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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 66 | jan-hendri | 1 | /*####################################################################################### |
| 2 | Flight Control |
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| 3 | #######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Regler für Brushless-Motoren |
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| 6 | // + ATMEGA8 mit 8MHz |
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| 7 | // + Nur für den privaten Gebrauch |
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| 8 | // + Copyright (c) 12.2007 Holger Buss |
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| 9 | // + www.MikroKopter.com |
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| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 11 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 12 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 13 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 14 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 15 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 16 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 17 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 18 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 19 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 21 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 22 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 23 | // + eindeutig als Ursprung verlinkt werden |
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| 24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 25 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 26 | // + Benutzung auf eigene Gefahr |
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| 27 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 30 | // + mit unserer Zustimmung zulässig |
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| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 32 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 34 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 35 | // + this list of conditions and the following disclaimer. |
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| 36 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 37 | // + from this software without specific prior written permission. |
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| 38 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 39 | // + for non-commercial use (directly or indirectly) |
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| 40 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 41 | // + with our written permission |
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| 42 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 43 | // + clearly linked as origin |
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| 44 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 53 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 54 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 56 | |||
| 57 | #include "main.h" |
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| 58 | |||
| 59 | unsigned int PWM = 0; |
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| 60 | unsigned int Strom = 0,RuheStrom; //ca. in 0,1A |
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| 61 | unsigned char Strom_max = 0; |
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| 62 | unsigned char Mittelstrom = 0; |
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| 63 | unsigned int Drehzahl = 0; // in 100UPM 60 = 6000 |
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| 64 | unsigned int KommutierDelay = 10; |
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| 65 | unsigned int I2C_Timeout = 0; |
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| 66 | unsigned int SIO_Timeout = 0; |
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| 67 | unsigned int SollDrehzahl = 0; |
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| 68 | unsigned int IstDrehzahl = 0; |
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| 69 | unsigned int DrehZahlTabelle[256];//vorberechnete Werte zur Drehzahlerfassung |
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| 70 | unsigned char ZeitFuerBerechnungen = 1; |
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| 71 | unsigned char MotorAnwerfen = 0; |
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| 72 | unsigned char MotorGestoppt = 1; |
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| 73 | unsigned char MaxPWM = MAX_PWM; |
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| 74 | unsigned int CntKommutierungen = 0; |
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| 75 | unsigned int SIO_Drehzahl = 0; |
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| 76 | unsigned char ZeitZumAdWandeln = 1; |
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| 77 | unsigned char MotorAdresse = 1; |
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| 78 | unsigned char PPM_Betrieb = 1; |
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| 79 | |||
| 80 | //############################################################################ |
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| 81 | // |
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| 82 | void SetPWM(void) |
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| 83 | //############################################################################ |
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| 84 | { |
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| 85 | unsigned char tmp_pwm; |
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| 86 | tmp_pwm = PWM; |
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| 87 | if(tmp_pwm > MaxPWM) // Strombegrenzung |
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| 88 | { |
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| 89 | tmp_pwm = MaxPWM; |
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| 90 | PORTC |= ROT; |
