226 lines
9.0 KiB
C
226 lines
9.0 KiB
C
/*!
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Copyright 2017 ÀÎ "ÍÈÈÝÒ" è ÎÎÎ "ÍÏÔ ÂÅÊÒÎÐ"
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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\file SMNet.c
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\brief Ìîäóëü îáùåãî íàçíà÷åíèÿ äëÿ ðàáîòû ñ ñåòüþ. (ñì. TSM_Net)
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\author ÎÎÎ "ÍÏÔ Âåêòîð". http://motorcontrol.ru
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\version v 2.0 25/03/2016
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*/
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/** \addtogroup SMNet */
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/*@{*/
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#include "DSP.h"
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#include "V_IQmath.h"
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#include "main.h"
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//!Èíèöèàëèçàöèÿ.
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//!Ïðèñâîåíèå ìàñøòàáèðóþùèõ êîýôôèöèåíòîâ, èíèöèàëèçàöèÿ äðóãèõ ìîäóëåé.
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//! \memberof TSM_Net
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void SM_Net_Init(TSM_Net *p) {
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p->state = 0;
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p->state_prev = 0xff;
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//Íàñòðîéêà äðàéâåðà CANOpen
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UserMem.init(&UserMem);
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co1_vars.settings.LoadParamsFromUserMemory_ena = 1;//Ðàçðåøèòü çàãðóæàòü çíà÷åíèÿ ïàðàìåòðîâ èç ÝÍÎÇÓ
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co1_vars.CAN_REGS = (CAN_TypeDef *)CAN_BASE;//Ïåðåäàåì äðàéâåðó àäðåñ ñòðóêòóðû ðåãèñòðîâ CAN
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co1_vars.settings.CAN_ISR_priority = IRQ_PRIORITY_CAN;//Ïðèñâîåíèå ïðèîðèòåòà ïåðûâàíèÿ CAN (îáðàáîò÷èê âíóòðè áèáëèîòåêè)
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co1_vars.settings.CAN_IRQn = CAN1_IRQn;//Ïåðåäàåì íîìåð ïðåðûâàíèÿ CAN1 èç òàáëèöû ïðåðûâàíèé â äðàéâåð CANOpen
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co1_vars.settings.MultiPDO_ena = 0;//Îòêëþ÷åíèå îáðàáîòêè PDO áåç ó÷åòà íîìåðà óçëà (ñïåö. ôóíêöèÿ)
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co1_vars.settings.RX_PDO_Callback_ena = 0; //Íå âûçûâàòü ôóíêöèè îáðàòíîãî âûçîâà ïðè ïðèåìå PDO
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co1_vars.settings.AutoBusON_ena = 1; //Àâòîìàòè÷åñêè ïåðåçàïóñêàòü CAN ïðè îøèáêàõ íà ëèíèè
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co1_vars.settings.BlockTransfer_ena = 1;//Ðàçðåøèòü áëî÷íóþ ïåðåäà÷ó (íóæíà äëÿ îñöèëëîãðàôà)
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co1_vars.settings.speedCANTablePointer = &canSpeedTable;//Ïåðåäàåì äðàéâåðó ïàðàìåòðû äëÿ íàñòðîéêè ñêîðîñòè CAN
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co1_vars.settings.resetCPU = Watchdog.resetCPU;//Ïåðåäàåì äðàéâåðó àäðåñ ôóíêöèè ðåñåòà ìèêðîêîíòðîëëåðà
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co1_Init(&co1_vars); //Èíèöèàëèçàöèÿ äðàéâåðà CANOpen
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co2_vars.settings.LoadParamsFromUserMemory_ena = 1;//Ðàçðåøèòü çàãðóæàòü çíà÷åíèÿ ïàðàìåòðîâ èç ÝÍÎÇÓ
