application.c

LIN总线应用于汽车控制车门中控锁系统原代码

#include <p18cxxx.h>

#define __APPLICATION_DEF
#include "application.h"
#define __BLDC_DATA_DEF
#include "BLDC_DATA.h"

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

union
{
	unsigned int	w;
	struct
	{
		unsigned char lo;
		unsigned char hi;
	}b;
}PDC_temp;

unsigned int CycleCount;
unsigned char FaultA_Count;
unsigned char PWM_CycleCount;


unsigned char DebounceCounter;
unsigned int Counter;

unsigned char PosTable[8] = {	POS_D0,POS_D1,POS_D2,POS_D3,\
														 	POS_D4,POS_D5,POS_D6,POS_D7};
	
/************************************************************************************************/

void Motor_Turn_Fwd(void)
{
	DirMask = MOTOR_TURN_FWD;
}

void Motor_Turn_Rev(void)
{
	DirMask = MOTOR_TURN_REV;
}

void Motor_Stop(void)
{
}

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

void	Update_Application(void)
{
	if (1 == CALC_PWM)
	{
		Update_PWM();
		CALC_PWM = 0;
	}

//	KeyCheck();
//	Process_Key_Pressed();
	
	if (0 == ADCON0bits.GO_DONE)
	{
		Update_ADC();
		ADCON0bits.GO_DONE = 1;
	}
}

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

void Update_ADC(void)		// ADADAD				;ADC interrupt
{
	MotorCurrent.w = ADRES; // Sample A = Iu
	SpeedRef.w = ADRES;			// Sample B = speed ref
	PIR1bits.ADIF = 0;			// ADIF flag is cleared for next interrupt
	CALC_PWM = 1;
}

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

void Update_Sequence(void)
{
	unsigned char cpSeq;
	
	cpSeq = ((PORTA & 0x1C) >> 2) ^ (DirMask & 0x07);	// hall sensor inputs
	OVDCOND = PosTable[cpSeq];
	OVDCONS = 0;
}

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

void Update_PWM(void)
{
	if (SpeedRef.b.hi > 0x20)
	{
		if (SpeedRef.b.hi < 0xC0)
		{
		}
		else
		{
			SpeedRef.b.hi = 0xFD;
		}
//PWM = [(MotorVoltage/DCbus voltage)*(PTPER*4)]*[SpeedRef/255] *16
//16 is the multiplication factor

		PDC_temp.w = (unsigned int)(SpeedRef.b.hi * kMAIN_PWM_CONSTANT * 16L);
	 
		PWMCON1bits.UDIS = 1;	//Disable the PWM buffer update
	
		PDC0H = PDC1H = PDC2H = PDC3H = PDC_temp.b.hi;
		PDC0L = PDC1L = PDC2L = PDC3L = PDC_temp.b.lo;
	
		PWMCON1bits.UDIS = 0;	//Disable the PWM buffer update		
	}
	else
	{
		Reset_DutyCycle();
	}
}

/************************************************************************************************/
	
void Reset_DutyCycle(void)
{
	PDC0L = 0;							// reset PWM DC registers
	PDC0H = 0;
	PDC1L = 0;
	PDC1H = 0;
	PDC2L = 0;
	PDC2H = 0;
	PDC3L = 0;
	PDC3H = 0;
	Update_Sequence();
}

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

void Init_Application(void)
{
	SpeedRef.w = 0;
	Flags.b = 0;
	Flags1.b = 0;

//-----------------------------------------------------------------
//init PORTC
//PORTC<0> : LED1, Output
//PORTC<1> : FLTA, Input
//PORTC<2> : LED2, Output
//PORTC<3> : LED3, Output
//PORTC<4> : Switch S2, Input
//PORTC<5> : Switch S3, Input
//PORTC<6> : TX, Output
//PORTC<7> : RX, Input

	TRISC = 0xB2;
	Init_ADC();
	Init_HallInp();
	Init_PWM();
}

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

void Init_ADC(void)
{
	ADCON0 = 0x11;
	ADCON1 = 0x10;
	ADCON2 = 0x32;
	ADCON3 = 0x40;
	ADCHS = 0x00;
	ANSEL0 = 0x03;
//	ANSEL1 = 0x00;
	ADCON0bits.GO_DONE = 1;
//	PIE1bits.ADIE = 1;		// AD Converter Interrupt enable
}

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

void Init_HallInp(void)
{
	TRISA |= 0x0E;						//	init Hall @ IC1/IC2/IC3
	T5CON = 0x19;
	CAP1CON = 0x08;						// Cap1/2/3-capture every input state change
	CAP2CON = 0x08;
	CAP3CON = 0x48;
	DFLTCON = 0x00;
	QEICON= 0x00;							//Disable QEI

//;init interrupts
	PIE3bits.IC1IE = 1;	// Cap1 interrupt
	PIE3bits.IC2QEIE = 1; // Cap2 interrupt
	PIE3bits.IC3DRIE = 1; // Cap3 interrupt
}

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

void Init_PWM(void)
{
// Task: 
//Initialize PCPWM to drive a BLDC motor
//PWM0 to PWM5 are used for driving this motor(PORTB 0 to 5)
//Hints:
//-----------------------------------------------------------------------------------------
//Page numbers on datasheet
// Registers PTCON0(page #186), PTCON1(page #186), PTPERH:PTPERL(page #210), 
//		PWMCON0(page #187), PWMCON1(page #188), DTCON(page #200), 
//		OVDCOND(page #203), OVDCONS(page #204),	FLTCONFIG(page #208)
//-----------------------------------------------------------------------------------------
// You have to write the following:
//---------------------
//A)	Enable PWM in edge aligned or cener aligned mode
//B) Calculate and load PTPERH:PTPERL to get PWM freq = 16KHz(Fosc = 5MHz X 4PLL)  
//C)	Enable PWM0 to PWM5 in independent mode 
//D) Using OVDCOND and OVDCONS registers, set outputs controlled by POUT bits 
//	and initialize all POUT bits to inactive state(low)
//E) Set FaultA in cycle-by-cycle mode and Enable 揊ault condition on break point