main.c File Reference

#include "config.h"
#include "usi_twi_slave.h"
#include "bldc.h"
#include "TinyX61_macros.h"
#include "ushell_task.h"

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Go to the source code of this file.

Functions

void ADCInit (void)

__interrupt void ADCISR ()

void Commutate (void)

__interrupt void HallChangeISR ()

void HallSensorInit (void)

void main (void)

void MotorSetDutyCycle (U16 duty)

__interrupt void ovfl_timer0 (void)

Timer0 Overflow for speed measurement.

void PLLInit (void)

void PortsInit (void)

void PWMInit (void)

void Set_cpu_prescaler (U8 x)

Set_cpu_prescaler.

void SpeedMeasurement (void)

void Timer0Init (void)

void TWInit (void)

Variables

volatile U8 ControlMode

U16 current

unsigned char data_received

unsigned char data_to_send

U8 direction

volatile uint8_t hall

Bool is_data_received = 0

Bool is_data_to_send = 0

volatile Bool is_speed_to_read = FALSE

volatile motorControlFlags_t mcFastFlags

volatile U16 new_measured_speed

U16 speed

volatile U16 SpeedMeasure

volatile U16 timer_value

Function Documentation

void ADCInit ( void )

Definition at line 229 of file main.c.

References ADC_PRESCALER, ADC_TS_FREERUNNING, and ADMUX_PA2.

Referenced by main().

00230 {
00231   ADMUX = (0 << REFS1) | (0 << REFS0) | //VCC as voltage reference.
00232           (0 << ADLAR) |                //Right adjusted result.
00233           ADMUX_PA2;                    //ADC channel. MC301 rev B
00234 
00235   ADCSRB = (1 << REFS2) |               //Last reference selection bit.
00236            ADC_TS_FREERUNNING;          //Free running mode.
00237 
00238   ADCSRA = (1 << ADEN) |                //Enable.
00239            (1 << ADSC) |                //Start first conversion.
00240            (1 << ADATE) |               //Auto triggering.
00241            (1 << ADIE) |                //Enable interrupt.
00242            ADC_PRESCALER;
00243 }

__interrupt void ADCISR ( )

Definition at line 305 of file main.c.

References ADC_MAX, ADC_TWI, ControlMode, motorControlFlags_t::direction, DIRECTION_FORWARD, DIRECTION_REVERSE, MOTOR_CONTROL_CENTER, MotorSetDutyCycle(), POTENTIOMETER, and TWInit().

00307 {
00308   U16 speedSetpoint;
00309 
00310   //Read ADC sample.
00311   speedSetpoint = ADC;
00312 
00313   if(speedSetpoint>=ADC_TWI)
00314   {
00315     ControlMode=MOTOR_CONTROL_CENTER;
00316 
00317     //  Clear ADC enable
00318     ADCSRA &= ~(1 << ADEN);
00319     //Disable interrupt.
00320     ADCSRA &= ~(1 << ADIE);              
00321 
00322     TWInit();
00323   }
00324   else
00325   {
00326     ControlMode=POTENTIOMETER;
00327     //Extract sign.
00328     if (speedSetpoint >= ((ADC_MAX + 1) / 2)) {
00329       mcFastFlags.direction = DIRECTION_FORWARD;
00330       speedSetpoint -= ((ADC_MAX + 1) / 2);
00331     }
00332     else {
00333       mcFastFlags.direction = DIRECTION_REVERSE;
00334       speedSetpoint = ((ADC_MAX) / 2) - speedSetpoint;
00335     }
00336 
00337     //Multiply speed setpoint by 2 to get full PWM range.
00338     speedSetpoint *= 2;
00339 
00340     MotorSetDutyCycle(speedSetpoint);
00341   }
00342 }

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void Commutate ( void )

Definition at line 160 of file main.c.

References commTableForward, commTableReverse, motorControlFlags_t::direction, DIRECTION_FORWARD, and hall.

