XC800_FOC_KEIL.rar_8位单片机FOC_bldc keil_foc_foc控制器_英飞凌BLDC

////////////////////////////////////////////////////////////////////// //******************************************************************** //******************** FOC Functions ********************** //******************************************************************** ////////////////////////////////////////////////////////////////////// #include "main.h" //**************************************************************************** // @Imported Global Variables //**************************************************************************** extern bit gb_Once; extern bit gb_Trap; extern bit gb_EnableFOC; extern bit gb_On; extern bit gb_Off; extern data unsigned char guc_StartupCounter; extern data unsigned char guc_SpeedControlCounter; extern data int gi_I_phaseA; extern data int gi_I_phaseB; extern data int gi_I_alpha; extern data int gi_I_beta; extern data int gi_I_d; extern data int gi_I_q; extern data int gi_V_alpha; extern data int gi_V_beta; extern data int gi3_Flux_alpha[3]; extern data int gi3_Flux_beta[3]; extern data int gi_angle_mem; extern data int gi_angle; extern data int gi2_Speed[2]; extern data int gi_PI_output_Id; extern data int gi_PI_output_Iq; extern data int gi_Amplitude; extern data int gi_Iq_reference; extern data int gi_Iq_startup; extern data int gi_Speed_reference; extern data int gi_Speed_reference_user; extern data int gi_Speed_startup; extern idata PI_parameter gt_Id_control; extern idata PI_parameter gt_Iq_control; extern idata PI_parameter gt_Speed_control; extern bit bitNewCMD0; extern bit bitNewCMD1; extern data unsigned char ucNewCMD0; extern data unsigned char ucNewCMD1; extern pdata unsigned char CANTrxBuf0[]; extern pdata unsigned char CANTrxBuf1[]; extern data unsigned char ucT2state; extern data unsigned char ucAutoCycle; extern bdata unsigned char Status_word; #pragma asm extrn code (Sinus60_tab) extrn data (guc_sector, guc_sector_s, gi_I_alpha, gi_I_beta, gi_I_phaseA) extrn data (gi_I_phaseB, gi_V_alpha, gi_V_beta ) #pragma endasm void MotorControl_vInit( void ) { // Startup values for controllers gi_Iq_startup = DEFAULT_IQ_STARTUP; gi_Speed_startup = DEFAULT_SPEED_STARTUP; // PI speed controller initialization gt_Speed_control.ki = DEFAULT_SPEED_KI; gt_Speed_control.kp = DEFAULT_SPEED_KP; gi_Speed_reference_user = DEFAULT_SPEED_REFERENCE; // PI current controller initialization gt_Iq_control.ki = DEFAULT_IQ_KI; gt_Iq_control.kp = DEFAULT_IQ_KP; gt_Id_control.ki = DEFAULT_ID_KI; gt_Id_control.kp = DEFAULT_ID_KP; // CAN communication initialization ucNewCMD0 = 0; bitNewCMD0 = 0; ucNewCMD1 = 0; bitNewCMD1 = 0; // slow CAN transfer (every CANTrxBuf0Rate T2 tick) // sent at CAN-ID 7 CANTrxBuf0[0] = (unsigned char) &Status_word; CANTrxBuf0[1] = (unsigned char) &ucAutoCycle; CANTrxBuf0[2] = (unsigned char) &gi_I_q; CANTrxBuf0[3] = (unsigned char) &gi_I_q+1; CANTrxBuf0[4] = (unsigned char) &gi2_Speed[0]; CANTrxBuf0[5] = (unsigned