main.c

该程序是ST7MC驱动BLDC120

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

MODULE  :  main.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 :   Main Routine
              
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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 "version.h"
#include "lib.h"
#include "mtc.h"
#include "ST7MC_hr.h"
#include "ports.h"
#include "opamp.h"
#include "timer.h"
#include "it_ST7MC.h"  
#include "LinSCI.h"
#include "misc.h"
#include "wwdg.h" 
#include "spi.h"                    
#include "regul.h"
#include "adc.h"
#include "MTC_Settings_Sensorless.h"  
                                          

#define CRC	0x54	// just declare a data byte to be written in EEPROM  
    

typedef enum 
{
IDLE, START, RUN, STOP, BRAKE, WAIT, FAULT
} SystStatus_t;

static SystStatus_t State;

u8 KEY_CODE = IDLE_KEY;
u8	start_counter;     	// variable for starting counter
u8	stall_counter;      // variable for stalling cunter in starting stage

void main(void)
{                       
	while ( !WWD_Init() );  		
    ST7_IntPrioritySetUp(); 
    
   	State = IDLE;
    Power_Motor_Status = 0; 
    start_counter = 0;
    stall_counter = 0;

	SCI_Config();	
	PORTS_Init();   // initialize I/O
 	TIMA_Config();  // initialize TIMER B peripheral
    SPI_Init();
        
	MTC_InitPeripheral();	// Initialize peripheral for Sensorless BLDC drive
   	EnableInterrupts();	
   	PORTS_LedOn();
		
	while(1)    // main loop
	{
		if (Chk_Timer_WDG_Elapsed() == TRUE)	WWD_Refresh();
							
	/* SCI TX/RX & process the received datas ----------*/ 
		if (SCI_IsReceptionCompleted() == TRUE) Resert_SCIRX_Watchdog();	
											// Refresh SCI RX watchdog	
		SCI_Send_Data();					// SCI TX 	

		if ((Get_TargetSpeed() < Freq_Min) || (Get_TargetSpeed() > Freq_Max))
		{			 		
    		MotorCmd = STOP_CMD;
    		MotorStatus=0;  
    		MotorStatus_Backup = 0;
    	    start_counter = 0;           // prepare for the start counter
    		stall_counter = 0;           // prepare for the stall counter 
    		timer_after_start = 1000;	 // prepare for the start-up failure       	 		    	
		}
		else 
		{
			if ((MotorStatus & FAULT_MSK) == 0)
			MotorCmd = START_CMD;																				
		}		
	/* --------------------------------------------------*/
	    
    	Chk_Power_Motor_Status();
	
		if ((MotorStatus & FAULT_MSK) != 0) State = FAULT;  // MOTOR_STALLED 
							     // or SCI_FAILURE or EMERGENCY_STOP?

		switch (State)
		{
			case IDLE:       		    	
					if ((MotorCmd == START_CMD) && (Timer_RestartTimerBegin() == FALSE)) 
					{
						State = START;												
					}	
				break;
			
			case START:
					if (MTC_StartMotor() == TRUE) State = RUN; 
					 // PORTS_LedOn();
				break;

			case RUN:
				//	PORTS_LedOff();
					 if (GetMotorStatus() & START_UP_FAILED)   // start is failed
     		    	{     		   			     		   			
     		   			start_counter++;
     		   			if (start_counter >= 0x03)        // restarting times is high than 3
     		   			{
     		   				State = FAULT;
     		   				start_counter = 0;           // prepare for the start counter     		   				
     		   			}
     		   			else
     		   			{     		   					
     		   				MTC_StopMotor();	    	 // prepare for starting again   				
							if ((u8)(GetMotorStatus() & FAULT_MSK) == 0) State = IDLE;
     		   			}
     		   			break; 			
     		    	}     		    	     		    	
     		    	
