Jon Freeman
/
Brute_TS_Controller_2018_11
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Dependencies: TS_DISCO_F746NG mbed Servo LCD_DISCO_F746NG BSP_DISCO_F746NG QSPI_DISCO_F746NG AsyncSerial FastPWM
Diff: main.cpp
- Revision:
- 5:21a8ac83142c
- Parent:
- 4:67478861c670
- Child:
- 6:57dc760effd4
--- a/main.cpp Mon Apr 09 07:51:37 2018 +0000
+++ b/main.cpp Tue May 01 08:34:36 2018 +0000
@@ -17,49 +17,51 @@
*/
#include "mbed.h"
#include "Electric_Loco.h"
-#include "FastPWM.h"
+#include "AsyncSerial.hpp"
+#include "Servo.h"
#include "TS_DISCO_F746NG.h"
#include "LCD_DISCO_F746NG.h"
+#include <cctype>
LCD_DISCO_F746NG lcd;
TS_DISCO_F746NG touch_screen;
-FastPWM maxv (D12, 1),
- maxi (D11, 1); // pin, prescaler value
-Serial pc (USBTX, USBRX); // Comms to 'PuTTY' or similar comms programme on pc
+//FastPWM maxv (D12, 1),
+// maxi (D11, 1); // pin, prescaler value
+Serial pc (USBTX, USBRX); // AsyncSerial does not work here. Comms to 'PuTTY' or similar comms programme on pc
-DigitalOut reverse_pin (D7); //
-DigitalOut forward_pin (D6); //these two decode to fwd, rev, regen_braking and park
+DigitalOut reverse_pin (D7); // These pins no longer used to set mode and direction, now commands issued to com
+DigitalOut forward_pin (D9); //was D6, these two decode to fwd, rev, regen_braking and park
-/*New Nov 2017
-D14 and D15 not taken for CAN bus - bug given back because CAN bus doesn't work!
-*/
-//DigitalOut GfetT2 (D14); // a horn
-//DigitalOut GfetT1 (D15); // another horn
-DigitalOut led_grn (LED1); // the only on board user led
+DigitalOut I_sink1 (D14); // a horn
+DigitalOut I_sink2 (D15); // another horn
+DigitalOut I_sink3 (D3);
+DigitalOut I_sink4 (D4);
+DigitalOut I_sink5 (D5);
+DigitalOut led_grn (LED1); // the only on board user led
-DigitalIn f_r_switch (D0); // Reads position of centre-off ignition switch
+DigitalIn f_r_switch (D2); // was D0, Reads position of centre-off ignition switch
//DigitalIn spareio_d8 (D8);
-//DigitalOut throttle_servo_pulse_out (D8); // now defined in throttle.cpp
-DigitalIn spareio_d9 (D9);
+//DigitalIn spareio_d9 (D9);
DigitalIn spareio_d10 (D10); // D8, D9, D10 wired to jumper on pcb - not used to Apr 2017
AnalogIn ht_volts_ain (A0); // Jan 2017
AnalogIn ht_amps_ain (A1); // Jan 2017
-AnalogIn spare_ain2 (A2);
-AnalogIn spare_ain3 (A3);
+//AnalogIn spare_ain2 (A2);
+//AnalogIn spare_ain3 (A3);
//AnalogIn spare_ain4 (A4); // hardware on pcb for these 3 spare analogue inputs - not used to Apr 2017
//AnalogIn spare_ain5 (A5); // causes display flicker !
