void ADCTemp_Init(uint16_t* ADCnum)
{
static uint8_t i=0;
if(i>=8)
{
InitMeasCompCurr(hPhaseAOffset,hPhaseBOffset);
VoltageOffset=VoltageOffset;
SPOffset>>=5; //10bit
Motor_State=WAIT;
}
int main ( void )
{
/** pin buttons locals */
volatile bool regPinButton1;
volatile bool regPinButton2;
/** speed local */
short iRefSpeed;
// Configure Oscillator to operate the device at 40Mhz
// Fosc= Fin*M/(N1*N2), Fcy=Fosc/2
// Fosc= 8*40/(2*2)= 80Mhz for 8M input clock
PLLFBD = 38; // M=40
CLKDIVbits.PLLPOST = 0; // N1=2
CLKDIVbits.PLLPRE = 0; // N2=2
// while(OSCCONbits.LOCK != 1) {}; // Wait for PLL to loc
/** setup dsPIC ports */
SetupPorts();
/** init user parameters */
InitUserParms();
/** init user specified parms and stop on error */
if( SetupPeripherals() )
{
/* Error */
return 0;
}
uGF.Word = 0; // clear flags
while(1)
{
// init Mode
eStateControl = CNTRL_STOP;
iLockLoopCnt = 0;
/** clear the variables other than STOP command */
uGF.bit.TLock = 0;
uGF.bit.Btn1Pressed = 0;
uGF.bit.Btn2Pressed = 0;
uGF.bit.DoSnap = 0;
uGF.bit.SnapDone = 0;
/** ============= Open Loop ======================*/
OpenLoopParm.qVelMech = dqOL_VelMech;
CtrlParm.qVelRef = OpenLoopParm.qVelMech;
iRefSpeed = CtrlParm.qVelRef;
InitOpenLoop();
/** Inital offsets for currents */
InitMeasCompCurr( 450, 730 );
// init board
SetupBoard();
// Enable ADC interrupt and begin main loop timing
IFS0bits.AD1IF = 0;
IEC0bits.AD1IE = 1;
/** Initialize private variables used by CalcVelIrp. */
InitCalcVel();
/** Initialize private variables used by CurrModel */
InitCurModel();
// zero out i sums
PIParmD.qdSum = 0;
PIParmQ.qdSum = 0;
PIParmQref.qdSum = 0;
// zero out i out
PIParmD.qOut = 0;
PIParmQ.qOut = 0;
PIParmQref.qOut = 0;
/** if state is stop */
if(eStateControl == CNTRL_STOP)
{
//wait here until button 1 is pressed or stop time elapsed
while(uGF.bit.TStop){};
while(!pinButton1)
{
/** make sure that the STOP do not occur due to this loop */
iStopLoopCnt = 0;
// Start offset accumulation
//and accumulate current offset while waiting
MeasCompCurr();
}
while(pinButton1); //when button 1 is released
eStateControl = CNTRL_OPEN_LOOP; //then start motor in open loop
}
// Run the motor
uGF.bit.ChangeMode = 1;
// Enable the driver IC on the motor control PCB
pinPWMOutputEnable_ = 0;
//Run Motor loop
while(1)
{
/** algorithm was stopped before*/
if(uGF.bit.TStop)
{
/* break the while */
break;
}
/* for logic of this application 2 buttons are used
S3 and S6. If both buttons are pressed the state of
the application is commuted between OPEN_LOOP,
CLOSED_LOOP and CLOSED_LOOP_DOUBLE_SPEED. The touch
of only one button will increase the speed in one
of the states enumerated above */
/* read the buttons state */
/* while no buttons are pushed */
do{
regPinButton1 = pinButton1; /* pin button 1 */
/* retain if pressed */
if(regPinButton1 == 1)
{
uGF.bit.Btn1Pressed=1;
}
regPinButton2 = pinButton2; /* pin button 2 */
/* retain if pressed */
if(regPinButton2 == 1)
{
uGF.bit.Btn2Pressed=1;
}
/** make sure that the STOP do not occur due to this loop */
iStopLoopCnt = 0;
