Aditya Mehrotra / Mbed 2 deprecated dyno_current_sense_f44_new

power board firmware for dyno

Dependencies:   mbed

main.cpp@2:5ce2ad0782de, 2021-07-20 (annotated)

Committer:
adimmit
Date:
Tue Jul 20 19:35:55 2021 +0000
Revision:
2:5ce2ad0782de
Parent:
1:2c598112756b
Child:
3:609e4be772e0
most recent

Who changed what in which revision?

UserRevisionLine numberNew contents of line
adimmit 0:f4f2a7b3364c 1 #include "mbed.h"
adimmit 0:f4f2a7b3364c 2 #include "math_ops.h"
adimmit 0:f4f2a7b3364c 3
adimmit 0:f4f2a7b3364c 4 #define MIN -400.0f
adimmit 0:f4f2a7b3364c 5 #define MAX 400.0f
adimmit 0:f4f2a7b3364c 6
adimmit 0:f4f2a7b3364c 7 /*
adimmit 0:f4f2a7b3364c 8 This basic example just shows how to read the ADC internal channels raw values.
adimmit 0:f4f2a7b3364c 9 Please look in the corresponding device reference manual for a complete
adimmit 0:f4f2a7b3364c 10 description of how to make a temperature sensor, VBat or Vref measurement.
adimmit 0:f4f2a7b3364c 11 */
adimmit 0:f4f2a7b3364c 12
adimmit 0:f4f2a7b3364c 13 //setup SERIAL
adimmit 0:f4f2a7b3364c 14 Serial pc(PA_2, PA_3);
adimmit 0:f4f2a7b3364c 15
adimmit 0:f4f2a7b3364c 16 //setup scaling
adimmit 0:f4f2a7b3364c 17 float HV_CURRENT_SCALING = 0.0400; //V/A
adimmit 0:f4f2a7b3364c 18 float LV_CURRENT_SCALING = 0.0550; //V/A
adimmit 0:f4f2a7b3364c 19 float VOL_SENSE_SCALING = (1000000.0+30000.0)/30000.0; //V per Volt
adimmit 0:f4f2a7b3364c 20 float SYSTEM_VOLTAGE = 3.3; //volts
adimmit 0:f4f2a7b3364c 21 float VCC = 5.0; //volts
adimmit 0:f4f2a7b3364c 22 float EXT_CURRENT_SCALING = 0.008; //Sensitivity = 8mv/A external sensor
adimmit 0:f4f2a7b3364c 23
adimmit 0:f4f2a7b3364c 24 //setup analog inputs
adimmit 0:f4f2a7b3364c 25 AnalogIn hv_current(PC_0);
adimmit 0:f4f2a7b3364c 26 AnalogIn lv_current(PC_1);
adimmit 0:f4f2a7b3364c 27 AnalogIn voltage_sense(PC_2);
adimmit 0:f4f2a7b3364c 28 AnalogIn ext_current_A(PC_3); //V_OUT (for now)
adimmit 0:f4f2a7b3364c 29 AnalogIn ext_current_B(PC_4); //V_REF (for now)
adimmit 0:f4f2a7b3364c 30 //setup CAN
adimmit 0:f4f2a7b3364c 31 CAN can(PA_11, PA_12, 1000000); // CAN Rx pin name, CAN Tx pin name
adimmit 0:f4f2a7b3364c 32 CANMessage currMsg, statMsg;
adimmit 0:f4f2a7b3364c 33 int ledState;
adimmit 0:f4f2a7b3364c 34 Ticker sendCAN;
adimmit 0:f4f2a7b3364c 35 int counter = 0;
adimmit 0:f4f2a7b3364c 36 volatile bool msgAvailable = false;
adimmit 0:f4f2a7b3364c 37 Ticker loop;
adimmit 0:f4f2a7b3364c 38
adimmit 0:f4f2a7b3364c 39 void pack_cmd(CANMessage * msg, float f1, float f2){
