51 lines
1.6 KiB
C
51 lines
1.6 KiB
C
|
#include "globalv.h"
|
|||
|
|
|
|||
|
|
unsigned int TimeCountCompuSpeed=0,TimeCountTemp=0,TimeCountkey=0;
|
|||
|
|
unsigned int TimeCountRealSpd=0,TimeCountPID=0,TimeCountAvgSpd=0,TimeCountVI=0;
|
|||
|
|
|
|||
|
|
unsigned char MOTORSTATE=STATESTARTCHECK;
|
|||
|
|
|
|||
|
|
const unsigned int PWM_EN_TAB[6]={0x001,0x001,0x010,0x010,0x100,0x100};// 6?PWM?????? AB,AC,BC,BA,CA,CB
|
|||
|
|
const unsigned char STEP_TAB[2][6]={{1,3,2,5,0,4},{4,0,5,2,3,1}};
|
|||
|
|
|
|||
|
|
uint16_t SampleData[4];//<2F>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD> U<><55><EFBFBD>綯<EFBFBD><E7B6AF> V<><56><EFBFBD>綯<EFBFBD><E7B6AF> ĸ<>ߵ<EFBFBD>ѹ W<><57><EFBFBD>綯<EFBFBD><E7B6AF> <20><>ѹ <20><><EFBFBD><EFBFBD> <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD> <20>ⲿ<EFBFBD><E2B2BF><EFBFBD><EFBFBD>
|
|||
|
|
|
|||
|
|
unsigned char ErrorCode=0; //<2F><><EFBFBD><EFBFBD>״̬
|
|||
|
|
unsigned int Motor_Start_F=0; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͣ״̬
|
|||
|
|
unsigned int Cur_step=0; //<2F><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|||
|
|
unsigned char Dir=1; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|||
|
|
|
|||
|
|
unsigned int HALLcount=0,HALLcount1=0,HALLcountTemp; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD>ڼ<EFBFBD><DABC><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD>ٶȺ<D9B6>˲ʱ<CBB2>ٶ<EFBFBD>
|
|||
|
|
unsigned int TargS1=150;//PIDĿ<44><C4BF><EFBFBD>ٶ<EFBFBD>
|
|||
|
|
unsigned int RealS1=0;//ʵʱ˲ʱ<CBB2>ٶ<EFBFBD>
|
|||
|
|
unsigned int RealS=0;//ƽ<><C6BD><EFBFBD>ٶ<EFBFBD>
|
|||
|
|
unsigned int SetSpeed=0;
|
|||
|
|
float KKN=0,KPWMN=0;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD>ٶ<EFBFBD>ʱ<EFBFBD><CAB1>б<EFBFBD><D0B1>
|
|||
|
|
|
|||
|
|
unsigned int OutPwmValue=0;//<2F><><EFBFBD><EFBFBD>ռ<EFBFBD>ձ<EFBFBD>ֵ
|
|||
|
|
|
|||
|
|
|
|||
|
|
unsigned int DIin=0; //<2F><><EFBFBD><EFBFBD>ƫ<EFBFBD><C6AB>
|
|||
|
|
unsigned int CanshuV=0;//ĸ<>ߵ<EFBFBD>ѹ100mVΪ<56><CEAA>λ
|
|||
|
|
unsigned int CanshuI=0;//ĸ<>ߵ<EFBFBD><DFB5><EFBFBD>mA
|
|||
|
|
|
|||
|
|
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>²<EFBFBD><C2B2><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>籣<EFBFBD><E7B1A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|||
|
|
|
|||
|
|
unsigned int MPolePairs=15; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|||
|
|
unsigned int MAXSPEED=680; //<2F>ת<EEB6A8><D7AA>
|
|||
|
|
|
|||
|
|
unsigned int ISH=8;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ A
|
|||
|
|
unsigned int VSH=40;//<2F><>ѹ<EFBFBD><D1B9><EFBFBD><EFBFBD>ֵ V
|
|||
|
|
unsigned int LSH=9;//Ƿѹ<C7B7><D1B9><EFBFBD><EFBFBD>ֵ V
|
|||
|
|
|
|||
|
|
//<2F>ٶȱջ<C8B1><D5BB><EFBFBD><EFBFBD><EFBFBD> ʵ<><CAB5><EFBFBD><EFBFBD>С1000<30><30>
|
|||
|
|
unsigned int MINSPEED=10; //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>
|
|||
|
|
unsigned int SP=50,SI=50,SD=50;
|
|||
|
|
////<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>籣<EFBFBD><E7B1A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|||
|
|
unsigned int STEP_last;
|
|||
|
|
|
|||
|
|
unsigned int startflag=0,dirflag=1;
|
|||
|
|
unsigned int LevelSet = 1;
|
|||
|
|
|
|||
|
|
|