void PowerON_Reset_PC(void)
{
#ifdef __RXV2
set_extb(__sectop("EXCEPTVECT"));
#endif
set_intb(__sectop("C$VECT"));
#ifdef __ROZ /* Initialize FPSW */
#define _ROUND 0x00000001 /* Let FPSW RMbits=01 (round to zero) */
#else
#define _ROUND 0x00000000 /* Let FPSW RMbits=00 (round to nearest) */
#endif
#ifdef __DOFF
#define _DENOM 0x00000100 /* Let FPSW DNbit=1 (denormal as zero) */
#else
#define _DENOM 0x00000000 /* Let FPSW DNbit=0 (denormal as is) */
#endif
set_fpsw(FPSW_init | _ROUND | _DENOM);
_INITSCT(); /* Initialize Sections */
HardwareSetup(); /* Use Hardware Setup */
nop();
set_psw(PSW_init); /* Set Ubit & Ibit for PSW */
main();
brk();
}
void PowerON_Reset_PC(void)
{
set_intb((void*)__sectop("C$VECT"));
// set_fpsw(FPSW_init);
_INITSCT();
// _INIT_IOLIB(); // Remove the comment when you use SIM I/O
// errno=0; // Remove the comment when you use errno
// srand((_UINT)1); // Remove the comment when you use rand()
// _s1ptr=NULL; // Remove the comment when you use strtok()
// HardwareSetup(); // Use Hardware Setup
nop();
// _CALL_INIT(); // Remove the comment when you use global class object
set_psw(PSW_init); // Set Ubit & Ibit for PSW
// Change_PSW_PM_to_UserMode(); // DO NOT CHANGE TO USER MODE IF USING FREERTOS!
( void ) Change_PSW_PM_to_UserMode; // Just to avoid compiler warnings.
main();
// _CLOSEALL(); // Use SIM I/O
// _CALL_END(); // Remove the comment when you use global class object
brk();
}
/******************************************************************************
* Outline : PowerON_Reset_PC
* Description : This program is the MCU's entry point from a power-on reset.
* The function configures the MCU stack, then calls the
* HardwareSetup function and main function sequentially.
* Argument : none
* Return value : none
******************************************************************************/
void PowerON_Reset_PC(void)
{
/* Initialise the MCU processor word */
#if __RENESAS_VERSION__ >= 0x01010000
set_intb((void *)__sectop("C$VECT"));
#else
set_intb((unsigned long)__sectop("C$VECT"));
#endif
set_fpsw(FPSW_init);
/* Initialise the MCU stack area */
_INITSCT();
/* Configure the MCU and YRDK hardware */
HardwareSetup();
/* Change the MCU's usermode from supervisor to user */
nop();
set_psw(PSW_init);
Change_PSW_PM_to_UserMode();
/* Call the main program function */
main();
/* Invoke a break interrupt */
brk();
}
void PowerON_Reset(void)
{
set_intb(__sectop("C$VECT"));
_INITSCT(); /* Initialize Sections */
HardwareSetup(); /* Use Hardware Setup */
nop();
set_psw(PSW_init); /* Set Ubit & Ibit for PSW */
main();
brk();
}
void PowerON_Reset_PC(void)
{
#ifdef __RXV2
set_extb(__sectop("EXCEPTVECT"));
#endif
set_intb(__sectop("C$VECT"));
#ifdef __FPU
#ifdef __ROZ // Initialize FPSW
#define _ROUND 0x00000001 // Let FPSW RMbits=01 (round to zero)
#else
#define _ROUND 0x00000000 // Let FPSW RMbits=00 (round to nearest)
#endif
#ifdef __DOFF
#define _DENOM 0x00000100 // Let FPSW DNbit=1 (denormal as zero)
#else
