From da2cd65e9a05b7c279a5aef82cd0a7492ba13ccf Mon Sep 17 00:00:00 2001
From: Razvalyaev <wot890089@mail.ru>
Date: Fri, 27 Dec 2024 10:50:32 +0300
Subject: [PATCH] init
---
.gitignore | 25 +
Inu/Src/.vscode/c_cpp_properties.json | 21 +
Inu/Src/VectorControl/abc_to_alphabeta.c | 23 +
Inu/Src/VectorControl/abc_to_alphabeta.h | 39 +
Inu/Src/VectorControl/abc_to_dq.c | 39 +
Inu/Src/VectorControl/abc_to_dq.h | 42 +
Inu/Src/VectorControl/alg_pll.c | 577 ++++
Inu/Src/VectorControl/alg_pll.h | 188 ++
Inu/Src/VectorControl/alphabeta_to_dq.c | 24 +
Inu/Src/VectorControl/alphabeta_to_dq.h | 32 +
Inu/Src/VectorControl/dq_to_alphabeta_cos.c | 39 +
Inu/Src/VectorControl/dq_to_alphabeta_cos.h | 40 +
Inu/Src/VectorControl/params_pll.h | 41 +
Inu/Src/VectorControl/regul_power.c | 88 +
Inu/Src/VectorControl/regul_power.h | 30 +
Inu/Src/VectorControl/regul_turns.c | 143 +
Inu/Src/VectorControl/regul_turns.h | 29 +
Inu/Src/VectorControl/smooth.c | 180 ++
Inu/Src/VectorControl/smooth.h | 78 +
Inu/Src/VectorControl/teta_calc.c | 91 +
Inu/Src/VectorControl/teta_calc.h | 36 +
Inu/Src/VectorControl/vector_control.c | 297 ++
Inu/Src/VectorControl/vector_control.h | 82 +
Inu/Src/main/281xEvTimersInit.c | 636 ++++
Inu/Src/main/281xEvTimersInit.h | 18 +
Inu/Src/main/CAN_project.h | 256 ++
Inu/Src/main/Main.c | 126 +
Inu/Src/main/PWMTMSHandle.c | 510 +++
Inu/Src/main/PWMTMSHandle.h | 25 +
Inu/Src/main/PWMTools.c | 2438 +++++++++++++++
Inu/Src/main/PWMTools.h | 54 +
Inu/Src/main/adc_internal.h | 33 +
Inu/Src/main/adc_tools.c | 1412 +++++++++
Inu/Src/main/adc_tools.h | 402 +++
Inu/Src/main/alarm_log.c | 196 ++
Inu/Src/main/alarm_log.h | 16 +
Inu/Src/main/alg_simple_scalar.c | 976 ++++++
Inu/Src/main/alg_simple_scalar.h | 101 +
Inu/Src/main/alg_uf_const.c | 80 +
Inu/Src/main/alg_uf_const.h | 34 +
Inu/Src/main/another_bs.c | 458 +++
Inu/Src/main/another_bs.h | 21 +
Inu/Src/main/break_regul.c | 204 ++
Inu/Src/main/break_regul.h | 70 +
Inu/Src/main/calc_rms_vals.c | 265 ++
Inu/Src/main/calc_rms_vals.h | 66 +
Inu/Src/main/calc_tempers.c | 284 ++
Inu/Src/main/calc_tempers.h | 16 +
Inu/Src/main/can_bs2bs.c | 83 +
Inu/Src/main/can_bs2bs.h | 21 +
Inu/Src/main/can_protocol_ukss.h | 63 +
Inu/Src/main/control_station_project.c | 2493 +++++++++++++++
Inu/Src/main/control_station_project.h | 109 +
Inu/Src/main/detect_error_3_phase.c | 167 +
Inu/Src/main/detect_error_3_phase.h | 148 +
Inu/Src/main/detect_errors.c | 1606 ++++++++++
Inu/Src/main/detect_errors.h | 80 +
Inu/Src/main/detect_errors_adc.c | 310 ++
Inu/Src/main/detect_errors_adc.h | 45 +
Inu/Src/main/detect_overload.c | 92 +
Inu/Src/main/detect_overload.h | 32 +
Inu/Src/main/detect_phase_break.c | 112 +
Inu/Src/main/detect_phase_break.h | 36 +
Inu/Src/main/detect_phase_break2.c | 203 ++
Inu/Src/main/detect_phase_break2.h | 50 +
Inu/Src/main/digital_filters.c | 103 +
Inu/Src/main/digital_filters.h | 19 +
Inu/Src/main/edrk_main.c | 2736 +++++++++++++++++
Inu/Src/main/edrk_main.h | 1838 +++++++++++
Inu/Src/main/f281xbmsk.h | 244 ++
Inu/Src/main/f281xpwm.c | 288 ++
Inu/Src/main/f281xpwm.h | 163 +
Inu/Src/main/limit_lib.c | 50 +
Inu/Src/main/limit_lib.h | 15 +
Inu/Src/main/limit_power.c | 237 ++
Inu/Src/main/limit_power.h | 21 +
Inu/Src/main/logs_hmi.c | 1150 +++++++
Inu/Src/main/logs_hmi.h | 86 +
Inu/Src/main/manch.h | 182 ++
Inu/Src/main/master_slave.c | 586 ++++
Inu/Src/main/master_slave.h | 34 +
Inu/Src/main/message2.c | 907 ++++++
Inu/Src/main/message2.h | 33 +
Inu/Src/main/message2can.c | 278 ++
Inu/Src/main/message2can.h | 18 +
Inu/Src/main/message2test.c | 678 ++++
Inu/Src/main/message2test.h | 33 +
Inu/Src/main/message_modbus.c | 897 ++++++
Inu/Src/main/message_modbus.h | 61 +
Inu/Src/main/message_terminals_can.c | 128 +
Inu/Src/main/message_terminals_can.h | 15 +
Inu/Src/main/modbus_hmi.c | 393 +++
Inu/Src/main/modbus_hmi.h | 39 +
Inu/Src/main/modbus_hmi_read.c | 222 ++
Inu/Src/main/modbus_hmi_read.h | 15 +
Inu/Src/main/modbus_hmi_update.c | 2022 ++++++++++++
Inu/Src/main/modbus_hmi_update.h | 39 +
Inu/Src/main/modbus_svu_update.c | 710 +++++
Inu/Src/main/modbus_svu_update.h | 17 +
Inu/Src/main/not_use/log_to_mem.c | 249 ++
Inu/Src/main/not_use/log_to_mem.h | 201 ++
Inu/Src/main/optical_bus.c | 413 +++
Inu/Src/main/optical_bus.h | 109 +
Inu/Src/main/optical_bus_tools.c | 791 +++++
Inu/Src/main/optical_bus_tools.h | 14 +
Inu/Src/main/overheat_limit.c | 80 +
Inu/Src/main/overheat_limit.h | 13 +
Inu/Src/main/params.h | 182 ++
Inu/Src/main/params_alg.h | 218 ++
Inu/Src/main/params_bsu.h | 123 +
Inu/Src/main/params_hwp.h | 9 +
Inu/Src/main/params_motor.h | 59 +
Inu/Src/main/params_norma.h | 70 +
Inu/Src/main/params_protect_adc.h | 25 +
Inu/Src/main/params_pwm24.h | 48 +
Inu/Src/main/params_temper_p.h | 58 +
Inu/Src/main/pll_tools.c | 105 +
Inu/Src/main/pll_tools.h | 22 +
Inu/Src/main/project.c | 1049 +++++++
Inu/Src/main/project.h | 74 +
Inu/Src/main/project_setup.h | 414 +++
Inu/Src/main/protect_levels.h | 119 +
Inu/Src/main/pump_control.c | 255 ++
Inu/Src/main/pump_control.h | 27 +
Inu/Src/main/pwm_logs.c | 476 +++
Inu/Src/main/pwm_logs.h | 16 +
Inu/Src/main/pwm_test_lines.c | 36 +
Inu/Src/main/pwm_test_lines.h | 63 +
Inu/Src/main/ramp_zadanie_tools.c | 417 +++
Inu/Src/main/ramp_zadanie_tools.h | 20 +
Inu/Src/main/sbor_shema.c | 1764 +++++++++++
Inu/Src/main/sbor_shema.h | 24 +
Inu/Src/main/sim_model.c | 222 ++
Inu/Src/main/sim_model.h | 21 +
Inu/Src/main/sync_tools.c | 520 ++++
Inu/Src/main/sync_tools.h | 113 +
Inu/Src/main/synhro_tools.c | 144 +
Inu/Src/main/synhro_tools.h | 19 +
Inu/Src/main/temper_p_tools.c | 77 +
Inu/Src/main/temper_p_tools.h | 22 +
Inu/Src/main/tk_Test.c | 369 +++
Inu/Src/main/tk_Test.h | 12 +
Inu/Src/main/ukss_tools.c | 605 ++++
Inu/Src/main/ukss_tools.h | 33 +
Inu/Src/main/uom_tools.c | 149 +
Inu/Src/main/uom_tools.h | 15 +
Inu/Src/main/v_pwm24_v2.c | 948 ++++++
Inu/Src/main/v_pwm24_v2.h | 161 +
Inu/Src/main/v_rotor.c | 1095 +++++++
Inu/Src/main/v_rotor.h | 185 ++
Inu/Src/main/v_rotor_22220.c | 666 ++++
Inu/Src/main/v_rotor_22220.h | 54 +
Inu/Src/main/vector.h | 254 ++
Inu/Src/main/xPlatesAddress.h | 21 +
Inu/Src/main_matlab/DSP281x_Device.h | 3 +
Inu/Src/main_matlab/DSP281x_Ev.h | 1 +
Inu/Src/main_matlab/DSP281x_Examples.h | 1 +
.../main_matlab/DSP281x_GlobalPrototypes.h | 2 +
.../DSP281x_SWPrioritizedIsrLevels.h | 1 +
Inu/Src/main_matlab/IQmathLib.h | 684 +++++
Inu/Src/main_matlab/IQmathLib_matlab.c | 229 ++
Inu/Src/main_matlab/adc_tools.h | 445 +++
Inu/Src/main_matlab/adc_tools_matlab.c | 748 +++++
Inu/Src/main_matlab/dmctype.h | 32 +
Inu/Src/main_matlab/errors_matlab.c | 25 +
Inu/Src/main_matlab/io_verbal_names.h | 73 +
Inu/Src/main_matlab/main_matlab.c | 269 ++
Inu/Src/main_matlab/main_matlab.h | 22 +
Inu/Src/main_matlab/old/PWMTools.c | 719 +++++
Inu/Src/main_matlab/old/v_pwm24.c | 1642 ++++++++++
Inu/Src/main_matlab/old/v_pwm24.h | 190 ++
Inu/Src/main_matlab/old/xp_write_xpwm_time.h | 183 ++
Inu/Src/main_matlab/rotation_speed_matlab.c | 428 +++
Inu/Src/main_matlab/v_pwm24_matlab.c | 1644 ++++++++++
.../main_matlab/xp_write_xpwm_time_matlab.c | 361 +++
Inu/Src2/VectorControl/abc_to_alphabeta.c | 23 +
Inu/Src2/VectorControl/abc_to_alphabeta.h | 39 +
Inu/Src2/VectorControl/abc_to_dq.c | 38 +
Inu/Src2/VectorControl/abc_to_dq.h | 42 +
Inu/Src2/VectorControl/alphabeta_to_abc.c | 24 +
Inu/Src2/VectorControl/alphabeta_to_abc.h | 38 +
Inu/Src2/VectorControl/alphabeta_to_dq.c | 22 +
Inu/Src2/VectorControl/alphabeta_to_dq.h | 32 +
Inu/Src2/VectorControl/dq_to_alphabeta_cos.c | 39 +
Inu/Src2/VectorControl/dq_to_alphabeta_cos.h | 40 +
.../VectorControl/efficiency_compensation.c | 107 +
.../VectorControl/efficiency_compensation.h | 13 +
Inu/Src2/VectorControl/params_motor.h | 23 +
Inu/Src2/VectorControl/pwm_vector_regul.c | 666 ++++
Inu/Src2/VectorControl/pwm_vector_regul.h | 81 +
Inu/Src2/VectorControl/regul_power.c | 269 ++
Inu/Src2/VectorControl/regul_power.h | 32 +
Inu/Src2/VectorControl/regul_turns.c | 185 ++
Inu/Src2/VectorControl/regul_turns.h | 12 +
Inu/Src2/VectorControl/teta_calc.c | 262 ++
Inu/Src2/VectorControl/teta_calc.h | 39 +
Inu/Src2/main/IQmathLib.c | 182 ++
Inu/Src2/main/IQmathLib.h | 661 ++++
Inu/Src2/main/PWMTools.c | 719 +++++
Inu/Src2/main/PWMTools.h | 19 +
Inu/Src2/main/adc_tools.c | 528 ++++
Inu/Src2/main/adc_tools.h | 137 +
Inu/Src2/main/dmctype.h | 31 +
Inu/Src2/main/my_filter.c | 122 +
Inu/Src2/main/my_filter.h | 76 +
Inu/Src2/main/params.h | 181 ++
Inu/Src2/main/pid_reg3.c | 107 +
Inu/Src2/main/pid_reg3.h | 117 +
Inu/Src2/main/rotation_speed.h | 44 +
Inu/Src2/main/svgen_dq.h | 38 +
Inu/Src2/main/svgen_dq_v2.c | 120 +
Inu/Src2/main/v_pwm24.c | 1635 ++++++++++
Inu/Src2/main/v_pwm24.h | 190 ++
Inu/Src2/main/vector.h | 256 ++
Inu/Src2/main/word_structurs.h | 64 +
Inu/Src2/main/xp_write_xpwm_time.c | 361 +++
Inu/Src2/main/xp_write_xpwm_time.h | 183 ++
Inu/controller.c | 1355 ++++++++
Inu/controller.h | 222 ++
Inu/def.h | 482 +++
Inu/detcoeff.c | 242 ++
Inu/detcoeff.h | 47 +
Inu/init28335.c | 1621 ++++++++++
Inu/init28335.h | 24 +
Inu/isr.c | Bin 0 -> 11865 bytes
Inu/isr.h | 72 +
Inu/main.c | 144 +
Inu/main.h | 17 +
Inu/param.c | 426 +++
Inu/param.h | 41 +
Inu/upr.c | 974 ++++++
Inu/upr.h | 50 +
Inu/wrapper_inu.c | 267 ++
Inu/wrapper_inu.h | 25 +
ReadMe.txt | 2 +
allmex.m | 24 +
am_two_wind.mexw64 | Bin 0 -> 27648 bytes
asynchronous_machine.p | Bin 0 -> 1232 bytes
electr_mach.slx | Bin 0 -> 41878 bytes
init.m | 78 +
inu_im_2wnd_3lvl.slx | Bin 0 -> 80373 bytes
inu_im_2wnd_3lvl.slx.original | Bin 0 -> 88153 bytes
inu_im_2wnd_3lvl.slx.r2021a | Bin 0 -> 64466 bytes
inu_im_2wnd_3lvl.slxc | Bin 0 -> 113909 bytes
run_mex.bat | 59 +
245 files changed, 65707 insertions(+)
create mode 100644 .gitignore
create mode 100644 Inu/Src/.vscode/c_cpp_properties.json
create mode 100644 Inu/Src/VectorControl/abc_to_alphabeta.c
create mode 100644 Inu/Src/VectorControl/abc_to_alphabeta.h
create mode 100644 Inu/Src/VectorControl/abc_to_dq.c
create mode 100644 Inu/Src/VectorControl/abc_to_dq.h
create mode 100644 Inu/Src/VectorControl/alg_pll.c
create mode 100644 Inu/Src/VectorControl/alg_pll.h
create mode 100644 Inu/Src/VectorControl/alphabeta_to_dq.c
create mode 100644 Inu/Src/VectorControl/alphabeta_to_dq.h
create mode 100644 Inu/Src/VectorControl/dq_to_alphabeta_cos.c
create mode 100644 Inu/Src/VectorControl/dq_to_alphabeta_cos.h
create mode 100644 Inu/Src/VectorControl/params_pll.h
create mode 100644 Inu/Src/VectorControl/regul_power.c
create mode 100644 Inu/Src/VectorControl/regul_power.h
create mode 100644 Inu/Src/VectorControl/regul_turns.c
create mode 100644 Inu/Src/VectorControl/regul_turns.h
create mode 100644 Inu/Src/VectorControl/smooth.c
create mode 100644 Inu/Src/VectorControl/smooth.h
create mode 100644 Inu/Src/VectorControl/teta_calc.c
create mode 100644 Inu/Src/VectorControl/teta_calc.h
create mode 100644 Inu/Src/VectorControl/vector_control.c
create mode 100644 Inu/Src/VectorControl/vector_control.h
create mode 100644 Inu/Src/main/281xEvTimersInit.c
create mode 100644 Inu/Src/main/281xEvTimersInit.h
create mode 100644 Inu/Src/main/CAN_project.h
create mode 100644 Inu/Src/main/Main.c
create mode 100644 Inu/Src/main/PWMTMSHandle.c
create mode 100644 Inu/Src/main/PWMTMSHandle.h
create mode 100644 Inu/Src/main/PWMTools.c
create mode 100644 Inu/Src/main/PWMTools.h
create mode 100644 Inu/Src/main/adc_internal.h
create mode 100644 Inu/Src/main/adc_tools.c
create mode 100644 Inu/Src/main/adc_tools.h
create mode 100644 Inu/Src/main/alarm_log.c
create mode 100644 Inu/Src/main/alarm_log.h
create mode 100644 Inu/Src/main/alg_simple_scalar.c
create mode 100644 Inu/Src/main/alg_simple_scalar.h
create mode 100644 Inu/Src/main/alg_uf_const.c
create mode 100644 Inu/Src/main/alg_uf_const.h
create mode 100644 Inu/Src/main/another_bs.c
create mode 100644 Inu/Src/main/another_bs.h
create mode 100644 Inu/Src/main/break_regul.c
create mode 100644 Inu/Src/main/break_regul.h
create mode 100644 Inu/Src/main/calc_rms_vals.c
create mode 100644 Inu/Src/main/calc_rms_vals.h
create mode 100644 Inu/Src/main/calc_tempers.c
create mode 100644 Inu/Src/main/calc_tempers.h
create mode 100644 Inu/Src/main/can_bs2bs.c
create mode 100644 Inu/Src/main/can_bs2bs.h
create mode 100644 Inu/Src/main/can_protocol_ukss.h
create mode 100644 Inu/Src/main/control_station_project.c
create mode 100644 Inu/Src/main/control_station_project.h
create mode 100644 Inu/Src/main/detect_error_3_phase.c
create mode 100644 Inu/Src/main/detect_error_3_phase.h
create mode 100644 Inu/Src/main/detect_errors.c
create mode 100644 Inu/Src/main/detect_errors.h
create mode 100644 Inu/Src/main/detect_errors_adc.c
create mode 100644 Inu/Src/main/detect_errors_adc.h
create mode 100644 Inu/Src/main/detect_overload.c
create mode 100644 Inu/Src/main/detect_overload.h
create mode 100644 Inu/Src/main/detect_phase_break.c
create mode 100644 Inu/Src/main/detect_phase_break.h
create mode 100644 Inu/Src/main/detect_phase_break2.c
create mode 100644 Inu/Src/main/detect_phase_break2.h
create mode 100644 Inu/Src/main/digital_filters.c
create mode 100644 Inu/Src/main/digital_filters.h
create mode 100644 Inu/Src/main/edrk_main.c
create mode 100644 Inu/Src/main/edrk_main.h
create mode 100644 Inu/Src/main/f281xbmsk.h
create mode 100644 Inu/Src/main/f281xpwm.c
create mode 100644 Inu/Src/main/f281xpwm.h
create mode 100644 Inu/Src/main/limit_lib.c
create mode 100644 Inu/Src/main/limit_lib.h
create mode 100644 Inu/Src/main/limit_power.c
create mode 100644 Inu/Src/main/limit_power.h
create mode 100644 Inu/Src/main/logs_hmi.c
create mode 100644 Inu/Src/main/logs_hmi.h
create mode 100644 Inu/Src/main/manch.h
create mode 100644 Inu/Src/main/master_slave.c
create mode 100644 Inu/Src/main/master_slave.h
create mode 100644 Inu/Src/main/message2.c
create mode 100644 Inu/Src/main/message2.h
create mode 100644 Inu/Src/main/message2can.c
create mode 100644 Inu/Src/main/message2can.h
create mode 100644 Inu/Src/main/message2test.c
create mode 100644 Inu/Src/main/message2test.h
create mode 100644 Inu/Src/main/message_modbus.c
create mode 100644 Inu/Src/main/message_modbus.h
create mode 100644 Inu/Src/main/message_terminals_can.c
create mode 100644 Inu/Src/main/message_terminals_can.h
create mode 100644 Inu/Src/main/modbus_hmi.c
create mode 100644 Inu/Src/main/modbus_hmi.h
create mode 100644 Inu/Src/main/modbus_hmi_read.c
create mode 100644 Inu/Src/main/modbus_hmi_read.h
create mode 100644 Inu/Src/main/modbus_hmi_update.c
create mode 100644 Inu/Src/main/modbus_hmi_update.h
create mode 100644 Inu/Src/main/modbus_svu_update.c
create mode 100644 Inu/Src/main/modbus_svu_update.h
create mode 100644 Inu/Src/main/not_use/log_to_mem.c
create mode 100644 Inu/Src/main/not_use/log_to_mem.h
create mode 100644 Inu/Src/main/optical_bus.c
create mode 100644 Inu/Src/main/optical_bus.h
create mode 100644 Inu/Src/main/optical_bus_tools.c
create mode 100644 Inu/Src/main/optical_bus_tools.h
create mode 100644 Inu/Src/main/overheat_limit.c
create mode 100644 Inu/Src/main/overheat_limit.h
create mode 100644 Inu/Src/main/params.h
create mode 100644 Inu/Src/main/params_alg.h
create mode 100644 Inu/Src/main/params_bsu.h
create mode 100644 Inu/Src/main/params_hwp.h
create mode 100644 Inu/Src/main/params_motor.h
create mode 100644 Inu/Src/main/params_norma.h
create mode 100644 Inu/Src/main/params_protect_adc.h
create mode 100644 Inu/Src/main/params_pwm24.h
create mode 100644 Inu/Src/main/params_temper_p.h
create mode 100644 Inu/Src/main/pll_tools.c
create mode 100644 Inu/Src/main/pll_tools.h
create mode 100644 Inu/Src/main/project.c
create mode 100644 Inu/Src/main/project.h
create mode 100644 Inu/Src/main/project_setup.h
create mode 100644 Inu/Src/main/protect_levels.h
create mode 100644 Inu/Src/main/pump_control.c
create mode 100644 Inu/Src/main/pump_control.h
create mode 100644 Inu/Src/main/pwm_logs.c
create mode 100644 Inu/Src/main/pwm_logs.h
create mode 100644 Inu/Src/main/pwm_test_lines.c
create mode 100644 Inu/Src/main/pwm_test_lines.h
create mode 100644 Inu/Src/main/ramp_zadanie_tools.c
create mode 100644 Inu/Src/main/ramp_zadanie_tools.h
create mode 100644 Inu/Src/main/sbor_shema.c
create mode 100644 Inu/Src/main/sbor_shema.h
create mode 100644 Inu/Src/main/sim_model.c
create mode 100644 Inu/Src/main/sim_model.h
create mode 100644 Inu/Src/main/sync_tools.c
create mode 100644 Inu/Src/main/sync_tools.h
create mode 100644 Inu/Src/main/synhro_tools.c
create mode 100644 Inu/Src/main/synhro_tools.h
create mode 100644 Inu/Src/main/temper_p_tools.c
create mode 100644 Inu/Src/main/temper_p_tools.h
create mode 100644 Inu/Src/main/tk_Test.c
create mode 100644 Inu/Src/main/tk_Test.h
create mode 100644 Inu/Src/main/ukss_tools.c
create mode 100644 Inu/Src/main/ukss_tools.h
create mode 100644 Inu/Src/main/uom_tools.c
create mode 100644 Inu/Src/main/uom_tools.h
create mode 100644 Inu/Src/main/v_pwm24_v2.c
create mode 100644 Inu/Src/main/v_pwm24_v2.h
create mode 100644 Inu/Src/main/v_rotor.c
create mode 100644 Inu/Src/main/v_rotor.h
create mode 100644 Inu/Src/main/v_rotor_22220.c
create mode 100644 Inu/Src/main/v_rotor_22220.h
create mode 100644 Inu/Src/main/vector.h
create mode 100644 Inu/Src/main/xPlatesAddress.h
create mode 100644 Inu/Src/main_matlab/DSP281x_Device.h
create mode 100644 Inu/Src/main_matlab/DSP281x_Ev.h
create mode 100644 Inu/Src/main_matlab/DSP281x_Examples.h
create mode 100644 Inu/Src/main_matlab/DSP281x_GlobalPrototypes.h
create mode 100644 Inu/Src/main_matlab/DSP281x_SWPrioritizedIsrLevels.h
create mode 100644 Inu/Src/main_matlab/IQmathLib.h
create mode 100644 Inu/Src/main_matlab/IQmathLib_matlab.c
create mode 100644 Inu/Src/main_matlab/adc_tools.h
create mode 100644 Inu/Src/main_matlab/adc_tools_matlab.c
create mode 100644 Inu/Src/main_matlab/dmctype.h
create mode 100644 Inu/Src/main_matlab/errors_matlab.c
create mode 100644 Inu/Src/main_matlab/io_verbal_names.h
create mode 100644 Inu/Src/main_matlab/main_matlab.c
create mode 100644 Inu/Src/main_matlab/main_matlab.h
create mode 100644 Inu/Src/main_matlab/old/PWMTools.c
create mode 100644 Inu/Src/main_matlab/old/v_pwm24.c
create mode 100644 Inu/Src/main_matlab/old/v_pwm24.h
create mode 100644 Inu/Src/main_matlab/old/xp_write_xpwm_time.h
create mode 100644 Inu/Src/main_matlab/rotation_speed_matlab.c
create mode 100644 Inu/Src/main_matlab/v_pwm24_matlab.c
create mode 100644 Inu/Src/main_matlab/xp_write_xpwm_time_matlab.c
create mode 100644 Inu/Src2/VectorControl/abc_to_alphabeta.c
create mode 100644 Inu/Src2/VectorControl/abc_to_alphabeta.h
create mode 100644 Inu/Src2/VectorControl/abc_to_dq.c
create mode 100644 Inu/Src2/VectorControl/abc_to_dq.h
create mode 100644 Inu/Src2/VectorControl/alphabeta_to_abc.c
create mode 100644 Inu/Src2/VectorControl/alphabeta_to_abc.h
create mode 100644 Inu/Src2/VectorControl/alphabeta_to_dq.c
create mode 100644 Inu/Src2/VectorControl/alphabeta_to_dq.h
create mode 100644 Inu/Src2/VectorControl/dq_to_alphabeta_cos.c
create mode 100644 Inu/Src2/VectorControl/dq_to_alphabeta_cos.h
create mode 100644 Inu/Src2/VectorControl/efficiency_compensation.c
create mode 100644 Inu/Src2/VectorControl/efficiency_compensation.h
create mode 100644 Inu/Src2/VectorControl/params_motor.h
create mode 100644 Inu/Src2/VectorControl/pwm_vector_regul.c
create mode 100644 Inu/Src2/VectorControl/pwm_vector_regul.h
create mode 100644 Inu/Src2/VectorControl/regul_power.c
create mode 100644 Inu/Src2/VectorControl/regul_power.h
create mode 100644 Inu/Src2/VectorControl/regul_turns.c
create mode 100644 Inu/Src2/VectorControl/regul_turns.h
create mode 100644 Inu/Src2/VectorControl/teta_calc.c
create mode 100644 Inu/Src2/VectorControl/teta_calc.h
create mode 100644 Inu/Src2/main/IQmathLib.c
create mode 100644 Inu/Src2/main/IQmathLib.h
create mode 100644 Inu/Src2/main/PWMTools.c
create mode 100644 Inu/Src2/main/PWMTools.h
create mode 100644 Inu/Src2/main/adc_tools.c
create mode 100644 Inu/Src2/main/adc_tools.h
create mode 100644 Inu/Src2/main/dmctype.h
create mode 100644 Inu/Src2/main/my_filter.c
create mode 100644 Inu/Src2/main/my_filter.h
create mode 100644 Inu/Src2/main/params.h
create mode 100644 Inu/Src2/main/pid_reg3.c
create mode 100644 Inu/Src2/main/pid_reg3.h
create mode 100644 Inu/Src2/main/rotation_speed.h
create mode 100644 Inu/Src2/main/svgen_dq.h
create mode 100644 Inu/Src2/main/svgen_dq_v2.c
create mode 100644 Inu/Src2/main/v_pwm24.c
create mode 100644 Inu/Src2/main/v_pwm24.h
create mode 100644 Inu/Src2/main/vector.h
create mode 100644 Inu/Src2/main/word_structurs.h
create mode 100644 Inu/Src2/main/xp_write_xpwm_time.c
create mode 100644 Inu/Src2/main/xp_write_xpwm_time.h
create mode 100644 Inu/controller.c
create mode 100644 Inu/controller.h
create mode 100644 Inu/def.h
create mode 100644 Inu/detcoeff.c
create mode 100644 Inu/detcoeff.h
create mode 100644 Inu/init28335.c
create mode 100644 Inu/init28335.h
create mode 100644 Inu/isr.c
create mode 100644 Inu/isr.h
create mode 100644 Inu/main.c
create mode 100644 Inu/main.h
create mode 100644 Inu/param.c
create mode 100644 Inu/param.h
create mode 100644 Inu/upr.c
create mode 100644 Inu/upr.h
create mode 100644 Inu/wrapper_inu.c
create mode 100644 Inu/wrapper_inu.h
create mode 100644 ReadMe.txt
create mode 100644 allmex.m
create mode 100644 am_two_wind.mexw64
create mode 100644 asynchronous_machine.p
create mode 100644 electr_mach.slx
create mode 100644 init.m
create mode 100644 inu_im_2wnd_3lvl.slx
create mode 100644 inu_im_2wnd_3lvl.slx.original
create mode 100644 inu_im_2wnd_3lvl.slx.r2021a
create mode 100644 inu_im_2wnd_3lvl.slxc
create mode 100644 run_mex.bat
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..16adf2c
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,25 @@
+/.vs/Inu_im_2wnd_3lvl_23550/v16/.suo
+/.vs/Inu_im_2wnd_3lvl_23550/v16/Browse.VC.db
+/.vs/Inu_im_2wnd_3lvl_23550/v16/Browse.VC.db-shm
+/.vs/Inu_im_2wnd_3lvl_23550/v16/Browse.VC.db-wal
+/.vs/Inu_im_2wnd_3lvl_23550/v16/Browse.VC.opendb
+/.vs/ProjectSettings.json
+/.vs/slnx.sqlite
+/slprj/_cgxe/inu_im_2wnd_3lvl/inu_im_2wnd_3lvl_Cache.mat
+/slprj/_jitprj/4jSHq6tpkAOru8OWjpPNFB.l
+/slprj/_jitprj/4jSHq6tpkAOru8OWjpPNFB.mat
+/slprj/accel/inu_im_2wnd_3lvl/amsi_serial.mat
+/slprj/accel/inu_im_2wnd_3lvl/inu_im_2wnd_3lvl_instrumentation_settings.mat
+/slprj/accel/inu_im_2wnd_3lvl/inu_im_2wnd_3lvl_SolverChangeInfo.mat
+/slprj/accel/inu_im_2wnd_3lvl/inu_im_2wnd_3lvl_top_vm.bc
+/slprj/accel/inu_im_2wnd_3lvl/inu_im_2wnd_3lvl_top_vm.ll
+/slprj/accel/inu_im_2wnd_3lvl/tmwinternal/simulink_cache.xml
+/slprj/sim/varcache/inu_im_2wnd_3lvl/checksumOfCache.mat
+/slprj/sim/varcache/inu_im_2wnd_3lvl/tmwinternal/simulink_cache.xml
+/slprj/sim/varcache/inu_im_2wnd_3lvl/varInfo.mat
+/slprj/sl_proj.tmw
+
+
+
+/slprj/
+/.vs/
\ No newline at end of file
diff --git a/Inu/Src/.vscode/c_cpp_properties.json b/Inu/Src/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..c6f5321
--- /dev/null
+++ b/Inu/Src/.vscode/c_cpp_properties.json
@@ -0,0 +1,21 @@
+{
+ "configurations": [
+ {
+ "name": "Win32",
+ "includePath": [
+ "${workspaceFolder}/**;",
+ "C:/ti/ccs1011/ccs/tools/compiler/ti-cgt-c2000_20.2.1.LTS/**"
+ ],
+ "defines": [
+ "_DEBUG",
+ "UNICODE",
+ "_UNICODE"
+ ],
+ "cStandard": "c99",
+ "cppStandard": "c++17",
+ "intelliSenseMode": "clang-x64",
+ "compilerPath": "C:/ti/ccs1011/ccs/tools/compiler/ti-cgt-c2000_20.2.1.LTS/bin/cl2000.exe"
+ }
+ ],
+ "version": 4
+}
\ No newline at end of file
diff --git a/Inu/Src/VectorControl/abc_to_alphabeta.c b/Inu/Src/VectorControl/abc_to_alphabeta.c
new file mode 100644
index 0000000..e0ea922
--- /dev/null
+++ b/Inu/Src/VectorControl/abc_to_alphabeta.c
@@ -0,0 +1,23 @@
+#include "IQmathLib.h" // Include header for IQmath library
+#include "abc_to_alphabeta.h"
+
+
+
+
+/////////////////////////////////////////////////
+
+
+#pragma CODE_SECTION(abc_to_alphabeta_calc,".fast_run");
+void abc_to_alphabeta_calc(ABC_TO_ALPHABETA *v)
+{
+ static _iq iq_1_sqrt3 = _IQ(0.57735026918962576450914878050196); // = 1/sqrt(3)
+ static _iq iq_2_sqrt3 = _IQ(1.1547005383792515290182975610039); // =2/sqrt(3)
+
+ v->Ualpha = v->Ua;
+ v->Ubeta = _IQmpy(iq_1_sqrt3,v->Ua) + _IQmpy(iq_2_sqrt3,v->Ub);
+
+}
+
+
+
+/////////////////////////////////////////////////
diff --git a/Inu/Src/VectorControl/abc_to_alphabeta.h b/Inu/Src/VectorControl/abc_to_alphabeta.h
new file mode 100644
index 0000000..8d3f23b
--- /dev/null
+++ b/Inu/Src/VectorControl/abc_to_alphabeta.h
@@ -0,0 +1,39 @@
+#ifndef __ABC_ALPHABETA_H__
+#define __ABC_ALPHABETA_H__
+
+
+
+typedef struct { _iq Ua; //phase A voltage, input
+ _iq Ub; //phase B voltage, input
+ _iq Uc; //phase C voltage, input
+// _iq Tetta; //phase angle, input
+ _iq Ualpha; // axis d voltage, output
+ _iq Ubeta; // axis q voltage, output
+ void (*calc)(); // Pointer to calculation function
+ }ABC_TO_ALPHABETA;
+
+
+
+
+
+typedef ABC_TO_ALPHABETA *ABC_TO_ALPHABETA_handle;
+
+#define ABC_TO_ALPHABETA_DEFAULTS { 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ (void (*)(unsigned long))abc_to_alphabeta_calc\
+ }
+
+
+void abc_to_alphabeta_calc(ABC_TO_ALPHABETA_handle);
+
+
+
+
+
+
+
+
+#endif // end __ABC_ALPHABETA_H
diff --git a/Inu/Src/VectorControl/abc_to_dq.c b/Inu/Src/VectorControl/abc_to_dq.c
new file mode 100644
index 0000000..8044f2c
--- /dev/null
+++ b/Inu/Src/VectorControl/abc_to_dq.c
@@ -0,0 +1,39 @@
+#include "IQmathLib.h" // Include header for IQmath library
+#include "abc_to_dq.h"
+
+
+
+
+
+
+
+
+
+/////////////////////////////////////////////////
+
+
+#pragma CODE_SECTION(abc_to_dq_calc,".fast_run");
+void abc_to_dq_calc(ABC_TO_DQ *v)
+{
+ static _iq iq_two_third_pi = _IQ(6.283185307179586476925286766559/3.0);
+ static _iq iq_two_third = _IQ(2.0/3.0);
+
+ v->Id = _IQmpy(iq_two_third,_IQmpy(v->Ia, _IQsin(v->Tetta)) + _IQmpy(v->Ib, _IQsin(v->Tetta - iq_two_third_pi)) + _IQmpy(v->Ic, _IQsin(v->Tetta + iq_two_third_pi)));
+ v->Iq = _IQmpy(iq_two_third,_IQmpy(v->Ia, _IQcos(v->Tetta)) + _IQmpy(v->Ib, _IQcos(v->Tetta - iq_two_third_pi)) + _IQmpy(v->Ic, _IQcos(v->Tetta + iq_two_third_pi)));
+}
+
+
+#pragma CODE_SECTION(abc_to_dq_calc_v2,".fast_run");
+void abc_to_dq_calc_v2(ABC_TO_DQ *v)
+{
+ static _iq iq_two_third_pi = _IQ(6.283185307179586476925286766559/3.0);
+ static _iq iq_two_third = _IQ(2.0/3.0);
+
+ v->Id = _IQmpy(iq_two_third,_IQmpy(v->Ia, _IQcos(v->Tetta)) + _IQmpy(v->Ib, _IQcos(v->Tetta - iq_two_third_pi)) + _IQmpy(v->Ic, _IQcos(v->Tetta + iq_two_third_pi)));
+ v->Iq = _IQmpy(iq_two_third,_IQmpy(-v->Ia, _IQsin(v->Tetta)) - _IQmpy(v->Ib, _IQcos(v->Tetta - iq_two_third_pi)) - _IQmpy(v->Ic, _IQcos(v->Tetta + iq_two_third_pi)));
+}
+
+
+/////////////////////////////////////////////////
+
+
diff --git a/Inu/Src/VectorControl/abc_to_dq.h b/Inu/Src/VectorControl/abc_to_dq.h
new file mode 100644
index 0000000..57e3de6
--- /dev/null
+++ b/Inu/Src/VectorControl/abc_to_dq.h
@@ -0,0 +1,42 @@
+#ifndef __ABC_DQ_H__
+#define __ABC_DQ_H__
+
+
+
+typedef struct { _iq Ia; //phase A voltage, input
+ _iq Ib; //phase B voltage, input
+ _iq Ic; //phase C voltage, input
+ _iq Tetta; //phase angle, input
+ _iq Id; // axis d voltage, output
+ _iq Iq; // axis q voltage, output
+ void (*calc)(); // Pointer to calculation function
+ void (*calc_v2)(); // Pointer to calculation function
+ }ABC_TO_DQ;
+
+
+
+
+
+typedef ABC_TO_DQ *ABC_TO_DQ_handle;
+
+#define ABC_TO_DQ_DEFAULTS { 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ (void (*)(Uint32))abc_to_dq_calc, \
+ (void (*)(Uint32))abc_to_dq_calc_v2 }
+
+
+void abc_to_dq_calc(ABC_TO_DQ_handle);
+void abc_to_dq_calc_v2(ABC_TO_DQ_handle);
+
+
+
+
+
+
+
+
+#endif // end __ABC_DQ_H
diff --git a/Inu/Src/VectorControl/alg_pll.c b/Inu/Src/VectorControl/alg_pll.c
new file mode 100644
index 0000000..b7f3a9c
--- /dev/null
+++ b/Inu/Src/VectorControl/alg_pll.c
@@ -0,0 +1,577 @@
+#include "IQmathLib.h"
+#include "alg_pll.h"
+#include "params_pll.h"
+
+#include "params_norma.h"
+
+//#define NORMA_ACP 3000
+//#define FREQ_PWM_VIPR 1975
+
+//#define SIZE_PLL_AVG 50
+
+//_iq w_in_avg[SIZE_PLL_AVG];
+//_iq w_out_avg[SIZE_PLL_AVG];
+
+#define DETECT_PLL_D (2000.0/NORMA_ACP) // ampl
+#define DETECT_PLL_Q (500.0/NORMA_ACP) // zero
+
+_iq iqDetect_PLL_d=_IQ(DETECT_PLL_D);
+_iq iqDetect_PLL_q=_IQ(DETECT_PLL_Q);
+
+#define MAX_COUNT_ERR_PLL 5000 //20
+
+#ifdef USE_SMOOTH_FOR_CALC_WC
+SMOOTH mysmooth=SMOOTH_DEFAULTS;
+#endif
+
+
+//
+///////////////////////////////////////////
+//PLL_REC pll2 = PLL_REC_DEFAULT;
+///////////////////////////////////////////
+
+
+ABC_TO_ALPHABETA abc_to_alphabeta_u_input = ABC_TO_ALPHABETA_DEFAULTS;
+ALPHABETA_TO_DQ alphabeta_to_dq_u_input = ALPHABETA_TO_DQ_DEFAULTS;
+PIDREG3 pidUdq = PIDREG3_DEFAULTS;
+
+//int count_wait_pll=0;
+int count_err_pll = 0;
+
+
+//int c_start=0;
+//int c_stop=0;
+
+#define MAX_TIME_WAIT_PLL 5000
+
+
+//_iq iqUab=0, iqUbc=0, iqUca=0;
+
+
+//_iq koef_Um_filter = _IQ(0.000125/0.09);
+
+
+//_iq koef_AddIq_minus_1_filter = _IQ(0.00034/0.009);//9576244354248046875
+
+#pragma CODE_SECTION(minus_plus_2_pi,".fast_run");
+_iq minus_plus_2_pi(_iq a)
+{
+
+ while (a>=CONST_IQ_2PI)
+ a -= CONST_IQ_2PI;
+
+ while (a<=-CONST_IQ_2PI)
+ a += CONST_IQ_2PI;
+
+ return a;
+}
+
+
+#pragma CODE_SECTION(minus_plus_2_pi_v2,".fast_run");
+_iq minus_plus_2_pi_v2(_iq a)
+{
+
+ while (a>=CONST_IQ_2PI)
+ a -= CONST_IQ_2PI;
+
+ while (a<0)
+ a += CONST_IQ_2PI;
+
+ return a;
+}
+
+
+
+#pragma CODE_SECTION(AB_BC_CA_To_ABC,".fast_run");
+void AB_BC_CA_To_ABC(_iq U_AB, _iq U_BC, _iq U_CA, _iq *Ua, _iq *Ub, _iq *Uc)
+{
+// static _iq c2 = _IQ(2.0);
+
+// static _iq c13_sqrt = _IQ(1.7320508075688772935274463415059 / 3.0);
+
+ *Ua = U_AB;
+ *Ub = U_BC;
+ *Uc = U_CA;
+/*
+
+
+ *Ua = _IQmpy(c13_sqrt, (_IQmpy(c2,U_AB)+U_BC));// 2*U_AB/3+U_BC/3;
+ *Ub = _IQmpy(c13_sqrt, (_IQmpy(c2,U_BC)+U_CA));// 2*U_BC/3+U_CA/3;
+ *Uc = _IQmpy(c13_sqrt, (_IQmpy(c2,U_CA)+U_AB));// 2*U_CA/3+U_AB/3;
+*/
+}
+
+
+
+
+/////////////////////////////////////////////////
+#pragma CODE_SECTION(PLLController,".fast_run");
+/////////////////////////////////////////////////
+void PLLController(PLL_REC *v)
+{
+ static unsigned int count_wait_pll=0;
+ static _iq prev_Tetta_z=0;
+ _iq Tetta_z_t=0;
+ static int prev_flag_find_pll = 0;
+ static int flag_reset_Tetta_p = 0;
+// static _iq prev_Tetta_v2 = 0;
+
+
+ v->vars.Uab = v->input.Input_U_AB - v->vars.iqZeroUAB;
+ v->vars.Ubc = v->input.Input_U_BC - v->vars.iqZeroUBC;
+ v->vars.Uca = v->input.Input_U_CA - v->vars.iqZeroUCA;
+
+ v->vars.sum_zeroU_AB_BC_CA = v->vars.Uab + v->vars.Ubc + v->vars.Uca;
+
+ if (v->setup.rotation_u_cba)
+ {
+ AB_BC_CA_To_ABC(v->vars.Uab, v->vars.Uca, v->vars.Ubc, &v->vars.Ua, &v->vars.Ub, &v->vars.Uc);
+ }
+ else
+ {
+ AB_BC_CA_To_ABC(v->vars.Uab,v->vars.Ubc,v->vars.Uca, &v->vars.Ua, &v->vars.Ub, &v->vars.Uc);
+ }
+#ifdef ROTATION_U_CBA
+
+#else
+
+#endif
+
+ v->vars.sum_zeroU_A_B_C = v->vars.Ua + v->vars.Ub + v->vars.Uc;
+
+ abc_to_alphabeta_u_input.Ua = v->vars.Ua;
+ abc_to_alphabeta_u_input.Ub = v->vars.Ub;
+ abc_to_alphabeta_u_input.Uc = v->vars.Uc;
+
+ abc_to_alphabeta_u_input.calc(&abc_to_alphabeta_u_input);
+
+
+ v->vars.Ualpha = abc_to_alphabeta_u_input.Ualpha;
+ v->vars.Ubeta = abc_to_alphabeta_u_input.Ubeta;
+
+
+ alphabeta_to_dq_u_input.Ualpha = v->vars.Ualpha;
+ alphabeta_to_dq_u_input.Ubeta = v->vars.Ubeta;
+ alphabeta_to_dq_u_input.Tetta = v->vars.Tetta;
+
+ alphabeta_to_dq_u_input.calc(&alphabeta_to_dq_u_input);
+
+
+ v->vars.pll_Ud = alphabeta_to_dq_u_input.Ud;
+ v->vars.pll_Uq = alphabeta_to_dq_u_input.Uq;
+
+
+// pidUdq.Fdb = v->pll_Ud;//.pll_Uq; //err = Ref - Fdb
+// pidUdq.Ref = 0;
+
+ pidUdq.Ref = v->vars.pll_Uq; //err = Ref - Fdb
+ pidUdq.Fdb = 0;
+
+ pidUdq.calc(&pidUdq);
+ v->vars.wc = pidUdq.Out;
+
+
+ if (prev_flag_find_pll==0)
+ {
+ flag_reset_Tetta_p = 0;
+ }
+
+ if (v->output.flag_find_pll)
+ {
+#ifdef USE_SMOOTH_FOR_CALC_WC
+ mysmooth.input = _IQtoIQ23(v->vars.wc);
+ mysmooth.add(&mysmooth);
+ mysmooth.calc(&mysmooth);
+ v->vars.w_shtrih = _IQ23toIQ(mysmooth.av);
+#else
+ v->vars.w_shtrih = v->vars.wc;
+#endif
+ }
+ else
+ {
+ v->vars.w_shtrih = v->vars.wc;
+ }
+
+
+ v->vars.Tetta += v->vars.wc;
+ v->vars.Tetta = minus_plus_2_pi(v->vars.Tetta); // +- 2PI
+
+ if (v->output.flag_find_pll)
+ {
+ v->vars.dwc = v->vars.wc - v->vars.w_shtrih;
+
+ v->vars.Tetta_p += v->vars.dwc;
+ v->vars.Tetta_p = minus_plus_2_pi(v->vars.Tetta_p); // +- 2PI
+
+ v->vars.dTetta = v->vars.Tetta - v->vars.Tetta_p;// + iq_05Pi;
+
+ v->vars.dTetta = minus_plus_2_pi(v->vars.dTetta); // +- 2PI
+
+ v->vars.Tetta_z = v->vars.dTetta;
+
+// if (v->Tetta_z>=iq_05Pi && prev_Tetta_z<iq_05Pi)
+// v->Tetta_p = 0;
+
+ Tetta_z_t = minus_plus_2_pi_v2(v->vars.Tetta_z);
+
+ if ( (Tetta_z_t>=0) && (Tetta_z_t<CONST_IQ_PI05) && ( (prev_Tetta_z>(CONST_IQ_2PI-CONST_IQ_PI05)) ) )
+ {
+ if (flag_reset_Tetta_p==0)
+ {
+ v->vars.Tetta_p = 0;
+// flag_reset_Tetta_p = 1;
+ }
+ }
+
+
+ prev_Tetta_z = Tetta_z_t;
+
+#ifdef USE_FILTER_TETTA
+//use filter teta
+ v->vars.Tetta_v2 = v->vars.Tetta_z;//v->Tetta;
+#else
+//use mgnoven teta
+ v->vars.Tetta_v2 = v->vars.Tetta;
+#endif
+ v->vars.delta_Tetta_c = v->vars.Tetta_z - v->vars.Tetta;
+
+// prev_Tetta_v2 = v->Tetta_v2;
+
+ }
+ else
+ {
+ v->vars.Tetta_v2 = v->vars.Tetta;
+ flag_reset_Tetta_p = 0;
+ }
+
+
+// PLL OK?
+//count_wait_pll=0
+//new alg find pll
+ if (v->vars.w_shtrih >= v->vars.find_min_w_strih && v->vars.w_shtrih <= v->vars.find_max_w_strih)
+ {
+ if (v->vars.count_wait_pll_w_shtrih < v->vars.max_time_wait_pll_w_strih)
+ v->vars.count_wait_pll_w_shtrih++;
+ }
+ else
+ {
+ if (v->vars.count_wait_pll_w_shtrih>0)
+ v->vars.count_wait_pll_w_shtrih--;
+ }
+
+ if (v->vars.count_wait_pll_w_shtrih == v->vars.max_time_wait_pll_w_strih)
+ v->output.flag_find_pll = 1;
+
+ if (v->vars.count_wait_pll_w_shtrih == 0)
+ v->output.flag_find_pll = 0;
+
+//end new alg find pll
+
+
+
+ if ( (_IQabs(v->vars.pll_Uq)<=_IQabs(iqDetect_PLL_q)) // zero
+ && (_IQabs(v->vars.pll_Ud)>=_IQabs(iqDetect_PLL_d) ) //ampl
+ )
+ {
+ count_err_pll=0;
+ if (count_wait_pll<MAX_TIME_WAIT_PLL)
+ count_wait_pll++;
+ else
+ // ok, pll finded
+ v->output.flag_find_pll = 1;
+ }
+ else
+ {
+ if (count_err_pll>=MAX_COUNT_ERR_PLL)
+ {
+ // fail find pll
+ count_wait_pll=0;
+
+ v->output.flag_find_pll = 0;
+
+ if (v->output.flag_find_pll==1)
+ {
+ v->vars.pll_Uq = 0;
+ v->vars.pll_Ud = 0;
+ }
+
+ }
+ else
+ {
+ count_err_pll++;
+ if ((v->output.flag_find_pll==0) && (count_wait_pll>0))
+ count_wait_pll--;
+ }
+ }
+
+// end PLL Ok?
+
+
+ v->vars.pi_teta_u_out = pidUdq.Out;
+ v->vars.pi_teta_u_i = pidUdq.Ui;
+ v->vars.pi_teta_u_p = pidUdq.Up;
+
+
+ prev_flag_find_pll = v->output.flag_find_pll;
+}
+
+//////////////////////////////////////////////////
+//////////////////////////////////////////////////
+//////////////////////////////////////////////////
+/////////////////////////////////////////////////
+//#pragma CODE_SECTION(pll_get_freq,".fast_run");
+/////////////////////////////////////////////////
+void pll_get_freq_float(PLL_REC *v)
+{
+
+ if (v->output.flag_find_pll)
+ {
+ v->output.int_freq_net = _IQtoF( v->vars.w_shtrih) * v->setup.freq_run_pll / PI * 50.00; // freq*100
+ }
+ else
+ {
+ v->output.int_freq_net = 0;
+ }
+
+}
+
+//////////////////////////////////////////////////
+//////////////////////////////////////////////////
+void pll_get_freq_iq(PLL_REC *v)
+{
+
+ if (v->output.flag_find_pll)
+ {
+ v->output.iq_freq_net = v->vars.w_shtrih;//_IQtoF( v->vars.w_shtrih) * v->setup.freq_run_pll / PI * 50.00; // freq*100
+ }
+ else
+ {
+ v->output.iq_freq_net = 0;
+ }
+
+}
+
+//////////////////////////////////////////////////
+//#pragma CODE_SECTION(detect_phase_count,".fast_run");
+void detect_phase_count(PLL_REC *v)
+{
+ static _iq prev_Ua = 0;
+ static int prev_flag_find_pll=0;
+
+
+
+// abc_to_dq.Ua
+
+ if ((v->output.flag_find_pll != prev_flag_find_pll) && (v->output.flag_find_pll == 1))
+ {
+ prev_Ua = v->vars.Ua;
+ v->vars.enable_detect_phase_count = 1;
+ v->vars.error_phase_count = 0;
+ }
+
+
+ if (v->output.flag_find_pll==0)
+ v->vars.enable_detect_phase_count = 0;
+
+
+ if (v->output.flag_find_pll)
+ {
+ if (v->vars.enable_detect_phase_count)
+ {
+ if ( (prev_Ua<0) && (v->vars.Ua>=0) )
+ {
+
+ if (v->vars.Uc > v->vars.Ub)
+ v->vars.enable_detect_phase_count = 0;
+
+ if (v->vars.Ub > v->vars.Uc)
+ {
+ v->vars.enable_detect_phase_count = 0;
+ v->vars.error_phase_count = 1;
+ }
+ }
+ }
+ }
+
+
+ prev_flag_find_pll = v->output.flag_find_pll;
+ prev_Ua = v->vars.Ua;
+
+}
+/////////////////////////////////////////////////
+
+
+////////////////////////////////////////////////
+
+#pragma CODE_SECTION(Find_zero_Uabc,".fast_run");
+void Find_zero_Uabc(PLL_REC *v)
+{
+ static int c_a=0;
+// static int c_b=0;
+// static int c_c=0;
+
+ static _iq sum_a=0;
+ static _iq sum_b=0;
+ static _iq sum_c=0;
+
+ _iq22 sum_t,c_t;
+
+ _iq22 sum_div;
+
+
+// AB_BC_CA_To_ABC(analog.iqUin_AB-iqZeroUABC, analog.iqUin_BC-iqZeroUABC, analog.iqUin_CA-iqZeroUABC);
+
+
+ sum_a += v->input.Input_U_AB; // analog.iqUin_AB;
+ sum_b += v->input.Input_U_BC; // analog.iqUin_BC;
+ sum_c += v->input.Input_U_CA; // analog.iqUin_CA;
+
+ c_a++;
+
+ if (c_a >= v->vars.count_sum_find_zero_uabc)
+ {
+ sum_div = v->vars.sum_div_find_zero_uabc;
+
+ sum_t = _IQtoIQ22(sum_a);
+ c_t = _IQ22div(sum_t,sum_div);
+ v->vars.iqZeroUAB = _IQ22toIQ(c_t);
+
+ sum_t = _IQtoIQ22(sum_b);
+ c_t = _IQ22div(sum_t,sum_div);
+ v->vars.iqZeroUBC = _IQ22toIQ(c_t);
+
+ sum_t = _IQtoIQ22(sum_c);
+ c_t = _IQ22div(sum_t,sum_div);
+ v->vars.iqZeroUCA = _IQ22toIQ(c_t);
+
+ sum_a = 0;
+ sum_b = 0;
+ sum_c = 0;
+ c_a = 0;
+ }
+
+}
+
+
+
+
+
+void pll_init(PLL_REC *v)
+{
+ v->output.status = STATUS_PLL_NOT_INITED;
+
+ abc_to_alphabeta_u_input.Ua = 0;
+ abc_to_alphabeta_u_input.Ub = 0;
+ abc_to_alphabeta_u_input.Uc = 0;
+ abc_to_alphabeta_u_input.Ualpha = 0;
+ abc_to_alphabeta_u_input.Ubeta = 0;
+
+ alphabeta_to_dq_u_input.Tetta = 0;
+ alphabeta_to_dq_u_input.Ualpha = 0;
+ alphabeta_to_dq_u_input.Ubeta = 0;
+ alphabeta_to_dq_u_input.Ud = 0;
+ alphabeta_to_dq_u_input.Uq = 0;
+
+ v->vars.count_wait_pll_w_shtrih = 0;
+
+ v->vars.pll_Ud = 0;
+ v->vars.pll_Uq = 0;
+ v->vars.Tetta = 0;
+ v->vars.Tetta_p = 0;
+
+ v->vars.Ua = 0;
+ v->vars.Ub = 0;
+ v->vars.Uc = 0;
+
+ v->vars.Ualpha = 0;
+ v->vars.Ubeta = 0;
+
+// count_wait_pll = 0;
+ count_err_pll = 0;
+ v->output.flag_find_pll = 0;
+
+ pidUdq.Kp = _IQ(v->setup.pid_kp_pll);
+ pidUdq.Ki = _IQ(v->setup.pid_ki_pll);
+
+ pidUdq.Kc = _IQ(PID_KC_PLL);
+ pidUdq.Kd = _IQ(0.0);
+
+ pidUdq.OutMax = _IQ(K_PLL_MAX);
+ pidUdq.OutMin = _IQ(K_PLL_MIN);
+
+ pidUdq.Err = 0;
+ pidUdq.Out = 0;
+ pidUdq.OutPreSat = 0;
+ pidUdq.SatErr = 0;
+
+ if (v->setup.freq_run_pll == 0)
+ v->setup.freq_run_pll = DEFAULT_FREQ_RUN_PLL;
+
+ pidUdq.Ui = _IQ(2.0*PI*DEFAULT_FREQ_NET/(v->setup.freq_run_pll));
+
+// iqDetect_PLL_d = iqDetect_PLL_d;
+// iqDetect_PLL_q = iqDetect_PLL_q;
+
+#ifdef USE_SMOOTH_FOR_CALC_WC
+ mysmooth.init(&mysmooth);
+#endif
+
+
+ v->vars.count_sum_find_zero_uabc = v->setup.freq_run_pll/DEFAULT_FREQ_NET; //79*2 //1975/50*2
+ v->vars.sum_div_find_zero_uabc = _IQ22(v->vars.count_sum_find_zero_uabc);
+
+ v->vars.find_max_w_strih = _IQ(FIND_MAX_W_STRIH*2.0*PI*DEFAULT_FREQ_NET/(v->setup.freq_run_pll));
+ v->vars.find_min_w_strih = _IQ(FIND_MIN_W_STRIH*2.0*PI*DEFAULT_FREQ_NET/(v->setup.freq_run_pll));
+
+ v->vars.max_time_wait_pll_w_strih = (v->vars.count_sum_find_zero_uabc * MAX_PERIOD_WAIT_PLL_W_SHTRIH);
+
+ v->output.status = STATUS_PLL_INITED;
+
+}
+
+
+
+
+#pragma CODE_SECTION(read_error_find_pll,".fast_run2");
+int read_error_find_pll(PLL_REC *v)
+{
+// static int enable_detect_pll_err=0;
+// static int prev_flag_find_pll=0;
+ static int err_pll=0;
+
+
+ err_pll = 0;
+/*
+ if ((v->output.flag_find_pll!=prev_flag_find_pll)
+ && (v->output.flag_find_pll==1))
+ {
+ enable_detect_pll_err = 1;
+ }
+ prev_flag_find_pll = v->output.flag_find_pll;
+
+ if (v->input.enable_find_pll==0)
+ enable_detect_pll_err = 0;
+
+ if ((enable_detect_pll_err) && (v->output.flag_find_pll==0) && (v->input.enable_find_pll==1))
+ {
+ err_pll = 1;
+ }
+*/
+ return err_pll;
+}
+
+
+
+
+#pragma CODE_SECTION(pll_calc,".fast_run");
+void pll_calc(PLL_REC *v)
+{
+ if (v->output.status >= STATUS_PLL_INITED)
+ {
+ Find_zero_Uabc(v);
+ PLLController(v);
+// detect_phase_count(v);
+ v->output.status = STATUS_PLL_OK;
+ }
+
+}
diff --git a/Inu/Src/VectorControl/alg_pll.h b/Inu/Src/VectorControl/alg_pll.h
new file mode 100644
index 0000000..0a63dde
--- /dev/null
+++ b/Inu/Src/VectorControl/alg_pll.h
@@ -0,0 +1,188 @@
+#ifndef __ALG_PLL_H__
+#define __ALG_PLL_H__
+
+#include "IQmathLib.h"
+#include "math_pi.h"
+#include "pid_reg3.h"
+#include "abc_to_alphabeta.h"
+#include "alphabeta_to_dq.h"
+#include "smooth.h"
+#include "smooth.h"
+
+
+#define DEFAULT_FREQ_NET 50.00 // Hz
+
+#define DEFAULT_FREQ_RUN_PLL 4000 // Hz
+
+#define DEFAULT_PID_KP_PLL 0.0375
+#define DEFAULT_PID_KI_PLL 0.0128
+
+#define STATUS_PLL_OK 10
+
+#define STATUS_PLL_ERROR 2
+#define STATUS_PLL_INITED 1
+#define STATUS_PLL_NOT_INITED 0
+
+#define FIND_MAX_W_STRIH 1.5 //0.12 //75Hz
+#define FIND_MIN_W_STRIH 0.5 //0.045 //33Hz
+
+#define MAX_PERIOD_WAIT_PLL_W_SHTRIH 3
+
+
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+
+typedef struct {
+ float pid_kp_pll; // ����. ���������� Kp ��� ������ ����
+ float pid_ki_pll; // ����. ���������� Ki ��� ������ ����
+ int freq_run_pll; // ������� ������� �������, ��.
+ int rotation_u_cba; // ����������� ���: 0 - ���������� A-B-C, 1 - ������������ A-C-B
+ } PLL_SETUP;
+
+#define PLL_SETUP_DEFAULT {DEFAULT_PID_KP_PLL, DEFAULT_PID_KI_PLL, DEFAULT_FREQ_RUN_PLL,0}
+
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+
+typedef struct { _iq Input_U_AB; // ������� ���������� Uab
+ _iq Input_U_BC; // ������� ���������� Ubc
+ _iq Input_U_CA; // ������� ���������� Uca
+ } PLL_INPUT;
+
+#define PLL_INPUT_DEFAULT {0, 0, 0}
+
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+
+typedef struct { int flag_find_pll;
+ int int_freq_net;
+ _iq iq_freq_net;
+ int status;
+ } PLL_OUTPUT;
+
+#define PLL_OUTPUT_DEFAULT {0, 0, 0, STATUS_PLL_NOT_INITED}
+
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+
+typedef struct {
+ int enable_detect_phase_count;
+ int error_phase_count;
+
+ _iq pll_Ud;
+ _iq pll_Uq;
+ _iq Tetta;
+ _iq Tetta_v2;
+
+ _iq wc;
+ _iq dwc;
+ _iq w_shtrih;
+
+ _iq Tetta_z;
+ _iq Tetta_p;
+ _iq dTetta;
+
+ _iq zeroPLL;
+ _iq pi_teta_u_out;
+ _iq pi_teta_u_p;
+ _iq pi_teta_u_i;
+ _iq add_teta;
+ _iq add_teta2;
+
+ _iq Ua;
+ _iq Ub;
+ _iq Uc;
+
+
+ _iq Uab;
+ _iq Ubc;
+ _iq Uca;
+
+ _iq Ualpha;
+ _iq Ubeta;
+
+ _iq iqZeroUAB;
+ _iq iqZeroUBC;
+ _iq iqZeroUCA;
+
+ _iq sum_zeroU_AB_BC_CA;
+ _iq sum_zeroU_A_B_C;
+
+ _iq delta_Tetta_c;
+ _iq22 sum_div_find_zero_uabc;
+ int count_sum_find_zero_uabc;
+
+ _iq find_max_w_strih;
+ _iq find_min_w_strih;
+
+ int count_wait_pll_w_shtrih;
+ int max_time_wait_pll_w_strih;//MAX_TIME_WAIT_PLL_W_SHTRIH
+
+ int enable_find_pll;
+
+
+ }PLL_VARS;//39
+
+#define PLL_VARS_DEFAULT {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}
+
+
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+
+typedef struct { PLL_INPUT input;
+ PLL_OUTPUT output;
+ PLL_SETUP setup;
+ PLL_VARS vars;
+ void (*init)(); // Pointer to calculation function
+ void (*calc_pll)(); // Pointer to calculation function
+ void (*get_freq_float)(); // Pointer to calculation function
+ void (*get_freq_iq)();
+ }PLL_REC;
+
+typedef PLL_REC *PLL_REC_handle;
+
+#define PLL_REC_DEFAULT {\
+ PLL_INPUT_DEFAULT,\
+ PLL_OUTPUT_DEFAULT,\
+ PLL_SETUP_DEFAULT,\
+ PLL_VARS_DEFAULT,\
+ (void (*)(unsigned long))pll_init,\
+ (void (*)(unsigned long))pll_calc,\
+ (void (*)(unsigned long))pll_get_freq_float,\
+ (void (*)(unsigned long))pll_get_freq_iq \
+ }
+
+void pll_init(PLL_REC_handle);
+void pll_calc(PLL_REC_handle);
+void pll_get_freq_float(PLL_REC_handle);
+void pll_get_freq_iq(PLL_REC_handle);
+
+void Find_zero_Uabc(PLL_REC_handle);
+void PLLController(PLL_REC *v);
+void AB_BC_CA_To_ABC(_iq U_AB, _iq U_BC, _iq U_CA, _iq *Ua, _iq *Ub, _iq *Uc);
+void detect_phase_count(PLL_REC *v);
+int read_error_find_pll(PLL_REC *v);
+
+
+
+_iq minus_plus_2_pi(_iq a);
+_iq minus_plus_2_pi_v2(_iq a);
+
+
+
+
+
+
+
+#endif
+
+
+
+
+
+
diff --git a/Inu/Src/VectorControl/alphabeta_to_dq.c b/Inu/Src/VectorControl/alphabeta_to_dq.c
new file mode 100644
index 0000000..ffa5a73
--- /dev/null
+++ b/Inu/Src/VectorControl/alphabeta_to_dq.c
@@ -0,0 +1,24 @@
+#include "IQmathLib.h" // Include header for IQmath library
+
+#include "alphabeta_to_dq.h"
+
+
+
+
+
+
+
+
+
+/////////////////////////////////////////////////
+
+
+#pragma CODE_SECTION(alphabeta_to_dq_calc,".fast_run");
+void alphabeta_to_dq_calc(ALPHABETA_TO_DQ *v)
+{
+
+ v->Ud = _IQmpy(v->Ualpha, _IQcos(v->Tetta)) + _IQmpy(v->Ubeta, _IQsin(v->Tetta));
+ v->Uq = -_IQmpy(v->Ualpha, _IQsin(v->Tetta)) + _IQmpy(v->Ubeta, _IQcos(v->Tetta));
+
+}
+/////////////////////////////////////////////////
diff --git a/Inu/Src/VectorControl/alphabeta_to_dq.h b/Inu/Src/VectorControl/alphabeta_to_dq.h
new file mode 100644
index 0000000..8484e14
--- /dev/null
+++ b/Inu/Src/VectorControl/alphabeta_to_dq.h
@@ -0,0 +1,32 @@
+#ifndef __ALPHABETA_DQ_H__
+#define __ALPHABETA_DQ_H__
+
+
+
+typedef struct { _iq Ualpha; //phase A voltage, input
+ _iq Ubeta; //phase B voltage, input
+ _iq Tetta; //phase angle, input
+ _iq Ud; // axis d voltage, output
+ _iq Uq; // axis q voltage, output
+ void (*calc)(); // Pointer to calculation function
+ }ALPHABETA_TO_DQ;
+
+
+
+
+
+typedef ALPHABETA_TO_DQ *ALPHABETA_TO_DQ_handle;
+
+#define ALPHABETA_TO_DQ_DEFAULTS { 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ (void (*)(unsigned long))alphabeta_to_dq_calc \
+ }
+
+
+void alphabeta_to_dq_calc(ALPHABETA_TO_DQ_handle);
+
+
+#endif // end __ALPHABETA_DQ_H
diff --git a/Inu/Src/VectorControl/dq_to_alphabeta_cos.c b/Inu/Src/VectorControl/dq_to_alphabeta_cos.c
new file mode 100644
index 0000000..d075df4
--- /dev/null
+++ b/Inu/Src/VectorControl/dq_to_alphabeta_cos.c
@@ -0,0 +1,39 @@
+#include "IQmathLib.h" // Include header for IQmath library
+#include "dq_to_alphabeta_cos.h"
+
+
+
+
+
+
+/////////////////////////////////////////////////
+
+
+//#pragma CODE_SECTION(dq_to_alphabeta_calc,".fast_run2");
+void dq_to_alphabeta_calc(DQ_TO_ALPHABETA_handle v)
+{
+
+ v->Ualpha = _IQmpy(v->Ud, _IQcos(v->Tetta)) + _IQmpy(v->Uq, _IQsin(v->Tetta));
+ v->Ubeta = -_IQmpy(v->Ud, _IQsin(v->Tetta)) + _IQmpy(v->Uq, _IQcos(v->Tetta));
+
+}
+
+
+//#pragma CODE_SECTION(dq_to_alphabeta_calc2,".fast_run2");
+void dq_to_alphabeta_calc2(DQ_TO_ALPHABETA_handle v)
+{
+
+ v->Ualpha = _IQmpy(v->Ud, _IQsin(v->Tetta)) + _IQmpy(v->Uq, _IQcos(v->Tetta));
+ v->Ubeta = -_IQmpy(v->Ud, _IQcos(v->Tetta)) + _IQmpy(v->Uq, _IQsin(v->Tetta));
+
+}
+
+//#pragma CODE_SECTION(dq_to_alphabeta_calc_cos,".fast_run2");
+void dq_to_alphabeta_calc_cos(DQ_TO_ALPHABETA_handle v)
+{
+
+ v->Ualpha = _IQmpy(v->Ud, _IQcos(v->Tetta)) - _IQmpy(v->Uq, _IQsin(v->Tetta));
+ v->Ubeta = _IQmpy(v->Ud, _IQsin(v->Tetta)) + _IQmpy(v->Uq, _IQcos(v->Tetta));
+
+}
+/////////////////////////////////////////////////
diff --git a/Inu/Src/VectorControl/dq_to_alphabeta_cos.h b/Inu/Src/VectorControl/dq_to_alphabeta_cos.h
new file mode 100644
index 0000000..b261ced
--- /dev/null
+++ b/Inu/Src/VectorControl/dq_to_alphabeta_cos.h
@@ -0,0 +1,40 @@
+
+
+
+#ifndef __DQ_ALPHABETA_H__
+#define __DQ_ALPHABETA_H__
+
+#include "IQmathLib.h"
+
+typedef struct { _iq Ualpha; //phase A voltage, input
+ _iq Ubeta; //phase B voltage, input
+ _iq Tetta; //phase angle, input
+ _iq Ud; // axis d voltage, output
+ _iq Uq; // axis q voltage, output
+ void (*calc)(); // Pointer to calculation function
+ void (*calc2)(); // Pointer to calculation function. Like in MATLAB
+ void (*calc_cos)(); // Pointer to calculation function, Ualpha = Uq*Cos(Tetta)
+ }DQ_TO_ALPHABETA;
+
+
+
+
+
+typedef DQ_TO_ALPHABETA *DQ_TO_ALPHABETA_handle;
+
+#define DQ_TO_ALPHABETA_DEFAULTS { 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ (void (*)(Uint32))dq_to_alphabeta_calc, \
+ (void (*)(Uint32))dq_to_alphabeta_calc2, \
+ (void (*)(Uint32))dq_to_alphabeta_calc_cos \
+ }
+
+
+void dq_to_alphabeta_calc(DQ_TO_ALPHABETA_handle);
+void dq_to_alphabeta_calc2(DQ_TO_ALPHABETA_handle);
+void dq_to_alphabeta_calc_cos(DQ_TO_ALPHABETA_handle);
+
+#endif // end __DQ_ALPHABETA_H__
diff --git a/Inu/Src/VectorControl/params_pll.h b/Inu/Src/VectorControl/params_pll.h
new file mode 100644
index 0000000..2ec9466
--- /dev/null
+++ b/Inu/Src/VectorControl/params_pll.h
@@ -0,0 +1,41 @@
+#ifndef __PARAMS_PLL_H__
+#define __PARAMS_PLL_H__
+
+
+//#define USE_SMOOTH_FOR_CALC_WC 1 // ������������ ���. �������� ���������� ��� ������ ����
+
+
+/////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////
+// stend params
+/////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////
+////////////
+//PLL
+///////////
+
+//23470 params
+//#define PID_KP_PLL 0.00375
+//#define PID_KI_PLL 0.128
+
+//ship1
+#define DEFAULT_PID_KP_PLL 0.0375
+#define DEFAULT_PID_KI_PLL 0.0128
+
+
+//
+
+#define PID_KC_PLL 1.000 //0.16 //0.05 //0.1 //20 //200
+//
+#define K_PLL_MAX 10.0 //1000000
+#define K_PLL_MIN -10.0 //-1000000
+//
+
+/////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////
+// end params
+/////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////
+
+#endif
+
diff --git a/Inu/Src/VectorControl/regul_power.c b/Inu/Src/VectorControl/regul_power.c
new file mode 100644
index 0000000..d78f216
--- /dev/null
+++ b/Inu/Src/VectorControl/regul_power.c
@@ -0,0 +1,88 @@
+/*
+ * regul_power.c
+ *
+ * Created on: 16 ����. 2020 �.
+ * Author: star
+ */
+#include "IQmathLib.h"
+#include "regul_power.h"
+
+#include <edrk_main.h>
+#include <master_slave.h>
+#include <params_motor.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+#include "math.h"
+
+#include "mathlib.h"
+
+#define TIME_RMP_SLOW 20.0 //sec
+#define TIME_RMP_FAST 20.0 //sec
+
+POWER power = POWER_DEFAULTS;
+
+void init_Pvect(void) {
+ power.pidP.Ref = 0;
+ power.pidP.Kp = _IQ(1);
+ power.pidP.Ki = _IQ(0.1);
+ power.pidP.Kc = _IQ(0.5);
+ power.pidP.OutMax = _IQ(MOTOR_CURRENT_MAX / 2.0 / NORMA_ACP);
+ power.pidP.OutMin = -_IQ(MOTOR_CURRENT_MAX / 2.0 / NORMA_ACP);
+
+ power.Pzad_rmp = 0;
+ power.koef_fast = _IQ(FROT_NOMINAL / (float)NORMA_FROTOR / TIME_RMP_FAST / (float)FREQ_PWM);
+ power.koef_slow = _IQ(FROT_NOMINAL / (float)NORMA_FROTOR / TIME_RMP_SLOW / (float)FREQ_PWM);
+ power.Iq_out_max = _IQ(MOTOR_CURRENT_MAX / 2.0 / NORMA_ACP);
+ power.Pnominal = _IQ(P_NOMINAL * 1000.0 / NORMA_ACP / NORMA_ACP);
+}
+
+#pragma CODE_SECTION(vector_power,".fast_run");
+_iq vector_power(_iq Pzad, _iq P_measured, int n_alg, unsigned int master,
+ _iq Iq_measured, _iq Iq_limit, _iq *Iq_zad, int reset)
+{
+ static int prev_n_alg = 0;
+ _iq Iq_out = 0;
+ _iq koef_rmp = 0;
+ if (n_alg != ALG_MODE_FOC_POWER || !edrk.Go || master != MODE_MASTER || reset) {
+ power.pidP.Ui = Iq_measured;
+ power.pidP.Out = Iq_measured;
+ if (reset) { power.Pzad_rmp = 0; }
+ }
+ if (n_alg == ALG_MODE_FOC_OBOROTS) {
+ Pzad = power.Pnominal;
+ }
+ if (master == MODE_SLAVE) {
+ power.Pzad_rmp = P_measured;
+ return *Iq_zad;
+ }
+
+ //��� �������� �� ������ ����������� �������� � ����� ����������� ��������,
+ //�.�. � ������ ����������� �������� ������ ������� ������������ ���������� ��������
+ if (n_alg == ALG_MODE_FOC_POWER && prev_n_alg != ALG_MODE_FOC_POWER) {
+ power.Pzad_rmp = P_measured;
+ }
+
+ if((_IQabs(power.Pzad_rmp) <= _IQabs(Pzad)) &&
+ (((Pzad >= 0) && (power.Pzad_rmp >= 0)) || ((Pzad < 0) && (power.Pzad_rmp < 0))))
+ {
+ koef_rmp = power.koef_slow;
+ }
+ else
+ {
+ koef_rmp = power.koef_fast;
+ }
+ power.Pzad_rmp = zad_intensiv_q(koef_rmp, koef_rmp, power.Pzad_rmp, Pzad);
+
+ power.pidP.OutMax = Iq_limit;
+ power.pidP.OutMin = -Iq_limit;
+ power.pidP.Ref = power.Pzad_rmp;
+ power.pidP.Fdb = P_measured;
+ power.pidP.calc(&power.pidP);
+ Iq_out = power.pidP.Out;
+ Iq_out = _IQsat(Iq_out, Iq_limit, -Iq_limit);
+ *Iq_zad = Iq_out;
+
+ prev_n_alg = n_alg;
+
+ return Iq_out;
+}
diff --git a/Inu/Src/VectorControl/regul_power.h b/Inu/Src/VectorControl/regul_power.h
new file mode 100644
index 0000000..80d3e06
--- /dev/null
+++ b/Inu/Src/VectorControl/regul_power.h
@@ -0,0 +1,30 @@
+/*
+ * regul_power.h
+ *
+ * Created on: 16 ����. 2020 �.
+ * Author: star
+ */
+
+#ifndef SRC_VECTORCONTROL_NIO12_REGUL_POWER_H_
+#define SRC_VECTORCONTROL_NIO12_REGUL_POWER_H_
+
+#include "pid_reg3.h"
+
+typedef struct {
+ PIDREG3 pidP;
+ _iq Pzad_rmp;
+ _iq koef_fast;
+ _iq koef_slow;
+ _iq Iq_out_max;
+ _iq Pnominal;
+} POWER;
+
+#define POWER_DEFAULTS {PIDREG3_DEFAULTS, 0,0,0,0,0}
+
+_iq vector_power(_iq Pzad, _iq P_measured, int mode, unsigned int master,
+ _iq Iq_measured, _iq Iq_limit, _iq* Frot_zad, int reset);
+void init_Pvect(void);
+
+extern POWER power;
+
+#endif /* SRC_VECTORCONTROL_NIO12_REGUL_POWER_H_ */
diff --git a/Inu/Src/VectorControl/regul_turns.c b/Inu/Src/VectorControl/regul_turns.c
new file mode 100644
index 0000000..95ca611
--- /dev/null
+++ b/Inu/Src/VectorControl/regul_turns.c
@@ -0,0 +1,143 @@
+#include "DSP281x_Device.h"
+#include "IQmathLib.h"
+
+#include "regul_turns.h"
+
+#include <adc_tools.h>
+#include <edrk_main.h>
+#include <master_slave.h>
+#include <params.h>
+#include <params_motor.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+#include "math.h"
+#include "mathlib.h"
+#include "pid_reg3.h"
+#include "vector_control.h"
+
+#pragma DATA_SECTION(turns,".fast_vars1");
+TURNS turns = TURNS_DEFAULTS;
+
+ //IQ_OUT_NOM TODO:set Iq nominal
+
+#define IQ_165_RPM 2306867 //165��/���
+#define IQ_170_RPM 2376772 //170��/���
+#define IQ_5_RPM 69905 //5��/���
+
+#define TIME_RMP_FAST 10.0 //sec
+#define TIME_RMP_SLOW 30.0 //sec
+#define F_DEST 3.0 //Hz
+
+void init_Fvect()
+{
+ turns.pidFvect.Ref = 0;
+ turns.pidFvect.Kp = _IQ(5); // //_IQ(30);
+ turns.pidFvect.Ki = _IQ(0.005); //_IQ(0.008);//_IQ(0.002); //
+ turns.pidFvect.Kc = _IQ(0.5);
+ turns.pidFvect.OutMax = _IQ(MOTOR_CURRENT_MAX / 2.0 / NORMA_ACP);
+ turns.pidFvect.OutMin = -_IQ(MOTOR_CURRENT_MAX / 2.0 / NORMA_ACP);
+
+ turns.Fzad_rmp = 0;
+ turns.Fnominal = _IQ(FROT_MAX / NORMA_FROTOR);
+ turns.koef_fast =
+ _IQ(F_DEST / (float)NORMA_FROTOR / TIME_RMP_SLOW / (float)FREQ_PWM / 1.0);
+ turns.koef_slow =
+ _IQ(F_DEST / (float)NORMA_FROTOR / TIME_RMP_SLOW / (float)FREQ_PWM / 1.0);
+ turns.Iq_out_max = _IQ(MOTOR_CURRENT_MAX / NORMA_ACP);
+ turns.Id_out_max = 0;//_IQ(ID_OUT_NOM / NORMA_ACP);
+ turns.mzz_zad_int = 0;
+}
+
+void reset_F_pid()
+{
+ turns.pidFvect.Up = 0;
+ turns.pidFvect.Up1 = 0;
+ turns.pidFvect.Ui = 0;
+ turns.pidFvect.Ud = 0;
+ turns.pidFvect.Out = 0;
+}
+
+//#pragma CODE_SECTION(vector_turns,".fast_run2");
+void vector_turns(_iq Fzad, _iq Frot,
+ _iq Iq_measured, _iq Iq_limit, int n_alg,
+ unsigned int master, _iq *Iq_zad, int reset)
+{
+ static int prev_n_alg = 0;
+ _iq koef_rmp; //, koef_spad;
+ _iq Iq_out_unsat, Iq_out_sat, Id_out_sat, Id_out_unsat;
+ _iq deltaVar;
+
+// turns.mzz_zad_int = zad_intensiv_q(35480, 35480, turns.mzz_zad_int, Iq_limit);
+ turns.mzz_zad_int = Iq_limit;
+
+ turns.pidFvect.OutMax = turns.mzz_zad_int;
+ turns.pidFvect.OutMin = -turns.mzz_zad_int;
+
+ //������� ����� ����������
+ if (Fzad >= 0 && Frot > 0)
+ {
+ turns.pidFvect.OutMin = 0;
+ }
+ if (Fzad <= 0 && Frot < 0)
+ {
+ turns.pidFvect.OutMax = 0;
+ }
+ if (reset) { turns.Fzad_rmp = Frot;}
+
+ if ((n_alg < ALG_MODE_FOC_OBOROTS) || (!edrk.Go))
+ //������� ������� ��������� � �����-���, ��� �� ��� ����� ������ �� ���� �������
+ { //
+ turns.Fzad_rmp = Frot;
+// prev_Fzad = Frot;
+ reset_F_pid(); //���� ����, ����� ���� ���-�� ���� �� ���
+ turns.pidFvect.Ui = Iq_measured;
+ turns.pidFvect.Out = Iq_measured;
+ *Iq_zad = Iq_measured;
+
+ if (!edrk.Go)
+ {
+ *Iq_zad = 0;
+ }
+
+ return;
+ }
+ if (master == MODE_SLAVE) {
+ turns.Fzad_rmp = Frot;
+ turns.pidFvect.Ui = Iq_measured;
+ turns.pidFvect.Out = Iq_measured;
+ return;
+ }
+ //� ������ ����������� �������� �������� ������������ ���������� �������
+ if (n_alg == ALG_MODE_FOC_POWER) {
+ Fzad = turns.Fnominal;
+ }
+ //��� �������� �� ������ ����������� ������� � ����� ����������� ��������
+ //����� ����� �� �������� �������� ��������
+ if (n_alg == ALG_MODE_FOC_OBOROTS && prev_n_alg != ALG_MODE_FOC_OBOROTS) {
+ turns.Fzad_rmp = Frot;
+ }
+
+ if (_IQabs(turns.Fzad_rmp) <= _IQabs(Fzad)
+ && (((Fzad >= 0) && (turns.Fzad_rmp >= 0))
+ || ((Fzad < 0) && (turns.Fzad_rmp < 0))))
+ {
+ koef_rmp = turns.koef_slow;
+ }
+ else
+ {
+ koef_rmp = turns.koef_fast;
+ }
+
+ turns.Fzad_rmp = zad_intensiv_q(koef_rmp, koef_rmp, turns.Fzad_rmp, Fzad);
+
+ turns.pidFvect.Ref = turns.Fzad_rmp;
+ turns.pidFvect.Fdb = Frot;
+
+ turns.pidFvect.calc(&turns.pidFvect);
+ Iq_out_unsat = turns.pidFvect.Out;
+
+ Iq_out_sat = _IQsat(Iq_out_unsat, turns.mzz_zad_int, -turns.mzz_zad_int); //Test
+ *Iq_zad = Iq_out_sat;
+
+ prev_n_alg = n_alg;
+}
diff --git a/Inu/Src/VectorControl/regul_turns.h b/Inu/Src/VectorControl/regul_turns.h
new file mode 100644
index 0000000..f765b88
--- /dev/null
+++ b/Inu/Src/VectorControl/regul_turns.h
@@ -0,0 +1,29 @@
+#ifndef REGUL_TURNS
+#define REGUL_TURNS
+#include "IQmathLib.h"
+#include "pid_reg3.h"
+
+typedef struct {
+ PIDREG3 pidFvect;
+
+ _iq Fzad_rmp;
+ _iq Fnominal;
+ _iq koef_fast;
+ _iq koef_slow;
+ _iq Iq_out_max;
+ _iq Id_out_max;
+ _iq mzz_zad_int;
+} TURNS;
+
+#define TURNS_DEFAULTS {PIDREG3_DEFAULTS, 0,0,0,0,0,0,0}
+
+void init_Fvect(void);
+void vector_turns(_iq Fzad, _iq Frot,
+ _iq Iq, _iq Iq_limit, int mode,
+ unsigned int master, _iq *Iq_zad, int reset);
+
+extern TURNS turns;
+
+#endif //REGUL_TURNS
+
+
diff --git a/Inu/Src/VectorControl/smooth.c b/Inu/Src/VectorControl/smooth.c
new file mode 100644
index 0000000..dcf63c8
--- /dev/null
+++ b/Inu/Src/VectorControl/smooth.c
@@ -0,0 +1,180 @@
+#include "IQmathLib.h" // Include header for IQmath library
+
+#include "smooth.h"
+#include "math_pi.h"
+#include "math_pi.h"
+
+
+#define SIZE_SMOOTH_INPUT 180
+
+
+#pragma CODE_SECTION(my_mean,".fast_run");
+_iq23 my_mean(int cnt, SMOOTH *v)
+{
+ _iq23 summ = 0;
+ int start;
+
+
+ start = v->current_pos_buf_input;
+ if (start==0)
+ start = (MAX_SIZE_SMOOTH_INPUT-1);
+
+ while(cnt>0)
+ {
+ cnt--;
+ start--;
+ summ += v->buf_input[start];
+ if (start==0)
+ start = (MAX_SIZE_SMOOTH_INPUT-1);
+ }
+ return summ;
+
+}
+
+
+
+void smooth_init(SMOOTH *v)
+{
+ int i=0;
+
+ v->c = 1;
+ v->av = 0;
+ v->w = _IQ23(WINDOW_START);
+
+ for (i=0;i<MAX_SIZE_SMOOTH_INPUT;i++)
+ {
+ v->buf_input[i] = 0;
+ }
+// current_pos_buf_input = 0;
+ v->current_pos_buf_input = 0;
+
+}
+
+#pragma CODE_SECTION(smooth_add,".fast_run");
+void smooth_add(SMOOTH *v)
+{
+ volatile int i;
+
+ i = v->current_pos_buf_input;
+ v->buf_input[i] = v->input;
+
+ v->current_pos_buf_input++;
+ if (v->current_pos_buf_input>=MAX_SIZE_SMOOTH_INPUT)
+ v->current_pos_buf_input = 0;
+
+}
+
+
+#pragma CODE_SECTION(smooth_calc,".fast_run");
+void smooth_calc(SMOOTH *v)
+{
+ _iq23 e=0;
+ _iq23 summ=0;
+ _iq23 w_new;
+ long w_int;
+
+ w_int = _IQ23int(v->w);
+
+ if (v->c <= (WINDOW_START*2))
+ {
+ summ = my_mean(v->c,v);
+ v->av = _IQ23div(summ,_IQ23(v->c));
+ e = 0;
+ }
+ else
+ {
+ e = _IQ23div(CONST_IQ_2PI,v->av) - v->w; //(2*pi*fs/av) - w
+ v->ee = v->ee + _IQ23mpy(v->kp,(e - v->e0)) + _IQ23mpy(v->ki, e);
+ w_new = v->w + v->ee;
+
+ if (w_new>_IQ23(SIZE_SMOOTH_INPUT))
+ w_new = _IQ23(SIZE_SMOOTH_INPUT);
+
+ w_int = _IQ23int(w_new);
+ summ = my_mean(w_int,v);
+ v->w = _IQ23(w_int);
+ v->av = _IQ23div(summ, v->w);
+
+ }
+
+ if (v->c<SIZE_SMOOTH_INPUT)
+ v->c++;
+
+ v->e0 = e;
+ v->w_int = w_int;
+}
+
+
+#pragma CODE_SECTION(smooth_simple_calc,".fast_run");
+void smooth_simple_calc(SMOOTH *v)
+{
+ volatile _iq23 summ=0;
+
+ if (v->c <= v->w_int_simple )
+ {
+ summ = my_mean(v->c, v);
+ v->summ = summ;
+ v->av = _IQ23div(summ,_IQ23(v->c));
+ }
+ else
+ {
+ summ = my_mean(v->w_int_simple, v);
+ v->summ = summ;
+ v->av = _IQ23div(summ, _IQ23(v->w_int_simple));
+ }
+
+ if (v->c<MAX_SIZE_SMOOTH_INPUT)
+ v->c++;
+
+
+}
+
+
+
+
+void iq_smooth (_iq23 *input, _iq23 *output, int n, int window)
+{
+ int i,j,z,k1,k2,hw;
+ int fm1,fm2;
+
+ _iq23 tmp;
+
+
+ fm1 = window/2;
+ fm2 = fm1*2;
+ if ((window-fm2)==0)
+ window++;
+
+ hw = (window-1)/2;
+ output[0] = input[0];
+
+ for (i=1;i<n;i++)
+ {
+ tmp=0;
+ if(i<hw)
+ {
+ k1=0;
+ k2=2*i;
+ z=k2+1;
+ }
+ else if((i+hw)>(n-1))
+ {
+ k1=i-n+i+1;
+ k2=n-1;
+ z=k2-k1+1;
+ }
+ else
+ {
+ k1=i-hw;
+ k2=i+hw;
+ z=window;
+ }
+
+ for (j=k1;j<=k2;j++)
+ {
+ tmp=tmp + input[j];
+ }
+ output[i] = _IQ23div(tmp,_IQ23(z));
+ }
+
+}
diff --git a/Inu/Src/VectorControl/smooth.h b/Inu/Src/VectorControl/smooth.h
new file mode 100644
index 0000000..c91e6f1
--- /dev/null
+++ b/Inu/Src/VectorControl/smooth.h
@@ -0,0 +1,78 @@
+#ifndef __SMOOTH_H__
+#define __SMOOTH_H__
+
+#define WINDOW_START 79.0 //39.0
+#define MAX_SIZE_SMOOTH_INPUT 180
+
+typedef struct { int current_pos_buf_input;
+ _iq23 kp;
+ _iq23 ki;
+ int c;
+ int w_int_simple;
+ _iq23 w;
+ long w_int;
+ _iq23 ee;
+ _iq23 e0;
+ _iq23 av;
+ _iq23 input;
+ _iq23 summ;
+ _iq23 buf_input[MAX_SIZE_SMOOTH_INPUT];
+ void (*init)(); // Pointer to calculation function
+ void (*add)(); // Pointer to calculation function
+ void (*calc)(); // Pointer to calculation function
+ void (*simple_calc)(); // Pointer to calculation function
+
+ }SMOOTH;
+
+
+
+
+
+typedef SMOOTH *SMOOTH_handle;
+
+#define SMOOTH_DEFAULTS { 0, \
+ _IQ23(0.1), \
+ _IQ23(0.01), \
+ 1, \
+ 1, \
+ _IQ23(WINDOW_START), \
+ WINDOW_START, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ {0},\
+ (void (*)(unsigned long))smooth_init,\
+ (void (*)(unsigned long))smooth_add,\
+ (void (*)(unsigned long))smooth_calc,\
+ (void (*)(unsigned long))smooth_simple_calc\
+ }
+
+
+void smooth_calc(SMOOTH_handle);
+void smooth_init(SMOOTH_handle);
+void smooth_add(SMOOTH_handle);
+void smooth_simple_calc(SMOOTH_handle);
+
+
+
+
+
+
+void iq_smooth (_iq23 *input, _iq23 *output, int n, int window);
+
+
+
+
+#endif // end __ABC_ALPHABETA_H
+
+
+
+
+
+
+
+
+
+
diff --git a/Inu/Src/VectorControl/teta_calc.c b/Inu/Src/VectorControl/teta_calc.c
new file mode 100644
index 0000000..8a64daf
--- /dev/null
+++ b/Inu/Src/VectorControl/teta_calc.c
@@ -0,0 +1,91 @@
+#include "IQmathLib.h"
+
+#include "teta_calc.h"
+
+#include <master_slave.h>
+#include <params_alg.h>
+#include <params_motor.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+
+#include "mathlib.h"
+#include "pid_reg3.h"
+
+
+#define CONST_IQ_2PI 105414357
+#define PI 3.1415926535897932384626433832795
+
+#define MAX_Ud_Pid_Out_Id 176160 //0.2 ~ 167772 //0.21 ~ 176160
+#define BPSI_START 0.17 //0.15
+
+TETTA_CALC tetta_calc = TETTA_CALC_DEF;
+
+void init_teta_calc_struct()
+{
+ float Tr_cm = (L_M + L_SIGMA_R) / (R_ROTOR_SHTRIH / SLIP_NOM);
+// tetta_calc.k_r = _IQ(1 / FREQ_PWM / Tr_cm);
+// tetta_calc.k_t = _IQ(R_ROTOR / (L_M + L_SIGMA_R) / 2.0 / 3.14 / 50 / NORMA_FROTOR);
+ tetta_calc.k_r = _IQ(0.005168); //_IQ(0.015);
+ tetta_calc.k_t = _IQ(0.0074); //_IQ(0.0045);
+ tetta_calc.Imds = 0;
+ tetta_calc.theta = 0;
+ tetta_calc.hz_to_angle = _IQ(2.0 * PI * NORMA_FROTOR / FREQ_PWM);
+}
+
+//#pragma CODE_SECTION(calc_teta_Id,".fast_run");
+void calc_teta_Id(_iq Frot, _iq Id, _iq Iq, _iq *theta_out, _iq *theta_to_slave, _iq *Fsl_out, _iq *Fstator_out,
+ unsigned int master, int reset) {
+
+ _iq Fsl, Fst;
+ _iq add_to_tic = 0;
+ _iq to_slave = 0;
+
+ if (reset) {
+ tetta_calc.Imds = 0;
+ }
+
+ tetta_calc.Imds = tetta_calc.Imds + _IQmpy(tetta_calc.k_r, (Id - tetta_calc.Imds));
+
+ if (master == MODE_SLAVE){
+ return;
+ }
+
+ Fsl = _IQmpy(tetta_calc.k_t, Iq);
+ if (tetta_calc.Imds != 0) {
+ Fsl = _IQdiv(Fsl, tetta_calc.Imds);
+ } else {
+ Fsl = 0;
+ }
+
+ if (Fsl > MAX_Ud_Pid_Out_Id) { Fsl = MAX_Ud_Pid_Out_Id;}
+ if (Fsl < -MAX_Ud_Pid_Out_Id) { Fsl = -MAX_Ud_Pid_Out_Id;}
+// if (Fsl < 0) { Fsl = 0;}
+
+ Fst = Frot * POLUS + Fsl;
+ add_to_tic = _IQmpy(Fst, tetta_calc.hz_to_angle);
+ tetta_calc.theta += add_to_tic;
+ to_slave = tetta_calc.theta + add_to_tic;
+
+ if (tetta_calc.theta > CONST_IQ_2PI) {
+ tetta_calc.theta -= CONST_IQ_2PI;
+ } else if (tetta_calc.theta < 0) {
+ tetta_calc.theta += CONST_IQ_2PI;
+ }
+
+ if (to_slave > CONST_IQ_2PI) {
+ to_slave -= CONST_IQ_2PI;
+ } else if (to_slave < 0) {
+ to_slave += CONST_IQ_2PI;
+ }
+
+ *Fsl_out = Fsl;
+ *theta_out = tetta_calc.theta;
+ *theta_to_slave = to_slave;
+ *Fstator_out = Fst;
+
+// logpar.log26 = (int16)(_IQtoIQ15(Fsl));
+// logpar.log27 = (int16)(_IQtoIQ15(tetta_calc.Imds));
+// logpar.log28 = (int16)(_IQtoIQ15(Iq));
+// logpar.log3 = (int16)(_IQtoIQ15(Id));
+}
+
diff --git a/Inu/Src/VectorControl/teta_calc.h b/Inu/Src/VectorControl/teta_calc.h
new file mode 100644
index 0000000..d2e7b03
--- /dev/null
+++ b/Inu/Src/VectorControl/teta_calc.h
@@ -0,0 +1,36 @@
+#ifndef TETA_CALC
+#define TETA_CALC
+
+#include "IQmathLib.h"
+#include "pid_reg3.h"
+
+void calc_teta_Id(_iq Frot, _iq Id, _iq Iq, _iq *tetta_out, _iq *theta_to_slave, _iq *Fsl_out, _iq *Fstator_out,
+ unsigned int master, int reset);
+void init_teta_calc_struct(void);
+
+// k_r = Ts / Tr_cm
+// Tr_cm = Lr / Rr
+// Lr - ������������� ������
+// Rr - ������������� ������
+//
+// k_t = 1 / (Tr_cm * 2 * Pi * f_b)
+// � ����� ������ f_b = NORMA_FROT
+// K = Ts * f_b
+// f_b - ������� ������������� ������� (12 ��)
+// Ts - ������ ������� (840 ��)
+
+typedef struct {
+ _iq Imds;
+ _iq theta;
+
+ _iq hz_to_angle;
+ _iq k_r;
+ _iq k_t;
+} TETTA_CALC;
+
+#define TETTA_CALC_DEF {0,0,0,0,0}
+
+extern TETTA_CALC tetta_calc;
+
+#endif //TETA_CALC
+
diff --git a/Inu/Src/VectorControl/vector_control.c b/Inu/Src/VectorControl/vector_control.c
new file mode 100644
index 0000000..901b75d
--- /dev/null
+++ b/Inu/Src/VectorControl/vector_control.c
@@ -0,0 +1,297 @@
+/*
+ * vector_control.c
+ *
+ * Created on: 16 ����. 2020 �.
+ * Author: star
+ */
+#include "IQmathLib.h"
+
+#include "vector_control.h"
+
+#include <adc_tools.h>
+#include <edrk_main.h>
+#include <master_slave.h>
+#include <params_motor.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+#include "math.h"
+#include "mathlib.h"
+#include "filter_v1.h"
+#include "abc_to_dq.h"
+#include "regul_power.h"
+#include "regul_turns.h"
+#include "teta_calc.h"
+
+//#define CALC_TWO_WINDINGS
+
+#define I_ZERO_LEVEL_IQ 27962 // 111848 ~ 20A //279620 ~ 50A //55924 ~ 10A
+
+
+#pragma DATA_SECTION(vect_control,".fast_vars");
+VECTOR_CONTROL vect_control = VECTOR_CONTROL_DEFAULTS;
+
+
+void Idq_to_Udq_2_windings(_iq Id_zad, _iq Iq_zad,
+ _iq Id_measured1, _iq Iq_measured1, _iq* Ud_zad1, _iq* Uq_zad1,
+ _iq Id_measured2, _iq Iq_measured2, _iq* Ud_zad2, _iq* Uq_zad2, int reset);
+void analog_Udq_calc(_iq Ud1, _iq Uq1, _iq Ud2, _iq Uq2);
+void analog_dq_calc(_iq winding_displacement);
+_iq calcId(_iq Iq_limit, _iq Iq, int reset, int prepare_stop_PWM);
+inline void calcUdUqCompensation(_iq Frot);
+
+void initVectorControl() {
+ vect_control.pidD1.Kp = _IQ(0.3);//_IQ(0.2);
+ vect_control.pidD1.Ki = _IQ(0.01);//_IQ(0.9);
+ vect_control.pidD1.OutMax = _IQ(0.9);
+ vect_control.pidD1.OutMin = -_IQ(0.9);
+ vect_control.pidQ1.Kp = _IQ(0.3);
+ vect_control.pidQ1.Ki = _IQ(0.01);
+ vect_control.pidQ1.OutMax = _IQ(0.9);
+ vect_control.pidQ1.OutMin = -_IQ(0.9);
+ vect_control.pidD2.Kp = _IQ(0.3);
+ vect_control.pidD2.Ki = _IQ(0.3);
+ vect_control.pidD2.OutMax = _IQ(0.9);
+ vect_control.pidD2.OutMin = -_IQ(0.9);
+ vect_control.pidQ2.Kp = _IQ(0.3);
+ vect_control.pidQ2.Ki = _IQ(0.3);
+ vect_control.pidQ2.OutMax = _IQ(0.9);
+ vect_control.pidQ2.OutMin = -_IQ(0.9);
+
+// vect_control.iqId_nominal = _IQ(MOTOR_CURRENT_NOMINAL * sqrtf(1 - COS_FI * COS_FI) / NORMA_ACP);
+ vect_control.iqId_nominal = _IQ(MOTOR_CURRENT_NOMINAL * 0.4 / NORMA_ACP);
+ vect_control.iqId_min = _IQ(200 / NORMA_ACP);
+ vect_control.iqId_start = _IQ(200.0 / NORMA_ACP);
+ vect_control.koef_rmp_Id = (_iq)(vect_control.iqId_nominal / FREQ_PWM);
+ vect_control.koef_filt_I = _IQ(0.5);
+
+
+ vect_control.koef_Ud_comp = _IQ((L_SIGMA_S + L_M * L_SIGMA_R / (L_M + L_SIGMA_R)) * 2 * 3.14 * NORMA_FROTOR); //Lsigm_s + Lm*Lsigm_r / (Lm + Lsigm_r)
+ vect_control.koef_Uq_comp = _IQ((L_M + L_SIGMA_S) * 2 * 3.14 * NORMA_FROTOR); //Lm + Lsigm_s
+// vect_control.koef_Ud_comp = _IQ(0.0002369 * 2 * 3.14 * NORMA_FROTOR); //Lsigm_s + Lm*Lsigm_r / (Lm + Lsigm_r)
+// vect_control.koef_Uq_comp = _IQ(0.0043567 * 2 * 3.14 * NORMA_FROTOR); //Lm + Lsigm_s
+ vect_control.koef_zero_Uzad = _IQ(0.993); //_IQ(0.993); //_IQ(0.03);
+ init_Pvect();
+ init_Fvect();
+ init_teta_calc_struct();
+}
+
+void vectorControlConstId (_iq Pzad, _iq Fzad, int direction, _iq Frot,
+ int n_alg, unsigned int master, _iq mzz_zad,
+ _iq winding_displacement,
+ _iq theta_from_master, _iq Iq_from_master, _iq P_from_slave,
+ _iq *theta_to_slave, _iq *Iq_to_slave, _iq *P_to_master,
+ int reset, int prepare_stop_PWM) {
+ _iq Iq_zad = 0, Iq_zad_power = 0, Id_zad = 0;
+ _iq P_measured = 0;
+ static _iq Ud_zad1 = 0, Uq_zad1 = 0, Ud_zad2 = 0, Uq_zad2 = 0;
+
+// if(direction < 0) { Frot = -Frot; }
+
+ if (reset) {
+ Ud_zad1 = 0;
+ Uq_zad1 = 0;
+ Ud_zad2 = 0;
+ Uq_zad2 = 0;
+ }
+ analog_dq_calc(winding_displacement);
+
+ P_measured = vect_control.iqPvsi1 + vect_control.iqPvsi2;
+ *P_to_master = P_measured;
+ P_measured += P_from_slave;
+
+
+
+ vector_power(Pzad, P_measured, n_alg, master, (vect_control.iqIq1 + vect_control.iqIq2),
+ edrk.zadanie.iq_Izad_rmp, &Iq_zad_power, reset);
+ vector_turns(Fzad, Frot, (vect_control.iqIq1 + vect_control.iqIq2),
+ Iq_zad_power, n_alg, master, &Iq_zad, reset);
+
+ Id_zad = calcId(edrk.zadanie.iq_Izad, Iq_zad, reset, prepare_stop_PWM);
+
+ if (master == MODE_SLAVE) {
+ vect_control.iqTheta = theta_from_master;
+ *theta_to_slave = theta_from_master;
+ Iq_zad = Iq_from_master;
+ Iq_zad_power = Iq_from_master;
+ } else {
+// calc_teta_Id(Frot, vect_control.iqId1, vect_control.iqIq1, &vect_control.iqTheta, theta_to_slave,
+// &vect_control.iqFsl, &vect_control.iqFstator, master, reset);
+ calc_teta_Id(Frot, Id_zad, Iq_zad, &vect_control.iqTheta, theta_to_slave,
+ &vect_control.iqFsl, &vect_control.iqFstator, master, reset);
+ }
+
+ calcUdUqCompensation(Frot);
+
+ if (prepare_stop_PWM && Id_zad == 0) {
+ vect_control.iqUdKm = _IQmpy(vect_control.iqUdKm, vect_control.koef_zero_Uzad);
+ vect_control.iqUqKm = _IQmpy(vect_control.iqUqKm, vect_control.koef_zero_Uzad);
+ } else {
+ Idq_to_Udq_2_windings((Id_zad >> 1), (Iq_zad >> 1),
+ vect_control.iqId1, vect_control.iqIq1, &Ud_zad1, &Uq_zad1,
+ vect_control.iqId2, vect_control.iqIq2, &Ud_zad2, &Uq_zad2, reset);
+
+ vect_control.iqUdKm = Ud_zad1 + vect_control.iqUdCompensation;
+ vect_control.iqUqKm = Uq_zad1 + vect_control.iqUqCompensation;
+ }
+
+ vect_control.sqrtIdq1 = _IQsqrt(_IQmpy(vect_control.iqId1, vect_control.iqId1) + _IQmpy(vect_control.iqIq1, vect_control.iqIq1));
+ analog_Udq_calc(Ud_zad1, Uq_zad1, Ud_zad2, Uq_zad2);
+ *Iq_to_slave = Iq_zad;
+
+ vect_control.Iq_zad1 = Iq_zad;
+ vect_control.Id_zad1 = Id_zad;
+
+}
+
+
+#pragma CODE_SECTION(analog_dq_calc,".fast_run");
+void analog_dq_calc(_iq winding_displacement)
+{
+ ABC_TO_DQ abc_dq_converter = ABC_TO_DQ_DEFAULTS;
+
+ abc_dq_converter.Ia = analog.iqIu_1;
+ abc_dq_converter.Ib = analog.iqIv_1;
+ abc_dq_converter.Ic = analog.iqIw_1;
+ abc_dq_converter.Tetta = vect_control.iqTheta + winding_displacement;
+ abc_dq_converter.calc(&abc_dq_converter);
+ vect_control.iqId1 = abc_dq_converter.Id;
+ vect_control.iqIq1 = abc_dq_converter.Iq;
+ vect_control.iqId1_filt = exp_regul_iq(vect_control.koef_filt_I, vect_control.iqId1_filt, vect_control.iqId1);
+ vect_control.iqIq1_filt = exp_regul_iq(vect_control.koef_filt_I, vect_control.iqIq1_filt, vect_control.iqIq1);
+
+ abc_dq_converter.Ia = analog.iqIu_2;
+ abc_dq_converter.Ib = analog.iqIv_2;
+ abc_dq_converter.Ic = analog.iqIw_2;
+ abc_dq_converter.Tetta = vect_control.iqTheta + winding_displacement;
+ abc_dq_converter.calc(&abc_dq_converter);
+ vect_control.iqId2 = abc_dq_converter.Id;
+ vect_control.iqIq2 = abc_dq_converter.Iq;
+ vect_control.iqId2_filt = exp_regul_iq(vect_control.koef_filt_I, vect_control.iqId2_filt, vect_control.iqId2);
+ vect_control.iqIq2_filt = exp_regul_iq(vect_control.koef_filt_I, vect_control.iqIq2_filt, vect_control.iqIq2);
+
+
+ if (_IQabs(vect_control.iqId1) < I_ZERO_LEVEL_IQ) { vect_control.iqId1 = 0; }
+ if (_IQabs(vect_control.iqIq1) < I_ZERO_LEVEL_IQ) { vect_control.iqIq1 = 0; }
+ if (_IQabs(vect_control.iqId2) < I_ZERO_LEVEL_IQ) { vect_control.iqId2 = 0; }
+ if (_IQabs(vect_control.iqIq2) < I_ZERO_LEVEL_IQ) { vect_control.iqIq2 = 0; }
+
+ vect_control.iqPvsi1 = _IQmpy(_IQmpy(vect_control.iqIq1, _IQabs(vect_control.iqUq1)), 25165824L);
+ vect_control.iqPvsi2 = _IQmpy(_IQmpy(vect_control.iqIq2, _IQabs(vect_control.iqUq2)), 25165824L);
+
+}
+
+#pragma CODE_SECTION(analog_dq_calc_external,".fast_run");
+void analog_dq_calc_external(_iq winding_displacement, _iq theta)
+{
+ ABC_TO_DQ abc_dq_converter = ABC_TO_DQ_DEFAULTS;
+
+ abc_dq_converter.Ia = analog.iqIu_1;
+ abc_dq_converter.Ib = analog.iqIv_1;
+ abc_dq_converter.Ic = analog.iqIw_1;
+ abc_dq_converter.Tetta = theta + winding_displacement;
+ abc_dq_converter.calc(&abc_dq_converter);
+ vect_control.iqId1 = abc_dq_converter.Id;
+ vect_control.iqIq1 = abc_dq_converter.Iq;
+
+
+ abc_dq_converter.Ia = analog.iqIu_2;
+ abc_dq_converter.Ib = analog.iqIv_2;
+ abc_dq_converter.Ic = analog.iqIw_2;
+ abc_dq_converter.Tetta = theta + winding_displacement;
+ abc_dq_converter.calc(&abc_dq_converter);
+ vect_control.iqId2 = abc_dq_converter.Id;
+ vect_control.iqIq2 = abc_dq_converter.Iq;
+
+ if (_IQabs(vect_control.iqId1) < I_ZERO_LEVEL_IQ) { vect_control.iqId1 = 0; }
+ if (_IQabs(vect_control.iqIq1) < I_ZERO_LEVEL_IQ) { vect_control.iqIq1 = 0; }
+ if (_IQabs(vect_control.iqId2) < I_ZERO_LEVEL_IQ) { vect_control.iqId2 = 0; }
+ if (_IQabs(vect_control.iqIq2) < I_ZERO_LEVEL_IQ) { vect_control.iqIq2 = 0; }
+
+ vect_control.iqPvsi1 = _IQmpy(_IQmpy(vect_control.iqIq1, _IQabs(vect_control.iqUq1)), 25165824L);
+ vect_control.iqPvsi2 = _IQmpy(_IQmpy(vect_control.iqIq2, _IQabs(vect_control.iqUq2)), 25165824L);
+
+}
+
+void Idq_to_Udq_2_windings(_iq Id_zad, _iq Iq_zad,
+ _iq Id_measured1, _iq Iq_measured1, _iq* Ud_zad1, _iq* Uq_zad1,
+ _iq Id_measured2, _iq Iq_measured2, _iq* Ud_zad2, _iq* Uq_zad2, int reset)
+{
+ if (reset) {
+ vect_control.pidD1.Ui = 0;
+ vect_control.pidD1.Out = 0;
+ vect_control.pidQ1.Ui = 0;
+ vect_control.pidQ1.Out = 0;
+#ifdef CALC_TWO_WINDINGS
+ vect_control.pidD2.Ui = 0;
+ vect_control.pidD2.Out = 0;
+ vect_control.pidQ2.Ui = 0;
+ vect_control.pidQ2.Out = 0;
+#endif
+ }
+ vect_control.pidD1.Ref = Id_zad;
+ vect_control.pidD1.Fdb = Id_measured1;
+ vect_control.pidD1.calc(&vect_control.pidD1);
+ *Ud_zad1 = vect_control.pidD1.Out;
+
+ vect_control.pidQ1.Ref = Iq_zad;
+ vect_control.pidQ1.Fdb = Iq_measured1;
+ vect_control.pidQ1.calc(&vect_control.pidQ1);
+ *Uq_zad1 = vect_control.pidQ1.Out;
+#ifdef CALC_TWO_WINDINGS
+ vect_control.pidD2.Ref = Id_zad;
+ vect_control.pidD2.Fdb = Id_measured2;
+ vect_control.pidD2.calc(&vect_control.pidD2);
+ *Ud_zad2 = vect_control.pidD2.Out;
+
+ vect_control.pidQ2.Ref = Iq_zad;
+ vect_control.pidQ2.Fdb = Iq_measured2;
+ vect_control.pidQ2.calc(&vect_control.pidQ2);
+ *Uq_zad2 = vect_control.pidQ2.Out;
+#else
+ *Ud_zad2 = *Ud_zad1;
+ *Uq_zad2 = *Ud_zad1;
+// *Uq_zad2 = *Uq_zad1;
+#endif
+}
+
+#pragma CODE_SECTION(analog_Udq_calc,".fast_run");
+void analog_Udq_calc(_iq Ud1, _iq Uq1, _iq Ud2, _iq Uq2)
+{
+ _iq Uzpt = filter.iqU_1_long + filter.iqU_2_long;
+ vect_control.iqUd1 = _IQmpy(Ud1, _IQmpy(Uzpt, 8388608L)); // 8388608 = _IQ(0.5)
+ vect_control.iqUq1 = _IQmpy(Uq1, _IQmpy(Uzpt, 8388608L));
+ vect_control.iqUd2 = _IQmpy(Ud2, _IQmpy(Uzpt, 8388608L));
+ vect_control.iqUq2 = _IQmpy(Uq2, _IQmpy(Uzpt, 8388608L));
+
+}
+
+_iq calcId(_iq Iq_limit, _iq Iq, int reset, int prepare_stop_PWM) {
+ static _iq Id_rmp = 0;
+ _iq Id_zad = 0;
+ if (reset) {
+ Id_rmp = 0;
+ }
+
+
+ if (prepare_stop_PWM) {
+ Id_zad = 0;
+ } else if (Iq < vect_control.iqId_min) {
+ Id_zad = vect_control.iqId_min;
+ } else if (Iq > vect_control.iqId_nominal) {
+ Id_zad = vect_control.iqId_nominal;
+ } else {
+ Id_zad = Iq;
+ }
+// Id_zad = Iq_limit < vect_control.iqId_nominal ? Iq_limit : vect_control.iqId_nominal;
+ Id_rmp = zad_intensiv_q(vect_control.koef_rmp_Id, vect_control.koef_rmp_Id << 1, Id_rmp, Id_zad);
+ return Id_rmp;
+}
+
+void calcUdUqCompensation(_iq Frot) {
+ _iq Uzpt = (filter.iqU_1_long + filter.iqU_2_long) >> 1;
+ _iq UdVolt = _IQmpy(_IQmpy(Frot, vect_control.koef_Ud_comp), vect_control.iqIq1 + vect_control.iqIq2);
+ _iq UqVolt = _IQmpy(_IQmpy(Frot, vect_control.koef_Uq_comp), vect_control.iqId1 + vect_control.iqId2);
+ vect_control.iqUdCompensation = -_IQdiv(UdVolt, Uzpt);
+ vect_control.iqUqCompensation = _IQdiv(UqVolt, Uzpt);
+}
+
diff --git a/Inu/Src/VectorControl/vector_control.h b/Inu/Src/VectorControl/vector_control.h
new file mode 100644
index 0000000..3307fb1
--- /dev/null
+++ b/Inu/Src/VectorControl/vector_control.h
@@ -0,0 +1,82 @@
+/*
+ * vector_control.h
+ *
+ * Created on: 16 ����. 2020 �.
+ * Author: star
+ */
+
+#ifndef SRC_VECTORCONTROL_NIO12_VECTOR_CONTROL_H_
+#define SRC_VECTORCONTROL_NIO12_VECTOR_CONTROL_H_
+
+#include "pid_reg3.h"
+#include "regul_power.h"
+#include "regul_turns.h"
+
+typedef struct {
+ PIDREG3 pidD1;
+ PIDREG3 pidQ1;
+ PIDREG3 pidD2;
+ PIDREG3 pidQ2;
+
+ _iq iqId1;
+ _iq iqIq1;
+ _iq iqId2;
+ _iq iqIq2;
+ _iq iqUd1;
+ _iq iqUq1;
+ _iq iqUd2;
+ _iq iqUq2;
+ _iq iqUdKm;
+ _iq iqUqKm;
+ _iq iqUdCompensation;
+ _iq iqUqCompensation;
+
+ _iq iqId1_filt;
+ _iq iqIq1_filt;
+ _iq iqId2_filt;
+ _iq iqIq2_filt;
+
+ _iq iqPvsi1;
+ _iq iqPvsi2;
+ _iq iqTheta;
+ _iq iqFsl;
+ _iq iqFstator;
+ _iq iqId_nominal;
+ _iq iqId_min;
+ _iq iqId_start;
+ _iq koef_rmp_Id;
+ _iq koef_filt_I;
+ _iq koef_Ud_comp;
+ _iq koef_Uq_comp;
+ _iq koef_zero_Uzad;
+ _iq add_tetta;
+
+ _iq sqrtIdq1;
+ _iq sqrtIdq2;
+
+ _iq Iq_zad1;
+ _iq Id_zad1;
+
+ _iq add_bpsi;
+
+} VECTOR_CONTROL;
+
+#define VECTOR_CONTROL_DEFAULTS {PIDREG3_DEFAULTS, PIDREG3_DEFAULTS, \
+ PIDREG3_DEFAULTS, PIDREG3_DEFAULTS, \
+ 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0, \
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}
+
+void vectorControlConstId (_iq Pzad, _iq Fzad, int direction, _iq Frot,
+ int n_alg, unsigned int master, _iq mzz_zad,
+ _iq winding_displacement,
+ _iq theta_from_master, _iq Iq_from_master, _iq P_from_slave,
+ _iq *theta_to_slave, _iq *Iq_to_slave, _iq *P_to_master,
+ int reset, int prepare_stop_PWM);
+
+void analog_dq_calc_external(_iq winding_displacement, _iq theta);
+void initVectorControl();
+
+extern VECTOR_CONTROL vect_control;
+
+
+#endif /* SRC_VECTORCONTROL_NIO12_VECTOR_CONTROL_H_ */
diff --git a/Inu/Src/main/281xEvTimersInit.c b/Inu/Src/main/281xEvTimersInit.c
new file mode 100644
index 0000000..59b7005
--- /dev/null
+++ b/Inu/Src/main/281xEvTimersInit.c
@@ -0,0 +1,636 @@
+// TI File $Revision: /main/3 $
+// Checkin $Date: July 2, 2007 11:32:13 $
+//###########################################################################
+//
+// FILE: Example_281xEvTimerPeriod.c
+//
+// TITLE: DSP281x Event Manager GP Timer example program.
+//
+// ASSUMPTIONS:
+//
+// This program requires the DSP281x V1.00 header files.
+// As supplied, this project is configured for "boot to H0" operation.
+//
+// Other then boot mode pin configuration, no other hardware configuration
+// is required.
+//
+// DESCRIPTION:
+//
+// This program sets up EVA Timer 1, EVA Timer 2, EVB Timer 3
+// and EVB Timer 4 to fire an interrupt on a period overflow.
+// A count is kept each time each interrupt passes through
+// the interrupt service routine.
+//
+// EVA Timer 1 has the shortest period while EVB Timer4 has the
+// longest period.
+//
+// Watch Variables:
+//
+// EvaTimer1InterruptCount;
+// EvaTimer2InterruptCount;
+// EvbTimer3InterruptCount;
+// EvbTimer4InterruptCount;
+//
+//###########################################################################
+// $TI Release: DSP281x C/C++ Header Files V1.20 $
+// $Release Date: July 27, 2009 $
+//###########################################################################
+
+#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+
+#include <281xEvTimersInit.h>
+#include <f281xbmsk.h>
+
+#include "TuneUpPlane.h"
+#include "profile_interrupt.h"
+
+// Prototype statements for functions found within this file.
+interrupt void eva_timer1_isr(void);
+interrupt void eva_timer2_isr(void);
+interrupt void evb_timer3_isr(void);
+interrupt void evb_timer4_isr(void);
+
+
+// Global counts used in this example
+Uint32 EvaTimer1InterruptCount = 0;
+Uint32 EvaTimer2InterruptCount = 0;
+Uint32 EvbTimer3InterruptCount = 0;
+Uint32 EvbTimer4InterruptCount = 0;
+
+//unsigned int enable_profile_led1_Timer1 = 1;
+//unsigned int enable_profile_led1_Timer2 = 1;
+//unsigned int enable_profile_led1_Timer3 = 1;
+//unsigned int enable_profile_led1_Timer4 = 1;
+//
+//unsigned int enable_profile_led2_Timer1 = 0;
+//unsigned int enable_profile_led2_Timer2 = 0;
+//unsigned int enable_profile_led2_Timer3 = 0;
+//unsigned int enable_profile_led2_Timer4 = 0;
+
+//Pointers to handler functions
+void (*timer1_handler)() = NULL;
+void (*timer2_handler)() = NULL;
+void (*timer3_handler)() = NULL;
+void (*timer4_handler)() = NULL;
+
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+
+void init_eva_timer1(int freq, void (*timer_handler)())
+{
+ // Initialize EVA Timer 1:
+ // Setup Timer 1 Registers (EV A)
+ EvaRegs.GPTCONA.all = 0;
+
+ // Set the Period for the GP timer 1 to 0x0200;
+ EvaRegs.T1PR = 0x0200; // Period
+ EvaRegs.T1CMPR = 0x0000; // Compare Reg
+
+ // Enable Period interrupt bits for GP timer 1
+ // Count up, x128, internal clk, enable compare, use own period
+ EvaRegs.EVAIMRA.bit.T1PINT = 0;//1;
+ EvaRegs.EVAIFRA.all = BIT7;
+// EvaRegs.EVAIFRA.bit.T1PINT = 1;
+
+ // Clear the counter for GP timer 1
+ EvaRegs.T1CNT = 0x0000;
+// EvaRegs.T1PR = (float64)HSPCLK/(float64)(freq / 2);
+ EvaRegs.T1PR = (float64)HSPCLK/(float64)(freq);
+ EvaRegs.T1CON.all = FREE_RUN_FLAG + TIMER_CONT_UP + TIMER_CLK_PRESCALE_X_1
+ + TIMER_ENABLE_BY_OWN + TIMER_ENABLE + TIMER_ENABLE_COMPARE; //
+
+ // Start EVA ADC Conversion on timer 1 Period interrupt
+ EvaRegs.GPTCONA.bit.T1TOADC = 2;
+
+ // Save pointer to handler in variable
+ timer1_handler = timer_handler;
+
+ EALLOW; // This is needed to write to EALLOW protected registers
+ PieVectTable.T1PINT = &eva_timer1_isr;
+ EDIS; // This is needed to disable write to EALLOW protected registers
+
+ // Enable PIE group 2 interrupt 4 for T1PINT
+// PieCtrlRegs.PIEIER2.all = M_INT4;
+ PieCtrlRegs.PIEIER2.bit.INTx4 = 1;
+
+ // Enable CPU INT2 for T1PINT, INT3 for T2PINT, INT4 for T3PINT
+ // and INT5 for T4PINT:
+ // IER |= M_INT2;
+}
+
+void stop_eva_timer1()
+{
+ IER &= ~(M_INT2);
+ EvaRegs.EVAIMRA.bit.T1PINT = 0;
+}
+
+void start_eva_timer1()
+{
+ IER |= (M_INT2);
+ EvaRegs.EVAIFRA.all = BIT7;
+ EvaRegs.EVAIMRA.bit.T1PINT = 1;
+}
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+
+void init_eva_timer2(int freq, void (*timer_handler)())
+{
+ // Initialize EVA Timer 2:
+ // Setup Timer 2 Registers (EV A)
+ EvaRegs.GPTCONA.all = 0;
+
+ // Set the Period for the GP timer 2 to 0x0200;
+ EvaRegs.T2PR = 0x0400; // Period
+ EvaRegs.T2CMPR = 0x0000; // Compare Reg
+
+ // Enable Period interrupt bits for GP timer 2
+ // Count up, x128, internal clk, enable compare, use own period
+ EvaRegs.EVAIMRB.bit.T2PINT = 0;//1;
+ EvaRegs.EVAIFRB.all = BIT0;
+ // EvaRegs.EVAIFRB.bit.T2PINT = 1;
+
+ // Clear the counter for GP timer 2
+ EvaRegs.T2CNT = 0x0000;
+// EvaRegs.T2PR = (float64)HSPCLK/(float64)(freq / 2);
+ EvaRegs.T2PR = (float64)HSPCLK/(float64)(freq);
+ EvaRegs.T2CON.all = FREE_RUN_FLAG + TIMER_CONT_UP + TIMER_CLK_PRESCALE_X_1
+ + TIMER_ENABLE_BY_OWN + TIMER_ENABLE + TIMER_ENABLE_COMPARE; //
+
+ // Start EVA ADC Conversion on timer 2 Period interrupt
+ EvaRegs.GPTCONA.bit.T2TOADC = 2;
+
+ // Save pointer to handler in variable
+ timer2_handler = timer_handler;
+
+ EALLOW; // This is needed to write to EALLOW protected registers
+ PieVectTable.T2PINT = &eva_timer2_isr;
+ EDIS; // This is needed to disable write to EALLOW protected registers
+
+ // Enable PIE group 3 interrupt 1 for T2PINT
+// PieCtrlRegs.PIEIER3.all = M_INT1;
+ PieCtrlRegs.PIEIER3.bit.INTx1 = 1;//M_INT1;
+
+ // Enable CPU INT2 for T1PINT, INT3 for T2PINT, INT4 for T3PINT
+ // and INT5 for T4PINT:
+// IER |= (M_INT3);
+}
+
+void stop_eva_timer2()
+{
+ IER &= ~(M_INT3);
+ EvaRegs.EVAIMRB.bit.T2PINT = 0;
+}
+
+void start_eva_timer2()
+{
+ IER |= (M_INT3);
+ EvaRegs.EVAIFRB.all = BIT0;
+ EvaRegs.EVAIMRB.bit.T2PINT = 1;
+}
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+
+void init_evb_timer3(int freq, void (*timer_handler)())
+{
+ // Initialize EVB Timer 3:
+ // Setup Timer 3 Registers (EV B)
+ EvbRegs.GPTCONB.all = 0;
+
+ // Set the Period for the GP timer 3 to 0x0200;
+ EvbRegs.T3PR = 0x0800; // Period
+ EvbRegs.T3CMPR = 0x0000; // Compare Reg
+
+ // Enable Period interrupt bits for GP timer 3
+ // Count up, x128, internal clk, enable compare, use own period
+ EvbRegs.EVBIMRA.bit.T3PINT = 0;//1;
+ EvbRegs.EVBIFRA.all = BIT7;
+ // EvbRegs.EVBIFRA.bit.T3PINT = 1;
+
+ // Clear the counter for GP timer 3
+ EvbRegs.T3CNT = 0x0000;
+// EvbRegs.T3PR = (float64)HSPCLK/(float64)(freq / 2);
+ EvbRegs.T3PR = (float64)HSPCLK/(float64)(freq);
+ EvbRegs.T3CON.all = FREE_RUN_FLAG + TIMER_CONT_UP + TIMER_CLK_PRESCALE_X_1
+ + TIMER_ENABLE_BY_OWN + TIMER_ENABLE + TIMER_ENABLE_COMPARE;
+// EvbRegs.T3CON.all = SOFT_STOP_FLAG + TIMER_CONT_UP + TIMER_CLK_PRESCALE_X_1
+ // + TIMER_ENABLE_BY_OWN + TIMER_ENABLE + TIMER_ENABLE_COMPARE;
+
+ // Save pointer to handler in variable
+ timer3_handler = timer_handler;
+
+ // Start EVA ADC Conversion on timer 3 Period interrupt
+ EvbRegs.GPTCONB.bit.T3TOADC = 2;
+
+ EALLOW; // This is needed to write to EALLOW protected registers
+ PieVectTable.T3PINT = &evb_timer3_isr;
+ EDIS; // This is needed to disable write to EALLOW protected registers
+
+ // Enable PIE group 4 interrupt 4 for T3PINT
+// PieCtrlRegs.PIEIER4.all = M_INT4;
+ PieCtrlRegs.PIEIER4.bit.INTx4 = 1;
+
+ // Enable CPU INT2 for T1PINT, INT3 for T2PINT, INT4 for T3PINT
+ // and INT5 for T4PINT:
+ // IER |= M_INT4;
+}
+
+void stop_evb_timer3()
+{
+ IER &= ~(M_INT4);
+ EvbRegs.EVBIMRA.bit.T3PINT = 0;
+}
+
+void start_evb_timer3()
+{
+ IER |= (M_INT4);
+
+ // Make sure PIEACK for group 2 is clear (default after reset)
+// PieCtrlRegs.PIEACK.all = M_INT4;
+ EvbRegs.EVBIFRA.all = BIT7;
+ EvbRegs.EVBIMRA.bit.T3PINT = 1;
+}
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+
+void init_evb_timer4(int freq, void (*timer_handler)())
+{
+ // Initialize EVB Timer 4:
+ // Setup Timer 4 Registers (EV B)
+ EvbRegs.GPTCONB.all = 0;
+
+ // Set the Period for the GP timer 4 to 0x0200;
+ EvbRegs.T4PR = 0x1000; // Period
+ EvbRegs.T4CMPR = 0x0000; // Compare Reg
+
+ // Enable Period interrupt bits for GP timer 4
+ // Count up, x128, internal clk, enable compare, use own period
+ EvbRegs.EVBIMRB.bit.T4PINT = 0;//1;
+ EvbRegs.EVBIFRB.all = BIT0;
+// EvbRegs.EVBIFRB.bit.T4PINT = 1;
+
+ // Clear the counter for GP timer 4
+ EvbRegs.T4CNT = 0x0000;
+// EvbRegs.T4PR = (float64)HSPCLK/(float64)(freq / 2);
+ EvbRegs.T4PR = (float64)HSPCLK/(float64)(freq);
+ EvbRegs.T4CON.all = FREE_RUN_FLAG + TIMER_CONT_UP + TIMER_CLK_PRESCALE_X_1
+ + TIMER_ENABLE_BY_OWN + TIMER_ENABLE + TIMER_ENABLE_COMPARE;
+
+ // Start EVA ADC Conversion on timer 4 Period interrupt
+ EvbRegs.GPTCONB.bit.T4TOADC = 2;
+
+ // Save pointer to handler in variable
+ timer4_handler = timer_handler;
+
+ EALLOW; // This is needed to write to EALLOW protected registers
+ PieVectTable.T4PINT = &evb_timer4_isr;
+ EDIS; // This is needed to disable write to EALLOW protected registers
+
+ // Enable PIE group 5 interrupt 1 for T4PINT
+// PieCtrlRegs.PIEIER5.all = M_INT1;
+ PieCtrlRegs.PIEIER5.bit.INTx1 = 1;
+
+ // Enable CPU INT2 for T1PINT, INT3 for T2PINT, INT4 for T3PINT
+ // and INT5 for T4PINT:
+ // IER |= M_INT5;
+}
+
+void stop_evb_timer4()
+{
+ IER &= ~(M_INT5);
+ EvbRegs.EVBIMRB.bit.T4PINT = 0;
+}
+
+void start_evb_timer4()
+{
+ IER |= (M_INT5);
+ EvbRegs.EVBIFRB.all = BIT0;
+ EvbRegs.EVBIMRB.bit.T4PINT = 1;
+}
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+
+#pragma CODE_SECTION(eva_timer1_isr,".fast_run2");
+interrupt void eva_timer1_isr(void)
+{
+ // Set interrupt priority:
+ volatile Uint16 TempPIEIER = PieCtrlRegs.PIEIER2.all;
+ IER |= M_INT2;
+ IER &= MINT2; // Set "global" priority
+ PieCtrlRegs.PIEIER2.all &= MG24; // Set "group" priority
+ PieCtrlRegs.PIEACK.all = 0xFFFF; // Enable PIE interrupts
+
+#if (_ENABLE_INTERRUPT_PROFILE_LED1)
+ if (profile_interrupt.for_led1.bits.timer1)
+ i_led1_on_off_special(1);
+#endif
+#if (_ENABLE_INTERRUPT_PROFILE_LED2)
+ if (profile_interrupt.for_led2.bits.timer1)
+ i_led2_on_off_special(1);
+#endif
+ EINT;
+
+ // Insert ISR Code here.......
+ if(timer1_handler)
+ {
+ timer1_handler();
+ }
+
+ // Next line for debug only (remove after inserting ISR Code):
+// ESTOP0;
+ EvaRegs.EVAIFRA.all = BIT7;
+ // Restore registers saved:
+ DINT;
+ PieCtrlRegs.PIEIER2.all = TempPIEIER;
+#if (_ENABLE_INTERRUPT_PROFILE_LED1)
+ if (profile_interrupt.for_led1.bits.timer1)
+ i_led1_on_off_special(0);
+#endif
+#if (_ENABLE_INTERRUPT_PROFILE_LED2)
+ if (profile_interrupt.for_led2.bits.timer1)
+ i_led2_on_off_special(0);
+#endif
+
+//
+//
+// IER &= ~(M_INT2);// stop_eva_timer1();
+// // Enable more interrupts from this timer
+// EvaRegs.EVAIMRA.bit.T1PINT = 1;
+//
+// // Note: To be safe, use a mask value to write to the entire
+// // EVAIFRA register. Writing to one bit will cause a read-modify-write
+// // operation that may have the result of writing 1's to clear
+// // bits other then those intended.
+//// EvaRegs.EVAIFRA.bit.T1PINT = 1;
+// EvaRegs.EVAIFRA.all = BIT7;
+//
+// // Acknowledge interrupt to receive more interrupts from PIE group 2
+// PieCtrlRegs.PIEACK.all = PIEACK_GROUP2;
+//
+// // EINT;
+//
+//
+// if(timer1_handler)
+// {
+// timer1_handler();
+// }
+
+// DINT;
+// IER |= (M_INT2);//start_eva_timer1();
+}
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+
+#pragma CODE_SECTION(eva_timer2_isr,".fast_run2");
+interrupt void eva_timer2_isr(void)
+{
+
+ // Set interrupt priority:
+ volatile Uint16 TempPIEIER = PieCtrlRegs.PIEIER3.all;
+ IER |= M_INT3;
+ IER &= MINT3; // Set "global" priority
+ PieCtrlRegs.PIEIER3.all &= MG31; // Set "group" priority
+ PieCtrlRegs.PIEACK.all = 0xFFFF; // Enable PIE interrupts
+
+#if (_ENABLE_INTERRUPT_PROFILE_LED1)
+ if (profile_interrupt.for_led1.bits.timer2)
+ i_led1_on_off_special(1);
+#endif
+#if (_ENABLE_INTERRUPT_PROFILE_LED2)
+ if (profile_interrupt.for_led2.bits.timer2)
+ i_led2_on_off_special(1);
+#endif
+
+ EINT;
+
+ // Insert ISR Code here.......
+ if(timer2_handler)
+ {
+ timer2_handler();
+ }
+
+ // Next line for debug only (remove after inserting ISR Code):
+// ESTOP0;
+ EvaRegs.EVAIFRB.all = BIT0;
+ // Restore registers saved:
+ DINT;
+ PieCtrlRegs.PIEIER3.all = TempPIEIER;
+
+#if (_ENABLE_INTERRUPT_PROFILE_LED1)
+ if (profile_interrupt.for_led1.bits.timer2)
+ i_led1_on_off_special(0);
+#endif
+#if (_ENABLE_INTERRUPT_PROFILE_LED2)
+ if (profile_interrupt.for_led2.bits.timer2)
+ i_led2_on_off_special(0);
+#endif
+
+
+
+//
+//
+// // IER &= ~(M_INT3);// stop_eva_timer2();
+//
+// // Enable more interrupts from this timer
+// EvaRegs.EVAIMRB.bit.T2PINT = 1;
+//
+// // Note: To be safe, use a mask value to write to the entire
+// // EVAIFRB register. Writing to one bit will cause a read-modify-write
+// // operation that may have the result of writing 1's to clear
+// // bits other then those intended.
+// EvaRegs.EVAIFRB.all = BIT0;
+//// EvaRegs.EVAIFRB.bit.T2PINT = 1;
+//
+//
+// // Acknowledge interrupt to receive more interrupts from PIE group 3
+// PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
+//
+//
+//// EnableInterrupts();
+//
+// if(timer2_handler)
+// {
+// timer2_handler();
+// }
+
+
+// DINT;
+ // IER |= (M_INT3);//start_eva_timer2();
+
+
+}
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+
+#pragma CODE_SECTION(evb_timer3_isr,".fast_run2");
+interrupt void evb_timer3_isr(void)
+{
+ // Set interrupt priority:
+ volatile Uint16 TempPIEIER = PieCtrlRegs.PIEIER4.all;
+ IER |= M_INT4;
+ IER &= MINT4; // Set "global" priority
+ PieCtrlRegs.PIEIER4.all &= MG44; // Set "group" priority
+ PieCtrlRegs.PIEACK.all = 0xFFFF; // Enable PIE interrupts
+
+#if (_ENABLE_INTERRUPT_PROFILE_LED1)
+ if (profile_interrupt.for_led1.bits.timer3)
+ i_led1_on_off_special(1);
+#endif
+#if (_ENABLE_INTERRUPT_PROFILE_LED2)
+ if (profile_interrupt.for_led2.bits.timer3)
+ i_led2_on_off_special(1);
+#endif
+
+ EINT;
+
+ // Insert ISR Code here.......
+ if(timer3_handler)
+ {
+ timer3_handler();
+ }
+
+ // Next line for debug only (remove after inserting ISR Code):
+// ESTOP0;
+
+// EvbRegs.EVBIMRA.bit.T3PINT = 1;
+ EvbRegs.EVBIFRA.all = BIT7;
+// PieCtrlRegs.PIEACK.all = PIEACK_GROUP4; // Enable PIE interrupts
+ // Restore registers saved:
+ DINT;
+ PieCtrlRegs.PIEIER4.all = TempPIEIER;
+
+#if (_ENABLE_INTERRUPT_PROFILE_LED1)
+ if (profile_interrupt.for_led1.bits.timer3)
+ i_led1_on_off_special(0);
+#endif
+#if (_ENABLE_INTERRUPT_PROFILE_LED2)
+ if (profile_interrupt.for_led2.bits.timer3)
+ i_led2_on_off_special(0);
+#endif
+
+
+//
+//
+// IER &= ~(M_INT4);//stop_evb_timer3();
+//
+// // Enable more interrupts from this timer
+// EvbRegs.EVBIMRA.bit.T3PINT = 1;
+//
+//
+// // IER &= ~(M_INT4);
+// //EvbTimer3InterruptCount++;
+// // Note: To be safe, use a mask value to write to the entire
+// // EVBIFRA register. Writing to one bit will cause a read-modify-write
+// // operation that may have the result of writing 1's to clear
+// // bits other then those intended.
+// EvbRegs.EVBIFRA.all = BIT7;
+//
+// // Acknowledge interrupt to receive more interrupts from PIE group 4
+// PieCtrlRegs.PIEACK.all = PIEACK_GROUP4;
+//
+// EINT;
+//
+//
+// if(timer3_handler)
+// {
+// timer3_handler();
+// }
+// // IFR &= ~(M_INT4); // ������� ���� ����� ���������� ��� ������!
+// // IER |= (M_INT4);
+//
+// DINT;
+// IER |= (M_INT4);//start_evb_timer3();
+}
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+
+#pragma CODE_SECTION(evb_timer4_isr,".fast_run2");
+interrupt void evb_timer4_isr(void)
+{
+ // Set interrupt priority:
+ volatile Uint16 TempPIEIER = PieCtrlRegs.PIEIER5.all;
+ IER |= M_INT5;
+ IER &= MINT5; // Set "global" priority
+ PieCtrlRegs.PIEIER5.all &= MG51; // Set "group" priority
+ PieCtrlRegs.PIEACK.all = 0xFFFF; // Enable PIE interrupts
+
+#if (_ENABLE_INTERRUPT_PROFILE_LED1)
+ if (profile_interrupt.for_led1.bits.timer4)
+ i_led1_on_off_special(1);
+#endif
+#if (_ENABLE_INTERRUPT_PROFILE_LED2)
+ if (profile_interrupt.for_led2.bits.timer4)
+ i_led2_on_off_special(1);
+#endif
+
+ EINT;
+
+ // Insert ISR Code here.......
+ if(timer4_handler)
+ {
+ timer4_handler();
+ }
+
+ // Next line for debug only (remove after inserting ISR Code):
+// ESTOP0;
+ EvbRegs.EVBIFRB.all = BIT0;
+ // Restore registers saved:
+ DINT;
+ PieCtrlRegs.PIEIER5.all = TempPIEIER;
+
+#if (_ENABLE_INTERRUPT_PROFILE_LED1)
+ if (profile_interrupt.for_led1.bits.timer4)
+ i_led1_on_off_special(0);
+#endif
+#if (_ENABLE_INTERRUPT_PROFILE_LED2)
+ if (profile_interrupt.for_led2.bits.timer4)
+ i_led2_on_off_special(0);
+#endif
+
+//
+//
+//
+// IER &= ~(M_INT5);//stop_evb_timer4();
+//
+// EvbRegs.EVBIMRB.bit.T4PINT = 1;
+// //EvbTimer4InterruptCount++;
+// // Note: To be safe, use a mask value to write to the entire
+// // EVBIFRB register. Writing to one bit will cause a read-modify-write
+// // operation that may have the result of writing 1's to clear
+// // bits other then those intended.
+// EvbRegs.EVBIFRB.all = BIT0;
+//
+// // Acknowledge interrupt to receive more interrupts from PIE group 5
+// PieCtrlRegs.PIEACK.all = PIEACK_GROUP5;
+// EINT;
+//
+//
+// if(timer4_handler)
+// {
+// timer4_handler();
+// }
+//
+// DINT;
+// IER |= (M_INT5);//start_evb_timer4();
+}
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////
+
+
+//===========================================================================
+// No more.
+//===========================================================================
diff --git a/Inu/Src/main/281xEvTimersInit.h b/Inu/Src/main/281xEvTimersInit.h
new file mode 100644
index 0000000..2498fc9
--- /dev/null
+++ b/Inu/Src/main/281xEvTimersInit.h
@@ -0,0 +1,18 @@
+#ifndef EV_TIMERS
+#define EV_TIMERS
+
+void init_eva_timer1(int freqHz, void (*timer_handler)());
+void init_eva_timer2(int freqHz, void (*timer_handler)());
+void init_evb_timer3(int freqHz, void (*timer_handler)());
+void init_evb_timer4(int freqHz, void (*timer_handler)());
+
+void start_eva_timer1();
+void stop_eva_timer1();
+void start_eva_timer2();
+void stop_eva_timer2();
+void start_evb_timer3();
+void stop_evb_timer3();
+void start_evb_timer4();
+void stop_evb_timer4();
+
+#endif //EV_TIMERS
diff --git a/Inu/Src/main/CAN_project.h b/Inu/Src/main/CAN_project.h
new file mode 100644
index 0000000..3454f1e
--- /dev/null
+++ b/Inu/Src/main/CAN_project.h
@@ -0,0 +1,256 @@
+/*
+ * CAN_project.h
+ *
+ * Created on: 21 ��� 2020 �.
+ * Author: yura
+ */
+
+#ifndef SRC_MAIN_CAN_PROJECT_H_
+#define SRC_MAIN_CAN_PROJECT_H_
+
+
+#include "can_protocol_ukss.h"
+
+//////////////////////////////////////////////////////////////////
+// ��������� ������� ������� CAN
+// PCH_1 ��� PCH_2 ���������� ��������� �� ��67
+//////////////////////////////////////////////////////////////////
+#define CAN_BASE_ADR_MPU_PCH_1 0x0CEB0E1
+#define CAN_BASE_ADR_MPU_PCH_2 0x0CEB0E1 //0x0CEB0E2
+//////////////////////////////////////
+#define CAN_BASE_ADR_TERMINAL_PCH_1 0x0EEEE01
+#define CAN_BASE_ADR_TERMINAL_PCH_2 0x0EEEE03
+//////////////////////////////////////
+#define CAN_BASE_ADR_UNITS_PCH_1 0x235500
+#define CAN_BASE_ADR_UNITS_PCH_2 0x235500
+//////////////////////////////////////
+#define CAN_BASE_ADR_ALARM_LOG_PCH_1 0x0BCDEF01
+#define CAN_BASE_ADR_ALARM_LOG_PCH_2 0x0BCDEF02
+//////////////////////////////////////////////////////////////////
+
+//#define CAN_PROTOCOL_VERSION 1
+#define CAN_PROTOCOL_VERSION 2
+
+#define CAN_SPEED_BITS 125000
+//#define CAN_SPEED_BITS 250000
+//#define CAN_SPEED_BITS 500000
+
+
+
+#define ENABLE_CAN_SEND_TO_UKSS_FROM_MAIN 1
+#define ENABLE_CAN_SEND_TO_MPU_FROM_MAIN 1
+#define ENABLE_CAN_SEND_TO_TERMINAL_FROM_MAIN 0//1
+#define ENABLE_CAN_SEND_TO_TERMINAL_OSCIL 0//1
+#define ENABLE_CAN_SEND_TO_ANOTHER_BSU_FROM_MAIN 1
+
+
+//////////////////////////////////////////////////////
+
+#ifndef ENABLE_CAN_SEND_TO_UKSS_FROM_MAIN
+#define ENABLE_CAN_SEND_TO_UKSS_FROM_MAIN 0
+#endif
+
+#ifndef ENABLE_CAN_SEND_TO_MPU_FROM_MAIN
+#define ENABLE_CAN_SEND_TO_MPU_FROM_MAIN 0
+#endif
+
+
+#ifndef ENABLE_CAN_SEND_TO_TERMINAL_FROM_MAIN
+#define ENABLE_CAN_SEND_TO_TERMINAL_FROM_MAIN 0
+#endif
+
+#ifndef ENABLE_CAN_SEND_TO_TERMINAL_OSCIL
+#define ENABLE_CAN_SEND_TO_TERMINAL_OSCIL 0
+#endif
+
+#ifndef ENABLE_CAN_SEND_TO_ANOTHER_BSU_FROM_MAIN
+#define ENABLE_CAN_SEND_TO_ANOTHER_BSU_FROM_MAIN 0
+#endif
+
+///////////////////////////////////////////////////////////////////
+// setup ukss boxs
+///////////////////////////////////////////////////////////////////
+
+// ���� ����������� ���������� ������� ������������
+#define USE_UKSS_0 1
+#define USE_UKSS_1 1
+#define USE_UKSS_2 1
+#define USE_UKSS_3 1
+#define USE_UKSS_4 1
+//#define USE_UKSS_5 1
+//#define USE_UKSS_6 1
+//#define USE_UKSS_7 1
+//#define USE_UKSS_8 1
+//#define USE_UKSS_9 1
+//#define USE_UKSS_10 1
+//#define USE_UKSS_11 1
+//#define USE_UKSS_12 1
+//#define USE_UKSS_13 1
+//#define USE_UKSS_14 1
+//#define USE_UKSS_15 1
+
+
+
+#define OFFSET_CAN_ADR_UNITS 0x10
+
+// ���� ����������� �������� ������
+
+#if USE_UKSS_0
+#define ZADATCHIK_CAN 0 //Zadatchik
+#endif
+
+#if USE_UKSS_1
+#define VPU_CAN 1 //VPU
+#endif
+
+#if USE_UKSS_2
+#define UMU_CAN_DEVICE 2 //Voltage control UMU
+#endif
+
+#if USE_UKSS_3
+#define BKSSD_CAN_DEVICE 3 //AC DRIVE
+#endif
+
+
+#if USE_UKSS_4
+#define ANOTHER_BSU1_CAN_DEVICE 4 //Another BSU1
+// Unites revers box or not
+// revers box used only on CAN between BS1 BS2
+//#define USE_R_B_4 1 //0
+#endif
+
+
+//#if USE_UKSS_5
+//#define ANOTHER_BSU2_CAN_DEVICE 5 //Another BSU2
+//// Unites revers box or not
+//// revers box used only on CAN between BS1 BS2
+////#define USE_R_B_5 1 //0
+//#endif
+
+
+
+
+///////////////////////////////////////////////////////////////////
+// setup mpu boxes
+///////////////////////////////////////////////////////////////////
+
+// ���� ����������� ���������� ������� ������������
+#define USE_MPU_0 1
+#define USE_MPU_1 1
+//#define USE_MPU_2 1
+//#define USE_MPU_3 1
+
+
+#define OFFSET_CAN_ADR_MPU 0x10
+
+//#define MPU_CAN_DEVICE 2 // MPU
+#define TIME_PAUSE_CAN_FROM_MPU 1000
+
+
+
+
+///////////////////////////////////////////////////////////////////
+// setup terminal boxes
+///////////////////////////////////////////////////////////////////
+// ���� ����������� ���������� ������� ������������
+#define USE_TERMINAL_1_OSCIL 1
+#define USE_TERMINAL_1_CMD 1
+#define USE_TERMINAL_2_OSCIL 1
+#define USE_TERMINAL_2_CMD 1
+
+
+#define OFFSET_CAN_ADR_TERMINAL 0x10
+#define TIME_PAUSE_CAN_FROM_TERMINAL 2
+
+///////////////////////////////////////////////////////////////////
+// setup ALARM_LOG box
+///////////////////////////////////////////////////////////////////
+#define USE_ALARM_LOG_0 1
+
+///////////////////////////////////////////////////////////////////
+// setup can_open boxes
+///////////////////////////////////////////////////////////////////
+//#define BWC_CAN_DEVICE 7 // Water cooler
+//#define INGITIM 9
+
+//#define BWC_CAN_FATEC 1
+//#define BWC_CAN_SIEMENS 1
+//#define INGITIM_CAN_OPEN 1
+
+
+#define CANOPENUNIT_LEN 30
+
+
+/////////words from zadatchik from Ingitim
+#define PDO1_W1_ADR 0x11
+#define PDO1_W2_ADR 0x12
+#define PDO1_W3_ADR 0x13
+#define PDO1_W4_ADR 0x14
+#define PDO2_W1_ADR 0x15
+#define PDO2_W2_ADR 0x16
+#define PDO2_W3_ADR 0x17
+#define PDO2_W4_ADR 0x18
+#define PDO3_W1_ADR 0x19
+#define PDO3_W2_ADR 0x1A
+#define PDO3_W3_ADR 0x1B
+#define PDO3_W4_ADR 0x1C
+#define PDO5_W1_ADR 0x1D
+#define PDO5_W2_ADR 0x1E
+#define PDO5_W3_ADR 0x1F
+#define PDO5_W4_ADR 0x20
+#define PDO6_W1_ADR 0x21
+#define PDO6_W2_ADR 0x22
+#define PDO6_W3_ADR 0x23
+#define PDO6_W4_ADR 0x24
+//////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+#define UNITS_NUMERATION_FROM_0_OR_1 0 //1
+
+
+#define MAX_CAN_WAIT_TIMEOUT 7500 // 2500
+//-------------------------------------------------//
+
+//#define CAN_ADR_TEST_LAMP 0x0CE031 //0x1CE030
+
+
+///////////////////////////////////////////////////////////////////
+
+
+
+
+
+
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+// ��� ukss �������
+//////////////////////////////////////////////////////////////////
+#define ADR_CAN_NUMBER1_ON_ZAD 0x00
+#define ADR_CAN_NUMBER2_ON_ZAD 0x01
+#define ADR_CAN_LAMPS_ON_ZAD 0x02
+#define ADR_CAN_LAMPS_2_ON_ZAD 0x03
+#define ADR_CAN_KEY_ON_ZAD 0x10
+
+//////////////////////////////////////
+//////////////////////////////////////
+
+#define CAN_SPEED_UKSS8 10
+#define CAN_SPEED_VPU1 20
+#define CAN_SPEED_VPU2 20
+#define CAN_SPEED_UMP1 5//30
+
+//#define ADR_CAN_SPEED 99
+//#define ADR_CAN_LENGTH_FINISH_ADR 97
+//#define ADR_CAN_CMD 127
+//#define ADR_CAN_KEY_ON_VPU 16 //
+//#define ADR_CAN_DOOR 0 //
+
+
+//////////////////////////////////////
+//////////////////////////////////////
+
+
+
+#endif /* SRC_MAIN_CAN_PROJECT_H_ */
diff --git a/Inu/Src/main/Main.c b/Inu/Src/main/Main.c
new file mode 100644
index 0000000..9716206
--- /dev/null
+++ b/Inu/Src/main/Main.c
@@ -0,0 +1,126 @@
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_SWPrioritizedIsrLevels.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h"
+
+#include <edrk_main.h>
+#include "RS_Functions.h"
+#include "xp_project.h"
+#include "x_wdog.h"
+
+void main()
+{
+ // Step 1. Initialize System Control:
+ // PLL, WatchDog, enable Peripheral Clocks
+ // This example function is found in the DSP281x_SysCtrl.c file.
+ InitSysCtrl();
+
+ XintfZone0_Timing();//Xilinx Zone
+ XintfZone6_And7_Timing();//Flash Zone
+ XintfZone2_Timing();//External RAM Zone
+
+ // Step 2. Initalize GPIO:
+ // This example function is found in the DSP281x_Gpio.c file and
+ // illustrates how to set the GPIO to it's default state.
+ // InitGpio(); // Skipped for this example
+
+ // For this example use the following configuration:
+ //Gpio_select();
+
+ // Step 3. Clear all interrupts and initialize PIE vector table:
+ // Disable CPU interrupts
+ DINT;
+
+// status_interrupts = __disable_interrupts();
+
+ // Initialize PIE control registers to their default state.
+ // The default state is all PIE interrupts disabled and flags
+ // are cleared.
+ // This function is found in the DSP281x_PieCtrl.c file.
+
+ InitPieCtrl();
+
+// __disable_interrupts();
+
+ // Disable CPU interrupts and clear all CPU interrupt flags:
+ IER = 0x0000;
+ IFR = 0x0000;
+
+ // Initialize the PIE vector table with pointers to the shell Interrupt
+ // Service Routines (ISR).
+ // This will populate the entire table, even if the interrupt
+ // is not used in this example. This is useful for debug purposes.
+ // The shell ISR routines are found in DSP281x_DefaultIsr.c.
+ // This function is found in DSP281x_PieVect.c.
+
+ InitPieVectTable();
+
+ // Step 4. Initialize all the Device Peripherals:
+ // This function is found in DSP281x_InitPeripherals.c
+ // InitPeripherals(); // Not required for this example
+
+ FlashInit();
+
+ SetupLedsLine();
+//while(1)
+{
+ i_led2_on_off(0);
+ i_led1_on_off(1);
+ DELAY_US(500000);
+ i_led2_on_off(1);
+ i_led1_on_off(0);
+ DELAY_US(500000);
+ i_led2_on_off(0);
+ i_led1_on_off(0);
+}
+
+
+ RS232_TuneUp(RS232_SPEED_A, RS232_SPEED_B);
+
+ KickDog();
+
+ // ��������� �������, ��� ���!
+ edrk_init_before_main();
+
+ // ��������� ����������, ���� ��������� RS232
+ project.enable_all_interrupt();
+
+
+ DINT;
+ i_led2_on_off(1);
+ i_led1_on_off(1);
+ DELAY_US(500000);
+ i_led2_on_off(0);
+ i_led1_on_off(0);
+ DELAY_US(500000);
+ i_led2_on_off(1);
+ i_led1_on_off(1);
+ DELAY_US(500000);
+ i_led2_on_off(0);
+ i_led1_on_off(0);
+ DELAY_US(500000);
+ project.enable_all_interrupt();
+
+ // ��������� ������� ����� ����������� ������
+ edrk_init_before_loop();
+
+ // ��� �������� ���� main
+ for(;;)
+ {
+ // ������ � ������, ������ ���������
+
+ edrk_go_main();
+ // ����� �� rs232
+ RS232_WorkingWith(1,0,0);
+// static int fff=0;
+// if (fff)
+// {
+// Answer(&rs_a, CMD_RS232_POKE);
+// fff = 0;
+// }
+
+ }
+
+
+}
+
+
diff --git a/Inu/Src/main/PWMTMSHandle.c b/Inu/Src/main/PWMTMSHandle.c
new file mode 100644
index 0000000..2fe71b1
--- /dev/null
+++ b/Inu/Src/main/PWMTMSHandle.c
@@ -0,0 +1,510 @@
+
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+
+
+#include <f281xpwm.h>
+#include <params.h>
+#include <project.h>
+#include <PWMTMSHandle.h>
+#include <PWMTools.h>
+#include <v_pwm24_v2.h>
+
+#include "CAN_Setup.h"
+#include "global_time.h"
+#include "RS_Functions.h"
+
+
+
+int
+ m_PWM = 1, /* 1-��� ������, 0-��� ������ */
+ Dpwm = 12500,
+ Fpwm = 1000,
+ Dpwm2 = 6250,
+ Dpwm4 = 3125,
+ Zpwm = 1; // ��������
+//TODO ��������� ���������� �����
+static int mPWM_a = 0, mPWM_b = 0; //��� ������� � � b 1 - ���., 0 - ����.
+
+PWMGEND pwmd = PWMGEND_DEFAULTS;
+
+
+#if (TMSPWMGEN==1)
+
+#define DMIN 750 // 15mks Dminimum
+
+interrupt void PWM_Handler(void)
+{
+
+// static unsigned int time_tick_sec_mks=0;
+ static unsigned int pwm_run=0;
+
+ // Enable more interrupts from this timer
+ EvaRegs.EVAIMRA.bit.T1PINT = 1;
+
+ // Note: To be safe, use a mask value to write to the entire
+ // EVAIFRA register. Writing to one bit will cause a read-modify-write
+ // operation that may have the result of writing 1's to clear
+ // bits other then those intended.
+ EvaRegs.EVAIFRA.all = BIT7;
+
+ // Acknowledge interrupt to receive more interrupts from PIE group 2
+ PieCtrlRegs.PIEACK.all = PIEACK_GROUP2;
+
+
+
+ // PWM_ticks++;
+
+ if (pwm_run==1)
+ {
+// stop_pwm();
+ }
+ else
+ {
+
+ pwm_run=1;
+
+
+ EnableInterrupts();
+
+
+ // if (time_tick_sec_mks>FREQ_PWM)
+// {
+// time_tick_sec++;
+// time_tick_sec_mks=0;
+ // }
+// else
+ // time_tick_sec_mks++;
+
+ // rs_a.time_wait_rs_out++;
+// rs_b.time_wait_rs_out++;
+ // rs_a.time_wait_rs_out_mpu++;
+// rs_b.time_wait_rs_out_mpu++;
+
+
+ global_time.calc(&global_time);
+ inc_RS_timeout_cicle();
+ inc_CAN_timeout_cicle();
+
+// led1_on_off(1);
+ PWM_interrupt(); /* ����� ������� ���������y ����� */
+// led1_on_off(0);
+
+ pwm_run=0;
+
+ }
+/*
+ // Enable more interrupts from this timer
+ EvaRegs.EVAIMRA.bit.T1PINT = 1;
+
+ // Note: To be safe, use a mask value to write to the entire
+ // EVAIFRA register. Writing to one bit will cause a read-modify-write
+ // operation that may have the result of writing 1's to clear
+ // bits other then those intended.
+ EvaRegs.EVAIFRA.all = BIT7;
+
+ // Acknowledge interrupt to receive more interrupts from PIE group 2
+ PieCtrlRegs.PIEACK.all = PIEACK_GROUP2;
+
+*/
+
+// led2_on_off(0);
+// disable(); /* ��������� ���������y TMS */
+
+
+// SCIb_RX_Int_enable();
+// SCIa_RX_Int_enable();
+
+
+
+}
+#endif
+
+
+#if (TMSPWMGEN==1)
+void init_eva_evb()
+{
+
+// unsigned int tload;
+
+// stop_pwm();
+
+ EALLOW;
+
+// EVA Configure T1PWM, T2PWM, PWM1-PWM6
+// Initalize the timers
+ // Initalize EVA Timer1
+
+
+ PieVectTable.T1PINT=&PWM_Handler;
+
+
+ EvaRegs.EVAIMRA.bit.T1PINT = 1;
+ EvaRegs.EVAIFRA.bit.T1PINT = 1;
+ // Enable PIE group 2 interrupt 4 for T1PINT
+ PieCtrlRegs.PIEIER2.bit.INTx4 = 1;
+
+
+// EvaRegs.EVAIFRA.bit.T1OFINT=1;
+// PieVectTable.T1OFINT = &PWM_Handler2;
+// EvaRegs.EVAIMRA.bit.T1OFINT = 1;
+// EvaRegs.EVAIFRA.bit.T1OFINT = 1;
+ // Enable PIE group 2 interrupt 7 for T1PINT
+// PieCtrlRegs.PIEIER2.bit.INTx7 = 1;
+
+
+//#ifdef DOUBLE_UPDATE_PWM
+
+// PieVectTable.T1UFINT = &PWM_Handler2;
+// EvaRegs.EVAIMRA.bit.T1UFINT = 1;
+// EvaRegs.EVAIFRA.bit.T1UFINT = 1;
+
+ // Enable PIE group 2 interrupt 7 for T1PINT
+// PieCtrlRegs.PIEIER2.bit.INTx6 = 1;
+
+//#endif
+
+
+// EvaRegs.EVAIFRA.bit.T1CINT=1;
+// PieVectTable.T1CINT = &PWM_Handler2;
+// EvaRegs.EVAIMRA.bit.T1CINT = 1;
+// EvaRegs.EVAIFRA.bit.T1CINT = 1;
+ // Enable PIE group 2 interrupt 7 for T1PINT
+// PieCtrlRegs.PIEIER2.bit.INTx5 = 1;
+
+
+ IER |= M_INT2;
+
+ EDIS;
+// start_pwm();
+
+
+}
+#endif
+
+
+#if (TMSPWMGEN==1)
+void setup_tms_pwm_int(int pwm_freq, int one_two, int pwm_protect)
+{
+
+
+ float64 pwm_period;
+// pwm_tick;
+
+// int prev_interrupt;
+
+ // init_vector();
+
+// f_disable(); /* ��������� ���������y TMS */
+// *(int *)(VECT_TABLE + VECT_INT2) = (int)PWM_Handler; /* ������������� ���������� */
+// SET_IEMASK_INT2(); /* ����� �� ���������y */
+
+ pwm_period = (float64)HSPCLK/(float64)pwm_freq/2.0;
+
+ Fpwm = (int)pwm_freq;
+ Dpwm = (int)pwm_period;
+ Dpwm2 = (int)(pwm_period/2);
+ Dpwm4 = (int)(pwm_period/4);
+
+ // stop_pwm(); /* ���������� ������� ��� */
+ // setup_pwm_out();
+
+
+
+
+ init_eva_evb();
+
+
+
+
+ EvbRegs.EVBIFRA.bit.PDPINTB=1;
+ EvaRegs.EVAIFRA.bit.PDPINTA=1;
+
+// EVBIFRB
+ // Initialize PWM module
+ pwmd.PeriodMax = Dpwm; // Perscaler X1 (T1), ISR period = T x 1
+ pwmd.PeriodMin = DMIN; // Perscaler X1 (T1), ISR period = T x 1
+
+// ARpwmd.PeriodMax = Dpwm;
+// ARpwmd.PeriodMin = DMIN;
+//
+ pwmd.ShiftPhaseA = 0;//Dpwm/6.0;
+ pwmd.ShiftPhaseB = 0;
+
+ pwmd.init(&pwmd);
+
+// ARpwmd.init(&pwmd);
+ // m.m2.bit.WDog_pwm = 0;
+
+
+
+/* pwm1.PeriodMax = Dpwm; // Perscaler X1 (T1), ISR period = T x 1
+ pwm1.init(&pwm1);
+
+ pwm2.PeriodMax = Dpwm; // Perscaler X1 (T1), ISR period = T x 1
+ pwm2.init(&pwm2); */
+
+
+// if(one_two < 1.5) one_two = 0;
+// if(one_two > 1.5) one_two = 0x80000000;
+
+
+// addr_xilinx(WG_COUNT) = pwm_divisor; /* �������� ������� ���� */
+// addr_xilinx(WG_PERIOD) = Dpwm<<16; /* ������ ��� */
+// addr_xilinx(ADR_INT) = one_two; /* ���������� �� ������ */
+// addr_xilinx(WG_PROTECT) = pwm_protect; /* ���������� ���������� ��� */
+
+
+
+//Invoking the computation function
+//svgen_mf1.
+
+// Initialize the SVGEN_MF module
+/*
+ svgen_mf1.FreqMax = _IQ(6*BASE_FREQ*T);
+ svgen_mf2.FreqMax = _IQ(6*BASE_FREQ*T);
+
+
+ svgen_mf2.Offset=_IQ(0);
+ svgen_mf1.Offset=_IQ(0);
+
+ svgen_mf1.Alpha = _IQ(0);
+ svgen_mf2.Alpha = _IQ(0.52359877559829887307710723054658);
+
+
+ k=0.1; //0.9;
+ freq = 0.499;
+
+*/
+//svgen_mf1.calc(&svgen_mf1);
+//svgen_mf2.calc(&svgen_mf2);
+
+// start_pwm_a();
+// start_pwm_b();
+
+
+ i_WriteMemory(ADR_PWM_DRIVE_MODE, 0x0000); //�������� � �������� ��������� ��� TMS
+
+}
+#endif
+
+/********************************************************************/
+/* ���������� ������� ���� */
+/********************************************************************/
+void start_tms_pwm_a()
+{
+ unsigned int mask_tk_lines;
+ mPWM_a = 1;
+
+
+ EALLOW;
+ EvaRegs.COMCONA.all = 0xa600;//0xA600; // Init COMCONA Register
+
+ EvaRegs.ACTRA.all = 0x0999;
+ EDIS;
+
+
+}
+
+void start_tms_pwm_b()
+{
+ unsigned int mask_tk_lines;
+ mPWM_b = 1;
+
+
+ EALLOW;
+ EvbRegs.COMCONB.all = 0xa600;//0xA600; // Init COMCONA Register
+
+ EvbRegs.ACTRB.all = 0x0999;
+ EDIS;
+
+
+
+}
+
+
+
+void start_tms_pwm(void)
+{
+ mPWM_a = 1;
+ mPWM_b = 1;
+
+
+ m_PWM = 0;
+ // m.m1.bit.PWM=0;
+ // m.m1.bit.PWM_A=0;
+ // m.m1.bit.PWM_B=0;
+
+ EALLOW;
+ // addr_xilinx(WG_OUT)=0x00;
+
+ EvaRegs.COMCONA.all = 0xa600;//0xA600; // Init COMCONA Register
+ EvbRegs.COMCONB.all = 0xa600;//0xA600; // Init COMCONA Register
+
+ EvaRegs.ACTRA.all = 0x0999;
+ EvbRegs.ACTRB.all = 0x0999;
+
+// EvaRegs.GPTCONA.bit.TCMPOE=0;
+// EvbRegs.GPTCONB.bit.TCMPOE=0;
+// EvaRegs.T1CON.bit.TECMPR=1;
+// EvbRegs.T3CON.bit.TECMPR=1;
+ EDIS;
+
+}
+
+/********************************************************************/
+/* ���������� ������������ ������� ���� */
+/********************************************************************/
+void start_select_tms_pwm(unsigned int mask)
+{
+ unsigned int mask_pwm_a,mask_pwm_b;
+ unsigned char b,i;
+
+
+ EALLOW;
+
+
+
+ EvaRegs.ACTRA.all = 0x0fff;
+ EvbRegs.ACTRB.all = 0x0fff;
+
+ EvaRegs.COMCONA.all = 0xa600;//0xA600; // Init COMCONA Register
+ EvbRegs.COMCONB.all = 0xa600;//0xA600; // Init COMCONA Register
+
+
+ mask_pwm_a=0;
+ for (i=0;i<6;i++)
+ {
+ b=(mask >> i) & 1;
+ if (b==0)
+ mask_pwm_a |= (1 << (2*i) );
+ else
+ mask_pwm_a |= (3 << (2*i) );
+
+
+ }
+
+ mask_pwm_b=0;
+ for (i=0;i<6;i++)
+ {
+ b=(mask >> (i+8)) & 1;
+ if (b==0)
+ mask_pwm_b |= (1 << (2*i) );
+ else
+ mask_pwm_b |= (3 << (2*i) );
+
+ }
+
+ EvaRegs.ACTRA.all = mask_pwm_a;
+ EvbRegs.ACTRB.all = mask_pwm_b;
+
+ EDIS;
+}
+
+
+/********************************************************************/
+/* ���������� ������� ���� */
+/********************************************************************/
+//#pragma CODE_SECTION(stop_pwm,".fast_run");
+void stop_tms_pwm(void)
+{
+ mPWM_a = 0;
+ mPWM_b = 0;
+
+
+ m_PWM = 1;
+ // m.m1.bit.PWM=1;
+ // m.m1.bit.PWM_A=1;
+ // m.m1.bit.PWM_B=1;
+
+ EALLOW;
+ // EvaRegs.GPTCONA.bit.TCMPOE=1;
+ // EvbRegs.GPTCONB.bit.TCMPOE=1;
+ // EvaRegs.T1CON.bit.TECMPR=0;
+ // EvbRegs.T3CON.bit.TECMPR=0;
+
+ // addr_xilinx(WG_OUT)=0x0fff; // ������� ��������� ����
+ EvaRegs.ACTRA.all = 0x0fff;
+ EvbRegs.ACTRB.all = 0x0fff;
+
+ // EvaRegs.COMCONA.all = 0xa400;//0xA600; // Init COMCONA Register
+ // EvbRegs.COMCONB.all = 0xa400;//0xA600; // Init COMCONA Register
+
+ // EvaRegs.COMCONA.bit.FCMP6OE=0;
+
+
+
+ //EvbRegs.COMCONB.bit.FCOMPOE=0;
+ //EvaRegs.COMCONA.bit.CENABLE=0;
+ //EvbRegs.COMCONB.bit.CENABLE=0;
+
+
+ EDIS;
+
+
+}
+
+void stop_tms_pwm_a()
+{
+ unsigned int mask_tk_lines;
+// m_PWM = 1;
+ mPWM_a = 0;
+
+ EALLOW;
+ EvaRegs.ACTRA.all = 0x0fff;
+ EDIS;
+
+}
+
+
+void stop_tms_pwm_b()
+{
+ unsigned int mask_tk_lines;
+ m_PWM = 1;
+ mPWM_b = 0;
+
+
+
+ EALLOW;
+ EvbRegs.ACTRB.all = 0x0fff;
+ EDIS;
+
+}
+
+void setup_tms_pwm_out(void)
+{
+//int b;
+#if (TMSPWMGEN==1)
+ EALLOW;
+
+// GpioMuxRegs.GPDMUX.bit.T3CTRIP_PDPB_GPIOD5=0;
+// GpioMuxRegs.GPDDIR.bit.GPIOD5=0;
+// GpioDataRegs.GPDSET.bit.GPIOD5=1;
+
+
+// GpioDataRegs.GPDCLEAR.bit.GPIOD5=1;
+
+
+
+ GpioMuxRegs.GPAMUX.bit.PWM1_GPIOA0=1;
+ GpioMuxRegs.GPAMUX.bit.PWM2_GPIOA1=1;
+ GpioMuxRegs.GPAMUX.bit.PWM3_GPIOA2=1;
+ GpioMuxRegs.GPAMUX.bit.PWM4_GPIOA3=1;
+ GpioMuxRegs.GPAMUX.bit.PWM5_GPIOA4=1;
+ GpioMuxRegs.GPAMUX.bit.PWM6_GPIOA5=1;
+
+ GpioMuxRegs.GPBMUX.bit.PWM7_GPIOB0=1;
+ GpioMuxRegs.GPBMUX.bit.PWM8_GPIOB1=1;
+ GpioMuxRegs.GPBMUX.bit.PWM9_GPIOB2=1;
+ GpioMuxRegs.GPBMUX.bit.PWM10_GPIOB3=1;
+ GpioMuxRegs.GPBMUX.bit.PWM11_GPIOB4=1;
+ GpioMuxRegs.GPBMUX.bit.PWM12_GPIOB5=1;
+
+ EDIS;
+ // ��������� ������
+// write_memory(adr_oe_buf_v,0);
+#endif
+}
+
+
+
diff --git a/Inu/Src/main/PWMTMSHandle.h b/Inu/Src/main/PWMTMSHandle.h
new file mode 100644
index 0000000..ab1675c
--- /dev/null
+++ b/Inu/Src/main/PWMTMSHandle.h
@@ -0,0 +1,25 @@
+#ifndef _PWMTMSHANDLE_H
+#define _PWMTMSHANDLE_H
+
+void setup_tms_pwm_out(void);
+void start_tms_pwm(void);
+void stop_tms_pwm(void);
+
+void start_tms_pwm_b();
+void start_tms_pwm_a();
+void stop_tms_pwm_a();
+void stop_tms_pwm_b();
+
+
+void setup_tms_pwm_int(int pwm_freq, int one_two, int pwm_protect);
+
+void start_break_pwm(void);
+void stop_break_pwm(void);
+
+
+
+
+
+
+#endif
+
diff --git a/Inu/Src/main/PWMTools.c b/Inu/Src/main/PWMTools.c
new file mode 100644
index 0000000..b62f7b3
--- /dev/null
+++ b/Inu/Src/main/PWMTools.c
@@ -0,0 +1,2438 @@
+#include <adc_tools.h>
+#include <alg_simple_scalar.h>
+#include <alg_uf_const.h>
+#include <break_regul.h>
+#include <calc_rms_vals.h>
+#include <control_station_project.h> //22.06
+#include <detect_errors_adc.h>
+#include <detect_overload.h>
+#include <edrk_main.h>
+#include <f281xpwm.h>
+//#include <log_to_mem.h>
+#include <master_slave.h>
+#include <math.h>
+#include <message_modbus.h> //22.06
+#include <optical_bus.h>
+#include <params.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+#include <project.h>
+#include <PWMTMSHandle.h>
+#include <PWMTools.h>
+#include <sync_tools.h>
+#include <v_pwm24_v2.h>
+#include <v_pwm24_v2.h>
+#include <v_rotor.h>
+#include <vector.h>
+#include "f281xpwm.h"
+
+//#include "SpaceVectorPWM.h"
+#include "CAN_Setup.h"
+#include "global_time.h"
+#include "IQmathLib.h"
+#include "mathlib.h"
+#include "oscil_can.h"
+#include "rmp_cntl_v1.h"
+#include "uf_alg_ing.h"
+#include "vhzprof.h"
+#include "vector_control.h"
+#include "MemoryFunctions.h"
+#include "RS_Functions.h"
+#include "TuneUpPlane.h"
+#include "xp_write_xpwm_time.h"
+#include "pwm_test_lines.h"
+#include "detect_errors.h"
+#include "modbus_table_v2.h"
+#include "params_alg.h"
+#include "v_rotor_22220.h"
+#include "log_to_memory.h"
+#include "log_params.h"
+#include "limit_power.h"
+#include "pwm_logs.h"
+#include "optical_bus_tools.h"
+#include "ramp_zadanie_tools.h"
+#include "pll_tools.h"
+
+
+/////////////////////////////////////
+#if (_SIMULATE_AC==1)
+#include "sim_model.h"
+#endif
+
+//#pragma DATA_SECTION(freq1,".fast_vars1");
+//_iq freq1;
+
+//#pragma DATA_SECTION(k1,".fast_vars1");
+//_iq k1 = 0;
+
+#define ENABLE_LOG_INTERRUPTS 0 //1
+
+
+#if (ENABLE_LOG_INTERRUPTS)
+
+#pragma DATA_SECTION(log_interrupts,".slow_vars");
+#define MAX_COUNT_LOG_INTERRUPTS 100
+unsigned int log_interrupts[MAX_COUNT_LOG_INTERRUPTS+2] = {0};
+
+
+
+
+/////////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////
+
+
+void add_log_interrupts(int cmd)
+{
+ static int count_log_interrupst = 0;
+
+ if (count_log_interrupst>=MAX_COUNT_LOG_INTERRUPTS)
+ count_log_interrupst = 0;
+
+
+ log_interrupts[count_log_interrupst++] = cmd;
+ log_interrupts[count_log_interrupst++] = EvbRegs.T3CNT;
+
+
+//#if (ENABLE_LOG_INTERRUPTS)
+// add_log_interrupts(0);
+//#endif
+
+}
+
+#endif //if (ENABLE_LOG_INTERRUPTS)
+
+
+
+#pragma DATA_SECTION(iq_U_1_save,".fast_vars1");
+_iq iq_U_1_save = 0;
+#pragma DATA_SECTION(iq_U_2_save,".fast_vars1");
+_iq iq_U_2_save = 0;
+
+
+unsigned int enable_calc_vector = 0;
+
+
+
+//WINDING winding1 = WINDING_DEFAULT;
+
+//#define COUNT_SAVE_LOG_OFF 50 //������� ������ ��� ����������� ����� ���������
+#define COUNT_START_IMP 5 //10
+
+#define CONST_005 838860
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+
+
+#pragma CODE_SECTION(global_time_interrupt,".fast_run2");
+void global_time_interrupt(void)
+{
+
+// inc_RS_timeout_cicle();
+// inc_CAN_timeout_cicle();
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+// PWM_LINES_TK_18_ON;
+#endif
+
+ if (edrk.disable_interrupt_timer3)
+ return;
+
+//i_led1_on_off(1);
+
+
+ if (sync_data.latch_interrupt && sync_data.enabled_interrupt)
+ {
+ // ���������� ���������� ���!
+ // ��� ���������� ��������
+ start_sync_interrupt();
+ }
+
+#if (ENABLE_LOG_INTERRUPTS)
+ add_log_interrupts(1);
+#endif
+
+ global_time.calc(&global_time);
+
+#if (ENABLE_LOG_INTERRUPTS)
+ add_log_interrupts(101);
+#endif
+
+/*
+static unsigned int oldest_time = 0, time_pause = TIME_PAUSE_MODBUS_REMOUTE;
+control_station_test_alive_all_control();
+ if (detect_pause_milisec(time_pause,&oldest_time))
+ modbusNetworkSharing(0);
+
+ RS232_WorkingWith(0,1);
+*/
+
+
+//i_led1_on_off(0);
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ // PWM_LINES_TK_18_OFF;
+#endif
+}
+
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+//#define get_tics_timer_pwm2(k) {time_buf2[k] = (EvbRegs.T3CNT-start_tics_4timer);k++;}
+//unsigned int time_buf2[10] = {0};
+
+
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+#define PAUSE_INC_TIMEOUT_CICLE 10 // FREQPWM/10
+void pwm_inc_interrupt(void)
+{
+ static unsigned int t_inc = 0;
+
+ if (t_inc>=PAUSE_INC_TIMEOUT_CICLE)
+ {
+ inc_RS_timeout_cicle();
+ inc_CAN_timeout_cicle();
+ t_inc = 0;
+ }
+ else
+ t_inc++;
+}
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+
+#pragma CODE_SECTION(pwm_analog_ext_interrupt,".fast_run2");
+void pwm_analog_ext_interrupt(void)
+{
+// static int count_timer_buf2=0, start_tics_4timer = 0, c_rms = 0;
+// static _iq prev_Iu=0, prev_Ua=0;
+ //static _iq iq_50hz_norma = _IQ(50.0/NORMA_FROTOR);
+
+// i_led2_on();
+
+ // ���������� �������� ������� ������ � ����������
+// start_tics_4timer = EvaRegs.T1CNT;
+
+// count_timer_buf2 = 0;
+// get_tics_timer_pwm2(count_timer_buf2);
+
+ if (edrk.SumSbor == 1) {
+// detect_protect_adc(uf_alg.tetta_bs, uf_alg.tetta_bs);
+ }
+
+
+
+ calc_pll_50hz();
+
+//
+// if (c_rms>=9)
+// {
+// edrk.test_rms_Iu = calc_rms(analog.iqIu,prev_Iu,edrk. f_stator);
+// edrk.test_rms_Ua = calc_rms(analog.iqUin_A1B1,prev_Ua, iq_50hz_norma);
+//
+// prev_Iu = analog.iqIu;
+// prev_Ua = analog.iqUin_A1B1;
+// c_rms = 0;
+// }
+// else
+// c_rms++;
+
+// fill_RMS_buff_interrupt(uf_alg.tetta_bs, uf_alg.tetta_bs);
+
+ // get_tics_timer_pwm2(count_timer_buf2);
+// i_led2_off();
+
+
+// global_time.calc(&global_time);
+
+}
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+
+inline void init_regulators()
+{
+// if(f.Mode != 0)
+// {
+//// pwm_vector_model_titov(0, 0, /*rotor.iqW*/0, 0);
+// }
+}
+
+#define select_working_channels(go_a, go_b) {go_a = !f.Obmotka1; \
+ go_b = !f.Obmotka2;}
+
+#define MAX_COUNT_WAIT_GO_0 FREQ_PWM // 1 ���.
+
+
+#define PAUSE_ERROR_DETECT_UPDATE_OPTBUS_DATA 900// ((unsigned int)(1*FREQ_PWM*2)) // ~1sec //50
+#define MAX_TIMER_WAIT_SET_TO_ZERO_ZADANIE 27000 //((unsigned int)(30*FREQ_PWM*2)) // 60 sec
+//#define MAX_TIMER_WAIT_BOTH_READY2 108000 //(120*FREQ_PWM*2) // 120 sec
+#define MAX_TIMER_WAIT_BOTH_READY2 216000 //(120*FREQ_PWM*2) // 240 sec
+#define MAX_TIMER_WAIT_MASTER_SLAVE 4500 // 5 sec
+
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+//#define _ENABLE_PWM_LED2_PROFILE 1
+
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+unsigned int profile_pwm[30]={0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0};
+unsigned int pos_profile_pwm = 0;
+#endif
+
+///////////////////////////////////////////////////////////////////
+#define _ENABLE_LOG_TICS_PWM 0//1
+#define _ENABLE_SLOW_PWM 0//1
+#define _ENABLE_INTERRUPT_PWM_LED2 0//1
+
+#if (_ENABLE_LOG_TICS_PWM==1)
+
+static int c_run=0;
+static int c_run_start=0;
+static int i_log;
+
+
+#pragma DATA_SECTION(time_buf,".slow_vars");
+#define MAX_COUNT_TIME_BUF 50
+int time_buf[MAX_COUNT_TIME_BUF] = {0};
+
+//#define get_tics_timer_pwm(flag,k) {if (flag) {time_buf[k] = (unsigned int)(EvbRegs.T3CNT-start_tics_4timer);k++;}else{time_buf[k] = -1; k++;}}
+
+#define set_tics_timer_pwm(flag,k) { time_buf[k] = flag;k++; }
+
+//#define get_tics_timer_pwm(flag,k) if (flag) ? {time_buf[k] = (EvbRegs.T3CNT-start_tics_4timer);k++;} : {time_buf[k] = -1; k++;};
+static int count_timer_buf=0;
+
+#else
+
+#define get_tics_timer_pwm(flag) asm(" NOP;")
+#define set_tics_timer_pwm(flag,k) asm(" NOP;")
+//static int count_timer_buf=0;
+
+#endif
+
+
+#if(_ENABLE_SLOW_PWM)
+static int slow_pwm_pause = 0;
+#endif
+
+unsigned int count_time_buf = 0;
+int stop_count_time_buf=0;
+unsigned int log_wait;
+
+unsigned int end_tics_4timer, start_tics_4timer;
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////
+#if (_ENABLE_LOG_TICS_PWM==1)
+//#pragma CODE_SECTION(get_tics_timer_pwm,".fast_run");
+void get_tics_timer_pwm(unsigned int flag)
+{
+ unsigned int delta;
+
+ if (flag)
+ {
+ delta = (unsigned int)(EvbRegs.T3CNT-start_tics_4timer);
+ if (count_timer_buf>=3)
+ time_buf[count_timer_buf] = delta - time_buf[count_timer_buf-2];
+ else
+ time_buf[count_timer_buf] = delta;
+ time_buf[count_timer_buf] = time_buf[count_timer_buf]*33/1000;
+ count_timer_buf++;
+ }
+ else
+ {
+ time_buf[count_timer_buf] = -1;
+ count_timer_buf++;
+ }
+}
+#else
+
+#endif
+
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////
+// �������� ������ � ������� ��������
+///////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
+#pragma CODE_SECTION(calc_rotors,".fast_run");
+void calc_rotors(int flag)
+{
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_17_ON;
+#endif
+
+ update_rot_sensors();
+
+
+
+ set_tics_timer_pwm(6,count_timer_buf);
+ get_tics_timer_pwm(flag);
+
+
+#if(C_cds_in_number>=1)
+ project.cds_in[0].read_pbus(&project.cds_in[0]);
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_17_OFF;
+#endif
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+ if (profile_pwm[pos_profile_pwm++])
+ i_led2_on_off(1);
+ else
+ i_led2_on_off(0);
+#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_19_ON;
+#endif
+
+#if(SENSOR_ALG==SENSOR_ALG_23550)
+// 23550
+ RotorMeasureDetectDirection();
+ RotorMeasure();// ����������
+#endif
+
+#if(SENSOR_ALG==SENSOR_ALG_22220)
+// 22220
+ Rotor_measure_22220();
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+ if (profile_pwm[pos_profile_pwm++])
+ i_led2_on_off(1);
+ else
+ i_led2_on_off(0);
+#endif
+
+#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_19_OFF;
+#endif
+
+ set_tics_timer_pwm(7,count_timer_buf);
+ get_tics_timer_pwm(flag);
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_20_ON;
+#endif
+
+// RotorMeasurePBus();
+#if(SENSOR_ALG==SENSOR_ALG_23550)
+// 23550
+ RotorDirectionFilter(WRotorPBus.RotorDirectionInstant, &WRotorPBus.RotorDirectionSlow, &WRotorPBus.RotorDirectionSlow2, &WRotorPBus.RotorDirectionCount);
+#endif
+
+#if(SENSOR_ALG==SENSOR_ALG_22220)
+ // 22220
+ // nothing
+#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_20_OFF;
+#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_20_ON;
+#endif
+
+#if(SENSOR_ALG==SENSOR_ALG_23550)
+// 23550
+ select_values_wrotor();
+#endif
+#if(SENSOR_ALG==SENSOR_ALG_22220)
+// 22220
+ select_values_wrotor_22220();
+
+#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_20_OFF;
+#endif
+
+ set_tics_timer_pwm(8,count_timer_buf);
+ get_tics_timer_pwm(flag);
+
+#endif //(C_cds_in_number>=1)
+
+
+ edrk.rotor_direction = WRotor.RotorDirectionSlow;
+
+#if(SENSOR_ALG==SENSOR_ALG_23550)
+// 23550
+ edrk.iq_f_rotor_hz = WRotor.iqWRotorSumFilter;
+#endif
+
+#if(SENSOR_ALG==SENSOR_ALG_22220)
+// 22220
+ edrk.iq_f_rotor_hz = WRotor.iqWRotorSum;
+#endif
+
+}
+
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
+#pragma CODE_SECTION(calc_zadanie_rampa,".fast_run");
+void calc_zadanie_rampa(void)
+{
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_19_ON;
+#endif
+
+
+ // ������� ��� ����� ������
+ load_current_ramp_oborots_power();
+
+ if (edrk.StartGEDfromControl==0)
+ ramp_all_zadanie(2); // ��������� � ����
+ else
+ if (edrk.flag_wait_set_to_zero_zadanie || edrk.flag_block_zadanie || edrk.Status_Ready.bits.ready_final==0 || /*edrk.StartGEDfromControl==0 ||*/ edrk.run_razbor_shema == 1)
+ ramp_all_zadanie(1); // ������� ����� � ����, �� ������� ��� ������ � ����, �� ��������� edrk.StartGEDfromZadanie
+ else
+ ramp_all_zadanie(0); // ��� ��� �� ��������
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_19_OFF;
+#endif
+
+}
+
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+#pragma CODE_SECTION(async_pwm_ext_interrupt,".fast_run2");
+void async_pwm_ext_interrupt(void)
+{
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_SYNC)
+ PWM_LINES_TK_19_ON;
+#endif
+ if (edrk.run_to_pwm_async)
+ {
+ PWM_interrupt();
+ edrk.run_to_pwm_async = 0;
+ }
+
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_SYNC)
+ PWM_LINES_TK_19_OFF;
+#endif
+
+}
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+void run_detect_fast_error(void)
+{
+
+ detect_error_u_zpt_fast();
+ detect_error_u_in();
+
+}
+////////////////////////////////////////////////////////////////////////////////
+
+#pragma CODE_SECTION(PWM_interrupt_main,".fast_run");
+void PWM_interrupt_main(void)
+{
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_SYNC)
+ PWM_LINES_TK_16_ON;
+#endif
+
+ norma_adc_nc(0);
+
+ edrk.run_to_pwm_async = 1;
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_SYNC)
+ PWM_LINES_TK_16_OFF;
+#endif
+
+}
+////////////////////////////////////////////////////////////////////////////////
+
+
+#define MAX_COUNT_COUNTSTARTGEDFROMZADANIE FREQ_PWM //3000 // �������� � ������ ��������� ������� � edrk.StartGEDfromZadanie
+
+
+
+#pragma CODE_SECTION(PWM_interrupt,".fast_run");
+void PWM_interrupt(void)
+{
+
+ static unsigned int pwm_run = 0;
+ static _iq Uzad1=0, Fzad=0, Uzad2=0, Izad_out = 0, Uzad_from_master = 0;
+
+// static int count_step_ram_off = 0;
+// static int count_start_impuls = 0;
+
+ static int prevGo = -1;
+ static volatile unsigned int go_a = 0;
+ static volatile unsigned int go_b = 0;
+
+ static int prev_go_a = 0;
+ static int prev_go_b = 0;
+
+ static _iq iq_U_1_prev = 0;
+ static _iq iq_U_2_prev = 0;
+ static unsigned int prev_timer = 0;
+ unsigned int cur_timer;
+ static unsigned int count_lost_interrupt=0;
+ static int en_rotor = 1;//1;
+
+ static unsigned long timer_wait_set_to_zero_zadanie = 0;
+ static unsigned long timer_wait_both_ready2 = 0;
+
+ static unsigned int prev_error_controller = 0,error_controller=0;
+
+ static unsigned long time_delta = 0;
+
+ static unsigned int run_calc_uf = 0, prev_run_calc_uf = 0, count_wait_go_0 = 0;
+
+ int pwm_enable_calc_main = 0, pwm_up_down = 0, err_interr = 0, slow_error = 0;
+
+ static unsigned int count_err_read_opt_bus = 0, prev_edrk_Kvitir = 0;
+
+ static unsigned int count_wait_read_opt_bus = 0, old_count_ok = 0, data_ready_optbus = 0, count_ok_read_opt_bus = 0;
+
+// static T_cds_optical_bus_data_in buff[25]={0};
+ static unsigned int flag_last_error_read_opt_bus = 0, sum_count_err_read_opt_bus1=0;
+
+ static unsigned int count_read_slave = 0, flag1_change_moment_read_optbus = 0, flag2_change_moment_read_optbus = 0;
+
+ static unsigned int count_updated_sbus = 0, prev_ManualDischarge = 0;
+
+ static unsigned int prev_flag_detect_update_optbus_data=0, flag_detect_update_optbus_data = 0, pause_error_detect_update_optbus_data = 0;
+ static unsigned int timer_wait_to_master_slave = 0;
+ static unsigned int prev_master = 0;
+
+ static int pwm_enable_calc_main_log = 1;
+
+ static int what_pwm = 0;
+
+ int localStartGEDfromZadanie;
+ static unsigned int countStartGEDfromZadanie = 0;
+
+
+// OPTICAL_BUS_CODE_STATUS optbus_status = {0};
+ static STATUS_DATA_READ_OPT_BUS optbus_status;
+ _iq wd;
+
+// if (edrk.disable_interrupt_sync==0)
+// start_sync_interrupt();
+
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_16_ON;
+#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_16_ON;
+#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+// PWM_LINES_TK_16_ON;
+#endif
+
+
+
+#if (_ENABLE_INTERRUPT_PWM_LED2)
+i_led2_on_off(1);
+#endif
+
+ if (edrk.disable_interrupt_pwm)
+ {
+ pwm_inc_interrupt();
+ return;
+ }
+
+ if (flag_special_mode_rs==1)
+ {
+ calc_norm_ADC_0(1);
+ calc_norm_ADC_1(1);
+ pwm_inc_interrupt();
+
+ return;
+ }
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+ pos_profile_pwm = 0;
+#endif
+
+
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+ if (profile_pwm[pos_profile_pwm++])
+ i_led2_on_off(1);
+ else
+ i_led2_on_off(0);
+#endif
+
+
+// if (xpwm_time.what_next_interrupt==PWM_LOW_LEVEL_INTERRUPT)
+// {
+//#if(_ENABLE_PWM_LINES_FOR_TESTS_SYNC)
+// PWM_LINES_TK_17_ON;
+//#endif
+//
+// i_sync_pin_on();
+//
+// }
+// else
+// {
+//#if(_ENABLE_PWM_LINES_FOR_TESTS_SYNC)
+// PWM_LINES_TK_17_OFF;
+//#endif
+//
+// i_sync_pin_off();
+// }
+
+
+
+////////////////
+//PWN_COUNT_RUN_PER_INTERRUPT PWM_TWICE_INTERRUPT_RUN
+ err_interr = detect_level_interrupt(edrk.flag_second_PCH);
+
+ if (err_interr)
+ edrk.errors.e3.bits.ERR_INT_PWM_LONG |=1;
+
+ if (xpwm_time.one_or_two_interrupts_run == PWM_ONE_INTERRUPT_RUN)
+ pwm_up_down = 2;
+ else
+ if (xpwm_time.where_interrupt == PWM_LOW_LEVEL_INTERRUPT)
+ {
+ pwm_up_down = 0;
+ }
+ else
+ pwm_up_down = 1;
+
+ // sync line
+ if (pwm_up_down==2 || pwm_up_down==0)
+ {
+// what_pwm = 0;
+ // i_sync_pin_on();
+ calculate_sync_detected();
+ }
+
+/////////////////
+#if (ENABLE_LOG_INTERRUPTS)
+ add_log_interrupts(3);
+#endif
+
+
+#if (_ENABLE_LOG_TICS_PWM==1)
+
+ count_timer_buf = 0;
+ // optical_read_data.timer=0;
+#endif
+
+
+#if (_FLOOR6==0)
+// if (edrk.Stop==0)
+// i_led1_on_off(1);
+#else
+ // i_led1_on_off(1);
+#endif
+
+
+ edrk.into_pwm_interrupt = 1;
+
+ // ���������� �������� ������� ������ � ����������
+ start_tics_4timer = EvbRegs.T3CNT;
+ cur_timer = global_time.pwm_tics;
+ if (prev_timer>cur_timer)
+ {
+ if ((prev_timer-cur_timer)<2)
+ {
+// stop_pwm();
+ edrk.count_lost_interrupt++;
+ }
+ }
+ else
+ {
+ if ((cur_timer==prev_timer) || (cur_timer-prev_timer)>2)
+ {
+// stop_pwm();
+ edrk.count_lost_interrupt++;
+ }
+ }
+ prev_timer = cur_timer;
+ // ��������� ���������� �������� ������� ������ � ����������
+
+ set_tics_timer_pwm(1,count_timer_buf);
+ get_tics_timer_pwm(1);
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_17_ON;
+#endif
+
+#if (_SIMULATE_AC==1)
+ calc_norm_ADC_0_sim(0);
+#else
+ calc_norm_ADC_0(0); // ������ ��� � norma ���� �������� � Pwm_main()
+#endif
+ run_detect_fast_error(); //������� ������
+
+
+
+ /////////////////////////////////////////////////////////////
+ /////////////////////////////////////////////////////////////
+ /////////////////////////////////////////////////////////////
+ /////////////////////////////////////////////////////////////
+ if (edrk.Kvitir==0 && prev_edrk_Kvitir==1)
+ {
+ count_err_read_opt_bus = 0;
+ edrk.sum_count_err_read_opt_bus = 0;
+ }
+
+ set_tics_timer_pwm(2,count_timer_buf);
+ get_tics_timer_pwm(1);
+
+ //////////////////////////////
+// inc_RS_timeout_cicle();
+ ////////////////////////////////
+ ////////////////////////////////////////////
+ ////////////////////////////////////////////
+// inc_CAN_timeout_cicle();
+ ////////////////////////////////////////////
+
+ if (edrk.ms.another_bs_maybe_on==1 &&
+ (edrk.auto_master_slave.local.bits.master || edrk.auto_master_slave.local.bits.slave) )
+ {
+
+ flag_detect_update_optbus_data = 1;
+
+ if (prev_flag_detect_update_optbus_data == 0)
+ pause_error_detect_update_optbus_data = 0;
+
+
+ count_updated_sbus = optical_read_data.data_was_update_between_pwm_int;
+
+ // ���� �������� PAUSE_ERROR_DETECT_UPDATE_OPTBUS_DATA ����� ����� � ����� �� OPT_BUS
+ // ����� ������� �������� ������ ������ �� �������������� ���������� ������ �� OPT_BUS
+ if (pause_error_detect_update_optbus_data<PAUSE_ERROR_DETECT_UPDATE_OPTBUS_DATA)
+ pause_error_detect_update_optbus_data++;
+ else
+ {
+ if (optical_read_data.error_wdog || (optical_read_data.data_was_update_between_pwm_int==0))
+ {
+ if (optical_read_data.error_wdog)
+ edrk.errors.e8.bits.WDOG_OPTICAL_BUS |= 1;
+
+ if (optical_read_data.data_was_update_between_pwm_int==0)
+ edrk.errors.e7.bits.ANOTHER_PCH_NOT_ANSWER |= 1;
+ }
+ else
+ {
+ edrk.ms.ready3 = 1;
+ optical_read_data.data_was_update_between_pwm_int = 0;
+ }
+
+ }
+// sum_count_err_read_opt_bus++;
+ }
+ else
+ {
+ pause_error_detect_update_optbus_data = 0;
+ flag_detect_update_optbus_data = 0;
+ edrk.ms.ready3 = 0;
+ }
+ prev_flag_detect_update_optbus_data = flag_detect_update_optbus_data;
+
+ optical_read_data.flag_clear = 1;
+
+
+ if (xpwm_time.where_interrupt == PWM_LOW_LEVEL_INTERRUPT ||
+ xpwm_time.one_or_two_interrupts_run == PWM_ONE_INTERRUPT_RUN)
+ {
+ pwm_enable_calc_main = 1;
+
+ if (sync_data.what_main_pch)
+ {
+ if (sync_data.what_main_pch==2)
+ {
+ if (edrk.flag_second_PCH==1) // ������ �� ������ ��
+ {
+ fix_pwm_freq_synchro_ain();
+ }
+ }
+
+ if (sync_data.what_main_pch==1)
+ {
+ if (edrk.flag_second_PCH==0) // ������ �� ������ ��
+ {
+ fix_pwm_freq_synchro_ain();
+ }
+ }
+ }
+ else
+ fix_pwm_freq_synchro_ain();
+
+ }
+ else
+ {
+ pwm_enable_calc_main = 0;
+ }
+
+ /////////////////////////////////////////////////////////////
+ /////////////////////////////////////////////////////////////
+ /////////////////////////////////////////////////////////////
+ /////////////////////////////////////////////////////////////
+
+//#if(C_cds_in_number>=1)
+// project.cds_in[0].read_pbus(&project.cds_in[0]);
+//#endif
+
+#if(C_cds_in_number>=2)
+ project.cds_in[1].read_pbus(&project.cds_in[1]);
+#endif
+
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_17_OFF;
+#endif
+
+
+
+ set_tics_timer_pwm(10,count_timer_buf);
+ get_tics_timer_pwm(pwm_enable_calc_main_log);
+
+ if (pwm_run == 1)
+ {
+ // ����� � ���������� �� ������-�� �� ��� ���� ���, ��������� �����?
+ soft_stop_x24_pwm_all();
+ edrk.errors.e9.bits.ERR_INT_PWM_VERY_LONG |=1;
+ }
+ else
+ {
+ pwm_run = 1;
+
+// detect_I_M_overload();
+// if (edrk.from_rs.bits.ACTIVE)
+// edrk.Go = edrk.StartGEDRS;
+
+// project_read_errors_controller(); // ������ ADR_ERRORS_TOTAL_INFO
+
+ if ( (edrk.errors.e0.all)
+ || (edrk.errors.e1.all)
+ || (edrk.errors.e2.all)
+ || (edrk.errors.e3.all)
+ || (edrk.errors.e4.all)
+ || (edrk.errors.e5.all)
+ || (edrk.errors.e6.all)
+ || (edrk.errors.e7.all)
+ || (edrk.errors.e8.all)
+ || (edrk.errors.e9.all)
+ || (edrk.errors.e10.all)
+ || (edrk.errors.e11.all)
+ || (edrk.errors.e12.all)
+ )
+ edrk.Stop |= 1;
+ else
+ edrk.Stop = 0;
+
+
+
+ project.read_errors_controller();
+ error_controller = (project.controller.read.errors.all | project.controller.read.errors_buses.bit.slave_addr_error | project.controller.read.errors_buses.bit.count_error_pbus);
+// project.controller.read.errors.all = error_controller;
+
+
+
+ if(error_controller && prev_error_controller==0)
+ {
+ edrk.errors.e11.bits.ERROR_CONTROLLER_BUS |= 1;
+ svgen_set_time_keys_closed(&svgen_pwm24_1);
+ svgen_set_time_keys_closed(&svgen_pwm24_2);
+
+ write_swgen_pwm_times(PWM_MODE_RELOAD_FORCE);
+
+// xerror(main_er_ID(1),(void *)0);
+ }
+ prev_error_controller = error_controller;//project.controller.read.errors.all;
+
+
+ if (pwm_enable_calc_main==0)// ������� � ������ ������ ��� �� ������ ���� - ������ �����
+ {
+
+ if (en_rotor)
+ {
+#if (_SIMULATE_AC==1)
+// calc_rotors_sim();
+#else
+ calc_rotors(pwm_enable_calc_main_log); // �������� ������ � ������� ��������
+#endif
+
+
+
+ }
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+ if (profile_pwm[pos_profile_pwm++])
+ i_led2_on_off(1);
+ else
+ i_led2_on_off(0);
+#endif
+ calc_zadanie_rampa();
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+ if (profile_pwm[pos_profile_pwm++])
+ i_led2_on_off(1);
+ else
+ i_led2_on_off(0);
+#endif
+ calc_norm_ADC_1(1); // ����� ����������
+
+ calc_power_full();
+
+ calc_all_limit_koeffs();
+
+ }
+
+ /////////////////////////////////////////////////////////////
+ /////////////////////////////////////////////////////////////
+
+
+ if (pwm_enable_calc_main)// ������� � ������ ������ ��� �� ������ ����
+ {
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_18_ON;
+#endif
+
+ if (edrk.Obmotka1 == 0)
+ go_a = 1;
+ else
+ go_a = 0;
+
+ if (edrk.Obmotka2 == 0)
+ go_b = 1;
+ else
+ go_b = 0;
+
+ //////////////////////////
+
+ if (optical_read_data.data.cmd.bit.start_pwm && edrk.auto_master_slave.local.bits.slave )
+ edrk.StartGEDfromSyncBus = 1;
+ else
+ edrk.StartGEDfromSyncBus = 0;
+
+ edrk.master_Uzad = _IQ15toIQ( optical_read_data.data.pzad_or_wzad);
+ edrk.master_theta = _IQ12toIQ( optical_read_data.data.angle_pwm);
+ edrk.master_Izad = _IQ15toIQ( optical_read_data.data.iq_zad_i_zad);
+ edrk.master_Iq = _IQ15toIQ( optical_read_data.data.iq_zad_i_zad);
+
+ set_tics_timer_pwm(11,count_timer_buf);
+ get_tics_timer_pwm(pwm_enable_calc_main_log);
+
+ /////////////////////////
+
+ if ((edrk.auto_master_slave.local.bits.slave==1 && edrk.auto_master_slave.local.bits.master==0)
+ || (edrk.auto_master_slave.local.bits.slave==0 && edrk.auto_master_slave.local.bits.master==1) )
+ {
+
+ if (edrk.auto_master_slave.local.bits.master != prev_master)
+ timer_wait_to_master_slave = 0;
+
+ // ����� ������ ���� ��� ��������� �����.
+ if (timer_wait_to_master_slave>MAX_TIMER_WAIT_MASTER_SLAVE)
+ {
+ edrk.Status_Ready.bits.MasterSlaveActive = 1;
+
+ if (edrk.auto_master_slave.local.bits.master)
+ edrk.MasterSlave = MODE_MASTER;
+ else
+ edrk.MasterSlave = MODE_SLAVE;
+ }
+ else
+ {
+ edrk.Status_Ready.bits.MasterSlaveActive = 0;
+ edrk.MasterSlave = MODE_DONTKNOW;
+ timer_wait_to_master_slave++;
+ }
+ prev_master = edrk.auto_master_slave.local.bits.master;
+ }
+ else
+ {
+
+ edrk.Status_Ready.bits.MasterSlaveActive = 0;
+ edrk.MasterSlave = MODE_DONTKNOW;
+
+ timer_wait_to_master_slave = 0;
+ }
+
+
+ set_tics_timer_pwm(12,count_timer_buf);
+ get_tics_timer_pwm(pwm_enable_calc_main_log);
+
+
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER) {
+ if (edrk.MasterSlave == MODE_MASTER) {
+ if (get_start_ged_from_zadanie()) {
+ edrk.prepare_stop_PWM = 0;
+ //edrk.StartGEDfromZadanie = 1;
+ localStartGEDfromZadanie = 1;
+ } else {
+ edrk.prepare_stop_PWM = 1;
+ if (edrk.k_stator1 < 41943) { //335544 ~ 2%
+ //edrk.StartGEDfromZadanie = 0;
+ localStartGEDfromZadanie = 0;
+ }
+ }
+ } else {
+ if (get_start_ged_from_zadanie()) {
+ //edrk.StartGEDfromZadanie = 1;
+ localStartGEDfromZadanie = 1;
+ } else {
+ if (edrk.k_stator1 < 41943) { //335544 ~ 2%
+ //edrk.StartGEDfromZadanie = 0;
+ localStartGEDfromZadanie = 0;
+ }
+ }
+ edrk.prepare_stop_PWM = optical_read_data.data.cmd.bit.prepare_stop_PWM;
+ }
+ } else {
+ //edrk.StartGEDfromZadanie =
+ localStartGEDfromZadanie = get_start_ged_from_zadanie();
+ }
+
+ // �������� ����������� localStartGEDfromZadanie=1 � edrk.StartGEDfromZadanie
+ if (localStartGEDfromZadanie && edrk.prevStartGEDfromZadanie==0)
+ {
+ if (countStartGEDfromZadanie<MAX_COUNT_COUNTSTARTGEDFROMZADANIE)
+ countStartGEDfromZadanie++;
+ else
+ edrk.StartGEDfromZadanie = localStartGEDfromZadanie;
+ }
+ else
+ {
+ edrk.StartGEDfromZadanie = localStartGEDfromZadanie;
+ countStartGEDfromZadanie = 0;
+ }
+
+
+ edrk.prevStartGEDfromZadanie = edrk.StartGEDfromZadanie;
+
+ set_tics_timer_pwm(13,count_timer_buf);
+ get_tics_timer_pwm(pwm_enable_calc_main_log);
+
+
+
+ // �� ������ � ���� ������ �� ����������� �����������?
+ if (optical_read_data.data.cmd.bit.rascepitel_cmd==CODE_RASCEPITEL_CMD_REQUEST_AND_THIS_OFF)
+ {
+ if (edrk.StartGEDfromZadanie==1)
+ {
+ edrk.flag_wait_set_to_zero_zadanie = 1;
+ edrk.you_can_on_rascepitel = 0;
+ }
+ else
+ edrk.flag_block_zadanie = 1;
+ }
+ else
+ {
+ if (edrk.StartGEDfromZadanie)
+ edrk.you_can_on_rascepitel = 0;
+ else
+ edrk.you_can_on_rascepitel = 1;
+ }
+// edrk.flag_wait_set_to_zero_zadanie = 0;
+
+
+
+ set_tics_timer_pwm(131,count_timer_buf);
+ get_tics_timer_pwm(pwm_enable_calc_main_log);
+
+
+ if (optical_read_data.data.cmd.bit.ready_cmd == CODE_READY_CMD_READY1TO2
+ && optical_write_data.data.cmd.bit.ready_cmd == CODE_READY_CMD_READY1TO2)
+ {
+ // ��� �� ����� � ����� ����� �� ����������1 � 2.
+ edrk.flag_wait_both_ready2 = 1;
+ }
+
+
+// if (optical_read_data.data.cmd.bit.ready_cmd)
+//
+// edrk.flag_another_bs_first_ready12
+
+ if (optical_read_data.data.cmd.bit.ready_cmd == CODE_READY_CMD_READY2
+ && optical_write_data.data.cmd.bit.ready_cmd == CODE_READY_CMD_READY2 && edrk.flag_wait_both_ready2)
+ {
+ // ��������� ����� �����
+ edrk.flag_wait_both_ready2 = 0;
+ }
+
+ if (optical_write_data.data.cmd.bit.ready_cmd == CODE_READY_CMD_READY1)
+ edrk.flag_wait_both_ready2 = 0;
+
+ if (edrk.flag_wait_both_ready2)
+ {
+ if (timer_wait_both_ready2>MAX_TIMER_WAIT_BOTH_READY2)
+ edrk.errors.e1.bits.VERY_LONG_BOTH_READY2 |= 1;
+ else
+ timer_wait_both_ready2++;
+
+ }
+ else
+ timer_wait_both_ready2 = 0;
+
+
+ if (optical_read_data.data.cmd.bit.rascepitel_cmd==CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_ON
+ && optical_read_data.data.cmd.bit.ready_cmd == CODE_READY_CMD_READY2) // ��� ����������� ������� ��� ��������� � ��� �� ��������
+ {
+ edrk.flag_block_zadanie = 0;
+ edrk.flag_wait_set_to_zero_zadanie = 0;
+ }
+
+ if (optical_read_data.data.cmd.bit.rascepitel_cmd==CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_OFF
+ && optical_read_data.data.cmd.bit.ready_cmd == CODE_READY_CMD_READY1) // ��� ����������� �������� � ����� �� ��� �� ���������
+ {
+ edrk.flag_block_zadanie = 0;
+ edrk.flag_wait_set_to_zero_zadanie = 0;
+ }
+
+
+ if (edrk.StartGEDfromZadanie==0 && edrk.flag_block_zadanie
+ && (optical_read_data.data.cmd.bit.rascepitel_cmd==CODE_RASCEPITEL_CMD_REQUEST_AND_THIS_OFF))
+ // ��������� ������� �� ������� �����������
+ edrk.you_can_on_rascepitel = 1;
+
+
+ if (edrk.flag_wait_set_to_zero_zadanie)
+ {
+ if (timer_wait_set_to_zero_zadanie>MAX_TIMER_WAIT_SET_TO_ZERO_ZADANIE)
+ {
+ // ������ �� �������� ��������� ������ �����������, �� �������� ������� � ����� ���� ��� �� ������� ���� �����
+ // �� ����� �� ���������!!!!
+ edrk.errors.e1.bits.ANOTHER_BS_NOT_ON_RASCEPITEL |= 1;
+
+ }
+ else
+ timer_wait_set_to_zero_zadanie++;
+
+ }
+ else
+ timer_wait_set_to_zero_zadanie = 0;
+
+
+ // ���� ������ �����������, �� �������� ������ �� �����������.
+ if (edrk.errors.e1.bits.ANOTHER_BS_NOT_ON_RASCEPITEL)
+ edrk.flag_wait_set_to_zero_zadanie = 0;
+
+
+ edrk.StartGED = ((edrk.StartGEDfromControl==1) && (edrk.StartGEDfromZadanie==1) && (edrk.flag_block_zadanie==0));
+
+
+ if (edrk.MasterSlave == MODE_MASTER)
+ {
+ edrk.GoWait = ( (edrk.StartGED ) && (edrk.Stop == 0)
+ && (project.controller.read.errors.all==0) &&
+ (slow_error==0) &&
+ (edrk.Status_Ready.bits.ready_final)
+ && edrk.Status_Ready.bits.MasterSlaveActive
+ && edrk.warnings.e9.bits.BREAKER_GED_ON==0
+ );
+ }
+ else
+ if (edrk.MasterSlave == MODE_SLAVE)
+ {
+ edrk.GoWait = ( (edrk.StartGED && edrk.StartGEDfromSyncBus) && (edrk.Stop == 0)
+ && (project.controller.read.errors.all==0) &&
+ (slow_error==0) &&
+ (edrk.Status_Ready.bits.ready_final)
+ && edrk.Status_Ready.bits.MasterSlaveActive
+ );
+ }
+ else
+ edrk.GoWait = 0;
+
+ // if (edrk.GoWait==0 && edrk.Go == 0 &&
+
+
+ // ��������� ������� ������� edrk.Go
+ if (edrk.GoWait)
+ {
+ if (count_wait_go_0>=MAX_COUNT_WAIT_GO_0)
+ edrk.Go = edrk.GoWait;
+ else
+ {
+ edrk.Go = 0;
+ edrk.errors.e7.bits.VERY_FAST_GO_0to1 |=1; // ������! ������� ������ ������ ��������� edrk.Go!!!
+ }
+ }
+ else
+ {
+ if (edrk.Go)
+ count_wait_go_0 = 0;
+
+ edrk.Go = 0;
+ if (count_wait_go_0<MAX_COUNT_WAIT_GO_0)
+ count_wait_go_0++;
+ }
+
+
+ if (optical_read_data.data.cmd.bit.ready_cmd == CODE_READY_CMD_READY2)
+ edrk.count_bs_work = 1;
+ else
+ edrk.count_bs_work = 0;
+
+#if (_ENABLE_LOG_TICS_PWM==1)
+/*
+ if (stop_count_time_buf==0)
+ {
+ count_time_buf++;
+ if (count_time_buf>=(MAX_COUNT_TIME_BUF-1))
+ count_time_buf = 0;
+
+ log_wait = 0;
+ if (edrk.MasterSlave == MODE_MASTER)
+ log_wait |= 0x1;
+ if (edrk.MasterSlave == MODE_SLAVE)
+ log_wait |= 0x2;
+ if (edrk.StartGED)
+ log_wait |= 0x4;
+ if (edrk.Stop)
+ log_wait |= 0x8;
+ if (edrk.Status_Ready.bits.ready_final)
+ log_wait |= 0x10;
+ if (edrk.Status_Ready.bits.MasterSlaveActive)
+ log_wait |= 0x20;
+ if (edrk.GoWait)
+ log_wait |= 0x40;
+ if (edrk.Go)
+ log_wait |= 0x80;
+ if (project.controller.read.errors.all==0)
+ log_wait |= 0x100;
+ if (slow_error)
+ log_wait |= 0x200;
+ if (edrk.StartGEDfromSyncBus)
+ log_wait |= 0x400;
+
+
+ time_buf[count_time_buf] = log_wait;
+
+ if (edrk.errors.e7.bits.VERY_FAST_GO_0to1)
+ stop_count_time_buf = 1;
+ }
+*/
+#endif
+
+
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_GO)
+ if (edrk.StartGEDfromSyncBus)
+ {
+ PWM_LINES_TK_17_ON;
+ }
+ else
+ {
+ PWM_LINES_TK_17_OFF;
+ }
+
+ if (edrk.StartGEDfromZadanie)
+ {
+ PWM_LINES_TK_18_ON;
+ }
+ else
+ {
+ PWM_LINES_TK_18_OFF;
+ }
+ if (edrk.flag_block_zadanie)
+ {
+ PWM_LINES_TK_19_ON;
+ }
+ else
+ {
+ PWM_LINES_TK_19_OFF;
+ }
+
+ if (edrk.StartGEDfromControl)
+ {
+ PWM_LINES_TK_16_ON;
+ }
+ else
+ {
+ PWM_LINES_TK_16_OFF;
+ }
+
+#endif
+
+
+
+ set_tics_timer_pwm(15,count_timer_buf);
+ get_tics_timer_pwm(pwm_enable_calc_main_log);
+
+ //////////////////////////////////
+ //////////////////////////////////
+
+ if(edrk.Go == 1)
+ {
+ if (edrk.Go != prevGo)
+ {
+ edrk.count_run++;
+// clear_mem(FAST_LOG);
+// count_start_impuls = 0;
+// count_step = 0;
+ f.count_step_ram_off = COUNT_SAVE_LOG_OFF;
+// count_step_run = 0;
+
+ // set_start_mem(FAST_LOG);
+ // set_start_mem(SLOW_LOG);
+
+ // logpar.start_write_fast_log = 1;
+
+ init_uf_const();
+ init_simple_scalar();
+
+ Fzad = 0;
+ Uzad1 = 0;
+ Uzad2 = 0;
+
+ clear_logpar();
+ }
+ else
+ {
+
+ if (f.count_start_impuls < COUNT_START_IMP)
+ {
+ f.count_start_impuls++;
+ }
+ else
+ {
+ f.count_start_impuls = COUNT_START_IMP;
+
+ f.flag_record_log = 1;
+ enable_calc_vector = 1;
+
+ }
+
+ }
+ }
+ else // (edrk.Go == 0)
+ {
+
+ if (f.count_step_ram_off > 0)
+ {
+ f.count_step_ram_off--;
+ f.flag_record_log = 1;
+ } else {
+ f.flag_record_log = 0;
+ }
+
+ // ������ ������
+ if (edrk.ManualDischarge && prev_ManualDischarge!=edrk.ManualDischarge)
+ edrk.Discharge = 1;
+
+ prev_ManualDischarge =edrk.ManualDischarge;
+
+ if (f.count_start_impuls == 0)
+ {
+
+ if (edrk.Discharge || (edrk.ManualDischarge ) )
+ {
+ break_resistor_managment_calc();
+ soft_start_x24_break_1();
+ }
+ else
+ {
+
+ if (f.count_step_ram_off > 0)
+ {
+ break_resistor_recup_calc(edrk.zadanie.iq_set_break_level);
+ // soft_start_x24_break_1();
+ }
+ else
+ {
+ // ��� ���������� ������ �� ��������� ����� ����������
+ soft_stop_x24_pwm_all();
+
+ }
+ }
+
+ }
+
+ set_tics_timer_pwm(16,count_timer_buf);
+ get_tics_timer_pwm(pwm_enable_calc_main_log);
+
+ if (f.count_start_impuls==COUNT_START_IMP)
+ {
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER)
+ {
+ if (edrk.flag_second_PCH == 0) {
+ wd = uf_alg.winding_displacement_bs1;
+ } else {
+ wd = uf_alg.winding_displacement_bs2;
+ }
+
+ vectorControlConstId(edrk.zadanie.iq_power_zad_rmp, edrk.zadanie.iq_oborots_zad_hz_rmp,
+ WRotor.RotorDirectionSlow, WRotor.iqWRotorSumFilter,
+ edrk.Mode_ScalarVectorUFConst,
+ edrk.MasterSlave, edrk.zadanie.iq_Izad, wd,
+ edrk.master_theta, edrk.master_Iq, edrk.iq_power_kw_another_bs,
+ &edrk.tetta_to_slave, &edrk.Iq_to_slave, &edrk.P_to_master,
+ 0, 1);
+
+ test_calc_vect_dq_pwm24_Ing(vect_control.iqTheta, vect_control.iqUdKm, vect_control.iqUqKm,
+ edrk.disable_alg_u_disbalance,
+ edrk.zadanie.iq_kplus_u_disbalance_rmp, edrk.zadanie.iq_k_u_disbalance_rmp,
+ filter.iqU_1_fast, filter.iqU_2_fast,
+ 0,
+ edrk.Uzad_max,
+ edrk.MasterSlave,
+ edrk.flag_second_PCH,
+ &edrk.Kplus, &edrk.Uzad_to_slave);
+ analog.PowerFOC = edrk.P_to_master;
+ Fzad = vect_control.iqFstator;
+ Izad_out = edrk.Iq_to_slave;
+ } else {
+ test_calc_simple_dq_pwm24_Ing(Fzad, 0, 0,
+ 0, 0, filter.iqU_1_fast, filter.iqU_2_fast,
+ 1,
+ edrk.Uzad_max,
+ edrk.master_theta,
+ edrk.master_Uzad,
+ edrk.MasterSlave,
+ edrk.flag_second_PCH,
+ &edrk.Kplus, &edrk.tetta_to_slave,
+ &edrk.Uzad_to_slave);
+ }
+ }
+ else
+ {
+ if (f.count_start_impuls==COUNT_START_IMP-1)
+ {
+
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER)
+ {
+ if (edrk.flag_second_PCH == 0) {
+ wd = uf_alg.winding_displacement_bs1;
+ } else {
+ wd = uf_alg.winding_displacement_bs2;
+ }
+
+ vectorControlConstId(edrk.zadanie.iq_power_zad_rmp, edrk.zadanie.iq_oborots_zad_hz_rmp,
+ WRotor.RotorDirectionSlow, WRotor.iqWRotorSumFilter,
+ edrk.Mode_ScalarVectorUFConst,
+ edrk.MasterSlave, edrk.zadanie.iq_Izad, wd,
+ edrk.master_theta, edrk.master_Iq, edrk.iq_power_kw_another_bs,
+ &edrk.tetta_to_slave, &edrk.Iq_to_slave, &edrk.P_to_master,
+ 0, 1);
+
+ test_calc_vect_dq_pwm24_Ing(vect_control.iqTheta, vect_control.iqUdKm, vect_control.iqUqKm,
+ edrk.disable_alg_u_disbalance,
+ edrk.zadanie.iq_kplus_u_disbalance_rmp, edrk.zadanie.iq_k_u_disbalance_rmp,
+ filter.iqU_1_fast, filter.iqU_2_fast,
+ 0,
+ edrk.Uzad_max,
+ edrk.MasterSlave,
+ edrk.flag_second_PCH,
+ &edrk.Kplus, &edrk.Uzad_to_slave);
+ analog.PowerFOC = edrk.P_to_master;
+ Fzad = vect_control.iqFstator;
+ Izad_out = edrk.Iq_to_slave;
+ } else {
+ test_calc_simple_dq_pwm24_Ing(Fzad, 0, 0,
+ 0, 0, filter.iqU_1_fast, filter.iqU_2_fast,
+ 1,
+ edrk.Uzad_max,
+ edrk.master_theta,
+ edrk.master_Uzad,
+ edrk.MasterSlave,
+ edrk.flag_second_PCH,
+ &edrk.Kplus, &edrk.tetta_to_slave,
+ &edrk.Uzad_to_slave);
+ }
+
+ }
+ else
+ {
+ if (f.count_start_impuls==COUNT_START_IMP-2)
+ {
+ // ��� ����� middle ��������� ����� ����������� ������
+// svgen_set_time_keys_closed(&svgen_pwm24_1);
+// svgen_set_time_keys_closed(&svgen_pwm24_2);
+ svgen_set_time_middle_keys_open(&svgen_pwm24_1);
+ svgen_set_time_middle_keys_open(&svgen_pwm24_2);
+ }
+ else
+ // � ��� �� ��� �����������
+ {
+ svgen_set_time_keys_closed(&svgen_pwm24_1);
+ svgen_set_time_keys_closed(&svgen_pwm24_2);
+ }
+
+ Fzad = 0;
+
+ }
+ }
+
+
+ if (f.count_start_impuls > 0) {
+ f.count_start_impuls -= 1;
+ } else {
+ f.count_start_impuls = 0;
+ }
+ enable_calc_vector = 0;
+
+
+
+ Uzad1 = 0;
+ Uzad2 = 0;
+
+ } // end if Go==1
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_18_OFF;
+#endif
+
+
+ } // end pwm_enable_calc_main one interrupt one period only
+
+/*
+ *
+ // if ((m.m0.bit.EnableGoA == 1) && (f.Obmotka1 == 0))
+
+
+ // if ((m.m0.bit.EnableGoB == 1) && (f.Obmotka2 == 0))
+ if (f.Obmotka2 == 0)
+ {
+ go_b = 1;
+ }
+ else
+ {
+ go_b = 0;
+ }
+
+ if (go_a == 0 && prev_go_a != go_a)
+ {
+ //��������� 1 �������
+ soft_stop_x24_pwm_1();
+ }
+
+ if (go_a == 1 && prev_go_a != go_a)
+ {
+ //�������� 1 �������
+ soft_start_x24_pwm_1();
+ }
+
+ if (go_b == 0 && prev_go_b != go_b)
+ {
+ //��������� 2 �������
+ soft_stop_x24_pwm_2();
+ }
+
+ if (go_b == 1 && prev_go_b != go_b)
+ {
+ //�������� 2 �������
+ soft_start_x24_pwm_2();
+ }
+
+ prev_go_a = go_a;
+ prev_go_b = go_b;
+ *
+ *
+ */
+
+ ///////////////////////////////////////////
+ ///////////////////////////////////////////
+ ///////////////////////////////////////////
+ ///////////////////////////////////////////
+ ///////////////////////////////////////////
+ ///////////////////////////////////////////
+ ///////////////////////////////////////////
+ ///////////////////////////////////////////
+
+ if (pwm_enable_calc_main) // ������� � ������ ������ ��� �� ������ ����
+ {
+
+
+ if (f.count_start_impuls==1 && edrk.Go==1)
+ {
+ // � ��� �� ��� �� ����������
+ svgen_set_time_keys_closed(&svgen_pwm24_1);
+ svgen_set_time_keys_closed(&svgen_pwm24_2);
+ // soft_start_x24_pwm_1_2();
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER) {
+ if (edrk.flag_second_PCH == 0) {
+ wd = uf_alg.winding_displacement_bs1;
+ } else {
+ wd = uf_alg.winding_displacement_bs2;
+ }
+ vectorControlConstId(edrk.zadanie.iq_power_zad_rmp, edrk.zadanie.iq_oborots_zad_hz_rmp,
+ WRotor.RotorDirectionSlow, WRotor.iqWRotorSumFilter,
+ edrk.Mode_ScalarVectorUFConst,
+ edrk.MasterSlave, edrk.zadanie.iq_Izad, wd,
+ edrk.master_theta, edrk.master_Iq, edrk.P_from_slave,
+ &edrk.tetta_to_slave, &edrk.Iq_to_slave, &edrk.P_to_master, 1, edrk.prepare_stop_PWM);
+ }
+ }
+
+ if (f.count_start_impuls==2 && edrk.Go==1)
+ {
+ // �������� ���
+ if (go_a == 1 && go_b == 1) {
+ // start_pwm(); ������ ��������� ���� ��� �� ��������� edrk.Go
+ soft_start_x24_pwm_1_2();
+ } else if (go_a == 1) {
+ soft_start_x24_pwm_1();
+ } else if (go_b == 1) {
+ soft_start_x24_pwm_2();
+ }
+
+ // enable work break
+#if (DISABLE_WORK_BREAK==1)
+
+#else
+// if (edrk.disable_break_work==0)
+ {
+ soft_start_x24_break_1();
+ }
+#endif
+
+ } // end if (count_start_impuls==5)
+
+
+ if (f.count_start_impuls==3 && edrk.Go==1)
+ {
+ // ��������� ��������� ���
+ svgen_set_time_middle_keys_open(&svgen_pwm24_1);
+ svgen_set_time_middle_keys_open(&svgen_pwm24_2);
+ }
+
+
+
+ if (f.count_start_impuls==4 && edrk.Go==1)
+ {
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER)
+ {
+
+// void simple_scalar(int n_alg, int n_wind_pump, _iq Frot_pid, _iq Frot,_iq fzad,_iq mzz_zad, _iq bpsi_const, _iq fzad_provorot,
+// _iq iqIm_1, _iq iqIm_2, _iq iqUin, _iq Iin, _iq powerzad, _iq power_pid,
+// _iq *Fz, _iq *Uz1)
+
+ if (edrk.flag_second_PCH == 0) {
+ wd = uf_alg.winding_displacement_bs1;
+ } else {
+ wd = uf_alg.winding_displacement_bs2;
+ }
+
+ vectorControlConstId(0, 0,
+ WRotor.RotorDirectionSlow, WRotor.iqWRotorSumFilter,
+ edrk.Mode_ScalarVectorUFConst,
+ edrk.MasterSlave, edrk.zadanie.iq_Izad, wd,
+ edrk.master_theta, edrk.master_Iq, edrk.iq_power_kw_another_bs,
+ &edrk.tetta_to_slave, &edrk.Iq_to_slave, &edrk.P_to_master,
+ 0, edrk.prepare_stop_PWM);
+
+ test_calc_vect_dq_pwm24_Ing(vect_control.iqTheta, vect_control.iqUdKm, vect_control.iqUqKm,
+ edrk.disable_alg_u_disbalance,
+ edrk.zadanie.iq_kplus_u_disbalance_rmp, edrk.zadanie.iq_k_u_disbalance_rmp,
+ filter.iqU_1_fast, filter.iqU_2_fast,
+ 0,
+ edrk.Uzad_max,
+ edrk.MasterSlave,
+ edrk.flag_second_PCH,
+ &edrk.Kplus, &edrk.Uzad_to_slave);
+ Fzad = vect_control.iqFstator;
+ Izad_out = edrk.Iq_to_slave;
+ } else {
+ test_calc_simple_dq_pwm24_Ing(Fzad, 0, 0,
+ 0, 0, filter.iqU_1_fast, filter.iqU_2_fast,
+ 0,
+ edrk.Uzad_max,
+ edrk.master_theta,
+ edrk.master_Uzad,
+ edrk.MasterSlave,
+ edrk.flag_second_PCH,
+ &edrk.Kplus, &edrk.tetta_to_slave, &edrk.Uzad_to_slave);
+
+
+ simple_scalar(1,0, WRotor.RotorDirectionSlow,
+ WRotor.iqWRotorSumFilter2, WRotor.iqWRotorSumFilter,
+ 0,
+ 0,
+ 0, edrk.iq_bpsi_normal,
+ 0,
+ // analog.iqU_1_long+analog.iqU_2_long,
+ edrk.zadanie.iq_ZadanieU_Charge_rmp+edrk.zadanie.iq_ZadanieU_Charge_rmp,
+ 0,
+ edrk.zadanie.iq_power_zad_rmp, 0,
+ edrk.zadanie.iq_limit_power_zad_rmp, edrk.Mode_ScalarVectorUFConst,
+ 0,0, edrk.count_bs_work+1,
+ &Fzad, &Uzad1, &Uzad2, &Izad_out);
+ }
+
+ }
+
+ if (f.count_start_impuls == COUNT_START_IMP && edrk.Go==1)
+ {
+ if (pwm_enable_calc_main) // ������� � ������ ������ ��� �� ������ ����
+ {
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_21_ON;
+#endif
+
+
+ //break_resistor_recup_calc(edrk.zadanie.iq_ZadanieU_Charge);
+ break_resistor_recup_calc(edrk.zadanie.iq_set_break_level);
+
+ set_tics_timer_pwm(17,count_timer_buf);
+ get_tics_timer_pwm(pwm_enable_calc_main_log);
+
+ run_calc_uf = 1;
+
+ // �������� ������ ���, ��� ��� ������� � middle
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_UF_CONST)
+ {
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_20_ON;
+#endif
+ uf_const(&Fzad,&Uzad1,&Uzad2);
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_20_OFF;
+#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_20_ON;
+#endif
+
+ test_calc_simple_dq_pwm24_Ing(Fzad,
+ Uzad1,
+ edrk.disable_alg_u_disbalance,
+ edrk.zadanie.iq_kplus_u_disbalance,
+ edrk.zadanie.iq_k_u_disbalance,
+ filter.iqU_1_fast,
+ filter.iqU_2_fast,
+ 0,
+ edrk.Uzad_max,
+ edrk.master_theta,
+ edrk.master_Uzad,
+ edrk.MasterSlave,
+ edrk.flag_second_PCH,
+ &edrk.Kplus,
+ &edrk.tetta_to_slave,
+ &edrk.Uzad_to_slave);
+// rmp_freq.DesiredInput = alg_pwm24.freq1;
+// rmp_freq.calc(&rmp_freq);
+// Fzad = rmp_freq.Out;
+//
+// vhz1.Freq = Fzad;
+// vhz1.calc(&vhz1);
+//
+//
+// Uzad1 = alg_pwm24.k1;
+// Uzad2 = alg_pwm24.k1;
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_20_OFF;
+#endif
+
+ // test_calc_pwm24(Uzad1, Uzad2, Fzad);
+ // analog_dq_calc_const();
+
+ } // end ALG_MODE_UF_CONST
+ else
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_SCALAR_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_SCALAR_POWER)
+ {
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_20_ON;
+#endif
+ simple_scalar(1,
+ 0,
+ WRotor.RotorDirectionSlow,
+ WRotor.iqWRotorSumFilter, //rotor_22220.iqFlong * rotor_22220.direct_rotor;
+ WRotor.iqWRotorSumFilter, //rotor_22220.iqFout * rotor_22220.direct_rotor;
+ //0, 0,
+ edrk.zadanie.iq_oborots_zad_hz_rmp,
+ edrk.all_limit_koeffs.sum_limit,
+ edrk.zadanie.iq_Izad_rmp,
+ edrk.iq_bpsi_normal,
+ analog.iqIm,
+// analog.iqU_1_long+analog.iqU_2_long,
+ edrk.zadanie.iq_ZadanieU_Charge_rmp+edrk.zadanie.iq_ZadanieU_Charge_rmp,
+ analog.iqIin_sum,
+ edrk.zadanie.iq_power_zad_rmp,
+ edrk.iq_power_kw_full_znak,//(filter.PowerScalar+edrk.iq_power_kw_another_bs),
+ edrk.zadanie.iq_limit_power_zad_rmp, edrk.Mode_ScalarVectorUFConst,
+ edrk.master_Izad,
+ edrk.MasterSlave,
+ edrk.count_bs_work+1,
+ &Fzad,
+ &Uzad1,
+ &Uzad2,
+ &Izad_out);
+
+ set_tics_timer_pwm(18,count_timer_buf);
+ get_tics_timer_pwm(pwm_enable_calc_main_log);
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_20_OFF;
+#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_20_ON;
+#endif
+
+
+
+ if (edrk.cmd_disable_calc_km_on_slave)
+ Uzad_from_master = edrk.master_Uzad;
+ else
+ {
+#if (DISABLE_CALC_KM_ON_SLAVE==1)
+ Uzad_from_master = edrk.master_Uzad;
+#else
+ Uzad_from_master = Uzad1;
+#endif
+
+ }
+
+ test_calc_simple_dq_pwm24_Ing(Fzad, Uzad1, edrk.disable_alg_u_disbalance,
+ edrk.zadanie.iq_kplus_u_disbalance, edrk.zadanie.iq_k_u_disbalance, filter.iqU_1_fast, filter.iqU_2_fast,
+ 0,
+ edrk.Uzad_max,
+ edrk.master_theta,
+ Uzad_from_master,
+ edrk.MasterSlave,
+ edrk.flag_second_PCH,
+ &edrk.Kplus, &edrk.tetta_to_slave, &edrk.Uzad_to_slave);
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_20_OFF;
+#endif
+
+ set_tics_timer_pwm(19,count_timer_buf);
+ get_tics_timer_pwm(pwm_enable_calc_main_log);
+
+ if (edrk.flag_second_PCH == 0) {
+ wd = uf_alg.winding_displacement_bs1;
+ } else {
+ wd = uf_alg.winding_displacement_bs2;
+ }
+
+ analog_dq_calc_external(wd, uf_alg.tetta);
+
+ } // end ALG_MODE_SCALAR_OBOROTS
+ else
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER)
+ {
+
+// void simple_scalar(int n_alg, int n_wind_pump, _iq Frot_pid, _iq Frot,_iq fzad,_iq mzz_zad, _iq bpsi_const, _iq fzad_provorot,
+// _iq iqIm_1, _iq iqIm_2, _iq iqUin, _iq Iin, _iq powerzad, _iq power_pid,
+// _iq *Fz, _iq *Uz1)
+
+ if (edrk.flag_second_PCH == 0) {
+ wd = uf_alg.winding_displacement_bs1;
+ } else {
+ wd = uf_alg.winding_displacement_bs2;
+ }
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_20_ON;
+#endif
+ vectorControlConstId(edrk.zadanie.iq_power_zad_rmp, edrk.zadanie.iq_oborots_zad_hz_rmp,
+ WRotor.RotorDirectionSlow, WRotor.iqWRotorSumFilter,
+ edrk.Mode_ScalarVectorUFConst,
+ edrk.MasterSlave, edrk.zadanie.iq_Izad, wd,
+ edrk.master_theta, edrk.master_Iq, edrk.iq_power_kw_another_bs,
+ &edrk.tetta_to_slave, &edrk.Iq_to_slave, &edrk.P_to_master,
+ 0, edrk.prepare_stop_PWM);
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_20_OFF;
+#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_20_ON;
+#endif
+
+ test_calc_vect_dq_pwm24_Ing(vect_control.iqTheta, vect_control.iqUdKm, vect_control.iqUqKm,
+ edrk.disable_alg_u_disbalance,
+ edrk.zadanie.iq_kplus_u_disbalance_rmp, edrk.zadanie.iq_k_u_disbalance_rmp,
+ filter.iqU_1_fast, filter.iqU_2_fast,
+ 0,
+ edrk.Uzad_max,
+ edrk.MasterSlave,
+ edrk.flag_second_PCH,
+ &edrk.Kplus, &edrk.Uzad_to_slave);
+
+ analog.PowerFOC = edrk.P_to_master;
+ Fzad = vect_control.iqFstator;
+ Izad_out = edrk.Iq_to_slave;
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_20_OFF;
+#endif
+ } // end ALG_MODE_FOC_OBOROTS
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_21_OFF;
+#endif
+
+ } // end pwm_enable_calc_main
+
+ } // end (count_start_impuls == COUNT_START_IMP && edrk.Go==1)
+ else
+ {
+ run_calc_uf = 0;
+ if (pwm_enable_calc_main) // ������� � ������ ������ ��� �� ������ ����
+ {
+
+ }
+ svgen_pwm24_1.Ta_imp = 0;
+ svgen_pwm24_1.Tb_imp = 0;
+ svgen_pwm24_1.Tc_imp = 0;
+ svgen_pwm24_2.Ta_imp = 0;
+ svgen_pwm24_2.Tb_imp = 0;
+ svgen_pwm24_2.Tc_imp = 0;
+
+ } // end else (count_start_impuls == COUNT_START_IMP && edrk.Go==1)
+
+ prevGo = edrk.Go;
+
+
+
+ //////////////////////////////////
+ optical_write_data.data.cmd.bit.start_pwm = edrk.Go;
+ optical_write_data.data.cmd.bit.prepare_stop_PWM = edrk.prepare_stop_PWM;
+
+ optical_write_data.data.angle_pwm = _IQtoIQ12(edrk.tetta_to_slave + vect_control.add_tetta);
+ optical_write_data.data.pzad_or_wzad = _IQtoIQ15(edrk.Uzad_to_slave);
+ optical_write_data.data.iq_zad_i_zad = _IQtoIQ15(edrk.Izad_out);
+
+ optical_bus_update_data_write();
+
+ set_tics_timer_pwm(20,count_timer_buf);
+ get_tics_timer_pwm(pwm_enable_calc_main_log);
+
+
+ if (edrk.ms.another_bs_maybe_on==1 && edrk.auto_master_slave.local.bits.master)
+ {
+ // i_led2_on();
+ }
+
+ //////////////////////////////////
+ //////////////////////////////////
+
+ edrk.Izad_out = Izad_out;
+
+ if (edrk.MasterSlave==MODE_SLAVE)
+ {
+ edrk.f_stator = Fzad;
+ edrk.k_stator1 = edrk.Uzad_to_slave;//Uzad1;
+ edrk.k_stator2 = edrk.Uzad_to_slave;//Uzad2;
+
+ }
+ else
+ if (edrk.MasterSlave==MODE_MASTER)
+ {
+ edrk.f_stator = Fzad;
+ edrk.k_stator1 = edrk.Uzad_to_slave;//Uzad1;
+ edrk.k_stator2 = edrk.Uzad_to_slave;
+ }
+ else
+ {
+ edrk.f_stator = 0;
+ edrk.k_stator1 = 0;
+ edrk.k_stator2 = 0;
+ }
+
+ } // end pwm_enable_calc_main
+
+
+
+
+ ///////////////////////////////////////////
+ ///////////////////////////////////////////
+ ///////////////////////////////////////////
+ ///////////////////////////////////////////
+
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_22_ON;
+#endif
+
+ if (xpwm_time.one_or_two_interrupts_run == PWM_ONE_INTERRUPT_RUN)
+ write_swgen_pwm_times(PWM_MODE_RELOAD_FORCE);
+ else
+ {
+ if (edrk.Go==1)
+ {
+ if (f.count_start_impuls==COUNT_START_IMP-1)
+ {
+ if (pwm_enable_calc_main)
+ write_swgen_pwm_times(PWM_MODE_RELOAD_LEVEL_HIGH);
+ else
+ write_swgen_pwm_times(PWM_MODE_RELOAD_LEVEL_LOW);
+ }
+ else
+// if (pwm_enable_calc_main)
+ write_swgen_pwm_times(PWM_MODE_RELOAD_FORCE);
+ }
+ else
+ {
+ if (f.count_start_impuls==COUNT_START_IMP-3)
+ {
+ if (pwm_enable_calc_main)
+ write_swgen_pwm_times(PWM_MODE_RELOAD_LEVEL_HIGH);
+ else
+ write_swgen_pwm_times(PWM_MODE_RELOAD_LEVEL_LOW);
+
+ }
+ else
+ write_swgen_pwm_times(PWM_MODE_RELOAD_FORCE);
+ }
+
+
+
+ // if (pwm_enable_calc_main)
+ // prev_run_calc_uf = run_calc_uf;
+
+
+
+ }
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_22_OFF;
+#endif
+
+
+ set_tics_timer_pwm(21,count_timer_buf);
+ get_tics_timer_pwm(pwm_enable_calc_main_log);
+
+
+ // test write oscil buf
+
+ if ( pwm_enable_calc_main==0) // ������� � ������ ������ ��� �� ������ ����
+ {
+
+ run_write_logs();
+
+ }
+
+
+ // i_led2_on();
+ //
+ if (edrk.SumSbor == 1) {
+ detect_protect_adc(uf_alg.tetta_bs, uf_alg.tetta_bs);
+ //// get_tics_timer_pwm(pwm_enable_calc_main,count_timer_buf);
+ }
+
+ // fill_RMS_buff_interrupt(uf_alg.tetta_bs, uf_alg.tetta_bs);
+
+ set_tics_timer_pwm(24,count_timer_buf);
+ get_tics_timer_pwm(pwm_enable_calc_main_log);
+
+
+ // out_I_over_1_6.calc(&out_I_over_1_6);
+ // i_led2_off();
+
+
+ pwm_run = 0;
+
+
+ } // end if pwm_run==1
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_16_OFF;
+#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_16_ON;
+#endif
+
+ if (pwm_enable_calc_main==0) // ������� � ������ ������ ��� �� ������ ����
+ {
+
+
+ // pwm_analog_ext_interrupt();
+
+// inc_RS_timeout_cicle();
+// inc_CAN_timeout_cicle();
+
+#if (_SIMULATE_AC==1)
+ sim_model_execute();
+#endif
+
+ }
+
+ pwm_analog_ext_interrupt();
+ pwm_inc_interrupt();
+
+
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_16_OFF;
+#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_16_ON;
+#endif
+
+
+
+
+ set_tics_timer_pwm(25,count_timer_buf);
+ get_tics_timer_pwm(pwm_enable_calc_main_log);
+
+
+#if (_ENABLE_SLOW_PWM)
+// pause_1000(slow_pwm_pause);
+#endif
+
+ set_tics_timer_pwm(26,count_timer_buf);
+ get_tics_timer_pwm(pwm_enable_calc_main_log);
+
+/////////////////////////////////////////////////
+ // ������� ����� ������ � ����������
+ end_tics_4timer = EvbRegs.T3CNT;
+
+ if (end_tics_4timer>start_tics_4timer)
+ {
+ time_delta = (end_tics_4timer - start_tics_4timer);
+ time_delta = time_delta * 33/1000;
+ if (pwm_enable_calc_main)
+ edrk.period_calc_pwm_int1 = time_delta;//(end_tics_4timer - start_tics_4timer)*33/1000;
+ else
+ edrk.period_calc_pwm_int2 = time_delta;//(end_tics_4timer - start_tics_4timer)*33/1000;
+ }
+ // ��������� ������� ����� ������ � ����������
+ /////////////////////////////////////////////////
+
+ // get_tics_timer_pwm(pwm_enable_calc_main,count_timer_buf);
+
+
+
+
+
+#if (_ENABLE_LOG_TICS_PWM==1)
+
+ for (i_log=count_timer_buf;i_log<MAX_COUNT_TIME_BUF;i_log++)
+ {
+ time_buf[i_log] = 0;
+ }
+
+ set_tics_timer_pwm(100,count_timer_buf);
+ time_buf[count_timer_buf] = time_delta;
+
+// set_tics_timer_pwm(edrk.period_calc_pwm_int);
+
+
+ if (c_run>=10000)
+ c_run=c_run_start;
+ else
+ c_run++;
+#endif
+
+#if (ENABLE_LOG_INTERRUPTS)
+ add_log_interrupts(103);
+#endif
+
+
+
+// i_sync_pin_off();
+ edrk.into_pwm_interrupt = 0;
+
+#if (_ENABLE_INTERRUPT_PWM_LED2)
+i_led2_on_off(0);
+#endif
+
+
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ // PWM_LINES_TK_16_OFF;
+#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_16_OFF;
+#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_16_OFF;
+#endif
+
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+ i_led2_on_off(0);
+ if (pwm_enable_calc_main==0)
+ profile_pwm[pos_profile_pwm] = 2;
+#endif
+
+
+}
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+
+
+
+#pragma CODE_SECTION(fix_pwm_freq_synchro_ain,".fast_run");
+void fix_pwm_freq_synchro_ain(void)
+{
+ unsigned int new_freq;
+ static unsigned int delta_freq = 1;
+// if (f.Sync_input_or_output == SYNC_INPUT)
+ {
+ sync_inc_error();
+
+ if (sync_data.disable_sync || sync_data.timeout_sync_signal == 1 || sync_data.enable_do_sync == 0)
+ {
+
+ new_freq = xpwm_time.pwm_tics;
+ i_WriteMemory(ADR_PWM_PERIOD, new_freq);
+
+ return;
+ }
+
+ if (sync_data.pwm_freq_plus_minus_zero==1)
+ {
+
+
+ //Increment xtics
+ new_freq = xpwm_time.pwm_tics + delta_freq;
+ i_WriteMemory(ADR_PWM_PERIOD, new_freq); // Saw period in tics. 1 tic = 16.67 nsec
+
+ // change_freq_pwm(VAR_FREQ_PWM_XTICS);
+
+
+ }
+
+ if (sync_data.pwm_freq_plus_minus_zero==-1)
+ {
+ //4464
+ //Decrement xtics
+ new_freq = xpwm_time.pwm_tics - delta_freq;
+ i_WriteMemory(ADR_PWM_PERIOD, new_freq); // Saw period in tics. 1 tic = 16.67 nsec
+
+ // change_freq_pwm(VAR_FREQ_PWM_XTICS);
+
+ }
+
+ if (sync_data.pwm_freq_plus_minus_zero==0)
+ {
+ new_freq = xpwm_time.pwm_tics;
+ i_WriteMemory(ADR_PWM_PERIOD, new_freq);
+ // change_freq_pwm(VAR_FREQ_PWM_XTICS);
+ }
+
+ }
+
+
+
+}
+
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+
+/*
+void slow_vector_update()
+{
+ _iq iqKzad = 0;
+
+ freq1 = _IQ (f.fzad/F_STATOR_MAX);//f.iqFRotorSetHz;
+ iqKzad = _IQ(f.kzad);
+ k1 = zad_intensiv_q(20000, 20000, k1, iqKzad);
+
+}
+*/
+
+void detect_work_revers(int direction, _iq fzad, _iq frot)
+{
+ static int prev_revers = 0;
+ int flag_revers;
+ // ����������� ��� �����������
+ if (direction == -1 && fzad > 0)
+ {
+ flag_revers = 1;
+ }
+ else
+ if (direction == 1 && fzad < 0)
+ {
+ flag_revers = 1;
+ }
+ else
+ {
+ flag_revers = 0;
+ }
+
+ if (flag_revers && prev_revers==0)
+ edrk.count_revers++;
+
+ prev_revers = flag_revers;
+
+}
+
+
+void calc_power_full(void)
+{
+ _iq power_full_abs, power_one_abs, power_full_abs_f, power_one_abs_f;
+
+ //
+ power_one_abs = _IQabs(filter.PowerScalar);
+ power_one_abs_f = _IQabs(filter.PowerScalarFilter2);
+ power_full_abs = power_one_abs + _IQabs(edrk.iq_power_kw_another_bs);
+ power_full_abs_f = power_one_abs_f + _IQabs(edrk.iq_power_kw_another_bs);
+
+ if (edrk.oborots>=0)
+ {
+ edrk.iq_power_kw_full_znak = power_full_abs;
+ edrk.iq_power_kw_one_znak = power_one_abs;
+ edrk.iq_power_kw_full_filter_znak = power_full_abs_f;
+ edrk.iq_power_kw_one_filter_znak = power_one_abs_f;
+ }
+ else
+ {
+ edrk.iq_power_kw_full_znak = -power_full_abs;
+ edrk.iq_power_kw_one_znak = -power_one_abs;
+ edrk.iq_power_kw_full_filter_znak = -power_full_abs_f;
+ edrk.iq_power_kw_one_filter_znak = -power_one_abs_f;
+ }
+
+ edrk.iq_power_kw_full_abs = power_full_abs;
+ edrk.iq_power_kw_one_abs = power_one_abs;
+ edrk.iq_power_kw_full_filter_abs = power_full_abs_f;
+ edrk.iq_power_kw_one_filter_abs = power_one_abs_f;
+
+}
diff --git a/Inu/Src/main/PWMTools.h b/Inu/Src/main/PWMTools.h
new file mode 100644
index 0000000..67f30b2
--- /dev/null
+++ b/Inu/Src/main/PWMTools.h
@@ -0,0 +1,54 @@
+#ifndef PWMTOOLS_H
+#define PWMTOOLS_H
+#include <f281xpwm.h>
+#include <v_pwm24_v2.h>
+
+
+//////////////////////////////////////////////////
+//////////////////////////////////////////////////
+//////////////////////////////////////////////////
+
+
+void InitPWM(void);
+void PWM_interrupt(void);
+void PWM_interrupt_main(void);
+
+
+
+void stop_wdog(void);
+void start_wdog(void);
+
+
+void global_time_interrupt(void);
+void optical_bus_read_write_interrupt(void);
+void pwm_analog_ext_interrupt(void);
+void pwm_inc_interrupt(void);
+
+void fix_pwm_freq_synchro_ain(void);
+void async_pwm_ext_interrupt(void);
+
+
+
+void calc_rotors(int flag);
+
+void detect_work_revers(int direction, _iq fzad, _iq frot);
+
+void calc_power_full(void);
+
+
+
+//////////////////////////////////////////////////
+//////////////////////////////////////////////////
+//////////////////////////////////////////////////
+//////////////////////////////////////////////////
+
+extern PWMGEND pwmd;
+
+//extern int var_freq_pwm_xtics;
+//extern int var_period_max_xtics;
+//extern int var_period_min_xtics;
+
+
+
+#endif //PWMTOOLS_H
+
diff --git a/Inu/Src/main/adc_internal.h b/Inu/Src/main/adc_internal.h
new file mode 100644
index 0000000..c74a174
--- /dev/null
+++ b/Inu/Src/main/adc_internal.h
@@ -0,0 +1,33 @@
+
+
+#define ADC_usDELAY 8000L
+#define ADC_usDELAY2 20L
+
+
+
+
+
+// Determine when the shift to right justify the data takes place
+// Only one of these should be defined as 1.
+// The other two should be defined as 0.
