bldc_hall.c

此程序是无刷电机控制程序

				}
			// Otherwise, slow down
			else Speed--;
			
			// Has the speed ramped down to 0?
			// If so, set the acceleration flag and reverse the direction.
			if(Speed == 0)
				{
				Flags.Accelerate = 1;
				Flags.Reverse = ~Flags.Reverse;
				}
			}
		
		if(Flags.Restart)
			{
			if(Speed == OldSpeed) Flags.Restart = 0;
			
			else	Speed++;
			}	
		
		Flags.MediumEvent = 0;
		}		//end if(MediumEvent)
	
	//-----------------------------------------------------------------
	// Slow event handler executes every 100msec
	//-----------------------------------------------------------------
	if(Flags.SlowEvent)
		{
		// These statements check to see if any of the buttons are pressed.
		// If so, a software flag is set so the button press can be debounced.
		if(BUTTON1)	Flags.Button1 = 1;
		if(BUTTON2)	Flags.Button2 = 1;
		if(BUTTON3)	Flags.Button3 = 1;
		if(BUTTON4)	Flags.Button4 = 1;
	
		// If button #1 is pressed, a reset signal will be sent to the
		// power module to clear any fault LEDs that are lit.
		// The fault A interrupt flag is also cleared to reactivate
		// the dsPIC MCPWM.	
	
		if(Flags.Button1)
			{
			// Wait until the button is released before doing anything.
			if(!BUTTON1)
				{
				if(Flags.PWMFault)
					{
					// Reset the speed variable.  Save the old speed for use
					// in the restart profile.
					OldSpeed = Speed;
					Speed = 0;
					// Set the duty cycles back to 0% and set a restart flag.
					PDC1 = 0;
					PDC2 = 0;
					PDC3 = 0;
					Flags.Restart = 1;
					// Turn off the status LED
					LED1 = 0;
					// Reset the power module.
					FAULT_RESET = 1;
					Nop();
					Nop();
					Nop();
					FAULT_RESET = 0;
					// Clear the PWM fault software flag.
					Flags.PWMFault = 0;
					// Clear the button status flag.
					Flags.Button1 = 0;
					}
			else
					{
					// If button #1 is pressed during normal operation, don't do anything.
					Flags.Button1 = 0;
					}
				}
			}
		
		// Button2 doesn't do anything except light the LED
		if(Flags.Button2)
			{
			LED2 = 1;
			if(!BUTTON2)
				{
				LED2 = 0;
				Flags.Button2 = 0;
				}
			}
		
		// Button2 doesn't do anything except light the LED
		if(Flags.Button3)
			{
			LED3 = 1;
			if(!BUTTON3)
				{
				LED3 = 0;
				Flags.Button3 = 0;
				}
			}
		
		// Button #4 is used to set the direction of the motor.			
		if(Flags.Button4)
			{
			// Wait until the button is released before doing anything.
			// Start a direction change if one is not already in progress.
			if(!BUTTON4  && !Flags.DirChange)
				{
				LED4 = 1;
				// Set the direction change flag.
				Flags.DirChange = 1;
				// Tell the motion profile to decelerate the motor
				Flags.Accelerate = 0;
				// Save the current Speed setting
				OldSpeed = Speed;
				// Clear the button status flag
				Flags.Button4 = 0;
				}
			}
		Flags.SlowEvent = 0;
		}		// end if(SlowEvent)
   	}			// end while(1)
}				// end main


//---------------------------------------------------------------------

void Setup(void)
{
// Initialize PORTs
PORTA = 0;
PORTB = 0;
PORTC = 0;
PORTD = 0;
PORTE = 0;
PORTG = 0;
TRISA = 0x39FF;		// RA15, RA14, RA10, RA9 are outputs
ADPCFG = 0x0038;	// RB3, RB4, and RB5 digital inputs for QEI
TRISB = 0xFFFF;		
TRISC = 0xFFFF;
TRISD = 0xF74F;			// RD11 is output for PWM_OUTPUT_ENABLE line
						// RD5 is PFC_FIRE line
						// RD4 is BRAKE_FIRE line   	
						// RD7 is for UP/DWN status LED
TRISE = 0xFDFF;		// RE9 is output for FAULT_RESET line
TRISG = 0xFFFF;

// Initialize PWM
PTPER = 460;		// Value gives 16KHZ edge aligned PWM at 7.38MIPS
PDC1 = 0;
PDC2 = 0;
PDC3 = 0;
PDC4 = 0;
PWMCON1 = 0x0777;	// Enable PWM 1,2,3 pairs for independent mode
DTCON1 = 0;			// Dead time disabled
DTCON2 = 0;
FLTACON = 0x0007;	// Fault A enabled for latched mode on PWM1, 2, and 3
FLTBCON = 0;		// Fault B not used.
OVDCON	= 0x3F00;	// Enable PWM1H,1L, 2H, 2L, 3L, 3H for PWM
PTCON = 0x8000;		// Enable PWM for edge aligned operation
IFS2bits.PWMIF = 0;	
IEC2bits.PWMIE = 1;	// Enable PWM interrupts.
IFS2bits.FLTAIF = 0;// Clear the fault A interrupt flag.
IEC2bits.FLTAIE = 1;// Enable interrupts for Fault A


// Initialize ADC

ADCON1 = 0;
ADCON2 = 0;
ADCON3 = 0;
ADCHS = 0x0007;
ADCON1bits.ADON = 1;

// Clear any active faults on the power module.
FAULT_RESET = 1;
Nop();
Nop();
Nop();
FAULT_RESET = 0;

// Enable the driver IC on the motor control PCB
PWM_OUTPUT_ENABLE = 0;
// Ensure PFC switch is off.
PFC_FIRE = 0;
// Turn brake off.
BRAKE_FIRE = 0;
// Ensure FLTA flag is cleared
FLTA_FLAG = 0;
}

//---------------------------------------------------------------------

int ReadADC(unsigned int channel)
{
int Delay;

if(channel > 0x000F) return(0);
ADCHS = channel;
ADCON1bits.SAMP = 1;
for(Delay = 0; Delay < 20; Delay++);
IFS0bits.ADIF = 0;
ADCON1bits.SAMP = 0;
while(!IFS0bits.ADIF);
return(ADCBUF0);

}

//---------------------------------------------------------------------
// The PWM ISR just sets a software flag to trigger SVM calculations
// in the main software loop.

void __attribute__((__interrupt__)) _PWMInterrupt(void)
{
SlowEventCount--;
if(SlowEventCount == 0)
	{
	Flags.SlowEvent = 1;
	SlowEventCount = SLOW_EVENT_PERIOD;
	}
MediumEventCount--;
if(MediumEventCount == 0)
	{
	Flags.MediumEvent = 1;
	MediumEventCount = MEDIUM_EVENT_PERIOD;
	}
Flags.PWMEvent = 1;
IFS2bits.PWMIF = 0;
}

//---------------------------------------------------------------------
// The FLTA ISR responds to events on the PWM fault pin.
// This ISR code just turns off all the PWM outputs via the OVDCON
// register and signals the main loop that a problem has occurred.

void __attribute__((__interrupt__)) _FLTAInterrupt(void)
{
// Keep all outputs disabled until we figure out what is going on!
OVDCON = 0;
// Signal a fault to the main loop.
Flags.PWMFault = 1;
// Clear the FLTA interrupt flag.
IFS2bits.FLTAIF = 0;
}
// End of file.