Diff: main.cpp

Revision:

27:8c2b30c855d1

Parent:

26:a00bf9837e03

Child:

28:4a833d59897b

diff -r a00bf9837e03 -r 8c2b30c855d1 main.cpp
--- a/main.cpp	Wed Dec 03 16:40:51 2014 +0000
+++ b/main.cpp	Fri Dec 05 05:56:33 2014 +0000
@@ -9,7 +9,6 @@
 #include "NetworkAPI/ip/address.hpp"
 #include "NetworkAPI/tcp/socket.hpp"
 
-
 // Angle encoder and motor control
 #include "AngleEncoder.h"
 #include "MotorControl.h"
@@ -22,7 +21,6 @@
 #include "fsl_dspi_hal.h"
 #include "AngleEncoder.h"
 
-
 /*****************************************
  *  
  *   Configuration
@@ -36,14 +34,10 @@
 #define MAX_CLIENTS 2   // set the max number of clients to at least 2 (first client is MATLAB, second is the distance unit)
 #define INVERT_ANGLE 0  // inverts whether the angle encoder counts up or down
 
-
-
-
-
 // Analog sampling
 #define MAX_FADC 6000000
 #define SAMPLING_RATE       10000 // In microseconds, so 10 us will be a sampling rate of 100 kHz
-#define TOTAL_SAMPLES       10 // originally 30000 for 0.3 ms of sampling.
+#define TOTAL_SAMPLES       30000 // originally 30000 for 0.3 ms of sampling.
 
 #define LAST_SAMPLE_INDEX   (TOTAL_SAMPLES-1) // If sampling time is 25 us, then 2000 corresponds to 50 ms
 #define FIRST_SAMPLE_INDEX  0
@@ -97,7 +91,6 @@
 DigitalOut led_green(LED_GREEN);
 DigitalOut led_blue(LED_BLUE);
 
-
 // motor control and angle encoder
 MotorControl motor(PTC2, PTA2, PERIOD, ON_OFF_TIME); // forward, backward, period, safetyPeriod
 AngleEncoder angle_encoder(PTD2, PTD3, PTD1, PTD0, 8, 0, 1000000); // mosi, miso, sclk, cs, bit_width, mode, hz
@@ -105,7 +98,7 @@
 DigitalIn AMT20_B(PTC1); // input for quadrature encoding from angle encoder
 
 // Analog sampling
-//Ticker Sampler;
+Ticker Sampler;
 //Timer timer;
 //Timer timeStamp;
 AnalogIn A0_pin(A0);
@@ -116,25 +109,20 @@
 DigitalOut StatusSensor(PTC4);
 DigitalOut StatusIndicator2(PTA0); // originally PTD0 but needed for CS for spi
 
-
-
 uint32_t current_sample_index = WAITING_TO_BEGIN;
 uint16_t sample_array1[TOTAL_SAMPLES];
 uint16_t sample_array2[TOTAL_SAMPLES];
 uint16_t angle_array[TOTAL_SAMPLES];
 
-
 // Declaration of functions
 void analog_initialization(PinName pin);
 void output_data(uint32_t iteration_number);
 void timed_sampling();
 
-
 // Important globabl variables necessary for the sampling every interval
 int rotary_count = 0;
 uint32_t last_AMT20_AB_read = 0;
 
-//using namespace network;
 using namespace std;
  
 int main() {
@@ -147,51 +135,14 @@
     pc.baud(230400);
     pc.printf("Starting %s\r\n",NAME);
     
-    analog_initialization(A0);
-    analog_initialization(A2);
-    
-    // setup this timer
-    //timeStamp.stop();
-    //timeStamp.reset();
-    
-    // Start the sampling loop
-    current_sample_index = WAITING_TO_BEGIN;
-    //Sampler.attach_us(&timed_sampling, SAMPLING_RATE);
-    //__disable_irq();    // Disable Interrupts
-    //timer.reset();
-    //timer.start();        
-    
-    uint32_t trigger_count = 0;
-    
-    // corresponding duty     1      0     0.7     1    0.75
-    uint32_t duration[8] = {10000, 60000, 10000, 39000, 7000, 7000, 0, 0};
-    //uint32_t duration[8] = {10000, 100000, 10000, 92000, 25000, 7000, 0, 0};
-    //int32_t pointer = 0;
-    
-    double duty_cycle = 0.25;
-    
-    // flash red LED
-    led_red = 0;
-    wait_ms(500);
-    led_red = 1;
-    
-    
-    
-    
-    
-    
-    
-    // initialize ethernet connection and server
+    // The ethernet setup must be within the first few lines of code, otherwise the program hangs
     EthernetInterface interface;
-    
     #if STATIC == 1
     interface.init(IP, MASK, GATEWAY);
     #else
     interface.init();
     #endif
-    
     interface.connect();
-    //pc.printf(NAME);
     pc.printf("IP Address is: %s\n\r", interface.getIPAddress());
     pc.printf("Network Mask is: %s\n\r", interface.getNetworkMask());
     pc.printf("MAC address is: %s\n\r", interface.getMACAddress());
@@ -213,6 +164,23 @@
         NVIC_SystemReset();
     }
     
