Jared Baxter
Impedance Fast Circuitry Software
Fork of
DSP_200kHz
by 
Mazzeo Research Group
Diff: main.cpp
- Revision:
- 34:44cc9b76a507
- Parent:
- 33:9806eb964362
- Child:
- 35:df40c4566826
--- a/main.cpp Fri Jan 09 20:07:09 2015 +0000
+++ b/main.cpp Sun Jan 25 02:45:58 2015 +0000
@@ -2,17 +2,6 @@
#include "mbed.h"
#include <stdio.h>
-// Ethernet
-#include "EthernetInterface.h"
-#include "NetworkAPI/buffer.hpp"
-#include "NetworkAPI/select.hpp"
-#include "NetworkAPI/ip/address.hpp"
-#include "NetworkAPI/tcp/socket.hpp"
-
-// Angle encoder and motor control
-#include "AngleEncoder.h"
-#include "MotorControl.h"
-
// Analog sampling
#include "PeripheralNames.h"
#include "PeripheralPins.h"
@@ -21,70 +10,18 @@
#include "fsl_dspi_hal.h"
#include "AngleEncoder.h"
-/*****************************************
- *
- * Configuration
- *
- * Take the time to set these constants
- *
- *****************************************/
-#define MALLET 5 // set mallet to a value between 1-7
-#define STATIC 1 // set STATIC to 1 for static ip, set STATIC to 0 for dynamic
-#define PORT 22 // set to a random port number. All the mallets can use the same port number.
-#define MAX_CLIENTS 2 // set the max number of clients to at least 2 (first client is MATLAB, second is the distance unit)
-#define INVERT_ANGLE 0 // inverts whether the angle encoder counts up or down
-
+#include "dma.h"
// Analog sampling
#define MAX_FADC 6000000
-#define SAMPLING_RATE 10 // In microseconds, so 10 us will be a sampling rate of 100 kHz
-#define TOTAL_SAMPLES 10000 // originally 30000 for 0.3 ms of sampling.
+#define SAMPLING_RATE 1000 // In microseconds, so 10 us will be a sampling rate of 100 kHz
+#define TOTAL_SAMPLES 10 // originally 30000 for 0.3 ms of sampling.
#define LAST_SAMPLE_INDEX (TOTAL_SAMPLES-1) // If sampling time is 25 us, then 2000 corresponds to 50 ms
#define FIRST_SAMPLE_INDEX 0
#define BEGIN_SAMPLING 0xFFFFFFFF
#define WAITING_TO_BEGIN (BEGIN_SAMPLING-1)
-#define CHANNEL_STORAGE_OFFSET 16 // For storing the 16 bits and the 16 bits in a single 32 bit array
-#define PERIOD 3000 // make sure PERIOD >= ON_OFF_TIME
-#define ON_OFF_TIME 300 // time it takes for relay to turn on
-
-
-// Ethernet
-#define GATEWAY "169.254.225.1"
-#define MASK "255.255.0.0"
-
-// used for assign different mallets their ip addresses
-#if MALLET == 1
-#define IP "169.254.225.206"
-#define NAME "Mallet1\n\r"
-
-#elif MALLET == 2
-#define IP "169.254.225.207"
-#define NAME "Mallet2\n\r"
-
-#elif MALLET == 3
-#define IP "169.254.225.208"
-#define NAME "Mallet3\n\r"
-
-#elif MALLET == 4
-#define IP "169.254.225.209"
-#define NAME "Mallet4\n\r"
-
-#elif MALLET == 5
-#define IP "169.254.225.210"
-#define NAME "Mallet5\n\r"
-
-#elif MALLET == 6
-#define IP "169.254.225.211"
-#define NAME "Mallet6\n\r"
-
-#elif MALLET == 7
-#define IP "169.254.225.212"
-#define NAME "Mallet7\n\r"
-
-#endif
-
// for debug purposes
Serial pc(USBTX, USBRX);
@@ -92,60 +29,26 @@
