M6128_FW_V0.2.zip_6128_电机_细分_细分电流

/*------------------------------------------------------------------*/ /* --- STC MCU International Limited -------------------------------*/ /* --- STC 1T Series MCU RC Demo -----------------------------------*/ /* --- Mobile: (86)13922805190 -------------------------------------*/ /* --- Fax: 86-0513-55012956,55012947,55012969 ---------------------*/ /* --- Tel: 86-0513-55012928,55012929,55012966 ---------------------*/ /* --- Web: www.GXWMCU.com -----------------------------------------*/ /* --- QQ: 800003751 ----------------------------------------------*/ /* If you want to use the program or the program referenced in the */ /* article, please specify in which data and procedures from STC */ /*------------------------------------------------------------------*/ #include "PCA.h" bit B_Capture0,B_Capture1,B_Capture2; u8 PCA0_mode,PCA1_mode,PCA2_mode; u16 CCAP0_tmp,PCA_Timer0; u16 CCAP1_tmp,PCA_Timer1; u16 CCAP2_tmp,PCA_Timer2; //======================================================================== // 函数: PCA_config(void) // 描述: 配置PCA为PWM输出 // 参数: // 返回: none. // 版本: V1.0, 2017-03-24 //======================================================================== void PCA_config(void) { PCA_InitTypeDef PCA_InitStructure; PCA_InitStructure.PCA_Clock = PCA_Clock_1T; //PCA_Clock_1T, PCA_Clock_2T, PCA_Clock_4T, PCA_Clock_6T, PCA_Clock_8T, PCA_Clock_12T, PCA_Clock_Timer0_OF, PCA_Clock_ECI PCA_InitStructure.PCA_IoUse = PCA_P34_P35_P36_P37; //PCA_P12_P11_P10_P37, PCA_P34_P35_P36_P37, PCA_P24_P25_P26_P27 PCA_InitStructure.PCA_Interrupt_Mode = DISABLE; //ENABLE, DISABLE PCA_InitStructure.PCA_Polity = PolityLow; //优先级设置 PolityHigh,PolityLow PCA_InitStructure.PCA_RUN = DISABLE; //ENABLE, DISABLE PCA_Init(PCA_Counter,&PCA_InitStructure); PCA_InitStructure.PCA_Mode = PCA_Mode_PWM; //PCA_Mode_PWM, PCA_Mode_Capture, PCA_Mode_SoftTimer, PCA_Mode_HighPulseOutput PCA_InitStructure.PCA_PWM_Wide = PCA_PWM_8bit; //PCA_PWM_8bit, PCA_PWM_7bit, PCA_PWM_6bit PCA_InitStructure.PCA_Interrupt_Mode = DISABLE; //PCA_Rise_Active, PCA_Fall_Active, ENABLE, DISABLE //PCA_InitStructure.PCA_Value = 128 << 8; //对于PWM,高8位为PWM占空比 PCA_Init(PCA0,&PCA_InitStructure); // PCA_InitStructure.PCA_Mode = PCA_Mode_PWM; //PCA_Mode_PWM, PCA_Mode_Capture, PCA_Mode_SoftTimer, PCA_Mode_HighPulseOutput // PCA_InitStructure.PCA_PWM_Wide = PCA_PWM_8bit; //PCA_PWM_8bit, PCA_PWM_7bit, PCA_PWM_6bit // PCA_InitStructure.PCA_Interrupt_Mode = DISABLE; //PCA_Rise_Active, PCA_Fall_Active, ENABLE, DISABLE // //PCA_InitStructure.PCA_Value = 64 << 8; //对于PWM,高8位为PWM占空比 // PCA_Init(PCA1,&PCA_InitStructure); // // PCA_InitStructure.PCA_Mode = PCA_Mode_PWM; //PCA_Mode_PWM, PCA_Mode_Capture, PCA_Mode_SoftTimer, PCA_Mode_HighPulseOutput // PCA_InitStructure.PCA_PWM_Wide = PCA_PWM_8bit; //PCA_PWM_8bit, PCA_PWM_7bit, PCA_PWM_6bit // PCA_InitStructure.PCA_Interrupt_Mode = DISABLE; //PCA_Rise_Active, PCA_Fall_Active, ENABLE, DISABLE // //PCA_InitStructure.PCA_Value = 32 << 8; //对于PWM,高8位为PWM占空比 // PCA_Init(PCA2,&PCA_InitStructure); CR = 1; } //======================================================================== // 函数: UpdatePwm(u8 PCA_id, u8 pwm_value) // 描述: 更新PWM值. // 参数: PCA_id: PCA序号. 取值 PCA0,PCA1,PCA2,PCA_Counter // pwm_value: pwm值, 这个值是输出低电平的时间. // 返回: none. // 版本: V1.0, 2012-11-22 //======================================================================== void UpdatePwm(u8 PCA_id, u8 pwm_value) { if(PCA_id == PCA0) CCAP0H = CCAP0L = pwm_value; else if(PCA_id == PCA1) CCAP1H = CCAP1L = pwm_value; else if(PCA_id == PCA2) CCAP2H = CCAP2L = pwm_value; } //======================================================================== // 函数: void PCA_Init(PCA_id, PCA_InitTypeDef *PCAx) // 描述: PCA初始化程序. // 参数: PCA_id: PCA序号. 