William Lange / Mbed 2 deprecated DistanceFirmware

Same as mallet... but distance

Dependencies:   EthernetInterface NetworkAPI mbed-rtos mbed

Fork of MalletFirmware by Impact-Echo

main.cpp@22:523e316cbe70, 2014-12-03 (annotated)

Committer:
timmey9
Date:
Wed Dec 03 05:30:45 2014 +0000
Revision:
22:523e316cbe70
Parent:
21:1fb5023b72af
Child:
23:9e5141647775
Motor, angle encoder, and analog sampling code is all copied in, but it is commented out.  I'm slowly uncommenting it and verifying that it runs properly piece by piece.  I also changed the namespace.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
timmey9 20:f533b3c9296f 1 // Server code
donatien 0:bb128f0e952f 2 #include "mbed.h"
timmey9 22:523e316cbe70 3
timmey9 22:523e316cbe70 4 // Ethernet
donatien 0:bb128f0e952f 5 #include "EthernetInterface.h"
timmey9 17:2f978f823020 6 #include "NetworkAPI/buffer.hpp"
timmey9 17:2f978f823020 7 #include "NetworkAPI/select.hpp"
timmey9 17:2f978f823020 8 #include "NetworkAPI/ip/address.hpp"
timmey9 17:2f978f823020 9 #include "NetworkAPI/tcp/socket.hpp"
timmey9 18:b17ddeeb1c09 10
timmey9 22:523e316cbe70 11
timmey9 22:523e316cbe70 12 // Angle encoder and motor control
timmey9 22:523e316cbe70 13 #include "AngleEncoder.h"
timmey9 22:523e316cbe70 14 #include "MotorControl.h"
timmey9 22:523e316cbe70 15
timmey9 22:523e316cbe70 16 // Analog sampling
timmey9 22:523e316cbe70 17 #include "PeripheralNames.h"
timmey9 22:523e316cbe70 18 #include "PeripheralPins.h"
timmey9 22:523e316cbe70 19 #include "fsl_adc_hal.h"
timmey9 22:523e316cbe70 20 #include "fsl_clock_manager.h"
timmey9 22:523e316cbe70 21 #include "fsl_dspi_hal.h"
timmey9 22:523e316cbe70 22 #include "AngleEncoder.h"
timmey9 22:523e316cbe70 23
timmey9 22:523e316cbe70 24
timmey9 22:523e316cbe70 25 /*****************************************
timmey9 22:523e316cbe70 26 *
timmey9 22:523e316cbe70 27 * Configuration
timmey9 22:523e316cbe70 28 *
timmey9 22:523e316cbe70 29 * Take the time to set these constants
timmey9 22:523e316cbe70 30 *
timmey9 22:523e316cbe70 31 *****************************************/
timmey9 21:1fb5023b72af 32 #define MALLET 6 // set mallet to a value between 1-7
timmey9 21:1fb5023b72af 33 #define STATIC 1 // set STATIC to 1 for static ip, set STATIC to 0 for dynamic
timmey9 21:1fb5023b72af 34 #define PORT 22 // set to a random port number. All the mallets can use the same port number.
timmey9 21:1fb5023b72af 35 #define MAX_CLIENTS 2 // set the max number of clients to at least 2 (first client is MATLAB, second is the distance unit)
timmey9 22:523e316cbe70 36 #define INVERT_ANGLE 0 // inverts whether the angle encoder counts up or down
timmey9 22:523e316cbe70 37
timmey9 22:523e316cbe70 38
timmey9 21:1fb5023b72af 39
timmey9 21:1fb5023b72af 40
timmey9 21:1fb5023b72af 41
timmey9 22:523e316cbe70 42 // Analog sampling
timmey9 22:523e316cbe70 43 #define MAX_FADC 6000000
timmey9 22:523e316cbe70 44 #define SAMPLING_RATE 10000 // In microseconds, so 10 us will be a sampling rate of 100 kHz
timmey9 22:523e316cbe70 45 #define TOTAL_SAMPLES 300 // originally 30000 for 0.3 ms of sampling.
