Matthew Hall
non
Revision 0:2c721947a97e, committed 2017-11-05
- Comitter:
- matthewhall115
- Date:
- Sun Nov 05 19:27:33 2017 +0000
- Commit message:
- none
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Nov 05 19:27:33 2017 +0000
@@ -0,0 +1,137 @@
+#include "mbed.h"
+#include "mbedWSEsbc.h"
+#define PI (3.14159)
+
+
+// Declare objects (if necessary)
+Ticker Controller; // declare Ticker object named "Controller"
+DigitalOut myled(LED1); // LED, flash lights for debugging
+
+
+// variables for data handling and storage
+float TotalTime; // Total run time
+float Time; // Current elapsed time
+float Ts = 0.0083; // Control update period (seconds) (100 Hz equivalent)
+float Tstrm = 0.01; // Data streaming period (seconds) (50 Hz equivalent)
+float usrDC; // uaser-specified duty cycle
+float ang,angp,speed; // variables for approximating speed from encoder measurements
+float dc; // duty cycle applied to motor
+long enc1; // encoder variable
+float lowDC;
+
+
+// Function definition Prototypes (declarations)
+void ctrCode(); // declare that a separate (other than main) function named "ctrCode" exists
+void twoStepCode(); //Two Step input
+
+
+// Enter main function
+int main ()
+{
+ // Initializes mbed to access functionality of encoder, A/D, driver, etc. chipsets
+ // Input is baud rate for PC communication
+ mbedWSEsbcInit(115200); // also initializes timer object t
+ mot_en1.period(0.020); // sets PWM period to 0.02 seconds for best DC motor operation
+
+ while(1) {
+
+ // Scan serial port for user input to begin experiment
+ pc.scanf("%f,%f",&TotalTime,&lowDC);
+
+ // perform necessary functions to time the experiment
+ Time = 0.0; // reset time variable
+ t.reset(); // reset timer object
+
+ // Attach the ctrCode function to ticker object specified with period Ts
+ Controller.attach(&twoStepCode,Ts);
+
+ t.start(); // start measuring elapsed time
+
+ // perform operations while the elapsed time is less than the desired total time
+ while(Time <= TotalTime) {
+
+
+
+ // read current elapsed time
+ Time = t.read();
+
+
+ // send data over serial port
+ pc.printf("%f,%f,%f\n",Time,speed,dc);
+
+
+ wait(Tstrm); // print data at approximately 50 Hz
+
+
+
+
+ } // end while(Time<=Ttime)
+
+ Controller.detach(); // detach ticker to turn off controller
+ // Turn motor off at end of experiment
+ mot_control(1,0.0);
+
+ }// end while(1)
+}// end main
+
+
+
+// Additional function definitions
+void ctrCode() // function to attach to ticker
+{
+
+ myled = !myled; // toggle LED 2 to indicate control update
+
+ // Read encoder
+ enc1 = LS7366_read_counter(1); // input is the encoder channel
+
+ // Convert from counts to radians
+ ang = 2.0*PI*enc1/6400.0;
+
+ // Estimate speed
+ speed = (ang-angp)/Ts;
+
+ // Age variables
+ angp = ang;
+
+ // compute duty cycle for motor (will be changed later!)
