isrs.c

关于无传感器BLDC使用DSPIC现实的源码

					// Calculate decel rate based on minimum period and the user parameter
					// which determines time period over which ramp down will occur
					windmilling_decel_rate=(BRAKING_PR2_LIMIT-new_PR2)/user_parameters[42];
					// Invert direction in which energisation will occur
					control_flags.DIR=FORWARDS;
					// Force a Timer 2 interrupt event to start commutation
					IFS0bits.T2IF=TRUE;
					IEC0bits.T2IE=TRUE;
					// Set current demand to the windmilling_demand which is derived from
					// the user parameters for demand and scaling
					current_demand=windmilling_demand;
					ENABLE_FIRING;
					return;
				}

				// To reach this section of code motor not windmilling and have detected a
				// second valid rising edge and so ought to be able to launch sensorless.
				// However, if going too fast, sensorless will get immediately lost due 
				// to enevitable error in threshold detection and because there may
				// not be time for sufficient samples of VPH to catch the zero crossing

				if (period_measurement > REACQUIRE_THRESHOLD) // If OK to run sensorless
				{	
					// To ensure sensorless can pick straight up need to
					// extrapolate backwards in time and set up previous timestamps
					previous_timestamps[0]=new_edge_time - one_twenty_deg - thirty_deg;
					previous_timestamps[1]=new_edge_time - thirty_deg;
					previous_timestamps[2]=new_edge_time - one_twenty_deg + thirty_deg;
					previous_delta=one_twenty_deg/2;
					control_flags.ACQUIRE2=FALSE;
					// Setting the SWAP flag triggers the transition to sensorless
					control_flags.SWAP=TRUE;
					// Set run state to RUNNING in case this was a flying start
					run_state=RUNNING;
					// Force a Timer 2 interrupt event to start commutation
					IFS0bits.T2IF=TRUE;
					IEC0bits.T2IE=TRUE;
					ENABLE_FIRING;
				}
				else // Going too fast to re-acquire
				{
					// Force re-start of acqusition
					control_flags.ADCCONFIG=TRUE;
					// Also set ROTATION_CHECK flag
					// so that rotation timer can't timeout before
					// speed has fallen below where can re-acquire
					control_flags2.ROTATION_CHECK=TRUE;
				}	
				return;
			}

			if (control_flags.ACQUIRE2_YELLOW==TRUE)
			{

				sector=2;
				OVDCON=SECTOR2_OVERRIDE;
				one_twenty_deg=new_edge_time-previous_edge_time;
				thirty_deg=one_twenty_deg/4;
				period_measurement=one_twenty_deg+(one_twenty_deg/2);
				stall_counter=0;
				if (control_flags.DIR==FORWARDS)	// If windmilling
				{
					sector=5;
					OVDCON=SECTOR5_OVERRIDE;
					control_flags2.WINDMILLING=TRUE;
					control_flags2.ROTATION_CHECK=FALSE;
					control_flags.ACQUIRE2=FALSE;
					new_PR2=one_twenty_deg/2;
					windmilling_decel_rate=(BRAKING_PR2_LIMIT-new_PR2)/user_parameters[42];
					control_flags.DIR=BACKWARDS;
					IFS0bits.T2IF=TRUE;
					IEC0bits.T2IE=TRUE;
					current_demand=windmilling_demand;
					ENABLE_FIRING;
					return;
				}

				if (period_measurement > REACQUIRE_THRESHOLD) // If OK to run sensorless
				{	
					previous_timestamps[0]=new_edge_time - one_twenty_deg - thirty_deg;
					previous_timestamps[1]=new_edge_time - one_twenty_deg + thirty_deg;
					previous_timestamps[2]=new_edge_time - thirty_deg;
					previous_delta=one_twenty_deg/2;
					control_flags.ACQUIRE2=FALSE;
					control_flags.SWAP=TRUE;
					run_state=RUNNING;
					IFS0bits.T2IF=TRUE;
					IEC0bits.T2IE=TRUE;
					ENABLE_FIRING;
				}
				else
				{
					control_flags.ADCCONFIG=TRUE;
					control_flags2.ROTATION_CHECK=TRUE;
				}
				return;
			}
			// Save timestamp just taken as it will be required when second rising
			// edge is detected to work out period etc.
			previous_edge_time=new_edge_time;
			// Set flag to indicate a valid rising edge has been detected on this phase
			control_flags.ACQUIRE2_RED=TRUE;
		}	
	}	
	/********************* END OF RED PHASE CODE *****************************************/

