电动车控制器C语言源代码讲解

#define_E_BIKE_W79E83X_C#includeintrins.h#includeE_BIKE_W79E83X.H#includeW79E834.h/******************************************************************************主函数****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不**/voidmain(void){Init();//初始化Init_IO();//初始化端口H_Sample();//霍尔信号采样Phase_Change();//相位变换AutoHelpEN(1,0x1AA,200);/*第一个参数设定助力功能允许与否，1为允许，0为禁止第二个参数设定助力力量(PWM占空比)，数值范围：0~0x355，数值越大，力量越大第三个参数设定助力时间，数值越大，时间越长*/Keep_SpeedEN(1,0x20,6);/*第一个参数设定定速巡航功能允许与否，1为允许，0为禁止第二个参数设定定速巡航最低速设置第三个参数设定在巡航点保持多长时间后才进入巡航*/Current_Lim(0xB48);/*过流保护上限值设定0xB00对应限电流最大大约为2.6A0xB80对应限流值最大大约为3.8A*/LowVoltage_Lim(0x9B0);/*欠压保护下限值设定电池电压为47.9V时ADC采样值为0xB6==>0xB60推算电池电压为41V时的采样值为0x9B==>0x9B0推算电池电压为40V时的采样值为0x98==>0x980*/EABS_Set(1,1);/*第一个参数为滑行充电功能使能，1为允许，0为禁止第二个参数为电刹车功能使能，1为允许，0为禁止*/Speed_LimHW(0,0,0,1);/*硬件控制最大速度参数只能有一个为1。第一个参数对应15km/h20km/h第二个参数对应第三个参数对应30km/h第四个参数对应40km/h*/Speed_LimSW(0x01);/*软件控制最大速度参数数值由0x00~0x20,数值越小速度越大，反之则越小while(1){_nop_()；//AutoHelpEN(0,0x1AA,100);//Keep_SpeedEN(1,0x20,6);//Current_Lim(0xB50);//LowVoltage_Lim(0x9B0);//EABS_Set(0,0);//Speed_LimHW(0,0,0,1);}}/*******************************************************************************I/O端口初始化****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不**/voidInit_IO(void){//------P0端口设置------//P0M1=0xBE;P0M2=0x01;/*P0M1.YP0M2.Y=00设置I/O端口为普通双向模式P0M1.YP0M2.Y=01设置I/O端口为推拉模式P0M1.YP0M2.Y=10设置I/O端口为输入(高阻)模式P0M1.YP0M2.Y=11设置I/O端口为开漏模式*///P0ID=0x78; //设置四个AD端口0数字输入禁止P0=0xFF;//------P1端口设置------//P1M1=0x1C;P1M2=0xC0;P1=0xFF;//------P2端口设置------//P2M1=0x01;P2M2=0x1E;P2=0xFF;EWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWW/******************************************************************************* 初始化程序****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不**/voidInit(void){unsignedchari;------//设置 //——PWM.//PWMP>PWMn高电平，反之低电平PWMPH=0X03;PWMPL=0X55;PWM0H=0X00;PWM0L=0X00;PWM1H=0X00;PWM1L=0X00;PWM2H=0X00;PWM2L=0X00;PWMCON1=0XC7;//打开PWM电路，三个PWM口反相输出PWMCON3=0xF0;//------飞车保护 //EA=1;/*do{ADCCON=1;ADCCON&=0xef;ADCCON|=0x08;ADC_Ready=0;while(ADC_Ready);}while(ADCH>0x60);*///-----相位检测——//

while(P02==0){H_Sample();Phase_Detect();}//------变量初始化------//for(i=0;i<32;i++){Current_Buffer[i]=0;}for(i=0;i<20;i++){Speed_Buffer[i]=0;}for(i=0;i<16;i++){Voltage_Buffer[i]=0;}Current_P=0;Speed_P=0;Voltage_P=0;;Speed_SUM=0;////PWM_MAX=0;////Current_SUM=0;Voltage_SUM=0;H_State=0;Old_State=0;PWM_Duty=0;PWM_MAX=0;Count_Current=0;Count_Speed=0;Count_Voltage=0;Speed_REQ=0;Current_REQ=0;Voltage_REQ=0;ADC_Ready=0;//PWM_Duty=0;PWM_Duty_min=0;//*********************KeepSpeed_Flag=0;KS_Z1=0;KS_Z2=0;Motor_Speed=0x50;//*********************AutoHelp_Flag=0;Current_Max=0xcffe;Speed_Low=0x0500;//Speed_High=0x1c37;//Speed_MAX=0x1c00;//-----定时器的设置-----//TH0=0x50;TL0=0x50; //设定定时器的初值TH1=0xE0;TL1=0xE0; //设定定时器的初值TMOD=0x22; //T0选为定时器（八位）模式2,TL0自动加载TH0中的初值CKCON&=0X00;//定时器选择为1/12系统时钟ET0=1; //允许定时器中断TR0=1; //启动定时器ET1=1