main.c

/*
 * TongSheng TSDZ2 motor controller firmware/
 *
 * Copyright (C) Casainho, 2018.
 *
 * Released under the GPL License, Version 3
 */

#include <stdint.h>
#include <stdio.h>
#include "interrupts.h"
#include "stm8s.h"
#include "pins.h"
#include "uart.h"
#include "pwm.h"
#include "motor.h"
#include "wheel_speed_sensor.h"
#include "brake.h"
#include "pas.h"
#include "adc.h"
#include "timers.h"
#include "ebike_app.h"
#include "torque_sensor.h"
#include "eeprom.h"
#include "lights.h"

/////////////////////////////////////////////////////////////////////////////////////////////
//// Functions prototypes

// main -- start of firmware and main loop
int main (void);

// With SDCC, interrupt service routine function prototypes must be placed in the file that contains main ()
// in order for an vector for the interrupt to be placed in the the interrupt vector space.  It's acceptable
// to place the function prototype in a header file as long as the header file is included in the file that
// contains main ().  SDCC will not generate any warnings or errors if this is not done, but the vector will
// not be in place so the ISR will not be executed when the interrupt occurs.

// Calling a function from interrupt not always works, SDCC manual says to avoid it. Maybe the best is to put
// all the code inside the interrupt

// Local VS global variables
// Sometimes I got the following error when compiling the firmware: motor.asm:750: Error: <r> relocation error
// when I have this code inside a function: "static uint8_t ui8_cruise_counter = 0;"
// and the solution was define the variable as global instead
// Another error example:
// *** buffer overflow detected ***: sdcc terminated
// Caught signal 6: SIGABRT

// PWM cycle interrupt
void TIM1_CAP_COM_IRQHandler(void) __interrupt(TIM1_CAP_COM_IRQHANDLER);
void EXTI_PORTC_IRQHandler(void) __interrupt(EXTI_PORTC_IRQHANDLER);
void UART2_IRQHandler(void) __interrupt(UART2_IRQHANDLER);

/////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////

int main (void)
{
  uint16_t ui16_TIM3_counter = 0;
  uint16_t ui16_ebike_app_controller_counter = 0;
  uint16_t ui16_motor_controller_counter = 0;
  uint16_t ui16_debug_uart_counter = 0;

  uint16_t ui16_temp = 0, ui16_throttle_value_filtered = 0;

  //set clock at the max 16MHz
  CLK_HSIPrescalerConfig (CLK_PRESCALER_HSIDIV1);

  brake_init ();
  while (brake_is_set()) ; // hold here while brake is pressed -- this is a protection for development
  eeprom_init ();
  lights_init ();
  uart2_init ();
  timer2_init ();
  timer3_init ();
  adc_init ();
  torque_sensor_init ();
  pas_init ();
  wheel_speed_sensor_init ();
  hall_sensor_init ();
  pwm_init_bipolar_4q ();
  motor_init ();
  ebike_app_init ();
  enableInterrupts ();

  while (1)
  {
    // because of continue; at the end of each if code block that will stop the while (1) loop there,
    // the first if block code will have the higher priority over any others
    ui16_TIM3_counter = TIM3_GetCounter ();
    if ((ui16_TIM3_counter - ui16_motor_controller_counter) > 4) // every 4ms
    {
      ui16_motor_controller_counter = ui16_TIM3_counter;
      motor_controller ();
      continue;
    }

    ui16_TIM3_counter = TIM3_GetCounter ();
    if ((ui16_TIM3_counter - ui16_ebike_app_controller_counter) > 100) // every 100ms
    {
      ui16_ebike_app_controller_counter = ui16_TIM3_counter;
      ebike_app_controller ();
      continue;
    }

#ifdef DEBUG_UART
    ui16_TIM3_counter = TIM3_GetCounter ();
    if ((ui16_TIM3_counter - ui16_debug_uart_counter) > 50)
    {
      ui16_debug_uart_counter = ui16_TIM3_counter;

      // sugestion: no more than 6 variables printed (takes about 3ms to printf 6 variables)
      printf ("%d,%d,%d,%d\n",
        ui16_motor_get_motor_speed_erps(),
        ui8_duty_cycle,
        ui8_adc_battery_current,
        ui8_foc_angle
        );
    }
#endif
  }

  return 0;
}