Revision 14:b3530522908e, committed 2020-12-14

Comitter:

ruslanbredun

Date:

Mon Dec 14 10:20:16 2020 +0000

Parent:

13:0c732e06d675

Child:

15:0f52feb640cf

Commit message:

11.12.20

Changed in this revision

--- a/AS5045/AS5045.h	Sun Dec 06 11:06:23 2020 +0000
+++ b/AS5045/AS5045.h	Mon Dec 14 10:20:16 2020 +0000
@@ -19,7 +19,7 @@
 
   static const float MAX_VALUE = 1024;			// Maximum possible encoder position value (ticks for full rotation)
   static const float RESOLUTION = 0.3515625;	// Encoder resolution (0.08789 degrees per tick)
-  static const float SPI_FREQ = 5000;		// Frequency of the SPI bus
+  static const float SPI_FREQ = 500000;		// Frequency of the SPI bus
 };
 
 #endif	// AS5045_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Watchdog.lib	Mon Dec 14 10:20:16 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/3mdeb/code/Watchdog/#76136c6dc64d

--- a/global.h	Sun Dec 06 11:06:23 2020 +0000
+++ b/global.h	Mon Dec 14 10:20:16 2020 +0000
@@ -7,13 +7,15 @@
 #include "E18_D80NK.h"
 #include <RS485.h>
 #include "DS1820.h"
+#include "Watchdog.h"
 
 #define MAX_SENSOSRS   32 
  
 #define BLINKING_RATE     500
 
-#define TEST_REQUEST    0
-#define DEMO_CODE       1
+#define TEST_WATCHDOG   0
+#define TEST_REQUEST    0 
+#define MAIN_CODE       1
 
 // rs-485 pins
 #define UART1_TX    PB_6

--- a/main.cpp	Sun Dec 06 11:06:23 2020 +0000
+++ b/main.cpp	Mon Dec 14 10:20:16 2020 +0000
@@ -1,73 +1,67 @@
 #include <global.h>
 
-//RS485 RS485(UART2_TX,UART2_RX,DE_TXD_2); // Tx, Rx , !RE and DE MAX485 pin
 Serial RS2(UART2_TX, UART2_RX);
 Serial RS1(UART1_TX, UART1_RX);
 
 Timer timer;
+Watchdog  watchDog;
+
 typedef uint8_t byte;
 
 DigitalOut Select1(DE_TXD_1);
 DigitalOut Select2(DE_TXD_2);
 
-
+bool sendFlag = false;
+char c = '1';
 
-bool sendFlag = false;
-bool sendFlag1 = false;
-int cmd[13] = {0xA5,0x40,0x90,0x08,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x7D};
-char inChar[52];
-int index = 0;
-char c = '1';
-const unsigned char CRC7_POLY = 0x91;
+// ----------------------------- For future ---------------------------------------
+// Counting CRC for modbus package
+//const unsigned char CRC7_POLY = 0x91;
 
-unsigned char getCRC(unsigned char message[], unsigned char length)
-{
-    unsigned char i, j, crc = 0;
-
-    for (i = 0; i < length; i++) {
-        crc ^= message[i];
-        for (j = 0; j < 8; j++) {
-            if (crc & 1)
-                crc ^= CRC7_POLY;
-            crc >>= 1;
-        }
-    }
-    return crc;
-
-}
+//unsigned char getCRC(unsigned char message[], unsigned char length)
+//{
+//    unsigned char i, j, crc = 0;
+//
+//    for (i = 0; i < length; i++) {
+//        crc ^= message[i];
+//        for (j = 0; j < 8; j++) {
+//            if (crc & 1)
+//                crc ^= CRC7_POLY;
+//            crc >>= 1;
+//        }
+//    }
+//    return crc;
+//
+//}
 
 void UART2_callback()
 {
     c =  RS2.getc();
-    if(c == '4') {
+    if(c == '5') {
         sendFlag = true;
     } else {
         Select2 = 1;
         wait_ms(90);
         Select2 = 0;
     }
-
 }
 
 int main()
 {
     RS2.baud (115200);
+    RS1.baud (115200);
     Select1 = 0;
     Select2 = 0;
     RS2.attach(&UART2_callback);
-    //RS1.attach(&UART1_callback);
-
-#if DEMO_CODE
-    int US1_data = 0,US2_data = 0, US3_data = 0;
-
-    int Lift_IR1 = 0,Lift_IR2 = 0;
 
+#if MAIN_CODE
+    int US1_data = 0,US2_data = 0, US3_data = 0, Lift_IR1 = 0,Lift_IR2 = 0, Enc_left_data = 0, Enc_right_data = 0;
     bool IR1_data = 0,IR2_data = 0;
+    float temp_one_value = -1, temp_two_value = -1, currentTime = 0, previousTime = 0;
+    
+    timer.start();
 
