()) {
timmey9 17:2f978f823020 261 // Check if there was a connection request.
timmey9 17:2f978f823020 262 if (socket->getHandle() == server.getHandle()) {
timmey9 17:2f978f823020 263 // Find an unused client
timmey9 17:2f978f823020 264 for (index = 0; index < MAX_CLIENTS; index++) {
timmey9 17:2f978f823020 265 if (client[index].getStatus() == network::Socket::Closed) {
timmey9 17:2f978f823020 266 break;
timmey9 17:2f978f823020 267 }
timmey9 17:2f978f823020 268 }
timmey9 17:2f978f823020 269
timmey9 17:2f978f823020 270 // Maximum connections reached
timmey9 17:2f978f823020 271 if (index == MAX_CLIENTS) {
timmey9 18:b17ddeeb1c09 272 pc.printf("Maximum connections reached\n\r");
timmey9 21:1fb5023b72af 273 wait(1);
timmey9 17:2f978f823020 274 continue;
timmey9 17:2f978f823020 275 }
timmey9 20:f533b3c9296f 276
timmey9 17:2f978f823020 277 // Accept the client
timmey9 17:2f978f823020 278 socket->accept(client[index]);
timmey9 18:b17ddeeb1c09 279 pc.printf("Client connected %s:%d\n\r",
timmey9 17:2f978f823020 280 client[index].getRemoteEndpoint().getAddress().toString().c_str(),
timmey9 17:2f978f823020 281 client[index].getRemoteEndpoint().getPort());
timmey9 17:2f978f823020 282
timmey9 21:1fb5023b72af 283 // Send a nice message to the client (tell MATLAB your name
timmey9 17:2f978f823020 284 client[index].write((void *)message.data(), message.size());
timmey9 20:f533b3c9296f 285
timmey9 17:2f978f823020 286 continue;
timmey9 16:c3f922f61b8f 287 }
timmey9 20:f533b3c9296f 288
timmey9 17:2f978f823020 289 // It was not the server socket, so it must be a client talking to us.
timmey9 17:2f978f823020 290 switch (socket->read(buffer)) {
timmey9 17:2f978f823020 291 case 0:
timmey9 17:2f978f823020 292 // Remote end disconnected
timmey9 18:b17ddeeb1c09 293 pc.printf("Client disconnected %s:%d\n\r",
timmey9 17:2f978f823020 294 socket->getRemoteEndpoint().getAddress().toString().c_str(),
timmey9 17:2f978f823020 295 socket->getRemoteEndpoint().getPort());
timmey9 17:2f978f823020 296
timmey9 17:2f978f823020 297 // Close socket
timmey9 17:2f978f823020 298 socket->close();
timmey9 17:2f978f823020 299 break;
timmey9 20:f533b3c9296f 300
timmey9 17:2f978f823020 301 case -1:
timmey9 18:b17ddeeb1c09 302 pc.printf("Error while reading data from socket\n\r");
timmey9 17:2f978f823020 303 socket->close();
timmey9 17:2f978f823020 304 break;
timmey9 20:f533b3c9296f 305 //************* this is where data is printed to the screen
timmey9 17:2f978f823020 306 default:
timmey9 18:b17ddeeb1c09 307 pc.printf("Message from %s:%d\n\r",
timmey9 17:2f978f823020 308 socket->getRemoteEndpoint().getAddress().toString().c_str(),
timmey9 17:2f978f823020 309 socket->getRemoteEndpoint().getPort());
timmey9 17:2f978f823020 310
timmey9 21:1fb5023b72af 311 pc.printf("%s\n\r", (char *)buffer.data());
timmey9 21:1fb5023b72af 312
timmey9 21:1fb5023b72af 313 // read first character for command
timmey9 21:1fb5023b72af 314 char command[2];
timmey9 21:1fb5023b72af 315 buffer.read(command,2,0);
timmey9 21:1fb5023b72af 316 if(command[1] == ':') {
timmey9 21:1fb5023b72af 317 switch(command[0])
