Diff: main.cpp

Revision:

16:e423f891cfbc

Parent:

15:8adff67fe707

Child:

17:75815e312312

--- a/main.cpp	Wed Jun 14 01:23:53 2017 +0000
+++ b/main.cpp	Thu Jun 15 04:23:01 2017 +0000
@@ -122,7 +122,7 @@
 {
     count4 =__HAL_TIM_GET_COUNTER(&timer2);
     if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2)) {
-        if (count2 == 0 && adjustOffset == false) { //catch first index pulse 
+        if (count2 == 0 && adjustOffset == false) { //catch first index pulse
             count3 = count4;
             adjustOffset = true;
         }
@@ -167,7 +167,7 @@
     //wait_ms(10);
     // Avoiding wait(), since it uses interrupts and timing here
     // is not critical. This takes 10 ms, if not interrupted
-    for (uint32_t j=0; j<199950; j++){}
+    for (uint32_t j=0; j<199950; j++) {}
     pos2=__HAL_TIM_GET_COUNTER(&timer2);
     sens2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
 
@@ -177,7 +177,7 @@
         //wait_ms(10);
         // Avoiding wait(), since it uses interrupts and timing here
         // is not critical. This takes 10 ms, if not interrupted
-        for (uint32_t j=0; j<199950; j++){}
+        for (uint32_t j=0; j<199950; j++) {}
         i++;
         pos2=__HAL_TIM_GET_COUNTER(&timer2);
         sens2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
@@ -190,16 +190,16 @@
     if (sens1 == sens2) {
         pos = pos2 - pos1;
     } else {
-        printf("E:Speed computation error, change of direction between readings!\r\n");
+        printf("E:Speed computation error, change of direction between readings!\n");
     }
 
     //For debugging
-    //printf("%lu microseconds, %ld steps: start:%lu stop%lu\r\n", deltaT, pos, pos1, pos2);
+    //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
     } else {
-        printf("E:Error, time interval not greater than zero, speed not calculated!\r\n");
+        printf("E:Error, time interval not greater than zero, speed not calculated!\n");
     }
     return speed;
 }
@@ -208,28 +208,29 @@
 //the serial messages and invoques the corresponding commands
 void readData(void)
 {
-    char message[50];
+
+    char message[20];
     if(raspi.readable()) {
         // Signalling the beginning of serial read
         led1 = 1;
         int p1 = 0;
-        
+
         raspi.scanf("%s", message);
         //Message received printed for debugging
-        //printf("M:%d %s\r\n", strlen(message), message);
-        
+        //printf("M:%d %s\n", strlen(message), message);
+
         if (strcmp(message, "adcOn") == 0) {
             adc_en = true;
-            printf("M:ADC true\r\n");
+            printf("M:ADC true\n");
         } else if (strcmp(message, "adcOff") == 0) {
             adc_en = false;
-            printf("M:ADC false\r\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("M:Value to write to DAC: %f\r\n", dac_val*3.3f);
+            printf("M: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;
@@ -238,39 +239,39 @@
             count3 = 0;
             count4 = 0;
             adjustOffset = false;
-            printf("M:Encoder counters reset!\r\n");
+            printf("M:Encoder counters reset!\n");
         } else if (strcmp(message, "powerOn") == 0) {
             //command to power on the DCPS
             relay1.write(1);
-            printf("M:DCPS on\r\n");
+            printf("M:DCPS on\n");
         } else if (strcmp(message, "powerOff") == 0) {
             //command to power off the DCPS
             relay1.write(0);
-            printf("M:DCPS off\r\n");
+            printf("M:DCPS off\n");
         } else if (strcmp(message, "posOn") == 0) {
             //command to enable the encoder position notification
             pos_en = true;
-            printf("M:Position notification enabled\r\n");
+            printf("M:Position notification enabled\n");
         } else if (strcmp(message, "posOff") == 0) {
             //command to disable the encoder position notification
             pos_en = false;
-            printf("M:Position notification disabled\r\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("M:Index related position notification enabled\r\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("M:Index related position notification disabled\r\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("M:Speed enabled\r\n");
+            printf("M:Speed enabled\n");
         } else if (strcmp(message, "speedOff") == 0) {
             //command to disable speed computation and notification
             speed_en = false;
-            printf("M:Speed disabled\r\n");
+            printf("M:Speed disabled\n");
         }
 
