📄 bldcsensor.asm
字号:
;>>>> rc1.RampDelayMax = 0x00ff;
LACK 255
SACL _rc1+1
.line 20
;>>>> rc1.RampLowLimit = 0x8000; //_IQ(0);
SPLK #-32768,_rc1+2
.line 21
;>>>> rc1.RampHighLimit = 0x7FFF; //_IQ(1);
;>>>> // Initialize Hall module
;>>>> //hall1.DebounceAmount = 5;
;>>>> //hall1.Revolutions = -10; //?
SPLK #32767,_rc1+3
.line 25
;>>>> hall1.init(&hall1);
;>>>> // Initialize RMP2 module
LALK _hall1+0
SACL *+
LAC _hall1+7
CALA
MAR *-,AR3
.line 27
;>>>> rmp2.Out = DFuncDesired;
LDPK _DFuncDesired
BLDD _DFuncDesired,#_rmp2+5
.line 28
;>>>> rmp2.Ramp2Delay = 50;
LACK 50
SACL _rmp2+4
.line 29
;>>>> rmp2.Ramp2Max = 0x7FF0;
SPLK #32752,_rmp2+1
.line 30
;>>>> rmp2.Ramp2Min = 0x000F;
;>>>> // Initialize the PID2 module for dc-bus current
LACK 15
SACL _rmp2+2
.line 32
;>>>> pid1_idc.k0_reg2 = 0x0200; //Q9,_IQ(1);
SPLK #512,_pid1_idc+2
.line 33
;>>>> pid1_idc.k1_reg2 = 0x0e0; //Q13,_IQ(T/0.003);
LACK 224
SACL _pid1_idc+3
.line 34
;>>>> pid1_idc.kc_reg2 = 0x0506; //Q13,_IQ(0.2);
SPLK #1286,_pid1_idc+4
.line 35
;>>>> pid1_idc.max_reg2 = 0x7fff; // Q15 D=100% ,_IQ(0.99);
SPLK #32767,_pid1_idc+9
.line 36
;>>>> pid1_idc.min_reg2 = 0x0000; //_IQ(0);
;>>>> // Initialize the PID2 module for speed
LACK 0
SACL _pid1_idc+10
.line 38
;>>>> pid1_spd.k0_reg2 = 0x0800; //_IQ(2);
SPLK #2048,_pid1_spd+2
.line 39
;>>>> pid1_spd.k1_reg2 = 0x40;//0x0740; //_IQ(T/0.1);()0.002
LACK 64
SACL _pid1_spd+3
.line 40
;>>>> pid1_spd.kc_reg2 = 0x0506; //_IQ(0.2);
SPLK #1286,_pid1_spd+4
.line 41
;>>>> pid1_spd.max_reg2 = 0x7fff; //// Q15 D=100%;
SPLK #32767,_pid1_spd+9
.line 42
;>>>> pid1_spd.min_reg2 = 0; // _IQ(10%);
LACK 0
SACL _pid1_spd+10
.line 44
;>>>> T2PR = SYSTEM_INT_PERIOD; /* Initialize period register ,time base from T2 underflow interrupt (i.e. period)*/
LARK AR3,29703
SPLK #1000,*
.line 45
;>>>> T2CNT = 0x0000;
SBRK 2
SACL *
.line 46
;>>>> T2CON = 0x9040; // Count up, x1, internal clk, disable compare, use own period
;>>>> #if (REAL_TIME == TRUE)
;>>>> rtmon_init(); /* Call the monitor init function */
;>>>> #endif /* REAL_TIME==TRUE */
;>>>> // Enable global Interrupts and higher priority real-time debug events:
ADRK 3
SPLK #-28608,*
.line 56
;>>>> asm(" CLRC INTM "); /* set off the system running */
CLRC INTM
.line 61
;>>>> LCD_disp1();
;>>>> // COM=PFDATDIR;
;>>>> // PFDATDIR=COM;
;>>>> // PFDATDIR=PFDATDIR|0x0020;
;>>>> // IDLE loop. Just sit and loop forever:
;>>>> while(1) /* Nothing running in the background at present */
CALL _LCD_disp1,AR1
MAR * ,AR2
L1:
.line 70
;>>>> keycounter++;
LDPK _keycounter
LAC _keycounter
ADDK 1
SACL _keycounter
.line 71
;>>>> disp_refresh++;
LAC _disp_refresh
ADDK 1
SACL _disp_refresh
.line 72
;>>>> if(disp_refresh>=40000)//1s刷新一次LCD显示
ZALS _disp_refresh
BNV $+2
LARK AR2,1
MAR *0+
SACL *+
SACH *-
LT *+
MPYK 1
LPH *
RSXM
LACK 40000
SPAC
BNV $+6
BLZ L3
B $+4
BGZ L3
.line 74
;>>>> disp_refresh=0;