Referenced by HallChangeISR(), and main().

00161 {
00162    uint8_t temp;
00163    //Read hall sensor inputs.
00164     temp = ( PINA & ((1 << PA5) | (1 << PA4) | (1 << PA1)) );
00165     hall = (((temp&0x30)>>3) | (temp&0x02)>>1);
00166 
00167     
00168   //Activate output pattern corresponding to current direction and position.
00169   if (mcFastFlags.direction == DIRECTION_FORWARD) {
00170     TCCR1E = commTableForward[hall];
00171   }
00172   else {
00173     TCCR1E = commTableReverse[hall];
00174   }
00175     
00176 }

__interrupt void HallChangeISR ( )

Definition at line 269 of file main.c.

References Commutate(), FALSE, is_speed_to_read, TC0_READ_TCNT0, TC0_WRITE_TCNT0, timer_value, and TRUE.

00271 {
00272    
00273   Commutate();
00274 
00275   //estimation speed on rising edge of Hall 1 (U')
00276   if (PINA&(1<<PORTA1))
00277   {
00278     if(is_speed_to_read==FALSE)
00279     {
00280       // Stop Timer
00281       TCCR0B &= ~((1<<CS02)|(1<<CS01) |(1<<CS00)); 
00282   
00283       // Read timer0 value
00284       TC0_READ_TCNT0(timer_value);
00285     }
00286     
00287     // Restart timer0
00288     TCCR0B = ((1<<CS02)|(0<<CS01) |(1<<CS00)); // Timer clock =
00289                                   // system clock /
00290                                   // 128 : 16�s
00291     TC0_WRITE_TCNT0(0x0);
00292         
00293     is_speed_to_read=FALSE;  // Wait for a period
00294   }
00295   else
00296   {
00297     is_speed_to_read=TRUE;
00298   }
00299 }

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void HallSensorInit ( void )

Definition at line 216 of file main.c.

Referenced by main().

00217 {
00218   //Enable pin change interrupts for PA1-PA4-PA5 (PCINT1-4-5).
00219   PCMSK0 = (1 << PCINT1) | (1 << PCINT4) | (1 << PCINT5);
00220 
00221   //Zero out PCMSK1, since it is initialized to a non-zero value.
00222   PCMSK1 = 1;
00223 
00224   //Enable pin change interrupt 1.
00225   GIMSK |= (1 << PCIE1);
00226 }

void main ( void )

Definition at line 94 of file main.c.

References ADCInit(), Clear_prescaler, Commutate(), ControlMode, data_received, FALSE, HallSensorInit(), is_data_received, is_data_to_send, is_speed_to_read, MOTOR_CONTROL_CENTER, MotorSetDutyCycle(), PLLInit(), PortsInit(), PWMInit(), motorControlFlags_t::speed, SpeedMeasure, SpeedMeasurement(), motorControlFlags_t::state, STATE_RUN, Timer0Init(), TRUE, ushell_task(), ushell_task_init(), USI_TWI_Data_In_Receive_Buffer(), and USI_TWI_Receive_Byte().

