use LEDs for status output
This commit is contained in:
parent
8434c011c8
commit
9e0763b332
2
Makefile
2
Makefile
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@ -19,7 +19,7 @@ OBJCOPY = avr-objcopy
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OBJDUMP = avr-objdump
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SIZE = avr-size
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all: $(PRG).elf lst text eeprom
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all: $(PRG).elf lst text
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$(SIZE) -x -A $(PRG).elf
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$(PRG).elf: $(OBJ)
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27
blmc.c
27
blmc.c
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@ -24,6 +24,7 @@
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struct blmc_ blmc;
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/* Analog Comparator Channel */
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static uint8_t next_sense;
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void trigger_adc(uint8_t channel)
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@ -155,22 +156,23 @@ void spinup(void)
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*/
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void setpwm(uint8_t pwm)
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{
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if (pwm >= 8) {
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/* run motor *only* if there are no hard errors */
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if (pwm >= 8 && !(blmc.flags & FLAG_HARDERR_MASK)) {
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/* do a spinup */
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if (blmc.pwm == 0)
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blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_SPINUP;
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blmc.pwm = pwm;
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} else {
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blmc.flags = 0x00;
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blmc.pwm = 0;
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blmc.flags &= ~FLAG_RUN_MASK;
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pwm = 0;
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}
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/* do spinup with small pwm */
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if (blmc.flags & FLAG_PWM_SPINUP)
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pwm = 0x0f;
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else
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pwm = blmc.pwm;
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/* save pwm value */
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blmc.pwm = pwm;
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/* raise current limit, TODO: magic value */
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if (blmc.current > 120)
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@ -180,6 +182,13 @@ void setpwm(uint8_t pwm)
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else if (blmc.pwm_limit > 0)
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blmc.pwm_limit--;
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/* set soft current flag */
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if (blmc.pwm_limit)
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blmc.flags |= FLAG_CURRENTLIMIT;
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else
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blmc.flags &= ~FLAG_CURRENTLIMIT;
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/* prevent overflow */
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if (blmc.pwm_limit > pwm)
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blmc.pwm_limit = pwm;
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@ -221,7 +230,7 @@ ISR(ADC_vect)
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current_tmp = 0;
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current_cnt = 0;
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}
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// TODO: ueberstrom-abschaltung
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// TODO: overcurrent shutdown
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} else {
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voltage_tmp += value;
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@ -231,6 +240,6 @@ ISR(ADC_vect)
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voltage_tmp = 0;
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voltage_cnt = 0;
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}
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// TODO: unterspannungs-abschaltung
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// TODO: undervoltage shutdown
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}
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}
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21
blmc.h
21
blmc.h
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@ -20,21 +20,30 @@
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#define SENSE_VOLTAGE 3
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#define SENSE_CURRENT 6
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#define FLAG_PWM_SPINUP 0x01
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#define FLAG_PWM_NORMAL 0x02
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#define FLAG_RUN_MASK 0x00F
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#define FLAG_PWM_SPINUP 0x001
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#define FLAG_PWM_NORMAL 0x002
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#define FLAG_COM_SPINUP 0x004
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#define FLAG_COM_NORMAL 0x008
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#define FLAG_COM_SPINUP 0x10
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#define FLAG_COM_NORMAL 0x20
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#define FLAG_SOFTERR_MASK 0x0F0
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#define FLAG_CURRENTLIMIT 0x010
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#define FLAG_I2CTIMEOUT 0x020
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#define FLAG_HARDERR_MASK 0xF00
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#define FLAG_UNDERVOLTAGE 0x100
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#define FLAG_OVERCURRENT 0x200
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#define FLAG_SELFTESTFAILED 0x400
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struct blmc_ {
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uint8_t flags;
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uint16_t flags;
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uint8_t pwm; // pwm setpoint
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uint8_t pwm_limit; // increased by current-limit
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uint16_t rpm;
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uint16_t rpm_tmp;
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uint16_t rpm_tmp2;
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uint16_t rpm_tmp_old;
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uint16_t current;
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uint16_t voltage;
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@ -33,7 +33,7 @@ extern struct blmc_ blmc;
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// #define CMD_GET_PARAM 0x24
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#define CMD_BOOT_LOADER 0x2F
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const static uint8_t info[16] = "blctrl m8-v1.0";
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const static uint8_t info[16] = "blctrl m8-v1.1";
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ISR(TWI_vect)
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{
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100