}while((!regPinButton1)&&(!regPinButton2));
/* while buttons are released */
do{
regPinButton1 = pinButton1; /* pin button 1 */
/* retain if pressed */
if(regPinButton1 == 1)
{
uGF.bit.Btn1Pressed=1;
}
regPinButton2 = pinButton2; /* pin button 2 */
/* retain if pressed */
if(regPinButton2 == 1)
{
uGF.bit.Btn2Pressed=1;
}
}while(pinButton1||pinButton2);
/** the counter for STOP is cleared - if buttons released */
iStopLoopCnt = 0;
/* check if one of the buttons is pressed */
/* check if both buttons are pressed */
if ((uGF.bit.Btn1Pressed)&&(uGF.bit.Btn2Pressed))
{
/* if yes */
/* clear both flags indicating the buttons were pressed */
uGF.bit.Btn1Pressed = 0;
uGF.bit.Btn2Pressed = 0;
/* and command not locked */
/* check if command not locked */
if(!uGF.bit.TLock)
{
/* lock command for Tlock_multiple */
uGF.bit.TLock = 1; /* command locked */
iLockLoopCnt = 0; /* reset counter */
/* state machine for control algorithm */
switch(eStateControl)
{
/* the previous state was STOP */
case CNTRL_OPEN_LOOP:
{
/* swich the state machine */
eStateControl = CNTRL_CLOSED_LOOP;
/* first switch the global flag */
uGF.bit.ChangeMode = 1;
break;
}
case CNTRL_CLOSED_LOOP:
{
/* double the speed of the motor */
/* and swich the state machine */
eStateControl = CNTRL_CLOSED_LOOP_DBL_SPEED;
/* double the speed */
iRefSpeed += iRefSpeed;
#ifdef SNAPSHOT
uGF.bit.DoSnap = 1;
SnapCount = 0;
#endif
break;
}
case CNTRL_CLOSED_LOOP_DBL_SPEED:
{
/* divide by 2 the speed of the motor */
/* and swich the state machine */
eStateControl = CNTRL_CLOSED_LOOP;
/* divide the speed by 2 */
iRefSpeed -= iRefSpeed/2;
#ifdef SNAPSHOT
uGF.bit.DoSnap = 1;
SnapCount = 0;
#endif
break;
}
default:
{
/* undefined state, stop */
eStateControl = CNTRL_STOP;
/* disable the PWM module */
pinPWMOutputEnable_ = 1;
break;
}
}
}
}
/* check which button was pressed */
/* perhaps button 1 was the one */
else if(uGF.bit.Btn1Pressed)
{
/* if yes */
/* clear the button flag for future usage */
uGF.bit.Btn1Pressed = 0;
/* and command not locked */
/* check if command not locked */
if(!uGF.bit.TLock)
{
/* lock command for Tlock_multiple */
uGF.bit.TLock = 1; /* command locked */
iLockLoopCnt = 0; /* reset counter */
/* increase speed with SPEED_STEP */
iRefSpeed += SPEED_STEP;
}
}
/* it was button 2, but checking */
else if(uGF.bit.Btn2Pressed)
{
/* if yes */
/* clear the button flag for future usage */
uGF.bit.Btn2Pressed = 0;
/* and command not locked */
/* check if command not locked */
if(!uGF.bit.TLock)
{
/* lock command for Tlock_multiple */
uGF.bit.TLock = 1; /* command locked */
iLockLoopCnt = 0; /* reset counter */
/* decrease speed with SPEED_STEP */
iRefSpeed -= SPEED_STEP;
}
}
/** limit the reference to 60Hz */
if( iRefSpeed > MAX_SPEED_UP )
{
iRefSpeed = MAX_SPEED_UP;
}
/** limit the reference to 60Hz */
if((signed short)iRefSpeed < (signed short)MAX_SPEED_DOWN )
{
iRefSpeed = MAX_SPEED_DOWN;
}
/** update the global speed reference */
CtrlParm.qVelRef = iRefSpeed;
if( uGF.bit.SnapDone )
{
uGF.bit.SnapDone=0;
}
} // End of Run Motor loop
} // End of Main loop
// should never get here
while(1){}
}
