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器件型号：TMS320F28035 /* ==============================================================================
System Name: HVPM_Sensored
File Name: HVPM_Sensored.C
Description: Primary system file for the Real Implementation of Sensored
Field Orientation Control for Three Phase Permanent-Magnet
Synchronous Motor (PMSM)
================================================================================= */
// Include header files used in the main function
#include "PeripheralHeaderIncludes.h"
#define MATH_TYPE IQ_MATH
#include "IQmathLib.h"
#include "HVPM_Sensored.h"
#include "HVPM_Sensored-Settings.h"
#include "SCI_Settings.h" // SCI initial settings file
#include <math.h>
//#include "angle_math.h" // include header for angle math group of objects
// Sonradan ekleme
#include "esmopos.h" // include header for esmo and related objects
#include "smopos.h" // Include header for the SMOPOS object
#include "smopos_const.h" // Include header for the SMOPOS object
#include "volt_calc.h"
///
#ifdef FLASH
#pragma CODE_SECTION(MainISR,"ramfuncs");
#pragma CODE_SECTION(OffsetISR,"ramfuncs");
#pragma CODE_SECTION(QepIEL,"ramfuncs"); // interrupt for Ivent latch on rising edge mode
#pragma CODE_SECTION(sciaRxFifoIs,"ramfuncs");
#endif
// Prototype statements for functions found within this file.
interrupt void MainISR(void);
interrupt void OffsetISR(void);
interrupt void sciaRxFifoIs(void);
interrupt void QepIEL(void); // interrupt for Ivent latch on rising edge mode
void DeviceInit();
void MemCopy();
void InitFlash();
void HVDMC_Protection(void);
Uint16 CRC16Hesapla(int *p_mes, Uint32 len);
#define RS422_PROTOCOL 2 //2.PROTOCOL
#define PROTOCOL RS422_PROTOCOL//I2C_PROTOCOL // //PROTOCOL_SECIMI
#define CPU_FREQ 60E6 //CPU_CLOCK_FREQUENCY
#define LSPCLK_FREQ CPU_FREQ/4 //
#define BAUDRATE 115200
#define SCI_PRD (LSPCLK_FREQ/(BAUDRATE*8))-1 //SCI_MODUL_BAUD_RATE_VALUE
// State Machine function prototypes
//------------------------------------
// Alpha states
void A0(void); //state A0
void B0(void); //state B0
void C0(void); //state C0
// A branch states
void A1(void); //state A1
void A2(void); //state A2
void A3(void); //state A3
// B branch states
void B1(void); //state B1
void B2(void); //state B2
void B3(void); //state B3
// C branch states
void C1(void); //state C1
void C2(void); //state C2
void C3(void); //state C3
// Variable declarations
void (*Alpha_State_Ptr)(void); // Base States pointer
void (*A_Task_Ptr)(void); // State pointer A branch
void (*B_Task_Ptr)(void); // State pointer B branch
void (*C_Task_Ptr)(void); // State pointer C branch
// Used for running BackGround in flash, and ISR in RAM
extern Uint16 *RamfuncsLoadStart, *RamfuncsLoadEnd, *RamfuncsRunStart;
int16 VTimer0[4]; // Virtual Timers slaved off CPU Timer 0 (A events)
int16 VTimer1[4]; // Virtual Timers slaved off CPU Timer 1 (B events)
int16 VTimer2[4]; // Virtual Timers slaved off CPU Timer 2 (C events)
int16 SerialCommsTimer;
// Global variables used in this system
Uint16 OffsetFlag = 0;
_iq offsetA = 0;
_iq offsetB = 0;
_iq offsetC = 0;
_iq offsetDC_bara = 0; // Sonradan girilen deger
int16 calibrated_value = 200;
float DC_bara_current = 0; // 8 bitlik akým deðeri karþýlýð to EKU
float initialCurrentLimit = 0.60;
float DC_bara_current_real = 0; // DC bara gerçek deðer (miliamper)
float Vts_temp = 0; // Vts temperature
int16 Vts_temp_16 = 0;
_iq K1 = _IQ(0.998); //Offset filter coefficient K1: 0.05/(T+0.05);
_iq K2 = _IQ(0.001999); //Offset filter coefficient K2: T/(T+0.05);
extern _iq IQsinTable[];
extern _iq IQcosTable[];
_iq VdTesting = _IQ(0.0); // Vd reference (pu)
_iq VqTesting = _IQ(0.153604); //0.3824580 // Vq reference (pu)
_iq IdRef = _IQ(0.0); // Id reference (pu)
_iq IqRef = _IQ(0.1509);//_IQ(0.1807);
_iq thetaAngle = 0;
#if (BUILDLEVEL<LEVEL3) // Speed reference (pu)
_iq SpeedRef = _IQ(0.060593); // For Open Loop tests
#else
_iq SpeedRef = _IQ(0.04); // For Closed Loop tests 670RPM
#endif
float32 T = 0.001 / ISR_FREQUENCY; // Samping period (sec), see parameter.h
Uint32 IsrTicker = 0;
Uint16 BackTicker = 0;
Uint16 lsw = 0;
Uint16 TripFlagDMC = 0; //Trip status
Uint16 Init_IFlag = 0;
Uint16 sayac_cal_flag = 0;
// Default ADC initialization
int ChSel[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
int TrigSel[16] = { 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5 };
int ACQPS[16] = { 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8 };
int16 DlogCh1 = 0;
int16 DlogCh2 = 0;
int16 DlogCh3 = 0;
int16 DlogCh4 = 0;
int16 SpeedRefRPM = 0;
int16 Speed_Fark = 0;
int16 Max_fark = 10;
_iq pi_spd_Umin_alt_limit = _IQ(-0.3);
_iq pi_spd_Umin_ust_limit = _IQ(0.008);
_iq pi_spd_degisim = _IQ(0.002);//_IQ(0.001);
_iq pi_spd_Umin_ilk_deger = _IQ(0.005);
//--------------Sonradan girilen degerler----------------
int vektor_sayac=0;
int RS422_int_flag = 0; //YKS'nin_RS422_kesmesine_gittiðini_ifade_eder
int High_voltaj = 0; //YKSnin_High_Voltajini_ifade_eder
int Pompa_calisiyor = 16; //YKS_motor_ve_pompa_calisiyor
int Pompa_duruyor = 8; //YKS_motor_ve_pompa_duruyor
int Pompa_geriye_donuyor = 4; //YKS_motor_ve_pompa_geriye_donuyor
int Pompa_sikismis = 2; //YKS_motor_ve_pompa_sikismis
int Baglanti_yok = 32; //YKS_RS_422_uzerinden_hic_data_alamýyor
int Baglanti_yok_sayac = 0;
int Baglanti_yok_flag = 0;
int Baglanti_hatasi = 64; //YKS_RS_422_uzerinden_dogru_data_alamýyor
int Baglanti_hata_sayaci = 0; //YKS_RS_422_Baglanti_hata_sayaci //kac_defa_yanlis_data_geldiginiþ_sayar
int Baglanti_hata_flag = 0; //YKS_RS_422_hattinda_baglantinin_yanlis_oldugunu_gosterir
int YKS_hiz_emrini_uygula = 1; //YKS_motor_ve_pompa_donsun
int YKS_dur_emrini_uygula = 2; //YKS_motor_ve_pompa_dursun
int YKS_geri_donerek_dur_emrini_uygula = 4; //YKS_motor_ve_pompa_geri_donsun_ve_dursun
int Ref_Speed_RPM_higByte = 0; //YKS_MOTORU_REFERENS_RPM_HIGH_BYTE
int Ref_Speed_RPM_lowByte = 0; //YKS_MOTORU_REFERENS_RPM_LOW_BYTE
int Commen_type = 0; //EKU_TO_YKS_EMIR_TURLERI
int Commen_type_ilk = 0; //EKU_TO_YKS_EMIR_TURLERI_DUMMY
int CRC16_HIGH_RX = 0; //CRC16_HIGH_RX_BIT
int CRC16_LOW_RX = 0; //CRC16_LOW_RX_BIT
int CRC16_HIGH_RX_HESAP = 0; //CRC16_HIGH_RX_HESAP_BIT
int CRC16_LOW_RX_HESAP = 0; //CRC16_LOW_RX_HESAP_BIT
Uint16 CRC16_HESAP_RX = 0; //RX_CRC_16_HESAP
int YKS_RXCHECKSUM = 0; //YKS_MOTORU_RECIVER_CHECKSUM
int YKS_HIZ_CHECKSUM = 0; //YKS_MOTORU_ALINAN_DATA_CHECKSUM
int RS_422_ADRESS_RX = 0; //RS_422_RECIVER_ADERSS
int Speed_RPM_higByte = 5; //YKS_MOTORU_ESTIMATED_RPM_HIGH_BYTE
int Speed_RPM_lowByte = 10; //YKS_MOTORU_ESTIMATED_RPM_LOW_BYTE
int YKS_VOLTAGE = 15; //YKS_MOTORU_HAT_VOLTAGE
int YKS_CURRENT = 20; //YKS_MOTORU_HAT_CURRENT
int YKS_STATE = 0; //YKS_STATE_BITI
int CRC16_HIGH_TX = 0; //CRC16_HIGH_TX_BIT
int CRC16_LOW_TX = 0; //CRC16_HIGH_TX_BIT
int CRC16_HIGH_TX_HESAP = 0; //CRC16_HIGH_TX_HESAP_BIT
int CRC16_LOW_TX_HESAP = 0; //CRC16_LOW_TX_HESAP_BIT
Uint16 CRC16_HESAP_TX = 0; //TX_CRC_16_HESAP
Uint32 YKS_CURRENT_TOPLAM = 0; //YKS_20_CYCLE_TOPLAM_DC_BARA_AKIMI
int ORTALAMA_AKIM_SAYAC = 0; //YKS_MOTORU_DC_AKIM_SAYACI
int YKS_TXCHECKSUM = 50; //YKS_MOTORU_TRANSMITER_CHECKSUM
int YKS_Start = 0; //YKS_MOTORU_STARTER
int GERI_DONUSLU_SAYAC = 0; //YKS_MOTORU_GERI_DONUSLU_DUR_ZAMAN_SAYACI
int SAYAC_BALANGIC = 0; //MOTOR HAREKET SAYKIL SAYACI
float YENI_REF_HIZ_FROM_RS422 = 0; //YKS_MOTORU_YENI_REFERANS_HIZ_FROM_RS422
float IDCIDC = 0;
float IDC_TOPLAM = 0;
float IDC_TOPLAM_ORTALAMA = 0;
int N_IDC_TOPLAM = 0;
float IDC_KARE_TOPLAM = 0;
int N_IDC_KARE_TOPLAM = 0;
float IDC_RMS = 0;
float VOLTAJ_CARPAN = ( ( BARA_VOLTAGE_RS1 + BARA_VOLTAGE_RS2 ) / BARA_VOLTAGE_RS1 )
* ADC_1Bit_VOLTAGE; //[(340/256) / (330/4096)] = 16.485 12 BITLIK ADC'nin 8 BITLIK
//ADC'YE DONUSUMU 8 BITLIK ADC'DE 255=340V 12 BITLIK ADC'DE 4095=330V
//VOLTAJ_BOLEN OPTIMIZASYON SONRASI 16.65 OLARAK BELIRLENDI
float AKIM_CARPAN = 85.33; //0.02594628 ; //0.25925; //3.69; //[(3000/256) / (13000/4096)] = 3.69 12 BITLIK ADC'nin 8 BITLIK
//ADC'YE DONUSUMU 8 BITLIK ADC'DE 256=3000mA 12 BITLIK ADC'DE 4096=13000mA
//AKIM_BOLEN OPTIMIZASYON SONRASI ??? OLARAK BELIRLENDI
