Max Vasconcelos / Mbed 2 deprecated encoder_communication

Encoder reading

Dependencies:   mbed

main.cpp@0:e51ae6d8c5c8, 22 months ago (annotated)

Committer:
maxaa1998
Date:
Wed Nov 16 22:42:29 2022 +0000
Revision:
0:e51ae6d8c5c8
Encoder reading

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maxaa1998 0:e51ae6d8c5c8 1 #include "mbed.h"
maxaa1998 0:e51ae6d8c5c8 2
maxaa1998 0:e51ae6d8c5c8 3
maxaa1998 0:e51ae6d8c5c8 4 Ticker tick; //
maxaa1998 0:e51ae6d8c5c8 5
maxaa1998 0:e51ae6d8c5c8 6 AnalogIn linear_position(A0); //sets an analog input to receive the linear position
maxaa1998 0:e51ae6d8c5c8 7 AnalogIn linear_velocity(A1); //sets an analog input to receive the linear velocity
maxaa1998 0:e51ae6d8c5c8 8
maxaa1998 0:e51ae6d8c5c8 9 Serial pc(USBTX, USBRX); //enable usb serial communication
maxaa1998 0:e51ae6d8c5c8 10 //Serial encoder(PTE0, PTE1);
maxaa1998 0:e51ae6d8c5c8 11 DigitalOut red(LED_RED); //set the red LED as red
maxaa1998 0:e51ae6d8c5c8 12 DigitalOut green(LED_GREEN); //set the green LED as green
maxaa1998 0:e51ae6d8c5c8 13 DigitalOut blue(LED_BLUE); //set the blue LED as blue
maxaa1998 0:e51ae6d8c5c8 14 DigitalOut ms(PTD1); //set the transceiver mode selection (0=receiver mode and 1=transmiter mode)
maxaa1998 0:e51ae6d8c5c8 15
maxaa1998 0:e51ae6d8c5c8 16 volatile uint8_t received1, received2; //angle components variables
maxaa1998 0:e51ae6d8c5c8 17 volatile uint16_t angle = 0; //encoder angle
maxaa1998 0:e51ae6d8c5c8 18
maxaa1998 0:e51ae6d8c5c8 19 void isr() //interrupution routine
maxaa1998 0:e51ae6d8c5c8 20 {
maxaa1998 0:e51ae6d8c5c8 21 pc.printf("0x%04X",linear_position.read_u16()); //send linear position, obs: 6 chars needed
maxaa1998 0:e51ae6d8c5c8 22 pc.printf("0x%04X",linear_velocity.read_u16()); //send linear velocity
maxaa1998 0:e51ae6d8c5c8 23 pc.printf("0x%04X",angle); //send angle
maxaa1998 0:e51ae6d8c5c8 24 pc.printf("OMEGA "); //send angular velocity
maxaa1998 0:e51ae6d8c5c8 25 }
maxaa1998 0:e51ae6d8c5c8 26
maxaa1998 0:e51ae6d8c5c8 27 int main() //main function
maxaa1998 0:e51ae6d8c5c8 28 {
maxaa1998 0:e51ae6d8c5c8 29
maxaa1998 0:e51ae6d8c5c8 30 //PC serial communication
maxaa1998 0:e51ae6d8c5c8 31 pc.baud(115200); //set baud rate
maxaa1998 0:e51ae6d8c5c8 32 //encoder.baud(115200);
maxaa1998 0:e51ae6d8c5c8 33 tick.attach(&isr, 1); //setup ticker to call isr every 0.1s seconds
maxaa1998 0:e51ae6d8c5c8 34
maxaa1998 0:e51ae6d8c5c8 35 //Encoder serial communication
maxaa1998 0:e51ae6d8c5c8 36 SIM->SCGC5 |= 0x00002000; //enable PORTE clock
maxaa1998 0:e51ae6d8c5c8 37 PORTE->PCR[0] |= 0x00000300; //PTE0 as ALT3 (UART1)
maxaa1998 0:e51ae6d8c5c8 38 PORTE->PCR[1] |= 0x00000300; //PTE1 as ALT3 (UART1)
maxaa1998 0:e51ae6d8c5c8 39 SIM->SCGC4 |= 0x00000800; //enable UART1 clock
maxaa1998 0:e51ae6d8c5c8 40 SIM->SOPT5 &= ~0x00000070; //select UART1 TX pin as UART1 TX source and UART1 RX pin as UART1 RX source
maxaa1998 0:e51ae6d8c5c8 41
maxaa1998 0:e51ae6d8c5c8 42
