z ysaito
https://os.mbed.com/users/sayzyas
Dependencies: QEI TextLCD mbed
Diff: P1_1Y_main.cpp
- Revision:
- 0:73dd48be5ca6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/P1_1Y_main.cpp Thu Jul 26 00:20:15 2018 +0000
@@ -0,0 +1,364 @@
+/**********************************************************
+ * Project: B2Dash (1F-1)
+ * Title: CrExp B2D Resolver Ctrl Main
+ * Target: LPCXpresso824-Max
+ * Author: zStranger
+ * Date(Latest update) 2017.8.23
+ * --------------------------------------------------------
+ * Article
+ *
+ *
+ * --------------------------------------------------------
+ *
+ * LPCXpresso 824-MAX
+ * +---------USB---------+
+ * | |
+ * | |
+ * | |
+ * | |
+ * | | SCL P0_10 D15 -> IIC SCL
+ * | ## ### ## | SDA P0_11 D14 -> IIC SDA
+ * | # # # # # # | AVDD
+ * N/A | # # # # # | GND
+ * +3V3 | ## # # # | SCK P0_24 D13
+ * NRST | # # # # # | MISO P0_25 D12
+ * +3V3 | # # # # ###### | MOSI P0_26 D11 -> Res B
+ * +5V | ## ##### # | SSEL P0_15 D10 -> Res A
+ * GND | | P0_27 D9 --> SW ZERO
+ * GND | | P0_13 D8 --> Int2Main
+ * N/A | | P0_17 D7
+ * | | P0_16 D6
+ * mtrcnt (Dram) --> A0 P0_6 | | PWM P0_28 D5 --> LCD DB7
+ * mtrcnt (Cable) --> A1 P0_14 | | PWM P0_18 D4 --> LCD DB6
+ * mtrspd (Dram CW) -> A2 P0_23 | | PWM P0_12 D3 --> LCD DB5
+ * mtrspd (Dram CCW) -> A3 P0_22 | | PWM P0_19 D2 --> LCD DB4
+ * mtrspd (Cable CW) -> A4 P0_21 | | TX P0_4 D1 --> LCD E
+ * mtrspd (Cable CCW)-> A5 P0_20 | | RX P0_0 D0 --> LCD RS
+ * +---------------------+
+ *
+ ***************************************/
+
+#include "mbed.h"
+//#include "rtos.h"
+#include "QEI.h"
+#include "common.h"
+#include "debugprint.h"
+#include <math.h>
+#include "mcchk.h"
+#include "TextLCD.h"
+
+// Hardware setting
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+/*
+QEI wheel
+ PinName channelA,
+ PinName channelB,
+ PinName index,
+ int pulsesPerRev,
+ Encoding encoding) : channelA_(channelA), channelB_(channelB),
+ index_(index)
+*/
+#ifdef ResolverDirection_f // For Fix Fallong Winch
+//QEI wheel( P0_26, P0_15, NC, ROTATE_PER_RESOLUTION, QEI::X2_ENCODING );
+QEI wheel( D11, D10, NC, ROTATE_PER_RESOLUTION, QEI::X2_ENCODING );
+#else //For Falling Position Moving Winch
+//QEI wheel( P0_15, P0_26, NC, ROTATE_PER_RESOLUTION, QEI::X2_ENCODING );
+QEI wheel( D10, D11, NC, ROTATE_PER_RESOLUTION, QEI::X2_ENCODING );
+
+#endif // FFWinchPhaseSetting
+
+//TextLCD lcd(P0_28, P0_18, P0_12, P0_19, P0_4, P0_0); // rs, e, d4-d7
+TextLCD lcd(D0,D1,D2,D5,D12,D13); // rs, e, d4-d7
+
+/*
+ Dram r = 60mm
+ Cable fai = 3
+
+ (60+3)*3.14 = 197.82mm ==> 2^12*4 = 4096 * 4 = 16384 pulse
+ 1(mm) = 82.82(pulse)
+ 0.01208(mm) = 1(pulse)
+
+*/
+DigitalOut led1(LED1); // Red
+DigitalOut led2(LED2); // Green
+DigitalOut led3(LED3); // Blue
+
+DigitalOut int2hst(D8);
+DigitalIn sw_zero(D7);
+
+AnalogIn mtcnt_wdram(A0);
+AnalogIn mtcnt_wcabl(A1);
+AnalogIn mtspd_wdram_cw(A2);
+AnalogIn mtspd_wdram_ccw(A3);
+AnalogIn mtspd_wcabl_cw(A4);
+AnalogIn mtspd_wcabl_ccw(A5);
+
+I2CSlave slave(D14, D15); //I2C SDA SCL
+
+//Mutex lcdMutex;
+
+void led_demo(){
+ int i;
+ for( i = 0; i < 20; i++ ) {
