1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
|
; ***************************************************************************************
; * PWM MODEL RAILROAD THROTTLE *
; * *
; * "throttle.asm" *
; * *
; * WRITTEN BY: PHILIP DEVRIES *
; * *
; * Copyright (C) 2003 Philip DeVries *
; * *
; * This program is free software; you can redistribute it and/or modify *
; * it under the terms of the GNU General Public License as published by *
; * the Free Software Foundation; either version 2 of the License, or *
; * (at your option) any later version. *
; * *
; * This program is distributed in the hope that it will be useful, *
; * but WITHOUT ANY WARRANTY; without even the implied warranty of *
; * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
; * GNU General Public License for more details. *
; * *
; * You should have received a copy of the GNU General Public License *
; * along with this program; if not, write to the Free Software *
; * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA *
; * *
; ***************************************************************************************
; ***************************************************************************************
; * Fixed Version for avra >= 1.2.2 because .DSEG cannot be used, if device has no SRAM *
; * B.Arenfeld, 10.05.2007 *
; ***************************************************************************************
; ***************************************************************************************
; *For Attiny 15 *
; * *
; *For compilation with: Avra 0.70 or later *
; * *
; * Atmel avrasm32.exe will not work becaue of the *
; * use of preprocessor directives #ifdef, #ifndef *
; * , and #endif, which Atmel doesn't support! *
; * *
; *Compiling requires the following files: *
; * "tn15def.inc" Labels and identifiers for tiny15 *
; * "throttle_dev_set.inc" Tiny 15 device settings *
; * "throttle_op_set.inc" Operation settings (THIS IS THE ONE TO EDIT THE *
; * COMPLIE-TIME OPTIONS ON THE WAY THE THROTTLE *
; * PERFORMS *
; * *
; *Depending on the compile time options, the following files are also required: *
; * "throttle_divide.asm" Two division routines. (one from atmel) *
; * "throttle_set_lowpass.asm" Lowpass filter on throttle handle *
; * "throttle_momentum.asm" Compute speed according to momentum *
; * "throttle_momentum_lowpass.asm" Lowpass filter on momentum handle *
; * "throttle_backemf.asm" Adjust pwm based on motor speed *
; * "throttle_pulse.asm" Provide pulse assist at low motor speeds *
; * "throttle_multiply.asm" atmel multiplication routine *
; * *
; *Subroutine Categories and Stack *
; * *
; * The Tiny 15 has a three level stack which handles return addresses for *
; * subroutine calls and for interrupt service routines. The categories below *
; * ensure that the stack does not overflow. The four (4) categories are: *
; * *
; * -- Top Level Routines: These routines are never called, and never *
; * return ("ret") and so the stack is, "empty" *
; * These routines may call any subroutine. *
; * Register Variables: Temp, Temp1, ... *
; * *
; * -- First Level Subroutines: Stack has 1 entry. These routines may call *
; * Second Level Subroutines only. *
; * Register Variables: A_Temp, A_Temp1, ... *
; * *
; * -- Second Level Subroutines: Stack has 2 entries. These routines may NOT *
; * call any subroutines. *
; * Register Variables: B_Temp, B_Temp1, ... *
; * *
; * -- Interrupt Service These occur assynchronously, and therefor may *
; * occur during Second Level Subroutines. If so, *
; * the stack has 3 entries and IS FULL. These routines *
; * may NOT call any subroutines. *
; * Register Variables: I_Temp, I_Temp1, ... *
; * *
; * Register variables are reserved for each level of routine. Each level may freely *
; * use the register variables for it's own level. Some sharing of variables may *
; * occur subject to these guidelines: *
; * -- No category execpt Interrupt Service may use Interrupt Service variables. This *
; * is because ISRs occur asynchronously. *
; * -- A category may NOT use variables reserved for higher level categories. *
; * -- A category may use lower level routine variables as long as their use does not *
; * span any subroutine calls. *
; * *
; *Other settings *
; * There is no way to put these settings into this file, but these must also be *
; * done: *
; * *
; * BODLEVEL: 0 4.0V *
; * BOODEN: 0 ENABLED (brown out detection) *
; * SPIEN: 0 ENABLED (in circuit programming) *
; * RSTDISBL 0 DISABLED (reset on PB5) *
; * CKSEL 11 (very quickly rising power) *
; * LB1 1 (LB1 & LB2: No lock) *
; * LB2 1 *
; * *
; * Calibration byte into flash byte address as specified in *
; * osccal_location. *
; * *
; * Notes regarding these settings: *
; * --Brown out detection. The datasheet warns against using the EEPROM without *
; * brownout detection because of the possibility of errant execution at very low *
; * voltage levels. *
; * *
; **************************************************************************************
;*****************************************************************************************
;*****************************************************************************************
;* Included files *
;*****************************************************************************************
;*****************************************************************************************
.INCLUDE "tn15def.inc" ; Labels and identifiers for tiny15
.INCLUDE "throttle_op_set.inc" ; Operation settings
.INCLUDE "throttle_dev_set.inc" ; Tiny 15 device settings
;*****************************************************************************************
;*****************************************************************************************
;* DATA TABLE *
;*****************************************************************************************
;*****************************************************************************************
;.CSEG
;.ORG 0x01E0 ; Program .ORG 0x01E0 actually means byte
; location 0x03C0.
