sbldc2k.c

关于C8051无刷电机开发的源代码 自己调试过了 十分有用

//-----------------------------------------------------------------------------
// Sensorless BLDC Motor Reference Design
//-----------------------------------------------------------------------------
// Copyright 2006 Silicon Laboratories Inc.
//
// AUTH: KAB
// DATE: 30 AUG 2006
//
// This program provides Sensorless BLDC motor control using the
// 'F310. This software is written specifically for the SBLDC
// reference design hardware. Please see the full application
// note for further information.
//
// Target: C8051F30x
//
// Tool chain: KEIL 'c' 2k eval version required
//
//-----------------------------------------------------------------------------
// Includes
//-----------------------------------------------------------------------------
#include <c8051f310.h>                 // SFR declarations
#include <stdio.h>                     // printf()
#include <slbdc.h>                     // macro constants
//-----------------------------------------------------------------------------
// Function PROTOTYPES
//-----------------------------------------------------------------------------
void SYSCLK_Init (void);
void PORT_Init (void);
void PCA0_Init (void);
void ADC_Init(void);
void UART0_Init (void);
extern void StartMotor(void);          // located in T0_ISR.c
extern void T0_Init(void);             // located in T0_ISR.c
extern void T2_Init(void);             // located in T2_ISR.c
//-----------------------------------------------------------------------------
// External Public Variables
//-----------------------------------------------------------------------------
// T0_ISR Variables accessed by GUI
extern unsigned char Status;           // Motor State Variable
extern unsigned int Imotor;            // Motor current
extern unsigned int Vpot;              // Speed Pot Voltage
extern signed int Vemf;                // back EMF magnitude
extern signed int Verror;              // error voltage from midpoint
extern bit Stall;                      // Stall detection flag
extern bit OverCurrent;                // Over current flag
// T2_ISR Variables accessed by GUI
extern signed int Kp;                  // Proportional Constant
extern signed int Ki;                  // Integral Constant
extern signed int Vpi;                 // output from PI controller
extern unsigned int Vout;              // Output Voltage
extern unsigned int SpeedRPM;          // Motor speed in RPM

//-----------------------------------------------------------------------------
// Global Local Variables
//-----------------------------------------------------------------------------

sbit Start = P0^0;
sbit Stop = P0^1;

//-----------------------------------------------------------------------------
// MAIN Routine
//-----------------------------------------------------------------------------
void main (void)
{

   PCA0MD &= ~0x40;                    // Disable Watchdog Timer

   SYSCLK_Init ();
   PORT_Init();                        // initialize system clock
   PCA0_Init();
   T0_Init ();
   T2_Init ();
   ADC_Init();
   EA = 1;                             // enable global interrupts
   while(1)
   {
      while(Start==OFF);               // wait for start
      while(Start==ON);                // wait for release
      StartMotor();                    // start motor
      while(Status!=START);            //wait for run
      while(Status!=RUN);              //wait for run
      while(Status==RUN)
      {
         if(Stop==ON)                  // check Stop button
         {
            Status = STOP;
            while(Stop==ON);           // wait for release
         }
      }
   }
}

//-----------------------------------------------------------------------------
// SYSCLK_Init
//-----------------------------------------------------------------------------

void SYSCLK_Init (void)
{
   OSCICN = 0x83;                      // configure for 24.5 MHz
}
//-----------------------------------------------------------------------------
// UART0_Init
//-----------------------------------------------------------------------------

void PORT_Init (void)
{
   // P0.0 = Run,       Skipped, Open-Drain Output/Input
   // P0.1 = Reverse    Skipped, Open-Drain Output/Input
   // P0.2 = LED1       Skipped, Push-Pull Output
   // P0.3 = LED1       Skipped, Push-Pull Output
   // P0.4 = Txd        UART, Push-Pull Output
   // P0.5 = Rxd        UART, Open-Drain Output/Input
   // P0.6 = NC         Skipped, Open-Drain Output/Input
   // P0.7 = NC         Skipped, Open-Drain Output/Input
   // P1.0 = Abottom    PCA, Push-Pull Output
   // P1.1 = Atop       PCA, Push-Pull Output
   // P1.2 = Bbottom    PCA, Push-Pull Output
   // P1.3 = Btop       PCA, Push-Pull Output
   // P1.4 = Cbotton    PCA, Push-Pull Output
   // P1.5 = Ctop       PCA, Push-Pull Output
   // P1.6 = NC         Skipped, Open-Drain Output/Input
   // P1.7 = NC         Skipped, Open-Drain Output/Input
   // Port 2
   // P2.0 = VI         Skipped, Analog Input
   // P2.1 = VO         Skipped, Analog Input
   // P2.2 = VA         Skipped, Analog Input
   // P2.3 = VB         Skipped, Analog Input
   // P2.4 = VC         Skipped, Analog Input
   // P2.5 = VM         Skipped, Analog Input
   // P2.6 = Pot        Skipped, Analog Input
   // P2.7 = NC         Skipped, Analog Input


   XBR0 = 0x01;                        // Enable UART on Crossbar
   XBR1 = 0x02;                        // Enable CEX0,CEX1 on Crossbar
   P0MDOUT = 0x1C;                     // P0.2, P0.3, & P0.4 are outputs
   P1MDOUT = 077;                      // enable motor outputs (octal)
   P2MDIN = 0x00;                      // all P2 pins are Analog inputs
   P0SKIP = ~0x30;                     // Skip all, except UART
   P1SKIP = 071;                       // initial PSKIP pattern (octal)
   P2SKIP = 0x0F;                      // Skip all P2 Pins
   XBR1 |= 0x40;                       // enable crossbar
   P1    = 0xff;                       // P1 all high
}
//-----------------------------------------------------------------------------
// PCA0_Init
//-----------------------------------------------------------------------------
void PCA0_Init (void)
{

   PCA0MD = 0x02;                      // PCA uses sysclk/4, no CF int
   PCA0CPL0 = 0x00;                    // clear mode, pin high
   PCA0CPL1 = 0x00;                    // clear mode, pin high
   PCA0L = 0x00;                       // reset the timer
   PCA0H = 0x00;                       // reset the timer
   PCA0CPH0 = 0x00;                    // init to 0%
   PCA0CPH1 = 0x00;                    // init to 0%
   CR = 1;                             // START PCA0 timer
}
//-----------------------------------------------------------------------------
// ADC0_Init
//-----------------------------------------------------------------------------
void ADC_Init()
{
   AMX0P = 0x09;                       // config for motor current
   AMX0N = 0xFF;                       // single ended
   ADC0CF = 0x40;                      // SARCLK 272222,
   ADC0CN = 0x80;                      // initiate on AD0BUSY
   REF0CN    = 0x08;                   // use vdd for reference
}