H2M Teststand
Multiplexer lauffähig
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Multiplexer-Test
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H2M Teststand
Revision 0:42c1addaf061, committed 2014-09-08
- Comitter:
- O_Shovah
- Date:
- Mon Sep 08 12:11:21 2014 +0000
- Child:
- 1:84c53305b6a5
- Child:
- 8:fd403cfcaa0a
- Commit message:
- Test;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Librarys.lib Mon Sep 08 12:11:21 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/USBDevice/#74480b0b4033
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Multiplexer_read.cpp Mon Sep 08 12:11:21 2014 +0000
@@ -0,0 +1,371 @@
+#include "mbed.h"
+
+#include "USBSerial.h"
+
+#include "EthernetInterface.h"
+
+//Outputs
+
+DigitalOut Multiplex_select_0 (p15);
+DigitalOut Multiplex_select_1 (p16);
+DigitalOut Myled (LED1);
+
+PwmOut Bremsenstrom_MOSFET(p21);
+PwmOut Motroregler_PWM(p22);
+
+
+BusOut unused(p18);
+
+
+//Inputs
+
+InterruptIn Drehzahl_lichtschranke(p14);
+
+Timer Umlaufzeit;
+Ticker ticker_read_sensor;
+
+AnalogIn Messkanal_0 (p19);
+AnalogIn Messkanal_1 (p20);
+AnalogIn DMS_0 (p17);
+
+
+
+//Communication
+
+Serial pc(USBTX, USBRX);
+
+UDPSocket udp;
+Endpoint udp_dest;
+
+float MOSFET_duty_cycle = 0;
+
+volatile float Motorspannung, Bremsenspannung , Motorstrom, Aux,Bremsenstrom, Temperatur_0, Temperatur_1, Temperatur_2 ;
+
+//int Motor_ratio = 0, curr_Motor_pwm_pulsewidth = 0,curr_MOSFET_pwm_pulsewidth = 0, Drehzahl = 0;
+
+volatile int Drehzeit_counter = 0;
+#define DREHZEIT_SIZE 3
+volatile int Drehzeit[DREHZEIT_SIZE];
+
+
+/*
+int Read_sensors(void)
+{
+
+ int select_0 = 0, select_1 = 0, Messwert_0, Messwert_1,i = 0;
+
+ Multiplex_select_0 = 0, Multiplex_select_1 = 0;
+
+ //Selection of Multiplexer states
+
+
+// for(i=0; i<=3; i++)
+
+ while(i<4)
+
+ {
+ select_0 = Multiplex_select_0;
+ select_1 = Multiplex_select_1;
+
+ Messwert_0 = Messkanal_0.read_u16();
+ Messwert_1 = Messkanal_1.read_u16();
+
+ switch(i) {
+ case 0: {
+ Temperatur_0 = Messwert_0;
+ Motorspannung = Messwert_1 * 0.000515 - 0.05 ; //Gute Näherung von 2- ~23V. Dannach zu niedrig.Z-Diode
+ pc.printf(" [%i,%i]; 0 %5.2f deg; 1 %5.2f V;", select_0, select_1, Temperatur_0, Motorspannung);
+ break;
+ }
+
+ case 1: {
+ Temperatur_1 = Messwert_0;
+ Motorstrom = Messwert_1 * 0.000396 - 4.15;
+ pc.printf(" [%i,%i]; 0 %5.2f deg; 1 %5.2f A;", select_0, select_1, Temperatur_1, Motorstrom);
+ break;
+ }
+
+ case 2: {
+ Temperatur_2 = Messwert_0;
+ Bremsenspannung = Messwert_1 * 0.000515 - 0.05;//Gute Näherung von 2- ~23V. Dannach zu niedrig.Z-Diode
+ pc.printf(" [%i,%i]; 0 %5.2f deg; 1 %5.2f V;", select_0, select_1, Temperatur_2, Bremsenspannung);
+ break;
+ }
+
+ case 3: {
+ Aux = Messwert_0;
+ Bremsenstrom = Messwert_1;// * 0.00032 - 15.8;
+ pc.printf(" [%i,%i]; 0 %5.2f NA; 1 %5.2f A;", select_0, select_1, Aux, Bremsenstrom);
+ break;
+ }
+
+ default: {
+ //i =0;
+ pc.printf("\n\r");
+ break;
+ }
+
+
+
+ }
+
+ wait(0.001);
+ i++;
+ Multiplex_select_0 = i&0x01;
+ Multiplex_select_1 = (i>>1)&0x01;
+
+ }
+
+ return 1;
+}
+*/
+
