mc_drv.c File Reference

#include "config.h"
#include "mc_drv.h"
#include "mc_interface.h"
#include "mc_control.h"
#include "psc\psc_drv.h"
#include "adc\adc_drv.h"
#include "dac\dac_drv.h"
#include "pll\pll_drv.h"
#include "comparator\comparator_drv.h"

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Defines
#define	ADVANCE   70
#define	PSWAP0   2
#define	PSWAP1   3
#define	PSWAP2   4
Functions
__interrupt void	ADC_end_of_conversion (void)
	Launch the sampling procedure to get current value.
__interrupt void	demag_interrupt (void)
	end of demagnetization delay interrupt
void	mc_ADC_Scheduler (void)
	Launch the scheduler for the ADC.
__interrupt void	mc_comparator_0 (void)
__interrupt void	mc_comparator_1 (void)
__interrupt void	mc_comparator_2 (void)
void	mc_disable_during_inrush (void)
	the purpose of this function is to disable the overcurrent detection during startup (inrush current)
void	mc_duty_cycle (U8 level)
	Set the duty cycle values in the PSC according to the value calculate by the regulation loop.
void	mc_estimation_speed (void)
	estimation speed
Motor_Position	mc_get_hall (void)
	Get the value of hall sensors (1 to 6).
__interrupt void	mc_hall_a (void)
	External interruption Sensor (A) mode toggle.
__interrupt void	mc_hall_b (void)
	External interruption Hall Sensor (B) mode toggle.
void	mc_init_HW (void)
	mc_init_HW : Hardware Initialization
void	mc_init_timer0 (void)
	Timer 0 Configuration The timer 0 is used to generate an IT when an overflow occurs.
void	mc_init_timer1 (void)
	timer 1 Configuration
void	mc_inrush_task (void)
	the purpose of this function is to manage the delay used when the overcurrent detection is disabled
__interrupt void	mc_overcurrent_detect (void)
void	mc_switch_commutation (Motor_Position position)
	Set the Switching Commutation value on outputs.
__interrupt void	ovfl_timer0 (void)
	Timer0 Overflow => 4µS.
void	PSC_Init (void)
	PSC Init : Initialize the PSC according to the settings in config.h.
void	start_running_phase (void)
__interrupt void	thirty_degres_interrupt (void)
	30 degres interrupt
Variables
static char	ADC_State = FREE
U16	average = 0
U8	count = 1
Bool	current_EOC = FALSE
volatile Bool	g_tick = FALSE
	Use for control the sampling period value.
static U16	inrush_delay = 0
static Bool	inrush_mask_flag = FALSE
static U8	motor_step
Bool	overcurrent = FALSE
static char	State = CONV_INIT
static U16	stored_time = 0
static volatile U8	timer0_ext = 0
static U32	top_average = 200

---

Define Documentation

#define ADVANCE   70

Definition at line 465 of file mc_drv.c.

#define PSWAP0   2

Definition at line 55 of file mc_drv.c.

#define PSWAP1   3

Definition at line 56 of file mc_drv.c.

#define PSWAP2   4

Definition at line 57 of file mc_drv.c.

---

Function Documentation

__interrupt void ADC_end_of_conversion

(

void

)

Launch the sampling procedure to get current value.

Precondition:

amplifier and IT initialization

Postcondition:

Set the End Of Conversion flag

Definition at line 663 of file mc_drv.c.

References Adc_get_10_bits_result, Adc_get_8_bits_result, ADC_INPUT_GND, Adc_select_channel, ADC_State, CONV_CURRENT, CONV_POT, FREE, mc_set_potentiometer_value(), mci_store_measured_current(), and State.

{
  Adc_select_channel(ADC_INPUT_GND); /* release the amplified channel */
  if(State == CONV_POT) mc_set_potentiometer_value(Adc_get_8_bits_result());
  if(State == CONV_CURRENT) mci_store_measured_current(Adc_get_10_bits_result());
  ADC_State = FREE;
}

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__interrupt void demag_interrupt

(

void

)

end of demagnetization delay interrupt

Definition at line 428 of file mc_drv.c.

References Enable_IT_comparator0, Enable_IT_comparator1, Enable_IT_comparator2, Enable_IT_comparator2_1_0, motor_step, MS_001, MS_010, MS_011, MS_100, MS_101, and MS_110.

