William Lange
Same as mallet... but distance
Dependencies: EthernetInterface NetworkAPI mbed-rtos mbed
Fork of
MalletFirmware
by 
Impact-Echo
Revision 25:abbc19af13f9, committed 2014-12-03
- Comitter:
- timmey9
- Date:
- Wed Dec 03 09:21:55 2014 +0000
- Parent:
- 24:a5891669afc5
- Child:
- 26:a00bf9837e03
- Commit message:
- Everything compiles and works, except when TOTAL_SAMPLES is too large. Works at 100, and ethernet boots up at 10000 but can't connect to MATLAB. Check for memory leaks.
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Wed Dec 03 07:18:27 2014 +0000
+++ b/main.cpp Wed Dec 03 09:21:55 2014 +0000
@@ -43,7 +43,7 @@
// 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 300 // originally 30000 for 0.3 ms of sampling.
+#define TOTAL_SAMPLES 10000 // 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
@@ -113,12 +113,14 @@
//DigitalIn SW3_switch(PTA4);
//DigitalIn SW2_switch(PTC6);
-
+DigitalOut StatusSensor(PTC4);
+DigitalOut StatusIndicator2(PTA0); // originally PTD0 but needed for CS for spi
uint32_t current_sample_index = WAITING_TO_BEGIN;
-uint32_t sample_array[TOTAL_SAMPLES];
+uint16_t sample_array1[TOTAL_SAMPLES];
+uint16_t sample_array2[TOTAL_SAMPLES];
uint16_t angle_array[TOTAL_SAMPLES];
@@ -137,7 +139,7 @@
int main() {
- for(int i = 0; i < TOTAL_SAMPLES; i++) {sample_array[i] = i;}
+ //for(int i = 0; i < TOTAL_SAMPLES; i++) {sample_array[i] = i;}
led_blue = 1;
led_green = 1;
led_red = 1;
@@ -164,7 +166,7 @@
// 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;
+ //int32_t pointer = 0;
double duty_cycle = 0.25;
@@ -323,20 +325,112 @@
led_blue = !led_blue;
client[index].write((void *)"Blue LED\n",9);
break;
+
case 'r':
led_red = !led_red;
client[index].write((void *)"Red LED\n",8);
break;
+
case 'p':
led_green = !led_green;
client[index].write((void *)"Data\n",5);
- client[index].write((void *)&sample_array,TOTAL_SAMPLES);
+ client[index].write((void *)&sample_array1,2*TOTAL_SAMPLES);
break;
- case '1':
- // run motor and sample
+
+ 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;
+ trigger_count++;
+ while (current_sample_index != WAITING_TO_BEGIN){
+ wait_us(10);
+ }*/
+
+ // below is a crappy form of sampling *******************************
+ rotary_count = 0;
+ for(int i = 0; i < TOTAL_SAMPLES; 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;
+ }
+
+ sample_array1[i] = A0_value;
+ sample_array2[i] = A2_value;
+ angle_array[i] = rotary_count;
+
+ wait_us(10);
+ }
+ client[index].write((void *)"Data\n",5);
+ 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);
+ }
break;
- case '2':
- // run just the motor
+
+ case '2': // run just the motor
+ {
+ pc.printf("All duration settings 2:\r\n");
+ for(int i = 0; i < 8; i++)
+ {
+ pc.printf("Duration[%i]: %i\r\n", i, duration[i]);
+ }
+
+ // release mallet
+ motor.forward(duration[0]); // move motor forward
+ wait_us(duration[1]); // wait
+ motor.backward(0.7, duration[2]); // stop motor using reverse
+
+ // time for sampling
+ wait_us(SAMPLING_RATE*TOTAL_SAMPLES);
+
+ // reset mallet
+ motor.backward(duration[3]); // move motor backward
+ motor.backward(0.75, duration[4]);
+ motor.backward(duty_cycle, duration[5]);
+ }
break;
case 'a':
