motorcontroldemo_035/Vsrc/SM_Protect.c

/*!
    Copyright 2017 	ÀÎ "ÍÈÈÝÒ" è ÎÎÎ "ÍÏÔ ÂÅÊÒÎÐ"

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

       http://www.apache.org/licenses/LICENSE-2.0

   Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.

 \file      SMProtect.c
 \brief     Ìîäóëü çàùèò.   (ñì. TSM_Protect)
 \author    ÎÎÎ "ÍÏÔ Âåêòîð". http://motorcontrol.ru
 \version   v 2.0 25/03/2016

 \addtogroup SMProtect
 @{ */

#include "DSP.h"
#include "main.h"
#include "stdlib.h"

int16 WriteCounter = 0;

//!Èíèöèàëèçàöèÿ

//!Ïðèñâàèâàíèå âñÿêèõ ïåðåìåííûõ
//! \memberof TSM_Protect
void SM_Protect_Init(TSM_Protect *p) {
	p->state_prev = 0xff;
	p->state = 0x00;
}

//! Áûñòðûé ðàñ÷åò.

//!Îáðàáàòûâàåò âñå àâàðèè è ïðè èõ âîçíèêíîâåíèè îñòàíàâëèâàåò ïðèâîä.
//! \memberof TSM_Protect
void SM_Protect_Fast_Calc(TSM_Protect *p) {

	//àïïàðàòíàÿ àâàðèÿ îò èíâåðòîðà
	if (pwm.PDP_Fault) {
		if ((sm_ctrl.state != CTRL_STOP) && (sm_ctrl.state != CTRL_RUN))
			sm_prot.bit_fault1 |= F_PDPINT;
	}

	if (!DRV_FAULT) {
		//èìååòñÿ êàêàÿ-òî àïïàðàòíàÿ àâàðèÿ
		sm_prot.bit_fault1 |= F_PDPINT;
	}

	/*Çàùèòà ïî ìàêñèìàëüíîìó òîêó*/
	if (labs(adc.Imeas_a) > sm_prot.Imax_protect) sm_prot.bit_fault2 |= F_CTRL_MAX_I_PH_A;
	if (labs(adc.Imeas_b) > sm_prot.Imax_protect) sm_prot.bit_fault2 |= F_CTRL_MAX_I_PH_B;
	if (labs(adc.Imeas_c) > sm_prot.Imax_protect) sm_prot.bit_fault2 |= F_CTRL_MAX_I_PH_C;

	// Çàùèòà îò ïóñêà ïðè íåçàøóíòèðîâàííîì ðåëå ïëàâíîãî çàðÿäà ÇÏÒ
	if (udControl.Enabled == 1) {           //Åñëè åñòü öåïü øóíòèðîâàíèÿ ÇÏÒ, òî âûñòàâëÿåì àâàðèè ïî âûïîëíåíèþ óñëîâèé
	    if (udControl.fault_start == 1)
	        sm_prot.bit_fault1 |= F_RELAY_START;
	}

	//ïðè ïðåâûøåíèè ñêîðîñòè âûøå àâàðèéíîé íîðìû 
	if (labs(cur_par.speed) > sm_prot.speed_max) {
		sm_prot.bit_fault2 |= F_CTRL_SPEED_MAX; // ìàêñèììàëüíîå Ud
	}

	//ïðè ïðåâûøåíèè íàïðÿæåíèÿ âûøå àâàðèéíîé íîðìû 
	if (adc.Udc_meas > sm_prot.Umax_protect) {
		sm_prot.bit_fault1 |= F_CTRL_HI_UDC; // ìàêñèììàëüíîå Ud
	}

	//ñíèæåíèå íàïðÿæåíèÿ
	if (adc.Udc_meas < sm_prot.Umin_protect) { //åñëè ïðèâîä ðàáîòàë òî ëîâèì àâàðèþ
		if (sm_ctrl.state != CTRL_STOP) {
			sm_prot.bit_fault1 |= F_CTRL_LOW_UDC;
		}
	}

	DINT; //Çàïðåùåíèå ïðåðûâàíèé
		  //Àâàðèè, òðåáóþùèå ïîëíîãî îñòàíîâà
	p->masked_bit_fault1 = p->bit_fault1 & p->mask_fault1;//ìàñêèðîâàíèå ôëàãîâ àâàðèé
	p->masked_bit_fault2 = p->bit_fault2 & p->mask_fault2;
	EINT;      //Ðàçðåøåíèå ïðåðûâàíèé


	//ñ÷èòàåì äèñêðåòíûé àâòîìàò çàùèò
	if (p->state_prev != p->state) //ñìåíà ñîñòîÿíèÿ?
		p->E = 1;//Âîçâîäèì ôëàã ïåðâîãî âõîæäåíèÿ "entry"
	else
		p->E = 0;//èíà÷å ñáðàñûâàåì
	p->state_prev = p->state;

	switch (p->state) {//â çàâèñèìîñòè îò òåêóùåãî ñîñòîÿíèÿ
	case PROT_OFF: { //Çàùèòà âûêëþ÷åíà
		if (p->E == 1) { //Ïåðâîå âõîæäåíèå
		}

