Joe Miller / Mbed 2 deprecated V8SolenoidEngine

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Dependencies:   mbed

main_working1.cpp.txt@0:0d0af930b49a, 2015-03-17 (annotated)

Committer:
JoeMiller
Date:
Tue Mar 17 04:29:11 2015 +0000
Revision:
0:0d0af930b49a
Working using old commutation scheme

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JoeMiller 0:0d0af930b49a 1 // Revision 4 PWM Added ----- WORK IN PROGRESS
JoeMiller 0:0d0af930b49a 2
JoeMiller 0:0d0af930b49a 3 #include "mbed.h"
JoeMiller 0:0d0af930b49a 4
JoeMiller 0:0d0af930b49a 5
JoeMiller 0:0d0af930b49a 6 #define EncRes 256
JoeMiller 0:0d0af930b49a 7 #define DefaultGap 1
JoeMiller 0:0d0af930b49a 8 #define Quad0 0
JoeMiller 0:0d0af930b49a 9 #define Quad1 EncRes/4
JoeMiller 0:0d0af930b49a 10 #define Quad2 EncRes/2
JoeMiller 0:0d0af930b49a 11 #define Quad3 Quad1 + Quad2
JoeMiller 0:0d0af930b49a 12 #define Quad4 EncRes
JoeMiller 0:0d0af930b49a 13 #define Quad5 EncRes + Quad1
JoeMiller 0:0d0af930b49a 14
JoeMiller 0:0d0af930b49a 15
JoeMiller 0:0d0af930b49a 16 #define OPENLOOP 0
JoeMiller 0:0d0af930b49a 17 #define CLOSEDLOOP 1
JoeMiller 0:0d0af930b49a 18 #define MODE CLOSEDLOOP
JoeMiller 0:0d0af930b49a 19
JoeMiller 0:0d0af930b49a 20 //Ticker DebugDisplay;
JoeMiller 0:0d0af930b49a 21 //Serial pc(PTE0, PTE1);
JoeMiller 0:0d0af930b49a 22
JoeMiller 0:0d0af930b49a 23 DigitalOut LEDR(PTB18);
JoeMiller 0:0d0af930b49a 24 DigitalOut Cyl_1(PTD1);
JoeMiller 0:0d0af930b49a 25 DigitalOut Cyl_2(PTD3);
JoeMiller 0:0d0af930b49a 26 DigitalOut Cyl_3(PTD2);
JoeMiller 0:0d0af930b49a 27 DigitalOut Cyl_4(PTD0);
JoeMiller 0:0d0af930b49a 28 DigitalOut Cyl_5(PTD5);
JoeMiller 0:0d0af930b49a 29 DigitalOut Cyl_6(PTA13);
JoeMiller 0:0d0af930b49a 30 DigitalOut Cyl_7(PTC9);
JoeMiller 0:0d0af930b49a 31 DigitalOut Cyl_8(PTC8);
JoeMiller 0:0d0af930b49a 32
JoeMiller 0:0d0af930b49a 33 // User Rotary Encoder definition
JoeMiller 0:0d0af930b49a 34 /*
JoeMiller 0:0d0af930b49a 35 PwmOut LEDRed(PTA5);
JoeMiller 0:0d0af930b49a 36 PwmOut LEDGreen(PTA4);
JoeMiller 0:0d0af930b49a 37 PwmOut LEDBlue(PTA12);
JoeMiller 0:0d0af930b49a 38 InterruptIn UserEnc1A(PTD4);
JoeMiller 0:0d0af930b49a 39 DigitalIn UserEnc1B(PTA12);
JoeMiller 0:0d0af930b49a 40 DigitalIn PB1(PTC3); */
JoeMiller 0:0d0af930b49a 41 DigitalOut ANODE(PTC6);
JoeMiller 0:0d0af930b49a 42 DigitalOut COMMON(PTC5);
