/** * @file switchhall.c * @author * @brief * @version * @date 2023.11.8 * * @copyright Copyright (c) 2021 * */ /************************************************************************ Beginning of File, do not put anything above here except notes Compiler Directives: *************************************************************************/ //#include "at32f421.h"//// #include "stm32f10x.h" #include "typedefine.h" #include "syspar.h" #include "hwsetup.h" #include "glbcof.h" #include "switchhall.h" #include "spdctrFSM.h" #include "spdctrmode.h" #include "UserGpio_Config.h" #include "board_config.h" #include "emcdeal.h" /****************************** * * Parameter * ******************************/ SWITCHHALL_CAP switchhall_stCap = SWITCHHALL_CAP_DEFAULT; SWITCHHALL_OUT switchhall_stOut = SWITCHHALL_OUT_DEFAULT; /*************************************************************** Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: ****************************************************************/ void switchhall_voInit(void) { switchhall_stOut.swLowSpdLpfPu = 0; switchhall_stOut.swLowSpdPu = 0; switchhall_stOut.swSpdCWorCCW = 0; switchhall_stOut.slInitThetaPu = 0; switchhall_stOut.uwLowThetaPu = 0; // switchhall_stOut.uwSectorNum = 0; // switchhall_stOut.uwSectorNumPre = 0; switchhall_stOut.slLowThetaPu = 0; switchhall_stOut.swLowThetaOffsetPu = 0; //-683 -7 degree switchhall_stCap.slCapValueDelta = HALL3_SPD_CAP_LEVEL1; switchhall_stCap.ulCapValue = 0; switchhall_stCap.ulCapValuePre = 0; switchhall_stCap.uwCaptureOverFlowCnt = 0; } /*************************************************************** Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: ****************************************************************/ static void switchhall_voSectorJudge(void) { UWORD uwsectorNum; UWORD Jcnt=0; UWORD uwHallSta; UWORD uwActtime; uwsectorNum=0; // uint32_t gpioA = DL_GPIO_getEnabledInterruptStatus(GPIOA, // HALL_HALLA_PIN | HALL_HALLB_PIN | HALL_HALLC_PIN); ////if((GPIOB->idt & GPIO_PINS_5) ==0)//(Hall_HB_PORT()== 1)//if(iGpio_Read(HW_GPIO_HALLB_PIN) == 1) // if ((gpioA & HALL_HALLA_PIN) == 0) // { // uwsectorNum |= 0x01; // } // //// if((GPIOB->idt &GPIO_PINS_0) ==0)//(Hall_HA_PORT() == 1) //if(iGpio_Read(HW_GPIO_HALLC_PIN) == 1) // if ((gpioA & HALL_HALLB_PIN) ==0 ) // { // uwsectorNum |= 0x02; // } //// if((GPIOB->idt &GPIO_PINS_4) ==0)//(Hall_HC_PORT() == 1) // if(iGpio_Read(HW_GPIO_HALLA_PIN) == 1) // if ((gpioA & HALL_HALLC_PIN) == 0) // { // uwsectorNum |= 0x04; // } // // uint32_t gpioA = DL_GPIO_getEnabledInterruptStatus(GPIOA, // HALL_HALLA_PIN | HALL_HALLB_PIN | HALL_HALLC_PIN); /* * Bitwise AND the pending interrupt with the pin you want to check, * then check if it is equal to the pins. Clear the interrupt status. */ if (Hall_HA_PORT() ==0)// if ((Hall_HA_PORT() & HALL_HALLA_PIN) ==0)// if ((gpioA & HALL_HALLA_PIN) == HALL_HALLA_PIN) { // HALLACnt++; uwsectorNum |= 0x02; // DL_GPIO_clearInterruptStatus(GPIOA, HALL_HALLA_PIN); } if (Hall_HB_PORT() ==0) // if ((Hall_HB_PORT() & HALL_HALLB_PIN) ==0)// if ((gpioA & HALL_HALLB_PIN) == HALL_HALLB_PIN) { uwsectorNum |= 0x01; // HALLBCnt++; // DL_GPIO_clearInterruptStatus(GPIOA, HALL_HALLB_PIN); } if (Hall_HC_PORT() ==0) //if ((Hall_HC_PORT() & HALL_HALLC_PIN) ==0)// if ((gpioA & HALL_HALLC_PIN) == HALL_HALLC_PIN) { uwsectorNum |= 0x04; // HALLCCnt++; // DL_GPIO_clearInterruptStatus(GPIOA, HALL_HALLC_PIN); } // if((GPIOB->idt & GPIO_PINS_5) !=0)//(Hall_HB_PORT()== 1)//if(iGpio_Read(HW_GPIO_HALLB_PIN) == 1) // { // uwsectorNum = 0; // } // else // { // uwsectorNum = 1; // } // if((GPIOB->idt &GPIO_PINS_0) !=0)//(Hall_HA_PORT() == 1) //if(iGpio_Read(HW_GPIO_HALLC_PIN) == 1) // { // uwsectorNum |= (0 << 1); // } // else // { // uwsectorNum |= (1 << 1); // } // if((GPIOB->idt &GPIO_PINS_4) !=0)//(Hall_HC_PORT() == 1) // if(iGpio_Read(HW_GPIO_HALLA_PIN) == 1) // { // uwsectorNum |= (0 << 2); // } // else // { // uwsectorNum |= (1 << 2); // } // uwHallSta=uwsectorNum; // for(Jcnt=0;Jcnt<=15;Jcnt++) // { //// if((GPIOB->idt & GPIO_PINS_5) ==0)//(Hall_HB_PORT()== 1)//if(iGpio_Read(HW_GPIO_HALLB_PIN) == 1) // { // uwsectorNum |= 0x01; // } // //// if((GPIOB->idt &GPIO_PINS_0) ==0)//(Hall_HA_PORT() == 1) //if(iGpio_Read(HW_GPIO_HALLC_PIN) == 1) // { // uwsectorNum |= 0x02; // } //// if((GPIOB->idt &GPIO_PINS_4) ==0)//(Hall_HC_PORT() == 1) // if(iGpio_Read(HW_GPIO_HALLA_PIN) == 1) // { // uwsectorNum |= 0x04; // } // // if(uwHallSta==uwsectorNum) // { // uwActtime++; // } // } // if(uwActtime>10) { switchhall_stOut.uwSectorNum = uwsectorNum; } } /*************************************************************** Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: ****************************************************************/ SLONG switchhall_pvt_slLowSpdLpfPu; SLONG switchhall_pvt_slHighSpdLpfPu; SLONG Speed_buffer[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; SQWORD Speed_fb_sum = 0; SLONG Speed_Value = 0; SLONG Speed_AvgValue = 0; SWORD Speed_sample_index = 0; SWORD tstDeltaCap; SWORD tstCap; SWORD tstFlag = 0; SLONG tmp_ValueCapDelta = 0; void switchhall_voTim3Int(void) { switchhall_stCap.ulCapValue= DL_Timer_getTimerCount(HALLTIMER_INST); DL_Timer_setTimerCount(HALLTIMER_INST,0); switchhall_stCap.uwCaptureOverFlowCnt = 0; #if(EMCDEAL_EN!