【大联大世平NXP KE16Z 开发板试用体验】之应用篇

ti

` 之前呢，有给大家提到过一片拆机的板子，

没错，就是这个东西，由于没有下载器呢，当时就选择了飞线的方式解决，然而，很完美的解决了问题。飞线用的是杜邦线，另一头当然是接我们的主板了。
由于这块板子上面已经有一片驱动芯片，所以是可以直接驱动的。

/*Vref 设置驱动电流， PWM输出0-5V,感应器误差0.5V，响应时间500ns PB7
Diag 过流保护报警 0-报警，1-正常 ==
En 使能 1-使能工作，0-停止工作 PB5
Fnd/Rev配置正反转 1-正转，0-反转 PB6
Brake 制动 0-制动，1-不制动 PB3
Tacho 转速计数器，1-表示转了一圈，计数 ==
H1,H2,H3霍尔读取高低电平，确定转子角度
APB2负责AD，I/O，串口1，高级定时器tiM
APB1负责DA，串口2，3，4，5，普通定时器TIM, USB , IIC , CAN*/
// ANSIC C C89 C语言的标准
// C99 支持任意地方定义这些变量
// C11 最新C语言标准
//BLDC-TIM-PWM配置----static只允许该文件调取函数
void BLDC_TIM_Config(u16 arr_b7,u16 psc_b7,u16 pulse_b7)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* GPIOB clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //APB2外设时钟为高速
/*GPIOB Configuration: TIM4 channel 1-4 as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
//设置TIM4CLK PWM
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//APB1外设时钟为低速
TIM_DeInit(TIM4);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;//定时器基本初始化数据
TIM_OCInitTypeDef TIM_OCInitStructure;//定时输出比较控制器结构体
// 自动重装载寄存器周期的值(计数值)
TIM_TimeBaseStructure.TIM_Period=arr_b7;//1000kHz/20000=50Hz
TIM_TimeBaseStructure.TIM_Prescaler=psc_b7;//时钟预分频数72Mhz/72=1MHz
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;//对APB1外设时钟72Mhz的分频,调试发现没起作用
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;//
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = pulse_b7;
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
//TIM_OCInitStructure.TIM_Pulse = 2340;//A2212<2.34ms起转
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
//TIM_OCInitStructure.TIM_Pulse = 10000;//10ms
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM4, ENABLE);
TIM_Cmd(TIM4, ENABLE);
}
void BLDC_Fnd_Rev_TIM_Config(u16 arr_b6,u16 psc_b6,u16 pulse_b6)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* GPIOB clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //APB2外设时钟为高速
/*GPIOB Configuration: TIM4 channel 1-4 as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
//设置TIM4CLK PWM
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//APB1外设时钟为低速
TIM_DeInit(TIM4);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;//定时器基本初始化数据
TIM_OCInitTypeDef TIM_OCInitStructure;//定时输出比较控制器结构体
// 自动重装载寄存器周期的值(计数值)
TIM_TimeBaseStructure.TIM_Period=arr_b6;//1000kHz/20000=50Hz
TIM_TimeBaseStructure.TIM_Prescaler=psc_b6;//时钟预分频数72Mhz/72=1MHz
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;//对APB1外设时钟72Mhz的分频,调试发现没起作用
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;//
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = pulse_b6;
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
//TIM_OCInitStructure.TIM_Pulse = 2340;//A2212<2.34ms起转
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
//TIM_OCInitStructure.TIM_Pulse = 10000;//10ms
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM4, ENABLE);
TIM_Cmd(TIM4, ENABLE);
//TIM_Cmd(TIM3, DISABLE);//关闭
}
//L6235PD-EN使能-PB5
void L6235PD_EN_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStruct;//定义一个结构体
RCC_APB2PeriphClockCmd(L6235PD_EN_GPIO_CLK, ENABLE);//调用APB2时钟控制指令（可定义一组外设/一组外设某一个接口/外设名字，使能）使能APB2总线时钟
