V8 / Mbed 2 deprecated FRA221_Life_Style_of_Motor

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Dependencies:   mbed 17A

main.cpp@3:c25094a31616, 2015-12-08 (annotated)

Committer:
bi18rdbi18rd
Date:
Tue Dec 08 23:08:17 2015 +0000
Revision:
3:c25094a31616
Parent:
2:2d18320c10b7 
life style of motor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bi18rdbi18rd 3:c25094a31616 1 #define PeriodUpdate 100
bi18rdbi18rd 0:f4846f86e36d 2
bi18rdbi18rd 1:9caed9f7669d 3 #include "mbed.h"
bi18rdbi18rd 1:9caed9f7669d 4 #include "TextLCD.h"
bi18rdbi18rd 2:2d18320c10b7 5
bi18rdbi18rd 3:c25094a31616 6 Serial pc(USBTX, USBRX); // set for degugging
bi18rdbi18rd 1:9caed9f7669d 7
bi18rdbi18rd 3:c25094a31616 8 Serial bt(PA_9, PA_10); //Bluetooth : Tx Rx
bi18rdbi18rd 3:c25094a31616 9 InterruptIn encoder(PB_3); //Encoder : Set interrupt
bi18rdbi18rd 3:c25094a31616 10 PwmOut Motor(PB_5); //Motor : command motor
bi18rdbi18rd 3:c25094a31616 11 InterruptIn button(PC_4); //Motor Drive : User button to set running state
bi18rdbi18rd 3:c25094a31616 12 AnalogIn currentSS(PA_0); //CurrentSensor :
bi18rdbi18rd 3:c25094a31616 13 SPI mcp3202(SPI_MOSI, SPI_MISO, SPI_SCK); //Voltage Sensor ADC MCP3202
bi18rdbi18rd 3:c25094a31616 14 DigitalOut cs3202a(PB_6); //chip select for mcp3202
bi18rdbi18rd 3:c25094a31616 15 DigitalOut cs3202b(PC_7); // chip select for mcp3202 nember 2
bi18rdbi18rd 3:c25094a31616 16 DigitalIn SwLCD(PB_13); //Switch LCD Display
bi18rdbi18rd 3:c25094a31616 17 I2C i2c_lcd(I2C_SDA,I2C_SCL); // SDA, SCL
bi18rdbi18rd 3:c25094a31616 18 TextLCD_I2C lcd(&i2c_lcd, 0x4E, TextLCD::LCD16x2); // I2C bus, PCF8574 addr, LCD Type, Ctrl Type
bi18rdbi18rd 1:9caed9f7669d 19
bi18rdbi18rd 0:f4846f86e36d 20 void getRPM();
bi18rdbi18rd 1:9caed9f7669d 21 void countEncoder();
bi18rdbi18rd 0:f4846f86e36d 22 float getVolt();
bi18rdbi18rd 0:f4846f86e36d 23 float getCurr();
bi18rdbi18rd 0:f4846f86e36d 24 float Display();
bi18rdbi18rd 0:f4846f86e36d 25 void switchRunning();
bi18rdbi18rd 0:f4846f86e36d 26 void dataIn();
bi18rdbi18rd 1:9caed9f7669d 27 void updateData();
bi18rdbi18rd 1:9caed9f7669d 28
bi18rdbi18rd 3:c25094a31616 29 float maxVolt=0,maxCurr=0,maxPower=0,volt=0,curr=0,powerMotor =125;
bi18rdbi18rd 1:9caed9f7669d 30 uint8_t countEn=0;
bi18rdbi18rd 3:c25094a31616 31 uint16_t rpm=0,maxRPM=0,loopCount=0;
bi18rdbi18rd 0:f4846f86e36d 32 bool runState=0;
bi18rdbi18rd 0:f4846f86e36d 33
bi18rdbi18rd 0:f4846f86e36d 34 int main()
bi18rdbi18rd 0:f4846f86e36d 35 {
bi18rdbi18rd 0:f4846f86e36d 36 //Prepare
bi18rdbi18rd 0:f4846f86e36d 37 bt.baud(9600);
bi18rdbi18rd 1:9caed9f7669d 38 pc.baud(9600);
bi18rdbi18rd 0:f4846f86e36d 39 bt.attach(&dataIn); //Interupt when recieved data
bi18rdbi18rd 1:9caed9f7669d 40 encoder.rise(&countEncoder); //set encoder detect rise edge
bi18rdbi18rd 1:9caed9f7669d 41 button.rise(&switchRunning); //set user button (blue) to switch running mode