timmey9 22:523e316cbe70 46
timmey9 22:523e316cbe70 47 #define LAST_SAMPLE_INDEX (TOTAL_SAMPLES-1) // If sampling time is 25 us, then 2000 corresponds to 50 ms
timmey9 22:523e316cbe70 48 #define FIRST_SAMPLE_INDEX 0
timmey9 22:523e316cbe70 49 #define BEGIN_SAMPLING 0xFFFFFFFF
timmey9 22:523e316cbe70 50 #define WAITING_TO_BEGIN (BEGIN_SAMPLING-1)
timmey9 22:523e316cbe70 51
timmey9 22:523e316cbe70 52 #define CHANNEL_STORAGE_OFFSET 16 // For storing the 16 bits and the 16 bits in a single 32 bit array
timmey9 22:523e316cbe70 53 #define PERIOD 3000 // make sure PERIOD >= ON_OFF_TIME
timmey9 22:523e316cbe70 54 #define ON_OFF_TIME 300 // time it takes for relay to turn on
timmey9 22:523e316cbe70 55
timmey9 22:523e316cbe70 56
timmey9 22:523e316cbe70 57 // Ethernet
timmey9 22:523e316cbe70 58 #define GATEWAY "169.254.225.1"
timmey9 22:523e316cbe70 59 #define MASK "255.255.0.0"
timmey9 22:523e316cbe70 60
timmey9 22:523e316cbe70 61 // used for assign different mallets their ip addresses
timmey9 21:1fb5023b72af 62 #if MALLET == 1
timmey9 22:523e316cbe70 63 #define IP "169.254.225.206"
timmey9 21:1fb5023b72af 64 #define NAME "Mallet1\n\r"
timmey9 21:1fb5023b72af 65
timmey9 21:1fb5023b72af 66 #elif MALLET == 2
timmey9 22:523e316cbe70 67 #define IP "169.254.225.207"
timmey9 21:1fb5023b72af 68 #define NAME "Mallet2\n\r"
timmey9 21:1fb5023b72af 69
timmey9 21:1fb5023b72af 70 #elif MALLET == 3
timmey9 22:523e316cbe70 71 #define IP "169.254.225.208"
timmey9 21:1fb5023b72af 72 #define NAME "Mallet3\n\r"
timmey9 21:1fb5023b72af 73
timmey9 21:1fb5023b72af 74 #elif MALLET == 4
timmey9 22:523e316cbe70 75 #define IP "169.254.225.209"
timmey9 21:1fb5023b72af 76 #define NAME "Mallet4\n\r"
timmey9 21:1fb5023b72af 77
timmey9 21:1fb5023b72af 78 #elif MALLET == 5
timmey9 22:523e316cbe70 79 #define IP "169.254.225.210"
timmey9 21:1fb5023b72af 80 #define NAME "Mallet5\n\r"
timmey9 21:1fb5023b72af 81
timmey9 21:1fb5023b72af 82 #elif MALLET == 6
timmey9 22:523e316cbe70 83 #define IP "169.254.225.211"
timmey9 21:1fb5023b72af 84 #define NAME "Mallet6\n\r"
timmey9 21:1fb5023b72af 85
timmey9 21:1fb5023b72af 86 #elif MALLET == 7
timmey9 22:523e316cbe70 87 #define IP "169.254.225.212"
timmey9 21:1fb5023b72af 88 #define NAME "Mallet7\n\r"
timmey9 21:1fb5023b72af 89
timmey9 20:f533b3c9296f 90 #endif
timmey9 20:f533b3c9296f 91
timmey9 21:1fb5023b72af 92
timmey9 22:523e316cbe70 93 // for debug purposes
timmey9 18:b17ddeeb1c09 94 Serial pc(USBTX, USBRX);
timmey9 18:b17ddeeb1c09 95 DigitalOut led_red(LED_RED);
timmey9 18:b17ddeeb1c09 96 DigitalOut led_green(LED_GREEN);
timmey9 18:b17ddeeb1c09 97 DigitalOut led_blue(LED_BLUE);
timmey9 18:b17ddeeb1c09 98
timmey9 22:523e316cbe70 99 /*
timmey9 22:523e316cbe70 100 // motor control and angle encoder
timmey9 22:523e316cbe70 101 MotorControl motor(PTC2, PTA2, PERIOD, ON_OFF_TIME); // forward, backward, period, safetyPeriod
timmey9 22:523e316cbe70 102 AngleEncoder angle_encoder(PTD2, PTD3, PTD1, PTD0, 8, 0, 1000000); // mosi, miso, sclk, cs, bit_width, mode, hz
timmey9 22:523e316cbe70 103 DigitalIn AMT20_A(PTC0); // input for quadrature encoding from angle encoder
timmey9 22:523e316cbe70 104 DigitalIn AMT20_B(PTC1); // input for quadrature encoding from angle encoder
timmey9 22:523e316cbe70 105
timmey9 22:523e316cbe70 106 // Analog sampling
timmey9 22:523e316cbe70 107 Ticker Sampler;
timmey9 22:523e316cbe70 108 Timer timer;
timmey9 22:523e316cbe70 109 Timer timeStamp;
timmey9 22:523e316cbe70 110 AnalogIn A0_pin(A0);
timmey9 22:523e316cbe70 111 AnalogIn A2_pin(A2);
timmey9 22:523e316cbe70 112
