H2M Teststand / Mbed 2 deprecated Multiplexer-Test

Multiplexer lauffähig

Dependencies:   USBDevice mbed

Fork of Multiplexer-Test by H2M Teststand

Multiplexer_read.cpp@3:cb991a9ba6a6, 2014-09-08 (annotated)

Committer:
O_Shovah
Date:
Mon Sep 08 15:53:42 2014 +0000
Revision:
3:cb991a9ba6a6
Parent:
2:d815250d0377
Child:
4:57163b0e7dbc
MOSFET-PWM Test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
O_Shovah 0:42c1addaf061 1 #include "mbed.h"
O_Shovah 0:42c1addaf061 2
O_Shovah 0:42c1addaf061 3 #include "USBSerial.h"
O_Shovah 0:42c1addaf061 4
O_Shovah 0:42c1addaf061 5 #include "EthernetInterface.h"
O_Shovah 1:84c53305b6a5 6 //***************************************************************************************************
O_Shovah 0:42c1addaf061 7 //Outputs
O_Shovah 0:42c1addaf061 8
O_Shovah 0:42c1addaf061 9 DigitalOut Multiplex_select_0 (p15);
O_Shovah 0:42c1addaf061 10 DigitalOut Multiplex_select_1 (p16);
O_Shovah 0:42c1addaf061 11 DigitalOut Myled (LED1);
O_Shovah 0:42c1addaf061 12
O_Shovah 3:cb991a9ba6a6 13 DigitalOut timetest_0 (p30);
O_Shovah 3:cb991a9ba6a6 14 DigitalOut timetest_1 (p29);
O_Shovah 3:cb991a9ba6a6 15
O_Shovah 0:42c1addaf061 16 PwmOut Bremsenstrom_MOSFET(p21);
O_Shovah 0:42c1addaf061 17 PwmOut Motroregler_PWM(p22);
O_Shovah 0:42c1addaf061 18
O_Shovah 0:42c1addaf061 19
O_Shovah 0:42c1addaf061 20 BusOut unused(p18);
O_Shovah 0:42c1addaf061 21
O_Shovah 1:84c53305b6a5 22 //***************************************************************************************************
O_Shovah 0:42c1addaf061 23 //Inputs
O_Shovah 0:42c1addaf061 24
O_Shovah 0:42c1addaf061 25 InterruptIn Drehzahl_lichtschranke(p14);
O_Shovah 0:42c1addaf061 26
O_Shovah 0:42c1addaf061 27 Timer Umlaufzeit;
O_Shovah 0:42c1addaf061 28 Ticker ticker_read_sensor;
O_Shovah 0:42c1addaf061 29
O_Shovah 0:42c1addaf061 30 AnalogIn Messkanal_0 (p19);
O_Shovah 0:42c1addaf061 31 AnalogIn Messkanal_1 (p20);
O_Shovah 0:42c1addaf061 32 AnalogIn DMS_0 (p17);
O_Shovah 0:42c1addaf061 33
O_Shovah 0:42c1addaf061 34
O_Shovah 1:84c53305b6a5 35 //***************************************************************************************************
O_Shovah 0:42c1addaf061 36 //Communication
O_Shovah 0:42c1addaf061 37
O_Shovah 0:42c1addaf061 38 Serial pc(USBTX, USBRX);
O_Shovah 0:42c1addaf061 39
O_Shovah 0:42c1addaf061 40 UDPSocket udp;
O_Shovah 0:42c1addaf061 41 Endpoint udp_dest;
O_Shovah 0:42c1addaf061 42
O_Shovah 0:42c1addaf061 43 float MOSFET_duty_cycle = 0;
O_Shovah 0:42c1addaf061 44
O_Shovah 0:42c1addaf061 45 volatile float Motorspannung, Bremsenspannung , Motorstrom, Aux,Bremsenstrom, Temperatur_0, Temperatur_1, Temperatur_2 ;
O_Shovah 0:42c1addaf061 46
O_Shovah 0:42c1addaf061 47 //int Motor_ratio = 0, curr_Motor_pwm_pulsewidth = 0,curr_MOSFET_pwm_pulsewidth = 0, Drehzahl = 0;
