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da2cd65e9a
matlab_23550/Inu/Src/main/PWMTools.c
Razvalyaev da2cd65e9a init
2024-12-27 10:50:32 +03:00

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#include <adc_tools.h>
#include <alg_simple_scalar.h>
#include <alg_uf_const.h>
#include <break_regul.h>
#include <calc_rms_vals.h>
#include <control_station_project.h> //22.06
#include <detect_errors_adc.h>
#include <detect_overload.h>
#include <edrk_main.h>
#include <f281xpwm.h>
//#include <log_to_mem.h>
#include <master_slave.h>
#include <math.h>
#include <message_modbus.h> //22.06
#include <optical_bus.h>
#include <params.h>
#include <params_norma.h>
#include <params_pwm24.h>
#include <project.h>
#include <PWMTMSHandle.h>
#include <PWMTools.h>
#include <sync_tools.h>
#include <v_pwm24_v2.h>
#include <v_pwm24_v2.h>
#include <v_rotor.h>
#include <vector.h>
#include "f281xpwm.h"
//#include "SpaceVectorPWM.h"
#include "CAN_Setup.h"
#include "global_time.h"
#include "IQmathLib.h"
#include "mathlib.h"
#include "oscil_can.h"
#include "rmp_cntl_v1.h"
#include "uf_alg_ing.h"
#include "vhzprof.h"
#include "vector_control.h"
#include "MemoryFunctions.h"
#include "RS_Functions.h"
#include "TuneUpPlane.h"
#include "xp_write_xpwm_time.h"
#include "pwm_test_lines.h"
#include "detect_errors.h"
#include "modbus_table_v2.h"
#include "params_alg.h"
#include "v_rotor_22220.h"
#include "log_to_memory.h"
#include "log_params.h"
#include "limit_power.h"
#include "pwm_logs.h"
#include "optical_bus_tools.h"
#include "ramp_zadanie_tools.h"
#include "pll_tools.h"
/////////////////////////////////////
#if (_SIMULATE_AC==1)
#include "sim_model.h"
#endif
//#pragma DATA_SECTION(freq1,".fast_vars1");
//_iq freq1;
//#pragma DATA_SECTION(k1,".fast_vars1");
//_iq k1 = 0;
#define ENABLE_LOG_INTERRUPTS 0 //1
#if (ENABLE_LOG_INTERRUPTS)
#pragma DATA_SECTION(log_interrupts,".slow_vars");
#define MAX_COUNT_LOG_INTERRUPTS 100
unsigned int log_interrupts[MAX_COUNT_LOG_INTERRUPTS+2] = {0};
/////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////
void add_log_interrupts(int cmd)
{
static int count_log_interrupst = 0;
if (count_log_interrupst>=MAX_COUNT_LOG_INTERRUPTS)
count_log_interrupst = 0;
log_interrupts[count_log_interrupst++] = cmd;
log_interrupts[count_log_interrupst++] = EvbRegs.T3CNT;
//#if (ENABLE_LOG_INTERRUPTS)
// add_log_interrupts(0);
//#endif
}
#endif //if (ENABLE_LOG_INTERRUPTS)
#pragma DATA_SECTION(iq_U_1_save,".fast_vars1");
_iq iq_U_1_save = 0;
#pragma DATA_SECTION(iq_U_2_save,".fast_vars1");
_iq iq_U_2_save = 0;
unsigned int enable_calc_vector = 0;
//WINDING winding1 = WINDING_DEFAULT;
//#define COUNT_SAVE_LOG_OFF 50 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define COUNT_START_IMP 5 //10
#define CONST_005 838860
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
#pragma CODE_SECTION(global_time_interrupt,".fast_run2");
void global_time_interrupt(void)
{
// inc_RS_timeout_cicle();
// inc_CAN_timeout_cicle();
#if(_ENABLE_PWM_LINES_FOR_TESTS)
// PWM_LINES_TK_18_ON;
#endif
if (edrk.disable_interrupt_timer3)
return;
//i_led1_on_off(1);
if (sync_data.latch_interrupt && sync_data.enabled_interrupt)
{
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>!
// <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
start_sync_interrupt();
}
#if (ENABLE_LOG_INTERRUPTS)
add_log_interrupts(1);
#endif
global_time.calc(&global_time);
#if (ENABLE_LOG_INTERRUPTS)
add_log_interrupts(101);
#endif
/*
static unsigned int oldest_time = 0, time_pause = TIME_PAUSE_MODBUS_REMOUTE;
control_station_test_alive_all_control();
if (detect_pause_milisec(time_pause,&oldest_time))
modbusNetworkSharing(0);
RS232_WorkingWith(0,1);
*/
//i_led1_on_off(0);
#if(_ENABLE_PWM_LINES_FOR_TESTS)
// PWM_LINES_TK_18_OFF;
#endif
}
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
//#define get_tics_timer_pwm2(k) {time_buf2[k] = (EvbRegs.T3CNT-start_tics_4timer);k++;}
//unsigned int time_buf2[10] = {0};
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
#define PAUSE_INC_TIMEOUT_CICLE 10 // FREQPWM/10
void pwm_inc_interrupt(void)
{
static unsigned int t_inc = 0;
if (t_inc>=PAUSE_INC_TIMEOUT_CICLE)
{
inc_RS_timeout_cicle();
inc_CAN_timeout_cicle();
t_inc = 0;
}
else
t_inc++;
}
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
#pragma CODE_SECTION(pwm_analog_ext_interrupt,".fast_run2");
void pwm_analog_ext_interrupt(void)
{
// static int count_timer_buf2=0, start_tics_4timer = 0, c_rms = 0;
// static _iq prev_Iu=0, prev_Ua=0;
//static _iq iq_50hz_norma = _IQ(50.0/NORMA_FROTOR);
// i_led2_on();
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// start_tics_4timer = EvaRegs.T1CNT;
// count_timer_buf2 = 0;
// get_tics_timer_pwm2(count_timer_buf2);
if (edrk.SumSbor == 1) {
// detect_protect_adc(uf_alg.tetta_bs, uf_alg.tetta_bs);
}
calc_pll_50hz();
//
// if (c_rms>=9)
// {
// edrk.test_rms_Iu = calc_rms(analog.iqIu,prev_Iu,edrk. f_stator);
// edrk.test_rms_Ua = calc_rms(analog.iqUin_A1B1,prev_Ua, iq_50hz_norma);
//
// prev_Iu = analog.iqIu;
// prev_Ua = analog.iqUin_A1B1;
// c_rms = 0;
// }
// else
// c_rms++;
// fill_RMS_buff_interrupt(uf_alg.tetta_bs, uf_alg.tetta_bs);
// get_tics_timer_pwm2(count_timer_buf2);
// i_led2_off();
// global_time.calc(&global_time);
}
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
inline void init_regulators()
{
// if(f.Mode != 0)
// {
//// pwm_vector_model_titov(0, 0, /*rotor.iqW*/0, 0);
// }
}
#define select_working_channels(go_a, go_b) {go_a = !f.Obmotka1; \
go_b = !f.Obmotka2;}
#define MAX_COUNT_WAIT_GO_0 FREQ_PWM // 1 <20><><EFBFBD>.
