a99491f9b8
- проект переведён на VectorIDE v1.3 В целях экономии памяти удалены: - модуль управления светодиодами - модуль ШИМ для двигателей SRD - модуль часов реального времени - режим привода для измерения задержки меджу сигналами ШИМ и измерениями токов Добавлены следующие модули: - проект переведён на VectorIDE v1.3 - модуль SPI для абсолютного ДПР - модуль управление реле для заряда ЗПТ - модуль дискретных вводов-выводов - модуль управления вентилятором Одноплатного Инвертора - модуль тормозного резистора Одноплатного Инвертора Прочие изменения: - оптимизирована инициализация регистров периферии - удалено множество неиспользуемых переменных - разрешение работы всех GPIO перенесено в функцию "PeripheralClockEnable" - добавлен счётчик индексной метки энкодера - исправлен сброс прерываний модуля захвата CAP - переработан режим задания постоянного тока статора - исправлены прочие мелкие ошибки в разных модулях
400 lines
12 KiB
C
400 lines
12 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 name: CANOpenUDfuncs.c
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//Description: Â ôàéë âûíåñåíû ôóíêöèè äðàéâåðà CANOpen îïðåäåëÿåìûå ïîëüçîâàòåëåì (êîëáýê ôóíêöèè, ôóíêöèè èíèöèàëèçàöèè è ò.ï.)
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\author ÎÎÎ "ÍÏÔ Âåêòîð". http://motorcontrol.ru
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\version v 1.0 2017_02_08
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//=====================================================================================*/
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#include "DSP.h"
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#include "co_ODvars.h"
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#include "CANOpen_drv.h"
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#include "main.h"
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//! Òàáëèöà ñ íàñòðîéêàìè ñêîðîñòåé CAN äëÿ ìèêðîêîíòðîëëåðîâ ôèðìû ÍÈÈÝÒ. Ðàñêîììåíòèòü íóæíîå.
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// Âíîñèòü èçìåíåíèß â íèæåîïèñàííûå ïåðåìåííûå è ìàññèâû ÇÀÏÐÅÙÅÍÎ!!!
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//! Ìèêðîêîíòðîëëåð Ê1921ÂÊ01Ò
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/*
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// kb/s: 125 50 125 250 500 1000
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TCANSpeedTableOptions canSpeedTable = { {1, 1, 1, 0, 0, 0 }, \
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{9, 24, 9, 39, 19, 9 }, \
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{6, 6, 6, 6, 6, 6 }, \
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{1, 1, 1, 1, 1, 1 }, \
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{1, 1, 1, 1, 1 , 1 }, \
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};
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// ^- íàñòðîéêà íà 125, ò.ê. 10 kb/s íå ðåàëèçóåìî
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*/
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//! Ìèêðîêîíòðîëëåð Ê1921ÂÊ028
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/*
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// kb/s: 125 50 125 250 500 1000
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TCANSpeedTableOptions canSpeedTable = { {1, 1, 1, 1, 0, 0 }, \
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{19, 49, 19, 9, 39, 19}, \
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{6, 6, 6, 6, 6, 6 }, \
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{1, 1, 1, 1, 1, 1 }, \
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{1, 1, 1, 1, 1 , 1 }, \
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};
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// ^- íàñòðîéêà íà 125, ò.ê. 10 kb/s íå ðåàëèçóåìî
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*/
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//! Ìèêðîêîíòðîëëåð Ê1921ÂÊ035
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// kb/s: 125 50 125 250 500 1000
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TCANSpeedTableOptions canSpeedTable = { {1, 1, 1, 0, 0, 0 }, \
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{9, 24, 9, 39, 19, 9 }, \
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{6, 6, 6, 6, 6, 6 }, \
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{1, 1, 1, 1, 1, 1 }, \
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{1, 1, 1, 1, 1 , 1 }, \
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};
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// ^- íàñòðîéêà íà 125, ò.ê. 10 kb/s íå ðåàëèçóåìî
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//**********************************************************************************************************************************************************************************************************
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//ôóíêöèÿ èíèöèàëèçàöèè Gpio CAN1
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#ifdef CAN_1_ENABLE
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void co_CAN1GpioInit()
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{
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//ïåðåâîäèì ÃÏÈÎ íà âûïîëíåíèå ôóíêöèè CAN
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GPIOB->ALTFUNCSET = (1 << 14) + (1 << 15); //CAN_TX[0], CAN_RX[0]
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}
