motor_ctl-4/User project/1.FrameLayer/Source/tbc.c

/************************************************************************
 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 "user.h"
#include "FSM_1st.h"
#include "FSM_2nd.h"
#include "spdctrmode.h"
#include "queue.h"
#include "canAppl.h"
#include "alarm.h"
#include "STLmain.h"
#include "api.h"

#include "torquesensor.h"
/*************************************************************************
 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
****************************************************************/
void tbc_voUpIsr(void)
{
    /* Uart Monitor */
    uart_voAppMonitor();
    /* Motor Position Cal */
    if( cp_stFlg.ThetaGetModelSelect == ANG_RESOLVER )
    {
        spi_voResolverLock();
        spi_voResolver(&spi_stResolverCoef, &spi_stResolverOut);
    }
    else if( cp_stFlg.ThetaGetModelSelect == ANG_SWITCHHALL )
    {
        switchhall_voPosCalTbc();
    }
    else
    {
    	//do noting
    }

    /* 1st FSM */
    FSM1st_Sys_state.Tbcup_hook();

#ifdef RUN_ARCH_SIM
    SWORD elecOmega = 0;
    UWORD gearstate = 0;
    INJ_PT(INT16, uart_slSpdRefRpm, 4);
    INJ_PT(INT16, spi_stResolverOut.uwSpiThetaPu, 0);
    INJ_PT(INT16, elecOmega, 1);
    INJ_PT(INT16, gearstate, 5);
    MC_ControlCode.GearSt =gearstate;


    spi_stResolverOut.swSpdFbkPu = ((SLONG)elecOmega << 15) / cof_uwWebRadps * 10;
    
    TEST_PT(INT, scm_uwAngParkPu, 0);
    TEST_PT(INT, scm_swSpdRefPu, 1);
    TEST_PT(INT, scm_stSpdFbkLpf.slY.sw.hi, 2);
    TEST_PT(INT, uart_slSpdRefRpm, 3);
    TEST_PT(INT, alm_unCode.all, 4);
    TEST_PT(INT, adc_stUpOut.uwVdcLpfPu, 5);

    TEST_PT(INT, scm_swIqRefPu, 6);
    TEST_PT(INT, scm_swIqFdbLpfPu, 7);

    TEST_PT(INT, adc_stDownOut.slSampIaPu, 8);
    TEST_PT(INT, adc_stDownOut.swIaPu, 9);
    TEST_PT(INT, adc_stUpOut.swCalibIaPu, 10);
    TEST_PT(INT, crd_stCurParkOut.swQPu, 11);
    TEST_PT(INT, cadence_stFreGetOut.uwFrequencyPu, 12);
    TEST_PT(INT, bikespeed_stFreGetOut.uwFrequencyPu, 13);  
    TEST_PT(INT, torsensor_stTorSensorOut.uwTorquePu, 14); 
    TEST_PT(INT, cp_stBikeRunInfoPara.uwBikeGear, 15); 

#endif
}

/***************************************************************
 Function: tbc_voIsr;
 Description: TBC interrupt service
 Call by:
 Input Variables: N/A
 Output/Return Variables: N/A
 Subroutine Call: ...;
 Reference: N/A
****************************************************************/
static BOOL tbc_pvt_blErrorFlag = FALSE;
void tbc_voDownIsr(void)
{
    /* ADC Sample */
    adc_voSampleUp(&adc_stCof, &adc_stUpOut);
    
    /* Alarm detect */
    alm_stIn.blADCInitOvrFlg = sysfsm_stFlg.blADCInitOvrFlg;
    alm_stIn.uwIpeakPu = adc_stDownOut.uwIpeakPu;    
    alm_stIn.swMotorPwrInWt = scm_swMotorPwrInLpfWt;  
    alm_stIn.uwIaAbsPu = adc_stDownOut.uwIaAbsPu;
    alm_stIn.uwIbAbsPu = adc_stDownOut.uwIbAbsPu;      
    alm_stIn.uwIcAbsPu = adc_stDownOut.uwIcAbsPu;      
    alm_stIn.swIalhpaPu = crd_stCurClarkOut.swAlphaPu; 
    alm_stIn.swIbetaPu = crd_stCurClarkOut.swBetaPu;   
    alm_stIn.swIqRefPu = scm_swIqRefPu;
    alm_stIn.uwVdcPu = adc_stUpOut.uwVdcLpfPu;        
    alm_stIn.uwSpdFbkLpfAbsPu = scm_uwSpdFbkLpfAbsPu; 
    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.blSpiThetaFltFlg = spi_stResolverOut.blSpiThetaFltFlg;
    alm_voDetecTBC(&alm_stIn, &alm_stDetectTbcCoef);
    
    /* MCU Fault Detect */
    if((FALSE == UART_bInsertPendTx)&&(UART_bMonSwitch == FALSE))
    {
      stl_voTbcProc();
    }

    /* Error Log */
    switch_flg.SysFault_Flag = alm_blAlmOccrFlg;
    if (switch_flg.SysFault_Flag == TRUE && tbc_pvt_blErrorFlag == FALSE)
    {
        tbc_pvt_blErrorFlag = 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(&que_stFlashErrorLog, &que_stErrorLog, 1);  
    }
    else if(switch_flg.SysFault_Flag == FALSE)
    {
        tbc_pvt_blErrorFlag = FALSE;
    }
    else
    {
    	//do nothing
    }

    /* ADC Init Finish Flag */
    if (adc_stDownOut.blADCCalibFlg && adc_stUpOut.blADCCalibFlg)
    {
        sysfsm_stFlg.blADCInitOvrFlg = TRUE;
    }
    else
    {
        sysfsm_stFlg.blADCInitOvrFlg = FALSE;
    }

    /* ADC Sample */
    adc_voSampleDown(&adc_stCof, &adc_stDownOut);

    /* ADC Rdson Calibration with Single Resistance*/
    adc_voSRCalibration(&adc_stCof, &adc_stUpOut, &adc_stDownOut);

    /* 1st 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_ /* parasoft-suppress MISRA2004-19_6 "本项目中无法更改，后续避免使用" */
#endif
/*************************************************************************
 End of this File (EOF)!
 Do not put anything after this part!
*************************************************************************/