mc_drv.c File Reference

,v More...

#include "config.h"
#include "mc_drv.h"
#include "mc_interface.h"
#include "mc_control.h"
#include "adc\adc_drv.h"
#include "dac\Dac_drv.h"
#include "pll\pll_drv.h"
#include "comparator\comparator_drv.h"
#include "awex_driver.h"
#include "TC_driver.h"
#include "hires_driver.h"
#include "adc_driver.h"

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Functions
void	ADC_Init ()
void	ConfigDTI (U8 deadTime)
void	init_amplifier_1 (void)
	init Amplifier 1 More...
__interrupt void	launch_sampling_period (void)
	Launch the regulation loop (see main.c) . More...
void	mc_ADC_Scheduler (void)
	Launch the scheduler for the ADC. More...
void	mc_disable_during_inrush (void)
	the purpose of this function is to disable the overcurrent detection during startup (inrush current) More...
void	mc_duty_cycle (U8 level)
	Set the duty cycle values in the PSC according to the value calculate by the regulation loop. More...
void	mc_estimation_speed (void)
	estimation speed More...
U8	mc_get_hall (void)
	Get the value of hall sensors (1 to 6) More...
__interrupt void	mc_hall_a (void)
	External interruption Sensor (A) mode toggle. More...
void	mc_init_HW (void)
	init HW More...
void	mc_init_timer0 (void)
	Timer 0 Configuration The timer 0 is used to generate an IT when an overflow occurs. More...
void	mc_init_timer1 (void)
	timer 1 Configuration Use to generate a 250us activation for sampling speed regulation More...
void	mc_inrush_task (void)
	the purpose of this function is to manage the delay used when the overcurrent detection is disabled More...
void	mc_set_Over_Current (U8 Level)
	Set the Over Current threshold. More...
void	mc_switch_commutation (U8 position)
	Set the Switching Commutation value on outputs according to sensor or estimation position. More...
__interrupt void	ovfl_timer0 (void)
	Timer0 Overflow for speed measurement. More...
void	PWM_Init (unsigned int OCRnRB)
	Initialization of PWM generator PSC0. More...

Variables
char	ADC_State = FREE
U16	average = 0
U8	count = 1
Bool	current_EOC = FALSE
Bool	g_mc_read_enable = FALSE
Bool	g_tick = FALSE
	Use for control the sampling period value. More...
Bool	hall1_old_val = 1
U16	inrush_delay = 0
Bool	inrush_mask_flag = FALSE
volatile char	offset =0
U8	ovf_timer = 0
char	State = CONV_INIT

Detailed Description

,v

Copyright (c) 2008 Atmel.

Motor Control Driver level :

• Motor Control Init
  
• PWM update
  
• PWM -> output switching
  
• interrupts
  

  Version

  1.19

Definition in file mc_drv.c.

Function Documentation

ADC_Init()

void ADC_Init

(

)

Definition at line 53 of file mc_drv.c.

References ADC_CalibrationValues_Set(), ADC_Ch_InputMode_and_Gain_Config, ADC_Ch_InputMux_Config, ADC_ConvMode_and_Resolution_Config, ADC_Enable, ADC_FreeRunning_Enable, ADC_Offset_Get(), ADC_Prescaler_Config, ADC_Referance_Config, ADC_Wait_8MHz(), and offset.

Referenced by mc_init_HW().

{
    /* Move stored calibration values to ADC B. */
    ADC_CalibrationValues_Set(&ADCB);

    /* Get offset value for ADC B.  */
    offset = ADC_Offset_Get(&ADCB);

    /* Set up ADC B to have signed conversion mode and 12 bit resolution. */
    ADC_ConvMode_and_Resolution_Config(&ADCB, true, ADC_RESOLUTION_12BIT_gc);

    /* Sample rate is CPUFREQ/16. Allow time for storing data. */
    ADC_Prescaler_Config(&ADCB, ADC_PRESCALER_DIV16_gc);