;*****************************************************************************************
;*****************************************************************************************
;* Data: reserved for OSCCAL byte *
;*****************************************************************************************
;*****************************************************************************************
; Fix : The Tiny15 has NO SRAM. Use of .DSEG is invalid !
;.DSEG
;
;.SET osccal_location = 0x3FF ;Place in the last byte of program memory.
; ;High byte of program memory 1FF
;
;.ORG osccal_location ;reserve this byte for oscillator
;.BYTE 1 ;calibration value
; Fixed Version for avra >= 1.2.2
.CSEG
.EQU osccal_location = 0x3FF ; The last flash byte is used for the calibration
; value and is replaced by the programmer
; Now reserve the last word in flash memory. If you are sure, that the program doesn't use
; the last flash word, you can disable the following lines. If not, it's better to enable
; them to check for overlapping code segments.
.ORG 0x01FF ; Last word in flash memory
.DB 0xff,0xff ; Fill with dummy values. Only last byte is used
; but flash is organized in words.
; 0xff is the value of unprogrammed flash
;*****************************************************************************************
;*****************************************************************************************
;* Reset and Interrupt Vectors *
;*****************************************************************************************
;*****************************************************************************************
.CSEG
.ORG 0x000
rjmp ST_RESET
.ifdef OVERLOAD_ENABLED
rjmp ST_PWM_LEVEL_OFF ; INT0 interrupt handler
.else
reti ; Not used.
.endif ;OVERLOAD_ENABLED
reti ; Not used. rjmp PIN_CHANGE
reti ; Not used. rjmp TIM1_CMP
reti ; Not used. rjmp TIM1_OVF
reti ; Not used. rjmp TIM0_OVF
reti ; Not used. rjmp EE_RDY
reti ; Not used. rjmp ANA_COMP
reti ; Not used. rjmp ADC
;*****************************************************************************************
;*****************************************************************************************
;* Top level routines. The basic program is a state machine, with states all being *
;* top level routines. These routines are never used as subroutines *
;* and therefore can call any subroutine. *
;*****************************************************************************************
;*****************************************************************************************
;********************************************************************************
;* ST_RESET *
;* This is power on reset. The reset vector points here. *
;* *
;* Inputs: none *
;* Returns: none *
;* Changed: B_Temp *
;* Calls: *
;* Goto: ST_MOTOR_OFF *
;********************************************************************************
ST_RESET:
cli ; Disable interrupts
ldi B_Temp,(dir_out_port_bit | pwm_port_bit | dir_in_port_bit | momentum_port_bit)
out DDRB,B_Temp ; Assign output port directions.
; Inclusion in the above list makes the
; port an output port
ldi B_Temp,0x00 ; A "1" makes output logic level high
out PORTB,B_Temp ; A "1" assigns pullups on inputs
; Therefore all outputs are at logic low, and
; all inputs do not have a pullup assigned
ldi B_Temp,acsr_val ; Disable comparator and interrupt
out ACSR,B_Temp ; Using port for PWM
; (comparator defaults to powered up)
ldi B_Temp,0b01000010 ; Disable pullups.
