|
|
| Zeile 20: |
Zeile 20: |
| | | | |
| | ===Elektronik=== | | ===Elektronik=== |
| − | [[Bild:IMGP0416small.JPG|right|thumb|Platinen]]
| |
| − |
| |
| | Motorregler mit Atmega 168A sowie eine Hauptsteuerung mit einem Atmega 644PA. Ein Display von Display3000 als Tacho (und Datenlogger). Siehe Stückliste. | | Motorregler mit Atmega 168A sowie eine Hauptsteuerung mit einem Atmega 644PA. Ein Display von Display3000 als Tacho (und Datenlogger). Siehe Stückliste. |
| | | | |
| Zeile 36: |
Zeile 34: |
| | | | |
| | ==Programme== | | ==Programme== |
| − | '''Motorcontroller.bas (BASCOM)'''
| + | ''Motorcontroller.bas (BASCOM)'' [http://www.listrik.de/html/freeware.html] |
| − | <pre>
| + | |
| − | '******************Listrik01 Motorsteuerung, Version 01 **********************
| + | |
| − | | + | |
| − | 'Es gibt keine Stromregelung, sondern eine Lageregelung im Hauptcontroller
| + | |
| − | | + | |
| − | 'LED1 blinkt mit gültigem seriellen Telegramm
| + | |
| − | | + | |
| − | 'LED2 blinkt wenn Zwangskommutierung
| + | |
| − | 'LED2 dauerlicht wenn serielle Verbindung fehlt, d.h. Not Halt
| + | |
| − | | + | |
| − | 'LED1 und LED2 blinken abwechselnd mit 1Hz für 3 Sekunden während CPU Anlauf
| + | |
| − | | + | |
| − | 'LED1 und LED2 blinken mit 2Hz wenn Hallstecker nicht gesteckt ist.
| + | |
| − | ' Ausserdem antwortet der Controller jetzt nicht auf Telegramme.
| + | |
| − | | + | |
| − | 'LockBit, FuseBit , FuseBitHigh , FuseBitExtended
| + | |
| − | '$prog &HFF , &HF9 , &HDF , &HF6 'Fusebits 168A CPU
| + | |
| − | | + | |
| − | 'Use AMTEL Studio / Fuses Menu instead to set fusebits
| + | |
| − | 'BOOTSZ = 1024W_1C00
| + | |
| − | 'BOOTRST = unchecked
| + | |
| − | 'RSTDISBL = unchecked
| + | |
| − | 'DWEN = unchecked
| + | |
| − | 'SPIEN = checked
| + | |
| − | 'WDTON = unchecked
| + | |
| − | 'EESAVE = unchecked
| + | |
| − | 'BODLEVEL = unchecked
| + | |
| − | 'CKDIV8 = unchecked
| + | |
| − | 'CKOUT = unchecked
| + | |
| − | 'SUT_CKSEL = EXTFSXTAL_1KCK_14CK_4MS1
| + | |
| − | | + | |
| − | $regfile = "m168def.dat" 'ATMEGA168A CPU
| + | |
| − | $crystal = 11059200
| + | |
| − | $baud = 57600
| + | |
| − | $hwstack = 32
| + | |
| − | $swstack = 20
| + | |
| − | $framesize = 40
| + | |
| − | | + | |
| − | Const _pcicr = &B00000101 'Bit0 = PCIE0 = Port B0..B7
| + | |
| − | 'Bit2 = PCIE2 = Port D0..D7
| + | |
| − | | + | |
| − | Const Numhall = 3 '<<<<<<<<<< TEST, Normalerweise = 4
| + | |
| − | Const Pclink = 1 '<<<<<<<<<< TEST, Normalerweise = 0, Sie Delphi
| + | |
| − | | + | |
| − | Declare Sub Setspeed
| + | |
| − | Declare Sub Pwm_start
| + | |
| − | Declare Sub Pwm_stop
| + | |
| − | | + | |
| − | Config Portb.0 = Input 'Hall_D
| + | |
| − | Config Portb.1 = Output 'B-
| + | |
| − | Config Portb.2 = Output 'B+
| + | |
| − | Config Portb.3 = Output 'A-(MOSI)
| + | |
| − | Config Portb.4 = Output 'LED2 (MISO)
| + | |
| − | Config Portb.5 = Input 'SCK
| + | |
| − | ' PortB.6 XTAL
| + | |
| − | ' PortB.7 XTAL
| + | |
| − | | + | |
| − | Config Portc.0 = Input 'UBatterie
| + | |
| − | Config Portc.1 = Input 'I-Ist
| + | |
| − | Config Portc.2 = Input 'Kühlkörper Temperatur
| + | |
| − | Config Portc.3 = Output 'LED1
| + | |
| − | Config Portc.4 = Output 'Lüfter
| + | |
| − | Config Portc.5 = Input 'Adress Jumper
| + | |
| − | ' PortC.6 Reset
| + | |
| − | ' PortC.7 nicht rausgeführt
| + | |
| − | | + | |
| − | ' PortD.0 RxD
| + | |
| − | ' PortD.1 TxD
| + | |
| − | Config Portd.2 = Input 'Hall_C
| + | |
| − | Config Portd.3 = Output 'A+
| + | |
| − | Config Portd.4 = Input 'Hall_B
| + | |
| − | Config Portd.5 = Output 'C+
| + | |
| − | Config Portd.6 = Output 'C-
| + | |
| − | Config Portd.7 = Input 'Hall_A
| + | |
| − | | + | |
| − | Hall_a Alias Pind.7
| + | |
| − | Hall_b Alias Pind.4
| + | |
| − | Hall_c Alias Pind.2
| + | |
| − | Hall_d Alias Pinb.0
| + | |
| − | Led1 Alias Portc.3
| + | |
| − | Led2 Alias Portb.4
| + | |
| − | Fan Alias Portc.4
| + | |
| − | Adrjumper Alias Pinc.5
| + | |
| − | | + | |
| − | 'A-Werte stellen die Rotorposition in Abhängigkeit der Halleingänge dar
| + | |
| − | 'Siehe Exceltabelle "Rotorposition Array A().xls"
| + | |
| − | Dim A(15) As Byte At $100
| + | |
| − | | + | |
| − | 'S-Werte stellen die aktuelle Soll PWM-Breite dar
| + | |
| − | Dim S(12) As Byte At $10f
| + | |
| − | | + | |
| − | '1 = Links, 2 = Leerlauf, 3 = Not Aus
| + | |
| − | Dim Richtung(255) As Byte At $11b
| + | |
| − | | + | |
| − | 'IstRichtung-Werte stellen den 0..2, siehe Zeile oberhalb
| + | |
| − | Dim Istrichtung As Integer At $21a
| + | |
| − | | + | |
| − | 'Ticks-Werte stellen die Anzahl verbrauchter Ticks während eine Do..Loop dar
| + | |
| − | Dim Ticks As Integer At $221
| + | |
| − | | + | |
| − | 'Anzahl Kommutierungen zwischen seriellen Telegrammen
| + | |
| − | Dim Uzu As Integer 'Netzspannung
| + | |
| − | Dim M1 As Byte At Uzu + 0 Overlay
| + | |
| − | Dim M2 As Byte At Uzu + 1 Overlay
| + | |
| − | | + | |
| − | Dim Izu As Integer 'Motorstrom
| + | |
| − | Dim M3 As Byte At Izu + 0 Overlay
| + | |
| − | Dim M4 As Byte At Izu + 1 Overlay
| + | |
| − | | + | |
| − | Dim Ausgabeticks As Integer 'Anzahl Ticks für ein Do ... Loop
| + | |
| − | Dim M5 As Byte At Ausgabeticks + 0 Overlay
| + | |
| − | Dim M6 As Byte At Ausgabeticks + 1 Overlay
| + | |
| − | | + | |
| − | Dim Temperatur As Integer 'Kühlkörpertemperatur
| + | |
| − | Dim M7 As Byte At Temperatur + 0 Overlay
| + | |
| − | Dim M8 As Byte At Temperatur + 1 Overlay
| + | |
| − | | + | |
| − | Dim Drehzahl As Integer 'Drehzahl
| + | |
| − | Dim M9 As Byte At Drehzahl + 0 Overlay
| + | |
| − | Dim M10 As Byte At Drehzahl + 1 Overlay
| + | |
| − | | + | |
| − | Dim Kalibrierwert As Integer
| + | |
| − | Dim Kal(2) As Byte At Kalibrierwert + 0 Overlay
| + | |
| − | | + | |
| − | Dim Sinus(12) As Byte
| + | |
| − | Dim Motorposition As Byte
| + | |
| − | Dim Altrichtung As Integer
| + | |
| − | Dim Aposition As Byte
| + | |
| − | Dim Zposition As Byte
| + | |
| − | Dim Zwangskommutieren As Byte
| + | |
| − | Dim Temp As Word
| + | |
| − | Dim Motoradresse As Byte
| + | |
| − | Dim Vwinkel As Byte
| + | |
| − | Dim Rwinkel As Byte
| + | |
| − | Dim N As Byte
| + | |
| − | Dim Notaus As Byte
| + | |
| − | Dim Loopcount As Word
| + | |
| − | Dim Sollrichtung As Byte
| + | |
| − | Dim Altsollrichtung As Byte
| + | |
| − | Dim Sollspeed As Byte
| + | |
| − | Dim Altsollspeed As Byte
| + | |
| − | Dim Bdummy As Byte
| + | |
| − | Dim Intbdummy As Byte
| + | |
| − | Dim Intidummy As Integer
| + | |
| − | Dim Sdummy As Single
| + | |
| − | Dim Idummy1 As Integer
| + | |
| − | Dim Idummy2 As Integer
| + | |
| − | Dim Uw As Word
| + | |
| − | Dim Iw As Word
| + | |
| − | Dim Uwsum As Long
| + | |
| − | Dim Iwsum As Long
| + | |
| − | Dim Wcount As Long
| + | |
| − | Dim Fancount As Long
| + | |
| − | Dim Uoffset As Single
| + | |
| − | Dim Ufaktor As Single
| + | |
| − | Dim Ioffset As Single
| + | |
| − | Dim Ifaktor As Single
| + | |
| − | Dim Empfpuffer(6) As Byte 'Empfangspuffer
| + | |
| − | Dim Ta As Byte
| + | |
| − | Dim Tb As Byte
| + | |
| − | Dim Tc As Byte
| + | |
| − | Dim Fehler As Byte
| + | |
| − | | + | |
| − | Dim Errorword As Word
| + | |
| − | Dim Errorword1 As Byte At Errorword + 0 Overlay
| + | |
| − | Dim Errorword2 As Byte At Errorword + 1 Overlay
| + | |
| − | | + | |
| − | 'Integer bzw. Word (2Byte) = %
| + | |
| − | 'Single (4Byte) = !
| + | |
| − | 'Double (8Byte) = #
| + | |
| − | 'Long (4Byte) = & ==> 32Bit Integer
| + | |
| − | 'Byte (1Byte) = ohne Zusatz
| + | |
| − | | + | |
| − | $eeprom 'wird nicht benutzt
| + | |
| − | U_offset:
| + | |
| − | Data 0.0! 'Single
| + | |
| − | U_faktor:
| + | |
| − | Data 1.0! 'Single
| + | |
| − | I_offset:
| + | |
| − | Data 0.0! 'Single
| + | |
| − | I_faktor:
| + | |
| − | Data 1.0! 'Single
| + | |
| − | V_winkel:
| + | |
| − | Data 0 'Byte
| + | |
| − | R_winkel:
| + | |
| − | Data 0 'Byte
| + | |
| − | Sinus_12: 'Sinus mit 4 Hallgebern
| + | |
| − | Data 0 , 0 , 33 , 66 , 100 , 100 , 100 , 100 , 66 , 33 , 0 , 0
| + | |
| − | Sinus_6: 'Sinus mit 3 Hallgebern
| + | |
| − | Data 0 , 33 , 66 , 100 , 66 , 33
| + | |
| − | $data
| + | |
| − | | + | |
| − | Sollspeed = 0
| + | |
| − | Pwm_stop 'Erstmal alles auschalten
| + | |
| − | | + | |
| − | For N = 1 To 15
| + | |
| − | A(n) = 0
| + | |
| − | Next
| + | |
| − | | + | |
| − | 'Variablen für die Richtungserkennung vorbelegen
| + | |
| − | 'Diese Variante frisst zwar viel Arbeitsspeicher, ist aber sehr schnell
| + | |
| − | For N = 1 To 255
| + | |
| − | Richtung(n) = 2
| + | |
| − | Next
| + | |
| − | | + | |
| − | If Adrjumper = 0 Then 'Rechter Motor
| + | |
| − | Motoradresse = 82
| + | |
| − | #if Numhall = 3 'Anzahl Hallsensoren
| + | |
| − | A(5) = 1
| + | |
| − | A(1) = 2
| + | |
| − | A(3) = 3
| + | |
| − | A(2) = 4
| + | |
| − | A(6) = 5
| + | |
| − | A(4) = 6
| + | |
| − | | + | |
| − | Richtung(21) = 3
| + | |
| − | Richtung(49) = 3
| + | |
| − | Richtung(35) = 3
| + | |
| − | Richtung(98) = 3
| + | |
| − | Richtung(70) = 3
| + | |
| − | Richtung(84) = 3
| + | |
| − | | + | |
| − | Richtung(69) = 1
| + | |
| − | Richtung(81) = 1
| + | |
| − | Richtung(19) = 1
| + | |
| − | Richtung(50) = 1
| + | |
| − | Richtung(38) = 1
| + | |
| − | Richtung(100) = 1
| + | |
| − | | + | |
| − | #else
| + | |
| − | A(12) = 12
| + | |
| − | A(4) = 11
| + | |
| − | A(6) = 10
| + | |
| − | A(14) = 9
| + | |
| − | A(10) = 8
| + | |
| − | A(2) = 7
| + | |
| − | A(3) = 6
| + | |
| − | A(11) = 5
| + | |
| − | A(9) = 4
| + | |
| − | A(1) = 3
| + | |
| − | A(5) = 2
| + | |
| − | A(13) = 1
| + | |
| − | | + | |
| − | Richtung(21) = 3
| + | |
| − | Richtung(93) = 3
| + | |
| − | Richtung(220) = 3
| + | |
| − | Richtung(196) = 3
| + | |
| − | Richtung(70) = 3
| + | |
| − | Richtung(110) = 3
| + | |
| − | Richtung(234) = 3
| + | |
| − | Richtung(162) = 3
| + | |
| − | Richtung(35) = 3
| + | |
| − | Richtung(59) = 3
| + | |
| − | Richtung(185) = 3
| + | |
| − | Richtung(145) = 3
| + | |
| − | | + | |
| − | Richtung(81) = 1
| + | |
| − | Richtung(25) = 1
| + | |
| − | Richtung(155) = 1
| + | |
| − | Richtung(179) = 1
| + | |
| − | Richtung(50) = 1
| + | |
| − | Richtung(42) = 1
| + | |
| − | Richtung(174) = 1
| + | |
| − | Richtung(230) = 1
| + | |
| − | Richtung(100) = 1
| + | |
| − | Richtung(76) = 1
| + | |
| − | Richtung(205) = 1
| + | |
| − | Richtung(213) = 1
| + | |
| − | #endif
| + | |
| − | Else
| + | |
| − | Motoradresse = 76 'Linker Motor
| + | |
| − | #if Numhall = 3 'Anzahl Hallsensoren
| + | |
| − | A(3) = 1
| + | |
| − | A(1) = 2
| + | |
| − | A(5) = 3
| + | |
| − | A(4) = 4
| + | |
| − | A(6) = 5
| + | |
| − | A(2) = 6
| + | |
| − | | + | |
| − | Richtung(35) = 3
| + | |
| − | Richtung(49) = 3
| + | |
| − | Richtung(21) = 3
| + | |
| − | Richtung(84) = 3
| + | |
| − | Richtung(70) = 3
| + | |
| − | Richtung(98) = 3
| + | |
| − | | + | |
| − | Richtung(19) = 1
| + | |
| − | Richtung(81) = 1
| + | |
| − | Richtung(69) = 1
| + | |
| − | Richtung(100) = 1
| + | |
| − | Richtung(38) = 1
| + | |
| − | Richtung(50) = 1
| + | |
| − | #else
| + | |
| − | A(11) = 1
| + | |
| − | A(3) = 2
| + | |
| − | A(1) = 3
| + | |
| − | A(9) = 4
| + | |
| − | A(13) = 5
| + | |
| − | A(5) = 6
| + | |
| − | A(4) = 7
| + | |
| − | A(12) = 8
| + | |
| − | A(14) = 9
| + | |
| − | A(6) = 10
| + | |
| − | A(2) = 11
| + | |
| − | A(10) = 12
| + | |
| − | | + | |
| − | Richtung(236) = 3
| + | |
| − | Richtung(196) = 3
| + | |
| − | Richtung(69) = 3
| + | |
| − | Richtung(93) = 3
| + | |
| − | Richtung(217) = 3
| + | |
| − | Richtung(145) = 3
| + | |
| − | Richtung(19) = 3
| + | |
| − | Richtung(59) = 3
| + | |
| − | Richtung(186) = 3
| + | |
| − | Richtung(162) = 3
| + | |
| − | Richtung(38) = 3
| + | |
| − | Richtung(110) = 3
| + | |
| − | | + | |
| − | Richtung(42) = 1
| + | |
| − | Richtung(171) = 1
| + | |
| − | Richtung(179) = 1
| + | |
| − | Richtung(49) = 1
| + | |
| − | Richtung(25) = 1
| + | |
| − | Richtung(157) = 1
| + | |
| − | Richtung(213) = 1
| + | |
| − | Richtung(84) = 1
| + | |
| − | Richtung(76) = 1
| + | |
| − | Richtung(206) = 1
| + | |
| − | Richtung(230) = 1
| + | |
| − | Richtung(98) = 1
| + | |
| − | #endif
| + | |
| − | end if
| + | |
| − | | + | |
| − | 'AD-Wandler einstellen
| + | |
| − | Config Adc = Single , Prescaler = Auto , Reference = Off
| + | |
| − | Start Adc
| + | |
| − | | + | |
| − | '<Test Hallsensoren>
| + | |
| − | Fehler = 1
| + | |
| − | Fan = 1
| + | |
| − | While Fehler = 1
| + | |
| − | Fehler = 0
| + | |
| − | Motorposition = 0
| + | |
| − | Motorposition.0 = Hall_a
| + | |
| − | Motorposition.1 = Hall_b
| + | |
| − | Motorposition.2 = Hall_c
| + | |
| − | #if Numhall = 3 'Anzahl Hallsensoren
| + | |
| − | Motorposition.3 = 0
| + | |
| − | #else
| + | |
| − | Motorposition.3 = Hall_d
| + | |
| − | #endif
| + | |
| − | If Motorposition = 0 Then Fehler = 1 'Stecker nicht gesteckt
| + | |
| − | If Motorposition > 0 Then
| + | |
| − | 'Das währe eine Motorposition die es nicht gibt
| + | |
| − | If A(motorposition) = 0 Then Fehler = 1
| + | |
| − | End If
| + | |
| − | If Fehler = 1 Then
| + | |
| − | Toggle Led1
| + | |
| − | Toggle Led2
| + | |
| − | Waitms 250 '==> 2Hz
| + | |
| − | End If
| + | |
| − | Wend
| + | |
| − | '</Test Hallsensoren>
| + | |
| − | | + | |
| − | On Timer2 Update_pwm Nosave
| + | |
| − | | + | |
| − | 'Pin-Change Interrupt einstellen: (Hall Impulse)
| + | |
| − | Pcmsk2 = &B10010100 'Hall A, B, C
| + | |
| − | Pcmsk1 = &B00000000
| + | |
| − | Pcmsk0 = &B00000001 'Hall D
| + | |
| − | Pcicr = _pcicr
| + | |
| − | | + | |
| − | 'Wenn sich das Hallsignal ändert, wird kommutiert
| + | |
| − | On Pcint2 Kommutieren Nosave
| + | |
| − | On Pcint0 Kommutieren Nosave
| + | |
| − | | + | |
| − | 'EEPROM mit dem Programm Motorcontroller_EEPROM.bas vorbesetzen
| + | |
| − | ' Datenreihenfolge dort ist ab Byte(1):
| + | |
| − | ' U_offset, U_faktor, I_offset, I_faktor im Single Format
| + | |
| − | ' Voreilwinkel, Nacheilwinkel im Byte Format
| + | |
| − | 'Sinuskurve 12 Werte im Byte Format für 4 Hall Sensoren
| + | |
| − | 'Sinuskurve 6 Werte im Byte Format für 3 Hall Sensoren
| + | |
| − | | + | |
| − | 'Readeeprom Uoffset , 1
| + | |
| − | Uoffset = 0
| + | |
| − | | + | |
| − | 'Readeeprom Ufaktor , 5
| + | |
| − | Ufaktor = 5.37109375 'Siehe Hardwarezeichnung für Berechnung
| + | |
| − | | + | |
| − | 'Readeeprom Ioffset , 9
| + | |
| − | Ioffset = 512 '2,5V
| + | |
| − | | + | |
| − | 'Readeeprom Ifaktor , 13
| + | |
| − | Ifaktor = 7.8125 'Siehe Hardwarezeichnung für Berechnung
| + | |
| − | | + | |
| − | 'Voreilwinkel:
| + | |
| − | 'Readeeprom Vwinkel , 17
| + | |
| − | Vwinkel = 0
| + | |
| − | | + | |
| − | 'Readeeprom Rwinkel , 18
| + | |
| − | Rwinkel = 0
| + | |
| − | | + | |
| − | If Ufaktor = 0 Then Ufaktor = 1.0
| + | |
| − | If Ifaktor = 0 Then Ifaktor = 1.0
| + | |
| − | | + | |
| − | 'Angepasste Sinuskurve aus dem EEprom laden
| + | |
| − | #if Numhall = 3 'Anzahl Hallsensoren
| + | |
| − | ' For N = 1 To 6
| + | |
| − | ' Bdummy = N + 30
| + | |
| − | ' Readeeprom Sinus(n) , Bdummy
| + | |
| − | ' Next
| + | |
| − | Sinus(1) = 0
| + | |
| − | Sinus(2) = 33
| + | |
| − | Sinus(3) = 66
| + | |
| − | Sinus(4) = 100
| + | |
| − | Sinus(5) = 66
| + | |
| − | Sinus(6) = 33
| + | |
| − | #else 'Anzahl Hallsensoren = 4
| + | |
| − | ' For N = 1 To 12
| + | |
| − | ' Bdummy = N + 18
| + | |
| − | ' Readeeprom Sinus(n) , Bdummy
| + | |
| − | ' Next
| + | |
| − | Sinus(1) = 0
| + | |
| − | Sinus(2) = 0
| + | |
| − | Sinus(3) = 33
| + | |
| − | Sinus(4) = 66
| + | |
| − | Sinus(5) = 100
| + | |
| − | Sinus(6) = 100
| + | |
| − | Sinus(7) = 100
| + | |
| − | Sinus(8) = 100
| + | |
| − | Sinus(9) = 66
| + | |
| − | Sinus(10) = 33
| + | |
| − | Sinus(11) = 0
| + | |
| − | Sinus(12) = 0
| + | |
| − | #endif
| + | |
| − | | + | |
| − | Fan = 1 'Lüfter kurz einschalten damit die Lager nicht fest werden
| + | |
| − | For N = 1 To 3 '3 sekunden
| + | |
| − | Led1 = 1
| + | |
| − | Led2 = 0
| + | |
| − | Waitms 500
| + | |
| − | Toggle Led1
| + | |
| − | Toggle Led2
| + | |
| − | Waitms 500
| + | |
| − | Next
| + | |
| − | Led2 = 0
| + | |
| − | Fan = 0
| + | |
| − | | + | |
| − | On Urxc Datenempfang Nosave
| + | |
| − | Enable Urxc 'serielles UART. No parity, 1 stop bit, 8 data bits
| + | |
| − | Enable Interrupts
| + | |
| − | | + | |
| − | Do
| + | |
| − | Led1 = 0
| + | |
| − | '<Messen>
| + | |
| − | Uw = Getadc(0) + 14 'Versorgungsspannung. Siehe Hardwarezeichnung
| + | |
| − | Uwsum = Uwsum + Uw
| + | |
| − | Iw = Getadc(1) 'Gesamtstrom
| + | |
| − | Iwsum = Iwsum + Iw
| + | |
| − | Incr Wcount
| + | |
| − | 'Kühkörpertemperatur in counts. Siehe Datenblätter\10K_NTC_Kennlinie.odt
| + | |
| − | Temp = Getadc(2)
| + | |
| − | '</Messen>
| + | |
| − | '<Serielle Telegramme abarbeiten>
| + | |
| − | ' Empfpuffer(1) Empfpuffer(2) Empfpuffer(3) Empfpuffer(4) Empfpuffer(5) Empfpuffer(6)
| + | |
| − | ' <CR> Contr.Adresse Richtung PWM Checksum <CR>
| + | |
| − | If Empfpuffer(1) = 13 Then 'Das letzte im Ring verschobene empfangene CR
| + | |
| − | If Empfpuffer(6) = 13 Then
| + | |
| − | Led1 = 1
| + | |
| − | If Empfpuffer(2) = Motoradresse Then '"R" oder "L"
| + | |
| − | Disable Urxc
| + | |
| − | 'BCC für Empfangsmessage berechnen
| + | |
| − | !lds R24,{Empfpuffer(2)} 'Adresse. Load Direct from data space @address xxx
| + | |
| − | !LDs R25,{Empfpuffer(3)} 'Richtung.Load Direct from data space @address xxx
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{Empfpuffer(4)} 'PWM. Load Direct from data space @address xxx
| + | |
| − | !add R24,R25
| + | |
| − | !STS {Bdummy},R24 'Write Rxx to address loaction
| + | |
| − | If Bdummy = Empfpuffer(5) Then 'Die Prüfsumme stimmt
| + | |
| − | 'Kommutieren deaktivieren, weil sonst die Ticks während dem Zugriff
| + | |
| − | 'geändert werden könnten
| + | |
| − | Pcicr = &B00000000
| + | |
| − | Ausgabeticks = Ticks
| + | |
| − | Ticks = 0
| + | |
| − | Pcicr = _pcicr
| + | |
| − | 'BCC für Sendemessage berechnen
| + | |
| − | !lds R24,{M1} 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !LDs R25,{M2} 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !add R24,R25 'Add Rxx + Ryy, Result in Rxx
| + | |
| − | !LDs R25,{M3} 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !add R24,R25 'Add Rxx + Ryy, Result in Rxx
| + | |
| − | !LDs R25,{M4} 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !add R24,R25 'Add Rxx + Ryy, Result in Rxx
| + | |
| − | !LDs R25,{M5} 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !add R24,R25 'Add Rxx + Ryy, Result in Rxx
| + | |
| − | !LDs R25,{M6} 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !add R24,R25 'Add Rxx + Ryy, Result in Rxx
| + | |
| − | !STS {Bdummy},R24 'Write Rxx to address loaction
| + | |
| − | 'Antwort am UART ausgeben
| + | |
| − | 'M1/M2=Spg M3/M4=Strom M5/M6=Loop Ticks Bdummy=Checksum
| + | |
| − | 'Print M1 ; M2 ; M3 ; M4 ; M5 ; M6 ; Bdummy ; 13
| + | |
| − | 'in Assembler geht das so...
| + | |
| − | !LdS R24,{M1} 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !STS udr,R24 'Write Rxx to address loaction
| + | |
| − | Warten1:
| + | |
| − | !LDS R24,UCSR0A 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !BST R24,5 'Store bit x of Rxx in T Flag
| + | |
| − | !Brtc warten1
| + | |
| − | !LDS R24,{M2} 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !STS udr,R24 'Write Rxx to address loaction
| + | |
| − | Warten2:
| + | |
| − | !LDS R24,UCSR0A 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !BST R24,5 'Store bit x of Rxx in T Flag
| + | |
| − | !Brtc warten2
| + | |
| − | !lds R24,{M3} 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !STS udr,R24 'Write Rxx to address loaction
| + | |
| − | Warten3:
| + | |
| − | !LDS R24,UCSR0A 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !BST R24,5 'Store bit x of Rxx in T Flag
| + | |
| − | !Brtc warten3
| + | |
| − | !LDS R24,{M4} 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !STS udr,R24 'Write Rxx to address loaction
| + | |
| − | Warten4:
| + | |
| − | !LDS R24,UCSR0A 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !BST R24,5 'Store bit x of Rxx in T Flag
| + | |
| − | !Brtc warten4
| + | |
| − | !LDS R24,{M5} 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !STS udr,R24 'Write Rxx to address loaction
| + | |
| − | Warten5:
| + | |
| − | !LDS R24,UCSR0A 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !BST R24,5 'Store bit x of Rxx in T Flag
| + | |
| − | !Brtc warten5
| + | |
| − | !LDS R24,{M6} 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !STS udr,R24 'Write Rxx to address loaction
| + | |
| − | Warten6:
| + | |
| − | !LDS R24,UCSR0A 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !BST R24,5 'Store bit x of Rxx in T Flag
| + | |
| − | !Brtc warten6
| + | |
| − | !LDS R24,{bdummy}
| + | |
| − | !STS udr,R24 'Write Rxx to address loaction
| + | |
| − | Warten7:
| + | |
| − | !LDS R24,UCSR0A 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !BST R24,5 'Store bit x of Rxx in T Flag
| + | |
| − | !Brtc warten7
| + | |
| − | !LDi R24,13
| + | |
| − | !STS udr,R24 'Write Rxx to address loaction
| + | |
| − | Warten8:
| + | |
| − | !LDS R24,UCSR0A 'Load Direct from data space @address xxx into Rxx
| + | |
| − | !BST R24,5 'Store bit x of Rxx in T Flag
| + | |
| − | !Brtc warten8
| + | |
| − | If Empfpuffer(3) < 3 Then 'Richtung
| + | |
| − | Notaus = 0
| + | |
| − | Loopcount = 0
| + | |
| − | Sollrichtung = Empfpuffer(3) 'Richtung
| + | |
| − | Sollspeed = Empfpuffer(4) 'PWM Breite
| + | |
| − | If Sollrichtung = 2 Then
| + | |
| − | Sollrichtung = 1
| + | |
| − | Notaus = 1
| + | |
| − | Loopcount = 250
| + | |
| − | Sollspeed = 0
| + | |
| − | End If
| + | |
| − | Setspeed
| + | |
| − | '<Messwerte berechnen>
| + | |
| − | 'Messwerte werden hier berechnet, weil genau jetzt 1/100s Zeit ist.
