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);
}
void SVPWM_3ShuntCurrentReadingCalibration(void)
{
static u16 bIndex;
/* ADC1 Injected group of conversions end interrupt disabling */
ADC_ITConfig(ADC1, ADC_IT_JEOC, DISABLE);
hPhaseAOffset=0;
hPhaseBOffset=0;
hPhaseCOffset=0;
/* ADC1 Injected conversions trigger is given by software and enabled */
ADC_ExternalTrigInjectedConvConfig(ADC1, ADC_ExternalTrigInjecConv_None);
ADC_ExternalTrigInjectedConvCmd(ADC1,ENABLE);
/* ADC1 Injected conversions configuration */
ADC_InjectedSequencerLengthConfig(ADC1,3);
ADC_InjectedChannelConfig(ADC1, PHASE_A_ADC_CHANNEL,1,SAMPLING_TIME_CK);
ADC_InjectedChannelConfig(ADC1, PHASE_B_ADC_CHANNEL,2,SAMPLING_TIME_CK);
ADC_InjectedChannelConfig(ADC1, PHASE_C_ADC_CHANNEL,3,SAMPLING_TIME_CK);
/* Clear the ADC1 JEOC pending flag */
ADC_ClearFlag(ADC1, ADC_FLAG_JEOC);
ADC_SoftwareStartInjectedConvCmd(ADC1,ENABLE);
/* ADC Channel used for current reading are read
in order to get zero currents ADC values*/
for(bIndex=0; bIndex <NB_CONVERSIONS; bIndex++)
{
while(!ADC_GetFlagStatus(ADC1,ADC_FLAG_JEOC)) { }
hPhaseAOffset += (ADC_GetInjectedConversionValue(ADC1,ADC_InjectedChannel_1)>>3);
hPhaseBOffset += (ADC_GetInjectedConversionValue(ADC1,ADC_InjectedChannel_2)>>3);
hPhaseCOffset += (ADC_GetInjectedConversionValue(ADC1,ADC_InjectedChannel_3)>>3);
/* Clear the ADC1 JEOC pending flag */
ADC_ClearFlag(ADC1, ADC_FLAG_JEOC);
ADC_SoftwareStartInjectedConvCmd(ADC1,ENABLE);
}
SVPWM_InjectedConvConfig( );
}
void EXTI1_IRQHandler(void)
{
if(EXTI_GetITStatus(EXTI_Line1) != RESET)
{
/* Start ADC1 Software Conversion */
//ADC_SoftwareStartConvCmd(ADC3, ENABLE);
ADC_SoftwareStartInjectedConvCmd(ADC3, ENABLE);
/* Clear the EXTI Line 1 */
EXTI_ClearITPendingBit(EXTI_Line1);
}
}
void ict_Init(void)
{
led_Init();
led_flash(LED_GREEN);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
GPIO_InitTypeDef GPIO_InitStructure;
ADC_InitTypeDef ADC_InitStructure;
DAC_InitTypeDef DAC_InitStructure;
RCC_ADCCLKConfig(RCC_PCLK2_Div8); /*72Mhz/8 = 9Mhz*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC3, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_DAC, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOE| RCC_APB2Periph_GPIOD|
RCC_APB2Periph_GPIOC| RCC_APB2Periph_GPIOA, ENABLE);
// IO config
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7|GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOE, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOD, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_4|
GPIO_Pin_5|GPIO_Pin_6|GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// DAC config
DAC_StructInit(&DAC_InitStructure);
DAC_Init(DAC_Channel_1, &DAC_InitStructure);
DAC_Cmd(DAC_Channel_1, ENABLE);
DAC_StructInit(&DAC_InitStructure);
DAC_Init(DAC_Channel_2, &DAC_InitStructure);
DAC_Cmd(DAC_Channel_2, ENABLE);
/* ADC1 config, Power Ouput Voltage sampling,
V1 = ADC1_CH2 = PA2 = ADC123_IN2
V2 = ADC2_CH7 = PA7 = ADC12_IN7
*/
ADC_DeInit(ADC1);
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfChannel = 0;
ADC_Init(ADC1, &ADC_InitStructure);
ADC_InjectedSequencerLengthConfig(ADC1, 4);
ADC_InjectedChannelConfig(ADC1, ADC_Channel_2, 1, ADC_SampleTime_55Cycles5); //9Mhz/(71.5 + 12.5) = 107.1Khz
ADC_InjectedChannelConfig(ADC1, ADC_Channel_7, 2, ADC_SampleTime_55Cycles5);
ADC_InjectedChannelConfig(ADC1, ADC_Channel_1, 3, ADC_SampleTime_55Cycles5); //I0
ADC_InjectedChannelConfig(ADC1, ADC_Channel_6, 4, ADC_SampleTime_55Cycles5); //I1
ADC_ExternalTrigInjectedConvConfig(ADC1, ADC_ExternalTrigInjecConv_None);
ADC_Cmd(ADC1, ENABLE);
ADC_ResetCalibration(ADC1);
while (ADC_GetResetCalibrationStatus(ADC1));
ADC_StartCalibration(ADC1);
while (ADC_GetCalibrationStatus(ADC1));
ADC_SoftwareStartInjectedConvCmd(ADC1, ENABLE);
/* ADC2 config, current sampling & over current protection
* I1 = ADC1_CH1 = PA1 = ADC123_IN1
*/
ADC_DeInit(ADC2);
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
ADC_InitStructure.ADC_ScanConvMode = DISABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_Init(ADC2, &ADC_InitStructure);
ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SampleTime_71Cycles5); //9Mhz/(71.5 + 12.5) = 107.1Khz
ADC_Cmd(ADC2, ENABLE);
ADC_ResetCalibration(ADC2);
while (ADC_GetResetCalibrationStatus(ADC2));
