Subversion Repositories BL-Ctrl

Compare Revisions

Ignore whitespace Rev 60 → Rev 61

/tags/V0.36/BLMC.c
0,0 → 1,247
/*#######################################################################################
Flight Control
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Regler für Brushless-Motoren
// + ATMEGA8 mit 8MHz
// + Nur für den privaten Gebrauch
// + Copyright (c) 12.2007 Holger Buss
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
 
volatile unsigned char Phase = 0,ShadowTCCR1A = 0;
volatile unsigned char CompFreigabeTimer = 100;
volatile unsigned char CompInterruptFreigabe = 0;
 
 
//############################################################################
//
SIGNAL(SIG_OVERFLOW2)
//############################################################################
{
}
 
//############################################################################
// + Interruptroutine
// + Wird durch den Analogkomperator ausgelöst
// + Dadurch wird das Kommutieren erzeugt
SIGNAL(SIG_COMPARATOR)
//############################################################################
{
unsigned char sense = 0;
do
{
if(SENSE_H) sense = 1; else sense = 0;
switch(Phase)
{
case 0:
STEUER_A_H;
if(sense)
{
STEUER_C_L;
if(!PPM_Betrieb) TCNT1 = 1;
TCNT2 = 1;
if(ZeitZumAdWandeln) AdConvert();
SENSE_FALLING_INT;
SENSE_B;
Phase++;
CntKommutierungen++;
}
else
{
STEUER_B_L;
}
break;
case 1:
STEUER_C_L;
if(!sense)
{
STEUER_B_H;
if(!PPM_Betrieb) TCNT1 = 1;
TCNT2 = 1;
if(ZeitZumAdWandeln) AdConvert();
SENSE_A;
SENSE_RISING_INT;
Phase++;
CntKommutierungen++;
}
else
{
STEUER_A_H;
}
 
break;
case 2:
STEUER_B_H;
if(sense)
{
STEUER_A_L;
if(!PPM_Betrieb) TCNT1 = 1;
TCNT2 = 1;
if(ZeitZumAdWandeln) AdConvert();
SENSE_C;
SENSE_FALLING_INT;
Phase++;
CntKommutierungen++;
}
else
{
STEUER_C_L;
}
break;
case 3:
STEUER_A_L;
if(!sense)
{
STEUER_C_H;
if(!PPM_Betrieb) TCNT1 = 1;
TCNT2 = 1;
if(ZeitZumAdWandeln) AdConvert();
SENSE_B;
SENSE_RISING_INT;
Phase++;
CntKommutierungen++;
}
else
{
STEUER_B_H;
}
 
break;
case 4:
STEUER_C_H;
if(sense)
{
STEUER_B_L;
if(!PPM_Betrieb) TCNT1 = 1;
TCNT2 = 1;
if(ZeitZumAdWandeln) AdConvert();
SENSE_A;
SENSE_FALLING_INT;
Phase++;
CntKommutierungen++;
}
else
{
STEUER_A_L;
}
break;
case 5:
STEUER_B_L;
if(!sense)
{
STEUER_A_H;
if(!PPM_Betrieb) TCNT1 = 1;
TCNT2 = 1;
if(ZeitZumAdWandeln) AdConvert();
SENSE_C;
SENSE_RISING_INT;
Phase = 0;
CntKommutierungen++;
}
else
{
STEUER_C_H;
}
break;
}
}
while((SENSE_L && sense) || (SENSE_H && !sense));
ZeitZumAdWandeln = 0;
}
 
//############################################################################
//
void Manuell(void)
//############################################################################
{
switch(Phase)
{
case 0:
STEUER_A_H;
STEUER_B_L;
SENSE_C;
SENSE_RISING_INT;
break;
case 1:
STEUER_A_H;
STEUER_C_L;
SENSE_B;
SENSE_FALLING_INT;
break;
case 2:
STEUER_B_H;
STEUER_C_L;
SENSE_A;
SENSE_RISING_INT;
break;
case 3:
STEUER_B_H;
STEUER_A_L;
SENSE_C;
SENSE_FALLING_INT;
break;
case 4:
STEUER_C_H;
STEUER_A_L;
SENSE_B;
SENSE_RISING_INT;
break;
case 5:
STEUER_C_H;
STEUER_B_L;
SENSE_A;
SENSE_FALLING_INT;
break;
}
}
 