-Serial com (A4, A5); // Com port to opto isolators on Twin BLDC Controller boards
+
+
+AsyncSerial com (A4, A5); // Com port to opto isolators on Twin BLDC Controller boards
+//AsyncSerial ir (D1, D0); // Second port does work, but gives the old broken-up display flicker nonsense problem
/*
Speed now read via opto serial ports
+*/
-InterruptIn mot4hall (D2); // One Hall sensor signal from each motor fed back to measure speed
-InterruptIn mot3hall (D3);
-InterruptIn mot2hall (D4);
-InterruptIn mot1hall (D5);
-*/
+Servo servo1 (D6); // Now used to adjust Honda speed
+
extern bool odometer_zero () ; // Returns true on success
extern bool odometer_update (uint32_t pulsetot, uint16_t pow, uint16_t volt) ; // Hall pulse total updated once per sec and saved in blocks of 4096 bytes on QSPI onboard memory
@@ -75,17 +77,10 @@
extern void SliderGraphic (struct slide & q) ;
extern void vm_set () ;
extern void update_meters (double, double, double) ;
-extern void command_line_interpreter () ;
-
-extern int throttle (double, double) ; // called from main every 31ms
static const int
DAMPER_DECAY = 42, // Small num -> fast 'viscous damper' on dead-mans function with finger removed from panel
MAF_PTS = 140, // Moving Average Filter points. Filters reduce noise on volatage and current readings
- PWM_HZ = 16000, // chosen to be above cutoff frequency of average human ear
-// PWM_HZ = 2000, // Used this to experiment on much bigger motor
-// MAX_PWM_TICKS = 108000000 / PWM_HZ, // 108000000 for F746N, due to cpu clock = 216 MHz
- MAX_PWM_TICKS = SystemCoreClock / (2 * PWM_HZ), // 108000000 for F746N, due to cpu clock = 216 MHz
FWD = 0,
REV = ~FWD;
@@ -94,100 +89,69 @@
int V_maf[MAF_PTS + 2], I_maf[MAF_PTS + 2], maf_ptr = 0; // ********* These should be uint16_t
-//uint32_t Hall_pulse[8] = {0,0,0,0,0,0,0,0}; // more than max number of motors
-uint32_t Hall_pulse[8] = {1,1,1,1,1,1,1,1}; // more than max number of motors
-uint32_t historic_distance = 0;
-double last_pwm = 0.0;
+uint32_t sys_timer_32Hz = 0;
+double last_V = 0.0, last_I = 0.0, recent_distance = 0.0;
bool qtrsec_trig = false;
bool trigger_current_read = false;
volatile bool trigger_32ms = false;
-
-class speed_measurement // Interrupts at qtr sec cause read of Hall_pulse counters which are incremented by transitions of Hall inputs
+class speed_2018
{
- static const int SPEED_AVE_PTS = 9; // AVE_PTS - points in moving average filters
- int speed_maf_mem [(SPEED_AVE_PTS + 1) * 2][NUMBER_OF_MOTORS],
- latest_counter_read[NUMBER_OF_MOTORS],
- prev_counter_read[NUMBER_OF_MOTORS],
- mafptr;
- int raw_filtered () ; // sum of count for all motors
-
+ static const int SPEED_AVE_PTS = 5; // AVE_PTS - points in moving average filters
+ uint32_t speed_maf_mem [(SPEED_AVE_PTS + 1) * 2][NUMBER_OF_MOTORS],
+ axle_total [4],
+ mafptr;
+ double average_rpm_out;
public:
-
- speed_measurement () {
+ speed_2018 () { // Constructor
memset(speed_maf_mem, 0, sizeof(speed_maf_mem));
+ axle_total[0] = axle_total[1] = axle_total[2] = axle_total[3] = 0;
mafptr = 0;
- memset (latest_counter_read, 0, sizeof(latest_counter_read));
- memset (prev_counter_read, 0, sizeof(prev_counter_read));
- } // constructor
- int raw_filtered (int) ; // count for one motor
- int RPM () ;
- double MPH () ;
- void qtr_sec_update () ;
- uint32_t metres_travelled ();
- uint32_t pulse_total ();
+ average_rpm_out = 0.0;
+ }
+ void rpm_update(struct parameters & a) ;
+ double mph () ;
}
-speed ;
+ speed2 ;
-int speed_measurement::raw_filtered () // sum of count for all motors
-{
- int result = 0, a, b;
