@@ -18,11 +18,18 @@ #include <stm32/lib.h> +#include "config.h" +#include "soft_timer.h" + #include "adc.h" #define ADC1_DR_Address ((u32)0x4001244C) vu16 adc_val[32]; +vu8 adc_rising = ADC_RISING; +vu16 adc_old_value = 2; +vu8 adc_count = 0; +vu16 adc_delay_count = 0; void adc_rcc_init(void){ /* enable DMA clock */ @@ -33,40 +40,31 @@ void adc_rcc_init(void){ } void adc_nvic_init(void){ - /* nothing to be done yet */ + NVIC_InitTypeDef nvic; + + /* Configure and enable ADC interrupt */ + nvic.NVIC_IRQChannel = ADC1_2_IRQChannel; + nvic.NVIC_IRQChannelPreemptionPriority = 0; + nvic.NVIC_IRQChannelSubPriority = 0; + nvic.NVIC_IRQChannelCmd = ENABLE; + NVIC_Init(&nvic); } void adc_gpio_init(void){ GPIO_InitTypeDef gpio; /* GPIOA: ADC Channel 1 as analog input */ - gpio.GPIO_Pin = GPIO_Pin_1; + gpio.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3; gpio.GPIO_Mode = GPIO_Mode_AIN; GPIO_Init(GPIOA, &gpio); } void adc_init(void){ - DMA_InitTypeDef dma; ADC_InitTypeDef adc; - /* Configure DMA1 channel1 to copy the ADC conversion values to - adc_val variable */ - DMA_DeInit(DMA1_Channel1); - dma.DMA_PeripheralBaseAddr = ADC1_DR_Address; - dma.DMA_MemoryBaseAddr = (u32)adc_val; - dma.DMA_DIR = DMA_DIR_PeripheralSRC; - dma.DMA_BufferSize = 32; - dma.DMA_PeripheralInc = DMA_PeripheralInc_Disable; - dma.DMA_MemoryInc = DMA_MemoryInc_Enable; - dma.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord; - dma.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord; - dma.DMA_Mode = DMA_Mode_Circular; - dma.DMA_Priority = DMA_Priority_High; - dma.DMA_M2M = DMA_M2M_Disable; - DMA_Init(DMA1_Channel1, &dma); - - /* Enable DMA1 Channel 1 */ - DMA_Cmd(DMA1_Channel1, ENABLE); + adc_val[1]=0; + adc_val[2]=0; + adc_val[3]=0; /* Configure ADC1 */ adc.ADC_Mode = ADC_Mode_Independent; @@ -78,10 +76,10 @@ void adc_init(void){ ADC_Init(ADC1, &adc); /* Configure ADC1 regular channel1 */ - ADC_RegularChannelConfig(ADC1, ADC_Channel_1, 1, ADC_SampleTime_1Cycles5); + ADC_RegularChannelConfig(ADC1, ADC_Channel_2, 1, ADC_SampleTime_28Cycles5); - /* Enable ADC1 DMA */ - ADC_DMACmd(ADC1, ENABLE); + /* Enable ADC1 EOC interrupt */ + ADC_ITConfig(ADC1, ADC_IT_EOC, ENABLE); /* Enable ADC1 */ ADC_Cmd(ADC1, ENABLE); @@ -102,3 +100,66 @@ void adc_init(void){ ADC_ExternalTrigConvCmd(ADC1, ENABLE); } + +void adc_set(u8 channel, u32 trig_channel, u8 rising, u8 clear_comm){ + u32 tmpreg; + + adc_rising = rising; + + //ADC_RegularChannelConfig(ADC1, channel, 1, + // ADC_SampleTime_28Cycles5); + + ADC_ITConfig(ADC1, ADC_IT_EOC, DISABLE); + + ADC1->SQR3 = channel; + + tmpreg = ADC1->CR2; + tmpreg &= 0xFFF1FFFF; //CR2_EXTSEL_Reset; + tmpreg |= trig_channel; + ADC1->CR2 = tmpreg; + + if(clear_comm){ +#if ADC_COMM_TRIGGER == 1 + GPIOC->BRR |= 0x00001000; +#endif + ADC_ITConfig(ADC1, ADC_IT_EOC, ENABLE); + adc_old_value = 