From ae5417e92e700c1e4e75d5c187b6712df03ecf5b Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Fri, 25 Mar 2016 19:36:23 +0100 Subject: [PATCH] motor_ctrl: handle tle error state --- avr/motor_ctrl/main.c | 17 +- avr/motor_ctrl/main.hex | 1210 ++++++++++++++++++++------------------- 2 files changed, 629 insertions(+), 598 deletions(-) diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 479770a..28d254e 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -162,6 +162,7 @@ static volatile float cur_speed_rot=0; static volatile uint8_t count_test=0; static volatile uint8_t front_handicap=0; static volatile uint8_t aft_handicap=0; +static volatile uint8_t error_state=0; ISR(TWI_vect) { @@ -570,7 +571,7 @@ ISR(TWI_vect) TWI_ACK; break; case 0xA1: // TLE Error status - TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf; + TWDR = error_state; TWI_ACK; break; case 0xA2: // count test @@ -670,6 +671,20 @@ static void update_motor(void) { static int16_t m3_old=SHRT_MIN; static int16_t m4_old=SHRT_MIN; + error_state = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf; + + // if error and running: stop + if (bit_is_set(error_state, 0) && m1_old != 0) motor1 = 0; + if (bit_is_set(error_state, 1) && m2_old != 0) motor2 = 0; + if (bit_is_set(error_state, 2) && m3_old != 0) motor3 = 0; + if (bit_is_set(error_state, 3) && m4_old != 0) motor4 = 0; + + // if we start motor in error state: start with full power + if (bit_is_set(error_state, 0) && m1_old == 0 && motor1 != 0) motor1 = 255; + if (bit_is_set(error_state, 1) && m2_old == 0 && motor2 != 0) motor2 = 255; + if (bit_is_set(error_state, 2) && m3_old == 0 && motor3 != 0) motor3 = 255; + if (bit_is_set(error_state, 3) && m4_old == 0 && motor4 != 0) motor4 = 255; + if (m1_old != motor1) { // update only when changed if (motor1 == 0) { // stop diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index 5e58bba..804c0a9 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -1,639 +1,655 @@ 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