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340
COPYING
Normal file
340
COPYING
Normal file
@ -0,0 +1,340 @@
|
||||
GNU GENERAL PUBLIC LICENSE
|
||||
Version 2, June 1991
|
||||
|
||||
Copyright (C) 1989, 1991 Free Software Foundation, Inc.
|
||||
59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
Everyone is permitted to copy and distribute verbatim copies
|
||||
of this license document, but changing it is not allowed.
|
||||
|
||||
Preamble
|
||||
|
||||
The licenses for most software are designed to take away your
|
||||
freedom to share and change it. By contrast, the GNU General Public
|
||||
License is intended to guarantee your freedom to share and change free
|
||||
software--to make sure the software is free for all its users. This
|
||||
General Public License applies to most of the Free Software
|
||||
Foundation's software and to any other program whose authors commit to
|
||||
using it. (Some other Free Software Foundation software is covered by
|
||||
the GNU Library General Public License instead.) You can apply it to
|
||||
your programs, too.
|
||||
|
||||
When we speak of free software, we are referring to freedom, not
|
||||
price. Our General Public Licenses are designed to make sure that you
|
||||
have the freedom to distribute copies of free software (and charge for
|
||||
this service if you wish), that you receive source code or can get it
|
||||
if you want it, that you can change the software or use pieces of it
|
||||
in new free programs; and that you know you can do these things.
|
||||
|
||||
To protect your rights, we need to make restrictions that forbid
|
||||
anyone to deny you these rights or to ask you to surrender the rights.
|
||||
These restrictions translate to certain responsibilities for you if you
|
||||
distribute copies of the software, or if you modify it.
|
||||
|
||||
For example, if you distribute copies of such a program, whether
|
||||
gratis or for a fee, you must give the recipients all the rights that
|
||||
you have. You must make sure that they, too, receive or can get the
|
||||
source code. And you must show them these terms so they know their
|
||||
rights.
|
||||
|
||||
We protect your rights with two steps: (1) copyright the software, and
|
||||
(2) offer you this license which gives you legal permission to copy,
|
||||
distribute and/or modify the software.
|
||||
|
||||
Also, for each author's protection and ours, we want to make certain
|
||||
that everyone understands that there is no warranty for this free
|
||||
software. If the software is modified by someone else and passed on, we
|
||||
want its recipients to know that what they have is not the original, so
|
||||
that any problems introduced by others will not reflect on the original
|
||||
authors' reputations.
|
||||
|
||||
Finally, any free program is threatened constantly by software
|
||||
patents. We wish to avoid the danger that redistributors of a free
|
||||
program will individually obtain patent licenses, in effect making the
|
||||
program proprietary. To prevent this, we have made it clear that any
|
||||
patent must be licensed for everyone's free use or not licensed at all.
|
||||
|
||||
The precise terms and conditions for copying, distribution and
|
||||
modification follow.
|
||||
|
||||
GNU GENERAL PUBLIC LICENSE
|
||||
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
|
||||
|
||||
0. This License applies to any program or other work which contains
|
||||
a notice placed by the copyright holder saying it may be distributed
|
||||
under the terms of this General Public License. The "Program", below,
|
||||
refers to any such program or work, and a "work based on the Program"
|
||||
means either the Program or any derivative work under copyright law:
|
||||
that is to say, a work containing the Program or a portion of it,
|
||||
either verbatim or with modifications and/or translated into another
|
||||
language. (Hereinafter, translation is included without limitation in
|
||||
the term "modification".) Each licensee is addressed as "you".
|
||||
|
||||
Activities other than copying, distribution and modification are not
|
||||
covered by this License; they are outside its scope. The act of
|
||||
running the Program is not restricted, and the output from the Program
|
||||
is covered only if its contents constitute a work based on the
|
||||
Program (independent of having been made by running the Program).
|
||||
Whether that is true depends on what the Program does.
|
||||
|
||||
1. You may copy and distribute verbatim copies of the Program's
|
||||
source code as you receive it, in any medium, provided that you
|
||||
conspicuously and appropriately publish on each copy an appropriate
|
||||
copyright notice and disclaimer of warranty; keep intact all the
|
||||
notices that refer to this License and to the absence of any warranty;
|
||||
and give any other recipients of the Program a copy of this License
|
||||
along with the Program.
|
||||
|
||||
You may charge a fee for the physical act of transferring a copy, and
|
||||
you may at your option offer warranty protection in exchange for a fee.
|
||||
|
||||
2. You may modify your copy or copies of the Program or any portion
|
||||
of it, thus forming a work based on the Program, and copy and
|
||||
distribute such modifications or work under the terms of Section 1
|
||||
above, provided that you also meet all of these conditions:
|
||||
|
||||
a) You must cause the modified files to carry prominent notices
|
||||
stating that you changed the files and the date of any change.
|
||||
|
||||
b) You must cause any work that you distribute or publish, that in
|
||||
whole or in part contains or is derived from the Program or any
|
||||
part thereof, to be licensed as a whole at no charge to all third
|
||||
parties under the terms of this License.
|
||||
|
||||
c) If the modified program normally reads commands interactively
|
||||
when run, you must cause it, when started running for such
|
||||
interactive use in the most ordinary way, to print or display an
|
||||
announcement including an appropriate copyright notice and a
|
||||
notice that there is no warranty (or else, saying that you provide
|
||||
a warranty) and that users may redistribute the program under
|
||||
these conditions, and telling the user how to view a copy of this
|
||||
License. (Exception: if the Program itself is interactive but
|
||||
does not normally print such an announcement, your work based on
|
||||
the Program is not required to print an announcement.)
|
||||
|
||||
These requirements apply to the modified work as a whole. If
|
||||
identifiable sections of that work are not derived from the Program,
|
||||
and can be reasonably considered independent and separate works in
|
||||
themselves, then this License, and its terms, do not apply to those
|
||||
sections when you distribute them as separate works. But when you
|
||||
distribute the same sections as part of a whole which is a work based
|
||||
on the Program, the distribution of the whole must be on the terms of
|
||||
this License, whose permissions for other licensees extend to the
|
||||
entire whole, and thus to each and every part regardless of who wrote it.
|
||||
|
||||
Thus, it is not the intent of this section to claim rights or contest
|
||||
your rights to work written entirely by you; rather, the intent is to
|
||||
exercise the right to control the distribution of derivative or
|
||||
collective works based on the Program.
