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phoenixv1.c
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#define VERSION "ASR 15"
#include <mega64.h>
#include <delay.h>
#include <stdio.h>
#include <spi.h>
#include "tables.h"
#include "defines.h"
#include "sevenseg.h"
#include "timer_isr.h"
#include "funcs.h"
// Declare your global variables here
void main(void)
{
unsigned int tempi=0;
initial();
SPI_SI=0;
SPI_RCK=0;
SPI_SCK=0;
point=0;
sprintf(text_7seg,"------");
sseg_puts();
command=0;
#asm("WDR")
delay_ms(500); //delay 500ms
#asm("WDR")
delay_ms(500); //delay 500ms
#asm("WDR")
A_LED=1;
B_LED=1;
PORTF|=C_LED; //C_LED=0;
PORTF|=D_LED; //D_LED=0;
#asm("WDR")
delay_ms(100); //delay 100ms
load_initial_values(); //Load default values in EEPROM
if(DefaultSet=='B')B_LED=0;
else if(DefaultSet=='D')PORTF&=(~D_LED); //D_LED=0;
enc_pulse_counter=0;
page=0;
display_en=0;
if(InputCtrl=='2')command='o';
if(ENC_A){encoder_state=1;TCCR0=0x07;}
else {encoder_state=0;TCCR0=0x00;}
loop_delay_flag=1;
while(1)
{
if(encoder_state==0)
{
if(ENC_A)
{
encoder_state=1;
TCNT0=0x00; //for enable int6 after 2ms by t0 overflow isr
TCCR0=0x07;
}
}
else
if(encoder_state==1)
{
if(ENC_A==0)TCNT0=0;
if(TCNT0>15) //at least 2ms ENC_A==1
{
encoder_state=2;
TCCR0=0;
enc_pulse_counter++;
}
}
else
if(encoder_state==2)
{
if(!ENC_A)
{
encoder_state=3;
TCNT0=0x00; //for enable int6 after 2ms by t0 overflow isr
TCCR0=0x07;
}
}
else
if(encoder_state==3)
{
if(ENC_A)TCNT0=0;
if(TCNT0>15) //at least 2ms ENC_A==0
{
encoder_state=0;
TCCR0=0;
enc_pulse_counter++;
}
}
if(enc_pulse_counter)
{
//no_pulse_detect_flag=0;
if(no_pulse_detect_flag)no_pulse_detect_flag--;
check_encoder_cntr=0;
if(detection_mode_en>2)
{
position++;
}
else
if(position!=0xFFFF && detection_mode_en==0) //run if calibrated
{
if(direction_ref!=RVS)
{
if(position<DoorWidth_pulses)position++;
}
if(direction_ref!=FWD)
{
if(position>0)position--;
}
}
if(demo_mode_en)display_en=1;
if(page==21)display_en=1;
if(page==1){if(page_1_state==0)display_en=1;}
enc_pulse_counter--;
}
if(calcualte_new_angle_val)
{
if(direction==RVS)
{
if(sine_H[angle])
{
U_Phase_value_H=1;
U_Phase_value_L = sine_L_3rdH[angle];
U_Phase_value_L * M_char; //MUL in assemly
#asm
MOV _U_Phase_value_L,R1
#endasm
}
else
{
U_Phase_value_H=0;
U_Phase_value_L = ~sine_L_3rdH[angle];
U_Phase_value_L * M_char;
#asm
COM R1
MOV _U_Phase_value_L,R1
#endasm
}
if(sine_85_H[angle])
{
W_Phase_value_H=1;
W_Phase_value_L = sine_85_L_3rdH[angle];
W_Phase_value_L * M_char;