GPIO_InitStruct.GPIO_Pin = L6235PD_EN_GPIO_PIN;//配置GPIO端口，可具体到某一个端口或者自定义端口名称
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;//推挽输出
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;//输出频率50MHz
GPIO_Init(L6235PD_EN_GPIO_PORT, &GPIO_InitStruct); //GPIO初始化函数，入口参数1为GPIOB,入口参数2为GPIO结构体首地址，因此&取地址
}
////L6235PD-FND/REV 正反转-PB4
//void L6235PD_FNDREV_GPIO_Config(void)
//{
// GPIO_InitTypeDef GPIO_InitStruct;//定义一个结构体
// RCC_APB2PeriphClockCmd(L6235PD_FNDREV_GPIO_CLK, ENABLE);//调用APB2时钟控制指令（可定义一组外设/一组外设某一个接口/外设名字，使能）使能APB2总线时钟
//
// GPIO_InitStruct.GPIO_Pin = L6235PD_FNDREV_GPIO_PIN;//配置GPIO端口，可具体到某一个端口或者自定义端口名称
// GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;//推挽输出
// GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;//输出频率50MHz
//
// GPIO_Init(L6235PD_FNDREV_GPIO_PORT, &GPIO_InitStruct); //GPIO初始化函数，入口参数1为GPIOB,入口参数2为GPIO结构体首地址，因此&取地址
//
//}
//L6235PD-Brake 制动PB3
void L6235PD_BRAKE_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStruct;//定义一个结构体
RCC_APB2PeriphClockCmd(L6235PD_BRAKE_GPIO_CLK, ENABLE);//调用APB2时钟控制指令（可定义一组外设/一组外设某一个接口/外设名字，使能）使能APB2总线时钟
GPIO_InitStruct.GPIO_Pin = L6235PD_BRAKE_GPIO_PIN;//配置GPIO端口，可具体到某一个端口或者自定义端口名称
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;//推挽输出
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;//输出频率50MHz
GPIO_Init(L6235PD_BRAKE_GPIO_PORT, &GPIO_InitStruct); //GPIO初始化函数，入口参数1为GPIOB,入口参数2为GPIO结构体首地址，因此&取地址
}
//L6235PD 转子角度霍尔H1/H2/H3
void L6235PD_ANGLE_Config(void)
{
if( GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_5) == 1)
{
if( GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_7) == 0)
{
if( GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_5) == 0)
{
printf("
L6235PD_ANGLE_90
");
}
}
}
if( GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_5) == 1)
{
if( GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_7) == 1)
{
if( GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_5) == 0)
{
printf("
L6235PD_ANGLE_150
");
}
}
}
if( GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_5) == 0)
{
if( GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_7) == 1)
{
if( GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_5) == 0)
{
printf("
L6235PD_ANGLE_210
");
}
}
}
if( GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_5) == 0)
{
if( GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_7) == 0)
{
if( GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_5) == 0)
{
printf("
L6235PD_ANGLE_270
");
}
}
}
if( GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_5) == 0)
{
if( GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_7) == 1)
{
if( GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_5) == 1)
{
printf("
L6235PD_ANGLE_330
");
}
}
}
if( GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_5) == 1)
{
if( GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_7) == 1)
{
if( GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_5) == 1)
{
printf("
L6235PD_ANGLE_390
");
}
}
}
}
//BLDC初始化
void BLDC_VREF_TIM_Init(void)
{
//BLDC_TIM_Config(719,11,1);
L6235PD_EN_GPIO_Config();
//L6235PD_FNDREV_GPIO_Config();
L6235PD_BRAKE_GPIO_Config();
L6235PD_ANGLE_Config();
}

