working version
This commit is contained in:
parent
d755d1382e
commit
27b32bd462
14
blmc.c
14
blmc.c
@ -39,13 +39,13 @@ void trigger_adc(uint8_t channel)
|
||||
|
||||
/*
|
||||
* turn on ADC with interrupts
|
||||
* start conversion with 1/16 of F_CPU
|
||||
* 1/500kHz * 25 => 50us conversion time
|
||||
* 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;
|
||||
@ -53,9 +53,6 @@ void next_phase(void)
|
||||
/* Disable Analog Comperator Interrupt */
|
||||
TIMSK1 &= ~(1<<ICIE1);
|
||||
|
||||
TCNT0 = 0x00;
|
||||
TCNT2 = 0x00;
|
||||
|
||||
switch (phase) {
|
||||
case 0: /* A: PWM, B: LOW, C: SENSE => disable EN_C, disable PWM_B, enable EN_B */
|
||||
PORTD &= ~PHASE_C_EN;
|
||||
@ -235,11 +232,8 @@ void setpwm(uint8_t pwm)
|
||||
OCR2A = pwm;
|
||||
OCR2B = pwm;
|
||||
|
||||
/* disable all drivers */
|
||||
/* disable PWM signales, enable all drivers -> brake */
|
||||
if (pwm == 0) {
|
||||
PORTB &= ~PHASE_A_EN;
|
||||
PORTD &= ~(PHASE_B_EN | PHASE_C_EN);
|
||||
|
||||
TCCR0A &= ~PHASE_B_OC;
|
||||
TCCR2A &= ~(PHASE_A_OC | PHASE_C_OC);
|
||||
|
||||
|
||||
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);
|
||||
|
||||
55
i2c-slave.c
55
i2c-slave.c
@ -61,20 +61,19 @@ extern struct ee_param params;
|
||||
|
||||
|
||||
|
||||
const static uint8_t info[16] = "blctrl m88-v1.2";
|
||||
const static uint8_t info[16] = "blctrl m88-v2.0";
|
||||
|
||||
ISR(TWI_vect)
|
||||
{
|
||||
static uint8_t cmd;
|
||||
static uint8_t bcnt;
|
||||
uint8_t data;
|
||||
uint8_t ack = (1<<TWEA);
|
||||
|
||||
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 */
|
||||
@ -103,9 +102,6 @@ ISR(TWI_vect)
|
||||
case CMD_SWITCH_APPLICATION:
|
||||
if (data == BOOTTYPE_BOOTLOADER) {
|
||||
wdt_enable(WDTO_15MS);
|
||||
|
||||
} else {
|
||||
ack = (0<<TWEA);
|
||||
}
|
||||
break;
|
||||
|
||||
@ -113,14 +109,10 @@ ISR(TWI_vect)
|
||||
bcnt++;
|
||||
if (data == MEMTYPE_PARAMETERS) {
|
||||
cmd = CMD_WRITE_PARAMETERS;
|
||||
|
||||
} else {
|
||||
ack = (0<<TWEA);
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
ack = (0<<TWEA);
|
||||
break;
|
||||
}
|
||||
break;
|
||||
@ -136,21 +128,16 @@ ISR(TWI_vect)
|
||||
((uint8_t *)¶ms)[bcnt++ -4] = data;
|
||||
if (bcnt == sizeof(params)) {
|
||||
write_parameters();
|
||||
ack = (0<<TWEA);
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
ack = (0<<TWEA);
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
if (ack == 0x00)
|
||||
bcnt = 0;
|
||||
|
||||
TWCR |= (1<<TWINT) | ack;
|
||||
TWCR = (1<<TWEN) | (1<<TWIE) | (1<<TWINT) | (1<<TWEA);
|
||||
break;
|
||||
|
||||
/* SLA+R received, ACK returned -> send data */
|
||||
@ -160,7 +147,35 @@ ISR(TWI_vect)
|
||||
