File content as of revision 1:610dc7763656:

#include "mbed.h"
//#include "rtos.h"

//Declare hardware inputs
Timer timer;
AnalogIn potSet(A0);
AnalogIn pressureDAQZO(A1);
PwmOut pumpStep(D8);
DigitalOut dir(D9);
DigitalOut visDir(LED2);
PwmOut r(LED_RED);
PwmOut g(LED_GREEN);
PwmOut b(LED_BLUE);

//Declare globals
char bufferIn[10];
char bufferOut[8];
char hexCCIn[2];
char hexDDDDIn[4];
int decCCIn;
int decDDDDIn;

unsigned long lastTime; //start it at 0, so at least one run of computePressureCommand is guaranteed
float outputCmd, iTerm;
float kp=2/9.9;
float ki=0;
float setPoint=0.000f;
int sampleTime = 250; //1/4 sec
float outMin=-1.0;
float outMax=1.0;
float smallChange=0.01*9.9/5;
float oldOutputCmd; //dont need
bool runPump=false;

//------------------------------------
// Hyperterminal configuration 9600 bauds, 8N
//------------------------------------
Serial pc(USBTX, USBRX);

void ledConfirmReceive()
{
    r=1;
    g=1;
    b=0.9;
}

void ledConfirmSent()
{
    r=1;
    g=0.9;
    b=1;
}


int hexToDec(char hex[])
{
    int decValue = strtol(hex, NULL, 16);

    return decValue;

}

int hexToDecSub(char hex[], int st, int ed)
{
    int n=ed-st+1;
    char hexSubset[n];
    for(int i=st; i<ed+1; i++) {
        hexSubset[i-st]=hex[i];
    }

    int decValue = strtol(hexSubset, NULL, 16);
    return decValue;

}

void computePressureCommand()
{
    unsigned int now = timer.read_ms();
    int nSamplesToAverage=10;
    int timeChange = (now - lastTime);
    if(timeChange>=sampleTime)   {

        float avePressureDAQZO=0;
        for (int i=0; i<nSamplesToAverage; i++) {
            avePressureDAQZO = avePressureDAQZO+pressureDAQZO;
        }
        avePressureDAQZO=avePressureDAQZO/(double)(nSamplesToAverage);
        //setPoint = potSet;
        float inputPressure=avePressureDAQZO*9.9;

        float error = setPoint - inputPressure;

        iTerm+= (ki * error);
        if(iTerm > outMax) iTerm= outMax;
        else if(iTerm < outMin) iTerm= outMin;

        outputCmd = kp * error + iTerm;
        if(outputCmd > outMax) outputCmd = outMax;
        else if(outputCmd < outMin) outputCmd = outMin;

        visDir=0;
        if (outputCmd < 0) {
            dir=1;
            visDir=1;
            outputCmd = outputCmd * -1.0;
        } else dir=0;

        if (abs(error) > smallChange) {
            pumpStep.write(0.50f); // turn back on
            pumpStep.period_us((1.0/outputCmd)*200);
        } else pumpStep.write(0.0f); //shut off steps for too small change


        char signSetPoint='+';
        if(setPoint<0) {
            signSetPoint='-';
        }
        char signinputVoltage='+';
        if(setPoint<0) {
            signinputVoltage='-';
        }


        pc.printf("%s%c%2.3f%s%c%2.3f%s","#SP",signSetPoint,abs(setPoint),"MP",signinputVoltage,abs(inputPressure),"SS^");
        //printf("%f, %f, %f, %f, %f, %f \n\r ",setPoint, inputVoltage, outputCmd, kp*error, iTerm, (-0.5-dir.read()));
        ledConfirmSent();
        oldOutputCmd=outputCmd; //don't need
        lastTime = now; /*Remember time for next time*/
    }//end if timeChange

}//end computePressureVoltage


void runWhenNewSerialIn()
{



    bufferOut[0]=bufferIn[0];

    for(int i=0; i<7; i++) { // duplicate bytes 0 to 9 for now;
        bufferOut[i]=bufferIn[i];
    }
    bufferOut[7]='^';//IMPORTANT!


    //get hexCCIn
    for(int i=0; i<2; i++) {
        hexCCIn[i]=bufferIn[i+1];
    }
    //pc.printf("hexCCIn= is %s\r\n", hexCCIn);

    for(int i=0; i<4; i++) {
        hexDDDDIn[i]=bufferIn[i+3];
    }

    //pc.printf("hello test= is %s\r\n", test);

    //int value = strtol(hexDDDDIn, NULL, 16);
    decCCIn = hexToDec(hexCCIn);
    decDDDDIn = hexToDec(hexDDDDIn);
    //int decDDDDIn = hexToDec("0000");

    //Make sure incoming checksum pans out:

    //Do action based on CC

    //pc.printf("hexCCIn= is %c%c\r\n", hexCCIn[0],hexCCIn[1]);
    //pc.printf("hexDDDDIn= is %c%c%c%c\r\n", hexDDDDIn[0],hexDDDDIn[1],hexDDDDIn[2],hexDDDDIn[3]);
    //pc.printf("decCCIn= is %d\r\n", decCCIn);
    //pc.printf("decDDDDIn= is %d\r\n", decDDDDIn);
    if (decCCIn==1) { //control built in LED
        //PwmOut led(LED_RED); //set to red just for now, change later if nec.
        //Get desired intensity
        double ledIntensity=(double)(hexToDecSub(bufferIn, 4, 5));
        if (bufferIn[3]=='0') { //red
            //PwmOut r(LED_RED);
            r=(255-ledIntensity)/255;
        } else if(bufferIn[3]=='1') {
            //PwmOut g(LED_GREEN);
            g=(255-ledIntensity)/255;
        } else if (bufferIn[3]=='2') {
            //PwmOut led(LED_BLUE);
            b=(255-ledIntensity)/255;
        }

        pc.printf("%s", bufferOut);

    } else if(decCCIn==27) { //CC=1b, Enable pump
        pumpStep.write(0.50f); // set fixed duty cycle to 50% (hold position?)
        ledConfirmSent();
        runPump=true;
        //pc.printf("%s\n", bufferOut); //No output SP & MP instead via computePressureCommand
        ledConfirmSent();

    } else if(decCCIn==28) { //CC=1c, Define new pressure setPoint
        setPoint=((double)(decDDDDIn))/100; //converted fron hex above

    } else if (decCCIn==29) {//CC=1d, Deactivate pump
        pumpStep.write(0.0f);
        ledConfirmSent();
        runPump=false;
        pc.printf("%s", bufferOut);
        ledConfirmSent();
    }
}

int main()
{
    r.period(0.001f);
    g.period(0.001f);
    b.period(0.001f);

    r=1;
    g=1;
    b=1;

    //pc.printf("\r\n"); //Important
    timer.start();
    

    while(1) {

        scanf("%10s", bufferIn);
        //Turn built in LED blue (at half intensity) to confirm command recieved
        ledConfirmReceive();
        runWhenNewSerialIn();

        //Always keep running computePressureCommand if requred
        if(runPump) {
            computePressureCommand();
        }
        //pc.printf("NEW value of '%s' is %ld\n", hexDDDDIn, decDDDDIn);
        //Turn built in LED green (at half intensity) to confirm reponse sent back

    }
}