bi18rdbi18rd 1:9caed9f7669d 42 Motor.period(0.002f); //set pwm frequency to 500 Hz
bi18rdbi18rd 1:9caed9f7669d 43 mcp3202.frequency(1000000); //set SPI mcp3202
bi18rdbi18rd 1:9caed9f7669d 44 mcp3202.format(8,0); //set SPI mcp3202
bi18rdbi18rd 1:9caed9f7669d 45 lcd.setCursor(TextLCD::CurOff_BlkOff);
bi18rdbi18rd 1:9caed9f7669d 46 lcd.cls();
bi18rdbi18rd 0:f4846f86e36d 47
bi18rdbi18rd 0:f4846f86e36d 48 while(1) {
bi18rdbi18rd 2:2d18320c10b7 49
bi18rdbi18rd 3:c25094a31616 50 if(runState) { //running loop
bi18rdbi18rd 1:9caed9f7669d 51 Motor = powerMotor/100.0f;
bi18rdbi18rd 3:c25094a31616 52 curr+=getCurr();
bi18rdbi18rd 3:c25094a31616 53 volt+=getVolt();
bi18rdbi18rd 2:2d18320c10b7 54
bi18rdbi18rd 0:f4846f86e36d 55 } else {
bi18rdbi18rd 1:9caed9f7669d 56 Motor = 0.0f;
bi18rdbi18rd 0:f4846f86e36d 57 }
bi18rdbi18rd 2:2d18320c10b7 58
bi18rdbi18rd 3:c25094a31616 59 if(loopCount>=PeriodUpdate) {
bi18rdbi18rd 3:c25094a31616 60
bi18rdbi18rd 3:c25094a31616 61 curr/=loopCount;
bi18rdbi18rd 3:c25094a31616 62 volt/=loopCount;
bi18rdbi18rd 3:c25094a31616 63
bi18rdbi18rd 3:c25094a31616 64 getRPM();
bi18rdbi18rd 3:c25094a31616 65 if(rpm>maxRPM)
bi18rdbi18rd 3:c25094a31616 66 maxRPM=rpm;
bi18rdbi18rd 2:2d18320c10b7 67
bi18rdbi18rd 2:2d18320c10b7 68 if(volt > maxVolt)
bi18rdbi18rd 2:2d18320c10b7 69 maxVolt = volt;
bi18rdbi18rd 2:2d18320c10b7 70 if(curr > maxCurr)
bi18rdbi18rd 2:2d18320c10b7 71 maxCurr = curr;
bi18rdbi18rd 2:2d18320c10b7 72 if(curr*volt > maxPower)
bi18rdbi18rd 2:2d18320c10b7 73 maxPower = curr*volt;
bi18rdbi18rd 3:c25094a31616 74
bi18rdbi18rd 3:c25094a31616 75 updateData();
bi18rdbi18rd 3:c25094a31616 76 loopCount=0;
bi18rdbi18rd 2:2d18320c10b7 77 }
bi18rdbi18rd 3:c25094a31616 78
bi18rdbi18rd 3:c25094a31616 79 wait_ms(1);
bi18rdbi18rd 3:c25094a31616 80 loopCount++;
bi18rdbi18rd 0:f4846f86e36d 81 }
bi18rdbi18rd 0:f4846f86e36d 82 }
bi18rdbi18rd 0:f4846f86e36d 83
bi18rdbi18rd 0:f4846f86e36d 84 void switchRunning()
bi18rdbi18rd 0:f4846f86e36d 85 {
bi18rdbi18rd 1:9caed9f7669d 86 runState = !runState;
bi18rdbi18rd 0:f4846f86e36d 87 }
bi18rdbi18rd 0:f4846f86e36d 88
bi18rdbi18rd 0:f4846f86e36d 89 void dataIn()
bi18rdbi18rd 0:f4846f86e36d 90 {
bi18rdbi18rd 3:c25094a31616 91 char inTmp[5]= {0};
bi18rdbi18rd 2:2d18320c10b7 92
bi18rdbi18rd 3:c25094a31616 93 for(uint8_t i=0; i<5; i++) {
bi18rdbi18rd 3:c25094a31616 94 inTmp[i] = bt.getc();
bi18rdbi18rd 3:c25094a31616 95 if(inTmp[i] == '\n') break;
bi18rdbi18rd 3:c25094a31616 96 }
bi18rdbi18rd 2:2d18320c10b7 97
bi18rdbi18rd 3:c25094a31616 98 //pc.printf("s %s\td%d \n",inTmp,atoi(inTmp+2));
bi18rdbi18rd 3:c25094a31616 99 powerMotor = atoi(inTmp+2);
bi18rdbi18rd 3:c25094a31616 100 return ;
bi18rdbi18rd 0:f4846f86e36d 101 }
bi18rdbi18rd 0:f4846f86e36d 102
bi18rdbi18rd 1:9caed9f7669d 103 void updateData()