O_Shovah 0:42c1addaf061 48
O_Shovah 0:42c1addaf061 49 volatile int Drehzeit_counter = 0;
O_Shovah 0:42c1addaf061 50 #define DREHZEIT_SIZE 3
O_Shovah 0:42c1addaf061 51 volatile int Drehzeit[DREHZEIT_SIZE];
O_Shovah 2:d815250d0377 52
O_Shovah 0:42c1addaf061 53
O_Shovah 1:84c53305b6a5 54 //***************************************************************************************************
O_Shovah 1:84c53305b6a5 55 //read sensors via multiplexer
O_Shovah 0:42c1addaf061 56
O_Shovah 0:42c1addaf061 57 void interr_read_sensors()
O_Shovah 0:42c1addaf061 58 {
O_Shovah 0:42c1addaf061 59
O_Shovah 0:42c1addaf061 60 int Messwert_0, Messwert_1,select_0 = 0, select_1 = 0;
O_Shovah 0:42c1addaf061 61
O_Shovah 0:42c1addaf061 62 Multiplex_select_0 = 0, Multiplex_select_1 = 0;
O_Shovah 0:42c1addaf061 63
O_Shovah 0:42c1addaf061 64 //Selection of Multiplexer states
O_Shovah 0:42c1addaf061 65
O_Shovah 0:42c1addaf061 66
O_Shovah 0:42c1addaf061 67 for (int i=0; i!=5; ++i)
O_Shovah 0:42c1addaf061 68
O_Shovah 0:42c1addaf061 69 {
O_Shovah 0:42c1addaf061 70 select_0 = Multiplex_select_0;
O_Shovah 0:42c1addaf061 71 select_1 = Multiplex_select_1;
O_Shovah 0:42c1addaf061 72
O_Shovah 0:42c1addaf061 73 Messwert_0 = Messkanal_0.read_u16();
O_Shovah 0:42c1addaf061 74 Messwert_1 = Messkanal_1.read_u16();
O_Shovah 0:42c1addaf061 75
O_Shovah 0:42c1addaf061 76 switch(i) {
O_Shovah 0:42c1addaf061 77 case 0: {
O_Shovah 0:42c1addaf061 78 Temperatur_0 = Messwert_0;
O_Shovah 0:42c1addaf061 79 Motorspannung = Messwert_1 * 0.000515 - 0.05 ; //Gute Näherung von 2- ~23V. Dannach zu niedrig.Z-Diode
O_Shovah 0:42c1addaf061 80
O_Shovah 0:42c1addaf061 81 break;
O_Shovah 0:42c1addaf061 82 }
O_Shovah 0:42c1addaf061 83
O_Shovah 0:42c1addaf061 84 case 1: {
O_Shovah 0:42c1addaf061 85 Temperatur_1 = Messwert_0;
O_Shovah 0:42c1addaf061 86 Motorstrom = Messwert_1 * 0.000396 - 4.15;
O_Shovah 0:42c1addaf061 87 break;
O_Shovah 0:42c1addaf061 88 }
O_Shovah 0:42c1addaf061 89
O_Shovah 0:42c1addaf061 90 case 2: {
O_Shovah 0:42c1addaf061 91 Temperatur_2 = Messwert_0;
O_Shovah 0:42c1addaf061 92 Bremsenspannung = Messwert_1 * 0.000515 - 0.05;//Gute Näherung von 2- ~23V. Dannach zu niedrig.Z-Diode
O_Shovah 0:42c1addaf061 93
O_Shovah 0:42c1addaf061 94 break;
O_Shovah 0:42c1addaf061 95 }
O_Shovah 0:42c1addaf061 96
O_Shovah 0:42c1addaf061 97 case 3: {
O_Shovah 0:42c1addaf061 98 Aux = Messwert_0;
O_Shovah 0:42c1addaf061 99 Bremsenstrom = Messwert_1;// * 0.00032 - 15.8;
O_Shovah 0:42c1addaf061 100
O_Shovah 0:42c1addaf061 101 break;
O_Shovah 0:42c1addaf061 102 }
O_Shovah 0:42c1addaf061 103
O_Shovah 0:42c1addaf061 104 default: {
O_Shovah 0:42c1addaf061 105 //i =0;
O_Shovah 0:42c1addaf061 106 break;
O_Shovah 0:42c1addaf061 107 }
O_Shovah 0:42c1addaf061 108
O_Shovah 0:42c1addaf061 109 }
