Subversion Repositories BL-Ctrl

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1,58 → 1,13
/*#######################################################################################
Flight Control
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Regler für Brushless-Motoren
// + ATMEGA8 mit 8MHz
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + Copyright (c) 12.2007 Holger Buss
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
/*############################################################################
+ Regler für Brushless-Motoren
+ ATMEGA8 mit 8MHz
+ (c) 01.2007 Holger Buss
+ Nur für den privaten Gebrauch
+ Keine Garantie auf Fehlerfreiheit
+ Kommerzielle Nutzung nur mit meiner Zustimmung
+ Der Code ist für die Hardware BL_Ctrl V1.0 entwickelt worden
+ www.mikrocontroller.com
############################################################################*/
#include "main.h"
 
volatile unsigned char Phase = 0,ShadowTCCR1A = 0;
85,6 → 40,7
if(sense)
{
STEUER_C_L;
TCNT2 = 1;
if(ZeitZumAdWandeln) AdConvert();
SENSE_FALLING_INT;
SENSE_B;
101,6 → 57,7
if(!sense)
{
STEUER_B_H;
TCNT2 = 1;
if(ZeitZumAdWandeln) AdConvert();
SENSE_A;
SENSE_RISING_INT;
118,6 → 75,7
if(sense)
{
STEUER_A_L;
TCNT2 = 1;
if(ZeitZumAdWandeln) AdConvert();
SENSE_C;
SENSE_FALLING_INT;
135,6 → 93,7
if(!sense)
{
STEUER_C_H;
TCNT2 = 1;
if(ZeitZumAdWandeln) AdConvert();
SENSE_B;
SENSE_RISING_INT;
153,6 → 112,7
if(sense)
{
STEUER_B_L;
TCNT2 = 1;
if(ZeitZumAdWandeln) AdConvert();
SENSE_A;
SENSE_FALLING_INT;
170,6 → 130,7
if(!sense)
{
STEUER_A_H;
TCNT2 = 1;
if(ZeitZumAdWandeln) AdConvert();
SENSE_C;
SENSE_RISING_INT;
/trunk/BLMC.h
11,34 → 11,6
void Blc(void);
void Manuell(void);
 
// anselm
/*
#define COM1A ((0 << COM1A0) | (1 << COM1A1)) // COM1A-> OC1A non inverting mode
#define COM1B ((0 << COM1B0) | (1 << COM1B1)) // COM1B-> OC1B non inverting mode
#define COM2 ((0 << COM20) | (1 << COM21)) // COM2-> OC2 non inverting mode
 
#ifdef _32KHZ
#define WGM1 ((1 << WGM10) | (0 << WGM11)) // WGM10:13-> fast PWM 8bit
#define WGMCS2 ((1 << WGM20) | (1 << WGM21) | (1 << CS20)) // WGM20:21-> fast PWM, no prescale
#endif
 
#ifdef _16KHZ
#define WGM1 ((1 << WGM10) | (0 << WGM11)) // WGM10:13-> phase corr, PWM 8bit
#define WGMCS2 ((1 << WGM20) | (0 << WGM21) | (1 << CS20)) // WGM20:21-> phase corr. PWM, no prescale
#endif
 
#define PWM_C_ON {TCCR1A = COM1A | WGM1 | COM1B; TCCR2 = WGMCS2;
DDRB = 0x02;} // Steuer_C+ output
#define PWM_B_ON {TCCR1A = COM1B | WGM1 | COM1A; TCCR2 = WGMCS2; \
DDRB = 0x04;} // Steuer_B+ output
#define PWM_A_ON {TCCR1A = WGM1; TCCR2 = COM2 | WGMCS2; \
DDRB = 0x08;} // Steuer_A+ output
#define PWM_OFF {TCCR1A = WGM1; \
TCCR2 = WGMCS2; \
PORTB &= ~0x0E; DDRB = 0x0E;} // OC1x & OC2 disconnected, Steuer_X+ output low
// anselm
*/
 
#ifdef _32KHZ
#define PWM_C_ON {TCCR1A = 0xAD; TCCR2 = 0x49;DDRB = 0x0A;}
#define PWM_B_ON {TCCR1A = 0xAD; TCCR2 = 0x49;DDRB = 0x0C;}
47,26 → 19,13
#endif
 
#ifdef _16KHZ
// #define PWM_C_ON {TCCR1A = 0xA2; TCCR2 = 0x41; DDRB = 0x0A;}
// #define PWM_B_ON {TCCR1A = 0xA2; TCCR2 = 0x41; DDRB = 0x0C;}
// #define PWM_A_ON {TCCR1A = 0xA2; TCCR2 = 0x61; DDRB = 0x08;}
#define PWM_C_ON {TCCR1A = 0xA2; TCCR2 = 0x41; DDRB = 0x0A;}
#define PWM_B_ON {TCCR1A = 0xA2; TCCR2 = 0x41; DDRB = 0x0C;}
#define PWM_A_ON {TCCR1A = 0xA2; TCCR2 = 0x61; DDRB = 0x08;}
#define PWM_OFF {TCCR1A = 0x02; TCCR2 = 0x41;PORTC &= ~0x0E;}
#endif
 
// #define PWM_C_ON {TCCR2 = 0x41; if(PPM_Betrieb) { TCCR1A = 0xA1;DDRB = 0x0A;} else { TCCR1A = 0x81; DDRB = 0x0E;}}
// #define PWM_B_ON {TCCR2 = 0x41; if(PPM_Betrieb) { TCCR1A = 0xA1;DDRB = 0x0C;} else { TCCR1A = 0x21; DDRB = 0x0E;}}
// #define PWM_A_ON {TCCR2 = 0x61; if(PPM_Betrieb) { TCCR1A = 0xA1;DDRB = 0x08;} else { TCCR1A = 0x01; DDRB = 0x0E;}}
 
#define PWM_C_ON {TCCR1A = 0xA1; TCCR2 = 0x61; DDRB = 0x02;}
#define PWM_B_ON {TCCR1A = 0xA1; TCCR2 = 0x61; DDRB = 0x04;}
#define PWM_A_ON {TCCR1A = 0xA1; TCCR2 = 0x61; DDRB = 0x08;}
 
 
// #define PWM_C_ON {TCCR1A = 0x82; TCCR2 = 0x41; PORTB &= ~0x04; DDRB = 0x0E;}
// #define PWM_B_ON {TCCR1A = 0x22; TCCR2 = 0x41; PORTB &= ~0x02; DDRB = 0x0E;}
// #define PWM_A_ON {TCCR1A = 0x02; TCCR2 = 0x61; PORTB &= ~0x06; DDRB = 0x0E;}
 
#define PWM_OFF {OCR1A = 0; OCR1B = 0; OCR2 = 0; TCCR1A = 0x01; TCCR2 = 0x41; DDRB = 0x0E; PORTB &= ~0x0E;}
#endif
 
#define STEUER_A_H {PWM_A_ON}
#define STEUER_B_H {PWM_B_ON}
#define STEUER_C_H {PWM_C_ON}
74,12 → 33,11
#define STEUER_A_L {PORTD &= ~0x30; PORTD |= 0x08;}
#define STEUER_B_L {PORTD &= ~0x28; PORTD |= 0x10;}
#define STEUER_C_L {PORTD &= ~0x18; PORTD |= 0x20;}
#define STEUER_OFF {PORTD &= ~0x38; PWM_OFF; }
#define FETS_OFF {PORTD &= ~0x38; PORTB &= ~0x0E; }
#define STEUER_OFF {PORTD &= ~0x38; PWM_OFF;}
 
