Diff: main.cpp

Revision:

18:1ef20c13693c

Parent:

17:75815e312312

Child:

19:51075c725004

--- a/main.cpp	Thu Jun 15 17:20:59 2017 +0000
+++ b/main.cpp	Thu Jun 15 18:16:15 2017 +0000
@@ -49,7 +49,6 @@
 
 //Timer to be used for the speed computation function
 Timer timer1;
-Timer timer3;
 
 //The input for the encoder's index channel
 InterruptIn event(PA_8);
@@ -84,11 +83,11 @@
 //Counter for the absolute position from start
 int32_t count1 = 0;
 //Counter for the index passes
-int32_t count2 = 0;
+volatile int32_t count2 = 0;
 //Records the wheel offset position to the index
-int32_t count3 = 0;
+volatile int32_t count3 = 0;
 //Counter recording absolute position at last index pulse
-int32_t count4 = 0;
+volatile int32_t count4 = 0;
 //Used to filter the first index pulse, so that the offset position
 //to the index may be recorded
 volatile bool adjustOffset = false;
@@ -191,7 +190,7 @@
     if (sens1 == sens2) {
         pos = pos2 - pos1;
     } else {
-        printf("\nE:Speed computation error, change of direction between readings!\n");
+        printf("E:Speed computation error, change of direction between readings!\n");
     }
 
     //For debugging
@@ -200,7 +199,7 @@
         //speed computation in rot/s
         speed = ((float) pos)*125.f/((float) deltaT); // (pulses/us)*1000000/8000 -> rot/s
     } else {
-        printf("\nE:Error, time interval not greater than zero, speed not calculated!\n");
+        printf("E:Error, time interval not greater than zero, speed not calculated!\n");
     }
     return speed;
 }
@@ -228,16 +227,15 @@
         int p1 = 0;
         if (strcmp(message, "adcOn") == 0) {
             adc_en = true;
-            printf("\nM:ADC true\n");
+            printf("M:ADC true\n");
         } else if (strcmp(message, "adcOff") == 0) {
             adc_en = false;
-            printf("\nM:ADC false\n");
+            printf("M:ADC false\n");
         } else if (p1=strstr(message, "dac=") != NULL) {
             //Writing the dac1 value read from serial
             //The DCPS has 1V offset, so we have to remove it
             dac_val = (atof(message+p1+3)-1.0f)/15.51;
             dac1.write(dac_val);
-            printf("\nM:Value to write to DAC: %f\n", dac_val*3.3f);
         } else if (strcmp(message, "reset") == 0) {
             //encoder related counters reset command
             TIM2->CNT = 0x0000;
@@ -246,11 +244,11 @@
             count3 = 0;
             count4 = 0;
             adjustOffset = false;
-            printf("\nM:Encoder counters reset!\n");
+            printf("M:Encoder counters reset!\n");
         } else if (strcmp(message, "powerOn") == 0) {
             //command to power on the DCPS
             relay1.write(1);
-            printf("\nM:DCPS on\n");
+            printf("M:DCPS on\n");
         } else if (strcmp(message, "powerOff") == 0) {
             //command to power off the DCPS
             relay1.write(0);
@@ -258,27 +256,27 @@
         } else if (strcmp(message, "posOn") == 0) {
             //command to enable the encoder position notification
             pos_en = true;
-            printf("\nM:Position notification enabled\n");
+            printf("M:Position notification enabled\n");
         } else if (strcmp(message, "posOff") == 0) {
             //command to disable the encoder position notification
             pos_en = false;
-            printf("\nM:Position notification disabled\n");
+            printf("M:Position notification disabled\n");
         } else if (strcmp(message, "posIndexOn") == 0) {
             //command to enable the index related encoder position notification
             posIndex_en = true;
-            printf("\nM:Index related position notification enabled\n");
+            printf("M:Index related position notification enabled\n");
         } else if (strcmp(message, "posIndexOff") == 0) {
             //command to disable the index related encoder position notification
             posIndex_en = false;
-            printf("\nM:Index related position notification disabled\n");
+            printf("M:Index related position notification disabled\n");
         } else if (strcmp(message, "speedOn") == 0) {
             //command to enable speed computation and notification
             speed_en = true;
-            printf("\nM:Speed enabled\n");
+            printf("M:Speed enabled\n");
         } else if (strcmp(message, "speedOff") == 0) {
             //command to disable speed computation and notification
             speed_en = false;
-            printf("\nM:Speed disabled\n");
+            printf("M:Speed disabled\n");
         }
     }
     
@@ -286,16 +284,15 @@
     led1 = 0;
 }
 
+//Function to compute the average of ADC readings
 float ADC_read(AnalogIn adc)
 {
-
     float Voltage;
     float Voltage_total = 0.0;
 
     // Voltage is summed then averaged
     for (int i=0; i<100; i++) { // do 100 readings
         Voltage = adc.read();
-
         Voltage_total = Voltage_total+ Voltage;
         //wait_us(10);
     }
@@ -306,8 +303,9 @@
 //The main function
 int main()
 {
-    //Power onn the DCPS
+    //Power on the DCPS
     relay1.write(1);
+    //Set the DCPS output to (0.32x3.3)x4.7+1 = ~6V
     dac1.write(0.32);
 
     //counting on both A&B inputs (A at PA0, B at PA1), 4 ticks per cycle,
@@ -326,6 +324,9 @@
     raspi.baud(115200);
 
     //Attach functin to call for serial interrupt event
+    //The wait() function ensures that not false serial RX
+    //interrupt is triggered at power up, because of initial
+    //serial port install by the Raspi OS
     wait(1);
     raspi.attach(&readData, Serial::RxIrq);