summaryrefslogtreecommitdiff
path: root/digital/beacon/tests/motor/motor.c
diff options
context:
space:
mode:
Diffstat (limited to 'digital/beacon/tests/motor/motor.c')
-rw-r--r--digital/beacon/tests/motor/motor.c139
1 files changed, 139 insertions, 0 deletions
diff --git a/digital/beacon/tests/motor/motor.c b/digital/beacon/tests/motor/motor.c
new file mode 100644
index 00000000..e8eae9f4
--- /dev/null
+++ b/digital/beacon/tests/motor/motor.c
@@ -0,0 +1,139 @@
+/* motor.c */
+/* Motor control. {{{
+ *
+ * Copyright (C) 2012 Florent Duchon
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * 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 "print.h"
+#include "motor.h"
+
+motor_s motor;
+
+/* This function initializes the motor control output */
+void motor_init(void)
+{
+ /* Select ouptut */
+ DDRB |= (1<<PB7);
+
+ OCR0A = MOTOR_SPEED_MIN;
+
+ /* Fast PWM 10bits with TOP=0x03FF */
+ TCCR0A |= (1<<WGM01)|(1<<WGM00);
+
+ /* Prescaler = 1 */
+ TCCR0B |= (1<<CS01);
+
+ /* Postive Logic */
+ TCCR0A |= (1<<COM0A1);
+
+ motor_set_target_speed(MOTOR_TARGET_SPEED_INIT);
+ /* Enable Interrupts */
+ sei();
+}
+
+/* This function starts the motor rotation */
+void motor_start(void)
+{
+ motor_set_speed(MOTOR_SPEED_MIN);
+}
+
+/* This function stops the motor rotation */
+void motor_stop(void)
+{
+ motor_set_speed(MOTOR_SPEED_STOP);
+ motor_set_target_speed(MOTOR_SPEED_STOP);
+}
+
+
+/* This function sets the motor speed */
+void motor_set_speed(uint8_t value)
+{
+ if(value >= MOTOR_SPEED_MAX)
+ OCR0A = MOTOR_SPEED_MAX;
+ else if(value <= MOTOR_SPEED_STOP)
+ OCR0A = MOTOR_SPEED_STOP;
+ else
+ OCR0A = value;
+}
+
+/* This function returns the motor speed in raw format */
+uint8_t motor_get_speed_raw()
+{
+ return OCR0A;
+}
+
+/* This function returns the motor state */
+TMotor_state motor_get_state(void)
+{
+ if(OCR0A > MOTOR_SPEED_MIN)
+ return MOTOR_IN_ROTATION;
+ else
+ return MOTOR_STOPPED;
+}
+
+/* This function starts or stops the motor according to the current state */
+void motor_start_stop_control(void)
+{
+ if(motor_get_state() == MOTOR_IN_ROTATION)
+ {
+ motor_stop();
+ }
+ else
+ {
+ motor_start();
+ }
+}
+
+/* This function sets the target speed */
+void motor_set_target_speed(uint8_t value)
+{
+ motor.target_speed = value;
+}
+
+/* This function returns the target speed */
+uint8_t motor_get_target_speed()
+{
+ return motor.target_speed;
+}
+
+/* This function control the motor speed accroding to target speed requested */
+void motor_control_speed(uint16_t time)
+{
+ int16_t diff = 0;
+ int16_t correction = 0;
+
+ diff = motor_get_target_speed() - time;
+
+ if(diff > 15)
+ correction = motor_get_speed_raw() - 5;
+ else if (diff < -15)
+ correction = motor_get_speed_raw() + 5;
+ else
+ correction = motor_get_speed_raw();
+
+ motor_set_speed(correction);
+
+}
+
+ISR(TIMER0_COMPA_vect)
+{
+} \ No newline at end of file