more stuff

src/adc.cpp

@@ -0,0 +1,43 @@
+/*
+ * adc.cpp
+ *
+ *  Created on: 03.10.2014
+ *      Author: wn
+ */
+
+#include <msp430g2553.h>
+#include <isr_compat.h>
+#include <stdint.h>
+
+#include "adc.h"
+
+
+
+void adcInit() {
+	ADC10CTL0 = ADC10SHT_1 | ADC10ON | SREF_0;
+	ADC10CTL1 = INCH_5;
+	ADC10AE0 = BIT5;
+}
+
+uint16_t adcGet() {
+	uint16_t res = 0xffff;
+
+	ADC10CTL0 |= ENC | ADC10SC;
+
+	uint32_t timeOut = ADC_TIME_OUT;
+
+	while (1) {
+		timeOut--;
+		if (timeOut == 0)
+			break;
+
+		if ((ADC10CTL0 & ADC10IFG) != 0) {
+			res = ADC10MEM;
+			ADC10CTL0 &= ~(ADC10IFG | ENC);
+			break;
+		}
+	}
+
+	return res;
+}
+

src/adc.h

@@ -0,0 +1,22 @@
+/*
+ * adc.h
+ *
+ *  Created on: 03.10.2014
+ *      Author: wn
+ */
+
+#ifndef ADC_H_
+#define ADC_H_
+
+#include <stdint.h>
+
+
+const uint32_t ADC_TIME_OUT = 100000;
+const uint16_t ADC_MAX = 1023;
+
+void adcInit();
+uint16_t adcGet();
+
+
+
+#endif /* ADC_H_ */

src/control.cpp

@@ -0,0 +1,38 @@
+/*
+ * control.c
+ *
+ *  Created on: 24.09.2012
+ *      Author: wn
+ */
+
+
+#include "control.h"
+#include "utils.h"
+
+
+
+
+Control::Control(float p_rMin, float p_rMax, float p_kP, float p_kI, float p_kD) :
+  m_rOld(0), m_eOld(0), m_eOld2(0),
+  m_rMin(p_rMin), m_rMax(p_rMax), m_kP(p_kP), m_kI(p_kI), m_kD(p_kD)
+{
+}
+
+
+float Control::cycle(float vDes, float vCur) volatile {
+  float e = vDes - vCur;
+
+  float rMot = m_rOld +
+                m_kP * (e - m_eOld) +
+                m_kI * (e + m_eOld) / 2 +
+                m_kD * (e - 2 * m_eOld + m_eOld2);
+
+  float r = minmax(m_rMin, rMot, m_rMax);
+
+  m_rOld = r;
+  m_eOld2 = m_eOld;
+  m_eOld = e;
+  return r;
+}
+
+

src/control.h

@@ -0,0 +1,37 @@
+/*
+ * control.h
+ *
+ *  Created on: 24.09.2012
+ *      Author: wn
+ */
+
+#ifndef CONTROL_H_
+#define CONTROL_H_
+
+#include <stdint.h>
+
+
+
+class Control {
+public:
+	Control(float p_rMin, float p_rMax, float p_kP, float p_kI, float p_kD);
+	float cycle(float vDes, float vCur) volatile;
+	float getP() volatile { return m_kP; };
+	void setP(float p) volatile { m_kP = p; };
+	float getI() volatile { return m_kI; };
+	void setI(float i) volatile { m_kI = i; };
+	float getD() volatile { return m_kD; };
+	void setD(float d) volatile { m_kD = d; };
+private:
+	float m_rOld;
+	float m_eOld;
+	float m_eOld2;
+	float m_rMin;
+	float m_rMax;
+	float m_kP;
+	float m_kI;
+	float m_kD;
+};
+
+
+#endif /* CONTROL_H_ */

src/main.cpp

@@ -10,12 +10,14 @@
 #include <msp430g2553.h>
 #include <stdint.h>
 
-#include "time.h"
+#include "pwm.h"
+#include "adc.h"
 
 
 
 
-int main() {
+void init() {
+  // disable watchdog
   WDTCTL = WDTPW | WDTHOLD;
 
   // highest possible system clock
@@ -23,13 +25,15 @@ int main() {
   BCSCTL1 = XT2OFF | RSEL0 | RSEL1 | RSEL2 | RSEL3;
   BCSCTL2 = 0;
   BCSCTL3 = 0;
+}
 
-  timeInit();
+int main() {
+  init();
+  adcInit();
+  pwmInit();
 