case 0xB8:
|
||||
switch (cmd) {
|
||||
case CMD_WAIT:
|
||||
data = 0x00; /* TODO: transmit Current and MaxPWM */
|
||||
switch (bcnt++) {
|
||||
case 0: data = blmc.pwm - blmc.pwm_limit;
|
||||
break;
|
||||
|
||||
case 1: data = blmc.pwm;
|
||||
break;
|
||||
|
||||
case 2: data = (blmc.rpm & 0xFF);
|
||||
break;
|
||||
|
||||
case 3: data = (blmc.rpm >> 8);
|
||||
break;
|
||||
|
||||
case 4: data = (blmc.current & 0xFF);
|
||||
break;
|
||||
|
||||
case 5: data = (blmc.current >> 8);
|
||||
break;
|
||||
|
||||
case 6: data = (blmc.voltage & 0xFF);
|
||||
break;
|
||||
|
||||
case 7: data = (blmc.voltage >> 8);
|
||||
break;
|
||||
|
||||
default:
|
||||
data = 0x00;
|
||||
break;
|
||||
}
|
||||
break;
|
||||
|
||||
case CMD_READ_VERSION:
|
||||
@ -180,19 +195,19 @@ ISR(TWI_vect)
|
||||
}
|
||||
|
||||
TWDR = data;
|
||||
TWCR |= (1<<TWINT) | (1<<TWEA);
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
22
main.c
22
main.c
@ -31,6 +31,7 @@
|
||||
|
||||
#include <avr/io.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include <avr/sleep.h>
|
||||
|
||||
#include "main.h"
|
||||
#include "blmc.h"
|
||||
@ -63,7 +64,7 @@ ISR(TIMER1_COMPB_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 */
|
||||
@ -75,9 +76,8 @@ ISR(TIMER1_COMPB_vect)
|
||||
} else {
|
||||
blmc.flags &= ~FLAG_I2C_TIMEOUT;
|
||||
}
|
||||
|
||||
// TODO: currently disabled
|
||||
// blmc.flags &= ~FLAG_I2C_ACTIVE;
|
||||
#endif
|
||||
blmc.flags &= ~FLAG_I2C_ACTIVE;
|
||||
}
|
||||
|
||||
/* set pwm again (adjust current limit) */
|
||||
@ -100,7 +100,6 @@ ISR(TIMER1_COMPB_vect)
|
||||
else
|
||||
adc_chan = SENSE_CURRENT;
|
||||
}
|
||||
|
||||
/* led blink timer */
|
||||
static uint8_t led_timer = 0;
|
||||
led_timer = (led_timer +1) & 0x1F;
|
||||
@ -151,12 +150,18 @@ int main(void)
|
||||
TCCR0B = (1<<CS00);
|
||||
|
||||
/* timer1: running with F_CPU/8 */
|
||||
TCCR1B = (1<<CS11);
|
||||
TCCR1B = (1<<CS11) | (1<<ICNC1);
|
||||
|
||||
/* timer2: running with F_CPU, 8bit Phase Correct PWM (16kHz) */
|
||||
TCCR2A = (1<<WGM20);
|
||||
TCCR2B = (1<<CS20);
|
||||
|
||||
/* sync PWM timers */
|
||||
GTCCR = (1<<TSM) | (1<<PSRASY) | (1<<PSRSYNC);
|
||||
TCNT0 = 0x00;
|
||||
TCNT2 = 0x00;
|
||||
GTCCR = (0<<TSM);
|
||||
|
||||
/* enable Timer1 OVF Interrupt */
|
||||
TIMSK1 = (1<<OCIE1B);
|
||||
|
||||
@ -171,6 +176,8 @@ int main(void)
|
||||
if (read_parameters())
|
||||
blmc.flags |= FLAG_INVALID_EEPROM;
|
||||
|
||||
set_sleep_mode(SLEEP_MODE_IDLE);
|
||||
|
||||
sei();
|
||||
|
||||
while (1) {
|
||||
@ -219,6 +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;
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user