/**
* This brings up enough clocks to allow the processor to run quickly while initialising memory.
* Other platform specific clock init can be done in init_platform() or init_architecture()
*/
WEAK void init_clocks( void ){
/** This brings up enough clocks to allow the processor to run quickly while initialising memory.
* Other platform specific clock init can be done in init_platform() or init_architecture() */
//LPC54xx clock initialized in SystemInit().
#ifdef BOOTLOADER
LPC_SYSCTL->SYSAHBCLKCTRL[0] |= 0x00000018; // Magicoe
#if defined(__FPU_PRESENT) && __FPU_PRESENT == 1
fpuInit();
#endif
#if defined(NO_BOARD_LIB)
/* Chip specific SystemInit */
Chip_SystemInit();
#else
/* Enable RAM 2 clock */
Chip_Clock_EnablePeriphClock(SYSCTL_CLOCK_SRAM2);
/* Board specific SystemInit */
Board_SystemInit(); //init pin muxing and clock.
#endif
LPC_SYSCTL->SYSAHBCLKCTRL[0] |= 0x00000018; // Magicoe
Chip_SYSCTL_PowerUp(PDRUNCFG_PD_IRC_OSC_EN|PDRUNCFG_PD_IRC_EN);
/* Configure PIN0.21 as CLKOUT with pull-up, monitor the MAINCLK on scope */
Chip_IOCON_PinMuxSet(LPC_IOCON, 0, 21, IOCON_MODE_PULLUP | IOCON_FUNC1 | IOCON_DIGITAL_EN | IOCON_INPFILT_OFF);
Chip_Clock_SetCLKOUTSource(SYSCTL_CLKOUTSRC_RTC, 1);
Chip_Clock_EnableRTCOsc();
Chip_RTC_Init(LPC_RTC);
Chip_RTC_Enable1KHZ(LPC_RTC);
Chip_RTC_Enable(LPC_RTC);
#endif
}
/* Set up and initialize hardware prior to call to main */
void SystemInit(void)
{
#if defined(NO_BOARD_LIB)
/* Chip specific SystemInit */
Chip_SystemInit();
#else
/* Board specific SystemInit */
Board_SystemInit();
#endif
}
/* Set up and initialize hardware prior to call to main */
void SystemInit(void)
{
#if defined(NO_BOARD_LIB)
/* Chip specific SystemInit */
Chip_SystemInit();
#else
/* Setup system clocking and muxing */
Board_SystemInit();
#endif
}
// MAIN PROGRAM
int main(void)
{
Board_SystemInit();
uint8_t Giro = 0, Giro0 = 0, CloseLoop=0, Inertia=0xFF;
//Init All
//-----------------------------------------------------------------------------------------------
Stop_and_Default(); //Condiciones iniciales
InitGPIO(); //Llamo función para inicializar GPIO
InitPWM(); //Función inicialización modulo PWM
Start_Up_Brushless(); //Arranque del motor **********************7777777777777777777777777777744444444444***************
Giro=1;
//Main Loop
//-----------------------------------------------------------------------------------------------
while (1)
{
//Lectura Pulsadores
//-------------------------------------------------------------------------------------------
if (Chip_GPIO_ReadPortBit(LPC_GPIO, PULS_PORT, PULS1)==0 && Chip_GPIO_ReadPortBit(LPC_GPIO, PULS_PORT, PULS2)==0)
{
//Detencion y valores de reinicio
Stop_and_Default(); //Detencion del motor
Giro = 0; //Flag que no siga girando
Giro0 = 0; //Flag para arranque
CloseLoop=0; //Flag para lazo cerrado
Inertia=0xFF; //Contador para mantener velocidad hasta encontrar BEMF
AntiRebo = REBOTE_; //Reestablezco anti rebote
}
if (Chip_GPIO_ReadPortBit(LPC_GPIO, PULS_PORT, PULS1) == 0 && AntiRebo == 0)
{
//Arranque Motor PWM + Period
if (Giro0 == 0) { //Primer pulso:
Start_Up_Brushless(); //Arranque del motor
Giro = 1; //Flag que continue girando
} else {
if (DutyCycle > 20)
DutyCycle = DutyCycle - 5; //Decrementar ciclo actividad
}
AntiRebo = REBOTE_; //Restablezco anti rebote
}
if (Chip_GPIO_ReadPortBit(LPC_GPIO, PULS_PORT, PULS2) == 0 && AntiRebo == 0)
{
if (DutyCycle < 980 && Giro0 == 1)
DutyCycle = DutyCycle + 5; //Incremento ciclo actividad
AntiRebo = REBOTE_; //Restablezco anti rebote
}
//-------------------------------------------------------------------------------------------
if (AntiRebo > 0)
AntiRebo--; //Antirebote a lo croto
//Test PWM
//-------------------------------------------------------------------------------------------
if(CloseLoop==0){ //Lazo abierto
if (Match_Cnt1>=StepPeriod && Giro)
{
NextPWM1(); //Conmutación
NextPWM2();
Giro0 = 1; //Flag para incrementar o decrementar duty
Inertia--; //Contador decreciente para encontrar BEMF
if(Inertia==0)
CloseLoop=1; //Final del contador -> entro en lazo cerrado
}
}else{ //Lazo cerrado
//Zero_Detect1(); //Detección de cruces por cero (cincronismo)
//Zero_Detect2();
if(Conmutar1){
NextPWM1();
Conmutar1=0;
}
if(Conmutar2){
NextPWM2();
Conmutar2=0;
}
}
//-------------------------------------------------------------------------------------------
//End Test
}
return 1;
}