    /* Set referance voltage on ADC B to be VCC-0.6 V.*/
    ADC_Referance_Config(&ADCB, ADC_REFSEL_INTVCC_gc);

    /* Setup channel 0, 1, 2 and 3 to have single ended input. */
    ADC_Ch_InputMode_and_Gain_Config(&ADCB.CH0,
                                     ADC_CH_INPUTMODE_SINGLEENDED_gc,
                                     ADC_CH_GAIN_1X_gc);

    /* Set input to the channels in ADC B to be PIN 0. */
    ADC_Ch_InputMux_Config(&ADCB.CH0, ADC_CH_MUXPOS_PIN0_gc, ADC_CH_MUXNEG_PIN0_gc);

    /* Enable ADC B with free running mode, VCC reference and signed conversion.*/
    ADC_Enable(&ADCB);

    /* Wait until common mode voltage is stable. Default clk is 2MHz and
     * therefore below the maximum frequency to use this function. */
    ADC_Wait_8MHz(&ADCB);
        
    /* Enable free running mode. */
    ADC_FreeRunning_Enable(&ADCB);

}

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ConfigDTI()

void ConfigDTI

(

U8

deadTime

)

Definition at line 142 of file mc_drv.c.

References AWEX_EnableDeadTimeInsertion(), AWEX_SetDeadTimesSymmetricalUnbuffered, and AWEX_SetOutputOverrideValue.

Referenced by PWM_Init().

{
    /* Configure dead time insertion. */
    AWEX_EnableDeadTimeInsertion( &AWEXC, AWEX_DTICCAEN_bm |AWEX_DTICCBEN_bm|AWEX_DTICCCEN_bm );
    AWEX_SetOutputOverrideValue( AWEXC, 0xFF );
    AWEX_SetDeadTimesSymmetricalUnbuffered( AWEXC, deadTime );  
}

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init_amplifier_1()

void init_amplifier_1

(

void

)

init Amplifier 1

Precondition

none

Postcondition

initialization of hardware

Definition at line 130 of file mc_drv.c.

{
//   AMP1CSR =   (1<<AMP1EN) /* amplifier enable */ \
//            | (1<<AMP1G1)|(0<<AMP1G0) /* gain = 20 */ \
 //            | (0<<AMP1TS1)|(1<<AMP1TS0) /* clock from PSC0 */ ;
}

launch_sampling_period()

__interrupt void launch_sampling_period

(

void

)

Launch the regulation loop (see main.c) .

Precondition

configuration of timer 1 registers

Postcondition

g_tick use in main.c for regulation loop

Definition at line 296 of file mc_drv.c.

References g_tick.

{
  g_tick = TRUE;
}

mc_ADC_Scheduler()

void mc_ADC_Scheduler

(

void

)

Launch the scheduler for the ADC.

Precondition

none

Postcondition

Get Channel 6 and 12 results for Potentiometer and current values.

Definition at line 388 of file mc_drv.c.

References ADC_Ch_Conversion_Complete, ADC_ResultCh_GetWord(), mc_set_potentiometer_value(), and offset.

Referenced by main().

{
    do{
            /* If the conversion on the ADCB channel 0 never is
             * complete this will be a deadlock. */
    }while(!ADC_Ch_Conversion_Complete(&ADCB.CH0));
   unsigned int value;
   value = ADC_ResultCh_GetWord(&ADCB.CH0,offset); 

   value = ((value)>>4);      
   value = value + 140; 
   if ( (value&0xFF) < 150) value = 0;

   //value = ((value>>2)&0x00FF);
   //value = (0xFF - value)*2;
   mc_set_potentiometer_value(value);
}

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mc_disable_during_inrush()

void mc_disable_during_inrush

(

void

)

the purpose of this function is to disable
the overcurrent detection during startup (inrush current)

Definition at line 422 of file mc_drv.c.

References inrush_delay, and inrush_mask_flag.

Referenced by mci_retry_run(), and mci_run().

