/**
* ADC1+2 interrupt hander
*/
void adc1_2_irq_handler(void)
{
uint8_t channel = 0;
uint16_t value = 0;
struct adc_buf * buf;
#ifdef USE_AD1
// Clear Injected End Of Conversion
ADC_ClearITPendingBit(ADC1, ADC_IT_JEOC);
for(channel = 0; channel < NB_ADC1_CHANNELS; channel++) {
buf = adc1_buffers[channel];
if(buf) {
value = ADC_GetInjectedConversionValue(ADC1, adc_injected_channels[channel]);
adc_push_sample(buf, value);
}
}
adc_new_data_trigger = 1;
#endif
#ifdef USE_AD2
// Clear Injected End Of Conversion
ADC_ClearITPendingBit(ADC2, ADC_IT_JEOC);
for(channel = 0; channel < NB_ADC2_CHANNELS; channel++) {
buf = adc2_buffers[channel];
if(buf) {
value = ADC_GetInjectedConversionValue(ADC2, adc_injected_channels[channel]);
adc_push_sample(buf, value);
}
}
adc_new_data_trigger = 1;
#endif
}
void TIM2_IRQHandler(void)
{
int d, mv;
//handle power 1
d = ADC_GetInjectedConversionValue(ADC1, ADC_InjectedChannel_1);
ict_vget_1 = d2mv(d);
//printf("%d\n",ict_vget_1);
mv = ict_vget_1 - ict_vexp_1;
ict_vout_1 -= mv;
d = mv2d(ict_vout_1);
if(d < 0) d = 0;
DAC_SetChannel1Data(DAC_Align_12b_R, d);
//handle power 2
d = ADC_GetInjectedConversionValue(ADC1, ADC_InjectedChannel_2);
ict_vget_2 = d2mv(d);
//printf("%d\n",ict_vget_2);
mv = ict_vget_2 - ict_vexp_2;
ict_vout_2 -= mv;
d = mv2d(ict_vout_2);
if(d < 0) d = 0;
DAC_SetChannel2Data(DAC_Align_12b_R, d);
//handle I1&I2
d = ADC_GetInjectedConversionValue(ADC1, ADC_InjectedChannel_3);
ict_iget_1 = d2mA(d);
d = ADC_GetInjectedConversionValue(ADC1, ADC_InjectedChannel_4);
ict_iget_2 = d2mA(d);
//printf("I1 = %d I2 = %d\n", i1, i2);
ADC_SoftwareStartInjectedConvCmd(ADC1, ENABLE);
TIM_ClearITPendingBit(TIM2, TIM_FLAG_Update);
}
/**
* ADC1 interrupt hander
*/
void adc1_2_irq_handler(void)
{
ADC_ClearITPendingBit(ADC1, ADC_IT_JEOC);
adc_data.battery_voltage =
ADC_GetInjectedConversionValue(ADC1, ADC_BATTERY_VOLTAGE);
adc_data.current =
ADC_GetInjectedConversionValue(ADC1, ADC_CURRENT);
adc_data.temp =
ADC_GetInjectedConversionValue(ADC1, ADC_TEMP);
adc_data.trigger = true;
}
/*******************************************************************************
* Function Name : SVPWMEOCEvent
* Description : Routine to be performed inside the end of conversion ISR
It computes the bus voltage and temperature sensor sampling
and disable the ext. adc triggering.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
u8 SVPWMEOCEvent(void)
{
// Store the Bus Voltage and temperature sampled values
h_ADCTemp = ADC_GetInjectedConversionValue(ADC2,ADC_InjectedChannel_2);
h_ADCBusvolt = ADC_GetInjectedConversionValue(ADC1,ADC_InjectedChannel_2);
if ((State == START) || (State == RUN))//INIT状态时，直接跳过，否则禁止ADC转化触发
{
// Disable EXT. ADC Triggering
ADC1->CR2 = ADC1->CR2 & 0xFFFF7FFF;
}
return ((u8)(1));
}
/**
* @brief This function handles ADC1 and ADC2 global interrupts requests.
