/********************************************* This program was produced by the
CodeWizardAVR V1.0.1.7b Evaluation Automatic Program Generator © Copyright 1998-2001
Pavel Haiduc, HP InfoTech S.R.L. http://infotech.ir.ro
e-mail:[email protected] , [email protected] Project : Thesis - torque motor control Version :
Date : 20/07/2001 Author : Jeffrey Jordan
Company : University of Queensland Comments:
Chip type : AT90S8535 Clock frequency : 4.000000 MHz Memory model : Small Internal SRAM size : 512 External SRAM size : 0 Data Stack size : 128
*********************************************/ #include <90s8535.h>
#include <delay.h> // Floating number to string #include <Ftoa.h>
// String to floating point number #include <Atof.h>
// Standard Input/Output functions #include <stdio.h>
// standard library #include <stdlib.h> // charater type library #include <ctype.h>
#define UART_txReady 0x40
// All variables for the controller, block parameters from simulink model
double Gain_Gain; // Expression: 1.152
double Current_Limiter_US; // Exp: 14
double Current_Limiter_LS; // exp: -14
double Gain1_Gain; // exp 2.84
double Discrete_Time_Integ_IC; // exp 0
double Discrete_Time_Integ_US; // exp 120
double Discrete_Time_Integ_LS; // exp 0
double Voltage_Limiter_US; // exp 120
double Voltage_Limiter_LS; // exp 0
double Varm_to_Duty_ratio_Gain; // exp 1/120
double Gain2_Gain; // exp 310
// Inputs, output double Torque_Input; double Motor_Current; double Duty_Ratio; double Field_Duty_Ratio; // Limited discrete integrator block double Discrete_Time_Integrator; // for discrete integrator gain and update double Gain2;
// pwm for updating the output duty ratio double pwm;
// the desired torque from the user through comms char Tdesired[15];
// a/d value int adval;
double Tinput;
// int to test if first current read, ie zero current for the ref, 0 no, 1 yes int first;
// reference a/d reading for +ve and -ve current reading int ref;
// UART Receiver interrupt service routine #pragma savereg-
interrupt [UART_RXC] void uart_rx_isr(void) {
unsigned char received;
int i;
received = getchar(); delay_ms(10);
if (isdigit(received)) { i = 0;
// providing only digits and 1 decimal point received, 15 is array length while ((received != 's')&(i < 14)) {
Tdesired[i] = received; received = getchar(); ++i; } // convert to a double Tinput = atof(Tdesired); printf("%s \n",Tdesired);
putchar(13); // line feed
// clear Tdesired
for (i=0; i<=14;i++) {
Tdesired[i] = '\0';
} } }
#pragma savereg+
// Timer 1 output compare A interrupt service routine interrupt [TIM1_COMPA] void timer1_compa_isr(void) {
// PWM - do nothing }
// Timer 1 output compare B interrupt service routine interrupt [TIM1_COMPB] void timer1_compb_isr(void) {
// PWM - do nothing }
// Read the ADC conversion result
unsigned int read_adc(unsigned char channel) {
unsigned int channelValue; ADMUX = channel; // Start Conversion ADCSR.6 = 1; // Wait until A2D finished
while (ADCSR.4 == 0); // clear the ADC complete flag ADCSR.4 = 1;
// Read ADC-result - always read ADCL first channelValue = ADCL;
channelValue = channelValue + ((int)(ADCH) << 8);
return channelValue;
} /*
* initialise_param - initialise all the block parameters and other variables */ void initialise_param(void) { Gain_Gain = 1.152; Current_Limiter_US = 14.0; Current_Limiter_LS = -14.0; Gain1_Gain = 2.84; Discrete_Time_Integ_IC = 0.0; Discrete_Time_Integ_US = 120.0;
