Hochschule München
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Dependencies: CD4052 COUNTER RC_PWM Telemetrie_eth_h2m1 mbed
Diff: main.cpp
- Revision:
- 0:d621f13db8c0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Nov 09 13:46:46 2017 +0000
@@ -0,0 +1,284 @@
+#include "mbed.h"
+#include "components.h"
+#include "CD4052.h"
+#include "Telemetry.h"
+#include "counter.h"
+#include "rc_pwm.h"
+
+#define M_PI 3.1415926
+
+DigitalOut myled(LED1);
+CD4052 mp(p22, p21, p19, p20);
+Serial debug(USBTX, USBRX);
+Telemetry Network(p29,p30);
+Ticker data_out;
+Ticker slow_timer;
+Ticker fast_timer;
+Counter rpm_c(p23);
+RC_PWM emc(p21);
+
+
+
+char CTL_SRV[] = "192.168.0.15";
+int CTL_PORT = 42042;
+char DB_SERVER[] = "141.39.249.90";
+int DB_PORT = 8887;
+
+Endpoint CTL_Server;
+Endpoint DB_Server;
+
+
+int count;
+
+
+
+void set_sys(void)
+{
+ sys.version = 10;
+ sys.blade = 2;
+ sys.Amax = 25;
+ sys.RPMmax = 2000;
+ sys.PWMmax = 1900;
+ sys.PWMmin = 900;
+ sys.t_eng_max = 68;
+ sys.air_ro = 1.185 * 10000;
+ sys.pwm = 0;
+
+ emc.min = sys.PWMmin;
+ emc.max = sys.PWMmax;
+}
+
+void set_cal(void)
+{
+ cal.thrust_o = -4 ;
+ cal.thrust_s = 0.080 ;
+ cal.torque_o = -4 ;
+ cal.torque_s = 0.080 ;
+ cal.voltage_o = -52 ;
+ cal.voltage_s = 0.4290 ;
+ cal.current_o = -10650 ;
+ cal.current_s = 1.352 ;
+ cal.p_prop_o = -8700 ;
+ cal.p_prop_s = 0.263 ;
+ cal.p_tunnel_o = -8690 ;
+ cal.p_tunnel_s = 0.263 ;
+ cal.temp_eng_o = -3435 ;
+ cal.temp_eng_s = 0.081 ;
+ cal.temp_air_o = -3490 ;
+ cal.temp_air_s = 0.081 ;
+}
+
+
+
+
+
+//Helpscreen output
+void help()
+{
+ debug.printf("\n*** V %.1f ***\r\n",(float)sys.version/10);
+ debug.printf("*** Motor Test command***\r\n\n");
+ debug.printf("M = Messure ON\r\n");
+ debug.printf("A = Messure OFF\r\n");
+ debug.printf("R = Run\r\n");
+ debug.printf("S = Stop\r\n");
+}
+
+
+void get_input()
+{
+ char wert;
+
+ while (debug.readable() == true)
+ {
+ wert = debug.getc();
+ switch(wert)
+ {
+ case 'M': sys.do_measure = true;
+ break;
+ case 'A': sys.do_measure = false;
+ break;
+ case 'R': sys.run = true;
+ break;
+ case 'S': sys.run = false;
+ sys.pwm = 0;
+ break;
+ case '0': cal.thrust_o = cal.thrust_o - raw.thrust;
+ break;
+ case '9': cal.thrust_s = cal.thrust_s * (850 / raw.thrust);
+ break;
+ case 'c': //save sys
+ break;
+ default : help();
+
+ }
+ }
+}
+
+
+void read_values(void)
+{
+ mp.channel(0);
+ raw.thrust = (mp.x_i() * cal.thrust_s ) + cal.thrust_o ;
+ raw.p_prop = (mp.y_i() * cal.p_prop_s ) + cal.p_prop_o ;
+ wait_us(50);
+ mp.channel(1);
+ raw.torque = (mp.x_i() * cal.torque_s ) + cal.torque_o ;
+ raw.p_tunnel = (mp.y_i() * cal.p_tunnel_s) + cal.p_tunnel_o;
+ wait_us(50);
+ mp.channel(2);
+ raw.current = (mp.x_i() * cal.current_s ) + cal.current_o ;
+ raw.temp_air = (mp.y_i() * cal.temp_air_s) + cal.temp_air_o ;
+ wait_us(50);
+ mp.channel(3);
+ raw.voltage = (mp.x_i() * cal.voltage_s ) + cal.voltage_o ;
+ raw.temp_eng = (mp.y_i() * cal.temp_eng_s) + cal.temp_eng_o ;
+
+}
+
+void calc_values(void)
+{
+ raw.power_in = (float)raw.voltage / 100 * (float)raw.current / 100 ;
+ if (raw.power_in == 0) raw.power_in = 1;
+ raw.power_out = (float)raw.torque / 500 * (float)raw.rpm / 60 * M_PI ; // P = 2*Pi* RPS * M
+ raw.eta = (float)raw.power_out / (float)raw.power_in * 1000 ;
+ raw.thrust_eff= (float)raw.thrust / (float)raw.power_in * 100 ;
+ raw.air_ro = sys.air_ro ;
+ raw.v_prop = sqrt((float)raw.p_prop) * 20000 / raw.air_ro ;
+ raw.v_tunnel = sqrt((float)raw.p_tunnel) * 20000 / raw.air_ro ;
