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@24:a5891669afc5, 2014-12-03 (annotated)

Committer:
timmey9
Date:
Wed Dec 03 07:18:27 2014 +0000
Revision:
24:a5891669afc5
Parent:
23:9e5141647775
Child:
25:abbc19af13f9
Added angle encoder over ethernet functionality

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
timmey9 22:523e316cbe70 13 // Angle encoder and motor control
timmey9 22:523e316cbe70 14 #include "AngleEncoder.h"
timmey9 22:523e316cbe70 15 #include "MotorControl.h"
timmey9 22:523e316cbe70 16
timmey9 22:523e316cbe70 17 // Analog sampling
timmey9 22:523e316cbe70 18 #include "PeripheralNames.h"
timmey9 22:523e316cbe70 19 #include "PeripheralPins.h"
timmey9 22:523e316cbe70 20 #include "fsl_adc_hal.h"
timmey9 22:523e316cbe70 21 #include "fsl_clock_manager.h"
timmey9 22:523e316cbe70 22 #include "fsl_dspi_hal.h"
timmey9 22:523e316cbe70 23 #include "AngleEncoder.h"
timmey9 22:523e316cbe70 24
timmey9 22:523e316cbe70 25
timmey9 22:523e316cbe70 26 /*****************************************
timmey9 22:523e316cbe70 27 *
timmey9 22:523e316cbe70 28 * Configuration
timmey9 22:523e316cbe70 29 *
timmey9 22:523e316cbe70 30 * Take the time to set these constants
timmey9 22:523e316cbe70 31 *
timmey9 22:523e316cbe70 32 *****************************************/
timmey9 21:1fb5023b72af 33 #define MALLET 6 // set mallet to a value between 1-7
timmey9 21:1fb5023b72af 34 #define STATIC 1 // set STATIC to 1 for static ip, set STATIC to 0 for dynamic
timmey9 21:1fb5023b72af 35 #define PORT 22 // set to a random port number. All the mallets can use the same port number.
timmey9 21:1fb5023b72af 36 #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 37 #define INVERT_ANGLE 0 // inverts whether the angle encoder counts up or down
timmey9 22:523e316cbe70 38
timmey9 22:523e316cbe70 39
timmey9 21:1fb5023b72af 40
timmey9 21:1fb5023b72af 41
timmey9 21:1fb5023b72af 42
timmey9 22:523e316cbe70 43 // Analog sampling
timmey9 22:523e316cbe70 44 #define MAX_FADC 6000000
timmey9 22:523e316cbe70 45 #define SAMPLING_RATE 10000 // In microseconds, so 10 us will be a sampling rate of 100 kHz
timmey9 22:523e316cbe70 46 #define TOTAL_SAMPLES 300 // originally 30000 for 0.3 ms of sampling.
timmey9 22:523e316cbe70 47
timmey9 22:523e316cbe70 48 #define LAST_SAMPLE_INDEX (TOTAL_SAMPLES-1) // If sampling time is 25 us, then 2000 corresponds to 50 ms
timmey9 22:523e316cbe70 49 #define FIRST_SAMPLE_INDEX 0
timmey9 22:523e316cbe70 50 #define BEGIN_SAMPLING 0xFFFFFFFF
timmey9 22:523e316cbe70 51 #define WAITING_TO_BEGIN (BEGIN_SAMPLING-1)
timmey9 22:523e316cbe70 52
timmey9 22:523e316cbe70 53 #define CHANNEL_STORAGE_OFFSET 16 // For storing the 16 bits and the 16 bits in a single 32 bit array
timmey9 22:523e316cbe70 54 #define PERIOD 3000 // make sure PERIOD >= ON_OFF_TIME
timmey9 22:523e316cbe70 55 #define ON_OFF_TIME 300 // time it takes for relay to turn on
timmey9 22:523e316cbe70 56
timmey9 22:523e316cbe70 57
timmey9 22:523e316cbe70 58 // Ethernet
timmey9 22:523e316cbe70 59 #define GATEWAY "169.254.225.1"
timmey9 22:523e316cbe70 60 #define MASK "255.255.0.0"
timmey9 22:523e316cbe70 61
timmey9 22:523e316cbe70 62 // used for assign different mallets their ip addresses
timmey9 21:1fb5023b72af 63 #if MALLET == 1
timmey9 22:523e316cbe70 64 #define IP "169.254.225.206"
timmey9 21:1fb5023b72af 65 #define NAME "Mallet1\n\r"
timmey9 21:1fb5023b72af 66
timmey9 21:1fb5023b72af 67 #elif MALLET == 2
timmey9 22:523e316cbe70 68 #define IP "169.254.225.207"
timmey9 21:1fb5023b72af 69 #define NAME "Mallet2\n\r"
timmey9 21:1fb5023b72af 70
timmey9 21:1fb5023b72af 71 #elif MALLET == 3
timmey9 22:523e316cbe70 72 #define IP "169.254.225.208"
timmey9 21:1fb5023b72af 73 #define NAME "Mallet3\n\r"
timmey9 21:1fb5023b72af 74
timmey9 21:1fb5023b72af 75 #elif MALLET == 4
timmey9 22:523e316cbe70 76 #define IP "169.254.225.209"
timmey9 21:1fb5023b72af 77 #define NAME "Mallet4\n\r"
timmey9 21:1fb5023b72af 78
timmey9 21:1fb5023b72af 79 #elif MALLET == 5
timmey9 22:523e316cbe70 80 #define IP "169.254.225.210"
timmey9 21:1fb5023b72af 81 #define NAME "Mallet5\n\r"
timmey9 21:1fb5023b72af 82
timmey9 21:1fb5023b72af 83 #elif MALLET == 6
timmey9 22:523e316cbe70 84 #define IP "169.254.225.211"
timmey9 21:1fb5023b72af 85 #define NAME "Mallet6\n\r"
timmey9 21:1fb5023b72af 86