#asm
MOV _W_Phase_value_L,R1
#endasm
}
else
{
W_Phase_value_H=0;
W_Phase_value_L = ~sine_85_L_3rdH[angle];
W_Phase_value_L * M_char;
#asm
COM R1
MOV _W_Phase_value_L,R1
#endasm
}
if(sine_171_H[angle])
{
V_Phase_value_H=1;
V_Phase_value_L = sine_171_L_3rdH[angle];
V_Phase_value_L * M_char;
#asm
MOV _V_Phase_value_L,R1
#endasm
}
else
{
V_Phase_value_H=0;
V_Phase_value_L = ~sine_171_L_3rdH[angle];
V_Phase_value_L * M_char;
#asm
COM R1
MOV _V_Phase_value_L,R1
#endasm
}
}
else
if(direction==FWD)
{
if(sine_H[angle])
{
U_Phase_value_H=1;
U_Phase_value_L = sine_L_3rdH[angle];
U_Phase_value_L * M_char;
#asm
MOV _U_Phase_value_L,R1
#endasm
}
else
{
U_Phase_value_H=0;
U_Phase_value_L = ~sine_L_3rdH[angle];
U_Phase_value_L * M_char;
#asm
COM R1
MOV _U_Phase_value_L,R1
#endasm
}
if(sine_171_H[angle])
{
W_Phase_value_H=1;
W_Phase_value_L = sine_171_L_3rdH[angle];
W_Phase_value_L * M_char;
#asm
MOV _W_Phase_value_L,R1
#endasm
}
else
{
W_Phase_value_H=0;
W_Phase_value_L = ~sine_171_L_3rdH[angle];
W_Phase_value_L * M_char;
#asm
COM R1
MOV _W_Phase_value_L,R1
#endasm
}
if(sine_85_H[angle])
{
V_Phase_value_H=1;
V_Phase_value_L = sine_85_L_3rdH[angle];
V_Phase_value_L * M_char;
#asm
MOV _V_Phase_value_L,R1
#endasm
}
else
{
V_Phase_value_H=0;
V_Phase_value_L = ~sine_85_L_3rdH[angle];
V_Phase_value_L * M_char;
#asm
COM R1
MOV _V_Phase_value_L,R1
#endasm
}
}
else
{
U_Phase_value_L = 0;
V_Phase_value_L = 0;
W_Phase_value_L = 0;
}
calcualte_new_angle_val=0;
}
if(loop_delay_flag)continue; //10ms stay and repeat above part of program
loop_delay_flag=1;
#asm("WDR")
//****** timer1 isr body shift here entirely *********************************************
while(1)
{
if(ramp_up_cntr)
{
if(start_motor==0)
{
if(acceleration==0xFF)
{
actual_speed=Speed_ref;
ramp_up_cntr=0;
new_freq=1;
}
else
{
ramp_up_cntr++;
if(ramp_up_cntr>acceleration)
{
ramp_up_cntr=1;
if(actual_speed<Speed_ref && Speed_ref>=MIN_SPEED)
{
actual_speed++;
actual_speed++;
if(actual_speed>Speed_ref)actual_speed= Speed_ref;
new_freq=1;
}
else
{
actual_speed=Speed_ref;
ramp_up_cntr=0;
new_freq=1;
}
}
}
}
}
if(ramp_down_cntr)
{
if(start_motor==0)
{
if(deceleration==0xFF)
{
actual_speed=Speed_ref;
ramp_down_cntr=0;
new_freq=1;
}
else
{
ramp_down_cntr++;
if(ramp_down_cntr>deceleration)
{
ramp_down_cntr=1;
if(actual_speed>Speed_ref && Speed_ref>=MIN_SPEED)
{
actual_speed--;
actual_speed--;
if(actual_speed<Speed_ref)actual_speed=Speed_ref;
new_freq=1;
}
else
{
actual_speed=Speed_ref;
ramp_down_cntr=0;
