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authorPierre Prot2008-02-09 16:44:52 +0100
committerPierre Prot2008-02-09 16:44:52 +0100
commitcd847e2f5a58d43df13c434ce7571be5488082ed (patch)
tree014e2098758c31148791f3d0697d5fff195c289f /analog/motor-power-avr/src/mp_pwm_LR_.c
parent792161793c7ebed6e8ba46e0c080b495289bb272 (diff)
Param├ętrage des timers
- PWM - Gestion du Vref pour la limitation de courant
Diffstat (limited to 'analog/motor-power-avr/src/mp_pwm_LR_.c')
-rw-r--r--analog/motor-power-avr/src/mp_pwm_LR_.c65
1 files changed, 46 insertions, 19 deletions
diff --git a/analog/motor-power-avr/src/mp_pwm_LR_.c b/analog/motor-power-avr/src/mp_pwm_LR_.c
index 3e12cf58..545aea38 100644
--- a/analog/motor-power-avr/src/mp_pwm_LR_.c
+++ b/analog/motor-power-avr/src/mp_pwm_LR_.c
@@ -1,4 +1,11 @@
+#include "common.h"
+#include "mp_pwm_LR_.h"
+#include "mp_pwm_L_.h"
+// Variables for current limitation
+static uint8_t curLim_temp;
+static uint8_t curLim_bat;
+static uint8_t curLim_soft;
// This file contains general pwm routines for mp (motor-power) board
//
@@ -6,18 +13,28 @@
// Timer_L_ : timer dedicated to Left side
void init_timer_LR_(void) {
- Timer_L_ = 0x00;
- state_L_ = 0x40;
- Timer_R_ = 0x80;
- state_R_ = 0x40;
- // TODO : set interrupts
- // TODO : set OCR to 0
- START_TIMER_L_;
- START_TIMER_R_;
+ init_pwm_L_();
+ //init_pwm_R_();
+
+ TCNT_L_ = 0x00;
+ TCNT_R_ = 0x80; // 180┬░ phase shifted to TCNT_L
+
+ OCR_L_ = PWM_MIN_LR_;
+ OCR_R_ = PWM_MIN_LR_;
+
+ // set interrupts
+ TIMSK |= TIMSK_LR_CFG;
+
+ // launch timers
+ TCCR_L_ = TCCR_LR_CFG;
+ TCCR_R_ = TCCR_LR_CFG;
}
void init_curLim (void) {
// TODO : set interrupts
+ curLim_soft = 0x80;
+ curLim_bat = 0x00;
+ curLim_temp = 0x00;
}
uint8_t get_curLim_temp (uint8_t temperature) {
@@ -30,17 +47,27 @@ uint8_t get_curLim_bat (uint8_t battery) {
// this function shall be called after each adjustment of any current limit
void update_curLim(void) {
- uint8 curLim_tmp;
- uint8 ret;
+ uint8_t curLim_tmp;
+
+ // search for MIN(curLim_soft, curLim_temp, curLim_bat)
+ curLim_tmp = curLim_soft;
- if (curLim_soft > curLim_temp) then
- curLim_tmp = curLim_temp
- else
- curLim_tmp = curLim_soft;
+ if (curLim_tmp > curLim_temp)
+ {
+ curLim_tmp = curLim_temp;
+ }
- if (curLim_tmp > curLim_bat) then
+ if (curLim_tmp > curLim_bat)
+ {
curLim_tmp = curLim_bat;
+ }
+
+ if (curLim_tmp > CURLIM_MAX)
+ {
+ curLim_tmp = CURLIM_MAX;
+ }
+ // set curlim for _L_ and _R_ channel
OCR_CurLim_L_ = curLim_tmp;
OCR_CurLim_R_ = curLim_tmp;
}
@@ -49,15 +76,15 @@ void update_curLim(void) {
void launch_envTest(void) {
// TODO : acquerir les donnees de batterie
// TODO : acquerir les donnees de temperature
- curLim_temp = 1;
- curLim_bat = 2;
+ curLim_temp = 50;
+ curLim_bat = 60;
- update_current_limit();
+ update_curLim();
}
// set the software-programmed current limit
void setCurLim_soft(uint8_t curLim) {
curLim_soft = curLim;
- update_current_limit();
+ update_curLim();
}