ddc.rar_电动_电动车

01.#include <ht45rm03.h> 02.#include "htddc.h" 03. 04.#pragma vector isr_comp @ 0x4 05.#pragma vector isr_int0 @ 0x8 06.#pragma vector isr_int1 @ 0xc 07.#pragma vector isr_pwm @ 0x10 08.#pragma vector isr_tmr0 @ 0x14 09.#pragma vector isr_tmr1 @ 0x18 10.//ISR for safequard 11.void isr_comp() // 比较器输出 12.{ _cf=0; 13.if(!_cmpop)//确认是否有效的低电平 14. { 15. _pwmh=0;_pwml=0;//关闭PWM 16._pc=0b00101010; 17._misc=0b00100100; //_misc.4=pwmctrl==>PWM总开关 18._pwmc=0x44; //死区开启,延迟0.33us 19. 20.pwm_enable_f=0;//xunhan_f=0; 21.runing_err_f=1; 22.delay_3s=60; 23. } 24.} 25.void isr_int0() // 外部INT0A,B,C 26.{ 27.} 28.void isr_int1(){} // 外部INT1 29.void isr_pwm(){} // PWM 30.void isr_tmr0() // timer/event 0//电机霍尔检测 31.{ 32. read_xy: 33. xy_temp =_pa;xy_temp &=0x70; 34. for(xy_i=2;xy_i>0;xy_i--) 35. { 36.xy_temp1=_pa;xy_temp1 &=0x70; 37.if(xy_temp!=xy_temp1)goto read_xy; 38. } 39. xy_temp>>=4;xy_temp&=0x07; 40._t0f=0; //33.33us once 41.ms++;sys_5ms++;time_f=1; 42.if(xy_temp!=xy_buf){xy_buf=xy_temp;xy_cnt=0;} 43.else xy_cnt++; 44.if(xy_cnt>=2) 45. { xy_cnt=0; 46. if(xy_buf==0||xy_buf==7){xy_err++;xy_err_f=1;_pc=djout120[0];} 47. else 48. {if(xy_err_f) 49. {xy_err_f=0;last_xy=xy_buf;} 50. if(xy_err!=0)xy_err--; 51. if(xy_err>9)xy_err--; 52. if(pwm_enable_f)_pc=djout120[xy_buf]; 53. } 54. 55. } 56.} 57.void isr_tmr1() // timer/event 1//与PC的串行通讯1200波特率 58.{ _t1f=0; 59.if(tx_bit1_3==0) 60. { tx_bit1_3=2; 61. if(tx_bit_cnt==9)TX=0; 62. else 63. {if(tx_bit_cnt>0) 64. {if(tx_buf&1)TX=1;else TX=0; 65. tx_buf>>=1; 66. } 67. } 68. if(tx_bit_cnt==0)TX=1; 69. else tx_bit_cnt--; 70. } 71.else tx_bit1_3--; 72.//receive 73.if(rx_sta_f) 74. { if(rx_bit1_3==0) 75. { rx_bit1_3=2; 76. rx_buf>>=1; 77. if(RX)rx_buf |= 0x80; 78. rx_bit_cnt--; 79. if(rx_bit_cnt==0) 80. {rx_sta_f=0;rx_bak_f=1;_mp1=rx_buf;tx_buf=_iar1;tx_bit_cnt=9;// 81. } 82. } 83. else rx_bit1_3--; 84. } 85.else { if(!RX && !rx_bak_f){rx_sta_f=1;rx_bit1_3=2;rx_bit_cnt=8;} 86.if(RX)rx_bak_f=1;else rx_bak_f=0; 87. } 88.} 89.//========================================= 90.void offset_cmp(void) 91.{ unsigned char temp,temp1,tempa,i; 92._cmpc=0b10110000;_nop();_nop();//以CMP+为参考 93.temp=_cmpc & 0b01000000;//读cmp out 94.for(i=15;i>0;i--) 95. { _cmpc++;_nop();_nop(); 96. temp1=_cmpc & 0b01000000; 97. if(temp!=temp1)break; 98. } 99.tempa=_cmpc & 0x0f; 100. 101._cmpc=0b10111111;_nop();_nop(); 102.temp=_cmpc & 0b01000000; 103.for(i=15;i>0;i--) 104. { _cmpc--;_nop();_nop(); 105. temp1=_cmpc & 0b01000000; 106. if(temp!=temp1)break; 107. } 108.i=_cmpc & 0x0f; 109.tempa+=i;tempa>>=1;tempa &= 0x0f; 110._cmpc=0b10000000; 111._cmpc |= tempa; 112.} 113.//------------------------------------ 114.void offset_opa(void) 115.{ unsigned char temp,temp1,tempa,i; 116._opac=0b10100000;_nop();_nop();//以OPA-为参考 117.temp=_opac & 0b01000000;//读opa out 118.for(i=15;i>0;i--) 119. { _opac++;_nop();_nop(); 120. temp1=_opac & 0b01000000; 121. if(temp!=temp1)break; 122. } 123.tempa=_opac & 0x0f; 124. 125._opac=0b10111111;_nop();_nop(); 126.temp=_opac & 0b01000000; 127.for(i=15;i>0;i--) 128. { _opac--;_nop();_nop(); 129. temp1=_opac & 0b01000000; 130. if(temp!=temp1)break; 131. } 132.i =_opac & 0x0f; 133.tempa+=i;tempa>>=1;tempa &= 0x0f; 134._opac=0b10000000; 135._opac |= tempa; 136.} 137.//========================================= 138.void djmode_set(void)//检测电机的类型60或120度的 139.{ unsigned char temph,templ,i; 140.temph = 0;templ = 0; 141.for(i=24;i>0;i--) 142. { _pbc |= 0b10000000; 143. 144. if(djmode_pin)temph++; 145. else templ++; 146. _delay(100); 147. } 148.if(temph>templ)djmode_f=1; 149.else djmode_f=0; 150.} 151.//========================================= 152.