main.c

无刷电机驱动原理

/**
* @file main.c
*
* Copyright (c) 2006 Atmel.
*
* @brief This module provides the main infinite loop.\n
* It generates the ramp up sequence and then calls the regulation loop
* and the uart command interpreter
* @version 1.0 (CVS revision : $Revision: 1.4 $)
* @date $Date: 2006/07/12 12:58:27 $
* @author $Author: raubree $
*****************************************************************************/
#include "config.h"
#include "config_motor.h"

#include "mc_interface.h"
#include "mc_control.h"
#include "mc_drv.h"
#include "ushell_task.h"

#include "adc\adc_drv.h"
#include "comparator\comparator_drv.h"

U16 g_regulation_period = 0;   //!< Define the sampling period
U16 g_speed_monitor_period = 0;
extern Bool g_tick;            //!see mc_drv.c Use for sampling time
Bool ramp_up = FALSE;

  U8 tick_divider;
  U8 new_position = HS_001;   // arbitrary rotor position for Ramp Up Sequence
  U8 tick_divider_min = 50;
  U8 ramp_counter = 0;


void mc_ramp_up_init(void)
{
   ramp_counter = 0;
   tick_divider_min = 50;
   new_position = HS_001;
   ramp_up = TRUE;
   g_speed_monitor_period = 0;
}


void main(void)
{
   ushell_task_init();

   // init motor
   mc_motor_init();  // launch initialization of the motor

   while(1)
   {
    // Show PSC state according to the Over Current information
    if(PCTL2 & (1<<PRUN2))  switch_OFF_LED();// PSC ON
    else  switch_ON_LED();//PSC OFF => Over_Current


    // Launch regulation loop
    // Timer 1 generate an IT (g_tick) all 250us
    // Sampling period = n * 250us
    if (g_tick == TRUE)
    {
      g_tick = FALSE;

      // Get Current and potentiometer value
      mc_ADC_Scheduler();

      if (ramp_up == TRUE)
      {
      /* BEGIN OF RAMP UP SEQUENCE */
        Disable_comparator0_interrupt(); // disable bemf interrupt
        Disable_comparator1_interrupt(); // disable bemf interrupt
        Disable_comparator2_interrupt(); // disable bemf interrupt
        ramp_counter += 1;
        if ( ramp_counter >= 40 )
        {
          ramp_counter = 0;
          if (tick_divider_min > 3)
          {
            tick_divider_min -= 1;
          }
          else
          {
            ramp_up = FALSE;
            g_speed_monitor_period = 1;
//            mc_set_Speed_Loop();           // speed regulation loop
            mc_set_Open_Loop();             // no regulation loop
            mci_set_motor_speed(180);
            mc_regulation_loop();
            Enable_comparator0_interrupt(); // enable the bemf signal
            Enable_comparator1_interrupt(); // enable the bemf signal
            Enable_comparator2_interrupt(); // enable the bemf signal
          }
        }

        tick_divider += 1;
        if ( tick_divider >= tick_divider_min )
        {
          tick_divider = 0;

          if (mci_get_motor_direction()==CCW)
          {
             switch(new_position)
             {
               /* ramp up CCW */
               case HS_001:
                 new_position = HS_011;
                 break;

               case HS_101:
                 new_position = HS_001;
                 break;

               case HS_100:
                 new_position = HS_101;
                 break;

               case HS_110:
                 new_position = HS_100;
                 break;

               case HS_010:
                 new_position = HS_110;
                 break;

               case HS_011:
                 new_position = HS_010;
                 break;

               default :
                 new_position = HS_001;
                 break;
             }

          }
          else
          {
             switch(new_position)
             {
               /* ramp_up CW */
               case HS_001:
                 new_position = HS_101;
                 break;

               case HS_101:
                 new_position = HS_100;
                 break;

               case HS_100:
                 new_position = HS_110;
                 break;

               case HS_110:
                 new_position = HS_010;
                 break;

               case HS_010:
                 new_position = HS_011;
                 break;

               case HS_011:
                 new_position = HS_001;
                 break;

               default :
                 new_position = HS_001;
                 break;
             }

          }
          mc_switch_commutation(new_position);
        }
         /* END OF RAMP UP SEQUENCE */
      }


      g_regulation_period += 1;
      if ( g_regulation_period >= 8 ) //n * 250us = Te : 2mS
      {
        g_regulation_period = 1;
        mc_regulation_loop(); // launch regulation loop
      }


      /* monitor the speed */
      if (mci_run_stop == RUN)
      {
         g_speed_monitor_period += 1;
         if ( g_speed_monitor_period >= 4000 ) //n * 250us =  1S
         {
            g_speed_monitor_period = 1;
            if (mci_get_measured_speed() > 250) mc_ramp_up_init();
            if (mci_get_measured_speed() < (100/27)) mc_ramp_up_init();
         }
      }

      /* monitor the uart communication */
      ushell_task();

    }
   }
}