dennisgunia/split-flap-controller
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix motor standby and overheating issue

Browse Source
This commit is contained in:
Dennis Gunia
2025-11-02 19:12:51 +01:00
parent a24ac0fe7e
commit 4bf82a5548
2 changed files with 46 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files

41
software/firmware_module/module_universal/src/mctrl.c
View File

@@ -26,17 +26,17 @@ uint8_t motor_steps[4] = {
};
#endif
uint8_t step_index = 0; // current index in motor_steps
uint8_t target_flap = 0; // target flap
uint16_t absolute_pos = 0; // absolute position in steps
uint16_t steps_since_home = 0; // steps since last home signal
uint8_t step_index = 0; // current index in motor_steps
uint8_t target_flap = 0; // target flap
uint16_t absolute_pos = 0; // absolute position in steps
uint16_t steps_since_home = 0; // steps since last home signal
// homing util variables
uint8_t homing = 0; // current homing step
uint8_t lastSens = 0; // home sonsor signal from last tick
// counter for auto powersaving
uint8_t ticksSinceMove = 0;
uint16_t ticksSinceMove = 0;
// value to goto after the current is reached. 255 = NONE.
uint8_t afterRotation = STEPS_AFTERROT;
@@ -60,9 +60,12 @@ int STEPS_OFFSET = 0;
// initialize motor controller
void mctrl_init(int cal_offset)
{
if (cal_offset < 800){
if (cal_offset < 800)
{
STEPS_OFFSET = STEPS_OFFSET_DEF;
}else{
}
else
{
STEPS_OFFSET = cal_offset;
}
DDRC = 0x0F; // set all pins as outputs
@@ -83,9 +86,9 @@ void mctrl_init(int cal_offset)
// setup timer for ISR
TCCR1A = 0;
TCCR1B = (1 << WGM12) | (1 << CS11) | (1 << CS10); // CTC und Prescaler 64
OCR1A = MISR_OCR1A;
TIMSK = 1 << OCIE1A; // Timerinterrupts aktivieren
TCCR1B = (1 << WGM12) | (1 << CS11) | (1 << CS10); // CTC und Prescaler 64 (CLK=250kHz)
OCR1A = MISR_OCR1A; // Equals roughly 431Hz (23.2ms Intervall)
TIMSK = 1 << OCIE1A; // Timerinterrupts aktivieren
homing = 1;
delta_err = malloc(ERROR_DATASETS * sizeof(uint16_t));
_delay_ms(MDELAY_STARTUP);
@@ -119,7 +122,7 @@ void readVoltage()
// MAIN service routine. Called by timer 1
ISR(TIMER1_COMPA_vect)
{
timer_ticks ++;
timer_ticks++;
readVoltage(); // read and check voltage
if (sts_flag_pwrdwn == 1 || sts_flag_failsafe == 1)
{
@@ -158,7 +161,7 @@ ISR(TIMER1_COMPA_vect)
if (absolute_pos <= 0)
{
homing = 0;
absolute_pos = STEPS_OFFSET; // set correct position again
absolute_pos = STEPS_OFFSET; // set correct position again
}
mctrl_step();
absolute_pos--;
@@ -174,7 +177,6 @@ ISR(TIMER1_COMPA_vect)
if (absolute_pos != target_pos)
{
// if target position is not reached, move motor
ticksSinceMove = 0;
mctrl_step();
absolute_pos++;
if (absolute_pos >= STEPS_PER_REV)
@@ -213,18 +215,18 @@ ISR(TIMER1_COMPA_vect)
else if (ticksSinceMove < 2)
{ // if motor has not been moved
sts_flag_busy = 0;
}
else if (ticksSinceMove < MPWRSVG_TICKSTOP)
{ // if motor has not been moved
ticksSinceMove++;
}
else
{ // power off after 50 ticks
// PORTC = 0x00; // turn off stepper
else if (ticksSinceMove > MPWRSVG_TICKSTOP)
{ // power off after MPWRSVG_TICKSTOP ticks
PORTC = 0x00; // turn off stepper
}else{
ticksSinceMove++;
}
}
}
rc_tick(); // process counter tick, non-blocking
}
// TODO
@@ -305,6 +307,7 @@ void mctrl_step()
{
step_index++;
steps_since_home++;
ticksSinceMove = 0;
if (step_index > 3)
{
step_index = 0;

47
software/firmware_module/module_universal/src/mctrl.h
View File

@@ -12,37 +12,38 @@
#pragma once
#define STEPS_PER_REV 2025 // steps per revolution
#define STEPS_PER_FLAP 45 // steps per flap
#define STEPS_ADJ 0 // added per flap to compensate for motor power down
#define STEPS_OFFSET_DEF 1400 // ansolute offset between home and first flap
#define AMOUNTFLAPS 45 // amount of flaps installed in system
#define STEPS_AFTERROT 255 // value to goto after current target flap is reached
#define ERROR_DATASETS 8 // length of error array
#define STEPS_PER_REV 2025 // steps per revolution
#define STEPS_PER_FLAP 45 // steps per flap
#define STEPS_ADJ 0 // added per flap to compensate for motor power down
#define STEPS_OFFSET_DEF 1400 // ansolute offset between home and first flap
#define AMOUNTFLAPS 45 // amount of flaps installed in system
#define STEPS_AFTERROT 255 // value to goto after current target flap is reached
#define ERROR_DATASETS 8 // length of error array
#define MDELAY_STARTUP 1000 // delay to wait after motor startup
#define MHOME_TOLERANCE 1.5 // tolerance for intial homing procedure
#define MHOME_ERRDELTA 30 // maximum deviation between expected home and actual home
#define MVOLTAGE_FAULTRD 20 // max. amount of fault readings before flag is set
#define MVOLTAGE_LSTOP 128 // lower voltage threshold for fuse detection
#define MPWRSVG_TICKSTOP 50 // inactive ticks before motor shutdown
#define MDELAY_STARTUP 1000 // delay to wait after motor startup
#define MHOME_TOLERANCE 1.5 // tolerance for intial homing procedure
#define MHOME_ERRDELTA 30 // maximum deviation between expected home and actual home
#define MVOLTAGE_FAULTRD 20 // max. amount of fault readings before flag is set
#define MVOLTAGE_LSTOP 128 // lower voltage threshold for fuse detection
#define MPWRSVG_TICKSTOP 4310 // inactive ticks before motor shutdown (4310 ~ 10s)
#define MISR_OCR1A 580 // tick timer (defines rotation speed)
#define MISR_OCR1A 580 // tick timer (defines rotation speed. euqals to ISR freq ~ 431Hz)
// 450, 480 also possible ?
#ifdef __cplusplus
extern "C" {
extern "C"
{
#endif // __cplusplus
void mctrl_init(int cal_offset);
void mctrl_step();
void mctrl_set(uint8_t flap, uint8_t fullRotation);
void mctrl_init(int cal_offset);
void mctrl_step();
void mctrl_set(uint8_t flap, uint8_t fullRotation);
void getErr(int16_t* error);
uint8_t getSts();
uint16_t getVoltage();
void mctrl_power(uint8_t state);
void getErr(int16_t *error);
uint8_t getSts();
uint16_t getVoltage();
void mctrl_power(uint8_t state);
uint16_t timer_ticks;
uint16_t timer_ticks;
#ifdef __cplusplus
}
#endif // __cplusplus