timmey9 22:523e316cbe70 113 //DigitalIn SW3_switch(PTA4);
timmey9 22:523e316cbe70 114 //DigitalIn SW2_switch(PTC6);
timmey9 22:523e316cbe70 115
timmey9 22:523e316cbe70 116
timmey9 20:f533b3c9296f 117
timmey9 22:523e316cbe70 118
timmey9 22:523e316cbe70 119 uint32_t current_sample_index = WAITING_TO_BEGIN;
timmey9 22:523e316cbe70 120 uint32_t sample_array[TOTAL_SAMPLES];
timmey9 22:523e316cbe70 121 uint16_t angle_array[TOTAL_SAMPLES];
timmey9 22:523e316cbe70 122
timmey9 22:523e316cbe70 123
timmey9 22:523e316cbe70 124 // Declaration of functions
timmey9 22:523e316cbe70 125 void analog_initialization(PinName pin);
timmey9 22:523e316cbe70 126 void output_data(uint32_t iteration_number);
timmey9 22:523e316cbe70 127 void timed_sampling();
timmey9 22:523e316cbe70 128
timmey9 22:523e316cbe70 129
timmey9 22:523e316cbe70 130 // Important globabl variables necessary for the sampling every interval
timmey9 22:523e316cbe70 131 int rotary_count = 0;
timmey9 22:523e316cbe70 132 uint32_t last_AMT20_AB_read = 0;
timmey9 22:523e316cbe70 133 */
timmey9 22:523e316cbe70 134 //using namespace network;
timmey9 22:523e316cbe70 135 using namespace std;
timmey9 17:2f978f823020 136
emilmont 7:65188f4a8c25 137 int main() {
timmey9 22:523e316cbe70 138 uint32_t sample_array[TOTAL_SAMPLES];
timmey9 22:523e316cbe70 139 for(int i = 0; i < TOTAL_SAMPLES; i++) {sample_array[i] = i;}
timmey9 22:523e316cbe70 140 led_blue = 1;
timmey9 22:523e316cbe70 141 led_green = 1;
timmey9 18:b17ddeeb1c09 142 led_red = 1;
timmey9 22:523e316cbe70 143
timmey9 18:b17ddeeb1c09 144 pc.baud(230400);
timmey9 18:b17ddeeb1c09 145 pc.printf("Starting Server\r\n");
timmey9 22:523e316cbe70 146 /*
timmey9 22:523e316cbe70 147 analog_initialization(A0);
timmey9 22:523e316cbe70 148 analog_initialization(A2);
timmey9 20:f533b3c9296f 149
timmey9 22:523e316cbe70 150 // setup this timer
timmey9 22:523e316cbe70 151 timeStamp.stop();
timmey9 22:523e316cbe70 152 timeStamp.reset();
timmey9 22:523e316cbe70 153
timmey9 22:523e316cbe70 154 // Start the sampling loop
timmey9 22:523e316cbe70 155 current_sample_index = WAITING_TO_BEGIN;
timmey9 22:523e316cbe70 156 Sampler.attach_us(&timed_sampling, SAMPLING_RATE);
timmey9 22:523e316cbe70 157 __disable_irq(); // Disable Interrupts
timmey9 22:523e316cbe70 158 timer.reset();
timmey9 22:523e316cbe70 159 timer.start();
timmey9 22:523e316cbe70 160
timmey9 22:523e316cbe70 161 uint32_t trigger_count = 0;
timmey9 22:523e316cbe70 162
timmey9 22:523e316cbe70 163 // corresponding duty 1 0 0.7 1 0.75
timmey9 22:523e316cbe70 164 uint32_t duration[8] = {10000, 60000, 10000, 39000, 7000, 7000, 0, 0};
timmey9 22:523e316cbe70 165 //uint32_t duration[8] = {10000, 100000, 10000, 92000, 25000, 7000, 0, 0};
timmey9 22:523e316cbe70 166 int32_t pointer = 0;
timmey9 22:523e316cbe70 167
timmey9 22:523e316cbe70 168 double duty_cycle = 0.25;
timmey9 22:523e316cbe70 169 */
timmey9 22:523e316cbe70 170 // flash red LED
timmey9 22:523e316cbe70 171 led_red = 0;
timmey9 22:523e316cbe70 172 wait_ms(500);
timmey9 22:523e316cbe70 173 led_red = 1;
timmey9 22:523e316cbe70 174
timmey9 22:523e316cbe70 175
timmey9 22:523e316cbe70 176
timmey9 22:523e316cbe70 177
timmey9 22:523e316cbe70 178
timmey9 22:523e316cbe70 179
timmey9 22:523e316cbe70 180
timmey9 22:523e316cbe70 181 // initialize ethernet connection and server
timmey9 17:2f978f823020 182 EthernetInterface interface;
timmey9 22:523e316cbe70 183
timmey9 21:1fb5023b72af 184 #if STATIC == 1
timmey9 20:f533b3c9296f 185 interface.init(IP, MASK, GATEWAY);
timmey9 20:f533b3c9296f 186 #else
timmey9 17:2f978f823020 187 interface.init();
