Diff: main.cpp

Revision:

28:4a833d59897b

Parent:

27:8c2b30c855d1

Child:

29:e6309316c35d

--- a/main.cpp	Fri Dec 05 05:56:33 2014 +0000
+++ b/main.cpp	Sun Dec 07 00:56:20 2014 +0000
@@ -34,9 +34,10 @@
 #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
 
+
 // Analog sampling
 #define MAX_FADC 6000000
-#define SAMPLING_RATE       10000 // In microseconds, so 10 us will be a sampling rate of 100 kHz
+#define SAMPLING_RATE       20 // 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 LAST_SAMPLE_INDEX   (TOTAL_SAMPLES-1) // If sampling time is 25 us, then 2000 corresponds to 50 ms
@@ -98,7 +99,7 @@
 DigitalIn AMT20_B(PTC1); // input for quadrature encoding from angle encoder
 
 // Analog sampling
-Ticker Sampler;
+//Ticker Sampler;
 //Timer timer;
 //Timer timeStamp;
 AnalogIn A0_pin(A0);
@@ -106,8 +107,8 @@
 
 //DigitalIn SW3_switch(PTA4);
 //DigitalIn SW2_switch(PTC6);
-DigitalOut StatusSensor(PTC4);
-DigitalOut StatusIndicator2(PTA0); // originally PTD0 but needed for CS for spi
+DigitalOut TotalInd(PTC4);
+DigitalOut SampleInd(PTC5); // originally PTD0 but needed for CS for spi
 
 uint32_t current_sample_index = WAITING_TO_BEGIN;
 uint16_t sample_array1[TOTAL_SAMPLES];
@@ -126,8 +127,9 @@
 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 = 1;
     led_red = 1;
@@ -135,6 +137,29 @@
     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(SWI_IRQn,0);
+    
+    //NVIC_SetPriority(Watchdog_IRQn,0);
+    //NVIC_SetPriority(MCM_IRQn,0);
+    //NVIC_SetPriority(PIT0_IRQn,0);
+    //NVIC_SetPriority(PIT1_IRQn,0);
+    //NVIC_SetPriority(PIT2_IRQn,0);
+    NVIC_SetPriority(PIT3_IRQn,0);
+    //NVIC_SetPriority(LPTimer_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
@@ -149,6 +174,7 @@
     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)
     {
@@ -171,10 +197,10 @@
     
     // Start the sampling loop
     current_sample_index = WAITING_TO_BEGIN;
-    Sampler.attach_us(&timed_sampling, SAMPLING_RATE);
+    //Sampler.attach_us(&timed_sampling, SAMPLING_RATE);
     
-    
-    uint32_t trigger_count = 0;
+    //NVIC_SetPriority(TIMER3_IRQn,0);
+    //pc.printf("Ticker IRQ: %i\r\n", Sampler.irq());
     
     // corresponding duty   1  0  0.7 1  0.75 
     uint32_t duration[8] = {0, 0,  0, 0,  0,  0,  0,  0};
@@ -213,6 +239,13 @@
     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();
@@ -299,24 +332,75 @@
                                 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 '1': // run motor and sample
                             {
-                                led_green = 0;
-                                client[index].write((void *)"Data\n",5);
-                                current_sample_index = BEGIN_SAMPLING;
-                                trigger_count++;
-                                while (current_sample_index != WAITING_TO_BEGIN){
-                                    wait_us(10);
+                                
+                                
+                                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;        
                                     }
-                                led_green = 1;
-                                led_blue = 0;
+                                    angle_array[i] = rotary_count;
+                                    wait_us(8);
+                                }
+                                __enable_irq();
                                 
-                                // send samples all at once
+                                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);                                
-                                led_blue = 1;
+                                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;
                                 