main.c
100
main.c
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@ -17,19 +17,15 @@
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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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* Status LED_GN LED_RT
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* No Error, Motor off ON -
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* No Error, Motor spinup FAST -
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* No Error, Motor running SLOW -
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* Current Limit - ON
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* i2c Timeout - ON (not implemented yet)
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* Undervoltage OFF SLOW (not implemented yet)
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* Overcurrent (Hard Limit) OFF FAST (not implemented yet)
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* SELFTEST failed SLOW SLOW (not implemented yet)
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*/
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#include <avr/io.h>
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@ -40,6 +36,8 @@
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extern struct blmc_ blmc;
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static uint8_t led[2];
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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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@ -48,16 +46,17 @@ ISR(TIMER0_OVF_vect)
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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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/* commutations during last 20ms */
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uint16_t diff = blmc.rpm_tmp - blmc.rpm_tmp_old;
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blmc.rpm_tmp_old = blmc.rpm_tmp;
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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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/* too few commutations while running -> do a spinup */
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if (diff < 0x8 && (blmc.flags & FLAG_RUN_MASK) == (FLAG_PWM_NORMAL | FLAG_COM_NORMAL))
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blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_SPINUP;
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/* set pwm again (adjust current limit) */
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setpwm(blmc.pwm);
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/* calc rpm every second */
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timer0_cnt++;
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if (timer0_cnt == 50) {
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@ -75,6 +74,30 @@ ISR(TIMER0_OVF_vect)
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else
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adc_chan = SENSE_CURRENT;
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}
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/* led blink timer */
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static uint8_t led_timer = 0;
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led_timer = (led_timer +1) & 0x1F;
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/* green LED */
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if (((led[0] == LED_SLOW) && (led_timer & 0x10)) ||
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(led[0] == LED_FAST && (led_timer & 0x04)) ||
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(led[0] == LED_ON)) {
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PORTB |= LED_GN;
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} else {
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PORTB &= ~LED_GN;
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}
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/* red LED */
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if (((led[1] == LED_SLOW) && !(led_timer & 0x10)) ||
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(led[1] == LED_FAST && !(led_timer & 0x04)) ||
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(led[1] == LED_ON)) {
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PORTB |= LED_RT;
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} else {
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PORTB &= ~LED_RT;
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}
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}
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int main(void)
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@ -82,7 +105,7 @@ int main(void)
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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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PORTB = 0x00;
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PORTD = 0x00;
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/* timer0: running with F_CPU/1024 */
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@ -96,7 +119,7 @@ int main(void)
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TCCR2 = (1<<WGM20) | (1<<CS20);
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/* enable Timer0 OVF Interrupt */
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TIMSK = (1<<TOIE0); // | (1<<OCIE2); // | (1<<TOIE2)
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TIMSK = (1<<TOIE0);
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/* Enable Analog Comparator Multiplexer */
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SFIOR |= (1<<ACME);
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@ -104,12 +127,43 @@ int main(void)
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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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blmc.flags = 0x00;
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sei();
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while (1) {
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/* get motor status: spinup, running or off */
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if (blmc.flags & FLAG_RUN_MASK) {
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if (blmc.flags & (FLAG_COM_SPINUP | FLAG_PWM_SPINUP))
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led[0] = LED_FAST;
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else
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led[0] = LED_SLOW;
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} else {
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led[0] = LED_ON;
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}
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/* soft errors (current limit, i2c timeout) */
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if (blmc.flags & FLAG_SOFTERR_MASK)
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led[1] = LED_ON;
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/* hard errors */
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if (blmc.flags & FLAG_HARDERR_MASK) {
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led[0] = LED_OFF;
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if (blmc.flags & FLAG_CURRENTLIMIT) {
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led[1] = LED_FAST;
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} else if (blmc.flags & FLAG_UNDERVOLTAGE) {
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led[1] = LED_SLOW;
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} else if (blmc.flags & FLAG_SELFTESTFAILED) {
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led[0] = LED_SLOW;
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led[1] = LED_SLOW;
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}
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}
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/* do a spinup from main loop (blocking for > 200ms) */
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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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