File content as of revision 6:042db7596e55:

#include "mbed.h"
#include "math.h"

#include "QEI.h"

#include "rtos.h"
#include "FastPWM.h"

#define ERROR_LIMIT_POS 0.008 //limits for when any error measurement is considered to be zero.
#define ERROR_LIMIT_NEG -0.008

#define CHAN_1 0x80
#define CHAN_2 0x90
#define CHAN_3 0xA0
#define CHAN_4 0xB0

#define PRESSURE_CHAN 1
#define POSITION_CHAN 3



const double MAX_SPEED_MMPS = 24.3457;
int intDummy;
//SPISlave slave(PA_7, PA_6, PA_5, PA_4 ); // mosi, miso, sclk, ssel
InterruptIn pinPWMin_pos(PA_8);
InterruptIn pinPWMin_vel(PB_9);
QEI wheel (PB_5, PB_4, NC, 256, QEI::X4_ENCODING);

DigitalOut Mntr(D3);
DigitalOut Mntr2(PB_8);
   
#define EXTERNAL_CLOCK_MODE 0x08
#define RANGE_CONFIG 0x03

#define EXTERNAL_CLOCK_MODE 0x08
#define RANGE_CONFIG 0x03 //config for 1.5*Vref = 6.144V

#define PRESSURE_BIAS_VOLTAGE 0.15151515151515 

const double MAX_ACTUATOR_LENGTH = 52.2;

const double MAX_POSITION_MM = 40.0; //maximum actuator position position in mm

//sample time variables
double dblSampleTime_s = 0.001;

#define POT_2_MM 0.006750412 //convert potentiometer reading to mm (Tested and is right)
#define POT_OFFSET 7500//6666

Serial pc(USBTX, USBRX); // tx, rx

Thread PositionControlThread(osPriorityHigh);
Thread DebugThread(osPriorityNormal);
Thread GateControlThread(osPriorityNormal);

Thread DutyCycleThread(osPriorityRealtime);
Mutex mutDutyCycle_pos;
Mutex mutDutyCycle_vel;
Semaphore semDutyCycle(1);
Timer timerDutyCycle;

double dblSensorDriftError;

short randomvar;

volatile int dataRx;

Semaphore semPosCtrl(1);
Semaphore semDebug(1);
Semaphore semGate(1);

Timer timer;

long pulsesTest;

//define all pins
SPI spi(PB_15, PB_14, PB_13); // mosi, miso, sclk //DO NOT USE D4 OR D5 !!!
   
DigitalOut cs_ADC(PB_12);

//DigitalOut pinGate(PA_8);

AnalogIn pinDemand1(PA_0);
AnalogIn pinDemand2(PA_1);

AnalogIn pinCurSense(PB_0);

FastPWM pinPwmOutput(PC_8);

FastPWM pinSigOut(D2);

DigitalOut pinDirectionFwd(PA_13);//INB
DigitalOut pinDirectionRev(PA_14);//INA

//define all variables

int ii,jj,kk,nn, spiTick; //counting variables

volatile int slaveReceivePos;
volatile int slaveReceiveVel;
    
volatile int dataFlag;
volatile int intFeedBack_pos;
volatile int intFeedBack_pres;

int intChkSum_pos;
int intChkSum_vel;

int intPar_pos;
int intPar_vel;

//raw Data Readings
int intPotRead = 0;
int intPressureRead = 0;
double analogReadingDemPos;
double analogReadingDemVel;
double analogReadingCurSens;

char buf[10];
int dataReceived;

//system state variables 
double dblPos[10];//current position in mm
double dblPosFil[10];//current position in mm
double dblLastPos;//previous position in mm
double dblVel[10];//velocity in mm/s
double dblAccel; //acceleration in mm/s^2
double dblIntegral = 0;//integral of position;

double dblPotPositionRead;

double dblPosBias = 48.0;

double dblStartingPos;

//demand variables
double dblPosD[10];
double dblLastPosD;
double dblVelD[10];
double dblAccelD;

double dblTargetPos;
double dblTargetVel;
double dblLinearPath;
double dblLastLinearPath;
double dblPathSign;

double dblError;
double dblLastError;
double dblErrorDot;

