Richard Hoekstra / Mbed 2 deprecated TLS2-Sensorcontroller

De sensorcontroller van het TLS2 project.

Dependencies:   mbed

main.cpp@4:512492f73e90, 2016-11-17 (annotated)

Committer:
RichardHoekstra
Date:
Thu Nov 17 12:01:21 2016 +0000
Revision:
4:512492f73e90
Parent:
3:8e50fc7b82b7 
Load added, loads cleaned up. Can understand commands from 'hoofdcontroller' now.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RichardHoekstra 0:eea3cc9d2701 1 #include "mbed.h"
RichardHoekstra 0:eea3cc9d2701 2
RichardHoekstra 4:512492f73e90 3 enum t_sensors {sensor_pressure_1 = 0, sensor_pressure_2,
RichardHoekstra 4:512492f73e90 4 sensor_temperature_1, sensor_temperature_2,
RichardHoekstra 4:512492f73e90 5 sensor_flow} sensorRespond;
RichardHoekstra 4:512492f73e90 6
RichardHoekstra 3:8e50fc7b82b7 7 //I2C settings
RichardHoekstra 3:8e50fc7b82b7 8 #define SDA D10
RichardHoekstra 3:8e50fc7b82b7 9 #define SCL D11
RichardHoekstra 3:8e50fc7b82b7 10 #define sensor_addr 0x93
RichardHoekstra 4:512492f73e90 11 #define I2C_BUFFER_SIZE 5
RichardHoekstra 3:8e50fc7b82b7 12 I2CSlave slave(SDA,SCL);
RichardHoekstra 0:eea3cc9d2701 13
RichardHoekstra 4:512492f73e90 14 float sensorVal[5] = {0}; //Index volgens t_sensors
RichardHoekstra 0:eea3cc9d2701 15 #define druksensor 0
RichardHoekstra 0:eea3cc9d2701 16 #define flowsensor 1
RichardHoekstra 1:c9fae063e6f3 17 #define tempsensor 2
RichardHoekstra 1:c9fae063e6f3 18
RichardHoekstra 4:512492f73e90 19
RichardHoekstra 4:512492f73e90 20 //Sample time
RichardHoekstra 4:512492f73e90 21 int tick_ms_druksensor1 = 10, //100 Hz
RichardHoekstra 4:512492f73e90 22 tick_ms_druksensor2 = 10,
RichardHoekstra 4:512492f73e90 23 tick_ms_tempsensor1 = 1000, //1 Hz
RichardHoekstra 4:512492f73e90 24 tick_ms_tempsensor2 = 1000,
RichardHoekstra 4:512492f73e90 25 tick_ms_flowsensor = 10; //100 Hz
RichardHoekstra 4:512492f73e90 26
RichardHoekstra 4:512492f73e90 27 int druksensor1_mva_elements = 10,
RichardHoekstra 4:512492f73e90 28 druksensor2_mva_elements = 10,
RichardHoekstra 4:512492f73e90 29 tempsensor1_mva_elements = 10,
RichardHoekstra 4:512492f73e90 30 tempsensor2_mva_elements = 10,
RichardHoekstra 4:512492f73e90 31 flowsensor_mva_elements = 10;
RichardHoekstra 4:512492f73e90 32
RichardHoekstra 1:c9fae063e6f3 33 bool pressure_is_main = true; //Determine the most important sensor as in, on which value is the motor controller regulating
RichardHoekstra 1:c9fae063e6f3 34 bool smoothing = true; //Determine to activate the moving average
RichardHoekstra 1:c9fae063e6f3 35
RichardHoekstra 4:512492f73e90 36 float calc_moving_average(float val, int samples = 1){
RichardHoekstra 4:512492f73e90 37 if(samples > 1){
RichardHoekstra 4:512492f73e90 38 static float sample_arr[100] = {0}; //[0] is the newest
RichardHoekstra 4:512492f73e90 39 float moving_average = 0;
RichardHoekstra 4:512492f73e90 40 if(samples > 0 && samples < 100){ //Sanity check
RichardHoekstra 4:512492f73e90 41 //Put the new val into the sample_arr and push out the oldest one
RichardHoekstra 4:512492f73e90 42 for(int i=samples-1; i>0; i--){
