William Lange
Same as mallet... but distance
Dependencies: EthernetInterface NetworkAPI mbed-rtos mbed
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MalletFirmware
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Impact-Echo
Revision 27:8c2b30c855d1, committed 2014-12-05
- Comitter:
- timmey9
- Date:
- Fri Dec 05 05:56:33 2014 +0000
- Parent:
- 26:a00bf9837e03
- Child:
- 28:4a833d59897b
- Commit message:
- Moved ethernet initialization to beginning of program. The program now compiles.
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- 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