【正文】 ASKS 3 Number of identical tasks define DRIVE_STAT_STAND_BY 0x0000 define DRIVE_STAT_RUN 0x0001 define DRIVE_STOP 0x0000 request for motor stop define DRIVE_START 0x0001 request for motor start Drive startup word Start_up ________ ____SUFRURLSUC BIT0 Startup mand loaded define START_UP_COMMAND 0x0001 BIT1 Registers cmt_ctrl cmt_out loaded during startup define REGISTERS_LOADED 0x0002 BIT2 request for speed controller enable define ENABLE_SPEED_CONTROL 0x0004 define START_UP_FINISHED 0x0008 BIT3 startup sequence finished accelerationdeceleration constants define ACCEL_CONST_SR 60 acceleration constant define DECEL_CONST_SR 60 deceleration constant Application imum constants used for scaling define APP_OMEGA_ 10000 application speed [RPM] for 100 define APP_DUTY_CYCLE_ 1000 application duty cycle [] speed set after startup [rpm] define OMEGA_DESIRED_STARTUP 500 increment of Omega_desired when Push Button pushed for 115V HVPS Speed calculation define CONST_SPEED_CALC 4266 define SPEED_CONTROLLER_P_SCALE 0 define SPEED_CONTROLLER_P_GAIN 0 define SPEED_CONTROLLER_I_SCALE 19 integration scale define SPEED_CONTROLLER_I_GAIN 26214 integration gain define DUTY_CYCLE_ 1000 high limit of duty cycle define DUTY_CYCLE_MIN 00 low limit of duty cycle define SPEED_CONTROLLER_I_POR_K_1 1800 sensor definition define SENSOR_A 0x0080 Hall sensor A define SENSOR_B 0x0040 Hall sensor B define SENSOR_C 0x0020 Hall sensor C ifdef __cplusplus endif FUNCTION PROTOTYPES Quadrature Timers Prototypes static void QTimerISR_A0 qt_eCallbackType void Hall sensor A IC ISR static void QTimerISR_A1 qt_eCallbackType void Hall sensor B IC ISR static void QTimerISR_A2 qt_eCallbackType void Hall sensor C IC ISR Motor Control PWM Prototypes static void pwm_ReloadA_ISR void PWM RELOAD interrupt service routine static void CommutSpeedCalc UWord16 static void Initialize void Initialisation GLOBAL STATIC VARIABLES static UWord16 Drive_status Drive status word RUN STANDBY static UWord16 Drive_control Drive control word STARTSTOP static UWord16 Start_up word indicating startup procedure flags static UWord16 Sensor_status static Frac16 Omega_desired static Frac16 Omega_mand desired speed after accelerationdeceleration ramp volatile static Frac16 Omega_actual actual motor speed static Word32 Time_captured_delta[4] contains 4 IC samples static UWord16 Old_Time_Captured timer captured by IC static UWord16 Time_Captured_temp timer captured by IC static Word32 Time_captured_filtered filtered value of IC static UWord16 Time_captured_counter counts 4 IC samples static UWord16 Startup_edges_t counter of Hall Sensor edges during startup static Frac16 Output_duty_cycle PWM duty cycle static Frac16 Output_duty_cycle_startup PWM duty cycle during startup static Frac16 Output_duty_cycle_temp PWM duty cycle temporary volatile static UWord16 Inverted_IC indication of inverted 1 and initilaised 0 IC logic static UWord16 result static long Bus_clock_scalled DSP Bus clock 10000 static Frac16 Speed_calc_const const for speed calculation according the Bus Clock PWM static pwm_sOutputControl software_ctrl software control structure static pwm_sCallback pwm_CB definition of PWM calback Quadrature Timer variables static int TimerIC_A0 input capture on timer A channel 0 Hall sensor 0 static int TimerIC_A1 input capture on timer A channel 1 Hall sensor 1 static int TimerIC_A2 input capture on timer A channel 2 Hall Sensor 2 PI Controller structure static mc_sPIparams PIprm structure of PI controloller parameters SRM Commutation Handler srmcmt3ph2spp_eDirection direction direction of rotation srmcmt3ph2spp_ePhase start_phase start phase srmcmt3ph2spp_sData SrmCmtData SRM Commutation Handler structure Files Descriptors int PortE static int pwm0FD static int dec0FD static int ButtonAFD static int ButtonBFD static int PortA spi_sParams SpiParams int SerialMaster UWord16 current UWord16 currentMin UWord16 daControlData UInt32 QtInputFrequency static const qt_sState quadParamA0 Mode qtCount InputSource qtPrescalerDiv128 InputPolarity qtNormal SecondaryInputSource qtSISCounter0Input CountFrequency qtRepeatedly CountLength qtPastCompare CountDirection qtUp OutputMode qtAssertWhileActive OutputPolarity qtNormal OutputDisabled true Master false OutputOnMaster false CoChannelInitialize false AssertWhenForced false CaptureMode qtFallingEdge CompareValue1 0 CompareValue2 0 InitialLoadValue 0 CallbackOnCompare NULL NULL CallbackOnOverfl