int ilk_start = 1;
Uint32 I_DC_SENSOR_TOPLAM = 0;
int I_DC_SENSOR_SAYAC = 0;
Uint32 I_DC_SENSOR_HESAP = 0;
float I_DC_SENSOR = 0;
float I_DC_SENSOR_ORT_TOPLAM = 0;
int I_DC_SENSOR_ORT_TOPLAM_SAYAC = 0;
float I_DC_SENSOR_ORT = 0;
float I_DC_SENSOR_ORT_DUZELTME = 0;
float Akim = 0;
Uint16 Sensor_voltaj = 0;
Uint16 deneme = 0;
Uint16 deneme2 = 0;
Uint16 rotor_lock = 0;
int rotor_lock_sayac = 0;
/*--------- Current Sensing variables ---------------------------*/
Uint16 sayac_sqr = 0;
float DC_Current_Sqr = 0.0;
float DC_Current_Sqr_Ort = 0.0;
float DC_bara_current_temp = 0.0;
float verilenRPM_x0 = 0.0;
int olculen = 0.0;
float FARK_HIZ = 0;
float phase_WU = 0.0;
int a = 0;
Uint16 motor_ready_flg = 0;
Uint16 index_deger = 0;
Uint16 index_say = 1;
float dc_akim = 0.0;
int16 check_qep = 0;
int16 check_qep_1 = 0;
_iq fark = 0;
float fark_1 = 0;
int sayac = 0;
int sayac_son = 7 * SAYAC_SON;
int sayac_c = 0;
int sayac_cal_son = 7 * SAYAC_CAL;
//-------------------------------------------------------
/* CRC calculation macros */
#define CRC_16_INIT_VAL 0xFFFF
#define CRC_16(crcval,newchar) crcval = (crcval>> 8) ^ crc_16_table[(crcval ^ newchar) & 0x00ff]
static const Uint16 crc_16_table[256] = { 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536,
0x74bf, 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5,
0xe97e, 0xf8f7, 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5,
0x472c, 0x75b7, 0x643e, 0x9cc9, 0x8d40, 0xbfdb, 0xae52,
0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210,
0x1399, 0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3,
0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5, 0x3183,
0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd,
0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9,
0x2732, 0x36bb, 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868,
0x99e1, 0xab7a, 0xbaf3, 0x5285, 0x430c, 0x7197, 0x601e,
0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44, 0xfddf,
0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 0x6306, 0x728f,
0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e,
0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1,
0x0738, 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862,
0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c,
0xd3a5, 0xe13e, 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb,
0x4e64, 0x5fed, 0x6d76, 0x7cff, 0x9489, 0x8500, 0xb79b,
0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, 0x0948,
0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a,
0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74,
0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226,
0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7,
0x6e6e, 0x5cf5, 0x4d7c, 0xc60c, 0xd785, 0xe51e, 0xf497,
0x8028, 0x91a1, 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956,
0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb, 0xd68d, 0xc704,
0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, 0x5ac5,
0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238,
0x93b1, 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb,
0x0e70, 0x1ff9, 0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab,
0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c,
0x3de3, 0x2c6a, 0x1ef1, 0x0f78 };
volatile Uint16 EnableFlag = TRUE;
Uint16 LockRotorFlag = FALSE;
Uint16 SpeedLoopPrescaler = 10; // Speed loop prescaler
Uint16 SpeedLoopCount = 1; // Speed loop counter
// Instance an eSMO position estimator
ESMOPOS esmo1 = ESMOPOS_DEFAULTS;
// Instance a PI controller for eSMO angle tuning
PI_CONTROLLER pi_smo = PI_CONTROLLER_DEFAULTS;
// Instance a sliding-mode position observer constant Module
SMOPOS_CONST smo1_const = SMOPOS_CONST_DEFAULTS;
_iq smoK_set = _IQ(0.35); // sliding mode gain - final value _IQ(0.35);
// Instance a phase voltage calculation
PHASEVOLTAGE volt1 = PHASEVOLTAGE_DEFAULTS;
// Instance a few transform objects
CLARKE clarke1 = CLARKE_DEFAULTS;
PARK park1 = PARK_DEFAULTS;
IPARK ipark1 = IPARK_DEFAULTS;
// Instance PI regulators to regulate the d and q axis currents, and speed
PI_CONTROLLER pi_spd = PI_CONTROLLER_DEFAULTS;
PI_CONTROLLER pi_id = PI_CONTROLLER_DEFAULTS;
PI_CONTROLLER pi_iq = PI_CONTROLLER_DEFAULTS;
// Instance a PWM driver instance
PWMGEN pwm1 = PWMGEN_DEFAULTS;
// Instance a PWM DAC driver instance
PWMDAC pwmdac1 = PWMDAC_DEFAULTS;
// Instance a Space Vector PWM modulator. This modulator generates a, b and c
// phases based on the d and q stationery reference frame inputs
SVGEN svgen1 = SVGEN_DEFAULTS;
// Instance a ramp controller to smoothly ramp the frequency
RMPCNTL rc1 = RMPCNTL_DEFAULTS;
// Instance a ramp generator to simulate an Anglele
RAMPGEN rg1 = RAMPGEN_DEFAULTS;
// Instance a speed calculator based on QEP
SPEED_MEAS_QEP speed1 = SPEED_MEAS_QEP_DEFAULTS;
// Instance a QEP interface driver
QEP qep1 = QEP_DEFAULTS;
// Instance a SCI receive
SCI_COMM sci_rec1 = SCI_DEFAULTS;
// Create an instance of DATALOG Module
DLOG_4CH dlog = DLOG_4CH_DEFAULTS;
void main(void)
{
DeviceInit(); // Device Life support & GPIO
SCI_INIT_MACRO(1, BAUDRATE)
//start preferences of the sci module
//Only used if running from FLASH
//Note that the variable FLASH is defined by the compiler
#ifdef FLASH
// Copy time critical code and Flash setup code to RAM
// The RamfuncsLoadStart, RamfuncsLoadEnd, anfd RamfuncsRunStart
// symbols are created by the linker. Refer to the linker files.
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
InitFlash(); // Call the flash wrapper init function
#endif //(FLASH)
// Waiting for enable flag set
while( EnableFlag == FALSE )
{
BackTicker++;
}
// Timing sync for background loops
// Timer period definitions found in device specific PeripheralHeaderIncludes.h
CpuTimer0Regs.PRD.all = mSec0_0666; // A tasks
CpuTimer1Regs.PRD.all = mSec6_66; // B tasks
CpuTimer2Regs.PRD.all = mSec50; // C tasks
// Tasks State-machine init
Alpha_State_Ptr = &A0;
A_Task_Ptr = &A1;
B_Task_Ptr = &B1;
C_Task_Ptr = &C1;
// Initialize PWM module
pwm1.PeriodMax = SYSTEM_FREQUENCY * 1000000 * T / 2; // Prescaler X1 (T1), ISR period = T x 1
pwm1.HalfPerMax = pwm1.PeriodMax / 2;
pwm1.Deadband = 2.0 * SYSTEM_FREQUENCY; // 120 counts -> 2.0 usec for TBCLK = SYSCLK/1
PWM_INIT_MACRO(1, 2, 3, pwm1)
// Initialize PWMDAC module
pwmdac1.PeriodMax = 500; // @60Mhz, 1500->20kHz, 1000-> 30kHz, 500->60kHz
pwmdac1.HalfPerMax = pwmdac1.PeriodMax / 2;
PWMDAC_INIT_MACRO(6, pwmdac1)
// PWM 6A,6B
PWMDAC_INIT_MACRO(7, pwmdac1)
// PWM 7A,7B
// Initialize DATALOG module
dlog.iptr1 = &DlogCh1;
dlog.iptr2 = &DlogCh2;
dlog.iptr3 = &DlogCh3;
dlog.iptr4 = &DlogCh4;
dlog.trig_value = 0x1;
dlog.size = 0x0c8;
dlog.prescalar = 5;
dlog.init(&dlog);
// Initialize ADC for DMC Kit Rev 1.1
ChSel[0] = 0; // Dummy meas. avoid 1st sample issue Rev0 Picollo*/
ChSel[1] = 11; // ChSelect: ADC A1-> Phase A Current ADC_A2 2
ChSel[2] = 10; // ChSelect: ADC B1-> Phase B Current // ADC_A1 1
ChSel[3] = 9; // ChSelect: ADC A3-> Phase C Current ADC_A0
ChSel[4] = 12; // ChSelect: ADC B7-> Phase A Voltage ADC_B5
ChSel[5] = 14; // ChSelect: ADC B6-> Phase B Voltage ADC_B6
ChSel[6] = 15; // ChSelect: ADC B6-> Phase C Voltage ADC_B6
ChSel[7] = 2; // ChSelect: ADC A7-> DC Bus Voltage ADC_A4 4
ChSel[8] = 8; // ChSelect: ADC A7-> DC Bus Current ADC_A3
ChSel[9] = 1; // ChSelect: ADC B0-> Vts SPM temperature
ADC_MACRO_INIT(ChSel, TrigSel, ACQPS)
// Initialize QEP module
qep1.LineEncoder = 1024; //2500;
qep1.MechScaler = _IQ30(0.25 / qep1.LineEncoder);
qep1.PolePairs = POLES / 2;
qep1.CalibratedAngle = 0; //200 // 700//750; // 16785 680
QEP_INIT_MACRO(1, qep1)
// Initialize the Speed module for QEP based speed calculation
speed1.K1 = _IQ21(1/(BASE_FREQ*T));
speed1.K2 = _IQ(1/(1+T*2*PI*5)); // Low-pass cut-off frequency
speed1.K3 = _IQ(1) - speed1.K2;
speed1.BaseRpm = 120 * ( BASE_FREQ / POLES );
// Initialize the RAMPGEN module
rg1.StepAngleMax = _IQ(BASE_FREQ*T);
pi_spd.Kp = _IQ(10.0);//_IQ(1);
pi_spd.Ki = _IQ(0.01);//_IQ(0.001218);//_IQ(0.000062286);
pi_spd.Umax = _IQ(0.95);
pi_spd.Umin = _IQ(-0.95);// Pompaya göre optimize edilmesi gerekebilir.
