; ***************************************************************************************
; * 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. *
;*****************************************************************************************
;*****************************************************************************************