| + | |
| − | 'Spannung berechnen
| + | |
| − | Sdummy = Uwsum / Wcount
| + | |
| − | Sdummy = Sdummy - Uoffset
| + | |
| − | Sdummy = Sdummy * Ufaktor
| + | |
| − | Uzu = Int(sdummy)
| + | |
| − | Uwsum = 0
| + | |
| − | 'Strom berechnen
| + | |
| − | Sdummy = Iwsum / Wcount
| + | |
| − | Sdummy = Sdummy - Ioffset
| + | |
| − | Sdummy = Sdummy * Ifaktor
| + | |
| − | Izu = Int(sdummy)
| + | |
| − | Iwsum = 0
| + | |
| − | Wcount = 0
| + | |
| − | '</Messwerte berechnen>
| + | |
| − | Else 'wird nie erreicht weil weder Hauptsteuerung noch Display diese
| + | |
| − | 'Werte senden
| + | |
| − | Select Case Empfpuffer(3)
| + | |
| − | Case 3 'Sinus(1) empfangen
| + | |
| − | Sinus(1) = Empfpuffer(4)
| + | |
| − | Writeeeprom Sinus(1) , 17
| + | |
| − | Case 4 'Sinus(2) empfangen
| + | |
| − | Sinus(2) = Empfpuffer(4)
| + | |
| − | Writeeeprom Sinus(2) , 18
| + | |
| − | Case 5 'Sinus(3) empfangen
| + | |
| − | Sinus(3) = Empfpuffer(4)
| + | |
| − | Writeeeprom Sinus(3) , 19
| + | |
| − | Case 6 'Sinus(4) empfangen
| + | |
| − | Sinus(4) = Empfpuffer(4)
| + | |
| − | Writeeeprom Sinus(4) , 20
| + | |
| − | Case 7 'Sinus(5) empfangen
| + | |
| − | Sinus(5) = Empfpuffer(4)
| + | |
| − | Writeeeprom Sinus(5) , 21
| + | |
| − | Case 8 'Sinus(6) empfangen
| + | |
| − | Sinus(6) = Empfpuffer(4)
| + | |
| − | Writeeeprom Sinus(6) , 22
| + | |
| − | Case 9 'Sinus(7) empfangen
| + | |
| − | Sinus(7) = Empfpuffer(4)
| + | |
| − | Writeeeprom Sinus(7) , 23
| + | |
| − | Case 10 'Sinus(8) empfangen
| + | |
| − | Sinus(8) = Empfpuffer(4)
| + | |
| − | Writeeeprom Sinus(8) , 24
| + | |
| − | Case 11 'Sinus(9) empfangen
| + | |
| − | Sinus(9) = Empfpuffer(4)
| + | |
| − | Writeeeprom Sinus(9) , 25
| + | |
| − | Case 12 'Sinus(10) empfangen
| + | |
| − | Sinus(10) = Empfpuffer(4)
| + | |
| − | Writeeeprom Sinus(10) , 26
| + | |
| − | Case 13 'Sinus(11) empfangen
| + | |
| − | Sinus(11) = Empfpuffer(4)
| + | |
| − | Writeeeprom Sinus(11) , 27
| + | |
| − | Case 14 'Sinus(12) empfangen
| + | |
| − | Sinus(12) = Empfpuffer(4)
| + | |
| − | Writeeeprom Sinus(12) , 28
| + | |
| − | Case 15 'Spannung Kalibrieren (Byte 1)
| + | |
| − | Kal(1) = Empfpuffer(4)
| + | |
| − | Case 16 'Spannung Kalibrieren (Byte 2)
| + | |
| − | Kal(2) = Empfpuffer(4)
| + | |
| − | Sdummy = Uwsum / Wcount
| + | |
| − | Ufaktor = Kalibrierwert / Sdummy
| + | |
| − | Writeeeprom Ufaktor , 5
| + | |
| − | Uoffset = 0 'Schaltungsbedingt
| + | |
| − | Writeeeprom Uoffset , 1
| + | |
| − | Case 17 'Strom Kalibrieren (Byte 1)
| + | |
| − | Kal(1) = Empfpuffer(4)
| + | |
| − | Case 18 'Strom Kalibrieren Byte (2)
| + | |
| − | Kal(2) = Empfpuffer(4)
| + | |
| − | Sdummy = Iwsum / Wcount
| + | |
| − | If Kalibrierwert = 0 Then 'Das ist der Offset
| + | |
| − | Ioffset = Sdummy + 1
| + | |
| − | Writeeeprom Ioffset , 9
| + | |
| − | Else 'Jetzt den Faktor berechnen
| + | |
| − | Sdummy = Sdummy - Ioffset
| + | |
| − | Ifaktor = Kalibrierwert / Sdummy
| + | |
| − | Writeeeprom Ifaktor , 13
| + | |
| − | End If
| + | |
| − | Case 19
| + | |
| − | Vwinkel = Empfpuffer(4)
| + | |
| − | Writeeeprom Vwinkel , 29
| + | |
| − | Case 20
| + | |
| − | Rwinkel = Empfpuffer(4)
| + | |
| − | Writeeeprom Rwinkel , 30
| + | |
| − | End Select
| + | |
| − | End If
| + | |
| − | !LDI R24,0
| + | |
| − | !sTS {Empfpuffer(1)},R24 'Write Rxx to address loaction
| + | |
| − | !sTS {Empfpuffer(2)},R24 'Write Rxx to address loaction
| + | |
| − | !sTS {Empfpuffer(3)},R24 'Write Rxx to address loaction
| + | |
| − | !sTS {Empfpuffer(4)},R24 'Write Rxx to address loaction
| + | |
| − | !sTS {Empfpuffer(5)},R24 'Write Rxx to address loaction
| + | |
| − | End If
| + | |
| − | Enable Urxc
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | '</Serielle Telegramme abarbeiten>
| + | |
| − | | + | |
| − | 'Lüfter einschalten wenn Temperatur > 57 GradC
| + | |
| − | 'Lüfter ausschalten wenn Temperatur < 45 GradC
| + | |
| − | If Temp < 350 Then
| + | |
| − | Fan = 1
| + | |
| − | Fancount = 120000 'Nachlaufzeit, Zykluszeit 1/100 Sekunde = 150 Sekunden
| + | |
| − | Else
| + | |
| − | If Temp > 532 Then
| + | |
| − | If Fancount = 0 Then 'Nachlaufzeit beendet
| + | |
| − | Fan = 0
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | If Fancount > 0 Then Decr Fancount
| + | |
| − | | + | |
| − | 'Notaus mit Freilauf wenn keine Nachricht von Seriell
| + | |
| − | If Loopcount < 50 Then 'Das sind schätzungsweise 0.1s
| + | |
| − | Notaus = 0
| + | |
| − | Incr Loopcount
| + | |
| − | Else
| + | |
| − | Notaus = 1
| + | |
| − | Sollspeed = 0
| + | |
| − | Setspeed
| + | |
| − | End If
| + | |
| − | Loop
| + | |
| − | | + | |
| − | Kommutieren:
| + | |
| − | !push R10 'Rxx sichern
| + | |
| − | !PUSH R11 'Rxx sichern
| + | |
| − | !PUSH R16 'Rxx sichern
| + | |
| − | !PUSH R17 'Rxx sichern
| + | |
| − | !PUSH R20 'Rxx sichern
| + | |
| − | !PUSH R21 'Rxx sichern
| + | |
| − | !PUSH R24 'Rxx sichern
| + | |
| − | !PUSH R26 'Rxx sichern
| + | |
| − | !PUSH R27 'Rxx sichern
| + | |
| − | !IN R24,sreg
| + | |
| − | !PUSH R24
| + | |
| − | !clr R16 'Clear Rxx
| + | |
| − | #if Numhall = 3
| + | |
| − | !andi R17,&B01110111 'Clear Hall-D Bits
| + | |
| − | #else
| + | |
| − | !lds R17, $0023 'Port B input pins address. Hall D
| + | |
| − | !BST R17,0 'Store bit x of Rxx in T Flag. Hall D-Bit
| + | |
| − | !BLD R16,3 'Copy T Flag in the SREG (Status Register) to Bit x in Rxx
| + | |
| − | #endif
| + | |
| − | !LDS R17, $0029 'Port D input pins address. Hall A,B,C
| + | |
| − | !BST R17,2 'Store bit x of Rxx in T Flag. Hall C-Bit
| + | |
| − | !bld R16,2 'Copy T Flag in the SREG (Status Register) to Bit x in Rxx
| + | |
| − | !BST R17,4 'Store bit x of Rxx in T Flag. Hall B-Bit
| + | |
| − | !bld R16,1 'Copy T Flag in the SREG (Status Register) to Bit x in Rxx
| + | |
| − | !BST R17,7 'Store bit x of Rxx in T Flag. Hall A-Bit
| + | |
| − | !bld R16,0 'Copy T Flag in the SREG (Status Register) to Bit x in Rxx
| + | |
| − | 'R16 hat nun 0000DCBA Hall Signale
| + | |
| − | !lds R17,{aposition} 'Load Direct from data space @address xxx
| + | |
| − | !Swap R17 'R17 hat nun DCBA0000 Hall Signale
| + | |
| − | !andi R17,&B11110000 'Bit-And of Rxx with a constant value. Die 4 Bit sind Hall A...D
| + | |
| − | 'R17 hat nun nur noch die oberen 4 Bit
| + | |
| − | !add R17,R16 'Rxx + Ryy. Ergebnis in Rxx
| + | |
| − | !STS {aposition},R17 'Write Rxx to address loaction
| + | |
| − | !CLR R17
| + | |
| − | !LDI R26,$FF 'Startadresse von A() - 1
| + | |
| − | !LDI R27,$00
| + | |
| − | !ADD R26,R16
| + | |
| − | !ADC R27,R17
| + | |
| − | !LD R24,X 'Load Direct from address xxx
| + | |
| − | !LDS R16,{Sollrichtung} 'Load Direct from data space @address xxx
| + | |
| − | !CPI R16,0
| + | |
| − | !BREQ Sollrichtungnull 'Branch out if equal
| + | |
| − | !Jmp Sollrichtungnichtnull
| + | |
| − | Sollrichtungnull:
| + | |
| − | !LDS R20,{Vwinkel} 'Load Direct from data space @address xxx
| + | |
| − | !Add R24,R20
| + | |
| − | !JMP Richtunggesetzt
| + | |
| − | Sollrichtungnichtnull:
| + | |
| − | !LDS R20,{Rwinkel}
| + | |
| − | !Add R24,R20
| + | |
| − | Richtunggesetzt:
| + | |
| − | #if Numhall = 3
| + | |
| − | !CPI R24,$07 'Compare Rxx with constant 6 + 1 Sinusschritte
| + | |
| − | #else
| + | |
| − | !CPI R24,$0D 'Compare Rxx with constant 12 + 1 Sinusschritte
| + | |
| − | #endif
| + | |
| − | !BRCC Istgroesser13_1
| + | |
| − | !JMP Istkleiner13_1
| + | |
| − | Istgroesser13_1:
| + | |
| − | #if Numhall = 3
| + | |
| − | !SUBI R24,$06 'Subtract constant from Rxx, result in Rxx. 6 Sinusschritte
| + | |
| − | #else
| + | |
| − | !SUBI R24,$0C 'Subtract constant from Rxx, result in Rxx. 12 Sinusschritte
| + | |
| − | #endif
| + | |
| − | Istkleiner13_1:
| + | |
| − | !CLR R20
| + | |
| − | !Ldi R26,$0E 'Startadresse von S() - 1
| + | |
| − | !LDI R27,$01 'Startadresse von S() - 1
| + | |
| − | !ADD R26,R24
| + | |
| − | !ADC R27,R20
| + | |
| − | !LD R16,X 'Load Direct from address xxx
| + | |
| − | !STS {Ta},R16 'Write Rxx to address loaction
| + | |
| − | !subi R24,$fc
| + | |
| − | #if Numhall = 3
| + | |
| − | !CPI R24,$07 'Compare Rxx with constant 6 + 1 Sinusschritte
| + | |
| − | #else
| + | |
| − | !CPI R24,$0D 'Compare Rxx with constant 12 + 1 Sinusschritte
| + | |
| − | #endif
| + | |
| − | !BRCC Istgroesser13_2
| + | |
| − | !JMP Istkleiner13_2
| + | |
| − | Istgroesser13_2:
| + | |
| − | #if Numhall = 3
| + | |
| − | !SUBI R24,$06 'Subtract constant from Rxx, result in Rxx. 6 Sinusschritte
| + | |
| − | #else
| + | |
| − | !SUBI R24,$0C 'Subtract constant from Rxx, result in Rxx. 12 Sinusschritte
| + | |
| − | #endif
| + | |
| − | Istkleiner13_2:
| + | |
| − | !CLR R20
| + | |
| − | !Ldi R26,$0E 'Startadresse von S() - 1
| + | |
| − | !LDI R27,$01 'Startadresse von S() - 1
| + | |
| − | !ADD R26,R24
| + | |
| − | !ADC R27,R20
| + | |
| − | !LD R16,X 'Load Direct from address xxx
| + | |
| − | !STS {Tc},R16 'Write Rxx to address loaction
| + | |
| − | !subi R24,$fc
| + | |
| − | #if Numhall = 3
| + | |
| − | !CPI R24,$07 'Compare Rxx with constant 6 + 1 Sinusschritte
| + | |
| − | #else
| + | |
| − | !CPI R24,$0D 'Compare Rxx with constant 12 + 1 Sinusschritte
| + | |
| − | #endif
| + | |
| − | !BRCC Istgroesser13_3
| + | |
| − | !JMP Istkleiner13_3
| + | |
| − | Istgroesser13_3:
| + | |
| − | #if Numhall = 3
| + | |
| − | !SUBI R24,$06 'Subtract constant from Rxx, result in Rxx. 6 Sinusschritte
| + | |
| − | #else
| + | |
| − | !SUBI R24,$0C 'Subtract constant from Rxx, result in Rxx. 12 Sinusschritte
| + | |
| − | #endif
| + | |
| − | Istkleiner13_3:
| + | |
| − | !CLR R20
| + | |
| − | !Ldi R26,$0E 'Startadresse von S() - 1
| + | |
| − | !LDI R27,$01 'Startadresse von S() - 1
| + | |
| − | !ADD R26,R24
| + | |
| − | !ADC R27,R20
| + | |
| − | !LD R16,X 'Load Direct from address xxx
| + | |
| − | !STS {Tb},R16 'Write Rxx to address loaction
| + | |
| − | !lds R10,{aposition}
| + | |
| − | !CLR R11 'Clear Rxx
| + | |
| − | !LDI R26,$1A 'Startadresse von Richtung() - 1
| + | |
| − | !LDI R27,$01 'Startadresse von Richtung() - 1
| + | |
| − | !ADD R26,R10 'move Ptr by {aposition} innnerhalb Richtung()
| + | |
| − | !ADC R27,R11 'Add Zero
| + | |
| − | !LD R16,X+ 'Load Rxx with data from address in X Register(R26, R27) and increment Ptr
| + | |
| − | 'R16 hat Inhalt von Richtung(X+)
| + | |
| − | !CLR R17 'Clear Rxx
| + | |
| − | !LDI R20,$02 '2 Byte
| + | |
| − | !LDI R21,$00
| + | |
| − | !Sub R16 , R20 'Werte von einander abziehen
| + | |
| − | !SBC R17,R21 'Werte von einander abziehen
| + | |
| − | !LDI R26,$1A 'Startadresse von IstRichtung()
| + | |
| − | !LDI R27,$02 'Startadresse von IstRichtung()
| + | |
| − | !ST X+,R16 'Store Rxx in address in X + 1 Register
| + | |
| − | !ST X,R17
| + | |
| − | !LDI R26,$41 'Startadresse von Ticks()
| + | |
| − | !LDI R27,$02 'Startadresse von Ticks()
| + | |
| − | !LD R16,X+ 'Load Rxx with data from address in X Register
| + | |
| − | !LD R17,X
| + | |
| − | !LDI R26,$1A 'Startadresse von IstRichtung()
| + | |
| − | !LDI R27,$02 'Startadresse von IstRichtung()
| + | |
| − | !LD R20,X+ 'Load Rxx with data from address in X Register
| + | |
| − | !LD R21,X
| + | |
| − | !ADD R16,R20
| + | |
| − | !ADC R17,R21
| + | |
| − | !LDI R26,$41 'Startadresse von Ticks()
| + | |
| − | !LDI R27,$02 'Startadresse von Ticks()
| + | |
| − | !ST X+,R16 'Store Rxx in address in X + 1 Register
| + | |
| − | !ST X,R17
| + | |
| − | !LDS R24,timsk2
| + | |
| − | !ORI R24,$01
| + | |
| − | !STS timsk2,R24 'Write Rxx to address loaction
| + | |
| − | !POP R24
| + | |
| − | !Out Sreg , R24
| + | |
| − | !POP R27 'Rxx wieder herstellen
| + | |
| − | !POP R26'Rxx wieder herstellen
| + | |
| − | !POP R24'Rxx wieder herstellen
| + | |
| − | !POP R21 'Rxx wieder herstellen
| + | |
| − | !POP R20 'Rxx wieder herstellen
| + | |
| − | !POP R17'Rxx wieder herstellen
| + | |
| − | !POP R16 'Rxx wieder herstellen
| + | |
| − | !POP R11 'Rxx wieder herstellen
| + | |
| − | !POP R10 'Rxx wieder herstellen
| + | |
| − | Return
| + | |
| − | | + | |
| − | Update_pwm:
| + | |
| − | 'Ta, Tb und Tc sind die Amplituden der 3 Phasen
| + | |
| − | !PUSH R24
| + | |
| − | !IN R24,sreg
| + | |
| − | !PUSH R24
| + | |
| − | !lds R24,{Ta}
| + | |
| − | !STS ocr2a,R24 'Write Rxx to address loaction
| + | |
| − | !STS ocr2b,R24
| + | |
| − | !LDS R24,{Tb}
| + | |
| − | !STS ocr1al,R24 'Write Rxx to address loaction
| + | |
| − | !STS ocr1bl,R24
| + | |
| − | !lds R24,{Tc}
| + | |
| − | !Out Ocr0a , R24
| + | |
| − | !Out Ocr0b , R24
| + | |
| − | !LDS R24,timsk2
| + | |
| − | !ANDI R24,$FE
| + | |
| − | !STS timsk2,R24 'Write Rxx to address loaction
| + | |
| − | !POP R24 'Rxx wieder herstellen
| + | |
| − | !Out Sreg , R24
| + | |
| − | !POP R24 'Rxx wieder herstellen
| + | |
| − | Return
| + | |
| − | | + | |
| − | Datenempfang:
| + | |
| − | 'Die empfangenen Zeichen im nach links laufenden Umlauf in Empfpuffer(1)..Empfpuffer(6) geschrieben
| + | |
| − | 'Dadurch wir sichergestellt, dass das Startzeichen (CR) irgendwann in EP0 steht
| + | |
| − | !PUSH R24 'Rxx sichern
| + | |
| − | !IN R24, SREG 'Statusregistr sichern
| + | |
| − | !PUSH R24
| + | |
| − | 'Zeichen im Puffer nach links schieben
| + | |
| − | !LDS R24,{Empfpuffer(2)} 'Load Direct from data space @address xxx
| + | |
| − | !STS {Empfpuffer(1)},R24 'Write Rxx to address loaction
| + | |
| − | !LDS R24,{Empfpuffer(3)} 'Load Direct from data space @address xxx
| + | |
| − | !STS {Empfpuffer(2)},R24 'Write Rxx to address loaction
| + | |
| − | !LDS R24,{Empfpuffer(4)} 'Load Direct from data space @address xxx
| + | |
| − | !STS {Empfpuffer(3)},R24 'Write Rxx to address loaction
| + | |
| − | !LDS R24,{Empfpuffer(5)} 'Load Direct from data space @address xxx
| + | |
| − | !STS {Empfpuffer(4)},R24 'Write Rxx to address loaction
| + | |
| − | !LDS R24,{Empfpuffer(6)} 'Load Direct from data space @address xxx
| + | |
| − | !STS {Empfpuffer(5)},R24 'Write Rxx to address loaction
| + | |
| − | 'neues Zeichen einlesen
| + | |
| − | !IN R24,UDR 'Load an I/O Location to Rxx
| + | |
| − | !STs {Empfpuffer(6)},R24 'Write Rxx to address loaction
| + | |
| − | !POP R24 'Rxx wieder herstellen
| + | |
| − | !Out Sreg , R24 'Statusregister wieder herstellen
| + | |
| − | !POP R24 'Rxx wieder herstellen
| + | |
| − | Return
| + | |
| − | | + | |
| − | Sub Setspeed
| + | |
| − | If Notaus = 1 Then
| + | |
| − | Pwm_stop
| + | |
| − | Sollspeed = 0
| + | |
| − | For N = 1 To 12
| + | |
| − | S(n) = 0
| + | |
| − | Next
| + | |
| − | Else
| + | |
| − | #if Numhall = 3 'Anzahl Hallsensoren
| + | |
| − | For N = 1 To 6
| + | |
| − | Idummy1 = Sollspeed * Sinus(n)
| + | |
| − | Idummy1 = Idummy1 / 100
| + | |
| − | S(n) = Idummy1
| + | |
| − | Next
| + | |
| − | #else
| + | |
| − | For N = 1 To 12
| + | |
| − | Idummy1 = Sollspeed * Sinus(n)
| + | |
| − | Idummy1 = Idummy1 / 100
| + | |
| − | S(n) = Idummy1
| + | |
| − | Next
| + | |
| − | #endif
| + | |
| − | | + | |
| − | If Tccr0a = 0 Then Pwm_start 'Wenn die PWM aus ist
| + | |
| − | | + | |
| − | '<Zwangskommutieren??>
| + | |
| − | Zwangskommutieren = 0
| + | |
| − | If Sollrichtung <> Altsollrichtung Then Zwangskommutieren = 1
| + | |
| − | If Sollspeed <> Altsollspeed Then Zwangskommutieren = 1
| + | |
| − | | + | |
| − | If Zwangskommutieren = 1 Then
| + | |
| − | Pcicr = &B00000000 'Den eigentlichen Kommutierinterrupt abschalten
| + | |
| − | !clr R16 'Clear Register 16
| + | |
| − | !lds R17, $0023 'Load Direct from data space @address xxx
| + | |
| − | !BST R17,0 'Store bit x of Rxx in T Flag
| + | |
| − | !BLD R16,3 'Copy T Flag in the SREG (Status Register) to Bit x in Rxx
| + | |
| − | !LDS R17, $0029 'Load Direct from data space @address xxx
| + | |
| − | !BST R17,2 'Store bit x of Rxx in T Flag
| + | |
| − | !bld R16,2 'Copy T Flag in the SREG (Status Register) to Bit x in Rxx
| + | |
| − | !BST R17,4 'Store bit x of Rxx in T Flag
| + | |
| − | !bld R16,1 'Copy T Flag in the SREG (Status Register) to Bit x in Rxx
| + | |
| − | !BST R17,7 'Store bit x of Rxx in T Flag
| + | |
| − | !bld R16,0 'Copy T Flag in the SREG (Status Register) to Bit x in Rxx
| + | |
| − | !lds R17,{aposition} 'Load Direct from data space @address xxx
| + | |
| − | !Swap R17 'Swap high and low nibbles in Rxx. aposition is now in the upper nibble
| + | |
| − | !andi R17,&B11110000 'Logical AND Rxx and a constant, Result in Rxx. Clear lower nibble
| + | |
| − | !add R17,R16 'Add Rxx + Ryy, Result in Rxx
| + | |
| − | !STS {aposition},R17 'Write Rxx to address loaction
| + | |
| − | !CLR R17 'Clear Rxx
| + | |
| − | !LDI R26,$FF 'Startadresse von A() - 1
| + | |
| − | !LDI R27,$00 'Startadresse von A() - 1
| + | |
| − | !ADD R26,R16 'Add Rxx + Ryy without carry, Result in Rxx
| + | |
| − | !ADC R27,R17 'Add Rxx + Ryy with carry, Result in Rxx
| + | |
| − | !LD R24,X 'Load Indirect Rxx with address in X Register
| + | |
| − | !LDS R16,{Sollrichtung} 'Load Direct from data space @address xxx
| + | |
| − | !CPI R16,0 'Compare Rxx with constant
| + | |
| − | !BREQ Sollrichtungnullz 'Branch if Equal
| + | |
| − | !Jmp Sollrichtungnichtnullz 'Relative Jump
| + | |
| − | Sollrichtungnullz:
| + | |
| − | !LDS R20,{Vwinkel} 'Load Direct from data space @address xxx
| + | |
| − | !Add R24,R20 'Add Rxx + Ryy, Result in Rxx
| + | |
| − | !JMP Richtunggesetztz
| + | |
| − | Sollrichtungnichtnullz:
| + | |
| − | !LDS R20,{Rwinkel} 'Load Direct from data space @address xxx
| + | |
| − | !Add R24,R20 'Add Rxx + Ryy without carry, Result in Rxx
| + | |
| − | Richtunggesetztz:
| + | |
| − | #if Numhall = 3
| + | |
| − | !CPI R24,$07 'Compare Rxx with constant 6 + 1 Sinusschritte
| + | |
| − | #else
| + | |
| − | !CPI R24,$0D 'Compare Rxx with constant 12 + 1 Sinusschritte
| + | |
| − | #endif
| + | |
| − | !BRCC Istgroesser13_1z 'Branch if Carry Cleared
| + | |
| − | !JMP Istkleiner13_1z 'Relative Jump
| + | |
| − | Istgroesser13_1z:
| + | |
| − | #if Numhall = 3
| + | |
| − | !SUBI R24,$06 'Subtract constant from Rxx, result in Rxx. 6 Sinusschritte
| + | |
| − | #else
| + | |
| − | !SUBI R24,$0C 'Subtract constant from Rxx, result in Rxx. 12 Sinusschritte
| + | |
| − | #endif
| + | |
| − | Istkleiner13_1z:
| + | |
| − | !CLR R20 'Clear Rxx
| + | |
| − | !Ldi R26,$0E 'Startadresse von S() - 1
| + | |
| − | !LDI R27,$01 'Startadresse von S() - 1
| + | |
| − | !ADD R26,R24 'Add Rxx + Ryy without carry, Result in Rxx
| + | |
| − | !ADC R27,R20 'Add Rxx + Ryy with carry, Result in Rxx
| + | |
| − | !LD R16,X 'Load Rxx with data from address in X Register
| + | |
| − | !STS {Ta},R16 'Write Rxx to address loaction
| + | |
| − | !subi R24,$fc 'Subtract constant from Rxx, result in Rxx
| + | |
| − | #if Numhall = 3
| + | |
| − | !CPI R24,$07 'Compare Rxx with constant 6 + 1 Sinusschritte
| + | |
| − | #else
| + | |
| − | !CPI R24,$0D 'Compare Rxx with constant 12 + 1 Sinusschritte
| + | |
| − | #endif
| + | |
| − | !BRCC Istgroesser13_2z 'Branch if Carry Cleared
| + | |
| − | !JMP Istkleiner13_2z 'Relative Jump
| + | |
| − | Istgroesser13_2z:
| + | |
| − | #if Numhall = 3
| + | |
| − | !SUBI R24,$06 'Subtract constant from Rxx, result in Rxx. 6 Sinusschritte
| + | |
| − | #else
| + | |
| − | !SUBI R24,$0C 'Subtract constant from Rxx, result in Rxx. 12 Sinusschritte
| + | |
| − | #endif
| + | |
| − | Istkleiner13_2z:
| + | |
| − | !CLR R20 'Clear Rxx
| + | |
| − | !Ldi R26,$1a 'Startadresse von S() - 1
| + | |
| − | !LDI R27,$01 'Startadresse von S() - 1
| + | |
| − | !ADD R26,R24 'Add Rxx + Ryy without carry, Result in Rxx
| + | |
| − | !ADC R27,R20 'Add Rxx + Ryy with carry, Result in Rxx
| + | |
| − | !LD R16,X 'Load Rxx with data from address in X Register
| + | |
| − | !STS {Tc},R16 'Write Rxx to address loaction
| + | |
| − | !subi R24,$fc 'Subtract constant from Rxx, result in Rxx
| + | |
| − | #if Numhall = 3
| + | |
| − | !CPI R24,$07 'Compare Rxx with constant 6 + 1 Sinusschritte
| + | |
| − | #else
| + | |
| − | !CPI R24,$0D 'Compare Rxx with constant 12 + 1 Sinusschritte
| + | |
| − | #endif
| + | |
| − | !BRCC Istgroesser13_3z 'Branch if Carry Cleared
| + | |
| − | !JMP Istkleiner13_3z 'Relative Jump
| + | |
| − | Istgroesser13_3z:
| + | |
| − | #if Numhall = 3
| + | |
| − | !SUBI R24,$06 'Subtract constant from Rxx, result in Rxx. 6 Sinusschritte
| + | |
| − | #else
| + | |
| − | !SUBI R24,$0C 'Subtract constant from Rxx, result in Rxx. 12 Sinusschritte
| + | |
| − | #endif
| + | |
| − | Istkleiner13_3z:
| + | |
| − | !CLR R20 'Clear Rxx
| + | |
| − | !Ldi R26,$1a 'Startadresse von S() - 1
| + | |
| − | !LDI R27,$01 'Startadresse von S() - 1
| + | |
| − | !ADD R26,R24 'Add Rxx + Ryy without carry , Result in Rxx
| + | |
| − | !ADC R27,R20 'Add Rxx + Ryy with carry, Result in Rxx
| + | |
| − | !LD R16,X 'Load Rxx with data from address in X Register
| + | |
| − | !STS {Tb},R16 'Write Rxx to address loaction
| + | |
| − | Pcicr = _pcicr 'Den eigentlichen Kommutierinterrupt einschalten
| + | |
| − | Timsk2.toie2 = 1 'Timer2 Overflow Interrupt aktivieren
| + | |
| − | Toggle Led2
| + | |
| − | End If
| + | |
| − | '</Zwangskommutieren>
| + | |
| − | End If
| + | |
| − | Altsollrichtung = Sollrichtung
| + | |
| − | Altsollspeed = Sollspeed
| + | |
| − | End Sub
| + | |
| − | | + | |
| − | Sub Pwm_start
| + | |
| − | Disable Interrupts 'Damit die Timer auch wirklich synchron laufen
| + | |
| − | Tccr0a = 161 'Timer Counter Control Register A
| + | |
| − | Tccr0b = 1 'Timer Counter Control Register B
| + | |
| − | Ocr0a = 0 'Set output compare Ctr 0, Register A, continuously compared with TCNT0
| + | |
| − | Ocr0b = 0 'Set output compare Ctr 0, Register B, continuously compared with TCNT0
| + | |
| − | Tccr1a = 161 'Timer Counter Control Register 1A
| + | |
| − | Tccr1b = 1 'Timer Counter Control Register 1B
| + | |
| − | Ocr1ah = 0 'Output A compare value in H and L Bytes
| + | |
| − | Ocr1al = 0
| + | |
| − | Ocr1bh = 0 'Output B compare value in H and L Bytes
| + | |
| − | Ocr1bl = 0
| + | |
| − | Tccr2a = 161 'Timer Counter Control Register 2A
| + | |
| − | Tccr2b = 1 'Timer Counter Control Register 2B
| + | |
| − | Ocr2a = 0 'Set output compare Ctr 2, Register A, continuously compared with TCNT0
| + | |
| − | Ocr2b = 0 'Set output compare Ctr 2, Register B, continuously compared with TCNT0
| + | |
| − | Tcnt0 = 0 'Timer Startwert
| + | |
| − | Tcnt1 = 6 'Timer Startwert, Wert anders damit sie alle synchron laufen
| + | |
| − | Tcnt2 = 9 'Timer Startwert, Wert anders damit sie alle synchron laufen
| + | |
| − | Enable Interrupts
| + | |
| − | End Sub
| + | |
| − | | + | |
| − | Sub Pwm_stop
| + | |
| − | Tccr0a = 0 'Timer Counter Control Register A
| + | |
| − | Tccr0b = 0 'Timer Counter Control Register B
| + | |
| − | Ocr0a = 0 'Set output compare Ctr 0, Register A, continuously compared with TCNT0
| + | |
| − | Ocr0b = 0 'Set output compare Ctr 0, Register B, continuously compared with TCNT0
| + | |
| − | Tccr1a = 0 'Timer Counter Control Register 1A
| + | |
| − | Tccr1b = 0 'Timer Counter Control Register 1B
| + | |
| − | Ocr1ah = 0 'Output A compare value in H and L Bytes
| + | |
| − | Ocr1al = 0
| + | |
| − | Ocr1bh = 0 'Output B compare value in H and L Bytes
| + | |
| − | Ocr1bl = 0
| + | |
| − | Tccr2a = 0 'Timer Counter Control Register 2A
| + | |
| − | Tccr2b = 0 'Timer Counter Control Register 2B
| + | |
| − | Ocr2a = 0 'Set output compare Ctr 2, Register A, continuously compared with TCNT0
| + | |
| − | Ocr2b = 0 'Set output compare Ctr 2, Register B, continuously compared with TCNT0
| + | |
| − | 'alle Phasen Aus
| + | |
| − | Portd.3 = 0 'A+
| + | |
| − | Portb.3 = 1 'A-
| + | |
| − | Portb.2 = 0 'B+
| + | |
| − | Portb.1 = 1 'B-
| + | |
| − | Portd.5 = 0 'C+
| + | |
| − | Portd.6 = 1 'C-
| + | |
| − | End Sub
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | '''Hauptsteuerung.bas (BASCOM)'''
| + | |
| − | <pre>
| + | |
| − | '( ******************Listrik01 Hauptsteuerung, Version 01 ******************
| + | |
| − | | + | |
| − | 1. LED1 blinkt mit 1 Hz wenn alles OK
| + | |
| − | | + | |
| − | 2. LED1 und LED2 blinken mit 5Hz wenn I2c-Bus gestört ist
| + | |
| − | | + | |
| − | 3. LED1 und LED2 blinken mit bis zu 10Hz wenn U-Batt zu klein ist. Frequenz hängt
| + | |
| − | von der Anzahl Interrups ab, die während der Wartezeit auflaufen, z.B. von COM
| + | |
| − | | + | |
| − | 4. Lade-LEDs
| + | |
| − | - blinken mit 4Hz wenn Gyro nicht auf Null ist
| + | |
| − | - blinken mit 5Hz wenn Reset button gedrückt wird und Gyrosignale groß sind
| + | |
| − | - machen Lichtorgel wenn Kopplung zum Motorcontroler gestört ist. Siehe Punkt 6
| + | |
| − | | + | |
| − | 5. Gyro wird nur zur Initialisierung benutzt. Fahrzeug muss still stehen beim START
| + | |
| − | | + | |
| − | 6. Kommunikation zum Motorcontroller ist gestört (Timeout) wenn der Hallstecker
| + | |
| − | am Motorcontroller nicht steckt sind! Dadurch antwortet der Motorcontroller dem
| + | |
| − | Hauptcontroller nicht. Er sendet z.B. keine Spannungsinfo an den Hauptcontroller.
| + | |
| − | Dadurch macht Dieser ständig einen Restart. Viele Werte werden dann nicht zum
| + | |
| − | Dashboard übertragen!
