Code for 'Smart Regulator' featured in 'Model Engineer', November 2020 on. Contains all work to August 2020 including all code described. Top level algorithm development is quite spares, leaving some work for you! Any questions - jon@jons-workshop.com
Dependencies: mbed BufferedSerial Servo2 PCT2075 I2CEeprom FastPWM
main.cpp
- Committer:
- JonFreeman
- Date:
- 2020-06-08
- Revision:
- 2:8e7b51353f32
- Parent:
- 1:450090bdb6f4
- Child:
- 3:43cb067ecd00
File content as of revision 2:8e7b51353f32:
#include "mbed.h" #include "Alternator.h" /* Test 6th June 2020 - i2c sda=grey, scl=white */ float dpd = 0.0; /* * May 2020 NOTE input circuit to analogue in driver pot zeners input to 3v6, then pot reduces by about 1/3. * This makes input reading only about 0.0 to 0.66 * Temp bodge, mult by 1.5 */ /* Alternator Regulator Jon Freeman June 2019 - Feb 2020 ** Prototype built using Nucleo L432KC. Final design likely to use F401RE. Code should compile for either. ** ** main loop frequency upped from 32Hz to 100Hz ** WHAT THIS PROGRAMME DOES - Controls 4 stroke petrol engine driving vehicle alternator with new custom regulator Electronics powered by higher voltage of small 12v backup battery, or alternator field output supply Note only Field+ and MAX5035 supplied thus, all else powered from MAX outputs. Starting engine provides rectified tickle from magneto to enable MAX5035 creating +5 and +3v3 supplies. Alternative, selected by jumper pposition, is external switch - battery+ to MAX enable circuit. Anytime engine revs measured < TICKOVER_RPM (or some such) RPM, field current OFF (by pwm 0) BEGIN Loop forever at 100 Hz { Read engine RPM by monitoring engine tacho signal present on engine On/Off switch line Adjust Alternator field current max limit according to RPM (analogue regulator limits output voltage) Measure system voltage (just in case this is ever useful) Respond to any commands arriving at serial port (setup and test link to laptop) Flash LED at 8 Hz as proof of life } END INPUTS AnalogIn x 2 - Ammeter chip - current and offset AnalogIns INPUT AnalogIn - System voltage for info only. INPUT AnalogIn - ExtRevDemand INPUT AnalogIn - DriverPot INPUT Pulse engine speed indicator, speed checked against EEPROM data to select max pwm duty ratio for this speed INPUT Final pwm gate drive wired back to InterruptIn ** MAYBE USEFUL OR NOT ** Could read this back via serial to laptop OUTPUT pwm to MCP1630. This is clock to pwm chip. Also limits max duty ratio RS232 serial via USB to setup eeprom data */ // Uses software bit banged I2C - DONE (because no attempt to get I2C working on these small boards has ever worked) /** * Jumpers fitted to small mbed Nucleo boards - D5 - A5 and D4 - A4 CHECK - yes */ //#ifdef TARGET_NUCLEO_F303K8 // Code too large to fit #ifdef TARGET_NUCLEO_L432KC // /* declared in file i2c_bit_banged.cpp DigitalInOut SDA (D4); // Horrible bodge to get i2c working using bit banging. DigitalInOut SCL (D5); // DigitalInOut do not work as you might expect. Fine if used only as OpenDrain opuputs though! DigitalIn SDA_IN (A4); // That means paralleling up with two other pins as inputs DigitalIn SCL_IN (A5); // This works but is a pain. Inbuilt I2C should have worked but never does on small boards with 32 pin cpu. */ Serial pc (USBTX, USBRX); // Comms port to pc or terminal using USB lead //BufferedSerial LocalCom (PA_9, PA_10); // New March 2019 - Taken out for i2c test 6/6/2020 // Above combo of Serial and BufferedSerial is the