+ dc = usrDC; // user-specified duty cycle
+
+ // motor control
+ mot_control(1,dc); // first input is the motor channel, second is duty cycle
+
+} // end ctrCode()
+
+
+
+
+// Additional function definitions
+void twoStepCode() // function to attach to ticker
+{
+ myled = !myled; // toggle LED 2 to indicate control update
+
+ // Read encoder
+ enc1 = LS7366_read_counter(1); // input is the encoder channel
+
+ // Convert from counts to radians
+ ang = 2.0*PI*enc1/6400.0;
+
+ // Estimate speed
+ speed = (ang-angp)/Ts;
+
+ // Age variables
+ angp = ang;
+
+ // compute duty cycle for motor over two step inputs
+ if(Time<0.1) {
+ dc = 0.0;
+ } else if(Time<0.55) {
+ dc = lowDC; // low duty cycle
+ } else {
+ dc = 0.10;
+ }
+ // motor control
+ mot_control(1,dc); // first input is the motor channel, second is duty cycle
+} // end twoStepCode()
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Nov 05 19:27:33 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/b484a57bc302 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbedWSEsbc.h Sun Nov 05 19:27:33 2017 +0000
@@ -0,0 +1,379 @@
+/* C Library for the WSE-PROJ-SBC
+ J Bradshaw
+ 20140912
+ 20140918 J Bradshaw - Found CS mistake in Encoder routines
+ Added comments in Init function, encoder functions
+ 20150210 J Bradshaw - Initialized DigitalOuts with pre-defined logic
+ levels (CS's high, etc)
+ 20161011 J Bradshaw - Changed MAX1270 ADC SCLK to 5MHz and format(12, 0)
+ for conversion mode to match datasheet (200ns SCLK max PW high and low)
+*/
+
+
+// LS7366 ENCODER IC DEFINITIONS
+//=============================================================================
+// Four commands for the Instruction Register (B7,B6) - LS7366
+//=============================================================================
+#define CLR 0x00 //Clear Instruction
+#define RD 0x01 //Read Instruction
+#define WR 0x02 //Write Instruction
+#define LOAD 0x03 //Load Instruction
+
+//=============================================================================
+// Register to Select from the Instruction Register (B5,B4,B3) - LS7366
+//=============================================================================
+#define NONE 0x00 //No Register Selected
+#define MDR0 0x01 //Mode Register 0
+#define MDR1 0x02 //Mode Register 1
+#define DTR 0x03 //Data Transfer Register
+#define CNTR 0x04 //Software Configurable Counter Register
+#define OTR 0x05 //Output Transfer Register
+#define STR 0x06 //Status Register
+#define NONE_REG 0x07 //No Register Selected
+
+// Set-up hardwired IO
+SPI spi_max1270(p5, p6, p7);
+SPI spi(p5, p6, p7);
+DigitalOut max1270_cs(p8, 1); //CS for MAX1270 ADC (U3)
+DigitalOut max522_cs(p11, 1); //CS for MAX522 DAC (U5)
+
+DigitalOut ls7166_cs1(p19, 1); //CS for LS7366-1 (U8)
+DigitalOut ls7166_cs2(p20, 1); //CS for LS7366-2 (U9)
+
+DigitalOut mot1_ph1(p21, 0);
+DigitalOut mot1_ph2(p22, 0);
+PwmOut mot_en1(p23);
+
+DigitalOut mot2_ph1(p24, 0);
+DigitalOut mot2_ph2(p25, 0);
+PwmOut mot_en2(p26);
+
+DigitalOut led1(LED1, 0);
+DigitalOut led2(LED2, 0);
+DigitalOut led3(LED3, 0);
+DigitalOut led4(LED4, 0);
+
+Serial pc(USBTX, USBRX); // tx, rx for serial USB interface to pc
+Serial xbee(p13, p14); // tx, rx for Xbee
+Timer t; // create timer instance
+
+// ------ Prototypes -----------
+int read_max1270(int chan, int range, int bipol);
+float read_max1270_volts(int chan, int range, int bipol);