O_Shovah 0:42c1addaf061 110
O_Shovah 0:42c1addaf061 111
O_Shovah 0:42c1addaf061 112 Multiplex_select_0 = i&0x01;
O_Shovah 0:42c1addaf061 113 Multiplex_select_1 = (i>>1)&0x01;
O_Shovah 0:42c1addaf061 114 wait(0.001);
O_Shovah 0:42c1addaf061 115 }
O_Shovah 0:42c1addaf061 116
O_Shovah 0:42c1addaf061 117 }
O_Shovah 2:d815250d0377 118
O_Shovah 0:42c1addaf061 119
O_Shovah 1:84c53305b6a5 120 //***************************************************************************************************
O_Shovah 1:84c53305b6a5 121 //Control Motor rpm
O_Shovah 0:42c1addaf061 122
O_Shovah 0:42c1addaf061 123 int rpm_control(float motor_n_cmd, float motor_n_cur)
O_Shovah 0:42c1addaf061 124 {
O_Shovah 0:42c1addaf061 125
O_Shovah 0:42c1addaf061 126 static int motor_pwm_cmd_last = 900;
O_Shovah 0:42c1addaf061 127 //static float motor_n_last = 0;
O_Shovah 0:42c1addaf061 128
O_Shovah 0:42c1addaf061 129 if (motor_n_cmd < 1.0) {
O_Shovah 0:42c1addaf061 130 Motroregler_PWM.pulsewidth_us(900);
O_Shovah 0:42c1addaf061 131 motor_pwm_cmd_last = 900;
O_Shovah 0:42c1addaf061 132 // motor_n_last = 0;
O_Shovah 0:42c1addaf061 133 return 1;
O_Shovah 0:42c1addaf061 134 }
O_Shovah 0:42c1addaf061 135
O_Shovah 0:42c1addaf061 136 float motor_n_dif = motor_n_cmd - motor_n_cur;
O_Shovah 0:42c1addaf061 137
O_Shovah 0:42c1addaf061 138 int motor_pwm_cmd = (int)(motor_pwm_cmd_last + motor_n_dif * 0.6 + 0.5); // round() ... works only for positive values
O_Shovah 0:42c1addaf061 139
O_Shovah 0:42c1addaf061 140 pc.printf("cmd: %7.2f, cur: %7.2f, dif: %7.2f, motor_pwm_cmd: %4d, motor_pwm_dif: %4d, DMS: %f\n\r",
O_Shovah 0:42c1addaf061 141 motor_n_cmd*60, motor_n_cur*60, motor_n_dif*60, motor_pwm_cmd, motor_pwm_cmd-motor_pwm_cmd_last, ((int)DMS_0.read_u16())/65536.0*3.3);
O_Shovah 0:42c1addaf061 142
O_Shovah 0:42c1addaf061 143 if (motor_pwm_cmd > 1900) motor_pwm_cmd = 1900;
O_Shovah 0:42c1addaf061 144 else if (motor_pwm_cmd < 1010) motor_pwm_cmd = 1005;
O_Shovah 0:42c1addaf061 145
O_Shovah 0:42c1addaf061 146 Motroregler_PWM.pulsewidth_us(motor_pwm_cmd);
O_Shovah 0:42c1addaf061 147 motor_pwm_cmd_last = motor_pwm_cmd;
O_Shovah 0:42c1addaf061 148
O_Shovah 0:42c1addaf061 149 return 1;
O_Shovah 0:42c1addaf061 150
O_Shovah 0:42c1addaf061 151 }
O_Shovah 2:d815250d0377 152
O_Shovah 0:42c1addaf061 153
O_Shovah 1:84c53305b6a5 154 //***************************************************************************************************
O_Shovah 1:84c53305b6a5 155 //Control MOSFET pwm
O_Shovah 0:42c1addaf061 156 int brk_mosfet_control(float mosfet_pwm_cmd, float mosfet_pwm_cur)
O_Shovah 0:42c1addaf061 157 {
O_Shovah 0:42c1addaf061 158
O_Shovah 0:42c1addaf061 159 static int mosfet_pwm_cmd_last = 0;
O_Shovah 0:42c1addaf061 160
O_Shovah 0:42c1addaf061 161
O_Shovah 0:42c1addaf061 162 if (mosfet_pwm_cmd < 1.0) {