// Initialize the PI module for Id
pi_id.Kp = _IQ(1);//_IQ(1.0);//_IQ(0.5);//_IQ(1.05);//_IQ(1.05); //_IQ(1.0);//_IQ(4.0);//_IQ(0.5);
pi_id.Ki = _IQ(0.00082);//_IQ(T/0.04);// _IQ(T/0.01);//_IQ(T/0.04); //*RS/LS); ///0.04);
pi_id.Umax = _IQ(0.86); //_IQ(0.45);
pi_id.Umin = _IQ(-0.86); // _IQ(-0.45);
// Initialize the PI module for Iq
pi_iq.Kp = _IQ(0.202);//_IQ(0.5);//_IQ(1.1);//_IQ(1.1); //_IQ(1.0);
pi_iq.Ki = _IQ(0.0001);//_IQ(T/0.04); //*RS/LS); ///0.04);
pi_iq.Umax = _IQ(0.502); //_IQ(0.85); //_IQ(-0.88);
pi_iq.Umin = _IQ(-0.502); //_IQ(-0.85); //_IQ(-0.88);
// Initialize eSMO parameters
esmo1.Fsmopos = _IQ(smo1_const.Fsmopos);
esmo1.Gsmopos = _IQ(smo1_const.Gsmopos);
esmo1.Kslide = _IQ(0.05308703613);
esmo1.base_wTs = _IQ(BASE_FREQ*T);
// Initialize the PI module for smo angle filter
pi_smo.Kp = _IQ(5.0);
pi_smo.Ki = _IQdiv(_IQ(100*0.001/ISR_FREQUENCY), pi_smo.Kp);
pi_smo.Umax = _IQ(1.0);
pi_smo.Umin = _IQ(-1.0);
// Initialize the SMOPOS constant module
smo1_const.Rs = RS;
smo1_const.Ls = LS;
smo1_const.Ib = BASE_CURRENT;
smo1_const.Vb = BASE_VOLTAGE;
smo1_const.Ts = T;
SMO_CONST_MACRO(smo1_const)
// Note that the vectorial sum of d-q PI outputs should be less than 1.0 which refers to maximum duty cycle for SVGEN.
// Another duty cycle limiting factor is current sense through shunt resistors which depends on hardware/software implementation.
// Depending on the application requirements 3,2 or a single shunt resistor can be used for current waveform reconstruction.
// The higher number of shunt resistors allow the higher duty cycle operation and better dc bus utilization.
// The users should adjust the PI saturation levels carefully during open loop tests (i.e pi_id.Umax, pi_iq.Umax and Umins) as in project manuals.
// Violation of this procedure yields distorted current waveforms and unstable closed loop operations which may damage the inverter.
//Call HVDMC Protection function
HVDMC_Protection();
// RS422_Init();
// Reassign ISRs.
EALLOW;
// This is needed to write to EALLOW protected registers
PieVectTable.SCIRXINTA = &sciaRxFifoIs;
PieVectTable.ADCINT1 = &OffsetISR;
PieVectTable.EQEP1_INT = &QepIEL;
// Enable PIE group 1 interrupt 1 for ADC1_INT
PieCtrlRegs.PIEIER1.bit.INTx1 = 1;
PieCtrlRegs.PIEIER9.bit.INTx1 = 1; // PIE Group 9, INT1
PieCtrlRegs.PIEIER5.bit.INTx1 = 1; // PIE Group 5, INT1 QEP IEL kesmesi için
// Enable EOC interrupt(after the 4th conversion)
AdcRegs.ADCINTOVFCLR.bit.ADCINT1 = 1;
AdcRegs.ADCINTFLGCLR.bit.ADCINT1 = 1;
AdcRegs.INTSEL1N2.bit.INT1CONT = 1; //
AdcRegs.INTSEL1N2.bit.INT1SEL = 4;
AdcRegs.INTSEL1N2.bit.INT1E = 1;
// Enable CPU INT1 for ADC1_INT:
IER |= M_INT1;
IER |= M_INT9; //SONRADAN // SCI kesmesi için
IER |= M_INT5; //SONRADAN // QEP IEL kesmesi için
// Enable global Interrupts and higher priority real-time debug events:
EINT;
// Enable Global interrupt INTM
ERTM;
// Enable Global realtime interrupt DBGM
EDIS;
/* setting for Qep with IEL */
EQep1Regs.QCLR.all = 0x0FFF;
EQep1Regs.QFRC.all = 0x0000;
EQep1Regs.QEINT.all = 0;
EQep1Regs.QEINT.bit.IEL = 1;
EQep1Regs.QCLR.bit.INT = 0;
// adc_offset = AdcResult.ADCRESULT8;
// IDLE loop. Just sit and loop forever:
for ( ;; ) //infinite loop
{
// State machine entry & exit point
//===========================================================
( *Alpha_State_Ptr )(); // jump to an Alpha state (A0,B0,...)
//===========================================================
}
} //END MAIN CODE
//=================================================================================
// STATE-MACHINE SEQUENCING AND SYNCRONIZATION FOR SLOW BACKGROUND TASKS
//=================================================================================
//--------------------------------- FRAMEWORK -------------------------------------
void A0(void)
{
// loop rate synchronizer for A-tasks
if ( CpuTimer0Regs.TCR.bit.TIF == 1 )
{
CpuTimer0Regs.TCR.bit.TIF = 1; // clear flag
//-----------------------------------------------------------
( *A_Task_Ptr )(); // jump to an A Task (A1,A2,A3,...)
//-----------------------------------------------------------
VTimer0[0]++; // virtual timer 0, instance 0 (spare)
SerialCommsTimer++;
}
Alpha_State_Ptr = &B0; // Comment out to allow only A tasks
}
void B0(void)
{
// loop rate synchronizer for B-tasks
if ( CpuTimer1Regs.TCR.bit.TIF == 1 )
{
CpuTimer1Regs.TCR.bit.TIF = 1; // clear flag
//-----------------------------------------------------------
( *B_Task_Ptr )(); // jump to a B Task (B1,B2,B3,...)
//-----------------------------------------------------------
VTimer1[0]++; // virtual timer 1, instance 0 (spare)
}
Alpha_State_Ptr = &C0; // Allow C state tasks
}
void C0(void)
{
// loop rate synchronizer for C-tasks
if ( CpuTimer2Regs.TCR.bit.TIF == 1 )
{
CpuTimer2Regs.TCR.bit.TIF = 1; // clear flag
//-----------------------------------------------------------
( *C_Task_Ptr )(); // jump to a C Task (C1,C2,C3,...)
//-----------------------------------------------------------
VTimer2[0]++; //virtual timer 2, instance 0 (spare)
}
Alpha_State_Ptr = &A0; // Back to State A0
}
//=================================================================================
// A - TASKS (executed in every 1 msec)
//=================================================================================
//--------------------------------------------------------
void A1(void) // SPARE (not used)
//--------------------------------------------------------
{
if ( EPwm1Regs.TZFLG.bit.OST == 0x1 ) TripFlagDMC = 1; // Trip on DMC (halt and IPM fault trip )
//--------------------------------------------------
//-------------------
//the next time CpuTimer0 'counter' reaches Period value go to A2
A_Task_Ptr = &A2;
//-------------------
}
//-----------------------------------------------------------------
void A2(void) // SPARE (not used)
//-----------------------------------------------------------------
{
//-------------------
//the next time CpuTimer0 'counter' reaches Period value go to A3
A_Task_Ptr = &A3;
//-------------------
}
//-----------------------------------------
void A3(void) // SPARE (not used)
//-----------------------------------------
{
//-----------------
//the next time CpuTimer0 'counter' reaches Period value go to A1
A_Task_Ptr = &A1;
//-----------------
}
//=================================================================================
// B - TASKS (executed in every 5 msec)
//=================================================================================
//----------------------------------- USER ----------------------------------------
//----------------------------------------
void B1(void) // Toggle GPIO-00
//----------------------------------------
{
//-----------------
SCI_TRANSMIT_MACRO(1, sci_rec1)
Vts_temp = 0.04027 * ( AdcResult.ADCRESULT9 ) - 4.9697;
// Vts_temp_16 = (int16)Vts_temp;
//the next time CpuTimer1 'counter' reaches Period value go to B2
B_Task_Ptr = &B2;
//-----------------
}
//----------------------------------------
void B2(void) // SPARE
//----------------------------------------
{
/*-----------------------Current Sensing Calculation-----------------------*/
static float A_de = 1; //5.065;//2.01;
DC_bara_current_real = ( abs(_IQtoIQ12(offsetDC_bara) - AdcResult.ADCRESULT8) ) * A_de; // Phase DC bara 40.2
DC_Current_Sqr += powf(DC_bara_current_real, 2);
sayac_sqr++;
if ( sayac_sqr == 100 )
{
DC_Current_Sqr_Ort = DC_Current_Sqr / sayac_sqr;
DC_bara_current_temp = sqrtf(DC_Current_Sqr_Ort);
DC_bara_current = DC_bara_current_temp * 0.001671; // (3.3V/4096)/(opamp kazanc*akim bara direnc)
sayac_sqr = 1;
DC_Current_Sqr = DC_bara_current_temp;
}
/*---------------------------------------------------------*/
//-----------------
//the next time CpuTimer1 'counter' reaches Period value go to B3
B_Task_Ptr = &B3;
//-----------------
}
//----------------------------------------
void B3(void) // SPARE
//----------------------------------------
{
//-----------------
//the next time CpuTimer1 'counter' reaches Period value go to B1