{

  switch(motor_step)
  {
    case (MS_100):
      Enable_IT_comparator0();
      break;

    case (MS_110):
      Enable_IT_comparator1();
      break;

    case (MS_010):
      Enable_IT_comparator2();
      break;

    case (MS_011):
      Enable_IT_comparator0();
      break;

    case (MS_001):
      Enable_IT_comparator1();
      break;

    case (MS_101):
      Enable_IT_comparator2();
      break;

    default :
      Enable_IT_comparator2_1_0();
      motor_step=MS_010;
      break;
  }
}

void mc_ADC_Scheduler

(

void

)

Launch the scheduler for the ADC.

Postcondition:

Get results for Potentiometer and current values.

Definition at line 675 of file mc_drv.c.

References ADC_INPUT_AMP1, ADC_INPUT_ISRC, Adc_left_adjust_result, Adc_right_adjust_result, Adc_start_conv_channel, ADC_State, BUSY, CONV_CURRENT, CONV_INIT, CONV_POT, FREE, and State.

Referenced by main().

{
  switch(State)
  {
  case CONV_INIT :
    ADC_State = FREE;
    State = CONV_CURRENT;
    break;

  case CONV_CURRENT :              /* previous state was CONV_CURRENT */
    if(ADC_State == FREE)
    {
      ADC_State = BUSY;
      State= CONV_POT;                        /* new state is CONV_POT */
      Adc_left_adjust_result();
      Adc_start_conv_channel(ADC_INPUT_ISRC); /* get POT on ISRC input */
    }
    break;

  case CONV_POT :                           /* previous state was CONV_POT */
    if(ADC_State == FREE)
    {
      ADC_State = BUSY;
      State = CONV_CURRENT;                   /* new state is CONV_CURRENT */
      Adc_right_adjust_result();
      Adc_start_conv_channel(ADC_INPUT_AMP1); /* get current on amplifier 1 */
    }
    break;
  }
}

__interrupt void mc_comparator_0

(

void

)

Definition at line 471 of file mc_drv.c.

References Disable_IT_comparator2_1_0, LSB, MSB, and top_average.

{
  U16 top;
  U16 tmp1;
  U16 tmp2;
  U8 temp;
  TCCR1B = 0 ; // stop timer 1
  temp = TCNT1L;
  top = (TCNT1H<<8) + temp;
  TCNT1H = 0;
  TCNT1L = 0;
  top_average = ((U32)top_average*15 + top ) >> 4;
  tmp1 = (top_average >> 1);
  tmp2 = tmp1 + (top_average >> 2);
//  tmp2 = tmp1 + 40;
/*  if (tmp1 > (4*ADVANCE)) 
  {
    tmp1 = tmp1 - ADVANCE;
    tmp2 = tmp2 - ADVANCE;
  }*/
  OCR1AH = MSB(tmp1);
  OCR1AL = LSB(tmp1);
  OCR1BH = MSB(tmp2);
  OCR1BL = LSB(tmp2);
  TCCR1B = 1<<CS11 | 1<<CS10 ; // start timer 1
  Disable_IT_comparator2_1_0();

}

__interrupt void mc_comparator_1

(

void

)

Definition at line 505 of file mc_drv.c.

References Disable_IT_comparator2_1_0, LSB, mc_estimation_speed(), MSB, and top_average.

{
  U16 top;
  U16 tmp1;
  U16 tmp2;
  U8 temp;
  TCCR1B = 0 ; // stop timer 1
  temp = TCNT1L;
  top = (TCNT1H<<8) + temp;
  TCNT1H = 0;
  TCNT1L = 0;
  top_average = ((U32)top_average*15 + top ) >> 4;
  tmp1 = (top_average >> 1);
  tmp2 = tmp1 + (top_average >> 2);
//  tmp2 = tmp1 + 40;
/*  if (tmp1 > (4*ADVANCE)) 
  {
    tmp1 = tmp1 - ADVANCE;
    tmp2 = tmp2 - ADVANCE;
  }*/
  OCR1AH = MSB(tmp1);
  OCR1AL = LSB(tmp1);
  OCR1BH = MSB(tmp2);
  OCR1BL = LSB(tmp2);
  TCCR1B = 1<<CS11 | 1<<CS10 ; // start timer 1
  Disable_IT_comparator2_1_0();
  mc_estimation_speed();
}

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__interrupt void mc_comparator_2

(

void

)

Definition at line 539 of file mc_drv.c.

References Disable_IT_comparator2_1_0, LSB, MSB, and top_average.