#define PAUSE_ERROR_DETECT_UPDATE_OPTBUS_DATA 900// ((unsigned int)(1*FREQ_PWM*2)) // ~1sec //50
#define MAX_TIMER_WAIT_SET_TO_ZERO_ZADANIE 27000 //((unsigned int)(30*FREQ_PWM*2)) // 60 sec
//#define MAX_TIMER_WAIT_BOTH_READY2 108000 //(120*FREQ_PWM*2) // 120 sec
#define MAX_TIMER_WAIT_BOTH_READY2 216000 //(120*FREQ_PWM*2) // 240 sec
#define MAX_TIMER_WAIT_MASTER_SLAVE 4500 // 5 sec
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
//#define _ENABLE_PWM_LED2_PROFILE 1
#if (_ENABLE_PWM_LED2_PROFILE)
unsigned int profile_pwm[30]={0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0};
unsigned int pos_profile_pwm = 0;
#endif
///////////////////////////////////////////////////////////////////
#define _ENABLE_LOG_TICS_PWM 0//1
#define _ENABLE_SLOW_PWM 0//1
#define _ENABLE_INTERRUPT_PWM_LED2 0//1
#if (_ENABLE_LOG_TICS_PWM==1)
static int c_run=0;
static int c_run_start=0;
static int i_log;
#pragma DATA_SECTION(time_buf,".slow_vars");
#define MAX_COUNT_TIME_BUF 50
int time_buf[MAX_COUNT_TIME_BUF] = {0};
//#define get_tics_timer_pwm(flag,k) {if (flag) {time_buf[k] = (unsigned int)(EvbRegs.T3CNT-start_tics_4timer);k++;}else{time_buf[k] = -1; k++;}}
#define set_tics_timer_pwm(flag,k) { time_buf[k] = flag;k++; }
//#define get_tics_timer_pwm(flag,k) if (flag) ? {time_buf[k] = (EvbRegs.T3CNT-start_tics_4timer);k++;} : {time_buf[k] = -1; k++;};
static int count_timer_buf=0;
#else
#define get_tics_timer_pwm(flag) asm(" NOP;")
#define set_tics_timer_pwm(flag,k) asm(" NOP;")
//static int count_timer_buf=0;
#endif
#if(_ENABLE_SLOW_PWM)
static int slow_pwm_pause = 0;
#endif
unsigned int count_time_buf = 0;
int stop_count_time_buf=0;
unsigned int log_wait;
unsigned int end_tics_4timer, start_tics_4timer;
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
#if (_ENABLE_LOG_TICS_PWM==1)
//#pragma CODE_SECTION(get_tics_timer_pwm,".fast_run");
void get_tics_timer_pwm(unsigned int flag)
{
unsigned int delta;
if (flag)
{
delta = (unsigned int)(EvbRegs.T3CNT-start_tics_4timer);
if (count_timer_buf>=3)
time_buf[count_timer_buf] = delta - time_buf[count_timer_buf-2];
else
time_buf[count_timer_buf] = delta;
time_buf[count_timer_buf] = time_buf[count_timer_buf]*33/1000;
count_timer_buf++;
}
else
{
time_buf[count_timer_buf] = -1;
count_timer_buf++;
}
}
#else
#endif
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
#pragma CODE_SECTION(calc_rotors,".fast_run");
void calc_rotors(int flag)
{
#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
PWM_LINES_TK_17_ON;
#endif
update_rot_sensors();
set_tics_timer_pwm(6,count_timer_buf);
get_tics_timer_pwm(flag);
#if(C_cds_in_number>=1)
project.cds_in[0].read_pbus(&project.cds_in[0]);
#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
PWM_LINES_TK_17_OFF;
#endif
#if (_ENABLE_PWM_LED2_PROFILE)
if (profile_pwm[pos_profile_pwm++])
i_led2_on_off(1);
else
i_led2_on_off(0);
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
PWM_LINES_TK_19_ON;
#endif
#if(SENSOR_ALG==SENSOR_ALG_23550)
// 23550
RotorMeasureDetectDirection();
RotorMeasure();// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#endif
#if(SENSOR_ALG==SENSOR_ALG_22220)
// 22220
Rotor_measure_22220();
#if (_ENABLE_PWM_LED2_PROFILE)
if (profile_pwm[pos_profile_pwm++])
i_led2_on_off(1);
else
i_led2_on_off(0);
#endif
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
PWM_LINES_TK_19_OFF;
#endif
set_tics_timer_pwm(7,count_timer_buf);
get_tics_timer_pwm(flag);
#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
PWM_LINES_TK_20_ON;
#endif
// RotorMeasurePBus();
#if(SENSOR_ALG==SENSOR_ALG_23550)
// 23550
RotorDirectionFilter(WRotorPBus.RotorDirectionInstant, &WRotorPBus.RotorDirectionSlow, &WRotorPBus.RotorDirectionSlow2, &WRotorPBus.RotorDirectionCount);
#endif
#if(SENSOR_ALG==SENSOR_ALG_22220)
// 22220
// nothing
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
PWM_LINES_TK_20_OFF;
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
PWM_LINES_TK_20_ON;
#endif
#if(SENSOR_ALG==SENSOR_ALG_23550)
// 23550
select_values_wrotor();
#endif
#if(SENSOR_ALG==SENSOR_ALG_22220)
// 22220
select_values_wrotor_22220();
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
PWM_LINES_TK_20_OFF;
#endif
set_tics_timer_pwm(8,count_timer_buf);
get_tics_timer_pwm(flag);
#endif //(C_cds_in_number>=1)
edrk.rotor_direction = WRotor.RotorDirectionSlow;
#if(SENSOR_ALG==SENSOR_ALG_23550)
// 23550
edrk.iq_f_rotor_hz = WRotor.iqWRotorSumFilter;
#endif
#if(SENSOR_ALG==SENSOR_ALG_22220)
// 22220
edrk.iq_f_rotor_hz = WRotor.iqWRotorSum;
#endif
}
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
#pragma CODE_SECTION(calc_zadanie_rampa,".fast_run");
void calc_zadanie_rampa(void)
{
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_19_ON;
#endif
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
load_current_ramp_oborots_power();
if (edrk.StartGEDfromControl==0)
ramp_all_zadanie(2); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD>
else
if (edrk.flag_wait_set_to_zero_zadanie || edrk.flag_block_zadanie || edrk.Status_Ready.bits.ready_final==0 || /*edrk.StartGEDfromControl==0 ||*/ edrk.run_razbor_shema == 1)
ramp_all_zadanie(1); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD>, <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD>, <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> edrk.StartGEDfromZadanie
else
ramp_all_zadanie(0); // <20><><EFBFBD> <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_19_OFF;
#endif
}
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
#pragma CODE_SECTION(async_pwm_ext_interrupt,".fast_run2");
void async_pwm_ext_interrupt(void)
{
#if(_ENABLE_PWM_LINES_FOR_TESTS_SYNC)
PWM_LINES_TK_19_ON;
#endif
if (edrk.run_to_pwm_async)
{
PWM_interrupt();
edrk.run_to_pwm_async = 0;
}
#if(_ENABLE_PWM_LINES_FOR_TESTS_SYNC)
PWM_LINES_TK_19_OFF;
#endif
}
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////
void run_detect_fast_error(void)
{
detect_error_u_zpt_fast();
detect_error_u_in();
}
////////////////////////////////////////////////////////////////////////////////
#pragma CODE_SECTION(PWM_interrupt_main,".fast_run");
void PWM_interrupt_main(void)
{
#if(_ENABLE_PWM_LINES_FOR_TESTS_SYNC)
PWM_LINES_TK_16_ON;
#endif
norma_adc_nc(0);
edrk.run_to_pwm_async = 1;
#if(_ENABLE_PWM_LINES_FOR_TESTS_SYNC)
PWM_LINES_TK_16_OFF;
#endif
}
////////////////////////////////////////////////////////////////////////////////
#define MAX_COUNT_COUNTSTARTGEDFROMZADANIE FREQ_PWM //3000 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> edrk.StartGEDfromZadanie
#pragma CODE_SECTION(PWM_interrupt,".fast_run");
void PWM_interrupt(void)
{
static unsigned int pwm_run = 0;
static _iq Uzad1=0, Fzad=0, Uzad2=0, Izad_out = 0, Uzad_from_master = 0;
// static int count_step_ram_off = 0;
// static int count_start_impuls = 0;
static int prevGo = -1;
static volatile unsigned int go_a = 0;
static volatile unsigned int go_b = 0;
static int prev_go_a = 0;
static int prev_go_b = 0;
static _iq iq_U_1_prev = 0;