+#define POST_SHIFT 0 // Shift results after the entire sample table is full
+#define INLINE_SHIFT 1 // Shift results as the data is taken from the results regsiter
+#define NO_SHIFT 0 // Do not shift the results
+
+// ADC start parameters
+#define ADC_MODCLK 0x3 // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 150/(2*3) = 25MHz
+#define ADC_CKPS 0x0 // ADC module clock = HSPCLK/1 = 25MHz/(1) = 25MHz
+#define ADC_SHCLK 0x1 // S/H width in ADC module periods = 2 ADC cycle
+#define AVG 1000 // Average sample limit
+#define ZOFFSET 0x00 // Average Zero offset
+#define BUF_SIZE 100 // Sample buffer size
+
+
+
+#define FREQ_ADC 15000.0//26.08.2009//73000.0
+
+
+#define read_ADC(c) (*(&AdcRegs.ADCRESULT0+c)>>4)
+
+#define SDVIG_K_FILTER_S 2 //1//(27.08.2009) //3
+
diff --git a/Inu/Src/main/adc_tools.c b/Inu/Src/main/adc_tools.c
new file mode 100644
index 0000000..80b3b8d
--- /dev/null
+++ b/Inu/Src/main/adc_tools.c
@@ -0,0 +1,1412 @@
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+#include "IQmathLib.h"
+
+#include <adc_internal.h>
+#include <adc_tools.h>
+#include <edrk_main.h>
+#include <master_slave.h>
+#include <project.h>
+
+#include "mathlib.h"
+#include "filter_v1.h"
+#include "xp_project.h"
+
+//#include "spartan_tools.h"
+
+
+
+//#define LOG_ACP_TO_BUF 1
+
+#ifdef LOG_ACP_TO_BUF
+
+#define SIZE_BUF_LOG_ACP 500
+#pragma DATA_SECTION(BUF_ADC,".slow_vars")
+int BUF_ADC[SIZE_BUF_LOG_ACP];
+#pragma DATA_SECTION(BUF_ADC_2,".slow_vars")
+int BUF_ADC_2[SIZE_BUF_LOG_ACP];
+
+#endif
+
+
+
+#if (USE_INTERNAL_ADC==1)
+
+#if(C_adc_number==1)
+unsigned int const R_ADC[COUNT_ARR_ADC_BUF][16] = { R_ADC_DEFAULT_0,R_ADC_DEFAULT_INTERNAL };
+unsigned int const K_LEM_ADC[COUNT_ARR_ADC_BUF][16] = { K_LEM_ADC_DEFAULT_0, K_LEM_ADC_DEFAULT_INTERNAL};
+float const K_NORMA_ADC[COUNT_ARR_ADC_BUF][16] = { NORMA_ADC_DEFAULT_0, NORMA_ADC_DEFAULT_INTERNAL};
+#endif
+#if(C_adc_number==2)
+unsigned int const R_ADC[COUNT_ARR_ADC_BUF][16] = { R_ADC_DEFAULT_0, R_ADC_DEFAULT_1,R_ADC_DEFAULT_INTERNAL };
+unsigned int const K_LEM_ADC[COUNT_ARR_ADC_BUF][16] = { K_LEM_ADC_DEFAULT_0, K_LEM_ADC_DEFAULT_1, K_LEM_ADC_DEFAULT_INTERNAL };
+float const K_NORMA_ADC[COUNT_ARR_ADC_BUF][16] = { NORMA_ADC_DEFAULT_0, NORMA_ADC_DEFAULT_1, NORMA_ADC_DEFAULT_INTERNAL };
+#endif
+#if(C_adc_number==3)
+unsigned int const R_ADC[COUNT_ARR_ADC_BUF][16] = { R_ADC_DEFAULT_0, R_ADC_DEFAULT_1, R_ADC_DEFAULT_2,R_ADC_DEFAULT_INTERNAL };
+unsigned int const K_LEM_ADC[COUNT_ARR_ADC_BUF][16] = { K_LEM_ADC_DEFAULT_0, K_LEM_ADC_DEFAULT_1, K_LEM_ADC_DEFAULT_2, K_LEM_ADC_DEFAULT_INTERNAL };
+float const K_NORMA_ADC[COUNT_ARR_ADC_BUF][16] = { NORMA_ADC_DEFAULT_0, NORMA_ADC_DEFAULT_1, NORMA_ADC_DEFAULT_2, NORMA_ADC_DEFAULT_INTERNAL };
+#endif
+
+#else
+
+#if(C_adc_number==1)
+#pragma DATA_SECTION(R_ADC,".slow_vars")
+unsigned int R_ADC[COUNT_ARR_ADC_BUF][16] = { R_ADC_DEFAULT_0 };
+#pragma DATA_SECTION(K_LEM_ADC,".slow_vars")
+unsigned int K_LEM_ADC[COUNT_ARR_ADC_BUF][16] = { K_LEM_ADC_DEFAULT_0};
+#pragma DATA_SECTION(K_NORMA_ADC,".slow_vars")
+float K_NORMA_ADC[COUNT_ARR_ADC_BUF][16] = { NORMA_ADC_DEFAULT_0};
+#endif
+#if(C_adc_number==2)
+#pragma DATA_SECTION(R_ADC,".slow_vars")
+unsigned int R_ADC[COUNT_ARR_ADC_BUF][16] = { R_ADC_DEFAULT_0, R_ADC_DEFAULT_1 };
+#pragma DATA_SECTION(K_LEM_ADC,".slow_vars")
+unsigned int K_LEM_ADC[COUNT_ARR_ADC_BUF][16] = { K_LEM_ADC_DEFAULT_0, K_LEM_ADC_DEFAULT_1 };
+#pragma DATA_SECTION(K_NORMA_ADC,".slow_vars")
+float K_NORMA_ADC[COUNT_ARR_ADC_BUF][16] = { NORMA_ADC_DEFAULT_0, NORMA_ADC_DEFAULT_1 };
+#endif
+#if(C_adc_number==3)
+#pragma DATA_SECTION(R_ADC,".slow_vars")
+unsigned int R_ADC[COUNT_ARR_ADC_BUF][16] = { R_ADC_DEFAULT_0, R_ADC_DEFAULT_1, R_ADC_DEFAULT_2 };
+#pragma DATA_SECTION(K_LEM_ADC,".slow_vars")
+unsigned int K_LEM_ADC[COUNT_ARR_ADC_BUF][16] = { K_LEM_ADC_DEFAULT_0, K_LEM_ADC_DEFAULT_1, K_LEM_ADC_DEFAULT_2 };
+#pragma DATA_SECTION(K_NORMA_ADC,".slow_vars")
+float K_NORMA_ADC[COUNT_ARR_ADC_BUF][16] = { NORMA_ADC_DEFAULT_0, NORMA_ADC_DEFAULT_1, NORMA_ADC_DEFAULT_2 };
+#endif
+
+#endif
+
+//unsigned int const R_ADC_1[16] = R_ADC_DEFAULT_1;
+//unsigned int const K_LEM_ADC_1[16] = K_LEM_ADC_DEFAULT_1;
+
+
+
+
+#if (USE_INTERNAL_ADC==1)
+int error_ADC[COUNT_ARR_ADC_BUF][16] = { {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}, {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}, {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} };
+#else
+
+#if(C_adc_number==1)
+int error_ADC[COUNT_ARR_ADC_BUF][16] = { {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} };
+#endif
+#if(C_adc_number==2)
+int error_ADC[COUNT_ARR_ADC_BUF][16] = { {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}, {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} };
+#endif
+#if(C_adc_number==3)
+int error_ADC[COUNT_ARR_ADC_BUF][16] = { {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}, {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}, {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} };
+#endif
+
+#endif
+
+
+#pragma DATA_SECTION(ADC_f,".fast_vars");
+int ADC_f[COUNT_ARR_ADC_BUF][16];
+
+#pragma DATA_SECTION(ADC_fast,".fast_vars");
+int ADC_fast[COUNT_ARR_ADC_BUF][16][COUNT_ARR_ADC_BUF_FAST_POINT];
+
+
+#pragma DATA_SECTION(ADC_sf,".fast_vars");
+int ADC_sf[COUNT_ARR_ADC_BUF][16];
+
+#pragma DATA_SECTION(analog,".fast_vars");
+ANALOG_VALUE analog = ANALOG_VALUE_DEFAULT;
+
+#pragma DATA_SECTION(filter,".fast_vars");
+ANALOG_VALUE filter = ANALOG_VALUE_DEFAULT;
+
+#pragma DATA_SECTION(analog_zero,".fast_vars");
+ANALOG_VALUE analog_zero = ANALOG_VALUE_DEFAULT;
+
+
+
+unsigned int const level_err_ADC_PLUS[16] = level_err_ADC_PLUS_default;
+unsigned int const level_err_ADC_MINUS[16] = level_err_ADC_MINUS_default;
+
+
+#pragma DATA_SECTION(err_adc_protect,".fast_vars");
+#pragma DATA_SECTION(mask_err_adc_protect,".fast_vars");
+ERR_ADC_PROTECT err_adc_protect[COUNT_ARR_ADC_BUF],mask_err_adc_protect[COUNT_ARR_ADC_BUF];
+
+
+
+_iq koef_Im_filter=0;
+_iq koef_Power_filter=0;
+_iq koef_Power_filter2=0;
+
+#pragma DATA_SECTION(k_norm_ADC,".slow_vars")
+_iq19 k_norm_ADC[COUNT_ARR_ADC_BUF][16];
+
+#pragma DATA_SECTION(iq19_zero_ADC,".fast_vars");
+_iq19 iq19_zero_ADC[COUNT_ARR_ADC_BUF][16];
+
+
+#pragma DATA_SECTION(zero_ADC,".slow_vars")
+int zero_ADC[COUNT_ARR_ADC_BUF][16];
+
+
+#pragma DATA_SECTION(iq19_k_norm_ADC,".fast_vars");
+_iq19 iq19_k_norm_ADC[COUNT_ARR_ADC_BUF][16];
+
+#pragma DATA_SECTION(iq_norm_ADC,".fast_vars");
+_iq iq_norm_ADC[COUNT_ARR_ADC_BUF][16];
+
+#pragma DATA_SECTION(iq_norm_ADC_sf,".fast_vars");
+_iq iq_norm_ADC_sf[COUNT_ARR_ADC_BUF][16];
+
+
+#pragma DATA_SECTION(koef_Uzpt_long_filter,".fast_vars");
+_iq koef_Uzpt_long_filter=0;
+
+#pragma DATA_SECTION(koef_Uzpt_fast_filter,".fast_vars");
+_iq koef_Uzpt_fast_filter=0;
+
+#pragma DATA_SECTION(koef_Uin_filter,".fast_vars");
+_iq koef_Uin_filter=0;
+
+
+void fast_detect_protect_ACP();
+//void fast_read_all_adc_one(int cc);
+//void fast_read_all_adc_more(void);
+
+
+#if (USE_INTERNAL_ADC==1)
+#pragma CODE_SECTION(adc_isr,".fast_run");
+interrupt void adc_isr(void)
+{
+// unsigned char k;
+ static char l_ir=0;
+ static char step_acp=0;
+
+//i_led1_on_off(1);
+
+// i_led1_on_off(1);
+
+ project.adc->read_pbus(&project.adc[0]);
+
+ ADC_f[0][0] = project.adc[0].read.pbus.adc_value[0];
+ ADC_f[0][1] = project.adc[0].read.pbus.adc_value[1];
+ ADC_f[0][2] = project.adc[0].read.pbus.adc_value[2];
+ ADC_f[0][3] = project.adc[0].read.pbus.adc_value[3];
+ ADC_f[0][4] = project.adc[0].read.pbus.adc_value[4];
+ ADC_f[0][5] = project.adc[0].read.pbus.adc_value[5];
+ ADC_f[0][6] = project.adc[0].read.pbus.adc_value[6];
+ ADC_f[0][7] = project.adc[0].read.pbus.adc_value[7];
+ ADC_f[0][8] = project.adc[0].read.pbus.adc_value[8];
+ ADC_f[0][9] = project.adc[0].read.pbus.adc_value[9];
+ ADC_f[0][10] = project.adc[0].read.pbus.adc_value[10];
+ ADC_f[0][11] = project.adc[0].read.pbus.adc_value[11];
+ ADC_f[0][12] = project.adc[0].read.pbus.adc_value[12];
+ ADC_f[0][13] = project.adc[0].read.pbus.adc_value[13];
+ ADC_f[0][14] = project.adc[0].read.pbus.adc_value[14];
+ ADC_f[0][15] = project.adc[0].read.pbus.adc_value[15];
+
+
+ ADC_sf[0][0] += (ADC_f[0][0] - ADC_sf[0][0]) >> Shift_Filter;
+ ADC_sf[0][1] += (ADC_f[0][1] - ADC_sf[0][1]) >> Shift_Filter;
+ ADC_sf[0][2] += (ADC_f[0][2] - ADC_sf[0][2]) >> Shift_Filter;
+ ADC_sf[0][3] += (ADC_f[0][3] - ADC_sf[0][3]) >> Shift_Filter;
+
+
+/*
+
+
+ if (ADC_sf[2][0]>ERR_LEVEL_ADC_PLUS || ADC_sf[2][0]<ERR_LEVEL_ADC_MINUS //�� ��������� � ADC_f �� ADC_f
+ || ADC_sf[2][1]>ERR_LEVEL_ADC_PLUS || ADC_sf[2][1]<ERR_LEVEL_ADC_MINUS //��� ����������� ������ �� 26.08.2009
+// || ADC_f[2]>ERR_LEVEL_ADC_PLUS || ADC_f[2]<ERR_LEVEL_ADC_MINUS
+ || ADC_sf[2][3]>ERR_LEVEL_ADC_PLUS || ADC_sf[2][3]<ERR_LEVEL_ADC_MINUS
+
+// || ADC_f[8]>ERR_LEVEL_ADC_PLUS || ADC_f[8]<ERR_LEVEL_ADC_MINUS
+ // || ADC_f[9]>ERR_LEVEL_ADC_PLUS || ADC_f[9]<ERR_LEVEL_ADC_MINUS
+ // || ADC_f[10]>ERR_LEVEL_ADC_PLUS || ADC_f[10]<ERR_LEVEL_ADC_MINUS
+// || ADC_f[2][11]>ERR_LEVEL_ADC_PLUS_6 || ADC_f[2][11]<ERR_LEVEL_ADC_MINUS_6
+ )
+ {
+// fast_detect_protect_ACP();
+ if (active_rect1.disable_error_pwm_start==0)
+ fast_detect_protect_ACP_internal();
+ }
+
+*/
+// time_adc++;
+
+
+
+
+
+
+
+
+ // Reinitialize for next ADC sequence
+ AdcRegs.ADCTRL2.bit.RST_SEQ1 = 1; // Reset SEQ1
+ AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1; // Clear INT SEQ1 bit
+ PieCtrlRegs.PIEACK.all = PIEACK_GROUP1; // Acknowledge interrupt to PIE
+
+
+// i_led1_on_off(0);
+
+// i_led2_on_off(0);
+//i_led1_on_off(0);
+
+ return;
+
+}
+
+
+
+// ��� �� ��� ���
+#pragma CODE_SECTION(timer2_isr,".fast_run");
+interrupt void timer2_isr(void)
+{
+
+//led2_on_off(1);
+//i_led2_on_off(1);
+// EvaTimer2InterruptCount++;
+ // Enable more interrupts from this timer
+
+ EvaRegs.EVAIMRB.bit.T2PINT = 1;
+
+ // Note: To be safe, use a mask value to write to the entire
+ // EVAIFRB register. Writing to one bit will cause a read-modify-write
+ // operation that may have the result of writing 1's to clear
+ // bits other then those intended.
+ EvaRegs.EVAIFRB.all = BIT0;
+
+ // Acknowledge interrupt to receive more interrupts from PIE group 3
+ PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
+// AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;
+
+/*
+ ADC_filter[15] = 333;
+// DOut(Error,1);
+// GpioDataRegs.GPDTOGGLE.bit.GPIOD5=1;
+
+ EvaRegs.EVAIMRA.bit.T1PINT = 1;
+ EvaRegs.EVAIFRA.all=0x80;
+ PieCtrlRegs.PIEACK.bit.ACK2=1; // Issue PIE ack
+
+ EvbRegs.EVBIFRA.all = BIT7;
+ // Acknowledge interrupt to receive more interrupts from PIE group 4
+ PieCtrlRegs.PIEACK.all = PIEACK_GROUP4;
+*/
+// i_led2_on_off(1);
+//i_led2_on_off(0);
+
+}
+
+
+
+
+
+//---------------------------------------------------------------------------
+// InitAdc:
+//---------------------------------------------------------------------------
+// This function initializes ADC to a known state.
+//
+void Init_Internal_Adc(void)
+{
+ static float adc_period=0;
+ int k,i;
+
+ extern void DSP28x_usDelay(Uint32 Count);
+
+ // To powerup the ADC the ADCENCLK bit should be set first to enable
+ // clocks, followed by powering up the bandgap and reference circuitry.
+ // After a 5ms delay the rest of the ADC can be powered up. After ADC
+ // powerup, another 20us delay is required before performing the first
+ // ADC conversion. Please note that for the delay function below to
+ // operate correctly the CPU_CLOCK_SPEED define statement in the
+ // DSP28_Examples.h file must contain the correct CPU clock period in
+ // nanoseconds. For example:
+
+
+
+// SQRT_32 = _IQ(0.8660254037844);
+// CONST_23 = _IQ(2.0/3.0);
+// CONST_15 = _IQ(1.5);
+
+ AdcRegs.ADCTRL3.bit.ADCPWDN = 0; // Power up rest of ADC
+ DELAY_US(ADC_usDELAY); // Delay before powering up rest of ADC
+ AdcRegs.ADCTRL3.bit.ADCBGRFDN = 0x0; // Power up bandgap/reference circuitry
+ DELAY_US(ADC_usDELAY); // Delay before powering up rest of ADC
+ DELAY_US(ADC_usDELAY); // Delay before powering up rest of ADC
+ DELAY_US(ADC_usDELAY); // Delay before powering up rest of ADC
+ DELAY_US(ADC_usDELAY); // Delay before powering up rest of ADC
+
+
+
+ AdcRegs.ADCTRL3.bit.EXTREF=0;
+// DELAY_US(ADC_usDELAY); // Delay before powering up rest of ADC
+
+// asm(� RPT #10 || NOP;�); // Time to enable of external ref
+
+ AdcRegs.ADCTRL3.bit.ADCBGRFDN = 0x3; // Power up bandgap/reference circuitry
+ DELAY_US(ADC_usDELAY); // Delay before powering up rest of ADC
+ AdcRegs.ADCTRL3.bit.ADCPWDN = 1; // Power up rest of ADC
+ DELAY_US(ADC_usDELAY2); // Delay after powering up ADC
+
+
+ AdcRegs.ADCTRL1.bit.ACQ_PS=0x0;
+ AdcRegs.ADCTRL1.bit.CPS = 0; // Core clock prescaler. The prescaler is applied to divided device peripheral clock
+// AdcRegs.ADCTRL1.bit.CONT_RUN = 0; // Continues run
+
+// AdcRegs.ADCTRL3.bit.ADCCLKPS=0;
+ // Configure ADC
+
+ AdcRegs.ADCTRL3.bit.ADCCLKPS=0x3;
+
+ AdcRegs.ADCTRL1.bit.SEQ_CASC=1; // cascaded mode
+
+ AdcRegs.ADCMAXCONV.all = 0x000f; // Setup 16 conv's on SEQ1
+
+ AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0x0; // Setup ADCINA3 as 1st SEQ1 conv.
+ AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 0x1; // Setup ADCINA2 as 2nd SEQ1 conv.
+ AdcRegs.ADCCHSELSEQ1.bit.CONV02 = 0x2; // Setup ADCINA2 as 2nd SEQ1 conv.
+ AdcRegs.ADCCHSELSEQ1.bit.CONV03 = 0x3; // Setup ADCINA2 as 2nd SEQ1 conv.
+ AdcRegs.ADCCHSELSEQ2.bit.CONV04 = 0x4; // Setup ADCINA2 as 2nd SEQ1 conv.
+ AdcRegs.ADCCHSELSEQ2.bit.CONV05 = 0x5; // Setup ADCINA2 as 2nd SEQ1 conv.
+ AdcRegs.ADCCHSELSEQ2.bit.CONV06 = 0x6; // Setup ADCINA2 as 2nd SEQ1 conv.
+ AdcRegs.ADCCHSELSEQ2.bit.CONV07 = 0x7; // Setup ADCINA2 as 2nd SEQ1 conv.
+
+ AdcRegs.ADCCHSELSEQ3.bit.CONV08 = 0x8; // Setup ADCINA3 as 1st SEQ1 conv.
+ AdcRegs.ADCCHSELSEQ3.bit.CONV09 = 0x9; // Setup ADCINA2 as 2nd SEQ1 conv.
+ AdcRegs.ADCCHSELSEQ3.bit.CONV10 = 0xa; // Setup ADCINA2 as 2nd SEQ1 conv.
+ AdcRegs.ADCCHSELSEQ3.bit.CONV11 = 0xb; // Setup ADCINA2 as 2nd SEQ1 conv.
+ AdcRegs.ADCCHSELSEQ4.bit.CONV12 = 0xc; // Setup ADCINA2 as 2nd SEQ1 conv.
+ AdcRegs.ADCCHSELSEQ4.bit.CONV13 = 0xd; // Setup ADCINA2 as 2nd SEQ1 conv.
+ AdcRegs.ADCCHSELSEQ4.bit.CONV14 = 0xe; // Setup ADCINA2 as 2nd SEQ1 conv.
+ AdcRegs.ADCCHSELSEQ4.bit.CONV15 = 0xf; // Setup ADCINA2 as 2nd SEQ1 conv.
+
+ AdcRegs.ADCTRL2.bit.EVA_SOC_SEQ1 = 1; // Enable EVASOC to start SEQ1
+ AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1; // Enable SEQ1 interrupt (every EOS)
+
+
+// AdcRegs.ADCTRL2.bit.EVA_SOC_SEQ1 = 1; // Enable EVASOC to start SEQ1
+// AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1; // Enable SEQ1 interrupt (every EOS)
+
+
+// Enable ADCINT in PIE
+ EALLOW;
+ PieCtrlRegs.PIEIER1.bit.INTx6 = 1;
+ IER |= M_INT1; // Enable CPU Interrupt 1
+ PieVectTable.ADCINT = &adc_isr;
+ EDIS;
+
+
+ EALLOW;
+ PieVectTable.T2PINT = &timer2_isr;
+
+
+ // Initialize EVA Timer 2:
+ // Setup Timer 2 Registers (EV A)
+ EvaRegs.GPTCONA.all = 0;
+
+ // Set the Period for the GP timer 2 to 0x0200;
+ adc_period = (float)HSPCLK/(float)FREQ_ADC;
+ EvaRegs.T2PR = adc_period; // Period
+ EvaRegs.T2CMPR = 0x0000; // Compare Reg
+
+ // Enable Period interrupt bits for GP timer 2
+ // Count up, x128, internal clk, enable compare, use own period
+
+ EvaRegs.EVAIMRB.bit.T2PINT = 1;// 1;
+ EvaRegs.EVAIFRB.bit.T2PINT = 1;//1;
+
+
+ // Clear the counter for GP timer 2
+ EvaRegs.T2CNT = 0x0000;
+ EvaRegs.T2CON.all = 0x1042;
+
+ // Start EVA ADC Conversion on timer 2 Period interrupt
+ EvaRegs.GPTCONA.bit.T2TOADC = 1;
+
+
+
+
+
+
+
+ // Enable PIE group 3 interrupt 1 for T2PINT
+ PieCtrlRegs.PIEIER3.bit.INTx1 = 1;
+
+ // Enable CPU INT2 for T1PINT, INT3 for T2PINT, INT4 for T3PINT
+ // and INT5 for T4PINT:
+ IER |= (M_INT3);
+
+ EDIS;
+
+
+// Start SEQ1
+// AdcRegs.ADCTRL2.all = 0x2000;
+
+
+// EvaRegs.T1CON.bit.TENABLE=1;
+
+
+
+ for (k=0;k<16;k++)
+ {
+
+// ADC_filter[k]=0;
+ ADC_f[2][k]=0;
+ ADC_sf[2][k]=0;
+
+ k_norm_ADC[2][k] = _IQ19(K_LEM_ADC[2][k]*3.0/R_ADC[2][k]/4096.0);
+// iq_k_norm_ADC[k] = _IQ(K_LEM_ADC[k]*300.0/R_ADC[k]/NORMA_ACP);
+ iq19_k_norm_ADC[2][k] = _IQ19(K_LEM_ADC[2][k]*300.0/R_ADC[2][k]/K_NORMA_ADC[2][k]/4096.0);
+ iq19_zero_ADC[2][k]=_IQ19(2100);//_IQ19(1770);
+ zero_ADC[2][k]=2100;//1835;
+ }
+
+ for (i=0;i<4;i++)
+ zero_ADC[2][i]=1768;//1770;
+
+ for (i=4;i<16;i++)
+ zero_ADC[2][i]=2130;
+
+ zero_ADC[2][0]=1787;
+ zero_ADC[2][1]=1774;
+
+
+
+
+ for (i=0;i<16;i++)
+ iq19_zero_ADC[2][i]=_IQ19(zero_ADC[2][i]);
+
+
+
+// koef_allADC_filter = _IQ19(0.00002/0.00003185);//koef_ADC_filter[0];
+// koef_zero_ADC_filter=_IQ19(0.00002/0.0003185);
+// koef_Ud_long_filter = _IQ(0.001/0.016666);
+// koef_Ud_fast_filter = _IQ(0.001/0.00931); //_IQ(0.001/0.00131);
+
+// koef_Im_filter = _IQ(0.001/0.006);
+// koef_Im_filter = _IQ(0.001/0.065);
+
+// koef_Iabc_filter = _IQ(0.001/0.006);
+
+
+ mask_err_adc_protect[2].plus.all=0;
+ mask_err_adc_protect[2].minus.all=0x0;
+
+// mask_err_adc_protect.minus.all=0xffff; // ����. ������ �� ���� �� ������
+// mask_err_adc_protect.plus.all=0xffff; // ����. ������ �� ���� �� �����
+
+ err_adc_protect[2].plus.all=0;
+ err_adc_protect[2].minus.all=0x0;
+
+ AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;
+}
+
+
+#endif
+
+//#pragma DATA_SECTION(buf_U1_3point,".fast_vars");
+//_iq buf_U1_3point[3]={0,0,0};
+
+//#pragma CODE_SECTION(filter_U1_3point,".fast_run");
+//_iq filter_U1_3point(_iq d)
+//{
+// _iq maxU, minU, sumU;
+//
+// buf_U1_3point[2] = buf_U1_3point[1];
+// buf_U1_3point[1] = buf_U1_3point[0];
+// buf_U1_3point[0] = d;
+//
+// maxU = d;
+// minU = d;
+//
+//
+// if (buf_U1_3point[1]>maxU) maxU = buf_U1_3point[1];
+// if (buf_U1_3point[2]>maxU) maxU = buf_U1_3point[2];
+//
+// if (buf_U1_3point[1]<minU) minU = buf_U1_3point[1];
+// if (buf_U1_3point[2]<minU) minU = buf_U1_3point[2];
+//
+// sumU = buf_U1_3point[0] + buf_U1_3point[1] + buf_U1_3point[2] - maxU - minU;
+//
+// return sumU;
+//}
+
+
+//---------------------------------------------------------------------------
+// InitAdc:
+//---------------------------------------------------------------------------
+// This function initializes ADC to a known state.
+//
+void Init_Adc_Variables(void)
+{
+ unsigned int k,i,j;
+ int *panalog, *pfilter;
+ volatile float k_f;
+
+
+ for (i=0;i<COUNT_ARR_ADC_BUF;i++)
+ {
+ for (k=0;k<16;k++)
+ {
+ ADC_f[i][k]=0;
+ ADC_sf[i][k]=0;
+
+ for (j=0;j<COUNT_ARR_ADC_BUF_FAST_POINT;j++)
+ ADC_fast[i][k][j]=0;
+
+ k_f = K_LEM_ADC[i][k]*2.5/R_ADC[i][k]/4096.0;
+ k_norm_ADC[i][k] = _IQ19(k_f);
+
+ k_f = K_LEM_ADC[i][k]*250.0/R_ADC[i][k]/K_NORMA_ADC[i][k]/4096.0;
+ iq19_k_norm_ADC[i][k] = _IQ19(k_f);
+
+ zero_ADC[i][k] = DEFAULT_ZERO_ADC;//1835;
+
+ iq19_zero_ADC[i][k] = _IQ19 (zero_ADC[i][k]); //_IQ19(2030);//_IQ19(1770);
+
+ }
+ }
+
+
+ panalog = (int*)&analog;
+ pfilter = (int*)&filter;
+ for (k=0;k < sizeof(ANALOG_VALUE)/sizeof(int) ;k++)
+ {
+
+ *(panalog + k) = 0;
+ *(pfilter + k) = 0;
+ }
+
+
+ for (i=0;i<COUNT_ARR_ADC_BUF;i++)
+ {
+ if (project.adc[i].status >= component_Ready)
+ detect_zero_analog(i);
+ }
+
+// zero_ADC[1][2] = 2010;//1976; // uab
+// zero_ADC[1][3] = 2010;//1989; // ubc
+// zero_ADC[1][4] = 2010;//1994; // uca
+
+
+ zero_ADC[0][0]=zero_ADC[0][2];//2042;//1992;//1835; //uzpt
+ zero_ADC[0][1]=zero_ADC[0][2];//2042;//1992;//1835; //uzpt
+
+
+
+#if (COUNT_ARR_ADC_BUF>1)
+ zero_ADC[1][1]=zero_ADC[1][15];
+ zero_ADC[1][2]=zero_ADC[1][15];
+ zero_ADC[1][3]=zero_ADC[1][15];
+ zero_ADC[1][4]=zero_ADC[1][15];
+ zero_ADC[1][5]=zero_ADC[1][15];
+ zero_ADC[1][6]=zero_ADC[1][15];
+ zero_ADC[1][7]=zero_ADC[1][15];
+ zero_ADC[1][8]=zero_ADC[1][15];
+ zero_ADC[1][9]=zero_ADC[1][15];
+ zero_ADC[1][10]=zero_ADC[1][15];
+ zero_ADC[1][11]=zero_ADC[1][15];
+ zero_ADC[1][12]=zero_ADC[1][15];
+ zero_ADC[1][13]=zero_ADC[1][15];
+ zero_ADC[1][14]=zero_ADC[1][15];
+#endif
+
+
+ for (k=0;k<16;k++)
+ {
+ for (i=0;i<COUNT_ARR_ADC_BUF;i++)
+ {
+ if ((zero_ADC[i][k]>2200) || (zero_ADC[i][k]<1900))
+ zero_ADC[i][k] = DEFAULT_ZERO_ADC;
+ }
+ }
+
+
+
+ for (k=0;k<16;k++)
+ {
+ for (i=0;i<COUNT_ARR_ADC_BUF;i++)
+ {
+ iq19_zero_ADC[i][k]=_IQ19(zero_ADC[i][k]);//_IQ19(1770);
+ }
+ }
+
+
+// koef_allADC_filter = _IQ19(0.00002/0.00003185);//koef_ADC_filter[0];
+// koef_zero_ADC_filter=_IQ19(0.00002/0.0003185);
+ koef_Uzpt_long_filter = _IQ(0.001/0.016666);
+ koef_Uzpt_fast_filter = _IQ(0.001/0.002); //_IQ(0.001/0.00131);
+ koef_Uin_filter = _IQ(0.001/0.00931);
+
+// koef_Im_filter = _IQ(0.001/0.006);
+ koef_Im_filter = _IQ(0.001/0.065);
+ koef_Power_filter = _IQ(0.001/0.065);
+ koef_Power_filter2 = _IQ(0.001/0.2);
+
+// koef_Iabc_filter = _IQ(0.001/0.006);
+
+
+ filter.iqU_1_fast = 0;
+ filter.iqU_1_long = 0;
+
+ filter.iqU_2_fast = 0;
+ filter.iqU_2_long = 0;
+
+ filter.iqUin_m1 = 0;
+ filter.iqUin_m2 = 0;
+
+
+// filter.iqU_3_fast = 0;
+// filter.iqU_4_fast = 0;
+
+// filter.iqU_1_long = 0;
+// filter.iqU_2_long = 0;
+// filter.iqU_3_long = 0;
+// filter.iqU_4_long = 0;
+
+// filter.iqIin_1 = 0;
+// filter.iqIin_2 = 0;
+
+
+ filter.iqIm_1 = 0;
+ filter.iqIm_2 = 0;
+// filter.iqUin_m1 = 0;
+// filter.iqUin_m2 = 0;
+
+
+ for (i=0;i<COUNT_ARR_ADC_BUF;i++)
+ {
+ mask_err_adc_protect[i].plus.all=0;
+ mask_err_adc_protect[i].minus.all=0x0;
+
+ err_adc_protect[i].plus.all=0;
+ err_adc_protect[i].minus.all=0x0;
+ }
+
+#if (USE_INTERNAL_ADC==1)
+ Init_Internal_Adc();
+#endif
+
+
+}
+
+
+
+#pragma CODE_SECTION(detect_protect_ACP_plus,".fast_run");
+void detect_protect_ACP_plus(unsigned char nacp, unsigned char nc)
+{
+ unsigned long mask;
+
+ mask=(unsigned int)(1 << nc);
+
+ if (mask_err_adc_protect[nacp].plus.all & mask) return;
+
+
+// led1_on_off(1);
+// led1_on_off(0);
+
+// EvaRegs.COMCONA.all = 0xa400;//0xA600; // Init COMCONA Register
+// EvbRegs.COMCONB.all = 0xa400;//0xA600; // Init COMCONA Register
+
+
+// pwm_tms.stop_all(&pwm_tms);
+
+
+
+// f.Restart=0;
+// led1_on_off(1);
+
+
+
+// stop_pwm();
+
+ if (err_adc_protect[nacp].plus.all==0 )
+ err_adc_protect[nacp].plus.all |= mask;
+
+// led2_on_off(0);
+
+
+}
+
+
+#pragma CODE_SECTION(detect_protect_ACP_minus,".fast_run");
+void detect_protect_ACP_minus(unsigned char nacp, unsigned char nc)
+{
+ unsigned long mask;
+
+ mask=(unsigned int)(1 << nc);
+
+ if (mask_err_adc_protect[nacp].minus.all & mask) return;
+
+
+// EvaRegs.COMCONA.all = 0xa400;//0xA600; // Init COMCONA Register
+// EvbRegs.COMCONB.all = 0xa400;//0xA600; // Init COMCONA Register
+
+
+
+// pwm_tms.stop_all(&pwm_tms);
+// f.Restart=0;
+
+ if (err_adc_protect[nacp].minus.all==0 )
+ err_adc_protect[nacp].minus.all |= mask;
+
+}
+
+
+#pragma CODE_SECTION(fast_detect_protect_ACP,".fast_run");
+void read_error_ACP()
+{
+ int i,k;
+// T_cds_paralle_bus_read_all* pr;
+
+// pr = project.controller.fpga.cds_fpga_parallel_bus.pread;
+
+ for (i=0;i<COUNT_ARR_ADC_BUF;i++)
+ {
+ if (project.adc[i].status == component_Ready)
+ for (k=0;k<16;k++)
+ {
+// if (pr->error_counts.adc_0)
+// if (ADC_sf[i][k] >= ERR_LEVEL_ADC_PLUS) detect_protect_ACP_plus (i, k);
+ // if (ADC_sf[i][k] <= ERR_LEVEL_ADC_MINUS) detect_protect_ACP_minus(i, k);
+ }
+ }
+
+
+}
+
+#if (USE_INTERNAL_ADC==1)
+#pragma CODE_SECTION(fast_detect_protect_ACP_internal,".fast_run");
+void fast_detect_protect_ACP_internal(void)
+{
+ int k;
+ k=0;
+ if (ADC_sf[COUNT_ARR_ADC_BUF-1][k] >= ERR_LEVEL_ADC_PLUS) detect_protect_ACP_plus (2, k);
+ if (ADC_sf[COUNT_ARR_ADC_BUF-1][k] <= ERR_LEVEL_ADC_MINUS) detect_protect_ACP_minus(2, k);
+ k=1;
+ if (ADC_sf[COUNT_ARR_ADC_BUF-1][k] >= ERR_LEVEL_ADC_PLUS) detect_protect_ACP_plus (2, k);
+ if (ADC_sf[COUNT_ARR_ADC_BUF-1][k] <= ERR_LEVEL_ADC_MINUS) detect_protect_ACP_minus(2, k);
+ k=3;
+ if (ADC_sf[COUNT_ARR_ADC_BUF-1][k] >= ERR_LEVEL_ADC_PLUS) detect_protect_ACP_plus (2, k);
+ if (ADC_sf[COUNT_ARR_ADC_BUF-1][k] <= ERR_LEVEL_ADC_MINUS) detect_protect_ACP_minus(2, k);
+
+
+}
+#endif
+
+
+#pragma CODE_SECTION(fast_detect_protect_ACP,".fast_run");
+void fast_detect_protect_ACP()
+{
+ int i,k;
+
+// for (i=0;i<2;i++)
+ {
+// if (project.adc[i].status == component_Ready)
+#if(C_adc_number>=1)
+ i = 0;
+ for (k=0;k<14;k++)
+ {
+ if (ADC_f[i][k] >= ERR_LEVEL_ADC_PLUS) detect_protect_ACP_plus (i, k);
+ if (ADC_f[i][k] <= ERR_LEVEL_ADC_MINUS) detect_protect_ACP_minus(i, k);
+ }
+#endif
+#if(C_adc_number>=2)
+ i = 1;
+ for (k=2;k<5;k++)
+ {
+ if (ADC_f[i][k] >= ERR_LEVEL_ADC_PLUS) detect_protect_ACP_plus (i, k);
+ if (ADC_f[i][k] <= ERR_LEVEL_ADC_MINUS) detect_protect_ACP_minus(i, k);
+ }
+#endif
+#if(C_adc_number>=3)
+ i = 2;
+ for (k=0;k<15;k++)
+ {
+ if (ADC_f[i][k] >= ERR_LEVEL_ADC_PLUS) detect_protect_ACP_plus (i, k);
+ if (ADC_f[i][k] <= ERR_LEVEL_ADC_MINUS) detect_protect_ACP_minus(i, k);
+ }
+#endif
+
+ }
+
+}
+
+#pragma CODE_SECTION(norma_adc,".fast_run");
+inline _iq norma_adc(int plane, int chan)
+{
+// return _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[n_norm] - ((long)ADC_sf[plane][chan]<<19) ),iq19_k_norm_ADC[n_norm]));
+ return _IQ19toIQ(_IQ19mpy((((long)ADC_f[plane][chan]<<19) - iq19_zero_ADC[plane][chan]),iq19_k_norm_ADC[plane][chan]));
+}
+
+
+
+#if (USE_INTERNAL_ADC==1)
+#pragma CODE_SECTION(norma_adc_internal_sf,".fast_run2");
+_iq norma_adc_internal_sf(int l)
+{
+ return _IQ19toIQ(_IQ19mpy((((long)ADC_sf[2][l]<<19) - iq19_zero_ADC[2][l]),iq19_k_norm_ADC[2][l]));
+}
+#endif
+
+
+/////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////
+//
+//#pragma CODE_SECTION(fast_read_all_adc_one,".fast_run");
+//void fast_read_all_adc_one(int cc)
+//{
+// int i,k;
+// int t;
+//
+// i_led1_on_off(1);
+//
+// project.adc[0].read_pbus(&project.adc[0]);
+//
+// for (k=0;k<16;k++)
+// {
+// t = project.adc[0].read.pbus.adc_value[k];
+// ADC_fast[0][k][cc] = t;
+//
+// // save max values
+// if (t>ADC_fast[0][k][1] || cc==3)
+// ADC_fast[0][k][1] = t;
+// // save min values
+// if (t<ADC_fast[0][k][2] || cc==3)
+// ADC_fast[0][k][2] = t;
+// }
+//
+//
+//
+//
+//
+////i_led2_off();
+// i_led1_on_off(0);
+//
+//}
+
+//#pragma CODE_SECTION(fast_read_all_adc_two,".fast_run");
+//void fast_read_all_adc_two(void)
+//{
+// int i,k;
+// int t;
+//
+//// i_led2_on_off(1);
+//
+// project.adc[1].read_pbus(&project.adc[1]);
+//
+// for (k=0;k<16;k++)
+// {
+// t = project.adc[1].read.pbus.adc_value[k];
+// ADC_fast[1][k][0] = t;
+// }
+//
+//// i_led2_on_off(0);
+//
+//}
+
+/////////////////////////////////////////////////////////
+
+//#define PAUSE_BETWEEN_ADC_FAST 5
+//#pragma CODE_SECTION(fast_read_all_adc_more,".fast_run");
+//void fast_read_all_adc_more(void)
+//{
+// int i,k;
+// static int p = PAUSE_BETWEEN_ADC_FAST;
+//
+// project.read_errors_controller();
+//
+// if (project.adc[0].status == component_Ready
+// && project.controller.read.errors.bit.error_pbus == 0
+// && project.controller.read.errors_buses.bit.slave_addr_error==0
+// && project.x_parallel_bus->flags.bit.error==0 )
+// {
+//
+//
+//
+// fast_read_all_adc_one(3);
+// pause_1000(p);
+// fast_read_all_adc_one(4);
+// pause_1000(p);
+// fast_read_all_adc_one(5);
+// pause_1000(p);
+// fast_read_all_adc_one(6);
+// pause_1000(p);
+// fast_read_all_adc_one(7);
+// pause_1000(p);
+// fast_read_all_adc_one(8);
+//
+//
+//
+// for (k=0;k<16;k++)
+// {
+// ADC_fast[0][k][0] = (-ADC_fast[0][k][1] - ADC_fast[0][k][2] + ADC_fast[0][k][3] + ADC_fast[0][k][4]
+// +ADC_fast[0][k][5] + ADC_fast[0][k][6] + ADC_fast[0][k][7] + ADC_fast[0][k][8]) >> 2; // ����� ����� �� 4
+// }
+//
+// }
+// else
+// {
+// for (k=0;k<16;k++)
+// {
+// ADC_fast[0][k][0] = 5000; // error
+// }
+// }
+//
+//
+// if (project.adc[1].status == component_Ready
+// && project.controller.read.errors.bit.error_pbus == 0
+// && project.controller.read.errors_buses.bit.slave_addr_error==0
+// && project.x_parallel_bus->flags.bit.error==0 )
+// {
+//
+// fast_read_all_adc_two();
+// }
+// else
+// {
+// for (k=0;k<16;k++)
+// {
+// ADC_fast[1][k][0] = 5000; // error
+// }
+// }
+//
+//}
+
+/////////////////////////////////////////////////////////
+//
+//#pragma CODE_SECTION(norma_fast_adc,".fast_run");
+//void norma_fast_adc(void)
+//{
+// int i,k;
+//// int bb;
+//
+//#ifdef LOG_ACP_TO_BUF
+// static int c_log=0;
+// static int n_log_acp_p=0;
+// static int n_log_acp_c=2;
+// static int n_log_acp_p_2=0;
+// static int n_log_acp_c_2=2;
+//
+//#endif
+//
+// for (i=0;i<COUNT_ARR_ADC_BUF_EXTERNAL;i++)
+// {
+//
+// if ( project.adc[i].status == component_Ready
+// && project.controller.read.errors.bit.error_pbus == 0
+// && project.controller.read.errors_buses.bit.slave_addr_error==0
+// && project.x_parallel_bus->flags.bit.error==0 )
+// {
+// for (k=0;k<16;k++)
+// {
+// iq_norm_ADC[i][k] = _IQ19toIQ(_IQ19mpy((-iq19_zero_ADC[i][k] + ((long)ADC_fast[i][k][0]<<19) ),iq19_k_norm_ADC[i][k]));
+// }
+// }
+// else
+// {
+// for (k=0;k<16;k++)
+// {
+// iq_norm_ADC[i][k] = 0;
+// }
+//
+// }
+//
+// }
+//
+//#ifdef LOG_ACP_TO_BUF
+// if (c_log>=SIZE_BUF_LOG_ACP)
+// c_log=0;
+// BUF_ADC[c_log]=ADC_fast[n_log_acp_p][n_log_acp_c][0];
+// BUF_ADC_2[c_log]=ADC_fast[n_log_acp_p_2][n_log_acp_c_2][3];
+// c_log++;
+//#endif
+//
+////i_led2_off();
+//}
+
+/////////////////////////////////////////////////////////
+
+/*
+#pragma CODE_SECTION(norma_all_adc,".fast_run");
+void norma_all_adc(void)
+{
+ int i,k;
+// int bb;
+#ifdef LOG_ACP_TO_BUF
+ static int c_log=0;
+ static int n_log_acp_p=0;
+ static int n_log_acp_c=2;
+ static int n_log_acp_p_2=0;
+ static int n_log_acp_c_2=5;
+
+#endif
+
+ for (i=0;i<COUNT_ARR_ADC_BUF;i++)
+ {
+ project.read_errors_controller();
+ project.adc[i].read_pbus(&project.adc[i]);
+
+// project.adc->read_pbus(&project.adc[i]);
+
+ if ( project.adc[i].status == component_Ready
+ && project.controller.read.errors.bit.error_pbus == 0
+ && project.controller.read.errors_buses.bit.slave_addr_error==0
+ && project.x_parallel_bus->flags.bit.error==0 )
+ {
+ for (k=0;k<16;k++)
+ {
+
+// ADC_f[i][k] = (int)pr->data.adc[i].acc_short[k];
+
+#ifdef ADC_READ_FROM_PARALLEL_BUS
+ ADC_f[i][k] = project.adc[i].read.pbus.adc_value[k];
+ ADC_sf[i][k] += (((int)(ADC_f[i][k] - ADC_sf[i][k]))>>SDVIG_K_FILTER_S);
+#else
+// ADC_f[i][k] = project.adc[i].fpga.read.channels[k].value.acc_short;//iq_norm_ADC[i][k] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[i][k] - ((long)project.adc[i].fpga.read.channels[k].value.acc_short<<19) ),iq19_k_norm_ADC[i][k]));
+#endif
+ iq_norm_ADC[i][k] = _IQ19toIQ(_IQ19mpy((-iq19_zero_ADC[i][k] + ((long)ADC_f[i][k]<<19) ),iq19_k_norm_ADC[i][k]));
+// iq_norm_ADC_sf[i][k] = _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[i][k] - ((long)ADC_sf[i][k]<<19) ),iq19_k_norm_ADC[i][k]));
+ }
+ }
+ else
+ {
+ for (k=0;k<16;k++)
+ {
+ ADC_f[i][k] = 5000;//DEFAULT_ZERO_ADC;
+ ADC_sf[i][k] = 5000;//DEFAULT_ZERO_ADC;
+ iq_norm_ADC[i][k] = 0;
+ }
+
+ }
+
+ }
+
+#ifdef LOG_ACP_TO_BUF
+ if (c_log>=SIZE_BUF_LOG_ACP)
+ c_log=0;
+ BUF_ADC[c_log]=ADC_f[n_log_acp_p][n_log_acp_c];
+ BUF_ADC_2[c_log]=ADC_f[n_log_acp_p_2][n_log_acp_c_2];
+ c_log++;
+#endif
+
+
+#if (USE_INTERNAL_ADC==1)
+ iq_norm_ADC[COUNT_ARR_ADC_BUF-1][0] = norma_adc_internal_sf(0);
+ iq_norm_ADC[COUNT_ARR_ADC_BUF-1][1] = norma_adc_internal_sf(1);
+ iq_norm_ADC[COUNT_ARR_ADC_BUF-1][3] = norma_adc_internal_sf(3);
+#endif
+//i_led2_off();
+}
+*/
+////////////////////////////////////////////////////////////////////
+
+#pragma CODE_SECTION(norma_adc_nc,".fast_run");
+void norma_adc_nc(int nc)
+{
+ int k;
+// int bb;
+
+ project.read_errors_controller();
+ project.adc[nc].read_pbus(&project.adc[nc]);
+
+ if ( project.adc[nc].status == component_Ready
+ && project.controller.read.errors.bit.error_pbus == 0
+ && project.controller.read.errors_buses.bit.slave_addr_error==0
+ && project.x_parallel_bus->flags.bit.error==0 )
+ {
+ for (k=0;k<16;k++)
+ {
+
+ ADC_f[nc][k] = project.adc[nc].read.pbus.adc_value[k];
+ ADC_sf[nc][k] += (((int)(ADC_f[nc][k] - ADC_sf[nc][k]))>>SDVIG_K_FILTER_S);
+ iq_norm_ADC[nc][k] = _IQ19toIQ(_IQ19mpy((-iq19_zero_ADC[nc][k] + ((long)ADC_f[nc][k]<<19) ),iq19_k_norm_ADC[nc][k]));
+ }
+ }
+ else
+ {
+ for (k=0;k<16;k++)
+ {
+ ADC_f[nc][k] = 5000;//DEFAULT_ZERO_ADC;
+ ADC_sf[nc][k] = 5000;//DEFAULT_ZERO_ADC;
+ iq_norm_ADC[nc][k] = 0;
+ }
+
+ }
+}
+
+////////////////////////////////////////////////////////////////////
+
+
+#pragma CODE_SECTION(calc_norm_ADC_1,".fast_run");
+void calc_norm_ADC_1(int run_norma)
+{
+ _iq a1,a2,a3;
+
+#if (USE_ADC_1)
+
+ if (run_norma)
+ norma_adc_nc(1);
+
+
+#if (_FLOOR6==1)
+
+ analog.T_U01 =
+ analog.T_U02 =
+ analog.T_U03 =
+ analog.T_U04 =
+ analog.T_U05 =
+ analog.T_U06 =
+ analog.T_U07 =
+ analog.T_Water_external =
+ analog.T_Water_internal =
+
+ analog.P_Water_internal =
+
+ analog.T_Air_01 =
+ analog.T_Air_02 =
+ analog.T_Air_03 =
+ analog.T_Air_04 = 0;
+
+#else
+ analog.T_U01 = iq_norm_ADC[1][1];
+ analog.T_U02 = iq_norm_ADC[1][2];
+ analog.T_U03 = iq_norm_ADC[1][3];
+ analog.T_U04 = iq_norm_ADC[1][4];
+ analog.T_U05 = iq_norm_ADC[1][5];
+ analog.T_U06 = iq_norm_ADC[1][6];
+ analog.T_U07 = iq_norm_ADC[1][7];
+ analog.T_Water_external = iq_norm_ADC[1][9];
+ analog.T_Water_internal = iq_norm_ADC[1][8];
+
+ analog.P_Water_internal = iq_norm_ADC[1][14];
+
+ analog.T_Air_01 = iq_norm_ADC[1][10];
+ analog.T_Air_02 = iq_norm_ADC[1][11];
+ analog.T_Air_03 = iq_norm_ADC[1][12];
+ analog.T_Air_04 = iq_norm_ADC[1][13];
+
+
+#endif
+#else
+
+ analog.T_U01 =
+ analog.T_U02 =
+ analog.T_U03 =
+ analog.T_U04 =
+ analog.T_U05 =
+ analog.T_U06 =
+ analog.T_U07 =
+ analog.T_Water_external =
+ analog.T_Water_internal =
+
+ analog.P_Water_internal =
+
+ analog.T_Air_01 =
+ analog.T_Air_02 =
+ analog.T_Air_03 =
+ analog.T_Air_04 = 0;
+
+#endif
+// analog.iqI_vozbud = iq_norm_ADC[1][13];
+
+}
+
+////////////////////////////////////////////////////////////////////
+#pragma CODE_SECTION(calc_norm_ADC_0,".fast_run");
+void calc_norm_ADC_0(int run_norma)
+{
+ _iq a1,a2,a3;
+
+#if (USE_ADC_0)
+
+ if (run_norma)
+ norma_adc_nc(0);
+
+#if (_FLOOR6)
+ analog.iqU_1 = iq_norm_ADC[0][0] - analog_zero.iqU_1 + analog.iqU_1_imit;
+ analog.iqU_2 = iq_norm_ADC[0][1] - analog_zero.iqU_2 + analog.iqU_1_imit;
+#else
+ analog.iqU_1 = iq_norm_ADC[0][0] - analog_zero.iqU_1;
+ analog.iqU_2 = iq_norm_ADC[0][1] - analog_zero.iqU_2;
+#endif
+ analog.iqIu_1 = iq_norm_ADC[0][2];
+ analog.iqIv_1 = iq_norm_ADC[0][3];
+ analog.iqIw_1 = iq_norm_ADC[0][4];
+
+ analog.iqIu_2 = iq_norm_ADC[0][5];
+ analog.iqIv_2 = iq_norm_ADC[0][6];
+ analog.iqIw_2 = iq_norm_ADC[0][7];
+
+ analog.iqIin_1 = -iq_norm_ADC[0][9]; // ������ ����������
+ analog.iqIin_2 = -iq_norm_ADC[0][9]; // ������ ����������
+
+ analog.iqUin_A1B1 = iq_norm_ADC[0][10];
+
+// ��� �������� ����������� �������� 23550.1 ����� ���������� - �� �����
+// 23550.1
+
+ analog.iqUin_B1C1 = iq_norm_ADC[0][11]; // 23550.1
+ analog.iqUin_A2B2 = iq_norm_ADC[0][12]; // 23550.1
+
+// 23550.3 bs1 bs2
+
+// analog.iqUin_B1C1 = iq_norm_ADC[0][12]; // 23550.3
+// analog.iqUin_A2B2 = iq_norm_ADC[0][11]; // 23550.3
+//
+ analog.iqUin_B2C2 = iq_norm_ADC[0][13];
+
+ analog.iqIbreak_1 = iq_norm_ADC[0][14];
+ analog.iqIbreak_2 = iq_norm_ADC[0][15];
+
+#else
+ analog.iqU_1 = analog.iqIu_1 = analog.iqIu_2 = analog.iqIv_1 = analog.iqIv_2 =
+ analog.iqIw_1 = analog.iqIw_2 = analog.iqIin_1 = analog.iqIin_2 = analog.iqUin_A1B1 =
+ analog.iqUin_B1C1 = analog.iqUin_A2B2 = analog.iqUin_B2C2 = analog.iqIbreak_1 = analog.iqIbreak_2
+ = 0;
+#endif
+
+ analog.iqUin_C1A1 = -(analog.iqUin_A1B1 + analog.iqUin_B1C1);
+ analog.iqUin_C2A2 = -(analog.iqUin_A2B2 + analog.iqUin_B2C2);
+
+
+
+ filter.iqU_1_long = exp_regul_iq(koef_Uzpt_long_filter, filter.iqU_1_long, analog.iqU_1);
+ filter.iqU_2_long = exp_regul_iq(koef_Uzpt_long_filter, filter.iqU_2_long, analog.iqU_2);
+
+
+// analog.iqU_1_fast = filter_U1_3point(analog.iqU_1_fast);
+ filter.iqU_1_fast = exp_regul_iq(koef_Uzpt_fast_filter, filter.iqU_1_fast, analog.iqU_1);
+ filter.iqU_2_fast = exp_regul_iq(koef_Uzpt_fast_filter, filter.iqU_2_fast, analog.iqU_2);
+
+
+// filter.iqUzpt_2_2_fast = exp_regul_iq(koef_Uzpt_fast_filter, filter.iqUzpt_2_2_fast, analog.iqUzpt_2_2);
+
+
+
+//15
+
+
+ analog.iqIm_1 = im_calc(analog.iqIu_1, analog.iqIv_1, analog.iqIw_1);
+ analog.iqIm_2 = im_calc(analog.iqIu_2, analog.iqIv_2, analog.iqIw_2);
+
+ analog.iqIu = analog.iqIu_1+analog.iqIu_2;
+ analog.iqIv = analog.iqIv_1+analog.iqIv_2;
+ analog.iqIw = analog.iqIw_1+analog.iqIw_2;
+
+ analog.iqIm = im_calc(analog.iqIu, analog.iqIv, analog.iqIw);
+
+
+ analog.iqIin_sum = analog.iqIin_1+analog.iqIin_2;
+
+// analog.iqIm_3 = im_calc(analog.iqIa1_1_fir_n+analog.iqIa2_1_fir_n, analog.iqIb1_1_fir_n+analog.iqIb2_1_fir_n, analog.iqIc1_1_fir_n+analog.iqIc2_1_fir_n);
+
+ analog.iqUin_m1 = im_calc(analog.iqUin_A1B1, analog.iqUin_B1C1, analog.iqUin_C1A1);
+ analog.iqUin_m2 = im_calc(analog.iqUin_A2B2, analog.iqUin_B2C2, analog.iqUin_C2A2);
+
+// analog.iqUin_m2 = im_calc(analog.UinA2, analog.UinB2, analog.UinC2);
+
+ filter.iqUin_m1 = exp_regul_iq(koef_Uin_filter, filter.iqUin_m1, analog.iqUin_m1);
+ filter.iqUin_m2 = exp_regul_iq(koef_Uin_filter, filter.iqUin_m2, analog.iqUin_m2);
+
+
+
+// i_led1_on_off(0);
+// i_led1_on_off(1);
+
+//1
+
+ filter.iqIm_1 = exp_regul_iq(koef_Im_filter, filter.iqIm_1, analog.iqIm_1);
+ filter.iqIm_2 = exp_regul_iq(koef_Im_filter, filter.iqIm_2, analog.iqIm_2);
+ filter.iqIm = exp_regul_iq(koef_Im_filter, filter.iqIm, analog.iqIm);
+
+ filter.iqIin_sum = exp_regul_iq(koef_Im_filter, filter.iqIin_sum, analog.iqIin_sum);
+
+//3
+// filter_batter2_Iin.InpVarCurr = (analog.iqIin_1)-ZERO_I_IN;
+ // filter_batter2_Iin.calc(&filter_batter2_Iin);
+
+// filter.iqIin = _IQmpy(filter_batter2_Iin.Out,_IQ_09);
+
+
+ filter.iqIin_1 = exp_regul_iq(koef_Im_filter, filter.iqIin_1, analog.iqIin_1);
+ filter.iqIin_2 = exp_regul_iq(koef_Im_filter, filter.iqIin_2, analog.iqIin_2);
+
+ a1 = analog.iqU_1+analog.iqU_2;
+ a2 = analog.iqIin_1;
+ a3 = _IQmpy(a1,a2);
+ analog.PowerScalar = a3;
+// filter.Power = analog.iqU_1+analog.iqU_2;
+ filter.PowerScalar = exp_regul_iq(koef_Power_filter, filter.PowerScalar, analog.PowerScalar);
+ filter.PowerScalarFilter2 = exp_regul_iq(koef_Power_filter2, filter.PowerScalarFilter2, filter.PowerScalar);
+
+}
+
+
+
+#pragma DATA_SECTION(acp_zero,".slow_vars")
+_iq19 acp_zero[16];
+#pragma DATA_SECTION(acp_summ,".slow_vars")
+long acp_summ[16];
+/********************************************************************/
+/* ����������� ���y ��������� ��� */
+/********************************************************************/
+void detect_zero_analog(int nc)
+{
+ long i,k;
+
+
+ _iq koef_zero_ADC_filter = _IQ19(0.00002/0.0003185);
+
+
+ for (k=0;k<16;k++)
+ {
+ acp_zero[k] = 0;
+ acp_summ[k] = 0;
+ }
+
+
+
+ for (i=0; i<COUNT_DETECT_ZERO; i++)
+ {
+// norma_all_adc();
+ norma_adc_nc(nc);
+ // norma_adc_nc(1);
+
+
+ for (k=0;k<16;k++)
+ {
+ acp_zero[k] = exp_regul_iq(koef_zero_ADC_filter, acp_zero[k], ((long)ADC_f[nc][k]<<19));
+ acp_summ[k] = acp_summ[k]+ADC_f[nc][k];
+ }
+
+
+
+ pause_1000(1000);
+ }
+
+ // 16 � 7 ����� ���������� �.�. ��� ����� ����y����y
+ for (k=0;k<16;k++)
+ {
+
+// if ((k==15))
+// {
+ // if (ADC_sf[k]<MIN_DETECT_UD_ZERO)
+ // iq19_zero_ADC[k] = acp_zero[k];
+ // }
+ // else
+ {
+ iq19_zero_ADC[nc][k] = acp_zero[k];
+ }
+
+// zero_ADC[k] =_IQ19toF(acp_zero[k]);
+ zero_ADC[nc][k] = acp_summ[k]/COUNT_DETECT_ZERO;//_IQ19toF(acp_zero[k]);
+ }
+
+
+
+
+
+
+}
+
+
+
diff --git a/Inu/Src/main/adc_tools.h b/Inu/Src/main/adc_tools.h
new file mode 100644
index 0000000..bb8af73
--- /dev/null
+++ b/Inu/Src/main/adc_tools.h
@@ -0,0 +1,402 @@
+
+
+#ifndef _ADC_TOOLS
+#define _ADC_TOOLS
+
+#include "IQmathLib.h"
+#include "xp_project.h"
+#include "params_norma.h"
+
+
+#define COUNT_DETECT_ZERO 3000
+
+#define COUNT_ARR_ADC_BUF_FAST_POINT 10
+
+
+
+#define DELTA_ACP_TEMPER 0.0 // ������� ����� pt100 ����� ���������� �������� 0.0 ��������, ��� �������� ���� SG3013
+
+#define ADC_READ_FROM_PARALLEL_BUS 1
+
+#define DEFAULT_ZERO_ADC 2048
+
+#ifndef USE_INTERNAL_ADC
+#define USE_INTERNAL_ADC 0
+#endif
+
+
+#if (USE_INTERNAL_ADC==1)
+#define COUNT_ARR_ADC_BUF (C_adc_number+1)
+#else
+#define COUNT_ARR_ADC_BUF C_adc_number
+#endif
+
+#define COUNT_ARR_ADC_BUF_EXTERNAL C_adc_number
+
+
+
+// 23550.3
+
+#if(C_adc_number>=1)
+#define R_ADC_DEFAULT_0 { 271, 271, 876, 876, 876, 876, 876, 876, 249, 249, 301, 301, 301, 301, 301, 301 }
+#define K_LEM_ADC_DEFAULT_0 { 7200, 7200, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 8400, 8400, 8400, 8400, 5000, 5000 }
+#define NORMA_ADC_DEFAULT_0 { NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP }
+#endif
+
+#if(C_adc_number>=2)
+#define R_ADC_DEFAULT_1 { 1, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190 }
+#define K_LEM_ADC_DEFAULT_1 { 1, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1 }
+#define NORMA_ADC_DEFAULT_1 { NORMA_ACP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_P, NORMA_ACP }
+#endif
+
+#if(C_adc_number>=3)
+#define R_ADC_DEFAULT_2 { 271, 271, 887, 887, 887, 887, 887, 887, 250, 250, 3125, 3125, 3125, 3125, 309, 309 }
+#define K_LEM_ADC_DEFAULT_2 { 7200, 7200, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 60000, 60000, 60000, 60000, 5000, 5000 }
+#define NORMA_ADC_DEFAULT_2 { NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP }
+#endif
+
+// 23550.1
+
+//#if(C_adc_number>=1)
+//#define R_ADC_DEFAULT_0 { 271, 271, 887, 887, 887, 887, 887, 887, 250, 250, 312, 312, 312, 312, 309, 309 }
+//#define K_LEM_ADC_DEFAULT_0 { 7200, 7200, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 8400, 8400, 8400, 8400, 5000, 5000 }
+//#define NORMA_ADC_DEFAULT_0 { NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP }
+//#endif
+//
+//#if(C_adc_number>=2)
+//#define R_ADC_DEFAULT_1 { 1, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190 }
+//#define K_LEM_ADC_DEFAULT_1 { 1, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1 }
+//#define NORMA_ADC_DEFAULT_1 { NORMA_ACP, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_P, NORMA_ACP }
+//#endif
+//
+//#if(C_adc_number>=3)
+//#define R_ADC_DEFAULT_2 { 271, 271, 887, 887, 887, 887, 887, 887, 250, 250, 3125, 3125, 3125, 3125, 309, 309 }
+//#define K_LEM_ADC_DEFAULT_2 { 7200, 7200, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 60000, 60000, 60000, 60000, 5000, 5000 }
+//#define NORMA_ADC_DEFAULT_2 { NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP }
+//#endif
+
+
+
+
+#if (USE_INTERNAL_ADC==1)
+#define R_ADC_DEFAULT_INTERNAL { 100,100,100,100,100,100,100,100,1248,1248,1248,100,100,100,100,100 }
+#define K_LEM_ADC_DEFAULT_INTERNAL { 30,30,30,30,10,10,10,10,621,621,621,100,10,10,10,10 }
+#define NORMA_ADC_DEFAULT_INTERNAL { NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP }
+#endif
+
+
+
+
+
+/*
+ //awa3
+ //14 ����� out1
+ 0 - 11 ������ �������
+ //15 ����� out2
+ 0 - 11 ������ �������
+ //8 �����
+ 0 - 20 �� | 0 ���� - 200 ���� / ��������
+ 0V - 1.5V / 0 ���� - 200 ���� / ��������
+ //9 �����
+ 0 - 20 �� | 0 ���� - 200 ���� / ��������
+ 0V - 1.5V / 0 ���� - 200 ���� / ��������
+
+ //10 �����
+ 0 - 20 �� | 0 ���� - 200 ���� / ��������
+ 0V - 1.5V / 0 ���� - 200 ���� / ��������
+
+ //11 �����
+ 0 - 20 �� | 0 ���� - 200 ���� / ��������
+ 0V - 1.5V / 0 ���� - 200 ���� / ��������
+ //12 �����
+ 4 - 20 �� | 0 ��� - 10 ��� / ��������
+ 0.3V - 1.5V / 0 ��� - 10 ��� / ��������
+
+ //13 �����
+ 4 - 20 �� | 0 ��� - 10 ��� / ��������
+ 0.3V - 1.5V / 0 ��� - 10 ��� / ��������
+*/
+
+
+typedef union
+{
+
+ struct
+ {
+ unsigned int c0_plus :1; /* 0 ������+ */
+ unsigned int c1_plus :1; /* 0 ������+ */
+ unsigned int c2_plus :1; /* 0 ������+ */
+ unsigned int c3_plus :1; /* 0 ������+ */
+ unsigned int c4_plus :1; /* 0 ������+ */
+ unsigned int c5_plus :1; /* 0 ������+ */
+ unsigned int c6_plus :1; /* 0 ������+ */
+ unsigned int c7_plus :1; /* 0 ������+ */
+ unsigned int c8_plus :1; /* 0 ������+ */
+ unsigned int c9_plus :1; /* 0 ������+ */
+ unsigned int c10_plus :1; /* 0 ������+ */
+ unsigned int c11_plus :1; /* 0 ������+ */
+ unsigned int c12_plus :1; /* 0 ������+ */
+ unsigned int c13_plus :1; /* 0 ������+ */
+ unsigned int c14_plus :1; /* 0 ������+ */
+ unsigned int c15_plus :1; /* 0 ������+ */
+ } bit; /* ������ ������� */
+ unsigned long all; /* ������ ������ */
+
+} ERR_ADC_PLUS_PROTECT;
+
+
+typedef union
+{
+
+ struct
+ {
+ unsigned int c0_minus :1; /* 0 ������- */
+ unsigned int c1_minus :1; /* 0 ������- */
+ unsigned int c2_minus :1; /* 0 ������- */
+ unsigned int c3_minus :1; /* 0 ������- */
+ unsigned int c4_minus :1; /* 0 ������- */
+ unsigned int c5_minus :1; /* 0 ������- */
+ unsigned int c6_minus :1; /* 0 ������- */
+ unsigned int c7_minus :1; /* 0 ������- */
+ unsigned int c8_minus :1; /* 0 ������- */
+ unsigned int c9_minus :1; /* 0 ������- */
+ unsigned int c10_minus :1; /* 0 ������- */
+ unsigned int c11_minus :1; /* 0 ������- */
+ unsigned int c12_minus :1; /* 0 ������- */
+ unsigned int c13_minus :1; /* 0 ������- */
+ unsigned int c14_minus :1; /* 0 ������- */
+ unsigned int c15_minus :1; /* 0 ������- */
+
+ } bit; /* ������ ������� */
+ unsigned int all; /* ������ ������ */
+
+} ERR_ADC_MINUS_PROTECT;
+
+
+typedef struct
+{
+ ERR_ADC_PLUS_PROTECT plus;
+ ERR_ADC_MINUS_PROTECT minus;
+} ERR_ADC_PROTECT;
+
+
+/* ���������y ��������� �������� ����� � ����y����� ��� */
+typedef struct
+{
+ _iq iqU_1;
+ _iq iqU_2;
+
+ _iq iqU_1_fast;
+ _iq iqU_2_fast;
+
+ _iq iqU_1_long;
+ _iq iqU_2_long;
+
+ _iq iqIu_1;
+ _iq iqIv_1;
+ _iq iqIw_1;
+
+ _iq iqIu_2;
+ _iq iqIv_2;
+ _iq iqIw_2;
+
+ _iq iqIu_1_rms;
+ _iq iqIv_1_rms;
+ _iq iqIw_1_rms;
+
+ _iq iqIu_2_rms;
+ _iq iqIv_2_rms;
+ _iq iqIw_2_rms;
+
+ _iq iqIu;
+ _iq iqIv;
+ _iq iqIw;
+
+ _iq iqIin_1;
+ _iq iqIin_2;
+
+ _iq iqUin_A1B1;
+ _iq iqUin_B1C1;
+ _iq iqUin_C1A1;
+
+ _iq iqUin_A2B2;
+ _iq iqUin_B2C2;
+ _iq iqUin_C2A2;
+
+ _iq iqUin_A1B1_rms;
+ _iq iqUin_B1C1_rms;
+ _iq iqUin_C1A1_rms;
+
+ _iq iqUin_A2B2_rms;
+ _iq iqUin_B2C2_rms;
+ _iq iqUin_C2A2_rms;
+
+ _iq iqUin_m1;
+ _iq iqUin_m2;
+
+ _iq iqIbreak_1;
+ _iq iqIbreak_2; //39
+
+ _iq T_U01;
+ _iq T_U02;
+ _iq T_U03;
+ _iq T_U04;
+ _iq T_U05;
+ _iq T_U06;
+ _iq T_U07;
+
+ _iq T_Water_external;
+ _iq T_Water_internal;
+
+ _iq T_Air_01;
+ _iq T_Air_02;
+ _iq T_Air_03;
+ _iq T_Air_04;
+
+ _iq P_Water_internal; //53
+
+
+ _iq iqI_vozbud;
+
+ _iq iqIin_sum;
+
+ _iq iqIm_1;
+ _iq iqIm_2;
+
+ _iq iqIm;
+
+
+ _iq iqM;
+
+ _iq PowerScalar;
+ _iq PowerScalarFilter2;
+ _iq PowerFOC;
+
+ _iq iqU_1_imit; //63
+
+
+ /*
+ _iq iqUzpt_1_2; //uzpt1 bs2
+ _iq iqUzpt_2_2; //uzpt2 bs2
+ _iq iqUzpt_1_2_fast; //uzpt1 bs2
+ _iq iqUzpt_2_2_fast; //uzpt2 bs2
+ _iq iqUzpt_1_2_long; //uzpt1 bs2
+ _iq iqUzpt_2_2_long; //uzpt2 bs2
+ _iq iqIin_1_1; //Iin AF1 BS1
+ _iq iqIin_2_1; //Iin AF2 BS1
+ _iq iqIin_3_1; //Iin AF3 BS1
+ _iq iqIin_4_1; //Iin AF4 BS1
+ _iq iqIin_5_1; //Iin AF5 BS1
+ _iq iqIin_6_1; //Iin AF6 BS1
+ _iq iqIin_1_2; //Iin AF1 BS2
+ _iq iqIin_2_2; //Iin AF2 BS2
+ _iq iqIin_3_2; //Iin AF3 BS2
+ _iq iqIin_4_2; //Iin AF4 BS2
+ _iq iqIin_5_2; //Iin AF5 BS2
+ _iq iqIin_6_2; //Iin AF6 BS2
+ _iq iqUin_AB; //������� �������� ���������� AB
+ _iq iqUin_BC; //������� �������� ���������� BC
+ _iq iqUin_CA; //������� �������� ���������� CA
+ _iq iqUin_AB_sf; //������� �������� ���������� AB
+ _iq iqUin_BC_sf; //������� �������� ���������� BC
+ _iq iqUin_CA_sf; //������� �������� ���������� CA
+ _iq iqT_WATER_in; // ����������� ���� �� ����� ��
+ _iq iqT_WATER_out; // ����������� ���� �� ������ ��
+ _iq iqT_AIR_in_up; // ����������� ������� �� ����� �� (����)
+ _iq iqT_AIR_in_down;// ����������� ������� �� ����� �� (���)
+ _iq iqP_WATER_in; // �������� ���� �� ����� ��
+ _iq iqP_WATER_out; // �������� ���� �� ������ ��
+
+ _iq iqT_BK1_BK12; // ������� ��������� ������ �� �������� BK1_BK12
+ _iq iqT_BK13_BK24; // ������� ��������� ������ �� �������� BK13_BK24
+
+ _iq iqUin_m1; //��������� ������� �������� ����������
+
+
+ _iq iqIu_1_1; //Iu AF1 BS1
+ _iq iqIu_1_2; //Iu AF2 BS1
+ _iq iqIv_1_1; //Iv AF3 BS1
+ _iq iqIv_1_2; //Iv AF4 BS1
+ _iq iqIw_1_1; //Iw AF5 BS1
+ _iq iqIw_1_2; //Iw AF6 BS1
+
+
+
+ _iq iqIu_2_1; //Iu AF1 BS2
+ _iq iqIu_2_2; //Iu AF2 BS2
+ _iq iqIv_2_1; //Iv AF3 BS2
+ _iq iqIv_2_2; //Iv AF4 BS2
+ _iq iqIw_2_1; //Iw AF5 BS2
+ _iq iqIw_2_2; //Iw AF6 BS2
+
+ _iq iqIm_1;
+ _iq iqIm_2;
+
+ _iq iqWexp;
+ _iq iqWout;
+
+ _iq iqM;
+*/
+} ANALOG_VALUE;
+
+
+#define ANALOG_VALUE_DEFAULT {0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,\
+ 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0, 0}
+/* ���������y ��������� �������� ����� � ����y����� ��� */
+
+
+#define ERR_LEVEL_ADC_PLUS 3950 //+1270A //2950 // +650A //3467 // 3367 //3367 //3267 // 0xfff-0x29c
+#define ERR_LEVEL_ADC_MINUS 150 //-1270A //1150 //-650A // 267 //367
+
+#define ERR_LEVEL_ADC_PLUS_6 3800 //3783 //3623~1150 // 3462 ~ 1050 A // 3320 ~ 960A //3680 //3267 // 0xfff-0x29c
+#define ERR_LEVEL_ADC_MINUS_6 1000 //267 //367
+
+#define MIN_DETECT_UD_ZERO 2300
+
+
+#define level_err_ADC_PLUS_default {ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,\
+ ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,\
+ ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,\
+ ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS}
+
+#define level_err_ADC_MINUS_default {ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,\
+ ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,\
+ ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,\
+ ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS}
+
+
+extern ANALOG_VALUE analog;
+extern ANALOG_VALUE filter;
+extern ANALOG_VALUE analog_zero;
+
+//void calc_norm_ADC(int fast);
+void calc_norm_ADC_0(int run_norma);
+void calc_norm_ADC_1(int run_norma);
+void Init_Adc_Variables(void);
+void norma_adc_nc(int nc);
+
+
+
+extern int ADC_f[COUNT_ARR_ADC_BUF][16];
+extern int zero_ADC[COUNT_ARR_ADC_BUF][16];
+
+extern ERR_ADC_PROTECT err_adc_protect[COUNT_ARR_ADC_BUF],mask_err_adc_protect[COUNT_ARR_ADC_BUF];
+
+extern unsigned int R_ADC[COUNT_ARR_ADC_BUF][16];
+extern unsigned int K_LEM_ADC[COUNT_ARR_ADC_BUF][16];
+extern float K_NORMA_ADC[COUNT_ARR_ADC_BUF][16];
+
+//void norma_all_adc(void);
+extern _iq koef_Uzpt_long_filter, koef_Uzpt_fast_filter, koef_Uin_filter, koef_Im_filter, koef_Power_filter, koef_Power_filter2;
+
+void detect_zero_analog(int nc);
+
+
+#if (USE_INTERNAL_ADC==1)
+
+void Init_Internal_Adc(void);
+
+#endif
+
+
+#endif // end _ADC_TOOLS
diff --git a/Inu/Src/main/alarm_log.c b/Inu/Src/main/alarm_log.c
new file mode 100644
index 0000000..7dd9e2e
--- /dev/null
+++ b/Inu/Src/main/alarm_log.c
@@ -0,0 +1,196 @@
+/*
+ * alarm_log.c
+ *
+ * Created on: 11 ����. 2024 �.
+ * Author: yura
+ */
+
+#include "edrk_main.h"
+#include "alarm_log_can.h"
+#include "alarm_log.h"
+#include "log_params.h"
+#include "logs_hmi.h"
+#include "global_time.h"
+
+
+#define PAUSE_AUTO_SAVE_ALARM_LOG_SECONDS 20 // 20 sec
+#define PAUSE_AUTO_STOP_ALARM_LOG_SECONDS 5 // 5 sec
+
+void send_alarm_log_pult(void)
+{
+ static int prev_imit_send_alarm_log_pult = 0;
+ int to_store = 0;
+
+ static int flag_wait_alarm = 0, prev_Ready2 = 0, flag_store_log = 0, flag_store_log_prepare = 0, flag_auto_logs = 0, flag_stop_alarm = 0;
+
+ static unsigned int pause_store_logs = 0, pause_stop_logs = 0;
+
+
+
+ // �������� � ����������
+ if (edrk.imit_send_alarm_log_pult && prev_imit_send_alarm_log_pult == 0)
+ flag_store_log = 1;
+ prev_imit_send_alarm_log_pult = edrk.imit_send_alarm_log_pult;
+
+
+ // ���� ������������ ��������� ����� �� �����
+
+
+ // ����� ���������? ������ ����� ������
+ if (prev_Ready2==0 && edrk.Status_Ready.bits.ready_final)
+ {
+ flag_wait_alarm = 1;
+ flag_stop_alarm = 0;
+ }
+
+ if (prev_Ready2==1 && edrk.Status_Ready.bits.ready_final==0)
+ {
+ // ���� �����, ���� ������
+ init_timer_sec(&pause_stop_logs);
+
+ flag_stop_alarm = 1;
+ }
+ prev_Ready2 = edrk.Status_Ready.bits.ready_final;
+
+
+ //����� ���� ������� � ��������� ������
+ if (flag_wait_alarm && edrk.summ_errors)
+ {
+ // ����� �����������
+ flag_store_log_prepare = 1;
+ flag_wait_alarm = 0;
+ flag_stop_alarm = 0;
+ init_timer_sec(&pause_store_logs);
+ }
+
+// //����� ���� ���������, �� ������ ����� � �� ����
+// if (flag_stop_alarm)
+// {
+//
+//
+// }
+
+ // ������ �� ���������, ���������� �����
+ if (flag_stop_alarm && detect_pause_sec(PAUSE_AUTO_STOP_ALARM_LOG_SECONDS, &pause_stop_logs))
+ {
+ flag_stop_alarm = 0;
+ flag_wait_alarm = 0;
+ }
+
+
+ if (flag_store_log_prepare)
+ {
+ flag_auto_logs = detect_pause_sec(PAUSE_AUTO_SAVE_ALARM_LOG_SECONDS, &pause_store_logs);
+ }
+
+ if (flag_auto_logs)
+ {
+ flag_store_log_prepare = 0;
+ flag_auto_logs = 0;
+ // ���������
+ flag_store_log = 1;
+
+ flag_wait_alarm = 0;
+ flag_stop_alarm = 0;
+ }
+
+
+
+
+
+
+
+ // ���������� ����� ����� �� �����
+ if (flag_store_log)
+ {
+
+ if (edrk.pult_cmd.log_what_memory >= 2)
+ to_store = 2;
+ else
+ if (edrk.pult_cmd.log_what_memory >= 1)
+ to_store = 1;
+ else
+ to_store = 0;
+
+ log_to_HMI.sdusb = to_store;
+
+
+ // ���� ���� �������� �� ���������
+ if (log_to_HMI.sdusb)
+ {
+ log_to_HMI.send_log = 3;
+ }
+
+ flag_store_log = 0;
+
+ }
+
+
+
+
+}
+
+
+void test_send_alarm_log(int alarm_cmd)
+{
+ static unsigned int points_alarm_log = 1000;
+ // static unsigned int nchannel_alarm_log = 30;
+ static int prev_alarm_cmd = 0;
+ static int local_alarm_cmd = 0;
+
+
+
+ if (alarm_cmd && prev_alarm_cmd==0 && alarm_log_can.stage==0)
+ {
+// i_led2_on();
+
+ alarm_log_can.post_points = COUNT_SAVE_LOG_OFF;//100; // ���������� �������������� �������
+ alarm_log_can.oscills = log_params.BlockSizeErr;//nchannel_alarm_log; // ���������� �������
+
+ alarm_log_can.global_enable = 1;
+
+ alarm_log_can.start_adr_temp = (int *)0xc0000; // ����� ��� ���������� ���������� ����� ����, ��� ����������� �� ������������ ������ � ���� �������������.
+
+ // alarm_log_can.finish_adr_temp = (int *)0xa0000; // ����� ��� ���������� ���������� ����� ����, ��� ����������� �� ������������ ������ � ���� �������������.
+
+ alarm_log_can.start_adr_real_logs = (int *)log_params.start_address_log;//(int *)START_ADDRESS_LOG; // ����� ������ �������� ����� � ����������� ������
+ alarm_log_can.finish_adr_real_log = (int *)log_params.end_address_log;//(int *)logpar.; // ����� ����� � ����������� ������
+
+ alarm_log_can.current_adr_real_log = (int *)log_params.addres_mem;
+
+
+ alarm_log_can.temp_points = points_alarm_log; // �������� ������ ����������� ������ � ������.
+ // alarm_log_can.real_points = 1000; // ������ ����� ��� �����, ������ ���������� ����������� �� ������������ ������ �� ��������� ���.
+
+ alarm_log_can.step = 450; // mks
+ local_alarm_cmd = alarm_cmd;
+// alarm_log_can.status_alarm = alarm_cmd;//cmd_alarm_log; // ��� ������
+ alarm_log_can.start = 0x1;
+ alarm_log_can.stop = 0x1;
+ alarm_log_can.copy2temp = 0x1;
+
+
+ alarm_log_can.clear(&alarm_log_can);
+// alarm_log_can.send(&alarm_log_can);
+
+// i_led2_off();
+ }
+ else
+ local_alarm_cmd = 0;
+
+ alarm_log_can.status_alarm = local_alarm_cmd;//cmd_alarm_log; // ��� ������
+ alarm_log_can.send(&alarm_log_can);
+
+ if (alarm_log_can.stage)
+ {
+// i_led2_on_off(1);
+ }
+ else
+ {
+// i_led2_on_off(0);
+ }
+
+ prev_alarm_cmd = alarm_cmd;
+
+}
+////////////////////////////////////////////////////////////
diff --git a/Inu/Src/main/alarm_log.h b/Inu/Src/main/alarm_log.h
new file mode 100644
index 0000000..c8fef58
--- /dev/null
+++ b/Inu/Src/main/alarm_log.h
@@ -0,0 +1,16 @@
+/*
+ * alarm_log.h
+ *
+ * Created on: 11 ����. 2024 �.
+ * Author: yura
+ */
+
+#ifndef SRC_MAIN_ALARM_LOG_H_
+#define SRC_MAIN_ALARM_LOG_H_
+
+void test_send_alarm_log(int alarm_cmd);
+void send_alarm_log_pult(void);
+
+
+
+#endif /* SRC_MAIN_ALARM_LOG_H_ */
diff --git a/Inu/Src/main/alg_simple_scalar.c b/Inu/Src/main/alg_simple_scalar.c
new file mode 100644
index 0000000..7fc3c8f
--- /dev/null
+++ b/Inu/Src/main/alg_simple_scalar.c
@@ -0,0 +1,976 @@
+/*
+ * alg_simple_scalar.c
+ *
+ * Created on: 26 ���. 2020 �.
+ * Author: Yura
+ */
+
+
+#include <alg_simple_scalar.h>
+#include <edrk_main.h>
+//#include <log_to_mem.h>
+#include <master_slave.h>
+#include <math.h>
+#include <params_alg.h>
+#include <params_norma.h>
+#include <project.h>
+//#include "log_to_mem.h"
+#include "IQmathLib.h"
+#include "math_pi.h"
+#include "mathlib.h"
+#include "params_pwm24.h"
+#include "filter_v1.h"
+#include "log_to_memory.h"
+
+
+#pragma DATA_SECTION(simple_scalar1,".slow_vars");
+ALG_SIMPLE_SCALAR simple_scalar1 = ALG_SIMPLE_SCALAR_DEFAULT;
+
+_iq koefBpsi = _IQ(0.05); //0.05
+
+void init_simple_scalar(void)
+{
+ simple_scalar1.mzz_add_1 = _IQ(MZZ_ADD_1/NORMA_MZZ);
+ simple_scalar1.mzz_add_2 = _IQ(MZZ_ADD_2/NORMA_MZZ);
+ simple_scalar1.mzz_add_3 = _IQ(MZZ_ADD_3/NORMA_MZZ);
+
+ simple_scalar1.poluses = _IQ(POLUS);
+ simple_scalar1.iq_mzz_max_for_fzad = _IQ(1000.0/NORMA_MZZ);
+
+ simple_scalar1.powerzad_add = _IQ(POWERZAD_ADD_MAX);
+ simple_scalar1.powerzad_dec = _IQ(POWERZAD_DEC);
+
+// simple_scalar1.k_freq_for_pid = _IQ(1.0);
+ simple_scalar1.k_freq_for_pid = _IQ(450.0/FREQ_PWM);
+
+ simple_scalar1.iq_add_kp_df = _IQ(ADD_KP_DF);
+ simple_scalar1.iq_add_ki_df = _IQ(ADD_KI_DF);
+
+ simple_scalar1.min_mzz_for_df = _IQ(MIN_MZZ_FOR_DF/NORMA_MZZ);
+
+ simple_scalar1.pidF_Kp = _IQ(PID_KP_F);
+ simple_scalar1.pidF_Ki = _IQ(PID_KI_F);
+
+
+
+ simple_scalar1.pidIm1.Kp=_IQ(PID_KP_IM);
+ simple_scalar1.pidIm1.Ki=_IQ(PID_KI_IM);
+
+ simple_scalar1.pidIm_Ki = simple_scalar1.pidIm1.Ki;
+
+ simple_scalar1.pidIm1.Kc=_IQ(PID_KC_IM);
+ simple_scalar1.pidIm1.Kd=_IQ(PID_KD_IM);
+
+
+ simple_scalar1.pidIm1.OutMax=_IQ(K_STATOR_MAX);
+ simple_scalar1.pidIm1.OutMin=_IQ(K_STATOR_MIN);
+
+//////////////
+
+
+ simple_scalar1.pidF.Kp=_IQ(PID_KP_F);
+ simple_scalar1.pidF.Ki=_IQ(PID_KI_F);
+ simple_scalar1.pidF.Kc=_IQ(PID_KC_F);
+ simple_scalar1.pidF.Kd=_IQ(PID_KD_F);
+
+
+ simple_scalar1.pidF.OutMax=_IQ(500/NORMA_MZZ);
+ simple_scalar1.pidF.OutMin=_IQ(0);
+ // iq_MAX_DELTA_pidF = _IQ(MAX_DELTA_pidF/NORMA_WROTOR);
+/////////////////////////
+// simple_scalar1.pidPower_Kp = _IQ(PID_KP_POWER);
+// simple_scalar1.pidPower_Ki = _IQ(PID_KI_POWER);
+
+
+ // iq_add_kp_dpower = _IQ(ADD_KP_DPOWER);
+ // iq_add_ki_dpower = _IQ(ADD_KI_DPOWER);
+
+ simple_scalar1.pidPower.Kp=_IQ(PID_KP_POWER);
+ simple_scalar1.pidPower.Ki=_IQ(PID_KI_POWER);
+ simple_scalar1.pidPower.Ki = _IQmpy(simple_scalar1.pidPower.Ki, simple_scalar1.k_freq_for_pid); // ������ ��������� Ki �� ������� ����
+
+ simple_scalar1.pidPower.Kc=_IQ(PID_KC_POWER);
+ simple_scalar1.pidPower.Kd=_IQ(PID_KD_POWER);
+
+ simple_scalar1.pidPower.OutMax=_IQ(500/NORMA_MZZ);
+ simple_scalar1.pidPower.OutMin=_IQ(0);
+
+
+ simple_scalar1.iq_spad_k = _IQ(0.993); //0.993 ~ 0.4 sek �� 5%
+
+
+ // ���. ����������
+ simple_scalar1.min_bpsi = _IQ(BPSI_MINIMAL/NORMA_FROTOR);
+ simple_scalar1.max_bpsi = _IQ(BPSI_MAXIMAL/NORMA_FROTOR);
+
+}
+
+/***************************************************************/
+/* �/� ���������y ������ ������ 3 -
+ vector_moment(real Frot, - ������� ������
+ real fzad, - �������� ������� ������
+ real mzz_zad, - ������������ ��������� ������-����������� ����
+ real *Fz, - ��������� ������� - ������� ����y����y � �������
+ real *Uz1, - ��������� ������� - ����. �����y��� � 1 ������� �������
+ real *Uz2) - ��������� ������� - ����. �����y��� � 2 ������� �������
+
+
+ �����������y �����y��� ��������, ������� ������y�� ������� fzad �� ��������
+
+ ��������y �����y���� ���������� = 0.5
+
+ ���� ������ ����y����y ����� ������ ���� �� ����� �� 3-� ������ �����.
+ ���������y �������y ��y�� �� �������� */
+/****************************************************************/
+
+
+//#pragma CODE_SECTION(simple_scalar,".fast_run");
+void simple_scalar(int n_alg,
+ int n_wind_pump,
+ int direction,
+ _iq Frot_pid,
+ _iq Frot,
+ _iq fzad,
+ _iq iqKoefOgran,
+ _iq mzz_zad,
+ _iq bpsi_const,
+ _iq iqIm,
+ _iq iqUin,
+ _iq Iin,
+ _iq powerzad,
+ _iq power_pid,
+ _iq power_limit,
+ int mode_oborots_power,
+ _iq Izad_from_master,
+ int master,
+ int count_bs_work,
+ _iq *Fz,
+ _iq *Uz1,
+ _iq *Uz2,
+ _iq *Izad_out)
+{
+
+ _iq mzz, dF, dI1, Izad, Uz_t1, Kpred_Ip, pred_Ip;//, znak_moment;
+ _iq dI2, Uz_t2;
+
+ _iq pkk=0,ikk=0;
+ _iq Im_regul=0;
+
+
+
+ static _iq bpsi=0;
+ // static _iq IQ_POLUS=0;
+
+
+ static _iq mzz_zad_int=0;
+ static _iq mzzi=0;
+
+ static _iq I1_i=0;
+ static _iq I2_i=0;
+
+ static _iq Im1=0;
+ static _iq Im2=0;
+
+ static _iq Uze_t1=0;
+ static _iq Uze_t2=0;
+
+ // static _iq fzad_ogr=0;
+
+
+
+// static _iq koef_Uz_t_filter=0;
+ static _iq dI1_prev=0;
+ static _iq Uz_t1_prev=0;
+
+ static _iq dF_prev = 0;
+ static _iq mzz_prev = 0;
+
+ // static _iq mzz_add_1, mzz_add_2;
+
+ static _iq fzad_int=0;//, fzad_add_max;//,iq_mzz_max_for_fzad ;
+ static _iq fzad_add=0; //fzad_dec
+ _iq halfIm1, halfIm2;
+
+ static _iq powerzad_int=0, powerzad_add_max=0, pidFOutMax = 0, pidFOutMin = 0 ;
+//powerzad_dec powerzad_add
+// static _iq koef_bpsi=0;
+ // static _iq min_bpsi=0;
+ static int flag_uz_t1=0;
+
+ // static _iq correct_err=0;
+// static _iq iq_dF_min1=0;
+// static _iq iq_dF_min2=0;
+ _iq pred_dF,Kpred_dF;
+ static _iq dF_PREDEL_LEVEL2 = 0,dF_PREDEL_LEVEL1=0;
+ _iq Uze_ogr=0;
+
+ // static _iq iq_spad_k=1;
+ static _iq myq_temp=0;
+ static _iq bpsi_filter=0;
+ static _iq _iq_koef_im_on_tormog = _IQ(KOEF_IM_ON_TORMOG);
+ static _iq _iq_koef_im_on_tormog_max_temper_break = _IQ(KOEF_IM_ON_TORMOG_WITH_MAX_TEMPER_BREAK);
+ static _iq n_iq_koef_im_on_tormog = CONST_IQ_1, t_iq_koef_im_on_tormog = CONST_IQ_1;
+
+ static _iq _iq_koef_im_on_tormog_add =_IQ(0.0005), _iq_koef_im_on_tormog_dec = _IQ(0.01);
+
+// static _iq F_revers_level00= _IQ(70.0/60.0/NORMA_FROTOR);
+ static _iq F_revers_level0 = _IQ(90.0/60.0/NORMA_FROTOR);
+ static _iq F_revers_level1 = _IQ(100.0/60.0/NORMA_FROTOR);
+ static _iq F_revers_level2 = _IQ(110.0/60.0/NORMA_FROTOR);
+ static _iq F_revers_level3 = _IQ(120.0/60.0/NORMA_FROTOR);
+ static _iq F_revers_level4 = _IQ(130.0/60.0/NORMA_FROTOR);
+ static _iq F_revers_level5 = _IQ(140.0/60.0/NORMA_FROTOR);
+ static _iq F_revers_level6 = _IQ(150.0/60.0/NORMA_FROTOR);
+ static _iq F_revers_level7 = _IQ(160.0/60.0/NORMA_FROTOR);
+ static _iq F_revers_level8 = _IQ(170.0/60.0/NORMA_FROTOR);
+ static _iq F_revers_level9 = _IQ(180.0/60.0/NORMA_FROTOR);
+ static _iq F_revers_level10 = _IQ(190.0/60.0/NORMA_FROTOR);
+ static _iq F_revers_level11 = _IQ(200.0/60.0/NORMA_FROTOR);
+ static _iq F_revers_level12 = _IQ(210.0/60.0/NORMA_FROTOR);
+ static _iq F_revers_level13 = _IQ(220.0/60.0/NORMA_FROTOR);
+
+ static _iq kF_revers_level00 = _IQ(0.65);
+ static _iq kF_revers_level0 = _IQ(0.70);
+ static _iq kF_revers_level1 = _IQ(0.75);
+ static _iq kF_revers_level2 = _IQ(0.78);
+ static _iq kF_revers_level3 = _IQ(0.80);
+ static _iq kF_revers_level4 = _IQ(0.82);
+ static _iq kF_revers_level5 = _IQ(0.84);
+ static _iq kF_revers_level6 = _IQ(0.86);
+ static _iq kF_revers_level7 = _IQ(0.88);
+ static _iq kF_revers_level8 = _IQ(0.90);
+ static _iq kF_revers_level9 = _IQ(0.91);
+ static _iq kF_revers_level10 = _IQ(0.92);
+ static _iq kF_revers_level11 = _IQ(0.93);
+ static _iq kF_revers_level12 = _IQ(0.94);
+ static _iq kF_revers_level13 = _IQ(0.96);
+
+
+ static _iq P_level0 = _IQ(70.0/60.0/NORMA_FROTOR);
+ static _iq P_level1 = _IQ(150.0/60.0/NORMA_FROTOR);
+ static _iq P_level2 = _IQ(160.0/60.0/NORMA_FROTOR);
+ static _iq P_level3 = _IQ(170.0/60.0/NORMA_FROTOR);
+ static _iq P_level4 = _IQ(180.0/60.0/NORMA_FROTOR);
+ static _iq P_level5 = _IQ(190.0/60.0/NORMA_FROTOR);
+ static _iq P_level6 = _IQ(200.0/60.0/NORMA_FROTOR);
+ static _iq P_level7 = _IQ(210.0/60.0/NORMA_FROTOR);
+ static _iq P_level8 = _IQ(220.0/60.0/NORMA_FROTOR);
+ static _iq P_level9 = _IQ(230.0/60.0/NORMA_FROTOR);
+// static _iq P_level9 = _IQ(300.0/60.0/NORMA_FROTOR);
+
+ static _iq kP_level0 = _IQ(0.9);
+ static _iq kP_level1 = _IQ(0.9);
+ static _iq kP_level2 = _IQ(0.9);
+ static _iq kP_level3 = _IQ(0.85);
+ static _iq kP_level4 = _IQ(0.8);
+ static _iq kP_level5 = _IQ(0.75);
+ static _iq kP_level6 = _IQ(0.7);
+ static _iq kP_level7 = _IQ(0.65);
+ static _iq kP_level8 = _IQ(0.6);
+ static _iq kP_level9 = _IQ(0.55);
+
+ static _iq pid_kp_power = _IQ(PID_KP_POWER);
+ static _iq add_mzz_outmax_pidp = _IQ(100.0/NORMA_MZZ);
+ _iq new_pidP_OutMax = 0;
+
+ _iq k_ogr_p_koef_1 = 0;
+ _iq k_ogr_p_koef_2 = 0;
+
+ _iq k_ogr_n = 0;
+
+
+ _iq Frot_pid_abs;
+
+ _iq d_m=0;
+
+ _iq iq_decr_mzz_power;
+
+ _iq level1_power_ain_decr_mzz, level2_power_ain_decr_mzz;
+ _iq new_power_limit = 0;
+
+ static _iq koef_Power_filter2 = _IQ(1.0/(FREQ_PWM*EXP_FILTER_KOEF_OGRAN_POWER_LIMIT));//2.2 ��� //30000;// 0,0012//16777;//0,001//13981;
+
+
+
+
+
+ Frot_pid_abs = _IQabs(Frot_pid);
+
+// ������� ����������� pidPower.Kp �� ����
+//
+// if (Frot_pid_abs>=P_level0)
+// {
+// k_ogr_p_koef_1 = CONST_IQ_1 - _IQdiv( (Frot_pid_abs-P_level0) , (P_level9-P_level0) );
+// if (k_ogr_p_koef_1<0) k_ogr_p_koef_1 = 0;
+// }
+// else
+// k_ogr_p_koef_1 = CONST_IQ_1;
+//
+// //k_ogr_p_koef_1 �������� �� 1 �� 0 �
+//
+// k_ogr_p_koef_2 = CONST_IQ_01 + _IQmpy(CONST_IQ_09, k_ogr_p_koef_1);
+
+// simple_scalar1.pidPower.Kp = _IQmpy (pid_kp_power, k_ogr_p_koef_2);// _IQ(PID_KP_POWER)
+
+ simple_scalar1.pidPower.Kp = pid_kp_power;//_IQmpy (pid_kp_power, k_ogr_p_koef_2);// _IQ(PID_KP_POWER)
+
+ if (mode_oborots_power == ALG_MODE_SCALAR_OBOROTS)
+ {
+ if (simple_scalar1.cmd_new_calc_p_limit)
+ {
+ simple_scalar1.flag_decr_mzz_power = 0;
+ simple_scalar1.iq_decr_mzz_power_filter = CONST_IQ_1;
+ simple_scalar1.iq_decr_mzz_power = CONST_IQ_1;
+ new_power_limit = power_limit;
+ }
+ else
+ {
+ // ������ ���� ����������� �������� �� ���������� ������, ���� ������
+ // ���� ��� �������� ������������ � ������ �� �������� ���������������� ��������� ��� ����� ����.
+ // simple_scalar1.iq_decr_mzz_power_filter ������� ���� �� 1.0 - ��� �����������,
+ // �� 1-MAX_KOEF_OGRAN_POWER_LIMIT - ������ �����������
+ new_power_limit = power_limit - simple_scalar1.sdvig_power_limit;
+ if (new_power_limit<MIN_DELTA_LEVEL_POWER_AIN_DECR_MZZ_DEF)
+ new_power_limit = MIN_DELTA_LEVEL_POWER_AIN_DECR_MZZ_DEF;
+
+ // ������ �������
+ level1_power_ain_decr_mzz = new_power_limit - DELTA_LEVEL_POWER_AIN_DECR_MZZ_DEF - simple_scalar1.add_power_limit;
+
+ if (level1_power_ain_decr_mzz<0)
+ level1_power_ain_decr_mzz = 0;
+
+ // ������ �������
+ level2_power_ain_decr_mzz = level1_power_ain_decr_mzz + DELTA_LEVEL_POWER_AIN_DECR_MZZ_DEF + simple_scalar1.add_power_limit;
+
+ // �������� ������ �� SMEWENIE_LEVEL_POWER_AIN_DECR_MZZ_DEF �����
+ level1_power_ain_decr_mzz = level1_power_ain_decr_mzz + SMEWENIE_LEVEL_POWER_AIN_DECR_MZZ_DEF;
+ level2_power_ain_decr_mzz = level2_power_ain_decr_mzz + SMEWENIE_LEVEL_POWER_AIN_DECR_MZZ_DEF;
+
+ d_m = power_pid - level1_power_ain_decr_mzz;
+
+ if (d_m<0)
+ d_m=0; // ��� � �����
+ else
+ {
+ // ���� ������������ ������
+ if (d_m>=(level2_power_ain_decr_mzz-level1_power_ain_decr_mzz))
+ d_m = CONST_IQ_1;
+ else
+ d_m = _IQdiv(d_m,(level2_power_ain_decr_mzz - level1_power_ain_decr_mzz));
+ }
+
+ if (d_m<0)
+ d_m=0; // ��� � �����
+
+ if (d_m>CONST_IQ_1)
+ d_m=CONST_IQ_1; // ������ �����������
+
+ // �������� ������� �� 1.0 �� 0.0 � ������� �� MAX_KOEF_OGRAN_POWER_LIMIT �� 0.0
+ d_m = _IQmpy(d_m, MAX_KOEF_OGRAN_POWER_LIMIT); //
+
+ simple_scalar1.iq_decr_mzz_power = CONST_IQ_1 - d_m;// ������ ���� �������� �� 1.0 - ��� �����. �� MAX_KOEF_OGRAN_POWER_LIMIT ����. �������.
+
+ if (simple_scalar1.iq_decr_mzz_power<0)
+ simple_scalar1.iq_decr_mzz_power=0;
+
+
+ simple_scalar1.iq_decr_mzz_power_filter = exp_regul_iq(koef_Power_filter2,
+ simple_scalar1.iq_decr_mzz_power_filter,
+ simple_scalar1.iq_decr_mzz_power);
+
+ if (simple_scalar1.iq_decr_mzz_power_filter<0)
+ simple_scalar1.iq_decr_mzz_power_filter = 0;
+
+
+ if (d_m>0)
+ simple_scalar1.flag_decr_mzz_power = 1;
+ else
+ simple_scalar1.flag_decr_mzz_power=0;
+
+ }
+ }
+ else
+ {
+ simple_scalar1.flag_decr_mzz_power = 0;
+ simple_scalar1.iq_decr_mzz_power_filter = CONST_IQ_1;
+ simple_scalar1.iq_decr_mzz_power = CONST_IQ_1;
+ new_power_limit = power_limit;
+ }
+
+#if (ENABLE_DECR_MZZ_POWER_IZAD)
+ if (simple_scalar1.disable_KoefOgranIzad==0)
+ simple_scalar1.iqKoefOgranIzad = _IQmpy(iqKoefOgran,simple_scalar1.iq_decr_mzz_power_filter);
+ else
+ simple_scalar1.iqKoefOgranIzad = iqKoefOgran;
+#else
+ simple_scalar1.iqKoefOgranIzad = iqKoefOgran;
+#endif
+ //static _iq _iq_1 = _IQ(1.0);
+
+ // static _iq mzz_int_level1_on_F=0;
+
+
+// mzz = _IQsat(mzz,mzz_zad_int,0);
+
+
+ simple_scalar1.mzz_zad_in1 = mzz_zad;
+ simple_scalar1.Izad_from_master = Izad_from_master;
+
+ iqKoefOgran = _IQsat(iqKoefOgran,CONST_IQ_1,0);
+
+ /* ������������� ��������� ������y ���� �����y����� */
+ if ( (Frot==0) && (fzad==0) )
+ {
+ mzzi = 0;
+ fzad_int = 0;
+ powerzad_int = 0;
+ bpsi_filter = 0;
+ pidFOutMax = pidFOutMin = 0;
+ n_iq_koef_im_on_tormog = CONST_IQ_1;//_IQ(1.0);
+ simple_scalar1.iq_decr_mzz_power_filter = CONST_IQ_1;
+
+ }
+
+ if (mzz_zad==0)
+ {
+ bpsi_filter = 0;
+ mzz=0;
+ I1_i=0;
+ mzzi=0;
+ mzz_zad_int = 0;
+ fzad_int = 0;
+ powerzad_int = 0;
+
+ simple_scalar1.pidIm1.Up1 = 0;
+ simple_scalar1.pidIm1.Ui = 0;
+
+ simple_scalar1.pidF.Up1 = 0;
+ simple_scalar1.pidF.Ui = 0;
+
+ simple_scalar1.pidPower.Up1 = 0;
+ simple_scalar1.pidPower.Ui = 0;
+
+ Uze_t1=0;
+ Uze_t2=0;
+
+ dI1_prev = 0;
+ Uz_t1_prev = 0;
+
+ dF_prev = 0;
+ mzz_prev = 0;
+
+
+ // �������� ������������� fzad
+ fzad_add = _IQ(FZAD_ADD_MAX/NORMA_FROTOR);
+ // �������� ������������� fzad �� ������
+ // fzad_dec = _IQ(FZAD_DEC/NORMA_FROTOR);
+//
+//
+ // �������� ������������� mzz_max
+ // iq_mzz_max_for_fzad = _IQ(1000.0/NORMA_MZZ);
+
+
+ // ����. ������� Uz_t_filter
+ // koef_Uz_t_filter = _IQ(0.001/0.5); //0.0333
+
+
+
+ // ����. ������� ���������� �� mzz
+ // koef_bpsi = _IQ((0.6/NORMA_WROTOR)/(200.0/NORMA_MZZ));
+
+ flag_uz_t1=0;
+
+
+ // ����. �������� ��� ������������� ����������� ����. � ���������� ��������
+ // correct_err = _IQ(2.5/NORMA_WROTOR);
+
+ // ���. ������� ��� ������ ����. �������� ��� ������������� ����������� ����. � ���������� ��������
+ // iq_dF_min1 = _IQ(1.0/NORMA_WROTOR);
+
+ // iq_dF_min2 = _IQ(1.5/NORMA_WROTOR);
+
+ // ����. ������� �������� ����� Km
+ // iq_spad_k = _IQ(0.993); //0.993 ~ 0.4 sek �� 5%
+
+// iq_spad_k = _IQ(0.9965); //0.993 ~ 0.4 sek �� 5%
+
+
+// dF_PREDEL_LEVEL1 = _IQ(0.5/NORMA_WROTOR);
+// dF_PREDEL_LEVEL2 = _IQ(1.5/NORMA_WROTOR);
+
+ // mzz_int_level1_on_F = _IQ(1.0/NORMA_WROTOR);
+// mzz_int_level2_on_F = _IQ(1.5/NORMA_WROTOR);
+
+
+ }
+
+
+ // ����������� ��� �����������
+ if (direction==0)
+ {
+ // �����
+ n_iq_koef_im_on_tormog = CONST_IQ_1;//_IQ(1.0);
+ }
+ else
+ if (direction==-1 && fzad <= 0)
+ {
+// ���� �����, ������� ��������� � ������������ ��������
+ if (Frot_pid<-F_revers_level13)
+ n_iq_koef_im_on_tormog = kF_revers_level13;
+ else
+ if (Frot_pid<-F_revers_level12)
+ n_iq_koef_im_on_tormog = kF_revers_level12;
+ else
+ if (Frot_pid<-F_revers_level11)
+ n_iq_koef_im_on_tormog = kF_revers_level11;
+ else
+ if (Frot_pid<-F_revers_level10)
+ n_iq_koef_im_on_tormog = kF_revers_level10;
+ else
+ if (Frot_pid<-F_revers_level9)
+ n_iq_koef_im_on_tormog = kF_revers_level9;
+ else
+ if (Frot_pid<-F_revers_level8)
+ n_iq_koef_im_on_tormog = kF_revers_level8;
+ else
+ if (Frot_pid<-F_revers_level7)
+ n_iq_koef_im_on_tormog = kF_revers_level7;
+ else
+ if (Frot_pid<-F_revers_level6)
+ n_iq_koef_im_on_tormog = kF_revers_level6;
+ else
+ if (Frot_pid<-F_revers_level5)
+ n_iq_koef_im_on_tormog = kF_revers_level5;
+ else
+ if (Frot_pid<-F_revers_level4)
+ n_iq_koef_im_on_tormog = kF_revers_level4;
+ else
+ if (Frot_pid<-F_revers_level3)
+ n_iq_koef_im_on_tormog = kF_revers_level3;
+ else
+ if (Frot_pid<-F_revers_level2)
+ n_iq_koef_im_on_tormog = kF_revers_level2;
+ else
+ if (Frot_pid<-F_revers_level1)
+ n_iq_koef_im_on_tormog = kF_revers_level1;
+ if (Frot_pid<-F_revers_level0)
+ n_iq_koef_im_on_tormog = kF_revers_level0;
+ else
+ n_iq_koef_im_on_tormog = kF_revers_level00;
+
+ }
+ else
+ if (direction==1 && fzad>=0)
+ {
+ // ���� ������, ������� ��������� � ������������ ��������
+ n_iq_koef_im_on_tormog = CONST_IQ_1;//_IQ(1.0);
+ }
+ else
+ {
+ // ���� ����������� �� �������� ��� � _iq_koef_im_on_tormog ��� ������ �� ���������
+// mzz_zad = _IQmpy(mzz_zad, _iq_koef_im_on_tormog);
+
+ if (edrk.warnings.e9.bits.BREAK_TEMPER_ALARM == 1)
+ // ���� �������� ���������, ������� ��������
+ n_iq_koef_im_on_tormog = _iq_koef_im_on_tormog_max_temper_break;
+ else
+ n_iq_koef_im_on_tormog = _iq_koef_im_on_tormog;
+ }
+
+ t_iq_koef_im_on_tormog = zad_intensiv_q(_iq_koef_im_on_tormog_add,
+ _iq_koef_im_on_tormog_dec,
+ t_iq_koef_im_on_tormog,
+ n_iq_koef_im_on_tormog);
+
+
+ mzz_zad = _IQmpy(mzz_zad, t_iq_koef_im_on_tormog);
+
+ simple_scalar1.mzz_zad_in2 = mzz_zad;
+
+ /* �������� ������������� ������� */
+ if (n_alg==1)
+ {
+
+ mzz_zad_int = zad_intensiv_q(simple_scalar1.mzz_add_2, simple_scalar1.mzz_add_2, mzz_zad_int, mzz_zad);
+
+// if (Frot_pid>mzz_int_level1_on_F)
+// mzz_zad_int = zad_intensiv_q(mzz_add_1, mzz_add_1, mzz_zad_int, mzz_zad);
+// else
+// mzz_zad_int = zad_intensiv_q(mzz_add_2, mzz_add_2, mzz_zad_int, mzz_zad);
+
+ }
+
+
+ if (n_alg==2)
+ mzz_zad_int = zad_intensiv_q(simple_scalar1.mzz_add_2, simple_scalar1.mzz_add_2, mzz_zad_int, mzz_zad);
+
+// myq_temp = _IQdiv(mzz_zad, simple_scalar1.iq_mzz_max_for_fzad);
+// myq_temp = _IQmpy( myq_temp, fzad_add_max);
+// fzad_add = myq_temp;
+
+ fzad_int = zad_intensiv_q(fzad_add, fzad_add, fzad_int, fzad );
+
+
+
+
+ powerzad_int = zad_intensiv_q(simple_scalar1.powerzad_add, simple_scalar1.powerzad_add, powerzad_int, powerzad);
+
+ if (n_alg==1)
+ {
+ /* �����y��� �������� */
+ if (mzz_zad_int>=0)
+ {
+ dF = fzad_int - Frot_pid;//*direction;
+
+////////// Power PI //////////////
+
+
+ //if (_IQabs(simple_scalar1.pidF.Out))
+
+ k_ogr_n = (_IQabs(power_pid) - _IQabs(powerzad_int));
+ // if (k_ogr_n<0) k_ogr_n = 0;
+
+ k_ogr_n = CONST_IQ_1 - _IQdiv(k_ogr_n, _IQabs(powerzad_int));
+
+ simple_scalar1.k_ogr_n = _IQsat(k_ogr_n,CONST_IQ_1,-CONST_IQ_1);
+
+
+ // ����� ����������� ��� pidP OutMax
+ new_pidP_OutMax = _IQabs(simple_scalar1.pidF.Out)+add_mzz_outmax_pidp;
+ new_pidP_OutMax = _IQsat(new_pidP_OutMax, mzz_zad_int, add_mzz_outmax_pidp ); // �� 100 �� ���������� ������ ���������� simple_scalar1.pidF.Out
+
+ // ������ ������� �����������
+// new_pidP_OutMax = mzz_zad_int;
+
+ simple_scalar1.pidPower.OutMax = new_pidP_OutMax;
+ simple_scalar1.pidPower.OutMin = 0;
+
+
+// pidPower.Kp = _IQmpy( _IQdiv(iq_add_kp_dpower, _IQsat(mzz_zad,mzz_zad,MIN_MZZ_FOR_DPOWER)), pidPower_Kp);
+// pidPower.Ki = _IQmpy( _IQdiv(iq_add_ki_dpower, _IQsat(mzz_zad,mzz_zad,MIN_MZZ_FOR_DPOWER)), pidPower_Ki);
+
+// simple_scalar1.pidPower.Ki = _IQmpy(simple_scalar1.pidPower.Ki, simple_scalar1.k_freq_for_pid);
+
+
+ simple_scalar1.pidPower.Ref = _IQabs(powerzad_int); // ��� ������ ������������� ��������
+
+ simple_scalar1.pidPower.Fdb = _IQabs(power_pid);
+ simple_scalar1.pidPower.calc(&simple_scalar1.pidPower);
+
+
+ // Saturate the integral output
+
+ if (simple_scalar1.pidPower.Ui > simple_scalar1.pidPower.OutMax)
+ simple_scalar1.pidPower.Ui = simple_scalar1.pidPower.OutMax;
+ else if (simple_scalar1.pidPower.Ui < simple_scalar1.pidPower.OutMin)
+ simple_scalar1.pidPower.Ui = simple_scalar1.pidPower.OutMin;
+
+
+//////////////////////////////
+//////////////////////////////
+
+
+ // ����������� ����. �������� ������ ����������
+ // pidF.OutMax=mzz_zad_int;
+ // ��� ���
+
+ pidFOutMax = zad_intensiv_q(simple_scalar1.mzz_add_3, simple_scalar1.mzz_add_1, pidFOutMax, simple_scalar1.pidPower.Out);
+ pidFOutMin = zad_intensiv_q(simple_scalar1.mzz_add_3, simple_scalar1.mzz_add_1, pidFOutMin, simple_scalar1.pidPower.Out);
+
+
+// fzad
+ if (direction==-1 && fzad <= 0)
+ {
+ pidFOutMax = 0;
+ simple_scalar1.pidF.OutMax = 0;//simple_scalar1.pidPower.Out;
+ simple_scalar1.pidF.OutMin = -pidFOutMin;//-simple_scalar1.pidPower.Out;
+
+ }
+ else
+ if (direction==1 && fzad>=0)
+ {
+ pidFOutMin = 0;
+ simple_scalar1.pidF.OutMax = pidFOutMax;//simple_scalar1.pidPower.Out;
+ simple_scalar1.pidF.OutMin = 0;//-simple_scalar1.pidPower.Out;
+ }
+ else
+ {
+ simple_scalar1.pidF.OutMax = pidFOutMax;//simple_scalar1.pidPower.Out;
+ simple_scalar1.pidF.OutMin = -pidFOutMin;//-simple_scalar1.pidPower.Out;
+ }
+
+/*
+// pzad
+ if (direction==-1 && powerzad <= 0)
+ {
+
+
+ }
+ else
+ if (direction==1 && powerzad>=0)
+ {
+
+ }
+ else
+ {
+
+ }
+*/
+
+// pidF.OutMax = mzz_zad;
+ if (count_bs_work==2)
+ simple_scalar1.pidF.Kp = simple_scalar1.pidF_Kp;//_IQmpy( _IQdiv(simple_scalar1.iq_add_kp_df, _IQsat(mzz_zad,mzz_zad,simple_scalar1.min_mzz_for_df)), simple_scalar1.pidF_Kp);
+ else
+ simple_scalar1.pidF.Kp = _IQmpy2(simple_scalar1.pidF_Kp);
+
+ simple_scalar1.pidF.Ki = simple_scalar1.pidF_Ki;//_IQmpy( _IQdiv(simple_scalar1.iq_add_ki_df, _IQsat(mzz_zad,mzz_zad,simple_scalar1.min_mzz_for_df)), simple_scalar1.pidF_Ki);
+
+ simple_scalar1.pidF.Ki = _IQmpy(simple_scalar1.pidF.Ki,simple_scalar1.k_freq_for_pid);
+
+/////////////////////////
+
+// if (_IQabs(dF)<iq_dF_min1)
+// {
+// dF=iq_dF_min1;
+// m.m1.bit.w_rotor_ust = 1;
+// }
+//
+// if (_IQabs(dF)>iq_dF_min2)
+// {
+// m.m1.bit.w_rotor_ust = 0;
+// }
+//////////////////////////////////
+
+ // ��� ��������� dF
+ //fzad_int =
+ simple_scalar1.pidF.Ref = _IQmpy(fzad_int, iqKoefOgran);
+
+ simple_scalar1.pidF.Fdb = Frot_pid;//*direction;
+ simple_scalar1.pidF.calc(&simple_scalar1.pidF);
+
+
+ // Saturate the integral output
+
+ if (simple_scalar1.pidF.Ui > simple_scalar1.pidF.OutMax)
+ simple_scalar1.pidF.Ui = simple_scalar1.pidF.OutMax;
+ else if (simple_scalar1.pidF.Ui < simple_scalar1.pidF.OutMin)
+ simple_scalar1.pidF.Ui = simple_scalar1.pidF.OutMin;
+/////////////////////////////////////
+
+ mzz = _IQabs(simple_scalar1.pidF.Out); // ��� ������!!!
+
+///////////////////////////////////////
+
+
+
+// �������� ������������� �� ���
+// mzz = zad_intensiv_q(mzz_add_2, mzz_add_2, mzz, pidF.Out);
+
+// mzzi = zad_intensiv_q(mzz_add_2, mzz_add_2, mzzi, mzz);
+
+ // ���������� �������� mzz
+ mzz = _IQsat(mzz,mzz_zad_int,0);
+
+ }
+ else
+ {
+ mzz = 0;
+ }
+
+ }
+
+ if (n_alg==2)
+ {
+ mzz = mzz_zad_int;
+ }
+
+
+ if (master == MODE_SLAVE)
+ {
+ mzz = Izad_from_master;
+ // ���������� �������� mzz
+ mzz = _IQsat(mzz,mzz_zad_int,0);
+ }
+
+
+ *Izad_out = mzz;
+ /* ��� ���������� ���� ���������� ���������� �������y I_PREDEL_LEVEL1
+ �������� ������� �����y�� ������ */
+
+/*
+ pred_Ip = (filter.I_3+filter.I_6)-I_PREDEL_LEVEL1;
+
+
+ if (pred_Ip<0)
+ Kpred_Ip=0.0; // ��� � �����
+ else
+ {
+ // ���� ������������ ������
+ if (pred_Ip>=(I_PREDEL_LEVEL2-I_PREDEL_LEVEL1))
+ Kpred_Ip=1;
+ else
+ Kpred_Ip = pred_Ip/(I_PREDEL_LEVEL2-I_PREDEL_LEVEL1);
+
+ }
+
+ // � ��� � �����������
+ Izad = mzz * (1-Kpred_Ip);
+ */
+
+
+
+ Izad = _IQmpy(mzz, simple_scalar1.iqKoefOgranIzad);
+
+// if ((n_alg==1) || (n_alg==2))
+// {
+//
+// Im1 = iqIm_1;
+// Im2 = iqIm_2;
+//
+// if (n_wind_pump==0) // ������ �� ���� ��������
+// {
+//
+// halfIm1 = Im1 >> 1;
+// halfIm2 = Im2 >> 1;
+//
+// if (Im1>halfIm2) //if (Im1>IQdiv(Im2,_IQ(2.0)))
+// {
+// Im_regul=Im1;
+// simple_scalar1.UpravIm1=1;
+// simple_scalar1.UpravIm2=0;
+// }
+// else
+// {
+// if (Im2>halfIm1)
+// {
+// Im_regul=Im2;
+// simple_scalar1.UpravIm2=1;
+// simple_scalar1.UpravIm1=0;
+// }
+// else
+// {
+// Im_regul=Im1; //Im1
+// simple_scalar1.UpravIm1=1;//1
+// simple_scalar1.UpravIm2=0;//0
+// }
+// }
+// }
+//
+// if (n_wind_pump==1) // �� ������ 1 ������� ������ ����� ��� � 2-��
+// {
+// Im_regul=Im2;
+// simple_scalar1.UpravIm1=0;
+// simple_scalar1.UpravIm2=1;
+// }
+//
+// if (n_wind_pump==2) // �� ������ 2 ������� ������ ����� ��� � 1-��
+// {
+// Im_regul=Im1;
+// simple_scalar1.UpravIm1=1;
+// simple_scalar1.UpravIm2=0;
+// }
+
+ Im_regul = iqIm;
+
+ simple_scalar1.Im_regul = Im_regul;
+ simple_scalar1.Izad = Izad;
+
+ dI1 = (Izad - Im_regul );
+
+ simple_scalar1.pidIm1.Ki = simple_scalar1.pidIm_Ki;
+ simple_scalar1.pidIm1.Ki = _IQmpy(simple_scalar1.pidIm1.Ki,simple_scalar1.k_freq_for_pid);
+
+
+ simple_scalar1.pidIm1.Ref = _IQdiv(Izad,iqUin);
+ simple_scalar1.pidIm1.Fdb = _IQdiv(Im_regul,iqUin);
+ simple_scalar1.pidIm1.calc(&simple_scalar1.pidIm1);
+
+
+ Uz_t1 = simple_scalar1.pidIm1.Out;
+
+ // ����������� ����� Km
+ if (Uz_t1<Uze_t1)
+ {
+ Uze_ogr =_IQmpy(Uze_t1, simple_scalar1.iq_spad_k);
+ if (Uze_ogr>Uz_t1) Uze_t1 = Uze_ogr;
+ else
+ Uze_t1 = Uz_t1;
+ }
+ else
+ {
+ Uze_t1 = Uz_t1;
+ }
+
+ Uze_t1 = _IQsat(Uze_t1,simple_scalar1.pidIm1.OutMax, simple_scalar1.pidIm1.OutMin);
+
+// }
+
+
+ /* ���������� ������ ������ */
+ *Uz1 = Uze_t1;
+ *Uz2 = Uze_t1;
+
+
+ bpsi = bpsi_const + simple_scalar1.add_bpsi;
+
+ // ������. ~ �������
+// bpsi = _IQmpy(koef_bpsi,mzz);
+
+
+ bpsi = _IQsat(bpsi,simple_scalar1.max_bpsi, simple_scalar1.min_bpsi);
+
+#ifdef BAN_ROTOR_REVERS_DIRECT
+// ���������� ������ �� ������������� ��������
+ if (analog.filter_direct_rotor==-1)
+ // �������� � ������ �������, ������� �������� ������� �� ���������� � ���������� ��������
+ *Fz = bpsi;
+ else
+ // ��� ���������, ����������� ����������
+ *Fz = _IQmpy(Frot,IQ_POLUS) + bpsi;
+
+#else
+
+ if (simple_scalar1.pidF.Out < 0)
+ {
+ bpsi_filter = exp_regul_iq(koefBpsi, bpsi_filter, -bpsi);
+ }
+ else
+ if (simple_scalar1.pidF.Out > 0)
+ {
+ bpsi_filter = exp_regul_iq(koefBpsi, bpsi_filter, bpsi);
+ }
+ else
+ bpsi_filter = exp_regul_iq(koefBpsi, bpsi_filter, 0);
+
+
+// *Fz = _IQmpy(Frot*direction,simple_scalar1.poluses) + bpsi_filter;
+ *Fz = _IQmpy(Frot, simple_scalar1.poluses) + bpsi_filter;
+
+
+ simple_scalar1.bpsi_curent = bpsi_filter;
+
+#endif
+
+
+ simple_scalar1.mzz_zad_int = mzz_zad_int;
+ simple_scalar1.Uze_t1 = Uze_t1;
+ simple_scalar1.iqKoefOgran = iqKoefOgran;
+ simple_scalar1.Fz = *Fz;
+ simple_scalar1.direction = direction;
+ simple_scalar1.fzad_int = fzad_int;
+
+
+
+// if (n_alg==2)
+// {
+//
+// *Fz = fzad_provorot;
+// /* bpsi - ����������, ����� ����
+// ���������� ���y ���� ������ �������������y */
+// }
+
+
+}
+
+
+
diff --git a/Inu/Src/main/alg_simple_scalar.h b/Inu/Src/main/alg_simple_scalar.h
new file mode 100644
index 0000000..f05ca38
--- /dev/null
+++ b/Inu/Src/main/alg_simple_scalar.h
@@ -0,0 +1,101 @@
+/*
+ * alg_simple_scalar.h
+ *
+ * Created on: 26 ���. 2020 �.
+ * Author: Vladislav
+ */
+
+#ifndef SRC_MAIN_ALG_SIMPLE_SCALAR_H_
+#define SRC_MAIN_ALG_SIMPLE_SCALAR_H_
+
+#include "IQmathLib.h"
+#include "pid_reg3.h"
+
+typedef struct { PIDREG3 pidIm1;
+ PIDREG3 pidF;
+ PIDREG3 pidPower;
+
+ _iq mzz_add_1;
+ _iq mzz_add_2;
+ _iq poluses;
+ _iq fzad_add_max;
+ _iq fzad_dec;
+
+ _iq powerzad_add;
+ _iq powerzad_dec;
+ _iq min_bpsi;
+ _iq koef_Uz_t_filter;
+ _iq iq_spad_k;
+
+ _iq iq_mzz_max_for_fzad;
+ _iq k_freq_for_pid;
+ _iq iq_add_kp_df;
+ _iq iq_add_ki_df;
+ _iq min_mzz_for_df;
+
+ _iq pidF_Kp;
+ _iq pidF_Ki;
+ int UpravIm1;
+ int UpravIm2;
+ _iq pidIm_Ki;
+
+ _iq mzz_zad_in1;
+ _iq mzz_zad_in2;
+
+ _iq mzz_zad_int;
+ _iq Im_regul;
+ _iq Izad;
+ _iq Izad_from_master;
+ _iq bpsi_curent;
+ _iq Uze_t1;
+
+ _iq iqKoefOgran;
+ _iq Fz;
+ int direction;
+ _iq fzad_int;
+
+ _iq add_bpsi;
+ _iq max_bpsi;
+
+ _iq mzz_add_3;
+
+ _iq k_ogr_n;
+ _iq iq_decr_mzz_power;
+ _iq iq_decr_mzz_power_filter;
+ int flag_decr_mzz_power;
+
+ _iq iqKoefOgranIzad;
+ int disable_KoefOgranIzad;
+ _iq add_power_limit;
+ _iq sdvig_power_limit;
+
+ int cmd_new_calc_p_limit;
+
+
+} ALG_SIMPLE_SCALAR;
+
+#define ALG_SIMPLE_SCALAR_DEFAULT {PIDREG3_DEFAULTS,PIDREG3_DEFAULTS,PIDREG3_DEFAULTS,\
+ 0,0,0,0,0,\
+ 0,0,0,0,0,\
+ 0,0,0,0,0,\
+ 0,0,0,0,0,\
+ 0,0,0,0,0,0,0, \
+ 0,0, 0,0,0, 0,0, 0, 0, 0,0,0,0,0,0, 0,0 \
+}
+
+
+extern ALG_SIMPLE_SCALAR simple_scalar1;
+
+
+
+void simple_scalar(int n_alg, int n_wind_pump, int direction,
+ _iq Frot_pid, _iq Frot,_iq fzad,_iq mzz_zad, _iq bpsi_const,
+ _iq iqKoefOgran,
+ _iq iqIm, _iq iqUin, _iq Iin, _iq powerzad, _iq power_pid,
+ _iq power_limit, int mode_oborots_power,
+ _iq Izad_from_master, int master, int count_bs_work,
+ _iq *Fz, _iq *Uz1, _iq *Uz2, _iq *Izad);
+
+void init_simple_scalar(void);
+
+#endif /* SRC_MAIN_ALG_SIMPLE_SCALAR_H_ */
diff --git a/Inu/Src/main/alg_uf_const.c b/Inu/Src/main/alg_uf_const.c
new file mode 100644
index 0000000..3e5b8fa
--- /dev/null
+++ b/Inu/Src/main/alg_uf_const.c
@@ -0,0 +1,80 @@
+/*
+ * alg_uf_const.c
+ *
+ * Created on: 26 ���. 2020 �.
+ * Author: Yura
+ */
+#include <alg_uf_const.h>
+#include <edrk_main.h>
+#include <params_alg.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+
+#include "mathlib.h"
+
+
+
+
+#define T_NARAST 15 // ���.
+
+//VHZPROF vhz1 = VHZPROF_DEFAULTS;
+
+
+ALG_UF_CONST uf_const1 = ALG_UF_CONST_DEFAULT;
+
+void init_uf_const(void)
+{
+ uf_const1.freq = 0;
+ uf_const1.km = 0;
+
+ uf_const1.zad_plus_km = _IQ(1.0/(FREQ_PWM*T_NARAST));
+
+
+ uf_const1.rmp_freq.RampLowLimit = _IQ(-4); //0
+ uf_const1.rmp_freq.RampHighLimit = _IQ(4);
+
+ uf_const1.rmp_freq.RampPlus = _IQ(0.0002);
+
+ uf_const1.rmp_freq.RampMinus = _IQ(-0.0002);
+ uf_const1.rmp_freq.DesiredInput = 0;
+ uf_const1.rmp_freq.Out = 0;
+
+ uf_const1.max_km = _IQ(K_STATOR_MAX);
+
+}
+
+
+void uf_const(_iq *Fz, _iq *Uz1, _iq *Uz2)
+{
+
+
+// vhz1.HighFreq = _IQ(f.fmax_uf/F_STATOR_MAX);
+/////////////
+
+ uf_const1.km = edrk.zadanie.iq_kzad_rmp;
+// uf_const1.km = zad_intensiv_q(uf_const1.zad_plus_km, uf_const1.zad_plus_km, uf_const1.km, edrk.zadanie.iq_kzad);
+// uf_const1.km = _IQsat(uf_const1.km,uf_const1.max_km,0);
+ *Uz1 = uf_const1.km;
+ *Uz2 = uf_const1.km;
+
+
+/////////////////
+ uf_const1.freq = edrk.zadanie.iq_fzad_rmp;
+
+// uf_const1.rmp_freq.DesiredInput = uf_const1.freq;
+// uf_const1.rmp_freq.calc(&uf_const1.rmp_freq);
+ *Fz = uf_const1.freq;
+
+/*
+ vhz1.Freq = Fzad;
+ vhz1.calc(&vhz1);
+
+
+
+ *Fz = rmp_freq.Out;
+ */
+
+
+}
+
+
diff --git a/Inu/Src/main/alg_uf_const.h b/Inu/Src/main/alg_uf_const.h
new file mode 100644
index 0000000..50276f0
--- /dev/null
+++ b/Inu/Src/main/alg_uf_const.h
@@ -0,0 +1,34 @@
+/*
+ * alg_uf_const.h
+ *
+ * Created on: 26 ���. 2020 �.
+ * Author: Yura
+ */
+
+#ifndef SRC_MAIN_ALG_UF_CONST_H_
+#define SRC_MAIN_ALG_UF_CONST_H_
+
+
+#include "IQmathLib.h"
+#include "rmp_cntl_v1.h"
+
+
+typedef struct {
+ RMP_V1 rmp_freq;
+ _iq freq;
+ _iq km;
+ _iq zad_plus_km;
+ _iq max_km;
+} ALG_UF_CONST;
+
+extern ALG_UF_CONST uf_const1;
+
+#define ALG_UF_CONST_DEFAULT {RMP_V1_DEFAULTS, 0, 0, 0, 0 }
+
+
+
+
+void init_uf_const(void);
+void uf_const(_iq *Fz, _iq *Uz1, _iq *Uz2);
+
+#endif /* SRC_MAIN_ALG_UF_CONST_H_ */
diff --git a/Inu/Src/main/another_bs.c b/Inu/Src/main/another_bs.c
new file mode 100644
index 0000000..542df74
--- /dev/null
+++ b/Inu/Src/main/another_bs.c
@@ -0,0 +1,458 @@
+/*
+ * another_bs.c
+ *
+ * Created on: 13 ����. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+#include <edrk_main.h>
+
+#include <params.h>
+#include <params_alg.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+#include <params_temper_p.h>
+#include <project.h>
+#include "IQmathLib.h"
+#include "mathlib.h"
+#include <optical_bus.h>
+#include "adc_tools.h"
+#include "CAN_project.h"
+#include "CAN_Setup.h"
+#include "global_time.h"
+#include "v_rotor.h"
+#include "ukss_tools.h"
+#include "another_bs.h"
+#include "control_station_project.h"
+#include "control_station.h"
+#include "can_bs2bs.h"
+#include "sync_tools.h"
+#include "vector_control.h"
+#include "master_slave.h"
+#include "digital_filters.h"
+
+
+//////////////////////////////////////////////////////////
+
+//////////////////////////////////////////////////////////
+void read_data_from_bs(void)
+{
+ int g;
+
+ if (control_station.alive_control_station[CONTROL_STATION_ANOTHER_BS])
+ {
+ g = Unites[ANOTHER_BSU1_CAN_DEVICE][5];
+ edrk.int_koef_ogran_power_another_bs = g;
+ edrk.iq_koef_ogran_power_another_bs = ((float)edrk.int_koef_ogran_power_another_bs);
+
+ g = Unites[ANOTHER_BSU1_CAN_DEVICE][6];
+ edrk.power_kw_another_bs = g;
+ edrk.iq_power_kw_another_bs = _IQ(((float)edrk.power_kw_another_bs * 1000.0)/NORMA_ACP/NORMA_ACP);
+
+ g = Unites[ANOTHER_BSU1_CAN_DEVICE][7];
+ edrk.active_post_upravl_another_bs = g;
+
+ g = Unites[ANOTHER_BSU1_CAN_DEVICE][9];
+ edrk.Ready1_another_bs = g;
+
+ g = Unites[ANOTHER_BSU1_CAN_DEVICE][10];
+ edrk.Ready2_another_bs = g;
+
+ g = Unites[ANOTHER_BSU1_CAN_DEVICE][11];
+ edrk.MasterSlave_another_bs = g;
+
+ g = Unites[ANOTHER_BSU1_CAN_DEVICE][3] & 0x1;
+ edrk.ump_cmd_another_bs = g;
+
+ g = (Unites[ANOTHER_BSU1_CAN_DEVICE][3] & 0x2) >> 1;
+ edrk.qtv_cmd_another_bs = g;
+
+ g = Unites[ANOTHER_BSU1_CAN_DEVICE][13];
+ edrk.errors_another_bs_from_can = g;
+ }
+ else
+ {
+ edrk.errors_another_bs_from_can = 0;
+ }
+
+
+}
+
+
+//////////////////////////////////////////////////////////
+unsigned int read_cmd_sbor_from_bs(void)
+{
+ unsigned int g;
+ g = Unites[ANOTHER_BSU1_CAN_DEVICE][4];
+ return g;
+
+
+}
+
+
+
+
+void UpdateTableSecondBS(void)
+{
+ int cmd;
+ int i,k;
+
+ static unsigned int counter_sum_errors = 0;
+
+ Unites2SecondBS[0]++;
+
+ Unites2SecondBS[1] = global_time.miliseconds;
+ Unites2SecondBS[2] = edrk.flag_second_PCH;
+ Unites2SecondBS[3] = (edrk.to_shema.bits.QTV_ON_OFF << 1) | (edrk.to_shema.bits.UMP_ON_OFF);
+ Unites2SecondBS[4] = edrk.SumSbor;
+ Unites2SecondBS[5] = edrk.int_koef_ogran_power;
+ Unites2SecondBS[6] = (int)edrk.power_kw;
+ Unites2SecondBS[7] = (int)edrk.active_post_upravl;
+ Unites2SecondBS[8] = (int)edrk.power_kw;
+ Unites2SecondBS[9] = edrk.Status_Ready.bits.ready1;
+ Unites2SecondBS[10] = edrk.Status_Ready.bits.ready_final;
+ Unites2SecondBS[11] = edrk.MasterSlave;
+
+ Unites2SecondBS[12] = _IQtoF(vect_control.iqId_min) * NORMA_ACP;
+
+ Unites2SecondBS[13] = pause_detect_error(&counter_sum_errors, 10, edrk.summ_errors);
+
+
+ for (i=0;i<CONTROL_STATION_CMD_LAST;i++)
+ {
+ if ((POS_STATION_CMD_ANOTHER_BSU1+i)<SIZE_ARR_CAN_UNITES_BS2BS)
+ Unites2SecondBS[POS_STATION_CMD_ANOTHER_BSU1+i] = control_station.active_array_cmd[i];
+ }
+
+
+// Unites2SecondBS[3] = _IQtoIQ15(edrk.zadanie.iq_fzad);
+// Unites2SecondBS[4] = _IQtoIQ15(edrk.zadanie.iq_kzad);
+// Unites2SecondBS[5] = _IQtoIQ15(edrk.zadanie.iq_Izad);
+// Unites2SecondBS[6] = (edrk.zadanie.oborots_zad);
+// Unites2SecondBS[7] = _IQtoIQ15(edrk.zadanie.iq_power_zad);
+
+
+ if (edrk.flag_second_PCH==0)
+ {
+
+// Unites2SecondBS[5] = Unites[ANOTHER_BSU1_CAN_DEVICE][8];
+// Unites2SecondBS[8] = 0xaa;
+//
+// max_count_send_to_can2second_bs = 10;
+ }
+ else
+ {
+
+// Unites2SecondBS[5] = Unites[ANOTHER_BSU1_CAN_DEVICE][8];
+// Unites2SecondBS[8] = 0x55;
+//
+// max_count_send_to_can2second_bs = 10;
+ }
+
+
+
+}
+//////////////////////////////////////////////////////////
+
+
+//////////////////////////////////////////////////////////
+void detect_error_from_another_bs(void)
+{
+ if (edrk.errors_another_bs_from_can)
+ edrk.errors.e7.bits.ANOTHER_BS_ALARM |= 1;
+
+}
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+#define MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS 30 //20
+#define MAX_WAIT_READY1_DETECT_ALIVE_ANOTHER_BS 100
+#define MAX_WAIT_READY2_DETECT_ALIVE_ANOTHER_BS 70 //30 // ������ ���� ������ ��� MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+void detect_alive_another_bs(void)
+{
+ // static unsigned int count_wait_ready = 0;
+ static unsigned int prev_another_bs_maybe_on = 0;
+ static unsigned int prev_another_bs_maybe_on_after_ready1 = 0,
+ prev_alive_can_to_another_bs = 0;
+ int real_box;
+
+
+ real_box = get_real_in_mbox(UNITS_TYPE_BOX,ANOTHER_BSU1_CAN_DEVICE);
+ if (real_box != -1)
+ {
+ edrk.ms.err_signals.alive_can_to_another_bs = CAN_timeout[real_box];
+
+
+ if (edrk.ms.err_signals.alive_can_to_another_bs == 1
+ && prev_alive_can_to_another_bs == 0)
+ {
+ // reinit CAN
+ InitCanSoft();
+ }
+ prev_alive_can_to_another_bs = edrk.ms.err_signals.alive_can_to_another_bs;
+ }
+
+#if (USE_TK_3)
+ edrk.ms.err_signals.alive_opt_bus_read = !project.cds_tk[3].optical_data_in.ready;
+ edrk.ms.err_signals.alive_opt_bus_write = !project.cds_tk[3].optical_data_out.ready;
+#else
+ edrk.ms.err_signals.alive_opt_bus_read = 1;
+ edrk.ms.err_signals.alive_opt_bus_write = 1;
+#endif
+ edrk.ms.err_signals.alive_sync_line = !sync_data.global_flag_sync_1_2;
+ edrk.ms.err_signals.alive_sync_line_local = !sync_data.local_flag_sync_1_2;
+// edrk.ms.err_signals.input_alarm_another_bs = edrk.from_ing1.bits.
+ // ��� ���� �������� �����.
+ // edrk.ms.err_signals.fast_optical_alarm = 0;//!project.cds_tk[3].read.sbus.status_tk_40pin.bit.tk5_ack;
+ edrk.ms.err_signals.another_rascepitel = edrk.from_second_pch.bits.RASCEPITEL;
+
+ if (edrk.ms.err_signals.alive_can_to_another_bs
+ && (edrk.ms.err_signals.alive_opt_bus_read
+ || edrk.ms.err_signals.alive_opt_bus_write)
+ && edrk.ms.err_signals.alive_sync_line
+// && edrk.ms.err_signals.fast_optical_alarm
+ )
+ {
+ edrk.ms.another_bs_maybe_off = 1;
+ edrk.ms.another_bs_maybe_on = 0;
+ }
+ else
+ {
+ edrk.ms.another_bs_maybe_off = 0;
+ edrk.ms.another_bs_maybe_on = 1;
+ }
+
+ // ���� ����� ��������������, �� ����� ���� ��������� ����� ���� ���������� ��� ��������� ������ �����.
+ if (prev_another_bs_maybe_on!=edrk.ms.another_bs_maybe_on && edrk.ms.another_bs_maybe_on)
+ {
+// edrk.ms.count_time_wait_ready1 = 0;
+ edrk.ms.count_time_wait_ready2 = 0;
+ prev_another_bs_maybe_on_after_ready1 = 0;
+ clear_errors_master_slave();
+ }
+
+
+ //
+ // ���������� ���� ������ ����� ����� MAX_WAIT_READY_DETECT_ALIVE_ANOTHER_BS
+ //
+ edrk.ms.ready1 = filter_err_count(&edrk.ms.count_time_wait_ready1,
+ MAX_WAIT_READY1_DETECT_ALIVE_ANOTHER_BS,
+ 1,
+ 0);
+
+ if (edrk.Status_Ready.bits.ready5)
+ {
+ edrk.ms.ready2 = filter_err_count(&edrk.ms.count_time_wait_ready2,
+ MAX_WAIT_READY2_DETECT_ALIVE_ANOTHER_BS,
+ 1,
+ 0);
+ }
+ else
+ {
+ edrk.ms.count_time_wait_ready2 = 0;
+ edrk.ms.ready2 = 0;
+ }
+
+// edrk.ms.ready2 = edrk.Status_Ready.bits.ready5 && filter_err_count(&edrk.ms.count_time_wait_ready2,
+// MAX_WAIT_READY2_DETECT_ALIVE_ANOTHER_BS,
+// 1,
+// 0);
+
+
+
+
+
+ prev_another_bs_maybe_on = edrk.ms.another_bs_maybe_on;
+
+
+ // ���� ���� ������� ��������� �����
+ if (edrk.ms.ready1==0)
+ {
+
+
+ edrk.ms.status = 1;
+ return;
+ }
+
+
+ // ���� ����� ���� ����� edrk.ms.ready1==1, �� ��� �������, ���� ������
+ if (prev_another_bs_maybe_on_after_ready1!=edrk.ms.another_bs_maybe_on && edrk.ms.another_bs_maybe_on==0)
+ {
+ edrk.errors.e4.bits.ANOTHER_BS_POWER_OFF |= 1;
+ }
+ prev_another_bs_maybe_on_after_ready1 = edrk.ms.another_bs_maybe_on;
+
+
+
+
+ edrk.ms.err_lock_signals.alive_can_to_another_bs |= filter_err_count(&edrk.ms.errors_count.alive_can_to_another_bs,
+ MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
+ edrk.ms.err_signals.alive_can_to_another_bs,
+ 0);
+
+ edrk.ms.err_lock_signals.alive_opt_bus_read |= filter_err_count(&edrk.ms.errors_count.alive_opt_bus_read,
+ MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
+ edrk.ms.err_signals.alive_opt_bus_read,
+ 0);
+ edrk.ms.err_lock_signals.alive_opt_bus_write |= filter_err_count(&edrk.ms.errors_count.alive_opt_bus_write,
+ MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
+ edrk.ms.err_signals.alive_opt_bus_write,
+ 0);
+
+ edrk.ms.err_lock_signals.alive_sync_line = filter_err_count(&edrk.ms.errors_count.alive_sync_line,
+ MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
+ edrk.ms.err_signals.alive_sync_line,
+ 0);
+
+ edrk.ms.err_lock_signals.alive_sync_line_local = filter_err_count(&edrk.ms.errors_count.alive_sync_line_local,
+ MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
+ edrk.ms.err_signals.alive_sync_line_local,
+ 0);
+
+ edrk.ms.err_lock_signals.fast_optical_alarm |= filter_err_count(&edrk.ms.errors_count.fast_optical_alarm,
+ MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
+ edrk.ms.err_signals.fast_optical_alarm,
+ 0);
+
+ edrk.ms.err_lock_signals.input_alarm_another_bs |= filter_err_count(&edrk.ms.errors_count.input_alarm_another_bs,
+ MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
+ edrk.ms.err_signals.input_alarm_another_bs,
+ 0);
+
+ edrk.ms.err_lock_signals.another_rascepitel |= filter_err_count(&edrk.ms.errors_count.another_rascepitel,
+ MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
+ edrk.ms.err_signals.another_rascepitel,
+ 0);
+
+ edrk.ms.err_lock_signals.input_master_slave |= filter_err_count(&edrk.ms.errors_count.input_master_slave,
+ MAX_ERRORS_DETECT_ALIVE_ANOTHER_BS,
+ edrk.ms.err_signals.input_master_slave,
+ 0);
+
+
+ if (edrk.ms.err_signals.alive_can_to_another_bs
+ && (edrk.ms.err_signals.alive_opt_bus_read
+ || edrk.ms.err_signals.alive_opt_bus_write)
+ && edrk.ms.err_signals.alive_sync_line
+ // && edrk.ms.err_signals.fast_optical_alarm
+ // && edrk.ms.err_signals.input_alarm_another_bs &&
+// && edrk.ms.err_signals.another_rascepitel == 0
+// && edrk.ms.err_signals.input_master_slave
+ )
+ {
+
+ if (edrk.ms.err_signals.another_rascepitel)
+ edrk.errors.e7.bits.ANOTHER_RASCEPITEL_ON |= 1;
+
+// edrk.ms.another_bs_maybe_off = 1;
+// edrk.ms.another_bs_maybe_on = 0;
+
+ edrk.warnings.e4.bits.ANOTHER_BS_POWER_OFF = 1;
+ // edrk.warnings.e4.bits.FAST_OPTICAL_ALARM = 1;
+ edrk.warnings.e7.bits.MASTER_SLAVE_SYNC = 1;
+ edrk.warnings.e7.bits.READ_OPTBUS = edrk.ms.err_signals.alive_opt_bus_read;
+ edrk.warnings.e7.bits.WRITE_OPTBUS = edrk.ms.err_signals.alive_opt_bus_write;
+ edrk.warnings.e7.bits.CAN2CAN_BS = 1;
+
+ edrk.ms.status = 2;
+
+ }
+ else
+ {
+
+ edrk.warnings.e4.bits.ANOTHER_BS_POWER_OFF = 0;
+
+//
+ if (edrk.ms.err_lock_signals.alive_can_to_another_bs)
+ edrk.errors.e7.bits.CAN2CAN_BS |= 1;
+ else
+ edrk.warnings.e7.bits.CAN2CAN_BS = 0;
+//
+ if (edrk.ms.err_lock_signals.alive_opt_bus_read)
+ edrk.errors.e7.bits.READ_OPTBUS |= 1;
+ else
+ edrk.warnings.e7.bits.READ_OPTBUS = 0;
+//
+ if (edrk.ms.err_lock_signals.alive_opt_bus_write)
+ edrk.errors.e7.bits.WRITE_OPTBUS |= 1;
+ else
+ edrk.warnings.e7.bits.WRITE_OPTBUS = 0;
+//
+ if (edrk.ms.err_lock_signals.alive_sync_line)
+ edrk.warnings.e7.bits.MASTER_SLAVE_SYNC = 1;
+ else
+ edrk.warnings.e7.bits.MASTER_SLAVE_SYNC = 0;
+//
+// if (edrk.ms.err_lock_signals.fast_optical_alarm)
+// edrk.errors.e4.bits.FAST_OPTICAL_ALARM |= 1;
+// else
+// edrk.warnings.e4.bits.FAST_OPTICAL_ALARM = 0;
+
+
+ // edrk.ms.another_bs_maybe_on = 1;
+ // edrk.ms.another_bs_maybe_off = 0;
+
+ if (edrk.ms.err_signals.alive_can_to_another_bs
+ || edrk.ms.err_signals.alive_opt_bus_read
+ || edrk.ms.err_signals.alive_opt_bus_write
+ || edrk.ms.err_signals.alive_sync_line
+ || edrk.ms.err_signals.fast_optical_alarm
+ )
+ edrk.ms.status = 3;
+ else
+ edrk.ms.status = 4;
+
+ }
+
+
+
+
+
+}
+
+
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+// ��������� ������ ��� �� CAN
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+
+void update_bsu_can(unsigned int pause)
+{
+ int real_mbox;
+ int t1;
+
+// if (edrk.flag_second_PCH==0)
+// t1 = 125;
+// if (edrk.flag_second_PCH==1)
+// t1 = 150;
+
+ SendAll2SecondBS(pause);
+
+}
+
+////////////////////////////////////////////////////////////////////
+
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+// ���� ��������� ��� ����������� ������ ��1 ��2 �� CAN
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+
+void init_can_box_between_bs1_bs2(void)
+{
+ // �������� ������ ������� ������ ��� ������ ��
+ // ��������� ���� Unites �����
+ //
+ if (edrk.flag_second_PCH==0)
+ {
+ unites_can_setup.revers_box[ANOTHER_BSU1_CAN_DEVICE] = 1;
+ }
+
+ unites_can_setup.adr_detect_refresh[ZADATCHIK_CAN] = 16;
+
+}
+
diff --git a/Inu/Src/main/another_bs.h b/Inu/Src/main/another_bs.h
new file mode 100644
index 0000000..27e5d63
--- /dev/null
+++ b/Inu/Src/main/another_bs.h
@@ -0,0 +1,21 @@
+/*
+ * another_bs.h
+ *
+ * Created on: 13 ����. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+#ifndef SRC_MAIN_ANOTHER_BS_H_
+#define SRC_MAIN_ANOTHER_BS_H_
+
+void update_bsu_can(unsigned int pause);
+void init_can_box_between_bs1_bs2(void);
+void detect_alive_another_bs(void);
+void detect_error_from_another_bs(void);
+void UpdateTableSecondBS(void);
+unsigned int read_cmd_sbor_from_bs(void);
+void read_data_from_bs(void);
+
+
+
+#endif /* SRC_MAIN_ANOTHER_BS_H_ */
diff --git a/Inu/Src/main/break_regul.c b/Inu/Src/main/break_regul.c
new file mode 100644
index 0000000..1de2cd1
--- /dev/null
+++ b/Inu/Src/main/break_regul.c
@@ -0,0 +1,204 @@
+#include <adc_tools.h>
+#include <break_regul.h>
+#include <edrk_main.h>
+#include <params_pwm24.h>
+#include <PWMTools.h>
+
+#include "IQmathLib.h"
+#include "pid_reg3.h"
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+
+
+#pragma DATA_SECTION(break_result_1,".fast_vars");
+_iq break_result_1 = 0;
+
+#pragma DATA_SECTION(break_result_2,".fast_vars");
+_iq break_result_2 = 0;
+
+#pragma DATA_SECTION(break_result_3,".fast_vars");
+_iq break_result_3 = 0;
+
+#pragma DATA_SECTION(break_result_4,".fast_vars");
+_iq break_result_4 = 0;
+
+#pragma DATA_SECTION(koef_Krecup,".fast_vars");
+_iq koef_Krecup = 0;
+
+#pragma DATA_SECTION(koef_Min_recup,".fast_vars");
+_iq koef_Min_recup = 0;
+
+BREAK_REGUL break_reg = BREAK_REGUL_DEFAULTS;
+
+_iq calc_recup(_iq voltage, _iq recup_level, _iq max_recup_level);
+//#pragma DATA_SECTION(pidF,".fast_vars");
+//PIDREG3 pidF=PIDREG3_DEFAULTS;
+
+void break_resistor_managment_init(unsigned int freq_pwm)
+{
+ volatile float percent;//, percent2;
+ _iq iq_percent1 = 0, iq_percent2 = 0;// iq_percent3 = 0, iq_percent4 = 0;
+
+ break_reg.pwm_tics = (FREQ_INTERNAL_GENERATOR_XILINX_TMS / freq_pwm );
+ break_reg.pwm_minimal_tics = (float)DEF_PERIOD_MIN_MKS*1000.0*FREQ_INTERNAL_GENERATOR_XILINX_TMS/1000000000.0;
+ break_reg.pwm_max_tics = break_reg.pwm_tics - break_reg.pwm_minimal_tics;
+
+
+ //����������� ����������� �����-��� ��������� ������. ���������� ����� � IQ15.
+ percent = (break_reg.pwm_max_tics * RECUP_PERCENT_MIN/100.0) * 32768.0;//����� � ����� ���������� � _IQ15
+ iq_percent1 = percent;
+
+ //������������ ����������� �����-��� ��������� ������. ���������� ����� � IQ15.
+ percent = (break_reg.pwm_max_tics * RECUP_PERCENT_MAX/100.0) * 32768.0;
+ iq_percent2 = percent;
+
+ //����������� ����� ��������� ����-����� � ��� �� ����� �������� ������
+ koef_Krecup = _IQdiv((iq_percent1 - iq_percent2),(IQ_RECUP_LEVEL_MIN - IQ_RECUP_LEVEL_MAX));
+ koef_Min_recup = iq_percent1; //����������� ����� �������� ��������� ������ � �����
+}
+
+
+//int break_resistor_managment_calc(int flag_on_off)
+#pragma CODE_SECTION(break_resistor_managment_calc,".fast_run");
+void break_resistor_managment_calc()
+{
+ static unsigned int break_counter = 0;//MAX_BREAK_IMPULSE + 1;
+
+ if(edrk.Discharge && edrk.from_shema_filter.bits.QTV_ON_OFF==0
+ && edrk.from_shema_filter.bits.UMP_ON_OFF==0)// && edrk.to_shema.bits.QTV_ON == 0)
+ {
+ if (break_counter < MAX_BREAK_IMPULSE)
+ {
+ break_counter++;
+
+
+ if ((filter.iqU_1_fast > BREAK_INSENSITIVE_LEVEL_MIN)
+ || edrk.ManualDischarge || edrk.NoDetectUZeroDischarge)
+ {
+ if (edrk.Obmotka1 == 0)
+ break_result_1 = 300;
+ else
+ break_result_1 = 0;
+ }
+ else
+ {
+ break_result_1 = 0;
+ }
+
+ if ((filter.iqU_2_fast > BREAK_INSENSITIVE_LEVEL_MIN)
+ || edrk.ManualDischarge || edrk.NoDetectUZeroDischarge )
+ {
+ if (edrk.Obmotka2 == 0)
+ break_result_2 = 300;
+ else
+ break_result_2 = 0;
+ }
+ else
+ {
+ break_result_2 = 0;
+ }
+
+// if (filter.iqU_3_fast < BREAK_INSENSITIVE_LEVEL_MIN)
+// {
+// break_result_3 = 0;
+// }
+// else
+// {
+// break_result_3 = 300;
+//// break_result_3 = calc_stop_run_recup(filter.iqU_3_fast);
+// }
+//
+// if (filter.iqU_4_fast < BREAK_INSENSITIVE_LEVEL_MIN)
+// {
+// break_result_4 = 0;
+// }
+// else
+// {
+// break_result_4 = 300;
+//// break_result_4 = calc_stop_run_recup(filter.iqU_4_fast);
+// }
+
+ if((!break_result_1 && !break_result_2 && !break_result_3 && !break_result_4)
+ || (break_counter >= (MAX_BREAK_IMPULSE - 1)))
+ {
+ edrk.Discharge = 0;
+ break_counter = 0;
+ }
+ }
+ else
+ {
+ break_result_1 = 0;
+ break_result_2 = 0;
+ break_result_3 = 0;
+ break_result_4 = 0;
+ break_counter = 0;
+ edrk.Discharge = 0;
+ }
+ }
+
+}
+
+#pragma CODE_SECTION(calc_recup,".fast_run");
+_iq calc_recup(_iq voltage, _iq recup_level, _iq max_recup_level)
+{
+ if (voltage <= recup_level)
+ {
+ return 0;
+ }
+ else
+ {
+ voltage = _IQsat(voltage,max_recup_level,recup_level);
+ voltage = _IQmpy(koef_Krecup,voltage - recup_level) + koef_Min_recup;
+ return voltage >> 15;
+ }
+}
+
+#pragma CODE_SECTION(break_resistor_recup_calc,".fast_run");
+void break_resistor_recup_calc(_iq Uzpt_nominal)
+{
+ _iq Uzpt_start_recup = Uzpt_nominal + IQ_DELTA_U_START_RECUP;
+ _iq Uzpt_max_open_break_keys = Uzpt_nominal + IQ_DELTA_U_MAX_OPEN_BREAK_KEYS;
+
+ if (/*edrk.Go &&*/ (edrk.SborFinishOk || edrk.Status_Ready.bits.ImitationReady2) )
+ {
+ break_result_1 = calc_recup(filter.iqU_1_fast, Uzpt_start_recup, Uzpt_max_open_break_keys);
+ break_result_2 = calc_recup(filter.iqU_2_fast, Uzpt_start_recup, Uzpt_max_open_break_keys);
+ }
+}
+
+#pragma CODE_SECTION(break_resistor_managment_update,".fast_run");
+void break_resistor_managment_update()
+{
+ if (break_result_1 < break_reg.pwm_minimal_tics)
+ break_result_1 = 0;
+
+ if (break_result_2 < break_reg.pwm_minimal_tics)
+ break_result_2 = 0;
+
+// if (break_result_3 < break_reg.pwm_minimal_tics)
+// break_result_3 = 0;
+//
+// if (break_result_4 < break_reg.pwm_minimal_tics)
+// break_result_4 = 0;
+
+ if (break_result_1 > break_reg.pwm_max_tics)
+ break_result_1 = break_reg.pwm_max_tics;
+
+ if (break_result_2 > break_reg.pwm_max_tics)
+ break_result_2 = break_reg.pwm_max_tics;
+
+// if (break_result_3 > break_reg.pwm_max_tics)
+// break_result_3 = break_reg.pwm_max_tics;
+//
+// if (break_result_4 > break_reg.pwm_max_tics)
+// break_result_4 = break_reg.pwm_max_tics;
+}
+
+//#pragma CODE_SECTION(break_resistor_set_closed,".fast_run");
+void break_resistor_set_closed()
+{
+ break_result_1 = 0;
+ break_result_2 = 0;
+ break_result_3 = 0;
+ break_result_4 = 0;
+}
diff --git a/Inu/Src/main/break_regul.h b/Inu/Src/main/break_regul.h
new file mode 100644
index 0000000..1e79cdd
--- /dev/null
+++ b/Inu/Src/main/break_regul.h
@@ -0,0 +1,70 @@
+#ifndef _BREAK_REGUL_H
+#define _BREAK_REGUL_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+typedef struct {
+ unsigned int pwm_tics;
+ unsigned int pwm_minimal_tics;
+ unsigned int pwm_max_tics;
+} BREAK_REGUL;
+
+#define BREAK_REGUL_DEFAULTS {0,0,0}
+
+
+#define BREAK_INSENSITIVE_LEVEL_MIN 279620 //50V
+#define BREAK_INSENSITIVE_LEVEL_MAX 4194304//500V//5872025//700 V//2516582//300 V//4194304//500 V//2516582 // 838860 //100 V
+#define PERCENT_BREAK_MAX 13421772//80 percent
+#define PERCENT_BREAK_MIN 838860//5 percent
+#define MAX_RECUP_LEVEL 5872025 //700 V
+#define K_RECUP_LEVEL 56 //5.6 /// 838860 / 4697620 //700 V
+#define MAX_BREAK_IMPULSE 9000
+
+#define RECUP_PERCENT_MIN 10.0
+#define RECUP_PERCENT_MAX 90.0
+
+//#define IQ_RECUP_LEVEL_MIN_ACCUM 16777216 //3000V
+//#define IQ_RECUP_LEVEL_MAX_ACCUM 17895697 //3200V
+
+#define IQ_RECUP_LEVEL_MIN 15658734L //2800V //15099494L //2700V //9507089L //1700V //8947848L //1600V //
+#define IQ_RECUP_LEVEL_MAX 16777216L //3000V //16777216L //16217975L //2900V //11184810L //2000V //17895697 //3200V 10066329 //1800V //
+
+#define IQ_DELTA_U_START_RECUP 559240 //100V //279620LL //50V
+#define IQ_DELTA_U_MAX_OPEN_BREAK_KEYS 1677721LL//300 V
+
+
+#define IQ_MIN_VOLTAGE_STOP_RUN 279620L //50V
+#define IQ_MAX_VOLTAGE_STOP_RUN 16777216L //3000V
+
+#define BRK_STOP_RUN_PERCENT_MIN 5
+#define BRK_STOP_RUN_PERCENT_MAX 50
+
+//int break_resistor_managment_calc(int flag_on_off);
+void break_resistor_managment_calc(void);
+void break_resistor_managment_init(unsigned int freq_pwm);
+void break_resistor_managment_update(void);
+void break_resistor_recup_calc(_iq Uzpt_nominal);
+void break_resistor_set_closed(void);
+_iq calc_stop_run_recup(_iq voltage);
+
+
+//extern PIDREG3 break_struct_1;
+//extern PIDREG3 break_struct_2;
+
+
+
+
+extern _iq break_result_1;
+extern _iq break_result_2;
+extern _iq break_result_3;
+extern _iq break_result_4;
+
+extern _iq kp_break;
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif /* _BREAK_REGUL_H */
diff --git a/Inu/Src/main/calc_rms_vals.c b/Inu/Src/main/calc_rms_vals.c
new file mode 100644
index 0000000..7363ce2
--- /dev/null
+++ b/Inu/Src/main/calc_rms_vals.c
@@ -0,0 +1,265 @@
+/*
+ * calc_rms_vals.c
+ *
+ * Created on: 14 ���. 2020 �.
+ * Author: star
+ */
+#include <adc_tools.h>
+#include <calc_rms_vals.h>
+#include <edrk_main.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+
+#include "IQmathLib.h"
+#include "mathlib.h"
+
+#define NUM_OF_CHANNELS 6
+
+//#define USE_CALC_U_IN_RMS 1
+//#define USE_CALC_I_OUT_RMS 1
+
+
+#pragma DATA_SECTION(in_U_rms_calc_buffer,".slow_vars")
+RMS_BUFFER in_U_rms_calc_buffer[NUM_OF_CHANNELS] = {RMS_BUFFER_DEFAULTS, RMS_BUFFER_DEFAULTS, \
+ RMS_BUFFER_DEFAULTS, RMS_BUFFER_DEFAULTS, \
+ RMS_BUFFER_DEFAULTS, RMS_BUFFER_DEFAULTS};
+
+#pragma DATA_SECTION(out_I_rms_calc_buffer,".slow_vars")
+RMS_BUFFER_WITH_THINNING out_I_rms_calc_buffer[6] = {RMS_BUFFER_WITH_THINNING_DEFAULTS, RMS_BUFFER_WITH_THINNING_DEFAULTS, \
+ RMS_BUFFER_WITH_THINNING_DEFAULTS, RMS_BUFFER_WITH_THINNING_DEFAULTS, \
+ RMS_BUFFER_WITH_THINNING_DEFAULTS, RMS_BUFFER_WITH_THINNING_DEFAULTS};
+
+///////////////////////////////////////////////////
+void init_Uin_rms(void)
+{
+ int k,l;
+ // ������ ������ ������ � �� ������
+ for (k=0;k<NUM_OF_CHANNELS;k++)
+ {
+ for (l=0;l<RMS_BUFFER_SIZE;l++)
+ in_U_rms_calc_buffer[k].values[l] = 0;
+ in_U_rms_calc_buffer[k].position = 0;
+ in_U_rms_calc_buffer[k].array_size = RMS_BUFFER_SIZE;
+ }
+}
+///////////////////////////////////////////////////
+
+void add_to_buff(RMS_BUFFER *b, _iq val) {
+ b->values[b->position++] = val;
+ if (b->position >= b->array_size) { b->position = 0;}
+}
+
+#define add_to_buff_def(b, val) { (b)->values[(b)->position++] = (val); if ((b)->position >= (b)->array_size) { (b)->position = 0;}}
+
+static void calc_Uin_rms(void);
+static void calc_Iout_rms(void);
+
+#define CONST_PI 52707178
+
+//#pragma CODE_SECTION(fill_rms_array_IQ15,".fast_run1");
+void fill_rms_array_IQ15(RMS_BUFFER_WITH_THINNING *v) {
+ static _iq norma_f_rot = NORMA_FROTOR;
+ int period_by_teta = 0;
+// int freq = _IQtoF(v->signal_freq) * NORMA_FROTOR;
+// int freq = _IQtoF(v->signal_freq * norma_f_rot); //Max IQ24 = 127. ������� � �� ������ ������
+ int freq = (v->signal_freq * norma_f_rot) / (1LL << GLOBAL_Q); //� 10 ��� �������, ������ ��������
+ int count_miss_writing = 100;
+ if (freq != 0) {
+ freq *= v->elements_in_period; //"�����������"
+ count_miss_writing = (int)(v->freq_pwm / freq);
+ if (count_miss_writing > 100) {count_miss_writing = 100;}
+ }
+
+ if (v->use_teta) {
+ v->internal.teta_period_counter += 1;
+ if ((v->teta < CONST_PI && v->internal.teta_prev > CONST_PI) ||
+ (v->teta > CONST_PI && v->internal.teta_prev < CONST_PI)) {
+ v->internal.zero_teta_period = v->internal.teta_period_counter;
+ v->internal.teta_period_counter = 0;
+ }
+ v->internal.teta_prev = v->teta;
+ period_by_teta = v->internal.zero_teta_period / v->elements_in_period;
+ if (period_by_teta != 0) {
+ count_miss_writing = (count_miss_writing + period_by_teta) / 2;
+ }
+ }
+
+
+ if (v->internal.miss_write_counter++ < count_miss_writing) {
+ return;
+ }
+
+ v->internal.miss_write_counter = 0;
+ v->values[v->position++] = _IQtoIQ15(v->val);
+ if (v->position >= v->array_size) {
+ v->position = 0;
+ }
+}
+
+void fill_RMS_buff_interrupt(_iq teta_ch1, _iq teta_ch2) {
+#ifdef USE_CALC_U_IN_RMS
+// add_to_buff(&in_U_rms_calc_buffer[0], analog.iqUin_A1B1);
+// add_to_buff(&in_U_rms_calc_buffer[1], analog.iqUin_B1C1);
+// add_to_buff(&in_U_rms_calc_buffer[2], analog.iqUin_C1A1);
+// add_to_buff(&in_U_rms_calc_buffer[3], analog.iqUin_A2B2);
+// add_to_buff(&in_U_rms_calc_buffer[4], analog.iqUin_B2C2);
+// add_to_buff(&in_U_rms_calc_buffer[5], analog.iqUin_C2A2);
+//
+ add_to_buff_def(&in_U_rms_calc_buffer[0], analog.iqUin_A1B1); //define � 10 ��� �������
+ add_to_buff_def(&in_U_rms_calc_buffer[1], analog.iqUin_B1C1);
+ add_to_buff_def(&in_U_rms_calc_buffer[2], analog.iqUin_C1A1);
+ add_to_buff_def(&in_U_rms_calc_buffer[3], analog.iqUin_A2B2);
+ add_to_buff_def(&in_U_rms_calc_buffer[4], analog.iqUin_B2C2);
+ add_to_buff_def(&in_U_rms_calc_buffer[5], analog.iqUin_C2A2);
+#endif //USE_CALC_U_IN_RMS
+#ifdef USE_CALC_I_OUT_RMS
+ out_I_rms_calc_buffer[0].val = analog.iqIu_1;
+ out_I_rms_calc_buffer[0].teta = teta_ch1;
+ out_I_rms_calc_buffer[0].freq_pwm = FREQ_PWM * 2;
+ out_I_rms_calc_buffer[0].signal_freq = edrk.f_stator;
+ out_I_rms_calc_buffer[0].add_value(&out_I_rms_calc_buffer[0]);
+ out_I_rms_calc_buffer[1].val = analog.iqIv_1;
+ out_I_rms_calc_buffer[1].teta = teta_ch1;
+ out_I_rms_calc_buffer[1].freq_pwm = FREQ_PWM * 2;
+ out_I_rms_calc_buffer[1].signal_freq = edrk.f_stator;
+ out_I_rms_calc_buffer[1].add_value(&out_I_rms_calc_buffer[1]);
+ out_I_rms_calc_buffer[2].val = analog.iqIw_1;
+ out_I_rms_calc_buffer[2].teta = teta_ch1;
+ out_I_rms_calc_buffer[2].freq_pwm = FREQ_PWM * 2;
+ out_I_rms_calc_buffer[2].signal_freq = edrk.f_stator;
+ out_I_rms_calc_buffer[2].add_value(&out_I_rms_calc_buffer[2]);
+
+ out_I_rms_calc_buffer[3].val = analog.iqIu_1;
+ out_I_rms_calc_buffer[3].teta = teta_ch2;
+ out_I_rms_calc_buffer[3].freq_pwm = FREQ_PWM * 2;
+ out_I_rms_calc_buffer[3].signal_freq = edrk.f_stator;
+ out_I_rms_calc_buffer[3].add_value(&out_I_rms_calc_buffer[3]);
+ out_I_rms_calc_buffer[4].val = analog.iqIu_1;
+ out_I_rms_calc_buffer[4].teta = teta_ch2;
+ out_I_rms_calc_buffer[4].freq_pwm = FREQ_PWM * 2;
+ out_I_rms_calc_buffer[4].signal_freq = edrk.f_stator;
+ out_I_rms_calc_buffer[4].add_value(&out_I_rms_calc_buffer[4]);
+ out_I_rms_calc_buffer[5].val = analog.iqIu_1;
+ out_I_rms_calc_buffer[5].teta = teta_ch2;
+ out_I_rms_calc_buffer[5].freq_pwm = FREQ_PWM * 2;
+ out_I_rms_calc_buffer[5].signal_freq = edrk.f_stator;
+ out_I_rms_calc_buffer[5].add_value(&out_I_rms_calc_buffer[5]);
+#endif //USE_CALC_I_OUT_RMS
+}
+
+
+void calc_Uin_rms(void) {
+
+ RMS_CALC_ARRAY rc = RMS_CALC_DEFAULTS;
+
+ rc.size_array = in_U_rms_calc_buffer[0].array_size;
+ rc.data_array = in_U_rms_calc_buffer[0].values;
+ analog.iqUin_A1B1_rms = rc.calc(&rc);
+ rc.size_array = in_U_rms_calc_buffer[1].array_size;
+ rc.data_array = in_U_rms_calc_buffer[1].values;
+ analog.iqUin_B1C1_rms = rc.calc(&rc);
+ rc.size_array = in_U_rms_calc_buffer[2].array_size;
+ rc.data_array = in_U_rms_calc_buffer[2].values;
+ analog.iqUin_C1A1_rms = rc.calc(&rc);
+
+ rc.size_array = in_U_rms_calc_buffer[3].array_size;
+ rc.data_array = in_U_rms_calc_buffer[3].values;
+ analog.iqUin_A2B2_rms = rc.calc(&rc);
+ rc.size_array = in_U_rms_calc_buffer[4].array_size;
+ rc.data_array = in_U_rms_calc_buffer[4].values;
+ analog.iqUin_B2C2_rms = rc.calc(&rc);
+ rc.size_array = in_U_rms_calc_buffer[5].array_size;
+ rc.data_array = in_U_rms_calc_buffer[5].values;
+ analog.iqUin_C2A2_rms = rc.calc(&rc);
+
+}
+
+
+void calc_Iout_rms() {
+ int i = 0;
+ _iq results[NUM_OF_CHANNELS];
+ RMS_CALC_ARRAY_THINNING rc_Iout = RMS_CALC_THINNING_DEFAULTS;
+
+ //Calc rms
+ for (i = 0; i < NUM_OF_CHANNELS; i++) {
+ rc_Iout.data_array = out_I_rms_calc_buffer[i].values;
+ rc_Iout.last_elem_position = out_I_rms_calc_buffer[i].position;
+ rc_Iout.size_array = out_I_rms_calc_buffer[i].array_size;
+ rc_Iout.signal_period = out_I_rms_calc_buffer[i].elements_in_period;
+ results[i] = rc_Iout.calc(&rc_Iout);
+ }
+ analog.iqIu_1_rms = results[0];
+ analog.iqIv_1_rms = results[1];
+ analog.iqIw_1_rms = results[2];
+ analog.iqIu_2_rms = results[3];
+ analog.iqIv_2_rms = results[4];
+ analog.iqIw_2_rms = results[5];
+}
+
+void calc_RMS_values_main() {
+#ifdef USE_CALC_U_IN_RMS
+ calc_Uin_rms();
+#endif
+// i_led2_off();
+// i_led2_on();
+#ifdef USE_CALC_I_OUT_RMS
+ calc_Iout_rms();
+#endif
+}
+
+//float signal_amplitude = 141;
+//_iq data_arr[RMS_BUFFER_SIZE];
+//_iq16 data_arr_IQ16[RMS_BUFFER_SIZE];
+//_iq position = 0;
+//_iq result_simple = 0;
+//_iq result_simple_t = 0;
+//
+//RMS_BUFFER_WITH_THINNING buffer_var_freq = RMS_BUFFER_WITH_THINNING_DEFAULTS;
+//int freq_mian_signal = 1;
+//int counter_wait_change_freq = 0;
+//#define WAIT_CHANGE_FREQ_TICS 2000
+/*
+void test_calc_rms (_iq teta) {
+ _iq amplitude = _IQ (signal_amplitude / NORMA_ACP);
+ _iq current_val = 0;
+ _iq add_var_freq = 0;
+ static _iq add_50hz = _IQ(6.28 * 50.0 / FREQ_PWM / 2.0);
+ static _iq teta_50hz = 0, teta_Low = 0;
+ RMS_CALC_ARRAY rc = RMS_CALC_DEFAULTS;
+
+ RMS_CALC_ARRAY_THINNING rct = RMS_CALC_THINNING_DEFAULTS;
+
+ current_val = _IQmpy(amplitude, _IQcos(teta_50hz));
+ data_arr[position] = current_val;
+ data_arr_IQ16[position] = _IQtoIQ16(current_val);
+ position += 1;
+ if (position >= RMS_BUFFER_SIZE) position = 0;
+ teta_50hz += add_50hz;
+ rc.data_array = data_arr;
+ rc.size_array = RMS_BUFFER_SIZE;
+ result_simple = rc.calc(&rc);
+
+ if (counter_wait_change_freq >= WAIT_CHANGE_FREQ_TICS) {
+ if (freq_mian_signal < 20) { freq_mian_signal +=1;}
+ counter_wait_change_freq = 0;
+ } else {
+ counter_wait_change_freq += 1;
+ }
+
+ add_var_freq = _IQ(6.28 * freq_mian_signal / FREQ_PWM / 2.0);
+ teta_Low += add_var_freq;
+ current_val = _IQmpy(amplitude, _IQcos(teta_Low));
+ buffer_var_freq.val = current_val;
+ buffer_var_freq.signal_freq = _IQ((float)freq_mian_signal / NORMA_FROTOR);
+ buffer_var_freq.teta = teta_Low;
+ buffer_var_freq.add_value(&buffer_var_freq);
+
+
+
+ rct.data_array = buffer_var_freq.values;
+ rct.size_array = buffer_var_freq.array_size;
+ rct.last_elem_position = buffer_var_freq.position;
+ rct.signal_period = buffer_var_freq.array_size;
+ result_simple_t = rct.calc(&rct);
+}
+*/
diff --git a/Inu/Src/main/calc_rms_vals.h b/Inu/Src/main/calc_rms_vals.h
new file mode 100644
index 0000000..a01b3da
--- /dev/null
+++ b/Inu/Src/main/calc_rms_vals.h
@@ -0,0 +1,66 @@
+/*
+ * calc_rms_vals.h
+ *
+ * Created on: 14 ���. 2020 �.
+ * Author: star
+ */
+
+#ifndef SRC_MAIN_CALC_RMS_VALS_H_
+#define SRC_MAIN_CALC_RMS_VALS_H_
+
+
+#include <params_pwm24.h>
+
+#include "IQmathLib.h"
+
+#define RMS_BUFFER_SIZE (FREQ_PWM * 2 / 50)
+//#define RMS_BUFFER_SIZE 18 //For FREQ_PWM 450 and signal frequency 50 Hz
+
+
+typedef struct {
+ _iq values[RMS_BUFFER_SIZE];
+ int array_size;
+ int position;
+} RMS_BUFFER;
+
+#define RMS_BUFFER_DEFAULTS {{0}, RMS_BUFFER_SIZE, 0}
+
+#define RMS_THINNING_BUFFER_SIZE 40 //������ ���������� ����� 30 ��������� �� ������ �������
+#define RMS_THINNING_PERIOD (RMS_THINNING_BUFFER_SIZE * 3 / 4)
+typedef struct {
+ _iq val; //in
+ _iq16 values[RMS_THINNING_BUFFER_SIZE];
+ int array_size;
+ int position;
+ int elements_in_period; // ������� ��������� � ������� �������� 1 ������ ����������� �������
+
+ int freq_pwm; //in
+ _iq signal_freq; //in
+ int use_teta; //���������� ������ ������� � ������� teta
+ _iq teta; //in
+
+ struct {
+ int miss_write_counter;
+ int teta_period_counter;
+ _iq teta_prev;
+ int zero_teta_period;
+// int zero_teta_counter_prev;
+ } internal;
+ void (*add_value)();
+} RMS_BUFFER_WITH_THINNING;
+
+
+#define RMS_BUFFER_WITH_THINNING_DEFAULTS {0, {0}, RMS_THINNING_BUFFER_SIZE,0, \
+ RMS_THINNING_PERIOD,\
+ (FREQ_PWM * 2),0,0,0, {0,0,0,0}, \
+ fill_rms_array_IQ15}
+
+void fill_rms_array_IQ15(RMS_BUFFER_WITH_THINNING *v);
+void fill_RMS_buff_interrupt(_iq teta_ch1, _iq teta_ch2);
+void calc_RMS_values_main();
+void init_Uin_rms(void);
+
+
+void test_calc_rms (_iq teta);
+
+#endif /* SRC_MAIN_CALC_RMS_VALS_H_ */
diff --git a/Inu/Src/main/calc_tempers.c b/Inu/Src/main/calc_tempers.c
new file mode 100644
index 0000000..a5988cc
--- /dev/null
+++ b/Inu/Src/main/calc_tempers.c
@@ -0,0 +1,284 @@
+/*
+ * calc_tempers.c
+ *
+ * Created on: 4 ���. 2020 �.
+ * Author: star
+ */
+
+#include <adc_tools.h>
+#include <calc_tempers.h>
+#include <CAN_project.h>
+#include <edrk_main.h>
+#include <params_temper_p.h>
+
+#include "CAN_Setup.h"
+#include "IQmathLib.h"
+
+int calc_max_temper_acdrive_bear(void);
+int calc_max_temper_acdrive_winding(void);
+int calc_max_temper_edrk_u(void);
+int calc_max_temper_edrk_water(void);
+int calc_max_temper_edrk_air(void);
+int calc_min_temper_edrk_air(void);
+
+
+
+
+////////////////////////////////////////////////////////////////////
+int calc_max_temper_acdrive_bear(void)
+{
+ int i, max_t=0;
+
+ for (i=0;i<edrk.temper_acdrive.bear.max_size;i++)
+ if (edrk.temper_acdrive.winding.filter_real_int_temper[i]>max_t)
+ max_t = edrk.temper_acdrive.winding.filter_real_int_temper[i];
+
+ return max_t;
+
+}
+////////////////////////////////////////////////////////////////////
+
+////////////////////////////////////////////////////////////////////
+int calc_max_temper_acdrive_winding(void)
+{
+ int i, max_t=0;
+
+ for (i=0;i<edrk.temper_acdrive.winding.max_size;i++)
+ if (edrk.temper_acdrive.winding.filter_real_int_temper[i]>max_t)
+ max_t = edrk.temper_acdrive.winding.filter_real_int_temper[i];
+
+ return max_t;
+
+}
+////////////////////////////////////////////////////////////////////
+
+////////////////////////////////////////////////////////////////////
+int calc_max_temper_edrk_u(void)
+{
+ int i, max_t=0;
+
+ for (i=0;i<7;i++)
+ if (edrk.temper_edrk.real_int_temper_u[i]>max_t)
+ max_t = edrk.temper_edrk.real_int_temper_u[i];
+
+ return max_t;
+
+}
+////////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+int calc_max_temper_edrk_water(void)
+{
+ int i, max_t=0;
+
+ for (i=0;i<2;i++)
+ if (edrk.temper_edrk.real_int_temper_water[i]>max_t)
+ max_t = edrk.temper_edrk.real_int_temper_water[i];
+
+ return max_t;
+
+}
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+int calc_max_temper_edrk_air(void)
+{
+ int i, max_t=0;
+
+ for (i=0;i<4;i++)
+ if (edrk.temper_edrk.real_int_temper_air[i]>max_t)
+ max_t = edrk.temper_edrk.real_int_temper_air[i];
+
+ return max_t;
+
+}
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+int calc_min_temper_edrk_air(void)
+{
+ int i, min_t=1000;
+
+ for (i=0;i<4;i++)
+ if (edrk.temper_edrk.real_int_temper_air[i]<min_t)
+ min_t = edrk.temper_edrk.real_int_temper_air[i];
+
+ return min_t;
+
+}
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+
+// ACP[V]/61.9[Om]/2.0*10000
+
+
+#define koef_Temper_ENGINE_filter 1600000
+#define INDEX_ACDRIVE_WINDING_CAN_UNITES 24
+#define INDEX_ACDRIVE_BEAR_CAN_UNITES 30
+
+
+
+void calc_temper_acdrive(void)
+{
+ int i;
+ _iq iqtain,iq_temp;
+
+// Winding
+ for (i=0;i<edrk.temper_acdrive.winding.max_size;i++)
+ {
+ edrk.temper_acdrive.winding.real_temper[i] = Unites[BKSSD_CAN_DEVICE][INDEX_ACDRIVE_WINDING_CAN_UNITES+i]/10.0;
+ if (Unites[BKSSD_CAN_DEVICE][INDEX_ACDRIVE_WINDING_CAN_UNITES+i]==0)
+ {
+ edrk.temper_acdrive.winding.flag_init_filter_temp[i] = 0;
+ edrk.temper_acdrive.winding.filter_real_int_temper[i] = 0;
+ edrk.temper_acdrive.winding.real_int_temper[i] = 0;
+ edrk.temper_acdrive.winding.real_temper[i] = 0;
+
+ continue;
+ }
+
+ edrk.temper_acdrive.winding.real_int_temper[i] = edrk.temper_acdrive.winding.real_temper[i]*K_TEMPER_TO_SVU;
+
+ iqtain = _IQ(edrk.temper_acdrive.winding.real_temper[i]/100.0);
+ iq_temp = _IQ(edrk.temper_acdrive.winding.filter_real_temper[i]/100.0);
+
+ if (edrk.temper_acdrive.winding.flag_init_filter_temp[i]==0)
+ {
+ iq_temp = iqtain;
+ edrk.temper_acdrive.winding.flag_init_filter_temp[i]=1;
+ }
+
+ // iq_temp_engine[i] = exp_regul_iq(koef_Temper_ENGINE_filter, iq_temp_engine[i], iqtain);
+
+ iq_temp += _IQmpy( (iqtain-iq_temp), koef_Temper_ENGINE_filter);
+ edrk.temper_acdrive.winding.filter_real_temper[i] = _IQtoF(iq_temp)*100.0;
+ edrk.temper_acdrive.winding.filter_real_int_temper[i] = edrk.temper_acdrive.winding.filter_real_temper[i]*K_TEMPER_TO_SVU;
+ }
+
+ edrk.temper_acdrive.winding.max_real_int_temper = calc_max_temper_acdrive_winding();
+
+
+// Bearing
+ for (i=0;i<edrk.temper_acdrive.bear.max_size;i++)
+ {
+ edrk.temper_acdrive.bear.real_temper[i] = Unites[BKSSD_CAN_DEVICE][INDEX_ACDRIVE_BEAR_CAN_UNITES+i]/10.0;
+ if (Unites[BKSSD_CAN_DEVICE][INDEX_ACDRIVE_BEAR_CAN_UNITES+i]==0)
+ {
+ edrk.temper_acdrive.bear.flag_init_filter_temp[i] = 0;
+ edrk.temper_acdrive.bear.filter_real_int_temper[i] = 0;
+ edrk.temper_acdrive.bear.real_int_temper[i] = 0;
+ edrk.temper_acdrive.bear.real_temper[i] = 0;
+
+ continue;
+
+ }
+
+ edrk.temper_acdrive.bear.real_int_temper[i] = edrk.temper_acdrive.bear.real_temper[i]*K_TEMPER_TO_SVU;
+
+ iqtain = _IQ(edrk.temper_acdrive.bear.real_temper[i]/100.0);
+ iq_temp = _IQ(edrk.temper_acdrive.bear.filter_real_temper[i]/100.0);
+
+ if (edrk.temper_acdrive.bear.flag_init_filter_temp[i]==0)
+ {
+ iq_temp = iqtain;
+ edrk.temper_acdrive.bear.flag_init_filter_temp[i]=1;
+ }
+
+ // iq_temp_engine[i] = exp_regul_iq(koef_Temper_ENGINE_filter, iq_temp_engine[i], iqtain);
+
+ iq_temp += _IQmpy( (iqtain-iq_temp), koef_Temper_ENGINE_filter);
+ edrk.temper_acdrive.bear.filter_real_temper[i] = _IQtoF(iq_temp)*100.0;
+ edrk.temper_acdrive.bear.filter_real_int_temper[i] = edrk.temper_acdrive.bear.filter_real_temper[i]*K_TEMPER_TO_SVU;
+
+
+
+
+ }
+
+ edrk.temper_acdrive.bear.max_real_int_temper = calc_max_temper_acdrive_bear();
+
+//////
+}
+
+
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+
+void calc_temper_edrk(void)
+{
+ int i;
+
+////
+ edrk.temper_edrk.adc_temper_u[0] = ADC_f[1][1];
+ edrk.temper_edrk.adc_temper_u[1] = ADC_f[1][2];
+ edrk.temper_edrk.adc_temper_u[2] = ADC_f[1][3];
+ edrk.temper_edrk.adc_temper_u[3] = ADC_f[1][4];
+ edrk.temper_edrk.adc_temper_u[4] = ADC_f[1][5];
+ edrk.temper_edrk.adc_temper_u[5] = ADC_f[1][6];
+ edrk.temper_edrk.adc_temper_u[6] = ADC_f[1][7];
+
+ edrk.temper_edrk.real_temper_u[0] = (_IQtoF(analog.T_U01)*100.0 - 4.0)/16.0 * NORMA_ACP_TEMPER - DELTA_ACP_TEMPER;
+ edrk.temper_edrk.real_temper_u[1] = (_IQtoF(analog.T_U02)*100.0 - 4.0)/16.0 * NORMA_ACP_TEMPER - DELTA_ACP_TEMPER;
+ edrk.temper_edrk.real_temper_u[2] = (_IQtoF(analog.T_U03)*100.0 - 4.0)/16.0 * NORMA_ACP_TEMPER - DELTA_ACP_TEMPER;
+ edrk.temper_edrk.real_temper_u[3] = (_IQtoF(analog.T_U04)*100.0 - 4.0)/16.0 * NORMA_ACP_TEMPER - DELTA_ACP_TEMPER;
+ edrk.temper_edrk.real_temper_u[4] = (_IQtoF(analog.T_U05)*100.0 - 4.0)/16.0 * NORMA_ACP_TEMPER - DELTA_ACP_TEMPER;
+ edrk.temper_edrk.real_temper_u[5] = (_IQtoF(analog.T_U06)*100.0 - 4.0)/16.0 * NORMA_ACP_TEMPER - DELTA_ACP_TEMPER;
+ edrk.temper_edrk.real_temper_u[6] = (_IQtoF(analog.T_U07)*100.0 - 4.0)/16.0 * NORMA_ACP_TEMPER - DELTA_ACP_TEMPER;
+
+
+ for (i=0;i<7;i++)
+ edrk.temper_edrk.real_int_temper_u[i] = edrk.temper_edrk.real_temper_u[i]*K_TEMPER_TO_SVU;
+
+ edrk.temper_edrk.max_real_int_temper_u = calc_max_temper_edrk_u();
+/////
+
+ edrk.temper_edrk.adc_temper_water[0] = ADC_f[1][8];
+ edrk.temper_edrk.adc_temper_water[1] = ADC_f[1][9];
+
+ edrk.temper_edrk.real_temper_water[0] = (_IQtoF(analog.T_Water_internal)*100.0 - 4.0)/16.0 * NORMA_ACP_TEMPER - DELTA_ACP_TEMPER;
+ edrk.temper_edrk.real_temper_water[1] = (_IQtoF(analog.T_Water_external)*100.0 - 4.0)/16.0 * NORMA_ACP_TEMPER - DELTA_ACP_TEMPER;
+
+ for (i=0;i<2;i++)
+ edrk.temper_edrk.real_int_temper_water[i] = edrk.temper_edrk.real_temper_water[i]*K_TEMPER_TO_SVU;
+
+ edrk.temper_edrk.max_real_int_temper_water = calc_max_temper_edrk_water();
+
+//////
+ edrk.temper_edrk.adc_temper_air[0] = ADC_f[1][10];
+ edrk.temper_edrk.adc_temper_air[1] = ADC_f[1][11];
+ edrk.temper_edrk.adc_temper_air[2] = ADC_f[1][12];
+ edrk.temper_edrk.adc_temper_air[3] = ADC_f[1][13];
+
+
+ edrk.temper_edrk.real_temper_air[0] = (_IQtoF(analog.T_Air_01)*100.0 - 4.0)/16.0 * NORMA_ACP_TEMPER - DELTA_ACP_TEMPER;
+ edrk.temper_edrk.real_temper_air[1] = (_IQtoF(analog.T_Air_02)*100.0 - 4.0)/16.0 * NORMA_ACP_TEMPER - DELTA_ACP_TEMPER;
+ edrk.temper_edrk.real_temper_air[2] = (_IQtoF(analog.T_Air_03)*100.0 - 4.0)/16.0 * NORMA_ACP_TEMPER - DELTA_ACP_TEMPER;
+ edrk.temper_edrk.real_temper_air[3] = (_IQtoF(analog.T_Air_04)*100.0 - 4.0)/16.0 * NORMA_ACP_TEMPER - DELTA_ACP_TEMPER;
+
+ for (i=0;i<4;i++)
+ edrk.temper_edrk.real_int_temper_air[i] = edrk.temper_edrk.real_temper_air[i]*K_TEMPER_TO_SVU;
+
+ edrk.temper_edrk.max_real_int_temper_air = calc_max_temper_edrk_air();
+ edrk.temper_edrk.min_real_int_temper_air = calc_min_temper_edrk_air();
+
+
+
+}
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+
+
+
diff --git a/Inu/Src/main/calc_tempers.h b/Inu/Src/main/calc_tempers.h
new file mode 100644
index 0000000..d2b1bc9
--- /dev/null
+++ b/Inu/Src/main/calc_tempers.h
@@ -0,0 +1,16 @@
+/*
+ * calc_tempers.h
+ *
+ * Created on: 4 ���. 2020 �.
+ * Author: star
+ */
+
+#ifndef SRC_MAIN_CALC_TEMPERS_H_
+#define SRC_MAIN_CALC_TEMPERS_H_
+
+void calc_temper_acdrive(void);
+void calc_temper_edrk(void);
+
+
+
+#endif /* SRC_MAIN_CALC_TEMPERS_H_ */
diff --git a/Inu/Src/main/can_bs2bs.c b/Inu/Src/main/can_bs2bs.c
new file mode 100644
index 0000000..f383e47
--- /dev/null
+++ b/Inu/Src/main/can_bs2bs.c
@@ -0,0 +1,83 @@
+/*
+ * can_bs2bs.c
+ *
+ * Created on: 27 ���. 2020 �.
+ * Author: stud
+ */
+
+#include <281xEvTimersInit.h>
+#include <can_bs2bs.h>
+#include <edrk_main.h>
+#include <math.h>
+#include <project.h>
+
+#include "control_station.h"
+#include "CAN_Setup.h"
+#include "global_time.h"
+#include "IQmathLib.h"
+#include "mathlib.h"
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_SWPrioritizedIsrLevels.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h"
+#include "xp_project.h"
+#include "another_bs.h"
+
+
+
+
+
+
+#pragma DATA_SECTION(Unites2SecondBS, ".slow_vars")
+int Unites2SecondBS[SIZE_ARR_CAN_UNITES_BS2BS]={0,0,0,0,0,0,0,0,0,0,\
+ 0,0,0,0,0,0,0,0,0,0,\
+ 0,0,0,0,0,0,0,0,0,0,\
+ 0,0,0,0,0,0,0,0,0,0,\
+ 0,0,0,0,0,0,0,0,0,0\
+ };
+
+
+
+int max_count_send_to_can2second_bs = SIZE_ARR_CAN_UNITES_BS2BS;
+
+
+
+
+
+void SendAll2SecondBS(unsigned int pause)
+{
+ static int time_tick_modbus_can=0;
+ static unsigned int old_PWM_ticks=0;
+ static int count_write_to_modbus_can=0;
+ static int time_send_to_can=0;
+ int real_mbox, n_box;
+
+
+
+
+//send to another BS
+ if (detect_pause_milisec(pause, &old_PWM_ticks))
+ {
+ // if (edrk.flag_second_PCH==0)
+ // n_box = ANOTHER_BSU2_CAN_DEVICE;
+ // else
+ n_box = ANOTHER_BSU1_CAN_DEVICE;
+
+ time_tick_modbus_can=0;
+ time_send_to_can=0;
+
+ UpdateTableSecondBS();
+
+ real_mbox = get_real_out_mbox (UNITS_TYPE_BOX, n_box);
+
+ if (CAN_cycle_full_free(real_mbox,CAN_BOX_STAT_ON))
+ {
+ CAN_cycle_send( UNITS_TYPE_BOX, n_box, 0, &Unites2SecondBS[0], max_count_send_to_can2second_bs, CAN_BOX_STANDART_ADR, CAN_BOX_PRIORITY_NORMAL);// �������� 40 ����. ���� �������� ���� �������
+ }
+ }
+
+
+
+}
+
+
+
diff --git a/Inu/Src/main/can_bs2bs.h b/Inu/Src/main/can_bs2bs.h
new file mode 100644
index 0000000..b3d69cf
--- /dev/null
+++ b/Inu/Src/main/can_bs2bs.h
@@ -0,0 +1,21 @@
+/*
+ * can_bs2bs.h
+ *
+ * Created on: 27 ���. 2020 �.
+ * Author: stud
+ */
+
+#ifndef SRC_MAIN_CAN_BS2BS_H_
+#define SRC_MAIN_CAN_BS2BS_H_
+
+#define SIZE_ARR_CAN_UNITES_BS2BS 50 //100
+
+
+extern int Unites2SecondBS[SIZE_ARR_CAN_UNITES_BS2BS];
+
+void SendAll2SecondBS(unsigned int pause);
+
+
+
+
+#endif /* SRC_MAIN_CAN_BS2BS_H_ */
diff --git a/Inu/Src/main/can_protocol_ukss.h b/Inu/Src/main/can_protocol_ukss.h
new file mode 100644
index 0000000..18bf157
--- /dev/null
+++ b/Inu/Src/main/can_protocol_ukss.h
@@ -0,0 +1,63 @@
+/*
+ * can_protocol_ukss.h
+ *
+ * Created on: 23 ���. 2024 �.
+ * Author: yura
+ */
+
+#ifndef SRC_MAIN_CAN_PROTOCOL_UKSS_H_
+#define SRC_MAIN_CAN_PROTOCOL_UKSS_H_
+
+
+
+#define CAN_PROTOCOL_UKSS 2 // 2
+
+
+#ifndef CAN_PROTOCOL_UKSS
+#define CAN_PROTOCOL_UKSS 1
+#endif
+
+
+
+
+#if (CAN_PROTOCOL_UKSS == 2)
+
+
+#define ADR_CYCLES_TIMER_MAIN 96 //������ ������. ������� CAN, * 10 m���
+#define ADR_CYCLES_TIMER_ADD 97 //������ ������. ������� CAN, * 10 m���
+#define ADR_CYCLES_PAUSE_MAIN 98 //����� ������. ������� CAN, * 10 m���
+#define ADR_CYCLES_PAUSE_ADD 99 //����� ������. ������� CAN, * 10 m���
+#define ADR_CYCLES_REPEATE_MAIN 100 //������ ������. ������� CAN, * 10 m���
+#define ADR_CYCLES_REPEATE_ADD 101 //������ ������. ������� CAN, * 10 m���
+#define ADR_CYCLES_REPEATE_DIGIO 102 //��������� ������� �����. ������, ���
+
+#define ADR_LIGHT_LED_1 104 //������� ����� 1
+#define ADR_LIGHT_LED_2 105 //������� ����� 2
+#define ADR_LIGHT_LED_3 106 //������� ����� 3
+#define ADR_LIGHT_LED_4 107 //������� ����� 4
+#define ADR_LIGHT_LED_5 108 //������� ����� 5
+#define ADR_LIGHT_LED_6 109 //������� ����� 6
+#define ADR_LIGHT_LED_7 110 //������� ����� 7
+
+
+
+#define ADR_COUNT_CYCLES_MAIN 120 //���������� ������ ������. ������� CAN
+#define ADR_COUNT_CYCLES_ADD 121 //���������� ������ ������. ������� CAN
+#define ADR_COUNT_FULL_CYCLES_MAIN 122 //���-�� ������ ������ ������. ������� CAN
+#define ADR_COUNT_FULL_CYCLES_ADD 123 //���-�� ������ ������ ������. ������� CAN
+
+#define ADR_PROTOCOL_VERSION 125 //������ ���������
+#define ADR_UKSS_NUMBER 126 //����� ����������
+
+#endif
+
+
+
+
+
+
+
+
+
+
+#endif /* SRC_MAIN_CAN_PROTOCOL_UKSS_H_ */
diff --git a/Inu/Src/main/control_station_project.c b/Inu/Src/main/control_station_project.c
new file mode 100644
index 0000000..877b4fb
--- /dev/null
+++ b/Inu/Src/main/control_station_project.c
@@ -0,0 +1,2493 @@
+/*
+ * control_station_project.c
+ *
+ * Created on: 1 ���. 2020 �.
+ * Author: Yura
+ */
+#include <can_bs2bs.h>
+#include <control_station_project.h>
+#include <CAN_project.h>
+#include <edrk_main.h>
+#include <master_slave.h>
+#include <math.h>
+
+#include <modbus_hmi_update.h>
+#include <modbus_svu_update.h>
+#include <params_alg.h>
+#include <params_motor.h>
+#include <params_norma.h>
+
+#include "control_station.h"
+#include "CAN_Setup.h"
+#include "global_time.h"
+#include "IQmathLib.h"
+#include "mathlib.h"
+#include "modbus_table_v2.h"
+#include "vector_control.h"
+#include "RS_Functions.h"
+#include "adc_tools.h"
+#include "RS_Function_terminal.h"
+#include "alg_simple_scalar.h"
+
+
+
+
+
+
+/*CONTROL_STATION_TERMINAL_RS232
+ CONTROL_STATION_TERMINAL_CAN,
+
+ CONTROL_STATION_INGETEAM_PULT_RS485,
+ CONTROL_STATION_MPU_SVU_CAN,
+ CONTROL_STATION_MPU_KEY_CAN,
+ CONTROL_STATION_MPU_SVU_RS485,
+ CONTROL_STATION_MPU_KEY_RS485,
+ CONTROL_STATION_ZADATCHIK_CAN,
+
+
+
+ CONTROL_STATION_CMD_GO = 0,// cmd_go �� ����� ����/���� ����
+ CONTROL_STATION_CMD_SET_IZAD,// ��� �� �����
+ CONTROL_STATION_CMD_SET_ROTOR,// ������� �� �����
+ CONTROL_STATION_CMD_CHARGE,// ���� ����� �� �����
+ CONTROL_STATION_CMD_UNCHARGE,// ������ ����� �� �����
+ CONTROL_STATION_CMD_CHECKBACK,// ������������ �� �����
+ CONTROL_STATION_CMD_TEST_LEDS
+ */
+
+
+#define DEC_ZAD_OBOROTS 1
+#define INC_ZAD_OBOROTS 1
+
+
+
+
+
+/////////////////////////////////////////////////////////////
+//
+/////////////////////////////////////////////////////////////
+void detect_active_from_all_signals(void)
+{
+ if (control_station.alive_control_station[CONTROL_STATION_TERMINAL_RS232])
+ {
+ // control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_ACTIVE_CONTROL] = control_station
+ }
+
+
+}
+/////////////////////////////////////////////////////////////
+//
+/////////////////////////////////////////////////////////////
+float plus_minus_oborots(int key_plus, int key_minus, float ff, int ufconst_vector, int flag)
+{
+ static float ff_add=0, ff_dec=0;
+
+ float ff_add1=0, ff_dec1=0;
+ float ff_add2=0, ff_dec2=0;
+ float ff_add3=0, ff_dec3=0;
+
+ static int prev_key_plus=0, prev_key_minus=0, count_press2 = 0, level_d1 = 2;
+
+ static int direct_zad=0, direct_cur=0, only_plus=0, only_minus=0;
+ static unsigned int old_time_plus_minus=0, count_press = 0;
+
+ if (flag==1)
+ {
+ count_press = 0;
+
+ ff_dec = 0;
+ ff_add = 0;
+
+ prev_key_plus = key_plus;
+ prev_key_minus = key_minus;
+
+ return ff;
+ }
+
+ if (ff>0)
+ {
+// if (key_minus || key_plus)
+ only_plus = 1;
+ only_minus = 0;
+ }
+ else
+ if (ff<0)
+ {
+// if (key_minus || key_plus)
+ only_minus = 1;
+ only_plus = 0;
+ }
+ else
+ {
+ if (key_minus==0 && key_plus==0)
+ {
+ only_plus = 0;
+ only_minus = 0;
+ }
+
+ }
+
+
+//
+//
+// if (key_plus)
+// {
+// if (ff>0)
+// direct_zad = 1;
+// if (ff<0)
+// direct_zad = -1;
+// if (ff==0)
+// direct_zad = 0;
+//
+// }
+// if (key_minus)
+// {
+// if (ff>0)
+// direct_zad = -1;
+// if (ff<0)
+// direct_zad = 1;
+// if (ff==0)
+// direct_zad = 0;
+// }
+
+
+ if (ufconst_vector==0)
+ {
+ ff_add1 = INC_ZAD_OBOROTS*10.0;
+ ff_dec1 = DEC_ZAD_OBOROTS*10.0;
+
+ ff_add2 = INC_ZAD_OBOROTS*30.0;
+ ff_dec2 = DEC_ZAD_OBOROTS*30.0;
+ ff_add3 = INC_ZAD_OBOROTS*60.0;
+ ff_dec3 = DEC_ZAD_OBOROTS*60.0;
+
+ }
+ else
+ {
+ ff_add1 = INC_ZAD_OBOROTS;
+ ff_dec1 = DEC_ZAD_OBOROTS;
+
+ ff_add2 = INC_ZAD_OBOROTS*1.0;
+ ff_dec2 = DEC_ZAD_OBOROTS*1.0;
+ ff_add3 = INC_ZAD_OBOROTS*2.0;
+ ff_dec3 = DEC_ZAD_OBOROTS*2.0;
+ }
+
+
+ if (detect_pause_milisec(250,&old_time_plus_minus))
+ {
+ if (key_minus || key_plus)
+ {
+ if (count_press<300)
+ count_press++;
+
+ if (count_press2<10)
+ count_press2++;
+
+ }
+ else
+ {
+ count_press = 0;
+ count_press2 = 0;
+ }
+
+ if (count_press==1)
+ {
+// ff_dec = 0;
+// ff_add = 0;
+ ff_dec = ff_dec1;
+ ff_add = ff_add1;
+ level_d1 = 4;
+ }
+
+ if (count_press==6)
+ {
+ ff_dec = ff_dec1;
+ ff_add = ff_add1;
+ level_d1 = 2;
+ }
+
+ if (count_press==15)
+ {
+ ff_dec = ff_dec1;
+ ff_add = ff_add1;
+ level_d1 = 0;
+ }
+// if (count_press==60)
+// {
+// ff_dec = ff_dec2;
+// ff_add = ff_add2;
+// level_d1 = 0;
+// }
+
+ if (count_press==30)
+ {
+ ff_dec = ff_dec3;
+ ff_add = ff_add3;
+ }
+
+
+ if (key_minus)
+ {
+ if ((count_press2>=level_d1) || (count_press==1))
+ {
+ if (ff>ff_dec)
+ {
+ ff=ff-ff_dec;
+ if (ff<DEAD_ZONE_ZADANIE_OBOROTS_ROTOR && ff>0)
+ ff = 0;
+ }
+ else
+ if (ff<=ff_dec && ff>0)
+ ff=0;
+ else
+ if (ff<0 && only_plus==0)
+ ff=ff-ff_add;
+ else
+ if (ff==0 && only_plus==0)
+ ff=ff-DEAD_ZONE_ZADANIE_OBOROTS_ROTOR;
+
+ count_press2 = 0;
+ }
+ }
+ else
+ if (key_plus)
+ {
+ if ((count_press2>=level_d1) || (count_press==1))
+ {
+ if (ff==0 && only_minus==0)
+ ff=ff+DEAD_ZONE_ZADANIE_OBOROTS_ROTOR;
+ else
+ if (ff>=0 && only_minus==0)
+ ff=ff+ff_add;
+ else
+ if (ff>=-ff_dec && ff<0)
+ ff=0;
+ else
+ if (ff<-ff_dec)
+ {
+ ff=ff+ff_dec;
+ if (ff>-DEAD_ZONE_ZADANIE_OBOROTS_ROTOR && ff<0)
+ ff = 0;
+ }
+
+ count_press2 = 0;
+ }
+ }
+
+ }
+
+ if (ufconst_vector==0)
+ ff = my_satur_float(ff,fast_round(MAX_ZADANIE_F*100.0),fast_round(-MAX_ZADANIE_F*100.0), 0);
+ else
+ ff = my_satur_float(ff, MAX_ZADANIE_OBOROTS_ROTOR, MIN_ZADANIE_OBOROTS_ROTOR, 0);
+
+
+ prev_key_plus = key_plus;
+ prev_key_minus = key_minus;
+
+
+ return ff;
+}
+
+/////////////////////////////////////////////////////////////
+//
+/////////////////////////////////////////////////////////////
+void parse_parameters_from_one_control_station_another_bs(int cc)
+{
+ int i;//, pos_numbercmd;
+ static int prev_checkback = 0;
+ static int flag_wait_revers_go = 0;
+
+ _iq _iq_ff;
+ static unsigned int prev_charge=0, prev_uncharge=0, key_local_charge=0, key_local_uncharge=0;
+ static unsigned int old_time_pult_ing = 0;
+ float ff=0, ff_add=0, ff_dec=0;
+ int key_plus = 0, key_minus = 0;
+
+
+
+
+ if (edrk.ms.err_signals.alive_can_to_another_bs==0)
+ {
+
+ //
+ // edrk.zadanie_from_another_bs.int_fzad = Unites[ANOTHER_BSU1_CAN_DEVICE][3];
+ // edrk.zadanie_from_another_bs.int_kzad = Unites[ANOTHER_BSU1_CAN_DEVICE][4];
+ // edrk.zadanie_from_another_bs.int_Izad = Unites[ANOTHER_BSU1_CAN_DEVICE][5];
+ // edrk.zadanie_from_another_bs.int_oborots_zad = Unites[ANOTHER_BSU1_CAN_DEVICE][6];
+ // edrk.zadanie_from_another_bs.int_power_zad = Unites[ANOTHER_BSU1_CAN_DEVICE][7];
+ // //
+ // edrk.zadanie_from_another_bs.iq_fzad = _IQ15toIQ(edrk.zadanie_from_another_bs.int_fzad);
+ // edrk.zadanie_from_another_bs.iq_kzad = _IQ15toIQ(edrk.zadanie_from_another_bs.int_kzad);
+ // edrk.zadanie_from_another_bs.iq_Izad = _IQ15toIQ(edrk.zadanie_from_another_bs.int_Izad);
+ // edrk.zadanie_from_another_bs.oborots_zad = edrk.zadanie_from_another_bs.int_oborots_zad;
+ // edrk.zadanie_from_another_bs.iq_power_zad = _IQ15toIQ(edrk.zadanie_from_another_bs.int_power_zad);
+
+
+ }
+ else
+ {
+
+
+
+ }
+
+
+ if (control_station.alive_control_station[cc])
+ {
+
+ }
+ else
+ {
+ for (i=0;i<CONTROL_STATION_CMD_LAST;i++)
+ control_station.array_cmd[cc][i] = 0; // clear all data
+
+ return; // ��� ����� ������� ��� ����������� �������
+ // � "�� �����������" ������ �� ���������.
+ }
+
+ edrk.test_mode = 0;
+// f.RScount = SECOND * 3;
+
+
+ for (i=0;i<CONTROL_STATION_CMD_LAST;i++)
+ control_station.array_cmd[cc][i] = Unites[ANOTHER_BSU1_CAN_DEVICE][POS_STATION_CMD_ANOTHER_BSU1+i];
+
+ if (control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL])
+ {
+
+
+
+ }
+ if (edrk.MasterSlave == MODE_SLAVE && Unites[ANOTHER_BSU1_CAN_DEVICE][12] > 0 && Unites[ANOTHER_BSU1_CAN_DEVICE][12] < 600) {
+ vect_control.iqId_min = _IQ((float)Unites[ANOTHER_BSU1_CAN_DEVICE][12] / NORMA_ACP);
+ }
+/*
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL] = control_station.active_control_station[CONTROL_STATION_VPU_CAN];
+
+
+// scalar, vector, ufconst
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UFCONST_VECTOR] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_UFCONST_VECTOR];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SCALAR_FOC] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SCALAR_FOC];
+
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ROTOR_POWER] = 0;
+
+// ����������
+// if
+
+ if ((detect_pause_milisec(100,&old_time_pult_ing)) && control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL])
+ {
+
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = control_station.raw_array_data[cc][4].all;
+ ff = control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR];
+
+ key_plus = edrk.from_vpu.bits.PLUS;
+ key_minus = edrk.from_vpu.bits.MINUS;
+
+ ff = plus_minus_oborots(key_plus, key_minus, ff, control_station.array_cmd[cc][CONTROL_STATION_CMD_UFCONST_VECTOR]);
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR] = ff;
+ }
+
+
+// ��������
+// pos_numbercmd = 15; // � ������ �������� ������� ���� �������, ��� ����� ���������� ������
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHECKBACK] = edrk.from_vpu.bits.KVITIR;
+
+// �����, ������
+ key_local_charge = 0;//edrk.from_shema.bits.SBOR_SHEMA;
+ key_local_uncharge = 0;//edrk.from_shema.bits.RAZBOR_SHEMA;
+
+ if (key_local_charge && prev_charge==0)
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 1;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 0;
+ }
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 0;
+ prev_charge = key_local_charge;
+
+
+ if (key_local_uncharge && prev_uncharge==0)
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 1;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 0;
+ }
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 0;
+ prev_uncharge = key_local_uncharge;
+
+
+///////////////////////////////////////////
+// ��� ����� � ����������
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_IZAD] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_IZAD];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_KM] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_KM];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_U_ZARYAD] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_U_ZARYAD];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_K_U_DISBALANCE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_K_U_DISBALANCE];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_K_PLUS_U_DISBALANCE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_K_PLUS_U_DISBALANCE];
+
+
+// if (control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR]!=0)
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = 1;
+// else
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = 0;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_GO];
+
+//
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_TEST_LEDS] = 0;
+//
+// prev_checkback = control_station.raw_array_data[cc][pos_numbercmd].bits.bit1;
+
+ // �������� �� rs232
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_PUMP] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_PUMP];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ENABLE_ON_CHARGE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_ENABLE_ON_CHARGE];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_QTV] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_QTV];
+
+ // 0 - auto on - rand pump
+ // 1 - auto on 1 pump
+ // 2 - auto on 2 pump
+ // 3 - manual on 1 pump
+ // 4 - manual on 2 pump
+
+ // ����� ������ ���������� ������� �� ������
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MODE_PUMP] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_MODE_PUMP];
+
+
+ if (control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL]==0)
+ return;
+*/
+
+}
+/////////////////////////////////////////////////////////////
+
+/////////////////////////////////////////////////////////////
+//
+/////////////////////////////////////////////////////////////
+void parse_parameters_from_one_control_station_pult_vpu(int cc)
+{
+ int i;//, pos_numbercmd;
+ static int prev_checkback = 0, prev_key_oborots = 0;
+ static int flag_wait_revers_go = 0;
+
+ _iq _iq_ff;
+ static unsigned int prev_charge=0, prev_uncharge=0, key_local_charge=0, key_local_uncharge=0;
+ static unsigned int old_time_pult_ing = 0, old_time_pult_ing2 = 0;
+ float ff=0, ff_add=0, ff_dec=0;
+ int key_plus = 0, key_minus = 0;
+
+
+ if (control_station.alive_control_station[cc])
+ {
+
+ }
+ else
+ {
+ for (i=0;i<CONTROL_STATION_CMD_LAST;i++)
+ control_station.array_cmd[cc][i] = 0; // clear all data
+
+ return; // ��� ����� ������� ��� ����������� �������
+ // � "�� �����������" ������ �� ���������.
+ }
+
+ edrk.test_mode = 0;
+// f.RScount = SECOND * 3;
+
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL] = control_station.active_control_station[CONTROL_STATION_VPU_CAN];
+
+///////////////////////////////////////////
+// ��� ����� � ����������
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_IZAD] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_IZAD];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_KM] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_KM];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_U_ZARYAD] = NOMINAL_U_ZARYAD;//control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_U_ZARYAD];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_K_U_DISBALANCE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_K_U_DISBALANCE];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_K_PLUS_U_DISBALANCE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_K_PLUS_U_DISBALANCE];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_LIMIT_POWER] = my_satur_int(control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_LIMIT_POWER],
+ SUPER_MAX_ZADANIE_LIMIT_POWER, MIN_ZADANIE_LIMIT_POWER, 0);
+
+
+// scalar, vector, ufconst
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UFCONST_VECTOR] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_UFCONST_VECTOR];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SCALAR_FOC] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SCALAR_FOC];
+
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ROTOR_POWER] = 0;
+
+// ����������
+
+ if ((detect_pause_milisec(100,&old_time_pult_ing)) && control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL])
+ {
+ ff = control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR];
+
+ key_plus = edrk.from_vpu.bits.PLUS;
+ key_minus = edrk.from_vpu.bits.MINUS;
+
+///////////////
+ if (edrk.from_vpu.bits.PROVOROT)
+ {
+ if (detect_pause_milisec(1000,&old_time_pult_ing2))
+ {
+ edrk.Provorot = 1;
+ ff = PROVOROT_OBOROTS;
+ }
+ }
+ else
+ old_time_pult_ing2 = global_time.miliseconds;
+
+ if (edrk.from_vpu.bits.PROVOROT != prev_key_oborots && edrk.from_vpu.bits.PROVOROT == 0 && edrk.Provorot==1)
+ {
+ ff = 0;
+ edrk.Provorot = 0;
+ }
+
+ prev_key_oborots = edrk.from_vpu.bits.PROVOROT;
+/////////////
+ ff = plus_minus_oborots(key_plus, key_minus, ff, control_station.array_cmd[cc][CONTROL_STATION_CMD_UFCONST_VECTOR], 0);
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR] = ff;
+
+ // control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_SET_ROTOR] = ff;
+ // control_station.array_cmd[CONTROL_STATION_ZADATCHIK_CAN][CONTROL_STATION_CMD_SET_ROTOR] = ff;
+ }
+
+
+ if (control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR]>=0)
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_LIMIT_POWER];
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = -control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_LIMIT_POWER];
+
+
+
+
+
+// ��������
+// pos_numbercmd = 15; // � ������ �������� ������� ���� �������, ��� ����� ���������� ������
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHECKBACK] = edrk.from_vpu.bits.KVITIR;
+
+// �����, ������
+ key_local_charge = 0;//edrk.from_shema.bits.SBOR_SHEMA;
+ key_local_uncharge = 0;//edrk.from_shema.bits.RAZBOR_SHEMA;
+
+ if (key_local_charge && prev_charge==0)
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 1;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 0;
+ }
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 0;
+ prev_charge = key_local_charge;
+
+
+ if (key_local_uncharge)
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 1;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 0;
+ }
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 0;
+ prev_uncharge = key_local_uncharge;
+
+
+
+
+// if (control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR]!=0)
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = 1;
+// else
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = 0;
+//
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_TEST_LEDS] = 0;
+//
+// prev_checkback = control_station.raw_array_data[cc][pos_numbercmd].bits.bit1;
+
+
+ // �������� �� rs232
+ if (control_station.alive_control_station[CONTROL_STATION_TERMINAL_RS232])
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_GO];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_PUMP] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_PUMP];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ENABLE_ON_CHARGE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_ENABLE_ON_CHARGE];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_QTV] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_QTV];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_UMP] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_UMP];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MANUAL_DISCHARGE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_MANUAL_DISCHARGE];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_STOP_LOGS] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_STOP_LOGS];
+
+ }
+ else
+ if (control_station.alive_control_station[CONTROL_STATION_INGETEAM_PULT_RS485])
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_GO];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_PUMP] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_DISABLE_ON_PUMP];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ENABLE_ON_CHARGE] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_ENABLE_ON_CHARGE];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_QTV] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_DISABLE_ON_QTV];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_UMP] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_DISABLE_ON_UMP];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MANUAL_DISCHARGE] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_MANUAL_DISCHARGE];
+
+ edrk.Status_Ready.bits.ImitationReady2 = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][181].all;
+ edrk.Obmotka1 = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][194].all;
+ edrk.Obmotka2 = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][195].all;
+ edrk.disable_alg_u_disbalance = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][193].all;
+
+
+ edrk.Run_Rascepitel_from_RS = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][182].all;
+ edrk.stop_logs_rs232 = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][183].all;
+ edrk.stop_slow_log = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][184].all;
+ edrk.disable_limit_power_from_svu = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][185].all;
+ edrk.disable_uom = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][186].all;
+
+
+
+
+ }
+
+
+ // 0 - auto on - rand pump
+ // 1 - auto on 1 pump
+ // 2 - auto on 2 pump
+ // 3 - manual on 1 pump
+ // 4 - manual on 2 pump
+
+ // ����� ������ ���������� ������� �� ������
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MODE_PUMP] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_MODE_PUMP];
+
+
+ if (control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL]==0)
+ return;
+
+
+}
+/////////////////////////////////////////////////////////////
+
+
+
+/////////////////////////////////////////////////////////////
+//
+/////////////////////////////////////////////////////////////
+void parse_parameters_from_one_control_station_pult_zadat4ik(int cc)
+{
+ int i;//, pos_numbercmd;
+ static int prev_checkback = 0, prev_key_oborots = 0;
+ static int flag_wait_revers_go = 0;
+
+ float ff=0, ff_add=0, ff_dec=0;
+ int key_plus = 0, key_minus = 0;
+
+ _iq _iq_ff;
+ static unsigned int prev_charge=0, prev_uncharge=0, key_local_charge=0, key_local_uncharge=0;
+ static unsigned int old_time_pult_ing = 0, old_time_pult_ing2 = 0;
+
+ if (control_station.alive_control_station[cc])
+ {
+
+ }
+ else
+ {
+ for (i=0;i<CONTROL_STATION_CMD_LAST;i++)
+ control_station.array_cmd[cc][i] = 0; // clear all data
+
+ return; // ��� ����� ������� ��� ����������� �������
+ // � "�� �����������" ������ �� ���������.
+ }
+
+ edrk.test_mode = 0;
+// f.RScount = SECOND * 3;
+
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL] = control_station.active_control_station[CONTROL_STATION_ZADATCHIK_CAN];
+///////////////////////////////////////////
+// ��� ����� � ����������
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_IZAD] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_IZAD];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_KM] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_KM];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_U_ZARYAD] = NOMINAL_U_ZARYAD;//control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_U_ZARYAD];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_K_U_DISBALANCE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_K_U_DISBALANCE];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_K_PLUS_U_DISBALANCE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_K_PLUS_U_DISBALANCE];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_LIMIT_POWER] = my_satur_int(control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_LIMIT_POWER],
+ SUPER_MAX_ZADANIE_LIMIT_POWER, MIN_ZADANIE_LIMIT_POWER, 0);
+
+
+
+// scalar, vector, ufconst
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UFCONST_VECTOR] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_UFCONST_VECTOR];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SCALAR_FOC] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SCALAR_FOC];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ROTOR_POWER] = 0;
+
+// ����������
+// if
+
+ if ((detect_pause_milisec(100,&old_time_pult_ing)) && control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL])
+ {
+
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = control_station.raw_array_data[cc][4].all;
+ ff = control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR];
+
+ key_plus = edrk.from_zadat4ik.bits.PLUS;
+ key_minus =edrk.from_zadat4ik.bits.MINUS;
+
+ if (edrk.from_zadat4ik.bits.PROVOROT)
+ {
+ if (detect_pause_milisec(1000,&old_time_pult_ing2))
+ {
+ edrk.Provorot = 1;
+ ff = PROVOROT_OBOROTS;
+ }
+ }
+ else
+ old_time_pult_ing2 = global_time.miliseconds;
+
+ if (edrk.from_zadat4ik.bits.PROVOROT != prev_key_oborots && edrk.from_zadat4ik.bits.PROVOROT == 0 && edrk.Provorot==1)
+ {
+ ff = 0;
+ edrk.Provorot = 0;
+ }
+
+ prev_key_oborots = edrk.from_zadat4ik.bits.PROVOROT;
+
+ ff = plus_minus_oborots(key_plus, key_minus, ff, control_station.array_cmd[cc][CONTROL_STATION_CMD_UFCONST_VECTOR], 0);
+
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR] = ff;
+
+ // control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_SET_ROTOR] = ff;
+ // control_station.array_cmd[CONTROL_STATION_VPU_CAN][CONTROL_STATION_CMD_SET_ROTOR] = ff;
+
+ }
+ if (control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR]>=0)
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_LIMIT_POWER];
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = -control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_LIMIT_POWER];
+
+// ��������
+// pos_numbercmd = 15; // � ������ �������� ������� ���� �������, ��� ����� ���������� ������
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHECKBACK] = edrk.from_zadat4ik.bits.KVITIR;
+
+// �����, ������
+ key_local_charge = edrk.from_shema_filter.bits.SBOR_SHEMA;
+ key_local_uncharge = edrk.from_shema_filter.bits.RAZBOR_SHEMA;
+
+
+ if (key_local_uncharge && key_local_charge)
+ {
+ key_local_uncharge = 0;
+ key_local_charge = 0;
+ //edrk.errors.e1.bits.BOTH_KEYS_CHARGE_DISCHARGE |=1;
+ }
+
+ if (key_local_charge && prev_charge==0)
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 1;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 0;
+ }
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 0;
+ prev_charge = key_local_charge;
+
+
+ if (key_local_uncharge)
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 1;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 0;
+ }
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 0;
+ prev_uncharge = key_local_uncharge;
+
+
+// if (control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR]!=0)
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = 1;
+// else
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = 0;
+
+//
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_TEST_LEDS] = 0;
+//
+// prev_checkback = control_station.raw_array_data[cc][pos_numbercmd].bits.bit1;
+
+
+ // �������� �� rs232
+ if (control_station.alive_control_station[CONTROL_STATION_TERMINAL_RS232])
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_GO];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_PUMP] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_PUMP];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ENABLE_ON_CHARGE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_ENABLE_ON_CHARGE];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_QTV] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_QTV];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_UMP] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_UMP];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MANUAL_DISCHARGE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_MANUAL_DISCHARGE];
+ }
+ else
+ if (control_station.alive_control_station[CONTROL_STATION_INGETEAM_PULT_RS485])
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_GO];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_PUMP] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_DISABLE_ON_PUMP];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ENABLE_ON_CHARGE] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_ENABLE_ON_CHARGE];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_QTV] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_DISABLE_ON_QTV];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_UMP] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_DISABLE_ON_UMP];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MANUAL_DISCHARGE] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_MANUAL_DISCHARGE];
+
+ edrk.Status_Ready.bits.ImitationReady2 = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][181].all;
+ edrk.Obmotka1 = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][194].all;
+ edrk.Obmotka2 = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][195].all;
+ edrk.disable_alg_u_disbalance = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][193].all;
+
+ edrk.Run_Rascepitel_from_RS = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][182].all;
+ edrk.stop_logs_rs232 = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][183].all;
+ edrk.stop_slow_log = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][184].all;
+ edrk.disable_limit_power_from_svu = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][185].all;
+ edrk.disable_uom = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][186].all;
+
+ }
+
+
+ // 0 - auto on - rand pump
+ // 1 - auto on 1 pump
+ // 2 - auto on 2 pump
+ // 3 - manual on 1 pump
+ // 4 - manual on 2 pump
+
+ // ����� ������ ���������� ������� �� ������
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MODE_PUMP] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_MODE_PUMP];
+
+
+ if (control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL]==0)
+ return;
+
+
+}
+/////////////////////////////////////////////////////////////
+//
+/////////////////////////////////////////////////////////////
+void parse_parameters_from_one_control_station_pult_ingeteam(int cc)
+{
+ int i, zad_power; //pos_numbercmd
+ static int prev_checkback = 0;
+ static int flag_wait_revers_go = 0;
+ float ff=0, ff_add=0, ff_dec=0;
+ int key_plus = 0, key_minus = 0;
+ _iq _iq_ff=0;
+ static unsigned int prev_key_local_charge_key=0, prev_key_local_uncharge_key=0,
+ key_local_charge_key=0, key_local_uncharge_key=0;
+ static unsigned int prev_key_local_charge_display=0, prev_key_local_uncharge_display=0,
+ key_local_charge_display=0, key_local_uncharge_display=0;
+
+ static unsigned int prev_charge=0, prev_uncharge=0, key_local_charge=0, key_local_uncharge=0;
+
+ static unsigned int old_time_pult_ing = 0, old_time_pult_ing2 = 0;
+ static unsigned int prev_key_local_charge_uncharge_display=0, key_local_charge_uncharge_display=0;
+
+ if (control_station.alive_control_station[cc])
+ {
+
+ }
+ else
+ {
+ for (i=0;i<CONTROL_STATION_CMD_LAST;i++)
+ control_station.array_cmd[cc][i] = 0; // clear all data
+
+ return; // ��� ����� ������� ��� ����������� �������
+ // � "�� �����������" ������ �� ���������.
+ }
+
+
+
+ // control_station.raw_array_data[CONTROL_STATION_TERMINAL_RS232]
+
+
+ edrk.test_mode = 0;
+// f.RScount = SECOND * 3;
+
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL] = control_station.active_control_station[CONTROL_STATION_INGETEAM_PULT_RS485];
+
+
+ ///////////////////////////////////////////
+ // ��� ����� � ����������
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_IZAD] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_IZAD];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_KM] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_KM];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_U_ZARYAD] = NOMINAL_U_ZARYAD;//control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_U_ZARYAD];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_K_U_DISBALANCE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_K_U_DISBALANCE];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_K_PLUS_U_DISBALANCE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_K_PLUS_U_DISBALANCE];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_LIMIT_POWER] = my_satur_int(control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_LIMIT_POWER],
+ SUPER_MAX_ZADANIE_LIMIT_POWER, MIN_ZADANIE_LIMIT_POWER, 0);
+
+// vector, ufconst
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UFCONST_VECTOR] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_UFCONST_VECTOR];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SCALAR_FOC] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SCALAR_FOC];
+
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ROTOR_POWER] = control_station.raw_array_data[cc][3].all;
+
+// ����������
+
+ // if
+
+ if ((detect_pause_milisec(100,&old_time_pult_ing)) && control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL])
+ {
+
+
+ if (control_station.array_cmd[cc][CONTROL_STATION_CMD_ROTOR_POWER]==1)
+ {
+ zad_power = (int)control_station.raw_array_data[cc][4].all;
+ if (zad_power<0)
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = zad_power;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR] = -MAX_ZADANIE_OBOROTS_ROTOR;
+ }
+ else
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = control_station.raw_array_data[cc][4].all;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR] = MAX_ZADANIE_OBOROTS_ROTOR;
+ }
+ }
+ else
+ {
+
+
+ ff = control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR];
+
+ key_plus = edrk.from_ing2.bits.KEY_PLUS;
+ key_minus = edrk.from_ing2.bits.KEY_MINUS;
+
+ if (key_plus || key_minus)
+ {
+ ff = plus_minus_oborots(key_plus, key_minus, ff, control_station.array_cmd[cc][CONTROL_STATION_CMD_UFCONST_VECTOR], 0);
+ old_time_pult_ing2 = global_time.miliseconds;
+ // �������� ��� ������� �� ���������� �������� ������ � �������
+ control_station.flag_refresh_array[cc] = 2; // ���-�� ��������� ���������� ������� �� ��������
+ }
+ else
+ {
+ plus_minus_oborots(0, 0, ff, control_station.array_cmd[cc][CONTROL_STATION_CMD_UFCONST_VECTOR], 1);//������
+
+ if (detect_pause_milisec(3000,&old_time_pult_ing2))
+ if (control_station.flag_refresh_array[cc] == 0)
+ ff = (int)(control_station.raw_array_data[cc][5].all);
+ }
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR] = ff;
+
+// control_station.array_cmd[CONTROL_STATION_ZADATCHIK_CAN][CONTROL_STATION_CMD_SET_ROTOR] = ff;
+ // control_station.array_cmd[CONTROL_STATION_VPU_CAN][CONTROL_STATION_CMD_SET_ROTOR] = ff;
+
+
+ if (control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR]>=0)
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_LIMIT_POWER];
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = -control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_LIMIT_POWER];
+
+ }
+
+
+
+ }
+
+
+// ��������
+// pos_numbercmd = 15; // � ������ �������� ������� ���� �������, ��� ����� ���������� ������
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHECKBACK] = control_station.raw_array_data[cc][1].all;
+
+
+// �����, ������ �� ������
+ key_local_charge_key = edrk.from_ing2.bits.KEY_SBOR;
+ key_local_uncharge_key = edrk.from_ing2.bits.KEY_RAZBOR;
+
+
+
+// �����, ������ �� �������
+ key_local_charge_uncharge_display = control_station.raw_array_data[cc][2].all;
+
+
+ prev_key_local_charge_key = key_local_charge_key;
+ prev_key_local_uncharge_key = key_local_uncharge_key;
+
+
+ if (prev_key_local_charge_uncharge_display != key_local_charge_uncharge_display)
+ {
+ if (key_local_charge_uncharge_display==1)
+ {
+ key_local_charge_display = 1;
+ key_local_uncharge_display = 0;
+ }
+ else
+ {
+ key_local_charge_display = 0;
+ key_local_uncharge_display =1;
+ }
+ }
+ else
+ {
+ key_local_charge_display = 0;
+ key_local_uncharge_display = 0;
+ }
+
+ prev_key_local_charge_uncharge_display = key_local_charge_uncharge_display;
+
+
+ prev_key_local_charge_display = key_local_charge_display;
+ prev_key_local_uncharge_display = key_local_uncharge_display;
+
+ key_local_charge = key_local_charge_key || key_local_charge_display;
+ key_local_uncharge = key_local_uncharge_key || key_local_uncharge_display;
+
+ if (key_local_uncharge_key && key_local_charge_key)
+ {
+ key_local_uncharge_key = 0;
+ key_local_charge_key = 0;
+// edrk.errors.e1.bits.BOTH_KEYS_CHARGE_DISCHARGE |=1;
+ }
+
+
+
+ if (edrk.Status_Ready.bits.ImitationReady2==0) // �������� ���� � ������, �.�. �� ����� ��� ��������
+ {
+ if (key_local_charge && prev_charge==0)
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 1;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 0;
+ }
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 0;
+
+
+
+ if (key_local_uncharge)
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 1;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 0;
+ }
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 0;
+
+ }
+ else
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 0;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 0;
+ }
+
+ prev_charge = key_local_charge;
+ prev_uncharge = key_local_uncharge;
+
+
+
+// if (control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR]!=0)
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = 1;
+// else
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = 0;
+//
+
+//
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_TEST_LEDS] = 0;
+//
+// prev_checkback = control_station.raw_array_data[cc][pos_numbercmd].bits.bit1;
+
+
+ // �������� �� rs232
+ if (control_station.alive_control_station[CONTROL_STATION_TERMINAL_RS232])
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_PUMP] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_PUMP]
+ || control_station.raw_array_data[cc][188].all;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ENABLE_ON_CHARGE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_ENABLE_ON_CHARGE]
+ || control_station.raw_array_data[cc][191].all;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_QTV] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_QTV]
+ || control_station.raw_array_data[cc][189].all;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_UMP] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_UMP]
+ || control_station.raw_array_data[cc][190].all;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MANUAL_DISCHARGE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_MANUAL_DISCHARGE]
+ || control_station.raw_array_data[cc][180].all;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_GO]
+ || !control_station.raw_array_data[cc][192].all;
+ }
+ else
+ {
+
+ edrk.Status_Ready.bits.ImitationReady2 = control_station.raw_array_data[cc][181].all;
+ edrk.Run_Rascepitel_from_RS = control_station.raw_array_data[cc][182].all;
+ edrk.stop_logs_rs232 = control_station.raw_array_data[cc][183].all;
+ edrk.stop_slow_log = control_station.raw_array_data[cc][184].all;
+ edrk.disable_limit_power_from_svu = control_station.raw_array_data[cc][185].all;
+ edrk.disable_uom = control_station.raw_array_data[cc][186].all;
+
+
+
+ edrk.Obmotka1 = control_station.raw_array_data[cc][194].all;
+ edrk.Obmotka2 = control_station.raw_array_data[cc][195].all;
+ edrk.disable_alg_u_disbalance = control_station.raw_array_data[cc][193].all;
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_PUMP] = control_station.raw_array_data[cc][188].all;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_QTV] = control_station.raw_array_data[cc][189].all;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_UMP] = control_station.raw_array_data[cc][190].all;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ENABLE_ON_CHARGE] = control_station.raw_array_data[cc][191].all;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MANUAL_DISCHARGE] = control_station.raw_array_data[cc][180].all;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = !control_station.raw_array_data[cc][192].all;
+
+ }
+
+
+
+ //control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_PUMP] = control_station.raw_array_data[cc][188].all;
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_QTV] = control_station.raw_array_data[cc][189].all;
+ //control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_UMP] = control_station.raw_array_data[cc][190].all;
+ //control_station.array_cmd[cc][CONTROL_STATION_CMD_ENABLE_ON_CHARGE] = control_station.raw_array_data[cc][191].all;
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_MANUAL_DISCHARGE] = control_station.raw_array_data[cc][180].all;
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = !control_station.raw_array_data[cc][192].all;
+
+
+
+ // 0 - auto on - rand pump
+ // 1 - auto on 1 pump
+ // 2 - auto on 2 pump
+ // 3 - manual on 1 pump
+ // 4 - manual on 2 pump
+
+ if (control_station.raw_array_data[cc][9].all<=2) //��� �����_����(0)_������(1)
+ {
+ if (control_station.raw_array_data[cc][9].all==0) // ���� ����� ������(0) 1_2(1)
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MODE_PUMP] = 0;
+ if (control_station.raw_array_data[cc][9].all==1) //������ ����� ������_1
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MODE_PUMP] = 1;
+ if (control_station.raw_array_data[cc][9].all==2) //������ ����� ������_2
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MODE_PUMP] = 2;
+ }
+ else
+ {
+ if (control_station.raw_array_data[cc][9].all==3) //������ ����� ������_1_2
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MODE_PUMP] = 3;
+ if (control_station.raw_array_data[cc][9].all==4) //������ ����� ������_1_2
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MODE_PUMP] = 4;
+ }
+
+
+ if (control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL]==0)
+ return;
+
+}
+/////////////////////////////////////////////////////////////
+//
+/////////////////////////////////////////////////////////////
+void parse_parameters_from_one_control_station_MPU_SVU(int cc)
+{
+ int i, zad_power, limit_power;
+ _iq _iq_ff;
+
+ static unsigned int old_time_MPU_SVU = 0;
+
+ static int prev_checkback_3 = 0;
+ static int flag_wait_revers_go_3 = 0;
+ static unsigned int prev_charge_3 = 0, prev_uncharge_3 = 0, cmd_local_charge_3 = 0, cmd_local_uncharge_3 = 0;
+ static unsigned int old_time_MPU_SVU_3 = 0;
+
+ static int prev_checkback_4 = 0;
+ static int flag_wait_revers_go_4 = 0;
+ static unsigned int prev_charge_4 = 0, prev_uncharge_4 = 0, cmd_local_charge_4 = 0, cmd_local_uncharge_4 = 0;
+ static unsigned int old_time_MPU_SVU_4 = 0;
+
+
+
+ if (control_station.alive_control_station[cc])
+ {
+
+ }
+ else
+ {
+ for (i=0;i<CONTROL_STATION_CMD_LAST;i++)
+ control_station.array_cmd[cc][i] = 0; // clear all data
+
+ return; // ��� ����� ������� ��� ����������� �������
+ // � "�� �����������" ������ �� ���������.
+ }
+
+
+
+ // control_station.raw_array_data[CONTROL_STATION_TERMINAL_RS232]
+
+
+ edrk.test_mode = 0;
+// f.RScount = SECOND * 3;
+
+
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL] = control_station.active_control_station[CONTROL_STATION_MPU_SVU_CAN];
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL] = control_station.active_control_station[CONTROL_STATION_MPU_KEY_CAN];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL] = control_station.active_control_station[cc];
+
+
+ ///////////////////////////////////////////
+ // ��� ����� � ����������
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_IZAD] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_IZAD];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_KM] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_KM];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_U_ZARYAD] = NOMINAL_U_ZARYAD;//control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_U_ZARYAD];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_K_U_DISBALANCE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_K_U_DISBALANCE];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_K_PLUS_U_DISBALANCE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_K_PLUS_U_DISBALANCE];
+
+
+ if (edrk.disable_limit_power_from_svu)
+ limit_power = my_satur_int(control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_LIMIT_POWER],
+ SUPER_MAX_ZADANIE_LIMIT_POWER, MIN_ZADANIE_LIMIT_POWER, 0);
+ else
+ limit_power = control_station.raw_array_data[cc][12].all; // ����� ��������
+
+ if (limit_power==0)
+ limit_power = MIN_ZADANIE_LIMIT_POWER;
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_LIMIT_POWER] = limit_power; //my_satur_int(control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_LIMIT_POWER],
+ // MAX_ZADANIE_LIMIT_POWER, MIN_ZADANIE_LIMIT_POWER, DEAD_ZONE_ZADANIE_LIMIT_POWER);
+
+// //control_station.raw_array_data[cc][12].all; // ����� ��������
+// vector, ufconst
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UFCONST_VECTOR] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_UFCONST_VECTOR];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SCALAR_FOC] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SCALAR_FOC];
+
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ROTOR_POWER] = control_station.raw_array_data[cc][1].all;
+
+// ����������
+
+ // if
+
+ if (cc==CONTROL_STATION_MPU_SVU_CAN)
+ old_time_MPU_SVU = old_time_MPU_SVU_3;
+ if (cc==CONTROL_STATION_MPU_KEY_CAN)
+ old_time_MPU_SVU = old_time_MPU_SVU_4;
+
+ if ((detect_pause_milisec(100, &old_time_MPU_SVU))
+ && control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL])
+ {
+
+ if (control_station.array_cmd[cc][CONTROL_STATION_CMD_ROTOR_POWER] == 1)
+ {
+ zad_power = (int)control_station.raw_array_data[cc][3].all;
+ if (zad_power<0)
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = zad_power;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR] = -MAX_ZADANIE_OBOROTS_ROTOR;
+ }
+ else
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = zad_power;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR] = MAX_ZADANIE_OBOROTS_ROTOR;
+ }
+ }
+ else
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR] = (int)control_station.raw_array_data[cc][2].all;
+
+ if (control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR]>=0)
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_LIMIT_POWER];
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = -control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_LIMIT_POWER];
+
+ }
+ }
+ //������������
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHECKBACK] = control_station.raw_array_data[cc][0].all;
+
+
+ if (cc==CONTROL_STATION_MPU_SVU_CAN)
+ {
+ // �����, ������
+ if (edrk.flag_second_PCH == 0) {
+ cmd_local_charge_3 = control_station.raw_array_data[cc][6].all;
+ cmd_local_uncharge_3 = control_station.raw_array_data[cc][9].all;
+ } else {
+ cmd_local_charge_3 = control_station.raw_array_data[cc][7].all;//modbus_table_can_in[129].all; //control_station.raw_array_data[cc][7].all;
+ cmd_local_uncharge_3 = control_station.raw_array_data[cc][10].all;
+ }
+
+
+ if (cmd_local_charge_3 && cmd_local_uncharge_3)
+ {
+ cmd_local_charge_3 = 0;
+ cmd_local_uncharge_3 = 0;
+ // edrk.errors.e1.bits.BOTH_KEYS_CHARGE_DISCHARGE |=1;
+ }
+
+
+
+ if (cmd_local_charge_3 && prev_charge_3==0)
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 1;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 0;
+ }
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 0;
+ prev_charge_3 = cmd_local_charge_3;
+
+
+ if (cmd_local_uncharge_3)
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 1;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 0;
+ }
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 0;
+
+ prev_uncharge_3 = cmd_local_uncharge_3;
+ }
+
+ if (cc==CONTROL_STATION_MPU_KEY_CAN)
+ {
+ // �����, ������
+ if (edrk.flag_second_PCH == 0) {
+ cmd_local_charge_4 = control_station.raw_array_data[cc][6].all;
+ cmd_local_uncharge_4 = control_station.raw_array_data[cc][9].all;
+ } else {
+ cmd_local_charge_4 = control_station.raw_array_data[cc][7].all;//modbus_table_can_in[129].all; //control_station.raw_array_data[cc][7].all;
+ cmd_local_uncharge_4 = control_station.raw_array_data[cc][10].all;
+ }
+
+
+ if (cmd_local_charge_4 && cmd_local_uncharge_4)
+ {
+ cmd_local_charge_4 = 0;
+ cmd_local_uncharge_4 = 0;
+ // edrk.errors.e1.bits.BOTH_KEYS_CHARGE_DISCHARGE |=1;
+ }
+
+
+
+ if (cmd_local_charge_4 && prev_charge_4==0)
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 1;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 0;
+ }
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 0;
+ prev_charge_4 = cmd_local_charge_4;
+
+
+ if (cmd_local_uncharge_4)
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 1;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 0;
+ }
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 0;
+
+ prev_uncharge_4 = cmd_local_uncharge_4;
+ }
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_BLOCK_BS] = control_station.raw_array_data[cc][4].all;
+
+// if (control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR]!=0)
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = 1;
+// else
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = 0;
+//
+//
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_TEST_LEDS] = 0;
+//
+// prev_checkback = control_station.raw_array_data[cc][pos_numbercmd].bits.bit1;
+
+
+ // �������� �� rs232
+ if (control_station.alive_control_station[CONTROL_STATION_TERMINAL_RS232])
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_GO];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_PUMP] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_PUMP];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ENABLE_ON_CHARGE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_ENABLE_ON_CHARGE];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_QTV] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_QTV];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_UMP] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_UMP];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MANUAL_DISCHARGE] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_MANUAL_DISCHARGE];
+ }
+ else
+ if (control_station.alive_control_station[CONTROL_STATION_INGETEAM_PULT_RS485])
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_GO];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_PUMP] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_DISABLE_ON_PUMP];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ENABLE_ON_CHARGE] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_ENABLE_ON_CHARGE];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_QTV] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_DISABLE_ON_QTV];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_UMP] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_DISABLE_ON_UMP];
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MANUAL_DISCHARGE] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_MANUAL_DISCHARGE];
+
+ edrk.Status_Ready.bits.ImitationReady2 = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][181].all;
+ edrk.Obmotka1 = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][194].all;
+ edrk.Obmotka2 = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][195].all;
+ edrk.disable_alg_u_disbalance = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][193].all;
+
+ edrk.Run_Rascepitel_from_RS = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][182].all;
+ edrk.stop_logs_rs232 = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][183].all;
+ edrk.stop_slow_log = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][184].all;
+ edrk.disable_limit_power_from_svu = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][185].all;
+ edrk.disable_uom = control_station.raw_array_data[CONTROL_STATION_INGETEAM_PULT_RS485][186].all;
+
+
+ }
+
+
+ // 0 - auto on - rand pump
+ // 1 - auto on 1 pump
+ // 2 - auto on 2 pump
+ // 3 - manual on 1 pump
+ // 4 - manual on 2 pump
+
+ //��������� ������
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MODE_PUMP] = control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_MODE_PUMP];
+
+
+ edrk.breaker_on = control_station.raw_array_data[cc][17].all;
+
+ edrk.break_tempers[0] = control_station.raw_array_data[cc][18].all;
+ edrk.break_tempers[1] = control_station.raw_array_data[cc][19].all;
+ edrk.break_tempers[2] = control_station.raw_array_data[cc][20].all;
+ edrk.break_tempers[3] = control_station.raw_array_data[cc][21].all;
+
+
+ if (control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL]==0)
+ return;
+
+}
+/////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////
+//
+/////////////////////////////////////////////////////////////
+void parse_parameters_from_one_control_station_terminal_rs232(int cc)
+{
+ static int pos_numbercmd = (sizeof(CMD_ANALOG_DATA_STRUCT) >> 1);
+ int i, fint;
+ static int prev_checkback = 0, lock_ImitationReady2 = 0;
+ static int flag_wait_revers_go = 0;
+ static unsigned int prev_charge=0, prev_uncharge=0, key_local_charge=0, key_local_uncharge=0;
+ float ff;
+ _iq _iq_ff;
+ int zad_power=0;
+
+ if (control_station.alive_control_station[cc])
+ {
+
+ }
+ else
+ {
+ for (i=0;i<CONTROL_STATION_CMD_LAST;i++)
+ {
+ // control_station.array_cmd[cc][i] = 0; // clear all data
+ // �� ��������, �.�. ���� ����� ���� �� ���������� ��
+ }
+
+ return; // ��� ����� ������� ��� ����������� �������
+ // � "�� �����������" ������ �� ���������.
+ }
+
+
+
+ // control_station.raw_array_data[CONTROL_STATION_TERMINAL_RS232]
+
+
+ edrk.test_mode = 0;
+// f.RScount = SECOND * 3;
+
+// pos_numbercmd = sizeof(CMD_ANALOG_DATA_STRUCT);//15; // � ������ �������� ������� ���� �������, ��� ����� ���������� ������
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL] = control_station.raw_array_data[cc][pos_numbercmd].bits.bit0;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHECKBACK] = control_station.raw_array_data[cc][pos_numbercmd].bits.bit1;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UFCONST_VECTOR] = control_station.raw_array_data[cc][pos_numbercmd].bits.bit2;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ROTOR_POWER] = control_station.raw_array_data[cc][pos_numbercmd].bits.bit3;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SCALAR_FOC] = control_station.raw_array_data[cc][pos_numbercmd].bits.bit4;
+
+
+ //control_station.raw_array_data[cc][pos_numbercmd].bits.bit4 = Go
+
+ //control_station.raw_array_data[cc][pos_numbercmd].bits.bit5
+
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = control_station.raw_array_data[cc][pos_numbercmd].bits.bit6;
+ // control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = control_station.raw_array_data[cc][pos_numbercmd].bits.bit7;
+
+ // �����, ������
+ key_local_charge = control_station.raw_array_data[cc][pos_numbercmd].bits.bit6;;
+ key_local_uncharge = control_station.raw_array_data[cc][pos_numbercmd].bits.bit7;
+
+ if (key_local_uncharge && key_local_charge)
+ {
+ key_local_charge = 0;
+ key_local_uncharge = 0;
+// edrk.errors.e1.bits.BOTH_KEYS_CHARGE_DISCHARGE |=1;
+ }
+
+ if (key_local_charge && prev_charge==0)
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 1;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 0;
+ }
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 0;
+ prev_charge = key_local_charge;
+
+
+ if (key_local_uncharge)
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 1;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_CHARGE] = 0;
+ }
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_UNCHARGE] = 0;
+ prev_uncharge = key_local_uncharge;
+
+
+
+
+ // 0 - auto on - rand pump
+ // 1 - auto on 1 pump
+ // 2 - auto on 2 pump
+ // 3 - manual on 1 pump
+ // 4 - manual on 2 pump
+
+ if (control_station.raw_array_data[cc][pos_numbercmd].bits.bit8==0) // ��� �����_����(0)_������(1)
+ {
+
+ if (control_station.raw_array_data[cc][pos_numbercmd].bits.bit9==0) // ���� �����
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MODE_PUMP] = 0;
+ else
+ // ������ ����� ��� ���� ���������
+ {
+ if (control_station.raw_array_data[cc][pos_numbercmd].bits.bit10==0) //������ ����� ������_1_2 �������������
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MODE_PUMP] = 1;
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MODE_PUMP] = 2;
+ }
+ }
+ else // ������ ���������
+ {
+
+ if (control_station.raw_array_data[cc][pos_numbercmd].bits.bit9==0) // ���� �����
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MODE_PUMP] = 6;
+ }
+ else
+ // ������ ����� ��� ������� ���������
+ {
+ if (control_station.raw_array_data[cc][pos_numbercmd].bits.bit10==0) //������ ����� ������_1_2 ������ ���������
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MODE_PUMP] = 3;
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MODE_PUMP] = 4;
+ }
+ }
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_TEST_LEDS] = control_station.raw_array_data[cc][pos_numbercmd].bits.bit11;
+
+ //control_station.raw_array_data[cc][pos_numbercmd].bits.bit12
+
+ if (edrk.Stop)
+ {
+ if (control_station.raw_array_data[cc][pos_numbercmd].bits.bit13)
+ lock_ImitationReady2 = 1;
+ edrk.Status_Ready.bits.ImitationReady2 = 0;
+ }
+
+ if (lock_ImitationReady2)
+ edrk.Status_Ready.bits.ImitationReady2 = 0;
+
+ if (edrk.Stop == 0 && lock_ImitationReady2 && control_station.raw_array_data[cc][pos_numbercmd].bits.bit13 == 0)
+ lock_ImitationReady2 = 0;
+
+ if (edrk.Stop == 0 && lock_ImitationReady2 == 0)
+ edrk.Status_Ready.bits.ImitationReady2 = control_station.raw_array_data[cc][pos_numbercmd].bits.bit13;
+
+
+ edrk.Run_Rascepitel_from_RS = control_station.raw_array_data[cc][pos_numbercmd].bits.bit14;
+ edrk.Obmotka1 = control_station.raw_array_data[cc][pos_numbercmd].bits.bit15;
+
+ edrk.Obmotka2 = control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit0;
+ edrk.disable_alg_u_disbalance = control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit1;
+
+// control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit2;
+// control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit3;
+// control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit4;
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_WDOG_OFF] = control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit2;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_UMP] = control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit3;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_MANUAL_DISCHARGE] = control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit4;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_PUMP] = control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit5;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_ENABLE_ON_CHARGE] = control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit6;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_ON_QTV] = control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit7;
+
+
+
+
+
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_INTERRUPT_SYNC] = control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit8;
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_DISABLE_INTERRUPT_TIMER2] = control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit9;
+
+ // edrk.disable_break_work = control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit8;
+ edrk.disable_rascepitel_work = control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit10;
+ edrk.enable_pwm_test_lines = control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit11;
+
+ edrk.stop_logs_rs232 = control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit12;
+ edrk.stop_slow_log = control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit13;
+
+ edrk.disable_limit_power_from_svu = control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit14;
+ edrk.disable_uom = control_station.raw_array_data[cc][pos_numbercmd+1].bits.bit15;
+
+
+ edrk.imit_limit_freq = control_station.raw_array_data[cc][pos_numbercmd+2].bits.bit0;
+ edrk.imit_limit_uom = control_station.raw_array_data[cc][pos_numbercmd+2].bits.bit1;
+ edrk.set_limit_uom_50 = control_station.raw_array_data[cc][pos_numbercmd+2].bits.bit2;
+
+
+ edrk.imit_save_slow_logs = control_station.raw_array_data[cc][pos_numbercmd+2].bits.bit3;
+ edrk.imit_send_alarm_log_pult = control_station.raw_array_data[cc][pos_numbercmd+2].bits.bit4;
+
+// edrk.cmd_clear_can_error = control_station.raw_array_data[cc][pos_numbercmd+2].bits.bit5;
+
+ edrk.cmd_imit_low_isolation = control_station.raw_array_data[cc][pos_numbercmd+2].bits.bit5;
+ edrk.cmd_very_slow_start = control_station.raw_array_data[cc][pos_numbercmd+2].bits.bit6;
+
+ simple_scalar1.disable_KoefOgranIzad = control_station.raw_array_data[cc][pos_numbercmd+2].bits.bit7;
+
+
+ edrk.cmd_disable_calc_km_on_slave = control_station.raw_array_data[cc][pos_numbercmd+2].bits.bit8;
+ simple_scalar1.cmd_new_calc_p_limit = control_station.raw_array_data[cc][pos_numbercmd+2].bits.bit9;
+
+
+
+// analog
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_LIMIT_POWER] = my_satur_int(control_station.raw_array_data[cc][7].all,
+ SUPER_MAX_ZADANIE_LIMIT_POWER, MIN_ZADANIE_LIMIT_POWER, 0);
+
+
+ if (control_station.array_cmd[cc][CONTROL_STATION_CMD_ROTOR_POWER]==1)
+ {
+ zad_power = my_satur_int(control_station.raw_array_data[cc][2].all, MAX_ZADANIE_POWER, MIN_ZADANIE_POWER, DEAD_ZONE_ZADANIE_POWER);
+ if (zad_power<0)
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = zad_power;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR] = -MAX_ZADANIE_OBOROTS_ROTOR;
+ }
+ else
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = zad_power;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR] = MAX_ZADANIE_OBOROTS_ROTOR;
+ }
+ }
+ else
+ {
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR] = (int)control_station.raw_array_data[cc][0].all;
+
+ if (control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR]>=0)
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_LIMIT_POWER];
+ else
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = -control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_LIMIT_POWER];
+ }
+
+ //control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR] = (int)control_station.raw_array_data[cc][0].all;
+ //control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER] = my_satur_int(control_station.raw_array_data[cc][2].all, MAX_ZADANIE_POWER, MIN_ZADANIE_POWER);
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_KM] = control_station.raw_array_data[cc][1].all;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_IZAD] = my_satur_int(control_station.raw_array_data[cc][3].all, MAX_ZADANIE_I_M, 0, 0);
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_U_ZARYAD] = control_station.raw_array_data[cc][4].all;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_K_U_DISBALANCE] = control_station.raw_array_data[cc][5].all;
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_K_PLUS_U_DISBALANCE] = control_station.raw_array_data[cc][6].all;
+
+
+
+ if (control_station.raw_array_data[cc][8].all > 0 && control_station.raw_array_data[cc][8].all <= 600 && edrk.MasterSlave == MODE_MASTER) {
+ vect_control.iqId_min = _IQ((float)control_station.raw_array_data[cc][8].all / NORMA_ACP);
+ }
+
+ fint = (int)control_station.raw_array_data[cc][9].all;
+ if (fint>=-360 && fint<=360 && edrk.MasterSlave == MODE_MASTER)
+ {
+ vect_control.add_tetta = _IQ(fint / 180.0 * PI);
+ }
+ else
+ vect_control.add_tetta = 0;
+
+ fint = (int)control_station.raw_array_data[cc][10].all;
+ if (fint>=0)
+ {
+ edrk.t_slow_log = fint;
+ }
+ else
+ edrk.t_slow_log = 0;
+
+ fint = (int)control_station.raw_array_data[cc][11].all;
+ if (fint)
+ {
+ simple_scalar1.add_bpsi = _IQ(fint/1000.0/NORMA_FROTOR);//_IQ(0.05/NORMA_FROTOR);
+ }
+ else
+ simple_scalar1.add_bpsi = 0;
+
+ fint = (int)control_station.raw_array_data[cc][12].all;
+ if (fint)
+ {
+ simple_scalar1.add_power_limit = _IQ(fint*1000.0/(NORMA_MZZ*NORMA_MZZ));//_IQ(0.05/NORMA_FROTOR);
+ }
+ else
+ simple_scalar1.add_power_limit = 0;
+
+
+ fint = (int)control_station.raw_array_data[cc][13].all;
+ if (fint)
+ {
+ simple_scalar1.sdvig_power_limit = _IQ(fint*1000.0/(NORMA_MZZ*NORMA_MZZ));//_IQ(0.05/NORMA_FROTOR);
+ }
+ else
+ simple_scalar1.sdvig_power_limit = 0;
+
+
+//#if (_FLOOR6)
+ fint = (int)control_station.raw_array_data[cc][14].all;
+ if (fint>=0 && fint<=3200)
+ {
+ analog.iqU_1_imit = _IQ(fint/NORMA_ACP);
+ }
+ else
+ analog.iqU_1_imit = 0;
+//#else
+// analog.iqU_1_imit = 0;
+//#endif
+
+ prev_checkback = control_station.array_cmd[cc][CONTROL_STATION_CMD_CHECKBACK];//control_station.raw_array_data[cc][pos_numbercmd].bits.bit1;
+ // edrk.KvitirRS = 1;
+
+ control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = control_station.raw_array_data[cc][pos_numbercmd].bits.bit5;
+
+// if (control_station.array_cmd[cc][CONTROL_STATION_CMD_ROTOR_POWER]==0)
+// {
+// if (control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR]!=0)
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = control_station.raw_array_data[cc][pos_numbercmd].bits.bit5;
+// else
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = 0;
+// }
+// else
+// {
+// if (control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_POWER]!=0)
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = control_station.raw_array_data[cc][pos_numbercmd].bits.bit5;
+// else
+// control_station.array_cmd[cc][CONTROL_STATION_CMD_GO] = 0;
+// }
+
+
+/*
+ edrk.from_rs.bits.ACTIVE = control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL];
+
+
+ if (edrk.from_rs.bits.ACTIVE==0)
+ return;
+
+ edrk.from_can.bits.ACTIVE = 0;
+
+*/
+
+
+
+ if (control_station.array_cmd[cc][CONTROL_STATION_CMD_ACTIVE_CONTROL]==0)
+ return;
+
+ // �� � ������� CAN ������ � �������� ���������� � RS232
+ if (control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_ACTIVE_CONTROL] && cc==CONTROL_STATION_TERMINAL_CAN)
+ return;
+
+
+
+
+
+// edrk.DirectOUT = control_station.raw_array_data[cc][pos_numbercmd].bits.bit7;
+
+// edrk.DirectNagrevOff = control_station.raw_array_data[cc][pos_numbercmd].bits.bit8;
+// edrk.DirectBlockKeyOff = control_station.raw_array_data[cc][pos_numbercmd].bits.bit9;
+//// edrk.DirectPumpON = control_station.raw_array_data[cc][pos_numbercmd].bits.bit10;
+// edrk.DirectZaryadOn = control_station.raw_array_data[cc][pos_numbercmd].bits.bit11;
+
+
+// edrk.SetSpeed = control_station.raw_array_data[cc][pos_numbercmd].bits.bit14;
+
+
+
+
+
+ ////////////////////////////
+ /////////////////////////
+
+
+}
+
+//////////////////////////////////////////////////////
+//////////////////////////////////////////////////////
+//////////////////////////////////////////////////////
+void parse_data_from_master_to_alg(void)
+{
+
+ if (edrk.MasterSlave==MODE_SLAVE)
+ {
+ control_station.active_array_cmd[CONTROL_STATION_CMD_SET_ROTOR] = control_station.array_cmd[CONTROL_STATION_ANOTHER_BS][CONTROL_STATION_CMD_SET_ROTOR];
+ control_station.active_array_cmd[CONTROL_STATION_CMD_SET_KM] = control_station.array_cmd[CONTROL_STATION_ANOTHER_BS][CONTROL_STATION_CMD_SET_KM];
+ control_station.active_array_cmd[CONTROL_STATION_CMD_SET_IZAD] = control_station.array_cmd[CONTROL_STATION_ANOTHER_BS][CONTROL_STATION_CMD_SET_IZAD];
+ control_station.active_array_cmd[CONTROL_STATION_CMD_SET_POWER] = control_station.array_cmd[CONTROL_STATION_ANOTHER_BS][CONTROL_STATION_CMD_SET_POWER];
+ }
+
+}
+//////////////////////////////////////////////////////
+//////////////////////////////////////////////////////
+//////////////////////////////////////////////////////
+//////////////////////////////////////////////////////
+//////////////////////////////////////////////////////
+//////////////////////////////////////////////////////
+
+void parse_analog_data_from_active_control_station_to_alg(void)
+{
+ float ff, ff1;
+ _iq _iq_ff;
+ int i;
+
+// edrk.disable_interrupt_sync = control_station.active_array_cmd[CONTROL_STATION_CMD_DISABLE_INTERRUPT_SYNC];
+// edrk.disable_interrupt_timer2 = control_station.active_array_cmd[CONTROL_STATION_CMD_DISABLE_INTERRUPT_TIMER2];
+
+ edrk.NoDetectUZeroDischarge = control_station.active_array_cmd[CONTROL_STATION_CMD_DISABLE_ON_QTV];
+
+ // if (current_active_control==CONTROL_STATION_TERMINAL_RS232)
+ edrk.StartGEDfromControl = control_station.active_array_cmd[CONTROL_STATION_CMD_GO];
+
+
+
+//////////////////
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_UFCONST_VECTOR]==0)
+ edrk.Mode_ScalarVectorUFConst = ALG_MODE_UF_CONST;
+ else
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_SCALAR_FOC]==0)
+ {
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_ROTOR_POWER]==0)
+ edrk.Mode_ScalarVectorUFConst = ALG_MODE_SCALAR_OBOROTS;
+ else
+ edrk.Mode_ScalarVectorUFConst = ALG_MODE_SCALAR_POWER;
+ }
+ else
+ {
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_ROTOR_POWER]==0)
+ edrk.Mode_ScalarVectorUFConst = ALG_MODE_FOC_OBOROTS;
+ else
+ edrk.Mode_ScalarVectorUFConst = ALG_MODE_FOC_POWER;
+ }
+
+
+ //////////////////////////////////////////////////////
+// edrk.W_from_RS = control_station.array_cmd[cc][CONTROL_STATION_CMD_SET_ROTOR]; //DataAnalog1;
+// ff = control_station.active_array_cmd[CONTROL_STATION_CMD_SET_I_VOZBUD];//0;//DataAnalog4;
+// edrk.I_zad_vozb_add_from_RS = my_satur_float(ff,MAX_ZADANIE_I_VOZBUD,0);
+
+
+ ff = control_station.active_array_cmd[CONTROL_STATION_CMD_SET_U_ZARYAD];
+
+ edrk.zadanie.ZadanieU_Charge = my_satur_float(ff,MAX_ZADANIE_U_CHARGE,0,0);
+ edrk.zadanie.iq_ZadanieU_Charge = _IQ(edrk.zadanie.ZadanieU_Charge/NORMA_ACP);
+
+
+ if (edrk.Status_Ready.bits.ready_final==0)
+ {
+ // ���� ����� �� �������, �������� ������� �� ���� ������
+ for (i=0;i<CONTROL_STATION_LAST;i++)
+ {
+ control_station.array_cmd[i][CONTROL_STATION_CMD_SET_ROTOR] = 0;
+// control_station.array_cmd[i][CONTROL_STATION_CMD_SET_KM] = 0;
+ // control_station.array_cmd[i][CONTROL_STATION_CMD_SET_IZAD] = 0;
+ control_station.array_cmd[i][CONTROL_STATION_CMD_SET_POWER] = 0;
+ }
+
+
+ control_station.active_array_cmd[CONTROL_STATION_CMD_SET_ROTOR] = 0;
+ // control_station.active_array_cmd[CONTROL_STATION_CMD_SET_KM] = 0;
+ // control_station.active_array_cmd[CONTROL_STATION_CMD_SET_IZAD] = 0;
+ control_station.active_array_cmd[CONTROL_STATION_CMD_SET_POWER] = 0;
+ }
+
+
+ if (edrk.Mode_ScalarVectorUFConst==ALG_MODE_UF_CONST)
+ {
+ ff = control_station.active_array_cmd[CONTROL_STATION_CMD_SET_ROTOR]/100.0;
+ ff = my_satur_float(ff,MAX_ZADANIE_F,MIN_ZADANIE_F,0);
+ edrk.zadanie.fzad = ff; // ��.
+ edrk.zadanie.iq_fzad = _IQ(edrk.zadanie.fzad/NORMA_FROTOR);
+ }
+ else
+ {
+ ff = control_station.active_array_cmd[CONTROL_STATION_CMD_SET_ROTOR];
+ ff = my_satur_float(ff,MAX_ZADANIE_OBOROTS_ROTOR,MIN_ZADANIE_OBOROTS_ROTOR, 0);
+ edrk.zadanie.oborots_zad_no_dead_zone = ff;
+ ff = my_satur_float(ff,MAX_ZADANIE_OBOROTS_ROTOR,MIN_ZADANIE_OBOROTS_ROTOR, DEAD_ZONE_ZADANIE_OBOROTS_ROTOR);
+ edrk.zadanie.oborots_zad = ff;// ��/���
+ edrk.zadanie.oborots_zad_hz = ff/60.0;// �� �������� � ��.
