File content as of revision 11:ea8a91528ecf:

#include "mbed.h"
#include "math.h"
#define   pi 3.1415927f

#include "PI_Cntrl.h"
#include "IIR_filter.h"
#include "LinearCharacteristics.h"
#include "GPA.h"

// Software Test  for nucleo GPA. GPA pointwise GPA made bei pmic March 2018
// -----------------------------------------------------------------------------


Serial pc(SERIAL_TX, SERIAL_RX);        // serial connection via USB - programmer
InterruptIn Button(USER_BUTTON);        // User Button, short presses: reduce speed, long presses: increase speed
Ticker  ControllerLoopTimer;            // interrupt for control loop
Timer t;                                // timer to analyse Button
float Ts = 0.0025;                      // sample time
PI_Cntrl PI1(1,.01);
// controller parameters etc.

// 
float B[3] ={1.515974984336e-3,3.031949968672e-3,1.515974984336e-3}; // 2nd order System low Damping, Ts =1/400
// MATLAB:  w0=5*2*pi;D=.2;Ts=1/400;G=tf(w0^2,[1 2*D*w0 w0^2]);Gd=c2d(G,Ts,'tustin');format long;[n,d]=tfdata(Gd,'v')
float A[2]={ -1.963052911280484,0.969116811217828};
IIR_filter pt2(B,A,sizeof(B)/4,sizeof(A)/4);         // length of float is 4
GPA gpa1(1.0f, 200.0f,50, 5, 100, Ts, 1.0f,1.0f);       // init GPA, see references there
// user defined functions
void updateControllers(void);   // speed controller loop (via interrupt)
void pressed(void);             // user Button pressed
void released(void);            // user Button released
void printLine();
void output (float *);
unsigned int k = 0;                     // counter for serial output
// for GPA
float inp = 0.0f;
float out = 0.0f;
// main program and control loop
// -----------------------------------------------------------------------------
int main()
{
    // for serial comm.
    pc.baud(2000000);
    // attach controller loop to timer interrupt
    ControllerLoopTimer.attach(&updateControllers, Ts); //Assume Fs = 400Hz;
}

void updateControllers(void)
{
    inp = gpa1(inp,out);
    out=pt2(inp);           // Test GPA with pt2 system
}


// Buttonhandling 
// -----------------------------------------------------------------------------
// start timer as soon as Button is pressed
void pressed()
{
    t.start();
}

// evaluating statemachine
void released()
{

    // readout, stop and reset timer
    float ButtonTime = t.read();
    t.stop();
    t.reset();

    // if the cube doesStand
}
void printLine()
{
    printf("-----------------------------------------------------------------------------------------\r\n");
}