Discrete_Time_Integ_LS = 0.0; Voltage_Limiter_US = 120.0; Voltage_Limiter_LS = 0.0; Varm_to_Duty_ratio_Gain = 0.008333333333333; Gain2_Gain = 310.0; Torque_Input = 0.0; Motor_Current = 0.0; Duty_Ratio = 0.0; Field_Duty_Ratio = 0.0; Tinput = 0.0; Discrete_Time_Integrator = Discrete_Time_Integ_IC; first = 0; } /*
* read_current - take a reading of the motor current */ void read_current(void) { // a/d voltage - 4.8 // 10 bit - 1023 // amp gain - 56.28 // sensing resistors - 0.005 // no. of resistors - 1 double currentScaler; //currentScaler = (4.8/(1023*56.28))*(1/0.005); currentScaler = 0.016674065;
// read in the reference voltage for the current, pin 5 if (first == 0) {
ref = read_adc(6);
first = 1; }
//read in the current through the a/d converter, pin 6 adval = read_adc(6);
// convert the a/d reading into a current in Amps Motor_Current = ((double)(adval - ref))*currentScaler; }
/*
* read_torque - get the desired torque */
void read_torque(void) {
double torqueScaler;
torqueScaler = 0.009384164223; // = 4.8*2/1023, 1 volt = 2 Nm of torque // read in the desired torque
// two methods
// a/d converter - pin 7
// voltage between 0 and 4.8V unless external reference voltage used adval = read_adc(7); // actual value in volts = (adval/1023) * 4.8V
Torque_Input = ((double)adval)*torqueScaler; // serial comms - need to use uart interrupt //Torque_Input = Tinput;
} /*
* controller_outputs - calculates all of the block outputs for the controller */
void controller_outputs(void) {
// Local Temp variables for controller calculations
double temp1;
double temp2;
double temp3;
// start controller calculations // Gain block Gain
// Saturation block - current limiter if (temp2 >= Current_Limiter_US) {
temp2 = Current_Limiter_US;
} else if (temp2 <= Current_Limiter_LS) {
temp2 = Current_Limiter_LS;
} // Sum block 1
temp2 = temp2 - Motor_Current; // Gain block Gain1
temp3 = temp2 * Gain1_Gain; // Limited discrete integrator block temp1 = Discrete_Time_Integrator; if (temp1 >= Discrete_Time_Integ_US) {
temp1 = Discrete_Time_Integ_US;
} else if (temp1 <= Discrete_Time_Integ_LS) {
temp1 = Discrete_Time_Integ_LS;
} // Sum Block 2 temp3 = temp3 + temp1; // Saturate Block Voltage Limiter if (temp3 >= Voltage_Limiter_US) {
temp3 = Voltage_Limiter_US;
} else if (temp3 <= Voltage_Limiter_LS) {
temp3 = Voltage_Limiter_LS;
}
// Gain Block Varm to Duty ratio temp3 *= Varm_to_Duty_ratio_Gain; // Output Duty Ratio
Duty_Ratio = temp3; // Gain Block Gain2 Gain2 = temp2 * Gain2_Gain; }
/*
* controller_update - update the controller integrator block */
void controller_update(void) {
// Perform update
// Limited DiscreteIntegrator Block Discrete-Time Integrator // time step of 0.0017 seconds
Discrete_Time_Integrator = Discrete_Time_Integrator + 0.0017 * Gain2; // limit states
if (Discrete_Time_Integrator > Discrete_Time_Integ_US) { Discrete_Time_Integrator = Discrete_Time_Integ_US;
} else if (Discrete_Time_Integrator < Discrete_Time_Integ_LS) { Discrete_Time_Integrator = Discrete_Time_Integ_LS; }
} /*
* pwm_update - set the pwm output to the correct duty ratio for the next interrupt */ void pwm_update(void) { // phase b, non-inverted pwm = 255 * Duty_Ratio; OCR1A = pwm; // phase a, inverted pwm = 255 * (1 - Duty_Ratio); OCR1B = pwm; } /*
