razzor/blmc
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use parameters from eeprom

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This commit is contained in:
Olaf Rempel 2008-02-17 21:38:56 +01:00
parent 9e0763b332
commit 31ded19772
6 changed files with 143 additions and 22 deletions
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4
Makefile
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@ -1,5 +1,5 @@
PRG = bl_test
OBJ = blmc.o i2c-slave.o main.o
OBJ = blmc.o eeprom.o i2c-slave.o main.o
MCU_TARGET = atmega8
OPTIMIZE = -Os
@ -19,7 +19,7 @@ OBJCOPY = avr-objcopy
OBJDUMP = avr-objdump
SIZE = avr-size
all: $(PRG).elf lst text
all: $(PRG).elf lst text ehex ebin
$(SIZE) -x -A $(PRG).elf
$(PRG).elf: $(OBJ)

44
blmc.c
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@ -21,7 +21,9 @@
#include "main.h"
#include "blmc.h"
#include "eeprom.h"
extern struct ee_param params;
struct blmc_ blmc;
/* Analog Comparator Channel */
@ -128,22 +130,25 @@ void next_phase(void)
*/
void spinup(void)
{
uint16_t time = 1000;
/* see util/delay.h for details.. */
uint16_t tick = (((uint16_t)(F_CPU / 3e6)) << 8) * (params.spinup_tick & 0x3F);
uint16_t time = params.spinup_ticks;
while (time > 50) {
next_phase();
uint16_t i;
for (i = 0; i < time; i++)
_delay_us(25);
_delay_loop_1(tick >> 8);
time -= (time / 24 +1);
time -= (time / params.spinup_step +1);
}
/* manual spinup complete, analog comperator takes control */
blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_NORMAL;
next_phase();
for (time = 0; time < 10; time++)
for (time = 0; time < params.spinup_wait; time++)
_delay_ms(20);
/* switch to desired pwm value */
@ -157,7 +162,7 @@ void spinup(void)
void setpwm(uint8_t pwm)
{
/* run motor *only* if there are no hard errors */
if (pwm >= 8 && !(blmc.flags & FLAG_HARDERR_MASK)) {
if (pwm >= params.pwm_min && !(blmc.flags & FLAG_HARDERR_MASK)) {
/* do a spinup */
if (blmc.pwm == 0)
blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_SPINUP;
@ -167,22 +172,22 @@ void setpwm(uint8_t pwm)
pwm = 0;
}
/* do spinup with small pwm */
if (blmc.flags & FLAG_PWM_SPINUP)
pwm = 0x0f;
/* save pwm value */
blmc.pwm = pwm;
/* raise current limit, TODO: magic value */
if (blmc.current > 120)
/* do spinup with small pwm */
if (blmc.flags & FLAG_PWM_SPINUP)
pwm = params.spinup_pwm;
/* raise current-limit */
if (blmc.current > params.current_limit)
blmc.pwm_limit++;
/* lower current limit */
/* lower current-limit */
else if (blmc.pwm_limit > 0)
blmc.pwm_limit--;
/* set soft current flag */
/* set current-limit flag */
if (blmc.pwm_limit)
blmc.flags |= FLAG_CURRENTLIMIT;
else
@ -194,6 +199,11 @@ void setpwm(uint8_t pwm)
/* set new value */
pwm -= blmc.pwm_limit;
/* limit pwm */
if (pwm > params.pwm_max)
pwm = params.pwm_max;
OCR1A = pwm;
OCR1B = pwm;
OCR2 = pwm;
@ -230,7 +240,9 @@ ISR(ADC_vect)
current_tmp = 0;
current_cnt = 0;
}
// TODO: overcurrent shutdown
if (value > params.current_max)
blmc.flags |= FLAG_OVERCURRENT;
} else {
voltage_tmp += value;
@ -239,7 +251,9 @@ ISR(ADC_vect)
blmc.voltage = voltage_tmp;
voltage_tmp = 0;
voltage_cnt = 0;
if (blmc.voltage < params.voltage_min)
blmc.flags |= FLAG_UNDERVOLTAGE;
}
// TODO: undervoltage shutdown
}
}

