/******************************************************************************** **** Copyright (C), 2020, Fortior Technology Co., Ltd. **** ******************************************************************************** File Name : FocControlFunction.c Author : Bruce HW&RD Date : 2020-10-13 Description : .C file function description Version : 1.0 Function List : Record : 1.Date : 2020-10-13 Author : Bruce HW&RD Modification: Created file ********************************************************************************/ #include "FU68xx_5.h" #include CurrentOffset xdata mcCurOffset; /*---------------------------------------------------------------------------*/ /* Name : void FOC_Init(void) /* Input : NO /* Output : NO /* Description: mcInit状态下，对FOC的相关寄存器进行配置,先清理寄存器，后配置，最后使能 /*---------------------------------------------------------------------------*/ void FOC_Init(void) { DRV_CMR = 0x0ABF; // UH/VH/WH UL/VL/WL 互补并使能 /*使能FOC*/ ClrBit(DRV_CR, DRVEN); // 关闭DRVIVER 计时器,防止第一拍采样出错 ClrBit(DRV_CR, FOCEN); SetBit(DRV_CR, FOCEN); SetBit(FOC_CR0, MERRS1); //FTC6804新增200190530 SetBit(FOC_CR0, MERRS0); //FTC6804新增200190530 FOC_EOMEKLPF = 0xff; //速度滤波系数,值越小滤波深度越深 FOC_KFG = 0; //FG计算系数 = 6M(TIM4分频结果)/640（FBase） /*配置FOC寄存器*/ FOC_CR1 = 0; // 清零 FOC_CR1 FOC_CR2 = 0; // 清零 FOC_CR2 FOC_IDREF = 0; // 清零 Id FOC_IQREF = 0; // 清零 Iq FOC__THETA = 0; // 清零 角度 FOC_RTHEACC = 0; // 清零 爬坡函数的初始加速度 FOC__RTHESTEP = 0; // 清零 爬坡速度 FOC_RTHECNT = 0; // 清零 爬坡次数 FOC_THECOMP = Start_FOC_THECOMP; // SMO 估算补偿角 FOC_THECOR = 0x02; // 误差角度补偿 mcFocCtrl.STT_FOC_THECOMP = Start_FOC_THECOMP; /*电流环参数配置*/ FOC_DKP = DQKP; FOC_DKI = DQKI; FOC_QKP = DQKP; FOC_QKI = DQKI; FOC_ID_LPFK = 250; FOC_IQ_LPFK = 250; FOC_DMAX = DOUTMAX; FOC_DMIN = DOUTMIN; FOC_QMAX = QOUTMAX; FOC_QMIN = QOUTMIN; SetBit(FOC_CR0, ESCMS); //选择arctan估算模式 /*位置估算参数配置*/ /*********PLL或SMO**********/ #if (EstimateAlgorithm == SMO) { ClrBit(FOC_CR2, ESEL); ClrBit(FOC_CR3, MFP_EN); } #elif (EstimateAlgorithm == AO) { SetBit(FOC_CR3, MFP_EN); ClrBit(FOC_CR2, ESEL); } #elif (EstimateAlgorithm == PLL) { ClrBit(FOC_CR3, MFP_EN); SetBit(FOC_CR2, ESEL); FOC_KSLIDE = OBSE_PLLKP_GAIN1; FOC_EKLPFMIN = OBSE_PLLKI_GAIN1; } #endif //end SVPMW_Mode FOC_EK1 = OBS_K1T; FOC_EK2 = OBS_K2T; FOC_EK3 = OBS_K3T; FOC_EK4 = OBS_K4T; FOC_KSLIDE = OBS_KSLIDE; FOC_EKLPFMIN = OBS_EA_KS; FOC_FBASE = OBS_FBASE; FOC_OMEKLPF = SPEED_KLPF; FOC_TGLI = PWM_TGLI_LOAD; SetBit(FOC_CR1, SVPWMEN); // SVPWM模式 #if (IRMODE == 1) { SetBit(DRV_CR, DDIR); // 反转标志位 } #elif (IRMODE == 0) { ClrBit(DRV_CR, DDIR); // 反转标志位 } #endif //end IRMODE /**过调制**/ #if (OverModulation == 1) { SetBit(FOC_CR1, OVMDL); // 过调制 } #endif //end OverModulation /*单电阻采样；需要最小采样窗,FOC_TRGDLY为0，七段式SVPWM方式*/ #if (Shunt_Resistor_Mode == Single_Resistor) { SetReg(FOC_CR1, CSM0 | CSM1, 0x00); FOC_TSMIN = PWM_TS_LOAD; // 最小采样窗口 FOC_TRGDLY = 0x3B; // 采样时刻在中点，一般考虑开关噪声影响，会设置延迟；3B #if (SVPMW_Mode == SVPWM_7_Segment) { ClrBit(FOC_CR2, F5SEG); // 7段式 } #elif (SVPMW_Mode == SVPWM_5_Segment) { SetBit(FOC_CR2, F5SEG); // 5段式 } #endif } /*双电阻采样，可设置死区补偿值，在下降沿结束前开始采样Ia，配置81*/ #elif (Shunt_Resistor_Mode == Double_Resistor) // double resistor sample { SetReg(FOC_CR1, CSM0 | CSM1, CSM0); FOC_TSMIN = PWM_DT_LOAD; // 死区补偿值 FOC_TRGDLY = 0x05; // ADC采样的时刻，采样时刻在计数器零点附近，83为下降沿结束前3个clock采样Ia，与单电阻不同 // 01为上升沿开始后第一个clock开始采样。根据实际情况调整。 FOC_TBLO = PWM_DLOWL_TIME; //下桥臂最小脉冲，保证采样 /*五段式或七段式选择*/ #if (SVPMW_Mode == SVPWM_7_Segment) { ClrBit(FOC_CR2, F5SEG); // 7段式 } #elif (SVPMW_Mode == SVPWM_5_Segment) { SetBit(FOC_CR2, F5SEG); // 5段式 } #endif #if (DouRes_Sample_Mode == DouRes_1_Cycle) { ClrBit(FOC_CR2, DSS); // 7段式 } #elif (DouRes_Sample_Mode == DouRes_2_Cycle) { SetBit(FOC_CR2, DSS); // 5段式 } #endif //end DouRes_Sample_Mode } /*三电阻采样*/ #elif (Shunt_Resistor_Mode == Three_Resistor) // signel resistor sample { SetReg(FOC_CR1, CSM0 | CSM1, CSM0 | CSM1); // 三电阻 FOC_TSMIN = PWM_DT_LOAD; // 死区补偿值 FOC_TRGDLY = 0x08; // ADC采样的时刻，采样时刻在计数器零点附近，83为下降沿结束前3个clock采样Ia，与单电阻不同。 // 01为上升沿开始后第一个clock开始采样。根据实际情况调整。 FOC_TBLO = PWM_OVERMODULE_TIME; // 过调制电流采样处理的TB脉宽 /*五段式或七段式选择*/ #if (SVPMW_Mode == SVPWM_7_Segment) { ClrBit(FOC_CR2, F5SEG); // 7段式 } #elif (SVPMW_Mode == SVPWM_5_Segment) { SetBit(FOC_CR2, F5SEG); // 5段式 } #endif //end SVPMW_Mode #if (DouRes_Sample_Mode == DouRes_1_Cycle) { ClrBit(FOC_CR2, DSS); // 7段式 } #elif (DouRes_Sample_Mode == DouRes_2_Cycle) { SetBit(FOC_CR2, DSS); // 5段式 } #endif //end DouRes_Sample_Mode } #endif //end Shunt_Resistor_Mode /* 使能电流基准校正 */ #if (CalibENDIS == Enable) { if (mcCurOffset.OffsetFlag == 1) { #if (Shunt_Resistor_Mode == Single_Resistor) // 单电阻校正 { /*set ibus current sample offset*/ SetReg(FOC_CR2, CSOC0 | CSOC1, 0x00); FOC_CSO = mcCurOffset.Iw_busOffset; // 写入Ibus的偏置 } #elif (Shunt_Resistor_Mode == Double_Resistor) // 双电阻校正 { /*set ia, ib current sample offset*/ SetReg(FOC_CR2, CSOC0 | CSOC1, CSOC0); FOC_CSO = mcCurOffset.IuOffset; // 写入IA的偏置 SetReg(FOC_CR2, CSOC0 | CSOC1, CSOC1); FOC_CSO = mcCurOffset.IvOffset; // 写入IB的偏置 } #elif (Shunt_Resistor_Mode == Three_Resistor) // 三电阻校正 { /*set ibus current sample offset*/ SetReg(FOC_CR2, CSOC0 | CSOC1, CSOC0); FOC_CSO = mcCurOffset.IuOffset; // 写入IA的偏置 SetReg(FOC_CR2, CSOC0 | CSOC1, CSOC1); FOC_CSO = mcCurOffset.IvOffset; // 写入IB的偏置 SetReg(FOC_CR2, CSOC0 | CSOC1, 0x00); FOC_CSO = mcCurOffset.Iw_busOffset; // 写入IC的偏置 } #endif //end Shunt_Resistor_Mode } } #endif //end CalibENDIS /* ------------------------------------------------------------------------------------------------- DRV_CTL：PWM来源选择 OCS = 0, DRV_COMR OCS = 1, FOC/SVPWM/SPWM -------------------------------------------------------------------------------------------------*/ // ClrBit(DRV_CR , DRVEN); // _nop_();_nop_();_nop_();_nop_(); SetBit(DRV_CR, DRVEN); /*计数器比较值来源FOC*/ SetBit(DRV_CR, OCS); } /*---------------------------------------------------------------------------*/ /* Name : void Motor_Charge(void) /* Input : NO /* Output : NO /* Description: 预充电，当一直处于预充电状态下，不接电机，可用于验证IPM或者Mos。 预充电分三步 第一步是对U相进行预充电 第二步是对U,V两相进行预充电 第三步是对U、V、W三相进行预充电。 /*---------------------------------------------------------------------------*/ void Motor_Charge(void) { if (McStaSet.SetFlag.ChargeSetFlag == 0) { McStaSet.SetFlag.ChargeSetFlag = 1; DRV_DR = Calib_Duty * DRV_ARR; //下桥臂10% duty // DRV_CMR = 0x00; /* --------------------------------------------------------------------- DRV_CTL：PWM来源选择 OCS = 0, DRV_COMR OCS = 1, FOC/SVPWM/SPWM ----------------------------------------------------------------------*/ ClrBit(DRV_CR, OCS); mcFocCtrl.ChargeStep = 0; } if ((mcFocCtrl.State_Count < Charge_Time) && (mcFocCtrl.ChargeStep == 0)) { mcFocCtrl.ChargeStep = 1; DRV_CMR |= 0x01; // U相下桥臂通 MOE = 1; } if (( mcFocCtrl.State_Count <= (Charge_Time << 1) / 3) && (mcFocCtrl.ChargeStep == 1)) { mcFocCtrl.ChargeStep = 2; DRV_CMR |= 0x04; // V相下桥臂导通 } if ((mcFocCtrl.State_Count <= Charge_Time / 3) && (mcFocCtrl.ChargeStep == 2)) { mcFocCtrl.ChargeStep = 3; DRV_CMR |= 0x10; // W相下桥臂导通 } } /*---------------------------------------------------------------------------*/ /* Name : void Motor_Align(void) /* Input : NO /* Output : NO /* Description: 预定位函数，当无逆风判断时，采用预定位固定初始位置;当有逆风判断时，采用预定位刹车 /*---------------------------------------------------------------------------*/ void Motor_Align(void) { if (McStaSet.SetFlag.AlignSetFlag == 0) { McStaSet.SetFlag.AlignSetFlag = 1; /*FOC初始化*/ FOC_Init(); /*配置预定位的电流、KP、KI*/ FOC_IDREF = 0;//ID_Align_CURRENT; FOC_IQREF = 0;//IQ_Align_CURRENT; FOC_DKP = DQKP_Alignment; FOC_DKI = DQKI_Alignment; FOC_QKP = DQKP_Alignment; FOC_QKI = DQKI_Alignment; FOC_EKP = OBSW_KP_GAIN; FOC_EKI = OBSW_KI_GAIN; // /*配置预定位角度*/ // FOC__THETA = 