ELEC3850ProjectSynchronousMachine01 / Mbed 2 deprecated ProjectCode01

Main code of our project.

Dependencies:   TextLCD mbed PID

main.cpp@7:1f7d87007512, 2018-10-10 (annotated)

Committer:
nicovv44
Date:
Wed Oct 10 05:50:52 2018 +0000
Revision:
7:1f7d87007512
Parent:
6:756d44ed75a5
Child:
8:a161b056971c
2 PWM and power OK, SYNC with relays OK.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nicovv44 0:1f66eaf1013d 1 // Hello World! for the TextLCD
nicovv44 0:1f66eaf1013d 2
nicovv44 0:1f66eaf1013d 3 #include "mbed.h"
nicovv44 0:1f66eaf1013d 4 #include "TextLCD.h"
nicovv44 0:1f66eaf1013d 5
nicovv44 0:1f66eaf1013d 6 TextLCD lcd(D2, D3, D4, D5, D6, D7); // rs, e, d4-d7
nicovv44 0:1f66eaf1013d 7 Serial pc(USBTX, USBRX); // tx, rx
nicovv44 5:e9766e0573d0 8 PwmOut pwmDC(D9);
nicovv44 5:e9766e0573d0 9 PwmOut pwmSY(D13);
nicovv44 5:e9766e0573d0 10 DigitalOut relay1(D8);
nicovv44 5:e9766e0573d0 11 DigitalOut relay2(D14);
nicovv44 5:e9766e0573d0 12 DigitalOut relay3(D11);
nicovv44 5:e9766e0573d0 13 DigitalOut relay4(D12);
nicovv44 0:1f66eaf1013d 14
nicovv44 3:a1b11dfd26f3 15 AnalogIn syncPin(A0);
nicovv44 3:a1b11dfd26f3 16 AnalogIn gridPin(A1);
nicovv44 3:a1b11dfd26f3 17 AnalogIn differentialPin(A2);
nicovv44 5:e9766e0573d0 18 AnalogIn potarDC(A3);
nicovv44 5:e9766e0573d0 19 AnalogIn potarSY(A4);
nicovv44 0:1f66eaf1013d 20
nicovv44 0:1f66eaf1013d 21 const float sqrt2 = 1.414213562;
nicovv44 0:1f66eaf1013d 22
nicovv44 0:1f66eaf1013d 23 Timeout timeout;
nicovv44 5:e9766e0573d0 24 Ticker tickerPWMDC;
nicovv44 0:1f66eaf1013d 25 volatile bool looping = false;
nicovv44 4:886ce7eefa6e 26 volatile bool synchronized = false;
nicovv44 4:886ce7eefa6e 27 volatile bool mainLoop = true;
nicovv44 0:1f66eaf1013d 28
nicovv44 0:1f66eaf1013d 29
nicovv44 0:1f66eaf1013d 30
nicovv44 0:1f66eaf1013d 31
nicovv44 0:1f66eaf1013d 32
nicovv44 0:1f66eaf1013d 33 // ##############################################
nicovv44 0:1f66eaf1013d 34 // ########## PROTOTYPES ########################
nicovv44 0:1f66eaf1013d 35 // #############################################################################
nicovv44 0:1f66eaf1013d 36 void stopLooping(void);
nicovv44 0:1f66eaf1013d 37 float getVolageRMS(AnalogIn ana_pin);
nicovv44 0:1f66eaf1013d 38 float getVolageReadedMax(AnalogIn ana_pin);
nicovv44 0:1f66eaf1013d 39 float getFrequency(AnalogIn ana_pin);
nicovv44 4:886ce7eefa6e 40 void displayLCD(float syncRMS, float gridRMS, float syncFreq, float gridFreq);
nicovv44 5:e9766e0573d0 41 void tickerPWMDCfunction();
nicovv44 0:1f66eaf1013d 42
nicovv44 0:1f66eaf1013d 43
nicovv44 0:1f66eaf1013d 44
nicovv44 0:1f66eaf1013d 45
nicovv44 0:1f66eaf1013d 46
nicovv44 0:1f66eaf1013d 47
nicovv44 0:1f66eaf1013d 48
nicovv44 0:1f66eaf1013d 49
nicovv44 0:1f66eaf1013d 50
nicovv44 0:1f66eaf1013d 51
nicovv44 0:1f66eaf1013d 52
nicovv44 0:1f66eaf1013d 53
nicovv44 0:1f66eaf1013d 54
nicovv44 0:1f66eaf1013d 55 // ##############################################