//filter Variables
int intPosFilOrder = 0;
int intVelFilOrder = 1;
int intDemPosFilOrder = 6;
int intDemVelFilOrder = 6;
int intOutFilOrder = 0;

double dblPressureVal_norm;
double dblPressureVal_bar;

//controller variables 
double omega;
double zeta;

double Kp = 20.0;
double Ki = 2.0;
double Kd = 1.5;
double dblIntTerm; 
double dblIntLimit = 0.8;
int RXFlag;
double dblControlBias = 0.0;

double dblMotorVoltage = 12.0;

double output[10];//controller output 

//current limit variables
double CurrentLimitSet;
double dblCurrentLimitAmps = 3.0;
double currentBuck;
double currentBuckGain = 3.0;

//Pressure Limitation
const double dblPressureLimitBar = 10.0;
double dblPressureLimitGain = 2.0;
double dblPressureLimitBuck;
double dblPressureLimitDerivativeGain = 0.1;
double dblLastErrorPressure;
double dblErrorPressure;
double dblDeltaErrorPressure;
    
int intT_pos= 100;
int intDeltaT_pos =0;
int intT_vel= 100;
int intDeltaT_vel =0;

Timer timerPeriod_pos;
Timer timerDutyCycle_pos;
Timer timerPeriod_vel;
Timer timerDutyCycle_vel;

bool isFallWorking = 0;
bool isRiseWorking = 0;

const int intPeriod_us = 2000;

void PWMRise_pos() {
    //mutDutyCycle_pos.lock();
    intT_pos = timerPeriod_pos.read_us();
    timerPeriod_pos.reset();
    timerDutyCycle_pos.reset();
    //mutDutyCycle_pos.unlock();
    
}

void PWMFall_pos() {
    //mutDutyCycle_pos.lock();
    intDeltaT_pos = timerDutyCycle_pos.read_us();
    //mutDutyCycle_pos.unlock();
    
}

void PWMRise_vel() {
    //mutDutyCycle_vel.lock();
    intT_vel = timerPeriod_vel.read_us();
    timerPeriod_vel.reset();
    timerDutyCycle_vel.reset();
    //mutDutyCycle_vel.unlock();
    isRiseWorking = 1;
}

void PWMFall_vel() {
    //mutDutyCycle_vel.lock();
    intDeltaT_vel = timerDutyCycle_vel.read_us();
    //mutDutyCycle_vel.unlock();
    isFallWorking = 1;
}

double CalculateDemand(Mutex mutex, int intT, int intDeltaT, int intPeriod) {
    mutex.lock();
    int _intT = intT;
    int _intDeltaT = intDeltaT;
    mutex.unlock();
    double dblOutput, dblDutyCycle;
    if(_intT > 0){
        if(_intT>(intPeriod_us-10) && _intT <(intPeriod_us+10)){
            dblDutyCycle = (double)_intDeltaT/_intT;
            
            dblDutyCycle -= 0.1;
            dblDutyCycle /=0.8; 
            if(dblDutyCycle >1.0){ 
                dblDutyCycle = 1.0;
            }
            if(dblDutyCycle <0.0){ 
                dblDutyCycle = 0.0;
            }
        }
    }
    
    int intInput = (int)(dblDutyCycle*400.0);
    //dblTargetPos = (double)MAX_POSITION_MM*dblDutyCycle; //set target position  (9-bit value)
    dblOutput = (double)intInput/400.0; //set target position  (9-bit value)
    return dblOutput;
}


Timer gateTimer;  

//define custom Functions
   
bool CheckMessage(int msg) {//checks if message was corrupted
    // Find message parity
    short int count = 0;
    for(short int i=0; i<32; i++) {
        if( msg>>1 & (1<<i) ) count++;
    }
    int intParity = !(count%2);
    // Find message CheckSum    
    int intChkSum = 0;
    int intTempVar = msg>>7;
    while(intTempVar > 0) {
        intChkSum += intTempVar%10;
        intTempVar = int(intTempVar/10);
    }
    // Check if parity, CheckSum and mesage type match
    bool isParityCorrect = (intParity == (msg&0x1));
    bool isChkSumCorrect = (intChkSum == ((msg>>2)&0x1F));
    bool isCheckPassed = (isParityCorrect && isChkSumCorrect);
    return isCheckPassed;
}