;TR1=1;//-----外部中断设定-----//EX1=1; //允许外部中断1IT1=0; //电平触发中断1AUXR1|=0x04; //打开ADC电路EADC=1;//允许ADC中断ADCCON&=0xE7;//SettingsofTimer2capturemodeCKCON=0x60;CAPCON0=0xA8;CAPCON1=0x00;T2MOD=0xF0;IE1|=0x80;//enablecapturemodeinterruptRCAP2L=0x00; //自动重装载低位RCAP2H=0x00; //自动重装载高位IE1|=0x40;//EA=1;//enableinterruptT2CON|=0x04;//enabletimer2//sUsUsUsUsUsUsUsUsUsUsUsUsUsUsUsUslzslzslzslzslzslzslzslzslzslzslz////***************************//KS_EN=1;KS_Time=8;//sUsUsUsUsUsUsUsUsUsUsUsUsUsUsUsUslzslzslzslzslzslzslzslzslzslzslz////***************************///******************************************************************************* ADC中断处理程序****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不**/voidADC_ISR(void)interrupt11{//UB=~UB;UB=~UB;//EADC=0;ADC_Ready=1;ADCCON&=0xE7;if(Current_REQ)//电流采样{Current_REQ=0;if(Current_SUM>Current_Buffer[Current_P])Current_SUM-=Current_Buffer[Current_P];Current_Buffer[Current_P]=ADCH;Current_SUM+=ADCH;Current_P++;if(Current_P>31)Current_P=0;}if(Speed_REQ)//转把电压采样{Speed_REQ=0;if(Speed_SUM>Speed_Buffer[Speed_P])Speed_SUM-=Speed_Buffer[Speed_P];Speed_Buffer[Speed_P]=ADCH;Speed_SUM+=ADCH;Speed_P++;if(Speed_P==14)Speed_P=0;}if(Voltage_REQ)//电源电压采样{Voltage_REQ=0;if(Voltage_SUM>Voltage_Buffer[Voltage_P])Voltage_SUM-=Voltage_Buffer[Voltage_P];Voltage_Buffer[Voltage_P]=ADCH;Voltage_SUM+=ADCH;Voltage_P++;if(Voltage_P>15)Voltage_P=0;}//PWM_ADJ();//UB=~UB;}/******************************************************************************* 定时器0中断处理函数****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不**///==========InterruptCycle:100uS===================voidT0M1_ISR(void)interrupt1{//UB=~UB;//UB=~UB;ADC_Ready=0;Current_REQ=1;Speed_REQ=0;Voltage_REQ=0;ADCCON=2;Count_Speed++;KS_CNT++;AH_Count++;if(Count_Speed>5)//17{ADCCON=4;Current_REQ=0;Speed_REQ=1;Count_Speed=0;Count_Voltage++;if(Count_Voltage>5)//50{ADCCON=3;Speed_REQ=0;Voltage_REQ=1;Count_Voltage=0;〃********KeepSpeedSetting******//KS_Finish();}}//***FunctionSet***//if(AH_Count>=100){AutoHelp();//自助力AH_Count=0;}if(KS_CNT>=3000){KS_CNT=0;Keep_Speed();//巡航定速}Volt_Low();//欠压保护if(P02==0)Brake_Setting();//刹车ADCCON&=0xef;ADCCON|=0x08;EADC=1;PWM_ADJ();}EWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWW/******************************************************************************* 定时器1中断处理函数****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不**/voidT1M1_ISR(void)interrupt3{_nop_();}EWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWW/******************************************************************************* 定时器2捕获模式中断处理函数****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不**/voidTimer2_ISR()interrupt13using2{//*******MotorSpeed*******//Motor_Speed=TH2;TH2=0;TL2=0;H_Sample();//霍尔信号采集Phase_Change();//相位变换}EWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWW/******************************************************************************* 