void InitProx(void)
{
InitAd(); // init AD converter module
InitTMR1(); // init timer 1 for ir processing
}
/******************************************************************************
* Function: main(void)
*
* Output: None
*
* Overview: Main function used to init the ADC, PWM and TIMER2 modules.
* It also inits the global variables used in the interrupts and
* PI controller.
* The main task executed here is to start and stop the motor
* as well as setting the ramp-up initial parameters to
* spin the motor
*
* Note: None
*******************************************************************************/
int main(void)
{
// Configure Oscillator to operate the device at 30Mhz
// Fosc= Fin*M/(N1*N2), Fcy=Fosc/2
// Fosc= 7.37*32/(2*2)= 58.96Mhz for 7.37 input clock
/****************** Clock definitions *********************************/
PLLFBD=30; // M=32
CLKDIVbits.PLLPOST=0; // N1=2
CLKDIVbits.PLLPRE=0; // N2=2
OSCTUN=0; // Tune FRC oscillator, if FRC is used
// Disable Watch Dog Timer
RCONbits.SWDTEN=0;
// Clock switch to incorporate PLL
__builtin_write_OSCCONH(0x01); // Initiate Clock Switch to
// FRC with PLL (NOSC=0b001)
__builtin_write_OSCCONL(0x01); // Start clock switching
while (OSCCONbits.COSC != 0b001); // Wait for Clock switch to occur
// Wait for PLL to lock
while(OSCCONbits.LOCK!=1) {};
/****************** PID init **************************************/
#ifdef CLOSELOOPMODE
ReferenceSpeed = (MIN_DUTY_CYCLE*2)/3;
// load the PID gain coeffecients into an array;
PIDGainCoefficients[0] = SpeedControl_P;
PIDGainCoefficients[1] = SpeedControl_I;
PIDGainCoefficients[2] = SpeedControl_D;
// Initialize the PIDStructure variable before calculation the K1, K2, and K3 terms
PIDStructure.abcCoefficients = abcCoefficients;
PIDStructure.controlHistory = controlHistory;
PIDCoeffCalc(PIDGainCoefficients, &PIDStructure);
// initialize control history
PIDInit(&PIDStructure);
PIDStructure.controlOutput = MIN_DUTY_CYCLE;
/****************************************************************/
#endif
/****************** I/O port Init *********************************/
/* Configuring Digital PORTS multiplexed with PWMs as outputs*/
LATBbits.LATB10 = 0; //PWM1H3
TRISBbits.TRISB10 = 0;
LATBbits.LATB11 = 0; //PWM1L3
TRISBbits.TRISB11 = 0;
LATBbits.LATB12 = 0; //PWM1H2
TRISBbits.TRISB12 = 0;
LATBbits.LATB13 = 0; //PWM1L2
TRISBbits.TRISB13 = 0;
LATBbits.LATB14 = 0; //PWM1H1
TRISBbits.TRISB14 = 0;
LATBbits.LATB15 = 0; //PWM1L1
TRISBbits.TRISB15 = 0;
/*Push Buttons ports*/
LATBbits.LATB4 = 0;
TRISBbits.TRISB4 = 1;
LATAbits.LATA8 = 0;
TRISAbits.TRISA8 = 1;
/****************** Functions init *********************************/
INTCON1bits.NSTDIS = 0; // Enabling nested interrupts
InitMCPWM(); //Configuring MC PWM module
InitADC10(); //Configuring ADC
InitTMR2(); //Configuring TIMER 3, used to measure speed
InitTMR1(); //Configuring TIMER 1, used for the commutation delay
Flags.RotorAlignment = 0; // TURN OFF RAMP UP
Flags.RunMotor = 0; // indication the run motor condition
/****************** Infinite Loop *********************************/
for(;;)
{
while (!S3); // wait for S3 button to be hit
while (S3) // wait till button is released
DelayNmSec(DEBOUNCE_DELAY);
T2CONbits.TON = 1; // Start TIMER , enabling speed measurement
PWM1CON1 = 0x0777; // enable PWM outputs
/*ROTOR ALIGNMENT SEQUENCE*/
Flags.RotorAlignment = 1; // TURN ON rotor alignment sequence
Flags.RunMotor = 1; // Indicating that motor is running
CurrentPWMDutyCycle = MIN_DUTY_CYCLE; //Init PWM values
DesiredPWMDutyCycle = MIN_DUTY_CYCLE; //Init PWM values
PWMticks = 0; //Init Rotor aligment counter
/************* Rotor alignment sequence and ramp-up sequence ************/
for(RampUpCommState=1;RampUpCommState<7;RampUpCommState++)
{
while(++PWMticks<MAX_PWM_TICKS)
P1OVDCON=PWM_STATE[RampUpCommState];
PWMticks = 0;
}
Flags.RotorAlignment = 0; // TURN OFF rotor alignment sequence
PWMticks = MAX_PWM_TICKS+1; // RAMP UP for breaking the motor IDLE state
DelayNmSec(RAM_UP_DELAY); // RAMP UP DELAY
Sub_timer=Sub_timer++;
/****************** Motor is running *********************************/
while(Flags.RunMotor) // while motor is running
{
/****************** Stop Motor *********************************/
//if (S3) // if S3 is pressed
//{
Sub_timer=0; // Musses
while ( Sub_timer=Sub_timer++<=600) // Musses
//while (S3) // wait for key release
DelayNmSec(DEBOUNCE_DELAY);
PWM1CON1 = 0x0700; // disable PWM outputs
P1OVDCON = 0x0000; // override PWM low.
Flags.RotorAlignment = 0; // turn on RAMP UP
Flags.RunMotor = 0; // reset run flag
CurrentPWMDutyCycle = 1; // Set PWM to the min value
//Initi speed measurement variables & timer
T2CONbits.TON = 0; // Stop TIMER2
TMR2 = 0; //Clear TIMER2 register
Timer2Value = 0;
Timer2Average = 0;
#ifdef CLOSELOOPMODE
//Init PI controller variables
DesiredSpeed = (int)((ReferenceSpeed*3)/2);
CurrentSpeed = 0;
// load the PID gain coeffecients into an array;
PIDGainCoefficients[0] = SpeedControl_P;
PIDGainCoefficients[1] = SpeedControl_I;
PIDGainCoefficients[2] = SpeedControl_D;
// Initialize the PIDStructure variable before calculation the K1, K2, and K3 terms
PIDStructure.abcCoefficients = abcCoefficients;
PIDStructure.controlHistory = controlHistory;
PIDCoeffCalc(PIDGainCoefficients, &PIDStructure);
// initialize control history
PIDInit(&PIDStructure);
PIDStructure.controlOutput = MIN_DUTY_CYCLE;
#endif
// }
}//end of motor running loop
}//end of infinite loop
return 0;
}//end of main function
