Impedance Fast Circuitry Software
Fork of
DSP_200kHz
by 
Mazzeo Research Group
Diff: main.cpp
- Revision:
- 32:bf1e079a2ee3
- Parent:
- 31:09e7a8b3c7e7
- Child:
- 33:9806eb964362
--- a/main.cpp Fri Dec 19 21:39:42 2014 +0000
+++ b/main.cpp Thu Jan 08 20:16:19 2015 +0000
@@ -38,7 +38,7 @@
// 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 30000 // originally 30000 for 0.3 ms of sampling.
+#define TOTAL_SAMPLES 10000 // 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
@@ -122,6 +122,30 @@
void output_data(uint32_t iteration_number);
void timed_sampling();
+
+int motorVal = 50;
+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;
@@ -143,46 +167,6 @@
pc.printf("Starting %s\r\n",NAME);
- /*
- wait(1);
-
-
- motorB = 1; // 0.6 gets it around quickly enough
- wait_us(10000);
- motorB = 0;
-
- wait_us(60000);
-
- motorA = 0.75;
- wait_us(5000);
- motorA = 0;
-
- wait_ms(300);
-
- motorA = 1;
- wait_us(50000);
- motorA = 0;
-
- wait_us(45000);
-
- motorB = 0.75;
- wait_us(8000);
- motorB = 0;
-
-
- //motorB = 0.2;
- //wait_us(5000);
-
-
- motorB = 0;
- motorA = 0;
- // make sure motors are off
- wait_us(PERIOD);
-
-
-
- while(1) {}
- */
for(int i = 0; i < 86; i++)
{
@@ -337,6 +321,9 @@
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",
@@ -370,15 +357,26 @@
case 't':
{
for(int i = 0; i < 86; i++) pc.printf("%i: %i\r\n", i, NVIC_GetPriority((IRQn_Type) i));
- }
+ }
break;
case '1': // run motor and sample
{
+ // release mallet
+ motorA = 0;
+ motorB = 1;
+ wait_ms(10);
+ motorB = 0;
+ wait_ms(75);
- motorA = 1;
- wait_us(10000);
+ motorA = 0.7;
+ wait_ms(8);
motorA = 0;
+
+ // wait for mallet to drop some before beginning to sample
+ wait_ms(50);
+
+ // 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);
@@ -423,6 +421,14 @@
}
__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);
@@ -441,10 +447,115 @@
}
break;
- case '2': // run just the motor
+ case '2': // just reset the mallet
{
+ // 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++;
+ break;
+ case '-':
+ motorVal--;
+ if(motorVal < 0) motorVal = 0;
break;
case 'a':
if(angle_encoder.set_zero(&rotary_count)) {
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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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