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This commit is contained in:
Michael Rest
2011-05-28 13:22:31 +02:00
parent 9d61c10a50
commit 4b58a7517f
6 changed files with 222 additions and 131 deletions
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39
floating_avg.c
View File

@@ -1,40 +1,39 @@
#include "floating_avg.h"
void InitFloatAvg(tFloatAvgFilter * io_pFloatAvgFilter,
tFloatAvgType i_DefaultValue)
void InitFloatAvg (tFloatAvgFilter * io_pFloatAvgFilter, tFloatAvgType i_DefaultValue)
{
// Den Buffer mit dem Initialisierungswert fuellen:
gFloatAvgSum = 0;
// Init Buffer with initValue
for (uint8_t i = 0; i < (1 << SIZE_OF_AVG); ++i)
{
io_pFloatAvgFilter->aData[i] = i_DefaultValue;
gFloatAvgSum += i_DefaultValue;
}
// Der naechste Wert soll an den Anfang des Buffers geschrieben werden:
io_pFloatAvgFilter->IndexNextValue = 0;
}
void AddToFloatAvg(tFloatAvgFilter * io_pFloatAvgFilter,
tFloatAvgType i_NewValue)
void AddToFloatAvg(tFloatAvgFilter * io_pFloatAvgFilter, tFloatAvgType i_NewValue)
{
// Neuen Wert an die dafuer vorgesehene Position im Buffer schreiben.
io_pFloatAvgFilter->aData[io_pFloatAvgFilter->IndexNextValue] =
i_NewValue;
// Der naechste Wert wird dann an die Position dahinter geschrieben.
// 1st remove oldest Value from Sum and than add new and store it
gFloatAvgSum -= io_pFloatAvgFilter->aData[io_pFloatAvgFilter->IndexNextValue];
gFloatAvgSum += i_NewValue;
io_pFloatAvgFilter->aData[io_pFloatAvgFilter->IndexNextValue] = i_NewValue;
io_pFloatAvgFilter->IndexNextValue++;
// Wenn man hinten angekommen ist, vorne wieder anfangen.
io_pFloatAvgFilter->IndexNextValue %= (1 << SIZE_OF_AVG);
if (io_pFloatAvgFilter->IndexNextValue == SIZE_OF_AVG)
io_pFloatAvgFilter->IndexNextValue = 0;
//io_pFloatAvgFilter->IndexNextValue %= (1 << SIZE_OF_AVG);
}
tFloatAvgType GetOutputValue(tFloatAvgFilter * io_pFloatAvgFilter)
{
tTempSumType TempSum = 0;
// Durchschnitt berechnen
for (uint8_t i = 0; i < (1 << SIZE_OF_AVG); ++i)
{
TempSum += io_pFloatAvgFilter->aData[i];
}
// Der cast is OK, wenn tFloatAvgType und tTempSumType korrekt gewaehlt wurden.
tFloatAvgType o_Result = (tFloatAvgType) (TempSum >> SIZE_OF_AVG);
tFloatAvgType o_Result = (tFloatAvgType) (gFloatAvgSum >> SIZE_OF_AVG);
return o_Result;
}
tFloatAvgType GetSum(tFloatAvgFilter * io_pFloatAvgFilter)
{
return gFloatAvgSum;
}

7
floating_avg.h
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@@ -5,7 +5,7 @@
// Ueber wieviele Werte soll der gleitende Mittelwert berechnet werden?
// 2**n Werte, da die Division als shift implementiert wird
#define SIZE_OF_AVG 3
#define SIZE_OF_AVG 2
// Datentyp, ueber den der gleitende Mittelwert berechnet werden soll.
typedef uint16_t tFloatAvgType;
@@ -16,6 +16,8 @@ typedef uint16_t tFloatAvgType;
typedef uint32_t tTempSumType;
// typedef float tTempSumType;
// Die Struktur, in der die Daten zwischengespeichert werden
typedef struct
{
@@ -23,6 +25,8 @@ typedef struct
uint8_t IndexNextValue;
} tFloatAvgFilter;
volatile tTempSumType gFloatAvgSum;
// Initialisiert das Filter mit einem Startwert.
void InitFloatAvg(tFloatAvgFilter * io_pFloatAvgFilter,
@@ -35,4 +39,5 @@ void AddToFloatAvg(tFloatAvgFilter * io_pFloatAvgFilter,
// Berechnet den Durchschnitt aus den letzten SIZE_OF_AVG eingetragenen Werten.