timmey9 21:1fb5023b72af 318 {
timmey9 21:1fb5023b72af 319 case 'b':
timmey9 21:1fb5023b72af 320 led_blue = !led_blue;
timmey9 21:1fb5023b72af 321 client[index].write((void *)"Blue LED\n",9);
timmey9 21:1fb5023b72af 322 break;
timmey9 25:abbc19af13f9 323
timmey9 21:1fb5023b72af 324 case 'r':
timmey9 21:1fb5023b72af 325 led_red = !led_red;
timmey9 21:1fb5023b72af 326 client[index].write((void *)"Red LED\n",8);
timmey9 21:1fb5023b72af 327 break;
timmey9 25:abbc19af13f9 328
timmey9 21:1fb5023b72af 329 case 'p':
timmey9 21:1fb5023b72af 330 led_green = !led_green;
timmey9 21:1fb5023b72af 331 client[index].write((void *)"Data\n",5);
timmey9 27:8c2b30c855d1 332 for(int i = 0; i < 99; i++) sample_array1[i] = i;
timmey9 27:8c2b30c855d1 333 client[index].write((void *)&sample_array1,2*99);
timmey9 24:a5891669afc5 334 break;
timmey9 28:4a833d59897b 335 case 't':
timmey9 28:4a833d59897b 336 {
timmey9 28:4a833d59897b 337 for(int i = 0; i < 86; i++) pc.printf("%i: %i\r\n", i, NVIC_GetPriority((IRQn_Type) i));
timmey9 28:4a833d59897b 338 }
timmey9 28:4a833d59897b 339 break;
timmey9 25:abbc19af13f9 340
timmey9 25:abbc19af13f9 341 case '1': // run motor and sample
timmey9 25:abbc19af13f9 342 {
timmey9 28:4a833d59897b 343
timmey9 28:4a833d59897b 344
timmey9 28:4a833d59897b 345 BW_ADC_SC1n_ADCH(0, 0, kAdcChannel12); // This corresponds to starting an ADC conversion on channel 12 of ADC 0 - which is A0 (PTB2)
timmey9 28:4a833d59897b 346 BW_ADC_SC1n_ADCH(1, 0, kAdcChannel14); // This corresponds to starting an ADC conversion on channel 14 of ADC 1 - which is A2 (PTB10)
timmey9 28:4a833d59897b 347 client[index].write((void *)"Data\n",5);
timmey9 28:4a833d59897b 348
timmey9 28:4a833d59897b 349 TotalInd = 1;
timmey9 28:4a833d59897b 350
timmey9 28:4a833d59897b 351 uint32_t AMT20_AB;
timmey9 28:4a833d59897b 352 rotary_count = 0;
timmey9 28:4a833d59897b 353 __disable_irq();
timmey9 28:4a833d59897b 354 SampleInd = 0;
timmey9 28:4a833d59897b 355 for(int i = 0; i < TOTAL_SAMPLES; i++)
timmey9 28:4a833d59897b 356 {
timmey9 28:4a833d59897b 357 SampleInd = !SampleInd;
timmey9 28:4a833d59897b 358 sample_array1[i] = adc_hal_get_conversion_value(0, 0);
timmey9 28:4a833d59897b 359 sample_array2[i] = adc_hal_get_conversion_value(1, 0);
timmey9 28:4a833d59897b 360 BW_ADC_SC1n_ADCH(0, 0, kAdcChannel12); // This corresponds to starting an ADC conversion on channel 12 of ADC 0 - which is A0 (PTB2)
timmey9 28:4a833d59897b 361 BW_ADC_SC1n_ADCH(1, 0, kAdcChannel14); // This corresponds to starting an ADC conversion on channel 14 of ADC 1 - which is A2 (PTB10)
timmey9 28:4a833d59897b 362
timmey9 28:4a833d59897b 363 // The following updates the rotary counter for the AMT20 sensor
timmey9 28:4a833d59897b 364 // Put A on PTC0
timmey9 28:4a833d59897b 365 // Put B on PTC1
timmey9 28:4a833d59897b 366 AMT20_AB = HW_GPIO_PDIR_RD(HW_PORTC) & 0x03;
timmey9 28:4a833d59897b 367
timmey9 28:4a833d59897b 368 if (AMT20_AB != last_AMT20_AB_read)
timmey9 28:4a833d59897b 369 {
timmey9 28:4a833d59897b 370 // change "INVERT_ANGLE" to change whether relative angle counts up or down.