////////For Carafino: Start/////////


//Message checking (For Carafino)
bool PerformSlaveSPI(SPISlave *spiSlave, unsigned int outboundMsgs[], unsigned int inboundMsgsData[]) {//performs the SPI transaction
   
    unsigned int dummyMsg = 0x5555;
    bool isSuccess = true;
    unsigned int inboundMsg, typeBit;
    short int numPacketsReceived = 0;
    for(short int i=0; i<3; i++) { // Loop 3 times for 3 SPI messages
        while( gateTimer.read_us() < 500 ) {
            if( spiSlave->receive() ) {
                numPacketsReceived++;
                
                inboundMsg = spiSlave->read();
                Mntr = 1;//dummy variable used to check function
                if(i==0) { 
                     spiSlave->reply(outboundMsgs[0]);
                } else if(i==1) {
                     spiSlave->reply(outboundMsgs[1]);
                } else {
                     spiSlave->reply(dummyMsg);
                }
                Mntr = 0;
                
                if((unsigned int)inboundMsg != dummyMsg) { // Message is not dummy which is only used for reply
                    typeBit = inboundMsg>>1 & 0x1;//extracts type bit from message, 0 = target Position; 1 = target Velocity
                    inboundMsgsData[typeBit] = inboundMsg>>7 & 0x1FF;//this contains the data recieved from master
                    if( !CheckMessage(inboundMsg) ) {
                        isSuccess = false;
                    }
                }
                break;
            }
        }
    }
    if( numPacketsReceived != 3 ) {//if it hasn't received three messages, it failed.
        isSuccess = false;
    }
    return isSuccess;
}

////////For Carafino: End/////////
   
int Read14BitADC(int channel, DigitalOut CSpin)
{
    char message;
    unsigned int outputA;
    unsigned int outputB;
    int output;

    switch(channel)
    {
        case 1:
            message = CHAN_1;
            break;
    
        case 2:
           message = CHAN_2;
           break;
    
        case 3:
           message = CHAN_3;
           break;
        case 4:
           message = CHAN_4;
           break;
           
        default:
        message = CHAN_1;
    }
    
    spi.format(8,0);
    spi.frequency(3000000);//3MHz clock speed (3.67MHz max)
    
    CSpin.write(0);
    spi.write(message);
    spi.write(0x00);
    outputA = spi.write(0x00);
    outputB = spi.write(0x00);
    CSpin.write(1);
    
    //convert result to sensible value
    outputA = outputA<<8;
    output =  outputA | outputB;
    output = output>>2;
    
    return output;
}
    
void ADC_Config()
{
    
     unsigned int msg;
    spi.format(8,0);
    spi.frequency(3000000);//3MHz clock speed (3.67MHz max)
    
    msg = CHAN_1 | RANGE_CONFIG; //config channel 1 set Vref as 
    cs_ADC = 0;
    spi.write(msg);
    cs_ADC = 1;
    
    cs_ADC = 0;
    spi.write(EXTERNAL_CLOCK_MODE);
    cs_ADC = 1;
    
    msg = CHAN_2 | RANGE_CONFIG; //config channel 2
    cs_ADC = 0;
    spi.write(msg);
    cs_ADC = 1;
    
    cs_ADC = 0;
    spi.write(EXTERNAL_CLOCK_MODE);
    cs_ADC = 1;
        
    msg = CHAN_3 | RANGE_CONFIG; //config channel 3
    cs_ADC = 0;
    spi.write(msg);
    cs_ADC = 1;
    
    cs_ADC = 0;
    spi.write(EXTERNAL_CLOCK_MODE);
    cs_ADC = 1;
    
    msg = CHAN_4 | RANGE_CONFIG; //config channel 4
    cs_ADC = 0;
    spi.write(msg);
    cs_ADC = 1;
    
    cs_ADC = 0;
    spi.write(EXTERNAL_CLOCK_MODE);
    cs_ADC = 1;
    
