void ComSendCmdWatch(u8 cmd,u8 par1,u8 par2,u8 par3) {
u8 com_t_data[5] = {0,0,0,0,0};//前拨
u8 com_t_data2[5] = {0,0,0,0,0};//前拨
com_t_data[0] = cmd; //cmd
com_t_data[1] = par1;
com_t_data[2] = par2;
com_t_data[3] = par3;
com_t_data[4] = com_t_data[0]+com_t_data[1]+com_t_data[2]
+com_t_data[3];
INTOFF
ComSend(com_t_data2);
ComSend(com_t_data);
INTEN
}
void SendCRLFPrompt( void )
{
ComStr[0] = 0x0d;
ComStr[1] = 0x0a;
ComStr[2] = '>';
ComStr[3] = 0;
ComSend( ComStr );
}
void OutputComData( void )
{
//Prep Com Data
ComStr[ 0 ] = 0;
if( ComSequence == 0 )
{
if(( PINB & 0x08 ) != 0 ) // j5 is shorted economy mode
{
sprintf( ComStr, "Ec-TH,%d,", cPWMVal );
}
else
{
sprintf( ComStr, "Pf-TH,%d,", cPWMVal );
}
}
if( ComSequence == 1 )
{
sprintf( ComStr, " RPM,%d,", iMotorRPM );
}
if( ComSequence == 2 )
{
sprintf( ComStr, "BV,%d,", BatteryVoltage );
}
if( ComSequence == 3 )
{
sprintf( ComStr, " BC,%d,", BatteryCurrent );
}
if( ComSequence == 4 )
{
sprintf( ComStr, "CT,%d,", HeatSinkTemp );
}
if( ComSequence == 5 )
{
sprintf( ComStr, " PC,%d,", iPhaseCurrent );
}
if( ComSequence == 6 )
{
tmpChar = hSensors;
sprintf( ComStr, " HS,%d", tmpChar );
//sprintf( ComStr, " SW:%d,", SavedWattSeconds / 1000 );
}
if( ComSequence == 7 )
{
//sprintf( ComStr, " CW:%d\r\n", CurrentWattSeconds / 1000 );
sprintf( ComStr, "\r\n" );
// isecTimer
}
// Send Com Data
ComSend( ComStr );
}
/*
*********************************************************************************************************
* 函 数 名: fputc
* 功能说明: 重定义putc函数，这样可以使用printf函数从串口1打印输出
* 形 参: 无
* 返 回 值: 无
*********************************************************************************************************
*/
int fputc(int ch, FILE *f)
{
#if 1 /* 将需要printf的字符通过串口中断FIFO发送出去，printf函数会立即返回 */
ComSend(COM6,(uint8_t *)&ch,1);
return ch;
#else /* 采用阻塞方式发送每个字符,等待数据发送完毕 */
/* 写一个字节到USART1 */
USART_SendData(USART1, (uint8_t) ch);
/* 等待发送结束 */
while (USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET)
{
}
return ch;
#endif
}
/*------------------------------------------------------------
* Function Name : UartPrintChar
* Description : 打印一个字符
* Input : None
* Output : None
* Return : None
*------------------------------------------------------------*/
static void UartPrintChar( const char ch )
{
ComSend(COM6,(uint8_t *)&ch,1);
}
void main( void )
{
PhasePtr = 1;
PhaseErr = 0;
iTimerSOC = 0;
// Declare your local variables here
// Port A
PORTA=0x00;
DDRA=0x00;
// Port B
PORTB=0x00;
DDRB=0x00;
// Port C
PORTC=0x00;
DDRC=0xFF;
// Port D
PORTD = 0x00;
DDRD=0xfc;
// Timer/Counter 0 initialization
//TCCR0=0x04; // CLK / 64
//TCNT0=0x00;
// Timer/Counter 1 initialization
TCCR1A=0x00;
TCCR1B=0x02; // CLK / 8
TCNT1H=0xff;
TCNT1L=0x00;
// External Interrupt(s) initialization
GIMSK=0x00;
MCUCR=0x00;
// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x04;
// UART initialization
UCR=0x98; //0x18;
UBRR=0x19; //0x0c for 4 MHZ 0x19 for 8MHZ
// Analog Comparator initialization
ACSR=0x80;
// ADC initialization
ADMUX=ADC_VREF_TYPE;
ADCSR=0x81;
// Prep Commutation array for forward motion
for( itmp = 0; itmp <= 7; itmp++ )
{
ActiveOut[ itmp ] = PhaseOutFWD[ itmp ];
}
//TCNT0 = TCOUNT_0;
TCNT1 = TCOUNT_1;
PORTC = 0;
PORTC = PhaseOutFWD[ 0 ];
PORTC = PhaseOutFWD[ 0 ];
PORTC = 0x40 | PhaseOutFWD[ 0 ];
PORTC = 0x40 | PhaseOutFWD[ 0 ];
PORTC = 0x00;
// Global enable interrupts
#asm("sei")
LEDbyte = 0;
OldLEDbyte = 0;
ComSequence = 0;
DriveEnable = 1;
CurrentLimitByte = 0;
OvrTemp = 0;
isecTmr = 0;
isecTimer = 0;
isecTmrWatts = 0;
AutoUpdate = 1;
iMaxEconoSpeed = 1025;
BatteryPowerLow = 0;
//PORTD = 0x00;
MaxWattSeconds = __MAX_WATT_SECONDS; //1400000;
sprintf( ComStr, _SOFTWARE_VERSION );
ComSend( ComStr );
// Turn off all lights...
for( itmp = 0; itmp <= 5; itmp++ )
{
WriteDataToConsoleLEDS( SOC_LEDS[ itmp ] );
itrDelay = 0;
while( itrDelay < TIEMR_LED_SCAN )
{
}
//Read Phase Current
AdcTempVal = read_adc( 1 );
iPhaseZero = AdcTempVal;
AdcTempVal = read_adc( 1 );
iPhaseZero = iPhaseZero + AdcTempVal;
iPhaseZero = iPhaseZero / 2;
iPhaseZeroPoints[ itmp ] = iPhaseZero;
}
// Turn on all lights...
WriteDataToConsoleLEDS( 0x00 );
//////////////////////////////////////////////////////////////
// Startup Flash lights... and Check the Battery Voltage...
// Read Battery Voltage
BatteryVoltage = ReadBatteryVoltage();
itrDelay = 0;
while( itrDelay < TIMER_HALF_SECOND )
{
}
// Read Battery Voltage
BatteryVoltage = BatteryVoltage + ReadBatteryVoltage();
BatteryVoltage = BatteryVoltage / 2;
//check low voltage on startup...
// if voltage is too low, disable the bike...
if( BatteryVoltage < __MIN_STARTUP_VOLTAGE )
{
// if battery is weak, shut it off ...
sprintf( ComStr, "Low Voltage\r\n" );
ComSend( ComStr );
ShutdownSystem();
}
// sprintf( ComStr, "BV,%d,", BatteryVoltage );
// ComSend( ComStr );
// do New cruise control init here...
CruiseMode = 0; // deefault is performance mode...
if(( PINB & 0x08 ) != 0 ) // j5 is shorted economy mode
{
CruiseMode = 1;
}
ReadWattSecondsFromEEPROM();
CurrentWattSeconds = SavedWattSeconds;
// Reset watt / second counting...
// calculate the state of charge on the battery...
if(( PINB & 0x10 ) == 0 ) // j6 is shorted = SLA mode
{
if(( BatteryVoltage > __NEW_SLA_VOLTAGE )&&( SavedWattSeconds < __USED_WATT_SECONDS )) // consider this battery new...
{
//Reset the Watt / Second counter here...
CurrentWattSeconds = MaxWattSeconds;
}
}
else
{
if(( BatteryVoltage > __NEW_NIMH_VOLTAGE )&&( SavedWattSeconds < __USED_WATT_SECONDS )) // consider this battery new...
{
//Reset the Watt / Second counter here...