JoeMiller 0:0d0af930b49a 43
JoeMiller 0:0d0af930b49a 44 //---------------------------
JoeMiller 0:0d0af930b49a 45
JoeMiller 0:0d0af930b49a 46 InterruptIn CrankAngleEncA(PTA1);
JoeMiller 0:0d0af930b49a 47 DigitalIn CrankAngleEncB(PTC0);
JoeMiller 0:0d0af930b49a 48
JoeMiller 0:0d0af930b49a 49
JoeMiller 0:0d0af930b49a 50 Timer t;
JoeMiller 0:0d0af930b49a 51
JoeMiller 0:0d0af930b49a 52 char CylinderFired = 0;
JoeMiller 0:0d0af930b49a 53 uint8_t CrankAngle, CrankAngleChange;
JoeMiller 0:0d0af930b49a 54 uint8_t Gap = DefaultGap;
JoeMiller 0:0d0af930b49a 55 float Throttle;
JoeMiller 0:0d0af930b49a 56 // Max Speed is currently about 15RPS, 923RPM, 65ms/rev, 254uS/Encoder pulse
JoeMiller 0:0d0af930b49a 57 // 1000us interval = 3.9RPS. 0.5RPS = 7813uS encoder pulse interval
JoeMiller 0:0d0af930b49a 58 uint16_t TargetInterval = 400;
JoeMiller 0:0d0af930b49a 59 int elapseTime;
JoeMiller 0:0d0af930b49a 60
JoeMiller 0:0d0af930b49a 61 #define PWMPeriod 1000
JoeMiller 0:0d0af930b49a 62 #define DefaultPWMPercent 0.5
JoeMiller 0:0d0af930b49a 63
JoeMiller 0:0d0af930b49a 64 //Throttle = DefaultPWMPercent;
JoeMiller 0:0d0af930b49a 65 //Cyl_1.period_us = PWMPeriod ; Cyl_1 = Throttle;
JoeMiller 0:0d0af930b49a 66 //Cyl_2.period_us = PWMPeriod ; Cyl_2 = Throttle;
JoeMiller 0:0d0af930b49a 67 //Cyl_3.period_us = PWMPeriod ; Cyl_3 = Throttle;
JoeMiller 0:0d0af930b49a 68 //Cyl_4.period_us = PWMPeriod ; Cyl_4 = Throttle;
JoeMiller 0:0d0af930b49a 69 //Cyl_5.period_us = PWMPeriod ; Cyl_5 = Throttle;
JoeMiller 0:0d0af930b49a 70 //Cyl_6.period_us = PWMPeriod ; Cyl_6 = Throttle;
JoeMiller 0:0d0af930b49a 71 //Cyl_7.period_us = PWMPeriod ; Cyl_7 = Throttle;
JoeMiller 0:0d0af930b49a 72 //Cyl_8.period_us = PWMPeriod ; Cyl_8 = Throttle;
JoeMiller 0:0d0af930b49a 73
JoeMiller 0:0d0af930b49a 74 /*
JoeMiller 0:0d0af930b49a 75 void UserEnc1_pulse(void)
JoeMiller 0:0d0af930b49a 76 {
JoeMiller 0:0d0af930b49a 77 if (UserEnc1B && (TargetInterval < 8000))
JoeMiller 0:0d0af930b49a 78 TargetInterval += 100;
JoeMiller 0:0d0af930b49a 79 else if (TargetInterval > 200)
JoeMiller 0:0d0af930b49a 80 TargetInterval -= 100;
JoeMiller 0:0d0af930b49a 81
JoeMiller 0:0d0af930b49a 82 }
JoeMiller 0:0d0af930b49a 83 */
JoeMiller 0:0d0af930b49a 84
JoeMiller 0:0d0af930b49a 85 void CrankAngleEnc_pulse(void)
JoeMiller 0:0d0af930b49a 86 {