tFloatAvgType GetOutputValue(tFloatAvgFilter * io_pFloatAvgFilter);
tFloatAvgType GetSum(tFloatAvgFilter * io_pFloatAvgFilter);
#endif

3
lcd-routines.h
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@@ -36,4 +36,7 @@ void set_cursor (uint8_t x, uint8_t y);
#ifndef LCD_EN
#define LCD_EN PC6
#endif
#ifndef LCD_LED
#define LCD_LED PC7
#endif
// DB4 bis DB7 des LCD sind mit PC0 bis PC3 des AVR verbunden

2
screwer.aps
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@@ -1 +1 @@
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<AVRStudio><MANAGEMENT><ProjectName>screwer</ProjectName><Created>21-Feb-2010 12:55:22</Created><LastEdit>02-May-2010 12:26:11</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>21-Feb-2010 12:55:22</Created><Version>4</Version><Build>4, 18, 0, 685</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\screwer.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>E:\AVR\screwer\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR Simulator</CURRENT_TARGET><CURRENT_PART>AT90S8515.xml</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><modules><module></module></modules><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>lcd-routines.c</SOURCEFILE><SOURCEFILE>floating_avg.c</SOURCEFILE><SOURCEFILE>screwer.c</SOURCEFILE><HEADERFILE>lcd-routines.h</HEADERFILE><HEADERFILE>floating_avg.h</HEADERFILE><OTHERFILE>default\screwer.lss</OTHERFILE><OTHERFILE>default\screwer.map</OTHERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>NO</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE></EXTERNALMAKEFILE><PART>atmega8535</PART><HEX>1</HEX><LIST>1</LIST><MAP>1</MAP><OUTPUTFILENAME>screwer.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>1</ISDIRTY><OPTIONS><OPTION><FILE>floating_avg.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>lcd-routines.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>screwer.c</FILE><OPTIONLIST></OPTIONLIST></OPTION></OPTIONS><INCDIRS/><LIBDIRS/><LIBS><LIB>libprintf_flt.a</LIB><LIB>libm.a</LIB></LIBS><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -std=gnu99 -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums</OPTIONSFORALL><LINKEROPTIONS>-Wl,-u,vfprintf</LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\Programme\WinAVR-20100110\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\Programme\WinAVR-20100110\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><IOView><usergroups/><sort sorted="0" column="0" ordername="1" orderaddress="1" ordergroup="1"/></IOView><Files><File00000><FileId>00000</FileId><FileName>screwer.c</FileName><Status>1</Status></File00000></Files><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio>

2
screwer.aws
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@@ -1 +1 @@
<AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="AT90S8515"/><Files><File00000 Name="E:\AVR\screwer\screwer.c" Position="613 71 1437 658" LineCol="131 27" State="Maximized"/><File00001 Name="E:\AVR\screwer\floating_avg.h" Position="749 226 1389 610" LineCol="22 25" State="Maximized"/></Files></AVRWorkspace>
<AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="AT90S8515"/><Files><File00000 Name="E:\AVR\screwer\screwer.c" Position="229 77 1000 775" LineCol="242 27" State="Maximized"/></Files></AVRWorkspace>

300