CurrentWattSeconds = MaxWattSeconds;
}
}
LowBatteryVoltage = __LOW_BATTERY_VOLTAGE;
// SHOW THE CURRENT STATE OF CHARGE ON THE DISPLAY
LEDStatus = CalcStateOfChargeForConsole();
calcLEDbyte = SOC_LEDS[ LEDStatus ];
LEDbyte = calcLEDbyte;
OldLEDbyte = LEDbyte;
WriteDataToConsoleLEDS( LEDbyte );
// start of main loop
while( 1 )
{
// timer routine for "real time" clock, calculated second...
isecTmr++;
if( isecTmr > _CALC_SECOND )
{
isecTimer++;
isecTmrWatts++;
isecTmr = 0;
}
CurrentLimitByte = 0; // clear out the current limit control
if(( PINB & 0x08 ) != 0 ) // j5 is shorted economy mode
{
CurrentLimitByte = 0x80;
PhaseErr = 0;
}
// Read The Throttle Demand
AdcPWMVal = read_adc( 7 );
if( AdcPWMVal > 700 )
{
AdcPWMVal = 0;
}
if( AdcPWMVal > 511 )
{
AdcPWMVal = 511;
}
ftmp = AdcPWMVal;
vtmp = (float)(512 - ftmp);
vtmp = 1 / vtmp;
ftmp = sqrt( vtmp );
ftmp = (ftmp * 360) - 16;
if( ftmp < 0 )
{
ftmp = 0;
}
itmp = (int)ftmp;
//itmp = AdcPWMVal>>2;
if( itmp > 63 ) //;;__PWM_RES_TOTAL )
itmp = 63; //__PWM_RES_TOTAL;
// oldPWMVal = tmpPWMVal;
tmpPWMVal = ( unsigned char )itmp & 0x3f;
// do the Speed calculations here.
vtmp = iMotorSpeed;
ftmp = TIMER_FREQ / vtmp;
ftmp = ftmp * 15; // 4 halls / rev 60 revs / sec = RPM
iMotorRPM = (int)ftmp;
if( iMotorRPM < 30 )
{
iMotorRPM = 0;
}
//if(( tmpPWMVal > 6 )&&( iMotorRPM < 75 )) //
if( iMotorRPM < 75 )
{
CurrentLimitByte = 0xc0; //CurrentLimitByte | 0x40; // set at lowest limit...
}
// Read Battery Voltage
AvgBatteryVoltage = AvgBatteryVoltage + ReadBatteryVoltage();
if(( ComSequence == 0 )||( ComSequence == 4 ))
{
BatteryVoltage = ( AvgBatteryVoltage / 4 ) + 25;
AvgBatteryVoltage = 0;
}
// if batter is too low start timer to shut it off...
if( BatteryVoltage < LowBatteryVoltage )
{
DriveEnable++;
}
else
{
if( DriveEnable < _MAX_LOW_VOLTAGE_TIME )
{
DriveEnable = 0;
}
}
//Read Phase Current
AdcTempVal = read_adc( 1 );
iPhaseCurrent = AdcTempVal - iPhaseZeroPoints[ LEDStatus ];
if( iPhaseCurrent < 0 )
{
iPhaseCurrent = 0;
}
ftmp = iPhaseCurrent;
//PhaseCurrent = iPhaseCurrent;
if( ftmp > 36 )
{
ftmp = ftmp * 0.9333;
}
BatteryCurrent = ftmp;
if( BatteryCurrent > 52 )
{
BatteryCurrent = 52;
}
if( BatteryCurrent <= 1 )
{
BatteryCurrent = 0;
}
// Caclulate heat sink temperature
AdcTempVal = read_adc( 2 );
HeatSinkTemp = ConvertTempSensor( AdcTempVal );
if(( HeatSinkTemp > 62 )||( OvrTemp == 1 ))
{
OvrTemp = 1;
CurrentLimitByte = 0xc0;
if( tmpPWMVal > 27 )
{
tmpPWMVal = 27;
// CurrentLimitByte = 0xc0; // set at lowest limit...
