Liyou Zhou / Mbed 2 deprecated wheel_speed_sensor_board

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Dependencies:   mbed

Fork of adxl335_mbed_serial by Sumit Pandey

main.cpp@1:c4129110f970, 2013-12-12 (annotated)

Committer:
lz307
Date:
Thu Dec 12 15:23:29 2013 +0000
Revision:
1:c4129110f970
Parent:
0:6754c50b1d75
Child:
2:0715aaf81851
Wheel speed sensor board initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sumitpuneet 0:6754c50b1d75 1 #include "mbed.h"
lz307 1:c4129110f970 2
lz307 1:c4129110f970 3 int debug = 1;
lz307 1:c4129110f970 4
lz307 1:c4129110f970 5 Serial pc(USBTX, USBRX); // tx, rx
lz307 1:c4129110f970 6
lz307 1:c4129110f970 7 AnalogIn spare(p20); // spare pin for extra sensors if needed
lz307 1:c4129110f970 8 AnalogIn inputx(p19); // input pins for x,y,z axis respectively.
lz307 1:c4129110f970 9 AnalogIn inputy(p18);
lz307 1:c4129110f970 10 AnalogIn inputz(p17);
lz307 1:c4129110f970 11 DigitalIn selftest(p21); // self test pin for the accelerometer
lz307 1:c4129110f970 12 DigitalOut redundant_1(p15); // pull adjacent pins low to reduce noise
lz307 1:c4129110f970 13 DigitalOut redundant_2(p16);
lz307 1:c4129110f970 14 Ticker ticker;
lz307 1:c4129110f970 15 Ticker time_interrupt;
lz307 1:c4129110f970 16 float time_interrupt_interval = 2; // time in seconds between output of rpm
lz307 1:c4129110f970 17 CAN can(p30, p29); // rx tx
lz307 1:c4129110f970 18 int can_id = 1337;
lz307 1:c4129110f970 19
lz307 1:c4129110f970 20 int no_of_spokes = 5; // 5 readings per rev
lz307 1:c4129110f970 21 int count_delay_time = 10; // minimum interval between spikes in ms
lz307 1:c4129110f970 22 InterruptIn front_left(p5);
lz307 1:c4129110f970 23 InterruptIn front_right(p6);
lz307 1:c4129110f970 24 InterruptIn back_left(p7);
lz307 1:c4129110f970 25 Timer t_fl, t_fr, t_bl;
lz307 1:c4129110f970 26 volatile int count_fl, count_fr, count_bl;
lz307 1:c4129110f970 27
lz307 1:c4129110f970 28 typedef union {
lz307 1:c4129110f970 29 char can_string[8];
lz307 1:c4129110f970 30 float fl_data[2];
lz307 1:c4129110f970 31 } can_msg_t;
lz307 1:c4129110f970 32
lz307 1:c4129110f970 33
lz307 1:c4129110f970 34 void count_rev_fl()
lz307 1:c4129110f970 35 {
lz307 1:c4129110f970 36 if(debug) pc.printf("yo! count %d\n", count_fl);
lz307 1:c4129110f970 37
lz307 1:c4129110f970 38 static int last_count_time=0;
lz307 1:c4129110f970 39 int crt_time = t_fl.read_ms();
lz307 1:c4129110f970 40 if ( last_count_time > crt_time ) last_count_time = 0;
lz307 1:c4129110f970 41 if ( crt_time - last_count_time < count_delay_time ) return;
lz307 1:c4129110f970 42 last_count_time = t_fl.read_ms();
lz307 1:c4129110f970 43 count_fl++;
lz307 1:c4129110f970 44 }
lz307 1:c4129110f970 45
lz307 1:c4129110f970 46
lz307 1:c4129110f970 47 void count_rev_fr()
lz307 1:c4129110f970 48 {
lz307 1:c4129110f970 49 static int last_count_time=0;
lz307 1:c4129110f970 50 int crt_time = t_fl.read_ms();
lz307 1:c4129110f970 51 if ( last_count_time > crt_time ) last_count_time = 0;
lz307 1:c4129110f970 52 if ( crt_time - last_count_time < count_delay_time ) return;
lz307 1:c4129110f970 53 last_count_time = t_fl.read_ms();
lz307 1:c4129110f970 54 count_fr++;
lz307 1:c4129110f970 55 }
lz307 1:c4129110f970 56
lz307 1:c4129110f970 57
lz307 1:c4129110f970 58 void count_rev_bl()
sumitpuneet 0:6754c50b1d75 59 {
lz307 1:c4129110f970 60 static int last_count_time=0;
lz307 1:c4129110f970 61 int crt_time = t_fl.read_ms();
lz307 1:c4129110f970 62 if ( last_count_time > crt_time ) last_count_time = 0;
lz307 1:c4129110f970 63 if ( crt_time - last_count_time < count_delay_time ) return;