}
    
    
int SumDigits(int var)
{
    int intSumResult = 0;
    int intTempVar = var;
    while (intTempVar >0)
    {
        intSumResult += intTempVar%10;
        intTempVar = int(intTempVar/10);
        //intSumResult += int(var/100)%100;
    }
    
    return intSumResult;
}

//int EvenParityBitGen(int var)
int OddParityBitGen(int var)
{
    unsigned int count = 0, i, b = 1;

    for(i = 0; i < 32; i++){
        if( var & (b << i) ){count++;}
    }

    if( (count % 2) ){
        return 0;
    }

    return 1;
}

void PositionControlPID()
{
   while(1)
   {
       semPosCtrl.wait();
        
        Mntr2 = !Mntr2;
       //Mntr2 = 1 - Mntr2;//!led; 
       pulsesTest = wheel.getPulses();
    
       double testy = (double) abs(pulsesTest)/2000;
       pinSigOut.write(testy);
       
       //take all readings
        
        //sensor readings
        
        intPressureRead = (Read14BitADC(PRESSURE_CHAN, cs_ADC));//read pressure
        
        dblPressureVal_norm = ((double) intPressureRead/16383.0);
        dblPressureVal_norm = dblPressureVal_norm*6.144;//convert to voltage
        dblPressureVal_norm = dblPressureVal_norm - 0.5;//subtract offset
        dblPressureVal_norm = dblPressureVal_norm/4.0;//calculate normalised pressure
        
        if (dblPressureVal_norm >1.0)
        {
            dblPressureVal_norm = 1.0;
        }
        if (dblPressureVal_norm < 0.0)
        {
            dblPressureVal_norm = 0.0;
        }
        
        double pressureCheck;
        
        //intPressureRead = intPressureRead-1334;
        //intPressureRead = intPressureRead-1679;
        
        //dblPressureVal_bar = ( (double) intPressureRead/10667)*10.0;
        //pressureCheck = ( (double) intPressureRead/10667)*10.0;
        dblPressureVal_bar = dblPressureVal_norm * 25.0;
         
        //intFeedBack_pres = (int)(((double)intPressureRead/10667) * 511);
        intFeedBack_pres = (int) (dblPressureVal_bar/12*511);
        
        if(intFeedBack_pres > 511)
        {
            intFeedBack_pres = 511;
        }
        if(intFeedBack_pres < 0)
        {
            intFeedBack_pres = 0;
        }
        
        //printf("%f\t",dblPos[0]);
        //printf("%d\t",intPressureRead);
        //printf("\r\n");
        
        
        //intFeedBack_pres = intFeedBack_pres>>5;
       
        intFeedBack_pres = (intFeedBack_pres<<5) | SumDigits(intFeedBack_pres);//add checksum
        intFeedBack_pres = (intFeedBack_pres<<1);
        intFeedBack_pres = intFeedBack_pres | 0x0001; //add type (1 for pressure)
        intFeedBack_pres = (intFeedBack_pres <<1) | OddParityBitGen(intFeedBack_pres);//add parity
        intFeedBack_pres =  intFeedBack_pres & 0xFFFF;
    
        unsigned short garb = 0x01;
               
        intPotRead = (16383-Read14BitADC(POSITION_CHAN, cs_ADC));//read potentiometer
        dblPotPositionRead = (double) POT_2_MM*(intPotRead  - POT_OFFSET);
        
        
        //demand Readings
    
        
        //current reading
        analogReadingCurSens = (double) 0.3*pinCurSense.read()+0.7*analogReadingCurSens;
        
        //convert units and filter
        
         //get position and filter
        dblPos[0] = (double) pulsesTest*-0.0078125 + dblStartingPos;
        dblSensorDriftError = dblPotPositionRead - dblPos[0];
        
        if(dblSensorDriftError > 2.0)//if encoder reading is seriously wrong
        {
            //dblPos[0] = dblPotPositionRead;
        }
        
        
        if(intPosFilOrder > 0)
        {
            for (ii = 1; ii<intPosFilOrder+1; ii++)
            {
                dblPos[ii] = (double) 0.7*dblPos[ii-1] + 0.3*dblPos[ii];
            }
        }
        else
        {
            dblPos[intPosFilOrder] = dblPos[0];
        }
    
