Revision 4:512492f73e90, committed 2016-11-17
- Comitter:
- RichardHoekstra
- Date:
- Thu Nov 17 12:01:21 2016 +0000
- Parent:
- 3:8e50fc7b82b7
- Commit message:
- Load added, loads cleaned up. Can understand commands from 'hoofdcontroller' now.
Changed in this revision
--- a/main.cpp Wed Nov 16 18:44:24 2016 +0000
+++ b/main.cpp Thu Nov 17 12:01:21 2016 +0000
@@ -1,40 +1,59 @@
#include "mbed.h"
+ enum t_sensors {sensor_pressure_1 = 0, sensor_pressure_2,
+ sensor_temperature_1, sensor_temperature_2,
+ sensor_flow} sensorRespond;
+
//I2C settings
#define SDA D10
#define SCL D11
#define sensor_addr 0x93
- #define I2C_BUFFER_SIZE 10
+ #define I2C_BUFFER_SIZE 5
I2CSlave slave(SDA,SCL);
-float sensorVal[3] = {0};
-//Index 0: druksensor waarde
-//Index 1: flowsensor waarde
-//Index 2: temperatuursenor waarde
+float sensorVal[5] = {0}; //Index volgens t_sensors
#define druksensor 0
#define flowsensor 1
#define tempsensor 2
+
+ //Sample time
+ int tick_ms_druksensor1 = 10, //100 Hz
+ tick_ms_druksensor2 = 10,
+ tick_ms_tempsensor1 = 1000, //1 Hz
+ tick_ms_tempsensor2 = 1000,
+ tick_ms_flowsensor = 10; //100 Hz
+
+ int druksensor1_mva_elements = 10,
+ druksensor2_mva_elements = 10,
+ tempsensor1_mva_elements = 10,
+ tempsensor2_mva_elements = 10,
+ flowsensor_mva_elements = 10;
+
bool pressure_is_main = true; //Determine the most important sensor as in, on which value is the motor controller regulating
bool smoothing = true; //Determine to activate the moving average
-float calc_moving_average(float val, int samples = 10){
- static float sample_arr[100] = {0}; //[0] is the newest
- float moving_average = 0;
- if(samples > 0 && samples < 100){ //Sanity check
- //Put the new val into the sample_arr and push out the oldest one
- for(int i=samples-1; i>0; i--){
- //[9]<-[8]<-[7]
- sample_arr[i] = sample_arr[i-1];
+float calc_moving_average(float val, int samples = 1){
+ if(samples > 1){
+ static float sample_arr[100] = {0}; //[0] is the newest
+ float moving_average = 0;
+ if(samples > 0 && samples < 100){ //Sanity check
+ //Put the new val into the sample_arr and push out the oldest one
+ for(int i=samples-1; i>0; i--){
+ //[9]<-[8]<-[7]
+ sample_arr[i] = sample_arr[i-1];
+ }
+ sample_arr[0] = val;
+ //Calculate the moving average
+ for(int i=0; i<samples; i++){
+ moving_average += sample_arr[i];
+ }
+ return moving_average/(float)samples;
+ } else {
+ return 3.1415926; //Improv error code
}
- sample_arr[0] = val;
- //Calculate the moving average
- for(int i=0; i<samples; i++){
- moving_average += sample_arr[i];
- }
- return moving_average/(float)samples;
} else {
- return 3.1415926; //Improv error code
+ return val;
}
}
//Split an integer into two char
@@ -46,26 +65,121 @@
int char2_to_int(char* arr, int first_element = 0){
return ((arr[first_element]<<8)+arr[first_element+1]);
}
+