取值 PCA0,PCA1,PCA2,PCA_Counter // PCAx: 结构参数,请参考PCA.h里的定义. // 返回: none. // 版本: V1.0, 2012-11-22 //======================================================================== void PCA_Init(u8 PCA_id, PCA_InitTypeDef *PCAx) { if(PCA_id > PCA_Counter) return; //id错误 if(PCA_id == PCA_Counter) //设置公用Counter { CR = 0; CH = 0; CL = 0; AUXR1 = (AUXR1 & ~(3<<4)) | PCAx->PCA_IoUse; //切换IO口 CMOD = (CMOD & ~(7<<1)) | PCAx->PCA_Clock; //选择时钟源 CMOD = (CMOD & ~1) | (PCAx->PCA_Interrupt_Mode & 1); //ECF if(PCAx->PCA_Polity == PolityHigh) PPCA = 1; //高优先级中断 else PPCA = 0; //低优先级中断 if(PCAx->PCA_RUN == ENABLE) CR = 1; return; } PCAx->PCA_Interrupt_Mode &= (3<<4) + 1; if(PCAx->PCA_Mode >= PCA_Mode_SoftTimer) PCAx->PCA_Interrupt_Mode &= ~(3<<4); if(PCA_id == PCA0) { CCAPM0 = PCAx->PCA_Mode | PCAx->PCA_Interrupt_Mode; //工作模式, 中断模式 PCA_PWM0 = (PCA_PWM0 & ~(3<<6)) | PCAx->PCA_PWM_Wide; //PWM宽度 PCA_Timer0 = PCAx->PCA_Value; B_Capture0 = 0; PCA0_mode = PCAx->PCA_Mode; CCAP0_tmp = PCA_Timer0; CCAP0L = (u8)CCAP0_tmp; //将影射寄存器写入捕获寄存器，先写CCAP0L CCAP0H = (u8)(CCAP0_tmp >> 8); //后写CCAP0H } if(PCA_id == PCA1) { CCAPM1 = PCAx->PCA_Mode | PCAx->PCA_Interrupt_Mode; PCA_PWM1 = (PCA_PWM1 & ~(3<<6)) | PCAx->PCA_PWM_Wide; PCA_Timer1 = PCAx->PCA_Value; B_Capture1 = 0; PCA1_mode = PCAx->PCA_Mode; CCAP1_tmp = PCA_Timer1; CCAP1L = (u8)CCAP1_tmp; //将影射寄存器写入捕获寄存器，先写CCAP0L CCAP1H = (u8)(CCAP1_tmp >> 8); //后写CCAP0H } if(PCA_id == PCA2) { CCAPM2 = PCAx->PCA_Mode | PCAx->PCA_Interrupt_Mode; PCA_PWM2 = (PCA_PWM2 & ~(3<<6)) | PCAx->PCA_PWM_Wide; PCA_Timer2 = PCAx->PCA_Value; B_Capture2 = 0; PCA2_mode = PCAx->PCA_Mode; CCAP2_tmp = PCA_Timer2; CCAP2L = (u8)CCAP2_tmp; //将影射寄存器写入捕获寄存器，先写CCAP0L CCAP2H = (u8)(CCAP2_tmp >> 8); //后写CCAP0H } } //======================================================================== // 函数: void PCA_Handler (void) interrupt PCA_VECTOR // 描述: PCA中断处理程序. // 参数: None // 返回: none. // 版本: V1.0, 2012-11-22 //======================================================================== void PCA_Handler (void) interrupt PCA_VECTOR { if(CCF0) //PCA模块0中断 { CCF0 = 0; //清PCA模块0中断标志 if(PCA0_mode >= PCA_Mode_SoftTimer) //PCA_Mode_SoftTimer and PCA_Mode_HighPulseOutput { CCAP0_tmp += PCA_Timer0; CCAP0L = (u8)CCAP0_tmp; //将影射寄存器写入捕获寄存器，先写CCAP0L CCAP0H = (u8)(CCAP0_tmp >> 8); //后写CCAP0H } else if(PCA0_mode == PCA_Mode_Capture) { CCAP0_tmp = CCAP0H; //读CCAP0H CCAP0_tmp = (CCAP0_tmp << 8) + CCAP0L; B_Capture0 = 1; } } if(CCF1) //PCA模块1中断 { CCF1 = 0; //清PCA模块1中断标志 if(PCA1_mode >= PCA_Mode_SoftTimer) //PCA_Mode_SoftTimer and PCA_Mode_HighPulseOutput { CCAP1_tmp += PCA_Timer1; CCAP1L = (u8)CCAP1_tmp; //将影射寄存器写入捕获寄存器，先写CCAP0L CCAP1H = (u8)(CCAP1_tmp >> 8); //后写CCAP0H } else if(PCA1_mode == PCA_Mode_Capture) { CCAP1_tmp = CCAP1H; //读CCAP1H CCAP1_tmp = (CCAP1_tmp << 8) + CCAP1L; B_Capture1 = 1; } } if(CCF2) //PCA模块2中断 { CCF2 = 0; //清PCA模块1中断标志 if(PCA2_mode >= PCA_Mode_SoftTimer) //PCA_Mode_SoftTimer and PCA_Mode_HighPulseOutput { CCAP2_tmp += PCA_Timer2; CCAP2L = (u8)CCAP2_tmp; //将影射寄存器写入捕获寄存器，先写CCAP0L CCAP2H = (u8)(CCAP2_tmp >> 8); //后写CCAP0H } else if(PCA2_mode == PCA_Mode_Capture) { CCAP2_tmp = CCAP2H; //读CCAP2H CCAP2_tmp = (CCAP2_tmp << 8) + CCAP2L; B_Capture2 = 1; } } if(CF) //PCA溢出中断 { CF = 0; //清PCA溢出中断标志 } }