timmey9 28:4a833d59897b 371 if ((AMT20_AB >> 1)^(last_AMT20_AB_read) & 1U)
timmey9 28:4a833d59897b 372 #if INVERT_ANGLE == 1
timmey9 28:4a833d59897b 373 {rotary_count--;}
timmey9 28:4a833d59897b 374 else
timmey9 28:4a833d59897b 375 {rotary_count++;}
timmey9 28:4a833d59897b 376 #else
timmey9 28:4a833d59897b 377 {rotary_count++;}
timmey9 28:4a833d59897b 378 else
timmey9 28:4a833d59897b 379 {rotary_count--;}
timmey9 28:4a833d59897b 380 #endif
timmey9 28:4a833d59897b 381
timmey9 28:4a833d59897b 382 last_AMT20_AB_read = AMT20_AB;
timmey9 27:8c2b30c855d1 383 }
timmey9 28:4a833d59897b 384 angle_array[i] = rotary_count;
timmey9 28:4a833d59897b 385 wait_us(8);
timmey9 28:4a833d59897b 386 }
timmey9 28:4a833d59897b 387 __enable_irq();
timmey9 26:a00bf9837e03 388
timmey9 28:4a833d59897b 389 NVIC_SetPriority(ENET_1588_Timer_IRQn,0);
timmey9 28:4a833d59897b 390 NVIC_SetPriority(ENET_Transmit_IRQn,0);
timmey9 28:4a833d59897b 391 NVIC_SetPriority(ENET_Receive_IRQn,0);
timmey9 28:4a833d59897b 392 NVIC_SetPriority(ENET_Error_IRQn,0);
timmey9 28:4a833d59897b 393 TotalInd = 1;
timmey9 27:8c2b30c855d1 394 client[index].write((void *)&sample_array1,2*TOTAL_SAMPLES);
timmey9 27:8c2b30c855d1 395 client[index].write((void *)&sample_array2,2*TOTAL_SAMPLES);
timmey9 27:8c2b30c855d1 396 client[index].write((void *)&angle_array,2*TOTAL_SAMPLES);
timmey9 28:4a833d59897b 397 TotalInd = 0;
timmey9 28:4a833d59897b 398
timmey9 28:4a833d59897b 399 NVIC_SetPriority(ENET_1588_Timer_IRQn,1);
timmey9 28:4a833d59897b 400 NVIC_SetPriority(ENET_Transmit_IRQn,1);
timmey9 28:4a833d59897b 401 NVIC_SetPriority(ENET_Receive_IRQn,1);
timmey9 28:4a833d59897b 402 NVIC_SetPriority(ENET_Error_IRQn,1);
timmey9 28:4a833d59897b 403
timmey9 25:abbc19af13f9 404 }
timmey9 24:a5891669afc5 405 break;
timmey9 25:abbc19af13f9 406
timmey9 25:abbc19af13f9 407 case '2': // run just the motor
timmey9 25:abbc19af13f9 408 {
timmey9 25:abbc19af13f9 409 pc.printf("All duration settings 2:\r\n");
timmey9 25:abbc19af13f9 410 for(int i = 0; i < 8; i++)
timmey9 25:abbc19af13f9 411 {
timmey9 25:abbc19af13f9 412 pc.printf("Duration[%i]: %i\r\n", i, duration[i]);
timmey9 25:abbc19af13f9 413 }
timmey9 25:abbc19af13f9 414
timmey9 25:abbc19af13f9 415 // release mallet
timmey9 25:abbc19af13f9 416 motor.forward(duration[0]); // move motor forward
timmey9 25:abbc19af13f9 417 wait_us(duration[1]); // wait
timmey9 25:abbc19af13f9 418 motor.backward(0.7, duration[2]); // stop motor using reverse
timmey9 25:abbc19af13f9 419
timmey9 25:abbc19af13f9 420 // time for sampling
timmey9 25:abbc19af13f9 421 wait_us(SAMPLING_RATE*TOTAL_SAMPLES);
timmey9 25:abbc19af13f9 422
timmey9 25:abbc19af13f9 423 // reset mallet
timmey9 25:abbc19af13f9 424 motor.backward(duration[3]); // move motor backward
timmey9 25:abbc19af13f9 425 motor.backward(0.75, duration[4]);