+ edrk.zadanie.iq_oborots_zad_hz = _IQ(edrk.zadanie.oborots_zad_hz/NORMA_FROTOR);
+ }
+
+
+ ff = control_station.active_array_cmd[CONTROL_STATION_CMD_SET_KM]/10000.0;
+ edrk.zadanie.kzad = my_satur_float(ff,K_STATOR_MAX,0,0);
+ edrk.zadanie.iq_kzad = _IQ(edrk.zadanie.kzad);
+
+ ff = (control_station.active_array_cmd[CONTROL_STATION_CMD_SET_K_U_DISBALANCE]/100.0);
+ edrk.zadanie.k_u_disbalance = my_satur_float(ff,MAX_ZADANIE_K_U_DISBALANCE,0.0,0);
+ edrk.zadanie.iq_k_u_disbalance = _IQ(edrk.zadanie.k_u_disbalance);
+
+
+ ff = (control_station.active_array_cmd[CONTROL_STATION_CMD_SET_K_PLUS_U_DISBALANCE]/1000.0);
+ edrk.zadanie.kplus_u_disbalance = my_satur_float(ff,1.0,0.0,0);
+ edrk.zadanie.iq_kplus_u_disbalance = _IQ(edrk.zadanie.kplus_u_disbalance);
+
+ ff = control_station.active_array_cmd[CONTROL_STATION_CMD_SET_IZAD];
+ edrk.zadanie.Izad = my_satur_float(ff,MAX_ZADANIE_I_M,0,0);
+ edrk.zadanie.iq_Izad = _IQ(edrk.zadanie.Izad/NORMA_MZZ);
+
+ if (edrk.from_uom.level_value == 0)
+ {
+ ff1 = SUPER_MAX_ZADANIE_LIMIT_POWER;
+ }
+ else
+ ff1 = MAX_ZADANIE_LIMIT_POWER * (1.0 - edrk.from_uom.level_value/100.0) - POWER_ZAPAS_FOR_UOM; //kWt
+
+ ff1 = my_satur_float(ff1, SUPER_MAX_ZADANIE_LIMIT_POWER, MIN_ZADANIE_LIMIT_POWER, 0);
+
+ ff = control_station.active_array_cmd[CONTROL_STATION_CMD_SET_LIMIT_POWER];// * (1.0 - edrk.from_uom.level_value/100.0); //kWt
+ ff = my_satur_float(ff, ff1, MIN_ZADANIE_LIMIT_POWER, 0);
+ edrk.zadanie.limit_power_zad = my_satur_float(ff,SUPER_MAX_ZADANIE_LIMIT_POWER, MIN_ZADANIE_LIMIT_POWER, 0); // kWt
+ edrk.zadanie.iq_limit_power_zad = _IQ(edrk.zadanie.limit_power_zad*1000.0/(NORMA_MZZ*NORMA_MZZ)); //Wt
+
+
+ ff = control_station.active_array_cmd[CONTROL_STATION_CMD_SET_POWER]; //kWt
+ ff = my_satur_float(ff,MAX_ZADANIE_POWER,MIN_ZADANIE_POWER,DEAD_ZONE_ZADANIE_POWER); // kWt
+ ff = my_satur_float(ff,edrk.zadanie.limit_power_zad,-edrk.zadanie.limit_power_zad,DEAD_ZONE_ZADANIE_POWER); // kWt
+
+ edrk.zadanie.power_zad = ff; // kWt
+ edrk.zadanie.iq_power_zad = _IQ(edrk.zadanie.power_zad*1000.0/(NORMA_MZZ*NORMA_MZZ)); //Wt
+
+
+
+// StartGED
+//////////////////////////////////////////////////////
+ // edrk.StartGEDRS = control_station.array_cmd[cc][CONTROL_STATION_CMD_GO];
+/*
+ if (edrk.summ_errors)
+ {
+ flag_wait_revers_go = 1;
+ }
+
+ if (flag_wait_revers_go==1)
+ edrk.StartGEDRS = 0;
+ if (pcommand->digit_data.Byte01.bit_data.bit0 && flag_wait_revers_go)
+ edrk.StartGEDRS = 0;
+ if (pcommand->digit_data.Byte01.bit_data.bit0==0)
+ edrk.StartGEDRS = 0;
+ if (pcommand->digit_data.Byte01.bit_data.bit0==0 && flag_wait_revers_go)
+ flag_wait_revers_go = 0;
+ if (pcommand->digit_data.Byte01.bit_data.bit0==1 && flag_wait_revers_go==0)
+ edrk.StartGEDRS = 1;
+
+// edrk.StartGEDRS = pcommand->digit_data.Byte01.bit_data.bit0;
+*/
+// end StartGED
+
+
+
+
+////////////////
+
+
+
+
+// edrk.from_rs.bits.RAZBOR_SHEMA = pcommand->digit_data.Byte01.bit_data.bit5;
+
+
+
+// SBOR SHEMA
+/*
+ if (edrk.summ_errors)
+ {
+ flag_wait_revers_sbor = 1;
+ }
+
+ if (flag_wait_revers_sbor==1)
+ edrk.from_can.bits.SBOR_SHEMA = 0;
+
+ if (pcommand->digit_data.Byte01.bit_data.bit4 && flag_wait_revers_sbor)
+ edrk.from_can.bits.SBOR_SHEMA = 0;
+
+ if (pcommand->digit_data.Byte01.bit_data.bit4==0)
+ edrk.from_can.bits.SBOR_SHEMA = 0;
+
+ if (pcommand->digit_data.Byte01.bit_data.bit4==0 && flag_wait_revers_sbor)
+ flag_wait_revers_sbor = 0;
+
+ if (pcommand->digit_data.Byte01.bit_data.bit4==1 && flag_wait_revers_sbor==0)
+ edrk.from_can.bits.SBOR_SHEMA = pcommand->digit_data.Byte01.bit_data.bit4;
+
+ prev_byte01_bit4 = pcommand->digit_data.Byte01.bit_data.bit4;
+*/
+// end SBOR SHEMA
+
+
+
+
+
+// if (edrk.from_rs.bits.RAZBOR_SHEMA)
+ // edrk.from_rs.bits.SBOR_SHEMA = 0;
+
+ //edrk.SborRS = pcommand->digit_data.Byte01.bit_data.bit4;
+
+
+// edrk.to_shema.bits.QTV_ON = pcommand->digit_data.Byte02.bit_data.bit3;
+
+
+
+
+// edrk.RemouteFromRS = pcommand->digit_data.Byte01.bit_data.bit3;
+
+
+
+
+// edrk.VozbudOnOffFromRS = pcommand->digit_data.Byte01.bit_data.bit1;
+// edrk.enable_set_vozbud = pcommand->digit_data.Byte01.bit_data.bit1;
+// edrk.SborRS = pcommand->digit_data.Byte01.bit_data.bit2;
+// edrk.RazborRS = pcommand->digit_data.Byte01.bit_data.bit3;
+// edrk.DirectOUT = pcommand->digit_data.Byte01.bit_data.bit4;
+
+// edrk.StartGED = pcommand->digit_data.Byte01.bit_data.bit6;
+
+
+// f.flag_distance = pcommand->digit_data.Byte01.bit_data.bit6;
+// f.Set_power = pcommand->digit_data.Byte01.bit_data.bit7;
+
+
+ // f.Down50 = pcommand->digit_data.Byte02.bit_data.bit2;
+// f.Up50 = pcommand->digit_data.Byte02.bit_data.bit3;
+// f.Ciclelog = pcommand->digit_data.Byte02.bit_data.bit4;
+
+ // if (SPEED_SELECT_ZADAT==1)
+// f.Provorot = pcommand->digit_data.Byte02.bit_data.bit5;
+
+
+
+
+
+
+
+
+
+
+
+
+
+}
+
+
+
+/////////////////////////////////////////////////////////////
+//
+/////////////////////////////////////////////////////////////
+void parse_parameters_from_all_control_station(void)
+{
+
+ parse_parameters_from_one_control_station_terminal_rs232(CONTROL_STATION_TERMINAL_RS232);
+ parse_parameters_from_one_control_station_terminal_rs232(CONTROL_STATION_TERMINAL_CAN);
+ load_parameters_from_can_control_station_to_rs232();
+
+ if (edrk.get_new_data_from_hmi==1) // ������ ������?
+ {
+ func_unpack_answer_from_Ingeteam(CONTROL_STATION_INGETEAM_PULT_RS485);
+ parse_parameters_from_one_control_station_pult_ingeteam(CONTROL_STATION_INGETEAM_PULT_RS485);
+ edrk.get_new_data_from_hmi = 2; // ������ ���������� � ������� � modbus
+ }
+ parse_parameters_from_one_control_station_pult_zadat4ik(CONTROL_STATION_ZADATCHIK_CAN);
+ parse_parameters_from_one_control_station_pult_vpu(CONTROL_STATION_VPU_CAN);
+ parse_parameters_from_one_control_station_another_bs(CONTROL_STATION_ANOTHER_BS);
+// unpack_answer_from_MPU_SVU_CAN(CONTROL_STATION_MPU_SVU_CAN);
+ unpack_answer_from_MPU_SVU_CAN(CONTROL_STATION_MPU_KEY_CAN); //4
+ unpack_answer_from_MPU_SVU_CAN(CONTROL_STATION_MPU_SVU_CAN); //3
+// unpack_answer_from_MPU_SVU_RS(CONTROL_STATION_MPU_SVU_RS485);
+ parse_parameters_from_one_control_station_MPU_SVU(CONTROL_STATION_MPU_SVU_CAN); //3
+ parse_parameters_from_one_control_station_MPU_SVU(CONTROL_STATION_MPU_KEY_CAN); //4
+// parse_parameters_from_one_control_station_MPU_SVU(CONTROL_STATION_MPU_SVU_RS485);
+
+
+}
+
+/////////////////////////////////////////////////////////////
+//
+/////////////////////////////////////////////////////////////
+void load_parameters_from_active_control_station(int current_control)
+{
+ int i;
+
+ if (current_control>=CONTROL_STATION_LAST || current_control<0 )
+ {
+ // ���-�� �� ��! ���� �� ���������!
+ for (i=0;i<CONTROL_STATION_CMD_LAST;i++)
+ control_station.active_array_cmd[i] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][i];
+
+
+ // control_station.active_array_cmd[CONTROL_STATION_CMD_SET_IZAD] = NOMINAL_SET_IZAD;
+// control_station.active_array_cmd[CONTROL_STATION_CMD_SET_KM] = 0;
+// control_station.active_array_cmd[CONTROL_STATION_CMD_SET_U_ZARYAD] = NOMINAL_U_ZARYAD;
+// control_station.active_array_cmd[CONTROL_STATION_CMD_SET_K_U_DISBALANCE] = NOMINAL_SET_K_U_DISBALANCE;
+// control_station.active_array_cmd[CONTROL_STATION_CMD_SET_K_PLUS_U_DISBALANCE] = 0;
+// control_station.active_array_cmd[CONTROL_STATION_CMD_SET_LIMIT_POWER] = NOMINAL_SET_LIMIT_POWER;
+// control_station.active_array_cmd[CONTROL_STATION_CMD_UFCONST_VECTOR] = 1;
+// control_station.active_array_cmd[CONTROL_STATION_CMD_SCALAR_FOC] = 0;
+// control_station.active_array_cmd[CONTROL_STATION_CMD_ENABLE_ON_CHARGE] = 0;
+// control_station.active_array_cmd[CONTROL_STATION_CMD_GO] = 1;
+
+ control_station.active_array_cmd[CONTROL_STATION_CMD_SET_ROTOR] = 0;
+ control_station.active_array_cmd[CONTROL_STATION_CMD_SET_KM] = 0;
+ // control_station.active_array_cmd[CONTROL_STATION_CMD_SET_IZAD] = NOMINAL_SET_IZAD;
+ control_station.active_array_cmd[CONTROL_STATION_CMD_SET_POWER] = 0;
+
+// for (i=0;i<CONTROL_STATION_CMD_LAST;i++)
+// control_station.active_array_cmd[i] = 0; // clear
+
+
+ return;
+ }
+
+ for (i=0;i<CONTROL_STATION_CMD_LAST;i++)
+ control_station.active_array_cmd[i] = control_station.array_cmd[current_control][i];
+
+
+
+
+}
+
+/////////////////////////////////////////////////////////////
+// ���� rs232 �����, � CAN ���, �� �������� ������ �� CAN � RS232
+// ��� ������������� ��������� ������ �� ���������� �����
+/////////////////////////////////////////////////////////////
+void load_parameters_from_can_control_station_to_rs232(void)
+{
+ int i;
+
+ if (control_station.alive_control_station[CONTROL_STATION_TERMINAL_CAN] &&
+ control_station.alive_control_station[CONTROL_STATION_TERMINAL_RS232]==0)
+ {
+ for (i=0;i<CONTROL_STATION_CMD_LAST;i++)
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][i] = control_station.array_cmd[CONTROL_STATION_TERMINAL_CAN][i];
+ }
+
+
+
+}
+
+
+/////////////////////////////////////////////////////////////
+//
+/////////////////////////////////////////////////////////////
+int get_current_station_control(void)
+{
+ int i;
+
+ for (i=0;i<COUNT_CONTROL_STATION;i++)
+ if (control_station.active_control_station[i])
+ return i; // ������� ������� ����.
+
+ return CONTROL_STATION_LAST; // ���������� �������� ��� ������
+
+}
+
+
+
+/////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////
+// ���������� ��� ����� alive_control
+/////////////////////////////////////////////////////////////
+void control_station_test_alive_all_control(void)
+{
+ int test_a,test_b, real_box;
+
+ // terminals can
+ real_box = get_real_in_mbox(TERMINAL_TYPE_BOX,edrk.number_can_box_terminal_cmd);
+ if (real_box != -1)
+ if (CAN_timeout[real_box] == 0)
+ control_station.detect_get_data_control_station[CONTROL_STATION_TERMINAL_CAN] = 1;
+
+ // terminals rs232
+ // test ������� � RS_Function.c
+ if (rs_a.RS_DataReadyRequest)
+ {
+ rs_a.RS_DataReadyRequest = 0;
+ control_station.detect_get_data_control_station[CONTROL_STATION_TERMINAL_RS232] = 1;
+ }
+
+
+ // mpu svu+key rs485
+ // test ������� � RS_Function.c
+ // control_station.detect_get_data_control_station[CONTROL_STATION_MPU_KEY_RS485] = 1;
+ // control_station.detect_get_data_control_station[CONTROL_STATION_MPU_SVU_RS485] = 1;
+
+ // mpu svu+key can
+ real_box = get_real_in_mbox(MPU_TYPE_BOX,0);
+ if (real_box != -1)
+ if (CAN_timeout[real_box]==0)
+ {
+ control_station.detect_get_data_control_station[CONTROL_STATION_MPU_KEY_CAN] = 1;
+ control_station.detect_get_data_control_station[CONTROL_STATION_MPU_SVU_CAN] = 1;
+ }
+
+ // zadatchik can
+ real_box = get_real_in_mbox(UNITS_TYPE_BOX,ZADATCHIK_CAN);
+ if (real_box != -1)
+ if (CAN_timeout[real_box] == 0)
+ control_station.detect_get_data_control_station[CONTROL_STATION_ZADATCHIK_CAN] = 1;
+
+ // vpu can
+ real_box = get_real_in_mbox(UNITS_TYPE_BOX,VPU_CAN);
+ if (real_box != -1)
+ if (CAN_timeout[real_box] == 0)
+ control_station.detect_get_data_control_station[CONTROL_STATION_VPU_CAN] = 1;
+
+ // Ingeteam pult
+ // test ������� � RS_Function.c
+ // control_station.detect_get_data_control_station[CONTROL_STATION_INGETEAM_PULT_RS485] = 1;
+ if (rs_b.RS_DataReadyRequest)
+ {
+ rs_b.RS_DataReadyRequest = 0;
+ control_station.detect_get_data_control_station[CONTROL_STATION_INGETEAM_PULT_RS485] = 1;
+ }
+
+ if (rs_b.RS_DataReadyFullUpdate) // �������� ���� ������?
+ {
+
+ if (control_station.flag_refresh_array[CONTROL_STATION_INGETEAM_PULT_RS485])
+ control_station.flag_refresh_array[CONTROL_STATION_INGETEAM_PULT_RS485]--;
+
+ rs_b.RS_DataReadyFullUpdate = 0;
+ }
+
+ // another bs can
+ real_box = get_real_in_mbox(UNITS_TYPE_BOX,ANOTHER_BSU1_CAN_DEVICE);
+ if (real_box != -1)
+ if (CAN_timeout[real_box] == 0)
+ control_station.detect_get_data_control_station[CONTROL_STATION_ANOTHER_BS] = 1;
+
+
+}
+
+
+/////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////
+int control_station_select_active(void)
+{
+ int i;
+ ///
+ /// if (edrk.from_shema.bits.SVU) return;
+// if (edrk.from_shema.bits.ZADA_DISPLAY) return;
+ //edrk.from_ing.bits.LOCAL_REMOUTE
+ // edrk.from_shema.bits.RAZBOR_SHEMA = !FROM_BSU_RAZBOR_SHEMA;
+ //edrk.from_shema.bits.SBOR_SHEMA = !FROM_BSU_SBOR_SHEMA;
+ // if (CAN_timeout[get_real_in_mbox(MPU_TYPE_BOX,0)]==0)
+ //{
+ // edrk.W_from_SVU = modbus_table_can_in[14].all;
+ // edrk.W_from_DISPLAY = modbus_table_can_in[16].all;
+ //
+ //edrk.from_rs.bits.ACTIVE
+
+
+//////////////////////////////////////
+// terminal rs232
+//////////////////////////////////////
+ if (control_station.alive_control_station[CONTROL_STATION_TERMINAL_RS232])
+ {
+ if (control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_ACTIVE_CONTROL])
+ {
+ control_station.active_control_station[CONTROL_STATION_TERMINAL_RS232] = 1;
+ }
+ else
+ control_station.active_control_station[CONTROL_STATION_TERMINAL_RS232] = 0;
+ }
+ else
+ control_station.active_control_station[CONTROL_STATION_TERMINAL_RS232] = 0;
+
+ // ���� ������ RS232 �� ��� ���� ������ ���������, ��������� ����� ���������
+ if (control_station.active_control_station[CONTROL_STATION_TERMINAL_RS232])
+ {
+ for (i=0;i<COUNT_CONTROL_STATION;i++)
+ if (i != CONTROL_STATION_TERMINAL_RS232)
+ control_station.active_control_station[i] = 0;
+ return 0; // all ok
+ }
+
+//////////////////////////////////////
+// terminal can
+//////////////////////////////////////
+
+ if (control_station.alive_control_station[CONTROL_STATION_TERMINAL_CAN])
+ {
+ if (control_station.array_cmd[CONTROL_STATION_TERMINAL_CAN][CONTROL_STATION_CMD_ACTIVE_CONTROL])
+ {
+ control_station.active_control_station[CONTROL_STATION_TERMINAL_CAN] = 1;
+ }
+ else
+ control_station.active_control_station[CONTROL_STATION_TERMINAL_CAN] = 0;
+ }
+ else
+ control_station.active_control_station[CONTROL_STATION_TERMINAL_CAN] = 0;
+
+
+ // ���� ������ CAN �� ��� ���� ������ ���������, ��������� ����� ���������
+ if (control_station.active_control_station[CONTROL_STATION_TERMINAL_CAN])
+ {
+ for (i=0;i<COUNT_CONTROL_STATION;i++)
+ if (i != CONTROL_STATION_TERMINAL_CAN)
+ control_station.active_control_station[i] = 0;
+ return 0; // all ok
+ }
+
+//////////////////////////////////////
+// ingeteam pult rs485
+//////////////////////////////////////
+
+ if (edrk.from_ing1.bits.LOCAL_REMOUTE == 1) //LOCAL DISPLAY ON
+ {
+ if (control_station.alive_control_station[CONTROL_STATION_INGETEAM_PULT_RS485])
+ {
+ control_station.active_control_station[CONTROL_STATION_INGETEAM_PULT_RS485] = 1;
+ }
+ else
+ control_station.active_control_station[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+
+ // ���� ������ PULT �� ��� ���� ������ ���������, ��������� ����� ���������
+ for (i=0;i<COUNT_CONTROL_STATION;i++)
+ if (i != CONTROL_STATION_INGETEAM_PULT_RS485)
+ control_station.active_control_station[i] = 0;
+
+ if (control_station.active_control_station[CONTROL_STATION_INGETEAM_PULT_RS485])
+ {
+ return 0; // ��� ��
+ }
+ else
+ {
+ return 1; // ������, �������. ���� ������ � ����� � ��� ����!!!
+ }
+ }
+ else
+ control_station.active_control_station[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+
+//////////////////////////////////////////////////////////////////
+// svu CAN, svu RS485, zadatchik CAN, mpu CAN, mpu RS485
+//////////////////////////////////////////////////////////////////
+ if (edrk.from_ing1.bits.LOCAL_REMOUTE == 0) //REMOUTE on INGETEAM ON
+ {
+ ////////////////////////////
+ // svu CAN RS485
+ ////////////////////////////
+ if (edrk.from_shema_filter.bits.SVU) // ��� ��� ��� �������
+ {
+ if (edrk.from_vpu.bits.UOM_READY_ACTIVE==1) // ��� �����������
+ {
+ if (control_station.alive_control_station[CONTROL_STATION_VPU_CAN])
+ {
+ control_station.active_control_station[CONTROL_STATION_VPU_CAN] = 1;
+ }
+ else
+ control_station.active_control_station[CONTROL_STATION_VPU_CAN] = 0;
+
+ control_station.active_control_station[CONTROL_STATION_MPU_KEY_CAN] = 0;
+ control_station.active_control_station[CONTROL_STATION_MPU_KEY_RS485] = 0;
+ control_station.active_control_station[CONTROL_STATION_MPU_SVU_CAN] = 0;
+ control_station.active_control_station[CONTROL_STATION_MPU_SVU_RS485] = 0;
+ control_station.active_control_station[CONTROL_STATION_ZADATCHIK_CAN] = 0;
+
+
+ if (control_station.active_control_station[CONTROL_STATION_VPU_CAN]==0)
+ return 1; // ������, �������. ���� ������ � ����� � ��� ����!!!
+ }
+ else // ��� �� ������
+ {
+ if (control_station.alive_control_station[CONTROL_STATION_MPU_SVU_CAN])
+ {
+ control_station.active_control_station[CONTROL_STATION_MPU_SVU_CAN] = 1; // � CAN ��������� ���� ��� � RS485
+ control_station.active_control_station[CONTROL_STATION_MPU_SVU_RS485] = 0;
+ }
+ else
+ {
+ control_station.active_control_station[CONTROL_STATION_MPU_SVU_CAN] = 0;
+
+ if (control_station.alive_control_station[CONTROL_STATION_MPU_SVU_RS485])
+ control_station.active_control_station[CONTROL_STATION_MPU_SVU_RS485] = 1;
+ else
+ control_station.active_control_station[CONTROL_STATION_MPU_SVU_RS485] = 0;
+ }
+
+ control_station.active_control_station[CONTROL_STATION_MPU_KEY_CAN] = 0;
+ control_station.active_control_station[CONTROL_STATION_MPU_KEY_RS485] = 0;
+ control_station.active_control_station[CONTROL_STATION_ZADATCHIK_CAN] = 0;
+ control_station.active_control_station[CONTROL_STATION_VPU_CAN] = 0;
+
+ if (control_station.active_control_station[CONTROL_STATION_MPU_SVU_CAN]==0 &&
+ control_station.active_control_station[CONTROL_STATION_MPU_SVU_RS485]==0)
+ return 1; // ������, �������. ���� ������ � ����� � ��� ����!!!
+ }
+ }
+ else // ��� ��������
+ {
+ ////////////////////////////
+ // zadatchik can
+ ////////////////////////////
+ if (edrk.from_shema_filter.bits.ZADA_DISPLAY == 0) // �������� ����������� � ��� ��������
+ {
+ if (control_station.alive_control_station[CONTROL_STATION_ZADATCHIK_CAN])
+ {
+ control_station.active_control_station[CONTROL_STATION_ZADATCHIK_CAN] = 1;
+ }
+ else
+ control_station.active_control_station[CONTROL_STATION_ZADATCHIK_CAN] = 0;
+
+ control_station.active_control_station[CONTROL_STATION_MPU_KEY_CAN] = 0;
+ control_station.active_control_station[CONTROL_STATION_MPU_KEY_RS485] = 0;
+ control_station.active_control_station[CONTROL_STATION_MPU_SVU_CAN] = 0;
+ control_station.active_control_station[CONTROL_STATION_MPU_SVU_RS485] = 0;
+ control_station.active_control_station[CONTROL_STATION_VPU_CAN] = 0;
+
+ if (control_station.active_control_station[CONTROL_STATION_ZADATCHIK_CAN]==0)
+ return 1; // ������, �������. ���� ������ � ����� � ��� ����!!!
+
+ }
+ else // �������� ��������, KEY
+ {
+ ////////////////////////////
+ // mpu CAN RS485
+ ////////////////////////////
+ if (control_station.alive_control_station[CONTROL_STATION_MPU_KEY_CAN])
+ {
+ control_station.active_control_station[CONTROL_STATION_MPU_KEY_CAN] = 1; // � CAN ��������� ���� ��� � RS485
+ control_station.active_control_station[CONTROL_STATION_MPU_KEY_RS485] = 0;
+ }
+ else
+ {
+ control_station.active_control_station[CONTROL_STATION_MPU_KEY_CAN] = 0;
+
+ if (control_station.alive_control_station[CONTROL_STATION_MPU_KEY_RS485])
+ control_station.active_control_station[CONTROL_STATION_MPU_KEY_RS485] = 1;
+ else
+ control_station.active_control_station[CONTROL_STATION_MPU_KEY_RS485] = 0;
+ }
+
+ control_station.active_control_station[CONTROL_STATION_MPU_SVU_CAN] = 0;
+ control_station.active_control_station[CONTROL_STATION_MPU_SVU_RS485] = 0;
+ control_station.active_control_station[CONTROL_STATION_ZADATCHIK_CAN] = 0;
+ control_station.active_control_station[CONTROL_STATION_VPU_CAN] = 0;
+
+ if (control_station.active_control_station[CONTROL_STATION_MPU_KEY_CAN]==0 &&
+ control_station.active_control_station[CONTROL_STATION_MPU_KEY_RS485]==0)
+ return 1; // ������, �������. ���� ������ � ����� � ��� ����!!!
+
+ } // end if �������� ��������, KEY
+
+ } // end if // ��� ��������
+ }
+ else
+ {
+ // ��� �������� ��� ����� ����� ������� ������ ��� ������� �����
+ // ���� �� ������� �� �������, �.�. (edrk.from_ing.bits.LOCAL_REMOUTE == 1) ����������� ����
+ control_station.active_control_station[CONTROL_STATION_MPU_KEY_CAN] = 0;
+ control_station.active_control_station[CONTROL_STATION_MPU_KEY_RS485] = 0;
+ control_station.active_control_station[CONTROL_STATION_MPU_SVU_CAN] = 0;
+ control_station.active_control_station[CONTROL_STATION_MPU_SVU_RS485] = 0;
+ control_station.active_control_station[CONTROL_STATION_ZADATCHIK_CAN] = 0;
+ control_station.active_control_station[CONTROL_STATION_VPU_CAN] = 0;
+ } // end if REMOUTE on INGETEAM ON
+
+
+ return 0;
+}
diff --git a/Inu/Src/main/control_station_project.h b/Inu/Src/main/control_station_project.h
new file mode 100644
index 0000000..3e89763
--- /dev/null
+++ b/Inu/Src/main/control_station_project.h
@@ -0,0 +1,109 @@
+/*
+ * control_station_project.h
+ *
+ * Created on: 1 ���. 2020 �.
+ * Author: Yura
+ */
+
+#ifndef SRC_MAIN_CONTROL_STATION_PROJECT_H_
+#define SRC_MAIN_CONTROL_STATION_PROJECT_H_
+
+
+#define POS_STATION_CMD_ANOTHER_BSU1 15 // ������� � ������� ��� CONTROL_STATION_CMD ��� �������� � ������ ��
+
+
+// ����� ����� ��������:
+/*
+ * �������� - RS232 - ��������� �� PC
+ * �������� - CAN - ��������� �� PC
+ * ����� ingeteam - RS485
+ * ����� ��� ���- RS485
+ * ����� ��� ��� - CAN
+ * ����� ��� ����� - RS485
+ * ����� ��� ����� - CAN
+ * �������� �� ��� - CAN
+ * �������� ��� - CAN
+ * �������� ���2 - CAN
+ * �������� ���-�� - CAN
+ *
+ */
+
+enum
+{
+ CONTROL_STATION_TERMINAL_RS232 = 0,
+ CONTROL_STATION_TERMINAL_CAN,
+
+ CONTROL_STATION_INGETEAM_PULT_RS485,
+ CONTROL_STATION_MPU_SVU_CAN, // svu
+ CONTROL_STATION_MPU_KEY_CAN, // bsu key
+ CONTROL_STATION_MPU_SVU_RS485, // ?
+ CONTROL_STATION_MPU_KEY_RS485, // ?
+ CONTROL_STATION_ZADATCHIK_CAN, // bsu zo
+ CONTROL_STATION_VPU_CAN, // vpu
+ CONTROL_STATION_ANOTHER_BS, // �� ������� �� � ������ slave/master
+ CONTROL_STATION_LAST // ��������� ��� � ������, ������ ������ ����, �� ������� ���, ���������� ��� ����������� �������.
+};
+
+
+enum
+{
+ CONTROL_STATION_CMD_GO = 0,// cmd_go �� ����� ����/���� ����
+ CONTROL_STATION_CMD_SET_IZAD,// ��� �� �����
+ CONTROL_STATION_CMD_SET_ROTOR,// ������� �� �����
+ CONTROL_STATION_CMD_SET_POWER,// �������� �� �����
+ CONTROL_STATION_CMD_CHARGE, // ���� ����� �� �����
+ CONTROL_STATION_CMD_UNCHARGE, // ������ ����� �� �����
+ CONTROL_STATION_CMD_CHECKBACK,// ������������ �� �����
+ CONTROL_STATION_CMD_TEST_LEDS,// ���� ���� �� �����
+ CONTROL_STATION_CMD_ACTIVE_CONTROL,// ���� ���� �����������, �������� ������� ��������� �������� �� ����������.
+ // � �� �����-�� ������ ������� ������������� ��������
+ CONTROL_STATION_CMD_UFCONST_VECTOR,// Mode 0-ufconst, 1 - ������/���������
+ CONTROL_STATION_CMD_ROTOR_POWER, // Mode 0-�������, 1 - ��������
+ CONTROL_STATION_CMD_SCALAR_FOC, // Mode 0-������, 1 - ���������
+ CONTROL_STATION_CMD_SET_KM,// Km ��� Mode 0-ufconst
+// CONTROL_STATION_CMD_SET_I_VOZBUD, // ������� ���� �����������
+ CONTROL_STATION_CMD_SET_U_ZARYAD, // ������� ���������� ������ ���
+ CONTROL_STATION_CMD_SET_K_U_DISBALANCE, // ������� � ���������� ���������� ����. �������� ����� �� ����������, ���� >0 ���� ������� ��������
+ CONTROL_STATION_CMD_SET_K_PLUS_U_DISBALANCE, //kplus_u_disbalance, ���� =0, �� �������� �������� ����������, ��������� ��� ����. ���������, ���� <>0 �� �� ����� ����������.
+ CONTROL_STATION_CMD_MODE_PUMP, //����� ������ ������ // // 0 - auto on - rand pump
+ // 1 - auto on 1 pump
+ // 2 - auto on 2 pump
+ // 3 - manual on 1 pump
+ // 4 - manual on 2 pump
+ // 5- ������� �� manual � ���������� ���������
+ CONTROL_STATION_CMD_DISABLE_ON_PUMP,
+ CONTROL_STATION_CMD_ENABLE_ON_CHARGE,
+ CONTROL_STATION_CMD_DISABLE_ON_QTV,
+ CONTROL_STATION_CMD_MANUAL_DISCHARGE,
+ CONTROL_STATION_CMD_DISABLE_ON_UMP,
+ CONTROL_STATION_CMD_WDOG_OFF,
+ CONTROL_STATION_CMD_SET_LIMIT_POWER,// ����� �������� �� �����
+ CONTROL_STATION_CMD_BLOCK_BS, // ���������� � �������� ������
+ CONTROL_STATION_CMD_DISABLE_INTERRUPT_SYNC,
+ CONTROL_STATION_CMD_DISABLE_INTERRUPT_TIMER2,
+ CONTROL_STATION_CMD_DISABLE_RASCEPITEL, // �� ��������� ������������, ���� �� ������ � �� �������� ����� �����������
+ CONTROL_STATION_CMD_PWM_TEST_LINES, // ��� ����� �� 96��� ���� ��� ��������, ������ ��� �����!!!
+ CONTROL_STATION_CMD_STOP_LOGS, // ���� �����
+ CONTROL_STATION_CMD_LAST // ��������� ��� � ������, ������ ������ ����, �� ������� ���, ���������� ��� ����������� �������.
+};
+
+
+void control_station_test_alive_all_control(void);
+int control_station_select_active(void);
+int get_current_station_control(void);
+void load_parameters_from_active_control_station(int current_control);
+void parse_parameters_from_all_control_station(void);
+void parse_parameters_from_one_control_station_terminal_rs232(int cc);
+void parse_parameters_from_one_control_station_pult_ingeteam(int cc);
+void parse_parameters_from_one_control_station_pult_zadat4ik(int cc);
+void parse_parameters_from_one_control_station_pult_vpu(int cc);
+void parse_parameters_from_one_control_station_another_bs(int cc);
+void parse_parameters_from_one_control_station_MPU_SVU(int cc);
+
+void parse_analog_data_from_active_control_station_to_alg(void);
+void parse_data_from_master_to_alg(void);
+
+void load_parameters_from_can_control_station_to_rs232(void);
+
+
+#endif /* SRC_MAIN_CONTROL_STATION_PROJECT_H_ */
diff --git a/Inu/Src/main/detect_error_3_phase.c b/Inu/Src/main/detect_error_3_phase.c
new file mode 100644
index 0000000..9b6fd87
--- /dev/null
+++ b/Inu/Src/main/detect_error_3_phase.c
@@ -0,0 +1,167 @@
+/*
+ * detect_error_3_phase.c
+ *
+ * Created on: 7 ���. 2020 �.
+ * Author: star
+ */
+
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+#include "IQmathLib.h"
+
+
+#include <detect_error_3_phase.h>
+#include <detect_phase_break.h>
+
+#include "global_time.h"
+
+static int detect_system_asymmetry(DETECT_PROTECT_3_PHASE *v);
+static int detect_system_asymmetry_rms(DETECT_PROTECT_3_PHASE *v);
+
+int detect_error_3_phase(DETECT_PROTECT_3_PHASE *v) {
+ int err = 0;
+ int asymmetry = 0;
+ int break_channel = 0;
+
+ v->errors.all = 0;
+ v->over_limit.all = 0;
+ if (v->setup.timers_inited == 0) {
+ v->setup.timers_inited = 1;
+ init_timer_milisec(&v->timer_low_minus_10);
+ init_timer_milisec(&v->timer_low_minus_20);
+ init_timer_milisec(&v->timer_high_plus_10);
+ init_timer_milisec(&v->timer_high_plus_20);
+ }
+
+ if (v->setup.use.bits.phase_U != 0 &&
+ v->iqVal_U > v->setup.levels.iqVal_U_max) {
+ v->errors.bits.phase_U_max = 1;
+ v->over_limit.bits.phase_U_max = 1;
+ err = 1;
+ }
+ if (v->setup.use.bits.phase_V != 0 &&
+ v->iqVal_V > v->setup.levels.iqVal_V_max) {
+ v->errors.bits.phase_V_max = 1;
+ v->over_limit.bits.phase_V_max = 1;
+ err = 1;
+ }
+ if (v->setup.use.bits.phase_W != 0 &&
+ v->iqVal_W > v->setup.levels.iqVal_W_max) {
+ v->errors.bits.phase_W_max = 1;
+ v->over_limit.bits.phase_W_max = 1;
+ err = 1;
+ }
+ //-------------------------------------------------------------------------//
+ if (v->setup.use.bits.module) {
+ if (v->iqVal_mod > v->setup.levels.iqVal_module_max) {
+ v->errors.bits.module_max = 1;
+ v->over_limit.bits.module_max = 1;
+ err = 1;
+ }
+ }
+ //-------------------------------------------------------------------------//
+ if (v->setup.use.bits.detect_minus_10 != 0) {
+ if (v->iqVal_mod < v->setup.levels.iqNominal_minus10) {
+ if (detect_pause_milisec(PAUSE_VAL_MINIS_10_S, &v->timer_low_minus_10)){
+ v->errors.bits.module_10_percent_low = 1;
+ err = 1;
+ }
+ v->over_limit.bits.module_10_percent_low = 1;
+ } else {
+ init_timer_milisec(&v->timer_low_minus_10);
+ }
+ v->new_timer_low_minus_10 = v->timer_low_minus_10;
+ }
+
+ if (v->setup.use.bits.detect_minus_20 != 0) {
+ if (v->iqVal_mod < v->setup.levels.iqNominal_minus20) {
+ if (detect_pause_milisec(PAUSE_VAL_MINIS_20_S, &v->timer_low_minus_20)) {
+ v->errors.bits.module_20_percent_low = 1;
+ err = 1;
+ }
+ v->over_limit.bits.module_20_percent_low = 1;
+ } else {
+ init_timer_milisec(&v->timer_low_minus_20);
+ }
+ v->new_timer_low_minus_20 = v->timer_low_minus_20;
+ }
+
+ if (v->setup.use.bits.detect_plus_10 != 0) {
+ if (v->iqVal_mod > v->setup.levels.iqNominal_plus10) {
+ if (detect_pause_milisec(PAUSE_VAL_PLUS_10_S, &v->timer_high_plus_10)) {
+ v->errors.bits.module_10_percent_hi = 1;
+ err = 1;
+ }
+ v->over_limit.bits.module_10_percent_hi = 1;
+ } else {
+ init_timer_milisec(&v->timer_high_plus_10);
+ }
+ v->new_timer_high_plus_10 = v->timer_high_plus_10;
+ }
+
+ if (v->setup.use.bits.detect_plus_20 != 0) {
+ if (v->iqVal_mod > v->setup.levels.iqNominal_plus20) {
+ if (detect_pause_milisec(PAUSE_VAL_PLUS_20_S, &v->timer_high_plus_20)) {
+ v->errors.bits.module_20_percent_hi = 1;
+ err = 1;
+ }
+ v->over_limit.bits.module_20_percent_hi = 1;
+ } else {
+ init_timer_milisec(&v->timer_high_plus_20);
+ }
+ v->new_timer_high_plus_20 = v->timer_high_plus_20;
+ }
+ //�������� �� �������������� 3-� ������ �������. ����� 3-� ������������ ����� 0
+ if (v->setup.use.bits.system_asymmetry_by_summ != 0) {
+ asymmetry = detect_system_asymmetry(v);
+ if (asymmetry != 0) {
+ v->errors.bits.system_asymmetry = 1;
+ err = 1;
+ }
+ }
+ //�������� �� �������������� 3-� ������ �������. ����������� �������� 3-� ������������ ����� ����� �����
+ if (v->setup.use.bits.system_asymmetry_by_delta != 0) {
+ asymmetry = detect_system_asymmetry_rms(v);
+ if (asymmetry != 0) {
+ v->errors.bits.system_asymmetry = 1;
+ err = 1;
+ }
+ }
+ //�������� �� ����� ����. �������� � ����� ������ ����� ����, � ��������� � ����������� � ����� �� ������
+ if (v->setup.use.bits.break_phase != 0 && v->break_phase != 0) {
+ v->break_phase->iqIu = v->iqVal_U;
+ v->break_phase->iqIv = v->iqVal_V;
+ v->break_phase->iqIw = v->iqVal_W;
+ v->break_phase->iqImod = v->iqVal_mod;
+ v->break_phase->teta = v->iqTeta;
+ break_channel = v->break_phase->calc(v->break_phase);
+ if (break_channel) {
+ v->errors.bits.break_phase = 1;
+ err = 1;
+ switch (break_channel) {
+ case 1: v->errors.bits.break_phase_U = 1; break;
+ case 2: v->errors.bits.break_phase_V = 1; break;
+ case 3: v->errors.bits.break_phase_W = 1; break;
+ default: break;
+ }
+ }
+ }
+
+
+ return err;
+}
+
+int detect_system_asymmetry(DETECT_PROTECT_3_PHASE *v) {
+ _iq sum = v->iqVal_U + v->iqVal_V + v->iqVal_W;
+ return _IQabs(sum) > v->setup.levels.iqAsymmetry_delta ? 1 : 0;
+}
+
+int detect_system_asymmetry_rms(DETECT_PROTECT_3_PHASE *v) {
+ _iq d1 = _IQabs(v->iqVal_U - v->iqVal_V);
+ _iq d2 = _IQabs(v->iqVal_V - v->iqVal_W);
+ _iq d3 = _IQabs(v->iqVal_U - v->iqVal_W);
+ return d1 > v->setup.levels.iqAsymmetry_delta ||
+ d2 > v->setup.levels.iqAsymmetry_delta ||
+ d3 > v->setup.levels.iqAsymmetry_delta ? 1 : 0;
+}
+
diff --git a/Inu/Src/main/detect_error_3_phase.h b/Inu/Src/main/detect_error_3_phase.h
new file mode 100644
index 0000000..bdb7307
--- /dev/null
+++ b/Inu/Src/main/detect_error_3_phase.h
@@ -0,0 +1,148 @@
+/*
+ * detect_error_3_phase.h
+ *
+ * Created on: 7 ���. 2020 �.
+ * Author: star
+ */
+
+#ifndef SRC_MAIN_DETECT_ERROR_3_PHASE_H_
+#define SRC_MAIN_DETECT_ERROR_3_PHASE_H_
+
+#include <detect_phase_break.h>
+
+typedef struct {
+ _iq iqVal_module_max;
+ _iq iqVal_U_max;
+ _iq iqVal_V_max;
+ _iq iqVal_W_max;
+ _iq iqNominal_plus10;
+ _iq iqNominal_plus20;
+ _iq iqNominal_minus10;
+
+ _iq iqNominal_minus20;
+ _iq iqAsymmetry_delta;
+} PROTECT_LEVELS_3_PHASE;
+
+#define PROTECT_LEVELS_3_PHASE_DEFAULTS {0,0,0,0,0,0,0, 0,0}
+
+typedef struct {
+ PROTECT_LEVELS_3_PHASE levels;
+ union {
+ unsigned int all;
+ struct {
+ unsigned int phase_U :1;
+ unsigned int phase_V :1;
+ unsigned int phase_W :1;
+ unsigned int module :1;
+
+ unsigned int detect_minus_10 :1;
+ unsigned int detect_minus_20 :1;
+ unsigned int detect_plus_10 :1;
+ unsigned int detect_plus_20 :1;
+
+ unsigned int system_asymmetry_by_summ :1; //����� 3-� ������������ ����� 0
+ unsigned int system_asymmetry_by_delta :1; //����������� �������� 3-� ������������ ����� ����� �����
+ unsigned int break_phase :1;
+ unsigned int reserved :5;
+ } bits;
+ } use;
+ unsigned int timers_inited;
+} SETUP_3_PHASE_PROTECT;
+
+#define SETUP_3_PHASE_PROTECT_DEFAULTS {PROTECT_LEVELS_3_PHASE_DEFAULTS, {0}, 0}
+
+typedef struct {
+ //In values
+ _iq iqVal_U;
+ _iq iqVal_V;
+ _iq iqVal_W;
+ _iq iqVal_mod;
+ _iq iqTeta; //����� ��� ����������� ������ ����
+
+ unsigned int timer_low_minus_10;
+ unsigned int timer_low_minus_20;
+ unsigned int timer_high_plus_10;
+ unsigned int timer_high_plus_20;
+
+ //Break phase I state values
+ BREAK_PHASE_I *break_phase;
+
+ //Out values
+ union {
+ unsigned int all;
+ struct {
+ unsigned int phase_U_max :1;
+ unsigned int phase_V_max :1;
+ unsigned int phase_W_max :1;
+ unsigned int module_max :1;
+ unsigned int module_10_percent_hi :1;
+ unsigned int module_20_percent_hi :1;
+ unsigned int module_10_percent_low :1;
+ unsigned int module_20_percent_low :1;
+
+ unsigned int system_asymmetry :1;
+ unsigned int break_phase :1;
+ unsigned int break_phase_U :1;
+ unsigned int break_phase_V :1;
+ unsigned int break_phase_W :1;
+ unsigned int reserved :3;
+
+ } bits;
+ } errors;
+ union {
+ unsigned int all;
+ struct {
+ unsigned int phase_U_max :1;
+ unsigned int phase_V_max :1;
+ unsigned int phase_W_max :1;
+ unsigned int module_max :1;
+ unsigned int module_10_percent_hi :1;
+ unsigned int module_20_percent_hi :1;
+ unsigned int module_10_percent_low :1;
+ unsigned int module_20_percent_low :1;
+
+ unsigned int system_asymmetry_by_summ :1;
+ unsigned int break_phase :1;
+ unsigned int break_phase_U :1;
+ unsigned int break_phase_V :1;
+ unsigned int break_phase_W :1;
+ unsigned int reserved :3;
+
+ } bits;
+ } over_limit;
+ unsigned int new_timer_low_minus_10;
+ unsigned int new_timer_low_minus_20;
+ unsigned int new_timer_high_plus_10;
+ unsigned int new_timer_high_plus_20;
+
+ //Setup
+ SETUP_3_PHASE_PROTECT setup;
+
+ int (*calc_detect_error_3_phase)();
+
+} DETECT_PROTECT_3_PHASE;
+
+#define DETECT_PROTECT_3_PHASE_DEFAULTS {0,0,0,0,0, 0,0,0,0, 0, {0},{0}, 0,0,0,0,\
+ SETUP_3_PHASE_PROTECT_DEFAULTS, \
+ detect_error_3_phase}
+
+
+#define ADC_PROTECT_LEVELS_DEFAULT {0,0,0,0, 0,0,0,0, 0}
+
+#define PAUSE_VAL_MINIS_10_S 10000
+#define PAUSE_VAL_MINIS_20_S 1000
+#define PAUSE_VAL_PLUS_10_S 10000
+#define PAUSE_VAL_PLUS_20_S 1000
+
+#define PLUS_10_PERCENT 1.1
+#define PLUS_20_PERCENT 1.2
+#define MINUS_10_PERCENT 0.9
+#define MINUS_20_PERCENT 0.8
+#define ASYMMETRY_DELTA_PERCENTS 0.2
+
+int detect_error_3_phase(DETECT_PROTECT_3_PHASE *v);
+
+
+
+
+#endif /* SRC_MAIN_DETECT_ERROR_3_PHASE_H_ */
diff --git a/Inu/Src/main/detect_errors.c b/Inu/Src/main/detect_errors.c
new file mode 100644
index 0000000..07ff17c
--- /dev/null
+++ b/Inu/Src/main/detect_errors.c
@@ -0,0 +1,1606 @@
+/*
+ * detect_errors.c
+ *
+ * Created on: 4 ���. 2020 �.
+ * Author: star
+ */
+
+#include <adc_tools.h>
+#include <detect_errors.h>
+#include <detect_overload.h>
+#include <edrk_main.h>
+#include <optical_bus.h>
+#include <params.h>
+#include <params_temper_p.h>
+#include <protect_levels.h>
+#include <sync_tools.h>
+#include <vector.h>
+#include "v_rotor.h"
+
+
+#include "control_station.h"
+#include "DSP281x_Device.h"
+#include "master_slave.h"
+#include "another_bs.h"
+#include "digital_filters.h"
+
+
+void detect_error_from_knopka_avaria(void);
+void detect_error_ute4ka_water(void);
+void detect_error_t_vipr(void);
+void detect_error_power_upc(void);
+void detect_error_op_pit(void);
+void detect_error_p_water(void);
+void detect_error_pump_2(void);
+void detect_error_pump_1(void);
+void detect_error_pre_ready_pump(void);
+void detect_error_fan(void);
+void detect_error_block_qtv_from_svu(void);
+
+void detect_error_predohr_vipr(void);
+void detect_error_qtv(void);
+void detect_error_pre_charge(void);
+void detect_error_block_izol(void);
+void detect_error_nagrev(void);
+void detect_error_ground(void);
+void detect_error_block_door(void);
+void detect_error_optical_bus(void);
+void detect_error_sync_bus(void);
+int get_status_temper_acdrive_winding(int nc);
+int get_status_temper_acdrive_winding_with_limits(int nc, int alarm, int abnormal);
+int get_status_temper_acdrive_bear(int nc);
+int get_status_temper_acdrive_bear_with_limits(int nc, int alarm, int abnormal);
+int get_status_temper_air(int nc);
+int get_status_temper_air_with_limits(int nc, int alarm, int abnormal);
+int get_status_temper_u(int nc);
+int get_status_temper_u_with_limits(int nc, int alarm, int abnormal);
+int get_status_temper_water(int nc);
+int get_status_p_water_max(void);
+int get_status_p_water_min(int pump_on_off);
+void detect_error_t_water(void);
+void detect_error_t_air(void);
+void detect_error_t_u(void);
+void detect_error_acdrive_winding(void);
+
+int get_common_state_warning(void);
+int get_common_state_overheat(void);
+void detect_error_sensor_rotor(void);
+
+
+
+
+#pragma DATA_SECTION(protect_levels,".slow_vars");
+PROTECT_LEVELS protect_levels = PROTECT_LEVELS_DEFAULTS;
+
+
+
+
+///////////////////////////////////////////////
+int get_status_temper_acdrive_winding(int nc)
+{
+ if (edrk.temper_acdrive.winding.filter_real_int_temper[nc]>=ALARM_TEMPER_ACDRIVE_WINDING)
+ return 4;
+ if (edrk.temper_acdrive.winding.filter_real_int_temper[nc]>=ABNORMAL_TEMPER_ACDRIVE_WINDING)
+ return 2;
+ return 1;
+}
+
+int get_status_temper_acdrive_winding_with_limits(int nc, int alarm, int abnormal)
+{
+ if (edrk.temper_acdrive.winding.filter_real_int_temper[nc]>=alarm)
+ return 4;
+ if (edrk.temper_acdrive.winding.filter_real_int_temper[nc]>=abnormal)
+ return 2;
+ return 1;
+}
+///////////////////////////////////////////////
+int get_status_temper_acdrive_bear(int nc)
+{
+
+ if (edrk.temper_acdrive.bear.filter_real_int_temper[nc]>=ALARM_TEMPER_ACDRIVE_WINDING)
+ return 4;
+ if (edrk.temper_acdrive.bear.filter_real_int_temper[nc]>=ABNORMAL_TEMPER_ACDRIVE_WINDING)
+ return 2;
+ return 1;
+}
+
+int get_status_temper_acdrive_bear_with_limits(int nc, int alarm, int abnormal)
+{
+
+ if (edrk.temper_acdrive.bear.filter_real_int_temper[nc]>=alarm)
+ return 4;
+ if (edrk.temper_acdrive.bear.filter_real_int_temper[nc]>=abnormal)
+ return 2;
+ return 1;
+}
+
+///////////////////////////////////////////////
+int get_status_temper_air(int nc)
+{
+ if (edrk.temper_edrk.real_int_temper_air[nc]>=ALARM_TEMPER_AIR_INT)
+ return 4;
+ if (edrk.temper_edrk.real_int_temper_air[nc]>=ABNORMAL_TEMPER_AIR_INT)
+ return 2;
+ return 1;
+}
+
+int get_status_temper_air_with_limits(int nc, int alarm, int abnormal)
+{
+ if (edrk.temper_edrk.real_int_temper_air[nc]>=alarm)
+ return 4;
+ if (edrk.temper_edrk.real_int_temper_air[nc]>=abnormal)
+ return 2;
+ return 1;
+}
+
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+int get_status_temper_u(int nc)
+{
+ if (edrk.temper_edrk.real_int_temper_u[nc]>=ALARM_TEMPER_AF)
+ return 4;
+ if (edrk.temper_edrk.real_int_temper_u[nc]>=ABNORMAL_TEMPER_AF)
+ return 2;
+ return 1;
+}
+
+int get_status_temper_u_with_limits(int nc, int alarm, int abnormal)
+{
+ if (edrk.temper_edrk.real_int_temper_u[nc]>=alarm)
+ return 4;
+ if (edrk.temper_edrk.real_int_temper_u[nc]>=abnormal)
+ return 2;
+ return 1;
+}
+
+///////////////////////////////////////////////
+int get_status_temper_water(int nc)
+{
+
+ if (nc==INDEX_T_WATER_EXT) // ext
+ {
+ if (edrk.temper_edrk.real_int_temper_water[nc]>=protect_levels.alarm_temper_water_ext)
+ return 4;
+ if (edrk.temper_edrk.real_int_temper_water[nc]>=protect_levels.abnormal_temper_water_ext)
+ return 2;
+ return 1;
+ }
+
+ if (nc==INDEX_T_WATER_INT) // int
+ {
+ if (edrk.temper_edrk.real_int_temper_water[nc]>=protect_levels.alarm_temper_water_int)
+ return 4;
+ if (edrk.temper_edrk.real_int_temper_water[nc]>=protect_levels.abnormal_temper_water_int)
+ return 2;
+ return 1;
+ }
+
+ return 0;
+}
+
+///////////////////////////////////////////////
+int get_status_p_water_max(void)
+{
+ if (edrk.p_water_edrk.filter_real_int_p_water[0]>=protect_levels.alarm_p_water_max_int)
+ return 4;
+ if (edrk.p_water_edrk.filter_real_int_p_water[0]>=protect_levels.abnormal_p_water_max_int)
+ return 2;
+ return 1;
+}
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+int get_status_p_water_min(int pump_on_off)
+{
+ if (pump_on_off == 0)
+ {
+ if (edrk.p_water_edrk.filter_real_int_p_water[0]<=ALARM_P_WATER_MIN_INT_ON_OFF_PUMP)
+ return 4;
+ if (edrk.p_water_edrk.filter_real_int_p_water[0]<=ABNORMAL_P_WATER_MIN_INT_ON_OFF_PUMP)
+ return 2;
+ return 1;
+ }
+
+ if (pump_on_off == 1)
+ {
+ if (edrk.p_water_edrk.filter_real_int_p_water[0]<=protect_levels.alarm_p_water_min_int)
+ return 4;
+ if (edrk.p_water_edrk.filter_real_int_p_water[0]<=protect_levels.abnormal_p_water_min_int)
+ return 2;
+ return 1;
+ }
+ return 0;
+}
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+void detect_error_sensor_rotor(void)
+{
+ static unsigned int count_err1 = 0, count_err2 = 0, count_err3 = 0, count_err4 = 0;
+
+
+ if (edrk.Go)
+ {
+ // ����� �� �����?
+ if (edrk.iq_f_rotor_hz==0)
+ {
+ // ����� �����!
+ if (pause_detect_error(&count_err3,TIME_WAIT_SENSOR_ROTOR_BREAK_ALL,1))
+ {
+ edrk.warnings.e9.bits.SENSOR_ROTOR_1_BREAK = 1;
+ edrk.warnings.e9.bits.SENSOR_ROTOR_2_BREAK = 1;
+ //edrk.errors.e9.bits.SENSOR_ROTOR_1_2_BREAK |= 1; // ���� ������!
+ }
+ else
+ {
+// edrk.warnings.e9.bits.SENSOR_ROTOR_1_BREAK = 0;
+// edrk.warnings.e9.bits.SENSOR_ROTOR_2_BREAK = 0;
+ edrk.warnings.e9.bits.SENSOR_ROTOR_1_BREAK = pause_detect_error(&count_err1,TIME_WAIT_SENSOR_ROTOR_BREAK_ONE_SENSOR,
+ inc_sensor.break_sensor1);
+ edrk.warnings.e9.bits.SENSOR_ROTOR_2_BREAK = pause_detect_error(&count_err2,TIME_WAIT_SENSOR_ROTOR_BREAK_ONE_SENSOR,
+ inc_sensor.break_sensor2);
+ }
+ }
+ else
+ {
+ count_err3 = 0;
+// edrk.warnings.e9.bits.SENSOR_ROTOR_1_BREAK = 0;
+// edrk.warnings.e9.bits.SENSOR_ROTOR_2_BREAK = 0;
+ edrk.warnings.e9.bits.SENSOR_ROTOR_1_BREAK |= pause_detect_error(&count_err1,TIME_WAIT_ERROR,inc_sensor.break_sensor1);
+ edrk.warnings.e9.bits.SENSOR_ROTOR_2_BREAK |= pause_detect_error(&count_err2,TIME_WAIT_ERROR,inc_sensor.break_sensor2);
+
+ }
+ }
+ else
+ {
+
+ count_err1 = count_err2 = 0;
+ count_err3 = 0;
+
+ edrk.warnings.e9.bits.SENSOR_ROTOR_1_BREAK = 0;
+ edrk.warnings.e9.bits.SENSOR_ROTOR_2_BREAK = 0;
+ }
+
+}
+///////////////////////////////////////////////
+#define TIME_WAIT_T_WATER 30
+void detect_error_t_water(void)
+{
+ static unsigned int count_run = 0, count_run_static = 0;
+ int status;
+
+ status = get_status_temper_water(INDEX_T_WATER_INT);
+ if (status==4)
+ edrk.errors.e2.bits.T_WATER_INT_MAX |= 1;
+ if (status==2)
+ edrk.warnings.e2.bits.T_WATER_INT_MAX = 1;
+ if (status==1)
+ edrk.warnings.e2.bits.T_WATER_INT_MAX = 0;
+
+ status = get_status_temper_water(INDEX_T_WATER_EXT);
+ if (status==4)
+ edrk.errors.e2.bits.T_WATER_EXT_MAX |= 1;
+ if (status==2)
+ edrk.warnings.e2.bits.T_WATER_EXT_MAX = 1;
+ if (status==1)
+ edrk.warnings.e2.bits.T_WATER_EXT_MAX = 0;
+
+}
+///////////////////////////////////////////////
+
+void detect_error_t_air(void)
+{
+ static unsigned int count_run = 0, count_run_static = 0;
+ int status,i;
+
+
+ status = get_status_temper_air_with_limits(0, protect_levels.alarm_temper_air_int_01,
+ protect_levels.abnormal_temper_air_int_01);
+ if (status==4)
+ edrk.errors.e2.bits.T_AIR0_MAX |= 1;
+ if (status==2)
+ edrk.warnings.e2.bits.T_AIR0_MAX = 1;
+ if (status==1)
+ edrk.warnings.e2.bits.T_AIR0_MAX = 0;
+
+
+ status = get_status_temper_air_with_limits(1, protect_levels.alarm_temper_air_int_02,
+ protect_levels.abnormal_temper_air_int_02);
+ if (status==4)
+ edrk.errors.e2.bits.T_AIR1_MAX |= 1;
+ if (status==2)
+ edrk.warnings.e2.bits.T_AIR1_MAX = 1;
+ if (status==1)
+ edrk.warnings.e2.bits.T_AIR1_MAX = 0;
+
+
+ status = get_status_temper_air_with_limits(2, protect_levels.alarm_temper_air_int_03,
+ protect_levels.abnormal_temper_air_int_03);
+ if (status==4)
+ edrk.errors.e2.bits.T_AIR2_MAX |= 1;
+ if (status==2)
+ edrk.warnings.e2.bits.T_AIR2_MAX = 1;
+ if (status==1)
+ edrk.warnings.e2.bits.T_AIR2_MAX = 0;
+
+
+ status = get_status_temper_air_with_limits(3, protect_levels.alarm_temper_air_int_04,
+ protect_levels.abnormal_temper_air_int_04);
+ if (status==4)
+ edrk.errors.e2.bits.T_AIR3_MAX |= 1;
+ if (status==2)
+ edrk.warnings.e2.bits.T_AIR3_MAX = 1;
+ if (status==1)
+ edrk.warnings.e2.bits.T_AIR3_MAX = 0;
+}
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+
+void detect_error_t_u(void)
+{
+ static unsigned int count_run = 0, count_run_static = 0;
+ int status,i;
+
+
+ status = get_status_temper_u_with_limits(0, protect_levels.alarm_temper_u_01,
+ protect_levels.abnormal_temper_u_01);
+ if (status == 4)
+ edrk.errors.e2.bits.T_UO1_MAX |= 1;
+ if (status == 2)
+ edrk.warnings.e2.bits.T_UO1_MAX = 1;
+ if (status == 1)
+ edrk.warnings.e2.bits.T_UO1_MAX = 0;
+
+ status = get_status_temper_u_with_limits(1, protect_levels.alarm_temper_u_02,
+ protect_levels.abnormal_temper_u_02);
+ if (status==4)
+ edrk.errors.e2.bits.T_UO2_MAX |= 1;
+ if (status==2)
+ edrk.warnings.e2.bits.T_UO2_MAX = 1;
+ if (status==1)
+ edrk.warnings.e2.bits.T_UO2_MAX = 0;
+
+ status = get_status_temper_u_with_limits(2, protect_levels.alarm_temper_u_03,
+ protect_levels.abnormal_temper_u_03);
+ if (status==4)
+ edrk.errors.e2.bits.T_UO3_MAX |= 1;
+ if (status==2)
+ edrk.warnings.e2.bits.T_UO3_MAX = 1;
+ if (status==1)
+ edrk.warnings.e2.bits.T_UO3_MAX = 0;
+
+ status = get_status_temper_u_with_limits(3, protect_levels.alarm_temper_u_04,
+ protect_levels.abnormal_temper_u_04);
+ if (status==4)
+ edrk.errors.e2.bits.T_UO4_MAX |= 1;
+ if (status==2)
+ edrk.warnings.e2.bits.T_UO4_MAX = 1;
+ if (status==1)
+ edrk.warnings.e2.bits.T_UO4_MAX = 0;
+
+ status = get_status_temper_u_with_limits(4, protect_levels.alarm_temper_u_05,
+ protect_levels.abnormal_temper_u_05);
+ if (status==4)
+ edrk.errors.e2.bits.T_UO5_MAX |= 1;
+ if (status==2)
+ edrk.warnings.e2.bits.T_UO5_MAX = 1;
+ if (status==1)
+ edrk.warnings.e2.bits.T_UO5_MAX = 0;
+
+ status = get_status_temper_u_with_limits(5, protect_levels.alarm_temper_u_06,
+ protect_levels.abnormal_temper_u_06);
+ if (status==4)
+ edrk.errors.e2.bits.T_UO6_MAX |= 1;
+ if (status==2)
+ edrk.warnings.e2.bits.T_UO6_MAX = 1;
+ if (status==1)
+ edrk.warnings.e2.bits.T_UO6_MAX = 0;
+
+ status = get_status_temper_u_with_limits(6, protect_levels.alarm_temper_u_07,
+ protect_levels.abnormal_temper_u_07);
+ if (status==4)
+ edrk.errors.e2.bits.T_UO7_MAX |= 1;
+ if (status==2)
+ edrk.warnings.e2.bits.T_UO7_MAX = 1;
+ if (status==1)
+ edrk.warnings.e2.bits.T_UO7_MAX = 0;
+
+}
+
+void detect_error_t_bsu(void) {
+
+}
+///////////////////////////////////////////////
+void detect_error_acdrive_winding(void)
+{
+// static unsigned int count_run = 0, count_run_static = 0;
+ int status, i;
+
+ status = 0;
+ status |= get_status_temper_acdrive_winding_with_limits(
+ 0, protect_levels.alarm_temper_acdrive_winding_U1,
+ protect_levels.abnormal_temper_acdrive_winding_U1);
+ if (status == 4) {
+ edrk.errors.e10.bits.T_ACDRIVE_WINDING_U1 = 1;
+ }
+ if (status == 2) {
+ edrk.warnings.e10.bits.T_ACDRIVE_WINDING_U1 = 1;
+ } else {
+ edrk.warnings.e10.bits.T_ACDRIVE_WINDING_U1 = 0;
+ }
+
+ status = 0;
+ status |= get_status_temper_acdrive_winding_with_limits(
+ 1, protect_levels.alarm_temper_acdrive_winding_V1,
+ protect_levels.abnormal_temper_acdrive_winding_V1);
+ if (status == 4) {
+ edrk.errors.e10.bits.T_ACDRIVE_WINDING_V1 = 1;
+ }
+ if (status == 2) {
+ edrk.warnings.e10.bits.T_ACDRIVE_WINDING_V1 = 1;
+ } else {
+ edrk.warnings.e10.bits.T_ACDRIVE_WINDING_V1 = 0;
+ }
+
+ status = 0;
+ status |= get_status_temper_acdrive_winding_with_limits(
+ 2, protect_levels.alarm_temper_acdrive_winding_W1,
+ protect_levels.abnormal_temper_acdrive_winding_W1);
+ if (status == 4) {
+ edrk.errors.e10.bits.T_ACDRIVE_WINDING_W1 = 1;
+ }
+ if (status == 2) {
+ edrk.warnings.e10.bits.T_ACDRIVE_WINDING_W1 = 1;
+ } else {
+ edrk.warnings.e10.bits.T_ACDRIVE_WINDING_W1 = 0;
+ }
+
+ status = 0;
+ status |= get_status_temper_acdrive_winding_with_limits(
+ 3, protect_levels.alarm_temper_acdrive_winding_U2,
+ protect_levels.abnormal_temper_acdrive_winding_U2);
+ if (status == 4) {
+ edrk.errors.e10.bits.T_ACDRIVE_WINDING_U2 = 1;
+ }
+ if (status == 2) {
+ edrk.warnings.e10.bits.T_ACDRIVE_WINDING_U2 = 1;
+ } else {
+ edrk.warnings.e10.bits.T_ACDRIVE_WINDING_U2 = 0;
+ }
+
+ status = 0;
+ status |= get_status_temper_acdrive_winding_with_limits(
+ 4, protect_levels.alarm_temper_acdrive_winding_V2,
+ protect_levels.abnormal_temper_acdrive_winding_V2);
+ if (status == 4) {
+ edrk.errors.e10.bits.T_ACDRIVE_WINDING_V2 = 1;
+ }
+ if (status == 2) {
+ edrk.warnings.e10.bits.T_ACDRIVE_WINDING_V2 = 1;
+ } else {
+ edrk.warnings.e10.bits.T_ACDRIVE_WINDING_V2 = 0;
+ }
+
+ status = 0;
+ status |= get_status_temper_acdrive_winding_with_limits(
+ 5, protect_levels.alarm_temper_acdrive_winding_W2,
+ protect_levels.abnormal_temper_acdrive_winding_W2);
+ if (status == 4) {
+ edrk.errors.e10.bits.T_ACDRIVE_WINDING_W2 = 1;
+ }
+ if (status == 2) {
+ edrk.warnings.e10.bits.T_ACDRIVE_WINDING_W2 = 1;
+ } else {
+ edrk.warnings.e10.bits.T_ACDRIVE_WINDING_W2 = 0;
+ }
+
+ if (edrk.errors.e10.bits.T_ACDRIVE_WINDING_U1 || edrk.errors.e10.bits.T_ACDRIVE_WINDING_V1 ||
+ edrk.errors.e10.bits.T_ACDRIVE_WINDING_W1 || edrk.errors.e10.bits.T_ACDRIVE_WINDING_U2 ||
+ edrk.errors.e10.bits.T_ACDRIVE_WINDING_V2 || edrk.errors.e10.bits.T_ACDRIVE_WINDING_W2) {
+ edrk.errors.e7.bits.T_ACDRIVE_WINDING_MAX |= 1;
+ }
+ if (edrk.warnings.e10.bits.T_ACDRIVE_WINDING_U1 || edrk.warnings.e10.bits.T_ACDRIVE_WINDING_V1 ||
+ edrk.warnings.e10.bits.T_ACDRIVE_WINDING_W1 || edrk.warnings.e10.bits.T_ACDRIVE_WINDING_U2 ||
+ edrk.warnings.e10.bits.T_ACDRIVE_WINDING_V2 || edrk.warnings.e10.bits.T_ACDRIVE_WINDING_W2) {
+ edrk.warnings.e7.bits.T_ACDRIVE_WINDING_MAX = 1;
+ }
+ else
+ edrk.warnings.e7.bits.T_ACDRIVE_WINDING_MAX = 0;
+}
+
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+void detect_error_acdrive_bear(void)
+{
+ static unsigned int count_run = 0, count_run_static = 0;
+ int status,i;
+
+// status = 0;
+
+ status = get_status_temper_acdrive_bear_with_limits(0, protect_levels.alarm_temper_acdrive_bear_DNE,
+ protect_levels.abnormal_temper_acdrive_bear_DNE);
+ if (status & 4)
+ edrk.errors.e7.bits.T_ACDRIVE_BEAR_MAX_DNE |= 1;
+ if (status == 2)
+ edrk.warnings.e7.bits.T_ACDRIVE_BEAR_MAX_DNE = 1;
+ if (status == 1)
+ edrk.warnings.e7.bits.T_ACDRIVE_BEAR_MAX_DNE = 0;
+
+ status = get_status_temper_acdrive_bear_with_limits(1, protect_levels.alarm_temper_acdrive_bear_NE,
+ protect_levels.abnormal_temper_acdrive_bear_NE);
+ if (status & 4)
+ edrk.errors.e9.bits.T_ACDRIVE_BEAR_MAX_NE |= 1;
+ if (status == 2)
+ edrk.warnings.e9.bits.T_ACDRIVE_BEAR_MAX_NE = 1;
+ if (status == 1)
+ edrk.warnings.e9.bits.T_ACDRIVE_BEAR_MAX_NE = 0;
+
+}
+
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+#define TIME_WAIT_RUN_PUMP 100 //50
+void detect_error_p_water(void)
+{
+ static unsigned int count_run = 0, count_run_static = 0;
+ int status,i;
+
+ if (edrk.from_ing1.bits.NASOS_ON == 1)
+ {
+ if (pause_detect_error(&count_run,TIME_WAIT_RUN_PUMP,1))
+ {
+ status = get_status_p_water_max();
+
+ if (status & 4)
+ edrk.errors.e2.bits.P_WATER_INT_MAX |= 1;
+ if (status==2)
+ edrk.warnings.e2.bits.P_WATER_INT_MAX = 1;
+ if (status==1)
+ edrk.warnings.e2.bits.P_WATER_INT_MAX = 0;
+
+ status = get_status_p_water_min(1);
+
+ if (status & 4)
+ edrk.errors.e2.bits.P_WATER_INT_MIN |= 1;
+ if (status==2)
+ edrk.warnings.e2.bits.P_WATER_INT_MIN = 1;
+ if (status==1)
+ edrk.warnings.e2.bits.P_WATER_INT_MIN = 0;
+
+ }
+ }
+ else
+ count_run = 0;
+
+
+ // test if nasos off
+ status = get_status_p_water_min(0);
+ if (status>1)
+ {
+ if (pause_detect_error(&count_run_static,TIME_WAIT_RUN_PUMP,1))
+ {
+ if (status==4)
+ {
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_DISABLE_ON_PUMP]==0)
+ edrk.errors.e2.bits.P_WATER_INT_MIN |= 1;
+ }
+ if (status==2)
+ edrk.warnings.e2.bits.P_WATER_INT_MIN = 1;
+ }
+ }
+ else
+ {
+ count_run_static = 0;
+ edrk.warnings.e2.bits.P_WATER_INT_MIN = 0;
+ }
+
+}
+
+///////////////////////////////////////////////
+
+///////////////////////////////////////////////
+
+void detect_error_ground(void)
+{
+ static unsigned int count_err = 0;
+
+
+ if (edrk.from_ing1.bits.ZAZEML_OFF == 0)
+ {
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR,1))
+ edrk.errors.e5.bits.ERROR_GROUND_NET |= 1;
+ }
+
+ if (edrk.from_ing1.bits.ZAZEML_ON == 1)
+ {
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR,1))
+ edrk.errors.e5.bits.ERROR_GROUND_NET |= 1;
+ }
+
+ if ((edrk.from_ing1.bits.ZAZEML_OFF == 1) && (edrk.from_ing1.bits.ZAZEML_ON == 0))
+ count_err = 0;
+
+}
+
+///////////////////////////////////////////////
+void detect_error_nagrev(void)
+{
+
+ static unsigned int count_err = 0;
+
+ if (edrk.from_ing1.bits.NAGREV_ON == edrk.to_ing.bits.NAGREV_OFF)
+ {
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR,1))
+ edrk.errors.e5.bits.ERROR_HEAT |= 1;
+ }
+ else
+ count_err = 0;
+
+
+}
+///////////////////////////////////////////////
+#define TIME_WAIT_ERROR_BLOCK_DOOR 30 //20
+void detect_error_block_door(void)
+{
+ static unsigned int count_err = 0;
+
+ if ((edrk.from_ing2.bits.SOST_ZAMKA == 1 && edrk.to_ing.bits.BLOCK_KEY_OFF==1)
+ || (edrk.from_ing2.bits.SOST_ZAMKA == 0 && edrk.to_ing.bits.BLOCK_KEY_OFF==0))
+ {
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR_BLOCK_DOOR,1))
+ edrk.errors.e1.bits.BLOCK_DOOR |= 1;
+ }
+ else
+ count_err = 0;
+
+}
+
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+void detect_error_block_izol(void)
+{
+ static unsigned int count_err = 0;
+
+ if (edrk.from_ing1.bits.BLOCK_IZOL_AVARIA == 1 )
+ {
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR_IZOL,1))
+ edrk.errors.e5.bits.ERROR_ISOLATE |= 1;
+ }
+
+ if (edrk.from_ing1.bits.BLOCK_IZOL_AVARIA == 0 && edrk.from_ing1.bits.BLOCK_IZOL_NORMA == 0 )
+ {
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR_IZOL,1))
+ edrk.warnings.e5.bits.ERROR_ISOLATE |= 1;
+ }
+ else
+ edrk.warnings.e5.bits.ERROR_ISOLATE = 0;
+
+ if (edrk.from_ing1.bits.BLOCK_IZOL_AVARIA == 0 && edrk.from_ing1.bits.BLOCK_IZOL_NORMA == 1 )
+ {
+ count_err = 0;
+ }
+
+ if (edrk.cmd_imit_low_isolation)
+ edrk.errors.e5.bits.ERROR_ISOLATE |= 1;
+
+}
+
+///////////////////////////////////////////////
+void detect_error_pre_charge(void)
+{
+ static unsigned int count_err = 0;
+
+ if (edrk.from_ing1.bits.ZARYAD_ON == 1 && edrk.to_ing.bits.ZARYAD_ON == 0)
+ {
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR_CHARGE_ANSWER,1))
+ edrk.errors.e6.bits.ERROR_PRE_CHARGE_ANSWER |= 1;
+ }
+
+ if (edrk.from_ing1.bits.ZARYAD_ON == 0 && edrk.to_ing.bits.ZARYAD_ON == 1)
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR_CHARGE_ANSWER,1))
+ edrk.errors.e6.bits.ERROR_PRE_CHARGE_ANSWER |= 1;
+
+
+ if (edrk.from_ing1.bits.ZARYAD_ON == 0 && edrk.to_ing.bits.ZARYAD_ON == 0)
+ count_err = 0;
+
+
+// edrk.errors.e6.bits.ERROR_PRE_CHARGE_ANSWER |= 1;
+// edrk.errors.e6.bits.ERROR_PRE_CHARGE_U |= 1;
+}
+
+///////////////////////////////////////////////
+void detect_error_qtv(void)
+{
+ static unsigned int count_err_off = 0;
+ static unsigned int count_err_on = 0;
+
+
+ // ��� ������� �� ����, �� ����� ������� ������
+ if (edrk.from_shema_filter.bits.QTV_ON_OFF == 1 && edrk.cmd_to_qtv == 0)
+ {
+ if (pause_detect_error(&count_err_off,TIME_WAIT_ERROR_QTV,1))
+ edrk.errors.e6.bits.QTV_ERROR_NOT_ANSWER |= 1;
+ }
+ else
+ {
+ count_err_off = 0;
+ }
+
+// ���� ������� �� ���, �� ����� ������� �� ������
+ if (edrk.from_shema_filter.bits.QTV_ON_OFF == 0 && edrk.cmd_to_qtv == 1)
+ {
+ if (pause_detect_error(&count_err_on,TIME_WAIT_ERROR_QTV,1))
+ edrk.errors.e6.bits.QTV_ERROR_NOT_ANSWER |= 1;
+ }
+ else
+ {
+ count_err_on = 0;
+ }
+
+//
+// if (edrk.from_shema.bits.QTV_ON_OFF == 0 && edrk.cmd_to_qtv == 0)
+// count_err = 0;
+
+// edrk.errors.e6.bits.QTV_ERROR_NOT_U |= 1;
+
+// edrk.errors.e6.bits.QTV_ERROR_NOT_U |= detect_error_u_zpt();
+ edrk.errors.e6.bits.QTV_ERROR_NOT_U |= detect_error_u_in();
+// edrk.errors.e6.bits.QTV_ERROR_NOT_U |= detect_error_u_zpt_on_predzaryad();
+}
+
+///////////////////////////////////////////////
+void detect_error_predohr_vipr(void)
+{
+ static unsigned int count_err = 0;
+
+ if (edrk.from_ing1.bits.VIPR_PREDOHR_NORMA == 0)
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR,1))
+ edrk.errors.e5.bits.ERROR_PRED_VIPR |= 1;
+
+ if (edrk.from_ing1.bits.VIPR_PREDOHR_NORMA == 1)
+ count_err = 0;
+}
+
+///////////////////////////////////////////////
+#define TIME_WAIT_ERROR_UMP_READY 1200 //120 ��� //750 // ���� 75 ��� �.�. �������� ��� ����� �� ���� ������� ��
+#define TIME_WAIT_WARNING_UMP_READY 10
+void detect_error_ump(void)
+{
+ static unsigned int count_err = 0;
+ static unsigned int count_err2 = 0;
+
+ static unsigned int prev_SumSbor = 0;
+ static unsigned int StageUMP = 0;
+ static unsigned int count_UMP_NOT_READY = 0;
+ int local_warning_ump = 0;
+
+ if (edrk.SumSbor==1)
+ {
+ switch (StageUMP) {
+ case 0: if (edrk.from_shema_filter.bits.UMP_ON_OFF == 1)
+ StageUMP++;
+ break;
+ case 1: if (edrk.from_shema_filter.bits.UMP_ON_OFF == 0)
+ StageUMP++;
+ break;
+ case 2:
+ break;
+ case 3:
+ break;
+
+
+ default: break;
+ }
+
+ if ((edrk.from_shema_filter.bits.READY_UMP == 0) && (StageUMP==0) && control_station.active_array_cmd[CONTROL_STATION_CMD_DISABLE_ON_UMP]==0)
+ {
+
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR_UMP_READY,1))
+ edrk.errors.e7.bits.UMP_NOT_READY |= 1;
+ }
+ if (edrk.from_shema_filter.bits.READY_UMP == 1)
+ count_err = 0;
+ }
+ else
+ {
+ count_err= 0;
+
+ // ��� �������, � �� ������!
+ if (edrk.from_shema_filter.bits.UMP_ON_OFF==1)
+ if (pause_detect_error(&count_err2,TIME_WAIT_ERROR,1))
+ edrk.errors.e11.bits.ERROR_UMP_NOT_OFF |= 1;
+
+ if (edrk.from_shema_filter.bits.UMP_ON_OFF == 0)
+ count_err2 = 0;
+
+ // ��� ����������
+ if (edrk.ump_cmd_another_bs==0) // ������ �� �� ����� ���
+ local_warning_ump = !edrk.from_shema_filter.bits.READY_UMP;
+ // edrk.warnings.e7.bits.UMP_NOT_READY = !edrk.from_shema_filter.bits.READY_UMP;
+
+
+
+ StageUMP = 0;
+ }
+
+ edrk.warnings.e7.bits.UMP_NOT_READY = filter_digital_input( edrk.warnings.e7.bits.UMP_NOT_READY,
+ &count_UMP_NOT_READY,
+ TIME_WAIT_WARNING_UMP_READY,
+ local_warning_ump);
+
+ prev_SumSbor = edrk.SumSbor;
+}
+
+
+#define TIME_WAIT_BLOCK_QTV_FROM_SVU 20
+///////////////////////////////////////////////
+void detect_error_block_qtv_from_svu(void)
+{
+ static unsigned int count_err = 0;
+
+
+ if (edrk.from_shema.bits.SVU_BLOCK_QTV == 1 || control_station.active_array_cmd[CONTROL_STATION_CMD_BLOCK_BS])
+ {
+ if (pause_detect_error(&count_err,TIME_WAIT_BLOCK_QTV_FROM_SVU,1))
+ edrk.errors.e7.bits.SVU_BLOCK_ON_QTV |= 1;
+ }
+ else
+ {
+ count_err = 0;
+ }
+
+}
+
+///////////////////////////////////////////////
+void detect_error_fan(void)
+{
+ static unsigned int count_err = 0;
+
+ if (edrk.from_ing1.bits.VENTIL_ON == 0 && (edrk.to_ing.bits.NASOS_1_ON || edrk.to_ing.bits.NASOS_2_ON))
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR_FAN,1))
+ edrk.errors.e5.bits.FAN |= 1;
+
+ if (edrk.from_ing1.bits.VENTIL_ON == 1 && (edrk.to_ing.bits.NASOS_1_ON == 0 && edrk.to_ing.bits.NASOS_2_ON == 0))
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR_FAN,1))
+ edrk.errors.e5.bits.FAN |= 1;
+
+ if (edrk.from_ing1.bits.VENTIL_ON == 0 && (edrk.to_ing.bits.NASOS_1_ON == 0 && edrk.to_ing.bits.NASOS_2_ON == 0))
+ count_err = 0;
+
+}
+
+
+
+///////////////////////////////////////////////
+void detect_error_pre_ready_pump(void)
+{
+ static unsigned int count_err = 0;
+
+ if (edrk.from_ing1.bits.NASOS_NORMA == 0)
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR,1))
+ {
+// edrk.errors.e5.bits.PRE_READY_PUMP |= 1;
+ edrk.warnings.e5.bits.PRE_READY_PUMP = 1;
+ }
+
+ if (edrk.from_ing1.bits.NASOS_NORMA == 1)
+ {
+ count_err = 0;
+ edrk.warnings.e5.bits.PRE_READY_PUMP = 0;
+ }
+}
+///////////////////////////////////////////////
+void detect_error_pump_1(void)
+{
+ static unsigned int count_err = 0;
+
+ // ������ �� ���, � ����� �� ��������
+ if (edrk.from_ing1.bits.NASOS_ON == 0 && edrk.to_ing.bits.NASOS_1_ON)
+ {
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR_PUMP,1))
+ {
+// edrk.errors.e5.bits.PUMP_1 |= 1;
+ edrk.warnings.e5.bits.PUMP_1 = 1;
+ }
+ }
+
+
+ // ������ �� ����, � ����� �� �����������
+ if (edrk.from_ing1.bits.NASOS_ON == 1 && edrk.to_ing.bits.NASOS_1_ON==0 && edrk.SelectPump1_2==1)
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR_PUMP,1))
+ edrk.errors.e5.bits.PUMP_1 |= 1;
+
+
+ if (edrk.from_ing1.bits.NASOS_ON == 0 && edrk.to_ing.bits.NASOS_1_ON==0 && edrk.SelectPump1_2==1)
+ {
+ // ��� ��� ��
+ count_err = 0;
+ }
+
+ if (edrk.from_ing1.bits.NASOS_ON == 1 && edrk.to_ing.bits.NASOS_1_ON==1 && edrk.SelectPump1_2==1)
+ {
+ // ��� ��� ��
+ count_err = 0;
+ edrk.warnings.e5.bits.PUMP_1 = 0;
+ }
+
+
+}
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+void detect_error_pump_2(void)
+{
+ static unsigned int count_err = 0;
+
+ // ������ �� ���, � ����� �� ��������
+ if (edrk.from_ing1.bits.NASOS_ON == 0 && edrk.to_ing.bits.NASOS_2_ON)
+ {
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR_PUMP,1))
+// edrk.errors.e5.bits.PUMP_2 |= 1;
+ edrk.warnings.e5.bits.PUMP_2 = 1;
+ }
+
+ if (edrk.from_ing1.bits.NASOS_ON == 1 && edrk.to_ing.bits.NASOS_2_ON==0 && edrk.SelectPump1_2==2)
+ {
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR_PUMP,1))
+ edrk.errors.e5.bits.PUMP_2 |= 1;
+ }
+
+ if (edrk.from_ing1.bits.NASOS_ON == 0 && edrk.to_ing.bits.NASOS_2_ON==0 && edrk.SelectPump1_2==2)
+ {
+ // ��� ��� ��
+ count_err = 0;
+ }
+
+ if (edrk.from_ing1.bits.NASOS_ON == 1 && edrk.to_ing.bits.NASOS_2_ON==1 && edrk.SelectPump1_2==2)
+ {
+ // ��� ��� ��
+ count_err = 0;
+ edrk.warnings.e5.bits.PUMP_2 = 0;
+ }
+}
+///////////////////////////////////////////////
+
+///////////////////////////////////////////////
+void detect_error_op_pit(void)
+{
+ static unsigned int count_err = 0;
+
+ if (edrk.from_ing1.bits.OP_PIT_NORMA == 0 )
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR,1))
+ edrk.errors.e5.bits.OP_PIT |= 1;
+
+ if (edrk.from_ing1.bits.OP_PIT_NORMA == 1 )
+ count_err = 0;
+}
+///////////////////////////////////////////////
+void detect_error_power_upc(void)
+{
+ static unsigned int count_err = 0;
+
+ if (edrk.from_ing1.bits.UPC_24V_NORMA == 0 )
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR,1))
+ edrk.errors.e5.bits.POWER_UPC |= 1;
+
+ if (edrk.from_ing1.bits.UPC_24V_NORMA == 1 )
+ count_err = 0;
+}
+///////////////////////////////////////////////
+void detect_error_t_vipr(void)
+{
+ static unsigned int count_err = 0;
+
+// if (edrk.from_ing.bits.VIPR_TEMPER_OK == 0 )
+// if (pause_detect_error(&count_err,TIME_WAIT_ERROR,1))
+// edrk.errors.e5.bits.T_VIPR_MAX |= 1;
+//
+// if (edrk.from_ing.bits.VIPR_TEMPER_OK == 1 )
+// pause_detect_error(&count_err,TIME_WAIT_ERROR,0);
+}
+///////////////////////////////////////////////
+void detect_error_ute4ka_water(void)
+{
+ static unsigned int count_err = 0;
+
+ if (edrk.from_ing1.bits.OHLAD_UTE4KA_WATER == 1 )
+ if (pause_detect_error(&count_err,TIME_WAIT_ERROR,1))
+ edrk.errors.e5.bits.UTE4KA_WATER |= 1;
+
+
+ if (edrk.from_ing1.bits.OHLAD_UTE4KA_WATER == 0 )
+ count_err = 0;
+}
+
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+void detect_error_from_knopka_avaria(void)
+{
+ edrk.errors.e5.bits.KEY_AVARIA |= edrk.from_ing1.bits.ALL_KNOPKA_AVARIA;
+}
+///////////////////////////////////////////////
+void detect_error_optical_bus(void)
+{
+// if ()
+
+
+
+}
+
+#define TIME_WAIT_SYNC_SIGNAL 20 // 2 sec
+///////////////////////////////////////////////
+void detect_error_sync_bus(void)
+{
+ static unsigned int count_err = 0;
+
+// if (sync_data.flag_sync_1_2==0)
+// edrk.errors.e7.bits.MASTER_SLAVE_SYNC |= 1;
+
+ if (!edrk.ms.ready1)
+ {
+ edrk.warnings.e1.bits.NO_INPUT_SYNC_SIGNAL = 0;
+ count_err = 0;
+ return;
+ }
+
+ // � ����� �� ������������� ���, �� ���� � �������, ����� ��������������
+ if (sync_data.timeout_sync_signal && optical_read_data.data.cmd.bit.sync_line_detect
+ && optical_read_data.status==1)
+ {
+ edrk.warnings.e1.bits.NO_INPUT_SYNC_SIGNAL = 1;
+ return;
+ }
+ else
+ edrk.warnings.e1.bits.NO_INPUT_SYNC_SIGNAL = 0;
+
+
+ // � ����� �� ������������� ���, � � ������� ���� ���, ����� ������
+ if (sync_data.timeout_sync_signal && optical_read_data.data.cmd.bit.sync_line_detect==0
+ && edrk.ms.another_bs_maybe_on && optical_read_data.status==1)
+ {
+ if (pause_detect_error(&count_err,TIME_WAIT_SYNC_SIGNAL,1))
+ edrk.errors.e1.bits.NO_INPUT_SYNC_SIGNAL |= 1;
+ }
+ else
+ count_err = 0;
+
+
+}
+///////////////////////////////////////////////
+#pragma CODE_SECTION(detect_error_u_zpt_fast,".fast_run");
+int detect_error_u_zpt_fast(void)
+{
+ int err;
+
+ err = 0;
+
+
+ if (analog.iqU_1>=edrk.iqMAX_U_ZPT_Global)
+ edrk.errors.e0.bits.U_1_MAX |= 1;
+
+ if (analog.iqU_2>=edrk.iqMAX_U_ZPT_Global)
+ edrk.errors.e0.bits.U_2_MAX |= 1;
+
+
+ if (analog.iqU_1>=edrk.iqMAX_U_ZPT)
+ edrk.errors.e0.bits.U_1_MAX |= 1;
+
+
+ if (analog.iqU_2>=edrk.iqMAX_U_ZPT)
+ edrk.errors.e0.bits.U_2_MAX |= 1;
+
+
+ if (edrk.from_shema_filter.bits.QTV_ON_OFF == 1
+ // && edrk.to_shema.bits.QTV_ON
+ )
+ {
+ if (analog.iqU_1<=edrk.iqMIN_U_ZPT)
+ edrk.errors.e0.bits.U_1_MIN |= 1;
+
+ if (analog.iqU_2<=edrk.iqMIN_U_ZPT)
+ edrk.errors.e0.bits.U_2_MIN |= 1;
+ }
+
+ err = (edrk.errors.e0.bits.U_1_MAX || edrk.errors.e0.bits.U_2_MAX || edrk.errors.e0.bits.U_1_MIN || edrk.errors.e0.bits.U_2_MIN);
+ return err;
+
+}
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+int detect_error_u_zpt(void)
+{
+ int err;
+
+ err = 0;
+
+ if (edrk.iqMAX_U_ZPT>MINIMAL_LEVEL_ZAD_U)
+ {
+ if (analog.iqU_1>=edrk.iqMAX_U_ZPT_Global)
+ edrk.errors.e0.bits.U_1_MAX |= 1;
+
+ if (analog.iqU_2>=edrk.iqMAX_U_ZPT_Global)
+ edrk.errors.e0.bits.U_2_MAX |= 1;
+ }
+
+
+ if (edrk.iqMAX_U_ZPT>MINIMAL_LEVEL_ZAD_U && edrk.from_shema_filter.bits.QTV_ON_OFF == 1
+ // && edrk.to_shema.bits.QTV_ON
+ )
+ {
+ if (analog.iqU_1>=edrk.iqMAX_U_ZPT)
+ edrk.errors.e0.bits.U_1_MAX |= 1;
+
+
+ if (analog.iqU_2>=edrk.iqMAX_U_ZPT)
+ edrk.errors.e0.bits.U_2_MAX |= 1;
+ }
+
+ if (edrk.from_shema_filter.bits.QTV_ON_OFF == 1
+ //&& edrk.to_shema.bits.QTV_ON
+ )
+ {
+ if (analog.iqU_1<=edrk.iqMIN_U_ZPT)
+ edrk.errors.e0.bits.U_1_MIN |= 1;
+
+ if (analog.iqU_2<=edrk.iqMIN_U_ZPT)
+ edrk.errors.e0.bits.U_2_MIN |= 1;
+ }
+
+ err = (edrk.errors.e0.bits.U_1_MAX || edrk.errors.e0.bits.U_2_MAX || edrk.errors.e0.bits.U_1_MIN || edrk.errors.e0.bits.U_2_MIN);
+ return err;
+
+}
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+int detect_error_u_zpt_on_predzaryad(void)
+{
+ int err;
+
+ err = 0;
+
+ if (edrk.iqMAX_U_ZPT>MINIMAL_LEVEL_ZAD_U)
+ {
+ if (analog.iqU_1>=edrk.iqMAX_U_ZPT_Predzaryad)
+ edrk.errors.e0.bits.U_1_MAX |= 1;
+
+
+ if (analog.iqU_2>=edrk.iqMAX_U_ZPT_Predzaryad)
+ edrk.errors.e0.bits.U_2_MAX |= 1;
+ }
+
+ err = (edrk.errors.e0.bits.U_1_MAX || edrk.errors.e0.bits.U_2_MAX || edrk.errors.e0.bits.U_1_MIN || edrk.errors.e0.bits.U_2_MIN);
+ return err;
+
+}
+
+///////////////////////////////////////////////
+#pragma CODE_SECTION(detect_error_u_in,".fast_run");
+int detect_error_u_in(void)
+{
+ int err;
+ static unsigned int count_err_on = 0;
+
+ err = 0;
+
+ if (edrk.iqMAX_U_ZPT>MINIMAL_LEVEL_ZAD_U)
+ {
+ if (filter.iqUin_m1>=edrk.iqMAX_U_IN)
+ edrk.errors.e0.bits.U_IN_MAX |= 1;
+
+
+ if (filter.iqUin_m2>=edrk.iqMAX_U_IN)
+ edrk.errors.e0.bits.U_IN_MAX |= 1;
+ }
+
+ if (edrk.from_shema_filter.bits.QTV_ON_OFF == 1 && edrk.SumSbor
+ // && edrk.to_shema.bits.QTV_ON
+ )
+ {
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_DISABLE_ON_QTV]==1)
+ {
+ err = 0;
+ }
+ else
+ {
+ if ((filter.iqUin_m1<=edrk.iqMIN_U_IN) || (filter.iqUin_m2<=edrk.iqMIN_U_IN))
+ err = 1;
+ else
+ err = 0;
+ }
+
+#if (WORK_ON_STEND_D)
+ if (err)
+ {
+ if (pause_detect_error(&count_err_on,TIME_WAIT_ERROR_QTV,1))
+ edrk.errors.e0.bits.U_IN_MIN |= 1;
+ }
+ else
+ count_err_on = 0;
+
+
+
+#else
+
+ edrk.errors.e0.bits.U_IN_MIN |= err;
+#endif
+
+ }
+
+
+
+
+
+ err = (edrk.errors.e0.bits.U_IN_MAX || edrk.errors.e0.bits.U_IN_MIN );
+ return err;
+
+}
+///////////////////////////////////////////////
+#define MAX_WAIT_AFTER_KVITIR 100//50
+void detect_error_all(void)
+{
+ unsigned int pause_after_kvitir=0;
+
+
+ if (f.count_wait_after_kvitir<=MAX_WAIT_AFTER_KVITIR)
+ {
+ f.count_wait_after_kvitir++;
+ pause_after_kvitir = 0;
+ }
+ else
+ pause_after_kvitir = 1;
+
+
+
+ detect_error_ute4ka_water();
+// detect_error_t_vipr();
+ detect_error_power_upc();
+ detect_error_op_pit();
+
+ detect_error_pump_2();
+ detect_error_pump_1();
+
+ if (edrk.warnings.e5.bits.PUMP_1 && edrk.warnings.e5.bits.PUMP_2)
+ {
+ edrk.errors.e5.bits.PUMP_1 |= 1;
+ edrk.errors.e5.bits.PUMP_2 |= 1;
+ }
+
+ detect_error_pre_ready_pump();
+ detect_error_fan();
+ detect_error_qtv();
+ detect_error_pre_charge();
+ detect_error_block_izol();
+ detect_error_nagrev();
+ detect_error_ground();
+ detect_error_ump();
+
+
+ // ��� ������ � ������ �� ��������� ������ �� ������� ��, ����� �������� ������. ������ ����������!
+ if (pause_after_kvitir)
+ {
+ detect_error_from_knopka_avaria();
+ detect_error_from_another_bs();
+ }
+
+#if (_FLOOR6==1)
+
+#else
+ detect_error_p_water();
+#endif
+
+ detect_error_t_water();
+ detect_error_t_air();
+ detect_error_t_u();
+ detect_error_acdrive_bear();
+ detect_error_acdrive_winding();
+ detect_error_block_qtv_from_svu();
+ detect_error_block_door();
+
+
+ detect_error_optical_bus();
+ detect_error_sync_bus();
+ detect_alive_another_bs();
+
+ edrk.warning = get_common_state_warning();
+ edrk.overheat = get_common_state_overheat();
+
+ edrk.warnings.e10.bits.WARNING_I_OUT_OVER_1_6_NOMINAL = out_I_over_1_6.overload_detected;
+
+// edrk.errors.e7.bits.ANOTHER_BS_ALARM |= optical_read_data.data.cmd.bit.alarm;
+ detect_error_sensor_rotor();
+
+
+}
+///////////////////////////////////////////////
+void clear_errors(void)
+{
+
+ clear_errors_master_slave();
+ clear_sync_error();
+
+ edrk.errors.e0.all = 0;
+ edrk.errors.e1.all = 0;
+ edrk.errors.e2.all = 0;
+ edrk.errors.e3.all = 0;
+ edrk.errors.e4.all = 0;
+ edrk.errors.e5.all = 0;
+ edrk.errors.e6.all = 0;
+ edrk.errors.e7.all = 0;
+ edrk.errors.e8.all = 0;
+ edrk.errors.e9.all = 0;
+ edrk.errors.e10.all = 0;
+ edrk.errors.e11.all = 0;
+ edrk.errors.e12.all = 0;
+
+// edrk.errors.e0.all = 0;
+// edrk.errors.e0.all = 0;
+ edrk.Stop = 0;
+
+ edrk.count_lost_interrupt = 0;
+
+ f.count_wait_after_kvitir = 0;
+
+
+}
+///////////////////////////////////////////////
+void clear_warnings(void)
+{
+
+ edrk.warnings.e0.all = 0;
+ edrk.warnings.e1.all = 0;
+ edrk.warnings.e2.all = 0;
+ edrk.warnings.e3.all = 0;
+ edrk.warnings.e4.all = 0;
+ edrk.warnings.e5.all = 0;
+ edrk.warnings.e6.all = 0;
+ edrk.warnings.e7.all = 0;
+ edrk.warnings.e8.all = 0;
+ edrk.warnings.e9.all = 0;
+ edrk.warnings.e10.all = 0;
+ edrk.warnings.e11.all = 0;
+ edrk.warnings.e12.all = 0;
+}
+
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+void read_plane_errors(void)
+{
+ if (project.controller.read.errors.bit.pwm_wdog)
+ edrk.errors.e9.bits.ERR_PWM_WDOG |= 1;
+
+#if USE_TK_0
+//af1
+ if (project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk0_ack ||
+ project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk0_current ||
+ project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk1_ack ||
+ project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk1_current ||
+ project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk2_ack ||
+ project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk2_current ||
+ project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk3_ack ||
+ project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk3_current ||
+ project.cds_tk[0].read.sbus.time_err_tk_all.bit.tk_3210 ||
+ project.cds_tk[0].read.sbus.lock_status_error.bit.line_err_keys_3210)
+ edrk.errors.e6.bits.UO2_KEYS |= 1;
+//af2
+ if (project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk4_ack ||
+ project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk4_current ||
+ project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk5_ack ||
+ project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk5_current ||
+ project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk6_ack ||
+ project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk6_current ||
+ project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk7_ack ||
+ project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk7_current ||
+ project.cds_tk[0].read.sbus.time_err_tk_all.bit.tk_7654 ||
+ project.cds_tk[0].read.sbus.lock_status_error.bit.line_err_keys_7654)
+ edrk.errors.e6.bits.UO3_KEYS |= 1;
+#endif
+
+#if USE_TK_1
+//af3
+ if (project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk0_ack ||
+ project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk0_current ||
+ project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk1_ack ||
+ project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk1_current ||
+ project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk2_ack ||
+ project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk2_current ||
+ project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk3_ack ||
+ project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk3_current ||
+ project.cds_tk[1].read.sbus.time_err_tk_all.bit.tk_3210 ||
+ project.cds_tk[1].read.sbus.lock_status_error.bit.line_err_keys_3210)
+ edrk.errors.e6.bits.UO4_KEYS |= 1;
+//af4
+ if (project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk4_ack ||
+ project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk4_current ||
+ project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk5_ack ||
+ project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk5_current ||
+ project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk6_ack ||
+ project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk6_current ||
+ project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk7_ack ||
+ project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk7_current ||
+ project.cds_tk[1].read.sbus.time_err_tk_all.bit.tk_7654 ||
+ project.cds_tk[1].read.sbus.lock_status_error.bit.line_err_keys_7654)
+ edrk.errors.e6.bits.UO5_KEYS |= 1;
+#endif
+
+#if USE_TK_2
+//af5
+ if (project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk0_ack ||
+ project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk0_current ||
+ project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk1_ack ||
+ project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk1_current ||
+ project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk2_ack ||
+ project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk2_current ||
+ project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk3_ack ||
+ project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk3_current ||
+ project.cds_tk[2].read.sbus.time_err_tk_all.bit.tk_3210 ||
+ project.cds_tk[2].read.sbus.lock_status_error.bit.line_err_keys_3210)
+ edrk.errors.e6.bits.UO6_KEYS |= 1;
+//af6
+ if (project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk4_ack ||
+ project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk4_current ||
+ project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk5_ack ||
+ project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk5_current ||
+ project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk6_ack ||
+ project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk6_current ||
+ project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk7_ack ||
+ project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk7_current ||
+ project.cds_tk[2].read.sbus.time_err_tk_all.bit.tk_7654 ||
+ project.cds_tk[2].read.sbus.lock_status_error.bit.line_err_keys_7654)
+ edrk.errors.e6.bits.UO7_KEYS |= 1;
+
+
+#endif
+
+#if USE_TK_3
+
+ if (project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk0_ack ||
+ project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk0_current ||
+ project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk1_ack ||
+ project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk1_current ||
+ project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk2_ack ||
+ project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk2_current ||
+ project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk3_ack ||
+ project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk3_current ||
+ project.cds_tk[3].read.sbus.time_err_tk_all.bit.tk_3210 ||
+ project.cds_tk[3].read.sbus.lock_status_error.bit.line_err_keys_3210)
+ edrk.errors.e6.bits.UO1_KEYS |= 1;
+
+#endif
+
+//all errors local status
+
+
+#if USE_TK_0
+ if (project.cds_tk[0].read.sbus.lock_status_error.bit.err0_local)
+ edrk.errors.e4.bits.ERR_TK_0 |= 1;
+#endif
+#if USE_TK_1
+ if (project.cds_tk[1].read.sbus.lock_status_error.bit.err0_local)
+ edrk.errors.e4.bits.ERR_TK_1 |= 1;
+#endif
+#if USE_TK_2
+ if (project.cds_tk[2].read.sbus.lock_status_error.bit.err0_local)
+ edrk.errors.e4.bits.ERR_TK_2 |= 1;
+#endif
+#if USE_TK_3
+ if (project.cds_tk[3].read.sbus.lock_status_error.bit.err0_local)
+ edrk.errors.e4.bits.ERR_TK_3 |= 1;
+#endif
+
+
+#if USE_IN_0
+ if (project.cds_in[0].read.sbus.lock_status_error.bit.err0_local)
+ edrk.errors.e4.bits.ERR_IN_0 |= 1;
+#endif
+#if USE_IN_1
+ if (project.cds_in[1].read.sbus.lock_status_error.bit.err0_local)
+ edrk.errors.e4.bits.ERR_IN_1 |= 1;
+#endif
+
+#if USE_OUT_0
+ if (project.cds_out[0].read.sbus.lock_status_error.bit.err0_local)
+ edrk.errors.e4.bits.ERR_OUT_0 |= 1;
+#endif
+
+#if USE_ADC_0
+ if (project.adc[0].read.sbus.lock_status_error.all)
+ edrk.errors.e4.bits.ERR_ADC_0 |= 1;
+#endif
+#if USE_ADC_1
+ if (project.adc[1].read.sbus.lock_status_error.all)
+ edrk.errors.e4.bits.ERR_ADC_1 |= 1;
+#endif
+//
+ if (project.controller.read.errors.bit.status_er0)
+ edrk.errors.e5.bits.LINE_ERR0 |= 1;
+ if (project.controller.read.errors.bit.errHWP_trig)
+ edrk.errors.e5.bits.LINE_HWP |= 1;
+
+ if (project.controller.read.errors.bit.error_pbus
+ || project.controller.read.errors_buses.bit.slave_addr_error
+ || project.controller.read.errors_buses.bit.count_error_pbus
+ || project.x_parallel_bus->flags.bit.error)
+ edrk.errors.e6.bits.ERR_PBUS |= 1;
+
+ if (project.controller.read.errors_buses.bit.err_sbus)
+ edrk.errors.e6.bits.ERR_SBUS |= 1;
+
+///
+
+#if USE_HWP_0
+ if (project.hwp[0].read.comp_s.minus.all || project.hwp[0].read.comp_s.plus.all)
+ edrk.errors.e1.bits.HWP_ERROR |= 1;
+#endif
+
+
+#if USE_TK_0
+ if (project.all_status_plates.tk0 != component_Ready)
+ edrk.errors.e3.bits.NOT_READY_TK_0 |= 1;
+#endif
+#if USE_TK_1
+ if (project.all_status_plates.tk1 != component_Ready)
+ edrk.errors.e3.bits.NOT_READY_TK_1 |= 1;
+#endif
+#if USE_TK_2
+ if (project.all_status_plates.tk2 != component_Ready)
+ edrk.errors.e3.bits.NOT_READY_TK_2 |= 1;
+#endif
+#if USE_TK_3
+ if (project.all_status_plates.tk3 != component_Ready)
+ edrk.errors.e3.bits.NOT_READY_TK_3 |= 1;
+#endif
+
+#if USE_ADC_0
+ if (project.all_status_plates.adc0 != component_Ready)
+ edrk.errors.e3.bits.NOT_READY_ADC_0 |= 1;
+#endif
+#if USE_ADC_1
+ if (project.all_status_plates.adc1 != component_Ready)
+ edrk.errors.e3.bits.NOT_READY_ADC_1 |= 1;
+#endif
+
+#if USE_HWP_0
+ if (project.all_status_plates.hwp0 != component_Ready)
+ edrk.errors.e3.bits.NOT_READY_HWP_0 |= 1;
+#endif
+
+#if USE_IN_0
+ if (project.all_status_plates.in0 != component_Ready)
+ edrk.errors.e3.bits.NOT_READY_IN_0 |= 1;
+#endif
+#if USE_IN_1
+ if (project.all_status_plates.in1 != component_Ready)
+ edrk.errors.e3.bits.NOT_READY_IN_1 |= 1;
+#endif
+
+#if USE_OUT_0
+ if (project.all_status_plates.out0 != component_Ready)
+ edrk.errors.e3.bits.NOT_READY_OUT_0 |= 1;
+#endif
+}
+
+int get_common_state_warning() {
+ return edrk.warnings.e0.all != 0 || edrk.warnings.e1.all != 0 ||
+ edrk.warnings.e2.all != 0 || edrk.warnings.e3.all != 0 ||
+ edrk.warnings.e4.all != 0 || edrk.warnings.e5.all != 0 ||
+ edrk.warnings.e6.all != 0 || edrk.warnings.e7.all != 0 ||
+ edrk.warnings.e8.all != 0 || edrk.warnings.e9.all != 0 ||
+ edrk.warnings.e10.all != 0 || edrk.warnings.e11.all != 0 ||
+ edrk.warnings.e12.all != 0 ? 1 : 0;
+}
+
+int get_common_state_overheat() {
+ return edrk.warnings.e2.bits.T_AIR0_MAX | edrk.warnings.e2.bits.T_AIR1_MAX |
+ edrk.warnings.e2.bits.T_AIR2_MAX | edrk.warnings.e2.bits.T_AIR3_MAX |
+ edrk.warnings.e2.bits.T_UO1_MAX | edrk.warnings.e2.bits.T_UO2_MAX |
+ edrk.warnings.e2.bits.T_UO3_MAX | edrk.warnings.e2.bits.T_UO4_MAX |
+ edrk.warnings.e2.bits.T_UO5_MAX | edrk.warnings.e2.bits.T_UO6_MAX |
+ edrk.warnings.e2.bits.T_UO7_MAX | edrk.warnings.e2.bits.T_WATER_EXT_MAX |
+ edrk.warnings.e2.bits.T_WATER_INT_MAX |
+ edrk.errors.e2.bits.T_AIR0_MAX | edrk.errors.e2.bits.T_AIR1_MAX |
+ edrk.errors.e2.bits.T_AIR2_MAX | edrk.errors.e2.bits.T_AIR3_MAX |
+ edrk.errors.e2.bits.T_UO1_MAX | edrk.errors.e2.bits.T_UO2_MAX |
+ edrk.errors.e2.bits.T_UO3_MAX | edrk.errors.e2.bits.T_UO4_MAX |
+ edrk.errors.e2.bits.T_UO5_MAX | edrk.errors.e2.bits.T_UO6_MAX |
+ edrk.errors.e2.bits.T_UO7_MAX | edrk.errors.e2.bits.T_WATER_EXT_MAX |
+ edrk.errors.e2.bits.T_WATER_INT_MAX;
+}
+
diff --git a/Inu/Src/main/detect_errors.h b/Inu/Src/main/detect_errors.h
new file mode 100644
index 0000000..48e3126
--- /dev/null
+++ b/Inu/Src/main/detect_errors.h
@@ -0,0 +1,80 @@
+/*
+ * detect_errors.h
+ *
+ * Created on: 4 ���. 2020 �.
+ * Author: star
+ */
+
+#ifndef SRC_MYLIBS_DETECT_ERRORS_H_
+#define SRC_MYLIBS_DETECT_ERRORS_H_
+
+
+
+#define TIME_WAIT_ERROR 20 // 2 sec
+#define TIME_WAIT_ERROR_QTV 100 // 10 sec
+#define TIME_WAIT_ERROR_CHARGE_ANSWER 60 // 6 sec
+#define TIME_WAIT_ERROR_IZOL 50 //5 sec //200 // 20 sec
+#define TIME_WAIT_ERROR_PUMP 100 // 10 sec
+#define TIME_WAIT_ERROR_FAN 300 // 30 sec
+#define TIME_WAIT_SENSOR_ROTOR_BREAK_ALL 200 // 20 sec
+#define TIME_WAIT_SENSOR_ROTOR_BREAK_DIRECTION 10 // 1 sec
+#define TIME_WAIT_SENSOR_ROTOR_BREAK_ONE_SENSOR 20 // 2 sec
+
+
+
+
+#define MINIMAL_LEVEL_ZAD_U 27962 // 10 V
+
+void clear_errors(void);
+void clear_warnings(void);
+void detect_error_all(void);
+void read_plane_errors(void);
+int detect_error_u_zpt_on_predzaryad(void);
+int detect_error_u_in(void);
+int detect_error_u_zpt_fast(void);
+
+
+void detect_error_from_knopka_avaria(void);
+void detect_error_ute4ka_water(void);
+void detect_error_t_vipr(void);
+void detect_error_power_upc(void);
+void detect_error_op_pit(void);
+void detect_error_p_water(void);
+void detect_error_pump_2(void);
+void detect_error_pump_1(void);
+void detect_error_pre_ready_pump(void);
+void detect_error_fan(void);
+void detect_error_block_qtv_from_svu(void);
+
+void detect_error_predohr_vipr(void);
+void detect_error_qtv(void);
+void detect_error_pre_charge(void);
+void detect_error_block_izol(void);
+void detect_error_nagrev(void);
+void detect_error_ground(void);
+void detect_error_block_door(void);
+void detect_error_optical_bus(void);
+void detect_error_sync_bus(void);
+int get_status_temper_acdrive_winding(int nc);
+int get_status_temper_acdrive_winding_with_limits(int nc, int alarm, int abnormal);
+int get_status_temper_acdrive_bear(int nc);
+int get_status_temper_acdrive_bear_with_limits(int nc, int alarm, int abnormal);
+int get_status_temper_air(int nc);
+int get_status_temper_air_with_limits(int nc, int alarm, int abnormal);
+int get_status_temper_u(int nc);
+int get_status_temper_u_with_limits(int nc, int alarm, int abnormal);
+int get_status_temper_water(int nc);
+int get_status_p_water_max(void);
+int get_status_p_water_min(int pump_on_off);
+void detect_error_t_water(void);
+void detect_error_t_air(void);
+void detect_error_t_u(void);
+void detect_error_acdrive_winding(void);
+
+int get_common_state_warning(void);
+int get_common_state_overheat(void);
+void detect_error_sensor_rotor(void);
+
+
+
+#endif /* SRC_MYLIBS_DETECT_ERRORS_H_ */
diff --git a/Inu/Src/main/detect_errors_adc.c b/Inu/Src/main/detect_errors_adc.c
new file mode 100644
index 0000000..634ea2f
--- /dev/null
+++ b/Inu/Src/main/detect_errors_adc.c
@@ -0,0 +1,310 @@
+/*
+ * detect_errors_adc.c
+ *
+ * Created on: 7 ���. 2020 �.
+ * Author: star
+ */
+#include <adc_tools.h>
+#include <detect_error_3_phase.h>
+#include <detect_errors_adc.h>
+#include <detect_phase_break.h>
+#include <edrk_main.h>
+#include <params_protect_adc.h>
+#include <protect_levels.h>
+#include "digital_filters.h"
+
+#include "IQmathLib.h"
+
+//ANALOG_PROTECT_LEVELS analog_protect_levels = ANALOG_PROTECT_LEVELS_DEFAULTS;
+
+//#pragma DATA_SECTION(analog_protect,".fast_vars");
+#pragma DATA_SECTION(analog_protect,".slow_vars");
+ANALOG_ADC_PROTECT analog_protect = ANALOG_ADC_PROTECT_DEFAULTS;
+
+//#pragma DATA_SECTION(break_Iout_1_state,".fast_vars");
+#pragma DATA_SECTION(break_Iout_1_state,".slow_vars");
+BREAK_PHASE_I break_Iout_1_state = BREAK_PHASE_I_DEFAULTS;
+
+//#pragma DATA_SECTION(break_Iout_2_state,".fast_vars");
+#pragma DATA_SECTION(break_Iout_2_state,".slow_vars");
+BREAK_PHASE_I break_Iout_2_state = BREAK_PHASE_I_DEFAULTS;
+
+int detect_error_Izpt();
+int detect_error_Ibreak(int res_num);
+void init_protect_3_phase(void);
+
+void init_analog_protect_levels(void) {
+ init_protect_3_phase();
+}
+
+#define AMPL_TO_RMS 0.709
+
+//#define LEVEL_I_1_2_DIBALANCE 1118481 // 200 A
+#define LEVEL_I_1_2_DIBALANCE 1677721 // 300 A
+
+void init_protect_3_phase(void) {
+ analog_protect.in_voltage[0].setup.levels.iqVal_module_max = edrk.iqMAX_U_IN;
+ analog_protect.in_voltage[0].setup.levels.iqVal_U_max = edrk.iqMAX_U_IN;
+ analog_protect.in_voltage[0].setup.levels.iqVal_V_max = edrk.iqMAX_U_IN;
+ analog_protect.in_voltage[0].setup.levels.iqVal_W_max = edrk.iqMAX_U_IN;
+ analog_protect.in_voltage[0].setup.levels.iqNominal_plus10 = _IQ(edrk.zadanie.ZadanieU_Charge*PLUS_10_PERCENT/NORMA_ACP);
+ analog_protect.in_voltage[0].setup.levels.iqNominal_plus20 = _IQ(edrk.zadanie.ZadanieU_Charge*PLUS_20_PERCENT/NORMA_ACP);
+ analog_protect.in_voltage[0].setup.levels.iqNominal_minus10 = _IQ(edrk.zadanie.ZadanieU_Charge*MINUS_10_PERCENT/NORMA_ACP);
+ analog_protect.in_voltage[0].setup.levels.iqNominal_minus20 = _IQ(edrk.zadanie.ZadanieU_Charge*MINUS_20_PERCENT/NORMA_ACP);
+ analog_protect.in_voltage[0].setup.levels.iqAsymmetry_delta = _IQ(edrk.zadanie.ZadanieU_Charge*ASYMMETRY_DELTA_PERCENTS/NORMA_ACP);
+ analog_protect.in_voltage[0].setup.use.all = 0;
+ analog_protect.in_voltage[0].setup.use.bits.phase_U = 0;
+ analog_protect.in_voltage[0].setup.use.bits.phase_V = 0;
+ analog_protect.in_voltage[0].setup.use.bits.phase_W = 0;
+ analog_protect.in_voltage[0].setup.use.bits.module = 0;
+ analog_protect.in_voltage[0].setup.use.bits.detect_minus_10 = 1;
+ analog_protect.in_voltage[0].setup.use.bits.detect_minus_20 = 1;
+ analog_protect.in_voltage[0].setup.use.bits.detect_plus_10 = 0;
+ analog_protect.in_voltage[0].setup.use.bits.detect_plus_20 = 1;
+ analog_protect.in_voltage[0].setup.use.bits.system_asymmetry_by_delta = 1;
+
+ analog_protect.in_voltage[1].setup.levels.iqVal_module_max = edrk.iqMAX_U_IN;
+ analog_protect.in_voltage[1].setup.levels.iqVal_U_max = edrk.iqMAX_U_IN;
+ analog_protect.in_voltage[1].setup.levels.iqVal_V_max = edrk.iqMAX_U_IN;
+ analog_protect.in_voltage[1].setup.levels.iqNominal_plus10 = _IQ(edrk.zadanie.ZadanieU_Charge*PLUS_10_PERCENT/NORMA_ACP);
+ analog_protect.in_voltage[1].setup.levels.iqNominal_plus20 = _IQ(edrk.zadanie.ZadanieU_Charge*PLUS_20_PERCENT/NORMA_ACP);
+ analog_protect.in_voltage[1].setup.levels.iqNominal_minus10 = _IQ(edrk.zadanie.ZadanieU_Charge*MINUS_10_PERCENT/NORMA_ACP);
+ analog_protect.in_voltage[1].setup.levels.iqNominal_minus20 = _IQ(edrk.zadanie.ZadanieU_Charge*MINUS_20_PERCENT/NORMA_ACP);
+ analog_protect.in_voltage[1].setup.levels.iqAsymmetry_delta = _IQ(edrk.zadanie.ZadanieU_Charge*ASYMMETRY_DELTA_PERCENTS/NORMA_ACP);
+ analog_protect.in_voltage[1].setup.use.all = 0;
+ analog_protect.in_voltage[1].setup.use.bits.phase_U = 0;
+ analog_protect.in_voltage[1].setup.use.bits.phase_V = 0;
+ analog_protect.in_voltage[1].setup.use.bits.phase_W = 0;
+ analog_protect.in_voltage[1].setup.use.bits.module = 0;
+ analog_protect.in_voltage[1].setup.use.bits.detect_minus_10 = 1;
+ analog_protect.in_voltage[1].setup.use.bits.detect_minus_20 = 1;
+ analog_protect.in_voltage[1].setup.use.bits.detect_plus_10 = 0;
+ analog_protect.in_voltage[1].setup.use.bits.detect_plus_20 = 1;
+ analog_protect.in_voltage[1].setup.use.bits.system_asymmetry_by_delta = 1;
+
+ /////////////////
+ analog_protect.out_I[0].setup.levels.iqVal_module_max = _IQ(LEVEL_ADC_I_AF / NORMA_ACP);
+ analog_protect.out_I[0].setup.levels.iqVal_U_max = _IQ(LEVEL_ADC_I_AF / NORMA_ACP);
+ analog_protect.out_I[0].setup.levels.iqVal_V_max = _IQ(LEVEL_ADC_I_AF / NORMA_ACP);
+ analog_protect.out_I[0].setup.levels.iqVal_W_max = _IQ(LEVEL_ADC_I_AF / NORMA_ACP);
+ analog_protect.out_I[0].setup.use.all = 0;
+ analog_protect.out_I[0].setup.use.bits.phase_U = 1;
+ analog_protect.out_I[0].setup.use.bits.phase_V = 1;
+ analog_protect.out_I[0].setup.use.bits.phase_W = 1;
+ analog_protect.out_I[0].setup.use.bits.break_phase = 1;
+
+ analog_protect.out_I[1].setup.levels.iqVal_module_max = _IQ(LEVEL_ADC_I_AF / NORMA_ACP);
+ analog_protect.out_I[1].setup.levels.iqVal_U_max = _IQ(LEVEL_ADC_I_AF / NORMA_ACP);
+ analog_protect.out_I[1].setup.levels.iqVal_V_max = _IQ(LEVEL_ADC_I_AF / NORMA_ACP);
+ analog_protect.out_I[1].setup.levels.iqVal_W_max = _IQ(LEVEL_ADC_I_AF / NORMA_ACP);
+ analog_protect.out_I[1].setup.use.all = 0;
+ analog_protect.out_I[1].setup.use.bits.phase_U = 1;
+ analog_protect.out_I[1].setup.use.bits.phase_V = 1;
+ analog_protect.out_I[1].setup.use.bits.phase_W = 1;
+ analog_protect.out_I[1].setup.use.bits.break_phase = 1;
+
+ analog_protect.iqI_zpt_level = _IQ(LEVEL_ADC_I_ZPT / NORMA_ACP);
+ analog_protect.iqI_break_level = _IQ(LEVEL_ADC_I_BREAK / NORMA_ACP);
+}
+
+#define min(x,y) (x) < (y) ? (x) : (y)
+#define max(x,y) (x) > (y) ? (x) : (y)
+
+void reinit_protect_I_and_U_settings(void) {
+ int max_I = 0;
+ analog_protect.in_voltage[0].setup.levels.iqVal_module_max = edrk.iqMAX_U_IN;
+ analog_protect.in_voltage[0].setup.levels.iqVal_U_max = edrk.iqMAX_U_IN;
+ analog_protect.in_voltage[0].setup.levels.iqVal_V_max = edrk.iqMAX_U_IN;
+ analog_protect.in_voltage[0].setup.levels.iqVal_W_max = edrk.iqMAX_U_IN;
+ analog_protect.in_voltage[0].setup.levels.iqNominal_plus10 = _IQ(edrk.zadanie.ZadanieU_Charge*PLUS_10_PERCENT/NORMA_ACP);
+ analog_protect.in_voltage[0].setup.levels.iqNominal_plus20 = _IQ(edrk.zadanie.ZadanieU_Charge*PLUS_20_PERCENT/NORMA_ACP);
+ analog_protect.in_voltage[0].setup.levels.iqNominal_minus10 = _IQ(edrk.zadanie.ZadanieU_Charge*MINUS_10_PERCENT/NORMA_ACP);
+ analog_protect.in_voltage[0].setup.levels.iqNominal_minus20 = _IQ(edrk.zadanie.ZadanieU_Charge*MINUS_20_PERCENT/NORMA_ACP);
+ analog_protect.in_voltage[0].setup.levels.iqAsymmetry_delta = _IQ(edrk.zadanie.ZadanieU_Charge*ASYMMETRY_DELTA_PERCENTS/NORMA_ACP);
+
+ analog_protect.in_voltage[1].setup.levels.iqVal_module_max = edrk.iqMAX_U_IN;
+ analog_protect.in_voltage[1].setup.levels.iqVal_U_max = edrk.iqMAX_U_IN;
+ analog_protect.in_voltage[1].setup.levels.iqVal_V_max = edrk.iqMAX_U_IN;
+ analog_protect.in_voltage[1].setup.levels.iqVal_W_max = edrk.iqMAX_U_IN;
+ analog_protect.in_voltage[1].setup.levels.iqNominal_plus10 = _IQ(edrk.zadanie.ZadanieU_Charge*PLUS_10_PERCENT/NORMA_ACP);
+ analog_protect.in_voltage[1].setup.levels.iqNominal_plus20 = _IQ(edrk.zadanie.ZadanieU_Charge*PLUS_20_PERCENT/NORMA_ACP);
+ analog_protect.in_voltage[1].setup.levels.iqNominal_minus10 = _IQ(edrk.zadanie.ZadanieU_Charge*MINUS_10_PERCENT/NORMA_ACP);
+ analog_protect.in_voltage[1].setup.levels.iqNominal_minus20 = _IQ(edrk.zadanie.ZadanieU_Charge*MINUS_20_PERCENT/NORMA_ACP);
+ analog_protect.in_voltage[1].setup.levels.iqAsymmetry_delta = _IQ(edrk.zadanie.ZadanieU_Charge*ASYMMETRY_DELTA_PERCENTS/NORMA_ACP);
+
+ max_I = max(protect_levels.alarm_Imax_U02, protect_levels.alarm_Imax_U03);
+ max_I = max(max_I, protect_levels.alarm_Imax_U04);
+ analog_protect.out_I[0].setup.levels.iqVal_module_max = _IQ(((float)max_I) / NORMA_ACP);
+ analog_protect.out_I[0].setup.levels.iqVal_U_max = _IQ(((float)protect_levels.alarm_Imax_U02) / NORMA_ACP);
+ analog_protect.out_I[0].setup.levels.iqVal_V_max = _IQ(((float)protect_levels.alarm_Imax_U03) / NORMA_ACP);
+ analog_protect.out_I[0].setup.levels.iqVal_W_max = _IQ(((float)protect_levels.alarm_Imax_U04) / NORMA_ACP);
+
+ max_I = max(protect_levels.alarm_Imax_U05, protect_levels.alarm_Imax_U06);
+ max_I = max(max_I, protect_levels.alarm_Imax_U07);
+ analog_protect.out_I[1].setup.levels.iqVal_module_max = _IQ(((float)max_I) / NORMA_ACP);
+ analog_protect.out_I[1].setup.levels.iqVal_U_max = _IQ(((float)protect_levels.alarm_Imax_U05) / NORMA_ACP);
+ analog_protect.out_I[1].setup.levels.iqVal_V_max = _IQ(((float)protect_levels.alarm_Imax_U06) / NORMA_ACP);
+ analog_protect.out_I[1].setup.levels.iqVal_W_max = _IQ(((float)protect_levels.alarm_Imax_U07) / NORMA_ACP);
+
+ analog_protect.iqI_zpt_level = _IQ(protect_levels.alarm_Izpt_max / NORMA_ACP);
+ analog_protect.iqI_break_level = _IQ(protect_levels.alarm_Imax_U01 / NORMA_ACP);
+
+ if (edrk.SumSbor == 0) {
+ analog_protect.in_voltage[0].setup.timers_inited = 0;
+ analog_protect.in_voltage[1].setup.timers_inited = 0;
+ analog_protect.out_I[0].setup.timers_inited = 0;
+ analog_protect.out_I[1].setup.timers_inited = 0;
+ }
+}
+
+#define TIME_DETECT_WARNING_U_PREDELS 100
+
+void detect_protect_adc(_iq teta_ch1, _iq teta_ch2) {
+ static unsigned int timer_U_in1_minus10 = 0;
+ static unsigned int timer_U_in1_minus20 = 0;
+ static unsigned int timer_U_in1_plus20 = 0;
+
+ static unsigned int timer_U_in2_minus10 = 0;
+ static unsigned int timer_U_in2_minus20 = 0;
+ static unsigned int timer_U_in2_plus20 = 0;
+
+ static unsigned int counter_in1_minus10 = 0;
+ static unsigned int counter_in2_minus10 = 0;
+ static unsigned int counter_in1_minus20 = 0;
+ static unsigned int counter_in2_minus20 = 0;
+
+
+ //������� ����������
+ //0
+ analog_protect.in_voltage[0].errors.all = 0;
+ analog_protect.in_voltage[0].iqVal_U = analog.iqUin_A1B1_rms;
+ analog_protect.in_voltage[0].iqVal_V = analog.iqUin_B1C1_rms;
+ analog_protect.in_voltage[0].iqVal_W = analog.iqUin_C1A1_rms;
+ analog_protect.in_voltage[0].iqVal_mod = filter.iqUin_m1;
+
+// analog_protect.in_voltage[0].calc(&analog_protect.in_voltage[0]);
+
+ //1
+ analog_protect.in_voltage[1].errors.all = 0;
+ analog_protect.in_voltage[1].iqVal_U = analog.iqUin_A2B2_rms;
+ analog_protect.in_voltage[1].iqVal_V = analog.iqUin_B2C2_rms;
+ analog_protect.in_voltage[1].iqVal_W = analog.iqUin_C2A2_rms;
+ analog_protect.in_voltage[1].iqVal_mod = filter.iqUin_m2;
+
+// analog_protect.in_voltage[1].calc(&analog_protect.in_voltage[1]);
+
+ //
+ edrk.errors.e0.bits.U_A1B1_MAX |= analog_protect.in_voltage[0].errors.bits.phase_U_max;
+ edrk.errors.e0.bits.U_B1C1_MAX |= analog_protect.in_voltage[0].errors.bits.phase_V_max;
+ edrk.errors.e0.bits.U_IN_MAX |= analog_protect.in_voltage[0].errors.bits.module_max;
+ //
+ edrk.errors.e0.bits.U_A2B2_MAX |= analog_protect.in_voltage[1].errors.bits.phase_U_max;
+ edrk.errors.e0.bits.U_B2C2_MAX |= analog_protect.in_voltage[1].errors.bits.phase_V_max;
+ edrk.errors.e0.bits.U_IN_MAX |= analog_protect.in_voltage[1].errors.bits.module_max;
+
+ edrk.warnings.e8.bits.U_IN_20_PROCENTS_HIGH = analog_protect.in_voltage[0].over_limit.bits.module_20_percent_hi || analog_protect.in_voltage[1].over_limit.bits.module_20_percent_hi;
+ edrk.errors.e8.bits.U_IN_20_PROCENTS_HIGH |= analog_protect.in_voltage[0].errors.bits.module_20_percent_hi;
+ edrk.errors.e8.bits.U_IN_20_PROCENTS_HIGH |= analog_protect.in_voltage[1].errors.bits.module_20_percent_hi;
+
+ if (edrk.from_shema_filter.bits.QTV_ON_OFF == 1
+ // && edrk.to_shema.bits.QTV_ON
+ )
+ {
+
+ // �������� ���������� ������ ��� ���������� ������� ��������
+ edrk.errors.e8.bits.U_IN_10_PROCENTS_LOW |= analog_protect.in_voltage[0].errors.bits.module_10_percent_low;
+ edrk.errors.e8.bits.U_IN_20_PROCENTS_LOW |= analog_protect.in_voltage[0].errors.bits.module_20_percent_low;
+
+ edrk.errors.e8.bits.U_IN_10_PROCENTS_LOW |= analog_protect.in_voltage[1].errors.bits.module_10_percent_low;
+ edrk.errors.e8.bits.U_IN_20_PROCENTS_LOW |= analog_protect.in_voltage[1].errors.bits.module_20_percent_low;
+
+ edrk.warnings.e8.bits.U_IN_10_PROCENTS_LOW = pause_detect_error(&counter_in1_minus10,
+ TIME_DETECT_WARNING_U_PREDELS,
+ analog_protect.in_voltage[0].over_limit.bits.module_10_percent_low);
+
+ edrk.warnings.e8.bits.U_IN_10_PROCENTS_LOW = pause_detect_error(&counter_in2_minus10,
+ TIME_DETECT_WARNING_U_PREDELS,
+ analog_protect.in_voltage[1].over_limit.bits.module_10_percent_low);
+
+ edrk.warnings.e8.bits.U_IN_20_PROCENTS_LOW = pause_detect_error(&counter_in1_minus20,
+ TIME_DETECT_WARNING_U_PREDELS,
+ analog_protect.in_voltage[0].over_limit.bits.module_20_percent_low);
+
+ edrk.warnings.e8.bits.U_IN_20_PROCENTS_LOW = pause_detect_error(&counter_in2_minus20,
+ TIME_DETECT_WARNING_U_PREDELS,
+ analog_protect.in_voltage[1].over_limit.bits.module_20_percent_low);
+
+ edrk.errors.e9.bits.DISBALANCE_Uin_1 |= analog_protect.in_voltage[0].errors.bits.system_asymmetry;
+ edrk.errors.e9.bits.DISBALANCE_Uin_2 |= analog_protect.in_voltage[1].errors.bits.system_asymmetry;
+
+ }
+ else
+ {
+ edrk.warnings.e8.bits.U_IN_10_PROCENTS_LOW = 0;
+ edrk.warnings.e8.bits.U_IN_20_PROCENTS_LOW = 0;
+ }
+
+ //�������� ����
+ analog_protect.out_I[0].errors.all = 0;
+ analog_protect.out_I[0].iqVal_U = analog.iqIu_1;
+ analog_protect.out_I[0].iqVal_V = analog.iqIv_1;
+ analog_protect.out_I[0].iqVal_W = analog.iqIw_1;
+ analog_protect.out_I[0].iqVal_mod = analog.iqIm_1;
+ analog_protect.out_I[0].break_phase = &break_Iout_1_state;
+ analog_protect.out_I[0].iqTeta = teta_ch1;
+
+// analog_protect.out_I[0].calc(&analog_protect.out_I[0]);
+
+ edrk.errors.e1.bits.I_UO2_MAX = analog_protect.out_I[0].errors.bits.phase_U_max;
+ edrk.errors.e1.bits.I_UO3_MAX = analog_protect.out_I[0].errors.bits.phase_V_max;
+ edrk.errors.e1.bits.I_UO4_MAX = analog_protect.out_I[0].errors.bits.phase_W_max;
+
+ if (analog_protect.out_I[0].errors.bits.break_phase) {
+ edrk.errors.e8.bits.LOSS_OUTPUT_U1 = analog_protect.out_I[0].errors.bits.break_phase_U;
+ edrk.errors.e8.bits.LOSS_OUTPUT_V1 = analog_protect.out_I[0].errors.bits.break_phase_V;
+ edrk.errors.e8.bits.LOSS_OUTPUT_W1 = analog_protect.out_I[0].errors.bits.break_phase_W;
+ }
+
+ analog_protect.out_I[1].errors.all = 0;
+ analog_protect.out_I[1].iqVal_U = analog.iqIu_2;
+ analog_protect.out_I[1].iqVal_V = analog.iqIv_2;
+ analog_protect.out_I[1].iqVal_W = analog.iqIw_2;
+ analog_protect.out_I[1].iqVal_mod = analog.iqIm_2;
+ analog_protect.out_I[1].break_phase = &break_Iout_2_state;
+ analog_protect.out_I[1].iqTeta = teta_ch2;
+
+// analog_protect.out_I[1].calc(&analog_protect.out_I[1]);
+
+ edrk.errors.e1.bits.I_UO5_MAX = analog_protect.out_I[1].errors.bits.phase_U_max;
+ edrk.errors.e1.bits.I_UO6_MAX = analog_protect.out_I[1].errors.bits.phase_V_max;
+ edrk.errors.e1.bits.I_UO7_MAX = analog_protect.out_I[1].errors.bits.phase_W_max;
+ if (analog_protect.out_I[1].errors.bits.break_phase) {
+ edrk.errors.e8.bits.LOSS_OUTPUT_U2 = analog_protect.out_I[1].errors.bits.break_phase_U;
+ edrk.errors.e8.bits.LOSS_OUTPUT_V2 = analog_protect.out_I[1].errors.bits.break_phase_V;
+ edrk.errors.e8.bits.LOSS_OUTPUT_W2 = analog_protect.out_I[1].errors.bits.break_phase_W;
+ }
+
+ edrk.errors.e8.bits.DISBALANCE_IM1_IM2 |= _IQabs(analog.iqIm_1 - analog.iqIm_2) > LEVEL_I_1_2_DIBALANCE ? 1 : 0;
+
+ //I zpt
+ edrk.errors.e0.bits.I_1_MAX |= detect_error_Izpt();
+ //��������� ���������
+ edrk.errors.e1.bits.I_BREAK_1_MAX |= detect_error_Ibreak(1);
+ edrk.errors.e1.bits.I_BREAK_2_MAX |= detect_error_Ibreak(2);
+}
+
+int detect_error_Izpt() {
+ return analog.iqIin_1 > analog_protect.iqI_zpt_level ? 1 : 0;
+}
+
+int detect_error_Ibreak(int res_num) {
+ if (res_num == 1) {
+ return analog.iqIbreak_1 > analog_protect.iqI_break_level ||
+ analog.iqIbreak_1 < -analog_protect.iqI_break_level ? 1 : 0;
+ } else if (res_num == 2) {
+ return analog.iqIbreak_2 > analog_protect.iqI_break_level ||
+ analog.iqIbreak_2 < -analog_protect.iqI_break_level ? 1 : 0;
+ } else {
+ return 0;
+ }
+}
diff --git a/Inu/Src/main/detect_errors_adc.h b/Inu/Src/main/detect_errors_adc.h
new file mode 100644
index 0000000..6aa850d
--- /dev/null
+++ b/Inu/Src/main/detect_errors_adc.h
@@ -0,0 +1,45 @@
+/*
+ * detect_errors_adc.h
+ *
+ * Created on: 7 ���. 2020 �.
+ * Author: star
+ */
+
+#ifndef SRC_MAIN_DETECT_ERRORS_ADC_H_
+#define SRC_MAIN_DETECT_ERRORS_ADC_H_
+
+#include <detect_error_3_phase.h>
+
+typedef struct {
+ SETUP_3_PHASE_PROTECT U_in;
+ SETUP_3_PHASE_PROTECT I_out;
+
+ _iq iqI_zpt;
+ _iq iqI_break;
+
+} ANALOG_PROTECT_LEVELS;
+
+#define ANALOG_PROTECT_LEVELS_DEFAULTS { SETUP_3_PHASE_PROTECT_DEFAULTS, \
+ SETUP_3_PHASE_PROTECT_DEFAULTS, \
+ 0,0}
+
+typedef struct {
+ DETECT_PROTECT_3_PHASE in_voltage[2];
+ DETECT_PROTECT_3_PHASE out_I[2];
+
+ _iq iqI_zpt_level;
+ _iq iqI_break_level;
+} ANALOG_ADC_PROTECT;
+
+#define ANALOG_ADC_PROTECT_DEFAULTS { \
+ {DETECT_PROTECT_3_PHASE_DEFAULTS,DETECT_PROTECT_3_PHASE_DEFAULTS},\
+ {DETECT_PROTECT_3_PHASE_DEFAULTS,DETECT_PROTECT_3_PHASE_DEFAULTS},\
+ 0,0 }
+
+void init_analog_protect_levels(void);
+void detect_protect_adc (_iq teta_ch1, _iq teta_ch2);
+void reinit_protect_I_and_U_settings(void);
+
+
+extern ANALOG_ADC_PROTECT analog_protect;
+#endif /* SRC_MAIN_DETECT_ERRORS_ADC_H_ */
diff --git a/Inu/Src/main/detect_overload.c b/Inu/Src/main/detect_overload.c
new file mode 100644
index 0000000..fce38dd
--- /dev/null
+++ b/Inu/Src/main/detect_overload.c
@@ -0,0 +1,92 @@
+/*
+ * detect_overload.c
+ *
+ * Created on: 15 ���. 2020 �.
+ * Author: star
+ */
+#include <adc_tools.h>
+#include <detect_overload.h>
+#include <edrk_main.h>
+#include <params_motor.h>
+#include <params_pwm24.h>
+#include "alg_simple_scalar.h"
+
+#include "IQmathLib.h"
+
+DETECT_OVERLOAD out_I_over_1_6 = DETECT_OVERLOAD_DEFAULTS;
+
+#define CALLS_IN_PWM_INT 2 //���������� ���������� �� ������ ��� (1 ��� 2)
+
+void init_detect_overloads(void) {
+ out_I_over_1_6.level_overload = _IQmpy(I_OUT_NOMINAL_IQ, _IQ(1.6));
+ out_I_over_1_6.time_over_tics = (long) 15 * FREQ_PWM * CALLS_IN_PWM_INT;
+ out_I_over_1_6.time_latch_tics = (long) 45 * FREQ_PWM * CALLS_IN_PWM_INT;
+ out_I_over_1_6.tics_counter = 0;
+ out_I_over_1_6.overload_detected = 0;
+
+}
+
+int calc_detect_overload(DETECT_OVERLOAD *v) {
+ if (v->val > v->level_overload) {
+ v->tics_counter += 1;
+ if (v->tics_counter > v->time_over_tics) { v->tics_counter = v->time_over_tics;}
+ } else {
+ if (v->tics_counter > 0) { v->tics_counter -= 1; }
+ else {v->tics_counter = 0;}
+ if (v->overload_detected && v->tics_counter == 0) {
+ v->overload_detected = 0;
+ }
+ }
+ if (v->tics_counter >= v->time_over_tics) {
+ v->overload_detected = 1;
+ v->tics_counter = v->time_latch_tics;
+ }
+ return v->overload_detected;
+}
+
+#define LIMIT_DETECT_LEVEL 16273899 // 0.97 //15938355 //95%
+
+void check_all_power_limits() {
+ _iq level_I_nominal = 0;
+
+ //edrk.power_limit.bits.limit_by_temper = edrk.temper_limit_koeffs.code_status;
+
+ if (edrk.Go)
+ {
+
+ level_I_nominal = _IQmpy(LIMIT_DETECT_LEVEL, edrk.zadanie.iq_Izad_rmp);
+
+ if ((filter.iqIm > level_I_nominal) ||
+ out_I_over_1_6.overload_detected)
+ {
+ edrk.power_limit.bits.limit_Iout = 1;
+ } else
+ {
+ edrk.power_limit.bits.limit_Iout = 0;
+ }
+ }
+ else
+ edrk.power_limit.bits.limit_Iout = 0;
+
+// if (edrk.from_uom.code>1)
+// edrk.power_limit.bits.limit_UOM = 1;
+// else
+// edrk.power_limit.bits.limit_UOM = 0;
+
+//filter.PowerScalar + edrk.iq_power_kw_another_bs
+ if ( (edrk.iq_power_kw_full_filter_abs > _IQmpy(LIMIT_DETECT_LEVEL, edrk.zadanie.iq_limit_power_zad_rmp))
+ || simple_scalar1.flag_decr_mzz_power
+ // ������ ������ ��� ���������� ����������, ��� FOC, ��������, ����� ��������� ��������.
+ )
+ {
+ edrk.power_limit.bits.limit_from_SVU = 1;
+ }
+ else
+ {
+ edrk.power_limit.bits.limit_from_SVU = 0;
+ }
+
+
+}
+
+
diff --git a/Inu/Src/main/detect_overload.h b/Inu/Src/main/detect_overload.h
new file mode 100644
index 0000000..897e24a
--- /dev/null
+++ b/Inu/Src/main/detect_overload.h
@@ -0,0 +1,32 @@
+/*
+ * detect_overload.h
+ *
+ * Created on: 15 ���. 2020 �.
+ * Author: star
+ */
+
+#ifndef SRC_MAIN_DETECT_OVERLOAD_H_
+#define SRC_MAIN_DETECT_OVERLOAD_H_
+
+typedef struct {
+ _iq val; //������� ��������
+ _iq level_overload; //������� ����������
+ int overload_detected; //����������� ��������
+
+ unsigned long time_over_tics;
+ unsigned long time_latch_tics;
+ unsigned long tics_counter;
+
+ int (*calc)();
+} DETECT_OVERLOAD;
+
+#define DETECT_OVERLOAD_DEFAULTS {0,0,0, 0,0,0, \
+ calc_detect_overload }
+
+void init_detect_overloads(void);
+int calc_detect_overload(DETECT_OVERLOAD *v);
+void check_all_power_limits();
+
+extern DETECT_OVERLOAD out_I_over_1_6;
+
+#endif /* SRC_MAIN_DETECT_OVERLOAD_H_ */
diff --git a/Inu/Src/main/detect_phase_break.c b/Inu/Src/main/detect_phase_break.c
new file mode 100644
index 0000000..69f0b55
--- /dev/null
+++ b/Inu/Src/main/detect_phase_break.c
@@ -0,0 +1,112 @@
+/*
+ * detect_phase_break.c
+ *
+ * Created on: 10 ���. 2020 �.
+ * Author: star
+ */
+
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+#include "IQmathLib.h"
+
+#include <detect_phase_break.h>
+
+
+#define CONST_IQ_2PI 105414357 // 360 ��������
+#define CONST_IQ_PI2 26353589 // 90 ��������
+
+
+static void clear_alg_vars(BREAK_PHASE_I *v);
+static int calc_direction(BREAK_PHASE_I *v);
+static int calc_error_if_break(BREAK_PHASE_I *v, int num, int field_direction);
+
+//������� ���������� ����� ������, �� ����������� ����� ����
+// 0 - ��� ������
+// 1- ���� U
+// 2- ���� V
+// 3- ���� W
+int calc_break_I_phase(BREAK_PHASE_I *v) {
+
+ int field_direction = 1; //1 - forward, 0 - reverse
+ int err = 0;
+
+ if (v->teta > CONST_IQ_2PI) {
+ v->teta = CONST_IQ_2PI;
+ }
+ if(v->teta < 0) {
+ v->teta = 0;
+ }
+ field_direction = calc_direction(v);
+ if (v->iqImod < v->config.iqLevelZero) {
+ clear_alg_vars(v);
+ return 0;
+ }
+
+ if (_IQabs(v->iqIu) < v->config.iqLevelZero &&
+ _IQabs(v->iqIv + v->iqIw) < v->config.iqLevelZero &&
+ _IQabs(v->iqIv) > v->config.iqLevelZero && _IQabs(v->iqIw) > v->config.iqLevelZero) {
+ err = calc_error_if_break(v, 0, field_direction);
+ } else {
+ v->latch_break_start[0] = 0;
+ }
+ if (_IQabs(v->iqIv) < v->config.iqLevelZero &&
+ _IQabs(v->iqIu + v->iqIw) < v->config.iqLevelZero &&
+ _IQabs(v->iqIu) > v->config.iqLevelZero && _IQabs(v->iqIw) > v->config.iqLevelZero) {
+ err = calc_error_if_break(v, 1, field_direction);
+ } else {
+ v->latch_break_start[1] = 0;
+ }
+ if (_IQabs(v->iqIw) < v->config.iqLevelZero &&
+ _IQabs(v->iqIv + v->iqIu) < v->config.iqLevelZero &&
+ _IQabs(v->iqIv) > v->config.iqLevelZero && _IQabs(v->iqIu) > v->config.iqLevelZero) {
+ err = calc_error_if_break(v, 2, field_direction);
+ } else {
+ v->latch_break_start[2] = 0;
+ }
+
+ return err;
+}
+
+void clear_alg_vars(BREAK_PHASE_I *v) {
+ int i = 0;
+ for (i = 0; i < 3; i++) {
+ v->latch_break_start[i] = 0;
+ v->latched_teta[i] = 0;
+ }
+}
+
+int calc_direction(BREAK_PHASE_I *v) {
+ int direction = 1;
+ if (v->teta > v->prev_teta) {
+ if (v->teta - v->prev_teta < CONST_IQ_PI2) { direction = 1;}
+ else { direction = 0;}
+ } else {
+ if (v->prev_teta - v->teta < CONST_IQ_2PI) { direction = 0;}
+ else { direction = 1;}
+ }
+ v->prev_teta = v->teta;
+ return direction;
+}
+
+int calc_error_if_break(BREAK_PHASE_I *v, int num, int field_direction) {
+ int err = 0;
+ if (v->latch_break_start[num] == 0) {
+ v->latch_break_start[num] = 1;
+ v->latched_teta[num] = v->teta;
+ } else {
+ if (field_direction == 0) {
+ if (v->latched_teta[num] > v->teta) {
+ err = v->latched_teta[num] - v->teta > CONST_IQ_PI2 ? num + 1 : 0;
+ } else {
+ err = v->teta - v->latched_teta[num] < CONST_IQ_PI2 - CONST_IQ_2PI ? num + 1 : 0;
+ }
+ } else {
+ if (v->latched_teta[num] < v->teta) {
+ err = v->teta - v->latched_teta[num] > CONST_IQ_PI2 ? num + 1 : 0;
+ } else {
+ err = v->latched_teta[num] - v->teta < CONST_IQ_PI2 - CONST_IQ_2PI ? num + 1 : 0;
+ }
+ }
+ }
+ return err;
+}
diff --git a/Inu/Src/main/detect_phase_break.h b/Inu/Src/main/detect_phase_break.h
new file mode 100644
index 0000000..66104d8
--- /dev/null
+++ b/Inu/Src/main/detect_phase_break.h
@@ -0,0 +1,36 @@
+/*
+ * detect_phase_break.h
+ *
+ * Created on: 10 ���. 2020 �.
+ * Author: star
+ */
+
+#ifndef SRC_MAIN_DETECT_PHASE_BREAK_H_
+#define SRC_MAIN_DETECT_PHASE_BREAK_H_
+
+typedef struct {
+ _iq iqIu;
+ _iq iqIv;
+ _iq iqIw;
+ _iq iqImod;
+ _iq teta;
+ _iq prev_teta;
+
+ _iq latched_teta[3];
+ int latch_break_start[3];
+
+ struct {
+ _iq iqLevelZero;
+
+ } config;
+
+ int (*calc)();
+} BREAK_PHASE_I;
+
+#define BREAK_PHASE_I_DEFAULTS {0,0,0,0,0,0, \
+ {0,0,0}, {0,0,0}, {0}, \
+ calc_break_I_phase }
+
+int calc_break_I_phase(BREAK_PHASE_I *v);
+
+#endif /* SRC_MAIN_DETECT_PHASE_BREAK_H_ */
diff --git a/Inu/Src/main/detect_phase_break2.c b/Inu/Src/main/detect_phase_break2.c
new file mode 100644
index 0000000..4cfb921
--- /dev/null
+++ b/Inu/Src/main/detect_phase_break2.c
@@ -0,0 +1,203 @@
+/*
+ * detect_phase_break.c
+ *
+ * Created on: 10 ���. 2020 �.
+ * Author: star
+ */
+
+#include "IQmathLib.h"
+
+//#include "DSP281x_Examples.h" // DSP281x Examples Include File
+//#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+
+#include "detect_phase_break2.h"
+
+
+#define CONST_IQ_2PI 105414357 // 2*pi 360 ��������
+#define CONST_IQ_3_2PI 79060767 // 4/3 pi 270 ��������
+#define CONST_IQ_PI2 26353589 // 90 ��������
+
+
+
+void check_brocken_phase(BREAK2_PHASE *v)
+{
+ int i;
+ int ph_a=0, ph_b=0, ph_c=0;
+ _iq plus_a, max_a;
+
+ if ( (v->iqCh[0] >= v->iqCh[1] && v->iqCh[0] < v->iqCh[2])
+ || (v->iqCh[0] >= v->iqCh[2] && v->iqCh[0] < v->iqCh[1]) )
+ ph_a = 1;
+ else
+ ph_a = -1;
+
+ if ( (v->iqCh[1] >= v->iqCh[0] && v->iqCh[1] < v->iqCh[2])
+ || (v->iqCh[1] >= v->iqCh[2] && v->iqCh[1] < v->iqCh[0]) )
+ ph_b = 1;
+ else
+ ph_b = -1;
+
+ if ( (v->iqCh[2] >= v->iqCh[0] && v->iqCh[2] < v->iqCh[1])
+ || (v->iqCh[2] >= v->iqCh[1] && v->iqCh[2] < v->iqCh[0]) )
+ ph_c = 1;
+ else
+ ph_c = -1;
+
+
+ // plus_a = _IQ(360.0/v->config.freq_pwm * v->freq_signal);
+ plus_a = _IQmpy(v->config.calc_const, v->freq_signal);
+
+
+ v->sum_brocken_out[0] += plus_a*ph_a;
+ v->sum_brocken_out[1] += plus_a*ph_b;
+ v->sum_brocken_out[2] += plus_a*ph_c;
+
+ v->plus_a = plus_a;
+
+ for (i=0;i<3;i++)
+ {
+ if (v->sum_brocken_out[i]>=CONST_IQ_2PI) v->sum_brocken_out[i] = CONST_IQ_2PI;
+ if (v->sum_brocken_out[i]<=0) v->sum_brocken_out[i] = 0;
+
+ if (v->sum_brocken_out[i]>CONST_IQ_3_2PI)
+ v->return_brocken_code |= (1<<i);
+ }
+
+ max_a = 0;
+ if (v->sum_brocken_out[0]>=max_a) max_a = v->sum_brocken_out[0];
+ if (v->sum_brocken_out[1]>=max_a) max_a = v->sum_brocken_out[1];
+ if (v->sum_brocken_out[2]>=max_a) max_a = v->sum_brocken_out[2];
+ v->sum_brocken_out[3] = max_a; // ����� ��������
+
+}
+
+
+
+void check_i_out_brocken(float freq)
+{
+
+
+
+}
+
+
+
+
+
+//������� ���������� ����� ������, �� ����������� ����� ����
+// 0 - ��� ������
+// 1- ���� U
+// 2- ���� V
+// 3- ���� W
+int calc_break2_phase(BREAK2_PHASE *v) {
+
+// int field_direction = 1; //1 - forward, 0 - reverse
+ int err = 0;
+
+ if (v->freq_signal==0)
+ {
+ v->sum_brocken_out[0] = 0;
+ v->sum_brocken_out[1] = 0;
+ v->sum_brocken_out[2] = 0;
+ v->sum_brocken_out[3] = 0;
+ v->brocken_i_out = 0;
+ }
+ else
+ {
+ if (_IQabs(v->iqCh[0])>v->config.minimal_level
+ || _IQabs(v->iqCh[1])>v->config.minimal_level
+ || _IQabs(v->iqCh[2])>v->config.minimal_level )
+ {
+ check_brocken_phase(v);
+ }
+ else
+ {
+
+ v->iqCh[0] = 0;
+ v->iqCh[1] = 0;
+ v->iqCh[2] = 0;
+
+ check_brocken_phase(v);
+
+ }
+ }
+
+// if (brocken_i_out & 0x1)
+// error.power_errors.bit.phase_a_brocken |= 1;
+// if (brocken_i_out & 0x2)
+// error.power_errors.bit.phase_b_brocken |= 1;
+// if (brocken_i_out & 0x4)
+// error.power_errors.bit.phase_c_brocken |= 1;
+//
+// if(is_errors()) set_err_state();
+
+
+//
+// if (v->teta > CONST_IQ_2PI) {
+// v->teta = CONST_IQ_2PI;
+// }
+// if(v->teta < 0) {
+// v->teta = 0;
+// }
+// field_direction = calc_direction(v);
+// if (v->iqImod < v->config.iqLevelZero) {
+// clear_alg_vars(v);
+// return 0;
+// }
+//
+// if (_IQabs(v->iqIu) < v->config.iqLevelZero &&
+// _IQabs(v->iqIv + v->iqIw) < v->config.iqLevelZero &&
+// _IQabs(v->iqIv) > v->config.iqLevelZero && _IQabs(v->iqIw) > v->config.iqLevelZero) {
+// err = calc_error_if_break(v, 0, field_direction);
+// } else {
+// v->latch_break_start[0] = 0;
+// }
+// if (_IQabs(v->iqIv) < v->config.iqLevelZero &&
+// _IQabs(v->iqIu + v->iqIw) < v->config.iqLevelZero &&
+// _IQabs(v->iqIu) > v->config.iqLevelZero && _IQabs(v->iqIw) > v->config.iqLevelZero) {
+// err = calc_error_if_break(v, 1, field_direction);
+// } else {
+// v->latch_break_start[1] = 0;
+// }
+// if (_IQabs(v->iqIw) < v->config.iqLevelZero &&
+// _IQabs(v->iqIv + v->iqIu) < v->config.iqLevelZero &&
+// _IQabs(v->iqIv) > v->config.iqLevelZero && _IQabs(v->iqIu) > v->config.iqLevelZero) {
+// err = calc_error_if_break(v, 2, field_direction);
+// } else {
+// v->latch_break_start[2] = 0;
+// }
+
+ return err;
+}
+
+
+
+
+void init_break2_phase(BREAK2_PHASE *v)
+{
+ v->config.iq_freq = _IQ(v->config.freq_pwm / v->config.norma_freq);
+ v->config.calc_const = _IQdiv(CONST_IQ_2PI, v->config.iq_freq);
+ v->return_brocken_code = 0;
+
+
+}
+
+void clear_break2_phase(BREAK2_PHASE *v)
+{
+
+ v->iqCh[0] = 0;
+ v->iqCh[1] = 0;
+ v->iqCh[2] = 0;
+ v->sum_brocken_out[0] = 0;
+ v->sum_brocken_out[1] = 0;
+ v->sum_brocken_out[2] = 0;
+ v->sum_brocken_out[3] = 0;
+ v->brocken_i_out = 0;
+
+ v->return_brocken_code = 0;
+}
+
+
+
+
+
diff --git a/Inu/Src/main/detect_phase_break2.h b/Inu/Src/main/detect_phase_break2.h
new file mode 100644
index 0000000..c32608e
--- /dev/null
+++ b/Inu/Src/main/detect_phase_break2.h
@@ -0,0 +1,50 @@
+/*
+ * detect_phase_break2.h
+ *
+ * Created on: 10 ���. 2020 �.
+ * Author: star
+ */
+
+#ifndef SRC_MAIN_DETECT_PHASE_BREAK2_H_
+#define SRC_MAIN_DETECT_PHASE_BREAK2_H_
+
+#include "IQmathLib.h"
+
+
+typedef struct {
+ _iq iqCh[3];
+ _iq sum_brocken_out[4]; // 4 ������� - ��� ����. �� ������ ����
+ _iq freq_signal;
+
+ int brocken_i_out;
+ int return_brocken_code;
+ _iq plus_a;
+
+
+ struct {
+ unsigned int freq_pwm;
+ unsigned int norma_freq;
+
+ _iq minimal_level;
+ _iq calc_const;
+ _iq iq_freq;
+ } config;
+
+ int (*calc)();
+ void (*init)();
+ void (*clear_error)();
+
+} BREAK2_PHASE;
+
+#define BREAK2_PHASE_DEFAULTS {{0,0,0},\
+ {0,0,0,0},\
+ 0,0,0,0,\
+ 0,0,0,0,0, \
+ calc_break2_phase, init_break2_phase, clear_break2_phase }
+
+void check_brocken_phase(BREAK2_PHASE *v);
+int calc_break2_phase(BREAK2_PHASE *v);
+void init_break2_phase(BREAK2_PHASE *v);
+void clear_break2_phase(BREAK2_PHASE *v);
+
+#endif /* SRC_MAIN_DETECT_PHASE_BREAK2_H_ */
diff --git a/Inu/Src/main/digital_filters.c b/Inu/Src/main/digital_filters.c
new file mode 100644
index 0000000..a94d46b
--- /dev/null
+++ b/Inu/Src/main/digital_filters.c
@@ -0,0 +1,103 @@
+/*
+ * digital_filters.c
+ *
+ * Created on: 13 ����. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+
+
+////////////////////////////////////////////////////////////////////
+unsigned int filter_digital_input(unsigned int prev_valus, unsigned int *c_plus, unsigned int max_wait, unsigned int flag)
+{
+
+ if (flag)
+ {
+ if ((*c_plus)>=max_wait)
+ {
+ return 1;
+ }
+ else
+ {
+ (*c_plus)++;
+ return (prev_valus);
+ }
+ }
+ else
+ {
+ if ((*c_plus)==0)
+ {
+ return 0;
+ }
+ else
+ {
+ (*c_plus)--;
+ return (prev_valus);
+ }
+ }
+}
+///////////////////////////////////////////////////////////////////
+//TODO: may be move to detect_errors.c
+unsigned int pause_detect_error(unsigned int *c_err, unsigned int max_wait,unsigned int flag)
+{
+ if (flag)
+ {
+ if ((*c_err)>=max_wait)
+ {
+ return 1;
+ }
+ else
+ {
+ (*c_err)++;
+ return 0;
+ }
+ }
+ else
+ {
+ (*c_err) = 0;
+ return 0;
+
+ }
+
+
+
+}
+
+
+
+//////////////////////////////////////////////////////////
+
+
+
+unsigned int filter_err_count(unsigned int *counter, unsigned int max_errors, unsigned int err, unsigned int cmd)
+{
+ if (cmd==1)
+ {
+ (*counter) = 0;
+ return 0;
+ }
+
+ if (err)
+ {
+ if ((*counter)>=max_errors)
+ return 1;
+ else
+ (*counter)++;
+
+ return 0;
+ }
+
+ if (err==0)
+ {
+ if ((*counter)==0)
+ return 0;
+ else
+ (*counter)--;
+
+ return 0;
+ }
+ return 0;
+}
+
+
+
diff --git a/Inu/Src/main/digital_filters.h b/Inu/Src/main/digital_filters.h
new file mode 100644
index 0000000..bc24cac
--- /dev/null
+++ b/Inu/Src/main/digital_filters.h
@@ -0,0 +1,19 @@
+/*
+ * digital_filters.h
+ *
+ * Created on: 13 ����. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+#ifndef SRC_MAIN_DIGITAL_FILTERS_H_
+#define SRC_MAIN_DIGITAL_FILTERS_H_
+
+unsigned int filter_digital_input(unsigned int prev_valus, unsigned int *c_plus, unsigned int max_wait, unsigned int flag);
+
+unsigned int pause_detect_error(unsigned int *c_err, unsigned int max_wait,unsigned int flag);
+
+
+unsigned int filter_err_count(unsigned int *counter, unsigned int max_errors, unsigned int err, unsigned int cmd);
+
+
+#endif /* SRC_MAIN_DIGITAL_FILTERS_H_ */
diff --git a/Inu/Src/main/edrk_main.c b/Inu/Src/main/edrk_main.c
new file mode 100644
index 0000000..c89a473
--- /dev/null
+++ b/Inu/Src/main/edrk_main.c
@@ -0,0 +1,2736 @@
+#include <281xEvTimersInit.h>
+#include <adc_tools.h>
+#include <alg_simple_scalar.h>
+#include <break_regul.h>
+#include <calc_rms_vals.h>
+#include <calc_tempers.h>
+#include <can_bs2bs.h>
+#include <detect_errors.h>
+#include <detect_errors_adc.h>
+#include <detect_overload.h>
+#include <detect_overload.h>
+#include <edrk_main.h>
+//#include <log_to_mem.h>
+#include <math.h>
+#include <message_modbus.h>
+#include <modbus_hmi.h>
+#include <modbus_hmi_update.h>
+#include <modbus_svu_update.h>
+#include <optical_bus.h>
+#include <overheat_limit.h>
+#include <params.h>
+#include <params_alg.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+#include <params_temper_p.h>
+#include <project.h>
+#include <pump_control.h>
+#include <PWMTMSHandle.h>
+#include <PWMTools.h>
+#include <sync_tools.h>
+#include <v_rotor.h>
+#include <vector.h>
+
+#include "mathlib.h"
+#include "params_hwp.h"
+
+//#include "modbus_fill_table.h"
+
+#include "big_dsp_module.h"
+#include "control_station.h"
+#include "CAN_Setup.h"
+
+#include "global_time.h"
+#include "IQmathLib.h"
+#include "mathlib.h"
+
+#include "modbus_table_v2.h"
+#include "oscil_can.h"
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_SWPrioritizedIsrLevels.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h"
+#include "alg_pll.h"
+#include "vector_control.h"
+#include "CRC_Functions.h"
+#include "RS_Functions.h"
+#include "xp_project.h"
+#include "sbor_shema.h"
+#include "alarm_log_can.h"
+#include "pwm_test_lines.h"
+#include "master_slave.h"
+#include "xp_write_xpwm_time.h"
+#include "v_rotor_22220.h"
+#include "log_to_memory.h"
+#include "log_params.h"
+#include "build_version.h"
+#include "profile_interrupt.h"
+#include "limit_power.h"
+#include "pwm_logs.h"
+#include "logs_hmi.h"
+#include "alarm_log.h"
+#include "can_protocol_ukss.h"
+
+#include "ukss_tools.h"
+#include "another_bs.h"
+#include "temper_p_tools.h"
+#include "digital_filters.h"
+#include "pll_tools.h"
+#include "ramp_zadanie_tools.h"
+#include "uom_tools.h"
+#include "synhro_tools.h"
+
+#if (_SIMULATE_AC==1)
+#include "sim_model.h"
+#endif
+///////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////
+//#pragma DATA_SECTION(ccc, ".slow_vars")
+//int ccc[40] = {0,1,1,1,1,1,1,1,1,1, 1,1,1,1,1,1,1,1,1,1, 1,1,1,1,1,1,1,1,1,1, 1,1,1,1,1,1,1,1,1,1};
+
+
+
+#pragma DATA_SECTION(f, ".slow_vars")
+FLAG f = FLAG_DEFAULTS;
+
+int cur1=0;
+int cur2=0;
+
+unsigned int old_time_edrk1 = 0, old_time_edrk2 = 0, prev_flag_special_mode_rs = 0;
+
+#pragma DATA_SECTION(edrk, ".slow_vars")
+EDRK edrk = EDRK_DEFAULT;
+
+
+
+
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+// ������� �������� �� ��������� PLUS, MINUS
+// ���� ������ ������ �����
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+void set_oborots_from_zadat4ik(void)
+{
+static unsigned int old_time_edrk3 = 0, prev_PROVOROT;
+
+
+ if (!(detect_pause_milisec(100,&old_time_edrk3)))
+ return;
+
+}
+
+
+//////////////////////////////////////////////////////////
+
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+// ��������� �������� �����
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+#define RASCEPITEL_MANUAL_ALWAYS_ON_2 1 // 1
+#define TIME_ON_OFF_FOR_IMITATION_RASCEPITEL 50 // 5 ���.
+#define TIME_FILTER_UMP_SIGNALS 5 // 0.5 ���
+#define TIME_FILTER_ALL_SIGNALS 5 // 0.5 ���
+
+
+#pragma DATA_SECTION(count_wait_filter, ".slow_vars")
+unsigned int count_wait_filter[16] = {0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0};
+unsigned int counter_imit_rascepitel = 0;
+
+void update_input_edrk(void)
+{
+ static unsigned int flag_imit_rascepitel = 0;
+ static int st1=0;
+
+// ANOTHER PCH
+ edrk.from_second_pch.bits.RASCEPITEL = !FROM_ING_ANOTHER_RASCEPITEL;
+ edrk.from_second_pch.bits.MASTER = FROM_ING_ANOTHER_MASTER_PCH;
+
+
+// ING
+#if (_FLOOR6==1)
+
+ if (st1==0)
+ {
+ edrk.from_zadat4ik.all = 0;
+ edrk.from_vpu.all = 0;
+
+ edrk.from_ing1.bits.ALL_KNOPKA_AVARIA = 0;//!FROM_ALL_KNOPKA_AVARIA;
+ edrk.from_ing1.bits.BLOCK_IZOL_AVARIA = 0;//!FROM_ING_BLOCK_IZOL_AVARIA;
+ edrk.from_ing1.bits.BLOCK_IZOL_NORMA = 1;//!FROM_ING_BLOCK_IZOL_NORMA;
+ edrk.from_ing1.bits.LOCAL_REMOUTE = 1;//0;//!FROM_ING_LOCAL_REMOUTE;
+ edrk.from_ing1.bits.NAGREV_ON = 1;//!FROM_ING_NAGREV_ON;
+ edrk.from_ing1.bits.NASOS_NORMA = 1;//!FROM_ING_NASOS_NORMA;
+ edrk.from_ing1.bits.NASOS_ON = 0;//!FROM_ING_NASOS_ON;
+ edrk.from_ing1.bits.OHLAD_UTE4KA_WATER = 0;//!FROM_ING_OHLAD_UTE4KA_WATER;
+ edrk.from_ing1.bits.UPC_24V_NORMA = 1;//!FROM_ING_UPC_24V_NORMA;
+ edrk.from_ing1.bits.OP_PIT_NORMA = 1;//!FROM_ING_OP_PIT_NORMA;
+ edrk.from_ing1.bits.VENTIL_ON = 0;//!FROM_ING_VENTIL_ON;
+ edrk.from_ing1.bits.VIPR_PREDOHR_NORMA = 1;//!FROM_ING_VIPR_PREDOHR_NORMA;
+
+ edrk.from_ing1.bits.ZARYAD_ON = 0;//!FROM_ING_ZARYAD_ON;
+ edrk.from_ing1.bits.ZAZEML_OFF = 1;//!FROM_ING_ZAZEML_OFF;
+ edrk.from_ing1.bits.ZAZEML_ON = 0;//!FROM_ING_ZAZEML_ON;
+
+ edrk.from_ing2.bits.KEY_MINUS = 0;//FROM_ING_OBOROTS_MINUS;
+ edrk.from_ing2.bits.KEY_PLUS = 0;//!FROM_ING_OBOROTS_PLUS;
+ edrk.from_ing2.bits.KEY_KVITIR = 0;//FROM_ING_LOCAL_KVITIR;
+
+ edrk.from_ing2.bits.KEY_SBOR = 0;//FROM_ING_SBOR_SHEMA;
+ edrk.from_ing2.bits.KEY_RAZBOR = 0;//FROM_ING_RAZBOR_SHEMA;
+
+ // edrk.from_ing1.bits.RASCEPITEL_ON = 0;//FROM_ING_RASCEPITEL_ON_OFF;
+
+ // edrk.from_ing2.bits.SOST_ZAMKA = !edrk.to_ing.bits.BLOCK_KEY_OFF;//1;//!FROM_ING_SOST_ZAMKA;
+
+
+ // SHEMA
+ edrk.from_shema.bits.RAZBOR_SHEMA = 0;//FROM_BSU_RAZBOR_SHEMA;
+ edrk.from_shema.bits.SBOR_SHEMA = 0;//FROM_BSU_SBOR_SHEMA;
+
+ edrk.from_shema.bits.ZADA_DISPLAY = 0;//!FROM_BSU_ZADA_DISPLAY;
+ edrk.from_shema.bits.SVU = 0;//!FROM_BSU_SVU;
+ // edrk.from_shema.bits.KNOPKA_AVARIA = FROM_ALL_KNOPKA_AVARIA;
+ edrk.from_shema.bits.QTV_ON_OFF = 0;//!FROM_SHEMA_QTV_ON_OFF;
+ edrk.from_shema.bits.UMP_ON_OFF = 0;//!FROM_SHEMA_UMP_ON_OFF;
+ edrk.from_shema.bits.READY_UMP = 1;//!FROM_SHEMA_READY_UMP;
+ edrk.from_shema.bits.SVU_BLOCK_QTV = 0;//!FROM_SVU_BLOCK_QTV;
+ st1 = 1;
+ }
+
+ // �������� �����������
+ if (edrk.to_ing.bits.RASCEPITEL_ON)
+ flag_imit_rascepitel = 1;
+ if (edrk.to_ing.bits.RASCEPITEL_OFF)
+ flag_imit_rascepitel = 0;
+
+ edrk.from_ing1.bits.RASCEPITEL_ON = imit_signals_rascepitel(&counter_imit_rascepitel, TIME_ON_OFF_FOR_IMITATION_RASCEPITEL, flag_imit_rascepitel, 0);
+ /////
+
+
+ edrk.from_ing2.bits.SOST_ZAMKA = !edrk.to_ing.bits.BLOCK_KEY_OFF;
+ if (edrk.to_ing.bits.NASOS_2_ON || edrk.to_ing.bits.NASOS_1_ON)
+ {
+ edrk.from_ing1.bits.VENTIL_ON = 1;
+ edrk.from_ing1.bits.NASOS_ON = 1;
+ }
+ else
+ {
+ edrk.from_ing1.bits.VENTIL_ON = 0;
+ edrk.from_ing1.bits.NASOS_ON = 0;
+ }
+#else
+
+
+ // ZADAT4IK
+ if (control_station.alive_control_station[CONTROL_STATION_ZADATCHIK_CAN])
+ edrk.from_zadat4ik.all = Unites[ZADATCHIK_CAN][16];
+ else
+ edrk.from_zadat4ik.all = 0;
+
+ if (control_station.alive_control_station[CONTROL_STATION_VPU_CAN])
+ edrk.from_vpu.all = Unites[VPU_CAN][16];
+ else
+ edrk.from_vpu.all = 0;
+
+
+
+ edrk.from_ing1.bits.ALL_KNOPKA_AVARIA = !FROM_ALL_KNOPKA_AVARIA;
+ edrk.from_ing1.bits.BLOCK_IZOL_AVARIA = !FROM_ING_BLOCK_IZOL_AVARIA;
+ edrk.from_ing1.bits.BLOCK_IZOL_NORMA = !FROM_ING_BLOCK_IZOL_NORMA;
+ edrk.from_ing1.bits.LOCAL_REMOUTE = !FROM_ING_LOCAL_REMOUTE;
+ edrk.from_ing1.bits.NAGREV_ON = !FROM_ING_NAGREV_ON;
+ edrk.from_ing1.bits.NASOS_NORMA = !FROM_ING_NASOS_NORMA;
+ edrk.from_ing1.bits.NASOS_ON = !FROM_ING_NASOS_ON;
+ edrk.from_ing1.bits.OHLAD_UTE4KA_WATER = !FROM_ING_OHLAD_UTE4KA_WATER;
+ edrk.from_ing1.bits.UPC_24V_NORMA = !FROM_ING_UPC_24V_NORMA;
+ edrk.from_ing1.bits.OP_PIT_NORMA = !FROM_ING_OP_PIT_NORMA;
+ edrk.from_ing1.bits.VENTIL_ON = !FROM_ING_VENTIL_ON;
+ edrk.from_ing1.bits.VIPR_PREDOHR_NORMA = !FROM_ING_VIPR_PREDOHR_NORMA;
+
+ edrk.from_ing1.bits.ZARYAD_ON = !FROM_ING_ZARYAD_ON;
+ edrk.from_ing1.bits.ZAZEML_OFF = !FROM_ING_ZAZEML_OFF;
+ edrk.from_ing1.bits.ZAZEML_ON = !FROM_ING_ZAZEML_ON;
+
+ edrk.from_ing2.bits.KEY_MINUS = FROM_ING_OBOROTS_MINUS;
+ edrk.from_ing2.bits.KEY_PLUS = !FROM_ING_OBOROTS_PLUS;
+ edrk.from_ing2.bits.KEY_KVITIR = FROM_ING_LOCAL_KVITIR;
+
+ edrk.from_ing2.bits.KEY_SBOR = FROM_ING_SBOR_SHEMA;
+ edrk.from_ing2.bits.KEY_RAZBOR = FROM_ING_RAZBOR_SHEMA;
+
+#if(RASCEPITEL_MANUAL_ALWAYS_ON_2)
+
+ // �������� �����������
+ if (edrk.to_ing.bits.RASCEPITEL_ON)
+ flag_imit_rascepitel = 1;
+ if (edrk.to_ing.bits.RASCEPITEL_OFF)
+ flag_imit_rascepitel = 0;
+
+ edrk.from_ing1.bits.RASCEPITEL_ON = imit_signals_rascepitel(&counter_imit_rascepitel, TIME_ON_OFF_FOR_IMITATION_RASCEPITEL, flag_imit_rascepitel, 0);
+
+#else
+ edrk.from_ing1.bits.RASCEPITEL_ON = FROM_ING_RASCEPITEL_ON_OFF;
+#endif
+ edrk.from_ing2.bits.SOST_ZAMKA = !FROM_ING_SOST_ZAMKA;
+
+
+// SHEMA
+ edrk.from_shema.bits.RAZBOR_SHEMA = FROM_BSU_RAZBOR_SHEMA;
+ edrk.from_shema.bits.SBOR_SHEMA = FROM_BSU_SBOR_SHEMA;
+
+ if (edrk.from_shema.bits.RAZBOR_SHEMA==1 && edrk.from_shema.bits.SBOR_SHEMA)
+ {
+ // ������ �� ��������� � �������������� �������
+ edrk.from_shema.bits.RAZBOR_SHEMA = 0;
+ edrk.from_shema.bits.SBOR_SHEMA = 0;
+ }
+ edrk.from_shema_filter.bits.RAZBOR_SHEMA = filter_digital_input( edrk.from_shema_filter.bits.RAZBOR_SHEMA,
+ &count_wait_filter[0],
+ TIME_FILTER_ALL_SIGNALS,
+ edrk.from_shema.bits.RAZBOR_SHEMA);
+
+
+ edrk.from_shema_filter.bits.SBOR_SHEMA = filter_digital_input( edrk.from_shema_filter.bits.SBOR_SHEMA,
+ &count_wait_filter[1],
+ TIME_FILTER_ALL_SIGNALS,
+ edrk.from_shema.bits.SBOR_SHEMA);
+
+ edrk.from_shema.bits.ZADA_DISPLAY = !FROM_BSU_ZADA_DISPLAY;
+ edrk.from_shema_filter.bits.ZADA_DISPLAY = filter_digital_input( edrk.from_shema_filter.bits.ZADA_DISPLAY,
+ &count_wait_filter[2],
+ TIME_FILTER_ALL_SIGNALS,
+ edrk.from_shema.bits.ZADA_DISPLAY);
+
+ edrk.from_shema.bits.SVU = !FROM_BSU_SVU;
+ edrk.from_shema_filter.bits.SVU = filter_digital_input( edrk.from_shema_filter.bits.SVU,
+ &count_wait_filter[3],
+ TIME_FILTER_ALL_SIGNALS,
+ edrk.from_shema.bits.SVU);
+
+
+// edrk.from_shema.bits.KNOPKA_AVARIA = FROM_ALL_KNOPKA_AVARIA;
+ edrk.from_shema.bits.QTV_ON_OFF = !FROM_SHEMA_QTV_ON_OFF;
+ edrk.from_shema_filter.bits.QTV_ON_OFF = filter_digital_input( edrk.from_shema_filter.bits.QTV_ON_OFF,
+ &count_wait_filter[4],
+ TIME_FILTER_ALL_SIGNALS,
+ edrk.from_shema.bits.QTV_ON_OFF);
+
+
+
+ /// ���������� FROM_SHEMA_UMP_ON_OFF
+// edrk.local_ump_on_off = !FROM_SHEMA_UMP_ON_OFF;
+//
+// if (edrk.local_ump_on_off)
+// {
+// if (edrk.local_ump_on_off_count>=TIME_FILTER_UMP_SIGNALS)
+// edrk.from_shema.bits.UMP_ON_OFF = 1;
+// else
+// edrk.local_ump_on_off_count++;
+// }
+// else
+// {
+// if (edrk.local_ump_on_off_count==0)
+// edrk.from_shema.bits.UMP_ON_OFF = 0;
+// else
+// edrk.local_ump_on_off_count--;
+// }
+//
+//
+ edrk.from_shema.bits.UMP_ON_OFF = !FROM_SHEMA_UMP_ON_OFF;
+ edrk.from_shema_filter.bits.UMP_ON_OFF = filter_digital_input( edrk.from_shema_filter.bits.UMP_ON_OFF,
+ &count_wait_filter[5],
+ TIME_FILTER_UMP_SIGNALS,
+ edrk.from_shema.bits.UMP_ON_OFF);
+
+
+
+
+
+
+ /// ���������� FROM_SHEMA_READY_UMP
+// edrk.local_ready_ump = !FROM_SHEMA_READY_UMP;
+//
+// if (edrk.local_ready_ump)
+// {
+// if (edrk.local_ready_ump_count>=TIME_FILTER_UMP_SIGNALS)
+// edrk.from_shema.bits.READY_UMP = 1;
+// else
+// edrk.local_ready_ump_count++;
+// }
+// else
+// {
+// if (edrk.local_ready_ump_count==0)
+// edrk.from_shema.bits.READY_UMP = 0;
+// else
+// edrk.local_ready_ump_count--;
+// }
+//
+
+ edrk.from_shema.bits.READY_UMP = !FROM_SHEMA_READY_UMP;
+ edrk.from_shema_filter.bits.READY_UMP = filter_digital_input( edrk.from_shema_filter.bits.READY_UMP,
+ &count_wait_filter[6],
+ TIME_FILTER_UMP_SIGNALS,
+ edrk.from_shema.bits.READY_UMP);
+
+
+
+ edrk.from_shema.bits.SVU_BLOCK_QTV = !FROM_SVU_BLOCK_QTV;
+ edrk.from_shema_filter.bits.SVU_BLOCK_QTV = filter_digital_input( edrk.from_shema_filter.bits.SVU_BLOCK_QTV,
+ &count_wait_filter[7],
+ TIME_FILTER_ALL_SIGNALS,
+ edrk.from_shema.bits.SVU_BLOCK_QTV);
+
+#endif
+}
+
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+// ����������� ������ �������� ������ �� �������
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+void get_where_oborots(void)
+{
+
+//// if (CAN_timeout[get_real_out_mbox(MPU_TYPE_BOX,0)-1]==0)
+// if (CAN_timeout[get_real_in_mbox(MPU_TYPE_BOX,0)]==0)
+// {
+// edrk.W_from_SVU = modbus_table_can_in[14].all;
+// edrk.W_from_DISPLAY = modbus_table_can_in[16].all;
+// }
+// else
+// {
+// edrk.W_from_SVU = 0;
+// edrk.W_from_DISPLAY = 0;
+// }
+//
+//
+//
+//
+// if (edrk.from_shema.bits.SVU)
+// {
+// edrk.W_from_all = edrk.W_from_SVU;
+// edrk.W_from_ZADAT4IK = edrk.W_from_all;
+// }
+// else
+// {
+// if (edrk.from_shema.bits.ZADA_DISPLAY)
+// {
+// edrk.W_from_all = edrk.W_from_DISPLAY;
+// edrk.W_from_ZADAT4IK = edrk.W_from_all;
+// }
+// else
+// edrk.W_from_all = edrk.W_from_ZADAT4IK;
+// }
+
+}
+
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+
+unsigned int toggle_status_lamp(unsigned int bb1, unsigned int flag)
+{
+
+ if (bb1==1 && flag==0)
+ {
+ return 0;
+ }
+
+ if (bb1==0 && flag==0)
+ {
+ return 0;
+ }
+
+ if (bb1==1 && flag==1)
+ {
+ return 0;
+ }
+
+ if (bb1==0 && flag==1)
+ {
+ return 1;
+ }
+ return 0;
+}
+
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+// ���������� �������� ������
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+void update_output_edrk(void)
+{
+ unsigned int b;
+ static unsigned int time_toggle1=0,time_toggle2=0;
+
+//to ingetim
+
+ TO_ING_NAGREV_OFF = !edrk.to_ing.bits.NAGREV_OFF;
+ TO_ING_NASOS_1_ON = !edrk.to_ing.bits.NASOS_1_ON;
+ TO_ING_NASOS_2_ON = !edrk.to_ing.bits.NASOS_2_ON;
+ // TO_ING_RESET_BLOCK_IZOL = !edrk.to_ing.bits.RESET_BLOCK_IZOL;
+ TO_ING_SMALL_LAMPA_AVARIA = edrk.to_ing.bits.SMALL_LAMPA_AVARIA;
+
+ if (edrk.disable_rascepitel_work)
+ {
+
+ }
+ else
+ {
+ TO_ING_RASCEPITEL_OFF = !edrk.to_ing.bits.RASCEPITEL_OFF;
+ TO_ING_RASCEPITEL_ON = !edrk.to_ing.bits.RASCEPITEL_ON;
+ }
+
+// ANOTHER PCH
+ TO_SECOND_PCH_MASTER = edrk.to_second_pch.bits.MASTER;
+ TO_SECOND_PCH_ALARM = !edrk.to_second_pch.bits.ALARM;
+
+
+
+//to_shema
+//
+//#if (ENABLE_USE_QTV==1)
+// TO_STEND_QM_ON_INVERS = !edrk.to_shema.bits.QTV_ON;
+//#endif
+
+
+ TO_ING_LAMPA_ZARYAD = !edrk.Status_Ready.bits.Batt;
+ TO_ING_ZARYAD_ON = !edrk.to_ing.bits.ZARYAD_ON;
+ TO_ING_BLOCK_KEY_OFF = !edrk.to_ing.bits.BLOCK_KEY_OFF;
+
+#if (MODE_QTV_UPRAVLENIE==1)
+ TO_SHEMA_QTV_ON_OFF = !edrk.to_shema.bits.QTV_ON_OFF;
+#endif
+
+
+#if (MODE_QTV_UPRAVLENIE==2)
+ TO_SHEMA_QTV_OFF = !edrk.to_shema.bits.QTV_OFF;
+ TO_SHEMA_QTV_ON = !edrk.to_shema.bits.QTV_ON;
+#endif
+
+ TO_SHEMA_ENABLE_QTV = !edrk.to_shema.bits.ENABLE_QTV;
+ TO_SHEMA_UMP_ON_OFF = !edrk.to_shema.bits.UMP_ON_OFF;
+
+
+
+
+
+
+
+//lamps APL
+// if (edrk.Sbor)// && edrk.from_ing.bits2.GED_NAMAGNI4EN==0)
+// {
+// if (edrk.Status_Ready.bits.ready5==0)
+// edrk.to_zadat4ik.APL_LAMS0.bits.SBOR_SIL_SHEMA = 1;
+// else
+// edrk.to_zadat4ik.APL_LAMS0.bits.SBOR_SIL_SHEMA = 0;
+// }
+// else
+// {
+// edrk.to_zadat4ik.APL_LAMS0.bits.SBOR_SIL_SHEMA = 0;
+// }
+
+
+
+ edrk.to_vpu.BIG_LAMS.bits.GOTOV2 = edrk.Status_Ready.bits.ready_final;
+ edrk.to_vpu.BIG_LAMS.bits.PEREGRUZKA = edrk.to_zadat4ik.BIG_LAMS.bits.OGRAN_POWER;
+ edrk.to_vpu.BIG_LAMS.bits.PODDERG_OBOROTS = 0;//
+ edrk.to_vpu.BIG_LAMS.bits.VPU = edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_VPU;
+
+}
+
+
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+// �������� ���������
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+
+///////////////////////////////////////////////
+void update_lamp_alarm(void)
+{
+ if ((edrk.errors.e0.all)
+ || (edrk.errors.e1.all)
+ || (edrk.errors.e2.all)
+ || (edrk.errors.e3.all)
+ || (edrk.errors.e4.all)
+ || (edrk.errors.e5.all)
+ || (edrk.errors.e6.all)
+ || (edrk.errors.e7.all)
+ || (edrk.errors.e8.all)
+ || (edrk.errors.e9.all)
+ || (edrk.errors.e10.all)
+ || (edrk.errors.e11.all)
+ || (edrk.errors.e12.all)
+ )
+ {
+ edrk.to_ing.bits.SMALL_LAMPA_AVARIA = 1;
+ // edrk.to_second_pch.bits.ALARM = 1;
+ edrk.summ_errors = 1;
+ edrk.Stop |= 1;
+ }
+ else
+ {
+ edrk.to_ing.bits.SMALL_LAMPA_AVARIA = 0;
+ edrk.to_second_pch.bits.ALARM = 0;
+ edrk.summ_errors = 0;
+ }
+
+}
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+
+
+
+
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+#define TIME_WAIT_RELE_QTV_ON 30 //2 sec
+#define TIME_WAIT_RELE_QTV_OFF 30 //2 sec
+
+#define TIME_WAIT_ANSWER_QTV_ON TIME_WAIT_ERROR_QTV //150 //15 sec
+#define TIME_WAIT_ANSWER_QTV_OFF 50 //4 sec
+
+///////////////////////////////////////////////
+int qtv_on_off(unsigned int flag)
+{
+static unsigned int time_wait_rele_on_qtv=0;
+static unsigned int time_wait_rele_off_qtv=0;
+static unsigned int time_wait_answer_on_qtv=0;
+static unsigned int time_wait_answer_off_qtv=0;
+static unsigned int count_err_on = 0;
+
+
+int cmd_qtv=0;//,cmd_p2=0;
+static int QTV_Ok = 0;
+static int prev_error = 0;
+
+
+ cmd_qtv = 0;
+// cmd_p2 = 0;
+
+ if ( flag==1 && edrk.summ_errors==0)
+ {
+ cmd_qtv = 1;
+ }
+ else
+ {
+ cmd_qtv = 0;
+ }
+
+
+
+ edrk.cmd_to_qtv = cmd_qtv;
+
+ if (cmd_qtv)
+ {
+ edrk.to_shema.bits.ENABLE_QTV = 1;
+ edrk.to_shema.bits.QTV_OFF = 1;
+
+ if ((pause_detect_error(&time_wait_rele_on_qtv,TIME_WAIT_RELE_QTV_ON,1)==0) && edrk.from_shema_filter.bits.QTV_ON_OFF==0)
+ {
+#if (MODE_QTV_UPRAVLENIE==2)
+ edrk.to_shema.bits.QTV_ON = 1;
+#endif
+#if (MODE_QTV_UPRAVLENIE==1)
+ edrk.to_shema.bits.QTV_ON_OFF = 1;
+#endif
+ }
+ else
+ edrk.to_shema.bits.QTV_ON = 0;
+
+
+ if (pause_detect_error(&time_wait_answer_on_qtv,TIME_WAIT_ANSWER_QTV_ON,1)==0)
+ {
+
+ if (edrk.from_shema_filter.bits.QTV_ON_OFF==1)
+ QTV_Ok = 1;
+
+ }
+ else
+ {
+
+ // ���� ������� �� ���, �� ����� ������� �� ������
+ if (edrk.from_shema_filter.bits.QTV_ON_OFF==0)
+ {
+#if (WORK_ON_STEND_D)
+ if (pause_detect_error(&count_err_on,TIME_WAIT_ANSWER_QTV_ON,1))
+ {
+ edrk.errors.e6.bits.QTV_ERROR_NOT_ANSWER |= 1;
+ QTV_Ok = 0;
+ }
+#else
+ edrk.errors.e6.bits.QTV_ERROR_NOT_ANSWER |= 1;
+ QTV_Ok = 0;
+#endif
+ }
+ else
+ count_err_on = 0;
+
+ }
+
+ time_wait_rele_off_qtv = 0;
+ time_wait_answer_off_qtv = 0;
+ }
+ else
+ {
+ QTV_Ok = 0;
+ edrk.to_shema.bits.ENABLE_QTV = 0;
+ time_wait_rele_on_qtv = 0;
+ time_wait_answer_on_qtv = 0;
+
+ edrk.to_shema.bits.QTV_ON = 0;
+
+ edrk.to_shema.bits.QTV_ON_OFF = 0;
+
+// if (pause_detect_error(&time_wait_rele_off_qtv,TIME_WAIT_RELE_QTV_OFF,1)==0)
+// edrk.to_shema.bits.QTV_OFF = 1;
+// else
+ edrk.to_shema.bits.QTV_OFF = 0;
+
+
+ if (pause_detect_error(&time_wait_answer_off_qtv,TIME_WAIT_ANSWER_QTV_OFF,1)==0)
+ {
+
+ }
+ else
+ {
+ if (edrk.from_shema_filter.bits.QTV_ON_OFF==1)
+ edrk.errors.e6.bits.QTV_ERROR_NOT_ANSWER |= 1;
+ }
+
+
+ if (prev_error!=edrk.summ_errors && edrk.summ_errors)
+ {
+ if (pause_detect_error(&time_wait_rele_off_qtv,TIME_WAIT_RELE_QTV_OFF,1)==1)
+ time_wait_rele_off_qtv = 0;
+ }
+
+
+ }
+
+ prev_error = edrk.summ_errors;
+ return (QTV_Ok);
+
+
+}
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+
+///////////////////////////////////////////////
+void detect_kvitir_from_all(void)
+{
+
+ static int prev_kvitir=0;
+
+ edrk.Kvitir = control_station.active_array_cmd[CONTROL_STATION_CMD_CHECKBACK]
+ || edrk.from_ing2.bits.KEY_KVITIR
+ || edrk.from_zadat4ik.bits.KVITIR;
+
+ /*
+ if (edrk.RemouteFromRS)
+ edrk.Kvitir = edrk.KvitirRS;
+
+ if (edrk.RemouteFromVPU)
+ edrk.Kvitir = edrk.KvitirVPU;
+
+ if (edrk.RemouteFromDISPLAY)
+ edrk.Kvitir = edrk.from_display.bits.KVITIR;//edrk.KvitirDISPLAY;
+
+ if (edrk.RemouteFromMPU)
+ edrk.Kvitir = edrk.KvitirMPU;
+*/
+
+ if (edrk.Kvitir==1 && prev_kvitir==0)
+ {
+
+ if (edrk.Status_Ready.bits.ready_final==0 && edrk.Go==0 && edrk.Stop == 1)
+ {
+ edrk.KvitirProcess = 1;
+ project.clear_errors_all_plates();
+ clear_errors();
+ edrk.KvitirProcess = 0;
+ }
+ clear_warnings();
+ /* edrk.KvitirDISPLAY = 0;
+ edrk.KvitirVPU = 0;
+ edrk.KvitirMPU = 0;
+ edrk.KvitirSVU = 0;
+ edrk.KvitirRS = 0;
+ */
+ }
+
+ prev_kvitir = edrk.Kvitir;
+}
+
+///////////////////////////////////////////////
+unsigned int get_ready_1(void)
+{
+ unsigned int r1, r2;
+
+
+
+ if (project.cds_in[0].status == component_Ready
+ && project.cds_in[1].status == component_Ready
+ && project.cds_out[0].status == component_Ready
+ && project.cds_tk[0].status == component_Ready
+ && project.cds_tk[1].status == component_Ready
+ && project.cds_tk[2].status == component_Ready
+ && project.cds_tk[3].status == component_Ready
+ && project.adc[0].status == component_Ready
+ && project.adc[1].status == component_Ready
+ && project.hwp[0].status == component_Ready
+ )
+ r2 = 1;
+ else
+ r2 = 0;
+
+
+ r1 = (edrk.ms.ready1 && edrk.from_ing1.bits.NASOS_NORMA
+ && edrk.from_ing1.bits.ZAZEML_ON==0 && edrk.from_ing1.bits.ZAZEML_OFF==1
+ && edrk.from_ing1.bits.VIPR_PREDOHR_NORMA
+ && edrk.from_ing1.bits.BLOCK_IZOL_NORMA
+ && edrk.from_ing1.bits.OP_PIT_NORMA
+ && edrk.from_ing1.bits.UPC_24V_NORMA
+ && r2);
+
+ return r1;
+
+
+}
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+
+
+
+void set_zadanie_u_charge(void)
+{
+
+// edrk.ZadanieU_Charge = edrk.ZadanieU_Charge_RS;
+
+// edrk.iq_ZadanieU_Charge = _IQ(edrk.ZadanieU_Charge/NORMA_ACP);
+
+ if (edrk.zadanie.ZadanieU_Charge<=100)
+ {
+ edrk.iqMIN_U_ZPT = _IQ(-50.0/NORMA_ACP);
+ edrk.iqMIN_U_IN = _IQ(-50.0/NORMA_ACP);
+ }
+ else
+ {
+
+ edrk.iqMIN_U_ZPT = _IQ(edrk.zadanie.ZadanieU_Charge*MIN_U_PROC/NORMA_ACP);
+ edrk.iqMIN_U_IN = _IQ(edrk.zadanie.ZadanieU_Charge*MIN_U_PROC/NORMA_ACP);
+
+ }
+
+ if (edrk.zadanie.ZadanieU_Charge<LEVEL_DETECT_U_SMALL)
+ {
+ edrk.iqMAX_U_ZPT_Predzaryad = _IQ(edrk.zadanie.ZadanieU_Charge*MAX_U_PROC_SMALL/NORMA_ACP);
+ edrk.iqMAX_U_ZPT_Global = edrk.iqMAX_U_ZPT_Predzaryad + _IQ(ADD_U_MAX_GLOBAL_SMALL/NORMA_ACP); // +500V
+
+ }
+ else
+ {
+ edrk.iqMAX_U_ZPT_Predzaryad = _IQ(edrk.zadanie.ZadanieU_Charge*MAX_U_PROC/NORMA_ACP);
+ edrk.iqMAX_U_ZPT_Global = edrk.iqMAX_U_ZPT_Predzaryad + _IQ(ADD_U_MAX_GLOBAL/NORMA_ACP); // +200V
+
+ if (edrk.iqMAX_U_ZPT_Global>U_D_MAX_ERROR_GLOBAL)
+ edrk.iqMAX_U_ZPT_Global = U_D_MAX_ERROR_GLOBAL;
+ }
+
+ edrk.iqMAX_U_ZPT = edrk.iqMAX_U_ZPT_Global;//_IQ(edrk.zadanie.ZadanieU_Charge*MAX_U_PROC/NORMA_ACP);
+ edrk.iqMAX_U_IN = _IQ(edrk.zadanie.ZadanieU_Charge*MAX_U_PROC/NORMA_ACP);
+
+ edrk.zadanie.iq_set_break_level = _IQ(NOMINAL_U_BREAK_LEVEL/NORMA_ACP);
+
+}
+
+
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+// �������� ���������
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+
+////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+#define TIME_WAIT_SBOR_1 1
+#define TIME_WAIT_SBOR_2 3
+
+void get_sumsbor_command(void)
+{
+ static unsigned int prev_SBOR_SHEMA = 0;
+ static unsigned int prev_SBOR_SHEMA_ANOTHER_BS = 0;
+ unsigned int SBOR_SHEMA_ANOTHER_BS = 0;
+ static unsigned int Sbor, first=1, w_sbor = 0, Sbor_f = 0;
+
+ Sbor = edrk.SumSbor;
+
+ if (Sbor == 0)
+ edrk.run_razbor_shema = 0;
+
+ SBOR_SHEMA_ANOTHER_BS = read_cmd_sbor_from_bs();
+
+ // ���� ������� ���� ����� � ��������� ������
+ if (edrk.Status_Ready.bits.ImitationReady2==0 &&
+ control_station.active_array_cmd[CONTROL_STATION_CMD_CHARGE]==1 && (prev_SBOR_SHEMA==0)
+ && edrk.from_ing1.bits.ALL_KNOPKA_AVARIA==0 && edrk.summ_errors==0
+ && control_station.active_array_cmd[CONTROL_STATION_CMD_UNCHARGE]==0
+ )
+ {
+ Sbor = 1;
+ }
+
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_UNCHARGE]==1
+ // || edrk.from_shema_filter.bits.RAZBOR_SHEMA // ���������� ������ �� ������ � �� ����� �������� ���� ����������
+ )
+ {
+ edrk.run_razbor_shema = 1;
+ // Sbor = 0;
+ }
+
+
+ if (edrk.StartGEDfromZadanie==0 && edrk.run_razbor_shema)
+ Sbor = 0;
+
+
+// ������ ����� �� �� ������� ������� ��?
+ if (SBOR_SHEMA_ANOTHER_BS==0 && prev_SBOR_SHEMA_ANOTHER_BS==1)
+ {
+ Sbor = 0;
+ }
+
+ prev_SBOR_SHEMA = control_station.active_array_cmd[CONTROL_STATION_CMD_CHARGE];
+
+ prev_SBOR_SHEMA_ANOTHER_BS = SBOR_SHEMA_ANOTHER_BS;
+
+
+ // ������ �� ������ � ������!
+ if (edrk.from_ing1.bits.ALL_KNOPKA_AVARIA || edrk.summ_errors)
+ {
+ Sbor = 0;
+ }
+
+ if (Sbor)
+ {
+// if (edrk.flag_second_PCH == 0)
+// {
+// if (w_sbor<TIME_WAIT_SBOR_1)
+// w_sbor++;
+// else
+// Sbor_f = 1;
+// }
+// else
+// {
+// if (w_sbor<TIME_WAIT_SBOR_2)
+// w_sbor++;
+// else
+// Sbor_f = 1;
+// }
+ Sbor_f = 1;
+ }
+ else
+ {
+ Sbor_f = 0;
+ w_sbor = 0;
+
+ }
+
+ /////////////////////////////////
+ /////////////////////////////////
+ /////////////////////////////////
+
+ if (Sbor_f)
+ {
+ if (first)
+ {
+ if (optical_read_data.data.cmd.bit.ready_cmd==CODE_READY_CMD_READY1TO2) // ������ �� ��� ������ ����������
+ edrk.flag_another_bs_first_ready12 = 1;
+ else
+ edrk.flag_this_bs_first_ready12 = 1;
+ }
+ first = 0;
+ }
+ else
+ {
+ edrk.flag_another_bs_first_ready12 = 0;
+ edrk.flag_this_bs_first_ready12 = 0;
+ first = 1;
+ }
+
+ edrk.SumSbor = Sbor_f;
+
+}
+////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////
+
+
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+
+
+
+void edrk_init(void)
+{
+
+ edrk.Uzad_max = _IQ(K_STATOR_MAX); // ���� ��������� � �� ��� ������������ �������� = DEF_PERIOD_MIN_MKS
+ edrk.iq_bpsi_normal = _IQ(BPSI_NORMAL/NORMA_FROTOR);
+ // edrk.iq_bpsi_max = _IQ(BPSI_MAXIMAL/NORMA_FROTOR);
+// edrk.iq_f_provorot = _IQ(F_PROVOROT/NORMA_FROTOR);
+
+ init_simple_scalar();
+
+ edrk.flag_enable_update_hmi = 1;
+
+
+ edrk.zadanie.ZadanieU_Charge = NOMINAL_U_ZARYAD;
+ edrk.zadanie.iq_ZadanieU_Charge = _IQ(NOMINAL_U_ZARYAD/NORMA_ACP);
+
+ edrk.zadanie.iq_set_break_level = _IQ(NOMINAL_U_BREAK_LEVEL/NORMA_ACP);
+
+ control_station.setup_time_detect_active[CONTROL_STATION_TERMINAL_RS232] = 50;
+
+#if (_SIMULATE_AC==1)
+ sim_model_init();
+#endif
+
+}
+
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+
+
+void edrk_init_variables(void) {
+ unsigned int i = 0, size_data_logs = 0;
+
+
+ int *pf = (int*)&f;
+ for (i = 0; i < sizeof(f) / sizeof(int); i++) {
+ *(pf + i) = 0;
+ }
+
+
+ init_profile_interrupt();
+ edrk_clear_cmd_ukss();
+
+ edrk.flag_second_PCH = get_adr_pcb_controller();
+
+ edrk.number_can_box_terminal_cmd = 1;
+ edrk.number_can_box_terminal_oscil = 0;
+
+ edrk.buildDay = build_day;
+ edrk.buildMonth = build_month;
+ edrk.buildYear = build_year;
+
+
+/* if (edrk.flag_second_PCH==0)
+ {
+ edrk.number_can_box_terminal_cmd = 1;
+ edrk.number_can_box_terminal_oscil = 0;
+ }
+ else
+ {
+ edrk.number_can_box_terminal_cmd = 3;
+ edrk.number_can_box_terminal_oscil = 2;
+ }
+*/
+
+// clear_all_i_phase();
+#if(SENSOR_ALG==SENSOR_ALG_23550)
+ rotorInit();
+#endif
+#if(SENSOR_ALG==SENSOR_ALG_22220)
+// 22220
+ rotorInit_22220();
+#endif
+ clear_table_remoute();
+ initModbusTable();
+ clear_modbus_table_in();
+ clear_modbus_table_out();
+// init_global_time_struct(FREQ_PWM);
+ // fillLogArea();
+
+ oscil_can.clear(&oscil_can);
+ oscil_can.number_can_box_terminal_oscil = edrk.number_can_box_terminal_oscil;
+ oscil_can.number_can_box_terminal_cmd = edrk.number_can_box_terminal_cmd;
+
+
+ control_station.clear(&control_station);
+
+ init_detect_overloads();
+ edrk_init();
+ size_data_logs = prepare_data_to_logs();
+ initLogSize(size_data_logs, size_data_logs );
+
+ init_ramp_all_zadanie();
+ init_analog_protect_levels();
+ init_detect_overloads();
+ init_50hz_input_net50hz();
+ init_all_limit_koeffs();
+
+
+
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_IZAD] = NOMINAL_SET_IZAD;
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_KM] = 0;
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_U_ZARYAD] = NOMINAL_U_ZARYAD;
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_K_U_DISBALANCE] = NOMINAL_SET_K_U_DISBALANCE;
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_K_PLUS_U_DISBALANCE] = 0;
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SET_LIMIT_POWER] = NOMINAL_SET_LIMIT_POWER;
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_UFCONST_VECTOR] = 1;
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_SCALAR_FOC] = 0;
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_ENABLE_ON_CHARGE] = 0;
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_GO] = 1;
+
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_PUMP] = 0;
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_ENABLE_ON_CHARGE] = 0;
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_QTV] = 0;
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_ON_UMP] = 0;
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_MANUAL_DISCHARGE] = 0;
+
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_ROTOR_POWER] = 0;
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_INTERRUPT_SYNC] = 0;
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_DISABLE_INTERRUPT_TIMER2] = 0;
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_STOP_LOGS] = 0;
+
+ control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_SET_U_ZARYAD] = NOMINAL_U_ZARYAD;
+ control_station.array_cmd[CONTROL_STATION_MPU_SVU_CAN][CONTROL_STATION_CMD_SET_U_ZARYAD] = NOMINAL_U_ZARYAD;
+
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_WDOG_OFF] = 0;
+
+
+ for (i=0;i<CONTROL_STATION_CMD_LAST;i++)
+ control_station.array_cmd[CONTROL_STATION_TERMINAL_CAN][i] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][i];
+
+
+ ramp_all_zadanie(2);
+
+ set_zadanie_u_charge();
+ init_Uin_rms();
+}
+
+
+//////////////////////////////////////////////////////////
+void edrk_init_before_loop(void)
+{
+#if (MODE_DISABLE_ENABLE_WDOG==1)
+ stop_wdog();
+#else
+
+#if (_FLOOR6==1)
+#else
+ start_wdog();
+#endif
+
+#endif
+
+ disable_flag_special_mode_rs = 0;
+}
+//////////////////////////////////////////////////////////
+
+#define FREQ_TIMER_3 (FREQ_PWM*2)
+
+void edrk_init_before_main(void)
+{
+ static int f_cmd1 = 0;
+ static int f_cmd2 = 0;
+ static int f_cmd3 = 0;
+ static int p_f_cmd1 = 0;
+ static int p_f_cmd2 = 0;
+ static int p_f_cmd3 = 0;
+
+
+ volatile int final_code = 0;
+ int i = 0, k = 0;
+
+ setup_sync_line();
+ edrk.disable_interrupt_sync = -1;
+
+ edrk_init_variables();
+
+////////////////////////////////////////
+// global timer
+////////////////////////////////////////
+ init_global_time_struct(FREQ_TIMER_3);
+ init_evb_timer3(FREQ_TIMER_3,&global_time_interrupt);
+ start_evb_timer3();// run global_time_interrupt
+///////////////////////////////////////
+
+ /// ��� ����� 2
+/*
+ while(1)
+ {
+ static int f_s_set = 0;
+ static int f_s_read = 0;
+
+
+ if (f_s_set)
+ i_sync_pin_on();
+ else
+ i_sync_pin_off();
+
+ f_s_read = get_status_sync_line();
+ }
+ */
+
+
+/// ��� ����� 1
+/*
+ project.enable_all_interrupt();
+
+ //start_sync_interrupt();
+
+ while(1)
+ {
+ static int f_s_set = 0;
+ static int f_s_read = 0;
+
+
+ if (f_s_set)
+ i_sync_pin_on();
+ else
+ i_sync_pin_off();
+
+ f_s_read = get_status_sync_line();
+
+ if (f_cmd1 != p_f_cmd1)
+ {
+ if (f_cmd1)
+ {
+ start_evb_timer3();
+ }
+ else
+ {
+ stop_evb_timer3();
+ }
+ p_f_cmd1 = f_cmd1;
+ }
+
+ if (f_cmd2 != p_f_cmd2)
+ {
+ if (f_cmd2)
+ {
+ start_eva_timer2();
+ }
+ else
+ {
+ stop_eva_timer2();
+ }
+ p_f_cmd2 = f_cmd2;
+ }
+
+ if (f_cmd3 != p_f_cmd3)
+ {
+ if (f_cmd3)
+ {
+ start_sync_interrupt();
+ }
+ else
+ {
+ stop_sync_interrupt();
+ }
+ p_f_cmd3 = f_cmd3;
+ }
+
+ }
+ /// ����� �����
+*/
+ project.enable_all_interrupt();
+
+ final_code = update_progress_load_hmi(1);
+
+ project.disable_all_interrupt();
+
+ InitXilinxSpartan2E(&PWM_interrupt_main);
+
+ project.enable_all_interrupt();
+
+ final_code = update_progress_load_hmi(2);
+
+ init_can_box_between_bs1_bs2();
+
+ initVectorControl();
+
+
+/////////////////////////////
+ if (edrk.flag_second_PCH==0)
+ InitCan(CAN_BASE_ADR_UNITS_PCH_1, CAN_BASE_ADR_MPU_PCH_1, CAN_BASE_ADR_ALARM_LOG_PCH_1, CAN_BASE_ADR_TERMINAL_PCH_1);
+ else
+ InitCan(CAN_BASE_ADR_UNITS_PCH_2, CAN_BASE_ADR_MPU_PCH_2, CAN_BASE_ADR_ALARM_LOG_PCH_2, CAN_BASE_ADR_TERMINAL_PCH_2);
+/////////////////////////////
+
+ KickDog();
+
+ // clear_mem(FAST_LOG);
+
+/*
+ //TODO: remove (for test)
+ logpar.start_write_fast_log = 1;
+
+ for (k = 0; k < 7000; k++) {
+ for (i = 0; i < 21; i++) {
+ if (i==0)
+// write_to_mem(FAST_LOG, k);
+ write_to_mem(FAST_LOG, 0);
+ else
+// write_to_mem(FAST_LOG, 10 + i);
+ write_to_mem(FAST_LOG, 0);
+ }
+ if (logpar.start_write_fast_log) {
+ get_log_params_count();
+ logpar.start_write_fast_log = 0;
+ }
+ }
+
+ //END for test
+*/
+
+ //Init ADC
+// Init_Adc_Variables();
+// init_eva_timer2(1000, acp_Handler);
+
+ final_code = update_progress_load_hmi(3);
+
+/////////////////////////////////////////
+ project.read_errors_controller(); // ������ ADR_ERRORS_TOTAL_INFO
+
+ project.init();
+// project_prepare_config();
+
+ final_code = update_progress_load_hmi(4);
+
+// initRotPlane();
+
+// project_prepare_config();
+// �������� CDS, ADC, HWP � �.�.
+ project.reload_all_plates_with_reset();
+// ����� ����������� ����
+ // project.find_all_cds();
+
+ project_prepare_config();
+ project_run_init_all_plates();
+
+ project.load_cfg_to_plates();
+
+ project.clear_errors_all_plates();
+
+
+ final_code = update_progress_load_hmi(5);
+
+/////////////////////////////////////////////
+ enable_er0_control();
+
+
+ project.read_errors_controller();
+
+ project_read_errors_controller(); // ������ ADR_ERRORS_TOTAL_INFO
+ if(project.controller.read.errors.all || project.controller.read.errors_buses.all)
+ {
+ xerror(main_er_ID(3),(void *)0);
+ }
+
+ final_code = update_progress_load_hmi(6);
+
+////////////////////////////////////////////
+ project.reset_errors_controller();
+ project.read_errors_controller();
+ project.start_parallel_bus();
+ project.read_errors_controller();
+ project.reset_errors_controller();
+ project.read_errors_controller();
+
+ project.stop_parallel_bus();
+
+ project.reset_errors_controller();
+ project.read_errors_controller();
+
+ project.start_parallel_bus();
+ project.read_errors_controller();
+
+ final_code = update_progress_load_hmi(7);
+////////////////////////////////////////////////
+
+
+
+#if (TMSPWMGEN==1)
+ setup_pwm_out();// ��������� ��������������� ���� ��� ������ ���
+ setup_pwm_int(FREQ_PWM, 0 ,0);
+#else //TMSPWMGEN
+
+#if (XPWMGEN==1)
+ InitXPWM(FREQ_PWM);
+ stop_wdog();
+#else
+
+ #error "������ ��������� �������. �� ������ ��� ����!!!"
+
+#endif //XPWMGEN
+#endif //TMSPWMGEN
+
+ InitPWM_Variables(edrk.flag_second_PCH);
+
+ break_resistor_managment_init(FREQ_PWM);
+
+// start_int13_interrupt();
+
+
+// ��������� SYNC
+ setup_sync_int(); //use timer4
+ //start_sync_interrupt();
+ edrk.disable_interrupt_sync = 0;
+
+
+ // pause_1000(100000);
+ final_code = update_progress_load_hmi(8);
+
+// project.enable_all_interrupt();
+// status_interrupts = __enable_interrupts();
+
+// pause_1000(100000);
+
+
+ project.read_errors_controller();
+ x_parallel_bus_project.read_status(&x_parallel_bus_project);
+
+// err_main = ReadMemory(ADR_ERRORS_TOTAL_INFO);
+// if(enable_er0_control() || err_main)
+ if (project.controller.read.errors.bit.error_pbus
+ || project.controller.read.errors_buses.bit.slave_addr_error
+ || project.controller.read.errors_buses.bit.count_error_pbus)
+ {
+ xerror(xparall_bus_er_ID(2),(void *)0);
+
+ project.stop_parallel_bus();
+
+ project.reset_errors_controller();
+ project.read_errors_controller();
+
+ project.start_parallel_bus();
+ project.read_errors_controller();
+ }
+
+/*
+ while(1)
+ {
+ project.adc[0].read_pbus(&project.adc[0]);
+// project.adc[1].read_pbus(&project.adc[1]);
+ project.cds_tk[3].read_pbus(&project.cds_tk[3]);
+ project.read_errors_controller();
+ }
+*/
+// project_stop_parallel_bus();
+
+
+ project.start_parallel_bus();
+ x_parallel_bus_project.read_status(&x_parallel_bus_project);
+
+// ���� ������ ����� ������� PBUS ����� �� ����� ������ ��� ������� ����
+ Init_Adc_Variables();
+ final_code = update_progress_load_hmi(9);
+
+
+/////////////////////////////
+// optical bus timer
+/////////////////////////////
+ if (edrk.flag_second_PCH==0)
+ init_eva_timer2(FREQ_PWM*20*2, &optical_bus_read_write_interrupt);
+ if (edrk.flag_second_PCH==1)
+ init_eva_timer2(FREQ_PWM*20*2, &optical_bus_read_write_interrupt);
+
+ //start_eva_timer2();// run global_time_interrupt
+/////////////////////////////
+
+ /////////////////////////////
+ // add bus timer
+ init_eva_timer1(FREQ_PWM*50,&async_pwm_ext_interrupt);
+ start_eva_timer1();// run global_time_interrupt
+ /////////////////////////////
+
+
+ run_can_from_mpu();
+
+ i_led1_on_off(1);
+ i_led2_on_off(0);
+
+ final_code = update_progress_load_hmi(10);
+
+#if (XPWMGEN==1)
+ project.enable_int13();
+#endif
+
+ start_int13_interrupt();
+
+ pause_1000(10000);
+
+
+
+// project.enable_all_interrupt();
+
+
+//#if (MODE_DISABLE_ENABLE_WDOG==1)
+// stop_wdog();
+//#else
+// start_wdog();
+//#endif
+// static unsigned int ccc = 0;
+// static STATUS_DATA_READ_OPT_BUS optbus_status = {0};
+//
+// project.disable_all_interrupt();
+// while(1)
+// {
+//
+//
+// if (edrk.flag_second_PCH==1)
+// {
+// project.cds_tk[3].read_pbus(&project.cds_tk[3]);
+// optbus_status = optical_bus_get_status_and_read();
+// }
+// if (edrk.flag_second_PCH==0)
+// {
+//
+// ccc++;
+// optical_write_data.data.angle_pwm = ccc;
+//
+// optical_bus_write();
+//
+// }
+// }
+
+
+ start_sync_interrupt(); // ��������� ������ SYNC
+ start_eva_timer2();// run global_time_interrupt optical_bus_read_write_interrupt
+ start_can_interrupt();
+
+ prev_flag_special_mode_rs = flag_special_mode_rs;
+
+}
+
+//////////////////////////////////////////////////////////
+void edrk_go_main(void)
+{
+ static int disable_can=0;
+ static int pbus_cmd=1;
+ static int prev_pbus_cmd=1;
+
+ static int f_reset = 0;
+ static int np_reset = 0;
+ static int level_go_main = 0;
+
+
+ if(f_reset)
+ {
+ ResetNPeriphPlane(np_reset);
+ f_reset = 0;
+ }
+
+
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
+ PWM_LINES_TK_21_ON;
+#endif
+
+// new_fifo_calc_load();
+#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
+ PWM_LINES_TK_23_ON;
+#endif
+
+ project.read_errors_controller();
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
+ PWM_LINES_TK_23_OFF;
+#endif
+
+// project.read_all_pbus();
+// project.read_all_hwp();
+
+ if (edrk.flag_slow_in_main==0 || level_go_main==0)
+ project.read_all_sbus(); //22 msec
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
+ PWM_LINES_TK_23_ON;
+#endif
+
+ x_parallel_bus_project.read_status(&x_parallel_bus_project);
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
+ PWM_LINES_TK_23_OFF;
+#endif
+
+// project.write_all_sbus();
+
+
+
+
+//////////////////////
+ if ((prev_pbus_cmd != pbus_cmd) && pbus_cmd==0)
+ {
+// project.disable_int13();
+ project.stop_parallel_bus();
+ }
+
+ if ((prev_pbus_cmd != pbus_cmd) && pbus_cmd==1)
+ {
+// project.enable_int13();
+ project.start_parallel_bus();
+ }
+ prev_pbus_cmd = pbus_cmd;
+
+ prev_flag_special_mode_rs = flag_special_mode_rs;
+/////////////////////
+
+ if (flag_special_mode_rs==0)
+ {
+ xpwm_time.disable_sync_out = 0;
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
+ PWM_LINES_TK_22_ON;
+#endif
+
+// if (level_go_main==1)
+ project.read_all_hwp(); //800 mks
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
+ PWM_LINES_TK_23_ON;
+#endif
+
+ if (edrk.flag_slow_in_main==0 || level_go_main==20)
+ project.write_all_sbus(); //5msec
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
+ PWM_LINES_TK_23_OFF;
+#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
+ PWM_LINES_TK_22_OFF;
+#endif
+
+ run_edrk();
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
+ PWM_LINES_TK_23_ON;
+#endif
+
+// if (at==1)
+// {
+// SendAll2SecondBS();
+// oscil_can.send(&oscil_can);
+// at=0;
+// }
+
+ //����� �� CAN
+ if (disable_can==0)
+ CAN_may_be_send_cycle_fifo();
+
+ }
+ else
+ {
+ xpwm_time.disable_sync_out = 1;
+ project.read_all_pbus();
+ project.read_all_hwp();
+ project.write_all_sbus();
+// project.disable_int13();
+
+ RS232_WorkingWith(0,1,0);
+ }
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
+ PWM_LINES_TK_23_OFF;
+#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
+ PWM_LINES_TK_21_OFF;
+#endif
+
+ level_go_main++;
+ if (level_go_main>=40)
+ level_go_main = 0;
+
+
+}
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//#pragma CODE_SECTION(get_start_ged_from_zadanie,".fast_run");
+int get_start_ged_from_zadanie(void)
+{
+
+ // uf const
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_UF_CONST)
+ {
+ if (edrk.zadanie.iq_fzad_rmp!=0 && edrk.zadanie.iq_kzad_rmp!=0)
+ return 1;
+ else
+ return 0;
+ }
+ else
+ // scalar oborots
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_SCALAR_OBOROTS)
+ {
+ if (edrk.MasterSlave==MODE_SLAVE)
+ {
+ if (edrk.zadanie.iq_Izad_rmp!=0
+ && edrk.zadanie.iq_limit_power_zad_rmp!=0)
+ return 1;
+ else
+ return 0;
+ }
+ else
+ {
+ if (edrk.zadanie.iq_oborots_zad_hz_rmp!=0 && edrk.zadanie.iq_Izad_rmp!=0
+ && edrk.zadanie.iq_power_zad_rmp!=0 && edrk.zadanie.iq_limit_power_zad_rmp!=0)
+ return 1;
+ else
+ return 0;
+ }
+ }
+ else
+ // scalar power
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_SCALAR_POWER)
+ {
+ if (edrk.zadanie.iq_oborots_zad_hz_rmp!=0 && edrk.zadanie.iq_Izad_rmp!=0
+ && edrk.zadanie.iq_power_zad_rmp!=0 && edrk.zadanie.iq_limit_power_zad_rmp!=0)
+ return 1;
+ else
+ return 0;
+ }
+ else
+ // foc oborots
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS)
+ {
+ if (edrk.zadanie.iq_oborots_zad_hz_rmp!=0 && edrk.zadanie.iq_Izad_rmp!=0
+ && edrk.zadanie.iq_power_zad_rmp!=0 && edrk.zadanie.iq_limit_power_zad_rmp!=0)
+ return 1;
+ else
+ return 0;
+ }
+ else
+ // foc power
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER)
+ {
+ if (edrk.zadanie.iq_oborots_zad_hz_rmp!=0 && edrk.zadanie.iq_Izad_rmp!=0
+ && edrk.zadanie.iq_power_zad_rmp!=0 && edrk.zadanie.iq_limit_power_zad_rmp!=0)
+ return 1;
+ else
+ return 0;
+ }
+ else
+ {
+ return 0;
+ }
+
+}
+//////////////////////////////////////////////////////////
+
+
+void cross_stend_automats(void)
+{
+ unsigned int g;
+
+ edrk.to_shema.bits.CROSS_UMP_ON_OFF = 0;
+ edrk.to_shema.bits.CROSS_QTV_ON_OFF = 0;
+
+}
+
+
+
+
+#define MAX_ERRORS_DETECT_CHANGE_ACTIVE_CONTROL 50
+void check_change_post_upravl(void)
+{
+ static int prev_active_post_upravl = -1, prev_active_post_upravl_another_bs = -1;
+ int active_post_upravl = -1, active_post_upravl_another_bs = -1;
+ static unsigned int count_err = 0;
+
+
+ active_post_upravl = get_code_active_post_upravl();
+ active_post_upravl_another_bs = edrk.active_post_upravl_another_bs;
+
+
+ if (edrk.Status_Ready.bits.ready_final && edrk.Ready2_another_bs)
+ {
+ if ((active_post_upravl_another_bs==0 || active_post_upravl==0) && (active_post_upravl==2 || active_post_upravl_another_bs==2))
+ {
+ // ���� �����-�� �� � ��� � ������ � �������
+ edrk.errors.e9.bits.CHANGE_ACTIVE_CONTROL_TO_LOCAL_FROM_SVU |=
+ filter_err_count(&count_err,
+ MAX_ERRORS_DETECT_CHANGE_ACTIVE_CONTROL,
+ 1,
+ 0);
+ }
+ else
+ count_err = 0;
+ }
+
+
+ prev_active_post_upravl = active_post_upravl;
+ prev_active_post_upravl_another_bs = active_post_upravl_another_bs;
+
+ edrk.active_post_upravl = active_post_upravl;
+}
+
+
+int get_code_active_post_upravl(void)
+{
+
+ if (control_station.active_control_station[CONTROL_STATION_TERMINAL_RS232])
+ return 3;
+ else
+ if (control_station.active_control_station[CONTROL_STATION_TERMINAL_CAN])
+ return 4;
+ else
+ if (control_station.active_control_station[CONTROL_STATION_INGETEAM_PULT_RS485])//(edrk.RemouteFromDISPLAY)
+ return 0;
+ else
+ if (control_station.active_control_station[CONTROL_STATION_MPU_KEY_CAN])
+ return 5;
+ else
+ if (control_station.active_control_station[CONTROL_STATION_ZADATCHIK_CAN])
+ return 6;
+ else
+ if (control_station.active_control_station[CONTROL_STATION_VPU_CAN])
+ return 1;
+ else
+ if (control_station.active_control_station[CONTROL_STATION_MPU_SVU_CAN])
+ return 2;
+ else
+ return 10; //error
+}
+
+
+
+
+#define MAX_COUNT_DETECTS_ZERO_U_ZPT 5
+
+void auto_detect_zero_u_zpt(void)
+{
+ static unsigned int old_time_u_zpt1=0, count_detects = 0, flag_detect_zero_u_zpt = 0;
+
+ static _iq prev_uzpt1=0;
+ static _iq prev_uzpt2=0;
+ static _iq delta_u = _IQ(3.0/NORMA_ACP);
+ static _iq minimal_detect_u = _IQ(40.0/NORMA_ACP);
+
+
+
+ if (edrk.SumSbor==0 && flag_detect_zero_u_zpt==0)
+ {
+ // ��� �����, ������ ����� ������ ���� Uzpt
+ if (detect_pause_sec(5,&old_time_u_zpt1))
+ {
+ if ( filter.iqU_1_long>=minimal_detect_u ||
+ filter.iqU_2_long>=minimal_detect_u ||
+ (prev_uzpt1-filter.iqU_1_long)>=delta_u ||
+ (prev_uzpt2-filter.iqU_2_long)>=delta_u )
+ {
+ // ���������� ��� ������
+ count_detects = 0;
+ }
+ else
+ {
+ if (count_detects<MAX_COUNT_DETECTS_ZERO_U_ZPT)
+ count_detects++;
+ else
+ {
+ if (flag_detect_zero_u_zpt==0)
+ {
+ if (filter.iqU_1_long<=minimal_detect_u &&
+ filter.iqU_2_long<=minimal_detect_u)
+ {
+ analog_zero.iqU_1 = filter.iqU_1_long;
+ analog_zero.iqU_2 = filter.iqU_2_long;
+ }
+ }
+ flag_detect_zero_u_zpt = 1;
+
+ }
+
+ }
+
+ prev_uzpt1 = filter.iqU_1_long;
+ prev_uzpt2 = filter.iqU_2_long;
+ } // 1 sec end
+ }
+ else
+ {
+ if (flag_detect_zero_u_zpt)
+ {
+ if (filter.iqU_1_long<-delta_u || filter.iqU_2_long<-delta_u)
+ {
+ // ������� ���� ���� ����������� ���������, ���� �� ���������
+ flag_detect_zero_u_zpt = 0;
+ analog_zero.iqU_1 = 0;
+ analog_zero.iqU_2 = 0;
+ }
+
+ }
+ count_detects = 0;
+ }
+
+}
+
+////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////
+// ��� ����� ���������� ����� ������ �����
+////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////
+void reinit_before_sbor(void)
+{
+ static unsigned int prev_sbor = 0;
+
+ if (edrk.SumSbor && edrk.SumSbor!=prev_sbor )
+ {
+ init_50hz_input_net50hz();
+ init_all_limit_koeffs();
+ }
+ prev_sbor = edrk.SumSbor;
+}
+
+////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////
+//
+////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////
+#define MINIMAL_POWER_TO_DISPLAY 10 // ������� 10 ���
+
+#define PAUSE_COMUNICATION 100
+void run_edrk(void)
+{
+ // static unsigned int prev_SumSbor = 0, prev_AllStart = 0, prev_VozbudOnOff = 0, prev_SBOR_SHEMA_VPU = 0,prev_SBOR_SHEMA_RS=0, prev_SBOR_SHEMA_DISPLAY = 0;
+
+ int ff =0;
+ static unsigned int filter_count_error_control_station_select_active = 0;
+ static int flag_enable_update_mpu = 1;
+ static unsigned int external_cmd_alarm_log = 0;
+ static int prev_enable_pwm_test_lines=0;
+ int power_kw_full = 0;
+
+ float max_oborots, local_oborots, local_power, max_power;
+ static float float_oborots = 0, koef_p1 = 0, koef_p2 = 0, koef_p3 = 27.391304347826086956521739130435;
+
+ static unsigned int prev_rs_a_count_recive_ok = 0;
+ static unsigned int pause_comunication = PAUSE_COMUNICATION;
+ static unsigned int time_pause_modbus_can_zadatchik_vpu = TIME_PAUSE_MODBUS_CAN_ZADATCHIK_VPU;
+ static unsigned int time_pause_modbus_can_ukss_setup = TIME_PAUSE_MODBUS_CAN_UKSS_SETUP;
+ static unsigned int time_pause_modbus_can_bs2bs = TIME_PAUSE_MODBUS_CAN_BS2BS;
+ static int fa_0 = 1;
+ static int fa_1 = 1;
+ static int fa_2 = 1;
+
+ static int prev_cmd_very_slow_start = 0;
+
+
+// static float fff = 0;
+
+ reinit_before_sbor();
+
+ if (edrk.SumSbor || edrk.Status_Ready.bits.ready_final)
+ {
+ disable_flag_special_mode_rs = 1;
+ }
+ else
+ disable_flag_special_mode_rs = 0;
+
+ if (f.Prepare || f.terminal_prepare) {
+ project.clear_errors_all_plates();
+ }
+
+// fff = my_satur_float(fff,MAX_ZADANIE_LIMIT_POWER, MIN_ZADANIE_LIMIT_POWER, 0);
+ // slow_vector_update();
+
+ read_plane_errors();
+
+// if (flag_enable_update_hmi)
+// update_tables_HMI();
+// if (flag_enable_update_mpu)
+// update_modbus_table();
+// modbusNetworkSharing(1);
+// get_command_HMI();
+
+// return;
+
+// i_led1_on_off(1);
+ if (edrk.flag_disable_pult_485==0)
+ {
+ i_led2_on_off(1);
+ modbusNetworkSharing(0);
+
+ }
+// i_led1_on_off(0);
+
+// if (ccc[0])
+// {
+// i_led2_on_off(0);
+// return;
+// }
+
+ if (!(detect_pause_milisec(pause_comunication, &old_time_edrk2)))
+ return;
+
+
+ if (edrk.get_new_data_from_hmi2)
+ {
+ get_command_HMI();
+ edrk.get_new_data_from_hmi2 = 0;
+ }
+
+
+
+ ////////////////////////////////////////////////////////
+ ////////////////////////////////////////////////////////
+ // ������ ��� ����������� ��� � 100 ����.
+ ////////////////////////////////////////////////////////
+ ////////////////////////////////////////////////////////
+ ////////////////////////////////////////////////////////
+
+
+ // external_cmd_alarm_log = modbus_table_can_in[11].all;
+ // test_send_alarm_log(external_cmd_alarm_log);
+
+ // modbusNetworkSharing(0);
+
+ // i_led2_on_off(1);
+
+ modbusNetworkSharingCAN();
+
+ #if (ENABLE_CAN_SEND_TO_UKSS_FROM_MAIN)
+ // ����� � ��������
+ update_ukss_can(time_pause_modbus_can_zadatchik_vpu);
+ update_ukss_can_moment_kgnc(time_pause_modbus_can_zadatchik_vpu*3);
+
+
+ update_ukss_setup(time_pause_modbus_can_ukss_setup);
+ #endif
+
+ #if (ENABLE_CAN_SEND_TO_ANOTHER_BSU_FROM_MAIN)
+// ����� � ��������
+ update_bsu_can(time_pause_modbus_can_bs2bs);
+ #endif
+
+ check_all_power_limits();
+
+ calc_p_water_edrk();
+ calc_temper_edrk();
+ calc_temper_acdrive();
+
+ // ������ ���� �����
+ update_input_edrk();
+
+ detect_kvitir_from_all();
+
+ detect_error_all();
+
+ calc_limit_overheat();
+
+ calc_RMS_values_main();
+
+ update_lamp_alarm();
+
+ set_zadanie_u_charge();
+
+ reinit_protect_I_and_U_settings();
+
+ nagrev_auto_on_off();
+
+ auto_block_key_on_off();
+
+
+ ///////////////////////////////////////////////////////////////////////////
+ ///////////////////////////////////////////////////////////////////////////
+ ///////////////////////////////////////////////////////////////////////////
+ edrk.f_rotor_hz = _IQtoF(edrk.iq_f_rotor_hz) * NORMA_FROTOR;
+
+
+
+ if (edrk.Status_Ready.bits.ImitationReady2)
+ {
+// edrk.oborots = edrk.zadanie.oborots_zad;
+// koef_p1 = 54.78260869565217391304347826087/(edrk.count_bs_work+1);
+// koef_p2 = 54.78260869565217391304347826087/4;
+
+ koef_p3 = 27.39130;
+
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_ROTOR_POWER]==0) // �� ��������
+ {
+
+ if (edrk.count_bs_work==0)
+ max_power = my_satur_float(edrk.zadanie.limit_power_zad, MAX_ZADANIE_POWER/2, MIN_ZADANIE_POWER/2, 0);
+ else
+ max_power = my_satur_float(edrk.zadanie.limit_power_zad, MAX_ZADANIE_POWER, MIN_ZADANIE_POWER, 0);
+
+ max_oborots = max_power/koef_p3;
+ if (edrk.count_bs_work==0)
+ max_oborots = my_satur_float(max_oborots,MAX_ZADANIE_OBOROTS_ROTOR/2,MIN_ZADANIE_OBOROTS_ROTOR/2, 0);
+ else
+ max_oborots = my_satur_float(max_oborots,MAX_ZADANIE_OBOROTS_ROTOR,MIN_ZADANIE_OBOROTS_ROTOR, 0);
+
+ local_oborots = fast_round(_IQtoF(edrk.zadanie.iq_oborots_zad_hz)*60.0*NORMA_FROTOR);
+ if (local_oborots>=0)
+ {
+ if (local_oborots>max_oborots)
+ local_oborots = max_oborots;
+ }
+ else
+ {
+ if (local_oborots<-max_oborots)
+ local_oborots = -max_oborots;
+ }
+
+ float_oborots = zad_intensiv(1.0, 1.0, float_oborots, local_oborots);
+
+ edrk.oborots = float_oborots;
+ edrk.power_kw = edrk.oborots * koef_p3/(edrk.count_bs_work+1);
+
+
+
+
+//
+// max_oborots = edrk.zadanie.limit_power_zad/koef_p2;
+// max_oborots = my_satur_float(max_oborots,MAX_ZADANIE_OBOROTS_ROTOR,MIN_ZADANIE_OBOROTS_ROTOR, 0);
+//
+// local_oborots = fast_round(_IQtoF(edrk.zadanie.rmp_oborots_imitation_rmp)*60.0*NORMA_FROTOR);
+// if (local_oborots>=0)
+// {
+// if (local_oborots>max_oborots)
+// local_oborots = max_oborots;
+// }
+// else
+// {
+// if (local_oborots<-max_oborots)
+// local_oborots = -max_oborots;
+// }
+
+ }
+ else
+ {
+
+ local_power = fast_round(_IQtoF(edrk.zadanie.iq_power_zad_rmp) * NORMA_ACP * NORMA_ACP / 1000.0);
+ if (edrk.count_bs_work==0)
+ local_power = my_satur_float(local_power, MAX_ZADANIE_POWER/2, MIN_ZADANIE_POWER/2, 0);
+ else
+ local_power = my_satur_float(local_power, MAX_ZADANIE_POWER, MIN_ZADANIE_POWER, 0);
+
+ local_oborots = local_power/koef_p3;
+ float_oborots = zad_intensiv(1.0, 1.0, float_oborots, local_oborots);
+ edrk.oborots = float_oborots;
+ edrk.power_kw = local_power/(edrk.count_bs_work+1);//edrk.oborots * koef_p3;
+
+// local_power = fast_round(_IQtoF(edrk.zadanie.iq_power_zad_rmp) * NORMA_ACP * NORMA_ACP / 1000.0);
+// local_oborots = local_power/koef_p1;
+ }
+
+
+// float_oborots = zad_intensiv(0.5, 0.5, float_oborots, local_oborots);
+// edrk.oborots = float_oborots;
+//
+// if (edrk.oborots>=0)
+// edrk.power_kw = edrk.oborots * koef_p2;
+// else
+// edrk.power_kw = edrk.oborots * koef_p2;
+
+//
+//
+//
+// if (edrk.oborots>=0)
+// edrk.power_kw = edrk.oborots * koef_p;
+// else
+// edrk.power_kw = edrk.oborots * (+koef_p);
+ }
+ else
+ {
+ edrk.oborots = fast_round(_IQtoF(WRotor.iqWRotorSumFilter3)*60.0*NORMA_FROTOR);
+// local_power = fast_round(_IQtoF(filter.PowerScalarFilter2) * NORMA_ACP * NORMA_ACP / 1000.0);
+//
+// if (edrk.oborots>=0)
+// edrk.power_kw = local_power;
+// else
+// edrk.power_kw = -local_power;
+
+ edrk.power_kw = fast_round(_IQtoF(edrk.iq_power_kw_one_filter_znak) * NORMA_ACP * NORMA_ACP / 1000.0);
+ }
+
+ power_kw_full = edrk.power_kw + edrk.power_kw_another_bs;
+
+// if (power_kw_full < MINIMAL_POWER_TO_DISPLAY)
+// edrk.power_kw_full = 0;
+// else
+ edrk.power_kw_full = power_kw_full;
+ ///////////////////////////////////////////////////////////////////////////
+ ///////////////////////////////////////////////////////////////////////////
+ ///////////////////////////////////////////////////////////////////////////
+
+
+
+ edrk.Status_Ready.bits.ready1 = get_ready_1();
+
+ pump_control();
+
+
+ if (control_station_select_active())
+ {
+
+ if (filter_count_error_control_station_select_active<30)
+ filter_count_error_control_station_select_active++;
+ else
+ edrk.errors.e7.bits.NOT_VALID_CONTROL_STATION |= 1;
+ }
+ else
+ filter_count_error_control_station_select_active = 0;
+
+ edrk.current_active_control = get_current_station_control();
+
+ if (edrk.current_active_control<CONTROL_STATION_LAST)
+ {
+ // ���� �������� ���� ����������
+ }
+
+
+ // ��������� ��� ������ �� ���� ��������� ������ ����������
+ parse_parameters_from_all_control_station();
+ //�������� ������ �� ��������� ����� � �������
+ load_parameters_from_active_control_station(edrk.current_active_control);
+
+ // ���� �� slave �� ����� ������ ����� � ������� �� CAN � �������� � active_control_station
+ parse_data_from_master_to_alg();
+
+
+ ff = control_station.active_array_cmd[CONTROL_STATION_CMD_SET_ROTOR];
+ control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_SET_ROTOR] = ff;
+ control_station.array_cmd[CONTROL_STATION_VPU_CAN][CONTROL_STATION_CMD_SET_ROTOR] = ff;
+ control_station.array_cmd[CONTROL_STATION_ZADATCHIK_CAN][CONTROL_STATION_CMD_SET_ROTOR] = ff;
+
+ ff = control_station.active_array_cmd[CONTROL_STATION_CMD_SET_POWER];
+ control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_SET_POWER] = ff;
+
+
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_ROTOR_POWER])
+ {
+ control_station.array_cmd[CONTROL_STATION_ZADATCHIK_CAN][CONTROL_STATION_CMD_SET_ROTOR] = 0;
+ control_station.array_cmd[CONTROL_STATION_VPU_CAN][CONTROL_STATION_CMD_SET_ROTOR] = 0;
+ }
+
+ // ��� ������, ��� ����� ������ ������ ��, �� ������ �� ������ �������� ����������� ������� ��� ���������,
+ // �.�. ������� ���������� QTV � QPU �������� ���������������.
+// cross_stend_automats();
+
+ // ��������� ������ �� ������� �� �� CAN
+ read_data_from_bs();
+
+ //��������� ���������� ������ �� �������� ����� ���������� � ��������� edrk.
+ parse_analog_data_from_active_control_station_to_alg();
+
+ // if (flag_enable_update_hmi)
+ // update_tables_HMI();
+ if (flag_enable_update_mpu)
+ {
+ update_svu_modbus_table();
+ }
+
+ // modbusNetworkSharing(0);
+
+
+
+ if (flag_enable_can_from_mpu)
+ {
+
+ // write_all_data_to_mpu_485(0);
+ // read_all_data_from_mpu_485(0);
+ // write_all_data_to_mpu_can(1);
+ // test_rs_can_with_svu_mpu();
+ }
+
+ //
+
+ if (edrk.test_mode)
+ {
+ return;
+ }
+
+ get_sumsbor_command();
+
+ sbor_shema(edrk.SumSbor);
+
+ auto_select_master_slave();
+
+ who_select_sync_signal();
+
+ check_change_post_upravl();
+
+ get_freq_50hz_float();
+
+ auto_detect_zero_u_zpt();
+
+
+ if (detect_pause_sec(2,&old_time_edrk1))
+ {
+ update_nPCH();
+
+ if (control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][CONTROL_STATION_CMD_WDOG_OFF])
+ stop_wdog();
+ else
+ start_wdog();
+
+
+ if (rs_a.count_recive_ok != prev_rs_a_count_recive_ok)
+ control_station.time_detect_active[CONTROL_STATION_TERMINAL_RS232] = 0;
+ prev_rs_a_count_recive_ok = rs_a.count_recive_ok;
+ } // 1 sec end
+
+ update_zadat4ik();
+
+// update_uom();
+
+ calc_count_build_revers();
+
+ run_store_slow_logs();
+ prepare_logger_pult();
+ update_LoggerParams();
+
+ send_alarm_log_pult();
+
+ ////////////////////////////////////////////////////////////
+ // ����� �������� ������
+ ////////////////////////////////////////////////////////////
+ update_output_edrk();
+
+
+ read_can_error();
+
+ check_temper_break();
+ check_breaker_ged();
+
+
+
+
+ // change_ramp_zadanie
+ if (edrk.cmd_very_slow_start != prev_cmd_very_slow_start)
+ {
+ change_ramp_zadanie();
+ }
+ prev_cmd_very_slow_start = edrk.cmd_very_slow_start;
+
+
+ // i_led2_on_off(0);
+
+
+
+
+#if (_ENABLE_PWM_LINES_FOR_TESTS==1 \
+ || _ENABLE_PWM_LINES_FOR_TESTS_ROTOR==1 \
+ || _ENABLE_PWM_LINES_FOR_TESTS_PWM==1 \
+ || _ENABLE_PWM_LINES_FOR_TESTS_RS \
+ || _ENABLE_PWM_LINES_FOR_TESTS_SYNC \
+ || _ENABLE_PWM_LINES_FOR_TESTS_GO)
+
+ if (edrk.enable_pwm_test_lines != prev_enable_pwm_test_lines)
+ {
+ if (edrk.enable_pwm_test_lines)
+ pwm_test_lines_start();
+ else
+ pwm_test_lines_stop();
+ }
+ prev_enable_pwm_test_lines = edrk.enable_pwm_test_lines;
+
+#endif
+
+
+#if (_FLOOR6==1)
+ if (fa_0)
+ {
+ // �������� ������� ������ ��
+ control_station.time_detect_active[7] = 0;
+ control_station.alive_control_station[7] = 1;
+ }
+
+ if (fa_1)
+ {
+ control_station.time_detect_active[CONTROL_STATION_MPU_SVU_CAN] = 0;
+ control_station.alive_control_station[CONTROL_STATION_MPU_SVU_CAN] = 1;
+ }
+
+ if (fa_2)
+ {
+ control_station.time_detect_active[CONTROL_STATION_MPU_KEY_CAN] = 0;
+ control_station.alive_control_station[CONTROL_STATION_MPU_KEY_CAN] = 1;
+ }
+
+#endif
+
+
+ i_led2_on_off(0);
+
+}
+
+
+////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////
+void run_can_from_mpu(void)
+{
+ int i;
+
+ for (i=0;i<MPU_UNIT_QUA_UNITS;i++)
+ mpu_can_setup.adr_detect_refresh[i] = 123 - 1;
+
+
+ flag_enable_can_from_mpu = 1;
+
+
+
+}
+
+
+
+
+void update_maz_level_i_af(int n_af, unsigned int new_maz_level)
+{
+#if (USE_HWP_0)
+ if (n_af == 0)
+ {
+ project.hwp[0].write.values[2].plus = new_maz_level;
+ project.hwp[0].write.values[2].minus = new_maz_level;
+ project.hwp[0].write.values[3].plus = new_maz_level;
+ project.hwp[0].write.values[3].minus = new_maz_level;
+ project.hwp[0].write.values[4].plus = new_maz_level;
+ project.hwp[0].write.values[4].minus = new_maz_level;
+ project.hwp[0].write.values[5].plus = new_maz_level;
+ project.hwp[0].write.values[5].minus = new_maz_level;
+ project.hwp[0].write.values[6].plus = new_maz_level;
+ project.hwp[0].write.values[6].minus = new_maz_level;
+ project.hwp[0].write.values[7].plus = new_maz_level;
+ project.hwp[0].write.values[7].minus = new_maz_level;
+ }
+ else
+ {
+
+ }
+#endif
+}
+
+
+void set_new_level_i_protect(int n_af, int level)
+{
+ static int i_af_protect_d = 0, prev_level_all = 0, prev_level_2 = 0;
+
+ if (level>LEVEL_HWP_I_AF) level = LEVEL_HWP_I_AF;
+ if (level<0) level = 0;
+
+ if (n_af == 0)
+ {
+ if (level != prev_level_all)
+ {
+ i_af_protect_d = convert_real_to_mv_hwp(2,level);
+ if (i_af_protect_d>1500) i_af_protect_d = 1500; // max 1500 mV
+
+ update_maz_level_i_af(n_af, i_af_protect_d);
+ project.write_all_hwp();
+ }
+ prev_level_all = level;
+ }
+// else
+// {
+// if (level != prev_level_2)
+// {
+// i_af_protect_d = convert_real_to_mv_hwp(4,level);
+// if (i_af_protect_d>1500) i_af_protect_d = 1500; // max 1500 mV
+//
+// update_maz_level_i_af(n_af, i_af_protect_d);
+// project.write_all_hwp();
+// }
+// prev_level_2 = level;
+//
+// }
+}
+
+
+void calc_count_build_revers(void)
+{
+ static unsigned int prev_b = 0, prev_r = 0;
+
+ if (edrk.Status_Ready.bits.ImitationReady2)
+ {
+ detect_work_revers(((edrk.oborots>=0) ? 1 : -1), edrk.zadanie.iq_oborots_zad_hz_rmp, edrk.oborots);
+ }
+ else
+ detect_work_revers(WRotor.RotorDirectionSlow, edrk.zadanie.iq_oborots_zad_hz_rmp, WRotor.iqWRotorSumFilter2);
+
+ if (edrk.count_revers != prev_r)
+ inc_count_revers();
+
+ if (edrk.count_sbor != prev_b)
+ inc_count_build();
+
+ prev_r = edrk.count_revers;
+ prev_b = edrk.count_sbor;
+
+}
+
+
+void prepare_logger_pult(void)
+{
+
+ edrk.pult_data.logger_params[0] = fast_round(_IQtoF(simple_scalar1.iq_decr_mzz_power_filter)*1000.0);//edrk.zadanie.oborots_zad;
+ edrk.pult_data.logger_params[1] = fast_round(_IQtoF(edrk.Kplus)*1000.0);
+ edrk.pult_data.logger_params[2] = fast_round(_IQtoF(pll1.vars.pll_Ud)*NORMA_ACP);
+ edrk.pult_data.logger_params[3] = fast_round(_IQtoF(edrk.f_stator)*NORMA_FROTOR*100.0);
+ edrk.pult_data.logger_params[4] = fast_round(_IQtoF(edrk.k_stator1)*10000.0);
+ edrk.pult_data.logger_params[5] = fast_round(_IQtoF(pll1.vars.pll_Uq)*NORMA_ACP);
+ edrk.pult_data.logger_params[6] = edrk.period_calc_pwm_int2;
+ edrk.pult_data.logger_params[7] = fast_round(_IQtoF(simple_scalar1.pidF.OutMax)*NORMA_ACP);//edrk.power_kw_full;
+ edrk.pult_data.logger_params[8] = edrk.Sbor_Mode;
+ edrk.pult_data.logger_params[9] = edrk.Stage_Sbor;
+ edrk.pult_data.logger_params[10] = fast_round(_IQtoF(edrk.Izad_out)*NORMA_ACP);
+ edrk.pult_data.logger_params[11] = edrk.period_calc_pwm_int1;
+ edrk.pult_data.logger_params[12] = fast_round(_IQtoF(simple_scalar1.pidF.Out)*NORMA_ACP);
+ edrk.pult_data.logger_params[13] = fast_round(_IQtoF(simple_scalar1.pidF.OutMin)*NORMA_ACP);
+ edrk.pult_data.logger_params[14] = fast_round(_IQtoF(simple_scalar1.pidPower.Out)*NORMA_ACP);
+ edrk.pult_data.logger_params[15] = fast_round(_IQtoF(simple_scalar1.pidPower.OutMax)*NORMA_ACP);
+ edrk.pult_data.logger_params[16] = fast_round(_IQtoF(simple_scalar1.pidF.Ref)*NORMA_FROTOR*1000.0);// //modbus_table_can_in[123].all;//���������� (�� ��������, �� ��������)
+ edrk.pult_data.logger_params[17] = modbus_table_can_in[124].all;//������� (��������)
+ edrk.pult_data.logger_params[18] = modbus_table_can_in[125].all;//�������� (��������)
+ edrk.pult_data.logger_params[19] = modbus_table_can_in[134].all;//����� ��������
+ edrk.pult_data.logger_params[20] = fast_round(_IQtoF(simple_scalar1.bpsi_curent)*NORMA_FROTOR*1000.0);
+ edrk.pult_data.logger_params[21] = fast_round(_IQtoF(edrk.from_uom.iq_level_value_kwt)*NORMA_ACP*NORMA_ACP/1000.0);
+ edrk.pult_data.logger_params[22] = fast_round(_IQtoF(simple_scalar1.iqKoefOgran)*1000.0);//fast_round(_IQtoF(rotor_22220.iqFout)*NORMA_FROTOR*1000.0);
+ edrk.pult_data.logger_params[23] = fast_round(_IQtoF(simple_scalar1.iqKoefOgranIzad)*1000.0); //fast_round(_IQtoF(edrk.zadanie.iq_limit_power_zad)*NORMA_ACP*NORMA_ACP/1000.0);
+ edrk.pult_data.logger_params[24] = fast_round(_IQtoF(edrk.all_limit_koeffs.sum_limit)*1000.0);
+ edrk.pult_data.logger_params[25] = fast_round(_IQtoF(edrk.all_limit_koeffs.uom_limit)*1000.0);
+ edrk.pult_data.logger_params[26] = fast_round(_IQtoF(edrk.all_limit_koeffs.uin_freq_limit)*1000.0);
+ edrk.pult_data.logger_params[27] = fast_round(_IQtoF(simple_scalar1.pidF.Fdb)*NORMA_FROTOR*1000.0); //
+
+
+}
+
+
+int calc_auto_moto_pump(void)
+{
+ volatile long sum_minutes_pump1, sum_minutes_pump2, set_delta_minutes, cur_delta_minutes;
+
+
+ sum_minutes_pump1 = 0;
+ if (edrk.pult_data.data_from_pult.moto[12]>=0)
+ sum_minutes_pump1 += edrk.pult_data.data_from_pult.moto[12] * 1440;
+ if (edrk.pult_data.data_from_pult.moto[3]>=0)
+ sum_minutes_pump1 += edrk.pult_data.data_from_pult.moto[3];
+
+ sum_minutes_pump2 = 0;
+ if (edrk.pult_data.data_from_pult.moto[13]>=0)
+ sum_minutes_pump2 += edrk.pult_data.data_from_pult.moto[13] * 1440;
+ if (edrk.pult_data.data_from_pult.moto[4]>=0)
+ sum_minutes_pump2 += edrk.pult_data.data_from_pult.moto[4];
+
+ cur_delta_minutes = sum_minutes_pump1 - sum_minutes_pump2;
+
+ set_delta_minutes = edrk.pult_data.data_to_pult.TimeToChangePump;
+
+ if (set_delta_minutes==0)
+ {
+ return 0;
+ }
+
+
+ if (cur_delta_minutes>set_delta_minutes)
+ {
+ return 2;
+ }
+ else
+ if (cur_delta_minutes<-set_delta_minutes)
+ {
+ return 1;
+ }
+ else
+ if (edrk.pult_data.data_from_pult.LastWorkPump==0)
+ {
+ if (cur_delta_minutes>0)
+ {
+ return 1;
+ }
+ else
+ if (cur_delta_minutes<=0)
+ {
+ return 2;
+ }
+ else
+ return 0;
+ }
+ else
+ {
+ if (edrk.pult_data.data_from_pult.LastWorkPump == 1)
+ return 1;
+ else
+ if (edrk.pult_data.data_from_pult.LastWorkPump == 2)
+ return 2;
+ else
+ return 0;
+ }
+//
+//
+// if (cur_delta_minutes>0)
+// {
+// //T1>T2
+// if (_IQabs(cur_delta_minutes) >= set_delta_minutes)
+// {
+// // T1+delta>T2
+// return 2;
+// }
+// else
+// return 1;
+// }
+// else
+// {
+// //T2>T1
+// if (_IQabs(cur_delta_minutes) >= set_delta_minutes)
+// {
+// //T2+delta>T1
+// return 1;
+// }
+// else
+// return 2;
+// }
+
+// if (_IQabs(cur_delta_minutes) > set_delta_minutes)
+// {
+// if (cur_delta_minutes>)
+// return 2;
+// else
+// return 1;
+//
+//
+// }
+// if (cur_delta_minutes>=0)
+// {
+// if (_IQabs(cur_delta_minutes) > set_delta_minutes)
+// return 2;
+// else
+// return 1;
+// }
+// else
+// {
+// if (_IQabs(cur_delta_minutes) > set_delta_minutes)
+// return 1;
+// else
+// return 2;
+// }
+
+
+
+}
+
+
+
+void read_can_error(void)
+{
+ EALLOW;
+ edrk.canes_reg = ECanaRegs.CANES.all;
+ edrk.canrec_reg = ECanaRegs.CANREC.all;
+ edrk.cantec_reg = ECanaRegs.CANTEC.all;
+ EDIS;
+
+ cmd_clear_can_error();
+
+}
+
+
+void clear_can_error(void)
+{
+ // EALLOW;
+
+ // ECanaRegs.CANES.all=0xffffffff;
+ InitCanSoft();
+
+ //EDIS;
+
+}
+
+void cmd_clear_can_error(void)
+{
+ static int prev_cmd_clear_can_error = 0;
+
+ if (edrk.cmd_clear_can_error && prev_cmd_clear_can_error==0)
+ {
+ clear_can_error();
+ }
+ prev_cmd_clear_can_error = edrk.cmd_clear_can_error;
+
+}
+
+
+void check_temper_break(void)
+{
+
+ if ( (edrk.break_tempers[0] > ABNORMAL_TEMPER_BREAK_INT)
+ || (edrk.break_tempers[1] > ABNORMAL_TEMPER_BREAK_INT)
+ || (edrk.break_tempers[2] > ABNORMAL_TEMPER_BREAK_INT)
+ || (edrk.break_tempers[3] > ABNORMAL_TEMPER_BREAK_INT)
+ )
+ edrk.warnings.e9.bits.BREAK_TEMPER_WARNING = 1;
+ else
+ {
+ if ( (edrk.break_tempers[0] < ABNORMAL_TEMPER_BREAK_INT-DELTA_TEMPER_BREAK_INT)
+ && (edrk.break_tempers[1] < ABNORMAL_TEMPER_BREAK_INT-DELTA_TEMPER_BREAK_INT)
+ && (edrk.break_tempers[2] < ABNORMAL_TEMPER_BREAK_INT-DELTA_TEMPER_BREAK_INT)
+ && (edrk.break_tempers[3] < ABNORMAL_TEMPER_BREAK_INT-DELTA_TEMPER_BREAK_INT)
+ )
+ edrk.warnings.e9.bits.BREAK_TEMPER_WARNING = 0;
+ }
+
+
+ if ( (edrk.break_tempers[0] > ALARM_TEMPER_BREAK_INT)
+ || (edrk.break_tempers[1] > ALARM_TEMPER_BREAK_INT)
+ || (edrk.break_tempers[2] > ALARM_TEMPER_BREAK_INT)
+ || (edrk.break_tempers[3] > ALARM_TEMPER_BREAK_INT)
+ )
+ edrk.warnings.e9.bits.BREAK_TEMPER_ALARM = 1;
+ else
+ {
+ //DELTA_TEMPER_BREAK_INT
+ if ( (edrk.break_tempers[0] < ALARM_TEMPER_BREAK_INT-DELTA_TEMPER_BREAK_INT)
+ && (edrk.break_tempers[1] < ALARM_TEMPER_BREAK_INT-DELTA_TEMPER_BREAK_INT)
+ && (edrk.break_tempers[2] < ALARM_TEMPER_BREAK_INT-DELTA_TEMPER_BREAK_INT)
+ && (edrk.break_tempers[3] < ALARM_TEMPER_BREAK_INT-DELTA_TEMPER_BREAK_INT)
+ )
+ edrk.warnings.e9.bits.BREAK_TEMPER_ALARM = 0;
+ }
+
+}
+
+#define TIME_FILTER_BREAKER_SIGNALS 10
+
+void check_breaker_ged(void)
+{
+ static unsigned int count_wait_breaker = 0;
+
+ edrk.warnings.e9.bits.BREAKER_GED_ON = filter_digital_input( edrk.warnings.e9.bits.BREAKER_GED_ON,
+ &count_wait_breaker,
+ TIME_FILTER_BREAKER_SIGNALS,
+ edrk.breaker_on);
+
+// if (edrk.breaker_on)
+// edrk.warnings.e9.bits.BREAKER_GED_ON = 1;
+// else
+// edrk.warnings.e9.bits.BREAKER_GED_ON = 0;
+
+}
diff --git a/Inu/Src/main/edrk_main.h b/Inu/Src/main/edrk_main.h
new file mode 100644
index 0000000..435baca
--- /dev/null
+++ b/Inu/Src/main/edrk_main.h
@@ -0,0 +1,1838 @@
+
+#ifndef _EDRK_MAIN_H__
+#define _EDRK_MAIN_H__
+
+
+#include "IQmathLib.h"
+#include "rmp_cntl_v1.h"
+#include "rmp_cntl_v2.h"
+
+#include "alg_pll.h"
+
+
+#define TIME_PAUSE_MODBUS_CAN_BS2BS 500 //900 //500
+#define TIME_PAUSE_MODBUS_CAN_ZADATCHIK_VPU 250 //100//100
+#define TIME_PAUSE_MODBUS_CAN_UKSS_SETUP 2500 //
+#define TIME_PAUSE_MODBUS_CAN_MPU 1100 //500
+#define TIME_PAUSE_MODBUS_CAN_TERMINALS 2000 //1000
+#define TIME_PAUSE_MODBUS_CAN_OSCIL 5000
+
+//#define TIME_PAUSE_MODBUS_CAN_BS2BS 100//20//500
+//#define TIME_PAUSE_MODBUS_CAN_ZADATCHIK_VPU 250//20//100
+//#define TIME_PAUSE_MODBUS_CAN_UKSS_SETUP 5000
+//#define TIME_PAUSE_MODBUS_CAN_MPU 500//20//500
+//#define TIME_PAUSE_MODBUS_CAN_TERMINALS 1000
+//#define TIME_PAUSE_MODBUS_CAN_OSCIL 5000
+
+
+//#define TIME_PAUSE_MODBUS_CAN_TMS2TMS_VIPR 75 //500
+
+
+
+//#define FROM_OPENDOOR project.cds_in[1].read.pbus.data_in.bit.in15
+
+
+// IN0
+#define SENSOR_ROTOR_1 project.cds_in[0].read.pbus.data_in.bit.in0 // ������ ������� 1
+#define SENSOR_ROTOR_2 project.cds_in[0].read.pbus.data_in.bit.in1 // ������ ������� 2
+#define SENSOR_ROTOR_3 project.cds_in[0].read.pbus.data_in.bit.in2 // ������ ������� 3
+
+#define FROM_ING_LOCAL_REMOUTE project.cds_in[0].read.pbus.data_in.bit.in3 // LOCAL=0/REMOUTE=1 �� ����� ��������
+#define FROM_ING_LOCAL_KVITIR project.cds_in[0].read.pbus.data_in.bit.in4 // ������������ � ������
+
+#define FROM_BSU_RAZBOR_SHEMA project.cds_in[0].read.pbus.data_in.bit.in5 // ��������� �����=0
+#define FROM_BSU_SBOR_SHEMA project.cds_in[0].read.pbus.data_in.bit.in6 // ������� �����=0
+
+#define FROM_ING_RAZBOR_SHEMA project.cds_in[0].read.pbus.data_in.bit.in5 // ��������� �����=0
+#define FROM_ING_SBOR_SHEMA project.cds_in[0].read.pbus.data_in.bit.in6 // ������� �����=0
+
+#define FROM_ING_OBOROTS_MINUS project.cds_in[0].read.pbus.data_in.bit.in7 // ������� ������
+#define FROM_ING_OBOROTS_PLUS project.cds_in[0].read.pbus.data_in.bit.in8 // ������� ������
+
+
+#define FROM_BSU_ZADA_DISPLAY project.cds_in[0].read.pbus.data_in.bit.in9 // ��������=1/�����=0 ���
+#define FROM_BSU_SVU project.cds_in[0].read.pbus.data_in.bit.in10 // ��������� ���=0/�������=1 ���
+#define FROM_SHEMA_QTV_ON_OFF ((project.cds_in[0].read.pbus.data_in.bit.in12))
+
+// �� ������ ����� ������� ���, �� ������� ������ ����.
