/*#######################################################################################
Flight Control
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Regler f黵 Brushless-Motoren
// + ATMEGA8 mit 8MHz
// + Nur f黵 den privaten Gebrauch
// + Copyright (c) 12.2007 Holger Buss
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt f黵 das gesamte Projekt (Hardware, Software, Bin鋜files, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur f黵 den privaten (nicht-kommerziellen) Gebrauch zul鋝sig 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, Best點kung und Verkauf von Platinen oder Baus鋞zen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver鰂fentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m黶sen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien ver鰂fentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gew鋒r auf Fehlerfreiheit, Vollst鋘digkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir 黚ernehmen keinerlei Haftung f黵 direkte oder indirekte Personen- oder Sachsch鋎en
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zul鋝sig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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, our 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"
unsigned int PWM = 0;
unsigned int Strom = 0,RuheStrom; //ca. in 0,1A
unsigned char Strom_max = 0;
unsigned char Mittelstrom = 0;
unsigned int Drehzahl = 0; // in 100UPM 60 = 6000
unsigned int KommutierDelay = 10;
unsigned int I2C_Timeout = 0;
unsigned int SIO_Timeout = 0;
unsigned int SollDrehzahl = 0;
unsigned int IstDrehzahl = 0;
unsigned int DrehZahlTabelle[256];//vorberechnete Werte zur Drehzahlerfassung
unsigned char ZeitFuerBerechnungen = 1;
unsigned char MotorAnwerfen = 0;
unsigned char MotorGestoppt = 1;
unsigned char MaxPWM = MAX_PWM;
unsigned int CntKommutierungen = 0;
unsigned int SIO_Drehzahl = 0;
unsigned char ZeitZumAdWandeln = 1;
unsigned char MotorAdresse = 1;
unsigned char PPM_Betrieb = 1;
unsigned char HwVersion;
unsigned char IntRef = 0;
unsigned int MinUpmPulse;
//############################################################################
//
void SetPWM(void)
//############################################################################
{
unsigned char tmp_pwm;
tmp_pwm = PWM;
if(tmp_pwm > MaxPWM) // Strombegrenzung
{
tmp_pwm = MaxPWM;
PORTC |= ROT;
}
if(Strom > MAX_STROM) // Strombegrenzung
{
OCR1A = 0; OCR1B = 0; OCR2 = 0;
PORTD &= ~0x38;
PORTC |= ROT;
DebugOut.Analog[6]++;
Strom--;
}
else
{
#ifdef _32KHZ
OCR1A = tmp_pwm; OCR1B = tmp_pwm; OCR2 = tmp_pwm;
#endif
#ifdef _16KHZ
//OCR1A = 2 * (int)tmp_pwm; OCR1B = 2 * (int)tmp_pwm; OCR2 = tmp_pwm;
OCR1A = tmp_pwm; OCR1B = tmp_pwm; OCR2 = tmp_pwm;
#endif
}
}
void DebugAusgaben(void)
{
DebugOut.Analog[0] = Strom;
DebugOut.Analog[1] = Mittelstrom;
DebugOut.Analog[2] = SIO_Drehzahl;
DebugOut.Analog[3] = PPM_Signal;
DebugOut.Analog[4] = OCR2;
// DebugOut.Analog[5] = PWM;
}
//############################################################################
//
void PWM_Init(void)
//############################################################################
{
PWM_OFF;
TCCR1B = (1 << CS10) | (0 << CS11) | (0 << CS12) | (0 << WGM12) |
(0 << WGM13) | (0<< ICES1) | (0 << ICNC1);
/* TCCR1B = (1 << CS10) | (0 << CS11) | (0 << CS12) | (1 << WGM12) |
(0 << WGM13) | (0<< ICES1) | (0 << ICNC1);
*/
}
//############################################################################
//
void Wait(unsigned char dauer)
//############################################################################
{
dauer = (unsigned char)TCNT0 + dauer;
while((TCNT0 - dauer) & 0x80);
}
void RotBlink(unsigned char anz)
{
sei(); // Interrupts ein
while(anz--)
{
PORTC |= ROT;
Delay_ms(300);
PORTC &= ~ROT;
Delay_ms(300);
}
Delay_ms(1000);
}
//############################################################################
//
char Anwerfen(unsigned char pwm)
//#####################################################################
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