/************************************************************************ Project: Welling Motor Control Paltform Filename: tbc.c Partner Filename: tbc.h Description: Time base for current loop Complier: IAR Embedded Workbench for ARM 7.80, IAR Systems. CPU TYPE : GD32F3x0 ************************************************************************* Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd. All rights reserved. ************************************************************************* ************************************************************************* Revising History (ECL of this file): ************************************************************************/ /************************************************************************ Beginning of File, do not put anything above here except notes Compiler Directives: *************************************************************************/ #ifndef _TBC_C_ #define _TBC_C_ #endif /************************************************************************ Included File *************************************************************************/ #include "LoadObsTheta.h" #include "syspar.h" #include "user.h" #include "FSM_1st.h" #include "FSM_2nd.h" #include "spdctrmode.h" #include "queue.h" #include "canAppl.h" #include "alarm.h" #include "AngleObserver_discrete.h" //#include "profiler.h" //#include "STLmain.h" extern ExtU_LoadObsTheta_T LoadObsTheta_U; /************************************************************************* Exported Functions (N/A) *************************************************************************/ /*************************************************************** Function: tbc_voIsr; Description: TBC interrupt service Call by: Input Variables: N/A Output/Return Variables: N/A Subroutine Call: ...; Reference: N/A ****************************************************************/ UWORD tst_CadIO = 0; void tbc_voUpIsr(void) { // PROFILER_START(1); // uart_voAppMonitor(); // switchhall_voPosCalTbc(); // tst_CadIO = iGpio_Read(HW_GPIO_CADENCE_PIN); //// /* Full Order Observer */ //// LoadObsTheta_U.IqFbkPu = scm_swIqFdbLpfPu; //// LoadObsTheta_U.ThetamPu = switchhall_stOut.uwLowThetaPu; //// LoadObsTheta_step(); // // /* Full Order Observer: Hall Angle Filter */ // rtU.AngleIn = switchhall_stOut.uwLowThetaPu; // Trigger(); // // FSM1st_Sys_state.Tbcup_hook(); // PROFILER_END(1); // if( cp_stFlg.ThetaGetModelSelect == ANG_RESOLVER ) // { // /*Resolver lock data*/ // //spi_voResolverLock(); // /* Resolver data read */ // // spi_voResolver(&spi_stResolverCoef, &spi_stResolverOut); // } // else if( cp_stFlg.ThetaGetModelSelect == ANG_SWITCHHALL ) // { // /*Switchhall Position Cal*/ // // } // else // { // // } switchhall_voPosCalTbc(); //角度获取 /* Full Order Observer */ // LoadObsTheta_U.IqFbkPu = scm_swIqFdbLpfPu; // LoadObsTheta_U.ThetamPu = switchhall_stOut.uwLowThetaPu; // LoadObsTheta_step(); /* Full Order Observer: Hall Angle Filter */ rtU.AngleIn = switchhall_stOut.uwLowThetaPu; Trigger(); FSM1st_Sys_state.Tbcup_hook(); //初始状态采集零点AD值，有故障时判断 } /*************************************************************** Function: tbc_voIsr; Description: TBC interrupt service Call by: Input Variables: N/A Output/Return Variables: N/A Subroutine Call: ...; Reference: N/A ****************************************************************/ void tbc_voDownIsr(void) { // tst_CadIO = iGpio_Read(HW_GPIO_CADENCE_PIN); adc_voSampleUp(&adc_stCof, &adc_stUpOut); // if((FALSE == UART_bInsertPendTx)&&(UART_bMonSwitch == FALSE)) // { // stl_voTbcProc(); // } /* Alarm detect */ alm_stIn.blADCInitOvrFlg = sysfsm_stFlg.blADCInitOvrFlg; alm_stIn.uwIpeakPu = adc_stDownOut.uwIpeakPu; // Q14 alm_stIn.swMotorPwrInWt = scm_swMotorPwrInLpfWt; // unit: 0.1w alm_stIn.uwIaAbsPu = adc_stDownOut.uwIaAbsPu; alm_stIn.uwIbAbsPu = adc_stDownOut.uwIbAbsPu; // Q14 alm_stIn.uwIcAbsPu = adc_stDownOut.uwIcAbsPu; // Q14 alm_stIn.swIalhpaPu = crd_stCurClarkOut.swAlphaPu; // Q14 alm_stIn.swIbetaPu = crd_stCurClarkOut.swBetaPu; // Q14 alm_stIn.swIqRefPu = scm_swIqRefPu; alm_stIn.uwVdcPu = adc_stUpOut.uwVdcLpfPu; // Q14 alm_stIn.uwVdcCompPu = adc_stUpOut.uwVdcLpfPu + BMS_VoltEstimat.uwVdcCompPu; // Q14 alm_stIn.uwSpdFbkLpfAbsPu = scm_uwSpdFbkLpfAbsPu; // Q15 if (scm_swSpdRefPu >= 0) { alm_stIn.uwSpdRefAbsPu = (UWORD)scm_swSpdRefPu; } else { alm_stIn.uwSpdRefAbsPu = (UWORD)(-scm_swSpdRefPu); } alm_stIn.swIPMTempCe = adc_stUpOut.PCBTemp; alm_stIn.uwMotorTempCe = adc_stUpOut.MotorTemp; alm_stIn.uwIdcOffset = adc_stCof.uwIdcOffset; alm_stIn.uwSectorNum = switchhall_stOut.uwSectorNum; alm_voDetecTBC(&alm_stIn, &alm_stDetectTbcCoef); /* System FSM */ if (adc_stDownOut.blADCCalibFlg!