+    
+    analog_initialization(A0);
+    analog_initialization(A2);
+    
+    
+    // Start the sampling loop
+    current_sample_index = WAITING_TO_BEGIN;
+    Sampler.attach_us(&timed_sampling, SAMPLING_RATE);
+    
+    
+    uint32_t trigger_count = 0;
+    
+    // corresponding duty   1  0  0.7 1  0.75 
+    uint32_t duration[8] = {0, 0,  0, 0,  0,  0,  0,  0};
+    
+    double duty_cycle = 0.25;
+    
     network::Select select;
     network::tcp::Socket server;
     network::tcp::Socket client[MAX_CLIENTS];
@@ -221,14 +189,14 @@
     int result = 0;
     int index = 0;
      
-    network::Buffer buffer(TOTAL_SAMPLES);
+    network::Buffer buffer(50);
     std::string message(NAME);
      
     // Configure the server socket (assume every thing works)
     server.open();
     server.bind(PORT);
     server.listen(MAX_CLIENTS);
-   
+    
     // Add sockets to the select api
     select.set(&server, network::Select::Read);
     for (index = 0; index < MAX_CLIENTS; index++) {
@@ -282,12 +250,6 @@
                 // Send a nice message to the client (tell MATLAB your name
                 client[index].write((void *)message.data(), message.size());
                 
-                // read some registers for some info.
-                //uint32_t* rcr = (uint32_t*) 0x400C0084;
-                //uint32_t* ecr = (uint32_t*) 0x400C0024;
-                //pc.printf("RCR register: %x\r\n", *rcr);
-                //pc.printf("ECR register: %x\r\n", *ecr);
-                
                 continue;
             }
             
@@ -334,93 +296,27 @@
                             case 'p':
                                 led_green = !led_green;
                                 client[index].write((void *)"Data\n",5);
-                                client[index].write((void *)&sample_array1,2*TOTAL_SAMPLES);
+                                for(int i = 0; i < 99; i++) sample_array1[i] = i;
+                                client[index].write((void *)&sample_array1,2*99);
                                 break;
                                 
                             case '1': // run motor and sample
                             {
-                                pc.printf("All duration settings:\r\n");
-                                for(int i = 0; i < 8; i++)
-                                {
-                                    pc.printf("Duration[%i]: %i\r\n", i, duration[i]);
-                                    }
-                                // release mallet
-                                // add code here
-                                
-                                //__enable_irq();     // Enable Interrupts
-                                
-                                /*current_sample_index = BEGIN_SAMPLING;
+                                led_green = 0;
+                                client[index].write((void *)"Data\n",5);
+                                current_sample_index = BEGIN_SAMPLING;
                                 trigger_count++;
                                 while (current_sample_index != WAITING_TO_BEGIN){
                                     wait_us(10);
-                                    }*/
-                                
-                                // below is a crappy form of sampling *******************************
-                                rotary_count = 0;
-                                client[index].write((void *)"Data\n",5);
+                                    }
+                                led_green = 1;
+                                led_blue = 0;
                                 
