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;}
 
 
 
   }*/
 
 
 
}
 
 
 
 
 
 
 
int pseudoscanf()
 
{
 
 
 
char s[20];
 
 
 
int d;
 
 
 
fgets(s,20,stdin);  
 
 
 
sscanf(s,"%d",&d);
 
 
 
return d;
 
 
 
}
 
 
 
 
 
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);
 
 
 
}
 
 
 
void temperatureprint()
 
{
 
	 int temp=a2dConvert10bit(temppin);
 
	 printf("%d,%.1f\r\n",temp,-16.436*log(1.11258*((1024.0/(double)temp)-1.0)));          //returns the thermistor temperature
 
 
 
} 
 
 
 
float pressuredifference()
 
 
 
{
 
 
 
	return (float)pressurefactor*((float)a2dConvert10bit(pressurepin)-pressurenull);
 
 
 
}
 
 
 
 
 
void set_control_loop(d)
 
{
 
if(d!=0)
 
   {
 
   if(!pump) timer1PWMAOn();                                      //if we set a target of zero, it turns off pwm completely, which is handy
 
   pump=TRUE;
 
   timerAttach(1,overflow);               //ISR on pwm falling edge
 
   p_setpoint=(float)d/1000.0;
 
   }
 
  else
 
   {
 
   pump=FALSE;
 
   timerDetach(1);               //ISR off pwm falling edge
 
   timer1PWMAOff();
 
   }
 
}
 
 
 
 
 
 
 
void HVenable(int 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(7);
 
 
 
}
 
 
 
pressurenull=(float)s;
 
 
 
pressurenull/=256;
 
 
 
printf("%f = pressurenull\r\n",(double)pressurenull);
 
 
 
}
 
 
 
 
 
 
 
 
 
 
 
int main(void)
 
 
 
{
 
 
 
//int nodata=0;
 
 
 
int d;
 
 
 
signed char c;
 
 
 
 
 
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);
 
 
 
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
 
 
 
  printf("%.0f\r\n",(double)getHVvalue(pseudoscanf()));                          //we only need it to the nearest volt
 
 
 
  break;
 
 
 
  case 'D':
 
 
 
  printf("%d,%.4f\r\n",a2dConvert10bit(pressurepin),(double)pressuredifference());     //Pressure feedback
 
 
 
  break;
 
 
 
  case 'H':
 
 
 
  d=pseudoscanf();
 
 
 
  printf("got %d",d);
 
 
 
  HVenable(d);                                                               //turn on a HV supply
 
 
 
  break;
 
 
 
  case 'P':
 
 
 
  d=pseudoscanf();
 
                                             //set a differential target - note in units of % of full range
 
  set_control_loop(d);  
 
 
 
  break;
 
 
 
  case 'C':
 
 
 
  d=pseudoscanf();
 
 
 
  i_term=(float)d/16.0;                                                     //set a correction factor (might need a dive term if things are messed with)
 
 
 
  break;
 
 
 
  case 'K':
 
 
 
  d=(int)(p_setpoint*1000.0);													//store the setpoint
 
  set_control_loop(0);														//turn off pump
 
  for(c=0;c<100;c++) _delay_ms(10);											//wait 1 second
 
  nullset();
 
  set_control_loop(d);
 
  break;
 
 
 
  case 'T':
 
  temperatureprint(); 
 
  break;
 
 
 
  case 'I':
 
 
 
  printf("%.3f\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;
 
 
 
}