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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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92 | ingob | 5 | + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
1 | ingob | 6 | + Keine Garantie auf Fehlerfreiheit |
7 | + Kommerzielle Nutzung nur mit meiner Zustimmung |
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8 | + Der Code ist für die Hardware BL_Ctrl V1.0 entwickelt worden |
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9 | + www.mikrocontroller.com |
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10 | /############################################################################*/ |
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11 | |||
12 | #include "main.h" |
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13 | |||
14 | unsigned int PWM = 0; |
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15 | unsigned int Strom = 0; //ca. in 0,1A |
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16 | unsigned char Strom_max = 0; |
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51 | holgerb | 17 | unsigned char Mittelstrom = 0; |
1 | ingob | 18 | unsigned int Drehzahl = 0; // in 100UPM 60 = 6000 |
19 | unsigned int KommutierDelay = 10; |
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20 | unsigned int I2C_Timeout = 0; |
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23 | ingob | 21 | unsigned int SIO_Timeout = 0; |
1 | ingob | 22 | unsigned int SollDrehzahl = 0; |
23 | unsigned int IstDrehzahl = 0; |
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24 | unsigned int DrehZahlTabelle[256];//vorberechnete Werte zur Drehzahlerfassung |
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25 | unsigned char ZeitFuerBerechnungen = 1; |
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26 | unsigned char MotorAnwerfen = 0; |
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27 | unsigned char MotorGestoppt = 1; |
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28 | unsigned char MaxPWM = MAX_PWM; |
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29 | unsigned int CntKommutierungen = 0; |
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30 | unsigned int SIO_Drehzahl = 0; |
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31 | unsigned char ZeitZumAdWandeln = 1; |
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24 | ingob | 32 | unsigned char MotorAdresse = 1; |
50 | holgerb | 33 | unsigned char PPM_Betrieb = 1; |
1 | ingob | 34 | |
35 | //############################################################################ |
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36 | // |
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37 | void SetPWM(void) |
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38 | //############################################################################ |
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39 | { |
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40 | unsigned char tmp_pwm; |
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41 | tmp_pwm = PWM; |
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42 | if(tmp_pwm > MaxPWM) // Strombegrenzung |
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43 | { |
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44 | tmp_pwm = MaxPWM; |
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45 | PORTC |= ROT; |
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46 | } |
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47 | if(Strom > MAX_STROM) // Strombegrenzung |
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48 | { |
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49 | OCR1A = 0; OCR1B = 0; OCR2 = 0; |
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50 | PORTC |= ROT; |
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51 | Strom--; |
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52 | } |
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53 | else |
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54 | { |
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55 | #ifdef _32KHZ |
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56 | OCR1A = tmp_pwm; OCR1B = tmp_pwm; OCR2 = tmp_pwm; |
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57 | #endif |
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58 | |||
59 | #ifdef _16KHZ |
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50 | holgerb | 60 | //OCR1A = 2 * (int)tmp_pwm; OCR1B = 2 * (int)tmp_pwm; OCR2 = tmp_pwm; |
61 | OCR1A = tmp_pwm; OCR1B = tmp_pwm; OCR2 = tmp_pwm; |
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1 | ingob | 62 | #endif |
63 | } |
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64 | } |
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65 | |||
66 | //############################################################################ |
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67 | // |
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68 | void PWM_Init(void) |
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69 | //############################################################################ |
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70 | { |
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71 | PWM_OFF; |
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50 | holgerb | 72 | TCCR1B = (1 << CS10) | (0 << CS11) | (0 << CS12) | (0 << WGM12) | |