nicovv44 0:1f66eaf1013d 56 // ########## MAIN ##############################
nicovv44 0:1f66eaf1013d 57 // #############################################################################
nicovv44 0:1f66eaf1013d 58 int main() {
nicovv44 3:a1b11dfd26f3 59 float syncRMS, gridRMS, syncFreq, gridFreq;
nicovv44 0:1f66eaf1013d 60
nicovv44 5:e9766e0573d0 61 relay1 = 1;//Relay off=1, on=0
nicovv44 5:e9766e0573d0 62 relay2 = 1;//Relay off=1, on=0
nicovv44 5:e9766e0573d0 63 relay3 = 1;//Relay off=1, on=0
nicovv44 5:e9766e0573d0 64 relay4 = 1;//Relay off=1, on=0
nicovv44 5:e9766e0573d0 65
nicovv44 4:886ce7eefa6e 66 while(mainLoop){
nicovv44 5:e9766e0573d0 67 pwmDC.period(0.001f);
nicovv44 5:e9766e0573d0 68 pwmDC.write(0.04f);
nicovv44 5:e9766e0573d0 69 pwmSY.period(0.001f);
nicovv44 5:e9766e0573d0 70 pwmSY.write(0.04f);
nicovv44 5:e9766e0573d0 71 tickerPWMDC.attach(&tickerPWMDCfunction, 0.1);
nicovv44 3:a1b11dfd26f3 72
nicovv44 4:886ce7eefa6e 73 //manual synchronisation
nicovv44 4:886ce7eefa6e 74 while(!synchronized){
nicovv44 4:886ce7eefa6e 75 //measure and calculate desired value
nicovv44 4:886ce7eefa6e 76 syncRMS = getVolageRMS(syncPin);
nicovv44 4:886ce7eefa6e 77 gridRMS = getVolageRMS(gridPin);
nicovv44 4:886ce7eefa6e 78 syncFreq = getFrequency(syncPin);
nicovv44 4:886ce7eefa6e 79 gridFreq = getFrequency(gridPin);
nicovv44 4:886ce7eefa6e 80 //display values on LCD
nicovv44 4:886ce7eefa6e 81 displayLCD(syncRMS, gridRMS, syncFreq, gridFreq);
nicovv44 4:886ce7eefa6e 82 //voltage and frequency matching
nicovv44 4:886ce7eefa6e 83 if(abs(syncRMS-gridRMS)<0.5 && abs(syncFreq-gridFreq)<0.1){
nicovv44 4:886ce7eefa6e 84 pc.printf("voltage and freqency OK\r\n");
nicovv44 4:886ce7eefa6e 85 lcd.locate(0,0);//(col,row)
nicovv44 4:886ce7eefa6e 86 lcd.printf("V&f OK");
nicovv44 4:886ce7eefa6e 87 while(!synchronized){//phase matching loop
nicovv44 4:886ce7eefa6e 88 //phase matching
nicovv44 7:1f7d87007512 89 if(getVolageReadedMax(differentialPin) < 0.050){
nicovv44 4:886ce7eefa6e 90 pc.printf("SYNCHONIZATION OK\r\n\n");
nicovv44 4:886ce7eefa6e 91 lcd.locate(0,1);//(col,row)
nicovv44 4:886ce7eefa6e 92 lcd.printf("SYNC OK ");
nicovv44 5:e9766e0573d0 93 relay1 = 0;//Relay off=1, on=0 // to hear the noise
nicovv44 5:e9766e0573d0 94 relay2 = 0;//Relay off=1, on=0 // to hear the noise
nicovv44 5:e9766e0573d0 95 relay3 = 0;//Relay off=1, on=0 // to hear the noise
nicovv44 5:e9766e0573d0 96 relay4 = 0;//Relay off=1, on=0 // to hear the noise
nicovv44 4:886ce7eefa6e 97 synchronized = true;
nicovv44 4:886ce7eefa6e 98 mainLoop = false;
nicovv44 4:886ce7eefa6e 99 }
nicovv44 4:886ce7eefa6e 100 }
nicovv44 4:886ce7eefa6e 101 }
nicovv44 4:886ce7eefa6e 102 }
nicovv44 1:f31a46c62d10 103 }
nicovv44 1:f31a46c62d10 104
nicovv44 5:e9766e0573d0 105
nicovv44 1:f31a46c62d10 106
nicovv44 3:a1b11dfd26f3 107
nicovv44 0:1f66eaf1013d 108 }
nicovv44 0:1f66eaf1013d 109
nicovv44 0:1f66eaf1013d 110
nicovv44 0:1f66eaf1013d 111
nicovv44 0:1f66eaf1013d 112
nicovv44 0:1f66eaf1013d 113
nicovv44 0:1f66eaf1013d 114