=0) if(EcmDeal.EmcModeFlag==FALSE) #endif { /*Sector Judgement*/ switchhall_voSectorJudge(); // DL_GPIO_togglePins(LED_PORT, LED_LED1_PIN); tmp_ValueCapDelta = (SLONG)switchhall_stCap.uwCaptureOverFlowCnt * 60011 + (SLONG)switchhall_stCap.ulCapValue ; // Speed_Value = tmp_ValueCapDelta; //switchhall_stCap.slCapValueDelta; Speed_fb_sum -= Speed_buffer[Speed_sample_index]; Speed_buffer[Speed_sample_index] = Speed_Value; Speed_fb_sum += (SQWORD)Speed_Value; Speed_AvgValue = (SLONG)((Speed_fb_sum * 341)>>12); Speed_sample_index++; if (Speed_sample_index >= 12) Speed_sample_index = 0; switchhall_stCap.slCapValueDelta = Speed_AvgValue; switchhall_stCap.ulCapValuePre = switchhall_stCap.ulCapValue; EcmDeal.slCapValueDelta=switchhall_stCap.slCapValueDelta; } //------------------------------------- /* Capture Value */ // if ((tmr_interrupt_flag_get(TMR3, TMR_OVF_FLAG)) == SET)//((TIM_GetITStatus(TIM3, TIM_IT_Update)) == SET) // { // tstFlag = 1000; //// if(curSpeed_state.state == StartUp || curSpeed_state.state == Open2Clz || curSpeed_state.state == ClzLoop) //// { //// if (tmr_interrupt_flag_get(TMR3, TMR_C1_FLAG) == SET)// if (TIM_GetITStatus(TIM3, TIM_IT_CC1) == SET) // { // if(Hall_HC_PORT())// if(GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_6)) // { //// tmr_output_channel_polarity_set(TMR3,TMR_SELECT_CHANNEL_1,TMR_POLARITY_ACTIVE_LOW);// TIM_OC1PolarityConfig(TIM3,TIM_ICPolarity_Falling); // } // else // { //// tmr_output_channel_polarity_set(TMR3,TMR_SELECT_CHANNEL_1,TMR_POLARITY_ACTIVE_HIGH);// TIM_OC1PolarityConfig(TIM3,TIM_ICPolarity_Rising); // } // // // { //// switchhall_stCap.ulSTATE = tmr_channel_value_get(TMR3,TMR_SELECT_CHANNEL_1); // //// if (switchhall_stCap.ulSTATE > tmr_counter_value_get(TMR3)) // { // switchhall_stCap.ulCapValue = switchhall_stCap.ulSTATE; // tmp_ValueCapDelta = (SLONG)switchhall_stCap.uwCaptureOverFlowCnt * 60000 + (SLONG)switchhall_stCap.ulCapValue - (SLONG)switchhall_stCap.ulCapValuePre; //switchhall_stCap.slCapValueDelta // switchhall_stCap.uwCaptureOverFlowCnt = 1; // // Speed_Value = tmp_ValueCapDelta; //switchhall_stCap.slCapValueDelta; // Speed_fb_sum -= Speed_buffer[Speed_sample_index]; // Speed_buffer[Speed_sample_index] = Speed_Value; // Speed_fb_sum += (SQWORD)Speed_Value; // Speed_AvgValue = (SLONG)((Speed_fb_sum * 341)>>12); // Speed_sample_index++; // if (Speed_sample_index >= 12) // Speed_sample_index = 0; // switchhall_stCap.slCapValueDelta = Speed_AvgValue; // switchhall_stCap.ulCapValuePre = switchhall_stCap.ulCapValue; // // } //// else // { // switchhall_stCap.uwCaptureOverFlowCnt ++; // switchhall_stCap.ulCapValue = switchhall_stCap.ulSTATE; // tmp_ValueCapDelta = (SLONG)switchhall_stCap.uwCaptureOverFlowCnt * 60000 + (SLONG)switchhall_stCap.ulCapValue - (SLONG)switchhall_stCap.ulCapValuePre; //switchhall_stCap.slCapValueDelta // switchhall_stCap.uwCaptureOverFlowCnt = 0; // // Speed_Value = tmp_ValueCapDelta; //switchhall_stCap.slCapValueDelta; // Speed_fb_sum -= Speed_buffer[Speed_sample_index]; // Speed_buffer[Speed_sample_index] = Speed_Value; // Speed_fb_sum += (SQWORD)Speed_Value; // Speed_AvgValue = (SLONG)((Speed_fb_sum * 341)>>12); // Speed_sample_index++; // if (Speed_sample_index >= 12) // Speed_sample_index = 0; // switchhall_stCap.slCapValueDelta = Speed_AvgValue; // switchhall_stCap.ulCapValuePre = switchhall_stCap.ulCapValue; // } // } // //// tmr_flag_clear(TMR3, TMR_C1_FLAG);// TIM_ClearFlag(TIM3, TIM_IT_CC1); // } //// else if (tmr_interrupt_flag_get(TMR3, TMR_C2_FLAG) == SET) // { // if(Hall_HB_PORT()) // { //// tmr_output_channel_polarity_set(TMR3,TMR_SELECT_CHANNEL_2,TMR_POLARITY_ACTIVE_LOW); // } // else // { //// tmr_output_channel_polarity_set(TMR3,TMR_SELECT_CHANNEL_2,TMR_POLARITY_ACTIVE_HIGH); // } // // // { //// switchhall_stCap.ulSTATE=tmr_channel_value_get(TMR3,TMR_SELECT_CHANNEL_2); // //// if (switchhall_stCap.ulSTATE > tmr_counter_value_get(TMR3)) // { // switchhall_stCap.ulCapValue = switchhall_stCap.ulSTATE; // tmp_ValueCapDelta = (SLONG)switchhall_stCap.uwCaptureOverFlowCnt * 60000 + (SLONG)switchhall_stCap.ulCapValue - (SLONG)switchhall_stCap.ulCapValuePre; //switchhall_stCap.slCapValueDelta // switchhall_stCap.uwCaptureOverFlowCnt = 1; // // Speed_Value = tmp_ValueCapDelta; //switchhall_stCap.slCapValueDelta; // Speed_fb_sum -= Speed_buffer[Speed_sample_index]; // Speed_buffer[Speed_sample_index] = Speed_Value; // Speed_fb_sum += (SQWORD)Speed_Value; // Speed_AvgValue = (SLONG)((Speed_fb_sum * 341)>>12); // Speed_sample_index++; // if (Speed_sample_index >= 12) // Speed_sample_index = 0; // switchhall_stCap.slCapValueDelta = Speed_AvgValue; // switchhall_stCap.ulCapValuePre = switchhall_stCap.ulCapValue; // // } //// else // { // switchhall_stCap.uwCaptureOverFlowCnt ++; // switchhall_stCap.ulCapValue = switchhall_stCap.ulSTATE; // tmp_ValueCapDelta = (SLONG)switchhall_stCap.uwCaptureOverFlowCnt * 60000 + (SLONG)switchhall_stCap.ulCapValue - (SLONG)switchhall_stCap.ulCapValuePre; //switchhall_stCap.slCapValueDelta // switchhall_stCap.uwCaptureOverFlowCnt = 0; // // Speed_Value = tmp_ValueCapDelta; //switchhall_stCap.slCapValueDelta; // Speed_fb_sum -= Speed_buffer[Speed_sample_index]; // Speed_buffer[Speed_sample_index] = Speed_Value; // Speed_fb_sum += (SQWORD)Speed_Value; // Speed_AvgValue = (SLONG)((Speed_fb_sum * 341)>>12); // Speed_sample_index++; // if (Speed_sample_index >= 12) // Speed_sample_index = 0; // switchhall_stCap.slCapValueDelta = Speed_AvgValue; // switchhall_stCap.ulCapValuePre = switchhall_stCap.ulCapValue; // } // } // //// tmr_flag_clear(TMR3, TMR_C2_FLAG);//TIM_ClearFlag(TIM3, TIM_IT_CC2); // } //// else if (tmr_interrupt_flag_get(TMR3, TMR_C3_FLAG) == SET) // { // if(Hall_HA_PORT()) // { //// tmr_output_channel_polarity_set(TMR3,TMR_SELECT_CHANNEL_3,TMR_POLARITY_ACTIVE_LOW);// TIM_OC3PolarityConfig(TIM3,TIM_ICPolarity_Falling); // } // else // { //// tmr_output_channel_polarity_set(TMR3,TMR_SELECT_CHANNEL_3,TMR_POLARITY_ACTIVE_HIGH);// TIM_OC3PolarityConfig(TIM3,TIM_ICPolarity_Rising); // } // // // // { //// switchhall_stCap.ulSTATE = tmr_channel_value_get(TMR3,TMR_SELECT_CHANNEL_3); // //// if (switchhall_stCap.ulSTATE >tmr_counter_value_get(TMR3)) // { // switchhall_stCap.ulCapValue = switchhall_stCap.ulSTATE; // tmp_ValueCapDelta = (SLONG)switchhall_stCap.uwCaptureOverFlowCnt * 60000 + (SLONG)switchhall_stCap.ulCapValue - (SLONG)switchhall_stCap.ulCapValuePre; //switchhall_stCap.slCapValueDelta // switchhall_stCap.uwCaptureOverFlowCnt = 1; // // Speed_Value = tmp_ValueCapDelta; //switchhall_stCap.slCapValueDelta; // Speed_fb_sum -= Speed_buffer[Speed_sample_index]; // Speed_buffer[Speed_sample_index] = Speed_Value; // Speed_fb_sum += (SQWORD)Speed_Value; // Speed_AvgValue = (SLONG)((Speed_fb_sum * 341)>>12); // Speed_sample_index++; // if (Speed_sample_index >= 12) // Speed_sample_index = 0; // switchhall_stCap.slCapValueDelta = Speed_AvgValue; // switchhall_stCap.ulCapValuePre = switchhall_stCap.ulCapValue; // // } //// else // { // switchhall_stCap.uwCaptureOverFlowCnt ++; // switchhall_stCap.ulCapValue = switchhall_stCap.ulSTATE; // tmp_ValueCapDelta = (SLONG)switchhall_stCap.uwCaptureOverFlowCnt * 60000 + (SLONG)switchhall_stCap.ulCapValue - (SLONG)switchhall_stCap.ulCapValuePre; //switchhall_stCap.slCapValueDelta // switchhall_stCap.uwCaptureOverFlowCnt = 0; // // Speed_Value = tmp_ValueCapDelta; //switchhall_stCap.slCapValueDelta; // Speed_fb_sum -= Speed_buffer[Speed_sample_index]; // Speed_buffer[Speed_sample_index] = Speed_Value; // Speed_fb_sum += (SQWORD)Speed_Value; // Speed_AvgValue = (SLONG)((Speed_fb_sum * 341)>>12); // Speed_sample_index++; // if (Speed_sample_index >= 12) // Speed_sample_index = 0; // switchhall_stCap.slCapValueDelta = Speed_AvgValue; // switchhall_stCap.ulCapValuePre = switchhall_stCap.ulCapValue; // } // } // //// tmr_flag_clear(TMR3, TMR_C3_FLAG);// TIM_ClearFlag(TIM3, TIM_IT_CC3); // } //// else // { // switchhall_stCap.ulSTATE=0; // switchhall_stCap.uwCaptureOverFlowCnt ++; // // if(switchhall_stCap.uwCaptureOverFlowCnt >= 5) // { // tmp_ValueCapDelta = (SLONG)(switchhall_stCap.uwCaptureOverFlowCnt+1) * 60000; //switchhall_stCap.slCapValueDelta // switchhall_stCap.slCapValueDelta = tmp_ValueCapDelta; // } // } // // if (switchhall_stCap.uwCaptureOverFlowCnt > 9) //1HZ // { // /* Linmit the max CapValueDelta */ // switchhall_stCap.uwCaptureOverFlowCnt=10; // } //// } //// else //// { //// switchhall_stCap.uwCaptureOverFlowCnt = 0; //// } //// tmr_flag_clear(TMR3, TMR_OVF_FLAG);// TIM_ClearFlag(TIM3, TIM_IT_Update); // // } //// else