直流无刷电机控制PIC程序(全部整合)

#include //2008.4.24--14点00分#include

#include

int charge_delay,jm,lkk,trial,run_num,protect_num;

char m,n,k,s,L,tri;

char hall_num; //循环次数

char hall_number; //1+3+2+10+8+9=33(一个循环和)，hallless_protect()

int pwm_hi; // pwm占空比上限

int pwm_cycle; // pwm周期

int pwm_lo; // pwm占空比下限,由A/D结果确定

int pwm_real; // pwm占空比实际

int ad_result; // A/D转换结果

bit ghy,run_flag; //运行标志---0，未运行，停止

bit flag_autohand; //开始为-----自动

void delay(delay_num)

int delay_num;

{

int j;

for (j=delay_num;j>1;j--)

{

asm("nop");

}

}

union adres

{

int y1;

unsigned char adre[2];

}adresult;

void para_chushihua()

{

protect_num=0;

trial=0b10110000;

tri=0x00;

lkk=10;

hall_num=0x00;

hall_number=0x00;

run_flag=0; //运行标志---0，未运行，停止

flag_autohand=1; //开始为-----自动

pwm_cycle= 240; // pwm周期

// pwm_hi=pwm_cycle-5; // pwm占空比上限

pwm_hi=pwm_cycle-1; // pwm占空比上限

pwm_real=pwm_cycle; // 实际pwm占空比为pwm周期上限

pwm_lo=0x0A; //设定下限+++++++++++++++++++++++++++++++++++++++ ++++++++

}

void nointerupt_chushihua()

{

INTCON=0X00; //禁止中断

}

void Io_chushihua()

{

// ADCON1=0x8e; //RA0/AN0--VOLTAGE 电压采样,右对齐1

ADCON1=0x86; //设定RA0--RA6设定为I/O口；TRISA =0x09; //RA0---PROTECT保护（电流保护和过温保护）--输出,0--不保护,1--保护;

//RA1----PSW1，继电器,输出,0,电源接通

//RA2----指示灯,输出0--->>

//RA3----按键,加,输入 1

//RA4----指示灯,输出0--->>

//RA5----RSW1,继电器，输出0，软启充电PORTA=PORTA&0x09; //RA1=0,----输出低电平，PSW1，继电器断

//RA2=0,----输出低电平，指示灯灭

//RA4=0,----输出低电平，指示灯灭

//RA5=0,----输出低电平，RSW1，继电器断

RBPU=0; //RB端口内部弱上拉电路禁止

TRISB =0xfe; //RB7=1, 空----输入

//RB6=1----HA,输入

//RB5=1----HB,输入

//RB4=1----HC,输入

//RB3=1----停,输入，按钮

//RB2=1----启,输入，按钮

//RB1=1----自/手选择，输入，开关

//RB0=0----ST/STOP，输出，控制GAL PORTB=PORTB&0xfe; //RB0=0,----输出低电平，禁止GAL输出

TRISC =0x02; //RC7---A1+,PWMA1+,输出0

//RC6---A1, 输出0

//RC5---B1+,输出0

//RC4---B1,输出0

//RC3---C1+,输出0

//RC2---CCP1(PWM),输出,死区0

//RC1----减，输入，按钮 1

//RC0---C1,输出0 PORTC=0x06;

}

void protect()

{ //过流和过温保护

GIE=0; //关全局中断

pwm_real=pwm_hi; //PWM_real----PWM实时值CCPR1L=pwm_real; //设置PWM输出为最大

CCPR1H=0x00; //

CCP1CON=0x0c; //CCP1选择为PWM工作方式PR2=pwm_cycle; //设置PWM的周期

TRISC=TRISC&0xfb; //设置RC2---PWM输出

T2CON=0x00; //分频系数=0x00

TMR2ON=1; //启用TMR2

PORTC=0x00; //

PORTB=PORTB&0xfe; //RB0=0,----输出低电平，禁止GAL输出

while(1)

{

PORTA^=0b00010100;

delay(15000); //延时

}

}

void protect_run()

{ //过流和过温保护

GIE=0; //关全局中断

pwm_real=pwm_hi; //PWM_real----PWM实时值CCPR1L=pwm_real; //设置PWM输出为最大

CCPR1H=0x00; //

CCP1CON=0x0c; //CCP1选择为PWM工作方式PR2=pwm_cycle; //设置PWM的周期

TRISC=TRISC&0xfb; //设置RC2---PWM输出

T2CON=0x00; //分频系数=0x00

TMR2ON=1; //启用TMR2

PORTC=0x00; //

PORTB=PORTB&0xfe; //RB0=0,----输出低电平，禁止GAL输出

while(1)

