/**

* @file main.c

*

*

* @brief Projekt DC Motorsteuerung

*/

/*

*

* Tim Herz

* Nadja Fischer

* Philip Burkhard

* Burak Karadeniz

*

* GSI Helmholtszzentrum für Schwerionenforschung GmbH

* 64291 Darmstadt

* Planckstraße 1

*/

#include <avr/io.h>

#include <avr/interrupt.h>

#include <util/delay.h>

#include <stdio.h>

#include <avr/wdt.h>

#include "defines.h"

#include "adc.h"

#include "median.h"

#include "uart.h"

#include "int.h"

#include "error.h"

#include "remote.h"

#include "Motor.h"

#include "remote.h"

//* ToDo:

//Spiegelung (Motorrichtung) >> wechsel über defines oder ähnliches

//Motortyp >> siehe unten

//Interrupts >> Hr kreider

//Entprellroutine >> ka

//Kommentierung

// Vorwiderstand an Uart (MAX...)

// MOTOR_DIR & MOTOR_TYPE CHECK >>> ohne funktion >> Error: "IF WITHOUT EXPRESSION"

uint8_t Go_A=0; //! Drive Command memory for direction A

uint8_t Go_B=0; //! Drive Command memory for direction B

/**

* @brief Initialises IOs, Motor driver, watchdog, UART, filtered ADC

*

*/

void init(void)

{

error_reg = 0x00; //! Error Register

//! Defining the Outputs

DDR_DRV |= DRV_EN | DRV_MODE | DRV_PHASE | DRV_SLEEP;

DDR_LIMIT_A_OUT |= LIMIT_A_OUT;

DDR_LIMIT_B_OUT |= LIMIT_B_OUT;

DDR_DIR_A_LED |= DIR_A_LED;

DDR_DIR_B_LED |= DIR_B_LED;

DDR_ERR_LED |= DIR_ERR_LED;

DDR_PWR_LED |= PWR_LED;

SET_PWR_LED; //! Set Power LED

MOTOR_BREAK; //! Engine on brake

if (MCUCSR & (1<<WDRF)) //! Checking the watchdog-flag

{

error_reg |= ERR_WATCHDOG; //! If a watchdog reset occurs, set the bit 6 of the error register high

MCUCSR = ~(1<<WDRF); //! Delete the watchdog flag

}

init_uart(); //! Call the UART init

ADC_init (); //! Call the ADC init

pRbUFuse= &rbUFuse;

pRbU24 = &rbU24;

pRbIDrv = &rbIDrv;

rbInit(pRbUFuse); //! Init ring buffers for median

rbInit(pRbU24);

rbInit(pRbIDrv);

Interrupt_init(); //! Call Interrupt init

WDT_init (); //! Call watchdog init

return; //! Return

}

int main(void)

{

init(); //! Call init

uint8_t Go_A=0; //! Drive Command memory for direction A

uint8_t Go_B=0;

uint8_t key; //! Char code from keyboard, currently used for remote ctrl

while(1)

{

UPRINT("\f"); //! Terminal form feeds

// error_median_check(); //! Call Median check

error_limits_check(); //! Call Limit check

error_nfault_check(); //! Call nFault check

if (error_reg != 0) error_modul (); //! Fault detection

//! Call "error_modul" if an error occurs

if(GET_REMOTE_SWITCH) //! If the remote switch is set (PA4) the move direction can be remote controlled by pressing a or b...

{ //! ... on the keyboard of the PC which is connected through the UART with the motor control board

UPRINT("Modus: Remote\r\n");

key = uart_getc_nowait(); //! defining "key" with a key-input through the uart

UPRINT("Key: "); //! print out a probably pressed key on the remote console

UPRINTN(key);

UPRINT("\r\n");

if(key == 'a') //! If key "a" was pressed during remote mode, set Go_a=1 and Go_B=0

{

Go_A = 1;

Go_B = 0;

}

else if(key == 'b') //! If key "b" was pressed during remote mode, set Go_a=0 and Go_B=1

{

Go_A = 0;

Go_B = 1;