+ led1 = LED_ON;
+ led2 = LED_OFF;
+ led3 = LED_OFF;
+ wait_ms(20);
+ led1 = LED_OFF;
+ led2 = LED_OFF;
+ led3 = LED_OFF;
+ wait_ms(20);
+ led1 = LED_OFF;
+ led2 = LED_ON;
+ led3 = LED_OFF;
+ wait_ms(20);
+ led1 = LED_OFF;
+ led2 = LED_OFF;
+ led3 = LED_OFF;
+ wait_ms(20);
+ led1 = LED_OFF;
+ led2 = LED_OFF;
+ led3 = LED_ON;
+ wait_ms(20);
+ led1 = LED_OFF;
+ led2 = LED_OFF;
+ led3 = LED_OFF;
+ wait_ms(20);
+ }
+// wait_ms(3000);
+}
+
+void lcd_dsp( int column, int row, char* msg, int cnt)
+{
+ for( int i = 0; i < cnt; i++ )
+ {
+ lcd.locate(column+i,row);
+ lcd.putc(*msg++);
+ }
+ wait_ms(1);
+// Thread::wait(10);
+}
+
+void lcd_out( char* line1, char* line2 ) {
+ lcd.cls();
+ lcd.locate(0, 0);
+ lcd.printf(line1);
+ lcd.locate(0, 1);
+ lcd.printf(line2);
+}
+
+
+
+// ========================================================================
+// Main Function
+// ========================================================================
+int main() {
+ int i = 0;
+ int ii;
+ char msg[16] = "";
+ char buf[12]; // command buffer
+
+ int pulse;
+ double dropAmt_d = 0.0f;
+ int16_t dropAmt;
+ int16_t pos_offset = 0;;
+
+ uint16_t dram_diameter;
+ uint16_t dis_correct_value;
+ uint8_t rresolution;
+
+ bool flg_mtrEStop = false;
+
+ float mc_wdram; // motor current
+ float mc_wcabl; // motor current
+ int16_t sp_wdram_f; // motor speed
+ int16_t sp_wdram_r; // motor speed
+ int16_t sp_wcabl_f; // motor speed
+ int16_t sp_wcabl_r; // motor speed
+
+ mcchk mcc;
+ sw_zero.mode(PullUp);
+ pc.baud(115200);
+ slave.address(I2C_ADDRESS_RESOLVER);
+ //led_demo();
+
+ // 1234567890123456 1234567890123456
+ lcd_dsp(0,0,"B2' FFWinchProto",16);
+ lcd_dsp(0,1,"Revast Co.,Ltd. ",16);
+ wait_ms(1000);
+ lcd_dsp(0,1,"Now Booting ... ",16);
+
+ DEBUG_PRINT_L0("\r\n");
+ DEBUG_PRINT_L0("LPC824> +-------------------------------------------------------------\r\n");
+ DEBUG_PRINT_L0("LPC824> | Project: B2Dash Debris Explorer Winch test machine\r\n");
+ DEBUG_PRINT_L0("LPC824> |-------------------------------------------------------------\r\n");
+ DEBUG_PRINT_L0("LPC824> | This is: Resolver pulse counter Main\r\n");
+ DEBUG_PRINT_L0("LPC824> | Target MCU: mbed LPC824MAX\r\n");
+ DEBUG_PRINT_L0("LPC824> | Letest update: %s\r\n", LatestUpDate);
+ DEBUG_PRINT_L0("LPC824> | Program Revision: %s\r\n", ProgramRevision);
+ DEBUG_PRINT_L0("LPC824> | Author: %s\r\n", Author);
+ DEBUG_PRINT_L0("LPC824> | Copyright(C) 2017 %s Allright Reserved\r\n", Company);
+ DEBUG_PRINT_L0("LPC824> +-------------------------------------------------------------\r\n");
+
+ wheel.reset();
+
+ wait_ms(1000);
+ lcd_dsp(0,1,"Wait net connect",16);
+ DEBUG_PRINT_L0("LPC824> wait ... \r\n");
+
+ // Thread roop
+ while(1){
+ DEBUG_PRINT_L0("LPC824> x");
+
+ // When push winch position zero reset button then whell reset
+ if( sw_zero == 0 )
+ {
+ wheel.reset();
+ wait_ms(1);
+ }
+
+ /* [ Automatic stop function control ] **************************************
+ * Down(CW)
+ * When camera head reached to MAX_DROP_AMOUNT (= 3500 mm)
+ * then the winch will stop owing to protect system breake.