        //get velocity and filter
        dblVel[0] = dblPos[intPosFilOrder] - dblLastPos;
        if(intVelFilOrder>0)
        {
            for (ii = 1; ii<intVelFilOrder+1; ii++)
            {
                dblVel[ii] = (double) 0.7*dblVel[ii-1] + 0.3*dblVel[ii];
            }
        }
        else
        {
            dblVel[intVelFilOrder] = dblVel[0];
        }
        
        
        
        intFeedBack_pos = (int) ((dblPos[intPosFilOrder]/MAX_ACTUATOR_LENGTH)*511);
        
        if(intFeedBack_pos>511)
        {
            intFeedBack_pos = 511;
        }
            
        if(intFeedBack_pos<0)
        {
            intFeedBack_pos = 0;
        }
        
        //printf("%d\r\n",dblPos[intPosFilOrder]);      
        intFeedBack_pos = (intFeedBack_pos<<5) | SumDigits(intFeedBack_pos);//add checkSum
        intFeedBack_pos = intFeedBack_pos <<1; // add type (0 for position)
        intFeedBack_pos = (intFeedBack_pos <<1) | OddParityBitGen(intFeedBack_pos);//add parity
        
        //intFeedBack = dblSensorDriftError*8191;
            
        
        ///////////////PATH GENERATION////////////////////////
        //work out next path point
        double dblPathDifference;
        dblPathDifference = dblTargetPos - dblLinearPath;
        dblPathSign = dblPathDifference/fabs(dblPathDifference); //is velocity positive or negative?
    
        //check if target has not been reached (with additional 1% of step to be sure)
        if (fabs(dblPathDifference) > 1.01*dblTargetVel*dblSampleTime_s) {
            dblLinearPath = dblLinearPath + dblPathSign*dblTargetVel*dblSampleTime_s;//next point in path
        }
        else { //if path is very close to target position
            dblLinearPath = dblTargetPos;
        }
        
        //limit position
        if(dblLinearPath > MAX_POSITION_MM){
            dblLinearPath = MAX_POSITION_MM;
        }
        if (dblLinearPath < 0.0){
            dblLinearPath = 0.0;
        }
        
        dblPosD[intDemPosFilOrder] = 0.07*dblLinearPath + 0.93*dblPosD[intDemPosFilOrder];
        
        //make sure path is safe
        if (dblPosD[intDemPosFilOrder] > MAX_POSITION_MM) {
            dblPosD[intDemPosFilOrder] = MAX_POSITION_MM;
        }
        if (dblPosD[intDemPosFilOrder] < 0.0) {
            dblPosD[intDemPosFilOrder] = 0.0;
        }
         
        dblVelD[0] = dblPosD[intDemPosFilOrder] - dblLastPosD;
        
        ///////////////////////////////////////////////////// End of Path Generation
        
        
        //run PID calculations
        //get errors
        dblError = dblPosD[intDemPosFilOrder] - dblPos[intPosFilOrder];
        dblErrorDot = dblVelD[intDemVelFilOrder] - dblVel[intVelFilOrder];
        //get integral
    
        
        dblIntTerm = dblIntTerm + Ki*dblError;
        
        //limit integral term
        if (dblIntTerm > dblIntLimit)
        {
            dblIntTerm = dblIntLimit;
        }
        if (dblIntTerm < -1.0*dblIntLimit)
        {
            dblIntTerm = (double) -1.0*dblIntLimit;
        }
        
        if(fabs(dblError) <0.01)
        {
            dblError = 0.0;
            dblErrorDot = 0.0;
            
        }
            
        if (fabs(dblErrorDot) < 0.1)
        {
        dblErrorDot = 0.0;
        }
        
        //calculate output
        
        
        output[0] = Kp*dblError + dblIntTerm + Kd*dblErrorDot;
        