timmey9 21:1fb5023b72af 87 #elif MALLET == 7
timmey9 22:523e316cbe70 88 #define IP "169.254.225.212"
timmey9 21:1fb5023b72af 89 #define NAME "Mallet7\n\r"
timmey9 21:1fb5023b72af 90
timmey9 20:f533b3c9296f 91 #endif
timmey9 20:f533b3c9296f 92
timmey9 21:1fb5023b72af 93
timmey9 22:523e316cbe70 94 // for debug purposes
timmey9 18:b17ddeeb1c09 95 Serial pc(USBTX, USBRX);
timmey9 18:b17ddeeb1c09 96 DigitalOut led_red(LED_RED);
timmey9 18:b17ddeeb1c09 97 DigitalOut led_green(LED_GREEN);
timmey9 18:b17ddeeb1c09 98 DigitalOut led_blue(LED_BLUE);
timmey9 18:b17ddeeb1c09 99
timmey9 23:9e5141647775 100
timmey9 22:523e316cbe70 101 // motor control and angle encoder
timmey9 22:523e316cbe70 102 MotorControl motor(PTC2, PTA2, PERIOD, ON_OFF_TIME); // forward, backward, period, safetyPeriod
timmey9 22:523e316cbe70 103 AngleEncoder angle_encoder(PTD2, PTD3, PTD1, PTD0, 8, 0, 1000000); // mosi, miso, sclk, cs, bit_width, mode, hz
timmey9 22:523e316cbe70 104 DigitalIn AMT20_A(PTC0); // input for quadrature encoding from angle encoder
timmey9 22:523e316cbe70 105 DigitalIn AMT20_B(PTC1); // input for quadrature encoding from angle encoder
timmey9 22:523e316cbe70 106
timmey9 22:523e316cbe70 107 // Analog sampling
timmey9 23:9e5141647775 108 //Ticker Sampler;
timmey9 23:9e5141647775 109 //Timer timer;
timmey9 23:9e5141647775 110 //Timer timeStamp;
timmey9 22:523e316cbe70 111 AnalogIn A0_pin(A0);
timmey9 22:523e316cbe70 112 AnalogIn A2_pin(A2);
timmey9 22:523e316cbe70 113
timmey9 22:523e316cbe70 114 //DigitalIn SW3_switch(PTA4);
timmey9 22:523e316cbe70 115 //DigitalIn SW2_switch(PTC6);
timmey9 22:523e316cbe70 116
timmey9 22:523e316cbe70 117
timmey9 20:f533b3c9296f 118
timmey9 22:523e316cbe70 119
timmey9 22:523e316cbe70 120 uint32_t current_sample_index = WAITING_TO_BEGIN;
timmey9 22:523e316cbe70 121 uint32_t sample_array[TOTAL_SAMPLES];
timmey9 22:523e316cbe70 122 uint16_t angle_array[TOTAL_SAMPLES];
timmey9 22:523e316cbe70 123
timmey9 22:523e316cbe70 124
timmey9 22:523e316cbe70 125 // Declaration of functions
timmey9 22:523e316cbe70 126 void analog_initialization(PinName pin);
timmey9 22:523e316cbe70 127 void output_data(uint32_t iteration_number);
timmey9 22:523e316cbe70 128 void timed_sampling();
timmey9 22:523e316cbe70 129
timmey9 22:523e316cbe70 130
timmey9 22:523e316cbe70 131 // Important globabl variables necessary for the sampling every interval
timmey9 22:523e316cbe70 132 int rotary_count = 0;
timmey9 22:523e316cbe70 133 uint32_t last_AMT20_AB_read = 0;
timmey9 23:9e5141647775 134
timmey9 22:523e316cbe70 135 //using namespace network;
timmey9 22:523e316cbe70 136 using namespace std;
timmey9 17:2f978f823020 137
emilmont 7:65188f4a8c25 138 int main() {
timmey9 23:9e5141647775 139
timmey9 22:523e316cbe70 140 for(int i = 0; i < TOTAL_SAMPLES; i++) {sample_array[i] = i;}
timmey9 22:523e316cbe70 141 led_blue = 1;
timmey9 22:523e316cbe70 142 led_green = 1;
timmey9 18:b17ddeeb1c09 143 led_red = 1;
timmey9 22:523e316cbe70 144
timmey9 18:b17ddeeb1c09 145 pc.baud(230400);
timmey9 24:a5891669afc5 146 pc.printf("Starting %s\r\n",NAME);
timmey9 23:9e5141647775 147
timmey9 22:523e316cbe70 148 analog_initialization(A0);
timmey9 22:523e316cbe70 149 analog_initialization(A2);
timmey9 20:f533b3c9296f 150
timmey9 22:523e316cbe70 151 // setup this timer
timmey9 23:9e5141647775 152 //timeStamp.stop();
timmey9 23:9e5141647775 153 //timeStamp.reset();
timmey9 22:523e316cbe70 154
timmey9 22:523e316cbe70 155 // Start the sampling loop
timmey9 22:523e316cbe70 156 current_sample_index = WAITING_TO_BEGIN;
timmey9 23:9e5141647775 157 //Sampler.attach_us(&timed_sampling, SAMPLING_RATE);
timmey9 23:9e5141647775 158 //__disable_irq(); // Disable Interrupts
timmey9 23:9e5141647775 159 //timer.reset();
timmey9 23:9e5141647775 160 //timer.start();
timmey9 22:523e316cbe70 161
timmey9 22:523e316cbe70 162 uint32_t trigger_count = 0;
timmey9 22:523e316cbe70 163
timmey9 22:523e316cbe70 164 // corresponding duty 1 0 0.7 1 0.75
timmey9 22:523e316cbe70 165 uint32_t duration[8] = {10000, 60000, 10000, 39000, 7000, 7000, 0, 0};
timmey9 22:523e316cbe70 166 //uint32_t duration[8] = {10000, 100000, 10000, 92000, 25000, 7000, 0, 0};
timmey9 22:523e316cbe70 167 int32_t pointer = 0;
timmey9 22:523e316cbe70 168
timmey9 22:523e316cbe70 169 double duty_cycle = 0.25;
