razzor/blmc
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new i2c commands: get/set parameters

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This commit is contained in:
Olaf Rempel 2008-02-19 15:59:59 +01:00
parent 447c7ae484
commit ad0d837355
3 changed files with 33 additions and 12 deletions
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12
blmc.c
View File

@ -145,14 +145,16 @@ void spinup(void)
} }
/* manual spinup complete, analog comperator takes control */ /* manual spinup complete, analog comperator takes control */
blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_NORMAL; blmc.flags &= ~(FLAG_RUN_MASK);
blmc.flags |= FLAG_PWM_SPINUP | FLAG_COM_NORMAL;
next_phase(); next_phase();
for (time = 0; time < params.spinup_wait; time++) for (time = 0; time < params.spinup_wait; time++)
_delay_ms(20); _delay_ms(20);
/* switch to desired pwm value */ /* switch to desired pwm value */
blmc.flags = FLAG_PWM_NORMAL | FLAG_COM_NORMAL; blmc.flags &= ~(FLAG_RUN_MASK);
blmc.flags |= FLAG_PWM_NORMAL | FLAG_COM_NORMAL;
} }
/* /*
@ -164,8 +166,10 @@ void setpwm(uint8_t pwm)
/* run motor *only* if there are no hard errors */ /* run motor *only* if there are no hard errors */
if (pwm >= params.pwm_min && !(blmc.flags & FLAG_HARDERR_MASK)) { if (pwm >= params.pwm_min && !(blmc.flags & FLAG_HARDERR_MASK)) {
/* do a spinup */ /* do a spinup */
if (blmc.pwm == 0) if (blmc.pwm == 0) {
blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_SPINUP; blmc.flags &= ~(FLAG_RUN_MASK);
blmc.flags |= FLAG_PWM_SPINUP | FLAG_COM_SPINUP;
}
} else { } else {
blmc.flags &= ~FLAG_RUN_MASK; blmc.flags &= ~FLAG_RUN_MASK;

25
i2c-slave.c
View File

@ -22,15 +22,17 @@
#include "main.h" #include "main.h"
#include "blmc.h" #include "blmc.h"
#include "eeprom.h"
extern struct blmc_ blmc; extern struct blmc_ blmc;
extern struct ee_param params;
#define CMD_WAIT 0x00 #define CMD_WAIT 0x00
#define CMD_GET_INFO 0x10 #define CMD_GET_INFO 0x10
#define CMD_SET_PWM 0x21 #define CMD_SET_PWM 0x21
#define CMD_GET_STATUS 0x22 #define CMD_GET_STATUS 0x22
// #define CMD_SET_PARAM 0x23 #define CMD_SET_PARAM 0x23
// #define CMD_GET_PARAM 0x24 #define CMD_GET_PARAM 0x24
#define CMD_BOOT_LOADER 0x2F #define CMD_BOOT_LOADER 0x2F
const static uint8_t info[16] = "blctrl m8-v1.1"; const static uint8_t info[16] = "blctrl m8-v1.1";
@ -58,6 +60,8 @@ ISR(TWI_vect)
case CMD_GET_INFO: case CMD_GET_INFO:
case CMD_SET_PWM: case CMD_SET_PWM:
case CMD_GET_STATUS: case CMD_GET_STATUS:
case CMD_SET_PARAM:
case CMD_GET_PARAM:
bcnt++; bcnt++;
break; break;
@ -67,12 +71,17 @@ ISR(TWI_vect)
break; break;
} }
} else if (bcnt == 1) { } else if (cmd == CMD_SET_PWM) {
if (cmd == CMD_SET_PWM)
setpwm(TWDR); setpwm(TWDR);
bcnt = 0; bcnt = 0;
} else if (cmd == CMD_SET_PARAM) {
((uint8_t *)&params)[bcnt++ -1] = TWDR;
if (bcnt > sizeof(params)) {
write_parameters();
bcnt = 0;
}
} else { } else {
bcnt = 0; bcnt = 0;
} }
@ -124,6 +133,12 @@ ISR(TWI_vect)
} }
break; break;
case CMD_GET_PARAM:
TWDR = ((uint8_t *)&params)[bcnt++];
if (bcnt > sizeof(params))
bcnt = 0;
break;
default: default:
TWDR = 0xFF; TWDR = 0xFF;
break; break;

6
main.c
View File

@ -58,8 +58,10 @@ ISR(TIMER0_OVF_vect)
blmc.rpm_tmp_old = blmc.rpm_tmp; blmc.rpm_tmp_old = blmc.rpm_tmp;
/* too few commutations while running -> do a spinup */ /* too few commutations while running -> do a spinup */
if (diff < 0x8 && (blmc.flags & FLAG_RUN_MASK) == (FLAG_PWM_NORMAL | FLAG_COM_NORMAL)) if (diff < 0x8 && (blmc.flags & FLAG_RUN_MASK) == (FLAG_PWM_NORMAL | FLAG_COM_NORMAL)) {
blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_SPINUP; blmc.flags &= ~(FLAG_RUN_MASK);
blmc.flags |= FLAG_PWM_SPINUP | FLAG_COM_SPINUP;
}
/* set pwm again (adjust current limit) */ /* set pwm again (adjust current limit) */
setpwm(blmc.pwm); setpwm(blmc.pwm);