fault.h File Reference

Fault LED header file. More...

#include <avr/io.h>
#include <util/delay.h>
#include "stdint.h"
#include "config.h"

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Macros
#define	__AVR_ATmega32U4__   1
	Define macro for ATmega32U4 micro controller.

Functions
void	EnableOverCurrentLED (void)
	Enables the over current fault LED.
void	EnableMotorStoppedLED (void)
	Enables the motor stopped fault LED.
void	EnableReverseRotationLED (void)
	Enables the reverse rotation fault LED.
void	EnableU3 (void)
	Enables the user function 3 LED.
void	EnableU2 (void)
	Enables the user function 2 LED.
void	EnableU1 (void)
	Enables the user function 1 LED.
void	EnableNoHallConnectionsLED (void)
	Enables the no hall connection fault LED.
void	DisableFaultLEDs (void)
	Disables all LEDs.
void	SweepLEDsBlocking (void)
	Sweeps through all LEDs individually with a delay.
void	faultSequentialStateMachine (volatile faultflags_t *faultFlags, volatile motorflags_t *motorFlags)
	Sequential State Machine for Handling Fault Flags.

Detailed Description

Fault LED header file.

This file contains the function prototypes related to managing and displaying faults through the LED multiplexer.

Author

Nexperia: http://www.nexperia.com

Support Page

For additional support, visit: https://www.nexperia.com/support

Author

Aanas Sayed

Date

2024/03/08

Definition in file fault.h.

Macro Definition Documentation

__AVR_ATmega32U4__

#define __AVR_ATmega32U4__   1

Define macro for ATmega32U4 micro controller.

Definition at line 26 of file fault.h.

Function Documentation

DisableFaultLEDs()

void DisableFaultLEDs

(

void

)

Disables all LEDs.

Sets: FAULT_BIT3 = 0 FAULT_BIT2 = 0 FAULT_BIT1 = 0

Definition at line 132 of file fault.cpp.

{
  PORTB &= ~((1 << FAULT_PIN_3) | (1 << FAULT_PIN_2));
  PORTD &= ~(1 << FAULT_PIN_1);
}

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EnableMotorStoppedLED()

void EnableMotorStoppedLED

(

void

)

Enables the motor stopped fault LED.

Note

As this feeds to a multiplexer, other LEDs are disabled.

Sets: FAULT_BIT3 = 0 FAULT_BIT2 = 1 FAULT_BIT1 = 0

Definition at line 46 of file fault.cpp.

{
  PORTB &= ~(1 << FAULT_PIN_3);
  PORTB |= (1 << FAULT_PIN_2);
  PORTD &= ~(1 << FAULT_PIN_1);
}

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EnableNoHallConnectionsLED()

void EnableNoHallConnectionsLED

(

void

)

Enables the no hall connection fault LED.

Note

As this feeds to a multiplexer, other LEDs are disabled.

Sets: FAULT_BIT3 = 1 FAULT_BIT2 = 1 FAULT_BIT1 = 1

Definition at line 120 of file fault.cpp.

{
  PORTB |= (1 << FAULT_PIN_3) | (1 << FAULT_PIN_2);
  PORTD |= (1 << FAULT_PIN_1);
}

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EnableOverCurrentLED()

void EnableOverCurrentLED

(

void

)

Enables the over current fault LED.

Note

As this feeds to a multiplexer, other LEDs are disabled.

Sets: FAULT_BIT3 = 0 FAULT_BIT2 = 0 FAULT_BIT1 = 1

Definition at line 32 of file fault.cpp.

{
  PORTB &= ~((1 << FAULT_PIN_3) | (1 << FAULT_PIN_2));
  PORTD |= (1 << FAULT_PIN_1);
}

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EnableReverseRotationLED()

void EnableReverseRotationLED

(

void

)

Enables the reverse rotation fault LED.

Note

As this feeds to a multiplexer, other LEDs are disabled.

Sets: FAULT_BIT3 = 0 FAULT_BIT2 = 1 FAULT_BIT1 = 1

Definition at line 61 of file fault.cpp.

{
  PORTB &= ~(1 << FAULT_PIN_3);
  PORTB |= (1 << FAULT_PIN_2);
  PORTD |= (1 << FAULT_PIN_1);
}

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EnableU1()

void EnableU1

(

void

)

Enables the user function 1 LED.

Note

As this feeds to a multiplexer, other LEDs are disabled.