#define _DENOM 0x00000000 // Let FPSW DNbit=0 (denormal as is)
#endif
set_fpsw(FPSW_init | _ROUND | _DENOM);
#endif
_INITSCT();
// _INIT_IOLIB(); // Use SIM I/O
// errno=0; // Remove the comment when you use errno
// srand((_UINT)1); // Remove the comment when you use rand()
// _s1ptr=NULL; // Remove the comment when you use strtok()
// HardwareSetup(); // Use Hardware Setup
nop();
// _CALL_INIT(); // Remove the comment when you use global class object
set_psw(PSW_init); // Set Ubit & Ibit for PSW
// chg_pmusr(); // Remove the comment when you need to change PSW PMbit (SuperVisor->User)
main();
// _CLOSEALL(); // Use SIM I/O
// _CALL_END(); // Remove the comment when you use global class object
brk();
}
void PowerON_Reset_PC(void)
{
/* Initialise the MCU processor word */
set_intb((unsigned long)__sectop("C$VECT"));
set_fpsw(FPSW_init);
/* Initialise the MCU stack area */
_INITSCT();
/* Configure the MCU and YRDK hardware */
//HardwareSetup();
/* Change the MCU's usermode from supervisor to user */
nop();
set_psw(PSW_init);
//Change_PSW_PM_to_UserMode();
/* Call the main program function */
__enable_interrupt();
main();
/* Invoke a break interrupt */
brk();
}
/***********************************************************************************************************************
* Function name: PowerON_Reset_PC
* Description : This function is the MCU's entry point from a power-on reset.
* The following steps are taken in the startup code:
* 1. The User Stack Pointer (USP) and Interrupt Stack Pointer (ISP) are both set immediately after entry
* to this function. The USP and ISP stack sizes are set in the file bsp_config.h.
* Default sizes are USP=4K and ISP=1K.
* 2. The interrupt vector base register is set to point to the beginning of the relocatable interrupt
* vector table.
* 3. The MCU is setup for floating point operations by setting the initial value of the Floating Point
* Status Word (FPSW).
* 4. The MCU operating frequency is set by configuring the Clock Generation Circuit (CGC) in
* operating_frequency_set.
* 5. Calls are made to functions to setup the C runtime environment which involves initializing all
* initialed data, zeroing all uninitialized variables, and configuring STDIO if used
* (calls to _INITSCT and _INIT_IOLIB).
* 6. Board-specific hardware setup, including configuring I/O pins on the MCU, in hardware_setup.
* 7. Global interrupts are enabled by setting the I bit in the Program Status Word (PSW), and the stack
* is switched from the ISP to the USP. The initial Interrupt Priority Level is set to zero, enabling
* any interrupts with a priority greater than zero to be serviced.
* 8. The processor is optionally switched to user mode. To run in user mode, set the macro
* BSP_CFG_RUN_IN_USER_MODE above to a 1.
* 9. The bus error interrupt is enabled to catch any accesses to invalid or reserved areas of memory.
*
* Once this initialization is complete, the user's main() function is called. It should not return.