}
// too hot... shut it off completely
if( HeatSinkTemp > 75 )
{
tmpPWMVal = 0;
}
}
if( HeatSinkTemp < 60 )
{
OvrTemp = 0;
}
// do Throttle Reprofileing here
if(( iMotorRPM > 300 )&&( iMotorRPM < 650 )) //900 ))
{
ftmp = iMotorRPM - 300;
ftmp = ftmp / 15; // down to 37
tmpChar = 63 - (char)ftmp;
if( tmpChar < tmpPWMVal )
{
tmpPWMVal = tmpChar;
}
}
if(( iMotorRPM >= 650 )&&( iMotorRPM < 1700 )) //if(( iMotorRPM >= 900 )&&( iMotorRPM < 1400 ))
{
ftmp = iMotorRPM - 650; // 900
ftmp = ftmp / 44; //34;
tmpChar = 39 + (char)ftmp;
if( tmpChar < tmpPWMVal )
{
tmpPWMVal = tmpChar;
}
}
// Calculate Battery Temperature
/*
AdcTempVal = read_adc( 6 );
BatteryTemp = ConvertTempSensor( AdcTempVal );
*/
if( AutoUpdate == 1 )
OutputComData();
// perform delay for RS-232 output...
itrDelay = 0;
while( itrDelay < COM_SEQ_FREQ ) // )
{
}
ComSequence++;
if( ComSequence > 7 )
{
ComSequence = 0;
}
CalcCruiseControl();
// Check low voltage here...
if( DriveEnable >= _MAX_LOW_VOLTAGE_TIME )
{
tmpPWMVal = 0;
DriveEnable = _MAX_LOW_VOLTAGE_TIME;
// shut the drive off
ShutdownSystem();
}
// set the throttle to the new value...
cPWMVal = tmpPWMVal;
// count up the watts used every second and subtract from the total
// to calculate the state of charge...
iTimerSOC++;
if( iTimerSOC > 15 )
{
// Calculate the Watts / 0.5 seconds / power consumption...
ftmp = BatteryVoltage / 100;
CurrentWattSeconds = CurrentWattSeconds - ((long)( BatteryCurrent ) * ftmp);
if( CurrentWattSeconds < 0 )
{
CurrentWattSeconds = 0;
}
iTimerSOC = 0;
LEDStatus = CalcStateOfChargeForConsole();
calcLEDbyte = SOC_LEDS[ LEDStatus ];
}
OldLEDbyte = LEDbyte;
LEDbyte = calcLEDbyte;
// make the lowest voltage blink here...
if( calcLEDbyte == 0 )
{
if( ComSequence < 2 )
{
LEDbyte = 0x01;
}
else
{
LEDbyte = 0;
}
}
else if( OvrTemp == 1 )
{
if(( ComSequence & 0x03 ) == 1 )
{
LEDbyte = calcLEDbyte;
if( calcLEDbyte == 0 )
{
LEDbyte = 0x01;
}
}
else
{
LEDbyte = 0;
}
}
if( isecTmrWatts > 10 )
{
isecTmrWatts = 0;
OldLEDbyte = 0; // update the LEDS every 10 seconds
SaveWattSecondsToEPPROM();
}
// do led routines here...
if( LEDbyte != OldLEDbyte )
{
// voltage is really low.... blink the red light...
#ifndef _DEBUG_FREQ_OUTPUT
WriteDataToConsoleLEDS( LEDbyte );
#endif
}
// Apply Current limit data here...
tmpChar = PORTD;
tmpChar = tmpChar & 0x3f;
tmpChar = tmpChar | CurrentLimitByte;
PORTD = tmpChar;
// auto shut down timer and control
if(( cPWMVal > 0 )&&( iMotorRPM > 0 ))
{
isecTimer = 0;
}
if( isecTimer > AUTO_SHUTOFF_TIME )
{
ShutdownSystem();
}
// check com port and service any command there...
itmp = RecByteRdy;
RecByteRdy = 0;
if( itmp > 0 )
{
ProcessCommand( ComRecBuff );
SendCRLFPrompt();
}
};
}