DigitalOut led_green(LED_GREEN);
DigitalOut led_blue(LED_BLUE);
-// motor control and angle encoder
-PwmOut motorA(PTC2);
-PwmOut motorB(PTA2);
-//MotorControl motor(PTC2, PTA2, PERIOD, ON_OFF_TIME); // forward, backward, period, safetyPeriod
AngleEncoder angle_encoder(PTD2, PTD3, PTD1, PTD0, 8, 0, 1000000); // mosi, miso, sclk, cs, bit_width, mode, hz
DigitalIn AMT20_A(PTC0); // input for quadrature encoding from angle encoder
DigitalIn AMT20_B(PTC1); // input for quadrature encoding from angle encoder
// Analog sampling
-//Ticker Sampler;
-//Timer timer;
-//Timer timeStamp;
AnalogIn A0_pin(A0);
AnalogIn A2_pin(A2);
-
-//DigitalIn SW3_switch(PTA4);
-//DigitalIn SW2_switch(PTC6);
-DigitalOut TotalInd(PTC4);
-DigitalOut SampleInd(PTC5); // originally PTD0 but needed for CS for spi
+Ticker Sampler;
uint32_t current_sample_index = WAITING_TO_BEGIN;
uint16_t sample_array1[TOTAL_SAMPLES];
uint16_t sample_array2[TOTAL_SAMPLES];
uint16_t angle_array[TOTAL_SAMPLES];
+float currA0 = 0;
+float currA2 = 0;
// Declaration of functions
void analog_initialization(PinName pin);
-void output_data(uint32_t iteration_number);
void timed_sampling();
-
-int motorVal = 0;
-void releaseMallet()
-{
- motorA = 0;
- motorB = 1;
- wait_ms(10);
- motorB = 0;
- wait_ms(75);
-
- motorA = 0.7;
- wait_ms(8);
- motorA = 0;
- }
-
-void resetMallet()
-{
- motorA = 0;
- motorB = 1;
- wait_ms(153);
- motorB = 0;
- }
-
-
// Important globabl variables necessary for the sampling every interval
int rotary_count = 0;
uint32_t last_AMT20_AB_read = 0;
@@ -153,469 +56,56 @@
using namespace std;
int main() {
- //for(int i = 0; i < TOTAL_SAMPLES; i++) {sample_array[i] = i;}
- TotalInd = 0;
- SampleInd = 0;
led_blue = 1;
led_green = 0;
led_red = 1;
- motorA = 0;
- motorB = 0;
- motorA.period_ms(8);
- motorB.period_ms(8);
+
pc.baud(230400);
- pc.printf("Starting %s\r\n",NAME);
-
-
-
- for(int i = 0; i < 86; i++)
- {
- if(NVIC_GetPriority((IRQn_Type) i) == 0) NVIC_SetPriority((IRQn_Type) i, 2);
- }
-
- NVIC_SetPriority(PIT3_IRQn,0);
-
- NVIC_SetPriority(ADC1_IRQn,0);
- NVIC_SetPriority(ADC0_IRQn,0);
- NVIC_SetPriority(ENET_1588_Timer_IRQn,0);
- NVIC_SetPriority(ENET_Transmit_IRQn,0);
- NVIC_SetPriority(ENET_Receive_IRQn,0);
- NVIC_SetPriority(ENET_Error_IRQn,0);
-
-
- // The ethernet setup must be within the first few lines of code, otherwise the program hangs
- EthernetInterface interface;
- #if STATIC == 1
- interface.init(IP, MASK, GATEWAY);
- #else
- interface.init();
- #endif
- interface.connect();
- pc.printf("IP Address is: %s\n\r", interface.getIPAddress());
- pc.printf("Network Mask is: %s\n\r", interface.getNetworkMask());
- pc.printf("MAC address is: %s\n\r", interface.getMACAddress());
- pc.printf("Gateway is: %s\n\r", interface.getGateway());
- pc.printf("Port is: %i\n\r", PORT);
-
-
- // ethernet setup failed for some reason. Flash yellow light then uC resets itself
- if(interface.getIPAddress() == 0)
- {
- for(int i = 0; i < 5; i++)
- {