* Arguments : none
* Return value : none
***********************************************************************************************************************/
void PowerON_Reset_PC(void)
{
/* Stack pointers are setup prior to calling this function - see comments above */
/* Initialize the Interrupt Table Register */
set_intb((void *)__sectop("C$VECT"));
/* Initialize the Exception Table Register */
set_extb((void *)__sectop("EXCEPTVECT"));
/* Initialize FPSW for floating-point operations */
#ifdef __ROZ
#define FPU_ROUND 0x00000001 /* Let FPSW RMbits=01 (round to zero) */
#else
#define FPU_ROUND 0x00000000 /* Let FPSW RMbits=00 (round to nearest) */
#endif
#ifdef __DOFF
#define FPU_DENOM 0x00000100 /* Let FPSW DNbit=1 (denormal as zero) */
#else
#define FPU_DENOM 0x00000000 /* Let FPSW DNbit=0 (denormal as is) */
#endif
set_fpsw(FPSW_init | FPU_ROUND | FPU_DENOM);
/* Switch to high-speed operation */
operating_frequency_set();
/* If the warm start Pre C runtime callback is enabled, then call it. */
#if BSP_CFG_USER_WARM_START_CALLBACK_PRE_INITC_ENABLED == 1
BSP_CFG_USER_WARM_START_PRE_C_FUNCTION();
#endif
/* Initialize C runtime environment */
_INITSCT();
/* If the warm start Post C runtime callback is enabled, then call it. */
#if BSP_CFG_USER_WARM_START_CALLBACK_POST_INITC_ENABLED == 1
BSP_CFG_USER_WARM_START_POST_C_FUNCTION();
#endif
#if BSP_CFG_IO_LIB_ENABLE == 1
/* Comment this out if not using I/O lib */
_INIT_IOLIB();
#endif
/* Initialize MCU interrupt callbacks. */
bsp_interrupt_open();
/* Initialize register protection functionality. */
bsp_register_protect_open();
/* Configure the MCU and board hardware */
hardware_setup();
/* Change the MCU's user mode from supervisor to user */
nop();
set_psw(PSW_init);
#if BSP_CFG_RUN_IN_USER_MODE==1
chg_pmusr() ;
#endif
/* Enable the bus error interrupt to catch accesses to illegal/reserved areas of memory */
R_BSP_InterruptControl(BSP_INT_SRC_BUS_ERROR, BSP_INT_CMD_INTERRUPT_ENABLE, FIT_NO_PTR);
/* Call the main program function (should not return) */
main();
#if BSP_CFG_IO_LIB_ENABLE == 1
/* Comment this out if not using I/O lib - cleans up open files */
_CLOSEALL();
#endif
/* BCH - 01/16/2013 */
/* Infinite loop is intended here. */
while(1) /* PRQA S 2740 */
{
/* Infinite loop. Put a breakpoint here if you want to catch an exit of main(). */
}
}
void Cmt0IntFunc()
{
PORT1.DR.BIT.B1 = 1;
psw_value = get_psw();//////////////////////////
psw_value |= 0x00010000;
set_psw(psw_value);
// HIT_now_voltage_f_out = 37;//27.2;
HIT_curren_aa_q_max_cmt0 = HIT_now_voltage_f_out/HIT_kv;//calculate the current_sum_lim MAX
/* short current alarm */
HIT_id_fb_square = HIT_id_fb*HIT_id_fb;
HIT_iq_fb_square = HIT_iq_fb*HIT_iq_fb;
HIT_idq_square = HIT_id_fb_square+HIT_iq_fb_square;
if(HIT_idq_square > HIT_IDQ_SPE_SQUARE)
{
HIT_shortime_cur_count++;
if(HIT_shortime_cur_count > 9)//serial 10ms match
{
//HIT_shortime_curr_alam
HIT_shortime_cur_count = 0;
}
}
else
{
HIT_shortime_cur_count = 0;
}
/* short current alarm end */
HIT_positon_Kp_trans_f = HIT_positon_Kp_int_float;//(float)HIT_positon_Kp_int;//HIT_positon_Kp_int_float;//(float)HIT_positon_Kp_int;//transfer to trsmit parameter
HIT_positon_Kp_trans_f = HIT_positon_Kp_trans_f * HIT_TWOPIE/HIT_POSITION_16WEI;