0;//Align_Theta; /*********PLL或SMO**********/ #if (EstimateAlgorithm == SMO) FOC__ETHETA = FOC__THETA - 4836; #elif (EstimateAlgorithm == PLL) FOC__ETHETA = FOC__THETA; #endif //end EstimateAlgorithm /*使能输出*/ DRV_CMR |= 0x0abF; // U、V、W相上下互补输出 FTC6805 MOE = 1; } if (mcFocCtrl.State_Count > (AlignmentHoldTime1 + AlignmentHoldTime2)) /* Ramp 1s */ { mcFocCtrl.CurrentAlignStatus = 0; FOC__THETA = Align_Angle1; FOC_IDREF = ID_Align_CURRENT_End * (Align_Time - mcFocCtrl.State_Count) / AlignmentRampTime; } else if (mcFocCtrl.State_Count > AlignmentHoldTime2) /* Hold 900ms*/ { mcFocCtrl.CurrentAlignStatus = 1; FOC__THETA = Align_Angle1; FOC_IDREF = ID_Align_CURRENT_End; } else if (mcFocCtrl.State_Count > 0) /* Hold */ { mcFocCtrl.CurrentAlignStatus = 2; FOC__THETA = Align_Angle2; FOC_IDREF = ID_Align_CURRENT_End; } else { mcState = mcStart; } } /*---------------------------------------------------------------------------*/ /* Name : void Motor_Open(void) /* Input : NO /* Output : NO /* Description: 开环启动的参数配置 /*---------------------------------------------------------------------------*/ void Motor_Open(void) { static uint8 OpenRampCycles; if (McStaSet.SetFlag.StartSetFlag == 0) { McStaSet.SetFlag.StartSetFlag = 1; } FOC_Init(); FOC__THETA = _Q15((float)0.0 / 180.0); /*********PLL或SMO**********/ #if ((EstimateAlgorithm == SMO)||(EstimateAlgorithm == AO)) FOC__ETHETA = FOC__THETA - 4836; //SMO估算角度延迟 #elif (EstimateAlgorithm == PLL) FOC__ETHETA = FOC__THETA; #endif //end EstimateAlgorithm FOC__EOME = 0; /*启动电流、KP、KI、FOC_EKP、FOC_EKI*/ FOC_IDREF = ID_Start_CURRENT; // D轴启动电流 mcFocCtrl.mcIqref = IQ_Start_CURRENT; // Q轴启动电流 mcFocCtrl.iiqq = IQ_Start_CURRENT; FOC_DKP = DQKPStart; FOC_DKI = DQKIStart; FOC_QKP = DQKPStart; FOC_QKI = DQKIStart; FOC_EKP = OBSW_KP_GAIN; FOC_EKI = OBSW_KI_GAIN; /*启动方式选择*/ #if (Open_Start_Mode == Omega_Start) // Omega 启动 FOC_EFREQACC = Motor_Omega_Ramp_ACC; FOC_EFREQMIN = Motor_Omega_Ramp_Min; FOC_EFREQHOLD = Motor_Omega_Ramp_End; SetReg(FOC_CR1, EFAE | RFAE | ANGM, EFAE | ANGM); #if (IFFDebugg==1) { /*估算器禁止输出*/ ClrBit(FOC_CR1, EFAE); // 禁止估算器强制输出 ClrBit(FOC_CR1, RFAE); // 使能强拉 ClrBit(FOC_CR1, ANGM); // 禁止估算器输出 } #endif #elif (Open_Start_Mode == Open_Start) FOC_RTHEACC = Motor_Open_Ramp_ACC; // 爬坡函数的初始加速度 FOC__RTHESTEP = Motor_Open_Ramp_Min; // 0.62 degree acce speed FOC_RTHECNT = MOTOR_OPEN_ACC_CNT; // acce time SetReg(FOC_CR1, EFAE | RFAE | ANGM, RFAE); #elif (Open_Start_Mode == Open_Omega_Start) FOC_RTHEACC = Motor_Open_Ramp_ACC; // 爬坡函数的初始加速度 FOC__RTHESTEP = Motor_Open_Ramp_Min; // 