{
  inrush_delay = (U16) 1000;
  inrush_mask_flag = TRUE;
  //Disable_over_current();
}

mc_duty_cycle()

void mc_duty_cycle

(

U8

level

)

Set the duty cycle values in the PSC according to the value calculate by the regulation loop.

Definition at line 212 of file mc_drv.c.

References TC_SetCompareA, TC_SetCompareB, and TC_SetCompareC.

Referenced by mc_switch_commutation(), mci_retry_run(), and mci_run().

{
  /* Output new compare value. */
  TC_SetCompareA( &TCC0, level );   
  TC_SetCompareB( &TCC0, level );                
  TC_SetCompareC( &TCC0, level ); 
}

mc_estimation_speed()

void mc_estimation_speed

(

void

)

estimation speed

Precondition

configuration of timer 0
and define or not AVERAGE_SPEED_MEASURE in config_motor.h

Postcondition

new value for real speed

Definition at line 342 of file mc_drv.c.

References average, count, g_mc_read_enable, K_SPEED, mc_set_motor_measured_speed(), and n_SAMPLE.

Referenced by mc_hall_a().

{
  U16 timer_value;
  U32 new_measured_speed;

  if (g_mc_read_enable==TRUE)
  {
    // Two 8 bits variables are use to simulate a 16 bits timers
    timer_value = TCD0.CNT/2;

    if (timer_value == 0) {timer_value += 1 ;} // warning DIV by 0
    new_measured_speed = K_SPEED / timer_value;
    if(new_measured_speed > 255) new_measured_speed = 255; // Variable saturation


    #ifdef AVERAGE_SPEED_MEASURE
      // To avoid noise an average is realized on 8 samples
      average += new_measured_speed;
      if(count >= n_SAMPLE)
      {
        count = 1;
        mc_set_motor_measured_speed(average >> 3);
        average = 0;
      }
      else count++;
    #else
      // else get the real speed
      mc_set_motor_measured_speed(new_measured_speed);
    #endif

    // Reset Timer 0 register and variables
    TCD0.CNT = 0x00;
    g_mc_read_enable=FALSE;
  }
}

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mc_get_hall()

U8 mc_get_hall

(

void

)

Get the value of hall sensors (1 to 6)

Parameters

return

an unsigned char value of hall sensor

Precondition

configuration of port PB and PD

Postcondition

new value of position

Definition at line 179 of file mc_drv.c.

References HALL_SENSOR_VALUE.

Referenced by mci_retry_run(), and mci_run().

{
  return HALL_SENSOR_VALUE();
}

mc_hall_a()

__interrupt void mc_hall_a

(

void

)

External interruption Sensor (A) mode toggle.

Precondition

configuration of external interruption (initialization)

Postcondition

New value in Hall variable

Definition at line 191 of file mc_drv.c.

References g_mc_read_enable, hall1_old_val, HALL_SENSOR_VALUE, mc_estimation_speed(), and mc_switch_commutation().

{
  mc_switch_commutation(HALL_SENSOR_VALUE());

  //estimation speed on rising edge of Hall_A
  if ((hall1_old_val == 0) && (PORTE.IN & PIN0_bm))
  {
    mc_estimation_speed();
    g_mc_read_enable=FALSE; // Wait 1 period
  }
  else
  {
    g_mc_read_enable=TRUE;
  }
  hall1_old_val = (PORTE.IN & PIN0_bm);
}

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mc_init_HW()

void mc_init_HW

(

void

)

init HW

Precondition

none

Postcondition

initialization of hardware

Definition at line 95 of file mc_drv.c.

References ADC_Init(), mc_init_timer0(), mc_init_timer1(), and PWM_Init().

Referenced by mc_init().