JoeMiller 0:0d0af930b49a 87 if (CrankAngleEncB)
JoeMiller 0:0d0af930b49a 88 CrankAngle++;
JoeMiller 0:0d0af930b49a 89 else
JoeMiller 0:0d0af930b49a 90 CrankAngle--;
JoeMiller 0:0d0af930b49a 91 //elapseTime = t.read_us(); t.reset();
JoeMiller 0:0d0af930b49a 92 CrankAngleChange = true;
JoeMiller 0:0d0af930b49a 93 }
JoeMiller 0:0d0af930b49a 94
JoeMiller 0:0d0af930b49a 95
JoeMiller 0:0d0af930b49a 96 //void DispUpdate(void) {
JoeMiller 0:0d0af930b49a 97 // pc.printf("%d : %d : %d\n\r",CrankAngle,CylindersFired1,CylindersFired2);}
JoeMiller 0:0d0af930b49a 98
JoeMiller 0:0d0af930b49a 99 int main() {
JoeMiller 0:0d0af930b49a 100 ANODE = 1 ; COMMON = 0;
JoeMiller 0:0d0af930b49a 101 LEDR = 0;
JoeMiller 0:0d0af930b49a 102 CrankAngleChange = true;
JoeMiller 0:0d0af930b49a 103 // pc.baud(57600);
JoeMiller 0:0d0af930b49a 104 // pc.printf("V8-Solenoid Engine...........");
JoeMiller 0:0d0af930b49a 105
JoeMiller 0:0d0af930b49a 106
JoeMiller 0:0d0af930b49a 107 Cyl_1 = 0; Cyl_2 = 0; Cyl_3 = 0; Cyl_4 = 0;
JoeMiller 0:0d0af930b49a 108 Cyl_5 = 0; Cyl_6 = 1; Cyl_7 = 0; Cyl_8 = 0;
JoeMiller 0:0d0af930b49a 109 wait_ms(500);
JoeMiller 0:0d0af930b49a 110 Cyl_2 = 1; Cyl_5 = 1;Cyl_6 = 0;
JoeMiller 0:0d0af930b49a 111 wait_ms(1000);
JoeMiller 0:0d0af930b49a 112 CrankAngle = 0;
JoeMiller 0:0d0af930b49a 113 Cyl_2 = 0; Cyl_5 = 0;
JoeMiller 0:0d0af930b49a 114
JoeMiller 0:0d0af930b49a 115 // DebugDisplay.attach(&DispUpdate,2.0);
JoeMiller 0:0d0af930b49a 116 CrankAngleEncA.rise(&CrankAngleEnc_pulse);
JoeMiller 0:0d0af930b49a 117 // UserEnc1A.rise(&UserEnc1_pulse);
JoeMiller 0:0d0af930b49a 118
JoeMiller 0:0d0af930b49a 119 // pc.printf("Initialized!\n");
JoeMiller 0:0d0af930b49a 120
JoeMiller 0:0d0af930b49a 121 while(true) {
JoeMiller 0:0d0af930b49a 122
JoeMiller 0:0d0af930b49a 123 if(CrankAngleChange){
JoeMiller 0:0d0af930b49a 124
JoeMiller 0:0d0af930b49a 125 // Pair#2 270 deg to 90 deg
JoeMiller 0:0d0af930b49a 126 // if ( (CrankAngle < ((int8_t)Quad1-Gap-Taper) ) || ( (CrankAngle<(Quad5-Gap-Taper)) && (CrankAngle>(Quad3+Gap)) ) )
JoeMiller 0:0d0af930b49a 127 if ( (CrankAngle < (Quad1-Gap)) || (CrankAngle>(Quad3+Gap)) ) {
JoeMiller 0:0d0af930b49a 128 Cyl_1 = 0; Cyl_4 = 0;
JoeMiller 0:0d0af930b49a 129 Cyl_7 = 1; Cyl_6 = 1;
JoeMiller 0:0d0af930b49a 130 }
JoeMiller 0:0d0af930b49a 131
JoeMiller 0:0d0af930b49a 132 //Pair#4 90 deg to 270