		//Îáíóëÿåì âñå àâàðèè
		p->bit_fault1 = 0;
		p->bit_fault2 = 0;

		//Ïðîïóñêàåì íåêîòîðûé òàéìàóò ïîñëå âêëþ÷åíèÿ êîíòðîëëåðà
		//÷òîáû íå ëîâèòü ëîæíûå ñðàáàòûâàíèÿ àâàðèé ÀÖÏ
		if (p->powered_okCounter++ > 5000) {
			p->state = PROT_ON_OK;
		}
		break;
	}

	case PROT_ON_OK: {  //Íîðìà
		if (p->E == 1) {        //Ïåðâîå âõîæäåíèå
			drv_status.bit.fault = 0;
		}
		//åñòü àâàðèè?
		if ((p->masked_bit_fault1 | p->masked_bit_fault2) != 0) {
			p->state = PROT_FAIL; //ïåðåõîäèì â ñîñòîÿíèå àâàðèè
		}
		break;
	}

	case PROT_FAIL: { //ñîñòîÿíèå àâàðèè (ñðàáîòàëà çàùèòà)
		if (p->E == 1) {
			cmd.all = 0;
		}
		drv_status.bit.fault = 1;
		//Âûêëþ÷åíèå ØÈÌ. Ïîêà òàì âñå îñòàëüíûå äèñêðåòíûå àâòîìàòû ïðîáóðëÿòñÿ, ÷òîáû èõ íå æäàòü
		pwm.Off(&pwm);
		//ëîãèêà ñáîðîñà àâàðèè
		if (cmd.bit.trip_reset == 1) {//êîìàíäà íà ñáðîñ àâàðèè
			p->state = PROT_ON_OK;//èäåì â "íîðìà"
			p->clearDrvFault = 1;	//îòïðàâèòü äðàéâåðó êëþ÷åé êîìàíäó ñáðîñà

			if (udControl.Enabled == 1) {        //Åñëè åñòü öåïü øóíòèðîâàíèÿ ÇÏÒ, òî ñáðàñûâàåì âîçìîæíûå ñîñòîÿíèÿ àâàðèé
			    udControl.fault_start = 0;
            }

			//îáíóëÿåì âñå ôëàãè àâàðèé
			p->bit_fault1 = 0;
			p->bit_fault2 = 0;
			cmd.all = 0;//êîìàíäíîå ñëîâî

		}
		break;
	}
	}
}

//! \memberof TSM_Protect
void SM_Protect_ms_Calc(TSM_Protect *p) {
	if (WriteCounter <= 15)   //åñëè ïåðâîå ñëîâî
	{
		if (((sm_prot.masked_bit_fault1 >> WriteCounter) & 0x1) != 0)  //ñòîèò ii-é ôëàã àâàðèè
		{
			if (((sm_prot.bit_fault_written1 >> WriteCounter) & 0x1) == 0)  //è îíà íå çàïèñàíà
			{
				FaultLog.write(&FaultLog, WriteCounter + 1);
				sm_prot.bit_fault_written1 |= (1 << WriteCounter);
			}
		}
		else
			sm_prot.bit_fault_written1 &= ~(1 << WriteCounter);
	}
	else if (WriteCounter <= 31) //âòîðîå ñëîâî
	{
		if (((sm_prot.masked_bit_fault2 >> (WriteCounter - 16)) & 0x1) != 0)  //ñòîèò ii-é ôëàã àâàðèè
		{
			if (((sm_prot.bit_fault_written2 >> (WriteCounter - 16)) & 0x1) == 0)  //è îíà òîëüêî ÷òî ïîßâèëàñü
			{
				FaultLog.write(&FaultLog, WriteCounter + 1);
				sm_prot.bit_fault_written2 |= (1 << (WriteCounter - 16));
			}
		}
		else
			sm_prot.bit_fault_written2 &= ~(1 << (WriteCounter - 16));
	}
	WriteCounter++;
	if (WriteCounter >= (33 - 1))
		WriteCounter = 0;
}

//! Ìåäëåííûé ðàñ÷åò.

//! \memberof TSM_Protect
void SM_Protect_Slow_Calc(TSM_Protect *p) {
	/* Ïðîâåðêà àïïàðàòíûõ çàùèò äðàéâåðà. Îí àâòîìàòè÷åñêè âûðóáàåò êëþ÷è ïðè àâàðèÿõ,
	 * è îïóñêàåò ñèãíàëû /FAULT è /OCTW, íî ÷òîáû ïîíÿòü, ÷òî èìåííî ñëó÷èëîñü, íàäî ïî SPI ïðî÷èòàòü ñòàòóñû.
	 * Ïîýòîìó, âèäèìî, ìîæíî â ôîíå.
	 */
	if (p->readDrvSts == 1) {
		p->readDrvSts = 0;
	}

	/* ×òîáû ñáðîñèòü àâàðèþ, íàäî ïðîïèñàòü åìó áèòèê GATE_RESET */
	if (p->clearDrvFault == 1) {
		p->clearDrvFault = 0;
	}
}

/*@}*/