mc_interface.c

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

#ifdef __ICCAVR__ // IAR C Compiler
#include "config.h"
#include "mc_interface.h"
#include "mc_control.h"
#include "mc_drv.h"
#endif

#ifdef __GNUC__  // GNU C Compiler
#include "config_for_gcc.h"
#include "mc_interface.h"
#include "mc_control.h"
#include "mc_drv.h"
#endif


//_____ M A C R O S ________________________________________________________

//_____ D E F I N I T I O N S ______________________________________________
void   svpwm_init(void);
void   Do_Sensor_Interrupt(void);
void   PSC_Start(void);

//_____ D E C L A R A T I O N S ____________________________________________
Bool mci_direction = CW;             
volatile Bool mci_run_stop  = STOP;  
volatile S16 User_Speed = 0;         

U8 mci_measured_speed      = 0; 
U32 mci_measured_current   = 0; 
U8 mci_potentiometer_value = 0; 


Bool mci_motor_is_running(void)
{
  return mci_run_stop;
}


void mci_set_speed(U16 speed)
{
   User_Speed = speed;
}


/*
* @brief direction modification
* @pre initialization of motor
* @post new value of direction
*/
void mci_set_direction(U8 direction)
{
   mci_direction = direction;
}

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

/*
* @brief set the direction in CCW
* @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_direction(void)
{
  return mci_direction;
}

void mci_store_measured_speed(U8 measured_speed)
{
  mci_measured_speed = measured_speed;
}

U8 mci_get_measured_speed(void)
{
  return mci_measured_speed;
}

U16 mci_get_measured_current(void)
{
  return (U16)(11*(mci_measured_current/128));
}

void mci_store_measured_current(U16 current)
{
  mci_measured_current = (127 * mci_measured_current + 128*current)/128;
}

void mci_run(void)
{
   mci_run_stop = RUN;
   Disable_interrupt();
   svpwm_init();
   Do_Sensor_Interrupt();
   Enable_interrupt();
   PSC_Start();
}

void mci_stop(void)
{
   PSC_Stop();
   mci_run_stop  = STOP;
}

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