WIPsandbox/jsmoeller/init

Change-Id: Iee79f816f26e7291e670dd1eeba56fa939147405
Signed-off-by: Jan-Simon Möller <jsmoeller@linuxfoundation.org>

1 files changed, 137 insertions, 0 deletions

diff --git a/main.py b/main.py
new file mode 100644
index 0000000..e281a8f
--- /dev/null
+++ b/main.py
@@ -0,0 +1,137 @@
+from machine import Pin
+from machine import PWM
+from time import sleep
+import gc
+from rp2 import *
+
+# Enable debug messages over serial (a bit slower)
+DEBUG = 0
+DEBUG2 = 0
+# Enable canbus output
+CANBUS = 1
+
+CAN1 = CAN()
+FAN1 = PWM(Pin(20))
+FAN1.freq(25000)
+
+LED1 = Pin(25, Pin.OUT)
+
+IN1 = Pin(16,Pin.OUT)
+IN2 = Pin(17,Pin.OUT)
+IN3 = Pin(18,Pin.OUT)
+IN4 = Pin(19,Pin.OUT)
+
+PINS = [IN1, IN2, IN3, IN4]
+
+sequence = [[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]]
+sequence_reverse = [[0,0,0,1],[0,0,1,0],[0,1,0,0],[1,0,0,0]]
+allpinsoff = [0,0,0,0]
+
+FAN1.duty_u16(25000)
+sleep(5)
+FAN1.duty_u16(0)
+sleep(2)
+
+# CIRCLE = 1024
+CURRENTSTEP=0
+NEXTSTEP=0
+FORWARD=0
+REVERSE=0
+TMIN=18
+TMAX=33
+# 18=0
+# x=((1024/25)*(t-TMIN)):1
+#x=((1024/25)*(t-TMIN)):1
+
+while True:
+    if CANBUS:
+        frames=CAN1.recv()
+        for frame in frames:
+            mycid=frame.get_arbitration_id()
+            if mycid == 48:            ######################################
+                rawdata=frame.get_data()
+                lefttemp=int(((rawdata[0])/2.4))
+                righttemp=int(((rawdata[1])/2.4))
+                combtemp=int(((rawdata[2])/2.4))
+                #print(combtemp)
+                #
+                fanspeed=rawdata[4]
+
+                # fan handling
+                #print(fanspeed)
+                # fanspeed is 0-255
+                # transform into duty cycle
+                # 0 is 5000
+                # 255 is 25000
+                # aka 20000 range
+                if fanspeed == 0:
+                    dutycycle=0
+                    FAN1.duty_u16(dutycycle)
+                else:
+                    # approximation ... 19890 = 24890 ~ 25000	
+                    dutycycle=( 5000 + ( 78 * int(fanspeed) ) )
+                    FAN1.duty_u16(dutycycle)
+                print(dutycycle)
+                
+                # temp handlingv
+                NEXTSTEP=int(combtemp*1024/100)
+                if NEXTSTEP > CURRENTSTEP:
+                    FORWARD=1
+                    count=int(NEXTSTEP-CURRENTSTEP)
+                    while count > 0:
+                        for step in sequence:
+                            for i in range(len(PINS)):
+                                PINS[i].value(step[i])
+                                sleep(0.001)
+                            count=count-1
+                else:
+                    FORWARD=0
+                    count=int(CURRENTSTEP-NEXTSTEP)
+                    while count > 0:
+                        for step in sequence_reverse:
+                            for i in range(len(PINS)):
+                                PINS[i].value(step[i])
+                                sleep(0.001)
+                            count=count-1
+                #
+                for i in range(len(PINS)):
+                    PINS[i].value(allpinsoff[i])
+                CURRENTSTEP=NEXTSTEP
+                
+        LED1.toggle()
+                    
+    else:
+        LED1.toggle()
+        #print(frame)
+        #x=frame.get_data()
+        #int result = ((0xF0 - 0x10) / 15) * (value - 15) + 0x10;
+        # x / (0xF0/0x10) = (y - 15) + 0x10
+        #lefttemp=int((x[0]/(224/16))+15-1)
+        #righttemp=int((x[1]/(224/16))+15-1)
+        #fanspeed=x[4]
+        count=512
+        while count > 0:
+            for step in sequence:
+                for i in range(len(PINS)):
+                    PINS[i].value(step[i])
+                    sleep(0.001)
+                count=count-1
+        #         print(lefttemp)
+        #        print(righttemp)
+        #        print(fanspeed)
+        for i in range(len(PINS)):
+            PINS[i].value(allpinsoff[i])
+        sleep(0.2)
+        count=512
+        while count > 0:
+            for step in sequence_reverse:
+                for i in range(len(PINS)):
+                    PINS[i].value(step[i])
+                    sleep(0.001)
+                count=count-1
+        for i in range(len(PINS)):
+            PINS[i].value(allpinsoff[i])        
+    sleep(1)
+    if DEBUG:
+        # debug output on serial is slower
+        sleep(0.05)
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