Max Vasconcelos
Encoder with UART0
Diff: main.cpp
- Revision:
- 0:90116cd08554
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Nov 16 22:46:11 2022 +0000
@@ -0,0 +1,112 @@
+#include "mbed.h"
+#include "USBSerial.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
+
+USBSerial u_s_b;
+//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, address = 0x54; //angle components variables
+volatile uint16_t angle = 0; //encoder angle
+
+void isr() //interrupution routine
+{/*
+ u_s_b.printf("0x%04X",linear_position.read_u16()); //send linear position, obs: 6 chars needed
+ u_s_b.printf("0x%04X",linear_velocity.read_u16()); //send linear velocity
+ u_s_b.printf("0x%04X",angle); //send angle
+ u_s_b.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 |= 0x00000200; //enable PORTA clock
+ PORTA->PCR[1] |= 0x00000200; //PTA0 as ALT2 (UART0)
+ PORTA->PCR[2] |= 0x00000200; //PTA1 as ALT2 (UART0)
+ SIM->SOPT2 |= 0x04000000; //select MCGFLLCLK as the UART0 clock source (24M by default)
+ SIM->SOPT5 &= 0x00000000; //select UART0 TX pin as UART0 TX source and UART0 RX pin as UART0 RX source
+ SIM->SCGC4 |= 0x00000400; //enable UART0 clock
+
+
+ //baud rate divider setting:
+ //BAUD = Bus_Clock/((OSR+1) x BR) = 24M/ ((3+1) x 3) = 2M
+
+ UART0->BDH = 0x00; //set the highest bits of the baud rate divider
+ UART0->BDL = 0x06; //set the lowest bits of the baud rate divider
+ UART0->C4 = 0x03; //sets the Over Sampling Ratio (OSR) - MUST BE SET BEFORE C2
+ UART0->C5 = 0x00; //sets both edges sampling - MUST BE SET BEFORE C2 AND IF OSR>7
+ UART0->C1 = 0x00; //sets a 8N1 configuration
+ UART0->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 (((UART0->S1&0xC0)>>6)==0x03) //if the ucontroller transmiter buffer is free
+ {
+ ms = 1; //put the transceiver in the transmiter mode
+ UART0->D = 0x54; //send the encoder's address
+ while(!(((UART0->S1&0xC0)>>6)==0x03)); //wait 'til the message has been completely sent
+ ms = 0; //put the transceiver in the receiver mode
+ }
+
+ red = 1;
+ //wait_us(1);
+ //while(!(((UART0->S1&0x20)>>5)==0x01));
+
+ if(((UART0->S1&0x20)>>5)==0x01) //if the ucontroller receiver buffer is full
+ {
+ received1 = UART0->D;
+ if (((UART0->S1&0x08)>>3)==0x01) //if an overflow happened
+ {
+ received2 = 0x63;
+ UART0->S1=1;
+ }
+ else
+ received2 = 0x64; //stores the first Byte in the received1 variable
+ // //- NÃO SAI DO LOOP -wait 'til the next has been received
+ //if(((UART0->S1&0x20)>>5)==0x01)
+ //wait_us(6);
+ //if(((UART0->S1&0x20)>>5)==0x01)
+ // received2 = UART0->D;
+ //else if (((UART0->S1&0x08)>>3)==0x01) //if an overflow happened
+ // {
+ // received2 = 0x63;
+ // UART0->S1=1;
+ // }
+ // else
+ // received2 = 0x64;
+ //received2 = UART0->D;
+ //stores the second Byte in the received2 variable
+
+ angle = ((((received2)&0x3F)<<8)|(received1)); //assembly the angle using the components
+ }
+
+ if (((UART0->S1&0x08)>>3)==0x01) //if an overflow happened
+ {
+ UART0->S1=1;
+ }
+
+ u_s_b.printf("0x%04X",linear_position.read_u16()); //send linear position, obs: 6 chars needed
+ u_s_b.printf("0x%04X",linear_velocity.read_u16()); //send linear velocity
+ u_s_b.printf("0x%04X",angle); //send angle
+ u_s_b.printf("OMEGA "); //send angular velocity
+ }
+}
+//TO DO: verificar se ocorr overflow do buffer