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| 91 | } |
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| 92 | if(Strom > MAX_STROM) // Strombegrenzung |
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| 93 | { |
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| 94 | OCR1A = 0; OCR1B = 0; OCR2 = 0; |
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| 95 | PORTC |= ROT; |
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| 96 | Strom--; |
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| 97 | } |
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| 98 | else |
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| 99 | { |
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| 100 | #ifdef _32KHZ |
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| 101 | OCR1A = tmp_pwm; OCR1B = tmp_pwm; OCR2 = tmp_pwm; |
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| 102 | #endif |
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| 103 | |||
| 104 | #ifdef _16KHZ |
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| 105 | //OCR1A = 2 * (int)tmp_pwm; OCR1B = 2 * (int)tmp_pwm; OCR2 = tmp_pwm; |
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| 106 | OCR1A = tmp_pwm; OCR1B = tmp_pwm; OCR2 = tmp_pwm; |
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| 107 | #endif |
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| 108 | } |
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| 109 | } |
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| 110 | |||
| 111 | //############################################################################ |
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| 112 | // |
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| 113 | void PWM_Init(void) |
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| 114 | //############################################################################ |
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| 115 | { |
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| 116 | PWM_OFF; |
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| 117 | TCCR1B = (1 << CS10) | (0 << CS11) | (0 << CS12) | (0 << WGM12) | |
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| 118 | (0 << WGM13) | (0<< ICES1) | (0 << ICNC1); |
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| 119 | /* TCCR1B = (1 << CS10) | (0 << CS11) | (0 << CS12) | (1 << WGM12) | |
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| 120 | (0 << WGM13) | (0<< ICES1) | (0 << ICNC1); |
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| 121 | */ |
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| 122 | } |
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| 123 | |||
| 124 | //############################################################################ |
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| 125 | // |
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| 126 | void Wait(unsigned char dauer) |
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| 127 | //############################################################################ |
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| 128 | { |
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| 129 | dauer = (unsigned char)TCNT0 + dauer; |
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| 130 | while((TCNT0 - dauer) & 0x80); |
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| 131 | } |
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| 132 | |||
| 133 | //############################################################################ |
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| 134 | // |
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| 135 | void Anwerfen(unsigned char pwm) |
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| 136 | //############################################################################ |
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| 137 | { |
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| 138 | unsigned long timer = 300,i; |
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| 139 | DISABLE_SENSE_INT; |
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| 140 | PWM = 5; |
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| 141 | SetPWM(); |
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| 142 | Manuell(); |
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| 143 | Delay_ms(200); |
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| 144 | PWM = pwm; |
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| 145 | while(1) |
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| 146 | { |
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| 147 | for(i=0;i<timer; i++) |
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| 148 | { |
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| 149 | if(!UebertragungAbgeschlossen) SendUart(); |
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| 150 | else DatenUebertragung(); |
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| 151 | Wait(100); // warten |
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| 152 | } |
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| 153 | timer-= timer/15+1; |
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| 154 | if(timer < 25) { if(TEST_MANUELL) timer = 25; else return; } |
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| 155 | |||
| 156 | Manuell(); |
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| 157 | Phase++; |
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| 158 | Phase %= 6; |
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| 159 | AdConvert(); |
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| 160 | PWM = pwm; |
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| 161 | SetPWM(); |
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| 162 | if(SENSE) |
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| 163 | { |
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| 164 | PORTD ^= GRUEN; |
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| 165 | } |