+ * UP(CCW) Master (= host) shuld always send any IIC packet to client
+ * When camera head reached to home position (= 0000 mm)
+ * then the winch will stop owing to protect system breake.
+ * DROP_AMOUNT_ADJ value is adjustment value for over and under shooting.
+ * ************************************************************************* */
+ if(
+ (dropAmt>=( MAX_DROP_AMOUNT - DROP_AMOUNT_ADJ ))&&(flg_mtrEStop==false) ||
+ (dropAmt<= DROP_AMOUNT_ADJ )&&(flg_mtrEStop==false)
+ ){
+ // DEBUG_PRINT_L1("#### Interuppt to host ####\r\n");
+ flg_mtrEStop = true;
+ int2hst = 1; // interrupt to host controller
+ }
+ else
+ {
+ // DEBUG_PRINT_L1("#### Interuppt off ####\r\n");
+ int2hst = 0; // interrupt off
+ }
+
+ if(
+ ( dropAmt < ( MAX_DROP_AMOUNT - DROP_AMOUNT_ADJ ) ) &&
+ ( dropAmt > DROP_AMOUNT_ADJ )
+ ){
+ flg_mtrEStop = false;
+ }
+
+ /* ** Note ** ****************************************************** */
+ /* This is Slave (= Client) */
+ /* Master (= host) shuld always send any IIC packet to client */
+ /* Because slave is waiting packet here ! */
+ /* ***************************************************************** */
+ i = slave.receive();
+ slave.read(buf, NumberOfI2CCommand);
+
+ switch (i) {
+ case I2CSlave::NoData:
+ // DEBUG_PRINT_L1("the slave has not been addressed\r\n");
+ // read_motor_current(2);
+ break;
+
+ case I2CSlave::ReadAddressed:
+
+ pulse = wheel.getPulses(); /* Master read the current position of winch here! */
+ /* dropAmt calculation */
+ dropAmt_d = ( pulse * ( (double)( ((double)dram_diameter/(double)100) * (double)PAI / (pow(2.0, (double)rresolution)*4 ) ) ) );
+ dropAmt = (int16_t)(dropAmt_d * (double)((double)dis_correct_value/(double)dis_correct_value));
+ dropAmt += pos_offset;
+ dropAmt *= -1;
+ DEBUG_PRINT_L2("LPC824> Pulse: %07d, DropAmount(Offset): %04d(%4d) mm\t (%d, %d)", pulse, dropAmt, pos_offset, dram_diameter, rresolution);
+
+ mc_wdram = mtcnt_wdram.read();
+ mc_wcabl = mtcnt_wcabl.read();
+ sp_wdram_f = (int16_t)(mtspd_wdram_cw.read()*100.0f);
+ sp_wdram_r = (int16_t)(mtspd_wdram_ccw.read()*100.0f);
+ sp_wcabl_f = (int16_t)(mtspd_wcabl_cw.read()*100.0f);
+ sp_wcabl_r = (int16_t)(mtspd_wcabl_ccw.read()*100.0f);
+ // DEBUG_PRINT_L2("Motor speed: Dram CW=%03d CCW=%03d Cable CW=%03d CCW=%03d \t", sp_wdram_f, sp_wdram_r, sp_wcabl_f, sp_wcabl_r);
+ // DEBUG_PRINT_L2("Motor current: Dram=%f Cable=%f \r\n", mc_wdram, mc_wcabl);
+
+ sprintf(msg,"[%04d mm]*", dropAmt);
+ lcd_dsp(3,1," ",4);
+ lcd_dsp(7,1,msg,9);
+
+ msg[0] = 0x12; // Dummy data for data check
+ msg[1] = sp_wdram_f & 0xFF;