0.62 degree acce speed FOC_RTHECNT = MOTOR_OPEN_ACC_CNT; // acce time FOC_EFREQACC = Motor_Omega_Ramp_ACC; FOC_EFREQMIN = Motor_Omega_Ramp_Min; FOC_EFREQHOLD = Motor_Omega_Ramp_End; SetReg(FOC_CR1, EFAE | RFAE | ANGM, EFAE | RFAE | ANGM); #endif //end Open_Start_Mode /*不同启动方式下，切换到MCRUN状态*/ #if (Open_Start_Mode == Open_Start) //OPEN状态启动时拖动多次 if (OpenRampCycles < (MOTOR_OPEN_ACC_CYCLE - 1)) { if (!ReadBit(FOC_CR1, RFAE)) { SetBit(FOC_CR1, RFAE); OpenRampCycles++; } } else { mcFocCtrl.State_Count = 2; mcState = mcRun; } FOC_EKP = OBSW_KP_GAIN_RUN4; // 估算器里的PI的KP FOC_EKI = OBSW_KI_GAIN_RUN4; // 估算器里的PI的KI #elif (Open_Start_Mode == Open_Omega_Start) mcFocCtrl.State_Count = 2600; mcState = mcRun; #elif (Open_Start_Mode == Omega_Start) /*********PLL或SMO**********/ mcFocCtrl.State_Count = 1200; mcState = mcRun; #endif //end Open_Start_Mode FOC_IQREF = mcFocCtrl.mcIqref; // Q轴启动电流 } /*---------------------------------------------------------------------------*/ /* Name : void MC_Stop(void) /* Input : NO /* Output : NO /* Description: inital motor control parameter /*---------------------------------------------------------------------------*/ void MC_Stop(void) { MOE = 0; ClrBit(DRV_CR, FOCEN); //关闭FOC // disable FOC output and initial register mcState = mcInit; } /* ------------------------------------------------------------------------------------------------- Function Name : void MotorControlInit(void) Description : 控制变量初始化清零,包括保护参数的初始化、电机状态初始化 Input : 输入说明（详细） Output : 输出说明（详细） -------------------------------------------------------------------------------------------------*/ void MotorcontrolInit(void) { memset(&Uartwatch, 0, sizeof(MCUART_watch)); memset(&RealTempR, 0, sizeof(ADCRR)); /***********保护******************/ memset(&mcFaultDect, 0, sizeof(FaultVarible)); // FaultVarible变量清零 /************保护次数*************/ memset(&mcProtectTime, 0, sizeof(ProtectVarible)); // ProtectVarible保护次数清零 /***********过流保护**************/ memset(&mcCurVarible, 0, sizeof(CurrentVarible)); // 电流保护的变量清零 memset(&Uart, 0, sizeof(MCUART)); memset(&Fengji_FG, 0, sizeof(FENGFG)); memset(&Time, 0, sizeof(TIMERTypeDef)); memset(&bujindianji, 0, sizeof(BUJINDIAN)); // bujindianji.bujinsuss = 1; memset(&PFCFaultDect, 0, sizeof(PFCFaultVarible)); memset(&ConTrolCmd, 0, sizeof(CONTROLCMDD)); #if (PFCEnable==1) memset(&PFCSet, 0, sizeof(PFCValue)); PFCCONTROL.FlagONOFF = 0; #endif /*****电机状态机时序变量***********/ McStaSet.SetMode = 0; /*************外部控制环************/ memset(&mcFocCtrl, 0, sizeof(FOCCTRL)); // mcFocCtrl变量清零 