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| 166 | } |
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| 167 | } |
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| 168 | |||
| 169 | /* |
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| 170 | #define SENSE_A ADMUX = 0; |
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| 171 | #define SENSE_B ADMUX = 1; |
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| 172 | #define SENSE_C ADMUX = 2; |
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| 173 | |||
| 174 | #define ClrSENSE ACSR |= 0x10 |
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| 175 | #define SENSE ((ACSR & 0x10)) |
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| 176 | #define SENSE_L (!(ACSR & 0x20)) |
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| 177 | #define SENSE_H ((ACSR & 0x20)) |
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| 178 | */ |
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| 179 | |||
| 180 | void RotBlink(unsigned char anz) |
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| 181 | { |
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| 182 | sei(); // Interrupts ein |
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| 183 | while(anz--) |
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| 184 | { |
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| 185 | PORTC |= ROT; |
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| 186 | Delay_ms(300); |
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| 187 | PORTC &= ~ROT; |
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| 188 | Delay_ms(300); |
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| 189 | } |
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| 190 | Delay_ms(1000); |
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| 191 | } |
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| 192 | |||
| 193 | #define TEST_STROMGRENZE 120 |
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| 194 | unsigned char DelayM(unsigned int timer) |
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| 195 | { |
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| 196 | while(timer--) |
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| 197 | { |
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| 198 | FastADConvert(); |
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| 199 | if(Strom > (TEST_STROMGRENZE + RuheStrom)) |
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| 200 | { |
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| 201 | FETS_OFF; |
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| 202 | return(1); |
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| 203 | } |
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| 204 | } |
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| 205 | return(0); |
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| 206 | } |
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| 207 | |||
| 208 | unsigned char Delay(unsigned int timer) |
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| 209 | { |
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| 210 | while(timer--) |
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| 211 | { |
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| 212 | // if(SENSE_H) { PORTC |= ROT; } else { PORTC &= ~ROT;} |
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| 213 | } |
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| 214 | return(0); |
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| 215 | } |
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| 216 | |||
| 217 | /* |
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| 218 | void ShowSense(void) |
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| 219 | { |
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| 220 | if(SENSE_H) { PORTC |= ROT; } else { PORTC &= ~ROT;} |
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| 221 | |||
| 222 | } |
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| 223 | */ |
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| 224 | #define HIGH_A_EIN PORTB |= 0x08 |
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| 225 | #define HIGH_B_EIN PORTB |= 0x04 |
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| 226 | #define HIGH_C_EIN PORTB |= 0x02 |
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| 227 | #define LOW_A_EIN PORTD |= 0x08 |
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| 228 | #define LOW_B_EIN PORTD |= 0x10 |
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| 229 | #define LOW_C_EIN PORTD |= 0x20 |
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| 230 | |||
| 231 | void MotorTon(void) |
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| 232 | //############################################################################ |
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| 233 | { |
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| 234 | unsigned char ADR_TAB[5] = {0,0,2,1,3}; |
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| 235 | unsigned int timer = 300,i; |
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| 236 | unsigned int t = 0; |
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| 237 | unsigned char anz = 0,MosfetOkay = 0, grenze = 50; |
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| 238 | |||
| 239 | PORTC &= ~ROT; |
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| 240 | Delay_ms(300 * ADR_TAB[MotorAdresse]); |
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| 241 | DISABLE_SENSE_INT; |
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| 242 | cli();//Globale Interrupts Ausschalten |
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| 243 | uart_putchar('\n'); |
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| 244 | STEUER_OFF; |
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| 245 | Strom_max = 0; |
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| 246 | DelayM(50); |
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| 247 | RuheStrom = Strom_max; |
