michi/man_screwer
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Delivery Version V1.01

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- fixed 20A Sensor AC712 bidir
 - Pumped up to 9Nm with new Transformator
This commit is contained in:
Michael Rest
2011-05-28 13:29:21 +02:00
parent 57a485f5f1
commit accb581627
2 changed files with 35 additions and 26 deletions
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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="229 77 1095 775" LineCol="127 11" State="Maximized"/><File00001 Name="E:\AVR\screwer\floating_avg.h" Position="409 276 952 727" LineCol="24 25" State="Maximized"/></Files></AVRWorkspace>
<AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="AT90S8515"/><Files><File00000 Name="E:\AVR\screwer\screwer.c" Position="241 118 1212 766" LineCol="114 0"/></Files></AVRWorkspace>

59
screwer.c
View File

@@ -24,7 +24,7 @@ nst, 07.11.2005
#define LCD_EN PC6
//Devel
#define TORQUE_DEBUG //To debug floating AVG
//#define TORQUE_DEBUG //To debug floating AVG
//#define ADC_DEBUG //To debug ADC channels
//Prototypes
@@ -62,7 +62,7 @@ ISR (ADC_vect)
{
gu16AdcRes [ADC_CURRENT] = 512 - gu16AdcRes [ADC_CURRENT];
}
AddToFloatAvg (&gFilterCurrent, gu16AdcRes [ADC_CURRENT]);
//AddToFloatAvg (&gFilterCurrent, gu16AdcRes [ADC_CURRENT]);
}
u8ActChannel += 1;
@@ -77,16 +77,16 @@ int main (void)
//++++++++++++++++++++++++++++++++++++
//declaration
char sBuffer [20];
char sState [3];
char sState [7];
unsigned char bStarted, bMotorLeft, bTorqueReached = 0;
uint16_t u16Current, u16CurrentZero, u16CurrentReached, u16CurrentReachedRAW;
uint16_t u16SetpointSpeed = 0, u16LCDTrigger = 1;
double fTorque, fSetpointTorque, fReachedTorque, fReachedTorqueRAW;
const double fCurrentStep = 0.02466;
const double fCurrentStep = 0.04932; //From Sensortype
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
const double fTorqueSetpointStep = 0.01230469; //From Sensortype 0.009885
const double fSetpointTorqueMax = 9.0; //From Sensortype / PowwerSupply Nm
double fCurrTorqueConst = fCurrentStep * fTorqueConstant;
//Portsetup
//LCD on Port C !!!
@@ -115,7 +115,7 @@ int main (void)
// Disclaimer
set_cursor (0, 1);
lcd_string (" MS-7DA v1.00");
lcd_string (" MS-7DA v1.01");
set_cursor (0, 2);
lcd_string (" Babacek Rest");
for (u16LCDTrigger = 20000; u16LCDTrigger == 0; u16LCDTrigger--) _delay_ms (1);
@@ -130,8 +130,8 @@ int main (void)
//Read Current Vallue fom IC
//Floating Average
u16Current = GetOutputValue (&gFilterCurrent);
//uiCurrent = gu16AdcRes [ADC_CURRENT];
//u16Current = GetOutputValue (&gFilterCurrent);
u16Current = gu16AdcRes [ADC_CURRENT];
@@ -139,16 +139,25 @@ int main (void)
if (gcStopped)
{
bMotorLeft = PIND & (1 << PD3);
if (bMotorLeft)
{
strcpy (sState, "Li");
}
else
{
strcpy (sState, "Re");
}
//Motor stopped so recalibrate
//FixMe bad idea u16CurrentZero = u16Current;
//Get potis
u16SetpointSpeed = gu16AdcRes [ADC_SETPOINT_SPEED];
//u16SetpointSpeed = gu16AdcRes [ADC_SETPOINT_SPEED];
u16SetpointSpeed = 1023;
fSetpointTorque = (double) gu16AdcRes [ADC_SETPOINT_TORQUE] * fTorqueSetpointStep;
//Minumum Torque
if (fSetpointTorque < 0.5)
fSetpointTorque = 0.5;
if (fSetpointTorque > fSetpintTorqueMax)
fSetpointTorque = fSetpintTorqueMax;
if (fSetpointTorque > fSetpointTorqueMax)
fSetpointTorque = fSetpointTorqueMax;
}
else
@@ -177,7 +186,6 @@ int main (void)
if (!bStarted)
{
strcpy (sState, "Li");
bStarted = 1;
}
}
@@ -192,7 +200,6 @@ int main (void)
PORTD &= ~(1 << PD5);
if (!bStarted)
{
strcpy (sState, "Re");
bStarted = 1;
}
}
@@ -202,13 +209,12 @@ int main (void)
PORTD &= ~(1 << PD5);
//smooth stop
PORTD |= (1 << PD6) | (1 << PD7);
gu16SpeedDelay = 0x1ff;
gu16SpeedDelay = 0x02ff;
bTorqueReached = 0;
bStarted = 0;
strcpy (sState, "St");
}
if ((fTorque > fSetpointTorque) && !gu16SpeedDelay && !bTorqueReached)
if ((((fTorque > fSetpointTorque) && !bMotorLeft) || (fTorque > fSetpointTorqueMax) )&& !gu16SpeedDelay && !bTorqueReached)
{
//Torque Stop after start ramp
PORTD &= ~(1 << PD4);
@@ -234,7 +240,7 @@ int main (void)
#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);
lcd_string (sBuffer);
#else
if (gcStopped)
{
@@ -248,22 +254,25 @@ int main (void)
#ifdef TORQUE_DEBUG
sprintf (sBuffer, "%s I%dA M%04.2fN", sState, u16CurrentReachedRAW, fReachedTorqueRAW);
#else
sprintf (sBuffer, "M erreicht);
sprintf (sBuffer, "M erreicht");
#endif
lcd_string (sBuffer);
}
#endif
set_cursor (0, 2);
if (bTorqueReached)
{
set_cursor (0, 2);
sprintf (sBuffer, "%s M=%03.2fNm ", sState, fReachedTorque);
sprintf (sBuffer, "%s I%dA M%04.2fN", sState, u16CurrentReached, fReachedTorque);
//sprintf (sBuffer, "%s I%dA M%04.2fN", sState, u16CurrentReached, fReachedTorque);
lcd_string (sBuffer);
}
if (gcStopped)
{
set_cursor (0, 2);
sprintf (sBuffer, "%s ", sState);
lcd_string (sBuffer);
}
else
sprintf (sBuffer, "%s M=%04.2f I=%d ", sState, fTorque, u16Current);
lcd_string (sBuffer);
u16LCDTrigger = 0;
}
}