Author: jaguarondi
Date: 2008-08-26 11:23:32 +0200 (Tue, 26 Aug 2008)
New Revision: 1587
Modified:
firmware/tuxcore/trunk/motors.c
Log:
* Added a timeout protection on each motor.
Modified: firmware/tuxcore/trunk/motors.c
===================================================================
--- firmware/tuxcore/trunk/motors.c 2008-08-26 08:32:36 UTC (rev 1586)
+++ firmware/tuxcore/trunk/motors.c 2008-08-26 09:23:32 UTC (rev 1587)
@@ -44,19 +44,25 @@
/** Delay during which the motor is inverted when braking the eyes to stop them
* in the close position. There's no need to brake the motor when opening the
* eyes with this gearbox design. */
-#define EYES_BRAKING_DLY 4
+#define EYES_BRAKING_DLY 8
/** Protection timeout for the eyes. */
#define EYES_TIMEOUT 100
+/** Protection timeout for the mouth. */
+#define MOUTH_TIMEOUT 100
/** Delay during which the motor is inverted when braking the mouth to stop it
* in the open or close position. */
#define MOUTH_BRAKING_DLY 8
/** Delay during which the motor is inverted when braking the spinning. Braking
* here is necessary to improve the accuracy of the absolute position. */
#define SPIN_BRAKING_DLY 10
+/** Protection timeout for spinning. */
+#define SPIN_TIMEOUT 250
/** Delay during which the motor is inverted when braking the flippers to stop
* them either up or down. If we don't brake here, the flippers end up in a
* medium position. */
#define FLIPPERS_BRAKING_DLY 4
+/** Protection timeout for the flippers. */
+#define FLIPPERS_TIMEOUT 250
/*! @} */
/** Init value of the timer used to reset the flippers in the low position. */
#define FLIP_TIMER_INIT 0xFF
@@ -90,9 +96,8 @@
* positions. */
uint8_t flippers_timer;
/** Period taken by the previous movement of the flippers. */
-uint8_t flippers_revious_timer;
+uint8_t flippers_previous_timer;
-uint8_t flippers_stop_timeout;
/** Number of periods remaining before stopping the rotation.
* Normally used when braking, to stop the motor after a short period of
* inversion. */
@@ -110,6 +115,17 @@
/** Spinning direction */
static uint8_t spin_direction;
+/** Flag byte to indicate if the movement is specified by duration or not */
+uint8_t duration_movement;
+/** Eyes bit in duration_movement */
+#define EYES_FLAG _BV(0)
+/** Mouth bit in duration_movement */
+#define MOUTH_FLAG _BV(1)
+/** Flippers bit in duration_movement */
+#define FLIPPERS_FLAG _BV(2)
+/** Spin bit in duration_movement */
+#define SPIN_FLAG _BV(3)
+
/** PWM mask register applied on the motor port on a regular basis to drive the
* flippers and spinning. */
uint8_t portB_PWM_mask;
@@ -192,6 +208,7 @@
if (param & 0x01)
{
eyes_stop_delay = value;
+ duration_movement |= EYES_FLAG;
cnt = 0;
}
else
@@ -203,6 +220,7 @@
if (param & 0x01)
{
mouth_stop_delay = value;
+ duration_movement |= MOUTH_FLAG;
cnt = 0;
}
else
@@ -214,6 +232,7 @@
if (param & 0x01)
{
flippers_stop_delay = value;
+ duration_movement |= FLIPPERS_FLAG;
cnt = 0;
}
else
@@ -225,6 +244,7 @@
if (param & 0x01)
{
spin_stop_delay = value;
+ duration_movement |= SPIN_FLAG;
cnt = 0;
}
else
@@ -333,6 +353,7 @@
{
gStatus.mot &= ~GSTATUS_MOT_EYES;
eyes_move_counter = 0;
+ duration_movement &= ~EYES_FLAG;
stop_eyes_motor();
}
@@ -351,7 +372,8 @@
{
gStatus.mot |= GSTATUS_MOT_EYES;
eyes_move_counter = cnt;
- eyes_stop_delay = EYES_TIMEOUT;
+ if (!(duration_movement & EYES_FLAG))
+ eyes_stop_delay = EYES_TIMEOUT;
run_eyes_motor();
}
@@ -446,11 +468,13 @@
if (eyes_move_counter)
{
eyes_move_counter--;
