Руслан Бредун
test
Revision 4:f6e22dd39313, committed 2020-07-18
- Comitter:
- nestedslk
- Date:
- Sat Jul 18 14:59:04 2020 +0000
- Parent:
- 3:96fcb3b041eb
- Child:
- 5:97117a837d2c
- Commit message:
- testing version
Changed in this revision
--- a/AS5045/AS5045.cpp Tue Jul 07 15:02:22 2020 +0000
+++ b/AS5045/AS5045.cpp Sat Jul 18 14:59:04 2020 +0000
@@ -1,5 +1,5 @@
#include "AS5045.h"
-
+//we have 5040
/** Constructor
*
* @param CS Pin number for the digital output
@@ -7,16 +7,18 @@
* @note
* PinName CS is the digital output pin number
*/
+
+
+ Timer timer_enc;
AS5045::AS5045(PinName CS) :
_spi(NC,D12, D13), // MBED SPI init
_cs(CS) // Digital output pin init
{
// Set SPI bitwidth
- _spi.format(9,2);
+ _spi.format(9, 2);
// Set SPI frequency
- _spi.frequency(SPI_FREQ);
-
+ _spi.frequency(50000);//SPI_FREQ);
// Set the digital output high
_cs = 1;
}
@@ -28,21 +30,29 @@
*/
int AS5045::getPosition()
{
- int upper, // Upper part of the tick amount integer
- lower; // Lower part of the tick amount integer
+ 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);
+ 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 << 3)+(lower >> 6));
+ return upper;
+ //return upper ;
}
/** Convert position of the encoder to degrees
--- a/AS5045/AS5045.h Tue Jul 07 15:02:22 2020 +0000 +++ b/AS5045/AS5045.h Sat Jul 18 14:59:04 2020 +0000 @@ -16,7 +16,7 @@ SPI _spi; // MBED SPI instance DigitalOut _cs; // MBED digital output pin - static const float MAX_VALUE = 4095; // Maximum possible encoder position value (ticks for full rotation) + 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) static const float SPI_FREQ = 500000; // Frequency of the SPI bus };
--- a/E18_D80NK/E18_D80NK.cpp Tue Jul 07 15:02:22 2020 +0000
+++ b/E18_D80NK/E18_D80NK.cpp Sat Jul 18 14:59:04 2020 +0000
@@ -2,4 +2,4 @@
E18_D80NK::E18_D80NK(PinName inputPin) : input(inputPin) {}
-bool E18_D80NK::checkObstacle(void) { return (bool) input; }
+int E18_D80NK::checkObstacle(void) { return (int) input; }
--- a/E18_D80NK/E18_D80NK.h Tue Jul 07 15:02:22 2020 +0000 +++ b/E18_D80NK/E18_D80NK.h Sat Jul 18 14:59:04 2020 +0000 @@ -15,5 +15,5 @@ /** Check if there is an obstacle in front of the sensor * @return - if there's an obstacle return 0, otherwise - 1 */ - bool checkObstacle(void); + int checkObstacle(void); };
--- a/JSN_SR04/JSN_SR04.cpp Tue Jul 07 15:02:22 2020 +0000
+++ b/JSN_SR04/JSN_SR04.cpp Sat Jul 18 14:59:04 2020 +0000
@@ -81,7 +81,7 @@
void JSN_SR04::startMeasurement() {
// Trigger the sensor (by a signal described in the datasheet)
trigger = 1;
- triggerTimeout.attach_us(this, &JSN_SR04::turnOffTrigger, 10);
+ triggerTimeout.attach_us(this, &JSN_SR04::turnOffTrigger, 100);
// Start to measure a response
echo.rise(this, &JSN_SR04::startTimer);
--- a/RS485/RS485.cpp Tue Jul 07 15:02:22 2020 +0000
+++ b/RS485/RS485.cpp Sat Jul 18 14:59:04 2020 +0000
@@ -1,18 +1,144 @@
#include "RS485.h"
-
-RS485::RS485(PinName tx, PinName rx, PinName mode, const char *name) : Serial( tx, rx, name), m_modePin(mode)
-{
- m_modePin = 0;
+#include <stdarg.h>
+
+typedef unsigned int word;
+typedef uint8_t byte;
+typedef uint8_t boolean;
+typedef void (*voidFuncPtr)(void);
+Timer lapse;
+ const byte STX = '\2';
+ const byte ETX = '\3';
+
+RS485::RS485(PinName tx, PinName rx, PinName dere)
+ : BufferedSerial(tx, rx)
+{
+ return;
}
-
-int RS485::_getc() {
- return _base_getc();
-}
-
-int RS485::_putc(int c) {
- m_modePin = 1;
- int ret = _base_putc(c);
- m_modePin = 0;
- return ret;
-}
-
+
+
+byte RS485::crc8(const byte *addr, byte len)
+{
+ byte crc = 0;
+ while (len--)
+ {
+ byte inbyte = *addr++;
+ for (byte i = 8; i; i--)
+ {
+ byte mix = (crc ^ inbyte) & 0x01;
+ crc >>= 1;
+ if (mix)
+ crc ^= 0x8C;
+ inbyte >>= 1;
+ } // end of for
+ } // end of while
+ return crc;
+} // end of crc8
+
+void RS485::sendComplemented( const byte what)
+{
+ byte c ;
+ // first nibble
+ c = what >> 4;
+ putc((c << 4) | (c ^ 0x0F));
