int test_run()
{
int LoopCtrl;
int iTripCode=0;
int iCommand;
double fReference;
// common_variable_init();
iTripCode = HardwareParameterVerification();
if( iTripCode !=0 ) return iTripCode;
iTripCode = SL_SPEED_CNTL_Parameter();
if( iTripCode != 0)
return iTripCode; // debug
IER &= ~M_INT3; // debug for PWM
InitEPwm_ACIM_Inverter(); // debug
EPwm1Regs.ETSEL.bit.INTEN = 1; // Enable INT
IER |= M_INT3; // debug for PWM
VariInit();
gRunFlag =1;
strncpy(MonitorMsg," INIT MOTOR RUN ",20);
gfRunTime = 0.0;
LoopCtrl = 1;
reference_in = code_btn_start_ref;
// gMachineState = STATE_INIT_RUN;
gMachineState = STATE_RUN;
reference_out = 0.0;
while(LoopCtrl == 1)
{
if(gPWMTripCode != 0){iTripCode = gPWMTripCode; LoopCtrl = 0;}
iTripCode = trip_check();
if(iTripCode != 0) LoopCtrl = 0;
else{
get_command(&iCommand,&fReference); // Command를 입력 받음
monitor_proc();
if( iCommand == CMD_START) reference_in = fReference;
else if( iCommand == CMD_STOP) reference_in = 0.0;
switch( gMachineState )
{
/*
case STATE_INIT_RUN:
// STOP 신호에는 즉각 반응을 해야 한다.
if( iCommand == CMD_STOP){
LoopCtrl= 0;
// INVERTER_RUN_CLEAR; // debug 브레이크 개방
}
else if( gfRunTime < 0.2 ){
Freq_ref=0.0; wr_ref=0.0; rpm_ref=0.0;
reference_out = 0.0;
}
else{
strncpy(MonitorMsg," INVERTER RUN ",20);
gMachineState = STATE_RUN;
}
break;
*/
case STATE_RUN:
if ( iCommand == CMD_NULL ) ramp_proc( reference_in, &reference_out);
else if(( iCommand == CMD_SPEED_UP ) && (reference_in < 1.0 )) reference_in += 0.01;
else if(( iCommand == CMD_SPEED_DOWN ) && ( reference_in > 0.01 )) reference_in -= 0.01;
else if( iCommand == CMD_STOP ) {
//"01234567890123456789"
strncpy(MonitorMsg," INV GO STOP ",20);
reference_in = 0.0; gMachineState = STATE_GO_STOP;
}
else if( iCommand == CMD_START ) ramp_proc( reference_in, &reference_out);
else{
reference_in = 0.0; gMachineState = STATE_GO_STOP;
}
break;
case STATE_GO_STOP:
//---- 재 시동
if( iCommand == CMD_START ) {
//"01234567890123456789"
strncpy(MonitorMsg," INVERTER RUN ",20);
gMachineState = STATE_RUN;
reference_in = fReference;
}
else if( fabs( reference_out ) < 0.01 ){
strncpy(MonitorMsg," INVERTER READY ",20);
gMachineState = STATE_READY;
LoopCtrl =0;
}
else{
reference_in = 0.0;
ramp_proc(reference_in, &reference_out);
}
break;
}
}
}
return iTripCode;
}
int test_run()
{
int LoopCtrl;
int iTripCode=0;
int iCommand;
double fReference;
VariableInitialization();
iTripCode = HardwareParameterVerification();
if( iTripCode !=0 ) return iTripCode;
iTripCode = SL_SPEED_CNTL_Parameter();
if( iTripCode != 0)
return iTripCode; // debug
IER &= ~M_INT3; // debug for PWM
InitEPwm_ACIM_Inverter(); // debug
EPwm1Regs.ETSEL.bit.INTEN = 1; // Enable INT
IER |= M_INT3; // debug for PWM
gRunFlag =1;
strncpy(MonitorMsg," INIT MOTOR RUN ",20);
gfRunTime = 0.0;
LoopCtrl = 1;
reference_in = btn_start_ref;
gMachineState = STATE_RUN;
while(LoopCtrl == 1)
{
if(gPWMTripCode != 0){
iTripCode = gPWMTripCode;
LoopCtrl = 0;
break;
}
get_command(&iCommand,&fReference); // Command를 입력 받음
monitor_proc();
if( iCommand == CMD_START) reference_in = fReference;
else if( iCommand == CMD_STOP) reference_in = 0.0;
switch( gMachineState )
{
case STATE_RUN:
if ( iCommand == CMD_NULL ) ramp_proc( reference_in, &reference_out);
else if(( iCommand == CMD_SPEED_UP ) && (reference_in < 1.0 )) reference_in += 0.01;
else if(( iCommand == CMD_SPEED_DOWN ) && ( reference_in > 0.01 )) reference_in -= 0.01;
else if( iCommand == CMD_STOP ) {
//"01234567890123456789"
strncpy(MonitorMsg," INV GO STOP ",20);
reference_in = 0.0; gMachineState = STATE_GO_STOP;
}
else if( iCommand == CMD_START ) ramp_proc( reference_in, &reference_out);
else{
reference_in = 0.0; gMachineState = STATE_GO_STOP;
}
break;
case STATE_GO_STOP:
//---- 재 시동
if( iCommand == CMD_START ) {
//"01234567890123456789"
strncpy(MonitorMsg," INVERTER RUN ",20);
gMachineState = STATE_RUN;
reference_in = fReference;
}
else if( fabs( reference_out ) < 0.01 ){
strncpy(MonitorMsg," INVERTER READY ",20);
gMachineState = STATE_READY;
LoopCtrl =0;
}
else{
reference_in = 0.0;
ramp_proc(reference_in, &reference_out);
}
break;
}
}
return iTripCode;
}