#define SENSE_A ADMUX = 0 | IntRef;
#define SENSE_B ADMUX = 1 | IntRef;
#define SENSE_C ADMUX = 2 | IntRef;
#define SENSE_A ADMUX = 0;
#define SENSE_B ADMUX = 1;
#define SENSE_C ADMUX = 2;
 
#define ClrSENSE ACSR |= 0x10
#define SENSE ((ACSR & 0x10))
/trunk/BrushLess-Ctrl_V0_31.eep
0,0 → 1,0
:00000001FF
/trunk/BrushLess-Ctrl_V0_31.hex
0,0 → 1,286
:1000000012C05DC52AC029C0C3C5C5C426C025C04D
:10001000B1C4F8C322C0EFC220C0BCC21EC01DC004
:10002000C1C561C51AC011241FBECFE5D4E0DEBF33
:10003000CDBF10E0A0E6B0E0E8EBF1E102C0059032
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:1000600080916100821710F4282FAB9A8091800054
:10007000909181008338910560F01BBC1ABC19BCBB
:1000800018BC13BCAB9A01979093810080938000B9
:100090000895822F9927880F991F9BBD8ABD99BD0E
:1000A00088BD23BD089582E08FBD81E485BD85B301
:1000B000817F85BB89E08EBD089592B7980F82B786
:1000C000891B87FDFCCF0895AF92BF92CF92DF923C
:1000D000EF92FF920F931F93CF93DF93182F8CE231
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:1000F00085E090E09093830080938200AFDF57D635
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:100110008200EE24FF248701EA14FB040C051D0570
:1001200078F480916600882311F43ED201C050D348
:1001300084E6C3DF0894E11CF11C011D111DECCF06
:10014000C601B5012FE030E040E050E013D8A21A1C
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:1001600089E1A816B104C104D104C8F020D6809159
:1001700099008F5F809399008091990066E0DAD7AB
:1001800090939900AED3D0938300C093820066DF32
:10019000449BBFCF82B390E8892782BBBACFDF915F
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:1001B000AF90089540917A0050917B004115510510
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:1001D0008FEF989FC001112468EC70E0B7D770933F
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:1001F000209190003091910081E02D32380708F075
:100200009A01293C310510F028EC30E02B30310503
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:10028000850080938400809184009927089580914F
:100290008000909181009093780380937703809100
:1002A0007E00992790937A03809379038091700060
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:1002D000D4E0DEBFCDBFEE2488E084BB85BB8AEBD3
:1002E00081BB80E882BB8EE087BB81E388BB5BD2A9
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:100340005C018DEE93E0A8D28C018EEE93E0A4D2F6
:100350006C01CE01AAD28823E1F3979A1092830010
:10036000109282007BDE88E080BF81E087B98AE05E
:1003700090E092D2EC0181E090E090937A03809338
:100380007903109291001092900014DF99279093B6
:10039000830080938200809199008E1551F0109215
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:1007C0006BD0909300038093FF028AE28CB9089566
:1007D0008091FF029091000368D0882391F080916E
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:1009D0008EBD26B537B58091920090919300281B6B
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:100A00009500209394002851314030F488E191E022
:100A100090939500809394002091940030919500DC
:100A2000285131403093950020939400809190009C
:100A3000909191008217930730F4809190009091EB
:100A4000910001960CC08091900090919100281720
:100A5000390748F48091900090919100019790930C
:100A60009100809390002091900030919100C901F5
:100A7000880F991F880F991F880F991F821B930B4E
:100A80002091940030919500820F931F23E096955A
:100A900087952A95E1F79093950080939400909321
:100AA00091008093900081E0809360009F918F91EE
:100AB0003F912F910F900FBE0F901F9018951F928E
:100AC0000F920FB60F9211248F938AB78F7B8ABF34
:100AD0008F910F900FBE0F901F901895885F82B96D
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:100B100079F035C0883B9105D9F0893B910524F4E3
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:100C500085BD8CE087BB81E084BD809160008111FF
:100C600040DE17B988B1836088B9809199008F5FA1
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:100D300085BD88E087BB81E084BD80916000811122
:100D4000D0DD82E087B988B1836088B910939900BB
:100D5000809172009091730001969093730080933C
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:101080001A828091910390919203009721F1FC01C3
:1010900040E050E0EA17FB0718F1ED01FB83EA831B
:1010A0002D913C911197C20FD31FCE0102968E173E
:1010B0009F0771F48A819B81280F391F2E5F3F4F54
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:0811B000AC01BD01CF0108955F
:1011B80001FF01010A00016464000093032000009C
:00000001FF
/trunk/Doku/BrushLess-Ctr_32kHz_V0_23.hex
0,0 → 1,271
:1000000012C0EAC42AC029C028C053C426C025C0D3
:100010003FC49EC322C0B1C220C07EC21EC01DC04C
:100020005CC5F4C41AC011241FBECFE5D4E0DEBF06
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:100040000D92A637B107D9F713E0A6E7B0E001C0DB
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:10007000909184008338910560F01BBC1ABC19BCB8
:1000800018BC13BCAB9A01979093840080938300B3
:100090000895822F99279BBD8ABD99BD88BD23BD38
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/trunk/Doku/BrushLess-Ctrll_32kHz_V0_31.hex
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/trunk/Doku/Fuses_Mega8_8MHZ_Intern.gif
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/trunk/Doku/Test_Manuell_BrushLess-Ctrl_V0_21.hex
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/trunk/Doku/Test_Schub_BrushLess-Ctrl_V0_21.hex
0,0 → 1,277
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/trunk/Doku/_BL_Ctrl_History.txt
0,0 → 1,31
+++++++++++++++++++++++++++++++++++
Brushless-Control
Holger Buss
buss@Mikrocontroller.com
+++++++++++++++++++++++++++++++++++
 
V0.21 13.01.2007
- Erste offizielle Version
- Unterstützt I2C und PPM
 
V0.23
- Bei niedrigen PWM-Werten, kam es am Motor zu einem "Knackgeräusch" (besonders in der 16kHz-Variante).
- Manchmal reagierte der Regler nicht gleich auf das PPM-Einschalt-Signal, wenn der Regler länger auf 0% war
- Die Kommutierungserkennung läuft jetzt im Interrupt
- Komponenten zur Drehzahlregelung wieder entfernt, weil sie den Code unleserlich machten
Kommt in einer späteren Version wahrscheinlich wieder rein
V0.25
- Es wurden zu viele Kommutierungs-Interrupts ausgelöst
 
V0.27 02.02.2007
- X3D-Protokoll implementiert (für eine Sonderversion des X3D mit serieller Ausgabe)
 
V0.31 22.2.2007
- Das I2C-Bus Protokoll wurde geändert:
Jeder Motor wird jetzt mit einem eigenen Datensatz angesprochen
Aus den Motorreglern kann jetzt Strom und MaxPWM ausgelesen werden
- Es hatte sich ein Fehler in der Umrechnung des seriellen Wertes (X-3D) eingeschlichen; das ist hier behoben
Mittels eines PC-Programms (SimTxData.exe) kann das X-3D-Protokoll simuliert und so die Motoren angefahren werden
 