O_Shovah 2:d815250d0377 163 Bremsenstrom_MOSFET.pulsewidth_us(00);
O_Shovah 2:d815250d0377 164 mosfet_pwm_cmd_last = 0;
O_Shovah 2:d815250d0377 165
O_Shovah 0:42c1addaf061 166 return 1;
O_Shovah 0:42c1addaf061 167 }
O_Shovah 0:42c1addaf061 168
O_Shovah 2:d815250d0377 169 float mosfet_pwm_dif = mosfet_pwm_cmd - mosfet_pwm_cur;
O_Shovah 0:42c1addaf061 170
O_Shovah 2:d815250d0377 171 // int mosfet_pwm_cmd = (int)(mosfet_pwm_cmd_last + mosfet_pwm_dif * 0.6 + 0.5); // round() ... works only for positive values
O_Shovah 0:42c1addaf061 172
O_Shovah 2:d815250d0377 173 pc.printf("cmd: %7.2f, cur: %7.2f, dif: %7.2f, mosfet_pwm_cmd: %4d, mosfet_pwm_dif: %4d",
O_Shovah 2:d815250d0377 174 mosfet_pwm_cmd, mosfet_pwm_cur, mosfet_pwm_dif, mosfet_pwm_cmd, mosfet_pwm_cmd-mosfet_pwm_cmd_last);
O_Shovah 0:42c1addaf061 175
O_Shovah 2:d815250d0377 176 if (mosfet_pwm_cmd > 20000) mosfet_pwm_cmd = 20000;
O_Shovah 2:d815250d0377 177 else if (mosfet_pwm_cmd < 0) mosfet_pwm_cmd = 0;
O_Shovah 0:42c1addaf061 178
O_Shovah 3:cb991a9ba6a6 179 Bremsenstrom_MOSFET.pulsewidth_us(mosfet_pwm_cmd);
O_Shovah 2:d815250d0377 180
O_Shovah 2:d815250d0377 181 mosfet_pwm_cmd_last = mosfet_pwm_cmd;
O_Shovah 0:42c1addaf061 182
O_Shovah 0:42c1addaf061 183 return 1;
O_Shovah 0:42c1addaf061 184 }
O_Shovah 2:d815250d0377 185
O_Shovah 0:42c1addaf061 186
O_Shovah 1:84c53305b6a5 187 //***************************************************************************************************
O_Shovah 1:84c53305b6a5 188 //Calculate rpm
O_Shovah 0:42c1addaf061 189 void Motor_drehzahl()
O_Shovah 0:42c1addaf061 190 {
O_Shovah 0:42c1addaf061 191 static bool first_run = true;
O_Shovah 0:42c1addaf061 192 // Umlaufzeit.stop();
O_Shovah 0:42c1addaf061 193 int tmp = Umlaufzeit.read_us();
O_Shovah 0:42c1addaf061 194 if (first_run) { Umlaufzeit.start(); first_run = false; return; }
O_Shovah 0:42c1addaf061 195 if (tmp < 1000) return;
O_Shovah 0:42c1addaf061 196
O_Shovah 0:42c1addaf061 197 // Cache last 3 values for averaging
O_Shovah 0:42c1addaf061 198 Drehzeit[Drehzeit_counter % DREHZEIT_SIZE] = tmp;
O_Shovah 0:42c1addaf061 199 ++Drehzeit_counter;
O_Shovah 0:42c1addaf061 200 Umlaufzeit.reset();
O_Shovah 0:42c1addaf061 201 }
O_Shovah 2:d815250d0377 202
O_Shovah 0:42c1addaf061 203
O_Shovah 1:84c53305b6a5 204 //***************************************************************************************************
O_Shovah 1:84c53305b6a5 205 // MAIN:
O_Shovah 0:42c1addaf061 206 int main(void)
O_Shovah 0:42c1addaf061 207 {
O_Shovah 0:42c1addaf061 208 // Init networking
O_Shovah 0:42c1addaf061 209 EthernetInterface eth;
O_Shovah 0:42c1addaf061 210 int err = eth.init();
O_Shovah 0:42c1addaf061 211 if (err)
O_Shovah 0:42c1addaf061 212 pc.printf("eth.init() failed. (%d)\n\r", err);