+#define FROM_SVU_BLOCK_QTV project.cds_in[0].read.pbus.data_in.bit.in11 // ���������� ��� QTV �� ���
+
+#define FROM_ING_ANOTHER_RASCEPITEL 1//project.cds_in[0].read.pbus.data_in.bit.in12 // ��������� ����������� ������� ��
+#define FROM_SHEMA_UMP_ON_OFF project.cds_in[0].read.pbus.data_in.bit.in13 // ��������� �������� ��� �������������� ��������������
+
+#define FROM_SHEMA_READY_UMP project.cds_in[0].read.pbus.data_in.bit.in14 // ���������� ��� �������������� ��������������
+#define FROM_ING_RASCEPITEL_ON_OFF ((project.cds_in[0].read.pbus.data_in.bit.in15)) // ��������� ����������� ���
+
+
+
+/////////////////
+
+#define FROM_ING_OP_PIT_NORMA project.cds_in[1].read.pbus.data_in.bit.in0 // ��������� �������������� � ����� 0-�����
+#define FROM_ING_OHLAD_UTE4KA_WATER !(project.cds_in[1].read.pbus.data_in.bit.in1) // ������ ���� // 1 - �����, 0 -������
+#define FROM_ING_SOST_ZAMKA project.cds_in[1].read.pbus.data_in.bit.in2 // ��������� �����
+#define FROM_ING_ZARYAD_ON project.cds_in[1].read.pbus.data_in.bit.in3 // ��������� ���� ���������� ������ 1-��� ������
+
+#define FROM_ING_VENTIL_ON project.cds_in[1].read.pbus.data_in.bit.in4 // ����������� �������� 0-��������
+#define FROM_ING_NASOS_ON project.cds_in[1].read.pbus.data_in.bit.in5 // ��������� ����� ������� 0 - �������
+#define FROM_ING_NASOS_NORMA project.cds_in[1].read.pbus.data_in.bit.in6 // ������ � ����� 0? ����� ��������� ���� 0.
+#define FROM_ING_ZAZEML_OFF project.cds_in[1].read.pbus.data_in.bit.in7 // ��������� ���������� 1-���������.
+#define FROM_ING_NAGREV_ON project.cds_in[1].read.pbus.data_in.bit.in8 // ��������� ������������ 1-���������
+#define FROM_ING_BLOCK_IZOL_NORMA project.cds_in[1].read.pbus.data_in.bit.in9 // �������������� �� �������� ���� ��������. 1-������.
+#define FROM_ING_VIPR_PREDOHR_NORMA project.cds_in[1].read.pbus.data_in.bit.in10 // �������������� ����������� � ����� 0 - �����.
+#define FROM_ING_BLOCK_IZOL_AVARIA project.cds_in[1].read.pbus.data_in.bit.in11 // ������ �� �������� ������.�������� 0-������
+#define FROM_ALL_KNOPKA_AVARIA project.cds_in[1].read.pbus.data_in.bit.in12 // ������ ������ 1 - ������ ����.
+#define FROM_ING_ZAZEML_ON project.cds_in[1].read.pbus.data_in.bit.in13 // ��������� ���������� 0-���������.
+
+#define FROM_ING_ANOTHER_MASTER_PCH project.cds_in[1].read.pbus.data_in.bit.in14 // ������ �� � ������ ������.
+
+#define FROM_ING_UPC_24V_NORMA project.cds_in[1].read.pbus.data_in.bit.in15 // 24 UPC � ����� 0-�����.
+
+//#define FROM_REZERV_12 project.cds_in[1].read.pbus.data_in.bit.in12 // ������
+
+
+
+
+#define TO_ING_ZARYAD_ON project.cds_out[0].write.sbus.data_out.bit.dout0 // �������� �����
+#define TO_ING_NAGREV_OFF project.cds_out[0].write.sbus.data_out.bit.dout1 // ��������� �������
+#define TO_ING_NASOS_1_ON project.cds_out[0].write.sbus.data_out.bit.dout2 // ����� 1 ��������
+#define TO_ING_NASOS_2_ON project.cds_out[0].write.sbus.data_out.bit.dout3 // ����� 2 ��������
+#define TO_ING_BLOCK_KEY_OFF project.cds_out[0].write.sbus.data_out.bit.dout4 // ���������� ����� ���������, ���������� �������� ������
+
+#define TO_ING_RELOAD_UPC project.cds_out[0].write.sbus.data_out.bit.dout5 //5- ������������ ���������� �������
+
+#define TO_SHEMA_ENABLE_QTV project.cds_out[0].write.sbus.data_out.bit.dout6 // 6 - ���������� ��������� QTV
+#define TO_ING_LAMPA_ZARYAD project.cds_out[0].write.sbus.data_out.bit.dout7 //7- ������� �������� 80 ����. ��������� ��������
+
+
+
+#define MODE_QTV_UPRAVLENIE 2 // 1 - �������, 2 - ���������
+
+
+#if (MODE_QTV_UPRAVLENIE==1)
+//////////////////////////////////////////////////////////
+// QTV ��������� �������
+#define TO_SHEMA_QTV_ON_OFF project.cds_out[0].write.sbus.data_out.bit.dout8 // 8 - ��������� QTV
+#endif
+
+
+#if (MODE_QTV_UPRAVLENIE==2)
+// QTV ��������� ���������
+#define TO_SHEMA_QTV_ON project.cds_out[0].write.sbus.data_out.bit.dout8 // 8 - ��������� QTV
+#define TO_SHEMA_QTV_OFF project.cds_out[0].write.sbus.data_out.bit.dout9 // 9 - ���������� QTV
+///////////////////////////////////////////////////////////
+#endif
+
+#define TO_ING_SMALL_LAMPA_AVARIA project.cds_out[0].write.sbus.data_out.bit.dout10 // ������ � ��� � �����
+
+#define TO_SECOND_PCH_ALARM project.cds_out[0].write.sbus.data_out.bit.dout11 // 11 - ������ � ����. ��
+#define TO_SECOND_PCH_MASTER project.cds_out[0].write.sbus.data_out.bit.dout12 // 12 - ����� - ������ � ����. ��
+
+#define TO_SHEMA_UMP_ON_OFF project.cds_out[0].write.sbus.data_out.bit.dout13 // 13 - �������� ��� �������������� ��������������
+#define TO_ING_RASCEPITEL_OFF project.cds_out[0].write.sbus.data_out.bit.dout14// 14- ��������� ������� ���
+#define TO_ING_RASCEPITEL_ON project.cds_out[0].write.sbus.data_out.bit.dout15// 15 - �������� ������� ���
+
+
+
+enum
+{
+ ALG_MODE_UF_CONST = 1,
+ ALG_MODE_SCALAR_OBOROTS,
+ ALG_MODE_SCALAR_POWER,
+ ALG_MODE_FOC_OBOROTS,
+ ALG_MODE_FOC_POWER
+};
+
+
+enum
+{
+ STAGE_SBOR_STATUS_NO_STATUS = 0,
+ STAGE_SBOR_STATUS_FIRST,
+ STAGE_SBOR_STATUS_PUMP,
+ STAGE_SBOR_STATUS_ZARYAD,
+ STAGE_SBOR_STATUS_UMP_ON,
+ STAGE_SBOR_STATUS_QTV,
+ STAGE_SBOR_STATUS_UMP_OFF,
+ STAGE_SBOR_STATUS_RASCEPITEL_1,
+ STAGE_SBOR_STATUS_RASCEPITEL_2,
+ STAGE_SBOR_STATUS_RASCEPITEL_3,
+ STAGE_SBOR_STATUS_RASCEPITEL_4,
+ STAGE_SBOR_STATUS_WAIT_READY_ANOTHER,
+ STAGE_SBOR_STATUS_FINISH
+};
+
+/*
+
+
+
+
+
+#define TO_ING_KVITIR project.cds_out[0].write.sbus.data_out.bit.dout3
+#define TO_QTV_OFF project.cds_out[0].write.sbus.data_out.bit.dout4
+
+#define TO_ING_VOZB_PODKLU4EN project.cds_out[0].write.sbus.data_out.bit.dout5
+#define TO_ING_VOZB_NEPODKLU4EN project.cds_out[0].write.sbus.data_out.bit.dout6
+#define TO_ING_VOZB_READY project.cds_out[0].write.sbus.data_out.bit.dout7
+
+
+
+#define TO_ING_QTV_VLU4EN project.cds_out[0].write.sbus.data_out.bit.dout9
+#define TO_ING_QTV_READY project.cds_out[0].write.sbus.data_out.bit.dout10
+#define TO_ING_START_GED project.cds_out[0].write.sbus.data_out.bit.dout11
+#define TO_ING_SIL_BLOK_OTKL project.cds_out[0].write.sbus.data_out.bit.dout12
+#define TO_ING_SIL_BLOK_VKL project.cds_out[0].write.sbus.data_out.bit.dout13
+#define TO_ING_BLOK_VOZB_WORK project.cds_out[0].write.sbus.data_out.bit.dout15
+#define TO_ING_OSTANOV_GED project.cds_out[0].write.sbus.data_out.bit.dout14
+
+
+
+#define FROM_ING_SIL_BLOK_VKL project.cds_in[1].read.pbus.data_in.bit.in0
+#define FROM_ING_SIL_BLOK_OTKL project.cds_in[1].read.pbus.data_in.bit.in1
+#define FROM_ING_GED_NAMAGNI4EN project.cds_in[1].read.pbus.data_in.bit.in2
+#define FROM_ING_GED_OSTANOVLEN project.cds_in[1].read.pbus.data_in.bit.in3
+#define FROM_ING_QTV_ON project.cds_in[1].read.pbus.data_in.bit.in4
+#define FROM_ING_QTV_OFF project.cds_in[1].read.pbus.data_in.bit.in5
+#define FROM_ING_VOZB_PODKLU4IT project.cds_in[1].read.pbus.data_in.bit.in6
+#define FROM_ING_VOZB_OTKLU4IT project.cds_in[1].read.pbus.data_in.bit.in7
+#define FROM_ING_VOZB_PUSK project.cds_in[1].read.pbus.data_in.bit.in8
+
+*/
+
+typedef struct
+{
+ int adc_temper_u[7];
+ float real_temper_u[7];
+ int real_int_temper_u[7];
+ int max_real_int_temper_u;
+
+ int adc_temper_water[2];
+ float real_temper_water[2];
+ int real_int_temper_water[2]; //0 - internal; 1 - external
+ int max_real_int_temper_water;
+
+ int adc_temper_air[4];
+ float real_temper_air[4];
+ int real_int_temper_air[4];
+ int max_real_int_temper_air;
+ int min_real_int_temper_air;
+
+
+
+
+} TEMPER_EDRK;
+#define TEMPER_EDRK_DEFAULT {{0,0,0,0,0,0,0},{0,0,0,0,0,0,0},{0,0,0,0,0,0,0},0,\
+ {0,0},{0,0},{0,0},0,\
+ {0,0,0,0},{0,0,0,0},{0,0,0,0},0,0\
+ }
+
+
+typedef struct
+{
+ int adc_p_water[1];
+ float real_p_water[1];
+ int real_int_p_water[1];
+ float filter_real_p_water[1];
+ int filter_real_int_p_water[1];
+ int flag_init_filter_temp[1];
+
+} P_WATER_EDRK;
+#define P_WATER_EDRK_DEFAULT {{0},{0},{0},{0},{0},{0}}
+
+
+
+typedef struct
+{
+
+ struct
+ {
+ int adc_temper[6];
+ float real_temper[6];
+ int real_int_temper[6];
+ float filter_real_temper[6];
+ int filter_real_int_temper[6];
+ int flag_init_filter_temp[6];
+ int max_size;
+ int max_real_int_temper;
+ } winding;
+
+ struct
+ {
+ int adc_temper[2];
+ float real_temper[2];
+ int real_int_temper[2];
+ float filter_real_temper[2];
+ int filter_real_int_temper[2];
+ int flag_init_filter_temp[2];
+ int max_size;
+ int max_real_int_temper;
+ } bear;
+
+} TEMPER_ACDRIVE;
+
+#define TEMPER_ACDRIVE_DEFAULT {{{0,0,0,0,0,0},{0,0,0,0,0,0},{0,0,0,0,0,0},{0,0,0,0,0,0},{0,0,0,0,0,0},{0,0,0,0,0,0},6,0},\
+ {{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},2,0} }
+///////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////
+
+typedef struct
+{
+ union {
+ unsigned int all;
+ struct {
+ unsigned int U_1_MAX: 1;
+ unsigned int U_2_MAX: 1;
+ unsigned int U_1_MIN: 1;
+ unsigned int U_2_MIN : 1;
+
+ unsigned int U_A1B1_MAX: 1;
+ unsigned int U_A2B2_MAX: 1;
+ unsigned int U_B1C1_MAX:1;
+ unsigned int U_B2C2_MAX :1;
+
+ unsigned int U_A1B1_MIN :1;
+ unsigned int U_A2B2_MIN: 1;
+ unsigned int U_B1C1_MIN:1;
+ unsigned int U_B2C2_MIN :1;
+
+ unsigned int U_IN_MAX:1;
+ unsigned int U_IN_MIN:1;
+ unsigned int I_1_MAX:1;
+ unsigned int I_2_MAX:1;
+
+ } bits;
+ } e0;
+
+ union {
+ unsigned int all;
+ struct {
+ unsigned int I_UO2_MAX: 1;
+ unsigned int I_UO3_MAX: 1;
+ unsigned int I_UO4_MAX: 1;
+ unsigned int I_UO5_MAX : 1;
+
+ unsigned int I_UO6_MAX: 1;
+ unsigned int I_UO7_MAX: 1;
+ unsigned int I_BREAK_1_MAX:1;
+ unsigned int I_BREAK_2_MAX :1;
+
+ unsigned int HWP_ERROR :1;
+
+ unsigned int BLOCK_DOOR: 1;
+ unsigned int NO_INPUT_SYNC_SIGNAL: 1;
+ unsigned int NO_CONFIRM_ON_RASCEPITEL: 1;
+
+ unsigned int ANOTHER_BS_NOT_ON_RASCEPITEL: 1;
+ unsigned int ANOTHER_BS_VERY_LONG_WAIT: 1;
+ unsigned int VERY_LONG_BOTH_READY2: 1;
+ unsigned int BOTH_KEYS_CHARGE_DISCHARGE: 1;
+
+
+ } bits;
+ } e1;
+
+
+ union {
+ unsigned int all;
+ struct {
+ unsigned int T_UO1_MAX:1;
+ unsigned int T_UO2_MAX :1;
+ unsigned int T_UO3_MAX :1;
+ unsigned int T_UO4_MAX :1;
+
+ unsigned int T_UO5_MAX :1;
+ unsigned int T_UO6_MAX:1;
+ unsigned int T_UO7_MAX:1;
+ unsigned int T_WATER_EXT_MAX:1;
+
+ unsigned int T_WATER_INT_MAX:1;
+ unsigned int P_WATER_INT_MAX: 1;
+ unsigned int P_WATER_INT_MIN: 1;
+ unsigned int T_AIR0_MAX :1;
+
+ unsigned int T_AIR1_MAX :1;
+ unsigned int T_AIR2_MAX :1;
+ unsigned int T_AIR3_MAX :1;
+ unsigned int ERROR_RAZBOR_SHEMA :1;
+
+
+ } bits;
+ } e2;
+
+
+ union {
+ unsigned int all;
+ struct {
+ unsigned int NOT_READY_TK_0: 1;
+ unsigned int NOT_READY_TK_1 : 1;
+ unsigned int NOT_READY_TK_2: 1;
+ unsigned int NOT_READY_TK_3: 1;
+
+ unsigned int NOT_READY_OUT_0:1;
+ unsigned int NOT_READY_OUT_1:1;
+ unsigned int NOT_READY_OUT_2:1;
+ unsigned int NOT_READY_IN_0 :1;
+
+ unsigned int NOT_READY_IN_1 :1;
+ unsigned int NOT_READY_IN_2 :1;
+ unsigned int NOT_READY_ADC_0: 1;
+ unsigned int NOT_READY_ADC_1: 1;
+
+ unsigned int NOT_READY_HWP_0: 1;
+ unsigned int NOT_READY_HWP_1: 1;
+ unsigned int NOT_READY_CONTR: 1;
+ unsigned int ERR_INT_PWM_LONG:1;
+
+
+ } bits;
+ } e3;
+
+
+ union {
+ unsigned int all;
+ struct {
+
+ unsigned int ERR_TK_0: 1;
+ unsigned int ERR_TK_1: 1;
+ unsigned int ERR_TK_2: 1;
+ unsigned int ERR_TK_3: 1;
+
+ unsigned int ERR_OUT_0:1;
+ unsigned int ERR_OUT_1:1;
+ unsigned int ERR_OUT_2:1;
+ unsigned int ERR_IN_0 :1;
+
+ unsigned int ERR_IN_1 :1;
+ unsigned int ERR_IN_2 :1;
+ unsigned int ERR_ADC_0:1;
+ unsigned int ERR_ADC_1:1;
+
+ unsigned int ERR_HWP_0:1;
+ unsigned int ERR_HWP_1:1;
+ unsigned int ANOTHER_BS_POWER_OFF:1;
+ unsigned int FAST_OPTICAL_ALARM:1;
+ } bits;
+ } e4;
+
+ union {
+ unsigned int all;
+ struct {
+
+ unsigned int LINE_ERR0: 1;
+ unsigned int LINE_HWP : 1;
+ unsigned int KEY_AVARIA: 1;
+ unsigned int PUMP_1: 1;
+
+ unsigned int PUMP_2 : 1;
+ unsigned int FAN : 1;
+ unsigned int OP_PIT : 1;
+ unsigned int POWER_UPC :1;
+
+ unsigned int UTE4KA_WATER :1;
+ unsigned int T_VIPR_MAX :1;
+ unsigned int ERROR_PRE_CHARGE_ON: 1;
+ unsigned int PRE_READY_PUMP: 1;
+
+ unsigned int ERROR_GROUND_NET: 1;
+ unsigned int ERROR_HEAT: 1;
+ unsigned int ERROR_ISOLATE: 1;
+ unsigned int ERROR_PRED_VIPR: 1;
+
+
+ } bits;
+ } e5;
+
+ union {
+ unsigned int all;
+ struct {
+
+ unsigned int QTV_ERROR_NOT_ANSWER: 1;
+ unsigned int QTV_ERROR_NOT_U : 1;
+ unsigned int ERROR_PRE_CHARGE_U: 1;
+ unsigned int ERROR_PRE_CHARGE_ANSWER: 1;
+
+ unsigned int UO2_KEYS :1;
+ unsigned int UO3_KEYS :1;
+ unsigned int UO4_KEYS :1;
+ unsigned int UO5_KEYS :1;
+
+ unsigned int UO6_KEYS:1;
+ unsigned int UO7_KEYS:1;
+ unsigned int UO1_KEYS:1;
+ unsigned int ERR_PBUS:1;
+
+ unsigned int ERR_SBUS:1;
+ unsigned int ER_DISBAL_BATT:1;
+ unsigned int ER_RAZBALANS_ALG:1;
+ unsigned int RASCEPITEL_ERROR_NOT_ANSWER:1;
+
+ } bits;
+ } e6;
+
+ union {
+ unsigned int all;
+ struct {
+
+ unsigned int MASTER_SLAVE_SYNC: 1;
+ unsigned int WRITE_OPTBUS: 1;
+ unsigned int READ_OPTBUS: 1;
+ unsigned int ANOTHER_PCH_NOT_ANSWER: 1;
+
+ unsigned int AUTO_SET_MASTER: 1;
+ unsigned int UMP_NOT_READY: 1;
+ unsigned int ERROR_SBOR_SHEMA: 1;
+ unsigned int NOT_VALID_CONTROL_STATION:1;
+
+ unsigned int VERY_FAST_GO_0to1:1;
+ unsigned int T_ACDRIVE_WINDING_MAX:1;
+ unsigned int T_ACDRIVE_BEAR_MAX_DNE:1;
+ unsigned int SVU_BLOCK_ON_QTV:1;
+
+ unsigned int UMP_NOT_ANSWER: 1;
+ unsigned int ANOTHER_RASCEPITEL_ON: 1;
+ unsigned int CAN2CAN_BS: 1;
+ unsigned int ANOTHER_BS_ALARM: 1;
+
+
+
+ } bits;
+ } e7;
+
+ union {
+ unsigned int all;
+ struct {
+
+ unsigned int LOSS_OUTPUT_U1: 1;
+ unsigned int LOSS_OUTPUT_V1: 1;
+ unsigned int LOSS_OUTPUT_W1: 1;
+ unsigned int LOSS_OUTPUT_U2: 1;
+
+ unsigned int LOSS_OUTPUT_V2: 1;
+ unsigned int LOSS_OUTPUT_W2: 1;
+ unsigned int LOSS_INPUT_A1B1: 1;
+ unsigned int LOSS_INPUT_B1C1: 1;
+
+ unsigned int LOSS_INPUT_A2B2: 1;
+ unsigned int LOSS_INPUT_B2C2: 1;
+ unsigned int LOW_FREQ_50HZ: 1;
+ unsigned int U_IN_10_PROCENTS_LOW: 1;
+
+ unsigned int U_IN_20_PROCENTS_LOW: 1;
+ unsigned int U_IN_20_PROCENTS_HIGH: 1;
+ unsigned int DISBALANCE_IM1_IM2: 1;
+ unsigned int WDOG_OPTICAL_BUS: 1;
+
+ } bits;
+ } e8;
+
+ union {
+ unsigned int all;
+ struct {
+ unsigned int T_ACDRIVE_BEAR_MAX_NE :1;
+ unsigned int I_GED_MAX :1;
+ unsigned int CHANGE_ACTIVE_CONTROL_TO_LOCAL_FROM_SVU :1;
+ unsigned int DISBALANCE_Uin_1 :1;
+
+ unsigned int DISBALANCE_Uin_2 :1;
+ unsigned int U_IN_FREQ_NOT_NORMA :1;
+ unsigned int U_IN_FREQ_NOT_STABLE :1;
+ unsigned int ERR_PWM_WDOG :1;
+
+ unsigned int ERR_INT_PWM_VERY_LONG : 1;
+ unsigned int SENSOR_ROTOR_1_BREAK : 1;
+ unsigned int SENSOR_ROTOR_2_BREAK : 1;
+ unsigned int SENSOR_ROTOR_1_2_BREAK : 1;
+
+ unsigned int SENSOR_ROTOR_BREAK_DIRECTION : 1;
+
+ unsigned int BREAK_TEMPER_WARNING : 1;
+ unsigned int BREAK_TEMPER_ALARM : 1;
+ unsigned int BREAKER_GED_ON : 1;
+
+ } bits;
+ } e9;
+ union {
+ unsigned int all;
+ struct {
+ unsigned int WARNING_I_OUT_OVER_1_6_NOMINAL :1;
+ unsigned int T_BSU_Sensor_BK1 :1;
+ unsigned int T_BSU_Sensor_BK2 :1;
+ unsigned int T_ACDRIVE_WINDING_U1 :1;
+ unsigned int T_ACDRIVE_WINDING_V1 :1;
+ unsigned int T_ACDRIVE_WINDING_W1 :1;
+ unsigned int T_ACDRIVE_WINDING_U2 :1;
+ unsigned int T_ACDRIVE_WINDING_V2 :1;
+ unsigned int T_ACDRIVE_WINDING_W2 :1;
+ unsigned int res: 7;
+
+ } bits;
+ } e10;
+ union {
+ unsigned int all;
+ struct {
+ unsigned int ERROR_PUMP_ON_SBOR:1;
+ unsigned int ERROR_RESTART_PUMP_1_ON_SBOR:1;
+ unsigned int ERROR_RESTART_PUMP_2_ON_SBOR:1;
+ unsigned int ERROR_RESTART_PUMP_ALL_ON_SBOR:1;
+
+ unsigned int ERROR_PRED_ZARYAD:1;
+ unsigned int ERROR_PRED_ZARYAD_AFTER:1;
+ unsigned int ERROR_READY_UMP_BEFORE_QTV:1;
+ unsigned int ERROR_STATUS_QTV:1;
+
+ unsigned int ERROR_UMP_ON_AFTER :1;
+ unsigned int ERROR_UMP_NOT_ON:1;
+ unsigned int ERROR_UMP_NOT_OFF :1;
+ unsigned int ERROR_RASCEPITEL_WAIT_CMD:1;
+
+ unsigned int ERROR_RASCEPITEL_ON_AFTER:1;
+ unsigned int ERROR_DISABLE_SBOR:1;
+ unsigned int ERROR_VERY_LONG_SBOR:1;
+ unsigned int ERROR_CONTROLLER_BUS:1;
+// unsigned int :1;
+
+ } bits;
+ } e11;
+ union {
+ unsigned int all;
+ struct {
+ unsigned int res: 16;
+
+ } bits;
+ } e12;
+
+} ERRORS_EDRK;
+
+
+#define ERRORS_EDRK_DEFAULT {0,0,0,0,0,0,0,0,0,0,0,0}
+
+////////////////////////////////////////////////////////
+
+typedef struct
+{
+ struct
+ {
+ unsigned int alive_can_to_another_bs;
+ unsigned int alive_sync_line;
+ unsigned int alive_sync_line_local;
+ unsigned int alive_opt_bus_read;
+ unsigned int alive_opt_bus_write;
+ unsigned int input_master_slave;
+ unsigned int input_alarm_another_bs;
+ unsigned int another_rascepitel;
+ unsigned int fast_optical_alarm;
+ } err_lock_signals;
+ struct
+ {
+ unsigned int alive_can_to_another_bs;
+ unsigned int alive_sync_line;
+ unsigned int alive_sync_line_local;
+ unsigned int alive_opt_bus_read;
+ unsigned int alive_opt_bus_write;
+ unsigned int input_master_slave;
+ unsigned int input_alarm_another_bs;
+ unsigned int another_rascepitel;
+ unsigned int fast_optical_alarm;
+ } err_signals;
+ struct
+ {
+ unsigned int alive_can_to_another_bs;
+ unsigned int alive_sync_line;
+ unsigned int alive_sync_line_local;
+ unsigned int alive_opt_bus_read;
+ unsigned int alive_opt_bus_write;
+ unsigned int input_master_slave;
+ unsigned int input_alarm_another_bs;
+ unsigned int another_rascepitel;
+ unsigned int fast_optical_alarm;
+ } warning_signals;
+ struct
+ {
+ unsigned int alive_can_to_another_bs;
+ unsigned int alive_sync_line;
+ unsigned int alive_sync_line_local;
+ unsigned int alive_opt_bus_read;
+ unsigned int alive_opt_bus_write;
+ unsigned int input_master_slave;
+ unsigned int input_alarm_another_bs;
+ unsigned int another_rascepitel;
+ unsigned int fast_optical_alarm;
+ } errors_count;
+ struct
+ {
+ unsigned int alive_can_to_another_bs;
+ unsigned int alive_sync_line;
+ unsigned int alive_sync_line_local;
+ unsigned int alive_opt_bus_read;
+ unsigned int alive_opt_bus_write;
+ unsigned int input_master_slave;
+ unsigned int input_alarm_another_bs;
+ unsigned int another_rascepitel;
+ unsigned int fast_optical_alarm;
+ } wait_count;
+
+
+ unsigned int sum_err; // ����� ������
+ unsigned int sum_warning; // ����� ��������������
+ unsigned int another_bs_maybe_on; // ��� �� �������
+ unsigned int another_bs_maybe_off; // ��� �� ��������
+ unsigned int ready1; // ������� ����������1 ����
+ unsigned int ready2; // ������� ����������2 ����
+ unsigned int ready3; // ���� ����� � master/slave � ����������� ���������
+ unsigned int count_time_wait_ready1; // ������� �������� ���������� ����
+ unsigned int count_time_wait_ready2; // ������� �������� ���������� ����
+ unsigned int status; // ��� ���������, � ����� ����: �������, ���� ������, ���� ������.
+
+
+
+} MASTER_SLAVE_COM;
+#define MASTER_SLAVE_COM_DEFAULT {{0,0,0,0,0,0,0,0},\
+ {0,0,0,0,0,0,0,0},\
+ {0,0,0,0,0,0,0,0},\
+ {0,0,0,0,0,0,0,0},\
+ {0,0,0,0,0,0,0,0},\
+ 0,0,0,0,0,0,0,0,0}
+
+
+
+////////////////////////////////////////////////////////
+
+////////////////////////////////////////////////////////
+
+typedef union {
+ unsigned int all;
+ struct {
+
+ unsigned int master: 1;
+ unsigned int slave: 1;
+ unsigned int try_master: 1;
+ unsigned int try_slave: 1;
+
+ unsigned int nothing: 1;
+ unsigned int sync1_2: 1;
+ unsigned int bus_off: 1;
+ unsigned int in_err: 1;
+ unsigned int sync_line_detect:1;
+ unsigned int tick:1;
+
+
+ } bits;
+
+ } AUTO_MASTER_SLAVE_DATA;
+////////////////////////////////////////////////////////
+ typedef union {
+ unsigned int all;
+ struct {
+
+ unsigned int ready1: 1;
+ unsigned int ready2: 1;
+ unsigned int ready3: 1;
+ unsigned int ready4: 1;
+
+ unsigned int ready5: 1;
+ unsigned int ready6: 1;
+ unsigned int ready7: 1;
+ unsigned int ready_final: 1;
+
+ unsigned int Batt: 1;
+ unsigned int ImitationReady2: 1;
+ unsigned int MasterSlaveActive: 1; // �������� ���� ���� master ��� slave
+ unsigned int preImitationReady2: 1;
+
+ unsigned int res:4;
+ } bits;
+ } STATUS_READY;
+////////////////////////////////////////////////////////
+ typedef union {
+ unsigned int all;
+ struct {
+
+ unsigned int ZARYAD_ON: 1;
+ unsigned int NAGREV_OFF: 1;
+ unsigned int NASOS_1_ON: 1;
+ unsigned int NASOS_2_ON: 1;
+
+ unsigned int BLOCK_KEY_OFF: 1;
+ unsigned int RESET_BLOCK_IZOL: 1;
+ unsigned int SMALL_LAMPA_AVARIA: 1;
+ unsigned int RASCEPITEL_OFF: 1;
+
+ unsigned int RASCEPITEL_ON: 1;
+
+ unsigned int res:7;
+ } bits;
+ } TO_ING;
+////////////////////////////////////////////////////////
+ typedef union {
+ unsigned int all;
+ struct {
+ unsigned int OP_PIT_NORMA : 1;
+ unsigned int OHLAD_UTE4KA_WATER: 1;
+ unsigned int RASCEPITEL_ON: 1;
+ unsigned int ZARYAD_ON: 1;
+
+ unsigned int VENTIL_ON : 1;
+ unsigned int NASOS_ON: 1;
+ unsigned int NASOS_NORMA: 1;
+ unsigned int ZAZEML_OFF: 1;
+
+ unsigned int NAGREV_ON: 1;
+ unsigned int BLOCK_IZOL_NORMA: 1;
+ unsigned int VIPR_PREDOHR_NORMA: 1;
+ unsigned int UPC_24V_NORMA: 1;
+
+ unsigned int LOCAL_REMOUTE: 1;
+ unsigned int ZAZEML_ON: 1;
+ unsigned int ALL_KNOPKA_AVARIA: 1;
+ unsigned int BLOCK_IZOL_AVARIA: 1;
+ } bits;
+ } FROM_ING1;
+ ////////////////////////////////////////////////////////
+ typedef union {
+ unsigned int all;
+ struct {
+ unsigned int KEY_PLUS : 1;
+ unsigned int KEY_MINUS : 1;
+ unsigned int KEY_SBOR : 1;
+ unsigned int KEY_RAZBOR : 1;
+
+ unsigned int KEY_KVITIR : 1;
+ unsigned int SOST_ZAMKA : 1;
+
+ unsigned int res: 9;
+
+ } bits;
+ } FROM_ING2;
+ ////////////////////////////////////////////////////////
+ typedef union {
+ unsigned int all;
+ struct {
+ unsigned int MASTER: 1;
+ unsigned int RASCEPITEL: 1;
+ unsigned int res:14;
+ } bits;
+ } FROM_SECOND_PCH;
+ ////////////////////////////////////////////////////////
+ typedef union {
+ unsigned int all;
+ struct {
+ unsigned int MASTER: 1;
+ unsigned int ALARM: 1;
+
+ unsigned int res:14;
+ } bits;
+ } TO_SECOND_PCH;
+ ////////////////////////////////////////////////////////
+ typedef union {
+ unsigned int all;
+ struct {
+ unsigned int QTV_ON: 1;
+ unsigned int QTV_OFF: 1;
+ unsigned int UMP_ON_OFF: 1;
+ unsigned int ENABLE_QTV: 1;
+ unsigned int QTV_ON_OFF: 1;
+ unsigned int CROSS_UMP_ON_OFF: 1;
+ unsigned int CROSS_QTV_ON_OFF: 1;
+
+ unsigned int res:9;
+ } bits;
+ } TO_SHEMA;
+ ////////////////////////////////////////////////////////
+ typedef union {
+ unsigned int all;
+ struct {
+ unsigned int QTV_ON_OFF: 1;
+ // unsigned int KNOPKA_AVARIA: 1;
+ unsigned int ZADA_DISPLAY : 1;
+ unsigned int RAZBOR_SHEMA :1 ;
+ unsigned int SBOR_SHEMA : 1;
+ // unsigned int OPENDOOR : 1;
+ unsigned int SVU : 1;
+ // unsigned int ACTIVE : 1;
+ unsigned int READY_UMP : 1;
+ unsigned int UMP_ON_OFF : 1;
+ unsigned int SVU_BLOCK_QTV : 1;
+
+ // unsigned int res:10;
+ } bits;
+ } FROM_SHEMA;
+ ////////////////////////////////////////////////////////
+ typedef union {
+ unsigned int all;
+ struct {
+ unsigned int KVITIR: 1;
+ unsigned int PLUS: 1;
+ unsigned int MINUS : 1;
+ unsigned int PROVOROT :1 ;
+
+ unsigned int UOM_READY_ACTIVE : 1;
+ unsigned int UOM_LIMIT_3 : 1;
+ unsigned int UOM_LIMIT_2 : 1;
+ unsigned int UOM_LIMIT_1 : 1;
+
+
+ unsigned int res:8;
+ } bits;
+ } FROM_ZADAT4IK;
+ ////////////////////////////////////////////////////////
+ typedef union {
+ unsigned int all;
+ struct {
+ unsigned int SBOR_SHEMA: 1;
+ unsigned int RAZBOR_SHEMA: 1;
+ unsigned int KVITIR: 1;
+ unsigned int ACTIVE : 1;
+ unsigned int res:12;
+ } bits;
+ } FROM_RS;
+ ////////////////////////////////////////////////////////
+ typedef union {
+ unsigned int all;
+ struct {
+ unsigned int SBOR_SHEMA: 1;
+ unsigned int RAZBOR_SHEMA: 1;
+ unsigned int KVITIR: 1;
+ unsigned int ACTIVE : 1;
+ unsigned int BLOCKED : 1;
+ unsigned int res:11;
+ } bits;
+ } FROM_DISPLAY;
+ ////////////////////////////////////////////////////////
+ typedef struct {
+
+ union {
+ int all;
+ } OBOROTS1;
+
+
+ union {
+ int all;
+ } OBOROTS2;
+
+ union {
+ unsigned int all;
+ struct {
+ unsigned int GOTOV1 : 1;
+ unsigned int GOTOV2 : 1;
+ unsigned int EMKOST : 1; //For 23550.3 and AVARIA moved up
+ unsigned int NEISPRAVNOST : 1;
+ unsigned int PEREGREV : 1;
+ unsigned int OGRAN_POWER : 1;
+ unsigned int AVARIA : 1;
+ unsigned int res:9;
+ } bits;
+ } BIG_LAMS;
+
+ union {
+ unsigned int all;
+ struct {
+ unsigned int PCH1_READY1: 1;
+ unsigned int PCH1_SHEMA_SOBRANA: 1;
+ unsigned int PCH1_PODKLU4EN: 1;
+ unsigned int PCH1_MESTNOE: 1;
+
+ unsigned int PCH2_READY1: 1;
+ unsigned int PCH2_SHEMA_SOBRANA: 1;
+ unsigned int PCH2_PODKLU4EN: 1;
+ unsigned int PCH2_MESTNOE: 1;
+
+ unsigned int GED_PEREGREV: 1;
+ unsigned int PCH1_PCH2_SYNC: 1;
+ unsigned int GED_PEREGRUZ: 1;
+ unsigned int OBOROT_SVU: 1;
+
+ unsigned int OBOROT_ZADAT: 1;
+ unsigned int OBOROT_MONITOR: 1;
+ unsigned int OBOROT_VPU: 1;
+ unsigned int HOD: 1;
+ } bits;
+ } APL_LAMS0;
+
+ union {
+ unsigned int all;
+ struct {
+ unsigned int PCH_READY1: 1;
+ unsigned int PCH_SHEMA_SOBRANA: 1;
+ unsigned int PCH_PODKLU4EN: 1;
+ unsigned int PCH_MESTNOE: 1;
+ unsigned int reserv: 12;
+ } bits;
+ } APL_LAMS_PCH;
+
+ } TO_ZADAT4IK;
+
+#define TO_ZADAT4IK_DEFAULT {0,0,0,0,0}
+
+
+ ////////////////////////////////////////////////////////
+ typedef struct {
+
+ union {
+ int all;
+ } OBOROTS1;
+
+
+ union {
+ int all;
+ } OBOROTS2;
+
+ union {
+ unsigned int all;
+ struct {
+ unsigned int VPU: 1;
+ unsigned int GOTOV2: 1;
+ unsigned int PODDERG_OBOROTS : 1;
+ unsigned int PEREGRUZKA :1 ;
+ unsigned int res:12;
+ } bits;
+ } BIG_LAMS;
+
+ } TO_VPU;
+
+#define TO_VPU_DEFAULT {0,0,0}
+
+ ////////////////////////////////////////////////////////
+ typedef struct {
+
+ unsigned int level_value;
+ unsigned int ready;
+ unsigned int error;
+ unsigned int code;
+ _iq iq_level_value;
+ _iq iq_level_value_kwt;
+
+
+
+ union {
+ unsigned int all;
+ struct {
+ unsigned int ready: 1;
+ unsigned int level0: 1;
+ unsigned int level1: 1;
+ unsigned int level2: 1;
+ unsigned int level3: 12;
+ } bits;
+ } digital_line;
+
+ } FROM_UOM;
+ ////////////////////////////////////////////////////////
+ ////////////////////////////////////////////////////////
+ ////////////////////////////////////////////////////////
+ ////////////////////////////////////////////////////////
+ ////////////////////////////////////////////////////////
+ typedef struct {
+
+ int int_ZadanieU_Charge;
+ float ZadanieU_Charge;
+ _iq iq_ZadanieU_Charge;
+ _iq iq_ZadanieU_Charge_rmp;
+
+ int int_oborots_zad;
+ float oborots_zad;
+ float oborots_zad_hz;
+ _iq iq_oborots_zad_hz;
+ _iq iq_oborots_zad_hz_rmp;
+
+ int int_fzad;
+ float fzad;
+ _iq iq_fzad;
+ _iq iq_fzad_rmp;
+
+ int int_kzad;
+ float kzad;
+ _iq iq_kzad;
+ _iq iq_kzad_rmp;
+
+ int int_Izad;
+ float Izad;
+ _iq iq_Izad;
+ _iq iq_Izad_rmp;
+
+ int int_power_zad;
+ float power_zad;
+ _iq iq_power_zad;
+ _iq iq_power_zad_rmp;
+
+ } ZADANIE_FROM_ANOTHER_BS;
+
+#define ZADANIE_FROM_ANOTHER_BS_DEFAULT {\
+ 0,0,0,0, 0,0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0 }
+
+ ////////////////////////////////////////////////////////
+
+typedef struct {
+
+ RMP_V1 rmp_ZadanieU_Charge;
+ RMP_V1 rmp_fzad;
+ RMP_V1 rmp_k_u_disbalance;
+ RMP_V1 rmp_kplus_u_disbalance;
+ RMP_V1 rmp_Izad;
+
+ RMP_V2 rmp_powers_zad;
+
+ RMP_V2 rmp_limit_powers_zad;
+ RMP_V1 rmp_kzad;
+
+ RMP_V2 rmp_oborots_zad_hz;
+
+ RMP_V1 rmp_oborots_imitation;
+
+ _iq rmp_oborots_imitation_rmp;
+
+
+ float ZadanieU_Charge;
+ _iq iq_ZadanieU_Charge;
+ _iq iq_ZadanieU_Charge_rmp;
+
+ float oborots_zad;
+
+ float oborots_zad_hz;
+ _iq iq_oborots_zad_hz;
+ _iq iq_oborots_zad_hz_rmp;
+
+ float fzad;
+ _iq iq_fzad;
+ _iq iq_fzad_rmp;
+
+ float kzad;
+ _iq iq_kzad;
+ _iq iq_kzad_rmp;
+
+ float k_u_disbalance;
+ _iq iq_k_u_disbalance;
+ _iq iq_k_u_disbalance_rmp;
+
+ float kplus_u_disbalance;
+ _iq iq_kplus_u_disbalance;
+ _iq iq_kplus_u_disbalance_rmp;
+
+ float Izad;
+ _iq iq_Izad;
+ _iq iq_Izad_rmp;
+
+ float power_zad;
+ _iq iq_power_zad;
+ _iq iq_power_zad_rmp;
+
+ float limit_power_zad;
+ _iq iq_limit_power_zad;
+ _iq iq_limit_power_zad_rmp;
+
+ _iq iq_set_break_level;
+
+ float oborots_zad_no_dead_zone;
+
+} ZADANIE;
+
+#define ZADANIE_DEFAULT { RMP_V1_DEFAULTS, RMP_V1_DEFAULTS,RMP_V1_DEFAULTS,\
+ RMP_V1_DEFAULTS,RMP_V1_DEFAULTS,\
+ RMP_V2_DEFAULTS,\
+ RMP_V2_DEFAULTS,RMP_V1_DEFAULTS,\
+ RMP_V2_DEFAULTS,\
+ RMP_V1_DEFAULTS,\
+ 0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0 , 0,0,0, 0,0}
+
+typedef union {
+ struct {
+ unsigned int limit_by_temper:1;
+ unsigned int limit_Iout:1;
+ unsigned int limit_UOM:1; //���������� ����������� ��������
+ unsigned int limit_from_SVU:1;
+ unsigned int limit_from_freq:1;
+ unsigned int limit_from_uom_fast:1;
+ unsigned int limit_moment:1;
+
+ unsigned int res:9;
+ } bits;
+ unsigned int all;
+} POWER_LIMIT;
+
+#define POWER_LIMIT_DEFAULTS {0}
+
+
+typedef struct {
+
+ _iq temper_limit;
+ _iq power_limit;
+ _iq moment_limit;
+ _iq uin_freq_limit;
+ _iq uom_limit;
+
+ _iq local_temper_limit;
+ _iq local_power_limit;
+ _iq local_moment_limit;
+ _iq local_uin_freq_limit;
+ _iq local_uom_limit;
+
+ _iq sum_limit;
+ _iq local_sum_limit;
+ int code_status;
+
+} ALL_LIMIT_KOEFFS;
+
+#define ALL_LIMIT_KOEFFS_DEFAULTS {0,0,0,0,0, 0,0,0,0,0, 0,0,0}
+
+typedef struct {
+ _iq power_units;
+ _iq area;
+ _iq water_int;
+ _iq water_ext;
+ _iq acdrive_windings;
+
+ _iq acdrive_bears;
+ _iq sum_limit;
+ int code_status;
+} TEMPERATURE_LIMIT_KOEFFS;
+
+#define TEMPERATURE_LIMIT_KOEFFS_DEFAULTS {0,0,0,0,0, 0,CONST_IQ_1,0}
+
+#define COUNT_MOTO_PULT 18
+
+typedef struct
+{
+
+ int nPCH;
+ int TimeToChangePump;
+
+ int count_revers; // ���-�� ��������
+ int count_build; // ���-�� ������ ����
+
+ int LastWorkPump; // ����� ��� ��������� ���������� �����
+
+ int moto[COUNT_MOTO_PULT];
+
+} t_params_pult_ing_one;
+
+#define PARAMS_PULT_ING_ONE_DEFAULTS {-1,-1, -1,-1, 0, \
+ {-1,-1,-1,-1,-1, -1,-1,-1,-1,-1, -1,-1,-1,-1,-1, -1,-1,-1 } }
+
+#define PARAMS_PULT_ING_TWO_DEFAULTS {0,0, 0,0, 0, \
+ {0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0 } }
+
+typedef struct
+{
+ int flagSaveDataPCH;
+ int flagSaveDataMoto;
+ int flagSaveSlowLogs;
+ int flagSaveParamLogs;
+
+ int logger_params[28];
+
+ t_params_pult_ing_one data;
+ t_params_pult_ing_one data_from_pult;
+ t_params_pult_ing_one data_to_pult;
+
+// int nPCH_from_pult;
+// int nPCH_to_pult;
+// int nPCH;
+//
+// int TimeToChangePump_from_pult;
+// int TimeToChangePump_to_pult;
+// int TimeToChangePump;
+//
+// int moto_from_pult[COUNT_MOTO_PULT];
+// int mot_to_pult[COUNT_MOTO_PULT];
+// int moto[COUNT_MOTO_PULT];
+//
+// int count_revers_from_pult;
+// int count_revers_to_pult;
+
+} t_params_pult_ing;
+
+#define PARAMS_PULT_ING_DEFAULTS {0,0,0,0, \
+ {0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0,0,0, 0,0,0}, \
+ PARAMS_PULT_ING_TWO_DEFAULTS, \
+ PARAMS_PULT_ING_ONE_DEFAULTS, \
+ PARAMS_PULT_ING_ONE_DEFAULTS \
+ }
+
+
+
+
+typedef struct
+{
+ int log_what_memory; // �������� 0 - ��� �� ������, �� �����;
+ //�������� 1 - ��� ������, ���� �����;
+ //�������� 2 - ���� ������, ��� �����;
+ //�������� 3 - ���� � ������ � �����;
+ int kvitir; //
+ int sbor;
+ int send_log;
+ int pump_mode;
+ int sdusb;// 0 - sd, 1 usb
+
+} t_pult_cmd_ing;
+
+#define PULT_CMD_ING_DEFAULTS 0,0,0,0,0,0
+
+
+
+////////////////////////////////////////////////////////
+typedef struct
+{
+ ZADANIE zadanie;
+ ZADANIE_FROM_ANOTHER_BS zadanie_from_another_bs;
+ TEMPER_EDRK temper_edrk;
+ P_WATER_EDRK p_water_edrk;
+ ERRORS_EDRK errors;
+ ERRORS_EDRK warnings;
+ TEMPER_ACDRIVE temper_acdrive;
+
+ POWER_LIMIT power_limit;
+ TEMPERATURE_LIMIT_KOEFFS temper_limit_koeffs;
+ ALL_LIMIT_KOEFFS all_limit_koeffs;
+
+ MASTER_SLAVE_COM ms;
+
+ ////////
+
+ struct {
+
+ AUTO_MASTER_SLAVE_DATA local; // 1
+ AUTO_MASTER_SLAVE_DATA prev_local;//1
+ AUTO_MASTER_SLAVE_DATA remoute;//1
+ AUTO_MASTER_SLAVE_DATA prev_remoute;//1
+ unsigned int status;
+ unsigned int prev_status;
+ } auto_master_slave; // 6
+
+
+
+ STATUS_READY Status_Ready; //1
+
+ TO_ING to_ing; //1
+
+ FROM_ING1 from_ing1;//1
+
+ FROM_ING2 from_ing2;//1
+
+ FROM_SECOND_PCH from_second_pch;//1
+
+ TO_SECOND_PCH to_second_pch;//1
+
+ TO_SHEMA to_shema;//1
+
+ FROM_SHEMA from_shema;//1
+ FROM_SHEMA from_shema_filter;//1
+
+ FROM_ZADAT4IK from_zadat4ik;//1
+
+ FROM_ZADAT4IK from_vpu;//1
+
+ FROM_RS from_rs;//1
+
+ FROM_RS from_can;//1
+
+ FROM_DISPLAY from_display;//1
+
+ FROM_DISPLAY from_mpu;//1
+
+ FROM_DISPLAY from_svu;//1
+
+ TO_ZADAT4IK to_zadat4ik;//5
+
+
+
+ TO_VPU to_vpu;//3
+
+ FROM_UOM from_uom;//7
+///////////////////////////////////////////////
+
+ unsigned int Discharge;
+ unsigned int ManualDischarge;
+ unsigned int NoDetectUZeroDischarge;
+
+ unsigned int TimeSbor;
+ unsigned int TimeRazbor;
+
+ unsigned int AutoStartPump;
+ unsigned int SumStartPump;
+ unsigned int ManualStartPump;
+
+
+
+ unsigned int SumSbor;
+
+ int Kvitir;
+ int KvitirProcess;//10
+
+ unsigned int prevGo;
+ unsigned int Go;
+ unsigned int GoBreak;
+
+ unsigned int GoWait;
+
+ int flag_wait_set_to_zero_zadanie;
+ int flag_block_zadanie;
+ int StartGEDfromControl;
+ int StartGEDfromZadanie;
+ int prevStartGEDfromZadanie;
+
+ int StartGED;
+ int test_mode;
+ int cmd_to_qtv;//20
+ int cmd_to_ump;//20
+ int prepare_stop_PWM;
+
+ int StartGEDfromSyncBus;
+
+
+ int cmd_to_rascepitel;
+
+ int Mode_ScalarVectorUFConst;
+ int Mode_OborotsOrPower;
+
+ int SelectPump1_2;//25
+
+ int summ_errors;
+ int Status_Charge;
+
+ unsigned int Sbor_Mode;
+ unsigned int Razbor_Mode;
+ unsigned int time_wait_sbor;
+
+ int Status_Sbor;
+ int Stage_Sbor;
+ int StatusPumpFanAll;
+
+ int StatusPump0;
+ int StatusPump1;
+ int StatusFunAll;
+ int StatusPumpAll;//35
+
+
+ int Run_Pred_Zaryad;
+ int Zaryad_OK;
+ int Rascepitel_OK;
+ int Run_QTV;
+ int Run_Rascepitel;
+ int Run_Rascepitel_from_RS;
+ int Run_UMP;
+ int Zaryad_UMP_Ok;
+ int Status_UMP_Ok;
+
+
+ int Status_QTV_Ok;
+ int Status_Rascepitel_Ok;
+ int Status_Perehod_Rascepitel;
+ int Final_Status_Rascepitel;
+ int you_can_on_rascepitel;
+ int RunZahvatRascepitel;
+ int RunUnZahvatRascepitel;
+
+ _iq iqMAX_U_ZPT;
+ _iq iqMAX_U_ZPT_Global;
+ _iq iqMAX_U_ZPT_Predzaryad;
+ _iq iqMIN_U_ZPT;//50
+
+ _iq iqMAX_U_IN;
+ _iq iqMIN_U_IN;
+
+ int SborFinishOk;
+ int RazborNotFinish;
+
+ int Obmotka1;
+ int Obmotka2;
+
+ _iq f_stator;
+
+ _iq k_stator1;
+ _iq k_stator2;//60
+
+ _iq iq_f_rotor_hz;
+ float f_rotor_hz;
+ int oborots;
+ int rotor_direction;
+ int power_kw;
+// _iq iq_oborots;
+
+ _iq Izad_out;
+
+ unsigned int period_calc_pwm_int1;
+ unsigned int period_calc_pwm_int2;
+
+ unsigned int count_lost_interrupt;
+ unsigned int into_pwm_interrupt;
+
+ int disable_alg_u_disbalance;
+
+ _iq Kplus;
+ _iq Kminus;
+
+ unsigned int Revers;
+
+ _iq Uzad_max;
+
+ _iq iq_bpsi_normal;
+
+ _iq iq_f_provorot;//70
+
+ int flag_second_PCH;
+ int test;
+
+ int Stop;
+
+ int warning;
+ int overheat;
+
+ unsigned int MasterSlave;
+
+ _iq master_theta;
+ _iq master_Uzad;
+ _iq master_Iq;
+ _iq master_Izad;
+ _iq tetta_to_slave;
+ _iq Uzad_to_slave;
+ _iq Iq_to_slave;
+ _iq P_from_slave;
+ _iq P_to_master;//82
+
+ int flag_wait_both_ready2;
+
+ int number_can_box_terminal_cmd;
+ int number_can_box_terminal_oscil;
+
+ int Provorot;
+ int int_koef_ogran_power;
+ _iq iq_koef_ogran_power;
+
+ int int_koef_ogran_power_another_bs;
+ _iq iq_koef_ogran_power_another_bs;
+
+ int power_kw_another_bs;
+ _iq iq_power_kw_another_bs;
+
+ int run_razbor_shema;
+
+ int Ready1_another_bs;
+ int Ready2_another_bs;
+
+ int ump_cmd_another_bs;
+ int qtv_cmd_another_bs;
+
+ int active_post_upravl;
+ int active_post_upravl_another_bs;
+ int MasterSlave_another_bs;
+ int freq_50hz_1;
+ int freq_50hz_2;
+
+ _iq test_rms_Iu;
+ _iq test_rms_Ua;
+//
+ int disable_interrupt_pwm;
+
+ int disable_interrupt_timer1;
+ int disable_interrupt_timer2;
+ int disable_interrupt_timer3;
+ int disable_interrupt_timer4;
+
+ int disable_interrupt_sync;
+
+ int get_new_data_from_hmi;
+ int flag_enable_update_hmi;
+
+ int flag_disable_pult_485;
+
+ int disable_rascepitel_work;
+
+ int enable_pwm_test_lines;
+ int count_bs_work;
+
+ unsigned int run_to_pwm_async;
+
+ int power_kw_full;
+
+ int stop_logs_rs232;
+ int sbor_wait_ump1;
+ int sbor_wait_ump2;
+ int flag_enable_on_ump;
+
+ int local_ump_on_off;
+ int local_ump_on_off_count;
+ int local_ready_ump;
+ int local_ready_ump_count;
+
+ t_params_pult_ing pult_data;
+
+ int logs_rotor;
+
+ int stop_slow_log;
+ int t_slow_log;
+ int disable_limit_power_from_svu;
+ int disable_uom;
+ int disable_break_work;
+
+ int flag_another_bs_first_ready12;
+ int flag_this_bs_first_ready12;
+ int enter_to_pump_stage;
+
+ int buildYear;
+ int buildMonth;
+ int buildDay;
+
+ int errors_another_bs_from_can;
+
+ unsigned int count_sbor;
+ unsigned int count_revers;
+ unsigned int count_run;
+
+ int flag_slow_in_main;
+
+ t_pult_cmd_ing pult_cmd;
+
+ int get_new_data_from_hmi2;
+
+ _iq iq_freq_50hz;
+
+ int imit_limit_freq;
+ int imit_limit_uom;
+ int set_limit_uom_50;
+
+ _iq iq_power_kw_full_znak;
+ _iq iq_power_kw_one_znak;
+
+ _iq iq_power_kw_full_filter_znak;
+ _iq iq_power_kw_one_filter_znak;
+
+ _iq iq_power_kw_full_abs;
+ _iq iq_power_kw_one_abs;
+
+ _iq iq_power_kw_full_filter_abs;
+ _iq iq_power_kw_one_filter_abs;
+
+ unsigned int sum_count_err_read_opt_bus;
+
+ int imit_save_slow_logs;
+
+ int imit_send_alarm_log_pult;
+
+ int current_active_control;
+
+ // int data_to_message2[100];
+//101
+ unsigned long canes_reg;
+ unsigned long cantec_reg; // Transmit Error Counter
+ unsigned long canrec_reg; // Receive Error Counter
+
+ int cmd_clear_can_error;
+
+ int cmd_very_slow_start;
+
+ int cmd_imit_low_isolation;
+
+
+ int breaker_on;
+ int break_tempers[4];
+
+ int cmd_disable_calc_km_on_slave;
+
+
+} EDRK;
+
+
+
+#define EDRK_DEFAULT { \
+ ZADANIE_DEFAULT,\
+ ZADANIE_FROM_ANOTHER_BS_DEFAULT,\
+ TEMPER_EDRK_DEFAULT, \
+ P_WATER_EDRK_DEFAULT, \
+ ERRORS_EDRK_DEFAULT, \
+ ERRORS_EDRK_DEFAULT, \
+ TEMPER_ACDRIVE_DEFAULT, \
+ POWER_LIMIT_DEFAULTS, \
+ TEMPERATURE_LIMIT_KOEFFS_DEFAULTS, \
+ ALL_LIMIT_KOEFFS_DEFAULTS, \
+ MASTER_SLAVE_COM_DEFAULT, \
+ 0,0,0,0,0,0, \
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, \
+ 0,0,0,0,0, \
+ 0,0,0,0, \
+ 0,0,0, \
+ 0,0,0,0,0,0,0, \
+ \
+ 0,0,0,0,0,0,0,0,0,0, \
+ 0,0,0,0,0,0,0,0,0,0, \
+ 0,0,0,0,0,0,0,0,0,0, \
+ 0,0,0,0,0,0,0,0,0,0, \
+ 0,0,0,0,0,0,0,0,0,0, \
+ 0,0,0,0,0,0,0,0,0,0, \
+ 0,0,0,0,0,0,0,0,0,0, \
+ 0,0,0,0,0,0,0,0,0,0, \
+ 0,0,0,0,0,0,0,0,0,0, \
+ 0,0,0,0,0,0,0,0,0,0,0,0, \
+ 0,0,0,0,0,0,0,0,0,0, 0,0, \
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, \
+ 0,0,0,0, \
+ PARAMS_PULT_ING_DEFAULTS, \
+ 0,0,0,0,0,0,0,0, \
+ 0,0,0,\
+ 0, 0,0,0, 0, \
+ PULT_CMD_ING_DEFAULTS, 0,0, 0,0,0, 0,0,0,0, 0,0,0,0, \
+ 0, 0,0, 0, 0, \
+ 0,0,0, 0, 0, 0, \
+ 0, {0,0,0,0}, \
+ 0 \
+ }
+
+
+extern EDRK edrk;
+extern PLL_REC pll1;
+
+//float get_sensor_ing(void);
+//float get_i_vozbud(void);
+//float get_zad_vozbud(void);
+
+//unsigned int convert_w_to_mA(float inp);
+
+void edrk_init(void);
+
+
+void update_input_edrk(void);
+void update_output_edrk(void);
+
+
+//float get_amper_vozbud(void);
+
+//void set_amper_vozbud(float set_curr, float cur_curr);
+
+
+
+//void write_dac(int ndac, int Value);
+
+void run_edrk(void);
+
+
+
+void set_oborots_from_zadat4ik(void);
+void get_where_oborots(void);
+
+//void update_errors(void);
+
+
+
+
+
+
+//unsigned int zaryad_on_off(unsigned int flag);
+
+
+void update_lamp_alarm(void);
+
+
+
+
+
+
+//int get_status_temper_acdrive_winding(int nc);
+//int get_status_temper_acdrive_bear(int nc);
+//int get_status_temper_air(int nc);
+//int get_status_temper_u(int nc);
+//int get_status_temper_water(int nc);
+//int get_status_p_water_max(void);
+//int get_status_p_water_min(int pump_on_off);
+
+void detect_kvitir_from_all(void);
+//void set_status_pump_fan(void);
+
+
+
+int qtv_on_off(unsigned int flag);
+
+///int detect_error_u_zpt(void);
+//int detect_error_u_zpt_on_predzaryad(void);
+
+void set_zadanie_u_charge(void);
+
+
+
+
+
+
+
+
+
+
+
+void edrk_init_variables(void);
+
+void edrk_init_before_main(void);
+void edrk_init_before_loop(void);
+void edrk_go_main(void);
+
+int get_start_ged_from_zadanie(void);
+
+
+//void UpdateTableSecondBS(void);
+
+unsigned int get_ready_1(void);
+
+//int detect_zaryad_ump(void);
+
+void cross_stend_automats(void);
+
+
+
+void get_sumsbor_command(void);
+
+
+//unsigned int read_cmd_sbor_from_bs(void);
+
+//void read_data_from_bs(void);
+
+
+void check_change_post_upravl(void);
+int get_code_active_post_upravl(void);
+
+
+
+void auto_detect_zero_u_zpt(void);
+
+void run_can_from_mpu(void);
+void set_new_level_i_protect(int n_af, int level);
+void update_maz_level_i_af(int n_af, unsigned int new_maz_level);
+void calc_count_build_revers(void);
+int calc_auto_moto_pump(void);
+void prepare_logger_pult(void);
+void read_can_error(void);
+void clear_can_error(void);
+void cmd_clear_can_error(void);
+void check_temper_break(void);
+void check_breaker_ged(void);
+
+
+
+
+//extern int ccc[40];
+
+void reinit_before_sbor(void);
+unsigned int toggle_status_lamp(unsigned int bb1, unsigned int flag);
+
+
+#endif
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Inu/Src/main/f281xbmsk.h b/Inu/Src/main/f281xbmsk.h
new file mode 100644
index 0000000..f9dd78f
--- /dev/null
+++ b/Inu/Src/main/f281xbmsk.h
@@ -0,0 +1,244 @@
+/* ==================================================================================
+File name: F281XBMSK.H
+
+Originator: Digital Control Systems Group
+ Texas Instruments
+Description:
+Header file containing handy bitmasks for setting up register values.
+This file defines the bitmasks for F281X.
+
+Target: TMS320F281x family
+
+=====================================================================================
+ History:
+-------------------------------------------------------------------------------------
+ 04-15-2005 Version 3.20: Using DSP281x v. 1.00 or higher
+---------------------------------------------------------------------------------- */
+
+#ifndef __F281X_BMSK_H__
+#define __F281X_BMSK_H__
+
+/*------------------------------------------------------------------------------
+ F281X Register TxCON
+------------------------------------------------------------------------------*/
+#define FREE_RUN_FLAG 0x8000
+#define SOFT_STOP_FLAG 0x4000
+
+#define TIMER_STOP 0x0000
+#define TIMER_CONT_UPDN 0x0800
+#define TIMER_CONT_UP 0x1000
+#define TIMER_DIR_UPDN 0x1800
+
+#define TIMER_CLK_PRESCALE_X_1 0x0000
+#define TIMER_CLK_PRESCALE_X_2 0x0100
+#define TIMER_CLK_PRESCALE_X_4 0x0200
+#define TIMER_CLK_PRESCALE_X_8 0x0300
+#define TIMER_CLK_PRESCALE_X_16 0x0400
+#define TIMER_CLK_PRESCALE_X_32 0x0500
+#define TIMER_CLK_PRESCALE_X_64 0x0600
+#define TIMER_CLK_PRESCALE_X_128 0x0700
+
+#define TIMER_ENABLE_BY_OWN 0x0000
+#define TIMER_ENABLE_BY_T1 0x0080
+
+#define TIMER_ENABLE 0x0040
+#define TIMER_DISABLE 0x0000
+
+#define TIMER_CLOCK_SRC_INTERNAL 0x0000
+#define TIMER_CLOCK_SRC_EXTERNAL 0x0010
+#define TIMER_CLOCK_SRC_QEP 0x0030
+
+#define TIMER_COMPARE_LD_ON_ZERO 0x0000
+#define TIMER_COMPARE_LD_ON_ZERO_OR_PRD 0x0004
+#define TIMER_COMPARE_LD_IMMEDIATE 0x0008
+
+#define TIMER_ENABLE_COMPARE 0x0002
+#define TIMER_SELECT_T1_PERIOD 0x0001
+
+/*------------------------------------------------------------------------------
+ F281X Register ACTR 0x7413 BIT FIELD MASKS
+------------------------------------------------------------------------------*/
+/*------------------------------------------------------------------------------
+Space Vector Direction Commands
+------------------------------------------------------------------------------*/
+#define SV_DIRECTION_CW 0x8000
+#define SV_DIRECTION_CCW 0x0000
+
+/*------------------------------------------------------------------------------
+Space Vector Generation Vectors
+------------------------------------------------------------------------------*/
+
+//------------------------------------------------------------------------------
+#define SPACE_VECTOR_0 0x0000
+#define SPACE_VECTOR_1 0x1000
+#define SPACE_VECTOR_2 0x2000
+#define SPACE_VECTOR_3 0x3000
+#define SPACE_VECTOR_4 0x4000
+#define SPACE_VECTOR_5 0x5000
+#define SPACE_VECTOR_6 0x6000
+#define SPACE_VECTOR_7 0x7000
+
+/*------------------------------------------------------------------------------
+ Compare action definitions
+------------------------------------------------------------------------------*/
+#define COMPARE6_FL 0x0000
+#define COMPARE6_AL 0x0400
+#define COMPARE6_AH 0x0800
+#define COMPARE6_FH 0x0C00
+//------------------------------------------------------------------------------
+#define COMPARE5_FL 0x0000
+#define COMPARE5_AL 0x0100
+#define COMPARE5_AH 0x0200
+#define COMPARE5_FH 0x0300
+//------------------------------------------------------------------------------
+#define COMPARE4_FL 0x0000
+#define COMPARE4_AL 0x0040
+#define COMPARE4_AH 0x0080
+#define COMPARE4_FH 0x00C0
+//------------------------------------------------------------------------------
+#define COMPARE3_FL 0x0000
+#define COMPARE3_AL 0x0010
+#define COMPARE3_AH 0x0020
+#define COMPARE3_FH 0x0030
+//------------------------------------------------------------------------------
+#define COMPARE2_FL 0x0000
+#define COMPARE2_AL 0x0004
+#define COMPARE2_AH 0x0008
+#define COMPARE2_FH 0x000C
+//------------------------------------------------------------------------------
+#define COMPARE1_FL 0x0000
+#define COMPARE1_AL 0x0001
+#define COMPARE1_AH 0x0002
+#define COMPARE1_FH 0x0003
+//------------------------------------------------------------------------------
+
+/*------------------------------------------------------------------------------
+ F281X Register COMCONA/COMCONB
+------------------------------------------------------------------------------*/
+#define CMPR_ENABLE 0x8000
+#define CMPR_LD_ON_ZERO 0x0000
+#define CMPR_LD_ON_ZERO_OR_PRD 0x2000
+#define CMPR_LD_IMMEDIATE 0x4000
+#define SVENABLE 0x1000
+#define SVDISABLE 0x0000
+#define ACTR_LD_ON_ZERO 0x0000
+#define ACTR_LD_ON_ZERO_OR_PRD 0x0400
+#define ACTR_LD_IMMEDIATE 0x0800
+#define FCOMPOE 0x0100
+
+/*------------------------------------------------------------------------------
+ F281X Register DBTCON
+------------------------------------------------------------------------------*/
+#define DBT_VAL_0 0x0000
+#define DBT_VAL_1 0x0100
+#define DBT_VAL_2 0x0200
+#define DBT_VAL_3 0x0300
+#define DBT_VAL_4 0x0400
+#define DBT_VAL_5 0x0500
+#define DBT_VAL_6 0x0600
+#define DBT_VAL_7 0x0700
+#define DBT_VAL_8 0x0800
+#define DBT_VAL_9 0x0900
+#define DBT_VAL_10 0x0A00
+#define DBT_VAL_11 0x0B00
+#define DBT_VAL_12 0x0C00
+#define DBT_VAL_13 0x0D00
+#define DBT_VAL_14 0x0E00
+#define DBT_VAL_15 0x0F00
+
+#define EDBT3_DIS 0x0000
+#define EDBT3_EN 0x0080
+#define EDBT2_DIS 0x0000
+#define EDBT2_EN 0x0040
+#define EDBT1_DIS 0x0000
+#define EDBT1_EN 0x0020
+
+#define DBTPS_X32 0x0014
+#define DBTPS_X16 0x0010
+#define DBTPS_X8 0x000C
+#define DBTPS_X4 0x0008
+#define DBTPS_X2 0x0004
+#define DBTPS_X1 0x0000
+
+/*------------------------------------------------------------------------------
+ F281X Register ADCTRL1
+------------------------------------------------------------------------------*/
+#define ADC_SUS_MODE0 0x0000
+#define ADC_SUS_MODE1 0X1000
+#define ADC_SUS_MODE2 0x2000
+#define ADC_SUS_MODE3 0X3000
+#define ADC_RESET_FLAG 0x4000
+
+#define ADC_ACQ_PS_1 0x0000
+#define ADC_ACQ_PS_2 0x0100
+#define ADC_ACQ_PS_3 0x0200
+#define ADC_ACQ_PS_4 0x0300
+#define ADC_ACQ_PS_5 0x0400
+#define ADC_ACQ_PS_6 0x0500
+#define ADC_ACQ_PS_7 0x0600
+#define ADC_ACQ_PS_8 0x0700
+#define ADC_ACQ_PS_9 0x0800
+#define ADC_ACQ_PS_10 0x0900
+#define ADC_ACQ_PS_11 0x0A00
+#define ADC_ACQ_PS_12 0x0B00
+#define ADC_ACQ_PS_13 0x0C00
+#define ADC_ACQ_PS_14 0x0D00
+#define ADC_ACQ_PS_15 0x0E00
+#define ADC_ACQ_PS_16 0x0F00
+
+#define ADC_CPS_1 0x0000
+#define ADC_CPS_2 0x0080
+#define ADC_CONT_RUN 0x0040
+#define ADC_SEQ_CASC 0x0010
+#define ADC_SEQ_DUAL 0x0000
+
+/*------------------------------------------------------------------------------
+ F281X Register ADCTRL2
+------------------------------------------------------------------------------*/
+#define ADC_EVB_SOC 0x8000
+#define ADC_RST_SEQ1 0x4000
+#define ADC_SOC_SEQ1 0x2000
+
+#define ADC_INT_ENA_SEQ1 0x0800
+#define ADC_INT_MODE_SEQ1 0X0400
+#define ADC_EVA_SOC_SEQ1 0x0100
+
+#define ADC_EXT_SOC_SEQ1 0x0080
+#define ADC_RST_SEQ2 0x0040
+#define ADC_SOC_SEQ2 0x0020
+
+#define ADC_INT_ENA_SEQ2 0x0008
+#define ADC_INT_MODE_SEQ2 0x0004
+#define ADC_EVB_SOC_SEQ2 0x0001
+
+/*------------------------------------------------------------------------------
+ F281X Register ADCTRL3
+------------------------------------------------------------------------------*/
+#define ADC_RFDN 0x0080
+#define ADC_BGDN 0x0040
+#define ADC_PWDN 0x0020
+
+#define ADC_CLKPS_X_1 0x0000
+#define ADC_CLKPS_X_2 0x0002
+#define ADC_CLKPS_X_4 0x0004
+#define ADC_CLKPS_X_6 0x0006
+#define ADC_CLKPS_X_8 0x0008
+#define ADC_CLKPS_X_10 0x000A
+#define ADC_CLKPS_X_12 0x000C
+#define ADC_CLKPS_X_14 0x000E
+#define ADC_CLKPS_X_16 0x0010
+#define ADC_CLKPS_X_18 0x0012
+#define ADC_CLKPS_X_20 0x0014
+#define ADC_CLKPS_X_22 0x0016
+#define ADC_CLKPS_X_24 0x0018
+#define ADC_CLKPS_X_26 0x001A
+#define ADC_CLKPS_X_28 0x001C
+#define ADC_CLKPS_X_30 0x001E
+
+#define ADC_SMODE_SIMULTANEOUS 0x0001
+#define ADC_SMODE_SEQUENTIAL 0x0000
+
+#endif // __F281X_BMSK_H__
+// EOF
+
+
diff --git a/Inu/Src/main/f281xpwm.c b/Inu/Src/main/f281xpwm.c
new file mode 100644
index 0000000..1103b7e
--- /dev/null
+++ b/Inu/Src/main/f281xpwm.c
@@ -0,0 +1,288 @@
+/* ==================================================================================
+File name: F281XPWM.C
+
+Originator: Digital Control Systems Group
+ Texas Instruments
+
+Description: This file contains source for the Full Compare PWM drivers for the F281x
+
+Target: TMS320F281x family
+
+=====================================================================================
+History:
+-------------------------------------------------------------------------------------
+ 04-15-2005 Version 3.20: Using DSP281x v. 1.00 or higher
+----------------------------------------------------------------------------------*/
+
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+#include "IQmathLib.h"
+
+#include <f281xpwm.h>
+
+#include "DSP281x_Ev.h"
+//#include "params.h"
+
+
+void F281X_EV1_PWM_Init(PWMGEN *p)
+{
+ EvaRegs.T1PR = p->PeriodMax; // Init Timer 1 period Register
+ EvaRegs.T1CON.all = PWM_INIT_STATE; // Symmetrical Operation
+ EvaRegs.DBTCONA.all = DBTCON_INIT_STATE; // Init DBTCONA Register
+ EvaRegs.ACTRA.all = ACTR_INIT_STATE; // Init ACTRA Register
+
+ EvaRegs.COMCONA.all = 0xA600; // Init COMCONA Register
+
+ EvaRegs.CMPR1 = p->PeriodMax; // Init CMPR1 Register
+ EvaRegs.CMPR2 = p->PeriodMax; // Init CMPR2 Register
+ EvaRegs.CMPR3 = p->PeriodMax; // Init CMPR3 Register
+ EALLOW; // Enable EALLOW
+ GpioMuxRegs.GPAMUX.all |= 0x003F; // Setting PWM1-6 as primary output pins
+ EDIS; // Disable EALLOW
+}
+
+
+void F281X_EV1_PWM_Update(PWMGEN *p)
+{
+ int16 MPeriod;
+ int32 Tmp;
+
+// Compute the timer period (Q0) from the period modulation input (Q15)
+ Tmp = (int32)p->PeriodMax*(int32)p->MfuncPeriod; // Q15 = Q0*Q15
+ MPeriod = (int16)(Tmp>>16) + (int16)(p->PeriodMax>>1); // Q0 = (Q15->Q0)/2 + (Q0/2)
+ EvaRegs.T1PR = MPeriod;
+
+// Compute the compare 1 (Q0) from the PWM 1&2 duty cycle ratio (Q15)
+ Tmp = (int32)MPeriod*(int32)p->MfuncC1; // Q15 = Q0*Q15
+ EvaRegs.CMPR1 = (int16)(Tmp>>16) + (int16)(MPeriod>>1); // Q0 = (Q15->Q0)/2 + (Q0/2)
+
+// Compute the compare 2 (Q0) from the PWM 3&4 duty cycle ratio (Q15)
+ Tmp = (int32)MPeriod*(int32)p->MfuncC2; // Q15 = Q0*Q15
+ EvaRegs.CMPR2 = (int16)(Tmp>>16) + (int16)(MPeriod>>1); // Q0 = (Q15->Q0)/2 + (Q0/2)
+
+// Compute the compare 3 (Q0) from the PWM 5&6 duty cycle ratio (Q15)
+ Tmp = (int32)MPeriod*(int32)p->MfuncC3; // Q15 = Q0*Q15
+ EvaRegs.CMPR3 = (int16)(Tmp>>16) + (int16)(MPeriod>>1); // Q0 = (Q15->Q0)/2 + (Q0/2)
+}
+
+
+void F281X_EV2_PWM_Init(PWMGEN *p)
+{
+ EvbRegs.T3PR = p->PeriodMax; // Init Timer 1 period Register
+ EvbRegs.T3CON.all = PWM_INIT_STATE; // Symmetrical Operation
+ EvbRegs.DBTCONB.all = DBTCON_INIT_STATE; // Init DBTCONA Register
+ EvbRegs.ACTRB.all = ACTR_INIT_STATE; // Init ACTRA Register
+
+ EvbRegs.COMCONB.all = 0xA600; // Init COMCONA Register
+
+ EvbRegs.CMPR4 = p->PeriodMax; // Init CMPR1 Register
+ EvbRegs.CMPR5 = p->PeriodMax; // Init CMPR2 Register
+ EvbRegs.CMPR6 = p->PeriodMax; // Init CMPR3 Register
+ EALLOW; // Enable EALLOW
+ GpioMuxRegs.GPBMUX.all |= 0x003F; // Setting PWM1-6 as primary output pins
+ EDIS; // Disable EALLOW
+}
+
+
+void F281X_EV2_PWM_Update(PWMGEN *p)
+{
+ int16 MPeriod;
+ int32 Tmp;
+
+// Compute the timer period (Q0) from the period modulation input (Q15)
+ Tmp = (int32)p->PeriodMax*(int32)p->MfuncPeriod; // Q15 = Q0*Q15
+ MPeriod = (int16)(Tmp>>16) + (int16)(p->PeriodMax>>1); // Q0 = (Q15->Q0)/2 + (Q0/2)
+ EvbRegs.T3PR = MPeriod;
+
+// Compute the compare 1 (Q0) from the PWM 1&2 duty cycle ratio (Q15)
+ Tmp = (int32)MPeriod*(int32)p->MfuncC1; // Q15 = Q0*Q15
+ EvbRegs.CMPR4 = (int16)(Tmp>>16) + (int16)(MPeriod>>1); // Q0 = (Q15->Q0)/2 + (Q0/2)
+
+// Compute the compare 2 (Q0) from the PWM 3&4 duty cycle ratio (Q15)
+ Tmp = (int32)MPeriod*(int32)p->MfuncC2; // Q15 = Q0*Q15
+ EvbRegs.CMPR5 = (int16)(Tmp>>16) + (int16)(MPeriod>>1); // Q0 = (Q15->Q0)/2 + (Q0/2)
+
+// Compute the compare 3 (Q0) from the PWM 5&6 duty cycle ratio (Q15)
+ Tmp = (int32)MPeriod*(int32)p->MfuncC3; // Q15 = Q0*Q15
+ EvbRegs.CMPR6 = (int16)(Tmp>>16) + (int16)(MPeriod>>1); // Q0 = (Q15->Q0)/2 + (Q0/2)
+
+}
+
+
+
+void F281X_EVD_PWM_Init(PWMGEND *p)
+{
+//unsigned int pna=0,pnb=0;
+
+ EvaRegs.T1PR = p->PeriodMax; // Init Timer 1 period Register
+
+#ifdef DOUBLE_UPDATE_PWM
+ EvaRegs.T1CON.all = PWM_INIT_STATE_DOUBLE_UPADTE; // Symmetrical Operation + DOUBLE UPDATE
+#else
+ EvaRegs.T1CON.all = PWM_INIT_STATE; // Symmetrical Operation
+#endif
+
+ EvaRegs.DBTCONA.all = DBTCON_INIT_STATE; // Init DBTCONA Register
+ EvaRegs.ACTRA.all = ACTR_INIT_STATE; // Init ACTRA Register
+
+ EvaRegs.COMCONA.all = 0xa600;//0xA600; // Init COMCONA Register
+
+ EvaRegs.CMPR1 = p->PeriodMax; // Init CMPR1 Register
+ EvaRegs.CMPR2 = p->PeriodMax; // Init CMPR2 Register
+ EvaRegs.CMPR3 = p->PeriodMax; // Init CMPR3 Register
+ EALLOW; // Enable EALLOW
+ GpioMuxRegs.GPAMUX.all |= 0x003F; // Setting PWM1-6 as primary output pins
+ EDIS; // Disable EALLOW
+
+
+ EvbRegs.T3PR = p->PeriodMax; // Init Timer 1 period Register
+
+#ifdef DOUBLE_UPDATE_PWM
+ EvbRegs.T3CON.all = PWM_INIT_STATE_DOUBLE_UPADTE; // Symmetrical Operation + DOUBLE UPDATE
+#else
+ EvbRegs.T3CON.all = PWM_INIT_STATE; // Symmetrical Operation
+#endif
+
+ EvbRegs.DBTCONB.all = DBTCON_INIT_STATE; // Init DBTCONA Register
+ EvbRegs.ACTRB.all = ACTR_INIT_STATE; // Init ACTRA Register
+
+ EvbRegs.COMCONB.all = 0xa600;//0xA600; // Init COMCONA Register
+
+ EvbRegs.CMPR4 = p->PeriodMax; // Init CMPR1 Register
+ EvbRegs.CMPR5 = p->PeriodMax; // Init CMPR2 Register
+ EvbRegs.CMPR6 = p->PeriodMax; // Init CMPR3 Register
+ EALLOW; // Enable EALLOW
+ GpioMuxRegs.GPBMUX.all |= 0x003F; // Setting PWM1-6 as primary output pins
+ EDIS; // Disable EALLOW
+// pna = p->ShiftPhaseA;//(p->PeriodMax);
+// pnb = p->ShiftPhaseB;
+
+
+ EvaRegs.T1CNT = 0x0000;
+ EvbRegs.T3CNT = 0x0000;
+
+}
+
+#pragma CODE_SECTION(set_predel_dshim,".fast_run");
+int16 set_predel_dshim(int16 dshim,int16 dmin,int16 dpwm)
+{
+ if (dshim < dmin)
+ {
+ dshim = dmin;
+ }
+
+ if (dshim > (dpwm - dmin) )
+ {
+ dshim = (dpwm - dmin);
+ }
+ return dshim;
+}
+
+#pragma CODE_SECTION(set_predel_dshim_max,".fast_run");
+int16 set_predel_dshim_max(int16 dshim,int16 dmin,int16 dpwm)
+{
+ int d2;
+
+/*
+ if (dshim < dmin)
+ {
+ return 0;
+ }
+ else
+ {
+ if (dshim > (dpwm - dmin) )
+ {
+// dshim = (dpwm + 1);
+ return (dpwm + 10);
+ }
+ else
+ return dshim;
+
+ }
+*/
+
+
+ d2 = dmin/2;
+
+ if (dshim < d2)
+ {
+ dshim = 0;
+ return dshim;
+ }
+
+ if (dshim < dmin)
+ {
+ dshim = dmin;
+ return dshim;
+ }
+
+
+ if (dshim > (dpwm - d2) )
+ {
+ dshim = dpwm+dmin;
+ return dshim;
+ }
+
+
+ if (dshim > (dpwm - dmin) )
+ {
+ dshim = (dpwm - dmin);
+ return dshim;
+ }
+
+ return dshim;
+
+
+}
+
+
+//#pragma CODE_SECTION(F281X_EVD_PWM_Update,".fast_run");
+void F281X_EVD_PWM_Update(PWMGEND *p)
+{
+ int16 MPeriod, Dshim;
+ int32 Tmp;
+
+
+// Compute the timer period (Q0) from the period modulation input (Q15)
+ Tmp = (int32)p->PeriodMax*(int32)p->MfuncPeriod; // Q15 = Q0*Q15
+ MPeriod = (int16)(Tmp>>16) + (int16)(p->PeriodMax>>1); // Q0 = (Q15->Q0)/2 + (Q0/2)
+ EvaRegs.T1PR = MPeriod;
+
+// Compute the compare 1 (Q0) from the PWM 1&2 duty cycle ratio (Q15)
+ Tmp = (int32)MPeriod*(int32)p->MfuncC1; // Q15 = Q0*Q15
+ Dshim = (int16)(Tmp>>16) + (int16)(MPeriod>>1); // Q0 = (Q15->Q0)/2 + (Q0/2)
+ EvaRegs.CMPR1 = set_predel_dshim(Dshim,(int16)p->PeriodMin,(int16)MPeriod);
+
+// Compute the compare 2 (Q0) from the PWM 3&4 duty cycle ratio (Q15)
+ Tmp = (int32)MPeriod*(int32)p->MfuncC2; // Q15 = Q0*Q15
+ Dshim = (int16)(Tmp>>16) + (int16)(MPeriod>>1); // Q0 = (Q15->Q0)/2 + (Q0/2)
+ EvaRegs.CMPR2 = set_predel_dshim(Dshim,(int16)p->PeriodMin,(int16)MPeriod);
+
+// Compute the compare 3 (Q0) from the PWM 5&6 duty cycle ratio (Q15)
+ Tmp = (int32)MPeriod*(int32)p->MfuncC3; // Q15 = Q0*Q15
+ Dshim = (int16)(Tmp>>16) + (int16)(MPeriod>>1); // Q0 = (Q15->Q0)/2 + (Q0/2)
+ EvaRegs.CMPR3 = set_predel_dshim(Dshim,(int16)p->PeriodMin,(int16)MPeriod);
+
+
+// Compute the timer period (Q0) from the period modulation input (Q15)
+// Tmp = (int32)p->PeriodMax*(int32)p->MfuncPeriod; // Q15 = Q0*Q15
+// MPeriod = (int16)(Tmp>>16) + (int16)(p->PeriodMax>>1); // Q0 = (Q15->Q0)/2 + (Q0/2)
+ EvbRegs.T3PR = MPeriod;
+
+// Compute the compare 1 (Q0) from the PWM 1&2 duty cycle ratio (Q15)
+ Tmp = (int32)MPeriod*(int32)p->MfuncC4; // Q15 = Q0*Q15
+ Dshim = (int16)(Tmp>>16) + (int16)(MPeriod>>1); // Q0 = (Q15->Q0)/2 + (Q0/2)
+ EvbRegs.CMPR4 = set_predel_dshim(Dshim,(int16)p->PeriodMin,(int16)MPeriod);
+
+// Compute the compare 2 (Q0) from the PWM 3&4 duty cycle ratio (Q15)
+ Tmp = (int32)MPeriod*(int32)p->MfuncC5; // Q15 = Q0*Q15
+ Dshim = (int16)(Tmp>>16) + (int16)(MPeriod>>1); // Q0 = (Q15->Q0)/2 + (Q0/2)
+ EvbRegs.CMPR5 = set_predel_dshim(Dshim,(int16)p->PeriodMin,(int16)MPeriod);
+
+// Compute the compare 3 (Q0) from the PWM 5&6 duty cycle ratio (Q15)
+ Tmp = (int32)MPeriod*(int32)p->MfuncC6; // Q15 = Q0*Q15
+ Dshim = (int16)(Tmp>>16) + (int16)(MPeriod>>1); // Q0 = (Q15->Q0)/2 + (Q0/2)
+ EvbRegs.CMPR6 = set_predel_dshim(Dshim,(int16)p->PeriodMin,(int16)MPeriod);
+
+}
+
diff --git a/Inu/Src/main/f281xpwm.h b/Inu/Src/main/f281xpwm.h
new file mode 100644
index 0000000..bf9499f
--- /dev/null
+++ b/Inu/Src/main/f281xpwm.h
@@ -0,0 +1,163 @@
+/* ==================================================================================
+File name: F281XPWM.H
+
+Originator: Digital Control Systems Group
+ Texas Instruments
+Description:
+Header file containing data type and object definitions and
+initializers. Also contains prototypes for the functions in F281XPWM.C.
+
+Target: TMS320F281x family
+
+=====================================================================================
+ History:
+-------------------------------------------------------------------------------------
+ 04-15-2005 Version 3.20: Using DSP281x v. 1.00 or higher
+---------------------------------------------------------------------------------- */
+
+#ifndef __F281X_PWM_H__
+#define __F281X_PWM_H__
+
+#include <f281xbmsk.h>
+//#include "DSP281x_Device.h"
+/*----------------------------------------------------------------------------
+Initialization constant for the F281X Timer TxCON for PWM Generation.
+Sets up the timer to run free upon emulation suspend, continuous up-down mode
+prescaler 1, timer enabled.
+----------------------------------------------------------------------------*/ //FREE_RUN_FLAG
+#define PWM_INIT_STATE (FREE_RUN_FLAG + \
+ TIMER_CONT_UPDN + \
+ TIMER_CLK_PRESCALE_X_1 + \
+ TIMER_ENABLE_BY_OWN + \
+ TIMER_ENABLE)
+
+#define PWM_INIT_STATE_DOUBLE_UPADTE (FREE_RUN_FLAG + \
+ TIMER_COMPARE_LD_ON_ZERO_OR_PRD + \
+ TIMER_CONT_UPDN + \
+ TIMER_CLK_PRESCALE_X_1 + \
+ TIMER_ENABLE_BY_OWN + \
+ TIMER_ENABLE)
+
+/*----------------------------------------------------------------------------
+Initialization constant for the F281X ACTRx register for PWM Generation.
+Sets up PWM polarities.
+----------------------------------------------------------------------------*/
+#define ACTR_INIT_STATE ( COMPARE1_FH + \
+ COMPARE2_FH + \
+ COMPARE3_FH + \
+ COMPARE4_FH + \
+ COMPARE5_FH + \
+ COMPARE6_FH )
+
+#define ACTR_ON_STATE ( COMPARE1_AL + \
+ COMPARE2_AH + \
+ COMPARE3_AL + \
+ COMPARE4_AH + \
+ COMPARE5_AL + \
+ COMPARE6_AH )
+
+/*----------------------------------------------------------------------------
+Initialization constant for the F281X DBTCONx register for PWM Generation.
+Sets up the dead band for PWM and sets up dead band values.
+----------------------------------------------------------------------------*/
+#define DBTCON_INIT_STATE ( DBT_VAL_10 + \
+ EDBT3_EN + \
+ EDBT2_EN + \
+ EDBT1_EN + \
+ DBTPS_X32 )
+
+
+/*-----------------------------------------------------------------------------
+Define the structure of the PWM Driver Object
+-----------------------------------------------------------------------------*/
+typedef struct {
+ Uint16 PeriodMax; // Parameter: PWM Half-Period in CPU clock cycles (Q0)
+ int16 MfuncPeriod; // Input: Period scaler (Q15)
+ int16 MfuncC1; // Input: PWM 1&2 Duty cycle ratio (Q15)
+ int16 MfuncC2; // Input: PWM 3&4 Duty cycle ratio (Q15)
+ int16 MfuncC3; // Input: PWM 5&6 Duty cycle ratio (Q15)
+ void (*init)(); // Pointer to the init function
+ void (*update)(); // Pointer to the update function
+ } PWMGEN ;
+
+
+typedef struct {
+ Uint16 PeriodMax; // Parameter: PWM Half-Period in CPU clock cycles (Q0)
+ Uint16 PeriodMin; // Parameter: PWM Half-Period in CPU clock cycles (Q0)
+ int16 MfuncPeriod; // Input: Period scaler (Q15)
+ int16 MfuncC1; // Input: PWM 1&2 Duty cycle ratio (Q15)
+ int16 MfuncC2; // Input: PWM 3&4 Duty cycle ratio (Q15)
+ int16 MfuncC3; // Input: PWM 5&6 Duty cycle ratio (Q15)
+ int16 MfuncC4; // Input: PWM 1&2 Duty cycle ratio (Q15)
+ int16 MfuncC5; // Input: PWM 3&4 Duty cycle ratio (Q15)
+ int16 MfuncC6; // Input: PWM 5&6 Duty cycle ratio (Q15)
+ Uint16 ShiftPhaseA; // Parameter: PWM Half-Period in CPU clock cycles (Q0)
+ Uint16 ShiftPhaseB; // Parameter: PWM Half-Period in CPU clock cycles (Q0)
+ void (*init)(); // Pointer to the init function
+ void (*update)(); // Pointer to the update function
+ } PWMGEND ;
+
+/*-----------------------------------------------------------------------------
+Define a PWMGEN_handle
+-----------------------------------------------------------------------------*/
+typedef PWMGEN *PWMGEN_handle;
+typedef PWMGEND *PWMGEND_handle;
+
+/*------------------------------------------------------------------------------
+Default Initializers for the F281X PWMGEN Object
+------------------------------------------------------------------------------*/
+#define F281X_EV1_FC_PWM_GEN {1000, \
+ 0x7FFF, \
+ 0x4000, \
+ 0x4000, \
+ 0x4000, \
+ (void (*)(Uint32))F281X_EV1_PWM_Init, \
+ (void (*)(Uint32))F281X_EV1_PWM_Update \
+ }
+
+#define F281X_EV2_FC_PWM_GEN {1000, \
+ 0x7FFF, \
+ 0x4000, \
+ 0x4000, \
+ 0x4000, \
+ (void (*)(Uint32))F281X_EV2_PWM_Init, \
+ (void (*)(Uint32))F281X_EV2_PWM_Update \
+ }
+
+
+#define F281X_EVD_FC_PWM_GEN {1000, \
+ 0, \
+ 0x7FFF, \
+ 0x4000, \
+ 0x4000, \
+ 0x4000, \
+ 0x4000, \
+ 0x4000, \
+ 0x4000, \
+ 0x000, \
+ 0x000, \
+ (void (*)(Uint32))F281X_EVD_PWM_Init, \
+ (void (*)(Uint32))F281X_EVD_PWM_Update \
+ }
+
+#define PWMGEN1_DEFAULTS F281X_EV1_FC_PWM_GEN
+#define PWMGEN2_DEFAULTS F281X_EV2_FC_PWM_GEN
+#define PWMGEND_DEFAULTS F281X_EVD_FC_PWM_GEN
+
+/*------------------------------------------------------------------------------
+ Prototypes for the functions in F281XPWM.C
+------------------------------------------------------------------------------*/
+void F281X_EV1_PWM_Init(PWMGEN_handle);
+void F281X_EV1_PWM_Update(PWMGEN_handle);
+void F281X_EV2_PWM_Init(PWMGEN_handle);
+void F281X_EV2_PWM_Update(PWMGEN_handle);
+
+void F281X_EVD_PWM_Init(PWMGEND_handle);
+void F281X_EVD_PWM_Update(PWMGEND_handle);
+
+int16 set_predel_dshim_max(int16 dshim,int16 dmin,int16 dpwm);
+int16 set_predel_dshim(int16 dshim,int16 dmin,int16 dpwm);
+
+
+#endif // __F281X_PWM_H__
+
diff --git a/Inu/Src/main/limit_lib.c b/Inu/Src/main/limit_lib.c
new file mode 100644
index 0000000..859b644
--- /dev/null
+++ b/Inu/Src/main/limit_lib.c
@@ -0,0 +1,50 @@
+/*
+ * limit_lib.c
+ *
+ * Created on: 15 ���. 2024 �.
+ * Author: yura
+ */
+
+
+#include "IQmathLib.h"
+#include "math_pi.h"
+
+
+
+_iq linear_decrease(float current, int alarm_level, int warnig_level) {
+ float delta = current - warnig_level;
+ float max_delta = alarm_level - warnig_level;
+ if (delta <= 0 || max_delta <= 0) {
+ return CONST_IQ_1;
+ } else {
+ if (delta>max_delta)
+ return 0;
+ else
+ return CONST_IQ_1 - _IQ(delta / max_delta);
+ }
+}
+
+
+
+
+
+
+
+_iq linear_decrease_iq(_iq current, _iq alarm_level, _iq warnig_level)
+{
+ _iq delta = current - warnig_level;
+
+ _iq max_delta = alarm_level - warnig_level;
+
+ if (delta <= 0 || max_delta <= 0) {
+ return CONST_IQ_1;
+ } else {
+ if (delta>=max_delta)
+ return 0;
+ else
+ return CONST_IQ_1 - _IQdiv(delta, max_delta);
+ }
+}
+
+
+
diff --git a/Inu/Src/main/limit_lib.h b/Inu/Src/main/limit_lib.h
new file mode 100644
index 0000000..3b1e6aa
--- /dev/null
+++ b/Inu/Src/main/limit_lib.h
@@ -0,0 +1,15 @@
+/*
+ * limit_lib.h
+ *
+ * Created on: 15 ���. 2024 �.
+ * Author: yura
+ */
+
+#ifndef SRC_MAIN_LIMIT_LIB_H_
+#define SRC_MAIN_LIMIT_LIB_H_
+
+_iq linear_decrease(float current, int alarm_level, int warnig_level);
+
+_iq linear_decrease_iq(_iq current, _iq alarm_level, _iq warnig_level);
+
+#endif /* SRC_MAIN_LIMIT_LIB_H_ */
diff --git a/Inu/Src/main/limit_power.c b/Inu/Src/main/limit_power.c
new file mode 100644
index 0000000..840019f
--- /dev/null
+++ b/Inu/Src/main/limit_power.c
@@ -0,0 +1,237 @@
+/*
+ * limit_power.c
+ *
+ * Created on: 15 ���. 2024 �.
+ * Author: yura
+ */
+
+#include "IQmathLib.h"
+
+#include <adc_tools.h>
+#include <detect_overload.h>
+#include <edrk_main.h>
+#include <params_motor.h>
+#include <params_pwm24.h>
+#include "mathlib.h"
+#include "math_pi.h"
+
+
+#include "limit_power.h"
+#include "limit_lib.h"
+
+#include "pll_tools.h"
+
+#include "uom_tools.h"
+
+
+
+
+#define KOEF_50HZ (FREQ_PWM*2.0*50.0/PI)
+#define LEVEL_01HZ_IQ _IQ(10.0/KOEF_50HZ) // 0.1 HZ
+
+_iq level_50hz = _IQmpyI32(LEVEL_01HZ_IQ, 500);
+_iq level_minimal_level_work_hz = _IQmpyI32(LEVEL_01HZ_IQ, 350);
+
+_iq delta_freq_test = 0;
+
+
+//_iq level_01hz = _IQ(LEVEL_01HZ);
+
+
+//#define LEVEL_50HZ (5000.0/KOEF_50HZ) // 50 HZ
+//#define LEVEL_05HZ (50.0/KOEF_50HZ) // 50 HZ
+//
+//#define LEVEL_3HZ (300.0/KOEF_50HZ) // 50 HZ
+//#define LEVEL_2HZ (200.0/KOEF_50HZ) // 50 HZ
+//#define LEVEL_1HZ (100.0/KOEF_50HZ) // 50 HZ
+
+
+
+#define LEVEL1_FREQ_DECR 10 // 1.5 Hz �� 49.0
+#define LEVEL2_FREQ_DECR 100 // 10 Hz �� 40
+//#define LEVEL1_FREQ_DECR 15 // 1.5 Hz �� 48.5
+//#define LEVEL2_FREQ_DECR 100 // 10 Hz �� 40
+
+#define PLUS_LIMIT_KOEFFS 0.0001
+#define MINUS_LIMIT_KOEFFS 0.05
+
+#define MAX_COUNT_GO_UOM (FREQ_PWM*5) // 5 sec
+#define SET_LIMIT_UOM 0.5
+
+void calc_all_limit_koeffs(void)
+{
+ _iq sum_limit, delta_freq;
+
+ static unsigned int prev_uom = 0;
+ static int flag_enable_go_uom = 0;
+
+
+ static _iq level1_freq_decr = _IQmpyI32(LEVEL_01HZ_IQ, LEVEL1_FREQ_DECR);
+ static _iq level2_freq_decr = _IQmpyI32(LEVEL_01HZ_IQ, LEVEL2_FREQ_DECR);
+
+ static _iq iq_set_limit_uom = _IQ(SET_LIMIT_UOM);
+ static unsigned int count_go_uom = 0;
+
+ static _iq iq_plus_limit_koeffs = _IQ(PLUS_LIMIT_KOEFFS);
+ static _iq iq_minus_limit_koeffs = _IQ(MINUS_LIMIT_KOEFFS);
+
+ static long freq_test = 30;
+ //*LEVEL_01HZ_IQ;
+ static _iq minus_delta_freq_test = _IQdiv32(LEVEL_01HZ_IQ); // 0.1/32
+
+
+ static int uom_test = 50;
+ static int prev_imit_limit_freq = 0, prev_imit_limit_uom = 0;
+
+ static _iq iq_new_uom_level_kwt = 0;
+
+
+ update_uom();
+
+ // temper
+ edrk.all_limit_koeffs.local_temper_limit = edrk.temper_limit_koeffs.sum_limit;
+
+
+ // uin_freq
+ if (edrk.Status_Ready.bits.ready_final) //|| edrk.imit_limit_freq
+ {
+
+ get_freq_50hz_iq();
+
+ // freq = LEVEL_50HZ - edrk.iq_freq_50hz;
+
+ if (edrk.imit_limit_freq && prev_imit_limit_freq == 0)
+ delta_freq_test = _IQmpyI32(LEVEL_01HZ_IQ, freq_test);
+
+ if (delta_freq_test>0)
+ {
+ if (delta_freq_test>0)
+ delta_freq_test -= minus_delta_freq_test;
+ if (delta_freq_test<0)
+ delta_freq_test = 0;
+ }
+
+ if (edrk.iq_freq_50hz>level_minimal_level_work_hz)
+ {
+ edrk.all_limit_koeffs.local_uin_freq_limit = linear_decrease_iq( (level_50hz - edrk.iq_freq_50hz),
+ level2_freq_decr, level1_freq_decr);
+ }
+ else
+ edrk.all_limit_koeffs.local_uin_freq_limit = CONST_IQ_1;
+ }
+ else
+ {
+ edrk.all_limit_koeffs.local_uin_freq_limit = CONST_IQ_1;
+ }
+ prev_imit_limit_freq = edrk.imit_limit_freq;
+
+ //
+ /// UOM
+ //
+ if (edrk.from_uom.ready || edrk.set_limit_uom_50)
+ {
+ if (edrk.set_limit_uom_50)
+ {
+ edrk.from_uom.level_value = uom_test;
+ }
+
+ if (edrk.imit_limit_uom && prev_imit_limit_uom == 0)
+ edrk.from_uom.level_value++;
+
+
+ if (prev_uom!=edrk.from_uom.level_value && edrk.from_uom.level_value > prev_uom)
+ {
+ if (edrk.iq_power_kw_full_filter_abs > edrk.from_uom.iq_level_value_kwt)
+ flag_enable_go_uom = 1;
+ }
+ else
+ flag_enable_go_uom = 0;
+
+ if (flag_enable_go_uom)
+ {
+ count_go_uom = MAX_COUNT_GO_UOM;
+ edrk.all_limit_koeffs.local_uom_limit = iq_set_limit_uom; // ���� �����
+ }
+
+ if (count_go_uom)
+ {
+ // ������ �����
+ count_go_uom--;
+ }
+ else
+ edrk.all_limit_koeffs.local_uom_limit = CONST_IQ_1; // ������������
+
+ prev_uom = edrk.from_uom.level_value;
+
+ }
+ else
+ {
+
+ edrk.power_limit.bits.limit_from_uom_fast = 0;
+ edrk.all_limit_koeffs.uom_limit = CONST_IQ_1;
+ prev_uom = 0;
+ }
+ prev_imit_limit_uom = edrk.imit_limit_uom;
+ // if ()
+
+
+ //// temper
+ edrk.all_limit_koeffs.temper_limit = zad_intensiv_q(iq_plus_limit_koeffs, iq_minus_limit_koeffs,
+ edrk.all_limit_koeffs.temper_limit,
+ edrk.all_limit_koeffs.local_temper_limit);
+
+ edrk.power_limit.bits.limit_by_temper = (edrk.all_limit_koeffs.temper_limit<CONST_IQ_1) ? 1 : 0;
+
+ ////// freq
+ edrk.all_limit_koeffs.uin_freq_limit = zad_intensiv_q(iq_plus_limit_koeffs, iq_minus_limit_koeffs,
+ edrk.all_limit_koeffs.uin_freq_limit,
+ edrk.all_limit_koeffs.local_uin_freq_limit);
+
+ edrk.power_limit.bits.limit_from_freq = (edrk.all_limit_koeffs.uin_freq_limit<CONST_IQ_1) ? 1 : 0;
+
+
+ ///// uom
+ edrk.all_limit_koeffs.uom_limit = zad_intensiv_q(iq_plus_limit_koeffs, iq_minus_limit_koeffs,
+ edrk.all_limit_koeffs.uom_limit,
+ edrk.all_limit_koeffs.local_uom_limit);
+
+ edrk.power_limit.bits.limit_from_uom_fast = (edrk.all_limit_koeffs.uom_limit<CONST_IQ_1) ? 1 : 0;
+
+
+
+
+
+
+ // sum_limit
+ sum_limit = edrk.all_limit_koeffs.temper_limit;
+ sum_limit = _IQmpy(sum_limit, edrk.all_limit_koeffs.moment_limit );
+ sum_limit = _IQmpy(sum_limit, edrk.all_limit_koeffs.power_limit );
+ sum_limit = _IQmpy(sum_limit, edrk.all_limit_koeffs.uin_freq_limit );
+ sum_limit = _IQmpy(sum_limit, edrk.all_limit_koeffs.uom_limit );
+
+ edrk.all_limit_koeffs.sum_limit = sum_limit;
+
+}
+
+
+
+
+void init_all_limit_koeffs(void)
+{
+ edrk.all_limit_koeffs.moment_limit = CONST_IQ_1;
+ edrk.all_limit_koeffs.power_limit = CONST_IQ_1;
+ edrk.all_limit_koeffs.temper_limit = CONST_IQ_1;
+ edrk.all_limit_koeffs.uin_freq_limit = CONST_IQ_1;
+ edrk.all_limit_koeffs.uom_limit = CONST_IQ_1;
+ edrk.all_limit_koeffs.sum_limit = CONST_IQ_1;
+
+ edrk.all_limit_koeffs.local_moment_limit = CONST_IQ_1;
+ edrk.all_limit_koeffs.local_power_limit = CONST_IQ_1;
+ edrk.all_limit_koeffs.local_temper_limit = CONST_IQ_1;
+ edrk.all_limit_koeffs.local_uin_freq_limit = CONST_IQ_1;
+ edrk.all_limit_koeffs.local_uom_limit = CONST_IQ_1;
+ edrk.all_limit_koeffs.local_sum_limit = CONST_IQ_1;
+
+}
+
+
diff --git a/Inu/Src/main/limit_power.h b/Inu/Src/main/limit_power.h
new file mode 100644
index 0000000..1f27f20
--- /dev/null
+++ b/Inu/Src/main/limit_power.h
@@ -0,0 +1,21 @@
+/*
+ * limit_power.h
+ *
+ * Created on: 15 ���. 2024 �.
+ * Author: yura
+ */
+
+#ifndef SRC_MAIN_LIMIT_POWER_H_
+#define SRC_MAIN_LIMIT_POWER_H_
+
+
+
+
+
+void calc_all_limit_koeffs(void);
+void init_all_limit_koeffs(void);
+
+
+extern _iq level_50hz, delta_freq_test;
+
+#endif /* SRC_MAIN_LIMIT_POWER_H_ */
diff --git a/Inu/Src/main/logs_hmi.c b/Inu/Src/main/logs_hmi.c
new file mode 100644
index 0000000..4951299
--- /dev/null
+++ b/Inu/Src/main/logs_hmi.c
@@ -0,0 +1,1150 @@
+/*
+ * logs_hmi.c
+ *
+ * Created on: 28 ���. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+#include "log_to_memory.h"
+#include <message_modbus.h>
+#include <modbus_hmi.h>
+#include <modbus_hmi_update.h>
+#include <vector.h>
+
+#include "control_station.h"
+#include "global_time.h"
+#include "modbus_table_v2.h"
+#include "RS_modbus_pult.h"
+#include "DSP281x_Device.h"
+#include "MemoryFunctions.h"
+#include "RS_modbus_svu.h"
+#include "log_params.h"
+#include "logs_hmi.h"
+#include "edrk_main.h"
+
+
+#pragma DATA_SECTION(log_to_HMI, ".logs");
+t_Logs_with_modbus log_to_HMI = LOGS_WITH_MODBUS_DEFAULTS;
+
+
+#define COUNT_FAST_DATA 300//150
+#define COUNT_SLOW_DATA 300
+
+
+
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+#define MAX_SIZE_LOGS_HMI_FULL (END_ADDRESS_LOGS - START_ADDRESS_LOG + 1) //262144 // 0x80000/2
+#define MAX_SIZE_LOGS_HMI_SMALL 10000
+
+#define START_ARRAY_LOG_SEND 300
+#define END_ARRAY_LOG_SEND 899
+#define SIZE_ARRAY_LOG_SEND (END_ARRAY_LOG_SEND - START_ARRAY_LOG_SEND + 1)
+#define SIZE_BUF_WRITE_LOGS_TO_MODBUS16_REMOUTE 120
+
+int writeLogsArray(int flag_next)
+{
+ int succed = 0;
+ static unsigned int old_time = 0;
+
+ static int count_write_to_modbus = 0;
+ static int cur_position_buf_modbus16 = 0;
+
+
+
+
+
+ if (!rs_b.flag_LEADING)
+ {
+
+ ModbusRTUsetDataArrays(modbus_table_analog_in, modbus_table_analog_out);
+
+ if (control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485] == 0)
+ {
+ if (log_to_HMI.flag_start_log_array_sent)
+ {
+ cur_position_buf_modbus16 = START_ARRAY_LOG_SEND;
+ log_to_HMI.flag_log_array_sended = 0;
+ }
+ else
+ {
+ if (flag_next)
+ cur_position_buf_modbus16 = cur_position_buf_modbus16 + SIZE_BUF_WRITE_LOGS_TO_MODBUS16_REMOUTE;
+ }
+
+ log_to_HMI.flag_start_log_array_sent = 0;
+ }
+
+ if (cur_position_buf_modbus16 >= END_ARRAY_LOG_SEND)
+ {
+ // ��� �������� ���?
+ cur_position_buf_modbus16 = START_ARRAY_LOG_SEND;
+ log_to_HMI.flag_log_array_sended = 1;
+ // log_to_HMI.flag_log_array_sent_process = 0;
+// succed = 1;
+ return succed;
+ }
+
+// //����� � ������. ����������.
+// if ((cur_position_buf_modbus16 > ADRESS_END_FIRST_BLOCK) &&
+// (cur_position_buf_modbus16 < ADRESS_START_PROTECTION_LEVELS)) {
+// cur_position_buf_modbus16 = ADRESS_START_PROTECTION_LEVELS;
+// }
+
+ if ((cur_position_buf_modbus16 + SIZE_BUF_WRITE_LOGS_TO_MODBUS16_REMOUTE) > (END_ARRAY_LOG_SEND+1))
+ count_write_to_modbus = END_ARRAY_LOG_SEND - cur_position_buf_modbus16 + 1;
+ else
+ count_write_to_modbus = SIZE_BUF_WRITE_LOGS_TO_MODBUS16_REMOUTE;
+
+ log_to_HMI.n_log_array_sended = (cur_position_buf_modbus16 - START_ARRAY_LOG_SEND)/100 + 1;
+ log_to_HMI.flag_log_array_sent_process++;// = 1;
+
+ ModbusRTUsend16(&rs_b, 2,
+ ADR_MODBUS_TABLE_REMOUTE + cur_position_buf_modbus16,
+ count_write_to_modbus);
+
+
+
+ // control_station.count_error_modbus_16[CONTROL_STATION_INGETEAM_PULT_RS485]++;
+
+ // control_station.flag_message_sent[CONTROL_STATION_INGETEAM_PULT_RS485] = 1;
+ succed = count_write_to_modbus;
+ }
+ return succed;
+
+
+
+/*
+
+ unsigned long i = 0;
+ int succed = 0;
+
+// int *p_log_data = (int*)LOG_START_ADRES;
+
+ ModbusRTUsetDataArrays(modbus_table_analog_in, modbus_table_analog_out);
+ if (!rs_b.flag_LEADING)
+ {
+ ModbusRTUsend16(&rs_b, 2,
+ log_to_HMI.current_address,
+ log_to_HMI.count_write_to_modbus + 1);
+
+ if (err_send_log_16 == 0) { //prev message without errors
+ log_to_HMI.current_address = log_to_HMI.current_address + SIZE_BUF_WRITE_LOG_TO_MODBUS16;
+ }
+ if (log_to_HMI.current_address > END_ARRAY_LOG_SEND) {
+ log_to_HMI.current_address = START_ARRAY_LOG_SEND;
+// log_to_HMI.flag_end_of_log = 1;
+ log_to_HMI.flag_log_array_sent = 1;
+ }
+ if ((log_to_HMI.current_address + SIZE_BUF_WRITE_LOG_TO_MODBUS16) > END_ARRAY_LOG_SEND) {
+ log_to_HMI.count_write_to_modbus = END_ARRAY_LOG_SEND - log_to_HMI.current_address;
+ } else {
+ log_to_HMI.count_write_to_modbus = SIZE_BUF_WRITE_LOG_TO_MODBUS16;
+ }
+
+ err_send_log_16 += 1;
+ succed = 1;
+
+ }
+ return succed;
+*/
+}
+
+void prepareWriteLogsArray(void) {
+// log_to_HMI.start_log_address = logpar.addres_mem - logpar.count_log_params_fast_log * SIZE_ARRAY_LOG_SEND;
+// log_to_HMI.start_log_address = log_params.addres_mem - log_params.BlockSizeErr * SIZE_ARRAY_LOG_SEND;
+
+ if (log_to_HMI.send_log == 1)
+ log_to_HMI.start_log_address = log_params.start_address_log_slow;
+ if (log_to_HMI.send_log == 2)
+ log_to_HMI.start_log_address = log_params.start_address_log;
+ if (log_to_HMI.send_log == 3)
+ log_to_HMI.start_log_address = 0;//log_params.start_address_log;
+
+ // - log_to_HMI.max_size_logs_hmi;
+
+// if (log_to_HMI.start_log_address < log_params.start_address_log) {
+// log_to_HMI.start_log_address = log_params.end_address_log - (log_params.start_address_log - log_to_HMI.start_log_address);
+// }
+// log_to_HMI.log_address_step = SIZE_ARRAY_LOG_SEND;//log_params.BlockSizeErr;
+}
+
+
+int fillAnalogDataArrayForLogSend(void)
+{
+ int i, k, n;// = START_ARRAY_LOG_SEND;
+ int c_data = 0, lb = 0, type_log;
+ volatile unsigned long local_pos = 0;
+
+// unsigned long current_address = log_to_HMI.start_log_address;// + num_of_log;
+
+ k = 0;
+ n = 0;
+ for (i = START_ARRAY_LOG_SEND; i <= END_ARRAY_LOG_SEND; i++) {
+
+// if (log_to_HMI.count_write_to_modbus > log_to_HMI.max_size_logs_hmi)
+// break;
+
+ n = log_to_HMI.count_write_to_modbus/SIZE_BUF_WRITE_LOGS_TO_MODBUS16_REMOUTE;
+
+ if (k>=SIZE_BUF_WRITE_LOGS_TO_MODBUS16_REMOUTE)
+ k = 0;
+
+ if (k==0)
+ modbus_table_analog_out[i].all = LOWORD(log_to_HMI.count_write_to_modbus);
+ else
+ if (k==1)
+ modbus_table_analog_out[i].all = LOWORD(global_time.miliseconds);
+ else
+ if (k==2)
+ modbus_table_analog_out[i].all = HIWORD(log_to_HMI.start_log_address);
+ else
+ if (k==3)
+ modbus_table_analog_out[i].all = LOWORD(log_to_HMI.start_log_address);
+ else
+ if (k==SIZE_BUF_WRITE_LOGS_TO_MODBUS16_REMOUTE-1)
+ modbus_table_analog_out[i].all = log_to_HMI.tick_step;
+ else
+ {
+ if (log_to_HMI.count_write_to_modbus > log_to_HMI.max_size_logs_hmi)
+ modbus_table_analog_out[i].all = 0;
+ else
+ {
+// modbus_table_analog_out[i].all = LOWORD(log_to_HMI.start_log_address); // ��� ��� �����
+ if (log_to_HMI.send_log==3)
+ {
+ if (log_to_HMI.start_log_address>=(COUNT_FAST_DATA*log_params.BlockSizeErr) )
+ {
+ local_pos = log_to_HMI.max_size_logs_hmi - log_to_HMI.start_log_address;// - (COUNT_FAST_DATA*log_params.BlockSizeErr);
+ type_log = SLOW_LOG;
+ }
+ else
+ {
+ local_pos = log_to_HMI.max_size_logs_hmi - log_to_HMI.start_log_address - (COUNT_SLOW_DATA*log_params.BlockSizeErr);
+ type_log = FAST_LOG;
+ }
+
+ modbus_table_analog_out[i].all = alarm_log_get_data(local_pos, type_log);
+ }
+ else
+ modbus_table_analog_out[i].all = ReadMemory(log_to_HMI.start_log_address);
+
+
+
+ log_to_HMI.start_log_address += 1;//log_to_HMI.log_address_step;
+ log_to_HMI.count_write_to_modbus += 1;
+
+ }
+ }
+
+// modbus_table_analog_out[i+1].all = HIWORD(log_to_HMI.start_log_address);//log_to_HMI.count_write_to_modbus;//ReadMemory(log_to_HMI.start_log_address);
+// modbus_table_analog_out[i].all = LOWORD(global_time.miliseconds);//ReadMemory(log_to_HMI.start_log_address);
+// modbus_table_analog_out[i+1].all = HIWORD(global_time.miliseconds);//log_to_HMI.count_write_to_modbus;//ReadMemory(log_to_HMI.start_log_address);
+
+// if (k>1 && k<SIZE_BUF_WRITE_LOGS_TO_MODBUS16_REMOUTE-1)
+// {
+// log_to_HMI.start_log_address += 1;//log_to_HMI.log_address_step;
+// log_to_HMI.count_write_to_modbus += 1;
+//
+// }
+
+ k++;
+ c_data += 1;
+ }
+ return c_data;// ������� ������� ��������
+
+// log_to_HMI.current_address = START_ARRAY_LOG_SEND;
+ //log_to_HMI.count_write_to_modbus += num_of_log;
+}
+
+
+
+
+#define START_CMD_ADR_PROGRESS_DATA 192
+#define LENGTH_CMD_PROGRESS_DATA 6
+
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+#define TIME_PAUSE_STATUS_SAVE 5000
+#define MAX_WAIT_WRITE_DISCRETE 10 //10
+#define MAX_WAIT_WRITE_PROGRESS 5
+
+#define TIME_PAUSE_STATUS_SAVE1 10
+#define TIME_PAUSE_STATUS_SAVE2 5000 //1000
+#define TIME_PAUSE_STATUS_SAVE3 300 //
+#define TIME_PAUSE_STATUS_SAVE4 700 //30
+#define TIME_PAUSE_STATUS_SAVE5 30
+#define TIME_PAUSE_STATUS_SAVE6 500 //150
+#define TIME_PAUSE_STATUS_SAVE7 10000 //1000
+#define TIME_PAUSE_STATUS_SAVE8 6000 //1000
+#define TIME_PAUSE_STATUS_SAVE9 5000 //1000
+
+//#define PLACE_STORE_LOG_PULT 2 //SD
+#define PLACE_STORE_LOG_PULT 1 //USB Flash
+
+
+
+
+void wdog_hmi(void)
+{
+ static int local_hmi_watch_dog = 0, stage = 0;
+
+
+
+
+ stage = !stage;
+
+ if (stage)
+ {
+ local_hmi_watch_dog = !local_hmi_watch_dog;
+ setRegisterDiscreteOutput(local_hmi_watch_dog, 515);
+ writeSigleDiscreteDataToRemote(515);
+ }
+ else
+ writeSingleAnalogDataToRemote(START_CMD_ADR_PROGRESS_DATA, LENGTH_CMD_PROGRESS_DATA);
+
+}
+
+int sendLogToHMI(int status_ok)
+{
+ int succed = 0, flag_next = 0;
+ unsigned int time_finish_transmitt = 0, pause_save = 0;
+ static int prev_send_log = 0, flag_one = 0;
+ static int prev_status_ok = -1;
+ static unsigned int count_send = 0, enable_next_step = 0;
+ static unsigned int time_pause_status_save = TIME_PAUSE_STATUS_SAVE, old_time_status_save = 0,
+ max_wait_write_discrete = MAX_WAIT_WRITE_DISCRETE, wait_write_discrete = 0,
+ max_wait_write_progress = MAX_WAIT_WRITE_PROGRESS, wait_write_progress = 0;
+
+ static unsigned int time_pause_status_save1 = TIME_PAUSE_STATUS_SAVE1;
+ static unsigned int time_pause_status_save2 = TIME_PAUSE_STATUS_SAVE2;
+ static unsigned int time_pause_status_save3 = TIME_PAUSE_STATUS_SAVE3;
+ static unsigned int time_pause_status_save4 = TIME_PAUSE_STATUS_SAVE4;
+ static unsigned int time_pause_status_save5 = TIME_PAUSE_STATUS_SAVE5;
+ static unsigned int time_pause_status_save6 = TIME_PAUSE_STATUS_SAVE6;
+ static unsigned int time_pause_status_save7 = TIME_PAUSE_STATUS_SAVE7;
+ static unsigned int time_pause_status_save8 = TIME_PAUSE_STATUS_SAVE8;
+ static unsigned int time_pause_status_save9 = TIME_PAUSE_STATUS_SAVE9;
+
+// static unsigned int place_store_log_pult = PLACE_STORE_LOG_PULT;
+
+ static unsigned int flag_local_sended = 0, flag_local_finish = 0;
+
+
+
+ if (log_to_HMI.send_log && prev_send_log==0)
+ {
+ if (log_to_HMI.max_size_logs_hmi_small == 0)
+
+#if(_LOG_HMI_SMALL_TEST==1)
+ log_to_HMI.max_size_logs_hmi_small = MAX_SIZE_LOGS_HMI_SMALL;
+#else
+ log_to_HMI.max_size_logs_hmi_small = (log_params.end_address_log_slow - log_params.start_address_log_slow + 1 ); //MAX_SIZE_LOGS_HMI_SMALL;
+#endif
+
+ if (log_to_HMI.max_size_logs_hmi_full == 0)
+ log_to_HMI.max_size_logs_hmi_full = MAX_SIZE_LOGS_HMI_FULL;
+
+//30007 - ����� 1 - ��� ������ �� ����������� ����, � 2 �� ������.
+ if (log_to_HMI.send_log == 1)
+ log_to_HMI.max_size_logs_hmi = log_to_HMI.max_size_logs_hmi_small;
+ if (log_to_HMI.send_log == 2)
+ log_to_HMI.max_size_logs_hmi = log_to_HMI.max_size_logs_hmi_full;
+
+ if (log_to_HMI.send_log == 3)
+ log_to_HMI.max_size_logs_hmi = log_params.BlockSizeErr*(COUNT_FAST_DATA+COUNT_SLOW_DATA);// MAX_SIZE_LOGS_HMI_SMALL;//log_to_HMI.max_size_logs_hmi_full;
+
+
+
+ log_to_HMI.step = -1;
+ enable_next_step = 1;
+
+// log_to_HMI.flag_data_received = 0;
+ log_to_HMI.count_write_to_modbus = 0;
+ log_to_HMI.flag_log_array_sended = 0;
+ log_to_HMI.log_size_sent = 0;
+// log_to_HMI.current_address = 0;
+// log_to_HMI.number_of_log = 0;
+
+ log_to_HMI.progress_bar = 0;
+ log_to_HMI.enable_progress_bar = 1;
+ log_to_HMI.cleanLogs = 0;
+ log_to_HMI.tick_step = 0;
+// log_to_HMI.tick_finish = 0;
+ log_to_HMI.saveLogsToSDCard = 0;
+
+ log_to_HMI.flag_log_array_sent_process = 0;
+ log_to_HMI.count_sended_to_pult = 0;
+ log_to_HMI.ReportLogOut = log_to_HMI.send_log;
+
+ prepareWriteLogsArray();
+
+
+ //global_time.miliseconds = 0;
+
+// setRegisterDiscreteOutput(0, 522);
+ // control_station.flag_message_sent[CONTROL_STATION_INGETEAM_PULT_RS485] = 1;
+// return 1;
+ }
+
+
+
+ if (log_to_HMI.send_log)
+ {
+ // ������ �������� � �������� ����� �� ���� �������?
+ if (status_ok != prev_status_ok || prev_status_ok == -1 )
+ {
+
+
+ if (enable_next_step)
+ {
+ old_time_status_save = global_time.miliseconds;
+ log_to_HMI.step++;
+ }
+
+ if (log_to_HMI.flag_log_array_sended==0 && log_to_HMI.step==8)
+ {
+ // ������ ������� ���� ����� �� 4, �.�. �� ��� ������ ������
+ log_to_HMI.step--;
+ flag_next = 1;
+ }
+
+
+ if ((time_pause_status_save4==0 && log_to_HMI.step==6)
+ || (time_pause_status_save5==0 && log_to_HMI.step==8)
+ || (time_pause_status_save6==0 && log_to_HMI.step==10))
+ log_to_HMI.step++; // ������� ����
+
+ }
+
+
+
+
+ switch (log_to_HMI.step)
+ {
+
+ case 0:
+ if (detect_pause_milisec(time_pause_status_save1,&old_time_status_save) || time_pause_status_save1 == 0)
+ {
+ succed = 1;
+ enable_next_step = 1;
+ }
+ else
+ {
+ succed = 1;
+ enable_next_step = 0;
+
+ wdog_hmi();
+
+
+ }
+ break;
+
+ case 1:
+ log_to_HMI.cleanLogs = 1;//!log_to_HMI.tick_start;
+ update_logs_cmd_HMI();
+ writeSingleAnalogDataToRemote(START_CMD_ADR_PROGRESS_DATA, LENGTH_CMD_PROGRESS_DATA);
+ succed = 1;
+ enable_next_step = 1;
+// log_to_HMI.step++;
+
+ break;
+
+// case 1:
+// log_to_HMI.progress_bar = 100;
+// log_to_HMI.enable_progress_bar = 1;
+//
+// update_logs_cmd_HMI();
+// writeSingleAnalogDataToRemote(START_CMD_ADR_PROGRESS_DATA,LENGTH_CMD_PROGRESS_DATA);
+//
+// old_time_status_save = global_time.miliseconds;
+//// log_to_HMI.step++;
+// succed = 1;
+// enable_next_step = 1;
+// break;
+ case 2:
+ if (detect_pause_milisec(time_pause_status_save2,&old_time_status_save) || time_pause_status_save2 == 0)
+ {
+ succed = 1;
+ enable_next_step = 1;
+ }
+ else
+ {
+ succed = 1;
+ enable_next_step = 0;
+ wdog_hmi();
+
+
+ }
+ break;
+
+// case 2:
+// if (detect_pause_milisec(time_pause_status_save,&old_time_status_save))
+// {
+// succed = 1;
+// enable_next_step = 1;
+// }
+// else
+// {
+// pause_save = get_delta_milisec(&old_time_status_save, 0);
+// log_to_HMI.progress_bar = 100 - ((long)pause_save*100L)/(long)time_pause_status_save;
+//
+// if (log_to_HMI.progress_bar<50)
+// log_to_HMI.tick_start = 0;
+//
+// if (flag_one)
+// {
+// update_logs_cmd_HMI();
+// writeSingleAnalogDataToRemote(START_CMD_ADR_PROGRESS_DATA, LENGTH_CMD_PROGRESS_DATA);
+// }
+// else
+// {
+// setRegisterDiscreteOutput(hmi_watch_dog, 515);
+// hmi_watch_dog = !hmi_watch_dog;
+// writeSigleDiscreteDataToRemote(515);
+// }
+// flag_one = !flag_one;
+//
+//
+// succed = 1;
+// enable_next_step = 0;
+// }
+// break;
+ case 3:
+ log_to_HMI.cleanLogs = 0;
+ log_to_HMI.progress_bar = 0;
+ log_to_HMI.enable_progress_bar = 1;
+ log_to_HMI.count_write_to_modbus = 0;
+
+
+ update_logs_cmd_HMI();
+ writeSingleAnalogDataToRemote(START_CMD_ADR_PROGRESS_DATA, LENGTH_CMD_PROGRESS_DATA);
+ succed = 1;
+ enable_next_step = 1;
+
+// log_to_HMI.step++;
+ break;
+
+ case 4:
+ if (detect_pause_milisec(time_pause_status_save3,&old_time_status_save) || time_pause_status_save3 == 0)
+ {
+ succed = 1;
+ enable_next_step = 1;
+
+ log_to_HMI.flag_log_array_sended = 0;
+ // log_to_HMI.flag_log_array_sent_process = 1;
+ log_to_HMI.flag_start_log_array_sent = 1;
+ // �������� �������
+ // log_to_HMI.number_of_log = SIZE_ARRAY_LOG_SEND;
+ log_to_HMI.tick_step++;
+ log_to_HMI.count_data_in_buf = fillAnalogDataArrayForLogSend();
+ flag_next = 0;
+
+
+ }
+ else
+ {
+ succed = 1;
+ enable_next_step = 0;
+
+ wdog_hmi();
+
+ }
+ break;
+
+
+
+// case 4:
+// log_to_HMI.flag_log_array_sended = 0;
+//// log_to_HMI.flag_log_array_sent_process = 1;
+// log_to_HMI.flag_start_log_array_sent = 1;
+// // �������� �������
+//// log_to_HMI.number_of_log = SIZE_ARRAY_LOG_SEND;
+// log_to_HMI.count_data_in_buf = fillAnalogDataArrayForLogSend();
+//
+// // update_logs_cmd_HMI();
+//// writeSingleAnalogDataToRemote(START_CMD_ADR_PROGRESS_DATA, LENGTH_CMD_PROGRESS_DATA);
+// succed = 1;
+// enable_next_step = 1;
+//// log_to_HMI.step++;
+// break;
+
+ case 5:
+ if (wait_write_discrete<max_wait_write_discrete)
+ {
+ wait_write_discrete++;
+ succed = 1;
+ enable_next_step = 1;
+ }
+ else
+ {
+ wait_write_discrete = 0;
+ //update_tables_HMI_discrete();
+ // update_tables_HMI_analog();
+ wdog_hmi();
+
+// setRegisterDiscreteOutput(hmi_watch_dog, 515);
+// hmi_watch_dog = !hmi_watch_dog;
+// writeSigleDiscreteDataToRemote(515);
+
+// writeDiscreteDataToRemote();// ��� �������� ������
+ // log_to_HMI.step++;
+ succed = 1;
+ enable_next_step = 1;
+ }
+ break;
+
+ case 6:
+ if (detect_pause_milisec(time_pause_status_save4,&old_time_status_save) || time_pause_status_save4 == 0)
+ {
+ succed = 1;
+ enable_next_step = 1;
+ flag_local_finish = 0;
+ }
+ else
+ {
+ succed = 1;
+ enable_next_step = 0;
+
+ wdog_hmi();
+
+
+ }
+ break;
+
+ case 7:
+ // ���� ��� ����������?
+ if (log_to_HMI.count_data_in_buf)
+ {
+
+// if (flag_next)
+// {
+// if (flag_local_sended)
+// {
+// flag_local_finish = 1;
+// flag_local_sended = 0;
+// }
+// else
+// if (flag_local_finish)
+// {
+// flag_local_finish = 0;
+// }
+// }
+
+
+// if (flag_local_finish)
+// {
+//
+// if (log_to_HMI.n_log_array_sended==1)
+// log_to_HMI.tick_step++; // ������� 194 �������
+// else
+// if (log_to_HMI.n_log_array_sended==2)
+// log_to_HMI.tick_step2++; // ������� 194 �������
+// else
+// if (log_to_HMI.n_log_array_sended==3)
+// log_to_HMI.tick_step3++; // ������� 194 �������
+// else
+// if (log_to_HMI.n_log_array_sended==4)
+// log_to_HMI.tick_step4++; // ������� 194 �������
+// else
+// if (log_to_HMI.n_log_array_sended==5)
+// log_to_HMI.tick_step5++; // ������� 194 �������
+//
+//
+// update_logs_cmd_HMI();
+// writeSingleAnalogDataToRemote(START_CMD_ADR_PROGRESS_DATA, LENGTH_CMD_PROGRESS_DATA);
+//
+// flag_next = 0;
+//
+// }
+// else
+ {
+
+ // �������� � ����� ��� ������ �� ������
+ writeLogsArray(flag_next);// ��� ����� ���� �����
+ flag_local_sended = 1;
+ flag_local_finish = 0;
+ flag_next = 0;
+ }
+
+ // ��� ����?
+ if (log_to_HMI.flag_log_array_sended)
+ {
+ log_to_HMI.log_size_sent = log_to_HMI.count_write_to_modbus;
+ log_to_HMI.count_sended_to_pult += log_to_HMI.count_data_in_buf;
+ }
+ else
+ {
+ succed = 1;
+ }
+ }
+ else
+ {
+ status_ok = 0;
+ log_to_HMI.step += 3;
+ }
+ enable_next_step = 1;
+
+ break;
+
+ case 8:
+ if (detect_pause_milisec(time_pause_status_save5,&old_time_status_save) || time_pause_status_save5 == 0)
+ {
+ succed = 1;
+ enable_next_step = 1;
+ }
+ else
+ {
+ succed = 1;
+ enable_next_step = 0;
+
+// wdog_hmi();
+
+
+ }
+ break;
+
+ case 9:
+
+ if (wait_write_progress<max_wait_write_progress)
+ {
+ wait_write_progress++;
+ succed = 1;
+ enable_next_step = 1;
+ }
+ else
+ {
+ wait_write_progress = 0;
+
+ log_to_HMI.progress_bar = (log_to_HMI.count_write_to_modbus*100)/log_to_HMI.max_size_logs_hmi;
+
+ update_logs_cmd_HMI();
+ writeSingleAnalogDataToRemote(START_CMD_ADR_PROGRESS_DATA, LENGTH_CMD_PROGRESS_DATA);
+ succed = 1;
+ enable_next_step = 1;
+ }
+ break;
+
+ case 10:
+ if (detect_pause_milisec(time_pause_status_save6,&old_time_status_save) || time_pause_status_save6 == 0)
+ {
+ succed = 1;
+ enable_next_step = 1;
+ }
+ else
+ {
+ succed = 1;
+ enable_next_step = 0;
+
+// wdog_hmi();
+
+
+ }
+ break;
+
+
+ case 11:
+// log_to_HMI.flag_log_array_sent_process = 0;
+
+// if (log_to_HMI.flag_log_array_sent)
+// log_to_HMI.tick_step++;
+
+ if (log_to_HMI.log_size_sent < log_to_HMI.max_size_logs_hmi)
+// log_to_HMI.step++;
+// else
+ log_to_HMI.step = 3; // �������� ������, ��� ��� log_to_HMI.max_size_logs_hmi
+
+ status_ok = 0;
+ succed = 1;
+ enable_next_step = 1;
+ break;
+
+ case 12:
+ if (detect_pause_milisec(time_pause_status_save7,&old_time_status_save) || time_pause_status_save7 == 0)
+ {
+ succed = 1;
+ enable_next_step = 1;
+ }
+ else
+ {
+ succed = 1;
+ enable_next_step = 0;
+
+ wdog_hmi();
+
+
+ }
+ break;
+
+
+ case 13:
+
+ // log_to_HMI.tick_finish = place_store_log_pult;
+ log_to_HMI.saveLogsToSDCard = 3;//log_to_HMI.sdusb;
+ log_to_HMI.progress_bar = 100;
+
+ update_logs_cmd_HMI();
+ writeSingleAnalogDataToRemote(START_CMD_ADR_PROGRESS_DATA, LENGTH_CMD_PROGRESS_DATA);
+
+// log_to_HMI.step++;
+ succed = 1;
+ enable_next_step = 1;
+ break;
+
+ case 14:
+ if (detect_pause_milisec(time_pause_status_save8,&old_time_status_save) || time_pause_status_save8 == 0)
+ {
+ succed = 1;
+ enable_next_step = 1;
+ }
+ else
+ {
+ succed = 1;
+ enable_next_step = 0;
+
+ wdog_hmi();
+
+
+ }
+ break;
+
+ case 15:
+
+// log_to_HMI.tick_finish = 0;
+ log_to_HMI.saveLogsToSDCard = 0;
+
+ log_to_HMI.progress_bar = 0;
+ //log_to_HMI.enable_progress_bar = 0;
+ log_to_HMI.ReportLogOut = 255;
+
+ update_logs_cmd_HMI();
+ writeSingleAnalogDataToRemote(START_CMD_ADR_PROGRESS_DATA, LENGTH_CMD_PROGRESS_DATA);
+
+ // log_to_HMI.step++;
+ succed = 1;
+ enable_next_step = 1;
+ break;
+
+ case 16:
+ if (detect_pause_milisec(time_pause_status_save9,&old_time_status_save) || time_pause_status_save9 == 0)
+ {
+ succed = 1;
+ enable_next_step = 1;
+ }
+ else
+ {
+ succed = 1;
+ enable_next_step = 0;
+
+ wdog_hmi();
+
+
+ }
+ break;
+
+
+// case 17:
+//
+// log_to_HMI.tick_finish = place_store_log_pult;
+// log_to_HMI.progress_bar = 100;
+//
+// update_logs_cmd_HMI();
+// writeSingleAnalogDataToRemote(START_CMD_ADR_PROGRESS_DATA, LENGTH_CMD_PROGRESS_DATA);
+//
+// succed = 1;
+// enable_next_step = 1;
+// break;
+//
+// case 18:
+// if (detect_pause_milisec(time_pause_status_save8,&old_time_status_save))
+// {
+// succed = 1;
+// enable_next_step = 1;
+// }
+// else
+// {
+// succed = 1;
+// enable_next_step = 0;
+//
+// wdog_hmi();
+//
+// }
+// break;
+//
+// case 19:
+//
+// log_to_HMI.tick_finish = 0;
+// log_to_HMI.progress_bar = 0;
+// log_to_HMI.enable_progress_bar = 0;
+//
+// update_logs_cmd_HMI();
+// writeSingleAnalogDataToRemote(START_CMD_ADR_PROGRESS_DATA, LENGTH_CMD_PROGRESS_DATA);
+//
+// // log_to_HMI.step++;
+// succed = 1;
+// enable_next_step = 1;
+// break;
+//
+// case 20:
+// if (detect_pause_milisec(time_pause_status_save9,&old_time_status_save))
+// {
+// succed = 1;
+// enable_next_step = 1;
+// }
+// else
+// {
+// succed = 1;
+// enable_next_step = 0;
+//
+// wdog_hmi();
+//
+// }
+// break;
+//
+//
+//
+
+
+ case 17:
+
+ log_to_HMI.ReportLogOut = 0;
+ update_logs_cmd_HMI();
+// writeSingleAnalogDataToRemote(START_CMD_ADR_PROGRESS_DATA, LENGTH_CMD_PROGRESS_DATA);
+
+ log_to_HMI.send_log = 0;
+ log_to_HMI.enable_progress_bar = 0;
+ // log_to_HMI.step++;
+ succed = 0;
+ enable_next_step = 1;
+ break;
+
+
+ default:
+ break;
+
+ }
+
+ }
+ prev_send_log = log_to_HMI.send_log;
+ prev_status_ok = status_ok;
+
+
+
+
+
+
+//
+//
+//
+// if (log_to_HMI.step == 0)
+// {
+//// modbus_table_analog_out[3].all = log_params.BlockSizeErr;// logpar.count_log_params_fast_log;
+//
+// if (log_to_HMI.log_size_sent == 0 &&
+// (writeSingleAnalogOutputToRemote(3) == 1))
+// {
+// log_to_HMI.log_size_sent = 1;
+// succed = 1;
+// } else if (log_to_HMI.log_size_sent == 1) {
+// log_to_HMI.step = 1;
+// log_to_HMI.flag_log_array_sent = 0;
+// prepareWriteLogsArray();
+// fillAnalogDataArrayForLogSend(log_to_HMI.number_of_log);
+// }
+// }
+// if (log_to_HMI.step == 1) {
+// if (log_to_HMI.flag_log_array_sent == 0) {
+// succed = writeLogsArray(log_to_HMI.number_of_log);
+// } else {
+// log_to_HMI.step = 2;
+// init_timer_milisec(&time_finish_transmitt);
+// }
+// }
+// if (log_to_HMI.step == 2)
+// {
+// if (detect_pause_milisec(1000, &time_finish_transmitt)) {
+// setRegisterDiscreteOutput(1, 522);
+// if (writeDiscreteDataToRemote() == 1) {
+// log_to_HMI.step = 3;
+// succed = 1;
+// }
+// } else {
+// succed = 1;
+// }
+//
+// }
+// if (log_to_HMI.step == 3) {
+// succed = readAnalogDataFromRemote();
+// if (modbus_table_analog_in[8].all == 1) {
+// if (detect_pause_milisec(1000, &time_finish_transmitt)) {
+// log_to_HMI.step = 4;
+// }
+// } else {
+// init_timer_milisec(&time_finish_transmitt);
+// }
+// }
+// if (log_to_HMI.step == 4) {
+// setRegisterDiscreteOutput(0, 522);
+// if (writeDiscreteDataToRemote() == 1) {
+// log_to_HMI.step = 5;
+// succed = 1;
+// }
+// }
+// if (log_to_HMI.step == 5) {
+// succed = readAnalogDataFromRemote();
+// if (modbus_table_analog_in[8].all == 0) {
+// if (detect_pause_milisec(1000, &time_finish_transmitt) && log_to_HMI.number_of_log < (log_params.BlockSizeErr - 1)) {
+// log_to_HMI.number_of_log += 1;
+// fillAnalogDataArrayForLogSend(log_to_HMI.number_of_log);
+// log_to_HMI.flag_log_array_sent = 0;
+// log_to_HMI.step = 1;
+// } else {
+// succed = 1;
+// }
+// }
+// }
+
+// log_to_HMI.send_log = modbus_table_analog_in[7].all;
+// control_station.flag_message_sent[CONTROL_STATION_INGETEAM_PULT_RS485] = 1;
+
+
+ return succed;
+}
+
+#define PAUSE_AUTO_SAVE_SLOW_LOG_SECONDS 300 //120 //60 // 60 sec
+
+void run_store_slow_logs(void)
+{
+ static int prev_imit_save_slow_logs = 0, flag_auto_logs = 0;
+ static unsigned int pause_logs = 0;
+
+ if (pause_logs == 0)
+ init_timer_sec(&pause_logs);
+
+ flag_auto_logs = detect_pause_sec(PAUSE_AUTO_SAVE_SLOW_LOG_SECONDS, &pause_logs);
+
+
+ if ((edrk.imit_save_slow_logs && prev_imit_save_slow_logs == 0) || flag_auto_logs)
+ {
+ if (log_to_HMI.send_log == 0)
+ set_write_slow_logs(1);
+ }
+ else
+ set_write_slow_logs(0);
+
+ prev_imit_save_slow_logs = edrk.imit_save_slow_logs;
+
+}
+
+
+
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+
+void fillLogArea() {
+ unsigned int value = 0;
+ unsigned int *p_memory = (unsigned int*)LOG_START_ADRES;
+ long log_size = LOG_BUFFER_SIZE;
+ while (log_size-- > 0) {
+ *(p_memory++) = value;
+ value += 1;
+// if (log_size % 8 == 0) {
+// value += 1;
+// }
+ }
+}
+
+
+
+
+
+
+int alarm_log_get_data(unsigned long pos, int type_log)
+{
+ //unsigned int i,k;
+ static volatile unsigned long cur_adr_log, end_log, start_log, addres_mem, temp_length, delta_adr;//clog //real_length
+ //int *adr_finish_temp, *adr_current;
+
+
+// real_length = al->real_points * al->oscills;
+ // real_adr = al->start_adr_real_logs;
+
+ if (type_log==FAST_LOG)
+ {
+ temp_length = log_params.BlockSizeErr;
+ cur_adr_log = log_params.addres_mem;
+ end_log = log_params.end_address_log;
+ start_log = log_params.start_address_log;
+
+ }
+
+ if (type_log==SLOW_LOG)
+ {
+ temp_length = log_params.BlockSizeSlow;
+ cur_adr_log = log_params.addres_mem_slow;
+ end_log = log_params.end_address_log_slow;
+ start_log = log_params.start_address_log_slow;
+ }
+
+ // ���� ����� � ������
+
+
+ addres_mem = cur_adr_log - pos;//temp_length
+
+ // �������� ����� ����?
+ if (addres_mem<start_log)
+ {
+ delta_adr = start_log - addres_mem ;
+ addres_mem = end_log - delta_adr + 1;
+ }
+
+ return ReadMemory(addres_mem);
+
+
+/*
+
+ temp_length = al->temp_points * al->oscills; // ������� ������ ���� ��������� �� ����
+ al->temp_log_ready = 0;
+
+
+ if (al->current_adr_real_log == al->start_adr_real_logs) // �� � ������, ����� ����?
+ return;
+
+ adr_current = al->current_adr_real_log; // ��������� ����� ����
+ adr_finish_temp = al->start_adr_temp + temp_length; // ��� ����� ���� temp
+ // ������ ������� � ����� adr_finish ��������� � temp_log
+ // � ������ ���� ��� �� �������� �� ������������ ������ � �������, ����� ��������� ������
+ for (clog=0; clog<temp_length ;clog++)
+ {
+ if ( (adr_current >= al->start_adr_real_logs) )
+ {
+ *adr_finish_temp = *adr_current; // ����������� ������
+ // ���� �����
+ adr_current--;
+ }
+ else
+ *adr_finish_temp = 0; // � ���� ������!
+
+ // ���� �����
+ adr_finish_temp--;
+
+ // ��������������?
+ if (adr_current < al->start_adr_real_logs)
+ {
+ if (al->finish_adr_real_log) // ��� �������������?
+ adr_current = al->finish_adr_real_log; // ������� � �����.
+ else
+ adr_current = al->start_adr_real_logs - 1;
+ }
+ }
+
+ al->temp_log_ready = 1;
+*/
+
+}
+
+
+
+
diff --git a/Inu/Src/main/logs_hmi.h b/Inu/Src/main/logs_hmi.h
new file mode 100644
index 0000000..e7637f5
--- /dev/null
+++ b/Inu/Src/main/logs_hmi.h
@@ -0,0 +1,86 @@
+/*
+ * logs_hmi.h
+ *
+ * Created on: 28 ���. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+#ifndef SRC_MAIN_LOGS_HMI_H_
+#define SRC_MAIN_LOGS_HMI_H_
+
+#define _LOG_HMI_SMALL_TEST 0//1
+
+#define PLACE_STORE_LOG_PULT_SD 1 //SD
+#define PLACE_STORE_LOG_PULT_USB 2 //USB Flash
+
+typedef struct {
+
+ int send_log;
+
+// int new_send_log_checked;
+ unsigned long log_size_sent;
+// int flag_data_received;
+
+
+
+// unsigned int number_of_log;
+ unsigned long count_write_to_modbus;
+
+// unsigned long current_address;
+ unsigned long start_log_address;
+// int log_address_step;
+
+ int step;
+ int progress_bar;
+ int enable_progress_bar;
+
+ int cleanLogs;
+ int tick_step;
+// int tick_finish;
+
+ int flag_log_array_sended;
+ int flag_start_log_array_sent;
+
+ int flag_log_array_sent_process;
+ int count_data_in_buf;
+ unsigned long count_sended_to_pult;
+
+ unsigned long max_size_logs_hmi;
+
+ int tick_step2;
+ int tick_step3;
+ int tick_step4;
+ int tick_step5;
+ int n_log_array_sended;
+
+ unsigned long max_size_logs_hmi_small;
+ unsigned long max_size_logs_hmi_full;
+
+ int saveLogsToSDCard;
+ int ReportLogOut;
+ int sdusb;
+
+} t_Logs_with_modbus;
+
+#define LOGS_WITH_MODBUS_DEFAULTS {0,0,0,0,0, 0,0,0,0, 0,0,0,0,0, 0, 0,0,0,0,0, 0,0, 0,0,0}
+extern t_Logs_with_modbus log_to_HMI;
+
+
+
+
+#define LOG_START_ADRES 0xA0000UL
+#define LOG_END_ADRES 0xF0000UL
+#define LOG_BUFFER_SIZE 0x50000UL //0x100UL
+
+void fillLogArea(); //TODO for testing only
+
+int alarm_log_get_data(unsigned long pos, int type_log);
+
+int writeLogsArray(int flag_next);
+static void prepareWriteLogsArray(void);
+static int fillAnalogDataArrayForLogSend(void);
+int sendLogToHMI(int status_ok);
+void run_store_slow_logs(void);
+
+
+#endif /* SRC_MAIN_LOGS_HMI_H_ */
diff --git a/Inu/Src/main/manch.h b/Inu/Src/main/manch.h
new file mode 100644
index 0000000..d634beb
--- /dev/null
+++ b/Inu/Src/main/manch.h
@@ -0,0 +1,182 @@
+#ifndef MANCH_H
+#define MANCH_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+
+struct MANCH_READ_BITS { // bits description
+ Uint16 but_0:1; // 1
+ Uint16 but_1:1; // 1
+ Uint16 but_2:1; // 1
+ Uint16 but_3:1; // 1
+ Uint16 but_4:1; // 1
+ Uint16 but_5:1; // 1
+ Uint16 but_6:1; // 1
+ Uint16 but_7:1; // 1
+ Uint16 press_any_key:1; // 0
+};
+
+
+union MANCH_READ_REG {
+ Uint16 all;
+ struct MANCH_READ_BITS bit;
+};
+
+
+struct MANCH_WRITE_BITS { // bits description
+ int number0:14; // 1
+ int number1:14; // 1
+ Uint16 data_control:1; // 1
+ Uint16 case_line_recive2:1; // 1
+ Uint16 res0:1; // 1
+ Uint16 res1:1; // 1
+ Uint16 set_ratio_indicator:4; // 1
+ union {
+ Uint16 all;
+ struct
+ {
+ Uint16 lamp_0:1; // 1
+ Uint16 lamp_1:1; // 1
+ Uint16 lamp_2:1; // 1
+ Uint16 lamp_3:1; // 1
+ Uint16 lamp_4:1; // 1
+ Uint16 lamp_5:1; // 1
+ Uint16 lamp_6:1; // 1
+ Uint16 lamp_7:1; // 1
+ Uint16 lamp_8:1; // 1
+ Uint16 lamp_9:1; // 1
+ Uint16 lamp_10:1; // 1
+ Uint16 lamp_11:1; // 1
+ Uint16 lamp_12:1; // 1
+ Uint16 lamp_13:1; // 1
+ Uint16 lamp_14:1; // 1
+ Uint16 lamp_15:1; // 1
+ } bit;
+ } lamps;
+ union {
+ Uint16 all;
+ struct
+ {
+ Uint16 lamp_0:1; // 1
+ Uint16 lamp_1:1; // 1
+ Uint16 lamp_2:1; // 1
+ Uint16 lamp_3:1; // 1
+ Uint16 lamp_4:1; // 1
+ Uint16 lamp_5:1; // 1
+ Uint16 lamp_6:1; // 1
+ Uint16 lamp_7:1; // 1
+ Uint16 lamp_8:1; // 1
+ Uint16 lamp_9:1; // 1
+ Uint16 lamp_10:1; // 1
+ Uint16 lamp_11:1; // 1
+ Uint16 lamp_12:1; // 1
+ Uint16 lamp_13:1; // 1
+ Uint16 lamp_14:1; // 1
+ Uint16 lamp_15:1; // 1
+ } bit;
+ } lamps_2;
+ Uint16 res2:1; // 1
+ Uint16 res3:1; // 1
+ Uint16 set_ratio_lamp:4; // 1
+ Uint16 case_line_receive1:1;
+};
+
+/*
+
+struct MANCH_WRITE1_BITS { // bits description
+ Uint16 number0:16; // 1
+};
+
+
+
+struct MANCH_WRITE2_BITS { // bits description
+ Uint16 number1:8; // 1
+ Uint16 data_control:1; // 1
+ Uint16 case_line_recive2:1; // 1
+ Uint16 res10:1; // 1
+ Uint16 res11:1; // 1
+
+ Uint16 res1:6; // 1
+};
+
+struct MANCH_WRITE3_BITS { // bits description
+ Uint16 lamp_0:1; // 1
+ Uint16 lamp_1:1; // 1
+ Uint16 lamp_2:1; // 1
+ Uint16 lamp_3:1; // 1
+ Uint16 lamp_4:1; // 1
+ Uint16 lamp_5:1; // 1
+ Uint16 lamp_6:1; // 1
+ Uint16 lamp_7:1; // 1
+ Uint16 lamp_8:1; // 1
+ Uint16 lamp_9:1; // 1
+ Uint16 lamp_10:1; // 1
+ Uint16 lamp_11:1; // 1
+ Uint16 lamp_12:1; // 1
+ Uint16 lamp_13:1; // 1
+ Uint16 lamp_14:1; // 1
+ Uint16 lamp_15:1; // 1
+};
+
+
+union MANCH_WRITE1_REG {
+ Uint16 all;
+ struct MANCH_WRITE1_BITS bit;
+};
+
+union MANCH_WRITE2_REG {
+ Uint16 all;
+ struct MANCH_WRITE2_BITS bit;
+};
+
+union MANCH_WRITE3_REG {
+ Uint16 all;
+ struct MANCH_WRITE3_BITS bit;
+};
+
+*/
+
+typedef volatile struct { // bits description
+ union MANCH_READ_REG reg1;
+} MANCH_READ_REGS;
+
+/*
+typedef volatile struct { // bits description
+ union MANCH_WRITE1_REG reg1;
+ union MANCH_WRITE2_REG reg2;
+ union MANCH_WRITE3_REG reg3;
+} MANCH_WRITE_REGS;
+*/
+
+typedef volatile struct MANCH_WRITE_BITS MANCH_WRITE_REGS;
+
+
+
+
+
+extern MANCH_READ_REGS ManchReadRegs_00;
+extern MANCH_READ_REGS ManchReadRegs_01;
+extern MANCH_READ_REGS ManchReadRegs_02;
+extern MANCH_READ_REGS ManchReadRegs_03;
+
+extern MANCH_WRITE_REGS ManchWriteRegs_00;
+extern MANCH_WRITE_REGS ManchWriteRegs_01;
+
+
+
+void read_manch();
+int write_manch();
+void tune_manch_lines_v1();
+
+
+#ifdef __cplusplus
+}
+#endif /* extern "C" */
+
+
+#endif // end of MANCH_H definition
+
diff --git a/Inu/Src/main/master_slave.c b/Inu/Src/main/master_slave.c
new file mode 100644
index 0000000..4aa4297
--- /dev/null
+++ b/Inu/Src/main/master_slave.c
@@ -0,0 +1,586 @@
+/*
+ * master_slave.c
+ *
+ * Created on: 13 ����. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+#include <edrk_main.h>
+
+#include <params.h>
+#include <params_alg.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+#include <params_temper_p.h>
+#include <project.h>
+#include "IQmathLib.h"
+#include "mathlib.h"
+#include <optical_bus.h>
+#include "synhro_tools.h"
+#include "master_slave.h"
+
+//////////////////////////////////////////////////////////
+
+#pragma DATA_SECTION(buf_log_master_slave_status,".slow_vars");
+unsigned int buf_log_master_slave_status[SIZE_LOG_MASTER_SLAVE_STATUS] = {0};
+//AUTO_MASTER_SLAVE_DATA buf2[SIZE_BUF1] = {0};
+//AUTO_MASTER_SLAVE_DATA buf3[SIZE_BUF1] = {0};
+//OPTICAL_BUS_DATA_LOW_CMD buf4[SIZE_BUF1] = {0};
+//OPTICAL_BUS_DATA_LOW_CMD buf5[SIZE_BUF1] = {0};
+
+
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+
+void auto_select_master_slave(void)
+{
+ static unsigned int count_try_master = 0;
+ static unsigned int count_wait_answer_confirm_mode = 0;
+ static unsigned int count_wait_slave_try_master = 0;
+ unsigned int err_confirm_mode = 0; // ������ ������������� ������ ������ ��
+ static unsigned int c_buf_log_master_slave_status = 0, prev_status = 0;
+
+
+
+// logs master_slave_status
+ if (edrk.auto_master_slave.status != prev_status)
+ {
+ c_buf_log_master_slave_status++;
+ if (c_buf_log_master_slave_status>=SIZE_LOG_MASTER_SLAVE_STATUS)
+ c_buf_log_master_slave_status = 0;
+ buf_log_master_slave_status[c_buf_log_master_slave_status] = edrk.auto_master_slave.status;
+ }
+ prev_status = edrk.auto_master_slave.status;
+//end logs master_slave_status
+
+ if (edrk.ms.ready2==0 && edrk.errors.e7.bits.AUTO_SET_MASTER==0)
+ {
+ edrk.auto_master_slave.remoute.all = 0;
+ edrk.auto_master_slave.local.all = 0;
+ edrk.auto_master_slave.prev_remoute.all = edrk.auto_master_slave.remoute.all;
+ edrk.auto_master_slave.prev_local.all = edrk.auto_master_slave.local.all;
+
+ edrk.auto_master_slave.status = 1;
+
+// if (prev_ready!=edrk.ms.ready2)
+// for (c_buf=0;c_buf<SIZE_BUF1;c_buf++)
+// {
+// buf2[c_buf].all = buf3[c_buf].all = buf1[c_buf] = buf4[c_buf].all = buf5[c_buf].all =0;
+// }
+//
+// c_buf = 0;
+//
+// prev_ready = edrk.ms.ready2;
+ clear_wait_synhro_optical_bus();
+
+
+ return;
+ }
+// else
+// prev_ready = edrk.ms.ready2;
+
+
+ if (edrk.errors.e7.bits.AUTO_SET_MASTER)
+ {
+ edrk.to_second_pch.bits.MASTER = edrk.auto_master_slave.local.bits.master;
+
+ edrk.auto_master_slave.local.bits.master = 0;
+ edrk.auto_master_slave.local.bits.slave = 0;
+ edrk.auto_master_slave.local.bits.try_master = 0;
+ edrk.auto_master_slave.local.bits.try_slave = 0;
+ edrk.auto_master_slave.local.bits.nothing = 1;
+
+
+// edrk.auto_master_slave.prev_remoute.all = edrk.auto_master_slave.remoute.all;
+// edrk.auto_master_slave.prev_local.all = edrk.auto_master_slave.local.all;
+
+ // edrk.auto_master_slave.status = 10;
+
+
+ return;
+ }
+
+ edrk.auto_master_slave.prev_status = edrk.auto_master_slave.status;
+
+// c_buf++;
+// if (c_buf>=SIZE_BUF1)
+// c_buf = 0;
+//
+// buf1[c_buf] = edrk.auto_master_slave.status;
+// buf2[c_buf].all = edrk.auto_master_slave.local.all;
+// buf3[c_buf].all = edrk.auto_master_slave.remoute.all;
+// buf4[c_buf].all = optical_read_data.data.cmd.all;
+// buf5[c_buf].all = optical_write_data.data.cmd.all;
+//
+
+ // ������� ������� ������� �������� �� ������
+ if (edrk.auto_master_slave.local.bits.try_master==0 ||
+ (edrk.auto_master_slave.prev_local.bits.try_master != edrk.auto_master_slave.local.bits.try_master && edrk.auto_master_slave.local.bits.try_master==1))
+ count_try_master = 0;
+
+ // ���� ���� OPTICAL_BUS ������, �������
+ if (edrk.errors.e7.bits.WRITE_OPTBUS==1 || edrk.errors.e7.bits.READ_OPTBUS==1 ||
+ edrk.warnings.e7.bits.WRITE_OPTBUS==1 || edrk.warnings.e7.bits.READ_OPTBUS==1)
+ {
+
+ if (edrk.errors.e7.bits.WRITE_OPTBUS==1 || edrk.errors.e7.bits.READ_OPTBUS==1)
+ {
+ // ���� �� ��������, � ��� �� �������
+ // ������ ���-�� ��������� - �����������
+
+ edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
+
+ edrk.auto_master_slave.remoute.bits.nothing = 1;
+ edrk.auto_master_slave.remoute.bits.master = 0;
+ edrk.auto_master_slave.remoute.bits.slave = 0;
+ edrk.auto_master_slave.remoute.bits.try_master = 0;
+ edrk.auto_master_slave.remoute.bits.try_slave = 0;
+
+
+ edrk.auto_master_slave.local.bits.master = 0;
+ edrk.auto_master_slave.local.bits.slave = 0;
+ edrk.auto_master_slave.local.bits.try_master = 0;
+ edrk.auto_master_slave.local.bits.try_slave = 0;
+ edrk.auto_master_slave.local.bits.nothing = 1;
+
+ edrk.auto_master_slave.status = 10;
+ }
+ else
+ {
+ // ���� �� ��������, � ��� �� ��������
+ // ������ �� ����� ������
+ edrk.warnings.e7.bits.AUTO_SET_MASTER = 1;
+
+ edrk.auto_master_slave.remoute.bits.nothing = 1;
+ edrk.auto_master_slave.remoute.bits.master = 0;
+ edrk.auto_master_slave.remoute.bits.slave = 0;
+ edrk.auto_master_slave.remoute.bits.try_master = 0;
+ edrk.auto_master_slave.remoute.bits.try_slave = 0;
+
+
+
+ edrk.auto_master_slave.local.bits.master = 1;
+ edrk.auto_master_slave.local.bits.slave = 0;
+ edrk.auto_master_slave.local.bits.try_master = 0;
+ edrk.auto_master_slave.local.bits.try_slave = 0;
+ edrk.auto_master_slave.local.bits.nothing = 1;
+
+ edrk.auto_master_slave.status = 2;
+ }
+
+ edrk.auto_master_slave.remoute.bits.sync_line_detect = 0;
+ edrk.auto_master_slave.remoute.bits.bus_off = 1;
+ edrk.auto_master_slave.remoute.bits.sync1_2 = 0;
+
+ }
+ else
+ {
+ edrk.warnings.e7.bits.AUTO_SET_MASTER = 0;
+
+ edrk.auto_master_slave.remoute.bits.bus_off = 0;
+
+ // �������������� ���� ��������� ����� OPTICAL_BUS
+
+ if (wait_synhro_optical_bus()==1)
+ {
+
+ edrk.auto_master_slave.status = 50; // wait synhro
+
+
+ }
+ else
+ {
+
+
+ edrk.auto_master_slave.remoute.bits.master = optical_read_data.data.cmd.bit.master;
+ edrk.auto_master_slave.remoute.bits.slave = optical_read_data.data.cmd.bit.slave;
+ edrk.auto_master_slave.remoute.bits.try_master = optical_read_data.data.cmd.bit.maybe_master;
+ edrk.auto_master_slave.remoute.bits.sync1_2 = optical_read_data.data.cmd.bit.sync_1_2;
+ edrk.auto_master_slave.remoute.bits.sync_line_detect = optical_read_data.data.cmd.bit.sync_line_detect;
+ edrk.auto_master_slave.remoute.bits.tick = optical_read_data.data.cmd.bit.wdog_tick;
+
+ if (optical_read_data.data.cmd.bit.master==0 && optical_read_data.data.cmd.bit.slave==0)
+ edrk.auto_master_slave.remoute.bits.nothing = 1;
+
+
+ //////////////////////////////////////////////////
+ //////////////////////////////////////////////////
+ // 1
+
+ // ��� �� ��� ������
+ if (edrk.auto_master_slave.remoute.bits.master)
+ {
+
+ // � ���� �� ������ ������-��?
+ if (edrk.auto_master_slave.local.bits.master)
+ {
+ edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
+ edrk.auto_master_slave.status = 3;
+ }
+ else
+ {
+ // ���� �� ��� �� �����������, ������� ������� �� slave
+ if (edrk.auto_master_slave.local.bits.master==0 && edrk.auto_master_slave.local.bits.slave==0)
+ {
+ // edrk.auto_master_slave.local.bits.try_slave = 1;
+ // ����� slave
+ edrk.auto_master_slave.local.bits.slave = 1;
+ // ����� ���� ������ �� ������� ���� �� ���
+ edrk.auto_master_slave.local.bits.try_master = 0;
+ edrk.auto_master_slave.status = 4;
+ }
+ else
+ {
+ edrk.auto_master_slave.status = 21;
+ }
+ }
+ }
+ else
+ //////////////////////////////////////////////////
+ //////////////////////////////////////////////////
+ // 2
+ // ��� �� ��� slave
+
+ if (edrk.auto_master_slave.remoute.bits.slave)
+ {
+
+ // � ���� �� slave ������-��?
+ if (edrk.auto_master_slave.local.bits.slave)
+ {
+
+ // ��� ������� �� ������ � slave
+ if (edrk.auto_master_slave.prev_remoute.bits.slave==0)
+ {
+ if (edrk.Go)
+ {
+ // ������� ���
+ edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
+ edrk.auto_master_slave.status = 5;
+ }
+ else
+ {
+ // ������� ����������� master
+ edrk.auto_master_slave.local.bits.try_master = 1;
+ edrk.auto_master_slave.status = 6;
+ }
+ }
+ else
+ {
+ edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
+ edrk.auto_master_slave.status = 7;
+ }
+
+ }
+ else
+ {
+
+ // ���� �� ��� �� �����������, ������� ����������� �� master
+ if (edrk.auto_master_slave.local.bits.master==0 && edrk.auto_master_slave.local.bits.slave==0 && edrk.auto_master_slave.local.bits.try_master==0)
+ {
+ if (edrk.flag_second_PCH==0)
+ edrk.auto_master_slave.local.bits.try_master = 1;
+ if (edrk.flag_second_PCH==1)
+ edrk.auto_master_slave.local.bits.try_master = 1;
+
+ edrk.auto_master_slave.status = 8;
+ // edrk.auto_master_slave.local.bits.slave = 1;
+ }
+ else
+ // ���� �� ��� � ������� �� ������, � ��� �� ���������� � slave ��� �� �� ������.
+ if (edrk.auto_master_slave.local.bits.master==0 && edrk.auto_master_slave.local.bits.slave==0 && edrk.auto_master_slave.local.bits.try_master==1)
+ {
+ // ����� ��������
+ edrk.auto_master_slave.local.bits.master = 1;
+ edrk.auto_master_slave.local.bits.try_master = 0;
+ edrk.auto_master_slave.status = 9;
+ // edrk.auto_master_slave.local.bits.slave = 1;
+ }
+ else
+ {
+ edrk.auto_master_slave.status = 22;
+ }
+
+ }
+ }
+ else
+ //////////////////////////////////////////////////
+ //////////////////////////////////////////////////
+ // 3
+ // ��� �� ����������� ������� �� ������
+
+ if (edrk.auto_master_slave.remoute.bits.master==0
+ && edrk.auto_master_slave.remoute.bits.slave==0
+ && edrk.auto_master_slave.remoute.bits.try_master)
+ {
+ // � ���� �� slave
+ if (edrk.auto_master_slave.local.bits.slave)
+ {
+ // ����� �� ����, �������� slave
+ // ��� ���� ��������� �������� �����, ���� ��� �� �� ������ ��� �� ����� ������� � �������� �� try_master � ������
+ if (count_wait_slave_try_master<MAX_COUNT_WAIT_SLAVE_TRY_MASTER)
+ count_wait_slave_try_master++;
+ else
+ {
+ edrk.auto_master_slave.status = 10;
+ edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
+ }
+ }
+ else
+ // � ���� �� master
+ if (edrk.auto_master_slave.local.bits.master)
+ {
+ // ��� �� ������ ������� ������� �������� �� ���� ������ ������� ��?
+ // ���� �������� ������
+ edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
+ edrk.auto_master_slave.status = 11;
+ }
+ else
+ // ���� �� �� ������ � �� ����� � ��� �������� �� ���� �� ������
+ if (edrk.auto_master_slave.local.bits.master==0 && edrk.auto_master_slave.local.bits.slave==0 && edrk.auto_master_slave.local.bits.try_master==0)
+ {
+ // ���������� slave
+ edrk.auto_master_slave.local.bits.slave = 1;
+ edrk.auto_master_slave.status = 12;
+ count_wait_slave_try_master = 0; // ������� �������, �.�. ��� ���� ���� ��� �� ����� ��� �� ����� slave
+ }
+ else
+ // ���� �� �� ������ � �� ����� � ���� ������ �� ���� �� ������, �.�. ��� �� ����� ���� ���������
+ if (edrk.auto_master_slave.local.bits.master==0 && edrk.auto_master_slave.local.bits.slave==0 && edrk.auto_master_slave.local.bits.try_master==1)
+ {
+
+ // ���������� master ����� ��������� ����� (��� ������� �� ����� ������)
+ if (edrk.flag_second_PCH==0)
+ {
+ //��� �����, �� ���������� ���� ������ �������
+ edrk.auto_master_slave.local.bits.master = 1;
+ edrk.auto_master_slave.local.bits.try_master = 0;
+
+ // if (count_try_master<MAX_COUNT_TRY_MASTER_BS1)
+ // count_try_master++;
+ // else
+ // edrk.auto_master_slave.local.bits.master = 1;
+ }
+
+ if (edrk.flag_second_PCH==1)
+ {
+ //��� �����, �� ���������� ���� ������ �������
+
+ edrk.auto_master_slave.local.bits.slave = 1;
+ edrk.auto_master_slave.local.bits.try_master = 0;
+
+ // if (count_try_master<MAX_COUNT_TRY_MASTER_BS2)
+ // count_try_master++;
+ // else
+ // edrk.auto_master_slave.local.bits.master = 1;
+ }
+ edrk.auto_master_slave.status = 13;
+ }
+ else
+ {
+ edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
+ edrk.auto_master_slave.status = 100;
+ }
+
+
+ }
+ else
+ //////////////////////////////////////////////////
+ //////////////////////////////////////////////////
+ // 4
+ // ���� �� ����������� ������� �� ������
+
+ if (edrk.auto_master_slave.local.bits.master==0
+ && edrk.auto_master_slave.local.bits.slave==0
+ && edrk.auto_master_slave.local.bits.try_master)
+ {
+ // ���������� master ����� ��������� ����� (��� ������� �� ����� ������)
+ if (edrk.flag_second_PCH==0)
+ {
+ if (count_try_master<MAX_COUNT_TRY_MASTER_BS1)
+ {
+ count_try_master++;
+ edrk.auto_master_slave.status = 14;
+ }
+ else
+ {
+ edrk.auto_master_slave.local.bits.master = 1;
+ edrk.auto_master_slave.local.bits.try_master = 0;
+ edrk.auto_master_slave.status = 15;
+
+ }
+ }
+
+ if (edrk.flag_second_PCH==1)
+ {
+ if (count_try_master<MAX_COUNT_TRY_MASTER_BS2)
+ {
+ count_try_master++;
+ edrk.auto_master_slave.status = 14;
+ }
+ else
+ {
+ edrk.auto_master_slave.local.bits.master = 1;
+ edrk.auto_master_slave.local.bits.try_master = 0;
+ edrk.auto_master_slave.status = 15;
+ }
+ }
+
+
+
+ }
+ else
+ //////////////////////////////////////////////////
+ //////////////////////////////////////////////////
+ // 5
+ // ��� �� ������ �� ������
+
+ if (edrk.auto_master_slave.remoute.bits.master==0 && edrk.auto_master_slave.remoute.bits.slave==0 && edrk.auto_master_slave.remoute.bits.try_master==0)
+ {
+ // � ���� �� slave
+ if (edrk.auto_master_slave.local.bits.slave)
+ {
+ // ���� � ������, � ��� �� ������-�� ������� ����� - ������ ��� ������� ������� �������!
+ if (edrk.auto_master_slave.prev_remoute.bits.master)
+ {
+ if (edrk.Go) // ��� ���� ����������.
+ {
+ edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
+ edrk.auto_master_slave.status = 24;
+
+ }
+ else
+ {
+ // � ��� ��� ��.
+ edrk.auto_master_slave.local.bits.slave = 0;
+ edrk.auto_master_slave.local.bits.master = 1;
+
+ edrk.auto_master_slave.status = 23;
+ }
+ }
+ else
+ {
+ edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
+ edrk.auto_master_slave.status = 16;
+ }
+ }
+ else
+ // � ���� �� master
+ if (edrk.auto_master_slave.local.bits.master)
+ {
+ // ��� �� ������� �������� �����?
+ // �� ��� �� �� ���������� �������, �� ������ ����� �������� ��� �������
+ err_confirm_mode = 0;
+// filter_err_count(&count_wait_answer_confirm_mode,
+// MAX_COUNT_WAIT_ANSWER_CONFIRM_MODE,
+// 1,
+// 0);
+
+
+ if (err_confirm_mode)
+ {
+ // �� ������, �� ��� �� ��� � �� ����� ���
+ edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
+ edrk.auto_master_slave.status = 20;
+ }
+ else
+ edrk.auto_master_slave.status = 17;
+
+ }
+ else
+ {
+ // ��� �������� ��������� ������
+ if (edrk.flag_second_PCH==0)
+ edrk.auto_master_slave.local.bits.try_master = 1;
+ if (edrk.flag_second_PCH==1)
+ edrk.auto_master_slave.local.bits.try_master = 1;
+ edrk.auto_master_slave.status = 18;
+ }
+
+
+ }
+ else
+ //////////////////////////////////////////////////
+ //////////////////////////////////////////////////
+ // 5
+ //
+ {
+ // ���-�� ����� �� ���
+ edrk.errors.e7.bits.AUTO_SET_MASTER |= 1;
+ edrk.auto_master_slave.status = 19;
+
+ }
+ //////////////////////////////////////////////////
+ //////////////////////////////////////////////////
+ // 6
+ //
+
+ //////////////////////////////////////////////////
+ //////////////////////////////////////////////////
+ // 7
+ //
+
+ //////////////////////////////////////////////////
+ //////////////////////////////////////////////////
+ // 8
+ //
+ }
+ }
+
+
+
+
+
+// optical_write_data.cmd.bit. = edrk.auto_master_slave.local.bits.slave;
+
+
+
+ edrk.to_second_pch.bits.MASTER = edrk.auto_master_slave.local.bits.master;
+
+ edrk.auto_master_slave.prev_remoute.all = edrk.auto_master_slave.remoute.all;
+ edrk.auto_master_slave.prev_local.all = edrk.auto_master_slave.local.all;
+
+}
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+
+void clear_errors_master_slave(void)
+{
+
+// if (edrk.errors.e7.bits.AUTO_SET_MASTER)
+ {
+
+// if (edrk.errors.e7.bits.MASTER_SLAVE_SYNC
+// || edrk.errors.e1.bits.NO_INPUT_SYNC_SIGNAL)
+// edrk.ms.count_time_wait_ready1 = 0;
+
+ edrk.ms.count_time_wait_ready2 = 0;
+
+ edrk.ms.errors_count.alive_can_to_another_bs = 0;
+ edrk.ms.errors_count.alive_opt_bus_read = 0;
+ edrk.ms.errors_count.alive_opt_bus_write = 0;
+ edrk.ms.errors_count.alive_sync_line = 0;
+ edrk.ms.errors_count.alive_sync_line_local = 0;
+ edrk.ms.errors_count.another_rascepitel = 0;
+ edrk.ms.errors_count.fast_optical_alarm = 0;
+ edrk.ms.errors_count.input_alarm_another_bs = 0;
+ edrk.ms.errors_count.input_master_slave = 0;
+
+ edrk.ms.err_lock_signals.alive_can_to_another_bs = 0;
+ edrk.ms.err_lock_signals.alive_opt_bus_read = 0;
+ edrk.ms.err_lock_signals.alive_opt_bus_write = 0;
+ edrk.ms.err_lock_signals.alive_sync_line = 0;
+ edrk.ms.err_lock_signals.alive_sync_line_local = 0;
+ edrk.ms.err_lock_signals.another_rascepitel = 0;
+ edrk.ms.err_lock_signals.fast_optical_alarm = 0;
+ edrk.ms.err_lock_signals.input_alarm_another_bs = 0;
+ edrk.ms.err_lock_signals.input_master_slave = 0;
+
+ }
+
+}
+
+//////////////////////////////////////////////////////////
diff --git a/Inu/Src/main/master_slave.h b/Inu/Src/main/master_slave.h
new file mode 100644
index 0000000..c8ed38e
--- /dev/null
+++ b/Inu/Src/main/master_slave.h
@@ -0,0 +1,34 @@
+/*
+ * master_slave.h
+ *
+ * Created on: 30 ����. 2020 �.
+ * Author: stud
+ */
+
+#ifndef SRC_MASTER_SLAVE_H_
+#define SRC_MASTER_SLAVE_H_
+
+
+enum
+{
+MODE_DONTKNOW = 1,
+MODE_MASTER,
+MODE_SLAVE
+};
+
+
+//////////////////////////////////////////////////////////
+#define MAX_COUNT_TRY_MASTER_BS1 200//40 //15 //5
+#define MAX_COUNT_TRY_MASTER_BS2 100//40 //15 //40 //20
+#define MAX_COUNT_WAIT_ANSWER_CONFIRM_MODE 20
+
+#define MAX_COUNT_WAIT_SLAVE_TRY_MASTER 100
+
+
+#define SIZE_LOG_MASTER_SLAVE_STATUS 50
+
+void auto_select_master_slave(void);
+void clear_errors_master_slave(void);
+
+
+#endif /* SRC_MASTER_SLAVE_H_ */
diff --git a/Inu/Src/main/message2.c b/Inu/Src/main/message2.c
new file mode 100644
index 0000000..c54655c
--- /dev/null
+++ b/Inu/Src/main/message2.c
@@ -0,0 +1,907 @@
+#include "IQmathLib.h"
+#include "DSP281x_Device.h"
+
+#include <adc_tools.h>
+#include <alg_simple_scalar.h>
+#include <edrk_main.h>
+#include <math.h>
+#include <mathlib.h>
+#include <message2.h>
+#include <optical_bus.h>
+#include <params.h>
+#include <params_norma.h>
+#include <sync_tools.h>
+#include <v_rotor.h>
+#include <vector.h>
+
+#include "control_station.h"
+#include "global_time.h"
+#include "vector_control.h"
+#include "x_basic_types.h"
+#include "xp_cds_in.h"
+#include "xp_hwp.h"
+#include "xp_project.h"
+#include "modbus_table_v2.h"
+#include "filter_v1.h"
+#include "v_rotor_22220.h"
+#include "log_params.h"
+#include "break_regul.h"
+#include "logs_hmi.h"
+#include "CAN_Setup.h"
+#include "params_temper_p.h"
+
+
+void func_unpack_answer_from_TMS_RS232(CMD_TO_TMS_STRUCT *pcommand)
+{
+ // ����������y �����
+ unsigned int DataOut;
+ int Data, Data1, Data2, DataAnalog1, DataAnalog2, DataAnalog3, DataAnalog4, i;
+ unsigned int h;
+ volatile unsigned char *pByte;
+ // static int vs11,vs12,vs1;
+ // static int DataCnt=0;
+ // int GoT,Assemble_scheme;
+ // static int prev_temp_Rele1=0, temp_Rele1=0, prev_temp_Rele2=0, temp_Rele2=0;
+
+ static int flag_prev_turn_on = 0;
+ static int flag_prev_turn_off = 0;
+ static int prev_byte01_bit4 = 0;
+ static int prev_byte01_bit1 = 0;
+ static int flag_wait_revers_sbor = 1;
+ static int flag_wait_revers_go = 1;
+
+ static unsigned int count_transmited = 0;
+
+
+ // ��������� ���y �������
+ // ��� ��� ���� ������� ����
+
+ if ((sizeof(CMD_TO_TMS_STRUCT)-5)>CONTROL_STATION_MAX_RAW_DATA)
+ xerror(main_er_ID(2),(void *)0);
+
+
+
+ // ���������� �� ������ � �����, �.�. � RS232 ������ ���� �������
+ pByte = (unsigned char *)(pcommand);//->analog_data.analog1_lo;
+
+
+ pByte++;
+ pByte++;
+
+ for (h=0;h<sizeof(TMS_TO_TERMINAL_STRUCT)-5;h++)
+ {
+ if (h%2)
+ {
+ control_station.raw_array_data[CONTROL_STATION_TERMINAL_RS232][h>>1].all |= ( (*pByte) << 8) & 0xff00;
+ }
+ else
+ control_station.raw_array_data[CONTROL_STATION_TERMINAL_RS232][h>>1].all = ( (*pByte) ) & 0x00ff;
+
+ pByte++;
+ }
+
+}
+
+
+
+void func_pack_answer_to_TMS(TMS_TO_TERMINAL_STRUCT *reply_a)
+{
+ // ����������y �����
+ unsigned int DataOut;
+ int Data1, Data2, DataAnalog1, DataAnalog2, DataAnalog3, DataAnalog4, i;
+ float Data;
+ unsigned char *pByte;
+ // static int vs11,vs12,vs1;
+ // static int DataCnt=0;
+ // int GoT,Assemble_scheme;
+ // static int prev_temp_Rele1=0, temp_Rele1=0, prev_temp_Rele2=0, temp_Rele2=0;
+
+ static int flag_prev_turn_on = 0;
+ static int flag_prev_turn_off = 0;
+ static int prev_byte01_bit4 = 0;
+ static int prev_byte01_bit1 = 0;
+ static int flag_wait_revers_sbor = 1;
+ static int flag_wait_revers_go = 1;
+
+ static unsigned int count_transmited = 0;
+ /* const ��������� �� ��������� ����������� �������
+ ��������� �� ����� ������ */
+
+// edrk.data_to_message2[1] = _IQtoF(filter.iqU_1_long)*NORMA_ACP;
+// edrk.data_to_message2[2] = _IQtoF(filter.iqU_2_long)*NORMA_ACP;
+
+
+ //For instance
+ //reply->digit_data.byte01.byte_data = 0x43;
+
+
+ //1
+ Data = _IQtoF(filter.iqU_1_long)*NORMA_ACP;
+ reply_a->analog_data.analog1_lo = LOBYTE(Data);
+ reply_a->analog_data.analog1_hi = HIBYTE(Data);
+ //2
+ Data = _IQtoF(filter.iqU_2_long)*NORMA_ACP;//(project.adc[0].read.pbus.adc_value[1] - 2330)/4096*3.0/62.2*1000.0;
+ reply_a->analog_data.analog2_lo = LOBYTE(Data);
+ reply_a->analog_data.analog2_hi = HIBYTE(Data);
+
+ //3
+ Data = _IQtoF(filter.iqUin_m1)*NORMA_ACP;//(project.adc[0].read.pbus.adc_value[2] - 2330)/4096*3.0/62.2*1000.0;
+ reply_a->analog_data.analog3_lo = LOBYTE(Data);
+ reply_a->analog_data.analog3_hi = HIBYTE(Data);
+
+//4
+// Data = edrk.Status_Sbor;//_IQtoF(filter.iqUin_m2)*NORMA_ACP;//(project.adc[0].read.pbus.adc_value[3] - 2330)/4096*3.0/62.2*1000.0;
+ Data = _IQtoF(filter.iqUin_m2)*NORMA_ACP;//(project.adc[0].read.pbus.adc_value[3] - 2330)/4096*3.0/62.2*1000.0;
+// Data = (_IQtoF((filter.Power) * 9000.0)); //�������� ��������� ������� ���
+ reply_a->analog_data.analog4_lo = LOBYTE(Data);
+ reply_a->analog_data.analog4_hi = HIBYTE(Data);
+
+//5
+ Data = edrk.power_kw; //�������� ��������� ������� ���
+// Data = (_IQtoF((analog.Power) * 9000.0)); //�������� ��������� ������� ���
+ //_IQtoF(analog.iqIin_1)*NORMA_ACP;//project.adc[0].read.pbus.adc_value[0];
+ reply_a->analog_data.analog5_lo = LOBYTE(Data);
+ reply_a->analog_data.analog5_hi = HIBYTE(Data);
+
+ Data = _IQtoF(analog.iqIin_sum)*NORMA_ACP;//project.adc[0].read.pbus.adc_value[1];
+ reply_a->analog_data.analog6_lo = LOBYTE(Data);
+ reply_a->analog_data.analog6_hi = HIBYTE(Data);
+
+
+ Data = _IQtoF(filter.iqIm_1)*NORMA_ACP;//project.adc[0].read.pbus.adc_value[2];
+ reply_a->analog_data.analog7_lo = LOBYTE(Data);
+ reply_a->analog_data.analog7_hi = HIBYTE(Data);
+
+ Data = _IQtoF(filter.iqIm_2)*NORMA_ACP;//project.adc[0].read.pbus.adc_value[3];
+ reply_a->analog_data.analog8_lo = LOBYTE(Data);
+ reply_a->analog_data.analog8_hi = HIBYTE(Data);
+
+ Data = (int)(edrk.temper_edrk.max_real_int_temper_u);
+ reply_a->analog_data.analog9_lo = LOBYTE(Data);
+ reply_a->analog_data.analog9_hi = HIBYTE(Data);
+
+ Data = (int) (edrk.temper_edrk.max_real_int_temper_water);
+ reply_a->analog_data.analog10_lo = LOBYTE(Data);
+ reply_a->analog_data.analog10_hi = HIBYTE(Data);
+
+ Data = (int) (edrk.p_water_edrk.filter_real_int_p_water[0]);
+ reply_a->analog_data.analog11_lo = LOBYTE(Data);
+ reply_a->analog_data.analog11_hi = HIBYTE(Data);
+
+ Data = (int) (edrk.temper_edrk.max_real_int_temper_air);//_IQtoF(edrk.f_stator)*F_STATOR_MAX;//
+ reply_a->analog_data.analog12_lo = LOBYTE(Data);
+ reply_a->analog_data.analog12_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(edrk.zadanie.iq_ZadanieU_Charge_rmp)*NORMA_ACP);//edrk.I_zad_vozbud;//
+ reply_a->analog_data.analog13_lo = LOBYTE(Data);
+ reply_a->analog_data.analog13_hi = HIBYTE(Data);
+
+ Data = edrk.zadanie.oborots_zad;//edrk.I_zad_vozbud_exp;//
+ reply_a->analog_data.analog14_lo = LOBYTE(Data);
+ reply_a->analog_data.analog14_hi = HIBYTE(Data);
+
+ Data = edrk.zadanie.power_zad;//edrk.I_cur_vozbud;//
+ reply_a->analog_data.analog15_lo = LOBYTE(Data);
+ reply_a->analog_data.analog15_hi = HIBYTE(Data);
+
+ Data = edrk.zadanie.Izad;//edrk.I_cur_vozbud_exp;//
+ reply_a->analog_data.analog16_lo = LOBYTE(Data);
+ reply_a->analog_data.analog16_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(edrk.Kplus)*1000.0);//edrk.W_zad_mA;//
+ reply_a->analog_data.analog17_lo = LOBYTE(Data);
+ reply_a->analog_data.analog17_hi = HIBYTE(Data);
+
+Data = fast_round(edrk.freq_50hz_1/10.0);//edrk.Zadanie2VozbudING;//
+ reply_a->analog_data.analog18_lo = LOBYTE(Data);
+ reply_a->analog_data.analog18_hi = HIBYTE(Data);
+
+Data =fast_round(_IQtoF(edrk.f_stator)*NORMA_FROTOR*100.0);// 0;//edrk.Zadanie2VozbudMY;//
+ reply_a->analog_data.analog19_lo = LOBYTE(Data);
+ reply_a->analog_data.analog19_hi = HIBYTE(Data);
+
+Data = fast_round(_IQtoF(edrk.k_stator1)*10000.0);// edrk.W_from_all;
+ reply_a->analog_data.analog20_lo = LOBYTE(Data);
+ reply_a->analog_data.analog20_hi = HIBYTE(Data);
+
+Data = _IQtoF(vect_control.iqId1)*NORMA_ACP;//0;//_IQtoF(edrk.test_rms_Iu)*NORMA_ACP; //fast_round(_IQtoF(WRotor.iqWRotorImpulses1)*NORMA_FROTOR*1000.0);// edrk.W_from_DISPLAY;
+ reply_a->analog_data.analog21_lo = LOBYTE(Data);
+ reply_a->analog_data.analog21_hi = HIBYTE(Data);
+
+Data = _IQtoF(vect_control.iqIq1)*NORMA_ACP;// 0;//_IQtoF(edrk.test_rms_Ua)*NORMA_ACP;// fast_round(_IQtoF(WRotor.iqWRotorImpulses2)*NORMA_FROTOR*1000.0);//600.0*1000000000.0/WRotor.iqWRotorImpulses1;//edrk.W_from_SVU;
+ reply_a->analog_data.analog22_lo = LOBYTE(Data);
+ reply_a->analog_data.analog22_hi = HIBYTE(Data);
+
+//Data = fast_round(_IQtoF(WRotor.iqWRotorSumFilter3)*NORMA_FROTOR*100.0*60.0);//edrk.oborots;//fast_round(_IQtoF(WRotorPBus.iqAngle1F)*360.0);//600.0*1000000000.0/WRotor.iqWRotorImpulses2;//edrk.W_from_ZADAT4IK;
+Data = _IQtoF(WRotor.iqWRotorSumFilter) * NORMA_FROTOR*600.0;//edrk.oborots;
+ reply_a->analog_data.analog23_lo = LOBYTE(Data);
+ reply_a->analog_data.analog23_hi = HIBYTE(Data);
+
+Data = fast_round(edrk.f_rotor_hz*100.0);//fast_round(_IQtoF(WRotorPBus.iqAngle2F)*360.0);//;
+ reply_a->analog_data.analog24_lo = LOBYTE(Data);
+ reply_a->analog_data.analog24_hi = HIBYTE(Data);
+
+//Data = _IQtoF(edrk.k_stator1)*10000;//;
+Data = edrk.period_calc_pwm_int2;//fast_round(_IQtoF(rotor_22220.iqFdirty)*NORMA_FROTOR*1000.0);
+ reply_a->analog_data.analog25_lo = LOBYTE(Data);
+ reply_a->analog_data.analog25_hi = HIBYTE(Data);
+
+Data = edrk.power_kw_full; //�������� ��������� ������� ���
+//fast_round(_IQtoF(WRotor.iqWRotorCalcBeforeRegul2)*NORMA_FROTOR*1000.0);
+ reply_a->analog_data.analog26_lo = LOBYTE(Data);
+ reply_a->analog_data.analog26_hi = HIBYTE(Data);
+
+Data = edrk.Sbor_Mode;//fast_round(_IQtoF(WRotorPBus.iqWRotorCalcBeforeRegul1)*NORMA_FROTOR*1000.0);//edrk.count_lost_interrupt;
+ reply_a->analog_data.analog27_lo = LOBYTE(Data);
+ reply_a->analog_data.analog27_hi = HIBYTE(Data);
+
+Data = edrk.Stage_Sbor;// fast_round(_IQtoF(WRotorPBus.iqWRotorCalcBeforeRegul2)*NORMA_FROTOR*1000.0);;
+ reply_a->analog_data.analog28_lo = LOBYTE(Data);
+ reply_a->analog_data.analog28_hi = HIBYTE(Data);
+
+Data = fast_round(_IQtoF(edrk.Izad_out)*NORMA_ACP);//edrk.I_zad_vozbud;//;
+ reply_a->analog_data.analog29_lo = LOBYTE(Data);
+ reply_a->analog_data.analog29_hi = HIBYTE(Data);
+
+Data = edrk.period_calc_pwm_int1;
+ reply_a->analog_data.analog30_lo = LOBYTE(Data);
+ reply_a->analog_data.analog30_hi = HIBYTE(Data);
+
+ Data = (int)edrk.temper_acdrive.winding.max_real_int_temper;
+ reply_a->analog_data.analog31_lo = LOBYTE(Data);
+ reply_a->analog_data.analog31_hi = HIBYTE(Data);
+ Data = (int)edrk.temper_acdrive.bear.max_real_int_temper;
+ reply_a->analog_data.analog32_lo = LOBYTE(Data);
+ reply_a->analog_data.analog32_hi = HIBYTE(Data);
+
+
+
+ Data = (int)(edrk.temper_edrk.real_int_temper_u[0]);
+ reply_a->analog_data.analog33_lo = LOBYTE(Data);
+ reply_a->analog_data.analog33_hi = HIBYTE(Data);
+
+ Data = (int)(edrk.temper_edrk.real_int_temper_u[1]);
+ reply_a->analog_data.analog34_lo = LOBYTE(Data);
+ reply_a->analog_data.analog34_hi = HIBYTE(Data);
+ Data = (int)(edrk.temper_edrk.real_int_temper_u[2]);
+ reply_a->analog_data.analog35_lo = LOBYTE(Data);
+ reply_a->analog_data.analog35_hi = HIBYTE(Data);
+ Data = (int)(edrk.temper_edrk.real_int_temper_u[3]);
+ reply_a->analog_data.analog36_lo = LOBYTE(Data);
+ reply_a->analog_data.analog36_hi = HIBYTE(Data);
+ Data = (int)(edrk.temper_edrk.real_int_temper_u[4]);
+ reply_a->analog_data.analog37_lo = LOBYTE(Data);
+ reply_a->analog_data.analog37_hi = HIBYTE(Data);
+ Data = (int)(edrk.temper_edrk.real_int_temper_u[5]);
+ reply_a->analog_data.analog38_lo = LOBYTE(Data);
+ reply_a->analog_data.analog38_hi = HIBYTE(Data);
+ Data = (int)(edrk.temper_edrk.real_int_temper_u[6]);
+ reply_a->analog_data.analog39_lo = LOBYTE(Data);
+ reply_a->analog_data.analog39_hi = HIBYTE(Data);
+ Data = (int)(edrk.temper_edrk.real_int_temper_air[0]);
+ reply_a->analog_data.analog40_lo = LOBYTE(Data);
+ reply_a->analog_data.analog40_hi = HIBYTE(Data);
+ Data = (int)(edrk.temper_edrk.real_int_temper_air[1]);
+ reply_a->analog_data.analog41_lo = LOBYTE(Data);
+ reply_a->analog_data.analog41_hi = HIBYTE(Data);
+ Data = (int)(edrk.temper_edrk.real_int_temper_air[2]);
+ reply_a->analog_data.analog42_lo = LOBYTE(Data);
+ reply_a->analog_data.analog42_hi = HIBYTE(Data);
+
+ Data = (int)(edrk.temper_edrk.real_int_temper_air[3]);
+ reply_a->analog_data.analog43_lo = LOBYTE(Data);
+ reply_a->analog_data.analog43_hi = HIBYTE(Data);
+ Data = (int)(edrk.temper_edrk.real_int_temper_water[0]); // external
+ reply_a->analog_data.analog44_lo = LOBYTE(Data);
+ reply_a->analog_data.analog44_hi = HIBYTE(Data);
+ Data = (int)(edrk.temper_edrk.real_int_temper_water[1]); // internal
+ reply_a->analog_data.analog45_lo = LOBYTE(Data);
+ reply_a->analog_data.analog45_hi = HIBYTE(Data);
+
+
+ Data = fast_round(_IQtoF(simple_scalar1.pidF.OutMax)*NORMA_ACP);//edrk.auto_master_slave.prev_status;//fast_round(_IQtoF(edrk.zadanie.iq_ZadanieU_Charge_rmp)*NORMA_ACP);
+ reply_a->analog_data.analog46_lo = LOBYTE(Data);
+ reply_a->analog_data.analog46_hi = HIBYTE(Data);
+
+
+ Data = fast_round(_IQtoF(edrk.zadanie.iq_Izad_rmp)*NORMA_ACP);
+ reply_a->analog_data.analog47_lo = LOBYTE(Data);
+ reply_a->analog_data.analog47_hi = HIBYTE(Data);
+ Data = fast_round(_IQtoF(edrk.zadanie.iq_fzad_rmp)*NORMA_FROTOR*100.0);
+ reply_a->analog_data.analog48_lo = LOBYTE(Data);
+ reply_a->analog_data.analog48_hi = HIBYTE(Data);
+ Data = fast_round(_IQtoF(edrk.zadanie.iq_kzad_rmp)*10000.0);
+ reply_a->analog_data.analog49_lo = LOBYTE(Data);
+ reply_a->analog_data.analog49_hi = HIBYTE(Data);
+ Data = fast_round(_IQtoF(edrk.zadanie.iq_oborots_zad_hz_rmp)*NORMA_FROTOR*60.0);
+ reply_a->analog_data.analog50_lo = LOBYTE(Data);
+ reply_a->analog_data.analog50_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(edrk.zadanie.iq_power_zad_rmp)*NORMA_ACP*NORMA_ACP/1000.0);
+ reply_a->analog_data.analog51_lo = LOBYTE(Data);
+ reply_a->analog_data.analog51_hi = HIBYTE(Data);
+
+ Data = _IQtoF(vect_control.iqId2)*NORMA_ACP;//0;//fast_round( _IQtoF(edrk.zadanie.iq_k_u_disbalance_rmp)*100.0);
+ reply_a->analog_data.analog52_lo = LOBYTE(Data);
+ reply_a->analog_data.analog52_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(edrk.zadanie.iq_limit_power_zad_rmp)*NORMA_ACP*NORMA_ACP/1000.0);
+ reply_a->analog_data.analog53_lo = LOBYTE(Data);
+ reply_a->analog_data.analog53_hi = HIBYTE(Data);
+
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER) {
+ Data = fast_round(_IQtoF(turns.pidFvect.Out)*NORMA_ACP);
+ reply_a->analog_data.analog54_lo = LOBYTE(Data);
+ reply_a->analog_data.analog54_hi = HIBYTE(Data);
+ Data = fast_round(_IQtoF(turns.pidFvect.OutMax)*NORMA_ACP);
+ reply_a->analog_data.analog55_lo = LOBYTE(Data);
+ reply_a->analog_data.analog55_hi = HIBYTE(Data);
+ Data =fast_round(_IQtoF(power.pidP.Out)*NORMA_ACP);
+ reply_a->analog_data.analog56_lo = LOBYTE(Data);
+ reply_a->analog_data.analog56_hi = HIBYTE(Data);
+ Data = fast_round(_IQtoF(power.pidP.OutMax)*NORMA_ACP);
+ } else {
+ Data = fast_round(_IQtoF(simple_scalar1.pidF.Out)*NORMA_ACP);
+ reply_a->analog_data.analog54_lo = LOBYTE(Data);
+ reply_a->analog_data.analog54_hi = HIBYTE(Data);
+ Data = fast_round(_IQtoF(simple_scalar1.pidF.OutMin)*NORMA_ACP);
+ reply_a->analog_data.analog55_lo = LOBYTE(Data);
+ reply_a->analog_data.analog55_hi = HIBYTE(Data);
+ Data =fast_round(_IQtoF(simple_scalar1.pidPower.Out)*NORMA_ACP);
+ reply_a->analog_data.analog56_lo = LOBYTE(Data);
+ reply_a->analog_data.analog56_hi = HIBYTE(Data);
+ Data = fast_round(_IQtoF(simple_scalar1.pidPower.OutMax)*NORMA_ACP);
+ }
+
+ reply_a->analog_data.analog57_lo = LOBYTE(Data);
+ reply_a->analog_data.analog57_hi = HIBYTE(Data);
+
+
+
+ Data = fast_round(_IQtoF(simple_scalar1.Izad)*NORMA_ACP);
+ reply_a->analog_data.analog58_lo = LOBYTE(Data);
+ reply_a->analog_data.analog58_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(edrk.master_Iq)*NORMA_ACP);
+ reply_a->analog_data.analog59_lo = LOBYTE(Data);
+ reply_a->analog_data.analog59_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(simple_scalar1.mzz_zad_in2)*NORMA_ACP);//count_transmited++;
+ reply_a->analog_data.analog60_lo = LOBYTE(Data);
+ reply_a->analog_data.analog60_hi = HIBYTE(Data);
+//
+ Data = modbus_table_can_in[123].all;//���������� (�� ��������, �� ��������)
+ reply_a->analog_data.analog61_lo = LOBYTE(Data);
+ reply_a->analog_data.analog61_hi = HIBYTE(Data);
+
+ Data = modbus_table_can_in[124].all;//������� (��������)
+ reply_a->analog_data.analog62_lo = LOBYTE(Data);
+ reply_a->analog_data.analog62_hi = HIBYTE(Data);
+
+ Data = modbus_table_can_in[125].all;//�������� (��������)
+ reply_a->analog_data.analog63_lo = LOBYTE(Data);
+ reply_a->analog_data.analog63_hi = HIBYTE(Data);
+
+ Data = modbus_table_can_in[134].all;//����� ��������
+ reply_a->analog_data.analog64_lo = LOBYTE(Data);
+ reply_a->analog_data.analog64_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(simple_scalar1.pidPower.SatErr)*NORMA_ACP);//project.cds_tk[3].optical_data_in.local_count_error;
+ reply_a->analog_data.analog65_lo = LOBYTE(Data);
+ reply_a->analog_data.analog65_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(simple_scalar1.pidPower.Fdb)*NORMA_ACP*NORMA_ACP/1000.0);//project.cds_tk[3].optical_data_out.local_count_error;
+ reply_a->analog_data.analog66_lo = LOBYTE(Data);
+ reply_a->analog_data.analog66_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(simple_scalar1.pidPower.Ref)*NORMA_ACP*NORMA_ACP/1000.0);//////optical_read_data.count_error_wdog;
+ reply_a->analog_data.analog67_lo = LOBYTE(Data);
+ reply_a->analog_data.analog67_hi = HIBYTE(Data);
+
+
+ Data = fast_round(_IQtoF(simple_scalar1.pidPower.Up)*NORMA_ACP);//edrk.auto_master_slave.status;//fast_round(_IQtoF(edrk.zadanie.iq_kplus_u_disbalance_rmp)*1000.0);
+ reply_a->analog_data.analog68_lo = LOBYTE(Data);
+ reply_a->analog_data.analog68_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(pll1.vars.pll_Uq)*NORMA_ACP);
+ reply_a->analog_data.analog69_lo = LOBYTE(Data);
+ reply_a->analog_data.analog69_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(pll1.vars.pll_Ud)*NORMA_ACP);
+ reply_a->analog_data.analog70_lo = LOBYTE(Data);
+ reply_a->analog_data.analog70_hi = HIBYTE(Data);
+
+Data = fast_round(_IQtoF(simple_scalar1.bpsi_curent)*NORMA_FROTOR*1000.0);
+ reply_a->analog_data.analog71_lo = LOBYTE(Data);
+ reply_a->analog_data.analog71_hi = HIBYTE(Data);
+
+Data = fast_round(_IQtoF(WRotor.iqWRotorSumFilter2)*NORMA_FROTOR*1000.0); //iqFlong
+ reply_a->analog_data.analog72_lo = LOBYTE(Data);
+ reply_a->analog_data.analog72_hi = HIBYTE(Data);
+
+//Data = fast_round(_IQtoF(WRotor.iqWRotorCalc1)*NORMA_FROTOR*1000.0);
+Data = fast_round(_IQtoF(edrk.from_uom.iq_level_value_kwt)*NORMA_ACP*NORMA_ACP/1000.0);// ;//edrk.from_uom.level_value;//fast_round(_IQtoF(rotor_22220.iqFdirty)*NORMA_FROTOR*1000.0);
+ reply_a->analog_data.analog73_lo = LOBYTE(Data);
+ reply_a->analog_data.analog73_hi = HIBYTE(Data);
+
+//Data = fast_round(_IQtoF(WRotor.iqWRotorCalc2)*NORMA_FROTOR*1000.0);
+Data = _IQtoF(vect_control.iqIq2)*NORMA_ACP;//0;//fast_round(_IQtoF(rotor_22220.iqF)*NORMA_FROTOR*1000.0);
+ reply_a->analog_data.analog74_lo = LOBYTE(Data);
+ reply_a->analog_data.analog74_hi = HIBYTE(Data);
+
+//Data = fast_round(_IQtoF(WRotor.iqWRotorImpulsesBeforeRegul1)*NORMA_FROTOR*1000.0);// edrk.W_from_DISPLAY;
+Data = fast_round(_IQtoF(WRotor.iqWRotorSumFilter)*NORMA_FROTOR*1000.0);
+ reply_a->analog_data.analog75_lo = LOBYTE(Data);
+ reply_a->analog_data.analog75_hi = HIBYTE(Data);
+
+//Data = fast_round(_IQtoF(WRotor.iqWRotorImpulsesBeforeRegul2)*NORMA_FROTOR*1000.0);//600.0*1000000000.0/WRotor.iqWRotorImpulses1;//edrk.W_from_SVU;
+Data = fast_round(_IQtoF(simple_scalar1.mzz_zad_int)*NORMA_ACP);//;//0;//fast_round(_IQtoF(rotor_22220.iqFlong)*NORMA_FROTOR*1000.0);
+ reply_a->analog_data.analog76_lo = LOBYTE(Data);
+ reply_a->analog_data.analog76_hi = HIBYTE(Data);
+
+//Data = fast_round(_IQtoF(WRotor.iqWRotorImpulses1)*NORMA_FROTOR*1000.0);// edrk.W_from_DISPLAY;
+ Data = _IQtoF(simple_scalar1.Izad)*NORMA_ACP_RMS;// 0;//fast_round(_IQtoF(WRotor.iqWRotorSumRamp)*NORMA_FROTOR*1000.0);
+ reply_a->analog_data.analog77_lo = LOBYTE(Data);
+ reply_a->analog_data.analog77_hi = HIBYTE(Data);
+
+//Data = fast_round(_IQtoF(WRotor.iqWRotorImpulses2)*NORMA_FROTOR*1000.0);//600.0*1000000000.0/WRotor.iqWRotorImpulses1;//edrk.W_from_SVU;
+ Data = WRotor.RotorDirectionSlow;
+ reply_a->analog_data.analog78_lo = LOBYTE(Data);
+ reply_a->analog_data.analog78_hi = HIBYTE(Data);
+
+Data = fast_round(_IQtoF(simple_scalar1.iqKoefOgran)*1000.0);//0;//fast_round(_IQtoF(WRotor.iqWRotorSum)*NORMA_FROTOR*1000.0);// edrk.W_from_DISPLAY;
+ reply_a->analog_data.analog79_lo = LOBYTE(Data);
+ reply_a->analog_data.analog79_hi = HIBYTE(Data);
+
+Data = fast_round(_IQtoF(simple_scalar1.iqKoefOgranIzad)*1000.0);//0;//fast_round(_IQtoF(WRotor.iqWRotorSumFilter)*NORMA_FROTOR*1000.0);//600.0*1000000000.0/WRotor.iqWRotorImpulses1;//edrk.W_from_SVU;
+ reply_a->analog_data.analog80_lo = LOBYTE(Data);
+ reply_a->analog_data.analog80_hi = HIBYTE(Data);
+
+ Data = log_params.cur_volume_of_slow_log;//edrk.power_kw_full; //�������� ��������� ������� ���
+// Data = (_IQtoF((analog.Power) * 9000.0)); //�������� ��������� ������� ���
+ //_IQtoF(analog.iqIin_1)*NORMA_ACP;//project.adc[0].read.pbus.adc_value[0];
+ reply_a->analog_data.analog81_lo = LOBYTE(Data);
+ reply_a->analog_data.analog81_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(edrk.zadanie.iq_limit_power_zad)*NORMA_ACP*NORMA_ACP/1000.0);
+ reply_a->analog_data.analog82_lo = LOBYTE(Data);
+ reply_a->analog_data.analog82_hi = HIBYTE(Data);
+
+ Data = break_result_1;//fast_round(_IQtoF(WRotor.iqWRotorSumFilter3)*NORMA_FROTOR*1000.0);
+ reply_a->analog_data.analog83_lo = LOBYTE(Data);
+ reply_a->analog_data.analog83_hi = HIBYTE(Data);
+
+ Data = break_result_2;//WRotorPBus.RotorDirectionInstant;
+ reply_a->analog_data.analog84_lo = LOBYTE(Data);
+ reply_a->analog_data.analog84_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(edrk.all_limit_koeffs.sum_limit)*1000.0);//WRotorPBus.RotorDirectionCount;
+ reply_a->analog_data.analog85_lo = LOBYTE(Data);
+ reply_a->analog_data.analog85_hi = HIBYTE(Data);
+
+
+ Data = fast_round(_IQtoF(edrk.all_limit_koeffs.uom_limit)*1000.0);//WRotorPBus.RotorDirectionSlow2;
+ reply_a->analog_data.analog86_lo = LOBYTE(Data);
+ reply_a->analog_data.analog86_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(edrk.all_limit_koeffs.uin_freq_limit)*1000.0);//fast_round(_IQtoF(WRotor.iqWRotorSumRamp)*NORMA_FROTOR*1000.0);
+ reply_a->analog_data.analog87_lo = LOBYTE(Data);
+ reply_a->analog_data.analog87_hi = HIBYTE(Data);
+
+ Data = _IQtoF(simple_scalar1.Im_regul)*NORMA_ACP_RMS;//(edrk.cantec_reg & 0xff);//edrk.pult_data.TimeToChangePump_from_pult;//0;//fast_round(_IQtoF(WRotor.iqWRotorCalc1Ramp)*NORMA_FROTOR*1000.0);;//WRotor.iqWRotorCalc1Ramp
+ reply_a->analog_data.analog88_lo = LOBYTE(Data);
+ reply_a->analog_data.analog88_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(simple_scalar1.pidPower.Ui)*NORMA_ACP);//(edrk.canrec_reg & 0xff);;//edrk.pult_data.nPCH_from_pult;//0;//fast_round(_IQtoF(WRotor.iqWRotorCalc2Ramp)*NORMA_FROTOR*1000.0);;
+ reply_a->analog_data.analog89_lo = LOBYTE(Data);
+ reply_a->analog_data.analog89_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(simple_scalar1.pidF.Fdb)*NORMA_FROTOR*1000.0);//(((unsigned long)edrk.canes_reg>>16) & 0x01ff);
+ reply_a->analog_data.analog90_lo = LOBYTE(Data);
+ reply_a->analog_data.analog90_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(simple_scalar1.pidF.Ref)*NORMA_FROTOR*1000.0);//(((unsigned long)edrk.canes_reg) & 0x3f);
+ reply_a->analog_data.analog91_lo = LOBYTE(Data);
+ reply_a->analog_data.analog91_hi = HIBYTE(Data);
+
+
+ Data = fast_round(_IQtoF(simple_scalar1.pidF.SatErr)*NORMA_ACP);//CanBusOffError;//0;
+ reply_a->analog_data.analog92_lo = LOBYTE(Data);
+ reply_a->analog_data.analog92_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(simple_scalar1.pidF.Ui)*NORMA_ACP);//CanTimeOutErrorTR;//0;
+ reply_a->analog_data.analog93_lo = LOBYTE(Data);
+ reply_a->analog_data.analog93_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(simple_scalar1.pidF.Up)*NORMA_ACP);//0;
+ reply_a->analog_data.analog94_lo = LOBYTE(Data);
+ reply_a->analog_data.analog94_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(simple_scalar1.iq_decr_mzz_power)*1000.0);//0;//simple_scalar1.k_ogr_n
+ reply_a->analog_data.analog95_lo = LOBYTE(Data);
+ reply_a->analog_data.analog95_hi = HIBYTE(Data);
+
+ Data = fast_round(_IQtoF(simple_scalar1.iq_decr_mzz_power_filter)*1000.0);//fast_round(_IQtoF(edrk.zadanie.rmp_oborots_zad_hz.PosRampPlus1)*NORMA_FROTOR*60.0*450.0*1000.0);
+ reply_a->analog_data.analog96_lo = LOBYTE(Data);
+ reply_a->analog_data.analog96_hi = HIBYTE(Data);
+
+// Data = 0;
+// reply_a->analog_data.analog97_lo = LOBYTE(Data);
+// reply_a->analog_data.analog97_hi = HIBYTE(Data);
+
+
+
+ pByte = &reply_a->digit_data.byte01.byte_data;
+ for (i = 0; i < 59; i++) //zero all dig data
+ {
+ *(pByte + i) = 0;
+ }
+
+
+// reply->digit_data.byte01.byte_data = project.cds_in[1].read.pbus.data_in.all & 0xff;
+// reply->digit_data.byte02.byte_data = (project.cds_in[1].read.pbus.data_in.all >> 8) & 0xff;
+
+ reply_a->digit_data.byte01.byte_data = edrk.errors.e0.all & 0xff;
+ reply_a->digit_data.byte02.byte_data = (edrk.errors.e0.all >> 8) & 0xff;
+
+ reply_a->digit_data.byte03.byte_data = edrk.errors.e1.all & 0xff;
+ reply_a->digit_data.byte04.byte_data = (edrk.errors.e1.all >> 8) & 0xff;
+
+ reply_a->digit_data.byte05.byte_data = edrk.errors.e2.all & 0xff;
+ reply_a->digit_data.byte06.byte_data = (edrk.errors.e2.all >> 8) & 0xff;
+
+ reply_a->digit_data.byte07.byte_data = edrk.errors.e3.all & 0xff;
+ reply_a->digit_data.byte08.byte_data = (edrk.errors.e3.all >> 8) & 0xff;
+
+ reply_a->digit_data.byte09.byte_data = edrk.errors.e4.all & 0xff;
+ reply_a->digit_data.byte10.byte_data = (edrk.errors.e4.all >> 8) & 0xff;
+
+ reply_a->digit_data.byte11.byte_data = edrk.errors.e5.all & 0xff;
+ reply_a->digit_data.byte12.byte_data = (edrk.errors.e5.all >> 8) & 0xff;
+
+//13
+ if (edrk.Status_Perehod_Rascepitel)
+ reply_a->digit_data.byte13.bit_data.bit1 = 1;
+ else
+ reply_a->digit_data.byte13.bit_data.bit1 = 0;
+
+ if (edrk.Status_Rascepitel_Ok)
+ reply_a->digit_data.byte13.bit_data.bit0 = 1;
+ else
+ reply_a->digit_data.byte13.bit_data.bit0 = 0;
+
+ reply_a->digit_data.byte13.bit_data.bit2 = edrk.from_second_pch.bits.MASTER;
+ reply_a->digit_data.byte13.bit_data.bit3 = edrk.from_second_pch.bits.RASCEPITEL;
+
+ reply_a->digit_data.byte13.bit_data.bit4 = edrk.warning;
+ reply_a->digit_data.byte13.bit_data.bit5 = edrk.overheat;
+ reply_a->digit_data.byte13.bit_data.bit6 = edrk.summ_errors;
+ reply_a->digit_data.byte13.bit_data.bit7 = edrk.Status_Ready.bits.ready_final;
+
+
+// reply_a->digit_data.byte13.byte_data = edrk.errors.e6.all & 0xff;
+// reply->digit_data.byte14.byte_data = (edrk.errors.e6.all >> 8) & 0xff;
+/*
+ reply->digit_data.byte15.byte_data = edrk.errors.e7.all & 0xff;
+ reply->digit_data.byte16.byte_data = (edrk.errors.e7.all >> 8) & 0xff;
+
+ reply->digit_data.byte17.byte_data = edrk.errors.e8.all & 0xff;
+ reply->digit_data.byte18.byte_data = (edrk.errors.e8.all >> 8) & 0xff;
+*/
+//IN2
+ reply_a->digit_data.byte14.byte_data = edrk.from_ing1.all & 0xff;// project.cds_in[1].read.pbus.data_in.all & 0xFF;
+ reply_a->digit_data.byte15.byte_data = (edrk.from_ing1.all >> 8) & 0xFF;//(project.cds_in[1].read.pbus.data_in.all >> 8) & 0xFF;
+
+// status plates
+ reply_a->digit_data.byte16.bit_data.bit0 = !(project.hwp[0].status == component_Ready);//XProject_balzam.IsReady_reg.bit.XPlaneHWP_Chanals_IsReady;
+ reply_a->digit_data.byte16.bit_data.bit1 = !(project.adc[0].status == component_Ready);//XProject_balzam.IsReady_reg.bit.XPlaneHWP_Chanals_IsReady;
+ reply_a->digit_data.byte16.bit_data.bit2 = !(project.adc[1].status == component_Ready);
+ reply_a->digit_data.byte16.bit_data.bit3 = !(project.cds_in[0].status == component_Ready);//XProject_balzam.IsReady_reg.bit.XPlaneIN0_IsReady;
+ reply_a->digit_data.byte16.bit_data.bit4 = !(project.cds_in[1].status == component_Ready);//XProject_balzam.IsReady_reg.bit.XPlaneIN1_IsReady;
+// reply_ans->digit_data.byte21.bit_data.bit5 = !project.cds_in[2].status;//XProject_balzam.IsReady_reg.bit.XPlaneIN2_IsReady;
+ reply_a->digit_data.byte16.bit_data.bit5 = !(project.cds_out[0].status == component_Ready);//XProject_balzam.IsReady_reg.bit.XPlaneOUT0_IsReady;
+// reply_ans->digit_data.byte21.bit_data.bit7 = !project.cds_out[1].status;//XProject_balzam.IsReady_reg.bit.XPlaneOUT1_IsReady;
+// reply_ans->digit_data.byte22.bit_data.bit0 = !project.cds_out[2].status;//XProject_balzam.IsReady_reg.bit.XPlaneOUT2_IsReady;
+ reply_a->digit_data.byte16.bit_data.bit6 = !(project.cds_tk[0].status == component_Ready);//XProject_balzam.IsReady_reg.bit.XPlaneTK0_IsReady;
+ reply_a->digit_data.byte16.bit_data.bit7 = !(project.cds_tk[1].status == component_Ready);//XProject_balzam.IsReady_reg.bit.XPlaneTK1_IsReady;
+ reply_a->digit_data.byte17.bit_data.bit0 = !(project.cds_tk[2].status == component_Ready);//XProject_balzam.IsReady_reg.bit.XPlaneTK2_IsReady;
+ reply_a->digit_data.byte17.bit_data.bit1 = !(project.cds_tk[3].status == component_Ready);//!XProject_balzam.IsReady_reg.bit.XPlaneTK3_IsReady;
+// reply_ans->digit_data.byte22.bit_data.bit5 = !project.adc[1].status;//XProject_balzam.IsReady_reg.bit.XPlaneHWP_Chanals_IsReady;
+
+
+//IN1
+ reply_a->digit_data.byte17.bit_data.bit2 = project.cds_in[0].read.pbus.data_in.bit.in0;
+ reply_a->digit_data.byte17.bit_data.bit3 = project.cds_in[0].read.pbus.data_in.bit.in1;
+ reply_a->digit_data.byte17.bit_data.bit4 = project.cds_in[0].read.pbus.data_in.bit.in2;
+ reply_a->digit_data.byte17.bit_data.bit5 = project.cds_in[0].read.pbus.data_in.bit.in3;
+ reply_a->digit_data.byte17.bit_data.bit6 = project.cds_in[0].read.pbus.data_in.bit.in4;
+
+ reply_a->digit_data.byte17.bit_data.bit7 = project.cds_in[0].read.pbus.data_in.bit.in8;
+
+ reply_a->digit_data.byte18.bit_data.bit0 = project.cds_in[0].read.pbus.data_in.bit.in9;
+ reply_a->digit_data.byte18.bit_data.bit1 = project.cds_in[0].read.pbus.data_in.bit.in10;
+ reply_a->digit_data.byte18.bit_data.bit2 = project.cds_in[0].read.pbus.data_in.bit.in11;
+
+
+//out
+ reply_a->digit_data.byte18.bit_data.bit3 = edrk.to_ing.bits.ZARYAD_ON;// project.cds_out[0].write.sbus.data_out.bit.dout0;
+
+ reply_a->digit_data.byte18.bit_data.bit4 = edrk.to_ing.bits.NAGREV_OFF;//project.cds_out[0].write.sbus.data_out.bit.dout1;
+ reply_a->digit_data.byte18.bit_data.bit5 = edrk.to_ing.bits.NASOS_1_ON;//project.cds_out[0].write.sbus.data_out.bit.dout2;
+ reply_a->digit_data.byte18.bit_data.bit6 = edrk.to_ing.bits.NASOS_2_ON;//project.cds_out[0].write.sbus.data_out.bit.dout3;
+ reply_a->digit_data.byte18.bit_data.bit7 = edrk.to_ing.bits.BLOCK_KEY_OFF;//project.cds _out[0].write.sbus.data_out.bit.dout4;
+ reply_a->digit_data.byte19.bit_data.bit0 = (edrk.to_shema.bits.UMP_ON_OFF || edrk.to_shema.bits.CROSS_UMP_ON_OFF);//project.cds_out[0].write.sbus.data_out.bit.dout5;
+ reply_a->digit_data.byte19.bit_data.bit1 = edrk.to_shema.bits.QTV_ON || edrk.to_shema.bits.QTV_ON_OFF || edrk.to_shema.bits.CROSS_QTV_ON_OFF;//project.cds_out[0].write.sbus.data_out.bit.dout6;
+ reply_a->digit_data.byte19.bit_data.bit2 = edrk.to_shema.bits.QTV_OFF;//project.cds_out[0].write.sbus.data_out.bit.dout7;
+
+ reply_a->digit_data.byte19.bit_data.bit3 = edrk.to_ing.bits.RASCEPITEL_OFF;
+ reply_a->digit_data.byte19.bit_data.bit4 = edrk.to_ing.bits.RASCEPITEL_ON;
+ reply_a->digit_data.byte19.bit_data.bit5 = sync_data.local_flag_sync_1_2;//
+ reply_a->digit_data.byte19.bit_data.bit6 = edrk.flag_second_PCH;//
+ reply_a->digit_data.byte19.bit_data.bit7 = edrk.to_ing.bits.SMALL_LAMPA_AVARIA; //project.cds_out[0].write.sbus.data_out.bit.dout15;
+
+//20
+ reply_a->digit_data.byte20.bit_data.bit0 = edrk.SumSbor;
+
+ reply_a->digit_data.byte20.bit_data.bit1 = edrk.Status_Ready.bits.ready1;
+ reply_a->digit_data.byte20.bit_data.bit2 = edrk.Status_Ready.bits.ready2;
+ reply_a->digit_data.byte20.bit_data.bit3 = edrk.Status_Ready.bits.ready3;
+ reply_a->digit_data.byte20.bit_data.bit4 = edrk.Status_Ready.bits.ready4;
+ reply_a->digit_data.byte20.bit_data.bit5 = edrk.Status_Ready.bits.ready5;
+ reply_a->digit_data.byte20.bit_data.bit6 = edrk.Status_Charge;
+ reply_a->digit_data.byte20.bit_data.bit7 = edrk.Zaryad_OK;
+
+ reply_a->digit_data.byte21.byte_data = edrk.errors.e6.all & 0xff;
+ reply_a->digit_data.byte22.byte_data = (edrk.errors.e6.all >> 8) & 0xff;
+
+// reply_a->digit_data.byte21.bit_data.bit0 = edrk.errors.e6.bits.UO6_KEYS;
+// reply_a->digit_data.byte21.bit_data.bit1 = edrk.errors.e6.bits.UO7_KEYS;
+// reply_a->digit_data.byte21.bit_data.bit2 = edrk.errors.e6.bits.UO1_KEYS;
+// reply_a->digit_data.byte21.bit_data.bit3 = edrk.errors.e6.bits.ERR_PBUS;
+// reply_a->digit_data.byte21.bit_data.bit4 = edrk.errors.e6.bits.ERR_SBUS;
+// reply_a->digit_data.byte21.bit_data.bit5 = edrk.errors.e6.bits.ER_DISBAL_BATT;
+// reply_a->digit_data.byte21.bit_data.bit6 = edrk.errors.e6.bits.ER_RAZBALANS_ALG;
+// reply_a->digit_data.byte21.bit_data.bit7 = edrk.errors.e6.bits.RASCEPITEL_ERROR_NOT_ANSWER;
+
+
+ reply_a->digit_data.byte23.byte_data = edrk.errors.e7.all & 0xff;
+ reply_a->digit_data.byte24.byte_data = (edrk.errors.e7.all >> 8) & 0xff;
+
+
+
+ // hwp
+ reply_a->digit_data.byte25.byte_data = project.hwp[0].read.comp_s.plus.all & 0xff;
+ reply_a->digit_data.byte26.byte_data = (project.hwp[0].read.comp_s.plus.all >> 8) & 0xff;
+
+ reply_a->digit_data.byte27.byte_data = project.hwp[0].read.comp_s.minus.all & 0xff;
+ reply_a->digit_data.byte28.byte_data = (project.hwp[0].read.comp_s.minus.all >> 8) & 0xff;
+
+
+ reply_a->digit_data.byte29.bit_data.bit0 = control_station.active_control_station[CONTROL_STATION_TERMINAL_RS232];
+ reply_a->digit_data.byte29.bit_data.bit1 = control_station.active_control_station[CONTROL_STATION_TERMINAL_CAN];
+ reply_a->digit_data.byte29.bit_data.bit2 = control_station.active_control_station[CONTROL_STATION_INGETEAM_PULT_RS485];
+ reply_a->digit_data.byte29.bit_data.bit3 = control_station.active_control_station[CONTROL_STATION_MPU_SVU_CAN];
+ reply_a->digit_data.byte29.bit_data.bit4 = control_station.active_control_station[CONTROL_STATION_MPU_KEY_CAN];
+ reply_a->digit_data.byte29.bit_data.bit5 = control_station.active_control_station[CONTROL_STATION_MPU_SVU_RS485];
+ reply_a->digit_data.byte29.bit_data.bit6 = control_station.active_control_station[CONTROL_STATION_MPU_KEY_RS485];
+ reply_a->digit_data.byte29.bit_data.bit7 = control_station.active_control_station[CONTROL_STATION_ZADATCHIK_CAN];
+
+ reply_a->digit_data.byte30.bit_data.bit0 = control_station.alive_control_station[CONTROL_STATION_TERMINAL_RS232];
+ reply_a->digit_data.byte30.bit_data.bit1 = control_station.alive_control_station[CONTROL_STATION_TERMINAL_CAN];
+ reply_a->digit_data.byte30.bit_data.bit2 = control_station.alive_control_station[CONTROL_STATION_INGETEAM_PULT_RS485];
+ reply_a->digit_data.byte30.bit_data.bit3 = control_station.alive_control_station[CONTROL_STATION_MPU_SVU_CAN];
+ reply_a->digit_data.byte30.bit_data.bit4 = control_station.alive_control_station[CONTROL_STATION_MPU_KEY_CAN];
+ reply_a->digit_data.byte30.bit_data.bit5 = control_station.alive_control_station[CONTROL_STATION_MPU_SVU_RS485];
+ reply_a->digit_data.byte30.bit_data.bit6 = control_station.alive_control_station[CONTROL_STATION_MPU_KEY_RS485];
+ reply_a->digit_data.byte30.bit_data.bit7 = control_station.alive_control_station[CONTROL_STATION_ZADATCHIK_CAN];
+
+
+ reply_a->digit_data.byte31.byte_data = optical_read_data.data.cmd.all & 0xff;
+ reply_a->digit_data.byte32.byte_data = (optical_read_data.data.cmd.all >> 8) & 0xff;
+
+ reply_a->digit_data.byte33.byte_data = optical_write_data.data.cmd.all & 0xff;
+ reply_a->digit_data.byte34.byte_data = (optical_write_data.data.cmd.all >> 8) & 0xff;
+
+ reply_a->digit_data.byte35.bit_data.bit0 = control_station.alive_control_station[CONTROL_STATION_VPU_CAN];
+ reply_a->digit_data.byte35.bit_data.bit1 = control_station.active_control_station[CONTROL_STATION_VPU_CAN];
+
+ reply_a->digit_data.byte35.bit_data.bit2 = edrk.auto_master_slave.local.bits.master;
+ reply_a->digit_data.byte35.bit_data.bit3 = edrk.auto_master_slave.local.bits.slave;
+ reply_a->digit_data.byte35.bit_data.bit4 = edrk.auto_master_slave.local.bits.try_master;
+
+ reply_a->digit_data.byte35.bit_data.bit5 = edrk.auto_master_slave.remoute.bits.master;
+ reply_a->digit_data.byte35.bit_data.bit6 = edrk.auto_master_slave.remoute.bits.slave;
+ reply_a->digit_data.byte35.bit_data.bit7 = edrk.auto_master_slave.remoute.bits.try_master;
+
+ reply_a->digit_data.byte36.bit_data.bit0 = edrk.Status_Ready.bits.MasterSlaveActive;
+ reply_a->digit_data.byte36.bit_data.bit1 = edrk.ms.ready1;
+ reply_a->digit_data.byte36.bit_data.bit2 = edrk.ms.ready2;
+ reply_a->digit_data.byte36.bit_data.bit3 = edrk.flag_wait_both_ready2;
+ reply_a->digit_data.byte36.bit_data.bit4 = edrk.Ready1_another_bs;
+ reply_a->digit_data.byte36.bit_data.bit5 = edrk.Ready2_another_bs;
+ reply_a->digit_data.byte36.bit_data.bit6 = edrk.flag_another_bs_first_ready12;
+ reply_a->digit_data.byte36.bit_data.bit7 = edrk.flag_this_bs_first_ready12;
+
+
+
+
+ reply_a->digit_data.byte37.byte_data = edrk.errors.e8.all & 0xff;
+ reply_a->digit_data.byte38.byte_data = (edrk.errors.e8.all >> 8) & 0xff;
+
+ reply_a->digit_data.byte39.bit_data.bit0 = edrk.RazborNotFinish;
+ reply_a->digit_data.byte39.bit_data.bit1 = edrk.RunZahvatRascepitel;
+ reply_a->digit_data.byte39.bit_data.bit2 = edrk.RunUnZahvatRascepitel;
+ reply_a->digit_data.byte39.bit_data.bit3 = edrk.Run_Rascepitel;
+ reply_a->digit_data.byte39.bit_data.bit4 = edrk.ms.ready3;
+
+ reply_a->digit_data.byte39.bit_data.bit5 = edrk.StartGEDfromZadanie;
+ reply_a->digit_data.byte39.bit_data.bit6 = edrk.flag_wait_set_to_zero_zadanie;
+ reply_a->digit_data.byte39.bit_data.bit7 = edrk.flag_block_zadanie;
+ reply_a->digit_data.byte40.bit_data.bit0 = edrk.you_can_on_rascepitel;
+ reply_a->digit_data.byte40.bit_data.bit1 = edrk.StartGEDfromControl;
+ reply_a->digit_data.byte40.bit_data.bit2 = edrk.StartGED;
+ reply_a->digit_data.byte40.bit_data.bit3 = edrk.GoWait;
+
+ reply_a->digit_data.byte40.bit_data.bit4 = edrk.stop_logs_rs232;
+ reply_a->digit_data.byte40.bit_data.bit5 = edrk.stop_slow_log;
+
+ reply_a->digit_data.byte40.bit_data.bit6 = edrk.disable_limit_power_from_svu;
+ reply_a->digit_data.byte40.bit_data.bit7 = edrk.disable_uom;
+
+ reply_a->digit_data.byte41.byte_data = edrk.errors.e9.all & 0xff;
+ reply_a->digit_data.byte42.byte_data = (edrk.errors.e9.all >> 8) & 0xff;
+
+ reply_a->digit_data.byte43.byte_data = edrk.errors.e10.all & 0xff;
+ reply_a->digit_data.byte44.byte_data = (edrk.errors.e10.all >> 8) & 0xff;
+
+ reply_a->digit_data.byte45.byte_data = edrk.errors.e11.all & 0xff;
+ reply_a->digit_data.byte46.byte_data = (edrk.errors.e11.all >> 8) & 0xff;
+
+ reply_a->digit_data.byte47.byte_data = edrk.errors.e12.all & 0xff;
+ reply_a->digit_data.byte48.byte_data = (edrk.errors.e12.all >> 8) & 0xff;
+
+
+// reply_a->digit_data.byte49.byte_data = 0;
+// reply_a->digit_data.byte50.byte_data = 0;
+ // reply_a->digit_data.byte49.byte_data = 0;
+
+ // reply_a->digit_data.byte49.bit_data.bit0 = edrk.from_ing1.bits.ALL_KNOPKA_AVARIA;
+ // reply_a->digit_data.byte49.bit_data.bit0 = edrk.from_ing1.bits.BLOCK_IZOL_AVARIA;
+ // reply_a->digit_data.byte49.bit_data.bit0 = edrk.from_ing1.bits.BLOCK_IZOL_NORMA;
+ reply_a->digit_data.byte49.bit_data.bit0 = edrk.from_ing1.bits.LOCAL_REMOUTE;
+ // reply_a->digit_data.byte49.bit_data.bit0 = edrk.from_ing1.bits.NAGREV_ON = !FROM_ING_NAGREV_ON;
+ // reply_a->digit_data.byte49.bit_data.bit0 = edrk.from_ing1.bits.NASOS_NORMA = !FROM_ING_NASOS_NORMA;
+ // reply_a->digit_data.byte49.bit_data.bit0 = edrk.from_ing1.bits.NASOS_ON = !FROM_ING_NASOS_ON;
+ // reply_a->digit_data.byte49.bit_data.bit0 = edrk.from_ing1.bits.OHLAD_UTE4KA_WATER = !FROM_ING_OHLAD_UTE4KA_WATER;
+ // edrk.from_ing1.bits.UPC_24V_NORMA = !FROM_ING_UPC_24V_NORMA;
+ //edrk.from_ing1.bits.OP_PIT_NORMA = !FROM_ING_OP_PIT_NORMA;
+ //edrk.from_ing1.bits.VENTIL_ON = !FROM_ING_VENTIL_ON;
+ // edrk.from_ing1.bits.VIPR_PREDOHR_NORMA = !FROM_ING_VIPR_PREDOHR_NORMA;
+
+ // edrk.from_ing1.bits.ZARYAD_ON = !FROM_ING_ZARYAD_ON;
+ // edrk.from_ing1.bits.ZAZEML_OFF = !FROM_ING_ZAZEML_OFF;
+ // edrk.from_ing1.bits.ZAZEML_ON = !FROM_ING_ZAZEML_ON;
+
+ reply_a->digit_data.byte49.bit_data.bit1 = edrk.from_ing2.bits.KEY_MINUS;
+ reply_a->digit_data.byte49.bit_data.bit2 = edrk.from_ing2.bits.KEY_PLUS;
+ reply_a->digit_data.byte49.bit_data.bit3 = edrk.from_ing2.bits.KEY_KVITIR;
+
+ reply_a->digit_data.byte49.bit_data.bit4 = edrk.from_ing2.bits.KEY_SBOR;
+ reply_a->digit_data.byte49.bit_data.bit5 = edrk.from_ing2.bits.KEY_RAZBOR;
+
+ // edrk.from_ing1.bits.RASCEPITEL_ON = FROM_ING_RASCEPITEL_ON_OFF;
+
+ reply_a->digit_data.byte49.bit_data.bit6 = edrk.from_ing2.bits.SOST_ZAMKA;
+ reply_a->digit_data.byte49.bit_data.bit7 = edrk.from_shema_filter.bits.RAZBOR_SHEMA;
+ //
+ reply_a->digit_data.byte50.bit_data.bit0 = edrk.from_shema_filter.bits.SBOR_SHEMA;
+
+ reply_a->digit_data.byte50.bit_data.bit1 = edrk.from_shema_filter.bits.ZADA_DISPLAY;
+ reply_a->digit_data.byte50.bit_data.bit2 = edrk.from_shema_filter.bits.SVU;
+ // edrk.from_shema.bits.KNOPKA_AVARIA = FROM_ALL_KNOPKA_AVARIA;
+ reply_a->digit_data.byte50.bit_data.bit3 = edrk.from_shema.bits.QTV_ON_OFF;
+ reply_a->digit_data.byte50.bit_data.bit4 = edrk.from_shema_filter.bits.UMP_ON_OFF;
+ reply_a->digit_data.byte50.bit_data.bit5 = edrk.from_shema_filter.bits.READY_UMP;
+ reply_a->digit_data.byte50.bit_data.bit6 = edrk.from_shema.bits.SVU_BLOCK_QTV;
+ reply_a->digit_data.byte50.bit_data.bit7 = edrk.errors_another_bs_from_can;
+
+
+ // reply_a->digit_data.byte44.byte_data = 0;
+
+
+ reply_a->digit_data.byte51.bit_data.bit0 = inc_sensor.break_sensor1;
+ reply_a->digit_data.byte51.bit_data.bit1 = inc_sensor.break_sensor2;
+ reply_a->digit_data.byte51.bit_data.bit2 = pll1.output.flag_find_pll;
+ reply_a->digit_data.byte51.bit_data.bit3 = log_params.stop_log_slow;
+ reply_a->digit_data.byte51.bit_data.bit4 = log_params.stop_log_level_1;
+ reply_a->digit_data.byte51.bit_data.bit5 = log_params.stop_log_level_2;
+ reply_a->digit_data.byte51.bit_data.bit6 = log_params.stop_log_slow_level_1;
+ reply_a->digit_data.byte51.bit_data.bit7 = log_params.stop_log_slow_level_2;
+
+
+
+ reply_a->digit_data.byte52.bit_data.bit0 = edrk.from_zadat4ik.bits.KVITIR;
+ reply_a->digit_data.byte52.bit_data.bit1 = edrk.from_zadat4ik.bits.PLUS;
+ reply_a->digit_data.byte52.bit_data.bit2 = edrk.from_zadat4ik.bits.MINUS;
+ reply_a->digit_data.byte52.bit_data.bit3 = edrk.from_zadat4ik.bits.PROVOROT;
+ reply_a->digit_data.byte52.bit_data.bit4 = edrk.from_zadat4ik.bits.UOM_READY_ACTIVE;
+ reply_a->digit_data.byte52.bit_data.bit5 = edrk.from_zadat4ik.bits.UOM_LIMIT_3;
+ reply_a->digit_data.byte52.bit_data.bit6 = edrk.from_zadat4ik.bits.UOM_LIMIT_2;
+ reply_a->digit_data.byte52.bit_data.bit7 = edrk.from_zadat4ik.bits.UOM_LIMIT_1;
+
+
+
+ reply_a->digit_data.byte53.bit_data.bit0 = edrk.Run_UMP;
+ reply_a->digit_data.byte53.bit_data.bit1 = edrk.Status_UMP_Ok;
+ reply_a->digit_data.byte53.bit_data.bit2 = edrk.Zaryad_UMP_Ok;
+ reply_a->digit_data.byte53.bit_data.bit3 = edrk.cmd_to_ump;
+ reply_a->digit_data.byte53.bit_data.bit4 = edrk.sbor_wait_ump1;
+ reply_a->digit_data.byte53.bit_data.bit5 = edrk.sbor_wait_ump2;
+ reply_a->digit_data.byte53.bit_data.bit6 = edrk.flag_enable_on_ump;
+
+ reply_a->digit_data.byte53.bit_data.bit7 = edrk.local_ump_on_off;
+ reply_a->digit_data.byte54.bit_data.bit0 = edrk.local_ready_ump;
+
+///
+ reply_a->digit_data.byte54.bit_data.bit1 = (modbus_table_can_in[128].all) ? 1 : 0; //cmd_local_charge PCH 0
+ reply_a->digit_data.byte54.bit_data.bit2 = (modbus_table_can_in[131].all) ? 1 : 0; //cmd_local_uncharge PCH 0
+
+ reply_a->digit_data.byte54.bit_data.bit3 = (modbus_table_can_in[129].all) ? 1 : 0; //cmd_local_charge PCH 1
+ reply_a->digit_data.byte54.bit_data.bit4 = (modbus_table_can_in[132].all) ? 1 : 0; //cmd_local_uncharge PCH 1
+
+ reply_a->digit_data.byte54.bit_data.bit5 = edrk.from_shema_filter.bits.UMP_ON_OFF;
+ reply_a->digit_data.byte54.bit_data.bit6 = edrk.SumSbor;
+
+ reply_a->digit_data.byte55.bit_data.bit0 = edrk.power_limit.bits.limit_Iout;
+ reply_a->digit_data.byte55.bit_data.bit1 = edrk.power_limit.bits.limit_UOM;
+ reply_a->digit_data.byte55.bit_data.bit2 = edrk.power_limit.bits.limit_by_temper;
+ reply_a->digit_data.byte55.bit_data.bit3 = edrk.power_limit.bits.limit_from_SVU;
+ reply_a->digit_data.byte55.bit_data.bit4 = edrk.power_limit.bits.limit_from_uom_fast;
+ reply_a->digit_data.byte55.bit_data.bit5 = edrk.power_limit.bits.limit_from_freq;
+ reply_a->digit_data.byte55.bit_data.bit6 = edrk.power_limit.bits.limit_moment;
+ reply_a->digit_data.byte55.bit_data.bit7 = simple_scalar1.flag_decr_mzz_power;
+
+
+ reply_a->digit_data.byte56.bit_data.bit0 = (edrk.pult_cmd.log_what_memory & 0x1) ? 1 : 0;
+ reply_a->digit_data.byte56.bit_data.bit1 = (edrk.pult_cmd.log_what_memory & 0x2) ? 1 : 0;
+
+ reply_a->digit_data.byte56.bit_data.bit2 = edrk.pult_data.flagSaveDataMoto ? 1 : 0;
+
+ reply_a->digit_data.byte56.bit_data.bit3 = (edrk.pult_data.flagSaveSlowLogs) ? 1 : 0;
+ reply_a->digit_data.byte56.bit_data.bit4 = edrk.pult_cmd.send_log ? 1 : 0;
+
+ reply_a->digit_data.byte56.bit_data.bit5 = (log_to_HMI.send_log==1) ? 1 : 0;
+ reply_a->digit_data.byte56.bit_data.bit6 = (log_to_HMI.send_log==2) ? 1 : 0;
+ reply_a->digit_data.byte56.bit_data.bit7 = (log_to_HMI.send_log==3) ? 1 : 0;
+
+//
+ reply_a->digit_data.byte57.bit_data.bit0 = (edrk.break_tempers[0] > ABNORMAL_TEMPER_BREAK_INT) ? 1 : 0;
+ reply_a->digit_data.byte57.bit_data.bit1 = (edrk.break_tempers[1] > ABNORMAL_TEMPER_BREAK_INT) ? 1 : 0;
+ reply_a->digit_data.byte57.bit_data.bit2 = (edrk.break_tempers[2] > ABNORMAL_TEMPER_BREAK_INT) ? 1 : 0;
+ reply_a->digit_data.byte57.bit_data.bit3 = (edrk.break_tempers[3] > ABNORMAL_TEMPER_BREAK_INT) ? 1 : 0;
+
+ reply_a->digit_data.byte57.bit_data.bit4 = (edrk.break_tempers[0] > ALARM_TEMPER_BREAK_INT) ? 1 : 0;
+ reply_a->digit_data.byte57.bit_data.bit5 = (edrk.break_tempers[1] > ALARM_TEMPER_BREAK_INT) ? 1 : 0;
+ reply_a->digit_data.byte57.bit_data.bit6 = (edrk.break_tempers[2] > ALARM_TEMPER_BREAK_INT) ? 1 : 0;
+ reply_a->digit_data.byte57.bit_data.bit7 = (edrk.break_tempers[3] > ALARM_TEMPER_BREAK_INT) ? 1 : 0;
+
+ reply_a->digit_data.byte58.bit_data.bit0 = (edrk.breaker_on==1) ? 1 : 0;
+
+ reply_a->digit_data.byte58.bit_data.bit1 = edrk.warnings.e9.bits.BREAK_TEMPER_WARNING;
+ reply_a->digit_data.byte58.bit_data.bit2 = edrk.warnings.e9.bits.BREAK_TEMPER_ALARM;
+ reply_a->digit_data.byte58.bit_data.bit3 = edrk.warnings.e9.bits.BREAKER_GED_ON;
+
+
+
+// reply_a->digit_data.byte57.byte_data = 0;//(((unsigned long)edrk.canes_reg>>16) & 0x0ff);
+// reply_a->digit_data.byte58.byte_data = 0;//(((unsigned long)edrk.canes_reg) & 0x3f);
+ reply_a->digit_data.byte59.byte_data = 0;//(((unsigned long)edrk.canes_reg>>24) & 0x1);
+ reply_a->digit_data.byte60.byte_data = 0;
+
+
+
+
+ return;
+}
+
+
diff --git a/Inu/Src/main/message2.h b/Inu/Src/main/message2.h
new file mode 100644
index 0000000..0f93c42
--- /dev/null
+++ b/Inu/Src/main/message2.h
@@ -0,0 +1,33 @@
+////////////////////////////////////////////
+// message.h
+//
+// ��������� ��������� �����:
+// 1. ������������ ��������������y
+// 2. �������������� ������������
+// 3. ������������ �������� �����y
+//
+// ������ ���� ����� ���� ����������� ���
+// ������y��� ��������� ��y ���������y �� ������
+// ����������. � ��������� �� INTEL 386SX Octagon
+// � �� TMS320C32 Texas Instruments.
+// �������� ������ ����� ���������������� ���������
+// ���������� ��������.
+// � ������ ����� ��������� ��� ��y ������������ ������
+// unsigned char = 8 ���
+// �� TMS320C32 unsigned char = 32 ���, �� �����������y
+// ������ ������� 8 ���.
+// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+// ������ �������� ������� �������� �������� �� ������
+// ���������� � ����������� �� ������ �����������y
+// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+////////////////////////////////////////////
+
+#ifndef MESSAGE_H
+#define MESSAGE_H
+
+#include "RS_Function_terminal.h"
+
+//void func_fill_answer_to_TMS(TMS_TO_TERMINAL_STRUCT* reply_ans, CMD_TO_TMS_STRUCT* pcommand);
+void func_pack_answer_to_TMS(TMS_TO_TERMINAL_STRUCT* reply_a);
+void func_unpack_answer_from_TMS_RS232(CMD_TO_TMS_STRUCT* pcommand);
+#endif //MESSAGE_H
diff --git a/Inu/Src/main/message2can.c b/Inu/Src/main/message2can.c
new file mode 100644
index 0000000..5b0a883
--- /dev/null
+++ b/Inu/Src/main/message2can.c
@@ -0,0 +1,278 @@
+/*
+ * message2can.c
+ *
+ * Created on: 3 ���. 2020 �.
+ * Author: Yura
+ */
+#include <adc_tools.h>
+#include <edrk_main.h>
+#include <message2can.h>
+#include <params.h>
+#include <params_norma.h>
+#include <v_rotor.h>
+#include <vector.h>
+
+#include "control_station.h"
+#include "CAN_Setup.h"
+#include "global_time.h"
+#include "IQmathLib.h"
+#include "DSP281x_Device.h"
+#include "x_basic_types.h"
+#include "xp_cds_in.h"
+#include "xp_hwp.h"
+#include "xp_project.h"
+
+
+void detecting_cmd_from_can(void)
+{
+
+ if (control_station.alive_control_station[CONTROL_STATION_TERMINAL_CAN])
+ {
+ func_unpack_answer_from_TMS_CAN((TERMINAL_UNITES_STRUCT_handle)&TerminalUnites[edrk.number_can_box_terminal_cmd][0]);
+ }
+
+}
+
+
+void func_unpack_answer_from_TMS_CAN(TERMINAL_UNITES_STRUCT_handle unites_t)
+{
+ // ����������y �����
+ unsigned int DataOut,h;
+ int Data, Data1, Data2, DataAnalog1, DataAnalog2, DataAnalog3, DataAnalog4,DataAnalog5,DataAnalog6, i;
+ unsigned char *pByte;
+ // static int vs11,vs12,vs1;
+ // static int DataCnt=0;
+ // int GoT,Assemble_scheme;
+ // static int prev_temp_Rele1=0, temp_Rele1=0, prev_temp_Rele2=0, temp_Rele2=0;
+
+ static int flag_prev_turn_on = 0;
+ static int flag_prev_turn_off = 0;
+ static int prev_byte01_bit4 = 0;
+ static int prev_byte01_bit1 = 0;
+ static int flag_wait_revers_sbor = 1;
+ static int flag_wait_revers_go = 1;
+
+ static unsigned int count_transmited = 0;
+
+
+ //
+
+ if (TERMINAL_UNIT_LEN>CONTROL_STATION_MAX_RAW_DATA)
+ xerror(main_er_ID(2),(void *)0);
+
+
+
+ // ���������� �� ������ � �����, �.�. � RS232 ������ ���� �������
+ // pByte = (unsigned char *)(pcommand);//->analog_data.analog1_lo;
+
+ for (h=0;h<TERMINAL_UNIT_LEN;h++)
+ {
+ control_station.raw_array_data[CONTROL_STATION_TERMINAL_CAN][h].all = unites_t->buf[h].all;
+ }
+
+ /*
+
+ if (control_station.alive_control_station[CONTROL_STATION_TERMINAL_CAN]==0)
+ {
+ edrk.from_can.bits.ACTIVE = 0;
+ return;
+ }
+
+ if ((control_station.active_control_station[CONTROL_STATION_TERMINAL_RS232]==1))
+ {
+ edrk.from_can.bits.ACTIVE = 0;
+ return;
+ }
+
+ // unites_t->buf[0].bits.bit0
+
+ edrk.test_mode = 0;
+
+ edrk.from_can.bits.ACTIVE = unites_t->buf[6].bits.bit3;
+
+ if (edrk.from_can.bits.ACTIVE==0)
+ return;
+
+// f.RScount = SECOND * 3;
+
+ // unites_t->
+// StartGED
+
+ if (edrk.summ_errors)
+ {
+ flag_wait_revers_go = 1;
+ }
+
+ if (flag_wait_revers_go==1)
+ edrk.StartGEDRS = 0;
+ if (unites_t->buf[6].bits.bit0 && flag_wait_revers_go)
+ edrk.StartGEDRS = 0;
+ if (unites_t->buf[6].bits.bit0==0)
+ edrk.StartGEDRS = 0;
+ if (unites_t->buf[6].bits.bit0==0 && flag_wait_revers_go)
+ flag_wait_revers_go = 0;
+ if (unites_t->buf[6].bits.bit0==1 && flag_wait_revers_go==0)
+ edrk.StartGEDRS = 1;
+
+// edrk.StartGEDRS = pcommand->digit_data.Byte01.bit_data.bit0;
+
+// end StartGED
+
+
+ edrk.Mode_UFConst = unites_t->buf[6].bits.bit2;
+
+
+////////////////
+
+ if (unites_t->buf[6].bits.bit1 && prev_byte01_bit1==0)
+ edrk.KvitirRS = 1;
+
+ prev_byte01_bit1 = unites_t->buf[6].bits.bit1;
+
+
+// edrk.from_rs.bits.RAZBOR_SHEMA = pcommand->digit_data.Byte01.bit_data.bit5;
+
+
+
+// SBOR SHEMA
+ if (edrk.summ_errors)
+ {
+ flag_wait_revers_sbor = 1;
+ }
+
+ if (flag_wait_revers_sbor==1)
+ edrk.from_can.bits.SBOR_SHEMA = 0;
+
+ if (unites_t->buf[6].bits.bit4 && flag_wait_revers_sbor)
+ edrk.from_can.bits.SBOR_SHEMA = 0;
+
+ if (unites_t->buf[6].bits.bit4==0)
+ edrk.from_can.bits.SBOR_SHEMA = 0;
+
+ if (unites_t->buf[6].bits.bit4==0 && flag_wait_revers_sbor)
+ flag_wait_revers_sbor = 0;
+
+ if (unites_t->buf[6].bits.bit4==1 && flag_wait_revers_sbor==0)
+ edrk.from_can.bits.SBOR_SHEMA = unites_t->buf[6].bits.bit4;
+
+ prev_byte01_bit4 = unites_t->buf[6].bits.bit4;
+
+// end SBOR SHEMA
+
+
+
+// if (edrk.from_rs.bits.RAZBOR_SHEMA)
+ // edrk.from_rs.bits.SBOR_SHEMA = 0;
+
+ //edrk.SborRS = pcommand->digit_data.Byte01.bit_data.bit4;
+
+
+ edrk.SelectPump0_1 = unites_t->buf[6].bits.bit6;
+ edrk.DirectOUT = unites_t->buf[6].bits.bit7;
+
+ edrk.DirectNagrevOff = unites_t->buf[6].bits.bit8;
+ edrk.DirectBlockKeyOff = unites_t->buf[6].bits.bit9;
+ edrk.DirectPumpON = unites_t->buf[6].bits.bit10;
+ edrk.DirectZaryadOn = unites_t->buf[6].bits.bit11;
+
+#ifdef STENDD
+
+ // edrk.to_shema.bits.QTV_ON = pcommand->digit_data.Byte02.bit_data.bit3;
+
+#endif
+
+ edrk.Status_Ready.bits.ImitationReady2 = unites_t->buf[6].bits.bit12;
+
+ edrk.SetSpeed = unites_t->buf[6].bits.bit13;
+
+
+
+// edrk.RemouteFromRS = pcommand->digit_data.Byte01.bit_data.bit3;
+
+
+
+
+// edrk.VozbudOnOffFromRS = pcommand->digit_data.Byte01.bit_data.bit1;
+// edrk.enable_set_vozbud = pcommand->digit_data.Byte01.bit_data.bit1;
+// edrk.SborRS = pcommand->digit_data.Byte01.bit_data.bit2;
+// edrk.RazborRS = pcommand->digit_data.Byte01.bit_data.bit3;
+// edrk.DirectOUT = pcommand->digit_data.Byte01.bit_data.bit4;
+
+// edrk.StartGED = pcommand->digit_data.Byte01.bit_data.bit6;
+
+
+// f.flag_distance = pcommand->digit_data.Byte01.bit_data.bit6;
+// f.Set_power = pcommand->digit_data.Byte01.bit_data.bit7;
+
+ f.Obmotka1 = unites_t->buf[6].bits.bit15;
+ f.Obmotka2 = unites_t->buf[7].bits.bit0;
+
+ edrk.disable_alg_u_disbalance = unites_t->buf[7].bits.bit1;
+
+ // f.Down50 = pcommand->digit_data.Byte02.bit_data.bit2;
+// f.Up50 = pcommand->digit_data.Byte02.bit_data.bit3;
+// f.Ciclelog = pcommand->digit_data.Byte02.bit_data.bit4;
+
+ // if (SPEED_SELECT_ZADAT==1)
+// f.Provorot = pcommand->digit_data.Byte02.bit_data.bit5;
+
+
+// Data1 = pcommand->analog_data.analog1_hi;
+// Data2 = pcommand->analog_data.analog1_lo;
+// Data = (Data2 + Data1 * 256);
+// if (Data > 32767)
+// Data = Data - 65536;
+ DataAnalog1 = unites_t->buf[0].all;
+
+// Data1 = pcommand->analog_data.analog2_hi;
+// Data2 = pcommand->analog_data.analog2_lo;
+// Data = (Data2 + Data1 * 256);
+// if (Data > 32767)
+// Data = Data - 65536;
+ DataAnalog2 = unites_t->buf[1].all;
+
+// Data1 = pcommand->analog_data.analog3_hi;
+// Data2 = pcommand->analog_data.analog3_lo;
+// Data = (Data2 + Data1 * 256);
+// if (Data > 32767)
+// Data = Data - 65536;
+ DataAnalog3 = unites_t->buf[2].all;
+
+// Data1 = pcommand->analog_data.analog4_hi;
+// Data2 = pcommand->analog_data.analog4_lo;
+// Data = (Data2 + Data1 * 256);
+// if (Data > 32767)
+// Data = Data - 65536;
+ DataAnalog4 = unites_t->buf[3].all;
+ DataAnalog5 = unites_t->buf[4].all;
+ DataAnalog6 = unites_t->buf[5].all;
+
+
+ edrk.W_from_RS = DataAnalog1;
+ edrk.I_zad_vozb_add_from_RS = 0;//DataAnalog4;
+
+
+ if (!edrk.SetSpeed)
+ {
+ if (DataAnalog3<0)
+ edrk.ZadanieU_Charge_RS = 0;
+ else
+ edrk.ZadanieU_Charge_RS = DataAnalog3;
+ }
+
+ if (edrk.SetSpeed)
+ {
+ edrk.fzad = DataAnalog1/100.0;
+ edrk.kzad = DataAnalog2/10000.0;
+ edrk.k_u_disbalance = _IQ(DataAnalog4/100.0);
+ edrk.kplus_u_disbalance = _IQ(DataAnalog3/1000.0);
+
+ }
+*/
+ return;
+}
+
+
+
+
+
diff --git a/Inu/Src/main/message2can.h b/Inu/Src/main/message2can.h
new file mode 100644
index 0000000..14ad7da
--- /dev/null
+++ b/Inu/Src/main/message2can.h
@@ -0,0 +1,18 @@
+/*
+ * message2can.h
+ *
+ * Created on: 3 ���. 2020 �.
