Dependencies: KellerDruck_pressure PID PWM-Coil-driver Sensirion_SF04 VL6180
Fork of PUMP_SCRIPT1 by
main.cpp@7:b385e6a3f622, 2017-08-03 (annotated)
- Committer:
- 212600191
- Date:
- Thu Aug 03 19:07:43 2017 +0000
- Revision:
- 7:b385e6a3f622
- Parent:
- 5:f2cb21046678
- Child:
- 8:bf86306ce7bf
jfkdd;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
dmwahl | 0:67debf2ccbc2 | 1 | #include "main.h" |
iwolf32 | 4:79b23d1fbcd1 | 2 | //--------------------------- |
iwolf32 | 4:79b23d1fbcd1 | 3 | void dutycycleincrease() |
iwolf32 | 4:79b23d1fbcd1 | 4 | { |
iwolf32 | 4:79b23d1fbcd1 | 5 | dutycycle=dutycycle+0.01; |
iwolf32 | 4:79b23d1fbcd1 | 6 | } |
dmwahl | 0:67debf2ccbc2 | 7 | |
iwolf32 | 4:79b23d1fbcd1 | 8 | void dutycycledecrease() |
iwolf32 | 4:79b23d1fbcd1 | 9 | { |
iwolf32 | 4:79b23d1fbcd1 | 10 | dutycycle=dutycycle-0.01; |
iwolf32 | 4:79b23d1fbcd1 | 11 | } |
iwolf32 | 4:79b23d1fbcd1 | 12 | |
iwolf32 | 4:79b23d1fbcd1 | 13 | void frequencyincrease() |
iwolf32 | 4:79b23d1fbcd1 | 14 | { |
iwolf32 | 4:79b23d1fbcd1 | 15 | frequency=frequency+1; |
iwolf32 | 4:79b23d1fbcd1 | 16 | } |
iwolf32 | 4:79b23d1fbcd1 | 17 | void frequencydecrease() |
iwolf32 | 4:79b23d1fbcd1 | 18 | { |
iwolf32 | 4:79b23d1fbcd1 | 19 | frequency=frequency-1; |
iwolf32 | 4:79b23d1fbcd1 | 20 | } |
iwolf32 | 4:79b23d1fbcd1 | 21 | void injectorvalvecontrol(){ |
iwolf32 | 4:79b23d1fbcd1 | 22 | |
iwolf32 | 4:79b23d1fbcd1 | 23 | while(true){ |
iwolf32 | 4:79b23d1fbcd1 | 24 | float openvalue=(((1/frequency)*dutycycle)); |
iwolf32 | 4:79b23d1fbcd1 | 25 | float offvalue=(1/frequency)-openvalue; |
iwolf32 | 4:79b23d1fbcd1 | 26 | |
iwolf32 | 4:79b23d1fbcd1 | 27 | injector.on(); |
iwolf32 | 4:79b23d1fbcd1 | 28 | wait(openvalue); |
iwolf32 | 4:79b23d1fbcd1 | 29 | injector.off(); |
iwolf32 | 4:79b23d1fbcd1 | 30 | wait(offvalue); |
iwolf32 | 4:79b23d1fbcd1 | 31 | } |
iwolf32 | 4:79b23d1fbcd1 | 32 | } |
iwolf32 | 4:79b23d1fbcd1 | 33 | |
iwolf32 | 4:79b23d1fbcd1 | 34 | //----------------------------- |
dmwahl | 0:67debf2ccbc2 | 35 | void pumpTachTrigger() |
dmwahl | 0:67debf2ccbc2 | 36 | { |
212600191 | 7:b385e6a3f622 | 37 | |
dmwahl | 0:67debf2ccbc2 | 38 | pumpTachCounts++; |
dmwahl | 0:67debf2ccbc2 | 39 | } |
dmwahl | 0:67debf2ccbc2 | 40 | |
dmwahl | 0:67debf2ccbc2 | 41 | void pump_tach_update() |
dmwahl | 0:67debf2ccbc2 | 42 | { |
dmwahl | 0:67debf2ccbc2 | 43 | float i = pumpTachCounts; // In case it triggers mid-calculation |
212600191 | 7:b385e6a3f622 | 44 | pumpTachCounts=0; |
dmwahl | 0:67debf2ccbc2 | 45 | pumpRpm = (i/pumpTachPoles)*60; |
dmwahl | 0:67debf2ccbc2 | 46 | } |
dmwahl | 0:67debf2ccbc2 | 47 | |
dmwahl | 0:67debf2ccbc2 | 48 | void pump_init() |
dmwahl | 0:67debf2ccbc2 | 49 | { |
