📄 hall3drv1.asm
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;============================================================================
; 文件名: Hall3drv.asm
;
; 模块名: HALL3_DRV
;
; 初始化程序名: HALL3_DRV_INIT
;
; 公司: 达盛科技
;
; 功能描述: 控制逆变器的开关状态，驱动直流无刷电动机。
;
; |~~~~~~~~~~~~~~~|
; | |
; hall_map_ptro------>| HALL3_DRV |----->o cmtn_trig_hall
; | |
; |_______________|
;
;=====================================================================================
; 修改记录:
;-------------------------------------------------------------------------------------
; 2005.08.20 版本：Ver 1.0
;===========================================================================
;(要调用模块，就将下面声明语句复制到主程序代码中相应位置)
; .ref HALL3_DRV, HALL3_DRV_INIT ;子程序调用
; .ref cmtn_trig_hall, hall_map_ptr ;输入输出
;===========================================================================
;外部变量声明.
.def HALL3_DRV, HALL3_DRV_INIT ;子程序调用
.def cmtn_trig_hall, hall_map_ptr ;输入输出
;===========================================================================
.include "x24x_app.h"
hall_vars .usect "HALL_VAR",20,1
cmtn_trig_hall .set hall_vars+1 ;输出信号作为模6计数器的触发信号输入
cap_cntr .set hall_vars+2 ;CAP1,2,3 引脚上检测到的跳变
debounce_CNT .set hall_vars+3 ;Counter/debounce delay current value
debounce_amount .set hall_vars+4 ;Counter delay amount to validate/debounce GPIO readings
hall_GPIO .set hall_vars+5 ;Most recent logic level on CAP/GPIO
hall_GPIO_buf .set hall_vars+6 ;Buffer of last logic level on CAP/GPIO while being debounced
hall_GPIO_accepted .set hall_vars+7 ;Debounced logic level on CAP/GPIO
edge_debounced .set hall_vars+8 ;Trigger from Debounce function to Hall_Drv, if =1 edge is debounced
hall_map1 .set hall_vars+9 ;CAP/GPIO logic levels for hall_map_ptr = 0
hall_map2 .set hall_vars+10 ;CAP/GPIO logic levels for hall_map_ptr = 1
hall_map3 .set hall_vars+11 ;CAP/GPIO logic levels for hall_map_ptr = 2
hall_map4 .set hall_vars+12 ;CAP/GPIO logic levels for hall_map_ptr = 3
hall_map5 .set hall_vars+13 ;CAP/GPIO logic levels for hall_map_ptr = 4
hall_map6 .set hall_vars+14 ;CAP/GPIO logic levels for hall_map_ptr = 5
evifrc .set hall_vars+15 ;CAP 捕获标志, 表明 CAP 引脚上检测到跳变
stall_cntr .set hall_vars+16 ;如果电机停转, 该计数器溢出，触发转换以启动电机，霍尔信号的跳变表明电机启动
hall_GPR0 .set hall_vars+17 ;通用寄存器
hall_map_ptr .set hall_vars+18 ;During hall map creation, this variable points to the current commutation
;state. After map creation, it points to the next commutation state.
revolutions .set hall_vars+19 ;运行计数器, 6个霍尔状态的一个循环定义为一转
.text
HALL3_DRV_INIT: ;初始化程序
CALL Determine_State ;读取 CAP/GPIO 逻辑电平
LDP #hall_vars
BLDD #hall_GPIO, hall_GPIO_buf ;Init with current CAP/GPIO logic levels
BLDD #hall_GPIO, hall_GPIO_accepted ;Init with current CAP/GPIO logic levels
SPLK #0, cmtn_trig_hall ;No commutation trigger
SPLK #0, debounce_CNT ;Reset CAP/GPIO debounce counter and amount, used on all detected edges
SPLK #10, debounce_amount
SPLK #0, edge_debounced ;Reset debounced edge trigger
SPLK #0FFFFh,stall_cntr ;Set stall counter to starting amount, it will count down by 1 on every system
;ISR that a hall signal has not been detected.