{

// PORTA^=0b00010000; //RA4闪动

PORTA^=0b00000100; //RA2闪动

delay(15000); //延时

}

}

void PWM_chushihua()

{

// CCPR1L=0xa0;

// CCPR1H=0x00;

run_num=0;

pwm_real=pwm_hi; //PWM_real----PWM实时值CCPR1L=pwm_real; //设置PWM输出为最大

CCPR1H=0x00; //

CCP1CON=0x0c; //CCP1选择为PWM工作方式

PR2=pwm_cycle; //设置PWM的周期

TRISC=TRISC&0xfb; //设置RC2---PWM输出

T2CON=0x00; //分频系数=0x00

TMR2ON=1; //启用TMR2

}

void open_loopf() //开环运行50次，启动

{

k=0b00011000; //5 //HA,HB,HC,

s=PORTC&0b00000110; //1 0 1, B-C+

PORTC=k|s; //

delay(8000); //延时

k=0b10010000; //4 //HA,HB,HC,

s=PORTC&0b00000110; //1 0 0, A+B-

PORTC=k|s; //

delay(8000); //延时

k=0b10000001; //6 //HA,HB,HC,

s=PORTC&0b00000110; //1 1 0, C-A+

PORTC=k|s; //

delay(8000); //延时

k=0b00100001; //2 //HA,HB,HC,

s=PORTC&0b00000110; //0 1 0, B+C-

PORTC=k|s; //

delay(8000); //延时

k=0b01100000; //3 //HA,HB,HC,

s=PORTC&0b00000110; //0 1 1, A-B+

PORTC=k|s; //

delay(8000); //延时

k=0b01001000; //1 //HA,HB,HC,

s=PORTC&0b00000110; //0 0 1, C+A-

PORTC=k|s; //

delay(8000); //延时

}

void interrupt RB4_int()

{

char th;

run_num++;

if(run_num>10)

{run_num=10;}

m=PORTB;

//RB7-HA,RB5-HB,RB4-HC

m&=0xB0; //1 0 1 1 m^=0x90;//A=/A,B=B,C=/C //1 1 n=m>>4; //

switch(n)

{ //HA,HB,HC,

// case 1: k=0b01001000;break; //0 0 1, C+A-

// case 3: k=0b01100000;break; //0 1 1, A-B+

// case 2: k=0b00100001;break; //0 1 0, B+C-

// case 10:k=0b10000001;break; //1 1 0, C-A+

// case 8: k=0b10010000;break; //1 0 0, A+B-

// case 9: k=0b00011000;break; //1 0 1, B-C+

// default:k=0b00000000; //其它(000,111),0x00,输出为无效

case 1: k=0b00011000;break; //1 0 1, B-C+

case 3: k=0b01001000;break; //0 0 1, C+A-

case 2: k=0b01100000;break; //0 1 1, A-B+

case 10:k=0b00100001;break; //0 1 0, B+C-

case 8: k=0b10000001;break; //1 1 0, C-A+

case 9: k=0b10010000;break; //1 0 0, A+B-

default:k=0b00000000; //其它(000,111),0x00,输出为无效

}

s=PORTC&0b00000110; //取RC1,RC2状态

PORTC=k|s; //输出PORTC

if (RB7==0) {trial&=0b00110000;} //RB7=0

if (RB5==0) {trial&=0b10010000;} //RB5=0

if (RB4==0) {trial&=0b10100000;} //RB4=0

if (lkk>1) {lkk--;} //每20次测试一次

// tri=n;

// if ((tri&=0b00001000)==0) {trial&=0b00110000;} //RB7=0

// tri=n;

// if ((tri&=0b00000010)==0) {trial&=0b10010000;} //RB5=0

// tri=n;

// if ((tri&=0b00000001)==0) {trial&=0b10100000;} //RB4=0

// if (lkk>2) {lkk--;} //每20次测试一次else

{

while(trial!=0b00000000)

{

GIE=0; //关全局中断

pwm_real=pwm_hi; //PWM_real----PWM 实时值

CCPR1L=pwm_real; //设置PWM输出为最大

CCPR1H=0x00; //

CCP1CON=0x0c; //CCP1选择为PWM工作方式

PR2=pwm_cycle; //设置PWM的周期

TRISC=TRISC&0xfb; //设置RC2---PWM输出

T2CON=0x00; //分频系数=0x00

TMR2ON=1; //启用TMR2

PORTC=0x00; //

PORTB=PORTB&0xfe; //RB0=0,----输出低电平，禁止GAL输出

while(1)

