V8 / Mbed 2 deprecated FRA221_Life_Style_of_Motor

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Dependencies:   mbed 17A

main.cpp@2:2d18320c10b7, 2015-12-08 (annotated)

Committer:
bi18rdbi18rd
Date:
Tue Dec 08 18:49:35 2015 +0000
Revision:
2:2d18320c10b7
Parent:
1:9caed9f7669d
Child:
3:c25094a31616
update bug serial;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bi18rdbi18rd 1:9caed9f7669d 1 #define PeriodUpdate 0.2
bi18rdbi18rd 0:f4846f86e36d 2
bi18rdbi18rd 1:9caed9f7669d 3 #include "mbed.h"
bi18rdbi18rd 1:9caed9f7669d 4 #include "TextLCD.h"
bi18rdbi18rd 2:2d18320c10b7 5
bi18rdbi18rd 2:2d18320c10b7 6 Serial pc(USBTX, USBRX); // set for degugging
bi18rdbi18rd 1:9caed9f7669d 7
bi18rdbi18rd 1:9caed9f7669d 8 Serial bt(PA_9, PA_10); //Bluetooth : Tx Rx
bi18rdbi18rd 1:9caed9f7669d 9 Ticker tickSend; //Bluetooth : send data every 200 ms and Update RPM
bi18rdbi18rd 1:9caed9f7669d 10 InterruptIn encoder(PB_3); //Encoder : Set interrupt
bi18rdbi18rd 1:9caed9f7669d 11 PwmOut Motor(PB_5); //Motor : command motor
bi18rdbi18rd 2:2d18320c10b7 12 InterruptIn button(PC_4); //Motor Drive : User button to set running state
bi18rdbi18rd 0:f4846f86e36d 13 AnalogIn currentSS(PA_0); //CurrentSensor :
bi18rdbi18rd 1:9caed9f7669d 14 SPI mcp3202(SPI_MOSI, SPI_MISO, SPI_SCK); //Voltage Sensor ADC MCP3202
bi18rdbi18rd 2:2d18320c10b7 15 DigitalOut cs3202a(PB_6); //chip select for mcp3202
bi18rdbi18rd 2:2d18320c10b7 16 DigitalOut cs3202b(PC_7); // chip select for mcp3202 nember 2
bi18rdbi18rd 2:2d18320c10b7 17 DigitalIn SwLCD(PB_13); //Switch LCD Display
bi18rdbi18rd 1:9caed9f7669d 18
bi18rdbi18rd 1:9caed9f7669d 19 I2C i2c_lcd(I2C_SDA,I2C_SCL); // SDA, SCL
bi18rdbi18rd 1:9caed9f7669d 20 TextLCD_I2C lcd(&i2c_lcd, 0x4E, TextLCD::LCD20x4); // I2C bus, PCF8574 addr, LCD Type, Ctrl Type
bi18rdbi18rd 1:9caed9f7669d 21
bi18rdbi18rd 0:f4846f86e36d 22 void getRPM();
bi18rdbi18rd 1:9caed9f7669d 23 void countEncoder();
bi18rdbi18rd 0:f4846f86e36d 24 float getVolt();
bi18rdbi18rd 0:f4846f86e36d 25 float getCurr();
bi18rdbi18rd 0:f4846f86e36d 26 float Display();
bi18rdbi18rd 0:f4846f86e36d 27 void switchRunning();
bi18rdbi18rd 0:f4846f86e36d 28 void dataIn();
bi18rdbi18rd 1:9caed9f7669d 29 void updateData();
bi18rdbi18rd 1:9caed9f7669d 30
bi18rdbi18rd 2:2d18320c10b7 31 float maxVolt=0,maxCurr=0,maxPower=0,volt=0,curr=0,powerMotor =255;
bi18rdbi18rd 1:9caed9f7669d 32 uint8_t countEn=0;
bi18rdbi18rd 2:2d18320c10b7 33 uint16_t rpm=0,maxRPM=0;
bi18rdbi18rd 0:f4846f86e36d 34 bool runState=0;
bi18rdbi18rd 0:f4846f86e36d 35
bi18rdbi18rd 0:f4846f86e36d 36 int main()
bi18rdbi18rd 0:f4846f86e36d 37 {
bi18rdbi18rd 0:f4846f86e36d 38 //Prepare
bi18rdbi18rd 0:f4846f86e36d 39 bt.baud(9600);
bi18rdbi18rd 1:9caed9f7669d 40 pc.baud(9600);
bi18rdbi18rd 0:f4846f86e36d 41 bt.attach(&dataIn); //Interupt when recieved data
bi18rdbi18rd 1:9caed9f7669d 42 tickSend.attach(&updateData,PeriodUpdate); //Send data every 200 ms