out MCUCR,B_Temp ; Set sleep mode (moot)
; INT0 interrupt on falling edge
ldi ZL,low(osccal_location) ; r30
ldi ZH,high(osccal_location) ; r31
lpm
out OSCCAL,Implicit ; Place calibration byte
ldi B_Temp,0b00001010 ; Enable watchdog
out WDTCR,B_Temp ; timout 64mS (nom)
ldi B_Temp1,pwm_period ; Set pwm oscillator period
out OCR1B,B_Temp1
ldi B_Temp1,tccr1_enable_t1 ; Turn on the PWM oscillator
out TCCR1,B_Temp1
ldi Flags_1,(0b00000000 | F_stop) ; Set emergency stop flag so that
; throttle doesn't start on powerup
.ifdef TRADITIONAL_ENABLED
.ifdef MOMENTUM_LOWPASS_ENABLED
clr momentum_lo_prev ; MOMENTUM LOWPASS
clr momentum_hi_prev ; Clear the history
.endif ;MOMENTUM_LOWPASS_ENABLED
.endif ;TRADITIONAL_ENABLED
; rjmp ST_EMERGENCY_STOP ; ***EXIT STATE***
;********************************************************************************
;* ST_EMERGENCY_STOP *
;* *
;* Reset to "off" state. *
;* Clear global variables associated with momentum and lowpass filters. *
;* *
;* Inputs: none *
;* Returns: none *
;* Changed: Global variables cleared *
;* Calls: None *
;* Goto: ST_PWM_LEVEL_OFF If throttle is zero *
;********************************************************************************
ST_EMERGENCY_STOP:
.ifdef BACKEMF_ENABLED
.ifdef LOWPASS_ENABLED ; BACKEMF LOWPASS
clr error_hi_prev ; Clear the history
clr error_lo_prev
.endif ;LOWPASS_ENABLED
.endif ;BACKEMF_ENABLED
.ifdef MOMENTUM_ENABLED ; MOMENTUM
clr speed_lo_prev ; Clear the history
clr speed_hi_prev
.endif ;MOMENTUM_ENABLED
.ifdef TRADITIONAL_ENABLED
.ifdef WALKAROUND_ENABLED
clr throttle_hold ; Clear the history
.endif ;WALKAROUND_ENABLED
.ifdef THROTTLE_LOWPASS_ENABLED
clr throttle_lo_prev ; THROTTLE LOWPASS
clr throttle_hi_prev ; Clear the history
.endif ;THROTTLE_LOWPASS_ENABLED
.endif ;TRADITIONAL_ENABLED
; rjmp ST_PWM_LEVEL_OFF ; ***EXIT STATE***
;********************************************************************************
;* ST_PWM_LEVEL_OFF *
;* ST_MEASUREMENT_SETTLE *
;* 1. If entered at ST_PWM_LEVEL_OFF turn pwm off *
;* 2. Set the ADC ports to input *
;* 3. Pause to let ADC inputs (including back-emf) settle. *
;* 4. Read the throttle controller. *
;* 5. Set LED ports and overload ports (also ADC inputs) to output *
;* 6. If throttle_set is not zero, or if motor is still running by momentum *
;* continue running motor (jump to ST_SET_NEW_PWM) *
;* 7. If throttle set is zero and motor is not running, then set the direction *
;* relay and test backemf input to determine backemf mode. *
;* 8. Turn of motor (jump to ST_PWM_LEVEL_OFF) *
;* *
;* Inputs: none *
;* Returns: none *
;* Changed: B_Temp, B_Temp1 *
;* Calls: READ_THROTTLE *
;* Goto: ST_PWM_LEVEL_OFF If throttle is zero *
;* ST_SET_NEW_PWM After delay *
;********************************************************************************
ST_PWM_LEVEL_OFF:
clr B_Temp ; Set PWM duty = 0.
rcall SET_PWM_DUTY ; i.e. turn off the power
ST_MEASUREMENT_SETTLE:
;********************************************
;* Set all measurement ports for input and pause.
;* During the pause:
;* 1. inductive current in the locomotive falls to zero, and
;* the backemf voltage appears on the backemf port
;* 2. the momentum, direction, and throttle voltages stabilize
;********************************************
.ifdef TRADITIONAL_ENABLED
.ifdef LEDS_ENABLED
cbi DDRB,momentum_port ; Make input port (pullup must be disabled)
cbi DDRB,dir_in_port ; Make input port (pullup must be disabled)
.endif ;LEDS_ENABLED
.ifdef OVERLOAD_ENABLED
in B_Temp,GIMSK ; disable INT0 interrupt
andi B_Temp,0b10111111
out GIMSK,B_Temp
cbi DDRB,throttle_port ; Make input port (pullup must be disabled)
.endif ;OVERLOAD_ENABLED
.endif ;TRADITIONAL_ENABLED
sei ; Enable interrupts
wdr ; Reset watchdog timer
ldi B_Temp1,pwm_full_count ; Pause for inputs to settle
rcall COUNT_PWM_CYCLES
clr Cycle_count
;********************************************
;* Read the input ports and make some
;* mode decisions based on those inputs.
