Revision 13:40cf48007328, committed 2022-11-06

Comitter:

castrena23

Date:

Sun Nov 06 09:56:10 2022 +0000

Parent:

12:19b1755d34e9

Commit message:

gpr

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI.lib	Sun Nov 06 09:56:10 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa

--- a/main.cpp	Thu Sep 01 13:39:23 2022 +0000
+++ b/main.cpp	Sun Nov 06 09:56:10 2022 +0000
@@ -1,23 +1,30 @@
 #include "mbed.h"
 #include "stdio.h"
 #include "MbedJSONValue.h"
+#include "QEI.h"
 #include "string.h"
 #include "stdint.h"
 #include <cstdlib>
 #define NUM_FIELDS  3 
-#define MAX_BUFFER 150
+#define MAX_BUFFER 500
+
+
 
 Thread thread;
+//Ticker timer;
 
 Serial pc(USBTX,USBRX);
 AnalogOut DataDAC(p18);
 Serial gps(p13, p14);
+QEI wheel (p29, p30, NC, 250, QEI::X4_ENCODING);
+
 
 char eDataBuffer[500];
 int i = 0;
 int h_time,m_time,s_time;
 char testStringBuffer[MAX_BUFFER]={0};
 bool stringComplete = false;
+double DAC_Value;
 int len = 0;
 //number of comma seperated values in the data...TODO does this remain constant?
 float latitude, longitude, timefix, speed, altitude;
@@ -26,7 +33,10 @@
 void parseGPS(char *cmd, int n);
 void parseTime (float timeval);
 void baca_gps();
- 
+void input_DAC();
+
+
+
 
 void clearBuffer(char* buffer , int len){
     for (int i =0; i<len ; i++){
@@ -41,21 +51,35 @@
     testStringBuffer[len] = inChar;    
     len++;       
     if (inChar == '\n') {
-                pc.printf("%s",testStringBuffer);
+             //   pc.printf("%s",testStringBuffer);
                 stringComplete = true;
                 len = 0;
      }
+    }
 }
-}
+
 void Init()
 {
      gps.baud(9600);
      pc.baud(115200);
      pc.attach(&onSerialInput);
-     baca_gps();
+     gps.attach(&baca_gps);
      pc.printf("Init OK\n");
 }
 
+float baca_enc() 
+{ 
+    float lp;
+    int pul =wheel.getPulses();
+    lp = (pul / 4*250)*0.04 ;
+    return lp;
+}
+
+void reset_enc() 
+{ 
+    wheel.reset();
+}
+
 void parseTime (float timeval)
 {
     //format utc time to beijing time,add 8 time zone
@@ -89,7 +113,7 @@
      else if(strncmp(cmd,"$GPGSA", 6) == 0) 
     {
         sscanf(cmd, "$GPGSA,%c,%d,%d", &tf, &fix, &nst);
-       // pc.printf("GPGSA Type fix: %c, 3D fix: %d, number of sat: %d\r\n", tf, fix, nst);
+        //pc.printf("GPGSA Type fix: %c, 3D fix: %d, number of sat: %d\r\n", tf, fix, nst);
     }
     
     // Geographic position, Latitude and Longitude
@@ -134,7 +158,7 @@
     else if(strncmp(cmd,"$GNGLL", 6) == 0) 
     {
         sscanf(cmd, "$GNGLL,%f,%c,%f,%c,%f", &latitude, &ns, &longitude, &ew, &timefix);
-       //pc.printf("GNGLL Latitude: %f %c, Longitude: %f %c \n", latitude, ns, longitude, ew);
+        //pc.printf("GNGLL Latitude: %f %c, Longitude: %f %c \n", latitude, ns, longitude, ew);
     }
     
     else
@@ -142,6 +166,9 @@
    //     pc.printf("Unknown message type\n");
     }
 }
+/*void input_DAC(){
+    DataDAC = DAC_Value;
+}*/
 
 char e;
 void baca_gps() 
@@ -170,54 +197,83 @@
          } 
     
 }
-
-//int main(int argc, char* argv[])
-#define TOTAL_DATA 100
+#define TOTAL_DATA 20
 bool threadFlag = false;
 MbedJSONValue threadDAC;
 void DAC_Thread(){
-    int periode;
-    double DAC_Value;
-    int counterDAC = 0;
-    while (true) {
+    int periode;    
+    int counterDAC = 0;    
+    while (true) {         
         if (threadFlag){
+           
             periode = threadDAC["periode"].get<int>();
-            DAC_Value= threadDAC["value"][counterDAC].get<double>();
-            DataDAC = DAC_Value;
-            pc.printf("DAC: %f \n",DAC_Value);
-            wait(periode/TOTAL_DATA);
-            counterDAC++;
-            if(counterDAC>=TOTAL_DATA){
-                counterDAC = 0;    
+            float m = periode/20;
+                                           
+                DAC_Value = threadDAC["value"][counterDAC].get<double>();
+                
+                //for (int k=0;k<20;k++){ 
+                DataDAC = DAC_Value;              
+                wait_us(m*100);
+                
+                //}
+                
+                counterDAC++;   
+                if(counterDAC>=TOTAL_DATA){
+                   counterDAC = 0;   
+                 //continue;
+                } 
+                
             }
-        }
-        else {
+            
+            
+       
+        else {            
             DataDAC = 0;
-            counterDAC = 0;    
+            counterDAC = 0;        
+                  
         }
         
     }
 }
+
 int main()
 {
     //float e[5]={0};
     Init();  
     MbedJSONValue json;
     MbedJSONValue jsonGPS;
+    MbedJSONValue jsonENCO;
     thread.start(DAC_Thread);
     std::string buffer;
     
     while(1){
-       
        if (stringComplete){
             parse(json,testStringBuffer);
             if (json.hasMember("type")){
-                if (json["type"].get<std::string>() == "DAC"){
+                if(json["type"].get<std::string>() == "STOP"){
+                    
+                    threadFlag = false; 
+                    DataDAC = 0;
+                    wait(1);
+                    NVIC_SystemReset();
+                    
+                      
+                }
+                else if (json["type"].get<std::string>() == "DAC"){
+                    
                     threadDAC = json;   
-                    threadFlag = true;         
+                    threadFlag = true;   
+                    
                 }
-                else if(json["type"].get<std::string>() == "STOP"){
-                    threadFlag = false; 
+                else if(json["type"].get<std::string>() == "ENCO"){
+                    jsonENCO["type"] = "ENCO";
+                    jsonENCO["Pos"] = baca_enc();
+                    buffer = jsonENCO.serialize();
+                    pc.printf("%s\n",buffer.c_str());
+                    //wait(0.5);
+                }
+                else if(json["type"].get<std::string>() == "ENCO_RESET"){
+                    reset_enc();
                 }
                 else if(json["type"].get<std::string>() == "GPS"){              
                     jsonGPS["type"] = "GPS";
@@ -227,7 +283,7 @@
                     jsonGPS["ew"]  = ew;
                     buffer = jsonGPS.serialize();
                     pc.printf("%s\n",buffer.c_str());
-                    //pc.printf("Latitude: %f %c, Longitude: %f %c \n", latitude, ns, longitude, ew);
+                   
                     
                 }
                
@@ -245,8 +301,6 @@
 
             
         }
-        //wait(1);
-        //return 0;
-    
+        
     }
 }
\ No newline at end of file