ADC_StartCalibration(ADC2);
while (ADC_GetCalibrationStatus(ADC2));
ADC_AnalogWatchdogThresholdsConfig(ADC2, mA2d(100), 0x000);
ADC_AnalogWatchdogSingleChannelConfig(ADC2, ADC_Channel_1);
ADC_AnalogWatchdogCmd(ADC2, ADC_AnalogWatchdog_SingleRegEnable);
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = ADC1_2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//START
ADC_ITConfig(ADC2, ADC_IT_AWD, ENABLE);
ADC_SoftwareStartConvCmd(ADC2, ENABLE);
/* ADC3 config, current sampling & over current protection
* I2 = ADC2_CH6 = PA6 = ADC12_IN6
*/
ADC_DeInit(ADC3);
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
ADC_InitStructure.ADC_ScanConvMode = DISABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_Init(ADC3, &ADC_InitStructure);
ADC_RegularChannelConfig(ADC3, ADC_Channel_6, 1, ADC_SampleTime_71Cycles5); //9Mhz/(71.5 + 12.5) = 107.1Khz
ADC_Cmd(ADC3, ENABLE);
ADC_ResetCalibration(ADC3);
while (ADC_GetResetCalibrationStatus(ADC3));
ADC_StartCalibration(ADC3);
while (ADC_GetCalibrationStatus(ADC3));
ADC_SoftwareStartConvCmd(ADC3, ENABLE);
ADC_AnalogWatchdogThresholdsConfig(ADC3, mA2d(100),0x000);
ADC_AnalogWatchdogSingleChannelConfig(ADC3, ADC_Channel_6);
ADC_AnalogWatchdogCmd(ADC3, ADC_AnalogWatchdog_SingleRegEnable);
NVIC_InitStructure.NVIC_IRQChannel = ADC3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//START
ADC_ITConfig(ADC3, ADC_IT_AWD, ENABLE);
ADC_SoftwareStartConvCmd(ADC3, ENABLE);
// TIM config
TIM_TimeBaseStructure.TIM_Period = 100 - 1; //Fclk = 10KHz /100 = 100Hz
TIM_TimeBaseStructure.TIM_Prescaler = 7200 - 1; //prediv to 72MHz to 10KHz
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM2, ENABLE);
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
GPIO_ResetBits(GPIOD, GPIO_Pin_12);
GPIO_ResetBits(GPIOD, GPIO_Pin_13);
mbi5025_Init(&ict_mbi5025);
mbi5025_EnableOE(&ict_mbi5025);
}
/*******************************************************************************
* 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
}
}
/**
* Initialize the ADC peripherals and internal state of the driver
*/
void adc_init(void)
{
NVIC_InitTypeDef nvic;
GPIO_InitTypeDef gpio;
ADC_InitTypeDef adc;
/* enable ADC1 clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA |
RCC_APB2Periph_ADC1, ENABLE);
/* Configure and enable ADC interrupt */
nvic.NVIC_IRQChannel = ADC1_2_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = 0;
nvic.NVIC_IRQChannelSubPriority = 0;
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
/* GPIOA: ADC Channel 0, 1, 2, 3 as analog input
* Ch 3 -> Battery Voltage
* Ch 4 -> Current
* Ch 5 -> Temperature
*/
gpio.GPIO_Pin =
GPIO_Pin_3 |
GPIO_Pin_4 |
GPIO_Pin_5;
gpio.GPIO_Mode = GPIO_Mode_AIN;
gpio.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &gpio);
adc_data.battery_voltage = 0;
adc_data.current = 0;
adc_data.temp = 0;
/* Configure ADC1 */
adc.ADC_Mode = ADC_Mode_Independent;
adc.ADC_ScanConvMode = ENABLE;
adc.ADC_ContinuousConvMode = ENABLE;
adc.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
adc.ADC_DataAlign = ADC_DataAlign_Right;
adc.ADC_NbrOfChannel = 0;
ADC_Init(ADC1, &adc);
ADC_InjectedSequencerLengthConfig(ADC1, 3);
ADC_InjectedChannelConfig(ADC1, ADC_CHANNEL_BATTERY_VOLTAGE, 1,
ADC_SampleTime_239Cycles5);
ADC_InjectedChannelConfig(ADC1, ADC_CHANNEL_CURRENT, 2,
ADC_SampleTime_239Cycles5);
ADC_InjectedChannelConfig(ADC1, ADC_CHANNEL_TEMP, 3,
ADC_SampleTime_239Cycles5);
/* ADC1 injected external trigger configuration */
ADC_ExternalTrigInjectedConvConfig(ADC1, ADC_ExternalTrigInjecConv_None);
/* Enable ADC1 JEOC interrupt */
ADC_ITConfig(ADC1, ADC_IT_JEOC, ENABLE);
/* Enable ADC1 */
ADC_Cmd(ADC1, ENABLE);
/* Enable ADC1 reset calibaration register */
ADC_ResetCalibration(ADC1);
/* Check the end of ADC1 reset calibration */
while (ADC_GetResetCalibrationStatus(ADC1) == SET) ;
/* Start ADC1 calibaration */
ADC_StartCalibration(ADC1);
/* Check the end of ADC1 calibration */
while (ADC_GetCalibrationStatus(ADC1) == SET) ;
/* Start ADC1 Software Conversion */
ADC_SoftwareStartInjectedConvCmd(ADC1, ENABLE);
/* Register adc as a timed callback */
sys_tick_timer_register(adc_conv_trigger, 1000);
}
/**
* Trigger timer callback
*/
void adc_conv_trigger(int id) {
/* Start ADC1 Software Conversion */
ADC_SoftwareStartInjectedConvCmd(ADC1, ENABLE);
}