- for (b = 0; b < NUMBER_OF_MOTORS; b++) {
- for (a = 0; a < SPEED_AVE_PTS; a++) {
- result += speed_maf_mem[a][b];
- }
+double speed_2018::mph () {
+ int t[4] = {0,0,0,0};
+ for (int i = 0; i < SPEED_AVE_PTS; i++) {
+ t[0] += speed_maf_mem[i][0];
+ t[1] += speed_maf_mem[i][1];
+ t[2] += speed_maf_mem[i][2];
+ t[3] += speed_maf_mem[i][3];
}
- return result;
+ int j = 0;
+ for (int i = 0; i < 4; i++) {
+ j += t[i];
+ axle_total[i] = t[i];
+ }
+ return (rpm2mph * ((double) j) / (SPEED_AVE_PTS * 4));
}
-int speed_measurement::raw_filtered (int motor) // count for one motor
-{
- int result = 0, a;
- for (a = 0; a < SPEED_AVE_PTS; a++) {
- result += speed_maf_mem[a][motor];
+void speed_2018::rpm_update(struct parameters & a) { // Puts new readings into mem
+ if (a.gp_i == 0) {
+ speed_maf_mem [mafptr][0] = (uint32_t)a.dbl[0];
+ speed_maf_mem [mafptr][1] = (uint32_t)a.dbl[1];
}
- return result;
-}
-
-double speed_measurement::MPH ()
-{
- return rpm2mph * (double)RPM();
-}
-
-int speed_measurement::RPM ()
-{
- int rpm = raw_filtered ();
- rpm *= 60 * 4; // 60 sec per min, 4 quarters per sec, result pulses per min
- rpm /= (SPEED_AVE_PTS * NUMBER_OF_MOTORS * 8); // 8 transitions counted per rev
- return rpm;
-}
-
-void speed_measurement::qtr_sec_update () // this to be called every quarter sec to read counters and update maf
-{
- mafptr++;
- if (mafptr >= SPEED_AVE_PTS)
- mafptr = 0;
- for (int a = 0; a < NUMBER_OF_MOTORS; a++) {
- prev_counter_read[a] = latest_counter_read[a];
- latest_counter_read[a] = Hall_pulse[a];
- speed_maf_mem[mafptr][a] = latest_counter_read[a] - prev_counter_read[a];
+ else {
+ speed_maf_mem [mafptr][2] = (uint32_t)a.dbl[0];
+ speed_maf_mem [mafptr][3] = (uint32_t)a.dbl[1];
+ mafptr++;
+ if (mafptr >= SPEED_AVE_PTS)
+ mafptr = 0;
}
}
-uint32_t speed_measurement::metres_travelled ()
-{
- return pulse_total() / (int)PULSES_PER_METRE;
+
+void rpm_push (struct parameters & a) { // Latest RPM reports from Dual BLDC Motor Controllers arrive here
+ speed2.rpm_update (a);
+// pc.printf ("RPM%d %d, mph %.1f\r\n", (int)a.dbl[0], (int)a.dbl[1], speed2.mph());
}
-uint32_t speed_measurement::pulse_total ()
-{
- return historic_distance + Hall_pulse[0] + Hall_pulse[1] + Hall_pulse[2] + Hall_pulse[3];
-}
-uint32_t get_pulse_total () { // called by SD card code
- return speed.pulse_total();
-}
void set_V_limit (double p) // Sets max motor voltage
{
@@ -195,25 +159,28 @@
p = 0.0;
if (p > 1.0)
p = 1.0;
- last_pwm = p;
- p *= 0.95; // need limit, ffi see MCP1630 data
- p = 1.0 - p; // because pwm is wrong way up
- maxv.pulsewidth_ticks ((int)(p * MAX_PWM_TICKS)); // PWM output on pin D12 inverted motor pwm
+ last_V = p;
+ com.printf ("v%d\r", (int)(p * 99.0));
+// p *= 0.95; // need limit, ffi see MCP1630 data
+// p = 1.0 - p; // because pwm is wrong way up
+// maxv.pulsewidth_ticks ((int)(p * MAX_PWM_TICKS)); // PWM output on pin D12 inverted motor pwm
}
void set_I_limit (double p) // Sets max motor current
{
- int a;
+// int a;
if (p < 0.0)
p = 0.0;
if (p > 1.0)
p = 1.0;
- a = (int)(p * MAX_PWM_TICKS);
- if (a > MAX_PWM_TICKS)
- a = MAX_PWM_TICKS;
- if (a < 0)
- a = 0;
- maxi.pulsewidth_ticks (a); // PWM output on pin D12 inverted motor pwm
+ last_I = p; // New 30/4/2018 ; no use for this yet, included to be consistent with V
+ com.printf ("i%d\r", (int)(p * 99.0));
+// a = (int)(p * MAX_PWM_TICKS);
+// if (a > MAX_PWM_TICKS)
+// a = MAX_PWM_TICKS;
+// if (a < 0)
+// a = 0;
+// maxi.pulsewidth_ticks (a); // PWM output on pin D12 inverted motor pwm
}
double read_ammeter ()
@@ -232,48 +199,21 @@
for (int b = 0; b < MAF_PTS; b++)