/tags/V0.36/BLMC.h
0,0 → 1,93
/*############################################################################
############################################################################*/
 
#ifndef BLMC_H_
#define BLMC_H_
 
extern volatile unsigned char Phase;
extern volatile unsigned char ShadowTCCR1A;
extern volatile unsigned char CompInterruptFreigabe;
 
void Blc(void);
void Manuell(void);
 
// anselm
/*
#define COM1A ((0 << COM1A0) | (1 << COM1A1)) // COM1A-> OC1A non inverting mode
#define COM1B ((0 << COM1B0) | (1 << COM1B1)) // COM1B-> OC1B non inverting mode
#define COM2 ((0 << COM20) | (1 << COM21)) // COM2-> OC2 non inverting mode
 
#ifdef _32KHZ
#define WGM1 ((1 << WGM10) | (0 << WGM11)) // WGM10:13-> fast PWM 8bit
#define WGMCS2 ((1 << WGM20) | (1 << WGM21) | (1 << CS20)) // WGM20:21-> fast PWM, no prescale
#endif
 
#ifdef _16KHZ
#define WGM1 ((1 << WGM10) | (0 << WGM11)) // WGM10:13-> phase corr, PWM 8bit
#define WGMCS2 ((1 << WGM20) | (0 << WGM21) | (1 << CS20)) // WGM20:21-> phase corr. PWM, no prescale
#endif
 
#define PWM_C_ON {TCCR1A = COM1A | WGM1 | COM1B; TCCR2 = WGMCS2;
DDRB = 0x02;} // Steuer_C+ output
#define PWM_B_ON {TCCR1A = COM1B | WGM1 | COM1A; TCCR2 = WGMCS2; \
DDRB = 0x04;} // Steuer_B+ output
#define PWM_A_ON {TCCR1A = WGM1; TCCR2 = COM2 | WGMCS2; \
DDRB = 0x08;} // Steuer_A+ output
#define PWM_OFF {TCCR1A = WGM1; \
TCCR2 = WGMCS2; \
PORTB &= ~0x0E; DDRB = 0x0E;} // OC1x & OC2 disconnected, Steuer_X+ output low
// anselm
*/
 
#ifdef _32KHZ
#define PWM_C_ON {TCCR1A = 0xAD; TCCR2 = 0x49;DDRB = 0x0A;}
#define PWM_B_ON {TCCR1A = 0xAD; TCCR2 = 0x49;DDRB = 0x0C;}
#define PWM_A_ON {TCCR1A = 0xAD; TCCR2 = 0x69;DDRB = 0x08;}
#define PWM_OFF {TCCR1A = 0x0D; TCCR2 = 0x49;PORTC &= ~0x0E;}
#endif
 
#ifdef _16KHZ
// #define PWM_C_ON {TCCR1A = 0xA2; TCCR2 = 0x41; DDRB = 0x0A;}
// #define PWM_B_ON {TCCR1A = 0xA2; TCCR2 = 0x41; DDRB = 0x0C;}
// #define PWM_A_ON {TCCR1A = 0xA2; TCCR2 = 0x61; DDRB = 0x08;}
 
#define PWM_C_ON {TCCR2 = 0x41; if(PPM_Betrieb) { TCCR1A = 0xA1;DDRB = 0x0A;} else { TCCR1A = 0x81; DDRB = 0x0E;}}
#define PWM_B_ON {TCCR2 = 0x41; if(PPM_Betrieb) { TCCR1A = 0xA1;DDRB = 0x0C;} else { TCCR1A = 0x21; DDRB = 0x0E;}}
#define PWM_A_ON {TCCR2 = 0x61; if(PPM_Betrieb) { TCCR1A = 0xA1;DDRB = 0x08;} else { TCCR1A = 0x01; DDRB = 0x0E;}}
 