adimmit 0:f4f2a7b3364c 40 /// convert floats to unsigned ints ///
adimmit 0:f4f2a7b3364c 41 uint16_t f1_int = float_to_uint(f1, MIN, MAX, 16);
adimmit 0:f4f2a7b3364c 42 uint16_t f2_int = float_to_uint(f2, MIN, MAX, 16);
adimmit 0:f4f2a7b3364c 43 /// pack ints into the can buffer ///
adimmit 0:f4f2a7b3364c 44 msg->data[0] = f1_int>>8;
adimmit 0:f4f2a7b3364c 45 msg->data[1] = f1_int&0xFF;
adimmit 0:f4f2a7b3364c 46 msg->data[2] = f2_int>>8;
adimmit 0:f4f2a7b3364c 47 msg->data[3] = f2_int&0xFF;
adimmit 0:f4f2a7b3364c 48 }
adimmit 0:f4f2a7b3364c 49
adimmit 0:f4f2a7b3364c 50 int main()
adimmit 0:f4f2a7b3364c 51 {
adimmit 0:f4f2a7b3364c 52 wait(1);
adimmit 0:f4f2a7b3364c 53 pc.baud(115200);
adimmit 0:f4f2a7b3364c 54 wait(.01);
adimmit 0:f4f2a7b3364c 55 pc.printf("\n\r\n\r Biomimetics Power Board\n\r\n\r");
adimmit 0:f4f2a7b3364c 56 wait(.01);
adimmit 0:f4f2a7b3364c 57
adimmit 0:f4f2a7b3364c 58 currMsg.len = 4; //transmit 4 bytes
adimmit 0:f4f2a7b3364c 59 statMsg.len = 4; //transmit 4 bytes
adimmit 0:f4f2a7b3364c 60
adimmit 0:f4f2a7b3364c 61 currMsg.id = 0x1; //higher priority
adimmit 2:5ce2ad0782de 62 statMsg.id = 0x2; //lower priority
adimmit 0:f4f2a7b3364c 63
adimmit 0:f4f2a7b3364c 64 while(1){
adimmit 2:5ce2ad0782de 65 wait(0.0003); //MAKE SURE IT's 1-3k rate, higher we will fill the CAN buffer
adimmit 2:5ce2ad0782de 66 float hv_cur = float((hv_current.read()*SYSTEM_VOLTAGE-VCC/2.0) / HV_CURRENT_SCALING); //PUBLISH
adimmit 2:5ce2ad0782de 67 float lv_cur = float((lv_current.read()*SYSTEM_VOLTAGE-VCC/2.0) / LV_CURRENT_SCALING); //PUBLISH
adimmit 0:f4f2a7b3364c 68 float vol = (voltage_sense.read()*SYSTEM_VOLTAGE)*VOL_SENSE_SCALING; //INACCURATE ON THE HARDWARE SIDE!!! //PUBLISH
adimmit 0:f4f2a7b3364c 69
adimmit 0:f4f2a7b3364c 70 float V_OUT_EXT = (ext_current_A.read()*SYSTEM_VOLTAGE);
adimmit 0:f4f2a7b3364c 71 float V_REF_EXT = (ext_current_B.read()*SYSTEM_VOLTAGE);
adimmit 0:f4f2a7b3364c 72
adimmit 2:5ce2ad0782de 73 float ext_cur = (V_OUT_EXT-V_REF_EXT) / EXT_CURRENT_SCALING; //PUBLISH
adimmit 0:f4f2a7b3364c 74
adimmit 0:f4f2a7b3364c 75 //now we have to publish the four floats to the CAN BUS
adimmit 0:f4f2a7b3364c 76 pack_cmd(&currMsg, hv_cur, ext_cur);
adimmit 0:f4f2a7b3364c 77 pack_cmd(&statMsg, vol, lv_cur);
adimmit 0:f4f2a7b3364c 78 can.write(currMsg);
adimmit 0:f4f2a7b3364c 79 wait(.00002);
adimmit 0:f4f2a7b3364c 80 can.write(statMsg);
adimmit 0:f4f2a7b3364c 81 }
adimmit 0:f4f2a7b3364c 82 }