a += V_maf[b];
a /= MAF_PTS;
- double i = (double) a;
- return (i / 617.75) + 0.3; // fiddled to suit current module
+ double v = (double) a;
+// return (v / 940.0) + 0.3; // fiddled to suit resistor values
+ return (v / 932.0) + 0.0; // fiddled to suit resistor values
}
// Interrupt Service Routines
-void ISR_mot1_hall_handler () // read motor position pulse signals from up to six motors
-{
- Hall_pulse[0]++;
-}
-void ISR_mot2_hall_handler ()
-{
- Hall_pulse[1]++;
-}
-void ISR_mot3_hall_handler ()
-{
- Hall_pulse[2]++;
-}
-void ISR_mot4_hall_handler ()
-{
- Hall_pulse[3]++;
-}
-void ISR_mot5_hall_handler () // If only 4 motors this never gets used, there is no fifth motor
-{
- Hall_pulse[4]++;
-}
-void ISR_mot6_hall_handler () // As one above
-{
- Hall_pulse[5]++;
-}
-
-
void ISR_current_reader (void) // FIXED at 250us
{
static int ms32 = 0, ms250 = 0;
trigger_current_read = true; // every 250us, i.e. 4kHz NOTE only sets trigger here, readings taken in main loop
ms32++;
- if (ms32 > 124) {
+ if (ms32 > 124) { // 31.25ms, not 32ms, is 32Hz
ms32 = 0;
-
- historic_distance++;
-
+ sys_timer_32Hz++; // , usable anywhere as general measure of elapsed time
trigger_32ms = true;
ms250++;
if (ms250 > 7) {
@@ -303,24 +243,15 @@
if (!trigger_current_read)
return;
trigger_current_read = false;
+ int ch;
+ ch++;
I_maf[maf_ptr] = ht_amps_ain.read_u16();
V_maf[maf_ptr] = ht_volts_ain.read_u16();
maf_ptr++;
if (maf_ptr > MAF_PTS - 1)
maf_ptr = 0;
}
-/* Feb 2017, re-thought use of FR and SG signals. Rename these FWD and REV. Truth table for actions required now : -
-FWD(A5) REV(A4) PWM Action
- 0 0 0 'Handbrake' - energises motor to not move
- 0 0 1 'Handbrake' - energises motor to not move
- 0 1 0 Reverse0
- 0 1 1 Reverse1
- 1 0 0 Forward0
- 1 0 1 Forward1
- 1 1 0 Regen Braking
- 1 1 1 Regen Braking
-*/
void set_run_mode (int mode)
{ // NOTE Nov 2017 - Handbrake not implemented
if (mode == HANDBRAKE_SLIPPING) slider.handbrake_slipping = true;
@@ -330,15 +261,19 @@
// case HANDBRAKE_SLIPPING:
// break;
case PARK: // PARKED new rom code IS now finished.
- forward_pin = 0;
- reverse_pin = 0;
+// forward_pin = 0;
+// reverse_pin = 0;
slider.state = mode;
set_V_limit (0.075); // was 0.1
set_I_limit (slider.handbrake_effort);
+// char tmp[16];
+// sprintf (tmp, "vi7 %d\r", (int)(slider.handbrake_effort * 99.0));
+// com.printf ("%s", tmp);
break;
case REGEN_BRAKE: // BRAKING, pwm affects degree
- forward_pin = 1;
- reverse_pin = 1;
+ com.printf ("rb\r");
+// forward_pin = 1;
+// reverse_pin = 1;
slider.state = mode;
break;
case NEUTRAL_DRIFT:
@@ -348,11 +283,13 @@
break;
case RUN:
if (slider.direction) {
- forward_pin = 0;
- reverse_pin = 1;
+ com.printf ("fw\r");
+// forward_pin = 0;
+// reverse_pin = 1;
} else {
- forward_pin = 1;
- reverse_pin = 0;
+ com.printf ("re\r");
+// forward_pin = 1;
+// reverse_pin = 0;
}
slider.state = mode;
break;
@@ -362,62 +299,25 @@
}
-#ifdef SDCARD
-
-#define BLOCK_START_ADDR 0 /* Block start address */
-#define NUM_OF_BLOCKS 5 /* Total number of blocks */
-#define BUFFER_WORDS_SIZE ((BLOCKSIZE * NUM_OF_BLOCKS) >> 2) /* Total data size in bytes */
-
-uint32_t aTxBuffer[BUFFER_WORDS_SIZE];
-uint32_t aRxBuffer[BUFFER_WORDS_SIZE];
-/* Private function prototypes -----------------------------------------------*/
-void SD_main_test(void);
-void SD_Detection(void);
-
-static void Fill_Buffer(uint32_t *pBuffer, uint32_t uwBufferLenght, uint32_t uwOffset);
-static uint8_t Buffercmp(uint32_t* pBuffer1, uint32_t* pBuffer2, uint16_t BufferLength);
-/**
- * @brief Fills buffer with user predefined data.
