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/******************** (C) COPYRIGHT 2008 STMicroelectronics ********************
* File Name : main.c
* Author : IMS Systems Lab
* Date First Issued : 21/11/07
* Description : Main program body.
********************************************************************************
********************************************************************************
* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* THIS SOURCE CODE IS PROTECTED BY A LICENSE.
* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE LOCATED
* IN THE ROOT DIRECTORY OF THIS FIRMWARE PACKAGE.
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#define root
#include <Ram.h>
#include "STM103REG.h"
#include "stm32f10x_lib.h"
#include "stm32f10x_MClib.h"
#include "MC_Globals.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
void NVIC_Configuration(void);
void GPIO_Configuration(void);
void RCC_Configuration(void);
unsigned char Res_f=0; //上電防止出現(xiàn)過流
/*******************************************************************************
* Function Name : main
* Description : Main program.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
int main(void)
{ // s16 te;
#ifdef DEBUG
debug();
#endif
RCC_Configuration();
GPIO_Configuration();
#ifdef THREE_SHUNT //三個(gè)電阻電流取樣
SVPWM_3ShuntInit(); //設(shè)置電流取樣，PWM周期
#elif defined ICS_SENSORS
SVPWM_IcsInit();
#elif defined SINGLE_SHUNT
SVPWM_1ShuntInit();
#endif
#ifdef ENCODER
#ifdef OBSERVER_GAIN_TUNING
STO_StateObserverInterface_Init();
STO_Init();
#endif
#elif defined HALL_SENSORS
#ifdef OBSERVER_GAIN_TUNING
STO_StateObserverInterface_Init();
STO_Init();
#endif
#elif defined NO_SPEED_SENSORS
STO_StateObserverInterface_Init();
STO_Init();
#ifdef VIEW_ENCODER_FEEDBACK
ENC_Init();
#elif defined VIEW_HALL_FEEDBACK
HALL_HallTimerInit();
#endif
#endif
#ifdef DAC_FUNCTIONALITY
MCDAC_Init();
#endif
TB_Init();//定時(shí)器初始化
PID_Init(&PID_Torque_InitStructure, &PID_Flux_InitStructure, &PID_Speed_InitStructure);//初始化PID值
GPIO_SetBits(GPIOB,GPIO_Pin_12);
#ifdef BRAKE_RESISTOR
MCL_Brake_Init();
#endif
KEYS_Init();
/* TIM1 Counter Clock stopped when the core is halted */
//DBGMCU_Config(DBGMCU_TIM1_STOP, ENABLE);
// Init Bus voltage and Temperature average
MCL_Init_Arrays();
// STM3210C_LCD_Init();
//LCD_Clear(White);
//LCD_SetTextColor(Blue);
// LCD_SetBackColor(White);
//Display_Welcome_Message();
NVIC_Configuration();
LcdReset();
Res_f=1; //上電完成
fgDispMode=1;
//wGlobal_Flags |= SPEED_CONTROL;
while(1)
{
// Display_LCD();
// MCL_ChkPowerStage();
//User interface management
KeyProc();
Timeproc();
switch (State)
{
case IDLE: // Idle state
break;
case INIT:
MCL_Init();
TB_Set_StartUp_Timeout(3000);//延時(shí)1.5S嗎
State = START;
break;
case START:
//passage to state RUN is performed by startup functions;
break;
case RUN: // motor running
#ifdef ENCODER
if(ENC_ErrorOnFeedback() == TRUE)
{
MCL_SetFault(SPEED_FEEDBACK);
}
#elif defined HALL_SENSORS
if(HALL_IsTimedOut())
{
MCL_SetFault(SPEED_FEEDBACK);
}
// te= HALL_GetSpeed();/te/
if ( HALL_GetSpeed()== HALL_MAX_SPEED)
{
MCL_SetFault(SPEED_FEEDBACK);
}
#elif defined NO_SPEED_SENSORS
#endif
break;
case STOP: // motor stopped
// shutdown power
/* Main PWM Output Disable */
TIM_CtrlPWMOutputs(TIM1, DISABLE);
State = WAIT;
#ifdef THREE_SHUNT
SVPWM_3ShuntAdvCurrentReading(DISABLE);
#endif
#ifdef SINGLE_SHUNT
SVPWM_1ShuntAdvCurrentReading(DISABLE);
#endif
Stat_Volt_alfa_beta.qV_Component1 = Stat_Volt_alfa_beta.qV_Component2 = 0;
#ifdef ICS_SENSORS
SVPWM_IcsCalcDutyCycles(Stat_Volt_alfa_beta);
#elif defined THREE_SHUNT
SVPWM_3ShuntCalcDutyCycles(Stat_Volt_alfa_beta);
#endif
TB_Set_Delay_500us(2000); // 1 sec delay
break;
case WAIT: // wait state
if (TB_Delay_IsElapsed() == TRUE)
{
#ifdef ENCODER
if(ENC_Get_Mechanical_Speed() ==0)
{
State = IDLE;
}
#elif defined HALL_SENSORS
if (HALL_IsTimedOut())
{
State=IDLE;
}
#elif defined NO_SPEED_SENSORS
STO_InitSpeedBuffer();
State=IDLE;
#endif
}
break;
case FAULT:
if (MCL_ClearFault() == TRUE)
{
if(wGlobal_Flags & SPEED_CONTROL == SPEED_CONTROL)
{
bMenu_index = CONTROL_MODE_MENU_1;
}
else
{
bMenu_index = CONTROL_MODE_MENU_6;
}
#if defined NO_SPEED_SENSORS
STO_InitSpeedBuffer();
#endif
State = IDLE;
wGlobal_Flags |= FIRST_START;
}
break;
default:
break;
}
}
}
/*******************************************************************************
* Function Name : GPIO_Configuration
