main.c
来自「PSOC 电动自行车代码 器件采用CYPRESS新电动自行车器件CY8C245」· C语言 代码 · 共 885 行 · 第 1/2 页
C
885 行
#include <m8c.h> // part specific constants and macros
#include "PSoCAPI.h" // PSoC API definitions for all User Modules
#include "adc.h"
#include "para.h"
#include "isr.h"
#include "i2c.h"
#pragma interrupt_handler Timer_ISR_C
#pragma interrupt_handler HALL_ISR_C
#pragma interrupt_handler PWM_ISR_C
#pragma interrupt_handler COMP_ISR_C
void HALL_ISR_C(void);
void PWM_ISR_C(void);
void COMP_ISR_C(void);
void system_init(void);
void lock_motor_50us(PROC_PROCESS *ppc);
void get_work_parameters(SYSSTAT *st);
void check_cruise_entry(SYSSTAT *st,PROC_PROCESS *ppc);
void init_bus_current(ADC *adres,PROC_PROCESS *ppc,SYSSTAT *st);
void adjust_motor_run_maxcurrent(PROC_PROCESS *ppc,SYSSTAT *st);
void battery_voltage_detect(ADC *adr,BATVCHK *bv,SYSSTAT *st,PROC_PROCESS *ppc);
void process_speed_command(SYSSTAT *st,PROC_PROCESS *ppc,ADC *adres);
void inactive_ctrl(SYSSTAT *st,PROC_PROCESS *ppc);
void delay_cycle(unsigned int cs);
void motor_ctrlout(PROC_PROCESS *ppc,SYSSTAT *st);
unsigned char system_status_indicator(DISP_STRU *dsreg,SYSSTAT *st);
unsigned char get_ctrlout_setni(PROC_PROCESS *ppc,SYSSTAT *st);
unsigned char LEAKAGE_CURRENT_CHECK(SYSSTAT *st,PROC_PROCESS *ppc,ADC *sp);
unsigned char check_mosfet(SYSSTAT *st,PROC_PROCESS *ppc,ADC *sp,unsigned char intfg);
unsigned char block_run_process(SYSSTAT *st,PROC_PROCESS *ppc);
unsigned char sample_adc(unsigned char chan);
unsigned char cruisein_count,halfsecond;
void debugled(void);
PROC_PROCESS proc_process;
ADC adc;
SYSSTAT sysstat;
BATVCHK batvchk;
DISP_STRU dispreg;
void debugled(void)
{
while(1){
proc_process.msg.PRT2DRbak&=~LEDPORT;
PRT2DR=proc_process.msg.PRT2DRbak;
delay_cycle(200);
proc_process.msg.PRT2DRbak|=LEDPORT;
PRT2DR=proc_process.msg.PRT2DRbak;
delay_cycle(200);
}
}
void debug_motor(void)
{
PWM_WritePulseWidth(0x7f);
proc_process.msg.position_prev=0x1;
proc_process.msg.pwmena=3;
while(1){
set_next_ctrlseq(&sysstat,&proc_process);
proc_process.msg.portena=proc_process.msg.ctrlout_set;
motor_ctrlout(&proc_process,&sysstat);
delay_cycle(20000);
proc_process.msg.position_prev=proc_process.msg.position_next;
}
}
void main()
{
unsigned tt2;
system_init();
vI2CInit();
lock_motor_50us(&proc_process);
get_work_parameters(&sysstat);
init_bus_current(&adc,&proc_process,&sysstat);
check_mosfet(&sysstat,&proc_process,&adc,0);
adc.msg.battery_voltage=sample_adc(battery_v_chan);
adc.msg.brake_voltage=sample_adc(brake_in_chan);
PWM_Start();
PWM_EnableInt();
// debug_motor();
INT_MSK0 = INT_MSK0 | 0X22; //Enable GPIO & V_COMP interrupt
PRT2IE = 0X7;
adc.msg.samplechannel=BATTERY;
while(ADC_CR0&ADC_CR0_ADC_READY)
{
tt2=ADC_DL;
}
ADC_CR0=battery_v_chan+ADC_CR0_ADC_EN+ADC_CR0_ADC_START;
M8C_EnableGInt;
while(1)
{
