File content as of revision 6:f97371e6bc3e:

#include "mbed.h"


PwmOut Motroregler_PWM(p22);

volatile int Drehzeit_counter = 0;
#define DREHZEIT_SIZE 3
volatile int Drehzeit[DREHZEIT_SIZE];
int void()
{

//***************************************************************************************************
//Control Motor rpm

    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;

        Motroregler_PWM.pulsewidth_us(motor_pwm_cmd);
        motor_pwm_cmd_last = motor_pwm_cmd;

        return 1;
    }

//***************************************************************************************************
//Control MOSFET pwm
    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) {
            Bremsenstrom_MOSFET.pulsewidth_us(00);
            mosfet_pwm_cmd_last = 0;

            return 1;
        }

        float mosfet_pwm_dif = mosfet_pwm_cmd - mosfet_pwm_cur;

        // int mosfet_pwm_cmd = (int)(mosfet_pwm_cmd_last + mosfet_pwm_dif * 0.6 + 0.5); // round() ... works only for positive values

        pc.printf("cmd: %7.2f, cur: %7.2f, dif: %7.2f, mosfet_pwm_cmd: %4d, mosfet_pwm_dif: %4d",
                  mosfet_pwm_cmd, mosfet_pwm_cur, mosfet_pwm_dif, mosfet_pwm_cmd, mosfet_pwm_cmd-mosfet_pwm_cmd_last);

        if (mosfet_pwm_cmd > 20000) mosfet_pwm_cmd = 20000;
        else if (mosfet_pwm_cmd < 0) mosfet_pwm_cmd = 0;

        Bremsenstrom_MOSFET.pulsewidth_us(mosfet_pwm_cmd);

        mosfet_pwm_cmd_last = mosfet_pwm_cmd;

        return 1;
    }
    //***************************************************************************************************
//Calculate rpm
    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();
    }
}