Revision 0:51c43836c1d7, committed 2019-08-14

Comitter:

GiJeongKim

Date:

Wed Aug 14 08:13:36 2019 +0000

Child:

1:e04e563be5ce

Commit message:

cocoa;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FastPWM.lib	Wed Aug 14 08:13:36 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/Sissors/code/FastPWM/#c0b2265cff9c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/I2C_AS5510/I2C_AS5510.cpp	Wed Aug 14 08:13:36 2019 +0000
@@ -0,0 +1,99 @@
+#include "mbed.h"
+#include "setting.h"
+
+void look_for_hardware_i2c()
+{
+    pc.printf("\r\n\n\n");
+    pc.printf("Note I2C address 0x1C used by FXOS8700CQ 3-axis accelerometer and 3-axis magetometer\r\n");
+    pc.printf("Start hardware search..... \r\n");
+
+    int count = 0;
+    for (int address=12; address<256; address+=2) {
+        if (!i2c.write(address, NULL, 0)) {         // 0 returned is OK
+            pc.printf(" - I2C device found at address 0x%02X\n\r", address >>1);
+            count++;
+        }
+    }
+    pc.printf("%d devices found \n\r", count);
+}
+
+void init_as5510(int i2c_address)
+{
+    int i2c_adrs=0;
+    char idata[2];
+    int result=0;
+
+    pc.printf("\r\n");
+    pc.printf("Start AS5510 init.. \r\n");
+
+    i2c_adrs= (i2c_address << 1);                   // AS5510 Slave address lsb= 0 for write
+
+    //---------- Magnet selection --------------------------------
+    //----0x00= <50mT-----------Strong magnet
+    //----0x01= <25mT
+    //----0x02= <18.7mT
+    //----0x03= <12.5mT---------Weak magnet
+    //-----------------------------------------------------------
+    idata[0]=0x0B;                                  // Register for Sensitivity
+    idata[1]=0x00;                                  // Byte
+    result= i2c.write(i2c_adrs, idata, 2, 0);       // Now write_sensitivity
+    if (result != 0) pc.printf("No ACK bit! (09)\n\r");
+
+    //----------- Operation mode selection------------------------
+    idata[0]=0x02;                                  // 0x02 address setup register for operation, speed, polarity
+    idata[1]=0x04;                                  // Normal Operation, Slow mode (1), NORMAL Polarity (0), Power Up (0)
+    result= i2c.write(i2c_adrs, idata, 2, 0);       // Now write_operation
+    if (result != 0) pc.printf("No ACK bit! (11)\n\r");
+
+    pc.printf("AS5510 init done\r\n");
+}
+
+
+int offset_comp(int i2c_address)
+{
+    int adrss=0;
+    int oresult=0;
+    char off_data[2];
+    int ocf_done=0;
+
+    // First, now Write pointer to register 0x00----------------------------
+    adrss= (i2c_address << 1);                  // AS5510 Slave address lsb= 0 for write
+    oresult= i2c.write(adrss, 0x00, 1, 0);      // write one byte
+    if (oresult != 0) pc.printf("No ACK bit! (33)\n\r");
+
+    // Second, now Read register 0x00 and 0x01--------------------------------
+    memset(off_data, 0, sizeof(off_data));
+    adrss= (i2c_address << 1) | 0x01;           // AS5510 address lsb= 1 for read
+    oresult= i2c.read(adrss, off_data, 2, 0);   // read two bytes
+
+    // Now analyse register 0x01 ----------------------------------------------
+    ocf_done= off_data[1] & 0x08;               // mask off bits, 1= done
+    if (ocf_done== 0)  return(0);               // return(0)= compensation process is pending
+    else return(1);                             // return(1)= compensation process is completed
+}
+
+
+void read_field(int i2c_address)
+{
+    int adr=0;
+    char rx_data[2];
+    int rresult=0;
+    char lsb, msb;
+
+    // First, now Write pointer to register 0x00----------------------------
+    adr= (i2c_address << 1);                        // AS5510 address lsb= 0 for write
+    rresult= i2c.write(adr, 0x00, 1, 0);            // write one byte to register 0x00 for magnetic field strength
+//    if (rresult != 0) pc.printf("No ACK bit! (22)\n\r");
+
+    // Second, now Read register 0x00 and 0x01--------------------------------
