/*! \brief Controls the PWM duty cycle based on speed set-point and current consumption.
*
* This function controls the PWM duty cycle by calling a speed controller and a
* current controller. The speed controller signal is directly applied to the duty
* cycle. The current controller signal is used to limit the maximum duty cycle.
*/
static void PWMControl(void)
{
signed int speedCompensation;
static unsigned char currentCompensation = 0;
static signed int duty = STARTUP_PWM_COMPARE_VALUE;
// Run speed control only if a new speed measurement is available.
if (speedUpdated)
{
speedCompensation = SpeedControl();
speedUpdated = FALSE;
duty += speedCompensation;
}
// Run current control only if a new current measurement is available.
if (currentUpdated)
{
currentCompensation = CurrentControl();
currentUpdated = FALSE;
}
// Keep duty cycle within limits.
if (duty < MIN_PWM_COMPARE_VALUE)
{
duty = MIN_PWM_COMPARE_VALUE;
}
if (duty > (MAX_PWM_COMPARE_VALUE - currentCompensation))
{
duty = MAX_PWM_COMPARE_VALUE - currentCompensation;
}
SET_PWM_COMPARE_VALUE((unsigned char)duty);
}
void interrupt VectorNumber_Vpit0 pit0(void) //1ms中断
{
g_n1MsEventCount++;
g_nSpeedControlPeriod++;
g_nDirectionControlPeriod++;
SpeedControlOutput();
MotorOutput();
DirectionControlOutput();
if(g_n1MsEventCount >= 5)
{
g_n1MsEventCount = 0;
SpeedCalculate();
}
else if(g_n1MsEventCount == 1)
{
GetAngle(AngleResult);
}
else if(g_n1MsEventCount == 2)
{
AngleControl();
}
else if(g_n1MsEventCount == 3)
{
g_nSpeedControlCount++;
if(g_nSpeedControlCount >= 20)
{
SpeedControl();
g_nSpeedControlCount = 0;
g_nSpeedControlPeriod = 0;
}
}
else if(g_n1MsEventCount == 4)
{
g_nDirectionControlCount++;
if(g_nDirectionControlCount >= 2)
{
DirectionControl();
g_nDirectionControlCount = 0;
g_nDirectionControlPeriod = 0;
}
}
PITTF_PTF0 = 1;
}
void PIT_Signal(void)
{
DisableInterrupts;
//--------------------------------------------------------------------------
g_nSpeedControlPeriod++;
SpeedControlOutput();
g_nDirectionControlPeriod ++;
DirectionControlOutput();
//---------------------------------------------------------------------------
g_nCarCount++;//中断服务片选
switch(g_nCarCount)
{
//---------------------------计数：0
case 1:
{
asm("nop");
}; break;
//---------------------------计数：1 AD采集 第1个1ms
case 2:
{
asm("nop");
AngleCalculate();
g_nDirectionGyro = (int16)LPLD_ADC_Get(ADC0, AD11); //方向陀螺仪采集
}; break;
//----------------------------计数：2 直立控制 电机PWM输出 第2个1ms
case 3:
{
asm("nop");
AngleControl();
MotorOutput();
}; break;
//----------------------------计数：3 车模速度控制 第3个1ms
case 4:
{
asm("nop");
g_nSpeedControlCount++;
if(g_nSpeedControlCount>=20) //控制是否进入速度更新环节
{
SpeedControl();
g_nSpeedControlCount = 0;
g_nSpeedControlPeriod = 0;
}
};break;
//----------------------------计数：4 车模方向控制 第4个1ms
case 5:
{
asm("nop");
g_nCarCount=0;
g_nDirectionControlCount ++;
DirectionVoltageSigma(); //电感采集、滤波
if( g_nDirectionControlCount >= 2)//控制是否进入方向更新环节
{
DirectionControl();
g_nDirectionControlCount = 0;
g_nDirectionControlPeriod = 0;
}
};break;
}
EnableInterrupts;
}