JoeMiller 0:0d0af930b49a 133 else if ((CrankAngle>(Quad1+Gap)) && (CrankAngle<(Quad3-Gap))) {
JoeMiller 0:0d0af930b49a 134 Cyl_7 = 0; Cyl_6 = 0;
JoeMiller 0:0d0af930b49a 135 Cyl_4 = 1; Cyl_1 = 1;
JoeMiller 0:0d0af930b49a 136 }
JoeMiller 0:0d0af930b49a 137 else {
JoeMiller 0:0d0af930b49a 138 Cyl_1 = 0;
JoeMiller 0:0d0af930b49a 139 Cyl_4 = 0;
JoeMiller 0:0d0af930b49a 140 Cyl_6 = 0;
JoeMiller 0:0d0af930b49a 141 Cyl_7 = 0;
JoeMiller 0:0d0af930b49a 142 }
JoeMiller 0:0d0af930b49a 143
JoeMiller 0:0d0af930b49a 144
JoeMiller 0:0d0af930b49a 145 //Pair#3 0-180 deg
JoeMiller 0:0d0af930b49a 146 if ((CrankAngle>Gap) && (CrankAngle<(Quad2-Gap))) {
JoeMiller 0:0d0af930b49a 147 Cyl_2 = 0; Cyl_5 = 0;
JoeMiller 0:0d0af930b49a 148 Cyl_8 = 1; Cyl_3 = 1;
JoeMiller 0:0d0af930b49a 149 }
JoeMiller 0:0d0af930b49a 150 // Pair#1 180-360 deg
JoeMiller 0:0d0af930b49a 151 else if ((CrankAngle>(Quad2+Gap)) && (CrankAngle<(Quad4-Gap))) {
JoeMiller 0:0d0af930b49a 152 Cyl_3 = 0; Cyl_8 = 0;
JoeMiller 0:0d0af930b49a 153 Cyl_2 = 1; Cyl_5 = 1;
JoeMiller 0:0d0af930b49a 154 }
JoeMiller 0:0d0af930b49a 155 else {
JoeMiller 0:0d0af930b49a 156 Cyl_3 = 0;
JoeMiller 0:0d0af930b49a 157 Cyl_8 = 0;
JoeMiller 0:0d0af930b49a 158 Cyl_2 = 0;
JoeMiller 0:0d0af930b49a 159 Cyl_5 = 0;
JoeMiller 0:0d0af930b49a 160 }
JoeMiller 0:0d0af930b49a 161
JoeMiller 0:0d0af930b49a 162 CrankAngleChange = false;
JoeMiller 0:0d0af930b49a 163
JoeMiller 0:0d0af930b49a 164 // Speed Control Section
JoeMiller 0:0d0af930b49a 165
JoeMiller 0:0d0af930b49a 166 if (MODE == CLOSEDLOOP) {
JoeMiller 0:0d0af930b49a 167 /*
JoeMiller 0:0d0af930b49a 168 Error = TargetInterval - elapseTime;
JoeMiller 0:0d0af930b49a 169 ErrorPrime = Error - PreviousError;
JoeMiller 0:0d0af930b49a 170 CompensationSignal = pGain*Error + dGain*ErrorPrime;
JoeMiller 0:0d0af930b49a 171 PreviousError = Error;
JoeMiller 0:0d0af930b49a 172 */
JoeMiller 0:0d0af930b49a 173 }
JoeMiller 0:0d0af930b49a 174 else {
JoeMiller 0:0d0af930b49a 175
JoeMiller 0:0d0af930b49a 176 Throttle = TargetInterval;
JoeMiller 0:0d0af930b49a 177
JoeMiller 0:0d0af930b49a 178 }
JoeMiller 0:0d0af930b49a 179 } //if crankAngleChange
JoeMiller 0:0d0af930b49a 180
JoeMiller 0:0d0af930b49a 181
JoeMiller 0:0d0af930b49a 182 }//main loop - while(true)
JoeMiller 0:0d0af930b49a 183 }//main
JoeMiller 0:0d0af930b49a 184