复制代码

很简单的配置一下，然后修改我们的Demo，烧录。完美运行。

else if(num == 16) //下发relay:16 REVERSE
{
TIM_SetCompare2(TIM4,100);//PB7-CH2
printf("
L6235PD_REVERSE
");
}
else if(num == 17) //下发relay:17 REVERSE
{
TIM_SetCompare2(TIM4,200);//PB7-CH2
printf("
L6235PD_REVERSE
");
}
else if(num == 18) //下发relay:18 REVERSE
{
TIM_SetCompare2(TIM4,300);//PB7-CH2
printf("
L6235PD_REVERSE
");
}
else if(num == 19) //下发relay:19 REVERSE
{
TIM_SetCompare2(TIM4,400);//PB7-CH2
printf("
L6235PD_REVERSE
");
}
else if(num == 20) //下发relay:20 REVERSE
{
TIM_SetCompare2(TIM4,500);//PB7-CH2
printf("
L6235PD_REVERSE
");
}

复制代码

还算是比较简单的，

/*
* Copyright (c) 2016, Freescale Semiconductor, Inc.
* Copyright 2016-2018 NXP
* All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
*/
#include "mcdrv_adc_adc16.h"
/*******************************************************************************
* Definitions
******************************************************************************/
/*******************************************************************************
* Variables
******************************************************************************/
static bool_t s_statusPass;
/*******************************************************************************
* Code
******************************************************************************/
/*!
* [url=home.php?mod=space&uid=2666770]@Brief[/url] Initializes ADC driver to measure DC-bus current, DC-bus voltage
* and BEMF voltage for BLDC sensorless algorithm
*
* [url=home.php?mod=space&uid=3142012]@param[/url] this Pointer to the current object
* @param init Pointer to initialization structure
*
* [url=home.php?mod=space&uid=1141835]@Return[/url] boot_t true on success
*/
bool_t MCDRV_Adc16Init(mcdrv_adc16_t *this, mcdrv_adc16_init_t *init)
{
s_statusPass = TRUE;
/* offset filter window */
this->ui16OffsetFiltWindow = 3;
/* pointer to array with the channel numbers */
this->pui16AdcArray = init->ui16AdcArray;
/* default DC-bus current offset */
this->ui16OffsetDcCurr = 0x3fff;
/* check if there are one pair of assigned channels */
if ((init->ui16AdcArray[MCDRV_ADC0_BEMFA] == MCDRV_CHAN_OFF) &&
(init->ui16AdcArray[MCDRV_ADC1_BEMFA] == MCDRV_CHAN_OFF))
{
/* check if channel for phase A BEMF is assigned */
s_statusPass = FALSE;
}
else if ((init->ui16AdcArray[MCDRV_ADC0_BEMFB] == MCDRV_CHAN_OFF) &&
(init->ui16AdcArray[MCDRV_ADC1_BEMFB] == MCDRV_CHAN_OFF))
{
/* check if channel for phase B BEMF is assigned */
s_statusPass = FALSE;
}
else if ((init->ui16AdcArray[MCDRV_ADC0_BEMFC] == MCDRV_CHAN_OFF) &&
(init->ui16AdcArray[MCDRV_ADC1_BEMFC] == MCDRV_CHAN_OFF))
{
/* check if channel for phase C BEMF is assigned */
s_statusPass = FALSE;
}
else if ((init->ui16AdcArray[MCDRV_ADC0_UDCB] == MCDRV_CHAN_OFF) &&
(init->ui16AdcArray[MCDRV_ADC1_UDCB] == MCDRV_CHAN_OFF))
{
/* check if channel for DC-bus voltage is assigned */
s_statusPass = FALSE;
}
else if ((init->ui16AdcArray[MCDRV_ADC0_IDCB] == MCDRV_CHAN_OFF) &&
(init->ui16AdcArray[MCDRV_ADC1_IDCB] == MCDRV_CHAN_OFF))
{
/* check if channel for DC-bus current is assigned */
s_statusPass = FALSE;
}
else
{
/* ADC module result register assignment */
/* 0 -> result register 0 for ADC0 or ADC1 */
/* 1 -> result register 1 for ADC0 or ADC1 */
this->ui16IndexBemf = 0;
this->ui16IndexAux = 0;
this->ui16IndexUdcb = 1;
this->ui16IndexIdcb = 1;
/* BEMF phase A measurement */
if (init->ui16AdcArray[MCDRV_ADC0_BEMFA] == MCDRV_CHAN_OFF)
{
this->pui32BemfAAdcBase = init->pui32Adc1Base;
this->bldcAdc1SectorCfg[2] = init->ui16AdcArray[MCDRV_ADC1_BEMFA];
this->bldcAdcSelCfg[2] = init->pui32Adc1Base;
this->bldcAdc1SectorCfg[5] = init->ui16AdcArray[MCDRV_ADC1_BEMFA];
this->bldcAdcSelCfg[5] = init->pui32Adc1Base;
}
else
{
this->pui32BemfAAdcBase = init->pui32Adc0Base;
this->bldcAdc0SectorCfg[2] = init->ui16AdcArray[MCDRV_ADC0_BEMFA];
this->bldcAdcSelCfg[2] = init->pui32Adc0Base;
this->bldcAdc0SectorCfg[5] = init->ui16AdcArray[MCDRV_ADC0_BEMFA];
this->bldcAdcSelCfg[5] = init->pui32Adc0Base;
}
/* BEMF phase B measurement */
if (init->ui16AdcArray[MCDRV_ADC0_BEMFB] == MCDRV_CHAN_OFF)
{
this->pui32BemfBAdcBase = init->pui32Adc1Base;
this->bldcAdc1SectorCfg[1] = init->ui16AdcArray[MCDRV_ADC1_BEMFB];
this->bldcAdcSelCfg[1] = init->pui32Adc1Base;
this->bldcAdc1SectorCfg[4] = init->ui16AdcArray[MCDRV_ADC1_BEMFB];
this->bldcAdcSelCfg[4] = init->pui32Adc1Base;
}
else
{
this->pui32BemfBAdcBase = init->pui32Adc0Base;
this->bldcAdc0SectorCfg[1] = init->ui16AdcArray[MCDRV_ADC0_BEMFB];
this->bldcAdcSelCfg[1] = init->pui32Adc0Base;
this->bldcAdc0SectorCfg[4] = init->ui16AdcArray[MCDRV_ADC0_BEMFB];
this->bldcAdcSelCfg[4] = init->pui32Adc0Base;
}