// #define PWM_C_ON {TCCR1A = 0x82; TCCR2 = 0x41; PORTB &= ~0x04; DDRB = 0x0E;}
// #define PWM_B_ON {TCCR1A = 0x22; TCCR2 = 0x41; PORTB &= ~0x02; DDRB = 0x0E;}
// #define PWM_A_ON {TCCR1A = 0x02; TCCR2 = 0x61; PORTB &= ~0x06; DDRB = 0x0E;}
 
 
#define PWM_OFF {TCCR1A = 0x01; TCCR2 = 0x41; DDRB = 0x0E; PORTB &= ~0x0E;}
#endif
 
#define STEUER_A_H {PWM_A_ON}
#define STEUER_B_H {PWM_B_ON}
#define STEUER_C_H {PWM_C_ON}
 
#define STEUER_A_L {PORTD &= ~0x30; PORTD |= 0x08;}
#define STEUER_B_L {PORTD &= ~0x28; PORTD |= 0x10;}
#define STEUER_C_L {PORTD &= ~0x18; PORTD |= 0x20;}
#define STEUER_OFF {PORTD &= ~0x38; PWM_OFF; }
#define FETS_OFF {PORTD &= ~0x38; PORTB &= ~0x0E; }
 
#define SENSE_A ADMUX = 0;
#define SENSE_B ADMUX = 1;
#define SENSE_C ADMUX = 2;
 
#define ClrSENSE ACSR |= 0x10
#define SENSE ((ACSR & 0x10))
#define SENSE_L (!(ACSR & 0x20))
#define SENSE_H ((ACSR & 0x20))
#define ENABLE_SENSE_INT {CompInterruptFreigabe = 1;ACSR |= 0x0A; }
#define DISABLE_SENSE_INT {CompInterruptFreigabe = 0; ACSR &= ~0x08; }
 
 
#define SENSE_FALLING_INT ACSR &= ~0x01
#define SENSE_RISING_INT ACSR |= 0x03
#define SENSE_TOGGLE_INT ACSR &= ~0x03
 
#endif //BLMC_H_
 
/tags/V0.36/BL_Ctrl.pnproj
0,0 → 1,0
<Project name="avr_ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="analog.h"></File><File path="analog.c"></File><File path="PPM_Decode.c"></File><File path="PPM_Decode.h"></File><File path="twislave.c"></File><File path="twislave.h"></File><File path="BLMC.c"></File><File path="BLMC.h"></File></Project>
/tags/V0.36/BL_Ctrl.pnps
0,0 → 1,0
<pd><ViewState><e p="avr_ctrl" x="true"></e></ViewState></pd>
/tags/V0.36/Hex-Files/BL-Ctrl_V1_0/BootLoader_MEGA8_8MHZ_V0_2.hex
0,0 → 1,53
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/tags/V0.36/Hex-Files/BL-Ctrl_V1_0/Fuses_Mega8_8MHZ_Intern_MIT_Bootloader.gif
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/tags/V0.36/Hex-Files/BL-Ctrl_V1_0/Fuses_Mega8_8MHZ_Intern_OHNE_Bootloader.gif
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/tags/V0.36/Hex-Files/BL-Ctrl_V1_0/SET_BrushLess-Ctrl_V0_36_Adr_1-4.zip
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/tags/V0.36/Hex-Files/BL-Ctrl_V1_0/SET_BrushLess-Ctrl_V0_36_Adr_1-4_10A.zip
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/tags/V0.36/Hex-Files/BL-Ctrl_V1_0/Test_Manuell_BL-Ctrl_V0_32.hex
0,0 → 1,330
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/tags/V0.36/Hex-Files/BL-Ctrl_V1_0/Test_Schub_BrushLess-Ctrl_V0_32.hex
0,0 → 1,333
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/tags/V0.36/Hex-Files/BL-Ctrl_V1_1/BootLoader_MEGA8_8MHZ_V0_2.hex
0,0 → 1,53
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