- led_red = 0;
- led_green = 0;
- wait_ms(500);
- led_red = 1;
- led_green = 1;
- wait_ms(1000);
- }
- NVIC_SystemReset();
- }
-
+ pc.printf("Starting\r\n");
analog_initialization(A0);
analog_initialization(A2);
+ dma_init(sample_array1,TOTAL_SAMPLES);
// Start the sampling loop
current_sample_index = WAITING_TO_BEGIN;
- //Sampler.attach_us(&timed_sampling, SAMPLING_RATE);
-
- //NVIC_SetPriority(TIMER3_IRQn,0);
- //pc.printf("Ticker IRQ: %i\r\n", Sampler.irq());
-
+ Sampler.attach_us(&timed_sampling, SAMPLING_RATE);
- network::Select select;
- network::tcp::Socket server;
- network::tcp::Socket client[MAX_CLIENTS];
- network::tcp::Socket *socket = NULL;
-
- int result = 0;
- int index = 0;
-
- network::Buffer buffer(50);
- std::string message(NAME);
-
- // Configure the server socket (assume every thing works)
- server.open();
- server.bind(PORT);
- server.listen(MAX_CLIENTS);
-
- // Add sockets to the select api
- select.set(&server, network::Select::Read);
- for (index = 0; index < MAX_CLIENTS; index++) {
- select.set(&client[index], network::Select::Read);
+ while(1) {
+ if(pc.readable() > 0) {
+ char temp = pc.getc();
+
+ switch(temp) {
+ case 's':
+ for(int i = 0; i < TOTAL_SAMPLES; i++) pc.printf("%i: ",i,sample_array1[i]);
+ break;
+ case 'f':
+ for(int i = 0; i < TOTAL_SAMPLES; i++) sample_array1[i] = 0;
+ break;
+
+ }
+ }
+ pc.printf("A1: %f\tA2: %f\r\n", currA0, currA2);
+ wait(1);
}
- led_red = 1;
- led_green = 1;
- led_blue = 0;
- wait_ms(500);
- led_blue = 1;
- wait_ms(200);
- led_blue = 0;
- wait_ms(500);
- led_blue = 1;
-
- NVIC_SetPriority(ENET_1588_Timer_IRQn,1);
- NVIC_SetPriority(ENET_Transmit_IRQn,1);
- NVIC_SetPriority(ENET_Receive_IRQn,1);
- NVIC_SetPriority(ENET_Error_IRQn,1);
-
- //for(int i = 0; i < 86; i++) pc.printf("%i: %i\r\n", i, NVIC_GetPriority((IRQn_Type) i));
-
- do {
- // Wait for activity
- result = select.wait();
- if (result < -1) {
- pc.printf("Failed to select\n\r");
- break;
- }
-
- // Get the first socket
- socket = (network::tcp::Socket *)select.getReadable();
-
- for (; socket != NULL; socket = (network::tcp::Socket *)select.getReadable()) {
- // Check if there was a connection request.
- if (socket->getHandle() == server.getHandle()) {
- // Find an unused client
- for (index = 0; index < MAX_CLIENTS; index++) {
- if (client[index].getStatus() == network::Socket::Closed) {
- break;
- }
- }
-
- // Maximum connections reached
- if (index == MAX_CLIENTS) {
- pc.printf("Maximum connections reached\n\r");
- wait(1);
- continue;
- }
-
- // Accept the client
- socket->accept(client[index]);
- pc.printf("Client connected %s:%d\n\r",
- client[index].getRemoteEndpoint().getAddress().toString().c_str(),
- client[index].getRemoteEndpoint().getPort());
-
- // Send a nice message to the client (tell MATLAB your name
- client[index].write((void *)message.data(), message.size());
-
- continue;
- }
-
- // It was not the server socket, so it must be a client talking to us.
