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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*############################################################################ |
| 2 | + Regler für Brushless-Motoren |
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| 3 | + ATMEGA8 mit 8MHz |
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| 4 | + (c) 01.2007 Holger Buss |
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| 5 | + Nur für den privaten Gebrauch |
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| 6 | + Keine Garantie auf Fehlerfreiheit |
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| 7 | + Kommerzielle Nutzung nur mit meiner Zustimmung |
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| 8 | + Der Code ist für die Hardware BL_Ctrl V1.0 entwickelt worden |
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| 9 | + www.mikrocontroller.com |
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| 10 | /############################################################################*/ |
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| 11 | |||
| 12 | #include "main.h" |
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| 13 | |||
| 14 | unsigned int PWM = 0; |
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| 15 | unsigned int Strom = 0; //ca. in 0,1A |
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| 16 | unsigned char Strom_max = 0; |
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| 17 | unsigned char Mittelstrom = 0; |
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| 18 | unsigned int Drehzahl = 0; // in 100UPM 60 = 6000 |
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| 19 | unsigned int KommutierDelay = 10; |
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| 20 | unsigned int I2C_Timeout = 0; |
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| 23 | ingob | 21 | unsigned int SIO_Timeout = 0; |
| 1 | ingob | 22 | unsigned int SollDrehzahl = 0; |
| 23 | unsigned int IstDrehzahl = 0; |
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| 24 | unsigned int DrehZahlTabelle[256];//vorberechnete Werte zur Drehzahlerfassung |
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| 25 | unsigned char ZeitFuerBerechnungen = 1; |
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| 26 | unsigned char MotorAnwerfen = 0; |
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| 27 | unsigned char MotorGestoppt = 1; |
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| 28 | unsigned char MaxPWM = MAX_PWM; |
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| 29 | unsigned int CntKommutierungen = 0; |
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| 30 | unsigned int SIO_Drehzahl = 0; |
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| 31 | unsigned char ZeitZumAdWandeln = 1; |
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| 24 | ingob | 32 | unsigned char MotorAdresse = 1; |
| 50 | holgerb | 33 | unsigned char PPM_Betrieb = 1; |
| 1 | ingob | 34 | |
| 35 | //############################################################################ |
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| 36 | // |
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| 37 | void SetPWM(void) |
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| 38 | //############################################################################ |
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| 39 | { |
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| 40 | unsigned char tmp_pwm; |
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| 41 | tmp_pwm = PWM; |
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| 42 | if(tmp_pwm > MaxPWM) // Strombegrenzung |
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| 43 | { |
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| 44 | tmp_pwm = MaxPWM; |
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| 45 | PORTC |= ROT; |
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| 46 | } |
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| 47 | if(Strom > MAX_STROM) // Strombegrenzung |
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| 48 | { |
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| 49 | OCR1A = 0; OCR1B = 0; OCR2 = 0; |
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| 50 | PORTC |= ROT; |
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| 51 | Strom--; |
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| 52 | } |
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| 53 | else |
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| 54 | { |
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| 55 | #ifdef _32KHZ |
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| 56 | OCR1A = tmp_pwm; OCR1B = tmp_pwm; OCR2 = tmp_pwm; |
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| 57 | #endif |
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| 58 | |||
| 59 | #ifdef _16KHZ |
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| 50 | holgerb | 60 | //OCR1A = 2 * (int)tmp_pwm; OCR1B = 2 * (int)tmp_pwm; OCR2 = tmp_pwm; |
| 61 | OCR1A = tmp_pwm; OCR1B = tmp_pwm; OCR2 = tmp_pwm; |
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| 1 | ingob | 62 | #endif |
| 63 | } |
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| 64 | } |
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| 65 | |||
| 66 | //############################################################################ |
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| 67 | // |
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| 68 | void PWM_Init(void) |
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| 69 | //############################################################################ |
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| 70 | { |
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| 71 | PWM_OFF; |
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| 50 | holgerb | 72 | TCCR1B = (1 << CS10) | (0 << CS11) | (0 << CS12) | (0 << WGM12) | |
| 1 | ingob | 73 | (0 << WGM13) | (0<< ICES1) | (0 << ICNC1); |
| 50 | holgerb | 74 | /* TCCR1B = (1 << CS10) | (0 << CS11) | (0 << CS12) | (1 << WGM12) | |
| 75 | (0 << WGM13) | (0<< ICES1) | (0 << ICNC1); |
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| 76 | */ |
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| 1 | ingob | 77 | } |
| 78 | |||
| 79 | //############################################################################ |
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| 80 | // |
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| 81 | void Wait(unsigned char dauer) |