+ msg[2] = (sp_wdram_f >> 8) & 0xFF;
+ msg[3] = sp_wdram_r & 0xFF;
+ msg[4] = (sp_wdram_r >> 8) & 0xFF;
+ msg[5] = sp_wcabl_f & 0xFF;
+ msg[6] = (sp_wcabl_f >> 8) & 0xFF;
+ msg[7] = sp_wcabl_r & 0xFF;
+ msg[8] = (sp_wcabl_r >> 8) & 0xFF;
+ msg[9] = dropAmt & 0xFF;
+ msg[10] = (dropAmt >> 8) & 0xFF;
+ msg[11] = 0x34; // Dummy data
+ slave.write(msg, 12); // Includes null char
+ //DEBUG_PRINT_L2("\tGot data : %02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x\r\n", msg[1],msg[2],msg[3],msg[4],msg[5],msg[6],msg[7],msg[8]);
+ // lcd_dsp(3,1,">",1);
+ break;
+
+ case I2CSlave::WriteAddressed:
+ if( buf[I2C_CP_COMMAND] == 'Z'){
+ // DEBUG_PRINT_L1("Z got\r\n");
+ sprintf(msg," %03d", sp_wcabl_f);
+ lcd_dsp(0,0,msg,4);
+ sprintf(msg," %03d", sp_wcabl_r);
+ lcd_dsp(4,0,msg,4);
+ sprintf(msg," %03d", sp_wdram_r);
+ lcd_dsp(8,0,msg,4);
+ sprintf(msg," %03d", sp_wdram_f);
+ lcd_dsp(12,0,msg,4);
+ dram_diameter = ( buf[I2C_CP_WDRAM_DIA_X100_UPPER] << 8 );
+ dram_diameter |= buf[I2C_CP_WDRAM_DIA_X100_LOWER];
+ dis_correct_value = ( buf[I2C_CP_ADJUST_VALUE_X10000_UPPER] << 8 );
+ dis_correct_value |= buf[I2C_CP_ADJUST_VALUE_X10000_LOWER];
+ rresolution = buf[I2C_CP_RESOLVER_RESO];
+ /*
+ DEBUG_PRINT_L1("Bd4> ===========================================\r\n");
+ DEBUG_PRINT_L1("Bd4> Dram Diameter : %d\t(mm)\r\n", dram_diameter);
+ DEBUG_PRINT_L1("Bd4> CCable Diameter : %d\t(mm)\r\n", dis_correct_value);
+ DEBUG_PRINT_L1("Bd4> Resolver Resolution : %d\t(bit)\r\n", rresolution);
+ DEBUG_PRINT_L1("Bd4> -------------------------------------------\r\n", rresolution);
+ DEBUG_PRINT_L1("Bd4> Real Diameter : %d\t(mm)\r\n", (dram_diameter+dis_correct_value));
+ DEBUG_PRINT_L1("Bd4> Rotation Pulse / 1round : %d\t(pulse)\r\n", (int)(pow(2.0, (double)rresolution)*4));
+ DEBUG_PRINT_L1("Bd4> Distance / 1pulse : %lf\t(mm)\r\n", (double)( ((dram_diameter+dis_correct_value)/100) * PAI / (pow(2.0, (double)rresolution)*4 ) ) );
+ DEBUG_PRINT_L1("Bd4> ===========================================\r\n");
+ */
+ }
+ else if( buf[I2C_CP_COMMAND] == 'N'){
+ sprintf(msg," %03d", sp_wcabl_f);
+ lcd_dsp(0,0,msg,4);
+ sprintf(msg," %03d", sp_wcabl_r);
+ lcd_dsp(4,0,msg,4);
+ sprintf(msg," %03d", sp_wdram_r);
+ lcd_dsp(8,0,msg,4);
+ sprintf(msg," %03d", sp_wdram_f);
+ lcd_dsp(12,0,msg,4);
+ }
+ // else if( buf[I2C_CP_COMMAND] == 'M'){
+ // lcd_dsp(4,0,"Winch manual",12);
+ // }
+ break;
+ }
+ // Animation
+ if( ii < 5 ){
+ lcd_dsp(0,1,"[|]",3);
+ }
+ else if( ii < 10 ){
+ lcd_dsp(0,1,"[/]",3);
+ }
+ else if ( ii < 15 ){
+ lcd_dsp(0,1,"[-]",3);
+ }
+ ii++;
+ if( ii >= 15 ) ii = 0;
+ wait_ms(5);
+ }
+}
+