new_freq=1;
}
}
}
}
}
if(new_freq)
{
new_freq=0;
TCCR2=0x00;
Frequency_L = angle_step_L[actual_speed];
Frequency_H = angle_step_H[actual_speed];
Counter_for_H = Frequency_H;
if(Counter_for_H)
{
Counter_for_H--;
TCNT0=0x00;
}
else TCNT0=Frequency_L;
TCCR2=0x04; //62.5KHz
if(page==1){if(page_1_state==1)display_en=1;}
new_vboost=1;
}
if(new_vboost) // Vboost normalize in 0~255 range
{
new_vboost=0;
M=(((255-Vboost)*(unsigned long)(actual_speed-SPEED_BOOST))/(SPEED_BASE-SPEED_BOOST))+Vboost;
M = M + A_BOOST_MIN;
if(M>255)M=255;
M_char = M;
if(page==1){if(page_1_state==2)display_en=1;}
}
if(start_motor==1)
{
angle=0;
//calcualte_new_angle_val=0;
TCCR3A = 0x00;
TCCR3B = 0x00; //STOP TIMER 3
TCCR2 = 0x00; //STOP TIMER 0
TCCR2 = 0x00; //STOP TIMER2
OCR3AH =0; OCR3AL =0; //U
OCR3BH =0; OCR3BL =0; //V
OCR3CH =0; OCR3CL =0; //W
U_PHASE=0;
V_PHASE=0;
W_PHASE=0;
}
else
if(start_motor==2)
{
#ifdef IRAMS
EN_MOTOR = 0; //Enable MOTOR
#else
EN_MOTOR = 1; //Enable MOTOR
#endif
}
else
if(start_motor>20)
{
start_motor=0;
new_freq = 1;
TCCR3A = 0xAA;
TCCR3B = 0x01;
}
if(start_motor)start_motor++;
if(stop_motor)
{
stop_motor=0;
angle=0;
// calcualte_new_angle_val=0;
TCCR3A = 0x00;
TCCR3B = 0x00; //STOP TIMER 3
TCCR2 = 0x00; //STOP TIMER 0
TCCR2=0x00; //STOP TIMER 0
OCR3AH =0;OCR3AL =0; //U
OCR3BH =0;OCR3BL =0; //V
OCR3CH =0;OCR3CL =0; //W
#ifdef IRAMS
EN_MOTOR = 1; //disable MOTOR
#else
EN_MOTOR = 0; //disable MOTOR
#endif
U_PHASE=0;
V_PHASE=0;
W_PHASE=0;
}
if(OP_cmd_cntr)OP_cmd_cntr++;
if(CL_cmd_cntr)CL_cmd_cntr++;
if(NO_cmd_cntr)NO_cmd_cntr++;
if(++timer1_cntr_5<5)break;
timer1_cntr_5=0; //50ms
if(close_state==11){if(close_pre_ramp_cntr)close_pre_ramp_cntr++;}
if(open_state==11){if(open_pre_ramp_cntr)open_pre_ramp_cntr++;}
if(open_state==9){if(open_first_lck_cntr)open_first_lck_cntr++;}
if(close_state==12 || close_state==50){if(close_timer_in_no_enc_mode_cntr)close_timer_in_no_enc_mode_cntr++;}
if(open_state==12 || open_state==40){if(open_timer_in_no_enc_mode_cntr)open_timer_in_no_enc_mode_cntr++;}
if(++timer1_cntr<2)break;
timer1_cntr=0; //100ms demo_mode_en
if(demo_mode_timer)demo_mode_timer--;
if(test_mode_timer)test_mode_timer--;
if(close_brake_cntr)close_brake_cntr++;
if(open_brake_cntr)open_brake_cntr++;
check_encoder_cntr++;
if(travelling_time)travelling_time++;
if(dispaly_lfr_cntr)
{dispaly_lfr_cntr--;
if(!dispaly_lfr_cntr)display_en=1;} //display reset factory default setting for 2 sec
if(dispaly_save_cntr)
{dispaly_save_cntr--;