only one to work ! // INPUTS : AnalogIn Ain_SystemVolts (A6); // Sniff of alternator output, not used in control loop as done using analogue MCP1630 //AnalogIn Ammeter_In (A1); // Output of ASC709LLFTR ammeter chip (pin 20), used to increase engine revs if need be //AnalogIn Ammeter_Ref (A0); // Ref output from ASC709LLFTR used to set ammeter zero (pin 25) // Nov 2019. Not convinced Ext_Rev_Demand is useful //AnalogIn Ext_Rev_Demand (D3); // Servo determines engine revs, servo out to be higher of Ext_Rev_Demand and internal calc AnalogIn Driver_Pot (A3); // If whole control system can be made to fit /* MODULE PIN USAGE 1 PA_9 D1 LocalCom Tx 2 PA_10 D0 LocalCom Rx 3 NRST 4 GND 5 PA12_D2 NEW June 2019 - Output engine tacho cleaned-up, brought out to testpoint 4 6 PB_0 D3 AnalogIn Ext_Rev_Demand 7 PB_7 D4 SDA i2c to 24LC memory 8 PB_6 D5 SCL i2c to 24LC memory 9 PB_12 D6 PwmOut PWM_OSC_IN Timebase for pwm, also determines max duty ratio 10 N.C. 11 N.C. 12 PA_8 D9 InterruptIn pulse_tacho from engine magneto, used to measure rpm 13 PA_11 D10 Throttle servo 14 PB_5 D11 // InterruptIn VEXT PWM controller output folded back for cpu to monitor, useful on test to read what pwm required to do what 15 PB_4 D12 Scope_probe 16 PB_3 D13 LED Onboard LED 17 3V3 18 AREF 19 PA_0 A0 AnalogIn Ammeter_Ref 20 PA_1 A1 AnalogIn Ammeter_In 21 PA_3 A2 PWM analogue out 22 PA_4 A3 AnalogIn Driver_Pot 23 PA_5 A4 n.c. SDA_IN paralleled to i2c pin, necessary because i2c has to be bit banged 24 PA_6 A5 n.c. SCL_IN paralleled to i2c pin, necessary because i2c has to be bit banged 25 PA_7 A6 AnalogIn V_Sample system link voltage 26 PA_2 A7 Not used 27 5V 28 NRST 29 GND 30 VIN */ // Test 6/6/2020 to get i2c working //I2C i2c (D0, D1); // For 24LC64 eeprom //I2C i2c (D0, D1); // For 24LC64 eeprom I2C i2c (D0, D1); // For 24LC64 eeprom //I2C i2c (D1, D0); // For 24LC64 eeprom DEFINITELY WRONG // Test 6/6/2020 to get i2c working InterruptIn pulse_tacho (D9); // Signal from engine magneto (clipped by I limit resistor and 3v3 zener) InterruptIn VEXT (D2); // PWM controller output folded back for cpu to monitor, useful on test to read what pwm required to do what // OUTPUTS : DigitalOut Scope_probe (D12); // Handy pin to hang scope probe onto while developing code DigitalOut myled (LED1); // Green LED on board is PB_3 D13 PwmOut PWM_OSC_IN (A2); // Can alter prescaler can not use A5 //PwmOut A_OUT (A2); // Can alter prescaler can not use A5 PIN STOLEN BY PWM_OSC_IN Servo Throttle (D10); // Changed from A2, June 2019 DigitalOut EngineTachoOut (D11); // New June 2019 #endif #ifdef TARGET_NUCLEO_F401RE // //Serial pc (USBTX, USBRX); // Comms port to pc or terminal using USB lead BufferedSerial pc (PA_2, PA_3, 2048, 4, NULL); // Pins 16, 17 tx, rx to pc via usb lead //BufferedSerial pc (USBTX, USBRX); // Pins 16, 17 tx, rx to pc via usb lead BufferedSerial LocalCom (PC_6, PC_7); // Pins 37, 38 tx, rx to Touch Screen Controller // INPUTS : AnalogIn Ain_SystemVolts (PB_1); // Sniff of alternator output, not used in control loop as done using analogue MCP1630 //AnalogIn Ammeter_In (PC_5); // Output of ASC709LLFTR ammeter chip (pin 20), used to increase engine revs if need be //AnalogIn Ammeter_Ref (PB_0); // Ref output from ASC709LLFTR used to set ammeter zero (pin 25) //AnalogIn Ext_Rev_Demand (PC_1); // Servo determines engine revs, servo out to be higher of Ext_Rev_Demand and internal calc AnalogIn Driver_Pot (PC_2); // If whole control system can be made to fit /* MODULE PIN