//100ms
void TIM7_IRQHandler(void)
{
float pwm1, pwm2;
if(TIM_GetITStatus(TIM7, TIM_IT_Update) == SET)
{
TIM_ClearITPendingBit(TIM7, TIM_IT_Update);
//printf("counter: %d, %d\r\n", left_counter, right_counter);
if(control_flag == 1 && adc_flag == 1){
if(pos_flag == 1){
pwm1 = 0;
pwm2 = 0;
left_pos_counter += left_counter;
right_pos_counter += right_counter;
if(left_pos_counter < left_pos_target_counter){
pwm1 = 90*left_dir;
}
if(right_pos_counter < right_pos_target_counter){
pwm2 = 90*right_dir;
}
motor_set_pwm(pwm1, pwm2);
//printf("counter:%d,%d; pos:%d,%d; target:%d,%d; pwm:%6.1f,%6.1f\r\n", left_counter, right_counter, left_pos_counter, right_pos_counter, left_pos_target_counter, right_pos_target_counter, pwm1, pwm2);
if(pwm1==0&&pwm2==0){
left_dir = 1;
right_dir = 1;
pos_flag = 0;
}
}
else{
left_speed_pid.feedback = left_counter;
right_speed_pid.feedback = right_counter;
left_pwm += pid_calc(&left_speed_pid);
right_pwm += pid_calc(&right_speed_pid);
left_pwm = range(left_pwm, 0, 100);
right_pwm = range(right_pwm, 0, 100);
motor_set_pwm(left_pwm*left_dir, right_pwm*right_dir);
}
}
else{
motor_set_pwm(0, 0);
}
left_counter = 0;
right_counter = 0;
}
}
int main()
{
printf("System test begin \n");
pid_t* tset;
float real = 0;
tset = pid_init(35,0,0,0);
while(k < 100)
{
real = pid_calc(tset);
printf("%f\n",real);
k++;
}
free(tset);
return 0;
}
int main()
{
printf("System test begin \n");
pid_t* tset;
int count = 0;
float real = 0;
tset = pid_init(23,0,0,0,0,0,0,0);
while(count < 100)
{
real = pid_calc(tset);
printf("%f\n",real);
count++;
}
free(tset);
return 0;
}
int main( int argc, char *argv[] )
{
float temp;
uint32 cur_time;
uint32 start_time;
float duty_cycle;
float target_temp;
char print_string[ 200 ];
util_print_procId();
force_stop = FALSE;
door_open = FALSE;
timer_init();
if( argc != 2 )
{
util_print_debug( "Error: The only argument is the path to the JSON file.\n" );
return( -1 );
}
//Set up signal handler:
if( signal( SIGINT, signalHandler ) == SIG_ERR )
{
util_print_debug( "MPU: Error setting up ctrl-c interrupt.\n" );
return( -1 );
}
util_print_debug( argv[ 1 ] );
if( !pid_init( argv[ 1 ] ) )
{
util_print_debug( "Error: There was an error loading the profile.\n" );
return( -1 );
}
pruIo *io = pruio_new(PRUIO_DEF_ACTIVE, 0x98, 0, 1);
start_time = 0;
cur_time = 0;
duty_cycle = 1.0;
if( pruio_config( io, 1, 0x1FE, 0, 4 ) )
{
sprintf( print_string, "config failed (%s)\n", io->Errr );
util_print_debug( print_string );
return( -1 );
}
pruio_pwm_setValue( io, P_OUT, PWM_FREQ, duty_cycle );
pruio_pwm_setValue( io, SERVO_PIN, SERVO_FREQ, SERVO_DUTY_CLOSE ); //close door
while( !force_stop )
{
temp = util_calc_temp( io->Adc->Value[ 1 ] );
target_temp = pid_find_target( cur_time / 1000.0 );
duty_cycle = pid_calc( target_temp, temp );
pruio_pwm_setValue( io, SERVO_PIN, SERVO_FREQ, SERVO_DUTY_IDLE );
if( duty_cycle == -1 )
{
force_stop = TRUE;
}
// DOOR CRACKING CODE
if ( ( temp - target_temp) > 5.0 )
{
// OPEN DOOR
pruio_pwm_setValue( io, SERVO_PIN, SERVO_FREQ, SERVO_DUTY_OPEN );
door_open = TRUE;
}
else if ( ( duty_cycle > 0.0 ) && door_open )
{
// CLOSE DOOR
pruio_pwm_setValue( io, SERVO_PIN, SERVO_FREQ, SERVO_DUTY_CLOSE );
door_open = FALSE;
}
pruio_pwm_setValue( io, P_OUT, -1, duty_cycle );
util_print_point( cur_time / 1000, target_temp, temp );
//block for 2 seconds.
while( ( cur_time - start_time <= PWM_PERIOD_MS ) && !force_stop )
{
if( !timer_get( &cur_time ) )
{
printf( "There was an error with the timer.\n" );
return( 0 );
}
}
start_time = start_time + PWM_PERIOD_MS;
}
// I WISH WE COULD WAIT UNTIL THE OVEN IS AT 100 DEGREES C TO CLOSE THIS DOWN
pruio_pwm_setValue( io, P_OUT, -1, 0.0f );
pruio_pwm_setValue( io, SERVO_PIN, SERVO_FREQ, SERVO_DUTY_CLOSE ); // CLOSE THE DOOR
// STALL BEFORE SHUTTING DOWN PWM
timer_get( &start_time );
cur_time = start_time;
while( ( cur_time - start_time ) < 500 )
{
timer_get( &cur_time );
}
pruio_destroy(io); /* destroy driver structure */
return 0;
}
