extern void timerStop(timer * pTimer)
{
switch(pTimer->m_TimerNumber) {
case 1: CloseTimer1(); break;
case 2: CloseTimer2(); break;
case 3: CloseTimer3(); break;
case 4: CloseTimer4(); break;
case 5: CloseTimer5(); break;
}
}
void fis_stop_expFis(void){
//ISR
DisableIntT5;
DisableIntT4;
DisableIntADC1;
#if (SCH_FISICA_VERBOSE>=1)
con_printf("expFis ISRs are down..\r\n");
#endif
//Modules
CloseTimer4();
CloseTimer5();
CloseADC10();
}
char Stepper_End(void)
{
if (stepperState == off) return ERROR;
dbprintf("\nTerminating Stepper module");
T3CONbits.ON = 0; // halt timer3
stepperState = off;
ShutDownDrive();
// turn hardware pins back to inputs
TRIS_COIL_A_DIRECTION = 1;
TRIS_COIL_A_ENABLE = 1;
TRIS_COIL_B_DIRECTION = 1;
TRIS_COIL_B_ENABLE = 1;
// reset module variables
stepCount = 0;
overflowReps = 0;
coilState = step_one;
// turn off timer and interrupt
CloseTimer5();
return SUCCESS;
}
void vMBPortTimersDisable(void){
/* Disable any pending timers. */
CloseTimer5();
}
/****************************************************************************
Function: Timer5IntHandler
Parameters: None.
Returns: None.
Description
Implements the Stepper motor FULL STEP drive state machine.
Notes
Author: Gabriel Hugh Elkaim, 2011.12.15 16:42
****************************************************************************/
void __ISR(_TIMER_3_VECTOR, ipl4) Timer3IntHandler(void)
{
static unsigned short timerLoopCount = 0;
LED_BANK1_0 ^= 1;
if (++timerLoopCount > overflowReps) {
timerLoopCount = 0;
LED_BANK1_1 ^= 1;
// execute Stepper Drive state machine here
switch(stepperState) {
case off: // should not get here
dbprintf("\noff");
T5CONbits.ON = 0; // halt timer5
ShutDownDrive();
CloseTimer5();
break;
case inited:
case halted:
case waiting:
ShutDownDrive();
if (stepCount < 0) stepCount = 0;
LED_BANK1_2 ^= 1;
break;
//------------------- Full-Step --------------------------
case stepping:
switch(stepperMode) {
case full:
if (--stepCount <= 0) stepperState = waiting;
LED_BANK1_3 ^= 1;
TurnOnDrive(); // enable both coils
switch(coilState) {
case step_one:
// coil drive both forward
ADirectionOn();
BDirectionOn();
if (stepDir == FORWARD) coilState = step_two;
else coilState = step_four;
break;
case step_two:
// coil drive A forward, B reverse
ADirectionOn();
BDirectionOff();
if (stepDir == FORWARD) coilState = step_three;
else coilState = step_one;
break;
case step_three:
// coil drive both reverse
ADirectionOff();
BDirectionOff();
if (stepDir == FORWARD) coilState = step_four;
else coilState = step_two;
break;
case step_four:
// coild drive A reverse, B forward
ADirectionOff();
BDirectionOn();
if (stepDir == FORWARD) coilState = step_one;
else coilState = step_three;
break;
} // end of full-step drive
break;
//------------------- Wave Drive ------------------------
case wave:
if (--stepCount <= 0) stepperState = waiting;
LED_BANK1_3 ^= 1;
switch(coilState) {
case step_one:
// coil drive both forward
AEnable();
BDisable();
ADirectionOn();
if (stepDir == FORWARD) coilState = step_two;
else coilState = step_four;
printf("\nStep one, wave");
break;
case step_two:
// coil drive A forward, B reverse
ADisable();
BEnable();
BDirectionOff();
if (stepDir == FORWARD) coilState = step_three;
else coilState = step_one;
printf("\nStep two, wave");
break;
case step_three:
// coil drive both reverse
AEnable();
BDisable();
ADirectionOff();
if (stepDir == FORWARD) coilState = step_four;
else coilState = step_two;
printf("\nStep three, wave");
break;
case step_four:
// coild drive A reverse, B forward