|
||||
|
||||
In addition, mere aggregation of another work not based on the Program
|
||||
with the Program (or with a work based on the Program) on a volume of
|
||||
a storage or distribution medium does not bring the other work under
|
||||
the scope of this License.
|
||||
|
||||
3. You may copy and distribute the Program (or a work based on it,
|
||||
under Section 2) in object code or executable form under the terms of
|
||||
Sections 1 and 2 above provided that you also do one of the following:
|
||||
|
||||
a) Accompany it with the complete corresponding machine-readable
|
||||
source code, which must be distributed under the terms of Sections
|
||||
1 and 2 above on a medium customarily used for software interchange; or,
|
||||
|
||||
b) Accompany it with a written offer, valid for at least three
|
||||
years, to give any third party, for a charge no more than your
|
||||
cost of physically performing source distribution, a complete
|
||||
machine-readable copy of the corresponding source code, to be
|
||||
distributed under the terms of Sections 1 and 2 above on a medium
|
||||
customarily used for software interchange; or,
|
||||
|
||||
c) Accompany it with the information you received as to the offer
|
||||
to distribute corresponding source code. (This alternative is
|
||||
allowed only for noncommercial distribution and only if you
|
||||
received the program in object code or executable form with such
|
||||
an offer, in accord with Subsection b above.)
|
||||
|
||||
The source code for a work means the preferred form of the work for
|
||||
making modifications to it. For an executable work, complete source
|
||||
code means all the source code for all modules it contains, plus any
|
||||
associated interface definition files, plus the scripts used to
|
||||
control compilation and installation of the executable. However, as a
|
||||
special exception, the source code distributed need not include
|
||||
anything that is normally distributed (in either source or binary
|
||||
form) with the major components (compiler, kernel, and so on) of the
|
||||
operating system on which the executable runs, unless that component
|
||||
itself accompanies the executable.
|
||||
|
||||
If distribution of executable or object code is made by offering
|
||||
access to copy from a designated place, then offering equivalent
|
||||
access to copy the source code from the same place counts as
|
||||
distribution of the source code, even though third parties are not
|
||||
compelled to copy the source along with the object code.
|
||||
|
||||
4. You may not copy, modify, sublicense, or distribute the Program
|
||||
except as expressly provided under this License. Any attempt
|
||||
otherwise to copy, modify, sublicense or distribute the Program is
|
||||
void, and will automatically terminate your rights under this License.
|
||||
However, parties who have received copies, or rights, from you under
|
||||
this License will not have their licenses terminated so long as such
|
||||
parties remain in full compliance.
|
||||
|
||||
5. You are not required to accept this License, since you have not
|
||||
signed it. However, nothing else grants you permission to modify or
|
||||
distribute the Program or its derivative works. These actions are
|
||||
prohibited by law if you do not accept this License. Therefore, by
|
||||
modifying or distributing the Program (or any work based on the
|
||||
Program), you indicate your acceptance of this License to do so, and
|
||||
all its terms and conditions for copying, distributing or modifying
|
||||
the Program or works based on it.
|
||||
|
||||
6. Each time you redistribute the Program (or any work based on the
|
||||
Program), the recipient automatically receives a license from the
|
||||
original licensor to copy, distribute or modify the Program subject to
|
||||
these terms and conditions. You may not impose any further
|
||||
restrictions on the recipients' exercise of the rights granted herein.
|
||||
You are not responsible for enforcing compliance by third parties to
|
||||
this License.
|
||||
|
||||
7. If, as a consequence of a court judgment or allegation of patent
|
||||
infringement or for any other reason (not limited to patent issues),
|
||||
conditions are imposed on you (whether by court order, agreement or
|
||||
otherwise) that contradict the conditions of this License, they do not
|
||||
excuse you from the conditions of this License. If you cannot
|
||||
distribute so as to satisfy simultaneously your obligations under this
|
||||
License and any other pertinent obligations, then as a consequence you
|
||||
may not distribute the Program at all. For example, if a patent
|
||||
license would not permit royalty-free redistribution of the Program by
|
||||
all those who receive copies directly or indirectly through you, then
|
||||
the only way you could satisfy both it and this License would be to
|
||||
refrain entirely from distribution of the Program.
|
||||
|
||||
If any portion of this section is held invalid or unenforceable under
|
||||
any particular circumstance, the balance of the section is intended to
|
||||
apply and the section as a whole is intended to apply in other
|
||||
circumstances.
|
||||
|
||||
It is not the purpose of this section to induce you to infringe any
|
||||
patents or other property right claims or to contest validity of any
|
||||
such claims; this section has the sole purpose of protecting the
|
||||
integrity of the free software distribution system, which is
|
||||
implemented by public license practices. Many people have made
|
||||
generous contributions to the wide range of software distributed
|
||||
through that system in reliance on consistent application of that
|
||||
system; it is up to the author/donor to decide if he or she is willing
|
||||
to distribute software through any other system and a licensee cannot
|
||||
impose that choice.
|
||||
|
||||
This section is intended to make thoroughly clear what is believed to
|
||||
be a consequence of the rest of this License.
|
||||
|
||||
8. If the distribution and/or use of the Program is restricted in
|
||||
certain countries either by patents or by copyrighted interfaces, the
|
||||
original copyright holder who places the Program under this License
|
||||
may add an explicit geographical distribution limitation excluding
|
||||
those countries, so that distribution is permitted only in or among
|
||||
countries not thus excluded. In such case, this License incorporates
|
||||
the limitation as if written in the body of this License.
|
||||
|
||||
9. The Free Software Foundation may publish revised and/or new versions
|
||||
of the General Public License from time to time. Such new versions will
|
||||
be similar in spirit to the present version, but may differ in detail to
|
||||
address new problems or concerns.
|
||||
|
||||
Each version is given a distinguishing version number. If the Program
|
||||
specifies a version number of this License which applies to it and "any
|
||||
later version", you have the option of following the terms and conditions
|
||||
either of that version or of any later version published by the Free
|
||||
Software Foundation. If the Program does not specify a version number of
|
||||
this License, you may choose any version ever published by the Free Software
|
||||
Foundation.