/* BEMF phase C measurement */
if (init->ui16AdcArray[MCDRV_ADC0_BEMFC] == MCDRV_CHAN_OFF)
{
this->pui32BemfCAdcBase = init->pui32Adc1Base;
this->bldcAdc1SectorCfg[0] = init->ui16AdcArray[MCDRV_ADC1_BEMFC];
this->bldcAdcSelCfg[0] = init->pui32Adc1Base;
this->bldcAdc1SectorCfg[3] = init->ui16AdcArray[MCDRV_ADC1_BEMFC];
this->bldcAdcSelCfg[3] = init->pui32Adc1Base;
/* Set ADC_SC1_ADCH bitfield */
this->pui32BemfCAdcBase->SC1[this->ui16IndexBemf] =
(this->pui32BemfCAdcBase->SC1[this->ui16IndexBemf] & ~(uint16_t)(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(init->ui16AdcArray[MCDRV_ADC1_BEMFC]));
}
else
{
this->pui32BemfCAdcBase = init->pui32Adc0Base;
this->bldcAdc0SectorCfg[0] = init->ui16AdcArray[MCDRV_ADC0_BEMFC];
this->bldcAdcSelCfg[0] = init->pui32Adc0Base;
this->bldcAdc0SectorCfg[3] = init->ui16AdcArray[MCDRV_ADC0_BEMFC];
this->bldcAdcSelCfg[3] = init->pui32Adc0Base;
/* Set ADC_SC1_ADCH bitfield */
this->pui32BemfCAdcBase->SC1[this->ui16IndexBemf] =
(this->pui32BemfCAdcBase->SC1[this->ui16IndexBemf] & ~(uint16_t)(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(init->ui16AdcArray[MCDRV_ADC0_BEMFC]));
}
/* DC-bus current measurement */
if (init->ui16AdcArray[MCDRV_ADC0_IDCB] == MCDRV_CHAN_OFF)
{
this->pui32IdcbAdcBase = init->pui32Adc1Base;
/* Set ADC_SC1_ADCH bitfield */
this->pui32IdcbAdcBase->SC1[this->ui16IndexIdcb] =
(this->pui32IdcbAdcBase->SC1[this->ui16IndexIdcb] & ~(uint16_t)(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(init->ui16AdcArray[MCDRV_ADC1_IDCB]));
}
else
{
this->pui32IdcbAdcBase = init->pui32Adc0Base;
/* Set ADC_SC1_ADCH bitfield */
this->pui32IdcbAdcBase->SC1[this->ui16IndexIdcb] =
(this->pui32IdcbAdcBase->SC1[this->ui16IndexIdcb] & ~(uint16_t)(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(init->ui16AdcArray[MCDRV_ADC0_IDCB]));
}
/* auxiliary measurement */
if (init->ui16AdcArray[MCDRV_ADC0_AUX] == MCDRV_CHAN_OFF)
{
this->pui32AuxAdcBase = init->pui32Adc1Base;
/* Set ADC_SC1_ADCH bitfield */
this->pui32AuxAdcBase->SC1[this->ui16IndexAux] =
(this->pui32AuxAdcBase->SC1[this->ui16IndexAux] & ~(uint16_t)(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(init->ui16AdcArray[MCDRV_ADC1_AUX]));
}
else
{
this->pui32AuxAdcBase = init->pui32Adc0Base;
/* Set ADC_SC1_ADCH bitfield */
this->pui32AuxAdcBase->SC1[this->ui16IndexAux] =
(this->pui32AuxAdcBase->SC1[this->ui16IndexAux] & ~(uint16_t)(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(init->ui16AdcArray[MCDRV_ADC0_AUX]));
}
/* DC-bus voltage measurement */
if (init->ui16AdcArray[MCDRV_ADC0_UDCB] == MCDRV_CHAN_OFF)
{
this->pui32UdcbAdcBase = init->pui32Adc1Base;
/* Set ADC_SC1_ADCH bitfield */
this->pui32UdcbAdcBase->SC1[this->ui16IndexUdcb] =
(this->pui32UdcbAdcBase->SC1[this->ui16IndexUdcb] & ~(uint16_t)(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(init->ui16AdcArray[MCDRV_ADC1_UDCB]));
}
else
{
this->pui32UdcbAdcBase = init->pui32Adc0Base;
/* Set ADC_SC1_ADCH bitfield */
this->pui32UdcbAdcBase->SC1[this->ui16IndexUdcb] =
(this->pui32UdcbAdcBase->SC1[this->ui16IndexUdcb] & ~(uint16_t)(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(init->ui16AdcArray[MCDRV_ADC0_UDCB]));
}
}
return (s_statusPass);
}
/*!
* @brief Function set new channel assignment for next BEMF voltage sensing
*
* @param this Pointer to the current object
*
* @return boot_t true on success
*/
bool_t MCDRV_AssignBemfChannel(mcdrv_adc16_t *this)
{
s_statusPass = TRUE;
switch (this->ui16Sector)
{
/* BEMF phase C sensing */
case 0:
case 3:
if ((this->bldcAdcSelCfg[this->ui16Sector]) == ADC0)
/* Set ADC_SC1_ADCH bitfield */
this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] =
(this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] &
~(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(this->bldcAdc0SectorCfg[this->ui16Sector]));
else
/* Set ADC_SC1_ADCH bitfield */
this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] =
(this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] &
~(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(this->bldcAdc1SectorCfg[this->ui16Sector]));
break;
/* BEMF phase B sensing */
case 1:
case 4:
if ((this->bldcAdcSelCfg[this->ui16Sector]) == ADC0)
/* Set ADC_SC1_ADCH bitfield */
this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] =
(this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] &
~(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(this->bldcAdc0SectorCfg[this->ui16Sector]));
else
/* Set ADC_SC1_ADCH bitfield */
this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] =
(this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] &
~(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(this->bldcAdc1SectorCfg[this->ui16Sector]));
