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| Rev | Author | Line No. | Line |
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| 1 | ingob | 1 | /*############################################################################ |
| 2 | + Regler für Brushless-Motoren |
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| 3 | + ATMEGA8 mit 8MHz |
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| 4 | + (c) 01.2007 Holger Buss |
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| 5 | + Nur für den privaten Gebrauch |
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| 6 | + Keine Garantie auf Fehlerfreiheit |
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| 7 | + Kommerzielle Nutzung nur mit meiner Zustimmung |
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| 8 | + Der Code ist für die Hardware BL_Ctrl V1.0 entwickelt worden |
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| 9 | + www.mikrocontroller.com |
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| 10 | ############################################################################*/ |
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| 11 | #include "main.h" |
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| 12 | |||
| 13 | volatile unsigned char Phase = 0,ShadowTCCR1A = 0; |
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| 14 | volatile unsigned char CompFreigabeTimer = 100; |
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| 15 | volatile unsigned char CompInterruptFreigabe = 0; |
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| 16 | |||
| 17 | |||
| 18 | //############################################################################ |
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| 19 | // |
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| 20 | SIGNAL(SIG_OVERFLOW2) |
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| 21 | //############################################################################ |
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| 22 | { |
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| 23 | } |
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| 24 | |||
| 25 | //############################################################################ |
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| 26 | // + Interruptroutine |
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| 27 | // + Wird durch den Analogkomperator ausgelöst |
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| 28 | // + Dadurch wird das Kommutieren erzeugt |
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| 29 | SIGNAL(SIG_COMPARATOR) |
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| 30 | //############################################################################ |
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| 31 | { |
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| 32 | unsigned char sense = 0; |
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| 33 | do |
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| 34 | { |
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| 35 | if(SENSE_H) sense = 1; else sense = 0; |
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| 36 | switch(Phase) |
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| 37 | { |
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| 38 | case 0: |
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| 39 | STEUER_A_H; |
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| 40 | if(sense) |
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| 41 | { |
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| 42 | STEUER_C_L; |
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| 43 | TCNT2 = 1; |
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| 44 | if(ZeitZumAdWandeln) AdConvert(); |
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| 45 | SENSE_FALLING_INT; |
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| 46 | SENSE_B; |
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| 47 | Phase++; |
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| 48 | CntKommutierungen++; |
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| 49 | } |
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| 50 | else |
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| 51 | { |
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| 52 | STEUER_B_L; |
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| 53 | } |
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| 54 | break; |
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| 55 | case 1: |
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| 56 | STEUER_C_L; |
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| 57 | if(!sense) |
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| 58 | { |
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| 59 | STEUER_B_H; |
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| 60 | TCNT2 = 1; |
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| 61 | if(ZeitZumAdWandeln) AdConvert(); |
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| 62 | SENSE_A; |
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| 63 | SENSE_RISING_INT; |
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| 64 | Phase++; |
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| 65 | CntKommutierungen++; |
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| 66 | } |
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| 67 | else |
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| 68 | { |
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| 69 | STEUER_A_H; |
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| 70 | } |
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| 71 | |||
| 72 | break; |
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| 73 | case 2: |
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| 74 | STEUER_B_H; |
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| 75 | if(sense) |
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| 76 | { |
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| 77 | STEUER_A_L; |
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| 78 | TCNT2 = 1; |
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| 79 | if(ZeitZumAdWandeln) AdConvert(); |
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| 80 | SENSE_C; |
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| 81 | SENSE_FALLING_INT; |
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| 82 | Phase++; |
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| 83 | CntKommutierungen++; |
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| 84 | } |
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| 85 | else |
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| 86 | { |
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| 87 | STEUER_C_L; |
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| 88 | } |
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| 89 | |||
| 90 | break; |
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| 91 | case 3: |
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| 92 | STEUER_A_L; |
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| 93 | if(!sense) |
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| 94 | { |
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| 95 | STEUER_C_H; |
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| 96 | TCNT2 = 1; |
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| 97 | if(ZeitZumAdWandeln) AdConvert(); |
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| 98 | SENSE_B; |
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| 99 | SENSE_RISING_INT; |
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| 100 | Phase++; |
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| 101 | CntKommutierungen++; |
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| 102 | } |
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| 103 | else |
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| 104 | { |
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| 105 | STEUER_B_H; |
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| 106 | } |
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| 107 | |||
| 108 | |||
| 109 | break; |
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| 110 | case 4: |
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| 111 | STEUER_C_H; |
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| 112 | if(sense) |
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| 113 | { |
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| 114 | STEUER_B_L; |
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| 115 | TCNT2 = 1; |
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| 116 | if(ZeitZumAdWandeln) AdConvert(); |
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| 117 | SENSE_A; |
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| 118 | SENSE_FALLING_INT; |
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| 119 | Phase++; |
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| 120 | CntKommutierungen++; |
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| 121 | } |
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| 122 | else |
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| 123 | { |
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| 124 | STEUER_A_L; |
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| 125 | } |
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| 126 | |||
| 127 | break; |
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| 128 | case 5: |
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| 129 | STEUER_B_L; |
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| 130 | if(!sense) |
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| 131 | { |
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| 132 | STEUER_A_H; |
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| 133 | TCNT2 = 1; |
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| 134 | if(ZeitZumAdWandeln) AdConvert(); |
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| 135 | SENSE_C; |
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| 136 | SENSE_RISING_INT; |
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| 137 | Phase = 0; |
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| 138 | CntKommutierungen++; |
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| 139 | } |
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| 140 | else |
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| 141 | { |
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| 142 | STEUER_C_H; |
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| 143 | } |
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| 144 | break; |
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| 145 | } |
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| 146 | } |
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| 147 | while((SENSE_L && sense) || (SENSE_H && !sense)); |
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| 148 | ZeitZumAdWandeln = 0; |
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| 149 | } |
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| 150 | |||
| 151 | //############################################################################ |
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| 152 | // |
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| 153 | void Manuell(void) |
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| 154 | //############################################################################ |
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| 155 | { |
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| 156 | switch(Phase) |
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| 157 | { |
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| 158 | case 0: |
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| 159 | STEUER_A_H; |
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| 160 | STEUER_B_L; |
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| 161 | SENSE_C; |
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| 162 | SENSE_RISING_INT; |
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| 163 | break; |
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| 164 | case 1: |
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| 165 | STEUER_A_H; |
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| 166 | STEUER_C_L; |
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| 167 | SENSE_B; |
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| 168 | SENSE_FALLING_INT; |
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| 169 | break; |
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| 170 | case 2: |
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| 171 | STEUER_B_H; |
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| 172 | STEUER_C_L; |
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| 173 | SENSE_A; |
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| 174 | SENSE_RISING_INT; |
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| 175 | break; |
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| 176 | case 3: |
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| 177 | STEUER_B_H; |
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| 178 | STEUER_A_L; |
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| 179 | SENSE_C; |
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| 180 | SENSE_FALLING_INT; |
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| 181 | break; |
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| 182 | case 4: |
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| 183 | STEUER_C_H; |
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| 184 | STEUER_A_L; |
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| 185 | SENSE_B; |
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| 186 | SENSE_RISING_INT; |
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| 187 | break; |
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| 188 | case 5: |
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| 189 | STEUER_C_H; |
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| 190 | STEUER_B_L; |
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| 191 | SENSE_A; |
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| 192 | SENSE_FALLING_INT; |
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| 193 | break; |
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| 194 | } |
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| 195 | } |
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| 196 |