}

if(GET_BUTTON_A_RMT && GET_BUTTON_B_RMT) {Go_A = 0; Go_B = 0;} //! if both direction buttons are pressed simultaneously, Go_A and GO_B are 0, the motor stands still

if(GET_BUTTON_A_RMT) {Go_A = 1; Go_B = 0;} //! if switch A is pressed, set Go_a=1 and Go_B=0 for driving the motor to A

if(GET_BUTTON_B_RMT) {Go_A = 0; Go_B = 1;}

}

else //! If the remote mode is deactivated, the direction buttons must be pressed direct at the front panel

{

UPRINT("Modus: Local\r\n\r\n");

if(GET_BUTTON_A && GET_BUTTON_B) {Go_A = 0; Go_B = 0;} //! if both direction buttons are pressed simultaneously, Go_A and GO_B are 0, the motor stands still

if(GET_BUTTON_A) {Go_A = 1; Go_B = 0;} //! if switch A is pressed, set Go_a=1 and Go_B=0 for driving the motor to A

if(GET_BUTTON_B) {Go_A = 0; Go_B = 1;} //! if switch B is pressed, set Go_a=0 and Go_B=1 for driving the motor to B

}

UPRINTN(lastLimit); //! give out the last pressed limit switch to the remote console

UPRINT(" Lastlimit\r\n");

if(GET_LIMIT_A) TURN_ON(PORT_LMT_A_LED, LMT_A_LED); //! check if limit switch A is pressed and show it by LED on the front panel

else TURN_OFF(PORT_LMT_A_LED, LMT_A_LED); //! if limit switch A is not pressed, light off the limit LED for limit switch A

if(GET_LIMIT_B) TURN_ON(PORT_LMT_B_LED, LMT_B_LED); //! check if limit switch B is pressed and show it by LED on the front panel

else TURN_OFF(PORT_LMT_B_LED, LMT_B_LED); //! if limit switch B is not pressed, light off the limit LED for limit switch B

// if(GET_MOTOR_STOP) //! if the motor stop button is pressed...

// {

// Go_A = 0; Go_B = 0; //! ... set Go_A=0 and Go_B=0, ...

// Motor_stop(); //! ... call the "motorstop()" routine...

// TURN_OFF(PORT_DIR_A_LED , DIR_A_LED ); //! ... and light off both direction LED's

// TURN_OFF(PORT_DIR_B_LED , DIR_B_LED );

// }

// else //! if the motor stop button is not press, than check different status of the A/B buttons and limit switches

// {

if (GET_LIMIT_A && !(GET_LIMIT_B)) //! Limit switch A is pressed, Limit switch B is not pressed //Endschalter A gedrueckt, Endschalter B nicht gedreuckt

{

DBPRINT("LA=1 LB=0\r\n"); //! print out to the remote console which limit switch is pressed

if (Go_B) //! if button B is pressed...

{

Motor_RE(); //! ... call "Motor_RE" routine for driving the motor to B

TURN_ON(PORT_DIR_B_LED , DIR_B_LED ); //! turn on the LED for driving to B

TURN_OFF(PORT_DIR_A_LED , DIR_A_LED ); //! turn off the LED for driving A, if the motor was driving to A but not reached it before the driving direction was switched

UPRINT("Fahre Richtung B\r\n"); //! print out the driving direction int the remote console

}

if (Go_A) //! if button A is pressed, call "Motor_stop", because the motor can't drive to A, if the limit switch A is pressed

{

Go_A = 0;

Motor_stop(); //! Call Motor stop

TURN_OFF(PORT_DIR_A_LED , DIR_A_LED ); //! light off both direction LED's

TURN_OFF(PORT_DIR_B_LED , DIR_B_LED );

UPRINT("\r\n Stop bei A\r\n"); //! print out to the remote console that he motor stops/stand still

}

}

if (GET_LIMIT_B && !(GET_LIMIT_A)) //! Limit switch B is pressed, Limit switch A is not pressed //Endschalter A gedrueckt, Endschalter B nicht gedreuckt

{

DBPRINT("LA=0 LB=1\r\n"); //! print out to the remote console which limit switch is pressed

if (Go_A) //! if button A is pressed...