|
||||
|
||||
10. If you wish to incorporate parts of the Program into other free
|
||||
programs whose distribution conditions are different, write to the author
|
||||
to ask for permission. For software which is copyrighted by the Free
|
||||
Software Foundation, write to the Free Software Foundation; we sometimes
|
||||
make exceptions for this. Our decision will be guided by the two goals
|
||||
of preserving the free status of all derivatives of our free software and
|
||||
of promoting the sharing and reuse of software generally.
|
||||
|
||||
NO WARRANTY
|
||||
|
||||
11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
|
||||
FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
|
||||
OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
|
||||
PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
|
||||
OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
|
||||
TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
|
||||
PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
|
||||
REPAIR OR CORRECTION.
|
||||
|
||||
12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
|
||||
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
|
||||
REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
|
||||
INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
|
||||
OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
|
||||
TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
|
||||
YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
|
||||
PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGES.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
How to Apply These Terms to Your New Programs
|
||||
|
||||
If you develop a new program, and you want it to be of the greatest
|
||||
possible use to the public, the best way to achieve this is to make it
|
||||
free software which everyone can redistribute and change under these terms.
|
||||
|
||||
To do so, attach the following notices to the program. It is safest
|
||||
to attach them to the start of each source file to most effectively
|
||||
convey the exclusion of warranty; and each file should have at least
|
||||
the "copyright" line and a pointer to where the full notice is found.
|
||||
|
||||
<one line to give the program's name and a brief idea of what it does.>
|
||||
Copyright (C) <year> <name of author>
|
||||
|
||||
This program is free software; you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation; either version 2 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program; if not, write to the Free Software
|
||||
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
|
||||
|
||||
Also add information on how to contact you by electronic and paper mail.
|
||||
|
||||
If the program is interactive, make it output a short notice like this
|
||||
when it starts in an interactive mode:
|
||||
|
||||
Gnomovision version 69, Copyright (C) year name of author
|
||||
Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
|
||||
This is free software, and you are welcome to redistribute it
|
||||
under certain conditions; type `show c' for details.
|
||||
|
||||
The hypothetical commands `show w' and `show c' should show the appropriate
|
||||
parts of the General Public License. Of course, the commands you use may
|
||||
be called something other than `show w' and `show c'; they could even be
|
||||
mouse-clicks or menu items--whatever suits your program.
|
||||
|
||||
You should also get your employer (if you work as a programmer) or your
|
||||
school, if any, to sign a "copyright disclaimer" for the program, if
|
||||
necessary. Here is a sample; alter the names:
|
||||
|
||||
Yoyodyne, Inc., hereby disclaims all copyright interest in the program
|
||||
`Gnomovision' (which makes passes at compilers) written by James Hacker.
|
||||
|
||||
<signature of Ty Coon>, 1 April 1989
|
||||
Ty Coon, President of Vice
|
||||
|
||||
This General Public License does not permit incorporating your program into
|
||||
proprietary programs. If your program is a subroutine library, you may
|
||||
consider it more useful to permit linking proprietary applications with the
|
||||
library. If this is what you want to do, use the GNU Library General
|
||||
Public License instead of this License.
|
6