{

  //Do not modify PSCOUT Configuration
  // PORT C :
  PORTC.DIRSET = (PIN0_bm | PIN1_bm | PIN2_bm | PIN3_bm | PIN4_bm | PIN5_bm);
  PORTC.OUTCLR = (PIN0_bm | PIN1_bm | PIN2_bm | PIN3_bm | PIN4_bm | PIN5_bm);

  // Hall sensor input pull up activation
  PORTE.DIRCLR = (PIN0_bm | PIN1_bm | PIN2_bm);

  //Initialization of AT90PWM3 External Interrupts
  PORTE.INTCTRL = PORT_INT0LVL_LO_gc;
  PORTE.INT0MASK = (PIN0_bm | PIN1_bm | PIN2_bm);
  PORTCFG.MPCMASK = (PIN0_bm | PIN1_bm | PIN2_bm);
  PORTE.PIN0CTRL = PORT_ISC_BOTHEDGES_gc;


  // In Center Aligned Mode :
  // => PSCx_Init(Period_Half, Dutyx0_Half, Synchro, Dutyx1_Half)
  PWM_Init(255);

  mc_init_timer0();
  mc_init_timer1();

  ADC_Init();

}

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mc_init_timer0()

void mc_init_timer0

(

void

)

Timer 0 Configuration The timer 0 is used to generate an IT when an overflow occurs.

Precondition

None

Postcondition

Timer0 initialized.

Definition at line 313 of file mc_drv.c.

Referenced by mc_init_HW().

{
  TCD0.PER = 0xFFFF;
  TCD0.INTCTRLA = TC_OVFINTLVL_LO_gc;
  TCD0.CTRLA = TC_CLKSEL_DIV256_gc;
}

mc_init_timer1()

void mc_init_timer1

(

void

)

timer 1 Configuration Use to generate a 250us activation for sampling speed regulation

Precondition

None

Postcondition

An interrupt all 256us

Definition at line 283 of file mc_drv.c.

Referenced by mc_init_HW().

{
  TCD1.PER = 8000;
  TCD1.INTCTRLA = TC_OVFINTLVL_LO_gc;
  TCD1.CTRLA = TC_CLKSEL_DIV1_gc;
}

mc_inrush_task()

void mc_inrush_task

(

void

)

the purpose of this function is to manage the delay
used when the overcurrent detection is disabled

Definition at line 431 of file mc_drv.c.

References inrush_delay, and inrush_mask_flag.

Referenced by main().

{
  if (inrush_mask_flag == TRUE)
  {
    if (inrush_delay-- == 0)
    {
      inrush_mask_flag = FALSE;
     // Enable_over_current();
    }
  }
}

mc_set_Over_Current()

void mc_set_Over_Current

(

U8

Level

)

Set the Over Current threshold.

Precondition

DAC initialization

Postcondition

the Over Current threshold is set.

Definition at line 415 of file mc_drv.c.

{
  //Set_dac_8_bits(Level);
}

mc_switch_commutation()

void mc_switch_commutation

(

U8

position

)

Set the Switching Commutation value on outputs according to sensor or estimation position.

Parameters

position

(1 to 6) and direction (FORWARD or BACKWARD)

Definition at line 226 of file mc_drv.c.

References CCW, HS_001, HS_010, HS_011, HS_100, HS_101, HS_110, mc_duty_cycle(), mc_get_Duty_Cycle(), mc_get_motor_direction(), mc_get_motor_speed(), mc_motor_is_running(), Set_none, Set_Q1Q4, Set_Q1Q6, Set_Q3Q2, Set_Q3Q6, Set_Q5Q2, and Set_Q5Q4.

Referenced by mc_hall_a(), mci_retry_run(), and mci_run().