I2CSBuff.b[0]=sysstat.msg.st0;
I2CSBuff.b[1]=proc_process.msg.position_prev;
adjust_motor_run_maxcurrent(&proc_process,&sysstat);
if(sysstat.msg.st3&bitmain_loop_timerce)
{
sysstat.msg.st3&=~bitmain_loop_timerce;//sysstat.bits.main_loop_timerce=0;
check_cruise_entry(&sysstat,&proc_process);
process_speed_command(&sysstat,&proc_process,&adc);
battery_voltage_detect(&adc,&batvchk,&sysstat,&proc_process);
if(halfsecond>HALFSECOND){
halfsecond=0;
block_run_process(&sysstat,&proc_process);
sysstat.msg.st3^=bithalfs;//sysstat.bits.halfs=sysstat.bits.halfs? 0:1;
}
else
halfsecond++;
system_status_indicator(&dispreg,&sysstat);
}
}
}
void system_init(void)
{
unsigned char i;
i=0;
while(i<39)
{
proc_process.val[i]=0;
i++;
}
sysstat.val[0]=0;
sysstat.val[1]=0;
sysstat.val[2]=0;
sysstat.val[3]=0;
sysstat.msg.st1|=bitts_reset;
adc.val[0]=0;
adc.val[1]=0;
adc.val[2]=0;
adc.val[3]=0;
adc.val[4]=0;
batvchk.val[0]=0;
batvchk.val[1]=0;
batvchk.val[2]=0;
batvchk.val[3]=0;
dispreg.val[0]=0;
dispreg.val[1]=0;
dispreg.val[2]=0;
dispreg.val[3]=0;
inactive_ctrl(&sysstat,&proc_process);
ADC_CR0 = ADC_CR0_CH_P00|ADC_CR0_ADC_EN;
ADC_CR1 = 0x00;
CMPPRG_SetRef(CMPPRG_REF0_125);
CMPPRG_Start(CMPPRG_HIGHPOWER);
PGA_SetGain(PGA_G8_00);
PGA_Start(PGA_HIGHPOWER);
}
void lock_motor_50us(PROC_PROCESS *ppc)
{
// detect low side mosfet
// on all low side mosfet
PRT1DR=0;
delay_cycle(100);
PRT1DR=MASKPWML;
}
void motor_ctrlout(PROC_PROCESS *ppc,SYSSTAT *st)
{
if((st->msg.st0&bitABS_BRAKE_ENA)&&(!(st->msg.st2&bitABS_BRAKE_OK)))
{
PRT1GS=(ppc->msg.portena&MASKPWML)^MASKPWML;
}
else
{
if(ppc->msg.pwmena&bitPWMON)
{
if(ppc->msg.pwmena&bitLPWMON)
PRT1GS=ppc->msg.portena;
else
PRT1GS=ppc->msg.portena&MASKPWMH;
}
else
{
PRT1GS=0;
}
}
PRT1DR=ppc->msg.portena^MASKPWML;
}
unsigned char sample_adc(unsigned char chan)
{
unsigned char count;
unsigned int adres;
count=8;
while(ADC_CR0&ADC_CR0_ADC_READY)
adres=ADC_DL;
adres=0;
// ADC_CR0=0;//chan+ADC_CR0_ADC_EN;
// delay_cycle(20);
ADC_CR0=chan+ADC_CR0_ADC_EN;
// delay_cycle(3);
while(count)
{
ADC_CR0=chan+ADC_CR0_ADC_EN+ADC_CR0_ADC_START;
while(ADC_CR0&ADC_CR0_ADC_START)//!ADC_CR0&ADC_CR0_ADC_READY)//(ADC_CR0&ADC_CR0_ADC_START)&&
{
count=count;
}
adres+=ADC_DL;
count--;
}
// ADC_CR0=0;
adres=(adres/8)&0xff;
count=(unsigned char)adres;
return(count);
}
void get_work_parameters(SYSSTAT *st)
{
if(sample_adc(cruise_sele_ena_chan)>0x50)
st->msg.st0&=~bitcruise_ena;//st->bits.cruise_ena=0;
else
st->msg.st0|=bitcruise_ena;//st->bits.cruise_ena=1;
if(sample_adc(hallphase_sele_ena_chan)>0x50)
// st->msg.st0|=bithallphase60;//st->bits.hallphase60=1;
st->msg.st0&=~bithallphase60;//st->bits.hallphase60=0;
else
// st->msg.st0&=~bithallphase60;//st->bits.hallphase60=0;
st->msg.st0|=bithallphase60;//st->bits.hallphase60=1;
if(sample_adc(abs_sele_ena_chan)>0x50)
st->msg.st0&=~bitabs_ena;//st->bits.abs_ena=0;