timmey9 20:f533b3c9296f 188 #endif
timmey9 21:1fb5023b72af 189
timmey9 22:523e316cbe70 190 // turn on yellow led
timmey9 22:523e316cbe70 191 led_red = 0;
timmey9 22:523e316cbe70 192 led_green = 0;
timmey9 22:523e316cbe70 193
timmey9 17:2f978f823020 194 interface.connect();
timmey9 21:1fb5023b72af 195 pc.printf(NAME);
timmey9 20:f533b3c9296f 196 pc.printf("IP Address is: %s\n\r", interface.getIPAddress());
timmey9 20:f533b3c9296f 197 pc.printf("Network Mask is: %s\n\r", interface.getNetworkMask());
timmey9 20:f533b3c9296f 198 pc.printf("MAC address is: %s\n\r", interface.getMACAddress());
timmey9 20:f533b3c9296f 199 pc.printf("Gateway is: %s\n\r", interface.getGateway());
timmey9 21:1fb5023b72af 200 pc.printf("Port is: %i\n\r", PORT);
timmey9 20:f533b3c9296f 201
timmey9 22:523e316cbe70 202 // ethernet setup failed for some reason. Flash yellow light then uC resets itself
timmey9 22:523e316cbe70 203 /*if(interface.getIPAddress() == 0)
timmey9 22:523e316cbe70 204 {
timmey9 22:523e316cbe70 205 for(int i = 0; i < 5; i++)
timmey9 22:523e316cbe70 206 {
timmey9 22:523e316cbe70 207 led_red = 0;
timmey9 22:523e316cbe70 208 led_green = 0;
timmey9 22:523e316cbe70 209 wait_ms(500);
timmey9 22:523e316cbe70 210 led_red = 1;
timmey9 22:523e316cbe70 211 led_green = 1;
timmey9 22:523e316cbe70 212 wait_ms(1000);
timmey9 22:523e316cbe70 213 }
timmey9 22:523e316cbe70 214 NVIC_SystemReset();
timmey9 22:523e316cbe70 215 }*/
timmey9 22:523e316cbe70 216
timmey9 22:523e316cbe70 217 network::Select select;
timmey9 22:523e316cbe70 218 network::tcp::Socket server;
timmey9 22:523e316cbe70 219 network::tcp::Socket client[MAX_CLIENTS];
timmey9 22:523e316cbe70 220 network::tcp::Socket *socket = NULL;
timmey9 17:2f978f823020 221
timmey9 17:2f978f823020 222 int result = 0;
timmey9 17:2f978f823020 223 int index = 0;
timmey9 17:2f978f823020 224
timmey9 22:523e316cbe70 225 network::Buffer buffer(TOTAL_SAMPLES);
timmey9 21:1fb5023b72af 226 std::string message(NAME);
timmey9 17:2f978f823020 227
timmey9 21:1fb5023b72af 228 // Configure the server socket (assume every thing works)
timmey9 17:2f978f823020 229 server.open();
timmey9 20:f533b3c9296f 230 server.bind(PORT);
timmey9 17:2f978f823020 231 server.listen(MAX_CLIENTS);
timmey9 17:2f978f823020 232
timmey9 17:2f978f823020 233 // Add sockets to the select api
timmey9 22:523e316cbe70 234 select.set(&server, network::Select::Read);
timmey9 17:2f978f823020 235 for (index = 0; index < MAX_CLIENTS; index++) {
timmey9 22:523e316cbe70 236 select.set(&client[index], network::Select::Read);
timmey9 17:2f978f823020 237 }
timmey9 22:523e316cbe70 238
timmey9 22:523e316cbe70 239 led_red = 1;
timmey9 22:523e316cbe70 240 led_green = 1;
timmey9 22:523e316cbe70 241 led_blue = 0;
timmey9 22:523e316cbe70 242 wait_ms(1000);
timmey9 22:523e316cbe70 243 led_blue = 1;
timmey9 22:523e316cbe70 244
timmey9 22:523e316cbe70 245
timmey9 17:2f978f823020 246 do {
timmey9 17:2f978f823020 247 // Wait for activity
timmey9 17:2f978f823020 248 result = select.wait();
timmey9 17:2f978f823020 249 if (result < -1) {
timmey9 18:b17ddeeb1c09 250 pc.printf("Failed to select\n\r");
emilmont 7:65188f4a8c25 251 break;
timmey9 16:c3f922f61b8f 252 }
timmey9 17:2f978f823020 253
timmey9 17:2f978f823020 254 // Get the first socket
timmey9 22:523e316cbe70 255 socket = (network::tcp::Socket *)select.getReadable();
timmey9 17:2f978f823020 256
timmey9 22:523e316cbe70 257 for (; socket != NULL; socket = (network::tcp::Socket *)select.getReadable()) {
timmey9 17:2f978f823020 258 // Check if there was a connection request.
