startup_ewarm.c

无刷电机驱动器源代码。基于无传感器方案的无刷电机启动器。核心是换向角度检测：即电机反电势波形数据处理

//*****************************************************************************
//
// startup_ewarm.c - Boot code for Stellaris.
//
// Copyright (c) 2005,2006 Luminary Micro, Inc.  All rights reserved.
//
// Software License Agreement
//
// Luminary Micro, Inc. (LMI) is supplying this software for use solely and
// exclusively on LMI's microcontroller products.
//
// The software is owned by LMI and/or its suppliers, and is protected under
// applicable copyright laws.  All rights are reserved.  Any use in violation
// of the foregoing restrictions may subject the user to criminal sanctions
// under applicable laws, as well as to civil liability for the breach of the
// terms and conditions of this license.
//
// THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
// OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
// LMI SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
// CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
//
// This is part of revision 196 of an01238.
//
//*****************************************************************************

#include "ui.h"
#include "bldc.h"

//*****************************************************************************
//
// Enable the IAR extensions for this source file.
//
//*****************************************************************************
#pragma language=extended

//*****************************************************************************
//
// Forward declaration of the default fault handlers.
//
//*****************************************************************************
void ResetISR(void);
static void NmiSR(void);
static void IntDefaultHandler(void);

//*****************************************************************************
//
// The entry point for the application.
//
//*****************************************************************************
extern int main(void);

//*****************************************************************************
//
// Reserve space for the system stack.
//
//*****************************************************************************
#ifndef STACK_SIZE
#define STACK_SIZE                              64
#endif
static unsigned long pulStack[STACK_SIZE];

//*****************************************************************************
//
// A union that describes the entries of the vector table.  The union is needed
// since the first entry is the stack pointer and the remainder are function
// pointers.
//
//*****************************************************************************
typedef union
{
    void (*pfnHandler)(void);
    unsigned long ulPtr;
}
uVectorEntry;

//*****************************************************************************
//
// The minimal vector table for a Cortex M3.  Note that the proper constructs
// must be placed on this to ensure that it ends up at physical address
// 0x0000.0000.
//
//*****************************************************************************
__root const uVectorEntry g_pfnVectors[] @ "INTVEC" =
{
    { .ulPtr = (unsigned long)pulStack + sizeof(pulStack) },
                                            // The initial stack pointer
    ResetISR,                               // The reset handler
    NmiSR,                                  // The NMI handler
    HardFault,                              // The hard fault handler
    IntDefaultHandler,                      // The MPU fault handler
    IntDefaultHandler,                      // The bus fault handler
    IntDefaultHandler,                      // The usage fault handler
    0,                                      // Reserved
    0,                                      // Reserved
    0,                                      // Reserved
    0,                                      // Reserved
    IntDefaultHandler,                      // SVCall handler
    IntDefaultHandler,                      // Debug monitor handler
    0,                                      // Reserved
    IntDefaultHandler,                      // The PendSV handler
    IntDefaultHandler,                      // The SysTick handler
    IntDefaultHandler,                      // GPIO Port A
    GPIOIntHandler,                         // GPIO Port B
    EdgeIntHandler,                         // GPIO Port C
    IntDefaultHandler,                      // GPIO Port D
    IntDefaultHandler,                      // GPIO Port E
    UIRxCallback,                           // UART0 Rx and Tx
    IntDefaultHandler,                      // UART1 Rx and Tx
    IntDefaultHandler,                      // SSI Rx and Tx
    IntDefaultHandler,                      // I2C Master and Slave
    IntDefaultHandler,                      // PWM Fault
    IntDefaultHandler,                      // PWM Generator 0
    IntDefaultHandler,                      // PWM Generator 1
    IntDefaultHandler,                      // PWM Generator 2
    QEIIntHandler,                          // Quadrature Encoder
    IntDefaultHandler,                      // ADC Sequence 0
    IntDefaultHandler,                      // ADC Sequence 1
    IntDefaultHandler,                      // ADC Sequence 2
    IntDefaultHandler,                      // ADC Sequence 3
    IntDefaultHandler,                      // Watchdog timer
    QEIIntHandler,                          // Timer 0 subtimer A
    IntDefaultHandler,                      // Timer 0 subtimer B
    IntDefaultHandler,                      // Timer 1 subtimer A
    IntDefaultHandler,                      // Timer 1 subtimer B
    IntDefaultHandler,                      // Timer 2 subtimer A
    IntDefaultHandler,                      // Timer 2 subtimer B
    IntDefaultHandler,                      // Analog Comparator 0
    IntDefaultHandler,                      // Analog Comparator 1
    IntDefaultHandler,                      // Analog Comparator 2
    IntDefaultHandler,                      // System Control (PLL, OSC, BO)
    IntDefaultHandler                       // FLASH Control
};

//*****************************************************************************
//
// The following are constructs created by the linker, indicating where the
// the "data" and "bss" segments reside in memory.  The initializers for the
// for the "data" segment resides immediately following the "text" segment.
//
//*****************************************************************************
#pragma segment="DATA_ID"
#pragma segment="DATA_I"
#pragma segment="DATA_Z"

//*****************************************************************************
//
// This is the code that gets called when the processor first starts execution
// following a reset event.  Only the absolutely necessary set is performed,
// after which the application supplied entry() routine is called.  Any fancy
// actions (such as making decisions based on the reset cause register, and
// resetting the bits in that register) are left solely in the hands of the
// application.
//
//*****************************************************************************
void
ResetISR(void)
{
    unsigned long *pulSrc, *pulDest, *pulEnd;

    //
    // Copy the data segment initializers from flash to SRAM.
    //
    pulSrc = __segment_begin("DATA_ID");
    pulDest = __segment_begin("DATA_I");
    pulEnd = __segment_end("DATA_I");
    while(pulDest < pulEnd)
    {
        *pulDest++ = *pulSrc++;
    }

    //
    // Zero fill the bss segment.
    //
    pulDest = __segment_begin("DATA_Z");
    pulEnd = __segment_end("DATA_Z");
    while(pulDest < pulEnd)
    {
        *pulDest++ = 0;
    }

    //
    // Call the application's entry point.
    //
    main();
}

//*****************************************************************************
//
// This is the code that gets called when the processor receives a NMI.  This
// simply enters an infinite loop, preserving the system state for examination
// by a debugger.
//
//*****************************************************************************
static void
NmiSR(void)
{
    //
    // Enter an infinite loop.
    //
    while(1)
    {
    }
}

//*****************************************************************************
//
// This is the code that gets called when the processor receives an unexpected
// interrupt.  This simply enters an infinite loop, preserving the system state
// for examination by a debugger.
//
//*****************************************************************************
static void
IntDefaultHandler(void)
{
    //
    // Go into an infinite loop.
    //
    while(1)
    {
    }
}