static _iq iq_U_2_prev = 0;
static unsigned int prev_timer = 0;
unsigned int cur_timer;
static unsigned int count_lost_interrupt=0;
static int en_rotor = 1;//1;
static unsigned long timer_wait_set_to_zero_zadanie = 0;
static unsigned long timer_wait_both_ready2 = 0;
static unsigned int prev_error_controller = 0,error_controller=0;
static unsigned long time_delta = 0;
static unsigned int run_calc_uf = 0, prev_run_calc_uf = 0, count_wait_go_0 = 0;
int pwm_enable_calc_main = 0, pwm_up_down = 0, err_interr = 0, slow_error = 0;
static unsigned int count_err_read_opt_bus = 0, prev_edrk_Kvitir = 0;
static unsigned int count_wait_read_opt_bus = 0, old_count_ok = 0, data_ready_optbus = 0, count_ok_read_opt_bus = 0;
// static T_cds_optical_bus_data_in buff[25]={0};
static unsigned int flag_last_error_read_opt_bus = 0, sum_count_err_read_opt_bus1=0;
static unsigned int count_read_slave = 0, flag1_change_moment_read_optbus = 0, flag2_change_moment_read_optbus = 0;
static unsigned int count_updated_sbus = 0, prev_ManualDischarge = 0;
static unsigned int prev_flag_detect_update_optbus_data=0, flag_detect_update_optbus_data = 0, pause_error_detect_update_optbus_data = 0;
static unsigned int timer_wait_to_master_slave = 0;
static unsigned int prev_master = 0;
static int pwm_enable_calc_main_log = 1;
static int what_pwm = 0;
int localStartGEDfromZadanie;
static unsigned int countStartGEDfromZadanie = 0;
// OPTICAL_BUS_CODE_STATUS optbus_status = {0};
static STATUS_DATA_READ_OPT_BUS optbus_status;
_iq wd;
// if (edrk.disable_interrupt_sync==0)
// start_sync_interrupt();
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_16_ON;
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
PWM_LINES_TK_16_ON;
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS)
// PWM_LINES_TK_16_ON;
#endif
#if (_ENABLE_INTERRUPT_PWM_LED2)
i_led2_on_off(1);
#endif
if (edrk.disable_interrupt_pwm)
{
pwm_inc_interrupt();
return;
}
if (flag_special_mode_rs==1)
{
calc_norm_ADC_0(1);
calc_norm_ADC_1(1);
pwm_inc_interrupt();
return;
}
#if (_ENABLE_PWM_LED2_PROFILE)
pos_profile_pwm = 0;
#endif
#if (_ENABLE_PWM_LED2_PROFILE)
if (profile_pwm[pos_profile_pwm++])
i_led2_on_off(1);
else
i_led2_on_off(0);
#endif
// if (xpwm_time.what_next_interrupt==PWM_LOW_LEVEL_INTERRUPT)
// {
//#if(_ENABLE_PWM_LINES_FOR_TESTS_SYNC)
// PWM_LINES_TK_17_ON;
//#endif
//
// i_sync_pin_on();
//
// }
// else
// {
//#if(_ENABLE_PWM_LINES_FOR_TESTS_SYNC)
// PWM_LINES_TK_17_OFF;
//#endif
//
// i_sync_pin_off();
// }
////////////////
//PWN_COUNT_RUN_PER_INTERRUPT PWM_TWICE_INTERRUPT_RUN
err_interr = detect_level_interrupt(edrk.flag_second_PCH);
if (err_interr)
edrk.errors.e3.bits.ERR_INT_PWM_LONG |=1;
if (xpwm_time.one_or_two_interrupts_run == PWM_ONE_INTERRUPT_RUN)
pwm_up_down = 2;
else
if (xpwm_time.where_interrupt == PWM_LOW_LEVEL_INTERRUPT)
{
pwm_up_down = 0;
}
else
pwm_up_down = 1;
// sync line
if (pwm_up_down==2 || pwm_up_down==0)
{
// what_pwm = 0;
// i_sync_pin_on();
calculate_sync_detected();
}
/////////////////
#if (ENABLE_LOG_INTERRUPTS)
add_log_interrupts(3);
#endif
#if (_ENABLE_LOG_TICS_PWM==1)
count_timer_buf = 0;
// optical_read_data.timer=0;
#endif
#if (_FLOOR6==0)
// if (edrk.Stop==0)
// i_led1_on_off(1);
#else
// i_led1_on_off(1);
#endif
edrk.into_pwm_interrupt = 1;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
start_tics_4timer = EvbRegs.T3CNT;
cur_timer = global_time.pwm_tics;
if (prev_timer>cur_timer)
{
if ((prev_timer-cur_timer)<2)
{
// stop_pwm();
edrk.count_lost_interrupt++;
}
}
else
{
if ((cur_timer==prev_timer) || (cur_timer-prev_timer)>2)
{
// stop_pwm();
edrk.count_lost_interrupt++;
}
}
prev_timer = cur_timer;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
set_tics_timer_pwm(1,count_timer_buf);
get_tics_timer_pwm(1);
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_17_ON;
#endif
#if (_SIMULATE_AC==1)
calc_norm_ADC_0_sim(0);
#else
calc_norm_ADC_0(0); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20> norma <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> Pwm_main()
#endif
run_detect_fast_error(); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////
if (edrk.Kvitir==0 && prev_edrk_Kvitir==1)
{
count_err_read_opt_bus = 0;
edrk.sum_count_err_read_opt_bus = 0;
}
set_tics_timer_pwm(2,count_timer_buf);
get_tics_timer_pwm(1);
//////////////////////////////
// inc_RS_timeout_cicle();
////////////////////////////////
////////////////////////////////////////////
////////////////////////////////////////////
// inc_CAN_timeout_cicle();
////////////////////////////////////////////
if (edrk.ms.another_bs_maybe_on==1 &&
(edrk.auto_master_slave.local.bits.master || edrk.auto_master_slave.local.bits.slave) )
{
flag_detect_update_optbus_data = 1;
if (prev_flag_detect_update_optbus_data == 0)
pause_error_detect_update_optbus_data = 0;
count_updated_sbus = optical_read_data.data_was_update_between_pwm_int;
// <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> PAUSE_ERROR_DETECT_UPDATE_OPTBUS_DATA <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD> <20><> OPT_BUS
// <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> OPT_BUS
if (pause_error_detect_update_optbus_data<PAUSE_ERROR_DETECT_UPDATE_OPTBUS_DATA)
pause_error_detect_update_optbus_data++;
else
{
if (optical_read_data.error_wdog || (optical_read_data.data_was_update_between_pwm_int==0))
{
if (optical_read_data.error_wdog)
edrk.errors.e8.bits.WDOG_OPTICAL_BUS |= 1;
if (optical_read_data.data_was_update_between_pwm_int==0)
edrk.errors.e7.bits.ANOTHER_PCH_NOT_ANSWER |= 1;
}
else
{
edrk.ms.ready3 = 1;
optical_read_data.data_was_update_between_pwm_int = 0;
}
}
// sum_count_err_read_opt_bus++;
}
else
{
pause_error_detect_update_optbus_data = 0;
flag_detect_update_optbus_data = 0;
edrk.ms.ready3 = 0;
}
prev_flag_detect_update_optbus_data = flag_detect_update_optbus_data;
optical_read_data.flag_clear = 1;
if (xpwm_time.where_interrupt == PWM_LOW_LEVEL_INTERRUPT ||
xpwm_time.one_or_two_interrupts_run == PWM_ONE_INTERRUPT_RUN)
{
pwm_enable_calc_main = 1;
if (sync_data.what_main_pch)
{
if (sync_data.what_main_pch==2)
{
if (edrk.flag_second_PCH==1) // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>
{
fix_pwm_freq_synchro_ain();
}
}
if (sync_data.what_main_pch==1)
{
if (edrk.flag_second_PCH==0) // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>
{
fix_pwm_freq_synchro_ain();
}
}
}
else
fix_pwm_freq_synchro_ain();
}
else
{
pwm_enable_calc_main = 0;
}
/////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////
//#if(C_cds_in_number>=1)
// project.cds_in[0].read_pbus(&project.cds_in[0]);
//#endif
#if(C_cds_in_number>=2)
project.cds_in[1].read_pbus(&project.cds_in[1]);
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_17_OFF;
#endif
set_tics_timer_pwm(10,count_timer_buf);
get_tics_timer_pwm(pwm_enable_calc_main_log);
if (pwm_run == 1)
{
// <20><><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<2D><> <20><> <20><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>?