* @param None
* @retval None
*/
void ADC1_2_IRQHandler(void)
{
/* Clear ADC1 JEOC pending interrupt bit */
ADC_ClearITPendingBit(ADC1, ADC_IT_JEOC);
/* Get injected channel10 and channel11 converted value */
ADC_InjectedConvertedValueTab[Index++] = ADC_GetInjectedConversionValue(ADC1, ADC_InjectedChannel_1);
ADC_InjectedConvertedValueTab[Index++] = ADC_GetInjectedConversionValue(ADC1, ADC_InjectedChannel_2);
if (Index == 32)
{
Index = 0;
}
}
/*******************************************************************************
* Function Name : ADC1_2_IRQHandler
* Description : This function handles ADC1 and ADC2 global interrupts requests.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void ADC_IRQHandler(void)
{
if((ADC1->SR & ADC_FLAG_JEOC) == ADC_FLAG_JEOC)
{
//It clear JEOC flag
ADC1->SR &= ~(rt_uint32_t)(ADC_FLAG_JEOC | ADC_FLAG_JSTRT);
MCLIB_Mesure_Structure.Mec_Angle = GET_MECHANICAL_ANGLE;
// if (SVPWMEOCEvent())
if (State != IDLE)
{
// MCL_Calc_BusVolt();
switch (State)
{
case RUN:
FOC_Model();
break;
case START:
ENC_Start_Up();
break;
default:
break;
}
#ifdef BRAKE_RESISTOR
if((wGlobal_Flags & BRAKE_ON) == BRAKE_ON)
{
rt_uint16_t aux;
aux = ADC_GetInjectedConversionValue(ADC1, ADC_InjectedChannel_2);
if (aux < BRAKE_HYSTERESIS)
{
wGlobal_Flags &= ~BRAKE_ON;
MCL_Set_Brake_Off();
}
}
#endif
}
}
else
{
if(ADC_GetITStatus(ADC1, ADC_IT_AWD) == SET)
{
#ifdef BRAKE_RESISTOR
//Analog watchdog interrupt has been generated
MCL_Set_Brake_On();
wGlobal_Flags |= BRAKE_ON;
#else
if(MCL_Chk_BusVolt()==OVER_VOLT) // ·ÀÖ¹¸ÉÈÅ
MCL_SetFault(OVER_VOLTAGE);
#endif
ADC_ClearFlag(ADC1, ADC_FLAG_AWD);
}
}
}
/**
* @brief This function handles ADC1 and ADC2 global interrupts requests.
* @param None
* @retval : None
*/
void ADC1_2_IRQHandler(void)
{
/* Set PC.06 pin */
GPIO_WriteBit(GPIOC, GPIO_Pin_6, Bit_SET);
/* Get injected channel11 converted value */
ADC_InjectedConvertedValueTab[Index++] = ADC_GetInjectedConversionValue(ADC1, ADC_InjectedChannel_1);
/* Clear ADC1 JEOC pending interrupt bit */
ADC_ClearITPendingBit(ADC1, ADC_IT_JEOC);
/* Reset PC.06 pin */
GPIO_WriteBit(GPIOC, GPIO_Pin_6, Bit_RESET);
}
void adc1_2_irq_handler(void){
uint16_t new_value;
ADC_ClearITPendingBit(ADC1, ADC_IT_JEOC);
new_value = ADC_GetInjectedConversionValue(ADC1, ADC_InjectedChannel_1);
if(adc_delay_count == 0)
adc_filtered = new_value;
else
adc_filtered = ((adc_filtered * 3) + new_value) >> 2;
if(adc_delay_count > 5){
if(adc_rising){
if(adc_filtered > adc_level + 100){
if(adc_count < 3){
adc_count++;
}else{
LED_ORANGE_TOGGLE();
ADC_ExternalTrigInjectedConvCmd(ADC1, DISABLE);
pwm_trig_led=0;
if(adc_comm) comm_tim_set_next_comm();
}
}
}else{
if(adc_filtered < adc_level){
if(adc_count < 3){
adc_count++;
}else{
LED_ORANGE_TOGGLE();
ADC_ExternalTrigInjectedConvCmd(ADC1, DISABLE);
pwm_trig_led=0;
if(adc_comm) comm_tim_set_next_comm();
}
}
}
}else{
adc_delay_count++;
}
}
void ADC1_IRQHandler(void){
ADC_ClearITPendingBit(ADC1, ADC_IT_JEOS);
adc_injected_data[0]=ADC_GetInjectedConversionValue(ADC1,ADC_InjectedSequence_1);
adc_injected_data[1]=ADC_GetInjectedConversionValue(ADC1,ADC_InjectedSequence_2);
adc_count++;
}
/*******************************************************************************
* Function Name : SysTickHandler
* Description : This function handles SysTick Handler - runs at 100hz.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
__attribute__((externally_visible)) void SysTickHandler(void)
{
static float I,old_pressure;
static uint16_t Enabled_iterations; //Note, this is going to break if we spend long periods with +ive pressure set
static uint32_t Last_Button_Press; //Holds the timestamp for the previous button press
static uint8_t System_state_counter; //Holds the system state counter
static uint8_t tmpindex; //Temp sensor decimator
//FatFS timer function
