Sarosa Castrena Abadi
/
GPR-OS2
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Dependencies: MbedJSONValue QEI
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
| QEI.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- /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