Diff: main_working3.cpp.txt

Revision:

0:0d0af930b49a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main_working3.cpp.txt	Tue Mar 17 04:29:11 2015 +0000
@@ -0,0 +1,249 @@
+// Revision 4 PWM Added ----- WORK IN PROGRESS
+
+#include "mbed.h"
+
+ 
+#define EncRes              256
+#define DefaultGap          1
+#define Quad0               0
+#define Quad1               EncRes/4
+#define Quad2               EncRes/2
+#define Quad3               Quad1 + Quad2
+#define Quad4               EncRes
+#define Quad5               EncRes + Quad1
+
+
+#define OPENLOOP            0
+#define CLOSEDLOOP          1
+#define MODE                CLOSEDLOOP
+#define PWMPeriod           500
+#define DefaultPWMPercent   0.25f
+
+#define UPDATERATE 0.100
+#define UPPER 2.0
+#define LOWER 1.4           
+#define LOWER_OUT = (10^LOWER)/100  // ~.251
+#define SPAN UPPER-LOWER            //0.6
+#define RAMPTIME 4    
+#define STEPSIZE 0.015              // = SPAN/(RAMPTIME/UPDATERATE) = 0.03
+
+Ticker Throttle_Update;
+//Serial pc(PTE0, PTE1);
+
+DigitalOut LEDR(PTB18);
+DigitalOut TestPoint(PTB8);
+PwmOut Cyl_1(PTE31);  
+PwmOut Cyl_2(PTD3);
+PwmOut Cyl_3(PTD2);
+PwmOut Cyl_4(PTD0);
+PwmOut Cyl_5(PTD5);
+PwmOut Cyl_6(PTA13);
+PwmOut Cyl_7(PTC9);
+PwmOut Cyl_8(PTC8);
+
+
+PwmOut          LEDGreen(PTB19);
+/*
+// User Rotary Encoder definition
+InterruptIn     UserEnc1A(PTD4);
+DigitalIn       UserEnc1B(PTA12);
+DigitalIn       PB1(PTC3); */
+DigitalOut      ANODE(PTC6);
+DigitalOut      COMMON(PTC5);
+
+//---------------------------
+
+InterruptIn  CrankAngleEncA(PTA1);
+DigitalIn    CrankAngleEncB(PTC0);
+
+
+Timer t;
+
+char CylinderFired = 0;
+uint8_t CrankAngle, CrankAngleChange;
+uint8_t Gap = DefaultGap;
+float Throttle = DefaultPWMPercent;
+// Max Speed is currently about 15RPS, 923RPM, 65ms/rev, 254uS/Encoder pulse
+// 1000us interval = 3.9RPS.   0.5RPS = 7813uS encoder pulse interval 
+uint16_t TargetInterval = 400; 
+int elapseTime;
+
+char Ramp_Dir = 0;
+float ThrottlePosition;
+uint8_t PreviousShaftAngle1, PreviousShaftAngle2, ShaftAngle1, ShaftAngle2;
+uint8_t CycleCount;
+/*
+void UserEnc1_pulse(void)
+{
+        if (UserEnc1B && (TargetInterval < 8000)) 
+            TargetInterval += 100;
+        else if (TargetInterval > 200)
+            TargetInterval -= 100;              
+     
+}
+*/
+
+void CrankAngleEnc_pulse(void)
+{
+    if (CrankAngleEncB)
+        CrankAngle++;
+    else 
+        CrankAngle--;
+   //elapseTime = t.read_us(); t.reset();     
+   CrankAngleChange = true;         
+}
+
+void Update_Throttle(void) {
+       // FYI: 2.718-1.284=1.4343
+       
+        if (Ramp_Dir == 1) 
+            ThrottlePosition += STEPSIZE;
+        else 
+            ThrottlePosition -= STEPSIZE;
+        
+        if ( (ThrottlePosition < LOWER+STEPSIZE) && (Ramp_Dir == 0)) 
+            Ramp_Dir = 1;
+        else if ((ThrottlePosition > (UPPER-STEPSIZE))&&(Ramp_Dir == 1)) { 
+            Ramp_Dir = 0; 
+            ThrottlePosition = UPPER;
+        }
+                
+        //Throttle = log(ThrottlePosition);
+        Throttle = pow(ThrottlePosition,10)/100;
+        LEDGreen = Throttle;
+        TestPoint = !TestPoint;
+        PreviousShaftAngle1 = PreviousShaftAngle2 = 99; // forces update
+        CrankAngleChange = true;
+//    pc.printf("%d,%f\n\r",Ramp_Dir,ThrottlePosition);
+}
+
+//void DispUpdate(void) {
+//   pc.printf("%d : %d : %d\n\r",CrankAngle,CylindersFired1,CylindersFired2);}
+
+int main() {
+
+    ANODE = 1 ; COMMON = 0;
+    LEDR = 1;
+    CrankAngleChange = true;
+    ThrottlePosition = LOWER;
+    
+    Cyl_1.period_us(PWMPeriod) ; 
