int main(void)
{
uart0_init();
setup_timers();
setup_inputs();
printf("EMU ECU\n");
sei(); // Enable Global Interrupt
uint16_t engine_stop_ms = ticks_ms();
uint16_t loop_ms = 0;
while (1)
{
uint16_t curr_rpm = rpm();
if (!curr_rpm)
{
// keep the stop time sliding for when we attempt to start again
if ((ticks_ms() - engine_stop_ms) > DWELL_TIME_MS)
{
engine_stop_ms = ticks_ms() - DWELL_TIME_MS;
}
}
if (!ignition_enabled())
{
if (curr_rpm > 0 && (ticks_ms() - engine_stop_ms) > DWELL_TIME_MS)
{
ignition_enable();
pump_enable();
printf("engine start\n");
}
}
else
{
if (curr_rpm > RPM_LIMIT)
{
printf("overrev - forced engine stop\n");
ignition_disable();
pump_disable();
engine_stop_ms = ticks_ms();
}
if (!curr_rpm)
{
printf("engine has stopped\n");
ignition_disable();
pump_disable();
}
}
uint16_t pwm_in = pwm_input();
uint16_t pwm_out = clamp_pwm(pwm_in);
set_pwm(0, pwm_out);
const float t_scale = 1.0 / (float)(PWM_MAX - PWM_MIN);
float throttle = (float)(pwm_out - PWM_MIN) * t_scale;
update_inj_row(throttle);
uint16_t ms = ticks_ms();
//uint32_t us = ticks_us();
if ((ms - loop_ms) >= 1000)
{
loop_ms += 1000;
//start_adc();
//int16_t a = analogue(0);
//printf("pwm_in=%u pwm_out=%u us=%lu a0=%d\n", pwm_in, pwm_out, us, a);
printf("pwm=%d throttle=%d rpm=%u ticks=%u \n", pwm_in, (int)(100*throttle), rpm(), inj_ticks_(rpm()));
}
//sleep(1000);
//_delay_ms(1000);
}
}
//int tmp_val;//***********************************************************************************************************************************
void set_pwm(int chid, int val)
{
// if(chid==0) tmp_val=tmp_val*-1;//***********************************************************************************************************************************
// val=tmp_val;//***********************************************************************************************************************************
pwm_cmd_buf[chid]=SIGN(val)*CLAMP(ABS(val),0,ec_cmd.command[chid].pwm_max); //Send back commanded value before gets inverted, deadband, etc
#if defined HB2_H2R1_J0J1 || defined HB2_H2R1_J2J3J4
//Safety limits
/*int pwm_fwd=ec_cmd.command[chid].config&M3ACT_CONFIG_PWM_FWD_SIGN;
//ec_debug[chid]=ma3_at_lower_bound(chid);
if (ma3_at_lower_bound(chid))
if ((val<0 && pwm_fwd) ||(val>0&&!pwm_fwd))
val=0;
if (ma3_at_upper_bound(chid))
if ((val>0 && pwm_fwd) ||(val<0&&!pwm_fwd))
val=0;*/
int sign=SIGN(val);
val=pwm_enc_limit(chid,val);
val=pwm_deadband(chid, ABS(val));
//Invert signal
//pwm_cmd_buf[chid]=val;
/*if (val<0)
val-=ec_cmd.command[chid].pwm_db;
if (val>0)
val+= ec_cmd.command[chid].pwm_db;
int pm=MIN(PWM_MAX_DUTY,ABS(ec_cmd.command[chid].pwm_max));*/
pwm_duty_buf[chid]=invert_and_clamp_pwm(chid,val);
//CLAMP(PWM_MAX_DUTY-ABS(val), PWM_MAX_DUTY-pm, PWM_MAX_DUTY);
//pwm_duty_buf[chid]=CLAMP(ABS(val), PWM_MIN_DUTY,pm);
pwm_cmd_buf[chid]=sign*CLAMP(val,0,ec_cmd.command[chid].pwm_max);
#if defined HB2_H2R1_J0J1
if (chid==0)
{
if (sign<=0) SetPwmDir2; else ClrPwmDir2;
//if (val==0) ClrEnableAmpA; else SetEnableAmpA;
P1DC2 = pwm_duty_buf[chid];
}
if (chid==1)
{
if (sign<=0) SetPwmDir1; else ClrPwmDir1;
//if (val==0) ClrEnableAmpB; else SetEnableAmpB;
P1DC1 = pwm_duty_buf[chid];
}
#endif
#if defined HB2_H2R1_J2J3J4
if (chid==0)
{
if (sign<=0) SetPwmDir1; else ClrPwmDir1;
//if (val==0) ClrEnableAmpA; else SetEnableAmpA;
P1DC1 = pwm_duty_buf[chid];
}
if (chid==1)
{
if (sign<=0) SetPwmDir2; else ClrPwmDir2;
//if (val==0) ClrEnableAmpB; else SetEnableAmpB;
P1DC2 = pwm_duty_buf[chid];
}
if (chid==2)
{
if (sign<=0) SetPwmDir3; else ClrPwmDir3;
//if (val==0) ClrEnableAmpC; else SetEnableAmpC;
P1DC3 = pwm_duty_buf[chid];
}
#endif
#endif
#if defined HB2_H2R2_J0J1 || defined HB2_0_2_H2R3_J0J1
//J0: L6235 Brushless Amp ; J1: L6205 Brushed Amplifier
int sign=SIGN(val);
val= pwm_enc_limit(chid, val);
val=pwm_deadband(chid,ABS(val));
if (chid==0)
{
//Invert signal
pwm_duty_buf[chid]=clamp_pwm(chid,val);
if (sign<=0) SetPwmDirJ0; else ClrPwmDirJ0;
P1DC2 = pwm_duty_buf[chid];
}
if (chid==1)
{
if (sign<0) //Invert polarity for this direction
pwm_duty_buf[chid]=invert_and_clamp_pwm(chid,val);
else
pwm_duty_buf[chid]=clamp_pwm(chid,val);
if (sign<=0) SetPwmDirJ1; else ClrPwmDirJ1;
P1DC1 = pwm_duty_buf[chid];
}
pwm_cmd_buf[chid]=sign*CLAMP(val,0,ec_cmd.command[chid].pwm_max);
#endif
#if defined HB2_H2R2_J2J3J4 || defined HB2_0_2_H2R3_J2J3J4
//3CH L6205 Amplifier
int sign=SIGN(val);
val= pwm_enc_limit(chid, val);
val=pwm_deadband(chid,ABS(val));
if (sign<0) //Invert polarity for this direction
pwm_duty_buf[chid]=invert_and_clamp_pwm(chid,val);
else
pwm_duty_buf[chid]=clamp_pwm(chid,val);
if (chid==0)
{
if (sign<=0) SetPwmDirJ2; else ClrPwmDirJ2;
P1DC1 = pwm_duty_buf[chid];
}
if (chid==1)
{
if (sign<=0) SetPwmDirJ3; else ClrPwmDirJ3;
P1DC2 = pwm_duty_buf[chid];
}
if (chid==2)
{
if (sign<=0) SetPwmDirJ4; else ClrPwmDirJ4;
P1DC3 = pwm_duty_buf[chid];
}
pwm_cmd_buf[chid]=sign*CLAMP(val,0,ec_cmd.command[chid].pwm_max);
#endif
}