timmey9 23:9e5141647775 170
timmey9 22:523e316cbe70 171 // flash red LED
timmey9 22:523e316cbe70 172 led_red = 0;
timmey9 22:523e316cbe70 173 wait_ms(500);
timmey9 22:523e316cbe70 174 led_red = 1;
timmey9 22:523e316cbe70 175
timmey9 22:523e316cbe70 176
timmey9 22:523e316cbe70 177
timmey9 22:523e316cbe70 178
timmey9 22:523e316cbe70 179
timmey9 22:523e316cbe70 180
timmey9 22:523e316cbe70 181
timmey9 22:523e316cbe70 182 // initialize ethernet connection and server
timmey9 17:2f978f823020 183 EthernetInterface interface;
timmey9 22:523e316cbe70 184
timmey9 21:1fb5023b72af 185 #if STATIC == 1
timmey9 20:f533b3c9296f 186 interface.init(IP, MASK, GATEWAY);
timmey9 20:f533b3c9296f 187 #else
timmey9 17:2f978f823020 188 interface.init();
timmey9 20:f533b3c9296f 189 #endif
timmey9 21:1fb5023b72af 190
timmey9 17:2f978f823020 191 interface.connect();
timmey9 24:a5891669afc5 192 //pc.printf(NAME);
timmey9 20:f533b3c9296f 193 pc.printf("IP Address is: %s\n\r", interface.getIPAddress());
timmey9 20:f533b3c9296f 194 pc.printf("Network Mask is: %s\n\r", interface.getNetworkMask());
timmey9 20:f533b3c9296f 195 pc.printf("MAC address is: %s\n\r", interface.getMACAddress());
timmey9 20:f533b3c9296f 196 pc.printf("Gateway is: %s\n\r", interface.getGateway());
timmey9 21:1fb5023b72af 197 pc.printf("Port is: %i\n\r", PORT);
timmey9 20:f533b3c9296f 198
timmey9 22:523e316cbe70 199 // ethernet setup failed for some reason. Flash yellow light then uC resets itself
timmey9 23:9e5141647775 200 if(interface.getIPAddress() == 0)
timmey9 22:523e316cbe70 201 {
timmey9 22:523e316cbe70 202 for(int i = 0; i < 5; i++)
timmey9 22:523e316cbe70 203 {
timmey9 22:523e316cbe70 204 led_red = 0;
timmey9 22:523e316cbe70 205 led_green = 0;
timmey9 22:523e316cbe70 206 wait_ms(500);
timmey9 22:523e316cbe70 207 led_red = 1;
timmey9 22:523e316cbe70 208 led_green = 1;
timmey9 22:523e316cbe70 209 wait_ms(1000);
timmey9 22:523e316cbe70 210 }
timmey9 22:523e316cbe70 211 NVIC_SystemReset();
timmey9 23:9e5141647775 212 }
timmey9 22:523e316cbe70 213
timmey9 22:523e316cbe70 214 network::Select select;
timmey9 22:523e316cbe70 215 network::tcp::Socket server;
timmey9 22:523e316cbe70 216 network::tcp::Socket client[MAX_CLIENTS];
timmey9 22:523e316cbe70 217 network::tcp::Socket *socket = NULL;
timmey9 17:2f978f823020 218
timmey9 17:2f978f823020 219 int result = 0;
timmey9 17:2f978f823020 220 int index = 0;
timmey9 17:2f978f823020 221
timmey9 22:523e316cbe70 222 network::Buffer buffer(TOTAL_SAMPLES);
timmey9 21:1fb5023b72af 223 std::string message(NAME);
timmey9 17:2f978f823020 224
timmey9 21:1fb5023b72af 225 // Configure the server socket (assume every thing works)
timmey9 17:2f978f823020 226 server.open();
timmey9 20:f533b3c9296f 227 server.bind(PORT);
timmey9 17:2f978f823020 228 server.listen(MAX_CLIENTS);
timmey9 17:2f978f823020 229
timmey9 17:2f978f823020 230 // Add sockets to the select api
timmey9 22:523e316cbe70 231 select.set(&server, network::Select::Read);
timmey9 17:2f978f823020 232 for (index = 0; index < MAX_CLIENTS; index++) {
timmey9 22:523e316cbe70 233 select.set(&client[index], network::Select::Read);
timmey9 17:2f978f823020 234 }
timmey9 22:523e316cbe70 235
timmey9 22:523e316cbe70 236 led_red = 1;
timmey9 22:523e316cbe70 237 led_green = 1;
timmey9 22:523e316cbe70 238 led_blue = 0;
timmey9 23:9e5141647775 239 wait_ms(500);
timmey9 22:523e316cbe70 240 led_blue = 1;
timmey9 23:9e5141647775 241 wait_ms(200);
timmey9 23:9e5141647775 242 led_blue = 0;
timmey9 23:9e5141647775 243 wait_ms(500);
timmey9 23:9e5141647775 244 led_blue = 1;
timmey9 22:523e316cbe70 245
timmey9 17:2f978f823020 246 do {
timmey9 17:2f978f823020 247 // Wait for activity
timmey9 17:2f978f823020 248 result = select.wait();
timmey9 17:2f978f823020 249 if (result < -1) {
timmey9 18:b17ddeeb1c09 250 pc.printf("Failed to select\n\r");
emilmont 7:65188f4a8c25 251 break;
timmey9 16:c3f922f61b8f 252 }
timmey9 17:2f978f823020 253
timmey9 17:2f978f823020 254 // Get the first socket
timmey9 22:523e316cbe70 255 socket = (network::tcp::Socket *)select.getReadable();
timmey9 17:2f978f823020 256
timmey9 22:523e316cbe70 257 for (; socket != NULL; socket = (network::tcp::Socket *)select.getReadable()) {
timmey9 17:2f978f823020 258 // Check if there was a connection request.
