Hello,
I am having a problem when I send a variable of type "long" over UART.
I send the value twice one when the motor is at one position and another when the motor returns back to the original position.
The value I am showing is the encoder count, when the motor goes to the first position the encoder count would be something like 3120, but
when it goes back to the original position it decrements the value back down to like 11. The problem is, is that when the value gets printed on the PuTTY screen
the first values last 2 digits get overlapped into the second value so it would show: 1120.
This is the Stellaris Launchpad btw.
#include "inc/hw_types.h"
#include "inc/hw_memmap.h"
#include "driverlib/sysctl.h"
#include "driverlib/gpio.h"
#include "driverlib/pin_map.h"
#include "driverlib/timer.h"
#include "inc/hw_ints.h"
#include "driverlib/interrupt.h"
#include "driverlib/debug.h"
#include "driverlib/fpu.h"
#include "driverlib/rom.h"
#include "utils/uartstdio.h"
//Timer variables
unsigned long g_ulFlags;
#ifdef DEBUG
void
__error__(char *pcFilename, unsigned long ulLine)
{
}
#endif
//Variables
unsigned long ulPeriod_A, dutyCycle_A,ulPeriod_B, dutyCycle_B;
volatile unsigned long encoderCount;
unsigned long delayRight;
unsigned int lastPos;
volatile unsigned char goingRight;
//Prototypes
void goLeft(unsigned long ulSpeed, float ulLength);
void goRight(unsigned long ulSpeed, float ulLength);
void position(unsigned long speed, float pos);
int main(void)
{
ulPeriod_A = 3000;
dutyCycle_A = 2000;
ulPeriod_B = 3000;
dutyCycle_B = 2000;
encoderCount = 0;
ROM_FPULazyStackingEnable();
//40 MHz system clock
SysCtlClockSet(SYSCTL_SYSDIV_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);
//Uart stuff
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
GPIOPinConfigure(GPIO_PA0_U0RX);
GPIOPinConfigure(GPIO_PA1_U0TX);
ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTStdioInit(0);
//timer stuff
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
ROM_TimerConfigure(TIMER1_BASE, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(TIMER1_BASE, TIMER_A, ROM_SysCtlClockGet() / 2);
// ROM_IntEnable(INT_TIMER1A);
// ROM_TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(TIMER1_BASE, TIMER_A);
//Set the peripherals that will be used
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//Configure GPIO Pins for timer
GPIOPinConfigure(GPIO_PB6_T0CCP0);
GPIOPinConfigure(GPIO_PB7_T0CCP1);
GPIOPinTypeTimer(GPIO_PORTB_BASE, GPIO_PIN_6|GPIO_PIN_7);
//Configure outputs
GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_7);
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_4);
//Clear output pins
GPIOPinWrite(GPIO_PORTB_BASE,GPIO_PIN_7|GPIO_PIN_6, 0x00);
GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_7, 0x00);
GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_4, 0x00);
//Timer configuration
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
TimerConfigure(TIMER0_BASE, TIMER_CFG_SPLIT_PAIR|TIMER_CFG_A_PWM|TIMER_CFG_B_PWM);
TimerLoadSet(TIMER0_BASE, TIMER_A, ulPeriod_A -1);
TimerMatchSet(TIMER0_BASE, TIMER_A, dutyCycle_A); //Duty Cycle
TimerLoadSet(TIMER0_BASE, TIMER_B, ulPeriod_B -1);
TimerMatchSet(TIMER0_BASE, TIMER_B, dutyCycle_B); //Duty Cycle
TimerEnable(TIMER0_BASE, TIMER_A|TIMER_B);
// use PC7 as external interrupt:
GPIOPinTypeGPIOInput(GPIO_PORTC_BASE, GPIO_PIN_7|GPIO_PIN_6);
GPIOPinIntClear(GPIO_PORTC_BASE,GPIO_PIN_7|GPIO_PIN_6);
GPIOIntTypeSet(GPIO_PORTC_BASE, GPIO_PIN_7|GPIO_PIN_6, GPIO_BOTH_EDGES );
GPIOPinIntEnable(GPIO_PORTC_BASE, GPIO_PIN_7|GPIO_PIN_6);
IntEnable(INT_GPIOC);
// Enable processor interrupts.
IntMasterEnable();
delayRight = 40000000;
float home = 0.1;
while(1)
{
while(1){
position(2250,5.5);
UARTprintf("\rEncoderCount: %d", encoderCount);
SysCtlDelay(delayRight);
position(2250, home);
SysCtlDelay(400000);
UARTprintf("\rEncoderCount: %d", encoderCount);
while(1){
}
}
}
}
//Absolute Position of motor
void position(unsigned long speed, float pos){
if(pos >lastPos){
goRight(speed,pos);
}else{
goLeft(speed,pos);
}
lastPos = pos;
}
void goLeft(unsigned long ulSpeed, float ulLength){
goingRight = 0;
while(encoderCount >= ulLength * 600){
//UARTprintf("\rEncoderCount: %d", encoderCount);
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_4, 0x00);
GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_7, 0x80);
dutyCycle_A = ulSpeed;
TimerMatchSet(TIMER0_BASE, TIMER_A, dutyCycle_A -1);
}
GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_7, 0x00);
}
void goRight(unsigned long ulSpeed, float ulLength){
goingRight = 1;
while(encoderCount <= ulLength * 600){
//UARTprintf("\rEncoderCount: %d", encoderCount);
GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_7, 0x00);
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_4, 0x10);
dutyCycle_B = ulSpeed;
TimerMatchSet(TIMER0_BASE, TIMER_B, dutyCycle_B -1);
}
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_4, 0x00);
}
void chAHandler(void){
unsigned int newEnc = GPIOPinIntStatus(GPIO_PORTC_BASE, true) ;
if(goingRight == 1){
if(newEnc & 0x80){
encoderCount++;
GPIOPinIntClear(GPIO_PORTC_BASE,GPIO_PIN_7);
}
if(newEnc & 0x40){
encoderCount++;
GPIOPinIntClear(GPIO_PORTC_BASE,GPIO_PIN_6);
}
}else{
if(newEnc & 0x80){
encoderCount--;
GPIOPinIntClear(GPIO_PORTC_BASE,GPIO_PIN_7);
}
if(newEnc & 0x40){
encoderCount--;
GPIOPinIntClear(GPIO_PORTC_BASE,GPIO_PIN_6);
}
}
if(encoderCount > 7500){
encoderCount == 1;
}
}
/*
void
Timer1IntHandler(void)
{
//
// Clear the timer interrupt.
//
ROM_TimerIntClear(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
//
// Toggle the flag for the second timer.
//
HWREGBITW(&g_ulFlags, 1) ^= 1;
//
// Use the flags to Toggle the LED for this timer
//
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, g_ulFlags << 1);
//
// Update the interrupt status on the display.
//
ROM_IntMasterDisable();
UARTprintf("\rEncoderCount: %d", encoderCount);
ROM_IntMasterEnable();
}
*/