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| 82 | //############################################################################ |
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| 83 | { |
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| 84 | dauer = (unsigned char)TCNT0 + dauer; |
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| 85 | while((TCNT0 - dauer) & 0x80); |
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| 86 | } |
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| 87 | |||
| 88 | //############################################################################ |
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| 89 | // |
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| 90 | void Anwerfen(unsigned char pwm) |
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| 91 | //############################################################################ |
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| 92 | { |
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| 93 | unsigned long timer = 300,i; |
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| 94 | DISABLE_SENSE_INT; |
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| 95 | PWM = 5; |
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| 96 | SetPWM(); |
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| 97 | Manuell(); |
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| 98 | Delay_ms(200); |
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| 99 | PWM = pwm; |
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| 100 | while(1) |
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| 101 | { |
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| 102 | for(i=0;i<timer; i++) |
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| 103 | { |
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| 104 | if(!UebertragungAbgeschlossen) SendUart(); |
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| 105 | else DatenUebertragung(); |
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| 106 | Wait(100); // warten |
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| 107 | } |
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| 108 | timer-= timer/15+1; |
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| 109 | if(timer < 25) { if(TEST_MANUELL) timer = 25; else return; } |
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| 110 | |||
| 111 | Manuell(); |
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| 112 | Phase++; |
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| 113 | Phase %= 6; |
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| 114 | AdConvert(); |
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| 115 | PWM = pwm; |
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| 116 | SetPWM(); |
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| 117 | if(SENSE) |
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| 118 | { |
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| 119 | PORTD ^= GRUEN; |
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| 120 | } |
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| 121 | } |
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| 122 | } |
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| 123 | |||
| 50 | holgerb | 124 | /* |
| 125 | #define SENSE_A ADMUX = 0; |
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| 126 | #define SENSE_B ADMUX = 1; |
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| 127 | #define SENSE_C ADMUX = 2; |
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| 128 | |||
| 129 | #define ClrSENSE ACSR |= 0x10 |
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| 130 | #define SENSE ((ACSR & 0x10)) |
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| 131 | #define SENSE_L (!(ACSR & 0x20)) |
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| 132 | #define SENSE_H ((ACSR & 0x20)) |
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| 133 | */ |
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| 134 | |||
| 135 | void RotBlink(unsigned char anz) |
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| 136 | { |
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| 137 | sei(); // Interrupts ein |
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| 138 | while(anz--) |
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| 139 | { |
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| 140 | PORTC |= ROT; |
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| 141 | Delay_ms(300); |
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| 142 | PORTC &= ~ROT; |
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| 143 | Delay_ms(300); |
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| 144 | } |
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| 145 | Delay_ms(1000); |
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| 146 | } |
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| 147 | |||
| 148 | #define TEST_STROMGRENZE 100 |
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| 149 | unsigned char DelayM(unsigned int timer) |
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| 150 | { |
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| 151 | while(timer--) |
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| 152 | { |
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| 153 | FastADConvert(); |
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| 154 | if(Strom > TEST_STROMGRENZE) |
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| 155 | { |
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| 156 | STEUER_OFF; |
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| 157 | return(1); |
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| 158 | } |
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| 159 | } |
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| 160 | return(0); |
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| 161 | } |
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| 162 | |||
| 163 | unsigned char Delay(unsigned int timer) |
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| 164 | { |
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| 165 | while(timer--) |
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| 166 | { |
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| 167 | } |
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| 168 | return(0); |
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| 169 | } |
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| 170 | |||
| 171 | |||
| 172 | void MotorTon(void) |