lz307 1:c4129110f970 64 last_count_time = t_fl.read_ms();
lz307 1:c4129110f970 65 count_bl++;
lz307 1:c4129110f970 66 }
lz307 1:c4129110f970 67
lz307 1:c4129110f970 68
lz307 1:c4129110f970 69 void time_interrupt_call()
lz307 1:c4129110f970 70 {
lz307 1:c4129110f970 71 float rpm_fl = (float)count_fl/(float)no_of_spokes/time_interrupt_interval;
lz307 1:c4129110f970 72 float rpm_fr = (float)count_fr/(float)no_of_spokes/time_interrupt_interval;
lz307 1:c4129110f970 73 float rpm_bl = (float)count_bl/(float)no_of_spokes/time_interrupt_interval;
lz307 1:c4129110f970 74 count_fl = 0;
lz307 1:c4129110f970 75 count_fr = 0;
lz307 1:c4129110f970 76 count_bl = 0;
lz307 1:c4129110f970 77
lz307 1:c4129110f970 78 if(debug) {
lz307 1:c4129110f970 79 pc.printf("rpm: fl: %f fr: %f bl: %f\n", rpm_fl, rpm_fr, rpm_bl);
lz307 1:c4129110f970 80 } else {
lz307 1:c4129110f970 81 can_msg_t can_msg_1;
lz307 1:c4129110f970 82 can_msg_t can_msg_2;
lz307 1:c4129110f970 83 can_msg_1.fl_data[0] = rpm_fl;
lz307 1:c4129110f970 84 can_msg_1.fl_data[1] = rpm_fr;
lz307 1:c4129110f970 85 can_msg_2.fl_data[0] = rpm_bl;
lz307 1:c4129110f970 86 can_msg_2.fl_data[1] = 0;
lz307 1:c4129110f970 87 can.write( CANMessage(can_id, can_msg_1.can_string, 8) );
lz307 1:c4129110f970 88 can.write( CANMessage(can_id, can_msg_2.can_string, 8) );
lz307 1:c4129110f970 89 }
sumitpuneet 0:6754c50b1d75 90 }
lz307 1:c4129110f970 91
lz307 1:c4129110f970 92
lz307 1:c4129110f970 93 void read_accelerometer_and_send()
lz307 1:c4129110f970 94 {
lz307 1:c4129110f970 95 float offset_x=0,offset_y=0,offset_z=0; // variables offsets
lz307 1:c4129110f970 96 float scale_factor = 100; // variable scale factor
lz307 1:c4129110f970 97 float x=0,y=0,z=0; // variables for x,y,z axes
lz307 1:c4129110f970 98 x=(inputx+offset_x)*scale_factor;
lz307 1:c4129110f970 99 y=(inputy+offset_y)*scale_factor;
lz307 1:c4129110f970 100 z=(inputz+offset_z)*scale_factor;
lz307 1:c4129110f970 101
lz307 1:c4129110f970 102 if(debug) {
lz307 1:c4129110f970 103 pc.printf("x: %03d y: %03d z: %03d\n", (int)x,(int)y,(int)z);
lz307 1:c4129110f970 104 } else {
lz307 1:c4129110f970 105 can_msg_t can_msg_1;
lz307 1:c4129110f970 106 can_msg_t can_msg_2;
lz307 1:c4129110f970 107 can_msg_1.fl_data[0] = x;
lz307 1:c4129110f970 108 can_msg_1.fl_data[1] = y;
lz307 1:c4129110f970 109 can_msg_2.fl_data[0] = z;
lz307 1:c4129110f970 110 can_msg_2.fl_data[1] = 0;
lz307 1:c4129110f970 111 can.write( CANMessage(can_id, can_msg_1.can_string, 8) );
lz307 1:c4129110f970 112 can.write( CANMessage(can_id, can_msg_2.can_string, 8) );
lz307 1:c4129110f970 113 }
lz307 1:c4129110f970 114 }
lz307 1:c4129110f970 115
lz307 1:c4129110f970 116
lz307 1:c4129110f970 117 int main()
lz307 1:c4129110f970 118 {
lz307 1:c4129110f970 119 redundant_1 = 0;
lz307 1:c4129110f970 120 redundant_2 = 0;
lz307 1:c4129110f970 121 //ticker.attach(&read_accelerometer_and_send, 1);
lz307 1:c4129110f970 122
lz307 1:c4129110f970 123 time_interrupt.attach(&time_interrupt_call, time_interrupt_interval);
lz307 1:c4129110f970 124
lz307 1:c4129110f970 125 t_fl.reset();
lz307 1:c4129110f970 126 t_fl.start();
lz307 1:c4129110f970 127 t_fr.reset();
lz307 1:c4129110f970 128 t_fr.start();
lz307 1:c4129110f970 129 t_bl.reset();
lz307 1:c4129110f970 130 t_bl.start();
lz307 1:c4129110f970 131 front_left.rise(&count_rev_fl);
lz307 1:c4129110f970 132 front_right.rise(&count_rev_fr);
lz307 1:c4129110f970 133 back_left.rise(&count_rev_bl);
lz307 1:c4129110f970 134 if(debug) pc.printf("debugging\n");
lz307 1:c4129110f970 135
lz307 1:c4129110f970 136 while(1);
lz307 1:c4129110f970 137 }