Sets: FAULT_BIT3 = 1 FAULT_BIT2 = 1 FAULT_BIT1 = 0

Definition at line 106 of file fault.cpp.

{
  PORTB |= (1 << FAULT_PIN_3) | (1 << FAULT_PIN_2);
  PORTD &= ~(1 << FAULT_PIN_1);
}

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EnableU2()

void EnableU2

(

void

)

Enables the user function 2 LED.

Note

As this feeds to a multiplexer, other LEDs are disabled.

Sets: FAULT_BIT3 = 1 FAULT_BIT2 = 0 FAULT_BIT1 = 1

Definition at line 91 of file fault.cpp.

{
  PORTB |= (1 << FAULT_PIN_3);
  PORTB &= ~(1 << FAULT_PIN_2);
  PORTD |= (1 << FAULT_PIN_1);
}

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EnableU3()

void EnableU3

(

void

)

Enables the user function 3 LED.

Note

As this feeds to a multiplexer, other LEDs are disabled.

Sets: FAULT_BIT3 = 1 FAULT_BIT2 = 0 FAULT_BIT1 = 0

Definition at line 76 of file fault.cpp.

{
  PORTB |= (1 << FAULT_PIN_3);
  PORTB &= ~(1 << FAULT_PIN_2);
  PORTD &= ~(1 << FAULT_PIN_1);
}

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faultSequentialStateMachine()

void faultSequentialStateMachine	(	volatile faultflags_t *	faultFlags,
		volatile motorflags_t *	motorFlags )

Sequential State Machine for Handling Fault Flags.

This function implements a sequential state machine for handling fault flags and controlling corresponding LEDs or indicators. It sequentially checks the various fault flags and enables/disables LEDs or indicators based on the current fault flag conditions.

Parameters

faultFlags	A pointer to the volatile faultflags_t structure containing the fault flags to be checked.
motorFlags	A pointer to the volatile motorflags_t structure containing motor control flags (e.g., motor enable status).

Definition at line 182 of file fault.cpp.

{
  static uint8_t state = 1;
 
  switch (state)
  {
  case 1:
    if (faultFlags->motorStopped == TRUE && motorFlags->enable == TRUE)
    {
      EnableMotorStoppedLED();
    }
    else
    {
      DisableFaultLEDs();
    }
    state = 2;
    break;
  case 2:
    if (faultFlags->reverseDirection == TRUE && faultFlags->motorStopped == FALSE)
    {
      EnableReverseRotationLED();
    }
    else
    {
      DisableFaultLEDs();
    }
    state = 3;
    break;
  case 3:
    if (faultFlags->noHallConnections == TRUE)
    {
      EnableNoHallConnectionsLED();
    }
    else
    {
      DisableFaultLEDs();
    }
    state = 4;
    break;
  case 4:
    if (faultFlags->overCurrent == TRUE)
    {
      EnableOverCurrentLED();
    }
    else
    {
      DisableFaultLEDs();
    }
    state = 5;
    break;
  case 5:
    if (faultFlags->userFlag1 == TRUE)
    {
      EnableU1();
    }
    else
    {
      DisableFaultLEDs();
    }
    state = 6;
    break;
  case 6:
    if (faultFlags->userFlag2 == TRUE)
    {
      EnableU2();
    }
    else
    {
      DisableFaultLEDs();
    }
    state = 7;
    break;
  case 7:
    if (faultFlags->userFlag3 == TRUE)
    {
      EnableU3();
    }
    else
    {
      DisableFaultLEDs();
    }
    state = 8;
    break;
  default:
    // No active fault flags; disable all LEDs or indicators.
    DisableFaultLEDs();
    state = 1;
  }
}

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SweepLEDsBlocking()

void SweepLEDsBlocking

(

void

)

Sweeps through all LEDs individually with a delay.

Note

This is a blocking function. Do not use while motor is operational.

Definition at line 144 of file fault.cpp.

{
  EnableU3();
  _delay_ms(100);
 
  EnableU2();
  _delay_ms(100);
 
  EnableU1();
  _delay_ms(100);
 
  EnableNoHallConnectionsLED();
  _delay_ms(100);
 
  EnableOverCurrentLED();
  _delay_ms(100);
 
  EnableMotorStoppedLED();
  _delay_ms(100);
 
  EnableReverseRotationLED();
  _delay_ms(100);
}

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