screwer.c
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@@ -10,10 +10,12 @@ nst, 07.11.2005
#include "lcd-routines.h"
#include "floating_avg.h"
//Constants
#define ADC_CURRENT 0
#define ADC_SETPOINT_SPEED 2
#define ADC_SETPOINT_TORQUE 1
#define USED_ADC_CHANNELS 3
#define ADC_CURRENT 1
#define ADC_SETPOINT_SPEED 0
#define ADC_SETPOINT_TORQUE 2
//LCD Settings
#define LCD_PORT PORTC
@@ -23,45 +25,89 @@ nst, 07.11.2005
//Devel
//#define CURRENT_RAW
//#define TORQUE_DEBUG
//#define ADC_DEBUG
//Prototypes
void pwm_init (void);
void tc0_init (void);
void ADC_init (void);
uint16_t ReadADC (uint8_t mux);
//global Vars
volatile uint16_t uiSpeedDelay;
//global Vars for ISR Access
volatile unsigned char gcStopped;
volatile uint16_t gu16SpeedDelay;
volatile uint16_t gu16Test;
volatile double gfSetSpeed;
volatile uint16_t gu16AdcRes[USED_ADC_CHANNELS];
volatile tFloatAvgFilter FilterCurrent;
//ISR Timer 0 - Counter for smooth start
//ISR Timer 0 - for future usage
ISR (TIMER0_OVF_vect)
{
if (uiSpeedDelay > 0)
{
uiSpeedDelay --;
}
}
//ISR Timer 1 - measure current
//ISR Timer 1 - measure current on Bottom of PWM
ISR (TIMER1_OVF_vect)
{
//uint16_t u16Speed = (uint16_t)(gfSetSpeed / (double) gu16AdcRes [ADC_CURRENT]);
//AddToFloatAvg (&FilterCurrent, gu16AdcRes [ADC_CURRENT] / gu16Test);
gu16Test = gu16AdcRes [ADC_CURRENT];
}
//ISR ADC Converision complete
ISR (ADC_vect)
{
uint8_t u8ActChannel = (ADMUX & 0x1F);
gu16AdcRes[u8ActChannel] = ADCL;
gu16AdcRes[u8ActChannel] += (ADCH << 8);
if (u8ActChannel == ADC_CURRENT)
{
if (gu16AdcRes [ADC_CURRENT] > 512)
{
gu16AdcRes [ADC_CURRENT] = 0;
}
else
{
gu16AdcRes [ADC_CURRENT] = 512 - gu16AdcRes [ADC_CURRENT];
}
}
u8ActChannel += 1;
if (gcStopped)
{
if (u8ActChannel == 3)
u8ActChannel = 0;
}
else
{
if (u8ActChannel == 2)
u8ActChannel = 0;
}
ADMUX = (ADMUX & 0xE0) | u8ActChannel;
}
//==========================================================
int main (void)
{
//++++++++++++++++++++++++++++++++++++
//declaration
char sBuffer [20];
char sState [3];
unsigned char bTorqueReached = 0;
uint16_t uiCurrent, uiSetpointSpeed;
double fTorque, fSetpointTorque;
unsigned char bStarted, bMotorLeft, bTorqueReached = 0;
uint16_t uiCurrent, uiCurrentMin, uiCurrentMax, uiCurrentReached, u16SetSpeed, uiSetpointSpeed = 0, u16LCDTrigger = 1;
double fTorque, fSetpointTorque, fReachedTorque;
uint16_t uiCurrentZero = 100;
const double fCurrentStep = 0.03699;
const double fTorqueConstant = 0.630; //MN/A
const double fCurrentStep = 0.02466;
const double fTorqueConstant = 0.630; //Nm/A from Motortype
const double fTorqueSetpointStep = 0.00615234; //From Sensortype 0.009885
const double fSetpintTorqueMax = 6.0; //From Sensortype Nm
double fCurrTorqueConst = fCurrentStep * fTorqueConstant;
const double fTorqueSetpointStep = 0.009885;
//Portsetup
//LCD on Port C !!!
lcd_init ();
@@ -72,123 +118,179 @@ int main (void)
//Lock Low Side of H-Bride !!!!
PORTD = (1 << PD6) | (1 << PD7);
DDRD = (1 << PD4) | (1 << PD5) | (1 << PD6) | (1 << PD7) ; //Set PBD5 (OC1A) as Write
DDRD = (1 << PD0) | (1 << PD4) | (1 << PD5) | (1 << PD6) | (1 << PD7) ; //Set PBD5 (OC1A) as Write
//Enable Interrupts
sei ();
//Init PWM
pwm_init ();
//Set Timer 0 and Enable Interrupts
sei ();
tc0_init ();
// Datenstruktur anlegen:
tFloatAvgFilter FilterCurrent;