;>>>> // PFDATDIR=(PFDATDIR|0x2020)&((~runled)|0x0ffdf);
;>>>> // COM=PFDATDIR;
LACK 0
SACL _disp_refresh
.line 77
;>>>> Iref_disp(); //电流给定值显示
CALL _Iref_disp,AR1
.line 78
;>>>> Ifb_disp(); //电流实际值显示
CALL _Ifb_disp
.line 79
;>>>> Vref_disp(); //转速给定值显示
CALL _Vref_disp
.line 80
;>>>> Vfb_disp(); //转速实际值显示
CALL _Vfb_disp
.line 81
;>>>> fpwm_disp(); //PWM斩波频率显示
CALL _fpwm_disp
.line 82
;>>>> Dpwm_disp(); //PWM占空比显示
CALL _Dpwm_disp
.line 83
;>>>> mod6_disp(); //换向的状态,0~5中的一个.St显示
CALL _mod6_disp
.line 84
;>>>> Hmap_disp(); //换向表
CALL _Hmap_disp
.line 85
;>>>> prop_int();
;>>>> // PFDATDIR=COM;
CALL _prop_int
L3:
.line 89
;>>>> if(keycounter>=400) //10ms处理一次按键
SSXM
LDPK _keycounter
LAC _keycounter
SUBK 400
BLZ L4
.line 90
;>>>> { keycounter=0;
LACK 0
SACL _keycounter
.line 91
;>>>> key=Keys1s8();
;>>>> switch(key)
CALL _Keys1s8,AR1
LDPK _key
SACL _key
B L5
L6:
.line 94
;>>>> case 1: {SpeedRef = SpeedRef+56;break;} //设定+步长10RPM
SSXM
LDPK _SpeedRef
LAC _SpeedRef
ADDK 56
SACL _SpeedRef
B L4
L8:
.line 95
;>>>> case 2: {SpeedRef = SpeedRef-56;break;} //设定-步长10RPM
SSXM
LDPK _SpeedRef
LAC _SpeedRef
SUBK 56
SACL _SpeedRef
B L4
L9:
.line 96
;>>>> case 3: {pid1_spd.k0_reg2 = pid1_spd.k0_reg2+0x010;break;} //_IQ(2);
SSXM
LDPK _pid1_spd+2
LAC _pid1_spd+2
ADDK 16
SACL _pid1_spd+2
B L4
L10:
.line 97
;>>>> case 4: {pid1_spd.k0_reg2 = pid1_spd.k0_reg2-0x010;break;} //_IQ(2);
SSXM
LDPK _pid1_spd+2
LAC _pid1_spd+2
SUBK 16
SACL _pid1_spd+2
B L4
L11:
.line 98
;>>>> case 5: {pid1_spd.k1_reg2 = pid1_spd.k1_reg2+0x01;break;} //_IQ(2);
SSXM
LDPK _pid1_spd+3
LAC _pid1_spd+3
ADDK 1
SACL _pid1_spd+3
B L4
L12:
.line 99
;>>>> case 6: {pid1_spd.k1_reg2 = pid1_spd.k1_reg2-0x01;break;} //_IQ(2);
SSXM
LDPK _pid1_spd+3
LAC _pid1_spd+3
SUBK 1
SACL _pid1_spd+3
B L4
L13:
.line 100
;>>>> case 7: {duty = duty + 0x1000;break;}
SSXM
LDPK _duty
LAC _duty
ADDK 4096
SACL _duty
B L4
L14:
.line 101
;>>>> case 8: {TabShift = TabShift+1;break;}
;>>>> default:;
SSXM
LDPK _TabShift
LAC _TabShift
ADDK 1
SACL _TabShift
B L4
L5:
.line 92
SSXM
LAC _key
MAR * ,AR0
SUBK 8
BGZ L4
ADDK 7
BLZ L4
ADLK LL3
TBLR *
LAC *
BACC
.sect ".switch"
LL3:
.word L6
.word L8
.word L9
.word L10
.word L11
.word L12
.word L13
.word L14
.text
L4:
.line 120
MAR * ,AR2
B L1
.endfunc 182,000000000H,3
.sym _c_int03,_c_int03,32,2,0
.globl _c_int03
.func 184
;>>>> void interrupt c_int03()
;>>>> // asm(" CLRC XF ");
******************************************************
* FUNCTION DEF : _c_int03
******************************************************
_c_int03:
CALL I$$SAVE
SAR AR1,*
LARK AR0,1
LAR AR0,*0+,AR3
.line 4
;>>>> isr_ticker++;
LDPK _isr_ticker
LAC _isr_ticker
ADDK 1
SACL _isr_ticker
.line 7
;>>>> EVAIFRB=0x0ffff; /* Clear all EV1 Group A EV interrupt flags*/
;>>>> // ------------------------------------------------------------------------------
;>>>> // Call the ADC04U_DRV read function.