if(!dispaly_save_cntr)display_en=1;} //display reset factory default setting for 2 sec
if(dispaly_enc_cntr)
{dispaly_enc_cntr--;
if(!dispaly_enc_cntr)display_en=1;}
if(dispaly_done_cntr)
{dispaly_done_cntr--;
if(!dispaly_done_cntr)display_en=1;}
if(pl_key_cntr)if(pl_key_cntr<100)pl_key_cntr++;
if(mn_key_cntr)if(mn_key_cntr<100)mn_key_cntr++;
if(en_key_cntr)if(en_key_cntr<100)en_key_cntr++;
if(b_key_cntr)if(b_key_cntr<100)b_key_cntr++;
if(d_key_cntr)if(d_key_cntr<100)d_key_cntr++;
if(up_dn_key_cntr)if(up_dn_key_cntr<100)up_dn_key_cntr++;
if(blink_value_on)
{
blink_value_on--;
if(blink_value_on==0)
{blink_value_off=5;
display_en=1;}
}
if(blink_value_off)
{
blink_value_off--;
if(blink_value_off==0)
{blink_value_on=20;
display_en=1;}
}
if(command=='c')
{
blink_led_test++;
if(blink_led_test>4)blink_led_test=0;
if(blink_led_test>2)DIR_LED=0;else DIR_LED=1;
}
else
if(command=='o')
{
DIR_LED=0;
}
else
{
DIR_LED=1;
}
if(++timer1_cntr_10<10)break;
timer1_cntr_10=0;
if(open_undefined_pos_cntr)
{
open_undefined_pos_cntr++;
if(open_undefined_pos_cntr>UNDEF_POS_TIMER)
{
open_undefined_pos_cntr=0;
if(command=='o')place_command_in_queue('b',OpParkTq);
}
}
if(close_undefined_pos_cntr)
{
close_undefined_pos_cntr++;
if(close_undefined_pos_cntr>UNDEF_POS_TIMER)
{
close_undefined_pos_cntr=0;
if(command=='c')place_command_in_queue('b',ClParkTq);
}
}
if(detection_mode_start_cntr)
{
if(detection_mode_en==2 || detection_mode_en==3)detection_mode_start_cntr++;
}
if(open_park_cntr)open_park_cntr++;
if(close_park_cntr)close_park_cntr++;
if(page==1)display_en=1; //REFRESH EVERY 1 SECOND
if(demo_mode_en)display_en=1; //REFRESH EVERY 1 SECOND
break;
}
//****** timer1 *********timer1********************timer1***************timer1*****************************timer1*****************
motor_command_queue(); //checkfor a command to execute
if(detection_mode_en)
{
if(detection_mode_en==1) //opon until no pulse is detected
{
position=0;
command='c';
detection_mode_en=2;
check_encoder_cntr=0;
detection_mode_start_cntr=1;
display_en=1;
}
if(detection_mode_en==2)
{
if(check_encoder_cntr>10 || detection_mode_start_cntr>DETECTION_TIME_OUT) //close until no pulse is detected
{
position=0;
command='o';
detection_mode_en=3;
check_encoder_cntr=0;
detection_mode_start_cntr=1;
display_en=1;
}
}
if(detection_mode_en==3)
{
if(check_encoder_cntr>10 || detection_mode_start_cntr>=DETECTION_TIME_OUT)
{
tempi = position;
if(position>100 && detection_mode_start_cntr<DETECTION_TIME_OUT) //succesful detection process is DONE!