soft_stop_x24_pwm_all();
edrk.errors.e9.bits.ERR_INT_PWM_VERY_LONG |=1;
}
else
{
pwm_run = 1;
// detect_I_M_overload();
// if (edrk.from_rs.bits.ACTIVE)
// edrk.Go = edrk.StartGEDRS;
// project_read_errors_controller(); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ADR_ERRORS_TOTAL_INFO
if ( (edrk.errors.e0.all)
|| (edrk.errors.e1.all)
|| (edrk.errors.e2.all)
|| (edrk.errors.e3.all)
|| (edrk.errors.e4.all)
|| (edrk.errors.e5.all)
|| (edrk.errors.e6.all)
|| (edrk.errors.e7.all)
|| (edrk.errors.e8.all)
|| (edrk.errors.e9.all)
|| (edrk.errors.e10.all)
|| (edrk.errors.e11.all)
|| (edrk.errors.e12.all)
)
edrk.Stop |= 1;
else
edrk.Stop = 0;
project.read_errors_controller();
error_controller = (project.controller.read.errors.all | project.controller.read.errors_buses.bit.slave_addr_error | project.controller.read.errors_buses.bit.count_error_pbus);
// project.controller.read.errors.all = error_controller;
if(error_controller && prev_error_controller==0)
{
edrk.errors.e11.bits.ERROR_CONTROLLER_BUS |= 1;
svgen_set_time_keys_closed(&svgen_pwm24_1);
svgen_set_time_keys_closed(&svgen_pwm24_2);
write_swgen_pwm_times(PWM_MODE_RELOAD_FORCE);
// xerror(main_er_ID(1),(void *)0);
}
prev_error_controller = error_controller;//project.controller.read.errors.all;
if (pwm_enable_calc_main==0)// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
{
if (en_rotor)
{
#if (_SIMULATE_AC==1)
// calc_rotors_sim();
#else
calc_rotors(pwm_enable_calc_main_log); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#endif
}
#if (_ENABLE_PWM_LED2_PROFILE)
if (profile_pwm[pos_profile_pwm++])
i_led2_on_off(1);
else
i_led2_on_off(0);
#endif
calc_zadanie_rampa();
#if (_ENABLE_PWM_LED2_PROFILE)
if (profile_pwm[pos_profile_pwm++])
i_led2_on_off(1);
else
i_led2_on_off(0);
#endif
calc_norm_ADC_1(1); // <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
calc_power_full();
calc_all_limit_koeffs();
}
/////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////
if (pwm_enable_calc_main)// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
{
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_18_ON;
#endif
if (edrk.Obmotka1 == 0)
go_a = 1;
else
go_a = 0;
if (edrk.Obmotka2 == 0)
go_b = 1;
else
go_b = 0;
//////////////////////////
if (optical_read_data.data.cmd.bit.start_pwm && edrk.auto_master_slave.local.bits.slave )
edrk.StartGEDfromSyncBus = 1;
else
edrk.StartGEDfromSyncBus = 0;
edrk.master_Uzad = _IQ15toIQ( optical_read_data.data.pzad_or_wzad);
edrk.master_theta = _IQ12toIQ( optical_read_data.data.angle_pwm);
edrk.master_Izad = _IQ15toIQ( optical_read_data.data.iq_zad_i_zad);
edrk.master_Iq = _IQ15toIQ( optical_read_data.data.iq_zad_i_zad);
set_tics_timer_pwm(11,count_timer_buf);
get_tics_timer_pwm(pwm_enable_calc_main_log);
/////////////////////////
if ((edrk.auto_master_slave.local.bits.slave==1 && edrk.auto_master_slave.local.bits.master==0)
|| (edrk.auto_master_slave.local.bits.slave==0 && edrk.auto_master_slave.local.bits.master==1) )
{
if (edrk.auto_master_slave.local.bits.master != prev_master)
timer_wait_to_master_slave = 0;
// <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>.
if (timer_wait_to_master_slave>MAX_TIMER_WAIT_MASTER_SLAVE)
{
edrk.Status_Ready.bits.MasterSlaveActive = 1;
if (edrk.auto_master_slave.local.bits.master)
edrk.MasterSlave = MODE_MASTER;
else
edrk.MasterSlave = MODE_SLAVE;
}
else
{
edrk.Status_Ready.bits.MasterSlaveActive = 0;
edrk.MasterSlave = MODE_DONTKNOW;
timer_wait_to_master_slave++;
}
prev_master = edrk.auto_master_slave.local.bits.master;
}
else
{
edrk.Status_Ready.bits.MasterSlaveActive = 0;
edrk.MasterSlave = MODE_DONTKNOW;
timer_wait_to_master_slave = 0;
}
set_tics_timer_pwm(12,count_timer_buf);
get_tics_timer_pwm(pwm_enable_calc_main_log);
if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER) {
if (edrk.MasterSlave == MODE_MASTER) {
if (get_start_ged_from_zadanie()) {
edrk.prepare_stop_PWM = 0;
//edrk.StartGEDfromZadanie = 1;
localStartGEDfromZadanie = 1;
} else {
edrk.prepare_stop_PWM = 1;
if (edrk.k_stator1 < 41943) { //335544 ~ 2%
//edrk.StartGEDfromZadanie = 0;
localStartGEDfromZadanie = 0;
}
}
} else {
if (get_start_ged_from_zadanie()) {
//edrk.StartGEDfromZadanie = 1;
localStartGEDfromZadanie = 1;
} else {
if (edrk.k_stator1 < 41943) { //335544 ~ 2%
//edrk.StartGEDfromZadanie = 0;
localStartGEDfromZadanie = 0;
}
}
edrk.prepare_stop_PWM = optical_read_data.data.cmd.bit.prepare_stop_PWM;
}
} else {
//edrk.StartGEDfromZadanie =
localStartGEDfromZadanie = get_start_ged_from_zadanie();
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> localStartGEDfromZadanie=1 <20> edrk.StartGEDfromZadanie
if (localStartGEDfromZadanie && edrk.prevStartGEDfromZadanie==0)
{
if (countStartGEDfromZadanie<MAX_COUNT_COUNTSTARTGEDFROMZADANIE)
countStartGEDfromZadanie++;
else
edrk.StartGEDfromZadanie = localStartGEDfromZadanie;
}
else
{
edrk.StartGEDfromZadanie = localStartGEDfromZadanie;
countStartGEDfromZadanie = 0;
}
edrk.prevStartGEDfromZadanie = edrk.StartGEDfromZadanie;
set_tics_timer_pwm(13,count_timer_buf);
get_tics_timer_pwm(pwm_enable_calc_main_log);
// <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?
if (optical_read_data.data.cmd.bit.rascepitel_cmd==CODE_RASCEPITEL_CMD_REQUEST_AND_THIS_OFF)
{
if (edrk.StartGEDfromZadanie==1)
{
edrk.flag_wait_set_to_zero_zadanie = 1;
edrk.you_can_on_rascepitel = 0;
}
else
edrk.flag_block_zadanie = 1;
}
else
{
if (edrk.StartGEDfromZadanie)
edrk.you_can_on_rascepitel = 0;
else
edrk.you_can_on_rascepitel = 1;
}
// edrk.flag_wait_set_to_zero_zadanie = 0;
set_tics_timer_pwm(131,count_timer_buf);
get_tics_timer_pwm(pwm_enable_calc_main_log);
if (optical_read_data.data.cmd.bit.ready_cmd == CODE_READY_CMD_READY1TO2
&& optical_write_data.data.cmd.bit.ready_cmd == CODE_READY_CMD_READY1TO2)
{
// <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1 <20> 2.
edrk.flag_wait_both_ready2 = 1;
}
// if (optical_read_data.data.cmd.bit.ready_cmd)
//
// edrk.flag_another_bs_first_ready12
if (optical_read_data.data.cmd.bit.ready_cmd == CODE_READY_CMD_READY2
&& optical_write_data.data.cmd.bit.ready_cmd == CODE_READY_CMD_READY2 && edrk.flag_wait_both_ready2)
{
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
edrk.flag_wait_both_ready2 = 0;
}
if (optical_write_data.data.cmd.bit.ready_cmd == CODE_READY_CMD_READY1)
edrk.flag_wait_both_ready2 = 0;
if (edrk.flag_wait_both_ready2)
{
if (timer_wait_both_ready2>MAX_TIMER_WAIT_BOTH_READY2)
edrk.errors.e1.bits.VERY_LONG_BOTH_READY2 |= 1;
else
timer_wait_both_ready2++;
}
else
timer_wait_both_ready2 = 0;
if (optical_read_data.data.cmd.bit.rascepitel_cmd==CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_ON
&& optical_read_data.data.cmd.bit.ready_cmd == CODE_READY_CMD_READY2) // <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
{
edrk.flag_block_zadanie = 0;
edrk.flag_wait_set_to_zero_zadanie = 0;
}
if (optical_read_data.data.cmd.bit.rascepitel_cmd==CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_OFF
&& optical_read_data.data.cmd.bit.ready_cmd == CODE_READY_CMD_READY1) // <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
{
edrk.flag_block_zadanie = 0;
edrk.flag_wait_set_to_zero_zadanie = 0;
}
if (edrk.StartGEDfromZadanie==0 && edrk.flag_block_zadanie
&& (optical_read_data.data.cmd.bit.rascepitel_cmd==CODE_RASCEPITEL_CMD_REQUEST_AND_THIS_OFF))
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
edrk.you_can_on_rascepitel = 1;
if (edrk.flag_wait_set_to_zero_zadanie)
{
if (timer_wait_set_to_zero_zadanie>MAX_TIMER_WAIT_SET_TO_ZERO_ZADANIE)
{
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
// <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>!!!!