;>>>> // ------------------------------------------------------------------------------
;>>>> // adc1.read(&adc1);
;>>>> // ------------------------------------------------------------------------------
;>>>> // Connect inputs of the RMP module and call the Ramp control
;>>>> // calculation function.
;>>>> // ------------------------------------------------------------------------------
LARK AR3,29744
SPLK #-1,* ,AR1
.line 16
;>>>> rc1.TargetValue = SpeedRef;
BLKD #_SpeedRef,_rc1
.line 17
;>>>> rc1.calc(&rc1);
;>>>> // ------------------------------------------------------------------------------
;>>>> // Connect inputs of the HALL module and call the Hall sensor
;>>>> // read function.
;>>>> // ------------------------------------------------------------------------------
LALK _rc1+0
SACL *+
LAC _rc1+7
CALA
MAR *-
.line 22
;>>>> hall1.read(&hall1);
;>>>> // ------------------------------------------------------------------------------
;>>>> // Connect inputs of the MOD6 module and call the Modulo 6 counter
;>>>> // calculation function.
;>>>> // ------------------------------------------------------------------------------
;>>>> //mod1.TrigInput = hall1.CmtnTrigHall;
;>>>> //mod1.Counter = hall1.HallMapPointer;
;>>>> //mod1.calc(&mod1);
;>>>> // ------------------------------------------------------------------------------
;>>>> // Connect inputs of the RMP2 module and call the Ramp control 2
;>>>> // calculation function.
;>>>> // ------------------------------------------------------------------------------
LALK _hall1+0
SACL *+
LDPK _hall1+8
LAC _hall1+8
CALA
MAR *-
.line 34
;>>>> rmp2.DesiredInput = DFuncDesired;
LDPK _DFuncDesired
BLDD _DFuncDesired,#_rmp2
.line 35
;>>>> rmp2.calc(&rmp2);
;>>>> // ------------------------------------------------------------------------------
;>>>> // Connect inputs of the PID_REG3 module and call the PID speed controller
;>>>> // calculation function.
;>>>> // ------------------------------------------------------------------------------
LALK _rmp2+0
SACL *+
LAC _rmp2+6
CALA
MAR *-
.line 40
;>>>> pid1_spd.ref_reg2 = rc1.SetpointValue;
LDPK _rc1+5
BLDD _rc1+5,#_pid1_spd+1
.line 41
;>>>> pid1_spd.fb_reg2 = (int)(speed1.Speed);
BLKD #_speed1+6,_pid1_spd
.line 42
;>>>> pid1_spd.calc(&pid1_spd);
;>>>> // ------------------------------------------------------------------------------
;>>>> // Set the speed closed loop flag once the speed is built up to a desired value.
;>>>> // ------------------------------------------------------------------------------
LALK _pid1_spd+0
SACL *+
LAC _pid1_spd+12
CALA
MAR *-
.line 46
;>>>> if (rc1.EqualFlag == 0x7FFF) {
;>>>> // SpeedLoopFlag = TRUE;
SSXM
LDPK _rc1+6
LAC _rc1+6
SUBK 32767
BNZ L16
.line 48
;>>>> rc1.RampDelayMax = 300;
;>>>> // ------------------------------------------------------------------------------
;>>>> // Connect inputs of the PWM_DRV module and call the PWM signal generation
;>>>> // update function.