ADisable();
BEnable();
BDirectionOn();
if (stepDir == FORWARD) coilState = step_one;
else coilState = step_three;
printf("\nStep four, wave");
break;
} // end of wave drive
break;
//------------------- Half Step --------------------------
case half:
if (--stepCount <= 0) stepperState = waiting;
LED_BANK1_3 ^= 1;
switch(coilState) {
case step_one:
// coil drive both forward
AEnable();
BEnable();
ADirectionOn();
BDirectionOn();
if (stepDir == FORWARD) coilState = step_two;
else coilState = step_eight;
break;
case step_two:
// coil drive A forward, B reverse
AEnable();
BDisable();
ADirectionOn();
BDirectionOff();
if (stepDir == FORWARD) coilState = step_three;
else coilState = step_one;
break;
case step_three:
// coil drive both reverse
AEnable();
BEnable();
ADirectionOn();
if (stepDir == FORWARD) coilState = step_four;
else coilState = step_two;
break;
case step_four:
// coild drive A reverse, B forward
ADisable();
BEnable();
BDirectionOff();
if (stepDir == FORWARD) coilState = step_five;
else coilState = step_three;
break;
case step_five:
// coil drive both forward
AEnable();
BEnable();
ADirectionOff(); // ?
BDirectionOff();
if (stepDir == FORWARD) coilState = step_six;
else coilState = step_four;
break;
case step_six:
// coil drive A forward, B reverse
AEnable();
BDisable();
ADirectionOff();
if (stepDir == FORWARD) coilState = step_seven;
else coilState = step_five;
break;
case step_seven:
// coil drive both reverse
AEnable();
BEnable();
ADirectionOff();
BDirectionOn();
if (stepDir == FORWARD) coilState = step_eight;
else coilState = step_six;
break;
case step_eight:
// coild drive A reverse, B forward
ADisable();
BEnable();
BDirectionOn();
if (stepDir == FORWARD) coilState = step_one;
else coilState = step_seven;
break;
} // end of half-step drive
break;
} // end of switch(stepperMode)
} // end of switch(stepperState)
}
mT3ClearIntFlag();
}
int main(int argc, char** argv) {
/*Configuring POSC with PLL, with goal FOSC = 80 MHZ */
// Configure PLL prescaler, PLL postscaler, PLL divisor
// Fin = 8 Mhz, 8 * (40/2/2) = 80
PLLFBD = 18; // M=40 // change to 38 for POSC 80 Mhz - this worked only on a single MCU for uknown reason
CLKDIVbits.PLLPOST = 0; // N2=2
CLKDIVbits.PLLPRE = 0; // N1=2
// Initiate Clock Switch to Primary Oscillator with PLL (NOSC=0b011)
//__builtin_write_OSCCONH(0x03);
// tune FRC
OSCTUN = 23; // 23 * 0.375 = 8.625 % -> 7.37 Mhz * 1.08625 = 8.005Mhz
// Initiate Clock Switch to external oscillator NOSC=0b011 (alternative use FRC with PLL (NOSC=0b01)
__builtin_write_OSCCONH(0b011);
__builtin_write_OSCCONL(OSCCON | 0x01);
// Wait for Clock switch to occur
while (OSCCONbits.COSC!= 0b011);
// Wait for PLL to lock
while (OSCCONbits.LOCK!= 1);
// local variables in main function
int status = 0;
int i = 0;
int ax = 0, ay = 0, az = 0;
int statusProxi[8];
int slowLoopControl = 0;
UINT16 timerVal = 0;
float timeElapsed = 0.0;
//extern UINT8 pwmMotor;
extern UINT16 speakerAmp_ref;
extern UINT16 speakerFreq_ref;
extern UINT8 proxyStandby;
UINT16 dummy = 0x0000;
setUpPorts();
delay_t1(50);
PWMInit();
delay_t1(50);
ctlPeltier = 0;
PeltierVoltageSet(ctlPeltier);
FanCooler(0);
diagLED_r[0] = 100;
diagLED_r[1] = 0;
diagLED_r[2] = 0;
LedUser(diagLED_r[0], diagLED_r[1],diagLED_r[2]);
// Speaker initialization - set to 0,1
spi1Init(2, 0);
speakerAmp_ref = 0;
speakerAmp_ref_old = 10;
speakerFreq_ref = 1;
speakerFreq_ref_old = 10;
int count = 0;
UINT16 inBuff[2] = {0};
UINT16 outBuff[2] = {0};
while (speakerAmp_ref != speakerAmp_ref_old) {
if (count > 5 ) {
// Error !