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co2_vars.CAN_REGS = (CAN_TypeDef *)CAN_BASE;//Ïåðåäàåì äðàéâåðó àäðåñ ñòðóêòóðû ðåãèñòðîâ CAN
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co2_vars.settings.CAN_ISR_priority = IRQ_PRIORITY_CAN;//Ïðèñâîåíèå ïðèîðèòåòà ïåðûâàíèÿ CAN (îáðàáîò÷èê âíóòðè áèáëèîòåêè)
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co2_vars.settings.CAN_IRQn = CAN2_IRQn;//Ïåðåäàåì íîìåð ïðåðûâàíèÿ CAN2 èç òàáëèöû ïðåðûâàíèé â äðàéâåð CANOpen
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co2_vars.settings.MultiPDO_ena = 0;//Îòêëþ÷åíèå îáðàáîòêè PDO áåç ó÷åòà íîìåðà óçëà (ñïåö. ôóíêöèÿ)
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co2_vars.settings.RX_PDO_Callback_ena = 0; //Íå âûçûâàòü ôóíêöèè îáðàòíîãî âûçîâà ïðè ïðèåìå PDO
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co2_vars.settings.AutoBusON_ena = 1; //Àâòîìàòè÷åñêè ïåðåçàïóñêàòü CAN ïðè îøèáêàõ íà ëèíèè
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co2_vars.settings.BlockTransfer_ena = 1;//Ðàçðåøèòü áëî÷íóþ ïåðåäà÷ó (íóæíà äëÿ îñöèëëîãðàôà)
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co2_vars.settings.speedCANTablePointer = &canSpeedTable;//Ïåðåäàåì äðàéâåðó ïàðàìåòðû äëÿ íàñòðîéêè ñêîðîñòè CAN
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co2_vars.settings.resetCPU = Watchdog.resetCPU;//Ïåðåäàåì äðàéâåðó àäðåñ ôóíêöèè ðåñåòà ìèêðîêîíòðîëëåðà
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co2_Init(&co2_vars); //Èíèöèàëèçàöèÿ äðàéâåðà CANOpen
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//ëîããåð ñîáûòèé:
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// ðàçìåð áóôåðà: 50
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// ñòàðòîâûé àäðåñ â SPI: 3000
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FaultLog.init((TLogger*)&FaultLog, 50, 3000,(Uint32*) &RTCclock.packed_time);//íèæå óêàçàòåëü íà âðåìÿ ìîæåò áûòü ïåðåîïðåäåëåí â çàâèñèìîñòè îò ðàáîòû ÷àñîâ
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#if defined(CANTORS_ENA)
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//Ðàáîòà ñ CANopen ÷åðåç UART (ïàðàëëåëüíî ñ CAN, íåò êîíôëèêòà)
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CANtoRS.nodeID = (Uint16*)&co1_vars.co_nodeID; //Íîìåð óçëà èç CANopen
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CANtoRS.callback = Z_co_receiveSDOrequest;//Óêàçàòåëü íà ôóíêöèþ îáðàòíîãî âûçîâà èç äðàéâåðà CANopen ïî ïðèõîäó SDO ñîîáùåíèÿ
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CANtoRS.init(&CANtoRS);
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#endif
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#ifdef MODBUS_ENA
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// Íàñòðàèâàåì MODBUS
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ModBus.ExecutionFreq = 10000;//×àñòîòà âûçîâà ðàñ÷åòà ìîäóëÿ ìîäáàñ â êÃö
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ModBus.Init(&ModBus);
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MBVarsConv.init(&MBVarsConv);
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#endif
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}
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//!Ìåäëåííûé ðàñ÷åò.
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//! Ïðèñâîåíèå ìàñøòàáèðóþùèõ êîýôôèöèåíòîâ, ôîíîâûé ðàñ÷åò íåêîòîðûõ ìîäóëåé.