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| 248 | // uart_putchar(RuheStrom + 'A'); |
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| 249 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 250 | //+ High-Mosfets auf Kurzschluss testen |
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| 251 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 252 | Strom = 0; |
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| 253 | LOW_B_EIN; |
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| 254 | HIGH_A_EIN; |
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| 255 | if(DelayM(3)) |
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| 256 | { |
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| 257 | anz = 1; |
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| 258 | uart_putchar('1'); |
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| 259 | } |
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| 260 | FETS_OFF; |
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| 261 | Delay(1000); |
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| 262 | Strom = 0; |
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| 263 | LOW_A_EIN; |
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| 264 | HIGH_B_EIN; |
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| 265 | if(DelayM(3)) |
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| 266 | { |
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| 267 | anz = 2; |
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| 268 | uart_putchar('2'); |
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| 269 | } |
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| 270 | FETS_OFF; |
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| 271 | Delay(1000); |
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| 272 | Strom = 0; |
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| 273 | LOW_B_EIN; // Low C ein |
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| 274 | HIGH_C_EIN; // High B ein |
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| 275 | if(DelayM(3)) |
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| 276 | { |
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| 277 | anz = 3; |
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| 278 | uart_putchar('3'); |
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| 279 | } |
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| 280 | FETS_OFF; |
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| 281 | Delay(1000); |
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| 282 | LOW_A_EIN; // Low A ein; und A gegen C |
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| 283 | HIGH_C_EIN; // High C ein |
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| 284 | if(DelayM(3)) |
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| 285 | { |
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| 286 | anz = 3; |
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| 287 | uart_putchar('7'); |
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| 288 | } |
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| 289 | FETS_OFF; |
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| 290 | DelayM(10000); |
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| 291 | if(anz) while(1) RotBlink(anz); // bei Kurzschluss nicht starten |
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| 292 | |||
| 293 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 294 | //+ LOW-Mosfets auf Schalten und Kurzschluss testen |
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| 295 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 296 | if(UDR == ' ') {t = 65535; grenze = 40; uart_putchar('_');} else t = 1000; // Ausführlicher Test |
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| 297 | Strom = 0; |
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| 298 | for(i=0;i<t;i++) |
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| 299 | { |
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| 300 | LOW_A_EIN; |
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| 301 | DelayM(1); |
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| 302 | FETS_OFF; |
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| 303 | Delay(5); |
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| 304 | HIGH_A_EIN; |
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| 305 | DelayM(1); |
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| 306 | FETS_OFF; |
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| 307 | if(Strom > grenze + RuheStrom) {anz = 4; uart_putchar('4'); break;} |
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| 308 | Delay(5); |
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| 309 | } |
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| 310 | Delay(10000); |
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| 311 | |||
| 312 | Strom = 0; |
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| 313 | for(i=0;i<t;i++) |
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| 314 | { |
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| 315 | LOW_B_EIN; |
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| 316 | DelayM(1); |
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| 317 | FETS_OFF; |
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| 318 | Delay(5); |
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| 319 | HIGH_B_EIN; |
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| 320 | DelayM(1); |
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| 321 | FETS_OFF; |
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| 322 | if(Strom > grenze + RuheStrom) {anz = 5; uart_putchar('5'); break;} |
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| 323 | Delay(5); |
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| 324 | } |
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| 325 | |||
| 326 | Strom = 0; |
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| 327 | Delay(10000); |
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| 328 | |||