timmey9 17:2f978f823020 259 if (socket->getHandle() == server.getHandle()) {
timmey9 17:2f978f823020 260 // Find an unused client
timmey9 17:2f978f823020 261 for (index = 0; index < MAX_CLIENTS; index++) {
timmey9 17:2f978f823020 262 if (client[index].getStatus() == network::Socket::Closed) {
timmey9 17:2f978f823020 263 break;
timmey9 17:2f978f823020 264 }
timmey9 17:2f978f823020 265 }
timmey9 17:2f978f823020 266
timmey9 17:2f978f823020 267 // Maximum connections reached
timmey9 17:2f978f823020 268 if (index == MAX_CLIENTS) {
timmey9 18:b17ddeeb1c09 269 pc.printf("Maximum connections reached\n\r");
timmey9 21:1fb5023b72af 270 wait(1);
timmey9 17:2f978f823020 271 continue;
timmey9 17:2f978f823020 272 }
timmey9 20:f533b3c9296f 273
timmey9 17:2f978f823020 274 // Accept the client
timmey9 17:2f978f823020 275 socket->accept(client[index]);
timmey9 18:b17ddeeb1c09 276 pc.printf("Client connected %s:%d\n\r",
timmey9 17:2f978f823020 277 client[index].getRemoteEndpoint().getAddress().toString().c_str(),
timmey9 17:2f978f823020 278 client[index].getRemoteEndpoint().getPort());
timmey9 17:2f978f823020 279
timmey9 21:1fb5023b72af 280 // Send a nice message to the client (tell MATLAB your name
timmey9 17:2f978f823020 281 client[index].write((void *)message.data(), message.size());
timmey9 20:f533b3c9296f 282
timmey9 20:f533b3c9296f 283 // read some registers for some info.
timmey9 20:f533b3c9296f 284 //uint32_t* rcr = (uint32_t*) 0x400C0084;
timmey9 20:f533b3c9296f 285 //uint32_t* ecr = (uint32_t*) 0x400C0024;
timmey9 20:f533b3c9296f 286 //pc.printf("RCR register: %x\r\n", *rcr);
timmey9 20:f533b3c9296f 287 //pc.printf("ECR register: %x\r\n", *ecr);
timmey9 20:f533b3c9296f 288
timmey9 17:2f978f823020 289 continue;
timmey9 16:c3f922f61b8f 290 }
timmey9 20:f533b3c9296f 291
timmey9 17:2f978f823020 292 // It was not the server socket, so it must be a client talking to us.