;********************************************
rcall READ_THROTTLE ; Find throttle handle position in throttle_set
.ifdef TRADITIONAL_ENABLED
.ifdef MOMENTUM_ENABLED
.ifdef MOMENTUM_LOWPASS_ENABLED
.include "throttle_momentum_lowpass.asm"
.endif;MOMENTUM_LOWPASS_ENABLED
.endif; MOMENTUM_ENABLED
.endif ;TRADITIONAL_ENABLED
.ifdef DIRECTION_ENABLED ; Check Stop, and Adjust Direction
CHECKING_STOP:
sbrs Flags_1,BF_stop ; Check stop flag is set
rjmp DONE_CHECKING_STOP
cpi throttle_set,0x00 ; If throttle handle is at zero
brne ST_EMERGENCY_STOP ; reset the emergency stop flag
cbr Flags_1,F_stop ; reset emergency stop flag.
rjmp ST_EMERGENCY_STOP ; ALWAYS STOP
DONE_CHECKING_STOP:
CHECKING_DIRECTION:
.ifdef MOMENTUM_ENABLED
mov B_Temp,speed_hi_prev ; Don't set direction unless the actual
cpi B_Temp,direction_threshold ; speed is less than direction_threshold
brsh DONE_CHECKING_DIRECTION
.else
cpi throttle_set,0x00 ; Don't set direction unless the throttle
brne DONE_CHECKING_DIRECTION ; handle is at zero
.endif ;MOMENTUM_ENABLED
sbic PORTB,dir_out_port ; Find port direction
rjmp PORT_REVERSE
;rjmp PORT_FORWARD
PORT_FORWARD:
sbrs Flags_1,BF_reverse ; If port says forward
rjmp DONE_CHECKING_DIRECTION
sbi PORTB,dir_out_port ; But flag says reverse, then reverse
rjmp ST_EMERGENCY_STOP
PORT_REVERSE:
sbrc Flags_1,BF_reverse ; If port says reverse
rjmp DONE_CHECKING_DIRECTION
cbi PORTB,dir_out_port ; But flag says foreward, then forward
rjmp ST_EMERGENCY_STOP
DONE_CHECKING_DIRECTION:
.endif ;DIRECTION_ENABLED
.ifdef TRADITIONAL_ENABLED
.ifdef THROTTLE_LOWPASS_ENABLED
.include "throttle_set_lowpass.asm"
.endif ;THROTTLE_LOWPASS_ENABLED
.endif ;TRADITIONAL_ENABLED
cpi throttle_set,0x00 ; Run the pwm unless the throttle
brne ST_SET_NEW_PWM ; is zero
.ifdef MOMENTUM_ENABLED
mov B_Temp,speed_hi_prev ; In momentum mode, run the pwm unless
cpi B_Temp,0x00 ; the actual throttle setting reaches zero
brne ST_SET_NEW_PWM
.endif ;MOMENTUM_ENABLED
;********************************************
;* Only arrive here if the throttle is set for 0 speed
;* and the locomotive is actually stopped (momentum)
;********************************************
.ifdef BACKEMF_ENABLED
;********************************************
;* The backemf measurement should be at or near zero,
;* since the locomotive is stopped. If it isn't,
;* do not use backemf speed control.
;********************************************
sbr Flags_1,F_use_backemf ; Default to use backemf
rcall ADC_SETUP_EMF ; 4 lines read the backemf
WAIT_FOR_VALID:
sbis ADCSR,ADIF
rjmp WAIT_FOR_VALID
in B_Temp,ADCH ; Read the measurement
cpi B_Temp,0x40 ; Test measurement
brlo END_CHECK_BACKEMF_MODE ; If small, use backemf adjustment.