RichardHoekstra 4:512492f73e90 43 //[9]<-[8]<-[7]
RichardHoekstra 4:512492f73e90 44 sample_arr[i] = sample_arr[i-1];
RichardHoekstra 4:512492f73e90 45 }
RichardHoekstra 4:512492f73e90 46 sample_arr[0] = val;
RichardHoekstra 4:512492f73e90 47 //Calculate the moving average
RichardHoekstra 4:512492f73e90 48 for(int i=0; i<samples; i++){
RichardHoekstra 4:512492f73e90 49 moving_average += sample_arr[i];
RichardHoekstra 4:512492f73e90 50 }
RichardHoekstra 4:512492f73e90 51 return moving_average/(float)samples;
RichardHoekstra 4:512492f73e90 52 } else {
RichardHoekstra 4:512492f73e90 53 return 3.1415926; //Improv error code
RichardHoekstra 2:4c5952cf26d0 54 }
RichardHoekstra 2:4c5952cf26d0 55 } else {
RichardHoekstra 4:512492f73e90 56 return val;
RichardHoekstra 1:c9fae063e6f3 57 }
RichardHoekstra 1:c9fae063e6f3 58 }
RichardHoekstra 3:8e50fc7b82b7 59 //Split an integer into two char
RichardHoekstra 3:8e50fc7b82b7 60 void int_to_2_char(char* arr, int val, int first_element = 0){
RichardHoekstra 3:8e50fc7b82b7 61 arr[first_element] = val>>8;
RichardHoekstra 3:8e50fc7b82b7 62 arr[first_element+1] = val&255;
RichardHoekstra 3:8e50fc7b82b7 63 }
RichardHoekstra 3:8e50fc7b82b7 64 //Join two char to make an integer.
RichardHoekstra 3:8e50fc7b82b7 65 int char2_to_int(char* arr, int first_element = 0){
RichardHoekstra 3:8e50fc7b82b7 66 return ((arr[first_element]<<8)+arr[first_element+1]);
RichardHoekstra 3:8e50fc7b82b7 67 }
RichardHoekstra 4:512492f73e90 68
RichardHoekstra 4:512492f73e90 69 //TODO: Better name, possibly consistent with the other controllers
RichardHoekstra 4:512492f73e90 70 void I2C_to_command(char* arr){
RichardHoekstra 4:512492f73e90 71 enum command_t { //Pressure sensor commands
RichardHoekstra 4:512492f73e90 72 SET_SENSOR_PRESSURE_1_SAMPLE_RATE = 13,
RichardHoekstra 4:512492f73e90 73 SET_SENSOR_PRESSURE_1_MVA,
RichardHoekstra 4:512492f73e90 74 SET_RESPONSE_SENSOR_PRESSURE_1,
RichardHoekstra 4:512492f73e90 75 SET_SENSOR_PRESSURE_2_SAMPLE_RATE,
RichardHoekstra 4:512492f73e90 76 SET_SENSOR_PRESSURE_2_MVA,
RichardHoekstra 4:512492f73e90 77 SET_RESPONSE_SENSOR_PRESSURE_2,
RichardHoekstra 4:512492f73e90 78 //Temperature sensor commands
RichardHoekstra 4:512492f73e90 79 SET_SENSOR_TEMPERATURE_1_SAMPLE_RATE,
RichardHoekstra 4:512492f73e90 80 SET_SENSOR_TEMPERATURE_1_MVA,
RichardHoekstra 4:512492f73e90 81 SET_RESPONSE_SENSOR_TEMPERATURE_1,
RichardHoekstra 4:512492f73e90 82 SET_SENSOR_TEMPERATURE_2_SAMPLE_RATE,
RichardHoekstra 4:512492f73e90 83 SET_SENSOR_TEMPERATURE_2_MVA,
RichardHoekstra 4:512492f73e90 84 SET_RESPONSE_SENSOR_TEMPERATURE_2,
RichardHoekstra 4:512492f73e90 85 //Flow sensor commands
RichardHoekstra 4:512492f73e90 86 SET_SENSOR_FLOW_SAMPLE_RATE,
RichardHoekstra 4:512492f73e90 87 SET_SENSOR_FLOW_MVA,
RichardHoekstra 4:512492f73e90 88 SET_RESPONSE_SENSOR_FLOW,
RichardHoekstra 4:512492f73e90 89 //Motor sensor
RichardHoekstra 4:512492f73e90 90 //Note: currently not used
RichardHoekstra 4:512492f73e90 91 SET_SENSOR_SPEED_SAMPLE_RATE,
RichardHoekstra 4:512492f73e90 92 SET_SENSOR_SPEED_MVA,