timmey9 17:2f978f823020 293 switch (socket->read(buffer)) {
timmey9 17:2f978f823020 294 case 0:
timmey9 17:2f978f823020 295 // Remote end disconnected
timmey9 18:b17ddeeb1c09 296 pc.printf("Client disconnected %s:%d\n\r",
timmey9 17:2f978f823020 297 socket->getRemoteEndpoint().getAddress().toString().c_str(),
timmey9 17:2f978f823020 298 socket->getRemoteEndpoint().getPort());
timmey9 17:2f978f823020 299
timmey9 17:2f978f823020 300 // Close socket
timmey9 17:2f978f823020 301 socket->close();
timmey9 17:2f978f823020 302 break;
timmey9 20:f533b3c9296f 303
timmey9 17:2f978f823020 304 case -1:
timmey9 18:b17ddeeb1c09 305 pc.printf("Error while reading data from socket\n\r");
timmey9 17:2f978f823020 306 socket->close();
timmey9 17:2f978f823020 307 break;
timmey9 20:f533b3c9296f 308 //************* this is where data is printed to the screen
timmey9 17:2f978f823020 309 default:
timmey9 18:b17ddeeb1c09 310 pc.printf("Message from %s:%d\n\r",
timmey9 17:2f978f823020 311 socket->getRemoteEndpoint().getAddress().toString().c_str(),
timmey9 17:2f978f823020 312 socket->getRemoteEndpoint().getPort());
timmey9 17:2f978f823020 313
timmey9 21:1fb5023b72af 314 pc.printf("%s\n\r", (char *)buffer.data());
timmey9 21:1fb5023b72af 315
timmey9 21:1fb5023b72af 316 // read first character for command
timmey9 21:1fb5023b72af 317 char command[2];
timmey9 21:1fb5023b72af 318 buffer.read(command,2,0);
timmey9 21:1fb5023b72af 319 if(command[1] == ':') {
timmey9 21:1fb5023b72af 320 switch(command[0])
timmey9 21:1fb5023b72af 321 {
timmey9 21:1fb5023b72af 322 case 'b':
timmey9 21:1fb5023b72af 323 led_blue = !led_blue;
timmey9 21:1fb5023b72af 324 client[index].write((void *)"Blue LED\n",9);
timmey9 21:1fb5023b72af 325 break;
timmey9 21:1fb5023b72af 326 case 'r':
timmey9 21:1fb5023b72af 327 led_red = !led_red;
timmey9 21:1fb5023b72af 328 client[index].write((void *)"Red LED\n",8);
timmey9 21:1fb5023b72af 329 break;
timmey9 21:1fb5023b72af 330 case 'p':
timmey9 21:1fb5023b72af 331 led_green = !led_green;
timmey9 21:1fb5023b72af 332 client[index].write((void *)"Data\n",5);
timmey9 22:523e316cbe70 333 client[index].write((void *)&sample_array,TOTAL_SAMPLES);
timmey9 21:1fb5023b72af 334 }
timmey9 21:1fb5023b72af 335 }
timmey9 21:1fb5023b72af 336 else {
timmey9 21:1fb5023b72af 337
timmey9 21:1fb5023b72af 338 }
timmey9 21:1fb5023b72af 339
timmey9 21:1fb5023b72af 340
timmey9 20:f533b3c9296f 341
timmey9 20:f533b3c9296f 342 //***************** print a message back to the client
timmey9 21:1fb5023b72af 343
timmey9 21:1fb5023b72af 344 //client[index].write((void *)&sample_array,SAMPLES);
timmey9 21:1fb5023b72af 345
timmey9 21:1fb5023b72af 346
timmey9 21:1fb5023b72af 347
timmey9 20:f533b3c9296f 348
timmey9 21:1fb5023b72af 349 /*for(int i = 1; i <= SAMPLES+1;)
timmey9 21:1fb5023b72af 350 {
timmey9 21:1fb5023b72af 351 for(int j = 0; j < 20; j++)
timmey9 21:1fb5023b72af 352 {
timmey9 21:1fb5023b72af 353 Timer timeStamp;
timmey9 21:1fb5023b72af 354 timeStamp.stop();
timmey9 21:1fb5023b72af 355 timeStamp.reset();
timmey9 21:1fb5023b72af 356 timeStamp.start();
timmey9 21:1fb5023b72af 357
timmey9 21:1fb5023b72af 358 client[index].write((void *)&sample_array,i);
timmey9 21:1fb5023b72af 359 int timeStampVar = timeStamp.read_us();
timmey9 21:1fb5023b72af 360 timeStamp.stop();