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#endif //CAN_1_ENABLE
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//ôóíêöèÿ èíèöèàëèçàöèè Gpio CAN2
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#ifdef CAN_2_ENABLE
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void co_CAN2GpioInit()
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{
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// //âûáèðàåì àëüòåðíàòèâíóþ ôóíêöèþ ÃÏÈÎ
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//#if defined HW_VECTOR_MK_40_4
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// NT_COMMON_REG->GPIOPCTLC_bit.PIN1 = 1; //CAN_TX[1]
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// NT_COMMON_REG->GPIOPCTLC_bit.PIN2 = 1; //CAN_RX[1]
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//
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// //ïåðåâîäèì ÃÏÈÎ íà âûïîëíåíèå ôóíêöèè CAN
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// NT_GPIOC->ALTFUNCSET = (1 << 1) + (1 << 2); //CAN_TX[0], CAN_RX[0]
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//
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//#else
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// NT_COMMON_REG->GPIOPCTLF_bit.PIN14 = 0; //CAN_TX[1]
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// NT_COMMON_REG->GPIOPCTLF_bit.PIN15 = 0; //CAN_RX[1]
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//
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// //ïåðåâîäèì ÃÏÈÎ íà âûïîëíåíèå ôóíêöèè CAN
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// NT_GPIOF->ALTFUNCSET = (1 << 14) + (1 << 15); //CAN_TX[0], CAN_RX[0]
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//#endif
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//
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}
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#endif //CAN_2_ENABLE
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//**********************************************************************************************************************************************************************************************************
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//Ôóíêöèè ðàáîòû ñ ýíåðãîíåçàâèñèìîé ïàìÿòüþ (â êà÷åñòâå ïàìÿòè ìîæåò èñïîëüçîâàòüñÿ êàê ïîëüçîâàòåëüñêàÿ ôëýø íà áîðòó MCU,
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// òàê è âíåøíå ïîäêëþ÷àåìàÿ, íàïðèìåð ÷åðåç SPI, eeprom).
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//Ôóíêöèè èñïîëüçóþòñÿ äðàéâåðîì CANopen ïðè ñîõðàíåíèè è âîññòàíîâëåíèè ïàðàìåòðîâ ñëîâàðÿ îáúåêòîâ
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//Ñ òî÷êè çðåíèÿ äðàéâåðà CANOpen ôóíêöèè ðåàëèçóþò ïîáàéòîâîå ÷òåíèå è çàïèñü èç/â ÝíÎÇÓ
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void co_UserMemoryRead (const T_UserMemoryContext *p)
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{
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UserMem.MemStartAddr = p->MemStartAddr;
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UserMem.MCUStartAddr = p->MCUStartAddr;
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UserMem.data_length = p->data_length;
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UserMem.read(&UserMem);
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}
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void co_UserMemoryWrite (const T_UserMemoryContext *p)
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{
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UserMem.MemStartAddr = p->MemStartAddr;
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UserMem.MCUStartAddr = p->MCUStartAddr;
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UserMem.data_length = p->data_length;
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UserMem.write(&UserMem);
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}
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//**********************************************************************************************************************************************************************************************************
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//ôóíêöèÿ, êîòîðàÿ âûçûâàåòñÿ äðàéâåðîì CANOpen ïðè íåîáõîäèìîñòè îòïðàâêè CAN ñîîáùåíèÿ âî âíåøíèé èíòåðôåéñ
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//âíóòðü ôóíêöèè ïîëüçîâàòåëåì äîëæåí áûòü âñòàâëåí âûçîâ ñîîòâåòñòâóþùåé ôóíêöèè, îñóùåñòâëÿþùåé ïåðåäà÷ó CAN ïàêåòà
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void co_CANToExtInterface_Send(TZCanMsg* MSG, Uint16 tag_CANnum)
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{
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CANtoRS.write(MSG,&CANtoRS);
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}
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//êîëáýêè ïî ïðèåìó PDO
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void co_RPDO1_Callback(Uint16 nodeID, Uint16 tag_CANnum)
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{
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/*
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switch(nodeID)
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{
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case 1:
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{
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//îáðàáàòûâàåì êàê-íèáóäü...
