Miguel Angel Caycho
para el ventilador
Diff: stepper_motor_driver.cpp
- Revision:
- 3:45299e7882b9
- Parent:
- 2:6f618b905d4f
- Child:
- 4:d42e1953243c
--- a/stepper_motor_driver.cpp Thu Apr 16 13:22:16 2020 +0000
+++ b/stepper_motor_driver.cpp Fri Apr 17 11:22:43 2020 +0000
@@ -1,3 +1,4 @@
+
#include "mbed.h"
#include "project_defines.h"
@@ -5,6 +6,7 @@
#include "buttons.h"
#include "tft_interface.h"
#include "FastPWM.h"
+#include "ventilator.h"
/* Object definition */
InterruptIn stepper_pulse_feedback(STEPPER_PULSE_FEEDBACK_PIN);
@@ -12,8 +14,13 @@
DigitalOut stepper_en(STEPPER_ENABLE_PIN);
DigitalOut stepper_dir(STEPPER_DIRECTION_PIN);
+// For testing pusposes only
+Serial pc (USBTX, USBRX);
+
+
/* Variable definition */
+volatile uint8_t stepper_parameters_update_flag = 0;
// ----------------------- Tables used for calculations ------------------------
@@ -39,18 +46,27 @@
0.781, 0.801, 0.820, 0.837, 0.853, 0.867, 0.881, 0.893, 0.904, 0.914,
0.923, 0.931, 0.939, 0.945, 0.951, 0.957, 0.961, 0.966, 0.969, 0.973,
0.976, 0.979, 0.981, 0.983, 0.985, 0.987, 0.988, 0.989, 0.991, 0.992,
- 0.993, 0.994, 0.994, 0.995, 0.995, 0.996, 0.996, 0.997, 0.997, 0.998f
+ 0.993, 0.994, 0.994, 0.995, 0.995, 0.996, 0.996, 0.997, 0.997, 0.998
};
#else
#error "Seleccionar un valor permitido para RAMP_STEPS: Puede ser 50 o 100"
#endif
+
+const float short_sigma_ramp[SHORT_RAMP_STEPS] = {
+ 0.002, 0.004, 0.007, 0.011, 0.018, 0.029, 0.047, 0.076, 0.119, 0.182,
+ 0.269, 0.378, 0.500, 0.622, 0.731, 0.818, 0.881, 0.924, 0.953, 0.971,
+ 0.982, 0.989, 0.993, 0.996, 0.998
+};
+
+
// -----------------------------------------------------------------------------
uint32_t calibration_period_rise_ramp_us[RAMP_STEPS];
uint32_t inspiration_period_rise_ramp_us[RAMP_STEPS];
uint32_t expiration_period_rise_ramp_us[RAMP_STEPS];
+uint32_t expiration_period_short_rise_ramp_us[SHORT_RAMP_STEPS];
// These parameters are configurer through the graphic interface */
uint32_t inspiration_stepper_pulses_setpoint = STEPPER_DRIVER_INSPIRATION_PULSES_DEFAULT ;
@@ -61,17 +77,17 @@
// Volume setpoint (250mL, 300mL, 350ml ... 750ml) expressed in steps
uint32_t volume_in_steps[VOLUME_SETPOINT_INDEX_LIMIT] = {
- 1600, //250 mL
- 1700, //300 mL
- 1800, //350 mL
- 1900, //400 mL
- 2000, //450 mL
- 2100, //500 mL
- 2200, //550 mL
- 2300, //600 mL
- 2400, //650 mL
- 2500, //700 mL
- 2600 //750 mL
+ 720, // 1600, //250 mL
+ 765, // 1700, //300 mL
+ 810, // 1800, //350 mL
+ 855, // 1900, //400 mL
+ 900, // 2000, //450 mL
+ 945, // 2100, //500 mL
+ 990, // 2200, //550 mL
+ 1035, // 2300, //600 mL
+ 1080, // 2400, //650 mL
+ 1125, // 2500, //700 mL
+ 1170 // 2600 //750 mL
};
@@ -91,7 +107,8 @@
stepper_pulse.period_us((int)calibration_stepper_pulse_period_us);
stepper_pulse.write(0.0f);
stepper_pulse_feedback.fall(&Stepper_Driver_Pulse_Signal_Update);
- stepper_driver_state = Stepper_Inspiration_Finish;
+ stepper_driver_state = Stepper_Inspiration_Finish;
+ stepper_parameters_update_flag = 1;
// Just for testing purposes
//inspiration_stepper_pulses_setpoint = volume_in_steps[10];
}
@@ -108,6 +125,31 @@
}
+void Stepper_Update_Parameters(void){
+
+ int8_t stepper_volume_index;