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| 1 | ingob | 173 | //############################################################################ |
| 50 | holgerb | 174 | { |
| 175 | unsigned int timer = 300,i; |
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| 176 | unsigned int t; |
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| 177 | unsigned char MosfetKurzschluss = 0, MosfetOkay = 0,anz = 0; |
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| 178 | DISABLE_SENSE_INT; |
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| 179 | cli();//Globale Interrupts Ausschalten |
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| 180 | PORTC &= ~ROT; |
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| 181 | PWM = 0; |
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| 182 | SetPWM(); |
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| 183 | uart_putchar('\n'); |
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| 184 | STEUER_OFF; |
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| 185 | //#define STEUER_A_L {PORTD &= ~0x30; PORTD |= 0x08;} |
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| 186 | //#define STEUER_B_L {PORTD &= ~0x28; PORTD |= 0x10;} |
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| 187 | //#define STEUER_C_L {PORTD &= ~0x18; PORTD |= 0x20;} |
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| 188 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 189 | //+ High-Mosfets auf Kurzschluss testen |
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| 190 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 191 | Strom = 0; |
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| 192 | PORTD |= 0x08; // Low A ein |
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| 193 | PORTB |= 0x04; // High B ein; und A gegen B |
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| 194 | //PORTB |= 0x08; // Test A |
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| 195 | if(DelayM(3)) |
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| 196 | { |
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| 197 | MosfetKurzschluss = 0x01; |
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| 198 | anz = 1; |
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| 199 | uart_putchar('A'); |
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| 200 | } |
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| 201 | STEUER_OFF; |
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| 202 | DelayM(100); |
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| 203 | Strom = 0; |
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| 204 | PORTD |= 0x10; // Low B ein |
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| 205 | PORTB |= 0x02; // High C ein |
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| 206 | //PORTB |= 0x04; // Test B |
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| 207 | if(DelayM(3)) |
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| 208 | { |
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| 209 | anz = 2; |
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| 210 | MosfetKurzschluss = 0x02; |
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| 211 | uart_putchar('B'); |
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| 212 | } |
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| 213 | STEUER_OFF; |
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| 214 | DelayM(100); |
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| 215 | Strom = 0; |
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| 216 | PORTD |= 0x20; // Low C ein |
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| 217 | PORTB |= 0x04; // High B ein |
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| 218 | //PORTB |= 0x0C; // High A+B ein |
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| 219 | //PORTB |= 0x02; // Test C |
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| 220 | if(DelayM(3)) |
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| 221 | { |
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| 222 | anz = 3; |
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| 223 | MosfetKurzschluss = 0x04; |
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| 224 | uart_putchar('C'); |
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| 225 | } |
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| 226 | STEUER_OFF; |
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| 227 | DelayM(100); |
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| 228 | PORTD |= 0x08; // Low A ein; und A gegen C |
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| 229 | PORTB |= 0x02; // High C ein |
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| 230 | //PORTB |= 0x08; // Test A |
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| 231 | if(DelayM(3)) |
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| 232 | { |
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| 233 | anz = 3; |
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| 234 | MosfetKurzschluss = 0x01; |
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| 235 | uart_putchar('C'); |
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| 236 | } |
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| 237 | STEUER_OFF; |
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| 238 | DelayM(100); |
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| 239 | if(anz) while(1) RotBlink(anz); |
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| 240 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 241 | //+ Low-Mosfets auf Kurzschluss testen |
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| 242 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 243 | Strom = 0; |
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| 244 | PORTB |= 0x08; // Test A |
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| 245 | //PORTD |= 0x08; // Low A ein |
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| 246 | if(DelayM(3)) |
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| 247 | { |
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| 248 | anz = 4; |
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| 249 | MosfetKurzschluss = 0x01; |
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| 250 | uart_putchar('a'); |
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| 251 | } |
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| 252 | STEUER_OFF; |
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| 253 | Strom = 0; |