edrk.errors.e1.bits.ANOTHER_BS_NOT_ON_RASCEPITEL |= 1;
}
else
timer_wait_set_to_zero_zadanie++;
}
else
timer_wait_set_to_zero_zadanie = 0;
// <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
if (edrk.errors.e1.bits.ANOTHER_BS_NOT_ON_RASCEPITEL)
edrk.flag_wait_set_to_zero_zadanie = 0;
edrk.StartGED = ((edrk.StartGEDfromControl==1) && (edrk.StartGEDfromZadanie==1) && (edrk.flag_block_zadanie==0));
if (edrk.MasterSlave == MODE_MASTER)
{
edrk.GoWait = ( (edrk.StartGED ) && (edrk.Stop == 0)
&& (project.controller.read.errors.all==0) &&
(slow_error==0) &&
(edrk.Status_Ready.bits.ready_final)
&& edrk.Status_Ready.bits.MasterSlaveActive
&& edrk.warnings.e9.bits.BREAKER_GED_ON==0
);
}
else
if (edrk.MasterSlave == MODE_SLAVE)
{
edrk.GoWait = ( (edrk.StartGED && edrk.StartGEDfromSyncBus) && (edrk.Stop == 0)
&& (project.controller.read.errors.all==0) &&
(slow_error==0) &&
(edrk.Status_Ready.bits.ready_final)
&& edrk.Status_Ready.bits.MasterSlaveActive
);
}
else
edrk.GoWait = 0;
// if (edrk.GoWait==0 && edrk.Go == 0 &&
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> edrk.Go
if (edrk.GoWait)
{
if (count_wait_go_0>=MAX_COUNT_WAIT_GO_0)
edrk.Go = edrk.GoWait;
else
{
edrk.Go = 0;
edrk.errors.e7.bits.VERY_FAST_GO_0to1 |=1; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>! <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> edrk.Go!!!
}
}
else
{
if (edrk.Go)
count_wait_go_0 = 0;
edrk.Go = 0;
if (count_wait_go_0<MAX_COUNT_WAIT_GO_0)
count_wait_go_0++;
}
if (optical_read_data.data.cmd.bit.ready_cmd == CODE_READY_CMD_READY2)
edrk.count_bs_work = 1;
else
edrk.count_bs_work = 0;
#if (_ENABLE_LOG_TICS_PWM==1)
/*
if (stop_count_time_buf==0)
{
count_time_buf++;
if (count_time_buf>=(MAX_COUNT_TIME_BUF-1))
count_time_buf = 0;
log_wait = 0;
if (edrk.MasterSlave == MODE_MASTER)
log_wait |= 0x1;
if (edrk.MasterSlave == MODE_SLAVE)
log_wait |= 0x2;
if (edrk.StartGED)
log_wait |= 0x4;
if (edrk.Stop)
log_wait |= 0x8;
if (edrk.Status_Ready.bits.ready_final)
log_wait |= 0x10;
if (edrk.Status_Ready.bits.MasterSlaveActive)
log_wait |= 0x20;
if (edrk.GoWait)
log_wait |= 0x40;
if (edrk.Go)
log_wait |= 0x80;
if (project.controller.read.errors.all==0)
log_wait |= 0x100;
if (slow_error)
log_wait |= 0x200;
if (edrk.StartGEDfromSyncBus)
log_wait |= 0x400;
time_buf[count_time_buf] = log_wait;
if (edrk.errors.e7.bits.VERY_FAST_GO_0to1)
stop_count_time_buf = 1;
}
*/
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS_GO)
if (edrk.StartGEDfromSyncBus)
{
PWM_LINES_TK_17_ON;
}
else
{
PWM_LINES_TK_17_OFF;
}
if (edrk.StartGEDfromZadanie)
{
PWM_LINES_TK_18_ON;
}
else
{
PWM_LINES_TK_18_OFF;
}
if (edrk.flag_block_zadanie)
{
PWM_LINES_TK_19_ON;
}
else
{
PWM_LINES_TK_19_OFF;
}
if (edrk.StartGEDfromControl)
{
PWM_LINES_TK_16_ON;
}
else
{
PWM_LINES_TK_16_OFF;
}
#endif
set_tics_timer_pwm(15,count_timer_buf);
get_tics_timer_pwm(pwm_enable_calc_main_log);
//////////////////////////////////
//////////////////////////////////
if(edrk.Go == 1)
{
if (edrk.Go != prevGo)
{
edrk.count_run++;
// clear_mem(FAST_LOG);
// count_start_impuls = 0;
// count_step = 0;
f.count_step_ram_off = COUNT_SAVE_LOG_OFF;
// count_step_run = 0;
// set_start_mem(FAST_LOG);
// set_start_mem(SLOW_LOG);
// logpar.start_write_fast_log = 1;
init_uf_const();
init_simple_scalar();
Fzad = 0;
Uzad1 = 0;
Uzad2 = 0;
clear_logpar();
}
else
{
if (f.count_start_impuls < COUNT_START_IMP)
{
f.count_start_impuls++;
}
else
{
f.count_start_impuls = COUNT_START_IMP;
f.flag_record_log = 1;
enable_calc_vector = 1;
}
}
}
else // (edrk.Go == 0)
{
if (f.count_step_ram_off > 0)
{
f.count_step_ram_off--;
f.flag_record_log = 1;
} else {
f.flag_record_log = 0;
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if (edrk.ManualDischarge && prev_ManualDischarge!=edrk.ManualDischarge)
edrk.Discharge = 1;
prev_ManualDischarge =edrk.ManualDischarge;
if (f.count_start_impuls == 0)
{
if (edrk.Discharge || (edrk.ManualDischarge ) )
{
break_resistor_managment_calc();
soft_start_x24_break_1();
}
else
{
if (f.count_step_ram_off > 0)
{
break_resistor_recup_calc(edrk.zadanie.iq_set_break_level);
// soft_start_x24_break_1();
}
else
{
// <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
soft_stop_x24_pwm_all();
}
}
}
set_tics_timer_pwm(16,count_timer_buf);
get_tics_timer_pwm(pwm_enable_calc_main_log);
if (f.count_start_impuls==COUNT_START_IMP)
{
if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER)
{
if (edrk.flag_second_PCH == 0) {
wd = uf_alg.winding_displacement_bs1;
} else {
wd = uf_alg.winding_displacement_bs2;
}
vectorControlConstId(edrk.zadanie.iq_power_zad_rmp, edrk.zadanie.iq_oborots_zad_hz_rmp,
WRotor.RotorDirectionSlow, WRotor.iqWRotorSumFilter,
edrk.Mode_ScalarVectorUFConst,
edrk.MasterSlave, edrk.zadanie.iq_Izad, wd,
edrk.master_theta, edrk.master_Iq, edrk.iq_power_kw_another_bs,
&edrk.tetta_to_slave, &edrk.Iq_to_slave, &edrk.P_to_master,
0, 1);
test_calc_vect_dq_pwm24_Ing(vect_control.iqTheta, vect_control.iqUdKm, vect_control.iqUqKm,
edrk.disable_alg_u_disbalance,
edrk.zadanie.iq_kplus_u_disbalance_rmp, edrk.zadanie.iq_k_u_disbalance_rmp,
filter.iqU_1_fast, filter.iqU_2_fast,
0,
edrk.Uzad_max,
edrk.MasterSlave,
edrk.flag_second_PCH,
&edrk.Kplus, &edrk.Uzad_to_slave);
analog.PowerFOC = edrk.P_to_master;
Fzad = vect_control.iqFstator;
Izad_out = edrk.Iq_to_slave;
} else {
test_calc_simple_dq_pwm24_Ing(Fzad, 0, 0,
0, 0, filter.iqU_1_fast, filter.iqU_2_fast,
1,
edrk.Uzad_max,
edrk.master_theta,
edrk.master_Uzad,
edrk.MasterSlave,
edrk.flag_second_PCH,
&edrk.Kplus, &edrk.tetta_to_slave,
&edrk.Uzad_to_slave);
}
}
else
{
if (f.count_start_impuls==COUNT_START_IMP-1)
{
if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER)
{
if (edrk.flag_second_PCH == 0) {
wd = uf_alg.winding_displacement_bs1;
} else {
wd = uf_alg.winding_displacement_bs2;
}
vectorControlConstId(edrk.zadanie.iq_power_zad_rmp, edrk.zadanie.iq_oborots_zad_hz_rmp,
WRotor.RotorDirectionSlow, WRotor.iqWRotorSumFilter,
edrk.Mode_ScalarVectorUFConst,
edrk.MasterSlave, edrk.zadanie.iq_Izad, wd,
edrk.master_theta, edrk.master_Iq, edrk.iq_power_kw_another_bs,
&edrk.tetta_to_slave, &edrk.Iq_to_slave, &edrk.P_to_master,
0, 1);
test_calc_vect_dq_pwm24_Ing(vect_control.iqTheta, vect_control.iqUdKm, vect_control.iqUqKm,
edrk.disable_alg_u_disbalance,
edrk.zadanie.iq_kplus_u_disbalance_rmp, edrk.zadanie.iq_k_u_disbalance_rmp,
filter.iqU_1_fast, filter.iqU_2_fast,
0,
edrk.Uzad_max,
edrk.MasterSlave,