62
eeprom.c Normal file
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@ -0,0 +1,62 @@
/***************************************************************************
* Copyright (C) 02/2008 by Olaf Rempel *
* razzor@kopf-tisch.de *
* *
* 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; version 2 of the License, *
* *
* 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. *
***************************************************************************/
#include <avr/eeprom.h>
#include <util/crc16.h>
#include "eeprom.h"
#include <avr/io.h>
#include "main.h"
static const struct ee_param defaults = DEFAULT_PARAMETERS;
struct ee_param params;
struct ee_param params_in_eeprom EEMEM;
void write_parameters(struct ee_param *p)
{
uint8_t i;
uint16_t crc = 0x0000;
uint8_t *tmp = (uint8_t *)p;
for (i = 0; i < sizeof(params) -2; i++)
crc = _crc_ccitt_update(crc, *tmp++);
params.crc16 = crc;
eeprom_write_block(&p, &params_in_eeprom, sizeof(params));
}
void read_parameters(void)
{
eeprom_read_block(&params, &params_in_eeprom, sizeof(params));
uint8_t i;
uint16_t crc = 0x0000;
uint8_t *tmp = (uint8_t *)&params;
for (i = 0; i < sizeof(params); i++)
crc = _crc_ccitt_update(crc, *tmp++);
if (crc != 0x0000) {
i = sizeof(params);
uint8_t *src = (uint8_t *)&defaults;
uint8_t *dst = (uint8_t *)&params;
while (i--)
*dst++ = *src++;
write_parameters((struct ee_param *)&params);
}
}

40
eeprom.h Normal file
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@ -0,0 +1,40 @@
#ifndef _EEPROM_PARAMETERS_H_
#define _EEPROM_PARAMETERS_H_
struct ee_param {
uint16_t spinup_ticks;
uint8_t spinup_tick;
uint8_t spinup_step;
uint8_t spinup_wait;
uint8_t spinup_pwm;
uint8_t pwm_min;
uint8_t pwm_max;
uint16_t current_limit;
uint16_t current_max;
uint16_t voltage_min;
uint16_t crc16;
};
#define DEFAULT_PARAMETERS { \
.spinup_ticks = 1000, \
.spinup_tick = 25, \
.spinup_step = 24, \
.spinup_wait = 10, \
.spinup_pwm = 0x0f, \
.pwm_min = 0x08, \
.pwm_max = 0xff, \
.current_limit = 120, \
.current_max = 0x3ff, \
.voltage_min = 0x000, \
};
void read_parameters(void);
void write_parameters(struct ee_param *p);
#endif

10
main.c
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@ -33,6 +33,12 @@
#include "main.h"
#include "blmc.h"
#include "eeprom.h"
#define LED_OFF 0x00
#define LED_SLOW 0x01
#define LED_FAST 0x10
#define LED_ON 0x11
extern struct blmc_ blmc;
@ -127,6 +133,7 @@ int main(void)
/* I2C Init: keep Address from bootloader, Auto ACKs with Interrupts */
TWCR = (1<<TWEA) | (1<<TWEN) | (1<<TWIE);
read_parameters();
blmc.flags = 0x00;
sei();
@ -161,6 +168,9 @@ int main(void)
}
}
if (!(blmc.flags & (FLAG_SOFTERR_MASK | FLAG_HARDERR_MASK)))
led[1] = LED_OFF;
/* do a spinup from main loop (blocking for > 200ms) */
if (blmc.flags & FLAG_COM_SPINUP)
spinup();

5
main.h
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@ -9,9 +9,4 @@
#define LED_RT (1<<PORTB4)
#define LED_GN (1<<PORTB5)
#define LED_OFF 0x00
#define LED_SLOW 0x01
#define LED_FAST 0x10
#define LED_ON 0x11
#endif