+//TODO: Better name, possibly consistent with the other controllers
+void I2C_to_command(char* arr){
+ enum command_t { //Pressure sensor commands
+ SET_SENSOR_PRESSURE_1_SAMPLE_RATE = 13,
+ SET_SENSOR_PRESSURE_1_MVA,
+ SET_RESPONSE_SENSOR_PRESSURE_1,
+ SET_SENSOR_PRESSURE_2_SAMPLE_RATE,
+ SET_SENSOR_PRESSURE_2_MVA,
+ SET_RESPONSE_SENSOR_PRESSURE_2,
+ //Temperature sensor commands
+ SET_SENSOR_TEMPERATURE_1_SAMPLE_RATE,
+ SET_SENSOR_TEMPERATURE_1_MVA,
+ SET_RESPONSE_SENSOR_TEMPERATURE_1,
+ SET_SENSOR_TEMPERATURE_2_SAMPLE_RATE,
+ SET_SENSOR_TEMPERATURE_2_MVA,
+ SET_RESPONSE_SENSOR_TEMPERATURE_2,
+ //Flow sensor commands
+ SET_SENSOR_FLOW_SAMPLE_RATE,
+ SET_SENSOR_FLOW_MVA,
+ SET_RESPONSE_SENSOR_FLOW,
+ //Motor sensor
+ //Note: currently not used
+ SET_SENSOR_SPEED_SAMPLE_RATE,
+ SET_SENSOR_SPEED_MVA,
+ SET_RESPONSE_SENSOR_SPEED
+ } command;
+
+ command = (command_t)arr[0];
+ //Hide your kids
+ //Hide your wife
+ //Monolithic switch statement
+ //Is coming to town
+ switch(command){
+ //Set responses
+ case SET_RESPONSE_SENSOR_PRESSURE_1:
+ sensorRespond = sensor_pressure_1;
+ break;
+ case SET_RESPONSE_SENSOR_PRESSURE_2:
+ sensorRespond = sensor_pressure_2;
+ break;
+ case SET_RESPONSE_SENSOR_TEMPERATURE_1:
+ sensorRespond = sensor_temperature_1;
+ break;
+ case SET_RESPONSE_SENSOR_TEMPERATURE_2:
+ sensorRespond = sensor_temperature_2;
+ break;
+ case SET_RESPONSE_SENSOR_FLOW:
+ sensorRespond = sensor_flow;
+ break;
+ case SET_RESPONSE_SENSOR_SPEED:
+ //Currently not implemented
+ break;
+
+ //Set sample rates
+ case SET_SENSOR_PRESSURE_1_SAMPLE_RATE:
+ tick_ms_druksensor1 = 1000/(char2_to_int(arr,1));
+ break;
+ case SET_SENSOR_PRESSURE_2_SAMPLE_RATE:
+ tick_ms_druksensor2 = 1000/(char2_to_int(arr,1));
+ break;
+ case SET_SENSOR_TEMPERATURE_1_SAMPLE_RATE:
+ tick_ms_tempsensor1 = 1000/(char2_to_int(arr,1));
+ break;
+ case SET_SENSOR_TEMPERATURE_2_SAMPLE_RATE:
+ tick_ms_tempsensor2 = 1000/(char2_to_int(arr,1));
+ break;
+ case SET_SENSOR_FLOW_SAMPLE_RATE:
+ tick_ms_flowsensor = 1000/(char2_to_int(arr,1));
+ break;
+
+ //Set moving averages
+ case SET_SENSOR_PRESSURE_1_MVA:
+ druksensor1_mva_elements = char2_to_int(arr,1);
+ break;
+ case SET_SENSOR_PRESSURE_2_MVA:
+ druksensor2_mva_elements = char2_to_int(arr,1);
+ break;
+ case SET_SENSOR_TEMPERATURE_1_MVA:
+ tempsensor1_mva_elements = char2_to_int(arr,1);
+ break;
+ case SET_SENSOR_TEMPERATURE_2_MVA:
+ tempsensor2_mva_elements = char2_to_int(arr,1);
+ break;
+ case SET_SENSOR_FLOW_MVA:
+ flowsensor_mva_elements = char2_to_int(arr,1);
+ break;
+
+ default:
+ //Command is not recognied
+ break;
+ }
+ //Clear the buffer for next iterations
+ for(int i=0;i<I2C_BUFFER_SIZE;i++){
+ arr[i] = 0;
+ }
+}
int main() {
//Pins
- AnalogIn drukSensor(A0);
- AnalogIn flowSensor(A1);
- AnalogIn tempSensor(A2);
-
- //Sample time