Makefile
6
Makefile
@ -1,6 +1,6 @@
|
||||
PRG = bl_test
|
||||
PRG = blmc
|
||||
OBJ = blmc.o eeprom.o i2c-slave.o main.o
|
||||
MCU_TARGET = atmega8
|
||||
MCU_TARGET = atmega88
|
||||
OPTIMIZE = -Os
|
||||
|
||||
DEFS =
|
||||
@ -61,4 +61,4 @@ ebin: $(PRG)_eeprom.bin
|
||||
|
||||
install: text
|
||||
# uisp -dprog=avr910 -dserial=/dev/ttyS0 -dspeed=115200 -dpart=M8 --erase --upload if=$(PRG).hex
|
||||
avrdude -p m8 -c butterfly -b 115200 -P /dev/ttyUSB1 -u -e -V -U flash:w:$(PRG).hex
|
||||
avrdude -p m88 -c butterfly -b 115200 -u -e -V -U flash:w:$(PRG).hex
|
||||
|
11
README
Normal file
11
README
Normal file
@ -0,0 +1,11 @@
|
||||
blmc v2
|
||||
=======
|
||||
|
||||
An AVR mega88/168 based brushless motor controller.
|
||||
- must run with TWIBOOT as bootloader to get own i2c address
|
||||
- spinup parameters in EEPROM
|
||||
- extended i2c protocol
|
||||
|
||||
TODO:
|
||||
- remove C1/C3/C6 and do "timed" commutation
|
||||
- replace C11 with smaller value / remove it
|
133
blmc.c
133
blmc.c
@ -31,67 +31,86 @@ static uint8_t next_sense;
|
||||
|
||||
void trigger_adc(uint8_t channel)
|
||||
{
|
||||
/* Disable Analog Comperator */
|
||||
ACSR &= ~(1<<ACIE);
|
||||
/* Disable Analog Comperator Interrupt */
|
||||
TIMSK1 &= ~(1<<ICIE1);
|
||||
|
||||
/* set channel (Internal reference, 2.56V) */
|
||||
ADMUX = (1<<REFS1) | (1<<REFS0) | channel;
|
||||
/* set channel (external reference, 5V) */
|
||||
ADMUX = (0<<REFS1) | (0<<REFS0) | channel;
|
||||
|
||||
/* turn on ADC with interrupts, start conversion with 1/32 of F_CPU */
|
||||
ADCSRA = (1<<ADEN) | (1<<ADSC) | (1<<ADIE) | (1<<ADIF)| (1<<ADPS2) | (1<<ADPS0);
|
||||
/*
|
||||
* turn on ADC with interrupts
|
||||
* start conversion with 1/32 of F_CPU
|
||||
* 1/250kHz * 25 => 100us conversion time
|
||||
*/
|
||||
ADCSRA = (1<<ADEN) | (1<<ADSC) | (1<<ADIE) | (1<<ADIF)| (1<<ADPS2) | (0<<ADPS0);
|
||||
}
|
||||
|
||||
void next_phase(void)
|
||||
static void next_phase(void)
|
||||
{
|
||||
static uint8_t phase;
|
||||
static uint8_t phase_adc;
|
||||
|
||||
/* Disable Analog Comperator */
|
||||
ACSR &= ~(1<<ACIE);
|
||||
|
||||
TCNT1 = 0x00;
|
||||
TCNT2 = 0x00;
|
||||
/* Disable Analog Comperator Interrupt */
|
||||
TIMSK1 &= ~(1<<ICIE1);
|
||||
|
||||
switch (phase) {
|
||||
case 0: PORTD = (PORTD & ~PHASE_L_MASK) | PHASE_B_L;
|
||||
TCCR1A = (TCCR1A & ~(1<<COM1B1)) | (1<<COM1A1);
|
||||
TCCR2 &= ~(1<<COM21);
|
||||
ACSR = (1<<ACIS1);
|
||||
case 0: /* A: PWM, B: LOW, C: SENSE => disable EN_C, disable PWM_B, enable EN_B */
|
||||
PORTD &= ~PHASE_C_EN;
|
||||
TCCR0A &= ~PHASE_B_OC;
|
||||
PORTD |= PHASE_B_EN;
|
||||
|
||||
/* C: falling edge */
|
||||
TCCR1B &= ~(1<<ICES1);
|
||||
next_sense = SENSE_C;
|
||||
break;
|
||||
|
||||
case 1: PORTD = (PORTD & ~PHASE_L_MASK) | PHASE_B_L;
|
||||
TCCR1A &= ~((1<<COM1A1) | (1<<COM1B1));
|
||||
TCCR2 |= (1<<COM21);
|
||||
ACSR = (1<<ACIS1) | (1<<ACIS0);
|
||||
case 1: /* A: SENSE, B: LOW, C: PWM => disable EN_A, enable PWM_C, enable EN_C */
|
||||
PORTB &= ~PHASE_A_EN;
|
||||
TCCR2A |= PHASE_C_OC;
|
||||
PORTD |= PHASE_C_EN;
|
||||
|
||||
/* A: rising edge */
|
||||
TCCR1B |= (1<<ICES1);
|
||||
next_sense = SENSE_A;
|
||||
break;
|
||||
|
||||
case 2: PORTD = (PORTD & ~PHASE_L_MASK) | PHASE_A_L;
|
||||
TCCR1A &= ~((1<<COM1A1) | (1<<COM1B1));
|
||||
TCCR2 |= (1<<COM21);
|
||||
ACSR = (1<<ACIS1);
|
||||
case 2: /* A: LOW, B: SENSE, C: PWM => disable EN_B, disable PWM_A, enable EN_A */
|
||||
PORTD &= ~PHASE_B_EN;
|
||||
TCCR2A &= ~PHASE_A_OC;
|
||||
PORTB |= PHASE_A_EN;
|
||||
|
||||
/* B: falling edge */
|
||||
TCCR1B &= ~(1<<ICES1);
|
||||
next_sense = SENSE_B;
|
||||
break;
|
||||
|
||||
case 3: PORTD = (PORTD & ~PHASE_L_MASK) | PHASE_A_L;
|
||||
TCCR1A = (TCCR1A & ~(1<<COM1A1)) | (1<<COM1B1);
|
||||
TCCR2 &= ~(1<<COM21);
|
||||
ACSR = (1<<ACIS1) | (1<<ACIS0);
|
||||
case 3: /* A: LOW, B: PWM, C: SENSE => disable EN_C, enable PWM_B, enable EN_B */
|
||||
PORTD &= ~PHASE_C_EN;
|
||||
TCCR0A |= PHASE_B_OC;
|
||||
PORTD |= PHASE_B_EN;
|
||||
|
||||
/* C: rising edge */
|
||||
TCCR1B |= (1<<ICES1);
|
||||
next_sense = SENSE_C;
|
||||
break;
|
||||
|
||||
case 4: PORTD = (PORTD & ~PHASE_L_MASK) | PHASE_C_L;
|
||||
TCCR1A = (TCCR1A & ~(1<<COM1A1)) | (1<<COM1B1);
|
||||
TCCR2 &= ~(1<<COM21);