-    float temp_one_value = -1, temp_two_value = -1, Enc_left_data = 0, Enc_right_data = 0, time = 0;
-    
-    Timer timer1;
-    timer1.start();
+    watchDog.Configure(5.0);
 
     OneWire oneWire(PA_11);        // substitute D8 with the actual pin name connected to the 1-wire bus
     int sensorsFound = 0;
@@ -98,51 +92,60 @@
     }
 
     while (true) {
-       timer1.reset();
+        watchDog.Service();
+        
+        currentTime = timer.read();
+
+        if((currentTime - previousTime) >= 0.1) {
+            previousTime = currentTime;
+            
+            for (int i = 0; i < sensorsFound; i++) {
+                ds1820[i]->startConversion();
+                wait_ms(1);
+            }
 
-        for (int i = 0; i < sensorsFound; i++) {
-            ds1820[i]->startConversion();
-            wait_ms(1);
-            //temp_one_value = ds1820[i]->read();
-            //temp_two_value = i;
+            US_sensor_left.startMeasurement ();
+            US1_data = US_sensor_left.getDistance_cm ();
+            wait_ms(20);
+            
+            US_sensor_middle.startMeasurement ();
+            US2_data = US_sensor_middle.getDistance_cm ();
+            wait_ms(20);
+            
+            US_sensor_right.startMeasurement ();
+            US3_data = US_sensor_right.getDistance_cm ();
+            wait_ms(20);
+            
+            IR1_data = IR_sensor_left.checkObstacle ();
+            IR2_data = IR_sensor_right.checkObstacle ();
+            
+            Lift_IR1 = Lift1.read();
+            Lift_IR2 = Lift2.read();
+
+
+            if (ds1820[0]->isPresent() ) {
+                temp_one_value = ds1820[0]->read();
+            }
+            if (ds1820[1]->isPresent() ) {
+                temp_two_value = ds1820[1]->read();
+            }
         }
 
-        US_sensor_left.startMeasurement ();
-        US1_data = US_sensor_left.getDistance_cm ();
-        wait_ms(15);
-        US_sensor_middle.startMeasurement ();
-        US2_data = US_sensor_middle.getDistance_cm ();
-        wait_ms(15);
-        US_sensor_right.startMeasurement ();
-        US3_data = US_sensor_right.getDistance_cm ();
-        wait_ms(15);
-        IR1_data = IR_sensor_left.checkObstacle ();
-        IR2_data = IR_sensor_right.checkObstacle ();
-
-
-        Enc_left_data = Enc_left.getAngle();
-        Enc_right_data = Enc_right.getAngle();
+        Enc_left_data = Enc_left.getPosition();
+        Enc_right_data = Enc_right.getPosition();
+        
+        Select1 = 1;
+        RS1.printf ("%d_%d\r\n", Enc_left_data, Enc_right_data);
+        wait_ms(1);
+        Select1 = 0;
 
-        Lift_IR1 = Lift1.read();
-        Lift_IR2 = Lift2.read();
-        
-        time = timer1.read();
-
-        if (ds1820[0]->isPresent() ) {
-            //pc.printf("temp[%d] = %3.1f%cC\r\n", 0, ds1820[0]->read(), 176); // read temperature
-            temp_one_value = ds1820[0]->read();
-        }
-        if (ds1820[1]->isPresent() ) {
-            //pc.printf("temp[%d] = %3.1f%cC\r\n", 1, ds1820[1]->read(), 176); // read temperature
-            temp_two_value = ds1820[1]->read();
-        }
-        //if(sendFlag) {
+        if(sendFlag) {
             Select2 = 1;
-            RS2.printf ("%d_%d_%d_%d_%d_%d_%d_%3.1f_%3.1f_%3.1f_%3.1f_%f\r\n", US1_data, US2_data, US3_data, IR1_data, IR2_data, Lift_IR1, Lift_IR2, temp_one_value, temp_two_value, Enc_right_data, Enc_left_data, time);  //,(int)((Vcc -24 ) * 5 + 50));
+            RS2.printf ("%d_%d_%d_%d_%d_%d_%d_%3.1f_%3.1f\r\n", US1_data, US2_data, US3_data, IR1_data, IR2_data, Lift_IR1, Lift_IR2, temp_one_value, temp_two_value);  //,(int)((Vcc -24 ) * 5 + 50));
             wait_ms(5);
             sendFlag = false;
             Select2 = 0;
-       // }
+        }
     }
 #endif
 
@@ -164,4 +167,5 @@
     }
 
 #endif
+
 }
\ No newline at end of file