timmey9 17:2f978f823020 259 if (socket->getHandle() == server.getHandle()) {
timmey9 17:2f978f823020 260 // Find an unused client
timmey9 17:2f978f823020 261 for (index = 0; index < MAX_CLIENTS; index++) {
timmey9 17:2f978f823020 262 if (client[index].getStatus() == network::Socket::Closed) {
timmey9 17:2f978f823020 263 break;
timmey9 17:2f978f823020 264 }
timmey9 17:2f978f823020 265 }
timmey9 17:2f978f823020 266
timmey9 17:2f978f823020 267 // Maximum connections reached
timmey9 17:2f978f823020 268 if (index == MAX_CLIENTS) {
timmey9 18:b17ddeeb1c09 269 pc.printf("Maximum connections reached\n\r");
timmey9 21:1fb5023b72af 270 wait(1);
timmey9 17:2f978f823020 271 continue;
timmey9 17:2f978f823020 272 }
timmey9 20:f533b3c9296f 273
timmey9 17:2f978f823020 274 // Accept the client
timmey9 17:2f978f823020 275 socket->accept(client[index]);
timmey9 18:b17ddeeb1c09 276 pc.printf("Client connected %s:%d\n\r",
timmey9 17:2f978f823020 277 client[index].getRemoteEndpoint().getAddress().toString().c_str(),
timmey9 17:2f978f823020 278 client[index].getRemoteEndpoint().getPort());
timmey9 17:2f978f823020 279
timmey9 21:1fb5023b72af 280 // Send a nice message to the client (tell MATLAB your name
timmey9 17:2f978f823020 281 client[index].write((void *)message.data(), message.size());
timmey9 20:f533b3c9296f 282
timmey9 20:f533b3c9296f 283 // read some registers for some info.
timmey9 20:f533b3c9296f 284 //uint32_t* rcr = (uint32_t*) 0x400C0084;
timmey9 20:f533b3c9296f 285 //uint32_t* ecr = (uint32_t*) 0x400C0024;
timmey9 20:f533b3c9296f 286 //pc.printf("RCR register: %x\r\n", *rcr);
timmey9 20:f533b3c9296f 287 //pc.printf("ECR register: %x\r\n", *ecr);
timmey9 20:f533b3c9296f 288
timmey9 17:2f978f823020 289 continue;
timmey9 16:c3f922f61b8f 290 }
timmey9 20:f533b3c9296f 291
timmey9 17:2f978f823020 292 // It was not the server socket, so it must be a client talking to us.
timmey9 17:2f978f823020 293 switch (socket->read(buffer)) {
timmey9 17:2f978f823020 294 case 0:
timmey9 17:2f978f823020 295 // Remote end disconnected
timmey9 18:b17ddeeb1c09 296 pc.printf("Client disconnected %s:%d\n\r",
timmey9 17:2f978f823020 297 socket->getRemoteEndpoint().getAddress().toString().c_str(),
timmey9 17:2f978f823020 298 socket->getRemoteEndpoint().getPort());
timmey9 17:2f978f823020 299
timmey9 17:2f978f823020 300 // Close socket
timmey9 17:2f978f823020 301 socket->close();
timmey9 17:2f978f823020 302 break;
timmey9 20:f533b3c9296f 303
timmey9 17:2f978f823020 304 case -1:
timmey9 18:b17ddeeb1c09 305 pc.printf("Error while reading data from socket\n\r");
timmey9 17:2f978f823020 306 socket->close();
timmey9 17:2f978f823020 307 break;
timmey9 20:f533b3c9296f 308 //************* this is where data is printed to the screen
timmey9 17:2f978f823020 309 default:
timmey9 18:b17ddeeb1c09 310 pc.printf("Message from %s:%d\n\r",
timmey9 17:2f978f823020 311 socket->getRemoteEndpoint().getAddress().toString().c_str(),
timmey9 17:2f978f823020 312 socket->getRemoteEndpoint().getPort());
timmey9 17:2f978f823020 313
timmey9 21:1fb5023b72af 314 pc.printf("%s\n\r", (char *)buffer.data());
timmey9 21:1fb5023b72af 315
timmey9 21:1fb5023b72af 316 // read first character for command
timmey9 21:1fb5023b72af 317 char command[2];
timmey9 21:1fb5023b72af 318 buffer.read(command,2,0);
timmey9 21:1fb5023b72af 319 if(command[1] == ':') {
timmey9 21:1fb5023b72af 320 switch(command[0])
timmey9 21:1fb5023b72af 321 {
timmey9 21:1fb5023b72af 322 case 'b':
timmey9 21:1fb5023b72af 323 led_blue = !led_blue;
timmey9 21:1fb5023b72af 324 client[index].write((void *)"Blue LED\n",9);
timmey9 21:1fb5023b72af 325 break;
timmey9 21:1fb5023b72af 326 case 'r':
timmey9 21:1fb5023b72af 327 led_red = !led_red;
timmey9 21:1fb5023b72af 328 client[index].write((void *)"Red LED\n",8);
timmey9 21:1fb5023b72af 329 break;
timmey9 21:1fb5023b72af 330 case 'p':
timmey9 21:1fb5023b72af 331 led_green = !led_green;
timmey9 21:1fb5023b72af 332 client[index].write((void *)"Data\n",5);
timmey9 22:523e316cbe70 333 client[index].write((void *)&sample_array,TOTAL_SAMPLES);
timmey9 24:a5891669afc5 334 break;
timmey9 24:a5891669afc5 335 case '1':
timmey9 24:a5891669afc5 336 // run motor and sample
timmey9 24:a5891669afc5 337 break;
timmey9 24:a5891669afc5 338 case '2':
timmey9 24:a5891669afc5 339 // run just the motor
timmey9 24:a5891669afc5 340 break;
