File content as of revision 5:6ca3e7ffc553:

#include "mbed.h"
#include "rpm.h"
#include "Alternator.h"
//#include "BufferedSerial.h"
//extern  BufferedSerial pc;
extern  ee_settings_2020 user_settings;

Engine_Manager::Engine_Manager    (PinName ms, PinName cm, PinName for_servo) : MagnetoSignal(ms), CleanedMagneto(cm), Speed_ControlServo(for_servo)
{
    //      Constructor
    magneto_stretch     = false;
    rpm_in_run_range    = false;
    latest_RPM_reading = core_call_count = 0;
    last_update_time = 0;
    filtered_measured_RPM = requested_RPM = 0.0;
    MagnetoSignal.rise  (callback(this, &Engine_Manager::MagRise));     // Attach handler to the rising interruptIn edge
    MagnetoSignal.fall  (callback(this, &Engine_Manager::MagFall));     // Attach handler to the rising interruptIn edge
//    microsecs.reset  ()  ;   //  timer = 0
//    microsecs.start  ()  ;   //  64 bit, counts micro seconds and times out in half million years
    servo_position = MIN_WORKING_THROTTLE;
    Set_Speed_Lever    (MIN_WORKING_THROTTLE);
};

void        Engine_Manager::magneto_timeoutC    ()
{
    magneto_stretch = false;    //  Magneto ringing finished by now, re-enable magneto pulse count
    CleanedMagneto  = 0;    //  Cleaned tacho output brought out to pin to look at with scope
}

void        Engine_Manager::MagRise    ()
{
    if  (!magneto_stretch) {    //  May get this interrupt more than once per magneto pulse, respond to first, lock out subsequent
        //  until magneto_timeout time has elapsed
        magneto_stretch = true;     //  Set flag preventing repeat interrupts until after Timeout interrupt handler clears it 5ms later
        new_time = microsecs.read_high_resolution_us();
        magt0 = new_time - magt1;    //  microsecs between most recent two sparks
        magt1 = new_time;    //  actual time microsecs of most recent spark
        magneto_timoC.attach_us (callback(this, &Engine_Manager::magneto_timeoutC), DEBOUNCE_US);    //  To ignore ringing and multiple counts on magneto output, all settled within about 5ms
        CleanedMagneto  = 1;    //  Cleaned tacho output brought out to pin to look at with scope
    }
}

void        Engine_Manager::MagFall    ()     //  Need only rising or falling edge, not both
{
}

void        Engine_Manager::RPM_update    ()
{
    last_update_time = microsecs.read_high_resolution_us();
    time_since_last_spark = last_update_time - magt1;
    if  (time_since_last_spark > 500000)    {     //  engine probably not running
        latest_RPM_reading = 0;
        running_flag = false;
    } 
    else    {
        running_flag = true;
        latest_RPM_reading = (60000000 / magt0);
    }
    filtered_measured_RPM *= (1.0 - RPM_FILTER_FACTOR);
    filtered_measured_RPM += RPM_FILTER_FACTOR * (double)latest_RPM_reading;
}

bool        Engine_Manager::running   ()    //  Answers question is engine running?
{
    return  running_flag;
}

uint32_t    Engine_Manager::RPM_latest    ()
{
    return  latest_RPM_reading;
}

uint32_t    Engine_Manager::RPM_filtered  ()
{
    return  (uint32_t)filtered_measured_RPM;
}

void        Engine_Manager::Set_Speed_Lever  (double th)       //  Make this private once all throttle refs local
{
    if  (user_settings.rd(SERVO_DIR) == 0)
        Speed_ControlServo   = th;
    else
        Speed_ControlServo = 1.0 - th;
}

uint32_t    Engine_Manager::set_RPM_literal (uint32_t new_rpm)        //  Returns latest measured RPM
{
    if  (new_rpm > MAX_RPM)
        new_rpm = MAX_RPM;
    if  (new_rpm >= MIN_RPM) {   //  Runnable or make runnable
        if  (!rpm_in_run_range) {   //  Transition from idle to working revs
            rpm_in_run_range = true;
            servo_position  = MIN_WORKING_THROTTLE; //  set throttle to probably somewhere near low useful revs
            Set_Speed_Lever    (MIN_WORKING_THROTTLE);
        }   //  Endof transition from idle to working revs
    }       //  Endof Runnable or make runnable
    else    {   //  requested rpm are below useful, so kill engine
        if  (rpm_in_run_range)  {   //  detect transition from useful work to idle
            servo_position = 0.0;
            Set_Speed_Lever    (0.0);
            rpm_in_run_range = false;
        }
    }
    requested_RPM = (double) new_rpm;
    return  latest_RPM_reading;
}

uint32_t    Engine_Manager::set_RPM_percent (uint32_t new_percent)
{               //  Returns latest measured RPM
    uint32_t    temp = 0;
    if  (new_percent > 100) new_percent = 100;
    if  (new_percent != 0) 
        temp = MIN_RPM + (((MAX_RPM - MIN_RPM) * new_percent) / 100);
    return  set_RPM_literal (temp);
}

uint32_t    Engine_Manager::RPM_percent_to_actual (uint32_t new_percent)
{               //  Returns RPM percentage converted to actual RPM
    uint32_t    temp = 0;
    if  (new_percent > 100) new_percent = 100;
    if  (new_percent != 0) 
        temp = MIN_RPM + (((MAX_RPM - MIN_RPM) * new_percent) / 100);
    return  temp;
}

uint32_t    Engine_Manager::get_RPM_requested ()        //  Returns latest requested RPM
{
    return  (uint32_t) requested_RPM;
}

double      Engine_Manager::get_servo_position  ()  //  Only call from test printf in main
{
    return  servo_position;
}

void        Engine_Manager::manager_core()      //  Call this at 100 Hz
{
    uint32_t    i = ++core_call_count;
    int32_t     rpm_error;      //  signed
    RPM_update  ();     //  Updates filtered and unfiltered RPM measured, 100 times per sec
    i &= 7;
    switch  (i)  {
        case    1:   //  Doing this at 12.5 Hz
            rpm_error = filtered_measured_RPM - requested_RPM;    //  all doubles. Speed error is positive
            if  (rpm_in_run_range && (abs(rpm_error) > RPM_DEADBAND))  { //  Try to adjust speed if not within margin
                servo_position -= rpm_error / RPM_ERR_DENOM; //Denominator sets gain, the 'P', Proportional as in PID
                if  (servo_position < MIN_WORKING_THROTTLE)     //  Keep servo_position within limits
                    servo_position = MIN_WORKING_THROTTLE;
                if  (servo_position > MAX_WORKING_THROTTLE)
                    servo_position = MAX_WORKING_THROTTLE;
                Set_Speed_Lever    (servo_position);   //  Update signal to engine throttle control servo
            }
            break;
        default:
            break;
    }
}