{

PORTA^=0b00010000; //RA4闪动

for (jm=15000;jm>1;jm--)

{

asm("nop");

}

}

}

trial=0b10110000;

lkk=10;

}

RBIF=0;

}

void max_min_compare()

{

if (pwm_real>pwm_hi) pwm_real=pwm_hi;

if (pwm_real

}

main(void)

{

para_chushihua(); //参数初始化

nointerupt_chushihua(); //禁止中断初始化

Io_chushihua(); //I/O初始化

PWM_chushihua(); //PWM初始化

RA1=0; //RA1-PSW1发送低电平,接通电源

RA5=0; //RA5-RSW1发送低电平,主电路充电延时

RA2=0; //RA2，指示灯灭

RA4=0; //RA4，指示灯灭

delay(100); //主电路充电延时

RB0=0; //ST/(-STOP)发送低电平,禁止GAL输出

delay(100);

RA1=1; //RA1-PSW1发送高电平,接通电源

for(charge_delay=0;charge_delay<50;charge_delay++)

{

delay(15000);

}

RA5=1; //RA5-RSW1发送高电平,主电路充电延时

delay(100); //主电路充电延时

PP: asm(" nop"); //

RBIF=0; //禁止RB4-7中断,清RBIF 标志设定

RBIE=0; //禁止RB4-7中断,RBIE设定

GIE=0; //关全局中断

RA2=0; //RA2，指示灯灭

RA4=0; //RA4，指示灯灭

run_flag=0; //运行标志---由RB2按钮设置

while(run_flag==0) //----------主程序-------------//

{ //RB2启动键，低电平有效

if (RB2==0) run_flag=1; //运行标志---由RB2按钮设置

delay(100); //延时

} //

while(run_flag==1) //运行，则执行......

{

int ope; //设定开环运行次数为12次int openloopn; //

RB0=1; //ST/(-STOP)发送高电平,开放GAL输出

delay(100); //延时

RA4=1;

// pwm_real=180;

pwm_real=230;

delay(500); //延时

// ope=10; //设定开环运行次数为20次

ope=3; //设定开环运行次数为20次

for (openloopn=0;openloopn<=ope;openloopn++)

{ //0 00000000000000000

CCPR1L=pwm_real; //设置开环下PWM输出值----130

open_loopf(); //开环运行20次，启动

} //----------------------- //000000000000000000

delay(6000); //延时

RBIF=0; //RB4-7中断,RBIF标志设定

RBIE=1; //RB4-7中断,RBIE设定

GIE=1; //开全局中断

RA2=1; //----------------------- pwm_real=pwm_hi; //-----------------------

ghl: asm(" nop"); //

if ((pwm_real<110)&&(run_num<10)) //如果pwm_real<140,但是run_num<10,表明未动，则

{ //protect_run();

protect_run();

}

while(RA0==1) //RA0=1,过流和过温保护

{ //

delay(150); //调用延时程序

protect_num++; //

if (protect_num>30)//如果30次保护，则认为是真正保护（过温和过流保护软件滤波）

{protect();} //过流和过温保护

} //

protect_num=0; //

if(RB1==1) flag_autohand=1; //自/手标志设定，标志设定

else flag_autohand=0; //RB1=1---AUTO;自动

//RB1=0---HAND;手动

//----------------------- if (flag_autohand==1)

{ //11 111111111111111111

if (pwm_real>pwm_lo) pwm_real-=1; //自动

else pwm_real=pwm_lo;

}

//11111111111111111111

else

{

if(RA3==0) //加(低有效), 则

{

if (pwm_real

else pwm_real=pwm_hi;

}

if(RC1==0) //减(低有效),则

{

if (pwm_real>pwm_lo) pwm_real-=1;

else pwm_real=pwm_lo;

}

}

max_min_compare();

CCPR1L=pwm_real; //设置PWM输出

delay(4500); //调用延时子程序

while(RA0==1) //RA0------过流和过温保护输入，高电平保护

{ //

protect(); //过流和过温保护

} //

while(RB3==0)

{ //RB3停机键，低电平有效

run_flag=0; //运行标志---由RB3按钮设置

}

if (run_flag==0) //停机，则跳转至......

{

for(;pwm_real

{

delay(2000); //至上限否？

CCPR1L=pwm_real; //设置PWM输出为最大

}

RB0=0; //ST/(-STOP)发送低电平,禁止GAL输出

para_chushihua(); //参数初始化

nointerupt_chushihua(); //禁止中断初始化

PWM_chushihua(); //PWM初始化

run_num=0;

goto PP;

}

else

{

// run_num=0;

goto ghl;

}

}

// goto PP;

}