B_Task_Ptr = &B1;
//-----------------
}
//=================================================================================
// C - TASKS (executed in every 50 msec)
//=================================================================================
//--------------------------------- USER ------------------------------------------
//----------------------------------------
void C1(void) // Toggle GPIO-34
//----------------------------------------
{
GpioDataRegs.GPACLEAR.bit.GPIO6 = 1;
if ( EPwm1Regs.TZFLG.bit.OST == 0x1 ) // TripZ for PWMs is low (fault trip)
{
TripFlagDMC = 1;
// GpioDataRegs.GPBTOGGLE.bit.GPIO42 = 1;
}
if ( GpioDataRegs.GPADAT.bit.GPIO9 == 0 ) // Over Current Prot. for Integrated Power Module is high (fault trip)
{
TripFlagDMC = 1;
GpioDataRegs.GPASET.bit.GPIO8 = 1;
GpioDataRegs.GPASET.bit.GPIO6 = 1;
}
GpioDataRegs.GPATOGGLE.bit.GPIO7 = 1; // Turn on/off LD3 on the controlCARD (KDYS Run Led)
//-----------------
//the next time CpuTimer2 'counter' reaches Period value go to C2
//--------------EKLEME---------------------------------------------//
olculen = speed1.SpeedRpm; // ölçülen hýz bilgisi aliniyor Motorun saat yönünde dönmesi istendiði için ifadenin baþýna - koyuldu
#if ( PROG_START_COND == PROG_START_COND3 || PROG_START_COND == PROG_START_COND4)
verilenRPM_x0 = YENI_REF_HIZ_FROM_RS422; // Eküden gelen hýz bilgisi Ref olarak alýnýyor
#endif
C_Task_Ptr = &C2;
//-----------------
}
//----------------------------------------
void C2(void) // SPARE
//----------------------------------------
{
//////////////////////////////////////////////////////////////////////////////////////////////////
// EKU'DEN GELEN REFERANS(HIGH,LOW) HIZ BILGISININ GERCEK HIZA DONUSUMU //
YENI_REF_HIZ_FROM_RS422 = ( Ref_Speed_RPM_higByte * 256 ) + Ref_Speed_RPM_lowByte; //YENI_REFERANS_HIZ = RS422_RPM_HIGH * 256 + RS422_RPM_LOW
//////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////
// EKU'DEN GELEN DATA CRC16 HESAPLANMASI //
CRC16_HESAP_RX = CRC16Hesapla(sci_rec1.sci_receive_data, 4); //YKS_CRC16_HESAP_FONKSIYON_CAGIRMASI
CRC16_HIGH_RX_HESAP = ( CRC16_HESAP_RX >> 8 ) & 0x00FF; //YKS_CRC16_HESAPLANAN_HIGH_BYTE
CRC16_LOW_RX_HESAP = CRC16_HESAP_RX & 0x00FF; //YKS_CRC16_HESAPLANAN_LOW_BYTE
//////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////
// YKS DC BARA AKIMININ HESAPLANMASI //
////////////////////////////// 10.02.2016 YKS DC BARA AKIMI ALGILAMA ////////////////////////////
if ( lsw == 0 ) //
{ //
YKS_CURRENT = 0; //
} //
else //
{ //
// YKS_CURRENT = I_DC_SENSOR_ORT_DUZELTME * AKIM_CARPAN; // (I_DC_SENSOR_ORT - 0.03) * AKIM_CARPAN = (ölçülen deðer - ölçüm hatasý) * GERÇEK AKIMI 8 BÝTE ÇEVÝRME (255/3 = 85)) //08.12.2016
YKS_CURRENT = DC_bara_current * AKIM_CARPAN; //I_DC_SENSOR_ORT * AKIM_CARPAN; // (I_DC_SENSOR_ORT - 0.03) * AKIM_CARPAN = (ölçülen deðer - ölçüm hatasý) * GERÇEK AKIMI 8 BÝTE ÇEVÝRME (255/3 = 85)) //08.12.2016
} //
////////////////////////////// 10.02.2016 YKS DC BARA AKIMI ALGILAMA ////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////
//YKS HIGH VOLTAJ BESLEMESI KONTROLU HIGH VOLTAJ 110DAN KUCUKSE HIGH VOLTAJ YOK.//
if ( YKS_VOLTAGE < 80 ) //YKS DC BARA VOLTAJI 110V'DAN KUCUK MU?
{ //
High_voltaj = 0; //
} //
else if ( YKS_VOLTAGE > 80 ) //YKS DC BARA VOLTAJI 110V'DAN BUYUK MU?
{ //
High_voltaj = 1; //
} //
//////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////
// YKS MOTORU CALISMAZKEN SISTEMIN O ANKI DURUMUNU GOSTERIYOR //
if ( lsw == 0 ) //
{ //
YKS_STATE = Pompa_duruyor + High_voltaj; //
} //
//////////////////////////////////////////////////////////////////////////////////
if ( rotor_lock == 0 )
{
//////////////////////////////////////////////////////////////////////////////////////////////////////////
// ADERS KARSILASTIRMASI YAPILIR, ARESLER DOGRU ISE CRC16 ALGORITMASI ILE GELEN DATALARDA BOZULMA OLUP //
// OLMADIGI KONNTROL EDILIYOR. BOZULMA YOK ISE COMMEN_TYPE GORE KONUTLAR ICA EDILIYOR //
if ( RS_422_ADRESS_RX == received_address ) // ADRES KARSILASTIRMASI YAPILIOYOR
{ //
if ( ( CRC16_HIGH_RX_HESAP == CRC16_HIGH_RX )
&& ( CRC16_LOW_RX_HESAP == CRC16_LOW_RX ) ) // CRC16 ILE DATADA BOZULMA OLUP OLMADIGI KONTROL EDILIYOR
{ //
Baglanti_hata_sayaci = 0; //
Baglanti_hata_flag = 0; //
if ( Commen_type == YKS_dur_emrini_uygula ) // EKUDEN DUR EMRI GELIRSE UYGULANACAK KOMUT
{ //
lsw = 0; //
YKS_Start = 0; //
SpeedRef = 0; //
YKS_STATE = Pompa_duruyor + High_voltaj; //
} //
else if ( ( Commen_type == YKS_geri_donerek_dur_emrini_uygula )
&& ( GERI_DONUSLU_SAYAC <= 3 ) ) // EKUDEN GERI DONUSLU DUR EMRI GELDIGINDE UYGULANACAK KOMUT
{ //
lsw = 0; //
YKS_Start = 0; //
SpeedRef = 0; //
YKS_STATE = Pompa_duruyor + High_voltaj; //
} //
else if ( Commen_type == YKS_hiz_emrini_uygula ) // EKUDEN CALIS EMRI GELDIGINDE UYGULANACAK KOMUT
{ //
SpeedRef = _IQ(YENI_REF_HIZ_FROM_RS422 / speed1.BaseRpm); //
YKS_STATE = Pompa_calisiyor + High_voltaj; //
GERI_DONUSLU_SAYAC = 0; //
if ( lsw == 0 ) //
{ //
YKS_Start = 1; //
ilk_start = 1;
} //
if ( YKS_Start == 1 ) //
{ //
lsw = 1; //
YKS_Start = 2; //
} //
} //
} //
else if ( ( CRC16_HIGH_RX_HESAP != CRC16_HIGH_RX )
|| ( CRC16_LOW_RX_HESAP != CRC16_LOW_RX ) ) // EKUDEN KOMUT GELEN KOMUTUN CRC16'SI ILE HESAPLANAN CRC16 ESLESMEDIGI ZAMAN UYGULANACAK KOMUT
{ //
if ( Baglanti_hata_sayaci < 20 ) //
{ //
Baglanti_hata_sayaci = Baglanti_hata_sayaci + 1; //
} //
//
else if ( Baglanti_hata_sayaci == 20 ) //
{ //
Baglanti_hata_flag = 1; //
} //
} //
} //
else // EKUDEN GELEN KOMUTUN ADRESI ISTENEN ADRES ILE ESLESMEDIGI ZAMAN UYGULANANCAK KOMUT
{ //
if ( Baglanti_hata_sayaci < 20 ) //
{ //
Baglanti_hata_sayaci = Baglanti_hata_sayaci + 1; //
} //
else if ( Baglanti_hata_sayaci == 20 ) //
{ //
Baglanti_hata_flag = 1; //
} //
} //
//////////////////////////////////////////////////////////////////////////////////////////////////////////
}
else if ( rotor_lock == 1 )
{
lsw = 1; //
YKS_Start = 0; //
SpeedRef = _IQ(YENI_REF_HIZ_FROM_RS422 / speed1.BaseRpm) + _IQ(0.003); //
IqRef = _IQ(0.2); //_IQ(0.3);
rotor_lock = 0;
}
else if ( rotor_lock == 2 )
{
if ( rotor_lock_sayac <= 15 )
{
lsw = 1; //
YKS_Start = 0; //
SpeedRef = _IQ(-0.3); //
IqRef = _IQ(0.2); //_IQ(0.3);
rotor_lock = 0;
rotor_lock_sayac = rotor_lock_sayac + 1;
}
else if ( rotor_lock_sayac > 15 )
{
lsw = 0;
SpeedRef = _IQ(0);
IqRef = _IQ(0.2); //_IQ(0.3);
rotor_lock = 0;
rotor_lock_sayac = 0;
}
}
//////////////////////////////////////////////////////////////////////////////////
// BAGLANTI HATASI VAR ISE YKS_STATE'TI EKUYE GONDERILECEK DURUMLAR //
if ( Baglanti_hata_flag == 1 ) //
{ //
if ( olculen > 0 ) //
{ //
YKS_STATE = Baglanti_hatasi + High_voltaj + Pompa_calisiyor; //
} //
else if ( olculen < 0 ) //
{ //
YKS_STATE = Baglanti_hatasi + High_voltaj + Pompa_geriye_donuyor; //
} //
else if ( olculen == 0 ) //
{ //
YKS_STATE = Baglanti_hatasi + High_voltaj + Pompa_duruyor; //
} //
} //
//////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////
// RS422'DEN DATA GELMIYOR ISE YKS_STATE'TI EKUYE GONDERILECEK DURUMLAR //
if ( RS422_int_flag == 0 ) //
{ //
Baglanti_yok_sayac = Baglanti_yok_sayac + 1; //
if ( Baglanti_yok_sayac == 20 ) //
{ //
Baglanti_yok_flag = 1;
//
Baglanti_yok_sayac = 19; //
} //
} //
else //
{ //
Baglanti_yok_sayac = 0; //
RS422_int_flag = 0; //
Baglanti_yok_flag = 0; //
} //
////////////////////////////////////////////////////////////////////////////
if ( Baglanti_yok_flag == 1 ) //
{ //
if ( olculen > 0 ) //
{ //
YKS_STATE = Baglanti_yok + High_voltaj + Pompa_calisiyor; //
} //
else if ( olculen < 0 ) //
{ //
YKS_STATE = Baglanti_yok + High_voltaj + Pompa_geriye_donuyor; //
} //
else if ( olculen == 0 ) //
{ //
YKS_STATE = Baglanti_yok + High_voltaj + Pompa_duruyor; //
} //
} //
//////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////
// GERI DONUSLU DUR EMRI GELDIGINDE YKS'NIN GERI DONMEYE BASLAMASI //
if ( ( Commen_type == YKS_geri_donerek_dur_emrini_uygula ) && ( GERI_DONUSLU_SAYAC < 5 ) ) //
{ //
GERI_DONUSLU_SAYAC = GERI_DONUSLU_SAYAC + 1; //
