File content as of revision 2:c2193c6cdf53:

#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;
                          }
          }
}