00095 { 
00096   Clear_prescaler();
00097   PLLInit();
00098   PWMInit();
00099   HallSensorInit();
00100 
00101   ADCInit();
00102 
00103   // Init USI Handshake variables
00104   is_data_to_send=FALSE;
00105   is_data_received=FALSE;
00106 
00107   SpeedMeasure=0;
00108   is_speed_to_read=FALSE;
00109   
00110   // Initialize timer0 for Speed Measurement
00111   Timer0Init();
00112   
00113   PortsInit();
00114   
00115   // uShell init
00116   ushell_task_init();
00117   
00118   //Run Commutate() once to make sure that the right coils are activated.
00119   Commutate();
00120 
00121   //Enable interrupts. The rest will now be handled by the ADC and Pin change
00122   //interrupts.
00123   Enable_interrupt();
00124   
00125   for (;;) {
00126     if(ControlMode==MOTOR_CONTROL_CENTER)
00127     {
00128       if (mcFastFlags.state == STATE_RUN)
00129       {
00130         // Update Motor speed
00131         MotorSetDutyCycle(mcFastFlags.speed);
00132         // Start Speed measurement
00133         if(is_speed_to_read==TRUE)
00134           SpeedMeasurement();   
00135       }
00136       else
00137       {
00138         //Stop Motor
00139         MotorSetDutyCycle(0);
00140         mcFastFlags.speed=0;
00141       }
00142       
00143       // Decodes new Motor Control Center command
00144       ushell_task();
00145    
00146       // Manages new low level TWI data received
00147       if(is_data_received==FALSE)
00148       {
00149         if (USI_TWI_Data_In_Receive_Buffer())    //Something new of the USI ?
00150         {
00151           data_received=USI_TWI_Receive_Byte();
00152           is_data_received=TRUE;
00153         }
00154       }
00155     }
00156   }
00157 }

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void MotorSetDutyCycle ( U16 duty )

Definition at line 260 of file main.c.

References TC1_WRITE_10_BIT_REGISTER.

Referenced by ADCISR(), and main().

00261 {
00262 TC1_WRITE_10_BIT_REGISTER(OCR1A, duty);
00263 }

__interrupt void ovfl_timer0 ( void )

Timer0 Overflow for speed measurement.

Precondition:: configuration of timer 0

Postcondition:: generate an overflow when the motor turns too slowly

Definition at line 366 of file main.c.

References TC0_WRITE_TCNT0.

00368 {
00369   TC0_WRITE_TCNT0(0x0);
00370   TIFR |= (1<<TOV0); //Clear TOV0 / clear
00371   //pending interrupts
00372   TIMSK |= (1<<TOIE0); //Enable Timer0
00373 }

void PLLInit ( void )

Definition at line 192 of file main.c.

Referenced by main().

00193 {
00194   //Enable fast peripheral clock (64MHz for Timer1).
00195   PLLCSR = (1 << PCKE);
00196 }

void PortsInit ( void )

Definition at line 246 of file main.c.

Referenced by main().

00247 {
00248   //Set PWM pins as output. (PWM output is still controlled through TCCR1E register.)
00249   DDRB = (1 << PB0) | (1 << PB1) | (1 << PB2) | (1 << PB3) | (1 << PB4) | (1 << PB5)| (1 << PB6) ;
00250 }

void PWMInit ( void )

Definition at line 199 of file main.c.

References PWM_TOP_VALUE, and TC1_WRITE_10_BIT_REGISTER.

Referenced by main().

00200 {
00201  
00202   //Clear on up-counting.
00203   TCCR1A = (1 << COM1A1) | (0 << COM1A0) | (1 << PWM1A);
00204 
00205   //Set WGM to PWM6, dual slope mode.
00206   TCCR1D = (1 << WGM11) | (1 << WGM10);
00207 
00208   //Set top value.
00209   TC1_WRITE_10_BIT_REGISTER(OCR1C, PWM_TOP_VALUE);
00210 
00211   //Run timer at full speed.
00212   TCCR1B = (1 << CS10);
00213 }

void Set_cpu_prescaler ( U8 x )

Set_cpu_prescaler.

Set_prescaler.

This function write the CPU prescaler register to a define value

Parameters:

U8

the precaler value to be written

Returns:: none.

Definition at line 84 of file main.c.

00085    {
00086       U8 save_int=SREG&0x80;
00087       Disable_interrupt();
00088       CLKPR=(1<<CLKPCE);
00089       CLKPR=x;
00090       if(save_int) { Enable_interrupt(); }
00091    }

void SpeedMeasurement ( void )

Definition at line 179 of file main.c.

References FALSE, and is_speed_to_read.