- * @param pBuffer: pointer on the buffer to fill
- * @param uwBufferLenght: size of the buffer to fill
- * @param uwOffset: first value to fill on the buffer
- * @retval None
- */
-static void Fill_Buffer(uint32_t *pBuffer, uint32_t uwBufferLength, uint32_t uwOffset)
-{
- uint32_t tmpIndex = 0;
-
- /* Put in global buffer different values */
- for (tmpIndex = 0; tmpIndex < uwBufferLength; tmpIndex++ )
- {
- pBuffer[tmpIndex] = tmpIndex + uwOffset;
- }
-}
-
-/**
- * @brief Compares two buffers.
- * @param pBuffer1, pBuffer2: buffers to be compared.
- * @param BufferLength: buffer's length
- * @retval 1: pBuffer identical to pBuffer1
- * 0: pBuffer differs from pBuffer1
- */
-static uint8_t Buffercmp(uint32_t* pBuffer1, uint32_t* pBuffer2, uint16_t BufferLength)
-{
- while (BufferLength--)
- {
- if (*pBuffer1 != *pBuffer2)
- {
- return 1;
- }
-
- pBuffer1++;
- pBuffer2++;
- }
-
- return 0;
+void throttle (double p) { // New Apr 2018 ; servo adjusts throttle lever on Honda GX120
+const double THR_MAX = 0.92;
+const double THR_MIN = 0.09;
+const double RANGE = THR_MAX - THR_MIN;
+ if (p > 1.0)
+ p = 1.0;
+ if (p < 0.0)
+ p = 0.0;
+ // p = 1.0 - p; // if direction needs swapping
+ p *= RANGE;
+ p += THR_MIN;
+ servo1 = p;
}
-#endif
+
+extern void setup_pccom () ;
+extern void setup_lococom () ;
+extern void clicore (struct parameters & a) ;
+extern struct parameters pccom, lococom;
int main()
{
@@ -497,67 +397,6 @@
pc.printf ("\r\r\r\n");
#endif
-#ifdef SDCARD
- uint8_t SD_state;
- SD_state = sd.Init();
- if(SD_state != MSD_OK){
- if(SD_state == MSD_ERROR_SD_NOT_PRESENT){
- pc.printf("SD shall be inserted before running test\r\n");
- } else {
- pc.printf("SD Initialization : FAIL.\r\n");
- }
- pc.printf("SD Test Aborted.\r\n");
- } else {
- pc.printf("SD Initialization : OK.\r\n");
-
- SD_state = sd.Erase(BLOCK_START_ADDR, (BLOCK_START_ADDR + NUM_OF_BLOCKS - 1));
-
- /* Wait until SD card is ready to use for new operation */
- while(sd.GetCardState() != SD_TRANSFER_OK){
- }
- if (SD_state != MSD_OK){
- pc.printf("SD ERASE : FAILED.\r\n");
- pc.printf("SD Test Aborted.\r\n");
- } else {
- pc.printf("SD ERASE : OK.\r\n");
-
- /* Fill the buffer to write */
- Fill_Buffer(aTxBuffer, BUFFER_WORDS_SIZE, 0x2300);
-
- SD_state = sd.WriteBlocks(aTxBuffer, BLOCK_START_ADDR, NUM_OF_BLOCKS, 10000);
- /* Wait until SD card is ready to use for new operation */
- while(sd.GetCardState() != SD_TRANSFER_OK){
- }
-
- if (SD_state != MSD_OK){
- pc.printf("SD WRITE : FAILED.\r\n");
- pc.printf("SD Test Aborted.\r\n");
- } else {
- pc.printf("SD WRITE : OK.\r\n");
-
- SD_state = sd.ReadBlocks(aRxBuffer, BLOCK_START_ADDR, NUM_OF_BLOCKS, 10000);
- /* Wait until SD card is ready to use for new operation */
- while(sd.GetCardState() != SD_TRANSFER_OK){
- }
-
- if (SD_state != MSD_OK){
- pc.printf("SD READ : FAILED.\r\n");
- pc.printf("SD Test Aborted.\r\n");
- } else {
- pc.printf("SD READ : OK.\r\n");
- if(Buffercmp(aTxBuffer, aRxBuffer, BUFFER_WORDS_SIZE) > 0){
