/**
* @brief Main function
* @return None
*/
int main(void) {
COMM_Init(COMM_BAUD_RATE); // initialize communication with PC
println("***********************************************");
println("Starting program"); // Print a string to terminal
TIMER_Init(SYSTICK_FREQ); // Initialize timer
// Add a soft timer with callback running every 1000ms
int8_t timerID = TIMER_AddSoftTimer(1000, softTimerCallback);
TIMER_StartSoftTimer(timerID); // start the timer
LED_Init(LED0); // Add an LED
LED_Init(LED1); // Add an LED
LED_Init(LED2); // Add an LED
LED_Init(LED3); // Add an LED
LED_Init(LED5); // Add nonexising LED for test
LED_ChangeState(LED5, LED_ON);
KEYS_Init(); // Initialize matrix keyboard
uint8_t buf[255]; // buffer for receiving commands from PC
uint8_t len; // length of command
// test another way of measuring time delays
uint32_t softTimer = TIMER_GetTime(); // get start time for delay
SD_Init();
// FAT_Init(SD_Init, SD_ReadSectors, SD_WriteSectors);
// Initialize USB device stack
USBD_Init(&USB_OTG_dev,
USB_OTG_FS_CORE_ID,
&USR_desc,
&USBD_MSC_cb,
&USR_cb);
while (1) {
// test delay method
if (TIMER_DelayTimer(1000, softTimer)) {
LED_Toggle(LED3);
softTimer = TIMER_GetTime(); // get start time for delay
}
// check for new frames from PC
if (!COMM_GetFrame(buf, &len)) {
println("Got frame of length %d: %s", (int)len, (char*)buf);
// control LED0 from terminal
if (!strcmp((char*)buf, ":LED0 ON")) {
LED_ChangeState(LED0, LED_ON);
}
if (!strcmp((char*)buf, ":LED0 OFF")) {
LED_ChangeState(LED0, LED_OFF);
}
}
TIMER_SoftTimersUpdate(); // run timers
key = KEYS_Update(); // run keyboard
}
}
/*******************************************************************************
* 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**************/
}
}