} //
else if ( ( GERI_DONUSLU_SAYAC >= 5 ) && ( GERI_DONUSLU_SAYAC < 20 ) ) //GERI DONME EYLEMININ YAPILDIGI YER
{ //
SpeedRef = _IQ(-0.3); //
lsw = 1; //
IqRef = _IQ(0.2); //_IQ(0.4); //
YKS_STATE = Pompa_geriye_donuyor + High_voltaj; //
GERI_DONUSLU_SAYAC = GERI_DONUSLU_SAYAC + 1; //
} //
else if ( GERI_DONUSLU_SAYAC == 20 ) //GERI DONME EYLEMININ BITTIGI YER
{ //
GERI_DONUSLU_SAYAC = 0; //
Commen_type = YKS_dur_emrini_uygula; //
lsw = 0; //
YKS_Start = 0; //
SpeedRef = 0; //
IqRef = _IQ(0.2); //_IQ(0.3); //
} //
//////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////
if ( ( rotor_lock == 1 ) && ( rotor_lock == 2 ) ) //
{ //
olculen = 0; //
YKS_STATE = Pompa_sikismis + High_voltaj; //
} //
//////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////
// YKS'DEN GIDECEK OLAN HIZ VE VOLTAJ FEEDBACKLERININ HESAPLANMASI //
Speed_RPM_higByte = ( olculen >> 8 ) & 0xFF; //ESTIMATED EDILEN RPM HIGH BYTE
Speed_RPM_lowByte = olculen & 0xFF; //ESTIMATED EDILEN RPM LOW BYTE
YKS_VOLTAGE = ( AdcResult.ADCRESULT7 * VOLTAJ_CARPAN ) / ADC_8Bit_CONV; //YKS_SURUCUSU_BESLEME_VOLTAJI
/////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////
// YKS'DEN EKUYE GIDEN YKS BILGILERI //
sci_rec1.sci_trans_data[0] = trasmited_address; //RDS_422_TRANSIVER_ADRES
sci_rec1.sci_trans_data[1] = YKS_STATE; //YKS STATE BILGISI
sci_rec1.sci_trans_data[2] = Speed_RPM_higByte; //ESTIMATED_SPEED_HIGH_BYTE
sci_rec1.sci_trans_data[3] = Speed_RPM_lowByte; //ESTIMATED_SPEED_LOW_BYTE
sci_rec1.sci_trans_data[4] = YKS_VOLTAGE; //YKS_MOTOR_VOLTAGE
sci_rec1.sci_trans_data[5] = YKS_CURRENT; //YKS_MOTOR_CURRENT
//////////////////////////////////////////////////////////
// YKS'DEN GIDEN DATA CRC16 HESAPLANMASI //
CRC16_HESAP_TX = CRC16Hesapla(sci_rec1.sci_trans_data, 6); //CRC16 HESAPLAMA FONKSIYONUN CAGRILMASI
CRC16_HIGH_TX = ( CRC16_HESAP_TX >> 8 ) & 0x00FF; //HESAPLANAN CRC16 HIGH BYTE
CRC16_LOW_TX = CRC16_HESAP_TX & 0x00FF; //HESAPLANAN CRC16 LOW BYTE
//////////////////////////////////////////////////////////
sci_rec1.sci_trans_data[6] = CRC16_HIGH_TX; //YKS'DEN EKU'YE GIDEN HESAPLANMIS CRC16 HIGH BYTE
sci_rec1.sci_trans_data[7] = CRC16_LOW_TX; //YKS'DEN EKU'YE GIDEN HESAPLANMIS CRC16 LOW BYTE
//////////////////////////////////////////////////////////
//RS422_TRANSMIT
#if ((PROG_START_COND == PROG_START_COND2) || (PROG_START_COND == PROG_START_COND3))
if ( ( index_deger < index_say ) && ( motor_ready_flg != 0 ) && ( verilenRPM_x0 != 0 ) )
{
lsw = 1;
}
else if ( ( index_deger >= index_say ) && ( motor_ready_flg != 0 ) && ( verilenRPM_x0 != 0 ) )
{
lsw = 2;
}
else if ( verilenRPM_x0 == 0 )
{
lsw = 0;
index_deger = 0;
}
#endif
#if (PROG_START_COND == PROG_START_COND4)
if ( motor_ready_flg != 0 )
{
SpeedRef = _IQ(verilenRPM_x0 / speed1.BaseRpm);
}
if ( motor_ready_flg == 0 )
{
SpeedRef = _IQ(verilenRPM_x0 / speed1.BaseRpm);
lsw = 1;
}
#endif
SpeedRef = _IQ(verilenRPM_x0 / speed1.BaseRpm);
//-----------------
//the next time CpuTimer2 'counter' reaches Period value go to C3
C_Task_Ptr = &C3;
//-----------------
}
//-----------------------------------------
void C3(void) // SPARE
//-----------------------------------------
{
//-----------------
if ( sayac < sayac_son && lsw==2)
{
sayac++;
} // sayac_son süresi hesaplanýyor.
//the next time CpuTimer2 'counter' reaches Period value go to C1
/* Speed_Fark = abs(SpeedRefRPM - speed1.SpeedRpm);
if ((SpeedRefRPM > speed1.SpeedRpm) && (Speed_Fark > Max_fark))
{
pi_spd.Umin = pi_spd.Umin + pi_spd_degisim;
}
else if ((SpeedRefRPM > speed1.SpeedRpm) && (Speed_Fark < Max_fark))
{
pi_spd.Umin = pi_spd.Umin;
}
else if ((SpeedRefRPM < speed1.SpeedRpm) && (Speed_Fark > Max_fark))
{
pi_spd.Umin = pi_spd.Umin - pi_spd_degisim;
}
else if ((SpeedRefRPM < speed1.SpeedRpm) && (Speed_Fark < Max_fark))
{
pi_spd.Umin = pi_spd.Umin;
}
if (pi_spd.Umin < pi_spd_Umin_alt_limit)
{
pi_spd.Umin = pi_spd_Umin_alt_limit;
}
else if (pi_spd.Umin > pi_spd_Umin_ust_limit)
{
pi_spd.Umin = pi_spd_Umin_ust_limit;
}
if ((lsw == 0) || ((lsw == 1) && (SpeedRefRPM > 0)))
{
pi_spd.Umin = pi_spd_Umin_ilk_deger;
}
*/
C_Task_Ptr = &C1;
//-----------------
}
// MainISR
interrupt void MainISR(void)
{
// Verifying the ISR
IsrTicker++;
// =============================== LEVEL 1 ======================================
// Checks target independent modules, duty cycle waveforms and PWM update
// Keep the motors disconnected at this level
// ==============================================================================
#if (BUILDLEVEL==LEVEL1)
// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the ramp control macro
// ------------------------------------------------------------------------------
rc1.TargetValue = SpeedRef;
RC_MACRO(rc1)
// ------------------------------------------------------------------------------
// Connect inputs of the RAMP GEN module and call the ramp generator macro
// ------------------------------------------------------------------------------
rg1.Freq = rc1.SetpointValue;
RG_MACRO(rg1)
// ------------------------------------------------------------------------------
// Connect inputs of the INV_PARK module and call the inverse park trans. macro
// There are two option for trigonometric functions:
// IQ sin/cos look-up table provides 512 discrete sin and cos points in Q30 format
// IQsin/cos PU functions interpolate the data in the lookup table yielding higher resolution.
// ------------------------------------------------------------------------------
ipark1.Ds = VdTesting;
ipark1.Qs = VqTesting;
//ipark1.Sine =_IQ30toIQ(IQsinTable[_IQtoIQ9(rg1.Out)]);
//ipark1.Cosine=_IQ30toIQ(IQcosTable[_IQtoIQ9(rg1.Out)]);
ipark1.Sine=_IQsinPU(rg1.Out);
ipark1.Cosine=_IQcosPU(rg1.Out);
IPARK_MACRO(ipark1)
// ------------------------------------------------------------------------------
// Connect inputs of the SVGEN_DQ module and call the space-vector gen. macro
// ------------------------------------------------------------------------------
svgen1.Ualpha = ipark1.Alpha;
svgen1.Ubeta = ipark1.Beta;
SVGENDQ_MACRO(svgen1)
// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation macro
// ------------------------------------------------------------------------------
pwm1.MfuncC1 = svgen1.Ta;
pwm1.MfuncC2 = svgen1.Tb;
pwm1.MfuncC3 = svgen1.Tc;
PWM_MACRO(1,2,3,pwm1)// Calculate the new PWM compare values
// ------------------------------------------------------------------------------
// Connect inputs of the PWMDAC module
// ------------------------------------------------------------------------------
/* pwmdac1.MfuncC1 = svgen1.Ta;
pwmdac1.MfuncC2 = svgen1.Tb;
PWMDAC_MACRO(6,pwmdac1) // PWMDAC 6A, 6B
pwmdac1.MfuncC1 = svgen1.Tc;
pwmdac1.MfuncC2 = svgen1.Tb-svgen1.Tc;
PWMDAC_MACRO(7,pwmdac1)
*/
// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = (int16)_IQtoIQ15(svgen1.Ta);
DlogCh2 = (int16)_IQtoIQ15(svgen1.Tb);
DlogCh3 = (int16)_IQtoIQ15(svgen1.Tc);
DlogCh4 = (int16)_IQtoIQ15(svgen1.Tb-svgen1.Tc);
#endif // (BUILDLEVEL==LEVEL1)
// =============================== LEVEL 2 ======================================
// Level 2 verifies the analog-to-digital conversion, offset compensation,
// clarke/park transformations (CLARKE/PARK), phase voltage calculations
// ==============================================================================
#if (BUILDLEVEL==LEVEL2)
// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the ramp control macro
// ------------------------------------------------------------------------------
rc1.TargetValue = SpeedRef;
RC_MACRO(rc1)
// ------------------------------------------------------------------------------
// Connect inputs of the RAMP GEN module and call the ramp generator macro
// ------------------------------------------------------------------------------
rg1.Freq = rc1.SetpointValue;
RG_MACRO(rg1)
// ------------------------------------------------------------------------------
// Measure phase currents, subtract the offset and normalize from (-0.5,+0.5) to (-1,+1).