dmwahl | 0:67debf2ccbc2 | 50 | pump.period(.001); // 1kHz PWM |
dmwahl | 0:67debf2ccbc2 | 51 | pump = 0; |
212600191 | 7:b385e6a3f622 | 52 | |
212600191 | 7:b385e6a3f622 | 53 | |
iwolf32 | 4:79b23d1fbcd1 | 54 | //ledGrn.period(.001); |
dmwahl | 1:d58df8cb271d | 55 | |
212600191 | 7:b385e6a3f622 | 56 | |
212600191 | 7:b385e6a3f622 | 57 | |
dmwahl | 1:d58df8cb271d | 58 | |
dmwahl | 0:67debf2ccbc2 | 59 | pump_control_PID.setInputLimits(pumpMinPSI, pumpMaxPSI); |
dmwahl | 0:67debf2ccbc2 | 60 | pump_control_PID.setOutputLimits(0.0, 1.0); // Output is a PWM signal ranging from 0-1 |
dmwahl | 0:67debf2ccbc2 | 61 | pump_control_PID.setMode(AUTO_MODE); |
dmwahl | 0:67debf2ccbc2 | 62 | pump_control_PID.setSetPoint(((double)pot2)*pumpMaxPSI); // pump setpoint based on pot 2*/ |
dmwahl | 0:67debf2ccbc2 | 63 | } |
dmwahl | 0:67debf2ccbc2 | 64 | |
dmwahl | 0:67debf2ccbc2 | 65 | void pump_pid_update(char error) |
dmwahl | 0:67debf2ccbc2 | 66 | { |
dmwahl | 0:67debf2ccbc2 | 67 | if (pumpPressure.status != 0x40) { |
dmwahl | 0:67debf2ccbc2 | 68 | pump = 0; |
dmwahl | 0:67debf2ccbc2 | 69 | pump_control_PID.reset(); |
dmwahl | 0:67debf2ccbc2 | 70 | } else { |
dmwahl | 0:67debf2ccbc2 | 71 | pump_control_PID.setSetPoint(((double)pot2)*pumpMaxPSI); |
dmwahl | 0:67debf2ccbc2 | 72 | |
dmwahl | 0:67debf2ccbc2 | 73 | //Update the process variable. |
dmwahl | 0:67debf2ccbc2 | 74 | pump_control_PID.setProcessValue(pumpPressure.pressurePSI); |
dmwahl | 0:67debf2ccbc2 | 75 | //PID calculation and set the new output value. |
dmwahl | 0:67debf2ccbc2 | 76 | pump = pump_control_PID.compute(); |
dmwahl | 0:67debf2ccbc2 | 77 | //pump = 0.1; |
iwolf32 | 4:79b23d1fbcd1 | 78 | //ledGrn = ((float)1.0-pump.read()); |
dmwahl | 0:67debf2ccbc2 | 79 | } |
dmwahl | 0:67debf2ccbc2 | 80 | } |
dmwahl | 0:67debf2ccbc2 | 81 | |
dmwahl | 0:67debf2ccbc2 | 82 | void update_pressures() |
dmwahl | 0:67debf2ccbc2 | 83 | { |
dmwahl | 0:67debf2ccbc2 | 84 | Timer timer; |
dmwahl | 0:67debf2ccbc2 | 85 | timer.start(); |
dmwahl | 0:67debf2ccbc2 | 86 | char error; |
dmwahl | 0:67debf2ccbc2 | 87 | while (true) { |
dmwahl | 0:67debf2ccbc2 | 88 | i2c1_m.lock(); |
dmwahl | 0:67debf2ccbc2 | 89 | timer.reset(); |
dmwahl | 0:67debf2ccbc2 | 90 | error = pumpPressure.readPT(); |
iwolf32 | 4:79b23d1fbcd1 | 91 | //error |= mixerPressure.readPT(); |
dmwahl | 0:67debf2ccbc2 | 92 | int wait = (200 - timer.read_ms()); |
dmwahl | 0:67debf2ccbc2 | 93 | i2c1_m.unlock(); |
dmwahl | 0:67debf2ccbc2 | 94 | Thread::wait(wait); |
dmwahl | 0:67debf2ccbc2 | 95 | pump_pid_update(error); |
dmwahl | 0:67debf2ccbc2 | 96 | } |
dmwahl | 0:67debf2ccbc2 | 97 | } |
dmwahl | 0:67debf2ccbc2 | 98 | |
212600191 | 5:f2cb21046678 | 99 | /*void update_flow1() |
