X-Git-Url: https://git.ucc.asn.au/?p=matches%2FMCTX3420.git;a=blobdiff_plain;f=server%2Factuators%2Fpregulator.c;h=1cd62d3a3b055c0032335aeba046494d7dcdf1db;hp=37407291aa702b0c1509fc8af1eb89f871888d2d;hb=f4f4c762db8c7cb2934bb03ae85063e453d68169;hpb=75b9743b95672218a61811b03433c0ab6e00ec5c

diff --git a/server/actuators/pregulator.c b/server/actuators/pregulator.c
index 3740729..1cd62d3 100644
--- a/server/actuators/pregulator.c
+++ b/server/actuators/pregulator.c
@@ -1,10 +1,17 @@
 #include "pregulator.h"
 #include "../bbb_pin.h"
 
+
+#include "../data.h"
 #define PREGULATOR_PWM ECAP0
 #define PREGULATOR_PERIOD 500000
 //16666667
 
+/** PWM duty cycles raw **/
+static double pwm_raw[] = {0.1, 0.2, 0.3, 0.4, 0.5, 0.6};
+/** Calibrated pressure values match with pwm_raw **/
+static double preg_cal[] = {96, 190, 285, 380, 475, 569};
+
 /**
  * Initiliase the pressure regulator
  */
@@ -23,11 +30,16 @@ bool Pregulator_Cleanup(int id)
 
 bool Pregulator_Set(int id, double value)
 {
-	return PWM_Set(PREGULATOR_PWM, false, PREGULATOR_PERIOD, value*(PREGULATOR_PERIOD));
+	double anti_calibrated = Data_Calibrate(value, preg_cal, pwm_raw, sizeof(pwm_raw)/sizeof(double));
+	if (anti_calibrated < 0)
+		anti_calibrated = 0;
+	if (anti_calibrated > 1)
+		anti_calibrated = 1;
+	return PWM_Set(PREGULATOR_PWM, false, PREGULATOR_PERIOD, anti_calibrated*(PREGULATOR_PERIOD));
 }
 
 bool Pregulator_Sanity(int id, double value)
 {
-	return (value >= 0.0 && value <= 1.0);
+	return (value >= 0 && value < 570);
 }