timmey9 24:a5891669afc5 341 case 'a':
timmey9 24:a5891669afc5 342 if(angle_encoder.set_zero(&rotary_count)) {
timmey9 24:a5891669afc5 343 client[index].write((void *) "Zero set\n",9);
timmey9 24:a5891669afc5 344 }
timmey9 24:a5891669afc5 345 else {
timmey9 24:a5891669afc5 346 client[index].write((void *) "Zero NOT set\n",13);
timmey9 24:a5891669afc5 347 }
timmey9 24:a5891669afc5 348 break;
timmey9 24:a5891669afc5 349 case 's':
timmey9 24:a5891669afc5 350 {
timmey9 24:a5891669afc5 351 char buf[16];
timmey9 24:a5891669afc5 352 sprintf(buf,"NOP: %x\n",angle_encoder.nop());
timmey9 24:a5891669afc5 353 client[index].write((void *) buf,16);
timmey9 24:a5891669afc5 354 break;
timmey9 24:a5891669afc5 355 }
timmey9 24:a5891669afc5 356 case 'd':
timmey9 24:a5891669afc5 357 {
timmey9 24:a5891669afc5 358 char buf[29];
timmey9 24:a5891669afc5 359 sprintf(buf,"Angle: %i %i\n",angle_encoder.absolute_angle(), rotary_count);
timmey9 24:a5891669afc5 360 client[index].write((void *) buf,29);
timmey9 24:a5891669afc5 361 break;
timmey9 24:a5891669afc5 362 }
timmey9 24:a5891669afc5 363 /*
timmey9 24:a5891669afc5 364
timmey9 24:a5891669afc5 365 // for motor testing
timmey9 24:a5891669afc5 366 if(temp == 'k') // motor backward
timmey9 24:a5891669afc5 367 {
timmey9 24:a5891669afc5 368 motor.backward(duty_cycle, duration[5]);
timmey9 24:a5891669afc5 369 }
timmey9 24:a5891669afc5 370
timmey9 24:a5891669afc5 371 if(temp == 'u' && duty_cycle < 1.00f) pc.printf("%f \r\n", duty_cycle += 0.01f);
timmey9 24:a5891669afc5 372 if(temp == 'i' && duty_cycle > 0.00f) pc.printf("%f \r\n", duty_cycle -= 0.01f);
timmey9 24:a5891669afc5 373
timmey9 24:a5891669afc5 374 if(temp == '=') // you can hit the '+' key to increment "duration" without holding down "shift"
timmey9 24:a5891669afc5 375 {
timmey9 24:a5891669afc5 376 if(pointer < 7) pointer++;
timmey9 24:a5891669afc5 377 pc.printf("Duration[%i]: %i\r\n",pointer, duration[pointer]);
timmey9 24:a5891669afc5 378 }
timmey9 24:a5891669afc5 379 if(temp == '-')
timmey9 24:a5891669afc5 380 {
timmey9 24:a5891669afc5 381 if(pointer > 0) pointer--;
timmey9 24:a5891669afc5 382 pc.printf("Duration[%i]: %i\r\n",pointer, duration[pointer]);
timmey9 24:a5891669afc5 383 }
timmey9 24:a5891669afc5 384 if(temp == ']') // you can hit the '+' key to increment "duration" without holding down "shift"
timmey9 24:a5891669afc5 385 {
timmey9 24:a5891669afc5 386 duration[pointer] += 1000;
timmey9 24:a5891669afc5 387 pc.printf(" %i\r\n", duration[pointer]);
timmey9 24:a5891669afc5 388 }
timmey9 24:a5891669afc5 389 if(temp == '[')
timmey9 24:a5891669afc5 390 {
timmey9 24:a5891669afc5 391 if(duration[pointer] > 0) duration[pointer]-= 1000;
timmey9 24:a5891669afc5 392 pc.printf(" %i\r\n", duration[pointer]);
timmey9 24:a5891669afc5 393 }
timmey9 24:a5891669afc5 394
timmey9 24:a5891669afc5 395 }
timmey9 24:a5891669afc5 396
timmey9 24:a5891669afc5 397 */
timmey9 24:a5891669afc5 398
timmey9 24:a5891669afc5 399
timmey9 24:a5891669afc5 400
timmey9 21:1fb5023b72af 401 }
timmey9 21:1fb5023b72af 402 }
timmey9 21:1fb5023b72af 403 else {
timmey9 21:1fb5023b72af 404
timmey9 21:1fb5023b72af 405 }
timmey9 21:1fb5023b72af 406
timmey9 21:1fb5023b72af 407
timmey9 20:f533b3c9296f 408
timmey9 20:f533b3c9296f 409 //***************** print a message back to the client
timmey9 21:1fb5023b72af 410
timmey9 21:1fb5023b72af 411 //client[index].write((void *)&sample_array,SAMPLES);
timmey9 21:1fb5023b72af 412
timmey9 21:1fb5023b72af 413
timmey9 21:1fb5023b72af 414
timmey9 20:f533b3c9296f 415
timmey9 21:1fb5023b72af 416 /*for(int i = 1; i <= SAMPLES+1;)
timmey9 21:1fb5023b72af 417 {
timmey9 21:1fb5023b72af 418 for(int j = 0; j < 20; j++)
timmey9 21:1fb5023b72af 419 {
timmey9 21:1fb5023b72af 420 Timer timeStamp;
timmey9 21:1fb5023b72af 421 timeStamp.stop();
timmey9 21:1fb5023b72af 422 timeStamp.reset();
timmey9 21:1fb5023b72af 423 timeStamp.start();
timmey9 21:1fb5023b72af 424
timmey9 21:1fb5023b72af 425 client[index].write((void *)&sample_array,i);
timmey9 21:1fb5023b72af 426 int timeStampVar = timeStamp.read_us();
timmey9 21:1fb5023b72af 427 timeStamp.stop();
timmey9 21:1fb5023b72af 428
timmey9 21:1fb5023b72af 429 pc.printf("*******\r\n%i\r\nTime taken to send data: %i\r\n", i,timeStampVar);
timmey9 21:1fb5023b72af 430
timmey9 21:1fb5023b72af 431 char premessage[40];
