DCMOTORCTR.rar_pid dc avr_无刷电机 速度_电机控制_直流电机保护_速度PID

/**************************************************************************** * file name: mc_drv.c * *****************************************************************************/ #include "config.h" #include "mc_drv.h" #include "mc_lib.h" #include "mc_control.h" #include "serial.h" #include "adc_drv.h" #include "dac_drv.h" #include "amplifier_drv.h" #include "pll_drv.h" #include "comparator_drv.h" #include "stdio.h" U8 count = 1; // variable "count" is use for calculate the "average" speed on 'n' samples U16 average = 0; U8 ovf_timer = 0; // variable "ovf_timer" is use to simulate a 16 bits timer with 8 bits timer Bool g_mc_read_enable = FALSE; // the speed can be read Bool g_tic = FALSE; //!< Use for control the sampling period value Bool current_EOC = FALSE; //End Of Concersion Flag S32 Num_turn = 0; //Used to count the number of motor revolutions S32 Num_turn2 = 0; U8 hall_state = 0; char State = CONV_INIT; // State of the ADC scheduler char ADC_State = FREE; // ADC State : running = BUSY not running = FREE /******************************************************************************************************************************/ /******************************************************************************************************************************/ /* Hardware Initialization */ /******************************************************************************************************************************/ /******************************************************************************************************************************/ /** * @brief init HW * @pre set all functions mc_init_port(), mc_init_pwm()... * @post initialization of hardware */ void mc_init_HW(void) { mc_init_port(); mc_init_IT(); // Be careful : initialize DAC and Over_Current before PWM. init_dac(); mc_set_Over_Current(100); // 5 => 1A ; 8 => 40A mc_init_pwm(); mc_config_time_estimation_speed(); mc_config_sampling_period(); init_comparator0(); init_comparator1(); init_comparator2(); } /** * @brief init SW * @pre none * @post initialization of software */ void mc_init_SW(void) { Enable_interrupt(); } /** * @brief Initialization of IO PORTS for AT90PWM3 * @pre none * @post initialization of I/O Ports */ void mc_init_port(void) { // Output Pin configuration // PD0 => H_A PB7 => L_A // PC0 => H_B PB6 => L_B // PB0 => H_C PB1 => L_C //Do not modify PSCOUT Configuration // PORT B : DDRB = (1<<DDB7)|(1<<DDB6)|(1<<DDB1)|(1<<DDB0); // PORT C : DDRC = (1<<DDC0); // PORT D : DDRD = (1<<DDD0); // DDnx = 0:Input 1:Output (n = B,C,D,E ; x = 0,1,2,3,4,5,6,7) // PB3 => EXT1 PB4 => EXT2 // PC1 => EXT3 PC2 => EXT4 // PB5 => EXT5/POT PE1 => EXT6 // PD3 => EXT7/MOSI/LIN_TxD/TxD PD4 => EXT8/MISO/LIN_RxD/RxD // PE0 => EXT9/NRES PD2 => EXT10/MISO // Modify DDnx according to your hardware implementation // PORT B : DDRB |= (0<<DDB5)|(1<<DDB4)|(0<<DDB3); // PORT C : DDRC |= (0<<DDC2)|(0<<DDC1); // PORT D : DDRD |= (0<<DDD4)|(0<<DDD3)|(0<<DDD2); // Becareful if using the UART interface or JTAGE ICE mkII. // PORT E : DDRE |= (1<<DDE2)|(0<<DDE1)|(0<<DDE0); // Becareful PE0 is you by JTAGE ICE mkII. // Warning Output Low for MOSFET Drivers PORTB &= ~(1<<PORTB7 | 1<<PORTB6 | 1<<PORTB1 | 1<<PORTB0); PORTC &= ~(1<<PORTC0); PORTD &= ~(1<<PORTD0); // pull up activation PORTC |= (1<<PORTC1); PORTD |= (1<<PORTD1); // Disable Digital Input for amplifier1 // Digitals Inputs for comparators are not disable. DIDR0 = (0<<ADC6D)|(0<<ADC3D)|(0<<ADC2D); DIDR1 = (0<<ACMP0D)|(0<<ACMP1D)|(1<<AMP1PD)|(1<<AMP1ND); } /** * @brief