//Set Timer 0
//tc0_init ();
//ADC initialisieren
ADC_init ();
// initialisieren und mit aktuellem wert fuellen
uiCurrentZero = ReadADC (ADC_CURRENT);
uiCurrentZero = gu16AdcRes [ADC_CURRENT];
InitFloatAvg (&FilterCurrent, uiCurrentZero);
//Compare
OCR1A = 0x0;
OCR1B = 0x0;
//LDC Light ON
LCD_PORT|= (1 << LCD_LED);
while (1)
{
//Read Analog values
{
//Read Current Vallue fom IC
uiCurrent = ReadADC (ADC_CURRENT);
if (((PIND & (1 << PD1)) == 0) && ((PIND & (1 << PD2)) == 0))
//Floating Average
//uiCurrent = GetOutputValue (&FilterCurrent);
uiCurrent = gu16AdcRes [ADC_CURRENT];
//Calculate Speed
u16SetSpeed = (uiSetpointSpeed - gu16SpeedDelay) >> 2; //TOP 0xff
gu16Test = 0xff / u16SetSpeed ;
//gfSetSpeed = (double) u16SetSpeed / 255.0;
//Debug limits of Torque
#ifdef TORQUE_DEBUG
if (!gu16SpeedDelay)
{
if (gu16AdcRes [ADC_CURRENT] > uiCurrentMax)
uiCurrentMax = gu16AdcRes [ADC_CURRENT];
if (gu16AdcRes [ADC_CURRENT] < uiCurrentMin)
uiCurrentMin = gu16AdcRes [ADC_CURRENT];
}
#endif
gcStopped = ((PIND & (1 << PD2)) == 0);
if (gcStopped)
{
bMotorLeft = PIND & (1 << PD3);
uiCurrentMax = 0;
//Motor stopped so recalibrate
uiCurrentZero = uiCurrent;
//FixMe bad idea uiCurrentZero = uiCurrent;
//Get potis
uiSetpointSpeed = ReadADC (ADC_SETPOINT_SPEED);
fSetpointTorque = ReadADC (ADC_SETPOINT_TORQUE) * fTorqueSetpointStep;
uiSetpointSpeed = gu16AdcRes [ADC_SETPOINT_SPEED];
fSetpointTorque = (double) gu16AdcRes [ADC_SETPOINT_TORQUE] * fTorqueSetpointStep;
//Minumum Torque
if (fSetpointTorque < 0.5)
fSetpointTorque = 0.5;
if (fSetpointTorque > fSetpintTorqueMax)
fSetpointTorque = fSetpintTorqueMax;
}
else
{
if (gu16SpeedDelay > 0)
gu16SpeedDelay --;
}
uiCurrent -= uiCurrentZero;
//Floating Average
AddToFloatAvg (&FilterCurrent, uiCurrent);
uiCurrent = GetOutputValue (&FilterCurrent);
if (uiCurrent < uiCurrentZero)
uiCurrent = 0;
else
uiCurrent -= uiCurrentZero;
fTorque = (double)(uiCurrent) * fCurrTorqueConst;
//Start Motor left
if ((PIND & (1 << PD1)) && !bTorqueReached)
if ((PIND & (1 << PD2)) && bMotorLeft && !bTorqueReached)
{
OCR1B = 0;
PORTD |= (1 << PD7);
PORTD &= ~(1 << PD6);
////PORTD |= (1 << PD5);
////PORTD &= ~(1 << PD4);
OCR1A = (uiSetpointSpeed - uiSpeedDelay) >> 2; //TOP = 0xff
// strcpy (sState, "Li");
OCR1A = u16SetSpeed;
if (!bStarted)
{
strcpy (sState, "Li");
bStarted = 1;
}
}
//Start Motor right
else if ((PIND & (1 << PD2)) && !bTorqueReached)
else if ((PIND & (1 << PD2)) && !bMotorLeft && !bTorqueReached)
{
OCR1A = 0;
PORTD |= (1 << PD6);
PORTD &= ~(1 << PD7);
//PORTD |= (1 << PD4);
//PORTD &= ~(1 << PD5);
OCR1B = (uiSetpointSpeed - uiSpeedDelay) >> 2; //TOP = 0xff
// strcpy (sState, "Re");
OCR1B = u16SetSpeed;
if (!bStarted)
{
strcpy (sState, "Re");
bStarted = 1;
}
}
else if (((PIND & (1 << PD1)) == 0) && ((PIND & (1 << PD2)) == 0))
else if (gcStopped)
{
//Stop - no operation
OCR1A = 0;
OCR1B = 0;
//smooth stop
PORTD |= (1 << PD6) | (1 << PD7);
uiSpeedDelay = uiSetpointSpeed;
gu16SpeedDelay = uiSetpointSpeed;
bTorqueReached = 0;
bStarted = 0;
strcpy (sState, "St");
}
if ((fTorque > fSetpointTorque) && !uiSpeedDelay)
if ((fTorque > fSetpointTorque) && !gu16SpeedDelay && !bTorqueReached)
{
//Torque Stop after start ramp
OCR1A = 0x00;
OCR1B = 0x00;
//Fast Stop
PORTD |= (1 << PD6) | (1 << PD7);
//Fast Stop
