直流无刷电机控制PIC程序(最新).doc

#include /2008.4.24-14点00分#include#includeint 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;j1;j-) asm(nop); union adres int y1; unsigned char adre2; 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 TMR2void 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_num10) 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=m4; / 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 (lkk1) 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 (lkk2) 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;jm1;jm-) asm(nop); trial=0b10110000; lkk=10; RBIF=0;void max_min_compare() if (pwm_realpwm_hi) pwm_real=pwm_hi; if (pwm_realpwm_lo) pwm_real=pwm_lo;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_delay50;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+) /000000000000000000 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_real110)&(run_num10) /如果pwm_real140,但是run_num30)/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 /R