timmey9 25:abbc19af13f9 426 motor.backward(duty_cycle, duration[5]);
timmey9 25:abbc19af13f9 427 }
timmey9 24:a5891669afc5 428 break;
timmey9 24:a5891669afc5 429 case 'a':
timmey9 24:a5891669afc5 430 if(angle_encoder.set_zero(&rotary_count)) {
timmey9 24:a5891669afc5 431 client[index].write((void *) "Zero set\n",9);
timmey9 24:a5891669afc5 432 }
timmey9 24:a5891669afc5 433 else {
timmey9 24:a5891669afc5 434 client[index].write((void *) "Zero NOT set\n",13);
timmey9 24:a5891669afc5 435 }
timmey9 24:a5891669afc5 436 break;
timmey9 24:a5891669afc5 437 case 's':
timmey9 24:a5891669afc5 438 {
timmey9 24:a5891669afc5 439 char buf[16];
timmey9 24:a5891669afc5 440 sprintf(buf,"NOP: %x\n",angle_encoder.nop());
timmey9 24:a5891669afc5 441 client[index].write((void *) buf,16);
timmey9 24:a5891669afc5 442 break;
timmey9 24:a5891669afc5 443 }
timmey9 24:a5891669afc5 444 case 'd':
timmey9 24:a5891669afc5 445 {
timmey9 24:a5891669afc5 446 char buf[29];
timmey9 24:a5891669afc5 447 sprintf(buf,"Angle: %i %i\n",angle_encoder.absolute_angle(), rotary_count);
timmey9 24:a5891669afc5 448 client[index].write((void *) buf,29);
timmey9 24:a5891669afc5 449 break;
timmey9 28:4a833d59897b 450 }
timmey9 21:1fb5023b72af 451 }
timmey9 21:1fb5023b72af 452 }
timmey9 17:2f978f823020 453 break;
timmey9 17:2f978f823020 454 }
timmey9 16:c3f922f61b8f 455 }
timmey9 17:2f978f823020 456
timmey9 17:2f978f823020 457 } while (server.getStatus() == network::Socket::Listening);
timmey9 22:523e316cbe70 458 }
timmey9 23:9e5141647775 459
timmey9 22:523e316cbe70 460 void timed_sampling() {
timmey9 28:4a833d59897b 461 SampleInd = 1;
timmey9 27:8c2b30c855d1 462 //__disable_irq(); // Disable Interrupts
timmey9 23:9e5141647775 463 //timeStamp.start();
timmey9 28:4a833d59897b 464 /*
timmey9 22:523e316cbe70 465 // The following performs analog-to-digital conversions - first reading the last conversion - then initiating another
timmey9 22:523e316cbe70 466 uint32_t A0_value = adc_hal_get_conversion_value(0, 0);
timmey9 22:523e316cbe70 467 uint32_t A2_value = adc_hal_get_conversion_value(1, 0);
timmey9 22:523e316cbe70 468 BW_ADC_SC1n_ADCH(0, 0, kAdcChannel12); // This corresponds to starting an ADC conversion on channel 12 of ADC 0 - which is A0 (PTB2)
timmey9 22:523e316cbe70 469 BW_ADC_SC1n_ADCH(1, 0, kAdcChannel14); // This corresponds to starting an ADC conversion on channel 14 of ADC 1 - which is A2 (PTB10)
timmey9 22:523e316cbe70 470
timmey9 22:523e316cbe70 471 // The following updates the rotary counter for the AMT20 sensor
timmey9 22:523e316cbe70 472 // Put A on PTC0
timmey9 22:523e316cbe70 473 // Put B on PTC1
timmey9 22:523e316cbe70 474 uint32_t AMT20_AB = HW_GPIO_PDIR_RD(HW_PORTC) & 0x03;
timmey9 22:523e316cbe70 475 //AMT20_AB = ~last_AMT20_AB_read; // Used to force a count - extend time.