// Connect inputs of the CLARKE module and call the clarke transformation macro
// ------------------------------------------------------------------------------
clarke1.As = _IQmpy2(offsetA - _IQ12toIQ(AdcResult.ADCRESULT1));// Phase A curr.
clarke1.Bs = _IQmpy2(offsetB - _IQ12toIQ(AdcResult.ADCRESULT2));// Phase B curr.
CLARKE_MACRO(clarke1)
// ------------------------------------------------------------------------------
// Connect inputs of the PARK module and call the park trans. macro
// ------------------------------------------------------------------------------
park1.Alpha = clarke1.Alpha;
park1.Beta = clarke1.Beta;
park1.Angle = rg1.Out;
park1.Sine = _IQsinPU(park1.Angle);
park1.Cosine = _IQcosPU(park1.Angle);
PARK_MACRO(park1)
// ------------------------------------------------------------------------------
// Connect inputs of the INV_PARK module and call the inverse park trans. macro
// ------------------------------------------------------------------------------
ipark1.Ds = VdTesting;
ipark1.Qs = VqTesting;
ipark1.Sine=park1.Sine;
ipark1.Cosine=park1.Cosine;
IPARK_MACRO(ipark1)
// ------------------------------------------------------------------------------
// Connect inputs of the SVGEN_DQ module and call the space-vector gen. macro
// ------------------------------------------------------------------------------
svgen1.Ualpha = ipark1.Alpha;
svgen1.Ubeta = ipark1.Beta;
SVGENDQ_MACRO(svgen1)
// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation macro
// ------------------------------------------------------------------------------
pwm1.MfuncC1 = svgen1.Ta;
pwm1.MfuncC2 = svgen1.Tb;
pwm1.MfuncC3 = svgen1.Tc;
PWM_MACRO(1,2,3,pwm1)// Calculate the new PWM compare values
// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = (int16)_IQtoIQ15(svgen1.Ta);
DlogCh2 = (int16)_IQtoIQ15(rg1.Out);
DlogCh3 = (int16)_IQtoIQ15(clarke1.Bs);
DlogCh4 = (int16)_IQtoIQ15(clarke1.As);
#endif // (BUILDLEVEL==LEVEL2)
// =============================== LEVEL 3 ======================================
// Level 3 verifies the dq-axis current regulation performed by PID and speed
// measurement modules.
// ==============================================================================
// lsw=0: lock the rotor of the motor,
// lsw=1: close the current loop,
#if (BUILDLEVEL==LEVEL3)
// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the ramp control macro
// ------------------------------------------------------------------------------
if ( lsw == 0 ) rc1.TargetValue = 0;
else rc1.TargetValue = _IQ(verilenRPM_x0 / speed1.BaseRpm); //SpeedRef;
RC_MACRO(rc1)
// ------------------------------------------------------------------------------
// Connect inputs of the RAMP GEN module and call the ramp generator macro
// ------------------------------------------------------------------------------
rg1.Freq = rc1.SetpointValue;
RG_MACRO(rg1)
// ------------------------------------------------------------------------------
// Measure phase currents, subtract the offset and normalize from (-0.5,+0.5) to (-1,+1).
// Connect inputs of the CLARKE module and call the clarke transformation macro
// ------------------------------------------------------------------------------
clarke1.As = _IQmpy2(offsetA - _IQ12toIQ(AdcResult.ADCRESULT1)); // Phase A curr.
clarke1.Bs = _IQmpy2(offsetB - _IQ12toIQ(AdcResult.ADCRESULT2)); // Phase B curr.
CLARKE_MACRO(clarke1)
// ------------------------------------------------------------------------------
// Connect inputs of the PARK module and call the park trans. macro
// ------------------------------------------------------------------------------
park1.Alpha = clarke1.Alpha;
park1.Beta = clarke1.Beta;
if ( lsw == 0 ) park1.Angle = 0;
else if ( lsw == 1 ) park1.Angle = rg1.Out;
park1.Sine = _IQsinPU(park1.Angle);
park1.Cosine = _IQcosPU(park1.Angle);
PARK_MACRO(park1)
// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PID IQ controller macro
// ------------------------------------------------------------------------------
if ( lsw == 0 ) pi_iq.Ref = 0;
else pi_iq.Ref = IqRef;
pi_iq.Fbk = park1.Qs;
PI_MACRO(pi_iq)
// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PID ID controller macro
// ------------------------------------------------------------------------------
if ( lsw == 0 ) pi_id.Ref = _IQ(0.05); // Lock the rotor
else pi_id.Ref = IdRef;
pi_id.Fbk = park1.Ds;
PI_MACRO(pi_id)
// ------------------------------------------------------------------------------
// Connect inputs of the INV_PARK module and call the inverse park trans. macro
// ------------------------------------------------------------------------------
ipark1.Ds = pi_id.Out;
ipark1.Qs = pi_iq.Out;
ipark1.Sine = park1.Sine;
ipark1.Cosine = park1.Cosine;
IPARK_MACRO(ipark1)
// ------------------------------------------------------------------------------
// Detect calibration angle and call the QEP module
// ------------------------------------------------------------------------------
if (lsw==0) {EQep1Regs.QCLR.bit.IEL = 1;} // Reset position cnt.EQep1Regs.QPOSCNT=0;
if ((EQep1Regs.QFLG.bit.IEL==1) && Init_IFlag==0) // Check the index occurrence
{qep1.CalibratedAngle= EQep1Regs.QPOSILAT; Init_IFlag++;} // Keep the latched pos. at the first index*/
if (lsw!=0) QEP_MACRO(1,qep1);
fark =_IQabs( (qep1.ElecTheta) - (rg1.Out));
fark_1 = _IQtoF(fark);
// ------------------------------------------------------------------------------
// Connect inputs of the SPEED_FR module and call the speed calculation macro
// ------------------------------------------------------------------------------
speed1.ElecTheta = _IQ24toIQ((int32 )qep1.ElecTheta);
speed1.DirectionQep = (int32) ( qep1.DirectionQep );
SPEED_FR_MACRO(speed1)
// ------------------------------------------------------------------------------
// Connect inputs of the SVGEN_DQ module and call the space-vector gen. macro
// ------------------------------------------------------------------------------
if ( lsw == 0 )
{
svgen1.Ualpha = 0;
svgen1.Ubeta = 0;
}
else
{
svgen1.Ualpha = ipark1.Alpha;
svgen1.Ubeta = ipark1.Beta;
}
SVGENDQ_MACRO(svgen1)
// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation macro
// ------------------------------------------------------------------------------
pwm1.MfuncC1 = svgen1.Ta;
pwm1.MfuncC2 = svgen1.Tb;
pwm1.MfuncC3 = svgen1.Tc;
PWM_MACRO(1, 2, 3, pwm1)
// Calculate the new PWM compare values
// ------------------------------------------------------------------------------
// Connect inputs of the PWMDAC module
// ------------------------------------------------------------------------------
pwmdac1.MfuncC1 = clarke1.As;
pwmdac1.MfuncC2 = clarke1.Bs;
PWMDAC_MACRO(6, pwmdac1)
// PWMDAC 6A, 6B
pwmdac1.MfuncC1 = rg1.Out;
pwmdac1.MfuncC2 = speed1.ElecTheta;
PWMDAC_MACRO(7, pwmdac1)
// PWMDAC 7A, 7B
// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = (int16) _IQtoIQ15(qep1.ElecTheta);
DlogCh2 = (int16) _IQtoIQ15(rg1.Out);
DlogCh3 = (int16) _IQtoIQ15(clarke1.As);
DlogCh4 = (int16) _IQtoIQ15(clarke1.Bs);
#endif // (BUILDLEVEL==LEVEL3)
// =============================== LEVEL 4 ======================================
// Level 4 verifies the speed regulator performed by PI module.
// The system speed loop is closed by using the measured speed as a feedback.
// ==============================================================================
// lsw=0: lock the rotor of the motor,
// lsw=1: close the current loop,
// lsw=2: close the speed loop (sensored FOC).
#if (BUILDLEVEL==LEVEL4_CAL)
//---------------------------------------------------------//
// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the ramp control macro
// ------------------------------------------------------------------------------
if ( lsw == 0 ) rc1.TargetValue = 0;
else rc1.TargetValue = SpeedRef;
RC_MACRO(rc1)
SpeedRefRPM = _IQmpy(speed1.BaseRpm, SpeedRef);
/*Initial rotor alginment edition*/
/* if ( DC_bara_current > initialCurrentLimit )
{
vektor_sayac=1;
}*/
/* Motor fazi hizalamasi icin lsw=2 ve vektor sayac=0 durumunda hizalama algoritmasinin
* calismasi icin baslangic hizi verilip FOC algoritmasi Id=pi.spd.Out ve Iq=0 durumu
* algoritmada donduruluyor.
* */
if ( vektor_sayac == 0 )
{
verilenRPM_x0 = 500;
lsw=2;
}
/* Motor fazi hizalamasi tamamlamasi icin 2sn süre bekleniyor. Sonra enceoder position counter
* degeri 0 a cekilip encoder resetleniyor
* */
if ( sayac >= sayac_son && vektor_sayac == 0 ) // ilk elektrik verilmesinden 2sn gectikten sonra
{
lsw = 0;
verilenRPM_x0 = 0;
EQep1Regs.QPOSCNT = 0;
EQep1Regs.QCLR.bit.IEL = 1;
speed1.ElecTheta = 0;
qep1.ElecTheta = 0;
vektor_sayac = 1;
}
/* Encoder calibrasyon islemi tamamlandiktan ve motor lsw=0 konumuna getirilip durdurulduktan sonra
* motoru once lsw=1 konumundan baslatip encoder index degerinden gectikten sonra
* lsw=2 konumunda motorun calistirilmasina devam etmek icin
* */
if ( vektor_sayac == 1 && verilenRPM_x0 != 0 )
{
lsw = 1;
vektor_sayac = 2;
Init_IFlag = 1;
// Diger durumlar; calibration degerinin posilattan encoder angle degerine atanmasi ve lsw=2 durumuna
// gecilmesi gibi, onlar qep index alt kesme fonksiyonunda yapilmistir.