 
/trunk/Doku/_Files.txt
0,0 → 1,12
Files:
BrushLess-Ctrl_16kHz_Vx_xx.hex --> Software für 16kHz
BrushLess-Ctrl_32kHz_Vx_xx.hex --> Software für 32kHz
BrushLess-Ctrl_16kHz_ADRy_Vx_xx.hex --> Software für I2C und für X3D mit serieller Ausgabe 38400Bd (Motoradresse = y)
 
Testprogramme (Achtung: Motor läuft an!)
Test_Manuell_BrushLess-Ctrl_Vx_xx.hex --> Regler läuft ungeregelt mit fester Frequenz
Test_Schub_BrushLess-Ctrl_Vx_xx.hex --> Regler läuft mit unterschiedlichen Leistungen
Test_Sollwert_Fix_BrushLess-Ctrl_Vx_xx.hex --> Regler läuft fix mit 7,8% PWM
 
Sonstiges:
Fuses_Mega8_8MHZ_Intern.gif --> Fusebits von Ponyprog
/trunk/PPM_Decode.c
2,7 → 2,7
+ Regler für Brushless-Motoren
+ ATMEGA8 mit 8MHz
+ (c) 01.2007 Holger Buss
+ Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
+ Nur für den privaten Gebrauch
+ Keine Garantie auf Fehlerfreiheit
+ Kommerzielle Nutzung nur mit meiner Zustimmung
+ Der Code ist für die Hardware BL_Ctrl V1.0 entwickelt worden
11,7 → 11,7
#include "main.h"
volatile unsigned int PPM_Signal = 0;
volatile unsigned char Timer1Overflow = 0;
volatile unsigned char PPM_Timeout = 0, anz_ppm_werte = 0; // Ungültig, wenn Null
volatile unsigned char PPM_Timeout = 0; // Ungültig, wenn Null
 
//############################################################################
//
61,7 → 61,7
else if(PPM_Signal > ppm) PPM_Signal--;
if(FILTER_PPM) ppm = (PPM_Signal * FILTER_PPM + ppm) / (FILTER_PPM + 1); // Filtern
PPM_Signal = ppm;
if(anz_ppm_werte < 255) anz_ppm_werte++;
 
ZeitZumAdWandeln = 1;
}
}
/trunk/PPM_Decode.h
2,7 → 2,7
############################################################################*/
 
extern volatile unsigned int PPM_Signal;
extern volatile unsigned char PPM_Timeout, anz_ppm_werte;
extern volatile unsigned char PPM_Timeout;
void InitPPM(void);
 
 
/trunk/analog.c
10,7 → 10,7
//############################################################################
{
ADCSRA = 0xA6; // Free Run & 1MHZ
ADMUX = 7 | IntRef; // Kanal 7
ADMUX = 7; // Kanal 7
ADCSRA |= 0x40; // Start
}
 
22,16 → 22,16
unsigned int i=0;
unsigned char sense;
sense = ADMUX; // Sense-Kanal merken
ADMUX = 0x06 | IntRef; // Kanal 6
ADMUX = 0x06; // Kanal 6
SFIOR = 0x00; // Analog Comperator aus
ADCSRA = 0xD3; // Converter ein, single
ADCSRA |= 0x10; // Ready löschen
ADMUX = 0x06 | IntRef; // Kanal 6
ADMUX = 0x06; // Kanal 6
ADCSRA |= 0x40; // Start
while (((ADCSRA & 0x10) == 0));
ADMUX = sense; // zurück auf den Sense-Kanal
i = ADCW * 4;
// if(i > 300) i = 300;
if(i > 200) i = 200;
Strom = (i + Strom * 7) / 8;
if (Strom_max < Strom) Strom_max = Strom;
ADCSRA = 0x00;
38,40 → 38,3
SFIOR = 0x08; // Analog Comperator ein
}
 
 
 
//############################################################################
//Strom Analogwerte lesen
unsigned int MessAD(unsigned char channel)
//############################################################################
{
unsigned char sense;
sense = ADMUX; // Sense-Kanal merken
channel |= IntRef;
ADMUX = channel; // Kanal 6
SFIOR = 0x00; // Analog Comperator aus
ADCSRA = 0xD3; // Converter ein, single
ADCSRA |= 0x10; // Ready löschen
ADMUX = channel; // Kanal 6
ADCSRA |= 0x40; // Start
while (((ADCSRA & 0x10) == 0));
ADMUX = sense; // zurück auf den Sense-Kanal
ADCSRA = 0x00;
SFIOR = 0x08; // Analog Comperator ein
return(ADCW);
}
 
//############################################################################
//Strom Analogwerte lesen
void FastADConvert(void)
//############################################################################
{
unsigned int i=0;
i = MessAD(6) * 4;
// i = ADCW * 4;
if(i > 200) i = 200;
Strom = i;//(i + Strom * 1) / 2;
if (Strom_max < Strom) Strom_max = Strom;
ADCSRA = 0x00;
SFIOR = 0x08; // Analog Comperator ein
}
/trunk/analog.h
2,6 → 2,4
extern void ADC_Init(void);
extern void GetAnalogWerte(void);
extern void AdConvert(void);
extern void FastADConvert(void);
extern unsigned int MessAD(unsigned char channel);
 
/trunk/avr_ctrl.psp
1,8 → 1,10
;Codewright Project Space File (do not remove or modify this line)
[State]
StateWindowFrame=10,18,939,1018,0x43097fca
_StateHistory=PROJECTS,'..\Flight-Ctrl_V0_05\AVR.pjt','.\avr.pjt'
_RestoreProject='.\avr.pjt'
ProjSpaceFlags=0x00000000, 1
ProjViewSetShow=Abb
ProjViewSetShow=Abcccccbcccccc
 
[Project]
ConfigSetUserWorkspace=''
/trunk/main.c
1,69 → 1,24
/*#######################################################################################
Flight Control
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Regler für Brushless-Motoren
// + ATMEGA8 mit 8MHz
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + Copyright (c) 12.2007 Holger Buss
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
/*############################################################################
+ Regler für Brushless-Motoren
+ ATMEGA8 mit 8MHz
+ (c) 01.2007 Holger Buss
+ Nur für den privaten Gebrauch
+ Keine Garantie auf Fehlerfreiheit
+ Kommerzielle Nutzung nur mit meiner Zustimmung
+ Der Code ist für die Hardware BL_Ctrl V1.0 entwickelt worden
+ www.mikrocontroller.com
/############################################################################*/
 
#include "main.h"
 
unsigned int PWM = 0;
unsigned int Strom = 0,RuheStrom; //ca. in 0,1A
unsigned int PWM = 0;
unsigned int Strom = 0; //ca. in 0,1A
unsigned char Strom_max = 0;
unsigned char Mittelstrom = 0;
unsigned char Mittelstrom = 0;
unsigned int Drehzahl = 0; // in 100UPM 60 = 6000
unsigned int KommutierDelay = 10;
unsigned int I2C_Timeout = 0;
unsigned int SIO_Timeout = 0;
unsigned char SIO_Timeout = 0;
unsigned int SollDrehzahl = 0;
unsigned int IstDrehzahl = 0;
unsigned int DrehZahlTabelle[256];//vorberechnete Werte zur Drehzahlerfassung
74,11 → 29,8
unsigned int CntKommutierungen = 0;
unsigned int SIO_Drehzahl = 0;
unsigned char ZeitZumAdWandeln = 1;
unsigned char MotorAdresse = 1;
unsigned char PPM_Betrieb = 1;
unsigned char HwVersion;
unsigned char IntRef = 0;
unsigned int MinUpmPulse;
 
