stm32 BLCD FOC控制软件源码MC _KIT_20 -

/******************** (C) COPYRIGHT 2008 STMicroelectronics ********************
* File Name : main.c
* Author : IMS Systems Lab
* Date First Issued : 21/11/07
* Description : Main program body.
********************************************************************************
* History:
* 21/11/07 v1.0
* 29/05/08 v2.0
* 27/06/08 v2.0.1
********************************************************************************
* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* THIS SOURCE CODE IS PROTECTED BY A LICENSE.
* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE LOCATED
* IN THE ROOT DIRECTORY OF THIS FIRMWARE PACKAGE.
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x_lib.h"
#include "stm32f10x_MClib.h"
#include "MC_Globals.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
void NVIC_Configuration(void);
void GPIO_Configuration(void);
void RCC_Configuration(void);
/*******************************************************************************
* Function Name : main
* Description : Main program.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
int main(void)
{
#ifdef DEBUG
debug();
#endif
NVIC_Configuration();
RCC_Configuration();
GPIO_Configuration();
#ifdef THREE_SHUNT
SVPWM_3ShuntInit();
#elif defined ICS_SENSORS
SVPWM_IcsInit();
#elif defined SINGLE_SHUNT
SVPWM_1ShuntInit();
#endif
#ifdef ENCODER
ENC_Init();
#ifdef OBSERVER_GAIN_TUNING
STO_StateObserverInterface_Init();
STO_Init();
#endif
#elif defined HALL_SENSORS
HALL_HallTimerInit();
#ifdef OBSERVER_GAIN_TUNING
STO_StateObserverInterface_Init();
STO_Init();
#endif
#elif defined NO_SPEED_SENSORS
STO_StateObserverInterface_Init();
STO_Init();
#ifdef VIEW_ENCODER_FEEDBACK
ENC_Init();
#elif defined VIEW_HALL_FEEDBACK
HALL_HallTimerInit();
#endif
#endif
#ifdef DAC_FUNCTIONALITY
MCDAC_Init();
#endif
TB_Init();
PID_Init(&PID_Torque_InitStructure, &PID_Flux_InitStructure, &PID_Speed_InitStructure);
#ifdef BRAKE_RESISTOR
MCL_Brake_Init();
#endif
KEYS_Init();
/* TIM1 Counter Clock stopped when the core is halted */
DBGMCU_Config(DBGMCU_TIM1_STOP, ENABLE);
// Init Bus voltage and Temperature average
MCL_Init_Arrays();
LCD_Init();
LCD_Clear(White);
LCD_SetTextColor(Blue);
LCD_SetBackColor(White);
Display_Welcome_Message();
while(1)
{
Display_LCD();
MCL_ChkPowerStage();
//User interface management
KEYS_process();
switch (State)
{
case IDLE: // Idle state
break;
case INIT:
MCL_Init();
TB_Set_StartUp_Timeout(3000);
State = START;
break;
case START:
//passage to state RUN is performed by startup functions;
break;
case RUN: // motor running
#ifdef ENCODER
if(ENC_ErrorOnFeedback() == TRUE)
{
MCL_SetFault(SPEED_FEEDBACK);
}
#elif defined HALL_SENSORS
if(HALL_IsTimedOut())
{
MCL_SetFault(SPEED_FEEDBACK);
}
if (HALL_GetSpeed() == HALL_MAX_SPEED)
{
MCL_SetFault(SPEED_FEEDBACK);
}
#elif defined NO_SPEED_SENSORS
#endif
break;
case STOP: // motor stopped
// shutdown power
/* Main PWM Output Disable */
TIM_CtrlPWMOutputs(TIM1, DISABLE);
State = WAIT;
#ifdef THREE_SHUNT
SVPWM_3ShuntAdvCurrentReading(DISABLE);
#endif
#ifdef SINGLE_SHUNT
SVPWM_1ShuntAdvCurrentReading(DISABLE);
#endif
Stat_Volt_alfa_beta.qV_Component1 = Stat_Volt_alfa_beta.qV_Component2 = 0;
#ifdef ICS_SENSORS
SVPWM_IcsCalcDutyCycles(Stat_Volt_alfa_beta);
#elif defined THREE_SHUNT
SVPWM_3ShuntCalcDutyCycles(Stat_Volt_alfa_beta);
#endif
TB_Set_Delay_500us(2000); // 1 sec delay
break;
case WAIT: // wait state
if (TB_Delay_IsElapsed() == TRUE)
{
#ifdef ENCODER
if(ENC_Get_Mechanical_Speed() ==0)
{
State = IDLE;
}
#elif defined HALL_SENSORS
if (HALL_IsTimedOut())
{
State=IDLE;
}
#elif defined NO_SPEED_SENSORS
STO_InitSpeedBuffer();
State=IDLE;
#endif
}
break;
case FAULT:
if (MCL_ClearFault() == TRUE)
{
if(wGlobal_Flags & SPEED_CONTROL == SPEED_CONTROL)
{
bMenu_index = CONTROL_MODE_MENU_1;
}
else
{
bMenu_index = CONTROL_MODE_MENU_6;
}
#if defined NO_SPEED_SENSORS
STO_InitSpeedBuffer();
#endif
State = IDLE;
wGlobal_Flags |= FIRST_START;
}
break;
default:
break;
}
}
}
/*******************************************************************************
* Function Name : GPIO_Configuration
* Description : Configures the TIM1 Pins.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Enable GPIOC clock */
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOC, ENABLE);
GPIO_DeInit(GPIOC);
GPIO_StructInit(&GPIO_InitStructure);
/* Configure PC.06, PC.07, PC.08 and PC.09 as Output push-pull for debugging
purposes */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
}
/*******************************************************************************
* Function Name : RCC_Configuration
* Description : Configures the different system clocks.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void RCC_Configuration(void)
{
ErrorStatus HSEStartUpStatus;
/* RCC system reset(for debug purpose) */
RCC_DeInit();
/* Enable HSE */
RCC_HSEConfig(RCC_HSE_ON);
/* Wait till HSE is ready */
HSEStartUpStatus = RCC_WaitForHSEStartUp();
if(HSEStartUpStatus == SUCCESS)
{
/* HCLK = SYSCLK */
RCC_HCLKConfig(RCC_SYSCLK_Div1);
/* PCLK2 = HCLK */
RCC_PCLK2Config(RCC_HCLK_Div1);
/* PCLK1 = HCLK/2 */
RCC_PCLK1Config(RCC_HCLK_Div2);
/* Flash 2 wait state */
FLASH_SetLatency(FLASH_Latency_2);
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
/* PLLCLK = 8MHz * 9 = 72 MHz */
RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);
/* Enable PLL */
RCC_PLLCmd(ENABLE);
/* Wait till PLL is ready */
while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
{
}
/* Select PLL as system clock source */
RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
/* Wait till PLL is used as system clock source */
while(RCC_GetSYSCLKSource() != 0x08)
{
}
}
}
/*******************************************************************************
* Function Name : NVIC_Configuration
* Description : Configures the Vector Table base address.
* Input : None
* Output : None
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