   __enable_interrupt();
 
-
-
   while (1) {
   }
 }

src/params.h

@@ -0,0 +1,17 @@
+#ifndef PARAMS_H_
+#define PARAMS_H_
+
+
+
+const float Ctrl_P = 10.0;
+const float Ctrl_I = 5.0;
+const float Ctrl_D = 0.0;
+
+const float U_ref = 3.3;
+const float R_top = 100000.0;
+const float R_bottom = 6200.0;
+
+const float U_des = 5.0;
+
+
+#endif /* PARAMS_H_ */

src/pwm.cpp

@@ -0,0 +1,90 @@
+/*
+ * time.c
+ *
+ *  Created on: 20.05.2014
+ *      Author: wn
+ */
+#include <msp430g2553.h>
+#include <isr_compat.h>
+#include <stdint.h>
+
+#include "pwm.h"
+#include "control.h"
+#include "params.h"
+#include "adc.h"
+
+
+
+volatile Control ctrl((float)PWM_MIN, (float)PWM_MAX, Ctrl_P, Ctrl_I, Ctrl_D);
+
+volatile float u_des = 0;
+volatile float u_curr = 0;
+volatile uint16_t newPwm = 0;
+
+
+
+
+ISR(TIMER0_A0, TA0_ISR) {
+  static uint8_t cycleCnt = 0;
+  cycleCnt++;
+
+  if (cycleCnt >= CYCLE_DELAY) {
+    cycleCnt = 0;
+
+
+    uint16_t adcIn = adcGet();
+    float u_adc = ((float)adcIn) * U_ref / ((float)ADC_MAX);
+    u_curr = u_adc * (R_top + R_bottom) / R_bottom;
+
+    float newPwm_f = ctrl.cycle(u_des, u_curr);
+    newPwm = (uint16_t) newPwm_f;
+
+    TACCR1 = newPwm;
+  }
+}
+
+float getDutyCycle() {
+  __disable_interrupt();
+  uint16_t my_newPwm = newPwm;
+  __enable_interrupt();
+  float dutyCycle = ((float)my_newPwm) / ((float)PWM_MAX) * 100.0;
+  return dutyCycle;
+}
+
+float getUCur() {
+  __disable_interrupt();
+  float my_u_curr = u_curr;
+  __enable_interrupt();
+  return my_u_curr;
+}
+
+float getUDes() {
+  __disable_interrupt();
+  float my_u_des = u_des;
+  __enable_interrupt();
+  return my_u_des;
+}
+
+void setUDes(float uDes) {
+  if (uDes < 0) {
+    uDes= 0;
+  }
+  __disable_interrupt();
+  u_des = uDes;
+  __enable_interrupt();
+}
+
+
+
+void pwmInit() {
+  P1DIR |= BIT6;
+  P1SEL |= BIT6;
+  P1OUT = 0;
+
+  TACCR0 = PWM_MAX;
+  TACCR1 = 8;
+  TACCTL0 = CCIE;
+  TACCTL1 = OUTMOD_7;
+  TACTL = MC_1 | ID_0 | TASSEL_2 | TACLR;
+}
+

src/pwm.h

@@ -10,8 +10,12 @@
 
 
 
-void timeInit();
+const uint16_t PWM_MIN = 0;
-unsigned long millis();
+const uint16_t PWM_MAX = 511;
+const uint16_t CYCLE_DELAY = 2;
+
+
+void pwmInit();
 
 
 

src/time.cpp

@@ -1,53 +0,0 @@
-/*
- * time.c
- *
- *  Created on: 20.05.2014
- *      Author: wn
- */
-#include <msp430g2553.h>
-#include <isr_compat.h>
-#include <stdint.h>
-
-#include "time.h"
-
-
-volatile unsigned long timestamp;
-
-//ISR(TIMER0_A0, TA0_ISR) {
-//  static uint8_t state = 0;
-//
-//  timestamp++;
-//
-//  switch (state) {
-//  case 0:
-//    P1OUT = BIT0;
-//    state = 1;
-//    break;
-//  case 1:
-//    P1OUT = BIT6;
-//    state = 0;
-//    break;
-//  default:
-//    state = 0;
-//  }
-//}
-
-
-void timeInit() {
-  timestamp = 0;
-
-  P1DIR |= BIT6;
-  P1SEL |= BIT6;
-  P1OUT = 0;
-
-  TACCR0 = 511;
-  TACCR1 = 8;
-  TACCTL1 = OUTMOD_7;
-  TACTL = MC_1 | ID_0 | TASSEL_2 | TACLR;
-}
-
-
-unsigned long millis() {
-  return timestamp;
-}
-

src/utils.cpp

@@ -0,0 +1,33 @@
+/*
+ * utils.cpp
+ *
+ *  Created on: Feb 11, 2015
+ *      Author: wn
+ */
+
+
+
+
+#include "utils.h"
+
+
+int32_t max(int32_t a, int32_t b){
+  return (a >= b) ? a : b;
+}
+
+
+int32_t min(int32_t a, int32_t b) {
+  return (a <= b) ? a : b;
+}
+
+int32_t minmax(int32_t lowerBound, int32_t value, int32_t upperBound){
+  int32_t res = value;
+  if (value <= lowerBound) {
+    res = lowerBound;
+  } else if (value >= upperBound) {
+    res = upperBound;
+  }
+  return res;
+}
+
+

src/utils.h

@@ -0,0 +1,20 @@
+/*
+ * utils.h
+ *
+ *  Created on: Feb 11, 2015
+ *      Author: wn
+ */
+
+#ifndef UTILS_H_
+#define UTILS_H_
+
+
+#include <stdint.h>
+
+int32_t max(int32_t a, int32_t b);
+int32_t min(int32_t a, int32_t b);
+int32_t minmax(int32_t lowerBound, int32_t value, int32_t upperBound);
+
+
+
+#endif /* UTILS_H_ */