- switch (socket->read(buffer)) {
- case 0:
- // Remote end disconnected
- pc.printf("Client disconnected %s:%d\n\r",
- socket->getRemoteEndpoint().getAddress().toString().c_str(),
- socket->getRemoteEndpoint().getPort());
-
- // Close socket
- socket->close();
- break;
-
- case -1:
- pc.printf("Error while reading data from socket\n\r");
- socket->close();
- break;
-
-
-
-//************* this is where data is printed to the screen
- default:
- pc.printf("Message from %s:%d\n\r",
- socket->getRemoteEndpoint().getAddress().toString().c_str(),
- socket->getRemoteEndpoint().getPort());
-
- pc.printf("%s\n\r", (char *)buffer.data());
-
- // read first character for command
- char command[2];
- buffer.read(command,2,0);
- if(command[1] == ':') {
- switch(command[0])
- {
- case 'b':
- led_blue = !led_blue;
- client[index].write((void *)"Blue LED\n",9);
- break;
-
- case 'r':
- led_red = !led_red;
- client[index].write((void *)"Red LED\n",8);
- break;
-
- case 'p':
- led_green = !led_green;
- client[index].write((void *)"Data\n",5);
- for(int i = 0; i < 99; i++) sample_array1[i] = i;
- client[index].write((void *)&sample_array1,2*99);
- break;
- case 't':
- {
- for(int i = 0; i < 86; i++) pc.printf("%i: %i\r\n", i, NVIC_GetPriority((IRQn_Type) i));
- }
- break;
-
- case '3': // run motor and sample
- {
- // set angle to 0
- led_blue = 0;
- while(!angle_encoder.set_zero()) {}
- led_blue = 1;
-
- // release mallet
- wait(1);
-
-
- // reset mallet
- motorA = 0;
- int angleVar = 1;
- int counter = 0;
- while(angleVar)
- {
- counter++;
- angleVar = angle_encoder.absolute_angle();
- //angleVar -= motorVal;
- if(angleVar == 0x00ff0000) {} // do nothing
- else if(angleVar > 340) motorB.pulsewidth_us(8000); // max speed
- else if(angleVar < motorVal) {
- angleVar = 0; // exit loop
- motorB.pulsewidth_us(0);} // min speed
- else motorB.pulsewidth_us(angleVar*800/34);
- }
- motorB = 0;
-
- char buf[29];
- sprintf(buf,"MotorVal: %i\n",motorVal);
- client[index].write((void *) buf,29);
-
-
-
- /*
- int tempDutyCycle = 2000;
- for(int i = counter; i > 0; i--)
- {
- motorA.pulsewidth_us(tempDutyCycle);
- }
- */
- // make sure motors are off
- motorA = 0;
- motorB = 0;
- //wait_ms(138);
- motorB = 0;
- }
- break;
- case '1':
- {
- // set angle to 0
- led_blue = 0;
- while(!angle_encoder.set_zero()) {}
- led_blue = 1;
-
- // release mallet
- wait(1);
-
-
- // reset mallet
- motorA = 0;
- int angleVar = 1;
- int counter = 0;
- while(angleVar)
- {
- counter++;
- angleVar = angle_encoder.absolute_angle();
- angleVar -= motorVal;
- if(angleVar == 0x00ff0000) {} // do nothing
- else if(angleVar > 340) motorB.pulsewidth_us(8000); // max speed
- else if(angleVar < 43) {
- angleVar = 0; // exit loop
- motorB.pulsewidth_us(0);} // min speed
- else motorB.pulsewidth_us(angleVar*800/34);
- }
- motorB = 0;
-
- char buf[29];
- sprintf(buf,"MotorVal: %i\n",motorVal);
- client[index].write((void *) buf,29);
-
-
-
- /*
- int tempDutyCycle = 2000;
- for(int i = counter; i > 0; i--)
- {