SPLK #0, cap_cntr ;Reset running counter that totals edges detected on all 3 CAP inputs
SPLK #-10, revolutions ;While <=0 hall map is created. Once it's >0, the hall map is used to
;obtain the correct commutation pointer.
; 初始化事件管理器
;--------------------------
;设置 GPT2
POINT_EV
;设置 CAPCON
SPLK #0, CAPCON
SPLK #0, CAPCON ;清 CAP 寄存器
SPLK #1011000011111100b, CAPCON
;5432109876543210
; 15: 1 - 不清除捕获寄存器
; 13: 01 - 使能 Capture 1,2 禁止 QEP
; 12: 1 - 使能 Capture 3
; 11: 0 - 保留位
; 10: 0 - 用通用定时器 2 作为 CAP3 定时器
; 9: 0 - 用通用定时器 2 作为 CAP1,2 定时器
; 8: 0 - CAP3 转换不启动ADC
; 6: 11 - CAP1, 双沿检测
; 4: 11 - CAP2, 双沿检测
; 2: 11 - CAP3, 双沿检测
; 0: 00 - 保留位
SPLK #1500h, CAPFIFO
.if (x240) ;目标板选择
;设置 CAP1-3 为捕获输入
LDP #OCRB>>7
LACC OCRB
OR #0000000001110000b
;||||!!!!||||!!!!
;5432109876543210
SACL OCRB ;OCRB.4-6 = CAP1-3
;设置 CAP1-3 作为 GPIO-输入 (IOPC4-6)
LACC PCDATDIR
AND #1000111111111111b
;||||!!!!||||!!!!
;5432109876543210
SACL PCDATDIR ;PCDATDIR.12-14 (IOPC4-6 数据方向为输入)
.endif
.if (x243|x2407) ;目标板选择
;设置 CAP1-3 为捕获输入
LDP #OCRA>>7
LACC OCRA
OR #0000000000111000b
;||||!!!!||||!!!!
;5432109876543210
SACL OCRA ;OCRA.3-5 = CAP1-3
;设置 CAP1-3 为 GPIO-输入 (IOPA3-5)
LACC PADATDIR
AND #1100011111111111b
;||||!!!!||||!!!!
;5432109876543210
SACL PADATDIR ;PADATDIR.11-13 (IOPC3-5 Data Direction as input)
.endif
RET
;**** HALL3_DRV ****
HALL3_DRV:
LDP #EVIFRC>>7
LACC EVIFRC
BCND EDGE_DETECTED,NEQ ;判断是否检测到霍尔跳变信号
NO_EDGE_DETECTED:
LDP #hall_vars
SPLK #0, cmtn_trig_hall ;Reset trigger, it only handshakes with calling program.
LACC edge_debounced ;If motor has not moved then debounce current position.
CC HALL_DEBOUNCE, EQ
BLDD #edge_debounced,cmtn_trig_hall ;If current position is debounced, then trigger
;move to next position.
LACC edge_debounced
CC Next_State_Ptr, NEQ ;If current position is debounced, find match in table
;and return pointer to current state. Ptr to be incremented
;by MOD6CNT after RET.
SPLK #0, edge_debounced ;Reset trigger
B HALL_RET
EDGE_DETECTED:
LDP #hall_vars
SACL evifrc ;Save capture flag register, convenient for Watch Window
SPLK #0FFFFh, stall_cntr ;On new edge, reset stall counter
LDP #EVIFRC>>7
SPLK #07h, EVIFRC ;Clear all CAP Int-flags
CALL Determine_State ;Since motor has moved, determine state (read hall_GPIO).
LDP #hall_vars
LACC cap_cntr ;Increment running edge detection counter
ADD #1
SACL cap_cntr
HALL_RET:
RET
;**** HALL_DEBOUNCE ****
HALL_DEBOUNCE:
LDP #hall_vars
LACC hall_GPIO ;Current GPIO reading == debounced GPIO reading?
SUB hall_GPIO_accepted ;If no, then the motor has moved to a new position.
BCND GPIO_CHANGED, NEQ
GPIO_UNCHANGED:
LACC revolutions,16 ;Only create hall map during initial revolutions
CC CREATE_MAP, LEQ
LACC stall_cntr ;Decrement stall counter.
