PinkWink's Blog

test = load('123.txt');
 
ts = 0.01;
scaleEnc = 360/2000;
test = [test(:,1), [test(:,2), test(:,3)]*scaleEnc];
[sizeTest, temp] = size(test);
 
t = [0:ts:ts*(sizeTest-1)]';
 
figure
plot(t,test(:,3))
grid on
hold on
xlabel('s (Second)');
ylabel('degree / degree per sencond');
plot(t,test(:,2).*test(:,1)/ts,'r')
plot(t,[0; diff(test(:,3))/ts],'c')

//*****************************************************************************
//
// Withrobot에서 배포하는 엔코더 테스트화일에 시리얼 통신 예제와 타이머 인터럽트 사용예를
// 통합해서 PinkWink가 수정함. 2009.06.04
//
// 일정 시간간격(Sampling Time)으로 엔코더에서 해석한 방향, 속도, 위치값 을
// 시리얼 통신으로 전송함.
//
//*****************************************************************************

#include "../../../hw_types.h"
#include "../../../hw_memmap.h"
#include "sysctl.h"
#include "gpio.h"
#include "uart.h"
#include "qei.h"
#include "ustdlib.h"
#include "timer.h"
#include "interrupt.h"

#ifdef DEBUG
void
__error__(char *pcFilename, unsigned long ulLine)
{
}
#endif

#define BUFFER_LEN              32

static void UARTPutString(char * str);
static void InitTIMERINT(void);
static void InitUART(void);
static void InitQEI(void);
static void TimerIntHandler(void);

int main(void)
{
    SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ);

    InitTIMERINT();
    InitUART();
    InitQEI();

    // Loop Start.
    while(1)
    {
    }
}

static void TimerIntHandler(void)
{
    unsigned long vel, pos;
    long dir;
    char buffer[BUFFER_LEN];

	// Clear interrupt flag
	TimerIntClear( TIMER0_BASE, TIMER_TIMA_TIMEOUT );

    dir = QEIDirectionGet(QEI0_BASE);
    vel = QEIVelocityGet(QEI0_BASE);
    pos = QEIPositionGet(QEI0_BASE);
    usnprintf(buffer, BUFFER_LEN, "%d,  %d,  %d; \n", dir, vel, pos);
    buffer[BUFFER_LEN - 1] = 0;
    UARTPutString(buffer);
}

static void UARTPutString(char * str)
{
    while(*str)
        UARTCharPut(UART0_BASE, *str++);
}

static void InitTIMERINT(void)
{
    SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
    TimerConfigure( TIMER0_BASE, TIMER_CFG_32_BIT_PER );
    TimerLoadSet( TIMER0_BASE, TIMER_A, SysCtlClockGet() / 100 );	// 10ms
    TimerIntRegister( TIMER0_BASE, TIMER_A, TimerIntHandler );
    IntMasterEnable();
    TimerIntEnable( TIMER0_BASE, TIMER_TIMA_TIMEOUT );
    TimerEnable( TIMER0_BASE, TIMER_A );
}

static void InitUART(void)
{
    SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
    GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
    UARTConfigSetExpClk(UART0_BASE, SysCtlClockGet(), 115200, (UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));
}

static void InitQEI(void)
{
    SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);

    GPIOPinTypeQEI(GPIO_PORTC_BASE, GPIO_PIN_4 | GPIO_PIN_6);
    QEIConfigure(QEI0_BASE, (QEI_CONFIG_CAPTURE_A_B | QEI_CONFIG_NO_RESET | QEI_CONFIG_QUADRATURE | QEI_CONFIG_NO_SWAP), 0xffffffff);
    QEIVelocityConfigure(QEI0_BASE, QEI_VELDIV_1, SysCtlClockGet() / 100);

    QEIEnable(QEI0_BASE);
    QEIVelocityEnable(QEI0_BASE);
}