+    memset(rx_data, 0, sizeof(rx_data));
+    adr= (i2c_address << 1) | 0x01;                 // AS5510 address lsb= 1 for read
+    rresult= i2c.read(adr, rx_data, 2, 0);          // read two bytes
+
+
+    // Now analyse register 0x01 ----------------------------------------------
+    lsb= rx_data[0];                                // get LSB
+    msb= rx_data[1]&0x03;                           // need only 2 low bits og MSB
+    value = ((msb & 0x03)<<8) + lsb;
+//    pc.printf("I2C adres= 0x%02X, Magnetic Field => msb= 0x%02X, lsb= 0x%02X, decimal 10-bit value = %u \r\n ", i2c_address, rx_data[0],rx_data[1], value);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/I2C_AS5510/I2C_AS5510.h	Wed Aug 14 08:13:36 2019 +0000
@@ -0,0 +1,12 @@
+#ifndef _I2C_AS5510_H_
+#define _I2C_AS5510_H_
+
+#include "mbed.h"
+#include "setting.h"
+
+void look_for_hardware_i2c();
+void init_as5510(int i2c_address);
+int offset_comp(int i2c_address);
+void read_field(int i2c_address);
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/INIT_HW/INIT_HW.cpp	Wed Aug 14 08:13:36 2019 +0000
@@ -0,0 +1,56 @@
+#include "mbed.h"
+#include "FastPWM.h"
+#include "setting.h"
+
+void Init_ADC(void){
+    // ADC Setup
+     RCC->APB2ENR |= RCC_APB2ENR_ADC3EN;                        // clock for ADC3
+     RCC->APB2ENR |= RCC_APB2ENR_ADC2EN;                        // clock for ADC2
+     RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;                        // clock for ADC1
+     
+     RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;                        // Enable clock for GPIOC
+     RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;                        // Enable clock for GPIOA
+    
+     ADC->CCR = 0x00000016;                                     // Regular simultaneous mode only
+     ADC1->CR2 |= ADC_CR2_ADON;//0x00000001;                    // ADC1 ON
+     ADC1->SQR3 = 0x0000000E;                    //channel      // use PC_4 as input- ADC1_IN14
+     ADC2->CR2 |= ADC_CR2_ADON;//0x00000001;                    // ADC2 ON
+     ADC2->SQR3 = 0x00000008;                                   // use PB_0 as input - ADC2_IN8
+     ADC3->CR2 |= ADC_CR2_ADON;                                 // ADC3 ON
+     ADC3->SQR3 = 0x0000000B;                                   // use PC_1, - ADC3_IN11
+     GPIOC->MODER |= 0b1100001100;             //each channel   // PC_4, PC_1 are analog inputs 
+     GPIOB->MODER |= 0x3;                                       // PB_0 as analog input
+     
+     ADC1->SMPR1 |= 0x1000;                                     // 15 cycles on CH_14, 0b 001000000000000
+     ADC2->SMPR1 |= 0x1000000;                                  // 15 cycles on CH_8, 2^24 = 16^6
+     ADC3->SMPR2 |= 0b1000;                                        // 15 cycles on CH_11, 0b 001000;
+
+    }
+    
+    
+
+void Init_PWM(){
+
+    RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;                         // enable TIM4 clock
+    FastPWM pwm_v(PIN_V);
+    FastPWM pwm_w(PIN_W);
+    
+     //ISR Setup     
+    
+    NVIC_EnableIRQ(TIM4_IRQn);                         //Enable TIM4 IRQ
+
+    TIM4->DIER |= TIM_DIER_UIE;                                 // enable update interrupt
+    TIM4->CR1 = 0x40;                                           // CMS = 10, interrupt only when counting up // Center-aligned mode
+    TIM4->CR1 |= TIM_CR1_UDIS;
+    TIM4->CR1 |= TIM_CR1_ARPE;                                  // autoreload on, 
+    TIM4->RCR |= 0x001;                                         // update event once per up/down count of TIM4 
+    TIM4->EGR |= TIM_EGR_UG;
+ 
+    //PWM Setup
+
+    TIM4->PSC = 0x0;                                            // no prescaler, timer counts up in sync with the peripheral clock
+    TIM4->ARR = PWM_ARR;                                          // set auto reload, 40 khz