+ * Author: Yura
+ */
+
+#ifndef SRC_MAIN_MESSAGE2CAN_H_
+#define SRC_MAIN_MESSAGE2CAN_H_
+
+#include "CAN_Setup.h"
+
+void func_unpack_answer_from_TMS_CAN(TERMINAL_UNITES_STRUCT_handle);
+void detecting_cmd_from_can(void);
+
+
+
+#endif /* SRC_MAIN_MESSAGE2CAN_H_ */
diff --git a/Inu/Src/main/message2test.c b/Inu/Src/main/message2test.c
new file mode 100644
index 0000000..fbcff9e
--- /dev/null
+++ b/Inu/Src/main/message2test.c
@@ -0,0 +1,678 @@
+#include <adc_tools.h>
+#include <edrk_main.h>
+#include <message2test.h>
+#include <params.h>
+#include <sync_tools.h>
+#include <tk_Test.h>
+#include <vector.h>
+
+#include "CAN_Setup.h"
+#include "IQmathLib.h"
+#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+#include "RS_Functions.h"
+#include "xp_project.h"
+
+#include "x_wdog.h"
+#include "params_hwp.h"
+#include "detect_errors.h"
+
+
+//XilinxV2
+
+
+void func_fill_answer_to_TMS_test(TMS_TO_TERMINAL_TEST_ALL_STRUCT* reply_ans, CMD_TO_TMS_TEST_ALL_STRUCT* pcommand)
+{
+ // ���������y �����
+ unsigned int crc, DataOut, sinusImpulse, doubleImpulse,adc_plate;
+ int Data,Data1,Data2/*,bitt, DataAnalog1, DataAnalog2*/, tk0,tk1,tk2,tk3,period1,period2, period3;
+
+ //static int vs11,vs12,vs1;
+ static int prev_Go = 0;
+ static int prev_Prepare = 0;
+
+ static int flag_prev_turn_on = 0;
+ static int flag_prev_turn_off = 0;
+ static int flag_prev_lamp_on_off = 0;
+ static int soft_off_enable = 0, soft_on_enable = 0;
+ static float tk_time_soft_off = 0;
+ static unsigned long tk_time_soft_off_d = 0;
+ static unsigned int i_af_protect_a = 0, i_af_protect_d = 0;
+ int enable_line_err = 0, disable_tk_soft_off, disable_protect_tk_soft_off;
+
+
+ stop_wdog();
+
+ edrk.test_mode = 1;
+ // const ��������� �� ��������� ����������� �������
+ // ��������� �� ����� ������
+
+// TMS_TO_TERMINAL_TEST_ALL_STRUCT* const pcommand = ((TMS_TO_TERMINAL_TEST_ALL_STRUCT*)reply);
+
+ // -�������� ���y �������
+ // ?�� ��� ���� ������� ����
+
+// f.RScount = SECOND*3;
+
+ f.terminal_prepare = pcommand->digit_data.byte05.bit_data.bit1;
+ soft_off_enable = pcommand->digit_data.byte06.bit_data.bit0;
+ soft_on_enable = pcommand->digit_data.byte06.bit_data.bit1;
+// edrk.direct_write_out = pcommand->digit_data.byte06.bit_data.bit2;
+
+ disable_tk_soft_off = pcommand->digit_data.byte06.bit_data.bit3;
+ disable_protect_tk_soft_off = pcommand->digit_data.byte06.bit_data.bit4;
+
+ enable_line_err = pcommand->digit_data.byte06.bit_data.bit5;
+
+ // �������� ��� ������
+
+#if (CHECK_IN_OUT_TERMINAL==1)
+
+#if(C_cds_out_number>=1)
+ project.cds_out[0].write.sbus.data_out.all = ~(pcommand->digit_data.byte07.byte_data | ((pcommand->digit_data.byte08.byte_data) << 8));
+#endif
+#if(C_cds_out_number>=2)
+ project.cds_out[1].write.sbus.data_out.all = ~(pcommand->digit_data.byte09.byte_data | ((pcommand->digit_data.byte10.byte_data) << 8));
+#endif
+#if(C_cds_out_number>=3)
+ project.cds_out[2].write.sbus.data_out.all = ~(pcommand->digit_data.byte11.byte_data | ((pcommand->digit_data.byte12.byte_data) << 8));
+#endif
+
+#endif //CHECK_IN_OUT
+
+ if (pcommand->digit_data.byte05.bit_data.bit1 == 1)
+ {
+
+ //xreset_error_all();
+ }
+
+
+
+// write_dig_out();
+
+ //calc_norm_ADC(0);
+ calc_norm_ADC_0(1);
+ calc_norm_ADC_1(1);
+
+ // �������� ������
+ tk0 = (pcommand->digit_data.byte01.byte_data);
+ tk1 = (pcommand->digit_data.byte02.byte_data);
+ tk2 = (pcommand->digit_data.byte03.byte_data);
+ tk3 = (pcommand->digit_data.byte04.byte_data);
+
+ Data1 = pcommand->analog_data.analog1_hi;
+ Data2 = pcommand->analog_data.analog1_lo;
+ Data = (Data2 + Data1*256);
+ period1 = Data;
+
+ Data1 = pcommand->analog_data.analog2_hi;
+ Data2 = pcommand->analog_data.analog2_lo;
+ Data = (Data2 + Data1*256);
+ period2 = Data;
+
+ Data1 = pcommand->analog_data.analog3_hi;
+ Data2 = pcommand->analog_data.analog3_lo;
+ Data = (Data2 + Data1*256);
+ period3 = Data;
+
+ Data1 = pcommand->analog_data.analog4_hi;
+ Data2 = pcommand->analog_data.analog4_lo;
+ Data = (Data2 + Data1*256);
+ // Data = 200;
+ tk_time_soft_off = Data*100.0; // mks*10->ns
+ if (tk_time_soft_off>1300000.0)
+ tk_time_soft_off = 1300000.0;
+ tk_time_soft_off_d = (unsigned long)(tk_time_soft_off / DIV_TIME_TK_SOFT_OFF);
+
+ if (tk_time_soft_off_d>65535)
+ tk_time_soft_off_d = 65535;
+
+
+ Data1 = pcommand->analog_data.analog5_hi;
+ Data2 = pcommand->analog_data.analog5_lo;
+ Data = (Data2 + Data1*256);
+ i_af_protect_a = Data;
+
+ if (i_af_protect_a>LEVEL_HWP_I_AF) i_af_protect_a = LEVEL_HWP_I_AF;
+ if (i_af_protect_a<10) i_af_protect_a = 10;
+ i_af_protect_d = convert_real_to_mv_hwp(4,i_af_protect_a);
+ if (i_af_protect_d>1500) i_af_protect_d = 1500; // max 1500 mV
+
+ update_maz_level_i_af(0, i_af_protect_d);
+ project.read_all_hwp();
+
+
+
+ if(pcommand->digit_data.byte05.bit_data.bit3 == 1)
+ doubleImpulse = 1;
+ else
+ doubleImpulse = 0;
+
+ if(pcommand->digit_data.byte05.bit_data.bit5 == 1)
+ sinusImpulse = 1;
+ else
+ sinusImpulse = 0;
+
+ if ((pcommand->digit_data.byte05.bit_data.bit0 == 1) && (prev_Go == 0))
+ {
+ if (pcommand->digit_data.byte05.bit_data.bit2 == 1) // ��� ���� �������� �������������� ���� ������������
+ {
+ update_maz_level_i_af(0, 1500);
+ project.write_all_hwp();
+ clear_errors();
+ project.clear_errors_all_plates();
+ update_maz_level_i_af(0, i_af_protect_d);
+ project.write_all_hwp();
+
+ }
+
+
+// test_tk_ak_one_impulse( tk0, tk1, tk2, tk3, period1, period2);
+#if (USE_TK_0)
+ project.cds_tk[0].write.sbus.protect_error.bit.enable_soft_disconnect = !disable_tk_soft_off;
+ project.cds_tk[0].write.sbus.protect_error.bit.detect_soft_disconnect = !disable_protect_tk_soft_off;
+ project.cds_tk[0].write.sbus.protect_error.bit.enable_line_err = enable_line_err;
+ project.cds_tk[0].write.sbus.time_after_err = tk_time_soft_off_d;//(int)(tk_time_soft_off / DIV_TIME_TK_SOFT_OFF);
+#endif
+#if (USE_TK_1)
+ project.cds_tk[1].write.sbus.protect_error.bit.enable_soft_disconnect = !disable_tk_soft_off;
+ project.cds_tk[1].write.sbus.protect_error.bit.detect_soft_disconnect = !disable_protect_tk_soft_off;
+ project.cds_tk[1].write.sbus.protect_error.bit.enable_line_err = enable_line_err;
+ project.cds_tk[1].write.sbus.time_after_err = tk_time_soft_off_d;//(int)(tk_time_soft_off / DIV_TIME_TK_SOFT_OFF);
+#endif
+#if (USE_TK_3)
+ project.cds_tk[3].write.sbus.protect_error.bit.enable_soft_disconnect = !disable_tk_soft_off;
+ project.cds_tk[3].write.sbus.protect_error.bit.detect_soft_disconnect = !disable_protect_tk_soft_off;
+ project.cds_tk[3].write.sbus.protect_error.bit.enable_line_err = enable_line_err;
+ project.cds_tk[3].write.sbus.time_after_err = tk_time_soft_off_d;//(int)(tk_time_soft_off / DIV_TIME_TK_SOFT_OFF);
+#endif
+
+
+ project.write_all_sbus();
+ project.write_all_hwp();
+
+ test_tk_ak_one_impulse( tk0, tk1, tk2, tk3, period1, period2, period3, doubleImpulse, sinusImpulse, soft_off_enable, soft_on_enable);
+ }
+
+ if ((pcommand->digit_data.byte05.bit_data.bit0 == 1) &&
+ (pcommand->digit_data.byte05.bit_data.bit3 == 1) && (prev_Go == 0))
+ {
+// test_tk_ak_sinus_period( tk0, tk1, tk2, tk3, period1, period2);
+ }
+ prev_Go = pcommand->digit_data.byte05.bit_data.bit0;
+
+ f.Prepare = pcommand->digit_data.byte05.bit_data.bit1;
+ if (pcommand->digit_data.byte05.bit_data.bit1 != prev_Prepare)
+ {
+ if (pcommand->digit_data.byte05.bit_data.bit1==1)
+ {
+ stop_wdog();
+ update_maz_level_i_af(0, 1500);
+ project.write_all_hwp();
+ clear_errors();
+ project.clear_errors_all_plates();
+ update_maz_level_i_af(0, i_af_protect_d);
+ project.write_all_hwp();
+ }
+ }
+ prev_Prepare = pcommand->digit_data.byte05.bit_data.bit1;
+
+ if (pcommand->digit_data.byte05.bit_data.bit2 == 1)
+ {
+
+ prev_Go = 0; // ��������� Go
+ }
+
+// break_all_on_off(pcommand->digit_data.byte05.bit_data.bit5);
+
+/*
+ if (pcommand->digit_data.byte05.bit_data.bit5 != flag_prev_turn_off) //turn off
+ {
+ if(pcommand->digit_data.byte05.bit_data.bit5 == 1)
+ {
+ project.cds_out[0].fpga.Write.Dout.bit.dout2 = 1;
+ project.cds_out[0].fpga.Write.Dout.bit.dout12 = 1;
+ cds_out_all(cds_out_WriteAll);
+ pause_1000(100000);
+ pause_1000(100000);
+ pause_1000(100000);
+ pause_1000(100000);
+ project.cds_out[0].fpga.Write.Dout.bit.dout2 = 0;
+ project.cds_out[0].fpga.Write.Dout.bit.dout12 = 0;
+ cds_out_all(cds_out_WriteAll);
+ //f.Ready2 = 0;
+ f.On_Power_QTV = 0;
+ edrk.Go = 0;
+
+ }
+
+ flag_prev_turn_off = pcommand->digit_data.byte05.bit_data.bit5;
+ cds_out_all(cds_out_WriteAll);
+
+ }
+ if ((pcommand->digit_data.byte05.bit_data.bit6 != flag_prev_turn_on) && !f.Stop &&
+// ((filter.iqU_1_long > 11184810) || (filter.iqU_3_long > 11184810))) //turn_on
+ ((filter.iqU_1_long > 5590240) || (filter.iqU_3_long > 5590240)))
+ {
+ if(pcommand->digit_data.byte05.bit_data.bit6 == 1)
+ {
+ project.cds_out[0].fpga.Write.Dout.bit.dout7 = 0;
+ cds_out_all(cds_out_WriteAll);
+ pause_1000(100000);
+ pause_1000(100000);
+ pause_1000(100000);
+ pause_1000(100000);
+ pause_1000(100000);
+ project.cds_out[0].fpga.Write.Dout.bit.dout7 = 1;
+ cds_out_all(cds_out_WriteAll);
+ //f.Ready2 = 1;
+ f.On_Power_QTV = 1;
+ }
+
+ flag_prev_turn_on = pcommand->digit_data.byte05.bit_data.bit6;
+ cds_out_all(cds_out_WriteAll);
+
+ }
+ if(project.cds_in[1].fpga.input_new.ChanalsPtr.ChanalPtr[7].rd_status != flag_prev_lamp_on_off) //turnig on lamp when power is on
+ {
+ if(project.cds_in[1].fpga.input_new.ChanalsPtr.ChanalPtr[7].rd_status == 1)
+ {
+ project.cds_out[1].fpga.Write.Dout.bit.dout1 = 0;
+ cds_out_all(cds_out_WriteAll);
+ }
+ else
+ {
+ project.cds_out[1].fpga.Write.Dout.bit.dout1 = 1;
+ cds_out_all(cds_out_WriteAll);
+ }
+ flag_prev_lamp_on_off = project.cds_in[1].fpga.input_new.ChanalsPtr.ChanalPtr[7].rd_status;
+ }
+
+
+*/
+
+// run_break = pcommand->digit_data.byte05.bit_data.bit4;
+
+
+ if (pcommand->digit_data.byte05.bit_data.bit4 == 1)
+ {
+ adc_plate = 1;
+
+ }
+ else
+ adc_plate = 0;
+
+ if (pcommand->digit_data.byte05.bit_data.bit6 == 1)
+ i_sync_pin_on();
+ else
+ i_sync_pin_off();
+
+
+
+ Data = project.adc[adc_plate].read.pbus.adc_value[0];//InternalADC[0];//0;//ADC_sf[0];//_IQtoF(analog.iqIa1_1_fir_n)*2000.0;//
+ reply_test_all.analog_data.analog1_lo=LOBYTE(Data);
+ reply_test_all.analog_data.analog1_hi=HIBYTE(Data);
+
+ Data = project.adc[adc_plate].read.pbus.adc_value[1];// InternalADC[1];//0;//ADC_sf[1];//_IQtoF(analog.iqIa1_1_fir_n)*2000.0;//
+ reply_test_all.analog_data.analog2_lo=LOBYTE(Data);
+ reply_test_all.analog_data.analog2_hi=HIBYTE(Data);
+
+ Data = project.adc[adc_plate].read.pbus.adc_value[2];// InternalADC[2];//0;//ADC_sf[2];//_IQtoF(analog.iqIa1_1_fir_n)*2000.0;//
+ reply_test_all.analog_data.analog3_lo=LOBYTE(Data);
+ reply_test_all.analog_data.analog3_hi=HIBYTE(Data);
+
+ Data = project.adc[adc_plate].read.pbus.adc_value[3];// InternalADC[3];//0;//ADC_sf[3];//_IQtoF(analog.iqIa1_1_fir_n)*2000.0;//
+ reply_test_all.analog_data.analog4_lo=LOBYTE(Data);
+ reply_test_all.analog_data.analog4_hi=HIBYTE(Data);
+
+ Data = project.adc[adc_plate].read.pbus.adc_value[4];// InternalADC[4];//0;//ADC_sf[4];//_IQtoF(analog.iqIa1_1_fir_n)*2000.0;//
+ reply_test_all.analog_data.analog5_lo=LOBYTE(Data);
+ reply_test_all.analog_data.analog5_hi=HIBYTE(Data);
+
+ Data = project.adc[adc_plate].read.pbus.adc_value[5];// InternalADC[5];//0;//ADC_sf[5];//_IQtoF(analog.iqIa1_1_fir_n)*2000.0;//
+ reply_test_all.analog_data.analog6_lo=LOBYTE(Data);
+ reply_test_all.analog_data.analog6_hi=HIBYTE(Data);
+
+ Data = project.adc[adc_plate].read.pbus.adc_value[6];// InternalADC[6];//0;//ADC_sf[6];//_IQtoF(analog.iqIa1_1_fir_n)*2000.0;//
+ reply_test_all.analog_data.analog7_lo=LOBYTE(Data);
+ reply_test_all.analog_data.analog7_hi=HIBYTE(Data);
+
+ Data = project.adc[adc_plate].read.pbus.adc_value[7];//InternalADC[7];//0;//ADC_sf[7];//_IQtoF(analog.iqIa1_1_fir_n)*2000.0;//
+ reply_test_all.analog_data.analog8_lo=LOBYTE(Data);
+ reply_test_all.analog_data.analog8_hi=HIBYTE(Data);
+
+ Data = project.adc[adc_plate].read.pbus.adc_value[8];//InternalADC[8];//0;//ADC_sf[8];//_IQtoF(analog.iqIa1_1_fir_n)*2000.0;//
+ reply_test_all.analog_data.analog9_lo=LOBYTE(Data);
+ reply_test_all.analog_data.analog9_hi=HIBYTE(Data);
+
+ Data = project.adc[adc_plate].read.pbus.adc_value[9];//InternalADC[9];//0;//ADC_sf[9];//_IQtoF(analog.iqIa1_1_fir_n)*2000.0;//
+ reply_test_all.analog_data.analog10_lo=LOBYTE(Data);
+ reply_test_all.analog_data.analog10_hi=HIBYTE(Data);
+
+ Data = project.adc[adc_plate].read.pbus.adc_value[10];//InternalADC[10];//0;//ADC_sf[10];//_IQtoF(analog.iqIa1_1_fir_n)*2000.0;//
+ reply_test_all.analog_data.analog11_lo=LOBYTE(Data);
+ reply_test_all.analog_data.analog11_hi=HIBYTE(Data);
+
+ Data = project.adc[adc_plate].read.pbus.adc_value[11];//InternalADC[11];//0;//ADC_sf[11];//_IQtoF(analog.iqIa1_1_fir_n)*2000.0;//
+ reply_test_all.analog_data.analog12_lo=LOBYTE(Data);
+ reply_test_all.analog_data.analog12_hi=HIBYTE(Data);
+
+ Data = project.adc[adc_plate].read.pbus.adc_value[12];//InternalADC[12];//0;//ADC_sf[12];//_IQtoF(analog.iqIa1_1_fir_n)*2000.0;//
+ reply_test_all.analog_data.analog13_lo=LOBYTE(Data);
+ reply_test_all.analog_data.analog13_hi=HIBYTE(Data);
+
+ Data = project.adc[adc_plate].read.pbus.adc_value[13];//InternalADC[13];//0;//ADC_sf[13];//_IQtoF(analog.iqIa1_1_fir_n)*2000.0;//
+ reply_test_all.analog_data.analog14_lo=LOBYTE(Data);
+ reply_test_all.analog_data.analog14_hi=HIBYTE(Data);
+
+ Data = project.adc[adc_plate].read.pbus.adc_value[14];//InternalADC[14];//0;//ADC_sf[14];//_IQtoF(analog.iqIa1_1_fir_n)*2000.0;//
+ reply_test_all.analog_data.analog15_lo=LOBYTE(Data);
+ reply_test_all.analog_data.analog15_hi=HIBYTE(Data);
+
+ Data = project.adc[adc_plate].read.pbus.adc_value[15];//InternalADC[15];//0;//ADC_sf[15];//_IQtoF(analog.iqIa1_1_fir_n)*2000.0;//
+ reply_test_all.analog_data.analog16_lo=LOBYTE(Data);
+ reply_test_all.analog_data.analog16_hi=HIBYTE(Data);
+
+
+ Data = _IQtoF(analog.iqU_1) * NORMA_ACP;
+ reply_ans->analog_data.analog17_lo=LOBYTE(Data);
+ reply_ans->analog_data.analog17_hi=HIBYTE(Data);
+
+ Data = _IQtoF(analog.iqU_2) * NORMA_ACP;
+ reply_ans->analog_data.analog18_lo=LOBYTE(Data);
+ reply_ans->analog_data.analog18_hi=HIBYTE(Data);
+
+ Data = project.cds_tk[0].read.sbus.time_err_tk_all.bit.tk_3210;
+ reply_ans->analog_data.analog19_lo=LOBYTE(Data);
+ reply_ans->analog_data.analog19_hi=HIBYTE(Data);
+
+ Data = project.cds_tk[0].read.sbus.time_err_tk_all.bit.tk_7654;
+ reply_ans->analog_data.analog20_lo=LOBYTE(Data);
+ reply_ans->analog_data.analog20_hi=HIBYTE(Data);
+
+ Data = project.cds_tk[1].read.sbus.time_err_tk_all.bit.tk_3210;
+ reply_ans->analog_data.analog21_lo=LOBYTE(Data);
+ reply_ans->analog_data.analog21_hi=HIBYTE(Data);
+
+ Data = project.cds_tk[1].read.sbus.time_err_tk_all.bit.tk_7654;
+ reply_ans->analog_data.analog22_lo=LOBYTE(Data);
+ reply_ans->analog_data.analog22_hi=HIBYTE(Data);
+
+ Data = project.cds_tk[2].read.sbus.time_err_tk_all.bit.tk_3210;
+ reply_ans->analog_data.analog23_lo=LOBYTE(Data);
+ reply_ans->analog_data.analog23_hi=HIBYTE(Data);
+
+ Data = project.cds_tk[2].read.sbus.time_err_tk_all.bit.tk_7654;
+ reply_ans->analog_data.analog24_lo=LOBYTE(Data);
+ reply_ans->analog_data.analog24_hi=HIBYTE(Data);
+
+// Data = project.cds_tk[3].read.sbus.time_err_tk_all.bit.tk_3210;
+// reply_ans->analog_data.analog25_lo=LOBYTE(Data);
+// reply_ans->analog_data.analog25_hi=HIBYTE(Data);
+//
+// Data = project.cds_tk[3].read.sbus.time_err_tk_all.bit.tk_7654;
+// reply_ans->analog_data.analog26_lo=LOBYTE(Data);
+// reply_ans->analog_data.analog26_hi=HIBYTE(Data);
+
+reply_ans->digit_data.byte01.byte_data = 0;
+reply_ans->digit_data.byte02.byte_data = 0;
+reply_ans->digit_data.byte03.byte_data = 0;
+reply_ans->digit_data.byte04.byte_data = 0;
+reply_ans->digit_data.byte05.byte_data = 0;
+reply_ans->digit_data.byte06.byte_data = 0;
+reply_ans->digit_data.byte07.byte_data = 0;
+reply_ans->digit_data.byte08.byte_data = 0;
+reply_ans->digit_data.byte09.byte_data = 0;
+reply_ans->digit_data.byte10.byte_data = 0;
+reply_ans->digit_data.byte11.byte_data = 0;
+reply_ans->digit_data.byte12.byte_data = 0;
+reply_ans->digit_data.byte13.byte_data = 0;
+reply_ans->digit_data.byte14.byte_data = 0;
+reply_ans->digit_data.byte15.byte_data = 0;
+reply_ans->digit_data.byte16.byte_data = 0;
+reply_ans->digit_data.byte17.byte_data = 0;
+reply_ans->digit_data.byte18.byte_data = 0;
+reply_ans->digit_data.byte19.byte_data = 0;
+reply_ans->digit_data.byte20.byte_data = 0;
+reply_ans->digit_data.byte21.byte_data = 0;
+reply_ans->digit_data.byte22.byte_data = 0;
+reply_ans->digit_data.byte23.byte_data = 0;
+reply_ans->digit_data.byte24.byte_data = 0;
+
+
+ reply_ans->digit_data.byte01.bit_data.bit0 = project.cds_tk[0].read.sbus.current_status_error.bit.err0_local;
+ reply_ans->digit_data.byte01.bit_data.bit1 = project.cds_tk[1].read.sbus.current_status_error.bit.err0_local;
+ reply_ans->digit_data.byte01.bit_data.bit2 = project.cds_tk[2].read.sbus.current_status_error.bit.err0_local;
+ reply_ans->digit_data.byte01.bit_data.bit3 = project.cds_tk[3].read.sbus.current_status_error.bit.err0_local;
+
+ reply_ans->digit_data.byte01.bit_data.bit4 = project.cds_tk[0].read.sbus.current_status_error.bit.err_power;
+ reply_ans->digit_data.byte01.bit_data.bit5 = project.cds_tk[1].read.sbus.current_status_error.bit.err_power;
+ reply_ans->digit_data.byte01.bit_data.bit6 = project.cds_tk[2].read.sbus.current_status_error.bit.err_power;
+ reply_ans->digit_data.byte01.bit_data.bit7 = project.cds_tk[3].read.sbus.current_status_error.bit.err_power;
+
+ reply_ans->digit_data.byte02.bit_data.bit0 = project.cds_in[0].read.sbus.current_status_error.bit.err_power;
+ reply_ans->digit_data.byte02.bit_data.bit1 = project.cds_in[1].read.sbus.current_status_error.bit.err_power;
+#if(C_cds_in_number>=3)
+ reply_ans->digit_data.byte02.bit_data.bit2 = project.cds_in[2].read.sbus.current_status_error.bit.err_power;
+#endif
+ reply_ans->digit_data.byte02.bit_data.bit3 = project.cds_out[0].read.sbus.current_status_error.bit.err_power;
+
+ reply_ans->digit_data.byte02.bit_data.bit4 = project.cds_out[1].read.sbus.current_status_error.bit.err_power;
+ reply_ans->digit_data.byte02.bit_data.bit5 = 0;
+ reply_ans->digit_data.byte02.bit_data.bit6 = project.cds_tk[0].read.sbus.current_status_error.bit.err_switch;
+ reply_ans->digit_data.byte02.bit_data.bit7 = project.cds_tk[1].read.sbus.current_status_error.bit.err_switch;
+
+ reply_ans->digit_data.byte03.bit_data.bit0 = project.cds_tk[2].read.sbus.current_status_error.bit.err_switch;
+ reply_ans->digit_data.byte03.bit_data.bit1 = project.cds_tk[3].read.sbus.current_status_error.bit.err_switch;
+ reply_ans->digit_data.byte03.bit_data.bit2 = project.cds_in[0].read.sbus.current_status_error.bit.err_switch;
+ reply_ans->digit_data.byte03.bit_data.bit3 = project.cds_in[1].read.sbus.current_status_error.bit.err_switch;
+
+
+#if(C_cds_in_number>=3)
+ reply_ans->digit_data.byte03.bit_data.bit4 = project.cds_in[2].read.sbus.current_status_error.bit.err_switch;
+#endif
+ reply_ans->digit_data.byte03.bit_data.bit5 = project.cds_out[0].read.sbus.current_status_error.bit.err_switch;
+ reply_ans->digit_data.byte03.bit_data.bit6 = project.cds_out[1].read.sbus.current_status_error.bit.err_switch;
+ reply_ans->digit_data.byte03.bit_data.bit7 = 0;
+
+ //TK0 acknolege-current
+ reply_ans->digit_data.byte04.byte_data = project.cds_tk[0].read.sbus.status_protect_current_ack.all & 0xFF;
+ reply_ans->digit_data.byte05.byte_data = (project.cds_tk[0].read.sbus.status_protect_current_ack.all >> 8) & 0xFF;
+
+ //TK1 acknolege-current
+ reply_ans->digit_data.byte06.byte_data = project.cds_tk[1].read.sbus.status_protect_current_ack.all & 0xFF;
+ reply_ans->digit_data.byte07.byte_data = (project.cds_tk[1].read.sbus.status_protect_current_ack.all >> 8) & 0xFF;
+
+ //TK2 acknolege-current
+ reply_ans->digit_data.byte08.byte_data = project.cds_tk[2].read.sbus.status_protect_current_ack.all & 0xFF;
+ reply_ans->digit_data.byte09.byte_data = (project.cds_tk[2].read.sbus.status_protect_current_ack.all >> 8) & 0xFF;
+
+ //TK3 acknolege-current
+ reply_ans->digit_data.byte10.byte_data = project.cds_tk[3].read.sbus.status_protect_current_ack.all & 0xFF;
+ reply_ans->digit_data.byte11.byte_data = (project.cds_tk[3].read.sbus.status_protect_current_ack.all >> 8) & 0xFF;
+
+
+//IN1
+ reply_ans->digit_data.byte13.byte_data = project.cds_in[0].read.pbus.data_in.all & 0xFF;
+ reply_ans->digit_data.byte14.byte_data = (project.cds_in[0].read.pbus.data_in.all >> 8) & 0xFF;
+
+//IN2
+ reply_ans->digit_data.byte15.byte_data = project.cds_in[1].read.pbus.data_in.all & 0xFF;
+ reply_ans->digit_data.byte16.byte_data = (project.cds_in[1].read.pbus.data_in.all >> 8) & 0xFF;
+
+//IN3
+#if(C_cds_in_number>=3)
+ reply_ans->digit_data.byte17.byte_data = project.cds_in[2].read.pbus.data_in.all & 0xFF;
+ reply_ans->digit_data.byte18.byte_data = (project.cds_in[2].read.pbus.data_in.all >> 8) & 0xFF;
+#endif
+
+ reply_ans->digit_data.byte19.bit_data.bit0 = get_status_sync_line();//CAN_timeout[UKSS1_CAN_DEVICE];
+ //reply.digit_data.byte21.bit_data.bit1 = CAN_timeout[UKSS4_CAN_DEVICE];
+ reply_ans->digit_data.byte19.bit_data.bit2 = 0;// CAN_timeout[UKSS2_CAN_DEVICE];
+ reply_ans->digit_data.byte19.bit_data.bit3 = 0;// CAN_timeout[UKSS3_CAN_DEVICE];
+ reply_ans->digit_data.byte19.bit_data.bit4 = CAN_timeout[get_real_in_mbox(UNITS_TYPE_BOX,ZADATCHIK_CAN)];
+ //reply_test_all.digit_data.byte19.bit_data.bit5 = CAN_timeout[VPU2_CAN_DEVICE];
+ reply_ans->digit_data.byte19.bit_data.bit6 = CAN_timeout[get_real_in_mbox(UNITS_TYPE_BOX,UMU_CAN_DEVICE)];
+ //reply.digit_data.byte21.bit_data.bit7 = CAN_timeout[VPU1_CAN_DEVICE];
+
+ reply_ans->digit_data.byte20.bit_data.bit0 = project.controller.read.errors.bit.er0_out;
+ reply_ans->digit_data.byte20.bit_data.bit1 = project.controller.read.errors.bit.er0_trig;
+ reply_ans->digit_data.byte20.bit_data.bit2 = project.controller.read.errors.bit.errHWP;
+ reply_ans->digit_data.byte20.bit_data.bit3 = project.controller.read.errors.bit.errHWP_trig;
+ reply_ans->digit_data.byte20.bit_data.bit4 = project.controller.read.errors.bit.error_pbus;
+ reply_ans->digit_data.byte20.bit_data.bit5 = project.controller.read.errors.bit.pwm_wdog;
+ reply_ans->digit_data.byte20.bit_data.bit6 = project.controller.read.errors.bit.status_er0;
+// reply_ans->digit_data.byte20.bit_data.bit0 = project.controller.read.errors.bit.er0_out;
+// reply_ans->digit_data.byte20.bit_data.bit0 = CAN_timeout[get_real_in_mbox(UNITS_TYPE_BOX,VPU_CAN)];
+// reply_ans->digit_data.byte20.bit_data.bit1 = CAN_timeout[get_real_in_mbox(MPU_TYPE_BOX,0)];
+ reply_ans->digit_data.byte20.bit_data.bit2 = 0;//READY_UKSS_6;
+ reply_ans->digit_data.byte20.bit_data.bit3 = 0;//READY_UKSS_7;
+ reply_ans->digit_data.byte20.bit_data.bit4 = 0;//READY_UKSS_8;
+ //reply_test_all.digit_data.byte20.bit_data.bit5 = READY_UKSS_1;
+ //reply_test_all.digit_data.byte20.bit_data.bit6 = READY_UKSS_2;
+ //reply_test_all.digit_data.byte20.bit_data.bit7 = READY_UKSS_3;
+
+
+
+ reply_ans->digit_data.byte21.bit_data.bit0 = !project.hwp[0].status;//XProject_balzam.IsReady_reg.bit.XPlaneHWP_Chanals_IsReady;
+ reply_ans->digit_data.byte21.bit_data.bit2 = !project.adc[0].status;//XProject_balzam.IsReady_reg.bit.XPlaneHWP_Chanals_IsReady;
+#if(C_cds_in_number>=1)
+ reply_ans->digit_data.byte21.bit_data.bit3 = !project.cds_in[0].status;//XProject_balzam.IsReady_reg.bit.XPlaneIN0_IsReady;
+#endif
+#if(C_cds_in_number>=2)
+ reply_ans->digit_data.byte21.bit_data.bit4 = !project.cds_in[1].status;//XProject_balzam.IsReady_reg.bit.XPlaneIN1_IsReady;
+#endif
+#if(C_cds_in_number>=3)
+ reply_ans->digit_data.byte21.bit_data.bit5 = !project.cds_in[2].status;//XProject_balzam.IsReady_reg.bit.XPlaneIN2_IsReady;
+#endif
+
+#if(C_cds_out_number>=1)
+ reply_ans->digit_data.byte21.bit_data.bit6 = !project.cds_out[0].status;//XProject_balzam.IsReady_reg.bit.XPlaneOUT0_IsReady;
+#endif
+#if(C_cds_out_number>=2)
+ reply_ans->digit_data.byte21.bit_data.bit7 = !project.cds_out[1].status;//XProject_balzam.IsReady_reg.bit.XPlaneOUT1_IsReady;
+#endif
+#if(C_cds_out_number>=3)
+ reply_ans->digit_data.byte22.bit_data.bit0 = !project.cds_out[2].status;//XProject_balzam.IsReady_reg.bit.XPlaneOUT2_IsReady;
+#endif
+
+
+ reply_ans->digit_data.byte22.bit_data.bit1 = !project.cds_tk[0].status;//XProject_balzam.IsReady_reg.bit.XPlaneTK0_IsReady;
+ reply_ans->digit_data.byte22.bit_data.bit2 = !project.cds_tk[1].status;//XProject_balzam.IsReady_reg.bit.XPlaneTK1_IsReady;
+ reply_ans->digit_data.byte22.bit_data.bit3 = !project.cds_tk[2].status;//XProject_balzam.IsReady_reg.bit.XPlaneTK2_IsReady;
+ reply_ans->digit_data.byte22.bit_data.bit4 = !project.cds_tk[3].status;//!XProject_balzam.IsReady_reg.bit.XPlaneTK3_IsReady;
+ reply_ans->digit_data.byte22.bit_data.bit5 = !project.adc[1].status;//XProject_balzam.IsReady_reg.bit.XPlaneHWP_Chanals_IsReady;
+
+ reply_ans->digit_data.byte23.byte_data=project.hwp[0].read.comp_s.minus.all & 0x00ff;
+ reply_ans->digit_data.byte24.byte_data=((project.hwp[0].read.comp_s.minus.all >> 8) & 0x00ff);
+
+ reply_ans->digit_data.byte23.byte_data|=project.hwp[0].read.comp_s.plus.all & 0x00ff;
+ reply_ans->digit_data.byte24.byte_data|=((project.hwp[0].read.comp_s.plus.all >> 8) & 0x00ff);
+
+#if (USE_TK_0)
+ if (project.cds_tk[0].useit)
+ {
+// reply_ans->digit_data.byte22.bit_data.bit0 = project.cds_tk[0].read.sbus.lock_status_error.bit.err0_in;
+ reply_ans->digit_data.byte25.bit_data.bit0 = project.cds_tk[0].read.sbus.lock_status_error.bit.err_hwp;
+ reply_ans->digit_data.byte25.bit_data.bit1 = project.cds_tk[0].read.sbus.lock_status_error.bit.err0_local;
+ reply_ans->digit_data.byte25.bit_data.bit2 = project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
+ reply_ans->digit_data.byte25.bit_data.bit3 = project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+ reply_ans->digit_data.byte25.bit_data.bit4 = project.cds_tk[0].read.sbus.lock_status_error.bit.line_err_keys_7654;
+ reply_ans->digit_data.byte25.bit_data.bit5 = project.cds_tk[0].read.sbus.lock_status_error.bit.line_err_keys_3210;
+ reply_ans->digit_data.byte25.bit_data.bit6 = project.cds_tk[0].read.sbus.lock_status_error.bit.ErrorSoftShutdownFromErr0;
+ reply_ans->digit_data.byte25.bit_data.bit7 = project.cds_tk[0].read.sbus.lock_status_error.bit.ErrorSoftShutdownForbidComb;
+ }
+ else
+ reply_ans->digit_data.byte25.byte_data = 0;
+
+#else
+ reply_ans->digit_data.byte25.byte_data = 0;
+#endif
+
+#if (USE_TK_1)
+ if (project.cds_tk[1].useit)
+ {
+ reply_ans->digit_data.byte26.bit_data.bit0 = project.cds_tk[1].read.sbus.lock_status_error.bit.err_hwp;
+ reply_ans->digit_data.byte26.bit_data.bit1 = project.cds_tk[1].read.sbus.lock_status_error.bit.err0_local;
+ reply_ans->digit_data.byte26.bit_data.bit2 = project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
+ reply_ans->digit_data.byte26.bit_data.bit3 = project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+ reply_ans->digit_data.byte26.bit_data.bit4 = project.cds_tk[1].read.sbus.lock_status_error.bit.line_err_keys_7654;
+ reply_ans->digit_data.byte26.bit_data.bit5 = project.cds_tk[1].read.sbus.lock_status_error.bit.line_err_keys_3210;
+ reply_ans->digit_data.byte26.bit_data.bit6 = project.cds_tk[1].read.sbus.lock_status_error.bit.ErrorSoftShutdownFromErr0;
+ reply_ans->digit_data.byte26.bit_data.bit7 = project.cds_tk[1].read.sbus.lock_status_error.bit.ErrorSoftShutdownForbidComb;
+ }
+ else
+ reply_ans->digit_data.byte26.byte_data = 0;
+#else
+ reply_ans->digit_data.byte26.byte_data = 0;
+#endif
+
+#if (USE_TK_2)
+ if (project.cds_tk[2].useit)
+ {
+ reply_ans->digit_data.byte27.bit_data.bit0 = project.cds_tk[2].read.sbus.lock_status_error.bit.err_hwp;
+ reply_ans->digit_data.byte27.bit_data.bit1 = project.cds_tk[2].read.sbus.lock_status_error.bit.err0_local;
+ reply_ans->digit_data.byte27.bit_data.bit2 = project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
+ reply_ans->digit_data.byte27.bit_data.bit3 = project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+ reply_ans->digit_data.byte27.bit_data.bit4 = project.cds_tk[2].read.sbus.lock_status_error.bit.line_err_keys_7654;
+ reply_ans->digit_data.byte27.bit_data.bit5 = project.cds_tk[2].read.sbus.lock_status_error.bit.line_err_keys_3210;
+ reply_ans->digit_data.byte27.bit_data.bit6 = project.cds_tk[2].read.sbus.lock_status_error.bit.ErrorSoftShutdownFromErr0;
+ reply_ans->digit_data.byte27.bit_data.bit7 = project.cds_tk[2].read.sbus.lock_status_error.bit.ErrorSoftShutdownForbidComb;
+ }
+ else
+ reply_ans->digit_data.byte27.byte_data = 0;
+#else
+ reply_ans->digit_data.byte27.byte_data = 0;
+#endif
+
+#if (USE_TK_3)
+ if (project.cds_tk[3].useit)
+ {
+ reply_ans->digit_data.byte28.bit_data.bit0 = project.cds_tk[3].read.sbus.lock_status_error.bit.err_hwp;
+ reply_ans->digit_data.byte28.bit_data.bit1 = project.cds_tk[3].read.sbus.lock_status_error.bit.err0_local;
+ reply_ans->digit_data.byte28.bit_data.bit2 = project.cds_tk[3].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
+ reply_ans->digit_data.byte28.bit_data.bit3 = project.cds_tk[3].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+ reply_ans->digit_data.byte28.bit_data.bit4 = project.cds_tk[3].read.sbus.lock_status_error.bit.line_err_keys_7654;
+ reply_ans->digit_data.byte28.bit_data.bit5 = project.cds_tk[3].read.sbus.lock_status_error.bit.line_err_keys_3210;
+ reply_ans->digit_data.byte28.bit_data.bit6 = project.cds_tk[3].read.sbus.lock_status_error.bit.ErrorSoftShutdownFromErr0;
+ reply_ans->digit_data.byte28.bit_data.bit7 = project.cds_tk[3].read.sbus.lock_status_error.bit.ErrorSoftShutdownForbidComb;
+ }
+ else
+ reply_ans->digit_data.byte28.byte_data = 0;
+#else
+ reply_ans->digit_data.byte28.byte_data = 0;
+#endif
+
+
+/*
+
+//IN1 ready
+ reply_ans->digit_data.byte21.byte_data = project.cds_in[0].read.pbus.ready_in.all & 0xFF;
+ reply_ans->digit_data.byte22.byte_data = (project.cds_in[0].read.pbus.ready_in.all >> 8) & 0xFF;
+
+//TK0 acknolege-current
+ reply_ans->digit_data.byte23.byte_data = project.cds_tk[0].read.sbus.status_protect_current_ack.all & 0xFF;
+ reply_ans->digit_data.byte24.byte_data = (project.cds_tk[0].read.sbus.status_protect_current_ack.all >> 8) & 0xFF;
+*/
+ return;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Inu/Src/main/message2test.h b/Inu/Src/main/message2test.h
new file mode 100644
index 0000000..3f1406c
--- /dev/null
+++ b/Inu/Src/main/message2test.h
@@ -0,0 +1,33 @@
+////////////////////////////////////////////
+// message.h
+//
+// ��������� ��������� �����:
+// 1. ������������ ��������������y
+// 2. �������������� ������������
+// 3. ������������ �������� �����y
+//
+// ������ ���� ����� ���� ����������� ���
+// ������y��� ��������� ��y ���������y �� ������
+// ����������. � ��������� �� INTEL 386SX Octagon
+// � �� TMS320C32 Texas Instruments.
+// �������� ������ ����� ���������������� ���������
+// ���������� ��������.
+// � ������ ����� ��������� ��� ��y ������������ ������
+// unsigned char = 8 ���
+// �� TMS320C32 unsigned char = 32 ���, �� �����������y
+// ������ ������� 8 ���.
+// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+// ������ �������� ������� �������� �������� �� ������
+// ���������� � ����������� �� ������ �����������y
+// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+////////////////////////////////////////////
+
+#ifndef MESSAGE_TEST_H
+#define MESSAGE_TEST_H
+
+#include "RS_Function_terminal.h"
+
+void func_fill_answer_to_TMS_test(TMS_TO_TERMINAL_TEST_ALL_STRUCT* reply_ans, CMD_TO_TMS_TEST_ALL_STRUCT* pcommand);
+
+
+#endif //MESSAGE_H
diff --git a/Inu/Src/main/message_modbus.c b/Inu/Src/main/message_modbus.c
new file mode 100644
index 0000000..024db30
--- /dev/null
+++ b/Inu/Src/main/message_modbus.c
@@ -0,0 +1,897 @@
+#include <message_modbus.h>
+#include <message_terminals_can.h>
+#include <message2.h>
+#include <modbus_hmi.h>
+#include <project.h>
+#include <vector.h>
+#include <modbus_hmi_update.h>
+#include "CAN_Setup.h"
+#include "global_time.h"
+#include "modbus_table_v2.h"
+#include "oscil_can.h"
+#include "RS_modbus_pult.h"
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+#include "CRC_Functions.h"
+#include "RS_Function_terminal.h"
+#include "RS_modbus_svu.h"
+#include "TuneUpPlane.h"
+#if (USE_CONTROL_STATION==1)
+#include "control_station.h"
+#endif
+#include <message2can.h>
+#include <edrk_main.h>
+
+#include "pwm_test_lines.h"
+#include "params.h"
+#include "logs_hmi.h"
+
+
+//#include "can_setup_21300.h"
+//#include "modbus_can.h"
+
+//static int err_modbus3=1;
+//static int err_modbus16=1;
+//static int cmd_3_or_16=0;
+
+int enable_can = 0;
+
+void write_all_data_to_mpu_485(int run_force)
+{
+ static unsigned int time_tick_modbus = 0;
+ static unsigned int old_PWM_ticks = 0;
+ static int count_write_to_modbus = 0;
+ static int cur_position_buf_modbus16 = 0;
+
+ if (global_time.pwm_tics != old_PWM_ticks)
+ {
+ if (global_time.pwm_tics > old_PWM_ticks)
+ time_tick_modbus = time_tick_modbus + (global_time.pwm_tics - old_PWM_ticks);
+ else
+ time_tick_modbus++;
+ }
+
+ if (time_tick_modbus > TIME_PAUSE_MODBUS_MPU)
+ {
+ // pause_1000()
+
+ time_tick_modbus = 0;
+ pause_1000(10);
+ // SendCommandModbus3(&rs_b, 0x1, 0xc012,1);
+ // rs_b.flag_LEADING = 0;
+ if (!rs_b.flag_LEADING)
+ {
+ time_tick_modbus = 0;
+ //Fast answer to SVU when command changed
+ // if (flag_send_answer_rs) {
+ // flag_send_answer_rs = 0;
+ // err_modbus16++;
+ // SendCommandModbus16(&rs_b,1,210,SIZE_BUF_WRITE_TO_MODBUS16);
+ // return;
+ // }
+ if (err_modbus16 == 0)
+ cur_position_buf_modbus16 = cur_position_buf_modbus16 + SIZE_BUF_WRITE_TO_MODBUS16_VPU;
+
+ if (cur_position_buf_modbus16 >= SIZE_MODBUS_TABLE)
+ cur_position_buf_modbus16 = 0;
+
+ if ((cur_position_buf_modbus16 + SIZE_BUF_WRITE_TO_MODBUS16_VPU) > SIZE_MODBUS_TABLE)
+ count_write_to_modbus = SIZE_MODBUS_TABLE - cur_position_buf_modbus16;
+ else
+ count_write_to_modbus = SIZE_BUF_WRITE_TO_MODBUS16_VPU;
+
+ // count_write_to_modbus = SIZE_BUF_WRITE_TO_MODBUS16_VPU;
+ // cur_position_buf_modbus=0;
+
+ err_modbus16++;
+
+ if (err_modbus16 > MAX_COUNT_ERROR_FROM_RS_MPU)
+ f.RS_MPU_ERROR = 1;
+
+ ModbusRTUsend16(&rs_b, 1,
+ ADR_MODBUS_TABLE + cur_position_buf_modbus16,
+ count_write_to_modbus);
+ // SendCommandModbus16(&rs_b,1,ADR_MODBUS_TABLE+cur_position_buf_modbus16,count_write_to_modbus);
+ // SendCommandModbus16(&rs_b,1,1,30);
+
+ //
+ // SendCommandModbus16(&rs_b,1,0xc001,0x64);
+ // err_modbus
+ }
+ }
+}
+
+void read_all_data_from_mpu_485(int run_force)
+{
+ static unsigned int time_tick_modbus = 0;
+ static unsigned int old_PWM_ticks = 0;
+ static unsigned int count_write_to_modbus = 0;
+ static int cur_position_buf_modbus3 = 0;
+
+ if (global_time.pwm_tics != old_PWM_ticks)
+ {
+ if (global_time.pwm_tics > old_PWM_ticks)
+ time_tick_modbus = time_tick_modbus + (global_time.pwm_tics - old_PWM_ticks);
+ else
+ time_tick_modbus++;
+ }
+
+ old_PWM_ticks = global_time.pwm_tics;
+
+ if (TIME_PAUSE_MODBUS_MPU < time_tick_modbus)
+ {
+ // pause_1000()
+
+ pause_1000(10);
+ // SendCommandModbus3(&rs_b, 0x1, 0xc012,1);
+ //rs_b.flag_LEADING = 0;
+ if (!rs_b.flag_LEADING)
+ {
+ time_tick_modbus = 0;
+
+ if (err_modbus3 == 0)
+ cur_position_buf_modbus3 = cur_position_buf_modbus3 + SIZE_BUF_WRITE_TO_MODBUS16_VPU;
+
+ if (cur_position_buf_modbus3 >= SIZE_MODBUS_TABLE)
+ cur_position_buf_modbus3 = 0;
+
+ if ((cur_position_buf_modbus3 + SIZE_BUF_WRITE_TO_MODBUS16_VPU) > SIZE_MODBUS_TABLE)
+ count_write_to_modbus = SIZE_MODBUS_TABLE - cur_position_buf_modbus3;
+ else
+ count_write_to_modbus = SIZE_BUF_WRITE_TO_MODBUS16_VPU;
+
+ // count_write_to_modbus = SIZE_BUF_WRITE_TO_MODBUS16_VPU;
+ // cur_position_buf_modbus=0;
+
+ err_modbus3++;
+
+ if (err_modbus3 > MAX_COUNT_ERROR_FROM_RS_MPU)
+ f.RS_MPU_ERROR = 1;
+
+ // SendCommandModbus3(&rs_b,1,ADR_MODBUS_TABLE+cur_position_buf_modbus3,count_write_to_modbus);
+ ModbusRTUsend3(&rs_b, 1,
+ ADR_MODBUS_TABLE + cur_position_buf_modbus3,
+ count_write_to_modbus);
+ }
+ }
+
+ // time_tick_modbus++;
+}
+
+void write_all_data_to_mpu_can(int run_force, unsigned int pause)
+{
+// static int time_tick_modbus_can = 0;
+ static unsigned int old_time = 0;
+ static int count_write_to_modbus_can = 0;
+// static int time_send_to_can = 0;
+ // static unsigned int counter_max_I = 0, counter_max_M = 0;
+
+ static int cur_position_buf_modbus16_can = 0, prev_send_to_can = 0;
+ int real_mbox;
+ unsigned int i;
+
+ real_mbox = get_real_out_mbox(MPU_TYPE_BOX, edrk.flag_second_PCH);
+
+ if (prev_send_to_can && CAN_cycle_full_free(real_mbox,CAN_BOX_STAT_OFF)==0)
+ {
+ old_time = (unsigned int)global_time.miliseconds;
+ return;
+ }
+ prev_send_to_can = 0;
+
+ if (!detect_pause_milisec(pause,&old_time))
+ return;
+
+
+//
+//
+// if (cmd_3_or_16 == 1 || run_force)
+// {
+//
+// if (global_time.pwm_tics != old_PWM_ticks)
+// {
+// if (global_time.pwm_tics > old_PWM_ticks)
+// time_tick_modbus_can = time_tick_modbus_can + (global_time.pwm_tics - old_PWM_ticks);
+// else
+// time_tick_modbus_can++;
+// }
+//
+// old_PWM_ticks = global_time.pwm_tics;
+// }
+// else
+// {
+// old_PWM_ticks = global_time.pwm_tics;
+// return;
+// }
+//
+//
+//
+// if (CAN_cycle_free(real_mbox))
+// {
+// if (time_send_to_can == 0)
+// time_send_to_can = time_tick_modbus_can;
+//
+// // time_tick_modbus_can=0;
+//
+// }
+ // if(f.Prepare && CAN_cycle_free(real_mbox))
+ // {
+ // CAN_cycle_send( MPU_TYPE_BOX, 0, 198, &modbus_table_can_out[197].all, 1);
+ // }
+
+
+// if (time_tick_modbus_can > TIME_PAUSE_MODBUS_CAN)
+// {
+// time_tick_modbus_can = 0;
+// time_send_to_can = 0;
+// // pause_1000(300);
+
+
+ if (CAN_cycle_full_free(real_mbox,CAN_BOX_STAT_ON))
+ {
+ /////////////////////////////////////////////////////////////////////////////////////////////
+
+ ////////////////////////////////////////////////////////////////////////////////////////////
+
+
+ if (cur_position_buf_modbus16_can >= SIZE_MODBUS_TABLE)
+ {
+ cur_position_buf_modbus16_can = 0;
+ // modbus_table_can_out[ADR_CAN_TEST_PLUS_ONE].all++;
+ }
+
+ // ��������� �� ��������� ������ ����� ������� �������� ����� ������� ����� ������ �� �������� �� ����� ��������
+ if (cur_position_buf_modbus16_can == 0)
+ {
+ for (i=0;i<SIZE_MODBUS_TABLE;i++)
+ modbus_table_can_out_temp[i] = modbus_table_can_out[i];
+ }
+
+ if ((cur_position_buf_modbus16_can + SIZE_BUF_WRITE_TO_MODBUS16_CAN) >= SIZE_MODBUS_TABLE)
+ count_write_to_modbus_can = SIZE_MODBUS_TABLE - cur_position_buf_modbus16_can;
+ else
+ count_write_to_modbus_can = SIZE_BUF_WRITE_TO_MODBUS16_CAN;
+
+ if (CAN_cycle_full_free(real_mbox,CAN_BOX_STAT_ON))
+ {
+ // modbus_table_can_out[0x124].all++;
+ // CAN_cycle_send(MPU_CAN_DEVICE, cur_position_buf_modbus16_can+1, &modbus_table_can_out[cur_position_buf_modbus16_can].all, count_write_to_modbus_can);
+
+ CAN_cycle_send(
+ MPU_TYPE_BOX,
+ edrk.flag_second_PCH,
+ cur_position_buf_modbus16_can + 1,
+// &modbus_table_can_out[cur_position_buf_modbus16_can].all,
+ &modbus_table_can_out_temp[cur_position_buf_modbus16_can].all,
+ count_write_to_modbus_can, CAN_BOX_STANDART_ADR, CAN_BOX_PRIORITY_NORMAL);
+
+ cur_position_buf_modbus16_can = cur_position_buf_modbus16_can + SIZE_BUF_WRITE_TO_MODBUS16_CAN;
+ }
+ }
+
+// }
+
+}
+
+//void test_rs_can_with_svu_mpu()
+//{
+// int test_a, test_b;
+//
+// test_a = test_rs_live(&rs_a);
+// test_b = test_rs_live(&rs_b);
+//
+// if (test_a == 0 && test_b == 0 && f.status_MODE_WORK_SVU == 0)
+// {
+// /* ���� ����� �� �������� �� ���������� ��������� � ��������� ������������ RS232 */
+// if (test_can_live_mpu() == 0)
+// {
+// // if (f.cmd_to_go == 0) f.cmd_to_go = ERROR_CMD_GO_1;
+// edrk.Go = 0; /* ��������� */
+// }
+// }
+//
+// if (test_a == 0 && test_b == 0 && f.status_MODE_WORK_MPU == 0 /*&& f.status_SPEED_SELECT_KEY==0*/)
+// {
+// /* ���� ����� �� �������� �� ���������� ��������� � ��������� ������������ RS232 */
+// if (test_can_live_mpu() == 0)
+// {
+// // if (f.cmd_to_go == 0) f.cmd_to_go = ERROR_CMD_GO_2;
+// edrk.Go = 0; /* ��������� */
+// }
+// }
+//
+// if (test_a == 2)
+// {
+// /* ���� ����� �� �������� �� ���������� ��������� � ��������� ������������ RS232 */
+// // edrk.Go=0; /* ��������� */
+// resetup_rs(&rs_a);
+// }
+//
+// if (test_b == 2)
+// {
+// /* ���� ����� �� �������� �� ���������� ��������� � ��������� ������������ RS232 */
+// resetup_rs(&rs_b);
+//// flag_waiting_answer = 0; //���������, ����� ����� ������� �� ��������� ������,
+// //���� ���� slave ����, ������ ����� ��������.
+// }
+//
+// if (test_b == 5)
+// {
+// /* ���� ����� �� �������� �� ���������� ��������� � ��������� ������������ RS232 */
+// resetup_rs(&rs_b);
+//// flag_waiting_answer = 0; //���������, ����� ����� ������� �� ��������� ������,
+// //���� ���� slave ����, ������ ����� ��������.
+// }
+//
+// if (test_a == 4 && test_b == 4) //TODO: && SPEED_SELECT_REMOTE==1)
+// {
+// // ���� ����� �� �������� �� ���������� ��������� � ��������� ������������ RS232
+// if (test_can_live_mpu() == 0)
+// {
+// // if (f.cmd_to_go == 0) f.cmd_to_go = ERROR_CMD_GO_3;
+// edrk.Go = 0; // ���������
+// }
+// resetup_mpu_rs(&rs_a);
+// resetup_mpu_rs(&rs_b);
+//// flag_waiting_answer = 0;
+// }
+//
+// if (test_a == 4 && test_b == 4) //TOD: && SPEED_SELECT_REMOTE==0)
+// {
+// // ���� ����� �� �������� �� ���������� ��������� � ��������� ������������ RS232
+// // if (test_can_live_mpu()==0)
+//
+// // test_can_live_terminal //
+//
+// {
+// // if (f.cmd_to_go == 0) f.cmd_to_go = ERROR_CMD_GO_20;
+// edrk.Go = 0; // ���������
+// }
+// resetup_mpu_rs(&rs_a);
+// resetup_mpu_rs(&rs_b);
+// }
+//
+// if (test_a == 0 && f.status_MODE_WORK_MPU == 0) // && SPEED_SELECT_REMOTE==0)
+// {
+// /* ���� ����� �� �������� �� ���������� ��������� � ��������� ������������ RS232 */
+// // if (test_can_live_mpu()==0)
+// // if (f.cmd_to_go == 0) f.cmd_to_go = ERROR_CMD_GO_4;
+// edrk.Go = 0; /* ��������� */
+// }
+//
+// // if (CAN_timeout[]==1)
+// // f.CAN_MPU_ERROR=CAN_timeout[MPU_CAN_DEVICE];
+//}
+
+
+
+#define TIME_REINIT_PULT_INGETEAM 5
+
+
+void test_alive_pult_485(void)
+{
+ static unsigned int time_pause = 0, old_time = 0;
+
+//
+// if (control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485]>control_station.setup_time_detect_active_resend_485[CONTROL_STATION_INGETEAM_PULT_RS485])
+// {
+// resetup_mpu_rs(&rs_b);
+// control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+// control_station.flag_message_sent[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+// control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+// }
+/*
+ if (control_station.time_detect_active[CONTROL_STATION_INGETEAM_PULT_RS485]>control_station.setup_time_detect_active_resend_485[CONTROL_STATION_INGETEAM_PULT_RS485])
+ {
+ resetup_mpu_rs(&rs_b);
+ control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+ // control_station.time_detect_active[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+ }
+*/
+
+// if (control_station.time_detect_active[CONTROL_STATION_INGETEAM_PULT_RS485]>control_station.setup_time_detect_active[CONTROL_STATION_INGETEAM_PULT_RS485])
+// {
+// resetup_mpu_rs(&rs_b);
+// control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+// control_station.time_detect_active[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+// }
+
+
+/*
+ if (!detect_pause_milisec(CONTROL_STATION_TIME_WAIT,&old_time))
+ return;
+
+ time_pause++;
+
+ if (time_pause>=TIME_REINIT_PULT_INGETEAM)
+ {
+ flag_waiting_answer = 0; //���������, ����� ����� ������� �� ��������� ������
+ }
+*/
+
+}
+
+
+#define MAX_COUNT_WORK_IN_LOG 150
+
+
+int modbusNetworkSharing(int flag_update_only_hmi)
+{
+ static unsigned int old_time = 0 , old_time_refresh = 0, time_pause = TIME_PAUSE_MODBUS_REMOUTE;
+ static unsigned int old_time_status_3 = 0, time_pause_status_3 = 500;
+ int final_code=0;
+ static unsigned int status=0;
+ static int numberInT=0, enable_send_cmd = 0;
+
+ static int run_pause = 1, flag_next = 0, prev_flag_next = 0;
+ static int last_ok_cmd=0;
+ static int flag_only_one_cmd=0;
+ static int status_ok = 1, status_err = 0, flag_work_rs_send_log = 0, count_free = 0, count_work_in_log = 0;
+
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
+ PWM_LINES_TK_20_ON;
+#endif
+
+ RS232_WorkingWith(0,1,0);
+
+ // ��� ��� ������-����� ��� ������� ��������
+ // control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485] = 1;
+
+ control_station_test_alive_all_control();
+
+ // if (detect_pause_milisec(100,&old_time_refresh))
+ control_station.update_timers(&control_station);
+
+ detecting_cmd_from_can();
+
+ // test_rs_can_with_svu_mpu();
+// test_alive_pult_485();
+
+
+ // if (rs_b.RS_DataSended==0 && rs_b.RS_DataReadyAnswerAnalyze==0)
+ // status = 0;
+
+ control_station.flag_message_sent[CONTROL_STATION_INGETEAM_PULT_RS485] = rs_b.RS_DataSended;
+
+ final_code = 0;
+
+
+ switch(status)
+ {
+ case 0:
+
+ old_time = global_time.miliseconds;
+ status = 1;
+ if (time_pause==0)
+ status = 2;
+
+ break;
+ case 1:
+ // if (numberInT==0)
+ // {
+ if (detect_pause_milisec(time_pause,&old_time))
+ status = 2;
+ // }
+ // else
+ // status = 2;
+
+ break;
+ case 2:
+ enable_send_cmd = 1;
+ control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+ status = 3;
+ old_time_status_3 = global_time.miliseconds;
+
+ break;
+ case 3:
+ // // ���� �� � �������� ����� � ��� ������ ������� ��� ������ �� rs485
+ // if (flag_work_rs_send_log)
+ // {
+ // status = 0;
+ // status_ok++;
+ // if (status_ok<0) status_ok=1;
+ // }
+
+ // �� ���� ������� �� rs485 ������ � ������ ��� ������!
+ if (rs_b.RS_DataWillSend2 == 0 && enable_send_cmd == 0)
+ {
+ status = 0;
+ status_ok++;
+ count_free++;
+ }
+ else
+ if (rs_b.RS_DataReadyAnswerAnalyze)
+ {
+// i_led2_on_off(0);
+
+ control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+ control_station.count_ok_modbus[CONTROL_STATION_INGETEAM_PULT_RS485]++;
+ rs_b.RS_DataReadyAnswerAnalyze = 0;
+ rs_b.RS_DataWillSend2 = 0;
+ status = 0;
+
+ if (last_ok_cmd==4) // ������ readAnalogDataFromRemote() �� ����
+ {
+ edrk.get_new_data_from_hmi = 1;// ����� ������� ������?
+ edrk.get_new_data_from_hmi2 = 1;// ����� ������� ������?
+ }
+ final_code = last_ok_cmd;//numberInT+1;
+
+ //status_err = 0;
+ status_ok++;
+ }
+ else
+ {
+ if ( (control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485]>control_station.setup_time_detect_active_resend_485[CONTROL_STATION_INGETEAM_PULT_RS485])
+ || (detect_pause_milisec(time_pause_status_3,&old_time_status_3)) )
+ {
+ resetup_mpu_rs(&rs_b);
+ control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+ rs_b.RS_DataWillSend2 = 0;
+ status = 0;
+ control_station.count_error_modbus[CONTROL_STATION_INGETEAM_PULT_RS485]++;
+ status_err++;// = 1;
+ }
+
+ }
+
+ if (status_ok<0) status_ok=1;
+
+ break;
+ case 4:
+
+ break;
+ case 5:
+
+ break;
+ case 6:
+
+ break;
+ default:
+ break;
+
+
+
+ }
+
+/*
+ if (status==0)
+ {
+ old_time = global_time.miliseconds;
+ status = 1;
+ if (time_pause==0)
+ status = 2;
+ }
+
+ if (status==1)
+ {
+// if (numberInT==0)
+// {
+ if (detect_pause_milisec(time_pause,&old_time))
+ status = 2;
+// }
+// else
+// status = 2;
+ }
+
+ if (status==2)
+ {
+ enable_send_cmd = 1;
+ control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+ status = 3;
+ old_time_status_3 = global_time.miliseconds;
+ }
+
+ if (status==3)
+ {
+ if (rs_b.RS_DataWillSend2 == 0)
+ {
+
+ count_free++;
+
+ }
+
+ // ���� �� � �������� ����� � ��� ������ ������� ��� ������ �� rs485
+ if (flag_work_rs_send_log)
+ {
+ status = 0;
+ status_ok++;
+ if (status_ok<0) status_ok=1;
+ }
+
+ if (rs_b.RS_DataReadyAnswerAnalyze)
+ {
+// i_led2_on_off(0);
+
+ control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+ control_station.count_ok_modbus[CONTROL_STATION_INGETEAM_PULT_RS485]++;
+ rs_b.RS_DataReadyAnswerAnalyze = 0;
+ rs_b.RS_DataWillSend2 = 0;
+ status = 0;
+
+ if (last_ok_cmd==4) // ������ readAnalogDataFromRemote() �� ����
+ edrk.get_new_data_from_hmi = 1;// ����� ������� ������?
+ final_code = last_ok_cmd;//numberInT+1;
+
+ //status_err = 0;
+ status_ok++;
+ if (status_ok<0) status_ok=1;
+ }
+ else
+ {
+ if ( (control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485]>control_station.setup_time_detect_active_resend_485[CONTROL_STATION_INGETEAM_PULT_RS485])
+ || (detect_pause_milisec(time_pause_status_3,&old_time_status_3)) )
+ {
+ resetup_mpu_rs(&rs_b);
+ control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+ rs_b.RS_DataWillSend2 = 0;
+ status = 0;
+ control_station.count_error_modbus[CONTROL_STATION_INGETEAM_PULT_RS485]++;
+ status_err++;// = 1;
+ }
+
+ }
+
+ }
+*/
+// switch (status)
+// {
+// case 0 : status = 1;
+// break;
+//
+// case 1 : old_time = global_time.miliseconds;
+// status = 2;
+// break;
+//
+// case 2 :
+// if (run_pause)
+// {
+// status = 3;
+// run_pause = 0;
+// }
+// if (detect_pause_milisec(time_pause,&old_time))
+// status = 3;
+// break;
+//
+// case 3 :
+// enable_send_cmd = 1;
+//// control_station.count_error_modbus_15[CONTROL_STATION_INGETEAM_PULT_RS485]++;
+// control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+// status = 4;
+// break;
+//
+//
+// case 4 :
+// if (rs_b.RS_DataReadyAnswerAnalyze)
+// {
+// control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+// control_station.count_ok_modbus[CONTROL_STATION_INGETEAM_PULT_RS485]++;
+// rs_b.RS_DataReadyAnswerAnalyze = 0;
+// status = 1;
+// final_code = numberInT+1;
+// }
+// else
+// {
+// if (control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485]>control_station.setup_time_detect_active_resend_485[CONTROL_STATION_INGETEAM_PULT_RS485])
+// {
+// resetup_mpu_rs(&rs_b);
+// control_station.time_detect_answer_485[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+// status = 1;
+// control_station.count_error_modbus[CONTROL_STATION_INGETEAM_PULT_RS485]++;
+// }
+// }
+// break;
+//
+//
+// case 5 : break;
+//
+//
+// case 6 : break;
+//
+// default : break;
+// }
+
+
+//
+//
+// if (control_station.flag_message_sent[CONTROL_STATION_INGETEAM_PULT_RS485] == 1)
+// {
+// if (control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485] == 0 && prev_flag_waiting_answer == 1)
+// {
+// old_time = global_time.miliseconds;
+// }
+//
+// if (control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485] == 0)
+// {
+// if (detect_pause_milisec(time_pause,&old_time))
+// {
+// control_station.flag_message_sent[CONTROL_STATION_INGETEAM_PULT_RS485] = 0;
+// }
+//
+// }
+// }
+// prev_flag_waiting_answer = control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485];
+//
+//
+// if (control_station.flag_message_sent[CONTROL_STATION_INGETEAM_PULT_RS485] == 0 &&
+// control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485] == 0 )
+// {
+// enable_send_cmd = 1;
+//// numberInT++;
+//// if (numberInT>3)
+//// numberInT = 1;
+// }
+//
+
+
+// ��� �������� ��� ����� ������
+ if (flag_only_one_cmd)
+ numberInT=flag_only_one_cmd-1;
+//
+
+
+ if (enable_send_cmd
+// && (log_to_HMI.send_log == 0)
+ )
+ {
+//i_led2_on_off(1);
+ last_ok_cmd = numberInT;
+ switch (numberInT)
+ {
+
+ case 0:
+
+ if ((flag_update_only_hmi==0) && (edrk.flag_enable_update_hmi))
+ update_tables_HMI_discrete();
+
+ writeDiscreteDataToRemote();
+ edrk.test++;
+
+ numberInT++;
+ enable_send_cmd = 0;
+ break;
+
+ case 1:
+
+ if ((flag_update_only_hmi==0) && (edrk.flag_enable_update_hmi))
+// if (edrk.flag_enable_update_hmi)
+ update_tables_HMI_analog();
+
+ writeAnalogDataToRemote(); // 1 ����� �������
+
+// if (flag_update_only_hmi==1)
+// // ���������� ���� �������
+// numberInT = 0;
+// else
+ numberInT++;
+
+ enable_send_cmd = 0;
+ break;
+
+ case 2:
+
+// if (edrk.flag_enable_update_hmi)
+// update_tables_HMI_analog();
+
+ writeAnalogDataToRemote(); // 2 ����� �������
+
+// if (flag_update_only_hmi==1)
+// // ���������� ���� �������
+// numberInT = 0;
+// else
+ numberInT++;
+
+ enable_send_cmd = 0;
+ break;
+
+
+ case 3:
+ readAnalogDataFromRemote(); // 1 �����
+ numberInT++;
+ enable_send_cmd = 0;
+ break;
+
+ case 4:
+ readAnalogDataFromRemote(); // 2 �����
+
+ if (log_to_HMI.send_log)
+ {
+ numberInT++;
+ }
+ else
+ // ���������� ���� �������
+ numberInT = 0;
+
+ enable_send_cmd = 0;
+ count_work_in_log = 0; // ���������� ��� �����
+ break;
+
+ case 5:
+ if (log_to_HMI.send_log)
+ {
+ time_pause = 2;
+ // ccc[0] = 1;
+ flag_work_rs_send_log = !sendLogToHMI(status_ok);
+ edrk.flag_slow_in_main = 1;
+ enable_send_cmd = 0;
+
+ if (count_work_in_log>MAX_COUNT_WORK_IN_LOG)
+ {
+ count_work_in_log = 0;
+ numberInT = 0; // ��������� ������ ����
+
+ }
+ else
+ {
+ count_work_in_log++;
+ // �������� � ���� ����� �����
+ }
+
+ }
+ else
+ {
+ time_pause = TIME_PAUSE_MODBUS_REMOUTE;
+ // ccc[0] = 0;
+ numberInT = 0;
+ enable_send_cmd = 0;
+ edrk.flag_slow_in_main = 0;
+ }
+ break;
+
+
+ default:
+ enable_send_cmd = 0;
+ break;
+ }
+
+
+//i_led2_on_off(0);
+
+ }
+ //sendLogToHMI();
+
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_RS)
+ PWM_LINES_TK_20_OFF;
+#endif
+
+ if (flag_update_only_hmi)
+ return final_code;
+
+
+ return 0;
+}
+
+
+
+int modbusNetworkSharingCAN(void)
+{
+// static unsigned int old_time1 = 0 , time_pause1 = TIME_PAUSE_NETWORK_CAN1;
+// static unsigned int old_time2 = 0 , time_pause2 = TIME_PAUSE_NETWORK_CAN2;
+// static unsigned int old_time3 = 0 , time_pause3 = TIME_PAUSE_NETWORK_CAN3;
+ static unsigned int time_pause_modbus_can_terminals = TIME_PAUSE_MODBUS_CAN_TERMINALS;
+
+
+
+#if (ENABLE_CAN_SEND_TO_MPU_FROM_MAIN)
+// if (detect_pause_milisec(time_pause1,&old_time1))
+ static unsigned int time_pause_modbus_can_mpu = TIME_PAUSE_MODBUS_CAN_MPU;
+ write_all_data_to_mpu_can(1, time_pause_modbus_can_mpu);
+#endif
+
+#if (ENABLE_CAN_SEND_TO_TERMINAL_FROM_MAIN)
+// if (detect_pause_milisec(time_pause2,&old_time2))
+ write_all_data_to_terminals_can(1, time_pause_modbus_can_terminals);
+#endif
+
+
+#if (ENABLE_CAN_SEND_TO_TERMINAL_OSCIL)
+// if (detect_pause_milisec(time_pause3,&old_time3))
+ oscil_can.pause_can = TIME_PAUSE_MODBUS_CAN_OSCIL;
+ oscil_can.send(&oscil_can);
+#endif
+
+ return 0;
+}
+
diff --git a/Inu/Src/main/message_modbus.h b/Inu/Src/main/message_modbus.h
new file mode 100644
index 0000000..971e5a9
--- /dev/null
+++ b/Inu/Src/main/message_modbus.h
@@ -0,0 +1,61 @@
+
+#ifndef _MESSAGE_MODBUS_H
+#define _MESSAGE_MODBUS_H
+
+
+
+// void ReceiveCommandModbus3(RS_DATA *rs_arr);
+// void ReceiveCommandModbus16(RS_DATA *rs_arr);
+// void ReceiveCommandModbus15(RS_DATA *rs_arr);
+
+// void SendCommandModbus3(RS_DATA *rs_arr,int adr_contr, unsigned int adr_start,unsigned int count_word);
+// void SendCommandModbus16(RS_DATA *rs_arr,int adr_contr, unsigned int adr_start,unsigned int count_word);
+
+// void ReceiveAnswerCommandModbus16(RS_DATA *rs_arr);
+// void ReceiveAnswerCommandModbus3(RS_DATA *rs_arr);
+
+#define TIME_PAUSE_MODBUS_MPU 250 //100//500
+#define TIME_PAUSE_MODBUS_REMOUTE 20 //100 //500
+
+#define TIME_PAUSE_NETWORK_CAN1 444 //500
+#define TIME_PAUSE_NETWORK_CAN2 990 //500
+#define TIME_PAUSE_NETWORK_CAN3 1855 //500
+
+//#define START_ADR_ARR 0xc000
+//#define LENGTH_ADR_ARR 0x100
+//#define SIZE_MODBUS_TABLE_DISCRETE_REMOUTE 36 // = 576/16
+#define SIZE_BUF_WRITE_TO_MODBUS1_REMOUTE SIZE_MODBUS_TABLE_DISCRET_REMOUTE // SIZE_MODBUS_TABLE_DISCRET_BITS //576 //��� ������� ������� ������ 3 ���� modbus ��������� ������� ��� �� ���������� ������ �������.
+#define SIZE_BUF_WRITE_TO_MODBUS15_REMOUTE SIZE_MODBUS_TABLE_DISCRET_REMOUTE //SIZE_MODBUS_TABLE_DISCRET_BITS //576 //96
+
+
+#define SIZE_BUF_WRITE_TO_MODBUS16_VPU 100 //
+
+#define SIZE_BUF_WRITE_TO_MODBUS16_REMOUTE 120 //100 // ��������, ������ � ����� ������� ������.����� ������ ���, �� ������ SIZE_ANALOG_DATA_REMOUTE
+#define SIZE_ANALOG_DATA_REMOUTE 240 //165 // ��������, ������ ������ �� ���������� ����� ������ ���
+
+
+#define SIZE_BUF_READ_FROM_MODBUS16_REMOUTE 120 //20//36 // �����, ������ � ����� ������� ������.����� ������ ���, �� ������ SIZE_ANALOG_DATA_FROM_MODBUS16_REMOUTE
+#define SIZE_ANALOG_DATA_FROM_MODBUS16_REMOUTE SIZE_ANALOG_DATA_REMOUTE //20//36 // �����, ������ ������ �� ���������� ����� ������ ���
+
+
+#define SIZE_BUF_WRITE_TO_MODBUS16_CAN 100 //10 //1000//400//04.04.2012 //100// //800
+#define START_LOG_MODBUS16_ADRES 100
+#define SIZE_BUF_WRITE_LOG_TO_MODBUS16 120
+//#define SIZE_ANALOG_DATA 61
+
+
+#define MAX_COUNT_ERROR_FROM_RS_MPU 10
+
+//void test_rs_can_with_svu_mpu();
+void write_all_data_to_mpu_can(int run_force, unsigned int pause);
+void read_all_data_from_mpu_485(int run_force);
+void write_all_data_to_mpu_485(int run_force);
+extern int enable_can;
+
+int modbusNetworkSharing(int flag_update_only_hmi);
+int modbusNetworkSharingCAN(void);
+
+
+
+#endif //_MESSAGE_MODBUS_H
+
diff --git a/Inu/Src/main/message_terminals_can.c b/Inu/Src/main/message_terminals_can.c
new file mode 100644
index 0000000..c21892a
--- /dev/null
+++ b/Inu/Src/main/message_terminals_can.c
@@ -0,0 +1,128 @@
+/*
+ * message_terminals_can.c
+ *
+ * Created on: 15 ��� 2020 �.
+ * Author: yura
+ */
+#include <edrk_main.h>
+#include <message_modbus.h>
+#include <message2.h>
+#include <vector.h>
+
+#include "CAN_Setup.h"
+#include "global_time.h"
+#include "modbus_table_v2.h"
+#include "oscil_can.h"
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+#include "CRC_Functions.h"
+#include "RS_Function_terminal.h"
+#include "TuneUpPlane.h"
+#include "control_station.h"
+
+
+
+#define TERMINALS_CAN_TIME_WAIT 500 // ������ �������� ������ � ����������
+#pragma DATA_SECTION(buf_message_can_cmd,".slow_vars")
+int buf_message_can_cmd[sizeof(CMD_TO_TMS_STRUCT)+10];
+#pragma DATA_SECTION(buf_message_can_data,".slow_vars")
+int buf_message_can_data[sizeof(TMS_TO_TERMINAL_STRUCT)+10];
+#pragma DATA_SECTION(buf_message_can_data2,".slow_vars")
+int buf_message_can_data2[sizeof(TMS_TO_TERMINAL_STRUCT)+10];
+
+int *p_buf_message_can_data3;
+
+
+void write_all_data_to_terminals_can(int run_force, unsigned int pause)
+{
+ static unsigned int old_time = 0;
+ static unsigned int send_time = 0;
+ static int prev_send_to_can = 0;
+
+ static int count_sends = 0;
+
+ unsigned long old_t;
+ unsigned int i;
+ int real_mbox;
+ CMD_TO_TMS_STRUCT* pcommand = (CMD_TO_TMS_STRUCT *)(buf_message_can_cmd);
+
+
+ real_mbox = get_real_out_mbox(TERMINAL_TYPE_BOX, edrk.number_can_box_terminal_cmd);
+
+ // ���� ������� �� �������� ������� � ��� ��� �� ����, ����� ���������� ������� ������� ����� ����� ���������,
+ // �.�. TERMINALS_CAN_TIME_WAIT ����� ������ �������� ������� � ����� �������.
+ if (prev_send_to_can && CAN_cycle_full_free(real_mbox,CAN_BOX_STAT_OFF)==0)
+ {
+ old_time = (unsigned int)global_time.miliseconds;
+ return;
+ }
+ prev_send_to_can = 0;
+
+ if (!detect_pause_milisec(pause,&old_time))
+ return;
+
+
+ //func_fill_answer_to_TMS(&reply, pcommand);
+ func_pack_answer_to_TMS(&reply);
+
+ *(TMS_TO_TERMINAL_STRUCT*)buf_message_can_data2 = reply; // ���������� ������ ����������
+
+
+
+ // reply.digit_data.byte01.byte_data = send_time;
+/* reply.digit_data.byte02.byte_data = 0x66;
+ reply.analog_data.analog60_hi = 0x33;
+ reply.analog_data.analog60_lo = 0x44;
+*/
+ reply.analog_data.analog58_hi = HIBYTE((unsigned int)control_station.raw_array_data[CONTROL_STATION_TERMINAL_CAN][0].all);
+ reply.analog_data.analog58_lo = LOBYTE((unsigned int)control_station.raw_array_data[CONTROL_STATION_TERMINAL_CAN][0].all);
+
+// control_station.raw_array_data[CONTROL_STATION_TERMINAL_CAN][0].all
+
+ reply.analog_data.analog59_hi = HIBYTE((unsigned int)global_time.miliseconds);
+ reply.analog_data.analog59_lo = LOBYTE((unsigned int)global_time.miliseconds);
+
+ reply.analog_data.analog60_hi = HIBYTE(count_sends);
+ reply.analog_data.analog60_lo = LOBYTE(count_sends);
+ count_sends++;
+ if (count_sends>32768) count_sends=0;
+
+// reply.analog_data.analog1_hi = HIBYTE(send_time);
+ // reply.analog_data.analog1_lo = LOBYTE(send_time);
+
+// reply.analog_data.analog2_hi = HIBYTE(oscil_can.timer_send);
+// reply.analog_data.analog2_lo = LOBYTE(oscil_can.timer_send);
+
+ p_buf_message_can_data3 = (int *)&reply.digit_data;
+
+
+ for (i=0;i<sizeof(TMS_TO_TERMINAL_STRUCT)-5;i++)
+ {
+
+ if (i%2)
+ {
+ buf_message_can_data[i>>1] |= ( (*p_buf_message_can_data3++) << 8) & 0xff00;
+ }
+ else
+ buf_message_can_data[i>>1] = ( (*p_buf_message_can_data3++) ) & 0x00ff;
+
+ }
+
+ if (CAN_cycle_full_free(real_mbox,CAN_BOX_STAT_ON))
+ {
+
+ old_t = global_time.microseconds;
+ CAN_cycle_send(
+ TERMINAL_TYPE_BOX,
+ edrk.number_can_box_terminal_cmd,
+ 0,
+ &buf_message_can_data[0], ((sizeof(TMS_TO_TERMINAL_STRUCT)-5)>>1), CAN_BOX_STANDART_ADR, CAN_BOX_PRIORITY_NORMAL);
+
+ prev_send_to_can = 1;
+
+
+ send_time = (global_time.microseconds - old_t)/100;
+ }
+
+
+}
diff --git a/Inu/Src/main/message_terminals_can.h b/Inu/Src/main/message_terminals_can.h
new file mode 100644
index 0000000..90cf1c6
--- /dev/null
+++ b/Inu/Src/main/message_terminals_can.h
@@ -0,0 +1,15 @@
+/*
+ * message_terminals_can.h
+ *
+ * Created on: 22 ��� 2020 �.
+ * Author: yura
+ */
+
+#ifndef SRC_MAIN_MESSAGE_TERMINALS_CAN_H_
+#define SRC_MAIN_MESSAGE_TERMINALS_CAN_H_
+
+void write_all_data_to_terminals_can(int run_force, unsigned int pause);
+
+
+
+#endif /* SRC_MAIN_MESSAGE_TERMINALS_CAN_H_ */
diff --git a/Inu/Src/main/modbus_hmi.c b/Inu/Src/main/modbus_hmi.c
new file mode 100644
index 0000000..f28cb25
--- /dev/null
+++ b/Inu/Src/main/modbus_hmi.c
@@ -0,0 +1,393 @@
+#include "log_to_memory.h"
+#include <message_modbus.h>
+#include <modbus_hmi.h>
+#include <modbus_hmi_update.h>
+#include <vector.h>
+
+#include "control_station.h"
+#include "global_time.h"
+#include "modbus_table_v2.h"
+#include "RS_modbus_pult.h"
+#include "DSP281x_Device.h"
+#include "MemoryFunctions.h"
+#include "RS_modbus_svu.h"
+#include "log_params.h"
+
+
+#pragma DATA_SECTION(modbus_table_discret_in,".logs");
+MODBUS_REG_STRUCT modbus_table_discret_in[SIZE_MODBUS_TABLE_DISCRET_REMOUTE]; //registers 10001-19999 modbus RTU
+
+#pragma DATA_SECTION(modbus_table_discret_out,".logs");
+MODBUS_REG_STRUCT modbus_table_discret_out[SIZE_MODBUS_TABLE_DISCRET_REMOUTE]; //registers 1-9999 modbus RTU
+
+#pragma DATA_SECTION(modbus_table_analog_in, ".logs");
+MODBUS_REG_STRUCT modbus_table_analog_in[SIZE_MODBUS_ANALOG_REMOUTE]; //registers 30001-39999 modbus RTU
+
+#pragma DATA_SECTION(modbus_table_analog_out, ".logs");
+//MODBUS_REG_STRUCT modbus_table_analog_out[700]; //registers 40001-49999 modbus RTU
+MODBUS_REG_STRUCT modbus_table_analog_out[SIZE_MODBUS_ANALOG_REMOUTE]; //registers 40001-49999 modbus RTU
+
+//#pragma DATA_SECTION(modbus_table_analog_out2, ".logs");
+//MODBUS_REG_STRUCT modbus_table_analog_out[700]; //registers 40001-49999 modbus RTU
+//MODBUS_REG_STRUCT modbus_table_analog_out2[SIZE_MODBUS_ANALOG_REMOUTE]; //registers 40001-49999 modbus RTU
+
+
+//unsigned int flag_waiting_answer = 1;
+//unsigned int flag_message_sent = 0;
+
+
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+void clear_table_remoute(void)
+{
+ int i;
+
+ for (i=0;i<SIZE_MODBUS_TABLE_DISCRET_REMOUTE;i++)
+ {
+ modbus_table_discret_in[i].all = 0;
+ modbus_table_discret_out[i].all = 0;
+ }
+
+ for (i=0;i<SIZE_MODBUS_ANALOG_REMOUTE;i++)
+ {
+ modbus_table_analog_in[i].all = 0;
+ modbus_table_analog_out[i].all = 0;
+ //modbus_table_analog_out2[i].all = 0;
+ }
+
+
+
+
+}
+
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+
+void setRegisterDiscreteOutput(int value, int adres)
+{
+ int word_number = 0;
+ int bit_number = 0;
+
+ if (adres >= 0 && adres < SIZE_MODBUS_TABLE_DISCRET_BITS)
+ {
+// word_number = (adres % 16 == 0) && (adres != 0) ? adres / 16 + 1 :
+// adres / 16;
+ word_number = (adres % 16 == 0) && (adres != 0) ? adres / 16 :
+ adres / 16;
+ bit_number = adres % 16;
+
+ if (word_number<SIZE_MODBUS_TABLE_DISCRET_REMOUTE)
+ {
+ if (value)
+ modbus_table_discret_out[word_number].all |= 1 << bit_number;
+ else
+ modbus_table_discret_out[word_number].all &= ~(1 << bit_number);
+ }
+ }
+}
+
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+int getRegisterDiscreteOutput(int adres) {
+ int word_number = 0;
+ int bit_number = 0;
+
+ if (adres >= 0 && adres < SIZE_MODBUS_TABLE_DISCRET_BITS) {
+ word_number = adres / 16;
+ bit_number = adres % 16;
+ return (modbus_table_discret_out[word_number].all >> bit_number) & 1;
+ }
+
+ return 0;
+}
+
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+int readDiscreteOutputsFromRemote()
+{
+ int succed = 0;
+ static unsigned int time_tick_modbus = 0;
+ static unsigned int old_PWM_ticks = 0;
+ static unsigned int count_write_to_modbus = 0;
+ static int cur_position_buf_modbus1 = 0;
+
+ ModbusRTUsetDiscretDataArray(modbus_table_discret_out, modbus_table_discret_out);
+
+// if (global_time.pwm_tics != old_PWM_ticks)
+// {
+// if (global_time.pwm_tics > old_PWM_ticks)
+// time_tick_modbus = time_tick_modbus + (global_time.pwm_tics - old_PWM_ticks);
+// else
+// time_tick_modbus++;
+// }
+// old_PWM_ticks = global_time.pwm_tics;
+// if (TIME_PAUSE_MODBUS < time_tick_modbus)
+// {
+ if (!rs_b.flag_LEADING)
+ {
+// time_tick_modbus = 0;
+
+ if (control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485] == 0)
+ cur_position_buf_modbus1 = cur_position_buf_modbus1 + SIZE_BUF_WRITE_TO_MODBUS1_REMOUTE;
+
+ if (cur_position_buf_modbus1 >= SIZE_MODBUS_TABLE_DISCRET_REMOUTE)
+ cur_position_buf_modbus1 = 0;
+
+ if ((cur_position_buf_modbus1 + SIZE_BUF_WRITE_TO_MODBUS1_REMOUTE) > SIZE_MODBUS_TABLE_DISCRET_REMOUTE)
+ count_write_to_modbus = SIZE_MODBUS_TABLE_DISCRET_REMOUTE - cur_position_buf_modbus1;
+ else
+ count_write_to_modbus = SIZE_BUF_WRITE_TO_MODBUS1_REMOUTE;
+
+ ModbusRTUsend1(&rs_b, 2,
+ ADR_MODBUS_TABLE_REMOUTE + cur_position_buf_modbus1,
+ count_write_to_modbus);
+ succed = 1;
+ // control_station.flag_message_sent[CONTROL_STATION_INGETEAM_PULT_RS485] = 1;
+ }
+// }
+ return succed;
+}
+
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+int writeSigleDiscreteDataToRemote(unsigned int adres)
+{
+ ModbusRTUsetDiscretDataArray(modbus_table_discret_out, modbus_table_discret_out);
+ if (!rs_b.flag_LEADING && !control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485] &&
+ (adres < SIZE_MODBUS_TABLE_DISCRET_BITS)) {
+ ModbusRTUsend5(&rs_b, 2, ADR_MODBUS_TABLE_REMOUTE + adres);
+ return 1;
+ }
+ return 0;
+}
+
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+int writeSingleAnalogOutputToRemote(unsigned int adres)
+{
+ ModbusRTUsetDataArrays(modbus_table_analog_in, modbus_table_analog_out);
+ if (!rs_b.flag_LEADING && !control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485] &&
+ (adres < SIZE_MODBUS_ANALOG_REMOUTE)) {
+ ModbusRTUsend6(&rs_b, 2, ADR_MODBUS_TABLE_REMOUTE + adres);
+ return 1;
+ }
+ return 0;
+}
+
+
+
+
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+int writeDiscreteDataToRemote()
+{
+ int succed = 0;
+ static unsigned int old_time = 0;
+
+ static unsigned int count_write_to_modbus = 0;
+ static int cur_position_buf_modbus15 = 0;
+
+ //ModbusRTUsetDiscretDataArray(modbus_table_discret_out, modbus_table_discret_out);
+ ModbusRTUsetDiscretDataArray(modbus_table_discret_in, modbus_table_discret_out);
+
+
+ if (!rs_b.flag_LEADING)
+ {
+
+// if (rs_b.RS_DataReadyAnswerAnalyze)
+// {
+// cur_position_buf_modbus15 += SIZE_BUF_WRITE_TO_MODBUS15_REMOUTE;
+// }
+
+ if (cur_position_buf_modbus15 >= (SIZE_MODBUS_TABLE_DISCRET_REMOUTE))
+ cur_position_buf_modbus15 = 0;
+
+ if ((cur_position_buf_modbus15 + SIZE_BUF_WRITE_TO_MODBUS15_REMOUTE) > (SIZE_MODBUS_TABLE_DISCRET_REMOUTE))
+ count_write_to_modbus = SIZE_MODBUS_TABLE_DISCRET_REMOUTE - cur_position_buf_modbus15;
+ else
+ count_write_to_modbus = SIZE_BUF_WRITE_TO_MODBUS15_REMOUTE;
+
+ // count_write_to_modbus = SIZE_BUF_WRITE_TO_MODBUS16;
+ // cur_position_buf_modbus=0;
+
+ ModbusRTUsend15(&rs_b, 2, ADR_MODBUS_TABLE_REMOUTE + cur_position_buf_modbus15*16,
+ count_write_to_modbus*16);
+// ModbusRTUsend15(&rs_a, 2, ADR_MODBUS_TABLE_REMOUTE + cur_position_buf_modbus15*16,
+// count_write_to_modbus*16);
+
+ cur_position_buf_modbus15 += SIZE_BUF_WRITE_TO_MODBUS15_REMOUTE;
+
+ // control_station.flag_message_sent[CONTROL_STATION_INGETEAM_PULT_RS485] = 1;
+ // control_station.count_error_modbus_15[CONTROL_STATION_INGETEAM_PULT_RS485]++;
+
+ // hmi_watch_dog = !hmi_watch_dog; //was transmitted, need to change
+ succed = 1;
+
+ }
+ return succed;
+}
+
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+#define ADRESS_END_FIRST_BLOCK 20
+#define ADRESS_START_PROTECTION_LEVELS 91
+
+int readAnalogDataFromRemote()
+{
+ int succed = 0;
+ static unsigned int old_time = 0;
+
+ static unsigned int count_write_to_modbus = 0;
+ static int cur_position_buf_modbus3 = 0, size_buf = SIZE_BUF_READ_FROM_MODBUS16_REMOUTE;
+
+
+ ModbusRTUsetDataArrays(modbus_table_analog_in, modbus_table_analog_out);
+
+
+
+ if (!rs_b.flag_LEADING)
+ {
+
+ if (control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485] == 0)
+ cur_position_buf_modbus3 = cur_position_buf_modbus3 + size_buf;
+
+ if (cur_position_buf_modbus3 >= SIZE_ANALOG_DATA_FROM_MODBUS16_REMOUTE)
+ cur_position_buf_modbus3 = 0;
+ //����� � ������. ����������.
+ if ((cur_position_buf_modbus3 > ADRESS_END_FIRST_BLOCK) &&
+ (cur_position_buf_modbus3 < ADRESS_START_PROTECTION_LEVELS)) {
+ cur_position_buf_modbus3 = ADRESS_START_PROTECTION_LEVELS;
+ }
+ if((cur_position_buf_modbus3 < ADRESS_END_FIRST_BLOCK) &&
+ (cur_position_buf_modbus3 + size_buf) > ADRESS_END_FIRST_BLOCK) {
+ count_write_to_modbus = ADRESS_END_FIRST_BLOCK - cur_position_buf_modbus3;
+ }
+
+ if ((cur_position_buf_modbus3 + size_buf) > SIZE_ANALOG_DATA_FROM_MODBUS16_REMOUTE)
+ count_write_to_modbus = SIZE_ANALOG_DATA_FROM_MODBUS16_REMOUTE - cur_position_buf_modbus3;
+ else
+ count_write_to_modbus = size_buf;
+
+ // count_write_to_modbus = SIZE_BUF_WRITE_TO_MODBUS16;
+ // cur_position_buf_modbus=0;
+
+
+ // SendCommandModbus3(&rs_b,1,ADR_MODBUS_TABLE+cur_position_buf_modbus3,count_write_to_modbus);
+ ModbusRTUsend4(&rs_b, 2,
+ ADR_MODBUS_TABLE_REMOUTE + cur_position_buf_modbus3,
+ count_write_to_modbus);
+ // control_station.count_error_modbus_4[CONTROL_STATION_INGETEAM_PULT_RS485]++;
+
+ // control_station.flag_message_sent[CONTROL_STATION_INGETEAM_PULT_RS485] = 1;
+ succed = 1;
+ }
+ return succed;
+}
+
+
+int writeSingleAnalogDataToRemote(int from_adr, int count_wr)
+{
+ int succed = 0;
+ static unsigned int old_time = 0;
+
+ static int count_write_to_modbus = 0;
+ static int cur_position_buf_modbus16 = 0;
+
+
+ ModbusRTUsetDataArrays(modbus_table_analog_in, modbus_table_analog_out);
+
+
+ if (!rs_b.flag_LEADING)
+ {
+ cur_position_buf_modbus16 = from_adr;
+
+// if (control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485] == 0)
+// cur_position_buf_modbus16 = cur_position_buf_modbus16 + SIZE_BUF_WRITE_TO_MODBUS16_REMOUTE;
+//
+// if (cur_position_buf_modbus16 >= SIZE_ANALOG_DATA_REMOUTE)
+// cur_position_buf_modbus16 = 0;
+
+// //����� � ������. ����������.
+// if ((cur_position_buf_modbus16 > ADRESS_END_FIRST_BLOCK) &&
+// (cur_position_buf_modbus16 < ADRESS_START_PROTECTION_LEVELS)) {
+// cur_position_buf_modbus16 = ADRESS_START_PROTECTION_LEVELS;
+// }
+
+ if ((cur_position_buf_modbus16 + count_wr) > SIZE_ANALOG_DATA_REMOUTE)
+ count_write_to_modbus = SIZE_ANALOG_DATA_REMOUTE - cur_position_buf_modbus16;
+ else
+ count_write_to_modbus = count_wr;
+
+ ModbusRTUsend16(&rs_b, 2,
+ ADR_MODBUS_TABLE_REMOUTE + cur_position_buf_modbus16,
+ count_write_to_modbus);
+
+ succed = 1;
+ }
+ return succed;
+}
+
+
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+int writeAnalogDataToRemote()
+{
+ int succed = 0;
+ static unsigned int old_time = 0;
+
+ static int count_write_to_modbus = 0;
+ static int cur_position_buf_modbus16 = 0;
+
+
+ ModbusRTUsetDataArrays(modbus_table_analog_in, modbus_table_analog_out);
+
+
+ if (!rs_b.flag_LEADING)
+ {
+ if (control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485] == 0)
+ cur_position_buf_modbus16 = cur_position_buf_modbus16 + SIZE_BUF_WRITE_TO_MODBUS16_REMOUTE;
+
+ if (cur_position_buf_modbus16 >= SIZE_ANALOG_DATA_REMOUTE)
+ cur_position_buf_modbus16 = 0;
+
+// //����� � ������. ����������.
+// if ((cur_position_buf_modbus16 > ADRESS_END_FIRST_BLOCK) &&
+// (cur_position_buf_modbus16 < ADRESS_START_PROTECTION_LEVELS)) {
+// cur_position_buf_modbus16 = ADRESS_START_PROTECTION_LEVELS;
+// }
+
+ if ((cur_position_buf_modbus16 + SIZE_BUF_WRITE_TO_MODBUS16_REMOUTE) > SIZE_ANALOG_DATA_REMOUTE)
+ count_write_to_modbus = SIZE_ANALOG_DATA_REMOUTE - cur_position_buf_modbus16;
+ else
+ count_write_to_modbus = SIZE_BUF_WRITE_TO_MODBUS16_REMOUTE;
+
+ ModbusRTUsend16(&rs_b, 2,
+ ADR_MODBUS_TABLE_REMOUTE + cur_position_buf_modbus16,
+ count_write_to_modbus);
+ // control_station.count_error_modbus_16[CONTROL_STATION_INGETEAM_PULT_RS485]++;
+
+ // control_station.flag_message_sent[CONTROL_STATION_INGETEAM_PULT_RS485] = 1;
+ succed = 1;
+ }
+ return succed;
+}
+
+
+
+
+
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+
+
+
diff --git a/Inu/Src/main/modbus_hmi.h b/Inu/Src/main/modbus_hmi.h
new file mode 100644
index 0000000..887b537
--- /dev/null
+++ b/Inu/Src/main/modbus_hmi.h
@@ -0,0 +1,39 @@
+#ifndef _MODBUS_HMI
+#define _MODBUS_HMI
+
+#include "modbus_struct.h"
+
+
+int readDiscreteOutputsFromRemote();
+int writeSigleDiscreteDataToRemote(unsigned int adres);
+int writeSingleAnalogOutputToRemote(unsigned int adres);
+int writeDiscreteDataToRemote();
+int readAnalogDataFromRemote();
+int writeAnalogDataToRemote();
+int writeSingleAnalogDataToRemote(int from_adr, int count_wr);
+
+void setRegisterDiscreteOutput(int value, int adres);
+int getRegisterDiscreteOutput(int adres);
+
+
+
+
+void clear_table_remoute(void); // clear table
+
+#define ADRES_LOG_REGISTERS 100
+
+
+#define SIZE_MODBUS_TABLE_DISCRET_REMOUTE 36
+#define SIZE_MODBUS_TABLE_DISCRET_BITS (SIZE_MODBUS_TABLE_DISCRET_REMOUTE * 16)
+#define SIZE_MODBUS_ANALOG_REMOUTE 900
+
+
+extern MODBUS_REG_STRUCT modbus_table_analog_in[SIZE_MODBUS_ANALOG_REMOUTE];
+extern MODBUS_REG_STRUCT modbus_table_analog_out[SIZE_MODBUS_ANALOG_REMOUTE];
+extern MODBUS_REG_STRUCT modbus_table_discret_in[SIZE_MODBUS_TABLE_DISCRET_REMOUTE];
+extern MODBUS_REG_STRUCT modbus_table_discret_out[SIZE_MODBUS_TABLE_DISCRET_REMOUTE];
+
+//extern unsigned int flag_waiting_answer;
+//extern unsigned int flag_message_sent;
+
+#endif //_MODBUS_HMI
diff --git a/Inu/Src/main/modbus_hmi_read.c b/Inu/Src/main/modbus_hmi_read.c
new file mode 100644
index 0000000..9718943
--- /dev/null
+++ b/Inu/Src/main/modbus_hmi_read.c
@@ -0,0 +1,222 @@
+/*
+ * modbus_hmi_read.c
+ *
+ * Created on: 21 ���. 2020 �.
+ * Author: star
+ */
+#include <adc_tools.h>
+#include <edrk_main.h>
+#include <modbus_hmi.h>
+#include <modbus_hmi_read.h>
+#include <protect_levels.h>
+
+
+#define DELTA_ABNORMAL_P_WATER_MIN 50
+#define DELTA_ABNORMAL_P_WATER_MAX 100
+
+void parse_protect_levels_HMI() {
+
+ if (modbus_table_analog_in[91].all > 0) {
+ protect_levels.abnormal_temper_acdrive_winding_U1 = modbus_table_analog_in[91].all * 10;
+ }
+ if(modbus_table_analog_in[92].all > 0) {
+ protect_levels.abnormal_temper_acdrive_winding_V1 = modbus_table_analog_in[92].all * 10;
+ }
+ if(modbus_table_analog_in[93].all > 0) {
+ protect_levels.abnormal_temper_acdrive_winding_W1 = modbus_table_analog_in[93].all * 10;
+ }
+ if (modbus_table_analog_in[94].all > 0) {
+ protect_levels.abnormal_temper_acdrive_winding_U2 = modbus_table_analog_in[94].all * 10;
+ }
+ if (modbus_table_analog_in[95].all > 0) {
+ protect_levels.abnormal_temper_acdrive_winding_V2 = modbus_table_analog_in[95].all * 10;
+ }
+ if (modbus_table_analog_in[96].all > 0) {
+ protect_levels.abnormal_temper_acdrive_winding_W2 = modbus_table_analog_in[96].all * 10;
+ }
+ if (modbus_table_analog_in[97].all > 0) {
+ protect_levels.abnormal_temper_acdrive_bear_DNE = modbus_table_analog_in[97].all * 10;
+ }
+ if(modbus_table_analog_in[98].all > 0) {
+ protect_levels.abnormal_temper_acdrive_bear_NE = modbus_table_analog_in[98].all * 10;
+ }
+
+ if (modbus_table_analog_in[99].all > 0) {
+ protect_levels.alarm_temper_acdrive_winding_U1 = modbus_table_analog_in[99].all * 10;
+ }
+ if (modbus_table_analog_in[100].all > 0) {
+ protect_levels.alarm_temper_acdrive_winding_V1 = modbus_table_analog_in[100].all * 10;
+ }
+ if (modbus_table_analog_in[101].all > 0) {
+ protect_levels.alarm_temper_acdrive_winding_W1 = modbus_table_analog_in[101].all * 10;
+ }
+ if (modbus_table_analog_in[102].all > 0) {
+ protect_levels.alarm_temper_acdrive_winding_U2 = modbus_table_analog_in[102].all * 10;
+ }
+ if (modbus_table_analog_in[103].all > 0) {
+ protect_levels.alarm_temper_acdrive_winding_V2 = modbus_table_analog_in[103].all * 10;
+ }
+ if (modbus_table_analog_in[104].all > 0) {
+ protect_levels.alarm_temper_acdrive_winding_W2 = modbus_table_analog_in[104].all * 10;
+ }
+ if (modbus_table_analog_in[105].all > 0) {
+ protect_levels.alarm_temper_acdrive_bear_DNE = modbus_table_analog_in[105].all * 10;
+ }
+ if (modbus_table_analog_in[106].all > 0) {
+ protect_levels.alarm_temper_acdrive_bear_NE = modbus_table_analog_in[106].all * 10;
+ }
+
+ if (modbus_table_analog_in[107].all > 0) {
+ protect_levels.abnormal_temper_u_01 = modbus_table_analog_in[107].all * 10;
+ }
+ if (modbus_table_analog_in[108].all > 0) {
+ protect_levels.abnormal_temper_u_02 = modbus_table_analog_in[108].all * 10;
+ }
+ if (modbus_table_analog_in[109].all > 0) {
+ protect_levels.abnormal_temper_u_03 = modbus_table_analog_in[109].all * 10;
+ }
+ if (modbus_table_analog_in[110].all > 0) {
+ protect_levels.abnormal_temper_u_04 = modbus_table_analog_in[110].all * 10;
+ }
+ if (modbus_table_analog_in[111].all > 0) {
+ protect_levels.abnormal_temper_u_05 = modbus_table_analog_in[111].all * 10;
+ }
+ if (modbus_table_analog_in[112].all > 0) {
+ protect_levels.abnormal_temper_u_06 = modbus_table_analog_in[112].all * 10;
+ }
+ if (modbus_table_analog_in[113].all > 0) {
+ protect_levels.abnormal_temper_u_07 = modbus_table_analog_in[113].all * 10;
+ }
+ if (modbus_table_analog_in[114].all > 0) {
+ protect_levels.alarm_temper_u_01 = modbus_table_analog_in[114].all * 10;
+ }
+ if (modbus_table_analog_in[115].all > 0) {
+ protect_levels.alarm_temper_u_02 = modbus_table_analog_in[115].all * 10;
+ }
+ if (modbus_table_analog_in[116].all > 0) {
+ protect_levels.alarm_temper_u_03 = modbus_table_analog_in[116].all * 10;
+ }
+ if (modbus_table_analog_in[117].all > 0) {
+ protect_levels.alarm_temper_u_04 = modbus_table_analog_in[117].all * 10;
+ }
+ if (modbus_table_analog_in[118].all > 0) {
+ protect_levels.alarm_temper_u_05 = modbus_table_analog_in[118].all * 10;
+ }
+ if (modbus_table_analog_in[119].all > 0) {
+ protect_levels.alarm_temper_u_06 = modbus_table_analog_in[119].all * 10;
+ }
+ if (modbus_table_analog_in[120].all > 0) {
+ protect_levels.alarm_temper_u_07 = modbus_table_analog_in[120].all * 10;
+ }
+
+ if (modbus_table_analog_in[123].all > 0) {
+ protect_levels.abnormal_temper_water_int = modbus_table_analog_in[123].all * 10;
+ }
+ if (modbus_table_analog_in[124].all > 0) {
+ protect_levels.abnormal_temper_water_ext = modbus_table_analog_in[124].all * 10;
+ }
+ if (modbus_table_analog_in[125].all > 0) {
+ protect_levels.alarm_p_water_min_int = modbus_table_analog_in[125].all * 10;
+ protect_levels.abnormal_p_water_min_int = protect_levels.alarm_p_water_min_int + DELTA_ABNORMAL_P_WATER_MIN;
+ }
+ if (modbus_table_analog_in[126].all > 0) {
+ protect_levels.alarm_temper_water_int = modbus_table_analog_in[126].all * 10;
+ }
+ if (modbus_table_analog_in[127].all > 0) {
+ protect_levels.alarm_temper_water_ext = modbus_table_analog_in[127].all * 10;
+ }
+ if (modbus_table_analog_in[128].all > 0) {
+ protect_levels.alarm_p_water_max_int = modbus_table_analog_in[128].all * 10;
+ protect_levels.abnormal_p_water_max_int = protect_levels.alarm_p_water_max_int - DELTA_ABNORMAL_P_WATER_MAX;
+ }
+
+ if (modbus_table_analog_in[129].all > 0) {
+ protect_levels.abnormal_temper_air_int_01 = modbus_table_analog_in[129].all * 10;
+ }
+ if (modbus_table_analog_in[130].all > 0) {
+ protect_levels.abnormal_temper_air_int_02 = modbus_table_analog_in[130].all * 10;
+ }
+ if (modbus_table_analog_in[131].all > 0) {
+ protect_levels.abnormal_temper_air_int_03 = modbus_table_analog_in[131].all * 10;
+ }
+ if (modbus_table_analog_in[132].all > 0) {
+ protect_levels.abnormal_temper_air_int_04 = modbus_table_analog_in[132].all * 10;
+ }
+ if (modbus_table_analog_in[133].all > 0) {
+ protect_levels.alarm_temper_air_int_01 = modbus_table_analog_in[133].all * 10;
+ }
+ if (modbus_table_analog_in[134].all > 0) {
+ protect_levels.alarm_temper_air_int_02 = modbus_table_analog_in[134].all * 10;
+ }
+ if (modbus_table_analog_in[135].all > 0) {
+ protect_levels.alarm_temper_air_int_03 = modbus_table_analog_in[135].all * 10;
+ }
+ if (modbus_table_analog_in[136].all > 0) {
+ protect_levels.alarm_temper_air_int_04 = modbus_table_analog_in[136].all * 10;
+ }
+
+ if (modbus_table_analog_in[137].all > 0) {
+ edrk.iqMIN_U_IN = _IQ(((float)modbus_table_analog_in[137].all) / NORMA_ACP);
+ }
+ if (modbus_table_analog_in[138].all > 0) {
+ edrk.iqMIN_U_IN = _IQ(((float)modbus_table_analog_in[138].all) / NORMA_ACP);
+ }
+
+ if (modbus_table_analog_in[139].all > 0) {
+ edrk.iqMIN_U_ZPT = _IQ(((float)modbus_table_analog_in[139].all) / NORMA_ACP);
+ }
+ if (modbus_table_analog_in[140].all > 0) {
+ edrk.iqMIN_U_ZPT = _IQ(((float)modbus_table_analog_in[140].all) / NORMA_ACP);
+ }
+
+ if (modbus_table_analog_in[142].all > 0) {
+ edrk.iqMAX_U_IN = _IQ(((float)modbus_table_analog_in[142].all) / NORMA_ACP);
+ }
+ if (modbus_table_analog_in[143].all > 0) {
+ edrk.iqMAX_U_IN = _IQ(((float)modbus_table_analog_in[143].all) / NORMA_ACP);
+ }
+
+ if (modbus_table_analog_in[144].all > 0) {
+ edrk.iqMAX_U_ZPT = _IQ(((float)modbus_table_analog_in[144].all) / NORMA_ACP);
+ }
+ if (modbus_table_analog_in[145].all > 0) {
+ edrk.iqMAX_U_ZPT = _IQ(((float)modbus_table_analog_in[145].all) / NORMA_ACP);
+ }
+
+ if (modbus_table_analog_in[146].all > 0) {
+ protect_levels.alarm_Izpt_max = modbus_table_analog_in[146].all;
+ }
+
+ if (modbus_table_analog_in[155].all > 0) {
+ protect_levels.alarm_Imax_U01 = modbus_table_analog_in[155].all;
+ }
+ if (modbus_table_analog_in[156].all > 0) {
+ protect_levels.alarm_Imax_U02 = modbus_table_analog_in[156].all;
+ }
+ if (modbus_table_analog_in[157].all > 0) {
+ protect_levels.alarm_Imax_U03 = modbus_table_analog_in[157].all;
+ }
+ if (modbus_table_analog_in[158].all > 0) {
+ protect_levels.alarm_Imax_U04 = modbus_table_analog_in[158].all;
+ }
+ if (modbus_table_analog_in[159].all > 0) {
+ protect_levels.alarm_Imax_U05 = modbus_table_analog_in[159].all;
+ }
+ if (modbus_table_analog_in[160].all > 0) {
+ protect_levels.alarm_Imax_U06 = modbus_table_analog_in[160].all;
+ }
+ if (modbus_table_analog_in[161].all > 0) {
+ protect_levels.alarm_Imax_U07 = modbus_table_analog_in[161].all;
+ }
+ if (modbus_table_analog_in[162].all > 0) {
+ protect_levels.alarm_Iged_max = modbus_table_analog_in[162].all;
+ }
+
+
+
+
+
+}
+
+
+
diff --git a/Inu/Src/main/modbus_hmi_read.h b/Inu/Src/main/modbus_hmi_read.h
new file mode 100644
index 0000000..7f3e0db
--- /dev/null
+++ b/Inu/Src/main/modbus_hmi_read.h
@@ -0,0 +1,15 @@
+/*
+ * modbus_hmi_read.h
+ *
+ * Created on: 21 ���. 2020 �.
+ * Author: star
+ */
+
+#ifndef SRC_MAIN_MODBUS_HMI_READ_H_
+#define SRC_MAIN_MODBUS_HMI_READ_H_
+
+
+void parse_protect_levels_HMI(void);
+
+
+#endif /* SRC_MAIN_MODBUS_HMI_READ_H_ */
diff --git a/Inu/Src/main/modbus_hmi_update.c b/Inu/Src/main/modbus_hmi_update.c
new file mode 100644
index 0000000..7c1e83c
--- /dev/null
+++ b/Inu/Src/main/modbus_hmi_update.c
@@ -0,0 +1,2022 @@
+#include <adc_tools.h>
+#include <detect_errors_adc.h>
+#include <edrk_main.h>
+#include <math.h>
+#include <message_modbus.h>
+#include <modbus_hmi.h>
+#include <modbus_hmi_read.h>
+#include <modbus_hmi_update.h>
+#include <optical_bus.h>
+#include <params.h>
+#include <params_norma.h>
+#include <project.h>
+#include <protect_levels.h>
+#include <pump_control.h>
+#include <v_rotor.h>
+#include <vector.h>
+#include "edrk_main.h"
+#include "global_time.h"
+#include "control_station.h"
+#include "CAN_Setup.h"
+#include "global_time.h"
+#include "RS_Functions.h"
+#include "mathlib.h"
+#include "logs_hmi.h"
+#include "detect_errors.h"
+/*
+#include "mathlib.h"
+#include <math.h>
+#include "IQmathLib.h"
+*/
+int hmi_watch_dog = 0;
+int prev_kvitir = 0;
+int prev_sbor = 0;
+int kvitir1 = 0;
+int sbor1 = 0;
+int razbor1 = 0;
+
+//30001 ResetErrors command to controller to reset errors 1-reset
+//30002 SchemeAssemble Command to change scheme state 0-scheme dissasemble 1- assemble
+//30003 IsPowerSetMode 0-control enigine by turnovers, 1- by power
+//30004 SpecifiedPower Power set by user
+//30005 SpecifiedTurnovers Turnovers set by user
+
+//30006 UserValueUpdated command to controller to update set value 1-ative
+
+//30007 ReportGet Command to get report 1-get 0- nothinhg
+//30008 ReportArraySaved Sets to 1 when HMI is ready to get array(part of report)
+//30009 PumpsControlMode Pumps Control mode. 0 = auto, 1= pump 1, 2= pump 2
+
+//30010 MotoHoursPanel �������� ������� (������)
+//30011 MotoHoursFan1 �������� ������ ������������ 1 (������)
+//30012 MotoHoursFan2 �������� ������ ������������ 2 (������)
+//30013 MotoHoursPump1 �������� ��������� ������ (������)
+//30014 MotoHoursPump2 �������� ���������� ������ (������)
+//30015 MotoHoursInvertorCharged �������� � ��������� ""������� ����� �������"" (������)
+//30016 MotoHoursInvertorGo �������� � ��������� ""���"" (������)
+//30017 MotoHoursInvertorGoFault �������� � ��������� ""��� � ��������������"" (������)
+//30018 MotoHoursInvertorAlarm �������� � ��������� ""������"" (������)
+
+#define COUNT_ANALOG_DATA_FROM_INGETEAM SIZE_ANALOG_DATA_REMOUTE //(18+1)
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+void func_unpack_answer_from_Ingeteam(unsigned int cc)
+{
+ // ����������y �����
+ unsigned int DataOut;
+ int Data, Data1, Data2, DataAnalog1, DataAnalog2, DataAnalog3, DataAnalog4, i;
+ unsigned int h;
+ volatile unsigned char *pByte;
+ // static int vs11,vs12,vs1;
+ // static int DataCnt=0;
+ // int GoT,Assemble_scheme;
+ // static int prev_temp_Rele1=0, temp_Rele1=0, prev_temp_Rele2=0, temp_Rele2=0;
+
+ static int flag_prev_turn_on = 0;
+ static int flag_prev_turn_off = 0;
+ static int prev_byte01_bit4 = 0;
+ static int prev_byte01_bit1 = 0;
+ static int flag_wait_revers_sbor = 1;
+ static int flag_wait_revers_go = 1;
+
+ static unsigned int count_transmited = 0;
+
+
+ // ��������� ���y �������
+ // ��� ��� ���� ������� ����
+
+ if (COUNT_ANALOG_DATA_FROM_INGETEAM > CONTROL_STATION_MAX_RAW_DATA)
+ xerror(main_er_ID(2),(void *)0);
+
+ for (h=1;h<COUNT_ANALOG_DATA_FROM_INGETEAM;h++)
+ control_station.raw_array_data[cc][h].all = modbus_table_analog_in[h].all;
+
+
+}
+
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+
+void get_command_HMI(void)
+{
+
+ int i;
+ static int prev_send_log = -1;
+
+ /////////////////
+ /////////////////
+ /////////////////
+
+ edrk.pult_cmd.kvitir = modbus_table_analog_in[1].all;
+ edrk.pult_cmd.sbor = modbus_table_analog_in[2].all;
+ edrk.pult_cmd.send_log = modbus_table_analog_in[7].all;
+ edrk.pult_cmd.pump_mode = modbus_table_analog_in[9].all;
+
+
+ // mode_pump = modbus_table_analog_in[9].all;
+ // 0 - auto on - rand pump
+ // 1 - auto on 1 pump
+ // 2 - auto on 2 pump
+ // 3 - manual on 1 pump
+ // 4 - manual on 2 pump
+ //////////////////////
+ pumps.pump1_engine_minutes = modbus_table_analog_in[13].all;
+ pumps.pump2_engine_minutes = modbus_table_analog_in[14].all;
+
+
+ edrk.pult_data.data_from_pult.nPCH = modbus_table_analog_in[34].all;
+ edrk.pult_data.data_from_pult.TimeToChangePump = modbus_table_analog_in[164].all;
+
+ edrk.pult_data.data_from_pult.count_build = modbus_table_analog_in[31].all;
+ edrk.pult_data.data_from_pult.count_revers = modbus_table_analog_in[32].all;
+
+ edrk.pult_data.data_from_pult.LastWorkPump = modbus_table_analog_in[36].all;
+
+ //
+ //������ ����� � ������ ����� ������ � �������� 30033:
+ //�������� 0 - ��� �� ������, �� �����;
+ //�������� 1 - ��� ������, ���� �����;
+ //�������� 2 - ���� ������, ��� �����;
+ //�������� 3 - ���� � ������ � �����;
+
+ edrk.pult_cmd.log_what_memory = modbus_table_analog_in[33].all;
+
+
+ edrk.pult_cmd.sdusb = modbus_table_analog_in[35].all;
+
+
+ //moto
+ for (i=0;i<COUNT_MOTO_PULT;i++)
+ edrk.pult_data.data_from_pult.moto[i] = modbus_table_analog_in[10+i].all;
+
+
+ /////////////////
+ /////////////////
+ /////////////////
+ /////////////////
+ /////////////////
+
+ if (edrk.pult_cmd.kvitir == 1)
+ {
+ if (prev_kvitir==0)
+ kvitir1 = 1;
+ }
+ else
+ kvitir1 = 0;
+
+// edrk.KvitirDISPLAY = kvitir1;
+// edrk.from_display.bits.KVITIR = kvitir1;
+
+ control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_CHECKBACK] = kvitir1;
+
+ prev_kvitir = edrk.pult_cmd.kvitir;
+
+
+ /////////////////
+ /////////////////
+ /////////////////
+ /////////////////
+ /////////////////
+ /////////////////
+
+ if (edrk.pult_cmd.sbor == 1)
+ {
+ if (prev_sbor==0)
+ {
+ sbor1 = 1;
+ }
+ razbor1 = 0;
+ }
+ else
+ {
+ if (prev_sbor==1)
+ {
+ razbor1 = 1;
+ }
+ sbor1 = 0;
+
+ }
+ edrk.from_display.bits.SBOR_SHEMA = sbor1;
+// edrk.from_display.bits.RAZBOR_SHEMA = razbor1;
+ prev_sbor = edrk.pult_cmd.sbor;
+
+ /////////////////
+ /////////////////
+ /////////////////
+ /////////////////
+
+ if (prev_send_log>=0 && prev_send_log != edrk.pult_cmd.send_log)
+ {
+ if (edrk.pult_cmd.send_log)
+ log_to_HMI.send_log = edrk.pult_cmd.send_log;
+
+ log_to_HMI.sdusb = edrk.pult_cmd.sdusb;
+
+ }
+// else
+// log_to_HMI.send_log = 0;
+
+ prev_send_log = edrk.pult_cmd.send_log;
+
+ /////////////////
+ /////////////////
+ /////////////////
+
+ control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_MODE_PUMP] = edrk.pult_cmd.pump_mode;
+
+
+//
+// control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_DISABLE_ON_PUMP] = modbus_table_analog_in[188].all;
+// control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_DISABLE_ON_QTV] = modbus_table_analog_in[189].all;
+// control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_DISABLE_ON_UMP] = modbus_table_analog_in[190].all;
+// control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_ENABLE_ON_CHARGE] = modbus_table_analog_in[191].all;
+// control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_MANUAL_DISCHARGE] = modbus_table_analog_in[180].all;
+// control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_GO] = !modbus_table_analog_in[192].all;
+//
+// control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_] = modbus_table_analog_in[188].all;
+
+ /////////////////
+ /////////////////
+ /////////////////
+ /////////////////
+
+ parse_protect_levels_HMI();
+
+}
+
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+
+int update_progress_load_hmi(int proc_load)
+{
+ static unsigned int old_time_5 = 0;
+ volatile int perc_load=0, final_code = 0, c_l = 0;
+
+// return 0;
+
+ update_tables_HMI_on_inited(proc_load);
+
+
+ old_time_5 = global_time.miliseconds;
+ do
+ {
+
+ if (final_code >= 4)
+ {
+ return 1;
+ }
+
+// if (control_station.flag_waiting_answer[CONTROL_STATION_INGETEAM_PULT_RS485]==0)
+// final_code = modbusNetworkSharing(0);
+// else
+ final_code = modbusNetworkSharing(1);
+
+// RS232_WorkingWith(0,1,0);
+
+ }
+ while (detect_pause_milisec(1500, &old_time_5)==0);//(100,&old_time));
+
+ return 0;
+
+
+
+}
+
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+
+
+void update_tables_HMI_on_inited(int perc_load)
+{
+ Inverter_state state;
+ static int nn=0, ss=0;
+ static int prev_edrk_KVITIR=0;
+ int i,status;
+
+// log_to_HMI.send_log = modbus_table_analog_in[7].all;
+ //setRegisterDiscreteOutput(log_to_HMI.flag_log_array_ready_sent, 310);
+
+ // LoadMode Read 00544 00544 ����� �������� ������������ �����������
+ setRegisterDiscreteOutput(0, 544);//
+
+ // Loading ReadWrite 30088 40088 ����������� �������� 0-10
+ modbus_table_analog_out[88].all = perc_load;
+
+ // ��� �������� ������ ������
+ modbus_table_analog_out[4].all++;
+
+
+ // build version
+ modbus_table_analog_out[219].all = edrk.buildYear;
+ modbus_table_analog_out[220].all = edrk.buildMonth;
+ modbus_table_analog_out[221].all = edrk.buildDay;
+
+
+}
+
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+void update_tables_HMI_discrete(void)
+{
+ int real_box;
+ // ��� ���� ������������ ���������!!!
+ // if (edrk.from_display.bits.KVITIR)
+ // setRegisterDiscreteOutput(edrk.from_display.bits.KVITIR, 301);
+ setRegisterDiscreteOutput(control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_CHECKBACK], 513);
+ // prev_edrk_KVITIR = edrk.from_display.bits.KVITIR;
+ /////
+
+ //setRegisterDiscreteOutput(edrk.RemouteFromDISPLAY, 302);
+ setRegisterDiscreteOutput(control_station.active_control_station[CONTROL_STATION_INGETEAM_PULT_RS485], 514);
+
+ setRegisterDiscreteOutput(hmi_watch_dog, 515);
+
+
+ setRegisterDiscreteOutput(edrk.StatusFunAll, 516);
+ setRegisterDiscreteOutput(edrk.StatusFunAll, 517);
+
+ setRegisterDiscreteOutput(edrk.StatusPump0, 518);
+ setRegisterDiscreteOutput(edrk.StatusPump1, 519);
+
+ setRegisterDiscreteOutput(edrk.from_shema_filter.bits.SVU,524);
+ setRegisterDiscreteOutput(edrk.from_shema_filter.bits.ZADA_DISPLAY,525);
+ // �������_�������������_����������_�� Read 00523
+ // �������_�������������_����������_��� Read 00524
+ // �������_��������_����� Read 00525
+
+
+ setRegisterDiscreteOutput(edrk.from_ing1.bits.OHLAD_UTE4KA_WATER, 526);//
+ setRegisterDiscreteOutput(edrk.from_ing1.bits.NASOS_NORMA, 527);//
+ setRegisterDiscreteOutput(edrk.from_ing1.bits.OP_PIT_NORMA, 528);//
+ setRegisterDiscreteOutput(edrk.from_ing1.bits.UPC_24V_NORMA, 529);//
+ setRegisterDiscreteOutput(edrk.from_ing1.bits.ALL_KNOPKA_AVARIA, 530);//
+ setRegisterDiscreteOutput(edrk.SumSbor, 531);//
+ setRegisterDiscreteOutput(edrk.from_ing1.bits.ZARYAD_ON, 532);//
+ setRegisterDiscreteOutput(edrk.from_ing1.bits.VIPR_PREDOHR_NORMA, 533);//
+ setRegisterDiscreteOutput(!edrk.temper_limit_koeffs.code_status, 534);//
+ // setRegisterDiscreteOutput(1, 331);//
+ setRegisterDiscreteOutput(edrk.from_ing1.bits.ZAZEML_ON, 535);//
+ setRegisterDiscreteOutput(edrk.from_ing1.bits.NAGREV_ON, 536);//
+ setRegisterDiscreteOutput(edrk.from_ing1.bits.BLOCK_IZOL_NORMA, 537);//
+ setRegisterDiscreteOutput(edrk.from_ing1.bits.BLOCK_IZOL_AVARIA, 538);//
+
+ //////////////
+ // schemeStateOnController ReadWrite 00539 00539 ��������� ����� �� ����������� 0 - ���������, 1-�������
+ // StateAnotherPowerChannel Read 00540 00540 ��������� ������� �������� ������: 0 - ��� ������, 1 ������
+ // InterfaceOpticalBus Read 00541 00541 ��������� ���������� ����: 0 - ��� ������, 1 - ���� �����
+ // StateDriver Read 00542 00542 ��������� �������: 0 - �� ��������� � ������� ���, 1 - ��������� � ������� ���
+ // NumberPowerChannel Read 00543 00543 ����� �������� ������: 0 - ������, 1 - ������
+
+
+ setRegisterDiscreteOutput(edrk.Status_Ready.bits.ready_final, 539);
+ setRegisterDiscreteOutput(edrk.errors.e7.bits.ANOTHER_BS_ALARM, 540);
+ setRegisterDiscreteOutput(optical_read_data.status == 1 && optical_write_data.status == 1 ? 1 : 0, 541);
+ setRegisterDiscreteOutput(edrk.Status_Rascepitel_Ok, 542);
+
+ if (edrk.flag_second_PCH==0)
+ setRegisterDiscreteOutput(0, 543);
+ else
+ setRegisterDiscreteOutput(1, 543);
+
+ // LoadMode Read 00544 00544 ����� �������� ������������ �����������
+ setRegisterDiscreteOutput(1, 544); //
+
+ // Loading ReadWrite 30088 40088 ����������� �������� 0-10
+
+ setRegisterDiscreteOutput(control_station.active_array_cmd[CONTROL_STATION_CMD_BLOCK_BS]
+ || edrk.from_shema.bits.SVU_BLOCK_QTV, 545);
+ //////////////
+
+
+
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk0_ack, 17);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk1_ack, 18);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk2_ack, 19);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk3_ack, 20);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk4_ack, 21);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk5_ack, 22);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk6_ack, 23);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk7_ack, 24);//
+
+ setRegisterDiscreteOutput(project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk0_ack, 25);//
+ setRegisterDiscreteOutput(project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk1_ack, 26);//
+ /////////////////////
+ if (edrk.flag_second_PCH==0)
+ setRegisterDiscreteOutput(edrk.errors.e4.bits.ANOTHER_BS_POWER_OFF, 27);
+ else
+ setRegisterDiscreteOutput(edrk.errors.e4.bits.ANOTHER_BS_POWER_OFF, 28);
+
+
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk0_current, 33);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk1_current, 34);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk2_current, 35);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk3_current, 36);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk4_current, 37);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk5_current, 38);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk6_current, 39);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk7_current, 40);//
+
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk0_current, 41);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk1_current, 42);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk2_current, 43);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk3_current, 44);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk4_current, 45);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk5_current, 46);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk6_current, 47);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk7_current, 48);//
+
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk0_current, 49);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk1_current, 50);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk2_current, 51);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk3_current, 52);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk4_current, 53);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk5_current, 54);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk6_current, 55);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk7_current, 56);//
+
+ setRegisterDiscreteOutput(project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk0_current, 57);//
+ setRegisterDiscreteOutput(project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk1_current, 58);//
+ //////////////////////////
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_3210, 65);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_3210, 66);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_3210, 67);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_3210, 68);//
+
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_7654, 69);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_7654, 70);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_7654, 71);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_7654, 72);//
+
+
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_3210, 73);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_3210, 74);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_3210, 75);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_3210, 76);//
+
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_7654, 77);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_7654, 78);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_7654, 79);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_7654, 80);//
+
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_3210, 81);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_3210, 82);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_3210, 83);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_3210, 84);//
+
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_7654, 85);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_7654, 86);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_7654, 87);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_7654, 88);//
+
+ setRegisterDiscreteOutput(project.cds_tk[3].read.sbus.lock_status_error.bit.mintime_err_keys_3210, 89);//
+ setRegisterDiscreteOutput(project.cds_tk[3].read.sbus.lock_status_error.bit.mintime_err_keys_3210, 90);//
+
+ /////////////////
+
+
+ setRegisterDiscreteOutput(edrk.errors.e3.bits.NOT_READY_TK_0, 97);//
+ setRegisterDiscreteOutput(edrk.errors.e3.bits.NOT_READY_TK_1, 98);//
+ setRegisterDiscreteOutput(edrk.errors.e3.bits.NOT_READY_TK_2, 99);//
+ setRegisterDiscreteOutput(edrk.errors.e3.bits.NOT_READY_TK_3, 100);//
+
+ setRegisterDiscreteOutput(edrk.errors.e3.bits.NOT_READY_IN_0, 101);//
+ setRegisterDiscreteOutput(edrk.errors.e3.bits.NOT_READY_IN_1, 102);//
+
+ setRegisterDiscreteOutput(edrk.errors.e3.bits.NOT_READY_OUT_0, 103);//
+ // setRegisterDiscreteOutput(edrk.errors.e3.bits.NOT_READY_OUT_1, 105);//
+
+ setRegisterDiscreteOutput(edrk.errors.e3.bits.NOT_READY_ADC_0, 104);//
+ setRegisterDiscreteOutput(edrk.errors.e3.bits.NOT_READY_HWP_0, 105);//
+ setRegisterDiscreteOutput(edrk.errors.e3.bits.NOT_READY_ADC_1, 106);//
+
+ setRegisterDiscreteOutput(edrk.errors.e3.bits.NOT_READY_CONTR, 107);//
+
+
+ ///////////////////
+
+
+ setRegisterDiscreteOutput(edrk.errors.e5.bits.KEY_AVARIA, 113);//
+
+ setRegisterDiscreteOutput(edrk.errors.e6.bits.QTV_ERROR_NOT_ANSWER, 114);
+ setRegisterDiscreteOutput(edrk.errors.e7.bits.SVU_BLOCK_ON_QTV
+ || control_station.active_array_cmd[CONTROL_STATION_CMD_BLOCK_BS], 115);
+ setRegisterDiscreteOutput(edrk.errors.e7.bits.UMP_NOT_ANSWER, 116);
+ setRegisterDiscreteOutput(edrk.errors.e7.bits.UMP_NOT_READY, 117);
+ setRegisterDiscreteOutput(edrk.errors.e6.bits.RASCEPITEL_ERROR_NOT_ANSWER, 118);
+ setRegisterDiscreteOutput(edrk.errors.e7.bits.ANOTHER_RASCEPITEL_ON, 119);
+
+ setRegisterDiscreteOutput(edrk.errors.e7.bits.AUTO_SET_MASTER, 120);
+ setRegisterDiscreteOutput(edrk.errors.e7.bits.ANOTHER_PCH_NOT_ANSWER, 121);
+ setRegisterDiscreteOutput(edrk.errors.e8.bits.WDOG_OPTICAL_BUS, 122);
+ setRegisterDiscreteOutput(edrk.errors.e2.bits.ERROR_RAZBOR_SHEMA, 123);
+
+ setRegisterDiscreteOutput(edrk.errors.e1.bits.NO_CONFIRM_ON_RASCEPITEL, 124);
+
+ setRegisterDiscreteOutput(edrk.errors.e1.bits.ANOTHER_BS_NOT_ON_RASCEPITEL, 125);
+ setRegisterDiscreteOutput(edrk.errors.e1.bits.ANOTHER_BS_VERY_LONG_WAIT, 126);
+ setRegisterDiscreteOutput(edrk.errors.e1.bits.VERY_LONG_BOTH_READY2, 127);
+ setRegisterDiscreteOutput(edrk.errors.e1.bits.BOTH_KEYS_CHARGE_DISCHARGE, 128);
+
+ // setRegisterDiscreteOutput(edrk.errors.e5.bits.OP_PIT, 115);//
+ // setRegisterDiscreteOutput(edrk.errors.e5.bits.POWER_UPC, 116);//
+ ///////////////////
+
+ setRegisterDiscreteOutput(!control_station.alive_control_station[CONTROL_STATION_ZADATCHIK_CAN], 129);
+ setRegisterDiscreteOutput(!control_station.alive_control_station[CONTROL_STATION_MPU_SVU_CAN], 130);
+ // setRegisterDiscreteOutput(CAN_timeout[get_real_in_mbox(UNITS_TYPE_BOX,UMU_CAN_DEVICE)], 131); �������� �� �����
+ real_box = get_real_in_mbox(UNITS_TYPE_BOX,BKSSD_CAN_DEVICE);
+ if (real_box != -1)
+ setRegisterDiscreteOutput(CAN_timeout[real_box], 132);
+
+ real_box = get_real_in_mbox(UNITS_TYPE_BOX,VPU_CAN);
+ if (real_box != -1)
+ setRegisterDiscreteOutput(CAN_timeout[real_box], 133);
+ real_box = get_real_in_mbox(UNITS_TYPE_BOX,ANOTHER_BSU1_CAN_DEVICE);
+ if (real_box != -1)
+ setRegisterDiscreteOutput(CAN_timeout[real_box], 134);
+ setRegisterDiscreteOutput(edrk.errors.e7.bits.CAN2CAN_BS, 135);
+
+
+ if (edrk.flag_second_PCH==0)
+ setRegisterDiscreteOutput(edrk.warnings.e4.bits.ANOTHER_BS_POWER_OFF, 137);
+ else
+ setRegisterDiscreteOutput(edrk.warnings.e4.bits.ANOTHER_BS_POWER_OFF, 136);
+
+ setRegisterDiscreteOutput(edrk.errors.e7.bits.ANOTHER_BS_ALARM, 138); // ; edrk.errors.e4.bits.FAST_OPTICAL_ALARM
+ setRegisterDiscreteOutput(edrk.warnings.e7.bits.ANOTHER_BS_ALARM, 139);// ; edrk.warnings.e4.bits.FAST_OPTICAL_ALARM
+
+ setRegisterDiscreteOutput(edrk.warnings.e7.bits.UMP_NOT_READY, 140);
+
+ setRegisterDiscreteOutput(edrk.warnings.e9.bits.SENSOR_ROTOR_1_BREAK, 141);
+ setRegisterDiscreteOutput(edrk.warnings.e9.bits.SENSOR_ROTOR_1_BREAK, 142);
+
+ setRegisterDiscreteOutput(edrk.errors.e9.bits.SENSOR_ROTOR_1_2_BREAK, 143);
+
+
+
+ ///
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk0_ack, 145);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk1_ack, 146);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk2_ack, 147);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk3_ack, 148);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk4_ack, 149);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk5_ack, 150);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk6_ack, 151);//
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk7_ack, 152);//
+
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk0_ack, 153);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk1_ack, 154);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk2_ack, 155);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk3_ack, 156);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk4_ack, 157);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk5_ack, 158);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk6_ack, 159);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk7_ack, 160);//
+
+
+
+
+ // setRegisterDiscreteOutput(edrk.errors.e5.bits.KEY_AVARIA, 243);//
+ setRegisterDiscreteOutput(edrk.errors.e5.bits.OP_PIT, 161);//
+ setRegisterDiscreteOutput(edrk.errors.e5.bits.UTE4KA_WATER, 162);//
+ setRegisterDiscreteOutput(edrk.errors.e1.bits.BLOCK_DOOR, 163);//
+ setRegisterDiscreteOutput(edrk.errors.e5.bits.ERROR_PRE_CHARGE_ON, 164);//
+ setRegisterDiscreteOutput(edrk.errors.e5.bits.FAN, 165);//
+
+ setRegisterDiscreteOutput(edrk.errors.e5.bits.PUMP_1, 166);//
+ setRegisterDiscreteOutput(edrk.errors.e5.bits.PRE_READY_PUMP, 167);//
+ setRegisterDiscreteOutput(edrk.errors.e5.bits.ERROR_HEAT, 168);//
+
+ setRegisterDiscreteOutput(edrk.errors.e5.bits.ERROR_PRED_VIPR, 170);//
+
+ setRegisterDiscreteOutput(edrk.errors.e5.bits.ERROR_ISOLATE, 171);//
+ setRegisterDiscreteOutput(edrk.errors.e5.bits.POWER_UPC, 172);//
+ setRegisterDiscreteOutput(edrk.errors.e5.bits.ERROR_GROUND_NET, 173);//
+ setRegisterDiscreteOutput(edrk.errors.e5.bits.PUMP_2, 174);//
+ setRegisterDiscreteOutput(edrk.warnings.e5.bits.ERROR_ISOLATE, 175);//
+ setRegisterDiscreteOutput(edrk.warnings.e5.bits.PRE_READY_PUMP, 176);//
+
+
+ ///////////////////
+ setRegisterDiscreteOutput(edrk.errors.e0.bits.U_1_MAX, 177);//
+ setRegisterDiscreteOutput(edrk.errors.e0.bits.U_2_MAX, 178);//
+
+ setRegisterDiscreteOutput(edrk.errors.e0.bits.U_1_MIN, 179);//
+ setRegisterDiscreteOutput(edrk.errors.e0.bits.U_2_MIN, 180);//
+
+ setRegisterDiscreteOutput(edrk.errors.e0.bits.U_A1B1_MAX, 181);//
+ setRegisterDiscreteOutput(edrk.errors.e0.bits.U_A2B2_MAX, 182);//
+
+ setRegisterDiscreteOutput(edrk.errors.e0.bits.U_B1C1_MAX, 183);//
+ setRegisterDiscreteOutput(edrk.errors.e0.bits.U_B2C2_MAX, 184);//
+
+ setRegisterDiscreteOutput(edrk.errors.e0.bits.U_A1B1_MIN, 185);//
+ setRegisterDiscreteOutput(edrk.errors.e0.bits.U_A2B2_MIN, 186);//
+
+ setRegisterDiscreteOutput(edrk.errors.e0.bits.U_B1C1_MIN, 187);//
+ setRegisterDiscreteOutput(edrk.errors.e0.bits.U_B2C2_MIN, 188);//
+
+
+ setRegisterDiscreteOutput(edrk.errors.e0.bits.U_IN_MAX, 189);//
+ setRegisterDiscreteOutput(edrk.errors.e0.bits.U_IN_MIN, 190);//
+
+ // setRegisterDiscreteOutput(edrk.errors.e0.bits.I_1_MAX, 191);//
+ // setRegisterDiscreteOutput(edrk.errors.e0.bits.I_2_MAX, 192);//
+
+
+ //////////////
+
+ setRegisterDiscreteOutput(edrk.errors.e1.bits.I_UO2_MAX, 193);//
+ setRegisterDiscreteOutput(edrk.errors.e1.bits.I_UO3_MAX, 194);//
+ setRegisterDiscreteOutput(edrk.errors.e1.bits.I_UO4_MAX, 195);//
+ setRegisterDiscreteOutput(edrk.errors.e1.bits.I_UO5_MAX, 196);//
+ setRegisterDiscreteOutput(edrk.errors.e1.bits.I_UO6_MAX, 197);//
+ setRegisterDiscreteOutput(edrk.errors.e1.bits.I_UO7_MAX, 198);//
+
+ setRegisterDiscreteOutput(edrk.errors.e1.bits.I_BREAK_1_MAX, 199);//
+ setRegisterDiscreteOutput(edrk.errors.e1.bits.I_BREAK_2_MAX, 200);//
+
+ // setRegisterDiscreteOutput(edrk.errors.e1.bits.HWP_ERROR, 201);//
+ ////////////////////
+
+ setRegisterDiscreteOutput(edrk.warnings.e2.bits.T_AIR0_MAX, 203);//
+ setRegisterDiscreteOutput(edrk.warnings.e2.bits.T_AIR1_MAX, 204);//
+ setRegisterDiscreteOutput(edrk.warnings.e2.bits.T_AIR2_MAX, 205);//
+ setRegisterDiscreteOutput(edrk.warnings.e2.bits.T_AIR3_MAX, 206);//
+
+ setRegisterDiscreteOutput(edrk.power_limit.bits.limit_by_temper, 207);//
+ setRegisterDiscreteOutput(edrk.power_limit.bits.limit_from_freq, 211);//
+ setRegisterDiscreteOutput(edrk.power_limit.bits.limit_from_uom_fast, 212);//
+ setRegisterDiscreteOutput(edrk.power_limit.bits.limit_from_SVU, 213);//
+ setRegisterDiscreteOutput(edrk.power_limit.bits.limit_moment, 214);//
+ setRegisterDiscreteOutput(edrk.power_limit.bits.limit_Iout, 216);//
+
+ ////////////////////
+ setRegisterDiscreteOutput(edrk.errors.e5.bits.ERROR_PRE_CHARGE_ON, 209);//
+ setRegisterDiscreteOutput(edrk.errors.e7.bits.ERROR_SBOR_SHEMA, 210);//
+
+ /////////////////////
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.plus.bit.ch0, 225);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.plus.bit.ch1, 226);//
+
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.plus.bit.ch2, 227);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.plus.bit.ch3, 228);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.plus.bit.ch4, 229);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.plus.bit.ch5, 230);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.plus.bit.ch6, 231);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.plus.bit.ch7, 232);//
+
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.plus.bit.ch8, 234);//
+
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.plus.bit.ch10, 235);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.plus.bit.ch11, 236);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.plus.bit.ch12, 237);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.plus.bit.ch13, 238);//
+
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.plus.bit.ch14, 239);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.plus.bit.ch15, 240);//
+
+
+ ////////////////////
+ setRegisterDiscreteOutput(edrk.errors.e5.bits.LINE_ERR0, 241);//
+ setRegisterDiscreteOutput(edrk.errors.e5.bits.LINE_HWP, 242);//
+ ////////////////////
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.minus.bit.ch2, 243);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.minus.bit.ch3, 244);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.minus.bit.ch4, 245);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.minus.bit.ch5, 246);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.minus.bit.ch6, 247);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.minus.bit.ch7, 248);//
+
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.minus.bit.ch8, 250);//
+
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.minus.bit.ch10, 251);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.minus.bit.ch11, 252);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.minus.bit.ch12, 253);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.minus.bit.ch13, 254);//
+
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.minus.bit.ch14, 255);//
+ setRegisterDiscreteOutput(project.hwp[0].read.comp_s.minus.bit.ch15, 256);//
+
+
+
+ ////////////////////
+ setRegisterDiscreteOutput(edrk.errors.e8.bits.LOSS_INPUT_A1B1, 257);//
+ setRegisterDiscreteOutput(edrk.errors.e8.bits.LOSS_INPUT_B1C1, 258);//
+ setRegisterDiscreteOutput(edrk.errors.e8.bits.LOSS_INPUT_A2B2, 259);//
+ setRegisterDiscreteOutput(edrk.errors.e8.bits.LOSS_INPUT_B2C2, 260);//
+
+ setRegisterDiscreteOutput(edrk.errors.e8.bits.LOW_FREQ_50HZ, 261);//
+ setRegisterDiscreteOutput(edrk.warnings.e8.bits.LOW_FREQ_50HZ, 262);//
+
+ setRegisterDiscreteOutput(edrk.errors.e7.bits.READ_OPTBUS || edrk.errors.e7.bits.WRITE_OPTBUS, 263);//
+ setRegisterDiscreteOutput(edrk.errors.e7.bits.MASTER_SLAVE_SYNC, 264); //
+
+ setRegisterDiscreteOutput(edrk.errors.e6.bits.ERR_SBUS, 265);//
+ setRegisterDiscreteOutput(edrk.errors.e6.bits.ERR_PBUS, 266);//
+
+ setRegisterDiscreteOutput(edrk.errors.e6.bits.ER_DISBAL_BATT, 267);//
+
+ setRegisterDiscreteOutput(edrk.errors.e6.bits.QTV_ERROR_NOT_U, 268);//
+ setRegisterDiscreteOutput(edrk.errors.e6.bits.ERROR_PRE_CHARGE_U, 269);//
+
+ setRegisterDiscreteOutput(edrk.errors.e8.bits.U_IN_20_PROCENTS_HIGH, 270);//
+ setRegisterDiscreteOutput(edrk.errors.e8.bits.U_IN_10_PROCENTS_LOW, 271);//
+ setRegisterDiscreteOutput(edrk.errors.e8.bits.U_IN_20_PROCENTS_LOW, 272);//
+
+
+ ////////////////
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.lock_status_error.bit.err_power, 273);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.lock_status_error.bit.err_power, 274);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.lock_status_error.bit.err_power, 275);//
+ setRegisterDiscreteOutput(project.cds_tk[3].read.sbus.lock_status_error.bit.err_power, 276);//
+ setRegisterDiscreteOutput(project.cds_in[0].read.sbus.lock_status_error.bit.err_power, 277);//
+ setRegisterDiscreteOutput(project.cds_in[1].read.sbus.lock_status_error.bit.err_power, 278);//
+ setRegisterDiscreteOutput(project.cds_out[0].read.sbus.lock_status_error.bit.err_power, 279);//
+
+
+ setRegisterDiscreteOutput(edrk.errors.e7.bits.NOT_VALID_CONTROL_STATION, 280);//
+
+ ////////////////
+ setRegisterDiscreteOutput(edrk.errors.e8.bits.LOSS_OUTPUT_U1, 281);//
+ setRegisterDiscreteOutput(edrk.errors.e8.bits.LOSS_OUTPUT_V1, 282);//
+ setRegisterDiscreteOutput(edrk.errors.e8.bits.LOSS_OUTPUT_W1, 283);//
+ setRegisterDiscreteOutput(edrk.errors.e8.bits.LOSS_OUTPUT_U2, 284);//
+ setRegisterDiscreteOutput(edrk.errors.e8.bits.LOSS_OUTPUT_V2, 285);//
+ setRegisterDiscreteOutput(edrk.errors.e8.bits.LOSS_OUTPUT_W2, 286);//
+
+ setRegisterDiscreteOutput(edrk.errors.e8.bits.DISBALANCE_IM1_IM2, 287);//
+ setRegisterDiscreteOutput(edrk.errors.e7.bits.VERY_FAST_GO_0to1, 288);//
+
+ ////////////////
+ setRegisterDiscreteOutput(project.cds_tk[0].read.sbus.lock_status_error.bit.err_switch, 289);//
+ setRegisterDiscreteOutput(project.cds_tk[1].read.sbus.lock_status_error.bit.err_switch, 290);//
+ setRegisterDiscreteOutput(project.cds_tk[2].read.sbus.lock_status_error.bit.err_switch, 291);//
+ setRegisterDiscreteOutput(project.cds_tk[3].read.sbus.lock_status_error.bit.err_switch, 292);//
+ setRegisterDiscreteOutput(project.cds_in[0].read.sbus.lock_status_error.bit.err_switch, 293);//
+ setRegisterDiscreteOutput(project.cds_in[1].read.sbus.lock_status_error.bit.err_switch, 294);//
+ setRegisterDiscreteOutput(project.cds_out[0].read.sbus.lock_status_error.bit.err_switch, 295);//
+
+ setRegisterDiscreteOutput(project.adc[0].read.sbus.lock_status_error.bit.err_switch, 296);//
+ setRegisterDiscreteOutput(project.adc[1].read.sbus.lock_status_error.bit.err_switch, 298);//
+
+ ////////////////
+
+ setRegisterDiscreteOutput(edrk.warnings.e2.bits.T_UO1_MAX, 305);//
+ setRegisterDiscreteOutput(edrk.warnings.e2.bits.T_UO2_MAX, 306);//
+ setRegisterDiscreteOutput(edrk.warnings.e2.bits.T_UO3_MAX, 307);//
+ setRegisterDiscreteOutput(edrk.warnings.e2.bits.T_UO4_MAX, 308);//
+ setRegisterDiscreteOutput(edrk.warnings.e2.bits.T_UO5_MAX, 309);//
+ setRegisterDiscreteOutput(edrk.warnings.e2.bits.T_UO6_MAX, 310);//
+ setRegisterDiscreteOutput(edrk.warnings.e2.bits.T_UO7_MAX, 311);//
+
+ setRegisterDiscreteOutput(edrk.errors.e2.bits.T_UO1_MAX, 312);//
+ setRegisterDiscreteOutput(edrk.errors.e2.bits.T_UO2_MAX, 313);//
+ setRegisterDiscreteOutput(edrk.errors.e2.bits.T_UO3_MAX, 314);//
+ setRegisterDiscreteOutput(edrk.errors.e2.bits.T_UO4_MAX, 315);//
+ setRegisterDiscreteOutput(edrk.errors.e2.bits.T_UO5_MAX, 316);//
+ setRegisterDiscreteOutput(edrk.errors.e2.bits.T_UO6_MAX, 317);//
+ setRegisterDiscreteOutput(edrk.errors.e2.bits.T_UO7_MAX, 318);//
+
+
+
+
+ /////////////////////
+
+ setRegisterDiscreteOutput(edrk.warnings.e7.bits.READ_OPTBUS || edrk.warnings.e7.bits.WRITE_OPTBUS, 321);//
+ setRegisterDiscreteOutput(edrk.warnings.e7.bits.MASTER_SLAVE_SYNC, 322);//
+
+ setRegisterDiscreteOutput(edrk.errors.e6.bits.ERROR_PRE_CHARGE_ANSWER, 323);//
+
+ setRegisterDiscreteOutput(edrk.warnings.e1.bits.NO_INPUT_SYNC_SIGNAL, 324);//
+ setRegisterDiscreteOutput(edrk.errors.e1.bits.NO_INPUT_SYNC_SIGNAL, 325);//
+ setRegisterDiscreteOutput(edrk.errors.e3.bits.ERR_INT_PWM_LONG
+ || edrk.errors.e9.bits.ERR_PWM_WDOG
+ || edrk.errors.e9.bits.ERR_INT_PWM_VERY_LONG, 326);//
+
+ setRegisterDiscreteOutput(edrk.errors.e5.bits.T_VIPR_MAX, 336);
+ setRegisterDiscreteOutput(edrk.errors.e2.bits.T_AIR0_MAX, 337);
+ setRegisterDiscreteOutput(edrk.errors.e2.bits.T_AIR1_MAX, 338);
+ setRegisterDiscreteOutput(edrk.errors.e2.bits.T_AIR2_MAX, 339);
+ setRegisterDiscreteOutput(edrk.errors.e2.bits.T_AIR3_MAX, 340);
+ setRegisterDiscreteOutput(edrk.warnings.e10.bits.T_BSU_Sensor_BK1, 341);
+ setRegisterDiscreteOutput(edrk.errors.e10.bits.T_BSU_Sensor_BK1, 342);
+ setRegisterDiscreteOutput(edrk.warnings.e10.bits.T_BSU_Sensor_BK2, 343);
+ setRegisterDiscreteOutput(edrk.errors.e10.bits.T_BSU_Sensor_BK2, 344);
+ //////
+ setRegisterDiscreteOutput(edrk.errors.e2.bits.T_WATER_EXT_MAX, 345);//
+ setRegisterDiscreteOutput(edrk.errors.e2.bits.T_WATER_INT_MAX, 346);//
+ setRegisterDiscreteOutput(edrk.warnings.e2.bits.T_WATER_EXT_MAX, 347);//
+ setRegisterDiscreteOutput(edrk.warnings.e2.bits.T_WATER_INT_MAX, 348);//
+
+ setRegisterDiscreteOutput(edrk.errors.e7.bits.T_ACDRIVE_BEAR_MAX_DNE, 349);//
+ setRegisterDiscreteOutput(edrk.errors.e9.bits.T_ACDRIVE_BEAR_MAX_NE, 350);//
+ setRegisterDiscreteOutput(edrk.warnings.e7.bits.T_ACDRIVE_BEAR_MAX_DNE, 351);//
+ setRegisterDiscreteOutput(edrk.warnings.e9.bits.T_ACDRIVE_BEAR_MAX_NE, 352);//
+
+ //////////////
+
+ setRegisterDiscreteOutput(edrk.errors.e10.bits.T_ACDRIVE_WINDING_U1, 353);//
+ setRegisterDiscreteOutput(edrk.errors.e10.bits.T_ACDRIVE_WINDING_V1, 354);//
+ setRegisterDiscreteOutput(edrk.errors.e10.bits.T_ACDRIVE_WINDING_W1, 355);//
+ setRegisterDiscreteOutput(edrk.errors.e10.bits.T_ACDRIVE_WINDING_U2, 356);//
+ setRegisterDiscreteOutput(edrk.errors.e10.bits.T_ACDRIVE_WINDING_V2, 357);//
+ setRegisterDiscreteOutput(edrk.errors.e10.bits.T_ACDRIVE_WINDING_W2, 358);//
+
+ setRegisterDiscreteOutput(edrk.warnings.e10.bits.T_ACDRIVE_WINDING_U1, 359);//
+ setRegisterDiscreteOutput(edrk.warnings.e10.bits.T_ACDRIVE_WINDING_V1, 360);//
+ setRegisterDiscreteOutput(edrk.warnings.e10.bits.T_ACDRIVE_WINDING_W1, 361);//
+ setRegisterDiscreteOutput(edrk.warnings.e10.bits.T_ACDRIVE_WINDING_U2, 362);//
+ setRegisterDiscreteOutput(edrk.warnings.e10.bits.T_ACDRIVE_WINDING_V2, 363);//
+ setRegisterDiscreteOutput(edrk.warnings.e10.bits.T_ACDRIVE_WINDING_W2, 364);//
+
+ ////////////////////
+
+ setRegisterDiscreteOutput(edrk.errors.e2.bits.P_WATER_INT_MAX, 369);//
+ setRegisterDiscreteOutput(edrk.errors.e2.bits.P_WATER_INT_MIN, 370);//
+
+ setRegisterDiscreteOutput(edrk.warnings.e2.bits.P_WATER_INT_MAX, 371);//
+ setRegisterDiscreteOutput(edrk.warnings.e2.bits.P_WATER_INT_MIN, 372);//
+ setRegisterDiscreteOutput(edrk.warnings.e5.bits.PUMP_1, 373);//
+ setRegisterDiscreteOutput(edrk.warnings.e5.bits.PUMP_2, 374);//
+
+
+
+ ////
+ setRegisterDiscreteOutput(edrk.errors.e11.bits.ERROR_PUMP_ON_SBOR, 385);
+ setRegisterDiscreteOutput(edrk.errors.e11.bits.ERROR_RESTART_PUMP_1_ON_SBOR, 386);
+ setRegisterDiscreteOutput(edrk.errors.e11.bits.ERROR_RESTART_PUMP_2_ON_SBOR, 387);
+ setRegisterDiscreteOutput(edrk.errors.e11.bits.ERROR_RESTART_PUMP_ALL_ON_SBOR, 388);
+
+ setRegisterDiscreteOutput(edrk.errors.e11.bits.ERROR_PRED_ZARYAD, 389);
+ setRegisterDiscreteOutput(edrk.errors.e11.bits.ERROR_PRED_ZARYAD_AFTER, 390);
+ setRegisterDiscreteOutput(edrk.errors.e11.bits.ERROR_READY_UMP_BEFORE_QTV, 391);
+ setRegisterDiscreteOutput(edrk.errors.e11.bits.ERROR_STATUS_QTV, 392);
+
+ setRegisterDiscreteOutput(edrk.errors.e11.bits.ERROR_UMP_ON_AFTER, 393);
+ setRegisterDiscreteOutput(edrk.errors.e11.bits.ERROR_UMP_NOT_ON, 394);
+ setRegisterDiscreteOutput(edrk.errors.e11.bits.ERROR_UMP_NOT_OFF, 395);
+ setRegisterDiscreteOutput(edrk.errors.e11.bits.ERROR_RASCEPITEL_WAIT_CMD, 396);
+
+ setRegisterDiscreteOutput(edrk.errors.e11.bits.ERROR_RASCEPITEL_ON_AFTER, 397);
+ setRegisterDiscreteOutput(edrk.errors.e11.bits.ERROR_DISABLE_SBOR, 398);
+ setRegisterDiscreteOutput(edrk.errors.e11.bits.ERROR_VERY_LONG_SBOR, 399);
+ setRegisterDiscreteOutput(edrk.errors.e11.bits.ERROR_CONTROLLER_BUS, 400);
+
+ setRegisterDiscreteOutput(edrk.warnings.e9.bits.BREAK_TEMPER_WARNING, 417);//
+ setRegisterDiscreteOutput(edrk.warnings.e9.bits.BREAK_TEMPER_ALARM, 418);//
+ setRegisterDiscreteOutput(edrk.warnings.e9.bits.BREAKER_GED_ON, 419);//
+
+ //////////////////
+
+
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER ||
+ edrk.Mode_ScalarVectorUFConst == ALG_MODE_SCALAR_POWER) {
+ setRegisterDiscreteOutput(1, 520);
+ } else {
+ setRegisterDiscreteOutput(0, 520);
+ }
+ // setRegisterDiscreteOutput(TODO ���������� ���, 546);//
+ setRegisterDiscreteOutput(!edrk.from_ing1.bits.UPC_24V_NORMA, 546);//
+ setRegisterDiscreteOutput(edrk.from_ing2.bits.SOST_ZAMKA, 547);//
+ setRegisterDiscreteOutput(edrk.from_shema_filter.bits.READY_UMP, 548);//
+
+
+ ////////////////
+
+
+}
+
+
+
+void update_tables_HMI_analog(void)
+{
+ int power_kw_full;
+ int power_kw;
+ int oborots;
+
+ Inverter_state state;
+ static int nn=0, ss=0, pl = 0;
+// static int prev_edrk_KVITIR=0;
+ int i,status;
+// static int check = 0;
+
+ hmi_watch_dog = !hmi_watch_dog; //was transmitted, need to change
+
+ //log_to_HMI.send_log = modbus_table_analog_in[7].all;
+ //setRegisterDiscreteOutput(log_to_HMI.flag_log_array_ready_sent, 310);
+
+// setRegisterDiscreteOutput(ss, nn);
+
+ // ��� �������� ������ ������
+ modbus_table_analog_out[4].all++;// = ++check;
+// test
+// setRegisterDiscreteOutput(1, 293);
+// setRegisterDiscreteOutput(1, 294);
+
+
+
+
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
+ if (edrk.summ_errors)
+ {
+ modbus_table_analog_out[1].all = 6; // ������
+ modbus_table_analog_out[2].all = 3; // red
+ }
+ else
+ {
+
+ if (edrk.SumSbor || edrk.Status_Ready.bits.ImitationReady2)
+ {
+ if (edrk.Status_Ready.bits.ready_final)
+ {
+ //modbus_table_analog_out[2].all = 1; // green
+ if (edrk.Go)
+ {
+ modbus_table_analog_out[1].all = 3; // ���
+ if (edrk.Provorot)
+ modbus_table_analog_out[1].all = 12; // �������� = 11
+
+ }
+ else
+ modbus_table_analog_out[1].all = 2; // ready2
+ }
+ else
+ modbus_table_analog_out[1].all = 4; // building
+ }
+ else
+ {
+ if (edrk.Status_Ready.bits.ready1)
+ modbus_table_analog_out[1].all = 1; // ready1
+ else
+ modbus_table_analog_out[1].all = 0; // waiting
+ }
+
+ if (edrk.RazborNotFinish)
+ modbus_table_analog_out[1].all = 11; // ������
+
+ if (edrk.Status_Perehod_Rascepitel==1 && edrk.cmd_to_rascepitel==1)
+ modbus_table_analog_out[1].all = 7; // ����������� �������
+
+ if (edrk.Status_Perehod_Rascepitel==1 && edrk.cmd_to_rascepitel==0)
+ modbus_table_analog_out[1].all = 8; // ���������� �������
+
+ if (edrk.RunZahvatRascepitel)
+ modbus_table_analog_out[1].all = 9; // ������ �� ����������� = 9
+ if (edrk.RunUnZahvatRascepitel)
+ modbus_table_analog_out[1].all = 10; // ������ �� ���������� = 10
+
+ //
+ //modbus_table_analog_out[1].all = 5; // �������������
+
+ if (modbus_table_analog_out[1].all == 1)
+ modbus_table_analog_out[2].all = 0; // gray
+ else
+ if (modbus_table_analog_out[1].all == 3 ||
+ modbus_table_analog_out[1].all == 12 ||
+ modbus_table_analog_out[1].all == 2)
+ modbus_table_analog_out[2].all = 1; // green
+ else
+ {
+ if (modbus_table_analog_out[2].all==0)
+ modbus_table_analog_out[2].all = 1; // green
+ else
+ modbus_table_analog_out[2].all = 0; // gray
+ }
+
+ }
+
+
+
+
+ if (edrk.errors.e6.bits.QTV_ERROR_NOT_ANSWER || edrk.errors.e6.bits.QTV_ERROR_NOT_U)
+ {
+ modbus_table_analog_out[10].all = 3;
+ modbus_table_analog_out[11].all = 3;
+ }
+ else
+ {
+ if (edrk.from_shema_filter.bits.QTV_ON_OFF)
+ {
+ modbus_table_analog_out[10].all = 1;
+ modbus_table_analog_out[11].all = 1;
+ }
+ else
+ {
+ modbus_table_analog_out[10].all = 0;
+ modbus_table_analog_out[11].all = 0;
+ }
+ }
+
+
+ if (edrk.from_ing1.bits.VIPR_PREDOHR_NORMA==1)
+ {
+ if (edrk.from_shema_filter.bits.QTV_ON_OFF==1)
+ modbus_table_analog_out[12].all = 1;
+ else
+ modbus_table_analog_out[12].all = 0;
+ }
+ else
+ modbus_table_analog_out[12].all = 3;
+
+
+ if (edrk.errors.e6.bits.UO1_KEYS || edrk.errors.e1.bits.I_BREAK_1_MAX || edrk.errors.e1.bits.I_BREAK_2_MAX || edrk.errors.e2.bits.T_UO1_MAX)
+ modbus_table_analog_out[13].all = 3;
+ else
+ if (edrk.warnings.e2.bits.T_UO1_MAX)
+ modbus_table_analog_out[13].all = 2;
+ else
+ modbus_table_analog_out[13].all = 1;
+
+ if (edrk.errors.e6.bits.UO2_KEYS || edrk.errors.e1.bits.I_UO2_MAX || edrk.errors.e2.bits.T_UO2_MAX)
+ modbus_table_analog_out[14].all = 3;
+ else
+ if (edrk.warnings.e2.bits.T_UO2_MAX)
+ modbus_table_analog_out[14].all = 2;
+ else
+ modbus_table_analog_out[14].all = 1;
+
+ if (edrk.errors.e6.bits.UO3_KEYS || edrk.errors.e1.bits.I_UO3_MAX || edrk.errors.e2.bits.T_UO3_MAX)
+ modbus_table_analog_out[15].all = 3;
+ else
+ if (edrk.warnings.e2.bits.T_UO3_MAX)
+ modbus_table_analog_out[15].all = 2;
+ else
+ modbus_table_analog_out[15].all = 1;
+
+ if (edrk.errors.e6.bits.UO4_KEYS || edrk.errors.e1.bits.I_UO4_MAX || edrk.errors.e2.bits.T_UO4_MAX)
+ modbus_table_analog_out[16].all = 3;
+ else
+ if (edrk.warnings.e2.bits.T_UO4_MAX)
+ modbus_table_analog_out[16].all = 2;
+ else
+ modbus_table_analog_out[16].all = 1;
+
+ if (edrk.errors.e6.bits.UO5_KEYS || edrk.errors.e1.bits.I_UO5_MAX || edrk.errors.e2.bits.T_UO5_MAX)
+ modbus_table_analog_out[17].all = 3;
+ else
+ if (edrk.warnings.e2.bits.T_UO5_MAX)
+ modbus_table_analog_out[17].all = 2;
+ else
+ modbus_table_analog_out[17].all = 1;
+
+ if (edrk.errors.e6.bits.UO6_KEYS || edrk.errors.e1.bits.I_UO6_MAX || edrk.errors.e2.bits.T_UO6_MAX)
+ modbus_table_analog_out[18].all = 3;
+ else
+ if (edrk.warnings.e2.bits.T_UO6_MAX)
+ modbus_table_analog_out[18].all = 2;
+ else
+ modbus_table_analog_out[18].all = 1;
+
+ if (edrk.errors.e6.bits.UO7_KEYS || edrk.errors.e1.bits.I_UO7_MAX || edrk.errors.e2.bits.T_UO7_MAX)
+ modbus_table_analog_out[19].all = 3;
+ else
+ if (edrk.warnings.e2.bits.T_UO7_MAX)
+ modbus_table_analog_out[19].all = 2;
+ else
+ modbus_table_analog_out[19].all = 1;
+
+
+ // motor_state
+ if (edrk.errors.e10.bits.T_ACDRIVE_WINDING_U1 || edrk.errors.e10.bits.T_ACDRIVE_WINDING_V1 ||
+ edrk.errors.e10.bits.T_ACDRIVE_WINDING_W1 || edrk.errors.e10.bits.T_ACDRIVE_WINDING_U2 ||
+ edrk.errors.e10.bits.T_ACDRIVE_WINDING_V2 || edrk.errors.e10.bits.T_ACDRIVE_WINDING_W2 ||
+ edrk.errors.e7.bits.T_ACDRIVE_BEAR_MAX_DNE || edrk.errors.e9.bits.T_ACDRIVE_BEAR_MAX_NE) {
+ modbus_table_analog_out[20].all = 3;
+ } else if (edrk.warnings.e10.bits.T_ACDRIVE_WINDING_U1 || edrk.warnings.e10.bits.T_ACDRIVE_WINDING_V1 ||
+ edrk.warnings.e10.bits.T_ACDRIVE_WINDING_W1 || edrk.warnings.e10.bits.T_ACDRIVE_WINDING_U2 ||
+ edrk.warnings.e10.bits.T_ACDRIVE_WINDING_V2 || edrk.warnings.e10.bits.T_ACDRIVE_WINDING_W2 ||
+ edrk.warnings.e7.bits.T_ACDRIVE_BEAR_MAX_DNE || edrk.warnings.e9.bits.T_ACDRIVE_BEAR_MAX_NE
+ || edrk.power_limit.all
+ ) {
+ modbus_table_analog_out[20].all = 2;
+ } else {
+ modbus_table_analog_out[20].all = 1;
+ }
+
+
+ // ump state
+ if (edrk.from_ing1.bits.ZARYAD_ON || edrk.from_shema_filter.bits.UMP_ON_OFF)
+ {
+ modbus_table_analog_out[21].all = 1; //green
+ }
+ else
+ {
+ if (edrk.errors.e7.bits.ERROR_SBOR_SHEMA || edrk.errors.e5.bits.ERROR_PRE_CHARGE_ON ||
+ edrk.errors.e6.bits.ERROR_PRE_CHARGE_ANSWER || edrk.errors.e6.bits.ERROR_PRE_CHARGE_U || edrk.errors.e7.bits.UMP_NOT_READY)
+ modbus_table_analog_out[21].all = 3; // alarm
+ else
+ if (edrk.warnings.e7.bits.UMP_NOT_READY)
+ modbus_table_analog_out[21].all = 2; //fault
+ else
+ {
+ if (edrk.Stage_Sbor == STAGE_SBOR_STATUS_UMP_ON && edrk.SumSbor)
+ {
+ if (modbus_table_analog_out[21].all==0)
+ modbus_table_analog_out[21].all = 1; //green
+ else
+ modbus_table_analog_out[21].all = 0; //gray
+ }
+ else
+ modbus_table_analog_out[21].all = 0;
+ }
+ }
+
+
+ modbus_table_analog_out[30].all = fast_round_with_limiter(_IQtoF(filter.iqUin_m1)*NORMA_ACP/1.41, LIMITER_U_I_PULT);
+ modbus_table_analog_out[31].all = fast_round_with_limiter(_IQtoF(filter.iqUin_m2)*NORMA_ACP/1.41, LIMITER_U_I_PULT);
+
+// if (edrk.Status_Ready.bits.ready_final==0)
+// {
+// modbus_table_analog_out[32].all = edrk.Stage_Sbor;
+// modbus_table_analog_out[33].all = edrk.Sbor_Mode;//_IQtoF(analog.iqIin_1)*NORMA_ACP;
+// }
+// else
+// {
+ modbus_table_analog_out[32].all = fast_round_with_limiter(_IQtoF(analog.iqIin_1)*NORMA_ACP, LIMITER_U_I_PULT);
+ modbus_table_analog_out[33].all = fast_round_with_limiter(_IQtoF(analog.iqIin_2)*NORMA_ACP, LIMITER_U_I_PULT);
+// }
+
+
+// modbus_table_analog_out[34].all = _IQtoF(filter.iqU_1_long)*NORMA_ACP;
+ modbus_table_analog_out[35].all = fast_round_with_limiter(_IQtoF(filter.iqU_2_long)*NORMA_ACP, LIMITER_U_I_PULT);
+ modbus_table_analog_out[34].all = fast_round_with_limiter(_IQtoF(filter.iqU_1_long)*NORMA_ACP, LIMITER_U_I_PULT);
+
+ modbus_table_analog_out[36].all = fast_round_with_limiter(_IQtoF(analog.iqIbreak_1+analog.iqIbreak_2)*NORMA_ACP, LIMITER_U_I_PULT);//Ibreak
+
+
+
+// modbus_table_analog_out[37].all = fast_round(_IQtoF(analog.iqIu_1_rms)*NORMA_ACP);
+// modbus_table_analog_out[38].all = fast_round(_IQtoF(analog.iqIv_1_rms)*NORMA_ACP);
+// modbus_table_analog_out[39].all = fast_round(_IQtoF(analog.iqIw_1_rms)*NORMA_ACP);
+//
+// modbus_table_analog_out[40].all = fast_round(_IQtoF(analog.iqIu_2_rms)*NORMA_ACP);
+// modbus_table_analog_out[41].all = fast_round(_IQtoF(analog.iqIv_2_rms)*NORMA_ACP);
+// modbus_table_analog_out[42].all = fast_round(_IQtoF(analog.iqIw_2_rms)*NORMA_ACP);
+
+ modbus_table_analog_out[37].all = //fast_round(_IQtoF(filter.iqIm_1)*NORMA_ACP_RMS);
+ modbus_table_analog_out[38].all = //fast_round(_IQtoF(filter.iqIm_1)*NORMA_ACP_RMS);
+ modbus_table_analog_out[39].all = fast_round_with_limiter(_IQtoF(filter.iqIm_1)*NORMA_ACP_RMS, LIMITER_U_I_PULT);
+
+ modbus_table_analog_out[40].all = //fast_round(_IQtoF(filter.iqIm_2)*NORMA_ACP_RMS);
+ modbus_table_analog_out[41].all = //fast_round(_IQtoF(filter.iqIm_2)*NORMA_ACP_RMS);
+ modbus_table_analog_out[42].all = fast_round_with_limiter(_IQtoF(filter.iqIm_2)*NORMA_ACP_RMS, LIMITER_U_I_PULT);
+
+// if (edrk.flag_second_PCH == 0) {
+// modbus_table_analog_out[43].all = modbus_table_analog_out[44].all = fast_round(_IQtoF(filter.iqIm_1 + filter.iqIm_2)*NORMA_ACP_RMS);
+// //modbus_table_analog_out[44].all = fast_round(_IQtoF(filter.iqIm_1 + filter.iqIm_2)*NORMA_ACP_RMS);
+// } else {
+// modbus_table_analog_out[43].all = modbus_table_analog_out[44].all = fast_round(_IQtoF(filter.iqIm_1 + filter.iqIm_2)*NORMA_ACP_RMS);
+// //modbus_table_analog_out[44].all = fast_round(_IQtoF(filter.iqIm_1 + filter.iqIm_2)*NORMA_ACP_RMS);
+// }
+ modbus_table_analog_out[43].all = modbus_table_analog_out[44].all = fast_round_with_limiter(_IQtoF(filter.iqIm_1 + filter.iqIm_2)*NORMA_ACP_RMS, LIMITER_U_I_PULT);
+
+ modbus_table_analog_out[45].all = 0; //edrk.I_zad_vozbud_exp;
+
+// modbus_table_analog_out[4].all = control_station.active_array_cmd[CONTROL_STATION_CMD_SET_ROTOR];
+// modbus_table_analog_out[5].all = control_station.active_array_cmd[CONTROL_STATION_CMD_SET_POWER];
+
+
+//#if (_FLOOR6__)
+// power_kw_full = edrk.power_kw_full;
+// power_kw = edrk.power_kw;
+// oborots = edrk.oborots;
+//
+// if (edrk.oborots)
+// oborots = edrk.oborots;
+// else
+// oborots = edrk.zadanie.oborots_zad;
+//
+//
+// if (edrk.Mode_ScalarVectorUFConst==ALG_MODE_SCALAR_OBOROTS
+// || (edrk.Mode_ScalarVectorUFConst==ALG_MODE_FOC_OBOROTS)
+// || (edrk.Mode_ScalarVectorUFConst==ALG_MODE_UF_CONST)
+// ) // oborots
+// {
+// power_kw_full = (edrk.zadanie.oborots_zad)*50;
+// power_kw = (edrk.zadanie.oborots_zad)*25;
+// }
+// else
+// {
+// oborots = edrk.zadanie.power_zad/25;
+//// modbus_table_analog_out[48].all = abs(edrk.zadanie.power_zad);
+// }
+//
+//
+//
+//
+//
+//#else
+ power_kw_full = fast_round_with_limiter(edrk.power_kw_full, LIMITER_U_I_PULT);
+ power_kw = edrk.power_kw;
+ oborots = edrk.oborots;
+//#endif
+
+
+ if (edrk.Mode_ScalarVectorUFConst==ALG_MODE_UF_CONST) // UFCONST
+ {
+ modbus_table_analog_out[47].all = 0;//fast_round(edrk.zadanie.fzad*100.0); //������� ��������� ��������
+ modbus_table_analog_out[46].all = 0; //�������� ��������� ��������
+ }
+ else
+ if (edrk.Mode_ScalarVectorUFConst==ALG_MODE_SCALAR_OBOROTS) // scalar oborots
+ {
+ modbus_table_analog_out[47].all = edrk.zadanie.oborots_zad; //������� ��������� ��������
+
+ if (oborots>=0)
+ modbus_table_analog_out[46].all = power_kw_full; //�������� ���� ������� ���������
+ else
+ modbus_table_analog_out[46].all = -power_kw_full; //�������� ��������� ��������
+
+ }
+ else
+ if (edrk.Mode_ScalarVectorUFConst==ALG_MODE_SCALAR_POWER) // scalar power
+ {
+ modbus_table_analog_out[47].all = oborots; //������� ��������� ��������
+ modbus_table_analog_out[46].all = edrk.zadanie.power_zad; //�������� ��������� ��������
+
+ }
+ else
+ if (edrk.Mode_ScalarVectorUFConst==ALG_MODE_FOC_OBOROTS) // foc oborots
+ {
+ modbus_table_analog_out[47].all = edrk.zadanie.oborots_zad; //������� ��������� ��������
+
+ if (oborots>=0)
+ modbus_table_analog_out[46].all = power_kw_full; //�������� ���� ������� ���������
+ else
+ modbus_table_analog_out[46].all = -power_kw_full; //�������� ��������� ��������
+
+// modbus_table_analog_out[46].all = 0; //�������� ��������� ��������
+
+ }
+ else
+ if (edrk.Mode_ScalarVectorUFConst==ALG_MODE_FOC_POWER) // foc power
+ {
+ modbus_table_analog_out[47].all = oborots; //������� ��������� ��������
+ modbus_table_analog_out[46].all = edrk.zadanie.power_zad; //�������� ��������� ��������
+
+ }
+ else
+ {
+ modbus_table_analog_out[46].all = 0;//-1; //�������� ��������� ��������
+ modbus_table_analog_out[47].all = 0;//-1; //������� ��������� ��������
+ }
+
+
+
+
+
+//#if (_FLOOR6___)
+// if (edrk.Mode_ScalarVectorUFConst==ALG_MODE_SCALAR_OBOROTS
+// || (edrk.Mode_ScalarVectorUFConst==ALG_MODE_FOC_OBOROTS)
+// || (edrk.Mode_ScalarVectorUFConst==ALG_MODE_UF_CONST)
+// ) // oborots
+// {
+// // �������� �������� ��� �����
+// if (edrk.oborots == 0)
+// {
+// if (edrk.zadanie.oborots_zad>0)
+// modbus_table_analog_out[49].all = edrk.zadanie.oborots_zad - 1;
+// else if (edrk.zadanie.oborots_zad<0)
+// modbus_table_analog_out[49].all = edrk.zadanie.oborots_zad + 1;
+// else
+// modbus_table_analog_out[49].all = 0;
+//
+// }
+// else
+// {
+// modbus_table_analog_out[49].all = edrk.oborots; // ������� �������
+// }
+//
+// if (edrk.zadanie.oborots_zad<0)
+// modbus_table_analog_out[48].all = -(edrk.zadanie.oborots_zad)*25; //�������� ��������� ������� ���
+// else
+// modbus_table_analog_out[48].all = (edrk.zadanie.oborots_zad)*25; //�������� ��������� ������� ���
+//
+// }
+// else
+// {
+// modbus_table_analog_out[49].all = edrk.zadanie.power_zad/25;
+// modbus_table_analog_out[48].all = abs(edrk.zadanie.power_zad);
+// }
+//
+// modbus_table_analog_out[5].all = abs(power_kw*2);//power_kw_full; //�������� ���� ������� ���������
+//#else
+
+ modbus_table_analog_out[48].all = abs(power_kw); //�������� ��������� ������� ���
+ modbus_table_analog_out[49].all = oborots; // ������� �������
+ modbus_table_analog_out[5].all = abs(power_kw_full); //�������� ���� ������� ���������
+ modbus_table_analog_out[6].all = fast_round(_IQtoF(edrk.zadanie.iq_limit_power_zad_rmp)*NORMA_ACP*NORMA_ACP/1000.0);//abs(power_kw_full); //�������� ���� ������� ���������
+//#endif
+
+
+ // modbus_table_analog_out[48].all = fast_round(_IQtoF((filter.Power) * NORMA_ACP * NORMA_ACP) / 1000.0); //�������� ��������� ������� ���
+
+ for (i=0;i<2;i++)
+ modbus_table_analog_out[50+i].all = fast_round_with_delta(modbus_table_analog_out[50+i].all, edrk.temper_edrk.real_int_temper_water[i]/10.0, 1);
+
+
+ modbus_table_analog_out[52].all = fast_round_with_delta(modbus_table_analog_out[52].all, edrk.p_water_edrk.filter_real_int_p_water[0]/10.0, 1);
+
+ for (i=0;i<6;i++)
+ modbus_table_analog_out[53+i].all = fast_round_with_delta(modbus_table_analog_out[53+i].all, edrk.temper_edrk.real_int_temper_u[1+i]/10.0, 1);
+
+ modbus_table_analog_out[59].all = fast_round_with_delta(modbus_table_analog_out[59].all, edrk.temper_edrk.real_int_temper_u[0]/10.0, 1);
+
+ for (i=0;i<4;i++)
+ modbus_table_analog_out[60+i].all = fast_round_with_delta(modbus_table_analog_out[60+i].all, edrk.temper_edrk.real_int_temper_air[i]/10.0, 1);
+
+ modbus_table_analog_out[8].all = fast_round_with_delta(modbus_table_analog_out[8].all, edrk.temper_edrk.max_real_int_temper_u/10.0, 1);
+
+ if (edrk.errors.e2.bits.T_AIR0_MAX)
+ modbus_table_analog_out[64].all = 3;
+ else
+ if (edrk.warnings.e2.bits.T_AIR0_MAX)
+ modbus_table_analog_out[64].all = 2;
+ else
+ modbus_table_analog_out[64].all = 1;
+
+ if (edrk.errors.e2.bits.T_AIR1_MAX)
+ modbus_table_analog_out[65].all = 3;
+ else
+ if (edrk.warnings.e2.bits.T_AIR1_MAX)
+ modbus_table_analog_out[65].all = 2;
+ else
+ modbus_table_analog_out[65].all = 1;
+
+ if (edrk.errors.e2.bits.T_AIR2_MAX)
+ modbus_table_analog_out[66].all = 3;
+ else
+ if (edrk.warnings.e2.bits.T_AIR2_MAX)
+ modbus_table_analog_out[66].all = 2;
+ else
+ modbus_table_analog_out[66].all = 1;
+
+ if (edrk.errors.e2.bits.T_AIR3_MAX)
+ modbus_table_analog_out[67].all = 3;
+ else
+ if (edrk.warnings.e2.bits.T_AIR3_MAX)
+ modbus_table_analog_out[67].all = 2;
+ else
+ modbus_table_analog_out[67].all = 1;
+
+
+
+ if (edrk.auto_master_slave.local.bits.master)
+ modbus_table_analog_out[68].all = 0; // master salve
+ else
+ if (edrk.auto_master_slave.local.bits.slave)
+ modbus_table_analog_out[68].all = 1; // master salve
+ else
+ if (edrk.auto_master_slave.local.bits.try_master)
+ modbus_table_analog_out[68].all = 3; // master salve
+ else
+ if (edrk.errors.e7.bits.AUTO_SET_MASTER)
+ modbus_table_analog_out[68].all = 4; // master salve
+ else
+ modbus_table_analog_out[68].all = 2; // master salve
+
+ for (i=0;i<6;i++)
+ modbus_table_analog_out[69+i].all = fast_round(edrk.temper_acdrive.winding.filter_real_temper[0+i]);
+
+ modbus_table_analog_out[9].all = fast_round(edrk.temper_acdrive.winding.max_real_int_temper/10.0);
+
+ modbus_table_analog_out[75].all = fast_round(edrk.temper_acdrive.bear.filter_real_temper[0]);
+ modbus_table_analog_out[76].all = fast_round(edrk.temper_acdrive.bear.filter_real_temper[1]);
+
+ modbus_table_analog_out[23].all = fast_round(edrk.temper_acdrive.bear.max_real_int_temper/10.0);
+
+ for (i=0;i<6;i++)
+ {
+ status = get_status_temper_acdrive_winding(i);
+ if (status==4)
+ modbus_table_analog_out[77+i].all = 3;
+ if (status==2)
+ modbus_table_analog_out[77+i].all = 2;
+ if (status==1)
+ modbus_table_analog_out[77+i].all = 1;
+ }
+
+ for (i=0;i<2;i++)
+ {
+ status = get_status_temper_acdrive_bear(i);
+ if (status==4)
+ modbus_table_analog_out[83+i].all = 3;
+ if (status==2)
+ modbus_table_analog_out[83+i].all = 2;
+ if (status==1)
+ modbus_table_analog_out[83+i].all = 1;
+ }
+
+
+//UOM
+ modbus_table_analog_out[85].all = edrk.from_uom.level_value;
+
+ if (edrk.from_uom.ready==1)
+ {
+ if (edrk.from_uom.error)
+ modbus_table_analog_out[86].all = 1; // �������
+ else
+ {
+ if (edrk.from_uom.level_value==0)
+ modbus_table_analog_out[86].all = 2; // �������
+ else
+ {
+ if (edrk.power_limit.bits.limit_UOM || edrk.power_limit.bits.limit_from_uom_fast)
+ {
+ // ������� ������-�����
+ if (modbus_table_analog_out[86].all==0)
+ modbus_table_analog_out[86].all = 3; //������
+ else
+ modbus_table_analog_out[86].all = 0; //gray
+ }
+ else
+ modbus_table_analog_out[86].all = 3;
+
+ //modbus_table_analog_out[86].all = 3; // ������
+ }
+ }
+ }
+ else
+ modbus_table_analog_out[86].all = 0; // �����
+
+
+// active control station
+// CONTROL_STATION_TERMINAL_RS232 = 0, -
+// CONTROL_STATION_TERMINAL_CAN, -
+//
+// CONTROL_STATION_INGETEAM_PULT_RS485, -
+// CONTROL_STATION_MPU_SVU_CAN,
+// CONTROL_STATION_MPU_KEY_CAN,
+// CONTROL_STATION_MPU_SVU_RS485,
+// CONTROL_STATION_MPU_KEY_RS485,
+// CONTROL_STATION_ZADATCHIK_CAN,
+// CONTROL_STATION_VPU_CAN,
+
+ modbus_table_analog_out[87].all = edrk.active_post_upravl;
+
+
+ // load procents
+ modbus_table_analog_out[88].all = 0; //error
+
+ // 0- �����, �������, ������, ������� - ���� ����� ���������� ��. [87].
+ if (modbus_table_analog_out[87].all == 10)
+ modbus_table_analog_out[89].all = 3; //red
+ else
+ modbus_table_analog_out[89].all = 1; //no error
+
+ /////////////////////////////
+ /////////////////////////////
+ if (edrk.warnings.e7.bits.READ_OPTBUS
+ && edrk.warnings.e7.bits.WRITE_OPTBUS
+ && edrk.warnings.e7.bits.MASTER_SLAVE_SYNC)
+ modbus_table_analog_out[90].all = 2; //warning
+ else
+ if (edrk.errors.e7.bits.READ_OPTBUS
+ || edrk.errors.e7.bits.WRITE_OPTBUS
+ || edrk.errors.e7.bits.MASTER_SLAVE_SYNC
+ || edrk.errors.e1.bits.NO_INPUT_SYNC_SIGNAL)
+ modbus_table_analog_out[90].all = 3; //error
+ else
+ if (edrk.warnings.e7.bits.READ_OPTBUS
+ || edrk.warnings.e7.bits.WRITE_OPTBUS
+ || edrk.warnings.e7.bits.MASTER_SLAVE_SYNC
+ || edrk.warnings.e1.bits.NO_INPUT_SYNC_SIGNAL)
+ modbus_table_analog_out[90].all = 5; //warning
+ else
+ if (edrk.ms.ready1==0)
+ modbus_table_analog_out[90].all = 1; //find
+ else
+ modbus_table_analog_out[90].all = 0; //ok
+
+ modbus_table_analog_out[91].all = protect_levels.abnormal_temper_acdrive_winding_U1 / 10;
+ modbus_table_analog_out[92].all = protect_levels.abnormal_temper_acdrive_winding_V1 / 10;
+ modbus_table_analog_out[93].all = protect_levels.abnormal_temper_acdrive_winding_W1 / 10;
+ modbus_table_analog_out[94].all = protect_levels.abnormal_temper_acdrive_winding_U2 / 10;
+ modbus_table_analog_out[95].all = protect_levels.abnormal_temper_acdrive_winding_V2 / 10;
+ modbus_table_analog_out[96].all = protect_levels.abnormal_temper_acdrive_winding_W2 / 10;
+ modbus_table_analog_out[97].all = protect_levels.abnormal_temper_acdrive_bear_DNE / 10;
+ modbus_table_analog_out[98].all = protect_levels.abnormal_temper_acdrive_bear_NE / 10;
+
+ modbus_table_analog_out[99].all = protect_levels.alarm_temper_acdrive_winding_U1 / 10;
+ modbus_table_analog_out[100].all = protect_levels.alarm_temper_acdrive_winding_V1 / 10;
+ modbus_table_analog_out[101].all = protect_levels.alarm_temper_acdrive_winding_W1 / 10;
+ modbus_table_analog_out[102].all = protect_levels.alarm_temper_acdrive_winding_U2 / 10;
+ modbus_table_analog_out[103].all = protect_levels.alarm_temper_acdrive_winding_V2 / 10;
+ modbus_table_analog_out[104].all = protect_levels.alarm_temper_acdrive_winding_W2 / 10;
+ modbus_table_analog_out[105].all = protect_levels.alarm_temper_acdrive_bear_DNE / 10;
+ modbus_table_analog_out[106].all = protect_levels.alarm_temper_acdrive_bear_NE / 10;
+
+ modbus_table_analog_out[107].all = protect_levels.abnormal_temper_u_01 / 10;
+ modbus_table_analog_out[108].all = protect_levels.abnormal_temper_u_02 / 10;
+ modbus_table_analog_out[109].all = protect_levels.abnormal_temper_u_03 / 10;
+ modbus_table_analog_out[110].all = protect_levels.abnormal_temper_u_04 / 10;
+ modbus_table_analog_out[111].all = protect_levels.abnormal_temper_u_05 / 10;
+ modbus_table_analog_out[112].all = protect_levels.abnormal_temper_u_06 / 10;
+ modbus_table_analog_out[113].all = protect_levels.abnormal_temper_u_07 / 10;
+ modbus_table_analog_out[114].all = protect_levels.alarm_temper_u_01 / 10;
+ modbus_table_analog_out[115].all = protect_levels.alarm_temper_u_02 / 10;
+ modbus_table_analog_out[116].all = protect_levels.alarm_temper_u_03 / 10;
+ modbus_table_analog_out[117].all = protect_levels.alarm_temper_u_04 / 10;
+ modbus_table_analog_out[118].all = protect_levels.alarm_temper_u_05 / 10;
+ modbus_table_analog_out[119].all = protect_levels.alarm_temper_u_06 / 10;
+ modbus_table_analog_out[120].all = protect_levels.alarm_temper_u_07 / 10;
+
+ modbus_table_analog_out[123].all = protect_levels.abnormal_temper_water_int / 10;
+ modbus_table_analog_out[124].all = protect_levels.abnormal_temper_water_ext / 10;
+ modbus_table_analog_out[125].all = protect_levels.alarm_p_water_min_int / 10;
+ modbus_table_analog_out[126].all = protect_levels.alarm_temper_water_int / 10;
+ modbus_table_analog_out[127].all = protect_levels.alarm_temper_water_ext / 10;
+ modbus_table_analog_out[128].all = protect_levels.alarm_p_water_max_int / 10;
+
+ modbus_table_analog_out[129].all = protect_levels.abnormal_temper_air_int_01 / 10;
+ modbus_table_analog_out[130].all = protect_levels.abnormal_temper_air_int_02 / 10;
+ modbus_table_analog_out[131].all = protect_levels.abnormal_temper_air_int_03 / 10;
+ modbus_table_analog_out[132].all = protect_levels.abnormal_temper_air_int_04 / 10;
+ modbus_table_analog_out[133].all = protect_levels.alarm_temper_air_int_01 / 10;
+ modbus_table_analog_out[134].all = protect_levels.alarm_temper_air_int_02 / 10;
+ modbus_table_analog_out[135].all = protect_levels.alarm_temper_air_int_03 / 10;
+ modbus_table_analog_out[136].all = protect_levels.alarm_temper_air_int_04 / 10;
+
+// toControllerAlarmMinUlineA1B1C1 30137
+// toControllerAlarmMinUlineA2B2C2 30138
+// toControllerAlarmMinUdcUP 30139
+// toControllerAlarmMinUdcDOWN 30140
+// toControllerAlarmMaxUlineA1B1C1 30142
+// toControllerAlarmMaxUlineA2B2C2 30143
+// toControllerAlarmMaxUdcUP 30144
+// toControllerAlarmMaxUdcDOWN 30145
+
+ modbus_table_analog_out[137].all = _IQtoF(analog_protect.in_voltage[0].setup.levels.iqNominal_minus20) * NORMA_ACP;//_IQtoF(edrk.iqMIN_U_IN) * NORMA_ACP;
+ modbus_table_analog_out[138].all = _IQtoF(analog_protect.in_voltage[1].setup.levels.iqNominal_minus20) * NORMA_ACP;
+
+ modbus_table_analog_out[139].all = _IQtoF(edrk.iqMIN_U_ZPT) * NORMA_ACP;
+ modbus_table_analog_out[140].all = _IQtoF(edrk.iqMIN_U_ZPT) * NORMA_ACP;
+
+ modbus_table_analog_out[142].all = _IQtoF(analog_protect.in_voltage[0].setup.levels.iqNominal_plus20) * NORMA_ACP;
+ modbus_table_analog_out[143].all = _IQtoF(analog_protect.in_voltage[1].setup.levels.iqNominal_plus20) * NORMA_ACP;
+
+// modbus_table_analog_out[141].all = //_IQtoF(edrk.iqMAX_U_IN) * NORMA_ACP;
+// modbus_table_analog_out[140].all = _IQtoF(edrk.iqMAX_U_IN) * NORMA_ACP;
+
+ modbus_table_analog_out[144].all = _IQtoF(edrk.iqMAX_U_ZPT) * NORMA_ACP;
+ modbus_table_analog_out[145].all = _IQtoF(edrk.iqMAX_U_ZPT) * NORMA_ACP;
+
+ modbus_table_analog_out[146].all = protect_levels.alarm_Izpt_max;
+
+ modbus_table_analog_out[155].all = protect_levels.alarm_Imax_U01;
+ modbus_table_analog_out[156].all = protect_levels.alarm_Imax_U02;
+ modbus_table_analog_out[157].all = protect_levels.alarm_Imax_U03;
+ modbus_table_analog_out[158].all = protect_levels.alarm_Imax_U04;
+ modbus_table_analog_out[159].all = protect_levels.alarm_Imax_U05;
+ modbus_table_analog_out[160].all = protect_levels.alarm_Imax_U06;
+ modbus_table_analog_out[161].all = protect_levels.alarm_Imax_U07;
+ modbus_table_analog_out[162].all = protect_levels.alarm_Iged_max;
+
+
+ // save nPCH TimeToChangePump
+ modbus_table_analog_out[163].all = edrk.pult_data.data_to_pult.nPCH;
+ modbus_table_analog_out[154].all = edrk.pult_data.data_to_pult.TimeToChangePump;
+
+ modbus_table_analog_out[222].all = edrk.pult_data.data_to_pult.count_build;
+ modbus_table_analog_out[223].all = edrk.pult_data.data_to_pult.count_revers;
+
+
+
+ modbus_table_analog_out[197].all = edrk.pult_data.flagSaveDataPCH;
+
+
+
+
+ // build version
+ modbus_table_analog_out[219].all = edrk.buildYear;
+ modbus_table_analog_out[220].all = edrk.buildMonth;
+ modbus_table_analog_out[221].all = edrk.buildDay;
+
+ //moto
+ for (i=0;i<COUNT_MOTO_PULT;i++)
+ modbus_table_analog_out[i+201].all = edrk.pult_data.data_to_pult.moto[i];
+
+ modbus_table_analog_out[200].all = edrk.pult_data.flagSaveDataMoto;
+ modbus_table_analog_out[198].all = edrk.pult_data.flagSaveSlowLogs;
+// modbus_table_analog_out[198].all = edrk.pult_data.flagSaveParamLogs;
+
+ modbus_table_analog_out[7].all = edrk.freq_50hz_1;
+
+
+ //////////////// log////
+ update_logs_cmd_HMI();
+
+/*
+���������� ��������� � ����������� � ������ ��������.
+��� �������� ������ �� � ��������� 30010-30027 ��������
+�������������������� �������� FFFF.
+�������� �������� �� ���������� �������� �����
+ ��������� �������: �������� � �������� 40701-40718 ������, �
+ ����� ��������� ������� � ������� 40700. ������ ����������,
+ ����������� �� �������� "��������" � ������� ������� � �������� 30010-30027.
+ */
+// if ()
+
+}
+
+
+/*
+ * 40194 - ��������� ������ ������ �� ��������� 40300-40399 � ����� LOGS1;
+40224 - ��������� ������ ������ �� ��������� 40400-40499 � ����� LOGS2;
+40225 - ��������� ������ ������ �� ��������� 40500-40599 � ����� LOGS3;
+40226 - ��������� ������ ������ �� ��������� 40600-40699 � ����� LOGS4;
+40227 - ��������� ������ ������ �� ��������� 40700-40799 � ����� LOGS5;
+ */
+
+void update_LoggerParams(void)
+{
+ int i;
+
+ for (i=0;i<28;i++)
+ {
+ modbus_table_analog_out[164+i].all = edrk.pult_data.logger_params[i];
+ }
+
+
+}
+
+
+void update_logs_cmd_HMI(void)
+{
+ modbus_table_analog_out[192].all = log_to_HMI.enable_progress_bar; // stateLogsReport
+ modbus_table_analog_out[193].all = log_to_HMI.progress_bar; // controlProgressBar
+ modbus_table_analog_out[194].all = log_to_HMI.ReportLogOut; // ReportGetOut
+ modbus_table_analog_out[195].all = log_to_HMI.cleanLogs; // cleanLogs == 1
+ modbus_table_analog_out[196].all = log_to_HMI.saveLogsToSDCard; // saveLogsToSDCard 1-SD 2-USB
+
+// modbus_table_analog_out[224].all = log_to_HMI.tick_step2;
+// modbus_table_analog_out[225].all = log_to_HMI.tick_step3;
+// modbus_table_analog_out[226].all = log_to_HMI.tick_step4;
+// modbus_table_analog_out[227].all = log_to_HMI.tick_step5;
+
+
+}
+
+void update_tables_HMI(void)
+{
+ update_tables_HMI_analog();
+ update_tables_HMI_discrete();
+}
+
+
+void setStateHMI(Inverter_state state) {
+ switch (state) {
+ case state_ready1:
+ modbus_table_analog_out[1].all = 1;
+ modbus_table_analog_out[2].all = 1;
+ break;
+ case state_ready2:
+ modbus_table_analog_out[1].all = 2;
+ modbus_table_analog_out[2].all = 1;
+ break;
+ case state_go:
+ modbus_table_analog_out[1].all = 3;
+ modbus_table_analog_out[2].all = 1;
+ break;
+ case state_assemble:
+ modbus_table_analog_out[1].all = 4;
+ modbus_table_analog_out[2].all = 1;
+ break;
+ case state_fault:
+ modbus_table_analog_out[1].all = 5;
+ modbus_table_analog_out[2].all = 2;
+ break;
+ case state_accident:
+ modbus_table_analog_out[1].all = 6;
+ modbus_table_analog_out[2].all = 3;
+ break;
+ default:
+ modbus_table_analog_out[1].all = 0;
+ modbus_table_analog_out[2].all = 0;
+
+ };
+}
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+
+void setElementsColorsHMI(Inverter_state state) {
+ int i = 10;
+ if ((state == state_not_init) || (state == state_ready1)) {
+ //All grey
+ for (i = 10; i <= 22; ++i) {
+ modbus_table_analog_out[i].all = 0;
+ }
+ } else if (state == state_assemble) {
+ //UMP
+ for (i = 10; i <= 22; ++i) {
+ modbus_table_analog_out[i].all = 0;
+ }
+ modbus_table_analog_out[21].all = 1;
+ } else if (state == state_ready2) {
+ //All green
+ for (i = 10; i <= 22; ++i) {
+ modbus_table_analog_out[i].all = 0;
+ }
+ modbus_table_analog_out[10].all = 1;
+ modbus_table_analog_out[11].all = 1;
+ modbus_table_analog_out[12].all = 1;
+ } else if (state == state_go) {
+ //Almost all
+ for (i = 10; i <= 22; ++i) {
+ modbus_table_analog_out[i].all = 1;
+ }
+ modbus_table_analog_out[21].all = 0;
+ } else if (state == state_fault) {
+ for (i = 10; i <= 22; ++i) {
+ modbus_table_analog_out[i].all = 2;
+ }
+ } else if (state == state_accident) {
+ for (i = 10; i <= 22; ++i) {
+ modbus_table_analog_out[i].all = 3;
+ }
+ }
+}
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+///////////////////////////////////////////////////
+///
+///////////////////////////////////////////////////
+void inc_count_build(void)
+{
+ // edrk.pult_data.data.count_build = edrk.pult_data.data_from_pult.moto[21];
+
+ edrk.pult_data.data.count_build++;
+ if (edrk.pult_data.data.count_build>32760)
+ edrk.pult_data.data.count_build = 1;
+
+ // edrk.pult_data.data_to_pult.count_build = edrk.pult_data.data.count_build;
+ // edrk.pult_data.data_to_pult.moto[21] = edrk.pult_data.data_to_pult.count_build;
+}
+
+
+
+void inc_count_revers(void)
+{
+// edrk.pult_data.data.count_revers = edrk.pult_data.data_from_pult.moto[22];
+
+ edrk.pult_data.data.count_revers++;
+ if (edrk.pult_data.data.count_revers>32760)
+ edrk.pult_data.data.count_revers = 1;
+
+// edrk.pult_data.data_to_pult.count_revers = edrk.pult_data.data.count_revers;
+ // edrk.pult_data.data_to_pult.moto[22] = edrk.pult_data.data_to_pult.count_revers
+
+}
+
+
+void update_nPCH(void)
+{
+
+ static int pause_w = 5, first_run = 1; // 10 ��� �������� �� ����� ������ �� ������
+ int flag_1 = 0, flag_2 = 0, i;
+ static int prev_active = 0;
+
+ if (control_station.alive_control_station[CONTROL_STATION_INGETEAM_PULT_RS485]==0)
+ {
+ pause_w = 5;
+ }
+
+ if (pause_w > 1)
+ {
+ pause_w--;
+// if (edrk.pult_data.nPCH_from_pult)
+// if (pause_w > 1)
+// pause_w = 1;
+ prev_active = control_station.alive_control_station[CONTROL_STATION_INGETEAM_PULT_RS485];
+ return;
+ }
+
+ // �������� �� -1 � ������
+ // ���� � ������ -1 � �� ������ �����������, ������ ���� ��� ��������
+ // ����� ���������� �� ��� � ������
+ if (pause_w==1 && first_run)
+ {
+ //����� ��
+ if (edrk.pult_data.data_from_pult.nPCH==-1) // ��� �����
+ {
+ edrk.pult_data.data_to_pult.nPCH = edrk.pult_data.data.nPCH = 0;
+ }
+ else
+ edrk.pult_data.data_to_pult.nPCH = edrk.pult_data.data.nPCH = edrk.pult_data.data_from_pult.nPCH;
+
+ //�������� ������������ � ������ �� �����
+ if (edrk.pult_data.data_from_pult.TimeToChangePump == -1) // ��� �����
+ edrk.pult_data.data_to_pult.TimeToChangePump = edrk.pult_data.data.TimeToChangePump = 0;
+ else
+ edrk.pult_data.data_to_pult.TimeToChangePump = edrk.pult_data.data.TimeToChangePump = edrk.pult_data.data_from_pult.TimeToChangePump;
+
+ //�������� + ������ + ���-�� ������
+ for (i=0;i<COUNT_MOTO_PULT;i++)
+ {
+ if (edrk.pult_data.data_from_pult.moto[i] == -1) // ��� �����
+ edrk.pult_data.data_to_pult.moto[i] = edrk.pult_data.data.moto[i] = 0;
+ else
+ edrk.pult_data.data_to_pult.moto[i] = edrk.pult_data.data.moto[i] = edrk.pult_data.data_from_pult.moto[i];
+ }
+
+ // count_build
+ if (edrk.pult_data.data_from_pult.count_build==-1) // ��� �����
+ {
+ edrk.pult_data.data_to_pult.count_build = edrk.pult_data.data.count_build = 0;
+ }
+ else
+ edrk.pult_data.data_to_pult.count_build = edrk.pult_data.data.count_build = edrk.pult_data.data_from_pult.count_build;
+
+ // count_revers
+ if (edrk.pult_data.data_from_pult.count_revers == -1) // ��� �����
+ {
+ edrk.pult_data.data_to_pult.count_revers = edrk.pult_data.data.count_revers = 0;
+ }
+ else
+ edrk.pult_data.data_to_pult.count_revers = edrk.pult_data.data.count_revers = edrk.pult_data.data_from_pult.count_revers;
+
+ //
+ pause_w = 0;
+ first_run = 0;
+ }
+
+ //����� ��
+ // ����� ��������� �� ������
+ if (edrk.pult_data.data_from_pult.nPCH != edrk.pult_data.data.nPCH && edrk.pult_data.data_from_pult.nPCH>=0)
+ {
+ edrk.pult_data.data_to_pult.nPCH = edrk.pult_data.data_from_pult.nPCH;
+ flag_1 = 1;
+ edrk.pult_data.data.nPCH = edrk.pult_data.data_from_pult.nPCH;
+ }
+
+ // ��� ����� ����� -1 ������ �� ������� ��������
+ if (edrk.pult_data.data_from_pult.nPCH != edrk.pult_data.data.nPCH && edrk.pult_data.data_from_pult.nPCH == -1)
+ {
+ edrk.pult_data.data_to_pult.nPCH = edrk.pult_data.data.nPCH;
+ flag_1 = 1;
+ }
+
+
+ //�������� ������������ � ������ �� �����
+ // ����� ��������� �� ������
+ if (edrk.pult_data.data_from_pult.TimeToChangePump != edrk.pult_data.data.TimeToChangePump
+ && edrk.pult_data.data_from_pult.TimeToChangePump >= 0)
+ {
+ edrk.pult_data.data_to_pult.TimeToChangePump = edrk.pult_data.data_from_pult.TimeToChangePump;
+ flag_1 = 1;
+ edrk.pult_data.data.TimeToChangePump = edrk.pult_data.data_from_pult.TimeToChangePump;
+ }
+
+ // ��� ����� ����� -1 ������ �� ������� ��������
+ if (edrk.pult_data.data_from_pult.TimeToChangePump != edrk.pult_data.data.TimeToChangePump
+ && edrk.pult_data.data_from_pult.TimeToChangePump == -1)
+ {
+ edrk.pult_data.data_to_pult.TimeToChangePump = edrk.pult_data.data.TimeToChangePump;
+ flag_1 = 1;
+ }
+
+ // build
+ // ��� ����� ����� -1 ������ �� ������� ��������
+ if (edrk.pult_data.data_from_pult.count_build != edrk.pult_data.data.count_build
+ && edrk.pult_data.data_from_pult.count_build == -1)
+ {
+ edrk.pult_data.data_to_pult.count_build = edrk.pult_data.data.count_build;
+ flag_1 = 1;
+ }
+
+ if (edrk.pult_data.data_from_pult.count_build != edrk.pult_data.data.count_build)
+ {
+ edrk.pult_data.data_to_pult.count_build = edrk.pult_data.data.count_build;
+ flag_1 = 1;
+ }
+
+ // revers
+ // ��� ����� ����� -1 ������ �� ������� ��������
+ if (edrk.pult_data.data_from_pult.count_revers != edrk.pult_data.data.count_revers
+ && edrk.pult_data.data_from_pult.count_revers == -1)
+ {
+ edrk.pult_data.data_to_pult.count_revers = edrk.pult_data.data.count_revers;
+ flag_1 = 1;
+ }
+
+ if (edrk.pult_data.data_from_pult.count_revers != edrk.pult_data.data.count_revers )
+ {
+ edrk.pult_data.data_to_pult.count_revers = edrk.pult_data.data.count_revers;
+ flag_1 = 1;
+ }
+ // ���� ������� ���������
+ edrk.pult_data.flagSaveDataPCH = flag_1;
+
+
+ // moto
+ for (i=0;i<COUNT_MOTO_PULT;i++)
+ {
+ // ��� ����� ����� -1 ������ �� ������� ��������
+ if (edrk.pult_data.data_from_pult.moto[i] == -1)
+ flag_2 = 1;
+ else
+ edrk.pult_data.data.moto[i] = edrk.pult_data.data_from_pult.moto[i];
+ }
+
+ // ���� ���� ���� -1 � ������, ������ ��� ����� ��������, ��������� ��� ������
+ if (flag_2)
+ {
+ for (i=0;i<COUNT_MOTO_PULT;i++)
+ {
+ edrk.pult_data.data_to_pult.moto[i] = edrk.pult_data.data.moto[i];
+ }
+ }
+
+ // ���� ������� ���������
+ edrk.pult_data.flagSaveDataMoto = flag_2;
+
+
+
+
+
+
+ prev_active = control_station.alive_control_station[CONTROL_STATION_INGETEAM_PULT_RS485];
+
+}
+
+
+#define COUNT_WAIT_SAVE_LOG 3000
+
+void set_write_slow_logs(int cmd)
+{
+ static int prev_cmd = 0, flag_wait = 0, flag_clear = 0;
+ static unsigned int time_wait_save_log = 0, time_wait_clear_log = 0;
+ int to_store = 0;
+
+ if (edrk.pult_cmd.log_what_memory == 3)
+ to_store = 3;
+ else
+ if (edrk.pult_cmd.log_what_memory >= 2)
+ to_store = 2;
+ else
+ if (edrk.pult_cmd.log_what_memory >= 1)
+ to_store = 1;
+ else
+ to_store = 0;
+
+ //40198 - ���������� ���������� ������� (�������������� �����) �� ������ (2), �� ����� (1), �� �����+usb (3)
+ if (prev_cmd == 0 && cmd && to_store && flag_wait == 0)
+ {
+ edrk.pult_data.flagSaveSlowLogs = to_store;
+ flag_wait = 1;
+ time_wait_save_log = global_time.miliseconds;
+ }
+
+
+ if (flag_wait)
+ {
+ if (detect_pause_milisec(COUNT_WAIT_SAVE_LOG, &time_wait_save_log))
+ {
+ flag_wait = 0;
+ flag_clear = 1; // ���� ������� �� ��������
+ edrk.pult_data.flagSaveSlowLogs = 0;
+ time_wait_clear_log = global_time.miliseconds;
+ }
+
+ }
+ else
+ {
+
+ }
+
+
+
+
+ if (flag_clear) // �������
+ {
+ edrk.pult_data.flagSaveSlowLogs = 100;
+ if (detect_pause_milisec(COUNT_WAIT_SAVE_LOG, &time_wait_clear_log))
+ {
+ flag_wait = 0;
+ flag_clear = 0;
+ edrk.pult_data.flagSaveSlowLogs = 0;
+ }
+
+ }
+
+ //������ ����� � ������ ����� ������ � �������� 30033:
+
+// �������� 0 - ��� �� ������, �� �����;
+// �������� 1 - ��� ������, ���� �����;
+// �������� 2 - ���� ������, ��� �����;
+// �������� 3 - ���� � ������ � �����;
+}
+
diff --git a/Inu/Src/main/modbus_hmi_update.h b/Inu/Src/main/modbus_hmi_update.h
new file mode 100644
index 0000000..3ed0c05
--- /dev/null
+++ b/Inu/Src/main/modbus_hmi_update.h
@@ -0,0 +1,39 @@
+#ifndef _HMI_UPDATE
+#define _HMI_UPDATE
+
+
+#define LIMITER_U_I_PULT 5.0 //10.0
+
+
+typedef enum {
+ state_not_init = 0, state_ready1 = 1, state_ready2, state_go, state_assemble, state_fault, state_accident
+} Inverter_state;
+
+void update_tables_HMI(void);
+void update_logs_cmd_HMI(void);
+void update_tables_HMI_on_inited(int perc_load);
+
+void update_tables_HMI_analog(void);
+void update_tables_HMI_discrete(void);
+
+int update_progress_load_hmi(int proc_load);
+
+void setStateHMI(Inverter_state state);
+void setElementsColorsHMI(Inverter_state state);
+
+void get_command_HMI(void);
+void func_unpack_answer_from_Ingeteam(unsigned int cc);
+
+extern int hmi_watch_dog;
+
+void update_nPCH(void);
+
+void inc_count_build(void);
+void inc_count_revers(void);
+
+void set_write_slow_logs(int cmd);
+
+void update_LoggerParams(void);
+
+
+#endif //_HMI_UPDATE
diff --git a/Inu/Src/main/modbus_svu_update.c b/Inu/Src/main/modbus_svu_update.c
new file mode 100644
index 0000000..d9e6fe2
--- /dev/null
+++ b/Inu/Src/main/modbus_svu_update.c
@@ -0,0 +1,710 @@
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+
+#include <adc_tools.h>
+#include <control_station_project.h>
+#include <detect_errors_adc.h>
+#include <edrk_main.h>
+#include <master_slave.h>
+#include <optical_bus.h>
+#include <params.h>
+#include <params_norma.h>
+#include <protect_levels.h>
+#include <v_rotor.h>
+#include <v_rotor.h>
+#include "math.h"
+#include "control_station.h"
+#include "CAN_Setup.h"
+#include "modbus_table_v2.h"
+#include "mathlib.h"
+
+void update_errors_to_svu(void);
+void update_protect_levels_to_MPU(void);
+
+void update_svu_modbus_table(void)
+{
+ int current_active_control;
+
+ modbus_table_can_out[0].all = edrk.Stop ? 7 :
+// edrk.Provorot ? 6 :
+ edrk.Go ? 5 :
+ edrk.Status_Ready.bits.ready_final ? 4 :
+ edrk.to_ing.bits.RASCEPITEL_ON ? 3 :
+ edrk.SumSbor ? 2 :
+ edrk.Status_Ready.bits.ready1 ? 1 : 0;
+ modbus_table_can_out[1].all = edrk.warning;
+ modbus_table_can_out[2].all = edrk.overheat;
+// modbus_table_can_out[3].all = ����������� �������� ���;
+// modbus_table_can_out[4].all = ���������� ���;
+ modbus_table_can_out[5].all = edrk.Status_Ready.bits.Batt;
+ modbus_table_can_out[6].all = edrk.from_ing1.bits.UPC_24V_NORMA | edrk.from_ing1.bits.OP_PIT_NORMA ? 0 : 1;
+ modbus_table_can_out[7].all = WRotor.RotorDirectionSlow >= 0 ? 0 : 1;
+ modbus_table_can_out[8].all = edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER ||
+ edrk.Mode_ScalarVectorUFConst == ALG_MODE_SCALAR_POWER ? 1 : 0;
+ current_active_control = get_current_station_control();
+ modbus_table_can_out[9].all = current_active_control == CONTROL_STATION_INGETEAM_PULT_RS485 ? 1 :
+ current_active_control == CONTROL_STATION_MPU_KEY_CAN || current_active_control == CONTROL_STATION_MPU_KEY_RS485 ? 2 :
+ current_active_control == CONTROL_STATION_ZADATCHIK_CAN ? 3 :
+ current_active_control == CONTROL_STATION_VPU_CAN ? 4 :
+ current_active_control == CONTROL_STATION_MPU_SVU_CAN || current_active_control == CONTROL_STATION_MPU_SVU_RS485 ? 5 :
+ 0;
+ modbus_table_can_out[10].all = edrk.errors.e2.bits.T_UO1_MAX || edrk.errors.e6.bits.UO1_KEYS ? 3 :
+ edrk.warnings.e2.bits.T_UO1_MAX ? 2 : 1;
+ modbus_table_can_out[11].all = edrk.errors.e2.bits.T_UO2_MAX || edrk.errors.e6.bits.UO2_KEYS ? 3 :
+ edrk.warnings.e2.bits.T_UO2_MAX ? 2 : 1;
+ modbus_table_can_out[12].all = edrk.errors.e2.bits.T_UO3_MAX || edrk.errors.e6.bits.UO3_KEYS ? 3 :
+ edrk.warnings.e2.bits.T_UO3_MAX ? 2 : 1;
+ modbus_table_can_out[13].all = edrk.errors.e2.bits.T_UO4_MAX || edrk.errors.e6.bits.UO4_KEYS ? 3 :
+ edrk.warnings.e2.bits.T_UO4_MAX ? 2 : 1;
+ modbus_table_can_out[14].all = edrk.errors.e2.bits.T_UO5_MAX || edrk.errors.e6.bits.UO5_KEYS ? 3 :
+ edrk.warnings.e2.bits.T_UO5_MAX ? 2 : 1;
+ modbus_table_can_out[15].all = edrk.errors.e2.bits.T_UO6_MAX || edrk.errors.e6.bits.UO6_KEYS ? 3 :
+ edrk.warnings.e2.bits.T_UO6_MAX ? 2 : 1;
+ modbus_table_can_out[16].all = edrk.errors.e2.bits.T_UO7_MAX || edrk.errors.e6.bits.UO7_KEYS ? 3 :
+ edrk.warnings.e2.bits.T_UO7_MAX ? 2 : 1;
+ modbus_table_can_out[17].all = edrk.Status_QTV_Ok;// edrk.from_shema.bits.QTV_ON_OFF;
+ modbus_table_can_out[18].all = edrk.from_svu.bits.BLOCKED;
+ modbus_table_can_out[19].all = edrk.from_shema_filter.bits.UMP_ON_OFF;
+ modbus_table_can_out[20].all = edrk.from_shema_filter.bits.READY_UMP;
+ modbus_table_can_out[21].all = edrk.from_ing1.bits.RASCEPITEL_ON;
+ modbus_table_can_out[22].all = edrk.from_ing1.bits.UPC_24V_NORMA;
+ modbus_table_can_out[23].all = edrk.from_ing1.bits.OHLAD_UTE4KA_WATER;
+ modbus_table_can_out[24].all = edrk.from_ing2.bits.SOST_ZAMKA;
+ modbus_table_can_out[25].all = edrk.from_ing1.bits.ZARYAD_ON | edrk.from_shema_filter.bits.UMP_ON_OFF; //������, ������ �� ����������� ��� �� �����, ������� ��� ��������������
+ modbus_table_can_out[26].all = edrk.from_ing1.bits.VENTIL_ON;
+ modbus_table_can_out[27].all = edrk.to_ing.bits.NASOS_1_ON == 1 && edrk.from_ing1.bits.NASOS_ON == 1 ? 1 : 0;
+ modbus_table_can_out[28].all = edrk.to_ing.bits.NASOS_2_ON == 1 && edrk.from_ing1.bits.NASOS_ON == 1 ? 1 : 0;
+ modbus_table_can_out[29].all = edrk.from_ing1.bits.NASOS_NORMA;
+ modbus_table_can_out[30].all = edrk.from_ing1.bits.ZAZEML_ON;
+ modbus_table_can_out[31].all = edrk.from_ing1.bits.NAGREV_ON;
+ modbus_table_can_out[32].all = edrk.from_ing1.bits.BLOCK_IZOL_NORMA == 1 ? 1 : 0;
+ modbus_table_can_out[33].all = edrk.errors.e5.bits.ERROR_ISOLATE == 0 && edrk.from_ing1.bits.BLOCK_IZOL_NORMA == 1 ? 0 : 1;
+ modbus_table_can_out[34].all = edrk.from_ing1.bits.ALL_KNOPKA_AVARIA;
+
+ if (edrk.MasterSlave == MODE_MASTER)
+ modbus_table_can_out[35].all = 1;
+ else
+ if (edrk.MasterSlave == MODE_SLAVE)
+ modbus_table_can_out[35].all = 0;
+ else
+ modbus_table_can_out[35].all = 2; // MODE_DONTKNOW
+
+// modbus_table_can_out[35].all = edrk.MasterSlave == MODE_MASTER ? 1 : 0;
+ modbus_table_can_out[36].all = edrk.from_ing1.bits.OP_PIT_NORMA & edrk.from_ing1.bits.UPC_24V_NORMA;
+ modbus_table_can_out[37].all = optical_read_data.status == 1 && optical_write_data.status == 1 ? 1 : 0;
+ modbus_table_can_out[38].all = edrk.warnings.e7.bits.MASTER_SLAVE_SYNC == 0 ? 1 : 0;
+ modbus_table_can_out[39].all = fast_round(_IQtoF(filter.iqIm) * NORMA_ACP);
+ modbus_table_can_out[40].all = fast_round(_IQtoF(filter.iqIin_sum) * NORMA_ACP);
+ modbus_table_can_out[41].all = fast_round(_IQtoF(filter.iqU_1_long + filter.iqU_2_long) * NORMA_ACP);
+
+ if (filter.iqUin_m1>=filter.iqUin_m2)
+ modbus_table_can_out[42].all = fast_round(_IQtoF(filter.iqUin_m1) * NORMA_ACP / 1.41);
+ else
+ modbus_table_can_out[42].all = fast_round(_IQtoF(filter.iqUin_m2) * NORMA_ACP / 1.41);
+
+ modbus_table_can_out[43].all = fast_round(_IQtoF(filter.iqU_1_long) * NORMA_ACP);
+ modbus_table_can_out[44].all = fast_round(_IQtoF(filter.iqU_2_long) * NORMA_ACP);
+ modbus_table_can_out[45].all = fast_round(_IQtoF(filter.iqIm_1) * NORMA_ACP / 1.41);
+ modbus_table_can_out[46].all = fast_round(_IQtoF(filter.iqIm_1) * NORMA_ACP / 1.41);
+ modbus_table_can_out[47].all = fast_round(_IQtoF(filter.iqIm_1) * NORMA_ACP / 1.41);
+ modbus_table_can_out[48].all = fast_round(_IQtoF(filter.iqIm_2) * NORMA_ACP / 1.41);
+ modbus_table_can_out[49].all = fast_round(_IQtoF(filter.iqIm_2) * NORMA_ACP / 1.41);
+ modbus_table_can_out[50].all = fast_round(_IQtoF(filter.iqIm_2) * NORMA_ACP / 1.41);
+ modbus_table_can_out[51].all = fast_round(_IQtoF(filter.iqIin_sum) * NORMA_ACP);
+// modbus_table_can_out[52].all = Uvh rms
+// modbus_table_can_out[53].all =
+// modbus_table_can_out[54].all =
+// modbus_table_can_out[55].all =
+ modbus_table_can_out[56].all = _IQtoF(analog.iqIbreak_1) * NORMA_ACP;
+ modbus_table_can_out[57].all = _IQtoF(analog.iqIbreak_2) * NORMA_ACP;
+
+ //Temperatures
+ modbus_table_can_out[58].all = fast_round(edrk.temper_edrk.real_temper_u[0]);
+ modbus_table_can_out[59].all = fast_round(edrk.temper_edrk.real_temper_u[1]);
+ modbus_table_can_out[60].all = fast_round(edrk.temper_edrk.real_temper_u[2]);
+ modbus_table_can_out[61].all = fast_round(edrk.temper_edrk.real_temper_u[3]);
+ modbus_table_can_out[62].all = fast_round(edrk.temper_edrk.real_temper_u[4]);
+ modbus_table_can_out[63].all = fast_round(edrk.temper_edrk.real_temper_u[5]);
+ modbus_table_can_out[64].all = fast_round(edrk.temper_edrk.real_temper_u[6]);
+ modbus_table_can_out[65].all = fast_round(edrk.temper_edrk.real_temper_water[1]);
+ modbus_table_can_out[66].all = fast_round(edrk.temper_edrk.real_temper_water[0]);
+ modbus_table_can_out[67].all = fast_round(edrk.temper_edrk.real_temper_air[0]);
+ modbus_table_can_out[68].all = fast_round(edrk.temper_edrk.real_temper_air[1]);
+ modbus_table_can_out[69].all = fast_round(edrk.temper_edrk.real_temper_air[2]);
+ modbus_table_can_out[70].all = fast_round(edrk.temper_edrk.real_temper_air[3]);
+
+ modbus_table_can_out[71].all = fast_round(edrk.p_water_edrk.real_p_water[0]);
+
+ modbus_table_can_out[72].all = fast_round(_IQtoF(edrk.zadanie.iq_oborots_zad_hz_rmp) * NORMA_FROTOR * 60);
+ modbus_table_can_out[73].all = edrk.oborots;// fast_round(_IQtoF(WRotor.iqWRotorSumFilter3) * NORMA_FROTOR * 60);
+ modbus_table_can_out[74].all = edrk.oborots;//fast_round(_IQtoF(WRotor.iqWRotorSumFilter3) * NORMA_FROTOR * 60); //Sensor 1
+ modbus_table_can_out[75].all = edrk.oborots;//fast_round(_IQtoF(WRotor.iqWRotorSumFilter3) * NORMA_FROTOR * 60); //Sensor 1
+
+ modbus_table_can_out[76].all = fast_round(_IQtoF(edrk.zadanie.iq_power_zad_rmp) * NORMA_ACP * NORMA_ACP / 1000.0);
+ modbus_table_can_out[77].all = fabs(edrk.power_kw);// fast_round(_IQtoF(filter.PowerScalar) * NORMA_ACP* NORMA_ACP / 1000.0);
+
+ modbus_table_can_out[78].all = fast_round(edrk.temper_acdrive.winding.filter_real_temper[0]);
+ modbus_table_can_out[79].all = fast_round(edrk.temper_acdrive.winding.filter_real_temper[1]);
+ modbus_table_can_out[80].all = fast_round(edrk.temper_acdrive.winding.filter_real_temper[2]);
+ modbus_table_can_out[81].all = fast_round(edrk.temper_acdrive.winding.filter_real_temper[3]);
+ modbus_table_can_out[82].all = fast_round(edrk.temper_acdrive.winding.filter_real_temper[4]);
+ modbus_table_can_out[83].all = fast_round(edrk.temper_acdrive.winding.filter_real_temper[5]);
+ modbus_table_can_out[84].all = fast_round(edrk.temper_acdrive.bear.filter_real_temper[0]); //��������� ������� TODO: ��������� ������������
+ modbus_table_can_out[85].all = fast_round(edrk.temper_acdrive.bear.filter_real_temper[1]); //����������� �������
+
+ modbus_table_can_out[86].all = Unites[UMU_CAN_DEVICE][24];
+ modbus_table_can_out[87].all = Unites[UMU_CAN_DEVICE][25];
+ modbus_table_can_out[88].all = Unites[UMU_CAN_DEVICE][28];
+ modbus_table_can_out[89].all = Unites[UMU_CAN_DEVICE][29];
+ modbus_table_can_out[90].all = Unites[UMU_CAN_DEVICE][34];
+ modbus_table_can_out[91].all = Unites[UMU_CAN_DEVICE][35];
+ modbus_table_can_out[92].all = Unites[UMU_CAN_DEVICE][34]; //����������, ��� � ����
+ modbus_table_can_out[93].all = Unites[UMU_CAN_DEVICE][35]; //����������, ��� � ����
+
+ modbus_table_can_out[94].all = edrk.warnings.e2.bits.T_UO1_MAX | edrk.warnings.e2.bits.T_UO2_MAX |
+ edrk.warnings.e2.bits.T_UO3_MAX | edrk.warnings.e2.bits.T_UO4_MAX |
+ edrk.warnings.e2.bits.T_UO5_MAX | edrk.warnings.e2.bits.T_UO6_MAX |
+ edrk.warnings.e2.bits.T_UO7_MAX;
+ modbus_table_can_out[95].all = edrk.errors.e2.bits.T_UO1_MAX | edrk.errors.e2.bits.T_UO2_MAX |
+ edrk.errors.e2.bits.T_UO3_MAX | edrk.errors.e2.bits.T_UO4_MAX |
+ edrk.errors.e2.bits.T_UO5_MAX | edrk.errors.e2.bits.T_UO6_MAX |
+ edrk.errors.e2.bits.T_UO7_MAX;
+ modbus_table_can_out[96].all = edrk.warnings.e2.bits.T_AIR0_MAX | edrk.warnings.e2.bits.T_AIR1_MAX |
+ edrk.warnings.e2.bits.T_AIR2_MAX | edrk.warnings.e2.bits.T_AIR3_MAX;
+ modbus_table_can_out[97].all = edrk.errors.e2.bits.T_AIR0_MAX | edrk.errors.e2.bits.T_AIR1_MAX |
+ edrk.errors.e2.bits.T_AIR2_MAX | edrk.errors.e2.bits.T_AIR3_MAX;
+ modbus_table_can_out[98].all = edrk.warnings.e2.bits.T_WATER_EXT_MAX;
+ modbus_table_can_out[99].all = edrk.errors.e2.bits.T_WATER_EXT_MAX;
+ modbus_table_can_out[100].all = edrk.warnings.e2.bits.T_WATER_INT_MAX;
+ modbus_table_can_out[101].all = edrk.errors.e2.bits.T_WATER_INT_MAX;
+
+ modbus_table_can_out[102].all = edrk.warnings.e2.bits.P_WATER_INT_MAX;
+ modbus_table_can_out[103].all = edrk.errors.e2.bits.P_WATER_INT_MAX;
+ modbus_table_can_out[104].all = edrk.warnings.e2.bits.P_WATER_INT_MIN;
+ modbus_table_can_out[105].all = edrk.errors.e2.bits.P_WATER_INT_MIN;
+
+ modbus_table_can_out[106].all = edrk.warnings.e7.bits.T_ACDRIVE_WINDING_MAX;
+ modbus_table_can_out[107].all = edrk.errors.e7.bits.T_ACDRIVE_WINDING_MAX;
+ modbus_table_can_out[108].all = edrk.warnings.e7.bits.T_ACDRIVE_BEAR_MAX_DNE; //����������� ����������
+ modbus_table_can_out[109].all = edrk.errors.e7.bits.T_ACDRIVE_BEAR_MAX_DNE;
+ modbus_table_can_out[110].all = edrk.warnings.e9.bits.T_ACDRIVE_BEAR_MAX_NE; //��������� ��������� � �� ���������
+ modbus_table_can_out[111].all = edrk.errors.e9.bits.T_ACDRIVE_BEAR_MAX_NE;
+
+ modbus_table_can_out[112].all = edrk.warnings.e9.bits.I_GED_MAX;
+ modbus_table_can_out[113].all = edrk.errors.e1.bits.I_UO2_MAX | edrk.errors.e1.bits.I_UO3_MAX |
+ edrk.errors.e1.bits.I_UO4_MAX | edrk.errors.e1.bits.I_UO5_MAX |
+ edrk.errors.e1.bits.I_UO6_MAX | edrk.errors.e1.bits.I_UO7_MAX; //TODO add adc errors
+ modbus_table_can_out[114].all = edrk.errors.e0.bits.I_1_MAX | edrk.errors.e0.bits.I_2_MAX;
+ modbus_table_can_out[115].all = edrk.errors.e0.bits.U_1_MAX | edrk.errors.e0.bits.U_2_MAX;
+ modbus_table_can_out[116].all = edrk.warnings.e0.bits.U_IN_MIN;
+ modbus_table_can_out[117].all = edrk.errors.e0.bits.U_IN_MIN;
+ modbus_table_can_out[118].all = edrk.warnings.e0.bits.U_IN_MAX;
+ modbus_table_can_out[119].all = edrk.errors.e0.bits.U_IN_MAX;
+ modbus_table_can_out[120].all = edrk.warnings.e9.bits.SENSOR_ROTOR_1_BREAK; //TODO ������������� ������� ��������
+ modbus_table_can_out[121].all = edrk.warnings.e9.bits.SENSOR_ROTOR_2_BREAK; //TODO ���������� ���������� ��������
+ modbus_table_can_out[122].all = edrk.Kvitir;
+
+
+ modbus_table_can_out[137].all = edrk.pult_data.data_from_pult.moto[15];
+ modbus_table_can_out[138].all = edrk.pult_data.data_from_pult.moto[6];
+
+ update_errors_to_svu();
+ update_protect_levels_to_MPU();
+
+ copy_from_can_out_to_rs_out();
+
+}
+
+#define MPU_ADRESS_CMD_START 122 // � ��� -1 ������������ ���14, 122 ������������� 123 � ���14
+#define MPU_ADRESS_CMD_END 144 //138 //
+
+#if (MPU_ADRESS_CMD_END>=SIZE_MODBUS_TABLE)
+#define MPU_ADRESS_CMD_END (SIZE_MODBUS_TABLE-1)
+#endif
+
+
+#if (MPU_ADRESS_CMD_END - MPU_ADRESS_CMD_START +1 )>CONTROL_STATION_MAX_RAW_DATA
+#define MPU_LENGTH_CMD CONTROL_STATION_MAX_RAW_DATA
+#else
+#define MPU_LENGTH_CMD (MPU_ADRESS_CMD_END - MPU_ADRESS_CMD_START + 1)
+#endif
+/////////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////
+
+void unpack_answer_from_MPU_SVU_CAN_filter(unsigned int cc)
+{
+ unsigned int i = 0, j = 0, k, max_data;
+
+ for (i = 0; i < MPU_LENGTH_CMD; i++)
+ {
+ max_data = 0;//control_station.raw_array_data_temp[cc][i][0].all;
+ //min_data = 0;//control_station.raw_array_data_temp[cc][i][0].all;
+
+ for (j=0; j<CONTROL_STATION_MAX_RAW_DATA_TEMP; j++)
+ {
+ if (control_station.raw_array_data_temp[cc][i][j].all > max_data)
+ max_data = control_station.raw_array_data_temp[cc][i][j].all;
+ }
+
+ control_station.raw_array_data[cc][i].all = max_data;
+
+ }
+
+}
+
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+
+
+void unpack_answer_from_MPU_SVU_CAN(unsigned int cc) {
+ int i = 0, j = 0, k;
+// static unsigned int prev_CAN_count_cycle_input_units = 0;
+
+ if (control_station.prev_CAN_count_cycle_input_units[cc] != mpu_can_setup.CAN_count_cycle_input_units[0])
+ {
+ k = control_station.count_raw_array_data_temp[cc];
+ for (i = 0, j = 0; i < MPU_LENGTH_CMD && j < CONTROL_STATION_MAX_RAW_DATA; i++, j++)
+ {
+ control_station.raw_array_data_temp[cc][j][k].all = modbus_table_can_in[MPU_ADRESS_CMD_START+i].all;
+ }
+
+ control_station.count_raw_array_data_temp[cc]++;
+ if (control_station.count_raw_array_data_temp[cc]>=CONTROL_STATION_MAX_RAW_DATA_TEMP)
+ control_station.count_raw_array_data_temp[cc] = 0;
+
+ control_station.prev_CAN_count_cycle_input_units[cc] = mpu_can_setup.CAN_count_cycle_input_units[0];
+ }
+
+
+// for (i = ADRESS_CMD_START, j = 0; i < SIZE_MODBUS_TABLE && j < CONTROL_STATION_MAX_RAW_DATA; i++, j++)
+// {
+// control_station.raw_array_data[cc][j].all = modbus_table_can_in[i].all;
+// }
+
+ unpack_answer_from_MPU_SVU_CAN_filter(cc);
+
+}
+
+void unpack_answer_from_MPU_SVU_RS(unsigned int cc) {
+ int i = 0, j = 0;
+ for (i = MPU_ADRESS_CMD_START, j = 0; i < SIZE_MODBUS_TABLE && j < CONTROL_STATION_MAX_RAW_DATA; i++, j++)
+ control_station.raw_array_data[cc][j].all = modbus_table_rs_in[i].all;
+}
+
+void update_errors_to_svu() {
+ modbus_table_can_out[208].bit.bit0 = project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk0_ack;
+ modbus_table_can_out[208].bit.bit1 = project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk1_ack;
+ modbus_table_can_out[208].bit.bit2 = project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk2_ack;
+ modbus_table_can_out[208].bit.bit3 = project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk3_ack;
+ modbus_table_can_out[208].bit.bit4 = project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk4_ack;
+ modbus_table_can_out[208].bit.bit5 = project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk5_ack;
+ modbus_table_can_out[208].bit.bit6 = project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk6_ack;
+ modbus_table_can_out[208].bit.bit7 = project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk7_ack;
+
+ modbus_table_can_out[208].bit.bit8 = project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk0_ack;
+ modbus_table_can_out[208].bit.bit9 = project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk1_ack;
+ modbus_table_can_out[208].bit.bit10 = project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk2_ack;
+ modbus_table_can_out[208].bit.bit11 = project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk3_ack;
+ modbus_table_can_out[208].bit.bit12 = project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk4_ack;
+ modbus_table_can_out[208].bit.bit13 = project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk5_ack;
+ modbus_table_can_out[208].bit.bit14 = project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk6_ack;
+ modbus_table_can_out[208].bit.bit15 = project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk7_ack;
+
+ modbus_table_can_out[200].bit.bit0 = project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk0_ack;
+ modbus_table_can_out[200].bit.bit1 = project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk1_ack;
+ modbus_table_can_out[200].bit.bit2 = project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk2_ack;
+ modbus_table_can_out[200].bit.bit3 = project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk3_ack;
+ modbus_table_can_out[200].bit.bit4 = project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk4_ack;
+ modbus_table_can_out[200].bit.bit5 = project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk5_ack;
+ modbus_table_can_out[200].bit.bit6 = project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk6_ack;
+ modbus_table_can_out[200].bit.bit7 = project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk7_ack;
+ modbus_table_can_out[200].bit.bit8 = project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk0_ack;
+ modbus_table_can_out[200].bit.bit9 = project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk1_ack;
+
+ if (edrk.flag_second_PCH == 1) {
+ modbus_table_can_out[200].bit.bit10 = edrk.errors.e4.bits.ANOTHER_BS_POWER_OFF;
+ } else {
+ modbus_table_can_out[200].bit.bit11 = edrk.errors.e4.bits.ANOTHER_BS_POWER_OFF;
+ }
+
+ modbus_table_can_out[201].bit.bit0 = project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk0_current;
+ modbus_table_can_out[201].bit.bit1 = project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk1_current;
+ modbus_table_can_out[201].bit.bit2 = project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk2_current;
+ modbus_table_can_out[201].bit.bit3 = project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk3_current;
+ modbus_table_can_out[201].bit.bit4 = project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk4_current;
+ modbus_table_can_out[201].bit.bit5 = project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk5_current;
+ modbus_table_can_out[201].bit.bit6 = project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk6_current;
+ modbus_table_can_out[201].bit.bit7 = project.cds_tk[0].read.sbus.status_protect_current_ack.bit.tk7_current;
+ modbus_table_can_out[201].bit.bit8 = project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk0_current;
+ modbus_table_can_out[201].bit.bit9 = project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk1_current;
+ modbus_table_can_out[201].bit.bit10 = project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk2_current;
+ modbus_table_can_out[201].bit.bit11 = project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk3_current;
+ modbus_table_can_out[201].bit.bit12 = project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk4_current;
+ modbus_table_can_out[201].bit.bit13 = project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk5_current;
+ modbus_table_can_out[201].bit.bit14 = project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk6_current;
+ modbus_table_can_out[201].bit.bit15 = project.cds_tk[1].read.sbus.status_protect_current_ack.bit.tk7_current;
+
+ modbus_table_can_out[202].bit.bit0 = project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk0_current;
+ modbus_table_can_out[202].bit.bit1 = project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk1_current;
+ modbus_table_can_out[202].bit.bit2 = project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk2_current;
+ modbus_table_can_out[202].bit.bit3 = project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk3_current;
+ modbus_table_can_out[202].bit.bit4 = project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk4_current;
+ modbus_table_can_out[202].bit.bit5 = project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk5_current;
+ modbus_table_can_out[202].bit.bit6 = project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk6_current;
+ modbus_table_can_out[202].bit.bit7 = project.cds_tk[2].read.sbus.status_protect_current_ack.bit.tk7_current;
+ modbus_table_can_out[202].bit.bit8 = project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk0_current;
+ modbus_table_can_out[202].bit.bit9 = project.cds_tk[3].read.sbus.status_protect_current_ack.bit.tk1_current;
+
+ modbus_table_can_out[203].bit.bit0 = project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+ modbus_table_can_out[203].bit.bit1 = project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+ modbus_table_can_out[203].bit.bit2 = project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+ modbus_table_can_out[203].bit.bit3 = project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+ modbus_table_can_out[203].bit.bit4 = project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
+ modbus_table_can_out[203].bit.bit5 = project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
+ modbus_table_can_out[203].bit.bit6 = project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
+ modbus_table_can_out[203].bit.bit7 = project.cds_tk[0].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
+ modbus_table_can_out[203].bit.bit8 = project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+ modbus_table_can_out[203].bit.bit9 = project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+ modbus_table_can_out[203].bit.bit10 = project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+ modbus_table_can_out[203].bit.bit11 = project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+ modbus_table_can_out[203].bit.bit12 = project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
+ modbus_table_can_out[203].bit.bit13 = project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
+ modbus_table_can_out[203].bit.bit14 = project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
+ modbus_table_can_out[203].bit.bit15 = project.cds_tk[1].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
+
+ modbus_table_can_out[204].bit.bit0 = project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+ modbus_table_can_out[204].bit.bit1 = project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+ modbus_table_can_out[204].bit.bit2 = project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+ modbus_table_can_out[204].bit.bit3 = project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+ modbus_table_can_out[204].bit.bit4 = project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
+ modbus_table_can_out[204].bit.bit5 = project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
+ modbus_table_can_out[204].bit.bit6 = project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
+ modbus_table_can_out[204].bit.bit7 = project.cds_tk[2].read.sbus.lock_status_error.bit.mintime_err_keys_7654;
+ modbus_table_can_out[204].bit.bit8 = project.cds_tk[3].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+ modbus_table_can_out[204].bit.bit9 = project.cds_tk[3].read.sbus.lock_status_error.bit.mintime_err_keys_3210;
+
+ modbus_table_can_out[205].bit.bit0 = edrk.errors.e3.bits.NOT_READY_TK_0;
+ modbus_table_can_out[205].bit.bit1 = edrk.errors.e3.bits.NOT_READY_TK_1;
+ modbus_table_can_out[205].bit.bit2 = edrk.errors.e3.bits.NOT_READY_TK_2;
+ modbus_table_can_out[205].bit.bit3 = edrk.errors.e3.bits.NOT_READY_TK_3;
+ modbus_table_can_out[205].bit.bit4 = edrk.errors.e3.bits.NOT_READY_IN_0;
+ modbus_table_can_out[205].bit.bit5 = edrk.errors.e3.bits.NOT_READY_IN_1;
+ modbus_table_can_out[205].bit.bit6 = edrk.errors.e3.bits.NOT_READY_OUT_0;
+ modbus_table_can_out[205].bit.bit7 = edrk.errors.e3.bits.NOT_READY_ADC_0;
+ modbus_table_can_out[205].bit.bit8 = edrk.errors.e3.bits.NOT_READY_HWP_0;
+ modbus_table_can_out[205].bit.bit9 = edrk.errors.e3.bits.NOT_READY_ADC_1;
+ modbus_table_can_out[205].bit.bit10 = edrk.errors.e3.bits.NOT_READY_CONTR;
+
+ modbus_table_can_out[206].bit.bit0 = edrk.errors.e5.bits.KEY_AVARIA;
+ modbus_table_can_out[206].bit.bit1 = edrk.errors.e6.bits.QTV_ERROR_NOT_ANSWER;
+ modbus_table_can_out[206].bit.bit2 = edrk.errors.e7.bits.SVU_BLOCK_ON_QTV;
+ modbus_table_can_out[206].bit.bit3 = edrk.errors.e7.bits.UMP_NOT_ANSWER;
+ modbus_table_can_out[206].bit.bit4 = edrk.errors.e7.bits.UMP_NOT_READY;
+ modbus_table_can_out[206].bit.bit5 = edrk.errors.e6.bits.RASCEPITEL_ERROR_NOT_ANSWER;
+ modbus_table_can_out[206].bit.bit6 = edrk.errors.e7.bits.ANOTHER_RASCEPITEL_ON;
+ modbus_table_can_out[206].bit.bit7 = edrk.warnings.e7.bits.AUTO_SET_MASTER;
+ modbus_table_can_out[206].bit.bit8 = edrk.errors.e7.bits.ANOTHER_PCH_NOT_ANSWER;
+ modbus_table_can_out[206].bit.bit9 = edrk.errors.e8.bits.WDOG_OPTICAL_BUS;
+ modbus_table_can_out[206].bit.bit10 = edrk.errors.e6.bits.QTV_ERROR_NOT_ANSWER; //��� ������������� �� ���������� �������� �������� ����
+ modbus_table_can_out[206].bit.bit11 = edrk.errors.e1.bits.NO_CONFIRM_ON_RASCEPITEL; //��� ���������� �� ������� �� �� ����������� �����������
+ modbus_table_can_out[206].bit.bit12 = edrk.errors.e6.bits.RASCEPITEL_ERROR_NOT_ANSWER;
+ modbus_table_can_out[206].bit.bit13 = edrk.errors.e1.bits.ANOTHER_BS_VERY_LONG_WAIT;
+ modbus_table_can_out[206].bit.bit14 = edrk.errors.e1.bits.VERY_LONG_BOTH_READY2;
+ modbus_table_can_out[206].bit.bit15 = edrk.errors.e1.bits.BOTH_KEYS_CHARGE_DISCHARGE;
+
+
+ modbus_table_can_out[207].bit.bit0 = !control_station.alive_control_station[CONTROL_STATION_ZADATCHIK_CAN];
+ modbus_table_can_out[207].bit.bit1 = !control_station.alive_control_station[CONTROL_STATION_MPU_SVU_CAN];
+ modbus_table_can_out[207].bit.bit2 = 0;// CAN_timeout[get_real_in_mbox(UNITS_TYPE_BOX,UMU_CAN_DEVICE)]; �������� �� �����
+ modbus_table_can_out[207].bit.bit3 = CAN_timeout[get_real_in_mbox(UNITS_TYPE_BOX,BKSSD_CAN_DEVICE)];
+ modbus_table_can_out[207].bit.bit4 = CAN_timeout[get_real_in_mbox(UNITS_TYPE_BOX,VPU_CAN)];
+ modbus_table_can_out[207].bit.bit5 = edrk.warnings.e7.bits.CAN2CAN_BS;
+ modbus_table_can_out[207].bit.bit6 = edrk.errors.e7.bits.CAN2CAN_BS;
+
+ if (edrk.flag_second_PCH == 1) {
+ modbus_table_can_out[207].bit.bit7 = edrk.warnings.e4.bits.ANOTHER_BS_POWER_OFF;
+ } else {
+ modbus_table_can_out[207].bit.bit8 = edrk.warnings.e4.bits.ANOTHER_BS_POWER_OFF;
+ }
+ modbus_table_can_out[207].bit.bit9 = edrk.errors.e7.bits.ANOTHER_BS_ALARM; //��������� ���������� ������� �� (���������� �����)
+ modbus_table_can_out[207].bit.bit10 = edrk.warnings.e7.bits.READ_OPTBUS; //��� ������������� ����������������� ����������� ������ �� ������� �� ��� ���������� ����������
+
+ modbus_table_can_out[209].bit.bit0 = edrk.errors.e5.bits.OP_PIT;
+ modbus_table_can_out[209].bit.bit1 = edrk.errors.e5.bits.UTE4KA_WATER;
+ modbus_table_can_out[209].bit.bit2 = edrk.errors.e1.bits.BLOCK_DOOR;
+ modbus_table_can_out[209].bit.bit3 = edrk.errors.e7.bits.UMP_NOT_READY;
+ modbus_table_can_out[209].bit.bit4 = edrk.errors.e5.bits.FAN;
+ modbus_table_can_out[209].bit.bit5 = edrk.errors.e5.bits.PUMP_1;
+ modbus_table_can_out[209].bit.bit6 = edrk.errors.e5.bits.PRE_READY_PUMP;
+ modbus_table_can_out[209].bit.bit7 = edrk.errors.e5.bits.ERROR_HEAT;
+ modbus_table_can_out[209].bit.bit8 = edrk.warnings.e5.bits.ERROR_ISOLATE;
+ modbus_table_can_out[209].bit.bit9 = edrk.errors.e5.bits.ERROR_PRED_VIPR;
+ modbus_table_can_out[209].bit.bit10 = edrk.errors.e5.bits.ERROR_ISOLATE;
+ modbus_table_can_out[209].bit.bit11 = edrk.errors.e5.bits.POWER_UPC;
+ modbus_table_can_out[209].bit.bit12 = edrk.errors.e5.bits.ERROR_GROUND_NET;
+ modbus_table_can_out[209].bit.bit13 = edrk.errors.e5.bits.PUMP_2;
+ modbus_table_can_out[209].bit.bit14 = edrk.from_ing1.bits.BLOCK_IZOL_NORMA ? 0 : 1;
+
+ modbus_table_can_out[210].bit.bit0 = edrk.errors.e0.bits.U_1_MAX;
+ modbus_table_can_out[210].bit.bit1 = edrk.errors.e0.bits.U_2_MAX;
+ modbus_table_can_out[210].bit.bit2 = edrk.errors.e0.bits.U_1_MIN;
+ modbus_table_can_out[210].bit.bit3 = edrk.errors.e0.bits.U_2_MIN;
+ modbus_table_can_out[210].bit.bit4 = edrk.errors.e0.bits.U_A1B1_MAX;
+ modbus_table_can_out[210].bit.bit5 = edrk.errors.e0.bits.U_A2B2_MAX;
+ modbus_table_can_out[210].bit.bit6 = edrk.errors.e0.bits.U_B1C1_MAX;
+ modbus_table_can_out[210].bit.bit7 = edrk.errors.e0.bits.U_B2C2_MAX;
+ modbus_table_can_out[210].bit.bit8 = edrk.errors.e0.bits.U_A1B1_MIN;
+ modbus_table_can_out[210].bit.bit9 = edrk.errors.e0.bits.U_A2B2_MIN;
+ modbus_table_can_out[210].bit.bit10 = edrk.errors.e0.bits.U_B1C1_MIN;
+ modbus_table_can_out[210].bit.bit11 = edrk.errors.e0.bits.U_B2C2_MIN;
+ modbus_table_can_out[210].bit.bit12 = edrk.errors.e0.bits.U_IN_MAX;
+ modbus_table_can_out[210].bit.bit13 = edrk.errors.e0.bits.U_IN_MIN;
+
+ modbus_table_can_out[211].bit.bit0 = edrk.errors.e1.bits.I_UO2_MAX;
+ modbus_table_can_out[211].bit.bit1 = edrk.errors.e1.bits.I_UO3_MAX;
+ modbus_table_can_out[211].bit.bit2 = edrk.errors.e1.bits.I_UO4_MAX;
+ modbus_table_can_out[211].bit.bit3 = edrk.errors.e1.bits.I_UO5_MAX;
+ modbus_table_can_out[211].bit.bit4 = edrk.errors.e1.bits.I_UO6_MAX;
+ modbus_table_can_out[211].bit.bit5 = edrk.errors.e1.bits.I_UO7_MAX;
+ modbus_table_can_out[211].bit.bit6 = edrk.errors.e1.bits.I_BREAK_1_MAX;
+ modbus_table_can_out[211].bit.bit7 = edrk.errors.e1.bits.I_BREAK_2_MAX;
+ modbus_table_can_out[211].bit.bit8 = edrk.errors.e0.bits.I_1_MAX;
+ modbus_table_can_out[211].bit.bit9 = edrk.errors.e0.bits.I_1_MAX;
+
+ modbus_table_can_out[211].bit.bit10 = edrk.warnings.e2.bits.T_AIR0_MAX;
+ modbus_table_can_out[211].bit.bit11 = edrk.warnings.e2.bits.T_AIR1_MAX;
+ modbus_table_can_out[211].bit.bit12 = edrk.warnings.e2.bits.T_AIR2_MAX;
+ modbus_table_can_out[211].bit.bit13 = edrk.warnings.e2.bits.T_AIR3_MAX;
+
+ if (edrk.power_limit.all)
+ modbus_table_can_out[211].bit.bit14 = 1;
+ else
+ modbus_table_can_out[211].bit.bit14 = 0;
+
+ modbus_table_can_out[211].bit.bit15 = edrk.warnings.e10.bits.WARNING_I_OUT_OVER_1_6_NOMINAL;
+
+ modbus_table_can_out[212].bit.bit0 = edrk.errors.e5.bits.ERROR_PRE_CHARGE_ON;
+ modbus_table_can_out[212].bit.bit1 = edrk.errors.e7.bits.ERROR_SBOR_SHEMA;
+
+
+
+
+ modbus_table_can_out[213].bit.bit0 = project.hwp[0].read.comp_s.plus.bit.ch0;
+ modbus_table_can_out[213].bit.bit1 = project.hwp[0].read.comp_s.plus.bit.ch1;
+ modbus_table_can_out[213].bit.bit2 = project.hwp[0].read.comp_s.plus.bit.ch2;
+ modbus_table_can_out[213].bit.bit3 = project.hwp[0].read.comp_s.plus.bit.ch3;
+ modbus_table_can_out[213].bit.bit4 = project.hwp[0].read.comp_s.plus.bit.ch4;
+ modbus_table_can_out[213].bit.bit5 = project.hwp[0].read.comp_s.plus.bit.ch5;
+ modbus_table_can_out[213].bit.bit6 = project.hwp[0].read.comp_s.plus.bit.ch6;
+ modbus_table_can_out[213].bit.bit7 = project.hwp[0].read.comp_s.plus.bit.ch7;
+ modbus_table_can_out[213].bit.bit8 = 0;
+ modbus_table_can_out[213].bit.bit9 = project.hwp[0].read.comp_s.plus.bit.ch9;
+ modbus_table_can_out[213].bit.bit10 = project.hwp[0].read.comp_s.plus.bit.ch10;
+ modbus_table_can_out[213].bit.bit11 = project.hwp[0].read.comp_s.plus.bit.ch11;
+ modbus_table_can_out[213].bit.bit12 = project.hwp[0].read.comp_s.plus.bit.ch12;
+ modbus_table_can_out[213].bit.bit13 = project.hwp[0].read.comp_s.plus.bit.ch13;
+ modbus_table_can_out[213].bit.bit14 = project.hwp[0].read.comp_s.plus.bit.ch14;
+ modbus_table_can_out[213].bit.bit15 = project.hwp[0].read.comp_s.plus.bit.ch15;
+
+ modbus_table_can_out[214].bit.bit0 = edrk.errors.e5.bits.LINE_ERR0;
+ modbus_table_can_out[214].bit.bit1 = edrk.errors.e5.bits.LINE_HWP;
+ modbus_table_can_out[214].bit.bit2 = project.hwp[0].read.comp_s.minus.bit.ch2;
+ modbus_table_can_out[214].bit.bit3 = project.hwp[0].read.comp_s.minus.bit.ch3;
+ modbus_table_can_out[214].bit.bit4 = project.hwp[0].read.comp_s.minus.bit.ch4;
+ modbus_table_can_out[214].bit.bit5 = project.hwp[0].read.comp_s.minus.bit.ch5;
+ modbus_table_can_out[214].bit.bit6 = project.hwp[0].read.comp_s.minus.bit.ch6;
+ modbus_table_can_out[214].bit.bit7 = project.hwp[0].read.comp_s.minus.bit.ch7;
+ modbus_table_can_out[214].bit.bit8 = 0;
+ modbus_table_can_out[214].bit.bit9 = project.hwp[0].read.comp_s.minus.bit.ch9;
+ modbus_table_can_out[214].bit.bit10 = project.hwp[0].read.comp_s.minus.bit.ch10;
+ modbus_table_can_out[214].bit.bit11 = project.hwp[0].read.comp_s.minus.bit.ch11;
+ modbus_table_can_out[214].bit.bit12 = project.hwp[0].read.comp_s.minus.bit.ch12;
+ modbus_table_can_out[214].bit.bit13 = project.hwp[0].read.comp_s.minus.bit.ch13;
+ modbus_table_can_out[214].bit.bit14 = project.hwp[0].read.comp_s.minus.bit.ch14;
+ modbus_table_can_out[214].bit.bit15 = project.hwp[0].read.comp_s.minus.bit.ch15;
+
+ modbus_table_can_out[215].bit.bit0 = edrk.errors.e8.bits.LOSS_INPUT_A1B1 | edrk.errors.e9.bits.DISBALANCE_Uin_1; //TODO: ������ ����� ���������
+ modbus_table_can_out[215].bit.bit1 = edrk.errors.e8.bits.LOSS_INPUT_B1C1 | edrk.errors.e9.bits.DISBALANCE_Uin_1;
+ modbus_table_can_out[215].bit.bit2 = edrk.errors.e8.bits.LOSS_INPUT_A2B2 | edrk.errors.e9.bits.DISBALANCE_Uin_2;
+ modbus_table_can_out[215].bit.bit3 = edrk.errors.e8.bits.LOSS_INPUT_B2C2 | edrk.errors.e9.bits.DISBALANCE_Uin_2;
+ modbus_table_can_out[215].bit.bit4 = edrk.errors.e9.bits.U_IN_FREQ_NOT_NORMA;
+ modbus_table_can_out[215].bit.bit5 = edrk.errors.e9.bits.U_IN_FREQ_NOT_STABLE;
+ modbus_table_can_out[215].bit.bit6 = edrk.errors.e7.bits.READ_OPTBUS | edrk.errors.e7.bits.WRITE_OPTBUS;
+ modbus_table_can_out[215].bit.bit7 = edrk.errors.e7.bits.MASTER_SLAVE_SYNC;
+ modbus_table_can_out[215].bit.bit8 = project.controller.read.errors_buses.bit.err_sbus;
+ modbus_table_can_out[215].bit.bit9 = project.controller.read.errors.bit.error_pbus || project.controller.read.errors_buses.bit.slave_addr_error
+ || project.controller.read.errors_buses.bit.count_error_pbus;
+ modbus_table_can_out[215].bit.bit10 = edrk.errors.e6.bits.ER_DISBAL_BATT;
+ modbus_table_can_out[215].bit.bit11 = edrk.errors.e6.bits.QTV_ERROR_NOT_U;
+ modbus_table_can_out[215].bit.bit12 = edrk.errors.e6.bits.ERROR_PRE_CHARGE_U;
+ modbus_table_can_out[215].bit.bit13 = edrk.errors.e8.bits.U_IN_20_PROCENTS_HIGH;
+ modbus_table_can_out[215].bit.bit14 = edrk.errors.e8.bits.U_IN_10_PROCENTS_LOW;
+ modbus_table_can_out[215].bit.bit15 = edrk.errors.e8.bits.U_IN_20_PROCENTS_LOW;
+
+ modbus_table_can_out[216].bit.bit0 = project.cds_tk[0].read.sbus.lock_status_error.bit.err_power;
+ modbus_table_can_out[216].bit.bit1 = project.cds_tk[1].read.sbus.lock_status_error.bit.err_power;
+ modbus_table_can_out[216].bit.bit2 = project.cds_tk[2].read.sbus.lock_status_error.bit.err_power;
+ modbus_table_can_out[216].bit.bit3 = project.cds_tk[3].read.sbus.lock_status_error.bit.err_power;
+ modbus_table_can_out[216].bit.bit4 = project.cds_in[0].read.sbus.lock_status_error.bit.err_power;
+ modbus_table_can_out[216].bit.bit5 = project.cds_in[1].read.sbus.lock_status_error.bit.err_power;
+ modbus_table_can_out[216].bit.bit6 = project.cds_out[0].read.sbus.lock_status_error.bit.err_power;
+ modbus_table_can_out[216].bit.bit7 = edrk.errors.e7.bits.NOT_VALID_CONTROL_STATION;
+ modbus_table_can_out[216].bit.bit8 = edrk.errors.e8.bits.LOSS_OUTPUT_U1;
+ modbus_table_can_out[216].bit.bit9 = edrk.errors.e8.bits.LOSS_OUTPUT_V1;
+ modbus_table_can_out[216].bit.bit10 = edrk.errors.e8.bits.LOSS_OUTPUT_W1;
+ modbus_table_can_out[216].bit.bit11 = edrk.errors.e8.bits.LOSS_OUTPUT_U2;
+ modbus_table_can_out[216].bit.bit12 = edrk.errors.e8.bits.LOSS_OUTPUT_V2;
+ modbus_table_can_out[216].bit.bit13 = edrk.errors.e8.bits.LOSS_OUTPUT_W2;
+ modbus_table_can_out[216].bit.bit14 = edrk.errors.e8.bits.DISBALANCE_IM1_IM2;
+ modbus_table_can_out[216].bit.bit15 = edrk.errors.e7.bits.VERY_FAST_GO_0to1;
+
+ modbus_table_can_out[217].bit.bit0 = project.cds_tk[0].read.sbus.lock_status_error.bit.err_switch;
+ modbus_table_can_out[217].bit.bit1 = project.cds_tk[1].read.sbus.lock_status_error.bit.err_switch;
+ modbus_table_can_out[217].bit.bit2 = project.cds_tk[2].read.sbus.lock_status_error.bit.err_switch;
+ modbus_table_can_out[217].bit.bit3 = project.cds_tk[3].read.sbus.lock_status_error.bit.err_switch;
+ modbus_table_can_out[217].bit.bit4 = project.cds_in[0].read.sbus.lock_status_error.bit.err_switch;
+ modbus_table_can_out[217].bit.bit5 = project.cds_in[1].read.sbus.lock_status_error.bit.err_switch;
+ modbus_table_can_out[217].bit.bit6 = project.cds_out[0].read.sbus.lock_status_error.bit.err_switch;
+ modbus_table_can_out[217].bit.bit7 = project.adc[0].read.sbus.lock_status_error.bit.err_switch;
+ modbus_table_can_out[217].bit.bit8 = 0;
+ modbus_table_can_out[217].bit.bit9 = project.adc[1].read.sbus.lock_status_error.bit.err_switch;
+
+ modbus_table_can_out[218].bit.bit0 = edrk.warnings.e2.bits.T_UO1_MAX;
+ modbus_table_can_out[218].bit.bit1 = edrk.warnings.e2.bits.T_UO2_MAX;
+ modbus_table_can_out[218].bit.bit2 = edrk.warnings.e2.bits.T_UO3_MAX;
+ modbus_table_can_out[218].bit.bit3 = edrk.warnings.e2.bits.T_UO4_MAX;
+ modbus_table_can_out[218].bit.bit4 = edrk.warnings.e2.bits.T_UO5_MAX;
+ modbus_table_can_out[218].bit.bit5 = edrk.warnings.e2.bits.T_UO6_MAX;
+ modbus_table_can_out[218].bit.bit6 = edrk.warnings.e2.bits.T_UO7_MAX;
+ modbus_table_can_out[218].bit.bit7 = edrk.errors.e2.bits.T_UO1_MAX;
+ modbus_table_can_out[218].bit.bit8 = edrk.errors.e2.bits.T_UO2_MAX;
+ modbus_table_can_out[218].bit.bit9 = edrk.errors.e2.bits.T_UO3_MAX;
+ modbus_table_can_out[218].bit.bit10 = edrk.errors.e2.bits.T_UO4_MAX;
+ modbus_table_can_out[218].bit.bit11 = edrk.errors.e2.bits.T_UO5_MAX;
+ modbus_table_can_out[218].bit.bit12 = edrk.errors.e2.bits.T_UO6_MAX;
+ modbus_table_can_out[218].bit.bit13 = edrk.errors.e2.bits.T_UO7_MAX;
+
+ modbus_table_can_out[219].bit.bit0 = edrk.warnings.e7.bits.READ_OPTBUS | edrk.warnings.e7.bits.WRITE_OPTBUS;
+ modbus_table_can_out[219].bit.bit1 = edrk.warnings.e7.bits.MASTER_SLAVE_SYNC;
+ modbus_table_can_out[219].bit.bit2 = edrk.errors.e6.bits.ERROR_PRE_CHARGE_ANSWER;
+ modbus_table_can_out[219].bit.bit3 = edrk.warnings.e1.bits.NO_INPUT_SYNC_SIGNAL;
+ modbus_table_can_out[219].bit.bit4 = edrk.errors.e1.bits.NO_INPUT_SYNC_SIGNAL;
+ modbus_table_can_out[219].bit.bit5 = edrk.errors.e3.bits.ERR_INT_PWM_LONG
+ || edrk.errors.e9.bits.ERR_PWM_WDOG
+ || edrk.errors.e9.bits.ERR_INT_PWM_VERY_LONG;
+ modbus_table_can_out[219].bit.bit15 = edrk.errors.e5.bits.T_VIPR_MAX;
+
+ modbus_table_can_out[220].bit.bit0 = edrk.errors.e2.bits.T_AIR0_MAX;
+ modbus_table_can_out[220].bit.bit1 = edrk.errors.e2.bits.T_AIR1_MAX;
+ modbus_table_can_out[220].bit.bit2 = edrk.errors.e2.bits.T_AIR2_MAX;
+ modbus_table_can_out[220].bit.bit3 = edrk.errors.e2.bits.T_AIR3_MAX;
+ modbus_table_can_out[220].bit.bit4 = edrk.warnings.e10.bits.T_BSU_Sensor_BK1;
+ modbus_table_can_out[220].bit.bit5 = edrk.errors.e10.bits.T_BSU_Sensor_BK1;
+ modbus_table_can_out[220].bit.bit6 = edrk.warnings.e10.bits.T_BSU_Sensor_BK2;
+ modbus_table_can_out[220].bit.bit7 = edrk.errors.e10.bits.T_BSU_Sensor_BK2;
+
+ modbus_table_can_out[220].bit.bit8 = edrk.errors.e2.bits.T_WATER_EXT_MAX;
+ modbus_table_can_out[220].bit.bit9 = edrk.errors.e2.bits.T_WATER_INT_MAX;
+ modbus_table_can_out[220].bit.bit10 = edrk.warnings.e2.bits.T_WATER_EXT_MAX;
+ modbus_table_can_out[220].bit.bit11 = edrk.warnings.e2.bits.T_WATER_INT_MAX;
+
+ modbus_table_can_out[220].bit.bit12 = edrk.errors.e7.bits.T_ACDRIVE_BEAR_MAX_DNE;
+ modbus_table_can_out[220].bit.bit13 = edrk.errors.e9.bits.T_ACDRIVE_BEAR_MAX_NE;
+ modbus_table_can_out[220].bit.bit14 = edrk.warnings.e7.bits.T_ACDRIVE_BEAR_MAX_DNE;
+ modbus_table_can_out[220].bit.bit15 = edrk.warnings.e9.bits.T_ACDRIVE_BEAR_MAX_NE;
+
+ modbus_table_can_out[221].bit.bit0 = edrk.errors.e10.bits.T_ACDRIVE_WINDING_U1;
+ modbus_table_can_out[221].bit.bit1 = edrk.errors.e10.bits.T_ACDRIVE_WINDING_V1;
+ modbus_table_can_out[221].bit.bit2 = edrk.errors.e10.bits.T_ACDRIVE_WINDING_W1;
+ modbus_table_can_out[221].bit.bit3 = edrk.errors.e10.bits.T_ACDRIVE_WINDING_U2;
+ modbus_table_can_out[221].bit.bit4 = edrk.errors.e10.bits.T_ACDRIVE_WINDING_V2;
+ modbus_table_can_out[221].bit.bit5 = edrk.errors.e10.bits.T_ACDRIVE_WINDING_W2;
+ modbus_table_can_out[221].bit.bit6 = edrk.warnings.e10.bits.T_ACDRIVE_WINDING_U1;
+ modbus_table_can_out[221].bit.bit7 = edrk.warnings.e10.bits.T_ACDRIVE_WINDING_V1;
+ modbus_table_can_out[221].bit.bit8 = edrk.warnings.e10.bits.T_ACDRIVE_WINDING_W1;
+ modbus_table_can_out[221].bit.bit9 = edrk.warnings.e10.bits.T_ACDRIVE_WINDING_U2;
+ modbus_table_can_out[221].bit.bit10 = edrk.warnings.e10.bits.T_ACDRIVE_WINDING_V2;
+ modbus_table_can_out[221].bit.bit11 = edrk.warnings.e10.bits.T_ACDRIVE_WINDING_W2;
+
+ modbus_table_can_out[222].bit.bit0 = edrk.errors.e2.bits.P_WATER_INT_MAX;
+ modbus_table_can_out[222].bit.bit1 = edrk.errors.e2.bits.P_WATER_INT_MIN;
+ modbus_table_can_out[222].bit.bit2 = edrk.warnings.e2.bits.P_WATER_INT_MAX;
+ modbus_table_can_out[222].bit.bit3 = edrk.warnings.e2.bits.P_WATER_INT_MIN;
+
+
+ modbus_table_can_out[223].all = edrk.errors.e11.all;
+
+
+
+}
+
+void update_protect_levels_to_MPU() {
+ modbus_table_can_out[139].all = protect_levels.abnormal_temper_acdrive_winding_U1 / 10;
+ modbus_table_can_out[140].all = protect_levels.abnormal_temper_acdrive_winding_V1 / 10;
+ modbus_table_can_out[141].all = protect_levels.abnormal_temper_acdrive_winding_W1 / 10;
+ modbus_table_can_out[142].all = protect_levels.abnormal_temper_acdrive_winding_U2 / 10;
+ modbus_table_can_out[143].all = protect_levels.abnormal_temper_acdrive_winding_V2 / 10;
+ modbus_table_can_out[144].all = protect_levels.abnormal_temper_acdrive_winding_W2 / 10;
+ modbus_table_can_out[145].all = protect_levels.abnormal_temper_acdrive_bear_DNE / 10;
+ modbus_table_can_out[146].all = protect_levels.abnormal_temper_acdrive_bear_NE / 10;
+
+ modbus_table_can_out[147].all = protect_levels.alarm_temper_acdrive_winding_U1 / 10;
+ modbus_table_can_out[148].all = protect_levels.alarm_temper_acdrive_winding_V1 / 10;
+ modbus_table_can_out[149].all = protect_levels.alarm_temper_acdrive_winding_W1 / 10;
+ modbus_table_can_out[150].all = protect_levels.alarm_temper_acdrive_winding_U2 / 10;
+ modbus_table_can_out[151].all = protect_levels.alarm_temper_acdrive_winding_V2 / 10;
+ modbus_table_can_out[152].all = protect_levels.alarm_temper_acdrive_winding_W2 / 10;
+ modbus_table_can_out[153].all = protect_levels.alarm_temper_acdrive_bear_DNE / 10;
+ modbus_table_can_out[154].all = protect_levels.alarm_temper_acdrive_bear_NE / 10;
+
+ modbus_table_can_out[155].all = protect_levels.abnormal_temper_u_01 / 10;
+ modbus_table_can_out[156].all = protect_levels.abnormal_temper_u_02 / 10;
+ modbus_table_can_out[157].all = protect_levels.abnormal_temper_u_03 / 10;
+ modbus_table_can_out[158].all = protect_levels.abnormal_temper_u_04 / 10;
+ modbus_table_can_out[159].all = protect_levels.abnormal_temper_u_05 / 10;
+ modbus_table_can_out[160].all = protect_levels.abnormal_temper_u_06 / 10;
+ modbus_table_can_out[161].all = protect_levels.abnormal_temper_u_07 / 10;
+ modbus_table_can_out[162].all = protect_levels.alarm_temper_u_01 / 10;
+ modbus_table_can_out[163].all = protect_levels.alarm_temper_u_02 / 10;
+ modbus_table_can_out[164].all = protect_levels.alarm_temper_u_03 / 10;
+ modbus_table_can_out[165].all = protect_levels.alarm_temper_u_04 / 10;
+ modbus_table_can_out[166].all = protect_levels.alarm_temper_u_05 / 10;
+ modbus_table_can_out[167].all = protect_levels.alarm_temper_u_06 / 10;
+ modbus_table_can_out[168].all = protect_levels.alarm_temper_u_07 / 10;
+
+ modbus_table_can_out[169].all = protect_levels.abnormal_temper_water_ext / 10;
+ modbus_table_can_out[170].all = protect_levels.abnormal_temper_water_int / 10;
+ modbus_table_can_out[171].all = protect_levels.alarm_p_water_min_int / 100;
+ modbus_table_can_out[172].all = protect_levels.alarm_temper_water_int / 10;
+ modbus_table_can_out[173].all = protect_levels.alarm_temper_water_ext / 10;
+ modbus_table_can_out[174].all = protect_levels.alarm_p_water_max_int / 100;
+
+ modbus_table_can_out[175].all = protect_levels.abnormal_temper_air_int_01 / 10;
+ modbus_table_can_out[176].all = protect_levels.abnormal_temper_air_int_02 / 10;
+ modbus_table_can_out[177].all = protect_levels.abnormal_temper_air_int_03 / 10;
+ modbus_table_can_out[178].all = protect_levels.abnormal_temper_air_int_04 / 10;
+ modbus_table_can_out[179].all = protect_levels.alarm_temper_air_int_01 / 10;
+ modbus_table_can_out[180].all = protect_levels.alarm_temper_air_int_02 / 10;
+ modbus_table_can_out[181].all = protect_levels.alarm_temper_air_int_03 / 10;
+ modbus_table_can_out[182].all = protect_levels.alarm_temper_air_int_04 / 10;
+
+ modbus_table_can_out[183].all = _IQtoF(analog_protect.in_voltage[0].setup.levels.iqNominal_minus20) * NORMA_ACP;//_IQtoF(edrk.iqMIN_U_IN) * NORMA_ACP;
+ modbus_table_can_out[184].all = _IQtoF(analog_protect.in_voltage[1].setup.levels.iqNominal_minus20) * NORMA_ACP;
+ modbus_table_can_out[185].all = _IQtoF(analog_protect.in_voltage[0].setup.levels.iqNominal_plus20) * NORMA_ACP;//_IQtoF(edrk.iqMIN_U_ZPT) * NORMA_ACP;
+ modbus_table_can_out[186].all = _IQtoF(analog_protect.in_voltage[1].setup.levels.iqNominal_plus20) * NORMA_ACP;
+ modbus_table_can_out[187].all = //_IQtoF(edrk.iqMAX_U_IN) * NORMA_ACP;
+ modbus_table_can_out[188].all = _IQtoF(edrk.iqMAX_U_IN) * NORMA_ACP;
+ modbus_table_can_out[189].all = //_IQtoF(edrk.iqMAX_U_ZPT) * NORMA_ACP;
+ modbus_table_can_out[190].all = _IQtoF(edrk.iqMAX_U_ZPT) * NORMA_ACP;
+
+ modbus_table_can_out[191].all = protect_levels.alarm_Izpt_max;
+
+ modbus_table_can_out[192].all = protect_levels.alarm_Imax_U01;
+ modbus_table_can_out[193].all = protect_levels.alarm_Imax_U02;
+ modbus_table_can_out[194].all = protect_levels.alarm_Imax_U03;
+ modbus_table_can_out[195].all = protect_levels.alarm_Imax_U04;
+ modbus_table_can_out[196].all = protect_levels.alarm_Imax_U05;
+ modbus_table_can_out[197].all = protect_levels.alarm_Imax_U06;
+ modbus_table_can_out[198].all = protect_levels.alarm_Imax_U07;
+ modbus_table_can_out[199].all = protect_levels.alarm_Iged_max;
+}
diff --git a/Inu/Src/main/modbus_svu_update.h b/Inu/Src/main/modbus_svu_update.h
new file mode 100644
index 0000000..d58d103
--- /dev/null
+++ b/Inu/Src/main/modbus_svu_update.h
@@ -0,0 +1,17 @@
+/*
+ * modbus_update_table.h
+ *
+ * Created on: 4 ���. 2020 �.