     }
@@ -280,10 +281,10 @@
 
 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();
@@ -299,7 +300,8 @@
 int main()
 {
     //Power onn the DCPS
-    relay1.write(0);
+    relay1.write(1);
+    dac1.write(0.32);
 
     //counting on both A&B inputs (A at PA0, B at PA1), 4 ticks per cycle,
     //full 32-bit count
@@ -317,11 +319,12 @@
     raspi.baud(115200);
 
     //Attach functin to call for serial interrupt event
+    wait(1);
     raspi.attach(&readData);
 
     //Message to mark the initialisation of the program
-    printf("M:\n\rSTM HAL encoder with ADC and DAC\n\r");
-    printf("M:Running at %u MHz\r\n\n", HAL_RCC_GetSysClockFreq()/1000000);
+    printf("M:STM HAL encoder with ADC and DAC\n");
+    printf("M:Running at %u MHz\n", HAL_RCC_GetSysClockFreq()/1000000);
 
     //The main loop
     while(1) {
@@ -330,40 +333,46 @@
         int8_t dir1;
 
         //Prints the timestamp in miliseconds
-        printf("T:%u\r\n", us_ticker_read()/1000);
+        printf("T:%u", us_ticker_read()/1000);
 
         if (pos_en) {
             //It gets the position and the direction of the encoder
             count1=__HAL_TIM_GET_COUNTER(&timer2);
             dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
-            printf("P:%ld S:%s C:%d\r\n", count1, dir1==0 ? "+":"-", count2);
+            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() 
+                // because speed computation may take too long and wait()
                 // disables other interrupts, therefore the index pulse
-                // interrupt as well. 
+                // interrupt as well.
                 if (count2 > 1) {
-                    printf("PI:%ld S:%s C:%d\r\n", (count1-count4) + (count2-1)*8000 + count3, dir1==0 ? "+":"-", count2);
+                    printf("Pi:%ld", (count1-count4) + (count2-1)*8000 + count3);
                 } else if (count2 < -1) {
-                    printf("PI:%ld S:%s C:%d\r\n", (count1-count4) + (count2+1)*8000 + count3, dir1==0 ? "+":"-", count2);
+                    printf("Pi:%ld", (count1-count4) + (count2+1)*8000 + count3);
                 } else {
-                    printf("PI:%ld S:%s C:%d\r\n", (count1-count4) + count3, dir1==0 ? "+":"-", count2);
+                    printf("Pi:%ld", (count1-count4) + count3);
                 }
             }
         }
 
         if (speed_en) {
             //Print speed
-            printf("S:%f\r\n", speedRead());
+            printf("S:%.3f%", speedRead()); // in rot/s
         }
 
         if (adc_en) {
-            printf("Phase= %3.3f%V\r\n", (3.3f*ADC_read(adc1)+0.022f)*125.62f);
-            printf("Voltage DCPS: %3.3f%V\r\n", (3.3f*ADC_read(adc2)+0.062f)/0.207f);
-            printf("Average Current: %3.3f%mA\r\n", 3.3f*ADC_read(adc3)+0.022f);
+            //Print phase shift in Degrees, DCPS output voltage in Volts
+            // and current intensity in Ampers
+            printf("F:%3.3fU:%3.3fI:%3.3f", (3.3f*ADC_read(adc1)+0.022f)*125.62f,
+                   (3.3f*ADC_read(adc2)+0.062f)/0.207f, 3.3f*ADC_read(adc3)+0.022f);
+            //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");
 
-        wait(0.09);
+        wait(0.08);
     }
 
 }
\ No newline at end of file