break;
/* BEMF phase A sensing */
case 2:
case 5:
if ((this->bldcAdcSelCfg[this->ui16Sector]) == ADC0)
/* Set ADC_SC1_ADCH bitfield */
this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] =
(this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] &
~(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(this->bldcAdc0SectorCfg[this->ui16Sector]));
else
/* Set ADC_SC1_ADCH bitfield */
this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] =
(this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] &
~(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(this->bldcAdc1SectorCfg[this->ui16Sector]));
break;
default:
break;
}
return (s_statusPass);
}
/*!
* @brief Function reads ADC result register containing actual BEMF voltage
*
* Result register value is shifted three times to the right and stored
* to BEMF voltage pointer
*
* @param this Pointer to the current object
*
* @return boot_t true on success
*/
bool_t MCDRV_BemfVoltageGet(mcdrv_adc16_t *this)
{
s_statusPass = TRUE;
switch (this->ui16Sector)
{
/* BEMF phase C sensing */
case 0:
case 3:
*this->pf16BemfVoltage =
(frac16_t)(MLIB_ShLSat_F16((this->bldcAdcSelCfg[this->ui16Sector]->R[this->ui16IndexBemf]), 3));
break;
/* BEMF phase B sensing */
case 1:
case 4:
*this->pf16BemfVoltage =
(frac16_t)(MLIB_ShLSat_F16((this->bldcAdcSelCfg[this->ui16Sector]->R[this->ui16IndexBemf]), 3));
break;
/* BEMF phase A sensing */
case 2:
case 5:
*this->pf16BemfVoltage =
(frac16_t)(MLIB_ShLSat_F16((this->bldcAdcSelCfg[this->ui16Sector]->R[this->ui16IndexBemf]), 3));
break;
/* default */
default:
*this->pf16BemfVoltage =
(frac16_t)(MLIB_ShLSat_F16((this->bldcAdcSelCfg[this->ui16Sector]->R[this->ui16IndexBemf]), 3));
break;
}
return (s_statusPass);
}
/*!
* @brief Function reads ADC result register containing actual DC-bus voltage sample
*
* Result register value is shifted three times to the right and stored
* to DC-bus voltage pointer
*
* @param this Pointer to the current object
*
* @return boot_t true on success
*/
bool_t MCDRV_VoltDcBusGet(mcdrv_adc16_t *this)
{
s_statusPass = TRUE;
/* read DC-bus voltage sample from defined ADCx result register */
*this->pf16UDcBus = (frac16_t)(MLIB_ShLSat_F16((this->pui32UdcbAdcBase->R[this->ui16IndexUdcb]), 3));
return (s_statusPass);
}
/*!
* @brief Function reads ADC result register containing actual DC-bus current sample
*
* Result register value is shifted three times to the right and stored
* to DC-bus current pointer
*
* @param this Pointer to the current object
*
* @return boot_t true on success
*/
bool_t MCDRV_CurrDcBusGet(mcdrv_adc16_t *this)
{
s_statusPass = TRUE;
/* read DC-bus current channel sample from defined ADCx result register */
*this->pf16IDcBus =
(frac16_t)(MLIB_ShLSat_F16((this->pui32IdcbAdcBase->R[this->ui16IndexIdcb] - this->ui16OffsetDcCurr), 3));
return (s_statusPass);
}
/*!
* @brief Function reads ADC result register containing actual auxiliary sample
*
* Result register value is shifted 3 times right and stored to
* auxiliary pointer
*
*
* @param this Pointer to the current object
*
* @return boot_t true on success
*/
bool_t MCDRV_AuxValGet(mcdrv_adc16_t *this)
{
s_statusPass = TRUE;
/* read auxiliary channel sample from defined ADCx result register */
*this->pui16AuxChan = (frac16_t)(MLIB_ShLSat_F16((this->pui32AuxAdcBase->R[this->ui16IndexAux]), 3));
return (s_statusPass);
}
/*!
* @brief Function initializes phase current channel offset measurement
*
* @param this Pointer to the current object
*
* @return boot_t true on success
*/
bool_t MCDRV_CurrOffsetCalibInit(mcdrv_adc16_t *this)
{
s_statusPass = TRUE;
/* clear offset values */
this->ui16OffsetDcCurr = 0x3fff;
this->ui16CalibDcCurr = 0;
/* initialize offset filters */
this->ui16FiltDcCurr.u16Sh = this->ui16OffsetFiltWindow;
GDFLIB_FilterMAInit_F16((frac16_t)0, &this->ui16FiltDcCurr);
return (s_statusPass);
}
/*!
* @brief Function reads current samples and filter them
*
* @param this Pointer to the current object
*
* @return boot_t true on success
*/
bool_t MCDRV_CurrOffsetCalib(mcdrv_adc16_t *this)
{
s_statusPass = TRUE;
/* sensing of DC Bus Current offset */
this->ui16CalibDcCurr =
GDFLIB_FilterMA_F16((frac16_t) this->pui32IdcbAdcBase->R[this->ui16IndexIdcb], &this->ui16FiltDcCurr);
return (s_statusPass);
}
/*!
* @brief Function passes measured offset values to main structure
*
* @param this Pointer to the current object
*
* @return boot_t true on success
*/
bool_t MCDRV_CurrOffsetCalibSet(mcdrv_adc16_t *this)
{
s_statusPass = TRUE;
/* pass Calib data for DC Bus current offset */
this->ui16OffsetDcCurr = (this->ui16CalibDcCurr);
return (s_statusPass);
}