+void interr_read_sensors()
+{
+
+ int Messwert_0, Messwert_1,select_0 = 0, select_1 = 0;
+
+ Multiplex_select_0 = 0, Multiplex_select_1 = 0;
+
+ //Selection of Multiplexer states
+
+
+ for (int i=0; i!=5; ++i)
+
+ {
+ select_0 = Multiplex_select_0;
+ select_1 = Multiplex_select_1;
+
+ Messwert_0 = Messkanal_0.read_u16();
+ Messwert_1 = Messkanal_1.read_u16();
+
+ switch(i) {
+ case 0: {
+ Temperatur_0 = Messwert_0;
+ Motorspannung = Messwert_1 * 0.000515 - 0.05 ; //Gute Näherung von 2- ~23V. Dannach zu niedrig.Z-Diode
+
+ break;
+ }
+
+ case 1: {
+ Temperatur_1 = Messwert_0;
+ Motorstrom = Messwert_1 * 0.000396 - 4.15;
+ break;
+ }
+
+ case 2: {
+ Temperatur_2 = Messwert_0;
+ Bremsenspannung = Messwert_1 * 0.000515 - 0.05;//Gute Näherung von 2- ~23V. Dannach zu niedrig.Z-Diode
+
+ break;
+ }
+
+ case 3: {
+ Aux = Messwert_0;
+ Bremsenstrom = Messwert_1;// * 0.00032 - 15.8;
+
+ break;
+ }
+
+ default: {
+ //i =0;
+ break;
+ }
+
+ }
+
+
+ Multiplex_select_0 = i&0x01;
+ Multiplex_select_1 = (i>>1)&0x01;
+ wait(0.001);
+ }
+
+}
+
+
+
+int rpm_control(float motor_n_cmd, float motor_n_cur)
+{
+
+ static int motor_pwm_cmd_last = 900;
+ //static float motor_n_last = 0;
+
+ if (motor_n_cmd < 1.0) {
+ Motroregler_PWM.pulsewidth_us(900);
+ motor_pwm_cmd_last = 900;
+// motor_n_last = 0;
+ return 1;
+ }
+
+ float motor_n_dif = motor_n_cmd - motor_n_cur;
+
+ int motor_pwm_cmd = (int)(motor_pwm_cmd_last + motor_n_dif * 0.6 + 0.5); // round() ... works only for positive values
+
+ pc.printf("cmd: %7.2f, cur: %7.2f, dif: %7.2f, motor_pwm_cmd: %4d, motor_pwm_dif: %4d, DMS: %f\n\r",
+ 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);
+
+ if (motor_pwm_cmd > 1900) motor_pwm_cmd = 1900;
+ else if (motor_pwm_cmd < 1010) motor_pwm_cmd = 1005;
+
+ // Bremsenstrom_MOSFET.pulsewidth_us(curr_MOSFET_pwm_pulsewidth);
+ Motroregler_PWM.pulsewidth_us(motor_pwm_cmd);
+ motor_pwm_cmd_last = motor_pwm_cmd;
+
+ return 1;
+
+}
+
+int brk_mosfet_control(float mosfet_pwm_cmd, float mosfet_pwm_cur)
+{
+
+ static int mosfet_pwm_cmd_last = 0;
+
+
+ if (mosfet_pwm_cmd < 1.0) {
+ Motroregler_PWM.pulsewidth_us(00);
+ motor_pwm_cmd_last = 900;
+// motor_n_last = 0;
+ return 1;
+ }
+
+ float motor_n_dif = motor_n_cmd - motor_n_cur;
+
+ int motor_pwm_cmd = (int)(motor_pwm_cmd_last + motor_n_dif * 0.6 + 0.5); // round() ... works only for positive values
+
+ pc.printf("cmd: %7.2f, cur: %7.2f, dif: %7.2f, motor_pwm_cmd: %4d, motor_pwm_dif: %4d, DMS: %f\n\r",
+ 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);
+
+ if (motor_pwm_cmd > 1900) motor_pwm_cmd = 1900;
+ else if (motor_pwm_cmd < 1010) motor_pwm_cmd = 1005;
+
+ // Bremsenstrom_MOSFET.pulsewidth_us(curr_MOSFET_pwm_pulsewidth);
+ Motroregler_PWM.pulsewidth_us(motor_pwm_cmd);
+ motor_pwm_cmd_last = motor_pwm_cmd;
+
+ return 1;
+}
+
+void Motor_drehzahl()
+{
+ static bool first_run = true;
+// Umlaufzeit.stop();
+ int tmp = Umlaufzeit.read_us();
+ if (first_run) { Umlaufzeit.start(); first_run = false; return; }
+ if (tmp < 1000) return;
+
+ // Cache last 3 values for averaging
