main.c File Reference

#include "config.h"
#include "mc_interface.h"
#include "mc_control.h"
#include "mc_drv.h"
#include "adc\adc_drv.h"
#include "ushell_task.h"

Include dependency graph for main.c:

Go to the source code of this file.

Functions
void	compute_new_position (void)
	this function computes the new position during ramp_up
int	main (void)
	Main Entry.
Variables
U8	duty_cycle
	Parameter to set PWM Duty Cycle after regulation calculation.
U8	duty_cycle_reference
U16	g_regulation_period = 0
	Define the sampling period.
volatile Bool	g_tick
	Use for control the sampling period value.
U16	motor_speed = 0
	User Speed Order.
U8	motor_state = MS_STOP
U8	new_position = MS_001
Bool	overcurrent
U8	ramp_up_index = 0
U8	ru_period_counter = 0
U8	ru_step_length = RAMP_UP_STEP_MAX
U8	ru_step_length_cntr = 0
	Reference before filtering.

---

Function Documentation

void compute_new_position

(

void

)

[inline]

this function computes the new position during ramp_up

Definition at line 130 of file main.c.

References CCW, mci_get_motor_direction(), MS_001, MS_010, MS_011, MS_100, MS_101, MS_110, and new_position.

Referenced by main().

{
          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;
             }

          }
}

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int main

(

void

)

Main Entry.

The main entry point for the control motor application.
The mc_regulation_loop() function is launched every 80ms.

Definition at line 210 of file main.c.

References Clear_PC7, compute_new_position(), duty_cycle, duty_cycle_filter(), duty_cycle_reference, FALSE, g_regulation_period, g_tick, mc_ADC_Scheduler(), mc_duty_cycle(), mc_get_duty_cycle(), mc_get_potentiometer_value(), mc_init(), mc_regulation_loop(), mc_switch_commutation(), mci_backward(), mci_run(), mci_set_ref_speed(), motor_state, MS_ALIGN, MS_LAST_RAMP_UP, MS_RAMP_UP, MS_RUNNING, MS_STOP, new_position, POT_REF_MIN, ramp_up_index, RAMP_UP_INDEX_MAX, RAMP_UP_PERIOD, ru_period_counter, ru_step_length, ru_step_length_cntr, Set_PC7, start_running_phase(), TRUE, ushell_active, ushell_task(), and ushell_task_init().

{
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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---

Variable Documentation

U8 duty_cycle

Parameter to set PWM Duty Cycle after regulation calculation.

Definition at line 48 of file mc_control.c.

Referenced by duty_cycle_filter(), main(), and mc_get_duty_cycle().

U8 duty_cycle_reference

Definition at line 50 of file mc_control.c.

Referenced by duty_cycle_filter(), main(), and mc_regulation_loop().

U16 g_regulation_period = 0

Define the sampling period.

Definition at line 112 of file main.c.

Referenced by main().

volatile Bool g_tick

Use for control the sampling period value.

Definition at line 74 of file mc_drv.c.

Referenced by main(), and ovfl_timer0().

U16 motor_speed = 0

User Speed Order.

Definition at line 113 of file main.c.

U8 motor_state = MS_STOP

Definition at line 126 of file main.c.

Referenced by main(), mci_run(), and mci_stop().

U8 new_position = MS_001

Definition at line 122 of file main.c.

Referenced by compute_new_position(), main(), and mci_run().

Bool overcurrent

Definition at line 59 of file mc_drv.c.

Referenced by mc_overcurrent_detect(), and mci_run().

U8 ramp_up_index = 0

Definition at line 125 of file main.c.

Referenced by main(), and mci_run().

U8 ru_period_counter = 0

Definition at line 124 of file main.c.

Referenced by main(), and mci_run().

U8 ru_step_length = RAMP_UP_STEP_MAX

Definition at line 123 of file main.c.

Referenced by main(), and mci_run().

U8 ru_step_length_cntr = 0

Reference before filtering.

Definition at line 121 of file main.c.

Referenced by main().