{
tempi = tempi * 19;
tempi = tempi / 10;
DoorWidth = tempi;
EE_DoorWidth = DoorWidth;
DoorWidth_pulses = position;
calculate_close_ramp_pos_sp();
calculate_open_ramp_pos_sp();
position=0;
}
else position=0xffff;
detection_mode_en = 0; //cancel detection mode
page =0;
display_en=1;
open_state=0;
close_state=0;
}
}
}
else
if(KP_mode_en)
{
if(check_encoder_cntr>30)
{
KP_mode_en=0;
check_encoder_cntr=0;
if(page==1)display_en=1;
}
}
else
if(demo_mode_en) //Fulfill Commands from DEMO mode
{
if(demo_mode_timer==0)
{
if(command !='c')command='c';
else if(command !='o')command='o';
demo_mode_timer = DEMO_DELAY;
}
}
else
if(test_mode_en)
{
if(test_mode_timer==0)
{
if(InputCtrl=='1')test_mode_en=0;
else
if(command =='c') //in input cntrl==2 it must open the DOOR
{
command='o';
test_mode_timer = DEMO_DELAY;
}
else test_mode_en=0;
}
}
else
if(manual_mode)
{
//do nothing!!
}
else
{
if(InputCtrl=='1')
{
if(command!='c')
{
if(CL_cmd)
{
if(!CL_cmd_cntr)CL_cmd_cntr=1;
if(CL_cmd_cntr>CMD_INPUT_DEBOUNCE)command='c';
}
else CL_cmd_cntr=0;
}
if(command!='o')
{
if(!CL_cmd)
{
if(!OP_cmd_cntr)OP_cmd_cntr=1;
if(OP_cmd_cntr>CMD_INPUT_DEBOUNCE)command='o';
}
else OP_cmd_cntr=0;
}
}
else
if(InputCtrl=='2')
{
if(command!='c')
{
if(CL_cmd && !OP_cmd)
{
if(!CL_cmd_cntr)CL_cmd_cntr=1;
if(CL_cmd_cntr>CMD_INPUT_DEBOUNCE)command='c';
}
else CL_cmd_cntr=0;
}
if(command!='o')
{
if(OP_cmd && !CL_cmd)
{
if(!OP_cmd_cntr)OP_cmd_cntr=1;
if(OP_cmd_cntr>CMD_INPUT_DEBOUNCE)command='o';
}
else OP_cmd_cntr=0;
}
if(command=='c') //if(command!='s')
{
if(!CL_cmd && !OP_cmd)
{
if(!NO_cmd_cntr)NO_cmd_cntr=1;
if(NO_cmd_cntr>CMD_INPUT_DEBOUNCE)command='s';
}
else NO_cmd_cntr=0;
}
}
}
if(position==0xffff && !detection_mode_en) // calibration
{
if(direction_ref==FWD)
{
if(check_encoder_cntr>20)
{
close_state=0xFF;
close_park_cntr=1;
position=DoorWidth_pulses;
display_en=1;
//if(page==0){page=1;page_1_state=0;}
}
}
if(direction_ref==RVS)
{
if(check_encoder_cntr>20)
{
open_state=0xFF;
open_park_cntr=1;
position=0;
display_en=1;
//if(page==0){page=1;page_1_state=0;}
}
}
}
if(detection_mode_en || position==0xffff)
{
if(direction_ref!=FWD && command=='c')
{
// place_command_in_queue('d',STP);
place_command_in_queue('d',FWD); //place command direction in queue
place_command_in_queue('a',5);
place_command_in_queue('b',ClLockTq);
place_command_in_queue('s',50);
direction_ref = FWD;
check_encoder_cntr=0;
open_undefined_pos_cntr=0;
close_undefined_pos_cntr=1;
}
if(direction_ref!=RVS && command=='o')
{
// place_command_in_queue('d',STP);
place_command_in_queue('d',RVS);
place_command_in_queue('a',5);
place_command_in_queue('b',OpLockTq);
place_command_in_queue('s',60);
direction_ref = RVS;
check_encoder_cntr=0;
open_undefined_pos_cntr=1;
close_undefined_pos_cntr=0;
}
if(direction_ref!=STP && command=='s')
{
place_command_in_queue('a',5);
place_command_in_queue('s',0);
place_command_in_queue('d',STP);
direction_ref = STP;
check_encoder_cntr=0;
}
}
else
{
if(KPOnOff=='y')
{
if(close_state>10 && close_state<30 && KP_mode_en==0)
{