RichardHoekstra 4:512492f73e90 93 SET_RESPONSE_SENSOR_SPEED
RichardHoekstra 4:512492f73e90 94 } command;
RichardHoekstra 4:512492f73e90 95
RichardHoekstra 4:512492f73e90 96 command = (command_t)arr[0];
RichardHoekstra 4:512492f73e90 97 //Hide your kids
RichardHoekstra 4:512492f73e90 98 //Hide your wife
RichardHoekstra 4:512492f73e90 99 //Monolithic switch statement
RichardHoekstra 4:512492f73e90 100 //Is coming to town
RichardHoekstra 4:512492f73e90 101 switch(command){
RichardHoekstra 4:512492f73e90 102 //Set responses
RichardHoekstra 4:512492f73e90 103 case SET_RESPONSE_SENSOR_PRESSURE_1:
RichardHoekstra 4:512492f73e90 104 sensorRespond = sensor_pressure_1;
RichardHoekstra 4:512492f73e90 105 break;
RichardHoekstra 4:512492f73e90 106 case SET_RESPONSE_SENSOR_PRESSURE_2:
RichardHoekstra 4:512492f73e90 107 sensorRespond = sensor_pressure_2;
RichardHoekstra 4:512492f73e90 108 break;
RichardHoekstra 4:512492f73e90 109 case SET_RESPONSE_SENSOR_TEMPERATURE_1:
RichardHoekstra 4:512492f73e90 110 sensorRespond = sensor_temperature_1;
RichardHoekstra 4:512492f73e90 111 break;
RichardHoekstra 4:512492f73e90 112 case SET_RESPONSE_SENSOR_TEMPERATURE_2:
RichardHoekstra 4:512492f73e90 113 sensorRespond = sensor_temperature_2;
RichardHoekstra 4:512492f73e90 114 break;
RichardHoekstra 4:512492f73e90 115 case SET_RESPONSE_SENSOR_FLOW:
RichardHoekstra 4:512492f73e90 116 sensorRespond = sensor_flow;
RichardHoekstra 4:512492f73e90 117 break;
RichardHoekstra 4:512492f73e90 118 case SET_RESPONSE_SENSOR_SPEED:
RichardHoekstra 4:512492f73e90 119 //Currently not implemented
RichardHoekstra 4:512492f73e90 120 break;
RichardHoekstra 4:512492f73e90 121
RichardHoekstra 4:512492f73e90 122 //Set sample rates
RichardHoekstra 4:512492f73e90 123 case SET_SENSOR_PRESSURE_1_SAMPLE_RATE:
RichardHoekstra 4:512492f73e90 124 tick_ms_druksensor1 = 1000/(char2_to_int(arr,1));
RichardHoekstra 4:512492f73e90 125 break;
RichardHoekstra 4:512492f73e90 126 case SET_SENSOR_PRESSURE_2_SAMPLE_RATE:
RichardHoekstra 4:512492f73e90 127 tick_ms_druksensor2 = 1000/(char2_to_int(arr,1));
RichardHoekstra 4:512492f73e90 128 break;
RichardHoekstra 4:512492f73e90 129 case SET_SENSOR_TEMPERATURE_1_SAMPLE_RATE:
RichardHoekstra 4:512492f73e90 130 tick_ms_tempsensor1 = 1000/(char2_to_int(arr,1));
RichardHoekstra 4:512492f73e90 131 break;
RichardHoekstra 4:512492f73e90 132 case SET_SENSOR_TEMPERATURE_2_SAMPLE_RATE:
RichardHoekstra 4:512492f73e90 133 tick_ms_tempsensor2 = 1000/(char2_to_int(arr,1));
RichardHoekstra 4:512492f73e90 134 break;
RichardHoekstra 4:512492f73e90 135 case SET_SENSOR_FLOW_SAMPLE_RATE:
RichardHoekstra 4:512492f73e90 136 tick_ms_flowsensor = 1000/(char2_to_int(arr,1));
RichardHoekstra 4:512492f73e90 137 break;
RichardHoekstra 4:512492f73e90 138
RichardHoekstra 4:512492f73e90 139 //Set moving averages
RichardHoekstra 4:512492f73e90 140 case SET_SENSOR_PRESSURE_1_MVA:
RichardHoekstra 4:512492f73e90 141 druksensor1_mva_elements = char2_to_int(arr,1);
RichardHoekstra 4:512492f73e90 142 break;
RichardHoekstra 4:512492f73e90 143 case SET_SENSOR_PRESSURE_2_MVA:
