215 lines
5.5 KiB
C
215 lines
5.5 KiB
C
/***************************************************************************
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* Copyright (C) 09/2007 by Olaf Rempel *
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* razzor@kopf-tisch.de *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; version 2 of the License, *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, write to the *
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* Free Software Foundation, Inc., *
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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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* 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 F/S ON
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* i2c Timeout ON ON
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* Undervoltage OFF SLOW
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* Overcurrent (Hard Limit) OFF FAST
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* SELFTEST failed FAST FAST (not implemented yet)
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* EEPROM invalid SLOW SLOW
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*/
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/sleep.h>
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#include "main.h"
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#include "blmc.h"
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#include "eeprom.h"
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#define LED_OFF 0x00
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#define LED_SLOW 0x01
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#define LED_FAST 0x10
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#define LED_ON 0x11
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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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static uint8_t adc_chan = SENSE_CURRENT;
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/* Come back in 20ms */
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TCNT0 = 0xFF - 156;
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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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if ((blmc.flags & FLAG_RUN_MASK) == (FLAG_PWM_NORMAL | FLAG_COM_NORMAL)) {
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/* too few commutations while running -> do a spinup */
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if (diff < 0x08) {
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blmc.flags &= ~(FLAG_RUN_MASK);
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blmc.flags |= FLAG_PWM_SPINUP | FLAG_COM_SPINUP;
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}
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/* no i2c cmd in the last 20ms */
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if (!(blmc.flags & FLAG_I2C_ACTIVE)) {
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/* already in i2c timeout, turn off motor */
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if (blmc.flags & FLAG_I2C_TIMEOUT)
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blmc.pwm = 0;
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blmc.flags |= FLAG_I2C_TIMEOUT;
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} else {
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blmc.flags &= ~FLAG_I2C_TIMEOUT;
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}
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blmc.flags &= ~FLAG_I2C_ACTIVE;
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}
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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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timer0_cnt = 0;
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blmc.rpm = blmc.rpm_tmp;
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blmc.rpm_tmp = 0;
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}
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/* trigger adc by hand when not running */
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if (!(blmc.flags & FLAG_COM_NORMAL)) {
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trigger_adc(adc_chan);
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if (adc_chan == SENSE_CURRENT)
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adc_chan = SENSE_VOLTAGE;
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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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{
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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 = 0x00;
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PORTD = 0x00;
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/* timer0: running with F_CPU/1024 */
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TCCR0 = (1<<CS02) | (1<<CS00);
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/* timer1: running with F_CPU, 8bit Phase Correct PWM (16kHz) */
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TCCR1B = (1<<CS10);
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TCCR1A = (1<<WGM10);
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/* timer2: running with F_CPU, 8bit Phase Correct PWM (16kHz) */
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TCCR2 = (1<<WGM20) | (1<<CS20);
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/* enable Timer0 OVF Interrupt */
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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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/* 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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if (read_parameters())
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blmc.flags |= FLAG_INVALID_EEPROM;
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set_sleep_mode(SLEEP_MODE_IDLE);
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sei();
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while (1) {
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uint8_t ledX[2] = { 0x00, 0x00 };
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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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ledX[0] = LED_FAST;
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else
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ledX[0] = LED_SLOW;
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} else {
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ledX[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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ledX[1] = LED_ON;
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/* hard errors */
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if (blmc.flags & FLAG_HARDERR_MASK) {
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if (blmc.flags & FLAG_CURRENT_LIMIT) {
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ledX[0] = LED_OFF;
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ledX[1] = LED_FAST;
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} else if (blmc.flags & FLAG_UNDERVOLTAGE) {
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ledX[0] = LED_OFF;
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ledX[1] = LED_SLOW;
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} else if (blmc.flags & FLAG_SELFTEST_FAILED) {
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ledX[0] = LED_FAST;
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ledX[1] = LED_FAST;
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} else if (blmc.flags & FLAG_INVALID_EEPROM) {
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ledX[0] = LED_SLOW;
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ledX[1] = LED_SLOW;
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}
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}
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if (!(blmc.flags & (FLAG_SOFTERR_MASK | FLAG_HARDERR_MASK)))
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ledX[1] = LED_OFF;
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led[0] = ledX[0];
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led[1] = ledX[1];
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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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sleep_mode();
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};
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return 0;
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}
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