edrk.flag_second_PCH,
&edrk.Kplus, &edrk.Uzad_to_slave);
analog.PowerFOC = edrk.P_to_master;
Fzad = vect_control.iqFstator;
Izad_out = edrk.Iq_to_slave;
} else {
test_calc_simple_dq_pwm24_Ing(Fzad, 0, 0,
0, 0, filter.iqU_1_fast, filter.iqU_2_fast,
1,
edrk.Uzad_max,
edrk.master_theta,
edrk.master_Uzad,
edrk.MasterSlave,
edrk.flag_second_PCH,
&edrk.Kplus, &edrk.tetta_to_slave,
&edrk.Uzad_to_slave);
}
}
else
{
if (f.count_start_impuls==COUNT_START_IMP-2)
{
// <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> middle <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// svgen_set_time_keys_closed(&svgen_pwm24_1);
// svgen_set_time_keys_closed(&svgen_pwm24_2);
svgen_set_time_middle_keys_open(&svgen_pwm24_1);
svgen_set_time_middle_keys_open(&svgen_pwm24_2);
}
else
// <20> <20><><EFBFBD> <20><> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
{
svgen_set_time_keys_closed(&svgen_pwm24_1);
svgen_set_time_keys_closed(&svgen_pwm24_2);
}
Fzad = 0;
}
}
if (f.count_start_impuls > 0) {
f.count_start_impuls -= 1;
} else {
f.count_start_impuls = 0;
}
enable_calc_vector = 0;
Uzad1 = 0;
Uzad2 = 0;
} // end if Go==1
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_18_OFF;
#endif
} // end pwm_enable_calc_main one interrupt one period only
/*
*
// if ((m.m0.bit.EnableGoA == 1) && (f.Obmotka1 == 0))
// if ((m.m0.bit.EnableGoB == 1) && (f.Obmotka2 == 0))
if (f.Obmotka2 == 0)
{
go_b = 1;
}
else
{
go_b = 0;
}
if (go_a == 0 && prev_go_a != go_a)
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 1 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
soft_stop_x24_pwm_1();
}
if (go_a == 1 && prev_go_a != go_a)
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 1 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
soft_start_x24_pwm_1();
}
if (go_b == 0 && prev_go_b != go_b)
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 2 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
soft_stop_x24_pwm_2();
}
if (go_b == 1 && prev_go_b != go_b)
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 2 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
soft_start_x24_pwm_2();
}
prev_go_a = go_a;
prev_go_b = go_b;
*
*
*/
///////////////////////////////////////////
///////////////////////////////////////////
///////////////////////////////////////////
///////////////////////////////////////////
///////////////////////////////////////////
///////////////////////////////////////////
///////////////////////////////////////////
///////////////////////////////////////////
if (pwm_enable_calc_main) // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
{
if (f.count_start_impuls==1 && edrk.Go==1)
{
// <20> <20><><EFBFBD> <20><> <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
svgen_set_time_keys_closed(&svgen_pwm24_1);
svgen_set_time_keys_closed(&svgen_pwm24_2);
// soft_start_x24_pwm_1_2();
if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER) {
if (edrk.flag_second_PCH == 0) {
wd = uf_alg.winding_displacement_bs1;
} else {
wd = uf_alg.winding_displacement_bs2;
}
vectorControlConstId(edrk.zadanie.iq_power_zad_rmp, edrk.zadanie.iq_oborots_zad_hz_rmp,
WRotor.RotorDirectionSlow, WRotor.iqWRotorSumFilter,
edrk.Mode_ScalarVectorUFConst,
edrk.MasterSlave, edrk.zadanie.iq_Izad, wd,
edrk.master_theta, edrk.master_Iq, edrk.P_from_slave,
&edrk.tetta_to_slave, &edrk.Iq_to_slave, &edrk.P_to_master, 1, edrk.prepare_stop_PWM);
}
}
if (f.count_start_impuls==2 && edrk.Go==1)
{
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>
if (go_a == 1 && go_b == 1) {
// start_pwm(); <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> edrk.Go
soft_start_x24_pwm_1_2();
} else if (go_a == 1) {
soft_start_x24_pwm_1();
} else if (go_b == 1) {
soft_start_x24_pwm_2();
}
// enable work break
#if (DISABLE_WORK_BREAK==1)
#else
// if (edrk.disable_break_work==0)
{
soft_start_x24_break_1();
}
#endif
} // end if (count_start_impuls==5)
if (f.count_start_impuls==3 && edrk.Go==1)
{
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>
svgen_set_time_middle_keys_open(&svgen_pwm24_1);
svgen_set_time_middle_keys_open(&svgen_pwm24_2);
}
if (f.count_start_impuls==4 && edrk.Go==1)
{
if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER)
{
// void simple_scalar(int n_alg, int n_wind_pump, _iq Frot_pid, _iq Frot,_iq fzad,_iq mzz_zad, _iq bpsi_const, _iq fzad_provorot,
// _iq iqIm_1, _iq iqIm_2, _iq iqUin, _iq Iin, _iq powerzad, _iq power_pid,
// _iq *Fz, _iq *Uz1)
if (edrk.flag_second_PCH == 0) {
wd = uf_alg.winding_displacement_bs1;
} else {
wd = uf_alg.winding_displacement_bs2;
}
vectorControlConstId(0, 0,
WRotor.RotorDirectionSlow, WRotor.iqWRotorSumFilter,
edrk.Mode_ScalarVectorUFConst,
edrk.MasterSlave, edrk.zadanie.iq_Izad, wd,
edrk.master_theta, edrk.master_Iq, edrk.iq_power_kw_another_bs,
&edrk.tetta_to_slave, &edrk.Iq_to_slave, &edrk.P_to_master,
0, edrk.prepare_stop_PWM);
test_calc_vect_dq_pwm24_Ing(vect_control.iqTheta, vect_control.iqUdKm, vect_control.iqUqKm,
edrk.disable_alg_u_disbalance,
edrk.zadanie.iq_kplus_u_disbalance_rmp, edrk.zadanie.iq_k_u_disbalance_rmp,
filter.iqU_1_fast, filter.iqU_2_fast,
0,
edrk.Uzad_max,
edrk.MasterSlave,
edrk.flag_second_PCH,
&edrk.Kplus, &edrk.Uzad_to_slave);
Fzad = vect_control.iqFstator;
Izad_out = edrk.Iq_to_slave;
} else {
test_calc_simple_dq_pwm24_Ing(Fzad, 0, 0,
0, 0, filter.iqU_1_fast, filter.iqU_2_fast,
0,
edrk.Uzad_max,
edrk.master_theta,
edrk.master_Uzad,
edrk.MasterSlave,
edrk.flag_second_PCH,
&edrk.Kplus, &edrk.tetta_to_slave, &edrk.Uzad_to_slave);
simple_scalar(1,0, WRotor.RotorDirectionSlow,
WRotor.iqWRotorSumFilter2, WRotor.iqWRotorSumFilter,
0,
0,
0, edrk.iq_bpsi_normal,
0,
// analog.iqU_1_long+analog.iqU_2_long,
edrk.zadanie.iq_ZadanieU_Charge_rmp+edrk.zadanie.iq_ZadanieU_Charge_rmp,
0,
edrk.zadanie.iq_power_zad_rmp, 0,
edrk.zadanie.iq_limit_power_zad_rmp, edrk.Mode_ScalarVectorUFConst,
0,0, edrk.count_bs_work+1,
&Fzad, &Uzad1, &Uzad2, &Izad_out);
}
}
if (f.count_start_impuls == COUNT_START_IMP && edrk.Go==1)
{
if (pwm_enable_calc_main) // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
{
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_21_ON;
#endif
//break_resistor_recup_calc(edrk.zadanie.iq_ZadanieU_Charge);
break_resistor_recup_calc(edrk.zadanie.iq_set_break_level);
set_tics_timer_pwm(17,count_timer_buf);
get_tics_timer_pwm(pwm_enable_calc_main_log);
run_calc_uf = 1;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> middle
