razzor/blmc
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This commit is contained in:
Olaf Rempel 2008-02-17 15:54:43 +01:00
parent 0bf2830b30
commit 8434c011c8
3 changed files with 16 additions and 5 deletions
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4
Makefile
View File

@ -60,5 +60,5 @@ ebin: $(PRG)_eeprom.bin
$(OBJCOPY) -j .eeprom --change-section-lma .eeprom=0 -O binary $< $@ $(OBJCOPY) -j .eeprom --change-section-lma .eeprom=0 -O binary $< $@
install: text install: text
uisp -dprog=avr910 -dserial=/dev/ttyS0 -dspeed=115200 -dpart=M8 --erase --upload if=$(PRG).hex # uisp -dprog=avr910 -dserial=/dev/ttyS0 -dspeed=115200 -dpart=M8 --erase --upload if=$(PRG).hex
# avrdude -p m8 -c butterfly -b 19200 -P /dev/ttyUSB0 -u -e -V -U flash:w:$(PRG).hex avrdude -p m8 -c butterfly -b 115200 -P /dev/ttyUSB1 -u -e -V -U flash:w:$(PRG).hex

16
blmc.c
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@ -122,6 +122,9 @@ void next_phase(void)
blmc.rpm_tmp++; blmc.rpm_tmp++;
} }
/*
* starts motor, must not run from interrupt
*/
void spinup(void) void spinup(void)
{ {
uint16_t time = 1000; uint16_t time = 1000;
@ -135,18 +138,23 @@ void spinup(void)
time -= (time / 24 +1); time -= (time / 24 +1);
} }
/* manual spinup complete, analog comperator takes control */
blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_NORMAL; blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_NORMAL;
next_phase(); next_phase();
for (time = 0; time < 10; time++) for (time = 0; time < 10; time++)
_delay_ms(20); _delay_ms(20);
/* switch to desired pwm value */
blmc.flags = FLAG_PWM_NORMAL | FLAG_COM_NORMAL; blmc.flags = FLAG_PWM_NORMAL | FLAG_COM_NORMAL;
} }
/*
* sets new pwm value
* called from i2c-slave (set new value) and from timer (recalc current limit)
*/
void setpwm(uint8_t pwm) void setpwm(uint8_t pwm)
{ {
if (pwm >= 8) { if (pwm >= 8) {
if (blmc.pwm == 0) if (blmc.pwm == 0)
blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_SPINUP; blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_SPINUP;
@ -158,20 +166,24 @@ void setpwm(uint8_t pwm)
blmc.pwm = 0; blmc.pwm = 0;
} }
/* do spinup with small pwm */
if (blmc.flags & FLAG_PWM_SPINUP) if (blmc.flags & FLAG_PWM_SPINUP)
pwm = 0x0f; pwm = 0x0f;
else else
pwm = blmc.pwm; pwm = blmc.pwm;
/* raise current limit, TODO: magic value */
if (blmc.current > 120) if (blmc.current > 120)
blmc.pwm_limit++; blmc.pwm_limit++;
/* lower current limit */
else if (blmc.pwm_limit > 0) else if (blmc.pwm_limit > 0)
blmc.pwm_limit--; blmc.pwm_limit--;
if (blmc.pwm_limit > pwm) if (blmc.pwm_limit > pwm)
blmc.pwm_limit = pwm; blmc.pwm_limit = pwm;
/* set new value */
pwm -= blmc.pwm_limit; pwm -= blmc.pwm_limit;
OCR1A = pwm; OCR1A = pwm;
OCR1B = pwm; OCR1B = pwm;
@ -201,8 +213,6 @@ ISR(ADC_vect)
if (blmc.flags & FLAG_COM_NORMAL) if (blmc.flags & FLAG_COM_NORMAL)
ACSR |= (1<<ACIE) | (1<<ACI); ACSR |= (1<<ACIE) | (1<<ACI);
sei();
if (channel == SENSE_CURRENT) { if (channel == SENSE_CURRENT) {
current_tmp += value; current_tmp += value;
current_cnt++; current_cnt++;

1
main.c
View File

@ -58,6 +58,7 @@ ISR(TIMER0_OVF_vect)
if (diff < 0x8 && blmc.flags == (FLAG_PWM_NORMAL | FLAG_COM_NORMAL)) if (diff < 0x8 && blmc.flags == (FLAG_PWM_NORMAL | FLAG_COM_NORMAL))
blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_SPINUP; blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_SPINUP;
/* calc rpm every second */
timer0_cnt++; timer0_cnt++;
if (timer0_cnt == 50) { if (timer0_cnt == 50) {
timer0_cnt = 0; timer0_cnt = 0;