* field_update - set the field pwm output to the correct duty ratio for the next interrupt */
{ pwm = 255 * Field_Duty_Ratio; OCR2 = pwm; } void main(void) {
// Declare your local variables here char string[15];
unsigned char pD; double dr;
// Input/Output Ports initialization // Port A PORTA=0x00; DDRA=0x00; // Port B DDRB=0xFF; PORTB=0xFF; // Port C //PORTC=0x00; //DDRC=0x00; DDRC=0xFF; PORTC=0xFF; // Port D PORTD=0x00; DDRD=0xB0; // Timer/Counter 0 initialization // Clock source: System Clock // Clock value: Timer 0 Stopped // Mode: Output Compare // OC0 output: Disconnected TCCR0=0x00;
TCNT0=0x00;
// Timer/Counter 1 initialization // Clock source: System Clock // Clock value: Timer 1 Stopped // Mode: 8 bit Pulse Width Modulation // OC1A output: Non-Inverted // OC1B output: Inverted // Noise Canceler: Off // Input Capture on Falling Edge TCCR1A=0xB1; TCCR1B=0x00; TCNT1H=0x00; TCNT1L=0x00; OCR1AH=0x00; OCR1AL=0x00; OCR1BH=0x00; OCR1BL=0x00; // Timer/Counter 2 initialization // Clock source: System Clock // Clock value: Timer 2 Stopped // Mode: Pulse Width Modulation // OC2 output: Inverted TCCR2=0x60; ASSR=0x00; TCNT2=0x00; OCR2=0x00;
// Timer(s)/Counter(s) Interrupt(s) initialization TIMSK=0x18;
// External Interrupt(s) initialization // INT0: Off
// INT1: Off GIMSK=0x00; MCUCR=0x00;
// UART initialization
// Communication Parameters: 8 Data, 1 Stop, No Parity // UART Receiver: On
// UART Transmitter: On UCR=0x98;
// UART Baud rate: 9600 UBRR=0x19;
// Analog Comparator initialization // Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off ACSR=0x80;
// ADC initialization
// ADC Clock frequency: 2000.000 kHz ADCSR=0x91;
// Global enable interrupts #asm("sei")
// clear rs232 buffer UDR=0;
// initialise parameters initialise_param();
// start timer1 counter to run on the clock TCCR1B = 0x01;
// start timer2 counter to run on the clock TCCR2 = 0x61;
// initialise the duty ratio to zero
// phase b, on timer1, which has its output non-inverted OCR1A = 0;
// phase a on timer1, inverted OCR1B = 255;
// initialise the field duty ratio to zero OCR2 = 0;
while (1) {
// Start of controller code
// read port d, if not pin 3 (switch 3 not pressed) do nothing, else start pD = PIND;
PORTB = pD;
if (pD != 71) // do nothing
{
// reset everything when pin 6 switch pressed if (pD == 15) { initialise_param(); OCR1A = 0; OCR1B = 255; OCR2 = 0; }
// a/d reading when pin 2 switch pressed if (pD == 75) {
// while switch 6 not pressed
// read the a/d channel 7 and use this value as the duty ratio
PORTB = pD; delay_ms(100); pD = PIND; while (pD != 15) { adval = read_adc(7); dr = adval; Duty_Ratio = dr/1023; pwm_update(); Field_Duty_Ratio = Duty_Ratio; field_update(); pD = PIND; delay_ms(5); } delay_ms(100);
}
} else // start controller
{
PORTB = pD;
delay_ms(500); // while switch on pin 6 not pressed while (pD != 15) {
// get a current reading read_current();
// get the desired torque read_torque();
// calculate the controller block outputs controller_outputs();
// perform update of controller
controller_update();
// update the PWM to the correct duty ratio pwm_update();
pD = PIND;
} // end while pin 6 switch not pressed delay_ms(200);
} // end if not pin 3 switch }; // end while 1