定时器2溢出中断处理函数****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不**/voidT2_ISR()interrupt8{TF2=0;Motor_Speed=0x50;Block_Detect();//堵转保护/******************************************************************************* 夕卜部中断处理函数，过流中断**********************************************************************************************************************************************************/voidINT1_ISR()interrupt2{CurrentOver_Count++;防抖处理 if(CurrentOver_Count>=5) //{PWM_Duty_min=1;CurrentOver_Count=0;}}/******************************************************************************* 定时器3中断处理函数，采取捕获模式**********************************************************************************************************************************************************/voidH_Sample(void){CAPCON1&=0xF8;H1=P12;H2=P07;H3=P20;do{State1=H1<<2;State1+=H2<<1;State1+=H3;_nop_();_nop_();State2=H1<<2;State2+=H2<<1;State2+=H3;}while(State1!=State2);//状态去抖H_State=State1;/******************************************************************************根据电机霍尔换向信号给出相应控制信号上桥臂：VT,UT,WT下桥臂：VB,UB,WB**********************************************************************************************************************************************************/voidPhase_Change(void){if(EABS_Flag){if(!AutoHelp_Flag){UB=1;VB=1;WB=1;_nop_();UT=1;VT=1;WT=1;}}elseif(PWM_Duty_min){UT=0;VT=0;WT=0;UB=1;VB=1;WB=1; //电机停转}else{switch(H_State){case6: //110,V3,V4VT=0;UT=0;VB=1;WB=1;_nop_();WT=1;UB=0;break;case2: //010,V4,V5case7:UT=0;WB=0;VB=1;WB=1;_nop_();VT=1;UB=0;break;case3: //011,V5,V6UT=0;WT=0;UB=1;VB=1;_nop_()；VT=1;WB=0;break;case1: //001,V6,V1WT=0;VT=0;UB=1;VB=1;_nop_();UT=1;WB=0;break;case5: //101,V1,V2case0:WT=0;VT=0;UB=1;WB=1;_nop_();VB=0;UT=1;break;case4: //100,V2,V3UT=0;VT=0;UB=1;WB=1;_nop_();WT=1;VB=0;break;case9:UT=0;VT=0;WT=0;UB=1;VB=1;WB=1;break;default:break;}}/*if(PWM_Duty_min){UT=0;VT=0;WT=0;UB=1;VB=1;WB=1; //电机停转}*/}/******************************************************************************* 相位检测程序上桥臂：VT,UT,WT*下桥臂：VB,UB,WB**********************************************************************************************************************************************************/voidPhase_Detect(void){WT=0;UT=0;VT=0;switch(H_State){case6: //110,V3,V4UB=0;VB=1;WB=1;break;case2: //010,V4,V5case7:UB=0;VB=1;WB=1;break;case3: //011,V5,V6UB=1;VB=1;WB=0;break;case1: //001,V6,V1UB=1;VB=1;WB=0;break;case5: //101,V1,V2case0:UB=1;VB=0;WB=1;break;case4: //100,V2,V3UB=1;VB=0;WB=1;break;default:break;}}/*******************************************************************************PWM值转换程序* 在限流允许下，将转把电压ADC值转换为PWMn的值电流超过限流值时，做限流处理*****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不voidPWM_ADJ(void){//=====没有超过限流最大值的情况====//if(Current_SUM<Current_Max){if(Speed_SUM<Speed_Low){ //---没有转把电压，由Speed_Low的值决定转把电压最小值---//if(!KeepSpeed_Flag){if(!AutoHelp_Flag){ //定速，助力功能下电机正常转动，否则电机停转//PWM_Duty=0;//PWM_Duty_min=1;//停转标志//PWM_Duty_Max=0;if(Motor_Speed<0x010){if(P02==1){if(EABS_SlipEN){EABS_Flag=1;if(PWM_Duty_Max<0x55)PWM_Duty_Max=0x055; //滑行充电}else{PWM_Duty_Max=0;PWM_Duty_min=1;//停转标志PWM_Duty=0;}}else{PWM_Duty_Max=0;PWM_Duty_min=1;//停转标志PWM_Duty=0;}else{PWM_Duty_Max=0;PWM_Duty_min=1;//停转标志PWM_Duty=0;}}}Block_Flag=0;}elseif(P02==1){ //---转把电压有效---//PWM_Duty_Max=Speed_SUM-Speed_Low;//对应转把电压的最大计算值EABS_Flag=0;if(PWM_Duty_min){if(!Block_Flag){PWM_Duty_min=0; //退出无有效转把电压状况Phase_Change();//相序对应}}/*if(LowNoise_Flag){PWM_Duty_Max+=0x200;}*/if(PWM_Duty_Max>0x06F0)PWM_Duty_Max=0x06E8; //最大值限制PWM_Duty_Max=PWM_Duty_Max>>1;//由转把电压转换为PWMn的值}if(AutoHelp_Flag){PWM_Duty_Max=AH_Duty;//助力下为PWMn赋值EABS_Flag=0;}(jJOFMOd)J!(耳削'覃)昼麻UhiMdWX//^ddOXO尽印CThlMd)=「印CThlMd?8vv4nc]—hlMd=H^nQ-iAiMd缶软neFMd}3S|3{\[7独司UhiMd// 仁的ncPhlMd}(ZOXO<印CThlMd)』}asp//============//缶=印eFMd3S|3\[7独蓟箭司UhiMd阳列4X目*可用Q您专// 卜^ncPhlMd(£v^ncPhlMd)』}3S|3{//r++Mna-|AiMd UhiMd叩即蓟箭可(叫TdSVP99ds-JO4O|A|)J!}(xeiAi-^nQ-jAiMd>^ncPhlMd)』«庙垩知涔淳炬®度更舌// 句=如izTdQHomv朝gUhiMd实』辛爵更舌//^ncThlMd—S»=x8|aT印eFMd}（如|」卬关dsd关》）J!PWM_Duty_min=1; //欠压保护//PWM_Duty_H=0x01;//PWM_Duty_L=0x20; 〃测试之用PWM_Setting();}/******************************************************************************过流保护上限值设定0x1600对应限电流最大大约为2.6A0x1700对应限流值最大大约为3.8A****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不**/voidCurrent_Lim(unsignedintCM){Current_Max=CM;}/******************************************************************************* 欠压保护程序**********************************************************************************************************************************************************/voidVolt_Low(void){if(Voltage_SUM<Voltage_Min){ //欠压状态Voltage_Count++;if(Voltage_Count>200)Power_Off=1;}else{Power_Off=0;Voltage_Count=0;}}/******************************************************************************欠压保护下限值设定电池电压为47.9V时ADC采样值为0xB6==>0xB60推算电池电压为41V时的采样值为0x9B==>0x9B0推算电池电压为40V时的采样值为0x98==>0x980****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不**/voidLowVoltage_Lim(unsignedintCM){Voltage_Min=CM;}/******************************************************************************* 软件控制最大速度* 分为四个档位1，2，3，4分别对应15km/h，20km/h，30km/h，40km/h****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不**/voidSpeed_LimSW(unsignedcharSG){SP_Lim=SG;}/******************************************************************************* 硬件控制最大速度* 分为四个档位SG1，SG2，SG3，SG4分别对应15km/h，20km/h，30km/h，40km/h****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不**/voidSpeed_LimHW(bitSG1,bitSG2,bitSG3,bitSG4){SP_Lim=0x01;if(SG4)SP_Lim=0x01;elseif(SG3)SP_Lim=0x03;elseif(SG2)SP_Lim=0x05;elseif(SG1)SP_Lim=0x08;EWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWW/******************************************************************************* 