| 329 | for(i=0;i<t;i++) |
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| 330 | { |
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| 331 | LOW_C_EIN; |
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| 332 | DelayM(1); |
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| 333 | FETS_OFF; |
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| 334 | Delay(5); |
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| 335 | HIGH_C_EIN; |
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| 336 | DelayM(1); |
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| 337 | FETS_OFF; |
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| 338 | if(Strom > grenze + RuheStrom) {anz = 6; uart_putchar('6'); break;} |
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| 339 | Delay(5); |
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| 340 | } |
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| 341 | |||
| 342 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 343 | //+ High-Mosfets auf Schalten testen |
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| 344 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 345 | SENSE_A; |
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| 346 | FETS_OFF; |
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| 347 | LOW_B_EIN; // Low B ein |
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| 348 | LOW_C_EIN; // Low C ein |
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| 349 | Strom = 0; |
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| 350 | #define TONDAUER 40000 |
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| 351 | #define SOUND_E 2 |
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| 352 | #define SOUND1_A 300 |
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| 353 | #define SOUND2_A 330 |
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| 354 | #define SOUND3_A 360 |
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| 355 | |||
| 356 | for(i=0; i< (TONDAUER / SOUND2_A) ; i++) |
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| 357 | { |
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| 358 | HIGH_A_EIN; // Test A |
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| 359 | Delay(SOUND_E); |
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| 360 | if(MessAD(0) > 50) { MosfetOkay |= 0x01; } else { MosfetOkay &= ~0x01;}; |
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| 361 | PORTB = 0; |
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| 362 | Delay(SOUND1_A); |
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| 363 | } |
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| 364 | FETS_OFF; |
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| 365 | |||
| 366 | LOW_A_EIN; // Low A ein |
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| 367 | LOW_C_EIN; // Low C ein |
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| 368 | for(i=0; i<(TONDAUER / SOUND1_A); i++) |
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| 369 | { |
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| 370 | HIGH_B_EIN; // Test B |
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| 371 | Delay(SOUND_E); |
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| 372 | if(MessAD(1) > 50) { MosfetOkay |= 0x02; } else { MosfetOkay &= ~0x02;}; |
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| 373 | PORTB = 0; |
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| 374 | Delay(SOUND1_A); |
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| 375 | } |
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| 376 | |||
| 377 | FETS_OFF; |
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| 378 | LOW_A_EIN; // Low A ein |
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| 379 | LOW_B_EIN; // Low B ein |
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| 380 | for(i=0; i<(TONDAUER / SOUND3_A); i++) |
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| 381 | { |
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| 382 | HIGH_C_EIN; // Test C |
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| 383 | Delay(SOUND_E); |
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| 384 | if(MessAD(2) > 50) { MosfetOkay |= 0x04; } else { MosfetOkay &= ~0x04;}; |
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| 385 | PORTB = 0; |
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| 386 | Delay(SOUND2_A); |
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| 387 | } |
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| 388 | FETS_OFF; |
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| 389 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 390 | //+ Low-Mosfets auf Schalten testen |
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| 391 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 392 | SENSE_B; |
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| 393 | LOW_A_EIN; // Low A ein |
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| 394 | for(i=0; i< (TONDAUER / SOUND2_A) ; i++) |
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| 395 | { |
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| 396 | HIGH_B_EIN; // Test B |
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| 397 | Delay(SOUND_E); |
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| 398 | if(MessAD(0) > 50) { MosfetOkay &= ~0x08;} else { MosfetOkay |= 0x08;}; |
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| 399 | PORTB = 0; |
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| 400 | Delay(SOUND2_A); |
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| 401 | } |
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| 402 | |||
| 403 | //++++++++++++++++++++++++++++++++++++ |
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| 404 | LOW_C_EIN; // Low C ein |
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| 405 | for(i=0; i<(TONDAUER / SOUND1_A); i++) |
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| 406 | { |
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| 407 | HIGH_B_EIN; // Test B |