USAGE */ InterruptIn pulse_tacho (PB_15); // Signal from engine magneto (clipped by I limit resistor and 3v3 zener) InterruptIn VEXT (PC_12); // PWM controller output folded back for cpu to monitor, useful on test to read what pwm required to do what // OUTPUTS : DigitalOut Scope_probe (PB_3); // Handy pin to hang scope probe onto while developing code DigitalOut myled (PA_5); // Green LED on board is PA_5 //PwmOut PWM_OSC_IN (PA_10); // PA_10 is pwm1/3 Can alter prescaler can not use A5 PwmOut PWM_OSC_IN (PB_9); // PA_10 is pwm4/4 Can alter prescaler can not use A5 PwmOut A_OUT (PB_5); // PB_5 is pwm3/2 Can alter prescaler can not use A5 PIN STOLEN BY PWM_OSC_IN Servo Throttle (PA_0); // PA_8 is pwm1/1 Changed from A2, June 2019 DigitalOut EngineTachoOut (PA_7); // New June 2019 I2C i2c (PB_7, PB_6); // Pins 58, 59 For 24LC64 eeprom //#define SDA_PIN PB_7 //#define SCL_PIN PB_6 #endif Timer microsecs; // 64 bit counter, rolls over in half million years Ticker loop_timer; // Device to cause periodic interrupts, used to sync iterations of main programme loop - slow //const double AMPS_CAL = 90.0; extern eeprom_settings user_settings ; // SYSTEM CONSTANTS /* Please Do Not Alter these */ const int MAIN_LOOP_REPEAT_TIME_US = 10000; // 10000 us, with TACHO_TAB_SIZE = 100 means tacho_ticks_per_time is tacho_ticks_per_second /* End of Please Do Not Alter these */ /* Global variable declarations */ uint32_t volt_reading = 0, // Global updated by interrupt driven read of Battery Volts driver_reading = 0, // tacho_count = 0, // Global incremented on each transition of InterruptIn pulse_tacho sys_timer100Hz = 0; // gets incremented by our Ticker ISR every MAIN_LOOP_REPEAT_TIME_US double servo_position = 0.2; // set in speed control loop double throttle_limit = SERVO_MAX; bool loop_flag = false; // made true in ISR_loop_timer, picked up and made false again in main programme loop bool flag_25Hz = false; // As loop_flag but repeats 25 times per sec bool flag_12Hz5 = false; // As loop_flag but repeats 12.5 times per sec bool flag_1Hz = false; // As loop_flag but repeats 1 times per sec bool query_toggle = false; bool flag_V_rd = false; bool flag_Pot_rd = false; //const int AMP_FILTER_FACTOR = 6; /* End of Global variable declarations */ //void ISR_fast_interrupt () { // here at 10 times main loop repeat rate (i.e. 1000Hz, 1.0ms) void ISR_fast_interrupt () { static uint32_t t = 0; Scope_probe = 1; // To show how much time spent in interrupt handler switch (t) { case 0: flag_V_rd = true; // volt_reading >>= 1; // Result = Result / 2 // volt_reading += Ain_SystemVolts.read_u16 (); // Result = Result + New Reading break; // case 1: // raw_amp_reading = (double) Ammeter_In.read(); // break; case 2: flag_Pot_rd = true; // raw_amp_offset = Ammeter_Ref.read(); // Feb 2020 Not convinced this is useful break; // case 3: // ext_rev_req >>= 1; // Result = Result / 2 // ext_rev_req += Ext_Rev_Demand.read_u16(); // break; case 4: // driver_reading >>= 1; // Result = Result / 2 // driver_reading += Driver_Pot.read_u16(); // break; // case 5: loop_flag = true; // set flag to allow main programme loop to proceed sys_timer100Hz++; // Just a handy measure of elapsed time for anything to use if ((sys_timer100Hz & 0x03) == 0) // is now 12.5Hz, not 8 flag_25Hz = true; // flag gets set 25 times per sec. Other code may clear flag and make use of this default: break; } t++; if (t > 9) t = 0; Scope_probe = 0; // To show how much time spent in interrupt handler } // New