+    TIM4->CCER |= ~(TIM_CCER_CC1NP);                            // Interupt when low side is on.
+    TIM4->CR1 |= TIM_CR1_CEN;                                   // enable TIM4
+    
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/INIT_HW/INIT_HW.h	Wed Aug 14 08:13:36 2019 +0000
@@ -0,0 +1,10 @@
+#ifndef _INIT_HW_H_
+#define _INIT_HW_H_
+
+#include "mbed.h"
+#include "FastPWM.h"
+
+void Init_ADC(void);
+void Init_PWM();
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SPI_EEP_ENC/SPI_EEP_ENC.cpp	Wed Aug 14 08:13:36 2019 +0000
@@ -0,0 +1,90 @@
+#include "mbed.h"
+#include "setting.h"
+#include "SPI_EEP_ENC.h"
+
+// EEPROM
+void spi_eeprom_ready(void){
+    int temp1, temp2;
+    do{
+        eeprom_cs=0;
+        eeprom.write(0x06);  //write enable
+        eeprom_cs=1;
+        
+        eeprom_cs=0;
+        temp1 = eeprom.write(0x05);     
+        temp2 = eeprom.write(0x00);
+        eeprom_cs=1;
+        temp2=(temp2&(0x03))!= 0x02;
+    } while(temp2); // before writing or reading 
+ }
+ 
+ void spi_eeprom_write(unsigned short int add, unsigned int data){
+        eeprom_cs=0;
+        eeprom.write(0x02);
+        eeprom.write(0xff&(add>>8));
+        eeprom.write(0xff&add);
+        eeprom.write(0xff&data);
+        eeprom.write(0xff&(data>>8));
+        eeprom.write(0xff&(data>>16));
+        eeprom.write(0xff&(data>>24));
+        eeprom_cs=1;
+}
+ 
+unsigned int spi_eeprom_read(unsigned short int add){
+        eeprom_cs=0;
+        eeprom.write(0x03);
+        eeprom.write(0xff&(add>>8));
+        eeprom.write(0xff&add);
+        int a1 = eeprom.write(0x00);
+        int a2 = eeprom.write(0x00);
+        int a3 = eeprom.write(0x00);
+        int a4 = eeprom.write(0x00);
+        eeprom_cs=1;
+        unsigned int final = (a4<<24)+(a3<<16) + (a2<<8) + a1;
+        return final;
+ } 
+ 
+ 
+ // ENCODER
+void spi_enc_set_clear(void){
+    unsigned int temp;
+    enc_cs = 0;
+    temp = enc.write(0b00100000);
+    enc_cs = 1;
+}
+
+void spi_enc_set_init(void){
+    unsigned int temp, i, temp1, temp2;
+
+    // write MDR0 -> 0b11 -> x4 quadrature count mode
+    enc_cs = 0;
+    temp = enc.write(0b10001000);     // WR + MDR0
+    temp = enc.write(0b00000011);     // quadratue mode
+    enc_cs = 1;
+
+    // write MDR1 -> 0b10 -> 2-byte counter mode
+    for(i=0;i<100;i++);
+    enc_cs = 0;
+    temp = enc.write(0b10010000);     // WR + MDR1
+    //temp = enc.write(0b00000010);     // 2 byte mode
+    temp = enc.write(0b00000000);     // 4 byte mode
+    enc_cs = 1;
+    
+    // clear
+    spi_enc_set_clear();
+}
+
+
+int spi_enc_read(void){   
+    //for(t_i=0;t_i<100;t_i++);
+    unsigned int t_dummy, t_b1, t_b2, t_b3, t_b4, t_i;
+    enc_cs = 0;
+    t_dummy = enc.write(0b01100000); // Read Commend 
+    t_b1 = enc.write(0x00);         // Dummy data for clock
+    t_b2 = enc.write(0x00);         // Dummy data for clock
+    t_b3 = enc.write(0x00);         // Dummy data for clock
+    t_b4 = enc.write(0x00);         // Dummy data for clock
+    enc_cs = 1;
+
+    return((t_b1<<24) + (t_b2<<16) + (t_b3<<8) + t_b4);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SPI_EEP_ENC/SPI_EEP_ENC.h	Wed Aug 14 08:13:36 2019 +0000
@@ -0,0 +1,15 @@
+#ifndef _SPI_EEP_ENC_H_
+#define _SPI_EEP_ENC_H_
+
+#include "mbed.h"
+
+
+void spi_eeprom_ready(void);
+void spi_eeprom_write(unsigned short int add, unsigned int data);
+unsigned int spi_eeprom_read(unsigned short int add);
+
+void spi_enc_set_clear(void);
+void spi_enc_set_init(void);
+int spi_enc_read(void);
+
+#endif //_SPI_H_
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Aug 14 08:13:36 2019 +0000
@@ -0,0 +1,150 @@
+#include "mbed.h"
+#include "FastPWM.h"
+#include "INIT_HW.h"
+#include "SPI_EEP_ENC.h"
+#include "I2C_AS5510.h"
+#include "setting.h"
+
+// dac & check
+DigitalOut check(PC_2);
+DigitalOut check_2(PC_3);
+AnalogOut dac_1(PA_4);
+AnalogOut dac_2(PA_5);
+
+// pwm
+float dtc_v=0;
+float dtc_w=0;
+
