mtc.c

该程序是ST7MC驱动三洋压缩机（交流）

/**************** (c) 2004  STMicroelectronics ********************************
     
PROJECT  : 3-phase AC induction motor drive Software Library
COMPILER : COSMIC / METROWERKS

MODULE  :  mtc.c
VERSION :  1.0.0

CREATION DATE : April 2004

AUTHOR :	V. Onde / Microcontroller Division Applications
			Consumer & Micro Group

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DESCRIPTION :   Low level motor control routines
              
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MODIFICATIONS :

*******************************************************************************
 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"		/* General purpose typedefs and macros */
#include "mtc.h"		/* Public motor control peripheral function prototypes */
#include "MTCparam.h"	/* Motor Control parameters */
#include "mtc_bits.h" 	/* MTC peripheral Hardware Registers declaration */
#include "pwmart.h"		/* Software Timebase needed during braking */
#include "config.h"		/* Software library configuration file */
// ST7FMC peripherals Hardware Registers declaration
#include "ST7FMC2N6.h"

/* --------------------------- Private typedefs ---------------------------- */
#ifdef __HIWARE__				/* Metrowerks Compiler */
	typedef struct {
			TwoBytes Capture;
			u8 Prsc_Reg;
			} SpeedMeas_s, * near PSpeedMeas_s;
#elif defined(__CSMC__)		/* Cosmic Compiler */
	typedef struct {
			TwoBytes Capture;
			u8 Prsc_Reg;
			} SpeedMeas_s, * @tiny PSpeedMeas_s;
#endif

/* -------------------------- Private variables ---------------------------- */
// Some variables accessed in assembly located in page zero to decrease CPU load
// WARNING: if SensorPeriod structure is put outside Zero page, the declaration 
// of the pointer PSpeedMeas_s has to be modified (remove near/@tiny)
#ifdef __HIWARE__				/* Metrowerks Compiler */

	#pragma DATA_SEG SHORT _ZEROPAGE
	volatile u8 	SineMag;
	volatile u16 	SineFreq;
	volatile u16 	SineFreqBuf;
	volatile s8 	PhaseShift;
	volatile u8 	MTCStatus;
	volatile u16 	Phase;
	volatile SpeedMeas_s SensorPeriod[SPEED_FIFO_SIZE];
	volatile PSpeedMeas_s SpeedFIFO_Index;
	#pragma DATA_SEG DEFAULT

#elif defined(__CSMC__)		/* Cosmic Compiler */

	@tiny volatile u8 	SineMag;
	@tiny volatile u16 	SineFreq;
	@tiny volatile u16 	SineFreqBuf;
	@tiny volatile s8 	PhaseShift;
	@tiny volatile u8 	MTCStatus;
	@tiny volatile u16 	Phase;	
	@tiny volatile SpeedMeas_s SensorPeriod[SPEED_FIFO_SIZE];
	@tiny volatile PSpeedMeas_s SpeedFIFO_Index; 	// Pointer initialized in MTC_InitPeripheral function

#endif

static 	u16	StatorFreq;
static 	u16	PrevStatorFreq;
static	u16	BrakeDutyCycle;
static	BOOL MCES_Status;

/* -------------------------- Private functions ---------------------------- */
u32 GetLastTachoPeriod(void);
u32 GetAvrgTachoPeriod(void);

/* --------------------------- Private macros ------------------------------ */
#define MTC_EnableClock()		( MCRA |= (1<<MCRA_CKE) )
#define MTC_DisableClock()		( MCRA &= ((1<<MCRA_CKE)^255) )

/* -------------------------- Private constants ---------------------------- */
// MTCStatus bitfield
#define FREQ_CHANGE			((u8)0x01)
#define BRAKE_WAIT_DEMAG 	((u8)0x02)
#define BRAKE_SET_UP   		((u8)0x04)
#define BRAKE   				((u8)0x08)
#define RATIO_INC				((u8)0x10)
#define RATIO_DEC				((u8)0x20)
#define INIT_ROLLING_AVRG 	((u8)0x40)
#define DO_ROLLING_AVRG		((u8)0x80)

#define BRAKE_MASK			((u8) BRAKE_WAIT_DEMAG + BRAKE_SET_UP + BRAKE )

#define VOLT_INIT		((u8)0)		/* Voltage initialisation at MCU start-up */
#define FREQ_INIT		((u16)50)	/* Freq initialisation at MCU start-up */

#define STATOR_DEMAG_TIME	((u16)300)	/* Time in ms before applying DC current for braking*/
#define CURRENT_SETUP_TIME ((u8)5)		/* Time in ms between two consecutive values of duty cycle during braking current increase */

/*-----------------------------------------------------------------------------
ROUTINE Name : MTC_ResetPeripheral

Description: This function resets the circuitry of the Motor Controller Peripheral,
				 at the sole exception of the MDTG and MPOL registers.
-----------------------------------------------------------------------------*/
void MTC_ResetPeripheral(void)
{
	SetBit(MCFR,MCFR_RST); 
	ClrBit(MCFR,MCFR_RST);
}


