z ysaito
2018.07.26
Dependencies: QEI mbed-rtos mbed
Diff: 4_main.cpp
- Revision:
- 0:b1136bf48c38
- Child:
- 1:86705c6e0ab7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/4_main.cpp Tue Feb 16 16:35:29 2016 +0000
@@ -0,0 +1,242 @@
+/**********************************************************
+ * Project: B2 (1F-1)
+ * Title: CrExp B2 Motor Ctrl Main
+ * Target: LPCXpresso824-Max
+ * Author: zinsor
+ * Date(Latest update) 2015.12.21(Mon)
+ * --------------------------------------------------------
+ * 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 -> Resolver B
+ * +5V | ## ##### # | SSEL P0_15 D10 -> Resolver A
+ * GND | | P0_27 D9
+ * GND | | P0_13 D8
+ * N/A | | P0_17 D7
+ * | | P0_16 D6
+ * A0 P0_6 | | PWM P0_28 D5
+ * A1 P0_14 | | PWM P0_18 D4
+ * A2 P0_23 | | PWM P0_12 D3
+ * A3 P0_22 | | PWM P0_19 D2
+ * A4 P0_21 | | TX P0_4 D1
+ * A5 P0_20 | | RX P0_0 D0
+ * +---------------------+
+ *
+ ***************************************/
+
+#include "mbed.h"
+#include "rtos.h"
+#include "QEI.h"
+#include "common.h"
+#include <math.h>
+
+// Hardware setting
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+QEI wheel( P0_15, P0_26, NC, ROTATE_PER_RESOLUTION, QEI::X2_ENCODING );
+/*
+ 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
+
+I2CSlave slave(P0_11, P0_10); //I2C SDA SCL
+
+int i2c_saddress = 0;
+
+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);
+}
+
+// ========================================================================
+// Thread: Resolver Control Task
+// ========================================================================
+void ResolverCtrl_task(void const *) {
+
+
+}
+
+// ========================================================================
+// Thread: Main Controller Interface Task
+// Get Command from Main controller and do the task.
+// ========================================================================
+void MainCtrl_Interface_task(void const *) {
+
+ char buf[10]; // command buffer
+ char msg[] = "C000000";
+ char res_msg[] = "Slave!";
+ char res_msg2[] = "Bravo!";
+
+ int flg_readCurrent = 0;
+
+ int pulse;
+ int16_t distance;
+
+ uint16_t dram_diameter;
+ uint16_t ccable_diameter;
+ uint8_t rresolution;
+
+ int tmp;
+
+ slave.address(i2c_saddress);
+
+ DEBUG_PRINT_L1("*** Start Resolver thread ***\n");
+
+ /*
+ * I2C Access
+ */
+ while(1) {
+ // DEBUG_PRINT_L1(".");
+ int i = slave.receive();
+ slave.read(buf, NumberOfI2CCommand);
+ // DEBUG_PRINT_L1("?");
+ // DEBUG_PRINT_L1("Slave Received\r\n");
+ switch (i) {
+ case I2CSlave::NoData:
+ // DEBUG_PRINT_L1("the slave has not been addressed\r\n");
+ // read_motor_current(2);
+ break;
+ case I2CSlave::ReadAddressed:
+ /* Master is reading winch current position here */
+ // DEBUG_PRINT_L1("the master has requested a read from this slave\r\n");
+ pulse = wheel.getPulses();
+
+ distance = (int16_t)( pulse * ( (double)( ((dram_diameter+ccable_diameter)/100) * PAI / (pow(2.0, (double)rresolution)*4 ) ) ) );
+ // distance = (int16_t)( pulse * ( REAL_THREAD_DIAMETER * PAI / ROTATION_PULSE_PER_1ROUND ));
+
+ DEBUG_PRINT_L1("Bd4> PULSE: %07d, ", pulse);
+ DEBUG_PRINT_L1("DISTANCE: %04d (mm)", distance);
+ res_msg2[0] = distance & 0xFF;
+ res_msg2[1] = (distance >> 8)&0xFF;