|
||||
ACSR = (1<<ACIS1);
|
||||
case 4: /* A: SENSE, B: PWM, C: LOW => disable EN_A, disable PWM_C, enable EN_C */
|
||||
PORTB &= ~PHASE_A_EN;
|
||||
TCCR2A &= ~PHASE_C_OC;
|
||||
PORTD |= PHASE_C_EN;
|
||||
|
||||
/* A: falling edge */
|
||||
TCCR1B &= ~(1<<ICES1);
|
||||
next_sense = SENSE_A;
|
||||
break;
|
||||
|
||||
case 5: PORTD = (PORTD & ~PHASE_L_MASK) | PHASE_C_L;
|
||||
TCCR1A = (TCCR1A & ~(1<<COM1B1)) | (1<<COM1A1);
|
||||
TCCR2 &= ~(1<<COM21);
|
||||
ACSR = (1<<ACIS1) | (1<<ACIS0);
|
||||
case 5: /* A: PWM, B: SENSE, C: LOW => disable EN_B, enable PWM_A, enable EN_A */
|
||||
PORTD &= ~PHASE_B_EN;
|
||||
TCCR2A |= PHASE_A_OC;
|
||||
PORTB |= PHASE_A_EN;
|
||||
|
||||
/* B: rising edge */
|
||||
TCCR1B |= (1<<ICES1);
|
||||
next_sense = SENSE_B;
|
||||
break;
|
||||
}
|
||||
@ -114,8 +133,10 @@ void next_phase(void)
|
||||
ADMUX = next_sense;
|
||||
|
||||
/* enable Analog Comparator with Interrupts */
|
||||
if (blmc.flags & FLAG_COM_NORMAL)
|
||||
ACSR |= (1<<ACIE) | (1<<ACI);
|
||||
if (blmc.flags & FLAG_COM_NORMAL) {
|
||||
TIFR1 |= (1<<ICF1);
|
||||
TIMSK1 |= (1<<ICIE1);
|
||||
}
|
||||
}
|
||||
|
||||
phase++;
|
||||
@ -183,19 +204,18 @@ void setpwm(uint8_t pwm)
|
||||
if (blmc.flags & FLAG_PWM_SPINUP)
|
||||
pwm = params.spinup_pwm;
|
||||
|
||||
/* raise current-limit */
|
||||
if (blmc.current > params.current_limit)
|
||||
/* raise current-limit, set flag */
|
||||
if (blmc.current > params.current_limit) {
|
||||
blmc.flags |= FLAG_CURRENT_LIMIT;
|
||||
blmc.pwm_limit++;
|
||||
|
||||
/* lower current-limit */
|
||||
else if (blmc.pwm_limit > 0)
|
||||
} else if (blmc.pwm_limit > 0) {
|
||||
blmc.pwm_limit--;
|
||||
|
||||
/* set current-limit flag */
|
||||
if (blmc.pwm_limit)
|
||||
blmc.flags |= FLAG_CURRENT_LIMIT;
|
||||
else
|
||||
} else if (blmc.pwm_limit == 0) {
|
||||
blmc.flags &= ~FLAG_CURRENT_LIMIT;
|
||||
}
|
||||
|
||||
/* prevent overflow */
|
||||
if (blmc.pwm_limit > pwm)
|
||||
@ -208,12 +228,21 @@ void setpwm(uint8_t pwm)
|
||||
if (pwm > params.pwm_max)
|
||||
pwm = params.pwm_max;
|
||||
|
||||
OCR1A = pwm;
|
||||
OCR1B = pwm;
|
||||
OCR2 = pwm;
|
||||
OCR0B = pwm;
|
||||
OCR2A = pwm;
|
||||
OCR2B = pwm;
|
||||
|
||||
/* disable PWM signales, enable all drivers -> brake */
|
||||
if (pwm == 0) {
|
||||
TCCR0A &= ~PHASE_B_OC;
|
||||
TCCR2A &= ~(PHASE_A_OC | PHASE_C_OC);
|
||||
|
||||
PORTB |= PHASE_A_EN;
|
||||
PORTD |= (PHASE_B_EN | PHASE_C_EN);
|
||||
}
|
||||
}
|
||||
|
||||
ISR(ANA_COMP_vect)
|
||||
ISR(TIMER1_CAPT_vect)
|
||||
{
|
||||
next_phase();
|
||||
}
|
||||
@ -233,8 +262,10 @@ ISR(ADC_vect)
|
||||
ADCSRA = 0x00;
|
||||
|
||||
/* enable Analog Comparator with Interrupts */
|
||||
if (blmc.flags & FLAG_COM_NORMAL)
|
||||
ACSR |= (1<<ACIE) | (1<<ACI);
|
||||
if (blmc.flags & FLAG_COM_NORMAL) {
|
||||
TIFR1 |= (1<<ICF1);
|
||||
TIMSK1 |= (1<<ICIE1);
|
||||
}
|
||||
|
||||
if (channel == SENSE_CURRENT) {
|
||||
current_tmp += value;
|
||||
|
17
blmc.h
17
blmc.h
@ -3,23 +3,6 @@
|
||||
|
||||
#include <avr/io.h>
|
||||
|
||||
#define PHASE_A_H (1<<PORTB1)
|
||||
#define PHASE_B_H (1<<PORTB2)
|
||||
#define PHASE_C_H (1<<PORTB3)
|
||||
#define PHASE_H_MASK (PHASE_A_H | PHASE_B_H | PHASE_C_H)
|
||||
|
||||
#define PHASE_A_L (1<<PORTD4)
|
||||
#define PHASE_B_L (1<<PORTD3)
|
||||
#define PHASE_C_L (1<<PORTD2)
|
||||
#define PHASE_L_MASK (PHASE_A_L | PHASE_B_L | PHASE_C_L)
|
||||
|
||||
#define SENSE_A 0
|
||||
#define SENSE_B 1
|
||||
#define SENSE_C 2
|
||||
|
||||
#define SENSE_VOLTAGE 3
|
||||
#define SENSE_CURRENT 6
|
||||
|
||||
#define FLAG_RUN_MASK 0x00F
|
||||
#define FLAG_PWM_SPINUP 0x001
|
||||
#define FLAG_PWM_NORMAL 0x002
|
||||
|
BIN
eagle/blmc-v2-bot.png
Normal file
BIN
eagle/blmc-v2-bot.png
Normal file
Binary file not shown.
After Width: | Height: | Size: 19 KiB |
BIN
eagle/blmc-v2-sch.png
Normal file
BIN
eagle/blmc-v2-sch.png
Normal file
Binary file not shown.
After Width: | Height: | Size: 45 KiB |
BIN
eagle/blmc-v2-top.png
Normal file
BIN
eagle/blmc-v2-top.png
Normal file
Binary file not shown.
After Width: | Height: | Size: 19 KiB |
BIN
eagle/blmc.brd
Normal file
BIN
eagle/blmc.brd
Normal file
Binary file not shown.
BIN
eagle/blmc.sch
Normal file
BIN
eagle/blmc.sch
Normal file
Binary file not shown.