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| 254 | PORTB |= 0x04; // Test B |
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| 255 | //PORTD |= 0x10; // Low B ein |
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| 256 | if(DelayM(3)) |
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| 257 | { |
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| 258 | anz = 5; |
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| 259 | MosfetKurzschluss = 0x02; |
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| 260 | uart_putchar('b'); |
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| 261 | } |
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| 262 | STEUER_OFF; |
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| 263 | Strom = 0; |
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| 264 | PORTB |= 0x02; // Test C |
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| 265 | //PORTD |= 0x20; // Low C ein |
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| 266 | if(DelayM(3)) |
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| 267 | { |
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| 268 | anz = 6; |
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| 269 | MosfetKurzschluss = 0x04; |
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| 270 | uart_putchar('c'); |
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| 271 | } |
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| 272 | STEUER_OFF; |
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| 273 | |||
| 274 | if(anz) while(1) RotBlink(anz); |
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| 275 | |||
| 276 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 277 | //+ High-Mosfets auf Schalten testen |
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| 278 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 279 | SENSE_A; |
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| 280 | STEUER_OFF; |
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| 281 | PORTD |= 0x10; // Low B ein |
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| 282 | PORTD |= 0x20; // Low C ein |
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| 283 | Strom = 0; |
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| 284 | #define TONDAUER 100000 |
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| 285 | #define SOUND_E 5 |
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| 286 | #define SOUND2_A 500 |
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| 287 | for(i=0; i< (TONDAUER / SOUND2_A) ; i++) |
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| 288 | { |
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| 289 | PORTB |= 0x08; // Test A |
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| 290 | Delay(SOUND_E); |
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| 291 | if(SENSE_L) { MosfetOkay |= 0x01; } else { MosfetOkay &= ~0x01;} |
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| 292 | PORTB = 0; |
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| 293 | Delay(SOUND2_A); |
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| 294 | } |
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| 295 | STEUER_OFF; |
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| 296 | SENSE_B; |
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| 297 | PORTD |= 0x08; // Low A ein |
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| 298 | PORTD |= 0x20; // Low C ein |
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| 299 | #define SOUND1_A 600 |
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| 300 | for(i=0; i<(TONDAUER / SOUND1_A); i++) |
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| 301 | { |
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| 302 | PORTB |= 0x04; // Test B |
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| 303 | Delay(SOUND_E); |
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| 304 | if(SENSE_L) { MosfetOkay |= 0x02; } else { MosfetOkay &= ~0x02;} |
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| 305 | PORTB = 0; |
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| 306 | Delay(SOUND1_A); |
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| 307 | } |
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| 308 | |||
| 309 | STEUER_OFF; |
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| 310 | SENSE_C; |
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| 311 | PORTD |= 0x08; // Low A ein |
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| 312 | PORTD |= 0x10; // Low B ein |
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| 313 | #define SOUND3_A 700 |
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| 314 | for(i=0; i<(TONDAUER / SOUND3_A); i++) |
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| 315 | { |
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| 316 | PORTB |= 0x02; // Test C |
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| 317 | Delay(SOUND_E); |
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| 318 | if(SENSE_L) { MosfetOkay |= 0x04; } else { MosfetOkay &= ~0x04;} |
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| 319 | PORTB = 0; |
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| 320 | Delay(SOUND3_A); |
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| 321 | } |
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| 322 | STEUER_OFF; |
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| 323 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 324 | //+ Low-Mosfets auf Schalten testen |
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| 325 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 326 | SENSE_B; |
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| 327 | PORTD |= 0x08; // Low A ein |
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| 328 | #define SOUND2_A 500 |
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| 329 | for(i=0; i< (TONDAUER / SOUND2_A) ; i++) |
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| 330 | { |
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| 331 | PORTB |= 0x04; // Test B |
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| 332 | Delay(SOUND_E); |
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| 333 | if(SENSE_L) { MosfetOkay |= 0x08; } else { MosfetOkay &= ~0x08;} |
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| 334 | PORTB = 0; |
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| 335 | Delay(SOUND2_A); |
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| 336 | } |
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| 337 | |||
