main.c

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//******************************************************************************
//******************************************************************************

/* Copyright (c) 2008, Atmel Corporation All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. The name of ATMEL may not be used to endorse or promote products derived
 * from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY ATMEL ``AS IS'' AND ANY EXPRESS OR IMPLIED
 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
 * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
 * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

//_____  I N C L U D E S ___________________________________________________

#include "config.h"

#include "mc_interface.h"
#include "mc_control.h"
#include "mc_drv.h"

#include "adc\adc_drv.h"

#include "ushell_task.h"

//_____ M A C R O S ________________________________________________________


//_____ D E F I N I T I O N S ______________________________________________

/* linear ramp-up table */
//U8 __flash ramp_up_time_table[] = {27,25,22,19,17,14,12,9,7,4,2};
//U8 __flash ramp_up_duty_table[] = {129,130,131,132,133,134,135,136,137,138,139};
//U8 __flash ramp_up_time_table[] = {27,25,22,19,17,14,12,9,3,3,1}; /* motor sensorless */
//U8 __flash ramp_up_duty_table[] = {129,130,131,132,133,134,135,136,138,139,140}; /* motor sensorless */
/************************************************************************************************/
#ifdef MC310_MOTOR
#ifdef __GNUC__
U8 
#elif __ICCAVR__
U8 __flash 
#endif
ramp_up_time_table[] = {26,23,20,17,14,11,8,5,3,2,2}; /* MC310 motor */
#ifdef __GNUC__
U8 
#elif __ICCAVR__
U8 __flash 
#endif
ramp_up_duty_table[] = {122,124,126,129,131,133,135,137,140,143,145}; /* MC310 motor */
#endif
/************************************************************************************************/
#ifdef ELECTROCRAFT_MOTOR
#ifdef __GNUC__
U8 
#elif __ICCAVR__
U8 __flash 
#endif
ramp_up_time_table[] = {53,53,53,21,10,5,4,3,3,3}; /* Electrocraft Motor */
#ifdef __GNUC__
U8 
#elif __ICCAVR__
U8 __flash 
#endif
ramp_up_duty_table[] = {128,129,130,132,137,139,144,151,156,159}; /* Electrocraft Motor */
#endif
/************************************************************************************************/
#ifdef RC_MOTOR
// define here your own table
#ifdef __GNUC__
U8 
#elif __ICCAVR__
U8 __flash 
#endif
ramp_up_time_table[] = {22,20,18,16,14,12,10,8,7,6,5,4,4,4,4,4}; 
//U8 __flash ramp_up_duty_table[] = {128,132,136,140,144,148,152,156,160,164,168,172,176,176,176,176}; 
#ifdef __GNUC__
U8 
#elif __ICCAVR__
U8 __flash 
#endif
ramp_up_duty_table[] = {128,132,136,140,144,148,152,156,160,164,166,168,170,160,160,160}; 
#endif
/************************************************************************************************/

//_____ D E C L A R A T I O N S ____________________________________________
U16 g_regulation_period = 0;  
U16 motor_speed = 0;          
extern volatile Bool g_tick;           //generated by mc_drv.c Used for sampling time
extern Bool overcurrent;
extern U8 duty_cycle;         
extern U8 duty_cycle_reference; 



  U8 ru_step_length_cntr = 0;
  U8 new_position = MS_001;
  U8 ru_step_length = RAMP_UP_STEP_MAX;
  U8 ru_period_counter = 0;
  U8 ramp_up_index = 0;
  U8 motor_state = MS_STOP;


inline void compute_new_position(void)
{
          if (mci_get_motor_direction()==CCW)
          {
             switch(new_position)
             {
               /* ramp up CCW */
               case MS_001:
                 new_position = MS_011;
                 break;

               case MS_101:
                 new_position = MS_001;
                 break;

               case MS_100:
                 new_position = MS_101;
                 break;

               case MS_110:
                 new_position = MS_100;
                 break;

               case MS_010:
                 new_position = MS_110;
                 break;

               case MS_011:
                 new_position = MS_010;
                 break;

               default :
                 new_position = MS_001;
                 break;
             }

