use LEDs for status output
This commit is contained in:
parent
8434c011c8
commit
9e0763b332
2
Makefile
2
Makefile
@ -19,7 +19,7 @@ OBJCOPY = avr-objcopy
|
||||
OBJDUMP = avr-objdump
|
||||
SIZE = avr-size
|
||||
|
||||
all: $(PRG).elf lst text eeprom
|
||||
all: $(PRG).elf lst text
|
||||
$(SIZE) -x -A $(PRG).elf
|
||||
|
||||
$(PRG).elf: $(OBJ)
|
||||
|
||||
27
blmc.c
27
blmc.c
@ -24,6 +24,7 @@
|
||||
|
||||
struct blmc_ blmc;
|
||||
|
||||
/* Analog Comparator Channel */
|
||||
static uint8_t next_sense;
|
||||
|
||||
void trigger_adc(uint8_t channel)
|
||||
@ -155,22 +156,23 @@ void spinup(void)
|
||||
*/
|
||||
void setpwm(uint8_t pwm)
|
||||
{
|
||||
if (pwm >= 8) {
|
||||
/* run motor *only* if there are no hard errors */
|
||||
if (pwm >= 8 && !(blmc.flags & FLAG_HARDERR_MASK)) {
|
||||
/* do a spinup */
|
||||
if (blmc.pwm == 0)
|
||||
blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_SPINUP;
|
||||
|
||||
blmc.pwm = pwm;
|
||||
|
||||
} else {
|
||||
blmc.flags = 0x00;
|
||||
blmc.pwm = 0;
|
||||
blmc.flags &= ~FLAG_RUN_MASK;
|
||||
pwm = 0;
|
||||
}
|
||||
|
||||
/* do spinup with small pwm */
|
||||
if (blmc.flags & FLAG_PWM_SPINUP)
|
||||
pwm = 0x0f;
|
||||
else
|
||||
pwm = blmc.pwm;
|
||||
|
||||
/* save pwm value */
|
||||
blmc.pwm = pwm;
|
||||
|
||||
/* raise current limit, TODO: magic value */
|
||||
if (blmc.current > 120)
|
||||
@ -180,6 +182,13 @@ void setpwm(uint8_t pwm)
|
||||
else if (blmc.pwm_limit > 0)
|
||||
blmc.pwm_limit--;
|
||||
|
||||
/* set soft current flag */
|
||||
if (blmc.pwm_limit)
|
||||
blmc.flags |= FLAG_CURRENTLIMIT;
|
||||
else
|
||||
blmc.flags &= ~FLAG_CURRENTLIMIT;
|
||||
|
||||
/* prevent overflow */
|
||||
if (blmc.pwm_limit > pwm)
|
||||
blmc.pwm_limit = pwm;
|
||||
|
||||
@ -221,7 +230,7 @@ ISR(ADC_vect)
|
||||
current_tmp = 0;
|
||||
current_cnt = 0;
|
||||
}
|
||||
// TODO: ueberstrom-abschaltung
|
||||
// TODO: overcurrent shutdown
|
||||
|
||||
} else {
|
||||
voltage_tmp += value;
|
||||
@ -231,6 +240,6 @@ ISR(ADC_vect)
|
||||
voltage_tmp = 0;
|
||||
voltage_cnt = 0;
|
||||
}
|
||||
// TODO: unterspannungs-abschaltung
|
||||
// TODO: undervoltage shutdown
|
||||
}
|
||||
}
|
||||
|
||||
21
blmc.h
21
blmc.h
@ -20,21 +20,30 @@
|
||||
#define SENSE_VOLTAGE 3
|
||||
#define SENSE_CURRENT 6
|
||||
|
||||
#define FLAG_PWM_SPINUP 0x01
|
||||
#define FLAG_PWM_NORMAL 0x02
|
||||
#define FLAG_RUN_MASK 0x00F
|
||||
#define FLAG_PWM_SPINUP 0x001
|
||||
#define FLAG_PWM_NORMAL 0x002
|
||||
#define FLAG_COM_SPINUP 0x004
|
||||
#define FLAG_COM_NORMAL 0x008
|
||||
|
||||
#define FLAG_COM_SPINUP 0x10
|
||||
#define FLAG_COM_NORMAL 0x20
|
||||
#define FLAG_SOFTERR_MASK 0x0F0
|
||||
#define FLAG_CURRENTLIMIT 0x010
|
||||
#define FLAG_I2CTIMEOUT 0x020
|
||||