1 | ingob | 73 | (0 << WGM13) | (0<< ICES1) | (0 << ICNC1); |
50 | holgerb | 74 | /* TCCR1B = (1 << CS10) | (0 << CS11) | (0 << CS12) | (1 << WGM12) | |
75 | (0 << WGM13) | (0<< ICES1) | (0 << ICNC1); |
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76 | */ |
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1 | ingob | 77 | } |
78 | |||
79 | //############################################################################ |
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80 | // |
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81 | void Wait(unsigned char dauer) |
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82 | //############################################################################ |
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83 | { |
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84 | dauer = (unsigned char)TCNT0 + dauer; |
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85 | while((TCNT0 - dauer) & 0x80); |
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86 | } |
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87 | |||
88 | //############################################################################ |
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89 | // |
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90 | void Anwerfen(unsigned char pwm) |
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91 | //############################################################################ |
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92 | { |
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93 | unsigned long timer = 300,i; |
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94 | DISABLE_SENSE_INT; |
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95 | PWM = 5; |
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96 | SetPWM(); |
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97 | Manuell(); |
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98 | Delay_ms(200); |
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99 | PWM = pwm; |
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100 | while(1) |
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101 | { |
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102 | for(i=0;i<timer; i++) |
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103 | { |
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104 | if(!UebertragungAbgeschlossen) SendUart(); |
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105 | else DatenUebertragung(); |
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106 | Wait(100); // warten |
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107 | } |
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108 | timer-= timer/15+1; |
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109 | if(timer < 25) { if(TEST_MANUELL) timer = 25; else return; } |
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110 | |||
111 | Manuell(); |
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112 | Phase++; |
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113 | Phase %= 6; |
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114 | AdConvert(); |
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115 | PWM = pwm; |
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116 | SetPWM(); |
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117 | if(SENSE) |
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118 | { |
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119 | PORTD ^= GRUEN; |
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120 | } |
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121 | } |
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122 | } |
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123 | |||
50 | holgerb | 124 | /* |
125 | #define SENSE_A ADMUX = 0; |
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126 | #define SENSE_B ADMUX = 1; |
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127 | #define SENSE_C ADMUX = 2; |
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128 | |||
129 | #define ClrSENSE ACSR |= 0x10 |
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130 | #define SENSE ((ACSR & 0x10)) |
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131 | #define SENSE_L (!(ACSR & 0x20)) |
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132 | #define SENSE_H ((ACSR & 0x20)) |
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133 | */ |
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134 | |||
135 | void RotBlink(unsigned char anz) |
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136 | { |
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137 | sei(); // Interrupts ein |
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138 | while(anz--) |
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139 | { |
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140 | PORTC |= ROT; |
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141 | Delay_ms(300); |
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142 | PORTC &= ~ROT; |
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143 | Delay_ms(300); |
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144 | } |
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145 | Delay_ms(1000); |
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146 | } |