dmwahl | 0:67debf2ccbc2 | 100 | { |
dmwahl | 0:67debf2ccbc2 | 101 | Timer timer; |
dmwahl | 0:67debf2ccbc2 | 102 | timer.start(); |
dmwahl | 0:67debf2ccbc2 | 103 | char error; |
dmwahl | 0:67debf2ccbc2 | 104 | while (true) { |
dmwahl | 0:67debf2ccbc2 | 105 | i2c2_m.lock(); |
dmwahl | 0:67debf2ccbc2 | 106 | timer.reset(); |
iwolf32 | 4:79b23d1fbcd1 | 107 | error = mainflow.Measure(FLOW); |
dmwahl | 0:67debf2ccbc2 | 108 | int wait = (200 - timer.read_ms()); |
dmwahl | 0:67debf2ccbc2 | 109 | i2c2_m.unlock(); |
dmwahl | 0:67debf2ccbc2 | 110 | Thread::wait(wait); |
dmwahl | 0:67debf2ccbc2 | 111 | } |
dmwahl | 0:67debf2ccbc2 | 112 | } |
dmwahl | 0:67debf2ccbc2 | 113 | |
iwolf32 | 4:79b23d1fbcd1 | 114 | //------------------------------------------------ |
iwolf32 | 4:79b23d1fbcd1 | 115 | void update_flow2() |
dmwahl | 1:d58df8cb271d | 116 | { |
dmwahl | 1:d58df8cb271d | 117 | Timer timer; |
dmwahl | 1:d58df8cb271d | 118 | timer.start(); |
iwolf32 | 4:79b23d1fbcd1 | 119 | char error; |
dmwahl | 1:d58df8cb271d | 120 | while (true) { |
iwolf32 | 4:79b23d1fbcd1 | 121 | i2c3_m.lock(); |
dmwahl | 1:d58df8cb271d | 122 | timer.reset(); |
iwolf32 | 4:79b23d1fbcd1 | 123 | error = loopflow.Measure(FLOW); |
iwolf32 | 4:79b23d1fbcd1 | 124 | int wait = (200 - timer.read_ms()); |
iwolf32 | 4:79b23d1fbcd1 | 125 | i2c3_m.unlock(); |
dmwahl | 1:d58df8cb271d | 126 | Thread::wait(wait); |
dmwahl | 1:d58df8cb271d | 127 | } |
212600191 | 5:f2cb21046678 | 128 | }*/ |
iwolf32 | 4:79b23d1fbcd1 | 129 | //------------------------------------------------ |
dmwahl | 1:d58df8cb271d | 130 | |
dmwahl | 0:67debf2ccbc2 | 131 | void print_process_values() |
dmwahl | 0:67debf2ccbc2 | 132 | { |
dmwahl | 0:67debf2ccbc2 | 133 | //Thread::wait(100); // Wait initially to allow sensors to update, prevents a zero reading from going to serial |
dmwahl | 0:67debf2ccbc2 | 134 | Timer timer; |
dmwahl | 0:67debf2ccbc2 | 135 | timer.start(); |
dmwahl | 0:67debf2ccbc2 | 136 | while (true) { |
dmwahl | 0:67debf2ccbc2 | 137 | stdio_m.lock(); |
dmwahl | 0:67debf2ccbc2 | 138 | timer.reset(); |
dmwahl | 0:67debf2ccbc2 | 139 | |
212600191 | 7:b385e6a3f622 | 140 | pc.printf(" %.02fprespsi %.01fsetpsi %.0fRPM %.02fHz %.02f\r\n", |
212600191 | 7:b385e6a3f622 | 141 | pumpPressure.pressurePSI, ((double)pot2-.002)*pumpMaxPSI, pumpRpm, |
212600191 | 5:f2cb21046678 | 142 | frequency, dutycycle);//, agentlevel; |
dmwahl | 0:67debf2ccbc2 | 143 | int wait = (1000 - timer.read_ms()); |
dmwahl | 1:d58df8cb271d | 144 | |
dmwahl | 0:67debf2ccbc2 | 145 | stdio_m.unlock(); |
dmwahl | 0:67debf2ccbc2 | 146 | Thread::wait(wait); |
dmwahl | 0:67debf2ccbc2 | 147 | } |
dmwahl | 0:67debf2ccbc2 | 148 | } |
dmwahl | 0:67debf2ccbc2 | 149 | |
