void Mclib_API_init(void)
{
ENC_Init();
SVPWM_3ShuntInit();
TB_Init();
//#ifdef BRAKE_RESISTOR
// MCL_Brake_Init();
//#endif
/* TIM1 Counter Clock stopped when the core is halted */
DBGMCU_Config(DBGMCU_TIM1_STOP, ENABLE);
// Init Bus voltage and Temperature average
MCL_Init_Arrays();
Res_f=1;
}
// Main
void main (void)
{
// Init the system clock
SystemInitClock();
// Enable the peripherals
SystemEnablePeripheral(PERIPHERAL_AFIO);
SystemEnablePeripheral(PERIPHERAL_IOPA);
SystemEnablePeripheral(PERIPHERAL_IOPB);
SystemEnablePeripheral(PERIPHERAL_IOPC);
SystemEnablePeripheral(PERIPHERAL_IOPD);
SystemEnablePeripheral(PERIPHERAL_IOPE);
SystemEnablePeripheral(PERIPHERAL_DMA1);
// Init the FLASH chip and SPI module
// Init the ENC chip and SPI module
FLASH_Init();
SPI1_Init();
SPI2_Init();
ENC_Init();
// Init kernel
KERNEL_Init();
// Create tasks
KERNEL_AddTask(&TaskDescriptor_TaskENC);
// Start kernel (this function never returns)
KERNEL_Start();
}
void setup()
{
// Serial.begin(9600);
// init
resetData();
// dec_init();
// pixel_segment = 0;
// pixel_count = 0;
// pixel_start = 0;
// for (uint8_t i = 0; i < DEC_MAX_NUMBER_OF_PIXELS_PER_LIGHT_STRIP; ++i)
// {
// red_buffer[i] = (uint8_t)0;
// green_buffer[i] = (uint8_t)0;
// blue_buffer[i] = (uint8_t)0;
// }
CPU_PRESCALE(0); /* Run at 16 MHz */
DDRD = _BV(DDD6); /* Teensy onboard Led Enable */
/* ADC */
DDRF = ~_BV(DDF0); /* F0 as Input */
//PORTF = _BV(PORTF0);
/* Enable Pullup */
DIDR0 = _BV(ADC0D); /* Disable Digital Pin */
// initialize the digital pin as an output to blink the LED.
// pinMode(led_pin, OUTPUT);
dbg_init
; /* If Debug State On, Init USB */
SPI_Init(SPI_DP2, SPI_PRESC_1); /* AVR SPI Init */
do
{
ENC_Init(MACAddr); /* ENC28J60 Init */
_delay_ms(500);
aux_init = ENC_RevID;
} while (!aux_init);
ENC_LEDInit; /* ENC Leds Init */
is_setup = 0;
}
/*******************************************************************************
* Function Name : main
* Description : Main program.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
int main(void)
{
SystemInit();
/*速度反馈初始化*/
ENC_Init( );
/*电流反馈初始化*/
SVPWM_3ShuntInit();
/*时基初始化，并启动TIM6计算速度，初始化PID*/
TB_Init( );
Tim6_Init( );
PID_Init(&PID_Torque_InitStructure, &PID_Flux_InitStructure, &PID_Speed_InitStructure);
/*温度，电压数组初始化*/
MCL_Init_Arrays();
/*交互界面初始化*/
KEYS_Init( );
LCD_Display_init();
/*-------------------*/
Res_f=1; //上电完成
//串口示波器初始化
usart_init(115200);
while(1)
{
/*UI显示，以及电源报警，用户管理*/
Display_LCD( );
MCL_ChkPowerStage( );
KEYS_process( );
/*状态机开启运行*/
switch (State)
{
case IDLE: //通过sel按键进入INIT ，在WAIT和FAULT中进入IDEL
break;
case INIT:
MCL_Init( );//初始化电机控制层
TB_Set_StartUp_Timeout(3000);
State = START;
break;
case START:
//passage to state RUN is performed by startup functions;
break;
case RUN: //电机运行过程中，检测速度反馈是否存在问题
if(ENC_ErrorOnFeedback() == TRUE)
{
MCL_SetFault(SPEED_FEEDBACK);
}
break;
case STOP: //关闭TIM1的输出，状态转为等待，停止电流检测，设置Valpha和Vbeta为0，计算三相占空比
TIM_CtrlPWMOutputs(TIM1, DISABLE);
State = WAIT;
SVPWM_3ShuntAdvCurrentReading(DISABLE);
Stat_Volt_alfa_beta.qV_Component1 = Stat_Volt_alfa_beta.qV_Component2 = 0;
SVPWM_3ShuntCalcDutyCycles(Stat_Volt_alfa_beta);
TB_Set_Delay_500us(2000); // 1 sec delay
break;
case WAIT: // 等待速度为零时，将状态转为IDEL
if (TB_Delay_IsElapsed( ) == TRUE)
{
if(ENC_Get_Mechanical_Speed( ) ==0)
{
State = IDLE;
}
}
break;
case FAULT: //状态变为IDEL，全局变量设为第一次启动
if (MCL_ClearFault( ) == TRUE)
{
if(wGlobal_Flags & SPEED_CONTROL == SPEED_CONTROL)
{
//速度控制模式
bMenu_index = CONTROL_MODE_MENU_1;
}
else
{
//力矩控制模式
bMenu_index = CONTROL_MODE_MENU_6;
}
State = IDLE;
wGlobal_Flags |= FIRST_START;
Hall_Start_flag=0;
}
break;
default:
break;
}
usart_watcher(Speed_Iq_Id_watch);
/********End of Usart_watch**************/
}
}
int main(void)
{
utDisInt;
utInitInt();
utInitSys();
utEnInt;
/* Can bus init */
can_Init();
/* iobus init */
iobus_init();
/* 步进电机初始化 */
#if defined(motor_device)
/* L6470端口及SPI初始化 */
dSPIN_Peripherals_Init();
/* L6470复位 */
dSPIN_Reset_And_Standby(dSPIN_Device_All);
/* L6470中断初始化 */
dSPIN_Interrupt_Channel_Config();
/* 电机参数初始化 */
motor_init_set();
ENC_Init();
#endif
utPrt("********************************\r\n");
utPrt("CPU: STM32F103RCT6 at 72 MHz \r\n");
utPrt("Board: TMCS Board (Version2) \r\n");
utPrt("Editor: Tsui \r\n");
utPrt("Compant: TMCS \r\n");
utPrt("Shell: Shell Version1 \r\n");
utPrt("Compile Date: %s \r\n",__DATE__);
utPrt("Compile TIME: %s \r\n",__TIME__);
utPrt("********************************\r\n");
/* set can baud rate at 250Kbit */
can_set_baudrate(can_parameter._t_bit_rate);
#if 0
g_tCanTxMsg.DLC = 3;
g_tCanTxMsg.Data[0] = 0x11;
g_tCanTxMsg.Data[1] = 0x22;
g_tCanTxMsg.Data[2] = 0x33;
SendCanMsg(&g_tCanTxMsg);
#endif
DetectCal();
iobus_reload();
utDelay1s(1);
ENC_Clean();
/* Start os */
utPrt("Start utOs......\n");
utStartOS();
}
