mc_interface.c File Reference

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

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Functions
U8	mc_get_potentiometer_value (void)
	Get the potentiometer value.
void	mc_init ()
	use to init programm
void	mc_set_measured_period (U16 measured_period)
	set Measured of speed (for initialization)
void	mc_set_potentiometer_value (U8 potentiometer)
	Set the 'mc_potentiometer_value' variable with the potentiometer value.
void	mci_backward (void)
void	mci_forward (void)
U16	mci_get_measured_current (void)
	Get the current measured in the motor.
U8	mci_get_measured_speed (void)
	Measured of speed.
U8	mci_get_motor_direction (void)
U8	mci_get_ref_speed (void)
Bool	mci_motor_is_running (void)
	get the motor state
void	mci_retry_run (void)
	mci_retry_run retry to run if speed is null
void	mci_run (void)
	mci_run run the motor with parameter
void	mci_set_ref_speed (U8 speed)
void	mci_stop (void)
	mci_stop stop the motor And reset the speed measured value.
void	mci_store_measured_current (U16 current)
	Set the variable 'mc_measured_current' for initialization.
Variables
U8	mc_potentiometer_value = 0
	Motor Input to set the motor speed.
Bool	mci_direction = CW
	User Input parameter to set motor direction.
U32	mci_measured_current = 0
	Motor Input parameter to get the motor current.
U16	mci_measured_period = (U16)K_SPEED
	Motor Input parameter to get the motor speed.
U8	mci_ref_speed = 0
	User Input parameter to set motor speed.
Bool	mci_run_stop = FALSE
	User Input parameter to launch or stop the motor.
U8	motor_state
U8	new_position
Bool	overcurrent
U8	ramp_up_index
U8	ru_period_counter
U8	ru_step_length

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Function Documentation

U8 mc_get_potentiometer_value

(

void

)

Get the potentiometer value.

Precondition:

Launch ADC scheduler

Postcondition:

Get ADC Channel 6 result (Potentiometer value on 8bits).

Definition at line 244 of file mc_interface.c.

References mc_potentiometer_value.

Referenced by main(), and mc_regulation_loop().

{
  return mc_potentiometer_value;
}

void mc_init

(

void

)

use to init programm

Postcondition:

configuration of hardware and sotware

Definition at line 129 of file mc_interface.c.

References K_SPEED, mc_init_HW(), mc_set_measured_period(), mci_forward(), mci_set_ref_speed(), and mci_stop().

Referenced by main().

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

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void mc_set_measured_period

(

U16

measured_period

)

set Measured of speed (for initialization)

Precondition:

none

Postcondition:

mci_measured_period initialized

Definition at line 197 of file mc_interface.c.

References mci_measured_period.

Referenced by mc_estimation_speed(), and mc_init().

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

void mc_set_potentiometer_value

(

U8

potentiometer

)

Set the 'mc_potentiometer_value' variable with the potentiometer value.

Precondition:

Launch ADC scheduler

Postcondition:

'mc_potentiometer_value' set with the potentiometer value

Definition at line 254 of file mc_interface.c.

References mc_potentiometer_value.

Referenced by ADC_end_of_conversion().

{
  mc_potentiometer_value = potentiometer;
}

void mci_backward

(

void

)

Definition at line 177 of file mc_interface.c.

References CCW, and mci_direction.

Referenced by main(), and ushell_task().

{
  mci_direction = CCW;
}

void mci_forward

(

void

)

Definition at line 167 of file mc_interface.c.

References CW, and mci_direction.

Referenced by mc_init(), and ushell_task().

{
  mci_direction = CW;
}

U16 mci_get_measured_current

(

void

)

Get the current measured in the motor.

Precondition:

Launch ADC scheduler

Postcondition:

Get ADC Channel 12 result (Current value on 8bits).

Definition at line 224 of file mc_interface.c.

References mci_measured_current.

Referenced by mc_control_current(), and ushell_task().

{
  return mci_measured_current/64;
}

U8 mci_get_measured_speed

(

void

)

Measured of speed.

Returns:

return value of speed (8 bits)

Precondition:

none

Postcondition:

none

Definition at line 208 of file mc_interface.c.

References K_SPEED, and mci_measured_period.

Referenced by mc_control_speed(), and ushell_task().