timmey9 21:1fb5023b72af 361
timmey9 21:1fb5023b72af 362 pc.printf("*******\r\n%i\r\nTime taken to send data: %i\r\n", i,timeStampVar);
timmey9 21:1fb5023b72af 363
timmey9 21:1fb5023b72af 364 char premessage[40];
timmey9 21:1fb5023b72af 365 sprintf(premessage, "******\r\n%i\r\nTime taken to send data: %i\r\n", i, timeStampVar);
timmey9 21:1fb5023b72af 366 std::string response1 = premessage;
timmey9 21:1fb5023b72af 367 client[index].write((void *)response1.data(), response1.size());
timmey9 21:1fb5023b72af 368 wait_us(5000);
timmey9 21:1fb5023b72af 369 }
timmey9 21:1fb5023b72af 370 if(i == 10000) i = SAMPLES;
timmey9 21:1fb5023b72af 371 else if(i == SAMPLES) i = i*10;
timmey9 21:1fb5023b72af 372 else i = i*10;
timmey9 21:1fb5023b72af 373 }
timmey9 21:1fb5023b72af 374 std::string endMessage("end");
timmey9 21:1fb5023b72af 375 client[index].write((void *)endMessage.data(), endMessage.size());
timmey9 21:1fb5023b72af 376 */
timmey9 17:2f978f823020 377 break;
timmey9 17:2f978f823020 378 }
timmey9 16:c3f922f61b8f 379 }
timmey9 17:2f978f823020 380
timmey9 17:2f978f823020 381 } while (server.getStatus() == network::Socket::Listening);
timmey9 22:523e316cbe70 382 }
timmey9 22:523e316cbe70 383 /*
timmey9 22:523e316cbe70 384 void timed_sampling() {
timmey9 22:523e316cbe70 385 __disable_irq(); // Disable Interrupts
timmey9 22:523e316cbe70 386 timeStamp.start();
timmey9 22:523e316cbe70 387
timmey9 22:523e316cbe70 388 // The following performs analog-to-digital conversions - first reading the last conversion - then initiating another
timmey9 22:523e316cbe70 389 uint32_t A0_value = adc_hal_get_conversion_value(0, 0);
timmey9 22:523e316cbe70 390 uint32_t A2_value = adc_hal_get_conversion_value(1, 0);
timmey9 22:523e316cbe70 391 BW_ADC_SC1n_ADCH(0, 0, kAdcChannel12); // This corresponds to starting an ADC conversion on channel 12 of ADC 0 - which is A0 (PTB2)
timmey9 22:523e316cbe70 392 BW_ADC_SC1n_ADCH(1, 0, kAdcChannel14); // This corresponds to starting an ADC conversion on channel 14 of ADC 1 - which is A2 (PTB10)
timmey9 22:523e316cbe70 393
timmey9 22:523e316cbe70 394 // The following updates the rotary counter for the AMT20 sensor
timmey9 22:523e316cbe70 395 // Put A on PTC0
timmey9 22:523e316cbe70 396 // Put B on PTC1
timmey9 22:523e316cbe70 397 uint32_t AMT20_AB = HW_GPIO_PDIR_RD(HW_PORTC) & 0x03;
timmey9 22:523e316cbe70 398 //AMT20_AB = ~last_AMT20_AB_read; // Used to force a count - extend time.
timmey9 22:523e316cbe70 399 if (AMT20_AB != last_AMT20_AB_read)
timmey9 22:523e316cbe70 400 {
timmey9 22:523e316cbe70 401 // change "INVERT_ANGLE" to change whether relative angle counts up or down.
timmey9 22:523e316cbe70 402 if ((AMT20_AB >> 1)^(last_AMT20_AB_read) & 1U)
timmey9 22:523e316cbe70 403 #if INVERT_ANGLE == 1
timmey9 22:523e316cbe70 404 {rotary_count--;}
timmey9 22:523e316cbe70 405 else
timmey9 22:523e316cbe70 406 {rotary_count++;}
timmey9 22:523e316cbe70 407 #else
timmey9 22:523e316cbe70 408 {rotary_count++;}
timmey9 22:523e316cbe70 409 else
timmey9 22:523e316cbe70 410 {rotary_count--;}
timmey9 22:523e316cbe70 411 #endif
timmey9 22:523e316cbe70 412
timmey9 22:523e316cbe70 413 last_AMT20_AB_read = AMT20_AB;
timmey9 22:523e316cbe70 414 }
timmey9 22:523e316cbe70 415 //current_sample_index = BEGIN_SAMPLING; // Used to force extra time.