+ * Author: star
+ */
+
+#ifndef SRC_MAIN_MODBUS_SVU_UPDATE_H_
+#define SRC_MAIN_MODBUS_SVU_UPDATE_H_
+
+
+
+void update_svu_modbus_table(void);
+void unpack_answer_from_MPU_SVU_CAN(unsigned int cc);
+void unpack_answer_from_MPU_SVU_RS(unsigned int cc);
+
+#endif /* SRC_MAIN_MODBUS_SVU_UPDATE_H_ */
diff --git a/Inu/Src/main/not_use/log_to_mem.c b/Inu/Src/main/not_use/log_to_mem.c
new file mode 100644
index 0000000..8a5c223
--- /dev/null
+++ b/Inu/Src/main/not_use/log_to_mem.c
@@ -0,0 +1,249 @@
+/****************************************************************/
+/* TMS320C32 */
+/* ====== BIOS, �����, ����� ====== */
+/* ���� ��� (�) 1998-2001�. */
+/****************************************************************/
+/* log_to_mem.c
+ ****************************************************************
+ * ������ ����� � ���y�� *
+ ****************************************************************/
+
+#include <log_to_mem.h>
+
+#include "MemoryFunctions.h"
+
+
+// ���������� ������������ ������ � ���� ������
+// ���������� �� �/� logs_data(), write_to_mem � clear_mem
+// ��������� ����� ���y�� ��y ������ ����� (��. �/� write_to_mem)
+//#pragma DATA_SECTION(count_mem,".fast_vars");
+//static long count_mem = START_ADDRESS_LOG;
+
+#pragma DATA_SECTION(count_mem_slow,".fast_vars");
+static long count_mem_slow = START_ADDRESS_LOG_SLOW;
+
+
+// ��y��������� ��������� �������� ����� ���y��� ������
+// ���������y ��� ������ ����������� ������
+int hb_logs_data = 0;
+#pragma DATA_SECTION(stop_log,".fast_vars");
+int stop_log = 0;
+int stop_log_slow = 0;
+
+
+#pragma DATA_SECTION(logpar,".fast_vars");
+LOGSPARAMS logpar = LOGSPARAMS_DEFAULTS;
+
+#pragma DATA_SECTION(no_write,".fast_vars");
+int no_write = 0; // ����, ����� �� ������ (���� ���)
+#pragma DATA_SECTION(no_write_slow,".fast_vars");
+int no_write_slow = 0; // ����, ����� �� ������ (���� ���)
+
+#pragma CODE_SECTION(clear_logpar,".fast_run");
+void clear_logpar()
+{
+ int i;
+ for(i=0;i<SIZE_LOGS_ARRAY;i++)
+ logpar.logs[i] = 0;
+}
+
+// ������ ���� ������� ������ ��������� � ���y��, ��� ���� �����
+#pragma CODE_SECTION(write_to_mem,".fast_run");
+void write_to_mem(int tlog,int DataM)
+{
+// int DataT;
+
+ if (tlog==FAST_LOG)
+ {
+ if (no_write) return;
+
+ if (logpar.stop_log_level_1) return;
+
+ if (logpar.addres_mem >= END_ADDRESS_LOG) logpar.addres_mem = END_ADDRESS_LOG;
+
+ i_WriteMemory(logpar.addres_mem,DataM);
+ // *(int *)logpar.count_mem = ((DataM & 0xFFFF) );
+ logpar.addres_mem++;
+ }
+
+ if (tlog==SLOW_LOG)
+ {
+ if (no_write_slow) return;
+
+ if (logpar.stop_log_slow_level_1) return;
+
+ if (count_mem_slow >= END_ADDRESS_LOG_SLOW) count_mem_slow = END_ADDRESS_LOG_SLOW;
+
+ i_WriteMemory(count_mem_slow,DataM);
+ // *(int *)logpar.count_mem = ((DataM & 0xFFFF) );
+ count_mem_slow++;
+ }
+
+
+
+
+}
+
+
+#pragma CODE_SECTION(test_mem_limit,".fast_run");
+void test_mem_limit(int tlog,int ciclelog)
+{
+ if (tlog==FAST_LOG)
+ {
+ if( logpar.addres_mem >= (END_ADDRESS_LOG - LENGTH_HAZARD))
+ {
+ logpar.real_finish_addres_mem = logpar.addres_mem;
+
+ if (ciclelog==1)
+ {
+ stop_log = 0;
+ logpar.stop_log_level_1=0;
+ logpar.addres_mem = START_ADDRESS_LOG;
+ }
+ else
+ {
+ stop_log = 1;
+ logpar.stop_log_level_1=1;
+ }
+ }
+
+ if( logpar.addres_mem >= (END_ADDRESS_LOG_LEVEL_2))
+ {
+ logpar.stop_log_level_2=1;
+ }
+ else
+ {
+ logpar.stop_log_level_2=0;
+ }
+
+ if( logpar.addres_mem >= (END_ADDRESS_LOG_LEVEL_3))
+ {
+ logpar.stop_log_level_3=1;
+ }
+ else
+ {
+ logpar.stop_log_level_3=0;
+ }
+ }
+ else
+ {
+ if (tlog==SLOW_LOG)
+ {
+ if (ciclelog==1)
+ {
+ logpar.stop_log_slow_level_1=0;
+ }
+
+ if( count_mem_slow >= (END_ADDRESS_LOG_SLOW - LENGTH_HAZARD))
+ {
+ if (ciclelog==1)
+ {
+ stop_log_slow = 0;
+ logpar.stop_log_slow_level_1=0;
+ count_mem_slow = START_ADDRESS_LOG_SLOW;
+ }
+ else
+ {
+ stop_log_slow = 1;
+ logpar.stop_log_slow_level_1=1;
+ }
+ }
+
+ if( count_mem_slow >= (END_ADDRESS_LOG_SLOW_LEVEL_2))
+ {
+ logpar.stop_log_slow_level_2=1;
+ }
+ else
+ {
+ logpar.stop_log_slow_level_2=0;
+ }
+
+ if( count_mem_slow >= (END_ADDRESS_LOG_SLOW_LEVEL_3))
+ {
+ logpar.stop_log_slow_level_3=1;
+ }
+ else
+ {
+ logpar.stop_log_slow_level_3=0;
+ }
+ }
+ }
+}
+
+
+
+// �������� ���y��, ��� ���� �����
+void clear_mem(int tlog)
+{
+ if (tlog==FAST_LOG)
+ {
+ logpar.real_finish_addres_mem = 0;
+
+ for (logpar.addres_mem=START_ADDRESS_LOG; logpar.addres_mem<END_ADDRESS_LOG; logpar.addres_mem++)//END_ADDRESS_LOG; logpar.count_mem++)
+ i_WriteMemory(logpar.addres_mem,0x0);
+
+ logpar.addres_mem = START_ADDRESS_LOG;
+ hb_logs_data = 0;
+ stop_log = 0;
+
+ logpar.stop_log_level_1=0;
+ logpar.stop_log_level_2=0;
+ logpar.stop_log_level_3=0;
+ logpar.start_write_fast_log = 1;
+ }
+
+ if (tlog==SLOW_LOG)
+ {
+
+ for (count_mem_slow=START_ADDRESS_LOG_SLOW; count_mem_slow<END_ADDRESS_LOG_SLOW; count_mem_slow++)
+ i_WriteMemory(count_mem_slow,0x0);
+
+ count_mem_slow = START_ADDRESS_LOG_SLOW;
+ hb_logs_data = 0;
+ stop_log_slow = 0;
+
+ logpar.stop_log_slow_level_1=0;
+ logpar.stop_log_slow_level_2=0;
+ logpar.stop_log_slow_level_3=0;
+ }
+
+}
+
+
+
+// ����������� ������� ����� � ������
+void set_start_mem(int tlog)
+{
+
+ if (tlog==FAST_LOG)
+ {
+
+ logpar.real_finish_addres_mem = 0;
+ logpar.addres_mem = START_ADDRESS_LOG;
+ hb_logs_data = 0;
+ stop_log = 0;
+
+ logpar.stop_log_level_1=0;
+ logpar.stop_log_level_2=0;
+ logpar.stop_log_level_3=0;
+ }
+
+
+ if (tlog==SLOW_LOG)
+ {
+
+ count_mem_slow = START_ADDRESS_LOG_SLOW;
+ hb_logs_data = 0;
+ stop_log_slow = 0;
+
+ logpar.stop_log_slow_level_1=0;
+ logpar.stop_log_slow_level_2=0;
+ logpar.stop_log_slow_level_3=0;
+ }
+
+
+}
+
+void get_log_params_count(void) {
+ logpar.count_log_params_fast_log = logpar.addres_mem - START_ADDRESS_LOG;
+}
diff --git a/Inu/Src/main/not_use/log_to_mem.h b/Inu/Src/main/not_use/log_to_mem.h
new file mode 100644
index 0000000..0b0fdcd
--- /dev/null
+++ b/Inu/Src/main/not_use/log_to_mem.h
@@ -0,0 +1,201 @@
+/****************************************************************/
+/* TMS320C32 */
+/* ====== BIOS, �����, ����� ====== */
+/* ���� ��� (�) 1998-2001�. */
+/****************************************************************/
+/* log_to_mem.h
+ ****************************************************************
+ * ������ ����� � ���y�� *
+ ****************************************************************/
+
+#ifndef _LOG_TO_MEM
+#define _LOG_TO_MEM
+
+
+#define SLOW_LOG 1
+#define FAST_LOG 0
+
+#define SIZE_LOGS_ARRAY 90
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+typedef struct
+{
+ int stop_log_level_1;
+ int stop_log_level_2;
+ int stop_log_level_3;
+
+ int stop_log_slow_level_1;
+ int stop_log_slow_level_2;
+ int stop_log_slow_level_3;
+
+ int logs[SIZE_LOGS_ARRAY];
+
+// int log1;
+// int log2;
+// int log3;
+// int log4;
+// int log5;
+// int log6;
+// int log7;
+// int log8;
+// int log9;
+// int log10;
+// int log11;
+// int log12;
+// int log13;
+// int log14;
+// int log15;
+// int log16;
+// int log17;
+// int log18;
+// int log19;
+// int log20;
+//
+// int log21;
+// int log22;
+// int log23;
+// int log24;
+// int log25;
+// int log26;
+// int log27;
+// int log28;
+// int log29;
+// int log30;
+//
+// int log31;
+// int log32;
+// int log33;
+// int log34;
+// int log35;
+// int log36;
+// int log37;
+// int log38;
+// int log39;
+// int log40;
+//
+// int log41;
+// int log42;
+// int log43;
+// int log44;
+// int log45;
+// int log46;
+// int log47;
+// int log48;
+// int log49;
+// int log50;
+//
+// int log51;
+// int log52;
+// int log53;
+// int log54;
+// int log55;
+// int log56;
+// int log57;
+// int log58;
+// int log59;
+// int log60;
+//
+// int log61;
+// int log62;
+// int log63;
+// int log64;
+// int log65;
+// int log66;
+// int log67;
+// int log68;
+// int log69;
+// int log70;
+//
+// int log71;
+// int log72;
+// int log73;
+// int log74;
+// int log75;
+//
+// int log76;
+// int log77;
+// int log78;
+// int log79;
+// int log80;
+// int log81;
+// int log82;
+// int log83;
+// int log84;
+// int log85;
+//
+// int log86;
+// int log87;
+// int log88;
+// int log89;
+// int log90;
+
+// long addres_mem; //����� ���y�� ��y ������ �����
+//
+// int count_log_params_fast_log; //���������� ������������ � ��� ����������
+// int start_write_fast_log; //������ ������ ����, ��� ����������� count_log_params_fast_log
+// long real_finish_addres_mem; //����� ���y�� ��y ������ �����
+} LOGSPARAMS;
+
+#define LOGSPARAMS_DEFAULTS { 0,0,0, 0,0,0, \
+ {0} \
+ }
+
+
+
+/* ����������y ��y ������ ������� */
+#define START_ADDRESS_LOG 0x0a0000
+#define END_ADDRESS_LOG 0x0bf000
+
+//#define START_ADDRESS_LOG 0xa0000 /* 0x904000 */
+//#define END_ADDRESS_LOG 0x0cf000 /* 0x90a000 */
+
+
+#define END_ADDRESS_LOG_LEVEL_2 0xa8000
+#define END_ADDRESS_LOG_LEVEL_3 0xb0000
+
+#define START_ADDRESS_LOG_SLOW 0x0d0000 /* 0x904000 */
+#define END_ADDRESS_LOG_SLOW 0x0ef000 /* 0x90a000 */
+#define END_ADDRESS_LOG_SLOW_LEVEL_2 0xdb000
+#define END_ADDRESS_LOG_SLOW_LEVEL_3 0xe5000
+
+
+
+#define LENGTH_HAZARD 100
+#define COUNT_SAVE_LOG_OFF 500
+
+
+/* �� ��������� ������� ����� */
+#define NO_ROTATE_LOG 0
+
+extern int no_write; // ����, ����� �� ������ (���� ���)
+extern int stop_log; // ���� ������������
+
+
+/* ������ ���� ������� ������ ��������� � ���y��, ��� ���� ����� */
+void write_to_mem(int tlog,int DataM);
+void write_to_mem_a(int DataM);
+
+void start_write_acp(int Data1, int Data2, int Data3, int Data4, int Data5);
+
+/* �������� ������� ���y�� ��y ����� */
+void test_mem_limit(int tlog,int ciclelog);
+void test_mem_limit_a(void);
+void set_start_mem(int tlog);
+void get_log_params_count(void);
+
+/* ������� ���y�� (���������) */
+void clear_mem(int tlog);
+
+//������� ����� logpar.logNN
+void clear_logpar();
+
+extern LOGSPARAMS logpar;
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif /* _LOG_TO_MEM */
diff --git a/Inu/Src/main/optical_bus.c b/Inu/Src/main/optical_bus.c
new file mode 100644
index 0000000..22ae162
--- /dev/null
+++ b/Inu/Src/main/optical_bus.c
@@ -0,0 +1,413 @@
+/*
+ * optical_bus.h.c
+ *
+ * Created on: 18 ���. 2020 �.
+ * Author: stud
+ */
+
+#include <adc_tools.h>
+#include <edrk_main.h>
+#include <optical_bus.h>
+#include <params.h>
+#include <sync_tools.h>
+#include <vector.h>
+
+#include "IQmathLib.h"
+#include "xp_project.h"
+
+
+OPTICAL_BUS_DATA optical_write_data = OPTICAL_BUS_DATA_DEFAULT;
+OPTICAL_BUS_DATA optical_read_data = OPTICAL_BUS_DATA_DEFAULT;
+
+void parse_task_from_optical_bus(void);
+
+
+#pragma CODE_SECTION(optical_bus_update_data_write,".fast_run");
+void optical_bus_update_data_write(void)
+{
+
+ optical_write_data.data.cmd.bit.alarm = edrk.summ_errors;
+
+ optical_write_data.data.cmd.bit.master = edrk.auto_master_slave.local.bits.master;
+ optical_write_data.data.cmd.bit.slave = edrk.auto_master_slave.local.bits.slave;
+ optical_write_data.data.cmd.bit.maybe_master = edrk.auto_master_slave.local.bits.try_master;
+
+
+// optical_write_data.cmd.bit.controlMode = ;
+
+// optical_write_data.cmd.bit.err_optbus =
+// optical_write_data.cmd.bit.master =
+// optical_write_data.cmd.bit.maybe_master =
+// optical_write_data.cmd.bit.pwm_status =
+//
+
+ if (edrk.Status_Rascepitel_Ok==0)
+ {
+ if (edrk.RunZahvatRascepitel)
+ optical_write_data.data.cmd.bit.rascepitel_cmd = CODE_RASCEPITEL_CMD_REQUEST_AND_THIS_OFF;// 10 - ������ �� ���������, ���� ��������
+ else
+ optical_write_data.data.cmd.bit.rascepitel_cmd = CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_OFF;//00 - ����� �������� �����������, ���� ��������
+ }
+ else
+ {
+
+ if (edrk.Status_Ready.bits.ready_final==0) // ����� ���������
+ {
+ if (edrk.RunUnZahvatRascepitel)
+ optical_write_data.data.cmd.bit.rascepitel_cmd = CODE_RASCEPITEL_CMD_REQUEST_AND_THIS_OFF;// 10 - ������ �� ����������, ���� �������
+ else
+ optical_write_data.data.cmd.bit.rascepitel_cmd = CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_ON;// 01 - ����� �������� �����������, ���� �������
+ }
+ else
+ {
+ if (edrk.you_can_on_rascepitel==0)
+ optical_write_data.data.cmd.bit.rascepitel_cmd = CODE_RASCEPITEL_CMD_DISABLE_THIS_ON; // 11 - ������ ����������� �����������, ���� �������
+ else
+ optical_write_data.data.cmd.bit.rascepitel_cmd = CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_ON; // 01 - ����� �������� �����������, ���� �������
+ }
+ }
+
+ if (edrk.Status_Ready.bits.ready7 || (edrk.Status_Ready.bits.ready5 && edrk.Status_Ready.bits.ImitationReady2) )
+ optical_write_data.data.cmd.bit.ready_cmd = CODE_READY_CMD_READY2;
+ else
+ if (edrk.SumSbor)
+ optical_write_data.data.cmd.bit.ready_cmd = CODE_READY_CMD_READY1TO2;
+ else
+ optical_write_data.data.cmd.bit.ready_cmd = CODE_READY_CMD_READY1;
+
+// optical_write_data.cmd.bit.ready_to_go =
+// optical_write_data.cmd.bit.slave =
+//
+// optical_write_data.cmd.bit.start_pwm =
+ optical_write_data.data.cmd.bit.statusQTV = edrk.from_shema_filter.bits.QTV_ON_OFF;
+// optical_write_data.cmd.bit.stop_pwm =
+
+ optical_write_data.data.cmd.bit.sync_1_2 = sync_data.local_flag_sync_1_2;
+ optical_write_data.data.cmd.bit.sync_line_detect = !sync_data.timeout_sync_signal;
+
+// optical_write_data.data1 = f.Mode == 1 ? f.fzad * 60.0 + 0.5 :
+// f.Mode == 2 ? f.p_zad / 1000.0 :
+// 0;
+// optical_write_data.data2 = rotor.direct_rotor == -1 ? -_IQtoIQ15(rotor.iqFout) :
+// _IQtoIQ15(rotor.iqFout);
+// optical_write_data.data3 = _IQtoIQ15(analog.iqIq_zadan);
+// optical_write_data.data4.bit.controlMode = f.Mode == 2 ? 1 : 0;
+// optical_write_data.data4.bit.leading_ready = f.Ready2 && (f.Mode == 1 || f.Mode == 2) ? 1 : 0;
+// optical_write_data.data4.bit.leading_Go = edrk.Go;
+
+
+
+}
+
+
+
+#pragma CODE_SECTION(optical_bus_write,".fast_run");
+void optical_bus_write(void)
+{
+#if(USE_TK_3)
+ // check error write PBUS OPTICAL BUS
+ project.cds_tk[3].optical_bus_check_error_write(&project.cds_tk[3]);
+
+ // write data to OPTICAL BUS
+ project.cds_tk[3].optical_data_out.buf[0] = optical_write_data.data.pzad_or_wzad;
+ project.cds_tk[3].optical_data_out.buf[1] = optical_write_data.data.angle_pwm;
+ project.cds_tk[3].optical_data_out.buf[2] = optical_write_data.data.iq_zad_i_zad;
+ project.cds_tk[3].optical_data_out.buf[3] = optical_write_data.data.cmd.all;
+
+ optical_write_data.status = 1;
+
+
+ project.cds_tk[3].optical_bus_write_data(&project.cds_tk[3]);
+#endif
+}
+
+
+
+
+
+#pragma CODE_SECTION(optical_bus_read_old,".fast_run");
+void optical_bus_read_old(void)
+{
+
+// // check error write PBUS OPTICAL BUS
+// project.cds_tk[3].optical_bus_check_error_write(&project.cds_tk[3]);
+//// read data from OPTICAL BUS
+// project.cds_tk[3].read_pbus(&project.cds_tk[3]);
+// // check error read PBUS OPTICAL BUS
+// project.cds_tk[3].optical_bus_check_error_read(&project.cds_tk[3]);
+//
+//
+// if (project.cds_tk[3].optical_data_in.new_data_ready)
+// {
+// if (project.cds_tk[3].optical_data_in.overfull_new_data)
+// optical_read_data.overfull_data++;
+//
+// optical_read_data.raw.pzad_or_wzad = (int)project.cds_tk[3].optical_data_in.buf[0];
+// optical_read_data.raw.angle_pwm = (int)project.cds_tk[3].optical_data_in.buf[1];
+// optical_read_data.raw.iq_zad = (int)project.cds_tk[3].optical_data_in.buf[2];
+// optical_read_data.raw.cmd.all = project.cds_tk[3].optical_data_in.buf[3];
+//
+//
+// optical_read_data.data.pzad_or_wzad = optical_read_data.raw.pzad_or_wzad;
+// optical_read_data.data.angle_pwm = optical_read_data.raw.angle_pwm ;
+// optical_read_data.data.iq_zad = optical_read_data.raw.iq_zad;
+// optical_read_data.data.cmd.all = optical_read_data.raw.cmd.all;
+//
+// optical_read_data.code_status.bit.ready = 1;
+// optical_read_data.code_status.bit.recive_error = 0;
+// optical_read_data.code_status.bit.overfull = 0;
+// optical_read_data.code_status.bit.timeout = 0;
+// optical_read_data.code_status.bit.wait = 0;
+//
+// project.cds_tk[3].optical_data_in.new_data_ready = 0;
+//
+// return (optical_read_data.code_status);
+//
+// }
+// else
+// {
+//
+// if (project.cds_tk[3].optical_data_in.ready == 1)
+// {
+// optical_read_data.code_status.bit.ready = 0;
+//
+// if (project.cds_tk[3].optical_data_in.raw_local_error)
+// optical_read_data.code_status.bit.recive_error = 1;
+// else
+// optical_read_data.code_status.bit.recive_error = 0;
+//
+// optical_read_data.code_status.bit.overfull = 0;
+// optical_read_data.code_status.bit.timeout = 0;
+// optical_read_data.code_status.bit.wait = 1;
+//
+// return (optical_read_data.code_status);
+// }
+//
+// }
+//
+//
+// if (project.cds_tk[3].optical_data_out.ready == 0) {
+//
+// project.cds_tk[3].optical_data_out.error_not_ready_count += 1;
+//
+//// optical_read_data.code_status.bit.ready = 0;
+// optical_read_data.code_status.bit.send_error = 1;
+//// optical_read_data.code_status.bit.overfull = 0;
+//// optical_read_data.code_status.bit.timeout = 0;
+//// optical_read_data.code_status.bit.wait = 0;
+//
+//// optical_write_data.status = 2;
+//// return (optical_read_data.code_status);
+// }
+// else
+// optical_read_data.code_status.bit.send_error = 0;
+//
+//
+// if (project.cds_tk[3].optical_data_in.ready == 0) {
+//
+//// f.read_task_from_optical_bus = 0;
+// project.cds_tk[3].optical_data_in.error_not_ready_count += 1;
+//
+// optical_read_data.code_status.bit.ready = 0;
+// // optical_read_data.code_status.bit.send_error = 0;
+// //optical_read_data.code_status.bit.recive_error = 1;
+// optical_read_data.code_status.bit.overfull = 0;
+// optical_read_data.code_status.bit.timeout = 1;
+// optical_read_data.code_status.bit.wait = 0;
+//
+// optical_read_data.data.pzad_or_wzad = 0;
+// optical_read_data.data.angle_pwm = 0;
+// optical_read_data.data.iq_zad = 0;
+// optical_read_data.data.cmd.all = 0;
+//
+// // optical_read_data.status = 2;
+//
+// // return (project.cds_tk[3].optical_data_in.raw_local_error);
+// }
+// else
+// {
+//
+//
+//
+// }
+//
+// return (optical_read_data.code_status);
+//
+//
+//// optical_read_data.status = 1;
+//
+// // return (project.cds_tk[3].optical_data_in.raw_local_error);
+//
+//// if (f.flag_leading == 0 && f.flag_distance && f.Ready1){
+//// parse_task_from_optical_bus();
+//// } else {
+//// f.read_task_from_optical_bus = 0;
+//// }
+//// rotor.iqFrotFromOptica = _IQ15toIQ(optical_read_data.data2); //Frot
+//// analog.iqIq_zad_from_optica = _IQ15toIQ(optical_read_data.data3);
+
+}
+
+
+#pragma CODE_SECTION(optical_bus_read,".fast_run");
+void optical_bus_read(void)
+{
+
+ // check error write PBUS OPTICAL BUS
+// project.cds_tk[3].optical_bus_check_error_write(&project.cds_tk[3]);
+// read data from OPTICAL BUS
+#if(USE_TK_3)
+ project.cds_tk[3].read_pbus(&project.cds_tk[3]);
+#endif
+
+ return;
+}
+
+#pragma CODE_SECTION(optical_bus_read_clear_count_error,".fast_run");
+void optical_bus_read_clear_count_error(void)
+{
+#if(USE_TK_3)
+ project.cds_tk[3].optical_data_in.local_count_error = 0;
+#endif
+
+ return;
+}
+
+
+
+#pragma CODE_SECTION(optical_bus_get_status_and_read,".fast_run");
+STATUS_DATA_READ_OPT_BUS optical_bus_get_status_and_read(void)
+{
+ STATUS_DATA_READ_OPT_BUS status_read;
+ // check error write PBUS OPTICAL BUS
+ // project.cds_tk[3].optical_bus_check_error_write(&project.cds_tk[3]);
+// read data from OPTICAL BUS
+// project.cds_tk[3].read_pbus(&project.cds_tk[3]);
+
+#if(USE_TK_3)
+ // check error read PBUS OPTICAL BUS
+ project.cds_tk[3].optical_bus_check_error_read(&project.cds_tk[3]);
+
+ status_read.all = project.cds_tk[3].optical_data_in.status_read.all;
+
+ project.cds_tk[3].optical_data_in.prev_status_read.all = status_read.all;
+ project.cds_tk[3].optical_data_in.status_read.all = 0;
+
+ optical_read_data.status = project.cds_tk[3].optical_data_in.ready;
+
+
+ if (status_read.bit.new_data_ready)
+ {
+ if (status_read.bit.overfull_new_data)
+ optical_read_data.overfull_data++;
+
+ optical_read_data.raw.pzad_or_wzad = (int)project.cds_tk[3].optical_data_in.buf[0];
+ optical_read_data.raw.angle_pwm = (int)project.cds_tk[3].optical_data_in.buf[1];
+ optical_read_data.raw.iq_zad_i_zad = (int)project.cds_tk[3].optical_data_in.buf[2];
+ optical_read_data.raw.cmd.all = project.cds_tk[3].optical_data_in.buf[3];
+
+
+ optical_read_data.data.pzad_or_wzad = optical_read_data.raw.pzad_or_wzad;
+ optical_read_data.data.angle_pwm = optical_read_data.raw.angle_pwm ;
+ optical_read_data.data.iq_zad_i_zad = optical_read_data.raw.iq_zad_i_zad;
+ optical_read_data.data.cmd.all = optical_read_data.raw.cmd.all;
+
+
+ return (status_read); // �� �������� ������
+
+ }
+ else
+ {
+ // ��� ������?
+ // �������� � ���������� optical_bus, � �� ���!
+
+// optical_read_data.data.pzad_or_wzad = 0;
+// optical_read_data.data.angle_pwm = 0;
+// optical_read_data.data.iq_zad_i_zad = 0;
+// optical_read_data.data.cmd.all = 0;
+
+
+
+ }
+#else
+ status_read.all = 0;
+#endif
+ return status_read; //��� ������ ��� ������
+
+}
+
+
+
+
+void parse_task_from_optical_bus(void) {
+
+ // if (optical_read_data.data4.bit.leading_ready == 1) {
+// f.read_task_from_optical_bus = 1;
+// f.Mode = optical_read_data.data4.bit.controlMode == 0 ? 1 : 2;
+// if (f.Mode == 1) {
+// f.fzad = (float)optical_read_data.data1 / 60.0;
+// f.iq_fzad = _IQ(f.fzad / NORMA_FROTOR);
+// limit_mzz_zad_turns();
+// }
+// if (f.Mode == 2) {
+// f.p_zad = (float)optical_read_data.data1 * 1000.0;
+// f.iq_p_zad = _IQ(f.p_zad/NORMA_ACP/NORMA_ACP);
+// //
+// if (f.iq_p_zad > f.iq_p_limit_zad) { f.iq_p_zad = f.iq_p_limit_zad;}
+// if (f.iq_p_zad < -f.iq_p_limit_zad) { f.iq_p_zad = -f.iq_p_limit_zad;}
+//
+// limit_mzz_zad_power();
+// }
+
+// if (f.Ready1 && f.Ready2) {
+// if (((f.Mode == 1 && f.fzad != 0) || (f.Mode == 2 && f.p_zad != 0))
+// && (!f.Is_Blocked || (f.Is_Blocked && edrk.Go))
+// && (f.rotor_stopped == 0)
+//// && (faults.faults5.bit.rotor_stopped == 0)
+// //&& (optical_read_data.data4.bit.leading_Go == 1)
+// ){
+// edrk.Go = 1;
+// } else {
+// if (edrk.Go) {
+// f.p_zad = 0;
+// f.fzad = 0;
+// f.iq_fzad = 0;
+// f.iq_p_zad = 0;
+// if(f.Mode == 1)
+// {
+// if(a.iqk < 1677722 || rotor.iqFout < 48210 //1677722 ~ 0.1 ����������� 503316 = 3% 838860 = 5%
+// || (analog.iqIm_1 < 1677721 && analog.iqIm_2 < 1677721)) //1677721 ~ 300A
+// {
+// edrk.Go = 0;
+// f.iq_fzad = 0;
+// }
+//
+// }
+// if(edrk.Go && f.Mode == 2)
+// {
+// if(analog.iqW < 186413)
+// {
+// if(a.iqk < 1677722 || //1677722 ~ 0.1 �����������
+// (analog.iqIm_1 < 1677721 && analog.iqIm_2 < 1677721)) //1677721 ~ 300A
+// {
+// edrk.Go = 0;
+// }
+// }
+// }
+//
+// } else {
+// f.iq_mzz_zad = _IQ(500.0/NORMA_MZZ);
+// }
+// }
+// } else {
+// edrk.Go = 0;
+// }
+
+
+ // _IQ15toIQ(optical_read_data.data3); //Iq_zad
+// } else {
+ // f.read_task_from_optical_bus = 0;
+// }
+
+}
+
diff --git a/Inu/Src/main/optical_bus.h b/Inu/Src/main/optical_bus.h
new file mode 100644
index 0000000..ce30d7c
--- /dev/null
+++ b/Inu/Src/main/optical_bus.h
@@ -0,0 +1,109 @@
+/*
+ * optical_bus.h
+ *
+ * Created on: 18 ���. 2020 �.
+ * Author: stud
+ */
+
+#ifndef SRC_MAIN_OPTICAL_BUS_H_
+#define SRC_MAIN_OPTICAL_BUS_H_
+
+#include "xp_cds_tk_23550.h"
+
+enum
+{
+CODE_READY_CMD_NOT_READY=0, //// 0 - not ready
+CODE_READY_CMD_READY1, //1-ready1
+CODE_READY_CMD_READY1TO2, //2-ready1to2
+CODE_READY_CMD_READY2 //3 -ready2
+};
+
+enum
+{
+ CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_OFF=0, //0 - ����� �������� �����������, ���� ��������
+ CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_ON, // 1 - ����� �������� �����������, ���� �������
+ CODE_RASCEPITEL_CMD_REQUEST_AND_THIS_OFF, // 2 - ������ �� ���������, ���� ��������
+ CODE_RASCEPITEL_CMD_DISABLE_THIS_ON // 3 - ������ ����������� �����������, ���� �������
+};
+
+
+ typedef union {
+ struct {
+ unsigned int wdog_tick :1; //�������� 0_1_0 � �.�.
+ unsigned int statusQTV :1; //1-QTV On, QTV - off
+ unsigned int master :1; // 1 -Master, 0 - not Master
+ unsigned int slave :1; // 1 -Slave, 0 - not Slave
+
+ unsigned int sync_line_detect :1; // 1 - yes, 0 - no ������������ �����������
+ unsigned int sync_1_2 :1; // 1 - yes, 0 - no ���� ������������� ����� ��
+ unsigned int alarm :1; // 1 - yes, 0 - no ������
+ unsigned int ready_cmd :2; // 00 - not ready,01-ready1,10-ready1to2, 11 -ready2
+
+ unsigned int prepare_stop_PWM :1; // 0 - regul turns; 1 - power ����� ������
+// unsigned int ready_to_go :1; // 1 - yes, 0 - no ����� �������, ������ ������ ���
+ unsigned int start_pwm :1; // 1 - yes, 0 - no ���� ������� �� ������ ����
+ unsigned int stop_pwm :1; // 1 - yes, 0 - no ���� ������� �� ���� ����
+
+ unsigned int pwm_status :1; // 1 -On, 0 - Off ������� �������� ����
+// unsigned int can_on_rascepitel :1; // 1 - yes, 0 - no ����� ���������� �����������
+ unsigned int maybe_master :1; // 1 - yes, 0 - no ������ �� ������ ������ Master
+ unsigned int rascepitel_cmd :2; //
+ // 00 - ����� �������� �����������, ���� ��������
+ // 01 - ����� �������� �����������, ���� �������
+ // 10 - ������ �� ���������, ���� ��������
+ // 11 - ������ ����������� �����������, ���� �������
+ } bit;
+ unsigned int all;
+ } OPTICAL_BUS_DATA_LOW_CMD;
+
+
+// typedef union {
+// struct {
+// unsigned int ready :1; // ������ ������
+// unsigned int overfull :1; //������ ��������
+// unsigned int recive_error :1; //������ ������ � �������
+// unsigned int send_error :1; //������ ���� � �������
+// unsigned int wait :1; //������ ���������
+// unsigned int timeout :1; //������ ����� �� ����
+// } bit;
+// unsigned int all;
+// } OPTICAL_BUS_CODE_STATUS;
+
+
+typedef struct {
+ int pzad_or_wzad; //given turns or power, depends on controlMode;
+ int angle_pwm; //current rotor turns
+ int iq_zad_i_zad; // Iq_zadan or Izad
+ OPTICAL_BUS_DATA_LOW_CMD cmd;
+} OPTICAL_BUS_DATA_LOW;
+
+typedef struct {
+ OPTICAL_BUS_DATA_LOW raw;
+ OPTICAL_BUS_DATA_LOW data;
+ unsigned int status;
+ unsigned int overfull_data;
+ unsigned int timer;
+ unsigned int flag_clear;
+ unsigned int data_was_update_between_pwm_int;
+ unsigned int error_wdog;
+ unsigned int count_error_wdog;
+ unsigned int count_read_optical_bus_old_data; // ������� ������� ������� ������ �� �����������
+
+
+// OPTICAL_BUS_CODE_STATUS code_status;
+} OPTICAL_BUS_DATA;
+
+
+#define OPTICAL_BUS_DATA_DEFAULT {{0,0,0,0},{0,0,0,0},0,0,0,0,0,0,0,0}
+
+extern OPTICAL_BUS_DATA optical_write_data;
+extern OPTICAL_BUS_DATA optical_read_data;
+
+
+void optical_bus_read(void);
+STATUS_DATA_READ_OPT_BUS optical_bus_get_status_and_read(void);
+void optical_bus_write(void);
+void optical_bus_read_clear_count_error(void);
+void optical_bus_update_data_write(void);
+
+#endif /* SRC_MAIN_OPTICAL_BUS_H_ */
diff --git a/Inu/Src/main/optical_bus_tools.c b/Inu/Src/main/optical_bus_tools.c
new file mode 100644
index 0000000..431ade9
--- /dev/null
+++ b/Inu/Src/main/optical_bus_tools.c
@@ -0,0 +1,791 @@
+/*
+ * optical_bus_tools.c
+ *
+ * Created on: 19 ���. 2024 �.
+ * Author: user
+ */
+#include <adc_tools.h>
+#include <alg_simple_scalar.h>
+#include <alg_uf_const.h>
+#include <break_regul.h>
+#include <edrk_main.h>
+#include <optical_bus.h>
+#include <params.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+#include <project.h>
+#include <v_pwm24_v2.h>
+#include <v_rotor.h>
+#include <vector.h>
+#include "global_time.h"
+#include "IQmathLib.h"
+#include "oscil_can.h"
+#include "uf_alg_ing.h"
+#include "MemoryFunctions.h"
+#include "RS_Functions.h"
+#include "v_rotor_22220.h"
+#include "log_to_memory.h"
+#include "log_params.h"
+
+
+
+
+
+///////////////////////////////////////////////////////////////////
+
+
+#pragma CODE_SECTION(optical_bus_read_write_interrupt,".fast_run2");
+void optical_bus_read_write_interrupt(void)
+{
+
+
+ static unsigned int prev_error_read = 0, count_read_optical_bus_error = 0, count_read_optical_bus_old_data = 0;
+ static unsigned int max_count_read_old_data_optical_bus = 15;
+ static unsigned int flag_disable_resend = 0;
+ static unsigned int count_resend = 0, cc=0;
+// static STATUS_DATA_READ_OPT_BUS buf_status[10];
+ static STATUS_DATA_READ_OPT_BUS optbus_status;
+ static unsigned int tt=0;
+ static unsigned int cmd_wdog_sbus = 0, count_wait_wdog_sbus = 0, wdog_sbus = 0;
+ static int prepare_time = 0;
+
+
+ static unsigned int t_finish_optbus = 14, t_read_optbus = 6, t_write_optbus = 10, max_count_read_error_optical_bus = 15, max_count_read_wdog_optical_bus = 48;
+ static int cmd_optbus = 0;
+
+ static int flag_enable_read=0, flag_finish_read = 0, flag_enable_write = 0, flag_finish_write = 0, count_wait_write = 0;
+
+ if (prepare_time==0)
+ {
+ if (edrk.flag_second_PCH==0)
+ {
+ t_read_optbus = 6;
+ t_write_optbus = 8;
+ t_finish_optbus = 20;
+ }
+
+ if (edrk.flag_second_PCH==1)
+ {
+ t_read_optbus = 12;
+ t_write_optbus = 14;
+ t_finish_optbus = 10;
+ }
+ prepare_time = 1;
+ }
+
+ if (flag_special_mode_rs==1)
+ return;
+
+ if (edrk.KvitirProcess)
+ return;
+
+ if (edrk.disable_interrupt_timer2)
+ return;
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ PWM_LINES_TK_17_ON;
+#endif
+
+//i_led2_on_off(1);
+
+
+//#if (ENABLE_LOG_INTERRUPTS)
+// add_log_interrupts(2);
+//#endif
+
+
+// pause_1000(100);
+ if (optical_read_data.flag_clear)
+ {
+ // stage_1 = 0;
+ optical_read_data.timer = 0;
+ optical_read_data.flag_clear = 0;
+ optical_read_data.error_wdog = 0;
+// count_wait_wdog_sbus = 0;
+
+// if (optical_read_data.data_was_update_between_pwm_int==0)
+// sum_count_err_read_opt_bus++;
+//
+// optical_read_data.data_was_update_between_pwm_int = 0;
+
+ // optical_read_data.data_was_update_between_pwm_int = 0;
+ cc = 0;
+ prev_error_read = 0;
+ }
+
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ if (optical_read_data.timer==0)
+ {
+ PWM_LINES_TK_16_ON;
+ }
+ else
+ {
+ PWM_LINES_TK_16_OFF;
+ }
+#endif
+
+
+
+// else
+ optical_read_data.timer++;
+
+// if (edrk.into_pwm_interrupt==1)
+// {
+// if (optical_read_data.timer>=2)
+// {
+// optical_read_data.timer--;
+// optical_read_data.timer--;
+// }
+// flag_disable_resend = 0;
+// count_resend = 0;
+//
+// }
+
+//
+//
+//
+// if (stage_1==0)
+// tt = t1;
+//
+// if (stage_1==1)
+// tt = t2;
+
+ if (edrk.ms.another_bs_maybe_on==1 && edrk.flag_second_PCH==0 /*edrk.auto_master_slave.local.bits.master*/ )
+ {
+
+ if (optical_read_data.data.cmd.bit.wdog_tick)
+ {
+ // i_led1_on();
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ PWM_LINES_TK_21_ON;
+#endif
+ }
+ else
+ {
+ // i_led1_off();
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ PWM_LINES_TK_21_OFF;
+#endif
+
+ }
+
+ optical_write_data.data.cmd.bit.wdog_tick = optical_read_data.data.cmd.bit.wdog_tick;
+
+ if (optical_write_data.data.cmd.bit.wdog_tick)
+ {
+ // i_led2_on();
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ PWM_LINES_TK_22_ON;
+#endif
+
+ }
+ else
+ {
+ // i_led2_off();
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ PWM_LINES_TK_22_OFF;
+#endif
+ }
+
+
+
+ }
+
+
+ if (edrk.ms.another_bs_maybe_on==1 && edrk.flag_second_PCH==1 /*edrk.auto_master_slave.local.bits.slave*/ )
+ {
+
+ if (optical_write_data.data.cmd.bit.wdog_tick)
+ {
+ // i_led2_on();
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ PWM_LINES_TK_22_ON;
+#endif
+
+ }
+ else
+ {
+ // i_led2_off();
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ PWM_LINES_TK_22_OFF;
+#endif
+ }
+
+
+
+ if (optical_read_data.data.cmd.bit.wdog_tick)
+ {
+ // i_led1_on();
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ PWM_LINES_TK_21_ON;
+#endif
+ }
+ else
+ {
+ // i_led1_off();
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ PWM_LINES_TK_21_OFF;
+#endif
+ }
+
+
+
+
+ // �����
+ optical_write_data.data.cmd.bit.wdog_tick = wdog_sbus;
+ if (cmd_wdog_sbus==0)
+ {
+// optical_write_data.data.cmd.bit.wdog_tick = wdog_sbus;
+ count_wait_wdog_sbus = 0;
+ cmd_wdog_sbus++;
+ }
+ else
+ // ���� �������������
+ if (cmd_wdog_sbus==1)
+ {
+ if (optical_read_data.data.cmd.bit.wdog_tick == wdog_sbus) //&& prev_error_read==0
+ {
+ // result_code_wdog_sbus = 1;
+ optical_read_data.count_error_wdog = count_wait_wdog_sbus;
+ count_wait_wdog_sbus = 0;
+ wdog_sbus = !wdog_sbus;
+ cmd_wdog_sbus = 0;
+ }
+ else
+ {
+ if (count_wait_wdog_sbus<max_count_read_wdog_optical_bus ) //6
+ {
+ count_wait_wdog_sbus++;
+ }
+ else
+ {
+ if (optical_read_data.error_wdog==0)
+ {
+ // �� ���� ������ � ����� ����!
+
+// i_led2_toggle();
+// pause_1000(10);
+// i_led2_toggle();
+// pause_1000(10);
+ }
+ // if (optical_read_data.data.cmd.bit.alarm==0) // ���� ���!
+ optical_read_data.error_wdog = 1; // ���� ������
+
+ }
+
+
+ }
+ }
+
+
+ }
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+
+// if (count_wait_wdog_sbus==0)
+// {
+// PWM_LINES_TK_16_ON;
+// }
+// else
+// {
+// PWM_LINES_TK_16_OFF;
+// }
+
+
+#endif
+
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ if (optical_read_data.error_wdog)
+ {
+ PWM_LINES_TK_23_ON;
+ PWM_LINES_TK_23_ON;
+ }
+ else
+ {
+ PWM_LINES_TK_23_OFF;
+ }
+#endif
+
+
+
+#define TIME_WAIT_CMD_WRITE 5 // ������� ����� ���� ������ �� ���������, ����� ����� ����� ����������� ��������� ������
+if (edrk.flag_second_PCH==1)
+{
+ switch (cmd_optbus)
+ {
+ case 0 : if (optical_read_data.timer==t_read_optbus)
+ cmd_optbus = 1;
+ break;
+ case 1: flag_enable_read = 1;
+ flag_finish_read = 0;
+ flag_enable_write = 0;
+ flag_finish_write = 0;
+ count_wait_write = 0;
+ cmd_optbus = 2;
+ break;
+
+ case 2: if (flag_finish_read)
+ {
+ flag_enable_write = 1;
+ count_wait_write = TIME_WAIT_CMD_WRITE;
+ cmd_optbus = 3;
+ }
+ break;
+
+ case 3: if (flag_enable_write==0)
+ {
+ if (count_wait_write)
+ {
+ count_wait_write--;
+ }
+ else
+ cmd_optbus = 4;
+ }
+ break;
+
+ case 4: if (optical_read_data.timer>=t_finish_optbus)
+ cmd_optbus = 1;
+ break;
+ case 5:
+ break;
+ case 6:
+ break;
+ case 7:
+ break;
+ case 8:
+ break;
+ case 9:
+ break;
+ default:
+ break;
+ }
+}
+
+
+
+if (edrk.flag_second_PCH==0)
+{
+ switch (cmd_optbus)
+ {
+ case 0 : if (optical_read_data.timer==t_write_optbus)
+ cmd_optbus = 1;
+ break;
+
+ case 1: flag_enable_read = 0;
+ flag_finish_read = 0;
+ flag_enable_write = 1;
+ flag_finish_write = 0;
+ count_wait_write = TIME_WAIT_CMD_WRITE;
+ cmd_optbus = 2;
+ break;
+
+ case 2: if (flag_enable_write==0)
+ {
+ if (count_wait_write)
+ {
+ count_wait_write--;
+ }
+ else
+ cmd_optbus = 3;
+ }
+ break;
+ case 3: flag_enable_read = 1;
+ flag_finish_read = 0;
+ flag_enable_write = 0;
+ flag_finish_write = 0;
+ count_wait_write = 0;
+ cmd_optbus = 4;
+ break;
+
+ case 4: if (flag_finish_read)
+ {
+ //flag_enable_write = 1;
+ //count_wait_write = 2;
+ //cmd_optbus = 2;
+ flag_enable_read = 0;
+ flag_finish_read = 0;
+ flag_enable_write = 1;
+ flag_finish_write = 0;
+ count_wait_write = TIME_WAIT_CMD_WRITE;
+ cmd_optbus = 2; // ������ case 5: � case 1:
+ }
+ break;
+
+ case 5: if (optical_read_data.timer>=t_finish_optbus)
+ cmd_optbus = 1;
+ break;
+ case 6:
+ break;
+ case 7:
+ break;
+ case 8:
+ break;
+ case 9:
+ break;
+ case 10:
+ break;
+ default:
+ break;
+ }
+}
+// if (optical_read_data.timer==t_read_optbus)
+// flag_run_cycle = 1;
+//
+// if (flag_run_cycle==t_read_optbus)
+// {
+// flag_enable_read = 1;
+// flag_finish_read = 0;
+// flag_enable_write = 0;
+// flag_finish_write = 0;
+// flag_run_cycle = 0;
+// }
+//
+//
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ PWM_LINES_TK_18_OFF;
+#endif
+
+ if (flag_enable_read)
+ {
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ PWM_LINES_TK_19_ON;
+#endif
+
+#if(USE_TK_3)
+ project.cds_tk[3].read_pbus(&project.cds_tk[3]);
+#endif
+ optbus_status = optical_bus_get_status_and_read();
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ PWM_LINES_TK_19_OFF;
+#endif
+ cc++;
+
+ if (optbus_status.bit.new_data_ready)
+ {
+
+ prev_error_read = 0;
+ optical_read_data.count_read_optical_bus_old_data = 0;
+
+ if (optical_read_data.data_was_update_between_pwm_int<10000)
+ optical_read_data.data_was_update_between_pwm_int += 1;
+
+ count_read_optical_bus_error = 0;
+ flag_finish_read = 1;
+ flag_enable_read = 0;
+ }
+
+ if (optbus_status.bit.receiver_error || optbus_status.bit.bad_status12 )
+ {
+
+ prev_error_read = 1;
+
+ if (count_read_optical_bus_error<=max_count_read_error_optical_bus)
+ count_read_optical_bus_error++;
+ else
+ {
+ optical_read_data.data.pzad_or_wzad = 0;
+ optical_read_data.data.angle_pwm = 0;
+ optical_read_data.data.iq_zad_i_zad = 0;
+ optical_read_data.data.cmd.all = 0;
+ flag_finish_read = 1;
+ }
+ }
+
+
+ if (optbus_status.bit.old_data)
+ {
+
+// prev_error_read = 1;
+
+ flag_finish_read = 1;
+
+ if (optical_read_data.count_read_optical_bus_old_data<=max_count_read_old_data_optical_bus)
+ optical_read_data.count_read_optical_bus_old_data++;
+ else
+ {
+ optical_read_data.data.pzad_or_wzad = 0;
+ optical_read_data.data.angle_pwm = 0;
+ optical_read_data.data.iq_zad_i_zad = 0;
+ optical_read_data.data.cmd.all = 0;
+ }
+ }
+
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ if (optbus_status.bit.new_data_ready)
+ {
+ PWM_LINES_TK_18_ON;
+ }
+#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ if (optbus_status.bit.receiver_busy || optbus_status.bit.receiver_error || optbus_status.bit.bad_status12)
+ {
+ // PWM_LINES_TK_16_ON;
+ }
+#endif
+
+ }
+
+//
+//
+// if (flag_finish_read)
+// {
+// flag_enable_write = 1;
+// count_wait_write = 10;
+// }
+
+
+ if (flag_enable_write)
+ {
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ PWM_LINES_TK_20_ON;
+#endif
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ static unsigned int ccc = 0;
+ ccc++;
+ optical_write_data.data.angle_pwm = ccc;
+#endif
+ optical_bus_write();
+
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ PWM_LINES_TK_20_OFF;
+#endif
+ flag_enable_write = 0;
+ }
+//
+// if (count_wait_write)
+// {
+// count_wait_write--;
+// }
+// else
+// flag_finish_write = 1;
+//
+//
+//
+//// read
+//
+// if (optical_read_data.timer==(t_read_optbus-1))
+// prev_error_read = 1;
+// else
+// if (optical_read_data.timer==t_read_optbus || prev_error_read==1)
+// {
+//
+//#if(_ENABLE_PWM_LINES_FOR_TESTS)
+// PWM_LINES_TK_18_OFF;
+//#endif
+//
+//#if(_ENABLE_PWM_LINES_FOR_TESTS)
+// PWM_LINES_TK_19_ON;
+//#endif
+//
+// project.cds_tk[3].read_pbus(&project.cds_tk[3]);
+//
+// optbus_status = optical_bus_get_status_and_read();
+//
+//#if(_ENABLE_PWM_LINES_FOR_TESTS)
+// PWM_LINES_TK_19_OFF;
+//#endif
+// cc++;
+//
+// if (optbus_status.bit.new_data_ready)
+// {
+//
+// prev_error_read = 0;
+//
+// if (optical_read_data.data_was_update_between_pwm_int<10000)
+// optical_read_data.data_was_update_between_pwm_int += 1;
+//
+// count_read_optical_bus_error = 0;
+// }
+//
+// if (optbus_status.bit.receiver_error || optbus_status.bit.bad_status12 )
+// {
+//
+// prev_error_read = 1;
+//
+// if (count_read_optical_bus_error<=max_count_read_error_optical_bus)
+// count_read_optical_bus_error++;
+// else
+// {
+// optical_read_data.data.pzad_or_wzad = 0;
+// optical_read_data.data.angle_pwm = 0;
+// optical_read_data.data.iq_zad_i_zad = 0;
+//// optical_read_data.data.cmd.all = 0x40; // ��������! alarm = 1
+// optical_read_data.data.cmd.all = 0;
+// }
+// }
+//
+//#if(_ENABLE_PWM_LINES_FOR_TESTS)
+// if (optbus_status.bit.new_data_ready)
+// {
+// PWM_LINES_TK_18_ON;
+// }
+//#endif
+//
+//#if(_ENABLE_PWM_LINES_FOR_TESTS)
+// if (optbus_status.bit.receiver_busy || optbus_status.bit.receiver_error || optbus_status.bit.bad_status12)
+// {
+// // PWM_LINES_TK_16_ON;
+// }
+//#endif
+//
+// }
+//
+//
+//
+//
+//// write
+//
+// if (optical_read_data.timer==t_write_optbus)
+// {
+//#if(_ENABLE_PWM_LINES_FOR_TESTS)
+// PWM_LINES_TK_20_ON;
+//#endif
+//
+// optical_bus_write();
+//
+//
+//#if(_ENABLE_PWM_LINES_FOR_TESTS)
+// PWM_LINES_TK_20_OFF;
+//#endif
+// }
+
+
+
+// finish
+
+// if (optical_read_data.timer>=t_finish_optbus)
+// {
+// optical_read_data.timer = 0;
+// }
+
+// if (prev_error_read==0)
+// i_led2_off();
+
+
+// if (optical_read_data.timer==t2)
+// {
+//
+// // if (edrk.flag_second_PCH==0)
+// stage_2 = 1;
+// // else
+// // stage_1 = 1;
+//
+// optical_read_data.timer = 0;
+// }
+
+// if (optical_read_data.timer>=t3)
+// {
+// optical_read_data.timer = 0;
+// }
+
+
+
+
+
+//
+// if (stage_1==2 && prev_stage1!=stage_1)
+// {
+// // i_led2_on();
+//// if (flag_disable_resend==0)
+//// {
+// // if (edrk.ms.another_bs_maybe_on==1 && (edrk.auto_master_slave.local.bits.master ) )
+//
+// // if (edrk.flag_second_PCH==0)
+// {
+// i_led2_on();
+// i_led2_off();
+// i_led2_on();
+//
+// optical_bus_write();
+// }
+//// else
+//// {
+//// i_led2_on();
+////
+//// optical_bus_read();
+//// optbus_status = optical_bus_get_status_and_read();
+//// buf_status[cc] = optbus_status;
+//// cc++;
+////
+//// if (optbus_status.bit.new_data_ready)
+//// optical_read_data.data_was_update_between_pwm_int = 1;
+////
+//// if (optbus_status.bit.receiver_busy || optbus_status.bit.receiver_error || optbus_status.bit.bad_status12
+//// )
+//// {
+//// i_led1_on();
+//// i_led1_off();
+////
+//// }
+////
+//// }
+// stage_1 = 0;
+// }
+
+// if (stage_1==1 && prev_stage1!=stage_1)
+// {
+//
+//// if (edrk.flag_second_PCH==1)
+//// {
+//// i_led2_on();
+//// i_led2_off();
+//// i_led2_on();
+////
+//// optical_bus_write();
+//// }
+//// else
+// // {
+// i_led2_on();
+//
+// optical_bus_read();
+// optbus_status = optical_bus_get_status_and_read();
+// buf_status[cc] = optbus_status;
+// cc++;
+//
+// if (optbus_status.bit.new_data_ready)
+// optical_read_data.data_was_update_between_pwm_int = 1;
+//
+// if (optbus_status.bit.receiver_busy || optbus_status.bit.receiver_error || optbus_status.bit.bad_status12
+// )
+// {
+// i_led1_on();
+// i_led1_off();
+//
+// }
+//
+// // }
+//
+//
+// // stage_1 = 0;
+// }
+
+ // prev_stage1 = stage_1;
+ // }
+// if (edrk.flag_second_PCH==1)
+// {
+// i_led2_off();
+// }
+
+//i_led2_on_off(0);
+
+//#if (ENABLE_LOG_INTERRUPTS)
+// add_log_interrupts(102);
+//#endif
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS)
+ PWM_LINES_TK_17_OFF;
+#endif
+
+
+}
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+
+
diff --git a/Inu/Src/main/optical_bus_tools.h b/Inu/Src/main/optical_bus_tools.h
new file mode 100644
index 0000000..89c6bc6
--- /dev/null
+++ b/Inu/Src/main/optical_bus_tools.h
@@ -0,0 +1,14 @@
+/*
+ * optical_bus_tools.h
+ *
+ * Created on: 19 ���. 2024 �.
+ * Author: user
+ */
+
+#ifndef SRC_MAIN_OPTICAL_BUS_TOOLS_H_
+#define SRC_MAIN_OPTICAL_BUS_TOOLS_H_
+
+void optical_bus_read_write_interrupt(void);
+
+
+#endif /* SRC_MAIN_OPTICAL_BUS_TOOLS_H_ */
diff --git a/Inu/Src/main/overheat_limit.c b/Inu/Src/main/overheat_limit.c
new file mode 100644
index 0000000..e2c2720
--- /dev/null
+++ b/Inu/Src/main/overheat_limit.c
@@ -0,0 +1,80 @@
+/*
+ * overheat_limit.c
+ *
+ * Created on: 17 ���. 2020 �.
+ * Author: star
+ */
+
+#include <edrk_main.h>
+#include <overheat_limit.h>
+#include <params_temper_p.h>
+#include <protect_levels.h>
+
+#include "IQmathLib.h"
+#include "math_pi.h"
+#include "limit_lib.h"
+
+
+TEMPERATURE_LIMIT_KOEFFS temper_limit_koeffs = TEMPERATURE_LIMIT_KOEFFS_DEFAULTS;
+
+void calc_limit_overheat()
+{
+ int *p_alarm, *p_abnormal;
+ _iq sum_limit = CONST_IQ_1;
+ _iq val;
+ int i = 0;
+
+ p_alarm = &protect_levels.alarm_temper_u_01;
+ p_abnormal = &protect_levels.abnormal_temper_u_01;
+ edrk.temper_limit_koeffs.power_units = CONST_IQ_1;
+ for (i = 0; i < 7; i++) {
+ val = linear_decrease(edrk.temper_edrk.real_int_temper_u[i],
+ *(p_alarm + i), *(p_abnormal + i));
+ edrk.temper_limit_koeffs.power_units = _IQmpy(val, edrk.temper_limit_koeffs.power_units);
+ }
+ sum_limit = _IQmpy(sum_limit,edrk.temper_limit_koeffs.power_units);
+
+ p_alarm = &protect_levels.alarm_temper_air_int_01;
+ p_abnormal = &protect_levels.abnormal_temper_air_int_01;
+ edrk.temper_limit_koeffs.area = CONST_IQ_1;
+ for (i = 0; i < 4; i++) {
+ val = linear_decrease(edrk.temper_edrk.real_int_temper_air[i],
+ *(p_alarm + i), *(p_abnormal + i));
+ edrk.temper_limit_koeffs.area = _IQmpy(val, edrk.temper_limit_koeffs.area);
+ }
+ sum_limit = _IQmpy(sum_limit,edrk.temper_limit_koeffs.area);
+
+ edrk.temper_limit_koeffs.water_int = linear_decrease(edrk.temper_edrk.real_temper_water[0] * 10.0,
+ protect_levels.alarm_temper_water_int, protect_levels.abnormal_temper_water_int);
+ sum_limit = _IQmpy(sum_limit,edrk.temper_limit_koeffs.water_int);
+
+ edrk.temper_limit_koeffs.water_ext = linear_decrease(edrk.temper_edrk.real_temper_water[1] * 10.0,
+ protect_levels.alarm_temper_water_ext, protect_levels.abnormal_temper_water_ext);
+ sum_limit = _IQmpy(sum_limit,edrk.temper_limit_koeffs.water_ext);
+
+
+ p_alarm = &protect_levels.alarm_temper_acdrive_winding_U1;
+ p_abnormal = &protect_levels.abnormal_temper_acdrive_winding_U1;
+ edrk.temper_limit_koeffs.acdrive_windings = CONST_IQ_1;
+ for (i = 0; i < 6; i++) {
+ val = linear_decrease(edrk.temper_acdrive.winding.real_int_temper[i],
+ *(p_alarm + i), *(p_abnormal + i));
+ edrk.temper_limit_koeffs.acdrive_windings = _IQmpy(val, edrk.temper_limit_koeffs.acdrive_windings);
+ }
+ sum_limit = _IQmpy(sum_limit,edrk.temper_limit_koeffs.acdrive_windings);
+
+ edrk.temper_limit_koeffs.acdrive_bears = linear_decrease(edrk.temper_acdrive.bear.real_int_temper[0],
+ protect_levels.alarm_temper_acdrive_bear_DNE, protect_levels.abnormal_temper_acdrive_bear_DNE);
+ sum_limit = _IQmpy(sum_limit,edrk.temper_limit_koeffs.acdrive_bears);
+ edrk.temper_limit_koeffs.acdrive_bears = linear_decrease(edrk.temper_acdrive.bear.real_int_temper[1],
+ protect_levels.alarm_temper_acdrive_bear_NE, protect_levels.abnormal_temper_acdrive_bear_NE);
+ sum_limit = _IQmpy(sum_limit,edrk.temper_limit_koeffs.acdrive_bears);
+
+ edrk.temper_limit_koeffs.sum_limit = sum_limit;
+
+ if (edrk.temper_limit_koeffs.sum_limit < (CONST_IQ_1 - 1000))
+ edrk.temper_limit_koeffs.code_status = 1;
+ else
+ edrk.temper_limit_koeffs.code_status = 0;
+
+}
diff --git a/Inu/Src/main/overheat_limit.h b/Inu/Src/main/overheat_limit.h
new file mode 100644
index 0000000..dc1199d
--- /dev/null
+++ b/Inu/Src/main/overheat_limit.h
@@ -0,0 +1,13 @@
+/*
+ * overheat_limit.h
+ *
+ * Created on: 17 ���. 2020 �.
+ * Author: star
+ */
+
+#ifndef SRC_MAIN_OVERHEAT_LIMIT_H_
+#define SRC_MAIN_OVERHEAT_LIMIT_H_
+
+void calc_limit_overheat();
+
+#endif /* SRC_MAIN_OVERHEAT_LIMIT_H_ */
diff --git a/Inu/Src/main/params.h b/Inu/Src/main/params.h
new file mode 100644
index 0000000..7abc592
--- /dev/null
+++ b/Inu/Src/main/params.h
@@ -0,0 +1,182 @@
+#ifndef _PARAMS
+#define _PARAMS
+
+
+#if(_FLOOR6)
+
+
+#define _ENABLE_PWM_LINES_FOR_TESTS 0//1
+#define _ENABLE_PWM_LINES_FOR_TESTS_ROTOR 0//1
+#define _ENABLE_PWM_LINES_FOR_TESTS_PWM 0//1
+#define _ENABLE_PWM_LINES_FOR_TESTS_RS 0//1
+#define _ENABLE_PWM_LINES_FOR_TESTS_SYNC 0//1
+#define _ENABLE_PWM_LINES_FOR_TESTS_GO 0//1
+
+#else
+
+#define _ENABLE_PWM_LINES_FOR_TESTS 0
+#define _ENABLE_PWM_LINES_FOR_TESTS_ROTOR 0
+#define _ENABLE_PWM_LINES_FOR_TESTS_PWM 0
+#define _ENABLE_PWM_LINES_FOR_TESTS_RS 0
+#define _ENABLE_PWM_LINES_FOR_TESTS_SYNC 0//1
+#define _ENABLE_PWM_LINES_FOR_TESTS_GO 0//1
+#endif
+
+
+#if(_FLOOR6)
+#define MODE_DISABLE_ENABLE_WDOG 1 // 0 - wdog ��������, 1 - ��������
+#else
+#define MODE_DISABLE_ENABLE_WDOG 0 // 0 - wdog ��������, 1 - ��������
+#endif
+
+
+
+
+
+
+#define CHECK_IN_OUT_TERMINAL 1
+
+#define WORK_ON_STEND_D 0//1
+
+
+
+////////////////////////////////////////////////////////////////////
+#ifndef MODE_DISABLE_ENABLE_WDOG
+#define MODE_DISABLE_ENABLE_WDOG 0
+#endif
+
+
+#ifndef CHECK_IN_OUT_TERMINAL
+#define CHECK_IN_OUT_TERMINAL 0
+#endif
+
+#ifndef WORK_ON_STEND_D
+#define WORK_ON_STEND_D 0
+#endif
+
+
+
+/*************************************************************************************/
+//#define BAN_ROTOR_REVERS_DIRECT 1
+
+//#define TIME_PAUSE_ZADATCHIK 750//500
+
+//#define TIME_SET_LINE_RELAY_FAN 3000 // ����� ������ �������� �� ���� ��������� ���������� �����������
+//#define LEVEL_FAN_ON_TEMPER_ACDRIVE 1400 //������� ��������� ����������� ���������� ���������
+//#define LEVEL_FAN_OFF_TEMPER_ACDRIVE 1200 //������� ���������� ����������� ���������� ���������
+//(������ ���� ������ LEVEL_FAN_ON_TEMPER_ACDRIVE � ������� �� ���������� ~20 �������� )
+//#define TIME_SET_LINE_RELAY_FAN 3000 //����� ������ �������� �� ���� ��������� ���������� �����������
+
+/*
+#define MAX_TIME_DIRECT_ROTOR 5000 // ����. �������� �������� �� ����������� ����������� ��������
+#define MIN_TIME_DIRECT_ROTOR -5000 // ����������� �������� �������� �� ����������� ����������� ��������
+
+#define LEVEL_FORWARD_TIME_DIRECT_ROTOR 4000 // �������� �������� ������� ��������� ��� ����������� ������
+#define LEVEL_BACK_TIME_DIRECT_ROTOR -4000 // �������� �������� ������� ��������� ��� ����������� �����
+
+#define MAX_TIME_ERROR_ROTOR 5000 // ����. �������� �������� �� ����������� ������������� ������������ ��������
+#define MIN_TIME_ERROR_ROTOR 0 // ���. �������� �������� �� ����������� ������������� ������������ ��������
+
+
+#define LEVEL_ON_ERROR_ROTOR 4000 // �������� �������� ������� ��������� ��� ����������� ������������ � �������
+#define LEVEL_OFF_ERROR_ROTOR 1000 // �������� �������� ������� ��������� ��� ����������� ������������ ��� �������
+*/
+
+
+/*
+#define PID_KP_IM 0.018 //0.036 //0.018 //0.18 //0.095 // PID Kp
+#define PID_KI_IM 0.08 // 0.008 // PID Ki
+#define PID_KD_IM 0.0000 //100 // PID Kd
+#define PID_KC_IM 0.09 // PID Kc
+
+
+#define PID_KP_F 12//26//12 //40 //20 //12 //20 //60.0 //20.0 //0.095 // PID Kp
+#define PID_KI_F 0.00010 // 0.008 // PID Ki
+#define PID_KD_F 0.000 //100 PID Kd
+#define PID_KC_F 0.005 // PID Kc
+//#define PID_KC_F 0.000 // PID Kc
+
+#define ADD_KP_DF (1000.0/NORMA_MZZ)//(500.0/NORMA_MZZ)//(50.0/NORMA_MZZ)
+#define ADD_KI_DF (2000.0/NORMA_MZZ)//(1000.0/NORMA_MZZ)//(100.0/NORMA_MZZ)
+#define MAX_DELTA_pidF 2.0
+#define MIN_MZZ_FOR_DF 1761607 //(210/NORMA_MZZ)
+*/
+
+/*
+#define Im_PREDEL 600 // ���������� ������ ��� ��� ������ �� ����
+#define I_OUT_PREDEL -20 // ���������� ���. ��� ����������y ��� ������ �� ����
+#define U_IN_PREDEL 500 // ���������� ������������ ������� ����y����� ��� ������ �� ����
+
+#define IQ_NORMAL_CHARGE_UD_MAX 12163481 // 1450 V //13002342 // 1550 //_IQtoF(filter.iqU_1_long)*NORMA_ACP
+#define IQ_NORMAL_CHARGE_UD_MIN 10066329 // 1200 V
+
+
+#define U_D_MAX_ERROR_GLOBAL 17616076 // 2100 V //17196646 //2050V // 16777216 //2000V/2000*2^24
+#define U_D_MAX_ERROR 16777216 // 2000V //16357785 //1950V //15938355 //1900V/2000*2^24
+
+//#define U_D_NORMA_MIN 3774873 // 450 V // 13421772 // 450 V 22.05.08 //1600V/2000*2^24
+//#define U_D_NORMA_MAX 15518924 // //15099494 //1850V/2000*2^24
+
+#define U_D_MIN_ERROR 10905190 // 1300V/2000*2^24
+
+#define I_IN_MAX_ERROR_GLOBAL 18454937 // 2200 A //16777216 //2000 A // 13421772 //1600 A //10905190 //1300 // 900A
+
+#define KOEFF_WROTOR_FILTER_SPARTAN 7//8
+#define MAX_DELTA_WROTOR_S_1_2 1
+
+#define ENABLE_I_HDW_PROTECT_ON_GLOBAL 1 // ��������� ��������� ������� �������� �� ���������� ������� ������
+
+#define TIME_WAIT_CHARGE 2000 //5000 // 10000
+#define TIME_WAIT_CHARGE_OUT 15000 //15000
+#define TIME_SET_LINE_RELAY 10000
+#define TIME_SET_LINE_RELAY5 3000
+#define TIME_WAIT_LEVEL_QPU2 3000
+*/
+
+
+/*
+///--------------------------- 22220 paremetrs -------------------/////////
+
+////////////////////////////////////////////////////////////////
+// Loaded capasitors level
+#define V_CAPASITORS_LOADED_IQ 11184810 //13421772 ~ 2400V // 11184810 ~ 2000V
+#define V_NOMINAL 15099494 //15099494 ~ 2700V
+
+// Level of nominal currents
+#define I_OUT_NOMINAL_IQ 10066329 //8388608 ~ 1500A //5592405 ~ 1000A // 10066329 ~ 1800A
+ //11184811 ~ 2000A // 12482249 ~ 2232A // 6710886 ~ 1200A
+#define I_ZPT_NOMINAL_IQ 6123683 //1095A
+
+
+
+#define NORMA_MZZ 3000 //5000
+//#define NORMA_ACP 3000
+#define DISABLE_TEST_TKAK_ON_START 1
+//#define MOTOR_STEND 1
+
+
+//#define FREQ_PWM 350 //401 //379
+
+#ifdef MOTOR_STEND
+#define POLUS 4 // ����� ��� �������
+
+#define BPSI_NORMAL 0.9//0.7 //Hz
+#define MAX_FZAD_FROM_SU 16.7 // ����������� �������� �������� ������� � ������ �� ��
+#define MAX_FZAD_FROM_SU_OBOROT 1100
+
+#else
+#define POLUS 6 // ����� ��� �������
+#define BPSI_NORMAL 0.9 //Hz
+#define MAX_FZAD_FROM_SU 16.7 // ����������� �������� �������� ������� � ������ �� ��
+#define MAX_FZAD_FROM_SU_OBOROT 1650
+#define COS_FI 0.83
+
+#endif
+*/
+
+#define KOEF_TEMPER_DECR_MZZ 2.0
+
+#endif
+
+
+
diff --git a/Inu/Src/main/params_alg.h b/Inu/Src/main/params_alg.h
new file mode 100644
index 0000000..8529a80
--- /dev/null
+++ b/Inu/Src/main/params_alg.h
@@ -0,0 +1,218 @@
+/*
+ * params_alg.h
+ *
+ * Created on: 26 ���. 2020 �.
+ * Author: Yura
+ */
+
+#ifndef SRC_MAIN_PARAMS_ALG_H_
+#define SRC_MAIN_PARAMS_ALG_H_
+
+// ������� ������� �� �� ������, ����� � �������
+#define DISABLE_CALC_KM_ON_SLAVE 0//1
+
+#define DISABLE_WORK_BREAK 0 // ��������� ������ � ����������
+
+#define SENSOR_ALG_22220 1
+#define SENSOR_ALG_23550 2
+
+
+#define SENSOR_ALG SENSOR_ALG_22220
+//#define SENSOR_ALG SENSOR_ALG_23550
+
+
+#define NOMINAL_U_ZARYAD 2520 // ������� ���������� ������ ���
+#define NOMINAL_U_BREAK_LEVEL 2580 // ������ ������ ��������� + IQ_DELTA_U_START_RECUP=100V
+#define NOMINAL_SET_IZAD 910 // ��� �� �����
+#define NOMINAL_SET_K_U_DISBALANCE 40//20 // ������� � ���������� ���������� ����. �������� ����� �� ����������, ���� >0 ���� ������� ��������
+#define NOMINAL_SET_LIMIT_POWER 6300 // ����� �������� �� �����
+
+
+
+
+
+///////////////////////////////////////////////////////////////
+#define U_D_MAX_ERROR_GLOBAL IQ_I_U_VALUE_PLUS_2850 //U_D_MAX_ERROR_GLOBAL_2850
+
+#define MAX_U_PROC_SMALL 2.5 //1.4
+#define MAX_U_PROC 1.1 //1.11 //1.4
+#define MIN_U_PROC 0.8 //0.7
+
+#define ADD_U_MAX_GLOBAL 200.0 //V ��������� ��������� ������� GLOBAL ������������ ZadanieU_Charge
+#define ADD_U_MAX_GLOBAL_SMALL 500.0 //V ��������� ��������� ������� GLOBAL ������������ ZadanieU_Charge
+#define LEVEL_DETECT_U_SMALL 1000.0 //V ��������� ��������� ������� GLOBAL ������������ ZadanieU_Charge
+
+#define KOEF_IM_ON_TORMOG 0.65// 0.75 // �� ������� ��������� ��������� �������� ��� ����������
+#define KOEF_IM_ON_TORMOG_WITH_MAX_TEMPER_BREAK 0.1// � ���������� �������� �� ������� ��������� ��������� �������� ��� ����������
+
+///////////////////////////////////////////////////////////////
+
+
+#define MZZ_ADD_1 0.5 // 0.25 //0.5 ������������ ������ ������� �� 1 ����
+#define MZZ_ADD_2 0.15 ///0.1 //0.05 //0.1 ������������ ������ ������� �� 1 ����
+#define MZZ_ADD_3 0.25 //0.05 ///0.1 //0.05 //0.1 ������������ ������ ������� �� 1 ����
+
+#define FZAD_ADD_MAX 0.08 //0.005 //0.08 ������������ ������ fzad �� 1 ����
+#define FZAD_DEC 0.0004 //������������ ����� fzad �� 1 ����
+
+#define POWERZAD_ADD_MAX 0.08 //0.005 //0.08 ������������ ������ fzad �� 1 ����
+#define POWERZAD_DEC 0.0004 //������������ ����� fzad �� 1 ����
+
+#define POLUS 6 //6 // ����� ��� �������
+#define BPSI_NORMAL 0.22 //0.3 // ���������� ���������
+#define BPSI_MAXIMAL 0.35 //0.3 // ���������� ���������
+#define BPSI_MINIMAL 0.05 //0.3 // ���������� ���������
+#define PROVOROT_F_HZ 0.2 // ��������
+#define PROVOROT_OBOROTS 10 // ��������
+
+
+#define ADD_KP_DF (1000.0/NORMA_MZZ)//(500.0/NORMA_MZZ)//(50.0/NORMA_MZZ)
+#define ADD_KI_DF (2000.0/NORMA_MZZ)//(1000.0/NORMA_MZZ)//(100.0/NORMA_MZZ)
+
+#define ADD_KP_DPOWER (1000.0/NORMA_MZZ)//(500.0/NORMA_MZZ)//(50.0/NORMA_MZZ)
+#define ADD_KI_DPOWER (2000.0/NORMA_MZZ)//(1000.0/NORMA_MZZ)//(100.0/NORMA_MZZ)
+
+#define MIN_MZZ_FOR_DF 210
+#define MIN_MZZ_FOR_DPOWER 210
+
+
+////////////////////
+
+
+#define PID_KP_IM 0.036 //0.018 //0.0013// 0.018 //0.036 //0.018 //0.18 //0.095 // PID Kp
+#define PID_KI_IM 0.32 // 0.16 //0.32 //0.16 //0.08//0.8//0.025 //0.08 // PID Ki
+#define PID_KD_IM 0.0000 //*100 // PID Kd
+#define PID_KC_IM 0.09 // PID Kc
+
+
+#define PID_KP_F 12.0//6.0//12.0 //6.0 //18 //12//6//26//12 //40 //20 //12 //20 //60.0 //20.0 //0.095 // PID Kp
+#define PID_KI_F 0.00020 //0.00010 // 0.008 // PID Ki
+//#define PID_KI_F 0.00030 //0.00010 // 0.008 // PID Ki
+#define PID_KD_F 0.000 //*100 PID Kd
+#define PID_KC_F 0.00005//0.005 // PID Kc
+//#define PID_KC_F 0.000 // PID Kc
+
+#define PID_KP_POWER 9//3//26//12 //40 //20 //12 //20 //60.0 //20.0 //0.095 // PID Kp
+//#define PID_KI_F 0.00020 //0.00010 // 0.008 // PID Ki
+#define PID_KI_POWER 0.00030 //0.00010 // 0.008 // PID Ki
+#define PID_KD_POWER 0.000 //*100 PID Kd
+#define PID_KC_POWER 0.0001 // PID Kc
+
+
+
+///////////////////
+// ����. k ���������� ������������
+
+#define K_STATOR_MAX 0.93 // 0.91 // ��� DEF_PERIOD_MIN_MKS = 60 ���
+#define K_STATOR_MIN 0.020 // 0.91 // ��� DEF_PERIOD_MIN_MKS = 60 ���
+
+//#define K_STATOR_MAX 0.89 //��� DEF_PERIOD_MIN_MKS = 80 ���
+
+
+
+
+#define MAX_ZADANIE_I_VOZBUD 200.0 // A
+
+#define MAX_ZADANIE_U_CHARGE 2800.0//1500.0 //V
+//#define MAX_ZADANIE_F_ROTOR 70
+
+#define MAX_ZADANIE_OBOROTS_ROTOR 230.0 //340 //240 1000 //260.0 // +/- ob/min
+#define MIN_ZADANIE_OBOROTS_ROTOR -230.0 //-180.0 //-230.0 // 1000 //260.0 // +/- ob/min
+
+#define MAX_1_ZADANIE_OBOROTS_ROTOR 120.0 //340 //240 1000 //260.0 // +/- ob/min
+#define MIN_1_ZADANIE_OBOROTS_ROTOR -90.0 //-230.0 // 1000 //260.0 // +/- ob/min
+
+
+#define DEAD_ZONE_ZADANIE_OBOROTS_ROTOR 10.0
+
+#define MAX_ZADANIE_I_M 950.0// 1000.0 //750.0 // A
+
+#define MAX_ZADANIE_POWER 6300.0 // kWt
+#define MIN_ZADANIE_POWER -6300.0 // kWt
+
+#define MAX_1_ZADANIE_POWER 3000.0 // kWt
+#define MIN_1_ZADANIE_POWER -3000.0 // kWt
+
+
+#define SUPER_MAX_ZADANIE_LIMIT_POWER 6500.0 // kWt
+
+#define MAX_ZADANIE_LIMIT_POWER 6300.0 // kWt
+#define MAX_1_ZADANIE_LIMIT_POWER 2000.0 // kWt
+
+#define MIN_ZADANIE_LIMIT_POWER 100.0 // kWt
+#define MIN_ZADANIE_LIMIT_POWER_FROM_SVU 50.0 // kWt
+#define POWER_ZAPAS_FOR_UOM 5 //50 // ��� ����� ��� ���
+
+#define DEAD_ZONE_ZADANIE_POWER 50.0 // kWt
+#define DEAD_ZONE_ZADANIE_LIMIT_POWER 50.0 // kWt
+
+
+
+#define MAX_ZADANIE_K_M K_STATOR_MAX // A
+#define MAX_ZADANIE_F 30.0 // Hz
+#define MIN_ZADANIE_F -30.0 //60.0 // Hz
+
+
+#define MAX_ZADANIE_K_U_DISBALANCE 2.0 //1.0 // k
+#define MAX_ZADANIE_KPLUS_U_DISBALANCE 1.0 // k
+
+
+
+#define T_NARAST_ZADANIE_F 5.0 // sec
+#define T_NARAST_ZADANIE_OBOROTS_ROTOR 80.0 //20.0 //30.0 //15.0 // sec
+
+#define T1_NARAST_ZADANIE_OBOROTS_ROTOR_PLUS 80.0 //20.0 //30.0 //15.0 // sec
+#define T1_NARAST_ZADANIE_OBOROTS_ROTOR_MINUS 40.0 //20.0 //30.0 //15.0 // sec
+
+#define T2_NARAST_ZADANIE_OBOROTS_ROTOR_PLUS 80.0 //160.0 //20.0 //30.0 //15.0 // sec
+#define T2_NARAST_ZADANIE_OBOROTS_ROTOR_MINUS 40.0 //20.0 //30.0 //15.0 // sec
+
+#define T_SLOW_NARAST_ZADANIE_OBOROTS_ROTOR_PLUS 600.0 //160.0 //20.0 //30.0 //15.0 // sec
+#define T_SLOW_NARAST_ZADANIE_OBOROTS_ROTOR_MINUS 600.0 //20.0 //30.0 //15.0 // sec
+
+
+
+#define T_NARAST_ZADANIE_K_M 15.0 // sec
+#define T_NARAST_ZADANIE_I_M 15.0 // sec
+
+#define T1_NARAST_ZADANIE_POWER_PLUS 80.0 //30.0 // sec
+#define T1_NARAST_ZADANIE_POWER_MINUS 30.0 //30.0 // sec
+#define T2_NARAST_ZADANIE_POWER_PLUS 80.0 //30.0 // sec
+#define T2_NARAST_ZADANIE_POWER_MINUS 30.0 //30.0 // sec
+
+#define T_NARAST_ZADANIE_LIMIT_POWER 5.0 //30.0 // sec
+
+#define T1_NARAST_ZADANIE_LIMIT_POWER_PLUS 30.0 //30.0 // sec
+#define T1_NARAST_ZADANIE_LIMIT_POWER_MINUS 5.0 //30.0 // sec
+#define T2_NARAST_ZADANIE_LIMIT_POWER_PLUS 80.0 //30.0 // sec
+#define T2_NARAST_ZADANIE_LIMIT_POWER_MINUS 5.0 //30.0 // sec
+
+
+#define T_NARAST_ZADANIE_U_CHARGE 2.0 // sec
+#define T_NARAST_ZADANIE_K_U_DISBALANCE 15.0 // sec
+#define T_NARAST_ZADANIE_KPLUS_U_DISBALANCE 15.0 // sec
+
+#define T_NARAST_ZADANIE_IMITATION_OBOROTS_ROTOR 30.0 // sec
+
+
+
+
+
+
+#define ENABLE_DECR_MZZ_POWER_IZAD 1
+// ����� �������� ��� ������� �������� �� ���
+#define POWER_AIN_100KW 186413
+
+#define DELTA_LEVEL_POWER_AIN_DECR_MZZ_DEF (3*POWER_AIN_100KW) // 300 kW // 559240 //300 ���//186413 //100kW // iqP = P (W) /3000/3000 * 2^24 //
+#define MIN_DELTA_LEVEL_POWER_AIN_DECR_MZZ_DEF (5*POWER_AIN_100KW) // 500 kW
+#define SMEWENIE_LEVEL_POWER_AIN_DECR_MZZ_DEF 0 //(1*POWER_AIN_100KW) // 100 kW
+
+// �������� �� 1 - ������ ������ �� 0 - ��� �����������
+#define MAX_KOEF_OGRAN_POWER_LIMIT CONST_IQ_05 // 0.5
+#define EXP_FILTER_KOEF_OGRAN_POWER_LIMIT 4.40//2.22 // � ��������
+
+
+
+
+
+#endif /* SRC_MAIN_PARAMS_ALG_H_ */
diff --git a/Inu/Src/main/params_bsu.h b/Inu/Src/main/params_bsu.h
new file mode 100644
index 0000000..a58cc2c
--- /dev/null
+++ b/Inu/Src/main/params_bsu.h
@@ -0,0 +1,123 @@
+/*
+ * params_bsu.h
+ *
+ * Created on: 14 ����. 2020 �.
+ * Author: yura
+ */
+
+#ifndef SRC_MAIN_PARAMS_BSU_H_
+#define SRC_MAIN_PARAMS_BSU_H_
+
+#include "iq_values_norma_f.h"
+#include "iq_values_norma_iu.h"
+#include "iq_values_norma_oborot.h"
+
+
+
+#define TKAK_23550 1
+#define TKAK_EDRK 2
+
+
+#define TKAK_VERSION TKAK_23550
+//#define TKAK_VERSION TKAK_EDRK
+
+
+// ��� 23550_sp2
+#define TK_DEAD_TIME_NS 25000 //25.0 //40.0
+#define TK_ACKN_TIME_NS 2200
+#define TK_MIN_TIME_NS 25000 //80.0 //35.0 // 15.0 //40.0
+#define TK_SOFT_OFF_TIME_NS 20000 //25.0 //40.0
+
+#define DIV_TIME_TK_SOFT_OFF 20 // 20 nsec -> 1 bit
+#define DIV_TIME_TK_DEAD 640 //0.16 // 160 nsec -> 1 bit
+#define DIV_TIME_TK_MIN 640 //0.16 // 160 nsec -> 1 bit
+
+#define DIV_TIME_TK_ACKN 20 // 20 nsec -> 1 bit
+
+
+// ��� ���� sp2
+
+#define TK_DEAD_TIME_MKS 25.0 //40.0
+#define TK_ACKN_TIME_MKS 2.2
+#define TK_MIN_TIME_MKS 25.0 // 15.0 //40.0
+#define DIV_TIME_TK 0.4 // 0.16
+
+
+#define MAX_READ_SBUS 1 //10
+
+
+#if (_FLOOR6==1)
+// tkak
+#define TKAK0_OFF_PROTECT 1
+#define TKAK1_OFF_PROTECT 1
+#define TKAK2_OFF_PROTECT 1
+#define TKAK3_OFF_PROTECT 1
+#define IN0_OFF_PROTECT 1
+#define IN1_OFF_PROTECT 1
+#define OUT0_OFF_PROTECT 1
+
+#else
+// tkak
+#define TKAK0_OFF_PROTECT 0
+#define TKAK1_OFF_PROTECT 0
+#define TKAK2_OFF_PROTECT 0
+#define TKAK3_OFF_PROTECT 0
+#define IN0_OFF_PROTECT 0
+#define IN1_OFF_PROTECT 0
+#define OUT0_OFF_PROTECT 0
+#endif
+
+// ������ �� ����� ���� �� ������
+#define TK_DISABLE_OUTPUT_A1 0
+#define TK_DISABLE_OUTPUT_B1 0
+#define TK_DISABLE_OUTPUT_C1 0
+
+#define TK_DISABLE_OUTPUT_A2 0
+#define TK_DISABLE_OUTPUT_B2 0
+#define TK_DISABLE_OUTPUT_C2 0
+
+//////////////////////
+
+#define ENABLE_ROTOR_SENSOR_ZERO_SIGNAL 0
+#define ENABLE_ROTOR_SENSOR_1_PM67 1
+#define ENABLE_ROTOR_SENSOR_2_PM67 0
+
+#define ENABLE_ROTOR_SENSOR_1_PBUS 0//1
+#define ENABLE_ROTOR_SENSOR_2_PBUS 0//1
+
+
+#if (ENABLE_ROTOR_SENSOR_1_PM67==1 && ENABLE_ROTOR_SENSOR_2_PM67==0)
+// ������� 1-�� ������� �� ���� 2-��
+#define ENABLE_COMBO_SENSOR_1_TO_2 1
+#define ENABLE_COMBO_SENSOR_2_TO_1 0
+#endif
+
+#if (ENABLE_ROTOR_SENSOR_1_PM67==0 && ENABLE_ROTOR_SENSOR_2_PM67==1)
+// ������� 2-�� ������� �� ���� 1-��
+#define ENABLE_COMBO_SENSOR_2_TO_1 1
+#define ENABLE_COMBO_SENSOR_1_TO_2 0
+#endif
+
+
+
+#if (ENABLE_ROTOR_SENSOR_1_PM67==1 && ENABLE_ROTOR_SENSOR_2_PM67==1)
+
+#define ENABLE_COMBO_SENSOR_1 0
+#define ENABLE_COMBO_SENSOR_1 0
+
+#endif
+
+
+#define ROTOR_SENSOR_IMPULSES_PER_ROTATE 4096 // 1024 // ���-�� ��������� �� 1 ������ � �������
+
+
+
+
+/////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////
+
+/////////////////////////////////////////////////////////
+
+
+
+#endif /* SRC_MAIN_PARAMS_BSU_H_ */
diff --git a/Inu/Src/main/params_hwp.h b/Inu/Src/main/params_hwp.h
new file mode 100644
index 0000000..d3ebed4
--- /dev/null
+++ b/Inu/Src/main/params_hwp.h
@@ -0,0 +1,9 @@
+
+
+#define LEVEL_HWP_U_ZPT 2900 //2800 // V 0-2900 V
+#define LEVEL_HWP_I_AF 800 //700 // A 0-450A
+#define LEVEL_HWP_I_ZPT 1600 // A 0-2000??
+#define LEVEL_HWP_U_ABC 3100 //2900 //2800 // V 0-2000V
+#define LEVEL_HWP_I_BREAK 900 //750 // A 0-2000A
+
+#define convert_real_to_mv_hwp(nc,value) ((float)value*(float)R_ADC[0][nc]/(float)K_LEM_ADC[0][nc]*10.0)
diff --git a/Inu/Src/main/params_motor.h b/Inu/Src/main/params_motor.h
new file mode 100644
index 0000000..1e8c030
--- /dev/null
+++ b/Inu/Src/main/params_motor.h
@@ -0,0 +1,59 @@
+/*
+ * params_motor.h
+ *
+ * Created on: 14 ����. 2020 �.
+ * Author: yura
+ */
+
+#ifndef SRC_MAIN_PARAMS_MOTOR_H_
+#define SRC_MAIN_PARAMS_MOTOR_H_
+
+
+
+#define SDVIG_OBMOTKI_ZERO 1
+#define SDVIG_OBMOTKI_30_PLUS 2
+#define SDVIG_OBMOTKI_30_MINUS 3
+
+
+#define SETUP_SDVIG_OBMOTKI SDVIG_OBMOTKI_ZERO //SDVIG_OBMOTKI_ZERO
+//#define SETUP_SDVIG_OBMOTKI SDVIG_OBMOTKI_30_PLUS //SDVIG_OBMOTKI_ZERO
+
+#define COS_FI 0.87
+// Level of nominal currents
+#define I_OUT_NOMINAL_IQ 5033164// 900 A //8388608 ~ 1500A //5592405 ~ 1000A // 10066329 ~ 1800A
+ //11184811 ~ 2000A // 12482249 ~ 2232A // 6710886 ~ 1200A
+#define I_OUT_NOMINAL 900
+
+#define MOTOR_CURRENT_NOMINAL 650.0 //930.0
+#define MOTOR_CURRENT_MAX 900.00 //1489.0
+
+
+
+
+#define P_NOMINAL 6300 //KWt
+#define WROT_NOMINAL 180.0
+#define WROT_MAX 530.0
+#define FROT_NOMINAL (WROT_NOMINAL / 60.0)
+#define FROT_MAX (WROT_MAX / 60.0)
+
+//#define REVERS_ON_CLOCK 1 // 0 // 1- �� ������� .. 0 - ������ �������
+
+
+
+//#define WORK_TWICE 0 /* �������� � ����y ��������� */
+
+
+//#define MAX_ZAD_OBOROTS 200
+
+#define L_SIGMA_S 0.0001467
+#define L_SIGMA_R 0.00000923
+#define L_M 0.00421
+#define R_STATOR 0.002
+#define R_ROTOR_SHTRIH 0.0021
+#define SLIP_NOM 0.006
+#define R_ROTOR (R_ROTOR_SHTRIH / SLIP_NOM)
+#define F_STATOR_NOM 50.0
+
+
+
+#endif /* SRC_MAIN_PARAMS_MOTOR_H_ */
diff --git a/Inu/Src/main/params_norma.h b/Inu/Src/main/params_norma.h
new file mode 100644
index 0000000..9c3e790
--- /dev/null
+++ b/Inu/Src/main/params_norma.h
@@ -0,0 +1,70 @@
+/*
+ * params_norma.h
+ *
+ * Created on: 14 ����. 2020 �.
+ * Author: yura
+ */
+
+#ifndef _PARAMS_NORMA_H_
+#define _PARAMS_NORMA_H_
+
+
+////////////////////////////////////////////////////
+#define NORMA_FROTOR_INT 20
+#define NORMA_ACP_INT 3000
+#define NORMA_ANGLE 360
+////////////////////////////////////////////////////
+////////////////////////////////////////////////////
+//#define NORMA_FROTOR 20.0
+//#define NORMA_ACP 3000.0
+
+#define NORMA_FROTOR ((float)NORMA_FROTOR_INT)
+#define NORMA_ACP ((float)NORMA_ACP_INT)
+
+
+#define NORMA_MZZ_INT NORMA_ACP_INT
+#define NORMA_MZZ ((float)NORMA_MZZ_INT)
+
+#define NORMA_I_U_INT NORMA_MZZ_INT
+
+////////////////////////////////////////////////////
+////////////////////////////////////////////////////
+////////////////////////////////////////////////////
+
+//#define F_STATOR_MAX NORMA_FROTOR // ����. �������� ���������� ������������
+
+
+
+
+#define NORMA_ACP_P 100.0
+
+#define NORMA_ACP_RMS 2127.66
+
+#define NORMA_ACP_TEMPER_MILL_AMP 100.0 //
+
+#ifndef PROJECT_SHIP
+#error �� ���������� PROJECT_SHIP � predifine Name
+#else
+
+
+#if (PROJECT_SHIP == 1)
+#define NORMA_ACP_TEMPER 100.0 // ��� 23550.1
+#endif
+
+
+#if (PROJECT_SHIP == 2)
+#define NORMA_ACP_TEMPER 200.0 // ��� 23550.3
+#endif
+
+#if (PROJECT_SHIP== 3)
+#define NORMA_ACP_TEMPER 200.0 // ��� 23550.3
+
+#endif
+
+
+#endif
+
+
+
+
+#endif /* _PARAMS_NORMA_H_ */
diff --git a/Inu/Src/main/params_protect_adc.h b/Inu/Src/main/params_protect_adc.h
new file mode 100644
index 0000000..b5772bd
--- /dev/null
+++ b/Inu/Src/main/params_protect_adc.h
@@ -0,0 +1,25 @@
+/*
+ * params_protect_adc.h
+ *
+ * Created on: 8 ���. 2020 �.
+ * Author: star
+ */
+
+#ifndef SRC_MAIN_PARAMS_PROTECT_ADC_H_
+#define SRC_MAIN_PARAMS_PROTECT_ADC_H_
+#include <params_motor.h>
+#include <params_hwp.h>
+
+
+#define LEVEL_ADC_I_AF LEVEL_HWP_I_AF // A 0-450A
+#define LEVEL_ADC_I_ZPT LEVEL_HWP_I_ZPT // A 0-2000??
+//#define LEVEL_ADC_U_ABC 1000 // V 0-2000V
+#define LEVEL_ADC_I_BREAK LEVEL_HWP_I_BREAK // A 0-2000A
+#define LEVEL_ADC_U_ZPT_MAX LEVEL_HWP_U_ZPT
+#define LEVEL_ADC_U_ZPT_MIN 1800
+#define LEVEL_ADC_U_IN_MAX LEVEL_HWP_U_ABC
+#define LEVEL_ADC_U_IN_MIN 1380
+#define LEVEL_ADC_I_OUT_MAX I_OUT_NOMINAL //(I_OUT_NOMINAL * 1.9)
+
+
+#endif /* SRC_MAIN_PARAMS_PROTECT_ADC_H_ */
diff --git a/Inu/Src/main/params_pwm24.h b/Inu/Src/main/params_pwm24.h
new file mode 100644
index 0000000..a2571a6
--- /dev/null
+++ b/Inu/Src/main/params_pwm24.h
@@ -0,0 +1,48 @@
+/*
+ * params_pwm24.h
+ *
+ * Created on: 14 ����. 2020 �.
+ * Author: yura
+ */
+
+#ifndef SRC_MAIN_PARAMS_PWM24_H_
+#define SRC_MAIN_PARAMS_PWM24_H_
+
+///////////////////////////////////////////////////////
+#if (_SIMULATE_AC==1)
+#define FREQ_PWM 100 //450 //800 /* ������� ���� */ //3138 // 2360//2477 //
+#else
+#define FREQ_PWM 450 //800 /* ������� ���� */ //3138 // 2360//2477 //
+#endif
+
+#define DEF_PERIOD_MIN_MKS 60 // 80 //60 // ����� ����������� ����� ������ ����� = 2*TK_MIN_TIME_MKS = 30 � �������
+ // + TK_DEAD_TIME_MKS + 5mks ����� = 60
+#define DEF_PERIOD_MIN_BR_XTICS 165
+
+/////////////////
+
+
+
+#define PWM_ONE_INTERRUPT_RUN 1
+#define PWM_TWICE_INTERRUPT_RUN 0
+
+
+
+//#define PWN_COUNT_RUN_PER_INTERRUPT PWM_ONE_INTERRUPT_RUN // ���� ���������� �� ������ ����
+#define PWN_COUNT_RUN_PER_INTERRUPT PWM_TWICE_INTERRUPT_RUN // ��� ���������� �� ������ ����
+
+
+
+
+
+///////////////////////////
+#define FREQ_INTERNAL_GENERATOR_XILINX_TMS 1875000 // ���������� ������� ���������� � ��� ���������� �� ��67
+
+
+//////////////////////
+
+
+
+
+
+#endif /* SRC_MAIN_PARAMS_PWM24_H_ */
diff --git a/Inu/Src/main/params_temper_p.h b/Inu/Src/main/params_temper_p.h
new file mode 100644
index 0000000..2864649
--- /dev/null
+++ b/Inu/Src/main/params_temper_p.h
@@ -0,0 +1,58 @@
+
+#define INDEX_T_WATER_EXT 0
+#define INDEX_T_WATER_INT 1
+
+
+#define ALARM_TEMPER_BREAK_INT 1100
+#define ABNORMAL_TEMPER_BREAK_INT 900
+#define DELTA_TEMPER_BREAK_INT 20
+
+
+
+
+// koef to svu
+#define K_TEMPER_TO_SVU 10.0
+#define K_P_WATER_TO_SVU 100.0
+
+
+
+// T UO1_7
+#define ALARM_TEMPER_AF 400
+#define ABNORMAL_TEMPER_AF 350
+
+
+// T water INT EXT
+#define ALARM_TEMPER_WATER_INT 400
+#define ABNORMAL_TEMPER_WATER_INT 350
+
+
+#define ALARM_TEMPER_WATER_EXT 400
+#define ABNORMAL_TEMPER_WATER_EXT 350
+
+
+// P water max
+#define ALARM_P_WATER_MAX_INT 600
+#define ABNORMAL_P_WATER_MAX_INT 500
+
+// P water min
+#define ALARM_P_WATER_MIN_INT 150//300
+#define ABNORMAL_P_WATER_MIN_INT 180//320
+
+#define ALARM_P_WATER_MIN_INT_ON_OFF_PUMP 60// 110
+#define ABNORMAL_P_WATER_MIN_INT_ON_OFF_PUMP 110// 130
+
+
+// air
+#define ALARM_TEMPER_AIR_INT 450
+#define ABNORMAL_TEMPER_AIR_INT 400
+
+//ac drive
+#define ALARM_TEMPER_ACDRIVE_WINDING 1300
+#define ABNORMAL_TEMPER_ACDRIVE_WINDING 1200
+
+#define ALARM_TEMPER_ACDRIVE_BEAR 900
+#define ABNORMAL_TEMPER_ACDRIVE_BEAR 800
+
+#define ALARM_TEMPER_BSU 600
+#define ABNORMAL_TEMPER_BSU 500
+
diff --git a/Inu/Src/main/pll_tools.c b/Inu/Src/main/pll_tools.c
new file mode 100644
index 0000000..decc342
--- /dev/null
+++ b/Inu/Src/main/pll_tools.c
@@ -0,0 +1,105 @@
+/*
+ * pll_tools.c
+ *
+ * Created on: 13 ����. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+
+#include <edrk_main.h>
+
+#include <params.h>
+#include <params_alg.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+#include <params_temper_p.h>
+#include <project.h>
+#include "IQmathLib.h"
+#include "mathlib.h"
+#include "adc_tools.h"
+#include "limit_power.h"
+#include "pll_tools.h"
+
+
+//#pragma DATA_SECTION(pll1, ".slow_vars")
+PLL_REC pll1 = PLL_REC_DEFAULT;
+
+
+
+void init_50hz_input_net50hz(void)
+{
+
+ //1. �������������
+
+ pll1.setup.freq_run_pll = (FREQ_RUN_PLL); // ������� ������� ������� ��.
+ pll1.setup.rotation_u_cba = 0;//0;//1; // ����������� ���: 0 - ���������� A-B-C, 1 - ������������ A-C-B
+
+ pll1.init(&pll1); // ������ � ������������� ���������� ����������
+
+ // ����� �������������
+
+}
+
+void calc_pll_50hz(void)
+{
+
+ // �������� ������ � ��������.
+ pll1.input.Input_U_AB = analog.iqUin_A1B1;
+ pll1.input.Input_U_BC = analog.iqUin_B1C1;
+ pll1.input.Input_U_CA = analog.iqUin_C1A1;
+
+ // ������, ��������� � �������� ��������� � setup.freq_run_pll
+ pll1.calc_pll(&pll1);
+// ����� �������
+
+
+}
+
+
+void get_freq_50hz_float(void)
+{
+ float int_delta_freq_test;
+ // 3. ��������� ������ � ���������� ����.
+
+ // ��������� ������ � �������� ���� � ��*100.
+ // ����� �������� ���� - ������ ��� ��������� ������.
+ pll1.get_freq_float(&pll1);
+
+ if (edrk.Status_Ready.bits.preImitationReady2)
+ edrk.freq_50hz_1 = 5001;
+ else
+ edrk.freq_50hz_1 = pll1.output.int_freq_net;
+
+ if (delta_freq_test>0)
+ {
+ int_delta_freq_test = _IQtoF( delta_freq_test) * pll1.setup.freq_run_pll / PI * 50.00; // freq*100
+ edrk.freq_50hz_1 -= int_delta_freq_test;
+ }
+
+ //
+
+
+}
+
+void get_freq_50hz_iq(void)
+{
+
+ // 3. ��������� ������ � ���������� ����.
+
+ // ��������� ������ � �������� ���� � ��*100.
+ // ����� �������� ���� - ������ ��� ��������� ������.
+ pll1.get_freq_iq(&pll1);
+
+ if (edrk.Status_Ready.bits.preImitationReady2)
+ edrk.iq_freq_50hz = level_50hz;
+ else
+ edrk.iq_freq_50hz = pll1.output.iq_freq_net;
+
+ if (delta_freq_test>0)
+ edrk.iq_freq_50hz -= delta_freq_test;
+
+ //
+
+
+}
+
diff --git a/Inu/Src/main/pll_tools.h b/Inu/Src/main/pll_tools.h
new file mode 100644
index 0000000..1659e90
--- /dev/null
+++ b/Inu/Src/main/pll_tools.h
@@ -0,0 +1,22 @@
+/*
+ * pll_tools.h
+ *
+ * Created on: 13 ����. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+#ifndef SRC_MAIN_PLL_TOOLS_H_
+#define SRC_MAIN_PLL_TOOLS_H_
+
+
+#define FREQ_RUN_PLL (2*FREQ_PWM)
+
+
+void get_freq_50hz_float(void);
+void get_freq_50hz_iq(void);
+void calc_pll_50hz(void);
+void init_50hz_input_net50hz(void);
+
+extern PLL_REC pll1;
+
+#endif /* SRC_MAIN_PLL_TOOLS_H_ */
diff --git a/Inu/Src/main/project.c b/Inu/Src/main/project.c
new file mode 100644
index 0000000..a8fcec9
--- /dev/null
+++ b/Inu/Src/main/project.c
@@ -0,0 +1,1049 @@
+#include <adc_tools.h>
+#include <params_bsu.h>
+#include <params_hwp.h>
+
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_SWPrioritizedIsrLevels.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h"
+#include "xp_cds_in.h"
+#include "xp_cds_out.h"
+#include "xp_cds_rs.h"
+#include "xp_cds_tk.h"
+#include "xp_cds_tk_balzam.h"
+#include "xp_project.h"
+
+
+/////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////
+
+
+/////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////
+
+
+
+
+
+
+
+void tkak_init_plate(int k, int tkak0_off_protect, int tk_disable_output_a, int tk_disable_output_b)
+{
+ unsigned int t_ticks;
+ //tkak 0
+ project.cds_tk[k].status_serial_bus.max_read_error = MAX_READ_SBUS;// SERIAL_BUS Timing setup
+
+
+ if (k==3)
+ {
+// project.cds_tk[k].setup_pbus.use_reg_in_pbus.all = 0x0; // PBUS all off
+ // ��� � ��� ������ ���������
+ if (tkak0_off_protect==1)
+ project.cds_tk[k].write.sbus.mask_protect_tk.all = 0x0000; // only break ack+cur
+ else
+ project.cds_tk[k].write.sbus.mask_protect_tk.all = 0x0303; // only break ack+cur
+
+// project.cds_tk[k].write.sbus.mask_tk_out_40pin.all = 0x0003; // optical bus+break
+ project.cds_tk[k].write.sbus.mask_tk_out_40pin.all = 0x00cf; // optical bus+break
+
+#if (TKAK_VERSION==TKAK_EDRK)
+ project.cds_tk[k].write.sbus.ack_time.bit.time = (int)(TK_ACKN_TIME_MKS / 0.02);
+ project.cds_tk[k].write.sbus.dead_min_time.bit.mintime = (int)(TK_MIN_TIME_MKS / DIV_TIME_TK);
+ project.cds_tk[k].write.sbus.dead_min_time.bit.deadtime = (int)(TK_DEAD_TIME_MKS / DIV_TIME_TK);
+#endif
+
+#if (TKAK_VERSION==TKAK_23550)
+ project.cds_tk[k].write.sbus.ack_time.bit.time = (int)(TK_ACKN_TIME_NS/1000.0 / 0.02);
+ project.cds_tk[k].write.sbus.dead_min_time.bit.mintime = (int)(TK_MIN_TIME_NS/1000.0 / DIV_TIME_TK);
+ project.cds_tk[k].write.sbus.dead_min_time.bit.deadtime = (int)(TK_DEAD_TIME_NS/1000.0 / DIV_TIME_TK);
+#endif
+ }
+ else
+ {
+ project.cds_tk[k].setup_pbus.use_reg_in_pbus.all = 0x0; // PBUS all off
+
+ if (tk_disable_output_a==1 && tk_disable_output_b==1)
+ {
+ project.cds_tk[k].write.sbus.mask_tk_out_40pin.all = 0x0000; //mask key 1-use key,0-not use key
+ project.cds_tk[k].write.sbus.mask_protect_tk.all = 0xff00; // cur+ack 1-on protect.
+ }
+ else
+ if (tk_disable_output_a==0 && tk_disable_output_b==1)
+ {
+ project.cds_tk[k].write.sbus.mask_tk_out_40pin.all = 0x000f; //mask key 1-use key,0-not use key
+ project.cds_tk[k].write.sbus.mask_protect_tk.all = 0x0f0f; // cur+ack 1-on protect.
+ }
+ else
+ if (tk_disable_output_a==1 && tk_disable_output_b==0)
+ {
+ project.cds_tk[k].write.sbus.mask_tk_out_40pin.all = 0x00f0; //mask key 1-use key,0-not use key
+ project.cds_tk[k].write.sbus.mask_protect_tk.all = 0xf0f0; // cur+ack 1-on protect.
+ }
+ else
+ if (tk_disable_output_a==0 && tk_disable_output_b==0)
+ {
+ project.cds_tk[k].write.sbus.mask_tk_out_40pin.all = 0x00ff; //mask key 1-use key,0-not use key
+ project.cds_tk[k].write.sbus.mask_protect_tk.all = 0xffff; // cur+ack 1-on protect.
+ }
+
+ if (tkak0_off_protect==1)
+ project.cds_tk[k].write.sbus.mask_protect_tk.all = 0x0000; // cur+ack 1-on protect.
+
+
+#if (TKAK_VERSION==TKAK_EDRK)
+ project.cds_tk[k].write.sbus.ack_time.bit.time = (int)(TK_ACKN_TIME_MKS / 0.02);
+ project.cds_tk[k].write.sbus.dead_min_time.bit.mintime = (int)(TK_MIN_TIME_MKS / DIV_TIME_TK);
+ project.cds_tk[k].write.sbus.dead_min_time.bit.deadtime = (int)(TK_DEAD_TIME_MKS / DIV_TIME_TK);
+#endif
+
+
+#if (TKAK_VERSION==TKAK_23550)
+
+
+// TK_ACKN_TIME_NS
+
+ t_ticks = (unsigned int)(TK_ACKN_TIME_NS / DIV_TIME_TK_ACKN);
+
+#if (TK_ACKN_TIME_NS>(DIV_TIME_TK_ACKN*255))
+#error "TK_ACKN_TIME_NS ���� �������!"
+#endif
+ project.cds_tk[k].write.sbus.ack_time.bit.time = (unsigned int)t_ticks;
+
+
+// TK_MIN_TIME_NS
+
+ t_ticks = (unsigned int)(TK_MIN_TIME_NS / DIV_TIME_TK_MIN);
+
+#if (TK_MIN_TIME_NS>(DIV_TIME_TK_MIN*255))
+#error "TK_MIN_TIME_NS ���� �������!"
+#endif
+
+ project.cds_tk[k].write.sbus.dead_min_time.bit.mintime = (unsigned int)t_ticks;
+
+
+//TK_DEAD_TIME_NS
+
+ // ����������� �������� ��� dead_time = 5 ���, ������ - ���������� ��� ����� 5 ���
+ t_ticks = (unsigned int)(TK_DEAD_TIME_NS / DIV_TIME_TK_DEAD);
+
+#if (TK_DEAD_TIME_NS>(DIV_TIME_TK_DEAD*255))
+#error "TK_DEAD_TIME_MKS ���� �������!"
+#endif
+ project.cds_tk[k].write.sbus.dead_min_time.bit.deadtime = (unsigned int)(t_ticks);
+
+
+// TK_SOFT_OFF_TIME_NS
+
+ t_ticks = (unsigned int)(TK_SOFT_OFF_TIME_NS / DIV_TIME_TK_SOFT_OFF);
+
+#if (TK_SOFT_OFF_TIME_NS>(DIV_TIME_TK_SOFT_OFF*65535))
+#error "TK_SOFT_OFF_TIME_MKS ���� �������!"
+#endif
+ project.cds_tk[k].write.sbus.time_after_err = (unsigned int)t_ticks;
+
+#endif
+
+
+
+
+ project.cds_tk[k].write.sbus.protect_error.bit.enable_soft_disconnect = 1;
+ project.cds_tk[k].write.sbus.protect_error.bit.detect_soft_disconnect = 0;//1;
+
+ }
+
+ if (tkak0_off_protect==1)
+ {
+ project.cds_tk[k].write.sbus.protect_error.bit.enable_err_power = 0;
+ project.cds_tk[k].write.sbus.protect_error.bit.enable_err_switch = 0;
+ project.cds_tk[k].write.sbus.protect_error.bit.disable_err_hwp = 0;
+ project.cds_tk[k].write.sbus.protect_error.bit.disable_err0_in = 0;
+ project.cds_tk[k].write.sbus.protect_error.bit.disable_err_mintime = 0;
+ project.cds_tk[k].write.sbus.protect_error.bit.enable_line_err = 0;
+ project.cds_tk[k].write.sbus.protect_error.bit.enable_soft_disconnect = 0;
+ project.cds_tk[k].write.sbus.protect_error.bit.detect_soft_disconnect = 0;
+ }
+ else
+ {
+
+ project.cds_tk[k].write.sbus.protect_error.bit.enable_err_power = 1;
+ project.cds_tk[k].write.sbus.protect_error.bit.disable_err_hwp = 1;
+ project.cds_tk[k].write.sbus.protect_error.bit.disable_err0_in = 1;
+ project.cds_tk[k].write.sbus.protect_error.bit.disable_err_mintime = 1;
+ project.cds_tk[k].write.sbus.protect_error.bit.enable_line_err = 1;//1;//0;//1;
+
+ // �� ������ ���������� ������ ����� ������� ���! ����� ��������!
+ if (project.cds_tk[k].type_cds_xilinx == TYPE_CDS_XILINX_SP6)
+ project.cds_tk[k].write.sbus.protect_error.bit.enable_err_switch = 0;
+ else
+ project.cds_tk[k].write.sbus.protect_error.bit.enable_err_switch = 1;
+ }
+
+
+}
+
+
+////////////////////////////////////////////////////////////////
+// ������ ��������� � �������. ����� � HWP
+////////////////////////////////////////////////////////////////
+void project_prepare_config(void)
+{
+ int k = 0;
+// write here setup for all plates
+//
+//
+//
+// ...
+// project.cds_tk[0].write.sbus.ack_time.bit.delay = ...;
+
+
+
+
+//////////////////////////////////////////////////////////////////
+///
+// �������� ��� ��������� � ���� PBUS
+/////////////////////////////////////////////////////////////////
+
+#if (USE_IN_0)
+ project.cds_in[0].type_plate = cds_in_type_in_1;
+//////////////////////////////////////////////////////////////////
+// �������� ����� ������ �� ����� �������� � PBUS IN0 sensors
+//
+ project.cds_in[0].setup_pbus.use_reg_in_pbus.all = 0;
+//DataFromIn
+ project.cds_in[0].setup_pbus.use_reg_in_pbus.bit.reg0 = 1; // use
+//Gotov
+ project.cds_in[0].setup_pbus.use_reg_in_pbus.bit.reg1 = 1; // use
+//Direction
+ project.cds_in[0].setup_pbus.use_reg_in_pbus.bit.reg2 = 1; // use
+
+//#if (ENABLE_ROTOR_SENSOR_1_PBUS==1)
+// sensor1
+//SpeedS1_cnt
+ project.cds_in[0].setup_pbus.use_reg_in_pbus.bit.reg3 = 1; // use
+//SpeedS1_cnt90
+ project.cds_in[0].setup_pbus.use_reg_in_pbus.bit.reg4 = 1; // use
+//#endif
+
+//#if (ENABLE_ROTOR_SENSOR_2_PBUS==1)
+// sensor2
+//SpeedS2_cnt
+ project.cds_in[0].setup_pbus.use_reg_in_pbus.bit.reg5 = 1; // use
+//SpeedS2_cnt90
+ project.cds_in[0].setup_pbus.use_reg_in_pbus.bit.reg6 = 1; // use
+//#endif
+
+//#if (TYPE_CDS_XILINX_IN_0==TYPE_CDS_XILINX_SP2)
+// if (project.cds_in[0].type_cds_xilinx == TYPE_CDS_XILINX_SP2)
+//is Channel Alive
+// project.cds_in[0].setup_pbus.use_reg_in_pbus.bit.reg13 = 1; // use
+//#endif
+
+
+ if (project.cds_in[0].type_cds_xilinx == TYPE_CDS_XILINX_SP6)
+ {
+
+ #if (ENABLE_ROTOR_SENSOR_1_PBUS==1)
+ //Time since zero point S1
+ project.cds_in[0].setup_pbus.use_reg_in_pbus.bit.reg7 = 1; // use
+ // Impulses since zero point Rising S1
+ project.cds_in[0].setup_pbus.use_reg_in_pbus.bit.reg8 = 1; // use
+ //Impulses since zero point Falling S1
+ project.cds_in[0].setup_pbus.use_reg_in_pbus.bit.reg9 = 1; // use
+ #endif
+
+
+ #if (ENABLE_ROTOR_SENSOR_2_PBUS==1)
+ //Time since zero point S2
+ project.cds_in[0].setup_pbus.use_reg_in_pbus.bit.reg10 = 1; // use
+ // Impulses since zero point Rising S2
+ project.cds_in[0].setup_pbus.use_reg_in_pbus.bit.reg11 = 1; // use
+ //Impulses since zero point Falling S2
+ project.cds_in[0].setup_pbus.use_reg_in_pbus.bit.reg12 = 1; // use
+ #endif
+
+ //is Channel Alive
+ project.cds_in[0].setup_pbus.use_reg_in_pbus.bit.reg13 = 1; // use
+
+ }
+ project.cds_in[0].status_serial_bus.max_read_error = MAX_READ_SBUS;
+
+
+#endif
+
+
+#if (USE_IN_1)
+ project.cds_in[1].type_plate = cds_in_type_in_2;
+// IN1
+ project.cds_in[1].setup_pbus.use_reg_in_pbus.all = 0;
+ project.cds_in[1].setup_pbus.use_reg_in_pbus.bit.reg0 = 1; // use
+ project.cds_in[1].setup_pbus.use_reg_in_pbus.bit.reg1 = 0; // not use
+ project.cds_in[1].setup_pbus.use_reg_in_pbus.bit.reg2 = 0; // not use
+
+ project.cds_in[1].status_serial_bus.max_read_error = MAX_READ_SBUS;
+
+#endif
+
+#if (USE_IN_2)
+ project.cds_in[2].type_plate = cds_in_type_in_2;
+// IN2
+ project.cds_in[2].setup_pbus.use_reg_in_pbus.all = 0;
+ project.cds_in[2].setup_pbus.use_reg_in_pbus.bit.reg0 = 1; // use
+ project.cds_in[2].setup_pbus.use_reg_in_pbus.bit.reg1 = 0; // not use
+ project.cds_in[2].setup_pbus.use_reg_in_pbus.bit.reg2 = 0; // not use
+ project.cds_in[2].status_serial_bus.max_read_error = MAX_READ_SBUS;
+
+#endif
+
+#if (USE_ROT_1)
+// CDS_RS
+ project.cds_rs[0].setup_pbus.use_reg_in_pbus.all = 0xffff; // use all 16
+#endif
+
+#if (USE_ADC_0)
+//ADC0
+ project.adc[0].setup_pbus.use_reg_in_pbus.all = 0xffff; // use all 16
+ /////////////////////////////////////////////////////////////////////////////
+ // SERIAL_BUS Timing setup
+ /////////////////////////////////////////////////////////////////////////////
+ project.adc[0].status_serial_bus.max_read_error = 2;//MAX_READ_SBUS;
+ project.adc[0].status_serial_bus.max_write_error = 2;//MAX_READ_SBUS;
+#endif
+
+#if (USE_ADC_1)
+//ADC1
+ project.adc[1].setup_pbus.use_reg_in_pbus.all = 0xffff; // use all 16
+ /////////////////////////////////////////////////////////////////////////////
+ // SERIAL_BUS Timing setup
+ /////////////////////////////////////////////////////////////////////////////
+ project.adc[1].status_serial_bus.max_read_error = 2;//MAX_READ_SBUS;
+ project.adc[1].status_serial_bus.max_write_error = 2;//MAX_READ_SBUS;
+
+#endif
+
+#if (USE_ADC_2)
+//ADC1
+ project.adc[1].setup_pbus.use_reg_in_pbus.all = 0xffff; // use all 16
+ /////////////////////////////////////////////////////////////////////////////
+ // SERIAL_BUS Timing setup
+ /////////////////////////////////////////////////////////////////////////////
+
+ project.adc[1].status_serial_bus.max_read_error = 2;//MAX_READ_SBUS;
+ project.adc[1].status_serial_bus.max_write_error = 2;//MAX_READ_SBUS;
+
+#endif
+
+
+
+//////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////
+
+#if (USE_TK_0)
+ tkak_init_plate(0, TKAK0_OFF_PROTECT, TK_DISABLE_OUTPUT_A1, TK_DISABLE_OUTPUT_B1);
+#endif
+#if (USE_TK_1)
+ tkak_init_plate(1, TKAK1_OFF_PROTECT, TK_DISABLE_OUTPUT_C1, TK_DISABLE_OUTPUT_A2);
+#endif
+#if (USE_TK_2)
+ tkak_init_plate(2, TKAK2_OFF_PROTECT, TK_DISABLE_OUTPUT_B2, TK_DISABLE_OUTPUT_C2);
+#endif
+
+#if (USE_TK_3)
+ tkak_init_plate(3, TKAK3_OFF_PROTECT, 0, 0);
+#endif
+
+/*
+#if (USE_TK_0)
+//tkak 0
+ project.cds_tk[0].status_serial_bus.max_read_error = MAX_READ_SBUS;// SERIAL_BUS Timing setup
+ project.cds_tk[0].setup_pbus.use_reg_in_pbus.all = 0x0; // PBUS all off
+
+#if (TK_DISABLE_OUTPUT_A1==1 && TK_DISABLE_OUTPUT_B1==1)
+ project.cds_tk[0].write.sbus.mask_tk_out_40pin.all = 0x0000; //mask key 1-use key,0-not use key
+ project.cds_tk[0].write.sbus.mask_protect_tk.all = 0xff00; // cur+ack 1-on protect.
+#else
+#if (TK_DISABLE_OUTPUT_A1==0 && TK_DISABLE_OUTPUT_B1==1)
+ project.cds_tk[0].write.sbus.mask_tk_out_40pin.all = 0x000f; //mask key 1-use key,0-not use key
+ project.cds_tk[0].write.sbus.mask_protect_tk.all = 0xff0f; // cur+ack 1-on protect.
+#else
+#if (TK_DISABLE_OUTPUT_A1==1 && TK_DISABLE_OUTPUT_B1==0)
+ project.cds_tk[0].write.sbus.mask_tk_out_40pin.all = 0x00f0; //mask key 1-use key,0-not use key
+ project.cds_tk[0].write.sbus.mask_protect_tk.all = 0xfff0; // cur+ack 1-on protect.
+#else
+#if (TK_DISABLE_OUTPUT_A1==0 && TK_DISABLE_OUTPUT_B1==0)
+ project.cds_tk[0].write.sbus.mask_tk_out_40pin.all = 0x00ff; //mask key 1-use key,0-not use key
+ project.cds_tk[0].write.sbus.mask_protect_tk.all = 0xffff; // cur+ack 1-on protect.
+#endif
+#endif
+#endif
+#endif
+
+#if (TKAK0_OFF_PROTECT==1)
+ project.cds_tk[0].write.sbus.mask_protect_tk.all = 0x0000; // cur+ack 1-on protect.
+#endif
+
+
+ project.cds_tk[0].write.sbus.ack_time.bit.time = (int)(TK_ACKN_TIME_MKS / 0.02);
+ project.cds_tk[0].write.sbus.dead_min_time.bit.mintime = (int)(TK_MIN_TIME_MKS / DIV_TIME_TK);
+ project.cds_tk[0].write.sbus.dead_min_time.bit.deadtime = (int)(TK_DEAD_TIME_MKS / DIV_TIME_TK);
+
+
+
+#if (TKAK0_OFF_PROTECT==1)
+ project.cds_tk[0].write.sbus.protect_error.bit.enable_err_power = 0;
+ project.cds_tk[0].write.sbus.protect_error.bit.enable_err_switch = 0;
+ project.cds_tk[0].write.sbus.protect_error.bit.disable_err_hwp = 0;
+ project.cds_tk[0].write.sbus.protect_error.bit.disable_err0_in = 0;
+ project.cds_tk[0].write.sbus.protect_error.bit.disable_err_mintime = 0;
+ project.cds_tk[0].write.sbus.protect_error.bit.enable_line_err = 0;
+#else
+
+
+ project.cds_tk[0].write.sbus.protect_error.bit.enable_err_power = 1;
+ project.cds_tk[0].write.sbus.protect_error.bit.disable_err_hwp = 1;
+ project.cds_tk[0].write.sbus.protect_error.bit.disable_err0_in = 1;
+ project.cds_tk[0].write.sbus.protect_error.bit.disable_err_mintime = 1;
+ project.cds_tk[0].write.sbus.protect_error.bit.enable_line_err = 1;
+
+ // �� ������ ���������� ������ ����� ������� ���! ����� ��������!
+ if (project.cds_tk[0].type_cds_xilinx == TYPE_CDS_XILINX_SP6)
+ project.cds_tk[0].write.sbus.protect_error.bit.enable_err_switch = 0;
+ else
+ project.cds_tk[0].write.sbus.protect_error.bit.enable_err_switch = 1;
+
+
+#endif
+
+
+#endif
+
+
+#if (USE_TK_1)
+//////////////////////////////////////////////////////////////
+// tkak1
+ project.cds_tk[1].status_serial_bus.max_read_error = MAX_READ_SBUS;// SERIAL_BUS Timing setup
+ project.cds_tk[1].setup_pbus.use_reg_in_pbus.all = 0x0; // PBUS all off
+
+
+#if (TK_DISABLE_OUTPUT_C1==1 && TK_DISABLE_OUTPUT_A2==1)
+ project.cds_tk[1].write.sbus.mask_tk_out_40pin.all = 0x0000; //mask key 1-use key,0-not use key
+ project.cds_tk[1].write.sbus.mask_protect_tk.all = 0xff00; // cur+ack 1-on protect.
+#else
+#if (TK_DISABLE_OUTPUT_C1==0 && TK_DISABLE_OUTPUT_A2==1)
+ project.cds_tk[1].write.sbus.mask_tk_out_40pin.all = 0x000f; //mask key 1-use key,0-not use key
+ project.cds_tk[1].write.sbus.mask_protect_tk.all = 0xff0f; // cur+ack 1-on protect.
+#else
+#if (TK_DISABLE_OUTPUT_C1==1 && TK_DISABLE_OUTPUT_A2==0)
+ project.cds_tk[1].write.sbus.mask_tk_out_40pin.all = 0x00f0; //mask key 1-use key,0-not use key
+ project.cds_tk[1].write.sbus.mask_protect_tk.all = 0xfff0; // cur+ack 1-on protect.
+#else
+#if (TK_DISABLE_OUTPUT_C1==0 && TK_DISABLE_OUTPUT_A2==0)
+ project.cds_tk[1].write.sbus.mask_tk_out_40pin.all = 0x00ff; //mask key 1-use key,0-not use key
+ project.cds_tk[1].write.sbus.mask_protect_tk.all = 0xffff; // cur+ack 1-on protect.
+#endif
+#endif
+#endif
+#endif
+
+
+#if (TKAK1_OFF_PROTECT==1)
+ project.cds_tk[1].write.sbus.mask_protect_tk.all = 0x0000; // cur+ack 1-on protect.
+#endif
+
+ project.cds_tk[1].write.sbus.ack_time.bit.time = (int)(TK_ACKN_TIME_MKS / 0.02);
+ project.cds_tk[1].write.sbus.dead_min_time.bit.mintime = (int)(TK_MIN_TIME_MKS / DIV_TIME_TK);
+ project.cds_tk[1].write.sbus.dead_min_time.bit.deadtime = (int)(TK_DEAD_TIME_MKS / DIV_TIME_TK);
+
+#if (TKAK1_OFF_PROTECT==1)
+ project.cds_tk[1].write.sbus.protect_error.bit.enable_err_power = 0;
+ project.cds_tk[1].write.sbus.protect_error.bit.enable_err_switch = 0;
+ project.cds_tk[1].write.sbus.protect_error.bit.disable_err_hwp = 0;
+ project.cds_tk[1].write.sbus.protect_error.bit.disable_err0_in = 0;
+ project.cds_tk[1].write.sbus.protect_error.bit.disable_err_mintime = 0;
+ project.cds_tk[1].write.sbus.protect_error.bit.enable_line_err = 0;
+#else
+
+ project.cds_tk[1].write.sbus.protect_error.bit.enable_err_power = 1;
+ project.cds_tk[1].write.sbus.protect_error.bit.disable_err_hwp = 1;
+ project.cds_tk[1].write.sbus.protect_error.bit.disable_err0_in = 1;
+ project.cds_tk[1].write.sbus.protect_error.bit.disable_err_mintime = 1;
+ project.cds_tk[1].write.sbus.protect_error.bit.enable_line_err = 1;
+
+ // �� ������ ���������� ������ ����� ������� ���! ����� ��������!
+ if (project.cds_tk[1].type_cds_xilinx == TYPE_CDS_XILINX_SP6)
+ project.cds_tk[1].write.sbus.protect_error.bit.enable_err_switch = 0;
+ else
+ project.cds_tk[1].write.sbus.protect_error.bit.enable_err_switch = 1;
+
+#endif
+
+#endif
+
+
+#if (USE_TK_2)
+//////////////////////////////////////////////////////////////
+// tkak2
+ project.cds_tk[2].status_serial_bus.max_read_error = MAX_READ_SBUS;// SERIAL_BUS Timing setup
+ project.cds_tk[2].setup_pbus.use_reg_in_pbus.all = 0x0; // PBUS all off
+
+#if (TK_DISABLE_OUTPUT_B2==1 && TK_DISABLE_OUTPUT_C2==1)
+ project.cds_tk[2].write.sbus.mask_tk_out_40pin.all = 0x0000; //mask key 1-use key,0-not use key
+ project.cds_tk[2].write.sbus.mask_protect_tk.all = 0xff00; // cur+ack 1-on protect.
+#else
+#if (TK_DISABLE_OUTPUT_B2==0 && TK_DISABLE_OUTPUT_C2==1)
+ project.cds_tk[2].write.sbus.mask_tk_out_40pin.all = 0x000f; //mask key 1-use key,0-not use key
+ project.cds_tk[2].write.sbus.mask_protect_tk.all = 0xff0f; // cur+ack 1-on protect.
+#else
+#if (TK_DISABLE_OUTPUT_B2==1 && TK_DISABLE_OUTPUT_C2==0)
+ project.cds_tk[2].write.sbus.mask_tk_out_40pin.all = 0x00f0; //mask key 1-use key,0-not use key
+ project.cds_tk[2].write.sbus.mask_protect_tk.all = 0xfff0; // cur+ack 1-on protect.
+#else
+#if (TK_DISABLE_OUTPUT_B2==0 && TK_DISABLE_OUTPUT_C2==0)
+ project.cds_tk[2].write.sbus.mask_tk_out_40pin.all = 0x00ff; //mask key 1-use key,0-not use key
+ project.cds_tk[2].write.sbus.mask_protect_tk.all = 0xffff; // cur+ack 1-on protect.
+#endif
+#endif
+#endif
+#endif
+
+#if (TKAK1_OFF_PROTECT==1)
+ project.cds_tk[2].write.sbus.mask_protect_tk.all = 0x0000; // cur+ack 1-on protect.
+#endif
+
+
+ project.cds_tk[2].write.sbus.ack_time.bit.time = (int)(TK_ACKN_TIME_MKS / 0.02);
+ project.cds_tk[2].write.sbus.dead_min_time.bit.mintime = (int)(TK_MIN_TIME_MKS / DIV_TIME_TK);
+ project.cds_tk[2].write.sbus.dead_min_time.bit.deadtime = (int)(TK_DEAD_TIME_MKS / DIV_TIME_TK);
+
+#if (TKAK2_OFF_PROTECT==1)
+
+ project.cds_tk[2].write.sbus.protect_error.bit.enable_err_power = 0;
+ project.cds_tk[2].write.sbus.protect_error.bit.enable_err_switch = 0;
+ project.cds_tk[2].write.sbus.protect_error.bit.disable_err_hwp = 0;
+ project.cds_tk[2].write.sbus.protect_error.bit.disable_err0_in = 0;
+ project.cds_tk[2].write.sbus.protect_error.bit.disable_err_mintime = 0;
+ project.cds_tk[2].write.sbus.protect_error.bit.enable_line_err = 0;
+
+#else
+
+ project.cds_tk[2].write.sbus.protect_error.bit.enable_err_power = 1;
+ project.cds_tk[2].write.sbus.protect_error.bit.disable_err_hwp = 1;
+ project.cds_tk[2].write.sbus.protect_error.bit.disable_err0_in = 1;
+ project.cds_tk[2].write.sbus.protect_error.bit.disable_err_mintime = 1;
+ project.cds_tk[2].write.sbus.protect_error.bit.enable_line_err = 1;
+
+ // �� ������ ���������� ������ ����� ������� ���! ����� ��������!
+ if (project.cds_tk[2].type_cds_xilinx == TYPE_CDS_XILINX_SP6)
+ project.cds_tk[2].write.sbus.protect_error.bit.enable_err_switch = 0;
+ else
+ project.cds_tk[2].write.sbus.protect_error.bit.enable_err_switch = 1;
+
+#endif
+
+#endif
+
+
+
+#if (USE_TK_3)
+//////////////////////////////////////////////////////////////
+
+// ��� � ��� ������ ���������
+ project.cds_tk[3].status_serial_bus.max_read_error = MAX_READ_SBUS;// SERIAL_BUS Timing setup
+// project.cds_tk[3].setup_pbus.use_reg_in_pbus.all = 0x0; // PBUS all off
+
+#if (TKAK3_OFF_PROTECT==1)
+ project.cds_tk[3].write.sbus.mask_protect_tk.all = 0x0000; // only break ack+cur
+#else
+ project.cds_tk[3].write.sbus.mask_protect_tk.all = 0x0303; // only break ack+cur
+#endif
+ project.cds_tk[3].write.sbus.mask_tk_out_40pin.all = 0x00cf; // optical bus+break
+
+ project.cds_tk[3].write.sbus.ack_time.bit.time = (int)(TK_ACKN_TIME_MKS / 0.02);
+ project.cds_tk[3].write.sbus.dead_min_time.bit.mintime = (int)(TK_MIN_TIME_MKS / DIV_TIME_TK);
+ project.cds_tk[3].write.sbus.dead_min_time.bit.deadtime = (int)(TK_DEAD_TIME_MKS / DIV_TIME_TK);
+
+
+#if (TKAK3_OFF_PROTECT==1)
+
+ project.cds_tk[3].write.sbus.protect_error.bit.enable_err_power = 0;
+ project.cds_tk[3].write.sbus.protect_error.bit.enable_err_switch = 0;
+ project.cds_tk[3].write.sbus.protect_error.bit.disable_err_hwp = 0;
+ project.cds_tk[3].write.sbus.protect_error.bit.disable_err0_in = 0;
+ project.cds_tk[3].write.sbus.protect_error.bit.disable_err_mintime = 0;
+ project.cds_tk[3].write.sbus.protect_error.bit.enable_line_err = 0;
+
+#else
+
+ project.cds_tk[3].write.sbus.protect_error.bit.enable_err_power = 1;
+ project.cds_tk[3].write.sbus.protect_error.bit.disable_err_hwp = 1;
+ project.cds_tk[3].write.sbus.protect_error.bit.disable_err0_in = 1;
+ project.cds_tk[3].write.sbus.protect_error.bit.disable_err_mintime = 1;
+ project.cds_tk[3].write.sbus.protect_error.bit.enable_line_err = 1;
+
+ // �� ������ ���������� ������ ����� ������� ���! ����� ��������!
+ if (project.cds_tk[3].type_cds_xilinx == TYPE_CDS_XILINX_SP6)
+ project.cds_tk[3].write.sbus.protect_error.bit.enable_err_switch = 0;
+ else
+ project.cds_tk[3].write.sbus.protect_error.bit.enable_err_switch = 1;
+
+
+#endif
+
+#endif
+*/
+//////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////
+
+// Out plane setup
+
+
+#if (USE_OUT_0)
+//////////////////////////////////////////////////////////////
+// out0
+
+ project.cds_out[0].status_serial_bus.max_read_error = MAX_READ_SBUS;// SERIAL_BUS Timing setup
+
+
+
+#if (OUT0_OFF_PROTECT==1)
+
+ project.cds_out[0].write.sbus.protect_error.bit.disable_err0_in = 0;
+ project.cds_out[0].write.sbus.protect_error.bit.disable_err_hwp = 0;
+ project.cds_out[0].write.sbus.protect_error.bit.enable_err_power = 0;
+ project.cds_out[0].write.sbus.protect_error.bit.enable_err_switch = 0;
+
+#else
+
+ project.cds_out[0].write.sbus.protect_error.bit.enable_err_power = 1;
+ project.cds_out[0].write.sbus.protect_error.bit.disable_err0_in = 1;
+ project.cds_out[0].write.sbus.protect_error.bit.disable_err_hwp = 1;
+ project.cds_out[0].write.sbus.protect_error.bit.enable_err_switch = 1;
+ // �� ������ ���������� ������ ����� ������� ���! ����� ��������!
+ if (project.cds_out[0].type_cds_xilinx == TYPE_CDS_XILINX_SP6)
+ project.cds_out[0].write.sbus.protect_error.bit.enable_err_switch = 0;
+ else
+ project.cds_out[0].write.sbus.protect_error.bit.enable_err_switch = 1;
+
+#endif
+
+ project.cds_out[0].write.sbus.enable_protect_out.all = 0x0000;
+
+
+// ���������� ����������� �������� �� ����� OUT ��� ������������� �������� ERR
+ project.cds_out[0].write.sbus.enable_protect_out.bit.dout0 = 1; // ��� ���. �����
+ project.cds_out[0].write.sbus.enable_protect_out.bit.dout6 = 1; // 6 - ���������� ��������� QTV
+// project.cds_out[0].write.sbus.enable_protect_out.bit.dout7 = 1; // QTV OFF
+ project.cds_out[0].write.sbus.enable_protect_out.bit.dout8 = 1; // 8 - ��������� QTV
+ project.cds_out[0].write.sbus.enable_protect_out.bit.dout13 = 1; // 13 - �������� ��� �������������� ��������������
+
+#endif
+
+#if (USE_OUT_1)
+
+// out1
+ project.cds_out[1].status_serial_bus.max_read_error = MAX_READ_SBUS;// SERIAL_BUS Timing setup
+
+#if (OUT1_OFF_PROTECT==1)
+
+ project.cds_out[1].write.sbus.protect_error.bit.disable_err0_in = 0;
+ project.cds_out[1].write.sbus.protect_error.bit.disable_err_hwp = 0;
+ project.cds_out[1].write.sbus.protect_error.bit.enable_err_power = 0;
+ project.cds_out[1].write.sbus.protect_error.bit.enable_err_switch = 0;
+
+#else
+ project.cds_out[1].write.sbus.protect_error.bit.enable_err_power = 1;
+ project.cds_out[1].write.sbus.protect_error.bit.disable_err0_in = 1;
+ project.cds_out[1].write.sbus.protect_error.bit.disable_err_hwp = 1;
+ project.cds_out[1].write.sbus.protect_error.bit.enable_err_switch = 1;
+
+
+ project.cds_out[1].write.sbus.protect_error.bit.enable_err_power = 1;
+ // �� ������ ���������� ������ ����� ������� ���! ����� ��������!
+ if (project.cds_out[1].type_cds_xilinx == TYPE_CDS_XILINX_SP6)
+ project.cds_out[1].write.sbus.protect_error.bit.enable_err_switch = 0;
+ else
+ project.cds_out[1].write.sbus.protect_error.bit.enable_err_switch = 1;
+#endif
+
+ project.cds_out[1].write.sbus.enable_protect_out.all = 0x0000;
+
+#endif
+
+#if (USE_OUT_2)
+
+//out2
+ project.cds_out[2].status_serial_bus.max_read_error = MAX_READ_SBUS;// SERIAL_BUS Timing setup
+
+
+ project.cds_out[2].write.sbus.protect_error.bit.enable_err_power = 1;
+ project.cds_out[2].write.sbus.protect_error.bit.disable_err0_in = 1;
+ project.cds_out[2].write.sbus.protect_error.bit.disable_err_hwp = 1;
+ project.cds_out[2].write.sbus.protect_error.bit.enable_err_switch = 1;
+
+
+ project.cds_out[2].write.sbus.protect_error.bit.enable_err_power = 1;
+
+ // �� ������ ���������� ������ ����� ������� ���! ����� ��������!
+ if (project.cds_out[2].type_cds_xilinx == TYPE_CDS_XILINX_SP6)
+ project.cds_out[2].write.sbus.protect_error.bit.enable_err_switch = 0;
+ else
+ project.cds_out[2].write.sbus.protect_error.bit.enable_err_switch = 1;
+
+ project.cds_out[2].write.sbus.enable_protect_out.all = 0x0000;
+
+#endif
+
+//////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////
+/////////////
+
+#if (USE_IN_0)
+
+/////////////////////////////////////////////////////////////////////
+// setup incremental sensor rotor
+/////////////////////////////////////////////////////////////////////
+// ����� ������������� ��� �������� �������� �� ����� ������
+// 1 - 20ns 0 - 2us.
+ project.cds_in[0].write.sbus.enabled_channels.bit.discret = 0;
+
+
+// ��������� ������ ���� ������ �� ����� In0- ����� ����, In1-������, In2-������90����.
+// ������� ��������� ������ ������ ��� ������, ���� �� ������ �� ���� ��67 ��� ������, ��
+// ������ ������� In1-������, In2-������90����. � ���������� ��� ������� �������
+
+ project.cds_in[0].write.sbus.enabled_channels.bit.sens_1_direct_ch = 1; //1
+ project.cds_in[0].write.sbus.enabled_channels.bit.sens_1_direct_ch_90deg = 1; //0
+ project.cds_in[0].write.sbus.enabled_channels.bit.sens_1_inv_ch = 0;
+ project.cds_in[0].write.sbus.enabled_channels.bit.sens_1_inv_ch_90deg = 0;
+
+ project.cds_in[0].write.sbus.enabled_channels.bit.sens_2_direct_ch = 1;
+ project.cds_in[0].write.sbus.enabled_channels.bit.sens_2_direct_ch_90deg = 1;
+ project.cds_in[0].write.sbus.enabled_channels.bit.sens_2_inv_ch = 0;
+ project.cds_in[0].write.sbus.enabled_channels.bit.sens_2_inv_ch_90deg = 0;
+
+// ������ ������ In1-������, In2-������90����.
+// �� �������������� ����� 0xf
+ project.cds_in[0].write.sbus.first_sensor.bit.direct_ch = 0x0; // in2
+ project.cds_in[0].write.sbus.first_sensor.bit.direct_ch_90deg = 0x1; // in1
+// ��� ���������
+ project.cds_in[0].write.sbus.first_sensor.bit.inv_ch = 0x0f; // in0
+ project.cds_in[0].write.sbus.first_sensor.bit.inv_ch_90deg = 0x0f; // in0
+
+// ��� �� ������, �� � ����������� In2-������, In1-������90����.
+ project.cds_in[0].write.sbus.second_sensor.bit.direct_ch = 0x01; // in0
+ project.cds_in[0].write.sbus.second_sensor.bit.direct_ch_90deg = 0x00; // in1
+// ��� ���������
+ project.cds_in[0].write.sbus.second_sensor.bit.inv_ch = 0x0f; // in0
+ project.cds_in[0].write.sbus.second_sensor.bit.inv_ch_90deg = 0x0f; // in0
+// ����� ����
+ project.cds_in[0].write.sbus.zero_sensors.bit.for_sensor1 = 0x02; //
+ project.cds_in[0].write.sbus.zero_sensors.bit.for_sensor2 = 0x0f; //
+// �������� ������ ���� ������ ����
+ project.cds_in[0].write.sbus.zero_sensors.bit.enable_sensor1 = 1;
+ project.cds_in[0].write.sbus.zero_sensors.bit.enable_sensor2 = 0;
+
+/////////////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////////
+
+// In plane setup
+//in0
+
+#if (IN0_OFF_PROTECT==1)
+
+ project.cds_in[0].write.sbus.protect_error.bit.disable_err0_in = 0;
+ project.cds_in[0].write.sbus.protect_error.bit.disable_err_hwp = 0;
+ project.cds_in[0].write.sbus.protect_error.bit.enable_err_power = 0;
+ project.cds_in[0].write.sbus.protect_error.bit.enable_err_switch = 0;
+
+#else
+
+ project.cds_in[0].write.sbus.protect_error.bit.disable_err0_in = 1;
+ project.cds_in[0].write.sbus.protect_error.bit.disable_err_hwp = 1;
+
+ // �� ������ ���������� ������ ����� ������� ���! ����� ��������!
+ if (project.cds_in[0].type_cds_xilinx == TYPE_CDS_XILINX_SP6)
+ {
+ project.cds_in[0].write.sbus.protect_error.bit.enable_err_power = 0;
+ project.cds_in[0].write.sbus.protect_error.bit.enable_err_switch = 0;
+ }
+ else
+ {
+ project.cds_in[0].write.sbus.protect_error.bit.enable_err_power = 1;
+ project.cds_in[0].write.sbus.protect_error.bit.enable_err_switch = 1;
+ }
+
+#endif
+
+
+#endif
+
+
+#if (USE_IN_1)
+
+// in1
+
+#if (IN1_OFF_PROTECT==1)
+
+ project.cds_in[1].write.sbus.protect_error.bit.disable_err0_in = 0;
+ project.cds_in[1].write.sbus.protect_error.bit.disable_err_hwp = 0;
+ project.cds_in[1].write.sbus.protect_error.bit.enable_err_power = 0;
+ project.cds_in[1].write.sbus.protect_error.bit.enable_err_switch = 0;
+
+#else
+
+
+ project.cds_in[1].write.sbus.protect_error.bit.disable_err0_in = 1;
+ project.cds_in[1].write.sbus.protect_error.bit.disable_err_hwp = 1;
+ project.cds_in[1].write.sbus.protect_error.bit.enable_err_power = 1;
+
+ // �� ������ ���������� ������ ����� ������� ���! ����� ��������!
+ if (project.cds_in[1].type_cds_xilinx == TYPE_CDS_XILINX_SP6)
+ project.cds_in[1].write.sbus.protect_error.bit.enable_err_switch = 0;
+ else
+ project.cds_in[1].write.sbus.protect_error.bit.enable_err_switch = 1;
+
+#endif
+
+#endif
+
+
+
+#if (USE_IN_2)
+
+// in2
+ project.cds_in[2].write.sbus.protect_error.bit.disable_err0_in = 1;
+ project.cds_in[2].write.sbus.protect_error.bit.disable_err_hwp = 1;
+ project.cds_in[2].write.sbus.protect_error.bit.enable_err_power = 1;
+
+ // �� ������ ���������� ������ ����� ������� ���! ����� ��������!
+ if (project.cds_in[2].type_cds_xilinx == TYPE_CDS_XILINX_SP6)
+ project.cds_in[2].write.sbus.protect_error.bit.enable_err_switch = 0;
+
+ else
+ project.cds_in[2].write.sbus.protect_error.bit.enable_err_switch = 1;
+
+
+#endif
+
+//////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////
+#if (USE_HWP_0)
+
+ // HWP setup
+// project.hwp[0].write.HWP_Speed = MODE_HWP_SPEED_AUTO;//MODE_HWP_SPEED_NORMAL;// MODE_HWP_SPEED_AUTO; // MODE_HWP_SPEED_SLOW;//MODE_HWP_SPEED_NORMAL;// MODE_HWP_SPEED_SLOW;
+
+ project.hwp[0].write.test_all_channel = 1;
+
+ project.hwp[0].write.use_channel.minus.all = 0xfffc;
+ project.hwp[0].write.use_channel.plus.all = 0xffff;
+
+/*
+ project.hwp[0].write.use_channel.plus.bit.ch0 = 1;
+
+ project.hwp[0].write.use_channel.minus.bit.ch5 = 1;
+ project.hwp[0].write.use_channel.plus.bit.ch5 = 1;
+
+ project.hwp[0].write.use_channel.minus.bit.ch11 = 1;
+ project.hwp[0].write.use_channel.plus.bit.ch11 = 1;
+
+*/
+
+ project.hwp[0].write.values[0].plus = convert_real_to_mv_hwp(0,LEVEL_HWP_U_ZPT); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[0].write.values[0].minus = convert_real_to_mv_hwp(0,LEVEL_HWP_U_ZPT);
+
+ project.hwp[0].write.values[1].plus = convert_real_to_mv_hwp(1,LEVEL_HWP_U_ZPT); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[0].write.values[1].minus = convert_real_to_mv_hwp(1,LEVEL_HWP_U_ZPT);
+
+ project.hwp[0].write.values[2].plus = convert_real_to_mv_hwp(2,LEVEL_HWP_I_AF); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[0].write.values[2].minus = convert_real_to_mv_hwp(2,LEVEL_HWP_I_AF);
+ project.hwp[0].write.values[3].plus = convert_real_to_mv_hwp(3,LEVEL_HWP_I_AF); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[0].write.values[3].minus = convert_real_to_mv_hwp(3,LEVEL_HWP_I_AF);
+ project.hwp[0].write.values[4].plus = convert_real_to_mv_hwp(4,LEVEL_HWP_I_AF); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[0].write.values[4].minus = convert_real_to_mv_hwp(4,LEVEL_HWP_I_AF);
+ project.hwp[0].write.values[5].plus = convert_real_to_mv_hwp(5,LEVEL_HWP_I_AF); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[0].write.values[5].minus = convert_real_to_mv_hwp(5,LEVEL_HWP_I_AF);
+ project.hwp[0].write.values[6].plus = convert_real_to_mv_hwp(6,LEVEL_HWP_I_AF); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[0].write.values[6].minus = convert_real_to_mv_hwp(6,LEVEL_HWP_I_AF);
+ project.hwp[0].write.values[7].plus = convert_real_to_mv_hwp(7,LEVEL_HWP_I_AF); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[0].write.values[7].minus = convert_real_to_mv_hwp(7,LEVEL_HWP_I_AF);
+
+ project.hwp[0].write.values[8].plus = convert_real_to_mv_hwp(8,LEVEL_HWP_I_ZPT); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[0].write.values[8].minus = convert_real_to_mv_hwp(8,LEVEL_HWP_I_ZPT);
+ project.hwp[0].write.values[9].plus = convert_real_to_mv_hwp(9,LEVEL_HWP_I_ZPT); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[0].write.values[9].minus = convert_real_to_mv_hwp(9,LEVEL_HWP_I_ZPT);
+
+ project.hwp[0].write.use_channel.minus.bit.ch9 = 0;
+ project.hwp[0].write.use_channel.plus.bit.ch9 = 0;
+
+ project.hwp[0].write.values[10].plus = convert_real_to_mv_hwp(10,LEVEL_HWP_U_ABC); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[0].write.values[10].minus = convert_real_to_mv_hwp(10,LEVEL_HWP_U_ABC);
+ project.hwp[0].write.values[11].plus = convert_real_to_mv_hwp(11,LEVEL_HWP_U_ABC); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[0].write.values[11].minus = convert_real_to_mv_hwp(11,LEVEL_HWP_U_ABC);
+ project.hwp[0].write.values[12].plus = convert_real_to_mv_hwp(12,LEVEL_HWP_U_ABC); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[0].write.values[12].minus = convert_real_to_mv_hwp(12,LEVEL_HWP_U_ABC);
+ project.hwp[0].write.values[13].plus = convert_real_to_mv_hwp(13,LEVEL_HWP_U_ABC); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[0].write.values[13].minus = convert_real_to_mv_hwp(13,LEVEL_HWP_U_ABC);
+
+
+ project.hwp[0].write.values[14].plus = convert_real_to_mv_hwp(14,LEVEL_HWP_I_BREAK); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[0].write.values[14].minus = convert_real_to_mv_hwp(14,LEVEL_HWP_I_BREAK);
+ project.hwp[0].write.values[15].plus = convert_real_to_mv_hwp(15,LEVEL_HWP_I_BREAK); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[0].write.values[15].minus = convert_real_to_mv_hwp(15,LEVEL_HWP_I_BREAK);
+#endif
+//////////////////////////////////////////////////////////////
+#if (USE_HWP_1)
+
+ // HWP setup
+ // project.hwp[1].write.HWP_Speed = MODE_HWP_SPEED_AUTO;//MODE_HWP_SPEED_NORMAL;// MODE_HWP_SPEED_SLOW;
+ project.hwp[1].write.test_all_channel = 1;
+
+ project.hwp[1].write.use_channel.minus.all = 0xfffc;
+ project.hwp[1].write.use_channel.plus.all = 0xffff;
+
+
+ project.hwp[1].write.values[0].plus = convert_real_to_mv_hwp(0,LEVEL_HWP_U_ZPT); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[1].write.values[0].minus = convert_real_to_mv_hwp(0,LEVEL_HWP_U_ZPT);
+
+ project.hwp[1].write.values[1].plus = convert_real_to_mv_hwp(1,LEVEL_HWP_U_ZPT); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[1].write.values[1].minus = convert_real_to_mv_hwp(1,LEVEL_HWP_U_ZPT);
+
+ project.hwp[1].write.values[2].plus = convert_real_to_mv_hwp(2,LEVEL_HWP_I_AF); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[1].write.values[2].minus = convert_real_to_mv_hwp(2,LEVEL_HWP_I_AF);
+ project.hwp[1].write.values[3].plus = convert_real_to_mv_hwp(3,LEVEL_HWP_I_AF); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[1].write.values[3].minus = convert_real_to_mv_hwp(3,LEVEL_HWP_I_AF);
+ project.hwp[1].write.values[4].plus = convert_real_to_mv_hwp(4,LEVEL_HWP_I_AF); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[1].write.values[4].minus = convert_real_to_mv_hwp(4,LEVEL_HWP_I_AF);
+ project.hwp[1].write.values[5].plus = convert_real_to_mv_hwp(5,LEVEL_HWP_I_AF); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[1].write.values[5].minus = convert_real_to_mv_hwp(5,LEVEL_HWP_I_AF);
+ project.hwp[1].write.values[6].plus = convert_real_to_mv_hwp(6,LEVEL_HWP_I_AF); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[1].write.values[6].minus = convert_real_to_mv_hwp(6,LEVEL_HWP_I_AF);
+ project.hwp[1].write.values[7].plus = convert_real_to_mv_hwp(7,LEVEL_HWP_I_AF); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[1].write.values[7].minus = convert_real_to_mv_hwp(7,LEVEL_HWP_I_AF);
+
+ project.hwp[1].write.values[8].plus = convert_real_to_mv_hwp(8,LEVEL_HWP_I_ZPT); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[1].write.values[8].minus = convert_real_to_mv_hwp(8,LEVEL_HWP_I_ZPT);
+ project.hwp[1].write.values[9].plus = convert_real_to_mv_hwp(9,LEVEL_HWP_I_ZPT); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[1].write.values[9].minus = convert_real_to_mv_hwp(9,LEVEL_HWP_I_ZPT);
+
+
+ project.hwp[1].write.values[10].plus = convert_real_to_mv_hwp(10,LEVEL_HWP_U_ABC); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[1].write.values[10].minus = convert_real_to_mv_hwp(10,LEVEL_HWP_U_ABC);
+ project.hwp[1].write.values[11].plus = convert_real_to_mv_hwp(11,LEVEL_HWP_U_ABC); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[1].write.values[11].minus = convert_real_to_mv_hwp(11,LEVEL_HWP_U_ABC);
+ project.hwp[1].write.values[12].plus = convert_real_to_mv_hwp(12,LEVEL_HWP_U_ABC); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[1].write.values[12].minus = convert_real_to_mv_hwp(12,LEVEL_HWP_U_ABC);
+ project.hwp[1].write.values[13].plus = convert_real_to_mv_hwp(13,LEVEL_HWP_U_ABC); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[1].write.values[13].minus = convert_real_to_mv_hwp(13,LEVEL_HWP_U_ABC);
+
+
+ project.hwp[1].write.values[14].plus = convert_real_to_mv_hwp(14,LEVEL_HWP_I_BREAK); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[1].write.values[14].minus = convert_real_to_mv_hwp(14,LEVEL_HWP_I_BREAK);
+ project.hwp[1].write.values[15].plus = convert_real_to_mv_hwp(15,LEVEL_HWP_I_BREAK); //Uzpt1 //2 3000V - 845; 3977V - 1120; 2800V - 789; 2600V - 732
+ project.hwp[1].write.values[15].minus = convert_real_to_mv_hwp(15,LEVEL_HWP_I_BREAK);
+ #endif
+
+
+//////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////
+ //Incremental sensor_init
+#if (ENABLE_ROTOR_SENSOR_1_PM67==1)
+ inc_sensor.use_sensor1 = 1;
+#else
+ inc_sensor.use_sensor1 = 0;
+#endif
+
+#if (ENABLE_ROTOR_SENSOR_2_PM67==1)
+ inc_sensor.use_sensor2 = 1;
+#else
+ inc_sensor.use_sensor2 = 0;
+#endif
+
+
+#if (ENABLE_COMBO_SENSOR_1_TO_2==1)
+ inc_sensor.use_sensor2 = 1;
+#endif
+#if (ENABLE_COMBO_SENSOR_2_TO_1==1)
+ inc_sensor.use_sensor1 = 1;
+#endif
+
+
+ inc_sensor.pm67regs.write_comand_reg.bit.set_sampling_time = SAMPLING_TIME_MS;
+// 23550
+// inc_sensor.pm67regs.write_comand_reg.bit.filter_sensitivity = 5; //0x0; //�� 170 ��.���
+// 22220
+ inc_sensor.pm67regs.write_comand_reg.bit.filter_sensitivity = 300;//5; //0x0; //�� 170 ��.���
+
+
+
+ inc_sensor.set(&inc_sensor);
+
+ //Rotation sensor_init
+/*
+ rotation_sensor.in_plane.cds_in = &project.cds_in[0];
+ rotation_sensor.use_sensor1 = 1;
+ rotation_sensor.use_sensor2 = 1;
+ rotation_sensor.use_angle_plane = 0;
+
+
+
+
+ rotation_sensor.in_plane.write.sbus.enabled_channels.bit.sens_1_direct_ch =1;
+ rotation_sensor.in_plane.write.sbus.enabled_channels.bit.sens_2_direct_ch_90deg =1;
+
+// rotation_sensor.in_plane.write.sbus.enabled_channels.bit.sens_1_direct_ch_90deg = 1;
+
+// rotation_sensor.in_plane.write.sbus.enabled_channels.bit.sens_2_direct_ch = 1;
+// rotation_sensor.in_plane.write.sbus.enabled_channels.bit.sens_2_direct_ch_90deg = 1;
+
+ rotation_sensor.in_plane.write.sbus.first_sensor_inputs.bit.direct_ch = 0;
+// rotation_sensor.in_plane.write.sbus.first_sensor_inputs.bit.direct_ch_90deg = 1;
+
+// rotation_sensor.in_plane.write.sbus.second_sensor_inputs.bit.direct_ch = 3;
+ rotation_sensor.in_plane.write.sbus.second_sensor_inputs.bit.direct_ch_90deg = 1;
+
+
+
+
+
+
+ rotation_sensor.in_plane.write.regs.comand_reg.bit.set_sampling_time = SAMPLING_TIME_MS;
+ rotation_sensor.in_plane.write.regs.comand_reg.bit.filter_sensitivity = 0xF; //�� 170 ��.���
+
+*/
+
+
+
+
+ //filter 1 ~ 20nsec
+ /* rotation_sensor.rotation_plane.cds_rs = &project.cds_rs[0];
+ rotation_sensor.rotation_plane.write.sbus.config.all = 0;
+ rotation_sensor.rotation_plane.write.sbus.config.bit.channel1_enable = 1;
+ rotation_sensor.rotation_plane.write.sbus.config.bit.plane_is_master = 1;
+ rotation_sensor.rotation_plane.write.sbus.config.bit.survey_time = 49;
+ rotation_sensor.rotation_plane.write.sbus.config.bit.transmition_speed = TS250;
+ */
+// rotation_sensor.set(&rotation_sensor);
+
+ if (project.controller.status != component_Ready)
+ return;
+
+// project.load_cfg_to_plates();
+
+}
+
+
+
diff --git a/Inu/Src/main/project.h b/Inu/Src/main/project.h
new file mode 100644
index 0000000..32dba9a
--- /dev/null
+++ b/Inu/Src/main/project.h
@@ -0,0 +1,74 @@
+#ifndef PROJECT_H
+#define PROJECT_H
+
+
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_GlobalPrototypes.h"
+#include "DSP281x_SWPrioritizedIsrLevels.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h"
+#include "DSP281x_Ev.h" // DSP281x Examples Include File
+#include "MemoryFunctions.h"
+#include "Spartan2E_Adr.h"
+#include "Spartan2E_Functions.h"
+#include "TuneUpPlane.h"
+#include "x_parallel_bus.h"
+#include "x_serial_bus.h"
+#include "xerror.h"
+#include "xp_adc.h"
+#include "xp_cds_in.h"
+#include "xp_cds_out.h"
+#include "xp_cds_tk.h"
+#include "xp_controller.h"
+#include "xp_hwp.h"
+#include "xp_project.h"
+#include "xPeriphSP6_loader.h"
+//#include "xp_omega.h"
+//#include "xp_dispatcher.h"
+
+//#include "x_error_buffer.h"
+
+//#include "x_project_plane.h"
+
+/* Define this macros to add to project files, contaning code */
+/* communicating with test terminal by RS232 */
+#define USE_TEST_TERMINAL 1
+
+/* Define this macros to add to project files, contaning code */
+/* communicating with SVO and MPU by RS, using modbus protokol */
+#define USE_MODBUS_TABLE_SVU 1
+
+/* Define this macros to add to project files, contaning code */
+/* communicating with Ingeteam Pult by RS, using modbus protocol */
+#define USE_MODBUS_TABLE_PULT 1
+
+
+// ���������� control_station.c � control_station.h
+#define USE_CONTROL_STATION 1
+
+
+
+
+
+/////////////////////////////////////////////////////////////////
+#ifndef USE_CONTROL_STATION
+#define USE_CONTROL_STATION 0
+#endif
+
+#ifndef USE_TEST_TERMINAL
+#define USE_TEST_TERMINAL 0
+#endif
+
+#ifndef USE_MODBUS_TABLE_SVU
+#define USE_MODBUS_TABLE_SVU 0
+#endif
+
+#ifndef USE_MODBUS_TABLE_PULT
+#define USE_MODBUS_TABLE_PULT 0
+#endif
+////////////////////////////////////////////////////////////////
+// ������ ��������� � �������. ����� � HWP
+////////////////////////////////////////////////////////////////
+void project_prepare_config(void);
+
+
+#endif // end PROJECT_H
diff --git a/Inu/Src/main/project_setup.h b/Inu/Src/main/project_setup.h
new file mode 100644
index 0000000..4f3ec93
--- /dev/null
+++ b/Inu/Src/main/project_setup.h
@@ -0,0 +1,414 @@
+#ifndef PROJECT_SETUP_H
+#define PROJECT_SETUP_H
+
+/*
+
+ ���������� ��������� ��� ����� ���� � myXilinx
+ � ����������� �� C_PROJECT_TYPE ���������� ����
+
+ project_setup.h ������ ������ � ����� /main/
+ �.�. ��� /myXilinx/
+ �.�. �� ��� ������� ������� �� ������ ���� ��������!
+*/
+
+/*------------------------------------------------------------------------------
+ Project type
+------------------------------------------------------------------------------*/
+// ��� ��������� �������
+/////////////////////////////////////////////////////////////////////////////
+#define PROJECT_22220 10
+#define PROJECT_21300 11
+#define PROJECT_21180 12
+#define PROJECT_BALZAM 13
+#define PROJECT_23470 14
+#define PROJECT_23550 15
+#define PROJECT_10510 16
+
+
+#define PROJECT_STEND_D PROJECT_BALZAM
+
+///////////////////////////////////////////////
+// �������� ������ ������
+///////////////////////////////////////////////
+
+//#define C_PROJECT_TYPE PROJECT_21180
+//#define C_PROJECT_TYPE PROJECT_21300
+//#define C_PROJECT_TYPE PROJECT_22220
+//#define C_PROJECT_TYPE PROJECT_BALZAM
+//#define C_PROJECT_TYPE PROJECT_23470
+//#define C_PROJECT_TYPE PROJECT_STEND_D
+
+#define C_PROJECT_TYPE PROJECT_23550
+//#define C_PROJECT_TYPE PROJECT_10510
+
+// ��������� ��������� RS232
+#define RS232_SPEED_A 57600//115200//57600
+#define RS232_SPEED_B 57600//115200//57600//
+
+///////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////
+// ��������� ���� ����
+///////////////////////////////////////////////////////////////////////////////////
+
+#if (C_PROJECT_TYPE==PROJECT_23550 || C_PROJECT_TYPE==PROJECT_BALZAM)
+#define XPWMGEN 1 // ��� �� xilinx 24
+#define TMSPWMGEN 0 // ��� �� tms
+#else
+#define XPWMGEN 0 // ��� �� xilinx 24
+#define TMSPWMGEN 1 // ��� �� tms
+#endif
+
+
+///////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////
+
+#if (TMSPWMGEN==1) && (XPWMGEN==1)
+ #error "������ ��������� �������. ������� ��� ���� ����!!!"
+
+#endif
+
+
+#if (TMSPWMGEN==1)
+
+#else //TMSPWMGEN
+
+#if (XPWMGEN==1)
+#else
+
+ #error "������ ��������� �������. �� ������ ��� ����!!!"
+
+#endif //XPWMGEN
+#endif //TMSPWMGEN
+
+////////////////////////////////////////////////
+////////////////////////////////////////////////
+/////////////////////////////////////////////////
+// ��������� ���������� ���� ��� �������
+////////////////////////////////////////////////
+/////////////////////////////////////////////////
+#if (_FLOOR6==0)
+#define USE_ADC_0 1
+#define USE_ADC_1 1
+////#define USE_ADC_2 1
+//
+#define USE_IN_0 1
+
+#define USE_IN_1 1
+//////#define USE_IN_2 1
+////
+#define USE_OUT_0 1
+//////#define USE_OUT_1 1
+//////#define USE_OUT_2 1
+////
+////
+#define USE_TK_0 1
+#define USE_TK_1 1
+////
+#define USE_TK_2 1
+#define USE_TK_3 1
+////
+//////#define USE_TK_4 1
+//////#define USE_TK_5 1
+//////#define USE_TK_6 1
+//////#define USE_TK_7 1
+////
+#define USE_HWP_0 1
+////#define USE_HWP_1 1
+//////#define USE_HWP_2 1
+////
+//////#define USE_ROT_1 1
+
+#else
+
+#if (_FLOOR6_ADD==1)
+
+#define USE_ADC_0 1
+#define USE_ADC_1 1
+//////
+#define USE_IN_0 1
+////
+//#define USE_IN_1 1
+////////
+//#define USE_OUT_0 1
+////////
+////////
+#define USE_TK_0 1
+#define USE_TK_1 1
+//////
+#define USE_TK_2 1
+#define USE_TK_3 1
+
+//#define USE_HWP_0 1
+
+
+#else
+
+#define USE_ADC_0 1
+#define USE_ADC_1 1
+////
+#define USE_IN_0 1
+//
+#define USE_IN_1 1
+//////
+#define USE_OUT_0 1
+//////
+//////
+#define USE_TK_0 1
+#define USE_TK_1 1
+////
+#define USE_TK_2 1
+#define USE_TK_3 1
+
+#define USE_HWP_0 1
+#define USE_HWP_1 1
+
+#endif
+
+#endif
+
+
+////////////////////////////////////////////////
+// ��������� ���� ���� SP2 ��� SP6
+////////////////////////////////////////////////
+////////////////////////////////////////////////
+////////////////////////////////////////////////
+
+#define TYPE_CDS_XILINX_IN_0 TYPE_CDS_XILINX_SP2
+#define TYPE_CDS_XILINX_IN_1 TYPE_CDS_XILINX_SP2
+#define TYPE_CDS_XILINX_IN_2 TYPE_CDS_XILINX_SP2
+
+#define TYPE_CDS_XILINX_OUT_0 TYPE_CDS_XILINX_SP2
+#define TYPE_CDS_XILINX_OUT_1 TYPE_CDS_XILINX_SP2
+#define TYPE_CDS_XILINX_OUT_2 TYPE_CDS_XILINX_SP2
+
+#define TYPE_CDS_XILINX_TK_0 TYPE_CDS_XILINX_SP2
+#define TYPE_CDS_XILINX_TK_1 TYPE_CDS_XILINX_SP2
+#define TYPE_CDS_XILINX_TK_2 TYPE_CDS_XILINX_SP2
+#define TYPE_CDS_XILINX_TK_3 TYPE_CDS_XILINX_SP6
+#define TYPE_CDS_XILINX_TK_4 TYPE_CDS_XILINX_SP2
+#define TYPE_CDS_XILINX_TK_5 TYPE_CDS_XILINX_SP2
+#define TYPE_CDS_XILINX_TK_6 TYPE_CDS_XILINX_SP2
+#define TYPE_CDS_XILINX_TK_7 TYPE_CDS_XILINX_SP2
+
+#define TYPE_CDS_XILINX_ADC_0 TYPE_CDS_XILINX_SP2
+#define TYPE_CDS_XILINX_ADC_1 TYPE_CDS_XILINX_SP2
+#define TYPE_CDS_XILINX_ADC_2 TYPE_CDS_XILINX_SP2
+
+#define TYPE_CDS_XILINX_RS_0 TYPE_CDS_XILINX_SP2
+
+////////////////////////////////////////////////
+////////////////////////////////////////////////
+////////////////////////////////////////////////
+
+//#define TYPE_CDS_XILINX_HWP_0_1 MODE_HWP_SPEED_SLOW
+
+#ifndef USE_ADC_0
+#define USE_ADC_0 0
+#endif
+
+#ifndef USE_ADC_1
+#define USE_ADC_1 0
+#endif
+
+#ifndef USE_ADC_2
+#define USE_ADC_2 0
+#endif
+
+
+#ifndef USE_IN_0
+#define USE_IN_0 0
+#endif
+
+#ifndef USE_IN_1
+#define USE_IN_1 0
+#endif
+
+#ifndef USE_IN_2
+#define USE_IN_2 0
+#endif
+
+
+#ifndef USE_OUT_0
+#define USE_OUT_0 0
+#endif
+
+#ifndef USE_OUT_1
+#define USE_OUT_1 0
+#endif
+
+#ifndef USE_OUT_2
+#define USE_OUT_2 0
+#endif
+
+
+
+#ifndef USE_TK_0
+#define USE_TK_0 0
+#endif
+
+#ifndef USE_TK_1
+#define USE_TK_1 0
+#endif
+
+
+//
+#ifndef USE_TK_2
+#define USE_TK_2 0
+#endif
+
+#ifndef USE_TK_3
+#define USE_TK_3 0
+#endif
+
+
+#ifndef USE_TK_4
+#define USE_TK_4 0
+#endif
+
+#ifndef USE_TK_5
+#define USE_TK_5 0
+#endif
+
+#ifndef USE_TK_6
+#define USE_TK_6 0
+#endif
+
+#ifndef USE_TK_7
+#define USE_TK_7 0
+#endif
+
+
+#ifndef USE_HWP_0
+#define USE_HWP_0 0
+#endif
+
+#ifndef USE_HWP_1
+#define USE_HWP_1 0
+#endif
+
+#ifndef USE_HWP_2
+#define USE_HWP_2 0
+#endif
+
+
+#ifndef USE_ROT_1
+#define USE_ROT_1 0
+#endif
+
+
+
+////////////////////////////////////////////////
+// ������������� ���� ������� ���� � �������
+////////////////////////////////////////////////
+#if (USE_HWP_2==1)
+#define MAX_COUNT_PLATES_HWP 3
+#else
+#if (USE_HWP_1==1)
+#define MAX_COUNT_PLATES_HWP 2
+#else
+#define MAX_COUNT_PLATES_HWP 1
+#endif
+#endif
+////////////////////////////////////////////////
+
+#if (USE_TK_7==1)
+#define MAX_COUNT_PLATES_CDS_TK 8
+#else
+#if (USE_TK_6==1)
+#define MAX_COUNT_PLATES_CDS_TK 7
+#else
+#if (USE_TK_5==1)
+#define MAX_COUNT_PLATES_CDS_TK 6
+#else
+#if (USE_TK_4==1)
+#define MAX_COUNT_PLATES_CDS_TK 5
+#else
+#if (USE_TK_3==1)
+#define MAX_COUNT_PLATES_CDS_TK 4
+#else
+#if (USE_TK_2==1)
+#define MAX_COUNT_PLATES_CDS_TK 3
+#else
+#if (USE_TK_1==1)
+#define MAX_COUNT_PLATES_CDS_TK 2
+#else
+#if (USE_TK_0==1)
+#define MAX_COUNT_PLATES_CDS_TK 1
+#else
+#define MAX_COUNT_PLATES_CDS_TK 1
+
+#endif
+#endif
+#endif
+#endif
+#endif
+#endif
+#endif
+#endif
+////////////////////////////////////////////////
+
+#if (USE_ADC_2==1)
+#define MAX_COUNT_PLATES_ADC 3
+#else
+#if (USE_ADC_1==1)
+#define MAX_COUNT_PLATES_ADC 2
+#else
+#if (USE_ADC_0==1)
+#define MAX_COUNT_PLATES_ADC 1
+#else
+#define MAX_COUNT_PLATES_ADC 1
+#endif
+#endif
+#endif
+
+
+////////////////////////////////////////////////
+#if (USE_OUT_2==1)
+#define MAX_COUNT_PLATES_OUT 3
+#else
+#if (USE_OUT_1==1)
+#define MAX_COUNT_PLATES_OUT 2
+#else
+#if (USE_OUT_0==1)
+#define MAX_COUNT_PLATES_OUT 1
+#else
+#define MAX_COUNT_PLATES_OUT 1
+#endif
+#endif
+#endif
+
+
+////////////////////////////////////////////////
+////////////////////////////////////////////////
+#if (USE_IN_2==1)
+#define MAX_COUNT_PLATES_IN 3
+#else
+#if (USE_IN_1==1)
+#define MAX_COUNT_PLATES_IN 2
+#else
+#if (USE_IN_0==1)
+#define MAX_COUNT_PLATES_IN 1
+#else
+#define MAX_COUNT_PLATES_IN 1
+#endif
+#endif
+#endif
+
+
+////////////////////////////////////////////////
+
+
+#if (USE_ROT_1==1)
+#define MAX_COUNT_PLATES_CDS_RS 1
+#else
+#define MAX_COUNT_PLATES_CDS_RS 0
+#endif
+
+////////////////////////////////////////////////
+
+
+#include <params_bsu.h>
+
+#endif // end PROJECT_SETUP_H
+
diff --git a/Inu/Src/main/protect_levels.h b/Inu/Src/main/protect_levels.h
new file mode 100644
index 0000000..b9bf78f
--- /dev/null
+++ b/Inu/Src/main/protect_levels.h
@@ -0,0 +1,119 @@
+/*
+ * params_protect.h
+ *
+ * Created on: 17 ���. 2020 �.
+ * Author: star
+ */
+
+#ifndef SRC_MAIN_PROTECT_LEVELS_H_
+#define SRC_MAIN_PROTECT_LEVELS_H_
+
+#include <params_protect_adc.h>
+
+typedef struct {
+
+ int alarm_temper_u_01;
+ int alarm_temper_u_02;
+ int alarm_temper_u_03;
+ int alarm_temper_u_04;
+ int alarm_temper_u_05;
+ int alarm_temper_u_06;
+ int alarm_temper_u_07;
+
+ int abnormal_temper_u_01;
+ int abnormal_temper_u_02;
+ int abnormal_temper_u_03;
+ int abnormal_temper_u_04;
+ int abnormal_temper_u_05;
+ int abnormal_temper_u_06;
+ int abnormal_temper_u_07;
+
+ int alarm_temper_water_int;
+ int abnormal_temper_water_int;
+
+ int alarm_temper_water_ext;
+ int abnormal_temper_water_ext;
+
+ int alarm_p_water_max_int;
+ int abnormal_p_water_max_int;
+
+ int alarm_p_water_min_int;
+ int abnormal_p_water_min_int;
+
+ int alarm_temper_air_int_01;
+ int alarm_temper_air_int_02;
+ int alarm_temper_air_int_03;
+ int alarm_temper_air_int_04;
+
+ int abnormal_temper_air_int_01;
+ int abnormal_temper_air_int_02;
+ int abnormal_temper_air_int_03;
+ int abnormal_temper_air_int_04;
+
+ int alarm_temper_acdrive_winding_U1;
+ int alarm_temper_acdrive_winding_V1;
+ int alarm_temper_acdrive_winding_W1;
+ int alarm_temper_acdrive_winding_U2;
+ int alarm_temper_acdrive_winding_V2;
+ int alarm_temper_acdrive_winding_W2;
+
+ int abnormal_temper_acdrive_winding_U1;
+ int abnormal_temper_acdrive_winding_V1;
+ int abnormal_temper_acdrive_winding_W1;
+ int abnormal_temper_acdrive_winding_U2;
+ int abnormal_temper_acdrive_winding_V2;
+ int abnormal_temper_acdrive_winding_W2;
+
+ int alarm_temper_acdrive_bear_DNE;
+ int alarm_temper_acdrive_bear_NE;
+ int abnormal_temper_acdrive_bear_DNE;
+ int abnormal_temper_acdrive_bear_NE;
+
+ int alarm_Uin_max_Up;
+ int alarm_Uin_max_Down;
+ int alarm_Uin_min_Up;
+ int alarm_Uin_min_Down;
+
+ int alarm_Udc_max_Up;
+ int alarm_Udc_max_Down;
+ int alarm_Udc_min_Up;
+ int alarm_Udc_min_Down;
+ int alarm_Izpt_max;
+
+ int alarm_Imax_U01;
+ int alarm_Imax_U02;
+ int alarm_Imax_U03;
+ int alarm_Imax_U04;
+ int alarm_Imax_U05;
+ int alarm_Imax_U06;
+ int alarm_Imax_U07;
+
+ int alarm_Iged_max;
+
+} PROTECT_LEVELS;
+
+#define PROTECT_LEVELS_DEFAULTS {ALARM_TEMPER_AF,ALARM_TEMPER_AF,ALARM_TEMPER_AF,\
+ ALARM_TEMPER_AF,ALARM_TEMPER_AF,ALARM_TEMPER_AF,ALARM_TEMPER_AF,\
+ ABNORMAL_TEMPER_AF,ABNORMAL_TEMPER_AF,ABNORMAL_TEMPER_AF,ABNORMAL_TEMPER_AF,\
+ ABNORMAL_TEMPER_AF,ABNORMAL_TEMPER_AF,ABNORMAL_TEMPER_AF,\
+ ALARM_TEMPER_WATER_INT,ABNORMAL_TEMPER_WATER_INT,\
+ ALARM_TEMPER_WATER_EXT,ABNORMAL_TEMPER_WATER_EXT,\
+ ALARM_P_WATER_MAX_INT,ABNORMAL_P_WATER_MAX_INT,\
+ ALARM_P_WATER_MIN_INT,ABNORMAL_P_WATER_MIN_INT,\
+ ALARM_TEMPER_AIR_INT,ALARM_TEMPER_AIR_INT,ALARM_TEMPER_AIR_INT,ALARM_TEMPER_AIR_INT,\
+ ABNORMAL_TEMPER_AIR_INT,ABNORMAL_TEMPER_AIR_INT,ABNORMAL_TEMPER_AIR_INT,ABNORMAL_TEMPER_AIR_INT,\
+ ALARM_TEMPER_ACDRIVE_WINDING,ALARM_TEMPER_ACDRIVE_WINDING,ALARM_TEMPER_ACDRIVE_WINDING,\
+ ALARM_TEMPER_ACDRIVE_WINDING,ALARM_TEMPER_ACDRIVE_WINDING,ALARM_TEMPER_ACDRIVE_WINDING,\
+ ABNORMAL_TEMPER_ACDRIVE_WINDING,ABNORMAL_TEMPER_ACDRIVE_WINDING,ABNORMAL_TEMPER_ACDRIVE_WINDING,\
+ ABNORMAL_TEMPER_ACDRIVE_WINDING,ABNORMAL_TEMPER_ACDRIVE_WINDING,ABNORMAL_TEMPER_ACDRIVE_WINDING,\
+ ALARM_TEMPER_ACDRIVE_BEAR,ALARM_TEMPER_ACDRIVE_BEAR,\
+ ABNORMAL_TEMPER_ACDRIVE_BEAR,ABNORMAL_TEMPER_ACDRIVE_BEAR,\
+ LEVEL_ADC_U_IN_MAX,LEVEL_ADC_U_IN_MAX, LEVEL_ADC_U_IN_MIN,LEVEL_ADC_U_IN_MIN,\
+ LEVEL_ADC_U_ZPT_MAX,LEVEL_ADC_U_ZPT_MAX,LEVEL_ADC_U_ZPT_MIN,LEVEL_ADC_U_ZPT_MIN,\
+ LEVEL_ADC_I_ZPT,\
+ LEVEL_ADC_I_BREAK, LEVEL_ADC_I_AF,LEVEL_ADC_I_AF,LEVEL_ADC_I_AF,LEVEL_ADC_I_AF,LEVEL_ADC_I_AF,LEVEL_ADC_I_AF,\
+ LEVEL_ADC_I_OUT_MAX}
+
+extern PROTECT_LEVELS protect_levels;
+
+#endif /* SRC_MAIN_PROTECT_LEVELS_H_ */
diff --git a/Inu/Src/main/pump_control.c b/Inu/Src/main/pump_control.c
new file mode 100644
index 0000000..212473c
--- /dev/null
+++ b/Inu/Src/main/pump_control.c
@@ -0,0 +1,255 @@
+/*
+ * pump_management.c
+ *
+ * Created on: 28 ���. 2020 �.
+ * Author: stud
+ */
+
+#include <edrk_main.h>
+#include <pump_control.h>
+
+#include "control_station.h"
+#include "digital_filters.h"
+#include "sbor_shema.h"
+
+#pragma DATA_SECTION(pumps, ".slow_vars")
+PUMP_CONTROL pumps = PUMP_CONTROL_DEFAULTS;
+
+void turn_on_nasos_1_2(unsigned int without_time_wait);
+int select_pump(void);
+
+void pump_control(void)
+{
+ unsigned int pump_off_without_time_wait;
+
+
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_MODE_PUMP] == 0)
+ {
+// edrk.SelectPump1_2 = 0;
+ pumps.SelectedPump1_2 = 0;
+ edrk.ManualStartPump = 0;
+ // edrk.AutoStartPump = 1;
+ pump_off_without_time_wait = 0;
+ }
+
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_MODE_PUMP] == 1)
+ {
+// edrk.SelectPump1_2 = 1;
+ pumps.SelectedPump1_2 = 1;
+ edrk.ManualStartPump = 0;
+ // edrk.AutoStartPump = 1;
+ pump_off_without_time_wait = 0;
+ }
+
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_MODE_PUMP] == 2)
+ {
+// edrk.SelectPump1_2 = 2;
+ pumps.SelectedPump1_2 = 2;
+ edrk.ManualStartPump = 0;
+ // edrk.AutoStartPump = 1;
+ pump_off_without_time_wait = 0;
+ }
+
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_MODE_PUMP] == 3)
+ {
+// edrk.SelectPump1_2 = 1;
+ pumps.SelectedPump1_2 = 1;
+ edrk.ManualStartPump = 1;
+ edrk.AutoStartPump = 0;
+ pump_off_without_time_wait = 1;
+ }
+
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_MODE_PUMP] == 4)
+ {
+// edrk.SelectPump1_2 = 2;
+ pumps.SelectedPump1_2 = 2;
+ edrk.ManualStartPump = 1;
+ edrk.AutoStartPump = 0;
+ pump_off_without_time_wait = 1;
+ }
+
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_MODE_PUMP] == 5)
+ {
+// edrk.SelectPump1_2 = 0;
+ pumps.SelectedPump1_2 = 0;
+ edrk.ManualStartPump = 0;
+ edrk.AutoStartPump = 0;
+ pump_off_without_time_wait = 1;
+ }
+
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_MODE_PUMP] == 6)
+ {
+// edrk.SelectPump1_2 = 1;
+ pumps.SelectedPump1_2 = 0;
+ edrk.ManualStartPump = 1;
+ edrk.AutoStartPump = 0;
+ pump_off_without_time_wait = 1;
+ }
+
+ edrk.SumStartPump = edrk.AutoStartPump || edrk.ManualStartPump;
+
+ turn_on_nasos_1_2(pump_off_without_time_wait);
+
+ set_status_pump_fan();
+
+}
+
+
+#define TIME_WAIT_PUMP_ON 30 //3 sec
+#define TIME_WAIT_ALL_PUMP_OFF 600 //30 sec
+
+///////////////////////////////////////////////
+void turn_on_nasos_1_2(unsigned int without_time_wait)
+{
+static unsigned int time_wait_on_pump1=0;
+static unsigned int time_wait_on_pump2=0;
+
+static unsigned int time_wait_off_all_pump1=0;
+static unsigned int time_wait_off_all_pump2=0;
+
+static unsigned int prev_without_time_wait = 0;
+
+
+
+int cmd_p1 = 0,
+ cmd_p2 = 0,
+ add_cmd_without_time_wait1 = 0,
+ add_cmd_without_time_wait2 = 0;
+
+int fast_stop_pump=0;
+
+
+// if ()
+//(prev_start_nasos!=edrk.StartPump) &&
+
+
+ cmd_p1 = 0;
+ cmd_p2 = 0;
+
+ fast_stop_pump = ( edrk.errors.e5.bits.ERROR_ISOLATE || edrk.errors.e5.bits.FAN ||
+ edrk.errors.e5.bits.PRE_READY_PUMP || edrk.errors.e5.bits.UTE4KA_WATER || edrk.errors.e2.bits.P_WATER_INT_MIN ||
+ edrk.errors.e2.bits.P_WATER_INT_MAX || edrk.errors.e5.bits.PUMP_1 || edrk.errors.e5.bits.PUMP_2);
+
+ if ( edrk.SumStartPump==1 && edrk.errors.e5.bits.PRE_READY_PUMP == 0 && fast_stop_pump==0)
+ {
+ if (pumps.SelectedPump1_2 == 0 /*&& edrk.ManualStartPump == 0*/)
+ {
+ //����� ������ ������ �� ������������ �������
+ switch (select_pump()) {
+ case 1:
+ cmd_p1 = 1;
+ cmd_p2 = 0;
+ break;
+ case 2:
+ cmd_p1 = 0;
+ cmd_p2 = 1;
+ break;
+ default:
+ cmd_p1 = 0;
+ cmd_p2 = 0;
+ }
+ pumps.lock_pump = 1;
+ } else
+ if (pumps.SelectedPump1_2==1 && edrk.errors.e5.bits.PUMP_1==0)
+ cmd_p1 = 1;
+ else if (pumps.SelectedPump1_2==2 && edrk.errors.e5.bits.PUMP_2==0)
+ cmd_p2 = 1;
+ }
+ else
+ {
+ cmd_p1 = 0;
+ cmd_p2 = 0;
+ }
+
+
+ if (cmd_p1)
+ {
+ edrk.SelectPump1_2 = 1;
+ if (pause_detect_error(&time_wait_on_pump1,TIME_WAIT_PUMP_ON,1))
+ {
+ edrk.to_ing.bits.NASOS_1_ON = 1;
+ time_wait_off_all_pump1 = 0;
+ }
+ }
+ else
+ {
+ time_wait_on_pump1 = 0;
+
+ if (without_time_wait==0 && prev_without_time_wait != without_time_wait)
+ add_cmd_without_time_wait1 = 1;
+
+ if (cmd_p1!=cmd_p2 || fast_stop_pump || without_time_wait || add_cmd_without_time_wait1) {
+ edrk.to_ing.bits.NASOS_1_ON = 0;
+ }
+ else
+ {
+ if (pause_detect_error(&time_wait_off_all_pump1,TIME_WAIT_ALL_PUMP_OFF,1)) {
+ edrk.to_ing.bits.NASOS_1_ON = 0;
+ }
+ }
+
+ }
+
+
+ if (cmd_p2)
+ {
+ edrk.SelectPump1_2 = 2;
+ if (pause_detect_error(&time_wait_on_pump2,TIME_WAIT_PUMP_ON,1))
+ {
+ edrk.to_ing.bits.NASOS_2_ON = 1;
+ time_wait_off_all_pump2 = 0;
+ }
+ }
+ else
+ {
+ time_wait_on_pump2 = 0;
+
+ if (without_time_wait==0 && prev_without_time_wait != without_time_wait)
+ add_cmd_without_time_wait2 = 1;
+
+ if (cmd_p1!=cmd_p2 || fast_stop_pump || without_time_wait || add_cmd_without_time_wait2) {
+ edrk.to_ing.bits.NASOS_2_ON = 0;
+ }
+ else
+ {
+ if (pause_detect_error(&time_wait_off_all_pump2,TIME_WAIT_ALL_PUMP_OFF,1)) {
+ edrk.to_ing.bits.NASOS_2_ON = 0;
+ }
+ }
+ }
+
+ if (edrk.to_ing.bits.NASOS_1_ON == 0 && edrk.to_ing.bits.NASOS_2_ON == 0) {
+ pumps.lock_pump = 0;
+ }
+
+ prev_without_time_wait = without_time_wait;
+
+}
+
+int select_pump() {
+ int p_n = 0;
+ if (pumps.lock_pump == 0) {
+
+ p_n = calc_auto_moto_pump();
+ if (p_n == 0)
+ p_n = 1;
+// if (pumps.pump1_engine_minutes > pumps.pump2_engine_minutes) {
+// p_n = 2;
+// } else {
+// p_n = 1;
+// }
+
+ } else {
+ p_n = edrk.SelectPump1_2;
+ }
+ if ((edrk.errors.e5.bits.PUMP_1 == 1) && (edrk.errors.e5.bits.PUMP_2 == 1)) {
+ p_n = 0;
+ }
+ if (p_n == 1 && edrk.warnings.e5.bits.PUMP_1 == 1) {
+ p_n = 2;
+ }
+ if (p_n == 2 && edrk.warnings.e5.bits.PUMP_2 == 1) {
+ p_n = 1;
+ }
+ return p_n;
+}
diff --git a/Inu/Src/main/pump_control.h b/Inu/Src/main/pump_control.h
new file mode 100644
index 0000000..92a5931
--- /dev/null
+++ b/Inu/Src/main/pump_control.h
@@ -0,0 +1,27 @@
+/*
+ * pump_management.h
+ *
+ * Created on: 28 ���. 2020 �.
+ * Author: stud
+ */
+
+#ifndef SRC_MAIN_PUMP_CONTROL_H_
+#define SRC_MAIN_PUMP_CONTROL_H_
+
+typedef struct {
+ int pump1_engine_minutes;
+ int pump2_engine_minutes;
+ int time_switch_minuts;
+ int SelectedPump1_2;
+ int lock_pump;
+} PUMP_CONTROL;
+
+#define PUMP_CONTROL_DEFAULTS {0,0,5,0,0}
+
+extern PUMP_CONTROL pumps;
+
+void pump_control(void);
+
+
+
+#endif /* SRC_MAIN_PUMP_CONTROL_H_ */
diff --git a/Inu/Src/main/pwm_logs.c b/Inu/Src/main/pwm_logs.c
new file mode 100644
index 0000000..42ca3e7
--- /dev/null
+++ b/Inu/Src/main/pwm_logs.c
@@ -0,0 +1,476 @@
+/*
+ * pwm_logs.c
+ *
+ * Created on: 19 ���. 2024 �.
+ * Author: user
+ */
+#include <adc_tools.h>
+#include <alg_simple_scalar.h>
+#include <alg_uf_const.h>
+#include <break_regul.h>
+#include <edrk_main.h>
+#include <optical_bus.h>
+#include <params.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+#include <project.h>
+#include <v_pwm24_v2.h>
+#include <v_rotor.h>
+#include <vector.h>
+#include "global_time.h"
+#include "IQmathLib.h"
+#include "oscil_can.h"
+#include "uf_alg_ing.h"
+#include "MemoryFunctions.h"
+#include "RS_Functions.h"
+#include "v_rotor_22220.h"
+#include "log_to_memory.h"
+#include "log_params.h"
+#include "logs_hmi.h"
+#include "vector_control.h"
+
+
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+#pragma CODE_SECTION(prepare_data_to_logs,".fast_run");
+unsigned int prepare_data_to_logs(void)
+{
+ logsdata.logs[0] = (int16) global_time.total_seconds10full;// = 0;//(int16)(_IQtoIQ15(Izad));
+ logsdata.logs[1] = (int16) _IQtoIQ15(analog.iqIu_1);
+ logsdata.logs[2] = (int16) _IQtoIQ15(analog.iqIv_1);
+ logsdata.logs[3] = (int16) _IQtoIQ15(analog.iqIw_1);
+
+ logsdata.logs[4] = (int16) _IQtoIQ15(analog.iqIu_2);
+ logsdata.logs[5] = (int16) _IQtoIQ15(analog.iqIv_2);
+ logsdata.logs[6] = (int16) _IQtoIQ15(analog.iqIw_2);
+
+ logsdata.logs[7] = (int16) _IQtoIQ15(analog.iqUin_A1B1);// (int16) _IQtoIQ15(analog.iqUin_m1);
+ logsdata.logs[8] = (int16) _IQtoIQ15(analog.iqUin_A2B2);// (int16) _IQtoIQ15(analog.iqUin_m2);
+
+
+ logsdata.logs[9] = (int16) _IQtoIQ15(analog.iqU_1);
+ logsdata.logs[10] = (int16) _IQtoIQ15(analog.iqU_2);//11
+
+ logsdata.logs[11] = (int16) _IQtoIQ15(analog.iqIin_1);
+ logsdata.logs[12] = (int16) _IQtoIQ15(analog.iqIin_2);
+
+ logsdata.logs[13] = (int16) _IQtoIQ15(analog.iqIm_1);
+ logsdata.logs[14] = (int16) _IQtoIQ15(analog.iqIm_2);
+
+ logsdata.logs[15] = (int16) _IQtoIQ15(analog.iqIbreak_1);//(int16) _IQtoIQ15(filter.iqU_1_long);
+ logsdata.logs[16] = (int16) _IQtoIQ15(analog.iqIbreak_2);//(int16) _IQtoIQ15(filter.iqU_2_long);
+
+
+ logsdata.logs[17] = (int16)svgen_pwm24_1.Ta_0;
+ logsdata.logs[18] = (int16)svgen_pwm24_1.Ta_1;
+ logsdata.logs[19] = (int16)break_result_1;
+ logsdata.logs[20] = (int16)break_result_2;
+// logpar.log21 = (int16)svgen_pwm24_1.Tb_1;
+// logpar.log22 = (int16)svgen_pwm24_1.Tc_0;
+// logpar.log23 = (int16)svgen_pwm24_1.Tc_1; //23
+
+ logsdata.logs[21] = (int16)(_IQtoIQ14(edrk.iq_power_kw_full_znak));// edrk.from_uom.iq_level_value_kwt
+ //(int16) _IQtoIQ15(rotor_22220.iqFdirty);
+ //
+
+ logsdata.logs[22] = (int16) _IQtoIQ15(WRotor.iqWRotorSumFilter2);
+ logsdata.logs[23] = (int16) _IQtoIQ15(WRotor.iqWRotorSumFilter);//WRotor.iqWRotorSumFilter WRotor.iqWRotorSum
+ logsdata.logs[24] = (int16) _IQtoIQ15(simple_scalar1.iq_decr_mzz_power);//WRotor.iqWRotorSumFilter2 WRotor.iqWRotorSumFilter3
+
+ logsdata.logs[25] = (int16) edrk.from_uom.level_value;// (int16) _IQtoIQ15(WRotor.iqWRotorSumFilter);
+// logpar.log25 = (int16) _IQtoIQ15(WRotor.iqWRotorSumFilter);
+// logsdata.logs[25] = (int16) _IQtoIQ15(WRotor.iqWRotorSum);
+
+ logsdata.logs[26] = (int16) edrk.power_limit.all;//_IQtoIQ15(pll1.vars.pll_Uq);
+ logsdata.logs[27] = (int16)(_IQtoIQ14(edrk.zadanie.iq_limit_power_zad));//(int16) _IQtoIQ15(pll1.vars.pll_Ud);//28
+
+ logsdata.logs[28] = (int16) _IQtoIQ12(edrk.master_theta);//29
+ logsdata.logs[29] = (int16) _IQtoIQ15(edrk.master_Uzad);//30
+ logsdata.logs[30] = (int16) _IQtoIQ14(edrk.f_stator);
+ logsdata.logs[31] = (int16) _IQtoIQ12(edrk.k_stator1);
+
+ logsdata.logs[32] = optical_read_data.data.cmd.all;
+ logsdata.logs[33] = optical_read_data.data.pzad_or_wzad;
+ logsdata.logs[34] = optical_read_data.data.angle_pwm;
+ logsdata.logs[35] = optical_read_data.data.iq_zad_i_zad;
+
+ logsdata.logs[36] = optical_write_data.data.cmd.all;
+ logsdata.logs[37] = optical_write_data.data.angle_pwm;
+ logsdata.logs[38] = optical_write_data.data.pzad_or_wzad;
+ logsdata.logs[39] = optical_write_data.data.iq_zad_i_zad;
+
+ /////////////
+ logsdata.logs[40] = (int16)(_IQtoIQ15(simple_scalar1.Izad));
+ logsdata.logs[41] = (int16)(_IQtoIQ15(simple_scalar1.mzz_zad_in2));//(int16)(_IQtoIQ15(Uze_t1));
+ logsdata.logs[42] = (int16)(_IQtoIQ15(simple_scalar1.pidF.OutMax));
+ logsdata.logs[43] = (int16)(_IQtoIQ15(simple_scalar1.mzz_zad_int));
+ logsdata.logs[44] = (int16)(_IQtoIQ15(simple_scalar1.Izad_from_master));
+
+ logsdata.logs[45] = (int16)(_IQtoIQ14(simple_scalar1.pidF.Fdb));
+ logsdata.logs[46] = (int16)(_IQtoIQ14(simple_scalar1.pidF.Ref));
+ logsdata.logs[47] = (int16)(_IQtoIQ14(simple_scalar1.pidF.Ui));
+ logsdata.logs[48] = (int16)(_IQtoIQ14(simple_scalar1.pidF.Up));
+ logsdata.logs[49] = (int16)(_IQtoIQ14(simple_scalar1.pidF.SatErr));
+ logsdata.logs[50] = (int16)(_IQtoIQ14(simple_scalar1.pidF.Out));
+
+ logsdata.logs[51] = (int16)(_IQtoIQ14(simple_scalar1.pidPower.Fdb));
+ logsdata.logs[52] = (int16)(_IQtoIQ14(simple_scalar1.pidPower.Ref));
+ logsdata.logs[53] = (int16)(_IQtoIQ14(simple_scalar1.pidPower.Ui));
+ logsdata.logs[54] = (int16)(_IQtoIQ14(simple_scalar1.pidPower.Up));
+ logsdata.logs[55] = (int16)(_IQtoIQ14(simple_scalar1.pidPower.SatErr));
+ logsdata.logs[56] = (int16)(_IQtoIQ14(simple_scalar1.pidPower.Out));
+
+ logsdata.logs[57] = (int16)(_IQtoIQ15(simple_scalar1.pidIm1.Fdb));
+ logsdata.logs[58] = (int16)(_IQtoIQ15(simple_scalar1.pidIm1.Ref));
+ logsdata.logs[59] = (int16)(_IQtoIQ15(simple_scalar1.pidIm1.Ui));
+ logsdata.logs[60] = (int16)(_IQtoIQ15(simple_scalar1.pidIm1.Up));
+ logsdata.logs[61] = (int16)(_IQtoIQ15(simple_scalar1.pidIm1.SatErr));
+ logsdata.logs[62] = (int16)(_IQtoIQ15(simple_scalar1.pidIm1.Out));
+ logsdata.logs[63] = (int16)(_IQtoIQ12(simple_scalar1.Uze_t1));
+
+ logsdata.logs[64] = (int16)(_IQtoIQ15(simple_scalar1.bpsi_curent));
+
+ logsdata.logs[65] = (int16)(_IQtoIQ14(simple_scalar1.iqKoefOgran));
+
+ logsdata.logs[66] = (int16)(_IQtoIQ14(simple_scalar1.Fz));
+ logsdata.logs[67] = (int16) (_IQtoIQ15(simple_scalar1.iq_decr_mzz_power_filter));//rotor_22220.direct_rotor
+
+ logsdata.logs[68] = (int16)(_IQtoIQ14(simple_scalar1.pidF.OutMin));//(int16)edrk.Status_Sbor;
+ logsdata.logs[69] = (int16)(_IQtoIQ14(simple_scalar1.pidPower.OutMax));//(int16)edrk.Stage_Sbor;
+ logsdata.logs[70] = (int16)(_IQtoIQ14(filter.iqUin_m1));//(int16)edrk.Sbor_Mode;
+
+ logsdata.logs[71] = (int16)edrk.from_shema.all;
+ logsdata.logs[72] = (int16)(_IQtoIQ15(simple_scalar1.iqKoefOgranIzad));//(int16)edrk.from_shema_filter.all;
+//
+ logsdata.logs[73] = (int16)(_IQtoIQ14(filter.iqUin_m2));//simple_scalar1.direction;
+ logsdata.logs[74] = (int16)(_IQtoIQ14(edrk.iq_power_kw_full_filter_znak));//
+ logsdata.logs[75] = (int16)(_IQtoIQ15(edrk.iq_freq_50hz));//edrk.iq_freq_50hz
+ logsdata.logs[76] = (int16)(_IQtoIQ15(simple_scalar1.mzz_zad_in1));
+
+
+
+ // can regs
+// logsdata.logs[77] = (int16)(((unsigned long)edrk.canes_reg >> 16) & 0x1ff);
+// logsdata.logs[78] = (int16)((unsigned long)edrk.canes_reg & 0x3f);
+//
+// logsdata.logs[79] = (int16)(edrk.cantec_reg & 0xff);
+// logsdata.logs[80] = (int16)(edrk.canrec_reg & 0xff);
+
+ logsdata.logs[77] = (int16)(_IQtoIQ14(uf_alg.Ud));
+ logsdata.logs[78] = (int16)(_IQtoIQ14(uf_alg.Uq));
+ logsdata.logs[79] = (int16)(_IQtoIQ14(edrk.all_limit_koeffs.uom_limit));//edrk.MasterSlave;
+
+ logsdata.logs[80] = (int16)(_IQtoIQ14(edrk.Kplus));
+
+// logsdata.logs[65] = (int16)(_IQtoIQ14(edrk.all_limit_koeffs.temper_limit));
+ logsdata.logs[81] = (int16)(_IQtoIQ14(edrk.all_limit_koeffs.uin_freq_limit));
+
+ logsdata.logs[82] = (int16)(_IQtoIQ14(uf_alg.svgen_dq_Ta));
+ logsdata.logs[83] = (int16)(_IQtoIQ14(uf_alg.svgen_dq_Tb));
+ logsdata.logs[84] = (int16)(_IQtoIQ14(uf_alg.svgen_dq_Tc));
+
+ // uf_alg.tetta_bs
+
+ // logsdata.logs[64] = (int16)(_IQtoIQ15());
+
+// logsdata.logs[64] = (int16)(_IQtoIQ15());
+
+ logsdata.logs[85] = edrk.from_uom.digital_line.all;
+// logsdata.logs[75] = edrk.errors.e2.all;
+// logsdata.logs[76] = edrk.errors.e3.all;
+// logsdata.logs[77] = edrk.errors.e4.all;
+// logsdata.logs[78] = edrk.errors.e5.all;
+// logsdata.logs[79] = edrk.errors.e6.all;
+// logsdata.logs[80] = edrk.errors.e7.all;
+//
+
+
+
+
+// logsdata.logs[67] = (int16) _IQtoIQ15(WRotor.iqWRotorCalcBeforeRegul1);
+// logsdata.logs[68] = (int16) _IQtoIQ15(WRotor.iqWRotorCalcBeforeRegul2);
+// logsdata.logs[69] = (int16) _IQtoIQ15(WRotor.iqWRotorCalc1);
+
+// logsdata.logs[24] = (int16) _IQtoIQ15(WRotor.iqWRotorCalc2);
+
+// logsdata.logs[70] = (int16) _IQtoIQ15(WRotor.iqWRotorSumRamp);
+
+// logsdata.logs[72] = (int16) (WRotorPBus.RotorDirectionSlow);
+ // logsdata.logs[73] = (int16) (WRotorPBus.RotorDirectionSlow2);
+ // logsdata.logs[74] = (int16) (WRotorPBus.RotorDirectionInstant); //(int16) (WRotorPBus.);
+
+// logsdata.logs[75] = (int16) (WRotor.iqTimeSensor1);
+// logsdata.logs[76] = (int16) (WRotor.iqTimeSensor2);
+//
+// logsdata.logs[77] = (int16) _IQtoIQ15(WRotor.iqWRotorCalc1Ramp);
+// logsdata.logs[78] = (int16) _IQtoIQ15(WRotor.iqWRotorCalc2Ramp);
+//
+// logsdata.logs[79] = (int16) _IQtoIQ15(WRotor.iqPrevWRotorCalc1);
+// logsdata.logs[80] = (int16) _IQtoIQ15(WRotor.iqPrevWRotorCalc2);
+
+// logsdata.logs[81] = (int16) modbus_table_can_in[124].all;//������� (��������);
+// logsdata.logs[82] = (int16) modbus_table_can_in[134].all;//����� ��������
+// logsdata.logs[83] = (int16) modbus_table_can_in[125].all;//�������� (��������)
+//
+// logsdata.logs[84] = (int16) project.cds_in[0].read.pbus.data_in.all;
+// logsdata.logs[85] = (int16) project.cds_in[1].read.pbus.data_in.all;
+
+ logsdata.logs[86] = (int16) _IQtoIQ15(vect_control.iqId1);
+ logsdata.logs[87] = (int16) _IQtoIQ15(vect_control.iqIq1);
+
+ logsdata.logs[88] = (int16) _IQtoIQ15(vect_control.iqId2);
+ logsdata.logs[89] = (int16) _IQtoIQ15(vect_control.iqIq2);
+ logsdata.logs[90] = 0;
+
+ return 90;
+}
+
+
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+
+#define PAUSE_SLOW_LOG 20
+
+void save_slow_logs(int run, int t_slow)
+{
+ static int c_step=0;
+// static int c_all = (FREQ_PWM>>2); // ��� � 0,125 �
+ static int c_all = (FREQ_PWM>>1); // ��� � 0,250 �
+
+ static int prev_run=0;
+ static unsigned int c_pause=0;
+
+ if (rs_a.RS_PrevCmd==CMD_RS232_UPLOAD)
+ return;
+
+ if (run==0 && c_pause>=PAUSE_SLOW_LOG)
+ return;
+
+ c_all = (FREQ_PWM>>(1+t_slow));
+
+ if (c_all<2)
+ c_all = 2;
+
+
+ if (c_step>=c_all)
+ {
+ test_mem_limit(SLOW_LOG, 1);
+
+ // prepare_data_to_logs();
+
+ getSlowLogs(1);
+ c_step = 0;
+
+ if (run==1)
+ c_pause = 0;
+ else
+ {
+ if (c_pause<PAUSE_SLOW_LOG)
+ c_pause++;
+ }
+ }
+ else
+ c_step++;
+
+
+ prev_run = run;
+}
+
+
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////
+#pragma CODE_SECTION(run_write_logs,".fast_run");
+void run_write_logs(void)
+{
+ static unsigned int count_step_run = 0;
+ static int count_step=0, prevGo=0;
+ static int log_saved_to_const_mem = 1;
+ int i_log, local_enable_slow_log;
+
+
+ prepare_data_to_logs();
+
+ if(edrk.Go == 1)
+ {
+ if (edrk.Go != prevGo)
+ {
+ // clear_mem(FAST_LOG);
+ // count_start_impuls = 0;
+ count_step = 0;
+// count_step_ram_off = COUNT_SAVE_LOG_OFF;
+ count_step_run = 0;
+ }
+ }
+
+ prevGo = edrk.Go;
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_23_ON;
+#endif
+
+/*
+
+// if (oscil_can.enable_rewrite && oscil_can.global_enable)
+
+ if (oscil_can.enable_rewrite)
+ {
+
+ if (edrk.Go)
+ oscil_can.status_pwm = 1;
+ else
+ oscil_can.status_pwm = 0;
+
+
+ if ( (edrk.Stop == 0) && (project.controller.read.errors.all==0) )
+ oscil_can.status_error = 0;
+ else
+ oscil_can.status_error = 1;
+
+ oscil_can.oscil_buffer[0][oscil_can.current_position] = global_time.pwm_tics;
+// if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER) {
+ oscil_can.oscil_buffer[1][oscil_can.current_position] = (int16) _IQtoIQ15(filter.iqU_1_long);//xpwm_time.Ta0_0; //(int16) _IQtoIQ15(turns.pidFvect.Ui);
+ oscil_can.oscil_buffer[2][oscil_can.current_position] = (int16) _IQtoIQ15(filter.iqU_2_long);//xpwm_time.Ta0_1; //(int16) _IQtoIQ15(turns.pidFvect.Up);
+ oscil_can.oscil_buffer[3][oscil_can.current_position] = (int16) _IQtoIQ15(turns.pidFvect.Out);
+ oscil_can.oscil_buffer[4][oscil_can.current_position] = (int16) _IQtoIQ15(turns.pidFvect.OutMax);
+ oscil_can.oscil_buffer[5][oscil_can.current_position] = (int16) _IQtoIQ15(power.pidP.Out);
+ oscil_can.oscil_buffer[6][oscil_can.current_position] = (int16) _IQtoIQ15(power.pidP.OutMax);
+// } else {
+// oscil_can.oscil_buffer[1][oscil_can.current_position] = (int16) _IQtoIQ15(simple_scalar1.pidF.Ui); // count_updated_sbus;//xpwm_time.Ta0_0;
+// oscil_can.oscil_buffer[2][oscil_can.current_position] = (int16) _IQtoIQ15(simple_scalar1.pidF.Up);
+// oscil_can.oscil_buffer[3][oscil_can.current_position] = (int16) _IQtoIQ15(simple_scalar1.pidF.Out);//xpwm_time.Tb0_0;
+// oscil_can.oscil_buffer[4][oscil_can.current_position] = (int16) _IQtoIQ15(simple_scalar1.pidF.OutMax);//xpwm_time.Tb0_1;
+// oscil_can.oscil_buffer[5][oscil_can.current_position] = (int16) _IQtoIQ15(simple_scalar1.pidPower.Out);//xpwm_time.Tc0_0;
+// oscil_can.oscil_buffer[6][oscil_can.current_position] = (int16) _IQtoIQ15(simple_scalar1.pidPower.OutMax); //xpwm_time.Tc0_1;
+// }
+
+
+ oscil_can.oscil_buffer[7][oscil_can.current_position] = (int16) _IQtoIQ15(edrk.master_Uzad) ;
+ oscil_can.oscil_buffer[8][oscil_can.current_position] = (int16) _IQtoIQ12(edrk.master_theta);//global_time.microseconds;
+
+ oscil_can.oscil_buffer[9][oscil_can.current_position] = (int16) _IQtoIQ15(analog.iqIu_1);
+ oscil_can.oscil_buffer[10][oscil_can.current_position] = (int16) _IQtoIQ15(analog.iqIv_1);
+ oscil_can.oscil_buffer[11][oscil_can.current_position] = (int16) _IQtoIQ15(analog.iqIw_1);
+
+ oscil_can.oscil_buffer[12][oscil_can.current_position] = (int16) _IQtoIQ15(analog.iqIu_2);
+ oscil_can.oscil_buffer[13][oscil_can.current_position] = (int16) _IQtoIQ15(analog.iqIv_2);
+ oscil_can.oscil_buffer[14][oscil_can.current_position] = (int16) _IQtoIQ15(analog.iqIw_2);
+
+ oscil_can.oscil_buffer[15][oscil_can.current_position] = (int16) _IQtoIQ15(turns.Fzad_rmp); //(int16) _IQtoIQ15(analog.iqU_1);
+ oscil_can.oscil_buffer[16][oscil_can.current_position] = (int16) _IQtoIQ15(WRotor.iqWRotorCalcBeforeRegul1);//(int16) _IQtoIQ15(analog.iqU_2);
+
+// oscil_can.oscil_buffer[17][oscil_can.current_position] = 0;
+
+ oscil_can.oscil_buffer[18][oscil_can.current_position] = (int16) _IQtoIQ15(analog.iqIin_2);
+ oscil_can.oscil_buffer[19][oscil_can.current_position] = (int16) _IQtoIQ15(vect_control.iqUdCompensation);
+ oscil_can.oscil_buffer[20][oscil_can.current_position] = (int16) _IQtoIQ15(vect_control.iqUqCompensation);
+
+ oscil_can.oscil_buffer[21][oscil_can.current_position] = (int16) _IQtoIQ15(edrk.f_stator);
+ oscil_can.oscil_buffer[22][oscil_can.current_position] = (int16) _IQtoIQ12(edrk.k_stator1);
+
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER) {
+ oscil_can.oscil_buffer[17][oscil_can.current_position] = (int16) _IQtoIQ15(vect_control.iqPvsi1 + vect_control.iqPvsi2);
+ oscil_can.oscil_buffer[23][oscil_can.current_position] = (int16) _IQtoIQ15(vect_control.iqId1);//(int16) _IQtoIQ15(WRotorPBus.iqAngle1F);
+ oscil_can.oscil_buffer[24][oscil_can.current_position] = (int16) _IQtoIQ15(vect_control.iqIq1);//(int16) _IQtoIQ15(WRotorPBus.iqAngle2F);
+ oscil_can.oscil_buffer[25][oscil_can.current_position] = (int16) _IQtoIQ15(vect_control.iqFsl);
+ oscil_can.oscil_buffer[26][oscil_can.current_position] = (int16) _IQtoIQ15(turns.mzz_zad_int);
+ oscil_can.oscil_buffer[27][oscil_can.current_position] = (int16) _IQtoIQ15(vect_control.pidD1.Out);//(int16) _IQtoIQ15(WRotorPBus.iqWRotorCalcBeforeRegul1);
+ oscil_can.oscil_buffer[28][oscil_can.current_position] = (int16) _IQtoIQ15(vect_control.pidQ1.Out);
+ oscil_can.oscil_buffer[29][oscil_can.current_position] = (int16) _IQtoIQ15(vect_control.pidD1.Ref);
+ } else {
+ oscil_can.oscil_buffer[17][oscil_can.current_position] = (int16) _IQtoIQ15(analog.PowerScalar);
+ oscil_can.oscil_buffer[23][oscil_can.current_position] = (int16) _IQtoIQ15(simple_scalar1.pidIm1.Ui); // count_updated_sbus;//xpwm_time.Ta0_0;
+ oscil_can.oscil_buffer[24][oscil_can.current_position] = (int16) _IQtoIQ15(simple_scalar1.pidIm1.Up);
+ oscil_can.oscil_buffer[25][oscil_can.current_position] = (int16) _IQtoIQ15(simple_scalar1.pidIm1.Out);
+ oscil_can.oscil_buffer[26][oscil_can.current_position] = (int16) _IQtoIQ15(simple_scalar1.mzz_zad_int);//(int16) _IQtoIQ15(WRotor.iqWRotorCalcBeforeRegul1);
+ oscil_can.oscil_buffer[27][oscil_can.current_position] = (int16) _IQtoIQ15(simple_scalar1.Im_regul);//(int16) _IQtoIQ15(WRotorPBus.iqWRotorCalcBeforeRegul1);
+ oscil_can.oscil_buffer[28][oscil_can.current_position] = (int16) _IQtoIQ15(edrk.Kplus);
+ oscil_can.oscil_buffer[29][oscil_can.current_position] = (int16) _IQtoIQ15(filter.iqIm);
+ }
+
+
+// oscil_can.oscil_buffer[23][oscil_can.current_position] = (int16) _IQtoIQ15(simple_scalar1.Izad);//(int16) _IQtoIQ15(WRotorPBus.iqAngle1F);
+// oscil_can.oscil_buffer[24][oscil_can.current_position] = (int16) _IQtoIQ15(simple_scalar1.Izad_from_master);//(int16) _IQtoIQ15(WRotorPBus.iqAngle2F);
+// oscil_can.oscil_buffer[25][oscil_can.current_position] = (int16) _IQtoIQ15(simple_scalar1.mzz_zad);//(int16) _IQtoIQ15(WRotor.iqWRotorImpulses1);
+
+
+
+ oscil_can.oscil_buffer[30][oscil_can.current_position] = (int16) _IQtoIQ12(edrk.master_theta);//_IQtoIQ15(edrk.Uzad_to_slave);
+ oscil_can.oscil_buffer[31][oscil_can.current_position] = (int16) _IQtoIQ12(edrk.tetta_to_slave);
+
+
+// oscil_can.oscil_buffer[26][oscil_can.current_position] = (int16) _IQtoIQ15(analog.iqUin_m1);
+// oscil_can.oscil_buffer[27][oscil_can.current_position] = (int16) _IQtoIQ15(analog.iqUin_m2);
+//
+// oscil_can.oscil_buffer[28][oscil_can.current_position] = (int16) _IQtoIQ15(analog.iqUin_A1B1);
+// oscil_can.oscil_buffer[29][oscil_can.current_position] = (int16) _IQtoIQ15(analog.iqUin_B1C1);
+// oscil_can.oscil_buffer[30][oscil_can.current_position] = (int16) _IQtoIQ15(analog.iqUin_A2B2);
+// oscil_can.oscil_buffer[31][oscil_can.current_position] = (int16) _IQtoIQ15(analog.iqUin_B2C2);
+
+
+ oscil_can.set_next_position(&oscil_can);
+ }
+*/
+
+
+ // if ((m.m2.bit.LatchCrashError == 0) && (edrk.stop_logs_rs232 == 0))// && (edrk.Go == 1))
+ if ( (edrk.stop_logs_rs232 == 0) && f.flag_record_log)// && (edrk.Go == 1))
+ {
+ test_mem_limit(FAST_LOG, !f.Ciclelog);
+
+ count_step++;
+
+ if (count_step >= 1)//1
+ {
+ count_step_run++;
+ // i_led1_on_off(1);
+// write_to_mem(FAST_LOG, (int16)count_step_run);
+
+ getFastLogs(!f.Ciclelog);
+// for (i_log=0;i_log<72;i_log++)
+// write_to_mem(FAST_LOG, (int16) logsdata.logs[i_log]);
+
+// write_to_mem(FAST_LOG, (int16) logpar.log85);
+
+
+
+// if (logpar.start_write_fast_log) {
+// get_log_params_count();
+// logpar.start_write_fast_log = 0;
+// }
+ count_step = 0;
+ }
+ }
+ else {
+ if (f.Stop && log_params.log_saved_to_const_mem == 0) {
+ log_params.copy_log_to_const_memory = 1;
+ log_params.log_saved_to_const_mem = 1;
+ f.flag_send_alarm_log_to_MPU = 1;
+ }
+ }
+
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
+ PWM_LINES_TK_23_OFF;
+#endif
+
+ if (filter.iqU_1_long>edrk.iqMIN_U_ZPT || filter.iqU_2_long>edrk.iqMIN_U_ZPT)
+ local_enable_slow_log = 1;
+ else
+ local_enable_slow_log = 0;
+
+ if (edrk.stop_logs_rs232 == 0 && edrk.stop_slow_log ==0 && log_to_HMI.send_log == 0)
+ save_slow_logs(edrk.Go || (local_enable_slow_log && edrk.Status_Ready.bits.ready_final==0), edrk.t_slow_log);
+}
+//////////////////////////////////////////////////////////////////
+
+
+
+
diff --git a/Inu/Src/main/pwm_logs.h b/Inu/Src/main/pwm_logs.h
new file mode 100644
index 0000000..8eb5f07
--- /dev/null
+++ b/Inu/Src/main/pwm_logs.h
@@ -0,0 +1,16 @@
+/*
+ * pwm_logs.h
+ *
+ * Created on: 19 ���. 2024 �.
+ * Author: user
+ */
+
+#ifndef SRC_MAIN_PWM_LOGS_H_
+#define SRC_MAIN_PWM_LOGS_H_
+
+unsigned int prepare_data_to_logs(void);
+void save_slow_logs(int run, int t_slow);
+void run_write_logs(void);
+
+
+#endif /* SRC_MAIN_PWM_LOGS_H_ */
diff --git a/Inu/Src/main/pwm_test_lines.c b/Inu/Src/main/pwm_test_lines.c
new file mode 100644
index 0000000..ef24f64
--- /dev/null
+++ b/Inu/Src/main/pwm_test_lines.c
@@ -0,0 +1,36 @@
+
+#include <281xEvTimersInit.h>
+#include <project_setup.h>
+#include <PWMTMSHandle.h>
+
+#include "DSP281x_Device.h"
+#include "MemoryFunctions.h"
+#include "Spartan2E_Adr.h"
+#include "x_wdog.h"
+
+#include <edrk_main.h>
+
+unsigned int cmd_pwm_test_lines = 0xffff;
+
+void pwm_test_lines_start(void)
+{
+ cmd_pwm_test_lines = 0xffff;
+
+// i_WriteMemory(ADR_TK_MASK_1, 0);
+ i_WriteMemory(ADR_PWM_DIRECT2,0xffff);
+// i_WriteMemory(ADR_PWM_DRIVE_MODE, 3); // on direct tk lines
+// i_WriteMemory(ADR_PWM_DIRECT2,0xffff);
+
+ i_WriteMemory(ADR_TK_MASK_1, 0x0); //Turn on additional 16 tk lines
+}
+
+void pwm_test_lines_stop(void)
+{
+ cmd_pwm_test_lines = 0xffff;
+
+ i_WriteMemory(ADR_TK_MASK_1, 0xffff); //Turn off additional 16 tk lines
+ i_WriteMemory(ADR_PWM_DIRECT2,0xffff);
+
+// i_WriteMemory(ADR_PWM_DRIVE_MODE, 0); // off direct tk lines
+}
+
diff --git a/Inu/Src/main/pwm_test_lines.h b/Inu/Src/main/pwm_test_lines.h
new file mode 100644
index 0000000..d411550
--- /dev/null
+++ b/Inu/Src/main/pwm_test_lines.h
@@ -0,0 +1,63 @@
+
+
+
+
+
+
+extern unsigned int cmd_pwm_test_lines;
+
+#define PWM_LINES_TK_16_OFF {cmd_pwm_test_lines &= 0xfffe; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+#define PWM_LINES_TK_16_ON {cmd_pwm_test_lines |= 0x0001; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+
+#define PWM_LINES_TK_17_OFF {cmd_pwm_test_lines &= 0xfffd; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+#define PWM_LINES_TK_17_ON {cmd_pwm_test_lines |= 0x0002; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+
+#define PWM_LINES_TK_18_OFF {cmd_pwm_test_lines &= 0xfffb; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+#define PWM_LINES_TK_18_ON {cmd_pwm_test_lines |= 0x0004; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+
+#define PWM_LINES_TK_19_OFF {cmd_pwm_test_lines &= 0xfff7; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+#define PWM_LINES_TK_19_ON {cmd_pwm_test_lines |= 0x0008; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+////
+#define PWM_LINES_TK_20_OFF {cmd_pwm_test_lines &= 0xffef; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+#define PWM_LINES_TK_20_ON {cmd_pwm_test_lines |= 0x0010; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+
+#define PWM_LINES_TK_21_OFF {cmd_pwm_test_lines &= 0xffdf; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+#define PWM_LINES_TK_21_ON {cmd_pwm_test_lines |= 0x0020; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+
+#define PWM_LINES_TK_22_OFF {cmd_pwm_test_lines &= 0xffbf; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+#define PWM_LINES_TK_22_ON {cmd_pwm_test_lines |= 0x0040; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+
+#define PWM_LINES_TK_23_OFF {cmd_pwm_test_lines &= 0xff7f; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+#define PWM_LINES_TK_23_ON {cmd_pwm_test_lines |= 0x0080; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+//////
+//#define PWM_LINES_TK_24_ON {cmd_pwm_test_lines &= 0xfeff; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+//#define PWM_LINES_TK_24_OFF {cmd_pwm_test_lines |= 0x0100; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+//
+//#define PWM_LINES_TK_25_ON {cmd_pwm_test_lines &= 0xfdff; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+//#define PWM_LINES_TK_25_OFF {cmd_pwm_test_lines |= 0x0200; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+//
+//#define PWM_LINES_TK_26_ON {cmd_pwm_test_lines &= 0xfbff; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+//#define PWM_LINES_TK_26_OFF {cmd_pwm_test_lines |= 0x0400; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+//
+//#define PWM_LINES_TK_27_ON {cmd_pwm_test_lines &= 0xf7ff; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+//#define PWM_LINES_TK_27_OFF {cmd_pwm_test_lines |= 0x0800; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+//////
+//#define PWM_LINES_TK_28_ON {cmd_pwm_test_lines &= 0xefff; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+//#define PWM_LINES_TK_28_OFF {cmd_pwm_test_lines |= 0x1000; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+//
+//#define PWM_LINES_TK_29_ON {cmd_pwm_test_lines &= 0xdfff; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+//#define PWM_LINES_TK_29_OFF {cmd_pwm_test_lines |= 0x2000; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+//
+//#define PWM_LINES_TK_30_ON {cmd_pwm_test_lines &= 0xbfff; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+//#define PWM_LINES_TK_30_OFF {cmd_pwm_test_lines |= 0x4000; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+//
+//#define PWM_LINES_TK_31_ON {cmd_pwm_test_lines &= 0x7fff; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+//#define PWM_LINES_TK_31_OFF {cmd_pwm_test_lines |= 0x8000; i_WriteMemory(ADR_PWM_DIRECT2, cmd_pwm_test_lines);}
+////
+
+
+
+
+/////////////////////////////////////////
+void pwm_test_lines_start(void);
+void pwm_test_lines_stop(void);
diff --git a/Inu/Src/main/ramp_zadanie_tools.c b/Inu/Src/main/ramp_zadanie_tools.c
new file mode 100644
index 0000000..61a6689
--- /dev/null
+++ b/Inu/Src/main/ramp_zadanie_tools.c
@@ -0,0 +1,417 @@
+/*
+ * ramp_zadanie_tools.c
+ *
+ * Created on: 13 ����. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+
+
+#include <edrk_main.h>
+
+#include <params.h>
+#include <params_alg.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+#include <params_temper_p.h>
+#include <project.h>
+#include "IQmathLib.h"
+#include "mathlib.h"
+#include "ramp_zadanie_tools.h"
+#include "v_rotor.h"
+
+
+
+void change_ramp_zadanie(void)
+{
+ _iq rampafloat, rampafloat_plus, rampafloat_minus;
+
+ if (edrk.cmd_very_slow_start)
+ {
+ rampafloat_plus = _IQ((MAX_ZADANIE_OBOROTS_ROTOR/NORMA_FROTOR/60.0)/(FREQ_RUN_RAMP*T_SLOW_NARAST_ZADANIE_OBOROTS_ROTOR_PLUS));
+ rampafloat_minus = _IQ((MAX_ZADANIE_OBOROTS_ROTOR/NORMA_FROTOR/60.0)/(FREQ_RUN_RAMP*T_SLOW_NARAST_ZADANIE_OBOROTS_ROTOR_MINUS));
+ edrk.zadanie.rmp_oborots_zad_hz.PosRampPlus1 = rampafloat_plus;
+ edrk.zadanie.rmp_oborots_zad_hz.PosRampMinus1 = -rampafloat_minus;
+
+ edrk.zadanie.rmp_oborots_zad_hz.NegRampPlus1 = rampafloat_minus;
+ edrk.zadanie.rmp_oborots_zad_hz.NegRampMinus1 = -rampafloat_plus;
+
+// rampafloat_plus = _IQ((MAX_ZADANIE_OBOROTS_ROTOR/NORMA_FROTOR/60.0)/(FREQ_RUN_RAMP*T_SLOW_NARAST_ZADANIE_OBOROTS_ROTOR_PLUS));
+// rampafloat_minus = _IQ((MAX_ZADANIE_OBOROTS_ROTOR/NORMA_FROTOR/60.0)/(FREQ_RUN_RAMP*T_SLOW_NARAST_ZADANIE_OBOROTS_ROTOR_MINUS));
+ edrk.zadanie.rmp_oborots_zad_hz.PosRampPlus2 = rampafloat_plus;
+ edrk.zadanie.rmp_oborots_zad_hz.PosRampMinus2 = -rampafloat_minus;
+
+ edrk.zadanie.rmp_oborots_zad_hz.NegRampPlus2 = rampafloat_minus;
+ edrk.zadanie.rmp_oborots_zad_hz.NegRampMinus2 = -rampafloat_plus;
+ }
+ else
+ {
+ rampafloat_plus = _IQ((MAX_ZADANIE_OBOROTS_ROTOR/NORMA_FROTOR/60.0)/(FREQ_RUN_RAMP*T1_NARAST_ZADANIE_OBOROTS_ROTOR_PLUS));
+ rampafloat_minus = _IQ((MAX_ZADANIE_OBOROTS_ROTOR/NORMA_FROTOR/60.0)/(FREQ_RUN_RAMP*T1_NARAST_ZADANIE_OBOROTS_ROTOR_MINUS));
+ edrk.zadanie.rmp_oborots_zad_hz.PosRampPlus1 = rampafloat_plus;
+ edrk.zadanie.rmp_oborots_zad_hz.PosRampMinus1 = -rampafloat_minus;
+
+ edrk.zadanie.rmp_oborots_zad_hz.NegRampPlus1 = rampafloat_minus;
+ edrk.zadanie.rmp_oborots_zad_hz.NegRampMinus1 = -rampafloat_plus;
+
+ rampafloat_plus = _IQ((MAX_ZADANIE_OBOROTS_ROTOR/NORMA_FROTOR/60.0)/(FREQ_RUN_RAMP*T2_NARAST_ZADANIE_OBOROTS_ROTOR_PLUS));
+ rampafloat_minus = _IQ((MAX_ZADANIE_OBOROTS_ROTOR/NORMA_FROTOR/60.0)/(FREQ_RUN_RAMP*T2_NARAST_ZADANIE_OBOROTS_ROTOR_MINUS));
+ edrk.zadanie.rmp_oborots_zad_hz.PosRampPlus2 = rampafloat_plus;
+ edrk.zadanie.rmp_oborots_zad_hz.PosRampMinus2 = -rampafloat_minus;
+
+ edrk.zadanie.rmp_oborots_zad_hz.NegRampPlus2 = rampafloat_minus;
+ edrk.zadanie.rmp_oborots_zad_hz.NegRampMinus2 = -rampafloat_plus;
+
+ }
+
+}
+
+void init_ramp_all_zadanie(void)
+{
+ _iq rampafloat, rampafloat_plus, rampafloat_minus;
+
+//rmp_oborots_imitation
+ edrk.zadanie.rmp_oborots_imitation.RampLowLimit = _IQ(MIN_ZADANIE_OBOROTS_ROTOR/60.0/NORMA_FROTOR);
+ edrk.zadanie.rmp_oborots_imitation.RampHighLimit = _IQ(MAX_ZADANIE_OBOROTS_ROTOR/60.0/NORMA_FROTOR);
+ rampafloat = _IQ((MAX_ZADANIE_OBOROTS_ROTOR/NORMA_FROTOR/60.0)/(FREQ_RUN_RAMP*T_NARAST_ZADANIE_IMITATION_OBOROTS_ROTOR));
+ edrk.zadanie.rmp_oborots_imitation.RampPlus = rampafloat;
+ edrk.zadanie.rmp_oborots_imitation.RampMinus = -rampafloat;
+
+ edrk.zadanie.rmp_oborots_imitation.Out = 0;
+ edrk.zadanie.rmp_oborots_imitation.DesiredInput = 0;
+
+// rmp_fzad
+ edrk.zadanie.rmp_fzad.RampLowLimit = _IQ(-MAX_ZADANIE_F/NORMA_FROTOR); //0
+ edrk.zadanie.rmp_fzad.RampHighLimit = _IQ(MAX_ZADANIE_F/NORMA_FROTOR);
+
+// rampafloat = _IQ(1.0/(FREQ_RUN_RAMP*T_NARAST_ZADANIE_F));
+ rampafloat = _IQ((MAX_ZADANIE_F/NORMA_FROTOR)/(FREQ_RUN_RAMP*T_NARAST_ZADANIE_F));
+ edrk.zadanie.rmp_fzad.RampPlus = rampafloat;
+ edrk.zadanie.rmp_fzad.RampMinus = -rampafloat;
+
+ edrk.zadanie.rmp_fzad.DesiredInput = 0;
+ edrk.zadanie.rmp_fzad.Out = 0;
+
+// rmp_oborots_hz
+ edrk.zadanie.rmp_oborots_zad_hz.RampLowLimit = _IQ(MIN_ZADANIE_OBOROTS_ROTOR/60.0/NORMA_FROTOR); //0
+ edrk.zadanie.rmp_oborots_zad_hz.RampHighLimit = _IQ(MAX_ZADANIE_OBOROTS_ROTOR/60.0/NORMA_FROTOR);
+
+ edrk.zadanie.rmp_oborots_zad_hz.RampLowLimit1 = _IQ(MIN_1_ZADANIE_OBOROTS_ROTOR/60.0/NORMA_FROTOR); //0
+ edrk.zadanie.rmp_oborots_zad_hz.RampHighLimit1 = _IQ(MAX_1_ZADANIE_OBOROTS_ROTOR/60.0/NORMA_FROTOR);
+
+// rampafloat = _IQ(1.0/(FREQ_RUN_RAMP*T_NARAST_ZADANIE_OBOROTS_ROTOR));
+// rampafloat = _IQ((MAX_ZADANIE_OBOROTS_ROTOR/NORMA_FROTOR/60.0)/(FREQ_RUN_RAMP*T_NARAST_ZADANIE_OBOROTS_ROTOR));
+// edrk.zadanie.rmp_oborots_zad_hz.RampPlus = rampafloat;
+// edrk.zadanie.rmp_oborots_zad_hz.RampMinus = -rampafloat;
+
+ change_ramp_zadanie();
+
+ edrk.zadanie.rmp_oborots_zad_hz.DesiredInput = 0;
+ edrk.zadanie.rmp_oborots_zad_hz.Out = 0;
+
+
+//
+ edrk.zadanie.rmp_Izad.RampLowLimit = _IQ(0); //0
+ edrk.zadanie.rmp_Izad.RampHighLimit = _IQ(MAX_ZADANIE_I_M/NORMA_ACP);
+
+// rampafloat = _IQ(1.0/(FREQ_RUN_RAMP*T_NARAST_ZADANIE_I_M));
+ rampafloat = _IQ((MAX_ZADANIE_I_M/NORMA_ACP)/(FREQ_RUN_RAMP*T_NARAST_ZADANIE_I_M));
+ edrk.zadanie.rmp_Izad.RampPlus = rampafloat;
+ edrk.zadanie.rmp_Izad.RampMinus = -rampafloat;
+
+ edrk.zadanie.rmp_Izad.DesiredInput = 0;
+ edrk.zadanie.rmp_Izad.Out = 0;
+
+//
+ edrk.zadanie.rmp_ZadanieU_Charge.RampLowLimit = _IQ(0); //0
+ edrk.zadanie.rmp_ZadanieU_Charge.RampHighLimit = _IQ(MAX_ZADANIE_U_CHARGE/NORMA_ACP);
+
+// rampafloat = _IQ(1.0/(FREQ_RUN_RAMP*T_NARAST_ZADANIE_U_CHARGE));
+ rampafloat = _IQ((MAX_ZADANIE_U_CHARGE/NORMA_ACP)/(FREQ_RUN_RAMP*T_NARAST_ZADANIE_U_CHARGE));
+ edrk.zadanie.rmp_ZadanieU_Charge.RampPlus = rampafloat;
+ edrk.zadanie.rmp_ZadanieU_Charge.RampMinus = -rampafloat;
+
+ edrk.zadanie.rmp_ZadanieU_Charge.DesiredInput = _IQ(NOMINAL_U_ZARYAD/NORMA_ACP);
+ edrk.zadanie.rmp_ZadanieU_Charge.Out = _IQ(NOMINAL_U_ZARYAD/NORMA_ACP);
+
+
+
+//
+ edrk.zadanie.rmp_k_u_disbalance.RampLowLimit = _IQ(0); //0
+ edrk.zadanie.rmp_k_u_disbalance.RampHighLimit = _IQ(MAX_ZADANIE_K_U_DISBALANCE);
+
+// rampafloat = _IQ(1.0/(FREQ_RUN_RAMP*T_NARAST_ZADANIE_K_U_DISBALANCE));
+ rampafloat = _IQ((MAX_ZADANIE_K_U_DISBALANCE)/(FREQ_RUN_RAMP*T_NARAST_ZADANIE_K_U_DISBALANCE));
+ edrk.zadanie.rmp_k_u_disbalance.RampPlus = rampafloat;
+ edrk.zadanie.rmp_k_u_disbalance.RampMinus = -rampafloat;
+
+ edrk.zadanie.rmp_k_u_disbalance.DesiredInput = 0;
+ edrk.zadanie.rmp_k_u_disbalance.Out = 0;
+
+
+//
+ edrk.zadanie.rmp_kplus_u_disbalance.RampLowLimit = _IQ(0); //0
+ edrk.zadanie.rmp_kplus_u_disbalance.RampHighLimit = _IQ(MAX_ZADANIE_KPLUS_U_DISBALANCE);
+
+// rampafloat = _IQ(1.0/(FREQ_RUN_RAMP*T_NARAST_ZADANIE_KPLUS_U_DISBALANCE));
+ rampafloat = _IQ((MAX_ZADANIE_KPLUS_U_DISBALANCE)/(FREQ_RUN_RAMP*T_NARAST_ZADANIE_KPLUS_U_DISBALANCE));
+ edrk.zadanie.rmp_kplus_u_disbalance.RampPlus = rampafloat;
+ edrk.zadanie.rmp_kplus_u_disbalance.RampMinus = -rampafloat;
+
+ edrk.zadanie.rmp_kplus_u_disbalance.DesiredInput = 0;
+ edrk.zadanie.rmp_kplus_u_disbalance.Out = 0;
+
+
+
+//
+ edrk.zadanie.rmp_kzad.RampLowLimit = _IQ(0); //0
+ edrk.zadanie.rmp_kzad.RampHighLimit = _IQ(MAX_ZADANIE_K_M);
+
+// rampafloat = _IQ(1.0/(2.0*FREQ_PWM*T_NARAST_ZADANIE_K_M));
+ rampafloat = _IQ((MAX_ZADANIE_K_M)/(2.0*FREQ_PWM*T_NARAST_ZADANIE_K_M));
+ edrk.zadanie.rmp_kzad.RampPlus = rampafloat;
+ edrk.zadanie.rmp_kzad.RampMinus = -rampafloat;
+
+ edrk.zadanie.rmp_kzad.DesiredInput = 0;
+ edrk.zadanie.rmp_kzad.Out = 0;
+
+
+//
+ edrk.zadanie.rmp_powers_zad.RampLowLimit = _IQ(MIN_ZADANIE_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ)); //0
+ edrk.zadanie.rmp_powers_zad.RampHighLimit = _IQ(MAX_ZADANIE_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ));
+
+ edrk.zadanie.rmp_powers_zad.RampLowLimit1 = _IQ(MIN_1_ZADANIE_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ));
+ edrk.zadanie.rmp_powers_zad.RampHighLimit1 = _IQ(MAX_1_ZADANIE_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ));
+
+// rampafloat = _IQ((MAX_ZADANIE_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ))/(FREQ_RUN_RAMP*T_NARAST_ZADANIE_POWER));
+// edrk.zadanie.rmp_powers_zad.RampPlus = rampafloat;
+// edrk.zadanie.rmp_powers_zad.RampMinus = -rampafloat;
+
+
+////
+ rampafloat_plus = _IQ((MAX_ZADANIE_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ))/(FREQ_RUN_RAMP*T1_NARAST_ZADANIE_POWER_PLUS));
+ rampafloat_minus = _IQ((MAX_ZADANIE_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ))/(FREQ_RUN_RAMP*T1_NARAST_ZADANIE_POWER_MINUS));
+
+ edrk.zadanie.rmp_powers_zad.PosRampPlus1 = rampafloat_plus;
+ edrk.zadanie.rmp_powers_zad.PosRampMinus1 = -rampafloat_minus;
+
+ edrk.zadanie.rmp_powers_zad.NegRampPlus1 = rampafloat_minus;
+ edrk.zadanie.rmp_powers_zad.NegRampMinus1 = -rampafloat_plus;
+
+ rampafloat_plus = _IQ((MAX_ZADANIE_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ))/(FREQ_RUN_RAMP*T2_NARAST_ZADANIE_POWER_PLUS));
+ rampafloat_minus = _IQ((MAX_ZADANIE_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ))/(FREQ_RUN_RAMP*T2_NARAST_ZADANIE_POWER_MINUS));
+
+ edrk.zadanie.rmp_powers_zad.PosRampPlus2 = rampafloat_plus;
+ edrk.zadanie.rmp_powers_zad.PosRampMinus2 = -rampafloat_minus;
+
+ edrk.zadanie.rmp_powers_zad.NegRampPlus2 = rampafloat_minus;
+ edrk.zadanie.rmp_powers_zad.NegRampMinus2 = -rampafloat_plus;
+
+////
+
+ edrk.zadanie.rmp_powers_zad.DesiredInput = 0;
+ edrk.zadanie.rmp_powers_zad.Out = 0;
+
+//
+
+ edrk.zadanie.rmp_limit_powers_zad.RampLowLimit = 0;//_IQ(0); //0
+ edrk.zadanie.rmp_limit_powers_zad.RampHighLimit = _IQ(SUPER_MAX_ZADANIE_LIMIT_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ));
+
+ edrk.zadanie.rmp_limit_powers_zad.RampLowLimit1 = 0;
+ edrk.zadanie.rmp_limit_powers_zad.RampHighLimit1 = _IQ(MAX_1_ZADANIE_LIMIT_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ));
+
+ rampafloat_plus = _IQ((SUPER_MAX_ZADANIE_LIMIT_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ))/(FREQ_RUN_RAMP*T1_NARAST_ZADANIE_LIMIT_POWER_PLUS));
+ rampafloat_minus = _IQ((SUPER_MAX_ZADANIE_LIMIT_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ))/(FREQ_RUN_RAMP*T1_NARAST_ZADANIE_LIMIT_POWER_MINUS));
+
+ edrk.zadanie.rmp_limit_powers_zad.PosRampPlus1 = rampafloat_plus;
+ edrk.zadanie.rmp_limit_powers_zad.PosRampMinus1 = -rampafloat_minus;
+
+ edrk.zadanie.rmp_limit_powers_zad.NegRampPlus1 = rampafloat_minus;
+ edrk.zadanie.rmp_limit_powers_zad.NegRampMinus1 = -rampafloat_plus;
+
+ rampafloat_plus = _IQ((MAX_ZADANIE_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ))/(FREQ_RUN_RAMP*T2_NARAST_ZADANIE_POWER_PLUS));
+ rampafloat_minus = _IQ((MAX_ZADANIE_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ))/(FREQ_RUN_RAMP*T2_NARAST_ZADANIE_POWER_MINUS));
+
+ edrk.zadanie.rmp_limit_powers_zad.PosRampPlus2 = rampafloat_plus;
+ edrk.zadanie.rmp_limit_powers_zad.PosRampMinus2 = -rampafloat_minus;
+
+ edrk.zadanie.rmp_limit_powers_zad.NegRampPlus2 = rampafloat_minus;
+ edrk.zadanie.rmp_limit_powers_zad.NegRampMinus2 = -rampafloat_plus;
+
+// rampafloat = _IQ((MAX_ZADANIE_LIMIT_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ))/(FREQ_RUN_RAMP*T_NARAST_ZADANIE_LIMIT_POWER));
+
+// edrk.zadanie.rmp_limit_powers_zad.RampPlus = rampafloat;
+// edrk.zadanie.rmp_limit_powers_zad.RampMinus = -rampafloat;
+
+ edrk.zadanie.rmp_limit_powers_zad.DesiredInput = 0;
+ edrk.zadanie.rmp_limit_powers_zad.Out = 0;
+
+//
+
+
+}
+
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+#pragma CODE_SECTION(ramp_all_zadanie,".fast_run");
+void load_current_ramp_oborots_power(void)
+{
+ int mode=0;
+ static int prev_mode = 0;
+
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_OBOROTS ||
+ edrk.Mode_ScalarVectorUFConst == ALG_MODE_SCALAR_OBOROTS)
+ mode = 1;
+
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_FOC_POWER ||
+ edrk.Mode_ScalarVectorUFConst == ALG_MODE_SCALAR_POWER)
+ mode = 2;
+
+ if (mode==1 && prev_mode==2)
+ {
+ // ���� ��������, � ����� �������
+ edrk.zadanie.rmp_oborots_zad_hz.Out = WRotor.iqWRotorSumFilter3;
+ //edrk.zadanie.iq_oborots_zad_hz = WRotor.iqWRotorSumFilter3;
+ }
+
+
+ if (mode==2 && prev_mode==1)
+ {
+ // ���� �������, � ����� ��������
+ edrk.zadanie.rmp_powers_zad.Out = edrk.iq_power_kw_one_filter_znak;//filter.PowerScalarFilter2;
+ }
+
+ prev_mode = mode;
+
+}
+//////////////////////////////////////////////////////////
+#pragma CODE_SECTION(ramp_all_zadanie,".fast_run");
+void ramp_all_zadanie(int flag_set_zero)
+{
+
+// if (edrk.Status_Ready.bits.ImitationReady2)
+ {
+ edrk.zadanie.rmp_oborots_imitation.DesiredInput = edrk.zadanie.iq_oborots_zad_hz;
+ edrk.zadanie.rmp_oborots_imitation.calc(&edrk.zadanie.rmp_oborots_imitation);
+ edrk.zadanie.rmp_oborots_imitation_rmp = edrk.zadanie.rmp_oborots_imitation.Out;
+ }
+ //////////////////////////////////////////////
+ if (flag_set_zero==0)
+ edrk.zadanie.rmp_Izad.DesiredInput = edrk.zadanie.iq_Izad;
+ else
+ if (flag_set_zero==2)
+ {
+ edrk.zadanie.rmp_Izad.DesiredInput = 0;
+ edrk.zadanie.rmp_Izad.Out = 0;
+ }
+ else
+ edrk.zadanie.rmp_Izad.DesiredInput = 0;
+
+ edrk.zadanie.rmp_Izad.calc(&edrk.zadanie.rmp_Izad);
+ edrk.zadanie.iq_Izad_rmp = edrk.zadanie.rmp_Izad.Out;
+ //////////////////////////////////////////////
+ edrk.zadanie.rmp_ZadanieU_Charge.DesiredInput = edrk.zadanie.iq_ZadanieU_Charge;
+ edrk.zadanie.rmp_ZadanieU_Charge.calc(&edrk.zadanie.rmp_ZadanieU_Charge);
+ edrk.zadanie.iq_ZadanieU_Charge_rmp = edrk.zadanie.rmp_ZadanieU_Charge.Out;
+ //////////////////////////////////////////////
+ if (flag_set_zero==0)
+ edrk.zadanie.rmp_fzad.DesiredInput = edrk.zadanie.iq_fzad;
+ else
+ if (flag_set_zero==2)
+ {
+ edrk.zadanie.rmp_fzad.DesiredInput = 0;
+ edrk.zadanie.rmp_fzad.Out = 0;
+ }
+ else
+ edrk.zadanie.rmp_fzad.DesiredInput = 0;
+
+ edrk.zadanie.rmp_fzad.calc(&edrk.zadanie.rmp_fzad);
+ edrk.zadanie.iq_fzad_rmp = edrk.zadanie.rmp_fzad.Out;
+ //////////////////////////////////////////////
+ edrk.zadanie.rmp_k_u_disbalance.DesiredInput = edrk.zadanie.iq_k_u_disbalance;
+ edrk.zadanie.rmp_k_u_disbalance.calc(&edrk.zadanie.rmp_k_u_disbalance);
+ edrk.zadanie.iq_k_u_disbalance_rmp = edrk.zadanie.rmp_k_u_disbalance.Out;
+ //////////////////////////////////////////////
+ edrk.zadanie.rmp_kplus_u_disbalance.DesiredInput = edrk.zadanie.iq_kplus_u_disbalance;
+ edrk.zadanie.rmp_kplus_u_disbalance.calc(&edrk.zadanie.rmp_kplus_u_disbalance);
+ edrk.zadanie.iq_kplus_u_disbalance_rmp = edrk.zadanie.rmp_kplus_u_disbalance.Out;
+ //////////////////////////////////////////////
+ if (flag_set_zero==0)
+ edrk.zadanie.rmp_kzad.DesiredInput = edrk.zadanie.iq_kzad;
+ else
+ if (flag_set_zero==2)
+ {
+ edrk.zadanie.rmp_kzad.DesiredInput = 0;
+ edrk.zadanie.rmp_kzad.Out = 0;
+ }
+ else
+ edrk.zadanie.rmp_kzad.DesiredInput = 0;
+ edrk.zadanie.rmp_kzad.calc(&edrk.zadanie.rmp_kzad);
+ edrk.zadanie.iq_kzad_rmp = edrk.zadanie.rmp_kzad.Out;
+ //////////////////////////////////////////////
+ if (flag_set_zero==0)
+ edrk.zadanie.rmp_oborots_zad_hz.DesiredInput = edrk.zadanie.iq_oborots_zad_hz;
+ else
+ if (flag_set_zero==2)
+ {
+ edrk.zadanie.rmp_oborots_zad_hz.DesiredInput = 0;
+ edrk.zadanie.rmp_oborots_zad_hz.Out = 0;
+ }
+ else
+ edrk.zadanie.rmp_oborots_zad_hz.DesiredInput = 0;
+
+ edrk.zadanie.rmp_oborots_zad_hz.calc(&edrk.zadanie.rmp_oborots_zad_hz);
+ edrk.zadanie.iq_oborots_zad_hz_rmp = edrk.zadanie.rmp_oborots_zad_hz.Out;
+
+ //////////////////////////////////////////////
+// if (flag_set_zero==0)
+// edrk.zadanie.rmp_limit_powers_zad.DesiredInput = edrk.zadanie.iq_limit_power_zad;
+// else
+// if (flag_set_zero==2)
+// {
+// edrk.zadanie.rmp_limit_powers_zad.DesiredInput = 0;
+// edrk.zadanie.rmp_limit_powers_zad.Out = 0;
+// }
+// else
+// edrk.zadanie.rmp_limit_powers_zad.DesiredInput = 0;
+
+ edrk.zadanie.rmp_limit_powers_zad.DesiredInput = edrk.zadanie.iq_limit_power_zad;
+ edrk.zadanie.rmp_limit_powers_zad.calc(&edrk.zadanie.rmp_limit_powers_zad);
+ edrk.zadanie.iq_limit_power_zad_rmp = edrk.zadanie.rmp_limit_powers_zad.Out;
+
+
+
+ //////////////////////////////////////////////
+ if (flag_set_zero==0)
+ {
+ if (edrk.zadanie.iq_power_zad>=0)
+ {
+ if (edrk.zadanie.iq_power_zad>edrk.zadanie.iq_limit_power_zad_rmp)
+ edrk.zadanie.rmp_powers_zad.DesiredInput = edrk.zadanie.iq_limit_power_zad_rmp;
+ else
+ edrk.zadanie.rmp_powers_zad.DesiredInput = edrk.zadanie.iq_power_zad;
+ }
+ else
+ {
+ if (edrk.zadanie.iq_power_zad<-edrk.zadanie.iq_limit_power_zad_rmp)
+ edrk.zadanie.rmp_powers_zad.DesiredInput = -edrk.zadanie.iq_limit_power_zad_rmp;
+ else
+ edrk.zadanie.rmp_powers_zad.DesiredInput = edrk.zadanie.iq_power_zad;
+ }
+
+ }
+ else
+ if (flag_set_zero==2)
+ {
+ edrk.zadanie.rmp_powers_zad.DesiredInput = 0;
+ edrk.zadanie.rmp_powers_zad.Out = 0;
+ }
+ else
+ edrk.zadanie.rmp_powers_zad.DesiredInput = 0;
+
+ edrk.zadanie.rmp_powers_zad.calc(&edrk.zadanie.rmp_powers_zad);
+ edrk.zadanie.iq_power_zad_rmp = edrk.zadanie.rmp_powers_zad.Out;
+
+}
+
+//////////////////////////////////////////////////////////
diff --git a/Inu/Src/main/ramp_zadanie_tools.h b/Inu/Src/main/ramp_zadanie_tools.h
new file mode 100644
index 0000000..c90acb6
--- /dev/null
+++ b/Inu/Src/main/ramp_zadanie_tools.h
@@ -0,0 +1,20 @@
+/*
+ * ramp_zadanie_tools.h
+ *
+ * Created on: 13 ����. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+#ifndef SRC_MAIN_RAMP_ZADANIE_TOOLS_H_
+#define SRC_MAIN_RAMP_ZADANIE_TOOLS_H_
+
+#define FREQ_RUN_RAMP FREQ_PWM // (2.0*FREQ_PWM)
+
+
+void ramp_all_zadanie(int flag_set_zero);
+void change_ramp_zadanie(void);
+void init_ramp_all_zadanie(void);
+void load_current_ramp_oborots_power(void);
+
+
+#endif /* SRC_MAIN_RAMP_ZADANIE_TOOLS_H_ */
diff --git a/Inu/Src/main/sbor_shema.c b/Inu/Src/main/sbor_shema.c
new file mode 100644
index 0000000..7157fd1
--- /dev/null
+++ b/Inu/Src/main/sbor_shema.c
@@ -0,0 +1,1764 @@
+/*
+ * sbor_shema.c
+ *
+ * Created on: 18 ����. 2021 �.