disk_timerproc();
//Incr the system uptime
Millis+=10;
if(ADC_GetFlagStatus(ADC2, ADC_FLAG_JEOC)) { //We have adc2 converted data from the injected channels
ADC_ClearFlag(ADC2, ADC_FLAG_JEOC); //Clear the flag
if(Pressure_Offset) //Only run the filter when we are sure the sensor is calibrated
Reported_Pressure=filterloop(conv_diff(ADC_GetInjectedConversionValue(ADC2, ADC_InjectedChannel_1)));//convert injected channel 1
//Now handle the pressure controller
if(Pressure_control&0x7F) {//If active pressure control is enabled
//run a PI controller on the air pump motor
if(Pressure_Setpoint>0 && ( Button_hold_tim>(BUTTON_TURNOFF_TIME-BUTTON_MULTIPRESS_TIMEOUT) || !Button_hold_tim ) ) {
// A Negative setpoint or prolonged button press forces a dump of air
float error=Pressure_Setpoint-Reported_Pressure;//Pressure_Setpoint is a global containing the target diff press
if(Enabled_iterations++>I_HOLDOFF) {
I+=error*PRESSURE_I_CONST;//Constants defined in main.h
if(I>PRESSURE_I_LIM) //Enforce limits
I=PRESSURE_I_LIM;
if(I<-PRESSURE_I_LIM)
I=-PRESSURE_I_LIM;
}
int16_t a=PRESSURE_P_CONST*error+I+PRESSURE_D_CONST*(Reported_Pressure-old_pressure);
if(a>0) //Make sure we are actually turning the motor on
Set_Motor((int16_t)a); //Set the motor gpio dir & pwm duty
}
else {
Enabled_iterations=0; //Make sure this is reset
if(abs(Reported_Pressure)>PRESSURE_MARGIN)
Set_Motor(-1); //Set a dump to rapidly drop to zero pressure
else
Set_Motor(0);
}
}
else if(!Pressure_control) //If the most significant bit isnt set
Set_Motor(0); //Sets the Rohm motor controller to idle (low current shutdown) state
//Check the die temperature - not possible on adc1 :-(
//Device_Temperature=convert_die_temp(ADC_GetInjectedConversionValue(ADC2, ADC_InjectedChannel_3));//The on die temperature sensor
#if BOARD>=3
if(Sensors&(1<<THERMISTOR_SENSOR))
Device_Temperature=convert_thermistor_temp(ADC_GetInjectedConversionValue(ADC2, ADC_InjectedChannel_3));
#endif
//Could process some more sensor data here
old_pressure=Reported_Pressure; //Set the old pressure record here for use in the D term
}
ADC_SoftwareStartInjectedConvCmd(ADC2, ENABLE); //Trigger the injected channel group
//Read any I2C bus sensors here (100Hz)
if(Sensors&(1<<TEMPERATURE_SENSOR)) {
TMP102_Reported_Temperature=GET_TMP_TEMPERATURE;
if(!tmpindex--) { //Every 30ms
tmpindex=3;
//Jobs|=1<<TMP102_CONFIG;
I2C1_Request_Job(TMP102_READ); //Request a TMP102 read if there is one present
I2C1_Request_Job(TMP102_CONFIG); //Need to do this to set one shot bit is set high again to start a new single convertion
//Some sort of i2c error here
}
}
//Now process the control button functions
if(Button_hold_tim ) { //If a button press generated timer has been triggered
if(GET_BUTTON) { //Button hold turns off the device
if(!--Button_hold_tim) {
shutdown_filesystem();
shutdown(); //Turn off the logger after closing any open files
}
}
else { //Button released - this can only ever run once per press
RED_LED_OFF; //Turn off the red LED - used to indicate button press to user
if(Button_hold_tim<BUTTON_DEBOUNCE) { //The button has to be held down for longer than the debounce period
Last_Button_Press=Millis;
if(++System_state_counter>=SYSTEM_STATES)
System_state_counter=0;//The system can only have a limited number of states
}
Button_hold_tim=0; //Reset the timer here
}
}
if(Last_Button_Press&&(Millis-Last_Button_Press>BUTTON_MULTIPRESS_TIMEOUT)&&!Button_hold_tim) {//Last press timed out and button is not pressed
if(!(System_state_Global&0x80)) //The main code has unlocked the global using the bit flag - as it has processed
System_state_Global=0x80|System_state_counter;//The previous state update
System_state_counter=0; //Reset state counter here
Last_Button_Press=0; //Reset the last button press timestamp, as the is no button press in play
}
}