;>>>> // ------------------------------------------------------------------------------
;>>>> // Switch from fixed duty-cycle or controlled Speed duty-cycle by SpeedLoopFlag variable
SPLK #300,_rc1+1
L16:
.line 55
;>>>> if (SpeedLoopFlag == FALSE)
LAC _SpeedLoopFlag
BNZ L17
.line 56
;>>>> pwm1.DutyFunc = (rmp2.Out+duty)&0x07fff; // fixed duty-cycle
;>>>> else
LAC _duty
ADD _rmp2+5
ANDK 32767
SACL _pwm1+3
B L18
L17:
.line 58
;>>>> pwm1.DutyFunc = pid1_spd.out_reg2; // controlled Speed duty-cycle
;>>>> //pwm1.CmtnPointer = hall1.tab;
BLKD #_pid1_spd+11,_pwm1+3
L18:
.line 61
;>>>> HallValue=hall1.tab;
BLKD #_hall1+6,_HallValue
.line 62
;>>>> ACTRB=ACTRX1[(hall1.tab+TabShift)&6];
LAC _TabShift
ADD _hall1+6
ANDK 6
RSXM
ADLK _ACTRX1+0,0
MAR * ,AR0
SACL *
LAR AR3,* ,AR3
LARK AR4,29971
SSXM
LAC * ,AR4
SACL * ,AR1
.line 63
;>>>> pwm1.update(&pwm1);
;>>>> // ------------------------------------------------------------------------------
;>>>> // Connect inputs of the SPEED_PR module and call the speed calculation
;>>>> // function.
;>>>> // ------------------------------------------------------------------------------
LALK _pwm1+0
SACL *+
LAC _pwm1+5
CALA
MAR *-
.line 69
;>>>> if (HallValue == 3) {
SSXM
LDPK _HallValue
LAC _HallValue
SUBK 3
BNZ L19
.line 70
;>>>> HallValue = 0xFF; // 强制一个新值作为区间值
LACK 255
SACL _HallValue
.line 71
;>>>> if (++speedcount == speed1.motorpairs) // 对于23对极电机，将此代码段执行23 个电周期（即1 个 机械周期）
LAC _speedcount
ADDK 1
SACL _speedcount
SUB _speed1+10
BNZ L20
.line 73
;>>>> speed1.TimeStamp = VirtualTimer;
;>>>> // speed1.calc(&speed1);
;>>>> // if (speed1.InputSelect == 0)
;>>>> //{
BLKD #_VirtualTimer,_speed1+2
L20:
.line 78
;>>>> speed1.OldTimeStamp = speed1.NewTimeStamp;
BLKD #_speed1,_speed1+1
.line 79
;>>>> speed1.NewTimeStamp = speed1.TimeStamp;
BLKD #_speed1+2,_speed1
.line 80
;>>>> speed1.EventPeriod = speed1.NewTimeStamp - speed1.OldTimeStamp;
LAC _speed1
SUB _speed1+1
SACL _speed1+4
.line 82
;>>>> if (speed1.EventPeriod < 0)
LAC _speed1+4
BGEZ L21
.line 83
;>>>> speed1.EventPeriod += 32767; // 0x7FFF = 32767
;>>>> //}
ADDK 32767
SACL _speed1+4
L21:
.line 85
;>>>> speed1.calc(&speed1);
;>>>> // ------------------------------------------------------------------------------
;>>>> // Increase virtual timer and force 15 bit wrap around
;>>>> // ------------------------------------------------------------------------------
LALK _speed1+0
SACL *+
LAC _speed1+11
CALA
MAR *-
L19:
.line 94
;>>>> VirtualTimer++;
LDPK _VirtualTimer
LAC _VirtualTimer
ADDK 1
SACL _VirtualTimer
.line 95
;>>>> VirtualTimer &= 0x7FFF;
ANDK 32767
SACL _VirtualTimer
.line 96
;>>>> speedtime++;
ZALS _speedtime
ADDH _speedtime+1
ADDK 1
SACL _speedtime
SACH _speedtime+1
.line 97
;>>>> speedtime &= 0x7FFFFFFF;
;>>>> // asm(" SETC XF ");//SCSR2中/BOOT EN.BOOT使能位,这一位反映XF引脚在复位时的状态,它可以被软件改变.XF=0硎臼鼓芤⌨️ 快捷键说明
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