 
//############################################################################
//
void SetPWM(void)
93,10 → 45,8
}
if(Strom > MAX_STROM) // Strombegrenzung
{
OCR1A = 0; OCR1B = 0; OCR2 = 0;
PORTD &= ~0x38;
OCR1A = 0; OCR1B = 0; OCR2 = 0;
PORTC |= ROT;
DebugOut.Analog[6]++;
Strom--;
}
else
106,23 → 56,11
#endif
 
#ifdef _16KHZ
//OCR1A = 2 * (int)tmp_pwm; OCR1B = 2 * (int)tmp_pwm; OCR2 = tmp_pwm;
OCR1A = tmp_pwm; OCR1B = tmp_pwm; OCR2 = tmp_pwm;
OCR1A = 2 * (int)tmp_pwm; OCR1B = 2 * (int)tmp_pwm; OCR2 = tmp_pwm;
#endif
}
//GRN_ON;
}
 
void DebugAusgaben(void)
{
/* DebugOut.Analog[0] = Strom;
DebugOut.Analog[1] = Mittelstrom;
DebugOut.Analog[2] = SIO_Drehzahl;
DebugOut.Analog[3] = PPM_Signal;
DebugOut.Analog[4] = OCR2;*/
// DebugOut.Analog[5] = PWM;
}
 
//############################################################################
//
void PWM_Init(void)
129,11 → 67,8
//############################################################################
{
PWM_OFF;
TCCR1B = (1 << CS10) | (0 << CS11) | (0 << CS12) | (0 << WGM12) |
TCCR1B = (1 << CS10) | (0 << CS11) | (0 << CS12) | (1 << WGM12) |
(0 << WGM13) | (0<< ICES1) | (0 << ICNC1);
/* TCCR1B = (1 << CS10) | (0 << CS11) | (0 << CS12) | (1 << WGM12) |
(0 << WGM13) | (0<< ICES1) | (0 << ICNC1);
*/
}
 
//############################################################################
145,22 → 80,9
while((TCNT0 - dauer) & 0x80);
}
 
void RotBlink(unsigned char anz)
{
sei(); // Interrupts ein
while(anz--)
{
PORTC |= ROT;
Delay_ms(300);
PORTC &= ~ROT;
Delay_ms(300);
}
Delay_ms(1000);
}
 
//############################################################################
//
char Anwerfen(unsigned char pwm)
void Anwerfen(unsigned char pwm)
//############################################################################
{
unsigned long timer = 300,i;
168,18 → 90,7
PWM = 5;
SetPWM();
Manuell();
// Delay_ms(200);
MinUpmPulse = SetDelay(300);
while(!CheckDelay(MinUpmPulse))
{
FastADConvert();
if(Strom > 120)
{
STEUER_OFF; // Abschalten wegen Kurzschluss
RotBlink(10);
return(0);
}
}
Delay_ms(200);
PWM = pwm;
while(1)
{
189,17 → 100,9
else DatenUebertragung();
Wait(100); // warten
}
DebugAusgaben();
FastADConvert();
if(Strom > 60)
{
STEUER_OFF; // Abschalten wegen Kurzschluss
RotBlink(10);
return(0);
}
timer-= timer/15+1;
if(timer < 25) { if(TEST_MANUELL) timer = 25; else return(1); }
if(timer < 25) { if(TEST_MANUELL) timer = 25; else return; }
 
Manuell();
Phase++;
Phase %= 6;
213,286 → 116,7
}
}
 
/*
#define SENSE_A ADMUX = 0;
#define SENSE_B ADMUX = 1;
#define SENSE_C ADMUX = 2;
 
#define ClrSENSE ACSR |= 0x10
#define SENSE ((ACSR & 0x10))
#define SENSE_L (!(ACSR & 0x20))
#define SENSE_H ((ACSR & 0x20))
*/
 
 
#define TEST_STROMGRENZE 120
unsigned char DelayM(unsigned int timer)
{
while(timer--)
{
FastADConvert();
if(Strom > (TEST_STROMGRENZE + RuheStrom))
{
FETS_OFF;
return(1);
}
}
return(0);
}
 
unsigned char Delay(unsigned int timer)
{
while(timer--)
{
// if(SENSE_H) { PORTC |= ROT; } else { PORTC &= ~ROT;}
}
return(0);
}
 
/*
void ShowSense(void)
{
if(SENSE_H) { PORTC |= ROT; } else { PORTC &= ~ROT;}
 
}
*/
#define HIGH_A_EIN PORTB |= 0x08
#define HIGH_B_EIN PORTB |= 0x04
#define HIGH_C_EIN PORTB |= 0x02
#define LOW_A_EIN PORTD |= 0x08
#define LOW_B_EIN PORTD |= 0x10
#define LOW_C_EIN PORTD |= 0x20
 
void MotorTon(void)
//############################################################################
{
unsigned char ADR_TAB[13] = {0,0,2,1,3,4,5,6,7,8,9,10,11};
unsigned int /*timer = 300,*/ i;
unsigned int t = 0;
unsigned char anz = 0,MosfetOkay = 0, grenze = 50;
 
PORTC &= ~ROT;
Delay_ms(300 * ADR_TAB[MotorAdresse]);
DISABLE_SENSE_INT;
cli();//Globale Interrupts Ausschalten
uart_putchar('\n');
STEUER_OFF;
Strom_max = 0;
DelayM(50);
RuheStrom = Strom_max;
// uart_putchar(RuheStrom + 'A');
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//+ High-Mosfets auf Kurzschluss testen
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Strom = 0;
/*
LOW_B_EIN;
HIGH_A_EIN;
if(DelayM(3))
{
anz = 1;
uart_putchar('1');
}
FETS_OFF;
Delay(1000);
Strom = 0;
LOW_A_EIN;
HIGH_B_EIN;
if(DelayM(3))
{
anz = 2;
uart_putchar('2');
}
FETS_OFF;
Delay(1000);
Strom = 0;
LOW_B_EIN; // Low C ein
HIGH_C_EIN; // High B ein
if(DelayM(3))
{
anz = 3;
uart_putchar('3');
}
FETS_OFF;
Delay(1000);
LOW_A_EIN; // Low A ein; und A gegen C
HIGH_C_EIN; // High C ein
if(DelayM(3))
{
anz = 3;
uart_putchar('7');
}
FETS_OFF;
DelayM(10000);
 
if(anz) while(1) RotBlink(anz); // bei Kurzschluss nicht starten
*/
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//+ LOW-Mosfets auf Schalten und Kurzschluss testen
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(UDR == ' ') {t = 65535; grenze = 40; uart_putchar('_');} else t = 1000; // Ausführlicher Test
Strom = 0;
for(i=0;i<t;i++)
{
LOW_A_EIN;
DelayM(1);
FETS_OFF;
Delay(5);
HIGH_A_EIN;
DelayM(1);
FETS_OFF;
if(Strom > grenze + RuheStrom) {anz = 4; uart_putchar('4'); FETS_OFF; break;}
Delay(5);
}
Delay(10000);
 
Strom = 0;
for(i=0;i<t;i++)
{
LOW_B_EIN;
DelayM(1);
FETS_OFF;
Delay(5);
HIGH_B_EIN;
DelayM(1);
FETS_OFF;
if(Strom > grenze + RuheStrom) {anz = 5; uart_putchar('5'); FETS_OFF;break;}
Delay(5);
}
 