{
  U16 top;
  U16 tmp1;
  U16 tmp2;
  U8 temp;
//Toggle_PE1();
  TCCR1B = 0 ; // stop timer 1
  temp = TCNT1L;
  top = (TCNT1H<<8) + temp;
  TCNT1H = 0;
  TCNT1L = 0;
  top_average = ((U32)top_average*15 + top ) >> 4;
  tmp1 = (top_average >> 1);
  tmp2 = tmp1 + (top_average >> 2);
//  tmp2 = tmp1 + 40;
/*  if (tmp1 > (4*ADVANCE)) 
  {
    tmp1 = tmp1 - ADVANCE;
    tmp2 = tmp2 - ADVANCE;
  }*/
  OCR1AH = MSB(tmp1);
  OCR1AL = LSB(tmp1);
  OCR1BH = MSB(tmp2);
  OCR1BL = LSB(tmp2);
  TCCR1B = 1<<CS11 | 1<<CS10 ; // start timer 1
  Disable_IT_comparator2_1_0();
}

void mc_disable_during_inrush

(

void

)

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

Definition at line 715 of file mc_drv.c.

References Disable_over_current, inrush_delay, inrush_mask_flag, and TRUE.

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

{
  inrush_delay = (U16) 500;
  inrush_mask_flag = TRUE;
  Disable_over_current();
}

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 272 of file mc_drv.c.

References A_RA_VAL, B_RA_VAL, C_RA_VAL, DEADTIME, Psc_lock, Psc_set_module_A, Psc_set_module_B, Psc_set_module_C, and Psc_unlock.

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

{
   U8 duty;
   duty = level;

#if ((CURRENT_DECAY == SLOW_DECAY_SYNCHRONOUS)||(CURRENT_DECAY == FAST_DECAY_SYNCHRONOUS))
   U8 dutydt;   /* duty with dead time */
   if (duty >= DEADTIME) dutydt = duty - DEADTIME;
#endif
   
   Psc_lock();

  // Duty = 0   => Duty Cycle   0%
  // Duty = 255 => Duty Cycle 100%
 
#if (CURRENT_DECAY == FAST_DECAY)
   Psc_set_module_A(duty,A_RA_VAL,duty);
   Psc_set_module_B(duty,B_RA_VAL,duty);
   Psc_set_module_C(duty,C_RA_VAL,duty);
#else
#if ((CURRENT_DECAY == SLOW_DECAY_SYNCHRONOUS)||(CURRENT_DECAY == FAST_DECAY_SYNCHRONOUS))
   Psc_set_module_A(duty,A_RA_VAL,dutydt);
   Psc_set_module_B(duty,B_RA_VAL,dutydt);
   Psc_set_module_C(duty,C_RA_VAL,dutydt);
#else
   Psc_set_module_A(duty,A_RA_VAL,0);
   Psc_set_module_B(duty,B_RA_VAL,0);
   Psc_set_module_C(duty,C_RA_VAL,0);
#endif
#endif
   
   Psc_unlock();
}

void mc_estimation_speed

(

void

)

estimation speed

Precondition:

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

Postcondition:

new value for real speed

Definition at line 627 of file mc_drv.c.

References mc_set_measured_period(), stored_time, and timer0_ext.

Referenced by mc_comparator_1(), and mc_hall_a().

{
  U16 actual_time;
  U16 period_motor;

  // Two 8 bits variables are use to simulate a 16 bits timer
  actual_time = (timer0_ext<<8) + TCNT0;

  if (actual_time > stored_time)
  {
    period_motor = actual_time - stored_time;
  }
  else
  {
    period_motor = (U16)65535 - stored_time + actual_time;
  }

  stored_time = actual_time;

  mc_set_measured_period(period_motor>>1);

}

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Motor_Position 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 221 of file mc_drv.c.

References HALL_SENSOR_VALUE.

Referenced by mci_retry_run().

{
  return HALL_SENSOR_VALUE();
}

__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 236 of file mc_drv.c.

References mc_estimation_speed().

{
//  if (ramp_up == TRUE) mc_switch_commutation(HALL_SENSOR_VALUE());
//  mc_switch_commutation(HALL_SENSOR_VALUE());

  //estimation speed on rising edge of Hall_A
  if (PINC&(1<<PORTC3))
  {
    mc_estimation_speed();
  }

}

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__interrupt void mc_hall_b

(

void

)

External interruption Hall Sensor (B) mode toggle.

Precondition:

configuration of external interruption (initialization)

Postcondition:

New value in Hall variable

Definition at line 260 of file mc_drv.c.