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| 408 | Delay(SOUND_E); |
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| 409 | if(MessAD(2) > 50) { MosfetOkay &= ~0x20;} else { MosfetOkay |= 0x20;}; |
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| 410 | PORTB = 0; |
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| 411 | Delay(SOUND3_A); |
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| 412 | } |
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| 413 | FETS_OFF; |
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| 414 | //++++++++++++++++++++++++++++++++++++ |
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| 415 | FETS_OFF; |
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| 416 | LOW_B_EIN; // Low B ein |
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| 417 | for(i=0; i<(TONDAUER / SOUND3_A); i++) |
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| 418 | { |
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| 419 | HIGH_C_EIN; // Test C |
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| 420 | Delay(SOUND_E); |
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| 421 | if(MessAD(1) > 50) { MosfetOkay &= ~0x10;} else { MosfetOkay |= 0x10;}; |
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| 422 | PORTB = 0; |
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| 423 | Delay(SOUND3_A); |
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| 424 | } |
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| 425 | FETS_OFF; |
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| 426 | //++++++++++++++++++++++++++++++++++++ |
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| 427 | |||
| 428 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 429 | sei();//Globale Interrupts Einschalten |
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| 430 | // Delay_ms(250 * MotorAdresse); |
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| 431 | /* |
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| 432 | LOW_A_EIN; // Low B ein |
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| 433 | #define SOUND8_A 650 |
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| 434 | for(i=0; i<(TONDAUER / SOUND8_A); i++) |
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| 435 | { |
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| 436 | HIGH_B_EIN; // Test B |
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| 437 | Delay(SOUND_E); |
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| 438 | PORTB = 0; |
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| 439 | Delay(SOUND8_A); |
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| 440 | } |
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| 441 | */ |
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| 442 | Delay_ms(300 * (4-ADR_TAB[MotorAdresse])); |
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| 443 | if(!(MosfetOkay & 0x01)) { anz = 1; UDR='A'; } else |
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| 444 | if(!(MosfetOkay & 0x02)) { anz = 2; UDR='B'; } else |
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| 445 | if(!(MosfetOkay & 0x04)) { anz = 3; UDR='C'; } else |
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| 446 | if(!(MosfetOkay & 0x08)) { anz = 4; UDR='a'; } else |
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| 447 | if(!(MosfetOkay & 0x10)) { anz = 5; UDR='b'; } else |
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| 448 | if(!(MosfetOkay & 0x20)) { anz = 6; UDR='c'; } |
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| 449 | |||
| 450 | if(anz) Delay_ms(1000); |
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| 451 | |||
| 452 | RotBlink(anz); |
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| 453 | uart_putchar('.'); |
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| 454 | } |
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| 455 | |||
| 456 | //############################################################################ |
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| 457 | // |
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| 458 | unsigned char SollwertErmittlung(void) |
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| 459 | //############################################################################ |
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| 460 | { |
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| 461 | static unsigned int sollwert = 0; |
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| 462 | unsigned int ppm; |
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| 463 | if(!I2C_Timeout) // bei Erreichen von 0 ist der Wert ungültig |
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| 464 | { |
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| 465 | if(SIO_Timeout) // es gibt gültige SIO-Daten |
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| 466 | { |
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| 467 | sollwert = (MAX_PWM * (unsigned int) SIO_Sollwert) / 200; // skalieren auf 0-200 = 0-255 |
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| 468 | PPM_Betrieb = 0; |
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| 469 | ICP_INT_DISABLE; |
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| 470 | PORTC &= ~ROT; |
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| 471 | } |
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| 472 | else |
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| 473 | if(anz_ppm_werte > 20) // es gibt gültige PPM-Daten |
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| 474 | { |
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| 475 | PPM_Betrieb = 1; |
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| 476 | ppm = PPM_Signal; |
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| 477 | if(ppm > 300) ppm = 0; // ungültiges Signal |
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| 478 | if(ppm > 200) ppm = 200; |
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| 479 | if(ppm <= MIN_PPM) sollwert = 0; |