Strom = 0;
Delay(10000);
 
for(i=0;i<t;i++)
{
LOW_C_EIN;
DelayM(1);
FETS_OFF;
Delay(5);
HIGH_C_EIN;
DelayM(1);
FETS_OFF;
if(Strom > grenze + RuheStrom) {anz = 6; uart_putchar('6'); FETS_OFF; break;}
Delay(5);
}
 
if(anz) while(1) RotBlink(anz); // bei Kurzschluss nicht starten
 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//+ High-Mosfets auf Schalten testen
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
SENSE_A;
FETS_OFF;
LOW_B_EIN; // Low B ein
LOW_C_EIN; // Low C ein
Strom = 0;
#define TONDAUER 40000
#define SOUND_E 1 // 1
#define SOUND1_A 300
#define SOUND2_A 330
#define SOUND3_A 360
 
for(i=0; i< (TONDAUER / SOUND2_A) ; i++)
{
HIGH_A_EIN; // Test A
Delay(SOUND_E);
if(MessAD(0) > 50) { MosfetOkay |= 0x01; } else { MosfetOkay &= ~0x01;};
PORTB = 0;
Delay(SOUND1_A);
}
FETS_OFF;
 
LOW_A_EIN; // Low A ein
LOW_C_EIN; // Low C ein
for(i=0; i<(TONDAUER / SOUND1_A); i++)
{
HIGH_B_EIN; // Test B
Delay(SOUND_E);
if(MessAD(1) > 50) { MosfetOkay |= 0x02; } else { MosfetOkay &= ~0x02;};
PORTB = 0;
Delay(SOUND1_A);
}
 
FETS_OFF;
LOW_A_EIN; // Low A ein
LOW_B_EIN; // Low B ein
for(i=0; i<(TONDAUER / SOUND3_A); i++)
{
HIGH_C_EIN; // Test C
Delay(SOUND_E);
if(MessAD(2) > 50) { MosfetOkay |= 0x04; } else { MosfetOkay &= ~0x04;};
PORTB = 0;
Delay(SOUND2_A);
}
FETS_OFF;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//+ Low-Mosfets auf Schalten testen
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// SENSE_B;
LOW_A_EIN; // Low A ein
for(i=0; i< (TONDAUER / SOUND2_A) ; i++)
{
HIGH_B_EIN; // Test B
Delay(SOUND_E);
if(MessAD(0) > 128) { MosfetOkay &= ~0x08;} else { MosfetOkay |= 0x08;};
PORTB = 0;
Delay(SOUND2_A);
}
 
//++++++++++++++++++++++++++++++++++++
LOW_C_EIN; // Low C ein
for(i=0; i<(TONDAUER / SOUND1_A); i++)
{
HIGH_B_EIN; // Test B
Delay(SOUND_E);
if(MessAD(2) > 128) { MosfetOkay &= ~0x20;} else { MosfetOkay |= 0x20;};
PORTB = 0;
Delay(SOUND3_A);
}
FETS_OFF;
//++++++++++++++++++++++++++++++++++++
FETS_OFF;
LOW_B_EIN; // Low B ein
for(i=0; i<(TONDAUER / SOUND3_A); i++)
{
HIGH_C_EIN; // Test C
Delay(SOUND_E);
if(MessAD(1) > 128) { MosfetOkay &= ~0x10;} else { MosfetOkay |= 0x10;};
PORTB = 0;
Delay(SOUND3_A);
}
FETS_OFF;
//++++++++++++++++++++++++++++++++++++
 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
sei();//Globale Interrupts Einschalten
// Delay_ms(250 * MotorAdresse);
/*
LOW_A_EIN; // Low B ein
#define SOUND8_A 650
for(i=0; i<(TONDAUER / SOUND8_A); i++)
{
HIGH_B_EIN; // Test B
Delay(SOUND_E);
PORTB = 0;
Delay(SOUND8_A);
}
*/
Delay_ms(300 * (4-ADR_TAB[MotorAdresse]));
if(!(MosfetOkay & 0x01)) { anz = 1; UDR='A'; } else
if(!(MosfetOkay & 0x02)) { anz = 2; UDR='B'; } else
if(!(MosfetOkay & 0x04)) { anz = 3; UDR='C'; } else
if(!(MosfetOkay & 0x08)) { anz = 4; UDR='a'; } else
if(!(MosfetOkay & 0x10)) { anz = 5; UDR='b'; } else
if(!(MosfetOkay & 0x20)) { anz = 6; UDR='c'; }
 
// if(anz) Delay_ms(1000);
if(anz) while(1) RotBlink(anz); // bei Kurzschluss nicht starten
RotBlink(anz);
uart_putchar('.');
}
 
//############################################################################
//
unsigned char SollwertErmittlung(void)
//############################################################################
503,15 → 127,11
{
if(SIO_Timeout) // es gibt gültige SIO-Daten
{
sollwert = (MAX_PWM * (unsigned int) SIO_Sollwert) / 200; // skalieren auf 0-200 = 0-255
PPM_Betrieb = 0;
ICP_INT_DISABLE;
PORTC &= ~ROT;
sollwert = (MAX_PWM * (unsigned int) SIO_Sollwert) / 200; // skalieren auf 0-200 = 0-255
}
else
if(anz_ppm_werte > 20) // es gibt gültige PPM-Daten
if(PPM_Timeout) // es gibt gültige PPM-Daten
{
PPM_Betrieb = 1;
ppm = PPM_Signal;
if(ppm > 300) ppm = 0; // ungültiges Signal
if(ppm > 200) ppm = 200;
524,21 → 144,26
}
else // Kein gültiger Sollwert
{
if(!TEST_SCHUB) { if(sollwert) sollwert--; }
PORTC |= ROT;
if(!TEST_SCHUB) { if(sollwert) sollwert--; }
PORTC |= ROT;
}
}
else // I2C-Daten sind gültig
{
sollwert = I2C_RXBuffer;
PPM_Betrieb = 0;
PORTC &= ~ROT;
ICP_INT_DISABLE;
}
if(sollwert > MAX_PWM) sollwert = MAX_PWM;
return(sollwert);
}
 
void DebugAusgaben(void)
{
DebugOut.Analog[0] = Strom;
DebugOut.Analog[1] = Mittelstrom;
DebugOut.Analog[2] = SIO_Drehzahl;
DebugOut.Analog[3] = PPM_Signal;
}
 
 
//############################################################################
547,48 → 172,25
//############################################################################
{
char altPhase = 0;
int test;
unsigned int Blink,TestschubTimer;
int test = 0;
unsigned int MinUpmPulse,Blink,TestschubTimer;
unsigned int Blink2,MittelstromTimer,DrehzahlMessTimer,MotorGestopptTimer;
 
DDRC = 0x08;
PORTC = 0x08;
DDRD = 0x3A;
PORTD = 0x00;
DDRD = 0xBA;
PORTD = 0x80;
DDRB = 0x0E;
PORTB = 0x31;
 
 
 
