mc_interface.c

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//_____  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 mc_cmd_speed = 0;        

U8 mc_measured_speed = 0;   
U32 mci_measured_current = 0; 
U8 mc_potentiometer_value = 0;

void mci_run(void)
{
  /* TL: TO BE MODIFIED 
  if (!(PCTL2 & (1<<PRUN2))) // if there is an overcurrent 
  {
    PSC0_Init(255,0,1,0);
    PSC1_Init(255,0,1,0);
    PSC2_Init(255,0,1,0);
  }
  */
  mci_run_stop = TRUE;
  mc_regulation_loop();
  mc_duty_cycle(mc_get_Duty_Cycle());
  mc_switch_commutation(mc_get_hall());
  mc_disable_during_inrush(); /* disable overcurrent during inrush */
}

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

Bool mc_motor_is_running(void)
{
  return mci_run_stop;
}

void mci_stop(void)
{
  mci_run_stop=FALSE;
}

void mc_init()
{
  mc_init_HW();
  Enable_interrupt();

  mci_stop();
  mci_forward();
  mci_set_motor_speed(0);
  mc_set_motor_measured_speed(0);
}

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

/*
* @brief speed visualization
* @pre initialization of motor
* @post get speed value
*/
U8 mc_get_motor_speed(void)
{
  return mc_cmd_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 mc_get_motor_direction(void)
{
  return mci_direction;
}

void mc_set_motor_measured_speed(U8 measured_speed)
{
  mc_measured_speed = measured_speed;
}

U8 mci_get_measured_speed(void)
{
  return mc_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;
}

void mci_set_speed(U16 speed)
{
   mci_set_motor_speed((U8)speed);
}

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