        //tryPressureControl
    //    double dblPosCtrlOut = Kp*dblError + dblIntTerm + Kd*dblErrorDot;
    //    
    //    double Ki_pres = 10.0;
    //    double Kp_pres = 1;
    //    
    //    double dblPressureError;
    //    double dblPressureErrorIntTerm;
    //    
    //    dblPressureError = dblPosCtrlOut - Pressure
        
        //limit output
        if (output[0] > 0.95)
        {
            output[0] = 0.95;
        }
        if (output[0] < -0.95)
        {
            output[0] = -0.95;
        }
        
        if(intOutFilOrder>0)
        {
            for (ii = 1; ii < intOutFilOrder+1; ii++)
            {
                output[ii] = 0.7*output[ii-1] + 0.3*output[ii];
            }
        }
        else
        {
            output[intOutFilOrder] = output[0];
        }
        
        
        
        //limit pressure
        if (dblPressureVal_bar >dblPressureLimitBar)
        {
            dblErrorPressure = dblPressureVal_bar - dblPressureLimitBar;
            dblDeltaErrorPressure = dblErrorPressure - dblLastErrorPressure;
            
            dblPressureLimitBuck = dblPressureLimitGain * dblErrorPressure;
            dblPressureLimitBuck = dblPressureLimitBuck + (dblPressureLimitDerivativeGain*dblDeltaErrorPressure);
            dblPressureLimitBuck = dblPressureLimitBuck *1.9/2.0;
            dblLastErrorPressure = dblErrorPressure;
        }
        else
        {
            dblPressureLimitBuck = 0.0;
        }
        
        if (dblPressureLimitBuck < 0.0)
        {
            dblPressureLimitBuck = 0.0;
        }
        if (dblPressureLimitBuck > 1.9)
        {
            dblPressureLimitBuck = 1.9;
        }
        
        output[intOutFilOrder] = output[intOutFilOrder] - dblPressureLimitBuck;
        
        //limit output
        if (output[intOutFilOrder] > 0.95)
        {
            output[intOutFilOrder] = 0.95;
        }
        if (output[intOutFilOrder] < -0.95)
        {
            output[intOutFilOrder] = -0.95;
        }
        
        //limit current
        if (analogReadingCurSens> CurrentLimitSet)
        {
            currentBuck = CurrentLimitSet / analogReadingCurSens / currentBuckGain;
        }
        else
        {
            currentBuck = 1.0;
        }
        
        if (currentBuck >1.0)
        {
            currentBuck = 1.0;
        }
        
        if (currentBuck <0.0)
        {
            currentBuck = 0.0;
        }
                    
        output[intOutFilOrder] = currentBuck*output[intOutFilOrder];
        //end Current limit
    
        //find direction
        if(output[intOutFilOrder] >=0.0)
        {
            pinDirectionFwd = 1;
            pinDirectionRev = 0;
            dblControlBias = 0.0;
        }
        else
        {
            pinDirectionFwd = 0;
            pinDirectionRev = 1;
            dblControlBias = 0.0;
        }
        
        pinPwmOutput.write(abs(output[intOutFilOrder])+dblControlBias);
        
        //update all past variables
        dblLastPos = dblPos[intPosFilOrder];
        dblLastPosD = dblPosD[intDemPosFilOrder];
        
        dblTargetPos = CalculateDemand(mutDutyCycle_pos, intT_pos, intDeltaT_pos, intPeriod_us);
        dblTargetPos = (double)MAX_POSITION_MM*dblTargetPos; //set target position  (9-bit value)
        if(dblTargetPos>MAX_POSITION_MM) { // Limit demand to ensure safety
            dblTargetPos = MAX_POSITION_MM;
        } else if(dblTargetPos<0.0) {
            dblTargetPos = 0.0;
        }
        
        //dblTargetVel = (double)MAX_SPEED_MMPS*inboundMsgsData[1]/511;//set target velocity  (9-bit value)
        dblTargetVel = CalculateDemand(mutDutyCycle_vel, intT_vel, intDeltaT_vel, intPeriod_us);
        dblTargetVel = (double)MAX_SPEED_MMPS*dblTargetVel; //set target position  (9-bit value)
        
        if(dblTargetVel>MAX_SPEED_MMPS) {
            dblTargetVel = MAX_SPEED_MMPS;
        } 
        else if(dblTargetVel<0.0) {
            dblTargetVel = 0.0;
        }
        