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147 | |||
51 | holgerb | 148 | #define TEST_STROMGRENZE 90 |
50 | holgerb | 149 | unsigned char DelayM(unsigned int timer) |
150 | { |
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151 | while(timer--) |
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152 | { |
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153 | FastADConvert(); |
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154 | if(Strom > TEST_STROMGRENZE) |
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155 | { |
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51 | holgerb | 156 | FETS_OFF; |
50 | holgerb | 157 | return(1); |
158 | } |
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159 | } |
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160 | return(0); |
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161 | } |
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162 | |||
163 | unsigned char Delay(unsigned int timer) |
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164 | { |
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165 | while(timer--) |
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166 | { |
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51 | holgerb | 167 | // if(SENSE_H) { PORTC |= ROT; } else { PORTC &= ~ROT;} |
50 | holgerb | 168 | } |
169 | return(0); |
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170 | } |
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171 | |||
51 | holgerb | 172 | void ShowSense(void) |
173 | { |
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174 | if(SENSE_H) { PORTC |= ROT; } else { PORTC &= ~ROT;} |
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50 | holgerb | 175 | |
51 | holgerb | 176 | } |
177 | |||
178 | #define HIGH_A_EIN PORTB |= 0x08 |
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179 | #define HIGH_B_EIN PORTB |= 0x04 |
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180 | #define HIGH_C_EIN PORTB |= 0x02 |
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181 | #define LOW_A_EIN PORTD |= 0x08 |
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182 | #define LOW_B_EIN PORTD |= 0x10 |
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183 | #define LOW_C_EIN PORTD |= 0x20 |
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184 | |||
50 | holgerb | 185 | void MotorTon(void) |
1 | ingob | 186 | //############################################################################ |
50 | holgerb | 187 | { |
51 | holgerb | 188 | unsigned char ADR_TAB[5] = {0,0,2,1,3}; |
50 | holgerb | 189 | unsigned int timer = 300,i; |
51 | holgerb | 190 | unsigned int t = 0; |
50 | holgerb | 191 | unsigned char MosfetKurzschluss = 0, MosfetOkay = 0,anz = 0; |
51 | holgerb | 192 | |
193 | PORTC &= ~ROT; |
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194 | Delay_ms(300 * ADR_TAB[MotorAdresse]); |
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50 | holgerb | 195 | DISABLE_SENSE_INT; |
196 | cli();//Globale Interrupts Ausschalten |
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197 | uart_putchar('\n'); |
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198 | STEUER_OFF; |
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51 | holgerb | 199 | |
50 | holgerb | 200 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
201 | //+ High-Mosfets auf Kurzschluss testen |
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202 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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203 | Strom = 0; |
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51 | holgerb | 204 | LOW_B_EIN; |
205 | HIGH_A_EIN; |
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50 | holgerb | 206 | if(DelayM(3)) |
207 | { |
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208 | anz = 1; |
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51 | holgerb | 209 | uart_putchar('1'); |
50 | holgerb | 210 | } |
51 | holgerb | 211 | FETS_OFF; |
212 | Delay(1000); |
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50 | holgerb | 213 | Strom = 0; |
51 | holgerb | 214 | LOW_A_EIN; |
215 | HIGH_B_EIN; |
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50 | holgerb | 216 | if(DelayM(3)) |
217 | { |
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218 | anz = 2; |
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51 | holgerb | 219 | uart_putchar('2'); |
50 | holgerb | 220 | } |
51 | holgerb | 221 | FETS_OFF; |
222 | Delay(1000); |
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50 | holgerb | 223 | Strom = 0; |
51 | holgerb | 224 | LOW_B_EIN; // Low C ein |
225 | HIGH_C_EIN; // High B ein |
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50 | holgerb | 226 | if(DelayM(3)) |
227 | { |
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228 | anz = 3; |
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51 | holgerb | 229 | uart_putchar('3'); |
50 | holgerb | 230 | } |
51 | holgerb | 231 | FETS_OFF; |
232 | Delay(1000); |
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233 | LOW_A_EIN; // Low A ein; und A gegen C |
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234 | HIGH_C_EIN; // High C ein |
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50 | holgerb | 235 | if(DelayM(3)) |
236 | { |
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237 | anz = 3; |