=0)//自检完再切换状态机 { switch_flg.SysFault_Flag = alm_blAlmOccrFlg; switch_flg.SysWarnning_Flag = alm_blWarnOccrFlg; } // if (switch_flg.SysFault_Flag == TRUE) // { // que_stErrorLog.ErrorCode = alm_unCode.all; // que_stErrorLog.RunTime = MC_RunInfo.Ride_Time; // que_stErrorLog.RunInfo = MC_RunInfo; // que_stErrorLog.IqCurrentPu = scm_swIqFdbLpfPu; // que_stErrorLog.IqVoltagePu = scm_swUqRefPu; // que_stErrorLog.IdCurrentPu = scm_swIdFdbLpfPu; // que_stErrorLog.IdVoltagePu = scm_swUdRefPu; // // // que_ubPushIn( &stFlashErrorLog, &stErrorLog, 54 ); // } if (adc_stDownOut.blADCCalibFlg && adc_stUpOut.blADCCalibFlg) { sysfsm_stFlg.blADCInitOvrFlg = TRUE; } else { sysfsm_stFlg.blADCInitOvrFlg = FALSE; } /* ADC sample */ adc_voSampleDown(&adc_stCof, &adc_stDownOut); /* System FSM */ FSM1st_Sys_state.TbcDown_hook(); // adc_voSampleUp(&adc_stCof, &adc_stUpOut); //电流获取 // /* Alarm detect */ // alm_stIn.blADCInitOvrFlg = sysfsm_stFlg.blADCInitOvrFlg; // // alm_stIn.uwIpeakPu = adc_stDownOut.uwIpeakPu; // Q14 // alm_stIn.swMotorPwrInWt = scm_swMotorPwrInLpfWt; // unit: 0.1w // alm_stIn.uwIaAbsPu = adc_stDownOut.uwIaAbsPu; // // alm_stIn.uwIbAbsPu = adc_stDownOut.uwIbAbsPu; // Q14 // alm_stIn.uwIcAbsPu = adc_stDownOut.uwIcAbsPu; // Q14 // alm_stIn.swIalhpaPu = crd_stCurClarkOut.swAlphaPu; // Q14 // alm_stIn.swIbetaPu = crd_stCurClarkOut.swBetaPu; // Q14 // alm_stIn.swIqRefPu = scm_swIqRefPu; // alm_stIn.uwVdcPu = adc_stUpOut.uwVdcLpfPu; // Q14 // alm_stIn.uwSpdFbkLpfAbsPu = scm_uwSpdFbkLpfAbsPu; // Q15 // if (scm_swSpdRefPu >= 0) // { // alm_stIn.uwSpdRefAbsPu = (UWORD)scm_swSpdRefPu; // } // else // { // alm_stIn.uwSpdRefAbsPu = (UWORD)(-scm_swSpdRefPu); // } // alm_stIn.uwIPMTempCe = adc_stUpOut.PCBTemp; // alm_stIn.uwIdcOffset = adc_stCof.uwIdcOffset; // alm_stIn.swDrumSpdAbsNowRpm = uart_swDrumSpdAbsNowRpm; // alm_stIn.swDrumSpdAbsPreRpm = uart_swDrumSpdAbsPreRpm; // alm_stIn.uwSectorNum = switchhall_stOut.uwSectorNum; // alm_stIn.uwBikeFrequencyPu = bikespeed_stFreGetOut.uwLPFFrequencyPu; // alm_stIn.uwCadFrequencyPu = cadence_stFreGetOut.uwFreqPercent; // // alm_voDetecTBC(&alm_stIn, &alm_stDetectTbcCoef); //缺相过流堵转故障判断 // sys_unFaultCode.unalmcode = alm_unCode; // // /* System FSM */ // switch_flg.SysFault_Flag = alm_blAlmOccrFlg; // if (switch_flg.SysFault_Flag == TRUE) // { // stErrorLog.ErrorCode = alm_unCode.all; // stErrorLog.RunTime = MC_RunInfo.Ride_Time; // stErrorLog.RunInfo = MC_RunInfo; // stErrorLog.IqCurrentPu = scm_swIqFdbLpfPu; // stErrorLog.IqVoltagePu = scm_swUqRefPu; // stErrorLog.IdCurrentPu = scm_swIdFdbLpfPu; // stErrorLog.IdVoltagePu = scm_swUdRefPu; // // // que_ubPushIn( &stFlashErrorLog, &stErrorLog, 54 ); // } // // if (adc_stDownOut.blADCCalibFlg && adc_stUpOut.blADCCalibFlg) // { // sysfsm_stFlg.blADCInitOvrFlg = TRUE; // } // else // { // sysfsm_stFlg.blADCInitOvrFlg = FALSE; // } // // // /* ADC sample */ // adc_voSampleDown(&adc_stCof, &adc_stDownOut); //相电流采样读取 // // /* ADC Rdson calibration with single resistance*/ //单电阻采样 // adc_voSRCalibration(&adc_stCof, &adc_stUpOut, &adc_stDownOut); // // /* System FSM */ // FSM1st_Sys_state.TbcDown_hook(); } /************************************************************************* Local Functions (N/A) *************************************************************************/ /************************************************************************* Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd. All rights reserved. *************************************************************************/ #ifdef _TBC_C_ #undef _TBC_C_ #endif /************************************************************************* End of this File (EOF)! Do not put anything after this part! *************************************************************************/