Форум РадиоКот

Код: Выделить всё

#include <avr/interrupt.h>
#include <avr/io.h>
#include <util/twi.h>

//Motoradresse
#define MOTOR_ADR 0x70

//PHASE1 (U)
#define UH_DDR   DDRB |= (1<<3);
#define UH_ON   TCCR2A |= (1<<COM2A1);
#define UH_OFF   TCCR2A &= ~(1<<COM2A1);

//PHASE1 (U)
#define UL_DDR   DDRB |= (1<<1);
#define UL_ON   PORTB |= (1<<1);
#define UL_OFF   PORTB &= ~(1<<1);


//PHASE2 (V)
#define VH_DDR   DDRD |= (1<<5);
#define VH_ON   TCCR0A |= (1<<COM0B1);
#define VH_OFF   TCCR0A &= ~(1<<COM0B1);

//PHASE2 (V)
#define VL_DDR   DDRB |= (1<<2);
#define VL_ON   PORTB |= (1<<2);
#define VL_OFF   PORTB &= ~(1<<2);


//PHASE3 (W)
#define WH_DDR   DDRD |= (1<<3);
#define WH_ON   TCCR2A |= (1<<COM2B1);
#define WH_OFF   TCCR2A &= ~(1<<COM2B1);

//PHASE3 (W)
#define WL_DDR   DDRC |= (1<<3);
#define WL_ON   PORTC |= (1<<3);
#define WL_OFF   PORTC &= ~(1<<3);


#define PHASE_ALL_OFF   UH_OFF;UL_OFF;VH_OFF;VL_OFF;WH_OFF;WL_OFF;

#define SENSE_U      ADMUX = 0;
#define SENSE_V      ADMUX = 1;
#define SENSE_W      ADMUX = 2;

#define SENSE_H      (ACSR&(1<<ACO))

#define START_PWM   5

volatile unsigned long i2c_timeout = 0;
volatile unsigned char rx_pwm = 0;
volatile unsigned char rotor_state = 0;
volatile unsigned char rotor_run = 0;

//############################################################################
void next_commutate_state (unsigned char startup)
//############################################################################
{
   switch (rotor_state)
   {
      case (0):
         if(!SENSE_H || startup)
         {
            WH_OFF;
            UH_ON;
            SENSE_W;
            rotor_state = 1;
            TCNT1 = 1;
         }
         break;

      case (1):
         if(SENSE_H || startup)
         {
            VL_OFF;
            WL_ON;
            SENSE_V;
            rotor_state = 2;
            TCNT1 = 1;
         }
         break;

      case (2):
         if(!SENSE_H || startup)
         {
            UH_OFF;
            VH_ON;
            SENSE_U;
            rotor_state = 3;
            TCNT1 = 1;
         }
         break;
   
      case (3):
         if(SENSE_H || startup)
         {
            WL_OFF;
            UL_ON;
            SENSE_W;
            rotor_state = 4;
            TCNT1 = 1;
         }
         break;

      case (4):
         if(!SENSE_H || startup)
         {
            VH_OFF;
            WH_ON;
            SENSE_V;
            rotor_state = 5;
            TCNT1 = 1;
         }
         break;

      case (5):
         if(SENSE_H || startup)
         {
            UL_OFF;
            VL_ON;
            SENSE_U;
            rotor_state = 0;
            TCNT1 = 1;
         }
         break;
   }
}

//############################################################################
//back EMF zero crossing detection
ISR (ANALOG_COMP_vect) 
//############################################################################
{
   if(rotor_run == 200) next_commutate_state (0);
   
   rotor_run++;
   if(rotor_run > 200)
   {
      rotor_run = 200;
   }
}

//############################################################################
ISR (TIMER1_OVF_vect)
//############################################################################
{   
   next_commutate_state (1);
   rotor_run = 0;
   OCR2A = START_PWM;
   OCR2B = START_PWM;
   OCR0B = START_PWM;
}

//############################################################################
ISR (TWI_vect)
//############################################################################
{   
   switch (TWSR & 0xF8) //TW_STATUS 
   {  
      //Adresse empfangen
      case TW_SR_SLA_ACK:  
         TWCR |= (1<<TWINT);
         return;
         
      //Daten empfangen
      case TW_SR_DATA_ACK:
         rx_pwm = TWDR;
         TWCR |= (1<<TWINT);
         i2c_timeout = 0;
         return;

      //Bus-Fehler zurьcksetzen 
      case TW_NO_INFO:
         TWCR |=(1<<TWSTO) | (1<<TWINT); 

      //Bus-Fehler zurьcksetzen   
      case TW_BUS_ERROR:
         TWCR |=(1<<TWSTO) | (1<<TWINT); 
   }
   //Reset TW
   TWCR =(1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE);
}

//############################################################################
//Hauptprogramm
int main (void) 
//############################################################################
{
   //Watchdog on
   WDTCSR = (1<<WDCE) | (1<<WDE);
   
   //Motordriver output
   UH_DDR;
   VH_DDR;
   WH_DDR;
   UL_DDR;
   VL_DDR;
   WL_DDR;
      
   //PWM for UH, VH and WH (>32KHz)
   TCCR0A |= (1<<COM0B1|1<<WGM01|1<<WGM00);
   TCCR0B |= (1<<CS00);
   
   TCCR2A |= (1<<COM2A1|1<<COM2B1|1<<WGM21|1<<WGM20);
   TCCR2B |= (1<<CS20);
   
   //TIMER1 for start commutation or Back EMF lost
   TCCR1B |= (1<<CS11);
   TIMSK1 |= (1<<TOIE1);

   PHASE_ALL_OFF;
   
   //Comperator init for back EMF
   ADCSRB   |= (1<<ACME);
   DIDR1   |= (1<<AIN0D);
   ACSR   |= (1<<ACIE);
      
   //I2C Init
   TWAR = MOTOR_ADR & 0xFE;
    TWCR = (1<<TWINT)|(1<<TWEA)|(1<<TWEN)|(1<<TWIE);
   
   //Interrupts enabel
   sei();
   

   while(1)
   {   
      asm("wdr");
      if(rx_pwm > START_PWM)
      {
         ACSR |= (1<<ACIE);
         TIMSK1 |= (1<<TOIE1);
         
         if(rotor_run == 200)
         {
            OCR2A = rx_pwm;
            OCR2B = rx_pwm;
            OCR0B = rx_pwm;
         }
         i2c_timeout++;
         
         if(i2c_timeout>100000)
         {
            rx_pwm = 0;
         }
      }
      else
      {
         PHASE_ALL_OFF;
         ACSR&=~(1<<ACIE);
         TIMSK1 &= ~(1<<TOIE1);
      }
   }
}