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| 480 | else |
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| 481 | { |
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| 482 | sollwert = (int) MIN_PWM + ((MAX_PWM - MIN_PWM) * (ppm - MIN_PPM)) / (190 - MIN_PPM); |
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| 483 | } |
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| 484 | PORTC &= ~ROT; |
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| 485 | } |
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| 486 | else // Kein gültiger Sollwert |
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| 487 | { |
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| 488 | if(!TEST_SCHUB) { if(sollwert) sollwert--; } |
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| 489 | PORTC |= ROT; |
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| 490 | } |
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| 491 | } |
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| 492 | else // I2C-Daten sind gültig |
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| 493 | { |
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| 494 | sollwert = I2C_RXBuffer; |
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| 495 | PPM_Betrieb = 0; |
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| 496 | PORTC &= ~ROT; |
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| 497 | ICP_INT_DISABLE; |
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| 498 | } |
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| 499 | if(sollwert > MAX_PWM) sollwert = MAX_PWM; |
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| 500 | return(sollwert); |
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| 501 | } |
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| 502 | |||
| 503 | void DebugAusgaben(void) |
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| 504 | { |
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| 505 | DebugOut.Analog[0] = Strom; |
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| 506 | DebugOut.Analog[1] = Mittelstrom; |
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| 507 | DebugOut.Analog[2] = SIO_Drehzahl; |
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| 508 | DebugOut.Analog[3] = PPM_Signal; |
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| 509 | } |
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| 510 | |||
| 511 | |||
| 512 | //############################################################################ |
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| 513 | //Hauptprogramm |
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| 514 | int main (void) |
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| 515 | //############################################################################ |
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| 516 | { |
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| 517 | char altPhase = 0; |
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| 518 | int test = 0; |
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| 519 | unsigned int MinUpmPulse,Blink,TestschubTimer; |
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| 520 | unsigned int Blink2,MittelstromTimer,DrehzahlMessTimer,MotorGestopptTimer; |
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| 521 | |||
| 522 | DDRC = 0x08; |
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| 523 | PORTC = 0x08; |
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| 524 | DDRD = 0xBA; |
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| 525 | PORTD = 0x00; |
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| 526 | DDRB = 0x0E; |
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| 527 | PORTB = 0x31; |
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| 528 | |||
| 529 | #if (MOTORADRESSE == 0) |
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| 530 | PORTB |= (ADR1 + ADR2); // Pullups für Adresswahl |
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| 531 | for(test=0;test<500;test++); |
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| 532 | if (PINB & ADR1) |
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| 533 | { |
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| 534 | if (PINB & ADR2) MotorAdresse = 1; |
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| 535 | else MotorAdresse = 2; |
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| 536 | } |
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| 537 | else |
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| 538 | { |
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| 539 | if (PINB & ADR2) MotorAdresse = 3; |
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| 540 | else MotorAdresse = 4; |
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| 541 | } |
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| 542 | #else |
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| 543 | MotorAdresse = MOTORADRESSE; |
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| 544 | #endif |
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| 545 | |||
| 546 | UART_Init(); |
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| 547 | Timer0_Init(); |
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| 548 | sei();//Globale Interrupts Einschalten |
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| 549 | |||
| 550 | // Am Blinken erkennt man die richtige Motoradresse |
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| 551 | /* |
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| 552 | for(test=0;test<5;test++) |
||
| 553 | { |
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| 554 | if(test == MotorAdresse) PORTD |= GRUEN; |
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| 555 | Delay_ms(150); |
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| 556 | PORTD &= ~GRUEN; |
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| 557 | Delay_ms(250); |
||
| 558 | } |
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| 559 | |||