| 338 | STEUER_OFF; |
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| 339 | SENSE_C; |
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| 340 | PORTD |= 0x10; // Low B ein |
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| 341 | for(i=0; i<(TONDAUER / SOUND3_A); i++) |
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| 342 | { |
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| 343 | PORTB |= 0x02; // Test C |
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| 344 | Delay(SOUND_E); |
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| 345 | if(SENSE_L) { MosfetOkay |= 0x10; } else { MosfetOkay &= ~0x10;} |
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| 346 | PORTB = 0; |
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| 347 | Delay(SOUND3_A); |
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| 348 | } |
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| 349 | |||
| 350 | STEUER_OFF; |
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| 351 | SENSE_B; |
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| 352 | PORTD |= 0x20; // Low C ein |
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| 353 | for(i=0; i<(TONDAUER / SOUND1_A); i++) |
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| 354 | { |
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| 355 | PORTB |= 0x04; // Test B |
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| 356 | Delay(SOUND_E); |
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| 357 | if(SENSE_L) { MosfetOkay |= 0x20; } else { MosfetOkay &= ~0x20;} |
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| 358 | PORTB = 0; |
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| 359 | Delay(SOUND1_A); |
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| 360 | } |
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| 361 | |||
| 362 | sei();//Globale Interrupts Einschalten |
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| 363 | Delay_ms(250 * MotorAdresse); |
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| 364 | |||
| 365 | #define SOUND8_E 7 |
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| 366 | #define SOUND8_A 650 |
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| 367 | for(i=0; i<(TONDAUER / SOUND8_A); i++) |
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| 368 | { |
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| 369 | for(timer = 0; timer < SOUND8_E; timer++) PORTB |= 0x04; // Test B |
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| 370 | for(timer = 0; timer < SOUND8_A; timer++) PORTB = 0; |
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| 371 | } |
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| 372 | |||
| 373 | if(!(MosfetOkay & 0x01)) { anz = 1; uart_putchar('A'); } else |
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| 374 | if(!(MosfetOkay & 0x02)) { anz = 2; uart_putchar('B'); } else |
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| 375 | if(!(MosfetOkay & 0x04)) { anz = 3; uart_putchar('C'); } else |
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| 376 | if(!(MosfetOkay & 0x08)) { anz = 4; uart_putchar('a'); } else |
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| 377 | if(!(MosfetOkay & 0x10)) { anz = 5; uart_putchar('b'); } else |
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| 378 | if(!(MosfetOkay & 0x20)) { anz = 6; uart_putchar('c'); } |
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| 379 | Delay_ms(250 * (4-MotorAdresse)); |
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| 380 | |||
| 381 | if(MosfetOkay != 0x3f) Delay_ms(1000); |
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| 382 | |||
| 383 | #define TONDAUER 80000 |
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| 384 | #define SOUND9_E 20 |
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| 385 | #define SOUND9_A 500 |
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| 386 | |||
| 387 | while(anz--) |
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| 388 | { |
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| 389 | PORTC |= ROT; |
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| 390 | if(!(MosfetOkay & 0x04) || !(MosfetOkay & 0x20)) // Schalter C defekt |
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| 391 | { |
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| 392 | PORTD |= 0x10; // Low B ein |
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| 393 | for(i=0; i< (TONDAUER / SOUND9_A) ; i++) |
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| 394 | { |
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| 395 | for(timer = 0; timer < SOUND9_E; timer++) PORTB |= 0x08; // Test A |
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| 396 | for(timer = 0; timer < SOUND9_A; timer++) PORTB = 0; |
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| 397 | } |
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| 398 | } |
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| 399 | else |
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| 400 | if(!(MosfetOkay & 0x02) || !(MosfetOkay & 0x10)) // Schalter B defekt |
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| 401 | { |
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| 402 | PORTD |= 0x20; // Low C ein |
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| 403 | for(i=0; i< (TONDAUER / SOUND9_A) ; i++) |
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| 404 | { |
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| 405 | for(timer = 0; timer < SOUND9_E; timer++) PORTB |= 0x08; // Test A |
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| 406 | for(timer = 0; timer < SOUND9_A; timer++) PORTB = 0; |
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| 407 | } |
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| 408 | } |
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| 409 | else |
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| 410 | if(!(MosfetOkay & 0x01) || !(MosfetOkay & 0x08)) // Schalter A defekt |
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| 411 | { |
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| 412 | PORTD |= 0x20; // Low C ein |
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| 413 | for(i=0; i< (TONDAUER / SOUND9_A) ; i++) |
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| 414 | { |
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| 415 | for(timer = 0; timer < SOUND9_E; timer++) PORTB |= 0x04; // Test B |
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| 416 | for(timer = 0; timer < SOUND9_A; timer++) PORTB = 0; |