if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_UF_CONST)
{
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_20_ON;
#endif
uf_const(&Fzad,&Uzad1,&Uzad2);
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_20_OFF;
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_20_ON;
#endif
test_calc_simple_dq_pwm24_Ing(Fzad,
Uzad1,
edrk.disable_alg_u_disbalance,
edrk.zadanie.iq_kplus_u_disbalance,
edrk.zadanie.iq_k_u_disbalance,
filter.iqU_1_fast,
filter.iqU_2_fast,
0,
edrk.Uzad_max,
edrk.master_theta,
edrk.master_Uzad,
edrk.MasterSlave,
edrk.flag_second_PCH,
&edrk.Kplus,
&edrk.tetta_to_slave,
&edrk.Uzad_to_slave);
// rmp_freq.DesiredInput = alg_pwm24.freq1;
// rmp_freq.calc(&rmp_freq);
// Fzad = rmp_freq.Out;
//
// vhz1.Freq = Fzad;
// vhz1.calc(&vhz1);
//
//
// Uzad1 = alg_pwm24.k1;
// Uzad2 = alg_pwm24.k1;
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_20_OFF;
#endif
// test_calc_pwm24(Uzad1, Uzad2, Fzad);
// analog_dq_calc_const();
} // end ALG_MODE_UF_CONST
else
if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_SCALAR_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_SCALAR_POWER)
{
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_20_ON;
#endif
simple_scalar(1,
0,
WRotor.RotorDirectionSlow,
WRotor.iqWRotorSumFilter, //rotor_22220.iqFlong * rotor_22220.direct_rotor;
WRotor.iqWRotorSumFilter, //rotor_22220.iqFout * rotor_22220.direct_rotor;
//0, 0,
edrk.zadanie.iq_oborots_zad_hz_rmp,
edrk.all_limit_koeffs.sum_limit,
edrk.zadanie.iq_Izad_rmp,
edrk.iq_bpsi_normal,
analog.iqIm,
// analog.iqU_1_long+analog.iqU_2_long,
edrk.zadanie.iq_ZadanieU_Charge_rmp+edrk.zadanie.iq_ZadanieU_Charge_rmp,
analog.iqIin_sum,
edrk.zadanie.iq_power_zad_rmp,
edrk.iq_power_kw_full_znak,//(filter.PowerScalar+edrk.iq_power_kw_another_bs),
edrk.zadanie.iq_limit_power_zad_rmp, edrk.Mode_ScalarVectorUFConst,
edrk.master_Izad,
edrk.MasterSlave,
edrk.count_bs_work+1,
&Fzad,
&Uzad1,
&Uzad2,
&Izad_out);
set_tics_timer_pwm(18,count_timer_buf);
get_tics_timer_pwm(pwm_enable_calc_main_log);
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_20_OFF;
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_20_ON;
#endif
if (edrk.cmd_disable_calc_km_on_slave)
Uzad_from_master = edrk.master_Uzad;
else
{
#if (DISABLE_CALC_KM_ON_SLAVE==1)
Uzad_from_master = edrk.master_Uzad;
#else
Uzad_from_master = Uzad1;
#endif
}
test_calc_simple_dq_pwm24_Ing(Fzad, Uzad1, edrk.disable_alg_u_disbalance,
edrk.zadanie.iq_kplus_u_disbalance, edrk.zadanie.iq_k_u_disbalance, filter.iqU_1_fast, filter.iqU_2_fast,
0,
edrk.Uzad_max,
edrk.master_theta,
Uzad_from_master,
edrk.MasterSlave,
edrk.flag_second_PCH,
&edrk.Kplus, &edrk.tetta_to_slave, &edrk.Uzad_to_slave);
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_20_OFF;
#endif
set_tics_timer_pwm(19,count_timer_buf);
get_tics_timer_pwm(pwm_enable_calc_main_log);
if (edrk.flag_second_PCH == 0) {
wd = uf_alg.winding_displacement_bs1;
} else {
wd = uf_alg.winding_displacement_bs2;
}
analog_dq_calc_external(wd, uf_alg.tetta);
} // end ALG_MODE_SCALAR_OBOROTS
else
if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER)
{
// void simple_scalar(int n_alg, int n_wind_pump, _iq Frot_pid, _iq Frot,_iq fzad,_iq mzz_zad, _iq bpsi_const, _iq fzad_provorot,
// _iq iqIm_1, _iq iqIm_2, _iq iqUin, _iq Iin, _iq powerzad, _iq power_pid,
// _iq *Fz, _iq *Uz1)
if (edrk.flag_second_PCH == 0) {
wd = uf_alg.winding_displacement_bs1;
} else {
wd = uf_alg.winding_displacement_bs2;
}
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_20_ON;
#endif
vectorControlConstId(edrk.zadanie.iq_power_zad_rmp, edrk.zadanie.iq_oborots_zad_hz_rmp,
WRotor.RotorDirectionSlow, WRotor.iqWRotorSumFilter,
edrk.Mode_ScalarVectorUFConst,
edrk.MasterSlave, edrk.zadanie.iq_Izad, wd,
edrk.master_theta, edrk.master_Iq, edrk.iq_power_kw_another_bs,
&edrk.tetta_to_slave, &edrk.Iq_to_slave, &edrk.P_to_master,
0, edrk.prepare_stop_PWM);
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_20_OFF;
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_20_ON;
#endif
test_calc_vect_dq_pwm24_Ing(vect_control.iqTheta, vect_control.iqUdKm, vect_control.iqUqKm,
edrk.disable_alg_u_disbalance,
edrk.zadanie.iq_kplus_u_disbalance_rmp, edrk.zadanie.iq_k_u_disbalance_rmp,
filter.iqU_1_fast, filter.iqU_2_fast,
0,
edrk.Uzad_max,
edrk.MasterSlave,
edrk.flag_second_PCH,
&edrk.Kplus, &edrk.Uzad_to_slave);
analog.PowerFOC = edrk.P_to_master;
Fzad = vect_control.iqFstator;
Izad_out = edrk.Iq_to_slave;
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_20_OFF;
#endif
} // end ALG_MODE_FOC_OBOROTS
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_21_OFF;
#endif
} // end pwm_enable_calc_main
} // end (count_start_impuls == COUNT_START_IMP && edrk.Go==1)
else
{
run_calc_uf = 0;
if (pwm_enable_calc_main) // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
{
}
svgen_pwm24_1.Ta_imp = 0;
svgen_pwm24_1.Tb_imp = 0;
svgen_pwm24_1.Tc_imp = 0;
svgen_pwm24_2.Ta_imp = 0;
svgen_pwm24_2.Tb_imp = 0;
svgen_pwm24_2.Tc_imp = 0;
} // end else (count_start_impuls == COUNT_START_IMP && edrk.Go==1)
prevGo = edrk.Go;
//////////////////////////////////
optical_write_data.data.cmd.bit.start_pwm = edrk.Go;
optical_write_data.data.cmd.bit.prepare_stop_PWM = edrk.prepare_stop_PWM;
optical_write_data.data.angle_pwm = _IQtoIQ12(edrk.tetta_to_slave + vect_control.add_tetta);
optical_write_data.data.pzad_or_wzad = _IQtoIQ15(edrk.Uzad_to_slave);
optical_write_data.data.iq_zad_i_zad = _IQtoIQ15(edrk.Izad_out);
optical_bus_update_data_write();
set_tics_timer_pwm(20,count_timer_buf);
get_tics_timer_pwm(pwm_enable_calc_main_log);
if (edrk.ms.another_bs_maybe_on==1 && edrk.auto_master_slave.local.bits.master)
{
// i_led2_on();
}
//////////////////////////////////
//////////////////////////////////
edrk.Izad_out = Izad_out;
if (edrk.MasterSlave==MODE_SLAVE)
{
edrk.f_stator = Fzad;
edrk.k_stator1 = edrk.Uzad_to_slave;//Uzad1;
edrk.k_stator2 = edrk.Uzad_to_slave;//Uzad2;
}
else
if (edrk.MasterSlave==MODE_MASTER)
{
edrk.f_stator = Fzad;
edrk.k_stator1 = edrk.Uzad_to_slave;//Uzad1;
edrk.k_stator2 = edrk.Uzad_to_slave;
}
else
{
edrk.f_stator = 0;
edrk.k_stator1 = 0;
edrk.k_stator2 = 0;
}
} // end pwm_enable_calc_main
///////////////////////////////////////////
///////////////////////////////////////////
///////////////////////////////////////////
///////////////////////////////////////////
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_22_ON;