{
  // get the motor direction to commute the right switches.
  char direction = mc_get_motor_direction();

  // Switches are commuted only if the user start the motor and
  // the speed consign is different from 0.
  if ((mc_motor_is_running()) && (mc_get_motor_speed()!=0))
  {
    mc_duty_cycle(mc_get_Duty_Cycle());
    switch(position)
    {
    // cases according to rotor position
      case HS_001:  if (direction==CCW)  {Set_Q1Q6();}
                    else                      {Set_Q5Q2();}
                    break;

      case HS_101:  if (direction==CCW)  {Set_Q3Q6();}
                    else                      {Set_Q5Q4();}
                    break;

      case HS_100:  if (direction==CCW)  {Set_Q3Q2();}
                    else                      {Set_Q1Q4();}
                    break;

      case HS_110:  if (direction==CCW)  {Set_Q5Q2();}
                    else                      {Set_Q1Q6();}
                    break;

      case HS_010:  if (direction==CCW)  {Set_Q5Q4();}
                    else                      {Set_Q3Q6();}
                    break;

      case HS_011:  if (direction==CCW)  {Set_Q1Q4();}
                    else                      {Set_Q3Q2();}
                    break;
      default : break;
      }
  }
  else
  {
    Set_none(); // all switches are switched OFF
  }
}

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ovfl_timer0()

__interrupt void ovfl_timer0

(

void

)

Timer0 Overflow for speed measurement.

Precondition

configuration of timer 0

Postcondition

generate an overflow when the motor turns too slowly

Definition at line 327 of file mc_drv.c.

References mc_motor_is_running(), mc_set_motor_measured_speed(), and mci_retry_run().

{
    mc_set_motor_measured_speed(0);
    //if the motor was turning and no stop order
    // was given, motor run automatically.
    if(mc_motor_is_running())mci_retry_run();

}

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PWM_Init()

void PWM_Init

(

unsigned int

OCRnRB

)

Initialization of PWM generator PSC0.

Definition at line 153 of file mc_drv.c.

References AWEX_EnableCommonWaveformChannelMode, AWEX_SetOutputOverrideValue, and ConfigDTI().

Referenced by mc_init_HW().

{  
    ConfigDTI( 3 );
    TCC0.PER = OCRnRB;
    TCC0.CTRLB = TC0_CCAEN_bm | TC0_CCBEN_bm | TC0_CCCEN_bm | TC0_CCDEN_bm| TC_WGMODE_DS_T_gc;
    TCC0.INTCTRLA = TC_OVFINTLVL_LO_gc;
    TCC0.CTRLA = TC_CLKSEL_DIV4_gc;

        AWEX_SetOutputOverrideValue( AWEXC, 0 );   
        AWEX_EnableCommonWaveformChannelMode(AWEXC);    
}

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Variable Documentation

ADC_State

char ADC_State = FREE

Definition at line 45 of file mc_drv.c.

average

U16 average = 0

Definition at line 32 of file mc_drv.c.

Referenced by mc_estimation_speed().

count

U8 count = 1

Definition at line 31 of file mc_drv.c.

Referenced by mc_estimation_speed().

current_EOC

Bool current_EOC = FALSE

Definition at line 42 of file mc_drv.c.

g_mc_read_enable

Bool g_mc_read_enable = FALSE

Definition at line 38 of file mc_drv.c.

Referenced by mc_estimation_speed(), and mc_hall_a().

g_tick

Bool g_tick = FALSE

Use for control the sampling period value.

Definition at line 39 of file mc_drv.c.

Referenced by launch_sampling_period(), and main().

hall1_old_val

Bool hall1_old_val = 1

Definition at line 40 of file mc_drv.c.

Referenced by mc_hall_a().

inrush_delay

U16 inrush_delay = 0

Definition at line 36 of file mc_drv.c.

Referenced by mc_disable_during_inrush(), and mc_inrush_task().

inrush_mask_flag

Bool inrush_mask_flag = FALSE

Definition at line 35 of file mc_drv.c.

Referenced by mc_disable_during_inrush(), and mc_inrush_task().

offset

volatile char offset =0

Definition at line 47 of file mc_drv.c.

Referenced by ADC_Init(), ADC_Offset_Get(), ADC_ResultCh_GetLowByte(), and mc_ADC_Scheduler().

ovf_timer

U8 ovf_timer = 0

Definition at line 33 of file mc_drv.c.

State

char State = CONV_INIT

Definition at line 44 of file mc_drv.c.