复制代码

/*
*
* SPDX-License-Identifier: BSD-3-Clause
*/
#include "mcdrv_adc_adc16.h"
#include "mcdrv_adc_adc16_frdm_ke16.h"
/*******************************************************************************
* Definitions
******************************************************************************/
/*******************************************************************************
* Variables
******************************************************************************/
static bool_t s_statusPass;
static volatile bool_t s_bkey = TRUE;
/*******************************************************************************
* Code
******************************************************************************/
/*!
* @brief Initializes ADC driver to measure DC-bus current, DC-bus voltage
* and BEMF voltage for BLDC sensorless algorithm
*
* Board specific file for the tower kv11
*
* @param this Pointer to the current object
* @param init Pointer to initialization structure
*
* @return boot_t true on success
*/
bool_t MCDRV_Adc16Init_frdm_ke16(mcdrv_adc16_t *this, mcdrv_adc16_init_t *init)
{
s_statusPass = TRUE;
/* offset filter window */
this->ui16OffsetFiltWindow = 3;
/* pointer to array with the channel numbers */
this->pui16AdcArray = init->ui16AdcArray;
/* default DC-bus current offset */
this->ui16OffsetDcCurr = 0x3fff;
/* ADC module result register assignment */
/* 0 -> result register 0 for ADC0 */
/* 1 -> result register 1 for ADC0 */
/* 2 -> result register 2 for ADC0 */
this->ui16IndexBemf = 0;
this->ui16IndexUdcb = 1;
this->ui16IndexIdcb = 2;
/* BEMF phase A measurement */
this->pui32BemfAAdcBase = init->pui32Adc0Base;
this->bldcAdc0SectorCfg[2] = init->ui16AdcArray[MCDRV_ADC0_BEMFA];
this->bldcAdcSelCfg[2] = init->pui32Adc0Base;
this->bldcAdc0SectorCfg[5] = init->ui16AdcArray[MCDRV_ADC0_BEMFA];
this->bldcAdcSelCfg[5] = init->pui32Adc0Base;
/* BEMF phase B measurement */
this->pui32BemfBAdcBase = init->pui32Adc0Base;
this->bldcAdc0SectorCfg[1] = init->ui16AdcArray[MCDRV_ADC0_BEMFB];
this->bldcAdcSelCfg[1] = init->pui32Adc0Base;
this->bldcAdc0SectorCfg[4] = init->ui16AdcArray[MCDRV_ADC0_BEMFB];
this->bldcAdcSelCfg[4] = init->pui32Adc0Base;
/* BEMF phase C measurement */
this->pui32BemfCAdcBase = init->pui32Adc0Base;
this->bldcAdc0SectorCfg[0] = init->ui16AdcArray[MCDRV_ADC0_BEMFC];
this->bldcAdcSelCfg[0] = init->pui32Adc0Base;
this->bldcAdc0SectorCfg[3] = init->ui16AdcArray[MCDRV_ADC0_BEMFC];
this->bldcAdcSelCfg[3] = init->pui32Adc0Base;
/* Set ADC_SC1_ADCH bitfield for BEMFC */
this->pui32BemfCAdcBase->SC1[this->ui16IndexBemf] =
(this->pui32BemfCAdcBase->SC1[this->ui16IndexBemf] & ~(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(init->ui16AdcArray[MCDRV_ADC0_BEMFC]));
/* DC-bus current measurement */
this->pui32IdcbAdcBase = init->pui32Adc0Base;
/* Set ADC_SC1_ADCH bitfield */
this->pui32IdcbAdcBase->SC1[this->ui16IndexIdcb] =
(this->pui32IdcbAdcBase->SC1[this->ui16IndexIdcb] & ~(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(init->ui16AdcArray[MCDRV_ADC0_IDCB]));
/* DC-bus voltage measurement */
this->pui32UdcbAdcBase = init->pui32Adc0Base;
/* Set ADC_SC1_ADCH bitfield */
this->pui32UdcbAdcBase->SC1[this->ui16IndexUdcb] =
(this->pui32UdcbAdcBase->SC1[this->ui16IndexUdcb] & ~(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(init->ui16AdcArray[MCDRV_ADC0_UDCB]));
return (s_statusPass);
}
/*!
* @brief Function set new channel assignment for next BEMF voltage sensing
*
* @param this Pointer to the current object
*
* @return boot_t true on success
*/
bool_t MCDRV_AssignBemfChannel_frdm_ke16(mcdrv_adc16_t *this)
{
s_statusPass = TRUE;
switch (this->ui16Sector)
{
/* BEMF phase C sensing */
case 0:
case 3:
if ((this->bldcAdcSelCfg[this->ui16Sector]) == ADC0)
/* Set ADC_SC1_ADCH bitfield */
this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] =
(this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] &
~(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(this->bldcAdc0SectorCfg[this->ui16Sector]));
else
/* Set ADC_SC1_ADCH bitfield */
this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] =
(this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] &
~(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(this->bldcAdc1SectorCfg[this->ui16Sector]));
break;
/* BEMF phase B sensing */
case 1:
case 4:
if ((this->bldcAdcSelCfg[this->ui16Sector]) == ADC0)
/* Set ADC_SC1_ADCH bitfield */
this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] =
(this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] &
~(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(this->bldcAdc0SectorCfg[this->ui16Sector]));
else
/* Set ADC_SC1_ADCH bitfield */
this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] =