- motorA.pulsewidth_us(tempDutyCycle);
- }
- */
- // make sure motors are off
- motorA = 0;
- motorB = 0;
- }
- break;
- case '2':
- {
- // release mallet
- motorA = 0;
- motorB = 1;
- wait_ms(10);
- motorB = 0;
- wait_ms(75);
-
- motorA = 0.7;
- wait_ms(8);
- motorA = 0;
-
- // wait for angle to set to zero
- led_blue = 0;
- while(!angle_encoder.set_zero()) {}
- led_blue = 1;
-
- // wait for mallet to drop to certin point before beginning to sample
- led_red = 0;
- int angleVal;
- do {
- angleVal = angle_encoder.absolute_angle();
- }
- while(!(angleVal > 150 && angleVal < 400));
- led_red = 1;
-
- //char buf[29];
- //sprintf(buf,"AngleVal: %i\n",angleVal);
- //client[index].write((void *) buf,29);
-
-
- // begin sampling
- BW_ADC_SC1n_ADCH(0, 0, kAdcChannel12); // This corresponds to starting an ADC conversion on channel 12 of ADC 0 - which is A0 (PTB2)
- BW_ADC_SC1n_ADCH(1, 0, kAdcChannel14); // This corresponds to starting an ADC conversion on channel 14 of ADC 1 - which is A2 (PTB10)
- client[index].write((void *)"Data\n",5);
-
- TotalInd = 1;
-
- uint32_t AMT20_AB;
- rotary_count = 0;
- __disable_irq();
- SampleInd = 0;
- for(int i = 0; i < TOTAL_SAMPLES; i++)
- {
- SampleInd = !SampleInd;
- sample_array1[i] = adc_hal_get_conversion_value(0, 0);
- sample_array2[i] = adc_hal_get_conversion_value(1, 0);
- BW_ADC_SC1n_ADCH(0, 0, kAdcChannel12); // This corresponds to starting an ADC conversion on channel 12 of ADC 0 - which is A0 (PTB2)
- BW_ADC_SC1n_ADCH(1, 0, kAdcChannel14); // This corresponds to starting an ADC conversion on channel 14 of ADC 1 - which is A2 (PTB10)
-
- // The following updates the rotary counter for the AMT20 sensor
- // Put A on PTC0
- // Put B on PTC1
- AMT20_AB = HW_GPIO_PDIR_RD(HW_PORTC) & 0x03;
-
- if (AMT20_AB != last_AMT20_AB_read)
- {
- // change "INVERT_ANGLE" to change whether relative angle counts up or down.
- if ((AMT20_AB >> 1)^(last_AMT20_AB_read) & 1U)
- #if INVERT_ANGLE == 1
- {rotary_count--;}
- else
- {rotary_count++;}
- #else
- {rotary_count++;}
- else
- {rotary_count--;}
- #endif
-
- last_AMT20_AB_read = AMT20_AB;
- }
- angle_array[i] = rotary_count;
- wait_us(8);
- }
- __enable_irq();
-
- // reset mallet
- motorA = 0;
- motorB = 1;
- wait_ms(138);
- motorB = 0;
-
-
-
- NVIC_SetPriority(ENET_1588_Timer_IRQn,0);
- NVIC_SetPriority(ENET_Transmit_IRQn,0);
- NVIC_SetPriority(ENET_Receive_IRQn,0);
- NVIC_SetPriority(ENET_Error_IRQn,0);
- TotalInd = 1;
- client[index].write((void *)&sample_array1,2*TOTAL_SAMPLES);
- client[index].write((void *)&sample_array2,2*TOTAL_SAMPLES);
- client[index].write((void *)&angle_array,2*TOTAL_SAMPLES);
- TotalInd = 0;
-
- NVIC_SetPriority(ENET_1588_Timer_IRQn,1);
- NVIC_SetPriority(ENET_Transmit_IRQn,1);
- NVIC_SetPriority(ENET_Receive_IRQn,1);
- NVIC_SetPriority(ENET_Error_IRQn,1);
-
- }
- break;
- case '+':
- motorVal++;
- if(motorVal > 8000) motorVal = 43;
- char buf[29];
- sprintf(buf,"MotorVal: %i\n",motorVal);
- client[index].write((void *) buf,29);
-
- break;
- case '-':