- int tick_ms_druksensor = 10, //100 Hz
- tick_ms_flowsensor = 10, //100 Hz
- tick_ms_tempsensor = 1000; //1 Hz
+ AnalogIn drukSensor1(A0),
+ drukSensor2(A1),
+ tempSensor1(A2),
+ tempSensor2(A3),
+ flowSensor(A4);
//mbed ondersteund onneindig veel timers
- Timer t_druk,
- t_flow,
- t_temp;
-
- t_druk.start();
- t_flow.start();
- t_temp.start();
- int respondSensor = 0;
+ Timer t_druk1,
+ t_druk2,
+ t_temp1,
+ t_temp2,
+ t_flow;
+
+ //Start the timers
+ t_druk1.start(); t_druk2.start(); t_temp1.start(); t_temp2.start(); t_flow.start();
+
char buffer[I2C_BUFFER_SIZE] = {0}; //Create the buffer for I2C
bool buffer_changed = false;
char data[2];
@@ -75,9 +189,7 @@
int i = slave.receive();
switch (i) {
case I2CSlave::ReadAddressed:
- //Received a request to be read
- //Irrelevant for now
- switch(respondSensor){
+ switch(sensorRespond){
case 1: //Druksensor
int_to_2_char(data,((int)(sensorVal[0]*65535)));
break;
@@ -102,46 +214,33 @@
break;
}
if(buffer_changed == true){
- for(int i=0;i<I2C_BUFFER_SIZE;i++){
- buffer[i] = 0;
- }
- int command = buffer[0];
- switch(command){
- case 0:
- //Command is recognized
- //Write what the command is going to do
- break;
- case 1:
- //Command is recognized
- //Write what the command is going to do
- break;
- default:
- //Command is not recognied
- break;
- }
+ I2C_to_command(buffer);
}
- if(t_druk.read_ms() >= tick_ms_druksensor){
+ if(t_druk1.read_ms() >= tick_ms_druksensor1){
+ //Lees de druksensor uit
+ //TODO: Give sensorVal indices a name
+ sensorVal[0] = calc_moving_average(drukSensor1.read(), druksensor1_mva_elements);
+ t_druk1.reset();
+ }
+ if(t_druk2.read_ms() >= tick_ms_druksensor2){
//Lees de druksensor uit
- if(pressure_is_main == true && smoothing == true){
- calc_moving_average(drukSensor.read());
- } else {
- sensorVal[druksensor] = drukSensor.read();
- }
- t_druk.reset();
+ sensorVal[1] = calc_moving_average(drukSensor2.read(), druksensor1_mva_elements);
+ t_druk2.reset();
+ }
+ if(t_temp1.read_ms() >= tick_ms_tempsensor1){
+ //Lees de temperatuursensor uit
+ sensorVal[2] = calc_moving_average(tempSensor1.read(),tempsensor1_mva_elements);
+ t_temp1.reset();
+ }
+ if(t_temp2.read_ms() >= tick_ms_tempsensor2){
+ //Lees de temperatuursensor uit
+ sensorVal[3] = calc_moving_average(tempSensor2.read(),tempsensor2_mva_elements);
+ t_temp2.reset();
}
if(t_flow.read_ms() >= tick_ms_flowsensor){
//Lees de flowsensor uit
- if(pressure_is_main == false && smoothing == true){
- calc_moving_average(flowSensor.read());
- } else {
- sensorVal[flowsensor] = flowSensor.read();
- }
+ sensorVal[4] = calc_moving_average(flowSensor.read(),flowsensor_mva_elements);
t_flow.reset();
}
- if(t_temp.read_ms() >= tick_ms_tempsensor){
- //Lees de temperatuursensor uit
- sensorVal[tempsensor] = tempSensor.read();
- t_temp.reset();
- }
}
}
Richard Hoekstra
