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can and mcc #18

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can and mcc #18

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869c217
changed to fast pwm
poosomooso May 1, 2016
1a84fd0
so many comments and can
poosomooso May 1, 2016
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174 changes: 122 additions & 52 deletions src/MCC/mcc.c
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Original file line number Diff line number Diff line change
Expand Up @@ -5,27 +5,121 @@
#include <util/delay.h>

ISR(CAN_INT_vect){
//receives a can message containing the value of the amplitude.
//Will store this value right into OCR0A and OCR0B
//by the way i have no idea if I am reading in can messages correctly
//receives a can message containing the value of the amplitude
uint8_t message = 0;

//cansit2 0:5 contains all the mobs
//bit_is_set : checks if that index of that register is 1
if( bit_is_set(CANSIT2, 0)){ //mob0 is throttle
CANPAGE = 0x00;
CANPAGE = 0 << MOBNB0; // This doesn't make sense for MOb 0 but for others it does
CANPAGE = 0x00; //clear canpage
CANPAGE = 0 << MOBNB0; // bitshift the mob number you want to CANPAGE 7:4, which is MOBNB3:0
message = CANMSG; //get message
//Set counters to the values specified by the can message
OCR0B = message;
OCR1BL = message;

/***mob specific errors***/
//receiving errors
if( bit_is_set(CANSTMOB, RXOK) ){
//everything is ok; reset this register
CANSTMOB = 0x00;
return;
} else if(bit_is_set(CANSTMOB, DLCW)){
//length of data is not what you expected
log_error(5);
} else if(bit_is_set(CANSTMOB, SERR)){
//more than 5 consecutive dominant bits; going out of sync
log_error(4);
} else if(bit_is_set(CANSTMOB, CERR)){
//checksum doesn't match up, message wasn't sent correctly
log_error(2);
} else if(bit_is_set(CANSTMOB, FERR)){
//checksum doesn't match up, message wasn't sent correctly
log_error(16);
}

/*
//transmission errors
//not relevant since mcc is not transmitting
if( bit_is_set(CANSTMOB, TXOK) ){
//everything is ok; reset this register
CANSTMOB = 0x00;
return;
} else if(bit_is_set(CANSTMOB, AERR)){
//message not acknowledged by reciever
log_error(7);
return;
} else if(bit_is_set(CANSTMOB, BERR)){
//the bits being monitored on can are different than the bits sent
//oh nooo
abort_CAN();
return;
} else {
//transmission had other booboos
log_error(6);
}
*/
}

message = CANMSG;
//general can eroors
if( bit_is_set(CANGIT, AERG)){
//acknowledgment error
log_error(3);
} else if (bit_is_set(CANGIT, BOFFIT)){
//entered bus off mode; no error frames will be sent
log_error(8);
} else if (bit_is_set(CANGIT, OVRTIM)){
//timer overrun interrupt--when timer goes from 0xFFFF to 0
log_error(9);
} else if (bit_is_set(CANGIT, BXOK)){
//something in frame buffer mode did a good. who knows what it is. probably byron knows
log_error(10);
} else if (bit_is_set(CANGIT, SERG)){
//stuff error interrupt--more than 5 consecutive dominant bits
log_error(11);
} else if (bit_is_set(CANGIT, CERG)){
//checksum error interrupt, message hashes don't match up
log_error(12);
} else if (bit_is_set(CANGIT, FERG)){
//form error, messages in the wrong form
log_error(13);
}
//Set counters to the values specified by the can message
OCR0B = message;
}

void log_error( uint8_t msg ){
uint8_t i;
for(;;){
//blink msg amount of times
for(i=0; i < msg; i++){
PORTC |= _BV(PC4);
_delay_ms(200);
PORTC &= ~_BV(PC4);
_delay_ms(200);
}
_delay_ms(1000);
}
}

void abort_CAN( void ){
//assuming we want to turn on the one led we have
PORTC |= _BV(PC4);
//submit an abort request -- reset canen1 and canen2
CANGCON |= _BV(ABRQ);
//wait for canen2 to be reset
while(bit_is_set(CANEN2, 3)){}
//undo that abort request
CANGCON &= ~_BV(ABRQ);
//can aborted
PORTC &= ~_BV(PC4);
}