stuff June 2019 // Decent way of measuring engine speed bool magneto_stretch = false; Timeout magneto_timo; uint64_t magneto_times[4] = {13543,0,0,0}; // June 2019, only 2 of these used. Big non-zero prevents div0 error on first pass /** void magneto_timeout () Here 5ms after magneto pulse detected This is sufficient time for ringing to cease, not long enough to lose next pulse even at max engine revs. Reset 'magneto_stretch' flag set and used in 'ISR_magneto_tacho' */ void magneto_timeout () { magneto_stretch = false; // Magneto ringing finished by now, re-enable magneto pulse count EngineTachoOut = 0; // Cleaned tacho output brought out to pin to look at with scope } /** void ISR_magneto_tacho () ; // New June 2019 // Engine On/Off switch turns engine off by shorting ignition volts magneto to ground. // Therefore when engine running, have pulse signal one pulse per rev (even though 4 stroke, spark delivered at 2 stroke rate) // Pulse spacing 20ms @ 3000 RPM, 60ms @ 1000 RPM, 6ms @ 10000 RPM Magneto signal rings, is quite unclean, therefore a cleanup strategy is needed. Solution - On arrival at this interrupt handler, If flag 'magneto_stretch' true, do nothing and return (to avoid multiple pulse count) Set flag 'magneto_stretch' true; Start timer 'magneto_timo' to cause 'magneto_timeout' interrupt in a time longer than ringing bt shorter than shortest time to next spark Record time between most recent two sparks and set output bit for scope monitoring */ void ISR_magneto_tacho () // This interrupt initiated by rising (or falling) edge of magneto output, (not both) { uint64_t new_time; 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; new_time = microsecs.read_high_resolution_us(); magneto_times[0] = new_time - magneto_times[1]; // microsecs between most recent two sparks magneto_times[1] = new_time; // actual time microsecs of most recent spark magneto_timo.attach_us (&magneto_timeout, 5000); // To ignore ringing and multiple counts on magneto output, all settled within about 5ms EngineTachoOut = 1; // Cleaned tacho output brought out to pin to look at with scope } } // Endof New stuff June 2019 VEXT_Data Field; void ISR_VEXT_rise () // InterruptIn interrupt service { // Here is possible to read back how regulator has controlled pwm - may or may not be useful uint64_t tmp = microsecs.read_high_resolution_us(); Field.measured_period = tmp - Field.t_on; Field.t_on = tmp; Field.rise_count++; } void ISR_VEXT_fall () // InterruptIn interrupt service { Field.fall_count++; Field.t_off = microsecs.read_high_resolution_us(); Field.measured_pw_us = Field.t_off - Field.t_on; } // **** End of Interrupt Service Routines **** /** uint32_t ReadEngineRPM () * * June 2019 - Replaced count of alternator frequency by count of engine magneto pulses. * */ uint32_t ReadEngineRPM () { uint64_t time_since_last_spark = microsecs.read_high_resolution_us() - magneto_times[1]; if (time_since_last_spark > 250000) // if engine probably stopped, return old method RPM return 0; return (60000000 / magneto_times[0]); // 60 million / microsecs between two most recent sparks, eg 10,000us between sparks @ 6000 RPM } /*double Read_Ext_Rev_Req () { double rv = (double) ext_rev_req; return rv / 4096.0; }*/ double Read_Driver_Pot () { double rv = (double) driver_reading; return rv / 4096.0; } double Read_BatteryVolts () { return ((double) volt_reading) / 3282.5; // divisor fiddled to make voltage reading correct ! } /** void set_servo (double p) { // Only for