dmwahl | 0:67debf2ccbc2 | 150 | // main() runs in its own thread in the OS |
dmwahl | 0:67debf2ccbc2 | 151 | int main() |
dmwahl | 0:67debf2ccbc2 | 152 | { |
dmwahl | 0:67debf2ccbc2 | 153 | pump_init(); |
212600191 | 7:b385e6a3f622 | 154 | pump_tach_update(); |
iwolf32 | 4:79b23d1fbcd1 | 155 | //ledBlu = 1; |
dmwahl | 0:67debf2ccbc2 | 156 | pc.printf("Serenity Starting up...\n\r"); |
iwolf32 | 4:79b23d1fbcd1 | 157 | //-------------------------------------------- |
iwolf32 | 4:79b23d1fbcd1 | 158 | dutycycleup.rise(&dutycycleincrease); |
iwolf32 | 4:79b23d1fbcd1 | 159 | dutycycledown.rise(&dutycycledecrease); |
iwolf32 | 4:79b23d1fbcd1 | 160 | frequencyup.rise(&frequencyincrease); |
212600191 | 7:b385e6a3f622 | 161 | frequencydown.rise(&frequencydecrease); |
212600191 | 7:b385e6a3f622 | 162 | pumpTach.rise(&pumpTachTrigger); |
212600191 | 7:b385e6a3f622 | 163 | pump_tach_ticker.attach(&pump_tach_update, 1.0); |
dmwahl | 0:67debf2ccbc2 | 164 | |
iwolf32 | 4:79b23d1fbcd1 | 165 | //Thread to execute injector valve control |
iwolf32 | 4:79b23d1fbcd1 | 166 | Injector_Valve_Control.set_priority(osPriorityHigh); |
iwolf32 | 4:79b23d1fbcd1 | 167 | Injector_Valve_Control.start(injectorvalvecontrol); |
iwolf32 | 4:79b23d1fbcd1 | 168 | //-------------------------------------------- |
dmwahl | 1:d58df8cb271d | 169 | |
dmwahl | 0:67debf2ccbc2 | 170 | // Thread to poll pressure sensors |
dmwahl | 0:67debf2ccbc2 | 171 | update_pressures_t.set_priority(osPriorityNormal); |
iwolf32 | 4:79b23d1fbcd1 | 172 | update_pressures_t.start(update_pressures); |
dmwahl | 0:67debf2ccbc2 | 173 | |
iwolf32 | 4:79b23d1fbcd1 | 174 | // Thread to poll flow sensor |
212600191 | 5:f2cb21046678 | 175 | //update_flow1_t.set_priority(osPriorityNormal); |
212600191 | 5:f2cb21046678 | 176 | //update_flow1_t.start(update_flow1); |
iwolf32 | 4:79b23d1fbcd1 | 177 | |
iwolf32 | 4:79b23d1fbcd1 | 178 | //Thread to poll flow sensor |
212600191 | 5:f2cb21046678 | 179 | //update_flow2_t.set_priority(osPriorityNormal); |
212600191 | 5:f2cb21046678 | 180 | //update_flow2_t.start(update_flow2); |
dmwahl | 0:67debf2ccbc2 | 181 | |
dmwahl | 0:67debf2ccbc2 | 182 | // Thread to send process values to serial port |
dmwahl | 0:67debf2ccbc2 | 183 | print_process_values_t.set_priority(osPriorityLow); |
dmwahl | 0:67debf2ccbc2 | 184 | print_process_values_t.start(&print_process_values); |
212600191 | 7:b385e6a3f622 | 185 | |
212600191 | 7:b385e6a3f622 | 186 | |
dmwahl | 0:67debf2ccbc2 | 187 | |
212600191 | 7:b385e6a3f622 | 188 | |
212600191 | 7:b385e6a3f622 | 189 | |
iwolf32 | 4:79b23d1fbcd1 | 190 | |
212600191 | 7:b385e6a3f622 | 191 | |
dmwahl | 0:67debf2ccbc2 | 192 | } |
dmwahl | 0:67debf2ccbc2 | 193 |