Max Vasconcelos
Encoder reading
Revision 0:e51ae6d8c5c8, committed 23 months ago
- Comitter:
- maxaa1998
- Date:
- Wed Nov 16 22:42:29 2022 +0000
- Commit message:
- Encoder reading
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Nov 16 22:42:29 2022 +0000
@@ -0,0 +1,90 @@
+#include "mbed.h"
+
+
+Ticker tick; //
+
+AnalogIn linear_position(A0); //sets an analog input to receive the linear position
+AnalogIn linear_velocity(A1); //sets an analog input to receive the linear velocity
+
+Serial pc(USBTX, USBRX); //enable usb serial communication
+//Serial encoder(PTE0, PTE1);
+DigitalOut red(LED_RED); //set the red LED as red
+DigitalOut green(LED_GREEN); //set the green LED as green
+DigitalOut blue(LED_BLUE); //set the blue LED as blue
+DigitalOut ms(PTD1); //set the transceiver mode selection (0=receiver mode and 1=transmiter mode)
+
+volatile uint8_t received1, received2; //angle components variables
+volatile uint16_t angle = 0; //encoder angle
+
+void isr() //interrupution routine
+{
+ pc.printf("0x%04X",linear_position.read_u16()); //send linear position, obs: 6 chars needed
+ pc.printf("0x%04X",linear_velocity.read_u16()); //send linear velocity
+ pc.printf("0x%04X",angle); //send angle
+ pc.printf("OMEGA "); //send angular velocity
+}
+
+int main() //main function
+{
+
+ //PC serial communication
+ pc.baud(115200); //set baud rate
+ //encoder.baud(115200);
+ tick.attach(&isr, 1); //setup ticker to call isr every 0.1s seconds
+
+ //Encoder serial communication
+ SIM->SCGC5 |= 0x00002000; //enable PORTE clock
+ PORTE->PCR[0] |= 0x00000300; //PTE0 as ALT3 (UART1)
+ PORTE->PCR[1] |= 0x00000300; //PTE1 as ALT3 (UART1)
+ SIM->SCGC4 |= 0x00000800; //enable UART1 clock
+ SIM->SOPT5 &= ~0x00000070; //select UART1 TX pin as UART1 TX source and UART1 RX pin as UART1 RX source
+
+
+ /*baud rate divider setting:
+ BAUD = Bus_Clock/(16 x BR) = 24M/ (16 x 13) ~ 115200
+ baud rate values: 115200, 39400, 19200, 9600
+ respective BDL values: 0x0D, 0x27, 0x4E, 0x9C*/
+
+ UART1->BDH = 0x00; //set the highest bits of the baud rate divider
+ UART1->BDL = 0x0D; //set the lowest bits of the baud rate divider
+ UART1->C1 = 0x00; //sets a 8N1 configuration
+ UART1->C2 = 0x0C; //enables Tx and Rx/ Interrupts disabled
+
+ red = 1; //turn off the red LED
+ green = 1; //turn off the green LED
+ blue = 1; //turn off the blue LED
+ while (true) //infinite loop
+ {
+
+ if (((UART1->S1&0xC0)>>6)==0x03) //if the ucontroller transmiter buffer is free
+ {
+ ms = 1; //put the transceiver in the transmiter mode
+ UART1->D = 0x54; //send the encoder's address
+ while(!(((UART1->S1&0xC0)>>6)==0x03)); //wait 'til the message has been completely sent
+ ms = 0; //put the transceiver in the receiver mode
+ }
+
+ wait_us(10); //turnaround time: 3us 10us 30us 56us 100us
+ //baud rate: 115200(default) 115200(adjustable) 38400 19200 9600
+
+ if(((UART1->S1&0x20)>>5)==0x01) //if the ucontroller transmiter buffer is full
+ {
+ received1 = UART1->D; //stores the first Byte in the received1 variable
+ while(!(((UART1->S1&0x20)>>5)==0x01)); //wait 'til the next has been received
+ if(((UART1->S1&0x20)>>5)==0x01) //if the ucontroller transmiter buffer is full
+ {
+ received2 = UART1->D; //stores the second Byte in the received2 variable
+ angle = ((received1)|(((received2)&0x3F)<<8)); //assembly the angle using the components
+ }
+ }
+/*
+ if (((UART1->S1&0x20)>>5)==0x01)
+ {
+ received = UART1->D;
+ angle = (received<<2);
+ red = !red;
+ }
+*/
+ }
+}
+//TO DO: Program the readings
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Nov 16 22:42:29 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file