{
//  if (ramp_up == TRUE) mc_switch_commutation(HALL_SENSOR_VALUE());
//  mc_switch_commutation(HALL_SENSOR_VALUE());
}

void mc_init_HW

(

void

)

mc_init_HW : Hardware Initialization

Postcondition:

initialization of hardware

Definition at line 90 of file mc_drv.c.

References Adc_config, Amp1_config, Comp_0_config, Comp_1_config, Comp_2_config, Dac_config, Dac_set_8_bits, IMAX, Init_PC7, mc_init_timer0(), mc_init_timer1(), PSC_Init(), Start_pll_64_mega, and Wait_pll_ready.

Referenced by mc_init().

{
  // Output Pin configuration (used by PSC outputs)
  // PD0 => UH     PB7 => UL
  // PC0 => VH     PB6 => VL
  // PB0 => WH     PB1 => WL

  // Warning Output Low for MOSFET Drivers
  PORTB &= ~(1<<PORTB7 | 1<<PORTB6 | 1<<PORTB1 | 1<<PORTB0);
  PORTC &= ~(1<<PORTC0);
  PORTD &= ~(1<<PORTD0);

/* to removed */
  PORTB |= (1<<PORTB4)|(1<<PORTB3); /* activate PB4 and PB3 pull up for sensorless debug */
  PORTC |= (1<<PORTC3); /* activate PC3 pull up for sensorless debug */

/* pull up for external comparators : to remove when internal comp are used */ 
#ifdef USE_INTERNAL_COMPARATORS
#else
  PORTD |= (1<<PORTD7)|(1<<PORTD5);
  PORTC |= (1<<PORTC6);
#endif

  // PORT B :
  DDRB = (1<<DDB7)|(1<<DDB6)|(1<<DDB1)|(1<<DDB0);
  // PORT C :
  DDRC = (1<<DDC0);
  // PORT D :
  DDRD = (1<<DDD0);
  // PORT E : /* to be removed */
  DDRE |= (1<<DDE2)|(1<<DDE1);

  Init_PC7(); /* PC7 is used to display the overcurrent */

  // Disable Digital Input for amplifier1
  DIDR1 = (1<<ADC9D)|(1<<ADC8D);

  // Disable Digital Input for comparators 0, 1 & 2  : to remove when external comp are used 
#ifdef USE_INTERNAL_COMPARATORS
  DIDR0 = (1<<ADC6D)|(1<<ADC5D)|(1<<ADC3D)|(1<<ADC2D);
  DIDR1 = (1<<ADC10D)|(1<<ACMP0D);
#endif

  // Select the Vref Source
//  init_vref_source ();

//  init_adc();
  Adc_config();
  Amp1_config();
  
  // Be careful : initialize DAC and Over_Current before PWM.
  // DAC is used for oevr current level
  Dac_config();
  /* set the overcurrent level */
  Dac_set_8_bits(IMAX);
    
  mc_init_timer0();
  mc_init_timer1();

  Comp_0_config();
  Comp_1_config();
  Comp_2_config();
  
  // Use PCINT14 to detect change on H2 sensor
  PCMSK0 = (1<<PCINT4)|(1<<PCINT3);
  PCMSK1 = (1<<PCINT11);
  PCICR = (1<<PCIE1)|(1<<PCIE0);

//  Start_pll_32_mega(); // Start the PLL and use the 32 MHz PLL output
  Start_pll_64_mega(); // Start the PLL and use the 64 MHz PLL output
  Wait_pll_ready();


  // => PSCx_Init(Period_Half, Dutyx0_Half, Synchro, Dutyx1_Half)
  PSC_Init();

}

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void mc_init_timer0

(

void

)

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

Postcondition:

Timer0 initialized.

Definition at line 599 of file mc_drv.c.

Referenced by mc_init_HW().

{
  TCCR0A = 0;
  TCCR0B = (0<<CS02)|(1<<CS01)|(1<<CS00); // prescaler /64 (4us)
  TIMSK0 = (1<<TOIE0);
}

void mc_init_timer1

(

void

)

timer 1 Configuration

Definition at line 357 of file mc_drv.c.

Referenced by mc_init_HW().

{
  TCCR1A = 0; //Normal port operation + Mode CTC
  TCCR1B = 1<<CS11 | 1<<CS10 ; // Mode CTC + prescaler 64 => T timer1 = 4µS
  TCCR1C = 0;
}

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 724 of file mc_drv.c.

References Enable_over_current, FALSE, inrush_delay, inrush_mask_flag, and TRUE.

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

__interrupt void mc_overcurrent_detect

(

void

)

Definition at line 741 of file mc_drv.c.

