linsci.c

该程序是ST7MC驱动BLDC120

/**************** (c) 2004  STMicroelectronics **********************
     
PROJECT  : ST7MC demokit
COMPILER : ST7 METROWERKS C (HIWARE) / COSMIC

MODULE  :  LinSCI.c
LIBRARY VERSION  :  1.0.2

CREATION DATE :    04.2005
AUTHOR :      Jiang Jian-guo	/  Microcontroller Competence center  / ST Shang Hai

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DESCRIPTION :   Lin/SCI control routines

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 ******************************************************************************
 THE SOFTWARE INCLUDED IN THIS FILE IS FOR GUIDANCE ONLY. ST MICROELECTRONICS
 SHALL NOT BE HELD LIABLE FOR ANY DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES
 WITH RESPECT TO ANY CLAIMS ARISING FROM USE OF THIS SOFTWARE.
 ******************************************************************************

******************************************************************************/

#include "lib.h"
#include "ST7MC_hr.h"
#include "LinSCI.h"
#include "mtc.h"
#include "Misc.h"
#include "it_ST7MC.h"
#include "MTC_Settings_Sensorless.h"                                                                                                     

static volatile u8 Tx_Index;			// SCI transmitter index ( 0 -> LIN_TX_BUFFER_SIZE)
static volatile u8 Rx_Index;			// SCI receiver index ( 0 -> LIN_TX_BUFFER_SIZE)
static volatile u8 SCI_Status;
#define RX_Complete	0x80				// Bit7: SCI reveive completed										
										
volatile u8 Lin_Tx_Buffer[LIN_TX_BUFFER_SIZE];
volatile u8 Lin_Rx_Buffer[LIN_TX_BUFFER_SIZE];

volatile u8 * PtrToSCIBuffTx;	
volatile u8 * PtrToSCIBuffRx;   

volatile u8 MotorStatus_Backup = 0; 	

void SCI_Config(void)
{
	Resert_SCIRX_Watchdog();	// 6 second RX watchdog Refresh	
	
	SCIBRR = TX_RX_SCIBRR_2400_Bauds;	// 2.4K bauds TX RX 
    
    SCISR;               		// Clear all the flags in Status register
    SCIDR;
    SCIDR = 0xff;
        
	SCICR1 = 0x00;				// SCI on,8 bit length,disable parity
	SCICR2 = SCI_RIE + SCI_RE + SCI_TE;	// Receive/transmit enable,Receive interrupt enable			
	
	Rx_Index = 0;               // Initializes variables 
	Tx_Index = 0;				
	SCI_Status = 0;
	PtrToSCIBuffRx = Lin_Rx_Buffer;
} 
                                           
/*-----------------------------------------------------------------------------
ROUTINE NAME    : SCI_Send_Data
INPUT           : *PtrtoBuffer,NbOfBytes
OUTPUT          : None
DESCRIPTION     : Transmits  data from the user buffer and
                  starts transmission in interrupt driven 
COMMENTS        : None
-----------------------------------------------------------------------------*/
void SCI_Send_Data(void)
{	
	if (Timer_IsSCITXDelayElapsed() == TRUE)
	{
    	u8 i;	   	 	            								
// prepare for the TX data for the next transmission
		Lin_Tx_Buffer[0] = Slave_Addr;		// master address	
		Lin_Tx_Buffer[1] = Master_Addr;    	// slave address 
		Lin_Tx_Buffer[2] = SCI_COM;    		// command
		Lin_Tx_Buffer[3] = Data_Length - 1; // data length - 1 
		Lin_Tx_Buffer[4] = (u8)(Freq_Motor/(10 * Pole_Pair_Num));	// actual frequency   	
		Lin_Tx_Buffer[6] = (u8)(Freq_Motor/(10 * Pole_Pair_Num)); 
		  /* Error code: Bit7 -- Emergency Fault
					     Bit6 -- Start-up Failure    
					     Bit4 -- Stall Fault     */
		//Lin_Tx_Buffer[5] = (u8)(GetMotorStatus() & FAULT_MSK);      
		//Lin_Tx_Buffer[7] = (u8)(GetMotorStatus() & FAULT_MSK);
		Lin_Tx_Buffer[5] = (u8)(MotorStatus_Backup & FAULT_MSK);      
		Lin_Tx_Buffer[7] = (u8)(MotorStatus_Backup & FAULT_MSK);
		
		Lin_Tx_Buffer[8] = 0x00;         // checksum
		for (i=0;i<8;i++)
		{
			Lin_Tx_Buffer[8] += Lin_Tx_Buffer[i];						
		}                                        
		Lin_Tx_Buffer[8] =	(u8)(0 - Lin_Tx_Buffer[8]);
		
		PtrToSCIBuffTx = Lin_Tx_Buffer; 	// copies the user data to global variables  
		
//		PtrToSCIBuffTx = Lin_Rx_Buffer; 	// only for SCI debug

	    Tx_Index = LIN_TX_BUFFER_SIZE;  
    
    	SCISR;                          // clear TDRE & TC bit
	    SCIDR = *PtrToSCIBuffTx;        /* First byte is transmitted to generate the
                                                                    interrupt*/
	   	SCICR2 |= SCI_TIE; 		//Enable TDRE Interrupt
	}	   	
} 