}
// ------------------------------------------------------------------------------
// Connect inputs of the RAMP GEN module and call the ramp generator macro
// ------------------------------------------------------------------------------
rg1.Freq = rc1.SetpointValue;
RG_MACRO(rg1)
// ------------------------------------------------------------------------------
// Measure phase currents, subtract the offset and normalize from (-0.5,+0.5) to (-1,+1).
// Connect inputs of the CLARKE module and call the clarke transformation macro
// ------------------------------------------------------------------------------
clarke1.As = _IQmpy2(offsetA -_IQ12toIQ(AdcResult.ADCRESULT1));// Phase A curr. SPM U Phase
clarke1.Bs = _IQmpy2(offsetB - _IQ12toIQ(AdcResult.ADCRESULT2 ));// Phase B curr. SPM V Phase
CLARKE_MACRO(clarke1)
// clarke1.Cs = -clarke1.As - clarke1.Bs;
// ------------------------------------------------------------------------------
// Connect inputs of the PARK module and call the park trans. macro
// ------------------------------------------------------------------------------
park1.Alpha = clarke1.Alpha;
park1.Beta = clarke1.Beta;
if ( lsw == 0 ) park1.Angle = 0;
else if ( lsw == 1 ) park1.Angle = rg1.Out;
else if ( lsw == 2 && vektor_sayac == 0 )
{
park1.Angle = 0;
}
else park1.Angle = _IQ24toIQ((int32)qep1.ElecTheta);//esmo1.Theta - thetaAngle; //qep1.ElecTheta;
park1.Sine = _IQsinPU(park1.Angle);
park1.Cosine = _IQcosPU(park1.Angle);
PARK_MACRO(park1)
// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PID speed controller macro
// ------------------------------------------------------------------------------
if ( SpeedLoopCount == SpeedLoopPrescaler )
{
pi_spd.Ref = rc1.SetpointValue;
pi_spd.Fbk = speed1.Speed;
PI_MACRO(pi_spd);
SpeedLoopCount = 1;
}
else SpeedLoopCount++;
if ( lsw != 2 )
{
pi_spd.ui = 0;
pi_spd.i1 = 0;
}
// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PID IQ controller macro
// ------------------------------------------------------------------------------
if ( lsw == 0 ) pi_iq.Ref = 0;
else if ( lsw == 1 ) pi_iq.Ref = IqRef;
else if ( lsw == 2 && vektor_sayac == 0 )
{
pi_iq.Ref = 0;
}
else pi_iq.Ref = pi_spd.Out;
pi_iq.Fbk = park1.Qs;
PI_MACRO(pi_iq)
// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PID ID controller macro
// ------------------------------------------------------------------------------
if ( lsw == 0 ) pi_id.Ref = _IQ(0.05);
else if ( lsw == 1 ) pi_id.Ref = IdRef;
else if ( lsw == 2 && vektor_sayac == 0 )
{
pi_id.Ref = pi_spd.Out;//IqRef;//pi_spd.Out;
}
else pi_id.Ref = IdRef;
pi_id.Fbk = park1.Ds;
PI_MACRO(pi_id)
// ------------------------------------------------------------------------------
// Connect inputs of the INV_PARK module and call the inverse park trans. macro
// ------------------------------------------------------------------------------
if ( lsw == 2 && vektor_sayac == 0 )
{
ipark1.Ds = pi_id.Out;
ipark1.Qs = pi_iq.Out;
/*--Initial rotor angle allignment--*/
ipark1.Angle = 0;
ipark1.Sine = _IQsinPU(ipark1.Angle);
ipark1.Cosine = _IQcosPU(ipark1.Angle);
}
else
{
ipark1.Ds = pi_id.Out;
ipark1.Qs = pi_iq.Out;
ipark1.Sine = park1.Sine;
ipark1.Cosine = park1.Cosine;
}
IPARK_MACRO(ipark1)
// ------------------------------------------------------------------------------
// Detect calibration angle (optional) and call the QEP module
// ------------------------------------------------------------------------------
if ( lsw != 0 )
QEP_MACRO(1, qep1)
fark = _IQabs((_IQ24toIQ((int32)qep1.ElecTheta)) - ( rg1.Out ));
fark_1 = _IQtoF(fark);
// ------------------------------------------------------------------------------
// Connect inputs of the SPEED_FR module and call the speed calculation macro
// ------------------------------------------------------------------------------
// // Connect inputs of the VOLT_CALC module and call the phase voltage macro
// // ------------------------------------------------------------------------------
// volt1.DcBusVolt = _IQ12toIQ(AdcResult.ADCRESULT7);
// volt1.MfuncV1 = svgen1.Ta;
// volt1.MfuncV2 = svgen1.Tb;
// volt1.MfuncV3 = svgen1.Tc;
// PHASEVOLT_MACRO(volt1)
//
// // ------------------------------------------------------------------------------
// // Connect inputs of the eSMO_POS module and call the eSMO module
// // ------------------------------------------------------------------------------
//
// // Low Kslide responds better to loop transients
// // Increase Kslide for better torque response after closing the speed loop
// if ((lsw == 2) && (esmo1.Kslide < smoK_set))
// esmo1.Kslide += _IQ(0.00001);
// else if (lsw < 2) ////////
// esmo1.Kslide = _IQ(0.05308703613); ///////
//
// esmo1.Ialpha = clarke1.Alpha;
// esmo1.Ibeta = clarke1.Beta;
// esmo1.Valpha = volt1.Valpha;
// esmo1.Vbeta = volt1.Vbeta;
// esmo1.runSpeed = speed1.Speed;
// esmo1.cmdSpeed = rc1.SetpointValue;
// eSMO_MODULE(&esmo1);
//
// /********************************************************************
// * Supplemental filter to remove jitters from esmo estimated angle
// * ******************************************************************/
// esmo1.Theta = angleFilter(&pi_smo, &esmo1); // optional - uncomment to include
// ------------------------------------------------------------------------------
// Connect inputs of the SPEED_EST module and call the estimated speed macro
// ------------------------------------------------------------------------------
// speed3.EstimatedTheta = esmo1.Theta;
speed1.ElecTheta = _IQ24toIQ((int32)qep1.ElecTheta);//esmo1.Theta;//_IQ24toIQ((int32)qep1.ElecTheta);
speed1.DirectionQep = (int32)( qep1.DirectionQep );
SPEED_FR_MACRO(speed1)
// ------------------------------------------------------------------------------
// Connect inputs of the SVGEN_DQ module and call the space-vector gen. macro
// ------------------------------------------------------------------------------
// if ( lsw == 0 )
// {
// svgen1.Ualpha = 0;
// svgen1.Ubeta = 0;
// }
// else
// {
svgen1.Ualpha = ipark1.Alpha;
svgen1.Ubeta = ipark1.Beta;
// }
SVGENDQ_MACRO(svgen1)
// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation macro
// ------------------------------------------------------------------------------
pwm1.MfuncC1 = svgen1.Ta;
pwm1.MfuncC2 = svgen1.Tb;
pwm1.MfuncC3 = svgen1.Tc;
PWM_MACRO(1, 2, 3, pwm1)
// Calculate the new PWM compare values
// ------------------------------------------------------------------------------
// Connect inputs of the PWMDAC module
// ------------------------------------------------------------------------------
pwmdac1.MfuncC1 = clarke1.As;
pwmdac1.MfuncC2 = clarke1.Bs;
PWMDAC_MACRO(6,pwmdac1) // PWMDAC 6A, 6B
pwmdac1.MfuncC1 = rg1.Out;
pwmdac1.MfuncC2 = speed1.ElecTheta ;
PWMDAC_MACRO(7,pwmdac1)
// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = (int16) _IQtoIQ15(fark); //rg1.Out
DlogCh2 = (int16) _IQtoIQ15(pi_iq.Fbk); //qep1.ElecTheta
DlogCh3 = (int16) _IQtoIQ15(clarke1.As);
DlogCh4 = (int16) _IQtoIQ15(clarke1.Bs);
#endif
#if (BUILDLEVEL==LEVEL4)
// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the ramp control macro
// ------------------------------------------------------------------------------
if(lsw==0)rc1.TargetValue = 0;
else rc1.TargetValue = SpeedRef;
RC_MACRO(rc1)
// ------------------------------------------------------------------------------
// Connect inputs of the RAMP GEN module and call the ramp generator macro
// ------------------------------------------------------------------------------
rg1.Freq = rc1.SetpointValue;
RG_MACRO(rg1)
// ------------------------------------------------------------------------------
// Measure phase currents, subtract the offset and normalize from (-0.5,+0.5) to (-1,+1).
// Connect inputs of the CLARKE module and call the clarke transformation macro
// ------------------------------------------------------------------------------
clarke1.As = _IQmpy2(offsetA -_IQ12toIQ(AdcResult.ADCRESULT1));// Phase A curr. SPM U Phase
clarke1.Bs = _IQmpy2(offsetB - _IQ12toIQ(AdcResult.ADCRESULT2 ));// Phase B curr. SPM V Phase
CLARKE_MACRO(clarke1)
// ------------------------------------------------------------------------------
// Connect inputs of the PARK module and call the park trans. macro
// ------------------------------------------------------------------------------
park1.Alpha = clarke1.Alpha;
park1.Beta = clarke1.Beta;
if(lsw==0) park1.Angle = 0;
else if(lsw==1) park1.Angle = rg1.Out;
else park1.Angle = qep1.ElecTheta;
park1.Sine = _IQsinPU(park1.Angle);
park1.Cosine = _IQcosPU(park1.Angle);
PARK_MACRO(park1)
// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PID speed controller macro
// ------------------------------------------------------------------------------
if (SpeedLoopCount==SpeedLoopPrescaler)
{
pi_spd.Ref = rc1.SetpointValue;
pi_spd.Fbk = speed1.Speed;
PI_MACRO(pi_spd);
SpeedLoopCount=1;
}
else SpeedLoopCount++;
if(lsw!=2) {pi_spd.ui=0; pi_spd.i1=0;}
// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PID IQ controller macro
// ------------------------------------------------------------------------------
if(lsw==0) pi_iq.Ref = 0;
else if(lsw==1) pi_iq.Ref = IqRef;
else pi_iq.Ref = pi_spd.Out;
pi_iq.Fbk = park1.Qs;
PI_MACRO(pi_iq)
// ------------------------------------------------------------------------------
// Connect inputs of the PI module and call the PID ID controller macro
// ------------------------------------------------------------------------------
if(lsw==0) pi_id.Ref = _IQ(0.1);
else pi_id.Ref = IdRef;
pi_id.Fbk = park1.Ds;
PI_MACRO(pi_id)
// ------------------------------------------------------------------------------
// Connect inputs of the INV_PARK module and call the inverse park trans. macro
// ------------------------------------------------------------------------------
ipark1.Ds = pi_id.Out;
ipark1.Qs = pi_iq.Out;
ipark1.Sine=park1.Sine;
ipark1.Cosine=park1.Cosine;
IPARK_MACRO(ipark1)
// ------------------------------------------------------------------------------
// Detect calibration angle (optional) and call the QEP module
// ------------------------------------------------------------------------------
if (lsw==0) {EQep1Regs.QPOSCNT=0; EQep1Regs.QCLR.bit.IEL = 1;} // Reset position cnt.
