Тут есть исходник с управлением по I2C http://www.ulrichradig.de/home/index.ph ... controller возможно ли на его базе что то сделать?
Спойлер
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);
}
}
}