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break;
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}
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case 2:
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{
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PDO_cntr2++;
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//îáðàáàòûâàåì êàê-íèáóäü...
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break;
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}
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default:
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break;
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}
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*/
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}
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void co_RPDO2_Callback(Uint16 nodeID, Uint16 tag_CANnum)
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{
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/*
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switch(nodeID)
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{
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case 1:
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{
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//îáðàáàòûâàåì êàê-íèáóäü...
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break;
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}
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default:
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break;
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}
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*/
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}
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void co_RPDO3_Callback(Uint16 nodeID, Uint16 tag_CANnum)
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{
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/*
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switch(nodeID)
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{
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case 1:
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{
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//îáðàáàòûâàåì êàê-íèáóäü...
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break;
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}
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default:
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break;
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}
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*/
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}
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void co_RPDO4_Callback(Uint16 nodeID, Uint16 tag_CANnum)
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{
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/*
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switch(nodeID)
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{
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case 1:
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{
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//îáðàáàòûâàåì êàê-íèáóäü...
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break;
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}
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default:
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break;
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}
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*/
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}
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void co_RPDO5_Callback(Uint16 nodeID, Uint16 tag_CANnum)
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{
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/*
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switch(nodeID)
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{
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case 1:
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{
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//îáðàáàòûâàåì êàê-íèáóäü...
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break;
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}
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default:
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break;
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}
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*/
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}
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void co_RPDO6_Callback(Uint16 nodeID, Uint16 tag_CANnum)
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{
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/*
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switch(nodeID)
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{
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case 1:
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{
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//îáðàáàòûâàåì êàê-íèáóäü...
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break;
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}
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default:
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break;
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}
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*/
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}
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void co_RPDO7_Callback(Uint16 nodeID, Uint16 tag_CANnum)
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{
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/*
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switch(nodeID)
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{
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case 1:
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{
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//îáðàáàòûâàåì êàê-íèáóäü...
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break;
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}
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default:
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break;
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}
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*/
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}
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void co_RPDO8_Callback(Uint16 nodeID, Uint16 tag_CANnum)
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{
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/*
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switch(nodeID)
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{
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case 1:
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{
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//îáðàáàòûâàåì êàê-íèáóäü...
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break;
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}
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default:
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break;
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}
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*/
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}
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//!Îáðàùåíèå ïî CANopen ê ÷àñàì ðåàëüíîãî âðåìåíè.
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//!Åñëè ïðîèñõîäèò çàïèñü â ïàðàìåòð [5139h.01h] Òåêóù. çíà÷.×àñû ðåàëüíîãî âðåìåíè,
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//òî âûçûâàåòñÿ callback_RTC - òàì óñòàíàâëèâàåòñÿ çàïðîñ íà êîððåêöèþ ÷àñîâ.
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//void callback_RTC(Uint16 par, Uint16 tag_CANnum) {
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// if (par == 1) {
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// RTCclock.setTimeFlag = 1; //ïðîèçîøëà çàïèñü â ÷àñû
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//
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// }
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//}
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//!Îáðàùåíèå ê ïåðåìåííîé dlog.next_value_var ñ äàííûìè öèôðîâîãî îñöèëëîãðàôà.
