Steven Cheldelin / Mbed 2 deprecated eMPC_Simulator-v1

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Dependencies:   mbed RPCInterface-4

main.cpp@1:dc858803161c, 2020-09-14 (annotated)

Committer:
rcflyair
Date:
Mon Sep 14 15:05:29 2020 +0000
Revision:
1:dc858803161c
Parent:
0:910585fe989f 
commit;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rcflyair 0:910585fe989f 1 #include "mbed.h"
rcflyair 0:910585fe989f 2 #include "SerialRPCInterface.h"
rcflyair 0:910585fe989f 3 //#include "MODSERIAL.h"
rcflyair 0:910585fe989f 4 #define DELAY 250
rcflyair 0:910585fe989f 5
rcflyair 0:910585fe989f 6 AnalogIn mtr_pos(PA_0);
rcflyair 0:910585fe989f 7 PwmOut udp_pwm(PA_4);
rcflyair 0:910585fe989f 8 PwmOut mp_pwm(PB_7);
rcflyair 0:910585fe989f 9 PwmOut airspeed_pwm(PB_6);
rcflyair 0:910585fe989f 10 PwmOut rpm_pwm(PA_8);
rcflyair 0:910585fe989f 11 PwmOut ff_pwm(PA_1);
rcflyair 0:910585fe989f 12
rcflyair 0:910585fe989f 13 DigitalOut myled(LED1);
rcflyair 0:910585fe989f 14 SerialRPCInterface rpc(PA_9, PA_10, 115200); // create serial rpc interface on usb virtual com port
rcflyair 0:910585fe989f 15
rcflyair 0:910585fe989f 16 float mtr_pos_vout = 0.0f;
rcflyair 0:910585fe989f 17 float udp_vout = 0.0f;
rcflyair 0:910585fe989f 18 float mp_vout = 0.0f;
rcflyair 0:910585fe989f 19 float airspeed_vout = 0.0f;
rcflyair 0:910585fe989f 20 float ff_f = 0.0f;
rcflyair 0:910585fe989f 21 float rpm_f = 0.0f;
rcflyair 0:910585fe989f 22 float temp = 0.25f;
rcflyair 0:910585fe989f 23 volatile char c = '\0'; // Initialized to the NULL character
rcflyair 0:910585fe989f 24
rcflyair 0:910585fe989f 25 RPCVariable<float> rpc_mtr_pos_vout(&mtr_pos_vout, "mtr_pos_vout");
rcflyair 0:910585fe989f 26 RPCVariable<float> rpc_udp_vout(&udp_vout, "udp_vout");
rcflyair 0:910585fe989f 27 RPCVariable<float> rpc_mp_vout(&mp_vout, "mp_vout");
rcflyair 0:910585fe989f 28 RPCVariable<float> rpc_airspeed_vout(&airspeed_vout, "airspeed_vout");
rcflyair 0:910585fe989f 29 RPCVariable<float> rpc_ff_f(&ff_f, "ff_f");
rcflyair 0:910585fe989f 30 RPCVariable<float> rpc_temp(&temp, "temp");
rcflyair 0:910585fe989f 31
rcflyair 0:910585fe989f 32 int pwm_v(float x)
rcflyair 0:910585fe989f 33 {
rcflyair 0:910585fe989f 34 return (-4.6206 * x * x * x * x) + (64.395f * x * x * x) - (329.67f * x * x) + (877.84f * x) - 294.19f;
rcflyair 0:910585fe989f 35 }
rcflyair 0:910585fe989f 36
rcflyair 0:910585fe989f 37 float pwm_ff(float x)
rcflyair 0:910585fe989f 38 {
rcflyair 0:910585fe989f 39 return 1/x;
rcflyair 0:910585fe989f 40 }
rcflyair 0:910585fe989f 41
rcflyair 0:910585fe989f 42 int main() {
rcflyair 0:910585fe989f 43
rcflyair 0:910585fe989f 44 udp_pwm.period_us(1000);
rcflyair 0:910585fe989f 45 udp_pwm.pulsewidth_us(666);
rcflyair 0:910585fe989f 46
rcflyair 0:910585fe989f 47 mp_pwm.period_us(1000);
rcflyair 0:910585fe989f 48 mp_pwm.pulsewidth_us(600);
rcflyair 0:910585fe989f 49
rcflyair 0:910585fe989f 50 airspeed_pwm.period_us(1000);
rcflyair 0:910585fe989f 51 airspeed_pwm.pulsewidth_us(500);
rcflyair 0:910585fe989f 52
rcflyair 0:910585fe989f 53 ff_f = 300.0f;
rcflyair 0:910585fe989f 54 ff_pwm.period(1/ff_f);
rcflyair 0:910585fe989f 55 ff_pwm.pulsewidth_us((1/ff_f)/2);
rcflyair 0:910585fe989f 56
rcflyair 0:910585fe989f 57 rpm_f = 400.0f;
rcflyair 0:910585fe989f 58 rpm_pwm.period(1/rpm_f);
rcflyair 0:910585fe989f 59 rpm_pwm.pulsewidth((1/rpm_f)/2);
rcflyair 0:910585fe989f 60
rcflyair 0:910585fe989f 61 //rpc.Disable();
rcflyair 0:910585fe989f 62
rcflyair 0:910585fe989f 63 while(1) {
rcflyair 0:910585fe989f 64
rcflyair 0:910585fe989f 65 myled = !myled; // pulse LED
rcflyair 0:910585fe989f 66
rcflyair 0:910585fe989f 67 mtr_pos_vout = mtr_pos.read();
rcflyair 0:910585fe989f 68
rcflyair 0:910585fe989f 69 udp_pwm.pulsewidth_us(pwm_v(udp_vout));
rcflyair 0:910585fe989f 70 mp_pwm.pulsewidth_us(pwm_v(mp_vout));
rcflyair 0:910585fe989f 71 airspeed_pwm.pulsewidth_us(pwm_v(airspeed_vout));
rcflyair 0:910585fe989f 72
rcflyair 0:910585fe989f 73 rpm_pwm.period(1/rpm_f);
rcflyair 0:910585fe989f 74 rpm_pwm.pulsewidth((1/rpm_f)/2);
rcflyair 0:910585fe989f 75 ff_pwm.period(1/ff_f);
rcflyair 0:910585fe989f 76 ff_pwm.pulsewidth((1/ff_f)/2);
rcflyair 0:910585fe989f 77
rcflyair 0:910585fe989f 78 //rpc.Enable();
rcflyair 0:910585fe989f 79 wait_ms(DELAY);
rcflyair 0:910585fe989f 80 //rpc.Disable();
rcflyair 0:910585fe989f 81 }
rcflyair 0:910585fe989f 82 }