     		    	Chk_Motor_Stalled();
     		    	if ((GetMotorStatus() & MOTOR_STALLED) != 0)	// motor stalled
	    	    	{
    	   				if (timer_after_start != 0)		// motor stalled in starting stage(in 10 seconds) 
    	   				{
    	   					stall_counter++;
    	   					if (stall_counter < 0x03)   // motor stalling time is low than 3
    	   					{
    	   						MTC_StopMotor();	    // prepare for starting again				
    	   						SetMotorStatus((u8)(GetMotorStatus() & (u8)(~MOTOR_STALLED)));
								if ((u8)(GetMotorStatus() & FAULT_MSK) == 0) State = IDLE;												
    	   					}	
    	   					else 
    	   					{	                            // start-up failed
    	   						stall_counter = 0;			// prepare for stall counter
    	   						SetMotorStatus((u8)(GetMotorStatus() & (u8)(~MOTOR_STALLED)));
    	   						SetMotorStatus((u8)(GetMotorStatus() | (u8)(START_UP_FAILED)));
    	   					}	
    	   				}    	   							 		
    	   				break;
    	    		}
    	    		else
    	    		{
    	    		 	if (timer_after_start == 0) stall_counter = 0;		    	    		 	    		   	    	    		   	                	       	    	   
       	       	    }				    
  			    	if (MotorStatus & AUTO_SWITCH) 
           	   		{												
						Change_Speed(); 			// acceleration rate = 1 Hz/0.2Sec												
											
						if (ValBit(Flag_MTC,SAMP_EVT))     // update PWM?
						{
							//u32 temp;
						
							ClrBit(Flag_MTC,SAMP_EVT);
							#if (FEEDBACK_TYPE == CLOSED_LOOP)
						/* 		temp = (u8)(Get_RV1());      // target_freq = (Get_RV1 * (Freq_Max-Freq_Min))/256 + Freq_Min
						 		temp *= (u32)(Freq_Max-Freq_Min);
								temp >>= 8;
								temp += Freq_Min;
			    	    */
				                Set_Target_Electrical_Frequency(Get_CurrentTargetSpeed());
							#elif (FEEDBACK_TYPE == OPEN_LOOP)					
								Falling_bemf = (u8)(Get_RV3());   // read RV3 & set falling Bemf coefficient accordingly
								Rising_bemf = (u8)(Get_RV2());    // read RV2 & set rising Bemf coefficient accordingly

								temp = (u8)(Get_RV1());                                                                      
						
								#if (DRIVING_MODE == VOLTAGE_MODE)
							 	temp *= (u32)(Max_Duty);          // temp =  (Max_Duty * Get_RV1)/256
								#elif (DRIVING_MODE == CURRENT_MODE)
								temp *= (u32)(PWM_FREQUENCY);	  // temp =  (PWM_FREQUENCY * Get_RV1)/256	
							 	#else
									#error"Wrong Driving Mode Parameter!"	
								#endif
						
								temp >>= 8;
								Set_Duty((u16)(temp));
							#else
								#error"Wrong Feedback Type Parameter!"	
							#endif
						}						
       	           	}
		   	    		   	    	 		
					if (MotorCmd == STOP_CMD) State = BRAKE;
 					break;

			case BRAKE: 
     	    		if (active_brake(Brake_Duty,Brake_Time) == TRUE) State = STOP;
					break;

			case STOP:
                	MTC_StopMotor();
					State = IDLE;
					Set_RestartTimer(18000); // 3 Min delay 
					break;

			case WAIT:
				break;
			case FAULT:
		        default:
			        MotorStatus_Backup = MotorStatus;
			        MTC_StopMotor();			        
    				start_counter = 0;           // prepare for the start counter
		    		stall_counter = 0;           // prepare for the stall counter		    	
			        if ((Timer_RestartTimerBegin() == FALSE) && (MotorCmd != STOP_CMD)) 
			        	Set_RestartTimer(18000); // 3 Min delay
					if ((MotorStatus & FAULT_MSK) == 0) 
					{
						State = IDLE; 
										}
						
					MotorCmd = STOP_CMD;
				break;
		}
    }
} // main loop



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