The problem I am having is that a certain part of my program is not getting executed after it should be, yet I have found any issues when running AVR Simulator 2 nor are there any compile issues.
Theory of operation:
Run:
1. If !TRIGGER de-bounce TRIGGER input via software routine before turning on drive.
2. If !TRIGGER after debounce, TURN OFF BRAKE, delay before turn on drive.
3. Start drive PWM with soft start PWM value for x amount of time.
4. Change PWM to full value after soft start is completed and wait for TRIGGER to occur.
Stop:
1. If TRIGGER turn off drive, delay for x amount of time before turning on brake
2. Turn on brake after delay is complete and wait for !TRIGGER to occur again.
SafeMode.c
void Run_In_Safe_Mode(void){
/* local variable definitions to function Run_In_SafeMode */
static bool TriggerFlag = true, RunLockFlag = false, StopLockFlag = false;
if( !SW6 ){
while( 1 ){
if( TriggerFlag ){
if( Debounced_Deb && !TRIGGER ){
TURN_OFF_LED2;
if( !RunLockFlag ){
DISABLE_TIMER0_INTB;
ENABLE_TIMER0_INTA;
TURN_OFF_BRAKE;
OCR0A = TC0_PSD1; /* set TC0 pre-start delay time */
START_TIMER0; /* start TC0 prestart delay */
OCR1A = SoftStartDutyCycle_UsrSet; /* set PWM to 80% of DutyCycle_UsrSet */
RunLockFlag = true; /* locks out routine */
TC0DelayComplete_ISR = false; /* enables TC0 delay for next use */
}
if( TC0DelayComplete_ISR && RunLockFlag ){
Start_PWM1();
OCR0A = TC0_SSD; /* set TC0 soft start delay time */
START_TIMER0; /* start soft start delay (TC0) */
TriggerFlag = false; /* enables Stop segment for next use */
RunLockFlag = false; /* unlocks RunLockFlag for next use */
SoftStartComplete_ISR = true; /* indicates that soft start is finished */
Debounced_Deb = false; /* locks out entire Run sequence until */
TC0DelayComplete_ISR = false; /* enables TC0 delay for next use */
}
}else{
Debounce_Trigger();
}
}else{
if( TRIGGER && !StopLockFlag && !SoftStartComplete_ISR ){
Stop_PWM1();
OCR0A = TC0_PSD2; /* set TC0 pre-start delay time */
START_TIMER0; /* start TC0 prestart delay */
StopLockFlag = true; /* locks out routine */
TC0DelayComplete_ISR = false; /* enables TC0 delay for next use */
}
if( TC0DelayComplete_ISR && StopLockFlag ){
TURN_ON_BRAKE;
TriggerFlag = true; /* enables Run segment for next use */
StopLockFlag = false; /* unlocks StopLockFlag for next use */
Debouncing_Deb = false;
Locked_Deb = false;
TC0DelayComplete_ISR = false; /* enables TC0 delay for next use */
DISABLE_TIMER0_INTA;
ENABLE_TIMER0_INTB;
TURN_ON_LED2;
}
}
}
}
}
Debounce.c
void Debounce_Trigger( void ){
/* Local Variable Definitions to Debounce_Trigger */
static uint16_t TriggerState_Deb = 0, Temp_Deb = 1;
if( TC0_COMPB_INT_FLAG_ISR ){
TriggerState_Deb = (TriggerState_Deb<<1) | TRIGGER | 0xe000 | Temp_Deb;
Temp_Deb = 0;
if( TriggerState_Deb==0xf000 ){
Debounced_Deb = true;
TriggerState_Deb = 0;
Temp_Deb = 1;
}else{
START_TIMER0;
}
TC0_COMPB_INT_FLAG_ISR = false;
}else{
if( !Locked_Deb ){
OCR0B = TC0_DT;
Locked_Deb = true;
}
if( !TRIGGER && !Debouncing_Deb ){
START_TIMER0;
Debouncing_Deb = true;
}
}
}
ISR.c
ISR( TIMER0_COMPA_vect ){
STOP_TIMER0;
TCNT0 = 0;
TC0DelayComplete_ISR = true;
if( SoftStartComplete_ISR==true ){
OCR1A = DutyCycle_UsrSet;
SoftStartComplete_ISR = false;
TC0DelayComplete_ISR = false;
}
}
ISR( TIMER0_COMPB_vect ){
STOP_TIMER0;
TCNT0 = 0;
TC0_COMPB_INT_FLAG_ISR = true;
}
I did not include any variable definitions or declarations, but they are certainly there. The exact problem I am having is that I can press the trigger, and the debounce routine works, PWM turns on, delays all happen as far as I can tell( checked with a scope and there is a delay between the time the trigger is pressed until the PWM actualy produces an output), and I can also see the soft start PWM duty cycle and then I can see it change on the scope to the full PWM duty cycle, so that is working. I then release the trigger and the PWM turns off and a delay happens before the brake is turned on, but when I press trigger again it stays in the same state. By using LED2 and turning it off and on in various parts of my program I have determined that Debounced_Deb is never set to true again even though !TRIGGER occurs. The simulator is not catching whatever is going on because it never has this issue in simulation. I am thinking there is an issue with switching between output compare A and B interrupts which are vital to the debouncing process and operation. Any ideas?