timmey9 21:1fb5023b72af 432 sprintf(premessage, "******\r\n%i\r\nTime taken to send data: %i\r\n", i, timeStampVar);
timmey9 21:1fb5023b72af 433 std::string response1 = premessage;
timmey9 21:1fb5023b72af 434 client[index].write((void *)response1.data(), response1.size());
timmey9 21:1fb5023b72af 435 wait_us(5000);
timmey9 21:1fb5023b72af 436 }
timmey9 21:1fb5023b72af 437 if(i == 10000) i = SAMPLES;
timmey9 21:1fb5023b72af 438 else if(i == SAMPLES) i = i*10;
timmey9 21:1fb5023b72af 439 else i = i*10;
timmey9 21:1fb5023b72af 440 }
timmey9 21:1fb5023b72af 441 std::string endMessage("end");
timmey9 21:1fb5023b72af 442 client[index].write((void *)endMessage.data(), endMessage.size());
timmey9 21:1fb5023b72af 443 */
timmey9 17:2f978f823020 444 break;
timmey9 17:2f978f823020 445 }
timmey9 16:c3f922f61b8f 446 }
timmey9 17:2f978f823020 447
timmey9 17:2f978f823020 448 } while (server.getStatus() == network::Socket::Listening);
timmey9 24:a5891669afc5 449
timmey9 24:a5891669afc5 450 /*
timmey9 24:a5891669afc5 451 while(1){
timmey9 24:a5891669afc5 452 uint32_t current_SW3 = SW3_switch;
timmey9 24:a5891669afc5 453 if(pc.readable() > 0)
timmey9 24:a5891669afc5 454 {
timmey9 24:a5891669afc5 455 char temp = pc.getc();
timmey9 24:a5891669afc5 456 while(pc.readable() > 0) pc.getc();
timmey9 24:a5891669afc5 457
timmey9 24:a5891669afc5 458 if(temp == '1') current_SW3 = 0;
timmey9 24:a5891669afc5 459 else current_SW3 = 1;
timmey9 24:a5891669afc5 460 if(temp == '2') SW2_switch = 0;
timmey9 24:a5891669afc5 461 else SW2_switch = 1;
timmey9 24:a5891669afc5 462
timmey9 24:a5891669afc5 463 // for angle encoder testing
timmey9 24:a5891669afc5 464 if(temp == 'a') pc.printf(angle_encoder.set_zero(&rotary_count)?"Zero set\r\n":"False\r\n");
timmey9 24:a5891669afc5 465 if(temp == 's') pc.printf("NOP: %x\r\n",angle_encoder.nop());
timmey9 24:a5891669afc5 466 if(temp == 'd') pc.printf("Angle: %i %i\r\n",angle_encoder.absolute_angle(), rotary_count);
timmey9 24:a5891669afc5 467
timmey9 24:a5891669afc5 468 if(temp == 't')
timmey9 24:a5891669afc5 469 {
timmey9 24:a5891669afc5 470
timmey9 24:a5891669afc5 471 }
timmey9 24:a5891669afc5 472
timmey9 24:a5891669afc5 473
timmey9 24:a5891669afc5 474 // for motor testing
timmey9 24:a5891669afc5 475 if(temp == 'k') // motor backward
timmey9 24:a5891669afc5 476 {
timmey9 24:a5891669afc5 477 motor.backward(duty_cycle, duration[5]);
timmey9 24:a5891669afc5 478 }
timmey9 24:a5891669afc5 479
timmey9 24:a5891669afc5 480 if(temp == 'u' && duty_cycle < 1.00f) pc.printf("%f \r\n", duty_cycle += 0.01f);
timmey9 24:a5891669afc5 481 if(temp == 'i' && duty_cycle > 0.00f) pc.printf("%f \r\n", duty_cycle -= 0.01f);
timmey9 24:a5891669afc5 482
timmey9 24:a5891669afc5 483 if(temp == '=') // you can hit the '+' key to increment "duration" without holding down "shift"
timmey9 24:a5891669afc5 484 {
timmey9 24:a5891669afc5 485 if(pointer < 7) pointer++;
timmey9 24:a5891669afc5 486 pc.printf("Duration[%i]: %i\r\n",pointer, duration[pointer]);
timmey9 24:a5891669afc5 487 }
timmey9 24:a5891669afc5 488 if(temp == '-')
timmey9 24:a5891669afc5 489 {
timmey9 24:a5891669afc5 490 if(pointer > 0) pointer--;
timmey9 24:a5891669afc5 491 pc.printf("Duration[%i]: %i\r\n",pointer, duration[pointer]);
timmey9 24:a5891669afc5 492 }
timmey9 24:a5891669afc5 493 if(temp == ']') // you can hit the '+' key to increment "duration" without holding down "shift"
timmey9 24:a5891669afc5 494 {
timmey9 24:a5891669afc5 495 duration[pointer] += 1000;
timmey9 24:a5891669afc5 496 pc.printf(" %i\r\n", duration[pointer]);
timmey9 24:a5891669afc5 497 }
timmey9 24:a5891669afc5 498 if(temp == '[')
timmey9 24:a5891669afc5 499 {
timmey9 24:a5891669afc5 500 if(duration[pointer] > 0) duration[pointer]-= 1000;
timmey9 24:a5891669afc5 501 pc.printf(" %i\r\n", duration[pointer]);
timmey9 24:a5891669afc5 502 }
timmey9 24:a5891669afc5 503
timmey9 24:a5891669afc5 504 }
timmey9 24:a5891669afc5 505 else
timmey9 24:a5891669afc5 506 {
timmey9 24:a5891669afc5 507 SW2_switch = 1;
timmey9 24:a5891669afc5 508 current_SW3 = 1;
timmey9 24:a5891669afc5 509 }
timmey9 24:a5891669afc5 510
timmey9 24:a5891669afc5 511 if (current_SW3 == 0) {
timmey9 24:a5891669afc5 512
timmey9 24:a5891669afc5 513 if (SW3_past == 1) {
timmey9 24:a5891669afc5 514 pc.printf("All duration settings:\r\n");
timmey9 24:a5891669afc5 515 for(int i = 0; i < 8; i++)