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238 | MosfetKurzschluss = 0x01; |
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51 | holgerb | 239 | uart_putchar('7'); |
50 | holgerb | 240 | } |
51 | holgerb | 241 | FETS_OFF; |
242 | DelayM(10000); |
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243 | if(anz) while(1) RotBlink(anz); // bei Kurzschluss nicht starten |
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244 | |||
50 | holgerb | 245 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | holgerb | 246 | //+ LOW-Mosfets auf Schalten und Kurzschluss testen |
50 | holgerb | 247 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | holgerb | 248 | if(UDR == ' ') {t = 65535; uart_putchar('_');} else t = 1000; // Ausführlicher Test |
249 | Strom = 0; |
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250 | for(i=0;i<t;i++) |
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251 | { |
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252 | LOW_A_EIN; |
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253 | DelayM(1); |
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254 | FETS_OFF; |
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255 | Delay(5); |
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256 | HIGH_A_EIN; |
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257 | DelayM(1); |
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258 | FETS_OFF; |
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259 | if(Strom > 40) {anz = 4; uart_putchar('4'); break;} |
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260 | Delay(5); |
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261 | } |
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262 | Delay(10000); |
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50 | holgerb | 263 | |
51 | holgerb | 264 | Strom = 0; |
265 | for(i=0;i<t;i++) |
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266 | { |
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267 | LOW_B_EIN; |
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268 | DelayM(1); |
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269 | FETS_OFF; |
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270 | Delay(5); |
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271 | HIGH_B_EIN; |
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272 | DelayM(1); |
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273 | FETS_OFF; |
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274 | if(Strom > 40) {anz = 5; uart_putchar('5'); break;} |
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275 | Delay(5); |
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276 | } |
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50 | holgerb | 277 | |
51 | holgerb | 278 | Strom = 0; |
279 | Delay(10000); |
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280 | |||
281 | for(i=0;i<t;i++) |
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282 | { |
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283 | LOW_C_EIN; |
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284 | DelayM(1); |
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285 | FETS_OFF; |
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286 | Delay(5); |
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287 | HIGH_C_EIN; |
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288 | DelayM(1); |
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289 | FETS_OFF; |
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290 | if(Strom > 40) {anz = 6; uart_putchar('6'); break;} |
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291 | Delay(5); |
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292 | } |
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293 | |||
50 | holgerb | 294 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
295 | //+ High-Mosfets auf Schalten testen |
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296 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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297 | SENSE_A; |
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51 | holgerb | 298 | FETS_OFF; |
299 | LOW_B_EIN; // Low B ein |
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300 | LOW_C_EIN; // Low C ein |
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50 | holgerb | 301 | Strom = 0; |
51 | holgerb | 302 | #define TONDAUER 40000 |
303 | #define SOUND_E 2 |
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304 | #define SOUND1_A 300 |
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305 | #define SOUND2_A 330 |
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306 | #define SOUND3_A 360 |
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307 | |||
50 | holgerb | 308 | for(i=0; i< (TONDAUER / SOUND2_A) ; i++) |
309 | { |
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51 | holgerb | 310 | HIGH_A_EIN; // Test A |
50 | holgerb | 311 | Delay(SOUND_E); |
51 | holgerb | 312 | if(MessAD(0) > 50) { MosfetOkay |= 0x01; } else { MosfetOkay &= ~0x01;}; |
50 | holgerb | 313 | PORTB = 0; |
51 | holgerb | 314 | Delay(SOUND1_A); |
50 | holgerb | 315 | } |
51 | holgerb | 316 | FETS_OFF; |
317 | |||
318 | LOW_A_EIN; // Low A ein |
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319 | LOW_C_EIN; // Low C ein |
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50 | holgerb | 320 | for(i=0; i<(TONDAUER / SOUND1_A); i++) |
