AC-Fan-JingDa-FU6562T/User/Source/MotorControl.c

/**
    @copyright (C) COPYRIGHT 2022 Fortiortech Shenzhen
    @file      MotorControl.c
    @author    Fortiortech  Appliction Team
    @since     Create:2021-04-10
    @date      Last modify:2022-07-14
    @note      Last modify author is Marcel
    @brief
*/

#include <MyProject.h>
/* Private variables ----------------------------------------------------------------------------*/

MotStateType data mcState;
MotStaM McStaSet;

/**
    @brief     电机控制状态机
    @warning   电机的状态只能在电机状态控制中切换，禁止在其他地方切换电机状态
    @date      2022-07-14
*/
void MC_Control(void)
{
    switch (mcState)
    {
    case mcReady:
        Motor_Ready();

        if (mcFaultSource != FaultNoSource)
        {
            mcState = mcFault;
        }
        else if ((mcCurOffset.OffsetFlag == 1) && (isCtrlPowOn))
        {
            mcState = mcInit;
            mcCurOffset.OffsetFlag = 0;
            mcCurOffset.OffsetCount = 0; // 偏置电压采集计数
            KS.ChangeKeyFlg = 1;
        }
        else
        {
        }

        break;

    case mcInit:
        if (mcFaultSource != FaultNoSource)
        {
            mcState = mcFault;
        }
        else if (!isCtrlPowOn)
        {
            mcState = mcStop;
        }
        else if (mcCurOffset.OffsetFlag == 1)
        {
            Motor_Init();
            #if (CHARGE_EN == Enable)
							mcFocCtrl.State_Count = CHARGE_TIME;
							mcState = mcCharge; // 跳入mcCharge状态
            #else
							#if (TAILWIND_MODE == NoTailWind)
							  #if (PosCheckEnable == Enable)
										mcState = mcPosiCheck;
										McStaSet.SetFlag.PosiCheckSetFlag = 0;
										mcFocCtrl.mcPosCheckAngle = 0xffff; // 角度赋初值
                #elif (ALIGN_MOME != ALIGN_DSIABLE)
                    mcFocCtrl.mcPosCheckAngle = Align_Angle;
								    mcState = mcAlign;
								    mcFocCtrl.State_Count = Align_Time;
                #else
                   mcState = mcStart;
                 #endif
             #else
								mcFocCtrl.State_Count = TAILWIND_TIME; // 顺逆风判断时间
								mcState = mcTailWind;
              #endif
           #endif
        }

        break;

    case mcCharge:
        if (mcFaultSource != FaultNoSource)
        {
            mcState = mcFault;
        }
        else if (!isCtrlPowOn)
        {
            mcState = mcStop;
        }
        else
        {
            Motor_Charge();
           #if (IPMTEST == Enable)
            {
                ;
            }
            #else

            if (mcFocCtrl.State_Count == 0)
            {
                MOE = 0; // 关闭输出
               #if (TAILWIND_MODE == NoTailWind)
                {
                   #if (PosCheckEnable == Enable)
                    mcState = mcPosiCheck;
                    McStaSet.SetFlag.PosiCheckSetFlag = 0;
                    mcFocCtrl.mcPosCheckAngle = 0xffff; // 角度赋初值
                  #elif (ALIGN_MOME != ALIGN_DSIABLE)
                    mcFocCtrl.mcPosCheckAngle = Align_Angle;
                    mcState = mcAlign;
                    mcFocCtrl.State_Count = Align_Time;
                  #else
                    mcState = mcStart;
                  #endif
                }
                #else
                mcFocCtrl.State_Count = TAILWIND_TIME; // 顺逆风判断时间
                mcState = mcTailWind;
               #endif
            }

            #endif
        }

        break;
   #if (TAILWIND_MODE != NoTailWind)

    case mcTailWind:
        if (mcFaultSource != FaultNoSource)
        {
            mcState = mcFault;
        }
        else if (!isCtrlPowOn)
        {
            mcState = mcStop;
        }
        else
        {
            Motor_TailWind();
        }

        break;
   #endif
   #if (PosCheckEnable == Enable)

    case mcPosiCheck:
        if (mcFaultSource != FaultNoSource)
        {
            mcState = mcFault;
        }
        else if (!isCtrlPowOn)
        {
            mcState = mcStop;
        }
        else
        {
            if (mcFocCtrl.State_Count == 0)
            {
                mcFocCtrl.mcPosCheckAngle = 0;
                mcState = mcAlign;
                mcFocCtrl.State_Count = Align_Time;
            }
        }

        break;
  #endif
  #if (ALIGN_MOME != ALIGN_DSIABLE)

    case mcAlign:
        if (mcFaultSource != FaultNoSource)
        {
            mcState = mcFault;
        }
        else if (!isCtrlPowOn)
        {
            mcState = mcStop;
        }
        else
        {
            Motor_Align();
     #if (ALIGN_MOME == ALIGN_TEST)

            while (1)
                ;

     #else

            if (mcFocCtrl.State_Count == 0)
            {
                mcState = mcStart;
                User.TPCtrlDealy = 5000; // 延时启动发热
							 
            }

       #endif
        }

        break;
  #endif

    case mcStart:
        if (mcFocCtrl.Start_Mode == TAILWIND_START) // 顺风启动
        {
           #if (TAILWIND_MODE == BEMFMethod)
            mcState = mcRun;
           #elif (TAILWIND_MODE == RSDMethod)
            mcState = mcRun;
           #elif (TAILWIND_MODE == FOCMethod)
            Motor_FocTailWind_Open();
            mcState = mcRun;
            #endif
        }
        else if (mcFocCtrl.Start_Mode == HEADWIND_START) // 逆风启动
        {
            if (mcFocCtrl.State_Count > 0) // 逆风启动刹车过程
            {
                // 配置刹车代码
                MC_Break();
            }
            else
            {
                mcFocCtrl.State_Count = 200; // 顺逆风判断时间
                mcState = mcReady;           // 刹车结束 切回顺逆风检测
            }
        }
        else // 静止启动
        {
            Motor_Static_Open();
            mcState = mcRun;
        }

        break;

    case mcRun:
        if (mcFaultSource != FaultNoSource)
        {
            mcState = mcFault;
        }
        else if (!isCtrlPowOn)
        {
            mcState = mcStop;
            mcFocCtrl.State_Count = 5; // 单位：1ms
        }
        else
        {
        }
       
        break;

    case mcStop:
        if (mcFaultSource != FaultNoSource)
        {
            mcState = mcFault;
        }
        else
        {
            MC_Stop();
        }

        break;

    case mcBrake:
        if (mcFaultSource != FaultNoSource)
        {
            mcState = mcFault;
        }
        if (mcFocCtrl.State_Count == 0)
        {
            fault.Voltage.VoltDetecBraketDuty = 0;
            fault.Voltage.FlagBrakeInit = 0;
            MOE = 0;
            DRV_OUT = 0x00;
            ClrBit(DRV_CR, FOCEN);
            mcState = mcReady;
            mcFocCtrl.State_Count = 10;
        }

        break;

    case mcFault:
        if (mcFaultSource == FaultUnderVoltageDC)
        {
            UnderProcess();  // 欠压保护处理函数
//            Save_KeyValue(); // 保存按键值
        }
        else
        {
            MOE = 0;
            ClrBit(DRV_CR, FOCEN); // 关闭FOC

            if (mcFaultSource == FaultNoSource)
            {
                mcState = mcReady;
            }
        }

        break;

    default:
        mcState = mcReady;
        break;
    }
}