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| 417 | } |
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| 418 | } |
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| 419 | PORTC &= ~ROT; |
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| 420 | Delay_ms(300); |
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| 421 | } |
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| 422 | } |
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| 423 | |||
| 424 | //############################################################################ |
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| 1 | ingob | 425 | // |
| 426 | unsigned char SollwertErmittlung(void) |
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| 427 | //############################################################################ |
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| 428 | { |
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| 429 | static unsigned int sollwert = 0; |
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| 430 | unsigned int ppm; |
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| 431 | if(!I2C_Timeout) // bei Erreichen von 0 ist der Wert ungültig |
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| 432 | { |
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| 433 | if(SIO_Timeout) // es gibt gültige SIO-Daten |
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| 434 | { |
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| 50 | holgerb | 435 | sollwert = (MAX_PWM * (unsigned int) SIO_Sollwert) / 200; // skalieren auf 0-200 = 0-255 |
| 436 | PPM_Betrieb = 0; |
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| 437 | ICP_INT_DISABLE; |
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| 438 | PORTC &= ~ROT; |
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| 1 | ingob | 439 | } |
| 440 | else |
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| 50 | holgerb | 441 | if(anz_ppm_werte > 20) // es gibt gültige PPM-Daten |
| 1 | ingob | 442 | { |
| 50 | holgerb | 443 | PPM_Betrieb = 1; |
| 1 | ingob | 444 | ppm = PPM_Signal; |
| 445 | if(ppm > 300) ppm = 0; // ungültiges Signal |
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| 446 | if(ppm > 200) ppm = 200; |
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| 447 | if(ppm <= MIN_PPM) sollwert = 0; |
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| 448 | else |
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| 449 | { |
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| 450 | sollwert = (int) MIN_PWM + ((MAX_PWM - MIN_PWM) * (ppm - MIN_PPM)) / (190 - MIN_PPM); |
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| 451 | } |
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| 452 | PORTC &= ~ROT; |
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| 453 | } |
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| 454 | else // Kein gültiger Sollwert |
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| 455 | { |
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| 50 | holgerb | 456 | if(!TEST_SCHUB) { if(sollwert) sollwert--; } |
| 457 | PORTC |= ROT; |
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| 1 | ingob | 458 | } |
| 459 | } |
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| 460 | else // I2C-Daten sind gültig |
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| 461 | { |
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| 462 | sollwert = I2C_RXBuffer; |
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| 50 | holgerb | 463 | PPM_Betrieb = 0; |
| 1 | ingob | 464 | PORTC &= ~ROT; |
| 50 | holgerb | 465 | ICP_INT_DISABLE; |
| 1 | ingob | 466 | } |
| 467 | if(sollwert > MAX_PWM) sollwert = MAX_PWM; |
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| 468 | return(sollwert); |
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| 469 | } |
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| 470 | |||
| 471 | void DebugAusgaben(void) |
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| 472 | { |
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| 473 | DebugOut.Analog[0] = Strom; |
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| 474 | DebugOut.Analog[1] = Mittelstrom; |
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| 475 | DebugOut.Analog[2] = SIO_Drehzahl; |
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| 476 | DebugOut.Analog[3] = PPM_Signal; |
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| 477 | } |
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| 478 | |||
| 479 | |||
| 480 | //############################################################################ |
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| 481 | //Hauptprogramm |
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| 482 | int main (void) |
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| 483 | //############################################################################ |
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| 484 | { |
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| 485 | char altPhase = 0; |
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| 486 | int test = 0; |
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| 487 | unsigned int MinUpmPulse,Blink,TestschubTimer; |
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| 488 | unsigned int Blink2,MittelstromTimer,DrehzahlMessTimer,MotorGestopptTimer; |
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| 489 | |||
| 490 | DDRC = 0x08; |
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| 491 | PORTC = 0x08; |
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| 492 | DDRD = 0xBA; |
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| 26 | ingob | 493 | PORTD = 0x00; |
| 1 | ingob | 494 | DDRB = 0x0E; |
| 495 | PORTB = 0x31; |
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| 24 | ingob | 496 | |
| 497 | #if (MOTORADRESSE == 0) |
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| 498 | PORTB |= (ADR1 + ADR2); // Pullups für Adresswahl |
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| 43 | holgerb | 499 | for(test=0;test<500;test++); |
| 24 | ingob | 500 | if (PINB & ADR1) |
| 501 | { |
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| 502 | if (PINB & ADR2) MotorAdresse = 1; |
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| 503 | else MotorAdresse = 2; |
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| 504 | } |
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| 505 | else |
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| 506 | { |
