Diff: main.cpp

Revision:

2:04761b196473

Parent:

1:0fabe6fdb55b

Child:

3:ecb00e0e8d68

--- a/main.cpp	Wed Mar 07 08:29:18 2018 +0000
+++ b/main.cpp	Sat Mar 10 10:11:07 2018 +0000
@@ -161,10 +161,6 @@
                 MAIN_LOOP_REPEAT_TIME_US    = 31250,    //  31250 us, with TACHO_TAB_SIZE = 32 means tacho_ticks_per_time is tacho_ticks_per_second
                 MAIN_LOOP_ITERATION_Hz      = 1000000 / MAIN_LOOP_REPEAT_TIME_US,
                 CURRENT_SAMPLES_AVERAGED    = 100,     //  Current is spikey. Reading smoothed by using average of this many latest current readings
-                HANDBRAKE   = 0,
-                FORWARD     = 8,
-                REVERSE     = 16,
-                REGENBRAKE  = 24,
                 PWM_HZ              = 16000,    //  chosen to be above cutoff frequency of average human ear
                 MAX_PWM_TICKS       = SystemCoreClock / PWM_HZ;
 
@@ -174,6 +170,7 @@
 uint32_t    volt_reading        = 0,    //  Global updated by interrupt driven read of Battery Volts
             driverpot_reading   = 0,    //  Global updated by interrupt driven read of Drivers Pot
             sys_timer           = 0,    //  gets incremented by our Ticker ISR every MAIN_LOOP_REPEAT_TIME_US
+            fast_sys_timer      = 0,    //  gets incremented by our Ticker ISR every VOLTAGE_READ_INTERVAL_US
             AtoD_Semaphore = 0;
 bool        loop_flag   = false;    //  made true in ISR_loop_timer, picked up and made false again in main programme loop
 bool        flag_8Hz    = false;    //  As loop_flag but repeats 8 times per sec
@@ -208,6 +205,7 @@
 void    ISR_voltage_reader  ()      //  This is Ticker Interrupt Service Routine - few us between readings
 {
     AtoD_Semaphore++;
+    fast_sys_timer++;        //  Just a handy measure of elapsed time for anything to use
 }
 
 
@@ -332,19 +330,21 @@
 
 class   motor
 {
-    struct  currents    {
-        uint32_t    max, min, ave;
-    }  I;
     uint32_t    Hall_total, mode, edge_count_table[MAIN_LOOP_ITERATION_Hz]; //  to contain one seconds worth
     uint32_t    Hall_tab_ptr, latest_pulses_per_sec;
     const   uint16_t * lut;
     FastPWM * maxV, * maxI;
     PortOut * Motor_Port;
+    InterruptIn * Hall1, * Hall2, * Hall3;
 public:
+    struct  currents    {
+        uint32_t    max, min, ave;
+    }  I;
     uint32_t    current_samples[CURRENT_SAMPLES_AVERAGED];  //  Circular buffer where latest current readings get stored
     uint32_t    Hindex;
+//    PinName     Hall1, Hall2, Hall3;
     motor   ()  {}  ;   //  Default constructor
-    motor   (PortOut * , FastPWM * , FastPWM * , const uint16_t * )  ;
+    motor   (PortOut * , FastPWM * , FastPWM * , const uint16_t * , InterruptIn * H1, InterruptIn * H2, InterruptIn * H3)  ;
     void    set_V_limit (double)    ;  //  Sets max motor voltage
     void    set_I_limit (double)    ;  //  Sets max motor current
     void    Hall_change ()  ;           //  Called in response to edge on Hall input pin
@@ -352,13 +352,17 @@
     void    current_calc    ()  ;
     uint32_t    pulses_per_sec   ()  ;    //  call this once per main loop pass to keep count = edges per sec
     int     read_Halls  ()  ;
+    void    tickle  ()  ;
 }   ;   //MotorA, MotorB;
 
-motor   MotorA  (&MotA, &A_MAX_V_PWM, &A_MAX_I_PWM, A_tabl);
-motor   MotorB  (&MotB, &B_MAX_V_PWM, &B_MAX_I_PWM, B_tabl);
+motor   MotorA  (&MotA, &A_MAX_V_PWM, &A_MAX_I_PWM, A_tabl, &MAH1, &MAH2, &MAH3);
+motor   MotorB  (&MotB, &B_MAX_V_PWM, &B_MAX_I_PWM, B_tabl, &MBH1, &MBH2, &MBH3);
 
