main.cpp

00001 #include "mbed.h"
00002 #include "HWsetup.h"
00003 
00004 //MicroLab, simplified. No DSA.
00005 
00006 
00007 DigitalOut ledpin(LED1);              // LED output 
00008 AnalogOut dac_1(PA_4);                // DAC output pin
00009 DigitalOut comp_time(PA_12);           // D2
00010 DigitalOut ref_trig(D6);
00011 
00012 
00013 
00014 Serial pc(PA_2, PA_3);
00015 int Lcount = 0;
00016 float U_ref = 0.0f;
00017 float U = 0.0f;
00018 float Uv = 0.0f;
00019 float Y = 0.0f;
00020 int Yint = 0;
00021 float ctrl_error = 0.0f;
00022 
00023 
00024 extern "C" void TIM1_UP_TIM16_IRQHandler(void) {
00025   
00026   if (TIM1->SR & TIM_SR_UIF ) {
00027     //comp_time = 1;
00028     if ( TIM1->CR1 & TIM_CR1_DIR ) {
00029     
00030     comp_time = 1;
00031         
00032         while ((ADC1->ISR) & ADC_ISR_EOC == 0 ) {}       //   wait til ADC finishes conversion
00033         DAC->DHR12R1 = (ADC1->DR);                       //   set ADC value to DAC
00034         
00035         //set reference
00036         if (Lcount == 250) {            U_ref = 0.050f; ref_trig = 1;}   //50 mA
00037         if (Lcount == 500) {Lcount = 0, U_ref = 0.025f; ref_trig = 0;}   //25 mA
00038         Lcount++;
00039         
00040         
00041         // fix these
00042         float ADC_gain = 1.0f;
00043         float Current_gain = 1.0f;  
00044         Uv = int(ADC1->DR) * ADC_gain;              //   get ADC input in volts
00045         U = Uv * Current_gain;                         //   get U in amps, divide by resistor divider gain
00046         
00047         
00048 
00049         //controller
00050         ctrl_error = U_ref-U; 
00051 
00052         // Bang-bang controller is written below. Replace this with your PI controller.
00053         
00054         if (U > 4096*0.4f) { Y = 0.3f*1440.0f; }   // ADC readings scaled correctly
00055         if (U < 4096*0.2f) { Y = 0.7f*1440.0f; }
00056         
00057         
00058         // end controller
00059 
00060         float PWM_gain = 1.0f;      // fix this
00061 
00062         Yint = Y*PWM_gain;           //convert Y to integer and scale
00063         if (Yint > 1430) { Yint = 1430; }  // constrain
00064         if (Yint < 0) { Yint = 0; }        
00065         
00066         TIM1->CCR1 = Yint;  // set duty cycle
00067     
00068         
00069 
00070 
00071         }
00072     comp_time = 0;
00073     }
00074   TIM1->SR = 0x0;
00075 }
00076 
00077 
00078 int main() {
00079     
00080     wait_ms(200);
00081     pc.baud(115200);
00082     pc.printf(" bumping clock  ");       // set micro freq to 72MHz
00083     BumpClock();   // must be done before PWM setup, otherwise RCC gets confused
00084     pc.baud(102400);                     // actually 115200
00085     pc.printf(" clock ready ");
00086     wait_ms(50);
00087     Init_All_HW();                     // Setup PWM, ADC
00088     wait_ms(50);
00089     Init_ADC_Tim_Sync(); 
00090     wait_ms(5);
00091     TIM1->BDTR |= TIM_BDTR_MOE;    // enable switching
00092     TIM1->DIER |= TIM_DIER_UIE;    // start interrupt
00093     wait_ms(5);
00094     
00095     while(1) {
00096         //while(1) {}
00097         
00098         
00099         ledpin = !ledpin; // toggle LED
00100         pc.printf(" ADC raw: %i ",ADC1->DR);
00101         pc.printf("U, amps: %f ",U);
00102           pc.printf(" Y, volts: %f ",Y);
00103           pc.printf(" Y, PWM counts: %i ",Yint);
00104           pc.printf(" \r\n");
00105 
00106 
00107 
00108         
00109     }
00110 }