//LedUser(100, 0, 0);
break;
}
inBuff[0] = (speakerAmp_ref & 0x0FFF) | 0x1000;
chipSelect(slaveVib);
status = spi1TransferWord(inBuff[0], outBuff);
chipDeselect(slaveVib);
chipSelect(slaveVib);
status = spi1TransferWord(inBuff[0], &speakerAmp_ref_old);
chipDeselect(slaveVib);
count++;
}
count = 0;
while (speakerFreq_ref != speakerFreq_ref_old) {
if (count > 5 ) {
// Error !
//LedUser(0, 100, 0);
break;
}
inBuff[0] = (speakerFreq_ref & 0x0FFF) | 0x2000;
chipSelect(slaveVib);
status = spi1TransferWord(inBuff[0], outBuff);
chipDeselect(slaveVib);
chipSelect(slaveVib);
status = spi1TransferWord(inBuff[0], &speakerFreq_ref_old);
chipDeselect(slaveVib);
count++;
}
accPin = aSlaveR;
accPeriod = 1.0 / ACC_RATE * 1000000.0; // in us; for ACC_RATE = 3200 Hz it should equal 312.5 us
status = adxl345Init(accPin);
ax = status;
delay_t1(5);
/* Init FFT coefficients */
TwidFactorInit(LOG2_FFT_BUFF, &Twiddles_array[0],0);
delta_freq = (float)ACC_RATE / FFT_BUFF;
// read 100 values to calculate bias
int m;
int n = 0;
for (m = 0; m < 100; m++) {
status = readAccXYZ(accPin, &ax, &ay, &az);
if (status <= 0) {
//
}
else {
ax_b_l += ax;
ay_b_l += ay;
az_b_l += az;
n++;
}
delay_t1(1);
}
ax_b_l /= n;
ay_b_l /= n;
az_b_l /= n;
_SI2C2IE = 0;
_SI2C2IF = 0;
// Proximity sensors initalization
I2C1MasterInit();
status = VCNL4000Init();
// Cooler temperature sensors initalization
status = adt7420Init(0, ADT74_I2C_ADD_mainBoard);
delay_t1(1);
muxCh = I2C1ChSelect(1, 6);
status = adt7420Init(0, ADT74_I2C_ADD_flexPCB);
// Temperature sensors initialization
statusTemp[0] = adt7320Init(tSlaveF, ADT_CONT_MODE | ADT_16_BIT);
delay_t1(5);
statusTemp[1] = adt7320Init(tSlaveR, ADT_CONT_MODE | ADT_16_BIT);
delay_t1(5);
statusTemp[2] = adt7320Init(tSlaveB, ADT_CONT_MODE | ADT_16_BIT);
delay_t1(5);
statusTemp[3] = adt7320Init(tSlaveL, ADT_CONT_MODE | ADT_16_BIT);
delay_t1(5);
// Temperature estimation initialization
for (i = 0; i < 50; i++) {
adt7320ReadTemp(tSlaveF, &temp_f);
delay_t1(1);
adt7320ReadTemp(tSlaveL, &temp_l);
delay_t1(1);
adt7320ReadTemp(tSlaveB, &temp_b);
delay_t1(1);
adt7320ReadTemp(tSlaveR, &temp_r);
delay_t1(1);
}
tempBridge[0] = temp_f;
tempBridge[1] = temp_r;
tempBridge[2] = temp_b;
tempBridge[3] = temp_l;
if (statusTemp[0] != 1)
temp_f = -1;
if (statusTemp[1] != 1)
temp_r = -1;
if (statusTemp[2] != 1)
temp_b = -1;
if (statusTemp[3] != 1)
temp_l = -1;
// CASU ring average temperature
temp_casu = 0;
tempNum = 0;
tempSensors = 0;
for (i = 0; i < 4; i++) {
if (statusTemp[i] == 1 && tempBridge[i] > 20 && tempBridge[i] < 60) {
tempNum++;
temp_casu += tempBridge[i];
tempSensors++;
}
}
if (tempNum > 0)
temp_casu /= tempNum;
else
temp_casu = -1;
temp_casu1 = temp_casu;
temp_wax = temp_casu;
temp_wax1 = temp_casu;
temp_model = temp_wax;
temp_old[0] = temp_f;
temp_old[1] = temp_r;
temp_old[2] = temp_b;
