File content as of revision 1:cbd6a3232d5b:

// Send a byte to a SPI slave, and record the response

#include "mbed.h"
#include "as5047.h"
#include "GUI.h"
#include <string> 
#include <sstream>

// software ssel
SPI motor_encoder(PB_15, PB_14, PB_13); // mosi, miso, sclk
DigitalOut motor_encoder_cs(PB_12); // ssel
DigitalOut motor_dir(PA_11); // ssel
Serial pc(PA_2, PA_3,9600);
Serial screen(PB_10, PB_11,115200);
MotorType Motor;
Ticker PIDInterrupt;  //PID中断 500Hz

int counter = 0;

DigitalIn Mode(PA_12);

void PIDInterruptIRQ(); 


int main() 
{
    string UartBuf = "";
    char temp = 0;
    InitGUI(&screen);
    StepMotorInit(&Motor, &motor_dir, &motor_encoder_cs, &motor_encoder);
    Encoder_Init(&Motor);
    PIDInterrupt.attach(&PIDInterruptIRQ, 0.002);
    Motor.Goal = 5000;
    while(1)
    {
        if(pc.readable())// && (Mode.read() != 0))
        {
            temp = pc.getc();
            if((temp != 'p') && (temp != 'i') && (temp != 'x') && (temp != ';') && ((temp < '0') || (temp > '9')))   //收到的非法字符
                continue;
            else if(temp == 'x')  //请求信息
                pc.printf("Position : %d, PWM Freq : %d, Goal : %d Kp : %.2f Ki : %.2f\r\n", Motor.Encoder, Motor.PIDControl, Motor.Goal, Motor.Kp, Motor.Ki);
            else if((temp >= '0') && (temp <= '9'))  //收到0-9
                UartBuf = UartBuf + temp;
            else if (temp == ';') //收到 ;
            {
                Motor.Goal = atoi(UartBuf.c_str());
                pc.printf("Goal is set at %d\r\n", Motor.Goal);
                UartBuf = "";
                counter = 0;
            }
            else if (temp == 'p') //收到 ;
            {
                Motor.Kp = (float)atoi(UartBuf.c_str())/10;
                pc.printf("Kp is set at %.2f\r\n", Motor.Kp);
                UartBuf = "";
            }
            else if (temp == 'i') //收到 ;
            {
                Motor.Ki = (float)atoi(UartBuf.c_str())/10;
                pc.printf("Ki is set at %.2f\r\n", Motor.Ki);
                UartBuf = "";
            }
        }
        if(counter < 1500)
            RefreshGUI(&screen, Motor.PIDControl, Motor.Kp, Motor.Ki, Motor.Goal, Motor.Encoder);
        //pc.printf("Angle : %d, PID Value : %d, Difference : %d\r\n", Motor.Encoder, Motor.PIDControl, Motor.Difference);
    }
}

void PIDInterruptIRQ()  //PID中断服务函数
{   
    //缓存上一次的编码器读数
    Motor.EncoderPre = Motor.Encoder;
    //更新编码器读数
    Motor.Encoder = Encoder_ReadData(&Motor);
    //对编码器读数低通滤波 当快过零点的时候不能滤波，过零点时的编码器数据突变会干扰滤波值
    if((Motor.Encoder <= 16200) && (Motor.Encoder >= 100))
        Motor.Encoder = Fliter_1(Motor.Encoder, Motor.EncoderPre);
    //速度-位置环PID控制
    MotorPIDController(&Motor);
    //更新脉冲频率
    StepMotorSetFreq(&Motor);
    /*if(Mode.read() == 0)
    {
        MotorPIDController(&Motor);
        //更新脉冲频率
        StepMotorSetFreq(&Motor);
    }*/
    counter++;
    if(counter > 60000)
        counter = 2001;
}