test, called from cli */ void set_servo (double p) { // Only for test, called from cli Throttle = p; } double normalise (double * p) { if (*p > 0.999) *p = 0.999; if (*p < 0.001) *p = 0.001; return * p; } //const double DRIVER_NEUTRAL = 0.18; /**void throttle_setter () { * * * * * * */ void throttle_setter () { // double Driver_demand = Read_Driver_Pot(); const double local_hysterics = 0.03; static double most_recent_throttle = 0.0; double Driver_demand = dpd; // pc.printf ("Pot\t%.2f \r\n", Driver_demand); // pc.printf ("Pot\t%d\t%.3f \r\n", driver_reading, dpd); // Shown pot drives servo over full range. if (Driver_demand < DRIVER_NEUTRAL) { // In braking or park Throttle = 0.0; } else { // Driving Driver_demand -= DRIVER_NEUTRAL; Driver_demand /= (1.0 - DRIVER_NEUTRAL); // Re-normalise what's left if ((most_recent_throttle - Driver_demand < -local_hysterics) || (most_recent_throttle - Driver_demand > local_hysterics)) { Throttle = Driver_demand; most_recent_throttle = Driver_demand; servo_position = Driver_demand; // Copy to global for pc.printf only May 2020 } } } /**void set_pwm (double d) { Range 0.0 to 1.0 This PWM used to limit max duty ratio of alternator field energisation. With R25=33k and C4=100n controlling ramp input to CS pin of MCP1630 (not MCP1630V), ramp terminates fet 'on' pulse after a max of approx 980 us. With const int PWM_PERIOD_US = 2000 , duty ratio is thus limited to approx 50% max. This is about right when using 12V alternator on 24V systems A 1.225V reference (U7) is fed to the MCP1630 error amp which compares this to fed-back proportion of system voltage. This adjusts final PWM down to zero % as needed to maintain alternator output voltage. */ void set_pwm (double d) { const double pwm_factor = MAX_FIELD_PWM * (double)PWM_PERIOD_US; uint32_t i; if (d < 0.0) d = 0.0; if (d > 1.0) d = 1.0; // i = (uint32_t)(d * (PWM_PERIOD_US / 2)); // div 2 when using 12v alternator in 24v system i = (uint32_t)(d * pwm_factor); // div 2 when using 12v alternator in 24v system // pc.printf ("Setting PWM to %d\r\n", i); PWM_OSC_IN.pulsewidth_us (PWM_PERIOD_US - i); // Note PWM is inverted as MCP1630 uses inverted OSC_IN signal } /*void speed_control_factor_set (struct parameters & a) { uint32_t v = (uint32_t)a.dbl[0]; if (v > 10) speed_control_factor = v; pc.printf ("speed_control_factor %d\r\n", speed_control_factor); }*/ void set_throttle_limit (struct parameters & a) { if (a.dbl[0] > 0.01 && a.dbl[0] < 1.001) throttle_limit = a.dbl[0]; pc.printf ("throttle_limit %.2f\r\n", throttle_limit); } void query_system (struct parameters & a) { query_toggle = !query_toggle; // pc.printf ("Stuff about current state of system\r\n"); // pc.printf ("RPM=%d, servo%.2f\r\n", ReadEngineRPM (), servo_position); // pc.printf ("RPM=%d\r\n", ReadEngineRPM ()); } uint8_t madetab[340]; void maketable () { // Uses first 17 nums of user_settings relating to lim to be applied at 0, 500, 1000 --- 8000 RPM double tabvals[20]; double diff, val = 0.0; uint32_t tabptr = 0; for (int i = 0; i < 17; i++) { tabvals[i] = (double)user_settings.rd (i); pc.printf ("%d\t%.0f\r\n", i*500, tabvals[i]); } for (int i = 1; i < 17; i++) { diff = tabvals[i] - tabvals[i - 1]; diff /= 20.0; // 40 entries 25RPM apart per kRPM for (int j = 0; j < 20; j++) { // pc.printf ("%.0f\t", val); madetab[tabptr++] = (uint8_t) val; val += diff; } } pc.printf ("\r\nEnd of table creation with tabptr = %d\r\n", tabptr); while (tabptr < 340) madetab[tabptr++] = (uint8_t) val; } /**void