        /*
        printf("%d \t %d \r\n",intDeltaT_pos,intDeltaT_vel);
        printf("%d \t %d \r\n",intT_pos,intT_vel);
        printf("%f \t %f \r\n",dblTargetPos,dblTargetVel);
        //printf("%f\r\n",output[intOutFilOrder]);
        printf("Rise: %d \t Fall:%d", isRiseWorking, isFallWorking);
        printf("\r\n");
        */
    }

}
   //////////////////////////////////////////////////For Carafino: End
   
   
//configure all control parameters
void ControlParameterConfig(){
   Kp = Kp/dblMotorVoltage;
   Kd = Kd/dblSampleTime_s/dblMotorVoltage;
   Ki = Ki*dblSampleTime_s/dblMotorVoltage;
}

Ticker debugTicker;

void startPositionControl()
{
    semPosCtrl.release();
}

void startDebug()
{
    semDebug.release();
}

Ticker positionCtrlTicker;
   
int main() {

    cs_ADC = 1;
    Mntr = 0;
    Mntr2 = 0;
    pinPwmOutput.period_us(50);
    
    pinPWMin_pos.mode(PullNone);
    timerDutyCycle_pos.start();
    timerPeriod_pos.start();

    pinPWMin_vel.mode(PullNone);
    timerDutyCycle_vel.start();
    timerPeriod_vel.start();    
    //calculateTicker.attach(&CalculateDutyCycle,0.1);
    
    pinPWMin_pos.rise(&PWMRise_pos);
    pinPWMin_pos.fall(&PWMFall_pos);
    pinPWMin_vel.rise(&PWMRise_vel);
    pinPWMin_vel.fall(&PWMFall_vel);
    
    pc.baud(115200);
    printf("\r\nYo Yo Yo, Low Level innit\r\n\n\n");
    wait(0.5);
    
    timer.start();
    //gateTimer.start();
    //cs_ADC = 1;
    
    ControlParameterConfig();
//    for (ii = 0; ii< 10; ii++)
//    {
//        uintPotRead = Read14BitADC(3, cs_ADC);//read potentiometer
//        dblStartingPos = (double) POT_2_MM*uintPotRead  - dblPosBias;
//    }
//    
    //slave.format(16,2);
//    slave.frequency(10000000);
    
    dblPosD[intDemPosFilOrder] = 0.0;
    slaveReceivePos = 0.0;
    slaveReceiveVel = 0.0;
    wait(0.1);
    ADC_Config();
    wait(0.1);
    ADC_Config();
    wait(0.1);
    intPotRead = (16383-Read14BitADC(POSITION_CHAN, cs_ADC));//read potentiometer
    //intPotRead = (Read14BitADC(POSITION_CHAN, cs_ADC));//read potentiometer
    dblStartingPos = (double) POT_2_MM*(intPotRead  - POT_OFFSET);
    //dblLinearPath = dblStartingPos;
//    dblTargetPos = dblStartingPos;
//    dblPos[intPosFilOrder] = dblStartingPos;
//    dblTargetVel = 0.0;
    dblLinearPath = dblStartingPos;
    dblTargetPos = 0.0;
    dblPos[intPosFilOrder] = dblStartingPos;
    dblTargetVel = 2.0;
    dblPosD[intDemPosFilOrder] = dblStartingPos;
    
    //dblPosD[intDemPosFilOrder] = 0;
    printf("\r\nPotRead: %d, Current Pos: %f, Target Pos: %f\r\n", intPotRead, dblStartingPos, dblTargetPos);
        
    //calculate/convert variables
    
    CurrentLimitSet = dblCurrentLimitAmps *0.14/3.3;
    //slave.reply(0x5555);
    PositionControlThread.start(PositionControlPID);

    positionCtrlTicker.attach(&startPositionControl, dblSampleTime_s);
    
    intFeedBack_pos = 0;
    intFeedBack_pres = 0;
    
    
    while(1) 
    {
        Thread::wait(osWaitForever);
    }
}