+    Cyl_2.period_us(PWMPeriod) ; 
+    Cyl_3.period_us(PWMPeriod) ; 
+    Cyl_4.period_us(PWMPeriod) ; 
+    Cyl_5.period_us(PWMPeriod) ; 
+    Cyl_6.period_us(PWMPeriod) ; 
+    Cyl_7.period_us(PWMPeriod) ; 
+    Cyl_8.period_us(PWMPeriod) ; 
+
+//    pc.baud(57600);
+//    pc.printf("V8-Solenoid Engine...........");
+  
+   
+    Cyl_1 = 0; Cyl_2 = 0; Cyl_3 = 0; Cyl_4 = 0; 
+    Cyl_5 = 0; Cyl_6 = 1.0f; Cyl_7 = 0; Cyl_8 = 0; 
+    wait_ms(500);
+    Cyl_2 = 1.0f; Cyl_5 = 1.0f;Cyl_6 = 0;
+    wait_ms(1000);
+    CrankAngle = 0;
+    Cyl_2 = 0; Cyl_5 = 0;
+    PreviousShaftAngle1 = PreviousShaftAngle2 = 99;
+
+
+   
+    Throttle_Update.attach(&Update_Throttle,UPDATERATE);
+    CrankAngleEncA.rise(&CrankAngleEnc_pulse);
+//    UserEnc1A.rise(&UserEnc1_pulse);
+
+//    pc.printf("Initialized!\n");
+
+
+    while(true) {
+        
+        
+        if(CrankAngleChange){
+             
+            if      ( (CrankAngle < (Quad1-Gap))  ||  (CrankAngle>(Quad3+Gap)) ) // Pair#2  270 to 90 deg  
+                ShaftAngle1 = 1;
+            else if ((CrankAngle>(Quad1+Gap))  &&  (CrankAngle<(Quad3-Gap)))  { //  Pair#4  90  to 270  
+                ShaftAngle1 = 2;
+            }            
+            else {  
+                ShaftAngle1 = 0;
+            }
+              
+           
+            if      ((CrankAngle>Gap)   &&   (CrankAngle<(Quad2-Gap))) {         // Pair#3  0   to 180 deg  
+                ShaftAngle2 = 1;
+            }
+            else if ((CrankAngle>(Quad2+Gap))   &&   (CrankAngle<(Quad4-Gap))) { // Pair#1  180 to 360 deg  
+                ShaftAngle2 = 2;
+            }             
+            else {
+                ShaftAngle2 = 0;
+            }
+
+
+
+
+
+            //Only if states change will the Cylinder assignments change
+
+            if  (PreviousShaftAngle1 != ShaftAngle1) {
+                if  (ShaftAngle1 == 1) {
+                    Cyl_1 = 0; Cyl_4 = 0;
+                    Cyl_7 = Throttle; Cyl_6 = Throttle;
+                }  
+                else if (ShaftAngle1 == 2)  {
+                    Cyl_7 = 0; Cyl_6 = 0;
+                    Cyl_4 = Throttle; Cyl_1 = Throttle;
+                }            
+                else {  
+                    Cyl_1 = 0; Cyl_4 = 0; Cyl_6 = 0; Cyl_7 = 0;
+                }
+                PreviousShaftAngle1 = ShaftAngle1;
+            }
+                
+            if  (PreviousShaftAngle2 != ShaftAngle2) {
+                if      (ShaftAngle2 == 1) {    
+                    Cyl_2 = 0; Cyl_5 = 0;
+                    Cyl_8 = Throttle; Cyl_3 = Throttle;
+                }
+                else if (ShaftAngle2 == 2) {
+                    Cyl_3 = 0; Cyl_8 = 0;
+                    Cyl_2 = Throttle; Cyl_5 = Throttle;
+                }             
+                else {
+                    Cyl_3 = 0; Cyl_8 = 0; Cyl_2 = 0; Cyl_5 = 0;
+                }
+                PreviousShaftAngle2 = ShaftAngle2;
+            }
+              
+              
+              
+              
+              
+            // Speed Control Section        
+/*        
+            if (MODE == CLOSEDLOOP) {
+                       
+                Error = TargetInterval - elapseTime;
+                ErrorPrime = Error - PreviousError;
+                CompensationSignal = pGain*Error + dGain*ErrorPrime;
+                PreviousError = Error;
+
+            }
+            else {
+
+                Throttle = TargetInterval;
+            
+            } 
+*/
+
+
+            CrankAngleChange = false;
+        }  //if crankAngleChange     
+      
+
+    }//main loop - while(true)
+}//main