	/********************START OF YELLOW PHASE CODE **************************************/		
	if ((vph_yellow < vph_yellow_threshold) \
		&& (level_count_yellow < (unsigned char)user_parameters[35]))
	{
			level_count_yellow++;
	}

	if (level_count_yellow == (unsigned char)user_parameters[35])
	{
		if ((previous_vph_yellow >= vph_yellow_threshold) \
		&& (vph_yellow >= vph_yellow_threshold))
		{
			new_edge_time=POSCNT;
			
			if (control_flags.ACQUIRE2_YELLOW)
			{

				control_flags2.RETRY_FLAG=TRUE;
				if (retry_counter)
					retry_counter--;
				control_flags.ADCCONFIG=TRUE;
				return;
			}
			
			level_count_yellow=0;
			if (control_flags.ACQUIRE2_RED==TRUE)
			{

				sector=1;
				OVDCON=SECTOR1_OVERRIDE;
				one_twenty_deg=new_edge_time-previous_edge_time;
				thirty_deg=one_twenty_deg/4;
				period_measurement=one_twenty_deg+(one_twenty_deg/2);
				stall_counter=0;

				if (control_flags.DIR==BACKWARDS)
				{
					sector=4;
					OVDCON=SECTOR4_OVERRIDE;
					control_flags2.WINDMILLING=TRUE;
					control_flags2.ROTATION_CHECK=FALSE;
					control_flags.ACQUIRE2=FALSE;
					new_PR2=one_twenty_deg/2;
					windmilling_decel_rate=(BRAKING_PR2_LIMIT-new_PR2)/user_parameters[42];
					control_flags.DIR=FORWARDS;
					IFS0bits.T2IF=TRUE;
					IEC0bits.T2IE=TRUE;
					current_demand=windmilling_demand;
					ENABLE_FIRING;
					return;
				}

				if (period_measurement > REACQUIRE_THRESHOLD)
				{
					previous_timestamps[0]=new_edge_time - one_twenty_deg + thirty_deg;
					previous_timestamps[1]=new_edge_time - one_twenty_deg - thirty_deg;
					previous_timestamps[2]=new_edge_time - thirty_deg;
					previous_delta=one_twenty_deg/2;
					control_flags.ACQUIRE2=FALSE;
					control_flags.SWAP=TRUE;
					run_state=RUNNING;
					IFS0bits.T2IF=TRUE;
					IEC0bits.T2IE=TRUE;
					ENABLE_FIRING;
				}
				else
				{
					control_flags.ADCCONFIG=TRUE;
					control_flags2.ROTATION_CHECK=TRUE;
				}
				return;
			}

			if (control_flags.ACQUIRE2_BLUE==TRUE)
			{

				sector=4;
				OVDCON=SECTOR4_OVERRIDE;
				one_twenty_deg=new_edge_time-previous_edge_time;
				thirty_deg=one_twenty_deg/4;
				period_measurement=one_twenty_deg+(one_twenty_deg/2);
				stall_counter=0;

				if (control_flags.DIR==FORWARDS)
				{
					sector=1;
					OVDCON=SECTOR1_OVERRIDE;
					control_flags2.WINDMILLING=TRUE;
					control_flags2.ROTATION_CHECK=FALSE;
					control_flags.ACQUIRE2=FALSE;
					new_PR2=one_twenty_deg/2;
					windmilling_decel_rate=(BRAKING_PR2_LIMIT-new_PR2)/user_parameters[42];
					control_flags.DIR=BACKWARDS;
					IFS0bits.T2IF=TRUE;
					IEC0bits.T2IE=TRUE;
					current_demand=windmilling_demand;
					ENABLE_FIRING;
					return;
				}

				if (period_measurement > REACQUIRE_THRESHOLD)
				{
					previous_timestamps[0]=new_edge_time - thirty_deg;
					previous_timestamps[1]=new_edge_time - one_twenty_deg - thirty_deg;
					previous_timestamps[2]=new_edge_time - one_twenty_deg + thirty_deg;
					previous_delta=one_twenty_deg/2;
					control_flags.ACQUIRE2=FALSE;
					control_flags.SWAP=TRUE;
					run_state=RUNNING;
					IFS0bits.T2IF=TRUE;
					IEC0bits.T2IE=TRUE;
					ENABLE_FIRING;
				}
				else
				{
					control_flags.ADCCONFIG=TRUE;
					control_flags2.ROTATION_CHECK=TRUE;
				}
				return;
			}
			previous_edge_time=new_edge_time;
			control_flags.ACQUIRE2_YELLOW=TRUE;			
		}	
	}
	/********************* END OF YELLOW PHASE CODE **********************************/	
	