0; + adc_count = 0; + adc_delay_count = 0; + } + +} + +void adc1_2_irq_handler(void){ + u16 new_value = ADC_GetConversionValue(ADC1); + + if(adc_delay_count > 10){ + if(adc_rising){ + if(new_value <= (adc_old_value+6)){ + if(adc_count > 1){ + if(!soft_comm) + TIM_GenerateEvent(TIM1, TIM_EventSource_COM); +#if ADC_COMM_TRIGGER == 1 + GPIOC->BSRR |= 0x00001000; +#endif + ADC_ITConfig(ADC1, ADC_IT_EOC, DISABLE); + }else adc_count++; + }else adc_count = 0; + adc_old_value = new_value; + }else{ + if(new_value < 1){ + if(adc_count > 1){ + if(!soft_comm) + TIM_GenerateEvent(TIM1, TIM_EventSource_COM); +#if ADC_COMM_TRIGGER == 1 + GPIOC->BSRR |= 0x00001000; +#endif + ADC_ITConfig(ADC1, ADC_IT_EOC, DISABLE); + }else adc_count++; + }else adc_count = 0; + } + }else adc_delay_count++; + + adc_val[0] = new_value; + +} source/breadboard_prototype/src/adc.c @@ -19,11 +19,27 @@ #ifndef __ADC_H #define __ADC_H +#define ADC_CHANNEL_A ADC_Channel_1 +#define ADC_CHANNEL_B ADC_Channel_2 +#define ADC_CHANNEL_C ADC_Channel_3 + +#define ADC_TRIG_CHANNEL_A ADC_ExternalTrigConv_T1_CC1 +#define ADC_TRIG_CHANNEL_B ADC_ExternalTrigConv_T1_CC2 +#define ADC_TRIG_CHANNEL_C ADC_ExternalTrigConv_T1_CC3 + +#define ADC_FALLIN 0 +#define ADC_RISING 1 + +#define ADC_NO_CLEAR_COMM 0 +#define ADC_CLEAR_COMM 1 + extern vu16 adc_val[32]; void adc_rcc_init(void); void adc_nvic_init(void); void adc_gpio_init(void); void adc_init(void); +void adc_set(u8 channel, u32 trig_channel, u8 rising, u8 clear_comm); +void adc1_2_irq_handler(void); #endif /* __ADC_H */ source/breadboard_prototype/src/adc.h @@ -19,12 +19,14 @@ #ifndef __CONFIG_H #define __CONFIG_H -#define PWM_PHASE_TRIGGER 5 +//#define PWM_PHASE_TRIGGER 5 +#define PWM_PHASE_TRIGGER -1 +#define ADC_COMM_TRIGGER 1 -//#define PWM_SCHEME pwm_scheme_6step_h_pwm_l_on +#define PWM_SCHEME pwm_scheme_6step_h_pwm_l_on //#define PWM_SCHEME pwm_scheme_6step_h_on_l_pwm //#define PWM_SCHEME pwm_scheme_6step_on_pwm //#define PWM_SCHEME pwm_scheme_6step_pwm_on -#define PWM_SCHEME pwm_scheme_12step_pwm_on_pwm +//#define PWM_SCHEME pwm_scheme_12step_pwm_on_pwm #endif /* __CONFIG_H */ source/breadboard_prototype/src/config.h @@ -112,7 +112,7 @@ void sys_tick_init(void){ * We are using the SysTick only to force commutations for now so we trigger * the SysTick only when we need to commutate. */ - SysTick_SetReload(72*2*750); + SysTick_SetReload(72*2*750*2); SysTick_CounterCmd(SysTick_Counter_Enable); SysTick_ITConfig(ENABLE); } source/breadboard_prototype/src/main.c @@ -46,16 +46,19 @@ #include <stm32/lib.h> #include "pwm_utils.h" +#include "adc.h" #include "pwm_scheme_6step_h_pwm_l_on.h" void pwm_scheme_6step_h_pwm_l_on(void){ - static int pwm_phase =1; + static int pwm_phase = 1; switch(pwm_phase){ case 1: // 000º pwm_trigger(1); + adc_set(ADC_CHANNEL_B, ADC_TRIG_CHANNEL_A, ADC_FALLIN, ADC_CLEAR_COMM); + /* Configure