321 | { |
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51 | holgerb | 322 | HIGH_B_EIN; // Test B |
50 | holgerb | 323 | Delay(SOUND_E); |
51 | holgerb | 324 | if(MessAD(1) > 50) { MosfetOkay |= 0x02; } else { MosfetOkay &= ~0x02;}; |
50 | holgerb | 325 | PORTB = 0; |
326 | Delay(SOUND1_A); |
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327 | } |
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328 | |||
51 | holgerb | 329 | FETS_OFF; |
330 | LOW_A_EIN; // Low A ein |
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331 | LOW_B_EIN; // Low B ein |
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50 | holgerb | 332 | for(i=0; i<(TONDAUER / SOUND3_A); i++) |
333 | { |
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51 | holgerb | 334 | HIGH_C_EIN; // Test C |
50 | holgerb | 335 | Delay(SOUND_E); |
51 | holgerb | 336 | if(MessAD(2) > 50) { MosfetOkay |= 0x04; } else { MosfetOkay &= ~0x04;}; |
50 | holgerb | 337 | PORTB = 0; |
51 | holgerb | 338 | Delay(SOUND2_A); |
50 | holgerb | 339 | } |
51 | holgerb | 340 | FETS_OFF; |
50 | holgerb | 341 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
342 | //+ Low-Mosfets auf Schalten testen |
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343 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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344 | SENSE_B; |
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51 | holgerb | 345 | LOW_A_EIN; // Low A ein |
50 | holgerb | 346 | #define SOUND2_A 500 |
347 | for(i=0; i< (TONDAUER / SOUND2_A) ; i++) |
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348 | { |
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51 | holgerb | 349 | HIGH_B_EIN; // Test B |
50 | holgerb | 350 | Delay(SOUND_E); |
51 | holgerb | 351 | if(MessAD(0) > 50) { MosfetOkay &= ~0x08;} else { MosfetOkay |= 0x08;}; |
50 | holgerb | 352 | PORTB = 0; |
353 | Delay(SOUND2_A); |
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354 | } |
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51 | holgerb | 355 | |
356 | //++++++++++++++++++++++++++++++++++++ |
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357 | LOW_C_EIN; // Low C ein |
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358 | for(i=0; i<(TONDAUER / SOUND1_A); i++) |
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50 | holgerb | 359 | { |
51 | holgerb | 360 | HIGH_B_EIN; // Test B |
50 | holgerb | 361 | Delay(SOUND_E); |
51 | holgerb | 362 | if(MessAD(2) > 50) { MosfetOkay &= ~0x20;} else { MosfetOkay |= 0x20;}; |
50 | holgerb | 363 | PORTB = 0; |
364 | Delay(SOUND3_A); |
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365 | } |
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51 | holgerb | 366 | FETS_OFF; |
367 | //++++++++++++++++++++++++++++++++++++ |
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368 | FETS_OFF; |
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369 | LOW_B_EIN; // Low B ein |
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370 | for(i=0; i<(TONDAUER / SOUND3_A); i++) |
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50 | holgerb | 371 | { |
51 | holgerb | 372 | HIGH_C_EIN; // Test C |
50 | holgerb | 373 | Delay(SOUND_E); |
51 | holgerb | 374 | if(MessAD(1) > 50) { MosfetOkay &= ~0x10;} else { MosfetOkay |= 0x10;}; |
50 | holgerb | 375 | PORTB = 0; |
51 | holgerb | 376 | Delay(SOUND3_A); |
50 | holgerb | 377 | } |
51 | holgerb | 378 | FETS_OFF; |
379 | //++++++++++++++++++++++++++++++++++++ |
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50 | holgerb | 380 | |
51 | holgerb | 381 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | holgerb | 382 | sei();//Globale Interrupts Einschalten |
51 | holgerb | 383 | // Delay_ms(250 * MotorAdresse); |
384 | /* |
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385 | LOW_A_EIN; // Low B ein |
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50 | holgerb | 386 | #define SOUND8_A 650 |
387 | for(i=0; i<(TONDAUER / SOUND8_A); i++) |
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388 | { |
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51 | holgerb | 389 | HIGH_B_EIN; // Test B |
390 | Delay(SOUND_E); |
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391 | PORTB = 0; |
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392 | Delay(SOUND8_A); |
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50 | holgerb | 393 | } |
51 | holgerb | 394 | */ |
50 | holgerb | 395 | if(!(MosfetOkay & 0x01)) { anz = 1; uart_putchar('A'); } else |
396 | if(!(MosfetOkay & 0x02)) { anz = 2; uart_putchar('B'); } else |
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397 | if(!(MosfetOkay & 0x04)) { anz = 3; uart_putchar('C'); } else |
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398 | if(!(MosfetOkay & 0x08)) { anz = 4; uart_putchar('a'); } else |
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399 | if(!(MosfetOkay & 0x10)) { anz = 5; uart_putchar('b'); } else |
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400 | if(!(MosfetOkay & 0x20)) { anz = 6; uart_putchar('c'); } |
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51 | holgerb | 401 | Delay_ms(300 * (4-ADR_TAB[MotorAdresse])); |
50 | holgerb | 402 | |
403 | if(MosfetOkay != 0x3f) Delay_ms(1000); |
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404 | |||
51 | holgerb | 405 | RotBlink(anz); |
