main.c

PMSM电机的磁场定向控制

//****************************************************************************
// @Module        Project Settings
// @Filename      MAIN.C
// @Project       svm.dav
//----------------------------------------------------------------------------
// @Controller    Infineon XC167CI-16F40
//
// @Compiler      Keil
//
// @Codegenerator 2.1
//
// @Description   This file contains the project initialization function.
//
//----------------------------------------------------------------------------
// @Date          19.12.2003 11:31:17
//
//****************************************************************************

// USER CODE BEGIN (MAIN_General,1)

// USER CODE END



//****************************************************************************
// @Project Includes
//****************************************************************************

#include "MAIN.H"

// USER CODE BEGIN (MAIN_General,2)

// USER CODE END


//****************************************************************************
// @Macros
//****************************************************************************

// USER CODE BEGIN (MAIN_General,3)

// USER CODE END


//****************************************************************************
// @Defines
//****************************************************************************

// USER CODE BEGIN (MAIN_General,4)

// USER CODE END


//****************************************************************************
// @Typedefs
//****************************************************************************

// USER CODE BEGIN (MAIN_General,5)

// USER CODE END


//****************************************************************************
// @Imported Global Variables
//****************************************************************************

// USER CODE BEGIN (MAIN_General,6)

// USER CODE END


//****************************************************************************
// @Global Variables
//****************************************************************************

// USER CODE BEGIN (MAIN_General,7)
char menu[]=
"\r\n\n\n\n"
"a...Start PWM\r\n"
"b...Stop PWM\r\n"
"d...Change rotating Direction \r\n"
"e...Enable Driver\r\n"
"r...Rotate IM\r\n"
" \r\n";

unsigned char comm_asc0_i = 0;
unsigned char asc0_rece_buf[5];
unsigned char comm_asc0_receCount = 0;

bit on_flag=ON;
bit rot_flag=OFF;
bit dir_flag=ON;
uchar select=0;

int speed=0;

volatile unsigned int idata adc_result[3];
volatile unsigned int idata adc_dclink_res[2];
// USER CODE END
extern unsigned int ENC_OFFSET;

//****************************************************************************
// @External Prototypes
//****************************************************************************

// USER CODE BEGIN (MAIN_General,8)

// USER CODE END


//****************************************************************************
// @Prototypes Of Local Functions
//****************************************************************************

// USER CODE BEGIN (MAIN_General,9)

// USER CODE END


//****************************************************************************
// @Function      void MAIN_vInit(void) 
//
//----------------------------------------------------------------------------
// @Description   This function initializes the microcontroller.
//
//----------------------------------------------------------------------------
// @Returnvalue   None
//
//----------------------------------------------------------------------------
// @Parameters    None
//
//----------------------------------------------------------------------------
// @Date          19.12.2003
//
//****************************************************************************

// USER CODE BEGIN (Init,1)

// USER CODE END

void MAIN_vInit(void)
{
  // USER CODE BEGIN (Init,2)

  // USER CODE END

  ///  -----------------------------------------------------------------------
  ///  Configuration of the System Clock:
  ///  -----------------------------------------------------------------------
  ///  - VCO clock used, input clock is connected
  ///  - input frequency is 8 MHz
  ///  - VCO output frequency 100 .. 150 MHz
  ///  - system clock is 40 MHz

  MAIN_vUnlockProtecReg();       // unlock write security
  PLLCON         =  0x7D12;      // load PLL control register


  //// -----------------------------------------------------------------------
  //// Begin of Important Settings for the Start-Up File
  //// -----------------------------------------------------------------------
  ///  All following settings must be set in the start-up file. You can use 
  ///  DAvE's project file (*.dpt) to include this register values into your 
  ///  compiler EDE.

    ///  ---------------------------------------------------------------------
    ///  Initialization of the CPUCON1 Register:
    ///  ---------------------------------------------------------------------
    ///  - space between two vectors is 2 words
    ///  - DISWDT executable until End of Init
    ///  - segmentation is enabled
    ///  - switch context is not interruptible
    ///  - branch prediction is enabled
    ///  - zero cycle jump function is enabled

    //// this register must be set in the start-up file
    //// CPUCON1  =  0x0003

    ///  ---------------------------------------------------------------------
    ///  Initialization of the VECSEG Register:
    ///  ---------------------------------------------------------------------
    ///  - start from internal program memory

    //// this register must be set in the start-up file
    //// VECSEG  =  0x00C0

    ///  ---------------------------------------------------------------------
    ///  Initialization of the SYSCON0 Register:
    ///  ---------------------------------------------------------------------