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//! \memberof TSM_Net
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void SM_Net_Slow_Calc(TSM_Net *p) {
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co1_vars.co_scaleNum0 = 1; //áåç ìàñøòàáèðîâàíèÿ
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co1_vars.co_scaleNum1 = 100; // %
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co1_vars.co_scaleNum2 = drv_params.freq_nom; //Ãö
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co1_vars.co_scaleNum3 = drv_params.U_nom;//íàïðÿæåíèå ôàçíîå íîìèíàëüíîå àìïëèòóäíîå
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co1_vars.co_scaleNum4 = drv_params.I_nom; //Òîê ôàçíûé áàçîâûé
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co1_vars.co_scaleNum5 = 1;
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co1_vars.co_scaleNum6 = 1;
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co1_vars.co_scaleNum7 = drv_params.Udc_nom; //íàïðÿæåíèå ÇÏÒ áàçîâîå
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co1_vars.co_scaleNum8 = drv_params.power; //18 â ôîðìàòå 9.6 //Ìîùíîñòü
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co1_vars.co_scaleNum9 = 1;
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co1_vars.co_scaleNumA = 20; //òåìïåðàòóðà
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co1_vars.co_scaleNumB = 1;
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co1_vars.co_scaleNumC = 1;
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co1_vars.co_scaleNumD = 1;
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co1_vars.co_scaleNumE = 1;
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co1_vars.co_scaleNumF = 1;
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co1_vars.co_scaleNum10 = 1; //
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co1_vars.co_scaleNum11 = 1; //
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co1_vars.co_scaleNum12 = drv_params.power; //18 â ôîðìàòå 10.6 //Ìîùíîñòü
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co1_vars.co_scaleNum13 = 360; //
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co1_vars.co_scaleNum14 = drv_params.speed_nom; //íîìèíàëüíàÿ ÷àñòîòà âðàùåíèÿ
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co1_vars.co_scaleNum15 = 1; //
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co1_vars.co_scaleNum16 = 1; //
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co1_vars.co_scaleNum17 = ((((long) drv_params.Udc_nom) << 6)
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/ (long) drv_params.I_nom); //Ráàç 10.6
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co1_vars.co_scaleNum18 = 1000;
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co1_vars.co_scaleNum19 = 1;
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co1_vars.co_scaleNum1A = 1;
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co1_vars.co_scaleNum1B = 1;
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co1_vars.co_scaleNum1C = 1;
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co1_vars.co_scaleNum1D = 1;
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co1_vars.co_scaleNum1E = 1;
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co1_vars.co_scaleNum1F = 1;
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co2_vars.co_scaleNum0 = 1; //áåç ìàñøòàáèðîâàíèÿ
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co2_vars.co_scaleNum1 = 100; // %
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co2_vars.co_scaleNum2 = drv_params.freq_nom; //Ãö
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co2_vars.co_scaleNum3 = drv_params.U_nom;//íàïðÿæåíèå ôàçíîå íîìèíàëüíîå àìïëèòóäíîå
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co2_vars.co_scaleNum4 = drv_params.I_nom; //Òîê ôàçíûé áàçîâûé
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co2_vars.co_scaleNum5 = 1;
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co2_vars.co_scaleNum6 = 1;
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co2_vars.co_scaleNum7 = drv_params.Udc_nom; //íàïðÿæåíèå ÇÏÒ áàçîâîå
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co2_vars.co_scaleNum8 = drv_params.power; //18 â ôîðìàòå 9.6 //Ìîùíîñòü
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co2_vars.co_scaleNum9 = 1;
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co2_vars.co_scaleNumA = 20; //òåìïåðàòóðà
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co2_vars.co_scaleNumB = 1;
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co2_vars.co_scaleNumC = 1;
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co2_vars.co_scaleNumD = 1;
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co2_vars.co_scaleNumE = 1;
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co2_vars.co_scaleNumF = 1;
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co2_vars.co_scaleNum10 = 1; //
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co2_vars.co_scaleNum11 = 1; //
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co2_vars.co_scaleNum12 = drv_params.power; //18 â ôîðìàòå 10.6 //Ìîùíîñòü
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co2_vars.co_scaleNum13 = 360; //
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co2_vars.co_scaleNum14 = drv_params.speed_nom; //íîìèíàëüíàÿ ÷àñòîòà âðàùåíèÿ
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co2_vars.co_scaleNum15 = 1; //
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co2_vars.co_scaleNum16 = 1; //
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co2_vars.co_scaleNum17 = ((((long) drv_params.Udc_nom) << 6)
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/ (long) drv_params.I_nom); //Ráàç 10.6