| + | |
| − | | + | |
| − | LockBit, FuseBit , FuseBitHigh , FuseBitExtended
| + | |
| − | $prog &HFF , &HE7 , &HD9 , &HFF 'Fusebits für Atmega644PA 20MHz
| + | |
| − | | + | |
| − | Use AMTEL Studio / Fuses Menu instead to set fusebits
| + | |
| − | BODLEVEL = disabled
| + | |
| − | OCDEN = Disabled
| + | |
| − | JTAGEN = Disabled
| + | |
| − | SPIEN = Checked
| + | |
| − | WDTON = Disabled
| + | |
| − | EESAVE = Disabled
| + | |
| − | BOOTSZ = 4096W_7000
| + | |
| − | BOOTRST = Disabled
| + | |
| − | CKDIV8 = Disabled
| + | |
| − | CKOUT = Disabled
| + | |
| − | SUT_CKSEL = FSOSZ_16KCK_4MS1_XOSC_FASTPWR
| + | |
| − | ')
| + | |
| − | | + | |
| − | $regfile = "m644def.dat" 'ATMEGA644PA CPU
| + | |
| − | $lib "i2c_twi.lbx"
| + | |
| − | $framesize = 64
| + | |
| − | $swstack = 64
| + | |
| − | $hwstack = 64
| + | |
| − | $crystal = 20000000
| + | |
| − | $baud = 57600 'No parity, 1 stop bit, 8 data bits
| + | |
| − | | + | |
| − | Declare Sub Onresetbtn
| + | |
| − | Declare Sub Logtext(byval Adresse As Word , Text As String )
| + | |
| − | Declare Sub Akkugrenzen
| + | |
| − | Declare Sub Unfalldatenschreiber
| + | |
| − | Declare Sub Betriebsdatenschreiber
| + | |
| − | Declare Sub Flashled(byval Which As Byte , Byval Dauer_ms As Byte)
| + | |
| − | Declare Sub Resetdata
| + | |
| − | | + | |
| − | ' Porta.0 = ADC
| + | |
| − | ' Porta.1 = ADC
| + | |
| − | Config Porta.2 = Input 'not used
| + | |
| − | Config Porta.3 = Input 'not used
| + | |
| − | Config Porta.4 = Input 'not used
| + | |
| − | Config Porta.5 = Input 'not used
| + | |
| − | Config Porta.6 = Input 'not used
| + | |
| − | Config Porta.7 = Input 'not used
| + | |
| − | 'Pull up Widerstände der unbenutzten Eingänge einschalten
| + | |
| − | Porta = 1
| + | |
| − | | + | |
| − | Config Portb.0 = Input 'not used
| + | |
| − | Config Portb.1 = Output 'Gyro Self Test
| + | |
| − | Config Portb.2 = Output 'Gyro Reset
| + | |
| − | Config Portb.3 = Output 'Led 2
| + | |
| − | Config Portb.4 = Output 'LED 1
| + | |
| − | ' PORTB.5 'MOSI
| + | |
| − | ' PORTB.6 'MISO
| + | |
| − | ' PORTB.7 'SCK
| + | |
| − | | + | |
| − | Config Scl = Portc.0
| + | |
| − | Config Sda = Portc.1
| + | |
| − | | + | |
| − | Config Portc.2 = Input 'Fussschalter 1
| + | |
| − | Config Portc.3 = Input 'Fussschalter 2
| + | |
| − | Config Portc.4 = Input 'not used
| + | |
| − | Config Portc.5 = Input 'not used
| + | |
| − | Config Portc.6 = Input 'not used
| + | |
| − | Config Portc.7 = Output 'Beeper
| + | |
| − | 'Pull up Widerstände der Eingänge Ein/Ausschalten
| + | |
| − | Portc.2 = 0
| + | |
| − | Portc.3 = 0
| + | |
| − | Portc.4 = 1
| + | |
| − | Portc.5 = 1
| + | |
| − | Portc.6 = 1
| + | |
| − | | + | |
| − | ' PORTD.0 = 'RXD
| + | |
| − | ' PORTD.1 = 'TXD
| + | |
| − | Config Portd.2 = Input 'Reset Button vom Akku-Display
| + | |
| − | Config Portd.3 = Output 'Batterieanzeige
| + | |
| − | Config Portd.4 = Output 'Batterieanzeige
| + | |
| − | Config Portd.5 = Output 'Batterieanzeige
| + | |
| − | Config Portd.6 = Output 'Batterieanzeige
| + | |
| − | Config Portd.7 = Output 'Batterieanzeige
| + | |
| − | 'Pull up Widerstände einschalten
| + | |
| − | Portd.2 = 1
| + | |
| − | | + | |
| − | Led1 Alias Portb.4
| + | |
| − | Led2 Alias Portb.3
| + | |
| − | Led3 Alias Portd.4 'Batterieladezustandsanzeige 0..20%
| + | |
| − | Led4 Alias Portd.5 'Batterieladezustandsanzeige 21..40%
| + | |
| − | Led5 Alias Portd.6 'Batterieladezustandsanzeige 41..60%
| + | |
| − | Led6 Alias Portd.3 'Batterieladezustandsanzeige 61..80%
| + | |
| − | Led7 Alias Portd.7 'Batterieladezustandsanzeige 81..100%
| + | |
| − | | + | |
| − | Beeper Alias Portc.7
| + | |
| − | Resetbtn Alias Pind.2
| + | |
| − | | + | |
| − | 'Sensortest gibt es bei I2C Gyro nicht
| + | |
| − | 'Sensor_aus Alias Portb.2 '1=Aus 0=Ein
| + | |
| − | 'Sensor_test Alias Portb.1 '1=Self-Test. 0=Normalbetrieb
| + | |
| − | | + | |
| − | Config Debounce = 100 '[mS] when the config statement is not used a
| + | |
| − | ' default of 25mS will be used
| + | |
| − | '******************************Gyro über I2C ********************************
| + | |
| − | '##### 7 - Bit Adresses Gyro ########
| + | |
| − | Const Who_am_i = &H0F 'auch V2
| + | |
| − | Const Ctrl_reg1 = &H20 'auch V2
| + | |
| − | Const Ctrl_reg2 = &H21 'auch V2
| + | |
| − | Const Ctrl_reg3 = &H22 'auch V2
| + | |
| − | Const Ctrl_reg4 = &H23 'auch V2
| + | |
| − | Const Ctrl_reg5 = &H24 'auch V2
| + | |
| − | Const Out_temp = &H26 'auch V2
| + | |
| − | Const Status_reg = &H27 'auch V2
| + | |
| − | Const Out_x_l = &H28 'auch V2
| + | |
| − | Const Out_x_h = &H29 'auch V2
| + | |
| − | Const Out_y_l = &H2A 'auch V2
| + | |
| − | Const Out_y_h = &H2B 'auch V2
| + | |
| − | Const Out_z_l = &H2C 'auch V2
| + | |
| − | Const Out_z_h = &H2D 'auch V2
| + | |
| − | '##### 7-Bit Adresses Accelerometer ########
| + | |
| − | Const Ctrl_reg1_a = &H20 'auch V2
| + | |
| − | Const Ctrl_reg2_a = &H21 'auch V2
| + | |
| − | Const Ctrl_reg3_a = &H22 'auch V2
| + | |
| − | Const Ctrl_reg4_a = &H23 'auch V2
| + | |
| − | Const Ctrl_reg5_a = &H24 'auch V2
| + | |
| − | Const Status_reg_a = &H27 'auch V2
| + | |
| − | Const Out_x_l_a = &H28 'auch V2
| + | |
| − | Const Out_x_h_a = &H29 'auch V2
| + | |
| − | Const Out_y_l_a = &H2A 'auch V2
| + | |
| − | Const Out_y_h_a = &H2B 'auch V2
| + | |
| − | Const Out_z_l_a = &H2C 'auch V2
| + | |
| − | Const Out_z_h_a = &H2D 'auch V2
| + | |
| − | '##### 7-Bit Adresses Magnetometer ########
| + | |
| − | 'Const Cra_reg_m = &H00 'auch V2
| + | |
| − | 'Const Crb_reg_m = &H01 'auch V2
| + | |
| − | 'Const Mr_reg_m = &H02 'auch V2
| + | |
| − | 'Const Out_x_h_m = &H03 'auch V2
| + | |
| − | | + | |
| − | 'Immer *2 weil Adresse bei Bit1 beginnt. Bit 0 ist für Read/Write
| + | |
| − | Const Gyroadress_w = 210 '=105*2, =107d*2 bei V2. Gyro slave adress for write
| + | |
| − | Const Gyroadress_r = 211 '=(105*2) + 1, =107d*2 bei V2. Gyro slave adress for write
| + | |
| − | Const Accadress_w = 48 '=24*2, auch bei V2 Accelerometer slave adress for write
| + | |
| − | Const Accadress_r = 49 '=(24*2) + 1, auch bei V2 Accelerometer slave adress for write
| + | |
| − | | + | |
| − | 'Const Magadress_w = 60 '=30*2, auch bei V2 Magnetometer slave adress for write
| + | |
| − | 'Const Magadress_r = 61 '=(30*2) + 1, auch bei V2 Magnetometer slave adress for write
| + | |
| − | '--------------------------------------------------------------------
| + | |
| − | | + | |
| − | '>>>>>>>>>>>>>>>> DEFAULT WERTE <<<<<<<<<<<<<<<<<<
| + | |
| − | | + | |
| − | Const Fussschalterschwelle = 750 'ADC Wert
| + | |
| − | | + | |
| − | 'Konstanten für die Geschwindigkeits und Streckenmessung
| + | |
| − | Const Kom_pro_u = 276 '276*Kommutieren für eine Umdrehung.
| + | |
| − | Const Radumpfang = 139 'RaduMPFang in Zentimeter
| + | |
| − | 'Maximalwert bis zu dem die Abweichung in y aufaddiert wird
| + | |
| − | Const Max_mit_acc_nick_s = 1024
| + | |
| − | Const Min_mit_acc_nick_s = -1024
| + | |
| − | Const Max_lenk = 128
| + | |
| − | Const Min_lenk = -128
| + | |
| − | 'Konstanten für die Leistungsbegrenzung, Geschwindigkeitsbegrenzung
| + | |
| − | 'Maximalleistung
| + | |
| − | Const Maxpwm = 255
| + | |
| − | Const Minpwm = -255
| + | |
| − | 'PWM ab der automatisch gebremst wird um blos nie an die Grenze zu kommen
| + | |
| − | Const Spwm = 128
| + | |
| − | Const Spwmr = -128
| + | |
| − | 'Offsetwerte für die Mittellage
| + | |
| − | Const Offset_roll = 67700
| + | |
| − | Const Offset_nick = 65400
| + | |
| − | Const O_roll_u = 66200
| + | |
| − | Const O_roll_o = 69200
| + | |
| − | Const O_nick_u = 63900
| + | |
| − | Const O_nick_o = 66900
| + | |
| − | Const O_nick_oo = 67700
| + | |
| − | | + | |
| − | Const Vmax = 120 '12kmh Vmax Vorwärts in km/h*10
| + | |
| − | Const Vmaxr = -120 '-12Kmh Vmax Rückwärts in km/h*10
| + | |
| − | | + | |
| − | Const Systemvoltage = 14 '14, 24, 36, 48V
| + | |
| − | | + | |
| − | 'Konstanten für die Akkus
| + | |
| − | #if Systemvoltage = 14 'Nur zum Test mit Netzteil
| + | |
| − | Const Akkuleer = 1300
| + | |
| − | Const Akkufastleer = 1330
| + | |
| − | #endif
| + | |
| − | | + | |
| − | #if Systemvoltage = 24
| + | |
| − | '24V, 12V pro Akku * 2 Akku
| + | |
| − | Const Akkuleer = 2400
| + | |
| − | Const Akkufastleer = 2500
| + | |
| − | #endif
| + | |
| − | | + | |
| − | #if Systemvoltage = 36
| + | |
| − | '36V, 12V pro Akku * 3 Akku
| + | |
| − | Const Akkuleer = 3600
| + | |
| − | Const Akkufastleer = 3750
| + | |
| − | #endif
| + | |
| − | | + | |
| − | #if Systemvoltage = 48
| + | |
| − | '48V, 12V pro Akku * 4 Akku
| + | |
| − | Const Akkuleer = 4800
| + | |
| − | Const Akkufastleer = 4950
| + | |
| − | #endif
| + | |
| − | | + | |
| − | 'Konstanten für die Signalaufbereitung
| + | |
| − | Const Gyro_anz = 10 'war 10000
| + | |
| − | Const Acc_anz = 5 'Anzahl der Messungen zur Mittelwertbildung
| + | |
| − | Const Gyro_faktor = 1 'war 91
| + | |
| − | '****************************************************************************
| + | |
| − | | + | |
| − | Dim Ugemessen As Long 'Batteriespannung in V*100, kommt vom Motorcontr.
| + | |
| − | Dim Igemessen As Long 'Gesamter Motorstrom in mA, kommt vom Motorcontr.
| + | |
| − | | + | |
| − | Dim U As Integer
| + | |
| − | Dim I As Integer At U + 2
| + | |
| − | Dim K As Integer At U + 4
| + | |
| − | Dim Checksumme As Byte At U + 6
| + | |
| − | Dim Ende As Byte At U + 7
| + | |
| − | Dim Motormeldung(8) As Byte At U + 0 Overlay
| + | |
| − | | + | |
| − | Dim M1 As Byte At U + 0 Overlay
| + | |
| − | Dim M2 As Byte At U + 1 Overlay
| + | |
| − | Dim M3 As Byte At I + 0 Overlay
| + | |
| − | Dim M4 As Byte At I + 1 Overlay
| + | |
| − | Dim M5 As Byte At K + 0 Overlay
| + | |
| − | Dim M6 As Byte At K + 1 Overlay
| + | |
| − | Dim M7 As Byte At Checksumme Overlay
| + | |
| − | Dim M8 As Byte At Ende Overlay
| + | |
| − | | + | |
| − | 'Variablen für die Telegramme an die Motorregler
| + | |
| − | Dim Checksum_rechts As Byte
| + | |
| − | Dim Checksum_links As Byte
| + | |
| − | Dim Richtung_rechts As Byte
| + | |
| − | Dim Richtung_links As Byte
| + | |
| − | Dim Pwm_rechts As Byte
| + | |
| − | Dim Pwm_links As Byte
| + | |
| − | Dim Zeiger_meldung As Byte
| + | |
| − | Dim Ta As Byte 'Interruptdauer. Wenn lang, dann ist der Zählwert nahe 255
| + | |
| − | Dim U_links As Integer 'Motorspannung linker Motor
| + | |
| − | Dim U_rechts As Integer 'Motorspannung rechter Motor
| + | |
| − | Dim I_links As Integer 'Motorstrom linker Motor
| + | |
| − | Dim I_rechts As Integer 'Motorstrom rechter Motor
| + | |
| − | Dim K_links As Integer 'Anzahl Kommutierungen linker Motor
| + | |
| − | Dim K_rechts As Integer 'Anzahl Kommutierungen rechter Motor
| + | |
| − | Dim B(5) As Byte
| + | |
| − | | + | |
| − | Dim Kilometer As Word
| + | |
| − | Dim Kilometermeldung(2) As Byte At Kilometer Overlay
| + | |
| − | | + | |
| − | Dim Akkustand As Integer
| + | |
| − | Dim Akkumeldung(2) As Byte At Akkustand Overlay
| + | |
| − | | + | |
| − | Dim Kmh As Integer
| + | |
| − | Dim Kmhmeldung(2) As Byte At Kmh Overlay
| + | |
| − | | + | |
| − | Dim Meter As Integer
| + | |
| − | Dim Metermeldung(2) As Byte At Meter Overlay
| + | |
| − | | + | |
| − | Dim Di As Single 'Distanz pro Kommutieren
| + | |
| − | Dim Kmhfaktor As Single
| + | |
| − | Dim Zentimeter As Single
| + | |
| − | Dim Strecke As Single 'Gefahrene Strecke während 1/100s
| + | |
| − | Dim Kx As Single 'Anzahl Kommutierungen für Streckenberechnung
| + | |
| − | Dim Kv As Single 'Anzahl Kommutierungen für Geschw.Berechnung
| + | |
| − | Dim Vbrems As Long 'Bremse bei Überlast oder zu hoher Geschw.
| + | |
| − | Dim Lbrems As Long
| + | |
| − | Dim Brems As Long
| + | |
| − | | + | |
| − | Dim P_faktor As Single
| + | |
| − | Dim Pf1 As Byte At P_faktor + 0 Overlay
| + | |
| − | Dim Pf2 As Byte At P_faktor + 1 Overlay
| + | |
| − | Dim Pf3 As Byte At P_faktor + 2 Overlay
| + | |
| − | Dim Pf4 As Byte At P_faktor + 3 Overlay
| + | |
| − | | + | |
| − | Dim I_faktor As Single
| + | |
| − | Dim If1 As Byte At I_faktor + 0 Overlay
| + | |
| − | Dim If2 As Byte At I_faktor + 1 Overlay
| + | |
| − | Dim If3 As Byte At I_faktor + 2 Overlay
| + | |
| − | Dim If4 As Byte At I_faktor + 3 Overlay
| + | |
| − | | + | |
| − | Dim D_faktor As Single
| + | |
| − | Dim Df1 As Byte At D_faktor + 0 Overlay
| + | |
| − | Dim Df2 As Byte At D_faktor + 1 Overlay
| + | |
| − | Dim Df3 As Byte At D_faktor + 2 Overlay
| + | |
| − | Dim Df4 As Byte At D_faktor + 3 Overlay
| + | |
| − | | + | |
| − | Dim Gyro_nick As Integer 'war word
| + | |
| − | Dim Gyro_nick1 As Byte At Gyro_nick + 0 Overlay
| + | |
| − | Dim Gyro_nick2 As Byte At Gyro_nick + 1 Overlay
| + | |
| − | | + | |
| − | Dim Gyro_roll As Integer 'war word
| + | |
| − | Dim Gyro_roll1 As Byte At Gyro_roll + 0 Overlay
| + | |
| − | Dim Gyro_roll2 As Byte At Gyro_roll + 1 Overlay
| + | |
| − | | + | |
| − | Dim Gyro_gier As Integer 'war word
| + | |
| − | Dim Gyro_gier1 As Byte At Gyro_gier + 0 Overlay
| + | |
| − | Dim Gyro_gier2 As Byte At Gyro_gier + 1 Overlay
| + | |
| − | | + | |
| − | Dim Gyro_roll_alt As Integer 'war word
| + | |
| − | Dim Gyro_nick_alt As Integer 'war word
| + | |
| − | | + | |
| − | Dim Acc_nick As Long
| + | |
| − | Dim Acc_nick1 As Byte At Acc_nick + 0 Overlay
| + | |
| − | Dim Acc_nick2 As Byte At Acc_nick + 1 Overlay
| + | |
| − | | + | |
| − | Dim Accnick As Integer
| + | |
| − | Dim Accnick_l As Byte At Accnick + 0 Overlay
| + | |
| − | Dim Accnick_h As Byte At Accnick + 1 Overlay
| + | |
| − | | + | |
| − | Dim Acc_roll As Long
| + | |
| − | Dim Acc_roll1 As Byte At Acc_roll + 0 Overlay
| + | |
| − | Dim Acc_roll2 As Byte At Acc_roll + 1 Overlay
| + | |
| − | | + | |
| − | Dim Accroll As Integer
| + | |
| − | Dim Accroll_l As Byte At Accroll + 0 Overlay
| + | |
| − | Dim Accroll_h As Byte At Accroll + 1 Overlay
| + | |
| − | | + | |
| − | Dim Acc_gier As Long
| + | |
| − | Dim Acc_gier1 As Byte At Acc_gier + 0 Overlay
| + | |
| − | Dim Acc_gier2 As Byte At Acc_gier + 1 Overlay
| + | |
| − | | + | |
| − | Dim Accgier As Integer
| + | |
| − | Dim Accgier_l As Byte At Accgier + 0 Overlay
| + | |
| − | Dim Accgier_h As Byte At Accgier + 1 Overlay
| + | |
| − | | + | |
| − | Dim Sum_acc_roll As Long
| + | |
| − | Dim Sum_acc_nick As Long
| + | |
| − | Dim Sum_gyro_roll As Long
| + | |
| − | Dim Sum_gyro_nick As Long
| + | |
| − | Dim Korr_acc_roll As Long
| + | |
| − | Dim Korr_acc_nick As Long
| + | |
| − | | + | |
| − | 'Long ==> Long Integer
| + | |
| − | Dim Mit_acc_nick_s As Long 'Summierter Neigung vorwärts Mittelwert
| + | |
| − | Dim Mit_gyro_roll As Long
| + | |
| − | Dim Mit_gyro_nick As Long
| + | |
| − | Dim Sig_gyro_roll As Long
| + | |
| − | Dim Sig_gyro_nick As Long
| + | |
| − | | + | |
| − | Dim Stellwert As Single
| + | |
| − | Dim Stellwert1 As Byte At Stellwert + 0 Overlay
| + | |
| − | Dim Stellwert2 As Byte At Stellwert + 1 Overlay
| + | |
| − | Dim Stellwert3 As Byte At Stellwert + 2 Overlay
| + | |
| − | Dim Stellwert4 As Byte At Stellwert + 3 Overlay
| + | |
| − | | + | |
| − | Dim Mrg As Single
| + | |
| − | Dim Mrg1 As Byte At Mrg + 0 Overlay
| + | |
| − | Dim Mrg2 As Byte At Mrg + 1 Overlay
| + | |
| − | Dim Mrg3 As Byte At Mrg + 2 Overlay
| + | |
| − | Dim Mrg4 As Byte At Mrg + 3 Overlay
| + | |
| − | | + | |
| − | Dim Mra As Single
| + | |
| − | Dim Mra1 As Byte At Mra + 0 Overlay
| + | |
| − | Dim Mra2 As Byte At Mra + 1 Overlay
| + | |
| − | Dim Mra3 As Byte At Mra + 2 Overlay
| + | |
| − | Dim Mra4 As Byte At Mra + 3 Overlay
| + | |
| − | | + | |
| − | Dim Kksum As Single
| + | |
| − | Dim Kksum1 As Byte At Kksum + 0 Overlay
| + | |
| − | Dim Kksum2 As Byte At Kksum + 1 Overlay
| + | |
| − | Dim Kksum3 As Byte At Kksum + 2 Overlay
| + | |
| − | Dim Kksum4 As Byte At Kksum + 3 Overlay
| + | |
| − | | + | |
| − | Dim Gyronick As Long
| + | |
| − | Dim Gyronick1 As Byte At Gyronick + 0 Overlay
| + | |
| − | Dim Gyronick2 As Byte At Gyronick + 1 Overlay
| + | |
| − | Dim Gyronick3 As Byte At Gyronick + 2 Overlay
| + | |
| − | Dim Gyronick4 As Byte At Gyronick + 3 Overlay
| + | |
| − | | + | |
| − | Dim Mp_faktor As Single
| + | |
| − | Dim Mpf1 As Byte At Mp_faktor + 0 Overlay
| + | |
| − | Dim Mpf2 As Byte At Mp_faktor + 1 Overlay
| + | |
| − | Dim Mpf3 As Byte At Mp_faktor + 2 Overlay
| + | |
| − | Dim Mpf4 As Byte At Mp_faktor + 3 Overlay
| + | |
| − | | + | |
| − | Dim Mv_faktor As Single
| + | |
| − | Dim Mvf1 As Byte At Mv_faktor + 0 Overlay
| + | |
| − | Dim Mvf2 As Byte At Mv_faktor + 1 Overlay
| + | |
| − | Dim Mvf3 As Byte At Mv_faktor + 2 Overlay
| + | |
| − | Dim Mvf4 As Byte At Mv_faktor + 3 Overlay
| + | |
| − | | + | |
| − | Dim Mpl_faktor As Single
| + | |
| − | Dim Mplf1 As Byte At Mpl_faktor + 0 Overlay
| + | |
| − | Dim Mplf2 As Byte At Mpl_faktor + 1 Overlay
| + | |
| − | Dim Mplf3 As Byte At Mpl_faktor + 2 Overlay
| + | |
| − | Dim Mplf4 As Byte At Mpl_faktor + 3 Overlay
| + | |
| − | | + | |
| − | Dim Mvl_faktor As Single
| + | |
| − | Dim Mvlf1 As Byte At Mvl_faktor + 0 Overlay
| + | |
| − | Dim Mvlf2 As Byte At Mvl_faktor + 1 Overlay
| + | |
| − | Dim Mvlf3 As Byte At Mvl_faktor + 2 Overlay
| + | |
| − | Dim Mvlf4 As Byte At Mvl_faktor + 3 Overlay
| + | |
| − | | + | |
| − | Dim P_tacho As Single
| + | |
| − | Dim Tachomeldung(30) As Byte At P_tacho Overlay
| + | |
| − | Dim T1 As Byte At P_tacho + 0 Overlay
| + | |
| − | Dim T2 As Byte At P_tacho + 1 Overlay
| + | |
| − | Dim T3 As Byte At P_tacho + 2 Overlay
| + | |
| − | Dim T4 As Byte At P_tacho + 3 Overlay
| + | |
| − | | + | |
| − | Dim T5 As Byte At P_tacho + 4 Overlay
| + | |
| − | Dim T6 As Byte At P_tacho + 5 Overlay
| + | |
| − | Dim T7 As Byte At P_tacho + 6 Overlay
| + | |
| − | Dim T8 As Byte At P_tacho + 7 Overlay
| + | |
| − | Dim I_tacho As Single At P_tacho + 4 Overlay
| + | |
| − | | + | |
| − | Dim T9 As Byte At P_tacho + 8 Overlay
| + | |
| − | Dim T10 As Byte At P_tacho + 9 Overlay
| + | |
| − | Dim T11 As Byte At P_tacho + 10 Overlay
| + | |
| − | Dim T12 As Byte At P_tacho + 11 Overlay
| + | |
| − | Dim D_tacho As Single At P_tacho + 8 Overlay
| + | |
| − | | + | |
| − | Dim T13 As Byte At P_tacho + 12 Overlay
| + | |
| − | Dim T14 As Byte At P_tacho + 13 Overlay
| + | |
| − | Dim T15 As Byte At P_tacho + 14 Overlay
| + | |
| − | Dim T16 As Byte At P_tacho + 15 Overlay
| + | |
| − | Dim Mp_tacho As Single At P_tacho + 12 Overlay
| + | |
| − | | + | |
| − | Dim T17 As Byte At P_tacho + 16 Overlay
| + | |
| − | Dim T18 As Byte At P_tacho + 17 Overlay
| + | |
| − | Dim T19 As Byte At P_tacho + 18 Overlay
| + | |
| − | Dim T20 As Byte At P_tacho + 19 Overlay
| + | |
| − | Dim Mv_tacho As Single At P_tacho + 16 Overlay
| + | |
| − | | + | |
| − | Dim T21 As Byte At P_tacho + 20 Overlay
| + | |
| − | Dim T22 As Byte At P_tacho + 21 Overlay
| + | |
| − | Dim T23 As Byte At P_tacho + 22 Overlay
| + | |
| − | Dim T24 As Byte At P_tacho + 23 Overlay
| + | |
| − | Dim Mpl_tacho As Single At P_tacho + 20 Overlay
| + | |
| − | | + | |
| − | Dim T25 As Byte At P_tacho + 24 Overlay
| + | |
| − | Dim T26 As Byte At P_tacho + 25 Overlay
| + | |
| − | Dim T27 As Byte At P_tacho + 26 Overlay
| + | |
| − | Dim T28 As Byte At P_tacho + 27 Overlay
| + | |
| − | Dim Mvl_tacho As Single At P_tacho + 24 Overlay
| + | |
| − | | + | |
| − | Dim T29 As Byte At P_tacho + 28 Overlay
| + | |
| − | Dim T30 As Byte At P_tacho + 29 Overlay
| + | |
| − | Dim Tdummy As Integer At P_tacho + 28 Overlay
| + | |
| − | | + | |
| − | Dim Wwert As Word
| + | |
| − | Dim Wwert1 As Byte At Wwert + 0 Overlay
| + | |
| − | Dim Wwert2 As Byte At Wwert + 1 Overlay
| + | |
| − | | + | |
| − | Dim Gyro_gier_alt As Integer 'war word
| + | |
| − | Dim Sum_gyro_gier As Long
| + | |
| − | Dim Mit_gyro_gier As Long
| + | |
| − | Dim Sig_gyro_gier As Long
| + | |
| − | | + | |
| − | Dim Werteneu As Byte
| + | |
| − | | + | |
| − | Dim Mit_acc_roll As Long 'Neigungsmittelwert seitwärts
| + | |
| − | Dim Mit_acc_roll1 As Byte At Mit_acc_roll + 0 Overlay
| + | |
| − | Dim Mit_acc_roll2 As Byte At Mit_acc_roll + 1 Overlay
| + | |
| − | Dim Mit_acc_roll3 As Byte At Mit_acc_roll + 2 Overlay
| + | |
| − | Dim Mit_acc_roll4 As Byte At Mit_acc_roll + 3 Overlay
| + | |
| − | | + | |
| − | Dim Mit_acc_nick As Long 'Neigungsmittelwert vorwärts
| + | |
| − | Dim Mit_acc_nick1 As Byte At Mit_acc_nick + 0 Overlay
| + | |
| − | Dim Mit_acc_nick2 As Byte At Mit_acc_nick + 1 Overlay
| + | |
| − | Dim Mit_acc_nick3 As Byte At Mit_acc_nick + 2 Overlay
| + | |
| − | Dim Mit_acc_nick4 As Byte At Mit_acc_nick + 3 Overlay
| + | |
| − | | + | |
| − | Dim Null_roll As Long
| + | |
| − | Dim Null_roll1 As Byte At Null_roll + 0 Overlay
| + | |
| − | Dim Null_roll2 As Byte At Null_roll + 1 Overlay
| + | |
| − | Dim Null_roll3 As Byte At Null_roll + 2 Overlay
| + | |
| − | Dim Null_roll4 As Byte At Null_roll + 3 Overlay
| + | |
| − | | + | |
| − | Dim Null_nick As Long
| + | |
| − | Dim Null_nick1 As Byte At Null_nick + 0 Overlay
| + | |
| − | Dim Null_nick2 As Byte At Null_nick + 1 Overlay
| + | |
| − | Dim Null_nick3 As Byte At Null_nick + 2 Overlay
| + | |
| − | Dim Null_nick4 As Byte At Null_nick + 3 Overlay
| + | |
| − | | + | |
| − | Dim Mit_regelzeit_ges As Single
| + | |
| − | | + | |
| − | Dim Lagefehler As Long
| + | |
| − | 'Die Zeit in 1/100s die benötigt wird bis die Nullage erreicht ist
| + | |
| − | Dim Regelzeit As Word
| + | |
| − | Dim Regelzeitmax As Word
| + | |
| − | Dim Mit_acc_roll_max As Long
| + | |
| − | Dim Mit_acc_nick_max As Long
| + | |
| − | Dim Mit_acc_roll_min As Long
| + | |
| − | Dim Mit_acc_nick_min As Long
| + | |
| − | | + | |
| − | Dim Pwm_gesamt As Single
| + | |
| − | Dim Pwm_rechts_max As Byte
| + | |
| − | Dim Pwm_links_max As Byte
| + | |
| − | Dim Intcount As Byte
| + | |
| − | Dim K_diff As Single
| + | |
| − | Dim K_sum As Single
| + | |
| − | Dim K_diff_min As Single
| + | |
| − | Dim K_diff_max As Single
| + | |
| − | Dim Pwm_lenk_rechts As Integer
| + | |
| − | Dim Pwm_lenk_links As Integer
| + | |
| − | | + | |
| − | Dim Lenkvorgabe As Single
| + | |
| − | Dim Mp_anpassung As Single
| + | |
| − | Dim Mv_anpassung As Single
| + | |
| − | Dim Mpl_anpassung As Single
| + | |
| − | Dim Mvl_anpassung As Single
| + | |
| − | Dim K_sum_anpassung As Single
| + | |
| − | | + | |
| − | Dim Wdummy1 As Word
| + | |
| − | Dim Ldummyi As Long
| + | |
| − | Dim Ldummy1 As Long
| + | |
| − | Dim Ldummy2 As Long
| + | |
| − | Dim Bdummy1 As Byte
| + | |
| − | Dim Idummy1 As Integer
| + | |
| − | Dim Sdummy1 As Single
| + | |
| − | | + | |
| − | Dim Antriebaus As Byte
| + | |
| − | Dim Notaus As Byte
| + | |
| − | Dim Sensor_ok As Byte 'Zeigt an ob die Mittelwerte der Gyros stabil stehen
| + | |
| − | Dim Sensor_ok_count As Byte
| + | |
| − | Dim Ltest As Byte
| + | |
| − | | + | |
| − | Dim Imin As Long 'Kleinster gemessener Motorstrom (größte Rückspeisung)
| + | |
| − | Dim Imax As Long 'größter gemessener Motorstrom
| + | |
| − | Dim Summe_as_entladen As Long
| + | |
| − | Dim Summe_mah_entladen As Long
| + | |
| − | Dim Summe_as_laden As Long
| + | |
| − | Dim Summe_mah_laden As Long
| + | |
| − | Dim Akkukap As Long 'Akkukapazität 0...100 %
| + | |
| − | Dim Akku1 As Long '80% Grenze
| + | |
| − | Dim Akku2 As Long '60% Grenze
| + | |
| − | Dim Akku3 As Long '40% Grenze
| + | |
| − | Dim Akku4 As Long '20% Grenze
| + | |
| − | Dim Akku5 As Long '0% Grenze
| + | |
| − | Dim Erzeugt As Long 'Erzeugte Ladung in mA-Stunden
| + | |
| − | Dim Verbraucht As Long 'Verbrauchte Ladung in mA-Stunden
| + | |
| − | | + | |
| − | 'Single Variablen um die Prozente rechnen zu können
| + | |
| − | Dim Akkuinhalt As Single 'wie AkkuKap
| + | |
| − | Dim Akkuverbrauch As Single
| + | |
| − | Dim Akkuprozent As Single
| + | |
| − | | + | |
| − | Dim Bzeit As Long 'Beruhigungszeit von Gyro und Accelerometer
| + | |
| − | Dim Bstate As Byte 'Status der Beruhigungszeit von Gyro und Accelerometer
| + | |
| − | Dim Frei As Byte 'hat es etwas mit Gyro und Acc zu tun?