10
eeprom.c
10
eeprom.c
@ -16,11 +16,12 @@
|
||||
* Free Software Foundation, Inc., *
|
||||
* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
|
||||
***************************************************************************/
|
||||
#include <avr/pgmspace.h>
|
||||
#include <avr/eeprom.h>
|
||||
#include <util/crc16.h>
|
||||
#include "eeprom.h"
|
||||
|
||||
static const struct ee_param defaults = DEFAULT_PARAMETERS;
|
||||
static struct ee_param defaults PROGMEM = DEFAULT_PARAMETERS;
|
||||
|
||||
struct ee_param params;
|
||||
struct ee_param params_in_eeprom EEMEM = DEFAULT_PARAMETERS;
|
||||
@ -48,12 +49,7 @@ uint8_t read_parameters(void)
|
||||
crc = _crc_ccitt_update(crc, *tmp++);
|
||||
|
||||
if (crc != 0x0000) {
|
||||
i = sizeof(struct ee_param);
|
||||
uint8_t *src = (uint8_t *)&defaults;
|
||||
uint8_t *dst = (uint8_t *)¶ms;
|
||||
while (i--)
|
||||
*dst++ = *src++;
|
||||
|
||||
memcpy_P(¶ms, &defaults, sizeof(struct ee_param));
|
||||
write_parameters();
|
||||
return 1;
|
||||
}
|
||||
|
9
eeprom.h
9
eeprom.h
@ -22,16 +22,17 @@ struct ee_param {
|
||||
};
|
||||
|
||||
#define DEFAULT_PARAMETERS { \
|
||||
.spinup_ticks = 1000, \
|
||||
.spinup_tick = 25, \
|
||||
.spinup_step = 24, \
|
||||
.spinup_ticks = 2000, \
|
||||
.spinup_tick = 24, \
|
||||
.spinup_step = 4, \
|
||||
.spinup_wait = 10, \
|
||||
.spinup_pwm = 0x0f, \
|
||||
.spinup_pwm = 25, \
|
||||
.pwm_min = 0x08, \
|
||||
.pwm_max = 0xff, \
|
||||
.current_limit = 120, \
|
||||
.current_max = 0x3ff, \
|
||||
.voltage_min = 0x000, \
|
||||
.crc16 = 0xDB76, \
|
||||
};
|
||||
|
||||
uint8_t read_parameters(void);
|
||||
|
156
i2c-slave.c
156
i2c-slave.c
@ -27,67 +27,117 @@
|
||||
extern struct blmc_ blmc;
|
||||
extern struct ee_param params;
|
||||
|
||||
/* SLA+R */
|
||||
#define CMD_WAIT 0x00
|
||||
#define CMD_GET_INFO 0x10
|
||||
#define CMD_SET_PWM 0x21
|
||||
#define CMD_GET_STATUS 0x22
|
||||
#define CMD_SET_PARAM 0x23
|
||||
#define CMD_GET_PARAM 0x24
|
||||
#define CMD_BOOT_LOADER 0x2F
|
||||
#define CMD_READ_VERSION 0x01
|
||||
#define CMD_READ_MEMORY 0x02
|
||||
/* internal mappings */
|
||||
#define CMD_READ_CHIPINFO (0x10 | CMD_READ_MEMORY)
|
||||
#define CMD_READ_FLASH (0x20 | CMD_READ_MEMORY)
|
||||
#define CMD_READ_EEPROM (0x30 | CMD_READ_MEMORY)
|
||||
#define CMD_READ_PARAMETERS (0x40 | CMD_READ_MEMORY) /* only in APP */
|
||||
|
||||
const static uint8_t info[16] = "blctrl m8-v1.2";
|
||||
/* SLA+W */
|
||||
#define CMD_SWITCH_APPLICATION CMD_READ_VERSION
|
||||
#define CMD_WRITE_MEMORY CMD_READ_MEMORY
|
||||
/* internal mappings */
|
||||
#define CMD_BOOT_BOOTLOADER (0x10 | CMD_SWITCH_APPLICATION) /* only in APP */
|
||||
#define CMD_BOOT_APPLICATION (0x20 | CMD_SWITCH_APPLICATION)
|
||||
#define CMD_WRITE_CHIPINFO (0x10 | CMD_WRITE_MEMORY) /* invalid */
|
||||
#define CMD_WRITE_FLASH (0x20 | CMD_WRITE_MEMORY)
|
||||
#define CMD_WRITE_EEPROM (0x30 | CMD_WRITE_MEMORY)
|
||||
#define CMD_WRITE_PARAMETERS (0x40 | CMD_WRITE_MEMORY) /* only in APP */
|
||||
|
||||
/* CMD_SWITCH_APPLICATION parameter */
|
||||
#define BOOTTYPE_BOOTLOADER 0x00 /* only in APP */
|
||||
#define BOOTTYPE_APPLICATION 0x80
|
||||
|
||||
/* CMD_{READ|WRITE}_* parameter */
|
||||
#define MEMTYPE_CHIPINFO 0x00
|
||||
#define MEMTYPE_FLASH 0x01
|
||||
#define MEMTYPE_EEPROM 0x02
|
||||
#define MEMTYPE_PARAMETERS 0x03 /* only in APP */
|
||||
|
||||
|
||||
|
||||
|
||||
const static uint8_t info[16] = "blctrl m88-v2.0";
|
||||
|
||||
ISR(TWI_vect)
|
||||
{
|
||||
static uint8_t cmd;
|
||||
static uint8_t bcnt;
|
||||
uint8_t data;
|
||||
|
||||
switch (TWSR & 0xF8) {
|
||||
/* SLA + W received, ACK returned -> receive Data and ACK */
|
||||
case 0x60:
|
||||
bcnt = 0;
|
||||
TWCR |= (1<<TWINT) | (1<<TWEA);
|
||||
TWCR = (1<<TWEN) | (1<<TWIE) | (1<<TWINT) | (1<<TWEA);
|
||||
break;
|
||||
|
||||
/* prev. SLA + W, data received, ACK returned -> receive Data and ACK */
|
||||
case 0x80:
|
||||
if (bcnt == 0) {
|
||||
cmd = TWDR;
|
||||
switch (cmd) {
|
||||
case CMD_BOOT_LOADER:
|
||||
wdt_enable(WDTO_15MS);
|
||||
|
||||
case CMD_GET_INFO:
|
||||
case CMD_SET_PWM:
|
||||
case CMD_GET_STATUS:
|
||||
case CMD_SET_PARAM:
|
||||
case CMD_GET_PARAM:
|
||||
data = TWDR;
|
||||
switch (bcnt) {
|
||||
case 0:
|
||||
switch (data) {
|
||||
case CMD_SWITCH_APPLICATION:
|
||||
case CMD_WRITE_MEMORY:
|
||||
cmd = data;
|
||||
bcnt++;
|
||||
break;
|
||||
|
||||
default:
|
||||
blmc.flags |= FLAG_I2C_ACTIVE;
|
||||
setpwm(data);
|
||||
cmd = CMD_WAIT;
|
||||
bcnt = 0;
|
||||
break;
|
||||
}
|
||||
break;
|
||||
|
||||
} else if (cmd == CMD_SET_PWM) {
|
||||
blmc.flags |= FLAG_I2C_ACTIVE;
|
||||
setpwm(TWDR);
|
||||
bcnt = 0;
|
||||
case 1:
|
||||
switch (cmd) {
|
||||
case CMD_SWITCH_APPLICATION:
|
||||
if (data == BOOTTYPE_BOOTLOADER) {
|
||||
wdt_enable(WDTO_15MS);
|
||||
}
|
||||
break;
|
||||
|
||||
} else if (cmd == CMD_SET_PARAM) {
|
||||
((uint8_t *)¶ms)[bcnt++ -1] = TWDR;
|
||||
if (bcnt > sizeof(params)) {
|
||||
write_parameters();