(this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] &
~(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(this->bldcAdc1SectorCfg[this->ui16Sector]));
break;
/* BEMF phase A sensing */
case 2:
case 5:
if ((this->bldcAdcSelCfg[this->ui16Sector]) == ADC0)
/* Set ADC_SC1_ADCH bitfield */
this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] =
(this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] &
~(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(this->bldcAdc0SectorCfg[this->ui16Sector]));
else
/* Set ADC_SC1_ADCH bitfield */
this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] =
(this->bldcAdcSelCfg[this->ui16Sector]->SC1[this->ui16IndexBemf] &
~(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(this->bldcAdc1SectorCfg[this->ui16Sector]));
break;
default:
break;
}
return (s_statusPass);
}
/*!
* @brief Function reads ADC result register containing actual BEMF voltage
*
* Result register value is shifted three times to the right and stored
* to BEMF voltage pointer
*
* @param this Pointer to the current object
*
* @return boot_t true on success
*/
bool_t MCDRV_BemfVoltageGet_frdm_ke16(mcdrv_adc16_t *this)
{
s_statusPass = TRUE;
switch (this->ui16Sector)
{
/* BEMF phase C sensing */
case 0:
case 3:
*this->pf16BemfVoltage =
(frac16_t)(MLIB_ShLSat_F16((this->bldcAdcSelCfg[this->ui16Sector]->R[this->ui16IndexBemf]), 3));
break;
/* BEMF phase B sensing */
case 1:
case 4:
*this->pf16BemfVoltage =
(frac16_t)(MLIB_ShLSat_F16((this->bldcAdcSelCfg[this->ui16Sector]->R[this->ui16IndexBemf]), 3));
break;
/* BEMF phase A sensing */
case 2:
case 5:
*this->pf16BemfVoltage =
(frac16_t)(MLIB_ShLSat_F16((this->bldcAdcSelCfg[this->ui16Sector]->R[this->ui16IndexBemf]), 3));
break;
/* default */
default:
*this->pf16BemfVoltage =
(frac16_t)(MLIB_ShLSat_F16((this->bldcAdcSelCfg[this->ui16Sector]->R[this->ui16IndexBemf]), 3));
break;
}
return (s_statusPass);
}
/*!
* @brief Function reads ADC result register containing actual DC-bus voltage sample
*
* Result register value is shifted three times to the right and stored
* to DC-bus voltage pointer
*
* @param this Pointer to the current object
*
* @return boot_t true on success
*/
bool_t MCDRV_VoltDcBusGet_frdm_ke16(mcdrv_adc16_t *this)
{
s_statusPass = TRUE;
/* read DC-bus voltage sample from defined ADCx result register */
*this->pf16UDcBus = (frac16_t)(MLIB_ShLSat_F16((this->pui32UdcbAdcBase->R[this->ui16IndexUdcb]), 3));
return (s_statusPass);
}
/*!
* @brief Function reads ADC result register containing actual DC-bus current sample
*
* Result register value is shifted three times to the right and stored
* to DC-bus current pointer
*0
*
* @return boot_t true on success
*/
bool_t MCDRV_CurrDcBusGet_frdm_ke16(mcdrv_adc16_t *this)
{
s_statusPass = TRUE;
*this->pf16IDcBus =
(frac16_t)(MLIB_ShLSat_F16((this->pui32IdcbAdcBase->R[this->ui16IndexIdcb] - this->ui16OffsetDcCurr), 3));
return (s_statusPass);
}
/*!
* @brief Function reads current samples and filter them
*
* @param this Pointer to the current object
*
* @return boot_t true on success
*/
bool_t MCDRV_CurrOffsetCalib_frdm_ke16(mcdrv_adc16_t *this)
{
s_statusPass = TRUE;
/* sensing of DC Bus Current offset */
this->ui16CalibDcCurr =
GDFLIB_FilterMA_F16((frac16_t) this->pui32IdcbAdcBase->R[this->ui16IndexIdcb], &this->ui16FiltDcCurr);
return (s_statusPass);
}
/*!
* @brief Function initializes phase current channel offset measurement
*
* @param this Pointer to the current object
*
* @return boot_t true on success
*/
bool_t MCDRV_CurrOffsetCalibInit_frdm_ke16(mcdrv_adc16_t *this)
{
s_statusPass = TRUE;
/* clear offset values */
this->ui16OffsetDcCurr = 0x3fff;
this->ui16CalibDcCurr = 0;
/* initialize offset filters */
this->ui16FiltDcCurr.u16Sh = this->ui16OffsetFiltWindow;
GDFLIB_FilterMAInit_F16((frac16_t)0, &this->ui16FiltDcCurr);
return (s_statusPass);
}
/*!
* @brief Function passes measured offset values to main structure
*
* @param this Pointer to the current object
*
* @return boot_t true on success
*/
bool_t MCDRV_CurrOffsetCalibSet_frdm_ke16(mcdrv_adc16_t *this)
{
s_statusPass = TRUE;
/* pass Calib data for DC Bus current offset */
this->ui16OffsetDcCurr = (this->ui16CalibDcCurr);
return (s_statusPass);
}
/*!
* @brief Function set new channel assignment for next BEMF voltage sensing
*
* @param this Pointer to the current object
*
* @return boot_t true on success
*/
bool_t MCDRV_AssignDCBusChannel(mcdrv_adc16_t *this)
{
s_statusPass = TRUE;
this->pui32IdcbAdcBase->SC1[this->ui16IndexIdcb] =
(this->pui32IdcbAdcBase->SC1[this->ui16IndexIdcb] & ~(ADC_SC1_ADCH(ADC_SC1_ADCH_MASK))) |
(ADC_SC1_ADCH(this->pui16AdcArray[MCDRV_ADC0_IDCB]));
return (s_statusPass);
}