- pc.printf("SD COMPARE : FAILED.\r\n");
- pc.printf("SD Test Aborted.\r\n");
- } else {
- pc.printf("SD Test : OK.\r\n");
- pc.printf("SD can be removed.\r\n");
- }
- }
- }
- }
- }
- pc.printf ("\r\n");
-#endif
int qtr_sec = 0, seconds = 0, minutes = 0;
double electrical_power_Watt = 0.0;
@@ -566,40 +405,44 @@
memset (&kybd_b, 0, sizeof(kybd_b));
// spareio_d8.mode (PullUp); now output driving throttle servo
- spareio_d9.mode (PullUp);
+// spareio_d9.mode (PullUp);
spareio_d10.mode(PullUp);
Ticker tick250us;
// Setup User Interrupt Vectors
- mot1hall.fall (&ISR_mot1_hall_handler);
- mot1hall.rise (&ISR_mot1_hall_handler);
- mot2hall.fall (&ISR_mot2_hall_handler);
- mot2hall.rise (&ISR_mot2_hall_handler);
- mot3hall.fall (&ISR_mot3_hall_handler);
- mot3hall.rise (&ISR_mot3_hall_handler);
- mot4hall.fall (&ISR_mot4_hall_handler);
- mot4hall.rise (&ISR_mot4_hall_handler);
-
tick250us.attach_us (&ISR_current_reader, 250); // count 125 of these to trig 31.25ms
// tick32ms.attach_us (&ISR_tick_32ms, 32001);
// tick32ms.attach_us (&ISR_tick_32ms, 31250); // then count 8 pulses per 250ms
// tick250ms.attach_us (&ISR_tick_250ms, 250002);
pc.baud (9600);
-// GfetT1 = 0;
-// GfetT2 = 0; // two output bits for future use driving horns
+ com.baud (19200);
+// ir.baud (1200);
+
+ I_sink1 = 0; // turn outputs off
+ I_sink2 = 0;
+ I_sink3 = 0;
+ I_sink4 = 0;
+ I_sink5 = 0;
if (f_r_switch)
slider.direction = FWD; // make decision from key switch position here
else
slider.direction = REV; // make decision from key switch position here
// max_pwm_ticks = SystemCoreClock / (2 * PWM_HZ); // prescaler min value is 2, or so it would seem. SystemCoreClock returns 216000000 on F746NG board
- maxv.period_ticks (MAX_PWM_TICKS + 1); // around 18 kHz
- maxi.period_ticks (MAX_PWM_TICKS + 1);
+// maxv.period_ticks (MAX_PWM_TICKS + 1); // around 18 kHz
+// maxi.period_ticks (MAX_PWM_TICKS + 1);
set_I_limit (0.0);
set_V_limit (0.0);
-
- pc.printf ("Jon's Touch Screen Loco 2017 sytem starting up %s\r\n", slider.direction ? "Forward":"Reverse");
+ if (slider.direction)
+ com.printf ("fw\r");
+ else
+ com.printf ("re\r");
+// com.printf ("rvi22 55\rkd\r");
+ throttle (0.0); // Set revs to idle. Start engine and warm up before powering up control
+ setup_pccom ();
+ setup_lococom ();
+ pc.printf ("Jon's Touch Screen Loco 2018 sytem starting up %s\r\n", slider.direction ? "Forward":"Reverse");
uint8_t lcd_status = touch_screen.Init(lcd.GetXSize(), lcd.GetYSize());
if (lcd_status != TS_OK) {
lcd.Clear(LCD_COLOR_RED);
@@ -629,31 +472,59 @@
vm_set(); // Draw 3 analogue meter movements, speedo, voltmeter, ammeter
-#ifdef SDCARD
-// mainSDtest();
-#endif
-
// odometer_zero ();
// pc.printf ("Back from odometer_zero\r\n");
double torque_req = 0.0;
bool toggle32ms = false;
// Main loop
-extern void show_all_banks () ;
-// show_all_banks ();
+
+ int boards_fitted[8], bfptr = 0;
+ for (int i = 0; i < 8; i++)
+ boards_fitted[i] = 0;
+ sys_timer_32Hz = 0;
+
+ int last_digit = 0, board_cnt = 0, ch;