+ * Author: stud
+ */
+#include "sbor_shema.h"
+#include "IQmathLib.h"
+#include "edrk_main.h"
+#include "optical_bus.h"
+#include "adc_tools.h"
+#include "control_station.h"
+#include "control_station_project.h"
+#include "digital_filters.h"
+#include "detect_errors.h"
+
+#define RASCEPITEL_MANUAL_ALWAYS_ON 0//1
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+//#define IQ_MINIMAL_DELTA_RUN_CHARGE_1 559240 //100V
+//#define IQ_MINIMAL_DELTA_RUN_CHARGE_2 1118480 //200V
+
+//#define IQ_MINIMAL_DELTA_RUN_CHARGE 279620 // 50V
+#define IQ_MINIMAL_DELTA_RUN_CHARGE_1 1118480// 200 V ///279620 // 50V
+#define IQ_MINIMAL_DELTA_RUN_CHARGE_2 1118480// 200 V //279620 // 50V
+
+#define IQ_MINIMAL_DELTA_RUN_WORK 2796202 // 500V // 2236960 // 400V // 1677720 // 300 V // 559240 // 100V
+
+#define IQ_MINIMAL_ZAD_U_CHARGE 55924 // 10V
+#define IQ_MAXIMAL_ZAD_U_CHARGE 14596177 // 2610V
+#define IQ_MINIMAL_DELTA_RUN_CHARGE2 139810 //25 V
+#define TIME_WAIT_CHARGE_ON 300 //30 sec
+#define TIME_PAUSE_U_RISE 30 // 1 sec
+
+#define IQ_MINIMAL_RISE_U 55924 // 10V
+
+unsigned int zaryad_on_off(unsigned int flag)
+{
+ static int restart_charge=0, batt_ok = 0;
+ static unsigned int time_wait_on_charge=0;
+ static unsigned int time_pause_detect_u_rise=0;
+
+ static _iq prev_U1=0, prev_U2 = 0;
+
+ batt_ok = 0;
+// �������� �� ������ - ������!!!
+ if (_IQabs(filter.iqU_1_long-filter.iqU_2_long)>IQ_MINIMAL_DELTA_RUN_WORK)
+ {
+// edrk.errors.e6.bits.ERROR_PRE_CHARGE_U |= 1;
+ edrk.errors.e6.bits.ER_DISBAL_BATT |= 1;
+ edrk.to_ing.bits.ZARYAD_ON = 0;
+ batt_ok = 0;
+ }
+
+ if (flag && edrk.summ_errors==0 && edrk.errors.e6.bits.ERROR_PRE_CHARGE_U==0 && edrk.errors.e6.bits.ER_DISBAL_BATT==0 )
+ {
+// ��� �������!!!
+ if ((edrk.zadanie.iq_ZadanieU_Charge-IQ_MINIMAL_ZAD_U_CHARGE) <= 0)
+ {
+ edrk.errors.e5.bits.ERROR_PRE_CHARGE_ON |= 1;
+ edrk.to_ing.bits.ZARYAD_ON = 0;
+ return 0;
+ }
+ // ������� �������!!!
+
+ if ((IQ_MAXIMAL_ZAD_U_CHARGE - edrk.zadanie.iq_ZadanieU_Charge) < 0)
+ {
+ edrk.errors.e5.bits.ERROR_PRE_CHARGE_ON |= 1;
+ edrk.to_ing.bits.ZARYAD_ON = 0;
+ return 0;
+ }
+
+// ���� �������� �� ������
+ if (_IQabs(filter.iqU_1_long-filter.iqU_2_long)>IQ_MINIMAL_DELTA_RUN_WORK) //IQ_MINIMAL_DELTA_RUN_CHARGE_1
+ {
+ edrk.errors.e6.bits.ER_DISBAL_BATT |= 1;
+ edrk.to_ing.bits.ZARYAD_ON = 0;
+ return 0;
+ }
+
+ if (restart_charge == 0)
+ {
+
+ // ����� ����� � ���� ��������, ���������
+ if ( edrk.from_ing1.bits.ZARYAD_ON &&
+ (filter.iqU_1_long>=(edrk.zadanie.iq_ZadanieU_Charge-IQ_MINIMAL_DELTA_RUN_CHARGE_1)
+ || filter.iqU_2_long>=(edrk.zadanie.iq_ZadanieU_Charge-IQ_MINIMAL_DELTA_RUN_CHARGE_1))
+ )
+ {
+ restart_charge = 1;
+ edrk.to_ing.bits.ZARYAD_ON = 0;
+ }
+ else
+ {
+ //TODO !!! �� ���� ��������� ���������� if. �������?
+ if ( edrk.from_ing1.bits.ZARYAD_ON==0 &&
+ (filter.iqU_1_long>=(edrk.zadanie.iq_ZadanieU_Charge-IQ_MINIMAL_DELTA_RUN_CHARGE_2)
+ || filter.iqU_2_long>=(edrk.zadanie.iq_ZadanieU_Charge-IQ_MINIMAL_DELTA_RUN_CHARGE_2)) )
+ {
+ restart_charge = 1;
+ edrk.to_ing.bits.ZARYAD_ON = 0;
+ }
+ else
+ {
+ // ����� ������ �������, ��������.
+ if ( (filter.iqU_1_long<(edrk.zadanie.iq_ZadanieU_Charge-IQ_MINIMAL_DELTA_RUN_CHARGE_2))
+ && (filter.iqU_2_long<(edrk.zadanie.iq_ZadanieU_Charge-IQ_MINIMAL_DELTA_RUN_CHARGE_2)) )
+ edrk.to_ing.bits.ZARYAD_ON = 1;
+
+ }
+
+ }
+
+ if (pause_detect_error(&time_pause_detect_u_rise,TIME_PAUSE_U_RISE,1))
+ {
+ time_pause_detect_u_rise = 0;
+
+ if (((filter.iqU_1_long-prev_U1)>=IQ_MINIMAL_RISE_U) ||
+ ((filter.iqU_2_long-prev_U2)>=IQ_MINIMAL_RISE_U) )
+ time_wait_on_charge = 0;
+
+
+ prev_U1 = filter.iqU_1_long;
+ prev_U2 = filter.iqU_2_long;
+ }
+
+
+ // �� ��������� ������!!!
+ if (pause_detect_error(&time_wait_on_charge,TIME_WAIT_CHARGE_ON,1))
+ edrk.errors.e6.bits.ERROR_PRE_CHARGE_U |= 1;
+/*
+
+ if (filter.iqU_1_long>=(edrk.iq_ZadanieU_Charge-IQ_MINIMAL_DELTA_RUN_CHARGE2)
+ || filter.iqU_2_long>=(edrk.iq_ZadanieU_Charge-IQ_MINIMAL_DELTA_RUN_CHARGE2))
+ {
+ restart_charge = 1;
+ edrk.to_ing.bits.ZARYAD_ON = 0;
+ }
+ else
+ {
+ // ���� �������� �� ������
+ if (_IQabs(filter.iqU_1_long-filter.iqU_2_long)>IQ_MINIMAL_DELTA_RUN_CHARGE)
+ edrk.errors.e6.bits.ER_DISBAL_BATT |= 1;
+
+ // ����� ������ �������, ��������.
+ if ( (filter.iqU_1_long<(edrk.iq_ZadanieU_Charge-IQ_MINIMAL_DELTA_RUN_CHARGE))
+ || (filter.iqU_2_long<(edrk.iq_ZadanieU_Charge-IQ_MINIMAL_DELTA_RUN_CHARGE)) )
+ edrk.to_ing.bits.ZARYAD_ON = 1;
+
+ if ( (filter.iqU_1_long>=(edrk.iq_ZadanieU_Charge))
+ && (filter.iqU_2_long>=(edrk.iq_ZadanieU_Charge)) )
+ {
+ restart_charge = 1;
+ edrk.to_ing.bits.ZARYAD_ON = 0;
+ }
+ }
+*/
+
+ }
+ else//restart_charge==0
+ {
+ // ������-�� ����� ���� ������!!!
+ if ( (filter.iqU_1_long<(edrk.zadanie.iq_ZadanieU_Charge-IQ_MINIMAL_DELTA_RUN_CHARGE_2))
+ || (filter.iqU_2_long<(edrk.zadanie.iq_ZadanieU_Charge-IQ_MINIMAL_DELTA_RUN_CHARGE_2)) )
+ edrk.errors.e6.bits.ERROR_PRE_CHARGE_U |= 1;
+
+ } //restart_charge==0
+ }
+ else // flag==1
+ {
+ restart_charge = 0;
+ edrk.to_ing.bits.ZARYAD_ON = 0;
+ time_wait_on_charge = 0;
+ prev_U1 = filter.iqU_1_long;
+ prev_U2 = filter.iqU_2_long;
+ }
+
+ if ( (filter.iqU_1_long>=(edrk.zadanie.iq_ZadanieU_Charge-IQ_MINIMAL_DELTA_RUN_CHARGE_2))
+ && (filter.iqU_2_long>=(edrk.zadanie.iq_ZadanieU_Charge-IQ_MINIMAL_DELTA_RUN_CHARGE_2))
+ && (_IQabs(filter.iqU_1_long-filter.iqU_2_long)<IQ_MINIMAL_DELTA_RUN_WORK)
+ && (filter.iqU_1_long<=(edrk.zadanie.iq_ZadanieU_Charge+IQ_MINIMAL_DELTA_RUN_CHARGE_2))
+ && (filter.iqU_2_long<=(edrk.zadanie.iq_ZadanieU_Charge+IQ_MINIMAL_DELTA_RUN_CHARGE_2))
+ && edrk.to_ing.bits.ZARYAD_ON==0
+ && edrk.from_ing1.bits.ZARYAD_ON==0
+ && edrk.errors.e5.bits.ERROR_PRE_CHARGE_ON==0
+ && edrk.errors.e6.bits.ERROR_PRE_CHARGE_U==0
+ )
+ batt_ok = 1;
+
+// return (restart_charge && edrk.errors.e5.bits.ERROR_PRE_CHARGE_ON==0 && edrk.errors.e6.bits.ERROR_PRE_CHARGE_U==0);
+ return batt_ok;
+
+}
+
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+void set_status_pump_fan(void)
+{
+
+ if (edrk.from_ing1.bits.VENTIL_ON==1)
+ edrk.StatusFunAll = 1;
+ else
+ edrk.StatusFunAll = 0;
+
+/*
+ if ((edrk.from_ing.bits.NASOS_NORMA == 1) &&
+ edrk.StartPump && edrk.errors.e5.bits.PRE_READY_PUMP == 0 &&
+ (edrk.to_ing.bits.NASOS_1_ON || edrk.to_ing.bits.NASOS_2_ON) &&
+ (edrk.errors.e5.bits.PUMP_1==0) && (edrk.errors.e5.bits.PUMP_2==0) &&
+ edrk.errors.e2.bits.P_WATER_INT_MAX==0 && edrk.errors.e2.bits.P_WATER_INT_MIN==0)
+*/
+ if (
+ (edrk.from_ing1.bits.NASOS_NORMA == 1) &&
+ (edrk.to_ing.bits.NASOS_1_ON || edrk.to_ing.bits.NASOS_2_ON) &&
+ edrk.from_ing1.bits.NASOS_ON && edrk.errors.e5.bits.PRE_READY_PUMP == 0 &&
+ (edrk.errors.e5.bits.PUMP_1==0) && (edrk.errors.e5.bits.PUMP_2==0)
+ )
+ {
+ if (edrk.to_ing.bits.NASOS_1_ON)
+ edrk.StatusPump0 = 1;
+ else
+ edrk.StatusPump0 = 0;
+
+ if (edrk.to_ing.bits.NASOS_2_ON)
+ edrk.StatusPump1 = 1;
+ else
+ edrk.StatusPump1 = 0;
+
+ edrk.StatusPumpAll = 1;
+
+
+
+ }
+ else
+ {
+
+ edrk.StatusPump0 = 0;
+ edrk.StatusPump1 = 0;
+
+ edrk.StatusPumpAll = 0;
+ }
+
+
+ if (edrk.StatusFunAll && edrk.StatusPumpAll)
+ edrk.StatusPumpFanAll = 1;
+ else
+ {
+ // ���� ���� ������ ����� ������� �� ����������, �� ��������� ��������� ������� � ������������.
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_DISABLE_ON_PUMP])
+ edrk.StatusPumpFanAll = 1;
+ else
+ {
+ edrk.StatusPumpFanAll = 0;
+ }
+ }
+
+}
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+int detect_zaryad_ump(void)
+{
+ if (edrk.from_shema_filter.bits.UMP_ON_OFF==1)
+ {
+ if ( (filter.iqUin_m1>=edrk.iqMIN_U_IN)
+ && (filter.iqUin_m2>=edrk.iqMIN_U_IN)
+ && (filter.iqUin_m1<=edrk.iqMAX_U_IN)
+ && (filter.iqUin_m2<=edrk.iqMAX_U_IN) )
+ return 1;
+ else
+ return 0;
+
+ }
+ else
+ return 0;
+}
+///////////////////////////////////////////////
+
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+
+#define TIME_WAIT_SBOR 8500
+#define TIME_WAIT_ANSWER_NASOS 500
+#define TIME_WAIT_OK_NASOS 50
+
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+void sbor_shema_pusk_nasos(unsigned int t_start, unsigned int t_finish)
+{
+ static unsigned int time_error_nasos = 0;
+ static unsigned int time_ok_nasos = 0;
+
+ int status_pump, status_pump_long;
+
+ // ���� ������
+ if (edrk.Sbor_Mode == t_start)
+ {
+ edrk.enter_to_pump_stage = 1;
+ // �������� �������������� �� �������, �������� � �� ��������� ���!
+ edrk.warnings.e5.bits.PUMP_1 = edrk.warnings.e5.bits.PUMP_2 = 0;
+
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_DISABLE_ON_PUMP]==0)
+ edrk.AutoStartPump = 1;
+
+ time_error_nasos = 0;
+ time_ok_nasos = 0;
+
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_DISABLE_ON_PUMP]==1)
+ edrk.Sbor_Mode = t_finish; // �������� ���������� ����� ������
+ }
+
+ // ���� ����� ������
+ if (edrk.Sbor_Mode>t_start && edrk.Sbor_Mode<t_finish)
+ {
+ edrk.Stage_Sbor = STAGE_SBOR_STATUS_PUMP;
+
+ status_pump = get_status_p_water_min(edrk.StatusPumpFanAll);
+
+/* if (status & 4)
+ edrk.errors.e2.bits.P_WATER_INT_MIN |= 1;
+ if (status==2)
+ edrk.warnings.e2.bits.P_WATER_INT_MIN = 1;
+ if (status==1)
+ edrk.warnings.e2.bits.P_WATER_INT_MIN = 0;
+*/
+
+ // ���� ��������� ����� ���� ������ ����� � ���������� ��������� status_pump == 1
+ if (status_pump)
+ {
+ if (pause_detect_error(&time_ok_nasos,TIME_WAIT_OK_NASOS,1))
+ {
+ status_pump_long = 1;
+ }
+ }
+ else
+ {
+ time_ok_nasos = 0;
+ status_pump_long = 0;
+ }
+
+
+ if (edrk.StatusPumpFanAll && status_pump==1) // ���� ����� ������ � ��������
+ {
+ edrk.Sbor_Mode = t_finish;
+ }
+
+ // ����� �� ��������, ������� ������
+ if (edrk.Sbor_Mode==(t_start + ((t_finish-t_start)>>1) ))
+ {
+
+
+ }
+
+ // ����� �� ��������, ������
+ if (edrk.Sbor_Mode==(t_finish-1))
+ {
+ edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+ edrk.errors.e11.bits.ERROR_PUMP_ON_SBOR |= 1;
+ edrk.Status_Sbor = 2;
+ edrk.AutoStartPump = 0;
+ }
+
+ }
+// ������ ��� ����� ������� ������
+ if (edrk.Sbor_Mode>t_finish)
+ {
+ if (edrk.StatusPumpFanAll==0)
+ {
+ // ����� ���������� �����
+ if (edrk.SelectPump1_2==1)
+ {
+ // �� ���� � ���������� ������ 1
+ // ���� ��������� ����� ���� ������������� �����
+ if (pause_detect_error(&time_error_nasos,TIME_WAIT_ANSWER_NASOS,1))
+ {
+ edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+ edrk.errors.e11.bits.ERROR_RESTART_PUMP_1_ON_SBOR |= 1;
+ edrk.Status_Sbor = 102;
+ edrk.AutoStartPump = 0;
+ }
+ }
+ else
+ if (edrk.SelectPump1_2==2)
+ {
+ // �� ���� � ���������� ������ 2
+ // ���� ��������� ����� ���� ������������� �����
+ if (pause_detect_error(&time_error_nasos,TIME_WAIT_ANSWER_NASOS,1))
+ {
+ edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+ edrk.errors.e11.bits.ERROR_RESTART_PUMP_1_ON_SBOR |= 1;
+ edrk.Status_Sbor = 102;
+ edrk.AutoStartPump = 0;
+ }
+ }
+ else
+ {
+ edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+ edrk.errors.e11.bits.ERROR_RESTART_PUMP_ALL_ON_SBOR |= 1;
+ edrk.Status_Sbor = 102;
+ edrk.AutoStartPump = 0;
+ }
+ }
+ else
+ time_error_nasos = 0;
+
+ }
+}
+
+void sbor_shema_pusk_zaryad(unsigned int t_start, unsigned int t_finish)
+{
+ /////////////////////////////////////
+ // ������ ������ �����������
+ if (edrk.Sbor_Mode == t_start)
+ {
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_ENABLE_ON_CHARGE]==1)
+ edrk.Run_Pred_Zaryad = 1; // ������ ����������!
+ }
+
+ // ���� ���������� ������ ����������
+ // ��� ��������� ������ ��� ��������� ������
+
+ if (edrk.Sbor_Mode>t_start && edrk.Sbor_Mode<t_finish && (edrk.Status_Charge || (control_station.active_array_cmd[CONTROL_STATION_CMD_ENABLE_ON_CHARGE]==0))
+ && edrk.from_ing1.bits.ZARYAD_ON==0 && edrk.StatusPumpFanAll)
+ {
+ edrk.Stage_Sbor = STAGE_SBOR_STATUS_ZARYAD;
+ if ((edrk.Status_Charge || (control_station.active_array_cmd[CONTROL_STATION_CMD_ENABLE_ON_CHARGE]==0))
+ && edrk.from_ing1.bits.ZARYAD_ON==0 && edrk.StatusPumpFanAll)
+ {
+ edrk.Zaryad_OK = 1;
+ edrk.Run_Pred_Zaryad = 0;
+ edrk.Sbor_Mode = t_finish;
+ }
+
+ // ��� ������, ������
+ if (edrk.Sbor_Mode==(t_finish-1))
+ {
+ edrk.Run_Pred_Zaryad = 0;
+ edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+ edrk.errors.e11.bits.ERROR_PRED_ZARYAD |= 1;
+ edrk.Status_Sbor = 4;
+ }
+
+ }
+
+ if (edrk.Sbor_Mode>t_finish)
+ {
+ if (edrk.Zaryad_OK==0 || edrk.from_ing1.bits.ZARYAD_ON==1 )
+ {
+ edrk.Run_Pred_Zaryad = 0;
+ edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+ edrk.errors.e11.bits.ERROR_PRED_ZARYAD_AFTER |= 1;
+ edrk.Status_Sbor = 104;
+ }
+ }
+
+}
+void sbor_shema_pusk_ump(unsigned int t_start, unsigned int t_finish)
+{
+ static int enable_run_ump=0;
+ // �������� UMP
+ if (edrk.Sbor_Mode==t_start && edrk.Zaryad_OK == 1)
+ {
+ // edrk.Run_UMP = 1;
+ enable_run_ump = 0;
+ }
+
+
+ if (edrk.Sbor_Mode>t_start && edrk.Sbor_Mode<t_finish)
+ {
+
+ if (enable_run_ump==0)
+ {
+ if (edrk.from_shema_filter.bits.READY_UMP==1
+ || control_station.active_array_cmd[CONTROL_STATION_CMD_DISABLE_ON_UMP]==1)
+ {
+ edrk.Run_UMP = 1;
+ enable_run_ump = 1;
+ }
+ }
+
+ edrk.Stage_Sbor = STAGE_SBOR_STATUS_UMP_ON;
+ if (edrk.Zaryad_OK == 1 && edrk.Status_UMP_Ok==1 && edrk.Zaryad_UMP_Ok==1)
+ edrk.Sbor_Mode = t_finish;
+
+ // ��� ������, ������
+ if (edrk.Sbor_Mode==(t_finish-1))
+ {
+ edrk.Run_UMP = 0;
+ edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+ edrk.errors.e11.bits.ERROR_UMP_NOT_ON |= 1;
+ edrk.Status_Sbor = 5;
+ }
+
+ }
+
+
+// if (edrk.Sbor_Mode>t_finish && (edrk.Zaryad_OK == 0 || edrk.Status_UMP_Ok==0))
+// {
+//
+// edrk.Run_UMP = 0;
+// edrk.Run_Pred_Zaryad = 0;
+// edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+// edrk.errors.e7.bits.UMP_NOT_ANSWER |= 1;
+// edrk.Run_QTV = 0;
+// edrk.Status_Sbor = 105;
+// }
+
+
+}
+
+void sbor_shema_pusk_qtv(unsigned int t_start, unsigned int t_finish)
+{
+ if (edrk.Sbor_Mode==t_start && edrk.Zaryad_OK == 1 && edrk.Status_UMP_Ok)
+ {
+ edrk.Run_QTV = 1;
+ }
+
+
+ if (edrk.Sbor_Mode>t_start && edrk.Sbor_Mode<t_finish )
+ {
+ edrk.Stage_Sbor = STAGE_SBOR_STATUS_QTV;
+ if ((edrk.Zaryad_OK == 1 && edrk.Status_QTV_Ok==1 && edrk.Status_UMP_Ok))
+ edrk.Sbor_Mode = t_finish;
+
+ if (edrk.Sbor_Mode==(t_finish-1) && edrk.Status_UMP_Ok==0)
+ {
+ edrk.Run_QTV = 0;
+ edrk.Run_UMP = 0;
+ edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+ edrk.errors.e11.bits.ERROR_READY_UMP_BEFORE_QTV |= 1;
+ edrk.Status_Sbor = 6;
+ }
+ }
+
+
+ if (edrk.Sbor_Mode>t_finish)
+ {
+ if (edrk.Zaryad_OK == 0 || edrk.Status_QTV_Ok==0)
+ {
+ edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+ edrk.errors.e11.bits.ERROR_STATUS_QTV |= 1;
+ edrk.Run_QTV = 0;
+ edrk.Status_Sbor = 106;
+ }
+
+ }
+
+}
+
+void sbor_shema_stop_ump(unsigned int t_start, unsigned int t_finish)
+{
+ // �������� UMP
+ if (edrk.Sbor_Mode==t_start && edrk.Status_QTV_Ok == 1)
+ {
+ edrk.Run_UMP = 0;
+ }
+
+
+ if (edrk.Sbor_Mode>t_start && edrk.Sbor_Mode<t_finish)
+ {
+
+ edrk.Stage_Sbor = STAGE_SBOR_STATUS_UMP_OFF;
+ if (edrk.Status_UMP_Ok==0)
+ edrk.Sbor_Mode = t_finish;
+
+ // ��� ������, ������
+ if (edrk.Sbor_Mode==(t_finish-1))
+ {
+ edrk.Run_UMP = 0;
+ edrk.Run_QTV = 0;
+ edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+// edrk.errors.e7.bits.UMP_NOT_ANSWER |= 1;
+ edrk.errors.e11.bits.ERROR_UMP_NOT_OFF |= 1;
+ edrk.Status_Sbor = 7;
+ }
+
+ }
+
+
+ if (edrk.Sbor_Mode>t_finish && edrk.Status_UMP_Ok==1)
+ {
+
+ edrk.Run_UMP = 0;
+ edrk.Run_Pred_Zaryad = 0;
+ edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+ edrk.errors.e11.bits.ERROR_UMP_ON_AFTER |= 1;
+ edrk.Run_QTV = 0;
+ edrk.Status_Sbor = 107;
+ }
+
+
+}
+
+
+void sbor_shema_rascepitel_level_1(unsigned int t_start, unsigned int t_finish)
+{
+
+#if(RASCEPITEL_MANUAL_ALWAYS_ON==1)
+ if (edrk.Sbor_Mode==t_start && (edrk.Zaryad_OK == 1 && edrk.Status_QTV_Ok==1 ))
+ {
+ edrk.Stage_Sbor = STAGE_SBOR_STATUS_RASCEPITEL_1;
+ // ���� ������ �� �� ������, �������� �����������
+ if (optical_read_data.data.cmd.bit.ready_cmd != CODE_READY_CMD_READY2 )
+ {
+ edrk.Run_Rascepitel = 1;
+ edrk.Sbor_Mode = t_finish; // ������������ ������
+ }
+ else
+ edrk.RunZahvatRascepitel = 1; // ������ ������ �� �������� ������� � ��������� ����������� �����������
+ }
+
+ if (edrk.Sbor_Mode>t_start && edrk.Sbor_Mode<t_finish && (edrk.Zaryad_OK == 1 && edrk.Status_QTV_Ok==1 )
+ && edrk.RunZahvatRascepitel && edrk.Run_Rascepitel==0)
+ {
+ edrk.Stage_Sbor = STAGE_SBOR_STATUS_RASCEPITEL_1;
+ // ���� ������ �� �� ������, �������� �����������
+ // ������ �� ������� ������� ���� ��� ���� � ���� ��� ���� ���
+ if (optical_read_data.data.cmd.bit.rascepitel_cmd == CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_ON ) // 01 - ����� �������� �����������, ���� �������
+ {
+ edrk.Run_Rascepitel = 1;
+ edrk.Sbor_Mode = t_finish; // ������������ ������
+ }
+ }
+
+#else
+
+
+ if (edrk.Sbor_Mode==t_start && (edrk.Zaryad_OK == 1 && edrk.Status_QTV_Ok==1 ) && edrk.Status_Rascepitel_Ok==0)
+ {
+ edrk.Stage_Sbor = STAGE_SBOR_STATUS_RASCEPITEL_1;
+ // ���� ������ �� �� ������, �������� �����������
+ if (optical_read_data.data.cmd.bit.ready_cmd != CODE_READY_CMD_READY2 )
+ {
+ edrk.Run_Rascepitel = 1;
+ edrk.Sbor_Mode = t_finish; // ������������ ������
+ }
+ else
+ edrk.RunZahvatRascepitel = 1; // ������ ������ �� �������� ������� � ��������� ����������� �����������
+ }
+//
+ if (edrk.Sbor_Mode>t_start && edrk.Sbor_Mode<t_finish && (edrk.Zaryad_OK == 1 && edrk.Status_QTV_Ok==1 )
+ && edrk.RunZahvatRascepitel && edrk.Status_Rascepitel_Ok==0 && edrk.Run_Rascepitel==0)
+ {
+ edrk.Stage_Sbor = STAGE_SBOR_STATUS_RASCEPITEL_1;
+ // ���� ������ �� �� ������, �������� �����������
+ // ������ �� ������� ������� ���� ��� ���� � ���� ��� ���� ���
+ if (optical_read_data.data.cmd.bit.rascepitel_cmd == CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_ON ) // 01 - ����� �������� �����������, ���� �������
+ {
+ edrk.Run_Rascepitel = 1;
+ edrk.Sbor_Mode = t_finish; // ������������ ������
+
+ }
+ }
+#endif
+
+ if (edrk.Sbor_Mode>t_finish)
+ {
+ if (edrk.Run_Rascepitel==0)
+ {
+ // �� ��������� ������� �� ��������� ������ �����������
+ edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+ edrk.errors.e11.bits.ERROR_RASCEPITEL_WAIT_CMD |= 1;
+ edrk.Run_QTV = 0;
+
+ edrk.Status_Sbor = 108;
+ // �� ��������� ������������� �� �������
+ if (edrk.RunZahvatRascepitel)
+ edrk.errors.e1.bits.NO_CONFIRM_ON_RASCEPITEL |= 1;
+
+ edrk.RunZahvatRascepitel = 0;
+ edrk.Run_Rascepitel = 0;
+ }
+ }
+
+}
+
+void sbor_shema_rascepitel_level_2(unsigned int t_start, unsigned int t_finish)
+{
+
+ if (edrk.Sbor_Mode>t_start && edrk.Sbor_Mode<t_finish)
+ {
+ edrk.Stage_Sbor = STAGE_SBOR_STATUS_RASCEPITEL_2;
+#if(RASCEPITEL_MANUAL_ALWAYS_ON==1)
+ edrk.Sbor_Mode = t_finish; // ������������ ������
+#else
+
+ if ( (edrk.Zaryad_OK == 1 && edrk.Status_QTV_Ok==1 )
+ && edrk.Status_Rascepitel_Ok==1 && edrk.Run_Rascepitel==1)
+ {
+ // ��������� ��������� ����������� � �������� ������
+ edrk.Sbor_Mode = t_finish; // ������������ ������
+ }
+
+ if (edrk.Sbor_Mode==(t_finish-1) && edrk.Status_Rascepitel_Ok==0 && edrk.Run_Rascepitel==1)
+ {
+ // �� ��������� ������������� �� ��������� ������ �����������
+ edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+ edrk.Run_QTV = 0;
+ edrk.Status_Sbor = 9;
+ edrk.errors.e6.bits.RASCEPITEL_ERROR_NOT_ANSWER |= 1;
+ edrk.RunZahvatRascepitel = 0;
+ edrk.Run_Rascepitel = 0;
+ }
+#endif
+
+ }
+
+ if (edrk.Sbor_Mode>t_finish && edrk.Status_Rascepitel_Ok==0)
+ {
+ // ����������� ����������, � �� ������ ���
+ edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+ edrk.Run_QTV = 0;
+ edrk.Status_Sbor = 109;
+// edrk.errors.e6.bits.RASCEPITEL_ERROR_NOT_ANSWER |= 1;
+ edrk.errors.e11.bits.ERROR_RASCEPITEL_ON_AFTER |= 1;
+ edrk.RunZahvatRascepitel = 0;
+ edrk.Run_Rascepitel = 0;
+
+
+ }
+
+
+ //
+ // �� ������� edrk.RunZahvatRascepitel ������ ��� �� �������� ������� � ����������� ����������� ��������� �����������
+
+
+//
+// if (edrk.Sbor_Mode>t_start && edrk.Sbor_Mode<t_finish && (edrk.Zaryad_OK == 1 && edrk.Status_QTV_Ok==1 )
+// && edrk.Status_Rascepitel_Ok==1 && edrk.Run_Rascepitel==1)
+// {
+// // ��������� ��������� ����������� � �������� ������
+// edrk.Sbor_Mode = t_finish; // ������������ ������
+// }
+//
+////
+// // �� ������� edrk.RunZahvatRascepitel ������ ��� �� �������� ������� � ����������� ����������� ��������� �����������
+// if (edrk.Sbor_Mode==(t_finish-1) && (edrk.Zaryad_OK == 1 && edrk.Status_QTV_Ok==1 )
+// && edrk.RunZahvatRascepitel && edrk.Status_Rascepitel_Ok==0 && edrk.Run_Rascepitel==0)
+// {
+// //
+//// if (optical_read_data.data.cmd.bit.rascepitel_cmd != CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_ON ) // 01 - ����� �������� �����������, ���� �������
+// {
+// // �� ��������� ������������� �� ��������� ������ �����������
+// edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+// edrk.Run_QTV = 0;
+// edrk.Status_Sbor = 8;
+// edrk.errors.e1.bits.NO_CONFIRM_ON_RASCEPITEL |= 1;
+// edrk.RunZahvatRascepitel = 0;
+// edrk.Run_Rascepitel = 0;
+//// edrk.Run_Rascepitel = 0;
+// }
+// }
+
+}
+void sbor_shema_rascepitel_level_3(unsigned int t_start, unsigned int t_finish)
+{
+
+ // ��� ���� ��������� �����������
+ if (edrk.Sbor_Mode>t_start && edrk.Sbor_Mode<t_finish)
+ {
+ edrk.Stage_Sbor = STAGE_SBOR_STATUS_RASCEPITEL_3;
+ if (edrk.Status_Rascepitel_Ok==1)
+ {
+ // ����������� ���������!
+ // ����� ������������� � �����
+ edrk.Sbor_Mode = t_finish; // ������������ ������
+ edrk.RunZahvatRascepitel = 0;
+ }
+// edrk.Run_Rascepitel = 1;
+ }
+
+// if (edrk.Sbor_Mode==(t_finish-1) && (edrk.Zaryad_OK == 0 || edrk.Status_QTV_Ok==0 || edrk.Status_Rascepitel_Ok==0))
+// {
+// edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+// edrk.Run_QTV = 0;
+//// edrk.Run_Rascepitel = 0;
+// edrk.RunZahvatRascepitel = 0;
+// edrk.Status_Sbor = 10;
+// edrk.Run_Rascepitel = 0;
+//
+// }
+}
+
+void sbor_shema_rascepitel_level_4(unsigned int t_start, unsigned int t_finish)
+{
+ if (edrk.Sbor_Mode>t_start && edrk.Sbor_Mode<t_finish && (edrk.Zaryad_OK == 1 && edrk.Status_QTV_Ok==1 && edrk.Status_Rascepitel_Ok))
+ {
+ edrk.Stage_Sbor = STAGE_SBOR_STATUS_RASCEPITEL_4;
+ if (optical_read_data.data.cmd.bit.ready_cmd==CODE_READY_CMD_READY1TO2) // ��� �� ���������� ���
+ {
+ // ������� ������� ������� ��
+ // �� ����������� ��� ���������.
+ if (optical_read_data.data.cmd.bit.rascepitel_cmd == CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_ON)
+ edrk.Sbor_Mode = t_finish; // ������������ ������
+
+ }
+ else
+ {
+ edrk.Sbor_Mode = t_finish; // ������������ ������
+ }
+ }
+
+// if (edrk.Sbor_Mode>t_finish)
+// {
+// if (edrk.Status_Rascepitel_Ok==0)
+// {
+// edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+// edrk.Run_QTV = 0;
+// edrk.RunZahvatRascepitel = 0;
+// edrk.Status_Sbor = 9;
+// edrk.Run_Rascepitel = 0;
+//
+// }
+//
+// }
+
+}
+
+void sbor_shema_wait_ready_another(unsigned int t_start, unsigned int t_finish)
+{
+
+ if (edrk.Sbor_Mode>t_start && edrk.Sbor_Mode<t_finish && (edrk.Zaryad_OK == 1 && edrk.Status_QTV_Ok==1 && edrk.Status_Rascepitel_Ok))
+ {
+ edrk.Stage_Sbor = STAGE_SBOR_STATUS_WAIT_READY_ANOTHER;
+ if (optical_read_data.data.cmd.bit.ready_cmd!=CODE_READY_CMD_READY1TO2)
+ {
+ edrk.Sbor_Mode = t_finish; // ������������ ������
+ }
+
+ if (edrk.Sbor_Mode==(t_finish-1) && optical_read_data.data.cmd.bit.ready_cmd==CODE_READY_CMD_READY1TO2)
+ {
+ edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+ edrk.errors.e1.bits.ANOTHER_BS_VERY_LONG_WAIT |= 1;
+ edrk.Run_QTV = 0;
+// edrk.Run_Rascepitel = 0;
+ edrk.RunZahvatRascepitel = 0;
+ edrk.Status_Sbor = 11;
+ edrk.Run_Rascepitel = 0;
+ }
+
+ }
+
+}
+
+void sbor_shema_wait_finish(unsigned int t_start, unsigned int t_finish)
+{
+ if (edrk.Sbor_Mode>t_start && (edrk.Zaryad_OK == 1 && edrk.Status_QTV_Ok==1 && edrk.Status_Rascepitel_Ok))
+ {
+ edrk.Stage_Sbor = STAGE_SBOR_STATUS_FINISH;
+ edrk.SborFinishOk = 1;
+ // allow_discharge = 1;
+ }
+
+
+ if (edrk.Sbor_Mode>t_finish && (edrk.SborFinishOk) )
+ {
+ edrk.time_wait_sbor = 0;
+ }
+ else
+ edrk.Sbor_Mode++;
+
+}
+
+
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+#define TIME_WAIT_RELE_UMP_ON 20 //2 sec
+#define TIME_WAIT_RELE_UMP_OFF 20 //2 sec
+
+#define TIME_WAIT_ANSWER_UMP_ON 150 //15 sec
+#define TIME_WAIT_ANSWER_UMP_OFF 40 //4 sec
+
+#define TIME_PAUSE_AFTER_GET_READY_UMP 50 // 5 sec
+
+///////////////////////////////////////////////
+int ump_on_off(unsigned int flag)
+{
+static unsigned int time_wait_rele_on_ump=0;
+static unsigned int time_wait_rele_off_ump=0;
+static unsigned int time_wait_answer_on_ump=0;
+static unsigned int time_wait_answer_off_ump=0;
+
+
+int cmd_ump=0;//,cmd_p2=0;
+static int UMP_Ok = 0;
+static int prev_error = 0, count_ready_upm = 0; //, flag_enable_on_ump = 0;
+
+
+ cmd_ump = 0;
+// cmd_p2 = 0;
+
+ if ( flag==1 && edrk.summ_errors==0)
+ {
+ cmd_ump = 1;
+ }
+ else
+ {
+ cmd_ump = 0;
+ }
+
+
+
+ edrk.cmd_to_ump = cmd_ump;
+
+
+ if (cmd_ump)
+ {
+
+// if ((pause_detect_error(&time_wait_rele_on_qtv,TIME_WAIT_RELE_UMP_ON,1)==0) && edrk.from_shema.bits.UMP_ON_OFF==0)
+// {
+// edrk.to_shema.bits.QTV_ON_OFF = 1;
+// }
+// else
+
+ // ���� ����������!
+ if (edrk.from_shema_filter.bits.READY_UMP == 1)
+ {
+ // ���� �������� TIME_PAUSE_AFTER_GET_READY_UMP
+ if (count_ready_upm<TIME_PAUSE_AFTER_GET_READY_UMP)
+ count_ready_upm++;
+ else
+ edrk.flag_enable_on_ump = 1;
+ }
+ else
+ count_ready_upm = 0;
+
+
+ if (edrk.flag_enable_on_ump)
+ {
+ edrk.sbor_wait_ump2 = 1;
+ edrk.to_shema.bits.UMP_ON_OFF = 1;
+
+ if (pause_detect_error(&time_wait_answer_on_ump, TIME_WAIT_ANSWER_UMP_ON, 1)==0)
+ {
+ edrk.sbor_wait_ump1 = 1;
+ if (edrk.from_shema_filter.bits.UMP_ON_OFF==1)
+ UMP_Ok = 1;
+ }
+ else
+ {
+ edrk.sbor_wait_ump1 = 0;
+ if (edrk.from_shema_filter.bits.UMP_ON_OFF==0)
+ {
+ edrk.errors.e7.bits.UMP_NOT_ANSWER |= 1;
+ UMP_Ok = 0;
+ }
+
+ }
+ }
+ else
+ {
+ edrk.sbor_wait_ump2 = 0;
+ }
+
+
+ time_wait_rele_off_ump = 0;
+ time_wait_answer_off_ump = 0;
+ }
+ else
+ {
+ count_ready_upm = 0;
+ UMP_Ok = 0;
+ time_wait_rele_on_ump = 0;
+ time_wait_answer_on_ump = 0;
+
+ edrk.to_shema.bits.UMP_ON_OFF = 0;
+
+ edrk.flag_enable_on_ump = 0;
+
+ edrk.sbor_wait_ump2 = 0;
+
+ if (pause_detect_error(&time_wait_answer_off_ump, TIME_WAIT_ANSWER_UMP_OFF, 1)==0)
+ {
+ edrk.sbor_wait_ump1 = 1;
+ }
+ else
+ {
+ edrk.sbor_wait_ump1 = 0;
+// ��������� ������ ��� UMP ����� ���������!!!
+ if (edrk.from_shema_filter.bits.UMP_ON_OFF==1)
+ edrk.errors.e7.bits.UMP_NOT_ANSWER |= 1;
+ }
+
+
+ if (prev_error!=edrk.summ_errors && edrk.summ_errors)
+ {
+ if (pause_detect_error(&time_wait_rele_off_ump,TIME_WAIT_RELE_UMP_OFF,1)==1)
+ time_wait_rele_off_ump = 0;
+ }
+
+ }
+
+ prev_error = edrk.summ_errors;
+
+ return (UMP_Ok);
+
+
+}
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+
+///////////////////////////////////////////////
+#define TIME_WAIT_RELE_RASCEPITEL_ON 10 //2 sec
+#define TIME_WAIT_RELE_RASCEPITEL_OFF 10 //2 sec
+
+#define TIME_WAIT_ANSWER_RASCEPITEL_ON 100 //15 sec
+#define TIME_WAIT_ANSWER_RASCEPITEL_ON_BS1 100 //15 sec
+#define TIME_WAIT_ANSWER_RASCEPITEL_ON_BS2 150 //15 sec
+#define TIME_WAIT_ANSWER_RASCEPITEL_OFF 100 //15 sec
+
+#define TIME_WAIT_LEVEL_RASCEPITEL_ON_OFF 50 //5 sec
+#define TIME_WAIT_LEVEL_RASCEPITEL_ON_OFF_BS1 50 //5 sec
+#define TIME_WAIT_LEVEL_RASCEPITEL_ON_OFF_BS2 100 //7.5 sec
+#define TIME_WAIT_PEREHOD_SOST_ON_OFF 100 //15 sec
+
+
+///////////////////////////////////////////////
+void rascepitel_on_off(unsigned int flag, int *status_perehod, int *status_on_off, int *final_status_on_off)
+{
+static unsigned int time_wait_rele_on=0;
+static unsigned int time_wait_rele_off=0;
+static unsigned int time_wait_answer_on=0;
+static unsigned int time_wait_answer_off=0;
+
+static unsigned int time_wait_level_on=0;
+static unsigned int time_wait_level_off=0;
+
+static unsigned int time_wait_perehod_sost=0;
+
+
+
+int cmd_rele=0, r;//,cmd_p2=0;
+static int Rele_Ok = 0, filter_sost_rascepitel = 0;
+static int prev_error = 0, perehod_sost = 0, flag_wait_break_perehod_sost = 0, prev_cmd_rele = 0;
+
+
+ cmd_rele = 0;
+// cmd_p2 = 0;
+
+ if ( flag==1 && edrk.errors.e6.bits.RASCEPITEL_ERROR_NOT_ANSWER == 0)
+ {
+ cmd_rele = 1;
+ }
+ else
+ {
+ cmd_rele = 0;
+ }
+
+
+
+ edrk.cmd_to_rascepitel = cmd_rele;
+
+
+ if (cmd_rele)
+ {
+ if (perehod_sost && cmd_rele!=prev_cmd_rele && flag_wait_break_perehod_sost==0)
+ {
+
+ flag_wait_break_perehod_sost = 1;
+ time_wait_perehod_sost = 0;
+ }
+
+ edrk.to_ing.bits.RASCEPITEL_OFF = 0;
+
+ if (flag_wait_break_perehod_sost)
+ {
+ if (pause_detect_error(&time_wait_perehod_sost,TIME_WAIT_PEREHOD_SOST_ON_OFF,1)==1)
+ flag_wait_break_perehod_sost = 0;
+ }
+
+ if (flag_wait_break_perehod_sost==0)
+ {
+ if ((pause_detect_error(&time_wait_rele_on,TIME_WAIT_RELE_RASCEPITEL_ON,1)==0)/* && edrk.from_ing1.bits.RASCEPITEL_ON==0*/)
+ {
+ perehod_sost = 1;
+ edrk.to_ing.bits.RASCEPITEL_ON = 1;
+ }
+ else
+ edrk.to_ing.bits.RASCEPITEL_ON = 0;
+
+ if (edrk.flag_second_PCH==0)
+ r = pause_detect_error(&time_wait_answer_on,TIME_WAIT_ANSWER_RASCEPITEL_ON_BS1,1);
+ else
+ if (edrk.flag_second_PCH==1)
+ r = pause_detect_error(&time_wait_answer_on,TIME_WAIT_ANSWER_RASCEPITEL_ON_BS2,1);
+ else
+ r = 0;
+
+ if (r==0)
+ {
+
+ }
+ else
+ {
+ if (edrk.from_ing1.bits.RASCEPITEL_ON==1)
+ Rele_Ok = 1;
+
+#if(RASCEPITEL_MANUAL_ALWAYS_ON==1)
+ Rele_Ok = 1;
+#else
+ if (edrk.from_ing1.bits.RASCEPITEL_ON==0)
+ {
+ edrk.errors.e6.bits.RASCEPITEL_ERROR_NOT_ANSWER |= 1;
+ Rele_Ok = 0;
+ }
+#endif
+ perehod_sost = 0;
+ }
+
+ time_wait_rele_off = 0;
+ time_wait_answer_off = 0;
+ }
+ }
+ else
+ {
+ Rele_Ok = 0;
+ time_wait_rele_on = 0;
+ time_wait_answer_on = 0;
+
+ if (perehod_sost && cmd_rele!=prev_cmd_rele && flag_wait_break_perehod_sost==0)
+ {
+ flag_wait_break_perehod_sost = 1;
+ time_wait_perehod_sost = 0;
+ }
+
+ edrk.to_ing.bits.RASCEPITEL_ON = 0;
+
+ if (flag_wait_break_perehod_sost)
+ {
+ if (pause_detect_error(&time_wait_perehod_sost,TIME_WAIT_PEREHOD_SOST_ON_OFF,1)==1)
+ flag_wait_break_perehod_sost = 0;
+ }
+
+ if (flag_wait_break_perehod_sost==0)
+ {
+
+ if (pause_detect_error(&time_wait_rele_off,TIME_WAIT_RELE_RASCEPITEL_OFF,1)==0/* && edrk.from_ing1.bits.RASCEPITEL_ON==1*/)
+ {
+ edrk.to_ing.bits.RASCEPITEL_OFF = 1;
+ perehod_sost = 1;
+ }
+ else
+ edrk.to_ing.bits.RASCEPITEL_OFF = 0;
+
+
+ if (pause_detect_error(&time_wait_answer_off,TIME_WAIT_ANSWER_RASCEPITEL_OFF,1)==0)
+ {
+
+ }
+ else
+ {
+
+#if(RASCEPITEL_MANUAL_ALWAYS_ON==1)
+
+#else
+ if (edrk.from_ing1.bits.RASCEPITEL_ON == 1)
+ edrk.errors.e6.bits.RASCEPITEL_ERROR_NOT_ANSWER |= 1;
+#endif
+ perehod_sost = 0;
+
+ }
+
+ }
+
+
+// if (prev_error!=edrk.summ_errors && edrk.summ_errors)
+// {
+// if (pause_detect_error(&time_wait_rele_off,TIME_WAIT_RELE_RASCEPITEL_OFF,1)==1)
+// time_wait_rele_off = 0;
+// }
+
+
+ }
+
+
+
+ if (edrk.from_ing1.bits.RASCEPITEL_ON==1)
+ {
+ time_wait_level_off = 0;
+ if (edrk.flag_second_PCH==0)
+ {
+ if (pause_detect_error(&time_wait_level_on,TIME_WAIT_LEVEL_RASCEPITEL_ON_OFF_BS1,1)==1)
+ filter_sost_rascepitel = 1;
+ }
+ else
+ {
+ if (pause_detect_error(&time_wait_level_on,TIME_WAIT_LEVEL_RASCEPITEL_ON_OFF_BS2,1)==1)
+ filter_sost_rascepitel = 1;
+ }
+
+ }
+ else
+ {
+ time_wait_level_on = 0;
+ if (pause_detect_error(&time_wait_level_off,TIME_WAIT_LEVEL_RASCEPITEL_ON_OFF,1)==1)
+ filter_sost_rascepitel = 0;
+ }
+
+ prev_error = edrk.summ_errors;
+ prev_cmd_rele = cmd_rele;
+
+
+ *status_perehod = perehod_sost;
+
+ if (filter_sost_rascepitel && perehod_sost==0 )
+ *final_status_on_off = 1;
+// *status_on_off = 1;
+
+ if (filter_sost_rascepitel==0 && perehod_sost==0 )
+ *final_status_on_off = 0;
+
+ *status_on_off = filter_sost_rascepitel;
+
+ // if (perehod_sost==1)
+ // *status_on_off = 2;
+
+ return;
+
+}
+///////////////////////////////////////////////
+
+
+
+unsigned int sbor_shema(int mode)
+{
+
+// static unsigned int time_wait_sbor = 0;
+ static int prev_ready_final = 0;
+ static unsigned int time_wait_razbor = 0;
+ static unsigned int allow_discharge = 0, may_be_discharge=0;
+ int enable_sbor;
+ static unsigned int t1,t2, delta_t, first_run = 1, add_t1 = 0;
+// static int Run_Pred_Zaryad;
+
+
+ enable_sbor = (edrk.zadanie.ZadanieU_Charge>10) && edrk.Status_Ready.bits.ready1;
+
+ if (mode && edrk.summ_errors==0 && enable_sbor==0)
+ {
+ edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+ edrk.errors.e11.bits.ERROR_DISABLE_SBOR |= 1;
+ // ������
+ edrk.AutoStartPump = 0;
+ edrk.Sbor_Mode = 0;
+ edrk.Razbor_Mode = 0;
+ edrk.time_wait_sbor = 0;
+ time_wait_razbor = 0;
+
+ edrk.Run_Pred_Zaryad = 0;
+ edrk.Zaryad_OK = 0;
+ edrk.Run_QTV = 0;
+ edrk.Run_UMP = 0;
+ edrk.SborFinishOk = 0;
+ edrk.RunZahvatRascepitel = 0;
+
+// edrk.Run_Rascepitel = 0;
+
+ edrk.Status_Sbor = 1;
+ first_run = 1;
+ edrk.enter_to_pump_stage = 0;
+ return (edrk.Sbor_Mode);
+ }
+
+// ���� �����
+ if (mode && edrk.summ_errors==0 && enable_sbor)
+ {
+
+ if (pause_detect_error(&edrk.time_wait_sbor,TIME_WAIT_SBOR,1))
+ {
+// if (edrk.SborFinishOk==0)
+ edrk.errors.e7.bits.ERROR_SBOR_SHEMA |= 1;
+ edrk.errors.e11.bits.ERROR_VERY_LONG_SBOR |= 1;
+ }
+
+ if (first_run)
+ {
+ if (edrk.flag_another_bs_first_ready12==1 && edrk.flag_this_bs_first_ready12==0)
+ {
+ // ������ �� ��� ����������?
+ add_t1 = 80; // �������� 12 ���
+ }
+ else
+ if (edrk.flag_another_bs_first_ready12==0 && edrk.flag_this_bs_first_ready12==1)
+ {
+ // ������ �� �� ����������?
+ add_t1 = 5; // �������� 1 ���
+ }
+ else
+ if (edrk.flag_this_bs_first_ready12==0 && edrk.flag_another_bs_first_ready12==0)
+ {
+ // ��� ��������� ��� ���������
+ if (edrk.flag_second_PCH == 1)
+ add_t1 = 120; // �������� 18 ���
+ else
+ add_t1 = 80; // �������� 7 ���
+ }
+
+
+
+
+// if (optical_read_data.data.cmd.bit.ready_cmd==CODE_READY_CMD_READY1TO2 && edrk.flag_second_PCH == 1)
+// {
+// // ������ �� ��� ����������?
+// add_t1 = 150; // �������� 15 ���
+// }
+// else
+// {
+// if (edrk.flag_second_PCH == 0)
+// add_t1 = 0;
+// else
+// add_t1 = 70; // �������� 7 ���
+// }
+
+ first_run = 0;
+ }
+
+ // ���� ������
+ t1 = 10 + add_t1;
+ delta_t = 300;//200;
+ t2 = t1 + delta_t;
+ sbor_shema_pusk_nasos(t1,t2);//350
+
+ t1 = t2+30;//380
+ delta_t = 700;
+ t2 = t1 + delta_t;
+ sbor_shema_pusk_zaryad(t1,t2);//1080
+
+ t1 = t2+10;//1090
+ delta_t = 750+750+300+600;//2400 ����� ���� ����� ��� ����� �� ������ ��
+ t2 = t1 + delta_t;
+ sbor_shema_pusk_ump(t1,t2);//3490
+
+ t1 = t2+30; //3520 ���� 3 ��� ���
+ delta_t = 200;
+ t2 = t1 + delta_t;
+ sbor_shema_pusk_qtv(t1,t2);//3720
+
+ t1 = t2;
+ delta_t = 150;
+ t2 = t1 + delta_t;
+ sbor_shema_stop_ump(t1,t2);//3870
+
+ // ���� ���� �� �� ������, �� ��������� ���� ����������� ����������� � ������� �� tfinish
+ // ����� ���� ������ � ���� �� tstart �� tfinish ���������� �� ����������� ����������� � ����� ��������� ��� �����������
+ // � ����� ������ ���� ������ �� ��������� ����������� ����� ������!
+ t1 = t2;
+ delta_t = 250;
+ t2 = t1 + delta_t;
+ sbor_shema_rascepitel_level_1(t1,t2);//4120
+
+ // ���� ��������� ����������� �� tfinish
+ // ��� �� tfinish ���� ������������� �������
+ t1 = t2;
+ delta_t = 300;
+ t2 = t1 + delta_t;
+ sbor_shema_rascepitel_level_2(t1,t2);//4420
+
+ t1 = t2;
+ delta_t = 200;
+ t2 = t1 + delta_t;
+ sbor_shema_rascepitel_level_3(t1,t2);//4620
+
+ // ��� ����������� ���������, �� ������ �� ���� ����������, ������� ��� ���� ���� �� ������� ���� �����������
+ // ����� ����� tfinish
+ t1 = t2;
+ delta_t = 300;
+ t2 = t1 + delta_t;
+ sbor_shema_rascepitel_level_4(t1,t2);//4920
+
+ // ���� �� tfinish ������������� ��������� ����� �� ������� ��
+ // ���� �� ���������, �� ������
+ t1 = t2;
+ delta_t = 1800;
+ t2 = t1 + delta_t;
+ sbor_shema_wait_ready_another(t1,t2);//6720
+
+ t1 = t2;
+ delta_t = 50;
+ t2 = t1 + delta_t;
+ sbor_shema_wait_finish(t1,t2);//6770
+
+ edrk.Razbor_Mode = 0;
+ edrk.RazborNotFinish = 0;
+ edrk.RunUnZahvatRascepitel = 0;
+
+ if (edrk.Zaryad_OK)
+ may_be_discharge = 1;
+
+ }
+ /////////////////////////////////////////////////////////
+ /////////////////////////////////////////////////////////
+ /////////////////////////////////////////////////////////
+ /////////////////////////////////////////////////////////
+ // ������ �����
+ /////////////////////////////////////////////////////////
+ /////////////////////////////////////////////////////////
+ else
+ {
+ first_run = 1;
+ edrk.enter_to_pump_stage = 0;
+ // ������ �����
+ if (edrk.Razbor_Mode==0)
+ edrk.RazborNotFinish = 1;
+
+ if (edrk.Status_QTV_Ok==0 && edrk.Status_UMP_Ok==0 && may_be_discharge && edrk.Razbor_Mode>100)
+ {
+ allow_discharge = 1;
+ may_be_discharge = 0;
+ }
+
+ edrk.AutoStartPump = 0;
+ edrk.Sbor_Mode = 0;
+ edrk.time_wait_sbor = 0;
+ edrk.Zaryad_OK = 0;
+ edrk.Run_QTV = 0;
+ edrk.Run_UMP = 0;
+ edrk.SborFinishOk = 0;
+ edrk.Run_Pred_Zaryad = 0;
+ edrk.RunZahvatRascepitel = 0;
+
+ if (edrk.Razbor_Mode==10 && edrk.Status_QTV_Ok==1)
+ {
+ //
+ edrk.errors.e2.bits.ERROR_RAZBOR_SHEMA |= 1;
+
+ }
+
+ if (edrk.Run_Rascepitel && edrk.Razbor_Mode==20 && edrk.Status_QTV_Ok==0 && edrk.Status_Rascepitel_Ok==0)
+ {
+ // �� ����������� ���� ������ ������� �� ��������, �� �� �� ������ ������-��, �� � �����
+ edrk.Run_Rascepitel = 0;
+ edrk.Razbor_Mode=1000; // ������������ � ����� �������
+ }
+
+
+
+ if (edrk.Run_Rascepitel && edrk.Razbor_Mode==30 && edrk.Status_QTV_Ok==0 && edrk.Status_Rascepitel_Ok==1)
+ {
+ // ���� ������ �� �� ������, ��������� ����������� ��� ������ ��������
+ if (optical_read_data.data.cmd.bit.ready_cmd != CODE_READY_CMD_READY2 )
+ edrk.Run_Rascepitel = 0;
+ else
+ edrk.RunUnZahvatRascepitel = 1; // ������ ������ �� ������������
+ }
+
+
+
+ if (edrk.Razbor_Mode>40 && edrk.Razbor_Mode<390 && (edrk.Status_QTV_Ok==0)
+ && edrk.RunUnZahvatRascepitel && edrk.Status_Rascepitel_Ok==1)
+ {
+ // ���� ������ �� �� ������, ��������� �����������
+ // ������ �� ������� ������� ���� ��� ���� � ���� ��� ���� ���
+ if (optical_read_data.data.cmd.bit.rascepitel_cmd == CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_ON ) // 01 - ����� ��������� �����������, ���� �������
+ {
+ edrk.Run_Rascepitel = 0;
+ edrk.RunUnZahvatRascepitel = 0;
+ edrk.Razbor_Mode = 390;
+ }
+ }
+
+
+
+ // ���� ����������� ��������, �� ����� ���� � �����
+ if (edrk.Razbor_Mode>40 && edrk.Razbor_Mode<600 && (edrk.Status_QTV_Ok==0)
+ && edrk.RunUnZahvatRascepitel==0 && edrk.Run_Rascepitel==0)
+ {
+ if (edrk.Status_Rascepitel_Ok == 0 )
+ {
+ edrk.Razbor_Mode = 600;
+ }
+ }
+
+
+
+ if (edrk.Razbor_Mode>390 && (edrk.Status_QTV_Ok==0)
+ && edrk.RunUnZahvatRascepitel && edrk.Status_Rascepitel_Ok==1 && edrk.Run_Rascepitel)
+ {
+ if (optical_read_data.data.cmd.bit.rascepitel_cmd != CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_ON ) // �� ��������� ������������ ����������� ���������� ����������� ������
+ {
+ edrk.RunUnZahvatRascepitel = 0;
+ edrk.errors.e1.bits.NO_CONFIRM_ON_RASCEPITEL |= 1;
+ edrk.errors.e2.bits.ERROR_RAZBOR_SHEMA |= 1;
+ }
+
+ }
+
+
+
+
+
+//
+// if (edrk.Razbor_Mode==400 && (edrk.Status_QTV_Ok==0)
+// && edrk.RunUnZahvatRascepitel && edrk.Status_Rascepitel_Ok==1)
+// {
+// // ���� ������ �� �� ������, ��������� �����������
+// // ������ �� ������� ������� ���� ��� ���� � ���� ��� ���� ���
+// if (optical_read_data.data.cmd.bit.rascepitel_cmd != CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_ON ) // 01 - ����� ��������� �����������, ���� �������
+// {
+//// edrk.Run_Rascepitel = 0;
+// edrk.RunUnZahvatRascepitel = 0;
+// edrk.errors.e1.bits.NO_CONFIRM_ON_RASCEPITEL |= 1;
+// edrk.errors.e2.bits.ERROR_RAZBOR_SHEMA |= 1;
+//
+// }
+// }
+//
+
+
+
+
+ if (edrk.Razbor_Mode==600 && edrk.Status_QTV_Ok==0
+ && edrk.Run_Rascepitel == 0
+ && edrk.Status_Rascepitel_Ok==1 )
+ {
+#if(RASCEPITEL_MANUAL_ALWAYS_ON==1)
+
+#else
+ // ����������� �� ����������!
+ if (edrk.Run_Rascepitel_from_RS==0) // � ��� ������� ���������� �� rs232?
+ {
+ edrk.errors.e6.bits.RASCEPITEL_ERROR_NOT_ANSWER |= 1;
+ edrk.errors.e2.bits.ERROR_RAZBOR_SHEMA |= 1;
+ }
+#endif
+ }
+
+#if(RASCEPITEL_MANUAL_ALWAYS_ON==1)
+
+ edrk.RazborNotFinish = 0;
+ edrk.RunUnZahvatRascepitel = 0;
+ edrk.Razbor_Mode=650; // ������������ � ����� �������
+
+
+#else
+
+ // ��� ��, ��� �����������, ������ ��������
+ if (edrk.Run_Rascepitel==0 && edrk.Razbor_Mode>20 && edrk.Status_QTV_Ok==0 && (edrk.Status_Rascepitel_Ok==0 || edrk.Run_Rascepitel_from_RS==1) )
+ {
+ edrk.RazborNotFinish = 0;
+ edrk.RunUnZahvatRascepitel = 0;
+ edrk.Razbor_Mode=650; // ������������ � ����� �������
+ }
+#endif
+
+// edrk.Run_Rascepitel = 0;
+
+ if (edrk.Razbor_Mode>650)
+ {
+ time_wait_razbor = 0;
+ }
+ else
+ edrk.Razbor_Mode++;
+
+ }
+
+
+ if (edrk.errors.e7.bits.ERROR_SBOR_SHEMA)
+ {
+ // ������
+ edrk.AutoStartPump = 0;
+ edrk.Sbor_Mode = 0;
+ edrk.Run_Pred_Zaryad = 0;
+ edrk.time_wait_sbor = 0;
+ edrk.Zaryad_OK = 0;
+ edrk.Run_QTV = 0;
+ edrk.Run_UMP = 0;
+ edrk.SborFinishOk = 0;
+ edrk.RunZahvatRascepitel = 0;
+// edrk.Run_Rascepitel = 0; // ��������� �����������, ���� �������� � ������ ��� ������????
+
+ }
+
+
+ //////////////////////////////////////
+ //////////////////////////////////////
+
+ edrk.Status_Charge = zaryad_on_off(edrk.Run_Pred_Zaryad);
+
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_DISABLE_ON_UMP]==1 || edrk.Status_Ready.bits.ImitationReady2)
+ {
+ edrk.Status_UMP_Ok = edrk.Run_UMP;
+ edrk.Zaryad_UMP_Ok = 1;
+ edrk.to_shema.bits.UMP_ON_OFF = 0;
+ }
+ else
+ {
+ edrk.Status_UMP_Ok = ump_on_off(edrk.Run_UMP);
+ edrk.Zaryad_UMP_Ok = detect_zaryad_ump();
+ }
+
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_DISABLE_ON_QTV]==1 || edrk.Status_Ready.bits.ImitationReady2)
+ {
+ edrk.Status_QTV_Ok = edrk.Run_QTV;
+ edrk.to_shema.bits.QTV_ON_OFF = 0;
+ edrk.to_shema.bits.QTV_ON = 0;
+ }
+ else
+ edrk.Status_QTV_Ok = qtv_on_off(edrk.Run_QTV);
+
+ rascepitel_on_off ( edrk.Run_Rascepitel || edrk.Run_Rascepitel_from_RS,
+ &edrk.Status_Perehod_Rascepitel,
+ &edrk.Status_Rascepitel_Ok,
+ &edrk.Final_Status_Rascepitel
+ );
+
+
+ //////////////////////////////////////
+ //////////////////////////////////////
+
+
+
+
+
+
+ //////////////////////////////////////
+ //////////////////////////////////////
+
+
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_MANUAL_DISCHARGE]==1 && edrk.SborFinishOk==0)
+ edrk.ManualDischarge = 1;
+ else
+ edrk.ManualDischarge = 0;
+
+ if (allow_discharge && edrk.SborFinishOk == 0)
+ {
+ edrk.Discharge = 1;
+ allow_discharge = 0;
+ }
+
+
+ if ( edrk.Zaryad_OK == 1 && edrk.Status_QTV_Ok==1 && edrk.Status_Rascepitel_Ok)
+ edrk.Status_Ready.bits.ready7 = 1;
+ else
+ edrk.Status_Ready.bits.ready7 = 0;
+
+// if (edrk.StatusPumpFanAll)
+// edrk.Status_Ready.bits.ready1 = 1;
+// else
+// edrk.Status_Ready.bits.ready1 = 0;
+
+ if (edrk.Run_Pred_Zaryad)
+ edrk.Status_Ready.bits.ready2 = 1;
+ else
+ edrk.Status_Ready.bits.ready2 = 0;
+
+ if (edrk.Zaryad_OK)
+ edrk.Status_Ready.bits.ready3 = 1;
+ else
+ edrk.Status_Ready.bits.ready3 = 0;
+
+ if (edrk.Status_QTV_Ok)
+ edrk.Status_Ready.bits.ready4 = 1;
+ else
+ edrk.Status_Ready.bits.ready4 = 0;
+
+ if (edrk.SborFinishOk || edrk.Status_Ready.bits.ImitationReady2==1)
+ edrk.Status_Ready.bits.ready5 = 1;
+ else
+ edrk.Status_Ready.bits.ready5 = 0;
+
+ if (edrk.ms.ready3 || edrk.ms.another_bs_maybe_on==0)
+ edrk.Status_Ready.bits.ready6 = 1;
+ else
+ edrk.Status_Ready.bits.ready6 = 0;
+
+
+ if (edrk.Status_Ready.bits.ready5==1 && edrk.Status_Ready.bits.ready6==1 && edrk.Status_Ready.bits.MasterSlaveActive)
+ {
+ if (edrk.Status_Ready.bits.ImitationReady2)
+ edrk.Status_Ready.bits.preImitationReady2 = 1;
+ edrk.Status_Ready.bits.ready_final = 1;
+ }
+ else
+ {
+ edrk.Status_Ready.bits.ready_final = 0;
+ edrk.Status_Ready.bits.preImitationReady2 = 0;
+ }
+
+ if (edrk.Status_Ready.bits.ready_final && prev_ready_final==0)
+ edrk.count_sbor++;
+
+ prev_ready_final = edrk.Status_Ready.bits.ready_final;
+
+ return (edrk.Sbor_Mode);
+}
+
+
+
+
+
+unsigned int imit_signals_rascepitel(unsigned int *counter, unsigned int max_pause, unsigned int s, unsigned int cmd_clear)
+{
+ if (cmd_clear==1)
+ {
+ (*counter) = 0;
+ return 0;
+ }
+
+ if (s)
+ {
+ if ((*counter)>=max_pause)
+ return 1;
+ else
+ (*counter)++;
+
+ return 0;
+ }
+
+ if (s==0)
+ {
+ if ((*counter)==0)
+ return 0;
+ else
+ (*counter)--;
+
+ return 1;
+ }
+ return 0;
+}
+
+
+#define TIME_WAIT_OFF_BLOCK_KEY 100
+void auto_block_key_on_off(void)
+{
+ static unsigned int count_err = TIME_WAIT_OFF_BLOCK_KEY;
+
+ if (edrk.SumSbor && edrk.enter_to_pump_stage)
+ {
+ edrk.Status_Ready.bits.Batt = 1;
+ edrk.to_ing.bits.BLOCK_KEY_OFF = 0;
+ count_err = 0;
+ }
+
+ if (filter.iqU_1_long >= U_LEVEL_ON_BLOCK_KEY || filter.iqU_2_long >= U_LEVEL_ON_BLOCK_KEY)
+ {
+ edrk.Status_Ready.bits.Batt = 1;
+ edrk.to_ing.bits.BLOCK_KEY_OFF = 0;
+ count_err = 0;
+ }
+
+ if (filter.iqU_1_long <= U_LEVEL_OFF_BLOCK_KEY && filter.iqU_2_long <= U_LEVEL_OFF_BLOCK_KEY && edrk.SumSbor==0)
+ {
+ if (pause_detect_error(&count_err,TIME_WAIT_OFF_BLOCK_KEY,1))
+ {
+ edrk.to_ing.bits.BLOCK_KEY_OFF = 1;
+ edrk.Status_Ready.bits.Batt = 0;
+ }
+ }
+ else
+ count_err = 0;
+
+
+}
+
+
+///////////////////////////////////////////////
+
+
diff --git a/Inu/Src/main/sbor_shema.h b/Inu/Src/main/sbor_shema.h
new file mode 100644
index 0000000..fdde9ff
--- /dev/null
+++ b/Inu/Src/main/sbor_shema.h
@@ -0,0 +1,24 @@
+/*
+ * sbor_shema.h
+ *
+ * Created on: 18 ����. 2021 �.
+ * Author: stud
+ */
+
+#ifndef SRC_MAIN_SBOR_SHEMA_H_
+#define SRC_MAIN_SBOR_SHEMA_H_
+
+
+#define U_LEVEL_ON_BLOCK_KEY 559240 // 100V
+#define U_LEVEL_OFF_BLOCK_KEY 279620 // 50V
+
+unsigned int sbor_shema(int mode);
+void rascepitel_on_off(unsigned int flag, int *status_perehod, int *status_on_off, int *final_status_on_off);
+void auto_block_key_on_off(void);
+
+unsigned int imit_signals_rascepitel(unsigned int *counter, unsigned int max_pause, unsigned int s, unsigned int cmd_clear);
+void set_status_pump_fan(void);
+
+
+
+#endif /* SRC_MAIN_SBOR_SHEMA_H_ */
diff --git a/Inu/Src/main/sim_model.c b/Inu/Src/main/sim_model.c
new file mode 100644
index 0000000..a84fa72
--- /dev/null
+++ b/Inu/Src/main/sim_model.c
@@ -0,0 +1,222 @@
+/*
+ * sim_model.c
+ *
+ * Created on: 30 ���. 2024 �.
+ * Author: yura
+ */
+
+#if (_SIMULATE_AC==1)
+
+#ifdef __TI_COMPILER_VERSION__
+#pragma SET_DATA_SECTION(".slow_vars")
+#endif
+
+//#include "math.h"
+
+
+#include "V_MotorModel.h"
+//#include "V_MotorParams.h"
+//#include <V_IQmath.h>
+#include "IQmathLib.h"
+//#include "main.h"
+
+#include "v_pwm24_v2.h"
+#include "edrk_main.h"
+#include "params_norma.h"
+#include "adc_tools.h"
+#include "filter_v1.h"
+#include "mathlib.h"
+#include "v_rotor_22220.h"
+
+//������ ����������������� ��� ������� � ������ ����������
+//#pragma DATA_SECTION(sim_model, ".slow_vars")
+TMotorModel sim_model = MOTOR_MODEL_DEFAULTS;
+
+
+
+void sim_model_init(void)
+{
+
+ //model.motorInternals.udc = 540; //�������� ����� ������� ��������
+
+ sim_model.motorInternals.udc = 540; //�������� ����� ������� ��������
+ sim_model.tpr = svgen_pwm24_1.Tclosed_high;//450; //������ ������� ���
+ sim_model.cmpr0 = svgen_pwm24_1.Tclosed_high/2;
+ sim_model.cmpr1 = svgen_pwm24_1.Tclosed_high/2;
+ sim_model.cmpr2 = svgen_pwm24_1.Tclosed_high/2;
+ sim_model.cmpr3 = svgen_pwm24_1.Tclosed_high/2;
+
+
+ sim_model.MotorParametersNum = 10;//
+ sim_model.dt = 0;//_IQ4mpy(_IQ4(150 / 4), pwm.DeadBand >> 20) >> 4; //�������� �������� �������
+
+ //����� ������� ������������� ������ ���������
+ sim_model.Init(&sim_model); //������ ���������
+
+
+
+ sim_model.Init(&sim_model);
+
+}
+
+void sim_model_execute(void)
+{
+ //�������� ������� ����������� �������� ��� � ������
+ sim_model.cmpr0 = svgen_pwm24_1.Ta_imp/2 + svgen_pwm24_1.Tclosed_high/2;//PWM0->CMPA_bit.CMPA;
+ sim_model.cmpr1 = svgen_pwm24_1.Tb_imp/2 + svgen_pwm24_1.Tclosed_high/2;//PWM1->CMPA_bit.CMPA;
+ sim_model.cmpr2 = svgen_pwm24_1.Tc_imp/2 + svgen_pwm24_1.Tclosed_high/2;;//PWM2->CMPA_bit.CMPA;
+
+ sim_model.InvertorEna = edrk.Go;//���� ���������� ������ ���������
+
+ //����� ������� ��������� ������� ������ ���������
+ sim_model.Execute(&sim_model);
+
+}
+
+
+void calc_norm_ADC_0_sim(int run_norma)
+{
+ _iq a1,a2,a3;
+
+#if (1)
+
+#if (_FLOOR6)
+ analog.iqU_1 = _IQ(sim_model.motorInternals.udc/NORMA_ACP/2.0);// iq_norm_ADC[0][0] - analog_zero.iqU_1 + analog.iqU_1_imit;
+ analog.iqU_2 = analog.iqU_1;//iq_norm_ADC[0][1] - analog_zero.iqU_2 + analog.iqU_1_imit;
+#else
+ analog.iqU_1 = iq_norm_ADC[0][0] - analog_zero.iqU_1;
+ analog.iqU_2 = iq_norm_ADC[0][1] - analog_zero.iqU_2;
+#endif
+
+ analog.iqIu_1 = _IQ(sim_model.motorInternals.isPhaseA/NORMA_ACP/2.0);
+ analog.iqIv_1 = _IQ(sim_model.motorInternals.isPhaseB/NORMA_ACP/2.0);
+ analog.iqIw_1 = _IQ(sim_model.motorInternals.isPhaseC/NORMA_ACP/2.0);
+
+ analog.iqIu_2 = analog.iqIu_1;
+ analog.iqIv_2 = analog.iqIv_1;
+ analog.iqIw_2 = analog.iqIw_1;
+
+ analog.iqIin_1 = 0;//_IQ(sim_model.motorInternals.power/sim_model.motorInternals.udc/NORMA_ACP/2.0); //-iq_norm_ADC[0][9]; // ������ ����������
+ analog.iqIin_2 = analog.iqIin_1;//-iq_norm_ADC[0][9]; // ������ ����������
+
+ analog.iqUin_A1B1 = 0;//iq_norm_ADC[0][10];
+
+// ��� �������� ����������� �������� 23550.1 ����� ���������� - �� �����
+// 23550.1
+
+ analog.iqUin_B1C1 = 0;//iq_norm_ADC[0][11]; // 23550.1
+ analog.iqUin_A2B2 = 0;//iq_norm_ADC[0][12]; // 23550.1
+
+// 23550.3 bs1 bs2
+
+// analog.iqUin_B1C1 = iq_norm_ADC[0][12]; // 23550.3
+// analog.iqUin_A2B2 = iq_norm_ADC[0][11]; // 23550.3
+//
+ analog.iqUin_B2C2 = 0;//iq_norm_ADC[0][13];
+
+ analog.iqIbreak_1 = 0;//iq_norm_ADC[0][14];
+ analog.iqIbreak_2 = 0;//iq_norm_ADC[0][15];
+
+#else
+ analog.iqU_1 = analog.iqIu_1 = analog.iqIu_2 = analog.iqIv_1 = analog.iqIv_2 =
+ analog.iqIw_1 = analog.iqIw_2 = analog.iqIin_1 = analog.iqIin_2 = analog.iqUin_A1B1 =
+ analog.iqUin_B1C1 = analog.iqUin_A2B2 = analog.iqUin_B2C2 = analog.iqIbreak_1 = analog.iqIbreak_2
+ = 0;
+#endif
+
+ analog.iqUin_C1A1 = -(analog.iqUin_A1B1 + analog.iqUin_B1C1);
+ analog.iqUin_C2A2 = -(analog.iqUin_A2B2 + analog.iqUin_B2C2);
+
+
+
+ filter.iqU_1_long = exp_regul_iq(koef_Uzpt_long_filter, filter.iqU_1_long, analog.iqU_1);
+ filter.iqU_2_long = exp_regul_iq(koef_Uzpt_long_filter, filter.iqU_2_long, analog.iqU_2);
+
+
+// analog.iqU_1_fast = filter_U1_3point(analog.iqU_1_fast);
+ filter.iqU_1_fast = exp_regul_iq(koef_Uzpt_fast_filter, filter.iqU_1_fast, analog.iqU_1);
+ filter.iqU_2_fast = exp_regul_iq(koef_Uzpt_fast_filter, filter.iqU_2_fast, analog.iqU_2);
+
+
+// filter.iqUzpt_2_2_fast = exp_regul_iq(koef_Uzpt_fast_filter, filter.iqUzpt_2_2_fast, analog.iqUzpt_2_2);
+
+
+
+//15
+
+
+ analog.iqIm_1 = im_calc(analog.iqIu_1, analog.iqIv_1, analog.iqIw_1);
+ analog.iqIm_2 = im_calc(analog.iqIu_2, analog.iqIv_2, analog.iqIw_2);
+
+ analog.iqIu = analog.iqIu_1+analog.iqIu_2;
+ analog.iqIv = analog.iqIv_1+analog.iqIv_2;
+ analog.iqIw = analog.iqIw_1+analog.iqIw_2;
+
+ analog.iqIm = im_calc(analog.iqIu, analog.iqIv, analog.iqIw);
+
+
+ analog.iqIin_sum = analog.iqIin_1+analog.iqIin_2;
+
+// analog.iqIm_3 = im_calc(analog.iqIa1_1_fir_n+analog.iqIa2_1_fir_n, analog.iqIb1_1_fir_n+analog.iqIb2_1_fir_n, analog.iqIc1_1_fir_n+analog.iqIc2_1_fir_n);
+
+ analog.iqUin_m1 = im_calc(analog.iqUin_A1B1, analog.iqUin_B1C1, analog.iqUin_C1A1);
+ analog.iqUin_m2 = im_calc(analog.iqUin_A2B2, analog.iqUin_B2C2, analog.iqUin_C2A2);
+
+// analog.iqUin_m2 = im_calc(analog.UinA2, analog.UinB2, analog.UinC2);
+
+ filter.iqUin_m1 = exp_regul_iq(koef_Uin_filter, filter.iqUin_m1, analog.iqUin_m1);
+ filter.iqUin_m2 = exp_regul_iq(koef_Uin_filter, filter.iqUin_m2, analog.iqUin_m2);
+
+
+
+// i_led1_on_off(0);
+// i_led1_on_off(1);
+
+//1
+
+ filter.iqIm_1 = exp_regul_iq(koef_Im_filter, filter.iqIm_1, analog.iqIm_1);
+ filter.iqIm_2 = exp_regul_iq(koef_Im_filter, filter.iqIm_2, analog.iqIm_2);
+ filter.iqIm = exp_regul_iq(koef_Im_filter, filter.iqIm, analog.iqIm);
+
+ filter.iqIin_sum = exp_regul_iq(koef_Im_filter, filter.iqIin_sum, analog.iqIin_sum);
+
+//3
+// filter_batter2_Iin.InpVarCurr = (analog.iqIin_1)-ZERO_I_IN;
+ // filter_batter2_Iin.calc(&filter_batter2_Iin);
+
+// filter.iqIin = _IQmpy(filter_batter2_Iin.Out,_IQ_09);
+
+
+ filter.iqIin_1 = exp_regul_iq(koef_Im_filter, filter.iqIin_1, analog.iqIin_1);
+ filter.iqIin_2 = exp_regul_iq(koef_Im_filter, filter.iqIin_2, analog.iqIin_2);
+
+ a1 = analog.iqU_1+analog.iqU_2;
+ a2 = analog.iqIin_1;
+ a3 = _IQmpy(a1,a2);
+ analog.PowerScalar = a3;
+// filter.Power = analog.iqU_1+analog.iqU_2;
+ filter.PowerScalar = exp_regul_iq(koef_Power_filter, filter.PowerScalar, analog.PowerScalar);
+ filter.PowerScalarFilter2 = exp_regul_iq(koef_Power_filter2, filter.PowerScalarFilter2, filter.PowerScalar);
+
+}
+
+
+
+void calc_rotors_sim(void)
+{
+ rotor_22220.direct_rotor = 1;
+ rotor_22220.iqF = _IQ(sim_model.motorInternals.omega_rpm/60.0/NORMA_FROTOR);
+
+
+ rotor_22220.iqFout = exp_regul_iq(koef_Wout_filter, rotor_22220.iqFout, rotor_22220.iqF);
+ rotor_22220.iqFlong = exp_regul_iq(koef_Wout_filter_long, rotor_22220.iqFlong, rotor_22220.iqF);
+
+}
+
+
+
+//#ifdef __TI_COMPILER_VERSION__
+//#pragma RESET_DATA_SECTION
+//#endif
+
+#endif
diff --git a/Inu/Src/main/sim_model.h b/Inu/Src/main/sim_model.h
new file mode 100644
index 0000000..9a27c91
--- /dev/null
+++ b/Inu/Src/main/sim_model.h
@@ -0,0 +1,21 @@
+/*
+ * sim_model.h
+ *
+ * Created on: 30 ���. 2024 �.
+ * Author: yura
+ */
+
+#ifndef SRC_MAIN_SIM_MODEL_H_
+#define SRC_MAIN_SIM_MODEL_H_
+
+#include "V_MotorModel.h"
+
+void sim_model_init(void);
+void sim_model_execute(void);
+void calc_norm_ADC_0_sim(int run_norma);
+void calc_rotors_sim(void);
+
+
+extern TMotorModel sim_model;
+
+#endif /* SRC_MAIN_SIM_MODEL_H_ */
diff --git a/Inu/Src/main/sync_tools.c b/Inu/Src/main/sync_tools.c
new file mode 100644
index 0000000..ee9ee9d
--- /dev/null
+++ b/Inu/Src/main/sync_tools.c
@@ -0,0 +1,520 @@
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_SWPrioritizedIsrLevels.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+
+#include <params.h>
+#include <sync_tools.h>
+#include <vector.h>
+
+#include "big_dsp_module.h"
+#include "MemoryFunctions.h"
+#include "Spartan2E_Adr.h"
+#include "Spartan2E_Functions.h"
+#include "TuneUpPlane.h"
+#include "pwm_test_lines.h"
+#include "xp_write_xpwm_time.h"
+#include "profile_interrupt.h"
+
+#include "edrk_main.h"
+#define SIZE_SYNC_BUF 20
+
+//#pragma DATA_SECTION(logbuf_sync1,".fa");
+unsigned int logbuf_sync1[SIZE_SYNC_BUF];
+unsigned int c_logbuf_sync1=0;
+
+//unsigned int capnum0;
+//unsigned int capnum1;
+//unsigned int capnum2;
+//unsigned int capnum3;
+
+int delta_capnum = 0;
+int delta_error = 0;
+//int level_find_sync_zero = LEVEL_FIND_SYNC_ZERO;
+unsigned int temp;
+
+unsigned int count_error_sync = 0;
+
+unsigned int count_timeout_sync = 0;
+//unsigned int enable_profile_led1_sync = 1;
+//unsigned int enable_profile_led2_sync = 0;
+
+SYNC_TOOLS_DATA sync_data=SYNC_TOOLS_DATA_DEFAULT;
+
+
+#pragma CODE_SECTION(calculate_sync_detected,".fast_run2");
+void calculate_sync_detected(void)
+{
+
+
+
+// if (capnum0 > 1000) {
+// return;
+// }
+// sync_data.level_find_sync_zero = LEVEL_FIND_SYNC_ZERO;
+
+ delta_capnum = sync_data.capnum0 - sync_data.capnum1;
+
+ if (delta_capnum > 0) //������
+ {
+ sync_data.pwm_freq_plus_minus_zero = -1;//1;
+
+ if (count_error_sync < MAX_COUNT_ERROR_SYNC) {
+ count_error_sync++;
+ count_error_sync++;
+ count_error_sync++;
+ } else
+ sync_data.local_flag_sync_1_2 = 0;
+ }
+ else
+ if (delta_capnum < 0) //�����
+ {
+
+ if (sync_data.capnum0 > sync_data.level_find_sync_zero)
+ {
+ delta_error = sync_data.capnum0 - sync_data.level_find_sync_zero;
+
+ if (delta_error > 50) {
+ if (count_error_sync < MAX_COUNT_ERROR_SYNC) {
+ count_error_sync++;
+ count_error_sync++;
+ count_error_sync++;
+ } else
+ sync_data.local_flag_sync_1_2 = 0;
+ } else {
+ if (count_error_sync > 0) {
+ count_error_sync--;
+ }
+ if (count_error_sync == 0)
+ sync_data.local_flag_sync_1_2 = 1;
+ }
+ sync_data.pwm_freq_plus_minus_zero = 1;
+ }
+ else
+ if (sync_data.capnum0 < sync_data.level_find_sync_zero)
+ {
+
+ delta_error = sync_data.level_find_sync_zero - sync_data.capnum0;
+
+ if (delta_error > 50) {
+ if (count_error_sync < MAX_COUNT_ERROR_SYNC) {
+ count_error_sync++;
+ count_error_sync++;
+ count_error_sync++;
+ } else
+ sync_data.local_flag_sync_1_2 = 0;
+ } else {
+ if (count_error_sync > 0) {
+ count_error_sync--;
+ }
+ if (count_error_sync == 0)
+ sync_data.local_flag_sync_1_2 = 1;
+ }
+
+ sync_data.pwm_freq_plus_minus_zero = -1;
+
+ }
+ else
+ {
+ sync_data.pwm_freq_plus_minus_zero = 0;
+ sync_data.local_flag_sync_1_2 = 1;
+ count_error_sync = 0;
+ }
+ } else
+ sync_data.pwm_freq_plus_minus_zero = 0;
+
+ sync_data.delta_error_sync = delta_error;
+ sync_data.delta_capnum = sync_data.capnum0 - sync_data.level_find_sync_zero; //delta_capnum;
+ sync_data.count_error_sync = count_error_sync;
+
+
+}
+
+
+#pragma CODE_SECTION(sync_detected,".fast_run2");
+void sync_detected(void)
+{
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_SYNC)
+ PWM_LINES_TK_18_ON;
+#endif
+
+ sync_data.latch_interrupt = 1;
+ // stop_sync_interrupt();
+
+
+ // i_led2_on_off(1);
+
+ // //Enable more interrupts from this capture
+ // EvbRegs.EVBIMRC.bit.CAP6INT = 0;
+
+ // if (edrk.disable_interrupt_sync==0)
+
+
+// WriteMemory(ADR_SAW_REQUEST, 0x8000);
+// sync_data.capnum0 = ReadMemory(ADR_SAW_VALUE);
+
+// WriteMemory(ADR_SAW_REQUEST, 0x8000);
+// sync_data.capnum0 = ReadMemory(ADR_SAW_VALUE);
+
+ // pause_1000(1);
+
+ WriteMemory(ADR_SAW_REQUEST, 0x8000);
+ sync_data.capnum1 = ReadMemory(ADR_SAW_VALUE);
+
+ WriteMemory(ADR_SAW_REQUEST, 0x8000);
+ sync_data.capnum1 = ReadMemory(ADR_SAW_VALUE);
+
+ sync_data.count_timeout_sync = 0;
+ sync_data.timeout_sync_signal = 0;
+
+ logbuf_sync1[c_logbuf_sync1++] = sync_data.capnum0;
+// logbuf_sync1[c_logbuf_sync1++] = sync_data.capnum1;
+
+ if (c_logbuf_sync1==SIZE_SYNC_BUF)
+ c_logbuf_sync1=0;
+
+
+ if (sync_data.count_pause_ready < MAX_COUNT_PAUSE_READY) {
+ sync_data.count_pause_ready++;
+ sync_data.count_pause_ready++;
+ } else
+ sync_data.sync_ready = 1;
+
+////////////////////////////////////
+
+ // calculate_sync_detected();
+
+
+
+// sync_data.capnum0 = capnum0;
+
+
+
+ //
+ // stop_sync_interrupt();
+ // EvbRegs.EVBIFRC.all = BIT2;
+ //
+
+
+ // // Acknowledge interrupt to receive more interrupts from PIE group 5
+ // PieCtrlRegs.PIEACK.all = PIEACK_GROUP5;
+
+ // if (edrk.disable_interrupt_sync==0)
+ // {
+ //// //Enable more interrupts from this capture
+ //// EvbRegs.EVBIMRC.bit.CAP6INT = 1;
+ ////
+ //// //use mask to clear EVAIFRA register
+ //// EvbRegs.EVBIFRC.bit.CAP6INT = 1;
+ // }
+
+ //Enable more interrupts from this capture
+// EvbRegs.EVBIMRC.bit.CAP6INT = 1;
+
+ //use mask to clear EVAIFRA register
+// EvbRegs.EVBIFRC.bit.CAP6INT = 1;
+
+
+
+
+ // DINT;
+ // PieCtrlRegs.PIEIER5.all = TempPIEIER;
+
+ // return;
+
+
+
+ // IER &= ~(M_INT5);
+
+ //Enable more interrupts from this capture
+ // EvbRegs.EVBIMRC.bit.CAP6INT = 1;
+
+ // Note: To be safe, use a mask value to write to the entire
+ // EVAIFRA register. Writing to one bit will cause a read-modify-write
+ // operation that may have the result of writing 1's to clear
+ // bits other then those intended.
+ //use mask to clear EVAIFRA register
+ // EvbRegs.EVBIFRC.bit.CAP6INT = 1;
+ // EvbRegs.EVBIFRC.all = BIT2;
+
+ // IER &= ~(M_INT5);
+
+
+ // asm(" NOP;");
+
+ // i_led2_on_off(0);
+
+
+ // start_sync_interrupt();
+ // EvbRegs.EVBIMRC.bit.CAP6INT = 1;
+ // Clear CAPINT6 interrupt flag
+
+ // Acknowledge interrupt to receive more interrupts from PIE group 5
+ // PieCtrlRegs.PIEACK.all = PIEACK_GROUP5;
+
+ sync_data.count_interrupts++;
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_SYNC)
+ PWM_LINES_TK_18_OFF;
+#endif
+
+}
+
+
+//static long k_3=50;
+
+#pragma CODE_SECTION(Sync_handler,".fast_run2");
+interrupt void Sync_handler(void) {
+
+ // Set interrupt priority:
+ volatile Uint16 TempPIEIER = PieCtrlRegs.PIEIER5.all;
+ IER |= M_INT5;
+ IER &= MINT5; // Set "global" priority
+ PieCtrlRegs.PIEIER5.all &= MG57; // Set "group" priority
+ PieCtrlRegs.PIEACK.all = 0xFFFF; // Enable PIE interrupts
+
+ WriteMemory(ADR_SAW_REQUEST, 0x8000);
+ sync_data.capnum0 = ReadMemory(ADR_SAW_VALUE);
+
+ stop_sync_interrupt_local(); // ��������� ����������, �������� �� �� �������, ���� �������� �������� ��� ������ ������.
+
+
+#if (_ENABLE_INTERRUPT_PROFILE_LED1)
+ if (profile_interrupt.for_led1.bits.sync)
+ i_led1_on_off_special(1);
+#endif
+#if (_ENABLE_INTERRUPT_PROFILE_LED2)
+ if (profile_interrupt.for_led2.bits.sync)
+ i_led2_on_off_special(1);
+#endif
+
+ EINT;
+
+// i_led2_on_off(1);
+
+ // Insert ISR Code here.......
+ sync_detected();
+// pause_1000(k_3);
+ // Next line for debug only (remove after inserting ISR Code):
+ //ESTOP0;
+
+// i_led2_on_off(0);
+
+ // Enable more interrupts from this timer
+// EvbRegs.EVBIMRC.bit.CAP6INT = 1;
+ // Note: To be safe, use a mask value to write to the entire
+ // EVBIFRA register. Writing to one bit will cause a read-modify-write
+ // operation that may have the result of writing 1's to clear
+ // bits other then those intended.
+ EvbRegs.EVBIFRC.all = BIT2;
+ // Acknowledge interrupt to recieve more interrupts from PIE group 5
+// PieCtrlRegs.PIEACK.all |= PIEACK_GROUP5;
+
+ // Restore registers saved:
+ DINT;
+ PieCtrlRegs.PIEIER5.all = TempPIEIER;
+
+#if (_ENABLE_INTERRUPT_PROFILE_LED1)
+ if (profile_interrupt.for_led1.bits.sync)
+ i_led1_on_off_special(0);
+#endif
+#if (_ENABLE_INTERRUPT_PROFILE_LED2)
+ if (profile_interrupt.for_led2.bits.sync)
+ i_led2_on_off_special(0);
+#endif
+
+
+}
+
+void setup_sync_int(void) {
+
+// return;
+
+// EALLOW;
+
+ if (edrk.flag_second_PCH==1)
+ sync_data.level_find_sync_zero = xpwm_time.pwm_tics+5;
+ else
+ sync_data.level_find_sync_zero = LEVEL_FIND_SYNC_ZERO;
+
+ sync_data.timeout_sync_signal = 0;
+ sync_data.count_timeout_sync = 0;
+
+// sync_data.what_main_pch = 1; // ������ ��
+// sync_data.what_main_pch = 2; // ������ ��
+ sync_data.what_main_pch = 0; // ����� ��
+
+
+
+/////////////////////////////////////////////
+
+// EvbRegs.EVBIFRC.bit.CAP6INT = 1; //Resets flag EVB Interrupt Flag Register
+ EvbRegs.EVBIFRC.all = BIT2; //Resets flag EVB Interrupt Flag Register
+ EvbRegs.EVBIMRC.bit.CAP6INT = 0; //1 //SET flag EVB Interrupt Mask Register C
+ // CAP6INT ENABLE
+ //0 Disable
+ //1 Enable
+
+
+/////////////////////////////////////////////
+ EvbRegs.T4PR = 0xFFFF; //Set timer period
+ EvbRegs.T4CNT = 0; // Clear timer counter
+
+ EvbRegs.T4CON.all = 0; // Disable timer
+ EvbRegs.T4CON.bit.FREE = 1; // FREE/SOFT, 00 = stop immediately on emulator suspend
+ EvbRegs.T4CON.bit.SOFT = 0;
+ EvbRegs.T4CON.bit.TMODE = 2; //TMODEx, 10 = continuous-up count mode
+ EvbRegs.T4CON.bit.TPS = 0; //TPSx, 111 = x/1 prescaler
+ EvbRegs.T4CON.bit.TENABLE = 0; // TENABLE, 1 = enable timer
+ EvbRegs.T4CON.bit.TCLKS10 = 0; //TCLKS, 00 = HSPCLK is clock source
+ EvbRegs.T4CON.bit.TCLD10 = 0; //Timer compare register reload condition, 00 When counter is 0
+ EvbRegs.T4CON.bit.TECMPR = 1; // TECMPR, 1 = Enable timer compare operation
+ EvbRegs.T4CON.bit.SET3PR = 0; // SELT3PR: 0 - Use own period register
+
+
+////////////////////////////////////////////////////
+ EvbRegs.CAPCONB.all = 0; // Clear
+
+ EvbRegs.CAPCONB.bit.CAP6EDGE = 2; //3:2 Edge Detection for Unit 6
+ //Edge detection control for Capture Unit 6.
+// 00 No detection
+// 01 Detects rising edge
+// 10 Detects falling edge
+// 11 Detects both edges
+
+ EvbRegs.CAPCONB.bit.CAP6TSEL = 0; // GP Timer selection for Unit 6
+// GP timer selection for Capture Units 4 and 5
+// 0 Selects GP timer 4
+// 1 Selects GP timer 3
+ EvbRegs.CAPFIFOB.bit.CAP6FIFO = 0; //CAP6 FIFO status
+ EvbRegs.CAPCONB.bit.CAP6EN = 1; //Enables Capture Unit 6
+/////////////////////////////////////////
+
+
+ EALLOW;
+ PieVectTable.CAPINT6 = &Sync_handler; //?CAP?????????????????
+ EDIS;
+
+
+ PieCtrlRegs.PIEIER5.bit.INTx7 = 1;
+
+
+
+}
+
+void start_sync_interrupt(void)
+{
+ EvbRegs.EVBIFRC.all = BIT2; //Resets flag EVB Interrupt Flag Register
+
+ IER |= M_INT5; // @suppress("Symbol is not resolved")
+// PieCtrlRegs.PIEIER5.bit.INTx7 = 1;
+
+ EvbRegs.EVBIMRC.bit.CAP6INT = 1; //SET flag EVB Interrupt Mask Register C
+ // //use mask to clear EVAIFRA register
+// PieCtrlRegs.PIEACK.all |= PIEACK_GROUP5;
+ sync_data.latch_interrupt = 0;
+ sync_data.enabled_interrupt = 1;
+
+}
+
+void stop_sync_interrupt(void)
+{
+ sync_data.latch_interrupt = 0;
+ sync_data.enabled_interrupt = 0;
+
+ IER &= ~(M_INT5); // @suppress("Symbol is not resolved")
+// PieCtrlRegs.PIEIER5.bit.INTx7 = 0;
+ EvbRegs.EVBIMRC.bit.CAP6INT = 0; //SET flag EVB Interrupt Mask Register C
+ EvbRegs.EVBIFRC.all = BIT2; //Resets flag EVB Interrupt Flag Register
+// PieCtrlRegs.PIEACK.all |= PIEACK_GROUP5;
+}
+
+void stop_sync_interrupt_local(void)
+{
+ sync_data.latch_interrupt = 0;
+
+ IER &= ~(M_INT5); // @suppress("Symbol is not resolved")
+ EvbRegs.EVBIMRC.bit.CAP6INT = 0; //SET flag EVB Interrupt Mask Register C
+ EvbRegs.EVBIFRC.all = BIT2; //Resets flag EVB Interrupt Flag Register
+}
+
+
+void setup_sync_line(void) {
+
+ // output
+ EALLOW;
+ GpioMuxRegs.GPBMUX.bit.TCLKINB_GPIOB12 = 0;
+ GpioMuxRegs.GPBDIR.bit.GPIOB12 = 1;
+ EDIS;
+
+ //input
+ EALLOW;
+ GpioMuxRegs.GPBMUX.bit.CAP6QI2_GPIOB10 = 1;// Configure as CAP6
+// GpioMuxRegs.GPBDIR.bit.GPIOB10 = 1;
+ EDIS;
+
+}
+
+#pragma CODE_SECTION(sync_inc_error,".fast_run");
+void sync_inc_error(void)
+{
+
+
+ if (sync_data.count_pause_ready > 0) {
+ sync_data.count_pause_ready--;
+ } else
+ sync_data.sync_ready = 0;
+
+
+ if (sync_data.count_timeout_sync < MAX_COUNT_TIMEOUT_SYNC)
+ {
+ sync_data.count_timeout_sync++;
+ }
+ else
+ {
+ sync_data.timeout_sync_signal = 1;
+ sync_data.count_pause_ready = 0;
+ sync_data.local_flag_sync_1_2 = 0;
+ }
+
+
+ if (count_error_sync < MAX_COUNT_ERROR_SYNC) {
+ count_error_sync++;
+ } else
+ sync_data.local_flag_sync_1_2 = 0;
+}
+
+void clear_sync_error(void)
+{
+ sync_data.count_timeout_sync = 0;
+ sync_data.timeout_sync_signal = 0;
+}
+
+
+int get_status_sync_line(void)
+{
+ return !GpioDataRegs.GPBDAT.bit.GPIOB10;
+}
+
+//int index_sync_ar = 0;
+//
+//
+//void write_sync_logs(void)
+//{
+// static int c=0;
+// return;
+//
+//// logbuf1[index_filter_ar]=active_rect1.Id;//EvaRegs.CMPR1;//(active_rect1.pll_Ud);//svgenDQ.Wt;
+//// logbuf2[index_filter_ar]=active_rect1.Iq;//EvaRegs.CMPR2;//filter.iqU_1_long;// (active_rect1.pll_Uq);//Iq;
+//// logbuf3[index_filter_ar]=EvaRegs.CMPR1;//active_rect1.SetUzpt;////(active_rect1.Tetta);//abc_to_dq.Ud;
+//
+// index_sync_ar++;
+// if (index_sync_ar>=SIZE_SYNC_BUF)
+// {
+// index_sync_ar=0;
+// c++;
+// if (c>=10)
+// c=0;
+// }
+//
+//}
diff --git a/Inu/Src/main/sync_tools.h b/Inu/Src/main/sync_tools.h
new file mode 100644
index 0000000..e41ee87
--- /dev/null
+++ b/Inu/Src/main/sync_tools.h
@@ -0,0 +1,113 @@
+
+
+#define LEVEL_FIND_SYNC_ZERO 10 //74 //24
+#define MAX_COUNT_ERROR_SYNC 100
+#define MAX_COUNT_TIMEOUT_SYNC 100
+#define MAX_COUNT_PAUSE_READY 100
+
+
+
+
+
+
+
+typedef struct {
+ //Sync vals
+ int pwm_freq_plus_minus_zero;
+ int disable_sync;
+ int sync_ready;
+ unsigned int level_find_sync_zero;
+
+ int delta_error_sync;
+ int delta_capnum;
+ int count_error_sync;
+ unsigned int capnum0;
+ unsigned int capnum1;
+
+ int PWMcounterVal;
+ int local_flag_sync_1_2;
+ int global_flag_sync_1_2;
+ int timeout_sync_signal;
+
+ unsigned int count_timeout_sync;
+ unsigned int count_pause_ready;
+ int enable_do_sync;
+ int latch_interrupt;
+ int enabled_interrupt;
+ unsigned int count_interrupts;
+ unsigned int what_main_pch;
+
+
+
+// int pzad_or_wzad; //given turns or power, depends on controlMode;
+// int angle_pwm; //current rotor turns
+// int iq_zad; // Iq_zadan
+// union {
+// struct {
+// unsigned int wdog_tick :1; //�������� 0_1_0 � �.�.
+// unsigned int statusQTV :1; //1-QTV On, QTV - off
+// unsigned int master :1; // 1 -Master, 0 - not Master
+// unsigned int slave :1; // 1 -Slave, 0 - not Slave
+//
+// unsigned int sync_1_2 :1; // 1 - yes, 0 - no ������������ �����������
+// unsigned int alarm :1; // 1 - yes, 0 - no ������
+// unsigned int ready_cmd :2; // 00 - not ready,01-ready1,10-ready1to2, 11 -ready2
+//
+// unsigned int controlMode :1; // 0 - regul turns; 1 - power ����� ������
+// unsigned int ready_to_go :1; // 1 - yes, 0 - no ����� �������, ������ ������ ���
+// unsigned int start_pwm :1; // 1 - yes, 0 - no ���� ������� �� ������ ����
+// unsigned int stop_pwm :1; // 1 - yes, 0 - no ���� ������� �� ���� ����
+//
+// unsigned int pwm_status :1; // 1 -On, 0 - Off ������� �������� ����
+// unsigned int err_optbus :1; // 1 - yes, 0 - no ���� optbus ����������
+// unsigned int maybe_master :1; // 1 - yes, 0 - no ������ �� ������ ������ Master
+// unsigned int rascepitel :1; // 1 - yes, 0 - no ��������� �����������
+//
+//// unsigned int leading_ready :1; //1 - second inverter ready to work or in work
+//// unsigned int leading_Go :1;
+// } bit;
+// unsigned int all;
+// } cmd;
+} SYNC_TOOLS_DATA;
+
+#define SYNC_TOOLS_DATA_DEFAULT {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}
+
+extern SYNC_TOOLS_DATA sync_data;
+
+
+
+
+void setup_sync_line(void);
+void sync_inc_error(void);
+void setup_sync_int(void);
+void start_sync_interrupt(void);
+void stop_sync_interrupt(void);
+void stop_sync_interrupt_local(void);
+
+
+int get_status_sync_line(void);
+
+void clear_sync_error(void);
+
+void Sync_alg(void);
+void calculate_sync_detected(void);
+
+
+
+
+inline void i_sync_pin_on()
+{
+ EALLOW;
+ GpioDataRegs.GPBSET.bit.GPIOB12 = 1;
+ EDIS;
+}
+
+
+inline void i_sync_pin_off()
+{
+ EALLOW;
+ GpioDataRegs.GPBCLEAR.bit.GPIOB12 = 1;
+ EDIS;
+}
+
+
diff --git a/Inu/Src/main/synhro_tools.c b/Inu/Src/main/synhro_tools.c
new file mode 100644
index 0000000..47bbc5e
--- /dev/null
+++ b/Inu/Src/main/synhro_tools.c
@@ -0,0 +1,144 @@
+/*
+ * synhro_tools.c
+ *
+ * Created on: 13 ����. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+
+
+#include <edrk_main.h>
+
+#include <params.h>
+#include <params_alg.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+#include <params_temper_p.h>
+#include <project.h>
+#include "IQmathLib.h"
+#include "mathlib.h"
+#include "optical_bus.h"
+#include "sync_tools.h"
+
+//////////////////////////////////////////////////////////
+unsigned int wait_synhro_optical_bus(void)
+{
+ static unsigned int cmd = 0;
+ static unsigned int count_wait_synhro = 0;
+
+
+//
+// switch(cmd)
+// {
+// 0 : if (optical_read_data.data.cmd.bit.wdog_tick == 0)
+// cmd = 1;
+//
+// break;
+//
+// 1 : optical_write_data.data.cmd.bit.wdog_tick = 1;
+// break;
+//
+//
+// default: break
+// }
+
+
+
+ return 0;
+}
+
+//////////////////////////////////////////////////////////
+void clear_wait_synhro_optical_bus(void)
+{
+
+ // optical_read_data.data.cmd.bit.wdog_tick = 0;
+ // optical_write_data.data.cmd.bit.wdog_tick = 0;
+
+}
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+void who_select_sync_signal(void)
+{
+
+ if (sync_data.what_main_pch)
+ {
+ if (sync_data.what_main_pch==2)
+ {
+ // ������������� ������ !!!
+ if (edrk.flag_second_PCH)
+ sync_data.enable_do_sync = 1;
+ else
+ sync_data.enable_do_sync = 0;
+ return;
+ }
+
+ if (sync_data.what_main_pch==1)
+ {
+ // ������������� ������ !!!
+ if (edrk.flag_second_PCH)
+ sync_data.enable_do_sync = 0;
+ else
+ sync_data.enable_do_sync = 1;
+ return;
+ }
+
+ }
+
+// if (optical_read_data.status == 1)
+ sync_data.global_flag_sync_1_2 = (sync_data.local_flag_sync_1_2 || optical_read_data.data.cmd.bit.sync_1_2);
+// else
+ // sync_data.global_flag_sync_1_2 = (sync_data.local_flag_sync_1_2);
+
+
+ if (sync_data.timeout_sync_signal && optical_read_data.data.cmd.bit.sync_line_detect)
+ {
+ // ���� �� �� ��������� ������, � ������ ���������, ������ �� ���� ��������� �������������
+ // ���������������� ��� ���� ���.
+
+ sync_data.enable_do_sync = 0;
+
+ return;
+ }
+
+ if (sync_data.timeout_sync_signal==0 && optical_read_data.data.cmd.bit.sync_line_detect==0)
+ {
+ // ���� �� ��������� ������, � ������ �� ���������, ������ �� ���� ������������� �������� �������������
+ // ���������������� ���� ���� ���.
+
+ sync_data.enable_do_sync = 1;
+
+ return;
+ }
+
+ if (sync_data.sync_ready && sync_data.timeout_sync_signal==0 && optical_read_data.data.cmd.bit.sync_line_detect)
+ {
+
+
+ if (optical_read_data.data.cmd.bit.sync_1_2 && sync_data.enable_do_sync==0)
+ {
+ // ��� ���� �������, ������ �� ���� ��� ������� � �� ��� ��� ������
+
+ }
+ else
+ if (optical_read_data.data.cmd.bit.sync_1_2 && sync_data.enable_do_sync==1)
+ {
+ // ��� ���� �������, ������ �� ���� ��� ������� � �� �� ��� ��� ������, � �� ���
+
+ }
+ else
+ {
+ // ��� �������������, ������ �������� ��� ��� ����� ������ � ��������
+ // ���� �� ��������� ������ � ������ ���������, ������ �������������
+ // ���������� � ����������� �� ������ ��.
+ if (edrk.flag_second_PCH==0)
+ sync_data.enable_do_sync = 1;
+ else
+ sync_data.enable_do_sync = 0;
+ }
+ return;
+ }
+
+}
+
+//////////////////////////////////////////////////////////
+
diff --git a/Inu/Src/main/synhro_tools.h b/Inu/Src/main/synhro_tools.h
new file mode 100644
index 0000000..e6de9f1
--- /dev/null
+++ b/Inu/Src/main/synhro_tools.h
@@ -0,0 +1,19 @@
+/*
+ * synhro_tools.h
+ *
+ * Created on: 13 ����. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+#ifndef SRC_MAIN_SYNHRO_TOOLS_H_
+#define SRC_MAIN_SYNHRO_TOOLS_H_
+
+void who_select_sync_signal(void);
+
+void clear_wait_synhro_optical_bus(void);
+
+unsigned int wait_synhro_optical_bus(void);
+void clear_wait_synhro_optical_bus(void);
+
+
+#endif /* SRC_MAIN_SYNHRO_TOOLS_H_ */
diff --git a/Inu/Src/main/temper_p_tools.c b/Inu/Src/main/temper_p_tools.c
new file mode 100644
index 0000000..c6a773a
--- /dev/null
+++ b/Inu/Src/main/temper_p_tools.c
@@ -0,0 +1,77 @@
+/*
+ * temper_p_tools.c
+ *
+ * Created on: 13 ����. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+
+
+#include <edrk_main.h>
+
+#include <params.h>
+#include <params_alg.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+#include <params_temper_p.h>
+#include <project.h>
+#include "IQmathLib.h"
+#include "mathlib.h"
+#include "adc_tools.h"
+
+#include "temper_p_tools.h"
+///////////////////////////////////////////////
+void nagrev_auto_on_off(void)
+{
+ //min_real_int_temper_air
+
+// if (edrk.temper_edrk.max_real_int_temper_water<TEMPER_NAGREF_ON)
+// edrk.to_ing.bits.NAGREV_OFF = 0;
+//
+// if (edrk.temper_edrk.max_real_int_temper_water>TEMPER_NAGREF_OFF)
+// edrk.to_ing.bits.NAGREV_OFF = 1;
+
+ if (edrk.temper_edrk.min_real_int_temper_air<TEMPER_NAGREF_ON_1 && edrk.temper_edrk.max_real_int_temper_air<TEMPER_NAGREF_ON_2)
+ edrk.to_ing.bits.NAGREV_OFF = 0;
+
+ if (edrk.temper_edrk.min_real_int_temper_air>TEMPER_NAGREF_OFF_1 || edrk.temper_edrk.max_real_int_temper_air>TEMPER_NAGREF_OFF_2)
+ edrk.to_ing.bits.NAGREV_OFF = 1;
+
+}
+///////////////////////////////////////////////
+
+
+
+//#define koef_P_Water_filter 1600000 //0.095367431640625
+void calc_p_water_edrk(void)
+{
+ _iq iqtain,iq_temp;
+ static _iq koef_P_Water_filter = _IQ (0.1/2.0); // 5 ��� ������
+
+ edrk.p_water_edrk.adc_p_water[0] = ADC_f[1][14];
+
+ edrk.p_water_edrk.real_p_water[0] = (_IQtoF(analog.P_Water_internal) * NORMA_ACP_P - 4.0) / 1.6;
+ edrk.p_water_edrk.real_int_p_water[0] = edrk.p_water_edrk.real_p_water[0] * K_P_WATER_TO_SVU;
+
+
+ iqtain = _IQ(edrk.p_water_edrk.real_p_water[0]/100.0);
+ iq_temp = _IQ(edrk.p_water_edrk.filter_real_p_water[0]/100.0);
+
+ if (edrk.p_water_edrk.flag_init_filter_temp[0]==0)
+ {
+ iq_temp = iqtain;
+ edrk.p_water_edrk.flag_init_filter_temp[0]=1;
+ }
+
+// iq_temp_engine[i] = exp_regul_iq(koef_Temper_ENGINE_filter, iq_temp_engine[i], iqtain);
+
+ iq_temp += _IQmpy( (iqtain-iq_temp), koef_P_Water_filter);
+ edrk.p_water_edrk.filter_real_p_water[0] = _IQtoF(iq_temp)*100.0;
+ edrk.p_water_edrk.filter_real_int_p_water[0] = edrk.p_water_edrk.filter_real_p_water[0]*K_P_WATER_TO_SVU;
+
+
+
+}
+
+//////////////////////////////////////////////////////////
+
diff --git a/Inu/Src/main/temper_p_tools.h b/Inu/Src/main/temper_p_tools.h
new file mode 100644
index 0000000..d99cb89
--- /dev/null
+++ b/Inu/Src/main/temper_p_tools.h
@@ -0,0 +1,22 @@
+/*
+ * temper_p_tools.h
+ *
+ * Created on: 13 ����. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+#ifndef SRC_MAIN_TEMPER_P_TOOLS_H_
+#define SRC_MAIN_TEMPER_P_TOOLS_H_
+
+
+#define TEMPER_NAGREF_ON_1 120
+#define TEMPER_NAGREF_ON_2 200
+
+#define TEMPER_NAGREF_OFF_1 170
+#define TEMPER_NAGREF_OFF_2 250
+
+void nagrev_auto_on_off(void);
+void calc_p_water_edrk(void);
+
+
+#endif /* SRC_MAIN_TEMPER_P_TOOLS_H_ */
diff --git a/Inu/Src/main/tk_Test.c b/Inu/Src/main/tk_Test.c
new file mode 100644
index 0000000..fd5cc61
--- /dev/null
+++ b/Inu/Src/main/tk_Test.c
@@ -0,0 +1,369 @@
+
+#include <281xEvTimersInit.h>
+#include <project_setup.h>
+#include <PWMTMSHandle.h>
+
+#include "DSP281x_Device.h"
+#include "MemoryFunctions.h"
+#include "Spartan2E_Adr.h"
+#include "x_wdog.h"
+#include "project.h"
+
+#pragma CODE_SECTION(pause_10,".fast_run");
+void pause_10(unsigned long t)
+{
+ unsigned long i;
+
+ for (i = 0; i < t; i++)
+ {
+ asm(" NOP");
+ }
+}
+
+
+void test_impulse(unsigned int impulse_channel,long impulse_time)
+{
+ i_WriteMemory(ADR_PWM_DIRECT,impulse_channel);
+ pause_10(impulse_time);
+ i_WriteMemory(ADR_PWM_DIRECT,0xffff);
+}
+
+#pragma CODE_SECTION(test_double_impulse,".fast_run");
+void test_double_impulse(unsigned int impulse_channel_1,unsigned int impulse_channel_2,long impulse_time,long middle_impulse_time,long last_impulse_time, int soft_off_enable, int soft_on_enable)
+{
+ project.disable_all_interrupt();
+// i_WriteMemory(ADR_PWM_DIRECT,impulse_channel_2);
+// pause_10(middle_impulse_time);
+
+ if (soft_on_enable)
+ {
+ i_WriteMemory(ADR_PWM_DIRECT,impulse_channel_2);
+ pause_10(last_impulse_time);
+ }
+
+ i_WriteMemory(ADR_PWM_DIRECT,impulse_channel_1);
+// pause_10(impulse_time);
+ pause_10(impulse_time);
+
+
+ i_WriteMemory(ADR_PWM_DIRECT,impulse_channel_2);
+ pause_10(middle_impulse_time);
+
+ i_WriteMemory(ADR_PWM_DIRECT, impulse_channel_1);
+ pause_10(last_impulse_time);
+
+ if (soft_off_enable)
+ {
+ i_WriteMemory(ADR_PWM_DIRECT,impulse_channel_2);
+ pause_10(last_impulse_time);
+ }
+
+ i_WriteMemory(ADR_PWM_DIRECT,0xffff);
+
+ project.enable_all_interrupt();
+}
+
+void test_sin_impulse(unsigned int impulse_channel_1,unsigned int impulse_channel_2, unsigned int impulse_channel_3, long impulse_time,long middle_impulse_time)
+{
+ project.disable_all_interrupt();
+
+ i_WriteMemory(ADR_PWM_DIRECT,impulse_channel_2);
+ pause_10(middle_impulse_time);
+
+ i_WriteMemory(ADR_PWM_DIRECT,impulse_channel_1);
+ pause_10(impulse_time);
+
+
+ i_WriteMemory(ADR_PWM_DIRECT,impulse_channel_2);
+ pause_10(middle_impulse_time);
+
+ i_WriteMemory(ADR_PWM_DIRECT,impulse_channel_3);
+ pause_10(impulse_time);
+ i_WriteMemory(ADR_PWM_DIRECT,0xffff);
+
+ project.enable_all_interrupt();
+}
+
+
+void test_tk_ak_one_impulse(int tk0, int tk1, int tk2, int tk3, int period, int periodMiddle, int periodLast, int doubleImpulse, int sinImpulse, int soft_off_enable, int soft_on_enable)
+{
+ long p2 = 0, pM = 0, pL = 0;
+ float pf;
+ unsigned int tk0_0 = 0, tk0_1 = 0, tk0_2 = 0, tk0_3 = 0, tk0_4 = 0, tk0_5 = 0, tk0_6 = 0, tk0_7 = 0;
+ unsigned int tk1_0 = 0, tk1_1 = 0, tk1_2 = 0, tk1_3 = 0, tk1_4 = 0, tk1_5 = 0, tk1_6 = 0, tk1_7 = 0;
+ unsigned int tk2_0 = 0, tk2_1 = 0, tk2_2 = 0, tk2_3 = 0, tk2_4 = 0, tk2_5 = 0, tk2_6 = 0, tk2_7 = 0;
+ unsigned int tk3_0 = 0, tk3_1 = 0, tk3_2 = 0, tk3_3 = 0, tk3_4 = 0, tk3_5 = 0, tk3_6 = 0, tk3_7 = 0;
+ unsigned int break1 = 0, break2 = 0, break3 = 0, break4 = 0,key0 = 0, key1 = 0, key2 = 0, key3 = 0, key4 = 0, key5 = 0, key6 = 0, key7 = 0, key8 = 0,key9 = 0,key10 = 0,key11 = 0;
+ unsigned int Dkey0 = 0xffff, Dkey1 = 0xffff, Dkey2 = 0xffff;
+ unsigned int currentPWMMode1, currentPWMMode0, currPWMPeriod;
+
+
+ ////��������� ��� ����������� //////////
+#if (XPWMGEN==1)
+ i_WriteMemory(ADR_PWM_DRIVE_MODE, 3);
+// pause_1000(100000L);
+ i_WriteMemory(ADR_PWM_DIRECT,0xffff);
+ i_WriteMemory(ADR_TK_MASK_0, 0);
+
+#endif
+ stop_eva_timer2();
+ IER &= ~M_INT9; //stop CAN
+ ////////////////////////////////////
+
+ if (period<=1)
+ period=1;
+ if (period>=1000)
+ period=1000;
+ pf = (float)(period) *11.724;/// 2.8328173374613003095975232198142;//(periodMiddle)*12;
+ p2 = pf;
+// p2=(period) * 19 / 10;//(period)*12;
+
+ if (periodMiddle<=1)
+ periodMiddle=1;
+ if (periodMiddle>=1000)
+ periodMiddle=1000;
+// pM=(periodMiddle) * 19 / 10;//(periodMiddle)*12;
+ pf = (float)(periodMiddle)*11.724;// / 2.8328173374613003095975232198142;//(periodMiddle)*12;
+ pM = pf;
+
+ if (periodLast<=1)
+ periodLast=1;
+ if (periodLast>=1000)
+ periodLast=1000;
+// pM=(periodMiddle) * 19 / 10;//(periodMiddle)*12;
+ pf = (float)(periodLast)*11.724;// / 2.8328173374613003095975232198142;//(periodMiddle)*12;
+ pL = pf;
+
+
+
+ tk0_0 = (tk0 >> 0) & 0x1;
+ tk0_1 = (tk0 >> 1) & 0x1;
+ tk0_2 = (tk0 >> 2) & 0x1;
+ tk0_3 = (tk0 >> 3) & 0x1;
+ tk0_4 = (tk0 >> 4) & 0x1;
+ tk0_5 = (tk0 >> 5) & 0x1;
+ tk0_6 = (tk0 >> 6) & 0x1;
+ tk0_7 = (tk0 >> 7) & 0x1;
+
+ tk1_0 = (tk1 >> 0) & 0x1;
+ tk1_1 = (tk1 >> 1) & 0x1;
+ tk1_2 = (tk1 >> 2) & 0x1;
+ tk1_3 = (tk1 >> 3) & 0x1;
+ tk1_4 = (tk1 >> 4) & 0x1;
+ tk1_5 = (tk1 >> 5) & 0x1;
+ tk1_6 = (tk1 >> 6) & 0x1;
+ tk1_7 = (tk1 >> 7) & 0x1;
+
+ tk2_0 = (tk2 >> 0) & 0x1;
+ tk2_1 = (tk2 >> 1) & 0x1;
+ tk2_2 = (tk2 >> 2) & 0x1;
+ tk2_3 = (tk2 >> 3) & 0x1;
+ tk2_4 = (tk2 >> 4) & 0x1;
+ tk2_5 = (tk2 >> 5) & 0x1;
+ tk2_6 = (tk2 >> 6) & 0x1;
+ tk2_7 = (tk2 >> 7) & 0x1;
+
+ tk3_0 = (tk3 >> 0) & 0x1;
+ tk3_1 = (tk3 >> 1) & 0x1;
+ tk3_2 = (tk3 >> 2) & 0x1;
+ tk3_3 = (tk3 >> 3) & 0x1;
+ tk3_4 = (tk3 >> 4) & 0x1;
+ tk3_5 = (tk3 >> 5) & 0x1;
+ tk3_6 = (tk3 >> 6) & 0x1;
+ tk3_7 = (tk3 >> 7) & 0x1;
+
+ if(doubleImpulse)
+ {
+ if(tk0_0 && tk0_7){
+ Dkey0 = 0xfff6;
+ Dkey1 = 0xfff0;
+ }
+ else if(tk0_4 && tk0_3){
+ Dkey0 = 0xfff9;
+ Dkey1 = 0xfff0;
+ }
+ else if(tk1_3 && tk0_0){
+ Dkey0 = 0xffde;
+ Dkey1 = 0xffcc;
+ }
+ else if(tk1_0 && tk0_3){
+ Dkey0 = 0xffed;
+ Dkey1 = 0xffcc;
+ }
+ else if(tk0_4 && tk1_3){
+ Dkey0 = 0xffdb;
+ Dkey1 = 0xffc3;
+ }
+ else if(tk0_7 && tk1_0){
+ Dkey0 = 0xffe7;
+ Dkey1 = 0xffc3;
+ }/////
+ else if(tk1_4 && tk2_3){
+ Dkey0 = 0xFDBF;
+ Dkey1 = 0xFC3F;
+ }
+ else if(tk1_7 && tk2_0){
+ Dkey0 = 0xFE7F;
+ Dkey1 = 0xFC3F;
+ }
+ else if(tk1_4 && tk2_7){
+ Dkey0 = 0xF7BF;
+ Dkey1 = 0xF33F;
+ }
+ else if(tk1_7 && tk2_4){
+ Dkey0 = 0xFB7F;
+ Dkey1 = 0xF33F;
+ }
+ else if(tk2_0 && tk2_7){
+ Dkey0 = 0xF6FF;
+ Dkey1 = 0xF0FF;
+ }
+ else if(tk2_3 && tk2_4){
+ Dkey0 = 0xF9FF;
+ Dkey1 = 0xF0FF;
+ }
+ else if (tk0_0){
+ Dkey0 = 0xfffe;
+ Dkey1 = 0xfffc;
+ }
+ else if (tk0_3){
+ Dkey0 = 0xfffd;
+ Dkey1 = 0xfffc;
+ }
+ else if (tk0_4){
+ Dkey0 = 0xfffb;
+ Dkey1 = 0xfff3;
+ }
+ else if (tk0_7){
+ Dkey0 = 0xfff7;
+ Dkey1 = 0xfff3;
+ }
+ else if (tk1_0){
+ Dkey0 = 0xffef;
+ Dkey1 = 0xffcf;
+ }
+ else if (tk1_3){
+ Dkey0 = 0xffdf;
+ Dkey1 = 0xffcf;
+ }
+ else if (tk1_4){
+ Dkey0 = 0xffbf;
+ Dkey1 = 0xff3f;
+ }
+ else if (tk1_7){
+ Dkey0 = 0xff7f;
+ Dkey1 = 0xff3f;
+ }
+ else if (tk2_0){
+ Dkey0 = 0xfeff;
+ Dkey1 = 0xfcff;
+ }
+ else if (tk2_3){
+ Dkey0 = 0xfdff;
+ Dkey1 = 0xfcff;
+ }
+ else if (tk2_4){
+ Dkey0 = 0xfbff;
+ Dkey1 = 0xf3ff;
+ }
+ else if (tk2_7){
+ Dkey0 = 0xf7ff;
+ Dkey1 = 0xf3ff;
+ }
+
+ }
+ else if(sinImpulse)
+ {
+ if(tk0_0){
+ Dkey0 = 0xfff6;
+ Dkey1 = 0xfff0;
+ Dkey2 = 0xfff9;
+ }
+ else if(tk0_7){
+ Dkey0 = 0xfff9;
+ Dkey1 = 0xfff0;
+ Dkey2 = 0xfff6;
+ }
+ else if(tk1_0){
+ Dkey0 = 0xffde;
+ Dkey1 = 0xffcc;
+ Dkey2 = 0xffed;
+ }
+ else if(tk0_4){
+ Dkey0 = 0xffed;
+ Dkey1 = 0xffcc;
+ Dkey2 = 0xffde;
+ }
+ else if(tk1_4){
+ Dkey0 = 0xffdb;
+ Dkey1 = 0xffc3;
+ Dkey2 = 0xffe7;
+ }
+ else if(tk1_7){
+ Dkey0 = 0xffe7;
+ Dkey1 = 0xffc3;
+ Dkey2 = 0xffdb;
+ }
+ }
+ else
+ {
+ key0 = !(((tk0_0 == 1) && (tk0_1 == 1) && (tk0_2 == 0) && (tk0_3 == 0)) ||
+ ((tk0_0 == 0) && (tk0_1 == 1) && (tk0_2 == 1) && (tk0_3 == 0)));
+
+ key1 = !(((tk0_0 == 0) && (tk0_1 == 1) && (tk0_2 == 1) && (tk0_3 == 0)) ||
+ ((tk0_0 == 0) && (tk0_1 == 0) && (tk0_2 == 1) && (tk0_3 == 1)));
+
+ key2 = !(((tk0_4 == 1) && (tk0_5 == 1) && (tk0_6 == 0) && (tk0_7 == 0)) ||
+ ((tk0_4 == 0) && (tk0_5 == 1) && (tk0_6 == 1) && (tk0_7 == 0)));
+
+ key3 = !(((tk0_4 == 0) && (tk0_5 == 1) && (tk0_6 == 1) && (tk0_7 == 0)) ||
+ ((tk0_4 == 0) && (tk0_5 == 0) && (tk0_6 == 1) && (tk0_7 == 1)));
+
+ key4 = !(((tk1_0 == 1) && (tk1_1 == 1) && (tk1_2 == 0) && (tk1_3 == 0)) ||
+ ((tk1_0 == 0) && (tk1_1 == 1) && (tk1_2 == 1) && (tk1_3 == 0)));
+
+ key5 = !(((tk1_0 == 0) && (tk1_1 == 1) && (tk1_2 == 1) && (tk1_3 == 0)) ||
+ ((tk1_0 == 0) && (tk1_1 == 0) && (tk1_2 == 1) && (tk1_3 == 1)));
+
+ key6 = !(((tk1_4 == 1) && (tk1_5 == 1) && (tk1_6 == 0) && (tk1_7 == 0)) ||
+ ((tk1_4 == 0) && (tk1_5 == 1) && (tk1_6 == 1) && (tk1_7 == 0)));
+
+ key7 = !(((tk1_4 == 0) && (tk1_5 == 1) && (tk1_6 == 1) && (tk1_7 == 0)) ||
+ ((tk1_4 == 0) && (tk1_5 == 0) && (tk1_6 == 1) && (tk1_7 == 1)));
+
+ key8 = !(((tk2_0 == 1) && (tk2_1 == 1) && (tk2_2 == 0) && (tk2_3 == 0)) ||
+ ((tk2_0 == 0) && (tk2_1 == 1) && (tk2_2 == 1) && (tk2_3 == 0)));
+
+ key9 =!(((tk2_0 == 0) && (tk2_1 == 1) && (tk2_2 == 1) && (tk2_3 == 0)) ||
+ ((tk2_0 == 0) && (tk2_1 == 0) && (tk2_2 == 1) && (tk2_3 == 1)));
+
+ key10 = !(((tk2_4 == 1) && (tk2_5 == 1) && (tk2_6 == 0) && (tk2_7 == 0)) ||
+ ((tk2_4 == 0) && (tk2_5 == 1) && (tk2_6 == 1) && (tk2_7 == 0)));
+
+ key11 = !(((tk2_4 == 0) && (tk2_5 == 1) && (tk2_6 == 1) && (tk2_7 == 0)) ||
+ ((tk2_4 == 0) && (tk2_5 == 0) && (tk2_6 == 1) && (tk2_7 == 1)));
+
+ break1 = !tk3_1;
+ break2 = !tk3_2;
+ break3 = !tk3_3;
+ break4 = !tk3_4;
+
+ Dkey0 &= ((break4 << 15)|(break3 << 14)|(break2 << 13)|(break1 << 12)| (key11 << 11) | (key10 << 10) | (key9 << 9) | (key8 << 8)| (key7 << 7)| (key6 << 6)| (key5 << 5)| (key4 << 4)| (key3 << 3)| (key2 << 2)| (key1 << 1)| (key0 << 0));
+
+ }
+ if(doubleImpulse)
+ test_double_impulse(Dkey0, Dkey1, p2, pM, pL, soft_off_enable, soft_on_enable);
+ else if(sinImpulse)
+ test_sin_impulse(Dkey0, Dkey1, Dkey2, p2, pM);
+ else
+ test_impulse(Dkey0,p2);
+
+ //���������� ������� �����
+ start_eva_timer2();
+ IER |= M_INT9; //start CAN
+#if (XPWMGEN==1)
+ i_WriteMemory(ADR_PWM_DIRECT,0xffff);
+ i_WriteMemory(ADR_PWM_DRIVE_MODE, 0);
+#endif
+ return;
+}
diff --git a/Inu/Src/main/tk_Test.h b/Inu/Src/main/tk_Test.h
new file mode 100644
index 0000000..2a44453
--- /dev/null
+++ b/Inu/Src/main/tk_Test.h
@@ -0,0 +1,12 @@
+
+#ifndef TK_TEST_H
+#define TK_TEST_H
+
+
+
+void test_tk_ak_one_impulse(int tk0, int tk1, int tk2, int tk3, int period, int periodMiddle, int periodLast, int doubleImpulse, int sinImpulse, int soft_off_enable, int soft_on_enable);
+void test_double_impulse(unsigned int impulse_channel_1,unsigned int impulse_channel_2,long impulse_time,long middle_impulse_time, long last_impulse_time, int soft_off_enable, int soft_on_enable);
+
+
+#endif
+
diff --git a/Inu/Src/main/ukss_tools.c b/Inu/Src/main/ukss_tools.c
new file mode 100644
index 0000000..097fc1e
--- /dev/null
+++ b/Inu/Src/main/ukss_tools.c
@@ -0,0 +1,605 @@
+/*
+ * ukss_tools.c
+ *
+ * Created on: 13 ����. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+
+
+#include <edrk_main.h>
+
+#include <params.h>
+#include <params_alg.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+#include <params_temper_p.h>
+#include <project.h>
+#include "IQmathLib.h"
+#include "mathlib.h"
+#include <optical_bus.h>
+#include "adc_tools.h"
+#include "CAN_project.h"
+#include "CAN_Setup.h"
+#include "global_time.h"
+#include "v_rotor.h"
+#include "ukss_tools.h"
+#include "control_station_project.h"
+#include "control_station.h"
+#include "sync_tools.h"
+
+
+#pragma DATA_SECTION(Unites2VPU, ".slow_vars")
+int Unites2VPU[SIZE_UNITS_OUT]={0};
+
+#pragma DATA_SECTION(Unites2Zadat4ik, ".slow_vars")
+int Unites2Zadat4ik[SIZE_UNITS_OUT]={0};
+
+#pragma DATA_SECTION(Unites2BKSSD, ".slow_vars")
+int Unites2BKSSD[SIZE_UNITS_OUT]={0};
+
+#pragma DATA_SECTION(Unites2UMU, ".slow_vars")
+int Unites2UMU[SIZE_UNITS_OUT]={0};
+
+
+
+void edrk_clear_cmd_ukss(void)
+{
+ int i;
+
+ for (i=0;i<SIZE_UNITS_OUT;i++)
+ {
+ Unites2Zadat4ik[i] = 0;
+ Unites2VPU[i] = 0;
+ Unites2UMU[i] = 0;
+ Unites2BKSSD[i] = 0;
+ }
+
+}
+
+
+
+void update_ukss_setup(unsigned int pause)
+{
+ static unsigned int old_time_ukss1=0;
+ int real_mbox;
+ unsigned long count_send = 0, start_adr = 0;
+
+
+#if (CAN_PROTOCOL_UKSS == 1) // ������ ��������
+
+ Unites2Zadat4ik[96] = 25;
+ Unites2Zadat4ik[97] = 100;
+ Unites2Zadat4ik[98] = 8;
+
+ Unites2VPU[96] = 25;
+ Unites2VPU[97] = 100;
+ Unites2VPU[98] = 8;
+
+ Unites2UMU[96] = 25;
+ Unites2UMU[97] = 100;
+ Unites2UMU[98] = 8;
+
+ Unites2BKSSD[96] = 25;
+ Unites2BKSSD[97] = 100;
+ Unites2BKSSD[98] = 8;
+
+ count_send = 3;
+ start_adr = 96;
+#endif
+
+
+#if (CAN_PROTOCOL_UKSS == 2) // ����� ��������
+
+ Unites2Zadat4ik[ADR_CYCLES_TIMER_MAIN] = 2;
+ Unites2Zadat4ik[ADR_CYCLES_TIMER_ADD] = 100;
+ Unites2Zadat4ik[ADR_CYCLES_PAUSE_MAIN] = 10;
+ Unites2Zadat4ik[ADR_CYCLES_PAUSE_ADD] = 10;
+ Unites2Zadat4ik[ADR_CYCLES_REPEATE_MAIN] = 500;
+ Unites2Zadat4ik[ADR_CYCLES_REPEATE_ADD] = 1000;
+ Unites2Zadat4ik[ADR_CYCLES_REPEATE_DIGIO] = 5;
+
+ Unites2VPU[ADR_CYCLES_TIMER_MAIN] = 2;
+ Unites2VPU[ADR_CYCLES_TIMER_ADD] = 100;
+ Unites2VPU[ADR_CYCLES_PAUSE_MAIN] = 10;
+ Unites2VPU[ADR_CYCLES_PAUSE_ADD] = 10;
+ Unites2VPU[ADR_CYCLES_REPEATE_MAIN] = 500;
+ Unites2VPU[ADR_CYCLES_REPEATE_ADD] = 1000;
+ Unites2VPU[ADR_CYCLES_REPEATE_DIGIO] = 1;
+
+ Unites2UMU[ADR_CYCLES_TIMER_MAIN] = 2;
+ Unites2UMU[ADR_CYCLES_TIMER_ADD] = 100;
+ Unites2UMU[ADR_CYCLES_PAUSE_MAIN] = 10;
+ Unites2UMU[ADR_CYCLES_PAUSE_ADD] = 10;
+ Unites2UMU[ADR_CYCLES_REPEATE_MAIN] = 500;
+ Unites2UMU[ADR_CYCLES_REPEATE_ADD] = 1000;
+ Unites2UMU[ADR_CYCLES_REPEATE_DIGIO] = 1;
+
+ Unites2BKSSD[ADR_CYCLES_TIMER_MAIN] = 2;
+ Unites2BKSSD[ADR_CYCLES_TIMER_ADD] = 100;
+ Unites2BKSSD[ADR_CYCLES_PAUSE_MAIN] = 10;
+ Unites2BKSSD[ADR_CYCLES_PAUSE_ADD] = 10;
+ Unites2BKSSD[ADR_CYCLES_REPEATE_MAIN] = 500;
+ Unites2BKSSD[ADR_CYCLES_REPEATE_ADD] = 1000;
+ Unites2BKSSD[ADR_CYCLES_REPEATE_DIGIO] = 1;
+
+ start_adr = ADR_CYCLES_TIMER_MAIN;
+ count_send = ADR_CYCLES_REPEATE_DIGIO - ADR_CYCLES_TIMER_MAIN + 1;
+#endif
+
+ if (detect_pause_milisec(pause,&old_time_ukss1))
+ {
+ real_mbox = get_real_out_mbox (UNITS_TYPE_BOX, ZADATCHIK_CAN);
+
+ if (CAN_cycle_free(real_mbox))
+ {
+ CAN_cycle_send( UNITS_TYPE_BOX, ZADATCHIK_CAN, start_adr, &Unites2Zadat4ik[start_adr], count_send, CAN_BOX_STANDART_ADR, CAN_BOX_PRIORITY_NORMAL);// �������� 40 ����. ���� �������� ���� �������
+ }
+
+ real_mbox = get_real_out_mbox (UNITS_TYPE_BOX, VPU_CAN);
+
+ if (CAN_cycle_free(real_mbox))
+ {
+ CAN_cycle_send( UNITS_TYPE_BOX, VPU_CAN, start_adr, &Unites2VPU[start_adr], count_send, CAN_BOX_STANDART_ADR, CAN_BOX_PRIORITY_NORMAL);// �������� 40 ����. ���� �������� ���� �������
+ }
+
+ real_mbox = get_real_out_mbox (UNITS_TYPE_BOX, UMU_CAN_DEVICE);
+
+ if (CAN_cycle_free(real_mbox))
+ {
+ CAN_cycle_send( UNITS_TYPE_BOX, UMU_CAN_DEVICE, start_adr, &Unites2UMU[start_adr], count_send, CAN_BOX_STANDART_ADR, CAN_BOX_PRIORITY_NORMAL);// �������� 40 ����. ���� �������� ���� �������
+ }
+
+ real_mbox = get_real_out_mbox (UNITS_TYPE_BOX, BKSSD_CAN_DEVICE);
+
+ if (CAN_cycle_free(real_mbox))
+ {
+ CAN_cycle_send( UNITS_TYPE_BOX, BKSSD_CAN_DEVICE, start_adr, &Unites2BKSSD[start_adr], count_send, CAN_BOX_STANDART_ADR, CAN_BOX_PRIORITY_NORMAL);// �������� 40 ����. ���� �������� ���� �������
+ }
+ }
+
+}
+
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+// ��������� �������� ��� ������� ������� ����
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+void update_ukss_can_moment_kgnc(unsigned int pause)
+{
+ int real_mbox;
+ int t1;
+
+ static unsigned int old_time_ukss2=0, test_flag = 0;
+
+
+
+ if (edrk.flag_second_PCH==0)
+ t1 = pause;
+ if (edrk.flag_second_PCH==1)
+ t1 = pause;
+
+
+//////
+
+
+ if (test_flag == 0)
+ {
+ // 32 ����� �������, ���� 13
+ // 33 ������ ������� RS485 * 10 m��� 25
+
+ Unites2Zadat4ik[32] = 13;//9
+ Unites2Zadat4ik[33] = 25;
+
+ // 34 ��� ��� 1 �����, �
+ // 35 ���������� ��� 1 �����, �
+ // 36 ��� ��� 2 �����, �
+ // 37 ���������� ��� 2 �����, �
+ // 38 ��������, ���
+ // 39 �������, ��/���
+ // 40 ����� ��
+
+ if (edrk.flag_second_PCH==0)
+ {
+ Unites2Zadat4ik[34] = global_time.total_seconds10full;
+ Unites2Zadat4ik[35] = _IQtoF(analog.iqIin_sum)*NORMA_ACP;
+ Unites2Zadat4ik[36] = _IQtoF(filter.iqU_1_long+filter.iqU_2_long)*NORMA_ACP;
+ Unites2Zadat4ik[37] = fast_round(_IQtoF(edrk.k_stator1)*1000.0);
+ Unites2Zadat4ik[38] = _IQtoF(filter.iqIm_1 + filter.iqIm_2)*NORMA_ACP;
+ }
+
+ if (edrk.flag_second_PCH==1)
+ {
+
+ Unites2Zadat4ik[39] = global_time.total_seconds10full;
+ Unites2Zadat4ik[40] = _IQtoF(analog.iqIin_sum)*NORMA_ACP;
+ Unites2Zadat4ik[41] = _IQtoF(filter.iqU_1_long+filter.iqU_2_long)*NORMA_ACP;
+ Unites2Zadat4ik[42] = fast_round(_IQtoF(edrk.k_stator1)*1000.0);
+ Unites2Zadat4ik[43] = _IQtoF(filter.iqIm_1 + filter.iqIm_2)*NORMA_ACP;
+
+ }
+
+ Unites2Zadat4ik[44] = edrk.power_kw_full;
+ Unites2Zadat4ik[45] = _IQtoF(WRotor.iqWRotorSumFilter) * NORMA_FROTOR*6000.0;//;//_IQtoF(edrk.iq_f_rotor_hz) * NORMA_FROTOR*6000.0;
+
+
+ if (edrk.pult_data.data_from_pult.nPCH==11 || edrk.pult_data.data_from_pult.nPCH==12)
+ Unites2Zadat4ik[46] = 1;
+ else
+ Unites2Zadat4ik[46] = 2;
+ }
+
+
+ if (detect_pause_milisec(t1,&old_time_ukss2))
+ {
+
+ real_mbox = get_real_out_mbox (UNITS_TYPE_BOX, ZADATCHIK_CAN);
+
+ if (CAN_cycle_full_free(real_mbox,CAN_BOX_STAT_ON))
+ {
+ if (edrk.flag_second_PCH==0)
+ {
+ CAN_cycle_send( UNITS_TYPE_BOX, ZADATCHIK_CAN, 32, &Unites2Zadat4ik[32], 7, CAN_BOX_STANDART_ADR, CAN_BOX_PRIORITY_NORMAL);// �������� 40 ����. ���� �������� ���� �������
+ CAN_cycle_send( UNITS_TYPE_BOX, ZADATCHIK_CAN, 44, &Unites2Zadat4ik[44], 3, CAN_BOX_STANDART_ADR, CAN_BOX_PRIORITY_NORMAL);// �������� 40 ����. ���� �������� ���� �������
+ }
+ else
+ {
+ CAN_cycle_send( UNITS_TYPE_BOX, ZADATCHIK_CAN, 32, &Unites2Zadat4ik[32], 2, CAN_BOX_STANDART_ADR, CAN_BOX_PRIORITY_NORMAL);// �������� 40 ����. ���� �������� ���� �������
+ CAN_cycle_send( UNITS_TYPE_BOX, ZADATCHIK_CAN, 39, &Unites2Zadat4ik[39], 8, CAN_BOX_STANDART_ADR, CAN_BOX_PRIORITY_NORMAL);// �������� 40 ����. ���� �������� ���� �������
+ }
+
+ }
+ }
+
+
+}
+
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+// ��������� �������� � ���
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
+#define MAX_WAIT_UPDATE_ZAD 10
+
+void update_ukss_can(unsigned int pause)
+{
+ int real_mbox;
+ int t1;
+
+ static int disable_update_zadat4ik = MAX_WAIT_UPDATE_ZAD;
+ static int disable_update_vpu = MAX_WAIT_UPDATE_ZAD;
+
+ static unsigned int old_time_ukss2=0;
+
+
+ static TO_ZADAT4IK prev_Zadat4ik = TO_ZADAT4IK_DEFAULT;
+ static TO_VPU prev_VPU = TO_VPU_DEFAULT;
+
+
+
+ if (edrk.flag_second_PCH==0)
+ t1 = pause;
+ if (edrk.flag_second_PCH==1)
+ t1 = pause;
+
+ Unites2Zadat4ik[4] = edrk.to_zadat4ik.OBOROTS1.all;
+ Unites2Zadat4ik[5] = edrk.to_zadat4ik.OBOROTS2.all;
+ Unites2Zadat4ik[6] = edrk.to_zadat4ik.BIG_LAMS.all;
+ Unites2Zadat4ik[7] = edrk.to_zadat4ik.APL_LAMS0.all;
+ Unites2Zadat4ik[8] = 0;
+
+ Unites2VPU[4] = edrk.to_vpu.OBOROTS1.all;
+ Unites2VPU[5] = edrk.to_vpu.OBOROTS2.all;
+ Unites2VPU[6] = edrk.to_vpu.BIG_LAMS.all;
+ Unites2VPU[7] = 0;
+ Unites2VPU[8] = 0;
+
+
+ if (detect_pause_milisec(t1,&old_time_ukss2))
+ {
+
+ if (disable_update_zadat4ik)
+ disable_update_zadat4ik--;
+
+ if (prev_Zadat4ik.APL_LAMS0.all != edrk.to_zadat4ik.APL_LAMS0.all
+ || prev_Zadat4ik.APL_LAMS_PCH.all != edrk.to_zadat4ik.APL_LAMS_PCH.all
+ || prev_Zadat4ik.BIG_LAMS.all != edrk.to_zadat4ik.BIG_LAMS.all
+ || prev_Zadat4ik.OBOROTS1.all != edrk.to_zadat4ik.OBOROTS1.all
+ || prev_Zadat4ik.OBOROTS2.all != edrk.to_zadat4ik.OBOROTS2.all)
+ disable_update_zadat4ik = 0;
+
+ if (disable_update_vpu)
+ disable_update_vpu--;
+
+ if ( prev_VPU.BIG_LAMS.all != edrk.to_vpu.BIG_LAMS.all
+ || prev_VPU.OBOROTS1.all != edrk.to_vpu.OBOROTS1.all
+ || prev_VPU.OBOROTS2.all != edrk.to_vpu.OBOROTS2.all)
+ disable_update_vpu = 0;
+
+
+
+ if (disable_update_zadat4ik==0)
+ {
+ real_mbox = get_real_out_mbox (UNITS_TYPE_BOX, ZADATCHIK_CAN);
+
+ if (CAN_cycle_full_free(real_mbox,CAN_BOX_STAT_ON))
+ {
+ if (edrk.flag_second_PCH==0)
+ CAN_cycle_send( UNITS_TYPE_BOX, ZADATCHIK_CAN, 4, &Unites2Zadat4ik[4], 5, CAN_BOX_STANDART_ADR, CAN_BOX_PRIORITY_NORMAL);// �������� 40 ����. ���� �������� ���� �������
+ else
+ CAN_cycle_send( UNITS_TYPE_BOX, ZADATCHIK_CAN, 0xa, &Unites2Zadat4ik[4], 5, CAN_BOX_STANDART_ADR, CAN_BOX_PRIORITY_NORMAL);// �������� 40 ����. ���� �������� ���� �������
+ }
+
+ prev_Zadat4ik.APL_LAMS0.all = edrk.to_zadat4ik.APL_LAMS0.all;
+ prev_Zadat4ik.APL_LAMS_PCH.all = edrk.to_zadat4ik.APL_LAMS_PCH.all;
+ prev_Zadat4ik.BIG_LAMS.all = edrk.to_zadat4ik.BIG_LAMS.all;
+ prev_Zadat4ik.OBOROTS1.all = edrk.to_zadat4ik.OBOROTS1.all;
+ prev_Zadat4ik.OBOROTS2.all = edrk.to_zadat4ik.OBOROTS2.all;
+
+ disable_update_zadat4ik = MAX_WAIT_UPDATE_ZAD;
+ }
+
+ if (disable_update_vpu==0)
+ {
+ real_mbox = get_real_out_mbox (UNITS_TYPE_BOX, VPU_CAN);
+
+ if (CAN_cycle_full_free(real_mbox,CAN_BOX_STAT_ON))
+ {
+ if (edrk.flag_second_PCH==0)
+ CAN_cycle_send( UNITS_TYPE_BOX, VPU_CAN, 4, &Unites2VPU[4], 4, CAN_BOX_STANDART_ADR, CAN_BOX_PRIORITY_NORMAL);// �������� 40 ����. ���� �������� ���� �������
+ else
+ CAN_cycle_send( UNITS_TYPE_BOX, VPU_CAN, 0xa, &Unites2VPU[4], 4, CAN_BOX_STANDART_ADR, CAN_BOX_PRIORITY_NORMAL);// �������� 40 ����. ���� �������� ���� �������
+ }
+
+ prev_VPU.BIG_LAMS.all = edrk.to_vpu.BIG_LAMS.all;
+ prev_VPU.OBOROTS1.all = edrk.to_vpu.OBOROTS1.all;
+ prev_VPU.OBOROTS2.all = edrk.to_vpu.OBOROTS2.all;
+
+ disable_update_vpu = MAX_WAIT_UPDATE_ZAD;
+
+ }
+
+
+
+ }
+
+}
+
+
+
+//////////////////////////////////////////////////////////
+
+
+void update_zadat4ik(void)
+{
+
+ static unsigned int time_toggle1 = 0, time_toggle2 = 0, time_toggle3 = 0, time_toggle4 = 0;
+ int b;
+ static unsigned int time_toggle_leds = 500;
+
+
+ // update zadatchik
+// if (edrk.from_zadat4ik.bits.MINUS || edrk.from_zadat4ik.bits.PLUS || edrk.from_ing2.bits.KEY_MINUS || edrk.from_ing2.bits.KEY_PLUS || edrk.from_vpu.bits.PLUS || edrk.from_vpu.bits.MINUS)
+// {
+// if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_UF_CONST) // UFCONST
+// {
+// edrk.to_zadat4ik.OBOROTS1.all = fast_round(edrk.zadanie.fzad*100.0); // ������� ��������
+// edrk.to_vpu.OBOROTS1.all = edrk.to_zadat4ik.OBOROTS1.all; // ������� ��������
+// }
+// else
+// {
+// edrk.to_zadat4ik.OBOROTS1.all = (edrk.zadanie.oborots_zad); // ������� ��������
+// edrk.to_vpu.OBOROTS1.all = edrk.to_zadat4ik.OBOROTS1.all; // ������� ��������
+// }
+//
+// }
+// else
+// {
+//
+// if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_UF_CONST) // UFCONST
+// {
+// edrk.to_zadat4ik.OBOROTS1.all = fast_round(_IQtoF(edrk.f_stator)*NORMA_FROTOR*100.0); // ������� ���.
+// edrk.to_vpu.OBOROTS1.all = edrk.to_zadat4ik.OBOROTS1.all; // ������� ���.
+// }
+// else
+// {
+// edrk.to_zadat4ik.OBOROTS1.all = edrk.oborots; // ������� ���.
+// edrk.to_vpu.OBOROTS1.all = edrk.to_zadat4ik.OBOROTS1.all; // ������� ���.
+// }
+//
+// }
+
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_UF_CONST) // UFCONST
+ {
+ edrk.to_zadat4ik.OBOROTS2.all = fast_round(_IQtoF(edrk.f_stator)*NORMA_FROTOR*100.0); // ������� ���.
+ edrk.to_vpu.OBOROTS2.all = edrk.to_zadat4ik.OBOROTS2.all; // ������� ���.
+ }
+ else
+ {
+ if (control_station.active_array_cmd[CONTROL_STATION_CMD_ROTOR_POWER]==0) // �� ��������
+ edrk.to_zadat4ik.OBOROTS2.all = edrk.zadanie.oborots_zad_no_dead_zone; // ������� ��������
+ else
+ edrk.to_zadat4ik.OBOROTS2.all = edrk.oborots; //������ �������
+
+ edrk.to_vpu.OBOROTS2.all = edrk.to_zadat4ik.OBOROTS2.all; // ������� ��������
+ }
+
+ //edrk.to_zadat4ik.OBOROTS2.all = edrk.I_cur_vozbud_exp; // ��� �����������
+
+ if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_UF_CONST) // UFCONST
+ {
+ edrk.to_zadat4ik.OBOROTS1.all = fast_round(_IQtoF(edrk.k_stator1)*10000.0);
+ edrk.to_vpu.OBOROTS1.all = edrk.to_zadat4ik.OBOROTS1.all;
+ }
+ else
+ {
+// edrk.to_zadat4ik.OBOROTS2.all = edrk.to_zadat4ik.OBOROTS1.all;
+// edrk.to_vpu.OBOROTS2.all = edrk.to_zadat4ik.OBOROTS2.all;
+ edrk.to_zadat4ik.OBOROTS1.all = edrk.oborots; //������ �������
+ edrk.to_vpu.OBOROTS1.all = edrk.to_zadat4ik.OBOROTS1.all;
+
+ }
+
+
+ // ����������2
+ if (edrk.Status_Ready.bits.ready_final)
+ edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_SHEMA_SOBRANA = 1;//edrk.from_shema.bits.QTV_ON_OFF;
+ else
+ {
+ if (edrk.SumSbor)
+ {
+ if (detect_pause_milisec(time_toggle_leds,&time_toggle1))
+ edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_SHEMA_SOBRANA = toggle_status_lamp((unsigned int)edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_SHEMA_SOBRANA,1);
+ }
+ else
+ edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_SHEMA_SOBRANA = 0;
+ }
+
+
+ if (edrk.Ready2_another_bs && edrk.Status_Ready.bits.ready_final)
+ edrk.to_zadat4ik.BIG_LAMS.bits.GOTOV2 = 1;
+ else
+ {
+ if (edrk.Status_Ready.bits.ready_final)
+ {
+ if (detect_pause_milisec(time_toggle_leds,&time_toggle3))
+ edrk.to_zadat4ik.BIG_LAMS.bits.GOTOV2 = toggle_status_lamp((unsigned int)edrk.to_zadat4ik.BIG_LAMS.bits.GOTOV2,1);
+ }
+ else
+ edrk.to_zadat4ik.BIG_LAMS.bits.GOTOV2 = 0;
+ }
+
+ edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_MESTNOE = control_station.active_control_station[CONTROL_STATION_INGETEAM_PULT_RS485];//edrk.from_ing1.bits.LOCAL_REMOUTE; // LOCAL
+
+
+ if (edrk.Status_Perehod_Rascepitel==0)
+ edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_PODKLU4EN = edrk.Final_Status_Rascepitel;
+ else
+ {
+ b = edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_PODKLU4EN;
+ if (detect_pause_milisec(time_toggle_leds,&time_toggle2))
+ edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_PODKLU4EN = toggle_status_lamp((unsigned int)edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_PODKLU4EN,1);
+ }
+
+ // edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_PODKLU4EN = edrk.Status_Rascepitel_Ok || edrk.Status_Perehod_Rascepitel;
+ edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_READY1 = edrk.Status_Ready.bits.ready1;
+
+ //�������
+ edrk.to_zadat4ik.BIG_LAMS.bits.EMKOST = edrk.Status_Ready.bits.Batt;//edrk.Status_Charge; For 23550.3
+
+
+ edrk.to_zadat4ik.BIG_LAMS.bits.PEREGREV = edrk.temper_limit_koeffs.code_status;
+ if (edrk.power_limit.all)
+ edrk.to_zadat4ik.BIG_LAMS.bits.OGRAN_POWER = 1;
+ else
+ edrk.to_zadat4ik.BIG_LAMS.bits.OGRAN_POWER = 0;
+
+ if (edrk.Ready1_another_bs && edrk.Status_Ready.bits.ready1)
+ edrk.to_zadat4ik.BIG_LAMS.bits.GOTOV1 = 1;
+ else
+ {
+ if (edrk.Status_Ready.bits.ready1)
+ {
+ if (detect_pause_milisec(time_toggle_leds,&time_toggle4))
+ edrk.to_zadat4ik.BIG_LAMS.bits.GOTOV1 = toggle_status_lamp((unsigned int)edrk.to_zadat4ik.BIG_LAMS.bits.GOTOV1,1);
+ }
+ else
+ edrk.to_zadat4ik.BIG_LAMS.bits.GOTOV1 = 0;
+ }
+ edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_READY1 = edrk.Status_Ready.bits.ready1;
+
+ edrk.to_zadat4ik.BIG_LAMS.bits.NEISPRAVNOST = edrk.warning;
+
+ if (edrk.flag_second_PCH==0)
+ {
+ edrk.to_zadat4ik.APL_LAMS0.bits.PCH1_MESTNOE = edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_MESTNOE;
+ edrk.to_zadat4ik.APL_LAMS0.bits.PCH1_PODKLU4EN = edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_PODKLU4EN;
+ edrk.to_zadat4ik.APL_LAMS0.bits.PCH1_READY1 = edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_READY1;
+ edrk.to_zadat4ik.APL_LAMS0.bits.PCH1_SHEMA_SOBRANA = edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_SHEMA_SOBRANA;
+ }
+ else
+ {
+ edrk.to_zadat4ik.APL_LAMS0.bits.PCH2_MESTNOE = edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_MESTNOE;
+ edrk.to_zadat4ik.APL_LAMS0.bits.PCH2_PODKLU4EN = edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_PODKLU4EN;
+ edrk.to_zadat4ik.APL_LAMS0.bits.PCH2_READY1 = edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_READY1;
+ edrk.to_zadat4ik.APL_LAMS0.bits.PCH2_SHEMA_SOBRANA = edrk.to_zadat4ik.APL_LAMS_PCH.bits.PCH_SHEMA_SOBRANA;
+ }
+
+
+ // edrk.to_zadat4ik.APL_LAMS0.bits0.GED_PEREGRUZ = 0;
+ // edrk.to_zadat4ik.APL_LAMS0.bits0.PROVOROT = 0;
+
+
+
+
+
+ if (control_station.active_control_station[CONTROL_STATION_INGETEAM_PULT_RS485])
+ {
+ edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_ZADAT = 0;
+ edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_MONITOR = 0;
+ edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_SVU = 0;
+ edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_VPU = 0;
+ // edrk.to_zadat4ik.APL_LAMS0.bits.WORK_PMU = 0;
+
+
+ }
+ else // control_station.active_control_station[CONTROL_STATION_INGETEAM_PULT_RS485] == 0//edrk.RemouteFromDISPLAY==0
+ {
+ if (edrk.from_shema_filter.bits.SVU==0)
+ {
+ edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_VPU = 0;
+ if (edrk.from_shema_filter.bits.ZADA_DISPLAY)
+ {
+ edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_MONITOR = 1;
+ edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_ZADAT = 0;
+ }
+ else
+ {
+ edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_MONITOR = 0;
+ edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_ZADAT = 1;
+ }
+ }
+ else // SVU==1
+ {
+ edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_MONITOR = 0;
+ edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_ZADAT = 0;
+ }
+
+ if (edrk.from_shema_filter.bits.SVU)
+ {
+
+ if (edrk.from_vpu.bits.UOM_READY_ACTIVE)
+ {
+ edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_VPU = 1;
+ edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_SVU = 0;
+ }
+ else
+ {
+ edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_SVU = 1;
+ edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_VPU = 0;
+ }
+
+ }
+ else //edrk.from_shema.bits.SVU == 0
+ {
+ edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_SVU = 0;
+ edrk.to_zadat4ik.APL_LAMS0.bits.OBOROT_VPU = 0;
+ }
+ }
+
+
+ edrk.to_zadat4ik.APL_LAMS0.bits.HOD = edrk.Go;
+ edrk.to_zadat4ik.APL_LAMS0.bits.PCH1_PCH2_SYNC = sync_data.sync_ready;
+
+ // if (edrk.from_zadat4ik.bits.PROVOROT)
+ // edrk.to_zadat4ik.APL_LAMS0.bits.PROVOROT = 1;
+ // else
+ // edrk.to_zadat4ik.APL_LAMS0.bits.PROVOROT = 0;
+
+ edrk.to_zadat4ik.BIG_LAMS.bits.AVARIA = edrk.to_ing.bits.SMALL_LAMPA_AVARIA;
+
+
+}
+
+//////////////////////////////////////////////////////////
diff --git a/Inu/Src/main/ukss_tools.h b/Inu/Src/main/ukss_tools.h
new file mode 100644
index 0000000..5820afe
--- /dev/null
+++ b/Inu/Src/main/ukss_tools.h
@@ -0,0 +1,33 @@
+/*
+ * ukss_tools.h
+ *
+ * Created on: 13 ����. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+#ifndef SRC_MAIN_UKSS_TOOLS_H_
+#define SRC_MAIN_UKSS_TOOLS_H_
+
+
+
+#define SIZE_UNITS_OUT 128
+
+
+void update_ukss_can(unsigned int pause);
+
+void update_ukss_can_moment_kgnc(unsigned int pause);
+void update_ukss_setup(unsigned int pause);
+void edrk_clear_cmd_ukss(void);
+
+void update_zadat4ik(void);
+
+extern int Unites2VPU[SIZE_UNITS_OUT];
+
+extern int Unites2Zadat4ik[SIZE_UNITS_OUT];
+
+extern int Unites2BKSSD[SIZE_UNITS_OUT];
+extern int Unites2UMU[SIZE_UNITS_OUT];
+
+
+
+#endif /* SRC_MAIN_UKSS_TOOLS_H_ */
diff --git a/Inu/Src/main/uom_tools.c b/Inu/Src/main/uom_tools.c
new file mode 100644
index 0000000..b96c16e
--- /dev/null
+++ b/Inu/Src/main/uom_tools.c
@@ -0,0 +1,149 @@
+/*
+ * uom_tools.c
+ *
+ * Created on: 13 ����. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+
+
+#include <edrk_main.h>
+
+#include <params.h>
+#include <params_alg.h>
+#include <params_norma.h>
+#include <params_pwm24.h>
+#include <params_temper_p.h>
+#include <project.h>
+#include "IQmathLib.h"
+#include "mathlib.h"
+#include "CAN_Setup.h"
+#include "uom_tools.h"
+
+
+#pragma DATA_SECTION(uom_levels, ".slow_vars")
+int uom_levels[9] = {0, 0, 15, 30, 45, 60, 75, 90, 100};
+#pragma DATA_SECTION(iq_uom_levels, ".slow_vars")
+_iq iq_uom_levels[9] = {_IQ(1.0), _IQ(1.0), _IQ(0.85), _IQ(0.7), _IQ(0.55), _IQ(0.4), _IQ(0.25), _IQ(0.1), _IQ(0.016)};
+void update_uom(void)
+{
+// int index;
+ static _iq max_nominal_power = _IQ(MAX_ZADANIE_LIMIT_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ));
+ static _iq super_max_nominal_power = _IQ(SUPER_MAX_ZADANIE_LIMIT_POWER*1000.0/(NORMA_MZZ*NORMA_MZZ));
+
+ static unsigned int prev_CAN_count_cycle_input_units = 0, c_data = 0;
+ unsigned int cur_can_cycle;
+
+ static FROM_ZADAT4IK zad = {0}, zad_w = {0};
+ static unsigned int temp_code = 0 , temp_code1 = 0, temp_code2 = 0, temp_code3 = 0;
+
+
+
+ cur_can_cycle = unites_can_setup.CAN_count_cycle_input_units[0];
+
+ if (prev_CAN_count_cycle_input_units != cur_can_cycle)
+ {
+ zad = edrk.from_zadat4ik;
+
+ temp_code = (zad.bits.UOM_READY_ACTIVE & 0x1) +
+ (zad.bits.UOM_LIMIT_1 & 0x1) << 1 +
+ (zad.bits.UOM_LIMIT_2 & 0x1) << 2 +
+ (zad.bits.UOM_LIMIT_3 & 0x1) << 3 ;
+
+ if (c_data == 0)
+ {
+ temp_code1 = temp_code;
+ c_data = 1;
+ }
+ else
+ if (c_data == 1)
+ {
+ temp_code2 = temp_code;
+ c_data = 2;
+ }
+ else
+ if (c_data == 2)
+ {
+ temp_code3 = temp_code;
+ c_data = 0;
+ }
+
+ }
+
+ prev_CAN_count_cycle_input_units = cur_can_cycle;
+
+ if ((temp_code1 == temp_code2) && (temp_code2 == temp_code3))
+ zad_w = zad;
+
+
+ edrk.from_uom.digital_line.bits.ready = zad_w.bits.UOM_READY_ACTIVE;
+ edrk.from_uom.digital_line.bits.level0 = zad_w.bits.UOM_LIMIT_1;
+ edrk.from_uom.digital_line.bits.level1 = zad_w.bits.UOM_LIMIT_2;
+ edrk.from_uom.digital_line.bits.level2 = zad_w.bits.UOM_LIMIT_3;
+
+
+ if (edrk.from_uom.digital_line.bits.ready && edrk.disable_uom==0)
+ {
+ edrk.from_uom.ready = 1;
+//000 - 100
+ if (edrk.from_uom.digital_line.bits.level0 == 0 &&
+ edrk.from_uom.digital_line.bits.level1 == 0 &&
+ edrk.from_uom.digital_line.bits.level2 == 0 )
+ edrk.from_uom.code = 1;
+//001 - 85
+ if (edrk.from_uom.digital_line.bits.level0 == 1 &&
+ edrk.from_uom.digital_line.bits.level1 == 0 &&
+ edrk.from_uom.digital_line.bits.level2 == 0 )
+ edrk.from_uom.code = 2;
+//011 - 70
+ if (edrk.from_uom.digital_line.bits.level0 == 1 &&
+ edrk.from_uom.digital_line.bits.level1 == 1 &&
+ edrk.from_uom.digital_line.bits.level2 == 0 )
+ edrk.from_uom.code = 3;
+//010 - 55
+ if (edrk.from_uom.digital_line.bits.level0 == 0 &&
+ edrk.from_uom.digital_line.bits.level1 == 1 &&
+ edrk.from_uom.digital_line.bits.level2 == 0 )
+ edrk.from_uom.code = 4;
+//110 - 40
+ if (edrk.from_uom.digital_line.bits.level0 == 0 &&
+ edrk.from_uom.digital_line.bits.level1 == 1 &&
+ edrk.from_uom.digital_line.bits.level2 == 1 )
+ edrk.from_uom.code = 5;
+//111 - 25
+ if (edrk.from_uom.digital_line.bits.level0 == 1 &&
+ edrk.from_uom.digital_line.bits.level1 == 1 &&
+ edrk.from_uom.digital_line.bits.level2 == 1 )
+ edrk.from_uom.code = 6;
+//101 - 10
+ if (edrk.from_uom.digital_line.bits.level0 == 1 &&
+ edrk.from_uom.digital_line.bits.level1 == 0 &&
+ edrk.from_uom.digital_line.bits.level2 == 1 )
+ edrk.from_uom.code = 7;
+//100 - 0
+ if (edrk.from_uom.digital_line.bits.level0 == 0 &&
+ edrk.from_uom.digital_line.bits.level1 == 0 &&
+ edrk.from_uom.digital_line.bits.level2 == 1 )
+ edrk.from_uom.code = 8;
+ }
+ else
+ {
+ edrk.from_uom.ready = 0;
+ edrk.from_uom.code = 0;
+ }
+
+ edrk.from_uom.iq_level_value = iq_uom_levels[edrk.from_uom.code];
+
+ if (edrk.from_uom.code<=1)
+ edrk.from_uom.iq_level_value_kwt = super_max_nominal_power;
+ else
+ edrk.from_uom.iq_level_value_kwt = _IQmpy(max_nominal_power,
+ edrk.from_uom.iq_level_value);
+
+ edrk.from_uom.level_value = uom_levels[edrk.from_uom.code];
+
+
+
+}
+
+//////////////////////////////////////////////////////////
diff --git a/Inu/Src/main/uom_tools.h b/Inu/Src/main/uom_tools.h
new file mode 100644
index 0000000..134648f
--- /dev/null
+++ b/Inu/Src/main/uom_tools.h
@@ -0,0 +1,15 @@
+/*
+ * uom_tools.h
+ *
+ * Created on: 13 ����. 2024 �.
+ * Author: Evgeniy_Sokolov
+ */
+
+#ifndef SRC_MAIN_UOM_TOOLS_H_
+#define SRC_MAIN_UOM_TOOLS_H_
+
+
+void update_uom(void);
+
+
+#endif /* SRC_MAIN_UOM_TOOLS_H_ */
diff --git a/Inu/Src/main/v_pwm24_v2.c b/Inu/Src/main/v_pwm24_v2.c
new file mode 100644
index 0000000..147c2c9
--- /dev/null
+++ b/Inu/Src/main/v_pwm24_v2.c
@@ -0,0 +1,948 @@
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_SWPrioritizedIsrLevels.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+#include "IQmathLib.h"
+
+#include <break_regul.h>
+#include <params_pwm24.h>
+#include <project_setup.h>
+#include <PWMTMSHandle.h>
+#include <v_pwm24_v2.h>
+#include <vector.h>
+
+#include "rmp_cntl_v1.h"
+#include "svgen_mf.h"
+#include "uf_alg_ing.h"
+#include "vhzprof.h"
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h"
+#include "MemoryFunctions.h"
+#include "Spartan2E_Adr.h"
+#include "TuneUpPlane.h"
+#include "x_wdog.h"
+#include "xp_write_xpwm_time.h"
+
+
+
+
+
+
+
+
+// ������� ��� � xilinx ����� (60000000 / 16 / FREQ_PWM = 3750000 / FREQ_PWM)
+//#pragma DATA_SECTION(var_freq_pwm_xtics,".fast_vars1");
+//int var_freq_pwm_xtics = DEF_FREQ_PWM_XTICS;
+
+// ����������� �������� ���� � xilinx �����
+//#pragma DATA_SECTION(var_period_max_xtics,".fast_vars1");
+//int var_period_max_xtics = DEF_FREQ_PWM_XTICS - DEF_PERIOD_MIN_XTICS;
+
+// ����������� �������� ���� � xilinx ����� (mintime+deadtime) (F���� * T���.�����.��� = (60 / 16 / 2) * T��� = (60 * T��� / 16 / 2))
+//#pragma DATA_SECTION(var_period_min_xtics,".fast_vars1");
+//int var_period_min_xtics = DEF_PERIOD_MIN_XTICS;//
+
+// ����������� �������� ���� � xilinx ����� ��� ��������� ������ (mintime) (F���� * T���.�����.��� = (60 / 16 / 2) * T��� = (60 * T��� / 16 / 2))
+#pragma DATA_SECTION(var_period_min_br_xtics,".fast_vars1");
+int var_period_min_br_xtics = DEF_PERIOD_MIN_BR_XTICS;//
+
+
+
+
+#define IQ_ALFA_SATURATION1 15099494//16441671//15099494
+#define IQ_ALFA_SATURATION2 1677721//16441671//15099494
+
+
+#define PI 3.1415926535897932384626433832795
+
+//#pragma DATA_SECTION(iq_alfa_coef,".fast_vars");
+//_iq iq_alfa_coef = 16777216;
+
+
+//#pragma DATA_SECTION(pidCur_Ki,".fast_vars");
+//_iq pidCur_Ki = 0;
+
+//#pragma DATA_SECTION(ar_tph,".fast_vars");
+//_iq ar_tph[7];
+
+//#pragma DATA_SECTION(winding_displacement,".fast_vars");
+//_iq winding_displacement = CONST_IQ_PI6;
+
+
+
+#pragma DATA_SECTION(svgen_pwm24_1,".v_24pwm_vars");
+SVGEN_PWM24 svgen_pwm24_1 = SVGEN_PWM24_DEFAULTS;
+#pragma DATA_SECTION(svgen_pwm24_2,".v_24pwm_vars");
+SVGEN_PWM24 svgen_pwm24_2 = SVGEN_PWM24_DEFAULTS;
+
+
+
+
+ALG_PWM24 alg_pwm24 = ALG_PWM24_DEFAULTS;
+
+
+
+
+
+
+
+#pragma CODE_SECTION(start_PWM24,".fast_run2")
+void start_PWM24(int O1, int O2)
+{
+ if ((O1 == 1) && (O2 == 1))
+ {
+ soft_start_x24_pwm_1_2();
+ }
+ else
+ {
+ if ((O1 == 0) && (O2 == 1))
+ {
+ soft_start_x24_pwm_2();
+ }
+ if ((O1 == 1) && (O2 == 0))
+ {
+ soft_start_x24_pwm_1();
+ }
+ }
+}
+
+
+
+
+void InitPWM_Variables(int n_pch)
+{
+
+// init_DQ_pid();
+// break_resistor_managment_init();
+
+
+/////////////
+
+
+//////////////
+// a.k = 0;
+// a.k1 = 0;
+// a.k2 = 0;
+
+ alg_pwm24.k1 = 0;
+ alg_pwm24.k2 = 0;
+
+ alg_pwm24.freq1 = 0;
+
+///////////////////
+
+
+///////////////////
+ svgen_pwm24_1.prev_level = V_PWM24_PREV_PWM_CLOSE;
+ svgen_pwm24_1.saw_direct.all = xpwm_time.saw_direct.all & 0x3f;
+ svgen_pwm24_1.Tclosed_saw_direct_0 = xpwm_time.Tclosed_saw_direct_0;// xpwm_time.Tclosed_high;//var_freq_pwm_xtics + 1;
+ svgen_pwm24_1.Tclosed_saw_direct_1 = xpwm_time.Tclosed_saw_direct_1;
+ svgen_pwm24_1.Tclosed_high = xpwm_time.Tclosed_high;
+
+ svgen_pwm24_2.prev_level = V_PWM24_PREV_PWM_CLOSE;
+ svgen_pwm24_2.saw_direct.all = (xpwm_time.saw_direct.all >> 6) & 0x3f;
+ svgen_pwm24_2.Tclosed_saw_direct_0 = xpwm_time.Tclosed_saw_direct_0;// xpwm_time.Tclosed_high;//var_freq_pwm_xtics + 1;
+ svgen_pwm24_2.Tclosed_saw_direct_1 = xpwm_time.Tclosed_saw_direct_1;
+ svgen_pwm24_2.Tclosed_high = xpwm_time.Tclosed_high;
+
+
+ svgen_pwm24_1.XilinxFreq = CONST_IQ_1 / xpwm_time.Tclosed_high;//(var_freq_pwm_xtics + 1);
+ svgen_pwm24_2.XilinxFreq = svgen_pwm24_1.XilinxFreq;
+
+ svgen_pwm24_1.number_svgen = 1;
+ svgen_pwm24_2.number_svgen = 2;
+
+ // pwm_minimal_impuls_zero = DEF_PERIOD_MIN_XTICS_80;
+
+ svgen_pwm24_1.pwm_minimal_impuls_zero_minus = (float)DEF_PERIOD_MIN_MKS*1000.0*FREQ_INTERNAL_GENERATOR_XILINX_TMS/1000000000.0;// DEF_PERIOD_MIN_XTICS_100;//DEF_PERIOD_MIN_XTICS_80;
+ svgen_pwm24_1.pwm_minimal_impuls_zero_plus = (float)DEF_PERIOD_MIN_MKS*1000.0*FREQ_INTERNAL_GENERATOR_XILINX_TMS/1000000000.0;// DEF_PERIOD_MIN_XTICS_80;
+
+ svgen_pwm24_2.pwm_minimal_impuls_zero_minus = svgen_pwm24_1.pwm_minimal_impuls_zero_minus;
+ svgen_pwm24_2.pwm_minimal_impuls_zero_plus = svgen_pwm24_1.pwm_minimal_impuls_zero_plus;
+
+
+ if (n_pch==0)
+ {
+ svgen_pwm24_1.phase_sequence = V_PWM24_PHASE_SEQ_REVERS_CBA;
+ svgen_pwm24_2.phase_sequence = V_PWM24_PHASE_SEQ_REVERS_CBA;
+ }
+ else
+ {
+// svgen_pwm24_1.phase_sequence = V_PWM24_PHASE_SEQ_REVERS_ACB; // �� �����
+// svgen_pwm24_2.phase_sequence = V_PWM24_PHASE_SEQ_REVERS_ACB;
+ svgen_pwm24_1.phase_sequence = V_PWM24_PHASE_SEQ_REVERS_BAC;
+ svgen_pwm24_2.phase_sequence = V_PWM24_PHASE_SEQ_REVERS_BAC;
+ }
+
+
+ InitVariablesSvgen_Ing(xpwm_time.freq_pwm);
+}
+
+
+
+
+
+
+
+
+
+
+void InitXPWM(unsigned int freq_pwm)
+{
+ int i;
+ unsigned int pwm_t;//, freq_pwm_xtics;
+
+
+
+
+ pwm_t = (FREQ_INTERNAL_GENERATOR_XILINX_TMS / freq_pwm );
+ // freq_pwm_xtics = (FREQ_INTERNAL_GENERATOR_XILINX_TMS / freq_pwm );
+
+// write init pwm
+// ��� ������ ���� �������, ����� ���� ��������� ������, ��� ������ ����
+ xpwm_time.Tclosed_saw_direct_1 = pwm_t + 2;//1; // ��� ���� ����=1 ����� ��������� �������� ���� �������, ���� ��� �� ��������
+ xpwm_time.Tclosed_saw_direct_0 = 0; // ��� ���� ����=0 ����� ��������� �������� ���� �������, ���� ��� �� ��������
+
+ xpwm_time.Tclosed_high = pwm_t + 2;//1;
+
+ // ������� ����������� ���
+ // "����������� ��� ��� ���� ����=0x0
+ //���� SAW_DIRECTbit = 0 �� �������� ����>������� �������� �������� ���������� ���������=0
+ //�� ������ ����
+ //���� SAW_DIRECTbit = 1 �� �������� ����<=������� �������� �������� ���������� ���������=0
+ //�� ������ ����
+ xpwm_time.saw_direct.all = 0x0555;
+
+
+// ������ � �����
+ xpwm_time.pwm_tics = pwm_t;
+ xpwm_time.freq_pwm = freq_pwm;
+ xpwm_time.half_pwm_tics = xpwm_time.pwm_tics >> 1;
+
+ xpwm_time.one_or_two_interrupts_run = PWN_COUNT_RUN_PER_INTERRUPT;
+ xpwm_time.init(&xpwm_time);
+
+// write to xilinx regs
+ xpwm_time.write_zero_winding_break_times(&xpwm_time);
+
+
+//
+ i_WriteMemory(ADR_PWM_DIRECT, 0xffff);
+ i_WriteMemory(ADR_PWM_DRIVE_MODE, 0); //Choose PWM sourse PWMGenerator on Spartan 200e
+ // DeadTime ��� ����� ���� ���� �� ������������
+ i_WriteMemory(ADR_PWM_DEAD_TIME, 360); //Dead time in tics.
+ stop_wdog();
+
+ i_WriteMemory(ADR_PWM_PERIOD, pwm_t); // Saw period in tics. 1 tic = FREQ_INTERNAL_GENERATOR_XILINX_TMS
+ // �������� ������� ����������� ���
+ i_WriteMemory(ADR_PWM_SAW_DIRECT, xpwm_time.saw_direct.all);
+ //"����� �� ����� �� (15 �� 0). 0 - ����� ���, 1 - ����� ��������.
+ //���� ������������ ������������ Xilinx, �� ����� ����������� ��������� 0x2006(15) = 0,
+ //���� � ������ ������� ���� 0x2006(15) = 1, "
+ i_WriteMemory(ADR_TK_MASK_0, 0);
+ // "����� �� ����� �� (31 �� 16) ���� ������������ ������������ Xilinx, �� ����� ����������� ��������� 0x2006(15) = 0,
+ // ���� � ������ ������� ���� 0x2006(15) = 1, "
+ i_WriteMemory(ADR_TK_MASK_1, 0xffff); //Turn off additional 16 tk lines
+
+
+ i_WriteMemory(ADR_PWM_IT_TYPE, PWN_COUNT_RUN_PER_INTERRUPT); //1 or 2 interrupt per PWM period
+
+//
+//#if (C_PROJECT_TYPE == PROJECT_BALZAM) || (C_PROJECT_TYPE == PROJECT_23550)
+// i_WriteMemory(ADR_PWM_IT_TYPE, 1); //1 interrupt per PWM period
+//#else
+// i_WriteMemory(ADR_PWM_IT_TYPE, 0); //interrupt on each counter twist
+//#endif
+
+/* End �f PWM Gen init */
+}
+
+
+
+//////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////
+
+/*
+void init_freq_array(void)
+{
+ unsigned int i = 0;
+ //unsigned int j = 0;
+ int var1 = 0;
+
+ var1 = 32767 / (FREQ_PWM_MAX - FREQ_PWM_MIN);
+
+ for (i = 0; i < COUNT_VAR_FREQ; i++)
+ {
+ //j = rand() / 1023;
+ //freq_array[i] = array_optim_freq[j];
+ //do
+ freq_array[i] = FREQ_PWM_MIN + (rand() / var1);
+ //while ((freq_array[i] < 945) && (freq_array[i] > 930));
+ }
+
+ //freq_array[0] = 991;
+ //freq_array[1] = 1430;
+}
+*/
+
+
+//#pragma CODE_SECTION(calc_freq_pwm,".v_24pwm_run");
+//#pragma CODE_SECTION(calc_freq_pwm,".fast_run");
+/*void calc_freq_pwm()
+{
+ static int prev_freq_pwm = 0;
+ static float pwm_period = 0;
+ static float var0 = 0;
+ //static int line = 0;
+ //static int i = 0;
+ static unsigned int proc_ticks = 1;
+ int var1 = 0;
+ //static int i = 0;
+
+ if ((f.flag_change_pwm_freq == 1) && (f.flag_random_freq == 1))
+ {
+ if (proc_ticks >= 1)
+ {
+ proc_ticks = 0;
+
+
+ if (line == 0)
+ {
+ VAR_FREQ_PWM_HZ = VAR_FREQ_PWM_HZ + 1;
+ if (VAR_FREQ_PWM_HZ > FREQ_PWM_MAX)
+ {
+ VAR_FREQ_PWM_HZ = FREQ_PWM_MAX;
+ line = 1;
+ }
+ }
+ else
+ {
+ VAR_FREQ_PWM_HZ = VAR_FREQ_PWM_HZ - 1;
+ if (VAR_FREQ_PWM_HZ < FREQ_PWM)
+ {
+ VAR_FREQ_PWM_HZ = FREQ_PWM;
+ line = 0;
+ }
+ }
+
+
+
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ //VAR_FREQ_PWM_HZ = freq_array[i];
+ //i_led2_on_off(1);
+
+ var1 = 32767 / (freq_pwm_max_hz - freq_pwm_min_hz);
+ VAR_FREQ_PWM_HZ = freq_pwm_min_hz + (rand() / var1);
+
+ //i_led2_on_off(0);
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ if (VAR_FREQ_PWM_HZ > freq_pwm_max_hz)
+ {
+ VAR_FREQ_PWM_HZ = freq_pwm_max_hz;
+ }
+ else
+ {
+ if (VAR_FREQ_PWM_HZ < freq_pwm_min_hz)
+ {
+ VAR_FREQ_PWM_HZ = freq_pwm_min_hz;
+ }
+ }
+ //i++;
+
+ //if (i >= COUNT_VAR_FREQ)
+ //{
+ //i = 0;
+ //}
+
+ }
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ //if (VAR_FREQ_PWM_HZ == FREQ_PWM_MIN)
+ //{
+ //VAR_FREQ_PWM_HZ = FREQ_PWM_MAX;
+ //}
+ //else
+ //{
+ //VAR_FREQ_PWM_HZ = FREQ_PWM_MIN;
+ //}
+
+ //if (f.Rele1 == 1)
+ //{
+ //if (i == 0)
+ //{
+ //VAR_FREQ_PWM_HZ = 1192;;
+ //i = 1;
+ //}
+ //else
+ //{
+ //VAR_FREQ_PWM_HZ = 792;
+ //}
+ //}
+ //else
+ //{
+ //i = 0;
+ //VAR_FREQ_PWM_HZ = 1192;
+ //}
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ }
+ //else
+ //{
+ //VAR_FREQ_PWM_HZ = FREQ_PWM;
+ //}
+
+
+ if (prev_freq_pwm != VAR_FREQ_PWM_HZ)
+ {
+ prev_freq_pwm = VAR_FREQ_PWM_HZ;
+ FREQ_MAX = _IQ(2.0*PI*F_STATOR_MAX/VAR_FREQ_PWM_HZ);
+
+ var0 = (float)VAR_FREQ_PWM_HZ;
+ //pwm_period = ((float64)HSPCLK) / ((float64)VAR_FREQ_PWM_HZ);
+
+ pwm_period = HSPCLK / var0;
+
+ pwm_period = pwm_period / 2.0;
+
+ FREQ_PWM_XTICS = ((int) pwm_period) >> 3;
+
+ XILINX_FREQ = 16777216/(FREQ_PWM_XTICS + 1);
+
+ FLAG_CHANGE_FREQ_PWM = 1;
+ }
+
+ proc_ticks++;
+}
+*/
+/*
+#pragma CODE_SECTION(test_calc_pwm24_dq,".v_24pwm_run");
+void test_calc_pwm24_dq(_iq U_zad1, _iq U_zad2,_iq teta)
+{
+ svgen_pwm24_1.Freq = 0;
+ svgen_pwm24_2.Freq = 0;
+
+ svgen_pwm24_1.Gain = U_zad1;
+ svgen_pwm24_2.Gain = U_zad2;
+
+ svgen_pwm24_1.Alpha = teta;
+ svgen_pwm24_2.Alpha = teta;
+
+ svgen_pwm24_1.delta_U = filter.iqU_1_fast - filter.iqU_2_fast;
+ svgen_pwm24_2.delta_U = filter.iqU_1_fast - filter.iqU_2_fast;
+// svgen_pwm24_2.delta_U = filter.iqU_3_fast - filter.iqU_4_fast;
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ svgen_pwm24_1.delta_U = 0;
+ svgen_pwm24_2.delta_U = 0;
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ svgen_pwm24_1.Ia = analog.iqIu_1;
+ svgen_pwm24_1.Ib = analog.iqIv_1;
+ svgen_pwm24_1.Ic = analog.iqIw_1;;
+
+ svgen_pwm24_2.Ia = analog.iqIu_2;
+ svgen_pwm24_2.Ib = analog.iqIv_2;
+ svgen_pwm24_2.Ic = analog.iqIw_2;
+
+ svgen_pwm24_1.calc_dq(&svgen_pwm24_1);
+ svgen_pwm24_2.calc_dq(&svgen_pwm24_2);
+
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ set_predel_dshim24(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+
+}
+*/
+
+/*
+#pragma CODE_SECTION(svgen_pwm24_calc,".v_24pwm_run");
+void svgen_pwm24_calc_dq(SVGEN_PWM24 *vt)
+{
+
+ if (vt->Alpha > CONST_IQ_2PI)
+ {
+ vt->Alpha -= CONST_IQ_2PI;
+ }
+
+ if (vt->Alpha < 0)
+ {
+ vt->Alpha += CONST_IQ_2PI;
+ }
+
+
+ calc_time_one_tk(vt->Gain, vt->Alpha, vt->delta_U, vt->Ia, vt->Ib, vt->Ic,
+ vt->number_svgen,vt->direct_rotor, &vt->Ta_0, &vt->Ta_1,&vt->Tb_0, &vt->Tb_1,&vt->Tc_0, &vt->Tc_1);
+
+
+ vt->Ta_0.Ti = vt->Ta_0.Ti/vt->XilinxFreq;
+ vt->Ta_1.Ti = vt->Ta_1.Ti/vt->XilinxFreq;
+
+ vt->Tb_0.Ti = vt->Tb_0.Ti/vt->XilinxFreq;
+ vt->Tb_1.Ti = vt->Tb_1.Ti/vt->XilinxFreq;
+
+ vt->Tc_0.Ti = vt->Tc_0.Ti/vt->XilinxFreq;
+ vt->Tc_1.Ti = vt->Tc_1.Ti/vt->XilinxFreq;
+
+}
+*/
+
+
+
+
+void svgen_set_time_keys_closed(SVGEN_PWM24 *vt)
+{
+//a
+ if (vt->saw_direct.bits.bit0)
+ vt->Ta_0 = vt->Tclosed_saw_direct_1;
+ else
+ vt->Ta_0 = vt->Tclosed_saw_direct_0;
+
+ if (vt->saw_direct.bits.bit1)
+ vt->Ta_1 = vt->Tclosed_saw_direct_1;
+ else
+ vt->Ta_1 = vt->Tclosed_saw_direct_0;
+//b
+ if (vt->saw_direct.bits.bit2)
+ vt->Tb_0 = vt->Tclosed_saw_direct_1;
+ else
+ vt->Tb_0 = vt->Tclosed_saw_direct_0;
+
+ if (vt->saw_direct.bits.bit3)
+ vt->Tb_1 = vt->Tclosed_saw_direct_1;
+ else
+ vt->Tb_1 = vt->Tclosed_saw_direct_0;
+//c
+ if (vt->saw_direct.bits.bit4)
+ vt->Tc_0 = vt->Tclosed_saw_direct_1;
+ else
+ vt->Tc_0 = vt->Tclosed_saw_direct_0;
+
+ if (vt->saw_direct.bits.bit5)
+ vt->Tc_1 = vt->Tclosed_saw_direct_1;
+ else
+ vt->Tc_1 = vt->Tclosed_saw_direct_0;
+
+ vt->prev_level = V_PWM24_PREV_PWM_CLOSE;
+
+}
+
+
+
+
+
+#pragma CODE_SECTION(correct_balance_uzpt_pwm24,".fast_run2");
+_iq correct_balance_uzpt_pwm24(_iq Tinput, _iq Kplus)
+{
+//_iq pwm_t, timpuls_corr;
+ volatile _iq timpuls_corr;
+
+ if (Tinput >= (-Kplus))
+ timpuls_corr = CONST_IQ_1 - _IQdiv(CONST_IQ_1-Tinput, CONST_IQ_1+Kplus);
+ else
+ timpuls_corr = -CONST_IQ_1 + _IQdiv(CONST_IQ_1+Tinput, CONST_IQ_1-Kplus);
+
+
+ return timpuls_corr;
+}
+
+
+
+
+
+#pragma CODE_SECTION(recalc_time_pwm_minimal_2_xilinx_pwm24,".fast_run2");
+void recalc_time_pwm_minimal_2_xilinx_pwm24(SVGEN_PWM24 *pwm24,
+ unsigned int *T0, unsigned int *T1,
+ int *T_imp,
+ _iq timpuls_corr )
+{
+//_iq pwm_t, timpuls_corr;
+
+ volatile unsigned long pwm_t;
+ volatile unsigned int minimal_plus, minimal_minus;
+
+
+
+ minimal_plus = pwm24->pwm_minimal_impuls_zero_plus;
+ minimal_minus = pwm24->pwm_minimal_impuls_zero_minus;
+
+ // if (pwm24->prev_level == V_PWM24_PREV_PWM_CLOSE || pwm24->prev_level == V_PWM24_PREV_PWM_MIDDLE || pwm24->prev_level == V_PWM24_PREV_PWM_WORK_KM0)
+ // {
+ // minimal_plus *= 2;
+// minimal_minus *= 2;
+// }
+
+ pwm_t = timpuls_corr / pwm24->XilinxFreq;
+
+ *T_imp = pwm_t;
+
+// if (pwm_t>(pwm24->Tclosed_high-4*minimal_minus))
+// pwm_t=(pwm24->Tclosed_high-4*minimal_minus);
+
+
+ if (timpuls_corr >= 0)
+ {
+ *T0 = pwm_t + minimal_plus;
+ *T1 = pwm24->Tclosed_high - minimal_minus;
+ }
+ else
+ {
+ *T0 = minimal_plus;
+ *T1 = pwm24->Tclosed_high + pwm_t - minimal_minus;
+ }
+
+
+ if (*T0 < minimal_plus)
+ *T0 = minimal_plus;
+
+ if (*T0 > (pwm24->Tclosed_high - 2 * minimal_plus))
+ *T0 = (pwm24->Tclosed_high - 2 * minimal_plus);
+
+ if (*T1 < (2 * minimal_minus))
+ *T1 = 2 * minimal_minus;
+
+ if (*T1 > (pwm24->Tclosed_high - minimal_minus))
+ *T1 = (pwm24->Tclosed_high - minimal_minus);
+
+}
+
+#define WRITE_SWGEN_PWM_TIMES_VER 2//1
+
+#if (WRITE_SWGEN_PWM_TIMES_VER==1)
+#pragma CODE_SECTION(write_swgen_pwm_times,".fast_run2");
+void write_swgen_pwm_times(unsigned int mode_reload)
+{
+
+ if (svgen_pwm24_1.phase_sequence == V_PWM24_PHASE_SEQ_NORMAL_ABC)
+ {
+ xpwm_time.Ta0_0 = (unsigned int) svgen_pwm24_1.Ta_0;
+ xpwm_time.Ta0_1 = (unsigned int) svgen_pwm24_1.Ta_1;
+ xpwm_time.Tb0_0 = (unsigned int) svgen_pwm24_1.Tb_0;
+ xpwm_time.Tb0_1 = (unsigned int) svgen_pwm24_1.Tb_1;
+ xpwm_time.Tc0_0 = (unsigned int) svgen_pwm24_1.Tc_0;
+ xpwm_time.Tc0_1 = (unsigned int) svgen_pwm24_1.Tc_1;
+ }
+
+ if (svgen_pwm24_2.phase_sequence == V_PWM24_PHASE_SEQ_NORMAL_ABC)
+ {
+ xpwm_time.Ta1_0 = (unsigned int) svgen_pwm24_2.Ta_0;
+ xpwm_time.Ta1_1 = (unsigned int) svgen_pwm24_2.Ta_1;
+ xpwm_time.Tb1_0 = (unsigned int) svgen_pwm24_2.Tb_0;
+ xpwm_time.Tb1_1 = (unsigned int) svgen_pwm24_2.Tb_1;
+ xpwm_time.Tc1_0 = (unsigned int) svgen_pwm24_2.Tc_0;
+ xpwm_time.Tc1_1 = (unsigned int) svgen_pwm24_2.Tc_1;
+ }
+
+ if (svgen_pwm24_1.phase_sequence == V_PWM24_PHASE_SEQ_NORMAL_BCA)
+ {
+ xpwm_time.Ta0_0 = (unsigned int) svgen_pwm24_1.Tb_0;
+ xpwm_time.Ta0_1 = (unsigned int) svgen_pwm24_1.Tb_1;
+ xpwm_time.Tb0_0 = (unsigned int) svgen_pwm24_1.Tc_0;
+ xpwm_time.Tb0_1 = (unsigned int) svgen_pwm24_1.Tc_1;
+ xpwm_time.Tc0_0 = (unsigned int) svgen_pwm24_1.Ta_0;
+ xpwm_time.Tc0_1 = (unsigned int) svgen_pwm24_1.Ta_1;
+ }
+
+ if (svgen_pwm24_2.phase_sequence == V_PWM24_PHASE_SEQ_NORMAL_BCA)
+ {
+ xpwm_time.Ta1_0 = (unsigned int) svgen_pwm24_2.Tb_0;
+ xpwm_time.Ta1_1 = (unsigned int) svgen_pwm24_2.Tb_1;
+ xpwm_time.Tb1_0 = (unsigned int) svgen_pwm24_2.Tc_0;
+ xpwm_time.Tb1_1 = (unsigned int) svgen_pwm24_2.Tc_1;
+ xpwm_time.Tc1_0 = (unsigned int) svgen_pwm24_2.Ta_0;
+ xpwm_time.Tc1_1 = (unsigned int) svgen_pwm24_2.Ta_1;
+ }
+
+ if (svgen_pwm24_1.phase_sequence == V_PWM24_PHASE_SEQ_NORMAL_CAB)
+ {
+ xpwm_time.Ta0_0 = (unsigned int) svgen_pwm24_1.Tc_0;
+ xpwm_time.Ta0_1 = (unsigned int) svgen_pwm24_1.Tc_1;
+ xpwm_time.Tb0_0 = (unsigned int) svgen_pwm24_1.Ta_0;
+ xpwm_time.Tb0_1 = (unsigned int) svgen_pwm24_1.Ta_1;
+ xpwm_time.Tc0_0 = (unsigned int) svgen_pwm24_1.Tb_0;
+ xpwm_time.Tc0_1 = (unsigned int) svgen_pwm24_1.Tb_1;
+ }
+ if (svgen_pwm24_2.phase_sequence == V_PWM24_PHASE_SEQ_NORMAL_CAB)
+ {
+ xpwm_time.Ta1_0 = (unsigned int) svgen_pwm24_2.Tc_0;
+ xpwm_time.Ta1_1 = (unsigned int) svgen_pwm24_2.Tc_1;
+ xpwm_time.Tb1_0 = (unsigned int) svgen_pwm24_2.Ta_0;
+ xpwm_time.Tb1_1 = (unsigned int) svgen_pwm24_2.Ta_1;
+ xpwm_time.Tc1_0 = (unsigned int) svgen_pwm24_2.Tb_0;
+ xpwm_time.Tc1_1 = (unsigned int) svgen_pwm24_2.Tb_1;
+ }
+
+ // fix revers
+ if (svgen_pwm24_1.phase_sequence == V_PWM24_PHASE_SEQ_REVERS_BAC)
+ {
+ xpwm_time.Ta0_0 = (unsigned int) svgen_pwm24_1.Tb_0;
+ xpwm_time.Ta0_1 = (unsigned int) svgen_pwm24_1.Tb_1;
+ xpwm_time.Tb0_0 = (unsigned int) svgen_pwm24_1.Ta_0;
+ xpwm_time.Tb0_1 = (unsigned int) svgen_pwm24_1.Ta_1;
+ xpwm_time.Tc0_0 = (unsigned int) svgen_pwm24_1.Tc_0;
+ xpwm_time.Tc0_1 = (unsigned int) svgen_pwm24_1.Tc_1;
+ }
+ if (svgen_pwm24_2.phase_sequence == V_PWM24_PHASE_SEQ_REVERS_BAC)
+ {
+ xpwm_time.Ta1_0 = (unsigned int) svgen_pwm24_2.Tb_0;
+ xpwm_time.Ta1_1 = (unsigned int) svgen_pwm24_2.Tb_1;
+ xpwm_time.Tb1_0 = (unsigned int) svgen_pwm24_2.Ta_0;
+ xpwm_time.Tb1_1 = (unsigned int) svgen_pwm24_2.Ta_1;
+ xpwm_time.Tc1_0 = (unsigned int) svgen_pwm24_2.Tc_0;
+ xpwm_time.Tc1_1 = (unsigned int) svgen_pwm24_2.Tc_1;
+ }
+
+ if (svgen_pwm24_1.phase_sequence == V_PWM24_PHASE_SEQ_REVERS_ACB)
+ {
+ xpwm_time.Ta0_0 = (unsigned int) svgen_pwm24_1.Ta_0;
+ xpwm_time.Ta0_1 = (unsigned int) svgen_pwm24_1.Ta_1;
+ xpwm_time.Tb0_0 = (unsigned int) svgen_pwm24_1.Tc_0;
+ xpwm_time.Tb0_1 = (unsigned int) svgen_pwm24_1.Tc_1;
+ xpwm_time.Tc0_0 = (unsigned int) svgen_pwm24_1.Tb_0;
+ xpwm_time.Tc0_1 = (unsigned int) svgen_pwm24_1.Tb_1;
+ }
+ if (svgen_pwm24_2.phase_sequence == V_PWM24_PHASE_SEQ_REVERS_ACB)
+ {
+ xpwm_time.Ta1_0 = (unsigned int) svgen_pwm24_2.Ta_0;
+ xpwm_time.Ta1_1 = (unsigned int) svgen_pwm24_2.Ta_1;
+ xpwm_time.Tb1_0 = (unsigned int) svgen_pwm24_2.Tc_0;
+ xpwm_time.Tb1_1 = (unsigned int) svgen_pwm24_2.Tc_1;
+ xpwm_time.Tc1_0 = (unsigned int) svgen_pwm24_2.Tb_0;
+ xpwm_time.Tc1_1 = (unsigned int) svgen_pwm24_2.Tb_1;
+ }
+
+ if (svgen_pwm24_1.phase_sequence == V_PWM24_PHASE_SEQ_REVERS_CBA)
+ {
+ xpwm_time.Ta0_0 = (unsigned int) svgen_pwm24_1.Tc_0;
+ xpwm_time.Ta0_1 = (unsigned int) svgen_pwm24_1.Tc_1;
+ xpwm_time.Tb0_0 = (unsigned int) svgen_pwm24_1.Tb_0;
+ xpwm_time.Tb0_1 = (unsigned int) svgen_pwm24_1.Tb_1;
+ xpwm_time.Tc0_0 = (unsigned int) svgen_pwm24_1.Ta_0;
+ xpwm_time.Tc0_1 = (unsigned int) svgen_pwm24_1.Ta_1;
+ }
+ if (svgen_pwm24_2.phase_sequence == V_PWM24_PHASE_SEQ_REVERS_CBA)
+ {
+ xpwm_time.Ta1_0 = (unsigned int) svgen_pwm24_2.Tc_0;
+ xpwm_time.Ta1_1 = (unsigned int) svgen_pwm24_2.Tc_1;
+ xpwm_time.Tb1_0 = (unsigned int) svgen_pwm24_2.Tb_0;
+ xpwm_time.Tb1_1 = (unsigned int) svgen_pwm24_2.Tb_1;
+ xpwm_time.Tc1_0 = (unsigned int) svgen_pwm24_2.Ta_0;
+ xpwm_time.Tc1_1 = (unsigned int) svgen_pwm24_2.Ta_1;
+ }
+
+ xpwm_time.Tbr0_0 = break_result_1;
+ xpwm_time.Tbr0_1 = break_result_2;
+ xpwm_time.Tbr1_0 = 0;//break_result_3;
+ xpwm_time.Tbr1_1 = 0;//break_result_4;
+ xpwm_time.mode_reload = mode_reload;
+
+ xpwm_time.write_1_2_winding_break_times(&xpwm_time);
+}
+#endif
+///////////////////////////////////////////////////////
+// ver 2
+///////////////////////////////////////////////////////
+#if (WRITE_SWGEN_PWM_TIMES_VER==2)
+
+#pragma CODE_SECTION(set_pwm_times,".fast_run2");
+void set_pwm_times(unsigned int Ta0, unsigned int Ta1, unsigned int Tb0, unsigned int Tb1, unsigned int Tc0, unsigned int Tc1, unsigned int winding_num)
+{
+ if (winding_num == 0)
+ {
+ xpwm_time.Ta0_0 = Ta0;
+ xpwm_time.Ta0_1 = Ta1;
+ xpwm_time.Tb0_0 = Tb0;
+ xpwm_time.Tb0_1 = Tb1;
+ xpwm_time.Tc0_0 = Tc0;
+ xpwm_time.Tc0_1 = Tc1;
+ }
+ else
+ {
+ xpwm_time.Ta1_0 = Ta0;
+ xpwm_time.Ta1_1 = Ta1;
+ xpwm_time.Tb1_0 = Tb0;
+ xpwm_time.Tb1_1 = Tb1;
+ xpwm_time.Tc1_0 = Tc0;
+ xpwm_time.Tc1_1 = Tc1;
+ }
+}
+
+#pragma CODE_SECTION(process_phase_sequence,".fast_run2");
+void process_phase_sequence(SVGEN_PWM24 svgen_pwm, unsigned int winding_num)
+{
+ switch (svgen_pwm.phase_sequence)
+ {
+ case V_PWM24_PHASE_SEQ_NORMAL_ABC:
+ set_pwm_times(svgen_pwm.Ta_0, svgen_pwm.Ta_1, svgen_pwm.Tb_0, svgen_pwm.Tb_1, svgen_pwm.Tc_0, svgen_pwm.Tc_1, winding_num);
+ break;
+ case V_PWM24_PHASE_SEQ_NORMAL_BCA:
+ set_pwm_times(svgen_pwm.Tb_0, svgen_pwm.Tb_1, svgen_pwm.Tc_0, svgen_pwm.Tc_1, svgen_pwm.Ta_0, svgen_pwm.Ta_1, winding_num);
+ break;
+ case V_PWM24_PHASE_SEQ_NORMAL_CAB:
+ set_pwm_times(svgen_pwm.Tc_0, svgen_pwm.Tc_1, svgen_pwm.Ta_0, svgen_pwm.Ta_1, svgen_pwm.Tb_0, svgen_pwm.Tb_1, winding_num);
+ break;
+ case V_PWM24_PHASE_SEQ_REVERS_BAC:
+ set_pwm_times(svgen_pwm.Tb_0, svgen_pwm.Tb_1, svgen_pwm.Ta_0, svgen_pwm.Ta_1, svgen_pwm.Tc_0, svgen_pwm.Tc_1, winding_num);
+ break;
+ case V_PWM24_PHASE_SEQ_REVERS_ACB:
+ set_pwm_times(svgen_pwm.Ta_0, svgen_pwm.Ta_1, svgen_pwm.Tc_0, svgen_pwm.Tc_1, svgen_pwm.Tb_0, svgen_pwm.Tb_1, winding_num);
+ break;
+ case V_PWM24_PHASE_SEQ_REVERS_CBA:
+ set_pwm_times(svgen_pwm.Tc_0, svgen_pwm.Tc_1, svgen_pwm.Tb_0, svgen_pwm.Tb_1, svgen_pwm.Ta_0, svgen_pwm.Ta_1, winding_num);
+ break;
+ }
+}
+#pragma CODE_SECTION(write_swgen_pwm_times,".fast_run2");
+void write_swgen_pwm_times(unsigned int mode_reload)
+{
+ process_phase_sequence(svgen_pwm24_1, 0);
+ process_phase_sequence(svgen_pwm24_2, 1);
+
+ // fix breaks
+ xpwm_time.Tbr0_0 = break_result_1;
+ xpwm_time.Tbr0_1 = break_result_2;
+ xpwm_time.Tbr1_0 = 0; // break_result_3;
+ xpwm_time.Tbr1_1 = 0; // break_result_4;
+ xpwm_time.mode_reload = mode_reload;
+
+ xpwm_time.write_1_2_winding_break_times(&xpwm_time);
+}
+#endif
+
+
+
+
+
+
+
+
+///////////////////////////////////////////////////////
+
+void svgen_set_time_middle_keys_open(SVGEN_PWM24 *vt)
+{
+ //a
+ if (vt->saw_direct.bits.bit0)
+ vt->Ta_0 = vt->Tclosed_saw_direct_0;
+ else
+ vt->Ta_0 = vt->Tclosed_saw_direct_1;
+
+ if (vt->saw_direct.bits.bit1)
+ vt->Ta_1 = vt->Tclosed_saw_direct_0;
+ else
+ vt->Ta_1 = vt->Tclosed_saw_direct_1;
+ //b
+ if (vt->saw_direct.bits.bit2)
+ vt->Tb_0 = vt->Tclosed_saw_direct_0;
+ else
+ vt->Tb_0 = vt->Tclosed_saw_direct_1;
+
+ if (vt->saw_direct.bits.bit3)
+ vt->Tb_1 = vt->Tclosed_saw_direct_0;
+ else
+ vt->Tb_1 = vt->Tclosed_saw_direct_1;
+ //c
+ if (vt->saw_direct.bits.bit4)
+ vt->Tc_0 = vt->Tclosed_saw_direct_0;
+ else
+ vt->Tc_0 = vt->Tclosed_saw_direct_1;
+
+ if (vt->saw_direct.bits.bit5)
+ vt->Tc_1 = vt->Tclosed_saw_direct_0;
+ else
+ vt->Tc_1 = vt->Tclosed_saw_direct_1;
+
+
+ vt->prev_level = V_PWM24_PREV_PWM_MIDDLE;
+
+/*
+
+ vt->Ta_0 = 0;
+ vt->Ta_1 = vt->Tclosed;//var_freq_pwm_xtics + 1;
+
+ vt->Tb_0 = 0;
+ vt->Tb_1 = vt->Tclosed;// var_freq_pwm_xtics + 1;
+
+ vt->Tc_0 = 0;
+ vt->Tc_1 = vt->Tclosed;// var_freq_pwm_xtics + 1;
+ */
+}
+
+///////////////////////////////////////////////////////
+///////////////////////////////////////////////////////
+///////////////////////////////////////////////////////
+
+
+#pragma CODE_SECTION(detect_level_interrupt,".fast_run");
+unsigned int detect_level_interrupt(int flag_second_PCH)
+{
+ unsigned int curr_period1, curr_period2, curr_period0;
+ static unsigned int count_err_read_pwm_xilinx = 0;
+
+
+ WriteMemory(ADR_SAW_REQUEST, 0x8000);
+ curr_period0 = ReadMemory(ADR_SAW_VALUE);
+ WriteMemory(ADR_SAW_REQUEST, 0x8000);
+ curr_period1 = ReadMemory(ADR_SAW_VALUE);
+ WriteMemory(ADR_SAW_REQUEST, 0x8000);
+ curr_period2 = ReadMemory(ADR_SAW_VALUE);
+
+ xpwm_time.current_period = curr_period2;
+
+
+ // �� ��������� � ������ ����� ����?
+ if (xpwm_time.current_period<xpwm_time.half_pwm_tics)
+ {
+ xpwm_time.where_interrupt = PWM_LOW_LEVEL_INTERRUPT;
+ xpwm_time.what_next_interrupt = PWM_HIGH_LEVEL_INTERRUPT;
+ xpwm_time.do_sync_out = (flag_second_PCH==0);
+ }
+ else // �� ��������� � ������� ����� ����?
+ {
+ xpwm_time.where_interrupt = PWM_HIGH_LEVEL_INTERRUPT;
+ xpwm_time.what_next_interrupt = PWM_LOW_LEVEL_INTERRUPT;
+ xpwm_time.do_sync_out = !(flag_second_PCH==0);
+ }
+
+// �� ���� ���� ��� ���������� ��� ����� �� ����� ������� ����������� � ����������
+ if (curr_period2>curr_period1) // ���� ����� �� ����
+ {
+ if ((curr_period2-curr_period1)>xpwm_time.half_pwm_tics)// ����� ������� �������
+ {
+// xpwm_time.what_next_interrupt = 1;
+ // ���������� ������
+ return 1;
+ }
+ }
+ else// ���� ���� �� ����
+ {
+ if ((curr_period1-curr_period2)>xpwm_time.half_pwm_tics)// ����� ������� �������
+ {
+ // ���������� ������
+ return 1;
+ }
+ }
+
+ // ��� ������, ��!
+ return 0;
+
+
+}
+
diff --git a/Inu/Src/main/v_pwm24_v2.h b/Inu/Src/main/v_pwm24_v2.h
new file mode 100644
index 0000000..e0e1baa
--- /dev/null
+++ b/Inu/Src/main/v_pwm24_v2.h
@@ -0,0 +1,161 @@
+#ifndef _V_PWM24_H
+#define _V_PWM24_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+#include "IQmathLib.h"
+#include "DSP281x_Device.h"
+#include "word_structurs.h"
+
+
+#include "vhzprof.h"
+#include "rmp_cntl_v1.h"
+
+enum { V_PWM24_PREV_PWM_CLOSE = 1,
+ V_PWM24_PREV_PWM_MIDDLE,
+ V_PWM24_PREV_PWM_WORK_KM0,
+ V_PWM24_PREV_PWM_WORK
+};
+
+enum { V_PWM24_PHASE_SEQ_NORMAL_ABC = 1,
+ V_PWM24_PHASE_SEQ_NORMAL_BCA,
+ V_PWM24_PHASE_SEQ_NORMAL_CAB,
+ V_PWM24_PHASE_SEQ_REVERS_ACB,
+ V_PWM24_PHASE_SEQ_REVERS_CBA,
+ V_PWM24_PHASE_SEQ_REVERS_BAC
+};
+
+
+
+
+typedef struct { _iq freq1;
+ _iq k1;
+ _iq k2;
+ } ALG_PWM24;
+
+typedef ALG_PWM24 *ALG_PWM24_handle;
+
+
+#define ALG_PWM24_DEFAULTS {0,0,0}
+////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////
+
+
+typedef struct { // _iq Gain; // Input: reference gain voltage (pu)
+ //_iq Offset; // Input: reference offset voltage (pu)
+// _iq Freq; // Input: reference frequency (pu)
+// _iq FreqMax; // Parameter: Maximum step angle = 6*base_freq*T (pu)
+// _iq Alpha; // History: Sector angle (pu)
+ //_iq Full_Alpha;
+ //_iq NewEntry; // History: Sine (angular) look-up pointer (pu)
+// _iq delta_U;
+// _iq delta_t;
+ //int16 Periodmax;
+ //int16 PeriodMin;
+ unsigned int XilinxFreq; // Xilinx freq in TIC
+
+ unsigned int pwm_minimal_impuls_zero_plus;
+ unsigned int pwm_minimal_impuls_zero;
+ unsigned int pwm_minimal_impuls_zero_minus;
+
+ WORD_UINT2BITS_STRUCT saw_direct;
+
+ //int region;
+ //Uint32 SectorPointer; // History: Sector number (Q0) - independently with global Q
+ //PIDREG3 delta_t;
+// _iq Ia;
+// _iq Ib;
+// _iq Ic;
+ unsigned int number_svgen;
+ unsigned int phase_sequence; // ����� �� ��� ������� ������� ����������� �����������
+ int prev_level; // ���������� ��������� ����, ��� �������� �� middle ��� close � �������
+ unsigned int Tclosed_high;
+ unsigned int Tclosed_saw_direct_0;
+ unsigned int Tclosed_saw_direct_1;
+
+
+ unsigned int Ta_0;
+ unsigned int Ta_1;
+
+ int Ta_imp;
+
+ unsigned int Tb_0;
+ unsigned int Tb_1;
+
+ int Tb_imp;
+
+ unsigned int Tc_0;
+ unsigned int Tc_1;
+
+ int Tc_imp;
+
+// void (*calc)(); // Pointer to calculation function
+// void (*calc_dq)(); // Pointer to calculation function which don`t calculate angle from freq
+ } SVGEN_PWM24;
+
+typedef SVGEN_PWM24 *SVGEN_PWM24_handle;
+
+
+//#define SVGEN_PWM24_TIME_DEFAULTS { 0,0,0,0 }
+
+
+#define SVGEN_PWM24_DEFAULTS { 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}
+// (void (*)(unsigned int))svgen_pwm24_calc }
+
+//extern int ar_sa_a[3][4][7];
+
+extern SVGEN_PWM24 svgen_pwm24_1;
+extern SVGEN_PWM24 svgen_pwm24_2;
+
+extern _iq pidCur_Kp;
+extern _iq pidCur_Ki;
+
+extern _iq iq_alfa_coef;
+
+extern _iq iq_koef_mod_korrect_1;
+extern _iq iq_koef_mod_korrect_2;
+
+
+
+void write_swgen_pwm_times(unsigned int mode_reload);
+
+//void change_freq_pwm(_iq FreqMax, int freq_pwm_xtics, _iq XilinxFreq);
+
+unsigned int detect_level_interrupt(int flag_second_PCH);
+
+
+void svgen_set_time_keys_closed(SVGEN_PWM24 *vt);
+void svgen_set_time_middle_keys_open(SVGEN_PWM24 *vt);
+
+
+_iq correct_balance_uzpt_pwm24(_iq Tinput, _iq Kplus);
+
+void recalc_time_pwm_minimal_2_xilinx_pwm24(SVGEN_PWM24 *pwm24,
+ unsigned int *T0, unsigned int *T1,
+ int *T_imp,
+ _iq timpuls_corr );
+
+
+
+////////////////////////////////////////////////////////////
+
+void InitXPWM(unsigned int freq_pwm);
+
+void start_PWM24(int O1, int O2);
+
+void InitPWM_Variables(int n_pch);
+
+//////////////////////////////////////////////
+
+extern ALG_PWM24 alg_pwm24;
+extern RMP_V1 rmp_freq;
+extern VHZPROF vhz1;
+
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif /* _V_PWM24_H */
diff --git a/Inu/Src/main/v_rotor.c b/Inu/Src/main/v_rotor.c
new file mode 100644
index 0000000..1da2a2f
--- /dev/null
+++ b/Inu/Src/main/v_rotor.c
@@ -0,0 +1,1095 @@
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_SWPrioritizedIsrLevels.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+#include "IQmathLib.h"
+
+#include <params_bsu.h>
+#include <v_rotor.h>
+
+#include "filter_v1.h"
+#include "xp_cds_in.h"
+#include "xp_inc_sensor.h"
+#include "xp_project.h"
+#include "params.h"
+#include "pwm_test_lines.h"
+#include "params_norma.h"
+#include "mathlib.h"
#include "params_alg.h"
+
+
+#pragma DATA_SECTION(WRotor,".fast_vars");
+WRotorValues WRotor = WRotorValues_DEFAULTS;
+
+#if (SENSOR_ALG==SENSOR_ALG_23550)
+
+#pragma DATA_SECTION(WRotorPBus,".slow_vars");
+WRotorValuesAngle WRotorPBus = WRotorValuesAngle_DEFAULTS;
+
+#pragma DATA_SECTION(rotor_error_update_count,".fast_vars");
+unsigned int rotor_error_update_count = 0;
+
+
+#define SIZE_BUF_SENSOR_LOGS 32
+#pragma DATA_SECTION(sensor_1_zero,".slow_vars");
+unsigned int sensor_1_zero[6+4+8][SIZE_BUF_SENSOR_LOGS], count_sensor_1_zero=0;
+
+#endif
+
+_iq koefW = _IQ(0.05); //0.05
+_iq koefW2 = _IQ(0.01); //0.05
+_iq koefW3 = _IQ(0.002); //0.05
+
+
+
+
+
+
+
+#if (SENSOR_ALG==SENSOR_ALG_23550)
+///////////////////////////////////////////////////////////////
+void rotorInit(void)
+{
+ WRotorPBus.ModeAutoDiscret = 1;
+}
+
+
+
+///////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////
+#define MAX_COUNT_OVERFULL_DISCRET 2250
+#define MAX_DIRECTION 4000
+#define MAX_DIRECTION_2 2000
+///////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////
+void RotorDirectionFilter(int RotorDirectionIn, int *RotorDirectionOut, int *RotorDirectionOut2, int *count_direction)
+{
+
+// static int count_direction = 0;
+// static int count_direction_minus = 0;
+
+
+ if (RotorDirectionIn==0)
+ {
+ if (*count_direction>0) (*count_direction)--;
+ if (*count_direction<0) (*count_direction)++;
+// if (count_direction_minus>0) count_direction_minus--;
+ }
+ else
+ if (RotorDirectionIn>0)
+ {
+ if (*count_direction<MAX_DIRECTION) (*count_direction)++;
+// if (count_direction_minus>0) count_direction_minus--;
+ }
+ else
+ {
+ if (*count_direction>-MAX_DIRECTION) (*count_direction)--;
+// if (count_direction_plus>0) count_direction_plus--;
+ }
+
+
+ if (RotorDirectionIn==0)
+ *RotorDirectionOut = 0;
+ else
+ if (RotorDirectionIn>0)
+ *RotorDirectionOut = 1;
+ else
+ *RotorDirectionOut = -1;
+
+
+ if (*count_direction>MAX_DIRECTION_2)
+ *RotorDirectionOut2 = 1;
+ else
+ if (*count_direction<-MAX_DIRECTION_2)
+ *RotorDirectionOut2 = -1;
+ else
+ *RotorDirectionOut2 = 0;
+
+
+
+}
+///////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////
+#define LEVEL_VALUE_SENSOR_OVERFULL 65535
+#define MAX_COUNT_ERROR_ANALISATOR_SENSOR_PBUS 4000
+///////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////
+
+#pragma CODE_SECTION(AnalisatorRotorSensorPBus,".fast_run");
+int AnalisatorRotorSensorPBus(_iq d1, _iq d2, unsigned int *count_overfull_discret, unsigned int *count_zero_discret, _iq *prev_iqTimeRotor,
+ unsigned int *discret_out, unsigned int discret_in, _iq *iqWRotorCalcBeforeRegul, _iq *iqWRotorCalc,
+ int modeS1, int modeS2,
+ int valid_sensor_direct, int valid_sensor_90,
+ unsigned int *error_count )
+{
+ int flag_not_ready_rotor, flag_overfull_rotor;
+ _iq iqTimeRotor;
+ // discret0 = 2 mks
+// static long long KoefNorm_discret0 = 409600000LL;//((500 000/1024/NORMA_WROTOR) * ((long)2 << 24)); //20 - NORMA_FROTOR 1024*8 = 8129
+ static long long KoefNorm_discret0 = 102400000LL;//((500 000/4096/NORMA_WROTOR) * ((long)2 << 24)); //20 - NORMA_FROTOR 1024*8 = 8129
+ // discret1 = 20 ns
+// static long long KoefNorm_discret1 = 40960000000LL;//((50 000 000/1024/NORMA_WROTOR) * ((long)2 << 24)); //20 - NORMA_FROTOR 1024*8 = 8129
+ static long long KoefNorm_discret1 = 10240000000LL;//((50 000 000/4096/NORMA_WROTOR) * ((long)2 << 24)); //20 - NORMA_FROTOR 1024*8 = 8129
+
+// _iq iqWRotorSumm;//,iqWRotorCalc;
+
+ static _iq time_level_discret_1to0 = 60000 ;//682666; // KoefNorm_discret1/60000 = 0.813801288604736328125 ��.
+ static _iq time_level_discret_0to1 = 400;//204800; // KoefNorm_discret0/2000 = 0.244140625 ��.
+ static unsigned int discret;
+
+
+ if (valid_sensor_direct == 0)
+ d1 = 0;
+ if (valid_sensor_90 == 0)
+ d2 = 0;
+
+
+// ��� ���-�� ����� �� ���, ���� ����� ������������� �� ����� �������.
+ if (valid_sensor_direct == 0 && valid_sensor_90 == 0)
+ {
+ if (*error_count<MAX_COUNT_ERROR_ANALISATOR_SENSOR_PBUS)
+ {
+ (*error_count)++;
+ return 0;
+ }
+ else
+ return 1; // ������!!! � �� ����� == MAX_COUNT_ERROR_ANALISATOR_SENSOR_PBUS!!!
+ }
+
+
+ if (valid_sensor_direct == 1 && valid_sensor_90 == 0)
+ {
+ modeS2 = modeS1;
+ }
+
+ if (valid_sensor_direct == 0 && valid_sensor_90 == 1)
+ {
+ modeS1 = modeS2;
+ }
+
+ if (modeS1 == modeS2)
+ {
+ discret = modeS1;
+ *error_count = 0;
+ }
+ else
+ {
+ discret = 0;
+ if (*error_count<MAX_COUNT_ERROR_ANALISATOR_SENSOR_PBUS)
+ {
+ (*error_count)++;
+ return 0;
+ }
+ else
+ return 1; // ������!!! � �� ����� == MAX_COUNT_ERROR_ANALISATOR_SENSOR_PBUS!!!
+ }
+
+// ��� ��� ������ ���, ������� ��������
+ *error_count = 0;
+
+
+ flag_not_ready_rotor = 0;
+ flag_overfull_rotor = 0;
+
+ if (d1 != LEVEL_VALUE_SENSOR_OVERFULL && d1 != 0 && d2 != LEVEL_VALUE_SENSOR_OVERFULL && d2 != 0)
+ {
+ // ��� ����������
+
+ }
+ else
+ if (d1 == 0 && d2 != LEVEL_VALUE_SENSOR_OVERFULL && d2 != 0)
+ {
+ // d1 - �����, d2 ���� ����������
+ d1 = d2;
+ }
+ else
+ if (d1 == LEVEL_VALUE_SENSOR_OVERFULL && d2 != LEVEL_VALUE_SENSOR_OVERFULL && d2 != 0)
+ {
+ // d1 - �����, d2 ���� ����������
+ d1 = d2;
+ }
+ else
+ if (d2 == LEVEL_VALUE_SENSOR_OVERFULL && d1 != LEVEL_VALUE_SENSOR_OVERFULL && d1 != 0)
+ {
+ // d2 - �����, d1 ���� ����������
+ d2 = d1;
+ }
+ else
+ if (d2 == 0 && d1 != LEVEL_VALUE_SENSOR_OVERFULL && d1 != 0)
+ {
+ // d2 - �����, d1 ���� ����������
+ d2 = d1;
+ }
+ else
+ if (d1 == 0 && d2 == 0)
+ {
+ flag_not_ready_rotor = 1;
+ }
+ else
+ if (d2 == LEVEL_VALUE_SENSOR_OVERFULL && d1 == LEVEL_VALUE_SENSOR_OVERFULL)
+ {
+ flag_overfull_rotor = 1;
+ d1 = d2 = 0;
+ }
+ else
+ if (d2 == LEVEL_VALUE_SENSOR_OVERFULL && d1 == 0)
+ {
+ flag_overfull_rotor = 1;
+ d1 = d2 = 0;
+ }
+ else
+ if (d1 == LEVEL_VALUE_SENSOR_OVERFULL && d2 == 0)
+ {
+ flag_overfull_rotor = 1;
+ d1 = d2 = 0;
+ }
+
+ iqTimeRotor = (d1+d2)>>1;
+
+
+
+// max OVERFULL
+ if (flag_overfull_rotor)
+ {
+ if (*count_overfull_discret<MAX_COUNT_OVERFULL_DISCRET)
+ (*count_overfull_discret)++;
+ }
+ else
+ {
+ if (*count_overfull_discret>0)
+ (*count_overfull_discret)--;
+ }
+
+// zero?
+ if (flag_not_ready_rotor)
+ {
+ if (*count_zero_discret<MAX_COUNT_OVERFULL_DISCRET)
+ (*count_zero_discret)++;
+ }
+ else
+ {
+ if (*count_zero_discret>0)
+ (*count_zero_discret)--;
+ }
+
+// real zero?
+ if (*count_zero_discret==MAX_COUNT_OVERFULL_DISCRET)
+ {
+ // ���� ��� ������� �����, ������ ����� ����!
+ iqWRotorCalc = 0;
+ *prev_iqTimeRotor = 0;
+ iqTimeRotor = 0;
+ }
+ else
+ {
+ // ���� ��� �� ������� �����, ������ ����� ������ �������� prev_iqTimeRotor
+ if (iqTimeRotor==0)
+ iqTimeRotor = *prev_iqTimeRotor;
+ }
+ *prev_iqTimeRotor = iqTimeRotor;
+
+
+
+// ����� ������� ���������
+ if (WRotorPBus.ModeAutoDiscret==1)
+ {
+ if ( (*count_overfull_discret==MAX_COUNT_OVERFULL_DISCRET) || (iqTimeRotor==0) )
+ {
+ // ��� ��� ������������ ��������� ��� ����� ������������, �������=0
+ // ����� �������� discret_out = 0
+ if (discret_in == 1) // ��� ��� ���� ����������� discret?
+ {
+ // discret ��� =1, ����������� �� 0.
+ *discret_out = 0;
+ *count_overfull_discret = 0; // ���� ��� ���� ����!
+ }
+
+ }
+ else
+ {
+ // �����. ������� discret==0 �����...
+ if (discret==0 && iqTimeRotor<time_level_discret_0to1 && iqTimeRotor!=65535)
+ *discret_out = 1;
+
+ // �����. ������� discret==1 �����...
+ if (discret==1 && iqTimeRotor>time_level_discret_1to0 && iqTimeRotor!=65535)
+ *discret_out = 0;
+ }
+ }
+
+ if (WRotorPBus.ModeAutoDiscret==2)
+ {
+ *discret_out = 0;
+ }
+
+ if (WRotorPBus.ModeAutoDiscret==3)
+ {
+ *discret_out = 1;
+ }
+
+ if ( (*count_overfull_discret==MAX_COUNT_OVERFULL_DISCRET) )
+ {
+ // ��� ��� ����� � 0, �.�. ������� �������� ���� ��������!
+ *prev_iqTimeRotor = iqTimeRotor = 0;
+ }
+
+
+
+
+ if ((iqTimeRotor != 0)) // && (WRotorPBus.iqTimeRotor<65535)
+ {
+ if (discret==0)
+ *iqWRotorCalcBeforeRegul = KoefNorm_discret0 / iqTimeRotor;
+ if (discret==1)
+ *iqWRotorCalcBeforeRegul = KoefNorm_discret1 / iqTimeRotor;
+
+ *iqWRotorCalc = exp_regul_iq(koefW, *iqWRotorCalc, *iqWRotorCalcBeforeRegul);
+ }
+ else
+ {
+ *iqWRotorCalc = 0;
+ *iqWRotorCalcBeforeRegul = 0;
+ }
+
+
+// if (*iqWRotorCalc == 0)
+// *RotorDirection = 0;
+
+
+ return 0;
+
+}
+///////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////
+
+
+#pragma CODE_SECTION(RotorMeasurePBus,".fast_run");
+void RotorMeasurePBus(void)
+{
+ // discret0 = 2 mks
+// static long long KoefNorm_discret0 = 409600000LL;//((500 000/1024/NORMA_WROTOR) * ((long)2 << 24)); //20 - NORMA_FROTOR 1024*8 = 8129
+ static long long KoefNorm_discret0 = 102400000LL;//((500 000/4096/NORMA_WROTOR) * ((long)2 << 24)); //20 - NORMA_FROTOR 1024*8 = 8129
+ // discret1 = 20 ns
+// static long long KoefNorm_discret1 = 40960000000LL;//((50 000 000/1024/NORMA_WROTOR) * ((long)2 << 24)); //20 - NORMA_FROTOR 1024*8 = 8129
+ static long long KoefNorm_discret1 = 10240000000LL;//((50 000 000/4096/NORMA_WROTOR) * ((long)2 << 24)); //20 - NORMA_FROTOR 1024*8 = 8129
+
+ static _iq time_level_discret_1to0 = 60000 ;//682666; // KoefNorm_discret1/60000 = 0.813801288604736328125 ��.
+ static _iq time_level_discret_0to1 = 400;//204800; // KoefNorm_discret0/2000 = 0.244140625 ��.
+
+ static long long KoefNorm_angle = 16384LL; //2^24/1024
+// volatile float MyVar0 = 0;
+
+ unsigned int MyVar3 = 0;
+// int direction1 = 0, direction2 = 0;
+ volatile unsigned int discret;
+
+ static unsigned int discret_out1, discret_out2;
+
+ static int count_full_oborots = 0;
+ static unsigned int count_overfull_discret1 = 0;
+ static unsigned int count_zero_discret1 = 0;
+ static unsigned int count_overfull_discret2 = 0;
+ static unsigned int count_zero_discret2 = 0;
+
+ static unsigned int count_discret_to_1 = 0;
+ static unsigned int count_discret_to_0 = 0;
+
+ static unsigned int c_error_pbus_1 = 0;
+ static unsigned int c_error_pbus_2 = 0;
+
+
+ static _iq prev_iqTimeRotor1 = 0, prev_iqTimeRotor2 = 0;
+
+ _iq iqWRotorSumm = 0;
+
+ int flag_not_ready_rotor1, flag_overfull_rotor1;
+ int flag_not_ready_rotor2, flag_overfull_rotor2;
+
+ //i_led1_on_off(1);
+
+
+
+ flag_not_ready_rotor1 = 0;
+ flag_overfull_rotor1 = 0;
+ flag_not_ready_rotor2 = 0;
+ flag_overfull_rotor2 = 0;
+
+
+
+ discret = project.cds_in[0].read.sbus.enabled_channels.bit.discret;
+ if (project.cds_in[0].read.sbus.enabled_channels.bit.discret != project.cds_in[0].write.sbus.enabled_channels.bit.discret)
+ discret = 2;
+
+ if (project.cds_in[0].type_cds_xilinx == TYPE_CDS_XILINX_SP6)
+ {
+ sensor_1_zero[0][count_sensor_1_zero] = project.cds_in[0].read.pbus.Time_since_zero_point_S1;
+ sensor_1_zero[1][count_sensor_1_zero] = project.cds_in[0].read.pbus.Impulses_since_zero_point_Rising_S1;
+ sensor_1_zero[2][count_sensor_1_zero] = project.cds_in[0].read.pbus.Impulses_since_zero_point_Falling_S1;
+ sensor_1_zero[3][count_sensor_1_zero] = project.cds_in[0].read.pbus.Time_since_zero_point_S2;
+ sensor_1_zero[4][count_sensor_1_zero] = project.cds_in[0].read.pbus.Impulses_since_zero_point_Rising_S2;
+ sensor_1_zero[5][count_sensor_1_zero] = project.cds_in[0].read.pbus.Impulses_since_zero_point_Falling_S2;
+ }
+ sensor_1_zero[6][count_sensor_1_zero] = project.cds_in[0].read.pbus.SpeedS1_cnt;
+ sensor_1_zero[7][count_sensor_1_zero] = project.cds_in[0].read.pbus.SpeedS1_cnt90;
+ sensor_1_zero[8][count_sensor_1_zero] = project.cds_in[0].read.pbus.SpeedS2_cnt;
+ sensor_1_zero[9][count_sensor_1_zero] = project.cds_in[0].read.pbus.SpeedS2_cnt90;
+
+ sensor_1_zero[10][count_sensor_1_zero] = inc_sensor.data.Time1;
+ sensor_1_zero[11][count_sensor_1_zero] = inc_sensor.data.Impulses1;
+ sensor_1_zero[12][count_sensor_1_zero] = inc_sensor.data.CountZero1;
+ sensor_1_zero[13][count_sensor_1_zero] = inc_sensor.data.CountOne1;
+
+ sensor_1_zero[14][count_sensor_1_zero] = inc_sensor.data.Time2;
+ sensor_1_zero[15][count_sensor_1_zero] = inc_sensor.data.Impulses2;
+ sensor_1_zero[16][count_sensor_1_zero] = inc_sensor.data.CountZero2;
+ sensor_1_zero[17][count_sensor_1_zero] = inc_sensor.data.CountOne2;
+
+ count_sensor_1_zero++;
+ if (count_sensor_1_zero>=SIZE_BUF_SENSOR_LOGS)
+ {
+ count_sensor_1_zero = 0;
+ count_full_oborots++;
+ if (count_full_oborots>3)
+ count_full_oborots = 0;
+ }
+/*
+ if (count_sensor_1_zero==904)
+ {
+ discret = 3;
+ }
+*/
+
+#if (ENABLE_ROTOR_SENSOR_ZERO_SIGNAL==1)
+ if (project.cds_in[0].type_cds_xilinx == TYPE_CDS_XILINX_SP6)
+ {
+
+#if (ENABLE_ROTOR_SENSOR_1_PBUS==1)
+ WRotorPBus.iqWRotorRawAngle1F = project.cds_in[0].read.pbus.Impulses_since_zero_point_Falling_S1-32768;
+ WRotorPBus.iqWRotorRawAngle1R = project.cds_in[0].read.pbus.Impulses_since_zero_point_Rising_S1-32768;
+ WRotorPBus.iqAngle1F = KoefNorm_angle * WRotorPBus.iqWRotorRawAngle1F;
+ WRotorPBus.iqAngle1R = KoefNorm_angle * WRotorPBus.iqWRotorRawAngle1R;
+#else
+ WRotorPBus.iqWRotorRawAngle1F = 0;
+ WRotorPBus.iqWRotorRawAngle1R = 0;
+ WRotorPBus.iqAngle1F = 0;
+ WRotorPBus.iqAngle1R = 0;
+#endif
+
+#if (ENABLE_ROTOR_SENSOR_2_PBUS==1)
+ WRotorPBus.iqWRotorRawAngle2F = project.cds_in[0].read.pbus.Impulses_since_zero_point_Falling_S2-32768;
+ WRotorPBus.iqWRotorRawAngle2R = project.cds_in[0].read.pbus.Impulses_since_zero_point_Rising_S2-32768;
+ WRotorPBus.iqAngle2F = KoefNorm_angle * WRotorPBus.iqWRotorRawAngle2F;
+ WRotorPBus.iqAngle2R = KoefNorm_angle * WRotorPBus.iqWRotorRawAngle2R;
+#else
+ WRotorPBus.iqWRotorRawAngle2F = 0;
+ WRotorPBus.iqWRotorRawAngle2R = 0;
+ WRotorPBus.iqAngle2F = 0;
+ WRotorPBus.iqAngle2R = 0;
+#endif
+ }
+ else
+ {
+ WRotorPBus.iqWRotorRawAngle1F = 0;
+ WRotorPBus.iqWRotorRawAngle1R = 0;
+ WRotorPBus.iqAngle1F = 0;
+ WRotorPBus.iqAngle1R = 0;
+
+ WRotorPBus.iqWRotorRawAngle2F = 0;
+ WRotorPBus.iqWRotorRawAngle2R = 0;
+ WRotorPBus.iqAngle2F = 0;
+ WRotorPBus.iqAngle2R = 0;
+
+ }
+#endif
+
+
+#if (ENABLE_ROTOR_SENSOR_1_PBUS==1)
+ //**************************************************************************************************
+ MyVar3 = project.cds_in[0].read.pbus.SpeedS1_cnt;
+
+ if ((MyVar3 <= COUNT_DECODER_ZERO_WROTORPBus)
+ && (MyVar3 > COUNT_DECODER_MAX_WROTOR))
+ {
+ WRotorPBus.iqWRotorRaw0 = MyVar3;
+ }
+ else
+ {
+ WRotorPBus.iqWRotorRaw0 = 0;
+ }
+
+ MyVar3 = project.cds_in[0].read.pbus.SpeedS1_cnt90;
+
+ if ((MyVar3 <= COUNT_DECODER_ZERO_WROTORPBus)
+ && (MyVar3 > COUNT_DECODER_MAX_WROTOR))
+ {
+ WRotorPBus.iqWRotorRaw1 = MyVar3;
+ }
+ else
+ {
+ WRotorPBus.iqWRotorRaw1 = 0;
+ }
+#else
+ WRotorPBus.iqWRotorRaw0 = 0;
+ WRotorPBus.iqWRotorRaw1 = 0;
+#endif
+
+
+#if (ENABLE_ROTOR_SENSOR_2_PBUS==1)
+ //***************************************************************************************************
+ MyVar3 = project.cds_in[0].read.pbus.SpeedS2_cnt;
+
+ if ((MyVar3 <= COUNT_DECODER_ZERO_WROTORPBus)
+ && (MyVar3 > COUNT_DECODER_MAX_WROTOR))
+ {
+ WRotorPBus.iqWRotorRaw2 = MyVar3;
+ }
+ else
+ {
+ WRotorPBus.iqWRotorRaw2 = 0;
+ }
+
+ MyVar3 = project.cds_in[0].read.pbus.SpeedS2_cnt90;
+
+ if ((MyVar3 <= COUNT_DECODER_ZERO_WROTORPBus)
+ && (MyVar3 > COUNT_DECODER_MAX_WROTOR))
+ {
+ WRotorPBus.iqWRotorRaw3 = MyVar3;
+ }
+ else
+ {
+ WRotorPBus.iqWRotorRaw3 = 0;
+ }
+#else
+ WRotorPBus.iqWRotorRaw2 = 0;
+ WRotorPBus.iqWRotorRaw3 = 0;
+#endif
+
+
+#if (ENABLE_ROTOR_SENSOR_1_PBUS==1)
+// if (project.cds_in[0].read.pbus.direction_in.bit.value_vaild_sensor1_direct && project.cds_in[0].read.pbus.direction_in.bit.value_vaild_sensor1_90 )
+ AnalisatorRotorSensorPBus(WRotorPBus.iqWRotorRaw0, WRotorPBus.iqWRotorRaw1, &count_overfull_discret1, &count_zero_discret1,
+ &prev_iqTimeRotor1, &discret_out1, project.cds_in[0].read.sbus.enabled_channels.bit.discret,
+ &WRotorPBus.iqWRotorCalcBeforeRegul1, &WRotorPBus.iqWRotorCalc1,
+ project.cds_in[0].read.pbus.direction_in.bit.mode_sensor1_direct, project.cds_in[0].read.pbus.direction_in.bit.mode_sensor1_90,
+ project.cds_in[0].read.pbus.direction_in.bit.value_vaild_sensor1_direct, project.cds_in[0].read.pbus.direction_in.bit.value_vaild_sensor1_90,
+ &c_error_pbus_1 );
+#endif
+
+#if (ENABLE_ROTOR_SENSOR_2_PBUS==1)
+// if (project.cds_in[0].read.pbus.direction_in.bit.value_vaild_sensor2_direct && project.cds_in[0].read.pbus.direction_in.bit.value_vaild_sensor2_90 )
+ AnalisatorRotorSensorPBus(WRotorPBus.iqWRotorRaw2, WRotorPBus.iqWRotorRaw3, &count_overfull_discret2, &count_zero_discret2,
+ &prev_iqTimeRotor2, &discret_out2, project.cds_in[0].read.sbus.enabled_channels.bit.discret,
+ &WRotorPBus.iqWRotorCalcBeforeRegul2, &WRotorPBus.iqWRotorCalc2,
+ project.cds_in[0].read.pbus.direction_in.bit.mode_sensor2_direct, project.cds_in[0].read.pbus.direction_in.bit.mode_sensor2_90,
+ project.cds_in[0].read.pbus.direction_in.bit.value_vaild_sensor2_direct, project.cds_in[0].read.pbus.direction_in.bit.value_vaild_sensor2_90,
+ &c_error_pbus_2);
+#endif
+
+
+ // RotorDirectionFilter(WRotorPBus.RotorDirectionInstant, &WRotorPBus.RotorDirectionSlow);
+
+
+
+ if (discret_out1==1 || discret_out2==1)
+ {
+ project.cds_in[0].write.sbus.enabled_channels.bit.discret = 1;
+ count_discret_to_1++;
+ }
+ else
+ {
+ project.cds_in[0].write.sbus.enabled_channels.bit.discret = 0;
+ count_discret_to_0++;
+ }
+
+
+}
+
+
+
+#define MAX_COUNT_OVERFULL_DISCRET_2 150
+#pragma CODE_SECTION(RotorMeasure,".fast_run");
+void RotorMeasure(void)
+{
+
+ // 600 Khz clock on every edge
+// static long long KoefNorm = 53635601LL;//((600 000/6256/NORMA_WROTOR/2) * ((long)2 << 24)); //15 - NormaWRotor 782*8 = 6256
+// static long long KoefNormMS = 491520000LL;//((600 000/1024/NORMA_WROTOR) * ((long)2 << 24)); //20 - NORMA_FROTOR 1024*8 = 8129
+// static long long KoefNormNS = 49152000000LL;//((60 000 000/1024/NORMA_WROTOR) * ((long)2 << 24)); //20 - NORMA_FROTOR 1024*8 = 8129
+ static long long KoefNormMS = 122880000LL;//((600 000/4096/NORMA_WROTOR) * ((long)2 << 24)); //20 - NORMA_FROTOR 1024*8 = 8129
+ static long long KoefNormNS = 12288000000LL;//((60 000 000/4096/NORMA_WROTOR) * ((long)2 << 24)); //20 - NORMA_FROTOR 1024*8 = 8129
+ static long long KoefNormImpulses = 838860800000000LL;// (2^24 * 1000000000 / (Impulses(ns)) / NORMA_WROTOR
+
+ static _iq max_value_rotor = _IQ(500.0/60.0/NORMA_FROTOR);
+ static _iq wrotor_add_ramp = _IQ(0.001/NORMA_FROTOR);
+
+// volatile float MyVar0 = 0;
+// volatile unsigned int MyVar1 = 0;
+// volatile unsigned int MyVar2 = 0;
+ unsigned int MyVar3;
+
+
+ inc_sensor.read_sensors(&inc_sensor);
+
+ // flag_not_ready_rotor = 0;
+
+//**************************************************************************************************
+// sensor 1
+
+ if (inc_sensor.use_sensor1)
+ {
+ MyVar3 = inc_sensor.data.CountOne1;
+// MyVar3 = (unsigned long) rotation_sensor.in_plane.out.CountOne1;
+
+ if ((MyVar3 < COUNT_DECODER_ZERO_WROTOR)
+ && (MyVar3 > COUNT_DECODER_MAX_WROTOR))
+ {
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_21_ON;
+#endif
+
+ WRotor.iqWRotorRaw0 = MyVar3;
+ }
+ else
+ {
+
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_21_OFF;
+#endif
+
+ WRotor.iqWRotorRaw0 = 0;
+ }
+ MyVar3 = inc_sensor.data.CountZero1;
+
+ if ((MyVar3 < COUNT_DECODER_ZERO_WROTOR)
+ && (MyVar3 > COUNT_DECODER_MAX_WROTOR))
+ {
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_22_ON;
+#endif
+ WRotor.iqWRotorRaw1 = MyVar3;
+ }
+ else
+ {
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_22_OFF;
+#endif
+ WRotor.iqWRotorRaw1 = 0;
+ }
+ }
+ else
+ {
+ WRotor.iqWRotorRaw0 = 0;
+ WRotor.iqWRotorRaw1 = 0;
+ }
+ //logpar.uns_log0 = (Uint16)(my_var1);
+ //logpar.uns_log1 = (Uint16)(my_var2);
+
+ // sensor 2
+ if (inc_sensor.use_sensor2)
+ {
+ MyVar3 = inc_sensor.data.CountOne2;
+
+ if ((MyVar3 < COUNT_DECODER_ZERO_WROTOR)
+ && (MyVar3 > COUNT_DECODER_MAX_WROTOR))
+ {
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_18_ON;
+#endif
+ WRotor.iqWRotorRaw2 = MyVar3;
+ }
+ else
+ {
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_18_OFF;
+#endif
+ WRotor.iqWRotorRaw2 = 0;
+ }
+
+ MyVar3 = inc_sensor.data.CountZero2;
+
+ if ((MyVar3 < COUNT_DECODER_ZERO_WROTOR)
+ && (MyVar3 > COUNT_DECODER_MAX_WROTOR))
+ {
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_23_ON;
+#endif
+ WRotor.iqWRotorRaw3 = MyVar3;
+ }
+ else
+ {
+#if(_ENABLE_PWM_LINES_FOR_TESTS_ROTOR)
+ PWM_LINES_TK_23_OFF;
+#endif
+ WRotor.iqWRotorRaw3 = 0;
+ }
+ }
+ else
+ {
+ WRotor.iqWRotorRaw2 = 0;
+ WRotor.iqWRotorRaw3 = 0;
+ }
+
+// if (WRotor.iqWRotorRaw0==0 && WRotor.iqWRotorRaw1==0 && WRotor.iqWRotorRaw2==0 && WRotor.iqWRotorRaw3==0)
+// flag_not_ready_rotor = 1;
+
+ if (WRotor.iqWRotorRaw0==0)
+ {
+ if (WRotor.count_zero_discret0==MAX_COUNT_OVERFULL_DISCRET_2)
+ {
+ WRotor.prev_iqWRotorRaw0 = WRotor.iqWRotorRaw0 = 0;
+ }
+ else
+ {
+ WRotor.iqWRotorRaw0 = WRotor.prev_iqWRotorRaw0;
+ WRotor.count_zero_discret0++;
+ }
+ }
+ else
+ {
+ WRotor.count_zero_discret0 = 0;
+ WRotor.prev_iqWRotorRaw0 = WRotor.iqWRotorRaw0;
+ }
+
+ if (WRotor.iqWRotorRaw1==0)
+ {
+ if (WRotor.count_zero_discret1==MAX_COUNT_OVERFULL_DISCRET_2)
+ {
+ WRotor.prev_iqWRotorRaw1 = WRotor.iqWRotorRaw1 = 0;
+ }
+ else
+ {
+ WRotor.iqWRotorRaw1 = WRotor.prev_iqWRotorRaw1;
+ WRotor.count_zero_discret1++;
+ }
+ }
+ else
+ {
+ WRotor.count_zero_discret1 = 0;
+ WRotor.prev_iqWRotorRaw1 = WRotor.iqWRotorRaw1;
+ }
+
+ if (WRotor.iqWRotorRaw2==0)
+ {
+ if (WRotor.count_zero_discret2==MAX_COUNT_OVERFULL_DISCRET_2)
+ {
+ WRotor.prev_iqWRotorRaw2 = WRotor.iqWRotorRaw2 = 0;
+ }
+ else
+ {
+ WRotor.iqWRotorRaw2 = WRotor.prev_iqWRotorRaw2;
+ WRotor.count_zero_discret2++;
+ }
+ }
+ else
+ {
+ WRotor.count_zero_discret2 = 0;
+ WRotor.prev_iqWRotorRaw2 = WRotor.iqWRotorRaw2;
+ }
+
+ if (WRotor.iqWRotorRaw3==0)
+ {
+ if (WRotor.count_zero_discret3==MAX_COUNT_OVERFULL_DISCRET_2)
+ {
+ WRotor.prev_iqWRotorRaw3 = WRotor.iqWRotorRaw3 = 0;
+ }
+ else
+ {
+ WRotor.iqWRotorRaw3 = WRotor.prev_iqWRotorRaw3;
+ WRotor.count_zero_discret3++;
+ }
+ }
+ else
+ {
+ WRotor.count_zero_discret3 = 0;
+ WRotor.prev_iqWRotorRaw3 = WRotor.iqWRotorRaw3;
+ }
+
+
+ WRotor.iqTimeSensor1 = WRotor.iqWRotorRaw0 + WRotor.iqWRotorRaw1;
+ WRotor.iqTimeSensor2 = WRotor.iqWRotorRaw2 + WRotor.iqWRotorRaw3;
+
+ //
+// // zero?
+// if (flag_not_ready_rotor)
+// {
+// if (*count_zero_discret<MAX_COUNT_OVERFULL_DISCRET)
+// (*count_zero_discret)++;
+// }
+// else
+// {
+// if (*count_zero_discret>0)
+// (*count_zero_discret)--;
+// }
+//
+// // real zero?
+// if (count_zero_discret==MAX_COUNT_OVERFULL_DISCRET)
+// {
+// // ���� ��� ������� �����, ������ ����� ����!
+// WRotor.iqTimeSensor1 = 0;
+// WRotor.prev_iqTimeSensor1 = 0;
+// }
+// else
+// {
+// // ���� ��� �� ������� �����, ������ ����� ������ �������� prev_iqTimeRotor
+// if (WRotor.iqTimeSensor1==0)
+// WRotor.iqTimeSensor1 = WRotor.prev_iqTimeSensor1;
+// }
+// WRotor.prev_iqTimeSensor1 = WRotor.iqTimeSensor1;
+//
+//
+// // max OVERFULL
+// if (flag_overfull_rotor)
+// {
+// if (*count_overfull_discret<MAX_COUNT_OVERFULL_DISCRET)
+// (*count_overfull_discret)++;
+// }
+// else
+// {
+// if (*count_overfull_discret>0)
+// (*count_overfull_discret)--;
+// }
+//
+// // zero?
+// if (flag_not_ready_rotor)
+// {
+// if (*count_zero_discret<MAX_COUNT_OVERFULL_DISCRET)
+// (*count_zero_discret)++;
+// }
+// else
+// {
+// if (*count_zero_discret>0)
+// (*count_zero_discret)--;
+// }
+//
+// // real zero?
+// if (*count_zero_discret==MAX_COUNT_OVERFULL_DISCRET)
+// {
+// // ���� ��� ������� �����, ������ ����� ����!
+// iqWRotorCalc = 0;
+// *prev_iqTimeRotor = 0;
+// iqTimeRotor = 0;
+// }
+// else
+// {
+// // ���� ��� �� ������� �����, ������ ����� ������ �������� prev_iqTimeRotor
+// if (iqTimeRotor==0)
+// iqTimeRotor = *prev_iqTimeRotor;
+// }
+// *prev_iqTimeRotor = iqTimeRotor;
+//
+//
+//
+
+///
+ if (WRotor.iqTimeSensor1 != 0 && inc_sensor.use_sensor1)
+ {
+ if (inc_sensor.pm67regs.read_comand_reg.bit.sampling_time1==0)
+ WRotor.iqWRotorCalcBeforeRegul1 = KoefNormMS / WRotor.iqTimeSensor1;
+ if (inc_sensor.pm67regs.read_comand_reg.bit.sampling_time1==1)
+ WRotor.iqWRotorCalcBeforeRegul1 = KoefNormNS / WRotor.iqTimeSensor1;
+
+ if (WRotor.iqWRotorCalcBeforeRegul1 > max_value_rotor)
+ {
+ WRotor.iqWRotorCalc1 = 0;
+ WRotor.iqWRotorCalcBeforeRegul1 = 0;
+ }
+ else
+ WRotor.iqWRotorCalc1 = exp_regul_iq(koefW, WRotor.iqWRotorCalc1, WRotor.iqWRotorCalcBeforeRegul1);
+
+ /////
+ if (WRotor.iqWRotorCalc1)
+ {
+ if (WRotor.iqPrevWRotorCalc1 != WRotor.iqWRotorCalc1)
+ {
+ WRotor.iqWRotorCalc1Ramp = zad_intensiv_q(wrotor_add_ramp, wrotor_add_ramp, WRotor.iqWRotorCalc1Ramp, WRotor.iqWRotorCalc1);
+ WRotor.iqPrevWRotorCalc1 = WRotor.iqWRotorCalc1;
+ }
+ }
+ else
+ {
+ WRotor.iqPrevWRotorCalc1 = 0;
+ WRotor.iqWRotorCalc1Ramp = 0;
+ }
+ ////
+ }
+ else
+ {
+ WRotor.iqWRotorCalc1 = 0;
+ WRotor.iqWRotorCalcBeforeRegul1 = 0;
+ }
+///
+ if (WRotor.iqTimeSensor2 != 0 && inc_sensor.use_sensor2)
+ {
+ if (inc_sensor.pm67regs.read_comand_reg.bit.sampling_time2==0)
+ WRotor.iqWRotorCalcBeforeRegul2 = KoefNormMS / WRotor.iqTimeSensor2;
+ if (inc_sensor.pm67regs.read_comand_reg.bit.sampling_time2==1)
+ WRotor.iqWRotorCalcBeforeRegul2 = KoefNormNS / WRotor.iqTimeSensor2;
+
+ if (WRotor.iqWRotorCalcBeforeRegul2 > max_value_rotor)
+ {
+ WRotor.iqWRotorCalc2 = 0;
+ WRotor.iqWRotorCalcBeforeRegul2 = 0;
+ }
+ else
+ WRotor.iqWRotorCalc2 = exp_regul_iq(koefW, WRotor.iqWRotorCalc2, WRotor.iqWRotorCalcBeforeRegul2);
+
+
+
+ /////
+ if (WRotor.iqWRotorCalc2)
+ {
+ if (WRotor.iqPrevWRotorCalc2 != WRotor.iqWRotorCalc2)
+ {
+ WRotor.iqWRotorCalc2Ramp = zad_intensiv_q(wrotor_add_ramp, wrotor_add_ramp, WRotor.iqWRotorCalc2Ramp, WRotor.iqWRotorCalc2);
+ WRotor.iqPrevWRotorCalc2 = WRotor.iqWRotorCalc2;
+ }
+ }
+ else
+ {
+ WRotor.iqPrevWRotorCalc2 = 0;
+ WRotor.iqWRotorCalc2Ramp = 0;
+ }
+ ////
+ }
+ else
+ {
+ WRotor.iqWRotorCalc2 = 0;
+ WRotor.iqWRotorCalcBeforeRegul2 = 0;
+ }
+///
+ if (inc_sensor.data.TimeCalcFromImpulses1 && inc_sensor.use_sensor1)
+ WRotor.iqWRotorImpulsesBeforeRegul1 = (long long) KoefNormImpulses / (inc_sensor.data.TimeCalcFromImpulses1 * ROTOR_SENSOR_IMPULSES_PER_ROTATE);
+ else
+ WRotor.iqWRotorImpulsesBeforeRegul1 = 0;
+
+ WRotor.iqWRotorImpulses1 = exp_regul_iq(koefW, WRotor.iqWRotorImpulses1, WRotor.iqWRotorImpulsesBeforeRegul1);
+
+ if (inc_sensor.data.TimeCalcFromImpulses2 && inc_sensor.use_sensor2)
+ WRotor.iqWRotorImpulsesBeforeRegul2 = (long long) KoefNormImpulses / (inc_sensor.data.TimeCalcFromImpulses2 * ROTOR_SENSOR_IMPULSES_PER_ROTATE);
+ else
+ WRotor.iqWRotorImpulsesBeforeRegul2 = 0;
+
+ WRotor.iqWRotorImpulses2 = exp_regul_iq(koefW, WRotor.iqWRotorImpulses2, WRotor.iqWRotorImpulsesBeforeRegul2);
+
+
+ // WRotor.iqWRotorCalcBeforeRegul = _IQdiv(WRotor.iqWRotorCalcBeforeRegul,IQ_CONST_3);
+}
+#define LEVEL_SWITCH_TO_GET_IMPULSES_OBOROTS 50 // Oborot
+void select_values_wrotor(void)
+{
+ static _iq level_switch_to_get_impulses_hz = _IQ(LEVEL_SWITCH_TO_GET_IMPULSES_OBOROTS/60.0/NORMA_FROTOR);
+ static unsigned int prev_RotorDirectionInstant = 0;
+ static unsigned int status_RotorRotation = 0; // ���� ��������?