- motorVal--;
- if(motorVal < 0) motorVal = 0;
- char buf[29];
- sprintf(buf,"MotorVal: %i\n",motorVal);
- client[index].write((void *) buf,29);
-
- break;
- case 'a':
- if(angle_encoder.set_zero(&rotary_count)) {
- client[index].write((void *) "Zero set\n",9);
- }
- else {
- client[index].write((void *) "Zero NOT set\n",13);
- }
- break;
- case 's':
- {
- char buf[16];
- sprintf(buf,"NOP: %x\n",angle_encoder.nop());
- client[index].write((void *) buf,16);
- break;
- }
- case 'd':
- {
- char buf[29];
- sprintf(buf,"Angle: %i %i\n",angle_encoder.absolute_angle(), rotary_count);
- client[index].write((void *) buf,29);
- break;
- }
- }
- }
- break;
- }
- }
-
- } while (server.getStatus() == network::Socket::Listening);
+
}
void timed_sampling() {
- SampleInd = 1;
- //__disable_irq(); // Disable Interrupts
- //timeStamp.start();
- /*
+ __disable_irq(); // Disable Interrupts
+
+
// The following performs analog-to-digital conversions - first reading the last conversion - then initiating another
uint32_t A0_value = adc_hal_get_conversion_value(0, 0);
uint32_t A2_value = adc_hal_get_conversion_value(1, 0);
BW_ADC_SC1n_ADCH(0, 0, kAdcChannel12); // This corresponds to starting an ADC conversion on channel 12 of ADC 0 - which is A0 (PTB2)
BW_ADC_SC1n_ADCH(1, 0, kAdcChannel14); // This corresponds to starting an ADC conversion on channel 14 of ADC 1 - which is A2 (PTB10)
+ currA0 = (float) A0_value*3.3/65535;
+ currA2 = (float) A2_value*3.3/65535;
+
// The following updates the rotary counter for the AMT20 sensor
// Put A on PTC0
// Put B on PTC1
@@ -655,13 +145,7 @@
else { current_sample_index++; }
}
- //int tempVar = timeStamp.read_us();
- //timeStamp.stop();
- //timeStamp.reset();
- //pc.printf("TimeStamp: %i\r\n", tempVar);
- //__enable_irq(); // Enable Interrupts
- */
- SampleInd = 0;
+ __enable_irq(); // Enable Interrupts
}
void analog_initialization(PinName pin)
@@ -695,22 +179,4 @@
adc_hal_set_group_mux(instance, kAdcChannelMuxB); // only B channels are avail
pinmap_pinout(pin, PinMap_ADC);
-}
-
-void output_data(uint32_t iteration_number)
-{
- pc.printf("Iteration: %i\n\r", iteration_number);
- pc.printf("Sampling rate: %i\n\r", SAMPLING_RATE);
- pc.printf("Data length: %i\n\r", TOTAL_SAMPLES);
-
- //for (int n = FIRST_SAMPLE_INDEX; n <= LAST_SAMPLE_INDEX; n++) {
- // pc.printf("%i\t%i\t%i\r\n", sample_array1[n], sample_array2[n], angle_array[n]);
- // }
-
-}
-
-// read some registers for some info.
-//uint32_t* rcr = (uint32_t*) 0x400C0084;
-//uint32_t* ecr = (uint32_t*) 0x400C0024;
-//pc.printf("RCR register: %x\r\n", *rcr);
-//pc.printf("ECR register: %x\r\n", *ecr);
\ No newline at end of file
+}
\ No newline at end of file
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Repository details
| Type: | Program |
|---|---|
| Mbed OS support: | Mbed 2 deprecated |
| Created: | 20 Jun 2017 |
| Imports: | 3 |
| Forks: | 1 |
| Commits: | 88 |
| Dependents: | 0 |
| Dependencies: | 2 |
| Followers: | 3 |
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