//测量A/D并平均8次 153.//========================================= 154.unsigned char ad_pro(unsigned char channel) 155.{ unsigned char i; 156. unsigned long temp; 157.channel &=0x3; 158._adcr =0b00011000; 159._adcr|=channel; 160.temp=0; 161.for(i=8;i>0;i--) 162. { _start=0;_nop(); 163._start=1;//reset AD 164._start=0;//start AD 165.while(_eocb)_nop(); 166.temp+=_adrh; 167. } 168.temp>>=3; 169.i=(unsigned char)temp; 170.return(i); 171.} 172.//=========================================== 173.void nmos_chk(void) 174.{ unsigned char temp; 175.off_pwm_pro(); 176._pc=0;//打开所有下桥 177._adcr =0b00011010;//电流AN2 178._delay(10); 179._start=0;_nop(); 180._start=1;//reset AD 181._start=0;//start AD 182._delay(300); 183._pc=0b00101010;//关闭all nmos 184.while(_eocb)_nop(); 185.temp=_adrh; 186. 187.if(temp>i_normal)nmos_err_f=1; 188.if(nmos_err_f)return; 189. 190._pc=0x3f;//打开所有上桥 191._adcr =0b00011010;//电流AN2 192._delay(10); 193._start=0;_nop(); 194._start=1;//reset AD 195._start=0;//start AD 196._delay(300); 197._pc=0b00101010;//关闭all nmos 198.while(_eocb)_nop(); 199.temp=_adrh; 200.if(temp>i_normal)nmos_err_f=1; 201.} 202. 203.//========================================== 204.void first_i(void) 205.{ unsigned char temp; 206.temp=ad_pro(2);//电流测量在AN2 207.if(temp>8){opa_err_f=1;temp=0;} 208.i_normal=temp+25; 209.i_max=temp+50; 210.} 211.//========================================== 212.void break_chk(void) 213.{ unsigned char temph,templ,i; 214.temph = 0;templ = 0; 215.for(i=16;i>0;i--) 216. { _pac |= 0b10000000;//pa7/int1 --break input 217. 218. if(break_pin)temph++; 219. else templ++; 220. _delay(100); 221. } 222.if(temph>templ)break_f=0; 223.else break_f=1; 224.} 225.//========================================== 226.void time_nms(void)//200us once 227.{ 228.if(sys_5ms>=150){sys_5ms=0;sys50ms++;}//150*0.03333ms=5ms 229.else return; 230.if(sys50ms>=10)sys50ms=0; 231.else return; 232. 233.if(vol_del3s!=0)vol_del3s--;//50ms once 234.if(delay_3s!=0)delay_3s--;//50ms once 235. 236.if(disp_once==0) 237. { disp_once=96;//7s 238. if(nmos_err_f){flash_num=4;goto led_set_end;} 239. if(runing_err_f){flash_num=5;goto led_set_end;} 240. if(xy_err>6){flash_num=6;goto led_set_end;} 241. if(vol_low_f) {flash_num=8;goto led_set_end;} 242. if(break_f) {flash_num=2;goto led_set_end;} 243. if(opa_err_f) {flash_num=3;goto led_set_end;} 244. 245. if(pwm_enable_f)flash_num=0;//工作不亮 246. else flash_num=200;//不工作正常一直闪 247. 248. led_set_end:_nop(); 249. } 250.else disp_once--; 251.if(disp_ms==0) 252. { if(flash_num!=0) 253. {disp_ms=8;flash_num--;} 254. 255. } 256.else disp_ms--; 257.if(disp_ms<4)off_led;else on_led; 258.} 259.//========================================= 260.// ;取样电阻7.5K+7.5K+1.2K 261.// ;40.V电压转换值:151 262.// ;41.V电压转换值:155 263.// ;42.V电压转换值:159 264.// ;43.V电压转换值:163 265.// ;44.V电压转换值:167 266.// ;45.V电压转换值:171 267.void vol_chk_pro(void)//电流因素未考虑 268.{ 269.if(vol_buf>154) 270. { if(vol_before_f){vol_before_f=0;vol_del3s=60;}//3s=60*50ms 271. if(vol_del3s==0)vol_low_f=0; 272. } 273.if(vol_buf<142) 274. { if(!vol_before_f){vol_before_f=1;vol_del3s=60;} 275. if(vol_del3s==0)vol_low_f=1; 276. } 277.} 278.//========================================================= 279.//转速把电压范围处理 280.//自行车:限速模式下应为1.2V--4.2V, 281.//转把霍尔正常输出低电平为0.8-->1.0V 282.//========================================================= 283.void spd_chk_pro(void) 284.{ unsigned char temp,tt; 285.//if(xunhan_f)return; 286.temp=spd_buf; 287.if(spd_buf<59)spd_first_f=0;//ad59==>1.15v 288.if(temp>=65)temp-=65;//ad65==>1.27v 289.else temp=0; 290.if(spd_first_f)temp=0;//spd_first_f为上电有转把信号 291.if(temp>99)temp=100;