#if (MOTORADRESSE == 0)
PORTB |= (ADR1 + ADR2); // Pullups für Adresswahl
for(test=0;test<500;test++);
if(PINB & ADR1)
{
if (PINB & ADR2) MotorAdresse = 1 + ADRESSOFFSET;
else MotorAdresse = 2 + ADRESSOFFSET;
}
else
{
if (PINB & ADR2) MotorAdresse = 3 + ADRESSOFFSET;
else MotorAdresse = 4 + ADRESSOFFSET;
}
HwVersion = 11;
#else
MotorAdresse = MOTORADRESSE;
HwVersion = 10;
#endif
if(PIND & 0x80) {HwVersion = 12; IntRef = 0xc0;}
DDRD = 0xBA;
UART_Init();
Timer0_Init();
sei();//Globale Interrupts Einschalten
sei ();//Globale Interrupts Einschalten
// Am Blinken erkennt man die richtige Motoradresse
/*
for(test=0;test<5;test++)
{
if(test == MotorAdresse) PORTD |= GRUEN;
if(test == MOTORADRESSE) PORTD |= GRUEN;
Delay_ms(150);
PORTD &= ~GRUEN;
Delay_ms(250);
595,8 → 197,8
}
 
Delay_ms(500);
*/
// UART_Init(); // war doppelt
UART_Init();
PWM_Init();
 
InitIC2_Slave(0x50);
608,14 → 210,8
MittelstromTimer = SetDelay(254);
DrehzahlMessTimer = SetDelay(1005);
TestschubTimer = SetDelay(1006);
MotorGestopptTimer = 0;
while(!CheckDelay(MinUpmPulse))
{
if(SollwertErmittlung()) break;
}
 
GRN_ON;
while(!CheckDelay(MinUpmPulse));
PORTD |= GRUEN;
PWM = 0;
 
SetPWM();
627,17 → 223,11
DebugOut.Analog[1] = 1;
PPM_Signal = 0;
 
if(!SollwertErmittlung()) MotorTon();
//MotorTon();
PORTB = 0x31; // Pullups wieder einschalten
 
// zum Test der Hardware; Motor dreht mit konstanter Drehzahl ohne Regelung
if(TEST_MANUELL) Anwerfen(TEST_MANUELL); // kommt von dort nicht wieder
 
while (1)
{
//ShowSense();
 
if(!TEST_SCHUB) PWM = SollwertErmittlung();
//I2C_TXBuffer = PWM; // Antwort über I2C-Bus
if(MANUELL_PWM) PWM = MANUELL_PWM;
647,7 → 237,7
{
MotorGestoppt = 0;
ZeitFuerBerechnungen = 0; // direkt nach einer Kommutierung ist Zeit
MinUpmPulse = SetDelay(250); // Timeout, falls ein Motor stehen bleibt
MinUpmPulse = SetDelay(50); // Timeout, falls ein Motor stehen bleibt
altPhase = Phase;
}
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
656,7 → 246,7
MotorAnwerfen = 0; // kein Startversuch
ZeitFuerBerechnungen = 0;
// nach 1,5 Sekunden den Motor als gestoppt betrachten
if(CheckDelay(MotorGestopptTimer))
if(CheckDelay(DrehzahlMessTimer))
{
DISABLE_SENSE_INT;
MotorGestoppt = 1;
674,11 → 264,7
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!ZeitFuerBerechnungen++)
{
if(MotorGestoppt)
{
// GRN_ON;
FastADConvert();
}
if(MotorGestoppt) PORTD |= GRUEN; //else PORTD &= ~GRUEN;
if(SIO_DEBUG)
{
DebugAusgaben(); // welche Werte sollen angezeigt werden?
691,10 → 277,10
MittelstromTimer = SetDelay(50); // alle 50ms
if(Mittelstrom < Strom) Mittelstrom++;// Mittelwert des Stroms bilden
else if(Mittelstrom > Strom) Mittelstrom--;
if(Strom > MAX_STROM) MaxPWM -= MaxPWM / 32;
if((Mittelstrom > LIMIT_STROM))// Strom am Limit?
if(Mittelstrom > LIMIT_STROM)// Strom am Limit?
{
if(MaxPWM) MaxPWM--;// dann die Maximale PWM herunterfahren
MaxPWM--;// dann die Maximale PWM herunterfahren
PORTC |= ROT;
}
else
706,17 → 292,18
if(CheckDelay(DrehzahlMessTimer)) // Ist-Drehzahl bestimmen
{
DrehzahlMessTimer = SetDelay(10);
SIO_Drehzahl = CntKommutierungen;//(6 * CntKommutierungen) / (POLANZAHL / 2);
SIO_Drehzahl = (6 * CntKommutierungen) / (POLANZAHL / 2);
CntKommutierungen = 0;
// if(PPM_Timeout == 0) // keine PPM-Signale
if(PPM_Timeout == 0) // keine PPM-Signale
ZeitZumAdWandeln = 1;
}
 
#if TEST_SCHUB == 1
{
 
if(CheckDelay(TestschubTimer))
{
TestschubTimer = SetDelay(1500);
if(TEST_SCHUB)
{
switch(test)
{
case 0: PWM = 50; test++; break;
726,10 → 313,9
case 4: PWM = 150; test = 0; break;
default: test = 0;
}
}
}
}
#endif
// Motor Stehen geblieben
// Motor Stehen geblieben
if((CheckDelay(MinUpmPulse) && SIO_Drehzahl == 0) || MotorAnwerfen)
{
MotorGestoppt = 1;
736,13 → 322,11
DISABLE_SENSE_INT;
MinUpmPulse = SetDelay(100);
if(MotorAnwerfen)
{
PORTC &= ~ROT;
Strom_max = 0;
MotorAnwerfen = 0;
if(Anwerfen(10))
{
// GRN_ON;
{
PORTC &= ~ROT;
MotorAnwerfen = 0;
Anwerfen(10);
PORTD |= GRUEN;
MotorGestoppt = 0;
Phase--;
PWM = 1;
749,26 → 333,15
SetPWM();
SENSE_TOGGLE_INT;
ENABLE_SENSE_INT;
MinUpmPulse = SetDelay(20);
MinUpmPulse = SetDelay(100);
while(!CheckDelay(MinUpmPulse)); // kurz Synchronisieren
PWM = 15;
PWM = 10;
SetPWM();
MinUpmPulse = SetDelay(300);
while(!CheckDelay(MinUpmPulse)) // kurz Durchstarten
{
if(Strom > LIMIT_STROM/2)
{
STEUER_OFF; // Abschalten wegen Kurzschluss
RotBlink(10);
MotorAnwerfen = 1;
}
MinUpmPulse = SetDelay(200);
while(!CheckDelay(MinUpmPulse)); // kurz Durchstarten
MinUpmPulse = SetDelay(1000);
altPhase = 7;
}
// Drehzahlmessung wieder aufsetzen
DrehzahlMessTimer = SetDelay(50);
altPhase = 7;
}
else if(SollwertErmittlung()) MotorAnwerfen = 1;
}
}
} // ZeitFuerBerechnungen
} // while(1) - Hauptschleife
/trunk/main.h
1,8 → 1,7
#ifndef _MAIN_H
#define _MAIN_H
 
//#define MOTORADRESSE 0 // Adresse (1-4) 0 = Motoradresse über Lötjumper auf BL-Ctrl V1.1
 
#define MOTORADRESSE 4 // Adresse (1-4)
#define MANUELL_PWM 0 // zur manuellen Vorgabe der PWM Werte: 0-255
#define TEST_MANUELL 0 // zum Testen der Hardware ohne Kommutierungsdetektion Werte: 0-255 (PWM)
#define TEST_SCHUB 0 // Erzeugt ein Schubmuster Werte: 0 = normal 1 = Test
13,23 → 12,17
#define FILTER_PPM 7 // wie stark soll das PPM-Signal gefiltert werden (Werte: 0-30)?
 