#endif
if (xpwm_time.one_or_two_interrupts_run == PWM_ONE_INTERRUPT_RUN)
write_swgen_pwm_times(PWM_MODE_RELOAD_FORCE);
else
{
if (edrk.Go==1)
{
if (f.count_start_impuls==COUNT_START_IMP-1)
{
if (pwm_enable_calc_main)
write_swgen_pwm_times(PWM_MODE_RELOAD_LEVEL_HIGH);
else
write_swgen_pwm_times(PWM_MODE_RELOAD_LEVEL_LOW);
}
else
// if (pwm_enable_calc_main)
write_swgen_pwm_times(PWM_MODE_RELOAD_FORCE);
}
else
{
if (f.count_start_impuls==COUNT_START_IMP-3)
{
if (pwm_enable_calc_main)
write_swgen_pwm_times(PWM_MODE_RELOAD_LEVEL_HIGH);
else
write_swgen_pwm_times(PWM_MODE_RELOAD_LEVEL_LOW);
}
else
write_swgen_pwm_times(PWM_MODE_RELOAD_FORCE);
}
// if (pwm_enable_calc_main)
// prev_run_calc_uf = run_calc_uf;
}
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_22_OFF;
#endif
set_tics_timer_pwm(21,count_timer_buf);
get_tics_timer_pwm(pwm_enable_calc_main_log);
// test write oscil buf
if ( pwm_enable_calc_main==0) // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
{
run_write_logs();
}
// i_led2_on();
//
if (edrk.SumSbor == 1) {
detect_protect_adc(uf_alg.tetta_bs, uf_alg.tetta_bs);
//// get_tics_timer_pwm(pwm_enable_calc_main,count_timer_buf);
}
// fill_RMS_buff_interrupt(uf_alg.tetta_bs, uf_alg.tetta_bs);
set_tics_timer_pwm(24,count_timer_buf);
get_tics_timer_pwm(pwm_enable_calc_main_log);
// out_I_over_1_6.calc(&out_I_over_1_6);
// i_led2_off();
pwm_run = 0;
} // end if pwm_run==1
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_16_OFF;
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_16_ON;
#endif
if (pwm_enable_calc_main==0) // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
{
// pwm_analog_ext_interrupt();
// inc_RS_timeout_cicle();
// inc_CAN_timeout_cicle();
#if (_SIMULATE_AC==1)
sim_model_execute();
#endif
}
pwm_analog_ext_interrupt();
pwm_inc_interrupt();
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_16_OFF;
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_16_ON;
#endif
set_tics_timer_pwm(25,count_timer_buf);
get_tics_timer_pwm(pwm_enable_calc_main_log);
#if (_ENABLE_SLOW_PWM)
// pause_1000(slow_pwm_pause);
#endif
set_tics_timer_pwm(26,count_timer_buf);
get_tics_timer_pwm(pwm_enable_calc_main_log);
/////////////////////////////////////////////////
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
end_tics_4timer = EvbRegs.T3CNT;
if (end_tics_4timer>start_tics_4timer)
{
time_delta = (end_tics_4timer - start_tics_4timer);
time_delta = time_delta * 33/1000;
if (pwm_enable_calc_main)
edrk.period_calc_pwm_int1 = time_delta;//(end_tics_4timer - start_tics_4timer)*33/1000;
else
edrk.period_calc_pwm_int2 = time_delta;//(end_tics_4timer - start_tics_4timer)*33/1000;
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/////////////////////////////////////////////////
// get_tics_timer_pwm(pwm_enable_calc_main,count_timer_buf);
#if (_ENABLE_LOG_TICS_PWM==1)
for (i_log=count_timer_buf;i_log<MAX_COUNT_TIME_BUF;i_log++)
{
time_buf[i_log] = 0;
}
set_tics_timer_pwm(100,count_timer_buf);
time_buf[count_timer_buf] = time_delta;
// set_tics_timer_pwm(edrk.period_calc_pwm_int);
if (c_run>=10000)
c_run=c_run_start;
else
c_run++;
#endif
#if (ENABLE_LOG_INTERRUPTS)
add_log_interrupts(103);
#endif
// i_sync_pin_off();
edrk.into_pwm_interrupt = 0;
#if (_ENABLE_INTERRUPT_PWM_LED2)
i_led2_on_off(0);
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS)
// PWM_LINES_TK_16_OFF;
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
PWM_LINES_TK_16_OFF;
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
PWM_LINES_TK_16_OFF;
#endif
#if (_ENABLE_PWM_LED2_PROFILE)
i_led2_on_off(0);
if (pwm_enable_calc_main==0)
profile_pwm[pos_profile_pwm] = 2;
#endif
}
//////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////
#pragma CODE_SECTION(fix_pwm_freq_synchro_ain,".fast_run");
void fix_pwm_freq_synchro_ain(void)
{
unsigned int new_freq;
static unsigned int delta_freq = 1;
// if (f.Sync_input_or_output == SYNC_INPUT)
{
sync_inc_error();
if (sync_data.disable_sync || sync_data.timeout_sync_signal == 1 || sync_data.enable_do_sync == 0)
{
new_freq = xpwm_time.pwm_tics;
i_WriteMemory(ADR_PWM_PERIOD, new_freq);
return;
}
if (sync_data.pwm_freq_plus_minus_zero==1)
{
//Increment xtics
new_freq = xpwm_time.pwm_tics + delta_freq;
i_WriteMemory(ADR_PWM_PERIOD, new_freq); // Saw period in tics. 1 tic = 16.67 nsec
// change_freq_pwm(VAR_FREQ_PWM_XTICS);
}
if (sync_data.pwm_freq_plus_minus_zero==-1)
{
//4464
//Decrement xtics
new_freq = xpwm_time.pwm_tics - delta_freq;
i_WriteMemory(ADR_PWM_PERIOD, new_freq); // Saw period in tics. 1 tic = 16.67 nsec
// change_freq_pwm(VAR_FREQ_PWM_XTICS);
}
if (sync_data.pwm_freq_plus_minus_zero==0)
{
new_freq = xpwm_time.pwm_tics;
i_WriteMemory(ADR_PWM_PERIOD, new_freq);
// change_freq_pwm(VAR_FREQ_PWM_XTICS);
}
}
}
//////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////
/*
void slow_vector_update()
{
_iq iqKzad = 0;
freq1 = _IQ (f.fzad/F_STATOR_MAX);//f.iqFRotorSetHz;
iqKzad = _IQ(f.kzad);
k1 = zad_intensiv_q(20000, 20000, k1, iqKzad);
}
*/
void detect_work_revers(int direction, _iq fzad, _iq frot)
{
static int prev_revers = 0;
int flag_revers;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if (direction == -1 && fzad > 0)
{
flag_revers = 1;
}
else
if (direction == 1 && fzad < 0)
{
flag_revers = 1;
}
else
{
flag_revers = 0;
}
if (flag_revers && prev_revers==0)
edrk.count_revers++;
prev_revers = flag_revers;
}
void calc_power_full(void)
{
_iq power_full_abs, power_one_abs, power_full_abs_f, power_one_abs_f;
//
power_one_abs = _IQabs(filter.PowerScalar);
power_one_abs_f = _IQabs(filter.PowerScalarFilter2);
power_full_abs = power_one_abs + _IQabs(edrk.iq_power_kw_another_bs);
power_full_abs_f = power_one_abs_f + _IQabs(edrk.iq_power_kw_another_bs);
if (edrk.oborots>=0)
{
edrk.iq_power_kw_full_znak = power_full_abs;
edrk.iq_power_kw_one_znak = power_one_abs;
edrk.iq_power_kw_full_filter_znak = power_full_abs_f;
edrk.iq_power_kw_one_filter_znak = power_one_abs_f;
}
else
{
edrk.iq_power_kw_full_znak = -power_full_abs;
edrk.iq_power_kw_one_znak = -power_one_abs;
edrk.iq_power_kw_full_filter_znak = -power_full_abs_f;
edrk.iq_power_kw_one_filter_znak = -power_one_abs_f;
}
edrk.iq_power_kw_full_abs = power_full_abs;
edrk.iq_power_kw_one_abs = power_one_abs;
edrk.iq_power_kw_full_filter_abs = power_full_abs_f;
edrk.iq_power_kw_one_filter_abs = power_one_abs_f;
}
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