+
+ // second nibble
+ c = what & 0x0F;
+ putc((c << 4) | (c ^ 0x0F));
+} // end of sendComplemented
+
+
+void RS485::sendMsg(const byte * data, const byte length)
+{
+ putc(STX); // STX
+ for (byte i = 0; i < length; i++)
+ sendComplemented (data[i]);
+ putc(ETX); // ETX
+ sendComplemented(crc8(data, length));
+} // end of sendMsg
+
+// receive a message, maximum "length" bytes, timeout after "timeout" clock_mseconds
+// if nothing received, or an error (eg. bad CRC, bad data) return 0
+// otherwise, returns length of received data
+byte RS485::recvMsg (byte * data, // buffer to receive into
+ const byte length, // maximum buffer size
+ unsigned long timeout) // clock_mseconds before timing out
+ {
+
+ unsigned long start_time = lapse.read_ms();
+
+ bool have_stx = false;
+
+ // variables below are set when we get an STX
+ bool have_etx;
+ byte input_pos;
+ bool first_nibble;
+ byte current_byte;
+
+ while (lapse.read_ms() - start_time < timeout)
+ {
+ if (readable() > 0)
+ {
+ byte inByte = getc();
+
+ switch (inByte)
+ {
+
+ case STX: // start of text
+ have_stx = true;
+ have_etx = false;
+ input_pos = 0;
+ first_nibble = true;
+ start_time = lapse.read_ms(); // reset timeout period
+ break;
+
+ case ETX: // end of text
+ have_etx = true;
+ break;
+
+ default:
+ // wait until packet officially starts
+ if (!have_stx)
+ break;
+
+ // check byte is in valid form (4 bits followed by 4 bits complemented)
+ if ((inByte >> 4) != ((inByte & 0x0F) ^ 0x0F) )
+ return 0; // bad character
+
+ // convert back
+ inByte >>= 4;
+
+ // high-order nibble?
+ if (first_nibble)
+ {
+ current_byte = inByte;
+ first_nibble = false;
+ break;
+ } // end of first nibble
+
+ // low-order nibble
+ current_byte <<= 4;
+ current_byte |= inByte;
+ first_nibble = true;
+
+ // if we have the ETX this must be the CRC
+ if (have_etx)
+ {
+ if (crc8 (data, input_pos) != current_byte)
+ return 0; // bad crc
+ return input_pos; // return received length
+ } // end if have ETX already
+
+ // keep adding if not full
+ if (input_pos < length)
+ data [input_pos++] = current_byte;
+ else
+ return 0; // overflow
+ break;
+
+ } // end of switch
+ } // end of incoming data
+ } // end of while not timed out
+
+ return 0; // timeout
+} // end of recvMsg
+
\ No newline at end of file
--- a/RS485/RS485.h Tue Jul 07 15:02:22 2020 +0000
+++ b/RS485/RS485.h Sat Jul 18 14:59:04 2020 +0000
@@ -1,23 +1,60 @@
-#include <mbed.h>
-class RS485 : public Serial
+#ifndef RS485_H
+#define RS485_H
+
+#include "BufferedSerial.h"
+#include "mbed.h"
+
+class RS485 : public BufferedSerial
{
+private:
+ typedef unsigned int word;
+ typedef uint8_t byte;
+ typedef uint8_t boolean;
+ typedef void (*voidFuncPtr)(void);
+
public:
- /** Create a RS485 Serial port using MAX485, connected to the specified transmit and receive pins
- *
+ /** Create a BufferedSerial port, connected to the specified transmit and receive pins
* @param tx Transmit pin
* @param rx Receive pin
- * @param mode Rx TX Mode pin
- *
- * @note
- * Either tx or rx may be specified as NC if unused
+ * @param dere Enable pin, this pin should be connected to !RE and DE
+ * @note uses BufferedSerial
*/
- RS485(PinName tx, PinName rx, PinName mode, const char *name=NULL);
+ RS485(PinName tx, PinName rx, PinName dere);
+
+ /** calculate 8-bit CRC
+ * cyclic redundancy check
+ * @param addr byte pointer of information to use (typical an byte array)
+ * @param len length of byte of information were converting
+ * @return the CRC byte
+ */
+ static byte crc8 (const byte *addr, byte len);
+
+ /** sendComplemented byte
+ * send a byte complemented, repeated
+ * only values sent would be (in hex):
+ * 0F, 1E, 2D, 3C, 4B, 5A, 69, 78, 87, 96, A5, B4, C3, D2, E1, F0
+ * @what the byte to complement
+ */
+ void sendComplemented (const byte what);
-protected:
- virtual int _putc(int c);
- virtual int _getc();
-
-private:
- DigitalOut m_modePin;
-
-};
\ No newline at end of file