+void mot_control(int drv_num, float dc);
+void LS7366_cmd(int inst, int reg);
+long LS7366_read_counter(int chan_num);
+void LS7366_quad_mode_x4(int chan_num);
+void LS7366_reset_counter(int chan_num);
+void LS7366_write_DTR(int chan_num,long enc_value);
+void write_max522(int chan, float volts);
+
+//---- Function Listing -------------------------------
+int read_max1270(int chan, int range, int bipol){
+ int cword=0x80; //set the start bit
+
+ spi_max1270.frequency(5000000); //5MHz Max
+ spi_max1270.format(8, 0); // 8 data bits, CPOL0, and CPHA0 (datasheet Digital Interface)
+
+ cword |= (chan << 4); //shift channel
+ cword |= (range << 3);
+ cword |= (bipol << 2);
+
+ max1270_cs = 0;
+
+ spi_max1270.write(cword);
+ wait_us(15); //15us
+ spi_max1270.format(12, 0);
+
+ int result = spi_max1270.write(0);
+
+ max1270_cs = 1;
+ spi_max1270.format(8, 0);
+ return result;
+}
+
+float read_max1270_volts(int chan, int range, int bipol){
+ float rangevolts=0.0;
+ float volts=0.0;
+ int adc_res;
+
+ //read the ADC converter
+ adc_res = read_max1270(chan, range, bipol) & 0xFFF;
+
+ //Determine the voltage range
+ if(range) //RNG bit
+ rangevolts=10.0;
+ else
+ rangevolts=5.0;
+
+ //bi-polar input range
+ if(bipol){ //BIP is set, input is +/-
+ if(adc_res < 0x800){ //if result was positive
+ volts = ((float)adc_res/0x7FF) * rangevolts;
+ }
+ else{ //result was negative
+ volts = -(-((float)adc_res/0x7FF) * rangevolts) - (rangevolts * 2.0);
+ }
+ }
+ else{ //input is positive polarity only
+ volts = ((float)adc_res/0xFFF) * rangevolts;
+ }
+
+ return volts;
+}
+
+//Motor control routine for PWM on 5 pin motor driver header
+// drv_num is 1 or 2 (defaults to 1, anything but 2)
+// dc is signed duty cycle (+/-1.0)
+
+void mot_control(int drv_num, float dc){
+ if(dc>1.0)
+ dc=1.0;
+ if(dc<-1.0)
+ dc=-1.0;
+
+ if(drv_num != 2){
+ if(dc > 0.0){
+ mot1_ph2 = 0;
+ mot1_ph1 = 1;
+ mot_en1 = dc;
+ }
+ else if(dc < -0.0){
+ mot1_ph1 = 0;
+ mot1_ph2 = 1;
+ mot_en1 = abs(dc);
+ }
+ else{
+ mot1_ph1 = 0;
+ mot1_ph2 = 0;
+ mot_en1 = 0.0;
+ }
+ }
+ else{
+ if(dc > 0.0){
+ mot2_ph2 = 0;
+ mot2_ph1 = 1;
+ mot_en2 = dc;
+ }
+ else if(dc < -0.0){
+ mot2_ph1 = 0;
+ mot2_ph2 = 1;
+ mot_en2 = abs(dc);
+ }
+ else{
+ mot2_ph1 = 0;
+ mot2_ph2 = 0;
+ mot_en2 = 0.0;
+ }
+ }
+}
+
+//----- LS7366 Encoder/Counter Routines --------------------
+void LS7366_cmd(int inst, int reg){
+ char cmd;
+
+ spi.format(8, 0);
+ spi.frequency(2000000);
+ cmd = (inst << 6) | (reg << 3);
+// printf("\r\ncmd=0X%2X", cmd);
+ spi.write(cmd);
+}
+
+long LS7366_read_counter(int chan_num){
+ union bytes{
+ char byte_enc[4];
+ long long_enc;
+ }counter;
+
+ counter.long_enc = 0;
+
+ spi.format(8, 0);
+ spi.frequency(2000000);
+
+ if(chan_num!=2){
+ ls7166_cs1 = 0;
+ wait_us(1);
+ LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
+ ls7166_cs1 = 1;
+ wait_us(1);
+ ls7166_cs1 = 0;
+ }
+ else{
+ ls7166_cs2 = 0;
+ wait_us(1);
+ LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR
+ ls7166_cs2 = 1;
+ wait_us(1);
+
+ ls7166_cs2 = 0;
+ }
+ wait_us(1);
+ LS7366_cmd(RD,CNTR); //cmd = 0x60, READ from CNTR
+ counter.byte_enc[3] = spi.write(0x00);
+ counter.byte_enc[2] = spi.write(0x00);
+ counter.byte_enc[1] = spi.write(0x00);
+ counter.byte_enc[0] = spi.write(0x00);
+
+ if(chan_num!=2){
+ ls7166_cs1 = 1;
+ }
+ else{
+ ls7166_cs2 = 1;
+ }
+
+ return counter.long_enc; //return count
