UKHAS Wiki

#include "main.h"
 
 
 
 
 
 
 
int get_char0(FILE* stream)
 
{
 
 int c=-1;
 
 while(c==-1)
 
 {c=uartGetByte();} //getchar gets the stream, loop until we get something
 
 return (u08) c;
 
}
 
 
 
 
 
int put_char0(char c, FILE *stream)
 
{
 
   loop_until_bit_is_set(UCSR0A, UDRE0);         //unbuffered tx comms
 
   UDR0 = c;
 
   return 0;
 
   /*
 
   if(uartReadyTx || !uartBufferedTx ) //if buffer is empty or we arent buffered
 
   {uartSendByte(c);                  //sends directly to uart
 
	return 0;
 
   }
 
   else
 
   {
 
    //while(!bufferAddToEnd(Txbuff0,c));    //send the character to buffer
 
    if(uartAddToTxBuffer(c))
 
    {return 0;}
 
    else
 
    {return -1;}
 
   }*/
 
}
 
 
 
float getHVvalue(int n)
 
{
 if(n>0 && n<4)                                 //sanity check
 {
  if (n==1) n=0;                                //corrects mistake on the board
 
  return hvfactor*((float)a2dConvert10bit(n)-520.0);   //correct for unbalanced resistors on board
 
 }
 else
 {
  return -1;
 }
}
 
 
 
void overflow(void)
 
{
 
float delta=i_term*(p_setpoint-pressuredifference());     
 
if(position>-delta)                         //ie we're not going to end up with -ive position
 
 position+=delta;
 
if (position>1400.0) position=1400.0;         //maximum limit on duty cycle
 
timer1PWMASet((u16)position);
 
}
 
 
 
 
 
float pressuredifference()
 
{
 
return (float)pressurefactor*((float)a2dConvert10bit(pressurepin)-pressurenull);
 
}
 
 
 
void HVenable(void)
 
{
 
int n;
 
scanf("%d",&n);
 
if (n<4 && n>-1)
 
 {
 
  PORTD|=0b00011100;                               //turn it all off
 
  if (n) PORTD&=~(1<<(n+1));                         //sending 0 will turn off all the HV supplies
 
  printf("HV %d enabled\r\n",n);
 
 }
 
else printf("%d is not a HV channel\r\n",n); 
 
}
 
 
 
void nullset(void)
 
{
 
u08 n;
 
u32 s=0;
 
for(n=0;n<255;n++)
 
{
 
 s+=a2dConvert10bit(pressurepin);
 
 _delay_ms(20);
 
}
 
pressurenull=(float)s;
 
pressurenull/=256;
 
printf("%f = pressurenull\r\n",(double)pressurenull);
 
}
 
 
 
 
 
int main(void)
 
{
 
int nodata=0;
 
int d;
 
signed char c;
 
char pump;
 
DDRD=0b00011100;       //hv outputs
 
PORTD=0b00011100;      //set the outputs high ie all HV supplies off
 
DDRB=0b00000010;       //pump pwm
 
PORTB=0x00;
 
uartInit(); 
 
uartSetBaudRate(19200);
 
FILE mystdio0 = FDEV_SETUP_STREAM(put_char0, get_char0, _FDEV_SETUP_RW);  //so we can printf to the radio
 
stdout = &mystdio0; //set our stdio out function
 
stdin = &mystdio0; // 
 
sei();
 
//while(1)
 
//{
 
//printf("hello\r\n");
 
//_delay_ms(20);
 
//}
 
timerInit();
 
timer1SetPrescaler(TIMER_CLK_DIV1);
 
timer1PWMInitICR(4095);
 
timer1PWMAOn();
 
timer1PWMASet(0);
 
timerAttach(1,overflow);               //ISR on pwm falling edge
 
a2dInit();
 
puts("setup ok\r\n");
 
nullset();
 
while(1)
 
{
 
 c=uartGetByte();
 //scanf("%c",&c);;
 
 //if(c!=-1)
 
 //{
 
  //printf("%c\r\n",c);
 
  switch(c)
 
  {
 
  case 'V':                                                          //HV voltage feedback
 
  scanf("%d",&d);                                                    //mistake on board, use 0,2,3
 
  printf("%f\r\n",(double)getHVvalue(d));
 
  break;
 
  case 'D':
 
  printf("%d,%f\r\n",a2dConvert10bit(pressurepin),(double)pressuredifference());     //Pressure feedback
 
  break;
 
  case 'H':
 
  HVenable();                                                               //turn on a HV supply
 
  break;
 
  case 'P':
 
  scanf("%d",&d);                                                 //set a differential target - note in units of % of full range
  if(d!=0)
   {
   if(!pump) timer1PWMAOn();                                      //if we set a target of zero, it turns off pwm completely, which is handy
   pump=True
   p_setpoint=(float)d/1000.0;
   }
  else
   {
   pump=False
   timer1PWMAOff();
   }
  break;
 
  case 'T':
 
  scanf("%d",&d);
 
  i_term=(float)d/16.0;                                                     //set a correction factor (might need a dive term if things are messed with)
 
  break;
 
  case 'B':
 
  printf("%f\r\n",batteryfactor*(double)a2dConvert10bit(batpin));          //returns the battery voltage
 
  break;
 
  case 'I':
 
  printf("%f\r\n",ionfactor*((double)a2dConvert10bit(ionpin)-520.0));      //returns the ionisation current - opamp is using the split ie 2.5V rail
 
  break;                                                                   //hence the 512
 
  default:
  if (c!=-1) printf("command not found\r\n");
  nodata=0;
 
  }
 
 //}
 
 /*else
 
 {
 
  nodata++;
 
  for(d=0;d<50;d++)
 
  { _delay_ms(10);}
 
  //printf("%d,%f\r\n",nodata,(double)pressuredifference());
 
 }*/
 
}
 
return 0;
 
}

#include <avr/interrupt.h>
 
#include <stdio.h>
 
#include <avr/io.h>
 
#include <stdlib.h>
 
#include <util/delay.h>
 
#include <avr/pgmspace.h>
 
 
 
#include "global.h"
 
#include "uart.h"
 
#include "buffer.h"
 
#include "a2d.h"
 
#include "avrlibtypes.h"
 
#include "avrlibdefs.h"
 
#include "timerx8.h"
 
 
 
 
 
#define pressurepin 5
 
#define ionpin 1
 
#define batpin 4
 
 
 
#define hvfactor 12.27                          //v 
 
#define pressurefactor -0.0002                  //needs to be converted to psi
 
#define batteryfactor 15.0/1024.0                //V volts (adjust the pot on the daughterboard)
 
#define ionfactor 5.0/1024.0                     //u Amps
 
#define defaultiterm 50
 
#define setpointdefault 0
 
 
 
FILE* stream;
 
int get_char0(FILE* stream);
 
int put_char0(char c,FILE* stream);
 
void nullset(void);
 
void HVenable(void);
 
float getHVvalue(int n);
 
float pressuredifference();
 
 
 
volatile float pressurenull;
 
volatile float p_setpoint=setpointdefault;
 
volatile float position;
 
volatile float i_term=defaultiterm/16.0;