bi18rdbi18rd 1:9caed9f7669d 43 encoder.rise(&countEncoder); //set encoder detect rise edge
bi18rdbi18rd 1:9caed9f7669d 44 button.rise(&switchRunning); //set user button (blue) to switch running mode
bi18rdbi18rd 1:9caed9f7669d 45 Motor.period(0.002f); //set pwm frequency to 500 Hz
bi18rdbi18rd 1:9caed9f7669d 46 mcp3202.frequency(1000000); //set SPI mcp3202
bi18rdbi18rd 1:9caed9f7669d 47 mcp3202.format(8,0); //set SPI mcp3202
bi18rdbi18rd 1:9caed9f7669d 48 lcd.setCursor(TextLCD::CurOff_BlkOff);
bi18rdbi18rd 1:9caed9f7669d 49 lcd.cls();
bi18rdbi18rd 0:f4846f86e36d 50
bi18rdbi18rd 0:f4846f86e36d 51 while(1) {
bi18rdbi18rd 2:2d18320c10b7 52
bi18rdbi18rd 0:f4846f86e36d 53 if(runState) { //running loop
bi18rdbi18rd 1:9caed9f7669d 54 Motor = powerMotor/100.0f;
bi18rdbi18rd 0:f4846f86e36d 55
bi18rdbi18rd 2:2d18320c10b7 56
bi18rdbi18rd 0:f4846f86e36d 57 } else {
bi18rdbi18rd 1:9caed9f7669d 58 Motor = 0.0f;
bi18rdbi18rd 0:f4846f86e36d 59 }
bi18rdbi18rd 2:2d18320c10b7 60
bi18rdbi18rd 2:2d18320c10b7 61 if(runState) {
bi18rdbi18rd 2:2d18320c10b7 62 curr=getCurr();
bi18rdbi18rd 2:2d18320c10b7 63 volt=getVolt();
bi18rdbi18rd 2:2d18320c10b7 64
bi18rdbi18rd 2:2d18320c10b7 65 if(volt > maxVolt)
bi18rdbi18rd 2:2d18320c10b7 66 maxVolt = volt;
bi18rdbi18rd 2:2d18320c10b7 67 if(curr > maxCurr)
bi18rdbi18rd 2:2d18320c10b7 68 maxCurr = curr;
bi18rdbi18rd 2:2d18320c10b7 69 if(curr*volt > maxPower)
bi18rdbi18rd 2:2d18320c10b7 70 maxPower = curr*volt;
bi18rdbi18rd 2:2d18320c10b7 71 }
bi18rdbi18rd 0:f4846f86e36d 72 }
bi18rdbi18rd 0:f4846f86e36d 73 }
bi18rdbi18rd 0:f4846f86e36d 74
bi18rdbi18rd 0:f4846f86e36d 75 void switchRunning()
bi18rdbi18rd 0:f4846f86e36d 76 {
bi18rdbi18rd 1:9caed9f7669d 77 runState = !runState;
bi18rdbi18rd 0:f4846f86e36d 78 }
bi18rdbi18rd 0:f4846f86e36d 79
bi18rdbi18rd 0:f4846f86e36d 80 void dataIn()
bi18rdbi18rd 0:f4846f86e36d 81 {
bi18rdbi18rd 2:2d18320c10b7 82 char inTmp[4];
bi18rdbi18rd 1:9caed9f7669d 83 uint8_t i=0;
bi18rdbi18rd 2:2d18320c10b7 84
bi18rdbi18rd 2:2d18320c10b7 85
bi18rdbi18rd 2:2d18320c10b7 86 inTmp[0] = bt.getc();
bi18rdbi18rd 2:2d18320c10b7 87 inTmp[1]=bt.getc();
bi18rdbi18rd 2:2d18320c10b7 88 inTmp[2] = bt.getc();
bi18rdbi18rd 2:2d18320c10b7 89 inTmp[3]=bt.getc();
bi18rdbi18rd 2:2d18320c10b7 90
bi18rdbi18rd 1:9caed9f7669d 91 pc.printf("%s\n",inTmp);
bi18rdbi18rd 2:2d18320c10b7 92
bi18rdbi18rd 2:2d18320c10b7 93 //do {
bi18rdbi18rd 2:2d18320c10b7 94 // inTmp[i++]=bt.getc();
bi18rdbi18rd 2:2d18320c10b7 95 // } while(inTmp[i-1]!='\n');
bi18rdbi18rd 2:2d18320c10b7 96 // pc.printf("%s\n",inTmp);
bi18rdbi18rd 2:2d18320c10b7 97 // if(inTmp[0]=='m') {
bi18rdbi18rd 2:2d18320c10b7 98 // powerMotor = atoi(inTmp+2);
bi18rdbi18rd 2:2d18320c10b7 99 // }
bi18rdbi18rd 0:f4846f86e36d 100 }
bi18rdbi18rd 0:f4846f86e36d 101
bi18rdbi18rd 1:9caed9f7669d 102 void updateData()
bi18rdbi18rd 0:f4846f86e36d 103 {
bi18rdbi18rd 1:9caed9f7669d 104 getRPM();
bi18rdbi18rd 2:2d18320c10b7 105 if(rpm>maxRPM)
bi18rdbi18rd 2:2d18320c10b7 106 maxRPM=rpm;