|
||||
bcnt = 0;
|
||||
case CMD_WRITE_MEMORY:
|
||||
bcnt++;
|
||||
if (data == MEMTYPE_PARAMETERS) {
|
||||
cmd = CMD_WRITE_PARAMETERS;
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
break;
|
||||
|
||||
} else {
|
||||
bcnt = 0;
|
||||
case 2: /* ignore address bytes */
|
||||
case 3:
|
||||
bcnt++;
|
||||
break;
|
||||
|
||||
default:
|
||||
switch (cmd) {
|
||||
case CMD_WRITE_PARAMETERS:
|
||||
((uint8_t *)¶ms)[bcnt++ -4] = data;
|
||||
if (bcnt == sizeof(params)) {
|
||||
write_parameters();
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
TWCR |= (1<<TWINT) | (1<<TWEA);
|
||||
TWCR = (1<<TWEN) | (1<<TWIE) | (1<<TWINT) | (1<<TWEA);
|
||||
break;
|
||||
|
||||
/* SLA+R received, ACK returned -> send data */
|
||||
@ -96,68 +146,68 @@ ISR(TWI_vect)
|
||||
/* prev. SLA+R, data sent, ACK returned -> send data */
|
||||
case 0xB8:
|
||||
switch (cmd) {
|
||||
case CMD_GET_INFO:
|
||||
TWDR = info[bcnt++];
|
||||
bcnt %= sizeof(info);
|
||||
break;
|
||||
|
||||
case CMD_GET_STATUS:
|
||||
case CMD_WAIT:
|
||||
switch (bcnt++) {
|
||||
case 0: TWDR = blmc.pwm - blmc.pwm_limit;
|
||||
case 0: data = blmc.pwm - blmc.pwm_limit;
|
||||
break;
|
||||
|
||||
case 1: TWDR = blmc.pwm;
|
||||
case 1: data = blmc.pwm;
|
||||
break;
|
||||
|
||||
case 2: TWDR = (blmc.rpm >> 8);
|
||||
case 2: data = (blmc.rpm & 0xFF);
|
||||
break;
|
||||
|
||||
case 3: TWDR = (blmc.rpm & 0xFF);
|
||||
case 3: data = (blmc.rpm >> 8);
|
||||
break;
|
||||
|
||||
case 4: TWDR = (blmc.current >> 8);
|
||||
case 4: data = (blmc.current & 0xFF);
|
||||
break;
|
||||
|
||||
case 5: TWDR = (blmc.current & 0xFF);
|
||||
case 5: data = (blmc.current >> 8);
|
||||
break;
|
||||
|
||||
case 6: TWDR = (blmc.voltage >> 8);
|
||||
case 6: data = (blmc.voltage & 0xFF);
|
||||
break;
|
||||
|
||||
case 7: TWDR = (blmc.voltage & 0xFF);
|
||||
bcnt = 0;
|
||||
case 7: data = (blmc.voltage >> 8);
|
||||
break;
|
||||
|
||||
default:
|
||||
bcnt = 0;
|
||||
data = 0x00;
|
||||
break;
|
||||
}
|
||||
break;
|
||||
|
||||
case CMD_GET_PARAM:
|
||||
TWDR = ((uint8_t *)¶ms)[bcnt++];
|
||||
case CMD_READ_VERSION:
|
||||
data = info[bcnt++];
|
||||
bcnt %= sizeof(info);
|
||||
break;
|
||||
|
||||
case CMD_READ_PARAMETERS:
|
||||
data = ((uint8_t *)¶ms)[bcnt++];
|
||||
if (bcnt > sizeof(params))
|
||||
bcnt = 0;
|
||||
break;
|
||||
|
||||
default:
|
||||
TWDR = 0xFF;
|
||||
data = 0xFF;
|
||||
break;
|
||||
}
|
||||
|
||||
TWCR |= (1<<TWINT) | (1<<TWEA);
|
||||
TWDR = data;
|
||||
TWCR = (1<<TWEN) | (1<<TWIE) | (1<<TWINT) | (1<<TWEA);
|
||||
break;
|
||||
|
||||
/* STOP or repeated START */
|
||||
case 0xA0:
|
||||
/* Data transmitted, NACK returned */
|
||||
case 0xC0:
|
||||
TWCR |= (1<<TWINT) | (1<<TWEA);
|
||||
TWCR = (1<<TWEN) | (1<<TWIE) | (1<<TWINT) | (1<<TWEA);
|
||||
break;
|
||||
|
||||
/* failsave -> reset Hardware */
|
||||
default:
|
||||
TWCR |= (1<<TWINT) | (1<<TWSTO) | (1<<TWEA);
|
||||
TWCR = (1<<TWEN) | (1<<TWIE) | (1<<TWINT) | (1<<TWSTO) | (1<<TWEA);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
65
main.c
65
main.c
@ -31,6 +31,7 @@
|
||||
|
||||
#include <avr/io.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include <avr/sleep.h>
|
||||
|
||||
#include "main.h"
|
||||
#include "blmc.h"
|
||||
@ -45,13 +46,13 @@ extern struct blmc_ blmc;
|
||||
|
||||
static uint8_t led[2];
|
||||
|
||||
ISR(TIMER0_OVF_vect)
|
||||
ISR(TIMER1_COMPB_vect)
|
||||
{
|
||||
static uint8_t timer0_cnt = 0;
|
||||
static uint8_t rpm_cnt = 0;
|
||||
static uint8_t adc_chan = SENSE_CURRENT;
|
||||
|
||||
/* Come back in 20ms */
|
||||
TCNT0 = 0xFF - 156;
|
||||
OCR1B = TCNT1 + 20000;
|
||||
|
||||
/* commutations during last 20ms */
|
||||
uint16_t diff = blmc.rpm_tmp - blmc.rpm_tmp_old;
|
||||
@ -63,7 +64,7 @@ ISR(TIMER0_OVF_vect)
|
||||
blmc.flags &= ~(FLAG_RUN_MASK);
|
||||
blmc.flags |= FLAG_PWM_SPINUP | FLAG_COM_SPINUP;
|
||||
}
|
||||
|
||||
#if 0
|
||||
/* no i2c cmd in the last 20ms */
|
||||
if (!(blmc.flags & FLAG_I2C_ACTIVE)) {
|
||||
/* already in i2c timeout, turn off motor */
|
||||
@ -75,7 +76,7 @@ ISR(TIMER0_OVF_vect)
|
||||
} else {
|
||||
blmc.flags &= ~FLAG_I2C_TIMEOUT;
|
||||
}
|
||||
|
||||
#endif
|
||||
blmc.flags &= ~FLAG_I2C_ACTIVE;
|
||||
}
|
||||
|
||||
@ -83,9 +84,9 @@ ISR(TIMER0_OVF_vect)
|
||||
setpwm(blmc.pwm);
|
||||
|
||||
/* calc rpm every second */
|
||||
timer0_cnt++;
|
||||
if (timer0_cnt == 50) {
|
||||
timer0_cnt = 0;
|
||||
rpm_cnt++;
|
||||
if (rpm_cnt == 50) {
|
||||
rpm_cnt = 0;
|
||||
|
||||
blmc.rpm = blmc.rpm_tmp;
|
||||
blmc.rpm_tmp = 0;
|
||||
@ -99,7 +100,6 @@ ISR(TIMER0_OVF_vect)
|
||||
else
|
||||
adc_chan = SENSE_CURRENT;
|
||||
}
|
||||
|
||||
/* led blink timer */
|
||||
static uint8_t led_timer = 0;
|
||||
led_timer = (led_timer +1) & 0x1F;
|
||||
@ -125,29 +125,49 @@ ISR(TIMER0_OVF_vect)
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* For newer devices (mega88) the watchdog timer remains active even after a
|
||||
* system reset. So disable it as soon as possible.