else
st->msg.st0|=bitabs_ena;//st->bits.abs_ena=1;
}
void adjust_motor_run_maxcurrent(PROC_PROCESS *ppc,SYSSTAT *st)
{
unsigned char para1,para2,para3;
if(st->msg.st2&bitBLOCK_RUN_P1S_OK)//st->bits.BLOCK_RUN_P1S_OK)
{ para1=SHUTOFF_1ST_MAXCURRENT;
para2=para1+ppc->msg.current_dcoffset;
}
else if(ppc->msg.speed_profile<0x60)//&&->speed_profile<0x74)
{
para1=LOWSPEEDRUN_MAXCURRENT;
para2=para1+ppc->msg.current_dcoffset;
}
else
{
para1=(ppc->msg.speed_profile-0x60)/8;
para1=LOWSPEEDRUN_MAXCURRENT-para1;
para2=para1;
if(ppc->msg.speed_profile==0xff)
para2=para1+7;
para2=para1+ppc->msg.current_dcoffset;
}
// if(ppc->msg.speed_profile==0xff)
// para2=(LOWSPEEDRUN_MAXCURRENT-0x0d-0x0a-3);
// else if(ppc->msg.speed_profile>0xe0)
// para2=(LOWSPEEDRUN_MAXCURRENT-0x0d-0x0a-0x06-1-1);
// else if(ppc->msg.speed_profile>0xa8)
// { para1=(ppc->msg.speed_profile-0xa9)>>2;
// para2=(LOWSPEEDRUN_MAXCURRENT-0x0d-0x0a-1)-(para1>>1);
// }
// else if(ppc->msg.speed_profile>0x7c)
// {
// para1=(ppc->msg.speed_profile-0x7d)>>1;
// para2=(LOWSPEEDRUN_MAXCURRENT-0x0d-1)-(para1>>1);
// }
// else
// {
// para1=ppc->msg.speed_profile-0x61;
// para2=(LOWSPEEDRUN_MAXCURRENT-1)-(para1>>1);
// }
// }
// para2+= ppc->msg.current_dcoffset;
if(para1<ppc->msg.IERR_BY_BATDOWN)
ppc->msg.RATED_CURRENT=ppc->msg.LSPWM_SWITCH_I;
else
{
if(para2<ppc->msg.LSPWM_SWITCH_I)
ppc->msg.RATED_CURRENT=ppc->msg.LSPWM_SWITCH_I;
else
ppc->msg.RATED_CURRENT=para2;
}
// I2CSBuff.b[0]=ppc->msg.speed_profile;
// I2CSBuff.b[1]=ppc->msg.RATED_CURRENT;
// I2CSBuff.b[2]=para1;
// I2CSBuff.b[3]=para2;
// I2CSBuff.b[4]=ppc->msg.IERR_BY_BATDOWN;
}
void check_cruise_entry(SYSSTAT *st,PROC_PROCESS *ppc)
{
unsigned char count,count_L;
if(!(st->msg.st0&bitBRAKE_VALID))//st->bits.BRAKE_VALID)
{
if(st->msg.st0&bitcruise_ena)//st->bits.cruise_ena)
{
count=8;count_L=0;
while(count)
{
if(!CRUISE_IN)
count_L++;
count--;
}
if(count_L==8)
{
if(st->msg.st2&bitcruisein_altfg)//st->bits.cruisein_altfg)
{
cruisein_count=0;
}
else
{
cruisein_count++;
if(cruisein_count>2)
{
st->msg.st2|=bitcruisein_altfg;//st->bits.cruisein_altfg=1;
if(st->msg.st0&bitcruise_on)//st->bits.cruise_on)
st->msg.st0&=~bitcruise_on;//st->bits.cruise_on=0;
else if(ppc->msg.speed_profile)
st->msg.st0|=bitcruise_on;//st->bits.cruise_on=1;
else
{
st->msg.st2&=~bitcruisein_altfg;//st->bits.cruisein_altfg=0;
cruisein_count=0;
}
}
}
}
else
{
st->msg.st2&=~bitcruisein_altfg;//st->bits.cruisein_altfg=0;
cruisein_count=0;
}
}
}
else
st->msg.st0&=~bitcruise_on;//st->bits.cruise_on=0;
}
const unsigned char spcmdindx[47]={ 0x08 , 0x08 , 0x0c , 0x10 , 0x14 , 0x18 , 0x1C\
, 0x20 , 0x24 , 0x28 , 0x2C , 0x30 , 0x34 , 0x38\
, 0x3C , 0x41 , 0x46 , 0x4B , 0x53 , 0x5A , 0x61\
, 0x68 , 0x70 , 0x78 , 0x80 , 0x88 , 0x90 , 0x98\
, 0xA0 , 0xA8 , 0xB0 , 0xB8 , 0xC0 , 0xC7 , 0xCD\