- eyes_stop_delay = EYES_TIMEOUT;
+ if (!(duration_movement & EYES_FLAG))
+ eyes_stop_delay = EYES_TIMEOUT;
if (!eyes_move_counter)
{
stop_eyes_motor();
- invert_eyes_motor();
+ if (!(PSW_EYES_PIN & PSW_EYES_C_MK))
+ invert_eyes_motor();
eyes_stop_delay = EYES_BRAKING_DLY;
}
}
@@ -495,6 +519,7 @@
{
gStatus.mot &= ~GSTATUS_MOT_MOUTH;
mouth_move_counter = 0;
+ duration_movement &= ~MOUTH_FLAG;
stop_mouth_motor();
}
@@ -512,7 +537,8 @@
{
gStatus.mot |= GSTATUS_MOT_MOUTH;
mouth_move_counter = cnt;
- //mouth_stop_delay = 0;
+ if (!(duration_movement & MOUTH_FLAG))
+ mouth_stop_delay = MOUTH_TIMEOUT;
run_mouth_motor();
}
@@ -582,6 +608,8 @@
if (mouth_move_counter)
{
mouth_move_counter--;
+ if (!(duration_movement & MOUTH_FLAG))
+ mouth_stop_delay = MOUTH_TIMEOUT;
if (mouth_final_state != MOUTH_UNKNOWN)
{
if ((mouth_final_state == MOUTH_OPEN) && !(PSW_MOUTH_PIN &
PSW_MOUTH_O_MK))
@@ -641,6 +669,7 @@
{
gStatus.mot &= ~GSTATUS_MOT_WINGS;
flippers_move_counter = 0;
+ duration_movement &= ~FLIPPERS_FLAG;
stop_flippers_motor();
}
@@ -662,7 +691,8 @@
gStatus.mot |= GSTATUS_MOT_WINGS;
flippers_move_counter = cnt;
flippers_PWM = pwm;
- //flippers_stop_delay = 0;
+ if (!(duration_movement & FLIPPERS_FLAG))
+ flippers_stop_delay = FLIPPERS_TIMEOUT;
MOT_FLIPPERS_BW_PT &= ~MOT_FLIPPERS_BW_MK;
flippers_PWMMask |= MOT_FLIPPERS_FW_MK;
PORTB |= flippers_PWMMask;
@@ -770,21 +800,21 @@
{
if (flippers_move_counter == 1)
{
- if ((flippers_revious_timer) && (flippers_timer <
- (flippers_revious_timer - FLIPPERS_RESETTIMER_HYST)))
+ if ((flippers_previous_timer) && (flippers_timer <
+ (flippers_previous_timer - FLIPPERS_RESETTIMER_HYST)))
{
/* flippers are down */
/* Position reached so init gStatus.pos bit to lower
* position */
gStatus.pos &= ~GSTATUS_POS_W0;
flippers_timer = 0;
- flippers_revious_timer = 0;
+ flippers_previous_timer = 0;
}
else
{
/* Unknow position, execute another movement to determine
* it. */
- flippers_revious_timer = flippers_timer;
+ flippers_previous_timer = flippers_timer;
flippers_timer = FLIP_TIMER_INIT;
return;
}
@@ -796,6 +826,8 @@
if (flippers_move_counter)
{
flippers_move_counter--;
+ if (!(duration_movement & FLIPPERS_FLAG))
+ flippers_stop_delay = FLIPPERS_TIMEOUT;
if (!flippers_move_counter)
{
stop_flippers_motor();
@@ -825,6 +857,7 @@
{
gStatus.mot &= ~GSTATUS_MOT_SPIN_MK;
spin_move_counter = 0;
+ duration_movement &= ~SPIN_FLAG;
stop_spin_motor();
}
@@ -846,6 +879,8 @@
if (spin_move_counter)
spin_move_counter++;
spin_direction = LEFT;
+ if (!(duration_movement & SPIN_FLAG))
+ spin_stop_delay = SPIN_TIMEOUT;
spin_PWM = pwm;
spin_PWM_mask &= ~MOT_SPIN_R_MK;
spin_PWM_mask |= MOT_SPIN_L_MK;
@@ -890,6 +925,8 @@
{
spin_move_counter--;
+ if (!(duration_movement & SPIN_FLAG))
+ spin_stop_delay = SPIN_TIMEOUT;
if (!spin_move_counter)
{
spin_PWM_mask &= ~MOT_SPIN_MK;
@@ -951,7 +988,7 @@
}
}
- /* Flippers braking (motor reversed) delay */
+ /* Flippers motor timeout */
if (flippers_stop_delay)
{
flippers_stop_delay--;
@@ -962,7 +999,7 @@
}
}
- /* eyes braking (motor reversed) delay */
+ /* eyes motor timeout */
if (eyes_stop_delay)
{
eyes_stop_delay--;
@@ -972,7 +1009,7 @@
}
}
- /* mouth braking (motor reversed) delay */
+ /* mouth motor timeout */
if (mouth_stop_delay)
{
mouth_stop_delay--;
@@ -982,7 +1019,7 @@
}
}
- /* spin braking (motor reversed) delay */
+ /* spin motor timeout */
if (spin_stop_delay)
{
spin_stop_delay--;
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