+ float total_time, total_time_sec, insp_time_sec, exp_time_sec;
+
+ /* Update the value of the volume setpoint (expressed in steps) */
+ stepper_volume_index = (volume_setpoint - VOLUME_SETPOINT_MINIMUM_VALUE) / VOLUME_SETPOINT_STEP;
+ inspiration_stepper_pulses_setpoint = volume_in_steps[stepper_volume_index];
+
+ /* Update the value of the pulse periods in microseconds */
+ total_time = inspiration_time + expiration_time;
+ total_time_sec = 60 / resp_frequency;
+ insp_time_sec = (total_time_sec * inspiration_time) / total_time;
+ exp_time_sec = (total_time_sec * expiration_time) / total_time;
+ inspiration_stepper_pulse_period_us = (uint32_t)((1000000.0 * insp_time_sec) / inspiration_stepper_pulses_setpoint);
+ expiration_stepper_pulse_period_us = (uint32_t)((1000000.0 * exp_time_sec) / inspiration_stepper_pulses_setpoint);
+
+ /* Just for testing purposes */
+ pc.printf("Periodo de pulsos de ida: %d us\n\r", inspiration_stepper_pulse_period_us);
+ pc.printf("Periodo de pulsos de vuelta: %d us\n\r", expiration_stepper_pulse_period_us);
+ pc.printf("Cantidad de pulsos: %d \n\n\r", inspiration_stepper_pulses_setpoint);
+
+
+}
+
void Stepper_Calculate_Period_Ramp(void){
@@ -137,6 +179,18 @@
expiration_period_rise_ramp_us[i] = (uint32_t)period_i_us;
}
+ /* Period short rise ramp for expiration */
+ initial_frequency = (float)STEPPER_START_BRAKE_FREQUENCY_HZ;
+ final_frequency = 1000000.0 / (float)expiration_stepper_pulse_period_us;
+ frequency_ramp_range = final_frequency - initial_frequency;
+
+ for(i = 0; i < SHORT_RAMP_STEPS; i++){
+ frequency_i_hz = initial_frequency + (frequency_ramp_range * sigma_ramp[i]);
+ period_i_us = 1000000.0 / frequency_i_hz;
+ expiration_period_short_rise_ramp_us[i] = (uint32_t)period_i_us;
+ }
+
+
}
@@ -180,6 +234,12 @@
break;
// -----------------------------------------------------------------------
case Stepper_Expiration_Finish:
+
+ if(stepper_parameters_update_flag){
+ stepper_parameters_update_flag = 0;
+ Stepper_Update_Parameters();
+ Stepper_Calculate_Period_Ramp();
+ }
stepper_pulse_counter = 0;
stepper_ramp_pulse_counter = 0;
@@ -188,7 +248,7 @@
stepper_pulse.write(0.5);
stepper_driver_state = Stepper_Inspiration_Rising_Ramp;
- break;
+ break;
// --------------------------------------------------------------------
case Stepper_Limit_Sensor_Error:
// Stop the system
@@ -282,15 +342,16 @@
break;
// --------------------------------------------------------------------
case Stepper_Expiration_Falling_Ramp:
- if(stepper_ramp_pulse_counter < RAMP_STEPS){
+ if(stepper_ramp_pulse_counter < SHORT_RAMP_STEPS){
stepper_ramp_pulse_counter++;
- stepper_pulse.period_us((int)expiration_period_rise_ramp_us[RAMP_STEPS - stepper_ramp_pulse_counter]);
+ stepper_pulse.period_us((int)expiration_period_short_rise_ramp_us[SHORT_RAMP_STEPS - stepper_ramp_pulse_counter]);
stepper_pulse.write(0.5);
- }else if(stepper_ramp_pulse_counter == RAMP_STEPS){
+ }else if(stepper_ramp_pulse_counter == SHORT_RAMP_STEPS){
stepper_pulse.period_us((int)STEPPER_START_BRAKE_PERIOD_US);
stepper_pulse.write(0.5);
stepper_ramp_pulse_counter++;
}else{
+ stepper_ramp_pulse_counter = 0;
stepper_pulse.write(0.0);
stepper_driver_state = Stepper_Expiration_Finish;
}