堵转保护程序****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不**/voidBlock_Detect(void){if(Current_SUM>Current_Max-0x80){Block_CNT++;}elseBlock_CNT=0;if(Block_CNT>=20){PWM_Duty_min=1;Block_Flag=1;AutoHelp_Flag=0;KeepSpeed_Flag=0;UT=0;VT=0;WT=0;UB=1;VB=1;WB=1; //电机停转}}/******************************************************************************* 刹车功能****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不**/voidBrake_Setting(void){unsignedchari;KeepSpeed_Flag=0;AutoHelp_Flag=0;PWM_Duty_min=1;Block_Flag=0;UB=1;VB=1;WB=1;Speed_SUM=0;for(i=0;i<20;i++){Speed_Buffer[i]=0;}if(EABS_BrakeEN)//电子刹车{if(Speed_SUM<Speed_Low){PWM_Duty_H=0x01;PWM_Duty_L=0x00;EABS_Flag=1;UT=1;VT=1;WT=1;}else{UT=0;VT=0;WT=0;}PWM_Setting();}}/*******************************************************************************滑行充电功能****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不**//*voidSlip_Setting(void){if(EABS_SlipEN){UB=1;VB=1;WB=1;_nop_()；EABS_Flag=1;UT=1;VT=1;WT=1;}}/******************************************************************************电刹车功能使能EBS_EN:滑行充电功能使能EBB_EN:电刹车功能使能****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不**/voidEABS_Set(bitEBS_EN,bitEBB_EN){EABS_SlipEN=EBS_EN;EABS_BrakeEN=EBB_EN;}/******************************************************************************* 1:1自动程序助力电动车中轴速度传感器(单开关霍尔信号)，当转动中轴时产生高低电平信号。的方波信号时输出驱动信号，50%个占空比大于6当芯片连续接收到*PWM打开为50%**********************************************************************************************************************************************************/voidAutoHelp(void){if(!Block_Flag)PWM_Duty_min=0;//—设定转把不转时才有助力功能—//if(Speed_SUM<Speed_Low){

//~~助力端口为低电平~~//if(P01==0){if(P01==SenBak)//状态未变{AH_CNTL++;//低电平计数if（AH_CNTL>40）//低电平超过一定值后认为没有助力{AH_CNTH=0;//高电平计数值清零AH_CNTL=0;//低电平计数值清零AH_CT=0;//占空比大于50%的方波（脉冲）计数值清零}}else//状态改变{if（AH_CNTH>AH_CNTL）{的方波（脉冲）计数值赠加50%的方波（脉冲）计数值赠加50%占空比大于AH_CT++;//}else{AH_CT=0;//不是连续大于50%的方波}AH_CNTL=0;SenBak=P01;//保存状态if（AH_CT>=6）//连续3个占空比大于50%的方波（脉冲）{AutoHelp_Flag=1; //启动助力标志AH_CT=0;//占空比大于50%的方波（脉冲）计数值清零AH_CNTL=0;//低电平计数值清零AH_CNTH=0;//高电平计数值清零AH_KT=AH_Time;//只有一定的助力时间}}}//~~助力端口为高电平~~//else{if(P01==SenBak){AH_CNTH++;//高电平计数if(AH_CNTH>60)//持续高电平时间过长则认为同样没有助力{AH_CNTH=0;AH_CNTH=0;AH_CT=0;}}else{SenBak=P01;AH_CNTH=0;//高电平计数值清零}}}//----有转把信号则关闭助力功能----//else{AH_CNTL=0;AH_CNTH=0;AH_CT=0;AutoHelp_Flag=0;}if(AutoHelp_Flag==1) //有助力存在{AH_KT--;if(AH_KT<2)//助力只持续一定时间AutoHelp_Flag=0;}if(KeepSpeed_Flag==1) //电动车处在巡航状态{AH_CT=0;关闭助力功能 AutoHelp_Flag=0;//}if(!AH_EN){AutoHelp_Flag=0;}}/******************************************************************************自动助力允许函数A_EN:允许助力功能A_Duty:助力占空比A_Time:助力时间****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不**/voidAutoHelpEN(bitA_EN,unsignedintA_Duty,unsignedcharA_Time){AH_EN=A_EN;AH_Duty=A_Duty;AH_Time=A_Time;}/*******************************************************************************巡航定速功能****************************************************************************不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不不voidKeep_Speed(void){if(!KeepSpeed_Flag){KS_Point=1;if(Speed_SUM>(Spe