References mci_stop(), overcurrent, and TRUE.

{
  PIFR = (1<<PEV1); // clear the interrupt
  overcurrent = TRUE;
  mci_stop();
}

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void mc_switch_commutation

(

Motor_Position

position

)

Set the Switching Commutation value on outputs.

Parameters:

position

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

Definition at line 311 of file mc_drv.c.

References mci_get_motor_direction(), mci_motor_is_running(), motor_step, MS_001, MS_010, MS_011, MS_100, MS_101, MS_110, Set_none, Set_Q1Q4, Set_Q1Q6, Set_Q3Q2, Set_Q3Q6, Set_Q5Q2, and Set_Q5Q4.

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

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

  // Switches are commuted only if the user start the motor
  if (mci_motor_is_running())
  {
    switch(position)
    {
    // cases according to rotor position
      case MS_001:  {Set_Q1Q6();motor_step=MS_001;}
                    break;

      case MS_101:  {Set_Q1Q4();motor_step=MS_101;}
                    break;

      case MS_100:  {Set_Q5Q4();motor_step=MS_100;}
                    break;

      case MS_110:  {Set_Q5Q2();motor_step=MS_110;}
                    break;

      case MS_010:  {Set_Q3Q2();motor_step=MS_010;}
                    break;

      case MS_011:  {Set_Q3Q6();motor_step=MS_011;}
                    break;
      default : break;
    }
  }
  else
  {
    Set_none(); // all switches are switched OFF
  }
}

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__interrupt void ovfl_timer0

(

void

)

Timer0 Overflow => 4µS.

Definition at line 614 of file mc_drv.c.

References g_tick, timer0_ext, and TRUE.

{
  timer0_ext++;
  g_tick = TRUE;
}

void PSC_Init

(

void

)

PSC Init : Initialize the PSC according to the settings in config.h.

Definition at line 172 of file mc_drv.c.

References A_RA_VAL, A_SA_VAL, A_SB_VAL, B_RA_VAL, B_SA_VAL, B_SB_VAL, C_RA_VAL, C_SA_VAL, C_SB_VAL, Psc_config, Psc_config_input_0, Psc_config_input_1, Psc_config_input_2, PSC_INPUT_FILTER_ENABLE, PSC_INPUT_NO_ACTION, PSC_OVERLAP_ENABLE, Psc_run, Psc_set_module_A, Psc_set_module_B, Psc_set_module_C, Psc_set_register_RB, PSC_SYNCHRONOUS_OUTPUT_CONTROL, PSC_USE_COMPARATOR, PSC_USE_HIGH_LEVEL, PSC_USE_LOW_LEVEL, PSC_USE_PIN, and RB_VAL.

Referenced by mc_init_HW(), and mci_run().

{
   Psc_set_module_A(A_SA_VAL,A_RA_VAL,A_SB_VAL);
   Psc_set_module_B(B_SA_VAL,B_RA_VAL,B_SB_VAL);
   Psc_set_module_C(C_SA_VAL,C_RA_VAL,C_SB_VAL);
   Psc_set_register_RB(RB_VAL);

   Psc_config();

   Psc_config_input_0(PSC_OVERLAP_ENABLE,\
                      PSC_USE_PIN,\
                      PSC_USE_LOW_LEVEL,\
                      PSC_INPUT_FILTER_ENABLE,\
                      PSC_SYNCHRONOUS_OUTPUT_CONTROL,\
                      PSC_INPUT_NO_ACTION);

   Psc_config_input_1(PSC_OVERLAP_ENABLE,\
                      PSC_USE_COMPARATOR,\
                      PSC_USE_HIGH_LEVEL,\
                      PSC_INPUT_FILTER_ENABLE,\
                      PSC_SYNCHRONOUS_OUTPUT_CONTROL,\
                      PSC_INPUT_NO_ACTION);

   Psc_config_input_2(PSC_OVERLAP_ENABLE,\
                      PSC_USE_PIN,\
                      PSC_USE_LOW_LEVEL,\
                      PSC_INPUT_FILTER_ENABLE,\
                      PSC_SYNCHRONOUS_OUTPUT_CONTROL,\
                      PSC_INPUT_NO_ACTION);

   PIFR = (1<<PEV2)|(1<<PEV1)|(1<<PEV0)|(1<<PEOP);
   PIM = (1<<PEVE1);

   Psc_run();
}

void start_running_phase

(

void

)

Definition at line 570 of file mc_drv.c.