timmey9 22:523e316cbe70 416 if (current_sample_index == WAITING_TO_BEGIN) {}
timmey9 22:523e316cbe70 417 else
timmey9 22:523e316cbe70 418 {
timmey9 22:523e316cbe70 419 if (current_sample_index == BEGIN_SAMPLING) {
timmey9 22:523e316cbe70 420 current_sample_index = FIRST_SAMPLE_INDEX;
timmey9 22:523e316cbe70 421 }
timmey9 22:523e316cbe70 422
timmey9 22:523e316cbe70 423 sample_array[current_sample_index] = (A0_value << CHANNEL_STORAGE_OFFSET) | A2_value;
timmey9 22:523e316cbe70 424
timmey9 22:523e316cbe70 425 angle_array[current_sample_index] = rotary_count;
timmey9 22:523e316cbe70 426
timmey9 22:523e316cbe70 427 if (current_sample_index == LAST_SAMPLE_INDEX) {
timmey9 22:523e316cbe70 428 current_sample_index = WAITING_TO_BEGIN;
timmey9 22:523e316cbe70 429 //led_green = 1;
timmey9 22:523e316cbe70 430 }
timmey9 22:523e316cbe70 431 else { current_sample_index++; }
timmey9 22:523e316cbe70 432 }
timmey9 22:523e316cbe70 433
timmey9 22:523e316cbe70 434 int tempVar = timeStamp.read_us();
timmey9 22:523e316cbe70 435 timeStamp.stop();
timmey9 22:523e316cbe70 436 timeStamp.reset();
timmey9 22:523e316cbe70 437 pc.printf("TimeStamp: %i\r\n", tempVar);
timmey9 22:523e316cbe70 438 __enable_irq(); // Enable Interrupts
timmey9 22:523e316cbe70 439 }
timmey9 22:523e316cbe70 440
timmey9 22:523e316cbe70 441 void analog_initialization(PinName pin)
timmey9 22:523e316cbe70 442 {
timmey9 22:523e316cbe70 443 ADCName adc = (ADCName)pinmap_peripheral(pin, PinMap_ADC);
timmey9 22:523e316cbe70 444 // MBED_ASSERT(adc != (ADCName)NC);
timmey9 22:523e316cbe70 445
timmey9 22:523e316cbe70 446 uint32_t instance = adc >> ADC_INSTANCE_SHIFT;
timmey9 22:523e316cbe70 447
timmey9 22:523e316cbe70 448 clock_manager_set_gate(kClockModuleADC, instance, true);
timmey9 22:523e316cbe70 449
timmey9 22:523e316cbe70 450 uint32_t bus_clock;
timmey9 22:523e316cbe70 451 clock_manager_get_frequency(kBusClock, &bus_clock);
timmey9 22:523e316cbe70 452 uint32_t clkdiv;
timmey9 22:523e316cbe70 453 for (clkdiv = 0; clkdiv < 4; clkdiv++) {
timmey9 22:523e316cbe70 454 if ((bus_clock >> clkdiv) <= MAX_FADC)
timmey9 22:523e316cbe70 455 break;
timmey9 22:523e316cbe70 456 }
timmey9 22:523e316cbe70 457 if (clkdiv == 4) {
timmey9 22:523e316cbe70 458 clkdiv = 0x7; //Set max div
timmey9 22:523e316cbe70 459 }
timmey9 22:523e316cbe70 460 // adc is enabled/triggered when reading.
timmey9 22:523e316cbe70 461 adc_hal_set_clock_source_mode(instance, (adc_clock_source_mode_t)(clkdiv >> 2));
timmey9 22:523e316cbe70 462 adc_hal_set_clock_divider_mode(instance, (adc_clock_divider_mode_t)(clkdiv & 0x3));
timmey9 22:523e316cbe70 463 adc_hal_set_reference_voltage_mode(instance, kAdcVoltageVref);
timmey9 22:523e316cbe70 464 adc_hal_set_resolution_mode(instance, kAdcSingleDiff16);
timmey9 22:523e316cbe70 465 adc_hal_configure_continuous_conversion(instance, false);
timmey9 22:523e316cbe70 466 adc_hal_configure_hw_trigger(instance, false); // sw trigger
timmey9 22:523e316cbe70 467 adc_hal_configure_hw_average(instance, false);
timmey9 22:523e316cbe70 468 adc_hal_set_hw_average_mode(instance, kAdcHwAverageCount4);
timmey9 22:523e316cbe70 469 adc_hal_set_group_mux(instance, kAdcChannelMuxB); // only B channels are avail
timmey9 22:523e316cbe70 470
timmey9 22:523e316cbe70 471 pinmap_pinout(pin, PinMap_ADC);
timmey9 22:523e316cbe70 472 }
timmey9 22:523e316cbe70 473
timmey9 22:523e316cbe70 474 void output_data(uint32_t iteration_number)
timmey9 22:523e316cbe70 475 {
timmey9 22:523e316cbe70 476 pc.printf("Iteration: %i\n\r", iteration_number);
timmey9 22:523e316cbe70 477 pc.printf("Sampling rate: %i\n\r", SAMPLING_RATE);
timmey9 22:523e316cbe70 478 pc.printf("Data length: %i\n\r", TOTAL_SAMPLES);
timmey9 22:523e316cbe70 479 for (int n = FIRST_SAMPLE_INDEX; n <= LAST_SAMPLE_INDEX; n++) {
timmey9 22:523e316cbe70 480 //pc.printf("%i\t%i\t%i\r\n", (sample_array[n] >> CHANNEL_STORAGE_OFFSET), (sample_array[n] & 0xFFFF), angle_array[n]);
timmey9 22:523e316cbe70 481 }
timmey9 22:523e316cbe70 482
timmey9 22:523e316cbe70 483 }
timmey9 22:523e316cbe70 484 */