set_pwm_limit () { // May 2020 * * Uses pure look up table to tailor pwm limit according to engine speed * * * * */ void set_pwm_limit (uint32_t rpm) { // May 2020 //const uint8_t pwmtab [] = unsigned char array of percentages 0 to 99, spaced at 25RPM intervals /*const uint8_t pwmtab [] = { 02,02,02,02,02,02,02,02, // 0 - 0175RPM // Slightly above 0 just to see signal on scope 02,02,02,02,02,02,02,02, // 0200 - 0375RPM 02,02,02,02,02,02,02,02, // 0400 - 0575RPM 02,02,02,02,02,02,02,02, // 0600 - 0775RPM 02,02,02,02,02,02,02,02, // 0800 - 0975RPM 02,02,02,02,02,02,02,02, // 1000 - 1175RPM 02,02,02,02,02,02,02,02, // 1200 - 1375RPM 02,02,02,02,02,02,02,02, // 1400 - 1575RPM 02,03,04,05,06,07, 8, 9, // 1600 - 1775RPM 10,11,12,13,14,15,16,17, // 1800 - 1975RPM 18,19,20,21,22,23,24,25, // 2000 - 2175RPM 26,27,28,29,30,31,32,33, // 2200 - 2375RPM 34,35,36,37,38,39,40,40, // 2400 - 2575RPM 41,41,41,42,42,42,43,43, // 2600 - 2775RPM 43,44,44,44,45,45,45,46, // 2800 - 2975RPM 46,46,47,47,47,48,48,48, // 3000 - 3175RPM 49,49,49,50,50,50,51,51, // 3200 - 3375RPM 52,52,52,53,53,53,54,54, // 3400 - 3575RPM 54,55,55,55,56,56,56,57, // 3600 - 3775RPM 57,57,58,58,58,59,59,59, // 3800 - 3975RPM 60,60,60,61,61,61,62,62, // 4000 - 4175RPM 62,63,63,63,64,64,64,65, // 4200 - 4375RPM 65,65,66,66,66,67,67,67, // 4400 - 4575RPM 68,68,68,69,69,69,70,70, // 4600 - 4775RPM 71,71,72,72,73,73,74,74, // 4800 - 4975RPM 75,75,76,76,77,77,78,78, // 5000 - 5175RPM 79,79,80,80,81,81,82,82, // 5200 - 5375RPM 83,83,84,84,85,85,86,86, // 5400 - 5575RPM 87,87,88,88,89,89,90,90, // 5600 - 5775RPM 91,91,92,92,93,93,94,94, // 5800 - 5975RPM 95,95,96,96,97,97,98,98, // 6000 - 6175RPM 99,99,99,99,99,99,99,99, // 6200 - 6375RPM 99,99,99,99,99,99,99,99, // 6400 - 6575RPM 99,99,99,99,99,99,99,99, // 6600 - 6775RPM 99,99,99,99,99,99,99,99, // 6800 - 6975RPM 99,99,99,99,99,99,99,99, // 7000 - 7175RPM 99,99,99,99,99,99,99,99, // 7200 - 7375RPM 99,99,99,99,99,99,99,99, // 7400 - 7575RPM 99,99,99,99,99,99,99,99, // 7600 - 7775RPM 99,99,99,99,99,99,99,99, // 7800 - 7975RPM 99,99,99,99,99,99,99,99, // 8000 - 8175RPM } ; */ // uint32_t rpm = ReadEngineRPM (); static uint32_t oldpcent = 1000; uint32_t index, pcent; double pwm = 0.0; if (rpm > 8000) rpm = 8000; index = rpm / 25; // to fit lut spacing of 25rpm intervals, turns rpm into index // pcent = pwmtab[index]; pcent = madetab[index]; if (pcent != oldpcent) { oldpcent = pcent; pwm = (double)pcent; pwm /= 99.0; set_pwm (pwm); } } extern void command_line_interpreter () ; // Comms with optional pc or device using serial port through board USB socket extern bool i2c_init () ; extern int check_24LC64 () ; // Programme Entry Point int main() { const double filt = 0.2; // local variable declarations // double revs_error; int32_t RPM_ave = 0, RPM_filt = 0, RPM_tmp; // int32_t irevs_error; uint32_t ticks25Hz = 0; pulse_tacho.fall (&ISR_magneto_tacho); // 1 pulse per engine rev VEXT.rise (&ISR_VEXT_rise); // Handles - MCP1630 has just turned mosfet on VEXT.fall (&ISR_VEXT_fall); // Handles - MCP1630 has just turned mosfet off microsecs.reset() ; // timer = 0 microsecs.start () ; // 64 bit, counts micro seconds and times out in half million years PWM_OSC_IN.period_us (PWM_PERIOD_US); // about 313Hz * 2 // PROBLEM using same pwm, common prescaler, can't update servo that fast, can't pwm field that slow. set_pwm (0.02); // set_pwm(0.02) good for production. Set higher for test #ifdef TARGET_NUCLEO_F401RE // A_OUT.period_us (100); // pwm