From a5fb41902fd2065d475f1b2f618c6428a44f6cd7 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Sat, 14 Jan 2017 19:24:15 +0100 Subject: [PATCH] avr/motor_ctrl: Disable pwm output on value 0 to avoid narrow spikes --- avr/motor_ctrl/main.c | 49 +- avr/motor_ctrl/main.hex | 1334 ++++++++++++++++++++------------------- 2 files changed, 715 insertions(+), 668 deletions(-) diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index e69460d..a956587 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -97,10 +97,6 @@ */ -#define TWI_ACK TWCR = (1< 0) || (motor1_switch && motor1 < 0)) { // forward uint8_t tmp=PORTC; tmp &= ~(1 << 3); tmp |= (1 << 2); PORTC = tmp; + ENABLE_PWM_MOTOR1; } else { // motor1 < 0 // backward uint8_t tmp=PORTC; tmp &= ~(1 << 2); tmp |= (1 << 3); PORTC = tmp; + ENABLE_PWM_MOTOR1; } m1_old = motor1; @@ -725,20 +738,24 @@ static void update_motor(void) { if (motor2 == 0) { // stop PORTC &= ~(1 << 5) & ~(1 << 4); + DISABLE_PWM_MOTOR2; } else if (motor2 == PWM_BREAK) { PORTC |= (1 << 5) | (1 << 4); + ENABLE_PWM_MOTOR2; } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) { // forward uint8_t tmp=PORTC; tmp &= ~(1 << 5); tmp |= (1 << 4); PORTC = tmp; + ENABLE_PWM_MOTOR2; } else { // motor2 < 0 // backward uint8_t tmp=PORTC; tmp &= ~(1 << 4); tmp |= (1 << 5); PORTC = tmp; + ENABLE_PWM_MOTOR2; } m2_old = motor2; @@ -749,20 +766,24 @@ static void update_motor(void) { if (motor3 == 0) { // stop PORTC &= ~(1 << 7) & ~(1 << 6); + DISABLE_PWM_MOTOR3; } else if (motor3 == PWM_BREAK) { PORTC |= (1 << 7) | (1 << 6); + ENABLE_PWM_MOTOR3; } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) { // forward uint8_t tmp=PORTC; tmp &= ~(1 << 7); tmp |= (1 << 6); PORTC = tmp; + ENABLE_PWM_MOTOR3; } else { // motor3 < 0 // backward uint8_t tmp=PORTC; tmp &= ~(1 << 6); tmp |= (1 << 7); PORTC = tmp; + ENABLE_PWM_MOTOR3; } m3_old = motor3; @@ -773,20 +794,24 @@ static void update_motor(void) { if (motor4 == 0) { // stop PORTD &= ~(1 << 3) & ~(1 << 2); + DISABLE_PWM_MOTOR4; } else if (motor4 == PWM_BREAK) { PORTD |= (1 << 3) | (1 << 2); + ENABLE_PWM_MOTOR4; } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) { // forward uint8_t tmp=PORTD; tmp &= ~(1 << 3); tmp |= (1 << 2); PORTD = tmp; + ENABLE_PWM_MOTOR4; } else { // motor4 < 0 // backward uint8_t tmp=PORTD; tmp &= ~(1 << 2); tmp |= (1 << 3); PORTD = tmp; + ENABLE_PWM_MOTOR4; } m4_old = motor4; @@ -892,7 +917,6 @@ static void update_pid(void) { error_state |= (1<<6); esum3 = 0; } - // protect motors from damage if stalling if (labs(esum4) > 140000 && speed4 == 0) { motor4 = 0; motor4_mode = MOTOR_MANUAL; @@ -1019,9 +1043,12 @@ int main(void) { TWI_RESET; // Motor 1 & 2 + // Also used for PWM frequency TIMER1_FREQ // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz // Prescaler=1 - TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10); + //TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10); + // Avoid narrow spike on extreme pwm value 0 by not setting COM1*1 + TCCR1A = (1 << WGM10); TCCR1B = (1 << WGM12) | (1 << CS10); OCR1A = 0; OCR1B = 0; @@ -1029,13 +1056,17 @@ int main(void) { // Motor 3 // Timer 2: Fast PWM non-inverting mode, Top=255 // Prescaler=1 - TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20); + //TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20); + // Avoid narrow spike on extreme pwm value 0 by not setting COM21 + TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << CS20); OCR2 = 0; // Motor 4 // Timer 0: Fast PWM non-inverting mode, Top=255 // Prescaler=1 - TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00); + //TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00); + // Avoid narrow spike on extreme pwm value 0 by not setting COM01 + TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << CS00); OCR0 = 0; printf("\r\nStart\r\n"); @@ -1094,7 +1125,7 @@ int main(void) { motor4_mode = MOTOR_PID; } - if (run_update >= 156) { // ~100Hz + if (run_update >= 156) { // TIMER1_FREQ/156 = ~100Hz run_update=0; update_pos(); diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index 3f25e25..a06d454 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -1,680 +1,696 @@ :100000000C94E6000C9403010C9403010C9403017E :100010000C9403010C9403010C9403010C94030150 -:100020000C9403010C9450040C9403010C940301F0 -:100030000C9403010C942B050C9403010C94030104 +:100020000C9403010C9453040C9403010C940301ED +:100030000C9403010C943E050C9403010C940301F1 :100040000C9403010C9403010C9403010C9405011E -:100050000C940301EA02F402ED02F402F002F4024D -:10006000F202F40231043104310431043104310468 -:10007000F6020E03FB020E0300030E0305030E033C -:1000800031043104310431043104310431043104C8 -:10009000110316031B03200325032A032F03340334 -:1000A00031043104310431043104310431043104A8 -:1000B00039033E03430348034D03520357035D03D3 -:1000C000620373037C03850388039D03A60319045D -:1000D000AF03B803C103CA03D303DC03E503EE0394 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