cbr Flags_1,F_use_backemf ; Otherwise, don't use backemf
END_CHECK_BACKEMF_MODE:
.endif ;BACKEMF_ENABLED
.ifdef TRADITIONAL_ENABLED
.ifdef LOCO_LIGHT_ENABLED
ldi throttle_set,light_pwm
rjmp STABLE_PWM_SET
.else
rjmp ST_PWM_LEVEL_OFF
.endif ;LOCO_LIGHT_ON
.else
rjmp ST_PWM_LEVEL_OFF
.endif ;TRADITIONAL_ENABLED
;********************************************************************************
;* ST_SET_NEW_PWM *
;* Compute the pwm setting based upon momentum, backemf, and throttle setting *
;* Inputs: throttle_set *
;* Returns: none *
;* Changed: throttle_set, other variables in included files *
;* Calls: various in included files *
;* Goto: ST_PWM_LEVEL_ON *
;********************************************************************************
ST_SET_NEW_PWM:
.ifdef TRADITIONAL_ENABLED
.ifdef LEDS_ENABLED
cbi PORTB,dir_in_port ; logic low out (turn off LED)
sbi DDRB,dir_in_port ; Assign output to drive led (output is low)
cbi PORTB,momentum_port ; logic low out (turn off LED)
sbi DDRB,momentum_port ; Assign output to drive led (output is low)
.endif ;LEDS_ENABLED
.ifdef OVERLOAD_ENABLED
;********************************************
;* The thottle port is driven to logic high. If this port gets pulled
;* low (overload), this triggers the INT0 interrupt, which will shut off
;* the pwm.
;********************************************
sbi PORTB,throttle_port ; Logic hi out.
sbi DDRB,throttle_port ; Make output port.
.endif ;OVERLOAD_ENABLED
.endif ;TRADITIONAL_ENABLED
.ifdef MOMENTUM_ENABLED
.include "throttle_momentum.asm" ; momentum adjustment
.endif ;MOMENTUM_ENABLED
.ifdef TRADITIONAL_ENABLED
.ifdef WALKAROUND_ENABLED
mov throttle_hold,throttle_set
.endif ;WALKAROUND_ENABLED
.endif ;TRADITIONAL_ENABLED
.ifdef BACKEMF_ENABLED ;********************************************
; Adjust throttle_set according to
; measured backemf.
;********************************************
sbrs Flags_1,BF_use_backemf ; If the flag is set, use backemf
rjmp DONT_BACKEMF ; Otherwise, don't
.include "throttle_backemf.asm"
; If using backemf, don't use throttle_scale
rjmp ST_PWM_LEVEL_ON ; ***EXIT STATE***
DONT_BACKEMF:
.endif ;BACKEMF
;*****************************************************************
;* Scale the throttle_set between 0 and pwm_period *
;* multiply pwm_period and throttle_set and divide by 256 *
;* read answer from hi byte of return. *
;*****************************************************************
HILOCAL1 _main_scale_multiplicand
B_TEMPLOCAL _main_scale_multiplier
B_TEMPLOCAL1 _main_scale_result_hi
ldi _main_scale_multiplicand,pwm_period - pwm_min
mov _main_scale_multiplier,throttle_set
rcall mpy8u ; multiply
mov throttle_set,_main_scale_result_hi ; read result
; rjmp ST_PWM_LEVEL_ON ; ***EXIT STATE***
;********************************************************************************
;* ST_PWM_LEVEL_ON *
;* 1. Enable overload testing *
;* 2. Produce pulse if required *
;* 3. Run pwm at throttle_set *
;* 4. Wait for a while *
;* *
;* Inputs: throttle_set *
;* Returns: none *
;* Changed: B_Temp, B_Temp1, various *
;* Calls: SET_PWM_DUTY *
;* COUNT_PWM_CYCLES *
;* Goto: ST_PWM_LEVEL_OFF After PWM goes to off state *
;********************************************************************************
ST_PWM_LEVEL_ON:
.ifdef TRADITIONAL_ENABLED
.ifdef OVERLOAD_ENABLED
ldi B_Temp,0b01000000 ; clear INT0 interrupt
out GIFR,B_Temp
in B_Temp,GIMSK ; enable INT0 interrupt
ori B_Temp,0b01000000
out GIMSK,B_Temp
.endif ;OVERLOAD_ENABLED
.endif ;TRADITIONAL_ENABLED
cpi throttle_set,light_pwm ; never run pwm lower than light_pwm level
brsh DONE_CHECKING_MINIMUM
ldi throttle_set,light_pwm
rjmp STABLE_PWM_SET
DONE_CHECKING_MINIMUM:
.ifdef PULSE_ENABLED ; Produce pulses during output
.ifdef BACKEMF_ENABLED
sbrc Flags_1,BF_use_backemf ; If the flag is set to use backemf
rjmp STABLE_PWM_SET ; don't pulse
.endif ;BACKEMF_ENABLED
; Pass in: throttle_set
.include "throttle_pulse.asm"
.endif ;PULSE_ENABLED
STABLE_PWM_SET:
mov B_Temp,throttle_set ; Stabilize at throttle_set
rcall SET_PWM_DUTY
ldi B_Temp1,pwm_full_count-pwm_settle_count
rcall COUNT_PWM_CYCLES ; Wait for end of interval
.ifdef BACKEMF_ENABLED
sbrc Flags_1,BF_use_backemf ; If the flag is set to use backemf
rjmp ST_PWM_LEVEL_OFF ; ***EXIT STATE***
.endif ;BACKEMF_ENABLED
rjmp ST_MEASUREMENT_SETTLE ; ***EXIT STATE***
;*****************************************************************************************
;*****************************************************************************************
;* First Level Subroutines. *
;* These routines include the routines which are called by other code and also call *
;* Second Level Subroutines. *
;*****************************************************************************************
;*****************************************************************************************
;********************************************************************************
;* READ_THROTTLE *
;* First Level Subroutine *
;* *
;* Read the throttle controls, which are: *
;* Momentum level (analog): Returned in "momentum_set" *
;* Returns and 8 bit number, with '0' meaning minimum momentum. *
;* *
;* Direction, brake, and stop switch. *
;* Returns value in flags: F_brake, F_reverse, and F_stop *
;* *
;* Throttle setting (analog: Returned in "throttle_set" *
;* Returns an 8 bit number (0x00 to 0xFF; 0 to 255), *
;* where '0' means "motor off" and 0xFF (255) means full speed. *
;* *
;* If a speed table is implemented, it will be in this routine *
;* *
;* Just now, this value comes from the analog input and is converted by the *
;* ADC. The raw 8 bit number is returned. *
;* *
;* Inputs: None *
;* Returns: Momentum setting in "momentum_set" *
;* Switch positions in F_brake, F_reverse, and F_stop *
;* Throttle setting in "throttle_set" *
;* Changed: Cycle_count incremented by up to 5 *
;* Calls: ADC_SETUP_MOMENTUM *
;* ADC_SETUP_DIRECTION *
;* ADC_SETUP_THROTTLE *
;********************************************************************************
READ_THROTTLE:
.ifdef TRADITIONAL_ENABLED
.ifdef DIRECTION_ENABLED
;********************************************
;* Measure the direction, brake, and stop switches and
;* set the flags appropriately
;********************************************
rcall ADC_SETUP_DIRECTION ; Setup to read
WAIT_FOR_VALID_DIRECTION:
sbis ADCSR,ADIF ; Check for ADC completion
rjmp WAIT_FOR_VALID_DIRECTION
in B_Temp,ADCH ; Read value
.ifdef WALKAROUND_ENABLED
cpi B_Temp,0x90 ; Above this threshold
; deactivates handheld controller
; brsh HOLD_THROTTLE
brlo HOLD_THROTTLE_NOT
rjmp HOLD_THROTTLE
HOLD_THROTTLE_NOT:
.endif ;WALKAROUND_ENABLED
cpi B_Temp,0x1B ; Below this threshold (0.53V) sets 'stop' flag
brsh TEST_BRAKE_LEVEL ; Typical stop voltage is 0.30V
.ifdef SWITCH_LOWPASS_ENABLED
sbrs Flags_2,BF_stop_count ; If the stop count flag is not set, then
clr Flags_2 ; set the counter to zero
cbr Flags_2,F_stop_count ; clear the stop count flag
inc Flags_2 ; increment the counter
cpi Flags_2,stop_count_max ; compare the count to the maximum
sbr Flags_2,F_stop_count ; set the stop count flag
brlo END_READ_DIRECTION ; if the count is lower, don't change status flag
dec Flags_2,F_stop_count ; decrement stop count flag
.endif;SWITCH_LOWPASS_ENABLED
sbr Flags_1,F_stop
rjmp END_READ_DIRECTION
TEST_BRAKE_LEVEL:
cpi B_Temp,0x37 ; Below this threshold (1.07V) sets 'brake' flag
brsh TEST_REVERSE_LEVEL ; Typical brake voltage 0.87V
.ifdef SWITCH_LOWPASS_ENABLED
sbrs Flags_2,BF_brake_count ; If the brake count flag is not set, then
clr Flags_2 ; set the counter to zero
cbr Flags_2,F_brake_count ; clear the break count flag
inc Flags_2 ; increment the counter
cpi Flags_2,brake_count_max ; compare the count to the maximum
sbr Flags_2,F_brake_count ; set the break count flag
brlo END_READ_DIRECTION ; if the count is lower, don't change status flag
dec Flags_2,F_brake_count ; decrement break count flag
.endif;SWITCH_LOWPASS_ENABLED
sbr Flags_1,F_brake
rjmp END_READ_DIRECTION
TEST_REVERSE_LEVEL:
cpi B_Temp,0x53 ; Below this threshold (1.62V) sets 'reverse' flag
brsh TEST_FOREWARD_LEVEL ; Typical reverse level 1.40V
.ifdef SWITCH_LOWPASS_ENABLED
sbrs Flags_2,BF_reverse_count ; If the reverse count flag is not set, then
clr Flags_2 ; set the counter to zero
cbr Flags_2,F_reverse_count ; clear the reverse count flag
inc Flags_2 ; increment the counter
cpi Flags_2,reverse_count_max ; compare the count to the maximum
sbr Flags_2,F_reverse_count ; set the reverse count flag
brlo END_READ_DIRECTION ; if the count is lower, don't change status flag
dec Flags_2,F_reverse_count ; decrement reverse count flag
.endif;SWITCH_LOWPASS_ENABLED
cbr Flags_1,F_brake ; Clear brake flag
sbr Flags_1,F_reverse ; Set brake flag
rjmp END_READ_DIRECTION
TEST_FOREWARD_LEVEL: ; Typical "nothing" 1.95V
;no test required
.ifdef SWITCH_LOWPASS_ENABLED
sbrs Flags_2,BF_foreward_count ; If the foreward count flag is not set, then
clr Flags_2 ; set the counter to zero
cbr Flags_2,F_foreward_count ; clear the foreward count flag
inc Flags_2 ; increment the counter
cpi Flags_2,foreward_count_max ; compare the count to the maximum
sbr Flags_2,F_foreward_count ; set the foreward count flag
brlo END_READ_DIRECTION ; if the count is lower, don't change status flag
dec Flags_2,F_foreward_count ; decrement forward count flag
.endif;SWITCH_LOWPASS_ENABLED
cbr Flags_1,F_brake ; Clear brake flag
cbr Flags_1,F_reverse ; Clear reverse flag (i.e., foreward)
END_READ_DIRECTION:
.endif ;DIRECTION_ENABLED
.ifdef MOMENTUM_ENABLED
;********************************************
;* Measure and adjust the momentum input
;********************************************
rcall ADC_SETUP_MOMENTUM ; Setup to read
WAIT_FOR_VALID_MOMENTUM:
sbis ADCSR,ADIF ; Wait for ADC completion
rjmp WAIT_FOR_VALID_MOMENTUM
in momentum_set,ADCH ; Read value
.ifdef WALKAROUND_ENABLED
ldi B_Temp,0x90
cp momentum_set,B_Temp ; Above this threshold
; deactivates handheld controller
brsh HOLD_THROTTLE
.endif ;WALKAROUND_ENABLED
ldi B_Temp,0x40
sub momentum_set,B_Temp ; Subtract offset (1/4 of 0xFF)
brsh END_READ_MOMENTUM
sub momentum_set,momentum_set ; If smaller than offset, make zero
END_READ_MOMENTUM:
.endif ;MOMENTUM_ENABLED
;********************************************
;* Read the throttle level
;********************************************
rcall ADC_SETUP_THROTTLE
WAIT_FOR_VALID_THROTTLE:
sbis ADCSR,ADIF ; Check for ADC completion
rjmp WAIT_FOR_VALID_THROTTLE
in throttle_set,ADCH ; Read throttle value
subi throttle_set,0x08 ; Subtract offset (force zero)
brcc DONE_READ_THROTTLE ; If new throttle is negative,
clr throttle_set ; make throttle zero.
DONE_READ_THROTTLE:
subi Cycle_count,256-3 ; Normal arrival here occurs after 3 adc
ret ; conversions, which take 195uS, or 4.875
; pwm cycles
.ifdef WALKAROUND_ENABLED
HOLD_THROTTLE: ; Normal arrival here occurs after 1 adc
; conversion, which takes 65uS, or 1.625
; pwm cycles
cbr Flags_1,F_brake ; Clear brake flag
mov throttle_set,throttle_hold ; Use previous value.