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//!Ñóùåñòâóåò ñïåöèàëüíûé èíòåðôåéñ, ïîçâîëÿþùèé àâòîìàòèçèðîâàòü ñ÷èòûâàíèå îññöèëëîãðàôèðóåìûõ ïåðåìåííûõ
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//!ìîäóëÿ TDataLog. Ýòà ôóíêöèÿ âûçûâàåòñÿ ïðè îáðàùåíèè ê ïåðåìåííîé, ÷åðåç êîòîðóþ âîçìîæíî ñ÷èòàòü çàïèñàííûå
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//!îñöèëëîãðàììû. Çàïèñü â ýòó ïåðåìåííóþ óñòàíàâëèâàåò òðåáóåìûé íîìåð áóôåðà (îäèí è 4õ) è íîìåð èçâëåêàåìîé òî÷êè.
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//!Ïðè ÷òåíèè æå â ýòó ïåðåìåííóþ âûäâèãàòþòñÿ ñàìè îòîñöèëëîãðàôôèðîâàííûå äàííûå.
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void callback_dlog(Uint16 par, Uint16 tag_CANnum) {
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//åñëè çàïèñü, òî óñòàíîâèì áóôåð íà íóæíóþ òî÷êó
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if (par == 1) {
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//â ïåðåìåííóþ next_value_var çàïèñûâàåòñß æåëàåìîå ñìåùåíèå, íîìåð áóôåðà, èç êîòîðîãî õîòèì ÷èòàòü,
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//à òàê æå ðàçðåæèâàíèå
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dlog.buff_num = (long)((dlog.next_value_var >> 24) & 3); //èçâëåêàåòñß íîìåð áóôåðà
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#if DLOG_DATA_SIZE == 32
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dlog.highPartOfValue = (int)((dlog.next_value_var >> 26) & 1); // îòäàâàòü ñòàðøóþ ÷àñòü 32-áèòíîãî çíà÷åíèÿ?
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#endif
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dlog.Rcounter = (dlog.next_value_var >> 16) & 0xFF; //êàêóþ òî÷êó íàäî îòäàâàòü
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// //ïðîâåðßåì õîòßò ëè èñïîëüçîâàòü áëî÷íóþ ïåðåäà÷ó
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// if ((dlog.next_value_var & 0xffff) == 1) {
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// //õîòßò, ãîâîðèì îá ýòîì èíòåðôåéñó áëî÷íîé ïåðåäà÷è
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//#ifdef CAN_1_ENABLE
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// if (co1_vars.co_blockTransferCommand == CANBT_INTERFACE_FREE)
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// co1_vars.co_blockTransferCommand = CANBT_INTERFACE_DATALOG1;
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//#endif
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//#ifdef CAN_2_ENABLE
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// if (co2_vars.co_blockTransferCommand == CANBT_INTERFACE_FREE)
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// co2_vars.co_blockTransferCommand = CANBT_INTERFACE_DATALOG1;
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//#endif
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// }
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//#if DLOG_DATA_SIZE == 32
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// if ((dlog.next_value_var & 0xffff) == 2) {
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//#ifdef CAN_1_ENABLE
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// if (co1_vars.co_blockTransferCommand == CANBT_INTERFACE_FREE)
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// co1_vars.co_blockTransferCommand = CANBT_INTERFACE_DATALOG2;
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//#endif
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//#ifdef CAN_2_ENABLE
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// if (co2_vars.co_blockTransferCommand == CANBT_INTERFACE_FREE)
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// co2_vars.co_blockTransferCommand = CANBT_INTERFACE_DATALOG2;
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//#endif
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// }
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//#endif // DLOG_DATA_SIZE == 32
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}
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//âûäâèãàåì äàííûå:
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#if DLOG_DATA_SIZE == 16
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switch (dlog.buff_num) { //òåêóùèé íîìåð áóôåðà
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case 0: {