char) &gi2_Speed[0]+1; CANTrxBuf0[6] = (unsigned char) &gi_Amplitude; CANTrxBuf0[7] = (unsigned char) &gi_Amplitude+1; // fast CAN transfer (every T2 tick) // sent at CAN-ID 77 CANTrxBuf1[0] = (unsigned char) &gi_I_d; CANTrxBuf1[1] = (unsigned char) &gi_I_d+1; CANTrxBuf1[2] = (unsigned char) &gi_I_q; CANTrxBuf1[3] = (unsigned char) &gi_I_q+1; CANTrxBuf1[4] = (unsigned char) &gi2_Speed[0]; CANTrxBuf1[5] = (unsigned char) &gi2_Speed[0]+1; CANTrxBuf1[6] = (unsigned char) &gi_Amplitude; CANTrxBuf1[7] = (unsigned char) &gi_Amplitude+1; // Speed profile and autostart initialization ucT2state=STATEAUTO; ucAutoCycle=0; } // End of function MotorControl_vInit(); void MotorStart(void) { if(gb_Once == 0) { if(gi_Speed_reference_user > 0) { gi_PI_output_Iq = gi_Iq_startup; gi_Speed_reference = gi_Speed_startup; } else { gi_PI_output_Iq = -gi_Iq_startup; gi_Speed_reference = -gi_Speed_startup; } gi2_Speed[0] = 0; gi2_Speed[1] = 0; guc_SpeedControlCounter = 0; gi_Iq_reference = 0; gi_angle = 0; gi_angle_mem = 0; gb_EnableFOC = 0; guc_StartupCounter = 0; gi_PI_output_Id = 0; gt_Id_control.yn[0] = 0; gt_Id_control.yn[1] = 0; gt_Id_control.yn[2] = 0; gt_Iq_control.yn[0] = 0; gt_Iq_control.yn[1] = 0; gt_Iq_control.yn[2] = 0; gt_Speed_control.yn[0] = 0; gt_Speed_control.yn[1] = 0; gt_Speed_control.yn[2] = 0; gi3_Flux_beta[0] = 0; gi3_Flux_beta[1] = 0; gi3_Flux_beta[2] = 0; gi3_Flux_alpha[0] = 0; gi3_Flux_alpha[1] = 0; gi3_Flux_alpha[2] = 0; gb_Once = 1; // Set flag gb_On = 1; // Status update gb_Off = 0; gb_Trap = 0; SFR_PAGE(_cc0, noSST); // switch to page 0 CCU6_TCTR4L = 0x06; // load CCU6 timer control register 4 T12 Reset // T12 Run --> MotorStart PWM SFR_PAGE(_pp2, noSST); // switch to page 2 P3_ALTSEL0 |= 0x3F; // set AltSel0 P3_ALTSEL1 &= ~0x3F; // set AltSel1 SFR_PAGE(_pp0, noSST); // switch to page 0 #if ENABLE_CTRAP == 1 SFR_PAGE(_cc2, noSST); // switch to page 2 CCU6_TRPCTRH |= 0x80; // CCU6 trap_enable control register // gb_Trap enable #endif } } // End of function MotorStart void MotorStop(void) { SFR_PAGE(_cc2, noSST); // switch to page 2 CCU6_TRPCTRH &= 0x7F; // CCU6 trap_enable control register // gb_Trap disable SFR_PAGE(_pp0, noSST); // switch to page 0 P3_DATA |= 0xBF; SFR_PAGE(_pp2, noSST); // switch to page 2 P3_ALTSEL0 &= ~0xBF; // set AltSel0 P3_ALTSEL1 &= ~0xBF; // set AltSel1 SFR_PAGE(_pp0, noSST); // switch to page 0 SFR_PAGE(_cc0, noSST); // switch to page 0 CCU6_TCTR4L = 0x05; // CCU6 timer control register 4 // T12 Reset, T12 MotorStop --> No PWM active CCU6_TCTR4H = 0x05; // CCU6 timer control register 4 // T13 Reset, T13 MotorStop --> No PWM active CCU6_CC60SRL = PWMPDL; // load CCU6 capture/compare shadow register // low for channel 0 CCU6_CC60SRH = PWMPDH; // load CCU6 capture/compare shadow register CCU6_CC61SRL = PWMPDL; // load CCU6 capture/compare shadow register // low for channel 0 CCU6_CC61SRH = PWMPDH; // load CCU6 capture/compare shadow register CCU6_CC62SRL = PWMPDL; // load CCU6 capture/compare shadow register // low for channel 0 CCU6_CC62