if((tmr_interrupt_flag_get(TMR3, TMR_C1_FLAG)) == SET) // { // tstFlag = 2000; // if(Hall_HC_PORT()) // { //// tmr_output_channel_polarity_set(TMR3,TMR_SELECT_CHANNEL_1,TMR_POLARITY_ACTIVE_LOW);// TIM_OC1PolarityConfig(TIM3,TIM_ICPolarity_Falling); // } // else // { //// tmr_output_channel_polarity_set(TMR3,TMR_SELECT_CHANNEL_1,TMR_POLARITY_ACTIVE_HIGH);// TIM_OC1PolarityConfig(TIM3,TIM_ICPolarity_Rising); // } // // // { //// switchhall_stCap.ulCapValue = tmr_channel_value_get(TMR3,TMR_SELECT_CHANNEL_1); // tmp_ValueCapDelta = (SLONG)switchhall_stCap.uwCaptureOverFlowCnt * 60000 + (SLONG)switchhall_stCap.ulCapValue - (SLONG)switchhall_stCap.ulCapValuePre; //switchhall_stCap.slCapValueDelta // switchhall_stCap.uwCaptureOverFlowCnt = 0; // // Speed_Value = tmp_ValueCapDelta; //switchhall_stCap.slCapValueDelta; // Speed_fb_sum -= Speed_buffer[Speed_sample_index]; // Speed_buffer[Speed_sample_index] = Speed_Value; // Speed_fb_sum += (SQWORD)Speed_Value; // Speed_AvgValue = (SLONG)((Speed_fb_sum * 341)>>12); // Speed_sample_index++; // if (Speed_sample_index >= 12) // Speed_sample_index = 0; // switchhall_stCap.slCapValueDelta = Speed_AvgValue; // switchhall_stCap.ulCapValuePre = switchhall_stCap.ulCapValue; // } // //// tmr_flag_clear(TMR3, TMR_C1_FLAG);// TIM_ClearFlag(TIM3, TIM_IT_CC1); // } //// else if((tmr_interrupt_flag_get(TMR3, TMR_C2_FLAG) ) == SET) // { // tstFlag = 3000; // if(Hall_HB_PORT()) // { //// tmr_output_channel_polarity_set(TMR3,TMR_SELECT_CHANNEL_2,TMR_POLARITY_ACTIVE_LOW); // } // else // { //// tmr_output_channel_polarity_set(TMR3,TMR_SELECT_CHANNEL_2,TMR_POLARITY_ACTIVE_HIGH); // } // // // { //// switchhall_stCap.ulCapValue =tmr_channel_value_get(TMR3,TMR_SELECT_CHANNEL_2); // tmp_ValueCapDelta = (SLONG)switchhall_stCap.uwCaptureOverFlowCnt * 60000 + (SLONG)switchhall_stCap.ulCapValue - (SLONG)switchhall_stCap.ulCapValuePre; //switchhall_stCap.slCapValueDelta // switchhall_stCap.uwCaptureOverFlowCnt = 0; // // Speed_Value = tmp_ValueCapDelta; //switchhall_stCap.slCapValueDelta; // Speed_fb_sum -= Speed_buffer[Speed_sample_index]; // Speed_buffer[Speed_sample_index] = Speed_Value; // Speed_fb_sum += (SQWORD)Speed_Value; // Speed_AvgValue = (SLONG)((Speed_fb_sum * 341)>>12); // Speed_sample_index++; // if (Speed_sample_index >= 12) // Speed_sample_index = 0; // switchhall_stCap.slCapValueDelta = Speed_AvgValue; // switchhall_stCap.ulCapValuePre = switchhall_stCap.ulCapValue; // } // //// tmr_flag_clear(TMR3, TMR_C2_FLAG); // } //// else if ((tmr_interrupt_flag_get(TMR3, TMR_C3_FLAG)) == SET) // { // // tstFlag = 4000; // /* Low Speed*/ // if(Hall_HA_PORT()) // { //// tmr_output_channel_polarity_set(TMR3,TMR_SELECT_CHANNEL_3,TMR_POLARITY_ACTIVE_LOW); // } // else // { //// tmr_output_channel_polarity_set(TMR3,TMR_SELECT_CHANNEL_3,TMR_POLARITY_ACTIVE_HIGH); // } // // // { //// switchhall_stCap.ulCapValue = tmr_channel_value_get(TMR3,TMR_SELECT_CHANNEL_3); // tmp_ValueCapDelta = (SLONG)switchhall_stCap.uwCaptureOverFlowCnt * 60000 + (SLONG)switchhall_stCap.ulCapValue - (SLONG)switchhall_stCap.ulCapValuePre; //switchhall_stCap.slCapValueDelta // switchhall_stCap.uwCaptureOverFlowCnt = 0; // // /* High Speed*/ // // switchhall_stCap.ulHighCapValue = switchhall_stCap.ulCapValue; // // switchhall_stCap.slHighCapValueDelta = (SLONG)switchhall_stCap.ulHighCapValue - switchhall_stCap.ulHighCapValuePre; // // if(switchhall_stCap.slHighCapValueDelta < 0) // // { // // switchhall_stCap.slHighCapValueDelta += 60000; // // } // /* Move Average Filter */ // // Speed_Value = tmp_ValueCapDelta; //switchhall_stCap.slCapValueDelta; // Speed_fb_sum -= Speed_buffer[Speed_sample_index]; // Speed_buffer[Speed_sample_index] = Speed_Value; // Speed_fb_sum += (SQWORD)Speed_Value; // Speed_AvgValue = (SLONG)((Speed_fb_sum * 341)>>12); // Speed_sample_index++; // if (Speed_sample_index >= 12) // Speed_sample_index = 0; // switchhall_stCap.slCapValueDelta = Speed_AvgValue; // switchhall_stCap.ulCapValuePre = switchhall_stCap.ulCapValue; // } //// tmr_flag_clear(TMR3, TMR_C3_FLAG); // } //// else // { // tstFlag = 5000; //// tmp_ValueCapDelta = HALL3_SPD_CAP_LEVEL1; //switchhall_stCap.slCapValueDelta // } // // //// if(curSpeed_state.state ==StartUp || curSpeed_state.state == Open2Clz || curSpeed_state.state == ClzLoop) //// { //// if ((switchhall_stOut.swLowSpdLpfPu > 1950)||(switchhall_stOut.swLowSpdLpfPu < -1950))//500rpm //// { //// switchhall_stCap.slCapValueDelta = Speed_AvgValue; //// } //// else // //{ //// switchhall_stCap.slCapValueDelta = Speed_Value; //// } // //// } //// else //// { //// switchhall_stCap.slCapValueDelta = HALL3_SPD_CAL_COEF; //// //// } tstCap = switchhall_stCap.ulCapValue >> 4; tstDeltaCap = switchhall_stCap.slCapValueDelta >> 4; } /*************************************************************** Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: ****************************************************************/ //void switchhall_voCapIsr(UWORD source) //{ // if(source == 0) // { // /* 鏇存柊涓柇澶勭悊 */ // switchhall_stCap.uwCaptureOverFlowCnt ++; // /* 閫熷害鎻掑�硷細澶勭悊闀夸簨浠舵棤鑴夊啿鎯呭喌 */ // if(switchhall_stCap.uwCaptureOverFlowCnt >= 5) // { // tmp_ValueCapDelta = (SLONG)(switchhall_stCap.uwCaptureOverFlowCnt+1) * 60000; //switchhall_stCap.slCapValueDelta // switchhall_stCap.slCapValueDelta = tmp_ValueCapDelta; // } // /* 闄愬埗鏈�澶у�� */ // if (switchhall_stCap.uwCaptureOverFlowCnt > 9) // { // switchhall_stCap.uwCaptureOverFlowCnt=10; // } // } // else // { // /* 鎹曡幏涓柇澶勭悊 */ // /* 鏇存敼鎹曡幏瑙﹀彂杈规部 */ //// if(iGpio_Read(HW_GPIO_HALLA_PIN + source - 1) != 0) //// { //// iCap_SetEdgeType(HW_MOTOR_HALL_CAP, CAP_CH(source-1), ApiCap_FallingEdge); //// } //// else //// { //// iCap_SetEdgeType(HW_MOTOR_HALL_CAP, CAP_CH(source-1), ApiCap_RisingEdge); //// } // /* 璁＄畻鎹曡幏宸�� */ // switchhall_stCap.ulCapValue = iCap_GetCaptureValue(HW_MOTOR_HALL_CAP, CAP_CH(source-1)); // tmp_ValueCapDelta = (SLONG)switchhall_stCap.uwCaptureOverFlowCnt * 60000 + (SLONG)switchhall_stCap.ulCapValue - (SLONG)switchhall_stCap.ulCapValuePre; //switchhall_stCap.slCapValueDelta // switchhall_stCap.uwCaptureOverFlowCnt = 0; // /* 婊戝姩骞冲潎婊ゆ尝 */ // Speed_Value = tmp_ValueCapDelta; // Speed_fb_sum -= Speed_buffer[Speed_sample_index]; // Speed_buffer[Speed_sample_index] = Speed_Value; // Speed_fb_sum += (SQWORD)Speed_Value; // Speed_AvgValue = (SLONG)((Speed_fb_sum * 341)>>12); // Speed_sample_index++; // if (Speed_sample_index >= 12) // Speed_sample_index = 0; // switchhall_stCap.slCapValueDelta = Speed_AvgValue; // switchhall_stCap.ulCapValuePre = switchhall_stCap.ulCapValue; // } //} /*************************************************************** Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: ****************************************************************/ void switchhall_voPosCalTbc(void) { SLONG Hall_Theta_Temp = 0; SLONG Hall_Speed_Temp = 0; /*Low Speed Theta Update*/ switchhall_stOut.slLowThetaPu += (((SLONG)TBC_TM * switchhall_stOut.swLowSpdLpfPu) >> 10); // Q10+Q15-Q10=Q15 //switchhall_stOut.slLowThetaPu += (((SLONG)TBC_TM * scm_stSpdFbkLpf.slY.sw.hi) >> 10); // Q10+Q15-Q10=Q15 if (switchhall_stOut.slLowThetaPu >= (cof_sl360DegreePu + switchhall_stOut.swLowThetaOffsetPu)) { switchhall_stOut.slLowThetaPu -= cof_sl360DegreePu; } else if (switchhall_stOut.slLowThetaPu < 0 + switchhall_stOut.swLowThetaOffsetPu) { switchhall_stOut.slLowThetaPu += cof_sl360DegreePu; } /*High Speed Theta Update*/ // switchhall_stOut.slHighThetaPu += (((SLONG)TBC_TM * switchhall_stOut.swHighSpdLpfPu) >> 10); // Q10+Q15-Q10=Q15 // if (switchhall_stOut.slHighThetaPu >= cof_sl360DegreePu + switchhall_stOut.swLowThetaOffsetPu) // { // switchhall_stOut.slHighThetaPu -= cof_sl360DegreePu; // } // else if (switchhall_stOut.slHighThetaPu < switchhall_stOut.swLowThetaOffsetPu) // { // switchhall_stOut.slHighThetaPu += cof_sl360DegreePu; // } /*Sector Judgement*/ #if(EMCDEAL_EN==0) switchhall_voSectorJudge(); #endif /*!< Zero Correction 1*/ // switch(switchhall_stOut.uwSectorNum) // { // case 1: // if(switchhall_stOut.uwSectorNumPre == 3) // { // switchhall_stOut.swSpdCWorCCW = 1; // switchhall_stOut.slLowThetaPu = cof_sl210DegreePu; // } // else if(switchhall_stOut.uwSectorNumPre == 5) // { // switchhall_stOut.swSpdCWorCCW =-1; // switchhall_stOut.slLowThetaPu = cof_sl270DegreePu; // } // // switchhall_stOut.slInitThetaPu = cof_sl240DegreePu; // if(switchhall_stOut.slLowThetaPu < cof_sl210DegreePu) // { // switchhall_stOut.slLowThetaPu = cof_sl210DegreePu; // } // else if(switchhall_stOut.slLowThetaPu > cof_sl270DegreePu) // { // switchhall_stOut.slLowThetaPu = cof_sl270DegreePu; // } // else // { // } // break; // case 2: // if(switchhall_stOut.uwSectorNumPre == 6) // { // switchhall_stOut.swSpdCWorCCW = 1; // switchhall_stOut.slLowThetaPu = cof_sl90DegreePu; // } // else if(switchhall_stOut.uwSectorNumPre == 3) // { // switchhall_stOut.swSpdCWorCCW =-1; // switchhall_stOut.slLowThetaPu = cof_sl150DegreePu; // } // // switchhall_stOut.slInitThetaPu = cof_sl120DegreePu; // if(switchhall_stOut.slLowThetaPu < cof_sl90DegreePu) // { // switchhall_stOut.slLowThetaPu = cof_sl90DegreePu; // } // else if(switchhall_stOut.slLowThetaPu > cof_sl150DegreePu) // { // switchhall_stOut.slLowThetaPu = cof_sl150DegreePu; // } // else // { // } // break; // case 