115 lines
3.3 KiB
C
115 lines
3.3 KiB
C
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/***************************************************************************
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* Copyright (C) 09/2007 by Olaf Rempel *
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* razzor@kopf-tisch.de *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; version 2 of the License, *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, write to the *
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* Free Software Foundation, Inc., *
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* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
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***************************************************************************/
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/*
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* Application:
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* LED_GN blinking -> motor stop
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* LED_GN on -> motor running
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* LED_GN on & LED_RT blinking -> pwm soft limit
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* LED_GN off & LED_RT blinking -> current to high / undervoltage
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*
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* startup:
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* - selftest
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*
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* cmdloop:
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* - set motor (pwm)
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* - get status (motor speed, voltage, current)
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* - reboot (with cookie)
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*/
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include "main.h"
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#include "blmc.h"
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extern struct blmc_ blmc;
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ISR(TIMER0_OVF_vect)
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{
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static uint8_t timer0_cnt = 0;
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static uint8_t adc_chan = SENSE_CURRENT;
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/* Come back in 20ms */
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TCNT0 = 0xFF - 156;
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/* current-limiting */
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setpwm(blmc.pwm);
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uint16_t diff = blmc.rpm_tmp - blmc.rpm_tmp2;
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blmc.rpm_tmp2 = blmc.rpm_tmp;
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/* too low rpm while running -> do a spinup */
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if (diff < 0x8 && blmc.flags == (FLAG_PWM_NORMAL | FLAG_COM_NORMAL))
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blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_SPINUP;
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timer0_cnt++;
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if (timer0_cnt == 50) {
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timer0_cnt = 0;
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blmc.rpm = blmc.rpm_tmp;
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blmc.rpm_tmp = 0;
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}
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/* trigger adc by hand when not running */
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if (!(blmc.flags & FLAG_COM_NORMAL)) {
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trigger_adc(adc_chan);
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if (adc_chan == SENSE_CURRENT)
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adc_chan = SENSE_VOLTAGE;
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else
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adc_chan = SENSE_CURRENT;
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}
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}
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int main(void)
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{
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DDRB = PHASE_H_MASK | LED_RT | LED_GN;
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DDRD = PHASE_L_MASK;
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PORTB = LED_GN;
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PORTD = 0x00;
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/* timer0: running with F_CPU/1024 */
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TCCR0 = (1<<CS02) | (1<<CS00);
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/* timer1: running with F_CPU, 8bit Fast PWM (32kHz) */
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TCCR1B = (1<<CS10);// | (1<<WGM12);
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TCCR1A = (1<<WGM10);
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/* timer2: running with F_CPU, 8bit Fast PWM (32kHz) */
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TCCR2 = (1<<WGM20) | (1<<CS20);// | (1<<WGM21);
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/* enable Timer0 OVF Interrupt */
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TIMSK = (1<<TOIE0); // | (1<<OCIE2); // | (1<<TOIE2)
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/* Enable Analog Comparator Multiplexer */
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SFIOR |= (1<<ACME);
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/* I2C Init: keep Address from bootloader, Auto ACKs with Interrupts */
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TWCR = (1<<TWEA) | (1<<TWEN) | (1<<TWIE);
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sei();
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while (1) {
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if (blmc.flags & FLAG_COM_SPINUP)
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spinup();
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};
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return 0;
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}
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