timmey9 22:523e316cbe70 476 if (AMT20_AB != last_AMT20_AB_read)
timmey9 22:523e316cbe70 477 {
timmey9 22:523e316cbe70 478 // change "INVERT_ANGLE" to change whether relative angle counts up or down.
timmey9 22:523e316cbe70 479 if ((AMT20_AB >> 1)^(last_AMT20_AB_read) & 1U)
timmey9 22:523e316cbe70 480 #if INVERT_ANGLE == 1
timmey9 22:523e316cbe70 481 {rotary_count--;}
timmey9 22:523e316cbe70 482 else
timmey9 22:523e316cbe70 483 {rotary_count++;}
timmey9 22:523e316cbe70 484 #else
timmey9 22:523e316cbe70 485 {rotary_count++;}
timmey9 22:523e316cbe70 486 else
timmey9 22:523e316cbe70 487 {rotary_count--;}
timmey9 22:523e316cbe70 488 #endif
timmey9 22:523e316cbe70 489
timmey9 22:523e316cbe70 490 last_AMT20_AB_read = AMT20_AB;
timmey9 22:523e316cbe70 491 }
timmey9 22:523e316cbe70 492 //current_sample_index = BEGIN_SAMPLING; // Used to force extra time.
timmey9 22:523e316cbe70 493 if (current_sample_index == WAITING_TO_BEGIN) {}
timmey9 22:523e316cbe70 494 else
timmey9 28:4a833d59897b 495 {
timmey9 22:523e316cbe70 496 if (current_sample_index == BEGIN_SAMPLING) {
timmey9 22:523e316cbe70 497 current_sample_index = FIRST_SAMPLE_INDEX;
timmey9 22:523e316cbe70 498 }
timmey9 22:523e316cbe70 499
timmey9 27:8c2b30c855d1 500 sample_array1[current_sample_index] = A0_value;
timmey9 27:8c2b30c855d1 501 sample_array2[current_sample_index] = A2_value;
timmey9 22:523e316cbe70 502 angle_array[current_sample_index] = rotary_count;
timmey9 22:523e316cbe70 503
timmey9 22:523e316cbe70 504 if (current_sample_index == LAST_SAMPLE_INDEX) {
timmey9 22:523e316cbe70 505 current_sample_index = WAITING_TO_BEGIN;
timmey9 22:523e316cbe70 506 }
timmey9 22:523e316cbe70 507 else { current_sample_index++; }
timmey9 28:4a833d59897b 508 }
timmey9 22:523e316cbe70 509
timmey9 23:9e5141647775 510 //int tempVar = timeStamp.read_us();
timmey9 23:9e5141647775 511 //timeStamp.stop();
timmey9 23:9e5141647775 512 //timeStamp.reset();
timmey9 23:9e5141647775 513 //pc.printf("TimeStamp: %i\r\n", tempVar);
timmey9 27:8c2b30c855d1 514 //__enable_irq(); // Enable Interrupts
timmey9 27:8c2b30c855d1 515 */
timmey9 28:4a833d59897b 516 SampleInd = 0;
timmey9 22:523e316cbe70 517 }
timmey9 22:523e316cbe70 518
timmey9 22:523e316cbe70 519 void analog_initialization(PinName pin)
timmey9 22:523e316cbe70 520 {
timmey9 22:523e316cbe70 521 ADCName adc = (ADCName)pinmap_peripheral(pin, PinMap_ADC);
timmey9 22:523e316cbe70 522 // MBED_ASSERT(adc != (ADCName)NC);
timmey9 22:523e316cbe70 523
timmey9 22:523e316cbe70 524 uint32_t instance = adc >> ADC_INSTANCE_SHIFT;
timmey9 22:523e316cbe70 525
timmey9 22:523e316cbe70 526 clock_manager_set_gate(kClockModuleADC, instance, true);
timmey9 22:523e316cbe70 527
timmey9 22:523e316cbe70 528 uint32_t bus_clock;
timmey9 22:523e316cbe70 529 clock_manager_get_frequency(kBusClock, &bus_clock);
timmey9 22:523e316cbe70 530 uint32_t clkdiv;
timmey9 22:523e316cbe70 531 for (clkdiv = 0; clkdiv < 4; clkdiv++) {
timmey9 22:523e316cbe70 532 if ((bus_clock >> clkdiv) <= MAX_FADC)
timmey9 22:523e316cbe70 533 break;
timmey9 22:523e316cbe70 534 }
timmey9 22:523e316cbe70 535 if (clkdiv == 4) {
timmey9 22:523e316cbe70 536 clkdiv = 0x7; //Set max div
timmey9 22:523e316cbe70 537 }
timmey9 22:523e316cbe70 538 // adc is enabled/triggered when reading.