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| 507 | if (PINB & ADR2) MotorAdresse = 3; |
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| 508 | else MotorAdresse = 4; |
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| 509 | } |
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| 510 | #else |
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| 511 | MotorAdresse = MOTORADRESSE; |
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| 512 | #endif |
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| 1 | ingob | 513 | |
| 514 | UART_Init(); |
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| 515 | Timer0_Init(); |
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| 50 | holgerb | 516 | sei();//Globale Interrupts Einschalten |
| 1 | ingob | 517 | |
| 518 | // Am Blinken erkennt man die richtige Motoradresse |
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| 50 | holgerb | 519 | /* |
| 1 | ingob | 520 | for(test=0;test<5;test++) |
| 521 | { |
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| 24 | ingob | 522 | if(test == MotorAdresse) PORTD |= GRUEN; |
| 1 | ingob | 523 | Delay_ms(150); |
| 524 | PORTD &= ~GRUEN; |
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| 525 | Delay_ms(250); |
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| 526 | } |
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| 527 | |||
| 528 | Delay_ms(500); |
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| 50 | holgerb | 529 | */ |
| 18 | ingob | 530 | // UART_Init(); // war doppelt |
| 1 | ingob | 531 | PWM_Init(); |
| 532 | |||
| 533 | InitIC2_Slave(0x50); |
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| 534 | InitPPM(); |
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| 535 | |||
| 536 | Blink = SetDelay(101); |
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| 537 | Blink2 = SetDelay(102); |
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| 538 | MinUpmPulse = SetDelay(103); |
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| 539 | MittelstromTimer = SetDelay(254); |
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| 540 | DrehzahlMessTimer = SetDelay(1005); |
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| 541 | TestschubTimer = SetDelay(1006); |
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| 50 | holgerb | 542 | while(!CheckDelay(MinUpmPulse)) |
| 543 | { |
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| 544 | if(SollwertErmittlung()) break; |
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| 545 | } |
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| 546 | ; |
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| 1 | ingob | 547 | PORTD |= GRUEN; |
| 548 | PWM = 0; |
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| 549 | |||
| 550 | SetPWM(); |
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| 551 | |||
| 552 | SFIOR = 0x08; // Analog Comperator ein |
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| 553 | ADMUX = 1; |
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| 554 | |||
| 555 | MinUpmPulse = SetDelay(10); |
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| 556 | DebugOut.Analog[1] = 1; |
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| 557 | PPM_Signal = 0; |
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| 558 | |||
| 50 | holgerb | 559 | if(!SollwertErmittlung()) MotorTon(); |
| 560 | |||
| 1 | ingob | 561 | // zum Test der Hardware; Motor dreht mit konstanter Drehzahl ohne Regelung |
| 562 | if(TEST_MANUELL) Anwerfen(TEST_MANUELL); // kommt von dort nicht wieder |
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| 563 | |||
| 564 | while (1) |
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| 565 | { |
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| 566 | if(!TEST_SCHUB) PWM = SollwertErmittlung(); |
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| 567 | //I2C_TXBuffer = PWM; // Antwort über I2C-Bus |
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| 568 | if(MANUELL_PWM) PWM = MANUELL_PWM; |
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| 569 | |||
| 570 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 571 | if(Phase != altPhase) // es gab eine Kommutierung im Interrupt |
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| 572 | { |
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| 573 | MotorGestoppt = 0; |
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| 574 | ZeitFuerBerechnungen = 0; // direkt nach einer Kommutierung ist Zeit |
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| 575 | MinUpmPulse = SetDelay(50); // Timeout, falls ein Motor stehen bleibt |
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| 576 | altPhase = Phase; |
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| 577 | } |
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| 578 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 579 | if(!PWM) // Sollwert == 0 |
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| 580 | { |
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| 581 | MotorAnwerfen = 0; // kein Startversuch |
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| 582 | ZeitFuerBerechnungen = 0; |
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| 583 | // nach 1,5 Sekunden den Motor als gestoppt betrachten |
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| 18 | ingob | 584 | if(CheckDelay(MotorGestopptTimer)) |
| 1 | ingob | 585 | { |
| 586 | DISABLE_SENSE_INT; |
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| 587 | MotorGestoppt = 1; |
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| 588 | STEUER_OFF; |
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| 589 | } |
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| 590 | } |
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| 591 | else |
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| 592 | { |
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| 593 | if(MotorGestoppt) MotorAnwerfen = 1; // Startversuch |
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| 594 | MotorGestopptTimer = SetDelay(1500); |
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| 595 | } |
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| 596 | |||
| 597 | if(MotorGestoppt && !TEST_SCHUB) PWM = 0; |
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| 598 | SetPWM(); |
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| 599 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 600 | if(!ZeitFuerBerechnungen++) |
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| 601 | { |
