From 1d95fd8a372e93eafd14666c0145b8afcbc14700 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Wed, 13 Jul 2016 08:36:39 +0200 Subject: [PATCH] motor_ctrl: migrate to 4x VNH2SP30 --- avr/motor_ctrl/main.c | 119 ++-- avr/motor_ctrl/main.hex | 1280 +++++++++++++++++++-------------------- 2 files changed, 694 insertions(+), 705 deletions(-) diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index e8c3d3f..d25271f 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -90,7 +90,7 @@ * 0x95 Aft Handicap * free * 0xA0 Reset reason - * 0xA1 TLE Error status + * 0xA1 Error status * 0xA2 count test * free * 0xff Bootloader @@ -141,8 +141,8 @@ static volatile enum mode motor1_mode=MOTOR_MANUAL; static volatile enum mode motor2_mode=MOTOR_MANUAL; static volatile enum mode motor3_mode=MOTOR_MANUAL; static volatile enum mode motor4_mode=MOTOR_MANUAL; -static volatile uint8_t motor1_switch=0; -static volatile uint8_t motor2_switch=0; +static volatile uint8_t motor1_switch=1; +static volatile uint8_t motor2_switch=1; static volatile uint8_t motor3_switch=0; static volatile uint8_t motor4_switch=0; static volatile int16_t speed1_wish=0; // step/s @@ -371,18 +371,34 @@ ISR(TWI_vect) TWDR = OCR1A; TWI_ACK; break; + case 0x03: // Dummy to allow continous read + TWDR = 0; + TWI_ACK; + break; case 0x04: // Motor 2 PWM TWDR = OCR1B; TWI_ACK; break; + case 0x05: // Dummy to allow continous read + TWDR = 0; + TWI_ACK; + break; case 0x06: // Motor 3 PWM TWDR = OCR2; TWI_ACK; break; + case 0x07: // Dummy to allow continous read + TWDR = 0; + TWI_ACK; + break; case 0x08: // Motor 4 PWM TWDR = OCR0; TWI_ACK; break; + case 0x09: // Dummy to allow continous read + TWDR = 0; + TWI_ACK; + break; case 0x10: // Hall 1 MSB tmp16 = pos1; TWDR = tmp16>>8; @@ -570,7 +586,7 @@ ISR(TWI_vect) MCUCSR = 0x0; TWI_ACK; break; - case 0xA1: // TLE Error status + case 0xA1: // Error status TWDR = error_state; TWI_ACK; break; @@ -673,46 +689,22 @@ static void update_motor(void) { error_state = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf; - if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0)) { - // if error and running: stop - if (m1_old != 0) motor1 = 0; - // if we start motor in error state: start with full power - else if (motor1 > 0) motor1 = 255; - else if (motor1 < 0) motor1 = -255; - } - if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1)) { - // if error and running: stop - if (m2_old != 0) motor2 = 0; - // if we start motor in error state: start with full power - else if (motor2 > 0) motor2 = 255; - else if (motor2 < 0) motor2 = -255; - } - if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2)) { - // if error and running: stop - if (m3_old != 0) motor3 = 0; - // if we start motor in error state: start with full power - else if (motor3 > 0) motor3 = 255; - else if (motor3 < 0) motor3 = -255; - } - if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3)) { - // if error and running: stop - if (m4_old != 0) motor4 = 0; - // if we start motor in error state: start with full power - else if (motor4 > 0) motor4 = 255; - else if (motor4 < 0) motor4 = -255; - } - if (m1_old != motor1) { // update only when changed if (motor1 == 0) { // stop - PORTC |= (1 << 3) | (1 << 2); + PORTC &= ~(1 << 3) & ~(1 << 2); } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) { // forward - PORTC &= ~(1 << 3) & ~(1 << 2); + uint8_t tmp=PORTC; + tmp &= ~(1 << 3); + tmp |= (1 << 2); + PORTC = tmp; } else { // motor1 < 0 // backward - PORTC &= ~(1 << 2); - PORTC |= (1 << 3); + uint8_t tmp=PORTC; + tmp &= ~(1 << 2); + tmp |= (1 << 3); + PORTC = tmp; } m1_old = motor1; @@ -722,14 +714,19 @@ static void update_motor(void) { if (m2_old != motor2) { // update only when changed if (motor2 == 0) { // stop - PORTC |= (1 << 5) | (1 << 4); + PORTC &= ~(1 << 5) & ~(1 << 4); } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) { // forward - PORTC &= ~(1 << 5) & ~(1 << 4); + uint8_t tmp=PORTC; + tmp &= ~(1 << 5); + tmp |= (1 << 4); + PORTC = tmp; } else { // motor2 < 0 // backward - PORTC &= ~(1 << 4); - PORTC |= (1 << 5); + uint8_t tmp=PORTC; + tmp &= ~(1 << 4); + tmp |= (1 << 5); + PORTC = tmp; } m2_old = motor2; @@ -739,14 +736,19 @@ static void update_motor(void) { if (m3_old != motor3) { // update only when changed if (motor3 == 0) { // stop - PORTC |= (1 << 7) | (1 << 6); + PORTC &= ~(1 << 7) & ~(1 << 6); } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) { // forward - PORTC &= ~(1 << 7) & ~(1 << 6); + uint8_t tmp=PORTC; + tmp &= ~(1 << 7); + tmp |= (1 << 6); + PORTC = tmp; } else { // motor3 < 0 // backward - PORTC &= ~(1 << 6); - PORTC |= (1 << 7); + uint8_t tmp=PORTC; + tmp &= ~(1 << 6); + tmp |= (1 << 7); + PORTC = tmp; } m3_old = motor3; @@ -756,14 +758,19 @@ static void update_motor(void) { if (m4_old != motor4) { // update only when changed if (motor4 == 0) { // stop - PORTD |= (1 << 3) | (1 << 2); + PORTD &= ~(1 << 3) & ~(1 << 2); } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) { // forward - PORTD &= ~(1 << 3) & ~(1 << 2); + uint8_t tmp=PORTD; + tmp &= ~(1 << 3); + tmp |= (1 << 2); + PORTD = tmp; } else { // motor4 < 0 // backward - PORTD &= ~(1 << 2); - PORTD |= (1 << 3); + uint8_t tmp=PORTD; + tmp &= ~(1 << 2); + tmp |= (1 << 3); + PORTD = tmp; } m4_old = motor4; @@ -931,7 +938,7 @@ int main(void) { DDRB = (1 << 3); DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2); DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2); - // Pullup TLEs EF + // Pullup Diag/Enable PORTB = (1 << 0) | (1 << 1) | (1 << 2); PORTD = (1 << 6); @@ -944,23 +951,23 @@ int main(void) { TWI_RESET; // Motor 1 & 2 - // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz + // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz // Prescaler=1 - TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10); + TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10); TCCR1B = (1 << WGM12) | (1 << CS10); OCR1A = 0; OCR1B = 0; // Motor 3 - // Timer 2: Fast PWM inverting mode, Top=256 + // Timer 2: Fast PWM non-inverting mode, Top=255 // Prescaler=1 - TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20); + TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20); OCR2 = 0; // Motor 4 - // Timer 0: Fast PWM inverting mode, Top=256 + // Timer 0: Fast PWM non-inverting mode, Top=255 // Prescaler=1 - TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00); + TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00); OCR0 = 0; printf("\r\nStart\r\n"); diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index 0cebf42..d155318 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -1,650 +1,632 @@ -:100000000C9445000C9462000C9462000C94620005 -:100010000C9462000C9462000C9462000C946200D8 -:100020000C9462000C9448040C9462000C946200DE 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