复制代码

/*
*
* SPDX-License-Identifier: BSD-3-Clause
*/
#include "board.h"
#include "mcdrv.h"
#include "m1_sm_ref_sol.h"
#include "fsl_common.h"
#include "fsl_port.h"
#include "pin_mux.h"
/*******************************************************************************
* Definitions
******************************************************************************/
/* Three instruction added after interrupt flag clearing as required */
#define M1_END_OF_ISR
{
__asm("nop");
__asm("nop");
__asm("nop");
}
/*******************************************************************************
* Variables
******************************************************************************/
static bool_t bDemoMode; /* demo mode enabled/disabled by SW2 button */
static uint32_t ui32SpeedStimulatorCnt; /* used for demo mode */
static uint32_t ui32ButtonFilter; /* counter for button pressing */
/*******************************************************************************
* Prototypes
******************************************************************************/
static void DemoSpeedStimulator(void);
/*******************************************************************************
* Code
******************************************************************************/
/*!
* @brief Application main function processing peripheral function calling and
* infinite loop
*
* @param void
*
* @return none
*/
int main(void)
{
uint32_t ui32PrimaskReg;
/* disable all interrupts before peripherals are initialized */
ui32PrimaskReg = DisableGlobalIRQ();
/* init board hardware. */
/* LED pin configuration */
#if 0 /* output pin config disabled, there are LEDs on frdm-ke16z board,
but have conflict with PWM signals */
const gpio_pin_config_t output_pin_config = {
kGPIO_DigitalOutput, /* Set current pin as digital output */
(uint8_t)1U /* Set default logic high */
};
#endif
/* Initialize clock configuration */
BOARD_InitBootClocks();
/* Init pins set in pin_mux file */
BOARD_InitBootPins();
/* SW2 pin config - PTD3 */
PORT_SetPinInterruptConfig(PORTD, 3U, kPORT_InterruptRisingEdge); /* Enable interrupt */
/* Enable & setup interrupts */
EnableIRQ(PORTBCD_IRQn);
NVIC_SetPriority(PORTBCD_IRQn, 4);
/* init application clock dependent variables */
InitClock();
/* initialize peripheral motor control driver for motor M1*/
MCDRV_Init_M1();
/* disable demo mode after reset */
bDemoMode = FALSE;
ui32SpeedStimulatorCnt = 0;
/* enable interrupts */
EnableGlobalIRQ(ui32PrimaskReg);
/* infinite loop */
while (1)
{
}
}
/*!
* @brief ADC conversion complete ISR called with 100us period processes
* - motor M1 fast application machine function
*
* @param void
*
* @return none
*/
void ADC0_IRQHandler(void)
{
/* StateMachine call */
SM_StateMachineFast(&g_sM1Ctrl);
/* add empty instructions for correct interrupt flag clearing */
M1_END_OF_ISR;
}
/*!
* @brief FTM1 interrupt service routine
* - Forced commutation control
*
* @param void
*
* @return none
*/
void FTM1_IRQHandler(void)
{
/* asynchronous time event processing */
M1_TimeEvent();
/* clear flag */
FTM1->CONTROLS[0].CnSC &= ~(FTM_CnSC_CHF_MASK);
/* add empty instructions for correct interrupt flag clearing */
M1_END_OF_ISR;
}
/*!
* @brief LPIT reload ISR called with 1ms period and processes following functions:
* - motor M1 slow application machine function
*
* @param void
*
* @return none
*/
void LPIT0_IRQHandler(void)
{
/* Slow StateMachine call */
SM_StateMachineSlow(&g_sM1Ctrl);
/* Demo Speed Simulator */
DemoSpeedStimulator();
/* Clear the TOF flag */
LPIT0->MSR |= (LPIT_MSR_TIF0_MASK);
/* add empty instructions for correct interrupt flag clearing */
M1_END_OF_ISR;
}
/*!
* @brief PDB_Error_ISR_Handler
* - handling the PDB error interrupt: reinitializes the PDB module
*
* @param void
*
* @return none
*/
void PDB0_IRQHandler(void)
{
PDB0->SC &= (~PDB_SC_PDBEN_MASK); /* Disable PDB */
PDB0->CH[0].S &= (~PDB_S_CF_MASK); /* Clear flag on channel 0 */
PDB0->CH[0].S &= (~PDB_S_ERR_MASK); /* Clear error on channel 0 */
PDB0->SC |= PDB_SC_PDBEN_MASK; /* Enable PDB */
}
/*!
* @brief Port interrupt handler
*
* @param void
*
* @return none
*/
void PORTBCD_IRQHandler(void)
{
if (PORTD->PCR[3] & PORT_PCR_ISF_MASK)
{
/* clear the flag */
PORTD->PCR[3] |= PORT_PCR_ISF_MASK;
/* proceed only if pressing longer than timeout */
if (ui32ButtonFilter > 200)
{
ui32ButtonFilter = 0;
if (bDemoMode)
{
M1_SetSpeed(0);
M1_SetAppSwitch(FALSE);
bDemoMode = FALSE;
}
else
{
M1_SetAppSwitch(TRUE);
bDemoMode = TRUE;
ui32SpeedStimulatorCnt = 0;
}
}
}
}
/*!
* @brief DemoSpeedStimulator
* - When demo mode is enabled it changes the required speed according
* to predefined profile
*
* @param void
*
* @return none
*/
static void DemoSpeedStimulator(void)
{
/* increase push button pressing counter */
if (ui32ButtonFilter < 1000)
ui32ButtonFilter++;
if (bDemoMode)
{
ui32SpeedStimulatorCnt++;
switch (ui32SpeedStimulatorCnt)
{
case 1:
M1_SetSpeed(FRAC16(1000.0 / M1_N_MAX));
break;
case 2500:
M1_SetSpeed(FRAC16(2000.0 / M1_N_MAX));
break;
case 5000:
M1_SetSpeed(FRAC16(1500.0 / M1_N_MAX));
break;
case 7500:
M1_SetSpeed(FRAC16(1000.0 / M1_N_MAX));
break;
case 10000:
M1_SetSpeed(FRAC16(-2000.0 / M1_N_MAX));
break;
case 20000:
ui32SpeedStimulatorCnt = 0;
break;
default:
break;
}
}
}

复制代码

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