-motor::motor    (PortOut * P , FastPWM * _maxV_ , FastPWM * _maxI_ , const uint16_t * lutptr )        //  Constructor
+motor::motor    (PortOut * P , FastPWM * _maxV_ , FastPWM * _maxI_ , const uint16_t * lutptr, InterruptIn * H1, InterruptIn * H2, InterruptIn * H3)        //  Constructor
 {
+    Hall1 =H1;
+    Hall2 =H2;
+    Hall3 =H3;
     maxV = _maxV_;
     maxI = _maxI_;
     Hall_total = mode = 0;  //  mode can be only 0, 8, 16 or 24, lut row select for Handbrake, Forward, Reverse, or Regen Braking
@@ -383,7 +387,30 @@
 }
 
 int     motor::read_Halls  ()  {
-    return  Hindex;
+    int x = 0;
+    if  (*Hall1 != 0)    x |= 1;
+    if  (*Hall2 != 0)    x |= 2;
+    if  (*Hall3 != 0)    x |= 4;
+    Hindex = x;
+    return  x;
+//    return  Hindex;
+}
+
+void    motor::tickle   ()  //  Attempt to get mosfet driver to drive high side fets
+{
+    volatile int t;
+    for (int cnt = 0; cnt < 20; cnt++)   {
+        *Motor_Port = 0;
+        t = fast_sys_timer;
+        int x = read_Halls  () | mode;
+        pc.printf   ("Ti");
+        *Motor_Port = lut[x];
+        pc.printf   ("%d\t", t);
+    }
+}
+
+void    tickle  ()  {
+    MotorA.tickle   ();
 }
 
 void    motor::current_calc ()
@@ -443,8 +470,10 @@
 
 bool    motor::set_mode (int m)
 {
-    if  (m != HANDBRAKE && m != FORWARD && m != REVERSE && m !=REGENBRAKE)
+    if  ((m != HANDBRAKE) && (m != FORWARD) && (m != REVERSE) && (m !=REGENBRAKE))  {
+        pc.printf   ("Error in set_mode, invalid mode %d\r\n", m);
         return  false;
+    }
     mode = m;
     return  true;
 }
@@ -452,9 +481,10 @@
 void    motor::Hall_change  ()
 {
     Hall_total++;
-    mode &= 0x038L; //  safety
-    *Motor_Port = lut[mode + Hindex];
+//    mode &= 0x038L; //  safety
+    *Motor_Port = lut[mode | Hindex];
 }
+
 void    MAH1r    ()
 {
     MotorA.Hindex = 1;
@@ -544,14 +574,15 @@
 
 //  End of Interrupt Service Routines
 
-void    buggery_fuck    ()      //  simulate hall movement to observe port output bits
-{
-    /*    MotorA.index++;
-        if  (MotorA.index > 6)
-            MotorA.index = 1;
-        MotorA.Hall_change  ();
-    */
+void    setVI   (double v, double i)  {
+//    void    set_V_limit (double)    ;  //  Sets max motor voltage
+//    void    set_I_limit (double)    ;  //  Sets max motor current
+    MotorA.set_V_limit  (v);
+    MotorA.set_I_limit  (i);
+    MotorB.set_V_limit  (v);
+    MotorB.set_I_limit  (i);
 }
+
 void    AtoD_reader ()
 {
     static uint32_t i = 0, tab_ptr = 0;
@@ -593,16 +624,12 @@
 */
 double  Read_DriverPot  ()
 {
-#ifdef  KNIFEANDFORK
-    return  test_pot;   //  may be altered using cli
-#else
     return (double) driverpot_reading / 65535.0;     //  Normalise 0.0 <= control pot <= 1.0
-#endif
 }
 
 double  Read_BatteryVolts   ()
 {
-    return  (double) volt_reading / 1800.0;    //  divisor fiddled to make voltage reading correct !
+    return  (double) volt_reading / 951.0;    //  divisor fiddled to make voltage reading correct !
 }
 
 double  read_volts  ()      //  A test function
@@ -611,6 +638,13 @@
     return  Read_BatteryVolts();
 }
 