O_Shovah 0:42c1addaf061 213 else
O_Shovah 0:42c1addaf061 214 pc.printf("eth.init() successful.\n\r");
O_Shovah 0:42c1addaf061 215 err = eth.connect();
O_Shovah 0:42c1addaf061 216 if (err)
O_Shovah 0:42c1addaf061 217 pc.printf("eth.connect() failed. (%d)\n\r", err);
O_Shovah 0:42c1addaf061 218 else
O_Shovah 0:42c1addaf061 219 pc.printf("eth.connect() successful.\n\r");
O_Shovah 0:42c1addaf061 220
O_Shovah 0:42c1addaf061 221 char *ip_address = eth.getIPAddress();
O_Shovah 0:42c1addaf061 222 pc.printf("IP-Address: %s\n\r", ip_address);
O_Shovah 0:42c1addaf061 223
O_Shovah 0:42c1addaf061 224 err = udp.init();
O_Shovah 0:42c1addaf061 225 if (err)
O_Shovah 0:42c1addaf061 226 pc.printf("udp.init() failed. (%d)\n\r", err);
O_Shovah 0:42c1addaf061 227 else
O_Shovah 0:42c1addaf061 228 pc.printf("udp.init() successful.\n\r");
O_Shovah 0:42c1addaf061 229
O_Shovah 0:42c1addaf061 230 err = udp_dest.set_address("192.168.0.183", 1234);
O_Shovah 0:42c1addaf061 231 if (err)
O_Shovah 0:42c1addaf061 232 pc.printf("udp_dest.set_address() failed. (%d)\n\r", err);
O_Shovah 0:42c1addaf061 233 else
O_Shovah 0:42c1addaf061 234 pc.printf("udp_dest.set_address() successful.\n\r");
O_Shovah 0:42c1addaf061 235
O_Shovah 0:42c1addaf061 236
O_Shovah 0:42c1addaf061 237 // Init PWM
O_Shovah 0:42c1addaf061 238 Bremsenstrom_MOSFET.period(0.020);
O_Shovah 0:42c1addaf061 239 Motroregler_PWM.period(0.020);
O_Shovah 0:42c1addaf061 240 Motroregler_PWM.pulsewidth_us(900);
O_Shovah 0:42c1addaf061 241
O_Shovah 0:42c1addaf061 242 wait(1.0);
O_Shovah 0:42c1addaf061 243
O_Shovah 0:42c1addaf061 244 Drehzahl_lichtschranke.fall(&Motor_drehzahl);
O_Shovah 0:42c1addaf061 245 ticker_read_sensor.attach(&interr_read_sensors, 1.0);
O_Shovah 0:42c1addaf061 246
O_Shovah 0:42c1addaf061 247 // Time counters
O_Shovah 0:42c1addaf061 248 Timer timer_print, timer_pwm;
O_Shovah 0:42c1addaf061 249 timer_print.start();
O_Shovah 0:42c1addaf061 250 timer_pwm.start();
O_Shovah 0:42c1addaf061 251
O_Shovah 0:42c1addaf061 252 float motor_rpm_cmd = 0;
O_Shovah 0:42c1addaf061 253 float motor_n_cur = 0;
O_Shovah 0:42c1addaf061 254
O_Shovah 0:42c1addaf061 255 pc.printf("Enter motor rpm to begin\n\r");
O_Shovah 0:42c1addaf061 256
O_Shovah 0:42c1addaf061 257 while(true) {
O_Shovah 0:42c1addaf061 258
O_Shovah 0:42c1addaf061 259
O_Shovah 3:cb991a9ba6a6 260
O_Shovah 0:42c1addaf061 261 if (pc.readable()) {
O_Shovah 0:42c1addaf061 262 pc.printf("\n\r Motor rpm\n\r");
O_Shovah 0:42c1addaf061 263 pc.scanf("%f",&motor_rpm_cmd);
O_Shovah 0:42c1addaf061 264 pc.printf("%f\n\r",motor_rpm_cmd);
O_Shovah 0:42c1addaf061 265
O_Shovah 0:42c1addaf061 266 }
O_Shovah 3:cb991a9ba6a6 267 /*
O_Shovah 0:42c1addaf061 268 // Calculate motor_n_cur by averaging
O_Shovah 0:42c1addaf061 269 int drehzeit_sum = 0;