if(check_encoder_cntr>KPTime)
{ //is received and encoder may be works correctly
KP_mode_en=1;
command='o';
close_state=0;
place_command_in_queue('a',0xFF);
place_command_in_queue('s',0);
place_command_in_queue('d',STP);
//direction = STP;
direction_ref=STP;
}
else kp_cntr=0;
}
else kp_cntr=0;
}
if(direction_ref!=STP && command=='s')
{
place_command_in_queue('a',20);
place_command_in_queue('s',0);
place_command_in_queue('d',STP);
//direction=STP;
direction_ref=STP;
close_state=0;
open_state=0;
}
if(close_state)
{
if(close_state<10)close_state++;
}
if(direction_ref!=FWD && command=='c' && close_state==0)
{
close_state=1;
open_state=0;
close_brake_cntr=0;
open_undefined_pos_cntr=0;
if(direction==STP)
{
place_command_in_queue('d',FWD); //place command direction in queue
place_command_in_queue('s',MIN_SPEED);
direction_ref=FWD;
}
else
{
place_command_in_queue('a',0xFF);
place_command_in_queue('s',MIN_SPEED);
}
// place_command_in_queue('a',0xFF);
// place_command_in_queue('s',0);
// place_command_in_queue('d',FWD); //place command direction in queue
// direction = FWD;
check_encoder_cntr=0;
close_timer_in_no_enc_mode_cntr=0;
travelling_time=1;
}
if(close_state==10)
{
if(actual_speed==MIN_SPEED) //***\\
{ //***\\
if(direction_ref!=FWD){place_command_in_queue('d',FWD);direction_ref=FWD;} //***\\
else //***\\
if(position<close_ramp_pos[0])
{
place_command_in_queue('b',ClTorque); //start with CLMaxSp/4 in high speed area
place_command_in_queue('s',ClMaxSp/4);
close_state=11;
no_pulse_detect_flag=5; //set flag for checking encoder 1 sec later to receive 5 pulses
close_pre_ramp_cntr=1; //start increasing speed ramp counter
}
else
{
place_command_in_queue('b',ClLockTq);
place_command_in_queue('s',ClMinSp);
close_state=30; //start with minimum speed in low speed area
close_brake_cntr=1;
}
}
}
if(close_state==11)
{
if(close_pre_ramp_cntr>10) //stay in clmaxsp/4 for 1 second
{
close_pre_ramp_cntr=0;
close_state=12;
close_timer_in_no_enc_mode_cntr=1;
place_command_in_queue('a',20);
place_command_in_queue('s',ClMaxSp);
}
}
if(close_state==12)
{
if(close_timer_in_no_enc_mode_cntr>10) //1 sec for receiving a pulse
{
if(no_pulse_detect_flag) //if no pulse received after arrive in high speed
{
dispaly_enc_cntr=10; //display OPEN MODE MESSAGE for 3 sec
display_en=1;
close_state=50; //go to timing state instead encoder
position=DoorWidth_pulses;
}
}
}
if(close_state>10 && close_state<20)
{
if(position>close_ramp_pos[0] && no_pulse_detect_flag==0)close_state=20; //exit from accel-ramp if door was arrived in decel-ramp
}
if(close_state>19 && close_state<30) //ramp from state=20 to state=29
{
if(position>close_ramp_pos[close_state-20])
{
if(close_state==20)place_command_in_queue('a',0xFF); //apply maximium accelerate for the last step
place_command_in_queue('s',close_ramp_sp[close_state-20]);
close_state++;
}
}
if(close_state==30)
{
if(position>FirstofLockPos)
{
close_state = 40;
place_command_in_queue('b',ClLockTq);
place_command_in_queue('s',ClLockSp);
}
}
if(close_state==40)
{
if(check_encoder_cntr>20)