maxaa1998 0:e51ae6d8c5c8 43 /*baud rate divider setting:
maxaa1998 0:e51ae6d8c5c8 44 BAUD = Bus_Clock/(16 x BR) = 24M/ (16 x 13) ~ 115200
maxaa1998 0:e51ae6d8c5c8 45 baud rate values: 115200, 39400, 19200, 9600
maxaa1998 0:e51ae6d8c5c8 46 respective BDL values: 0x0D, 0x27, 0x4E, 0x9C*/
maxaa1998 0:e51ae6d8c5c8 47
maxaa1998 0:e51ae6d8c5c8 48 UART1->BDH = 0x00; //set the highest bits of the baud rate divider
maxaa1998 0:e51ae6d8c5c8 49 UART1->BDL = 0x0D; //set the lowest bits of the baud rate divider
maxaa1998 0:e51ae6d8c5c8 50 UART1->C1 = 0x00; //sets a 8N1 configuration
maxaa1998 0:e51ae6d8c5c8 51 UART1->C2 = 0x0C; //enables Tx and Rx/ Interrupts disabled
maxaa1998 0:e51ae6d8c5c8 52
maxaa1998 0:e51ae6d8c5c8 53 red = 1; //turn off the red LED
maxaa1998 0:e51ae6d8c5c8 54 green = 1; //turn off the green LED
maxaa1998 0:e51ae6d8c5c8 55 blue = 1; //turn off the blue LED
maxaa1998 0:e51ae6d8c5c8 56 while (true) //infinite loop
maxaa1998 0:e51ae6d8c5c8 57 {
maxaa1998 0:e51ae6d8c5c8 58
maxaa1998 0:e51ae6d8c5c8 59 if (((UART1->S1&0xC0)>>6)==0x03) //if the ucontroller transmiter buffer is free
maxaa1998 0:e51ae6d8c5c8 60 {
maxaa1998 0:e51ae6d8c5c8 61 ms = 1; //put the transceiver in the transmiter mode
maxaa1998 0:e51ae6d8c5c8 62 UART1->D = 0x54; //send the encoder's address
maxaa1998 0:e51ae6d8c5c8 63 while(!(((UART1->S1&0xC0)>>6)==0x03)); //wait 'til the message has been completely sent
maxaa1998 0:e51ae6d8c5c8 64 ms = 0; //put the transceiver in the receiver mode
maxaa1998 0:e51ae6d8c5c8 65 }
maxaa1998 0:e51ae6d8c5c8 66
maxaa1998 0:e51ae6d8c5c8 67 wait_us(10); //turnaround time: 3us 10us 30us 56us 100us
maxaa1998 0:e51ae6d8c5c8 68 //baud rate: 115200(default) 115200(adjustable) 38400 19200 9600
maxaa1998 0:e51ae6d8c5c8 69
maxaa1998 0:e51ae6d8c5c8 70 if(((UART1->S1&0x20)>>5)==0x01) //if the ucontroller transmiter buffer is full
maxaa1998 0:e51ae6d8c5c8 71 {
maxaa1998 0:e51ae6d8c5c8 72 received1 = UART1->D; //stores the first Byte in the received1 variable
maxaa1998 0:e51ae6d8c5c8 73 while(!(((UART1->S1&0x20)>>5)==0x01)); //wait 'til the next has been received
maxaa1998 0:e51ae6d8c5c8 74 if(((UART1->S1&0x20)>>5)==0x01) //if the ucontroller transmiter buffer is full
maxaa1998 0:e51ae6d8c5c8 75 {
maxaa1998 0:e51ae6d8c5c8 76 received2 = UART1->D; //stores the second Byte in the received2 variable
maxaa1998 0:e51ae6d8c5c8 77 angle = ((received1)|(((received2)&0x3F)<<8)); //assembly the angle using the components
maxaa1998 0:e51ae6d8c5c8 78 }
maxaa1998 0:e51ae6d8c5c8 79 }
maxaa1998 0:e51ae6d8c5c8 80 /*
maxaa1998 0:e51ae6d8c5c8 81 if (((UART1->S1&0x20)>>5)==0x01)
maxaa1998 0:e51ae6d8c5c8 82 {
maxaa1998 0:e51ae6d8c5c8 83 received = UART1->D;
maxaa1998 0:e51ae6d8c5c8 84 angle = (received<<2);
maxaa1998 0:e51ae6d8c5c8 85 red = !red;
maxaa1998 0:e51ae6d8c5c8 86 }
maxaa1998 0:e51ae6d8c5c8 87 */
maxaa1998 0:e51ae6d8c5c8 88 }
maxaa1998 0:e51ae6d8c5c8 89 }
maxaa1998 0:e51ae6d8c5c8 90 //TO DO: Program the readings