temp_old[3] = temp_l;
temp_old[4] = temp_flexPCB;
temp_old[5] = temp_pcb;
temp_old[6] = temp_casu;
temp_old[7] = temp_wax;
for (i = 0; i < 4; i++) {
uref_m[i] = temp_wax;
}
// Configure i2c2 as a slave device and interrupt priority 5
I2C2SlaveInit(I2C2_CASU_ADD, BB_I2C_INT_PRIORITY);
// delay for 2 sec
for(i = 0; i < 4; i ++) {
delay_t1(500);
ClrWdt();
}
while (i2cStarted == 0) {
delay_t1(200);
ClrWdt();
}
dma0Init();
dma1Init();
CloseTimer4();
ConfigIntTimer4(T4_INT_ON | TEMP_LOOP_PRIORITY);
OpenTimer4(T4_ON | T4_PS_1_256, ticks_from_ms(2000, 256));
CloseTimer5();
ConfigIntTimer5(T5_INT_ON | FFT_LOOP_PRIORITY);
OpenTimer5(T5_ON | T5_PS_1_256, ticks_from_ms(1000, 256));
diagLED_r[0] = 0;
diagLED_r[1] = 0;
diagLED_r[2] = 0;
LedUser(diagLED_r[0], diagLED_r[1],diagLED_r[2]);
start_acc_acquisition();
while(1) {
ConfigIntTimer2(T2_INT_OFF); // Disable timer interrupt
IFS0bits.T2IF = 0; // Clear interrupt flag
OpenTimer2(T2_ON | T2_PS_1_256, 65535); // Configure timer
if (!proxyStandby) {
statusProxi[0] = I2C1ChSelect(1, 2); // Front
proxy_f = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[1] = I2C1ChSelect(1, 4); // Back right
proxy_br = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[2] = I2C1ChSelect(1, 3); // Front right
proxy_fr = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[3] = I2C1ChSelect(1, 5); // Back
proxy_b = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[4] = I2C1ChSelect(1, 0); // Back left
proxy_bl = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[5] = I2C1ChSelect(1, 1); // Front left
proxy_fl = VCNL4000ReadProxi();
delay_t1(1);
}
else {
proxy_f = 0; // Front
proxy_br = 0; // Back right
proxy_fr = 0; // Front right
proxy_b = 0; // Back
proxy_bl = 0; // Back left
proxy_fl = 0; // Front left
}
if (timer4_flag == 1) {
// every 2 seconds
CloseTimer4();
ConfigIntTimer4(T4_INT_ON | TEMP_LOOP_PRIORITY);
timer4_flag = 0;
if (dma_spi2_started == 0) {
OpenTimer4(T4_ON | T4_PS_1_256, ticks_from_ms(2000, 256));
skip_temp_filter++;
tempLoop();
}
else {
OpenTimer4(T4_ON | T4_PS_1_256, ticks_from_ms(50, 256));
}
}
if (dma_spi2_done == 1) {
fftLoop();
dma_spi2_done = 0;
}
if ((timer5_flag == 1) || (new_vibration_reference == 1)) {
// every 1 seconds
CloseTimer5();
ConfigIntTimer5(T5_INT_ON | FFT_LOOP_PRIORITY);
OpenTimer5(T5_ON | T5_PS_1_256, ticks_from_ms(1000, 256));
timer5_flag = 0;
if (new_vibration_reference == 1) {
//if(1){
CloseTimer3();
dma0Stop();
dma1Stop();
spi2Init(2, 0);
dma0Init();
dma1Init();
chipDeselect(aSlaveR);
IFS0bits.DMA0IF = 0;
delay_t1(30); // transient response
}
new_vibration_reference = 0;
start_acc_acquisition();
}
// Cooler fan control
if (fanCtlOn == 1) {
if (temp_pcb >= 25 && fanCooler == FAN_COOLER_OFF)
fanCooler = FAN_COOLER_ON;
else if (temp_pcb <= 24 && fanCooler == FAN_COOLER_ON)
fanCooler = FAN_COOLER_OFF;
// In case of I2C1 fail turn on the fan
