Diff: main.cpp

Revision:

5:e5313b695302

Parent:

4:f8a9ce214db9

Child:

6:4edbe75736d9

--- a/main.cpp	Thu Mar 02 11:20:22 2017 +0000
+++ b/main.cpp	Thu Mar 02 16:22:59 2017 +0000
@@ -1,5 +1,6 @@
 #include "mbed.h"
 #include "rtos.h"
+#include <string>
 
 //Photointerrupter input pins
 #define I1pin D2
@@ -8,7 +9,7 @@
 
 //Incremental encoder input pins
 #define CHA   D7
-#define CHB   D8  
+#define CHB   D8
 
 //Motor Drive output pins   //Mask in output byte
 #define L1Lpin D4           //0x01
@@ -18,6 +19,9 @@
 #define L3Lpin D9           //0x10
 #define L3Hpin D10          //0x20
 
+//Define sized for command arrays
+#define ARRAYSIZE 8
+
 //Mapping from sequential drive states to motor phase outputs
 /*
 State   L1  L2  L3
@@ -34,7 +38,7 @@
 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
 
 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
-const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};  
+const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
 //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
 
 //Phase lead to make motor spin
@@ -55,13 +59,30 @@
 DigitalOut L2H(L2Hpin);
 DigitalOut L3L(L3Lpin);
 DigitalOut L3H(L3Hpin);
+DigitalOut clk(LED1);
+
+//Timeout function for rotating at set speed
+Timeout spinTimer;
+float spinWait = 10;
+float revsec = 0;
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+int8_t orState = 0;    //Rotor offset at motor state 0
+int8_t intState = 0;
+int8_t intStateOld = 0;
+
+int i=0;
+
+
 
 //Set a given drive state
-void motorOut(int8_t driveState){
-    
+void motorOut(int8_t driveState)
+{
+
     //Lookup the output byte from the drive state.
     int8_t driveOut = driveTable[driveState & 0x07];
-      
+
     //Turn off first
     if (~driveOut & 0x01) L1L = 0;
     if (~driveOut & 0x02) L1H = 1;
@@ -69,7 +90,7 @@
     if (~driveOut & 0x08) L2H = 1;
     if (~driveOut & 0x10) L3L = 0;
     if (~driveOut & 0x20) L3H = 1;
-    
+
     //Then turn on
     if (driveOut & 0x01) L1L = 1;
     if (driveOut & 0x02) L1H = 0;
@@ -77,45 +98,141 @@
     if (driveOut & 0x08) L2H = 0;
     if (driveOut & 0x10) L3L = 1;
     if (driveOut & 0x20) L3H = 0;
-    }
-    
-    //Convert photointerrupter inputs to a rotor state
-inline int8_t readRotorState(){
+}
+
+//Convert photointerrupter inputs to a rotor state
+inline int8_t readRotorState()
+{
     return stateMap[I1 + 2*I2 + 4*I3];
-    }
+}
 
-//Basic synchronisation routine    
-int8_t motorHome() {
+//Basic synchronisation routine
+int8_t motorHome()
+{
     //Put the motor in drive state 0 and wait for it to stabilise
     motorOut(0);
     wait(1.0);
-    
+
     //Get the rotor state
     return readRotorState();
 }
-    
+
+void fixedSpeed()
+{
+    intState = readRotorState();
+    motorOut((intState-orState+lead+6)%6);
+    if(revsec) spinTimer.attach(&fixedSpeed, spinWait);
+
+}
+
+void Rx_interrupt(void)
+{
+//    NVIC_DisableIRQ(USB_IRQn);
+    HAL_NVIC_DisableIRQ(USB0_IRQn);
+////    printf("Interrupt\n\r");
+//    pc.putc(48);
+//    pc.putc(pc.getc());
+//    printf("Lol");
+
+    char command[ARRAYSIZE];
+    int index=0;
+    char ch;
+//
+//    //command[i++]=pc.getc();
+//    ch=pc.getc();
+
+    do {
+        if (pc.readable()) {    // if there is a character to read from the device
+            ch = USB->RBR;   // read it
+            if (index<ARRAYSIZE) command[index++]=ch;  // put it into the value array and increment the index
+        }
+    } while (ch!='\n');    // loop until the \n character
+
+//    NVIC_EnableIRQ(USB_IRQn);
+    HAL_NVIC_EnableIRQ(USB_IRQn);
+
+//    command[index]='\x0';  // add un 0 to end the c string
+
+    int units = 0, tens = 0, decimals = 0;
+    switch (command[0]) {
+        case 'V':
+            //If decimal point is in the second character (eg, V.1)
+            if(command[1]=='.') {
+                //Extract decimal rev/s
+                decimals = command[2] - '0';
+                //If decimal point is in the third character (eg, V0.1)
+            } else if(command[2]=='.') {
+                units = command[1] - '0';
+                decimals = command[3] - '0';
+                //If decimal point is in the fourth character (eg, V10.1)
+            } else if(command[3]=='.') {
+                tens = command[1] - '0';
+                units = command[2] - '0';
+                decimals = command[4] - '0';
+            }
+            //Calculate the number of revolutions per second required
+            revsec = tens*10 + units + decimals/10;
+            //Calculate the required wait period
+            spinWait = (1/revsec)/6;
+            //Print values for verification
+//            pc.printf("Rev/S: %2.2f, Wait: %2.2f\n\r", revsec, spinWait);
+            break;
+        default:
+//            pc.printf("Error in received data\n\r");
+            break;
+    }
+    return;
+}
 //Main function
-int main() {
-    int8_t orState = 0;    //Rotor offset at motor state 0
-    
-    //Initialise the serial port
-    Serial pc(SERIAL_TX, SERIAL_RX);
-    int8_t intState = 0;
-    int8_t intStateOld = 0;
+int main()
+{
     pc.printf("Hello\n\r");
-    
+
+    // Setup a serial interrupt function to receive data
+    pc.attach(&Rx_interrupt, Serial::RxIrq);
+//    NVIC_EnableIRQ(USB_IRQn);
+    HAL_NVIC_EnableIRQ(USB_IRQn);
+    pc.putc('a');
     //Run the motor synchronisation
     orState = motorHome();
     pc.printf("Rotor origin: %x\n\r",orState);
     //orState is subtracted from future rotor state inputs to align rotor and motor states
-    
-    //Poll the rotor state and set the motor outputs accordingly to spin the motor
-    while (1) {
-        intState = readRotorState();
-        if (intState != intStateOld) {
-            intStateOld = intState;
-            motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
-        }
+    int counter = 0;
+
+    while(1) {
+        clk = !clk;
+        wait(0.5);
     }
+
+
 }
 
+
+//#include "mbed.h"
+//#include "RawSerial.h"
+//
+//DigitalOut clk(LED1);
+//DigitalOut dat(LED2);
+//DigitalOut enable(LED3);
+//DigitalOut bit(LED4);
+//
+//RawSerial pc(USBTX, USBRX);
+//
+//char ch;
+//
+//void flip(void) {
+//    clk = !clk;
+//    ch = LPC_UART0->RBR;
+//
+//    LPC_UART0->RBR = ch;
+//}
+//
+//int main() {
+//    clk = 1;
+//    pc.attach(&flip, Serial::RxIrq);
+//    while(1) {
+//        dat = !dat;
+//        wait(0.5);
+//    }
+//}
+//