    //// this register must be set in the start-up file
    //// SYSCON0  =  0x0000

    ///  ---------------------------------------------------------------------
    ///  Initialization of the SYSCON1 Register:
    ///  ---------------------------------------------------------------------
    ///  clock prescaler for system is fpll / 1

    //// this register must be set in the start-up file
    //// SYSCON1  =  0x0000

    ///  ---------------------------------------------------------------------
    ///  Initialization of the SYSCON3 Register:
    ///  ---------------------------------------------------------------------

    //// this register must be set in the start-up file
    //// SYSCON3  =  0x0000

    ///  ---------------------------------------------------------------------
    ///  Initialization of EBC
    ///  ---------------------------------------------------------------------

    //// this register must be set in the start-up file
    //// EBCMOD1  =  0x005F

    ///  EBC is disabled
  //// -----------------------------------------------------------------------
  //// End of Important Settings for the Start-Up File
  //// -----------------------------------------------------------------------


  //   -----------------------------------------------------------------------
  //   Initialization of the Peripherals:
  //   -----------------------------------------------------------------------

  //   initializes the Parallel Ports
  IO_vInit();

  //   initializes the Asynchronous/Synchronous Serial Interface (ASC0)
  ASC0_vInit();

  //   initializes the General Purpose Timer Unit (GPT1)
  GPT1_vInit();

  //   initializes the Capture / Compare Unit 1 (CAPCOM1)
  CC1_vInit();

  //   initializes the Analog / Digital Converter (ADC)
  ADC_vInit();

  //   initializes the Capture / Compare Unit 6 (CCU6)
  CCU6_vInit();

  //   initializes the Interrupt Controller (INT)
  INT_vInit();

  // USER CODE BEGIN (Init,3)

  // USER CODE END

  //   globally enable interrupts
  PSW_IEN        =  1;          

} //  End of function MAIN_vInit


//****************************************************************************
// @Function      void MAIN_vUnlockProtecReg(void) 
//
//----------------------------------------------------------------------------
// @Description   This function makes it possible to write one protected 
//                register. After calling of this function and write on the 
//                protected register is the security level set to low 
//                protected mode.
//
//----------------------------------------------------------------------------
// @Returnvalue   None
//
//----------------------------------------------------------------------------
// @Parameters    None
//
//----------------------------------------------------------------------------
// @Date          19.12.2003
//
//****************************************************************************

// USER CODE BEGIN (UnlockProtecReg,1)

// USER CODE END

void MAIN_vUnlockProtecReg(void)
{
  ubyte ubPASSWORD;

  if((SCUSLS & 0x1800) == 0x0800)      // if low protected mode
  {

    ubPASSWORD = SCUSLS & 0x00FF;
    ubPASSWORD = ~ubPASSWORD;
    SCUSLC = 0x8E00 | ubPASSWORD;      // command 4

  }  // end if low protected mode

  if((SCUSLS & 0x1800) == 0x1800)      // if write protected mode
  {
    SCUSLC = 0xAAAA;                   // command 0
    SCUSLC = 0x5554;                   // command 1

    ubPASSWORD = SCUSLS & 0x00FF;
    ubPASSWORD = ~ubPASSWORD;

    SCUSLC = 0x9600 | ubPASSWORD;      // command 2
    SCUSLC = 0x0800;                   // command 3; new PASSWOR is 0x00

    ubPASSWORD = SCUSLS & 0x00FF;
    ubPASSWORD = ~ubPASSWORD;
    SCUSLC = 0x8E00 | ubPASSWORD;      // command 4

  }  // end if write protected mode

} //  End of function MAIN_vUnlockProtecReg


//****************************************************************************
// @Function      void main(void) 
//
//----------------------------------------------------------------------------
// @Description   This is the main function.
//
//----------------------------------------------------------------------------
// @Returnvalue   None
//
//----------------------------------------------------------------------------
// @Parameters    None
//
//----------------------------------------------------------------------------
// @Date          19.12.2003
//
//****************************************************************************


void ChangeDirection(void)
{
	dir_flag = !dir_flag;
}

void SetSpeed(int new_speed)
{
	speed = new_speed<<3;		// new_speed * 8 	
}

void StartPwm(void)
{
	CCU6_TCTR4			=	0x0002;			//starten von T12 der CAPCOM 6
}

void StopPwm(void)
{
	CCU6_TCTR4			=	0x0001;			//stoppen von T12 der CAPCOM 6
	CCU6_CMPMODIF		=	0x0700;			//reset output line
}