bi18rdbi18rd 0:f4846f86e36d 104 {
bi18rdbi18rd 2:2d18320c10b7 105 //LCD state 1
bi18rdbi18rd 2:2d18320c10b7 106 if(SwLCD)
bi18rdbi18rd 3:c25094a31616 107 lcd.printf("RPM:%5d P:%1.2fMax:%5d :%1.2f",rpm,volt*curr,maxRPM,maxPower);
bi18rdbi18rd 2:2d18320c10b7 108 //LCD state2
bi18rdbi18rd 2:2d18320c10b7 109 else
bi18rdbi18rd 3:c25094a31616 110 lcd.printf("V:%1.2fV I:%4.0fmAMx:%1.2fV :%4.0fmA",volt,curr*1000,maxVolt,maxCurr*1000);
bi18rdbi18rd 2:2d18320c10b7 111
bi18rdbi18rd 2:2d18320c10b7 112 if(!runState) {
bi18rdbi18rd 2:2d18320c10b7 113 volt =0;
bi18rdbi18rd 2:2d18320c10b7 114 curr =0;
bi18rdbi18rd 2:2d18320c10b7 115 rpm =0;
bi18rdbi18rd 1:9caed9f7669d 116 }
bi18rdbi18rd 2:2d18320c10b7 117 bt.printf("s %d\nv %.2f\ni %.2f\np %.2f\n",rpm,volt,curr*1000,volt*curr);
bi18rdbi18rd 0:f4846f86e36d 118 }
bi18rdbi18rd 0:f4846f86e36d 119
bi18rdbi18rd 0:f4846f86e36d 120 void getRPM()
bi18rdbi18rd 0:f4846f86e36d 121 {
bi18rdbi18rd 2:2d18320c10b7 122 if(runState)
bi18rdbi18rd 3:c25094a31616 123 rpm = (countEn/2.0f)/(PeriodUpdate/60000.0f);
bi18rdbi18rd 1:9caed9f7669d 124 countEn=0;
bi18rdbi18rd 1:9caed9f7669d 125 }
bi18rdbi18rd 1:9caed9f7669d 126
bi18rdbi18rd 1:9caed9f7669d 127 void countEncoder()
bi18rdbi18rd 1:9caed9f7669d 128 {
bi18rdbi18rd 1:9caed9f7669d 129 countEn++;
bi18rdbi18rd 0:f4846f86e36d 130 }
bi18rdbi18rd 0:f4846f86e36d 131
bi18rdbi18rd 0:f4846f86e36d 132 float getVolt()
bi18rdbi18rd 0:f4846f86e36d 133 {
bi18rdbi18rd 2:2d18320c10b7 134 uint8_t spi_data[3]= {0};
bi18rdbi18rd 1:9caed9f7669d 135 cs3202a=0;
bi18rdbi18rd 1:9caed9f7669d 136 spi_data[0] = mcp3202.write(0x01);
bi18rdbi18rd 1:9caed9f7669d 137 wait_us(1);
bi18rdbi18rd 1:9caed9f7669d 138 spi_data[1] = mcp3202.write(0x20);
bi18rdbi18rd 1:9caed9f7669d 139 spi_data[2] = mcp3202.write(0);
bi18rdbi18rd 1:9caed9f7669d 140 wait_us(1);
bi18rdbi18rd 1:9caed9f7669d 141 cs3202a=1;
bi18rdbi18rd 2:2d18320c10b7 142
bi18rdbi18rd 1:9caed9f7669d 143 return (float)(((spi_data[1]&0x0F)*256.0f)+spi_data[2])/819.0f;
bi18rdbi18rd 0:f4846f86e36d 144 }
bi18rdbi18rd 0:f4846f86e36d 145
bi18rdbi18rd 3:c25094a31616 146 float getCurr () //mesure current by voltage during R 1 ohm
bi18rdbi18rd 1:9caed9f7669d 147 {
bi18rdbi18rd 2:2d18320c10b7 148 uint8_t spi_data[3]= {0};
bi18rdbi18rd 1:9caed9f7669d 149 cs3202b=0;
bi18rdbi18rd 1:9caed9f7669d 150 spi_data[0] = mcp3202.write(0x01);
bi18rdbi18rd 1:9caed9f7669d 151 wait_us(1);
bi18rdbi18rd 3:c25094a31616 152 spi_data[1] = mcp3202.write(0x20);
bi18rdbi18rd 1:9caed9f7669d 153 spi_data[2] = mcp3202.write(0);
bi18rdbi18rd 1:9caed9f7669d 154 wait_us(1);
bi18rdbi18rd 1:9caed9f7669d 155 cs3202b=1;
bi18rdbi18rd 3:c25094a31616 156
bi18rdbi18rd 1:9caed9f7669d 157 return (float)((((spi_data[1]&0x0F)*256.0f)+spi_data[2])/819.0f);
bi18rdbi18rd 2:2d18320c10b7 158
bi18rdbi18rd 0:f4846f86e36d 159 }
bi18rdbi18rd 0:f4846f86e36d 160