File content as of revision 2:d815250d0377:

#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];


//***************************************************************************************************
//read sensors via multiplexer

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);
    }
    
}


//***************************************************************************************************
//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();
}


//***************************************************************************************************
// MAIN:
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);
        }
*/
    }
}