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co2_vars.co_scaleNum18 = 1000;
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co2_vars.co_scaleNum19 = 1;
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co2_vars.co_scaleNum1A = 1;
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co2_vars.co_scaleNum1B = 1;
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co2_vars.co_scaleNum1C = 1;
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co2_vars.co_scaleNum1D = 1;
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co2_vars.co_scaleNum1E = 1;
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co2_vars.co_scaleNum1F = 1;
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drv_params.U_nom = 0.5759 * drv_params.Udc_nom;//íîìèíàëüíîå ôàçíîå íàïðÿæåíèå
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drv_params.power = ((long) 300) << 6; //ïðèâåäåì ê ôîðìàòó 10.6
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drv_params.freq_nom = ((float) drv_params.speed_nom * drv_params.p) / 60 + 0.5; //íîìèí ÷àñòîòà
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co_background_calc(&co1_vars); //Ðàñ÷åò äðàéâåðà CANOpen ôîíîâûé
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co_background_calc(&co2_vars); //Ðàñ÷åò äðàéâåðà CANOpen ôîíîâûé
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drv_interface.calc(&drv_interface);
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FaultLog.background_calc(&FaultLog);
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#ifdef MODBUS_ENA
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MBVarsConv.slow_calc(&MBVarsConv);
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#endif
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if (RTCclock.ClockOk)//÷àñû ðàáîòàþò?
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FaultLog.time_ptr = (Uint32*) &RTCclock.packed_time; //âðåìÿ äëÿ áàíêà àâàðèé èç ÷àñîâ
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else
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FaultLog.time_ptr = (Uint32*) &global_time.PowerOn_time;//åñëè íå ðàáîòàþò, òî èç ìîäóëÿ ïîäñ÷åòà âðåìåíè íàðàáîòêè
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}
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//!Áûñòðûé ðàñ÷åò
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//!Áûñòðûé ðàñ÷åò íåêîòîðûõ ñåòåâûõ ìîäóëåé, âûçîâ ìåòîäîâ "ïðîëèñòûâàíèÿ" êîäîâ àâàðèé è ïðåäóïðåæäåíèé
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//! \memberof TSM_Net
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void SM_Net_ms_Calc(TSM_Net *p) {
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//Ïåðåâîä áèòîâîãî ñîñòîÿíèÿ ñèñòåìû óïðàâëåíèÿ â êîíñòàíòó.
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//Ïî drv_status_code îòîáðàæàåòñÿ ñòàòóñ ïðèâîäà â UniCON
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if (drv_status.bit.ready == 1)
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drv_status_code = DRV_STATUS_READY;
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if (drv_status.bit.running == 1)
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drv_status_code = DRV_STATUS_RUNNING;
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if (drv_status.bit.testing == 1)
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drv_status_code = DRV_STATUS_TESTING;
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if (drv_status.bit.fault == 1)
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drv_status_code = DRV_STATUS_FAULT;
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if (drv_status.bit.alarm == 1)
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drv_status_code |= DRV_STATUS_ALARM;
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else
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drv_status_code &= ~DRV_STATUS_ALARM;
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if (drv_status.bit.overheat == 1)
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drv_status_code = DRV_STATUS_OVERHEAT;
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else
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drv_status_code &= ~DRV_STATUS_OVERHEAT;
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//ôóíêöèÿ ëèñòàíèÿ àâàðèé äëÿ ïóëüòà (UniCON)
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pult_faults_lister.calc(&pult_faults_lister);
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sm_prot.Main_ErrorCode = 0xFF & pult_faults_lister.output;
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co_1ms_calc(&co1_vars); //Ðàñ÷åò äðàéâåðà CANOpen
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co_1ms_calc(&co2_vars); //Ðàñ÷åò äðàéâåðà CANOpen
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#if defined(CANTORS_ENA)
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CANtoRS.calc(&CANtoRS);
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#endif
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#ifdef MODBUS_ENA
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MBVarsConv.calc(&MBVarsConv);
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#endif
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}
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void SM_Net_fast_Calc(TSM_Net *p) {
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#ifdef MODBUS_ENA
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ModBus.Execute(&ModBus);
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#endif
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}
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/*@}*/
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