| 560 | Delay_ms(500); |
||
| 561 | */ |
||
| 562 | // UART_Init(); // war doppelt |
||
| 563 | PWM_Init(); |
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| 564 | |||
| 565 | InitIC2_Slave(0x50); |
||
| 566 | InitPPM(); |
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| 567 | |||
| 568 | Blink = SetDelay(101); |
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| 569 | Blink2 = SetDelay(102); |
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| 570 | MinUpmPulse = SetDelay(103); |
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| 571 | MittelstromTimer = SetDelay(254); |
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| 572 | DrehzahlMessTimer = SetDelay(1005); |
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| 573 | TestschubTimer = SetDelay(1006); |
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| 574 | while(!CheckDelay(MinUpmPulse)) |
||
| 575 | { |
||
| 576 | if(SollwertErmittlung()) break; |
||
| 577 | } |
||
| 578 | ; |
||
| 579 | PORTD |= GRUEN; |
||
| 580 | PWM = 0; |
||
| 581 | |||
| 582 | SetPWM(); |
||
| 583 | |||
| 584 | SFIOR = 0x08; // Analog Comperator ein |
||
| 585 | ADMUX = 1; |
||
| 586 | |||
| 587 | MinUpmPulse = SetDelay(10); |
||
| 588 | DebugOut.Analog[1] = 1; |
||
| 589 | PPM_Signal = 0; |
||
| 590 | |||
| 591 | if(!SollwertErmittlung()) MotorTon(); |
||
| 592 | //MotorTon(); |
||
| 593 | PORTB = 0x31; // Pullups wieder einschalten |
||
| 594 | |||
| 595 | // zum Test der Hardware; Motor dreht mit konstanter Drehzahl ohne Regelung |
||
| 596 | if(TEST_MANUELL) Anwerfen(TEST_MANUELL); // kommt von dort nicht wieder |
||
| 597 | |||
| 598 | while (1) |
||
| 599 | { |
||
| 600 | //ShowSense(); |
||
| 601 | |||
| 602 | if(!TEST_SCHUB) PWM = SollwertErmittlung(); |
||
| 603 | //I2C_TXBuffer = PWM; // Antwort über I2C-Bus |
||
| 604 | if(MANUELL_PWM) PWM = MANUELL_PWM; |
||
| 605 | |||
| 606 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 607 | if(Phase != altPhase) // es gab eine Kommutierung im Interrupt |
||
| 608 | { |
||
| 609 | MotorGestoppt = 0; |
||
| 610 | ZeitFuerBerechnungen = 0; // direkt nach einer Kommutierung ist Zeit |
||
| 611 | MinUpmPulse = SetDelay(250); // Timeout, falls ein Motor stehen bleibt |
||
| 612 | altPhase = Phase; |
||
| 613 | } |
||
| 614 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 615 | if(!PWM) // Sollwert == 0 |
||
| 616 | { |
||
| 617 | MotorAnwerfen = 0; // kein Startversuch |
||
| 618 | ZeitFuerBerechnungen = 0; |
||
| 619 | // nach 1,5 Sekunden den Motor als gestoppt betrachten |
||
| 620 | if(CheckDelay(MotorGestopptTimer)) |
||
| 621 | { |
||
| 622 | DISABLE_SENSE_INT; |
||
| 623 | MotorGestoppt = 1; |
||
| 624 | STEUER_OFF; |
||
| 625 | } |
||
| 626 | } |
||
| 627 | else |
||
| 628 | { |
||
| 629 | if(MotorGestoppt) MotorAnwerfen = 1; // Startversuch |
||
| 630 | MotorGestopptTimer = SetDelay(1500); |
||
| 631 | } |
||
| 632 | |||
| 633 | if(MotorGestoppt && !TEST_SCHUB) PWM = 0; |
||
| 634 | SetPWM(); |
||
| 635 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 636 | if(!ZeitFuerBerechnungen++) |
||
| 637 | { |
||
| 638 | if(MotorGestoppt) PORTD |= GRUEN; //else PORTD &= ~GRUEN; |
||
| 639 | if(SIO_DEBUG) |
||
| 640 | { |
||
| 641 | DebugAusgaben(); // welche Werte sollen angezeigt werden? |
||
| 642 | if(!UebertragungAbgeschlossen) SendUart(); |
||
| 643 | else DatenUebertragung(); |
||
| 644 | } |
||
| 645 | // Berechnen des Mittleren Stroms zur (langsamen) Strombegrenzung |
||
| 646 | if(CheckDelay(MittelstromTimer)) |
||
| 647 | { |
||
| 648 | MittelstromTimer = SetDelay(50); // alle 50ms |
||
| 649 | if(Mittelstrom < Strom) Mittelstrom++;// Mittelwert des Stroms bilden |
||
| 650 | else if(Mittelstrom > Strom) Mittelstrom--; |
||
| 651 | if(Strom > MAX_STROM) MaxPWM -= MaxPWM / 32; |
||
| 652 | if((Mittelstrom > LIMIT_STROM))// Strom am Limit? |
||
| 653 | { |
||
| 654 | if(MaxPWM) MaxPWM--;// dann die Maximale PWM herunterfahren |
||
| 655 | PORTC |= ROT; |
||
| 656 | } |
||
| 657 | else |
||
| 658 | { |
||
| 659 | if(MaxPWM < MAX_PWM) MaxPWM++; |
||
| 660 | } |
||
| 661 | } |
||
| 662 | |||
| 663 | if(CheckDelay(DrehzahlMessTimer)) // Ist-Drehzahl bestimmen |
||
| 664 | { |
||
| 665 | DrehzahlMessTimer = SetDelay(10); |
||
| 666 | SIO_Drehzahl = CntKommutierungen;//(6 * CntKommutierungen) / (POLANZAHL / 2); |
||
| 667 | CntKommutierungen = 0; |
||
| 668 | if(PPM_Timeout == 0) // keine PPM-Signale |
||
| 669 | ZeitZumAdWandeln = 1; |
||
| 670 | } |
||
| 671 | |||
| 672 | if(TEST_SCHUB) |
||
| 673 | { |
||
| 674 | if(CheckDelay(TestschubTimer)) |
||
| 675 | { |
||
| 676 | TestschubTimer = SetDelay(1500); |
||
| 677 | switch(test) |
||
| 678 | { |
||
| 679 | case 0: PWM = 50; test++; break; |
||
| 680 | case 1: PWM = 130; test++; break; |
||
| 681 | case 2: PWM = 60; test++; break; |
||
| 682 | case 3: PWM = 140; test++; break; |
||
| 683 | case 4: PWM = 150; test = 0; break; |
||
| 684 | default: test = 0; |
||
| 685 | } |
||
| 686 | } |
||
| 687 | } |
||
| 688 | // Motor Stehen geblieben |
||
| 689 | if((CheckDelay(MinUpmPulse) && SIO_Drehzahl == 0) || MotorAnwerfen) |
||
| 690 | { |
||
| 691 | MotorGestoppt = 1; |
||
| 692 | DISABLE_SENSE_INT; |
||
| 693 | MinUpmPulse = SetDelay(100); |
||
| 694 | if(MotorAnwerfen) |
||
| 695 | { |
||
| 696 | PORTC &= ~ROT; |
||
| 697 | MotorAnwerfen = 0; |
||
| 698 | Anwerfen(10); |
||
| 699 | PORTD |= GRUEN; |
||
| 700 | MotorGestoppt = 0; |
||
| 701 | Phase--; |
||
| 702 | PWM = 1; |
||
| 703 | SetPWM(); |
||
| 704 | SENSE_TOGGLE_INT; |
||
| 705 | ENABLE_SENSE_INT; |
||
| 706 | MinUpmPulse = SetDelay(20); |
||
| 707 | while(!CheckDelay(MinUpmPulse)); // kurz Synchronisieren |
||
| 708 | PWM = 15; |
||
| 709 | SetPWM(); |
||
| 710 | MinUpmPulse = SetDelay(300); |
||
| 711 | while(!CheckDelay(MinUpmPulse)); // kurz Durchstarten |
||
| 712 | |||
| 713 | // Drehzahlmessung wieder aufsetzen |
||
| 714 | DrehzahlMessTimer = SetDelay(50); |
||
| 715 | altPhase = 7; |
||
| 716 | } |
||
| 717 | } |
||
| 718 | } // ZeitFuerBerechnungen |
||
| 719 | } // while(1) - Hauptschleife |
||
| 720 | } |
||
| 721 |