timmey9 24:a5891669afc5 516 {
timmey9 24:a5891669afc5 517 pc.printf("Duration[%i]: %i\r\n", i, duration[i]);
timmey9 24:a5891669afc5 518 }
timmey9 24:a5891669afc5 519 // release mallet
timmey9 24:a5891669afc5 520 // add code here
timmey9 24:a5891669afc5 521
timmey9 24:a5891669afc5 522 __enable_irq(); // Enable Interrupts
timmey9 24:a5891669afc5 523
timmey9 24:a5891669afc5 524 current_sample_index = BEGIN_SAMPLING;
timmey9 24:a5891669afc5 525 trigger_count++;
timmey9 24:a5891669afc5 526 while (current_sample_index != WAITING_TO_BEGIN){
timmey9 24:a5891669afc5 527 wait_us(10);
timmey9 24:a5891669afc5 528 }
timmey9 24:a5891669afc5 529
timmey9 24:a5891669afc5 530 __disable_irq(); // Disable Interrupts
timmey9 24:a5891669afc5 531
timmey9 24:a5891669afc5 532 // reset mallet
timmey9 24:a5891669afc5 533 // add code here
timmey9 24:a5891669afc5 534
timmey9 24:a5891669afc5 535
timmey9 24:a5891669afc5 536 output_data(trigger_count);
timmey9 24:a5891669afc5 537 }
timmey9 24:a5891669afc5 538 }
timmey9 24:a5891669afc5 539 SW3_past = current_SW3;
timmey9 24:a5891669afc5 540
timmey9 24:a5891669afc5 541
timmey9 24:a5891669afc5 542 if (SW2_switch == 0) { // To advance motor
timmey9 24:a5891669afc5 543 pc.printf("All duration settings 2:\r\n");
timmey9 24:a5891669afc5 544 for(int i = 0; i < 8; i++)
timmey9 24:a5891669afc5 545 {
timmey9 24:a5891669afc5 546 pc.printf("Duration[%i]: %i\r\n", i, duration[i]);
timmey9 24:a5891669afc5 547 }
timmey9 24:a5891669afc5 548
timmey9 24:a5891669afc5 549
timmey9 24:a5891669afc5 550 SW2_switch = 1;
timmey9 24:a5891669afc5 551
timmey9 24:a5891669afc5 552 // release mallet
timmey9 24:a5891669afc5 553 motor.forward(duration[0]); // move motor forward
timmey9 24:a5891669afc5 554 wait_us(duration[1]); // wait
timmey9 24:a5891669afc5 555 motor.backward(0.7, duration[2]); // stop motor using reverse
timmey9 24:a5891669afc5 556
timmey9 24:a5891669afc5 557 // time for sampling
timmey9 24:a5891669afc5 558 wait_us(SAMPLING_RATE*TOTAL_SAMPLES);
timmey9 24:a5891669afc5 559
timmey9 24:a5891669afc5 560 // reset mallet
timmey9 24:a5891669afc5 561 motor.backward(duration[3]); // move motor backward
timmey9 24:a5891669afc5 562 motor.backward(0.75, duration[4]);
timmey9 24:a5891669afc5 563 motor.backward(duty_cycle, duration[5]);
timmey9 24:a5891669afc5 564
timmey9 24:a5891669afc5 565 }
timmey9 24:a5891669afc5 566 */
timmey9 22:523e316cbe70 567 }
timmey9 23:9e5141647775 568
timmey9 22:523e316cbe70 569 void timed_sampling() {
timmey9 22:523e316cbe70 570 __disable_irq(); // Disable Interrupts
timmey9 23:9e5141647775 571 //timeStamp.start();
timmey9 22:523e316cbe70 572
timmey9 22:523e316cbe70 573 // The following performs analog-to-digital conversions - first reading the last conversion - then initiating another
timmey9 22:523e316cbe70 574 uint32_t A0_value = adc_hal_get_conversion_value(0, 0);
timmey9 22:523e316cbe70 575 uint32_t A2_value = adc_hal_get_conversion_value(1, 0);
timmey9 22:523e316cbe70 576 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 577 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 578
timmey9 22:523e316cbe70 579 // The following updates the rotary counter for the AMT20 sensor
timmey9 22:523e316cbe70 580 // Put A on PTC0
timmey9 22:523e316cbe70 581 // Put B on PTC1
timmey9 22:523e316cbe70 582 uint32_t AMT20_AB = HW_GPIO_PDIR_RD(HW_PORTC) & 0x03;
timmey9 22:523e316cbe70 583 //AMT20_AB = ~last_AMT20_AB_read; // Used to force a count - extend time.
timmey9 22:523e316cbe70 584 if (AMT20_AB != last_AMT20_AB_read)
timmey9 22:523e316cbe70 585 {
timmey9 22:523e316cbe70 586 // change "INVERT_ANGLE" to change whether relative angle counts up or down.
timmey9 22:523e316cbe70 587 if ((AMT20_AB >> 1)^(last_AMT20_AB_read) & 1U)
timmey9 22:523e316cbe70 588 #if INVERT_ANGLE == 1
timmey9 22:523e316cbe70 589 {rotary_count--;}
timmey9 22:523e316cbe70 590 else
timmey9 22:523e316cbe70 591 {rotary_count++;}
timmey9 22:523e316cbe70 592 #else
timmey9 22:523e316cbe70 593 {rotary_count++;}
timmey9 22:523e316cbe70 594 else
timmey9 22:523e316cbe70 595 {rotary_count--;}
timmey9 22:523e316cbe70 596 #endif
timmey9 22:523e316cbe70 597
timmey9 22:523e316cbe70 598 last_AMT20_AB_read = AMT20_AB;
timmey9 22:523e316cbe70 599 }
timmey9 22:523e316cbe70 600 //current_sample_index = BEGIN_SAMPLING; // Used to force extra time.