406 | uart_putchar('.'); |
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50 | holgerb | 407 | } |
408 | |||
409 | //############################################################################ |
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1 | ingob | 410 | // |
411 | unsigned char SollwertErmittlung(void) |
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412 | //############################################################################ |
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413 | { |
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414 | static unsigned int sollwert = 0; |
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415 | unsigned int ppm; |
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416 | if(!I2C_Timeout) // bei Erreichen von 0 ist der Wert ungültig |
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417 | { |
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418 | if(SIO_Timeout) // es gibt gültige SIO-Daten |
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419 | { |
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50 | holgerb | 420 | sollwert = (MAX_PWM * (unsigned int) SIO_Sollwert) / 200; // skalieren auf 0-200 = 0-255 |
421 | PPM_Betrieb = 0; |
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422 | ICP_INT_DISABLE; |
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423 | PORTC &= ~ROT; |
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1 | ingob | 424 | } |
425 | else |
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50 | holgerb | 426 | if(anz_ppm_werte > 20) // es gibt gültige PPM-Daten |
1 | ingob | 427 | { |
50 | holgerb | 428 | PPM_Betrieb = 1; |
1 | ingob | 429 | ppm = PPM_Signal; |
430 | if(ppm > 300) ppm = 0; // ungültiges Signal |
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431 | if(ppm > 200) ppm = 200; |
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432 | if(ppm <= MIN_PPM) sollwert = 0; |
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433 | else |
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434 | { |
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435 | sollwert = (int) MIN_PWM + ((MAX_PWM - MIN_PWM) * (ppm - MIN_PPM)) / (190 - MIN_PPM); |
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436 | } |
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437 | PORTC &= ~ROT; |
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438 | } |
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439 | else // Kein gültiger Sollwert |
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440 | { |
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50 | holgerb | 441 | if(!TEST_SCHUB) { if(sollwert) sollwert--; } |
442 | PORTC |= ROT; |
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1 | ingob | 443 | } |
444 | } |
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445 | else // I2C-Daten sind gültig |
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446 | { |
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447 | sollwert = I2C_RXBuffer; |
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50 | holgerb | 448 | PPM_Betrieb = 0; |
1 | ingob | 449 | PORTC &= ~ROT; |
50 | holgerb | 450 | ICP_INT_DISABLE; |
1 | ingob | 451 | } |
452 | if(sollwert > MAX_PWM) sollwert = MAX_PWM; |
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453 | return(sollwert); |
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454 | } |
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455 | |||
456 | void DebugAusgaben(void) |
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457 | { |
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458 | DebugOut.Analog[0] = Strom; |
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459 | DebugOut.Analog[1] = Mittelstrom; |
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460 | DebugOut.Analog[2] = SIO_Drehzahl; |
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461 | DebugOut.Analog[3] = PPM_Signal; |
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462 | } |
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463 | |||
464 | |||
465 | //############################################################################ |
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466 | //Hauptprogramm |
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467 | int main (void) |
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468 | //############################################################################ |
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469 | { |
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470 | char altPhase = 0; |
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471 | int test = 0; |
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472 | unsigned int MinUpmPulse,Blink,TestschubTimer; |
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473 | unsigned int Blink2,MittelstromTimer,DrehzahlMessTimer,MotorGestopptTimer; |
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474 | |||
475 | DDRC = 0x08; |
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476 | PORTC = 0x08; |
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477 | DDRD = 0xBA; |
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26 | ingob | 478 | PORTD = 0x00; |
1 | ingob | 479 | DDRB = 0x0E; |
480 | PORTB = 0x31; |
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24 | ingob | 481 | |