#define SIO_DEBUG 0 // Testwertausgaben auf der seriellen Schnittstelle
#define X3D_SIO 0 // serielles Protokoll des X3D (38400Bd) Achtung: dann muss SIO_DEBUG = 0 sein
#define X3D_SIO 1 // serielles Protokoll des X3D (38400Bd) Achtung: dann muss SIO_DEBUG = 0 sein
 
 
#define _16KHZ // Schaltfrequenz -- die gewünschte einkommentieren
//#define _32KHZ // Schaltfrequenz -- die gewünschte einkommentieren
 
//#define FDD6637_IRLR7843 1 // bessere MosFet bestückt? bewirkt höhere Stromgrenzen
 
 
#ifdef _16KHZ
#if FDD_IRLR == 1 // bessere Fets = mehr Strom zulassen
#define MAX_STROM 200 // ab ca. 20A PWM ausschalten
#define LIMIT_STROM 120 // ab ca. 12A PWM begrenzen
#else
#define MAX_STROM 130 // ab ca. 13A PWM ausschalten
#define LIMIT_STROM 65 // ab ca. 6,5A PWM begrenzen
#define MAX_STROM 130 // ab ca. 13A PWM ausschalten
#define LIMIT_STROM 65 // ab ca. 6,5A PWM begrenzen
#endif
#endif
 
#ifdef _32KHZ
#define MAX_STROM 130 // ab ca. 13A PWM ausschalten
38,12 → 31,7
 
#define SYSCLK 8000000L //Quarz Frequenz in Hz
 
#define GRN_ON {if(HwVersion < 12) PORTD |= GRUEN; else PORTD &= ~GRUEN;}
#define GRN_OFF {if(HwVersion > 11) PORTD |= GRUEN; else PORTD &= ~GRUEN;}
 
#define NOINIT __attribute__ ((section (".noinit")))
 
 
//Robbe Roxxy 2824-34 mit Todd 10x4,5 bei 16kHz
//PWM Strom Schub
//10 0,18A 21g
107,7 → 95,7
#include "PPM_Decode.h"
 
extern unsigned int I2C_Timeout;
extern unsigned int SIO_Timeout;
extern unsigned char SIO_Timeout;
extern unsigned int PWM;
extern unsigned int Strom; //ca. in 0,1A
extern unsigned char Strom_max;
117,16 → 105,10
extern unsigned char MotorGestoppt;
extern unsigned char ZeitZumAdWandeln;
extern unsigned char MaxPWM;
extern unsigned char MotorAdresse;
extern unsigned char PPM_Betrieb;
extern unsigned char HwVersion;
extern unsigned char IntRef;
 
#define ROT 0x08
#define GRUEN 0x80
 
#define ADR1 0x40 // für Motoradresswahl
#define ADR2 0x80 //
 
#if defined(__AVR_ATmega8__)
# define OC1 PB1
# define DDROC DDRB
/trunk/makefile
2,16 → 2,8
# MCU name
MCU = atmega8
#-------------------------------------------------------------------
# ACHTUNG: Immer "Make Clean" machen, wenn hier etwas geändert wird!
# ACHTUNG: keine Leerzeichen noch Zahlen !
HAUPT_VERSION = 0
NEBEN_VERSION = 42
# direkte Adresse oder 0 für Jumperauswahl
MotorAdresse = 0
# 0 für Adr. 1-4, 4 für Adr. 5-8, 8 für Adr. 9-12
AdressOffset = 0
 
FDD_IRLR = 1
HAUPT_VERSION = 0
NEBEN_VERSION = 31
#-------------------------------------------------------------------
 
# Output format. (can be srec, ihex, binary)
18,31 → 10,8
FORMAT = ihex
 
# Target file name (without extension).
ifeq ($(MotorAdresse), 0)
ifeq ($(AdressOffset), 0)
TARGET = BrushLess-Ctrlr_MEGA8_V$(HAUPT_VERSION)_$(NEBEN_VERSION)_10A_ADDR1-4
endif
ifeq ($(AdressOffset), 4)
TARGET = BrushLess-Ctrlr_MEGA8_V$(HAUPT_VERSION)_$(NEBEN_VERSION)_10A_ADDR5-8
endif
ifeq ($(AdressOffset), 8)
TARGET = BrushLess-Ctrlr_MEGA8_V$(HAUPT_VERSION)_$(NEBEN_VERSION)_10A_ADDR9-12
endif
TARGET = BrushLess-Ctrl_V$(HAUPT_VERSION)_$(NEBEN_VERSION)
 
else
ifeq ($(FDD_IRLR), 1)
TARGET = BrushLess-Ctrlr_MEGA8_V$(HAUPT_VERSION)_$(NEBEN_VERSION)_10A_ADR_$(MotorAdresse)_for_BL-Ctrl_V1_0
else
TARGET = BrushLess-Ctrlr_MEGA8_V$(HAUPT_VERSION)_$(NEBEN_VERSION)_6A_ADR_$(MotorAdresse)_for_BL-Ctrl_V1_0
endif
endif
 
 
# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization.
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
OPT = s
100,7 → 69,7
#CFLAGS += -std=c99
CFLAGS += -std=gnu99
 
CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DMOTORADRESSE=$(MotorAdresse) -DFDD_IRLR=$(FDD_IRLR) -DADRESSOFFSET=$(AdressOffset)
CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION)
 
ifeq ($(AVR_CTRL_PLATINE), 1)
CFLAGS += -DAVR_CTRL_PLATINE=$(AVR_CTRL_PLATINE)
208,9 → 177,9
 
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
ELFSIZE = $(SIZE) -A $(TARGET).elf
LIMITS = $(SIZE) --mcu=$(MCU) -C $(TARGET).elf
 
 
 
# Define Messages
# English
MSG_ERRORS_NONE = Errors: none
246,8 → 215,8
 
 
# Default target.
all: begin gccversion $(TARGET).elf $(TARGET).hex $(TARGET).eep \
$(TARGET).sym sizeafter finished end
all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \
$(TARGET).lss $(TARGET).sym sizeafter finished end
 
 
# Eye candy.
267,12 → 236,13
 
# Display size of file.
sizebefore:
@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); $(HEXSIZE); $(LIMITS); echo; fi
@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
 
sizeafter:
@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); $(HEXSIZE); $(LIMITS); echo "## Warning: MAX. 7168 bytes !!! "; echo; fi
@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
 
 
 
# Display compiler version information.
gccversion :
@$(CC) --version
308,6 → 278,8
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
 
 
 
 
# Create final output files (.hex, .eep) from ELF output file.
%.hex: %.elf
@echo
/trunk/timer0.c
26,7 → 26,7
cnt = 3;
CountMilliseconds += 1;
if(I2C_Timeout) I2C_Timeout--;
if(PPM_Timeout) PPM_Timeout--; else anz_ppm_werte = 0;
if(PPM_Timeout) PPM_Timeout--;
if(SIO_Timeout) SIO_Timeout--;
}
}
/trunk/timer0.h
9,7 → 9,6
 
 
void Timer1_Init(void);
void Timer0_Init(void);
void Delay_ms(unsigned int);
unsigned int SetDelay (unsigned int t);
char CheckDelay (unsigned int t);
/trunk/twislave.c
14,7 → 14,7
void InitIC2_Slave(uint8_t adr)
//############################################################################
{
TWAR = adr + (2*MotorAdresse); // Eigene Adresse setzen
TWAR = adr + (2*MOTORADRESSE); // Eigene Adresse setzen
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);
}
 