{
  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;
}

U8 mci_get_motor_direction

(

void

)

Definition at line 187 of file mc_interface.c.

References mci_direction.

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

{
  return mci_direction;
}

U8 mci_get_ref_speed

(

void

)

Definition at line 157 of file mc_interface.c.

References mci_ref_speed.

Referenced by mc_regulation_loop().

{
  return mci_ref_speed;
}

Bool mci_motor_is_running

(

void

)

get the motor state

Precondition:

initialization HW and SW

Postcondition:

We know if the motor is running or not

Definition at line 107 of file mc_interface.c.

References mci_run_stop.

Referenced by mc_switch_commutation(), and thirty_degres_interrupt().

{
  return mci_run_stop;
}

void mci_retry_run

(

void

)

mci_retry_run retry to run if speed is null

Precondition:

initialization HW and SW

Postcondition:

New value in Hall variable

Definition at line 94 of file mc_interface.c.

References mc_disable_during_inrush(), mc_get_hall(), mc_regulation_loop(), mc_switch_commutation(), mci_run_stop, and TRUE.

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

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void mci_run

(

void

)

mci_run run the motor with parameter

Precondition:

initialization HW and SW

Postcondition:

New value in Hall variable

Definition at line 70 of file mc_interface.c.

References ALIGN_DUTY, ALIGN_TIME, FALSE, mc_disable_during_inrush(), mc_duty_cycle(), mc_regulation_loop(), mc_switch_commutation(), mci_run_stop, motor_state, MS_001, MS_ALIGN, new_position, overcurrent, PSC_Init(), ramp_up_index, RAMP_UP_STEP_MAX, ru_period_counter, ru_step_length, and TRUE.

Referenced by main(), and ushell_task().

{
  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;
}

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void mci_set_ref_speed

(

U8

speed

)

Definition at line 144 of file mc_interface.c.

References mci_ref_speed.

Referenced by main(), mc_init(), and ushell_task().

{
  mci_ref_speed = speed;
}

void mci_stop

(

void

)

mci_stop stop the motor And reset the speed measured value.

Precondition:

motor run (mci_run executed)

Postcondition:

motor stop

Definition at line 118 of file mc_interface.c.

References FALSE, mc_duty_cycle(), mci_run_stop, motor_state, and MS_STOP.

Referenced by mc_init(), mc_overcurrent_detect(), and ushell_task().

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

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void mci_store_measured_current

(

U16

current

)

Set the variable 'mc_measured_current' for initialization.

Precondition:

none

Postcondition:

'mc_measured_current' set with the current value

Definition at line 234 of file mc_interface.c.

References mci_measured_current.

Referenced by ADC_end_of_conversion().

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

---

Variable Documentation

U8 mc_potentiometer_value = 0

Motor Input to set the motor speed.

Definition at line 55 of file mc_interface.c.

Referenced by mc_get_potentiometer_value(), and mc_set_potentiometer_value().

Bool mci_direction = CW

User Input parameter to set motor direction.

Definition at line 48 of file mc_interface.c.

Referenced by mci_backward(), mci_forward(), mci_get_motor_direction(), and ushell_task().

U32 mci_measured_current = 0

Motor Input parameter to get the motor current.

Definition at line 54 of file mc_interface.c.

Referenced by mci_get_measured_current(), and mci_store_measured_current().

U16 mci_measured_period = (U16)K_SPEED

Motor Input parameter to get the motor speed.

Definition at line 53 of file mc_interface.c.

Referenced by mc_set_measured_period(), and mci_get_measured_speed().

U8 mci_ref_speed = 0

User Input parameter to set motor speed.

Definition at line 50 of file mc_interface.c.

Referenced by mci_get_ref_speed(), and mci_set_ref_speed().

Bool mci_run_stop = FALSE

User Input parameter to launch or stop the motor.

Definition at line 49 of file mc_interface.c.

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

U8 motor_state

Definition at line 126 of file main.c.

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

U8 new_position

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.

U8 ramp_up_index

Definition at line 125 of file main.c.

Referenced by main(), and mci_run().

U8 ru_period_counter

Definition at line 124 of file main.c.

Referenced by main(), and mci_run().

U8 ru_step_length

Definition at line 123 of file main.c.

Referenced by main(), and mci_run().