* Description : Configures the TIM1 Pins.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void GPIO_Configuration(void)
{
// GPIO_InitTypeDef GPIO_InitStructure;
//RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOF, ENABLE);
//GPIO_DeInit(GPIOF);
//GPIO_StructInit(&GPIO_InitStructure);
/* Configure PF.06, PF.07, PF.08 and PF.09 as Output push-pull for debugging
purposes */
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO |RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOC|RCC_APB2Periph_GPIOD|
RCC_APB2Periph_ADC1|RCC_APB2Periph_USART1,ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_USART1, ENABLE);
/*-----------------GPIOA--------------------*/
//DI點(diǎn)
//GPIO_InitStructure.GPIO_Pin = PAI_KSET;
//GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
//GPIO_Init(GPIOA, &GPIO_InitStructure);
//DO 點(diǎn)
GPIO_InitStructure.GPIO_Pin = PAO_LCDDB0|PAO_LCDEN|PAO_LCDRS;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/*-----------------GPIOB--------------------*/
//DI點(diǎn)
GPIO_InitStructure.GPIO_Pin = PBI_KDOWN|PBI_KDOWN|PBI_KRIGHT|PBI_KUP|PBI_URTRX;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOB, &GPIO_InitStructure);
//DO 點(diǎn)
GPIO_InitStructure.GPIO_Pin = PBO_LCDCS1|PBO_LCDCS2|PBO_LCDDB5|PBO_LCDDB6|PBO_LCDDB7|PBO_MBREAK|PBO_M_EN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = PBI_URTRX;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = PBO_URTTX;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/*-----------------GPIOC--------------------*/
//DI點(diǎn)
GPIO_InitStructure.GPIO_Pin = PCI_DEFAULT|PCI_HELLA|PCI_HELLB|PCI_HELLC|PCI_KLEFT|PCI_KSET;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = PCO_IIC_CLK|PCO_IIC_DATA|PCO_LCDDB1|PCO_LCDDB2|PCO_LCDDB3|PCO_LED1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/*-----------------GPIOD--------------------*/
GPIO_InitStructure.GPIO_Pin = PDO_LCDDB4;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);
}
/*******************************************************************************
* Function Name : RCC_Configuration
* Description : Configures the different system clocks.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void RCC_Configuration(void)
{
ErrorStatus HSEStartUpStatus;
/* RCC system reset(for debug purpose) */
RCC_DeInit();
/* Enable HSE */
RCC_HSEConfig(RCC_HSE_ON);
/* Wait till HSE is ready */
HSEStartUpStatus = RCC_WaitForHSEStartUp();
if(HSEStartUpStatus == SUCCESS)
{
/* HCLK = SYSCLK */
RCC_HCLKConfig(RCC_SYSCLK_Div1);
/* PCLK2 = HCLK */
RCC_PCLK2Config(RCC_HCLK_Div1);
/* PCLK1 = HCLK/2 */
RCC_PCLK1Config(RCC_HCLK_Div2);
/* Flash 2 wait state */
FLASH_SetLatency(FLASH_Latency_2);
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
/* PLLCLK = 8MHz * 9 = 72 MHz */
RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);
/* Enable PLL */
RCC_PLLCmd(ENABLE);
/* Wait till PLL is ready */
while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
{
}
/* Select PLL as system clock source */
RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
/* Wait till PLL is used as system clock source */
while(RCC_GetSYSCLKSource() != 0x08)
{
}
}
}
/*******************************************************************************
* Function Name : NVIC_Configuration
* Description : Configures the Vector Table base address.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void NVIC_Configuration(void)
{
#ifdef VECT_TAB_RAM
/* Set the Vector Table base location at 0x20000000 */
NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);
#else /* VECT_TAB_FLASH */
/* Set the Vector Table base location at 0x08000000 */
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
#endif
}
#ifdef DEBUG
/*******************************************************************************
* Function Name : assert_failed
* Description : Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* Input : - file: pointer to the source file name
* - line: assert_param error line source number
* Output : None
* Return : None
*******************************************************************************/
void assert_failed(u8* file, u32 line)
{
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* Infinite loop */
while (1)
{
//printf("Wrong parameters value: file %s on line %d\r\n", file, line);
}
}
#endif
/******************* (C) COPYRIGHT 2008 STMicroelectronics *****END OF FILE****/

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