step 2 */ pwm_set_pwm_hi(PWM_PHASE_A); pwm_set_____lo(PWM_PHASE_B); @@ -66,6 +69,8 @@ void pwm_scheme_6step_h_pwm_l_on(void){ case 2: // 060º pwm_trigger(2); + adc_set(ADC_CHANNEL_C, ADC_TRIG_CHANNEL_A, ADC_RISING, ADC_CLEAR_COMM); + /* Configure step 3 */ pwm_set____off(PWM_PHASE_A); pwm_set_____lo(PWM_PHASE_B); @@ -76,6 +81,8 @@ void pwm_scheme_6step_h_pwm_l_on(void){ case 3: // 120º pwm_trigger(3); + adc_set(ADC_CHANNEL_A, ADC_TRIG_CHANNEL_C, ADC_FALLIN, ADC_CLEAR_COMM); + /* Configure step 4 */ pwm_set_____lo(PWM_PHASE_A); pwm_set____off(PWM_PHASE_B); @@ -86,6 +93,8 @@ void pwm_scheme_6step_h_pwm_l_on(void){ case 4: // 180º pwm_trigger(4); + adc_set(ADC_CHANNEL_B, ADC_TRIG_CHANNEL_C, ADC_RISING, ADC_CLEAR_COMM); + /* Configure step 4 */ pwm_set_____lo(PWM_PHASE_A); pwm_set_pwm_hi(PWM_PHASE_B); @@ -96,6 +105,8 @@ void pwm_scheme_6step_h_pwm_l_on(void){ case 5: // 220º pwm_trigger(5); + adc_set(ADC_CHANNEL_C, ADC_TRIG_CHANNEL_B, ADC_FALLIN, ADC_CLEAR_COMM); + /* Configure step 4 */ pwm_set____off(PWM_PHASE_A); pwm_set_pwm_hi(PWM_PHASE_B); @@ -106,6 +117,8 @@ void pwm_scheme_6step_h_pwm_l_on(void){ case 6: // 280º pwm_trigger(6); + adc_set(ADC_CHANNEL_A, ADC_TRIG_CHANNEL_B, ADC_RISING, ADC_CLEAR_COMM); + /* Configure step 4 */ pwm_set_pwm_hi(PWM_PHASE_A); pwm_set____off(PWM_PHASE_B); source/breadboard_prototype/src/pwm_scheme_6step_h_pwm_l_on.c @@ -18,16 +18,21 @@ #include <stm32/lib.h> +#include "adc.h" + #include "soft_timer.h" int comm_timer = 0; -volatile u32 comm_timer_reload = 72*2*750; +volatile u32 comm_timer_reload = 72*2*750*2; int cnt = 100; +vu8 soft_comm = 1; void sys_tick_handler(void){ /* generate a TIM1 COM event */ - TIM_GenerateEvent(TIM1, TIM_EventSource_COM | TIM_EventSource_Update); - + //TIM_GenerateEvent(TIM1, TIM_EventSource_COM | TIM_EventSource_Update); + if(soft_comm) + TIM_GenerateEvent(TIM1, TIM_EventSource_COM); + //adc_val[((31-DMA_GetCurrDataCounter(DMA1_Channel1))%32)]|=0xF000; #if 0 if(led_state){ GPIOC->BRR |= 0x00001000; source/breadboard_prototype/src/soft_timer.c @@ -20,6 +20,7 @@ #define __SOFT_TIMER_H extern volatile u32 comm_timer_reload; +extern vu8 soft_comm; void sys_tick_handler(void); source/breadboard_prototype/src/soft_timer.h @@ -104,11 +104,11 @@ void usart3_irq_handler(void){ if(pwm_val < 1989) pwm_val+=1; break; case 'e': - if(comm_timer_reload > 72*2) comm_timer_reload-=72*2; + if(comm_timer_reload > 72*2) comm_timer_reload-=72*2*2; SysTick_SetReload(comm_timer_reload); break; case 'f': - if(comm_timer_reload < 200000-72*2) comm_timer_reload+=72*2; + if(comm_timer_reload < 200000-72*2) comm_timer_reload+=72*2*2; SysTick_SetReload(comm_timer_reload); break; case 'g': @@ -122,6 +122,10 @@ void usart3_irq_handler(void){ out_data_counter = 0; USART_ITConfig(USART3, USART_IT_TXE, ENABLE); break; + case 'h': + if(soft_comm) soft_comm = 0; + else soft_comm = 1; + break; } } source/breadboard_prototype/src/usart.c @@ -22,6 +22,7 @@ #include "pwm.h" #include "usart.h" #include "soft_timer.h" +#include "adc.h" #include "exceptions.h" #include "vector_table.h" @@ -73,7 +74,7 @@ void (* const vector_table[])(void) = { null_handler, /* dma1_channel5_irq_handler */ null_handler, /* dma1_channel6_irq_handler */ null_handler, /* dma1_channel7_irq_handler */ - null_handler, /* adc1_2_irq_handler */ + adc1_2_irq_handler, /* adc1_2_irq_handler */ null_handler, /* usb_hp_can_tx_irq_handler */ null_handler, /* usb_lp_can_rx0_irq_handler */ null_handler, /* can_rx1_irq_handler */ source/breadboard_prototype/src/vector_table.c @@ -81,7 +81,8 @@ void inc_rot(){ } static void update_display(void) { - int i; + int i, j; + static unsigned int a=0, b=0, c=0; inc_rot(); wclear(screen); @@ -95,8 +96,20 @@ static void update_display(void) { mvwprintw(screen,5,2,"Comm Force: %u", in_data.comm_force_time); mvwprintw(screen,6,2,"ADC Mean: %u", adc_mean); mvwprintw(screen,7,2,"ADC Dev: %u", adc_dev); - for(i=0; i<32; i++) - mvwprintw(screen,8+i,2,"ADC[%02u]: %u", i, in_data.adc[i]); + #if 0 + #endif + i=0; + //while((! (in_data.adc[i] & 0xF000)) && i < 32) i++; + //for(j=0; j<32; j++){ + // if(in_data.adc[(i+j)%32] & 0xF000) + // mvwprintw(screen,8+j,2,"ADC[%02u]*: %u", (i+j)%32, in_data.adc[(i+j)^32]&0xFFF); + // else + // mvwprintw(screen,8+j,2,"ADC[%02u] : %u", (i+j)%32, in_data.adc[(i+j)%32]); + //} + mvwprintw(screen,8,2,"ADC[0] : %u", in_data.adc[0]); + mvwprintw(screen,9,2,"ADC[1] : %u", in_data.adc[1]); + mvwprintw(screen,10,2,"ADC[2] : %u", in_data.adc[2]); + mvwprintw(screen,11,2,"ADC[3] : %u", in_data.adc[3]); wrefresh(screen); refresh(); } @@ -119,7 +132,7 @@ int main(int argc, char **argv){ nodelay(mainwnd, TRUE); refresh(); wrefresh(mainwnd); - screen = newwin(9+32, 27, 1, 1); + screen = newwin(9+4, 27, 1, 1); box(screen, ACS_VLINE, ACS_HLINE); ret = s_open("A6004kZx", 38400); @@ -210,13 +223,17 @@ int main(int argc, char **argv){ getch_ret = getch(); if((getch_ret != ERR) && (getch_ret != dat1[0])){ - dat2[0]=getch_ret; - s_write(dat2, 1); - - if(ret != 1){ - printf("write error\n"); - s_close(); - return 0; + if(getch_ret == 'p'){ + while(getch() != 'p'); + }else{ + dat2[0]=getch_ret; + s_write(dat2, 1); + + if(ret != 1){ + printf("write error\n"); + s_close(); + return 0; + } } } source/obldc-tool/main.c 477366d935e3dd8e8033e4d37f1f583c4c672ca3 Piotr Esden-Tempski esden piotr@esden.net http://github.com/esden/open-bldc/commit/4ac0bf84802d08cf76c4055c82aa05ea4c983c33 4ac0bf84802d08cf76c4055c82aa05ea4c983c33 2009-05-06T17:28:25-07:00 2009-05-06T17:28:25-07:00 Commutation detection works! Still the code needs cleanup and a lot of tuning! 07d410ec7726a29086fac7c591730321c3b11746 Piotr Esden-Tempski esden piotr@esden.net