+ while (sys_timer_32Hz < 12) { // Sniff out system, discover motor controllers connected
+ while (!trigger_32ms)
+// command_line_interpreter ();
+ clicore (pccom);
+ trigger_32ms = false;
+ if (sys_timer_32Hz < 11) { // issue "0who\r", "1who\r" ... "9who\r"
+ com.putc ((sys_timer_32Hz - 1) | '0');
+ com.printf ("who\r");
+ }
+ while (com.readable()) {
+ ch = com.getc();
+ if (ch != '\r') {
+ if (isdigit(ch))
+ last_digit = ch;
+ }
+ else { // got '\r' at end of line
+ if (isdigit(last_digit))
+ boards_fitted[board_cnt++] = last_digit;
+ last_digit = 0;
+ }
+ }
+ }
+ while (boards_fitted[bfptr]) { // This works, identified BLDC Motor Controller board ID chars '0' to '9' listed in boards_fitted[]
+ pc.printf ("Board %c found\r\n", boards_fitted[bfptr++]);
+ }
+ clicore (pccom);
+ pc.printf ("pcmenuitems %d, commenuitems %d\r\n", pccom.numof_menu_items, lococom.numof_menu_items);
+ // Done setup, time to roll !
while (1) {
struct ky_bd * present_kybd, * previous_kybd;
bool sliderpress = false;
- command_line_interpreter () ; // Do any actions from command line via usb link
+// command_line_interpreter () ; // Do any actions from command line via usb link
+ clicore (pccom);
+
stuff_to_do_every_250us () ;
if (trigger_32ms == true) { // Stuff to do every 32 milli secs
trigger_32ms = false;
-
-// CALL THROTTLE HERE - why here ? Ah yes, this initiates servo pulse. Need steady stream of servo pulses even when nothing changes.
- throttle (torque_req, 2.3);
-
+ clicore (lococom);
toggle32ms = !toggle32ms;
if (toggle32ms) {
present_kybd = &kybd_a;
@@ -679,8 +550,10 @@
k = present_kybd->slider_y; // get position of finger on slider
if (slider.state == RUN && k != slider.position) // Finger has moved within RUN range
slider.recalc_run = true;
- if (slider.state == RUN && k >= NEUTRAL_VAL) // Finger has moved from RUN to BRAKE range
+ if (slider.state == RUN && k >= NEUTRAL_VAL) { // Finger has moved from RUN to BRAKE range
slider.position = k = NEUTRAL_VAL; // kill drive for rapid reaction to braking
+ throttle (0.0);
+ }
else { // nice slow non-jerky glidey movement required
dbl = (double)(k - slider.position);
@@ -704,6 +577,7 @@
/* set_pwm (brake_effort); */
set_V_limit (sqrt(brake_effort)); // sqrt gives more linear feel to control
set_I_limit (1.0);
+ throttle (0.0);
}
} else { // pc.printf ("Slider not touched\r\n");
}
@@ -714,10 +588,10 @@
if (inlist(*present_kybd, k)) {
switch (k) { // Here for auto-repeat type key behaviour
case 21: // key is 'voltmeter'
-// set_V_limit (last_pwm * 1.002 + 0.001);
+// set_V_limit (last_V * 1.002 + 0.001);
break;
case 22: // key is 'ammeter'
-// set_V_limit (last_pwm * 0.99);
+// set_V_limit (last_V * 0.99);
break;
} // endof switch (k)
} // endof if (inlist(*present2, k)) {
@@ -769,23 +643,32 @@
b = NEUTRAL_VAL - b; // now got integer going positive for increasing power demand
torque_req = (double) b;
torque_req /= (NEUTRAL_VAL - MIN_POS); // in range 0.0 to 1.0
- pc.printf ("torque_rec = %.3f, last_pwm = %.3f\r\n", torque_req, last_pwm);
