H2M Teststand / Mbed 2 deprecated Multiplexer-Test

Multiplexer lauffähig

Dependencies:   USBDevice mbed

Fork of Multiplexer-Test by H2M Teststand

Multiplexer_read.cpp@2:d815250d0377, 2014-09-08 (annotated)

Committer:
O_Shovah
Date:
Mon Sep 08 13:30:52 2014 +0000
Revision:
2:d815250d0377
Parent:
1:84c53305b6a5
Child:
3:cb991a9ba6a6
Added MOSFET PWM

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