Initialization of PWM generators (PSC) for AT90PWM3 * @pre none * @post initialization of PSC */ void mc_init_pwm() { Start_pll_32_mega(); Wait_pll_ready(); // In Center Aligned Mode : // => PSCx_Init(Period_Half, Dutyx0_Half, Synchro, Dutyx1_Half) PSC0_Init(255,0,1,0); PSC1_Init(255,0,1,0); PSC2_Init(255,0,1,0); } /** * @brief Initialization of AT90PWM3 External Interrupts * @pre none * @post External Interrupts (INT0, INT1, INT2, INT3) initialized */ void mc_init_IT(void) { EICRA =(0<<ISC21)|(1<<ISC20)|(0<<ISC11)|(1<<ISC10)|(0<<ISC01)|(1<<ISC00); EIFR = (1<<INTF2)|(1<<INTF1)|(1<<INTF0); // clear possible IT due to config EIMSK=(1<<INT2)|(1<<INT1)|(1<<INT0); } // PSC initialization depend on the PSC mode // 0- One ramp Mode // 1- Two ramp Mode // 2- Four ramp Mode // 3- Center Aligned Mode /** * @brief Initialization of PWM generator PSC0 */ void PSC0_Init ( unsigned int OCRnRB, unsigned int OCRnSB, unsigned int OCRnRA, unsigned int OCRnSA) { OCR0SAH = HIGH(OCRnSA); OCR0SAL = LOW(OCRnSA); OCR0RAH = HIGH(OCRnRA); OCR0RAL = LOW(OCRnRA); OCR0SBH = HIGH(OCRnSB); OCR0SBL = LOW(OCRnSB); OCR0RBH = HIGH(OCRnRB); OCR0RBL = LOW(OCRnRB); PCNF0 = RAMP_MODE_NUMBER | (1<<PCLKSEL0) | OUTPUT_ACTIVE_HIGH ; PFRC0A = (1<<PELEV0A)|(1<<PFLTE0A)|(0<<PRFM0A3)|(1<<PRFM0A2)|(1<<PRFM0A1)|(1<<PRFM0A0); PFRC0B = 0; PSOC0 = (1<<PSYNC00); //Send signal on match with OCRnSA (during counting up of PSC) PCTL0 = (0<<PAOC0A)|(1<<PARUN0)|PRESC_NODIV; /* AUTORUN !! */ } /** * @brief Initialization of PWM generator PSC1 */ void PSC1_Init ( unsigned int OCRnRB, unsigned int OCRnSB, unsigned int OCRnRA, unsigned int OCRnSA) { OCR1SAH = HIGH(OCRnSA); OCR1SAL = LOW(OCRnSA); OCR1RAH = HIGH(OCRnRA); OCR1RAL = LOW(OCRnRA); OCR1SBH = HIGH(OCRnSB); OCR1SBL = LOW(OCRnSB); OCR1RBH = HIGH(OCRnRB); OCR1RBL = LOW(OCRnRB); PCNF1 = RAMP_MODE_NUMBER | (1<<PCLKSEL1) | OUTPUT_ACTIVE_HIGH ; PFRC1A = 0; PFRC1B = 0; PCTL1 = (0<<PAOC1A)|(1<<PARUN1)|PRESC_NODIV; /* AUTORUN !! */ } /** * @brief Initialization of PWM generator PSC2 */ void PSC2_Init ( unsigned int OCRnRB, unsigned int OCRnSB, unsigned int OCRnRA, unsigned int OCRnSA) { OCR2SAH = HIGH(OCRnSA); OCR2SAL = LOW(OCRnSA); OCR2RAH = HIGH(OCRnRA); OCR2RAL = LOW(OCRnRA); OCR2SBH = HIGH(OCRnSB); OCR2SBL = LOW(OCRnSB); OCR2RBH = HIGH(OCRnRB); OCR2RBL = LOW(OCRnRB); PCNF2 = RAMP_MODE_NUMBER | (1<<PCLKSEL2) | OUTPUT_ACTIVE_HIGH ; PFRC2A = 0; PFRC2B = 0; PCTL2 = (0<<PAOC2A)|(1<<PRUN2)|PRESC_NODIV; /* RUN !! */ } /******************************************************************************************************************************/ /******************************************************************************************************************************/ /* All functions for motor's phases commutation */ /******************************************************************************************************************************/ /******************************************************************************************************************************/ /** * @brief Get the value of hall sensors (1 to 6) * @param return an unsigned char * value of hall sensor * @pre configuration of port PB and PD * @post new value of position */ U8 mc_get_hall(void) { return HALL_SENSOR_VALUE(); } /** * @brief External interruption * Sensor (A) mode toggle * @pre configuration of external interruption (initialization) * @post New value in Hall variable */ #pragma vector = HALL_A() __interrupt void mc_hall_a(void) { mc_switch_commutation(HALL_SENSOR_VALUE()); //estimatio