| + | |
| − | Dim Timeout As Byte
| + | |
| − | Dim S_err As Byte 'Serielle Schnittstellen Error
| + | |
| − | Dim Seriell_err_links As Word 'COM error links
| + | |
| − | Dim Seriell_err_rechts As Word 'COM error rechts
| + | |
| − | Dim Tamax As Byte 'Maximalwert von Ta
| + | |
| − | Dim Fusscount As Word 'Fusschalter nicht betätigt ==> zeitverzögerung
| + | |
| − | Dim Blinkcount As Byte 'verschiedene Blinkraten
| + | |
| − | Dim Lenkerstellung As Single
| + | |
| − | Dim Lenkstellwert As Single
| + | |
| − | Dim Lenkfehler As Single
| + | |
| − | | + | |
| − | 'Texte für den Unfalldatenschreiber (als Text im eeprom)
| + | |
| − | Dim Utext As String * 32
| + | |
| − | | + | |
| − | Dim Ugrund As String * 32 'Auslösegrund
| + | |
| − | Dim Text As String * 16 'Allg. Ttext
| + | |
| − | Dim Min_v As Integer 'Minimalwert der Geschwindigkeit
| + | |
| − | Dim Max_v As Integer 'Maximalwert der Geschwindigkeit
| + | |
| − | | + | |
| − | Dim Tachocount As Byte 'Schleifenzähler um Werte an Display zu schicken
| + | |
| − | Dim Fussschalter As Byte 'Die beiden Fussschalter
| + | |
| − | Dim Adc0 As Word 'Analogwert Fussschalter 1
| + | |
| − | Dim Adc1 As Word 'Analogwert Fussschalter 2
| + | |
| − | | + | |
| − | Dim Slaveadress As Byte 'Adress of the I2C slave to read or write
| + | |
| − | Dim Subadress As Byte 'the I2C register to read or write
| + | |
| − | Dim Databyte As Byte 'I2C Byte to read or write
| + | |
| − | | + | |
| − | Dim Resetbtndone As Byte
| + | |
| − | | + | |
| − | Dim Nummotors As Byte '1 oder 2
| + | |
| − | Dim Errorword As Word 'See Delphi Dashboard.prj
| + | |
| − | Dim Errorword1 As Byte At Errorword + 0 Overlay
| + | |
| − | Dim Errorword2 As Byte At Errorword + 1 Overlay
| + | |
| − | | + | |
| − | Led1 = 0
| + | |
| − | Led2 = 0
| + | |
| − | | + | |
| − | Led3 = 1
| + | |
| − | Led4 = 1
| + | |
| − | Led5 = 1
| + | |
| − | Led6 = 1
| + | |
| − | Led7 = 1
| + | |
| − | | + | |
| − | '***************** Check! *********************
| + | |
| − | Nummotors = 1
| + | |
| − | '***************** Check! *********************
| + | |
| − | | + | |
| − | 'Ein paar feste Werte vorab berechnen:
| + | |
| − | Di = Radumpfang / Kom_pro_u
| + | |
| − | 'Eigentlich 3.6 aber bei der Mittelwertbildung entsteht der 4-Fache Wert,
| + | |
| − | 'darum 9, und es ergibt sich automateisch V in 0.1km/h
| + | |
| − | 'Unbenutzte Pins auf Masse legen
| + | |
| − | Kmhfaktor = Di * 9
| + | |
| − | | + | |
| − | 'Sensorboard Schalten
| + | |
| − | 'Sensor_aus = 0
| + | |
| − | 'Sensor_test = 0
| + | |
| − | | + | |
| − | Config Adc = Single , Prescaler = Auto , Reference = Internal_2.56 'Avcc
| + | |
| − | 'Start Adc not required because ADC will start immediately after Config ADC
| + | |
| − | | + | |
| − | 'Inititialise I2C-Bus
| + | |
| − | I2cinit
| + | |
| − | Config Twi = 200000 ' wanted clock frequency in Hertz
| + | |
| − | 'will set TWBR and TWSR
| + | |
| − | 'Twbr = 12 'bit rate register
| + | |
| − | 'Twsr = 0 'pre scaler bits
| + | |
| − | | + | |
| − | 'TWI gleich einschalten, das macht Bascom ansonsten erst beim I2CStart !
| + | |
| − | Twcr = &B00000100
| + | |
| − | | + | |
| − | Gosub Init_gyro
| + | |
| − | Gosub Init_acc
| + | |
| − | | + | |
| − | 'Wartezeit bis die Motorregler soweit sind
| + | |
| − | Readeeprom Max_v , $2f0
| + | |
| − | Readeeprom Min_v , $2f2
| + | |
| − | Readeeprom Summe_as_entladen , $300 'Entnommene Wh und Ws aus EEPROM lesen
| + | |
| − | Led3 = 0
| + | |
| − | Waitms 150
| + | |
| − | Readeeprom Summe_mah_entladen , $310
| + | |
| − | Led4 = 0
| + | |
| − | Waitms 150
| + | |
| − | Readeeprom Summe_as_laden , $320
| + | |
| − | Led5 = 0
| + | |
| − | Waitms 150
| + | |
| − | Readeeprom Summe_mah_laden , $330
| + | |
| − | Led6 = 0
| + | |
| − | Waitms 150
| + | |
| − | Readeeprom Akkukap , $340
| + | |
| − | Led7 = 0
| + | |
| − | Waitms 150
| + | |
| − | Readeeprom Kilometer , $350
| + | |
| − | Readeeprom Meter , $360
| + | |
| − | Readeeprom Zentimeter , $370
| + | |
| − | | + | |
| − | '<Faktoren für den PID-Regler einlesen>
| + | |
| − | P_faktor = 0.0033 'Readeeprom P_faktor , $380
| + | |
| − | I_faktor = 0.00006 'Readeeprom I_faktor , $384
| + | |
| − | D_faktor = 0.08 'Readeeprom D_faktor , $388
| + | |
| − | Mp_faktor = 0.006 'Readeeprom Mp_faktor , $38c
| + | |
| − | Mv_faktor = 0 'Readeeprom Mv_faktor , $390
| + | |
| − | Mpl_faktor = 0 'Readeeprom Mpl_faktor , $394
| + | |
| − | Mvl_faktor = 0 'Readeeprom Mvl_faktor , $398
| + | |
| − | | + | |
| − | 'Sinnvolle Werte vorbelegen
| + | |
| − | If P_faktor < 0 Or P_faktor > 1 Then P_faktor = 0.0033
| + | |
| − | If I_faktor < 0 Or I_faktor > 1 Then I_faktor = 0.00006
| + | |
| − | If D_faktor < 0 Or D_faktor > 1 Then D_faktor = 0.08
| + | |
| − | If Mp_faktor < 0 Or Mp_faktor > 1 Then Mp_faktor = 0.006
| + | |
| − | | + | |
| − | If Mv_faktor < 0 Or Mv_faktor > 1 Then Mv_faktor = 0
| + | |
| − | If Mpl_faktor < 0 Or Mpl_faktor > 1 Then Mpl_faktor = 0
| + | |
| − | If Mvl_faktor < 0 Or Mvl_faktor > 1 Then Mvl_faktor = 0
| + | |
| − | | + | |
| − | '</Faktoren für den PID-Regler einlesen>
| + | |
| − | If Kilometer = $ffff Then 'Kommt bei frischem EEPROM vor
| + | |
| − | Zentimeter = 0
| + | |
| − | Meter = 0
| + | |
| − | Kilometer = 0
| + | |
| − | Min_v = 0
| + | |
| − | Max_v = 0
| + | |
| − | End If
| + | |
| − | 'Bei Fehlerhaften Werten aus dem EEPROM einfach 10000mAh als Vorgabe
| + | |
| − | If Akkukap <= 0 Then Akkukap = 10000
| + | |
| − | | + | |
| − | #if Systemvoltage = 14 'Nur zum Test mit Netzteil
| + | |
| − | If Akkukap > 32000 Then Akkukap = 100
| + | |
| − | #endif
| + | |
| − | | + | |
| − | #if Systemvoltage = 24
| + | |
| − | If Akkukap > 32000 Then Akkukap = 100
| + | |
| − | #endif
| + | |
| − | | + | |
| − | #if Systemvoltage = 36
| + | |
| − | If Akkukap > 32000 Then Akkukap = 100
| + | |
| − | #endif
| + | |
| − | | + | |
| − | #if Systemvoltage = 48
| + | |
| − | If Akkukap > 32000 Then Akkukap = 100
| + | |
| − | #endif
| + | |
| − | | + | |
| − | Call Akkugrenzen
| + | |
| − | Fusscount = 0
| + | |
| − | Notaus = 0
| + | |
| − | Readeeprom Max_v , $2f0
| + | |
| − | Readeeprom Min_v , $2f4
| + | |
| − | Config Watchdog = 128 'mSec
| + | |
| − | | + | |
| − | 'Maximalwerte für Datenschreiber/Notauserkennung auf 0 setzen
| + | |
| − | Regelzeit = 0
| + | |
| − | Regelzeitmax = 0
| + | |
| − | Mit_acc_nick_max = 0
| + | |
| − | Mit_acc_roll_max = 0
| + | |
| − | Pwm_rechts_max = 0
| + | |
| − | Pwm_links_max = 0
| + | |
| − | K_diff_min = 0
| + | |
| − | K_diff_max = 0
| + | |
| − | Richtung_links = 2 'Leerlauf
| + | |
| − | Richtung_rechts = 2 'Leerlauf
| + | |
| − | Pwm_links = 0
| + | |
| − | Pwm_rechts = 0
| + | |
| − | Pwm_gesamt = 0
| + | |
| − | Mit_acc_nick_s = 0
| + | |
| − | Lenkerstellung = 0
| + | |
| − | | + | |
| − | K_rechts = 0
| + | |
| − | K_links = 0
| + | |
| − | Seriell_err_links = 0
| + | |
| − | Seriell_err_rechts = 0
| + | |
| − | 'Vrbelegen um zu sehen ob es einen Notaus ohne Grund gibt
| + | |
| − | Ugrund = "----------------"
| + | |
| − | | + | |
| − | Disable Interrupts
| + | |
| − | | + | |
| − | 'Timer wird vorgeladen um die gewünschte Zykluszeit nach
| + | |
| − | 'Timerüberlauf zu erreichen
| + | |
| − | 'Nachteil: Timer Count ist nicht exakt gleich der Zykluszeit
| + | |
| − | On Timer0 Regel_interrupt
| + | |
| − | Config Timer0 = Timer , Prescale = 1024 ' (1/20MHz) * 1024 = 51,2uS pro Tick
| + | |
| − | Enable Timer0
| + | |
| − | | + | |
| − | Antriebaus = 1 'Beim Start ist immer alles aus
| + | |
| − | Enable Interrupts
| + | |
| − | Waitms 100
| + | |
| − | | + | |
| − | '< Sicherheitstest. CPU will Reset if one of these conditions are met
| + | |
| − | Start Watchdog 'nach 128mS wird CPU Reset ausgelöst
| + | |
| − | If Resetbtn = 0 Then Wait 10
| + | |
| − | If Antriebaus = 0 Then Wait 10
| + | |
| − | 'If Ugemessen < 1000 Then Wait 10 '10V
| + | |
| − | 'If Ugemessen > 5500 Then Wait 10 '55V
| + | |
| − | Stop Watchdog
| + | |
| − | '< Sicherheitstest
| + | |
| − | | + | |
| − | 'Prüfung ob Akku gerade geladen:
| + | |
| − | #if Systemvoltage = 14
| + | |
| − | 'Sensoren ausschalten wenn am Ladegerät oder zu Testzwecken
| + | |
| − | 'If Ugemessen < 2200 Then
| + | |
| − | ' Sensor_aus = 1
| + | |
| − | 'Else
| + | |
| − | ' Sensor_aus = 0
| + | |
| − | 'End If
| + | |
| − | Errorword.0 = 1
| + | |
| − | | + | |
| − | While Ugemessen < 1100 'Unterspannung oder am Ladegerät
| + | |
| − | Call Flashled(0 , 50)
| + | |
| − | Wend
| + | |
| − | If Ugemessen > 1520 Then 'Akku ist ganzgeladen
| + | |
| − | #endif
| + | |
| − | | + | |
| − | #if Systemvoltage = 24
| + | |
| − | 'Sensoren ausschalten wenn am Ladegerät oder zu Testzwecken
| + | |
| − | 'If Ugemessen < 2200 Then
| + | |
| − | ' Sensor_aus = 1
| + | |
| − | 'Else
| + | |
| − | ' Sensor_aus = 0
| + | |
| − | 'End If
| + | |
| − | Errorword.1 = 1
| + | |
| − | While Ugemessen < 2200 'Unterspannung oder am Ladegerät
| + | |
| − | Call Flashled(0 , 50)
| + | |
| − | Wend
| + | |
| − | If Ugemessen > 2650 Then 'Akku ist ganzgeladen
| + | |
| − | #endif
| + | |
| − | | + | |
| − | #if Systemvoltage = 36
| + | |
| − | 'Sensoren ausschalten wenn am Ladegerät oder zu Testzwecken
| + | |
| − | 'If Ugemessen < 3300 Then
| + | |
| − | ' Sensor_aus = 1
| + | |
| − | 'Else
| + | |
| − | ' Sensor_aus = 0
| + | |
| − | 'End If
| + | |
| − | Errorword.2 = 1
| + | |
| − | While Ugemessen < 3300 'Unterspannung oder am Ladegerät
| + | |
| − | Call Flashled(0 , 50)
| + | |
| − | Wend
| + | |
| − | If Ugemessen > 4350 Then 'Akku ist ganzgeladen
| + | |
| − | #endif
| + | |
| − | | + | |
| − | #if Systemvoltage = 48
| + | |
| − | 'Sensoren ausschalten wenn am Ladegerät oder zu Testzwecken
| + | |
| − | 'If Ugemessen < 2400 Then
| + | |
| − | ' Sensor_aus = 1
| + | |
| − | 'Else
| + | |
| − | ' Sensor_aus = 0
| + | |
| − | 'End If
| + | |
| − | Errorword.3 = 1
| + | |
| − | While Ugemessen < 4300 'Unterspannung oder am Ladegerät
| + | |
| − | Call Flashled(0 , 50)
| + | |
| − | Wend
| + | |
| − | If Ugemessen > 5280 Then 'Akku ist ganzgeladen
| + | |
| − | #endif
| + | |
| − | | + | |
| − | 'Interruts abschalten damit die folgenden Zeilen nicht gerade jetzt vom
| + | |
| − | 'Interrupt unterbrochen werden.
| + | |
| − | Disable Interrupts
| + | |
| − | Waitms 50
| + | |
| − | Summe_as_entladen = 0
| + | |
| − | Summe_mah_entladen = 0
| + | |
| − | Summe_as_laden = 0
| + | |
| − | Summe_mah_laden = 0
| + | |
| − | Enable Interrupts
| + | |
| − | End If
| + | |
| − | | + | |
| − | Led3 = 0
| + | |
| − | Led4 = 0
| + | |
| − | Led5 = 0
| + | |
| − | Led6 = 0
| + | |
| − | Led7 = 0
| + | |
| − | | + | |
| − | Goto Jp
| + | |
| − | | + | |
| − | 'Summen_vorbelegen:
| + | |
| − | Do
| + | |
| − | Errorword.4 = 1
| + | |
| − | ' Acc_roll = Acc_roll * 100
| + | |
| − | ' Acc_nick = Acc_nick * 100
| + | |
| − | | + | |
| − | 'Sum_gyro_roll = Gyro_roll * Gyro_anz
| + | |
| − | 'Sum_gyro_nick = Gyro_nick * Gyro_anz
| + | |
| − | 'Sum_gyro_gier = Gyro_gier * Gyro_anz
| + | |
| − | | + | |
| − | Gyro_roll_alt = Gyro_roll
| + | |
| − | Gyro_nick_alt = Gyro_nick
| + | |
| − | Gyro_gier_alt = Gyro_gier
| + | |
| − | | + | |
| − | Mit_gyro_roll = Gyro_roll
| + | |
| − | Mit_gyro_nick = Gyro_nick
| + | |
| − | Mit_gyro_gier = Gyro_gier
| + | |
| − | | + | |
| − | Sum_acc_roll = Acc_roll * Acc_anz
| + | |
| − | Sum_acc_nick = Acc_nick * Acc_anz
| + | |
| − | | + | |
| − | Waitms 200
| + | |
| − | Toggle Led5
| + | |
| − | Toggle Led6
| + | |
| − | Waitms 200
| + | |
| − | Toggle Led5
| + | |
| − | Toggle Led6
| + | |
| − | Loop Until Sig_gyro_nick >= -3 And Sig_gyro_nick <= 3 And Sig_gyro_roll >= -3 And Sig_gyro_roll <= 3 And Sig_gyro_gier >= -3 And Sig_gyro_gier <= 3
| + | |
| − | Errorword.4 = 0
| + | |
| − | | + | |
| − | Jp:
| + | |
| − | | + | |
| − | Call Resetdata 'and Enable Interrupt
| + | |
| − | Resetbtndone = 0
| + | |
| − | | + | |
| − | Do
| + | |
| − | Errorword.5 = 1
| + | |
| − | '<Sicherheitstest Sensoren>
| + | |
| − | If Antriebaus = 1 Then
| + | |
| − | If Intcount <> Ltest Then
| + | |
| − | Ltest = Intcount
| + | |
| − | Sensor_ok = 0
| + | |
| − | If Sensor_ok_count > 0 Then Decr Sensor_ok_count
| + | |
| − | '1. Es darf keine nennenswerte Drehbewegung erkannt werden!
| + | |
| − | | + | |
| − | If Sig_gyro_nick < -3 Then Sensor_ok_count = 50
| + | |
| − | If Sig_gyro_nick > 3 Then Sensor_ok_count = 50
| + | |
| − | If Sig_gyro_roll < -3 Then Sensor_ok_count = 50
| + | |
| − | If Sig_gyro_roll > 3 Then Sensor_ok_count = 50
| + | |
| − | 'Nach mehrfachen Drehungen könnte der Mittelwert etwas
| + | |
| − | 'verschoben sein. Darum hier 12
| + | |
| − | If Sig_gyro_gier < -15 Then Sensor_ok_count = 50
| + | |
| − | If Sig_gyro_gier > 15 Then Sensor_ok_count = 50
| + | |
| − | | + | |
| − | '2. Die Werte dürfen nicht verrauscht sein
| + | |
| − | Ldummy2 = Mit_acc_nick + 500
| + | |
| − | If Acc_nick > Ldummy2 Then Sensor_ok_count = 50
| + | |
| − | Ldummy2 = Mit_acc_nick - 500
| + | |
| − | If Acc_nick < Ldummy2 Then Sensor_ok_count = 50
| + | |
| − | Ldummy2 = Mit_acc_roll + 500
| + | |
| − | If Acc_roll > Ldummy2 Then Sensor_ok_count = 50
| + | |
| − | Ldummy2 = Mit_acc_roll - 500
| + | |
| − | If Acc_roll < Ldummy2 Then Sensor_ok_count = 50
| + | |
| − | | + | |
| − | '3. Die Werte müssen ungefähr in einer legalen Nullage sein.
| + | |
| − | If Null_roll < O_roll_u Then Sensor_ok_count = 50
| + | |
| − | If Null_roll > O_roll_o Then Sensor_ok_count = 50
| + | |
| − | If Null_nick < O_nick_u Then Sensor_ok_count = 50
| + | |
| − | If Null_nick > O_nick_o Then Sensor_ok_count = 50
| + | |
| − | | + | |
| − | 'Bedingungen während 50 Messungen (0.5s) eingehalten
| + | |
| − | If Sensor_ok_count = 0 Then Sensor_ok = 1
| + | |
| − | End If
| + | |
| − | Else
| + | |
| − | Sensor_ok = 0
| + | |
| − | End If
| + | |
| − | '</Sicherheitstest Sensoren>
| + | |
| − | | + | |
| − | '<Batterieanzeige>
| + | |
| − | 'alles unter 36V Leerlaufspannung ist LEER
| + | |
| − | If Ugemessen > Akkufastleer Then
| + | |
| − | If Verbraucht > Akkukap Then
| + | |
| − | 'Einfach mal annehmen daß noch mehr als angezeigt im Akku ist
| + | |
| − | Akkukap = Verbraucht + 1
| + | |
| − | Call Akkugrenzen
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | | + | |
| − | If Antriebaus = 1 Then
| + | |
| − | Errorword.6 = 1
| + | |
| − | Else
| + | |
| − | Errorword.6 = 0
| + | |
| − | End If
| + | |
| − | | + | |
| − | If Notaus = 1 Then
| + | |
| − | Errorword.7 = 1
| + | |
| − | Else
| + | |
| − | Errorword.7 = 0
| + | |
| − | End If
| + | |
| − | | + | |
| − | 'Blinken wenn Gyros nicht bereit
| + | |
| − | If Antriebaus = 1 Then
| + | |
| − | If Ugemessen > Akkuleer Then
| + | |
| − | If Verbraucht > Akkukap Then
| + | |
| − | 'annehmen dass noch mehr als angezeigt im Akku ist
| + | |
| − | Akkukap = Verbraucht + 20
| + | |
| − | Call Akkugrenzen
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | If Sensor_ok = 1 Then
| + | |
| − | If Verbraucht < Akku1 Then Led7 = 0 Else Led7 = 1
| + | |
| − | If Verbraucht < Akku2 Then Led6 = 0 Else Led6 = 1
| + | |
| − | If Verbraucht < Akku3 Then Led5 = 0 Else Led5 = 1
| + | |
| − | If Verbraucht < Akku4 Then Led4 = 0 Else Led4 = 1
| + | |
| − | If Verbraucht < Akku5 Then Led3 = 0 Else Led3 = 1
| + | |
| − | Else
| + | |
| − | If Frei = 1 Then 'ca. 2 Hz
| + | |
| − | Blinkcount = Intcount
| + | |
| − | If Blinkcount > 50 Then Blinkcount = Blinkcount - 50
| + | |
| − | Else
| + | |
| − | Blinkcount = Intcount / 2
| + | |
| − | End If
| + | |
| − | If Blinkcount > 40 Then 'ca. 1 Hz
| + | |
| − | If Verbraucht < Akku1 Then Led7 = 0 Else Led7 = 1
| + | |
| − | If Verbraucht < Akku2 Then Led6 = 0 Else Led6 = 1
| + | |
| − | If Verbraucht < Akku3 Then Led5 = 0 Else Led5 = 1
| + | |
| − | If Verbraucht < Akku4 Then Led4 = 0 Else Led4 = 1
| + | |
| − | If Verbraucht < Akku5 Then Led3 = 0 Else Led3 = 1
| + | |
| − | Else
| + | |
| − | Led7 = 1
| + | |
| − | Led6 = 1
| + | |
| − | Led5 = 1
| + | |
| − | Led4 = 1
| + | |
| − | Led3 = 1
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | Else
| + | |
| − | Errorword.6 = 0
| + | |
| − | If Verbraucht < Akku1 Then Led7 = 0 Else Led7 = 1
| + | |
| − | If Verbraucht < Akku2 Then Led6 = 0 Else Led6 = 1
| + | |
| − | If Verbraucht < Akku3 Then Led5 = 0 Else Led5 = 1
| + | |
| − | If Verbraucht < Akku4 Then Led4 = 0 Else Led4 = 1
| + | |
| − | If Verbraucht < Akku5 Then Led3 = 0 Else Led3 = 1
| + | |
| − | End If
| + | |
| − | '</Batterieanzeige>
| + | |
| − | | + | |
| − | '< Maximalwerte Für Betriebsdatenschreiber>
| + | |
| − | If Igemessen < Imin Then Imin = Igemessen 'Nur zur Information
| + | |
| − | If Igemessen > Imax Then Imax = Igemessen 'Nur zur Information
| + | |
| − | If Regelzeit > Regelzeitmax Then Regelzeitmax = Regelzeit
| + | |
| − | If Mit_acc_nick > Mit_acc_nick_max Then Mit_acc_nick_max = Mit_acc_nick
| + | |
| − | If Mit_acc_roll > Mit_acc_roll_max Then Mit_acc_roll_max = Mit_acc_roll
| + | |
| − | If Mit_acc_nick < Mit_acc_nick_min Then Mit_acc_nick_min = Mit_acc_nick
| + | |
| − | If Mit_acc_roll < Mit_acc_roll_min Then Mit_acc_roll_min = Mit_acc_roll
| + | |
| − | If Pwm_links > Pwm_links_max Then Pwm_links_max = Pwm_links
| + | |
| − | If Pwm_rechts > Pwm_rechts_max Then Pwm_rechts_max = Pwm_rechts
| + | |
| − | If K_diff > K_diff_max Then K_diff_max = K_diff
| + | |
| − | If K_diff < K_diff_min Then K_diff_min = K_diff
| + | |
| − | If Ta > Tamax Then Tamax = Ta
| + | |
| − | '</Maximalwerte für Betriebsdatenschreiber>
| + | |
| − | | + | |
| − | 'Debounce macht dasselbe, allerdings stockt der Programmfluss
| + | |
| − | Debounce Resetbtn , 0 , Onresetbtn , Sub
| + | |
| − | | + | |
| − | Goto Skipit
| + | |
| − | | + | |
| − | If Resetbtndone = 0 Then
| + | |
| − | If Resetbtn = 0 Then
| + | |
| − | Resetbtndone = 1
| + | |
| − | Call Onresetbtn
| + | |
| − | Resetbtndone = 2
| + | |
| − | Else
| + | |
| − | End If
| + | |
| − | Else
| + | |
| − | If Resetbtndone = 2 Then Resetbtndone = 0
| + | |
| − | End If
| + | |
| − | Skipit:
| + | |
| − | | + | |
| − | If Intcount > 80 Then Led1 = 1 Else Led1 = 0 'Sekundenblinken
| + | |
| − | 'Daran lässt sich leicht erkennen ob noch alles normal läuft.
| + | |
| − | Loop
| + | |
| − | End
| + | |
| − | | + | |
| − | '**********************************************************************
| + | |
| − | 'Ab hier Subroutinen und Interrupts
| + | |
| − | '**********************************************************************
| + | |
| − | Sub Akkugrenzen
| + | |
| − | 'Grenzwerte für die Akku-LEDs berechnen
| + | |
| − | Ldummy1 = Akkukap / 5
| + | |
| − | Akku1 = Ldummy1
| + | |
| − | Akku2 = 2 * Ldummy1
| + | |
| − | Akku3 = 3 * Ldummy1
| + | |
| − | Akku4 = 4 * Ldummy1
| + | |
| − | Akku5 = 5 * Ldummy1
| + | |
| − | End Sub
| + | |
| − | | + | |
| − | Sub Unfalldatenschreiber
| + | |
| − | Waitms 10
| + | |
| − | Utext = Str(regelzeit)
| + | |
| − | Utext = "Rz=" + Utext
| + | |
| − | Logtext 0 , Utext
| + | |
| − | Utext = Str(mit_acc_nick_max)
| + | |
| − | Utext = "Nick max=" + Utext
| + | |
| − | Logtext $10 , Utext
| + | |
| − | Utext = Str(mit_acc_nick)
| + | |
| − | Utext = "Nick=" + Utext
| + | |
| − | Logtext $20 , Utext
| + | |
| − | Utext = Str(mit_acc_nick_min)
| + | |
| − | Utext = "Nick min=" + Utext
| + | |
| − | Logtext $30 , Utext
| + | |
| − | Utext = Str(mit_acc_roll_max)
| + | |
| − | Utext = "Roll max=" + Utext
| + | |
| − | Logtext $40 , Utext
| + | |
| − | Utext = Str(mit_acc_roll)
| + | |
| − | Utext = "Roll=" + Utext
| + | |
| − | Logtext $50 , Utext
| + | |
| − | Utext = Str(mit_acc_roll_min)
| + | |
| − | Utext = "Roll min=" + Utext
| + | |
| − | Logtext $60 , Utext
| + | |
| − | Utext = Str(pwm_rechts)
| + | |
| − | Utext = "PWM re=" + Utext
| + | |
| − | Logtext $70 , Utext
| + | |
| − | Utext = Str(pwm_links)
| + | |
| − | Utext = "PWM li=" + Utext
| + | |
| − | Logtext $80 , Utext
| + | |
| − | Utext = Str(u_rechts)
| + | |
| − | Utext = "U re=" + Utext
| + | |
| − | Logtext $90 , Utext
| + | |
| − | Utext = Str(u_links)
| + | |
| − | Utext = "U li=" + Utext
| + | |
| − | Logtext $a0 , Utext
| + | |
| − | Utext = Str(ta)
| + | |
| − | Utext = "Ta=" + Utext
| + | |
| − | Logtext $b0 , Utext
| + | |
| − | Utext = Str(seriell_err_links)
| + | |
| − | Utext = Utext + "|"
| + | |
| − | Utext = Utext + Str(seriell_err_rechts)
| + | |
| − | Utext = "S =" + Utext
| + | |
| − | Logtext $c0 , Utext
| + | |
| − | Utext = Ugrund
| + | |
| − | Logtext $d0 , Utext
| + | |
| − | End Sub
| + | |
| − | | + | |
| − | Sub Betriebsdatenschreiber
| + | |
| − | 'Ob die Wartezeiten beim EEprom schreiben nötig sind ist nicht sicher.
| + | |
| − | 'Mit den Wartezeiten treten aber keine Fehler bei den Werten mehr auf.
| + | |
| − | 'Möglich, daß dies auch durch eine andere Änderung bewirkt wurde.
| + | |
| − | Writeeeprom Max_v , $2f0
| + | |
| − | Writeeeprom Min_v , $2f2
| + | |
| − | Zentimeter = Int(zentimeter) 'Keine Millimeter schreiben
| + | |
| − | Writeeeprom Summe_as_entladen , $300
| + | |
| − | Writeeeprom Summe_mah_entladen , $310
| + | |
| − | Writeeeprom Summe_as_laden , $320
| + | |
| − | Writeeeprom Summe_mah_laden , $330
| + | |
| − | Writeeeprom Akkukap , $340
| + | |
| − | Writeeeprom Kilometer , $350
| + | |
| − | Writeeeprom Meter , $360
| + | |
| − | Writeeeprom Zentimeter , $370
| + | |
| − | If Werteneu = 1 Then 'Nur wenn das Einstellklavier gesteckt ist.