RichardHoekstra 4:512492f73e90 144 druksensor2_mva_elements = char2_to_int(arr,1);
RichardHoekstra 4:512492f73e90 145 break;
RichardHoekstra 4:512492f73e90 146 case SET_SENSOR_TEMPERATURE_1_MVA:
RichardHoekstra 4:512492f73e90 147 tempsensor1_mva_elements = char2_to_int(arr,1);
RichardHoekstra 4:512492f73e90 148 break;
RichardHoekstra 4:512492f73e90 149 case SET_SENSOR_TEMPERATURE_2_MVA:
RichardHoekstra 4:512492f73e90 150 tempsensor2_mva_elements = char2_to_int(arr,1);
RichardHoekstra 4:512492f73e90 151 break;
RichardHoekstra 4:512492f73e90 152 case SET_SENSOR_FLOW_MVA:
RichardHoekstra 4:512492f73e90 153 flowsensor_mva_elements = char2_to_int(arr,1);
RichardHoekstra 4:512492f73e90 154 break;
RichardHoekstra 4:512492f73e90 155
RichardHoekstra 4:512492f73e90 156 default:
RichardHoekstra 4:512492f73e90 157 //Command is not recognied
RichardHoekstra 4:512492f73e90 158 break;
RichardHoekstra 4:512492f73e90 159 }
RichardHoekstra 4:512492f73e90 160 //Clear the buffer for next iterations
RichardHoekstra 4:512492f73e90 161 for(int i=0;i<I2C_BUFFER_SIZE;i++){
RichardHoekstra 4:512492f73e90 162 arr[i] = 0;
RichardHoekstra 4:512492f73e90 163 }
RichardHoekstra 4:512492f73e90 164 }
RichardHoekstra 0:eea3cc9d2701 165 int main() {
RichardHoekstra 0:eea3cc9d2701 166 //Pins
RichardHoekstra 4:512492f73e90 167 AnalogIn drukSensor1(A0),
RichardHoekstra 4:512492f73e90 168 drukSensor2(A1),
RichardHoekstra 4:512492f73e90 169 tempSensor1(A2),
RichardHoekstra 4:512492f73e90 170 tempSensor2(A3),
RichardHoekstra 4:512492f73e90 171 flowSensor(A4);
RichardHoekstra 0:eea3cc9d2701 172
RichardHoekstra 0:eea3cc9d2701 173 //mbed ondersteund onneindig veel timers
RichardHoekstra 4:512492f73e90 174 Timer t_druk1,
RichardHoekstra 4:512492f73e90 175 t_druk2,
RichardHoekstra 4:512492f73e90 176 t_temp1,
RichardHoekstra 4:512492f73e90 177 t_temp2,
RichardHoekstra 4:512492f73e90 178 t_flow;
RichardHoekstra 4:512492f73e90 179
RichardHoekstra 4:512492f73e90 180 //Start the timers
RichardHoekstra 4:512492f73e90 181 t_druk1.start(); t_druk2.start(); t_temp1.start(); t_temp2.start(); t_flow.start();
RichardHoekstra 4:512492f73e90 182
RichardHoekstra 3:8e50fc7b82b7 183 char buffer[I2C_BUFFER_SIZE] = {0}; //Create the buffer for I2C
RichardHoekstra 3:8e50fc7b82b7 184 bool buffer_changed = false;
RichardHoekstra 3:8e50fc7b82b7 185 char data[2];
RichardHoekstra 3:8e50fc7b82b7 186 slave.address(sensor_addr);
RichardHoekstra 0:eea3cc9d2701 187 while(1) {
RichardHoekstra 3:8e50fc7b82b7 188 //I2C time
RichardHoekstra 3:8e50fc7b82b7 189 int i = slave.receive();
RichardHoekstra 3:8e50fc7b82b7 190 switch (i) {
RichardHoekstra 3:8e50fc7b82b7 191 case I2CSlave::ReadAddressed:
RichardHoekstra 4:512492f73e90 192 switch(sensorRespond){
RichardHoekstra 3:8e50fc7b82b7 193 case 1: //Druksensor
RichardHoekstra 3:8e50fc7b82b7 194 int_to_2_char(data,((int)(sensorVal[0]*65535)));
RichardHoekstra 3:8e50fc7b82b7 195 break;
RichardHoekstra 3:8e50fc7b82b7 196 case 2: //Flowsensor
RichardHoekstra 3:8e50fc7b82b7 197 int_to_2_char(data,((int)(sensorVal[1]*65535)));
RichardHoekstra 3:8e50fc7b82b7 198 break;