bi18rdbi18rd 2:2d18320c10b7 107
bi18rdbi18rd 2:2d18320c10b7 108 //LCD state 1
bi18rdbi18rd 2:2d18320c10b7 109 if(SwLCD)
bi18rdbi18rd 2:2d18320c10b7 110 lcd.printf("RPM:%5d P:%1.2f Max:%5d :%1.2f\n",rpm,volt*curr,maxRPM,maxPower);
bi18rdbi18rd 2:2d18320c10b7 111 //LCD state2
bi18rdbi18rd 2:2d18320c10b7 112 else
bi18rdbi18rd 2:2d18320c10b7 113 lcd.printf("V:%1.2fV I:%4.0fmA Mx:%1.2fV :%4.0fmA\n",volt,curr*1000,maxVolt,maxCurr);
bi18rdbi18rd 2:2d18320c10b7 114
bi18rdbi18rd 2:2d18320c10b7 115 if(!runState) {
bi18rdbi18rd 2:2d18320c10b7 116 volt =0;
bi18rdbi18rd 2:2d18320c10b7 117 curr =0;
bi18rdbi18rd 2:2d18320c10b7 118 rpm =0;
bi18rdbi18rd 1:9caed9f7669d 119 }
bi18rdbi18rd 2:2d18320c10b7 120
bi18rdbi18rd 2:2d18320c10b7 121 //pc.printf("RPM:%5d P:%1.2f V :%1.2fV I:%3.0fmA\n",rpm,volt*curr,volt,curr*1000);
bi18rdbi18rd 2:2d18320c10b7 122 bt.printf("s %d\nv %.2f\ni %.2f\np %.2f\n",rpm,volt,curr*1000,volt*curr);
bi18rdbi18rd 2:2d18320c10b7 123
bi18rdbi18rd 0:f4846f86e36d 124 }
bi18rdbi18rd 0:f4846f86e36d 125
bi18rdbi18rd 0:f4846f86e36d 126 void getRPM()
bi18rdbi18rd 0:f4846f86e36d 127 {
bi18rdbi18rd 2:2d18320c10b7 128 if(runState)
bi18rdbi18rd 2:2d18320c10b7 129 rpm = (countEn/2)/(PeriodUpdate/60);
bi18rdbi18rd 1:9caed9f7669d 130 countEn=0;
bi18rdbi18rd 1:9caed9f7669d 131 }
bi18rdbi18rd 1:9caed9f7669d 132
bi18rdbi18rd 1:9caed9f7669d 133 void countEncoder()
bi18rdbi18rd 1:9caed9f7669d 134 {
bi18rdbi18rd 1:9caed9f7669d 135 countEn++;
bi18rdbi18rd 0:f4846f86e36d 136 }
bi18rdbi18rd 0:f4846f86e36d 137
bi18rdbi18rd 0:f4846f86e36d 138 float getVolt()
bi18rdbi18rd 0:f4846f86e36d 139 {
bi18rdbi18rd 2:2d18320c10b7 140 uint8_t spi_data[3]= {0};
bi18rdbi18rd 1:9caed9f7669d 141 cs3202a=0;
bi18rdbi18rd 1:9caed9f7669d 142 spi_data[0] = mcp3202.write(0x01);
bi18rdbi18rd 1:9caed9f7669d 143 wait_us(1);
bi18rdbi18rd 1:9caed9f7669d 144 spi_data[1] = mcp3202.write(0x20);
bi18rdbi18rd 1:9caed9f7669d 145 spi_data[2] = mcp3202.write(0);
bi18rdbi18rd 1:9caed9f7669d 146 wait_us(1);
bi18rdbi18rd 1:9caed9f7669d 147 cs3202a=1;
bi18rdbi18rd 2:2d18320c10b7 148
bi18rdbi18rd 1:9caed9f7669d 149 return (float)(((spi_data[1]&0x0F)*256.0f)+spi_data[2])/819.0f;
bi18rdbi18rd 0:f4846f86e36d 150 }
bi18rdbi18rd 0:f4846f86e36d 151
bi18rdbi18rd 2:2d18320c10b7 152 float getCurr () //mesure current by voltage during R 1 ohm
bi18rdbi18rd 1:9caed9f7669d 153 {
bi18rdbi18rd 2:2d18320c10b7 154 uint8_t spi_data[3]= {0};
bi18rdbi18rd 1:9caed9f7669d 155 cs3202b=0;
bi18rdbi18rd 1:9caed9f7669d 156 spi_data[0] = mcp3202.write(0x01);
bi18rdbi18rd 1:9caed9f7669d 157 wait_us(1);
bi18rdbi18rd 1:9caed9f7669d 158 spi_data[1] = mcp3202.write(0x00);
bi18rdbi18rd 1:9caed9f7669d 159 spi_data[2] = mcp3202.write(0);
bi18rdbi18rd 1:9caed9f7669d 160 wait_us(1);
bi18rdbi18rd 1:9caed9f7669d 161 cs3202b=1;
bi18rdbi18rd 1:9caed9f7669d 162 return (float)((((spi_data[1]&0x0F)*256.0f)+spi_data[2])/819.0f);
bi18rdbi18rd 2:2d18320c10b7 163
bi18rdbi18rd 0:f4846f86e36d 164 }
bi18rdbi18rd 0:f4846f86e36d 165