//get can message from throttle
int main(void){
//initializing things
CAN_init(1);
/***initializing things***/
CAN_init(0);
sei();

//initialize led for errors
DDRC |= _BV(PC4);

//Enable ADC, set prescalar to 128 (slow down ADC clock)
ADCSRA |= _BV(ADEN); //| _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0);
Expand All @@ -39,83 +133,59 @@ int main(void){
//Reads by default from ADC0 (pin 11); this line
// is redundant.
ADMUX |= _BV( 0x00 );

/*blinky*/
/*
DDRC |= _BV(PC4);

for(;;){
PORTC ^= _BV(PC4);
_delay_ms(500);
}
*/

/*pwm setup*/
/***pwm setup***/

/**8-bit timer
OC0B**/
//need to set counters
//OCR0B is for OC0B
OCR0B = 0x00;

//phase correct pwm
//counter based on value in OCR0A and OCR0B (for pins OC0A and OC0B respectively)
//setting WGM02:0 to 5 allows you to do phase correct pwm and set your own counter
//Pretty sure count is the length of the duty cycle or something.
//and it increases as you go up and decreases as you go down?
//kinda fuzzy.
//fast pwm
//counter based on value in OCR0B (for pin OC0B)
//setting WGM02:0 to 3 allows you to do phase correct pwm and set your own counter
//the data sheet lies
TCCR0A |= _BV(WGM00);
TCCR0A &= ~(_BV(WGM01));
TCCR0A |= _BV(WGM01);

//COM0A0:1 controls the inversion of pwm output in OC0A
//same for COM0B0:1 for OC0B
//COM0B0:1 controls the inversion of pwm output in OC0B
//not sure what inversion does, but you have to choose one
//I think it's probably something about defaulting to high power or low power at different duty cycles?
TCCR0A |= _BV(COM0B1);
TCCR0A &= ~(_BV(COM0B0));

//prescaling: CS02:0
//prescalar of 1 is a pwm frequency of ~1960 Hz
//other prescalar values have smaller frequencies
//not sure what frequency we need
TCCR0B |= _BV(CS00);
TCCR0B &= ~(_BV(CS02) | _BV(CS01));

//pin setup
DDRE |= _BV(PE1);

/*16 bit timer
OC1B*/
/**16 bit timer
OC1B**/

//need to set counters
//OCR0B is for OC0B
//Only need the low part of OCR1B
OCR1BL = 0x00;

//phase correct pwm
//counter based on value in OCR0A and OCR0B (for pins OC0A and OC0B respectively)
//setting WGM02:0 to 5 allows you to do phase correct pwm and set your own counter
//Pretty sure count is the length of the duty cycle or something.
//and it increases as you go up and decreases as you go down?
//kinda fuzzy.
//8-bit fast pwm
//again, the data sheet lies
TCCR1A |= _BV(WGM10);
TCCR1A &= ~(_BV(WGM11));
TCCR1B |= _BV(WGM12);

//COM0A0:1 controls the inversion of pwm output in OC0A
//same for COM0B0:1 for OC0B
//not sure what inversion does, but you have to choose one
//I think it's probably something about defaulting to high power or low power at different duty cycles?
//more inversion
TCCR1A |= _BV(COM1B1);
TCCR1A &= ~(_BV(COM1B0));

//prescaling: CS02:0
//prescalar of 1 is a pwm frequency of ~1960 Hz
//other prescalar values have smaller frequencies
//not sure what frequency we need
TCCR1B |= _BV(CS10);
TCCR1B &= ~(_BV(CS12) | _BV(CS11));

//pin setup
DDRC |= _BV(PC1);

//CANRX
/***CANRX***/
CAN_Rx(0, IDT_throttle, IDT_throttle_l, IDM_single);


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