| + | |
| − | Writeeeprom P_faktor , $380
| + | |
| − | Writeeeprom I_faktor , $384
| + | |
| − | Writeeeprom D_faktor , $388
| + | |
| − | Writeeeprom Mp_faktor , $38c
| + | |
| − | Writeeeprom Mv_faktor , $390
| + | |
| − | Writeeeprom Mpl_faktor , $394
| + | |
| − | Writeeeprom Mvl_faktor , $398
| + | |
| − | Werteneu = 0
| + | |
| − | End If
| + | |
| − | | + | |
| − | Utext = Str(pwm_rechts_max)
| + | |
| − | Utext = "PWM r max=" + Utext
| + | |
| − | Logtext $e0 , Utext
| + | |
| − | Utext = Str(pwm_links_max)
| + | |
| − | Utext = "PWM l max=" + Utext
| + | |
| − | Logtext $f0 , Utext
| + | |
| − | Utext = Str(ugemessen)
| + | |
| − | Utext = "U=" + Utext
| + | |
| − | Logtext $100 , Utext
| + | |
| − | Utext = Str(imin)
| + | |
| − | Utext = "Imin=" + Utext
| + | |
| − | Logtext $110 , Utext
| + | |
| − | Utext = Str(imax)
| + | |
| − | Utext = "Imax=" + Utext
| + | |
| − | Logtext $120 , Utext
| + | |
| − | Utext = Str(summe_mah_entladen)
| + | |
| − | Utext = "-mAh" + Utext
| + | |
| − | Logtext $130 , Utext
| + | |
| − | Utext = Str(summe_mah_laden)
| + | |
| − | Utext = "+mAh=" + Utext
| + | |
| − | Logtext $140 , Utext
| + | |
| − | Utext = Str(verbraucht)
| + | |
| − | Utext = " =" + Utext
| + | |
| − | Logtext $150 , Utext
| + | |
| − | Utext = Str(akkukap)
| + | |
| − | Utext = "Kap=" + Utext
| + | |
| − | Logtext $160 , Utext
| + | |
| − | Utext = Str(kilometer)
| + | |
| − | Utext = "Km=" + Utext
| + | |
| − | Logtext $170 , Utext
| + | |
| − | Utext = Str(meter)
| + | |
| − | Utext = "M=" + Utext
| + | |
| − | Logtext $180 , Utext
| + | |
| − | Utext = Str(zentimeter)
| + | |
| − | Utext = "cm=" + Utext
| + | |
| − | Logtext $190 , Utext
| + | |
| − | Utext = Str(regelzeitmax)
| + | |
| − | Utext = "Rz Max=" + Utext
| + | |
| − | Logtext $1a0 , Utext
| + | |
| − | Utext = Str(null_roll)
| + | |
| − | Utext = "Null_R=" + Utext
| + | |
| − | Logtext $1b0 , Utext
| + | |
| − | Utext = Str(null_nick)
| + | |
| − | Utext = "null_N=" + Utext
| + | |
| − | Logtext $1c0 , Utext
| + | |
| − | Utext = Str(p_faktor)
| + | |
| − | Utext = "P=" + Utext
| + | |
| − | Logtext $1d0 , Utext
| + | |
| − | Utext = Str(i_faktor)
| + | |
| − | Utext = "I=" + Utext
| + | |
| − | Logtext $1e0 , Utext
| + | |
| − | Utext = Str(d_faktor)
| + | |
| − | Utext = "D=" + Utext
| + | |
| − | Logtext $1f0 , Utext
| + | |
| − | Utext = Str(mp_faktor)
| + | |
| − | Utext = "M=" + Utext
| + | |
| − | Logtext $200 , Utext
| + | |
| − | Utext = Str(k_diff_min)
| + | |
| − | Utext = "K min=" + Utext
| + | |
| − | Logtext $210 , Utext
| + | |
| − | Utext = Str(k_diff_max)
| + | |
| − | Utext = "K max=" + Utext
| + | |
| − | Logtext $220 , Utext
| + | |
| − | Utext = Str(seriell_err_links)
| + | |
| − | Utext = "S l=" + Utext
| + | |
| − | Logtext $230 , Utext
| + | |
| − | Utext = Str(seriell_err_rechts)
| + | |
| − | Utext = "S r=" + Utext
| + | |
| − | Logtext $240 , Utext
| + | |
| − | Utext = Str(tamax)
| + | |
| − | Utext = "Ta_Max=" + Utext
| + | |
| − | Logtext $250 , Utext
| + | |
| − | Utext = Str(max_v)
| + | |
| − | Utext = "V_Max=" + Utext
| + | |
| − | Logtext $260 , Utext
| + | |
| − | Utext = Str(min_v)
| + | |
| − | Utext = "V_Min=" + Utext
| + | |
| − | Logtext $270 , Utext
| + | |
| − | End Sub
| + | |
| − | | + | |
| − | Sub Onresetbtn
| + | |
| − | If Antriebaus = 1 Then
| + | |
| − | 'alles unter 36V Leerlaufspannung ist LEER
| + | |
| − | If Ugemessen > Akkuleer Then
| + | |
| − | If Sensor_ok = 1 Then 'Prüfen ob Gyros noch driften
| + | |
| − | 'Interupts abschalten damit Fusscount nicht gerade jetzt
| + | |
| − | 'decrementiert wird
| + | |
| − | Call Resetdata
| + | |
| − | Else
| + | |
| − | If Null_nick > O_nick_o And Null_nick < O_nick_oo Then
| + | |
| − | If Bzeit = 500 Then
| + | |
| − | Bstate = 1
| + | |
| − | Bzeit = 0
| + | |
| − | Else
| + | |
| − | If Bstate = 1 Then
| + | |
| − | If Bzeit < 50 Then
| + | |
| − | Disable Interrupts
| + | |
| − | Utext = " "
| + | |
| − | Logtext $00 , Utext
| + | |
| − | Logtext $10 , Utext
| + | |
| − | Logtext $20 , Utext
| + | |
| − | Logtext $30 , Utext
| + | |
| − | Logtext $40 , Utext
| + | |
| − | Logtext $50 , Utext
| + | |
| − | Logtext $60 , Utext
| + | |
| − | Logtext $70 , Utext
| + | |
| − | Logtext $80 , Utext
| + | |
| − | Logtext $90 , Utext
| + | |
| − | Logtext $a0 , Utext
| + | |
| − | Logtext $b0 , Utext
| + | |
| − | Logtext $c0 , Utext
| + | |
| − | Logtext $d0 , Utext
| + | |
| − | Logtext $e0 , Utext
| + | |
| − | Logtext $f0 , Utext
| + | |
| − | Logtext $100 , Utext
| + | |
| − | Logtext $110 , Utext
| + | |
| − | Logtext $120 , Utext
| + | |
| − | Logtext $130 , Utext
| + | |
| − | Logtext $140 , Utext
| + | |
| − | Logtext $150 , Utext
| + | |
| − | Logtext $160 , Utext
| + | |
| − | Logtext $170 , Utext
| + | |
| − | Logtext $180 , Utext
| + | |
| − | Logtext $190 , Utext
| + | |
| − | Logtext $1a0 , Utext
| + | |
| − | Logtext $1b0 , Utext
| + | |
| − | Logtext $1c0 , Utext
| + | |
| − | Logtext $1d0 , Utext
| + | |
| − | Logtext $1e0 , Utext
| + | |
| − | Logtext $1f0 , Utext
| + | |
| − | Logtext $200 , Utext
| + | |
| − | Logtext $210 , Utext
| + | |
| − | Logtext $220 , Utext
| + | |
| − | Logtext $230 , Utext
| + | |
| − | Logtext $240 , Utext
| + | |
| − | Logtext $250 , Utext
| + | |
| − | Logtext $260 , Utext
| + | |
| − | Summe_as_entladen = 0
| + | |
| − | Summe_mah_entladen = 0
| + | |
| − | Summe_as_laden = 0
| + | |
| − | Summe_mah_laden = 0
| + | |
| − | Writeeeprom Summe_as_entladen , $300
| + | |
| − | Writeeeprom Summe_mah_entladen , $310
| + | |
| − | Writeeeprom Summe_as_laden , $320
| + | |
| − | Writeeeprom Summe_mah_laden , $330
| + | |
| − | Frei = 0
| + | |
| − | For Bzeit = 1 To 10
| + | |
| − | Led3 = 1
| + | |
| − | Led4 = 1
| + | |
| − | Led5 = 1
| + | |
| − | Led6 = 1
| + | |
| − | Led7 = 1
| + | |
| − | Waitms 100
| + | |
| − | Led3 = 0
| + | |
| − | Led4 = 0
| + | |
| − | Led5 = 0
| + | |
| − | Led6 = 0
| + | |
| − | Led7 = 0
| + | |
| − | Waitms 100
| + | |
| − | Next
| + | |
| − | Bzeit = 500
| + | |
| − | Enable Interrupts
| + | |
| − | Waitms 100
| + | |
| − | End If
| + | |
| − | If Bzeit > 250 And Bzeit < 350 Then
| + | |
| − | Frei = 1
| + | |
| − | Bzeit = 500
| + | |
| − | Else
| + | |
| − | Frei = 0
| + | |
| − | Bzeit = 500
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | Else
| + | |
| − | Frei = 0
| + | |
| − | Bzeit = 500
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | Else
| + | |
| − | If Verbraucht < Akkukap Then 'Akku ist laut Spannung leer!
| + | |
| − | 'Einfach mal annehmen daß zuviel entnommen wurde
| + | |
| − | Akkukap = Verbraucht * 0.95
| + | |
| − | Akkugrenzen
| + | |
| − | End If
| + | |
| − | 'Disable Interrupts
| + | |
| − | 'Betriebsdatenschreiber
| + | |
| − | 'Enable Interrupts
| + | |
| − | End If
| + | |
| − | Else
| + | |
| − | Antriebaus = 1
| + | |
| − | Waitms 100
| + | |
| − | Frei = 0
| + | |
| − | | + | |
| − | 'Disable Interrupts
| + | |
| − | 'Betriebsdatenschreiber
| + | |
| − | 'Enable Interrupts
| + | |
| − | End If
| + | |
| − | End Sub
| + | |
| − | | + | |
| − | Sub Logtext(adresse , Text)
| + | |
| − | If Len(text) > 16 Then Text = Mid(text , 1 , 16)
| + | |
| − | While Len(text) < 16
| + | |
| − | Text = Text + " "
| + | |
| − | Wend
| + | |
| − | Writeeeprom Text , Adresse
| + | |
| − | End Sub
| + | |
| − | | + | |
| − | Regel_interrupt:
| + | |
| − | '*****************************************************************************
| + | |
| − | 'Eigentlich ist das kein typischer Interrupt. Der Interrupt wird hier nur
| + | |
| − | 'verwendet um der Regelung einen 100Hz Takt zu geben.
| + | |
| − | 'Andere Timer Interrupts werden für diese Zeit blockiert
| + | |
| − | '*****************************************************************************
| + | |
| − | 'Timer zählt ab diesem Wert aufwärts bis 256 und macht dann einen Interrupt
| + | |
| − | '==> je höher die Startzahl, umso kürzer das Intervall
| + | |
| − | ' 20 MHz / 1024 (Prescaler) = 15,625 KHz / 256 = 61Hz
| + | |
| − | ' (61/100) * 256 = 156
| + | |
| − | ' 256 - 156 = 100 Der Timer selbst braucht auch etwas Zeit, d.h. 100 ist tatsächlich 61
| + | |
| − | Timer0 = 61
| + | |
| − | | + | |
| − | Bdummy1 = Udr
| + | |
| − | | + | |
| − | Gosub Readfussschalter
| + | |
| − | Gosub Read_gyro
| + | |
| − | Gosub Read_acc
| + | |
| − | | + | |
| − | 'Acc_roll = Acc_roll '*100, war früher -512...+512 jetzt -30000...+30000
| + | |
| − | 'Acc_nick = Acc_nick '*100, war früher -512...+512 jetzt -30000...+30000
| + | |
| − | | + | |
| − | '<Mittellage ausgleichen>
| + | |
| − | 'Die Offsetwerte werden langsam an eine früher ermittelte Waagerechte
| + | |
| − | 'Position angeglichen.
| + | |
| − | Null_roll = Null_roll * 99
| + | |
| − | Null_nick = Null_nick * 99
| + | |
| − | Null_roll = Null_roll + Offset_roll 'Mittellage
| + | |
| − | Null_nick = Null_nick + Offset_nick 'Mittellage
| + | |
| − | Null_roll = Null_roll / 100
| + | |
| − | Null_nick = Null_nick / 100
| + | |
| − | '</Mittellage ausgleichen>
| + | |
| − | | + | |
| − | 'Offsetwerte der Beschleunigungssensoren sofort abziehen
| + | |
| − | 'Diese werden nicht laufend ermittelt
| + | |
| − | 'Acc_roll = Acc_roll - Null_roll
| + | |
| − | 'Acc_nick = Acc_nick - Null_nick
| + | |
| − | '<Geschwindikgeitsbegrenzung>
| + | |
| − | 'Bei Der Geschwindigkeitsbegrenzung Wird die Nullage Der Plattform Verändert.
| + | |
| − | 'Beim Vorwärtsbremsen wird nach hinten geneigt, beim Rückwärtsbremsen nach vorne.
| + | |
| − | | + | |
| − | Vbrems = 0
| + | |
| − | Lbrems = 0
| + | |
| − | If Frei = 0 Then
| + | |
| − | If Kmh > Vmax Then Vbrems = Vmax - Kmh
| + | |
| − | If Kmh < Vmaxr Then Vbrems = Vmaxr - Kmh
| + | |
| − | End If
| + | |
| − | | + | |
| − | 'Lastabhängige Bremse
| + | |
| − | 'Es muss immer genug Reserve sein um noch zu Bremsen oder zu Balancieren
| + | |
| − | Ldummyi = Int(pwm_gesamt)
| + | |
| − | If Ldummyi > Spwm Then Lbrems = Spwm - Ldummyi
| + | |
| − | If Ldummyi < Spwmr Then Lbrems = Spwmr - Ldummyi
| + | |
| − | Brems = Lbrems + Vbrems
| + | |
| − | Brems = Brems * 50
| + | |
| − | 'Nicht zu heftig Bremsen
| + | |
| − | If Brems < -2000 Then Brems = -2000
| + | |
| − | If Brems > 2000 Then Brems = 2000
| + | |
| − | Acc_nick = Acc_nick + Brems
| + | |
| − | '</Geschwindikgeitsbegrenzung>
| + | |
| − | | + | |
| − | '<Signalaufbereitung der Sensorsignale>
| + | |
| − | K_diff = K_rechts - K_links
| + | |
| − | K_sum = K_sum * 0.84
| + | |
| − | K_sum = K_sum + K_diff
| + | |
| − | 'Gleitender Mittelwert der Gyros berechnen um damit den Offset bei
| + | |
| − | 'Stillstand zu haben. Dieser ist leider Temperaturabhängig.
| + | |
| − | 'Sum_gyro_gier = Sum_gyro_gier - Mit_gyro_gier
| + | |
| − | 'Sum_gyro_gier = Sum_gyro_gier + Gyro_gier
| + | |
| − | 'Mit_gyro_gier = Sum_gyro_gier / Gyro_anz
| + | |
| − | Sig_gyro_gier = Gyro_gier '- Mit_gyro_gier 'Polarität
| + | |
| − | | + | |
| − | 'Sum_gyro_roll = Sum_gyro_roll - Mit_gyro_roll
| + | |
| − | 'Sum_gyro_roll = Sum_gyro_roll + Gyro_roll
| + | |
| − | 'Mit_gyro_roll = Sum_gyro_roll / Gyro_anz
| + | |
| − | Sig_gyro_roll = Gyro_roll '- Mit_gyro_roll 'Polarität
| + | |
| − | | + | |
| − | 'Korr_acc_roll = Sig_gyro_roll * Gyro_faktor
| + | |
| − | Sum_acc_roll = Sum_acc_roll - Mit_acc_roll
| + | |
| − | Sum_acc_roll = Sum_acc_roll + Acc_roll
| + | |
| − | 'Sum_acc_roll = Sum_acc_roll + Korr_acc_roll 'Gyrowert hinzu
| + | |
| − | 'Mittelwert bilden
| + | |
| − | Mit_acc_roll = Sum_acc_roll / Acc_anz
| + | |
| − | Mit_acc_roll = Sum_acc_roll
| + | |
| − | | + | |
| − | '*************************************************************************
| + | |
| − | 'Das soll ausgleichen, daß die Gyros bei gekippten Sensoren eine Drehung
| + | |
| − | 'um die falsche Achse registrieren.
| + | |
| − | 'Sdummy1 = Mit_acc_roll * Sig_gyro_gier
| + | |
| − | 'Die Sensorplatine muss dazu absolut Waagerecht montiert sein.
| + | |
| − | 'Sdummy1 = Sdummy1 / 20000
| + | |
| − | 'Lagefehler = Int(sdummy1)
| + | |
| − | 'Das soll den Fehler ausgleichen, der durch die geänderte Lage des
| + | |
| − | 'Gyros auftritt.
| + | |
| − | 'Gyro_nick = Gyro_nick + Lagefehler
| + | |
| − | '************************************************************************
| + | |
| − | Sum_gyro_nick = Sum_gyro_nick - Mit_gyro_nick
| + | |
| − | Sum_gyro_nick = Sum_gyro_nick + Gyro_nick
| + | |
| − | Mit_gyro_nick = Sum_gyro_nick / Gyro_anz
| + | |
| − | Sig_gyro_nick = Gyro_nick - Mit_gyro_nick
| + | |
| − | | + | |
| − | 'Gyro = Beschleunigung
| + | |
| − | 'Accelerometer = Neigung
| + | |
| − | | + | |
| − | 'Korr_acc_nick = Sig_gyro_nick * Gyro_faktor
| + | |
| − | Sum_acc_nick = Sum_acc_nick - Mit_acc_nick
| + | |
| − | Sum_acc_nick = Sum_acc_nick + Acc_nick
| + | |
| − | 'Sum_acc_nick = Sum_acc_nick - Korr_acc_nick 'Gyrowert hinzu
| + | |
| − | Mit_acc_nick = Sum_acc_nick / Acc_anz
| + | |
| − | '</Signalaufbereitung der Sensorsignale>
| + | |
| − | | + | |
| − | '<PID-Regler>
| + | |
| − | Stellwert = 0
| + | |
| − | '< P-Anteil>
| + | |
| − | Sdummy1 = Mit_acc_nick
| + | |
| − | Sdummy1 = Sdummy1 * P_faktor
| + | |
| − | Stellwert = Stellwert - Sdummy1
| + | |
| − | | + | |
| − | '<I-Anteil>
| + | |
| − | Mit_acc_nick_s = Mit_acc_nick_s + Mit_acc_nick
| + | |
| − | 'Überlauf/unsinnige Werte verhindern
| + | |
| − | If Mit_acc_nick_s > Max_mit_acc_nick_s Then
| + | |
| − | Mit_acc_nick_s = Max_mit_acc_nick_s
| + | |
| − | End If
| + | |
| − | If Mit_acc_nick_s < Min_mit_acc_nick_s Then
| + | |
| − | Mit_acc_nick_s = Min_mit_acc_nick_s
| + | |
| − | End If
| + | |
| − | Sdummy1 = Mit_acc_nick_s
| + | |
| − | Sdummy1 = Sdummy1 * I_faktor
| + | |
| − | Stellwert = Stellwert - Sdummy1
| + | |
| − | | + | |
| − | '<D-Anteil>
| + | |
| − | Sdummy1 = Sig_gyro_nick
| + | |
| − | Sdummy1 = Sdummy1 * D_faktor
| + | |
| − | 'Stellwert ==> Stromsollwert
| + | |
| − | Stellwert = Stellwert + Sdummy1
| + | |
| − | | + | |
| − | '<Anpassungsfaktoren berechnen>
| + | |
| − | K_sum_anpassung = K_rechts + K_links
| + | |
| − | K_sum_anpassung = Abs(k_sum_anpassung)
| + | |
| − | | + | |
| − | Mp_anpassung = Pwm_gesamt * Mp_faktor
| + | |
| − | Mp_anpassung = Abs(mp_anpassung)
| + | |
| − | Mp_anpassung = Mp_anpassung + 0.95
| + | |
| − | | + | |
| − | Mv_anpassung = K_sum_anpassung * Mv_faktor
| + | |
| − | Mv_anpassung = Abs(mv_anpassung)
| + | |
| − | Mv_anpassung = Mv_anpassung + 1
| + | |
| − | | + | |
| − | Mpl_anpassung = Pwm_gesamt * Mpl_faktor
| + | |
| − | Mpl_anpassung = Abs(mpl_anpassung)
| + | |
| − | Mpl_anpassung = Mpl_anpassung + 1
| + | |
| − | | + | |
| − | Mvl_anpassung = K_sum_anpassung * Mvl_faktor
| + | |
| − | Mvl_anpassung = Abs(mvl_anpassung)
| + | |
| − | Mvl_anpassung = Mvl_anpassung + 1
| + | |
| − | '</Anpassungsfaktoren berechnen>
| + | |
| − | | + | |
| − | '<Verstärkte Regelung bei hoher Leistung>
| + | |
| − | Stellwert = Stellwert * Mp_anpassung
| + | |
| − | Stellwert = Stellwert * Mv_anpassung
| + | |
| − | '<Verstärkte Regelung bei hoher Leistung>
| + | |
| − | | + | |
| − | '<Abgeschwächte Regelung im Stand>
| + | |
| − | If K_sum_anpassung < 8 Then Stellwert = Stellwert * 0.8
| + | |
| − | If K_sum_anpassung < 6 Then Stellwert = Stellwert * 0.8
| + | |
| − | If K_sum_anpassung < 4 Then Stellwert = Stellwert * 0.8
| + | |
| − | | + | |
| − | '</Abgeschwächte Regelung in Stand>
| + | |
| − | Pwm_gesamt = Pwm_gesamt + Stellwert
| + | |
| − | | + | |
| − | '</PID-Regler>
| + | |
| − | | + | |
| − | '<Bremsvibrator einmischen>
| + | |
| − | 'Der Bremsvibrator signalisiert dem Fahrer, daß wegen irgend einem
| + | |
| − | 'Grenzwert gebremst wird. Das kann V-Max oder P-Max sein.
| + | |
| − | If Brems <> 0 Then
| + | |
| − | Bdummy1 = Intcount / 2
| + | |
| − | Bdummy1 = Bdummy1 Mod 2
| + | |
| − | If Bdummy1 = 0 Then
| + | |
| − | Pwm_gesamt = Pwm_gesamt + 5
| + | |
| − | Else
| + | |
| − | Pwm_gesamt = Pwm_gesamt - 5
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | '<Bremsvibrator einmischen>
| + | |
| − | | + | |
| − | '<Lenkung>
| + | |
| − | Lenkvorgabe = Mit_acc_roll / 80
| + | |
| − | | + | |
| − | Sdummy1 = Abs(lenkvorgabe)
| + | |
| − | If Sdummy1 <= 6 Then
| + | |
| − | Sdummy1 = Sdummy1 / 12
| + | |
| − | Lenkerstellung = Lenkvorgabe * Sdummy1
| + | |
| − | Else
| + | |
| − | If Lenkvorgabe < 0 Then
| + | |
| − | Lenkerstellung = Lenkvorgabe + 3
| + | |
| − | Else
| + | |
| − | Lenkerstellung = Lenkvorgabe - 3
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | | + | |
| − | 'Lenkfehler berechnen und zum Stellwert hinzu.
| + | |
| − | Sdummy1 = Sig_gyro_gier
| + | |
| − | Sdummy1 = Sdummy1 / 5
| + | |
| − | Lenkfehler = Lenkerstellung - Sdummy1
| + | |
| − | Lenkfehler = Lenkfehler * Mpl_anpassung
| + | |
| − | Lenkfehler = Lenkfehler * Mvl_anpassung
| + | |
| − | | + | |
| − | Lenkstellwert = Lenkerstellung + Lenkfehler
| + | |
| − | | + | |
| − | If Lenkstellwert > Max_lenk Then Lenkstellwert = Max_lenk
| + | |
| − | If Lenkstellwert < Min_lenk Then Lenkstellwert = Min_lenk
| + | |
| − | | + | |
| − | Pwm_lenk_links = Pwm_gesamt + Lenkstellwert
| + | |
| − | Pwm_lenk_rechts = Pwm_gesamt - Lenkstellwert
| + | |
| − | | + | |
| − | If Pwm_lenk_links > 0 Then Richtung_links = 1 Else Richtung_links = 0
| + | |
| − | If Pwm_lenk_rechts > 0 Then Richtung_rechts = 1 Else Richtung_rechts = 0
| + | |
| − | | + | |
| − | Pwm_lenk_links = Abs(pwm_lenk_links)
| + | |
| − | Pwm_lenk_rechts = Abs(pwm_lenk_rechts)
| + | |
| − | | + | |
| − | If Pwm_lenk_links > Maxpwm Then Pwm_lenk_links = Maxpwm
| + | |
| − | If Pwm_lenk_rechts > Maxpwm Then Pwm_lenk_rechts = Maxpwm
| + | |
| − | | + | |
| − | If Pwm_lenk_links < Minpwm Then Pwm_lenk_links = Minpwm
| + | |
| − | If Pwm_lenk_rechts < Minpwm Then Pwm_lenk_rechts = Minpwm
| + | |
| − | | + | |
| − | Pwm_links = Pwm_lenk_links
| + | |
| − | Pwm_rechts = Pwm_lenk_rechts
| + | |
| − | '</Lenkung>
| + | |
| − | | + | |
| − | If Antriebaus = 1 Then
| + | |
| − | If Notaus = 1 Then
| + | |
| − | 'Unfalldatenschreiber: *************************************************
| + | |
| − | 'Dauert zwar Lange, macht aber nix. Bei Notaus muss nix geregelt werden.
| + | |
| − | ' call Unfalldatenschreiber
| + | |
| − | ' call Betriebsdatenschreiber
| + | |
| − | Notaus = 0
| + | |
| − | '***********************************************************************
| + | |
| − | End If
| + | |
| − | 'Auf 0 setzen was sonst geregelt wird
| + | |
| − | Richtung_links = 2 'Leerlauf
| + | |
| − | Richtung_rechts = 2 'Leerlauf
| + | |
| − | Pwm_links = 0
| + | |
| − | Pwm_rechts = 0
| + | |
| − | Pwm_gesamt = 0
| + | |
| − | Mit_acc_nick_s = 0
| + | |
| − | Lenkerstellung = 0
| + | |
| − | K_rechts = 0
| + | |
| − | K_links = 0
| + | |
| − | 'Waagerechte Positoion setzen wenn Zustand Antriebaus:
| + | |
| − | Wdummy1 = Acc_roll
| + | |
| − | Null_roll = Wdummy1 * 100
| + | |
| − | Wdummy1 = Acc_nick
| + | |
| − | Null_nick = Wdummy1 * 100
| + | |
| − | 'Mittelwert der Beschleunigungssensoren auf aktuellen Wert stellen
| + | |
| − | 'Der Mittelwert braucht sonst zu lange bis er sich eingeregelt hat
| + | |
| − | Sum_acc_roll = Acc_roll * Acc_anz
| + | |
| − | Sum_acc_nick = Acc_nick * Acc_anz
| + | |
| − | If Intcount = 0 Then T30 = 1 'Regelparameter vom Tacho anfordern
| + | |
| − | If Intcount = 50 Then T30 = 1 'Regelparameter vom Tacho anfordern
| + | |
| − | End If
| + | |
| − | | + | |
| − | '******************************************************************************
| + | |
| − | If T30 = 1 Then 'Regelparameter vom Tacho anfordern
| + | |
| − | K_links = 0
| + | |
| − | K_rechts = 0
| + | |
| − | Zeiger_meldung = 1
| + | |
| − | Bdummy1 = Udr
| + | |
| − | T30 = 0 'Damit keine alte Rückmeldung ausgewertet wird
| + | |
| − | Timeout = Timer0
| + | |
| − | Timeout = Timeout + 100
| + | |
| − | 'Anforderung an Display senden
| + | |
| − | Print Chr(255) ; Chr(0) ; Chr(0) ; Chr(255) ; Chr(13)
| + | |
| − | While Zeiger_meldung < 31
| + | |
| − | If Ucsr0a.rxc0 = 1 Then 'Warten bis ein Byte eingetroffen ist
| + | |
| − | Tachomeldung(zeiger_meldung) = Udr
| + | |
| − | Incr Zeiger_meldung
| + | |
| − | Timeout = Timer0
| + | |
| − | Timeout = Timeout + 20
| + | |
| − | End If
| + | |
| − | If Timer0 > Timeout Then
| + | |
| − | T30 = 0
| + | |
| − | Exit While 'Timeout
| + | |
| − | End If
| + | |
| − | Wend
| + | |
| − | If T30 = 13 Then 'Jetzt BCC berechnen
| + | |
| − | !lds R24,{t1}
| + | |
| − | !LDs R25,{t2}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t3}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t4}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t5}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t6}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t7}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t8}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t9}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t10}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t11}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t12}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t13}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t14}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t15}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t16}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t17}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t18}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t19}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t20}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t21}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t22}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t23}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t24}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t25}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t26}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t27}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{t28}
| + | |
| − | !add R24,R25
| + | |
| − | !STS {Bdummy1},R24
| + | |
| − | | + | |
| − | If Bdummy1 = T29 Then
| + | |
| − | P_faktor = P_tacho
| + | |
| − | I_faktor = I_tacho
| + | |
| − | D_faktor = D_tacho
| + | |
| − | Mp_faktor = Mp_tacho
| + | |
| − | Mv_faktor = Mv_tacho
| + | |
| − | Mpl_faktor = Mpl_tacho
| + | |
| − | Mvl_faktor = Mvl_tacho
| + | |
| − | Werteneu = 1
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | Else
| + | |
| − | 'Errechnete Geschwindigkeiten an Motoren Senden:
| + | |
| − | 'Rechter Motor:
| + | |
| − | If Nummotors = 2 Then
| + | |
| − | Checksum_rechts = 82
| + | |
| − | Checksum_rechts = Checksum_rechts + Richtung_rechts
| + | |
| − | Checksum_rechts = Checksum_rechts + Pwm_rechts
| + | |
| − | 'Geschwindigkeit an Motorregler senden
| + | |
| − | Bdummy1 = Udr 'Puffer leeren
| + | |
| − | 'Print Chr(82); Chr(richtung_rechts); Chr(pwm_rechts); Chr(checksum_rechts); Chr(13);
| + | |
| − | 'In Assembler geht das so:
| + | |
| − | !Ldi R24 , 82
| + | |
| − | !STS udr,R24
| + | |
| − | Warten1:
| + | |
| − | !LDS R24,UCSR0A
| + | |
| − | !BST R24,5
| + | |
| − | !Brtc warten1
| + | |
| − | !LDS R24,{Richtung_rechts}
| + | |
| − | !STS udr,R24
| + | |
| − | Warten2:
| + | |
| − | !LDS R24,UCSR0A
| + | |
| − | !BST R24,5
| + | |
| − | !Brtc warten2
| + | |
| − | !lds R24,{Pwm_rechts} 'PWM Wert
| + | |
| − | !STS udr,R24
| + | |
| − | Warten3:
| + | |
| − | !LDS R24,UCSR0A
| + | |
| − | !BST R24,5
| + | |
| − | !Brtc warten3
| + | |
| − | !LDS R24,{Checksum_rechts}
| + | |
| − | !STS udr,R24
| + | |
| − | Warten4:
| + | |
| − | !LDS R24,UCSR0A
| + | |
| − | !BST R24,5
| + | |
| − | !Brtc warten4
| + | |
| − | !LDI R24,13
| + | |
| − | !STS udr,R24
| + | |
| − | Warten5:
| + | |
| − | !LDS R24,UCSR0A
| + | |
| − | !BST R24,5
| + | |
| − | !Brtc warten5
| + | |
| − | | + | |
| − | Motormeldung(8) = 0 'Damit keine alte Rückmeldung ausgewertet wird
| + | |
| − | | + | |
| − | 'Vom Motorcontroller lesen
| + | |
| − | Timeout = Timer0
| + | |
| − | Zeiger_meldung = 1
| + | |
| − | '80 Ticks * 51,2uS pro Tick = 4mS Wartezeit auf Antwort
| + | |
| − | 'COM benötigt ca. 1,5mS für 9 Byte
| + | |
| − | Errorword.8 = 0
| + | |
| − | Timeout = Timeout + 80
| + | |
| − | While Zeiger_meldung < 9
| + | |
| − | If Ucsr0a.rxc0 = 1 Then 'Warten bis ein Byte eingetroffen ist
| + | |
| − | Motormeldung(zeiger_meldung) = Udr
| + | |
| − | Incr Zeiger_meldung
| + | |
| − | End If
| + | |
| − | If Timer0 > Timeout Then
| + | |
| − | Ende = 0
| + | |
| − | Errorword.8 = 1
| + | |
| − | Exit While 'Timeout
| + | |
| − | End If
| + | |
| − | Wend
| + | |
| − | | + | |
| − | !lds R24,{M1}
| + | |
| − | !LDs R25,{M2}
| + | |
| − | !ADD R24,R25
| + | |
| − | !LDs R25,{M3}
| + | |
| − | !ADD R24,R25
| + | |
| − | !LDs R25,{M4}
| + | |
| − | !ADD R24,R25
| + | |
| − | !LDs R25,{M5}
| + | |
| − | !ADD R24,R25
| + | |
| − | !LDs R25,{M6}
| + | |
| − | !ADD R24,R25
| + | |
| − | !STS {Bdummy1},R24
| + | |
| − | | + | |
| − | If Bdummy1 <> Checksumme Then Ende = 0
| + | |
| − | If Ende = 13 Then
| + | |
| − | U_rechts = U
| + | |
| − | I_rechts = I
| + | |
| − | K_rechts = K
| + | |
| − | Else
| + | |
| − | Incr Seriell_err_rechts
| + | |
| − | S_err = 1
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | | + | |
| − | 'Linker Motor:
| + | |
| − | Checksum_links = 76 'Adresse
| + | |
| − | Checksum_links = Checksum_links + Richtung_links
| + | |
| − | Checksum_links = Checksum_links + Pwm_links
| + | |
| − | Zeiger_meldung = 1
| + | |
| − | Bdummy1 = Udr 'Puffer leeren
| + | |
| − | 'Print Chr(76); Chr(richtung_links); Chr(pwm_links); Chr(checksum_links); Chr(13);
| + | |
| − | '>>>>>>>>>>>> Message an Motorcontroller senden <<<<<<<<<<<<<<
| + | |
| − | 'In Assembler geht das so:
| + | |
| − | !Ldi R24 , 76 'Adresse
| + | |
| − | !STS udr,R24
| + | |
| − | Warten6:
| + | |
| − | !LDS R24,UCSR0A
| + | |
| − | !BST R24,5
| + | |
| − | !Brtc warten6
| + | |
| − | !LDS R24,{Richtung_links}
| + | |
| − | !STS udr,R24
| + | |
| − | Warten7:
| + | |
| − | !LDS R24,UCSR0A
| + | |
| − | !BST R24,5
| + | |
| − | !Brtc warten7
| + | |
| − | !lds R24,{Pwm_links}
| + | |
| − | !STS udr,R24
| + | |
| − | Warten8:
| + | |
| − | !LDS R24,UCSR0A
| + | |
| − | !BST R24,5
| + | |
| − | !Brtc warten8
| + | |
| − | !LDS R24,{Checksum_links}
| + | |
| − | !STS udr,R24
| + | |
| − | Warten9:
| + | |
| − | !LDS R24,UCSR0A
| + | |
| − | !BST R24,5
| + | |
| − | !Brtc warten9
| + | |
| − | !LDI R24,13
| + | |
| − | !STS udr,R24
| + | |
| − | Warten10:
| + | |
| − | !LDS R24,UCSR0A
| + | |
| − | !BST R24,5
| + | |
| − | !Brtc warten10
| + | |
| − | Motormeldung(8) = 0 'Damit keine alte Rückmeldung ausgewertet wird
| + | |
| − | Timeout = Timer0
| + | |
| − | Timeout = Timeout + 80 'Wartezeit auf Antwort
| + | |
| − | '>>>>>>>>>>>> Message vom Motorcontroller empfangen <<<<<<<<<<<<<<
| + | |
| − | While Zeiger_meldung < 9
| + | |
| − | If Ucsr0a.rxc0 = 1 Then 'Warten bis ein Byte eingetroffen ist
| + | |
| − | Motormeldung(zeiger_meldung) = Udr
| + | |
| − | Incr Zeiger_meldung
| + | |
| − | End If
| + | |
| − | If Timer0 > Timeout Then
| + | |
| − | Ende = 0
| + | |
| − | Errorword.8 = 1
| + | |
| − | Exit While 'Timeout
| + | |
| − | End If
| + | |
| − | Wend
| + | |
| − | | + | |
| − | !lds R24,{M1}
| + | |
| − | !LDs R25,{M2}
| + | |
| − | !ADD R24,R25
| + | |
| − | !LDs R25,{M3}
| + | |
| − | !ADD R24,R25
| + | |
| − | !LDs R25,{M4}
| + | |
| − | !ADD R24,R25
| + | |
| − | !LDs R25,{M5}
| + | |
| − | !ADD R24,R25
| + | |
| − | !LDs R25,{M6}
| + | |
| − | !ADD R24,R25
| + | |
| − | !STS {Bdummy1},R24
| + | |
| − | | + | |
| − | If Bdummy1 <> Checksumme Then Ende = 0
| + | |
| − | If Ende = 13 Then
| + | |
| − | U_links = U
| + | |
| − | I_links = I
| + | |
| − | K_links = K
| + | |
| − | Else
| + | |
| − | Incr Seriell_err_links
| + | |
| − | S_err = 1
| + | |
| − | End If
| + | |
| − | If S_err = 1 Then 'Sicherheitshalber, damit der Lenkausgleich nicht überreagiert.