SUB #1
SACL stall_cntr
BCND END, NEQ
SPLK #1, edge_debounced ;If motor has stalled, then user trigger to commutate
SPLK #0FFFFh, stall_cntr ;Reset counter to starting value
B END
GPIO_CHANGED:
LACC hall_GPIO ;Current GPIO reading == previous GPIO reading?
SUB hall_GPIO_buf
BCND NEW_READING, NEQ
LACC debounce_CNT,16 ;If equal, is current GPIO reading debounced?
SUB debounce_amount,16
BCND DEBOUNCE_MORE, LT
BLDD #hall_GPIO_buf, hall_GPIO_accepted ;Current GPIO reading is now debounced
SPLK #1, edge_debounced ;Edge/position debounced, trigger commutation
SPLK #0, debounce_CNT ;Reset debounce counter
LACC hall_map_ptr
BCND END, NEQ
LACC revolutions ;Increment on every rev (hall_map_ptr = 0)
ADD #1
SACL revolutions
B END
DEBOUNCE_MORE:
LACC debounce_CNT ;Increment debounce counter
ADD #1
SACL debounce_CNT
B END
NEW_READING:
BLDD #hall_GPIO, hall_GPIO_buf ;Save new reading and reset debounce counter
SPLK #0, debounce_CNT
B END
END: RET
;**** CREATE_MAP ****
CREATE_MAP:
LDP #hall_vars
LACC hall_map_ptr
ADD #hall_map1 ;Add base address of table to pointer offset.
SACL hall_GPR0
LAR AR2, hall_GPR0
MAR *, AR2
BLDD #hall_GPIO_accepted, * ;Save debounced GPIO to table.
RET
;**** Next_State_Ptr ****
Next_State_Ptr:
LACC revolutions,16 ;Only run function after map has been created.
RETC LEQ
LAR AR3, #5
LAR AR2, #hall_map1
MAR *, AR2
Next_State: ;Search for a match of current debounced GPIO position
LACC *+, AR3 ;and the table entries.
SUB hall_GPIO_accepted
BCND Match_Found, EQ
BANZ Next_State, AR2
Match_Found:
LACC #5 ;On match, save pointer position. Pointer will be incremented
SAR AR3, hall_GPR0 ;by 1 since MOD6CNT will receive a positive trigger
SUB hall_GPR0 ;and pointer as inputs.
SACL hall_map_ptr
RET
;**** Function: Determine_State ****
Determine_State:
.if (x240) ;target dependancy
;Configure CAP1-3 as GPIO-inputs (IOPC4-6)
LDP #OCRB>>7
LACC OCRB
AND #1111111110001111b
;5432109876543210
SACL OCRB ;OCRB.4-6 = IOPC4-6
;Read input levels on CAP1-3/IOPC4-6
LACC PCDATDIR,11 ;ACC.15-17 = PCDATDIR.4-6 (IOPC4-6)
AND #0000000000000111b,15
;5432109876543210
LDP #hall_vars
SACH hall_GPIO,1 ;hall_GPIO.0-2 = IOPC4-6
;Configure CAP1-3 as CAPTURE inputs
LDP #OCRB>>7
LACC OCRB
OR #0000000001110000b
;5432109876543210
SACL OCRB
.endif ;OCRB.4-6 = CAP1-3
.if (x243|x2407) ;target dependancy
;Configure CAP1-3 as GPIO-inputs (IOPA3-5)
LDP #OCRA>>7
LACC OCRA
AND #1111111111000111b
;5432109876543210
SACL OCRA ;OCRA.3-5 = IOPA3-5
;Read input levels on CAP1-3 (IOPA3-5)
LACC PADATDIR,12 ;ACC.15-17 = PADATDIR.3-5 (IOPA3-5)
AND #0000000000000111b,15
;5432109876543210
LDP #hall_vars
SACH hall_GPIO,1 ;hall_GPIO.0-2 = IOPA3-5
;Configure CAP1-3 as CAPTURE inputs
LDP #OCRA>>7
LACC OCRA
OR #0000000000111000b
;5432109876543210
SACL OCRA ;OCRA.3-5 = CAP1-3
.endif
RET
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