	/**********************START OF BLUE PHASE CODE **********************************/

	if ((vph_blue < vph_blue_threshold) \
		&& (level_count_blue < (unsigned char)user_parameters[35]))
	{
			level_count_blue++;
	}

	if (level_count_blue == (unsigned char)user_parameters[35])
	{
		if ((previous_vph_blue >= vph_blue_threshold) \
			&& (vph_blue >= vph_blue_threshold))
		{
			new_edge_time=POSCNT;
			
			if (control_flags.ACQUIRE2_BLUE)
			{

				control_flags2.RETRY_FLAG=TRUE;
				if (retry_counter)
					retry_counter--;
				control_flags.ADCCONFIG=TRUE;
				return;
			}

			level_count_blue=0;
			if (control_flags.ACQUIRE2_YELLOW==TRUE)
			{

				
				sector=3;
				OVDCON=SECTOR3_OVERRIDE;
				one_twenty_deg=new_edge_time-previous_edge_time;
				thirty_deg=one_twenty_deg/4;
				period_measurement=one_twenty_deg+(one_twenty_deg/2);
				stall_counter=0;

				if (control_flags.DIR==BACKWARDS)
				{
					sector=0;
					OVDCON=SECTOR0_OVERRIDE;
					control_flags2.WINDMILLING=TRUE;
					control_flags2.ROTATION_CHECK=FALSE;
					control_flags.ACQUIRE2=FALSE;
					new_PR2=one_twenty_deg/2;
					windmilling_decel_rate=(BRAKING_PR2_LIMIT-new_PR2)/user_parameters[42];
					control_flags.DIR=FORWARDS;
					IFS0bits.T2IF=TRUE;
					IEC0bits.T2IE=TRUE;
					current_demand=windmilling_demand;
					ENABLE_FIRING;
					return;
				}

				if (period_measurement > REACQUIRE_THRESHOLD)
				{
					previous_timestamps[0]=new_edge_time - thirty_deg;
					previous_timestamps[1]=new_edge_time - one_twenty_deg + thirty_deg;
					previous_timestamps[2]=new_edge_time - one_twenty_deg - thirty_deg;
					previous_delta=one_twenty_deg/2;
					control_flags.ACQUIRE2=FALSE;
					control_flags.SWAP=TRUE;
					run_state=RUNNING;		
					IFS0bits.T2IF=TRUE;
					IEC0bits.T2IE=TRUE;
					ENABLE_FIRING;
				}
				else
				{
					control_flags.ADCCONFIG=TRUE;
					control_flags2.ROTATION_CHECK=TRUE;
				}
				return;
			}

			if (control_flags.ACQUIRE2_RED==TRUE)
			{

				sector=0;
				OVDCON=SECTOR0_OVERRIDE;
				one_twenty_deg=new_edge_time-previous_edge_time;
				thirty_deg=one_twenty_deg/4;
				period_measurement=one_twenty_deg+(one_twenty_deg/2);
				stall_counter=0;

				if (control_flags.DIR==FORWARDS)
				{
					sector=3;
					OVDCON=SECTOR3_OVERRIDE;
					control_flags2.WINDMILLING=TRUE;
					control_flags2.ROTATION_CHECK=FALSE;
					control_flags.ACQUIRE2=FALSE;
					new_PR2=one_twenty_deg/2;
					windmilling_decel_rate=(BRAKING_PR2_LIMIT-new_PR2)/user_parameters[42];
					control_flags.DIR=BACKWARDS;
					IFS0bits.T2IF=TRUE;
					IEC0bits.T2IE=TRUE;
					current_demand=windmilling_demand;
					ENABLE_FIRING;
					return;
				}

				if (period_measurement > REACQUIRE_THRESHOLD)
				{
					previous_timestamps[0]=new_edge_time - one_twenty_deg + thirty_deg;
					previous_timestamps[1]=new_edge_time - thirty_deg;
					previous_timestamps[2]=new_edge_time - one_twenty_deg - thirty_deg;
					previous_delta=one_twenty_deg/2;
					control_flags.ACQUIRE2=FALSE;
					control_flags.SWAP=TRUE;
					run_state=RUNNING;
					IFS0bits.T2IF=TRUE;
					IEC0bits.T2IE=TRUE;
					ENABLE_FIRING;
				}
				else
				{
					control_flags.ADCCONFIG=TRUE;
					control_flags2.ROTATION_CHECK=TRUE;
				}
				return;
			}
			previous_edge_time=new_edge_time;
			control_flags.ACQUIRE2_BLUE=TRUE;
		}	
	}
	/********************** END OF BLUE PHASE CODE *********************************/

	// Save current VPH samples for use next call of routine
	// Note that code above only returns before this point if an action is being taken 
	// on a rising edge detect.

	previous_vph_red=vph_red;
	previous_vph_yellow=vph_yellow;
	previous_vph_blue=vph_blue;

	return;
}