nicovv44 0:1f66eaf1013d 115
nicovv44 0:1f66eaf1013d 116 // ##############################################
nicovv44 0:1f66eaf1013d 117 // ########## FUNCTIONS #########################
nicovv44 0:1f66eaf1013d 118 // #############################################################################
nicovv44 0:1f66eaf1013d 119 // ISR to stop loping
nicovv44 0:1f66eaf1013d 120 void stopLooping(void) {
nicovv44 0:1f66eaf1013d 121 looping = false;//looping is volatile bool
nicovv44 0:1f66eaf1013d 122 }
nicovv44 0:1f66eaf1013d 123
nicovv44 0:1f66eaf1013d 124 // #############################################################################
nicovv44 5:e9766e0573d0 125 // ISR to update pwmDC with potarDC
nicovv44 5:e9766e0573d0 126 void tickerPWMDCfunction(){
nicovv44 5:e9766e0573d0 127 float valuePotar1;
nicovv44 5:e9766e0573d0 128 float valuePotar2;
nicovv44 5:e9766e0573d0 129 valuePotar1 = potarDC.read();
nicovv44 7:1f7d87007512 130 pwmDC.write(1-valuePotar1);
nicovv44 5:e9766e0573d0 131 valuePotar2 = potarSY.read();
nicovv44 7:1f7d87007512 132 pwmSY.write(1-valuePotar2);
nicovv44 5:e9766e0573d0 133 //lcd.locate(12,0);//(col,row)
nicovv44 5:e9766e0573d0 134 //lcd.printf("%f",valuePotar);
nicovv44 5:e9766e0573d0 135 }
nicovv44 5:e9766e0573d0 136
nicovv44 5:e9766e0573d0 137 // #############################################################################
nicovv44 0:1f66eaf1013d 138 float getVolageRMS(AnalogIn ana_pin){
nicovv44 0:1f66eaf1013d 139 float v1;//readed voltage
nicovv44 0:1f66eaf1013d 140 float v1Max = 0;//max readed voltage
nicovv44 0:1f66eaf1013d 141 float VRMS; //RMS voltage
nicovv44 0:1f66eaf1013d 142 looping = true;
nicovv44 1:f31a46c62d10 143 timeout.attach(callback(&stopLooping), 0.020);//T=20ms because f=50Hz
nicovv44 0:1f66eaf1013d 144 while(looping){
nicovv44 0:1f66eaf1013d 145 v1 = ana_pin.read()*3.3;
nicovv44 0:1f66eaf1013d 146 if(v1 > v1Max){
nicovv44 0:1f66eaf1013d 147 v1Max = v1;
nicovv44 0:1f66eaf1013d 148 }
nicovv44 0:1f66eaf1013d 149 }
nicovv44 3:a1b11dfd26f3 150 VRMS = (v1Max+0.685)*9.32/sqrt2;
nicovv44 4:886ce7eefa6e 151 //pc.printf("VRMS: %f\r\n",VRMS);
nicovv44 0:1f66eaf1013d 152 return VRMS;
nicovv44 0:1f66eaf1013d 153 }
nicovv44 0:1f66eaf1013d 154
nicovv44 0:1f66eaf1013d 155
nicovv44 0:1f66eaf1013d 156 // #############################################################################
nicovv44 0:1f66eaf1013d 157 float getVolageReadedMax(AnalogIn ana_pin){
nicovv44 0:1f66eaf1013d 158 float v1;//readed voltage
nicovv44 0:1f66eaf1013d 159 float v1Max = 0;//max readed voltage
nicovv44 0:1f66eaf1013d 160 looping = true;
nicovv44 1:f31a46c62d10 161 timeout.attach(callback(&stopLooping), 0.025);//T=25>20ms because f=50Hz
nicovv44 0:1f66eaf1013d 162 while(looping){
nicovv44 0:1f66eaf1013d 163 v1 = ana_pin.read()*3.3;
nicovv44 0:1f66eaf1013d 164 if(v1 > v1Max){
nicovv44 0:1f66eaf1013d 165 v1Max = v1;
nicovv44 0:1f66eaf1013d 166 }
nicovv44 0:1f66eaf1013d 167 }
nicovv44 0:1f66eaf1013d 168 return v1Max;