|
||||
* automagically called on startup
|
||||
*/
|
||||
void get_mcusr(void) __attribute__((naked, section(".init3")));
|
||||
void get_mcusr(void)
|
||||
{
|
||||
MCUSR = 0;
|
||||
WDTCSR = (1<<WDCE) | (0<<WDE);
|
||||
}
|
||||
|
||||
int main(void)
|
||||
{
|
||||
DDRB = PHASE_H_MASK | LED_RT | LED_GN;
|
||||
DDRD = PHASE_L_MASK;
|
||||
DDRB = PHASE_A_EN | PHASE_A_PWM | LED_RT | LED_GN;
|
||||
DDRD = PHASE_B_EN | PHASE_B_PWM | PHASE_C_EN | PHASE_C_PWM;
|
||||
|
||||
PORTB = 0x00;
|
||||
PORTD = 0x00;
|
||||
|
||||
/* timer0: running with F_CPU/1024 */
|
||||
TCCR0 = (1<<CS02) | (1<<CS00);
|
||||
/* timer0: running with F_CPU, 8bit Phase Correct PWM (16kHz) */
|
||||
TCCR0A = (1<<WGM00);
|
||||
TCCR0B = (1<<CS00);
|
||||
|
||||
/* timer1: running with F_CPU, 8bit Phase Correct PWM (16kHz) */
|
||||
TCCR1B = (1<<CS10);
|
||||
TCCR1A = (1<<WGM10);
|
||||
/* timer1: running with F_CPU/8 */
|
||||
TCCR1B = (1<<CS11) | (1<<ICNC1);
|
||||
|
||||
/* timer2: running with F_CPU, 8bit Phase Correct PWM (16kHz) */
|
||||
TCCR2 = (1<<WGM20) | (1<<CS20);
|
||||
TCCR2A = (1<<WGM20);
|
||||
TCCR2B = (1<<CS20);
|
||||
|
||||
/* enable Timer0 OVF Interrupt */
|
||||
TIMSK = (1<<TOIE0);
|
||||
/* sync PWM timers */
|
||||
GTCCR = (1<<TSM) | (1<<PSRASY) | (1<<PSRSYNC);
|
||||
TCNT0 = 0x00;
|
||||
TCNT2 = 0x00;
|
||||
GTCCR = (0<<TSM);
|
||||
|
||||
/* enable Timer1 OVF Interrupt */
|
||||
TIMSK1 = (1<<OCIE1B);
|
||||
|
||||
/* Enable Analog Comparator Multiplexer */
|
||||
SFIOR |= (1<<ACME);
|
||||
ADCSRB |= (1<<ACME);
|
||||
ACSR |= (1<<ACIC);
|
||||
|
||||
/* I2C Init: keep Address from bootloader, Auto ACKs with Interrupts */
|
||||
TWCR = (1<<TWEA) | (1<<TWEN) | (1<<TWIE);
|
||||
@ -156,6 +176,8 @@ int main(void)
|
||||
if (read_parameters())
|
||||
blmc.flags |= FLAG_INVALID_EEPROM;
|
||||
|
||||
set_sleep_mode(SLEEP_MODE_IDLE);
|
||||
|
||||
sei();
|
||||
|
||||
while (1) {
|
||||
@ -204,6 +226,9 @@ int main(void)
|
||||
/* do a spinup from main loop (blocking for > 200ms) */
|
||||
if (blmc.flags & FLAG_COM_SPINUP)
|
||||
spinup();
|
||||
|
||||
sleep_mode();
|
||||
};
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
19
main.h
19
main.h
@ -9,4 +9,23 @@
|
||||
#define LED_RT (1<<PORTB4)
|
||||
#define LED_GN (1<<PORTB5)
|
||||
|
||||
#define PHASE_A_EN (1<<PORTB2)
|
||||
#define PHASE_A_PWM (1<<PORTB3)
|
||||
#define PHASE_A_OC (1<<COM2A1)
|
||||
|
||||
#define PHASE_B_EN (1<<PORTD7)
|
||||
#define PHASE_B_PWM (1<<PORTD5)
|
||||
#define PHASE_B_OC (1<<COM0B1)
|
||||
|
||||
#define PHASE_C_EN (1<<PORTD4)
|
||||
#define PHASE_C_PWM (1<<PORTD3)
|
||||
#define PHASE_C_OC (1<<COM2B1)
|
||||
|
||||
#define SENSE_A 0
|
||||
#define SENSE_B 2
|
||||
#define SENSE_C 1
|
||||
|
||||
#define SENSE_VOLTAGE 7
|
||||
#define SENSE_CURRENT 3
|
||||
|
||||
#endif
|
||||
|
Loading…
Reference in New Issue
Block a user