main.cpp

00001 #include "mbed.h"
00002 #include "DebouncedIn.h"
00003 
00004 LocalFileSystem local("local");
00005 
00006 DigitalOut SysLiveLED(LED1);    //LED blinking to tell operator that system is live
00007 DigitalOut TestLED1(LED2);      //TestLED
00008 DigitalOut TestLED2(LED3);      //TestLED
00009 DigitalOut UpRelay(p21);        //Relay controlling valve to move actuator towards gear up position         !!TBC for PWM out!!
00010 DigitalOut DownRelay(p22);      //Relay controllinig calve to move actuator towards gear down position      !!TBC for PWM out!!
00011 DebouncedIn ChangeDown(p16);    //Debounced class creating digital input to invoke a gear change down
00012 DebouncedIn ChangeUp(p15);      //Debounced class creating digital input to invoke a gear change up
00013 AnalogIn Position(p20);         //Analogue input to read current position of actuator from POT
00014 CAN CAN1(p9, p10);              //create CAN inteface under the name CAN1
00015 //PID Actuator(0.4312, 0.1, 0.0, 0.01);  //(Kc, Ti, Td, Interval) PID class for control of actuator
00016 
00017 
00018 Ticker SysLive;                 //create Ticker SysLive to blink SysLiveLED
00019 
00020 
00021 static char ID4_data[8] = {0};      //ID4_data is identifier 0x2003 data containing - Gear, Advance (x10), Injection (x10), Fuel Con L/100km (x10)
00022 static char ID3_data[8] = {0};      //ID3_data is identifier 0x2002 data containing - Fuel Kpa, Oil temp C, Volts x 10, Fuel Con. L/Hr (x10)
00023 static char ID2_data[8] = {0};      //ID2_data is identifier 0x2001 data containing - MAP Kpa, Lamda (x100), KPH x 10, Oil P Kpa
00024 static char ID1_data[8] = {0};      //ID2_data is identifier 0x2001 data containing - RPM, TPS %, Water Temp C  , Air Temp C
00025 //static int LookUp[2,100] {0};     //2D look up table of two columns (2 PWM ouputs) and 100??? rows (0-100 percent) to change PID value into desired PWM output
00026 char CurrentGear = 0;
00027 int i = 0;
00028 
00029 
00030 void SysLive_ISR(void);
00031 void ReadGear(void);
00032 void ChangeGearUp(void);
00033 void ChangeGearDown(void);
00034 void ChangeGearNeutral(void);
00035 
00036 int main() 
00037 {
00038 SysLive.attach(SysLive_ISR, 0.1);   //create Ticker                      
00039 CAN1.frequency(1000000);
00040 
00041 DownRelay = 1;
00042 UpRelay = 1;
00043 
00044 static CANMessage ID4 = CANMessage(0x2003, ID4_data, 8, CANData, CANExtended);
00045 static CANMessage ID3 = CANMessage(0x2002, ID3_data, 8, CANData, CANExtended);
00046 static CANMessage ID2 = CANMessage(0x2001, ID2_data, 8, CANData, CANExtended);
00047 static CANMessage ID1 = CANMessage(0x2000, ID1_data, 8, CANData, CANExtended);
00048 
00049     while(1)
00050     {
00051     if(ChangeUp.falling())
00052         {
00053         TestLED1 = 1;
00054         wait(0.1);
00055         TestLED1 = 0;
00056          switch (CurrentGear)
00057             {
00058             case 0:
00059             case 1:
00060             case 2:
00061             case 3:
00062             case 4:
00063             case 5:
00064             ChangeGearUp();
00065             break;
00066             case 6:
00067             CurrentGear--;
00068             break;
00069             }//end up change switch
00070         CurrentGear = CurrentGear++;
00071         }// end up change if
00072         
00073     if(ChangeDown.falling())
00074         {
00075         TestLED2 = 1;
00076         wait(0.1);
00077         TestLED2 = 0;
00078         switch (CurrentGear)
00079             {
00080             case 6:
00081             case 5:
00082             case 4:
00083             case 3:
00084             case 2:
00085             ChangeGearDown();
00086             break;
00087             case 1:
00088             ChangeGearNeutral();
00089             break;
00090             case 0:
00091             CurrentGear++;
00092             break;
00093             }//end down change switch
00094         CurrentGear = CurrentGear--;
00095         }// end down change if
00096         
00097     }//end while loop
00098 }//end program
00099 
00100 /*
00101 
00102 */
00103 void SysLive_ISR()
00104 {
00105     SysLiveLED = !SysLiveLED;
00106 }
00107 
00108 void ChangeGearUp(void)
00109 {
00110 /*
00111 Testing boring stuff
00112     UpRelay = 0;
00113     wait(0.2);
00114     UpRelay = 1;
00115     DownRelay = 0;
00116     wait(0.2);
00117     DownRelay = 1;
00118 */
00119     //Actuator.setSetPoint(GearUpEndPoint)
00120     //while((Position != GearUpEndPoint))
00121         //{
00122         //update current process value i.e. call the Actuator.setProcessValue(fabs(Position));
00123         //Actuator.compute();
00124         //Call the PWM output to reflect the new desired PID value by look up this PID value (%) against the lookup table
00125         //}
00126     //Actuator.setSetPoint(GearCentral)
00127     //while((Position != GearCentral))
00128         //{
00129         ////update current process value i.e. call the Actuator.setProcessValue(fabs(Position));
00130         //Actuator.compute();
00131         //Call the PWM output to reflect the new desired PID value by look up this PID value (%) against the lookup table
00132         //}
00133 }
00134 
00135 void ChangeGearDown(void)
00136 {
00137 /*
00138     DownRelay = 0;
00139     wait(0.2);
00140     DownRelay = 1;
00141     UpRelay = 0;
00142     wait(0.2);
00143     UpRelay = 1;
00144 */
00145     //Actuator.setSetPoint(GearDownEndPoint)
00146     //while((Position != GearDownEndPoint))
00147         //{
00148         //update current process value i.e. call the Actuator.setProcessValue(fabs(Position));
00149         //Actuator.compute();
00150         //Call the PWM output to reflect the new desired PID value by look up this PID value (%) against the lookup table
00151         //}
00152     //Actuator.setSetPoint(GearCentral)
00153     //while((Position != GearCentral))
00154         //{
00155         ////update current process value i.e. call the Actuator.setProcessValue(fabs(Position));
00156         //Actuator.compute();
00157         //Call the PWM output to reflect the new desired PID value by look up this PID value (%) against the lookup table
00158         //}
00159 }
00160 
00161 void ChangeGearNeutral(void)
00162 {
00163     while (Position!=0.744)
00164     {
00165         UpRelay = 0;
00166         wait_ms(1);
00167         UpRelay = 1;
00168         wait_ms(9);
00169     }
00170 }
00171 
00172 
00173 void ReadGear()
00174 {
00175 
00176 }
00177 
00178 
00179 
00180 //M40 south, roundabout A34 oxford, Whitchurch, past Station Road go down Dancers Lane, left through overton, oakley come to oakley hall, on right pack lane after big white house, crossroads straight across,