mcFocCtrl.mcDcbus_chazhi = 32760; /******ADC采样滤波值*********/ memset(&AdcSampleValue, 0, sizeof(ADCSample)); // ADCSample变量清零 /**************************电流偏置校准变量**********************/ memset(&mcCurOffset, 0, sizeof(CurrentOffset)); // mcCurOffset变量清零 mcCurOffset.IuOffsetSum = 16383; mcCurOffset.IvOffsetSum = 16383; mcCurOffset.Iw_busOffsetSum = 16383; /*****速度环的响应***/ memset(&mcSpeedRamp, 0, sizeof(MCRAMP)); // mcSpeedRamp变量清零 mcSpeedRamp.IncValue = Motor_Speed_Inc; mcSpeedRamp.DecValue = Motor_Speed_Dec; } /*---------------------------------------------------------------------------*/ /* Name : void VariablesPreInit(void) /* Input : NO /* Output : NO /* Description: 初始化电机参数 /*---------------------------------------------------------------------------*/ void VariablesPreInit(void) { /***********保护******************/ mcFaultSource = 0; memset(&mcFaultDect, 0, sizeof(FaultVarible)); // FaultVarible变量清零 /*****外部控制环*******/ memset(&mcFocCtrl, 0, sizeof(FOCCTRL)); // mcFocCtrl变量清零 memset(&mcIimit, 0, sizeof(ILIMIT)); // mcFocCtrl变量清零 mcFocCtrl.mcDcbus_chazhi = 32760; /*****电机状态机时序变量***********/ McStaSet.SetMode = 0; //电流校准标志位置1，其它置0 /*****LED灯响应***/ memset(&mcLedDisplay, 0, sizeof(MCLedDisplay)); // mcLedDisplay变量清零 mcLedDisplay.Counttime = 4999; memset(&VoltageComp, 0, sizeof(VOLCOMP)); } /*---------------------------------------------------------------------------*/ /* Name : void GetCurrentOffset(void) /* Input : NO /* Output : NO /* Description: 上电时，先对硬件电路的电流进行采集，写入对应的校准寄存器中。 调试时，需观察mcCurOffset结构体中对应变量是否在范围内。采集结束后，OffsetFlag置1。 /*---------------------------------------------------------------------------*/ void GetCurrentOffset(void) { if (!mcCurOffset.OffsetFlag) { SetBit(ADC_CR, ADCBSY); // 使能ADC while (ReadBit(ADC_CR, ADCBSY)); #if (Shunt_Resistor_Mode == Single_Resistor) // 29.2ms 单电阻模式，上电验证硬件电路时，需观察mcCurOffset.IbusOffset是否为4096 mcCurOffset.Iw_busOffsetSum += ((ADC4_DR & 0x7ff8)); mcCurOffset.Iw_busOffset = mcCurOffset.Iw_busOffsetSum >> 4; mcCurOffset.Iw_busOffsetSum -= mcCurOffset.Iw_busOffset; #elif (Shunt_Resistor_Mode == Double_Resistor) //44ms 双电阻模式，上电验证硬件电路时，需观察mcCurOffset.IaOffset、mcCurOffset.IbOffset是否为4096 mcCurOffset.IuOffsetSum += ((ADC0_DR & 0x7ff8)); mcCurOffset.IuOffset = mcCurOffset.IuOffsetSum >> 4; mcCurOffset.IuOffsetSum -= mcCurOffset.IuOffset; mcCurOffset.IvOffsetSum += ((ADC1_DR & 0x7ff8)); mcCurOffset.IvOffset = mcCurOffset.IvOffsetSum >> 4; mcCurOffset.IvOffsetSum -= mcCurOffset.IvOffset; mcCurOffset.Iw_busOffset = mcCurOffset.IvOffset; // // mcCurOffset.Iw_busOffsetSum += ((ADC4_DR& 0x7ff8)); // mcCurOffset.Iw_busOffset = mcCurOffset.Iw_busOffsetSum >> 4; // mcCurOffset.Iw_busOffsetSum -= mcCurOffset.Iw_busOffset; #elif (Shunt_Resistor_Mode == Three_Resistor) //58.2ms 三电阻模式，上电验证硬件电路时，需观察mcCurOffset.IaOffset、mcCurOffset.IbOffset、mcCurOffset.IcOffset是否为4096 mcCurOffset.IuOffsetSum += ((ADC0_DR & 0x7ff8)); mcCurOffset.IuOffset = mcCurOffset.IuOffsetSum >> 4; mcCurOffset.IuOffsetSum -= mcCurOffset.IuOffset; mcCurOffset.IvOffsetSum += ((ADC1_DR & 0x7ff8)); mcCurOffset.IvOffset = mcCurOffset.IvOffsetSum >> 4; mcCurOffset.IvOffsetSum -= mcCurOffset.IvOffset; mcCurOffset.Iw_busOffsetSum += ((ADC4_DR & 0x7ff8)); mcCurOffset.Iw_busOffset = mcCurOffset.Iw_busOffsetSum >> 4; mcCurOffset.Iw_busOffsetSum -= mcCurOffset.Iw_busOffset; #endif mcCurOffset.OffsetCount++; if (mcCurOffset.OffsetCount > Calib_Time) { if (((mcCurOffset.IuOffset > 19959) || (mcCurOffset.IuOffset < 10107)) || ((mcCurOffset.IvOffset > 19959) || (mcCurOffset.IvOffset < 10107)))//偏置电压不在正常范围内 { mcFaultSource = FaultIbusOffset;//进入偏置电压错误保护 FaultProcess(); } else { mcCurOffset.OffsetFlag = 1; } } } } /*---------------------------------------------------------------------------*/ /* Name : void Motor_Ready(void) /* Input : NO /* Output : NO /* Description: 上电时，关闭输出，先对硬件电路的电流进行采集，在FOC_Init中写入对应的校准寄存器中。 调试时，需观察mcCurOffset结构体中对应变量是否在范围内。 /*---------------------------------------------------------------------------*/ void Motor_Ready(void) { if (McStaSet.SetFlag.CalibFlag == 0) { McStaSet.SetFlag.CalibFlag = 1; ClrBit(DRV_CR, FOCEN); // 关闭FOC MOE = 0; // 关闭MOE #if (Shunt_Resistor_Mode == Single_Resistor) SetBit(ADC_MASK, CH4EN | CH3EN | CH2EN | CH1EN | CH0EN);// 开启ADC #else SetBit(ADC_MASK, CH4EN | CH1EN | CH0EN); // 开启ADC #endif mcCurOffset.OffsetCount = 0; mcCurOffset.OffsetFlag = 0; // 开始电流采集 } } /*---------------------------------------------------------------------------*/ /* Name : void Motor_Init(void) /* Input : NO /* Output : NO /* Description: 对电机相关变量、PI进行初始化设置 /*---------------------------------------------------------------------------*/ void Motor_Init(void) { #if ( Shunt_Resistor_Mode == Single_Resistor) { ClrBit(ADC_MASK, CH4EN ); // 关闭软件电流采样的ADC FOC模块会自动调用相应ADC 无需外部使能 } #else { ClrBit(ADC_MASK, CH4EN | CH1EN | CH0EN); // 关闭软件电流采样的ADC FOC模块会自动调用相应ADC 无需外部使能 } #endif VariablesPreInit(); // 电机相关变量初始化 PI_Init(); // PI初始化 #if (FiledWeakenCompEnable==1) { memset(&mcFieldWeaken, 0, sizeof(FieldWeakeningTypeDef)); } #endif #if (IQCOMPENSATEENBLE==1) MCTorqueCompensationCodeInit(); #endif }