void EnableDriver(void)
{
	if (on_flag==OFF)
	{
    	P9=0x0010;                  // RESET PORT 9.4,5 OUTPUT LATCH
		on_flag=ON;
	}
	else
	{
   		P9=0x0020;                  // SET PORT 9.4,5 OUTPUT LATCH
		on_flag=OFF;
	}
}

void Comm_Asc0_Send(unsigned char buff)
{

      ASC0_TBUF = buff;
      while(!ASC0_TIC_IR){;}
      ASC0_TIC_IR = 0;
}

// USER CODE BEGIN (Main,1)
uchar input (void)
{
  uchar in = 0; 
  //do 
  //{
    while (!ASC0_RIC_IR) _nop_();
    ASC0_RIC_IR=0;
    in= (char)ASC0_RBUF;
  //}while (in != 'a' && in != 'b' && in != 'd'  && in != 'e' && in != '0' && in != '1' && in != '2' && in != '3'&& in != '4' && in != '5' && in != '6'&& in != '7' && in != '8' && in != '9'&& in != '+'&& in != '-');
  return in;
  // 接收测试软件（串口0）的数据
  /*unsigned char i;
   if(ASC0_RIC_IR)
   {
      ASC0_RIC_IR = 0;
      comm_asc0_i = 0;
      asc0_rece_buf[comm_asc0_receCount++] = (unsigned char)ASC0_RBUF;
   }
   if((GPT12E_T2IC_IR) && (comm_asc0_receCount>0))
   {
      GPT12E_T2IC_IR = 0;
      comm_asc0_i++;
   }
   if(comm_asc0_i>1)
   {
      comm_asc0_i = 0;
	  switch(asc0_rece_buf[0])
       {
           case 0x0a:
           {
			   StartPwm();
			   break;
		   }
		   case 0x0b:
           {
			   StopPwm();
			    break;
		   }
		   case 0x0e:
           {
			  EnableDriver(); break;
		   }
		   case 0x0d:
           {
			  ChangeDirection(); break;
		   }
		   case 0x0f:
		   {
			  if(asc0_rece_buf[1]<70) SetSpeed(asc0_rece_buf[1]);
			  else SetSpeed(70);
			  break;
		   }
		   case 0x00:
		   {
			  ENC_OFFSET = (unsigned int)asc0_rece_buf[1]<<8 + asc0_rece_buf[2];
			  break;
		   }
      }
	  Comm_Asc0_Send(asc0_rece_buf,3);
	  for(i=0;i<comm_asc0_receCount;i++)
      {
         asc0_rece_buf[i] = 0x00;
      }
      comm_asc0_receCount = 0;
   }*/
}


// USER CODE END
extern int test_position;
void main(void)
{
  // USER CODE BEGIN (Main,2)
	Configure_PLL();
	Configure_SYSCON3();
  // USER CODE END

  MAIN_vInit();

  // USER CODE BEGIN (Main,4)


	CCU6_TCTR4			=	0x0002;			// Start Timer 12 of CAPCOM 6
	InitFOC();	

	while (1)  
  	{	
	    P7_P6 = 1; 
		select=input();
		//input();
	    switch (select)
		{
			case 0x0a:  StartPwm();  break;
			case 0x0b:  StopPwm();  break;
			case 0x0c:  EnableDriver();  break;
			case 0x0d:  ChangeDirection();  break;
			case 0x00:  SetSpeed(0);  break;
			case 0x01:  SetSpeed(10);  break;
			case 0x02:  SetSpeed(20);   break;
			case 0x03:  SetSpeed(30);   break;
			case 0x04:  SetSpeed(40);   break;
			case 0x05:  SetSpeed(50);   break;
			case 0x06:  SetSpeed(60);   break;
	 		case 0x07:  SetSpeed(70);   break;
			case 0x08:  SetSpeed(100);   break;
			case 0x09:  SetSpeed(150);   break;
			case 0x99:  SetSpeed(200);   break;
			case 0xaa:  SetSpeed(300);   break;
			case 0x0f:  Comm_Asc0_Send((uchar)(GPT12E_T3>>8)); Comm_Asc0_Send((uchar)GPT12E_T3); Comm_Asc0_Send((uchar)(test_position>>8)); Comm_Asc0_Send((uchar)test_position);   break;
			default:  ENC_OFFSET = (uint)(select&0xf0)<<(select&0x0f); 
			//case 'f':  SetSpeed(set_speed); break;
			//case '+':  ENC_OFFSET=ENC_OFFSET+50;
			//case '-':  ENC_OFFSET=ENC_OFFSET-50;
		}
		  Comm_Asc0_Send(select);
	P7_P6 = 0;
	}

  // USER CODE END

} //  End of function main



// USER CODE BEGIN (MAIN_General,10)

// USER CODE END