+ /** send message
+ * cyclic redundancy check
+ * @param data the data to be sent through RS485
+ * @param length length of the data
+ * @note puts STX at start, ETX at end, and add CRC
+ */
+ void sendMsg (const byte * data, const byte length);
+
+ /** receive message
+ * reads serial port and populates data
+ * @param data buffer to receive into
+ * @param length length of the data
+ * @param timeout clock_mseconds before timing out
+ * @return the number of bytes received
+ *
+ */
+ byte recvMsg (byte * data, const byte length, unsigned long timeout);
+
+
+};
+#endif
\ No newline at end of file
--- a/RS485/mbed/.bld/bldrc Tue Jul 07 15:02:22 2020 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file
--- a/global.h Tue Jul 07 15:02:22 2020 +0000 +++ b/global.h Sat Jul 18 14:59:04 2020 +0000 @@ -8,9 +8,11 @@ #include "AS5045.h" #include "E18_D80NK.h" -#define TEST_ULTRASONIC 1 +#define BLINKING_RATE 500 + +#define TEST_ULTRASONIC 0 #define TEST_ENCODERS 0 -#define TEST_IR 0 +#define TEST_IR 1 // rs-485 pins #define UART1_TX PB_6 @@ -39,9 +41,12 @@ #define TRIG_PB15_OUT PB_15 #define TRIG_PB14_OUT PB_14 +//ir obstacle pins +#define IR1_PB12_OUT PB_12 +#define IR2_PB13_OUT PB_13 - +#define DEBUG_LED PC_13 #endif /* GLOBAL_H_ */ \ No newline at end of file
--- a/main.cpp Tue Jul 07 15:02:22 2020 +0000
+++ b/main.cpp Sat Jul 18 14:59:04 2020 +0000
@@ -1,63 +1,122 @@
#include <global.h>
Serial pc(UART1_TX, UART1_RX);
-Timer timer;
+Timer timer;
-int main() {
+int main()
+{
+//
+ DigitalOut led(DEBUG_LED);
+ DigitalOut led2(DE_TXD_1, 1); // activate transmitting rs485-1
+// led = false;
+// while (true) {
+// led = !led;
+// wait_ms(BLINKING_RATE);
+// pc.printf("Distance:");
+// }
+//
#if TEST_ULTRASONIC
-
+ int time_to_check_us = 1000;
JSN_SR04 sensor1(TIM1_CH2, TRIG_PA8_OUT);
- JSN_SR04 sensor2(TIM1_CH2, TRIG_PB15_OUT);
- JSN_SR04 sensor3(TIM1_CH2, TRIG_PB14_OUT);
- sensor1.setRanges(10, 110);
- sensor2.setRanges(10, 110);
- sensor3.setRanges(10, 110);
- pc.printf("Min. range = %g cm\n\rMax. range = %g cm\n\r",sensor1.getMinRange(), sensor1.getMaxRange());
+// JSN_SR04 sensor1(TIM1_CH2, TRIG_PB14_OUT); //no triger signal
+// JSN_SR04 sensor1(TIM1_CH2, TRIG_PB15_OUT);
+ sensor1.setRanges(30, 200);
+// sensor2.setRanges(30, 200);
+// sensor3.setRanges(30, 200);
+// pc.printf("Min. range = %g cm\n\r",sensor1.getMinRange());
while(true) {
- timer.reset();
- timer.start();
- sensor1.startMeasurement();
- sensor2.startMeasurement();
- sensor3.startMeasurement();
- while(!sensor1.isNewDataReady() || !sensor2.isNewDataReady() || !sensor3.isNewDataReady()) {
- // wait for new data
- // waiting time depends on the distance
- }
- pc.printf("Distance: %5.1f mm %5.1f mm %5.1f mm \r\n", sensor1.getDistance_mm(),sensor2.getDistance_mm(),sensor3.getDistance_mm());
- timer.stop();
- wait_ms(50 - timer.read_ms()); // time the loop
- }
-
+ 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());
+ 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
+
+ }
+
#endif
#if TEST_ENCODERS
-
- AS5045Controller encoder_1(SP1_NSS1);
- AS5045Controller encoder_2(SP1_NSS2);
- while(1)
- {
- int encoder_1_Value = encoder_1.Read();
+int min1_value = 2000;
+int max1_value = 0;
+ AS5045 encoder_1(SP1_NSS1);
+ AS5045 encoder_2(SP1_NSS2);
+ while(1) {
+ led = !led;
+ int encoder_1_Value = encoder_1.getPosition();
+ wait_ms(30);
+ int 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 ); //
+ //else
+ //pc.printf("Invalid data read");
- int encoder_2_Value = encoder_2.Read();
- if( encoder_1_Value.IsValid() && encoder_2_Value.IsValid() )
- pc.printf("Sensor Values = %d\n\r",encoder_1_Value ,encoder_2_Value );
- else
- pc.printf("Invalid data read");
-
- Thread::wait(2);
- }
-
-#endif
+ //wait_ms(50);
+ }
+
+#endif
# if TEST_IR
-
- E18_D80NK infared (<your pin>);
+ //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:", infared.checkObstacle ());
- }
-
+
#endif
}