References HIGH, LOW, TIMER1_AT_STARTUP_END, and top_average.

Referenced by main().

{
  U16 top;
  TCCR1B = 0 ; // stop timer 1
  top_average = TIMER1_AT_STARTUP_END;
  top = (top_average >> 1);
  TCNT1H = HIGH(top);
  TCNT1L = LOW(top);
  OCR1AH = 0;
  OCR1AL = 0;
  top = top + (top_average >> 2);
  OCR1BH = HIGH(top);
  OCR1BL = LOW(top);
  TCCR1B = (1<<CS11) | (1<<CS10) ; // start timer 1
  TIFR1 = (1<<OCF1B) | (1<<OCF1A) | (1<<TOV1);
  TIMSK1= (1<<OCIE1B) | (1<<OCIE1A); // Output compare A Match interrupt Enable
}

__interrupt void thirty_degres_interrupt

(

void

)

30 degres interrupt

Definition at line 372 of file mc_drv.c.

References CCW, mci_get_motor_direction(), mci_motor_is_running(), motor_step, MS_001, MS_010, MS_011, MS_100, MS_101, MS_110, Set_none, Set_Q1Q4, Set_Q1Q6, Set_Q3Q2, Set_Q3Q6, Set_Q5Q2, and Set_Q5Q4.

{
  char direction = mci_get_motor_direction();

  if (mci_motor_is_running())
  {

  switch(motor_step)
  {
    case (MS_100):
      if (direction==CCW)  {Set_Q1Q4();motor_step=MS_101;}
      else                 {Set_Q5Q2();motor_step=MS_110;}
      break;

    case (MS_110):
      if (direction==CCW)  {Set_Q5Q4();motor_step=MS_100;}
      else                 {Set_Q3Q2();motor_step=MS_010;}
      break;

    case (MS_010):
      if (direction==CCW)  {Set_Q5Q2();motor_step=MS_110;}
      else                 {Set_Q3Q6();motor_step=MS_011;}
      break;

    case (MS_011):
      if (direction==CCW)  {Set_Q3Q2();motor_step=MS_010;}
      else                 {Set_Q1Q6();motor_step=MS_001;}
      break;

    case (MS_001):
      if (direction==CCW)  {Set_Q3Q6();motor_step=MS_011;}
      else                 {Set_Q1Q4();motor_step=MS_101;}
      break;

    case (MS_101):
      if (direction==CCW)  {Set_Q1Q6();motor_step=MS_001;}
      else                 {Set_Q5Q4();motor_step=MS_100;}
      break;

    default :
      Set_none(); // all switches are switched OFF
      motor_step=MS_010;
      break;

  }
  }
}

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---

Variable Documentation

char ADC_State = FREE [static]

Definition at line 79 of file mc_drv.c.

Referenced by ADC_end_of_conversion(), and mc_ADC_Scheduler().

U16 average = 0

Definition at line 62 of file mc_drv.c.

U8 count = 1

Definition at line 61 of file mc_drv.c.

Bool current_EOC = FALSE

Definition at line 76 of file mc_drv.c.

volatile Bool g_tick = FALSE

Use for control the sampling period value.

Definition at line 74 of file mc_drv.c.

Referenced by main(), and ovfl_timer0().

U16 inrush_delay = 0 [static]

Definition at line 66 of file mc_drv.c.

Referenced by mc_disable_during_inrush(), and mc_inrush_task().

Bool inrush_mask_flag = FALSE [static]

Definition at line 65 of file mc_drv.c.

Referenced by mc_disable_during_inrush(), and mc_inrush_task().

U8 motor_step [static]

Definition at line 72 of file mc_drv.c.

Referenced by demag_interrupt(), mc_switch_commutation(), and thirty_degres_interrupt().

Bool overcurrent = FALSE

Definition at line 59 of file mc_drv.c.

Referenced by mc_overcurrent_detect(), and mci_run().

char State = CONV_INIT [static]

Definition at line 78 of file mc_drv.c.

Referenced by ADC_end_of_conversion(), and mc_ADC_Scheduler().

U16 stored_time = 0 [static]

Definition at line 68 of file mc_drv.c.

Referenced by mc_estimation_speed().

volatile U8 timer0_ext = 0 [static]

Definition at line 63 of file mc_drv.c.

Referenced by mc_estimation_speed(), and ovfl_timer0().

U32 top_average = 200 [static]

Definition at line 70 of file mc_drv.c.

Referenced by mc_comparator_0(), mc_comparator_1(), mc_comparator_2(), and start_running_phase().