{

Motor_FW(); //! ... call "Motor_FW" routine for driving the motor to B

TURN_ON(PORT_DIR_A_LED , DIR_A_LED ); //! turn on the LED for driving to A

TURN_OFF(PORT_DIR_B_LED , DIR_B_LED ); //! turn off the LED for driving B, if the motor was driving to A but not reached it before the driving direction was switched

UPRINT("Fahre Richtung A\r\n"); //! print out the driving direction int the remote console

}

if (Go_B) //! if button B is pressed, call "Motor_stop", because the motor can't drive to A, if the limit switch A is pressed

{

Go_B = 0;

Motor_stop();

TURN_OFF(PORT_DIR_A_LED , DIR_A_LED ); //! light off both direction LED's

TURN_OFF(PORT_DIR_B_LED , DIR_B_LED );

UPRINT("\r\n Stop bei B\r\n"); //! print out to the remote console that he motor stops/stand still

}

}

if (!(GET_LIMIT_A) && !(GET_LIMIT_B)) //! none of the limit switches is pressed

{

DBPRINT("LA=0 LB=0\r\n");

if (Go_A) //! if button A is pressed ...

{

Go_B = 0;

Motor_FW(); //! call motor forward function

TURN_ON(PORT_DIR_A_LED , DIR_A_LED ); //! turn on direction LED A

TURN_OFF(PORT_DIR_B_LED , DIR_B_LED ); //! turn off direction LED B

UPRINT("Fahre Richtung A\r\n");

}

else if (Go_B) //! if button B is pressed...

{

Motor_RE(); //! call motor reverse function

TURN_ON(PORT_DIR_B_LED , DIR_B_LED ); //! turn on direction LED B

TURN_OFF(PORT_DIR_A_LED , DIR_A_LED ); //! turn off direction LED A

UPRINT("Fahre Richtung B\r\n");

}

}

//}

/*

medIDrv = median(&pRbIDrv->mem[0]); //! sample median for driver current

medU24 = median(&pRbU24->mem[0]); //! sample median for supply voltage

medUFuse = median(&pRbUFuse->mem[0]); //! sample median for fuse voltage

*/

medIDrv = dbg_medIDrv;

medU24 = dbg_medU24;

medUFuse = dbg_medUFuse;

DBPRINT("\r\n\r\nMedian output:\r\n"); //! print out the different median values

DBPRINTN(medIDrv);

DBPRINT("\t mA medIDrv \r\n");

DBPRINTN(medU24);

DBPRINT("\t mV medU24 \r\n");

DBPRINTN(medUFuse);

DBPRINT("\t mV medUFuse \r\n");

DBPRINT("\r\n\r\nMotor:\r\n");

DBPRINT("Typ\tStatus\tMotorDirection\tSLEEP\tENABLE\tPHASE\tMODE\r\n");

MOTOR_TYPE();

DBPRINT("\t");

if ( (PORT_DRV & ~DRV_EN) && (PORT_DRV & DRV_MODE) ) DBPRINT("BRAKE"); //! set Motor BRAKE

else if (!(PORT_DRV & DRV_SLEEP)) DBPRINT("SLEEP"); //! set Motor SLEEP

else if ((PORT_DRV & DRV_SLEEP)) DBPRINT("ARMED"); //! set Motor ARMED

else DBPRINT("Unknown"); // ?

DBPRINT("\t");

MOTOR_DIR();

DBPRINT("\t");

if (PORT_DRV & DRV_SLEEP) DBPRINT ("1"); //! if driver_sleep bit is set, set motor sleep 1 // motor sleep

else DBPRINT ("0");

DBPRINT("\t");

if (PORT_DRV & DRV_EN) DBPRINT("1"); //! if driver_enabled bir is set, set motor enable 1 // motor enable

else DBPRINT("0");

DBPRINT("\t");

if (PORT_DRV & DRV_PHASE) DBPRINT("1"); //! if driver_phase is set, set motor phase 1 // motor phase

else DBPRINT("0");

DBPRINT("\t");

if (PORT_DRV & DRV_MODE) DBPRINT("1"); //! if driver_mode is set, set motor mode 1 // motor mode

else DBPRINT("0");

DBPRINT("\r\n");

wdt_reset();

_delay_ms(100);

}

}