-                                for(int i = 0; i < 10000; i++)
-                                {
-                                    StatusIndicator2 = !StatusIndicator2;
-                                    
-                                    uint32_t A0_value = adc_hal_get_conversion_value(0, 0);
-                                    uint32_t A2_value = adc_hal_get_conversion_value(1, 0);
-                                    BW_ADC_SC1n_ADCH(0, 0, kAdcChannel12);      // This corresponds to starting an ADC conversion on channel 12 of ADC 0 - which is A0 (PTB2)
-                                    BW_ADC_SC1n_ADCH(1, 0, kAdcChannel14);      // This corresponds to starting an ADC conversion on channel 14 of ADC 1 - which is A2 (PTB10)
-                                    
-                                    // The following updates the rotary counter for the AMT20 sensor
-                                    // Put A on PTC0
-                                    // Put B on PTC1
-                                    uint32_t AMT20_AB = HW_GPIO_PDIR_RD(HW_PORTC) & 0x03;
-                                    //AMT20_AB = ~last_AMT20_AB_read; // Used to force a count - extend time.
-                                    if (AMT20_AB != last_AMT20_AB_read)
-                                    {
-                                        // change "INVERT_ANGLE" to change whether relative angle counts up or down.
-                                        if ((AMT20_AB >> 1)^(last_AMT20_AB_read) & 1U)
-                                        #if INVERT_ANGLE == 1
-                                            {rotary_count--;}
-                                        else
-                                            {rotary_count++;}
-                                        #else
-                                            {rotary_count++;}
-                                        else
-                                            {rotary_count--;}
-                                        #endif
-                                        
-                                        last_AMT20_AB_read = AMT20_AB;        
-                                    }
-                                    
-                                    
-                                    char buf[2];
-                                    buf[1] = (A0_value >> 8) & 0xff;
-                                    buf[0] = A0_value & 0xff;
-                                    client[index].write((void *)buf,2);
-                                    buf[1] = (A2_value >> 8) & 0xff;
-                                    buf[0] = A2_value & 0xff;
-                                    client[index].write((void *)buf,2);
-                                    buf[1] = (rotary_count >> 8) & 0xff;
-                                    buf[0] = rotary_count & 0xff;
-                                    client[index].write((void *)buf,2);
-                                    
-                                    //sample_array1[i] = A0_value;
-                                    //sample_array2[i] = A2_value;
-                                    //angle_array[i] = rotary_count;
-                                    
-                                    wait_us(10);
-                                    }
-                                
-                                //client[index].write((void *)&sample_array1,2*TOTAL_SAMPLES);
-                                //client[index].write((void *)&sample_array2,2*TOTAL_SAMPLES);
-                                //client[index].write((void *)&angle_array,2*TOTAL_SAMPLES);
-                                
-                                //above is a crappy form of sampling ********************************
-                                
-                                //__disable_irq();    // Disable Interrupts
-                                
-                                // reset mallet
-                                // add code here
-                                
-                                output_data(trigger_count);
+                                // send samples all at once
+                                client[index].write((void *)&sample_array1,2*TOTAL_SAMPLES);
+                                client[index].write((void *)&sample_array2,2*TOTAL_SAMPLES);
+                                client[index].write((void *)&angle_array,2*TOTAL_SAMPLES);                                
+                                led_blue = 1;
                                 }
                                 break;
                                 
@@ -554,7 +450,9 @@
 }
 
 void timed_sampling() {
-    __disable_irq();    // Disable Interrupts
+    if(switcher) led_red = !led_red;
+    /*
+    //__disable_irq();    // Disable Interrupts
     //timeStamp.start();
     
     // The following performs analog-to-digital conversions - first reading the last conversion - then initiating another
@@ -592,13 +490,12 @@
             current_sample_index = FIRST_SAMPLE_INDEX;
             }
             
-        sample_array1[current_sample_index] = (A0_value << CHANNEL_STORAGE_OFFSET) | A2_value;
-        
+        sample_array1[current_sample_index] = A0_value;
+        sample_array2[current_sample_index] = A2_value;
         angle_array[current_sample_index] = rotary_count;
         
         if (current_sample_index == LAST_SAMPLE_INDEX) {
             current_sample_index = WAITING_TO_BEGIN;
-            //led_green = 1;
             }
         else { current_sample_index++; }
         }
@@ -607,7 +504,8 @@
     //timeStamp.stop();
     //timeStamp.reset();
     //pc.printf("TimeStamp: %i\r\n", tempVar);
-    __enable_irq();     // Enable Interrupts
+    //__enable_irq();     // Enable Interrupts
+    */
 }
 
 void analog_initialization(PinName pin)
@@ -648,8 +546,15 @@
     pc.printf("Iteration: %i\n\r", iteration_number);
     pc.printf("Sampling rate: %i\n\r", SAMPLING_RATE);
     pc.printf("Data length: %i\n\r", TOTAL_SAMPLES);
-    for (int n = FIRST_SAMPLE_INDEX; n <= LAST_SAMPLE_INDEX; n++) {
-        pc.printf("%i\t%i\t%i\r\n", sample_array1[n], sample_array2[n], angle_array[n]);
-        }
+    
+    //for (int n = FIRST_SAMPLE_INDEX; n <= LAST_SAMPLE_INDEX; n++) {
+    //    pc.printf("%i\t%i\t%i\r\n", sample_array1[n], sample_array2[n], angle_array[n]);
+    //    }
     
 }
+
+// read some registers for some info.
+//uint32_t* rcr = (uint32_t*) 0x400C0084;
+//uint32_t* ecr = (uint32_t*) 0x400C0024;
+//pc.printf("RCR register: %x\r\n", *rcr);
+//pc.printf("ECR register: %x\r\n", *ecr);
\ No newline at end of file