, 0xD3 , 0xD9 , 0xDE , 0xE2 , 0xE6 , 0xEA , 0xF0\
, 0xF5 , 0xFA , 0xFF , 0xFF , 0xFF };
void process_speed_command(SYSSTAT *st,PROC_PROCESS *ppc,ADC *adres)
{
unsigned char Vts,indx,spcmd;
if(st->msg.st1&bitLOW_BATTERY)//st->bits.LOW_BATTERY)
{
st->msg.st0&=~bitcruise_on;//st->bits.cruise_on=0;
st->msg.st1&=~bitmotor_run;//st->bits.motor_run=0;
ppc->msg.speed_command=0;
}
else
{
if(!(st->msg.st0&bitABS_BRAKE_ENA))//st->bits.ABS_BRAKE_ENA)
{
if(!(st->msg.st0&bitcruise_on))//st->bits.cruise_on)
{
Vts=adres->msg.ts_voltage;
if((Vts>=TS_SAMPLE_MIN)&&(Vts<ts_sample_maxlimit))
{
if(Vts>=TS_SAMPLE_MAX) spcmd=0xff;
else
{
indx=(Vts-TS_SAMPLE_MIN)/2;
spcmd=spcmdindx[indx];
}
if(st->msg.st1&bitts_reset)//st->bits.ts_reset)
{ st->msg.st1&=~bitovi_faultint;//st->bits.ovi_faultint=0;
if(!(st->msg.st2&bitABS_BRAKE_OK))//st->bits.ABS_BRAKE_OK)
{
check_mosfet(&sysstat,&proc_process,&adc,1);
}
}
st->msg.st1&=~bitts_reset;//st->bits.ts_reset=0;
if(st->msg.st1&bitinvalid_position)//st->bits.invalid_position)
{
ppc->msg.speed_command=0;
st->msg.st1&=~bitmotor_run;//st->bits.motor_run=0;
}
else
{
ppc->msg.speed_command=spcmd;
st->msg.st1|=bitmotor_run;//st->bits.motor_run=1;
}
}
else
{
st->msg.st0&=~bitcruise_on;//st->bits.cruise_on=0;
st->msg.st1|=bitts_reset;//st->bits.ts_reset=1;
st->msg.st1&=~bitmotor_run;//st->bits.motor_run=0;
ppc->msg.speed_command=0;
st->msg.st2&=~bitBLOCK_RUN_P2S_OK;//st->bits.BLOCK_RUN_P2S_OK=0;
ppc->msg.block_run_timer=0;
st->msg.st2&=~bitBLOCK_RUN_P1S_OK;//st->bits.BLOCK_RUN_P1S_OK=0;
}
}
}
else
{
st->msg.st0&=~bitcruise_on;//st->bits.cruise_on=0;
st->msg.st1|=bitts_reset;//st->bits.ts_reset=1;
st->msg.st1&=~bitmotor_run;//st->bits.motor_run=0;
ppc->msg.speed_command=0;
st->msg.st2&=~bitBLOCK_RUN_P2S_OK;//st->bits.BLOCK_RUN_P2S_OK=0;
ppc->msg.block_run_timer=0;
st->msg.st2&=~bitBLOCK_RUN_P1S_OK;//st->bits.BLOCK_RUN_P1S_OK=0;
}
}
}
void battery_voltage_restore(BATVCHK *bv,SYSSTAT *st)
{
bv->msg.FUL_BATTERY_CHK_ONTIMER++;
if(bv->msg.FUL_BATTERY_CHK_ONTIMER>BATTERY_RECOVER_ONTIME)
{
bv->msg.FUL_BATTERY_CHK_ONTIMER--;
bv->msg.LOW_BATTERY_CHK_ONTIMER=0;
st->msg.st1&=~bitLOW_BATTERY;//st->bits.LOW_BATTERY=0;
}
}
void battery_voltage_detect(ADC *adr,BATVCHK *bv,SYSSTAT *st,PROC_PROCESS *ppc)
{
if(adr->msg.battery_voltage>NORMAL_BATTERY_V_WITH_NOLOADER)
{
bv->msg.IERR_BY_BATDOWN=0;
battery_voltage_restore(bv,st);
}
else
{
bv->msg.IERR_BY_BATDOWN=NORMAL_BATTERY_V_WITH_NOLOADER-adr->msg.battery_voltage;
if(bv->msg.IERR_BY_BATDOWN>MAX_BATTERY_VOLTAGE_ERR){
bv->msg.IERR_BY_BATDOWN=MAX_BVE_EQ_IERR;
}else
bv->msg.IERR_BY_BATDOWN=(bv->msg.IERR_BY_BATDOWN>>1)+bv->msg.IERR_BY_BATDOWN;
if(adr->msg.battery_voltage>NORMAL_BATTERY_V_WITH_LOADER)
{
if(st->msg.st1&bitLOW_BATTERY)//st->bits.LOW_BATTERY)
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