Revision 5:97117a837d2c, committed 2020-07-21

Comitter:

nestedslk

Date:

Tue Jul 21 12:18:14 2020 +0000

Parent:

4:f6e22dd39313

Child:

6:a760ce6defbe

Commit message:

ultrasonics working

Changed in this revision

--- a/AS5045/AS5045.cpp	Sat Jul 18 14:59:04 2020 +0000
+++ b/AS5045/AS5045.cpp	Tue Jul 21 12:18:14 2020 +0000
@@ -7,20 +7,20 @@
  *	@note
  *		PinName CS is the digital output pin number
  */
- 
- 
- Timer timer_enc;
+
+
+Timer timer_enc;
 AS5045::AS5045(PinName CS) :
-  _spi(NC,D12, D13),	// MBED SPI init
-  _cs(CS)				// Digital output pin init
+    _spi(NC,D12, D13),	// MBED SPI init
+    _cs(CS)				// Digital output pin init
 {
-	// Set SPI bitwidth
-	_spi.format(9, 2);
+    // Set SPI bitwidth9
+    _spi.format(9, 2);
 
-	// Set SPI frequency
-	_spi.frequency(50000);//SPI_FREQ);
-	// Set the digital output high
-	_cs = 1;
+    // Set SPI frequency
+    _spi.frequency(500000);//SPI_FREQ);
+    // Set the digital output high
+    _cs = 1;
 }
 
 /** Read tick amount from encoder (position)
@@ -30,29 +30,42 @@
  */
 int AS5045::getPosition()
 {
-	unsigned int upper,		// Upper part of the tick amount integer
-				lower;		// Lower part of the tick amount integer
-
-	// Set the chip select pin low
-	_cs = 0;
-	timer_enc.reset();
-        timer_enc.start();
-	wait_ms(5);
-	// Read data from the encoder
- 	upper = (_spi.write(0x00)) ;
- 	lower = (_spi.write(0x00));
- 	
-// 	lower = lower >> 6;   
-//    upper = (upper >> 6)+lower;
-//   upper = upper & 0xffc0;
-   upper = upper >> 6;
-
-	// Set the chip select pin high
- 	_cs = 1;
-wait_ms(5);
- 	// Return full 9-bits tick amount
-	return upper; 
-	//return upper ;
+    unsigned int upper,		// Upper part of the tick amount integer
+             lower;		// Lower part of the tick amount integer
+//
+//    // Set the chip select pin low
+//    //timer_enc.reset();
+//    timer_enc.start();
+//    _cs = 0;
+//    
+//    wait_ms(1);
+//    // Read data from the encoder
+//    upper = (_spi.write(0x00)) ;
+//// 	lower = (_spi.write(0x00));
+//
+//// 	lower = lower >> 6;
+////    upper = (upper >> 6)+lower;
+////   upper = upper & 0xffc0;
+////    upper = upper >> 6;
+//
+//    // Set the chip select pin high
+//    _cs = 1;
+//    //wait_ms(5);
+    // Return full 9-bits tick amount
+   // return (upper>>5);
+    //return upper ;
+    
+    _cs = 0;
+   upper = _spi.write(0x00);
+   lower = _spi.write(0x00);
+  _cs = 1;
+ 
+ 
+ 	//upper &=~ 0xF0;//mask out the first 4 bits
+//     EncoderByteData  = upper << 8; //shift MSB to correct EncoderByteData in EncoderByteData message
+//     EncoderByteData  += lower; // add LSB to EncoderByteData message to complete message
+  return ((upper << 3)+(lower >> 6));
+  //return EncoderByteData; 
 }
 
 /** Convert position of the encoder to degrees
@@ -62,9 +75,9 @@
  */
 float AS5045::getRotation()
 {
-	// Get data from the encoder
- 	float value = (float)getPosition();
+    // Get data from the encoder
+    float value = (float)getPosition();
 
- 	// Return degrees of rotation of the encoder
- 	return value * RESOLUTION;
+    // Return degrees of rotation of the encoder
+    return value * RESOLUTION;
 }

--- a/AS5045/AS5045.h	Sat Jul 18 14:59:04 2020 +0000
+++ b/AS5045/AS5045.h	Tue Jul 21 12:18:14 2020 +0000
@@ -14,7 +14,8 @@
 
 private:
   SPI _spi;												// MBED SPI instance
-  DigitalOut _cs;										// MBED digital output pin
+  DigitalOut _cs;
+  uint16_t EncoderByteData;										// MBED digital output pin
 
   static const float MAX_VALUE = 1024;			// Maximum possible encoder position value (ticks for full rotation)
   static const float RESOLUTION = 0.08789;	// Encoder resolution (0.08789 degrees per tick)

--- a/global.h	Sat Jul 18 14:59:04 2020 +0000
+++ b/global.h	Tue Jul 21 12:18:14 2020 +0000
@@ -10,9 +10,9 @@
 