+void    mode_test   (int mode, double val)  {
+    MotorA.set_mode (mode);
+    MotorB.set_mode (mode);
+    if  (mode == REGENBRAKE)    {
+        
+    }
+}
 
 extern  void    command_line_interpreter    ()  ;
 extern  int     check_24LC64   ()  ;   //  Call from near top of main() to init i2c bus
@@ -674,14 +708,14 @@
     T4 = 0;
     T5 = 0;
     T6 = 0;
-//    MotorA.set_mode (HANDBRAKE);
-//    MotorB.set_mode (HANDBRAKE);
-    MotorA.set_mode (FORWARD);
-    MotorB.set_mode (FORWARD);
-    MotorA.set_V_limit  (0.1);
-    MotorB.set_V_limit  (0.0); 
-    MotorA.set_I_limit  (0.0);
-    MotorB.set_I_limit  (0.0);
+    MotorA.set_mode (REGENBRAKE);
+    MotorB.set_mode (REGENBRAKE);
+//    MotorA.set_mode (FORWARD);
+//    MotorB.set_mode (FORWARD);
+    MotorA.set_V_limit  (0.9);
+    MotorB.set_V_limit  (0.9); 
+    MotorA.set_I_limit  (0.5);
+    MotorB.set_I_limit  (0.5);
 
     //  Setup Complete ! Can now start main control forever loop.
 
@@ -694,23 +728,21 @@
         Apps    = MotorA.pulses_per_sec   ();   //  Needed to keep table updated to give reading in Hall transitions per second
         Bpps    = MotorB.pulses_per_sec   ();
 
-        buggery_fuck    ();
-
         //  do stuff
         if  (flag_8Hz)  {   //  do slower stuff
             flag_8Hz    = false;
-            LED = !LED;                   // Toggle LED on board, should be seen to fast flash
+ //           LED = !LED;                   // Toggle LED on board, should be seen to fast flash
             j++;
             if  (j > 6)    {   //  Send some status info out of serial port every second and a bit or thereabouts
                 j = 0;
-            uint8_t stat;
-            stat = PressureSensor.getFstatus();
-double  pres = PressureSensor.getPressure  ();
-//double  tmpr = PressureSensor.getTemperature  ();
-//double  pres = PressureSensor.getTemperature  ();
-//                pc.printf   ("Apps %d, Bpps %d, sys_timer %d\r\n", Apps, Bpps, sys_timer);
-                pc.printf   ("Apps %d, Bpps %d, sys_timer %d, status %d, pressure %.2f\r\n", Apps, Bpps, sys_timer, stat, pres);
-                //            pc.printf   ("V=%+.1f, I=%+.1f, CtrlOut %.3f, RPM %d, %s\r\n", Read_BatteryVolts(), AmpsReading, ControlOut, ReadEngineRPM(), engine_warm ? "Running mode" : "Startup mode");
+            LED = !LED;                   // Toggle LED on board, should be seen to fast flash
+            MotorA.current_calc ();
+            MotorB.current_calc ();
+//            pc.printf   ("Hello\r\n");
+//            uint8_t stat;
+//                pc.printf   ("Arpm %d, Brpm %d, sys_timer %d, HA %d, HB %d\r\n", (Apps * 60) / 24, (Bpps * 60) / 24, sys_timer, MotorA.read_Halls  (), MotorB.read_Halls  ());
+//                pc.printf   ("Apps %d, Bpps %d, sys_timer %d, HA %d, HB %d\r\n", Apps, Bpps, sys_timer, MotorA.read_Halls  (), MotorB.read_Halls  ());
+                pc.printf   ("V=%+.2f, Pot=%+.2f, HA %d, HB %d, IA %d, IB %d, Arpm %d, Brpm %d\r\n", Read_BatteryVolts(), Read_DriverPot(), MotorA.read_Halls  (), MotorB.read_Halls  (), MotorA.I.ave, MotorB.I.ave, (Apps * 60) / 24, (Bpps * 60) / 24);
             }
         }   //  End of if(flag_8Hz)
     }       //  End of main programme loop