@@ -363,85 +447,9 @@
                                 sprintf(buf,"Angle: %i %i\n",angle_encoder.absolute_angle(), rotary_count);
                                 client[index].write((void *) buf,29);
                                 break;
-                                }
-                            /*    
-                                
-                                // for motor testing
-                                if(temp == 'k') // motor backward
-                                {
-                                    motor.backward(duty_cycle, duration[5]);
-                                    }
-                                
-                                if(temp == 'u' && duty_cycle < 1.00f) pc.printf("%f \r\n", duty_cycle += 0.01f);
-                                if(temp == 'i' && duty_cycle > 0.00f) pc.printf("%f \r\n", duty_cycle -= 0.01f);
-                                
-                                if(temp == '=') // you can hit the '+' key to increment "duration" without holding down "shift"
-                                {
-                                    if(pointer < 7) pointer++;
-                                    pc.printf("Duration[%i]: %i\r\n",pointer, duration[pointer]);
-                                }
-                                if(temp == '-')
-                                {
-                                    if(pointer > 0) pointer--;
-                                    pc.printf("Duration[%i]: %i\r\n",pointer, duration[pointer]);
-                                }
-                                if(temp == ']') // you can hit the '+' key to increment "duration" without holding down "shift"
-                                {
-                                    duration[pointer] += 1000;
-                                    pc.printf("             %i\r\n", duration[pointer]);
-                                }
-                                if(temp == '[')
-                                {
-                                    if(duration[pointer] > 0) duration[pointer]-= 1000;
-                                    pc.printf("             %i\r\n", duration[pointer]);
-                                }
-                                
-                            }
-                            
-                            */    
-                                
-                                
-                                
+                                }  
                             }
                         }
-                    
-                    
-                    
-//***************** print a message back to the client
-                    
-                    //client[index].write((void *)&sample_array,SAMPLES);
-                    
-                    
-            
-                    
-                    /*for(int i = 1; i <= SAMPLES+1;)
-                    {
-                        for(int j = 0; j < 20; j++)
-                        {
-                            Timer timeStamp;
-                            timeStamp.stop();
-                            timeStamp.reset();
-                            timeStamp.start();
-                            
-                            client[index].write((void *)&sample_array,i);
-                            int timeStampVar = timeStamp.read_us();
-                            timeStamp.stop();
-    
-                            pc.printf("*******\r\n%i\r\nTime taken to send data: %i\r\n", i,timeStampVar);
-                            
-                            char premessage[40];
-                            sprintf(premessage, "******\r\n%i\r\nTime taken to send data: %i\r\n", i, timeStampVar);
-                            std::string response1 = premessage;
-                            client[index].write((void *)response1.data(), response1.size());
-                            wait_us(5000);
-                        }
-                        if(i == 10000) i = SAMPLES;
-                        else if(i == SAMPLES) i = i*10;
-                        else i = i*10;
-                    }
-                    std::string endMessage("end");
-                    client[index].write((void *)endMessage.data(), endMessage.size());
-                    */
                     break;
             }
         }
@@ -450,11 +458,10 @@
 }
 
 void timed_sampling() {
-    if(switcher) led_red = !led_red;
-    /*
+    SampleInd = 1;
     //__disable_irq();    // Disable Interrupts
     //timeStamp.start();
-    
+    /*
     // 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);
@@ -485,7 +492,7 @@
     //current_sample_index = BEGIN_SAMPLING; // Used to force extra time.
     if (current_sample_index == WAITING_TO_BEGIN) {}
     else
-        { 
+    { 
         if (current_sample_index == BEGIN_SAMPLING) {
             current_sample_index = FIRST_SAMPLE_INDEX;
             }
@@ -498,7 +505,7 @@
             current_sample_index = WAITING_TO_BEGIN;
             }
         else { current_sample_index++; }
-        }
+    }
     
     //int tempVar = timeStamp.read_us();
     //timeStamp.stop();
@@ -506,6 +513,7 @@
     //pc.printf("TimeStamp: %i\r\n", tempVar);
     //__enable_irq();     // Enable Interrupts
     */
+    SampleInd = 0;
 }
 
 void analog_initialization(PinName pin)