| + | |
| − | K_links = 0
| + | |
| − | K_rechts = 0
| + | |
| − | S_err = 0
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | | + | |
| − | If Antriebaus = 0 Then
| + | |
| − | '<Not-Aus Kriterien ermitteln>
| + | |
| − | If Mit_acc_nick > -300 Then If Mit_acc_nick < 300 Then Regelzeit = 0
| + | |
| − | Incr Regelzeit
| + | |
| − | '</Not-Aus Kriterien ermitteln>
| + | |
| − | | + | |
| − | '<Not-Aus Kriterien abprüfen>
| + | |
| − | If Regelzeit > 250 Then 'Wenn nach 2,5s waagerechte Lage nicht erreicht
| + | |
| − | Notaus = 1
| + | |
| − | Antriebaus = 1
| + | |
| − | Ugrund = Str(regelzeit)
| + | |
| − | Ugrund = "*Rz " + Ugrund
| + | |
| − | End If
| + | |
| − | Ldummyi = 4000 + Brems
| + | |
| − | If Mit_acc_nick > Ldummyi Then 'zu weit nach hinten gekippt
| + | |
| − | Notaus = 1
| + | |
| − | Antriebaus = 1
| + | |
| − | Ugrund = Str(mit_acc_nick)
| + | |
| − | Ugrund = "*Nick " + Ugrund
| + | |
| − | End If
| + | |
| − | Ldummyi = -4000 + Brems
| + | |
| − | If Mit_acc_nick < Ldummyi Then 'zu weit nach vorn gekippt
| + | |
| − | Notaus = 1
| + | |
| − | Antriebaus = 1
| + | |
| − | Ugrund = Str(mit_acc_nick)
| + | |
| − | Ugrund = "*Nick " + Ugrund
| + | |
| − | End If
| + | |
| − | If Mit_acc_roll > 5000 Then 'Lenker zu weit nach rechts
| + | |
| − | Notaus = 1
| + | |
| − | Antriebaus = 1
| + | |
| − | Ugrund = Str(mit_acc_roll)
| + | |
| − | Ugrund = "*Roll " + Ugrund
| + | |
| − | End If
| + | |
| − | If Mit_acc_roll < -5000 Then 'Lenker zu weit nach links
| + | |
| − | Notaus = 1
| + | |
| − | Antriebaus = 1
| + | |
| − | Ugrund = Str(mit_acc_roll)
| + | |
| − | Ugrund = "*Roll " + Ugrund
| + | |
| − | End If
| + | |
| − | If K_diff > 10 Then 'Plattform rotiert zu schnell
| + | |
| − | Notaus = 1
| + | |
| − | Antriebaus = 1
| + | |
| − | Ugrund = Str(k_diff)
| + | |
| − | Ugrund = "*Gier " + Ugrund
| + | |
| − | End If
| + | |
| − | If K_diff < -10 Then 'Plattform rotiert zu schnell
| + | |
| − | Notaus = 1
| + | |
| − | Antriebaus = 1
| + | |
| − | Ugrund = Str(k_diff)
| + | |
| − | Ugrund = "*Gier " + Ugrund
| + | |
| − | End If
| + | |
| − | '</Not-Aus Kriterien abprüfen>
| + | |
| − | Else
| + | |
| − | If Fusscount > 0 Then Antriebaus = 0
| + | |
| − | End If
| + | |
| − | | + | |
| − | '<Akkuspannung berechnen>
| + | |
| − | If Nummotors = 2 Then
| + | |
| − | Ugemessen = U_links + U_rechts
| + | |
| − | Shift Ugemessen , Right , 1 , Signed 'Div by 2 weil 2 Motoren
| + | |
| − | Else
| + | |
| − | Ugemessen = U_links
| + | |
| − | End If
| + | |
| − | '</Akkuspannung berechnen>
| + | |
| − | | + | |
| − | '<Gesamtstrom berechnen>
| + | |
| − | If Nummotors = 2 Then
| + | |
| − | Igemessen = I_links + I_rechts
| + | |
| − | Else
| + | |
| − | Igemessen = I_links
| + | |
| − | End If
| + | |
| − | '</Gesamtstrom berechnen>
| + | |
| − | | + | |
| − | '<verbrauchte Amperestunden berechnen>
| + | |
| − | If Igemessen > 0 Then
| + | |
| − | Summe_as_entladen = Summe_as_entladen + Igemessen 'Verbrauchte
| + | |
| − | End If
| + | |
| − | If Igemessen < 0 Then
| + | |
| − | Summe_as_laden = Summe_as_laden - Igemessen 'Rückgespeiste
| + | |
| − | End If
| + | |
| − | 'mAh aus den Amperestunden rausholen um Überläufe zu verhindern
| + | |
| − | 'Die 360000 setzen sich zusammen aus:
| + | |
| − | 'Igemessen in mA -> Faktor 1
| + | |
| − | '100 Messungen pro Sekunde -> mal 100
| + | |
| − | '1 mAh = 60 Sekunden * 60 mAsekunden -> 3600
| + | |
| − | '360000 = 1 * 100 * 3600
| + | |
| − | If Summe_as_entladen > 360000 Then
| + | |
| − | Incr Summe_mah_entladen
| + | |
| − | Summe_as_entladen = Summe_as_entladen - 360000
| + | |
| − | End If
| + | |
| − | If Summe_as_laden > 360000 Then 'Das kann passieren wenns den Berg runter geht
| + | |
| − | Incr Summe_mah_laden
| + | |
| − | Summe_as_laden = Summe_as_laden - 360000
| + | |
| − | End If
| + | |
| − | Erzeugt = Summe_mah_laden
| + | |
| − | Verbraucht = Summe_mah_entladen
| + | |
| − | Erzeugt = Erzeugt * 0.7 'Das ist der Akku-Wirkungsgrad 0.7 (0.85) bezogen auf den Stom
| + | |
| − | Verbraucht = Verbraucht - Erzeugt
| + | |
| − | Akkuinhalt = Akkukap
| + | |
| − | Akkuverbrauch = Verbraucht
| + | |
| − | Akkuprozent = Akkuverbrauch / Akkuinhalt
| + | |
| − | Akkuprozent = Akkuprozent * 1000
| + | |
| − | Akkuprozent = Int(akkuprozent)
| + | |
| − | Akkustand = Akkuprozent
| + | |
| − | '</verbrauchte As berechnen>
| + | |
| − | | + | |
| − | '<Strecke berechnen>
| + | |
| − | Kx = K_links + K_rechts
| + | |
| − | Kx = Kx / 2
| + | |
| − | Strecke = Kx * Di
| + | |
| − | Zentimeter = Zentimeter + Strecke
| + | |
| − | If Zentimeter >= 100 Then
| + | |
| − | Incr Meter
| + | |
| − | Zentimeter = Zentimeter - 100
| + | |
| − | End If
| + | |
| − | If Zentimeter < 0 Then
| + | |
| − | Decr Meter
| + | |
| − | Zentimeter = Zentimeter + 100
| + | |
| − | End If
| + | |
| − | If Meter >= 1000 Then
| + | |
| − | Incr Kilometer
| + | |
| − | Meter = Meter - 1000
| + | |
| − | End If
| + | |
| − | If Meter < 0 Then
| + | |
| − | Decr Kilometer
| + | |
| − | Meter = Meter + 1000
| + | |
| − | End If
| + | |
| − | '</Strecke berechnen>
| + | |
| − | | + | |
| − | '<Geschwindigkeit berechnen>
| + | |
| − | Kv = Kv + Kx
| + | |
| − | Kmh = Kv * Kmhfaktor
| + | |
| − | Kv = Kv * 0.75 'Bei Änderung auch den kmhfaktor neu berechnen
| + | |
| − | If Kmh > Max_v Then Max_v = Kmh
| + | |
| − | If Kmh < Min_v Then Min_v = Kmh
| + | |
| − | '</Geschwindigkeit berechnen>
| + | |
| − | | + | |
| − | If Bzeit < 500 Then Incr Bzeit
| + | |
| − | Incr Intcount
| + | |
| − | '******************************************************************************
| + | |
| − | 'ADiverse Werte werden an den Tacho geschickt. Manche für die Funktion
| + | |
| − | 'des Tachos, andere um die Steuerung zu optimieren.
| + | |
| − | '******************************************************************************
| + | |
| − | Incr Tachocount
| + | |
| − | | + | |
| − | Select Case Tachocount
| + | |
| − | Case 0
| + | |
| − | B(1) = 40 'Error Word
| + | |
| − | B(2) = Errorword1
| + | |
| − | B(3) = Errorword2
| + | |
| − | B(5) = 1
| + | |
| − | Case 1
| + | |
| − | B(1) = 1 'U
| + | |
| − | U = Ugemessen
| + | |
| − | B(2) = Motormeldung(1)
| + | |
| − | B(3) = Motormeldung(2)
| + | |
| − | B(5) = 1
| + | |
| − | Case 2
| + | |
| − | B(1) = 2 'I
| + | |
| − | I = Igemessen / 10
| + | |
| − | B(2) = Motormeldung(3)
| + | |
| − | B(3) = Motormeldung(4)
| + | |
| − | B(5) = 1
| + | |
| − | Case 3
| + | |
| − | B(1) = 3 'Km/h
| + | |
| − | B(2) = Kmhmeldung(1)
| + | |
| − | B(3) = Kmhmeldung(2)
| + | |
| − | B(5) = 1
| + | |
| − | Case 4
| + | |
| − | B(1) = 5 'Akkuprozente
| + | |
| − | B(2) = Akkumeldung(1)
| + | |
| − | B(3) = Akkumeldung(2)
| + | |
| − | B(5) = 1
| + | |
| − | Case 5
| + | |
| − | B(1) = 7 'Meter
| + | |
| − | B(2) = Metermeldung(1)
| + | |
| − | B(3) = Metermeldung(2)
| + | |
| − | B(5) = 1
| + | |
| − | Case 6
| + | |
| − | B(1) = 6 'Kilometer
| + | |
| − | B(2) = Kilometermeldung(1)
| + | |
| − | B(3) = Kilometermeldung(2)
| + | |
| − | B(5) = 1
| + | |
| − | Case 7
| + | |
| − | If Antriebaus = 0 Then
| + | |
| − | B(1) = 8 'Low
| + | |
| − | B(2) = Mit_acc_roll1
| + | |
| − | B(3) = Mit_acc_roll2
| + | |
| − | B(5) = 1
| + | |
| − | Else
| + | |
| − | B(1) = 12 'Low
| + | |
| − | B(2) = Null_roll1
| + | |
| − | B(3) = Null_roll2
| + | |
| − | B(5) = 1
| + | |
| − | End If
| + | |
| − | Case 8
| + | |
| − | If Antriebaus = 0 Then
| + | |
| − | B(1) = 9 'High
| + | |
| − | B(2) = Mit_acc_roll3
| + | |
| − | B(3) = Mit_acc_roll4
| + | |
| − | B(5) = 1
| + | |
| − | Else
| + | |
| − | B(1) = 13 'High
| + | |
| − | B(2) = Null_roll3
| + | |
| − | B(3) = Null_roll4
| + | |
| − | B(5) = 1
| + | |
| − | End If
| + | |
| − | Case 9
| + | |
| − | B(1) = 4 'Status
| + | |
| − | B(2) = Antriebaus
| + | |
| − | B(3) = Ta
| + | |
| − | B(5) = 1
| + | |
| − | Case 10
| + | |
| − | If Antriebaus = 0 Then
| + | |
| − | B(1) = 10 'acc_Nick
| + | |
| − | B(2) = Mit_acc_nick1
| + | |
| − | B(3) = Mit_acc_nick2
| + | |
| − | B(5) = 1
| + | |
| − | Else
| + | |
| − | B(1) = 14
| + | |
| − | B(2) = Null_nick1
| + | |
| − | B(3) = Null_nick2
| + | |
| − | B(5) = 1
| + | |
| − | End If
| + | |
| − | Case 11 'Nick und Roll
| + | |
| − | If Antriebaus = 0 Then
| + | |
| − | B(1) = 11 'acc_Nick
| + | |
| − | B(2) = Mit_acc_nick3
| + | |
| − | B(3) = Mit_acc_nick4
| + | |
| − | B(5) = 1
| + | |
| − | Else
| + | |
| − | B(1) = 15
| + | |
| − | B(2) = Null_nick3
| + | |
| − | B(3) = Null_nick4
| + | |
| − | B(5) = 1
| + | |
| − | End If
| + | |
| − | Case 12
| + | |
| − | B(1) = 16 'Stellwert
| + | |
| − | B(2) = Stellwert1
| + | |
| − | B(3) = Stellwert2
| + | |
| − | B(5) = 1
| + | |
| − | Case 13
| + | |
| − | B(1) = 17 'Stellwert
| + | |
| − | B(2) = Stellwert3
| + | |
| − | B(3) = Stellwert4
| + | |
| − | B(5) = 1
| + | |
| − | Case 14
| + | |
| − | Gyronick = Sig_gyro_nick
| + | |
| − | B(1) = 18 'Gyro Nick_l
| + | |
| − | B(2) = Gyronick1
| + | |
| − | B(3) = Gyronick2
| + | |
| − | B(5) = 1
| + | |
| − | Case 15
| + | |
| − | B(1) = 19 'Gyro Nick_h
| + | |
| − | B(2) = Gyronick3
| + | |
| − | B(3) = Gyronick4
| + | |
| − | B(5) = 1
| + | |
| − | Case 16
| + | |
| − | Kksum = K_sum
| + | |
| − | B(1) = 20 '??_l
| + | |
| − | B(2) = Kksum1
| + | |
| − | B(3) = Kksum2
| + | |
| − | B(5) = 1
| + | |
| − | Case 17
| + | |
| − | B(1) = 21 '??_h
| + | |
| − | B(2) = Kksum3
| + | |
| − | B(3) = Kksum4
| + | |
| − | B(5) = 1
| + | |
| − | If Antriebaus = 0 Then Tachocount = 255 'Gleich zu 0 überlaufen lassen
| + | |
| − | Case 18
| + | |
| − | B(1) = 22
| + | |
| − | B(2) = Pf1
| + | |
| − | B(3) = Pf2
| + | |
| − | B(5) = 1
| + | |
| − | Case 19
| + | |
| − | B(1) = 23
| + | |
| − | B(2) = Pf3
| + | |
| − | B(3) = Pf4
| + | |
| − | B(5) = 1
| + | |
| − | Case 20
| + | |
| − | B(1) = 24
| + | |
| − | B(2) = If1
| + | |
| − | B(3) = If2
| + | |
| − | B(5) = 1
| + | |
| − | Case 21
| + | |
| − | B(1) = 25
| + | |
| − | B(2) = If3
| + | |
| − | B(3) = If4
| + | |
| − | B(5) = 1
| + | |
| − | Case 22
| + | |
| − | B(1) = 26
| + | |
| − | B(2) = Df1
| + | |
| − | B(3) = Df2
| + | |
| − | B(5) = 1
| + | |
| − | Case 23
| + | |
| − | B(1) = 27
| + | |
| − | B(2) = Df3
| + | |
| − | B(3) = Df4
| + | |
| − | B(5) = 1
| + | |
| − | Case 24
| + | |
| − | B(1) = 28
| + | |
| − | B(2) = Mpf1
| + | |
| − | B(3) = Mpf2
| + | |
| − | B(5) = 1
| + | |
| − | Case 25
| + | |
| − | B(1) = 29
| + | |
| − | B(2) = Mpf3
| + | |
| − | B(3) = Mpf4
| + | |
| − | B(5) = 1
| + | |
| − | Case 26
| + | |
| − | B(1) = 30
| + | |
| − | B(2) = Mvf1
| + | |
| − | B(3) = Mvf2
| + | |
| − | B(5) = 1
| + | |
| − | Case 27
| + | |
| − | B(1) = 31
| + | |
| − | B(2) = Mvf3
| + | |
| − | B(3) = Mvf4
| + | |
| − | B(5) = 1
| + | |
| − | Case 28
| + | |
| − | B(1) = 32
| + | |
| − | B(2) = Mplf1
| + | |
| − | B(3) = Mplf2
| + | |
| − | B(5) = 1
| + | |
| − | Case 29
| + | |
| − | B(1) = 33
| + | |
| − | B(2) = Mplf3
| + | |
| − | B(3) = Mplf4
| + | |
| − | B(5) = 1
| + | |
| − | Case 30
| + | |
| − | B(1) = 34
| + | |
| − | B(2) = Mvlf1
| + | |
| − | B(3) = Mvlf2
| + | |
| − | B(5) = 1
| + | |
| − | Case 31
| + | |
| − | B(1) = 35
| + | |
| − | B(2) = Mvlf3
| + | |
| − | B(3) = Mvlf4
| + | |
| − | B(5) = 1
| + | |
| − | Case 32
| + | |
| − | B(1) = 36 'Port Status
| + | |
| − | B(2) = Portc
| + | |
| − | B(3) = Porta
| + | |
| − | B(5) = 1
| + | |
| − | Case 33
| + | |
| − | B(1) = 37 'Fussschalter 1
| + | |
| − | Wwert = Adc0 'Word
| + | |
| − | B(2) = Wwert1
| + | |
| − | B(3) = Wwert2
| + | |
| − | B(5) = 1
| + | |
| − | Case 34
| + | |
| − | B(1) = 38 'Fussschalter 2
| + | |
| − | Wwert = Adc1 'Word
| + | |
| − | B(2) = Wwert1
| + | |
| − | B(3) = Wwert2
| + | |
| − | B(5) = 1
| + | |
| − | Case 35
| + | |
| − | B(1) = 39 'Fussschalter gesamt
| + | |
| − | B(2) = Fussschalter
| + | |
| − | B(3) = 0
| + | |
| − | B(5) = 1
| + | |
| − | Tachocount = 255
| + | |
| − | Case Else
| + | |
| − | B(5) = 0 'Nichts ausgeben
| + | |
| − | End Select
| + | |
| − | | + | |
| − | If Intcount = 99 Then Intcount = 255
| + | |
| − | | + | |
| − | If B(5) = 1 Then
| + | |
| − | 'Checksumme berechnen
| + | |
| − | B(4) = B(1)
| + | |
| − | B(4) = B(4) + B(2)
| + | |
| − | B(4) = B(4) + B(3)
| + | |
| − | 'Print Chr(b(1)) ; Chr(b(2)) ; Chr(b(3)) ; Chr(b(4)) ; Chr(13);
| + | |
| − | 'Print geht so in Assembler:
| + | |
| − | !LDS R24,{B(1)} 'Adresse von b(1)
| + | |
| − | !STS udr,R24
| + | |
| − | Warten11:
| + | |
| − | !LDS R24,UCSR0A
| + | |
| − | !BST R24,5
| + | |
| − | !Brtc warten11
| + | |
| − | !LDS R24,{B(2)} 'Adresse von b(2)
| + | |
| − | !STS udr,R24
| + | |
| − | Warten12:
| + | |
| − | !LDS R24,UCSR0A
| + | |
| − | !BST R24,5
| + | |
| − | !Brtc warten12
| + | |
| − | !lds R24,{B(3)} 'Adresse von B(3)
| + | |
| − | !STS udr,R24
| + | |
| − | Warten13:
| + | |
| − | !LDS R24,UCSR0A
| + | |
| − | !BST R24,5
| + | |
| − | !Brtc warten13
| + | |
| − | !LDS R24,{B(4)} 'Adresse von B(4)
| + | |
| − | !STS udr,R24
| + | |
| − | Warten14:
| + | |
| − | !LDS R24,UCSR0A
| + | |
| − | !BST R24,5
| + | |
| − | !Brtc warten14
| + | |
| − | !LDI R24,13 'CR
| + | |
| − | !STS udr,R24
| + | |
| − | Warten15:
| + | |
| − | !LDS R24,UCSR0A
| + | |
| − | !BST R24,5
| + | |
| − | !Brtc warten15
| + | |
| − | | + | |
| − | Ta = Timer0 'Um festzustellen ob der Interrupt zu lange dauert
| + | |
| − | 'Wenn Ja, ist der Zählwert nahe 255
| + | |
| − | End If
| + | |
| − | Return
| + | |
| − | | + | |
| − | Sub Flashled(byval Which As Byte , Byval Dauer_ms As Byte)
| + | |
| − | Dim Done As Byte
| + | |
| − | Dim Waitstarttime As Byte
| + | |
| − | Dim Xx As Byte
| + | |
| − | | + | |
| − | Select Case Which
| + | |
| − | Case 0 'Both
| + | |
| − | Led1 = 1
| + | |
| − | Led2 = 1
| + | |
| − | Waitms Dauer_ms
| + | |
| − | Led1 = 0
| + | |
| − | Led2 = 0
| + | |
| − | Waitms Dauer_ms
| + | |
| − | Case 1 'LED1
| + | |
| − | Led1 = 1
| + | |
| − | Waitms Dauer_ms
| + | |
| − | Led1 = 0
| + | |
| − | Waitms Dauer_ms
| + | |
| − | Case 2 'LED2
| + | |
| − | Led2 = 1
| + | |
| − | Waitms Dauer_ms
| + | |
| − | Led2 = 0
| + | |
| − | Waitms Dauer_ms
| + | |
| − | End Select
| + | |
| − | End Sub
| + | |
| − | | + | |
| − | Readfussschalter:
| + | |
| − | Adc0 = Getadc(0)
| + | |
| − | If Adc0 > Fussschalterschwelle Then
| + | |
| − | Fussschalter.0 = 1
| + | |
| − | Else
| + | |
| − | Fussschalter.0 = 0
| + | |
| − | End If
| + | |
| − | | + | |
| − | Adc1 = Getadc(1)
| + | |
| − | If Adc1 > Fussschalterschwelle Then
| + | |
| − | Fussschalter.1 = 1
| + | |
| − | Else
| + | |
| − | Fussschalter.1 = 0
| + | |
| − | End If
| + | |
| − | | + | |
| − | If Fussschalter = 0 Then 'Max 0.5 Sekunden ohne Fussschalter
| + | |
| − | If Fusscount > 0 Then Decr Fusscount
| + | |
| − | Else
| + | |
| − | Fusscount = 50 'alles OK
| + | |
| − | End If
| + | |
| − | | + | |
| − | If Fusscount = 0 Then
| + | |
| − | If Antriebaus = 0 Then
| + | |
| − | Antriebaus = 1
| + | |
| − | Waitms 100 'Damit der Regel_interrupt auch was davon mitbekommt
| + | |
| − | 'Disable Interrupts
| + | |
| − | 'Betriebsdatenschreiber
| + | |
| − | 'Enable Interrupts
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | Return
| + | |
| − | | + | |
| − | Read_gyro: 'Beschleunigung
| + | |
| − | I2cstart
| + | |
| − | I2cwbyte Gyroadress_w
| + | |
| − | 'Start address for Read
| + | |
| − | I2cwbyte &B10101000 'Out_x_l AND &B10000000
| + | |
| − | I2cstart
| + | |
| − | I2cwbyte Gyroadress_r
| + | |
| − | 'I2crbyte Temperatur , Ack
| + | |
| − | 'I2crbyte Status , Ack
| + | |
| − | | + | |
| − | I2crbyte Gyro_roll1 , Ack
| + | |
| − | I2crbyte Gyro_roll2 , Ack
| + | |
| − | | + | |
| − | I2crbyte Gyro_nick1 , Ack
| + | |
| − | I2crbyte Gyro_nick2 , Ack
| + | |
| − | | + | |
| − | I2crbyte Gyro_gier1 , Ack
| + | |
| − | I2crbyte Gyro_gier2 , Nack
| + | |
| − | I2cstop
| + | |
| − | Return
| + | |
| − | | + | |
| − | Read_acc: 'Neigung
| + | |
| − | I2cstart
| + | |
| − | I2cwbyte Accadress_w
| + | |
| − | 'Start address for Read
| + | |
| − | I2cwbyte &B10101000 'Out_x_l_a AND &B10000000
| + | |
| − | I2cstart
| + | |
| − | I2cwbyte Accadress_r
| + | |
| − | | + | |
| − | 'I2crbyte Status_a , Ack
| + | |
| − | | + | |
| − | I2crbyte Accroll_l , Ack
| + | |
| − | I2crbyte Accroll_h , Ack
| + | |
| − | Acc_roll = Accroll
| + | |
| − | Acc_roll = Acc_roll / 2 'Divisor = Empfindlichkeit
| + | |
| − | | + | |
| − | I2crbyte Accnick_l , Ack
| + | |
| − | I2crbyte Accnick_h , Ack
| + | |
| − | Acc_nick = Accnick
| + | |
| − | Acc_nick = Acc_nick / 10 'Divisor = Empfindlichkeit
| + | |
| − | | + | |
| − | I2crbyte Accgier_l , Ack
| + | |
| − | I2crbyte Accgier_h , Nack
| + | |
| − | Acc_gier = Accgier
| + | |
| − | Acc_gier = Acc_gier / 10 'Divisor = Empfindlichkeit
| + | |
| − | I2cstop
| + | |
| − | Return
| + | |
| − | | + | |
| − | 'Get_mag_data:
| + | |
| − | ' Slaveadress = Magadress
| + | |
| − | ' Subadress = Out_x_h_m
| + | |
| − | ' Gosub Read_6_mag
| + | |
| − | | + | |
| − | ' Xmag = Dataarray(1)
| + | |
| − | ' Shift Xmag , Left , 8
| + | |
| − | ' Xmag = Xmag + Dataarray(2)
| + | |
| − | | + | |
| − | ' Ymag = Dataarray(3)
| + | |
| − | ' Shift Ymag , Left , 8
| + | |
| − | ' Ymag = Ymag + Dataarray(4)
| + | |
| − | | + | |
| − | ' Zmag = Dataarray(5)
| + | |
| − | ' Shift Zmag , Left , 8
| + | |
| − | ' Zmag = Zmag + Dataarray(6)
| + | |
| − | | + | |
| − | ' Xmag = Xmag - Xmagoff
| + | |
| − | ' Ymag = Ymag - Ymagoff
| + | |
| − | 'Return
| + | |
| − | | + | |
| − | Init_gyro:
| + | |
| − | 'refer to MiniMu9 L3G4200D_Gyro.pdf, page 29
| + | |
| − | Slaveadress = Gyroadress_w
| + | |
| − | Subadress = Ctrl_reg1
| + | |
| − | '01 ==> 200Hz
| + | |
| − | ' 11 ==> Bandwidth = 70
| + | |
| − | ' 0 ==> Power Down Mode
| + | |
| − | ' 1 ==> Z-Axis enable
| + | |
| − | ' 1 ==> Y-Axis enable
| + | |
| − | ' 1 ==> X-Axis enable
| + | |
| − | Databyte = &B00001111 'Enable x, y, z and turn off power down
| + | |
| − | I2cstart
| + | |
| − | I2cwbyte Slaveadress
| + | |
| − | I2cwbyte Subadress
| + | |
| − | I2cwbyte Databyte
| + | |
| − | I2cstop
| + | |
| − | Subadress = Ctrl_reg2
| + | |
| − | | + | |
| − | Databyte = &B0010_1001 'adjust/use the HPF
| + | |
| − | I2cstart
| + | |
| − | I2cwbyte Slaveadress
| + | |
| − | I2cwbyte Subadress
| + | |
| − | I2cwbyte Databyte
| + | |
| − | I2cstop
| + | |
| − | | + | |
| − | Subadress = Ctrl_reg3
| + | |
| − | Databyte = &B0000_1000
| + | |
| − | I2cstart
| + | |
| − | I2cwbyte Slaveadress
| + | |
| − | I2cwbyte Subadress
| + | |
| − | I2cwbyte Databyte
| + | |
| − | I2cstop
| + | |
| − | | + | |
| − | Subadress = Ctrl_reg4
| + | |
| − | '1 ==> Block Data Update
| + | |
| − | ' 0 ==> BLE
| + | |
| − | ' 00 ==> 250 dps
| + | |
| − | ' 0 ==> not used
| + | |
| − | ' 00 ==> Self Test 0=Normal Mode
| + | |
| − | ' 0 ==> SIM 0=4-wire interface
| + | |
| − | Databyte = &B10000000
| + | |
| − | I2cstart
| + | |
| − | I2cwbyte Slaveadress
| + | |
| − | I2cwbyte Subadress
| + | |
| − | I2cwbyte Databyte
| + | |
| − | I2cstop
| + | |
| − | | + | |
| − | Subadress = Ctrl_reg5
| + | |
| − | Databyte = &B0000_0000 'high-pass filtering of outputs
| + | |
| − | I2cstart
| + | |
| − | I2cwbyte Slaveadress
| + | |
| − | I2cwbyte Subadress
| + | |
| − | I2cwbyte Databyte
| + | |
| − | I2cstop
| + | |
| − | Return
| + | |
| − | | + | |
| − | Init_acc:
| + | |
| − | Slaveadress = Accadress_w
| + | |
| − | Subadress = Ctrl_reg1_a
| + | |
| − | '001 ==> Normal Mode
| + | |
| − | ' 01 ==> 100Hz, Bandwith=74
| + | |
| − | ' 1 ==> Z-Axis enable
| + | |
| − | ' 1 ==> Y-Axis enable
| + | |
| − | ' 1 ==> X-Axis enable
| + | |
| − | Databyte = &B00101111
| + | |
| − | I2cstart
| + | |
| − | I2cwbyte Slaveadress
| + | |
| − | I2cwbyte Subadress
| + | |
| − | I2cwbyte Databyte
| + | |
| − | I2cstop
| + | |
| − | | + | |
| − | Slaveadress = Accadress_w
| + | |
| − | Subadress = Ctrl_reg4_a
| + | |
| − | '1 ==> Continuous, update when finished
| + | |
| − | ' 0 ==> BLE
| + | |
| − | ' 00 ==> FSE = 2g
| + | |
| − | ' 0 ==> Self Test Sign
| + | |
| − | ' 0 ==> not used
| + | |
| − | ' 0 ==> Self Test Enable
| + | |
| − | ' 0 ==> not used
| + | |
| − | Databyte = &B10000000 'Block Data Update, LSB low, Scale +-2g
| + | |
| − | I2cstart
| + | |
| − | I2cwbyte Slaveadress
| + | |
| − | I2cwbyte Subadress
| + | |
| − | I2cwbyte Databyte
| + | |
| − | I2cstop
| + | |
| − | Return
| + | |
| − | | + | |
| − | 'Init_mag:
| + | |
| − | ' Slaveadress = Magadress
| + | |
| − | ' Subadress = Cra_reg_m
| + | |
| − | ' Databyte = &B00011000 '75Hz Output
| + | |
| − | ' I2cstart
| + | |
| − | ' I2cwbyte Slaveadress
| + | |
| − | ' I2cwbyte Subadress
| + | |
| − | ' I2cwbyte Databyte
| + | |
| − | ' I2cstop
| + | |
| − | | + | |
| − | ' Slaveadress = Magadress
| + | |
| − | ' Subadress = Crb_reg_m
| + | |
| − | ' Databyte = &B01000000 'range +-1.9Gauss
| + | |
| − | ' I2cstart
| + | |
| − | ' I2cwbyte Slaveadress
| + | |
| − | ' I2cwbyte Subadress
| + | |
| − | ' I2cwbyte Databyte
| + | |
| − | ' I2cstop
| + | |
| − | | + | |
| − | ' Slaveadress = Magadress
| + | |
| − | ' Subadress = Mr_reg_m
| + | |
| − | ' Databyte = &B00000000 'continious mode
| + | |
| − | ' I2cstart
| + | |
| − | ' I2cwbyte Slaveadress
| + | |
| − | ' I2cwbyte Subadress
| + | |
| − | ' I2cwbyte Databyte
| + | |
| − | ' I2cstop
| + | |
| − | 'Return
| + | |
| − | | + | |
| − | Sub Resetdata
| + | |
| − | Disable Interrupts
| + | |
| − | Regelzeit = 0
| + | |
| − | Regelzeitmax = 0
| + | |
| − | Mit_acc_nick_max = 0
| + | |
| − | Mit_acc_roll_max = 0
| + | |
| − | Mit_acc_nick_min = 0
| + | |
| − | Mit_acc_roll_min = 0
| + | |
| − | Pwm_rechts_max = 0
| + | |
| − | Pwm_links_max = 0
| + | |
| − | Seriell_err_rechts = 0
| + | |
| − | Seriell_err_links = 0
| + | |
| − | K_diff_min = 0
| + | |
| − | K_diff_max = 0
| + | |
| − | Antriebaus = 0
| + | |
| − | Fusscount = 50 '0,5 Sekunden
| + | |
| − | Enable Interrupts
| + | |
| − | End Sub
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | '''Display3000.bas (BASCOM)'''
| + | |
| − | <pre>
| + | |
| − | | + | |
| − | '****************Listrik01 LCD Display Steuerung Version 01 *****************
| + | |
| − | $hwstack = 256
| + | |
| − | $swstack = 256
| + | |
| − | $framesize = 64
| + | |
| − | $regfile = "m2561def.dat"
| + | |
| − | $crystal = 16000000 'microcontroller crystal frequency
| + | |
| − | $baud1 = 57600
| + | |
| − | | + | |
| − | '(start block comment
| + | |
| − | ---------------------
| + | |
| − | | |
| + | |
| − | | --------------- |
| + | |
| − | | | | |
| + | |
| − | | | | |
| + | |
| − | | | | |
| + | |
| − | | | | |
| + | |
| − | | | | |
| + | |
| − | | | | |
| + | |
| − | | | | |
| + | |
| − | | | | | Port D.0 = Tageskilometerzähler Reset
| + | |
| − | | | | |
| + | |
| − | | | | |
| + | |
| − | | | --------------| | Display:
| + | |
| − | | | 1| 2| |3| | 1 = Zyklusdauer (0..255)
| + | |
| − | | --------------- | 2 = Motorleistung links
| + | |
| − | | | 3 = Motorleistung rechts
| + | |
| − | | |
| + | |
| − | | O1 O2 |
| + | |
| − | | O5 | Taster:
| + | |
| − | | | 1: PinD.7 Edit: Zeile abwärts
| + | |
| − | | O7 O8 | 2: PinD.4 Edit: Zeile aufwärts
| + | |
| − | | | 3: PinE.5 Blättern
| + | |
| − | | O6 | 4: PinE.7 SD-Karte aktivieren
| + | |
| − | | O3 O4 | 5: PinG.0 Edit: Werte übernehmen
| + | |
| − | | | 6: PinG.3 unbenutzt
| + | |
| − | | | 7: PinG.1 Edit: Zahl kleiner
| + | |
| − | | | 8: PinD.5 Edit: Zahl größer
| + | |
| − | | | 9: Cpu Reset
| + | |
| − | | |
| + | |
| − | | | Extern1: PinD.0 Reset Tageskilometerzähler (J3 zu, interner Pullup)
| + | |
| − | | O9 | Extern1: PinD.1 unbenutzt (J3 zu, interner Pullup)
| + | |
| − | ---------------------
| + | |
| − | ')end block comment
| + | |
| − | | + | |
| − | '####################### LCD-Routines ######################################
| + | |
| − | | + | |
| − | 'Definition of used ports and pull up resistors.
