From 65baffda4311b55c9d4026d84c1c1544d0ee7aa4 Mon Sep 17 00:00:00 2001 From: Guillaume Chevillot Date: Thu, 13 Mar 2008 10:34:32 +0100 Subject: - Add current limitation management (not tested yet !) : - Add current limitation PWM generation - Add external current limitation interrupts management - Update current limitation software part - Update TODO list (try to reduce it...) --- analog/motor-power-avr/src/pwm.avr.c | 127 ----------------------------------- 1 file changed, 127 deletions(-) delete mode 100644 analog/motor-power-avr/src/pwm.avr.c (limited to 'analog/motor-power-avr/src/pwm.avr.c') diff --git a/analog/motor-power-avr/src/pwm.avr.c b/analog/motor-power-avr/src/pwm.avr.c deleted file mode 100644 index 01195a8e..00000000 --- a/analog/motor-power-avr/src/pwm.avr.c +++ /dev/null @@ -1,127 +0,0 @@ -/* pwm.avr.c */ -/* asserv - Position & speed motor control on AVR. {{{ - * - * Copyright (C) 2005 Nicolas Schodet - * - * Robot APB Team/Efrei 2006. - * Web: http://assos.efrei.fr/robot/ - * Email: robot AT efrei DOT fr - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * }}} */ - -#include "modules/utils/utils.avr.h" - -/** Define the PWM output used for left motor. */ -#define PWM_LEFT_OCR OCR1C -/** Define the PWM output used for right motor. */ -#define PWM_RIGHT_OCR OCR1B -/** Define the direction output for left motor. */ -#define PWM_LEFT_DIR 3 -/** Define the direction output for right motor. */ -#define PWM_RIGHT_DIR 2 - -/** Define the absolute maximum PWM value. */ -#define PWM_MAX 0x3ff - -/** PWM values, this is an error if absolute value is greater than the - * maximum. */ -int16_t pwm_left, pwm_right; -/** PWM reverse direction, only set pwm dir bits or you will get weird results - * on port B. */ -uint8_t pwm_dir = _BV (PWM_LEFT_DIR); - -/* +AutoDec */ - -/** Initialise PWM generator. */ -static inline void -pwm_init (void); - -/** Update the hardware PWM values. */ -static inline void -pwm_update (void); - -/* -AutoDec */ - -/** Initialise PWM generator. */ -static inline void -pwm_init (void) -{ - /* Fast PWM, TOP = 0x3ff, OC1B & OC1C with positive logic. - f_IO without prescaler. - Fpwm = f_IO / (prescaler * (1 + TOP)) = 14400 Hz. */ - TCCR1A = - regv (COM1A1, COM1A0, COM1B1, COM1B0, COM1C1, COM1C0, WGM11, WGM10, - 0, 0, 1, 0, 1, 0, 1, 1); - TCCR1B = regv (ICNC1, ICES1, 5, WGM13, WGM12, CS12, CS11, CS10, - 0, 0, 0, 0, 1, 0, 0, 1); - /* Enable pwm and direction outputs in DDRB. */ - DDRB |= _BV (7) | _BV (6) | _BV (PWM_LEFT_DIR) | _BV (PWM_RIGHT_DIR); -} - -/** Update the hardware PWM values. */ -static inline void -pwm_update (void) -{ - uint16_t left, right; - uint8_t dir; - /* Some assumption checks. */ - assert (pwm_left >= -PWM_MAX && pwm_left <= PWM_MAX); - assert (pwm_right >= -PWM_MAX && pwm_right <= PWM_MAX); - assert ((pwm_dir & ~(_BV (PWM_LEFT_DIR) | _BV (PWM_RIGHT_DIR))) == 0); - /* Sample port B. */ - dir = PORTB & ~(_BV (PWM_LEFT_DIR) | _BV (PWM_RIGHT_DIR)); - /* Set left PWM. */ - if (pwm_left == 0) - { - left = 0; - } - else if (pwm_left < 0) - { - left = -pwm_left; - } - else - { - dir |= _BV (PWM_LEFT_DIR); - left = pwm_left; - } - /* Set right PWM. */ - if (pwm_right == 0) - { - right = 0; - } - else if (pwm_right < 0) - { - right = -pwm_right; - } - else - { - dir |= _BV (PWM_RIGHT_DIR); - right = pwm_right; - } - /* Setup registers. */ - /* Here, there could be a problem because OCRx are double buffered, not - * PORTB! */ - /* Another problem arise if the OCR sampling is done between left and - * right OCR: the right PWM is one cycle late. */ - /* A solution could be to use interrupts to update PWM or to synchronise - * general timer with PWM. */ - dir ^= pwm_dir; - PORTB = dir; - PWM_LEFT_OCR = left; - PWM_RIGHT_OCR = right; -} - -- cgit v1.2.3