// if ((EQep1Regs.QFLG.bit.IEL==1) && Init_IFlag==0) // Check the first index occurrence
// {qep1.CalibratedAngle= EQep1Regs.QPOSILAT; Init_IFlag++;} // Keep the latched position
if (lsw!=0) QEP_MACRO(1,qep1);
// ------------------------------------------------------------------------------
// Connect inputs of the SPEED_FR module and call the speed calculation macro
// ------------------------------------------------------------------------------
speed1.ElecTheta = _IQ24toIQ((int32)qep1.ElecTheta);
speed1.DirectionQep = (int32)(qep1.DirectionQep);
SPEED_FR_MACRO(speed1)
// ------------------------------------------------------------------------------
// Connect inputs of the SVGEN_DQ module and call the space-vector gen. macro
// ------------------------------------------------------------------------------
svgen1.Ualpha = ipark1.Alpha;
svgen1.Ubeta = ipark1.Beta;
SVGENDQ_MACRO(svgen1)
// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation macro
// ------------------------------------------------------------------------------
pwm1.MfuncC1 = svgen1.Ta;
pwm1.MfuncC2 = svgen1.Tb;
pwm1.MfuncC3 = svgen1.Tc;
PWM_MACRO(1,2,3,pwm1) // Calculate the new PWM compare values
// ------------------------------------------------------------------------------
// Connect inputs of the PWMDAC module
// ------------------------------------------------------------------------------
pwmdac1.MfuncC1 = clarke1.As;
pwmdac1.MfuncC2 = clarke1.Bs;
PWMDAC_MACRO(6,pwmdac1) // PWMDAC 6A, 6B
pwmdac1.MfuncC1 = rg1.Out;
pwmdac1.MfuncC2 = speed1.ElecTheta ;
PWMDAC_MACRO(7,pwmdac1)
// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = (int16)_IQtoIQ15(qep1.ElecTheta);
DlogCh2 = (int16)_IQtoIQ15(rg1.Out);
DlogCh3 = (int16)_IQtoIQ15(clarke1.As);
DlogCh4 = (int16)_IQtoIQ15(clarke1.Bs);
#endif // (BUILDLEVEL==LEVEL4)
// ------------------------------------------------------------------------------
// Call the DATALOG update function.
// ------------------------------------------------------------------------------
dlog.update(&dlog);
// Enable more interrupts from this timer
AdcRegs.ADCINTFLG.bit.ADCINT1 = 1;
// Acknowledge interrupt to recieve more interrupts from PIE group 3
PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
} // MainISR Ends Here
/**********************************************************/
/********************Offset Compensation*******************/
/**********************************************************/
////*******CRC16 HESAPLAMA *****////////////
Uint16 CRC16Hesapla(int *p_mes, Uint32 len)
{
Uint16 i;
Uint16 crc = CRC_16_INIT_VAL;
for ( i = 0; i < len; i++ )
{
CRC_16(crc, p_mes[i]);
}
return crc;
}
/////////////////////////////////////////////
interrupt void sciaRxFifoIs(void)
{
SCI_RECEIVE_MACRO(1, sci_rec1)
// All data are received
RS422_int_flag = 1;
SciaRegs.SCIFFRX.bit.RXFFOVRCLR = 1; // Clear Overflow flag
SciaRegs.SCIFFRX.bit.RXFFINTCLR = 1; // Clear Interrupt flag
//////////////////////////////////////////////////////////////////////////////////////////////////
// EKU'DEN YKS'YE GELEN EMIR VE REFERANS HIZ BILGILERININ ATANMASI //
RS_422_ADRESS_RX = sci_rec1.sci_receive_data[0]; //RDS_422_RECIVER_ADRES
Commen_type = sci_rec1.sci_receive_data[1]; //YKS_EMIR_BYTE
Ref_Speed_RPM_higByte = sci_rec1.sci_receive_data[2]; //YKS_REFERANS_HIZ_HIGH_BYTE
Ref_Speed_RPM_lowByte = sci_rec1.sci_receive_data[3]; //YKS_REFERANS_HIZ_LOW_BYTE
CRC16_HIGH_RX = sci_rec1.sci_receive_data[4]; //FROM_EKU_CRC16_HIGH_BYTE
CRC16_LOW_RX = sci_rec1.sci_receive_data[5]; //FROM_EKU_CRC16_LOW_BYTE
//////////////////////////////////////////////////////////////////////////////////////////////////
SciaRegs.SCIFFRX.bit.RXFFOVRCLR = 1; // Clear Overflow flag
SciaRegs.SCIFFRX.bit.RXFFINTCLR = 1; // Clear Interrupt flag
PieCtrlRegs.PIEACK.all = PIEACK_GROUP9;
}
interrupt void QepIEL(void)
{
#if (CAL_BUL == CAL_BUL0)
index_deger++;
GpioDataRegs.GPATOGGLE.bit.GPIO8 = 1; // toggle the D2(Red led)
#if (BUILDLEVEL==LEVEL4 || BUILDLEVEL==LEVEL4_CAL)
if ( Init_IFlag == 0 )
{
qep1.CalibratedAngle = EQep1Regs.QPOSILAT; // latch to calibrated angle
Init_IFlag++;
}
// if ( Init_IFlag >= 5 )
// {
// lsw = 2;
// }
Init_IFlag++;
#endif
#endif
/* if ((EQep1Regs.QFLG.bit.IEL ==1) && Init_IFlag==0) // Check the index occurrence
{qep1.CalibratedAngle= EQep1Regs.QPOSILAT; Init_IFlag++;}*/
EQep1Regs.QCLR.bit.IEL = 1; // IEL flag i temizlendi
EQep1Regs.QCLR.all = 0x0FFF;
PieCtrlRegs.PIEACK.all = PIEACK_GROUP5;
}
interrupt void OffsetISR(void)
{
// Verifying the ISR
IsrTicker++;
// DC offset measurement for ADC
if ( IsrTicker >= 5000 )
{
offsetA = _IQmpy(K1,
offsetA) + _IQmpy(K2, _IQ12toIQ(AdcResult.ADCRESULT1)); //Phase A offset
offsetB = _IQmpy(K1,
offsetB) + _IQmpy(K2, _IQ12toIQ(AdcResult.ADCRESULT2)); //Phase B offset
offsetC = _IQmpy(K1,
offsetC) + _IQmpy(K2, _IQ12toIQ(AdcResult.ADCRESULT3)); //Phase C offset
offsetDC_bara =
_IQmpy(K1,
offsetDC_bara) + _IQmpy(K2, _IQ12toIQ(AdcResult.ADCRESULT8)); //DC Bara offset
}
if ( IsrTicker > 20000 )
{
EALLOW;
PieVectTable.ADCINT1 = &MainISR;
EDIS;
}
// Enable more interrupts from this timer
AdcRegs.ADCINTFLG.bit.ADCINT1 = 1;
// Acknowledge interrupt to recieve more interrupts from PIE group 1
PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
}
//*************** End of Offset Comp. ********************//
/**********************************************************/
/***************Protection Configuration*******************/
/**********************************************************/
void HVDMC_Protection(void)
{
// Configure Trip Mechanism for the Motor control software
// -Cycle by cycle trip on CPU halt
// -One shot IPM trip zone trip
// These trips need to be repeated for EPWM1 ,2 & 3
//===========================================================================
//Motor Control Trip Config, EPwm1,2,3
//===========================================================================
/* EALLOW;
// CPU Halt Trip
EPwm1Regs.TZSEL.bit.CBC6=0x1;
EPwm2Regs.TZSEL.bit.CBC6=0x1;
EPwm3Regs.TZSEL.bit.CBC6=0x1;
EPwm1Regs.TZSEL.bit.OSHT1 = 1; //enable TZ1 for OSHT
EPwm2Regs.TZSEL.bit.OSHT1 = 1; //enable TZ1 for OSHT
EPwm3Regs.TZSEL.bit.OSHT1 = 1; //enable TZ1 for OSHT
// What do we want the OST/CBC events to do?
// TZA events can force EPWMxA
// TZB events can force EPWMxB
EPwm1Regs.TZCTL.bit.TZA = TZ_FORCE_LO; // EPWMxA will go low
EPwm1Regs.TZCTL.bit.TZB = TZ_FORCE_LO; // EPWMxB will go low
EPwm2Regs.TZCTL.bit.TZA = TZ_FORCE_LO; // EPWMxA will go low
EPwm2Regs.TZCTL.bit.TZB = TZ_FORCE_LO; // EPWMxB will go low
EPwm3Regs.TZCTL.bit.TZA = TZ_FORCE_LO; // EPWMxA will go low
EPwm3Regs.TZCTL.bit.TZB = TZ_FORCE_LO; // EPWMxB will go low
EDIS;
// Clear any spurious OV trip
EPwm1Regs.TZCLR.bit.OST = 1;
EPwm2Regs.TZCLR.bit.OST = 1;
EPwm3Regs.TZCLR.bit.OST = 1;
*/
//************************** End of Prot. Conf. ***************************//
}
//===========================================================================
// No more.
//===========================================================================
您好！
我正在使用具有高压 PM 电机的电机控制器。 如上所述 C 语言主代码、我无法控制使用增强型传感 PM 代码的 PM 电机。 在4级、我认为我找到了特定的转子角度、但我只能轻松地控制高达+/-3500rpm 的电机。 电机的 PI 速度最大和最小限制使我能够以最大9000RPM 的速度驱动电机。 当电机超过3500rpm 时无法控制时、我无法修复该问题。
我 还意识到、在3500rpm 时、主叶巴拉的电流开始缓慢增加。 我尝试通过使用 KP 和 KI 重新调整 PI 参数来降低速度、Id 和 Iq。 我不知道我确切地使用了正确的 Kp 和 Ki 参数
我可以驱动电机270DC、2.01 Ω RLL、3.84mH
电机有4个极对、
有用于1024的编码器