32,11 → 32,9
return;
// Daten Empfangen
case SR_PREV_ACK:
GRN_OFF;
I2C_RXBuffer = TWDR;
I2C_Timeout = 500;
TWCR |= (1<<TWINT);
GRN_ON;
return;
// Daten Senden
case SW_SLA_ACK:
/trunk/uart.c
2,7 → 2,7
// + Regler für Brushless-Motoren
// + ATMEGA8 mit 8MHz
// + (c) 01.2007 Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + Nur für den privaten Gebrauch
// + Keine Garantie auf Fehlerfreiheit
// + Kommerzielle Nutzung nur mit meiner Zustimmung
// + Der Code ist für die Hardware BL_Ctrl V1.0 entwickelt worden
21,11 → 21,9
unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];
unsigned volatile char NeuerDatensatzEmpfangen = 0;
unsigned volatile char UebertragungAbgeschlossen = 1;
unsigned char MeineSlaveAdresse ;
unsigned char MotorTest[12] = {0,0,0,0, 0,0,0,0, 0,0,0,0};
unsigned volatile char AnzahlEmpfangsBytes = 0;
unsigned char MeineSlaveAdresse;
 
struct str_DebugOut DebugOut ;
struct str_DebugOut DebugOut;
 
 
int Debug_Timer;
55,41 → 53,15
else ptr = 0;
}
 
// --------------------------------------------------------------------------
void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer
{
unsigned char a,b,c,d;
unsigned char ptr = 0;
unsigned char x,y,z;
while(len)
{
a = RxdBuffer[ptrIn++] - '=';
b = RxdBuffer[ptrIn++] - '=';
c = RxdBuffer[ptrIn++] - '=';
d = RxdBuffer[ptrIn++] - '=';
if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden
 
x = (a << 2) | (b >> 4);
y = ((b & 0x0f) << 4) | (c >> 2);
z = ((c & 0x03) << 6) | d;
 
if(len--) ptrOut[ptr++] = x; else break;
if(len--) ptrOut[ptr++] = y; else break;
if(len--) ptrOut[ptr++] = z; else break;
}
 
}
 
 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++ Empfangs-Part der Datenübertragung
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
SIGNAL(INT_VEC_RX)
{
static unsigned char serPacketCounter = 100;
SioTmp = UDR;
#if X3D_SIO == 1
static unsigned char serPacketCounter = 100;
SioTmp = UDR;
if(SioTmp == 0xF5) // Startzeichen
{
serPacketCounter = 0;
96,7 → 68,7
}
else
{
if(++serPacketCounter == MotorAdresse) // (1-4)
if(++serPacketCounter == MOTORADRESSE) // (1-4)
{
SIO_Sollwert = SioTmp;
SIO_Timeout = 200; // werte für 200ms gültig
106,66 → 78,6
if(serPacketCounter > 100) serPacketCounter = 100;
}
}
#else
static unsigned int crc;
static unsigned char crc1,crc2,buf_ptr;
static unsigned char UartState = 0;
unsigned char CrcOkay = 0;
SioTmp = UDR;
if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0;
if(SioTmp == '\r' && UartState == 2)
{
UartState = 0;
crc -= RxdBuffer[buf_ptr-2];
crc -= RxdBuffer[buf_ptr-1];
crc %= 4096;
crc1 = '=' + crc / 64;
crc2 = '=' + crc % 64;
CrcOkay = 0;
if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; };
if(CrcOkay) // Datensatz schon verarbeitet
{
//NeuerDatensatzEmpfangen = 1;
AnzahlEmpfangsBytes = buf_ptr;
RxdBuffer[buf_ptr] = '\r';
if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando
uart_putchar(RxdBuffer[2]);
if (RxdBuffer[2] == 't') // Motortest
{ Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes);
SIO_Sollwert = MotorTest[MotorAdresse - 1];
SIO_Timeout = 500; // werte für 500ms gültig
}
}
}
else
switch(UartState)
{
case 0:
if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet
buf_ptr = 0;
RxdBuffer[buf_ptr++] = SioTmp;
crc = SioTmp;
break;
case 1: // Adresse auswerten
UartState++;
RxdBuffer[buf_ptr++] = SioTmp;
crc += SioTmp;
break;
case 2: // Eingangsdaten sammeln
RxdBuffer[buf_ptr] = SioTmp;
if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;
else UartState = 0;
crc += SioTmp;
break;
default:
UartState = 0;
break;
}
 
#endif
};
 
230,9 → 142,9
}
 
// --------------------------------------------------------------------------
/*void WriteProgramData(unsigned int pos, unsigned char wert)
void WriteProgramData(unsigned int pos, unsigned char wert)
{
}*/
}
 
//############################################################################
//INstallation der Seriellen Schnittstelle
245,9 → 157,9
// UART Double Speed (U2X)
USR |= (1<<U2X);
// RX-Interrupt Freigabe
 
#if X3D_SIO == 1
UCSRB |= (1<<RXCIE); // serieller Empfangsinterrupt
 
#endif
// TX-Interrupt Freigabe
// UCSRB |= (1<<TXCIE);
 
254,15 → 166,9
//Teiler wird gesetzt
UBRR= (SYSCLK / (BAUD_RATE * 8L) -1 );
//öffnet einen Kanal für printf (STDOUT)
//fdevopen (uart_putchar, NULL);
Debug_Timer = SetDelay(200);
// Version beim Start ausgeben (nicht schön, aber geht... )
uart_putchar ('\n');uart_putchar ('B');uart_putchar ('L');uart_putchar (':');
uart_putchar ('V');uart_putchar (0x30 + VERSION_HAUPTVERSION);uart_putchar ('.');uart_putchar (0x30 + VERSION_NEBENVERSION/10); uart_putchar (0x30 + VERSION_NEBENVERSION%10);
uart_putchar ('\n');uart_putchar('H');uart_putchar('W');uart_putchar (':');uart_putchar('1');uart_putchar('.');uart_putchar ((0x30-10) + HwVersion);
uart_putchar ('\n');uart_putchar ('A'); uart_putchar (':');
uart_putchar (0x30 + MotorAdresse/10); uart_putchar (0x30 + MotorAdresse%10);
 
fdevopen (uart_putchar, NULL);
Debug_Timer = SetDelay(200);
UDR = '*';
}
 
 
/trunk/uart.h
1,4 → 1,4
#ifndef _UART_H
#ifndef _UART_H
#define _UART_H
 
extern unsigned volatile char SIO_Sollwert;
10,11 → 10,13
extern int uart_putchar (char c);
extern void boot_program_page (uint32_t page, uint8_t *buf);
extern void SendUart(void);
extern void DatenUebertragung(void);
 
struct str_DebugOut
{
unsigned char Digital[2];
unsigned char Digital[13];
unsigned int AnzahlZyklen;
unsigned int Zeit;
unsigned char Sekunden;
unsigned int Analog[8]; // Debugwerte
};
 
/trunk
Property changes:
Deleted: tsvn:logminsize
-8
\ No newline at end of property