if(angle_encoder.set_zero(&rotary_count)) {
@@ -400,9 +494,6 @@
}
}
- else {
-
- }
@@ -446,124 +537,6 @@
}
} while (server.getStatus() == network::Socket::Listening);
-
- /*
- while(1){
- uint32_t current_SW3 = SW3_switch;
- if(pc.readable() > 0)
- {
- char temp = pc.getc();
- while(pc.readable() > 0) pc.getc();
-
- if(temp == '1') current_SW3 = 0;
- else current_SW3 = 1;
- if(temp == '2') SW2_switch = 0;
- else SW2_switch = 1;
-
- // for angle encoder testing
- if(temp == 'a') pc.printf(angle_encoder.set_zero(&rotary_count)?"Zero set\r\n":"False\r\n");
- if(temp == 's') pc.printf("NOP: %x\r\n",angle_encoder.nop());
- if(temp == 'd') pc.printf("Angle: %i %i\r\n",angle_encoder.absolute_angle(), rotary_count);
-
- if(temp == 't')
- {
-
- }
-
-
- // for motor testing
- if(temp == 'k') // motor backward
- {
- motor.backward(duty_cycle, duration[5]);
- }
-
- if(temp == 'u' && duty_cycle < 1.00f) pc.printf("%f \r\n", duty_cycle += 0.01f);
- if(temp == 'i' && duty_cycle > 0.00f) pc.printf("%f \r\n", duty_cycle -= 0.01f);
-
- if(temp == '=') // you can hit the '+' key to increment "duration" without holding down "shift"
- {
- if(pointer < 7) pointer++;
- pc.printf("Duration[%i]: %i\r\n",pointer, duration[pointer]);
- }
- if(temp == '-')
- {
- if(pointer > 0) pointer--;
- pc.printf("Duration[%i]: %i\r\n",pointer, duration[pointer]);
- }
- if(temp == ']') // you can hit the '+' key to increment "duration" without holding down "shift"
- {
- duration[pointer] += 1000;
- pc.printf(" %i\r\n", duration[pointer]);
- }
- if(temp == '[')
- {
- if(duration[pointer] > 0) duration[pointer]-= 1000;
- pc.printf(" %i\r\n", duration[pointer]);
- }
-
- }
- else
- {
- SW2_switch = 1;
- current_SW3 = 1;
- }
-
- if (current_SW3 == 0) {
-
- if (SW3_past == 1) {
- 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;
- trigger_count++;
- while (current_sample_index != WAITING_TO_BEGIN){
- wait_us(10);
- }
-
- __disable_irq(); // Disable Interrupts
-
- // reset mallet
- // add code here
-
-
- output_data(trigger_count);
- }
- }
- SW3_past = current_SW3;
-
-
- if (SW2_switch == 0) { // To advance motor
- pc.printf("All duration settings 2:\r\n");
- for(int i = 0; i < 8; i++)
- {
- pc.printf("Duration[%i]: %i\r\n", i, duration[i]);
- }
-
-
- SW2_switch = 1;
-
- // release mallet
- motor.forward(duration[0]); // move motor forward
- wait_us(duration[1]); // wait
- motor.backward(0.7, duration[2]); // stop motor using reverse
-
- // time for sampling
- wait_us(SAMPLING_RATE*TOTAL_SAMPLES);
-
- // reset mallet
- motor.backward(duration[3]); // move motor backward
- motor.backward(0.75, duration[4]);
- motor.backward(duty_cycle, duration[5]);
-
- }
- */
}
void timed_sampling() {
@@ -605,7 +578,7 @@
current_sample_index = FIRST_SAMPLE_INDEX;
}
- sample_array[current_sample_index] = (A0_value << CHANNEL_STORAGE_OFFSET) | A2_value;
+ sample_array1[current_sample_index] = (A0_value << CHANNEL_STORAGE_OFFSET) | A2_value;
angle_array[current_sample_index] = rotary_count;
@@ -662,7 +635,7 @@
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_array[n] >> CHANNEL_STORAGE_OFFSET), (sample_array[n] & 0xFFFF), angle_array[n]);
+ pc.printf("%i\t%i\t%i\r\n", sample_array1[n], sample_array2[n], angle_array[n]);
}
}