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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*############################################################################ |
| 2 | + Regler für Brushless-Motoren |
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| 3 | + ATMEGA8 mit 8MHz |
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| 4 | + (c) 01.2007 Holger Buss |
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| 5 | + Nur für den privaten Gebrauch |
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| 6 | + Keine Garantie auf Fehlerfreiheit |
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| 7 | + Kommerzielle Nutzung nur mit meiner Zustimmung |
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| 8 | + Der Code ist für die Hardware BL_Ctrl V1.0 entwickelt worden |
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| 9 | + www.mikrocontroller.com |
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| 10 | /############################################################################*/ |
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| 11 | |||
| 12 | #include "main.h" |
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| 13 | |||
| 14 | unsigned int PWM = 0; |
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| 15 | unsigned int Strom = 0; //ca. in 0,1A |
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| 16 | unsigned char Strom_max = 0; |
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| 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) |
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| 591 | { |
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| 592 | DebugAusgaben(); // welche Werte sollen angezeigt werden? |
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| 593 | if(!UebertragungAbgeschlossen) SendUart(); |
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| 594 | else DatenUebertragung(); |
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| 595 | } |
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| 596 | // Berechnen des Mittleren Stroms zur (langsamen) Strombegrenzung |
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| 597 | if(CheckDelay(MittelstromTimer)) |
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| 598 | { |
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| 599 | MittelstromTimer = SetDelay(50); // alle 50ms |
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| 600 | if(Mittelstrom < Strom) Mittelstrom++;// Mittelwert des Stroms bilden |
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| 601 | else if(Mittelstrom > Strom) Mittelstrom--; |
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| 602 | |||
| 603 | if(Mittelstrom > LIMIT_STROM)// Strom am Limit? |
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| 604 | { |
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| 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 |
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| 609 | { |
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| 610 | if(MaxPWM < MAX_PWM) MaxPWM++; |
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| 611 | } |
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| 612 | } |
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| 613 | |||
| 614 | if(CheckDelay(DrehzahlMessTimer)) // Ist-Drehzahl bestimmen |
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| 615 | { |
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| 616 | DrehzahlMessTimer = SetDelay(10); |
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| 617 | SIO_Drehzahl = (6 * CntKommutierungen) / (POLANZAHL / 2); |
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| 618 | CntKommutierungen = 0; |
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| 619 | if(PPM_Timeout == 0) // keine PPM-Signale |
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| 620 | ZeitZumAdWandeln = 1; |
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| 621 | } |
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| 622 | |||
| 623 | |||
| 624 | if(CheckDelay(TestschubTimer)) |
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| 625 | { |
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| 626 | TestschubTimer = SetDelay(1500); |
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| 627 | if(TEST_SCHUB) |
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| 628 | { |
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| 629 | switch(test) |
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| 630 | { |
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| 631 | case 0: PWM = 50; test++; break; |
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| 632 | case 1: PWM = 130; test++; break; |
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| 633 | case 2: PWM = 60; test++; break; |
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| 634 | case 3: PWM = 140; test++; break; |
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| 635 | case 4: PWM = 150; test = 0; break; |
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| 636 | default: test = 0; |
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| 637 | } |
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| 638 | } |
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| 639 | } |
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| 640 | // Motor Stehen geblieben |
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| 641 | if((CheckDelay(MinUpmPulse) && SIO_Drehzahl == 0) || MotorAnwerfen) |
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| 642 | { |
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| 643 | MotorGestoppt = 1; |
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| 644 | DISABLE_SENSE_INT; |
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| 645 | MinUpmPulse = SetDelay(100); |
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| 646 | if(MotorAnwerfen) |
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| 647 | { |
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| 648 | PORTC &= ~ROT; |
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| 649 | MotorAnwerfen = 0; |
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| 650 | Anwerfen(10); |
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| 651 | PORTD |= GRUEN; |
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| 652 | MotorGestoppt = 0; |
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| 653 | Phase--; |
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| 654 | PWM = 1; |
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| 655 | SetPWM(); |
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| 656 | SENSE_TOGGLE_INT; |
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| 657 | ENABLE_SENSE_INT; |
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| 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 |
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| 666 | DrehzahlMessTimer = SetDelay(50); |
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| 1 | ingob | 667 | altPhase = 7; |
| 668 | } |
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| 669 | } |
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| 670 | } // ZeitFuerBerechnungen |
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| 671 | } // while(1) - Hauptschleife |
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| 672 | } |
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| 673 |