+ slave.write(res_msg2, 2); // Includes null char
+ tmp = (res_msg2[1] < 8)&0xFF00 | res_msg2[0]&0xFF;
+ DEBUG_PRINT_L1("\tSend data : %04d(%02x,%02x)\n", tmp, res_msg2[1], res_msg2[0]);
+ break;
+ case I2CSlave::WriteGeneral:
+ DEBUG_PRINT_L1("Bd4> the master is writing to all slave\r\n");
+ slave.read(buf, NumberOfI2CCommand);
+ DEBUG_PRINT_L1("Bd4> Read G: %s\r\n", buf);
+ break;
+ case I2CSlave::WriteAddressed:
+ /* ******************************************* */
+ /* Add setting data set operation in this area */
+ /* ******************************************* */
+
+
+ if( buf[1] == 'Z'){
+ wheel.reset();
+ }
+ else{
+ dram_diameter = ( buf[2] << 8 );
+ dram_diameter |= buf[3];
+ ccable_diameter = ( buf[4] << 8 );
+ ccable_diameter |= buf[5];
+ rresolution = buf[6];
+
+ DEBUG_PRINT_L1("Bd4> ===========================================\n");
+ DEBUG_PRINT_L1("Bd4> Dram Diameter : %d\t(mm)\n", dram_diameter/100);
+ DEBUG_PRINT_L1("Bd4> CCable Diameter : %d\t(mm)\n", ccable_diameter/100);
+ DEBUG_PRINT_L1("Bd4> Resolver Resolution : %d\t(bit)\n", rresolution);
+ DEBUG_PRINT_L1("Bd4> -------------------------------------------\n", rresolution);
+ DEBUG_PRINT_L1("Bd4> Real Diameter : %d\t(mm)\n", (dram_diameter+ccable_diameter)/100);
+ DEBUG_PRINT_L1("Bd4> Rotation Pulse / 1round : %d\t(pulse)\n", (int)(pow(2.0, (double)rresolution)*4));
+ DEBUG_PRINT_L1("Bd4> Distance / 1pulse : %lf\t(mm)\n", (double)( ((dram_diameter+ccable_diameter)/100) * PAI / (pow(2.0, (double)rresolution)*4 ) ) );
+ DEBUG_PRINT_L1("Bd4> ===========================================\n");
+
+ pulse = wheel.getPulses();
+ DEBUG_PRINT_L1("Bd4> PULSE: %07d, ", pulse);
+ // DEBUG_PRINT_L1("Bd4> >DISTANCE: %04d (mm)\n", (int)( pulse * ( REAL_THREAD_DIAMETER * PAI / ROTATION_PULSE_PER_1ROUND )));
+ DEBUG_PRINT_L1("DISTANCE: %04d (mm)\n", (int)( pulse * ( (double)( ((dram_diameter+ccable_diameter)/100) * PAI / (pow(2.0, (double)rresolution)*4 ) ) ) ) );
+ DEBUG_PRINT_L1("Bd4> ---------------------------------------\n");
+ }
+ break;
+ }
+ Thread::wait(1);
+ }
+}
+// ========================================================================
+// Main Function
+// ========================================================================
+int main() {
+ int32_t counter = 0;
+
+ pc.baud(115200);
+
+ i2c_saddress = Target_IIC_ADDR; // defined at header
+
+ DEBUG_PRINT_L0("> Board type: Resolver Counter controller(0x%02x)\r\n",i2c_saddress );
+
+ i2c_saddress <<= 1;
+
+ led_demo();
+
+ DEBUG_PRINT_L0("\r\n");
+ DEBUG_PRINT_L0("Bd4> +--------------------------------------\r\n");
+ DEBUG_PRINT_L0("Bd4> | B2 CrExp Resolver Pulse Counter Main \r\n");
+ DEBUG_PRINT_L0("Bd4> | Letest update: %s\r\n", LatestUpDate);
+ DEBUG_PRINT_L0("Bd4> | Program Revision: %s\r\n", ProgramRevision);
+ DEBUG_PRINT_L0("Bd4> | Author: %s\r\n", Author);
+ DEBUG_PRINT_L0("Bd4> | Copyright(C) 2015 %s Allright Reserved\r\n", Company);
+ DEBUG_PRINT_L0("Bd4> +--------------------------------------\r\n");
+
+ Thread resolverControlTask1(MainCtrl_Interface_task, NULL, osPriorityNormal, 128 * 4);
+ wheel.reset();
+
+ while(1){
+
+ counter++;
+ if( counter >= 50 ){
+ led3 = !led3; // Blue
+ counter = 0;
+ }
+ Thread::wait(5);
+ }
+}