hall_sensor_ISR.c

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/*
**
****************************************************************************
**
**
**             Copyright (c) 2005 - Atmel Corporation
**             Proprietaty Information
**
** Project     : AT90CAN128 / ATmega88 window lift
** Module      : hall_sensor_ISR.c
** Description : Module, interrupt subroutine
**
** Version :     Date:         Author:      Comment:
**    1.0        June.2005    F.G.          Creation
**    1.1        July.2006    F.G.          Adaptability improvements
**    1.2        May.2007     F.G           Add GCC compiler support
**
**
**
**              The following Fuses should be set:-
**
**
**
** LICENSE -
**
** ATMEL - 2005
** All software programs are provided 'as is' without warranty of any kind:
** Atmel does not state the suitability of the provided materials for any
** purpose. Atmel hereby disclaim all warranties and conditions with regard
** to the provided software, including all implied warranties, fitness for
** a particular purpose, title and non-infringement.In no event will Atmel
** be liable for any indirect or consequential damages or any damages
** whatsoever resulting from the usage of the software program.
****************************************************************************
**
*/

#include "config.h"
#include "lib_window\window_lib.h"
#include "lib_window\hall_sensor_ISR.h"
#include "timer1_ovf_isr.h"

/*_____ G L O B A L S ________________________________________________________*/

U8 hall_direction;

signed int dv;      

/*_____ P R I V A T E - F U N C T I O N S ____________________________________*/

#if defined(__ICCAVR__)                       // IAR COMPILER USED
  #pragma vector = TIMER0_OVF_vect
  __interrupt void TIMER0_OVF_ISR (void)      
#elif defined (__AVR__)                       // GCC Compiler is being used
  ISR(TIMER0_OVF_vect)
#endif
  {
     ADCSRA |= 1<<ADEN | 1 << ADSC; // enable ADC and Start Conversion
  }
  
  
#if defined(__ICCAVR__)                       // IAR COMPILER USED  
  #pragma vector = PCINT1_vect   //Pin Change interrupt vector for ATmega88
  __interrupt void hall_sensor_ISR (void)     
#elif defined (__AVR__)                       // GCC Compiler is being used
  ISR(PCINT1_vect)
#endif
{
  unsigned int vit;   // to save content of timer1, to compute derivative speed
 
                      // time difference between two samples
  static U16 vitm1;   // Period (equivalent to speed) at last occurence
  static U16 vitm2;   // 2nd older Period (equivalent to speed) 

#if (HALL_SENSOR_NUMBER == 2)
  static U16 change=0;// number of consecutive direction changes
#endif
  
  vit=TCNT1;
  TCNT1=0;            // clear Timer Counter 1
  
/* ---------------------- TWO SENSORS ARE USED -------------------------------*/
#if (HALL_SENSOR_NUMBER == 2)
  if( _TEST_SENS() ) //_TEST_SENS: Using both sensors to determine direction
  {
    if (hall_direction == DOWNWARD) // Did a direction change occured?
      change=0;                     // No direction changes
    else
      change++;   // compt successive direction changes to detect malfunction
    hall_direction = DOWNWARD;    // measured direction
    position++;                   // determine position
    save_k=0;                     // position modified flag 
  }                               // parameters storage is necessary
  else
  {
    if (hall_direction == UPWARD) //Did a direction change occured?
      change=0;
    else
      change++;   // compt successive direction changes to detect malfunction
    hall_direction = UPWARD;
    if (position>0)
    {
      position--;
      save_k=0;   // position modified flag : parameters storage is necessary
    }
  }
  if (change > 30)              // number of consecutive direction changes > 30
  {                             // hall sensor may be disconnected
      /*INSERT CODE HERE
    TO REPORT A DEFAULT*/
    force_window_state(STOPING_STATE); //force motor to stop after 30 increments
    change=0;                          // of the last working sensor
  }
  
/* ------------------------ ONE SENSOR IS USED -------------------------------*/  
#elif (HALL_SENSOR_NUMBER == 1)
  // Use command direction to determine position
  if ((direction == DOWNWARD) && (position < 0xFFFF))
  {
    position++;   // Origin is at window top: increment position
    save_k=0;     // position modified: parameters storage is necessary
  }
  else if ((direction == UPWARD) && (position > 0))
  {
    position--;   // Origin is at window top: decrement position
    save_k=0;     // position modified: parameters storage is necessary
  }
#else
#error "HALL_SENSOR_NUMBER (1 or 2) shall be defined in config .h"
#endif
      
/* ------------------------ REFERENCE COMPUTATION ----------------------------*/      
  dv=vit-((vitm2 + vitm1)>>1);
  if ((dv<0) || (ref>current))   // if derivative period <= 0 (equivalent to 
  {                              // derivative speed >= 0)                             
    ref = (current+ref)>>1;      //update current reference
  }
  vitm2 = vitm1;
  vitm1 = vit;                   // backup speed: to become last sample
}

// get position: to get position safely
U16 get_position(void)
{
  U16 temp;
  __disable_interrupt();
  temp = position;
  __enable_interrupt();
  return (temp);
}

// put position: to put position safely
void put_position(U16 position_temp)
{
  __disable_interrupt();
  position = position_temp;
  __enable_interrupt();
}

signed int get_hall_delta_period(void)
{
  signed int temp;
  __disable_interrupt();
  temp = dv;
  __enable_interrupt();  
  return (temp);
}

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