          }
          else
          {
             switch(new_position)
             {
               /* ramp_up CW */
               case MS_001:
                 new_position = MS_101;
                 break;

               case MS_101:
                 new_position = MS_100;
                 break;

               case MS_100:
                 new_position = MS_110;
                 break;

               case MS_110:
                 new_position = MS_010;
                 break;

               case MS_010:
                 new_position = MS_011;
                 break;

               case MS_011:
                 new_position = MS_001;
                 break;

               default :
                 new_position = MS_001;
                 break;
             }

          }
}


int main(void)
{
U8 temp;
  // init motor
  mc_init();  // launch initialization of the motor application
  
  // Initialyze the communication system for External Command through Uart
  ushell_task_init();

  mci_backward();

  mci_run();

  while(1)
  {

    // Timer 0 generates an (g_tick) all 256 * 4us => 1.024mS
    // g_tick period = 1.024mS
    if (g_tick == TRUE)
    {
      g_tick = FALSE;

      // Get Current and potentiometer value
      mc_ADC_Scheduler();

      switch(motor_state)
      {
        case (MS_ALIGN):
          ru_period_counter--;
          if (ru_period_counter==0)
          {
             Clear_PC7();
             motor_state=MS_RAMP_UP;
          }
          break;

        case (MS_RAMP_UP):
          // divide the ramp-up phase in constant periods equal
          //      to RAMP_UP_PERIOD * (g_tick periop)
          // generate the ru_step_length for each period
          //      with data from the table
          ru_period_counter += 1;
          if ( ru_period_counter >= RAMP_UP_PERIOD )
          {
            ru_period_counter = 0;
            ru_step_length = ramp_up_time_table[ramp_up_index];
            mc_duty_cycle(ramp_up_duty_table[ramp_up_index]);
            duty_cycle = ramp_up_duty_table[ramp_up_index];
            duty_cycle_reference = duty_cycle;
            
            if (ramp_up_index < RAMP_UP_INDEX_MAX)
            {
                ramp_up_index += 1;
            }
            else
            {
                motor_state=MS_LAST_RAMP_UP;
 
            }
          }

          // monitor the length of each step
          ru_step_length_cntr += 1;
          if ( ru_step_length_cntr >= ru_step_length )
          {
            ru_step_length_cntr = 0;
            compute_new_position();
            mc_switch_commutation((Motor_Position)new_position);
//            Toggle_PC7(); // generate a probe signal on PC7
          }
          break;

        case (MS_LAST_RAMP_UP):

          // monitor the length of each step
          ru_step_length_cntr += 1;
          if ( ru_step_length_cntr >= ru_step_length )
          {
            ru_step_length_cntr = 0;
            compute_new_position();
            mc_switch_commutation((Motor_Position)new_position);
            start_running_phase();
            motor_state=MS_RUNNING;
            Set_PC7(); // generate a probe signal on PC7
          }
          break;

        case (MS_RUNNING):
          g_regulation_period += 1;
          if ( g_regulation_period >= 40 ) //n * 1mS = Te
          {
            g_regulation_period = 0;

            if (ushell_active == FALSE)
            {
              // Set User Speed Command with potentiometer
              temp = mc_get_potentiometer_value();
              if (temp > (POT_REF_MIN))
              {
                mci_set_ref_speed((U8)temp);
                mc_regulation_loop(); // launch regulation loop
                mc_duty_cycle(mc_get_duty_cycle());
              }
              else
              {
                mci_set_ref_speed(POT_REF_MIN);
                mc_regulation_loop(); // launch regulation loop
                mc_duty_cycle(mc_get_duty_cycle());
              }
            }
            else
            {
              mc_regulation_loop(); // launch regulation loop
              mc_duty_cycle(mc_get_duty_cycle());
            }
          }
          break;

        case (MS_STOP):
          if (ushell_active == FALSE)
          {
            temp = mc_get_potentiometer_value();
            if (temp > (POT_REF_MIN))
            {
              mci_run();
            }
          }
          break;

        default :
          motor_state=MS_STOP;
          break;
      }


      ushell_task();
//      mc_inrush_task();       // manage the inrush current
      duty_cycle_filter ();


    }

  }
}

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