3: // if(switchhall_stOut.uwSectorNumPre == 2) // { // switchhall_stOut.swSpdCWorCCW = 1; // switchhall_stOut.slLowThetaPu = cof_sl150DegreePu; // } // else if(switchhall_stOut.uwSectorNumPre == 1) // { // switchhall_stOut.swSpdCWorCCW =-1; // switchhall_stOut.slLowThetaPu = cof_sl210DegreePu; // } // // switchhall_stOut.slInitThetaPu = cof_sl180DegreePu; // if(switchhall_stOut.slLowThetaPu < cof_sl150DegreePu) // { // switchhall_stOut.slLowThetaPu = cof_sl150DegreePu; // } // else if(switchhall_stOut.slLowThetaPu > cof_sl210DegreePu) // { // switchhall_stOut.slLowThetaPu = cof_sl210DegreePu; // } // else // { // } // break; // case 4: // if(switchhall_stOut.uwSectorNumPre == 5) // { // switchhall_stOut.swSpdCWorCCW = 1; // switchhall_stOut.slLowThetaPu = cof_sl330DegreePu; // } // else if(switchhall_stOut.uwSectorNumPre == 6) // { // switchhall_stOut.swSpdCWorCCW =-1; // switchhall_stOut.slLowThetaPu = cof_sl30DegreePu; // } // // switchhall_stOut.slInitThetaPu = 0; // if((switchhall_stOut.slLowThetaPu > cof_sl30DegreePu)&&(switchhall_stOut.slLowThetaPu < cof_sl330DegreePu)) // { // if(switchhall_stOut.swSpdCWorCCW == 1) // { // switchhall_stOut.slLowThetaPu = cof_sl30DegreePu; // } // else if(switchhall_stOut.swSpdCWorCCW == -1) // { // switchhall_stOut.slLowThetaPu = cof_sl330DegreePu; // } // } // break; // case 5: // if(switchhall_stOut.uwSectorNumPre == 1) // { // switchhall_stOut.swSpdCWorCCW = 1; // switchhall_stOut.slLowThetaPu = cof_sl270DegreePu; // } // else if(switchhall_stOut.uwSectorNumPre == 4) // { // switchhall_stOut.swSpdCWorCCW =-1; // switchhall_stOut.slLowThetaPu = cof_sl330DegreePu; // } // // switchhall_stOut.slInitThetaPu = cof_sl300DegreePu; // if(switchhall_stOut.slLowThetaPu < cof_sl270DegreePu) // { // switchhall_stOut.slLowThetaPu = cof_sl270DegreePu; // } // else if(switchhall_stOut.slLowThetaPu > cof_sl330DegreePu) // { // switchhall_stOut.slLowThetaPu = cof_sl330DegreePu; // } // else // { // } // break; // case 6: // if(switchhall_stOut.uwSectorNumPre == 4) // { // switchhall_stOut.swSpdCWorCCW = 1; // switchhall_stOut.slLowThetaPu = cof_sl30DegreePu; // } // else if(switchhall_stOut.uwSectorNumPre == 2) // { // switchhall_stOut.swSpdCWorCCW = -1; // switchhall_stOut.slLowThetaPu = cof_sl90DegreePu; // } // // switchhall_stOut.slInitThetaPu = cof_sl60DegreePu; // if(switchhall_stOut.slLowThetaPu < cof_sl30DegreePu) // { // switchhall_stOut.slLowThetaPu = cof_sl30DegreePu; // } // else if(switchhall_stOut.slLowThetaPu > cof_sl90DegreePu) // { // switchhall_stOut.slLowThetaPu = cof_sl90DegreePu; // } // else // { // } // break; // default: // switchhall_stOut.swSpdCWorCCW =0; // switchhall_stOut.swLowSpdPu = 0; // break; // } // // /*!< Zero Correction 2*/ switch (switchhall_stOut.uwSectorNum) { case 1: if (switchhall_stOut.uwSectorNumPre == 3) { switchhall_stOut.swSpdCWorCCW = 1; switchhall_stOut.slLowThetaPu = cof_sl30DegreePu + switchhall_stOut.swLowThetaOffsetPu; } else if (switchhall_stOut.uwSectorNumPre == 5) { switchhall_stOut.swSpdCWorCCW = -1; switchhall_stOut.slLowThetaPu = cof_sl90DegreePu + switchhall_stOut.swLowThetaOffsetPu; } switchhall_stOut.slInitThetaPu = cof_sl60DegreePu + switchhall_stOut.swLowThetaOffsetPu; if (switchhall_stOut.slLowThetaPu < (cof_sl30DegreePu + switchhall_stOut.swLowThetaOffsetPu)) { switchhall_stOut.slLowThetaPu = cof_sl30DegreePu + switchhall_stOut.swLowThetaOffsetPu; } else if (switchhall_stOut.slLowThetaPu > (cof_sl90DegreePu + switchhall_stOut.swLowThetaOffsetPu)) { switchhall_stOut.slLowThetaPu = cof_sl90DegreePu + switchhall_stOut.swLowThetaOffsetPu; } else {} break; case 2: if (switchhall_stOut.uwSectorNumPre == 6) { switchhall_stOut.swSpdCWorCCW = 1; switchhall_stOut.slLowThetaPu = cof_sl270DegreePu + switchhall_stOut.swLowThetaOffsetPu; } else if (switchhall_stOut.uwSectorNumPre == 3) { switchhall_stOut.swSpdCWorCCW = -1; switchhall_stOut.slLowThetaPu = cof_sl330DegreePu + switchhall_stOut.swLowThetaOffsetPu; } switchhall_stOut.slInitThetaPu = cof_sl300DegreePu + switchhall_stOut.swLowThetaOffsetPu; if (switchhall_stOut.slLowThetaPu < (cof_sl270DegreePu+ switchhall_stOut.swLowThetaOffsetPu)) { switchhall_stOut.slLowThetaPu = cof_sl270DegreePu + switchhall_stOut.swLowThetaOffsetPu ; } else if (switchhall_stOut.slLowThetaPu > (cof_sl330DegreePu + switchhall_stOut.swLowThetaOffsetPu)) { switchhall_stOut.slLowThetaPu = cof_sl330DegreePu + switchhall_stOut.swLowThetaOffsetPu; } else {} break; case 3: if (switchhall_stOut.uwSectorNumPre == 2) { switchhall_stOut.swSpdCWorCCW = 1; switchhall_stOut.slLowThetaPu = cof_sl330DegreePu + switchhall_stOut.swLowThetaOffsetPu; } else