O_Shovah 0:42c1addaf061 270 for (int i=0; i != DREHZEIT_SIZE; ++i)
O_Shovah 0:42c1addaf061 271 drehzeit_sum += Drehzeit[i];
O_Shovah 0:42c1addaf061 272
O_Shovah 0:42c1addaf061 273 motor_n_cur = (drehzeit_sum ? (1.0e6/drehzeit_sum)*DREHZEIT_SIZE : 0.0);
O_Shovah 0:42c1addaf061 274
O_Shovah 0:42c1addaf061 275
O_Shovah 0:42c1addaf061 276 // Set motor_n_cur to 0 if the interrupt wasn't called for a specified time
O_Shovah 0:42c1addaf061 277 if (Umlaufzeit.read_ms() > 200)
O_Shovah 0:42c1addaf061 278 motor_n_cur = 0.0;
O_Shovah 0:42c1addaf061 279
O_Shovah 0:42c1addaf061 280
O_Shovah 0:42c1addaf061 281 // Controller is only called every n ms
O_Shovah 0:42c1addaf061 282 if (timer_pwm.read_ms() > 500) {
O_Shovah 0:42c1addaf061 283 // pc.printf("drehzeit_sum: %d, motor_n_cur: %f\n\r", drehzeit_sum, motor_n_cur);
O_Shovah 0:42c1addaf061 284 // pc.printf("%d %d %d\n\r", Drehzeit[0], Drehzeit[1], Drehzeit[2]);
O_Shovah 3:cb991a9ba6a6 285 //timetest_0 = 1;
O_Shovah 0:42c1addaf061 286
O_Shovah 0:42c1addaf061 287 timer_pwm.reset();
O_Shovah 0:42c1addaf061 288 rpm_control(motor_rpm_cmd/60.0, motor_n_cur);
O_Shovah 3:cb991a9ba6a6 289 // timetest_0 = 0;
O_Shovah 0:42c1addaf061 290 }
O_Shovah 3:cb991a9ba6a6 291 */
O_Shovah 3:cb991a9ba6a6 292
O_Shovah 0:42c1addaf061 293
O_Shovah 0:42c1addaf061 294 // Myled = 0;
O_Shovah 0:42c1addaf061 295
O_Shovah 0:42c1addaf061 296 // wait (0.5);
O_Shovah 0:42c1addaf061 297
O_Shovah 0:42c1addaf061 298
O_Shovah 0:42c1addaf061 299
O_Shovah 0:42c1addaf061 300
O_Shovah 3:cb991a9ba6a6 301
O_Shovah 0:42c1addaf061 302 if (timer_print.read_ms() > 1000) {
O_Shovah 0:42c1addaf061 303 timer_print.reset();
O_Shovah 0:42c1addaf061 304
O_Shovah 0:42c1addaf061 305 pc.printf(" [%Temperatur0, Motorspannung]; 0 %5.2f deg; 1 %5.2f V;", Temperatur_0, Motorspannung);
O_Shovah 0:42c1addaf061 306 pc.printf(" [%Temperatur1, Motorstrom]; 0 %5.2f deg; 1 %5.2f A;", Temperatur_1, Motorstrom);
O_Shovah 0:42c1addaf061 307 pc.printf(" [%Temperatur0, Bremsenspannung]; 0 %5.2f deg; 1 %5.2f V;", Temperatur_2, Bremsenspannung);
O_Shovah 0:42c1addaf061 308 pc.printf(" [Aux, Bremsenstrom]; 0 %5.2f NA; 1 %5.2f A;", Aux, Bremsenstrom);
O_Shovah 0:42c1addaf061 309
O_Shovah 0:42c1addaf061 310 float drehzahl = (Drehzeit ? 1.0e6/Drehzeit : 0.0);
O_Shovah 0:42c1addaf061 311 pc.printf("\n\rCounter: %d, Drehzahl: %f rpm (%f Hz)\n\r\n\r", Drehzeit_counter, drehzahl*60, drehzahl);
O_Shovah 0:42c1addaf061 312
O_Shovah 0:42c1addaf061 313 char udb_buf[] = "123";
O_Shovah 0:42c1addaf061 314 err = udp.sendTo(udp_dest, udb_buf, sizeof(udb_buf));
O_Shovah 0:42c1addaf061 315 if (err == -1)
O_Shovah 0:42c1addaf061 316 pc.printf("udp.sendTo() failed. (%d)\n\r", err);
O_Shovah 0:42c1addaf061 317 }
O_Shovah 3:cb991a9ba6a6 318
O_Shovah 0:42c1addaf061 319 }
O_Shovah 0:42c1addaf061 320 }