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| 602 | if(MotorGestoppt) PORTD |= GRUEN; //else PORTD &= ~GRUEN; |
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| 603 | if(SIO_DEBUG) |
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| 604 | { |
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| 605 | DebugAusgaben(); // welche Werte sollen angezeigt werden? |
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| 606 | if(!UebertragungAbgeschlossen) SendUart(); |
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| 607 | else DatenUebertragung(); |
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| 608 | } |
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| 609 | // Berechnen des Mittleren Stroms zur (langsamen) Strombegrenzung |
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| 610 | if(CheckDelay(MittelstromTimer)) |
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| 611 | { |
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| 612 | MittelstromTimer = SetDelay(50); // alle 50ms |
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| 613 | if(Mittelstrom < Strom) Mittelstrom++;// Mittelwert des Stroms bilden |
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| 614 | else if(Mittelstrom > Strom) Mittelstrom--; |
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| 615 | |||
| 616 | if(Mittelstrom > LIMIT_STROM)// Strom am Limit? |
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| 617 | { |
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| 618 | MaxPWM--;// dann die Maximale PWM herunterfahren |
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| 619 | PORTC |= ROT; |
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| 620 | } |
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| 621 | else |
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| 622 | { |
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| 623 | if(MaxPWM < MAX_PWM) MaxPWM++; |
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| 624 | } |
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| 625 | } |
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| 626 | |||
| 627 | if(CheckDelay(DrehzahlMessTimer)) // Ist-Drehzahl bestimmen |
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| 628 | { |
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| 629 | DrehzahlMessTimer = SetDelay(10); |
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| 630 | SIO_Drehzahl = (6 * CntKommutierungen) / (POLANZAHL / 2); |
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| 631 | CntKommutierungen = 0; |
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| 632 | if(PPM_Timeout == 0) // keine PPM-Signale |
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| 633 | ZeitZumAdWandeln = 1; |
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| 634 | } |
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| 635 | |||
| 636 | |||
| 637 | if(CheckDelay(TestschubTimer)) |
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| 638 | { |
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| 639 | TestschubTimer = SetDelay(1500); |
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| 640 | if(TEST_SCHUB) |
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| 641 | { |
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| 642 | switch(test) |
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| 643 | { |
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| 644 | case 0: PWM = 50; test++; break; |
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| 645 | case 1: PWM = 130; test++; break; |
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| 646 | case 2: PWM = 60; test++; break; |
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| 647 | case 3: PWM = 140; test++; break; |
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| 648 | case 4: PWM = 150; test = 0; break; |
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| 649 | default: test = 0; |
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| 650 | } |
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| 651 | } |
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| 652 | } |
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| 653 | // Motor Stehen geblieben |
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| 654 | if((CheckDelay(MinUpmPulse) && SIO_Drehzahl == 0) || MotorAnwerfen) |
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| 655 | { |
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| 656 | MotorGestoppt = 1; |
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| 657 | DISABLE_SENSE_INT; |
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| 658 | MinUpmPulse = SetDelay(100); |
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| 659 | if(MotorAnwerfen) |
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| 660 | { |
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| 661 | PORTC &= ~ROT; |
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| 662 | MotorAnwerfen = 0; |
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| 663 | Anwerfen(10); |
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| 664 | PORTD |= GRUEN; |
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| 665 | MotorGestoppt = 0; |
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| 666 | Phase--; |
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| 667 | PWM = 1; |
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| 668 | SetPWM(); |
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| 669 | SENSE_TOGGLE_INT; |
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| 670 | ENABLE_SENSE_INT; |
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| 43 | holgerb | 671 | MinUpmPulse = SetDelay(20); |
| 1 | ingob | 672 | while(!CheckDelay(MinUpmPulse)); // kurz Synchronisieren |
| 43 | holgerb | 673 | PWM = 15; |
| 1 | ingob | 674 | SetPWM(); |
| 43 | holgerb | 675 | MinUpmPulse = SetDelay(300); |
| 1 | ingob | 676 | while(!CheckDelay(MinUpmPulse)); // kurz Durchstarten |
| 18 | ingob | 677 | |
| 678 | // Drehzahlmessung wieder aufsetzen |
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| 679 | DrehzahlMessTimer = SetDelay(50); |
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| 1 | ingob | 680 | altPhase = 7; |
| 681 | } |
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| 682 | } |
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| 683 | } // ZeitFuerBerechnungen |
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| 684 | } // while(1) - Hauptschleife |
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| 685 | } |
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| 686 |