timmey9 22:523e316cbe70 601 if (current_sample_index == WAITING_TO_BEGIN) {}
timmey9 22:523e316cbe70 602 else
timmey9 22:523e316cbe70 603 {
timmey9 22:523e316cbe70 604 if (current_sample_index == BEGIN_SAMPLING) {
timmey9 22:523e316cbe70 605 current_sample_index = FIRST_SAMPLE_INDEX;
timmey9 22:523e316cbe70 606 }
timmey9 22:523e316cbe70 607
timmey9 22:523e316cbe70 608 sample_array[current_sample_index] = (A0_value << CHANNEL_STORAGE_OFFSET) | A2_value;
timmey9 22:523e316cbe70 609
timmey9 22:523e316cbe70 610 angle_array[current_sample_index] = rotary_count;
timmey9 22:523e316cbe70 611
timmey9 22:523e316cbe70 612 if (current_sample_index == LAST_SAMPLE_INDEX) {
timmey9 22:523e316cbe70 613 current_sample_index = WAITING_TO_BEGIN;
timmey9 22:523e316cbe70 614 //led_green = 1;
timmey9 22:523e316cbe70 615 }
timmey9 22:523e316cbe70 616 else { current_sample_index++; }
timmey9 22:523e316cbe70 617 }
timmey9 22:523e316cbe70 618
timmey9 23:9e5141647775 619 //int tempVar = timeStamp.read_us();
timmey9 23:9e5141647775 620 //timeStamp.stop();
timmey9 23:9e5141647775 621 //timeStamp.reset();
timmey9 23:9e5141647775 622 //pc.printf("TimeStamp: %i\r\n", tempVar);
timmey9 22:523e316cbe70 623 __enable_irq(); // Enable Interrupts
timmey9 22:523e316cbe70 624 }
timmey9 22:523e316cbe70 625
timmey9 22:523e316cbe70 626 void analog_initialization(PinName pin)
timmey9 22:523e316cbe70 627 {
timmey9 22:523e316cbe70 628 ADCName adc = (ADCName)pinmap_peripheral(pin, PinMap_ADC);
timmey9 22:523e316cbe70 629 // MBED_ASSERT(adc != (ADCName)NC);
timmey9 22:523e316cbe70 630
timmey9 22:523e316cbe70 631 uint32_t instance = adc >> ADC_INSTANCE_SHIFT;
timmey9 22:523e316cbe70 632
timmey9 22:523e316cbe70 633 clock_manager_set_gate(kClockModuleADC, instance, true);
timmey9 22:523e316cbe70 634
timmey9 22:523e316cbe70 635 uint32_t bus_clock;
timmey9 22:523e316cbe70 636 clock_manager_get_frequency(kBusClock, &bus_clock);
timmey9 22:523e316cbe70 637 uint32_t clkdiv;
timmey9 22:523e316cbe70 638 for (clkdiv = 0; clkdiv < 4; clkdiv++) {
timmey9 22:523e316cbe70 639 if ((bus_clock >> clkdiv) <= MAX_FADC)
timmey9 22:523e316cbe70 640 break;
timmey9 22:523e316cbe70 641 }
timmey9 22:523e316cbe70 642 if (clkdiv == 4) {
timmey9 22:523e316cbe70 643 clkdiv = 0x7; //Set max div
timmey9 22:523e316cbe70 644 }
timmey9 22:523e316cbe70 645 // adc is enabled/triggered when reading.
timmey9 22:523e316cbe70 646 adc_hal_set_clock_source_mode(instance, (adc_clock_source_mode_t)(clkdiv >> 2));
timmey9 22:523e316cbe70 647 adc_hal_set_clock_divider_mode(instance, (adc_clock_divider_mode_t)(clkdiv & 0x3));
timmey9 22:523e316cbe70 648 adc_hal_set_reference_voltage_mode(instance, kAdcVoltageVref);
timmey9 22:523e316cbe70 649 adc_hal_set_resolution_mode(instance, kAdcSingleDiff16);
timmey9 22:523e316cbe70 650 adc_hal_configure_continuous_conversion(instance, false);
timmey9 22:523e316cbe70 651 adc_hal_configure_hw_trigger(instance, false); // sw trigger
timmey9 22:523e316cbe70 652 adc_hal_configure_hw_average(instance, false);
timmey9 22:523e316cbe70 653 adc_hal_set_hw_average_mode(instance, kAdcHwAverageCount4);
timmey9 22:523e316cbe70 654 adc_hal_set_group_mux(instance, kAdcChannelMuxB); // only B channels are avail
timmey9 22:523e316cbe70 655
timmey9 22:523e316cbe70 656 pinmap_pinout(pin, PinMap_ADC);
timmey9 22:523e316cbe70 657 }
timmey9 22:523e316cbe70 658
timmey9 22:523e316cbe70 659 void output_data(uint32_t iteration_number)
timmey9 22:523e316cbe70 660 {
timmey9 22:523e316cbe70 661 pc.printf("Iteration: %i\n\r", iteration_number);
timmey9 22:523e316cbe70 662 pc.printf("Sampling rate: %i\n\r", SAMPLING_RATE);
timmey9 22:523e316cbe70 663 pc.printf("Data length: %i\n\r", TOTAL_SAMPLES);
timmey9 22:523e316cbe70 664 for (int n = FIRST_SAMPLE_INDEX; n <= LAST_SAMPLE_INDEX; n++) {
timmey9 22:523e316cbe70 665 //pc.printf("%i\t%i\t%i\r\n", (sample_array[n] >> CHANNEL_STORAGE_OFFSET), (sample_array[n] & 0xFFFF), angle_array[n]);
timmey9 22:523e316cbe70 666 }
timmey9 22:523e316cbe70 667
timmey9 22:523e316cbe70 668 }