482 | #if (MOTORADRESSE == 0) |
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483 | PORTB |= (ADR1 + ADR2); // Pullups für Adresswahl |
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43 | holgerb | 484 | for(test=0;test<500;test++); |
24 | ingob | 485 | if (PINB & ADR1) |
486 | { |
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487 | if (PINB & ADR2) MotorAdresse = 1; |
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488 | else MotorAdresse = 2; |
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489 | } |
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490 | else |
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491 | { |
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492 | if (PINB & ADR2) MotorAdresse = 3; |
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493 | else MotorAdresse = 4; |
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494 | } |
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495 | #else |
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496 | MotorAdresse = MOTORADRESSE; |
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497 | #endif |
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1 | ingob | 498 | |
499 | UART_Init(); |
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500 | Timer0_Init(); |
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50 | holgerb | 501 | sei();//Globale Interrupts Einschalten |
1 | ingob | 502 | |
503 | // Am Blinken erkennt man die richtige Motoradresse |
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50 | holgerb | 504 | /* |
1 | ingob | 505 | for(test=0;test<5;test++) |
506 | { |
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24 | ingob | 507 | if(test == MotorAdresse) PORTD |= GRUEN; |
1 | ingob | 508 | Delay_ms(150); |
509 | PORTD &= ~GRUEN; |
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510 | Delay_ms(250); |
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511 | } |
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512 | |||
513 | Delay_ms(500); |
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50 | holgerb | 514 | */ |
18 | ingob | 515 | // UART_Init(); // war doppelt |
1 | ingob | 516 | PWM_Init(); |
517 | |||
518 | InitIC2_Slave(0x50); |
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519 | InitPPM(); |
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520 | |||
521 | Blink = SetDelay(101); |
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522 | Blink2 = SetDelay(102); |
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523 | MinUpmPulse = SetDelay(103); |
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524 | MittelstromTimer = SetDelay(254); |
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525 | DrehzahlMessTimer = SetDelay(1005); |
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526 | TestschubTimer = SetDelay(1006); |
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50 | holgerb | 527 | while(!CheckDelay(MinUpmPulse)) |
528 | { |
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529 | if(SollwertErmittlung()) break; |
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530 | } |
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531 | ; |
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1 | ingob | 532 | PORTD |= GRUEN; |
533 | PWM = 0; |
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534 | |||
535 | SetPWM(); |
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536 | |||
537 | SFIOR = 0x08; // Analog Comperator ein |
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538 | ADMUX = 1; |
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539 | |||
540 | MinUpmPulse = SetDelay(10); |
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541 | DebugOut.Analog[1] = 1; |
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542 | PPM_Signal = 0; |
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543 | |||
50 | holgerb | 544 | if(!SollwertErmittlung()) MotorTon(); |
545 | |||
1 | ingob | 546 | // zum Test der Hardware; Motor dreht mit konstanter Drehzahl ohne Regelung |
547 | if(TEST_MANUELL) Anwerfen(TEST_MANUELL); // kommt von dort nicht wieder |
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548 | |||
549 | while (1) |
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550 | { |
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51 | holgerb | 551 | //ShowSense(); |
552 | |||
1 | ingob | 553 | if(!TEST_SCHUB) PWM = SollwertErmittlung(); |
554 | //I2C_TXBuffer = PWM; // Antwort über I2C-Bus |
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555 | if(MANUELL_PWM) PWM = MANUELL_PWM; |
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556 | |||
557 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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558 | if(Phase != altPhase) // es gab eine Kommutierung im Interrupt |
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559 | { |
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560 | MotorGestoppt = 0; |
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561 | ZeitFuerBerechnungen = 0; // direkt nach einer Kommutierung ist Zeit |
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562 | MinUpmPulse = SetDelay(50); // Timeout, falls ein Motor stehen bleibt |
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563 | altPhase = Phase; |
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564 | } |
