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HCB with MPC
Dependencies: mbed Eigen FastPWM
main.cpp
- Committer:
- jobuuu
- Date:
- 2019-08-20
- Revision:
- 2:a1c0a37df760
- Parent:
- 1:e04e563be5ce
- Child:
- 5:a4319f79457b
File content as of revision 2:a1c0a37df760:
#include "mbed.h" #include "FastPWM.h" #include "INIT_HW.h" #include "function_CAN.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); AnalogIn adc3(PC_1); // pwm double dtc_v=0.0; double dtc_w=0.0; // 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); DigitalOut indi_led(PA_15); // UART Serial pc(PA_9,PA_10); // _ UART //CAN CAN can(PB_8, PB_9, 1000000); CANMessage msg; // Variables double a1; double PWM_out; double temp_cur=0.0; int main() { /******************************************************* *** Initialization ********************************************************/ indi_led = 0; pc.baud(9600); //Timer t; //t.start(); //t.stop(); //pc.printf("The time taken was %f seconds\n",t.read()); // 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(&CAN_RX_HANDLER); // spi _ enc spi_enc_set_init(); /******************************************************* *** Program is operating! ********************************************************/ 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); check_2=0; // pc.printf("%f\n",PWM_out); // pc.printf("%d\n",a1); // wait(0.01f); } } /******************************************************************************* TIMER INTERRUPT *******************************************************************************/ unsigned long CNT_TMR4 = 0; double FREQ_TMR4 = (double)FREQ_20k; extern "C" void TIM4_IRQHandler(void) { if ( TIM4->SR & TIM_SR_UIF ) { /******************************************************* *** Sensor Read & Data Handling ********************************************************/ if((CNT_TMR4%2)==0){ //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; // int raw_cur = ADC3->DR; double raw_cur=(double)adc3*4096.0; double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*100.0)); // f_cutoff : 500Hz double new_a1 = (double)raw_cur; a1=a1*(1.0-alpha_update_cur)+new_a1*(alpha_update_cur); // a1=new_a1; } //DAC // dac_1 = ADC1->DR; // dac_2 = ADC2->DR; /******************************************************* *** Valve Control ********************************************************/ // PWM_out : -1.0~1.0(full duty) PWM_out = -0.0104; double t = (double)CNT_TMR4/FREQ_TMR4; double T = 10.0; // PWM_out = 0.36*sin(2.0*PI*t/T); PWM_out = 0.04*sin(2.0*PI*t/T); // if(PWM_out > 0.0) PWM_out = 0.02; // else if(PWM_out < 0.0) PWM_out = -0.02; // Saturation of output voltage to 5.0V if(PWM_out > (5.0/12.0)) PWM_out=(5.0/12.0); else if (PWM_out < (-5.0/12.0)) PWM_out=(-5.0/12.0); if (PWM_out>0.0) { dtc_v=0.0; dtc_w=PWM_out; } else { dtc_v=-PWM_out; dtc_w=0.0; } //pwm TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v); TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w); /******************************************************* *** Data Send (CAN) & Print out (UART) ********************************************************/ if((CNT_TMR4%40)==0){ msg.id = 50; msg.len = 4; int temp_CUR = (int)(a1); msg.data[0]=0x00FF&temp_CUR; msg.data[1]=0x00FF&(temp_CUR>>8); int temp_PWM = (int)(PWM_out*10000.0); msg.data[2]=0x00FF&temp_PWM; msg.data[3]=0x00FF&(temp_PWM>>8); can.write(msg); } // if((CNT_TMR4%4000)==0){ // pc.printf("%d\n",a1); // } /******************************************************* *** Timer Counting & etc. ********************************************************/ CNT_TMR4++; } TIM4->SR = 0x0; // reset the status register }