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dlog.next_value_var = dlog.dl_buffer1_adr[(dlog.Rcounter + dlog.first_point_written) & 0xFF];
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break;
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}
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case 1: {
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dlog.next_value_var = dlog.dl_buffer2_adr[(dlog.Rcounter + dlog.first_point_written) & 0xFF];
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break;
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}
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case 2: {
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dlog.next_value_var = dlog.dl_buffer3_adr[(dlog.Rcounter + dlog.first_point_written) & 0xFF];
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break;
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}
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case 3: {
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dlog.next_value_var = dlog.dl_buffer4_adr[(dlog.Rcounter + dlog.first_point_written) & 0xFF];
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break;
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}
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default: { //åñëè â buff_num ÷òî-òî íå òî, ïî-äåôîëòó ïóñòü ïåðâûé áóôåð
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dlog.next_value_var = dlog.dl_buffer1_adr[(dlog.Rcounter + dlog.first_point_written) & 0xFF];
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break;
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}
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}
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//äàííûå òîëüêî â íèæíåé ÷àñòè
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dlog.next_value_var &= 0xFFFF;
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dlog.next_value_var |= (((unsigned long) dlog.Rcounter) << 16); //â âåðõíåé ÷àñòè ñëîâà Rcounter äëß êîíòðîëß
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dlog.next_value_var |= (((unsigned long) dlog.buff_num) << 24); //â âåðõíåé ÷àñòè ñëîâà (åùå âûøå) buff_num äëß êîíòðîëß
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dlog.Rcounter++; //êàêóþ òî÷êó îòäàåì. èíêðåìåíòèðóåòñß ñàìî ïîñëå ÷òåíèß òåêóùåé òî÷êè.
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dlog.Rcounter &= 0xFF; //ïî êðóãó. íè÷åãî ñòðàøíîãî, ïåðåä ÷òåíèåì îáíóëßþ. ñì. çàïèñü
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#endif
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#if DLOG_DATA_SIZE == 32
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int32 val32;
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int varSizeIs16;
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switch (dlog.buff_num) { //òåêóùèé íîìåð áóôåðà
|
|
default:
|
|
case 0: {
|
|
val32 = dlog.dl_buffer1_adr[(dlog.Rcounter + dlog.first_point_written) & 0xFF];
|
|
varSizeIs16 = (int)(dlog.object1Info.varSize == 16);
|
|
break;
|
|
}
|
|
case 1: {
|
|
val32 = dlog.dl_buffer2_adr[(dlog.Rcounter + dlog.first_point_written) & 0xFF];
|
|
varSizeIs16 = (int)(dlog.object2Info.varSize == 16);
|
|
break;
|
|
}
|
|
case 2: {
|
|
val32 = dlog.dl_buffer3_adr[(dlog.Rcounter + dlog.first_point_written) & 0xFF];
|
|
varSizeIs16 = (int)(dlog.object3Info.varSize == 16);
|
|
break;
|
|
}
|
|
case 3: {
|
|
val32 = dlog.dl_buffer4_adr[(dlog.Rcounter + dlog.first_point_written) & 0xFF];
|
|
varSizeIs16 = (int)(dlog.object4Info.varSize == 16);
|
|
break;
|
|
}
|
|
}
|
|
dlog.next_value_var = (dlog.highPartOfValue != 0 ? val32 >> 16 : val32) & 0x0000FFFF;
|
|
dlog.next_value_var |= ((Uint32)dlog.Rcounter) << 16;
|
|
dlog.next_value_var |= ((Uint32)dlog.buff_num) << 24;
|
|
dlog.next_value_var |= ((Uint32)dlog.highPartOfValue) << 26;
|
|
dlog.next_value_var |= ((Uint32)varSizeIs16) << 27;
|
|
|
|
if ((dlog.highPartOfValue != 0) || varSizeIs16)
|
|
{
|
|
// Ïðè ñëåäóþùåì çàïðîñå îòäàäèì ìëàäøóþ ÷àñòü ñëåäóþùåé òî÷êè.
|
|
dlog.Rcounter++;
|
|
dlog.Rcounter &= 0xFF;
|
|
dlog.highPartOfValue = 0;
|
|
}
|
|
else
|
|
{
|
|
// Ïðè ñëåäóþùåì çàïðîñå îòäàäèì ñòàðøóþ ÷àñòü ýòîé æå òî÷êè.
|
|
dlog.highPartOfValue = 1;
|
|
}
|
|
#endif
|
|
}
|