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565 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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566 | if(!PWM) // Sollwert == 0 |
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567 | { |
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568 | MotorAnwerfen = 0; // kein Startversuch |
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569 | ZeitFuerBerechnungen = 0; |
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570 | // nach 1,5 Sekunden den Motor als gestoppt betrachten |
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18 | ingob | 571 | if(CheckDelay(MotorGestopptTimer)) |
1 | ingob | 572 | { |
573 | DISABLE_SENSE_INT; |
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574 | MotorGestoppt = 1; |
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575 | STEUER_OFF; |
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576 | } |
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577 | } |
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578 | else |
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579 | { |
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580 | if(MotorGestoppt) MotorAnwerfen = 1; // Startversuch |
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581 | MotorGestopptTimer = SetDelay(1500); |
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582 | } |
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583 | |||
584 | if(MotorGestoppt && !TEST_SCHUB) PWM = 0; |
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585 | SetPWM(); |
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586 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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587 | if(!ZeitFuerBerechnungen++) |
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588 | { |
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589 | if(MotorGestoppt) PORTD |= GRUEN; //else PORTD &= ~GRUEN; |
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590 | if(SIO_DEBUG) |
||
591 | { |
||
592 | DebugAusgaben(); // welche Werte sollen angezeigt werden? |
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593 | if(!UebertragungAbgeschlossen) SendUart(); |
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594 | else DatenUebertragung(); |
||
595 | } |
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596 | // Berechnen des Mittleren Stroms zur (langsamen) Strombegrenzung |
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597 | if(CheckDelay(MittelstromTimer)) |
||
598 | { |
||
599 | MittelstromTimer = SetDelay(50); // alle 50ms |
||
600 | if(Mittelstrom < Strom) Mittelstrom++;// Mittelwert des Stroms bilden |
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601 | else if(Mittelstrom > Strom) Mittelstrom--; |
||
602 | |||
603 | if(Mittelstrom > LIMIT_STROM)// Strom am Limit? |
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604 | { |
||
605 | MaxPWM--;// dann die Maximale PWM herunterfahren |
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606 | PORTC |= ROT; |
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607 | } |
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608 | else |
||
609 | { |
||
610 | if(MaxPWM < MAX_PWM) MaxPWM++; |
||
611 | } |
||
612 | } |
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613 | |||
614 | if(CheckDelay(DrehzahlMessTimer)) // Ist-Drehzahl bestimmen |
||
615 | { |
||
616 | DrehzahlMessTimer = SetDelay(10); |
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617 | SIO_Drehzahl = (6 * CntKommutierungen) / (POLANZAHL / 2); |
||
618 | CntKommutierungen = 0; |
||
619 | if(PPM_Timeout == 0) // keine PPM-Signale |
||
620 | ZeitZumAdWandeln = 1; |
||
621 | } |
||
622 | |||
623 | |||
624 | if(CheckDelay(TestschubTimer)) |
||
625 | { |
||
626 | TestschubTimer = SetDelay(1500); |
||
627 | if(TEST_SCHUB) |
||
628 | { |
||
629 | switch(test) |
||
630 | { |
||
631 | case 0: PWM = 50; test++; break; |
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632 | case 1: PWM = 130; test++; break; |
||
633 | case 2: PWM = 60; test++; break; |
||
634 | case 3: PWM = 140; test++; break; |
||
635 | case 4: PWM = 150; test = 0; break; |
||
636 | default: test = 0; |
||
637 | } |
||
638 | } |
||
639 | } |
||
640 | // Motor Stehen geblieben |
||
641 | if((CheckDelay(MinUpmPulse) && SIO_Drehzahl == 0) || MotorAnwerfen) |
||
642 | { |
||
643 | MotorGestoppt = 1; |
||
644 | DISABLE_SENSE_INT; |
||
645 | MinUpmPulse = SetDelay(100); |
||
646 | if(MotorAnwerfen) |
||
647 | { |
||
648 | PORTC &= ~ROT; |
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649 | MotorAnwerfen = 0; |
||
650 | Anwerfen(10); |
||
651 | PORTD |= GRUEN; |
||
652 | MotorGestoppt = 0; |
||
653 | Phase--; |
||
654 | PWM = 1; |
||
655 | SetPWM(); |
||
656 | SENSE_TOGGLE_INT; |
||
657 | ENABLE_SENSE_INT; |
||
43 | holgerb | 658 | MinUpmPulse = SetDelay(20); |
1 | ingob | 659 | while(!CheckDelay(MinUpmPulse)); // kurz Synchronisieren |
43 | holgerb | 660 | PWM = 15; |
1 | ingob | 661 | SetPWM(); |
43 | holgerb | 662 | MinUpmPulse = SetDelay(300); |
1 | ingob | 663 | while(!CheckDelay(MinUpmPulse)); // kurz Durchstarten |
18 | ingob | 664 | |
665 | // Drehzahlmessung wieder aufsetzen |
||
666 | DrehzahlMessTimer = SetDelay(50); |
||
1 | ingob | 667 | altPhase = 7; |
668 | } |
||
669 | } |
||
670 | } // ZeitFuerBerechnungen |
||
671 | } // while(1) - Hauptschleife |
||
672 | } |
||
673 |