/*-----------------------------------------------------------------------------
ROUTINE NAME    : SCI_IsTransmitCompleted
INPUT           : None    
OUTPUT          : TRUE or FALSE	
DESCRIPTION     : Checks if the transmission is completed or not
COMMENTS        : Must be called before SCI_Send_Data()
-----------------------------------------------------------------------------*/
BOOL SCI_IsTransmitCompleted(void)
{    
   	if ((Tx_Index == 0) && (SCISR & SCI_TC)) return (TRUE);   	
   	else return (FALSE);
} 

/*-----------------------------------------------------------------------------
ROUTINE NAME    : SCI_IsReceptionCompleted
INPUT           : None
OUTPUT          : TRUE if all the bytes are received correctly
DESCRIPTION     : process the datas if all the bytes are received correctly
COMMENTS        : 
-----------------------------------------------------------------------------*/
BOOL SCI_IsReceptionCompleted(void)  
{       
    if (SCI_Status & RX_Complete)                                         
    {   
        u8 temp,i;
        
        SCI_Status &= (u8)(~RX_Complete);    	
        
        temp = Lin_Rx_Buffer[0];
        for (i=1;i<9;i++) 
        {
        	temp += Lin_Rx_Buffer[i];
        }                            
        if ((temp == 0x00) && (Lin_Rx_Buffer[4] == Lin_Rx_Buffer[6]) 
                           && (Lin_Rx_Buffer[5] == Lin_Rx_Buffer[7]))
		{        		
	    	Timer_SetSCITXDelayPeriod(10);		// 100ms delay before transmission begin
    		Set_TargetSpeed(Lin_Rx_Buffer[4]);
    		Set_SpdVarPeriod(Lin_Rx_Buffer[5]);        
	    	return(TRUE);
    	}
    	else return(FALSE);	
    }	       	    	
    else return(FALSE);		    	   	
}
 
#ifdef __HIWARE__		/* test for HIWARE Compiler */
#pragma TRAP_PROC SAVE_REGS	/* additional registers will be saved */
#else
#ifdef __CSMC__			/* test for Cosmic Compiler */
@interrupt			/* Cosmic interrupt handling */
#endif
#endif
/*-----------------------------------------------------------------------------
ROUTINE NAME    : SCI_IT_Routine
INPUT           : None
OUTPUT          : None
DESCRIPTION     : Carries out communiction in Interrupt driven mode.
COMMENTS        : This function must be called inside the SCI interrupt service
                  routine for Interrupt driven communication
-----------------------------------------------------------------------------*/
void SCI_IT_Routine (void)
{                                                 
	// Reception Interrupt       
    if (SCISR & SCI_RDRF)              
    {       	
        if (SCISR & SCI_ErrValue)   // Error(OR/NF/FE) happened
        {           	 		
			SCIDR;	
        	Rx_Index = 0;			// Resert the index for receive again
	        PtrToSCIBuffRx = Lin_Rx_Buffer;   	
        } 
        else
        {
        	*PtrToSCIBuffRx = SCIDR;
        	Rx_Index++;
        	switch (Rx_Index)
        	{
        	    case 1:
        	    		if (*PtrToSCIBuffRx != 0x00) goto Error_Handler;		
        	    		else PtrToSCIBuffRx++;
        	    		break;				        	    		        	    		
        	    case 2:
        	    		if (*PtrToSCIBuffRx != 0x01) goto Error_Handler;
        	    		else PtrToSCIBuffRx++;		
        	    		break;	        	    		
        	    case 3:
        	    		if (*PtrToSCIBuffRx != 0x10) goto Error_Handler;
        	    		else PtrToSCIBuffRx++;		
        	    		break;        	   		        	            	    		        	            	    
        	    case 4:
        	    case 5:
        	    case 6:
        	    case 7:
        	    case 8:
        	    	    PtrToSCIBuffRx++;
        	    	    break;
				case 9: 
        	    		Rx_Index = 0;			// prepare for next receive
	        			PtrToSCIBuffRx = Lin_Rx_Buffer;
        	    		SCI_Status |= RX_Complete;        	    	
						break;        	    	            	    	            	    	    
        		default:        				
Error_Handler: 			Rx_Index = 0;		// Resert the index for receive again
				        PtrToSCIBuffRx = Lin_Rx_Buffer;
        				break;
        	}
        }                              				
    }	 
		/* Transmission Interrupt*/ 
    else if (SCISR & SCI_TDRE)    	// Checks if TDRE Flag is set
    {                   
        if (Tx_Index > 1)   	// Checks if all the bytes are transmitted
        {
            Tx_Index--; 
            PtrToSCIBuffTx++;            /*Moves the pointer to next location*/
            SCIDR = *PtrToSCIBuffTx;     /*Transmits a single byte*/
        }
        else if(Tx_Index == 1)
        {
            Tx_Index--;               
            SCICR2 &= (u8)(~SCI_TIE); 	/*Disable IT if all bytes 
            								      is transmitted*/		            								                                     
        } 
    }	
}

/*** (c) 2004  STMicroelectronics ****************** END OF FILE ***/