Diff: main.cpp

Revision:

23:5cd74e296f59

Parent:

22:9bba1417e4a4

--- a/main.cpp	Thu Jun 22 02:04:21 2017 +0000
+++ b/main.cpp	Thu Jun 22 10:41:57 2017 +0000
@@ -97,7 +97,7 @@
 
 //Array with adc1, adc2 & adc3 correction addition,
 //experimentally determined (hardware offset voltage dependent)
-const float adc_corr[] = { 0, 0.022f, 0.062f, 0.022f};
+const float adc_corr[] = { 0, 0.022f, 0.022f, 0.022f};
 
 //Enable ADC reading and printing to the serial interface
 bool adc_en = true;
@@ -193,8 +193,6 @@
         printf("E:Speed computation error, change of direction between readings!\n");
     }
 
-    //For debugging
-    //printf("%lu microseconds, %ld steps: start:%lu stop%lu\n", deltaT, pos, pos1, pos2);
     if (deltaT > 0) {
         //speed computation in rot/s
         speed = ((float) pos)*125.f/((float) deltaT); // (pulses/us)*1000000/8000 -> rot/s
@@ -233,8 +231,8 @@
             printf("M:ADC false\n");
         } else if (p1=strstr(message, "v=") != NULL) {
             //Writing the dac1 value read from serial
-            //The DCPS has 1.2V offset, so we have to remove it
-            dac_val = (atof(message+p1+1)-1.2f)/15.9;
+            //The DCPS has 1V offset, so we have to remove it
+            dac_val = (atof(message+p1+1)-1.f)/15.51;
             dac1.write(dac_val);
         } else if (strcmp(message, "reset") == 0) {
             //encoder related counters reset command
@@ -308,6 +306,7 @@
     //Make sure the DCPS is off
     relay1.write(0);
     //Set the DCPS output to (0.32x3.3)x4.7+1 = ~6V
+    //These parameters are set for DCPS on load
     dac1.write(0.32);
 
     //counting on both A&B inputs (A at PA0, B at PA1), 4 ticks per cycle,
@@ -351,10 +350,6 @@
             dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
             printf("P:%ldD:%sC:%d", count1, dir1==0 ? "+":"-", count2);
             if (posIndex_en) {
-                // Does not work if speed computation is enabled and uses wait(),
-                // because speed computation may take too long and wait()
-                // disables other interrupts, therefore the index pulse
-                // interrupt as well.
                 if (count2 > 1) {
                     printf("Pi:%ld", (count1-count4) + (count2-1)*8000 + count3);
                 } else if (count2 < -1) {
@@ -366,20 +361,17 @@
         }
 
         if (speed_en) {
-            //Print speed
-            printf("S:%.3f%", speedRead()); // in rot/s
+            //Print speed in rot/s
+            printf("S:%.3f%", speedRead());
         }
 
         if (adc_en) {
             //Print phase shift in Degrees, DCPS output voltage in Volts
             // and current intensity in Ampers
+            // The dividing factors are hardware dependant
             printf("F:%3.3fU:%3.3fI:%3.3f", (3.3f*ADC_read(adc1)+adc_corr[1])*125.62f,
                    (3.3f*ADC_read(adc2)+adc_corr[2])/0.207f, 
                     3.3f*ADC_read(adc3)+adc_corr[3]);
-            //Print DCPS output voltage in Volts
-            //printf("U:%3.3f%", (3.3f*ADC_read(adc2)+0.062f)/0.207f);
-            //Print current intensity in Ampers
-            //printf("I:%3.3f%\n", 3.3f*ADC_read(adc3)+0.022f);
         }
         printf("\n");