 #define BLINKING_RATE     500
 
-#define TEST_ULTRASONIC 0
+#define TEST_ULTRASONIC 1
 #define TEST_ENCODERS   0
-#define TEST_IR         1
+#define TEST_IR         0
 
 // rs-485 pins
 #define UART1_TX    PB_6

--- a/main.cpp	Sat Jul 18 14:59:04 2020 +0000
+++ b/main.cpp	Tue Jul 21 12:18:14 2020 +0000
@@ -1,6 +1,7 @@
 #include <global.h>
 
 Serial pc(UART1_TX, UART1_RX);
+//Serial pc(USBTX, USBRX);
 Timer timer;
 
 int main()
@@ -29,55 +30,12 @@
         timer.reset();
         timer.start();
         sensor1.startMeasurement();
-        while (sensor1.isNewDataReady() == false && timer.read_ms() < time_to_check_us) {
-//           pc.printf("c1");
-           // if (sensor1.isNewDataReady() == true) {
-//                pc.printf("Distance1: %5.1f mm \r\n", sensor1.getDistance_cm());
-//            }
-        }
-        //timer.reset();
-//        timer.start();
-////        pc.printf("\r\n");
-//        sensor2.startMeasurement();
-//        while (sensor2.isNewDataReady() == false && timer.read_ms() < time_to_check_us) {
-////                pc.printf("c2");
-//        }  
-//        timer.reset();
-//        timer.start();
-//        pc.printf("\r\n");
-        //sensor3.startMeasurement();
-//        while (sensor3.isNewDataReady() == false && timer.read_ms() < time_to_check_us) {
-//                pc.printf("c3");
-//        }       
-//        
-//        pc.printf("\r\n");         
-//        pc.printf("Distance1: %5.1f mm -- Distance2: %5.1f mm -- -- Distance3: %5.1f mm \r\n", sensor1.getDistance_cm()), sensor2.getDistance_cm(), sensor3.getDistance_cm());
+        //while (sensor1.isNewDataReady() == false && timer.read_ms() < time_to_check_us) {
+        //pc.printf("Distance1: %5.1f mm -- Distance2: %5.1f mm -- -- Distance3: %5.1f mm \r\n", sensor1.getDistance_cm()), sensor2.getDistance_cm(), sensor3.getDistance_cm());
         pc.printf("Distance1: %5.1f mm \r\n", sensor1.getDistance_cm());
 
         timer.stop();
-//        wait_ms(150 - timer.read_ms());
-
-        //
-//          timer.reset();
-//          timer.start();
-//
-//          sensor2.startMeasurement();
-//          pc.printf("Distance2: %5.1f mm \r\n", sensor2.getDistance_cm());
-//
-//          timer.stop();
-//          wait_ms(500 - timer.read_ms());
-//
-//          timer.reset();
-//          timer.start();
-//
-//          sensor3.startMeasurement();
-//          pc.printf("Distance3: %5.1f mm \r\n", sensor3.getDistance_cm());
-//
-//          timer.stop();
-        //wait_ms(500 - timer.read_ms()); // time the loop
-
-//
-//          wait_ms(500 - timer.read_ms()); // time the loop
+        wait_ms(10);
 
     }
 
@@ -90,16 +48,14 @@
     AS5045 encoder_2(SP1_NSS2);
     while(1) {
         led = !led;
-        int encoder_1_Value = encoder_1.getPosition();
+        double encoder_1_Value = encoder_1.getPosition();
         wait_ms(30);
-        int encoder_2_Value = encoder_2.getPosition();
+        double encoder_2_Value = encoder_2.getPosition();
         wait_ms(30);
         //encoder_1_Value =
         //if( encoder_1_Value.IsValid() && encoder_2_Value.IsValid() )
-        
-        if(encoder_1_Value < min1_value) min1_value = encoder_1_Value;
-        if(encoder_1_Value > max1_value) max1_value = encoder_1_Value;
-        pc.printf("Sensor Values = %d --- %d \n\r",encoder_1_Value, encoder_2_Value ); //
+    
+        pc.printf("Sensor Values = %f --- %f \n\r",encoder_1_Value, encoder_2_Value ); //
         //else
         //pc.printf("Invalid data read");
 
@@ -109,12 +65,14 @@
 #endif
 
 # if TEST_IR
+PwmIn a(PB_4);
     //E18_D80NK infared1 (IR1_PB12_OUT);
 //    E18_D80NK infared2 (IR2_PB13_OUT);
-//    while (true) {
-//        pc.printf ("Is there any obstacle: %d ---- %d ",  infared1.checkObstacle(),infared2.checkObstacle() );
-//        pc.printf ("\n\r");
-//    }
+    while (true) {
+       // pc.printf ("Is there any obstacle: %d ---- %d ",  infared1.checkObstacle(),infared2.checkObstacle() );
+       
+        pc.printf ("\n\r");
+    }
 
 
 #endif