+}
+
+void LS7366_quad_mode_x4(int chan_num){
+
+ spi.format(8, 0);
+ spi.frequency(2000000);
+
+ if(chan_num!=2){
+ ls7166_cs1 = 0;
+ }
+ else{
+ ls7166_cs2 = 0;
+ }
+ wait_us(1);
+ LS7366_cmd(WR,MDR0);// Write to the MDR0 register
+ wait_us(1);
+ spi.write(0x03); // X4 quadrature count mode
+ if(chan_num!=2){
+ ls7166_cs1 = 1;
+ }
+ else{
+ ls7166_cs2 = 1;
+ }
+}
+
+void LS7366_reset_counter(int chan_num){
+ spi.format(8, 0); // set up SPI for 8 data bits, mode 0
+ spi.frequency(2000000); // 2MHz SPI clock
+
+ if(chan_num!=2){ // activate chip select
+ ls7166_cs1 = 0;
+ }
+ else{
+ ls7166_cs2 = 0;
+ }
+ wait_us(1); // short delay
+ LS7366_cmd(CLR,CNTR); // Clear the counter register
+ if(chan_num!=2){ // de-activate chip select
+ ls7166_cs1 = 1;
+ }
+ else{
+ ls7166_cs2 = 1;
+ }
+ wait_us(1); // short delay
+
+ if(chan_num!=2){ // activate chip select
+ ls7166_cs1 = 0;
+ }
+ else{
+ ls7166_cs2 = 0;
+ }
+ wait_us(1); // short delay
+ LS7366_cmd(LOAD,CNTR); // load counter reg
+ if(chan_num!=2){ // de-activate chip select
+ ls7166_cs1 = 1;
+ }
+ else{
+ ls7166_cs2 = 1;
+ }
+}
+
+void LS7366_write_DTR(int chan_num, long enc_value){
+ union bytes // Union to speed up byte writes
+ {
+ char byte_enc[4];
+ long long_enc;
+ }counter;
+
+ spi.format(8, 0); // set up SPI for 8 data bits, mode 0
+ spi.frequency(2000000); // 2MHz SPI clock
+
+ counter.long_enc = enc_value; // pass enc_value to Union
+
+ if(chan_num!=2){ // activate chip select
+ ls7166_cs1 = 0;
+ }
+ else{
+ ls7166_cs2 = 0;
+ }
+ wait_us(1); // short delay
+ LS7366_cmd(WR,DTR); // Write to the Data Transfer Register
+ spi.write(counter.byte_enc[3]); // Write the 32-bit encoder value
+ spi.write(counter.byte_enc[2]);
+ spi.write(counter.byte_enc[1]);
+ spi.write(counter.byte_enc[0]);
+ if(chan_num!=2){ // de-activate the chip select
+ ls7166_cs1 = 1;
+ }
+ else{
+ ls7166_cs2 = 1;
+ }
+
+ wait_us(1); // short delay
+ if(chan_num!=2){ // activate chip select
+ ls7166_cs1 = 0;
+ }
+ else{
+ ls7166_cs2 = 0;
+ }
+ wait_us(1); // short delay
+ LS7366_cmd(LOAD,CNTR); // load command to the counter register from DTR
+ if(chan_num!=2){ // de-activate chip select
+ ls7166_cs1 = 1;
+ }
+ else{
+ ls7166_cs2 = 1;
+ }
+}
+
+//------- MAX522 routines ---------------------------------
+void write_max522(int chan, float volts){
+ int cmd=0x20; //set UB3
+ int data_word = (int)((volts/5.0) * 256.0);
+ if(chan != 2)
+ cmd |= 0x01; //set DAC A out
+ else
+ cmd |= 0x02; //set DACB out
+
+ // pc.printf("cmd=0x%4X data_word=0x%4X \r\n", cmd, data_word);
+
+ spi.format(8, 0);
+ spi.frequency(2000000);
+ max522_cs = 0;
+ spi.write(cmd & 0xFF);
+ spi.write(data_word & 0xFF);
+ max522_cs = 1;
+}
+
+void mbedWSEsbcInit(unsigned long pcbaud){
+ led1 = 0; //Initialize all LEDs as off
+ led2 = 0;
+ led3 = 0;
+ led4 = 0;
+ max1270_cs = 1; //Initialize all chip selects as off
+ max522_cs = 1;
+ ls7166_cs1 = 1;
+ ls7166_cs2 = 1;
+
+ wait(.2); //delay at beginning for voltage settle purposes
+
+ mot_en1.period_us(50); //20KHz for DC motor control PWM
+ pc.baud(pcbaud); //Set up serial port baud rate
+ pc.printf("\r\n");
+ xbee.baud(9600);
+
+ LS7366_reset_counter(1);
+ LS7366_quad_mode_x4(1);
+ LS7366_write_DTR(1,0);
+
+ LS7366_reset_counter(2);
+ LS7366_quad_mode_x4(2);
+ LS7366_write_DTR(2,0);
+
+ t.start(); // Set up timer
+}//mbedWSEsbc_init()
\ No newline at end of file