RichardHoekstra 3:8e50fc7b82b7 199 case 3://Temperatuursensor
RichardHoekstra 3:8e50fc7b82b7 200 int_to_2_char(data,((int)(sensorVal[2]*65535)));
RichardHoekstra 3:8e50fc7b82b7 201 break;
RichardHoekstra 3:8e50fc7b82b7 202 }
RichardHoekstra 3:8e50fc7b82b7 203 slave.write(data,2);
RichardHoekstra 3:8e50fc7b82b7 204 break;
RichardHoekstra 3:8e50fc7b82b7 205 case I2CSlave::WriteGeneral:
RichardHoekstra 3:8e50fc7b82b7 206 //Received a request to be written to
RichardHoekstra 3:8e50fc7b82b7 207 slave.read(buffer,I2C_BUFFER_SIZE);
RichardHoekstra 3:8e50fc7b82b7 208 buffer_changed = true;
RichardHoekstra 3:8e50fc7b82b7 209 break;
RichardHoekstra 3:8e50fc7b82b7 210 case I2CSlave::WriteAddressed:
RichardHoekstra 3:8e50fc7b82b7 211 //Received a request to be written to a specific location
RichardHoekstra 3:8e50fc7b82b7 212 slave.read(buffer,I2C_BUFFER_SIZE);
RichardHoekstra 3:8e50fc7b82b7 213 buffer_changed = true;
RichardHoekstra 3:8e50fc7b82b7 214 break;
RichardHoekstra 3:8e50fc7b82b7 215 }
RichardHoekstra 3:8e50fc7b82b7 216 if(buffer_changed == true){
RichardHoekstra 4:512492f73e90 217 I2C_to_command(buffer);
RichardHoekstra 3:8e50fc7b82b7 218 }
RichardHoekstra 4:512492f73e90 219 if(t_druk1.read_ms() >= tick_ms_druksensor1){
RichardHoekstra 4:512492f73e90 220 //Lees de druksensor uit
RichardHoekstra 4:512492f73e90 221 //TODO: Give sensorVal indices a name
RichardHoekstra 4:512492f73e90 222 sensorVal[0] = calc_moving_average(drukSensor1.read(), druksensor1_mva_elements);
RichardHoekstra 4:512492f73e90 223 t_druk1.reset();
RichardHoekstra 4:512492f73e90 224 }
RichardHoekstra 4:512492f73e90 225 if(t_druk2.read_ms() >= tick_ms_druksensor2){
RichardHoekstra 1:c9fae063e6f3 226 //Lees de druksensor uit
RichardHoekstra 4:512492f73e90 227 sensorVal[1] = calc_moving_average(drukSensor2.read(), druksensor1_mva_elements);
RichardHoekstra 4:512492f73e90 228 t_druk2.reset();
RichardHoekstra 4:512492f73e90 229 }
RichardHoekstra 4:512492f73e90 230 if(t_temp1.read_ms() >= tick_ms_tempsensor1){
RichardHoekstra 4:512492f73e90 231 //Lees de temperatuursensor uit
RichardHoekstra 4:512492f73e90 232 sensorVal[2] = calc_moving_average(tempSensor1.read(),tempsensor1_mva_elements);
RichardHoekstra 4:512492f73e90 233 t_temp1.reset();
RichardHoekstra 4:512492f73e90 234 }
RichardHoekstra 4:512492f73e90 235 if(t_temp2.read_ms() >= tick_ms_tempsensor2){
RichardHoekstra 4:512492f73e90 236 //Lees de temperatuursensor uit
RichardHoekstra 4:512492f73e90 237 sensorVal[3] = calc_moving_average(tempSensor2.read(),tempsensor2_mva_elements);
RichardHoekstra 4:512492f73e90 238 t_temp2.reset();
RichardHoekstra 0:eea3cc9d2701 239 }
RichardHoekstra 0:eea3cc9d2701 240 if(t_flow.read_ms() >= tick_ms_flowsensor){
RichardHoekstra 0:eea3cc9d2701 241 //Lees de flowsensor uit
RichardHoekstra 4:512492f73e90 242 sensorVal[4] = calc_moving_average(flowSensor.read(),flowsensor_mva_elements);
RichardHoekstra 0:eea3cc9d2701 243 t_flow.reset();
RichardHoekstra 0:eea3cc9d2701 244 }
RichardHoekstra 0:eea3cc9d2701 245 }
RichardHoekstra 0:eea3cc9d2701 246 }