as analogue out A_OUT.pulsewidth_us (19); #endif Throttle = servo_position; // pc.printf ("\r\n\n\n\n\nAlternator Regulator 2020, Jon Freeman, SystemCoreClock=%d\r\n", SystemCoreClock); pc.printf ("\r\n\n\n\n\nAlternator Regulator 2020, Jon Freeman\r\n"); if (!i2c_init()) pc.printf ("i2c bus failed init\r\n"); pc.printf ("check_24LC64 returned 0x%x\r\n", check_24LC64()); user_settings.load () ; // Fetch values from eeprom, also builds table of speed -> pwm lookups // pc.printf ("Loaded\r\n"); // Setup Complete ! Can now start main control forever loop. loop_timer.attach_us (&ISR_fast_interrupt, MAIN_LOOP_REPEAT_TIME_US / 10); // Start periodic interrupt generator 1000us at Feb 2020 maketable (); //***** START OF MAIN LOOP while (1) { // Loop forever, repeats synchroised by waiting for ticker Interrupt Service Routine to set 'loop_flag' true while (!loop_flag) { // Most of the time is spent in this loop, repeatedly re-checking for commands from pc port command_line_interpreter () ; // Proceed beyond here once loop_timer ticker ISR has set loop_flag true if (flag_V_rd) { flag_V_rd = false; volt_reading >>= 1; // Result = Result / 2 volt_reading += Ain_SystemVolts.read_u16 (); // Result = Result + New Reading } if (flag_Pot_rd) { flag_Pot_rd = false; dpd *= (1.0 - filt); dpd += filt * (Driver_Pot * 1.5); // Includes bodge around zener over-clipping input driver_reading >>= 1; // Result = Result / 2 driver_reading += Driver_Pot.read_u16(); } } // Jun 2019 pass here 100 times per sec // BEGIN 100Hz stuff loop_flag = false; // Clear flag set by ticker interrupt handler // Three variations on engine rpm. RPM_tmp = ReadEngineRPM (); RPM_ave += RPM_tmp; // Rising sum needs dividing and resetting to 0 when used RPM_filt += RPM_tmp; RPM_filt >>= 1; set_pwm_limit (RPM_tmp); // according to RPM // END 100Hz stuff if (flag_25Hz) { flag_25Hz = false; // BEGIN 25Hz stuff // END 25Hz stuff // BEGIN 12.5Hz stuff flag_12Hz5 = !flag_12Hz5; if (flag_12Hz5) { // Do any even stuff to be done 12.5 times per second throttle_setter(); /*#ifdef SPEED_CONTROL_ENABLE if (RPM_demand < TICKOVER_RPM) servo_position = Throttle = 0.0; else { RPM_ave /= 8; // irevs_error = RPM_demand - ReadEngineRPM (); irevs_error = RPM_demand - RPM_filt; revs_error = (double) irevs_error; if (abs(revs_error) > 3.0) { // if speed error > 3rpm, tweak, otherwise deadband //servo_position += (revs_error / 7500.0); servo_position += (revs_error / speed_control_factor); servo_position = normalise(&servo_position); if (servo_position < 0.0 || servo_position > 1.0) pc.printf ("servo_position error %f\r\n", servo_position); if (servo_position > throttle_limit) servo_position = throttle_limit; Throttle = servo_position; } } RPM_ave = 0; // Reset needed #endif */ } else { // Do odd 12.5 times per sec stuff flag_12Hz5 = false; myled = !myled; // LocalCom.printf ("%d\r\n", volt_reading); } // End of if(flag_12Hz5) // END 12.5Hz stuff ticks25Hz++; // advances @ 25Hz if (ticks25Hz > 24) { // once per sec stuff // BEGIN 1Hz stuff ticks25Hz = 0; // secs++; if (query_toggle) { pc.printf ("V = %.2f\tRPM = %u\tservo%.2f \r", Read_BatteryVolts(), /*amp_reading, */ReadEngineRPM (), servo_position); // pc.printf ("\tRPM = %u (time %u seconds) \r", ReadEngineRPM (), (uint32_t)(microsecs.read_high_resolution_us() / 1000000)); } // END 1Hz stuff } // eo once per second stuff } // End of 100Hz stuff } // End of main programme loop } // End of main function - end of programme //***** END OF MAIN LOOP