|
||||
#define FLAG_HARDERR_MASK 0xF00
|
||||
#define FLAG_UNDERVOLTAGE 0x100
|
||||
#define FLAG_OVERCURRENT 0x200
|
||||
#define FLAG_SELFTESTFAILED 0x400
|
||||
|
||||
struct blmc_ {
|
||||
uint8_t flags;
|
||||
uint16_t flags;
|
||||
|
||||
uint8_t pwm; // pwm setpoint
|
||||
uint8_t pwm_limit; // increased by current-limit
|
||||
|
||||
uint16_t rpm;
|
||||
uint16_t rpm_tmp;
|
||||
uint16_t rpm_tmp2;
|
||||
uint16_t rpm_tmp_old;
|
||||
|
||||
uint16_t current;
|
||||
uint16_t voltage;
|
||||
|
||||
@ -33,7 +33,7 @@ extern struct blmc_ blmc;
|
||||
// #define CMD_GET_PARAM 0x24
|
||||
#define CMD_BOOT_LOADER 0x2F
|
||||
|
||||
const static uint8_t info[16] = "blctrl m8-v1.0";
|
||||
const static uint8_t info[16] = "blctrl m8-v1.1";
|
||||
|
||||
ISR(TWI_vect)
|
||||
{
|
||||
|
||||
100
main.c
100
main.c
@ -17,19 +17,15 @@
|
||||
* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
|
||||
***************************************************************************/
|
||||
/*
|
||||
* Application:
|
||||
* LED_GN blinking -> motor stop
|
||||
* LED_GN on -> motor running
|
||||
* LED_GN on & LED_RT blinking -> pwm soft limit
|
||||
* LED_GN off & LED_RT blinking -> current to high / undervoltage
|
||||
*
|
||||
* startup:
|
||||
* - selftest
|
||||
*
|
||||
* cmdloop:
|
||||
* - set motor (pwm)
|
||||
* - get status (motor speed, voltage, current)
|
||||
* - reboot (with cookie)
|
||||
* Status LED_GN LED_RT
|
||||
* No Error, Motor off ON -
|
||||
* No Error, Motor spinup FAST -
|
||||
* No Error, Motor running SLOW -
|
||||
* Current Limit - ON
|
||||
* i2c Timeout - ON (not implemented yet)
|
||||
* Undervoltage OFF SLOW (not implemented yet)
|
||||
* Overcurrent (Hard Limit) OFF FAST (not implemented yet)
|
||||
* SELFTEST failed SLOW SLOW (not implemented yet)
|
||||
*/
|
||||
|
||||
#include <avr/io.h>
|
||||
@ -40,6 +36,8 @@
|
||||
|
||||
extern struct blmc_ blmc;
|
||||
|
||||
static uint8_t led[2];
|
||||
|
||||
ISR(TIMER0_OVF_vect)
|
||||
{
|
||||
static uint8_t timer0_cnt = 0;
|
||||
@ -48,16 +46,17 @@ ISR(TIMER0_OVF_vect)
|
||||
/* Come back in 20ms */
|
||||
TCNT0 = 0xFF - 156;
|
||||
|
||||
/* current-limiting */
|
||||
setpwm(blmc.pwm);
|
||||
/* commutations during last 20ms */
|
||||
uint16_t diff = blmc.rpm_tmp - blmc.rpm_tmp_old;
|
||||
blmc.rpm_tmp_old = blmc.rpm_tmp;
|
||||
|
||||
uint16_t diff = blmc.rpm_tmp - blmc.rpm_tmp2;
|
||||
blmc.rpm_tmp2 = blmc.rpm_tmp;
|
||||
|
||||
/* too low rpm while running -> do a spinup */
|
||||
if (diff < 0x8 && blmc.flags == (FLAG_PWM_NORMAL | FLAG_COM_NORMAL))
|
||||
/* too few commutations while running -> do a spinup */
|
||||
if (diff < 0x8 && (blmc.flags & FLAG_RUN_MASK) == (FLAG_PWM_NORMAL | FLAG_COM_NORMAL))
|
||||
blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_SPINUP;
|
||||
|
||||
/* set pwm again (adjust current limit) */
|
||||
setpwm(blmc.pwm);
|
||||
|
||||
/* calc rpm every second */
|
||||
timer0_cnt++;
|
||||
if (timer0_cnt == 50) {
|
||||
@ -75,6 +74,30 @@ ISR(TIMER0_OVF_vect)
|
||||
else
|
||||
adc_chan = SENSE_CURRENT;
|
||||
}
|
||||
|
||||
/* led blink timer */
|
||||
static uint8_t led_timer = 0;
|
||||
led_timer = (led_timer +1) & 0x1F;
|
||||
|
||||
/* green LED */
|
||||
if (((led[0] == LED_SLOW) && (led_timer & 0x10)) ||
|
||||
(led[0] == LED_FAST && (led_timer & 0x04)) ||
|
||||
(led[0] == LED_ON)) {
|
||||
PORTB |= LED_GN;
|
||||
|
||||
} else {
|
||||
PORTB &= ~LED_GN;
|
||||
}
|
||||
|
||||
/* red LED */
|
||||
if (((led[1] == LED_SLOW) && !(led_timer & 0x10)) ||
|
||||
(led[1] == LED_FAST && !(led_timer & 0x04)) ||
|
||||
(led[1] == LED_ON)) {
|
||||
PORTB |= LED_RT;
|
||||
|
||||
} else {
|
||||
PORTB &= ~LED_RT;
|
||||
}
|
||||
}
|
||||
|
||||
int main(void)
|
||||
@ -82,7 +105,7 @@ int main(void)
|
||||
DDRB = PHASE_H_MASK | LED_RT | LED_GN;
|
||||
DDRD = PHASE_L_MASK;
|
||||
|
||||
PORTB = LED_GN;
|
||||
PORTB = 0x00;
|
||||
PORTD = 0x00;
|
||||
|
||||
/* timer0: running with F_CPU/1024 */
|
||||
@ -96,7 +119,7 @@ int main(void)
|
||||
TCCR2 = (1<<WGM20) | (1<<CS20);
|
||||
|
||||
/* enable Timer0 OVF Interrupt */
|
||||
TIMSK = (1<<TOIE0); // | (1<<OCIE2); // | (1<<TOIE2)
|
||||
TIMSK = (1<<TOIE0);
|
||||
|
||||
/* Enable Analog Comparator Multiplexer */
|
||||
SFIOR |= (1<<ACME);
|
||||
@ -104,12 +127,43 @@ int main(void)
|
||||
/* I2C Init: keep Address from bootloader, Auto ACKs with Interrupts */
|
||||
TWCR = (1<<TWEA) | (1<<TWEN) | (1<<TWIE);
|
||||
|
||||
blmc.flags = 0x00;
|
||||
|
||||
sei();
|
||||
|
||||
while (1) {
|
||||
/* get motor status: spinup, running or off */
|
||||
if (blmc.flags & FLAG_RUN_MASK) {
|
||||
if (blmc.flags & (FLAG_COM_SPINUP | FLAG_PWM_SPINUP))
|
||||
led[0] = LED_FAST;
|
||||
else
|
||||
led[0] = LED_SLOW;
|
||||
} else {
|
||||
led[0] = LED_ON;
|
||||
}
|
||||
|
||||
/* soft errors (current limit, i2c timeout) */
|
||||
if (blmc.flags & FLAG_SOFTERR_MASK)
|
||||
led[1] = LED_ON;
|
||||
|
||||
/* hard errors */
|
||||
if (blmc.flags & FLAG_HARDERR_MASK) {
|
||||
led[0] = LED_OFF;
|
||||
if (blmc.flags & FLAG_CURRENTLIMIT) {
|
||||
led[1] = LED_FAST;
|
||||
|
||||
} else if (blmc.flags & FLAG_UNDERVOLTAGE) {
|
||||
led[1] = LED_SLOW;
|
||||
|
||||
} else if (blmc.flags & FLAG_SELFTESTFAILED) {
|
||||
led[0] = LED_SLOW;
|
||||
led[1] = LED_SLOW;
|
||||
}
|
||||
}
|
||||
|
||||
/* do a spinup from main loop (blocking for > 200ms) */
|
||||
if (blmc.flags & FLAG_COM_SPINUP)
|
||||
spinup();
|
||||
};
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user