+ pc.printf ("torque_rec = %.3f, last_V = %.3f\r\n", torque_req, last_V);
set_I_limit (torque_req);
+
+ throttle (torque_req); // Think about moderating this and including speed related element
+
if (torque_req < 0.05)
- set_V_limit (last_pwm / 2.0);
+ set_V_limit (last_V / 2.0);
else {
- if (last_pwm < 0.99)
- set_V_limit (last_pwm + 0.05); // ramp voltage up rather than slam to max
+ if (last_V < 0.99)
+ set_V_limit (last_V + 0.05); // ramp voltage up rather than slam to max
}
}
} // endof doing 32ms stuff
if (qtrsec_trig == true) { // do every quarter second stuff here
qtrsec_trig = false;
- speed.qtr_sec_update ();
- double speedmph = speed.MPH(), amps = 0.0 - read_ammeter(), volts = read_voltmeter();
+// speed.qtr_sec_update ();
+// double speedmph = speed.MPH(), amps = 0.0 - read_ammeter(), volts = read_voltmeter();
+ double speedmph = speed2.mph(), amps = 0.0 - read_ammeter(), volts = read_voltmeter();
//static const double mph_2_mm_per_sec = 447.04; // exact
// double mm_travelled_in_qtrsec = speedmph * mph_2_mm_per_sec / 4.0;
+// 1.0 mph = 0.44704 metre per sec
+// = 0.11176 metre per quarter sec
+
+ recent_distance += (speedmph * 111.76); // Convert mph to distance mm travelled in quarter second
+
slider.loco_speed = speedmph;
electrical_power_Watt = volts * amps; // visible throughout main
update_meters (speedmph, electrical_power_Watt, volts) ; // displays speed, volts and power (volts times amps)
@@ -804,31 +687,43 @@
pc.printf ("Handbrake not slipping, effort %.2f\r\n", slider.handbrake_effort);
}
}
+ switch (qtr_sec) { // Can do sequential stuff quarter second apart here
+ case 0:
+ case 2:
+ com.putc (boards_fitted[0]);
+ com.printf ("rpm\r");
+ break;
+ case 1:
+ case 3:
+ com.putc (boards_fitted[1]);
+ com.printf ("rpm\r");
+ break;
+ default:
+ qtr_sec = 0;
+ break;
+ } // End of switch qtr_sec
qtr_sec++;
// Can do stuff once per second here
if(qtr_sec > 3) {
qtr_sec = 0;
seconds++;
+ com.printf ("kd\r"); // Kick the WatchDog timers in the Twin BLDC drive boards
if (seconds > 59) {
seconds = 0;
minutes++;
// do once per minute stuff here
} // fall back into once per second
#ifdef QSPI
+/*
+ Odometer Update stuff now needs fixing to take updagte in form of mm travelled in previous period
+
//bool odometer_update (uint32_t pulsetot, uint16_t pow, uint16_t volt) ; // Hall pulse total updated once per sec and saved in blocks of 4096 bytes on QSPI onboard memory
if (!odometer_update (historic_distance, (uint16_t)electrical_power_Watt, (uint16_t)(volts * 500.0)))
pc.printf ("Probs with odometer_update");
char dist[20];
- sprintf (dist, "%05d m", speed.metres_travelled());
+// sprintf (dist, "%05d m", speed.metres_travelled());
displaytext (236, 226, 2, dist);
-#endif
-#ifdef SDCARD
- if(SD_state == MSD_OK) {
- char dist[20];
- sprintf (dist, "%05d m", speed.metres_travelled());
- displaytext (236, 226, 2, dist);
- update_SD_card (); // Buffers data for SD card, writes when buffer filled
- }
+*/
#endif
// calc_motor_amps( mva);
} // endof if(qtr_sec > 3