HIT_positon_Kp_f = HIT_positon_Kp_trans_f;//transfer to real register
HIT_shouchaoqi();
/////////////////////////////////////////////////////////////////////////
/*if((HIT_run_mode == 3)||(HIT_run_mode == 4))//((HIT_run_mode == 2)||(HIT_run_mode == 3))
{
HIT_SERVO_PORT = PORT1.PORT.BIT.B0;
if(HIT_SERVO_PORT == 0)
{
HIT_pwm_mode_choose = 1;
}
if(HIT_pwm_mode_choose == 1)
{
HIT_ready_go = 1;
}
if(HIT_SERVO_PORT == 1)
{
HIT_pwm_mode_choose = 2;
}
}*/
/////////////////////////////////////////////////////////////////////////
if(HIT_alarm == 1)// 报警输出
{
PORT9.DR.BIT.B2 = 0;//ALM
}
if((HIT_ready_go == 0)||(HIT_alarm == 1))//伺服准备未完成
{
PORT9.DR.BIT.B1 = 1;//S_RDY
}
if((HIT_ready_go == 1)&&(HIT_alarm == 0))//伺服准备完成
{
HIT_baozha_num++;
if(HIT_baozha_num > 500)
{
PORT9.DR.BIT.B1 = 0;//S_RDY
HIT_baozha_num = 501;
}
}
// if((HIT_WLw_ref == 0)&&((HIT_pos_org_f > -0.5)&&(HIT_pos_org_f < 0.5)))//&&(HIT_speedlpf == 0))
if(((HIT_a_phase_sum <= 3)&&(HIT_a_phase_sum >= -3))&&((HIT_pos_org_int <= 200)&&(HIT_pos_org_int > -200)))//&&(HIT_speedlpf == 0))
{
PORT2.DR.BIT.B4 = 0;//CUIN
}
else
{
PORT2.DR.BIT.B4 = 1;//CUIN
}
/////////////////////////////////////////////////////////////////////////
PORT1.DR.BIT.B1 = 0;
}
//#pragma section P UserAppStartSect // Output PowerON_Reset to PResetPRG section
void UserAppStart(void)
#endif
{
/* Stack pointers are setup prior to calling this function - see comments above */
/* Initialise the MCU processor word */
#if __RENESAS_VERSION__ >= 0x01010000
set_intb((void *)__sectop("C$VECT"));
#else
set_intb((unsigned long)__sectop("C$VECT"));
#endif
#if (BSP_CFG_USE_CGC_MODULE == 0)
/* Switch to high-speed operation */
operating_frequency_set();
#else
cgc_clock_config();
#endif
/* If the warm start Pre C runtime callback is enabled, then call it. */
#if BSP_CFG_USER_WARM_START_CALLBACK_PRE_INITC_ENABLED == 1
BSP_CFG_USER_WARM_START_PRE_C_FUNCTION();
#endif
/* Initialize C runtime environment */
_INITSCT();
/* If the warm start Post C runtime callback is enabled, then call it. */
#if BSP_CFG_USER_WARM_START_CALLBACK_POST_INITC_ENABLED == 1
BSP_CFG_USER_WARM_START_POST_C_FUNCTION();
#endif
#if BSP_CFG_IO_LIB_ENABLE == 1
/* Comment this out if not using I/O lib */
_INIT_IOLIB();
#endif
/* Initialize MCU interrupt callbacks. */
bsp_interrupt_open();
/* Initialize register protection functionality. */
bsp_register_protect_open();
/* Configure the MCU and board hardware */
hardware_setup();
/* Change the MCU's user mode from supervisor to user */
nop();
set_psw(PSW_init);
#if BSP_CFG_RUN_IN_USER_MODE==1
/* Use chg_pmusr() intrinsic if possible. */
#if __RENESAS_VERSION__ >= 0x01010000
chg_pmusr() ;
#else
Change_PSW_PM_to_UserMode();
#endif
#endif
/* Enable the bus error interrupt to catch accesses to illegal/reserved areas of memory */
R_BSP_InterruptControl(BSP_INT_SRC_BUS_ERROR, BSP_INT_CMD_INTERRUPT_ENABLE, FIT_NO_PTR);
/* Call the main program function (should not return) */
main();
#if BSP_CFG_IO_LIB_ENABLE == 1
/* Comment this out if not using I/O lib - cleans up open files */
_CLOSEALL();
#endif
/* BCH - 01/16/2013 */
/* Infinite loop is intended here. */
while(1) /* PRQA S 2740 */
{
/* Infinite loop. Put a breakpoint here if you want to catch an exit of main(). */
}
}