timmey9 22:523e316cbe70 539 adc_hal_set_clock_source_mode(instance, (adc_clock_source_mode_t)(clkdiv >> 2));
timmey9 22:523e316cbe70 540 adc_hal_set_clock_divider_mode(instance, (adc_clock_divider_mode_t)(clkdiv & 0x3));
timmey9 22:523e316cbe70 541 adc_hal_set_reference_voltage_mode(instance, kAdcVoltageVref);
timmey9 22:523e316cbe70 542 adc_hal_set_resolution_mode(instance, kAdcSingleDiff16);
timmey9 22:523e316cbe70 543 adc_hal_configure_continuous_conversion(instance, false);
timmey9 22:523e316cbe70 544 adc_hal_configure_hw_trigger(instance, false); // sw trigger
timmey9 22:523e316cbe70 545 adc_hal_configure_hw_average(instance, false);
timmey9 22:523e316cbe70 546 adc_hal_set_hw_average_mode(instance, kAdcHwAverageCount4);
timmey9 22:523e316cbe70 547 adc_hal_set_group_mux(instance, kAdcChannelMuxB); // only B channels are avail
timmey9 22:523e316cbe70 548
timmey9 22:523e316cbe70 549 pinmap_pinout(pin, PinMap_ADC);
timmey9 22:523e316cbe70 550 }
timmey9 22:523e316cbe70 551
timmey9 22:523e316cbe70 552 void output_data(uint32_t iteration_number)
timmey9 22:523e316cbe70 553 {
timmey9 22:523e316cbe70 554 pc.printf("Iteration: %i\n\r", iteration_number);
timmey9 22:523e316cbe70 555 pc.printf("Sampling rate: %i\n\r", SAMPLING_RATE);
timmey9 22:523e316cbe70 556 pc.printf("Data length: %i\n\r", TOTAL_SAMPLES);
timmey9 27:8c2b30c855d1 557
timmey9 27:8c2b30c855d1 558 //for (int n = FIRST_SAMPLE_INDEX; n <= LAST_SAMPLE_INDEX; n++) {
timmey9 27:8c2b30c855d1 559 // pc.printf("%i\t%i\t%i\r\n", sample_array1[n], sample_array2[n], angle_array[n]);
timmey9 27:8c2b30c855d1 560 // }
timmey9 22:523e316cbe70 561
timmey9 22:523e316cbe70 562 }
timmey9 27:8c2b30c855d1 563
timmey9 27:8c2b30c855d1 564 // read some registers for some info.
timmey9 27:8c2b30c855d1 565 //uint32_t* rcr = (uint32_t*) 0x400C0084;
timmey9 27:8c2b30c855d1 566 //uint32_t* ecr = (uint32_t*) 0x400C0024;
timmey9 27:8c2b30c855d1 567 //pc.printf("RCR register: %x\r\n", *rcr);
timmey9 27:8c2b30c855d1 568 //pc.printf("ECR register: %x\r\n", *ecr);