+ Drehzeit[Drehzeit_counter % DREHZEIT_SIZE] = tmp;
+ ++Drehzeit_counter;
+ Umlaufzeit.reset();
+}
+
+int main(void)
+{
+ // Init networking
+ EthernetInterface eth;
+ int err = eth.init();
+ if (err)
+ pc.printf("eth.init() failed. (%d)\n\r", err);
+ else
+ pc.printf("eth.init() successful.\n\r");
+ err = eth.connect();
+ if (err)
+ pc.printf("eth.connect() failed. (%d)\n\r", err);
+ else
+ pc.printf("eth.connect() successful.\n\r");
+
+ char *ip_address = eth.getIPAddress();
+ pc.printf("IP-Address: %s\n\r", ip_address);
+
+ err = udp.init();
+ if (err)
+ pc.printf("udp.init() failed. (%d)\n\r", err);
+ else
+ pc.printf("udp.init() successful.\n\r");
+
+ err = udp_dest.set_address("192.168.0.183", 1234);
+ if (err)
+ pc.printf("udp_dest.set_address() failed. (%d)\n\r", err);
+ else
+ pc.printf("udp_dest.set_address() successful.\n\r");
+
+
+ // Init PWM
+ Bremsenstrom_MOSFET.period(0.020);
+ Motroregler_PWM.period(0.020);
+ Motroregler_PWM.pulsewidth_us(900);
+
+ wait(1.0);
+
+ Drehzahl_lichtschranke.fall(&Motor_drehzahl);
+ ticker_read_sensor.attach(&interr_read_sensors, 1.0);
+
+ // Time counters
+ Timer timer_print, timer_pwm;
+ timer_print.start();
+ timer_pwm.start();
+
+ float motor_rpm_cmd = 0;
+ float motor_n_cur = 0;
+
+ pc.printf("Enter motor rpm to begin\n\r");
+
+ while(true) {
+
+
+ if (pc.readable()) {
+ pc.printf("\n\r Motor rpm\n\r");
+ pc.scanf("%f",&motor_rpm_cmd);
+ pc.printf("%f\n\r",motor_rpm_cmd);
+
+ }
+
+ // Calculate motor_n_cur by averaging
+ int drehzeit_sum = 0;
+ for (int i=0; i != DREHZEIT_SIZE; ++i)
+ drehzeit_sum += Drehzeit[i];
+
+ motor_n_cur = (drehzeit_sum ? (1.0e6/drehzeit_sum)*DREHZEIT_SIZE : 0.0);
+
+
+ // Set motor_n_cur to 0 if the interrupt wasn't called for a specified time
+ if (Umlaufzeit.read_ms() > 200)
+ motor_n_cur = 0.0;
+
+
+ // Controller is only called every n ms
+ if (timer_pwm.read_ms() > 500) {
+// pc.printf("drehzeit_sum: %d, motor_n_cur: %f\n\r", drehzeit_sum, motor_n_cur);
+// pc.printf("%d %d %d\n\r", Drehzeit[0], Drehzeit[1], Drehzeit[2]);
+
+ timer_pwm.reset();
+ rpm_control(motor_rpm_cmd/60.0, motor_n_cur);
+ }
+
+ // Myled = 0;
+
+ // wait (0.5);
+
+
+
+
+/*
+ if (timer_print.read_ms() > 1000) {
+ timer_print.reset();
+
+ pc.printf(" [%Temperatur0, Motorspannung]; 0 %5.2f deg; 1 %5.2f V;", Temperatur_0, Motorspannung);
+ pc.printf(" [%Temperatur1, Motorstrom]; 0 %5.2f deg; 1 %5.2f A;", Temperatur_1, Motorstrom);
+ pc.printf(" [%Temperatur0, Bremsenspannung]; 0 %5.2f deg; 1 %5.2f V;", Temperatur_2, Bremsenspannung);
+ pc.printf(" [Aux, Bremsenstrom]; 0 %5.2f NA; 1 %5.2f A;", Aux, Bremsenstrom);
+
+ float drehzahl = (Drehzeit ? 1.0e6/Drehzeit : 0.0);
+ pc.printf("\n\rCounter: %d, Drehzahl: %f rpm (%f Hz)\n\r\n\r", Drehzeit_counter, drehzahl*60, drehzahl);
+
+ char udb_buf[] = "123";
+ err = udp.sendTo(udp_dest, udb_buf, sizeof(udb_buf));
+ if (err == -1)
+ pc.printf("udp.sendTo() failed. (%d)\n\r", err);
+ }
+*/
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Sep 08 12:11:21 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9327015d4013 \ No newline at end of file