| + | |
| − | 'We are using Port B for the SPI-communication to the LCD Display.
| + | |
| − | | + | |
| − | Ddra = &B00000000 'switch all 8 Ports of Port A to input (0),
| + | |
| − | 'Pin (PA.0 - PA.7)
| + | |
| − | Porta = &B11111111 'All port pins have individually selectable pull-up
| + | |
| − | 'resistors. Here we enable these pull-up-resisitors,
| + | |
| − | 'so these Pins are always at logical 1
| + | |
| − | 'You Need To Pull These Pins Against Ground(gnd)
| + | |
| − | | + | |
| − | 'Select Port B as to an output port (data output to the display)
| + | |
| − | Ddrb = &B01110110 'DDR = Data direction register; Port B1, B2, B4, B5, B6
| + | |
| − | 'switched to output (1) as needed by the display
| + | |
| − | Portb = &B10001001 'the other ports of Port B are inputs with
| + | |
| − | 'switched on pull up resistors
| + | |
| − | | + | |
| − | Ddrc = &B00000000 'switch all Ports of Port C to input
| + | |
| − | Portc = &B11111111 'all pull-up-Resistors turned on
| + | |
| − | | + | |
| − | Ddrd = &B00000000 'switchall Ports of Port D to input
| + | |
| − | Portd = &B11110011 'almost all pull-up-Resistors turned on
| + | |
| − | | + | |
| − | Ddre = &B10000000 'E7=Output (SD card activate), all other Input
| + | |
| − | Porte = &B11111111 'all pull-up-Resistors turned on
| + | |
| − | | + | |
| − | Ddrf = &B00000000 'switch all Ports of Port F to input
| + | |
| − | Portf = &B11111111 'all pull-up-Resistors turned on
| + | |
| − | | + | |
| − | Ddrg = &B00000000 'switch all Ports of Port G to input
| + | |
| − | Portg = &B11111111 'all pull-up-Resistors turned on
| + | |
| − | '#############################################################################
| + | |
| − | | + | |
| − | Declare Sub Activate_display_bus
| + | |
| − | Declare Sub Activate_sd_bus()
| + | |
| − | Declare Sub Minmax()
| + | |
| − | Declare Function Trimtext(t As String) As String * 22
| + | |
| − | Declare Sub Drawpagestatics
| + | |
| − | | + | |
| − | Const Titel = "Tacho 0.1 "
| + | |
| − | | + | |
| − | Dim Ep0 As Byte At $0201
| + | |
| − | Dim Ep1 As Byte At $0202
| + | |
| − | Dim Ep2 As Byte At $0203
| + | |
| − | Dim Ep3 As Byte At $0204
| + | |
| − | Dim Ep4 As Byte At $0205
| + | |
| − | Dim Ep5 As Byte At $0206
| + | |
| − | Dim Iwert As Integer At $0203 Overlay
| + | |
| − | Dim Wwert As Integer At $0203 Overlay
| + | |
| − | Dim Index As Byte At $202 Overlay
| + | |
| − | | + | |
| − | Dim Maccx As Long At $0207
| + | |
| − | Dim Maccx1 As Byte At $0207 Overlay
| + | |
| − | Dim Maccx2 As Byte At $0208 Overlay
| + | |
| − | Dim Maccx3 As Byte At $0209 Overlay
| + | |
| − | Dim Maccx4 As Byte At $020a Overlay
| + | |
| − | Dim Maccy As Long At $020b
| + | |
| − | Dim Maccy1 As Byte At $020b Overlay
| + | |
| − | Dim Maccy2 As Byte At $020c Overlay
| + | |
| − | Dim Maccy3 As Byte At $020d Overlay
| + | |
| − | Dim Maccy4 As Byte At $020e Overlay
| + | |
| − | | + | |
| − | Dim Nullx As Long At $020f
| + | |
| − | Dim Nullx1 As Byte At $020f Overlay
| + | |
| − | Dim Nullx2 As Byte At $0210 Overlay
| + | |
| − | Dim Nullx3 As Byte At $0211 Overlay
| + | |
| − | Dim Nullx4 As Byte At $0212 Overlay
| + | |
| − | Dim Nully As Long At $0213
| + | |
| − | Dim Nully1 As Byte At $0213 Overlay
| + | |
| − | Dim Nully2 As Byte At $0214 Overlay
| + | |
| − | Dim Nully3 As Byte At $0215 Overlay
| + | |
| − | Dim Nully4 As Byte At $0216 Overlay
| + | |
| − | Dim Sw As Single At $00217
| + | |
| − | | + | |
| − | Dim Sw1 As Byte At $0217 Overlay
| + | |
| − | Dim Sw2 As Byte At $0218 Overlay
| + | |
| − | Dim Sw3 As Byte At $0219 Overlay
| + | |
| − | Dim Sw4 As Byte At $021a Overlay
| + | |
| − | | + | |
| − | Dim Gyronick As Long At $0021b
| + | |
| − | Dim Gyronick1 As Byte At $021b Overlay
| + | |
| − | Dim Gyronick2 As Byte At $021c Overlay
| + | |
| − | Dim Gyronick3 As Byte At $021d Overlay
| + | |
| − | Dim Gyronick4 As Byte At $021e Overlay
| + | |
| − | | + | |
| − | Dim Kksum As Single At $0021f
| + | |
| − | Dim Kksum1 As Byte At $021f Overlay
| + | |
| − | Dim Kksum2 As Byte At $0220 Overlay
| + | |
| − | Dim Kksum3 As Byte At $0221 Overlay
| + | |
| − | Dim Kksum4 As Byte At $0222 Overlay
| + | |
| − | | + | |
| − | Dim P_faktor As Single At $0223
| + | |
| − | Dim P_f1 As Byte At $0223 Overlay
| + | |
| − | Dim P_f2 As Byte At $0224 Overlay
| + | |
| − | Dim P_f3 As Byte At $0225 Overlay
| + | |
| − | Dim P_f4 As Byte At $0226 Overlay
| + | |
| − | | + | |
| − | Dim I_faktor As Single At $0227
| + | |
| − | Dim I_f1 As Byte At $0227 Overlay
| + | |
| − | Dim I_f2 As Byte At $0228 Overlay
| + | |
| − | Dim I_f3 As Byte At $0229 Overlay
| + | |
| − | Dim I_f4 As Byte At $022a Overlay
| + | |
| − | | + | |
| − | Dim D_faktor As Single At $022b
| + | |
| − | Dim D_f1 As Byte At $022b Overlay
| + | |
| − | Dim D_f2 As Byte At $022c Overlay
| + | |
| − | Dim D_f3 As Byte At $022d Overlay
| + | |
| − | Dim D_f4 As Byte At $022e Overlay
| + | |
| − | | + | |
| − | Dim Mp_faktor As Single At $022f
| + | |
| − | Dim Mp_f1 As Byte At $022f Overlay
| + | |
| − | Dim Mp_f2 As Byte At $0230 Overlay
| + | |
| − | Dim Mp_f3 As Byte At $0231 Overlay
| + | |
| − | Dim Mp_f4 As Byte At $0232 Overlay
| + | |
| − | | + | |
| − | Dim Mv_faktor As Single At $0233
| + | |
| − | Dim Mv_f1 As Byte At $0233 Overlay
| + | |
| − | Dim Mv_f2 As Byte At $0234 Overlay
| + | |
| − | Dim Mv_f3 As Byte At $0235 Overlay
| + | |
| − | Dim Mv_f4 As Byte At $0236 Overlay
| + | |
| − | | + | |
| − | Dim Mpl_faktor As Single At $0237
| + | |
| − | Dim Mpl_f1 As Byte At $0237 Overlay
| + | |
| − | Dim Mpl_f2 As Byte At $0238 Overlay
| + | |
| − | Dim Mpl_f3 As Byte At $0239 Overlay
| + | |
| − | Dim Mpl_f4 As Byte At $023a Overlay
| + | |
| − | | + | |
| − | Dim Mvl_faktor As Single At $023b
| + | |
| − | Dim Mvl_f1 As Byte At $023b Overlay
| + | |
| − | Dim Mvl_f2 As Byte At $023c Overlay
| + | |
| − | Dim Mvl_f3 As Byte At $023d Overlay
| + | |
| − | Dim Mvl_f4 As Byte At $023e Overlay
| + | |
| − | | + | |
| − | Dim Pfaktor As Long
| + | |
| − | Dim Ifaktor As Long
| + | |
| − | Dim Dfaktor As Long
| + | |
| − | Dim Mpfaktor As Long
| + | |
| − | Dim Mvfaktor As Long
| + | |
| − | Dim Mplfaktor As Long
| + | |
| − | Dim Mvlfaktor As Long
| + | |
| − | | + | |
| − | Dim Stellwert As Single
| + | |
| − | Dim Gyro_nick As Long
| + | |
| − | Dim Null_y As Long
| + | |
| − | Dim Null_x As Long
| + | |
| − | Dim Mit_acc_y As Long
| + | |
| − | Dim Mit_acc_x As Long
| + | |
| − | Dim K_sum As Single
| + | |
| − | Dim K_summax As Single
| + | |
| − | Dim K_summin As Single
| + | |
| − | | + | |
| − | Dim Bdummy As Byte
| + | |
| − | Dim Singdummy As Single
| + | |
| − | Dim Wdummy As Word
| + | |
| − | Dim Ldummy As Long
| + | |
| − | Dim Idummy As Integer
| + | |
| − | Dim Kilometer As Word
| + | |
| − | Dim Meter As Integer
| + | |
| − | Dim Akkuprozente As Integer
| + | |
| − | Dim Kmh As Integer
| + | |
| − | Dim Kmhmax As Integer
| + | |
| − | Dim Kmhmin As Integer
| + | |
| − | | + | |
| − | Dim I As Integer
| + | |
| − | Dim Imax As Integer
| + | |
| − | Dim Imin As Integer
| + | |
| − | | + | |
| − | Dim U As Integer
| + | |
| − | Dim Umax As Integer
| + | |
| − | Dim Umin As Integer
| + | |
| − | Dim Ml As Integer
| + | |
| − | Dim Mlmax As Integer
| + | |
| − | Dim Mrmax As Integer
| + | |
| − | Dim Mr As Integer
| + | |
| − | Dim Mlmin As Integer
| + | |
| − | Dim Mrmin As Integer
| + | |
| − | Dim Modus As Byte
| + | |
| − | Dim Editzeile As Byte
| + | |
| − | Dim Utext As String * 22
| + | |
| − | Dim Itext As String * 22
| + | |
| − | Dim Ltext As String * 22
| + | |
| − | Dim L1 As Byte
| + | |
| − | Dim L2 As Byte
| + | |
| − | Dim L3 As Byte
| + | |
| − | Dim Text As String * 22
| + | |
| − | Dim Farbe As Word
| + | |
| − | Dim X1 As Byte
| + | |
| − | Dim Y1 As Byte
| + | |
| − | Dim X2 As Byte
| + | |
| − | Dim Y2 As Byte
| + | |
| − | Dim Startkilometer As Single
| + | |
| − | Dim Ta As Byte
| + | |
| − | Dim Tamax As Byte
| + | |
| − | | + | |
| − | Dim Antriebaus As Byte
| + | |
| − | | + | |
| − | Dim Xoffset As Long
| + | |
| − | Dim Yoffset As Long
| + | |
| − | Dim Ya As Byte
| + | |
| − | Dim Xa As Byte
| + | |
| − | | + | |
| − | Dim Lname As Long
| + | |
| − | Dim Dateiname As String * 12
| + | |
| − | Dim Dateilaenge As Long
| + | |
| − | Dim Dateiaktuell As Byte
| + | |
| − | Dim Gbdriveerror As Byte
| + | |
| − | Dim Ulog As Single
| + | |
| − | Dim Ilog As Single
| + | |
| − | Dim Kmhlog As Single
| + | |
| − | Dim Kmlog As Single
| + | |
| − | Dim Akkuprozentelog As Single
| + | |
| − | Dim Loopcount As Word
| + | |
| − | Dim Aloopcount As Word
| + | |
| − | Dim Logtext As String * 255
| + | |
| − | Dim Zeit As String * 8
| + | |
| − | Dim Sichern As Byte
| + | |
| − | Dim Transferok As Byte
| + | |
| − | | + | |
| − | Dim Hexstr As String * 2
| + | |
| − | | + | |
| − | Dim Hauptstportc As Byte
| + | |
| − | Dim Hauptstporta As Byte
| + | |
| − | Dim Ad0 As Word 'AD value 0...1024
| + | |
| − | Dim Ad1 As Word 'AD value 0...1024
| + | |
| − | Dim Fussschalter As Byte 'Bit0 und Bit1
| + | |
| − | Dim Dummybyte As Byte
| + | |
| − | | + | |
| − | Config Clock = User
| + | |
| − | Config Date = Dmy , Separator = .
| + | |
| − | | + | |
| − | 'No need to call here because Init21_display3000.bas has already done this
| + | |
| − | Call Activate_display_bus
| + | |
| − | | + | |
| − | $include "Y:\Programme\Tools\BASCOM-AVR\Display 3000\Displaymodul\Bascom Programme\für Include\Init21_display3000.bas"
| + | |
| − | | + | |
| − | 'If Porte.7 = 0 Then Activate_sd_bus
| + | |
| − | 'Gbdriveerror = Driveinit() 'Init MMC/SD Card
| + | |
| − | 'If Gbdriveerror = 0 Then
| + | |
| − | ' Include AVR-DOS Configuration and library
| + | |
| − | ' $include "Y:\Programme\Tools\BASCOM-AVR\Display 3000\SD Speicherkartenmodul P001\Bascom Basic\Config_AVR-DOS.BAS"
| + | |
| − | ' Bdummy = Initfilesystem(1) ' Partition 1
| + | |
| − | ' Ldummy = Disksize()
| + | |
| − | ' Ldummy = Ldummy / 1024
| + | |
| − | ' Utext = Str(ldummy)
| + | |
| − | ' Utext = "Size: " + Utext
| + | |
| − | ' Utext = Utext + " mb"
| + | |
| − | ' Ldummy = Diskfree()
| + | |
| − | ' Ldummy = Ldummy / 1024
| + | |
| − | ' Itext = Str(ldummy)
| + | |
| − | ' Itext = "Free: " + Itext
| + | |
| − | ' Itext = Itext + " mb"
| + | |
| − | ' If Porte.7 = 1 Then call Activate_display_bus
| + | |
| − | ' gosub Lcd_cls
| + | |
| − | ' call Lcd_print(Titel , 0 , 0 , 1 , 1 , 1 , Yellow , Blue)
| + | |
| − | ' call Lcd_print ("SD-Karte init" , 0 , 18 , 1 , 1 , 1 , Black , White)
| + | |
| − | ' call Lcd_print (Utext , 0 , 27 , 1 , 1 , 1 , Black , White)
| + | |
| − | ' Lcd_print Itext , 0 , 36 , 1 , 1 , 1 , Black , White
| + | |
| − | ' Wait 7
| + | |
| − | ' Else
| + | |
| − | ' If Porte.7 = 1 Then call Activate_display_bus
| + | |
| − | ' Ltext = Str(gbdriveerror)
| + | |
| − | ' Ltext = "Fehler: " + Ltext
| + | |
| − | ' gosub Lcd_cls
| + | |
| − | ' call Lcd_print (Titel , 0 , 0 , 1 , 1 , 1 , Yellow , Blue)
| + | |
| − | ' call Lcd_print ("SD-Karte init" , 0 , 18 , 1 , 1 , 1 , Black , White)
| + | |
| − | ' call Lcd_print (Ltext , 0 , 27 , 1 , 1 , 1 , Black , White)
| + | |
| − | ' Wait 7
| + | |
| − | ' End If
| + | |
| − | | + | |
| − | Readeeprom Startkilometer , 1
| + | |
| − | Readeeprom Xoffset , 5
| + | |
| − | Readeeprom Yoffset , 9
| + | |
| − | | + | |
| − | 'Einige Werte vorbelegen um fehlerhafte Grafik zu vermeiden falls keine
| + | |
| − | 'serielle Verbindung besteht
| + | |
| − | Xa = 74
| + | |
| − | Ya = 130
| + | |
| − | Antriebaus = 1
| + | |
| − | Null_x = Xoffset
| + | |
| − | Null_y = Yoffset
| + | |
| − | | + | |
| − | 'If Porte.7 = 1 Then call Activate_display_bus
| + | |
| − | Orientation = Portrait180 'landscape mode
| + | |
| − | Graphics_mode = 65k_uncompressed 'select the needed color mode, here 65.536 colors
| + | |
| − | Call Lcd_cls
| + | |
| − | | + | |
| − | Call Drawpagestatics
| + | |
| − | | + | |
| − | Config Timer2 = Timer , Prescale = 128
| + | |
| − | Assr.exclk = 0
| + | |
| − | Assr.as2 = 1
| + | |
| − | | + | |
| − | On Timer2 Tick
| + | |
| − | Enable Timer2
| + | |
| − | Start Timer2
| + | |
| − | | + | |
| − | On Urxc1 Datenempfang
| + | |
| − | Enable Urxc1
| + | |
| − | Enable Interrupts
| + | |
| − | Minmax
| + | |
| − | Do
| + | |
| − | If Pine.5 = 0 Then
| + | |
| − | While Pine.5 = 0 : Wend 'Debounce Button
| + | |
| − | Incr Modus
| + | |
| − | If Gbdriveerror <> 0 Then 'Logging nicht zulassen wenn DriveError
| + | |
| − | If Modus > 3 Then
| + | |
| − | Modus = 0
| + | |
| − | End If
| + | |
| − | Else
| + | |
| − | If Modus > 4 Then
| + | |
| − | Modus = 0
| + | |
| − | End If
| + | |
| − | end If
| + | |
| − | | + | |
| − | If Modus <> 3 Then 'nur berechnen wenn die Werte nicht editiert werden
| + | |
| − | Singdummy = P_faktor * 10000
| + | |
| − | Singdummy = Round(Singdummy)
| + | |
| − | Pfaktor = Singdummy
| + | |
| − | | + | |
| − | Singdummy = I_faktor * 1000000
| + | |
| − | Singdummy = Round(Singdummy)
| + | |
| − | Ifaktor = Singdummy
| + | |
| − | | + | |
| − | Singdummy = D_faktor * 1000
| + | |
| − | Singdummy = Round(Singdummy)
| + | |
| − | Dfaktor = Singdummy
| + | |
| − | | + | |
| − | Singdummy = Mp_faktor * 10000
| + | |
| − | Singdummy = Round(Singdummy)
| + | |
| − | Mpfaktor = Singdummy
| + | |
| − | | + | |
| − | Singdummy = Mv_faktor * 1000
| + | |
| − | Singdummy = Round(Singdummy)
| + | |
| − | Mvfaktor = Singdummy
| + | |
| − | | + | |
| − | Singdummy = Mpl_faktor * 10000
| + | |
| − | Singdummy = Round(Singdummy)
| + | |
| − | Mplfaktor = Singdummy
| + | |
| − | | + | |
| − | Singdummy = Mvl_faktor * 1000
| + | |
| − | Singdummy = Round(Singdummy)
| + | |
| − | Mvlfaktor = Singdummy
| + | |
| − | End If
| + | |
| − | | + | |
| − | 'If Porte.7 = 1 Then call Activate_display_bus
| + | |
| − | Call Lcd_cls
| + | |
| − | Call Drawpagestatics
| + | |
| − | End If
| + | |
| − | If Modus <> 4 Then 'Nur wenn nicht geloggt wird
| + | |
| − | If U <> 0 Then 'Nur wenn auch schon eine Spannung übertragen wurde
| + | |
| − | If Ta <> 0 Then
| + | |
| − | Idummy = U 'Nur wenn auch schon ein Ta übertragen wurde
| + | |
| − | If Idummy > Umax Then Umax = Idummy
| + | |
| − | If Idummy < Umin Then Umin = Idummy
| + | |
| − | Idummy = I
| + | |
| − | If Idummy > Imax Then Imax = Idummy
| + | |
| − | If Idummy < Imin Then Imin = Idummy
| + | |
| − | Idummy = Kmh
| + | |
| − | If Idummy > Kmhmax Then Kmhmax = Idummy
| + | |
| − | If Idummy < Kmhmin Then Kmhmin = Idummy
| + | |
| − | Bdummy = Ta
| + | |
| − | If Bdummy > Tamax Then Tamax = Bdummy
| + | |
| − | Idummy = Ml
| + | |
| − | If Idummy > Mlmax Then Mlmax = Idummy
| + | |
| − | If Idummy < Mlmin Then Mlmin = Idummy
| + | |
| − | Idummy = Mr
| + | |
| − | If Idummy > Mrmax Then Mrmax = Idummy
| + | |
| − | If Idummy < Mrmin Then Mrmin = Idummy
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | | + | |
| − | Select Case Modus
| + | |
| − | Case 0
| + | |
| − | 'If Dateiaktuell = 1 Then
| + | |
| − | ' If Porte.7 = 0 Then Activate_sd_bus
| + | |
| − | ' Close #2
| + | |
| − | ' Dateiaktuell = 0
| + | |
| − | 'End If
| + | |
| − | 'If Porte.7 = 1 Then call Activate_display_bus 'Standard Anzeige
| + | |
| − | If Pind.0 = 0 Then
| + | |
| − | Waitms 3
| + | |
| − | If Pind.0 = 0 Then
| + | |
| − | While Pind.0 = 0 : Wend
| + | |
| − | Singdummy = Meter / 1000
| + | |
| − | Singdummy = Singdummy + Kilometer
| + | |
| − | Startkilometer = Singdummy
| + | |
| − | Writeeeprom Startkilometer , 1
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | | + | |
| − | 'Spannung und Strom
| + | |
| − | Singdummy = U / 100
| + | |
| − | Utext = Fusing(singdummy , "#.#")
| + | |
| − | Utext = Utext + "V"
| + | |
| − | Utext = " " + Utext
| + | |
| − | Singdummy = I / 100
| + | |
| − | Itext = Fusing(singdummy , "#.#")
| + | |
| − | Itext = Itext + "A "
| + | |
| − | L1 = Len(utext)
| + | |
| − | L2 = Len(itext)
| + | |
| − | L1 = L1 + L2
| + | |
| − | L2 = 22 - L1
| + | |
| − | Ltext = String(l2 , 32)
| + | |
| − | Text = Utext + Ltext
| + | |
| − | Text = Text + Itext
| + | |
| − | Lcd_print Text , 0 , 75 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | 'Akku in Prozent
| + | |
| − | Singdummy = Akkuprozente / 10
| + | |
| − | Singdummy = 100 - Singdummy
| + | |
| − | Text = Fusing(singdummy , "#.#" )
| + | |
| − | Text = " " + Text + "% "
| + | |
| − | If Singdummy > 66 Then
| + | |
| − | Farbe = Green
| + | |
| − | Elseif Singdummy > 33 Then
| + | |
| − | Farbe = Yellow
| + | |
| − | Else
| + | |
| − | Farbe = Red
| + | |
| − | End If
| + | |
| − | Singdummy = Singdummy * 1.14 '124 - 8 - 1 - 1 = 114 / 100% = 1.14
| + | |
| − | X2 = Singdummy 'Type cast
| + | |
| − | X2 = X2 + 10 '10 wegen der "100 - Sdummy" weiter oben
| + | |
| − | Lcd_box X2 , 85 , 123 , 94 , White 'Hintergrund löschen
| + | |
| − | Lcd_box 9 , 85 , X2 , 94 , Farbe 'Balken zeichnen
| + | |
| − | 'Text mittig platzieren
| + | |
| − | L1 = Len(text)
| + | |
| − | L1 = L1 * 5
| + | |
| − | L1 = L1 / 2
| + | |
| − | X1 = 66 - L1
| + | |
| − | Lcd_print Text , X1 , 98 , 1 , 1 , 1 , Black , White 'unterm Balken
| + | |
| − | | + | |
| − | 'km/h
| + | |
| − | Singdummy = Kmh / 10
| + | |
| − | Text = Fusing(Singdummy , "#.#")
| + | |
| − | Text = Text + "km/h "
| + | |
| − | Text = " " + Text
| + | |
| − | L1 = Len(text)
| + | |
| − | Text = Text + " "
| + | |
| − | L1 = L1 * 4
| + | |
| − | X1 = 66 - L1
| + | |
| − | Lcd_print Text , X1 , 12 , 2 , 1 , 2 , Black , White
| + | |
| − | | + | |
| − | 'km
| + | |
| − | Singdummy = Meter / 1000
| + | |
| − | Singdummy = Singdummy + Kilometer
| + | |
| − | Text = Fusing(Singdummy , "#.#")
| + | |
| − | Text = Text + "km "
| + | |
| − | Text = " " + Text
| + | |
| − | L1 = Len(text)
| + | |
| − | L1 = L1 * 5
| + | |
| − | L1 = L1 / 2
| + | |
| − | X1 = 66 - L1
| + | |
| − | Lcd_print Text , X1 , 46 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | 'Tageskilometerzähler
| + | |
| − | Singdummy = Singdummy - Startkilometer
| + | |
| − | Text = Fusing(Singdummy , "#.###")
| + | |
| − | Text = Text + "km "
| + | |
| − | Text = " " + Text
| + | |
| − | L1 = Len(text)
| + | |
| − | L1 = L1 * 5
| + | |
| − | L1 = L1 / 2
| + | |
| − | X1 = 66 - L1
| + | |
| − | Lcd_print Text , X1 , 60 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | If Antriebaus = 1 Then
| + | |
| − | Text = "AUS"
| + | |
| − | Else
| + | |
| − | Text = "RUN"
| + | |
| − | End If
| + | |
| − | 'Text mittig platzieren
| + | |
| − | L1 = Len(text)
| + | |
| − | L1 = L1 * 5 'Schriftlänge in Pixel, jedes Zeichen = 5 Pixel
| + | |
| − | L1 = L1 / 2 'Halbe schriftlänge
| + | |
| − | X1 = 74 - L1 'Text mittig
| + | |
| − | Lcd_print Text , X1 , 148 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | '>>>>>>>>>>>> Fusszeile im Display >>>>>>>>>>>>
| + | |
| − | ' 01234567891111111111222
| + | |
| − | ' 0123456789012
| + | |
| − | ' xxx xxx xxx
| + | |
| − | 'PmotLinks Ta PmotRechts
| + | |
| − | ' L1 L2 L3
| + | |
| − | | + | |
| − | Text = String(22 , 32) 'Fill with spaces
| + | |
| − | | + | |
| − | Utext = Str(ml) 'Pmot_links (Integer)
| + | |
| − | L1 = Len(utext)
| + | |
| − | Mid(text , 0 , L1) = Utext 'insert Ml
| + | |
| − | | + | |
| − | Utext = Str(ta) 'Ticks (Byte)
| + | |
| − | L2 = Len(utext)
| + | |
| − | Mid(text , 10 , L2) = Utext 'insert Ta
| + | |
| − | | + | |
| − | Utext = Str(mr) 'Pmot_rechts (Integer)
| + | |
| − | L3 = Len(utext)
| + | |
| − | X1 = 23 - L3 'Starting position of Mr
| + | |
| − | Mid(text , X1 , L3) = Utext 'insert Mr
| + | |
| − | | + | |
| − | 'L2 = X1 + L3
| + | |
| − | 'L1 = 22 - L2
| + | |
| − | 'Utext = String(l1 , 32)
| + | |
| − | 'Mid(text , L2 , L1) = Utext 'insert final spaces
| + | |
| − | | + | |
| − | Lcd_print Text , 0 , 168 , 1 , 1 , 1 , White , Black
| + | |
| − | '>>>>>>>>>>>> Fusszeile im Display >>>>>>>>>>>>
| + | |
| − | | + | |
| − | If Antriebaus = 1 Then
| + | |
| − | Singdummy = Null_x
| + | |
| − | Singdummy = Singdummy - Xoffset
| + | |
| − | Singdummy = Singdummy / 50
| + | |
| − | If Singdummy > 49 Then Singdummy = 49
| + | |
| − | If Singdummy < -49 Then Singdummy = -49
| + | |
| − | Singdummy = Singdummy + 74
| + | |
| − | X1 = Int(Singdummy)
| + | |
| − | Lcd_draw Xa , 126 , Xa , 134 , 0 , White
| + | |
| − | Lcd_draw X1 , 126 , X1 , 134 , 0 , Black
| + | |
| − | Xa = X1
| + | |
| − | Singdummy = Null_y
| + | |
| − | Singdummy = Singdummy - Yoffset
| + | |
| − | Singdummy = Singdummy / 50
| + | |
| − | If Singdummy > 29 Then Singdummy = 29
| + | |
| − | If Singdummy < -29 Then Singdummy = -29
| + | |
| − | Singdummy = Singdummy + 130
| + | |
| − | Y1 = Int(Singdummy)
| + | |
| − | Lcd_draw 9 , Ya , 18 , Ya , 0 , White
| + | |
| − | Lcd_draw 9 , Y1 , 18 , Y1 , 0 , Black
| + | |
| − | Ya = Y1
| + | |
| − | Else
| + | |
| − | 'Horizontaler Balken
| + | |
| − | Singdummy = Mit_acc_x
| + | |
| − | Singdummy = Singdummy / 50
| + | |
| − | If Singdummy > 49 Then Singdummy = 49
| + | |
| − | If Singdummy < -49 Then Singdummy = -49
| + | |
| − | Singdummy = Singdummy + 74
| + | |
| − | X1 = Int(Singdummy)
| + | |
| − | Lcd_draw Xa , 126 , Xa , 134 , 0 , White
| + | |
| − | Lcd_draw X1 , 126 , X1 , 134 , 0 , Black
| + | |
| − | Xa = X1
| + | |
| − | | + | |
| − | 'Vertikaler Balken
| + | |
| − | Singdummy = Mit_acc_y
| + | |
| − | Singdummy = Singdummy / 50
| + | |
| − | If Singdummy > 29 Then Singdummy = 29
| + | |
| − | If Singdummy < -29 Then Singdummy = -29
| + | |
| − | Singdummy = Singdummy + 130
| + | |
| − | Y1 = Int(Singdummy)
| + | |
| − | Lcd_draw 9 , Ya , 18 , Ya , 0 , White
| + | |
| − | Lcd_draw 9 , Y1 , 18 , Y1 , 0 , Black
| + | |
| − | Ya = Y1
| + | |
| − | End If
| + | |
| − | Case 1 'Details
| + | |
| − | 'If Dateiaktuell = 1 Then
| + | |
| − | ' If Porte.7 = 0 Then Activate_sd_bus
| + | |
| − | ' Close #2
| + | |
| − | ' Dateiaktuell = 0
| + | |
| − | 'End If
| + | |
| − | 'If Porte.7 = 1 Then call Activate_display_bus
| + | |
| − | If Pind.0 = 0 Then
| + | |
| − | Waitms 3
| + | |
| − | If Pind.0 = 0 Then
| + | |
| − | While Pind.0 = 0 : Wend
| + | |
| − | If Antriebaus = 1 Then
| + | |
| − | Yoffset = Null_y
| + | |
| − | Xoffset = Null_x
| + | |
| − | Writeeeprom Xoffset , 5
| + | |
| − | Writeeeprom Yoffset , 9
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | Singdummy = U / 100
| + | |
| − | Text = Fusing(Singdummy , "#.#")
| + | |
| − | Text = " U= " + Text
| + | |
| − | Text = Text + "V"
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 9 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | Singdummy = I / 100
| + | |
| − | Text = Fusing(Singdummy , "#.#")
| + | |
| − | Text = " I= " + Text
| + | |
| − | Text = Text + "A"
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 18 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | Singdummy = Kmh / 10
| + | |
| − | Text = Fusing(Singdummy , "#.#")
| + | |
| − | Text = " V= " + Text
| + | |
| − | Text = Text + "km/h"
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 27 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | Singdummy = Meter / 1000
| + | |
| − | Singdummy = Singdummy + Kilometer
| + | |
| − | Text = Fusing(Singdummy , "#.###")
| + | |
| − | Text = " S= " + Text
| + | |
| − | Text = Text + "km "
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 36 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | Singdummy = Ml
| + | |
| − | Text = Str(ml )
| + | |
| − | Text = " Pl= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 45 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | Singdummy = Mr
| + | |
| − | Text = Str(mr )
| + | |
| − | Text = " Pr= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 54 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | Singdummy = Akkuprozente / 10
| + | |
| − | Singdummy = 100 - Singdummy
| + | |
| − | Text = Fusing(Singdummy , "#.#")
| + | |
| − | Text = "Akku= " + Text
| + | |
| − | Text = Text + "%"
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 63 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | Text = Str(mit_acc_x)
| + | |
| − | Text = "Roll= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 72 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | Text = Str(mit_acc_y )
| + | |
| − | Text = "Nick= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 81 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | Text = Str(null_x )
| + | |
| − | Text = " R0= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 90 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | Text = Str(null_y )
| + | |