Referenced by main().

00180 {
00181 //   if (timer_value == 0) 
00182   //  {timer_value += 1 ;} // warning DIV by 0
00183 /*
00184     new_measured_speed = K_SPEED / timer_value;
00185     if(new_measured_speed > 255) new_measured_speed = 255; // Variable saturation
00186     SpeedMeasure=(U16)new_measured_speed;
00187 */    
00188     is_speed_to_read=FALSE;
00189   
00190 }

void Timer0Init ( void )

Definition at line 344 of file main.c.

References TC0_WRITE_TCNT0.

Referenced by main().

00345 {
00346   TCCR0B = ((1<<CS02)|(0<<CS01) |(1<<CS00)); // Timer clock =
00347                                 // system clock /
00348                                 // 128 : 16�s
00349   TIFR |= (1<<TOV0); //Clear TOV0 / clear
00350 
00351   TC0_WRITE_TCNT0(0x0);
00352   //pending interrupts
00353   TIMSK |= (1<<TOIE0); //Enable Timer0
00354   //Overflow Interrupt
00355 }

void TWInit ( void )

Definition at line 252 of file main.c.

References TWI_SLAVE_ADDRESS, and USI_TWI_Slave_Initialise().

Referenced by ADCISR().

00253 {
00254   // Select the Port A as USI port
00255   USIPP|=(1<<USIPOS);
00256   // Own TWI slave address
00257   USI_TWI_Slave_Initialise( TWI_SLAVE_ADDRESS ); 
00258 }

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Variable Documentation

volatile U8 ControlMode

Definition at line 56 of file main.c.

Referenced by ADCISR(), and main().

U16 current

Definition at line 69 of file main.c.

Referenced by ushell_task().

unsigned char data_received

Definition at line 66 of file main.c.

Referenced by main(), and ushell_task().

unsigned char data_to_send

Definition at line 65 of file main.c.

U8 direction

Definition at line 70 of file main.c.

volatile uint8_t hall

Definition at line 72 of file main.c.

Referenced by Commutate().

Bool is_data_received = 0

Definition at line 64 of file main.c.

Referenced by main(), and ushell_task().

Bool is_data_to_send = 0

Definition at line 63 of file main.c.

Referenced by main().

volatile Bool is_speed_to_read = FALSE

Definition at line 60 of file main.c.

Referenced by HallChangeISR(), main(), and SpeedMeasurement().

volatile motorControlFlags_t mcFastFlags

Definition at line 55 of file main.c.

volatile U16 new_measured_speed

Definition at line 59 of file main.c.

U16 speed

Definition at line 68 of file main.c.

Referenced by ushell_task().

volatile U16 SpeedMeasure

Definition at line 57 of file main.c.

Referenced by main().

volatile U16 timer_value

Definition at line 58 of file main.c.

Referenced by HallChangeISR().


Functions
void	ADCInit (void)
__interrupt void	ADCISR ()
void	Commutate (void)
__interrupt void	HallChangeISR ()
void	HallSensorInit (void)
void	main (void)
void	MotorSetDutyCycle (U16 duty)
__interrupt void	ovfl_timer0 (void)
	Timer0 Overflow for speed measurement.
void	PLLInit (void)
void	PortsInit (void)
void	PWMInit (void)
void	Set_cpu_prescaler (U8 x)
	Set_cpu_prescaler.
void	SpeedMeasurement (void)
void	Timer0Init (void)
void	TWInit (void)
Variables
volatile U8	ControlMode
U16	current
unsigned char	data_received
unsigned char	data_to_send
U8	direction
volatile uint8_t	hall
Bool	is_data_received = 0
Bool	is_data_to_send = 0
volatile Bool	is_speed_to_read = FALSE
volatile motorControlFlags_t	mcFastFlags
volatile U16	new_measured_speed
U16	speed
volatile U16	SpeedMeasure
volatile U16	timer_value