/*-----------------------------------------------------------------------------
ROUTINE Name : MTC_EnableMCOutputs
					MTC_DisableMCOutputs

Description: These functions allows either to output PWM signals on the 
				MCO outputs or to put these outputs in their RESET 
				configuration (user selectable state: Hi-Z, Low or High)
				MTC_DisableMCOutputs immediately disconnects the MCOx PWM outputs pins 
				from the Motor Controller peripheral. It resets the MOE bit in 
				the MCRA register, thus causing the MCOx pins to be in their 
				reset configuration, as defined in the options bytes (high 
				impedance or low impedance high/low state).
-----------------------------------------------------------------------------*/
void MTC_EnableMCOutputs(void)
{
	MCRA |= (1<<MCRA_MOE);
}

void MTC_DisableMCOutputs(void)
{
	MCRA &= ((1<<MCRA_MOE)^255);
}


/*-----------------------------------------------------------------------------
ROUTINE Name : MTC_InitPeripheral

Description: Initialization of the motor control peripheral hardware registers,
				for the sinewave general parameters (such as PWM frequency, output 
				polarity, deadtime, interrupts,...) and speed feedback processing 
				(tacho input selection, edge sensitivity,...).

Comment:		All required motor control related interrupts are enabled upon 
				completion of this routine.
-----------------------------------------------------------------------------*/
void MTC_InitPeripheral(void)
{

	MTC_ResetPeripheral();

	SET_MTC_PAGE(1);
	MPOL = L6386_POLARITY;		// Set polarity according to IGBT drivers
	MDTG = DEADTIME;				// Deadtime Duration
	SetBit(MDTG,DTE);				// Deadtime enabled
	SetBit(MDTG,PCN);				// Three independant PWM configuration
	MPWME = DG_MSK;				// Use Debug outputs
	MPAR = TACHO_FALLING;		// Speed Sensor mode enabled, falling edge sensitive
	SET_MTC_PAGE(0);

	MPCR = PWM_PRSC;
	SetBit(MPCR,MPCR_CMS);		// Centered pattern
	MREP = 1;						// Preload registers are loaded every PWM cycle
	MCP0L = (u8)PWM_MCP0;		// Set PWM frequency
	MCP0H = ((u8)(PWM_MCP0>>8));
	
	ToCMPxL(MCPUL,PWM_MCP0/2);	// 50% duty cycle on U
	ToCMPxH(MCPUH,PWM_MCP0/2);	
	ToCMPxL(MCPVL,PWM_MCP0/2);	// 50% duty cycle on V
	ToCMPxH(MCPVH,PWM_MCP0/2);
	ToCMPxL(MCPWL,PWM_MCP0/2);	// 50% duty cycle on W
	ToCMPxH(MCPWH,PWM_MCP0/2);
	
	SetBit(MCRA,MCRA_DAC);	// Direct access mode to write into MPHST
	MPHST = MCIC;				// Comparator input for Tacho signal
	ClrBit(MCRA,MCRA_DAC);	// Disable direct access

	MISR = 0;				// Clear pending interrupts
	MTCStatus = 0;
	MCES_Status = FALSE;
	// Init pointer on FIFO where speed infos are stored
	SpeedFIFO_Index = (PSpeedMeas_s)SensorPeriod;

	MTC_Set_CounterClockWise_Direction();

	MTC_EnableClock();				// Enable peripheral clock and update active 
											// registers with preloaded values
	// Unmask Update, Ratio change, Capture and emergency Stop interrupts
	MIMR = MIMR_PUM_OR + MIMR_RIM_OR + MIMR_CIM_OR + MIMR_EIM_OR;
}


/*-----------------------------------------------------------------------------
ROUTINE Name : MTC_InitSineGen

Description:	Initialization of software variables needed for sine wave 
				generation and used in the PWM update interrupt routine.
				Ensures that once the PWM update interrupts will be enabled, the 
				sinewave generated will have a zero voltage and that stator 
				frequency change will be taken into account.
-----------------------------------------------------------------------------*/
void MTC_InitSineGen(void)
{
	SineFreq = U8_MAX;				// Arbitrary value
	SineMag = 0;
	MTC_Set_ClockWise_Direction();
	Phase = 0;
	StatorFreq = FREQ_INIT-1;               // This ensure that Sinewave will be updated
   MTC_UpdateSine( VOLT_INIT, FREQ_INIT);
}


/*-----------------------------------------------------------------------------
ROUTINE Name : MTC_UpdateSine

Description: Aim of this function is to update IMCFrequency and IMCVoltage 
             variables; limitation of output frequency as defined in MTCParam.h
             is performed in this routine.
Caution:		No tests are performed in this function on the input parameters, 
				except for the frequency range. The following conditions must 
				therefore be verified by the user before calling the function: