mc_interface.c

Go to the documentation of this file.

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

/* 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"

Bool mci_direction = CW;   
Bool mci_run_stop = FALSE; 
U8 mci_ref_speed = 0;      


U16 mci_measured_period = (U16)K_SPEED;   
U32 mci_measured_current = 0; 
U8 mc_potentiometer_value = 0;

extern Bool overcurrent;

extern  U8 new_position;
extern  U8 ru_step_length;
extern  U8 ru_period_counter;
extern  U8 ramp_up_index;
extern  U8 motor_state;

void mci_run(void)
{
  if (!(PCTL & (1<<PRUN))) /* if there is an overcurrent */
  {
    PSC_Init();
  }
  overcurrent = FALSE;
  mci_run_stop = TRUE;
  mc_regulation_loop();
  mc_disable_during_inrush(); /* disable overcurrent during inrush */
  new_position = MS_001;
  mc_switch_commutation((Motor_Position)new_position);
  mc_duty_cycle(ALIGN_DUTY);
  ru_period_counter = ALIGN_TIME;
  motor_state=MS_ALIGN;
  ru_step_length = RAMP_UP_STEP_MAX;
  ramp_up_index = 0;
}

void mci_retry_run(void)
{
  mci_run_stop = TRUE;
  mc_regulation_loop();
  mc_switch_commutation(mc_get_hall());
  mc_disable_during_inrush(); /* disable overcurrent during inrush */
}

Bool mci_motor_is_running(void)
{
  return mci_run_stop;
}

void mci_stop(void)
{
  mci_run_stop=FALSE;
  motor_state=MS_STOP;
  mc_duty_cycle(0); // Motor Voltage = 0
}

void mc_init()
{
  mc_init_HW();
  Enable_interrupt();
  mci_stop();
  mci_forward();
  mci_set_ref_speed(0);
  mc_set_measured_period(K_SPEED);
}

/*
* @brief speed modification
* @pre initialization of motor
* @post new value of speed
*/
void mci_set_ref_speed(U8 speed)
{
  mci_ref_speed = speed;
}




/*
* @brief speed visualization
* @pre initialization of motor
* @post get speed value
*/
U8 mci_get_ref_speed(void)
{
  return mci_ref_speed;
}

/*
* @brief direction modification
* @pre initialization of motor
* @post new value of direction
*/
void mci_forward(void)
{
  mci_direction = CW;
}

/*
* @brief direction modification
* @pre initialization of motor
* @post new value of direction
*/
void mci_backward(void)
{
  mci_direction = CCW;
}

/*
* @brief direction visualization
* @pre initialization of motor
* @post get direction value
*/
U8 mci_get_motor_direction(void)
{
  return mci_direction;
}

void mc_set_measured_period(U16 measured_period)
{
  mci_measured_period = (mci_measured_period * 3 + measured_period * 4) / 4;
}

U8 mci_get_measured_speed(void)
{
  U16 measured_speed;

  if (mci_measured_period == 0) {mci_measured_period += 1 ;} // warning DIV by 0
  measured_speed = (K_SPEED * 4)/ (mci_measured_period);
  if(measured_speed > 255) measured_speed = 255; // Variable saturation

  return measured_speed;
}

U16 mci_get_measured_current(void)
{
  return mci_measured_current/64;
}

void mci_store_measured_current(U16 current)
{
  mci_measured_current = ((63*mci_measured_current)+(64*current))>>6;
}

U8 mc_get_potentiometer_value(void)
{
  return mc_potentiometer_value;
}

void mc_set_potentiometer_value(U8 potentiometer)
{
  mc_potentiometer_value = potentiometer;
}

---