nicovv44 0:1f66eaf1013d 169 }
nicovv44 0:1f66eaf1013d 170
nicovv44 1:f31a46c62d10 171
nicovv44 0:1f66eaf1013d 172 // #############################################################################
nicovv44 0:1f66eaf1013d 173 float getFrequency(AnalogIn ana_pin){
nicovv44 0:1f66eaf1013d 174 float freq; //frequency
nicovv44 0:1f66eaf1013d 175 float maxReadedVoltage;//maximum voltage readed by the ADC
nicovv44 0:1f66eaf1013d 176 float readedVoltage;//readed voltage
nicovv44 0:1f66eaf1013d 177 int nbrRisingEdge=0;// number of rising edge detected
nicovv44 0:1f66eaf1013d 178 float T;//Periode
nicovv44 0:1f66eaf1013d 179 Timer timer;
nicovv44 0:1f66eaf1013d 180 maxReadedVoltage = getVolageReadedMax(ana_pin);
nicovv44 4:886ce7eefa6e 181 //pc.printf("maxReadedVoltage: %f\r\n",maxReadedVoltage);
nicovv44 0:1f66eaf1013d 182 bool aboveLine = true;
nicovv44 1:f31a46c62d10 183 looping = true;
nicovv44 1:f31a46c62d10 184 timeout.attach(callback(&stopLooping), 1);//try to find rising edges during 1sec max
nicovv44 1:f31a46c62d10 185 while(nbrRisingEdge<2 and looping){
nicovv44 0:1f66eaf1013d 186 readedVoltage = ana_pin.read()*3.3;
nicovv44 0:1f66eaf1013d 187 if(readedVoltage<(maxReadedVoltage/2)){//rising edge detection ready
nicovv44 0:1f66eaf1013d 188 aboveLine = false;
nicovv44 0:1f66eaf1013d 189 }
nicovv44 0:1f66eaf1013d 190 if((maxReadedVoltage/2)<readedVoltage && aboveLine==false){//rising edge detected
nicovv44 0:1f66eaf1013d 191 aboveLine = true;
nicovv44 0:1f66eaf1013d 192 if(nbrRisingEdge==0)
nicovv44 0:1f66eaf1013d 193 timer.start();
nicovv44 0:1f66eaf1013d 194 if(nbrRisingEdge==1)
nicovv44 0:1f66eaf1013d 195 timer.stop();
nicovv44 0:1f66eaf1013d 196 nbrRisingEdge++;
nicovv44 0:1f66eaf1013d 197 }
nicovv44 0:1f66eaf1013d 198 }
nicovv44 1:f31a46c62d10 199 if(nbrRisingEdge!=2){
nicovv44 1:f31a46c62d10 200 lcd.locate(13,1);
nicovv44 1:f31a46c62d10 201 lcd.printf("f!%d",nbrRisingEdge);
nicovv44 1:f31a46c62d10 202 }
nicovv44 0:1f66eaf1013d 203 T = timer.read();
nicovv44 0:1f66eaf1013d 204 freq = 1/T;
nicovv44 4:886ce7eefa6e 205 //pc.printf("T: %f\r\n",T);
nicovv44 4:886ce7eefa6e 206 //pc.printf("freq: %f\r\n\n",freq);
nicovv44 0:1f66eaf1013d 207 return freq;
nicovv44 4:886ce7eefa6e 208 }
nicovv44 4:886ce7eefa6e 209
nicovv44 4:886ce7eefa6e 210
nicovv44 4:886ce7eefa6e 211 // #############################################################################
nicovv44 4:886ce7eefa6e 212 void displayLCD(float syncRMS, float gridRMS, float syncFreq, float gridFreq){
nicovv44 4:886ce7eefa6e 213 lcd.locate(0,0);//(col,row)
nicovv44 4:886ce7eefa6e 214 lcd.printf(" ");
nicovv44 4:886ce7eefa6e 215 lcd.locate(0,1);//(col,row)
nicovv44 4:886ce7eefa6e 216 lcd.printf(" ");
nicovv44 4:886ce7eefa6e 217 lcd.locate(0,0);//(col,row)
nicovv44 4:886ce7eefa6e 218 lcd.printf("G:%3.1f@%3.1f", gridRMS, gridFreq);
nicovv44 4:886ce7eefa6e 219 lcd.locate(0,1);//(col,row)
nicovv44 4:886ce7eefa6e 220 lcd.printf("S:%3.1f@%3.1f", syncRMS, syncFreq);
nicovv44 1:f31a46c62d10 221 }