if ((proxy_f == 0xFFFF) && (proxy_fr == 0xFFFF) && (proxy_br == 0xFFFF) && (proxy_b == 0xFFFF) && (proxy_bl == 0xFFFF) && (proxy_fl == 0xFFFF))
fanCooler = FAN_COOLER_ON;
}
else if (fanCtlOn == 2)
fanCooler = FAN_COOLER_ON;
else
fanCooler = FAN_COOLER_OFF;
//TEST
// temp_f = temp_model;
// if (temp_ref < 30) {
// temp_r = smc_parameters[0] * 10;
// }
// else {
// temp_r = smc_parameters[0] / 2.0 * 10.0;
// }
// temp_r = alpha*10;
// temp_b = sigma_m * 10;
// temp_l = sigma * 10;
//temp_flexPCB = temp_ref_ramp;
/*
proxy_f = dma_spi2_started;
proxy_fl = dma_spi2_done;
proxy_bl = new_vibration_reference;
proxy_b = timer5_flag;
proxy_br = timer4_flag;
*/
int dummy_filt = 0;
for (i = 0; i < 8; i++) {
if (index_filter[i] > 0){
dummy_filt++;
}
}
if (dummy_filt > 0) {
filtered_glitch = dummy_filt;
//for (i = 0; i< 8; index_filter[i++] = 0);
}
else {
filtered_glitch = 0;
}
updateMeasurements();
timerVal = ReadTimer2();
CloseTimer2();
timeElapsed = ms_from_ticks(timerVal, 256);
//if (timeElapsed < MAIN_LOOP_DUR)
// delay_t1(MAIN_LOOP_DUR - timeElapsed);
ClrWdt(); //Clear watchdog timer
} // end while(1)
return (EXIT_SUCCESS);
}
/****************************************************************************
Function: Timer5IntHandler
Parameters: None.
Returns: None.
Description
Implements the Stepper motor FULL STEP drive state machine.
Notes
Author: Gabriel Hugh Elkaim, 2011.12.15 16:42
****************************************************************************/
void __ISR(_TIMER_3_VECTOR, ipl4) Timer3IntHandler(void)
{
static unsigned short timerLoopCount = 0;
LED_BANK1_0 ^= 1;
if (++timerLoopCount > overflowReps) {
timerLoopCount = 0;
LED_BANK1_1 ^= 1;
// execute Stepper Drive state machine here
switch(stepperState) {
case off: // should not get here
dbprintf("\noff");
T5CONbits.ON = 0; // halt timer5
ShutDownDrive();
CloseTimer5();
break;
case inited:
case halted:
case waiting:
ShutDownDrive();
if (stepCount < 0) stepCount = 0;
LED_BANK1_2 ^= 1;
break;
case stepping:
if (--stepCount <= 0) stepperState = waiting;
LED_BANK1_3 ^= 1;
TurnOnDrive();
switch(coilState) {
case step_one:
// coil drive both forward
COIL_A_DIRECTION = 1;
COIL_B_DIRECTION = 1;
if (stepDir == FORWARD) coilState = step_two;
else coilState = step_four;
break;
case step_two:
// coil drive A forward, B reverse
COIL_A_DIRECTION = 1;
COIL_B_DIRECTION = 0;
if (stepDir == FORWARD) coilState = step_three;
else coilState = step_one;
break;
case step_three:
// coil drive both reverse
COIL_A_DIRECTION = 0;
COIL_B_DIRECTION = 0;
if (stepDir == FORWARD) coilState = step_four;
else coilState = step_two;
break;
case step_four:
// coild drive A reverse, B forward
COIL_A_DIRECTION = 0;
COIL_B_DIRECTION = 1;
if (stepDir == FORWARD) coilState = step_one;
else coilState = step_three;
break;
}
break;
}
}
mT3ClearIntFlag();
}