//PORTD &= ~(1 << PD6);
//PORTD &= ~(1 << PD7);
bTorqueReached = 1;
fReachedTorque = fTorque;
uiCurrentReached = uiCurrent;
strcpy (sState, "ST");
}
//LCD
u16LCDTrigger ++;
if (u16LCDTrigger == 2500)
{
#ifdef ADC_DEBUG
set_cursor (0, 1);
sprintf (sBuffer, "M%d v%d I%d" ,gu16AdcRes [ADC_SETPOINT_TORQUE], gu16AdcRes [ADC_SETPOINT_SPEED], gu16AdcRes [ADC_CURRENT]);
lcd_string (sBuffer);
#else
if (gcStopped)
{
set_cursor (0, 1);
#ifdef TORQUE_DEBUG
sprintf (sBuffer, "m%d M%d", uiCurrentMin, uiCurrentMax);
#else
sprintf (sBuffer, "v=%3d%% M=%03.1fNm", ((uiSetpointSpeed - (uiSetpointSpeed /1000) * uiSetpointSpeed %1000)/ 10), fSetpointTorque);
#endif
lcd_string (sBuffer);
}
#endif
set_cursor (0, 1);
sprintf (sBuffer, "v=%d%% M=%04.2fNm", (uiSetpointSpeed / 10), fSetpointTorque);
lcd_string (sBuffer);
set_cursor (0, 2);
#ifdef CURRENT_RAW
sprintf (sBuffer, "%s I=%dA", sState, (uiCurrent + uiCurrentZero));
#else
//sprintf (sBuffer, "%s I=%8.2fA", sState, );
sprintf (sBuffer, "%s M=%04.2fNm", sState, (fTorque));
#endif
lcd_string (sBuffer);
set_cursor (0, 2);
if (bTorqueReached)
{
sprintf (sBuffer, "%s M=%03.2fNm ", sState, fReachedTorque);
sprintf (sBuffer, "%s I%dA M%04.2fN", sState, uiCurrentReached, fReachedTorque);
}
else
sprintf (sBuffer, "%s M=%04.2f I=%d ", sState, fTorque, uiCurrent);
}
lcd_string (sBuffer);
u16LCDTrigger = 0;
}
}
return 1;
}
@@ -196,17 +298,20 @@ int main (void)
/*==========================================*/
void pwm_init (void)
{
//Compare values to zero
OCR1A = 0x0;
OCR1B = 0x0;
// Set timer 1
// OC1A/OC1B clear on Match, Set on Top
// 8 bit resolution , Phase Correct PWM
TCCR1A = (1 << COM1A1) | (0 << COM1A0) | \
(1 << COM1B1) | (0 << COM1B1) | \
(1 << COM1B1) | (0 << COM1B0) | \
(0 << WGM13) | (0 << WGM12) | (0 << WGM11) | (1 << WGM10);
// Pre divisor of Timer 1
TCCR1B = (0 << CS12) | (0 << CS11) | (1 << CS10);
//Enable overflow interrupt
//TIMSK |= (1 << TOIE1);
//Enable overflow interrupt
TIMSK |= (1 << TOIE1);
//Set TOP value
@@ -220,47 +325,26 @@ void tc0_init (void)
// Set timer 0
// normal operation
TCCR0 = (0 << WGM01) | (0 << WGM00) | \
(0 << CS02) | (1 << CS01) | (1 << CS00);
(0 << CS02) | (1 << CS01) | (0 << CS00);
//Enable overflow interrupt
TIMSK |= (1 << TOIE0);
//TIMSK |= (1 << TOIE0);
}
/*==========================================*/
uint16_t ReadADC (uint8_t mux)
void ADC_init (void)
{
uint8_t i;
uint16_t result;
//Seclect Channel
ADMUX = mux;
//set Reference Voltage to external
ADMUX |= (0 << REFS1) | (0 << REFS0);
//Prescaler 50kHz < CLK / Prescaler < 200 kHz !!!
//also enaable ADC
ADCSRA = (1 << ADEN) | (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0);
ADMUX = (0 << REFS1) | (0 << REFS0);
//Prescaler 50kHz < CLK / Prescaler < 200 kHz otherwise errors in LSBs!!!
//enaable ADC and interupt
//Enable freeruning mode,
ADCSRA = (1 << ADEN) | (1 << ADIE) | (1 << ADATE)| (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0);
ADCSRA |= (1 << ADSC);
}
//1st Dummy Readout
ADCSRA |= (1<<ADSC); // eine ADC-Wandlung
while ( ADCSRA & (1 << ADSC))
{//wait for convertion
}
result = ADCW;
result = 0;
for (i = 0; i < 4; i ++)
{
ADCSRA |= (1 << ADSC);// eine Wandlung "single conversion"
while (ADCSRA & (1 << ADSC))
{//wait for convertion
}
result += ADCW;
}
ADCSRA &= ~(1 << ADEN);
return (result >> 2);
}