.ifdef SWITCH_LOWPASS_ENABLED
clr Flags_2
.endif;SWITCH_LOWPASS_ENABLED
.ifdef MOMENTUM_ENABLED
ldi B_Temp,0x40
mov momentum_set,B_Temp ; 'long' momentum
.endif ;MOMENTUM_ENABLED
ret
.endif ;WALKAROUND_ENABLED
.else ;NOT TRADITIONAL_THROTTLE
sbr Flags_1,F_stop
ret
.endif ;TRADITIONAL_THROTTLE
;********************************************************************************
;* COUNT_PWM_CYCLES *
;* First evel Subroutine *
;* *
;* Increment Cycle_count timer each PWM cycle. *
;* Return when Cycle_count = B_Temp1 *
;* *
;* Inputs: B_Temp1 Exit when count reaches this number *
;* Returns: None *
;* Changed: B_Temp,Cycle_count *
;* Calls: None *
;********************************************************************************
COUNT_PWM_CYCLES:
in B_Temp,TIFR ; Wait for pwm timer to reset
sbrs B_Temp,OCF1A
rjmp COUNT_PWM_CYCLES
ldi B_Temp,0b01000000 ; reset interrupt flag
out TIFR,B_Temp
inc Cycle_count ; increment counter and repeat
cp Cycle_count,B_Temp1
brne COUNT_PWM_CYCLES
ret
;*****************************************************************************************
;*****************************************************************************************
;* Second Level Subroutines. *
;* These routines make no further subroutine calls. *
;*****************************************************************************************
;*****************************************************************************************
.include "throttle_divide.asm"
.include "throttle_multiply.asm"
;********************************************************************************
;* SET_PWM_DUTY *
;* Second Level Subroutine *
;* *
;* Inputs: B_Temp PWM on count *
;* Returns: None *
;* Changed: None *
;* Calls: Not allowed *
;********************************************************************************
SET_PWM_DUTY:
out OCR1A,B_Temp ; Set the PWM equal to the input B_Temp
ret
;********************************************************************************
;* ADC_SETUP_DIRECTION *
;* ADC_SETUP_MOMENTUM *
;* ADC_SETUP_THROTTLE *
;* ADC_SETUP_BACK_EMF *
;* Second Level Subroutine *
;* *
;* The ADC is switched off, and restarted on the selected port. *
;* *
;* Inputs: None *
;* Returns: None *
;* Changed: Various B_Temp variables *
;* Calls: Not allowed *
;********************************************************************************
.ifdef DIRECTION_ENABLED
ADC_SETUP_DIRECTION:
ldi B_Temp,admux_direction ; Setup MUX for direction/brake measurement
rjmp ADC_SETUP
.endif ;DIRECTION_ENABLED
.ifdef MOMENTUM_ENABLED
ADC_SETUP_MOMENTUM:
ldi B_Temp,admux_momentum ; Setup MUX for momentum set measurement
rjmp ADC_SETUP
.endif ;MOMENUTM_ENABLED
.ifdef BACKEMF_ENABLED
ADC_SETUP_EMF:
ldi B_Temp,admux_emf ; Setup MUX for back_emf measurement
rjmp ADC_SETUP
.endif ;BACKEMF_ENABLED
.ifdef TRADITIONAL_ENABLED
ADC_SETUP_THROTTLE:
ldi B_Temp,admux_throttle ; Setup MUX for analog measure
; rjmp ADC_SETUP ; of throttle.
.endif ;TRADITIONAL_ENABLED
ADC_SETUP:
ldi B_Temp1,adcsr_off ; Turn off the ADC
out ADCSR,B_Temp1 ;
out ADMUX,B_Temp ; Setup MUX as per entry point
ldi B_Temp,adcsr_enable ; enable ADC, disable interrupt, clear
out ADCSR,B_Temp ; interrupt flag, free-running.
ret
;*****************************************************************************************
;*****************************************************************************************
;* Interrupt Service routines. *
;* These routines can occur assynchronously. Therfore, they might occur during a second *
;* level routine. Therefore THEY MAY NOT CALL ANY SUBROUTINES. *
;*****************************************************************************************
;*****************************************************************************************
|