+// I2C
+I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
+const int i2c_slave_addr1 =  0x56;
+unsigned int value; // 10bit output of reading sensor AS5510
+
+// SPI
+SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
+DigitalOut eeprom_cs(PB_12);
+SPI enc(PC_12,PC_11,PC_10);
+DigitalOut enc_cs(PD_2);
+
+// UART
+Serial pc(PA_9,PA_10); //  _ UART
+
+//CAN
+CAN can(PB_8, PB_9, 1000000);
+CANMessage msg;
+void onMsgReceived()
+{
+    can.read(msg);
+    pc.printf("Message received: %d\n", msg.data[0]);
+}
+
+
+Timer t;
+//t.start();
+//t.stop();
+//pc.printf("The time taken was %f seconds\n",t.read());
+int a1;
+int i=0;
+float y;
+
+extern "C" void TIM4_IRQHandler(void)
+{
+    if (TIM4->SR & TIM_SR_UIF ) {
+//        y=0.05*sin(i*0.00001);
+//        y= 0.1;
+//        if (i>10000){i=0;}
+//        y=0.01*i/100000;
+        y=-0.04683;
+        //
+//        dtc_w = 0.1;
+//        dtc_v = 1;
+        //
+        
+        //PIN_V dir
+        
+        if (y>0) {
+            dtc_v=0;
+            dtc_w=y;
+        } else {
+            dtc_v=0;
+            dtc_w=-y;
+        }
+        i++;
+//    check = 1;
+//    //spi
+//    eeprom.write(0xff);
+//    eeprom.write(0xff);
+////    ready();
+////    read(1);
+//    //i2c
+////    read_field(i2c_slave_addr1);
+        //ADC
+        ADC1->CR2  |= 0x40000000;                        // adc _ 12bit
+//      a1=ADC1->DR;
+//    a1=ADC2->DR;
+        a1=ADC3->DR;
+//    //계산
+//    //
+//    //
+//
+//    //DAC
+//    dac_1 = ADC1->DR;
+//    dac_2 = ADC2->DR;
+//    //pwm
+        TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
+        TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
+//    check = 0;
+    }
+    TIM4->SR = 0x0;  // reset the status register
+}
+
+
+
+int main()
+{
+
+    // i2c init
+//    i2c.frequency(400 * 1000);          // 0.4 mHz
+//    wait_ms(2);                         // Power Up wait
+//    look_for_hardware_i2c();            // Hardware present
+//    init_as5510(i2c_slave_addr1);
+//    // spi init
+    eeprom.format(8,3);
+    eeprom.frequency(5000000); //5M
+    enc.format(8,0);
+    enc.frequency(5000000); //5M
+    // ADC init
+    Init_ADC();
+    // Pwm init
+    Init_PWM();
+    TIM4->CR1 ^= TIM_CR1_UDIS;
+//    //SPI
+//    spi_eeprom_ready();
+//    spi_eeprom_write(0x1,0x112);
+//    spi_eeprom_ready();
+//    int i = spi_eeprom_read(0x1);
+    // CAN
+    can.attach(&onMsgReceived);
+    // spi _ enc
+    spi_enc_set_init();
+    msg.len=2;
+    while(1) {
+//        dac_1=0.5;
+//        dac_2=0.1;
+        check_2 = 1;
+        //spi _ eeprom
+//        spi_eeprom_ready();
+//        spi_eeprom_write(0x0001,0xFFFFFFFF);
+//        spi_eeprom_ready();
+//        int a=spi_eeprom_read(0x0001);
+        //spi _ enc
+        int a = spi_enc_read();
+//        read_field(i2c_slave_addr1);
+        pc.printf("%d\n",a1);
+//        msg.data[0]=0xFF&a1;
+//        msg.data[1]=0xFF&(a1>>8);
+//        can.write(msg);
+        check_2=0;
+//        wait(0.00005f);
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Aug 14 08:13:36 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/setting.h	Wed Aug 14 08:13:36 2019 +0000
@@ -0,0 +1,29 @@
+#include "mbed.h"
+#include "FastPWM.h"
+
+extern DigitalOut check;
+extern DigitalOut check_2;
+extern AnalogOut dac_1;
+extern AnalogOut dac_2;
+
+// pwm 
+#define PIN_V PB_7
+#define PIN_W PB_6
+//#define PWM_ARR 0x465  // loop 80k, pwm 40k 
+#define PWM_ARR 0x8CA    // loop 40k, pwm 20k
+extern float dtc_v;
+extern float dtc_w;
+
+// I2C
+extern I2C i2c; // SDA, SCL (for K22F)
+extern const int i2c_slave_addr1; 
+extern unsigned int value; // 10bit output of reading sensor AS5510
+
+// SPI
+extern SPI eeprom; //(SPI_MOSI, SPI_MISO, SPI_SCK);
+extern DigitalOut eeprom_cs;
+extern SPI enc;
+extern DigitalOut enc_cs;
+
+// UART 
+extern Serial pc; //Serial pc(PA_9,PA_10); _ UART
\ No newline at end of file