| − | Text = " N0= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 99 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | Text = Fusing(stellwert , "#.###")
| + | |
| − | Text = " SW= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 108 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | Text = Str(gyro_nick )
| + | |
| − | Text = " GN= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 117 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | Text = Str(ta )
| + | |
| − | Text = " TA= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 126 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | Text = Str(k_sum)
| + | |
| − | Text = "Ksum= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 135 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | Case 2 'Min/Max
| + | |
| − | 'If Dateiaktuell = 1 Then
| + | |
| − | ' If Porte.7 = 0 Then Activate_sd_bus
| + | |
| − | ' Close #2
| + | |
| − | ' Dateiaktuell = 0
| + | |
| − | 'End If
| + | |
| − | 'If Porte.7 = 1 Then call Activate_display_bus
| + | |
| − | | + | |
| − | If Pind.0 = 0 Then
| + | |
| − | Waitms 3
| + | |
| − | If Pind.0 = 0 Then
| + | |
| − | While Pind.0 = 0 : Wend
| + | |
| − | Minmax 'Min-Maxwerte auf 0 setzen
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | Singdummy = Umin / 100
| + | |
| − | Text = Fusing(Singdummy , "#.#")
| + | |
| − | Text = " Umin= " + Text
| + | |
| − | Text = Text + "V"
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 9 , 1 , 1 , 1 , Black , White
| + | |
| − | Singdummy = Umax / 100
| + | |
| − | Text = Fusing(Singdummy , "#.#")
| + | |
| − | Text = " Umax= " + Text
| + | |
| − | Text = Text + "V"
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 18 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | Singdummy = Imin / 100
| + | |
| − | Text = Fusing(Singdummy , "#.#")
| + | |
| − | Text = " Imin= " + Text
| + | |
| − | Text = Text + "A"
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 27 , 1 , 1 , 1 , Black , White
| + | |
| − | Singdummy = Imax / 100
| + | |
| − | Text = Fusing(Singdummy , "#.#")
| + | |
| − | Text = " Imax= " + Text
| + | |
| − | Text = Text + "A"
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 36 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | Singdummy = Kmhmin / 10
| + | |
| − | Text = Fusing(Singdummy , "#.#")
| + | |
| − | Text = " Vmin= " + Text
| + | |
| − | Text = Text + "km/h"
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 45 , 1 , 1 , 1 , Black , White
| + | |
| − | Singdummy = Kmhmax / 10
| + | |
| − | Text = Fusing(Singdummy , "#.#")
| + | |
| − | Text = " Vmax= " + Text
| + | |
| − | Text = Text + "km/h"
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 54 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | Text = Str(mlmin )
| + | |
| − | Text = " Plmin= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 63 , 1 , 1 , 1 , Black , White
| + | |
| − | Text = Str(mlmax )
| + | |
| − | Text = " Plmax= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 72 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | Text = Str(mlmin )
| + | |
| − | Text = " Prmin= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 81 , 1 , 1 , 1 , Black , White
| + | |
| − | Text = Str(mrmax )
| + | |
| − | Text = " Prmax= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 90 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | Text = Str(tamax )
| + | |
| − | Text = " TAmax= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 99 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | Text = Bin(hauptstportc)
| + | |
| − | Text = " HauptSt_C= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 108 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | Text = Bin(hauptstporta)
| + | |
| − | Text = " HauptSt_A= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 118 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | Text = Str(ad0)
| + | |
| − | Text = " AD(0)= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 127 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | Text = Str(ad1)
| + | |
| − | Text = " AD(1)= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 136 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | Dummybyte = Fussschalter And &H1
| + | |
| − | If Dummybyte > 0 Then
| + | |
| − | Text = "1"
| + | |
| − | Else
| + | |
| − | Text = "0"
| + | |
| − | End If
| + | |
| − | Text = " Fuss1= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 145 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | Dummybyte = Fussschalter And &H2
| + | |
| − | If Dummybyte > 0 Then
| + | |
| − | Text = "1"
| + | |
| − | Else
| + | |
| − | Text = "0"
| + | |
| − | End If
| + | |
| − | Text = " Fuss2= " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 153 , 1 , 1 , 1 , Black , White
| + | |
| − | | + | |
| − | Case 3 'Werte editieren
| + | |
| − | 'If Dateiaktuell = 1 Then
| + | |
| − | ' If Porte.7 = 0 Then Activate_sd_bus
| + | |
| − | ' Close #2
| + | |
| − | ' Dateiaktuell = 0
| + | |
| − | 'End If
| + | |
| − | 'If Porte.7 = 1 Then call Activate_display_bus
| + | |
| − | | + | |
| − | If Pind.7 = 0 Then 'Zeile abwärts
| + | |
| − | Waitms 3
| + | |
| − | If Pind.7 = 0 Then
| + | |
| − | While Pind.7 = 0 : Wend
| + | |
| − | If Editzeile > 1 Then Decr Editzeile : End If
| + | |
| − | End If
| + | |
| − | | + | |
| − | If Pind.4 = 0 Then 'Zeile aufwärts
| + | |
| − | Waitms 3
| + | |
| − | If Pind.4 = 0 Then
| + | |
| − | While Pind.4 = 0 : Wend
| + | |
| − | If Editzeile < 7 Then Incr Editzeile : End If
| + | |
| − | End If
| + | |
| − | | + | |
| − | If Ping.1 = 0 Then 'Zahl dekrementieren
| + | |
| − | Waitms 3
| + | |
| − | If Ping.1 = 0 Then
| + | |
| − | While Ping.1 = 0 : Wend
| + | |
| − | Select Case Editzeile
| + | |
| − | Case 1
| + | |
| − | Decr Pfaktor
| + | |
| − | Case 2
| + | |
| − | Decr Ifaktor
| + | |
| − | Case 3
| + | |
| − | Decr Dfaktor
| + | |
| − | Case 4
| + | |
| − | Decr Mpfaktor
| + | |
| − | Case 5
| + | |
| − | Decr Mvfaktor
| + | |
| − | Case 6
| + | |
| − | Decr Mplfaktor
| + | |
| − | Case 7
| + | |
| − | Decr Mvlfaktor
| + | |
| − | End Select
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | | + | |
| − | If Pind.5 = 0 Then 'Zahl inkrementieren
| + | |
| − | Waitms 3
| + | |
| − | If Pind.5 = 0 Then
| + | |
| − | While Pind.5 = 0 : Wend
| + | |
| − | Select Case Editzeile
| + | |
| − | Case 1
| + | |
| − | Incr Pfaktor
| + | |
| − | Case 2
| + | |
| − | Incr Ifaktor
| + | |
| − | Case 3
| + | |
| − | Incr Dfaktor
| + | |
| − | Case 4
| + | |
| − | Incr Mpfaktor
| + | |
| − | Case 5
| + | |
| − | Incr Mvfaktor
| + | |
| − | Case 6
| + | |
| − | Incr Mplfaktor
| + | |
| − | Case 7
| + | |
| − | Incr Mvlfaktor
| + | |
| − | End Select
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | | + | |
| − | If Ping.0 = 0 Then 'Werte aus Display übernehmen
| + | |
| − | Waitms 3
| + | |
| − | If Ping.0 = 0 Then
| + | |
| − | While Ping.0 = 0 : Wend
| + | |
| − | P_faktor = Pfaktor
| + | |
| − | P_faktor = P_faktor / 10000
| + | |
| − | | + | |
| − | I_faktor = Ifaktor
| + | |
| − | I_faktor = I_faktor / 1000000
| + | |
| − | | + | |
| − | D_faktor = Dfaktor
| + | |
| − | D_faktor = D_faktor / 1000
| + | |
| − | | + | |
| − | Mp_faktor = Mpfaktor
| + | |
| − | Mp_faktor = Mp_faktor / 10000
| + | |
| − | | + | |
| − | Mv_faktor = Mvfaktor
| + | |
| − | Mv_faktor = Mv_faktor / 1000
| + | |
| − | | + | |
| − | Mpl_faktor = Mplfaktor
| + | |
| − | Mpl_faktor = Mpl_faktor / 10000
| + | |
| − | | + | |
| − | Mvl_faktor = Mvlfaktor
| + | |
| − | Mvl_faktor = Mvl_faktor / 1000
| + | |
| − | | + | |
| − | Sichern = 1
| + | |
| − | Call Lcd_cls
| + | |
| − | Lcd_print Titel , 0 , 0 , 1 , 1 , 1 , Yellow , Blue
| + | |
| − | Wait 2
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | | + | |
| − | Text = " Regelparameter:"
| + | |
| − | Text = Trimtext(text)
| + | |
| − | Lcd_print Text , 0 , 18 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | Text = Str(pfaktor)
| + | |
| − | Text = " P = " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | If Editzeile = 1 Then
| + | |
| − | Lcd_print Text , 0 , 36 , 1 , 1 , 1 , Black , Green
| + | |
| − | '**************************************************
| + | |
| − | Else
| + | |
| − | Lcd_print Text , 0 , 36 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | End If
| + | |
| − | Text = Str(ifaktor)
| + | |
| − | Text = " I = " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | If Editzeile = 2 Then
| + | |
| − | Lcd_print Text , 0 , 46 , 1 , 1 , 1 , Black , Green
| + | |
| − | '**************************************************
| + | |
| − | Else
| + | |
| − | Lcd_print Text , 0 , 46 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | End If
| + | |
| − | Text = Str(dfaktor)
| + | |
| − | Text = " D = " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | If Editzeile = 3 Then
| + | |
| − | Lcd_print Text , 0 , 56 , 1 , 1 , 1 , Black , Green
| + | |
| − | '**************************************************
| + | |
| − | Else
| + | |
| − | Lcd_print Text , 0 , 56 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | End If
| + | |
| − | Text = Str(mpfaktor)
| + | |
| − | Text = " MP = " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | If Editzeile = 4 Then
| + | |
| − | Lcd_print Text , 0 , 66 , 1 , 1 , 1 , Black , Green
| + | |
| − | '**************************************************
| + | |
| − | Else
| + | |
| − | Lcd_print Text , 0 , 66 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | End If
| + | |
| − | Text = Str(mvfaktor)
| + | |
| − | Text = " MV = " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | If Editzeile = 5 Then
| + | |
| − | Lcd_print Text , 0 , 76 , 1 , 1 , 1 , Black , Green
| + | |
| − | '**************************************************
| + | |
| − | Else
| + | |
| − | Lcd_print Text , 0 , 76 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | End If
| + | |
| − | Text = Str(mplfaktor)
| + | |
| − | Text = " MPL = " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | If Editzeile = 6 Then
| + | |
| − | Lcd_print Text , 0 , 86 , 1 , 1 , 1 , Black , Green
| + | |
| − | '**************************************************
| + | |
| − | Else
| + | |
| − | Lcd_print Text , 0 , 86 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | End If
| + | |
| − | Text = Str(mvlfaktor)
| + | |
| − | Text = " MVL = " + Text
| + | |
| − | Text = Trimtext(text)
| + | |
| − | If Editzeile = 7 Then
| + | |
| − | Lcd_print Text , 0 , 96 , 1 , 1 , 1 , Black , Green
| + | |
| − | '**************************************************
| + | |
| − | Else
| + | |
| − | Lcd_print Text , 0 , 96 , 1 , 1 , 1 , Black , White
| + | |
| − | '**************************************************
| + | |
| − | End If
| + | |
| − | If Transferok = 1 Then
| + | |
| − | Lcd_print " Transfer OK" , 0 , 106 , 1 , 1 , 1 , Black , White
| + | |
| − | Transferok = 0
| + | |
| − | End If
| + | |
| − | '(
| + | |
| − | Case 4 'Logging
| + | |
| − | If Porte.7 = 0 Then Activate_sd_bus
| + | |
| − | If Antriebaus = 0 Then 'Motoren laufen ->Werte Loggen
| + | |
| − | If Dateiaktuell = 0 Then 'Keine Datei geöffnet
| + | |
| − | Lname = 1
| + | |
| − | Dateilaenge = 1 'Nächste Schleife einmal erzwingen
| + | |
| − | While Dateilaenge > 0
| + | |
| − | Dateiname = Str(lname)
| + | |
| − | Dateiname = Dateiname + ".log"
| + | |
| − | '0 voranstellen, damit sich die Dateien besser sortieren lassen.
| + | |
| − | While Len(dateiname) < 12
| + | |
| − | Dateiname = "0" + Dateiname
| + | |
| − | Wend
| + | |
| − | Dateilaenge = Filelen(dateiname)
| + | |
| − | Incr Lname
| + | |
| − | Wend
| + | |
| − | If Porte.7 = 1 Then call Activate_display_bus
| + | |
| − | Lcd_print Dateiname , 25 , 75 , 1 , 1 , 1 , Black , White
| + | |
| − | If Porte.7 = 0 Then Activate_sd_bus
| + | |
| − | Dateiaktuell = 1
| + | |
| − | Loopcount = 0
| + | |
| − | _sec = 0
| + | |
| − | _min = 0
| + | |
| − | _hour = 0
| + | |
| − | Zeit = "00:00:00"
| + | |
| − | Open Dateiname For Append As #2
| + | |
| − | Logtext = "Zeit;Loopcount;U;I;Nick;GyroNick;Stellwert;Roll;Pl;Pr;Ksum;V"
| + | |
| − | Print #2 , Logtext
| + | |
| − | End If
| + | |
| − | If Loopcount <> Aloopcount Then
| + | |
| − | Ulog = U / 100
| + | |
| − | Ilog = I / 100
| + | |
| − | Kmhlog = Kmh / 10
| + | |
| − | Logtext = Zeit
| + | |
| − | Logtext = Logtext + ";"
| + | |
| − | Logtext = Logtext + Str(loopcount)
| + | |
| − | Logtext = Logtext + ";"
| + | |
| − | Logtext = Logtext + Fusing(ulog , "#.#")
| + | |
| − | Logtext = Logtext + ";"
| + | |
| − | Logtext = Logtext + Fusing(ilog , "#.#")
| + | |
| − | Logtext = Logtext + ";"
| + | |
| − | Logtext = Logtext + Str(mit_acc_y)
| + | |
| − | Logtext = Logtext + ";"
| + | |
| − | Logtext = Logtext + Str(gyro_nick)
| + | |
| − | Logtext = Logtext + ";"
| + | |
| − | Logtext = Logtext + Fusing(stellwert , "#.###")
| + | |
| − | Logtext = Logtext + ";"
| + | |
| − | Logtext = Logtext + Str(mit_acc_x)
| + | |
| − | Logtext = Logtext + ";"
| + | |
| − | Logtext = Logtext + Str(ml)
| + | |
| − | Logtext = Logtext + ";"
| + | |
| − | Logtext = Logtext + Str(mr)
| + | |
| − | Logtext = Logtext + ";"
| + | |
| − | Logtext = Logtext + Fusing(k_sum , "#.##")
| + | |
| − | Logtext = Logtext + ";"
| + | |
| − | Logtext = Logtext + Fusing(kmhlog , "#.#")
| + | |
| − | Print #2 , Logtext
| + | |
| − | Aloopcount = Loopcount
| + | |
| − | End If
| + | |
| − | Else
| + | |
| − | Close #2
| + | |
| − | Dateiaktuell = 0
| + | |
| − | End If
| + | |
| − | ')
| + | |
| − | End Select
| + | |
| − | Loop
| + | |
| − | | + | |
| − | '***************************************************************************
| + | |
| − | Datenempfang:
| + | |
| − | !PUSH R24;
| + | |
| − | !IN R24, SREG;
| + | |
| − | !PUSH R24;
| + | |
| − | !LDS R24,{EP1}
| + | |
| − | !STS {EP0},R24
| + | |
| − | !LDS R24,{EP2}
| + | |
| − | !STS {EP1},R24
| + | |
| − | !LDS R24,{EP3}
| + | |
| − | !STS {EP2},R24
| + | |
| − | !LDS R24,{EP4}
| + | |
| − | !STS {EP3},R24
| + | |
| − | !LDS R24,{EP5}
| + | |
| − | !STS {EP4},R24
| + | |
| − | !IN R24,UDR1
| + | |
| − | !STs {EP5},R24
| + | |
| − | !POP R24;
| + | |
| − | !Out Sreg , R24;
| + | |
| − | !POP R24;
| + | |
| − | | + | |
| − | 'BCC prüfen
| + | |
| − | If Ep0 = 13 Then
| + | |
| − | If Ep5 = 13 Then
| + | |
| − | !lds R24,{EP1}
| + | |
| − | !LDs R25,{EP2}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{EP3}
| + | |
| − | !add R24,R25
| + | |
| − | !STS {Bdummy},R24
| + | |
| − | If Bdummy = Ep4 Then 'Die Prüfsumme stimmt
| + | |
| − | '< Serielle Telegramme abarbeiten>
| + | |
| − | Select Case Index 'Telegrammnummer
| + | |
| − | Case 1 'Spannung
| + | |
| − | U = Iwert
| + | |
| − | Case 2 'Strom
| + | |
| − | I = Iwert
| + | |
| − | Case 3 'km/h
| + | |
| − | Kmh = Iwert
| + | |
| − | Case 4 'Ta und Antriebaus
| + | |
| − | Antriebaus = Ep2
| + | |
| − | Ta = Ep3
| + | |
| − | Case 5 'Akkuprozente
| + | |
| − | Akkuprozente = Iwert
| + | |
| − | Case 6 'Kilometer
| + | |
| − | Kilometer = Wwert
| + | |
| − | Case 7 'Meter
| + | |
| − | Meter = Iwert
| + | |
| − | Case 8 'Roll_l
| + | |
| − | Maccx1 = Ep2
| + | |
| − | Maccx2 = Ep3
| + | |
| − | Case 9 'Roll_h
| + | |
| − | Maccx3 = Ep2
| + | |
| − | Maccx4 = Ep3
| + | |
| − | Mit_acc_x = Maccx
| + | |
| − | Case 10 'Nick_l
| + | |
| − | Maccy1 = Ep2
| + | |
| − | Maccy2 = Ep3
| + | |
| − | Case 11 'Nick_h
| + | |
| − | Maccy3 = Ep2
| + | |
| − | Maccy4 = Ep3
| + | |
| − | Mit_acc_y = Maccy
| + | |
| − | Case 12 'Null_Roll_l
| + | |
| − | Nullx1 = Ep2
| + | |
| − | Nullx2 = Ep3
| + | |
| − | Case 13 'Null_Roll_h
| + | |
| − | Nullx3 = Ep2
| + | |
| − | Nullx4 = Ep3
| + | |
| − | Null_x = Nullx
| + | |
| − | Case 14 'Null_Nick_l
| + | |
| − | Nully1 = Ep2
| + | |
| − | Nully2 = Ep3
| + | |
| − | Case 15 'Null_Nick_h
| + | |
| − | Nully3 = Ep2
| + | |
| − | Nully4 = Ep3
| + | |
| − | Null_y = Nully
| + | |
| − | Case 16
| + | |
| − | Sw1 = Ep2
| + | |
| − | Sw2 = Ep3
| + | |
| − | Case 17
| + | |
| − | Sw3 = Ep2
| + | |
| − | Sw4 = Ep3
| + | |
| − | Stellwert = Sw
| + | |
| − | Case 18
| + | |
| − | Gyronick1 = Ep2
| + | |
| − | Gyronick2 = Ep3
| + | |
| − | Case 19
| + | |
| − | Gyronick3 = Ep2
| + | |
| − | Gyronick4 = Ep3
| + | |
| − | Gyro_nick = Gyronick
| + | |
| − | Case 20
| + | |
| − | Kksum1 = Ep2
| + | |
| − | Kksum2 = Ep3
| + | |
| − | Case 21
| + | |
| − | Kksum3 = Ep2
| + | |
| − | Kksum4 = Ep3
| + | |
| − | K_sum = Kksum
| + | |
| − | Case 255
| + | |
| − | '(
| + | |
| − | If Sichern = 1 Then
| + | |
| − | 'BCC berechnen
| + | |
| − | !lds R24,{P_f1}
| + | |
| − | !LDs R25,{P_f2}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{P_f3}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{P_f4}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{I_f1}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{I_f2}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{I_f3}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{I_f4}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{D_f1}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{D_f2}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{D_f3}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{D_f4}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{Mp_f1}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{Mp_f2}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{Mp_f3}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{Mp_f4}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{Mv_f1}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{Mv_f2}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{Mv_f3}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{Mv_f4}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{Mpl_f1}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{Mpl_f2}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{Mpl_f3}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{Mpl_f4}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{Mvl_f1}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{Mvl_f2}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{Mvl_f3}
| + | |
| − | !add R24,R25
| + | |
| − | !LDs R25,{Mvl_f4}
| + | |
| − | !add R24,R25
| + | |
| − | !STS {Bdummy},R24
| + | |
| − | | + | |
| − | Open "COM2:" For Binary As #1 'auf SD-Karte speichern
| + | |
| − | Print #1 , Chr(p_f1) ; Chr(p_f2) ; Chr(p_f3) ; Chr(p_f4);
| + | |
| − | Print #1 , Chr(i_f1) ; Chr(i_f2) ; Chr(i_f3) ; Chr(i_f4);
| + | |
| − | Print #1 , Chr(d_f1) ; Chr(d_f2) ; Chr(d_f3) ; Chr(d_f4);
| + | |
| − | Print #1 , Chr(mp_f1) ; Chr(mp_f2) ; Chr(mp_f3) ; Chr(mp_f4);
| + | |
| − | Print #1 , Chr(mv_f1) ; Chr(mv_f2) ; Chr(mv_f3) ; Chr(mv_f4);
| + | |
| − | Print #1 , Chr(mpl_f1) ; Chr(mpl_f2) ; Chr(mpl_f3) ; Chr(mpl_f4);
| + | |
| − | Print #1 , Chr(mvl_f1) ; Chr(mvl_f2) ; Chr(mvl_f3) ; Chr(mvl_f4);
| + | |
| − | Print #1 , Chr(bdummy) ; Chr(13);
| + | |
| − | Close #1
| + | |
| − | Transferok = 1
| + | |
| − | Sichern = 0
| + | |
| − | End If
| + | |
| − | ')
| + | |
| − | Case 76 'Linker Motor
| + | |
| − | Ml = Ep3
| + | |
| − | If Ep2 = 0 Then Ml = Ml * -1
| + | |
| − | Incr Loopcount
| + | |
| − | Case 82 'Rechter Motor
| + | |
| − | Mr = Ep3
| + | |
| − | If Ep2 = 0 Then Mr = Mr * -1
| + | |
| − | End Select
| + | |
| − | | + | |
| − | If Modus = 2 Then
| + | |
| − | Select Case Index
| + | |
| − | Case 36 'Port a und C Status
| + | |
| − | Hauptstportc = Ep2
| + | |
| − | Hauptstporta = Ep3
| + | |
| − | Case 37 'Fussschalter 1
| + | |
| − | Ad0 = Wwert
| + | |
| − | Case 38 'Fussschalter 2
| + | |
| − | Ad1 = Wwert
| + | |
| − | Case 39 'Fussschalter gesamt
| + | |
| − | Fussschalter = Ep2
| + | |
| − | End Select
| + | |
| − | End If
| + | |
| − | | + | |
| − | If Modus < 3 Then
| + | |
| − | Select Case Index
| + | |
| − | Case 22
| + | |
| − | P_f1 = Ep2
| + | |
| − | P_f2 = Ep3
| + | |
| − | Case 23
| + | |
| − | P_f3 = Ep2
| + | |
| − | P_f4 = Ep3
| + | |
| − | Case 24
| + | |
| − | I_f1 = Ep2
| + | |
| − | I_f2 = Ep3
| + | |
| − | Case 25
| + | |
| − | I_f3 = Ep2
| + | |
| − | I_f4 = Ep3
| + | |
| − | Case 26
| + | |
| − | D_f1 = Ep2
| + | |
| − | D_f2 = Ep3
| + | |
| − | Case 27
| + | |
| − | D_f3 = Ep2
| + | |
| − | D_f4 = Ep3
| + | |
| − | Case 28
| + | |
| − | Mp_f1 = Ep2
| + | |
| − | Mp_f2 = Ep3
| + | |
| − | Case 29
| + | |
| − | Mp_f3 = Ep2
| + | |
| − | Mp_f4 = Ep3
| + | |
| − | Case 30
| + | |
| − | Mv_f1 = Ep2
| + | |
| − | Mv_f2 = Ep3
| + | |
| − | Case 31
| + | |
| − | Mv_f3 = Ep2
| + | |
| − | Mv_f4 = Ep3
| + | |
| − | Case 32
| + | |
| − | Mpl_f1 = Ep2
| + | |
| − | Mpl_f2 = Ep3
| + | |
| − | Case 33
| + | |
| − | Mpl_f3 = Ep2
| + | |
| − | Mpl_f4 = Ep3
| + | |
| − | Case 34
| + | |
| − | Mvl_f1 = Ep2
| + | |
| − | Mvl_f2 = Ep3
| + | |
| − | Case 35
| + | |
| − | Mvl_f3 = Ep2
| + | |
| − | Mvl_f4 = Ep3
| + | |
| − | End Select
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | End If
| + | |
| − | '</Serielle Telegramme abarbeiten>
| + | |
| − | Return
| + | |
| − | '******************************************************************************
| + | |
| − | | + | |
| − | Sub Activate_display_bus:
| + | |
| − | 'remove SD Card from bus, must be "Reset PortF.7" for board D071x
| + | |
| − | 'Reset Porte.7
| + | |
| − | 'different to what the SD card needs
| + | |
| − | 'Config Spi = Hard , Interrupt = Off , Data Order = Msb , Master = Yes , Polarity = Low , Phase = 0 , Clockrate = 4 , Noss = 1
| + | |
| − | 'Set Spsr.spi2x 'hidden parameter: doubles the speed of the SPI output
| + | |
| − | 'Spiinit
| + | |
| − | End Sub
| + | |
| − | | + | |
| − | Sub Activate_sd_bus
| + | |
| − | 'Deactivate Display
| + | |
| − | 'Set Lcd_port.lcd_cs
| + | |
| − | 'different to what the display needs
| + | |
| − | 'Config Spi = Hard , Interrupt = Off , Data Order = Msb , Master = Yes , _
| + | |
| − | ' Polarity = High , Phase = 1 , Clockrate = 4 , Noss = 1
| + | |
| − | 'no double speed. You may remove this line to try out with your card.
| + | |
| − | 'It may work.
| + | |
| − | 'Reset Spsr.spi2x
| + | |
| − | 'Spiinit
| + | |
| − | 'connects SD Card to bus, must to be "Set PortF.7" for board D071x
| + | |
| − | 'Set Porte.7
| + | |
| − | End Sub
| + | |
| − | | + | |
| − | Function Trimtext(t As String) As String
| + | |
| − | If Len(t) > 22 Then T = Left(t , 22)
| + | |
| − | While Len(t) < 22 : T = T + " " : Wend
| + | |
| − | End Function
| + | |
| − | | + | |
| − | Sub Minmax
| + | |
| − | Umin = 10000
| + | |
| − | Umax = -10000
| + | |
| − | Imin = 0
| + | |
| − | Imax = 0
| + | |
| − | Kmhmin = 0
| + | |
| − | Kmhmax = 0
| + | |
| − | Mlmax = 0
| + | |
| − | Mlmin = 0
| + | |
| − | Mrmax = 0
| + | |
| − | Mrmin = 0
| + | |
| − | Tamax = 0
| + | |
| − | End Sub
| + | |
| − | | + | |
| − | Tick:
| + | |
| − | Incr _sec
| + | |
| − | If _sec > 59 Then
| + | |
| − | _sec = 0
| + | |
| − | Incr _min
| + | |
| − | End If
| + | |
| − | | + | |
| − | If _min > 59 Then
| + | |
| − | _min = 0
| + | |
| − | Incr _hour
| + | |
| − | End If
| + | |
| − | | + | |
| − | Zeit = Time$
| + | |
| − | Return
| + | |
| − | | + | |
| − | Getdatetime:
| + | |
| − | Return
| + | |
| − | | + | |
| − | Sub Drawpagestatics
| + | |
| − | Call Lcd_print(titel , 0 , 0 , 1 , 1 , 1 , Yellow , Blue)
| + | |
| − | Select Case Modus
| + | |
| − | Case 0
| + | |
| − | Lcd_rect 8 , 84 , 124 , 95 , 0 , Black 'Rahmen für Akku Balken
| + | |
| − | Lcd_rect 24 , 125 , 124 , 135 , 0 , Black 'Rahmen für Horizontal Lenker
| + | |
| − | Lcd_rect 8 , 100 , 19 , 160 , 0 , Black 'Rahmen für Vertikal Lenker
| + | |
| − | Lcd_draw 20 , 130 , 22 , 130 , 0 , Black 'Vertikaler Balken, Mitteltick
| + | |
| − | Lcd_draw 74 , 136 , 74 , 138 , 0 , Black 'Horizontaler Balken, Mitteltick
| + | |
| − | Lcd_draw 0 , 167 , 132 , 167 , 0 , Black 'Hintergrund der Fußzeile
| + | |
| − | Case 4
| + | |
| − | Call Lcd_print( "LOGGING" , 30 , 40 , 2 , 1 , 2 , Black , White)
| + | |
| − | Dateiaktuell = 0
| + | |
| − | End Select
| + | |
| − | End Sub
| + | |
| − | | + | |
| − | End
| + | |
| | | | |
| − | $include "Y:\Programme\Tools\BASCOM-AVR\Display 3000\Displaymodul\Bascom Programme\für Include\GLCD21_display3000.bas"
| + | ''Hauptsteuerung.bas (BASCOM)'' [http://www.listrik.de/html/freeware.html] |
| − | $include "Y:\Programme\Tools\BASCOM-AVR\Display 3000\Displaymodul\Bascom Programme\für Include\GLCD21_fonts.bas"
| + | |
| | | | |
| − | Colortable:
| + | ''Display3000.bas (BASCOM)'' [http://www.listrik.de/html/freeware.html] |
| − | Data 0
| + | |
| − | </pre>
| + | |
| | | | |
| | [[Kategorie:Microcontroller]] | | [[Kategorie:Microcontroller]] |
