void Mclib_API_thread_entry(void* parameter)
{
/* Main PWM Output Enable */
TIM_CtrlPWMOutputs(TIM1,ENABLE);
// Enable the Adv Current Reading during Run state
SVPWM_3ShuntAdvCurrentReading(ENABLE);
while (1)
{
switch (State)
{
case IDLE: // Idle state
break;
case INIT:
MCL_Init();
delay_ms(15);
State = START;
break;
case START:
break;
case RUN: // motor running
if(ENC_ErrorOnFeedback() == RT_TRUE)
{
//LEDToggle(LED1);
MCL_SetFault(SPEED_FEEDBACK);
}
break;
case STOP: // motor stopped
// shutdown power
/* Main PWM Output Disable */
// TIM_CtrlPWMOutputs(TIM1, DISABLE);
F40X_TurnOfflowsides();
State = WAIT;
SVPWM_3ShuntAdvCurrentReading(DISABLE);
SVPWM_3ShuntCalcDutyCycles(Stat_Volt_alfa_beta);
delay_ms(10);
break;
case WAIT: // wait state
if(ENC_Get_Mechanical_Speed() ==0)
{
State = IDLE;
}
break;
case FAULT:
if (MCL_ClearFault() == RT_TRUE)
{
State = IDLE;
}
break;
default:
break;
}
rt_thread_delay( RT_TICK_PER_SECOND/250 );
}
}
/*******************************************************************************
* 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**************/
}
}