if (switchhall_stOut.uwSectorNumPre == 1) { switchhall_stOut.swSpdCWorCCW = -1; switchhall_stOut.slLowThetaPu = cof_sl30DegreePu + switchhall_stOut.swLowThetaOffsetPu; } switchhall_stOut.slInitThetaPu = cof_sl360DegreePu + switchhall_stOut.swLowThetaOffsetPu; if ((switchhall_stOut.slLowThetaPu > (cof_sl30DegreePu + switchhall_stOut.swLowThetaOffsetPu)) && (switchhall_stOut.slLowThetaPu < (cof_sl330DegreePu + switchhall_stOut.swLowThetaOffsetPu))) { if (switchhall_stOut.swSpdCWorCCW == 1) { switchhall_stOut.slLowThetaPu = cof_sl30DegreePu + switchhall_stOut.swLowThetaOffsetPu ; } else if (switchhall_stOut.swSpdCWorCCW == -1) { switchhall_stOut.slLowThetaPu = cof_sl330DegreePu + switchhall_stOut.swLowThetaOffsetPu; } } break; case 4: if (switchhall_stOut.uwSectorNumPre == 5) { switchhall_stOut.swSpdCWorCCW = 1; switchhall_stOut.slLowThetaPu = cof_sl150DegreePu + switchhall_stOut.swLowThetaOffsetPu; } else if (switchhall_stOut.uwSectorNumPre == 6) { switchhall_stOut.swSpdCWorCCW = -1; switchhall_stOut.slLowThetaPu = cof_sl210DegreePu + switchhall_stOut.swLowThetaOffsetPu; } switchhall_stOut.slInitThetaPu = cof_sl180DegreePu + switchhall_stOut.swLowThetaOffsetPu; if (switchhall_stOut.slLowThetaPu < (cof_sl150DegreePu + switchhall_stOut.swLowThetaOffsetPu)) { switchhall_stOut.slLowThetaPu = cof_sl150DegreePu + switchhall_stOut.swLowThetaOffsetPu; } else if (switchhall_stOut.slLowThetaPu > (cof_sl210DegreePu + switchhall_stOut.swLowThetaOffsetPu)) { switchhall_stOut.slLowThetaPu = cof_sl210DegreePu + switchhall_stOut.swLowThetaOffsetPu; } else {} break; case 5: if (switchhall_stOut.uwSectorNumPre == 1) { switchhall_stOut.swSpdCWorCCW = 1; switchhall_stOut.slLowThetaPu = cof_sl90DegreePu + switchhall_stOut.swLowThetaOffsetPu; } else if (switchhall_stOut.uwSectorNumPre == 4) { switchhall_stOut.swSpdCWorCCW = -1; switchhall_stOut.slLowThetaPu = cof_sl150DegreePu + switchhall_stOut.swLowThetaOffsetPu; } switchhall_stOut.slInitThetaPu = cof_sl120DegreePu + switchhall_stOut.swLowThetaOffsetPu; if (switchhall_stOut.slLowThetaPu < (cof_sl90DegreePu + switchhall_stOut.swLowThetaOffsetPu)) { switchhall_stOut.slLowThetaPu = cof_sl90DegreePu + switchhall_stOut.swLowThetaOffsetPu; } else if (switchhall_stOut.slLowThetaPu > (cof_sl150DegreePu + switchhall_stOut.swLowThetaOffsetPu)) { switchhall_stOut.slLowThetaPu = cof_sl150DegreePu + switchhall_stOut.swLowThetaOffsetPu; } else {} break; case 6: if (switchhall_stOut.uwSectorNumPre == 4) { switchhall_stOut.swSpdCWorCCW = 1; switchhall_stOut.slLowThetaPu = cof_sl210DegreePu + switchhall_stOut.swLowThetaOffsetPu; } else if (switchhall_stOut.uwSectorNumPre == 2) { switchhall_stOut.swSpdCWorCCW = -1; switchhall_stOut.slLowThetaPu = cof_sl270DegreePu + switchhall_stOut.swLowThetaOffsetPu; } switchhall_stOut.slInitThetaPu = cof_sl240DegreePu + switchhall_stOut.swLowThetaOffsetPu; if (switchhall_stOut.slLowThetaPu < (cof_sl210DegreePu + switchhall_stOut.swLowThetaOffsetPu)) { switchhall_stOut.slLowThetaPu = cof_sl210DegreePu + switchhall_stOut.swLowThetaOffsetPu; } else if (switchhall_stOut.slLowThetaPu > (cof_sl270DegreePu + switchhall_stOut.swLowThetaOffsetPu)) { switchhall_stOut.slLowThetaPu = cof_sl270DegreePu + switchhall_stOut.swLowThetaOffsetPu; } else {} break; default: // switchhall_stOut.swSpdCWorCCW = 0; // switchhall_stOut.swLowSpdPu = 0; break; } switchhall_stOut.uwSectorNumPre = switchhall_stOut.uwSectorNum; /* Theta Compensation */ // if (switchhall_stOut.swSpdCWorCCW == -1) // { // switchhall_stOut.swLowThetaOffsetPu = switchhall_stOut.swLowThetaOffsetPu + HALL_THETEA_OFFSET_FANXIANG; // } // // /* Speed Calculation */ // if (switchhall_stOut.swSpdCWorCCW == 1) // { // switchhall_stOut.swLowSpdPu = (SWORD)(HALL3_SPD_CAL_COEF / switchhall_stCap.slCapValueDelta); // } // else if (switchhall_stOut.swSpdCWorCCW == -1) // { // switchhall_stOut.swLowSpdPu = -(SWORD)(HALL3_SPD_CAL_COEF / switchhall_stCap.slCapValueDelta); // } // else // { // switchhall_stOut.swLowSpdPu = 0; // } if (switchhall_stCap.slCapValueDelta >= HALL3_SPD_CAP_LEVEL1) //lower than level1 { // switchhall_stOut.swLowSpdPu = 0; // switchhall_stOut.uwLowThetaPu = switchhall_stOut.slInitThetaPu; // Hall_Theta_Temp = (UWORD)(switchhall_stOut.slInitThetaPu+switchhall_stOut.swLowThetaOffsetPu); // Q15 Hall_Theta_Temp = switchhall_stOut.slInitThetaPu; // Hall_Theta_Temp = switchhall_stOut.slLowThetaPu; if (Hall_Theta_Temp >= cof_sl360DegreePu) { Hall_Theta_Temp -= cof_sl360DegreePu; } else if (Hall_Theta_Temp < 0) { Hall_Theta_Temp += cof_sl360DegreePu; } switchhall_stOut.uwLowThetaPu = (UWORD)Hall_Theta_Temp; if (switchhall_stOut.swSpdCWorCCW == 1) { switchhall_stOut.swLowSpdPu = (SWORD)(HALL3_SPD_CAL_COEF / switchhall_stCap.slCapValueDelta); switchhall_stOut.swHighSpdPu = (SWORD)(HALL1_SPD_CAL_COEF / switchhall_stCap.slHighCapValueDelta); // switchhall_stOut.swLowSpdPu = (SWORD)(HALL3_SPD_CAL_COEF / tmp_ValueCapDelta); } else if (switchhall_stOut.swSpdCWorCCW == -1) { switchhall_stOut.swLowSpdPu = -(SWORD)(HALL3_SPD_CAL_COEF / switchhall_stCap.slCapValueDelta); switchhall_stOut.swHighSpdPu = -(SWORD)(HALL1_SPD_CAL_COEF / switchhall_stCap.slHighCapValueDelta); // switchhall_stOut.swLowSpdPu = -(SWORD)(HALL3_SPD_CAL_COEF / tmp_ValueCapDelta); } else { // switchhall_stOut.swLowSpdPu = 0; } } else if (switchhall_stCap.slCapValueDelta >= HALL3_SPD_CAP_LEVEL2) // lower than level2 { /* Use fixed angle(middle of sector) at low speed*/ if (switchhall_stCap.slCapValueDelta >= HALL3_SPD_CAP_STARTUP_LEVEL) // lower than Startup level { // switchhall_stOut.uwLowThetaPu = switchhall_stOut.slInitThetaPu; //Hall_Theta_Temp = (UWORD)(switchhall_stOut.slInitThetaPu+switchhall_stOut.swLowThetaOffsetPu); // Q15 // Hall_Theta_Temp = switchhall_stOut.slInitThetaPu; Hall_Theta_Temp = switchhall_stOut.slLowThetaPu; if (Hall_Theta_Temp >= cof_sl360DegreePu) { Hall_Theta_Temp -= cof_sl360DegreePu; } else if (Hall_Theta_Temp < 0) { Hall_Theta_Temp += cof_sl360DegreePu; } switchhall_stOut.uwLowThetaPu = (UWORD)Hall_Theta_Temp; } else { /*Low Speed Theta */ //Hall_Theta_Temp = (UWORD)(switchhall_stOut.slLowThetaPu+switchhall_stOut.swLowThetaOffsetPu); // Q15 Hall_Theta_Temp = switchhall_stOut.slLowThetaPu; if (Hall_Theta_Temp >= cof_sl360DegreePu) { Hall_Theta_Temp -= cof_sl360DegreePu; } else if (Hall_Theta_Temp < 0) { Hall_Theta_Temp += cof_sl360DegreePu; } switchhall_stOut.uwLowThetaPu = (UWORD)Hall_Theta_Temp; /*High Speed Theta */ // if (switchhall_stOut.slHighThetaPu >= cof_sl360DegreePu) // { // switchhall_stOut.slHighThetaPu -= cof_sl360DegreePu; // } // else if (switchhall_stOut.slHighThetaPu < 0) // { // switchhall_stOut.slHighThetaPu += cof_sl360DegreePu; // } // switchhall_stOut.uwHighThetaPu = cof_sl360DegreePu; } Hall_Speed_Temp = (SWORD)(HALL3_SPD_CAL_COEF / switchhall_stCap.slCapValueDelta); // Hall_Speed_Temp = (SWORD)(HALL3_SPD_CAL_COEF / tmp_ValueCapDelta); if (switchhall_stOut.swSpdCWorCCW == 1) { if(switchhall_stOut.swLowSpdPu < 0) { switchhall_stOut.swLowSpdPu += (_IQ15(0.0007)); //1hz } else { switchhall_stOut.swLowSpdPu = Hall_Speed_Temp; } switchhall_stOut.swHighSpdPu = (SWORD)(HALL1_SPD_CAL_COEF / switchhall_stCap.slHighCapValueDelta); } else if (switchhall_stOut.swSpdCWorCCW == -1) { if(switchhall_stOut.swLowSpdPu > 0) { switchhall_stOut.swLowSpdPu -= (_IQ15(0.0007)); //1hz } else { switchhall_stOut.swLowSpdPu = -Hall_Speed_Temp; } switchhall_stOut.swHighSpdPu = -(SWORD)(HALL1_SPD_CAL_COEF / switchhall_stCap.slHighCapValueDelta); } else { // switchhall_stOut.swLowSpdPu = 0; } } else { // High speed: use single hall } #if(EMCDEAL_EN!=0) // switchhall_stOut.swLowSpdPu=EcmDeal.swLowSpdPu; #endif /* Low Speed LPF */ switchhall_pvt_slLowSpdLpfPu = (SLONG)203 * (switchhall_stOut.swLowSpdPu - switchhall_stOut.swLowSpdLpfPu) + switchhall_pvt_slLowSpdLpfPu; //50Hz // switchhall_pvt_slLowSpdLpfPu = // (SLONG)1286 * (switchhall_stOut.swLowSpdPu - switchhall_stOut.swLowSpdLpfPu) + switchhall_pvt_slLowSpdLpfPu; //50Hz switchhall_stOut.swLowSpdLpfPu = switchhall_pvt_slLowSpdLpfPu >> 15; /* High Speed LPF */ // switchhall_pvt_slHighSpdLpfPu = // (SLONG)0x00CB * (switchhall_stOut.swHighSpdPu - switchhall_stOut.swHighSpdLpfPu) + switchhall_pvt_slHighSpdLpfPu; // switchhall_stOut.swHighSpdLpfPu = switchhall_pvt_slHighSpdLpfPu >> 15; } UWORD Hcnt; void HALLTIMER_INST_IRQHandler(void) //void TMR16_GLOBAL_IRQHandler(void) { switch (DL_Timer_getPendingInterrupt(HALLTIMER_INST)) { case DL_TIMER_IIDX_ZERO: #if(EMCDEAL_EN!=0) if( EcmDeal.EmcModeFlag==TRUE) switchhall_stCap.slCapValueDelta= EcmDeal.slCapValueDelta; else #endif { switchhall_voSectorJudge(); Hcnt++; switchhall_stCap.uwCaptureOverFlowCnt ++; if(switchhall_stCap.uwCaptureOverFlowCnt >= 5) { tmp_ValueCapDelta = (SLONG)(switchhall_stCap.uwCaptureOverFlowCnt+1) * 60011; //switchhall_stCap.slCapValueDelta switchhall_stCap.slCapValueDelta = tmp_ValueCapDelta; } if (switchhall_stCap.uwCaptureOverFlowCnt > 9) //1HZ { /* Linmit the max CapValueDelta */ switchhall_stCap.uwCaptureOverFlowCnt=10; } } break; default: break; } } /************************************************************************* End of this File (EOF)! Do not put anything after this part! *************************************************************************/