+}
+
+void midd_values(void)
+{
+ values.thrust = values.thrust + ((float)raw.thrust / 100 - values.thrust ) / 100;
+ values.torque = values.torque + ((float)raw.torque / 1000 - values.torque ) / 100;
+ values.voltage = values.voltage + ((float)raw.voltage / 1000 - values.voltage ) / 100;
+ values.current = values.current + ((float)raw.current / 1000 - values.current ) / 100;
+ values.power_in = values.power_in + ((float)raw.power_in / 100 - values.power_in ) / 100;
+ values.power_out = values.power_out + ((float)raw.power_out / 100 - values.power_out ) / 100;
+ values.eta = values.eta + ((float)raw.eta / 10 - values.eta ) / 100;
+ values.thrust_eff = values.thrust_eff + ((float)raw.thrust_eff / 100 - values.thrust_eff) / 100;
+ values.p_prop = values.p_prop + ((float)raw.p_prop - values.p_prop ) / 100;
+ values.p_tunnel = values.p_tunnel + ((float)raw.p_tunnel - values.p_tunnel ) / 100;
+ values.v_prop = values.v_prop + ((float)raw.v_prop / 10 - values.v_prop ) / 100;
+ values.v_tunnel = values.v_tunnel + ((float)raw.v_tunnel / 10 - values.v_tunnel ) / 100;
+ values.temp_eng = values.temp_eng + ((float)raw.temp_eng / 10 - values.temp_eng ) / 100;
+ values.temp_air = values.temp_air + ((float)raw.temp_air / 10 - values.temp_air ) / 100;
+ values.rpm = values.rpm + ((float)raw.rpm - values.rpm ) / 8;
+}
+
+
+void tick_fast(void){
+ sys.do_time = true;
+}
+
+
+void get_data(void){
+ if (sys.do_measure == 1)
+ {
+ sys.measure++;
+ switch(sys.measure%4){
+ case 0: break;
+ case 1: break; //stabilize
+ case 2: break; //stabilize
+ case 3: sys.measure = 0;
+ sys.pwm = sys.pwm + 1;
+ break;
+ }
+ }
+ else {sys.measure = 0;}
+}
+
+
+void do_limit(void){
+
+ if (values.current > sys.Amax){ //Limit current
+ if (sys.C_limit == 1){
+ sys.do_measure = 0;
+ sys.pwm = 16;
+ debug.printf("\n\r!!Overcurrent Shutdown!!\n\r");
+ }
+ sys.C_limit = 1;
+ }
+ else
+ {sys.C_limit = 0;}
+
+
+ if (values.rpm > sys.RPMmax){ //Limit RPM
+ if (sys.RPM_limit == 1){
+ sys.do_measure = 0;
+ sys.pwm = 16;
+ debug.printf("\n\r!!Overrun Shutdown!!\n\r");
+ }
+ sys.RPM_limit = 1;
+ }
+ else
+ {sys.RPM_limit = 0;}
+
+
+ if (values.temp_eng > sys.t_eng_max){ //Limit Temp
+ if (sys.T_limit == 1){
+ sys.do_measure = 0;
+ sys.pwm = 16;
+ debug.printf("\n\r!!Overtemp Shutdown!!\n\r");
+ }
+ sys.T_limit = 1;
+ }
+ else
+ {sys.T_limit = 0;}
+
+}
+
+
+
+void timetable(void){
+ sys.fast++;
+ switch(sys.fast%4){ // every 1 ms
+ case 1: read_values();
+ break;
+ case 2: calc_values();
+ break;
+ case 3: midd_values();
+ break;
+ }
+
+ if (0 == sys.fast%100){ // every 100 ms
+ sys.slow++;
+
+ do_limit(); //Limit RPM and Current on every slow loop
+
+ switch(sys.slow%10){
+ case 0: emc.set(sys.pwm);
+ break;
+ case 1: raw.rpm = rpm_c.cps * 60 / sys.blade ;
+ break;
+ case 2: debug.printf("RPM: %05d mid: %05d\n\r",raw.rpm,values.rpm);
+ break;
+ case 3: if ( sys.run == true){if ((values.rpm < 200) && (sys.pwm < 16)) sys.pwm++;} //
+ if ((sys.run == true) && (sys.do_measure == false)){if (values.rpm > 240) sys.pwm--;}
+ break;
+ case 9: get_data();
+ break;
+
+ }
+ }
+}
+
+
+int main() {
+ debug.baud(115200);
+ //Network.InitEthernetConnection();
+ //Network.ConnectSocket_UDP_Client();
+ CTL_Server.set_address(CTL_SRV, CTL_PORT);
+ DB_Server.set_address(DB_SERVER, DB_PORT);
+ fast_timer.attach(&tick_fast,0.001);
+ set_sys();
+ set_cal();
+
+ while(1) {
+
+ if(sys.do_time){
+ timetable();
+ sys.do_time = false;
+ }
+ }
+}