+ static _iq wrotor_add = _IQ(0.002/NORMA_FROTOR);
+
+
+
+
+ if (WRotor.iqWRotorCalc1>level_switch_to_get_impulses_hz
+ || WRotor.iqWRotorCalc2>level_switch_to_get_impulses_hz)
+ {
+ // ��� ������� �������
+ if (WRotor.iqWRotorImpulses1 || WRotor.iqWRotorImpulses2)
+ {
+ if(WRotor.iqWRotorImpulses1>WRotor.iqWRotorImpulses2)
+ WRotor.iqWRotorSum = WRotor.iqWRotorImpulsesBeforeRegul1;
+ else
+ WRotor.iqWRotorSum = WRotor.iqWRotorImpulsesBeforeRegul2;
+ }
+ else
+ {
+ if(WRotor.iqWRotorCalc1>WRotor.iqWRotorCalc2)
+ WRotor.iqWRotorSum = WRotor.iqWRotorCalcBeforeRegul1;
+ else
+ WRotor.iqWRotorSum = WRotor.iqWRotorCalcBeforeRegul2;
+ }
+
+
+ }
+ else
+ {
+ if(WRotor.iqWRotorCalc1>WRotor.iqWRotorCalc2)
+ WRotor.iqWRotorSum = WRotor.iqWRotorCalcBeforeRegul1;
+ else
+ WRotor.iqWRotorSum = WRotor.iqWRotorCalcBeforeRegul2;
+
+ }
+
+
+ // ������� �����������
+// if (prev_prev_RotorDirectionInstant && WRotorPBus.RotorDirectionSlow)
+// if (WRotor.iqWRotorSum)
+// {
+// inc_sensor.break_direction = 1;
+// }
+// prev_prev_RotorDirectionInstant = WRotorPBus.RotorDirectionSlow;
+
+
+
+//// ������ �����������!!!
+// if (WRotorPBus.RotorDirectionSlow==0)
+// {
+// if (WRotor.iqWRotorSum)
+// inc_sensor.break_direction = 1;
+// }
+// else
+// inc_sensor.break_direction = 0;
+
+
+// if (WRotorPBus.RotorDirectionSlow==0)
+// {
+// // ����� � 0 ������� !!! ������ �����������!!!
+// WRotor.iqWRotorSumFilter = exp_regul_iq(koefW, WRotor.iqWRotorSumFilter, 0);
+// }
+// else
+
+
+ WRotor.iqWRotorSumFilter = exp_regul_iq(koefW, WRotor.iqWRotorSumFilter, WRotor.iqWRotorSum*WRotorPBus.RotorDirectionSlow);
+
+ WRotor.iqWRotorSumRamp = zad_intensiv_q(wrotor_add, wrotor_add, WRotor.iqWRotorSumRamp, WRotor.iqWRotorSumFilter);
+
+
+ WRotor.iqWRotorSumFilter2 = exp_regul_iq(koefW2, WRotor.iqWRotorSumFilter2, WRotor.iqWRotorSumFilter);
+ WRotor.iqWRotorSumFilter3 = exp_regul_iq(koefW3, WRotor.iqWRotorSumFilter3, WRotor.iqWRotorSumFilter);
+
+}
+
+
+#pragma CODE_SECTION(RotorMeasure,".fast_run");
+void RotorMeasureDetectDirection(void)
+{
+ int direction1, direction2, sum_direct;
+
+ direction1 = project.cds_in[0].read.pbus.direction_in.bit.dir_sens_1 == ROTOR_SENSOR_CODE_CLOCKWISE ? 1 :
+ project.cds_in[0].read.pbus.direction_in.bit.dir_sens_1 == ROTOR_SENSOR_CODE_COUNTERCLOCKWISE ? -1 :
+ 0;
+
+ direction2 = project.cds_in[0].read.pbus.direction_in.bit.dir_sens_2 == ROTOR_SENSOR_CODE_COUNTERCLOCKWISE ? 1 :
+ project.cds_in[0].read.pbus.direction_in.bit.dir_sens_2 == ROTOR_SENSOR_CODE_CLOCKWISE ? -1 :
+ 0;
+
+ sum_direct = (direction1 + direction2) > 0 ? 1 :
+ (direction1 + direction2) < 0 ? -1 :
+ 0;
+
+ WRotorPBus.RotorDirectionInstant = sum_direct;
+
+}
+
+
+///////////////////////////////////////////////////////////////
+
+#endif
+
+
+
+///////////////////////////////////////////////////////////////
+
+#pragma CODE_SECTION(update_rot_sensors,".fast_run");
+void update_rot_sensors(void)
+{
+ inc_sensor.update_sensors(&inc_sensor);
+}
+///////////////////////////////////////////////////////////////
diff --git a/Inu/Src/main/v_rotor.h b/Inu/Src/main/v_rotor.h
new file mode 100644
index 0000000..aad2216
--- /dev/null
+++ b/Inu/Src/main/v_rotor.h
@@ -0,0 +1,185 @@
+#ifndef V_ROTOR_H
+#define V_ROTOR_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "params_bsu.h"
+
+
+// ������ �� �������
+#define ROTOR_SENSOR_CODE_CLOCKWISE 2 // �� �������
+#define ROTOR_SENSOR_CODE_COUNTERCLOCKWISE 1 // ������ �������
+
+// ������ ������ �������
+//#define ROTOR_SENSOR_CODE_CLOCKWISE 1 // �� �������
+//#define ROTOR_SENSOR_CODE_COUNTERCLOCKWISE 2 // ������ �������
+
+
+void update_rot_sensors(void);
+void RotorMeasure(void);
+void RotorMeasurePBus(void);
+void rotorInit(void);
+void select_values_wrotor(void);
+
+
+void RotorDirectionFilter(int RotorDirectionIn, int *RotorDirectionOut, int *RotorDirectionOut2, int *count_direction);
+
+int AnalisatorRotorSensorPBus(_iq d1, _iq d2, unsigned int *count_overfull_discret, unsigned int *count_zero_discret, _iq *prev_iqTimeRotor,
+ unsigned int *discret_out, unsigned int discret_in, _iq *iqWRotorCalcBeforeRegul, _iq *iqWRotorCalc,
+ int modeS1, int modeS2,
+ int valid_sensor_direct, int valid_sensor_90,
+ unsigned int *error_count);
+
+void RotorMeasureDetectDirection(void);
+
+
+typedef struct
+{
+ _iq iqWRotorRaw0;
+ _iq iqWRotorRaw1;
+ _iq iqWRotorRaw2;
+ _iq iqWRotorRaw3;
+
+ _iq iqWRotorFilter0;
+ _iq iqWRotorFilter1;
+ _iq iqWRotorFilter2;
+ _iq iqWRotorFilter3;
+
+ _iq iqWRotorDelta;
+
+ _iq iqTimeSensor1;
+ _iq iqTimeSensor2;
+
+ _iq prev_iqWRotorRaw0;
+ _iq prev_iqWRotorRaw1;
+ _iq prev_iqWRotorRaw2;
+ _iq prev_iqWRotorRaw3;
+
+ unsigned int count_zero_discret0;
+ unsigned int count_zero_discret1;
+ unsigned int count_zero_discret2;
+ unsigned int count_zero_discret3;
+
+
+ _iq iqWRotorCalc1;
+ _iq iqWRotorCalcBeforeRegul1;
+ _iq iqWRotorCalc2;
+ _iq iqWRotorCalcBeforeRegul2;
+
+// int RotorDirectionInstant;
+// int RotorDirectionSlow;
+
+ _iq iqWRotorImpulses1;
+ _iq iqWRotorImpulsesBeforeRegul1;
+ _iq iqWRotorImpulses2;
+ _iq iqWRotorImpulsesBeforeRegul2;
+
+ _iq iqWRotorSum;
+ _iq iqWRotorSumFilter;
+ _iq iqWRotorSumFilter2;
+ _iq iqWRotorSumFilter3;
+
+ _iq iqWRotorSumRamp;
+
+ _iq iqWRotorCalc1Ramp;
+ _iq iqPrevWRotorCalc1;
+ _iq iqWRotorCalc2Ramp;
+ _iq iqPrevWRotorCalc2;
+
+ int RotorDirectionSlow;
+
+} WRotorValues;
+
+#define WRotorValues_DEFAULTS {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0, 0,0,0,0, 0}
+
+typedef struct
+{
+ _iq iqWRotorRaw0;
+ _iq iqWRotorRaw1;
+ _iq iqWRotorRaw2;
+ _iq iqWRotorRaw3;
+
+
+ _iq iqWRotorFilter0;
+ _iq iqWRotorFilter1;
+ _iq iqWRotorFilter2;
+ _iq iqWRotorFilter3;
+
+ _iq iqWRotorDelta;
+// _iq iqWRotorCalcBeforeRegul;
+
+ _iq iqWRotorCalcBeforeRegul1;
+ _iq iqWRotorCalcBeforeRegul2;
+
+ _iq iqTimeRotor1;
+ _iq iqTimeRotor2;
+
+ _iq iqTimeRotor;
+
+
+ _iq iqWRotorCalc1;
+ _iq iqWRotorCalc2;
+// _iq iqWRotorCalc;
+
+ int ModeAutoDiscret;
+
+ int RotorDirectionInstant;
+ int RotorDirectionSlow;
+ int RotorDirectionCount;
+ int RotorDirectionSlow2;
+
+
+
+#if (ENABLE_ROTOR_SENSOR_ZERO_SIGNAL==1)
+ _iq iqWRotorRawAngle1F;
+ _iq iqWRotorRawAngle1R;
+ _iq iqWRotorRawAngle2F;
+ _iq iqWRotorRawAngle2R;
+
+ _iq iqAngle1F;
+ _iq iqAngle1R;
+
+ _iq iqAngle2F;
+ _iq iqAngle2R;
+
+ _iq iqAngleCalc;
+
+#endif
+
+} WRotorValuesAngle;
+
+#if (ENABLE_ROTOR_SENSOR_ZERO_SIGNAL==1)
+#define WRotorValuesAngle_DEFAULTS {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}
+#else
+#define WRotorValuesAngle_DEFAULTS {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}
+#endif
+
+extern WRotorValues WRotor;
+extern WRotorValuesAngle WRotorPBus;
+
+
+
+
+
+
+//#define NORMA_WROTOR 15
+
+#define IQ_WROTOR_MAX_MIN_DELTA 3744914286 //17920
+
+
+#define WRMP_COEF 0.001 // 0.24 Hz per sec
+
+#define IQ_CONST_3 50331648
+
+#define COUNT_DECODER_ZERO_WROTORPBus 65535 //0x00fe5000//0x01fca000
+#define COUNT_DECODER_ZERO_WROTOR 65500 //0x00fe5000//0x01fca000
+#define COUNT_DECODER_MAX_WROTOR 10
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
diff --git a/Inu/Src/main/v_rotor_22220.c b/Inu/Src/main/v_rotor_22220.c
new file mode 100644
index 0000000..c31de31
--- /dev/null
+++ b/Inu/Src/main/v_rotor_22220.c
@@ -0,0 +1,666 @@
+
+#include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "DSP281x_SWPrioritizedIsrLevels.h" // DSP281x Examples Include File
+#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+#include "IQmathLib.h"
+
+#include "params_bsu.h"
+#include "v_rotor.h"
+
+#include "filter_v1.h"
+#include "xp_cds_in.h"
+
+#include "xp_inc_sensor.h"
+#include "xp_project.h"
+#include "params.h"
+
+//#include "pwm_test_lines.h"
+#include "params_norma.h"
+#include "edrk_main.h"
+#include "params_pwm24.h"
+#include "v_rotor_22220.h"
+
+#include "rmp_cntl_v1.h"
+#include "mathlib.h"
+
+
+//#define _ENABLE_PWM_LED2_PROFILE 1
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+extern unsigned int profile_pwm[30];
+extern unsigned int pos_profile_pwm;
+#endif
+
+//
+//#pragma DATA_SECTION(buf1,".logs2")
+//int buf1[SIZE_BUF_W];
+//#pragma DATA_SECTION(buf2,".logs2")
+//int buf2[SIZE_BUF_W];
+//#pragma DATA_SECTION(buf3,".logs2")
+//int buf3[SIZE_BUF_W];
+//#pragma DATA_SECTION(buf4,".logs2")
+//int buf4[SIZE_BUF_W];
+//#pragma DATA_SECTION(buf5,".logs2")
+//int buf5[SIZE_BUF_W];
+//#pragma DATA_SECTION(buf6,".logs2")
+//int buf6[SIZE_BUF_W];
+//#pragma DATA_SECTION(buf7,".logs2")
+//int buf7[SIZE_BUF_W];
+//#pragma DATA_SECTION(buf8,".logs2")
+//int buf8[SIZE_BUF_W];
+//
+
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+///////////////////////////////////////////////
+RMP_V1 rmp_wrot = RMP_V1_DEFAULTS;
+
+#pragma DATA_SECTION(rotor_22220,".fast_vars");
+ROTOR_VALUE_22220 rotor_22220 = ROTOR_VALUE_22220_DEFAULTS;
+
+
+void rotorInit_22220(void)
+{
+ unsigned int i = 0, size = 0, *pint = 0;
+
+ rmp_wrot.RampLowLimit = 0;
+ rmp_wrot.RampHighLimit = _IQ(1.0);
+ rmp_wrot.RampPlus = _IQ(0.0015/NORMA_FROTOR);
+ rmp_wrot.RampMinus = _IQ(-0.0015/NORMA_FROTOR);
+ rmp_wrot.DesiredInput = 0;
+ rmp_wrot.Out = 0;
+
+
+// pint = (unsigned int*)&rotor;
+// size = sizeof(rotor) / sizeof(unsigned int);
+// for(i = 0; i < size; i++)
+// {
+// *(pint + i) = 0;
+// }
+
+}
+
+_iq koef_Wout_filter = _IQ(0.2); //_IQ(0.15);
+_iq koef_Wout_filter_long = _IQ(0.001);//_IQ(0.03);
+
+#define SIZE_BUF_F1 10
+#pragma DATA_SECTION(f1,".slow_vars")
+static _iq f1[SIZE_BUF_F1]={0,0,0,0,0,0,0,0,0,0};
+#pragma DATA_SECTION(f1_int,".slow_vars")
+static long f1_int[SIZE_BUF_F1]={0,0,0,0,0,0,0,0,0,0};
+
+#pragma CODE_SECTION(clear_iqFsensors,".fast_run");
+void clear_iqFsensors(void)
+{
+ int i;
+
+ for (i=0;i<SENSORS_NUMBER;i++)
+ rotor_22220.iqFsensors[i] = 0;
+}
+
+//#pragma CODE_SECTION(Rotor_measure_22220,".fast_run");
+void Rotor_measure_22220(void)
+{
+ static long c_s=-1;
+// static int flag_buf = 0, prev_flag_buf = 0 ;
+
+
+
+ static unsigned long PrevAngle1 = 0, PrevAngle2 = 0, PrevAngle3 = 0, PrevAngle4 = 0;
+ static unsigned int peroid_shim_mks = (unsigned int)(1000000L / FREQ_PWM / 2.0);
+ static _iq prev_wrot = 0;
+ static unsigned int prev_wrot_count = 0;
+ static int direct_accum = 0;
+ static int sens1_err_count = 0;
+ static int sens2_err_count = 0;
+
+
+
+
+ unsigned int s_number = 0, begin_data = 0, end_data = 0, i;
+ unsigned int s_number2 = 0;
+ unsigned int s_number3 = 0;
+ _iq accumulator = 0, deltaF = 0, deltaAngle = 0;
+ long sum_count=0;
+
+ int direction1, direction2, sum_direct, sens_err1, sens_err2;
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+ if (profile_pwm[pos_profile_pwm++])
+ i_led2_on_off(1);
+ else
+ i_led2_on_off(0);
+#endif
+
+ clear_iqFsensors();
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+ if (profile_pwm[pos_profile_pwm++])
+ i_led2_on_off(1);
+ else
+ i_led2_on_off(0);
+#endif
+
+// rotation_sensor.read_sensors(&rotation_sensor);
+ inc_sensor.read_sensors(&inc_sensor);
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+ if (profile_pwm[pos_profile_pwm++])
+ i_led2_on_off(1);
+ else
+ i_led2_on_off(0);
+#endif
+
+ direction1 = project.cds_in[0].read.pbus.direction_in.bit.dir_sens_1 == ROTOR_SENSOR_CODE_CLOCKWISE ? 1 :
+ project.cds_in[0].read.pbus.direction_in.bit.dir_sens_1 == ROTOR_SENSOR_CODE_COUNTERCLOCKWISE ? -1 :
+ 0;
+
+ direction2 = project.cds_in[0].read.pbus.direction_in.bit.dir_sens_2 == ROTOR_SENSOR_CODE_COUNTERCLOCKWISE ? 1 :
+ project.cds_in[0].read.pbus.direction_in.bit.dir_sens_2 == ROTOR_SENSOR_CODE_CLOCKWISE ? -1 :
+ 0;
+
+ sens_err1 = project.cds_in[0].read.pbus.direction_in.bit.dir_sens_1 == 3;
+ sens_err2 = project.cds_in[0].read.pbus.direction_in.bit.dir_sens_2 == 3;
+
+
+
+ if(inc_sensor.pm67regs.read_comand_reg.bit.update_registers)
+ {
+ rotor_22220.error_update_count++;
+ }
+// logpar.log22 = rotation_sensor.in_plane.out.CountOne1;
+// logpar.log23 = rotation_sensor.in_plane.out.CountZero1;
+
+
+// if (edrk.logs_rotor==1)
+// flag_buf = edrk.logs_rotor;
+//
+//
+// if (flag_buf==1 && prev_flag_buf==0)
+// c_s = -1;
+//
+// if (flag_buf)
+// {
+// if (c_s>=(SIZE_BUF_W-1))
+// {
+// flag_buf = 0;
+// c_s = 0;
+// }
+// else
+// c_s++;
+//
+//
+// buf1[c_s] = inc_sensor.data.CountOne1;// rotation_sensor.in_plane.out.CountOne1;
+// buf2[c_s] = inc_sensor.data.CountZero1;//rotation_sensor.in_plane.out.CountZero1;
+// buf3[c_s] = inc_sensor.data.CountOne2;//rotation_sensor.in_plane.out.CountOne2;
+// buf4[c_s] = inc_sensor.data.CountZero2;//rotation_sensor.in_plane.out.CountZero2;
+// buf5[c_s] = direction1;//inc_sensor.data.;//(rotation_sensor.in_plane.out.direction1);
+// buf6[c_s] = direction2;//(rotation_sensor.in_plane.out.direction2);
+// buf7[c_s] = (project.cds_in[0].read.pbus.direction_in.bit.dir_sens_1);
+// buf8[c_s] = (project.cds_in[0].read.pbus.direction_in.bit.dir_sens_2);
+//
+// }
+// prev_flag_buf = flag_buf;
+
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+ if (profile_pwm[pos_profile_pwm++])
+ i_led2_on_off(1);
+ else
+ i_led2_on_off(0);
+#endif
+
+
+ if(inc_sensor.use_sensor1)
+ {
+ if((inc_sensor.data.CountOne1 <= 200)// && !rotation_sensor.in_plane.out.counter_freq1)
+ || inc_sensor.data.CountOne1 == 65535)
+ { inc_sensor.data.CountOne1 = 0; }
+ if((inc_sensor.data.CountZero1 <= 200)// && !rotation_sensor.in_plane.out.counter_freq1)
+ || inc_sensor.data.CountZero1 == 65535)
+ { inc_sensor.data.CountZero1 = 0; }
+
+ //����� ��������� ���� ������� �� �������
+ if (inc_sensor.data.Impulses1 < 5) {
+
+ if(inc_sensor.data.CountOne1 && inc_sensor.data.CountZero1 )
+ {
+ sum_count = (long)inc_sensor.data.CountOne1 + (long)inc_sensor.data.CountZero1;
+
+ if (s_number3<SIZE_BUF_F1) f1[s_number3++] = counter_To_iqF2(sum_count, inc_sensor.data.counter_freq1);
+
+ if (s_number2<SIZE_BUF_F1)
+ {
+ if (inc_sensor.data.counter_freq1)
+ f1_int[s_number2++] = sum_count/6;
+ else
+ f1_int[s_number2++] = sum_count*100/6;
+ }
+ if (s_number<SENSORS_NUMBER)
+ rotor_22220.iqFsensors[s_number++] = counter_To_iqF2(sum_count, inc_sensor.data.counter_freq1);
+
+ }
+// if(rotation_sensor.in_plane.out.CountOne1) {
+// rotor.iqFsensors[s_number++] = counter_To_iqF(rotation_sensor.in_plane.out.CountOne1,
+// rotation_sensor.in_plane.out.counter_freq1);
+// }
+// if(rotation_sensor.in_plane.out.CountZero1) {
+// rotor.iqFsensors[s_number++] = counter_To_iqF(rotation_sensor.in_plane.out.CountZero1,
+// rotation_sensor.in_plane.out.counter_freq1);
+// }
+ }
+ else
+ {
+ if (s_number2<SIZE_BUF_F1)
+ f1_int[s_number2++] = -2;
+ }
+
+ if(inc_sensor.data.Impulses1 > 2)
+ {
+ if (s_number<SENSORS_NUMBER)
+ rotor_22220.iqFsensors[s_number++] = impulses_To_iqF(inc_sensor.data.Time1,
+ inc_sensor.data.Impulses1);
+
+ if (s_number3<SIZE_BUF_F1) f1[s_number3++] = impulses_To_iqF(inc_sensor.data.Time1,
+ inc_sensor.data.Impulses1);
+
+ if (s_number2<SIZE_BUF_F1) f1_int[s_number2++] = inc_sensor.data.Time1*10/inc_sensor.data.Impulses1;
+
+// logpar.log11 = (int16) _IQtoIQ15(rotor.iqFsensors[s_number - 1]);
+ } else {
+// logpar.log11 = 0;
+ if (s_number2<SIZE_BUF_F1)
+ f1_int[s_number2++] = -3;
+ }
+
+ if (rotor_22220.iqF > 139810L)//10 rpm
+ {
+ if (inc_sensor.data.CountOne1 == 0 && inc_sensor.data.CountZero1 == 0
+ && inc_sensor.data.Impulses1 == 0) {
+ sens1_err_count += 1;
+ } else {
+ sens1_err_count = 0;
+ }
+ if (sens1_err_count > 50) {
+ sens1_err_count = 50;
+ edrk.warnings.e9.bits.SENSOR_ROTOR_1_BREAK = 1;
+// faults.faults4.bit.Speed_Datchik_1_Off |= 1;
+ }
+ } else {
+ sens1_err_count = 0;
+ edrk.warnings.e9.bits.SENSOR_ROTOR_1_BREAK = 0;
+ }
+ }
+
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+ if (profile_pwm[pos_profile_pwm++])
+ i_led2_on_off(1);
+ else
+ i_led2_on_off(0);
+#endif
+
+
+// logpar.log4 = rotation_sensor.in_plane.out.CountOne2;
+// logpar.log20 = rotation_sensor.in_plane.out.CountZero2;
+ if(inc_sensor.use_sensor2)
+ {
+ if((inc_sensor.data.CountOne2 <= 200)// && !rotation_sensor.in_plane.out.counter_freq2)
+ || inc_sensor.data.CountOne2 == 65535)
+ { inc_sensor.data.CountOne2 = 0; }
+ if((inc_sensor.data.CountZero2 <= 200)// && !rotation_sensor.in_plane.out.counter_freq2)
+ || inc_sensor.data.CountZero2 == 65535)
+ { inc_sensor.data.CountZero2 = 0; }
+
+ //����� ��������� ����, ������� �� �������
+ if (inc_sensor.data.Impulses2 < 5) {
+
+ if(inc_sensor.data.CountOne2 && inc_sensor.data.CountZero2 )
+ {
+ sum_count = (long)inc_sensor.data.CountOne2+(long)inc_sensor.data.CountZero2;
+ if (s_number3<SIZE_BUF_F1) f1[s_number3++] = counter_To_iqF2(sum_count, inc_sensor.data.counter_freq2);
+
+ //f1_int[s_number2++] = sum_count/60;
+ if (s_number2<SIZE_BUF_F1)
+ {
+ if (inc_sensor.data.counter_freq2)
+ f1_int[s_number2++] = sum_count/6;
+ else
+ f1_int[s_number2++] = sum_count*100/6;
+ }
+ if (s_number<SENSORS_NUMBER)
+ rotor_22220.iqFsensors[s_number++] = counter_To_iqF2(sum_count, inc_sensor.data.counter_freq2);
+
+ }
+// if(rotation_sensor.in_plane.out.CountOne2) {
+// rotor.iqFsensors[s_number++] = counter_To_iqF(rotation_sensor.in_plane.out.CountOne2,
+// rotation_sensor.in_plane.out.counter_freq2);
+// }
+// if(rotation_sensor.in_plane.out.CountZero2) {
+// rotor.iqFsensors[s_number++] = counter_To_iqF(rotation_sensor.in_plane.out.CountZero2,
+// rotation_sensor.in_plane.out.counter_freq2);
+// }
+ }
+ else
+ {
+ if (s_number2<SIZE_BUF_F1)
+ f1_int[s_number2++] = -4;
+ }
+
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+ if (profile_pwm[pos_profile_pwm++])
+ i_led2_on_off(1);
+ else
+ i_led2_on_off(0);
+#endif
+
+
+ if(inc_sensor.data.Impulses2 > 2)
+ {
+ if (s_number<SENSORS_NUMBER)
+ rotor_22220.iqFsensors[s_number++] = impulses_To_iqF(inc_sensor.data.Time2,
+ inc_sensor.data.Impulses2);
+
+ if (s_number2<SIZE_BUF_F1) f1_int[s_number2++] = inc_sensor.data.Time2*10/inc_sensor.data.Impulses2;
+
+// logpar.log16 = (int16) _IQtoIQ15(rotor.iqFsensors[s_number - 1]);
+ }
+ else
+ {
+ if (s_number2<SIZE_BUF_F1)
+ f1_int[s_number2++] = -5;
+ }
+
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+ if (profile_pwm[pos_profile_pwm++])
+ i_led2_on_off(1);
+ else
+ i_led2_on_off(0);
+#endif
+
+
+ if (rotor_22220.iqF > 139810L)//10 rpm
+ {
+ if (inc_sensor.data.CountOne2 == 0 && inc_sensor.data.CountZero2 == 0
+ && inc_sensor.data.Impulses2 == 0) {
+ sens2_err_count += 1;
+ } else {
+ sens2_err_count = 0;
+ }
+ if (sens2_err_count > 50) {
+ sens2_err_count = 50;
+// faults.faults4.bit.Speed_Datchik_2_Off |= 1;
+ edrk.warnings.e9.bits.SENSOR_ROTOR_2_BREAK = 1;
+ }
+ } else {
+ sens2_err_count = 0;
+ edrk.warnings.e9.bits.SENSOR_ROTOR_2_BREAK = 0;
+ }
+
+ }
+
+ if(s_number > SENSORS_NUMBER_ONLY_IN) {s_number = SENSORS_NUMBER_ONLY_IN;} //TODO set SENSORS_NUMBER when tune angle measure
+ if(s_number > 3)
+ {
+ sort_F_array(rotor_22220.iqFsensors, s_number);
+ deltaF = rotor_22220.iqFout >> 2;
+ if(deltaF < 43000) // ~3 ob/min
+ {
+ deltaF = 43000;
+ }
+ i = 0;
+ begin_data = 0;
+ end_data = s_number; //TODO test, as usial
+ while(i < s_number)
+ {
+ if(_IQabs(rotor_22220.iqFout - rotor_22220.iqFsensors[i]) >= deltaF)
+ {
+ i++;
+ }
+ else
+ {
+ break;
+ }
+ }
+ if(i < s_number) { begin_data = i; }
+ else {begin_data = 0;}
+ while((i < s_number) && (_IQabs(rotor_22220.iqFout - rotor_22220.iqFsensors[i]) < deltaF))
+ {
+ i++;
+ }
+ if(i <= SENSORS_NUMBER)
+ {
+ end_data = i;
+ }
+ else
+ {
+ end_data = SENSORS_NUMBER;
+ }
+ }
+ else
+ {
+ begin_data = 0;
+ end_data = s_number;
+ }
+ if (begin_data >= end_data) { //This part to prevent freeze of speed on some level if signal lost
+ begin_data = 0;
+ end_data = s_number;
+ }
+ // ���������
+ for(i = begin_data; i < end_data; i++)
+ {
+ accumulator += rotor_22220.iqFsensors[i];
+ }
+ // ���������
+ if(end_data != begin_data)
+ {
+ rotor_22220.iqFdirty = accumulator / (end_data - begin_data);
+ prev_wrot_count = 0;
+ }
+ else
+ {
+ rotor_22220.iqFdirty = prev_wrot;
+ prev_wrot_count += 1;
+ }
+
+// logpar.log19 = (int16)(_IQtoIQ15(rotor.iqF));
+// rotor_22220.iqFdirty = rotor_22220.iqF;
+
+ if (prev_wrot != rotor_22220.iqFdirty || rotor_22220.iqFdirty==0 )
+ {
+ rmp_wrot.DesiredInput = rotor_22220.iqFdirty;
+ rmp_wrot.calc(&rmp_wrot);
+ rotor_22220.iqF = rmp_wrot.Out;
+ }
+ else
+ {
+ rotor_22220.iqF = rotor_22220.iqFdirty;
+ }
+ prev_wrot=rotor_22220.iqF;
+
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+ if (profile_pwm[pos_profile_pwm++])
+ i_led2_on_off(1);
+ else
+ i_led2_on_off(0);
+#endif
+
+
+ //�� ���������� ������� ���������.
+ if (prev_wrot_count > 10) {
+ prev_wrot = 0;
+ prev_wrot_count = 10;
+ }
+
+ rotor_22220.iqFout = exp_regul_iq(koef_Wout_filter, rotor_22220.iqFout, rotor_22220.iqF);
+ rotor_22220.iqFlong = exp_regul_iq(koef_Wout_filter_long, rotor_22220.iqFlong, rotor_22220.iqF);
+
+#if (_ENABLE_PWM_LED2_PROFILE)
+ if (profile_pwm[pos_profile_pwm++])
+ i_led2_on_off(1);
+ else
+ i_led2_on_off(0);
+#endif
+
+
+ rotor_22220.direct_rotor_in1 = direction1;//rotation_sensor.in_plane.out.direction1;
+
+#if (_STEND_40MWT==1)
+ // ������ ����������� �������� ��� ������� ������, �.�. �� ������ ���� ������ ��������� ������, � ������ ��������� ����!!!
+
+ rotor_22220.direct_rotor_in2 = -rotation_sensor.in_plane.out.direction2;
+
+#else
+
+ rotor_22220.direct_rotor_in2 = direction2;//rotation_sensor.in_plane.out.direction2;
+
+#endif
+ // rotor.direct_rotor_angle = rotation_sensor.rotation_plane.out.direction;
+
+ rotor_22220.error.sens_err1 = sens_err1;
+ rotor_22220.error.sens_err2 = sens_err2;
+
+// rotor.direct_rotor = (rotor.direct_rotor_in1 + rotor.direct_rotor_in2) > 0 ? 1 : // + rotor.direct_rotor_angle
+// (rotor.direct_rotor_in1 + rotor.direct_rotor_in2) < 0 ? -1 : // + rotor.direct_rotor_angle
+// 0;
+ if(rotor_22220.iqFout >139810L) //10ob/min
+ {
+ if((rotor_22220.direct_rotor_in1 + rotor_22220.direct_rotor_in2) > 0)
+ {
+ direct_accum++;
+ }
+ else if((rotor_22220.direct_rotor_in1 + rotor_22220.direct_rotor_in2) < 0)
+ {
+ direct_accum--;
+ }
+ else
+ {
+ if(direct_accum > 0) {direct_accum--;}
+ if(direct_accum < 0) {direct_accum++;}
+ }
+ if(direct_accum > 60) { direct_accum = 60; }
+ if(direct_accum < -60) { direct_accum = -60; }
+ rotor_22220.direct_rotor = direct_accum > 0 ? 1 :
+ direct_accum < 0 ? -1 :
+ 0;
+// if (f.flag_second_PCH) {
+// rotor.direct_rotor = - rotor.direct_rotor;
+// }
+ }
+ else
+ {
+ rotor_22220.direct_rotor = (rotor_22220.direct_rotor_in1 + rotor_22220.direct_rotor_in2) > 0 ? 1 : // + rotor.direct_rotor_angle
+ (rotor_22220.direct_rotor_in1 + rotor_22220.direct_rotor_in2) < 0 ? -1 : // + rotor.direct_rotor_angle
+ 0;
+// if (f.flag_second_PCH) {
+// rotor.direct_rotor = - rotor.direct_rotor;
+// }
+ direct_accum = rotor_22220.direct_rotor;
+ }
+
+// if(rotation_sensor.in_plane.write.regs.comand_reg.bit.set_sampling_time) //�������� ��������
+// {
+// rotation_sensor.in_plane.write.regs.comand_reg.bit.filter_sensitivity = 0x5C;
+// }
+// else //�������� �������, ������ ���������
+// {
+// rotation_sensor.in_plane.write.regs.comand_reg.bit.filter_sensitivity = 0xA8;
+// }
+ if (s_number2<SIZE_BUF_F1)
+ f1_int[s_number2++] = -1;
+}
+
+#pragma CODE_SECTION(impulses_To_iqF,".fast_run");
+_iq impulses_To_iqF(unsigned int time, unsigned int impulses) //time mks. impulses count
+{
+ //Flong = (impulses / time / IMPULSES_PER_TURN) * _IQ(1) / NORMA_FROTOR;
+ static unsigned long long koeff_to_F = 16777216LL / IMPULSES_PER_TURN * 1000000LL / NORMA_FROTOR;
+ long long Flong = (long long)impulses * koeff_to_F / time;
+ return (_iq)Flong;
+}
+
+//Frot = Fimp / IMPULSES_PER_TURN / NORMA_FROTOR =
+// = counter_freq / counter / 2 / IMPULSES_PER_TURN / NORMA_FROTOR
+//���� �� 2, �.�. ������� ������������ �������� �������
+//��������� �� (1LL << 24) ����� �������� � iq24
+#pragma CODE_SECTION(counter_To_iqF,".fast_run");
+_iq counter_To_iqF(unsigned int count, unsigned int freq_mode)
+{
+ static long long koeff_to_F = 60000000LL * _IQ(1.0) / IMPULSES_PER_TURN / 2 / NORMA_FROTOR;
+ long long Flong = 0;
+ if(freq_mode == 0) // 60Mhz
+ {
+ Flong = koeff_to_F / count / 100;
+ }
+ else //600KHz
+ {
+ Flong = koeff_to_F / count;
+ }
+ return Flong;
+}
+
+#pragma CODE_SECTION(counter_To_iqF2,".fast_run");
+_iq counter_To_iqF2(long count, unsigned int freq_mode)
+{
+ static long long koeff_to_F = 60000000LL * _IQ(1.0) / IMPULSES_PER_TURN / NORMA_FROTOR;
+ long long Flong = 0;
+ if(freq_mode == 0) // 60Mhz
+ {
+ Flong = koeff_to_F / count / 100;
+ }
+ else //600KHz
+ {
+ Flong = koeff_to_F / count;
+ }
+ return Flong;
+}
+
+//#pragma CODE_SECTION(delta_Angle_To_iqF,".fast_run");
+//_iq delta_Angle_To_iqF(unsigned long delta, unsigned int period)
+//{
+// // iqF = (delta / ANGLE_RESOLUTION) / (period * 10^-6) * (1LL << 24) / NORMA_FROTOR;
+// // iqF = delta * 10^6 * (1LL << 24) / ANGLE_RESOLUTION / period / NORMA_FROTOR;
+// static long long koeff_to_F = 1000000LL * (1LL << 24) / ANGLE_RESOLUTION / NORMA_FROTOR;
+// return (_iq)(koeff_to_F * delta / period);
+//}
+
+// ���������� ������� ���������
+#pragma CODE_SECTION(sort_F_array,".fast_run2");
+void sort_F_array(_iq *array, unsigned int size)
+{
+ unsigned int i, j;
+ _iq tmp = 0;
+ for(i = size; i > 0; i--)
+ {
+ for(j = 1; j < size; j++)
+ {
+ if(array[j - 1] > array[j])
+ {
+ tmp = array[j];
+ array[j] = array[j - 1];
+ array[j - 1] = tmp;
+ }
+ }
+ }
+}
+
+
+void select_values_wrotor_22220(void)
+{
+ // static _iq level_switch_to_get_impulses_hz = _IQ(LEVEL_SWITCH_TO_GET_IMPULSES_OBOROTS/60.0/NORMA_FROTOR);
+ static unsigned int prev_RotorDirectionInstant = 0;
+ static unsigned int status_RotorRotation = 0; // ���� ��������?
+ static _iq wrotor_add = _IQ(0.002/NORMA_FROTOR);
+
+ WRotor.RotorDirectionSlow = rotor_22220.direct_rotor;
+ WRotor.iqWRotorSum = rotor_22220.iqFout;// * rotor_22220.direct_rotor;
+ WRotor.iqWRotorSumFilter = rotor_22220.iqFout * rotor_22220.direct_rotor;
+ WRotor.iqWRotorSumFilter2 = rotor_22220.iqFlong * rotor_22220.direct_rotor;
+ WRotor.iqWRotorSumFilter3 = rotor_22220.iqFlong * rotor_22220.direct_rotor;
+ WRotor.iqWRotorSumRamp = zad_intensiv_q(wrotor_add, wrotor_add, WRotor.iqWRotorSumRamp, WRotor.iqWRotorSumFilter);
+
+
+}
diff --git a/Inu/Src/main/v_rotor_22220.h b/Inu/Src/main/v_rotor_22220.h
new file mode 100644
index 0000000..aec28c5
--- /dev/null
+++ b/Inu/Src/main/v_rotor_22220.h
@@ -0,0 +1,54 @@
+#ifndef V_ROTOR_22220_H
+#define V_ROTOR_22220_H
+
+#define SIZE_BUF_W 100 //2000
+
+/////// 22220.5
+#define SENSORS_NUMBER 10
+#define SENSORS_NUMBER_ONLY_IN 6
+//#define IMPULSES_PER_TURN (1LL << 13) //Old sensor
+#define IMPULSES_PER_TURN 4096 //Lira sensor
+//#define ANGLE_RESOLUTION (1LL << 18) //2^18
+
+typedef struct
+{
+ int direct_rotor;
+ int direct_rotor_in1;
+ int direct_rotor_in2;
+ int direct_rotor_angle;
+ union {
+ unsigned int sens_err1:1;
+ unsigned int sens_err2:1;
+ unsigned int reserved:14;
+ } error;
+
+ _iq iqFsensors[SENSORS_NUMBER];
+
+
+ _iq iqFdirty;
+ _iq iqF;
+ _iq iqFout;
+ _iq iqFlong;
+
+ _iq iqFrotFromOptica;
+
+ unsigned int error_update_count;
+} ROTOR_VALUE_22220;
+
+#define ROTOR_VALUE_22220_DEFAULTS {0,0,0,0,0, {0,0,0,0,0,0,0,0},0,0,0,0,0,0}
+
+
+_iq counter_To_iqF2(long count, unsigned int freq_mode);
+void sort_F_array(_iq *array, unsigned int size);
+_iq impulses_To_iqF(unsigned int time, unsigned int impulses); //time mks. impulses count
+void Rotor_measure_22220(void);
+void rotorInit_22220(void);
+void select_values_wrotor_22220(void);
+
+extern ROTOR_VALUE_22220 rotor_22220;
+
+extern _iq koef_Wout_filter, koef_Wout_filter_long;
+
+
+#endif
+
diff --git a/Inu/Src/main/vector.h b/Inu/Src/main/vector.h
new file mode 100644
index 0000000..25bc4f1
--- /dev/null
+++ b/Inu/Src/main/vector.h
@@ -0,0 +1,254 @@
+/*
+ ???? ??? (?) 2006 ?.
+
+ Processor: TMS320C32
+
+ Filename: vector_troll.h
+
+ ??????? ?????????? ?????????y
+
+ Edit date: 04-12-02
+
+ Function:
+
+ Revisions:
+*/
+
+
+#ifndef _VECTOR_SEV
+#define _VECTOR_SEV
+
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+
+#include "IQmathLib.h"
+#include "x_basic_types.h"
+
+typedef struct
+{
+ float W; /* ������� ������� ������ */
+ float Angle; /* ���� ��������� ������ */
+ float Phi; /* �������� � ���� ������ */
+ float k; /* �����. ��������� */
+ float k1; /* �����. ��������� */
+ float k2; /* �����. ��������� */
+ float f; /* ������� ������� */
+
+ _iq iqk;
+ _iq iqk1;
+ _iq iqk2;
+ _iq iqf;
+
+
+
+} WINDING;
+
+#define WINDING_DEFAULT {0,0,0,0,0,0,0,0,0,0,0}
+
+
+typedef struct
+{
+ unsigned int Prepare;
+ unsigned int terminal_prepare;
+ unsigned int Test_Lamps;
+ unsigned int fault;
+
+
+
+ unsigned int Stop;
+ unsigned int Mode;
+ unsigned int Revers;
+ unsigned int Is_Blocked;
+
+ unsigned int Ready1;
+ unsigned int Ready2;
+ unsigned int Discharge;
+ unsigned int Assemble;
+
+ unsigned int ErrorChannel1;
+ unsigned int ErrorChannel2;
+ unsigned int FaultChannel1;
+ unsigned int FaultChannel2;
+
+ unsigned int Set_power;
+
+ unsigned int Impuls;
+
+ unsigned int Obmotka1;
+ unsigned int Obmotka2;
+// unsigned int Down50;
+
+ unsigned int I_over_nominal; //????????? ?????? ?????? ? ??????????? ???????????? ????
+ unsigned int Moment_over_1_6_noninal; //????????? ?????? ?????? ? ??????????? ???????????? ??????? ? 1.6 ???
+ unsigned int Moment_over_1_8_nominal; //????????? ?????? ?????? ? ??????????? ???????????? ??????? ? 1.8 ???
+ unsigned int DownToNominal;
+ unsigned int DownToNominalMoment;
+ unsigned int Down50Temperature;
+ unsigned int nominal_I_exceeded_counter; //??????? ??? ????????? ??????????? ???
+ unsigned int nominal_M_exceeded_counter; //??????? ??? ????????? ??????????? ??????
+
+ unsigned int Up50;
+ unsigned int Ciclelog;
+ unsigned int Provorot;
+ unsigned int Bpsi;
+ unsigned int Piregul1;
+ unsigned int Piregul2;
+ unsigned int Startstoplog;
+ unsigned int Setspeed;
+
+ unsigned int BWC_is_ON;
+
+ unsigned int Setsdvigfaza;
+ unsigned int Off_piregul;
+
+ unsigned int Restart;
+ unsigned int Log1_Log2;
+
+ unsigned int Work_net;
+ unsigned int Mask_impuls;
+ unsigned int Impuls_width;
+
+
+ unsigned int Work;
+
+ unsigned int Auto;
+
+ unsigned int Uzad;
+ unsigned int Umin;
+
+// unsigned int RScount;
+ unsigned int vector_run;
+ unsigned int test_all_run;
+
+ unsigned int decr_mzz_temp;
+// unsigned int flag_decr_mzz_temp;
+
+ unsigned int flag_Break_Resistor_Error;
+ unsigned int flag_local_control; //1 - local
+ unsigned int flag_leading; //??????? ?? ??????
+ unsigned int flag_second_leading; //?????? ?? ??????
+ unsigned int flag_distance;
+ unsigned int flag_kvitirovanie;
+ unsigned int flag_batary_loaded;
+ unsigned int flag_Pump_Is_On;
+ unsigned int power_units_doors_closed;
+ unsigned int power_units_doors_locked;
+
+ unsigned int flag_decr_mzz_power;
+
+ real decr_mzz_power;
+ _iq iq_decr_mzz_power;
+
+ _iq iq_decr_mzz_voltage;
+
+ real fzad;
+ real kzad;
+ real kzad_plus;
+// real fzad_provorot;
+ real Sdvigfaza;
+// real k_3garonica;
+// _iq iq_k_3garonica;
+// real bpsi_zad;
+
+// real Piregul1_p;
+// real Piregul1_i;
+
+// real Piregul2_p;
+// real Piregul2_i;
+
+
+ real mzz_zad;
+ real fr_zad;
+ real Power;
+ real p_zad;
+
+
+// _iq iq_bpsi_zad;
+ _iq iq_mzz_zad;
+// _iq iq_fzad_provorot;
+ _iq iq_fzad;
+
+ _iq iq_p_zad;
+
+ unsigned int flag_Enable_Prepare;
+
+
+ unsigned int status_MODE_WORK_SVU;
+ unsigned int status_MODE_WORK_MPU;
+ unsigned int status_MODE_WORK_VPU;
+// unsigned int status_MODE_WORK_EVPU;
+
+// unsigned int filter_READY_UKSS_BV1;
+// unsigned int filter_READY_UKSS_BV2;
+// unsigned int filter_READY_UKSS_BI1;
+// unsigned int filter_READY_UKSS_BI2;
+ unsigned int filter_READY_UMU;
+// unsigned int filter_READY_UKSS_UKSI;
+
+ unsigned int On_Power_QTV;
+
+ unsigned int RS_MPU_ERROR;
+// unsigned int CAN_MPU_ERROR;
+
+// unsigned int enable_fast_prepare;
+
+// unsigned int tau_break1;
+// unsigned int tau_break2;
+
+ unsigned int flag_tormog;
+
+// unsigned int GoPWM;
+
+ int special_test_from_mpu;
+
+ int MessageToCan1;
+ int MessageToCan2;
+ int flag_change_pwm_freq;
+ int flag_random_freq;
+ long tmp;
+
+
+
+
+
+
+//optical bus data
+ unsigned int read_task_from_optical_bus;
+
+
+
+ unsigned int count_wait_after_kvitir;
+ unsigned int flag_record_log;
+ unsigned int count_step_ram_off;
+ unsigned int count_start_impuls;
+
+ int flag_send_alarm_log_to_MPU;
+
+
+} FLAG;
+
+#define FLAG_DEFAULTS {\
+ 0,0,0,0,0,0,0,0,0,0,\
+ 0,0,0,0,0,0,0,0,0,0,\
+ 0,0,0,0,0,0,0,0,0,0,\
+ 0,0,0,0,0,0,0,0,0,0,\
+ 0,0,0,0,0,0,0,0,0,0,\
+ 0,0,0,0,0,0,0,0,0,0,\
+ 0,0,0,0,0,0,0,0,0,0,\
+ 0,0,0,0,0,0,0,0,0,0,\
+ 0,0,0,0,0,0,0,0,0,0,\
+ 0,0,0,0,0,0\
+ }
+extern FLAG f;
+//extern WINDING a;
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif /* _VECTOR_SEV */
+
+
diff --git a/Inu/Src/main/xPlatesAddress.h b/Inu/Src/main/xPlatesAddress.h
new file mode 100644
index 0000000..fa0a62c
--- /dev/null
+++ b/Inu/Src/main/xPlatesAddress.h
@@ -0,0 +1,21 @@
+#ifndef _XPLATESADDRESS_H
+#define _XPLATESADDRESS_H
+
+ #define ADC_0_addr 7
+ #define ADC_1_addr 8
+
+ #define TK_0_addr 5
+ #define TK_1_addr 6
+ #define TK_2_addr 9
+ #define TK_3_addr 10
+
+ #define IN_0_addr 2
+ #define IN_1_addr 3
+ #define IN_2_addr 4
+
+ #define OUT_0_addr 11
+ #define OUT_1_addr 12
+
+ #define RotPlane_addr 14
+
+#endif
diff --git a/Inu/Src/main_matlab/DSP281x_Device.h b/Inu/Src/main_matlab/DSP281x_Device.h
new file mode 100644
index 0000000..557612b
--- /dev/null
+++ b/Inu/Src/main_matlab/DSP281x_Device.h
@@ -0,0 +1,3 @@
+
+#include "DSP2833x_Device.h"
+//#define int16 int
diff --git a/Inu/Src/main_matlab/DSP281x_Ev.h b/Inu/Src/main_matlab/DSP281x_Ev.h
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/Inu/Src/main_matlab/DSP281x_Ev.h
@@ -0,0 +1 @@
+
diff --git a/Inu/Src/main_matlab/DSP281x_Examples.h b/Inu/Src/main_matlab/DSP281x_Examples.h
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/Inu/Src/main_matlab/DSP281x_Examples.h
@@ -0,0 +1 @@
+
diff --git a/Inu/Src/main_matlab/DSP281x_GlobalPrototypes.h b/Inu/Src/main_matlab/DSP281x_GlobalPrototypes.h
new file mode 100644
index 0000000..139597f
--- /dev/null
+++ b/Inu/Src/main_matlab/DSP281x_GlobalPrototypes.h
@@ -0,0 +1,2 @@
+
+
diff --git a/Inu/Src/main_matlab/DSP281x_SWPrioritizedIsrLevels.h b/Inu/Src/main_matlab/DSP281x_SWPrioritizedIsrLevels.h
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/Inu/Src/main_matlab/DSP281x_SWPrioritizedIsrLevels.h
@@ -0,0 +1 @@
+
diff --git a/Inu/Src/main_matlab/IQmathLib.h b/Inu/Src/main_matlab/IQmathLib.h
new file mode 100644
index 0000000..67bfcf2
--- /dev/null
+++ b/Inu/Src/main_matlab/IQmathLib.h
@@ -0,0 +1,684 @@
+//#define __IQMATHLIB_H_INCLUDED__
+
+
+/**
+* ��������� ���������� IQmath ��� ������������ � MATLAB
+*
+*/
+#ifndef IQ_MATH_LIB
+#define IQ_MATH_LIB
+
+
+#ifndef GLOBAL_Q
+#define GLOBAL_Q 24
+#endif
+
+typedef long _iq;
+typedef long _iq30;
+typedef long _iq29;
+typedef long _iq28;
+typedef long _iq27;
+typedef long _iq26;
+typedef long _iq25;
+typedef long _iq24;
+typedef long _iq23;
+typedef long _iq22;
+typedef long _iq21;
+typedef long _iq20;
+typedef long _iq19;
+typedef long _iq18;
+typedef long _iq17;
+typedef long _iq16;
+typedef long _iq15;
+typedef long _iq14;
+typedef long _iq13;
+typedef long _iq12;
+typedef long _iq11;
+typedef long _iq10;
+typedef long _iq9;
+typedef long _iq8;
+typedef long _iq7;
+typedef long _iq6;
+typedef long _iq5;
+typedef long _iq4;
+typedef long _iq3;
+typedef long _iq2;
+typedef long _iq1;
+
+//---------------------------------------------------------------------------
+#define _IQmpy2(A) ((A)<<1)
+#define _IQmpy4(A) ((A)<<2)
+#define _IQmpy8(A) ((A)<<3)
+#define _IQmpy16(A) ((A)<<4)
+#define _IQmpy32(A) ((A)<<5)
+#define _IQmpy64(A) ((A)<<6)
+
+#define _IQdiv2(A) ((A)>>1)
+#define _IQdiv4(A) ((A)>>2)
+#define _IQdiv8(A) ((A)>>3)
+#define _IQdiv16(A) ((A)>>4)
+#define _IQdiv32(A) ((A)>>5)
+#define _IQdiv64(A) ((A)>>6)
+//---------------------------------------------------------------------------
+#define _IQ30(A) (long) ((A) * 1073741824.0L)
+#define _IQ29(A) (long) ((A) * 536870912.0L)
+#define _IQ28(A) (long) ((A) * 268435456.0L)
+#define _IQ27(A) (long) ((A) * 134217728.0L)
+#define _IQ26(A) (long) ((A) * 67108864.0L)
+#define _IQ25(A) (long) ((A) * 33554432.0L)
+#define _IQ24(A) (long) ((A) * 16777216.0L)
+#define _IQ23(A) (long) ((A) * 8388608.0L)
+#define _IQ22(A) (long) ((A) * 4194304.0L)
+#define _IQ21(A) (long) ((A) * 2097152.0L)
+#define _IQ20(A) (long) ((A) * 1048576.0L)
+#define _IQ19(A) (long) ((A) * 524288.0L)
+#define _IQ18(A) (long) ((A) * 262144.0L)
+#define _IQ17(A) (long) ((A) * 131072.0L)
+#define _IQ16(A) (long) ((A) * 65536.0L)
+#define _IQ15(A) (long) ((A) * 32768.0L)
+#define _IQ14(A) (long) ((A) * 16384.0L)
+#define _IQ13(A) (long) ((A) * 8192.0L)
+#define _IQ12(A) (long) ((A) * 4096.0L)
+#define _IQ11(A) (long) ((A) * 2048.0L)
+#define _IQ10(A) (long) ((A) * 1024.0L)
+#define _IQ9(A) (long) ((A) * 512.0L)
+#define _IQ8(A) (long) ((A) * 256.0L)
+#define _IQ7(A) (long) ((A) * 128.0L)
+#define _IQ6(A) (long) ((A) * 64.0L)
+#define _IQ5(A) (long) ((A) * 32.0L)
+#define _IQ4(A) (long) ((A) * 16.0L)
+#define _IQ3(A) (long) ((A) * 8.0L)
+#define _IQ2(A) (long) ((A) * 4.0L)
+#define _IQ1(A) (long) ((A) * 2.0L)
+
+#if GLOBAL_Q == 30
+#define _IQ(A) _IQ30(A)
+#endif
+#if GLOBAL_Q == 29
+#define _IQ(A) _IQ29(A)
+#endif
+#if GLOBAL_Q == 28
+#define _IQ(A) _IQ28(A)
+#endif
+#if GLOBAL_Q == 27
+#define _IQ(A) _IQ27(A)
+#endif
+#if GLOBAL_Q == 26
+#define _IQ(A) _IQ26(A)
+#endif
+#if GLOBAL_Q == 25
+#define _IQ(A) _IQ25(A)
+#endif
+#if GLOBAL_Q == 24
+#define _IQ(A) _IQ24(A)
+#endif
+#if GLOBAL_Q == 23
+#define _IQ(A) _IQ23(A)
+#endif
+#if GLOBAL_Q == 22
+#define _IQ(A) _IQ22(A)
+#endif
+#if GLOBAL_Q == 21
+#define _IQ(A) _IQ21(A)
+#endif
+#if GLOBAL_Q == 20
+#define _IQ(A) _IQ20(A)
+#endif
+#if GLOBAL_Q == 19
+#define _IQ(A) _IQ19(A)
+#endif
+#if GLOBAL_Q == 18
+#define _IQ(A) _IQ18(A)
+#endif
+#if GLOBAL_Q == 17
+#define _IQ(A) _IQ17(A)
+#endif
+#if GLOBAL_Q == 16
+#define _IQ(A) _IQ16(A)
+#endif
+#if GLOBAL_Q == 15
+#define _IQ(A) _IQ15(A)
+#endif
+#if GLOBAL_Q == 14
+#define _IQ(A) _IQ14(A)
+#endif
+#if GLOBAL_Q == 13
+#define _IQ(A) _IQ13(A)
+#endif
+#if GLOBAL_Q == 12
+#define _IQ(A) _IQ12(A)
+#endif
+#if GLOBAL_Q == 11
+#define _IQ(A) _IQ11(A)
+#endif
+#if GLOBAL_Q == 10
+#define _IQ(A) _IQ10(A)
+#endif
+#if GLOBAL_Q == 9
+#define _IQ(A) _IQ9(A)
+#endif
+#if GLOBAL_Q == 8
+#define _IQ(A) _IQ8(A)
+#endif
+#if GLOBAL_Q == 7
+#define _IQ(A) _IQ7(A)
+#endif
+#if GLOBAL_Q == 6
+#define _IQ(A) _IQ6(A)
+#endif
+#if GLOBAL_Q == 5
+#define _IQ(A) _IQ5(A)
+#endif
+#if GLOBAL_Q == 4
+#define _IQ(A) _IQ4(A)
+#endif
+#if GLOBAL_Q == 3
+#define _IQ(A) _IQ3(A)
+#endif
+#if GLOBAL_Q == 2
+#define _IQ(A) _IQ2(A)
+#endif
+#if GLOBAL_Q == 1
+#define _IQ(A) _IQ1(A)
+#endif
+
+//---------------------------------------------------------------------------
+
+#define _IQ30toF(A) ((float) ((A) / 1073741824.0L))
+#define _IQ29toF(A) ((float) ((A) / 536870912.0L))
+#define _IQ28toF(A) ((float) ((A) / 268435456.0L))
+#define _IQ27toF(A) ((float) ((A) / 134217728.0L))
+#define _IQ26toF(A) ((float) ((A) / 67108864.0L))
+#define _IQ25toF(A) ((float) ((A) / 33554432.0L))
+#define _IQ24toF(A) ((float) ((A) / 16777216.0L))
+#define _IQ23toF(A) ((float) ((A) / 8388608.0L))
+#define _IQ22toF(A) ((float) ((A) / 4194304.0L))
+#define _IQ21toF(A) ((float) ((A) / 2097152.0L))
+#define _IQ20toF(A) ((float) ((A) / 1048576.0L))
+#define _IQ19toF(A) ((float) ((A) / 524288.0L))
+#define _IQ18toF(A) ((float) ((A) / 262144.0L))
+#define _IQ17toF(A) ((float) ((A) / 131072.0L))
+#define _IQ16toF(A) ((float) ((A) / 65536.0L))
+#define _IQ15toF(A) ((float) ((A) / 32768.0L))
+#define _IQ14toF(A) ((float) ((A) / 16384.0L))
+#define _IQ13toF(A) ((float) ((A) / 8192.0L))
+#define _IQ12toF(A) ((float) ((A) / 4096.0L))
+#define _IQ11toF(A) ((float) ((A) / 2048.0L))
+#define _IQ10toF(A) ((float) ((A) / 1024.0L))
+#define _IQ9toF(A) ((float) ((A) / 512.0L))
+#define _IQ8toF(A) ((float) ((A) / 256.0L))
+#define _IQ7toF(A) ((float) ((A) / 128.0L))
+#define _IQ6toF(A) ((float) ((A) / 64.0L))
+#define _IQ5toF(A) ((float) ((A) / 32.0L))
+#define _IQ4toF(A) ((float) ((A) / 16.0L))
+#define _IQ3toF(A) ((float) ((A) / 8.0L))
+#define _IQ2toF(A) ((float) ((A) / 4.0L))
+#define _IQ1toF(A) ((float) ((A) / 2.0L))
+
+#if GLOBAL_Q == 30
+#define _IQtoF(A) _IQ30toF(A)
+#endif
+#if GLOBAL_Q == 29
+#define _IQtoF(A) _IQ29toF(A)
+#endif
+#if GLOBAL_Q == 28
+#define _IQtoF(A) _IQ28toF(A)
+#endif
+#if GLOBAL_Q == 27
+#define _IQtoF(A) _IQ27toF(A)
+#endif
+#if GLOBAL_Q == 26
+#define _IQtoF(A) _IQ26toF(A)
+#endif
+#if GLOBAL_Q == 25
+#define _IQtoF(A) _IQ25toF(A)
+#endif
+#if GLOBAL_Q == 24
+#define _IQtoF(A) _IQ24toF(A)
+#endif
+#if GLOBAL_Q == 23
+#define _IQtoF(A) _IQ23toF(A)
+#endif
+#if GLOBAL_Q == 22
+#define _IQtoF(A) _IQ22toF(A)
+#endif
+#if GLOBAL_Q == 21
+#define _IQtoF(A) _IQ21toF(A)
+#endif
+#if GLOBAL_Q == 20
+#define _IQtoF(A) _IQ20toF(A)
+#endif
+#if GLOBAL_Q == 19
+#define _IQtoF(A) _IQ19toF(A)
+#endif
+#if GLOBAL_Q == 18
+#define _IQtoF(A) _IQ18toF(A)
+#endif
+#if GLOBAL_Q == 17
+#define _IQtoF(A) _IQ17toF(A)
+#endif
+#if GLOBAL_Q == 16
+#define _IQtoF(A) _IQ16toF(A)
+#endif
+#if GLOBAL_Q == 15
+#define _IQtoF(A) _IQ15toF(A)
+#endif
+#if GLOBAL_Q == 14
+#define _IQtoF(A) _IQ14toF(A)
+#endif
+#if GLOBAL_Q == 13
+#define _IQtoF(A) _IQ13toF(A)
+#endif
+#if GLOBAL_Q == 12
+#define _IQtoF(A) _IQ12toF(A)
+#endif
+#if GLOBAL_Q == 11
+#define _IQtoF(A) _IQ11toF(A)
+#endif
+#if GLOBAL_Q == 10
+#define _IQtoF(A) _IQ10toF(A)
+#endif
+#if GLOBAL_Q == 9
+#define _IQtoF(A) _IQ9toF(A)
+#endif
+#if GLOBAL_Q == 8
+#define _IQtoF(A) _IQ8toF(A)
+#endif
+#if GLOBAL_Q == 7
+#define _IQtoF(A) _IQ7toF(A)
+#endif
+#if GLOBAL_Q == 6
+#define _IQtoF(A) _IQ6toF(A)
+#endif
+#if GLOBAL_Q == 5
+#define _IQtoF(A) _IQ5toF(A)
+#endif
+#if GLOBAL_Q == 4
+#define _IQtoF(A) _IQ4toF(A)
+#endif
+#if GLOBAL_Q == 3
+#define _IQtoF(A) _IQ3toF(A)
+#endif
+#if GLOBAL_Q == 2
+#define _IQtoF(A) _IQ2toF(A)
+#endif
+#if GLOBAL_Q == 1
+#define _IQtoF(A) _IQ1toF(A)
+#endif
+
+#define _IQsat(A, Pos, Neg) ((A > Pos) ? Pos : (A < Neg) ? Neg : A)
+//---------------------------------------------------------------------------
+#define _IQtoIQ30(A) ((long) (A) << (30 - GLOBAL_Q))
+#define _IQ30toIQ(A) ((long) (A) >> (30 - GLOBAL_Q))
+
+#if (GLOBAL_Q >= 29)
+#define _IQtoIQ29(A) ((long) (A) >> (GLOBAL_Q - 29))
+#define _IQ29toIQ(A) ((long) (A) << (GLOBAL_Q - 29))
+#else
+#define _IQtoIQ29(A) ((long) (A) << (29 - GLOBAL_Q))
+#define _IQ29toIQ(A) ((long) (A) >> (29 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 28)
+#define _IQtoIQ28(A) ((long) (A) >> (GLOBAL_Q - 28))
+#define _IQ28toIQ(A) ((long) (A) << (GLOBAL_Q - 28))
+#else
+#define _IQtoIQ28(A) ((long) (A) << (28 - GLOBAL_Q))
+#define _IQ28toIQ(A) ((long) (A) >> (28 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 27)
+#define _IQtoIQ27(A) ((long) (A) >> (GLOBAL_Q - 27))
+#define _IQ27toIQ(A) ((long) (A) << (GLOBAL_Q - 27))
+#else
+#define _IQtoIQ27(A) ((long) (A) << (27 - GLOBAL_Q))
+#define _IQ27toIQ(A) ((long) (A) >> (27 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 26)
+#define _IQtoIQ26(A) ((long) (A) >> (GLOBAL_Q - 26))
+#define _IQ26toIQ(A) ((long) (A) << (GLOBAL_Q - 26))
+#else
+#define _IQtoIQ26(A) ((long) (A) << (26 - GLOBAL_Q))
+#define _IQ26toIQ(A) ((long) (A) >> (26 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 25)
+#define _IQtoIQ25(A) ((long) (A) >> (GLOBAL_Q - 25))
+#define _IQ25toIQ(A) ((long) (A) << (GLOBAL_Q - 25))
+#else
+#define _IQtoIQ25(A) ((long) (A) << (25 - GLOBAL_Q))
+#define _IQ25toIQ(A) ((long) (A) >> (25 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 24)
+#define _IQtoIQ24(A) ((long) (A) >> (GLOBAL_Q - 24))
+#define _IQ24toIQ(A) ((long) (A) << (GLOBAL_Q - 24))
+#else
+#define _IQtoIQ24(A) ((long) (A) << (24 - GLOBAL_Q))
+#define _IQ24toIQ(A) ((long) (A) >> (24 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 23)
+#define _IQtoIQ23(A) ((long) (A) >> (GLOBAL_Q - 23))
+#define _IQ23toIQ(A) ((long) (A) << (GLOBAL_Q - 23))
+#else
+#define _IQtoIQ23(A) ((long) (A) << (23 - GLOBAL_Q))
+#define _IQ23toIQ(A) ((long) (A) >> (23 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 22)
+#define _IQtoIQ22(A) ((long) (A) >> (GLOBAL_Q - 22))
+#define _IQ22toIQ(A) ((long) (A) << (GLOBAL_Q - 22))
+#else
+#define _IQtoIQ22(A) ((long) (A) << (22 - GLOBAL_Q))
+#define _IQ22toIQ(A) ((long) (A) >> (22 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 21)
+#define _IQtoIQ21(A) ((long) (A) >> (GLOBAL_Q - 21))
+#define _IQ21toIQ(A) ((long) (A) << (GLOBAL_Q - 21))
+#else
+#define _IQtoIQ21(A) ((long) (A) << (21 - GLOBAL_Q))
+#define _IQ21toIQ(A) ((long) (A) >> (21 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 20)
+#define _IQtoIQ20(A) ((long) (A) >> (GLOBAL_Q - 20))
+#define _IQ20toIQ(A) ((long) (A) << (GLOBAL_Q - 20))
+#else
+#define _IQtoIQ20(A) ((long) (A) << (20 - GLOBAL_Q))
+#define _IQ20toIQ(A) ((long) (A) >> (20 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 19)
+#define _IQtoIQ19(A) ((long) (A) >> (GLOBAL_Q - 19))
+#define _IQ19toIQ(A) ((long) (A) << (GLOBAL_Q - 19))
+#else
+#define _IQtoIQ19(A) ((long) (A) << (19 - GLOBAL_Q))
+#define _IQ19toIQ(A) ((long) (A) >> (19 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 18)
+#define _IQtoIQ18(A) ((long) (A) >> (GLOBAL_Q - 18))
+#define _IQ18toIQ(A) ((long) (A) << (GLOBAL_Q - 18))
+#else
+#define _IQtoIQ18(A) ((long) (A) << (18 - GLOBAL_Q))
+#define _IQ18toIQ(A) ((long) (A) >> (18 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 17)
+#define _IQtoIQ17(A) ((long) (A) >> (GLOBAL_Q - 17))
+#define _IQ17toIQ(A) ((long) (A) << (GLOBAL_Q - 17))
+#else
+#define _IQtoIQ17(A) ((long) (A) << (17 - GLOBAL_Q))
+#define _IQ17toIQ(A) ((long) (A) >> (17 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 16)
+#define _IQtoIQ16(A) ((long) (A) >> (GLOBAL_Q - 16))
+#define _IQ16toIQ(A) ((long) (A) << (GLOBAL_Q - 16))
+#else
+#define _IQtoIQ16(A) ((long) (A) << (16 - GLOBAL_Q))
+#define _IQ16toIQ(A) ((long) (A) >> (16 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 15)
+#define _IQtoIQ15(A) ((long) (A) >> (GLOBAL_Q - 15))
+#define _IQ15toIQ(A) ((long) (A) << (GLOBAL_Q - 15))
+#define _IQtoQ15(A) ((long) (A) >> (GLOBAL_Q - 15))
+#define _Q15toIQ(A) ((long) (A) << (GLOBAL_Q - 15))
+#else
+#define _IQtoIQ15(A) ((long) (A) << (15 - GLOBAL_Q))
+#define _IQ15toIQ(A) ((long) (A) >> (15 - GLOBAL_Q))
+#define _IQtoQ15(A) ((long) (A) << (15 - GLOBAL_Q))
+#define _Q15toIQ(A) ((long) (A) >> (15 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 14)
+#define _IQtoIQ14(A) ((long) (A) >> (GLOBAL_Q - 14))
+#define _IQ14toIQ(A) ((long) (A) << (GLOBAL_Q - 14))
+#define _IQtoQ14(A) ((long) (A) >> (GLOBAL_Q - 14))
+#define _Q14toIQ(A) ((long) (A) << (GLOBAL_Q - 14))
+#else
+#define _IQtoIQ14(A) ((long) (A) << (14 - GLOBAL_Q))
+#define _IQ14toIQ(A) ((long) (A) >> (14 - GLOBAL_Q))
+#define _IQtoQ14(A) ((long) (A) << (14 - GLOBAL_Q))
+#define _Q14toIQ(A) ((long) (A) >> (14 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 13)
+#define _IQtoIQ13(A) ((long) (A) >> (GLOBAL_Q - 13))
+#define _IQ13toIQ(A) ((long) (A) << (GLOBAL_Q - 13))
+#define _IQtoQ13(A) ((long) (A) >> (GLOBAL_Q - 13))
+#define _Q13toIQ(A) ((long) (A) << (GLOBAL_Q - 13))
+#else
+#define _IQtoIQ13(A) ((long) (A) << (13 - GLOBAL_Q))
+#define _IQ13toIQ(A) ((long) (A) >> (13 - GLOBAL_Q))
+#define _IQtoQ13(A) ((long) (A) << (13 - GLOBAL_Q))
+#define _Q13toIQ(A) ((long) (A) >> (13 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 12)
+#define _IQtoIQ12(A) ((long) (A) >> (GLOBAL_Q - 12))
+#define _IQ12toIQ(A) ((long) (A) << (GLOBAL_Q - 12))
+#define _IQtoQ12(A) ((long) (A) >> (GLOBAL_Q - 12))
+#define _Q12toIQ(A) ((long) (A) << (GLOBAL_Q - 12))
+#else
+#define _IQtoIQ12(A) ((long) (A) << (12 - GLOBAL_Q))
+#define _IQ12toIQ(A) ((long) (A) >> (12 - GLOBAL_Q))
+#define _IQtoQ12(A) ((long) (A) << (12 - GLOBAL_Q))
+#define _Q12toIQ(A) ((long) (A) >> (12 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 11)
+#define _IQtoIQ11(A) ((long) (A) >> (GLOBAL_Q - 11))
+#define _IQ11toIQ(A) ((long) (A) << (GLOBAL_Q - 11))
+#define _IQtoQ11(A) ((long) (A) >> (GLOBAL_Q - 11))
+#define _Q11toIQ(A) ((long) (A) << (GLOBAL_Q - 11))
+#else
+#define _IQtoIQ11(A) ((long) (A) << (11 - GLOBAL_Q))
+#define _IQ11toIQ(A) ((long) (A) >> (11 - GLOBAL_Q))
+#define _IQtoQ11(A) ((long) (A) << (11 - GLOBAL_Q))
+#define _Q11toIQ(A) ((long) (A) >> (11 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 10)
+#define _IQtoIQ10(A) ((long) (A) >> (GLOBAL_Q - 10))
+#define _IQ10toIQ(A) ((long) (A) << (GLOBAL_Q - 10))
+#define _IQtoQ10(A) ((long) (A) >> (GLOBAL_Q - 10))
+#define _Q10toIQ(A) ((long) (A) << (GLOBAL_Q - 10))
+#else
+#define _IQtoIQ10(A) ((long) (A) << (10 - GLOBAL_Q))
+#define _IQ10toIQ(A) ((long) (A) >> (10 - GLOBAL_Q))
+#define _IQtoQ10(A) ((long) (A) << (10 - GLOBAL_Q))
+#define _Q10toIQ(A) ((long) (A) >> (10 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 9)
+#define _IQtoIQ9(A) ((long) (A) >> (GLOBAL_Q - 9))
+#define _IQ9toIQ(A) ((long) (A) << (GLOBAL_Q - 9))
+#define _IQtoQ9(A) ((long) (A) >> (GLOBAL_Q - 9))
+#define _Q9toIQ(A) ((long) (A) << (GLOBAL_Q - 9))
+#else
+#define _IQtoIQ9(A) ((long) (A) << (9 - GLOBAL_Q))
+#define _IQ9toIQ(A) ((long) (A) >> (9 - GLOBAL_Q))
+#define _IQtoQ9(A) ((long) (A) << (9 - GLOBAL_Q))
+#define _Q9toIQ(A) ((long) (A) >> (9 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 8)
+#define _IQtoIQ8(A) ((long) (A) >> (GLOBAL_Q - 8))
+#define _IQ8toIQ(A) ((long) (A) << (GLOBAL_Q - 8))
+#define _IQtoQ8(A) ((long) (A) >> (GLOBAL_Q - 8))
+#define _Q8toIQ(A) ((long) (A) << (GLOBAL_Q - 8))
+#else
+#define _IQtoIQ8(A) ((long) (A) << (8 - GLOBAL_Q))
+#define _IQ8toIQ(A) ((long) (A) >> (8 - GLOBAL_Q))
+#define _IQtoQ8(A) ((long) (A) << (8 - GLOBAL_Q))
+#define _Q8toIQ(A) ((long) (A) >> (8 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 7)
+#define _IQtoIQ7(A) ((long) (A) >> (GLOBAL_Q - 7))
+#define _IQ7toIQ(A) ((long) (A) << (GLOBAL_Q - 7))
+#define _IQtoQ7(A) ((long) (A) >> (GLOBAL_Q - 7))
+#define _Q7toIQ(A) ((long) (A) << (GLOBAL_Q - 7))
+#else
+#define _IQtoIQ7(A) ((long) (A) << (7 - GLOBAL_Q))
+#define _IQ7toIQ(A) ((long) (A) >> (7 - GLOBAL_Q))
+#define _IQtoQ7(A) ((long) (A) << (7 - GLOBAL_Q))
+#define _Q7toIQ(A) ((long) (A) >> (7 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 6)
+#define _IQtoIQ6(A) ((long) (A) >> (GLOBAL_Q - 6))
+#define _IQ6toIQ(A) ((long) (A) << (GLOBAL_Q - 6))
+#define _IQtoQ6(A) ((long) (A) >> (GLOBAL_Q - 6))
+#define _Q6toIQ(A) ((long) (A) << (GLOBAL_Q - 6))
+#else
+#define _IQtoIQ6(A) ((long) (A) << (6 - GLOBAL_Q))
+#define _IQ6toIQ(A) ((long) (A) >> (6 - GLOBAL_Q))
+#define _IQtoQ6(A) ((long) (A) << (6 - GLOBAL_Q))
+#define _Q6toIQ(A) ((long) (A) >> (6 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 5)
+#define _IQtoIQ5(A) ((long) (A) >> (GLOBAL_Q - 5))
+#define _IQ5toIQ(A) ((long) (A) << (GLOBAL_Q - 5))
+#define _IQtoQ5(A) ((long) (A) >> (GLOBAL_Q - 5))
+#define _Q5toIQ(A) ((long) (A) << (GLOBAL_Q - 5))
+#else
+#define _IQtoIQ5(A) ((long) (A) << (5 - GLOBAL_Q))
+#define _IQ5toIQ(A) ((long) (A) >> (5 - GLOBAL_Q))
+#define _IQtoQ5(A) ((long) (A) << (5 - GLOBAL_Q))
+#define _Q5toIQ(A) ((long) (A) >> (5 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 4)
+#define _IQtoIQ4(A) ((long) (A) >> (GLOBAL_Q - 4))
+#define _IQ4toIQ(A) ((long) (A) << (GLOBAL_Q - 4))
+#define _IQtoQ4(A) ((long) (A) >> (GLOBAL_Q - 4))
+#define _Q4toIQ(A) ((long) (A) << (GLOBAL_Q - 4))
+#else
+#define _IQtoIQ4(A) ((long) (A) << (4 - GLOBAL_Q))
+#define _IQ4toIQ(A) ((long) (A) >> (4 - GLOBAL_Q))
+#define _IQtoQ4(A) ((long) (A) << (4 - GLOBAL_Q))
+#define _Q4toIQ(A) ((long) (A) >> (4 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 3)
+#define _IQtoIQ3(A) ((long) (A) >> (GLOBAL_Q - 3))
+#define _IQ3toIQ(A) ((long) (A) << (GLOBAL_Q - 3))
+#define _IQtoQ3(A) ((long) (A) >> (GLOBAL_Q - 3))
+#define _Q3toIQ(A) ((long) (A) << (GLOBAL_Q - 3))
+#else
+#define _IQtoIQ3(A) ((long) (A) << (3 - GLOBAL_Q))
+#define _IQ3toIQ(A) ((long) (A) >> (3 - GLOBAL_Q))
+#define _IQtoQ3(A) ((long) (A) << (3 - GLOBAL_Q))
+#define _Q3toIQ(A) ((long) (A) >> (3 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 2)
+#define _IQtoIQ2(A) ((long) (A) >> (GLOBAL_Q - 2))
+#define _IQ2toIQ(A) ((long) (A) << (GLOBAL_Q - 2))
+#define _IQtoQ2(A) ((long) (A) >> (GLOBAL_Q - 2))
+#define _Q2toIQ(A) ((long) (A) << (GLOBAL_Q - 2))
+#else
+#define _IQtoIQ2(A) ((long) (A) << (2 - GLOBAL_Q))
+#define _IQ2toIQ(A) ((long) (A) >> (2 - GLOBAL_Q))
+#define _IQtoQ2(A) ((long) (A) << (2 - GLOBAL_Q))
+#define _Q2toIQ(A) ((long) (A) >> (2 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 1)
+#define _IQtoQ1(A) ((long) (A) >> (GLOBAL_Q - 1))
+#define _Q1toIQ(A) ((long) (A) << (GLOBAL_Q - 1))
+#else
+#define _IQtoQ1(A) ((long) (A) << (1 - GLOBAL_Q))
+#define _Q1toIQ(A) ((long) (A) >> (1 - GLOBAL_Q))
+#endif
+
+#define _IQtoIQ1(A) ((long) (A) >> (GLOBAL_Q - 1))
+#define _IQ1toIQ(A) ((long) (A) << (GLOBAL_Q - 1))
+
+/////////////////////////////////////////////////////////////
+long multiply(long x, long y);
+long long multiply_fixed_base_select(long long x, long long y, int base);
+long divide(long num, long den);
+long divide19(long num, long den);
+long divideN(long num, long den, unsigned int d);
+long sin_fixed(long x);
+long cos_fixed(long x);
+long sqrt_fixed(long x);
+long exp_fixed(long x);
+long exp_fixedN(long x, unsigned int n);
+
+#define _IQabs(A) ((A) > 0 ? (A): -(A))
+#define _IQmpy(A,B) multiply(A,B)
+#define _IQ19mpy(A,B) multiply_fixed_base_select(A,B,19)
+#define _IQ18mpy(A,B) multiply_fixed_base_select(A,B,18)
+
+#define _IQdiv(A,B) divide(A,B)
+#define _IQ19div(A,B) divide19(A,B)
+#define _IQ18div(A,B) divideN(A,B,18)
+#define _IQsin(A) sin_fixed(A)
+#define _IQcos(A) cos_fixed(A)
+#define _IQsqrt(A) sqrt_fixed(A)
+#define _IQexp(A) exp_fixed(A)
+#define _IQ18exp(A) exp_fixedN(A,18)
+
+
+#define _IQmpyI32(A,B) ((A)*(B))
+
+
+#define PI 3.1415926535897932384626433832795
+#define PI_2 1.5707963267948966192313216916398
+#define TWO_PI 6.283185307179586476925286766559
+
+#ifndef ONE_24
+#define ONE_24 16777216
+#endif
+#ifndef ONE_27
+#define ONE_27 134217728
+#endif
+#ifndef ONE_28
+#define ONE_28 268435456
+#endif
+
+// #ifndef FIXED_PI
+// #define FIXED_PI 52707179
+// #endif
+
+// #ifndef FIXED_2PI
+// #define FIXED_2PI 105414357
+// #endif
+
+#ifndef FIXED_PI_30
+#define FIXED_PI_30 3373259426
+#endif
+
+#ifndef FIXED_2PI_30
+#define FIXED_2PI_30 6746518852
+#endif
+
+#ifndef FIXED_3PIna2
+#define FIXED_3PIna2 79060768
+#endif
+
+#ifndef FIXED_PIna3
+#define FIXED_PIna3 17569059
+#endif
+
+#ifndef FIXED_PIna6
+#define FIXED_PIna6 8784529
+#endif
+
+//###########################################################################
+// If FLOAT_MATH is used, the IQmath library function are replaced by
+// equivalent floating point operations:
+//===========================================================================
+
+#define _IQ15sqrt(A) sqrt(A)
+
+#endif //IQ_MATH_LIB
diff --git a/Inu/Src/main_matlab/IQmathLib_matlab.c b/Inu/Src/main_matlab/IQmathLib_matlab.c
new file mode 100644
index 0000000..f77984b
--- /dev/null
+++ b/Inu/Src/main_matlab/IQmathLib_matlab.c
@@ -0,0 +1,229 @@
+#include "IQmathLib.h"
+#include <math.h>
+
+
+// Преобразование числа с плавающей точкой в число с фиксированной точкой
+#define float_to_fixed(A) (long)((A)*(1 << (GLOBAL_Q)) + (A > 0 ? 0.5: -0.5))
+// Преобразование числа с плавающей точкой в число с фиксированной точкой с выбором числа бит, отдаваемых под дробную часть
+#define float_to_fixed_base_select(A, F_BITS) (long)((A)*(1 << (F_BITS)) + (A > 0 ? 0.5: -0.5))
+// Преобразование целого числа в число с фиксированной точкой
+#define int_to_fixed(A) (long)((A) << (GLOBAL_Q))
+// Преобразование целого числа в число с фиксированной точкой с выбором числа бит, отдаваемых под дробную часть
+#define int_to_fixed_base_select(A, F_BITS) (long)((A) << (F_BITS))
+//Преобразование числа с фиксированной точкой в число с плавающей точкой
+#define fixed_to_float(A) ((double)A / (1 << GLOBAL_Q))
+//Перобразование числа с фиксированной точкой в целое число
+#define fixed_to_int(A) ((int)(A >> GLOBAL_Q) )
+
+long _IQmag(long a, long b)
+{
+ return _IQsqrt(_IQmpy(a, a) + _IQmpy(b, b));
+}
+
+long multiply(long x, long y)
+{
+ long long z = (long long)x * (long long)y;
+ return (long)(z >> GLOBAL_Q);
+}
+//служебная функция. Умножает числа с 27 битами, отданными под дробную часть
+static inline long multiply_27(long x, long y)
+{
+ long long z = (long long)x * (long long)y;
+ return z & 0x4000000 ? (long)(z >> 27) + 1 : (long)(z >> 27);
+}
+
+long long multiply_fixed_base_select(long long x, long long y, int base)
+{
+ long long z = (long long)x * (long long)y;
+ return z & (1 << base) ? (z >> base) + 1 : (z >> base);
+}
+
+long divide(long num, long den)
+{
+ long long numLong = (long long)num;
+ long long quotient = (numLong << GLOBAL_Q) / den;
+ return (long)quotient;
+}
+
+long divide19(long num, long den)
+{
+ long long numLong = (long long)num;
+ long long quotient = (numLong << 19) / den;
+ return (long)quotient;
+}
+
+long divideN(long num, long den, unsigned int d)
+{
+ long long numLong = (long long)num;
+ long long quotient = (numLong << d) / den;
+ return (long)quotient;
+}
+//
+static inline long long divide_fixed_base_select(long long num, long long den, int base)
+{
+ long long quotient = ((long long)num << base) / den;
+ return quotient;
+}
+
+#define div_def(A,B) (long)(((long long)(A) << 24)/(B))
+#define div_mod(A,B) (A)%(B)
+#define mult_def(A,B) (long)((((long long)(A))*((long long)(B))) >> 24)
+#define abs_def(A) ((A) > 0 ? (A): -(A))
+
+long sin_fixed(long x)
+{
+ //Константы сделал ститическими, что бы они вычислялись во время запуска программы, а не исполнения
+ static long FIXED_2PI = float_to_fixed(TWO_PI);
+ static long FIXED_PI = float_to_fixed(PI);
+ static long FIXED_PIna2 = float_to_fixed(PI_2);
+ //Здесть так же что бы не производить операции деления посчитал констаны ряда Тейлора
+ static long one_110 = float_to_fixed_base_select(1./110, 27);
+ static long one_72 = float_to_fixed_base_select(1./72, 27);
+ static long one_42 = float_to_fixed_base_select(1./42, 27);
+ static long one_20= float_to_fixed_base_select(1./20, 27);
+ static long one_6 = float_to_fixed_base_select(1./6, 27);
+
+ long long xx, tmp ;
+ while(x >= FIXED_2PI) { x -= FIXED_2PI;} //Помещаю аргумент в диапазон 2 ПИ
+ while(x <= -FIXED_2PI) { x += FIXED_2PI;}
+ //Так как ряды быстрее сходнятся при малых значениях, помещаю значение аргумента
+ //в ближайшие к нулю области
+ if(x > FIXED_PI)
+ {
+ x -= FIXED_2PI;
+ }
+ else if(x < -FIXED_PI)
+ {
+ x += FIXED_2PI;
+ }
+ if(x < -FIXED_PIna2)
+ {
+ x = -FIXED_PI - x;
+ }
+ else if(x > FIXED_PIna2)
+ {
+ x = FIXED_PI - x;
+ }
+ //проверяю угол на значения, при которых синус раве 0 или 1
+ if(x == 0) return 0;
+ if(x == FIXED_PIna2) return int_to_fixed(1);
+ if(x == -FIXED_PIna2) return int_to_fixed(-1);
+ //Перевожу в формат с максимальной точностью для возможного дипазано значений
+ x <<= (27 - GLOBAL_Q);
+ //Считаю ряд фурье
+ xx = multiply_27(x, x);
+ tmp = ONE_27 - multiply_27(one_110, xx);
+ tmp = multiply_27(xx, tmp);
+ tmp = ONE_27 - multiply_27(tmp, one_72);
+ tmp = multiply_27(xx, tmp);
+ tmp = ONE_27 - multiply_27(tmp, one_42);
+ tmp = multiply_27(xx, tmp);
+ tmp = ONE_27 - multiply_27(tmp, one_20);
+ tmp = multiply_27(xx, tmp);
+ tmp = ONE_27 - multiply_27(tmp, one_6);
+ tmp = multiply_27(x, tmp);
+ return tmp >> (27 - GLOBAL_Q); //Перед возвращением из функции преобразую в первоначальный формат
+}
+
+long cos_fixed(long x)
+{
+ //Константы сделал ститическими, что бы они вычислялись во время запуска программы, а не исполнения
+ static long FIXED_2PI = float_to_fixed(TWO_PI);
+ static long FIXED_PI = float_to_fixed(PI);
+ static long FIXED_PIna2 = float_to_fixed(PI_2);
+ //Здесть так же что бы не производить операции деления посчитал констаны ряда Тейлора
+ static long one_132 = float_to_fixed_base_select(1./132, 27);
+ static long one_90 = float_to_fixed_base_select(1./90, 27);
+ static long one_56 = float_to_fixed_base_select(1./56, 27);
+ static long one_30 = float_to_fixed_base_select(1./30, 27);
+ static long one_12 = float_to_fixed_base_select(1./12, 27);
+
+ long xx, tmp, counter = 0;
+ while(x >= FIXED_2PI) { x -= FIXED_2PI;} //Помещаю аргумент в диапазон 2 ПИ
+ while(x < 0) { x += FIXED_2PI;}
+ x = _IQabs(x); //Так как косинус симметричен относительно нуля, нахожу его модуль
+ //проверяю угол на значения, при которых синус раве 0 или 1
+ if(x == 0) return 1 << GLOBAL_Q;
+ if(x == FIXED_PI) return -(1 << GLOBAL_Q);
+ if(x == (FIXED_PIna2) || (x == FIXED_3PIna2))return 0;
+ //Так как ряды быстрее сходнятся при малых значениях, помещаю значение аргумента
+ //в ближайшие к нулю области
+ while(x > FIXED_PIna2)
+ {
+ x -= FIXED_PIna2;
+ counter++;
+ }
+
+ if(counter == 1 || counter == 3) { x = FIXED_PIna2 - x;}
+ //Перевожу в формат с максимальной точностью для возможного дипазона значений
+ x <<= (27 - GLOBAL_Q);
+ //Считаю ряд фурье
+ xx = multiply_27(x, x);
+ tmp = ONE_27 - multiply_27(xx, one_132);
+ tmp= multiply_27(xx, tmp);
+ tmp = ONE_27 - multiply_27(xx, one_90);
+ tmp= multiply_27(xx, tmp);
+ tmp = ONE_27 - multiply_27(tmp, one_56);
+ tmp = multiply_27(xx, tmp);
+ tmp = ONE_27 - multiply_27(tmp, one_30);
+ tmp = multiply_27(xx, tmp);
+ tmp = ONE_27 - multiply_27(tmp, one_12);
+ tmp = multiply_27(xx, tmp);
+ tmp = ONE_27 - (tmp >> 1);
+ tmp >>= (27 - GLOBAL_Q);
+ return (counter == 0) || (counter == 3) ? tmp : -tmp;
+}
+
+long sqrt_fixed(long x)
+{
+ int variable_size_bits = sizeof(x) << 3;
+ long average_val, prev_avg_val;
+ if(x <= 0) return 0;
+ while(!(x & (1 << --variable_size_bits))); //Нахожу старший значащий бит
+ //Нахожу приближение корня сдвгом на половину числа бит между старшим значащим битом
+ //и положением точки
+ if(variable_size_bits > GLOBAL_Q)
+ {
+ average_val = x >> ((variable_size_bits - GLOBAL_Q) >> 1);
+ }
+ else
+ {
+ average_val = x << ((GLOBAL_Q - variable_size_bits) >> 1);
+ }
+ prev_avg_val = divide(x, average_val); //Нахожу 1/А
+ //В цикле нахожу среднее арифметическое между А и 1/А, пока число не перестанет меняться
+ while(_IQabs(prev_avg_val - average_val) > 1)
+ {
+ prev_avg_val = average_val;
+ average_val = (average_val + divide(x, average_val)) >> 1;
+ }
+ return average_val;
+}
+
+
+long exp_fixed(long x)
+{
+ // static long FIXED_2PI = float_to_fixed(TWO_PI);
+ float f = _IQtoF(x);
+ float r1 = exp(f);
+ if (r1>127) r1=127;
+ if (r1<-127) r1=-127;
+ long r2 = _IQ(r1);
+
+ return r2;
+}
+
+
+long exp_fixedN(long x, unsigned int n)
+{
+ if (n==18)
+ {
+ float f = _IQ18toF(x);
+ float r1 = exp(f);
+ if (r1>8100) r1=8100;
+ if (r1<-8100) r1=-8100;
+ long r2 = _IQ(r1);
+
+ return r2;
+ }
+}
\ No newline at end of file
diff --git a/Inu/Src/main_matlab/adc_tools.h b/Inu/Src/main_matlab/adc_tools.h
new file mode 100644
index 0000000..598df53
--- /dev/null
+++ b/Inu/Src/main_matlab/adc_tools.h
@@ -0,0 +1,445 @@
+#ifndef _ADC_TOOLS
+#define _ADC_TOOLS
+
+#include "IQmathLib.h"
+#include "xp_project.h"
+
+#define COUNT_DETECT_ZERO 3000
+
+#define COUNT_ARR_ADC_BUF_FAST_POINT 10
+
+#define NORMA_ACP 3000.0
+#define NORMA_ACP_RMS 2127.66
+
+#define NORMA_ACP_TEMPER_MILL_AMP 100.0 //
+
+#ifndef PROJECT_SHIP
+#error �� ���������� PROJECT_SHIP � predifine Name
+#else
+
+
+#if (PROJECT_SHIP == 1)
+#define NORMA_ACP_TEMPER 100.0 // ��� 23550.1
+#endif
+
+
+#if (PROJECT_SHIP == 2)
+#define NORMA_ACP_TEMPER 200.0 // ��� 23550.3
+#endif
+
+#if (PROJECT_SHIP== 3)
+#define NORMA_ACP_TEMPER 200.0 // ��� 23550.3
+
+#endif
+
+
+#endif
+
+#define DELTA_ACP_TEMPER 0.0 // ������� ����� pt100 ����� ���������� �������� 0.0 ��������, ��� �������� ���� SG3013
+
+#define NORMA_ACP_P 100.0
+#define ADC_READ_FROM_PARALLEL_BUS 1
+
+#define DEFAULT_ZERO_ADC 2048
+
+#ifndef USE_INTERNAL_ADC
+#define USE_INTERNAL_ADC 0
+#endif
+
+
+#if (USE_INTERNAL_ADC==1)
+#define COUNT_ARR_ADC_BUF (C_adc_number+1)
+#else
+#define COUNT_ARR_ADC_BUF C_adc_number
+#endif
+
+#define COUNT_ARR_ADC_BUF_EXTERNAL C_adc_number
+
+
+
+// 23550.3
+
+#if(C_adc_number>=1)
+#define R_ADC_DEFAULT_0 { 271, 271, 876, 876, 876, 876, 876, 876, 249, 249, 301, 301, 301, 301, 301, 301 }
+#define K_LEM_ADC_DEFAULT_0 { 7200, 7200, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 8400, 8400, 8400, 8400, 5000, 5000 }
+#define NORMA_ADC_DEFAULT_0 { NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP }
+#endif
+
+#if(C_adc_number>=2)
+#define R_ADC_DEFAULT_1 { 1, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190 }
+#define K_LEM_ADC_DEFAULT_1 { 1, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1 }
+#define NORMA_ADC_DEFAULT_1 { NORMA_ACP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_TEMPER_MILL_AMP, NORMA_ACP_P, NORMA_ACP }
+#endif
+
+#if(C_adc_number>=3)
+#define R_ADC_DEFAULT_2 { 271, 271, 887, 887, 887, 887, 887, 887, 250, 250, 3125, 3125, 3125, 3125, 309, 309 }
+#define K_LEM_ADC_DEFAULT_2 { 7200, 7200, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 60000, 60000, 60000, 60000, 5000, 5000 }
+#define NORMA_ADC_DEFAULT_2 { NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP }
+#endif
+
+// 23550.1
+
+//#if(C_adc_number>=1)
+//#define R_ADC_DEFAULT_0 { 271, 271, 887, 887, 887, 887, 887, 887, 250, 250, 312, 312, 312, 312, 309, 309 }
+//#define K_LEM_ADC_DEFAULT_0 { 7200, 7200, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 8400, 8400, 8400, 8400, 5000, 5000 }
+//#define NORMA_ADC_DEFAULT_0 { NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP }
+//#endif
+//
+//#if(C_adc_number>=2)
+//#define R_ADC_DEFAULT_1 { 1, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190, 6190 }
+//#define K_LEM_ADC_DEFAULT_1 { 1, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1 }
+//#define NORMA_ADC_DEFAULT_1 { NORMA_ACP, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_TEMPER, NORMA_ACP_P, NORMA_ACP }
+//#endif
+//
+//#if(C_adc_number>=3)
+//#define R_ADC_DEFAULT_2 { 271, 271, 887, 887, 887, 887, 887, 887, 250, 250, 3125, 3125, 3125, 3125, 309, 309 }
+//#define K_LEM_ADC_DEFAULT_2 { 7200, 7200, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 60000, 60000, 60000, 60000, 5000, 5000 }
+//#define NORMA_ADC_DEFAULT_2 { NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP }
+//#endif
+
+
+
+
+#if (USE_INTERNAL_ADC==1)
+#define R_ADC_DEFAULT_INTERNAL { 100,100,100,100,100,100,100,100,1248,1248,1248,100,100,100,100,100 }
+#define K_LEM_ADC_DEFAULT_INTERNAL { 30,30,30,30,10,10,10,10,621,621,621,100,10,10,10,10 }
+#define NORMA_ADC_DEFAULT_INTERNAL { NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP, NORMA_ACP }
+#endif
+
+
+
+
+
+/*
+ //awa3
+ //14 ����� out1
+ 0 - 11 ������ �������
+ //15 ����� out2
+ 0 - 11 ������ �������
+ //8 �����
+ 0 - 20 �� | 0 ���� - 200 ���� / ��������
+ 0V - 1.5V / 0 ���� - 200 ���� / ��������
+ //9 �����
+ 0 - 20 �� | 0 ���� - 200 ���� / ��������
+ 0V - 1.5V / 0 ���� - 200 ���� / ��������
+
+ //10 �����
+ 0 - 20 �� | 0 ���� - 200 ���� / ��������
+ 0V - 1.5V / 0 ���� - 200 ���� / ��������
+
+ //11 �����
+ 0 - 20 �� | 0 ���� - 200 ���� / ��������
+ 0V - 1.5V / 0 ���� - 200 ���� / ��������
+ //12 �����
+ 4 - 20 �� | 0 ��� - 10 ��� / ��������
+ 0.3V - 1.5V / 0 ��� - 10 ��� / ��������
+
+ //13 �����
+ 4 - 20 �� | 0 ��� - 10 ��� / ��������
+ 0.3V - 1.5V / 0 ��� - 10 ��� / ��������
+*/
+
+
+typedef union
+{
+
+ struct
+ {
+ unsigned int c0_plus : 1; /* 0 ������+ */
+ unsigned int c1_plus : 1; /* 0 ������+ */
+ unsigned int c2_plus : 1; /* 0 ������+ */
+ unsigned int c3_plus : 1; /* 0 ������+ */
+ unsigned int c4_plus : 1; /* 0 ������+ */
+ unsigned int c5_plus : 1; /* 0 ������+ */
+ unsigned int c6_plus : 1; /* 0 ������+ */
+ unsigned int c7_plus : 1; /* 0 ������+ */
+ unsigned int c8_plus : 1; /* 0 ������+ */
+ unsigned int c9_plus : 1; /* 0 ������+ */
+ unsigned int c10_plus : 1; /* 0 ������+ */
+ unsigned int c11_plus : 1; /* 0 ������+ */
+ unsigned int c12_plus : 1; /* 0 ������+ */
+ unsigned int c13_plus : 1; /* 0 ������+ */
+ unsigned int c14_plus : 1; /* 0 ������+ */
+ unsigned int c15_plus : 1; /* 0 ������+ */
+ } bit; /* ������ ������� */
+ unsigned long all; /* ������ ������ */
+
+} ERR_ADC_PLUS_PROTECT;
+
+
+typedef union
+{
+
+ struct
+ {
+ unsigned int c0_minus : 1; /* 0 ������- */
+ unsigned int c1_minus : 1; /* 0 ������- */
+ unsigned int c2_minus : 1; /* 0 ������- */
+ unsigned int c3_minus : 1; /* 0 ������- */
+ unsigned int c4_minus : 1; /* 0 ������- */
+ unsigned int c5_minus : 1; /* 0 ������- */
+ unsigned int c6_minus : 1; /* 0 ������- */
+ unsigned int c7_minus : 1; /* 0 ������- */
+ unsigned int c8_minus : 1; /* 0 ������- */
+ unsigned int c9_minus : 1; /* 0 ������- */
+ unsigned int c10_minus : 1; /* 0 ������- */
+ unsigned int c11_minus : 1; /* 0 ������- */
+ unsigned int c12_minus : 1; /* 0 ������- */
+ unsigned int c13_minus : 1; /* 0 ������- */
+ unsigned int c14_minus : 1; /* 0 ������- */
+ unsigned int c15_minus : 1; /* 0 ������- */
+
+ } bit; /* ������ ������� */
+ unsigned int all; /* ������ ������ */
+
+} ERR_ADC_MINUS_PROTECT;
+
+
+typedef struct
+{
+ ERR_ADC_PLUS_PROTECT plus;
+ ERR_ADC_MINUS_PROTECT minus;
+} ERR_ADC_PROTECT;
+
+
+/* ���������y ��������� �������� ����� � ����y����� ��� */
+typedef struct
+{
+ _iq iqU_1;
+ _iq iqU_2;
+
+ _iq iqU_1_fast;
+ _iq iqU_2_fast;
+
+ _iq iqU_1_long;
+ _iq iqU_2_long;
+
+ _iq iqIu_1;
+ _iq iqIv_1;
+ _iq iqIw_1;
+
+ _iq iqIu_2;
+ _iq iqIv_2;
+ _iq iqIw_2;
+
+ _iq iqIu_1_rms;
+ _iq iqIv_1_rms;
+ _iq iqIw_1_rms;
+
+ _iq iqIu_2_rms;
+ _iq iqIv_2_rms;
+ _iq iqIw_2_rms;
+
+ _iq iqIu;
+ _iq iqIv;
+ _iq iqIw;
+
+ _iq iqIin_1;
+ _iq iqIin_2;
+
+ _iq iqUin_A1B1;
+ _iq iqUin_B1C1;
+ _iq iqUin_C1A1;
+
+ _iq iqUin_A2B2;
+ _iq iqUin_B2C2;
+ _iq iqUin_C2A2;
+
+ _iq iqUin_A1B1_rms;
+ _iq iqUin_B1C1_rms;
+ _iq iqUin_C1A1_rms;
+
+ _iq iqUin_A2B2_rms;
+ _iq iqUin_B2C2_rms;
+ _iq iqUin_C2A2_rms;
+
+ _iq iqUin_m1;
+ _iq iqUin_m2;
+
+ _iq iqIbreak_1;
+ _iq iqIbreak_2;
+
+ _iq T_U01;
+ _iq T_U02;
+ _iq T_U03;
+ _iq T_U04;
+ _iq T_U05;
+ _iq T_U06;
+ _iq T_U07;
+
+ _iq T_Water_external;
+ _iq T_Water_internal;
+
+ _iq T_Air_01;
+ _iq T_Air_02;
+ _iq T_Air_03;
+ _iq T_Air_04;
+
+ _iq P_Water_internal;
+
+
+ _iq iqI_vozbud;
+
+ _iq iqIin_sum;
+
+ _iq iqIm_1;
+ _iq iqIm_2;
+
+ _iq iqIm;
+
+
+ _iq iqM;
+
+ _iq PowerScalar;
+ _iq PowerScalarFilter2;
+ _iq PowerFOC;
+
+ _iq iqU_1_imit;
+
+
+ /*
+ _iq iqUzpt_1_2; //uzpt1 bs2
+ _iq iqUzpt_2_2; //uzpt2 bs2
+ _iq iqUzpt_1_2_fast; //uzpt1 bs2
+ _iq iqUzpt_2_2_fast; //uzpt2 bs2
+ _iq iqUzpt_1_2_long; //uzpt1 bs2
+ _iq iqUzpt_2_2_long; //uzpt2 bs2
+ _iq iqIin_1_1; //Iin AF1 BS1
+ _iq iqIin_2_1; //Iin AF2 BS1
+ _iq iqIin_3_1; //Iin AF3 BS1
+ _iq iqIin_4_1; //Iin AF4 BS1
+ _iq iqIin_5_1; //Iin AF5 BS1
+ _iq iqIin_6_1; //Iin AF6 BS1
+ _iq iqIin_1_2; //Iin AF1 BS2
+ _iq iqIin_2_2; //Iin AF2 BS2
+ _iq iqIin_3_2; //Iin AF3 BS2
+ _iq iqIin_4_2; //Iin AF4 BS2
+ _iq iqIin_5_2; //Iin AF5 BS2
+ _iq iqIin_6_2; //Iin AF6 BS2
+ _iq iqUin_AB; //������� �������� ���������� AB
+ _iq iqUin_BC; //������� �������� ���������� BC
+ _iq iqUin_CA; //������� �������� ���������� CA
+ _iq iqUin_AB_sf; //������� �������� ���������� AB
+ _iq iqUin_BC_sf; //������� �������� ���������� BC
+ _iq iqUin_CA_sf; //������� �������� ���������� CA
+ _iq iqT_WATER_in; // ����������� ���� �� ����� ��
+ _iq iqT_WATER_out; // ����������� ���� �� ������ ��
+ _iq iqT_AIR_in_up; // ����������� ������� �� ����� �� (����)
+ _iq iqT_AIR_in_down;// ����������� ������� �� ����� �� (���)
+ _iq iqP_WATER_in; // �������� ���� �� ����� ��
+ _iq iqP_WATER_out; // �������� ���� �� ������ ��
+
+ _iq iqT_BK1_BK12; // ������� ��������� ������ �� �������� BK1_BK12
+ _iq iqT_BK13_BK24; // ������� ��������� ������ �� �������� BK13_BK24
+
+ _iq iqUin_m1; //��������� ������� �������� ����������
+
+
+ _iq iqIu_1_1; //Iu AF1 BS1
+ _iq iqIu_1_2; //Iu AF2 BS1
+ _iq iqIv_1_1; //Iv AF3 BS1
+ _iq iqIv_1_2; //Iv AF4 BS1
+ _iq iqIw_1_1; //Iw AF5 BS1
+ _iq iqIw_1_2; //Iw AF6 BS1
+
+
+
+ _iq iqIu_2_1; //Iu AF1 BS2
+ _iq iqIu_2_2; //Iu AF2 BS2
+ _iq iqIv_2_1; //Iv AF3 BS2
+ _iq iqIv_2_2; //Iv AF4 BS2
+ _iq iqIw_2_1; //Iw AF5 BS2
+ _iq iqIw_2_2; //Iw AF6 BS2
+
+ _iq iqIm_1;
+ _iq iqIm_2;
+
+ _iq iqWexp;
+ _iq iqWout;
+
+ _iq iqM;
+*/
+} ANALOG_VALUE;
+
+typedef struct {
+ float U1_1;
+ float U1_2;
+ float Izpt1_1;
+ float Izpt1_2;
+ float Ia1;
+ float Ib1;
+ float Ic1;
+ float U2_1;
+ float U2_2;
+ float Izpt2_1;
+ float Izpt2_2;
+ float Ia2;
+ float Ib2;
+ float Ic2;
+
+ void (*read_adc)();
+} ANALOG_RAW_DATA;
+
+#define ANALOG_VALUE_DEFAULT {0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,\
+ 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0, 0}
+/* ���������y ��������� �������� ����� � ����y����� ��� */
+
+
+#define ERR_LEVEL_ADC_PLUS 3950 //+1270A //2950 // +650A //3467 // 3367 //3367 //3267 // 0xfff-0x29c
+#define ERR_LEVEL_ADC_MINUS 150 //-1270A //1150 //-650A // 267 //367
+
+#define ERR_LEVEL_ADC_PLUS_6 3800 //3783 //3623~1150 // 3462 ~ 1050 A // 3320 ~ 960A //3680 //3267 // 0xfff-0x29c
+#define ERR_LEVEL_ADC_MINUS_6 1000 //267 //367
+
+#define MIN_DETECT_UD_ZERO 2300
+
+
+#define level_err_ADC_PLUS_default {ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,\
+ ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,\
+ ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,\
+ ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS,ERR_LEVEL_ADC_PLUS}
+
+#define level_err_ADC_MINUS_default {ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,\
+ ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,\
+ ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,\
+ ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS,ERR_LEVEL_ADC_MINUS}
+
+
+extern ANALOG_VALUE analog;
+extern ANALOG_VALUE filter;
+extern ANALOG_VALUE analog_zero;
+extern ANALOG_RAW_DATA rawData;
+extern _iq iq_norm_ADC[COUNT_ARR_ADC_BUF][16];
+
+//void calc_norm_ADC(int fast);
+void calc_norm_ADC_0(int run_norma);
+void calc_norm_ADC_1(int run_norma);
+void Init_Adc_Variables(void);
+void norma_adc_nc(int nc);
+void init_Adc_Variables(void);
+void detect_zero_analog(int nc);
+
+
+extern int ADC_f[COUNT_ARR_ADC_BUF][16];
+extern int zero_ADC[COUNT_ARR_ADC_BUF][16];
+
+extern ERR_ADC_PROTECT err_adc_protect[COUNT_ARR_ADC_BUF], mask_err_adc_protect[COUNT_ARR_ADC_BUF];
+
+extern unsigned int const R_ADC[COUNT_ARR_ADC_BUF][16];
+extern unsigned int const K_LEM_ADC[COUNT_ARR_ADC_BUF][16];
+extern float K_NORMA_ADC[COUNT_ARR_ADC_BUF][16];
+
+//void norma_all_adc(void);
+
+
+void detect_zero_analog(int nc);
+
+
+#if (USE_INTERNAL_ADC==1)
+
+void Init_Internal_Adc(void);
+
+#endif
+
+
+#endif // end _ADC_TOOLS
diff --git a/Inu/Src/main_matlab/adc_tools_matlab.c b/Inu/Src/main_matlab/adc_tools_matlab.c
new file mode 100644
index 0000000..c2ffe34
--- /dev/null
+++ b/Inu/Src/main_matlab/adc_tools_matlab.c
@@ -0,0 +1,748 @@
+// #include "project.h"
+#include "adc_tools.h"
+// #include "xp_project.h"
+#include "IQmathLib.h"
+#include "math.h"
+#include "filter_v1.h"
+#include "params.h"
+// #include "params_protect.h"
+#include "vector.h"
+// #include "xp_adc.h"
+// #include "TuneUpPlane.h" //Ìîðãàíèå ñâåòîäèîäîì
+// #include "log_to_memory.h"
+// #include "errors.h"
+
+// #define COUNT_ARR_ADC_BUF 2
+#define Shift_Filter 1 //2
+
+#define BTR_ENABLED
+
+#define R_ADC_DEFAULT { 1180 ,1180 , 256, 256, 256, 256, 256, 1180, 1180, 256, 256, 256, 256, 256, 256, 256, 256, 256 }
+#define K_LEM_ADC_DEFAULT { 60000,60000,5000, 5000,5000,5000,5000,60000,60000,5000,5000,5000,5000,5000,5000,5000,5000,5000 }
+//#define LOG_ACP_TO_BUF
+
+
+
+#if (USE_INTERNAL_ADC==1)
+
+#if(C_adc_number==1)
+unsigned int const R_ADC[COUNT_ARR_ADC_BUF][16] = { R_ADC_DEFAULT_0,R_ADC_DEFAULT_INTERNAL };
+unsigned int const K_LEM_ADC[COUNT_ARR_ADC_BUF][16] = { K_LEM_ADC_DEFAULT_0, K_LEM_ADC_DEFAULT_INTERNAL };
+float const K_NORMA_ADC[COUNT_ARR_ADC_BUF][16] = { NORMA_ADC_DEFAULT_0, NORMA_ADC_DEFAULT_INTERNAL };
+#endif
+#if(C_adc_number==2)
+unsigned int const R_ADC[COUNT_ARR_ADC_BUF][16] = { R_ADC_DEFAULT_0, R_ADC_DEFAULT_1,R_ADC_DEFAULT_INTERNAL };
+unsigned int const K_LEM_ADC[COUNT_ARR_ADC_BUF][16] = { K_LEM_ADC_DEFAULT_0, K_LEM_ADC_DEFAULT_1, K_LEM_ADC_DEFAULT_INTERNAL };
+float const K_NORMA_ADC[COUNT_ARR_ADC_BUF][16] = { NORMA_ADC_DEFAULT_0, NORMA_ADC_DEFAULT_1, NORMA_ADC_DEFAULT_INTERNAL };
+#endif
+#if(C_adc_number==3)
+unsigned int const R_ADC[COUNT_ARR_ADC_BUF][16] = { R_ADC_DEFAULT_0, R_ADC_DEFAULT_1, R_ADC_DEFAULT_2,R_ADC_DEFAULT_INTERNAL };
+unsigned int const K_LEM_ADC[COUNT_ARR_ADC_BUF][16] = { K_LEM_ADC_DEFAULT_0, K_LEM_ADC_DEFAULT_1, K_LEM_ADC_DEFAULT_2, K_LEM_ADC_DEFAULT_INTERNAL };
+float const K_NORMA_ADC[COUNT_ARR_ADC_BUF][16] = { NORMA_ADC_DEFAULT_0, NORMA_ADC_DEFAULT_1, NORMA_ADC_DEFAULT_2, NORMA_ADC_DEFAULT_INTERNAL };
+#endif
+
+#else
+
+#if(C_adc_number==1)
+#pragma DATA_SECTION(R_ADC,".slow_vars")
+unsigned int R_ADC[COUNT_ARR_ADC_BUF][16] = { R_ADC_DEFAULT_0 };
+#pragma DATA_SECTION(K_LEM_ADC,".slow_vars")
+unsigned int K_LEM_ADC[COUNT_ARR_ADC_BUF][16] = { K_LEM_ADC_DEFAULT_0 };
+#pragma DATA_SECTION(K_NORMA_ADC,".slow_vars")
+float K_NORMA_ADC[COUNT_ARR_ADC_BUF][16] = { NORMA_ADC_DEFAULT_0 };
+#endif
+#if(C_adc_number==2)
+#pragma DATA_SECTION(R_ADC,".slow_vars")
+unsigned int const R_ADC[COUNT_ARR_ADC_BUF][16] = { R_ADC_DEFAULT_0, R_ADC_DEFAULT_1 };
+#pragma DATA_SECTION(K_LEM_ADC,".slow_vars")
+unsigned int const K_LEM_ADC[COUNT_ARR_ADC_BUF][16] = { K_LEM_ADC_DEFAULT_0, K_LEM_ADC_DEFAULT_1 };
+#pragma DATA_SECTION(K_NORMA_ADC,".slow_vars")
+float K_NORMA_ADC[COUNT_ARR_ADC_BUF][16] = { NORMA_ADC_DEFAULT_0, NORMA_ADC_DEFAULT_1 };
+#endif
+#if(C_adc_number==3)
+#pragma DATA_SECTION(R_ADC,".slow_vars")
+unsigned int R_ADC[COUNT_ARR_ADC_BUF][16] = { R_ADC_DEFAULT_0, R_ADC_DEFAULT_1, R_ADC_DEFAULT_2 };
+#pragma DATA_SECTION(K_LEM_ADC,".slow_vars")
+unsigned int K_LEM_ADC[COUNT_ARR_ADC_BUF][16] = { K_LEM_ADC_DEFAULT_0, K_LEM_ADC_DEFAULT_1, K_LEM_ADC_DEFAULT_2 };
+#pragma DATA_SECTION(K_NORMA_ADC,".slow_vars")
+float K_NORMA_ADC[COUNT_ARR_ADC_BUF][16] = { NORMA_ADC_DEFAULT_0, NORMA_ADC_DEFAULT_1, NORMA_ADC_DEFAULT_2 };
+#endif
+
+#endif
+
+#pragma DATA_SECTION(ADC_f,".fast_vars");
+int ADC_f[COUNT_ARR_ADC_BUF][16];
+
+#pragma DATA_SECTION(ADC_fast,".fast_vars");
+int ADC_fast[COUNT_ARR_ADC_BUF][16][COUNT_ARR_ADC_BUF_FAST_POINT];
+
+
+#pragma DATA_SECTION(ADC_sf,".fast_vars");
+int ADC_sf[COUNT_ARR_ADC_BUF][16];
+
+#pragma DATA_SECTION(analog,".fast_vars");
+ANALOG_VALUE analog = ANALOG_VALUE_DEFAULT;
+
+#pragma DATA_SECTION(filter,".fast_vars");
+ANALOG_VALUE filter = ANALOG_VALUE_DEFAULT;
+
+#pragma DATA_SECTION(analog_zero,".fast_vars");
+ANALOG_VALUE analog_zero = ANALOG_VALUE_DEFAULT;
+
+
+
+unsigned int const level_err_ADC_PLUS[16] = level_err_ADC_PLUS_default;
+unsigned int const level_err_ADC_MINUS[16] = level_err_ADC_MINUS_default;
+
+
+#pragma DATA_SECTION(err_adc_protect,".fast_vars");
+#pragma DATA_SECTION(mask_err_adc_protect,".fast_vars");
+ERR_ADC_PROTECT err_adc_protect[COUNT_ARR_ADC_BUF], mask_err_adc_protect[COUNT_ARR_ADC_BUF];
+
+
+
+_iq koef_Im_filter = 0;
+_iq koef_Power_filter = 0;
+_iq koef_Power_filter2 = 0;
+
+#pragma DATA_SECTION(k_norm_ADC,".slow_vars")
+_iq19 k_norm_ADC[COUNT_ARR_ADC_BUF][16];
+
+#pragma DATA_SECTION(iq19_zero_ADC,".fast_vars");
+_iq19 iq19_zero_ADC[COUNT_ARR_ADC_BUF][16];
+
+
+#pragma DATA_SECTION(zero_ADC,".slow_vars")
+int zero_ADC[COUNT_ARR_ADC_BUF][16];
+
+
+#pragma DATA_SECTION(iq19_k_norm_ADC,".fast_vars");
+_iq19 iq19_k_norm_ADC[COUNT_ARR_ADC_BUF][16];
+
+#pragma DATA_SECTION(iq_norm_ADC,".fast_vars");
+_iq iq_norm_ADC[COUNT_ARR_ADC_BUF][16];
+
+#pragma DATA_SECTION(iq_norm_ADC_sf,".fast_vars");
+_iq iq_norm_ADC_sf[COUNT_ARR_ADC_BUF][16];
+
+
+#pragma DATA_SECTION(koef_Uzpt_long_filter,".fast_vars");
+_iq koef_Uzpt_long_filter = 0;
+
+#pragma DATA_SECTION(koef_Uzpt_fast_filter,".fast_vars");
+_iq koef_Uzpt_fast_filter = 0;
+
+#pragma DATA_SECTION(koef_Uin_filter,".fast_vars");
+_iq koef_Uin_filter = 0;
+
+
+ANALOG_RAW_DATA rawData = {0};
+
+
+
+
+void calc_norm_ADC(void);
+void analog_values_calc(void);
+_iq im_calc( _iq ia, _iq ib, _iq ic);
+
+#define Shift_Filter 1 //2
+void read_adc()
+{
+ static unsigned int adr_adc = 0;
+ if(project.adc[0].status == component_Ready)
+ {
+ project.adc->read_pbus(&project.adc[0]);
+ ADC_f[0][0] = project.adc[0].read.pbus.adc_value[0];
+ ADC_f[0][1] = project.adc[0].read.pbus.adc_value[1];
+ ADC_f[0][2] = project.adc[0].read.pbus.adc_value[2];
+ ADC_f[0][3] = project.adc[0].read.pbus.adc_value[3];
+ ADC_f[0][4] = project.adc[0].read.pbus.adc_value[4];
+ ADC_f[0][5] = project.adc[0].read.pbus.adc_value[5];
+ ADC_f[0][6] = project.adc[0].read.pbus.adc_value[6];
+ ADC_f[0][7] = project.adc[0].read.pbus.adc_value[7];
+ ADC_f[0][8] = project.adc[0].read.pbus.adc_value[8];
+ ADC_f[0][9] = project.adc[0].read.pbus.adc_value[9];
+ ADC_f[0][10] = project.adc[0].read.pbus.adc_value[10];
+ ADC_f[0][11] = project.adc[0].read.pbus.adc_value[11];
+ ADC_f[0][12] = project.adc[0].read.pbus.adc_value[12];
+ ADC_f[0][13] = project.adc[0].read.pbus.adc_value[13];
+ ADC_f[0][14] = project.adc[0].read.pbus.adc_value[14];
+ ADC_f[0][15] = project.adc[0].read.pbus.adc_value[15];
+
+
+ ADC_sf[0][0] += (ADC_f[0][0] - ADC_sf[0][0]) >> Shift_Filter;
+ ADC_sf[0][1] += (ADC_f[0][1] - ADC_sf[0][1]) >> Shift_Filter;
+ ADC_sf[0][2] += (ADC_f[0][2] - ADC_sf[0][2]) >> Shift_Filter;
+ ADC_sf[0][3] += (ADC_f[0][3] - ADC_sf[0][3]) >> Shift_Filter;
+ ADC_sf[0][4] += (ADC_f[0][4] - ADC_sf[0][4]) >> Shift_Filter;
+ ADC_sf[0][5] += (ADC_f[0][5] - ADC_sf[0][5]) >> Shift_Filter;
+ ADC_sf[0][6] += (ADC_f[0][6] - ADC_sf[0][6]) >> Shift_Filter;
+
+ ADC_sf[0][7] += (ADC_f[0][7] - ADC_sf[0][7]) >> Shift_Filter;
+ ADC_sf[0][8] += (ADC_f[0][8] - ADC_sf[0][8]) >> Shift_Filter;
+ ADC_sf[0][9] += (ADC_f[0][9] - ADC_sf[0][9]) >> Shift_Filter;
+ ADC_sf[0][10] += (ADC_f[0][10] - ADC_sf[0][10]) >> Shift_Filter;
+ ADC_sf[0][11] += (ADC_f[0][11] - ADC_sf[0][11]) >> Shift_Filter;
+ ADC_sf[0][12] += (ADC_f[0][12] - ADC_sf[0][12]) >> Shift_Filter;
+ ADC_sf[0][13] += (ADC_f[0][13] - ADC_sf[0][13]) >> Shift_Filter;
+ ADC_sf[0][14] += (ADC_f[0][14] - ADC_sf[0][14]) >> Shift_Filter;
+ ADC_sf[0][15] += (ADC_f[0][15] - ADC_sf[0][15]) >> Shift_Filter;
+ }
+ if(project.adc[1].status == component_Ready)
+ {
+ project.adc->read_pbus(&project.adc[1]);
+ // adr_adc = project.adc[1].adr_pbus.adr_table[0];
+ ADC_f[1][0] = project.adc[1].read.pbus.adc_value[0];
+ ADC_f[1][1] = project.adc[1].read.pbus.adc_value[1];
+ ADC_f[1][2] = project.adc[1].read.pbus.adc_value[2];
+ ADC_f[1][3] = project.adc[1].read.pbus.adc_value[3];
+
+ ADC_sf[1][0] += (ADC_f[1][0] - ADC_sf[1][0]) >> Shift_Filter;
+ ADC_sf[1][1] += (ADC_f[1][1] - ADC_sf[1][1]) >> Shift_Filter;
+ ADC_sf[1][2] += (ADC_f[1][2] - ADC_sf[1][2]) >> Shift_Filter;
+ ADC_sf[1][3] += (ADC_f[1][3] - ADC_sf[1][3]) >> Shift_Filter;
+ /* Not used
+ ADC_sf[1][4] += (ADC_f[1][4] - ADC_sf[1][4]) >> Shift_Filter;
+ ADC_sf[1][5] += (ADC_f[1][5] - ADC_sf[1][5]) >> Shift_Filter;
+ ADC_sf[1][6] += (ADC_f[1][6] - ADC_sf[1][6]) >> Shift_Filter;
+ ADC_sf[1][7] += (ADC_f[1][7] - ADC_sf[1][7]) >> Shift_Filter;
+ ADC_sf[1][8] += (ADC_f[1][8] - ADC_sf[1][8]) >> Shift_Filter;
+ ADC_sf[1][9] += (ADC_f[1][9] - ADC_sf[1][9]) >> Shift_Filter;
+ ADC_sf[1][10] += (ADC_f[1][10] - ADC_sf[1][10]) >> Shift_Filter;
+ ADC_sf[1][11] += (ADC_f[1][11] - ADC_sf[1][11]) >> Shift_Filter;
+ ADC_sf[1][12] += (ADC_f[1][12] - ADC_sf[1][12]) >> Shift_Filter;
+ ADC_sf[1][13] += (ADC_f[1][13] - ADC_sf[1][13]) >> Shift_Filter;
+ ADC_sf[1][14] += (ADC_f[1][14] - ADC_sf[1][14]) >> Shift_Filter;
+ ADC_sf[1][15] += (ADC_f[1][15] - ADC_sf[1][15]) >> Shift_Filter;
+ */
+ }
+}
+
+void acp_Handler(void)
+{
+ //read_adc();
+ calc_norm_ADC_0(0);
+ //analog_values_calc();
+ // Read_Fast_Errors();
+}
+
+//#define COUNT_DETECT_ZERO 500
+
+
+
+void init_Adc_Variables(void)
+{
+ unsigned int k, i, j;
+ int* panalog, * pfilter;
+ volatile float k_f;
+
+
+ for (i = 0; i < COUNT_ARR_ADC_BUF; i++)
+ {
+ for (k = 0; k < 16; k++)
+ {
+ ADC_f[i][k] = 0;
+ ADC_sf[i][k] = 0;
+
+ for (j = 0; j < COUNT_ARR_ADC_BUF_FAST_POINT; j++)
+ ADC_fast[i][k][j] = 0;
+
+ k_f = K_LEM_ADC[i][k] * 2.5 / R_ADC[i][k] / 4096.0;
+ k_norm_ADC[i][k] = _IQ19(k_f);
+
+ k_f = K_LEM_ADC[i][k] * 250.0 / R_ADC[i][k] / K_NORMA_ADC[i][k] / 4096.0;
+ iq19_k_norm_ADC[i][k] = _IQ19(k_f);
+
+ zero_ADC[i][k] = DEFAULT_ZERO_ADC;//1835;
+
+ iq19_zero_ADC[i][k] = _IQ19(zero_ADC[i][k]); //_IQ19(2030);//_IQ19(1770);
+
+ }
+ }
+
+
+ panalog = (int*)&analog;
+ pfilter = (int*)&filter;
+ for (k = 0; k < sizeof(ANALOG_VALUE) / sizeof(int); k++)
+ {
+
+ *(panalog + k) = 0;
+ *(pfilter + k) = 0;
+ }
+
+
+ for (i = 0; i < COUNT_ARR_ADC_BUF; i++)
+ {
+ if (project.adc[i].status >= component_Ready)
+ detect_zero_analog(i);
+ }
+
+ // zero_ADC[1][2] = 2010;//1976; // uab
+ // zero_ADC[1][3] = 2010;//1989; // ubc
+ // zero_ADC[1][4] = 2010;//1994; // uca
+
+
+ zero_ADC[0][0] = zero_ADC[0][2];//2042;//1992;//1835; //uzpt
+ zero_ADC[0][1] = zero_ADC[0][2];//2042;//1992;//1835; //uzpt
+
+
+
+#if (COUNT_ARR_ADC_BUF>1)
+ zero_ADC[1][1] = zero_ADC[1][15];
+ zero_ADC[1][2] = zero_ADC[1][15];
+ zero_ADC[1][3] = zero_ADC[1][15];
+ zero_ADC[1][4] = zero_ADC[1][15];
+ zero_ADC[1][5] = zero_ADC[1][15];
+ zero_ADC[1][6] = zero_ADC[1][15];
+ zero_ADC[1][7] = zero_ADC[1][15];
+ zero_ADC[1][8] = zero_ADC[1][15];
+ zero_ADC[1][9] = zero_ADC[1][15];
+ zero_ADC[1][10] = zero_ADC[1][15];
+ zero_ADC[1][11] = zero_ADC[1][15];
+ zero_ADC[1][12] = zero_ADC[1][15];
+ zero_ADC[1][13] = zero_ADC[1][15];
+ zero_ADC[1][14] = zero_ADC[1][15];
+#endif
+
+
+ for (k = 0; k < 16; k++)
+ {
+ for (i = 0; i < COUNT_ARR_ADC_BUF; i++)
+ {
+ if ((zero_ADC[i][k] > 2200) || (zero_ADC[i][k] < 1900))
+ zero_ADC[i][k] = DEFAULT_ZERO_ADC;
+ }
+ }
+
+
+
+ for (k = 0; k < 16; k++)
+ {
+ for (i = 0; i < COUNT_ARR_ADC_BUF; i++)
+ {
+ iq19_zero_ADC[i][k] = _IQ19(zero_ADC[i][k]);//_IQ19(1770);
+ }
+ }
+
+
+ // koef_allADC_filter = _IQ19(0.00002/0.00003185);//koef_ADC_filter[0];
+ // koef_zero_ADC_filter=_IQ19(0.00002/0.0003185);
+ koef_Uzpt_long_filter = _IQ(0.001 / 0.016666);
+ koef_Uzpt_fast_filter = _IQ(0.001 / 0.002); //_IQ(0.001/0.00131);
+ koef_Uin_filter = _IQ(0.001 / 0.00931);
+
+ // koef_Im_filter = _IQ(0.001/0.006);
+ koef_Im_filter = _IQ(0.001 / 0.065);
+ koef_Power_filter = _IQ(0.001 / 0.065);
+ koef_Power_filter2 = _IQ(0.001 / 0.2);
+
+ // koef_Iabc_filter = _IQ(0.001/0.006);
+
+
+ filter.iqU_1_fast = 0;
+ filter.iqU_1_long = 0;
+
+ filter.iqU_2_fast = 0;
+ filter.iqU_2_long = 0;
+
+ filter.iqUin_m1 = 0;
+ filter.iqUin_m2 = 0;
+
+
+ // filter.iqU_3_fast = 0;
+ // filter.iqU_4_fast = 0;
+
+ // filter.iqU_1_long = 0;
+ // filter.iqU_2_long = 0;
+ // filter.iqU_3_long = 0;
+ // filter.iqU_4_long = 0;
+
+ // filter.iqIin_1 = 0;
+ // filter.iqIin_2 = 0;
+
+
+ filter.iqIm_1 = 0;
+ filter.iqIm_2 = 0;
+ // filter.iqUin_m1 = 0;
+ // filter.iqUin_m2 = 0;
+
+
+ for (i = 0; i < COUNT_ARR_ADC_BUF; i++)
+ {
+ mask_err_adc_protect[i].plus.all = 0;
+ mask_err_adc_protect[i].minus.all = 0x0;
+
+ err_adc_protect[i].plus.all = 0;
+ err_adc_protect[i].minus.all = 0x0;
+ }
+
+#if (USE_INTERNAL_ADC==1)
+ Init_Internal_Adc();
+#endif
+
+
+}
+
+inline _iq norma_adc(int plane, int chan, int n_norm)
+{
+ // return _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[n_norm] - ((long)ADC_sf[plane][chan]<<19) ),iq19_k_norm_ADC[n_norm]));
+ // return _IQ19toIQ(_IQ19mpy((((long)ADC_sf[plane][chan]<<19) - iq19_zero_ADC[n_norm]),iq19_k_norm_ADC[n_norm]));
+ return _IQ19toIQ(_IQ19mpy((((long)ADC_sf[plane][chan]<<19)),iq19_k_norm_ADC[n_norm]));
+}
+////////////////////////////////////////////////////////////////////
+
+#pragma CODE_SECTION(norma_adc_nc,".fast_run");
+#define SDVIG_K_FILTER_S 2 //1//(27.08.2009) //3
+void norma_adc_nc(int nc)
+{
+ int k;
+ // int bb;
+
+ for (k = 0; k < 16; k++)
+ {
+
+ ADC_f[nc][k] = project.adc[nc].read.pbus.adc_value[k];
+ ADC_sf[nc][k] += (((int)(ADC_f[nc][k] - ADC_sf[nc][k])) >> SDVIG_K_FILTER_S);
+ iq_norm_ADC[nc][k] = _IQ19toIQ(_IQ19mpy((-iq19_zero_ADC[nc][k] + ((long)ADC_f[nc][k] << 19)), iq19_k_norm_ADC[nc][k]));
+ }
+}
+
+////////////////////////////////////////////////////////////////////
+#pragma CODE_SECTION(calc_norm_ADC_0,".fast_run");
+void calc_norm_ADC_0(int run_norma)
+{
+ _iq a1, a2, a3;
+
+#if (USE_ADC_0)
+
+ if (run_norma)
+ norma_adc_nc(0);
+
+#if (_FLOOR6)
+ analog.iqU_1 = iq_norm_ADC[0][0] - analog_zero.iqU_1 + analog.iqU_1_imit;
+ analog.iqU_2 = iq_norm_ADC[0][1] - analog_zero.iqU_2 + analog.iqU_1_imit;
+#else
+ analog.iqU_1 = iq_norm_ADC[0][0] - analog_zero.iqU_1;
+ analog.iqU_2 = iq_norm_ADC[0][1] - analog_zero.iqU_2;
+#endif
+ analog.iqIu_1 = iq_norm_ADC[0][2];
+ analog.iqIv_1 = iq_norm_ADC[0][3];
+ analog.iqIw_1 = iq_norm_ADC[0][4];
+
+ analog.iqIu_2 = iq_norm_ADC[0][5];
+ analog.iqIv_2 = iq_norm_ADC[0][6];
+ analog.iqIw_2 = iq_norm_ADC[0][7];
+
+ analog.iqIin_1 = -iq_norm_ADC[0][9]; // датчик перевернут
+ analog.iqIin_2 = -iq_norm_ADC[0][9]; // датчик перевернут
+
+ analog.iqUin_A1B1 = iq_norm_ADC[0][10];
+
+ // два варианта подключения датчиков 23550.1 более правильный - по схеме
+ // 23550.1
+
+ analog.iqUin_B1C1 = iq_norm_ADC[0][11]; // 23550.1
+ analog.iqUin_A2B2 = iq_norm_ADC[0][12]; // 23550.1
+
+// 23550.3 bs1 bs2
+
+// analog.iqUin_B1C1 = iq_norm_ADC[0][12]; // 23550.3
+// analog.iqUin_A2B2 = iq_norm_ADC[0][11]; // 23550.3
+//
+ analog.iqUin_B2C2 = iq_norm_ADC[0][13];
+
+ analog.iqIbreak_1 = iq_norm_ADC[0][14];
+ analog.iqIbreak_2 = iq_norm_ADC[0][15];
+
+#else
+ analog.iqU_1 = analog.iqIu_1 = analog.iqIu_2 = analog.iqIv_1 = analog.iqIv_2 =
+ analog.iqIw_1 = analog.iqIw_2 = analog.iqIin_1 = analog.iqIin_2 = analog.iqUin_A1B1 =
+ analog.iqUin_B1C1 = analog.iqUin_A2B2 = analog.iqUin_B2C2 = analog.iqIbreak_1 = analog.iqIbreak_2
+ = 0;
+#endif
+
+ analog.iqUin_C1A1 = -(analog.iqUin_A1B1 + analog.iqUin_B1C1);
+ analog.iqUin_C2A2 = -(analog.iqUin_A2B2 + analog.iqUin_B2C2);
+
+
+
+ filter.iqU_1_long = exp_regul_iq(koef_Uzpt_long_filter, filter.iqU_1_long, analog.iqU_1);
+ filter.iqU_2_long = exp_regul_iq(koef_Uzpt_long_filter, filter.iqU_2_long, analog.iqU_2);
+
+
+ // analog.iqU_1_fast = filter_U1_3point(analog.iqU_1_fast);
+ filter.iqU_1_fast = exp_regul_iq(koef_Uzpt_fast_filter, filter.iqU_1_fast, analog.iqU_1);
+ filter.iqU_2_fast = exp_regul_iq(koef_Uzpt_fast_filter, filter.iqU_2_fast, analog.iqU_2);
+
+
+ // filter.iqUzpt_2_2_fast = exp_regul_iq(koef_Uzpt_fast_filter, filter.iqUzpt_2_2_fast, analog.iqUzpt_2_2);
+
+
+
+ //15
+
+
+ analog.iqIm_1 = im_calc(analog.iqIu_1, analog.iqIv_1, analog.iqIw_1);
+ analog.iqIm_2 = im_calc(analog.iqIu_2, analog.iqIv_2, analog.iqIw_2);
+
+ analog.iqIu = analog.iqIu_1 + analog.iqIu_2;
+ analog.iqIv = analog.iqIv_1 + analog.iqIv_2;
+ analog.iqIw = analog.iqIw_1 + analog.iqIw_2;
+
+ analog.iqIm = im_calc(analog.iqIu, analog.iqIv, analog.iqIw);
+
+
+ analog.iqIin_sum = analog.iqIin_1 + analog.iqIin_2;
+
+ // analog.iqIm_3 = im_calc(analog.iqIa1_1_fir_n+analog.iqIa2_1_fir_n, analog.iqIb1_1_fir_n+analog.iqIb2_1_fir_n, analog.iqIc1_1_fir_n+analog.iqIc2_1_fir_n);
+
+ analog.iqUin_m1 = im_calc(analog.iqUin_A1B1, analog.iqUin_B1C1, analog.iqUin_C1A1);
+ analog.iqUin_m2 = im_calc(analog.iqUin_A2B2, analog.iqUin_B2C2, analog.iqUin_C2A2);
+
+ // analog.iqUin_m2 = im_calc(analog.UinA2, analog.UinB2, analog.UinC2);
+
+ filter.iqUin_m1 = exp_regul_iq(koef_Uin_filter, filter.iqUin_m1, analog.iqUin_m1);
+ filter.iqUin_m2 = exp_regul_iq(koef_Uin_filter, filter.iqUin_m2, analog.iqUin_m2);
+
+
+
+ // i_led1_on_off(0);
+ // i_led1_on_off(1);
+
+ //1
+
+ filter.iqIm_1 = exp_regul_iq(koef_Im_filter, filter.iqIm_1, analog.iqIm_1);
+ filter.iqIm_2 = exp_regul_iq(koef_Im_filter, filter.iqIm_2, analog.iqIm_2);
+ filter.iqIm = exp_regul_iq(koef_Im_filter, filter.iqIm, analog.iqIm);
+
+ filter.iqIin_sum = exp_regul_iq(koef_Im_filter, filter.iqIin_sum, analog.iqIin_sum);
+
+ //3
+ // filter_batter2_Iin.InpVarCurr = (analog.iqIin_1)-ZERO_I_IN;
+ // filter_batter2_Iin.calc(&filter_batter2_Iin);
+
+ // filter.iqIin = _IQmpy(filter_batter2_Iin.Out,_IQ_09);
+
+
+ filter.iqIin_1 = exp_regul_iq(koef_Im_filter, filter.iqIin_1, analog.iqIin_1);
+ filter.iqIin_2 = exp_regul_iq(koef_Im_filter, filter.iqIin_2, analog.iqIin_2);
+
+ a1 = analog.iqU_1 + analog.iqU_2;
+ a2 = analog.iqIin_1;
+ a3 = _IQmpy(a1, a2);
+ analog.PowerScalar = a3;
+ // filter.Power = analog.iqU_1+analog.iqU_2;
+ filter.PowerScalar = exp_regul_iq(koef_Power_filter, filter.PowerScalar, analog.PowerScalar);
+ filter.PowerScalarFilter2 = exp_regul_iq(koef_Power_filter2, filter.PowerScalarFilter2, filter.PowerScalar);
+
+}
+////////////////////////////////////////////////////////////////////
+void analog_values_calc(void)
+{
+
+//#if (USE_ADC_0)
+//
+//#if (_FLOOR6)
+// analog.iqU_1 = iq_norm_ADC[0][0] - analog_zero.iqU_1 + analog.iqU_1_imit;
+// analog.iqU_2 = iq_norm_ADC[0][1] - analog_zero.iqU_2 + analog.iqU_1_imit;
+//#else
+// analog.iqU_1 = iq_norm_ADC[0][0] - analog_zero.iqU_1;
+// analog.iqU_2 = iq_norm_ADC[0][1] - analog_zero.iqU_2;
+//#endif
+// analog.iqIu_1 = iq_norm_ADC[0][2];
+// analog.iqIv_1 = iq_norm_ADC[0][3];
+// analog.iqIw_1 = iq_norm_ADC[0][4];
+//
+// analog.iqIu_2 = iq_norm_ADC[0][5];
+// analog.iqIv_2 = iq_norm_ADC[0][6];
+// analog.iqIw_2 = iq_norm_ADC[0][7];
+//
+// analog.iqIin_1 = -iq_norm_ADC[0][9]; // датчик перевернут
+// analog.iqIin_2 = -iq_norm_ADC[0][9]; // датчик перевернут
+//
+// analog.iqUin_A1B1 = iq_norm_ADC[0][10];
+//
+// // два варианта подключения датчиков 23550.1 более правильный - по схеме
+// // 23550.1
+//
+// analog.iqUin_B1C1 = iq_norm_ADC[0][11]; // 23550.1
+// analog.iqUin_A2B2 = iq_norm_ADC[0][12]; // 23550.1
+//
+//// 23550.3 bs1 bs2
+//
+//// analog.iqUin_B1C1 = iq_norm_ADC[0][12]; // 23550.3
+//// analog.iqUin_A2B2 = iq_norm_ADC[0][11]; // 23550.3
+////
+// analog.iqUin_B2C2 = iq_norm_ADC[0][13];
+//
+// analog.iqIbreak_1 = iq_norm_ADC[0][14];
+// analog.iqIbreak_2 = iq_norm_ADC[0][15];
+//
+// #else
+// analog.iqU_1 = analog.iqIu_1 = analog.iqIu_2 = analog.iqIv_1 = analog.iqIv_2 =
+// analog.iqIw_1 = analog.iqIw_2 = analog.iqIin_1 = analog.iqIin_2 = analog.iqUin_A1B1 =
+// analog.iqUin_B1C1 = analog.iqUin_A2B2 = analog.iqUin_B2C2 = analog.iqIbreak_1 = analog.iqIbreak_2
+// = 0;
+// #endif
+//
+// analog.iqUin_C1A1 = -(analog.iqUin_A1B1 + analog.iqUin_B1C1);
+// analog.iqUin_C2A2 = -(analog.iqUin_A2B2 + analog.iqUin_B2C2);
+//
+//
+//
+// filter.iqU_1_long = exp_regul_iq(koef_Uzpt_long_filter, filter.iqU_1_long, analog.iqU_1);
+// filter.iqU_2_long = exp_regul_iq(koef_Uzpt_long_filter, filter.iqU_2_long, analog.iqU_2);
+//
+//
+// // analog.iqU_1_fast = filter_U1_3point(analog.iqU_1_fast);
+// filter.iqU_1_fast = exp_regul_iq(koef_Uzpt_fast_filter, filter.iqU_1_fast, analog.iqU_1);
+// filter.iqU_2_fast = exp_regul_iq(koef_Uzpt_fast_filter, filter.iqU_2_fast, analog.iqU_2);
+//
+//
+// // filter.iqUzpt_2_2_fast = exp_regul_iq(koef_Uzpt_fast_filter, filter.iqUzpt_2_2_fast, analog.iqUzpt_2_2);
+//
+//
+//
+// //15
+//
+//
+// analog.iqIm_1 = im_calc(analog.iqIu_1, analog.iqIv_1, analog.iqIw_1);
+// analog.iqIm_2 = im_calc(analog.iqIu_2, analog.iqIv_2, analog.iqIw_2);
+//
+// analog.iqIu = analog.iqIu_1 + analog.iqIu_2;
+// analog.iqIv = analog.iqIv_1 + analog.iqIv_2;
+// analog.iqIw = analog.iqIw_1 + analog.iqIw_2;
+//
+// analog.iqIm = im_calc(analog.iqIu, analog.iqIv, analog.iqIw);
+//
+//
+// analog.iqIin_sum = analog.iqIin_1 + analog.iqIin_2;
+//
+// // analog.iqIm_3 = im_calc(analog.iqIa1_1_fir_n+analog.iqIa2_1_fir_n, analog.iqIb1_1_fir_n+analog.iqIb2_1_fir_n, analog.iqIc1_1_fir_n+analog.iqIc2_1_fir_n);
+//
+// analog.iqUin_m1 = im_calc(analog.iqUin_A1B1, analog.iqUin_B1C1, analog.iqUin_C1A1);
+// analog.iqUin_m2 = im_calc(analog.iqUin_A2B2, analog.iqUin_B2C2, analog.iqUin_C2A2);
+//
+// // analog.iqUin_m2 = im_calc(analog.UinA2, analog.UinB2, analog.UinC2);
+//
+// filter.iqUin_m1 = exp_regul_iq(koef_Uin_filter, filter.iqUin_m1, analog.iqUin_m1);
+// filter.iqUin_m2 = exp_regul_iq(koef_Uin_filter, filter.iqUin_m2, analog.iqUin_m2);
+//
+//
+//
+// // i_led1_on_off(0);
+// // i_led1_on_off(1);
+//
+// //1
+//
+// filter.iqIm_1 = exp_regul_iq(koef_Im_filter, filter.iqIm_1, analog.iqIm_1);
+// filter.iqIm_2 = exp_regul_iq(koef_Im_filter, filter.iqIm_2, analog.iqIm_2);
+// filter.iqIm = exp_regul_iq(koef_Im_filter, filter.iqIm, analog.iqIm);
+//
+// filter.iqIin_sum = exp_regul_iq(koef_Im_filter, filter.iqIin_sum, analog.iqIin_sum);
+//
+// //3
+// // filter_batter2_Iin.InpVarCurr = (analog.iqIin_1)-ZERO_I_IN;
+// // filter_batter2_Iin.calc(&filter_batter2_Iin);
+//
+// // filter.iqIin = _IQmpy(filter_batter2_Iin.Out,_IQ_09);
+//
+//
+// filter.iqIin_1 = exp_regul_iq(koef_Im_filter, filter.iqIin_1, analog.iqIin_1);
+// filter.iqIin_2 = exp_regul_iq(koef_Im_filter, filter.iqIin_2, analog.iqIin_2);
+//
+// a1 = analog.iqU_1 + analog.iqU_2;
+// a2 = analog.iqIin_1;
+// a3 = _IQmpy(a1, a2);
+// analog.PowerScalar = a3;
+// // filter.Power = analog.iqU_1+analog.iqU_2;
+// filter.PowerScalar = exp_regul_iq(koef_Power_filter, filter.PowerScalar, analog.PowerScalar);
+// filter.PowerScalarFilter2 = exp_regul_iq(koef_Power_filter2, filter.PowerScalarFilter2, filter.PowerScalar);
+
+
+}
+
+#define CONST_IQ_11PI6 96629827 //11Pi/6
+#define CONST_IQ_PI6 8784529 // Pi/6
+
+
+/********************************************************************/
+/* Определение нулy показаний АЦП */
+/********************************************************************/
+#pragma DATA_SECTION(acp_zero,".slow_vars")
+_iq19 acp_zero[16];
+#pragma DATA_SECTION(acp_summ,".slow_vars")
+long acp_summ[16];
+void detect_zero_analog(int nc)
+{
+ long i, k;
+
+
+ _iq koef_zero_ADC_filter = _IQ19(0.00002 / 0.0003185);
+
+
+ for (k = 0; k < 16; k++)
+ {
+ acp_zero[k] = 0;
+ acp_summ[k] = 0;
+ }
+
+
+
+ for (i = 0; i < COUNT_DETECT_ZERO; i++)
+ {
+ // norma_all_adc();
+ norma_adc_nc(nc);
+ // norma_adc_nc(1);
+
+
+ for (k = 0; k < 16; k++)
+ {
+ acp_zero[k] = exp_regul_iq(koef_zero_ADC_filter, acp_zero[k], ((long)ADC_f[nc][k] << 19));
+ acp_summ[k] = acp_summ[k] + ADC_f[nc][k];
+ }
+
+
+
+ pause_1000(1000);
+ }
+
+ // 16 и 7 канал пропускаем т.к. это канал напрyжениy
+ for (k = 0; k < 16; k++)
+ {
+
+ // if ((k==15))
+ // {
+ // if (ADC_sf[k]<MIN_DETECT_UD_ZERO)
+ // iq19_zero_ADC[k] = acp_zero[k];
+ // }
+ // else
+ {
+ iq19_zero_ADC[nc][k] = acp_zero[k];
+ }
+
+ // zero_ADC[k] =_IQ19toF(acp_zero[k]);
+ zero_ADC[nc][k] = acp_summ[k] / COUNT_DETECT_ZERO;//_IQ19toF(acp_zero[k]);
+ }
+
+
+
+
+
+
+}
+
+
+
+unsigned int detect_protect_ACP_plus()
+{
+
+
+}
+
+
+unsigned int detect_protect_ACP_minus()
+{
+
+
+}
diff --git a/Inu/Src/main_matlab/dmctype.h b/Inu/Src/main_matlab/dmctype.h
new file mode 100644
index 0000000..31b11d8
--- /dev/null
+++ b/Inu/Src/main_matlab/dmctype.h
@@ -0,0 +1,32 @@
+/* =================================================================================
+File name: DMCTYPE.H
+
+Originator: Digital Control Systems Group
+ Texas Instruments
+
+Description: DMC data type definition file.
+=====================================================================================
+ History:
+-------------------------------------------------------------------------------------
+ 04-15-2005 Version 3.20
+------------------------------------------------------------------------------*/
+
+#ifndef DMCTYPE
+#define DMCTYPE
+
+//---------------------------------------------------------------------------
+// For Portability, User Is Recommended To Use Following Data Type Size
+// Definitions For 16-bit and 32-Bit Signed/Unsigned Integers:
+//
+#ifndef DSP28_DATA_TYPES
+#define DSP28_DATA_TYPES
+typedef int int16;
+typedef long int32;
+typedef unsigned int Uint16;
+typedef unsigned long Uint32;
+typedef float float32;
+typedef long double float64;
+#endif
+
+#endif // DMCTYPE
+
diff --git a/Inu/Src/main_matlab/errors_matlab.c b/Inu/Src/main_matlab/errors_matlab.c
new file mode 100644
index 0000000..b9256cf
--- /dev/null
+++ b/Inu/Src/main_matlab/errors_matlab.c
@@ -0,0 +1,25 @@
+#include "DSP281x_Device.h"
+//#include "errors.h"
+// #include "adc_tools.h"
+// #include "can_watercool.h"
+// #include "xp_project.h"
+// #include "x_basic_types.h"
+// #include "CAN_Setup.h"
+// #include "vector.h"
+// #include "PWMTMSHandle.h"
+// #include "params.h"
+// #include "params_protect.h"
+// //#include "all_main_stuff.h"
+// #include "global_time.h"
+// #include "errors_temperature.h"
+// #include "PWMTMSHandle.h"
+// #include "rotation_speed.h"
+// #include "io_verbal_names.h"
+// #include "isolation.h"
+// #include "global_time.h"
+// #include "regul_power.h"
+
+
+//ERRORS errors = ERRORS_DEFAULTS;
+//FAULTS faults = {0,0,0};
+
diff --git a/Inu/Src/main_matlab/io_verbal_names.h b/Inu/Src/main_matlab/io_verbal_names.h
new file mode 100644
index 0000000..e544881
--- /dev/null
+++ b/Inu/Src/main_matlab/io_verbal_names.h
@@ -0,0 +1,73 @@
+
+#ifndef _IO_VERBAL_NAMES
+#define _IO_VERBAL_NAMES
+
+//#include "xp_project.h"
+
+#define CHANNEL_IS_ON_IN1 1
+#define CHANNEL_IS_ON_IN2 0
+#define CHANNEL_IS_OFF 1
+
+// //IN0
+// #define IN_OIL_PUMP_IS_READY project.cds_in[0].read.pbus.data_in.bit.in4
+// #define IN_LOCAL_CONTROL project.cds_in[0].read.pbus.data_in.bit.in9
+
+// //IN0 UKSS READY
+// #define IN_READY_BV1 project.cds_in[0].read.pbus.ready_in.bit.in5
+// #define IN_READY_BV2 project.cds_in[0].read.pbus.ready_in.bit.in7
+// #define IN_READY_UKSI project.cds_in[0].read.pbus.ready_in.bit.in10
+// #define IN_READY_BI1 project.cds_in[0].read.pbus.ready_in.bit.in11
+// #define IN_READY_BI2 project.cds_in[0].read.pbus.ready_in.bit.in13
+// #define IN_READY_UMU project.cds_in[0].read.pbus.ready_in.bit.in15
+
+// //IN1
+// #define IN_EMERGENCY_STOP project.cds_in[1].read.pbus.data_in.bit.in0
+// #define IN_PCH_IS_BLOCKED project.cds_in[1].read.pbus.data_in.bit.in1
+// #define IN_PROTECTION_ERROR project.cds_in[1].read.pbus.data_in.bit.in2
+// #define IN_BTR_IS_OFF project.cds_in[1].read.pbus.data_in.bit.in3
+// #define IN_RESERVED_TO_INV2_1 project.cds_in[1].read.pbus.data_in.bit.in4
+// #define IN_RECEIVED_TASK_FROM_SVU project.cds_in[1].read.pbus.data_in.bit.in5
+// #define IN_QTV22_IS_ON project.cds_in[1].read.pbus.data_in.bit.in6
+// #define IN_ERROR_PAIR_INV project.cds_in[1].read.pbus.data_in.bit.in8
+// #define IN_BREAKING_K1 project.cds_in[1].read.pbus.data_in.bit.in9
+// #define IN_ALARM_K2 project.cds_in[1].read.pbus.data_in.bit.in10
+// #define IN_TURNDOWN_K4 project.cds_in[1].read.pbus.data_in.bit.in11 //�����
+// #define IN_BWC_NO_24VOLT_ERROR project.cds_in[1].read.pbus.data_in.bit.in12
+// #define IN_BWC_AUTO_MODE project.cds_in[1].read.pbus.data_in.bit.in13
+// #define IN_BSU_DOORS_ARE_CLOSED project.cds_in[1].read.pbus.data_in.bit.in15
+
+// //IN2
+// #define IN_PCH_IS_LEADING project.cds_in[2].read.pbus.data_in.bit.in0
+// #define IN_PCH_IS_LEADING_2 project.cds_in[2].read.pbus.data_in.bit.in2
+// #define IN_TEST_LAMPS project.cds_in[2].read.pbus.data_in.bit.in3
+// #define IN_EMERGANCY_BUTTON project.cds_in[2].read.pbus.data_in.bit.in4
+// #define IN_EMERGENCY_STOP_EXTERNAL project.cds_in[2].read.pbus.data_in.bit.in5
+// #define IN_RESET_ERRORS project.cds_in[2].read.pbus.data_in.bit.in6
+// #define IN_BSU_DOORS_ARE_BLOCKED project.cds_in[2].read.pbus.data_in.bit.in7
+
+// //OUT0
+// #define OUT_READY1 project.cds_out[0].write.sbus.data_out.bit.dout0
+// #define OUT_READY2 project.cds_out[0].write.sbus.data_out.bit.dout1
+// #define OUT_INVERTOR_ERROR project.cds_out[0].write.sbus.data_out.bit.dout2
+// #define OUT_BATTERY_LOADED project.cds_out[0].write.sbus.data_out.bit.dout3
+// #define OUT_CHARGE_BLOCKED project.cds_out[0].write.sbus.data_out.bit.dout4
+// #define OUT_TURN_ON_BWC project.cds_out[0].write.sbus.data_out.bit.dout5
+// #define OUT_OIL_PUMP project.cds_out[0].write.sbus.data_out.bit.dout6
+// #define OUT_ALLOW_TURN_ON_QTV22 project.cds_out[0].write.sbus.data_out.bit.dout7
+// #define OUT_CHOOSE_CHANNEL project.cds_out[0].write.sbus.data_out.bit.dout8
+// #define OUT_RESET_ERRORS project.cds_out[0].write.sbus.data_out.bit.dout9
+// #define OUT_TURN_ON_HIDRO_PODPOR project.cds_out[0].write.sbus.data_out.bit.dout10
+// #define OUT_RECEIVED_TASK_FROM_SVU project.cds_out[0].write.sbus.data_out.bit.dout11
+// #define OUT_RESERV_2 project.cds_out[0].write.sbus.data_out.bit.dout12
+
+// //OUT1
+// #define OUT_LAMP_READY1 project.cds_out[1].write.sbus.data_out.bit.dout0
+// #define OUT_LAMP_READY2 project.cds_out[1].write.sbus.data_out.bit.dout1
+// #define OUT_LAMP_BATTERY_LOADED project.cds_out[1].write.sbus.data_out.bit.dout2
+// #define OUT_LAMP_FAULT project.cds_out[1].write.sbus.data_out.bit.dout3
+// #define OUT_LAMP_OVERHEAT project.cds_out[1].write.sbus.data_out.bit.dout4
+// #define OUT_LAMP_POWER_LIMIT project.cds_out[1].write.sbus.data_out.bit.dout5
+// #define OUT_SWITCH_HI_VOLTAGE_TEST_LAMPS project.cds_out[1].write.sbus.data_out.bit.dout6
+
+#endif //_IO_VERBAL_NAMES
+
diff --git a/Inu/Src/main_matlab/main_matlab.c b/Inu/Src/main_matlab/main_matlab.c
new file mode 100644
index 0000000..5bd97c3
--- /dev/null
+++ b/Inu/Src/main_matlab/main_matlab.c
@@ -0,0 +1,269 @@
+
+#include "DSP281x_Device.h"
+
+#include "vector.h"
+#include "v_rotor.h"
+//#include "xp_rotation_sensor.h"
+#include "log_to_mem.h"
+#include "main_matlab.h"
+#include "xp_project.h"
+
+// #define PROJECT_DEFAULTS2 {
+// (void (*)(Uint32))project_read_all_pbus2 \
+// }
+// typedef struct TS_project{
+// void (*read_all_pbus)();
+// } T_project2;
+
+
+T_project project = {0};
+
+#pragma DATA_SECTION(modbus_table_in,".logs");
+MODBUS_REG_STRUCT modbus_table_in[1024];
+
+
+#pragma DATA_SECTION(modbus_table_out,".logs");
+MODBUS_REG_STRUCT modbus_table_out[1024];
+
+FLAG f;
+WINDING a;
+EDRK edrk = EDRK_DEFAULT;
+
+//T_rotation_sensor rotation_sensor = T_CDS_ROTATION_SENSOR_DEFAULTS;
+int Unites[128][256];
+
+
+_iq temperature_limit_koeff = _IQ(1.0);
+
+
+void project_read_all_pbus2()
+{
+
+}
+
+#pragma DATA_SECTION(logpar, ".fast_vars1");
+LOGSPARAMS logpar = LOGSPARAMS_DEFAULTS;
+int LOAG[10];
+float logpar_matlab[50];
+
+#pragma DATA_SECTION(break_result_1,".fast_vars");
+_iq break_result_1 = 0;
+
+#pragma DATA_SECTION(break_result_2,".fast_vars");
+_iq break_result_2 = 0;
+
+#pragma DATA_SECTION(break_result_3,".fast_vars");
+_iq break_result_3 = 0;
+
+#pragma DATA_SECTION(break_result_4,".fast_vars");
+_iq break_result_4 = 0;
+
+//void read_in_sensor_line1(T_cds_in_rotation_sensor *rs){
+//
+//}
+//
+//void read_in_sensor_line2(T_cds_in_rotation_sensor *rs){
+//
+//}
+//void read_command_reg(T_cds_in_rotation_sensor *rs){
+//
+//}
+//void write_command_reg(T_cds_in_rotation_sensor *rs){
+//
+//}
+//void tune_sampling_time(T_rotation_sensor *rs){
+//
+//}
+//void wait_for_registers_updated(T_cds_in_rotation_sensor *rs){
+//
+//}
+//void read_direction_in_plane(T_cds_in_rotation_sensor *rs){
+//
+//}
+//void sensor_set(T_rotation_sensor *rs)
+//{
+//
+//}
+//void sensor_read(T_rotation_sensor *rs)
+//{
+//
+//}
+//void update_sensors_data(T_rotation_sensor *rs)
+//{
+// // rs->in_plane.write.regs.comand_reg.bit.update_registers = 1;
+// // write_command_reg(&rs->in_plane);
+//// rs->in_plane.write.regs.comand_reg.bit.update_registers = 0;
+//}
+//void angle_sensor_read(T_cds_angle_sensor *as)
+//{}
+//
+//void angle_plane_set(T_cds_angle_sensor *rs)
+//{}
+//void in_plane_set(T_cds_in_rotation_sensor* rs)
+//{}
+//
+//void in_sensor_read1(T_cds_in_rotation_sensor *rs)
+//{}
+//
+//void in_sensor_read2(T_cds_in_rotation_sensor *rs)
+//{}
+
+
+
+
+// unsigned int BWC_Started()
+// {
+
+// }
+
+void inc_RS_timeout_cicle(void)
+{
+
+}
+
+void inc_CAN_timeout_cicle(void)
+{
+
+}
+
+void pause_1000(void)
+{
+
+}
+
+int xerror(unsigned int er_ID, void* CallBackRef)
+{
+};
+unsigned int ReadMemory(unsigned long addr)
+{
+ return (*(volatile int *)(addr));
+}
+
+
+void WriteMemory(unsigned long addr, unsigned int data)
+{
+ (*(volatile int *)( addr )) = data;
+}
+
+void start_pwm(void)
+{
+ // mPWM_a = 1;
+ // mPWM_b = 1;
+}
+
+void stop_pwm(void)
+{
+ // mPWM_a = 0;
+ // mPWM_b = 0;
+
+ // svgen_set_time_keys_closed(&svgen_pwm24_1);
+ // svgen_set_time_keys_closed(&svgen_pwm24_2);
+ // WriteMemory(ADR_TK_MASK_0, 0xFFFF);
+ // WriteMemory(ADR_PWM_START_STOP, 0x8000);
+}
+void start_break_pwm() {
+
+}
+
+
+void stop_break_pwm() {
+
+}
+
+void start_pwm_b() {
+
+}
+void start_pwm_a() {
+
+}
+void stop_pwm_b() {
+
+}
+void stop_pwm_a() {
+
+}
+
+void fillADClogs() {
+
+}
+void break_resistor_managment_calc(){
+
+}
+
+
+void break_resistor_managment_init(){
+
+}
+
+
+void break_resistor_managment_update(){
+
+}
+
+
+void break_resistor_recup_calc(){
+
+}
+
+
+void break_resistor_set_closed(){
+
+}
+
+
+void DetectI_Out_BreakFase(){
+
+}
+
+
+void test_mem_limit(){
+
+}
+
+
+void set_start_mem(){
+
+}
+
+
+void getFastLogs(){
+
+}
+
+
+//void detect_I_M_overload{
+//
+// }
+
+
+void sync_inc_error(){
+
+}
+
+
+void optical_bus_read(){
+
+}
+
+
+void optical_bus_write(void){
+
+}
+
+
+void init_flag_a(void)
+{
+
+ unsigned int i = 0;
+ int *pStr = (int*)&f;
+ for (i = 0; i < sizeof(f) / sizeof(int); i++) {
+ *(pStr + i) = 0;
+ }
+
+ *pStr = (int*)&a;
+ for (i = 0; i < sizeof(a) / sizeof(int); i++) {
+ *(pStr + i) = 0;
+ }
+
+
+}
diff --git a/Inu/Src/main_matlab/main_matlab.h b/Inu/Src/main_matlab/main_matlab.h
new file mode 100644
index 0000000..fe79cab
--- /dev/null
+++ b/Inu/Src/main_matlab/main_matlab.h
@@ -0,0 +1,22 @@
+
+
+#include "vector.h"
+#include "edrk_main.h"
+
+typedef union {
+ //unsigned int all;
+ int all;
+// struct MODBUS_BITS_STRUCT bit;
+// struct MODBUS_WORD_STRUCT byte;
+} MODBUS_REG_STRUCT;
+
+
+//extern MODBUS_REG_STRUCT modbus_table_in[1024];
+//extern MODBUS_REG_STRUCT modbus_table_out[1024];
+
+void init_flag_a(void);
+
+
+
+
+
diff --git a/Inu/Src/main_matlab/old/PWMTools.c b/Inu/Src/main_matlab/old/PWMTools.c
new file mode 100644
index 0000000..561b909
--- /dev/null
+++ b/Inu/Src/main_matlab/old/PWMTools.c
@@ -0,0 +1,719 @@
+#include <math.h>
+#include <stdlib.h>
+//#include "project.h"
+
+#include "IQmathLib.h"
+//#include "f281xpwm.h"
+//
+////#include "SpaceVectorPWM.h"
+//#include "MemoryFunctions.h"
+//#include "PWMTools.h"
+//#include "pwm_vector_regul.h"
+//#include "PWMTMSHandle.h"
+//#include "TuneUpPlane.h"
+//#include "RS_Functions.h"
+//#include "CAN_setup.h"
+//#include "global_time.h"
+#include "params.h"
+#include "vector.h"
+//#include "rmp_cntl_my1.h"
+//#include "vhzprof.h"
+//#include "adc_tools.h"
+//#include "v_pwm24.h"
+//#include "break_regul.h"
+//#include "break_tools.h"
+//#include "detect_phase.h"
+//#include "mathlib.h"
+//#include "project.h"
+//#include "log_to_memory.h"
+//#include "rotation_speed.h"
+//#include "detect_overload.h"
+//#include "xp_write_xpwm_time.h"
+//#include "errors.h"
+//#include "sync_tools.h"
+//#include "optical_bus.h"
+//#include "IQmathLib.h"
+
+#define DEF_FREQ_PWM_XTICS (3750000 / FREQ_PWM / 2)
+#define DEF_PERIOD_MIN_XTICS 400 //375 ~ 100mks //315 ~ 84 mks //460//(3750000 * mks / 1000000)
+#define DEF_PERIOD_MIN_BR_XTICS 165
+
+#define DEF_FREQ_PWM_XTICS_MIN = 4261
+#define DEF_FREQ_PWM_XTICS_MAX = 4687
+
+#define STOP_ROTOR_LIMIT 27962 //2 rpm
+#define STOP_ROTOR_MIN_CURRENT 4194304 //750A //3355443 //600A
+
+#define K_MODUL_MAX 15770583 //13421772 //80% //10066329 //60% //5033164 //30% 15099494 ~ 90% //15435038 ~ 0.92%
+ //15770583 ~ 0.94%
+#define MIN_Fsl_WHEN_STOPED 41943 //0.05 //67108 //0.08Hz
+
+#define PWM_ONE_INTERRUPT_RUN 1
+#define PWM_TWICE_INTERRUPT_RUN 0
+
+
+//4464
+// ������� ��� � xilinx ����� (60000000 / 16 / FREQ_PWM = 3750000 / FREQ_PWM)
+#pragma DATA_SECTION(VAR_FREQ_PWM_XTICS,".fast_vars1");
+int VAR_FREQ_PWM_XTICS = DEF_FREQ_PWM_XTICS;
+
+// ����������� �������� ���� � xilinx �����
+#pragma DATA_SECTION(VAR_PERIOD_MAX_XTICS,".fast_vars1");
+int VAR_PERIOD_MAX_XTICS = DEF_FREQ_PWM_XTICS - DEF_PERIOD_MIN_XTICS;
+
+// ����������� �������� ���� � xilinx ����� (mintime+deadtime) (F���� * T���.�����.��� = (60 / 16 / 2) * T��� = (60 * T��� / 16 / 2))
+#pragma DATA_SECTION(VAR_PERIOD_MIN_XTICS,".fast_vars1");
+int VAR_PERIOD_MIN_XTICS = DEF_PERIOD_MIN_XTICS;//
+
+// ����������� �������� ���� � xilinx ����� ��� ��������� ������ (mintime) (F���� * T���.�����.��� = (60 / 16 / 2) * T��� = (60 * T��� / 16 / 2))
+#pragma DATA_SECTION(VAR_PERIOD_MIN_BR_XTICS,".fast_vars1");
+int VAR_PERIOD_MIN_BR_XTICS = DEF_PERIOD_MIN_BR_XTICS;//
+
+#pragma DATA_SECTION(freq1,".fast_vars1");
+_iq freq1;
+
+#pragma DATA_SECTION(k1,".fast_vars1");
+_iq k1 = 0;
+
+RMP_MY1 rmp_freq = RMP_MY1_DEFAULTS;
+//VHZPROF vhz1 = VHZPROF_DEFAULTS;
+
+// WINDING a;
+// FLAG f;
+
+#define COUNT_SAVE_LOG_OFF 100 //������� ������ ��� ����������� ����� ���������
+#define COUNT_START_IMP 2
+
+int i = 0;
+/*void InitPWM()
+{
+ WriteMemory(ADR_PWM_MODE_0, 0x0000); //�������� � �������� ��������� ��� TMS
+}*/
+
+static void write_swgen_pwm_times();
+void write_swgen_pwm_times_split_eages(unsigned int mode_reload);
+void fix_pwm_freq_synchro_ain();
+void detect_level_interrupt(void);
+void detect_current_saw_val(void);
+
+void InitXPWM(void)
+{
+
+ #ifdef XPWMGEN
+ /* Start of PWM Generator initialization*/
+ for(i = 0; i < 16; i++) // ��������
+ {
+ WriteMemory(ADR_PWM_KEY_NUMBER, i);
+ WriteMemory(ADR_PWM_TIMING, 0);
+
+ }
+ WriteMemory(ADR_PWM_DIRECT, 0xffff);
+ WriteMemory(ADR_PWM_DRIVE_MODE, 0); //Choose PWM sourse PWMGenerator on Spartan 200e
+ WriteMemory(ADR_PWM_DEAD_TIME, 360); //Dead time in tics. 1 tic = 16.67 nsec
+#ifndef _test_without_power
+ // OFF WDOG
+ WriteMemory(ADR_PWM_WDOG, 0x8005); //TODO turn on
+#else
+ // ON WDOG
+ WriteMemory(ADR_PWM_WDOG, 0x0005); //TODO turn on
+#endif
+ WriteMemory(ADR_PWM_PERIOD, VAR_FREQ_PWM_XTICS); // Saw period in tics. 1 tic = 16.67 nsec
+ WriteMemory(ADR_PWM_SAW_DIRECT, 0x0555);
+ WriteMemory(ADR_TK_MASK_0, 0);
+ WriteMemory(ADR_TK_MASK_1, 0xffff); //Turn off additional 16 tk lines
+#if C_PROJECT_TYPE == PROJECT_BALZAM
+ WriteMemory(ADR_PWM_IT_TYPE, 1); //1 interrupt per PWM period
+#else
+ WriteMemory(ADR_PWM_IT_TYPE, 0); //interrupt on each counter twist
+#endif
+// WriteMemory(ADR_PWM_WDOG, 0x8008);//���������� ������ �� PWM
+ #endif
+
+ #ifdef TMSPWMGEN
+
+ WriteMemory(ADR_PWM_MODE_0, 0x0000); //�������� � �������� ��������� ��� TMS
+
+ #endif
+
+/* End �f PWM Gen init */
+}
+
+void initPWM_Variables(void)
+{
+ //��� ������ ���� �������, ����� ���� ��������� ������, ��� ������ ����
+// xpwm_time.Tclosed_0 = 0;
+// xpwm_time.Tclosed_1 = VAR_FREQ_PWM_XTICS + 1;
+// xpwm_time.pwm_tics = VAR_FREQ_PWM_XTICS;
+// xpwm_time.saw_direct.all = 0;//0x0555;
+// xpwm_time.one_or_two_interrupts_run = PWM_TWICE_INTERRUPT_RUN;
+
+
+ init_alpha_pwm24(VAR_FREQ_PWM_XTICS);
+ InitVariablesSvgen(VAR_FREQ_PWM_XTICS);
+ init_DQ_pid();
+ break_resistor_managment_init();
+
+ rmp_freq.RampLowLimit = _IQ(-4); //0
+ rmp_freq.RampHighLimit = _IQ(4);
+
+ rmp_freq.RampPlus = _IQ(0.00005); //_IQ(0.0002);_IQ(0.000005);
+
+ rmp_freq.RampMinus = _IQ(-0.00005); //_IQ(-0.000005);
+ rmp_freq.DesiredInput = 0;
+ rmp_freq.Out = 0;
+
+ a.k = 0;
+ a.k1 = 0;
+ a.k2 = 0;
+
+ k1 = 0;
+ freq1 = 0;
+}
+
+#pragma CODE_SECTION(start_PWM24,".fast_run2")
+void start_PWM24(int O1, int O2)
+{
+ if ((O1 == 1) && (O2 == 1))
+ {
+ start_pwm();
+ }
+ else
+ {
+ if ((O1 == 0) && (O2 == 1))
+ {
+ start_pwm_b();
+ }
+ if ((O1 == 1) && (O2 == 0))
+ {
+ start_pwm_a();
+ }
+ }
+}
+
+inline void init_regulators()
+{
+ if(f.Mode != 0)
+ {
+ pwm_vector_model_titov(f.iq_p_zad, f.iq_fzad, rotor.direct_rotor,
+ rotor.iqFout, f.Mode, 1, 1);
+ }
+}
+
+#define select_working_channels(go_a, go_b) go_a = !f.Obmotka1; \
+ go_b = !f.Obmotka2;
+
+void PWM_interrupt()
+{
+ static unsigned int pwm_run = 0;
+ static _iq Uzad1, Fzad, Uzad2;
+ static int count_step=0;
+ static int count_step_ram_off = 0;
+ static int count_start_impuls = 0;
+ static int flag_record_log = 0;
+ static int log_saved_to_const_mem = 0;
+ static int prevGo = -1;
+ static volatile unsigned int go_a = 0;
+ static volatile unsigned int go_b = 0;
+
+ static int stop_rotor_counter = 0;
+
+ static int prev_go_a = 1;
+ static int prev_go_b = 1;
+
+ int pwm_enable_calc_main = 0;
+
+ int start_int_xtics = 0, end_int_xtics = 0;
+
+// i_led1_on_off(1);
+ if (pwm_run == 1)
+ {
+// stop_pwm();
+// errors.slow_stop.bit.PWM_interrupt_to_long |= 1;
+ return;
+ }
+ pwm_run = 1;
+
+
+// detect_level_interrupt();
+// start_int_xtics = xpwm_time.current_period;
+ if (xpwm_time.where_interrupt == PWM_LOW_LEVEL_INTERRUPT
+ || xpwm_time.one_or_two_interrupts_run == PWM_ONE_INTERRUPT_RUN)
+ {
+ pwm_enable_calc_main = 1;
+ if (f.flag_second_PCH) {
+ fix_pwm_freq_synchro_ain();
+ }
+ }
+ else {
+// i_sync_pin_on();
+ pwm_enable_calc_main = 0;
+ }
+
+
+// project.cds_in[0].read_pbus(&project.cds_in[0]); //read direction
+// project.read_all_pbus();
+// optical_bus_read();
+
+ update_rot_sensors();
+ global_time.calc(&global_time);
+//
+ inc_RS_timeout_cicle();
+ inc_CAN_timeout_cicle();
+ detect_I_M_overload();
+ DetectI_Out_BreakFase();
+ Rotor_measure();
+
+ if ((f.Go == 1) && (f.Stop == 0)
+ && (f.rotor_stopped == 0)
+// && (faults.faults5.bit.rotor_stopped == 0)
+ /* && (f.Ready2 == 1)*/)
+ {
+ if (f.Ready2) {f.flag_turn_On_Pump = 1;} //�� ��-��� ������
+ if (f.Go != prevGo) {
+ set_start_mem(FAST_LOG);
+// clear_mem(FAST_LOG);
+// count_start_impuls = 0;
+ count_step = 0;
+ count_step_ram_off = COUNT_SAVE_LOG_OFF;
+
+ init_regulators();
+ stop_rotor_counter = 0;
+ } else {
+ if (f.Mode == 0) {
+ rmp_freq.DesiredInput = freq1;
+ rmp_freq.calc(&rmp_freq);
+// Fzad = rmp_freq.Out;
+ Fzad = freq1;
+// if(k1 < 87772)
+// { k1 = 87772;}
+ Uzad1 = k1;
+ Uzad2 = k1;
+ }
+
+ select_working_channels(go_a, go_b);
+
+ if (go_a == 0 && prev_go_a != go_a) {
+ stop_pwm_a();
+ }
+ if (go_a == 1 && prev_go_a != go_a) {
+ start_pwm_a();
+ }
+ if (go_b == 0 && prev_go_b != go_b) {
+ stop_pwm_b();
+ }
+ if (go_b == 1 && prev_go_b != go_b) {
+ start_pwm_b();
+ }
+
+ prev_go_a = go_a;
+ prev_go_b = go_b;
+
+ if (count_start_impuls < COUNT_START_IMP) {
+ count_start_impuls++;
+
+ Fzad = 0;
+ rmp_freq.Out = 0;
+
+// set_start_mem(FAST_LOG);
+// set_start_mem(SLOW_LOG);
+ } else {
+
+ if (count_start_impuls==2)
+ {
+ if (go_a == 1 && go_b == 1) {
+ // ��� ���������� middle ��������� ������ ����� ����������� ������� pwm
+ // start_pwm(); ������ ��������� ���� ��� �� ��������� f.Go
+ start_pwm();
+ } else if (go_a == 1) {
+ write_swgen_pwm_times(); //TODO: Check with new PWM
+ start_pwm_a();
+ } else if (go_b == 1) {
+ write_swgen_pwm_times();
+ start_pwm_b();
+ }
+ } // end if (count_start_impuls==1)
+
+ count_start_impuls++;
+ if (count_start_impuls > 2 * COUNT_START_IMP) {
+ count_start_impuls = 2 * COUNT_START_IMP;
+ }
+
+
+ }
+ }
+ flag_record_log = 1;
+ log_saved_to_const_mem = 0;
+ } else {
+ if (f.Discharge
+ && (errors.slow_stop2.bit.Break_Resistor == 0)
+ && (errors.plains_and_others.bit.er0_setted == 0)
+ && (errors.umu_errors.bit.Voltage380_BSU_Off == 0))
+// && !f.Stop)
+ {
+ start_break_pwm();
+ break_resistor_managment_calc();
+ } else {
+ //Do not stop, when come for the first time, to write to xilinx times to close keys.
+ //Otherwise mintime error can occure.
+ //Also we do not stop pwm wile break_resistor keys working
+ if (!count_start_impuls) {
+ // ��� ���������� ������ �� ������ ����� ����������
+ stop_pwm();
+ }
+ break_resistor_set_closed();
+ }
+ if (count_step_ram_off > 0) {
+ count_step_ram_off--;
+ flag_record_log = 1;
+ } else {
+ flag_record_log = 0;
+ }
+
+ pwm_vector_model_titov(f.iq_p_zad, f.iq_fzad, rotor.direct_rotor,
+ rotor.iqFout, 0, 1, 1);
+
+ if (count_start_impuls > 0) {
+ count_start_impuls -= 1;
+ } else {
+ count_start_impuls = 0;
+ }
+
+ Uzad1 = 87772; //0.5%
+ Uzad2 = 87772;
+ k1 = Uzad1;
+ svgen_pwm24_1.Gain = Uzad1;
+ svgen_pwm24_2.Gain = Uzad1;
+ svgen_dq_1.Ualpha = 0;
+ svgen_dq_1.Ubeta = 0;
+ svgen_dq_2.Ualpha = 0;
+ svgen_dq_2.Ubeta = 0;
+ a.iqk = Uzad1;
+ }
+// a.iqk1 = Uzad1;
+// a.iqk2 = Uzad2;
+// a.iqk = (a.iqk1 + a.iqk2) >> 1;
+// a.iqf = Fzad;
+ prevGo = f.Go;
+
+ break_resistor_recup_calc();
+ break_resistor_managment_update();
+
+ if (count_start_impuls >= (2 * COUNT_START_IMP) ) {
+
+ if (f.Mode == 0) {
+// test_calc_pwm24(Uzad1, Uzad2, Fzad);
+ if (pwm_enable_calc_main) {
+ test_calc_simple_dq_pwm24(Uzad1, Uzad2, Fzad, Fzad, K_MODUL_MAX);
+ }
+ analog_dq_calc_const();
+ } else {
+ if ((_IQabs(rotor.iqFout) < STOP_ROTOR_LIMIT)
+ && (_IQabs(analog.iqIq1) > STOP_ROTOR_MIN_CURRENT)) {
+ if ((stop_rotor_counter >= 2520)) {
+ stop_rotor_counter = 2520;
+// faults.faults5.bit.rotor_stopped |= 1;
+ f.rotor_stopped |= 1;
+ } else {
+ stop_rotor_counter += 1;
+ }
+ if (_IQabs(analog.Fsl) < MIN_Fsl_WHEN_STOPED) {
+// faults.faults5.bit.rotor_stopped |= 1;
+ f.rotor_stopped |= 1;
+ }
+ } else {
+ if (stop_rotor_counter > 0) {
+ stop_rotor_counter -= 1;
+ } else {
+ stop_rotor_counter = 0;
+ }
+ }
+
+ pwm_vector_model_titov(f.iq_p_zad, f.iq_fzad, rotor.direct_rotor,
+ rotor.iqFout, f.Mode, 0, pwm_enable_calc_main);
+ }
+
+ } else {
+ // ��� ����� middle ��������� ����� ����������� ������
+ if (count_start_impuls)
+ {
+// svgen_set_time_keys_closed(&svgen_pwm24_1);
+// svgen_set_time_keys_closed(&svgen_pwm24_2);
+ svgen_set_time_middle_keys_open(&svgen_pwm24_1);
+ svgen_set_time_middle_keys_open(&svgen_pwm24_2);
+ }
+ else
+ // � ��� �� ��� �����������
+ {
+ svgen_set_time_keys_closed(&svgen_pwm24_1);
+ svgen_set_time_keys_closed(&svgen_pwm24_2);
+ //������� ������ ����
+// if (faults.faults5.bit.rotor_stopped == 1) {
+ if (f.rotor_stopped == 1) {
+ if (stop_rotor_counter > 0) {
+ stop_rotor_counter -= 1;
+ } else {
+// faults.faults5.bit.rotor_stopped = 0;
+ f.rotor_stopped = 0;
+ stop_rotor_counter = 0;
+ }
+ } else {
+ stop_rotor_counter = 0;
+ }
+ }
+ }
+
+ if (f.Mode) {
+ a.iqf = analog.iqFstator;
+ } else {
+ a.iqf = Fzad;
+ analog.iqFstator = Fzad;
+ a.iqk1 = _IQsqrt(_IQmpy(svgen_dq_1.Ualpha, svgen_dq_1.Ualpha) + _IQmpy(svgen_dq_1.Ubeta, svgen_dq_1.Ubeta)); //For output Kmodul to terminal
+ a.iqk2 = _IQsqrt(_IQmpy(svgen_dq_2.Ualpha, svgen_dq_2.Ualpha) + _IQmpy(svgen_dq_2.Ubeta, svgen_dq_2.Ubeta)); //end counting Uout
+ }
+ a.iqk = (a.iqk1 + a.iqk2) / 2;
+
+// write_swgen_pwm_times();
+
+ if (xpwm_time.one_or_two_interrupts_run == PWM_ONE_INTERRUPT_RUN)
+ write_swgen_pwm_times_split_eages(PWM_MODE_RELOAD_FORCE);
+ else
+ {
+ if (f.Go == 1)
+ {
+ if (count_start_impuls == (2 * COUNT_START_IMP))
+ {
+ if (pwm_enable_calc_main)
+ write_swgen_pwm_times_split_eages(PWM_MODE_RELOAD_LEVEL_HIGH);
+ else
+ write_swgen_pwm_times_split_eages(PWM_MODE_RELOAD_LEVEL_LOW);
+ }
+ else
+// if (pwm_enable_calc_main)
+ write_swgen_pwm_times_split_eages(PWM_MODE_RELOAD_FORCE);
+ }
+ else
+ {
+ if (count_start_impuls == (2 * COUNT_START_IMP) - 1)
+ {
+ if (pwm_enable_calc_main)
+ write_swgen_pwm_times_split_eages(PWM_MODE_RELOAD_LEVEL_HIGH);
+ else
+ write_swgen_pwm_times_split_eages(PWM_MODE_RELOAD_LEVEL_LOW);
+
+ }
+ else
+ write_swgen_pwm_times_split_eages(PWM_MODE_RELOAD_FORCE);
+ }
+
+ // if (pwm_enable_calc_main)
+ // prev_run_calc_uf = run_calc_uf;
+
+ }
+
+
+
+
+
+ // logs recording
+// if ((flag_record_log && !f.stop_Log) || f.Startstoplog)
+// //if (f.Log1_Log2 == 1)// && f.Go == 1 && (!f.Stop))
+// //if(f.Go == 1)
+// {
+// test_mem_limit(FAST_LOG, !f.Ciclelog);
+// count_step++;
+//
+// if (count_step >= 0) {
+// fillADClogs();
+//// logpar.log13 = flag_record_log;
+//// logpar.log14 = count_start_impuls;
+//// logpar.log10 = (int16)_IQtoIQ15(analog.iqIq1_filter);
+//// logpar.log11 = (int16)_IQtoIQ15(rotor.iqFrotFromOptica);
+// logpar.log15 = (int16) _IQtoIQ15(analog.iqIq2);
+// logpar.log16 = (int16) _IQtoIQ15(a.iqk1);
+// logpar.log17 = (int16) _IQtoIQ15(analog.iqId1);
+// logpar.log18 = (int16) _IQtoIQ15(analog.iqIq1);
+//
+//// logpar.log24 = (int16) break_result_1;
+//// logpar.log25 = (int16) break_result_2;
+// logpar.log27 = (int16)(_IQtoIQ15(analog.iqIbtr1_1));
+// logpar.log28 = (int16)(_IQtoIQ15(analog.iqIbtr2_1));
+//
+// getFastLogs(!f.Ciclelog);
+// count_step = 0;
+// }
+// } else {
+// if (f.Stop && log_saved_to_const_mem == 0) {
+// logpar.copy_log_to_const_memory = 1;
+// log_saved_to_const_mem = 1;
+// }
+// }
+
+// optical_bus_write();
+
+// detect_current_saw_val();
+ end_int_xtics = xpwm_time.current_period;
+ f.PWMcounterVal = labs(start_int_xtics - end_int_xtics);
+
+ pwm_run = 0;
+
+ i_sync_pin_off();
+// i_led1_on_off(0);
+
+}
+
+void slow_vector_update()
+{
+ _iq iqKzad = 0;
+ freq1 = _IQ (f.fzad/F_STATOR_MAX);//f.iqFRotorSetHz;
+ iqKzad = _IQ(f.kzad);
+ k1 = zad_intensiv_q(30000, 30000, k1, iqKzad); //20000
+
+
+}
+
+//#pragma CODE_SECTION(write_swgen_pwm_times,".fast_run");
+//void write_swgen_pwm_times()
+//{
+// xpwm_time.Ta0_0 = (unsigned int) svgen_pwm24_1.Tc_0.Ti;
+// xpwm_time.Ta0_1 = (unsigned int) svgen_pwm24_1.Tc_1.Ti;
+// xpwm_time.Tb0_0 = (unsigned int) svgen_pwm24_1.Tb_0.Ti;
+// xpwm_time.Tb0_1 = (unsigned int) svgen_pwm24_1.Tb_1.Ti;
+// xpwm_time.Tc0_0 = (unsigned int) svgen_pwm24_1.Ta_0.Ti;
+// xpwm_time.Tc0_1 = (unsigned int) svgen_pwm24_1.Ta_1.Ti;
+//
+// xpwm_time.Ta1_0 = (unsigned int) svgen_pwm24_2.Tc_0.Ti;
+// xpwm_time.Ta1_1 = (unsigned int) svgen_pwm24_2.Tc_1.Ti;
+// xpwm_time.Tb1_0 = (unsigned int) svgen_pwm24_2.Tb_0.Ti;
+// xpwm_time.Tb1_1 = (unsigned int) svgen_pwm24_2.Tb_1.Ti;
+// xpwm_time.Tc1_0 = (unsigned int) svgen_pwm24_2.Ta_0.Ti;
+// xpwm_time.Tc1_1 = (unsigned int) svgen_pwm24_2.Ta_1.Ti;
+//
+// xpwm_time.Tbr0_0 = break_result_1;
+// xpwm_time.Tbr0_1 = break_result_2;
+// xpwm_time.Tbr1_0 = break_result_3;
+// xpwm_time.Tbr1_1 = break_result_4;
+//
+// xpwm_time.write_1_2_winding_break_times(&xpwm_time);
+//
+//
+//// logpar.log29 = xpwm_time.Ta0_0;
+//// logpar.log30 = xpwm_time.Ta0_1;
+//// logpar.log10 = xpwm_time.Tb0_0;
+//// logpar.log11 = xpwm_time.Tb0_1;
+//// logpar.log12 = xpwm_time.Tc0_0;
+//// logpar.log13 = xpwm_time.Tc0_1;
+//// logpar.log7 = _IQtoIQ12(svgen_pwm24_1.Alpha);
+//// logpar.log8 = xpwm_time.Ta0_0 - xpwm_time.Tb0_0;
+//// logpar.log9 = xpwm_time.Ta0_1 - xpwm_time.Tb0_1;
+//// logpar.log10 = xpwm_time.Tb0_0 - xpwm_time.Tc0_0;
+//// logpar.log11 = xpwm_time.Tb0_1 - xpwm_time.Tc0_1;
+//// logpar.log12 = xpwm_time.Tc0_0 - xpwm_time.Ta0_0;
+//// logpar.log13 = xpwm_time.Tc0_1 - xpwm_time.Ta0_1;
+//
+//}
+
+//#pragma CODE_SECTION(write_swgen_pwm_times_split_eages,".fast_run2");
+//void write_swgen_pwm_times_split_eages(unsigned int mode_reload)
+//{
+//
+// xpwm_time.Ta0_0 = (unsigned int) svgen_pwm24_1.Tc_0.Ti;
+// xpwm_time.Ta0_1 = (unsigned int) svgen_pwm24_1.Tc_1.Ti;
+// xpwm_time.Tb0_0 = (unsigned int) svgen_pwm24_1.Tb_0.Ti;
+// xpwm_time.Tb0_1 = (unsigned int) svgen_pwm24_1.Tb_1.Ti;
+// xpwm_time.Tc0_0 = (unsigned int) svgen_pwm24_1.Ta_0.Ti;
+// xpwm_time.Tc0_1 = (unsigned int) svgen_pwm24_1.Ta_1.Ti;
+//
+// xpwm_time.Ta1_0 = (unsigned int) svgen_pwm24_2.Tc_0.Ti;
+// xpwm_time.Ta1_1 = (unsigned int) svgen_pwm24_2.Tc_1.Ti;
+// xpwm_time.Tb1_0 = (unsigned int) svgen_pwm24_2.Tb_0.Ti;
+// xpwm_time.Tb1_1 = (unsigned int) svgen_pwm24_2.Tb_1.Ti;
+// xpwm_time.Tc1_0 = (unsigned int) svgen_pwm24_2.Ta_0.Ti;
+// xpwm_time.Tc1_1 = (unsigned int) svgen_pwm24_2.Ta_1.Ti;
+//
+// xpwm_time.Tbr0_0 = break_result_1;
+// xpwm_time.Tbr0_1 = break_result_2;
+// xpwm_time.Tbr1_0 = break_result_3;
+// xpwm_time.Tbr1_1 = break_result_4;
+//
+// xpwm_time.mode_reload = mode_reload;
+//
+// xpwm_time.write_1_2_winding_break_times_split(&xpwm_time);
+//}
+
+#define CONST_IQ_1 16777216 //1
+
+//#pragma CODE_SECTION(fix_pwm_freq_synchro_ain,".fast_run");
+//void fix_pwm_freq_synchro_ain()
+//{
+//// if (f.Sync_input_or_output == SYNC_INPUT)
+// {
+// sync_inc_error();
+//
+// if (f.disable_sync || f.sync_ready == 0)
+// {
+//
+//
+// return;
+// }
+//
+// if (f.pwm_freq_plus_minus_zero==1)
+// {
+//
+//
+// //Increment xtics
+// VAR_FREQ_PWM_XTICS = DEF_FREQ_PWM_XTICS + 1;
+// WriteMemory(ADR_PWM_PERIOD, VAR_FREQ_PWM_XTICS); // Saw period in tics. 1 tic = 16.67 nsec
+//
+// change_freq_pwm(VAR_FREQ_PWM_XTICS);
+//
+//
+// }
+//
+// if (f.pwm_freq_plus_minus_zero==-1)
+// {
+// //4464
+// //Decrement xtics
+// VAR_FREQ_PWM_XTICS = DEF_FREQ_PWM_XTICS - 1;
+// WriteMemory(ADR_PWM_PERIOD, VAR_FREQ_PWM_XTICS); // Saw period in tics. 1 tic = 16.67 nsec
+//
+// change_freq_pwm(VAR_FREQ_PWM_XTICS);
+//
+// }
+//
+// if (f.pwm_freq_plus_minus_zero==0)
+// {
+// VAR_FREQ_PWM_XTICS = DEF_FREQ_PWM_XTICS - 1;
+// WriteMemory(ADR_PWM_PERIOD, VAR_FREQ_PWM_XTICS);
+// change_freq_pwm(VAR_FREQ_PWM_XTICS);
+// }
+//
+// }
+//
+//
+//
+//}
+
+
+//void detect_level_interrupt(void)
+//{
+//
+// WriteMemory(ADR_SAW_REQUEST, 0x8000);
+// xpwm_time.current_period = ReadMemory(ADR_SAW_VALUE);
+//
+// if (xpwm_time.current_period<xpwm_time.pwm_tics/2)
+// xpwm_time.where_interrupt = PWM_LOW_LEVEL_INTERRUPT;
+//
+// if (xpwm_time.current_period>xpwm_time.pwm_tics/2)
+// xpwm_time.where_interrupt = PWM_HIGH_LEVEL_INTERRUPT;
+//
+//}
+//
+//void detect_current_saw_val(void)
+//{
+// WriteMemory(ADR_SAW_REQUEST, 0x8000);
+// xpwm_time.current_period = ReadMemory(ADR_SAW_VALUE);
+//}
+
+
+
+
diff --git a/Inu/Src/main_matlab/old/v_pwm24.c b/Inu/Src/main_matlab/old/v_pwm24.c
new file mode 100644
index 0000000..e15475e
--- /dev/null
+++ b/Inu/Src/main_matlab/old/v_pwm24.c
@@ -0,0 +1,1642 @@
+
+
+#include "v_pwm24.h"
+//#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+//#include "big_dsp_module.h"
+//#include "rmp2cntl.h" // Include header for the VHZPROF object
+//#include "rmp_cntl_my1.h" // Include header for the VHZPROF object
+#include "pid_reg3.h" // Include header for the VHZPROF object
+
+#include "params.h"
+// #include "PWMTools.h"
+#include "adc_tools.h"
+#include "v_pwm24.h"
+
+#include "dq_to_alphabeta_cos.h"
+
+#include "IQmathLib.h"
+// #include "log_to_memory.h"
+//Xilinx
+//#include "x_parameters.h"
+// #include "x_basic_types.h"
+// #include "xp_project.h"
+// #include "xp_cds_tk.h"
+#include "svgen_dq.h"
+#include "xp_write_xpwm_time.h"
+
+#include "def.h"
+
+#define DEF_FREQ_PWM_XTICS T1_PRD
+#define DEF_PERIOD_MIN_XTICS (DT + 10e-6)*FTBCLK
+
+// ������� ��� � xilinx ����� (60000000 / 16 / FREQ_PWM = 3750000 / FREQ_PWM)
+// #pragma DATA_SECTION(VAR_FREQ_PWM_XTICS,".fast_vars1");
+int VAR_FREQ_PWM_XTICS = DEF_FREQ_PWM_XTICS;
+
+// ����������� �������� ���� � xilinx �����
+// #pragma DATA_SECTION(VAR_PERIOD_MAX_XTICS,".fast_vars1");
+int VAR_PERIOD_MAX_XTICS = DEF_FREQ_PWM_XTICS - DEF_PERIOD_MIN_XTICS;
+
+// ����������� �������� ���� � xilinx ����� (mintime+deadtime) (F���� * T���.�����.��� = (60 / 16 / 2) * T��� = (60 * T��� / 16 / 2))
+// #pragma DATA_SECTION(VAR_PERIOD_MIN_XTICS,".fast_vars1");
+int VAR_PERIOD_MIN_XTICS = DEF_PERIOD_MIN_XTICS;//
+
+// ����������� �������� ���� � xilinx ����� ��� ��������� ������ (mintime) (F���� * T���.�����.��� = (60 / 16 / 2) * T��� = (60 * T��� / 16 / 2))
+// #pragma DATA_SECTION(VAR_PERIOD_MIN_BR_XTICS,".fast_vars1");
+// int VAR_PERIOD_MIN_BR_XTICS = DEF_PERIOD_MIN_BR_XTICS;//
+
+#define PWM_ONE_INTERRUPT_RUN 1
+#define PWM_TWICE_INTERRUPT_RUN 0
+
+
+
+#define SQRT3 29058990 //1.7320508075688772935274463415059
+#define CONST_IQ_1 16777216 //1
+#define CONST_IQ_05 8388608 //0.5
+#define CONST_IQ_2 33554432 //2
+
+#define CONST_IQ_PI6 8784530 //30
+#define CONST_IQ_PI3 17569060 // 60
+#define CONST_IQ_PI 52707178 // 180
+#define CONST_IQ_OUR1 35664138 //
+#define CONST_IQ_2PI 105414357 // 360
+#define CONST_IQ_120G 35138119 // 120 grad
+#define CONST_IQ_3 50331648 // 3
+
+#define IQ_ALFA_SATURATION1 15099494//16441671//15099494
+#define IQ_ALFA_SATURATION2 1677721//16441671//15099494
+
+
+#define PI 3.1415926535897932384626433832795
+
+// #pragma DATA_SECTION(iq_alfa_coef,".fast_vars");
+_iq iq_alfa_coef = 16777216;
+
+// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+//#pragma DATA_SECTION(freq_array,".v_24pwm_vars");
+//int freq_array[COUNT_VAR_FREQ];
+// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+//#pragma DATA_SECTION(pidCur_Kp,".v_24pwm_vars");
+//_iq pidCur_Kp = 0;
+
+// #pragma DATA_SECTION(pidCur_Ki,".fast_vars");
+_iq pidCur_Ki = 0;
+
+// #pragma DATA_SECTION(ar_tph,".fast_vars");
+_iq ar_tph[7];
+
+// #pragma DATA_SECTION(winding_displacement,".fast_vars");
+_iq winding_displacement = CONST_IQ_PI6;
+
+//#pragma DATA_SECTION(iq_koef_mod_korrect_1,".fast_vars");//v_24pwm_vars
+//_iq iq_koef_mod_korrect_1;
+
+//#pragma DATA_SECTION(iq_koef_mod_korrect_2,".v_24pwm_vars");
+//_iq iq_koef_mod_korrect_2;
+
+//#pragma DATA_SECTION(ar_sa_all,".v_24pwm_vars");
+// #pragma DATA_SECTION(ar_sa_all,".fast_vars");
+int ar_sa_all[3][6][4][7] = { {
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ },
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ },
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ },
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ },
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ },
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ }
+ },
+ {
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ },
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ },
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ },
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ },
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ },
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ }
+ },
+ {
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ },
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ },
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ },
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ },
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ },
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ }
+ }
+ };
+
+
+// #pragma DATA_SECTION(svgen_pwm24_1,".v_24pwm_vars");
+//#pragma DATA_SECTION(svgen_pwm24_1,".fast_vars");
+SVGEN_PWM24 svgen_pwm24_1 = SVGEN_PWM24_DEFAULTS;
+// #pragma DATA_SECTION(svgen_pwm24_2,".v_24pwm_vars");
+//#pragma DATA_SECTION(svgen_pwm24_2,".fast_vars");
+SVGEN_PWM24 svgen_pwm24_2 = SVGEN_PWM24_DEFAULTS;
+
+// #pragma DATA_SECTION(svgen_dq_1,".v_24pwm_vars");
+SVGENDQ svgen_dq_1 = SVGENDQ_DEFAULTS;
+// #pragma DATA_SECTION(svgen_dq_2,".v_24pwm_vars");
+SVGENDQ svgen_dq_2 = SVGENDQ_DEFAULTS;
+
+//#pragma DATA_SECTION(delta_t1_struct,".v_24pwm_vars");
+//#pragma DATA_SECTION(delta_t1_struct,".fast_vars");
+//PIDREG3 delta_t1_struct = PIDREG3_DEFAULTS;
+//#pragma DATA_SECTION(delta_t2_struct,".v_24pwm_vars");
+//#pragma DATA_SECTION(delta_t2_struct,".fast_vars");
+//PIDREG3 delta_t2_struct = PIDREG3_DEFAULTS;
+
+void calc_t_abc(_iq k, _iq teta, int region, _iq *iq_tt0, _iq *iq_tt1, _iq *iq_tt2, _iq *iq_tt3, _iq *iq_tt4, _iq *iq_tt5);
+void set_predel_dshim24(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax);
+void set_predel_dshim24_simple0(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax);
+void set_predel_dshim24_simple1(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax);
+int detect_sec(_iq teta);
+int detect_region(_iq k, _iq teta);
+//
+
+
+
+
+//void init_alpha(void)
+//{
+//
+//// power_ain1.init(&power_ain1);
+//// power_ain2.init(&power_ain2);
+//
+// svgen_mf1.NewEntry = 0;//_IQ(0.5);
+// svgen_mf2.NewEntry = 0;
+//
+// svgen_mf1.SectorPointer = 0;
+// svgen_mf2.SectorPointer = 0;
+//
+////����� �� ��������� 0 ��������
+// svgen_mf1.Alpha = _IQ(0);
+// svgen_mf2.Alpha = _IQ(0);
+//
+//
+//
+//
+//
+//#if (SETUP_SDVIG_OBMOTKI == SDVIG_OBMOTKI_30_PLUS)
+//// 30 ����. �����
+// svgen_mf1.Alpha = _IQ(0.5);
+// svgen_mf2.Alpha = _IQ(0);
+//
+// svgen_mf1.Full_Alpha = svgen_mf1.Alpha;
+// svgen_mf2.Full_Alpha = svgen_mf2.Alpha;
+//#else
+//
+//
+//#if (SETUP_SDVIG_OBMOTKI == SDVIG_OBMOTKI_30_MINUS)
+//// -30 ����. �����
+// svgen_mf1.Alpha = _IQ(0);
+// svgen_mf2.Alpha = _IQ(0.5);
+// svgen_mf1.Full_Alpha = svgen_mf1.Alpha;
+// svgen_mf2.Full_Alpha = svgen_mf2.Alpha;
+//#else
+//
+//#if (SETUP_SDVIG_OBMOTKI == SDVIG_OBMOTKI_ZERO)
+//// -30 ����. �����
+// svgen_mf1.Alpha = _IQ(0);
+// svgen_mf2.Alpha = _IQ(0);
+// svgen_mf1.Full_Alpha = svgen_mf1.Alpha;
+// svgen_mf2.Full_Alpha = svgen_mf2.Alpha;
+//#else
+// #error "!!!������!!! �� ��������� SETUP_SDVIG_OBMOTKI � params_motor.h!!!"
+//
+//
+//#endif
+//
+//#endif
+//
+//
+//
+//#endif
+//
+//
+//
+//}
+
+void InitVariablesSvgen(unsigned int freq)
+{
+////////// Inserted from 'initPWM_Variables' for modulation project //////////
+
+ //��� ������ ���� �������, ����� ���� ��������� ������, ��� ������ ����
+ xpwm_time.Tclosed_0 = 0;
+ xpwm_time.Tclosed_1 = VAR_FREQ_PWM_XTICS + 1;
+ xpwm_time.Tclosed_high = VAR_FREQ_PWM_XTICS + 1;
+ xpwm_time.pwm_tics = VAR_FREQ_PWM_XTICS;
+ // ������� ����������� ���
+ // "����������� ��� ��� ���� ����=0x0
+ //���� SAW_DIRECTbit = 0 �� �������� ����>������� �������� �������� ���������� ���������=0
+ //�� ������ ����
+ //���� SAW_DIRECTbit = 1 �� �������� ����<=������� �������� �������� ���������� ���������=0
+ //�� ������ ����
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ //��� 22220 ������������� 0, �.�. ��� ������ � ������ ������ ���� ���������� ��������� ����������.
+ xpwm_time.saw_direct.all = 0;//0x0555;
+ xpwm_time.one_or_two_interrupts_run = PWM_TWICE_INTERRUPT_RUN;
+
+ initXpwmTimeStructure(&xpwm_time);
+ init_alpha_pwm24(VAR_FREQ_PWM_XTICS);
+/////////////////////////////////////////////////////////////
+
+ svgen_pwm24_1.pwm_minimal_impuls_zero_minus = 0;//(float)DEF_PERIOD_MIN_MKS*1000.0*FREQ_INTERNAL_GENERATOR_XILINX_TMS/1000000000.0;// DEF_PERIOD_MIN_XTICS_100;//DEF_PERIOD_MIN_XTICS_80;
+ svgen_pwm24_1.pwm_minimal_impuls_zero_plus = 0;//(float)DEF_PERIOD_MIN_MKS*1000.0*FREQ_INTERNAL_GENERATOR_XILINX_TMS/1000000000.0;// DEF_PERIOD_MIN_XTICS_80;
+
+ svgen_pwm24_2.pwm_minimal_impuls_zero_minus = svgen_pwm24_1.pwm_minimal_impuls_zero_minus;
+ svgen_pwm24_2.pwm_minimal_impuls_zero_plus = svgen_pwm24_1.pwm_minimal_impuls_zero_plus;
+
+
+ svgen_pwm24_1.Tclosed_high = xpwm_time.Tclosed_1;
+ svgen_pwm24_2.Tclosed_high = xpwm_time.Tclosed_1;
+
+
+
+
+ svgen_dq_1.Ualpha = 0;
+ svgen_dq_1.Ubeta = 0;
+
+ svgen_dq_2.Ualpha = 0;
+ svgen_dq_2.Ubeta = 0;
+
+
+
+}
+
+
+
+
+
+
+
+
+
+
+// #pragma CODE_SECTION(recalc_time_pwm_minimal_2_xilinx_pwm24_l,".fast_run2");
+void recalc_time_pwm_minimal_2_xilinx_pwm24_l(SVGEN_PWM24 *pwm24,
+ _iq *T0, _iq *T1,
+ _iq timpuls_corr )
+{
+
+//_iq pwm_t, timpuls_corr;
+
+ volatile unsigned long pwm_t;
+ volatile unsigned int minimal_plus, minimal_minus;
+
+
+
+ minimal_plus = pwm24->pwm_minimal_impuls_zero_plus;
+ minimal_minus = pwm24->pwm_minimal_impuls_zero_minus;
+
+ // if (pwm24->prev_level == V_PWM24_PREV_PWM_CLOSE || pwm24->prev_level == V_PWM24_PREV_PWM_MIDDLE || pwm24->prev_level == V_PWM24_PREV_PWM_WORK_KM0)
+ // {
+ // minimal_plus *= 2;
+// minimal_minus *= 2;
+// }
+
+ pwm_t = timpuls_corr / pwm24->XilinxFreq;
+
+ // *T_imp = pwm_t;
+
+// if (pwm_t>(pwm24->Tclosed_high-4*minimal_minus))
+// pwm_t=(pwm24->Tclosed_high-4*minimal_minus);
+
+
+ if (timpuls_corr >= 0)
+ {
+ *T0 = pwm_t + minimal_plus;
+ // *T1 = 0;
+ *T1 = pwm24->Tclosed_high - minimal_minus;
+ }
+ else
+ {
+ *T0 = 0 + minimal_plus;
+ // *T1 = -pwm_t - minimal_minus;
+ *T1 = pwm24->Tclosed_high + pwm_t - minimal_minus;
+ }
+
+
+ // if (*T0 < minimal_plus)
+ // *T0 = minimal_plus;
+
+ // if (*T0 > (pwm24->Tclosed_high - 2 * minimal_plus))
+ // *T0 = (pwm24->Tclosed_high - 2 * minimal_plus);
+
+ // if (*T1 < (2 * minimal_minus))
+ // *T1 = 2 * minimal_minus;
+
+ // if (*T1 > (pwm24->Tclosed_high - minimal_minus))
+ // *T1 = (pwm24->Tclosed_high - minimal_minus);
+
+}
+
+static DQ_TO_ALPHABETA dq_to_ab = DQ_TO_ALPHABETA_DEFAULTS;
+
+// #pragma CODE_SECTION(test_calc_dq_pwm24,".v_24pwm_run");
+void test_calc_dq_pwm24(_iq Ud, _iq Uq, _iq Ud2, _iq Uq2, _iq tetta,_iq Uzad_max,
+_iq* maxUq1, _iq* maxUq2, _iq* Uq1Out, _iq* Uq2Out)
+{
+// DQ_TO_ALPHABETA dq_to_ab = DQ_TO_ALPHABETA_DEFAULTS;
+ //_iq maxUq = 0;
+
+ *maxUq1 = 0;
+ *maxUq2 = 0;
+
+ _iq Uzad_max_square = _IQmpy(Uzad_max, Uzad_max);
+
+ if (tetta > CONST_IQ_2PI)
+ {
+ tetta -= CONST_IQ_2PI;
+ }
+
+ if (tetta < 0)
+ {
+ tetta += CONST_IQ_2PI;
+ }
+ //��������� ����������� ���������
+ *maxUq1 = _IQsqrt(Uzad_max_square - _IQmpy(Ud, Ud));
+ if (Uq > (*maxUq1)) { Uq = (*maxUq1);}
+ if (Uq < -(*maxUq1)) { Uq = -(*maxUq1);}
+ *Uq1Out = Uq;
+
+ //Reculct dq to alpha-beta
+ dq_to_ab.Tetta = tetta;
+ dq_to_ab.Ud = Ud;
+ dq_to_ab.Uq = Uq;
+ dq_to_ab.calc2(&dq_to_ab);
+ //Calc swgen times for 1-st winding
+ svgen_dq_1.Ualpha = dq_to_ab.Ualpha;
+ svgen_dq_1.Ubeta = dq_to_ab.Ubeta;
+ svgen_dq_1.calc(&svgen_dq_1);
+
+ //��������� ����������� ���������
+ *maxUq2 = _IQsqrt(Uzad_max_square - _IQmpy(Ud, Ud));
+ if (Uq2 > *maxUq2) { Uq2 = *maxUq2;}
+ if (Uq2 < -(*maxUq2)) { Uq2 = -(*maxUq2);}
+
+*Uq2Out = Uq2;
+
+ //Reculc dq to alpha-beta for 2-nd winding with winding displasement
+ dq_to_ab.Tetta = tetta - winding_displacement;
+ dq_to_ab.Ud = Ud2;
+ dq_to_ab.Uq = Uq2;
+ dq_to_ab.calc2(&dq_to_ab);
+ //Calc swgen times for 1-st winding
+ svgen_dq_2.Ualpha = dq_to_ab.Ualpha;
+ svgen_dq_2.Ubeta = dq_to_ab.Ubeta;
+ svgen_dq_2.calc(&svgen_dq_2);
+
+ //1 winding
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Ta_0.Ti, &svgen_pwm24_1.Ta_1.Ti, svgen_dq_1.Ta);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Tb_0.Ti, &svgen_pwm24_1.Tb_1.Ti, svgen_dq_1.Tb);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Tc_0.Ti, &svgen_pwm24_1.Tc_1.Ti, svgen_dq_1.Tc);
+
+ // 2 winding
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Ta_0.Ti, &svgen_pwm24_2.Ta_1.Ti, svgen_dq_2.Ta);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Tb_0.Ti, &svgen_pwm24_2.Tb_1.Ti, svgen_dq_2.Tb);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Tc_0.Ti, &svgen_pwm24_2.Tc_1.Ti, svgen_dq_2.Tc);
+
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+/*
+ set_predel_dshim24(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);*/
+}
+
+
+// #pragma CODE_SECTION(test_calc_simple_dq_pwm24,".v_24pwm_run");
+void test_calc_simple_dq_pwm24(_iq uz1, _iq uz2, _iq fz1, _iq fz2,_iq Uzad_max)
+{
+ static _iq hz_to_angle = _IQ(2.0 * PI * NORMA_FROTOR / FREQ_PWM / 2);
+// static _iq tetta = 0;
+ DQ_TO_ALPHABETA dq_to_ab = DQ_TO_ALPHABETA_DEFAULTS;
+
+ _iq Ud = 0;
+ _iq Uq = _IQsat(uz1,Uzad_max,0);
+
+ analog.tetta += _IQmpy(fz1, hz_to_angle);
+
+ if (analog.tetta >= CONST_IQ_2PI)
+ {
+ analog.tetta -= CONST_IQ_2PI;
+ }
+
+ if (analog.tetta < 0)
+ {
+ analog.tetta += CONST_IQ_2PI;
+ }
+
+ dq_to_ab.Tetta = analog.tetta;
+ dq_to_ab.Ud = Ud;
+ dq_to_ab.Uq = Uq;
+ dq_to_ab.calc2(&dq_to_ab);
+
+ svgen_dq_1.Ualpha = dq_to_ab.Ualpha;
+ svgen_dq_1.Ubeta = dq_to_ab.Ubeta;
+
+// svgen_dq_1.Ualpha = 0;
+// svgen_dq_1.Ubeta = 0;
+
+ svgen_dq_1.calc(&svgen_dq_1);
+
+ dq_to_ab.Tetta = analog.tetta - winding_displacement;
+ dq_to_ab.Ud = Ud;
+ dq_to_ab.Uq = Uq;
+ dq_to_ab.calc2(&dq_to_ab);
+
+ svgen_dq_2.Ualpha = dq_to_ab.Ualpha;
+ svgen_dq_2.Ubeta = dq_to_ab.Ubeta;
+
+ svgen_dq_2.calc(&svgen_dq_2);
+
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Ta_0.Ti, &svgen_pwm24_1.Ta_1.Ti, svgen_dq_1.Ta);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Tb_0.Ti, &svgen_pwm24_1.Tb_1.Ti, svgen_dq_1.Tb);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Tc_0.Ti, &svgen_pwm24_1.Tc_1.Ti, svgen_dq_1.Tc);
+
+ // 2
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Ta_0.Ti, &svgen_pwm24_2.Ta_1.Ti, svgen_dq_2.Ta);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Tb_0.Ti, &svgen_pwm24_2.Tb_1.Ti, svgen_dq_2.Tb);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Tc_0.Ti, &svgen_pwm24_2.Tc_1.Ti, svgen_dq_2.Tc);
+
+// logpar.log1 = (int16)(_IQtoIQ15(uz1));
+// logpar.log2 = (int16)(_IQtoIQ15(fz1));
+// logpar.log3 = (int16)(_IQtoIQ15(Ud));
+// logpar.log4 = (int16)(_IQtoIQ15(Uq));
+// logpar.log5 = (int16)(_IQtoIQ15(svgen_dq_1.Ualpha));
+// logpar.log6 = (int16)(_IQtoIQ15(svgen_dq_1.Ubeta));
+// logpar.log7 = (int16)(_IQtoIQ15(svgen_dq_1.Ta));
+// logpar.log8 = (int16)(_IQtoIQ15(svgen_dq_1.Tb));
+// logpar.log9 = (int16)(_IQtoIQ15(svgen_dq_1.Tc));
+// logpar.log10 = (int16)(_IQtoIQ12(analog.tetta));
+// logpar.log11 = (int16)(svgen_pwm24_1.Ta_0.Ti);
+// logpar.log12 = (int16)((svgen_pwm24_1.Ta_1.Ti));
+// logpar.log13 = (int16)(svgen_pwm24_1.Tb_0.Ti);
+// logpar.log14 = (int16)((svgen_pwm24_1.Tb_1.Ti));
+// logpar.log15 = (int16)(svgen_pwm24_1.Tc_0.Ti);
+// logpar.log16 = (int16)((svgen_pwm24_1.Tc_1.Ti));
+
+
+// svgen_pwm24_1.calc(&svgen_pwm24_1);
+// svgen_pwm24_2.calc(&svgen_pwm24_2);
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+}
+
+// #pragma CODE_SECTION(test_calc_pwm24,".v_24pwm_run");
+void test_calc_pwm24(_iq uz1, _iq uz2, _iq fz1)
+{
+ //static int i =0;
+ svgen_pwm24_1.Freq = fz1;
+ svgen_pwm24_2.Freq = fz1;
+
+ svgen_pwm24_1.Gain = uz1;//_IQmpy(uz1,iq_koef_mod_korrect_1);
+ svgen_pwm24_2.Gain = uz2;//_IQmpy(uz2,iq_koef_mod_korrect_2);
+
+ svgen_pwm24_1.delta_U = filter.iqU_1_fast - filter.iqU_2_fast;
+ svgen_pwm24_2.delta_U = filter.iqU_3_fast - filter.iqU_4_fast;
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ svgen_pwm24_1.delta_U = 0;
+ svgen_pwm24_2.delta_U = 0;
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ svgen_pwm24_1.Ia = analog.iqIa1_1;
+ svgen_pwm24_1.Ib = analog.iqIb1_1;
+ svgen_pwm24_1.Ic = analog.iqIc1_1;
+
+ svgen_pwm24_2.Ia = analog.iqIa2_1;
+ svgen_pwm24_2.Ib = analog.iqIb2_1;
+ svgen_pwm24_2.Ic = analog.iqIc2_1;
+
+ svgen_pwm24_1.calc(&svgen_pwm24_1);
+ svgen_pwm24_2.calc(&svgen_pwm24_2);
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ set_predel_dshim24(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+// if(((svgen_pwm24_2.Ta_0.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Ta_0.Ti <= (VAR_FREQ_PWM_XTICS))) ||
+// ((svgen_pwm24_2.Ta_1.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Ta_1.Ti <= (VAR_FREQ_PWM_XTICS))) ||
+// ((svgen_pwm24_2.Tb_0.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Tb_0.Ti <= (VAR_FREQ_PWM_XTICS))) ||
+// ((svgen_pwm24_2.Tb_1.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Tb_1.Ti <= (VAR_FREQ_PWM_XTICS))) ||
+// ((svgen_pwm24_2.Tc_0.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Tc_0.Ti <= (VAR_FREQ_PWM_XTICS))) ||
+// ((svgen_pwm24_2.Tc_1.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Tc_1.Ti <= (VAR_FREQ_PWM_XTICS))))
+// {
+// asm(" NOP ");
+// }
+//
+// if( ((svgen_pwm24_2.Ta_0.Ti > 0) && (svgen_pwm24_2.Ta_0.Ti < (VAR_PERIOD_MIN_XTICS))) ||
+// ((svgen_pwm24_2.Ta_1.Ti > 0) && (svgen_pwm24_2.Ta_1.Ti < (VAR_PERIOD_MIN_XTICS))) ||
+// ((svgen_pwm24_2.Tb_0.Ti > 0) && (svgen_pwm24_2.Tb_0.Ti < (VAR_PERIOD_MIN_XTICS))) ||
+// ((svgen_pwm24_2.Tb_1.Ti > 0) && (svgen_pwm24_2.Tb_1.Ti < (VAR_PERIOD_MIN_XTICS))) ||
+// ((svgen_pwm24_2.Tc_0.Ti > 0) && (svgen_pwm24_2.Tc_0.Ti < (VAR_PERIOD_MIN_XTICS))) ||
+// ((svgen_pwm24_2.Tc_1.Ti > 0) && (svgen_pwm24_2.Tc_1.Ti < (VAR_PERIOD_MIN_XTICS))))
+// {
+// asm(" NOP ");
+// }
+}
+
+
+// #pragma CODE_SECTION(svgen_pwm24_calc,".v_24pwm_run");
+void svgen_pwm24_calc(SVGEN_PWM24 *vt)
+{
+ _iq StepAngle;
+
+ StepAngle = _IQmpy(vt->Freq,vt->FreqMax);
+
+ vt->Alpha = vt->Alpha + StepAngle;
+
+
+ if (vt->Alpha > CONST_IQ_2PI)
+ {
+ vt->Alpha -= CONST_IQ_2PI;
+ }
+
+ if (vt->Alpha < 0)
+ {
+ vt->Alpha += CONST_IQ_2PI;
+ }
+
+
+ calc_time_one_tk(vt->Gain, vt->Alpha, vt->delta_U, vt->Ia, vt->Ib, vt->Ic,
+ vt->number_svgen, &vt->Ta_0, &vt->Ta_1,&vt->Tb_0, &vt->Tb_1,&vt->Tc_0, &vt->Tc_1);
+
+
+
+ vt->Ta_0.Ti = vt->Ta_0.Ti/vt->XilinxFreq;
+ vt->Ta_1.Ti = vt->Ta_1.Ti/vt->XilinxFreq;
+
+ vt->Tb_0.Ti = vt->Tb_0.Ti/vt->XilinxFreq;
+ vt->Tb_1.Ti = vt->Tb_1.Ti/vt->XilinxFreq;
+
+ vt->Tc_0.Ti = vt->Tc_0.Ti/vt->XilinxFreq;
+ vt->Tc_1.Ti = vt->Tc_1.Ti/vt->XilinxFreq;
+
+}
+
+
+// #pragma CODE_SECTION(calc_time_one_tk,".v_24pwm_run");
+void calc_time_one_tk(_iq gain, _iq teta, _iq delta_U,
+ _iq Ia, _iq Ib, _iq Ic,
+ unsigned int number,
+ SVGEN_PWM24_TIME *tk0,
+ SVGEN_PWM24_TIME *tk1,
+ SVGEN_PWM24_TIME *tk2,
+ SVGEN_PWM24_TIME *tk3,
+ SVGEN_PWM24_TIME *tk4,
+ SVGEN_PWM24_TIME *tk5)
+{
+ _iq iq_t0 = 0, iq_t1 = 0, iq_t2 = 0, iq_t3 = 0, iq_t4 = 0, iq_t5 = 0;
+ _iq t_pos = 0, t_neg = 0;
+ _iq delta_ttt;
+ _iq teta60;
+
+ int sector, region;
+ int cur_sign, i, ki;
+ int updown_tk0;
+ int updown_tk1;
+
+ volatile _iq t_tk0, t_tk1;
+
+ updown_tk0 = 1;
+ updown_tk1 = 0;
+
+ sector = detect_sec(teta); //
+ teta60 = teta - _IQmpy(_IQ(sector - 1),CONST_IQ_PI3); //
+
+ if ((sector == 2) || (sector == 4) || (sector == 6))
+ {
+ teta60 = CONST_IQ_PI3 - teta60;
+ }
+
+ region = detect_region(gain, teta60); //
+
+ calc_t_abc(gain, teta60, region, &iq_t0, &iq_t1, &iq_t2, &iq_t3, &iq_t4, &iq_t5);
+
+
+ delta_ttt = 0; //calc_delta_t(delta_U,number,region);
+ //delta_ttt = 0;
+
+ //if (number == 1)
+ //{
+ //logpar.log1 = (int16)(_IQtoIQ15(delta_U));
+ //logpar.log2 = (int16)(_IQtoIQ15(delta_ttt));
+ //}
+ //else
+ //{
+ //logpar.log3 = (int16)(_IQtoIQ15(delta_U));
+ //logpar.log4 = (int16)(_IQtoIQ15(delta_ttt));
+ //}
+
+ calc_arr_tph(sector, region, iq_t0, iq_t1, iq_t2, iq_t3, iq_t4, iq_t5, delta_ttt,number, Ia, Ib, Ic);
+
+ for (ki = 0; ki < 3; ki++)
+ {
+ t_pos = 0;
+ t_neg = 0;
+
+ for (i = 0; i < 7; i++)
+ {
+ cur_sign = ar_sa_all[ki][sector - 1][region - 1][i];
+
+ if (cur_sign > 0)
+ {
+ t_pos += ar_tph[i];
+ }
+
+ if (cur_sign < 0)
+ {
+ t_neg += ar_tph[i];
+ }
+ }
+
+ t_pos = t_pos << 1;
+
+ t_neg = t_neg << 1;
+
+ if (t_neg == 0)
+ {
+ t_tk0 = 0;
+ }
+ else
+ {
+ t_tk0 = t_neg;
+ }
+
+ if (t_pos == 0)
+ {
+ t_tk1 = CONST_IQ_1;
+ }
+ else
+ {
+ t_tk1 = CONST_IQ_1 - t_pos;
+ }
+
+ switch (ki)
+ {
+ case 0:
+ tk0->up_or_down = updown_tk0;
+ tk0->Ti = t_tk0;
+
+ tk1->up_or_down = updown_tk1;
+ tk1->Ti = t_tk1;
+
+ break;
+
+ case 1:
+ tk2->up_or_down = updown_tk0;
+ tk2->Ti = t_tk0;
+
+ tk3->up_or_down = updown_tk1;
+ tk3->Ti = t_tk1;
+
+ break;
+
+ case 2:
+ tk4->up_or_down = updown_tk0;
+ tk4->Ti = t_tk0;
+
+ tk5->up_or_down = updown_tk1;
+ tk5->Ti = t_tk1;
+
+ break;
+
+ default: break;
+ }
+ }
+}
+
+
+
+
+// #pragma CODE_SECTION(detect_region,".v_24pwm_run");
+int detect_region(_iq k, _iq teta)
+{
+ volatile _iq x,y;
+ volatile int reg=0;
+
+ x = _IQmpy(k,_IQcos(teta));
+ y = _IQmpy(k,_IQsin(teta));
+
+ if (y>=CONST_IQ_05) reg=4;
+ else if (y < (CONST_IQ_1 - _IQmpy(x,SQRT3))) reg = 1;
+ else if (y < (_IQmpy(x,SQRT3) - CONST_IQ_1)) reg = 2;
+ else reg = 3;
+
+ return reg;
+}
+
+
+
+
+// #pragma CODE_SECTION(detect_sec,".v_24pwm_run");
+int detect_sec(_iq teta)
+{
+ volatile _iq sector;
+ volatile int sectorint;
+
+ sector = _IQdiv(teta,CONST_IQ_PI3);
+ sectorint = (sector >> 24) + 1;
+
+ if (sectorint > 6) sectorint-=6;
+
+ return sectorint;
+}
+
+
+#define nSIN_t(k,t) _IQmpy(k,_IQsin(t))
+
+#define nSIN_p3pt(k,t) _IQmpy(k,_IQsin(CONST_IQ_PI3+t))
+
+#define nSIN_p3mt(k,t) _IQmpy(k,_IQsin(CONST_IQ_PI3-t))
+
+#define nSIN_tmp3(k,t) _IQmpy(k,_IQsin(t-CONST_IQ_PI3))
+
+//k - (Uzad)
+//teta -
+//region -
+/*
+ * iq_tt0 - time of vectors op, oo, on
+ * iq_tt1 - time of vectors ap, an
+ * iq_tt2 - time of vectors bp, bn
+ * iq_tt3 - time of vector c
+ * iq_tt4 - time of vector a
+ * iq_tt5 - time of vector b
+ */
+// #pragma CODE_SECTION(calc_t_abc,".v_24pwm_run");
+void calc_t_abc(_iq k, _iq teta, int region, _iq *iq_tt0, _iq *iq_tt1, _iq *iq_tt2, _iq *iq_tt3, _iq *iq_tt4, _iq *iq_tt5)
+{
+ switch(region)
+ {
+ case 1 :
+ *iq_tt0 = CONST_IQ_05 - nSIN_p3pt(k,teta);
+ *iq_tt1 = nSIN_p3mt(k,teta);
+ *iq_tt2 = nSIN_t(k,teta);
+ *iq_tt3 = 0;
+ *iq_tt4 = 0;
+ *iq_tt5 = 0;
+ break;
+
+ case 2 :
+ *iq_tt0 = 0;
+ *iq_tt1 = CONST_IQ_1 - nSIN_p3pt(k,teta);
+ *iq_tt2 = 0;
+ *iq_tt3 = nSIN_t(k,teta);
+ *iq_tt4 = nSIN_p3mt(k,teta) - CONST_IQ_05;
+ *iq_tt5 = 0;
+ break;
+
+ case 3 :
+ *iq_tt0 = 0;
+ *iq_tt1 = CONST_IQ_05 - nSIN_t(k,teta);
+ *iq_tt2 = CONST_IQ_05 - nSIN_p3mt(k,teta);
+ *iq_tt3 = nSIN_p3pt(k,teta) - CONST_IQ_05;
+ *iq_tt4 = 0;
+ *iq_tt5 = 0;
+ break;
+
+ case 4 :
+ *iq_tt0 = 0;
+ *iq_tt1 = 0;
+ *iq_tt2 = CONST_IQ_1 - nSIN_p3pt(k,teta);
+ *iq_tt3 = nSIN_p3mt(k,teta);
+ *iq_tt4 = 0;
+ *iq_tt5 = nSIN_t(k,teta) - CONST_IQ_05;
+ break;
+
+ default :
+ *iq_tt0 = 0;
+ *iq_tt1 = 0;
+ *iq_tt2 = 0;
+ *iq_tt3 = 0;
+ *iq_tt4 = 0;
+ *iq_tt5 = 0;
+ break;
+ }
+
+ return;
+}
+
+//sector
+//region
+//iq_ttt0 - iq_ttt5 - times from calc_t_abs
+//delta_t -
+//number_sv -
+//iqIa, iqIb, iqIc
+// #pragma CODE_SECTION(calc_arr_tph, ".v_24pwm_run");
+void calc_arr_tph(int sector,int region, _iq iq_ttt0, _iq iq_ttt1, _iq iq_ttt2, _iq iq_ttt3, _iq iq_ttt4,
+ _iq iq_ttt5, _iq delta_t, unsigned int number_sv,
+ _iq iqIa, _iq iqIb, _iq iqIc)
+{
+ _iq iq_var1 = 0;
+ _iq iqIx, iqIy, iqIz;
+ _iq iq_alfa_1_p = CONST_IQ_05, iq_alfa_1_n = CONST_IQ_05, iq_alfa_2_n = CONST_IQ_05, iq_alfa_2_p = CONST_IQ_05;
+ _iq iq_alfa = 0;
+// _iq iqIa, iqIb, iqIc;
+ _iq iq_mpy1 = 0;
+ _iq iq_mpy3 = 0;
+ _iq summ = 0;
+
+
+ switch (sector)
+ {
+ case 1:
+ iqIx = iqIc;
+ iqIy = iqIa;
+ iqIz = iqIb;
+
+ break;
+ case 2:
+
+ iqIx = iqIb;
+ iqIy = iqIa;
+ iqIz = iqIc;
+
+ break;
+ case 3:
+
+ iqIx = iqIb;
+ iqIy = iqIc;
+ iqIz = iqIa;
+
+ break;
+ case 4:
+
+ iqIx = iqIa;
+ iqIy = iqIc;
+ iqIz = iqIb;
+
+ break;
+ case 5:
+
+ iqIx = iqIa;
+ iqIy = iqIb;
+ iqIz = iqIc;
+
+ break;
+ case 6:
+
+ iqIx = iqIc;
+ iqIy = iqIb;
+ iqIz = iqIa;
+
+ break;
+ default:
+
+ iqIx = 0;
+ iqIy = 0;
+ iqIz = 0;
+
+ break;
+ }
+
+ if (region == 1)
+ {
+// if (delta_t != 0) //��������� ���������� //��������� �����������
+// {
+// iq_alfa = _IQsat((CONST_IQ_05 - _IQmpy(delta_t,IQ_KP_DELTA_T)),IQ_ALFA_SATURATION1,IQ_ALFA_SATURATION2);
+
+ //if (delta_t < 0)
+ //{
+ //iq_alfa = IQ_ALFA_SATURATION1;
+ //}
+ //else
+ //{
+ //iq_alfa = IQ_ALFA_SATURATION2;
+ //}
+// }
+// else
+ {
+ iq_alfa = CONST_IQ_05;
+ }
+ }
+ else
+ {
+ iq_mpy1 = _IQmpy(_IQabs(iqIx),iq_ttt1)+_IQmpy(_IQabs(iqIy),iq_ttt2);
+ iq_mpy3 = _IQmpy(iqIz,iq_ttt3);
+
+ summ = _IQdiv((iq_mpy3),(iq_mpy1));
+
+ //iq_alfa = _IQsat((_IQmpy(CONST_IQ_05,(CONST_IQ_1 + summ)) - _IQmpy(delta_t,IQ_KP_DELTA_T)),IQ_ALFA_SATURATION1,IQ_ALFA_SATURATION2);
+ iq_alfa = CONST_IQ_05; //test
+ }
+
+
+ if (iqIx >= 0)
+ {
+ iq_alfa_1_p = iq_alfa;
+ iq_alfa_1_n = CONST_IQ_1 - iq_alfa;
+ }
+ else
+ {
+ iq_alfa_1_p = CONST_IQ_1 - iq_alfa;
+ iq_alfa_1_n = iq_alfa;
+ }
+
+ if (iqIy >= 0)
+ {
+ iq_alfa_2_p = CONST_IQ_1 - iq_alfa;
+ iq_alfa_2_n = iq_alfa;
+ }
+ else
+ {
+ iq_alfa_2_p = iq_alfa;
+ iq_alfa_2_n = CONST_IQ_1 - iq_alfa;
+ }
+
+
+ //if (number_sv == 2)
+ //{
+ //logpar.log1 = (int16)(sector);
+ //logpar.log2 = (int16)(region);
+ //logpar.log3 = (int16)(_IQtoIQ15(iq_alfa));
+ //logpar.log4 = (int16)(_IQtoIQ15(iq_alfa_1_p));
+ //logpar.log5 = (int16)(_IQtoIQ15(iq_alfa_2_p));
+ //logpar.log6 = (int16)(_IQtoIQ13(summ));
+ //logpar.log3 = (int16)(_IQtoIQ14(iq_ttt0));
+ //logpar.log4 = (int16)(_IQtoIQ14(iq_ttt1));
+ //logpar.log5 = (int16)(_IQtoIQ14(iq_ttt2));
+ //logpar.log6 = (int16)(_IQtoIQ14(iq_ttt3));
+ //logpar.log7 = (int16)(_IQtoIQ14(iq_ttt4));
+ //logpar.log8 = (int16)(_IQtoIQ14(iq_ttt5));
+ //logpar.log10 = (int16)(_IQtoIQ15(delta_t1_struct.Up));
+ //logpar.log11 = (int16)(_IQtoIQ15(delta_t1_struct.Ui));
+ //logpar.log12 = (int16)(_IQtoIQ15(delta_t1_struct.Ud));
+ //logpar.log13 = (int16)(_IQtoIQ15(iqIx));
+ //logpar.log14 = (int16)(_IQtoIQ15(iqIy));
+ //logpar.log15 = (int16)(_IQtoIQ15(iqIz));
+
+ //logpar.log12 = (int16)(_IQtoIQ15(_IQmpy(iq_alfa_2_p,iq_ttt2)));
+ //logpar.log13 = (int16)(_IQtoIQ15(_IQmpy(iq_alfa_2_n,iq_ttt2)));
+ //logpar.log14 = (int16)(_IQtoIQ15(delta_t));
+ //}
+ //else
+ //logpar.log15 = (int16)(_IQtoIQ15(delta_t));
+
+// if (region == 1)
+// {
+// if (f.Rele3 == 1)
+// {
+// iq_alfa_1_p = CONST_IQ_05;
+// iq_alfa_2_p = CONST_IQ_05;
+// iq_alfa_1_n = CONST_IQ_05;
+// iq_alfa_2_n = CONST_IQ_05;
+// }
+// }
+// else
+// {
+// if (f.Down50 == 1)
+// {
+// iq_alfa_1_p = CONST_IQ_05;
+// iq_alfa_2_p = CONST_IQ_05;
+// iq_alfa_1_n = CONST_IQ_05;
+// iq_alfa_2_n = CONST_IQ_05;
+// }
+// }
+
+ switch (region)
+ {
+ case 1:
+ iq_var1 = _IQdiv(iq_ttt0,CONST_IQ_3);
+
+ ar_tph[0] = iq_var1;
+ ar_tph[1] = _IQmpy(iq_alfa_1_n,iq_ttt1);
+ ar_tph[2] = _IQmpy(iq_alfa_2_n,iq_ttt2);
+ ar_tph[3] = iq_var1;
+ ar_tph[4] = _IQmpy(iq_alfa_1_p,iq_ttt1);
+ ar_tph[5] = _IQmpy(iq_alfa_2_p,iq_ttt2);
+ ar_tph[6] = iq_var1;
+ break;
+
+ case 2:
+ ar_tph[0] = _IQmpy(iq_alfa_1_n,iq_ttt1);
+ ar_tph[1] = iq_ttt4;
+ ar_tph[2] = iq_ttt3;
+ ar_tph[3] = _IQmpy(iq_alfa_1_p,iq_ttt1);
+ ar_tph[4] = 0;
+ ar_tph[5] = 0;
+ ar_tph[6] = 0;
+ break;
+
+ case 3:
+ ar_tph[0] = _IQmpy(iq_alfa_1_n,iq_ttt1);
+ ar_tph[1] = _IQmpy(iq_alfa_2_n,iq_ttt2);
+ ar_tph[2] = iq_ttt3;
+ ar_tph[3] = _IQmpy(iq_alfa_1_p,iq_ttt1);
+ ar_tph[4] = _IQmpy(iq_alfa_2_p,iq_ttt2);
+ ar_tph[5] = 0;
+ ar_tph[6] = 0;
+ break;
+
+ case 4:
+ ar_tph[0] = _IQmpy(iq_alfa_2_n,iq_ttt2);
+ ar_tph[1] = iq_ttt3;
+ ar_tph[2] = iq_ttt5;
+ ar_tph[3] = _IQmpy(iq_alfa_2_p,iq_ttt2);
+ ar_tph[4] = 0;
+ ar_tph[5] = 0;
+ ar_tph[6] = 0;
+ break;
+
+ default :
+ break;
+ }
+
+
+}
+
+/*
+ // Function is commented because of in project 222220 should not be large voltage diviation
+// #pragma CODE_SECTION(calc_delta_t,".v_24pwm_run");
+_iq calc_delta_t(_iq delta_1, unsigned int number,int region)
+{
+ if(_IQabs(delta_1) > MAX_LEVEL_DELTA_T)
+ {
+ // ������ ���������� ConvErrors.m2.bit.Razbalans |= 1;
+ return 0;
+ }
+
+ if (number == 1)
+ {
+ delta_t1_struct.Fdb = delta_1;
+ delta_t1_struct.calc(&delta_t1_struct);
+
+ if (_IQabs(delta_t1_struct.Out) <= INSENSITIVE_LEVEL_DELTA_T) return 0;
+ else return delta_t1_struct.Out;
+ }
+ else
+ {
+ delta_t2_struct.Fdb = delta_1;
+ delta_t2_struct.calc(&delta_t2_struct);
+
+ if (_IQabs(delta_t2_struct.Out) <= INSENSITIVE_LEVEL_DELTA_T) return 0;
+ else return delta_t2_struct.Out;
+ }
+}
+
+*/
+//#pragma CODE_SECTION(set_predel_dshim24,".fast_run2");
+
+// #pragma CODE_SECTION(set_predel_dshim24_simple0,".v_24pwm_run");
+void set_predel_dshim24_simple0(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax)
+{
+ dmax++; //���� ������ �������� ������, ��� ���� �������� ����, ����� ������ �����������
+ if (T->Ti < dmin)
+ {
+ if (T->Ti < dmin/2)
+ T->Ti = 0;
+ else
+ T->Ti = dmin;
+
+ } else if (T->Ti >= (dmax - dmin)) {
+ T->Ti = (dmax - dmin);
+ }
+}
+// #pragma CODE_SECTION(set_predel_dshim24_simple1,".v_24pwm_run");
+void set_predel_dshim24_simple1(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax)
+{
+ dmax++; //���� ������ �������� ������, ��� ���� �������� ����, ����� ������ �����������
+ if (T->Ti >= (dmax - dmin))
+ {
+ if (T->Ti >= (dmax - dmin/2))
+ T->Ti = dmax;
+ else
+ T->Ti = dmax-dmin;
+// T->Ti = dmax;
+ } else if (T->Ti <= dmin) {
+ T->Ti = dmin;
+ }
+}
+
+
+// #pragma CODE_SECTION(set_predel_dshim24,".v_24pwm_run");
+void set_predel_dshim24(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax)
+{
+ //static unsigned int counter_pass = 0;
+ //static unsigned int summ = 0;
+ //int16 dshim24 = 0;
+ dmax++; //���� ������ �������� ������, ��� ���� �������� ����, ����� ������ �����������
+ if (T->Ti < dmin)
+ {
+ T->impuls_lenght_max = 0;
+ T->counter_pass_max = 0;
+
+ T->impuls_lenght_min = T->impuls_lenght_min + T->Ti;
+ T->counter_pass_min++;
+
+ if (T->counter_pass_min <= 3)
+ {
+ if (T->impuls_lenght_min <= dmin)
+ {
+ T->Ti = 0;
+ }
+ else
+ {
+// T->Ti = dmin; //T->impuls_lenght_min;
+// T->impuls_lenght_min -= dmin;// = 0;
+ T->Ti = T->impuls_lenght_min;
+ T->impuls_lenght_min = 0;
+ T->counter_pass_min = 0;
+// if (T->impuls_lenght_min < 0) {
+// T->counter_pass_min = 0;
+// T->impuls_lenght_min = 0;
+// } else {
+// T->counter_pass_min -= 1;
+// }
+ }
+ }
+ else
+ {
+ T->counter_pass_min = 1;
+ T->impuls_lenght_min = T->Ti;
+ T->Ti = 0;
+ }
+ }
+ else
+ {
+ T->impuls_lenght_min = 0;
+ T->counter_pass_min = 0;
+
+// if (T->Ti > (dmax - dmin))
+// {
+// dshim = dmax;
+// }
+// else
+// {
+// dshim = T->Ti;
+// }
+
+ if (T->Ti >= (dmax - dmin))
+ {
+ T->impuls_lenght_max = T->impuls_lenght_max + (dmax - T->Ti - 1);
+ T->counter_pass_max++;
+
+ if (T->counter_pass_max <= 3)
+ {
+ if (T->impuls_lenght_max <= dmin)
+ {
+ T->Ti = dmax;
+ }
+ else
+ {
+// T->Ti = dmax - dmin; //T->impuls_lenght_max;
+// T->impuls_lenght_max -= dmin;// = 0;
+ T->Ti = dmax - T->impuls_lenght_max;
+ T->impuls_lenght_max = 0;
+ T->counter_pass_max = 0;
+// if (T->impuls_lenght_max < 0) {
+// T->impuls_lenght_max = 0;
+// T->counter_pass_max = 0;
+// } else {
+// T->counter_pass_max -= 1;
+// }
+ }
+ }
+ else
+ {
+ T->counter_pass_max = 1;
+ T->impuls_lenght_max = dmax - T->Ti;
+ T->Ti = dmax;
+ }
+ }
+ else
+ {
+ T->counter_pass_max = 0;
+ T->impuls_lenght_max = 0;
+ }
+ }
+
+ //return dshim24;
+}
+
+
+
+void init_alpha_pwm24(int xFreq)
+{
+ xFreq = xFreq + 1;
+
+ svgen_pwm24_1.number_svgen = 1;
+ svgen_pwm24_2.number_svgen = 2;
+
+ //pidCur_Kp = _IQ(PID_KP_DELTA_KOMP_I);
+ //pidCur_Ki = _IQ(PID_KI_DELTA_KOMP_I);
+
+// svgen_pwm24_1.prev_level = V_PWM24_PREV_PWM_CLOSE;
+ svgen_pwm24_1.saw_direct.all = xpwm_time.saw_direct.all & 0x3f;
+ svgen_pwm24_1.Tclosed_saw_direct_0 = xpwm_time.Tclosed_saw_direct_0;// xpwm_time.Tclosed_high;//var_freq_pwm_xtics + 1;
+ svgen_pwm24_1.Tclosed_saw_direct_1 = xpwm_time.Tclosed_saw_direct_1;
+ svgen_pwm24_1.Tclosed_high = xpwm_time.Tclosed_high;
+
+// svgen_pwm24_2.prev_level = V_PWM24_PREV_PWM_CLOSE;
+ svgen_pwm24_2.saw_direct.all = (xpwm_time.saw_direct.all >> 6) & 0x3f;
+ svgen_pwm24_2.Tclosed_saw_direct_0 = xpwm_time.Tclosed_saw_direct_0;// xpwm_time.Tclosed_high;//var_freq_pwm_xtics + 1;
+ svgen_pwm24_2.Tclosed_saw_direct_1 = xpwm_time.Tclosed_saw_direct_1;
+ svgen_pwm24_2.Tclosed_high = xpwm_time.Tclosed_high;
+
+ svgen_pwm24_1.FreqMax = _IQ(2.0*PI*F_STATOR_MAX/FREQ_PWM/2);//��������������� ������� �� 2, �.�. 2 ���� ������� � ���������� �� ������ ���
+ svgen_pwm24_2.FreqMax = _IQ(2.0*PI*F_STATOR_MAX/FREQ_PWM/2);
+
+ svgen_pwm24_1.XilinxFreq = CONST_IQ_1/xFreq;
+ svgen_pwm24_2.XilinxFreq = CONST_IQ_1/xFreq;
+
+ // 30
+ svgen_pwm24_1.Alpha = 0; //winding_displacement;
+ svgen_pwm24_2.Alpha = -winding_displacement;
+
+ svgen_pwm24_1.delta_t = 0;
+ svgen_pwm24_2.delta_t = 0;
+}
+
+/*
+void init_freq_array(void)
+{
+ unsigned int i = 0;
+ //unsigned int j = 0;
+ int var1 = 0;
+
+ var1 = 32767 / (FREQ_PWM_MAX - FREQ_PWM_MIN);
+
+ for (i = 0; i < COUNT_VAR_FREQ; i++)
+ {
+ //j = rand() / 1023;
+ //freq_array[i] = array_optim_freq[j];
+ //do
+ freq_array[i] = FREQ_PWM_MIN + (rand() / var1);
+ //while ((freq_array[i] < 945) && (freq_array[i] > 930));
+ }
+
+ //freq_array[0] = 991;
+ //freq_array[1] = 1430;
+}
+*/
+
+
+//#pragma CODE_SECTION(calc_freq_pwm,".v_24pwm_run");
+//#pragma CODE_SECTION(calc_freq_pwm,".fast_run");
+/*void calc_freq_pwm()
+{
+ static int prev_freq_pwm = 0;
+ static float pwm_period = 0;
+ static float var0 = 0;
+ //static int line = 0;
+ //static int i = 0;
+ static unsigned int proc_ticks = 1;
+ int var1 = 0;
+ //static int i = 0;
+
+ if ((f.flag_change_pwm_freq == 1) && (f.flag_random_freq == 1))
+ {
+ if (proc_ticks >= 1)
+ {
+ proc_ticks = 0;
+
+
+ if (line == 0)
+ {
+ VAR_FREQ_PWM_HZ = VAR_FREQ_PWM_HZ + 1;
+ if (VAR_FREQ_PWM_HZ > FREQ_PWM_MAX)
+ {
+ VAR_FREQ_PWM_HZ = FREQ_PWM_MAX;
+ line = 1;
+ }
+ }
+ else
+ {
+ VAR_FREQ_PWM_HZ = VAR_FREQ_PWM_HZ - 1;
+ if (VAR_FREQ_PWM_HZ < FREQ_PWM)
+ {
+ VAR_FREQ_PWM_HZ = FREQ_PWM;
+ line = 0;
+ }
+ }
+
+
+
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ //VAR_FREQ_PWM_HZ = freq_array[i];
+ //i_led2_on_off(1);
+
+ var1 = 32767 / (freq_pwm_max_hz - freq_pwm_min_hz);
+ VAR_FREQ_PWM_HZ = freq_pwm_min_hz + (rand() / var1);
+
+ //i_led2_on_off(0);
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ if (VAR_FREQ_PWM_HZ > freq_pwm_max_hz)
+ {
+ VAR_FREQ_PWM_HZ = freq_pwm_max_hz;
+ }
+ else
+ {
+ if (VAR_FREQ_PWM_HZ < freq_pwm_min_hz)
+ {
+ VAR_FREQ_PWM_HZ = freq_pwm_min_hz;
+ }
+ }
+ //i++;
+
+ //if (i >= COUNT_VAR_FREQ)
+ //{
+ //i = 0;
+ //}
+
+ }
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ //if (VAR_FREQ_PWM_HZ == FREQ_PWM_MIN)
+ //{
+ //VAR_FREQ_PWM_HZ = FREQ_PWM_MAX;
+ //}
+ //else
+ //{
+ //VAR_FREQ_PWM_HZ = FREQ_PWM_MIN;
+ //}
+
+ //if (f.Rele1 == 1)
+ //{
+ //if (i == 0)
+ //{
+ //VAR_FREQ_PWM_HZ = 1192;;
+ //i = 1;
+ //}
+ //else
+ //{
+ //VAR_FREQ_PWM_HZ = 792;
+ //}
+ //}
+ //else
+ //{
+ //i = 0;
+ //VAR_FREQ_PWM_HZ = 1192;
+ //}
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ }
+ //else
+ //{
+ //VAR_FREQ_PWM_HZ = FREQ_PWM;
+ //}
+
+
+ if (prev_freq_pwm != VAR_FREQ_PWM_HZ)
+ {
+ prev_freq_pwm = VAR_FREQ_PWM_HZ;
+ FREQ_MAX = _IQ(2.0*PI*F_STATOR_MAX/VAR_FREQ_PWM_HZ);
+
+ var0 = (float)VAR_FREQ_PWM_HZ;
+ //pwm_period = ((float64)HSPCLK) / ((float64)VAR_FREQ_PWM_HZ);
+
+ pwm_period = HSPCLK / var0;
+
+ pwm_period = pwm_period / 2.0;
+
+ FREQ_PWM_XTICS = ((int) pwm_period) >> 3;
+
+ XILINX_FREQ = 16777216/(FREQ_PWM_XTICS + 1);
+
+ FLAG_CHANGE_FREQ_PWM = 1;
+ }
+
+ proc_ticks++;
+}
+*/
+
+void change_freq_pwm(_iq xFreq) {
+ svgen_pwm24_1.FreqMax = _IQ(2.0*PI*F_STATOR_MAX/3750000 / xFreq / 2 /2);//��������������� ������� �� 2, �.�. 2 ���� ������� � ���������� �� ������ ���
+ svgen_pwm24_2.FreqMax = _IQ(2.0*PI*F_STATOR_MAX/ 3750000 / xFreq / 2 /2);
+
+ xFreq += 1;
+ svgen_pwm24_1.XilinxFreq = CONST_IQ_1/xFreq;
+ svgen_pwm24_2.XilinxFreq = CONST_IQ_1/xFreq;
+}
+
+// #pragma CODE_SECTION(test_calc_pwm24_dq,".v_24pwm_run");
+void test_calc_pwm24_dq(_iq U_zad1, _iq U_zad2,_iq teta)
+{
+ svgen_pwm24_1.Freq = 0;
+ svgen_pwm24_2.Freq = 0;
+
+ svgen_pwm24_1.Gain = U_zad1;
+ svgen_pwm24_2.Gain = U_zad2;
+
+ svgen_pwm24_1.Alpha = teta;
+ svgen_pwm24_2.Alpha = teta - winding_displacement;
+
+ svgen_pwm24_1.delta_U = filter.iqU_1_fast - filter.iqU_2_fast;
+ svgen_pwm24_2.delta_U = filter.iqU_3_fast - filter.iqU_4_fast;
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ svgen_pwm24_1.delta_U = 0;
+ svgen_pwm24_2.delta_U = 0;
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ svgen_pwm24_1.Ia = analog.iqIa1_1;
+ svgen_pwm24_1.Ib = analog.iqIb1_1;
+ svgen_pwm24_1.Ic = analog.iqIc1_1;
+
+ svgen_pwm24_2.Ia = analog.iqIa2_1;
+ svgen_pwm24_2.Ib = analog.iqIb2_1;
+ svgen_pwm24_2.Ic = analog.iqIc2_1;
+
+ svgen_pwm24_1.calc_dq(&svgen_pwm24_1);
+ svgen_pwm24_2.calc_dq(&svgen_pwm24_2);
+
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ set_predel_dshim24(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+
+}
+
+
+// #pragma CODE_SECTION(svgen_pwm24_calc,".v_24pwm_run");
+void svgen_pwm24_calc_dq(SVGEN_PWM24 *vt)
+{
+
+ if (vt->Alpha > CONST_IQ_2PI)
+ {
+ vt->Alpha -= CONST_IQ_2PI;
+ }
+
+ if (vt->Alpha < 0)
+ {
+ vt->Alpha += CONST_IQ_2PI;
+ }
+
+
+ calc_time_one_tk(vt->Gain, vt->Alpha, vt->delta_U, vt->Ia, vt->Ib, vt->Ic,
+ vt->number_svgen, &vt->Ta_0, &vt->Ta_1,&vt->Tb_0, &vt->Tb_1,&vt->Tc_0, &vt->Tc_1);
+
+
+ vt->Ta_0.Ti = vt->Ta_0.Ti/vt->XilinxFreq;
+ vt->Ta_1.Ti = vt->Ta_1.Ti/vt->XilinxFreq;
+
+ vt->Tb_0.Ti = vt->Tb_0.Ti/vt->XilinxFreq;
+ vt->Tb_1.Ti = vt->Tb_1.Ti/vt->XilinxFreq;
+
+ vt->Tc_0.Ti = vt->Tc_0.Ti/vt->XilinxFreq;
+ vt->Tc_1.Ti = vt->Tc_1.Ti/vt->XilinxFreq;
+
+}
+
+void svgen_set_time_keys_closed(SVGEN_PWM24 *vt)
+{
+ vt->Ta_0.Ti = VAR_FREQ_PWM_XTICS + 1;
+ vt->Ta_1.Ti = 0;
+
+ vt->Tb_0.Ti = VAR_FREQ_PWM_XTICS + 1;
+ vt->Tb_1.Ti = 0;
+
+ vt->Tc_0.Ti = VAR_FREQ_PWM_XTICS + 1;
+ vt->Tc_1.Ti = 0;
+}
+
+void svgen_set_time_middle_keys_open(SVGEN_PWM24 *vt)
+{
+ vt->Ta_0.Ti = 0;
+ vt->Ta_1.Ti = VAR_FREQ_PWM_XTICS + 1;
+
+ vt->Tb_0.Ti = 0;
+ vt->Tb_1.Ti = VAR_FREQ_PWM_XTICS + 1;
+
+ vt->Tc_0.Ti = 0;
+ vt->Tc_1.Ti = VAR_FREQ_PWM_XTICS + 1;
+}
diff --git a/Inu/Src/main_matlab/old/v_pwm24.h b/Inu/Src/main_matlab/old/v_pwm24.h
new file mode 100644
index 0000000..da8f527
--- /dev/null
+++ b/Inu/Src/main_matlab/old/v_pwm24.h
@@ -0,0 +1,190 @@
+#ifndef _V_PWM24_H
+#define _V_PWM24_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+#include "IQmathLib.h"
+// #include "DSP281x_Device.h"
+#include "word_structurs.h"
+#include "svgen_dq.h"
+
+//#define COUNT_VAR_FREQ 400
+
+//#define IQ_KP_DELTA_T 134217728//0.004
+//#define IQ_KP_DELTA_COMP_I 134217728//0.004
+
+//#define PID_KP_DELTA_T 0.5//1//20//2//0.001//11.18 //0.036 //0.018 //0.18 //0.095 // PID Kp
+//#define PID_KI_DELTA_T 0.000005//0.01 //0.08 // 0.008 // PID Ki
+//#define PID_KD_DELTA_T 2//5//0.01 //0.08 // 0.008 // PID Ki
+//#define PID_KC_DELTA_T 0.005 //0.09 // PID Kc
+
+//#define PID_KP_DELTA_KOMP_I 1//0.12//0.06//5//10
+//#define PID_KI_DELTA_KOMP_I 0.005//0//0.005//0.01
+//#define PID_KC_DELTA_KOMP_I 0.005//0//0.005//0.01
+//#define PID_KD_DELTA_KOMP_I 0//0//0.005//0.01
+//#define PID_KD_DELTA_T 0.0000 //*100 // PID Kd
+
+
+
+//#define DELTA_T_MAX 1258291//15099494//0.9//8388608//0.5//13421772//0.8 //8388608// 0.5//13421772 // 0.8
+//#define DELTA_T_MIN -1258291//-15099494//0.9//-8388608//-0.5//-13421772//0.8 //-8388608// -0.5//-13421772 // -0.8
+
+//#define DELTA_KOMP_I_MAX 1258291//6//1677721//0.1//3355443//0.2//1677721//200 A//4194304// 500 A
+//#define DELTA_KOMP_I_MIN -1258291//-6//-1677721//-0.1//-3355443//-0.2//-1677721//-200 A//-4194304// -500 A
+
+
+//#define INSENSITIVE_LEVEL_DELTA_T 83886 //10 V//167772// 20V //335544//40 V//83886 //10 V//335544//40 V//58720//7V//167772// 20V //83886 //10 V
+//#define MAX_LEVEL_DELTA_T 1258291//150V//1677721 //200v//2516582//300 V//4194304//500 V//2516582 // 838860 //100 V
+
+
+typedef struct { _iq Ti; // Output: reference phase-a switching function (pu)
+ int up_or_down; // Output: reference phase-b switching function (pu)
+ int impuls_lenght_max;
+ int impuls_lenght_min;
+ int counter_pass_max;
+ int counter_pass_min;
+ } SVGEN_PWM24_TIME;
+
+
+typedef struct {
+ _iq Gain; // Input: reference gain voltage (pu)
+ //_iq Offset; // Input: reference offset voltage (pu)
+ _iq Freq; // Input: reference frequency (pu)
+ _iq FreqMax; // Parameter: Maximum step angle = 6*base_freq*T (pu)
+ _iq Alpha; // History: Sector angle (pu)
+
+ _iq delta_U;
+ _iq delta_t;
+ int XilinxFreq; // Xilinx freq in TIC
+
+ unsigned int pwm_minimal_impuls_zero_minus;
+ unsigned int pwm_minimal_impuls_zero_plus;
+
+ WORD_UINT2BITS_STRUCT saw_direct;
+
+ int prev_level; // ���������� ��������� ����, ��� �������� �� middle ��� close � �������
+ unsigned int Tclosed_high;
+ unsigned int Tclosed_saw_direct_0;
+ unsigned int Tclosed_saw_direct_1;
+
+ _iq Ia;
+ _iq Ib;
+ _iq Ic;
+ unsigned int number_svgen;
+ SVGEN_PWM24_TIME Ta_0; // Output: reference phase-a switching function (pu)
+ SVGEN_PWM24_TIME Ta_1; // Output: reference phase-a switching function (pu)
+ SVGEN_PWM24_TIME Tb_0; // Output: reference phase-b switching function (pu)
+ SVGEN_PWM24_TIME Tb_1; // Output: reference phase-b switching function (pu)
+ SVGEN_PWM24_TIME Tc_0; // Output: reference phase-c switching function (pu)
+ SVGEN_PWM24_TIME Tc_1; // Output: reference phase-c switching function (pu)
+ void (*calc)(); // Pointer to calculation function
+ void (*calc_dq)(); // Pointer to calculation function which don`t calculate angle from freq
+} SVGEN_PWM24;
+
+typedef SVGEN_PWM24 *SVGEN_PWM24_handle;
+
+
+#define SVGEN_PWM24_TIME_DEFAULTS { 0,0,0,0 }
+
+
+#define SVGEN_PWM24_DEFAULTS { 0,0,0,0,0,0,0,0,0, \
+ {0}, 0,0,0,0,0,0,0,0,\
+ SVGEN_PWM24_TIME_DEFAULTS,SVGEN_PWM24_TIME_DEFAULTS,SVGEN_PWM24_TIME_DEFAULTS, \
+ SVGEN_PWM24_TIME_DEFAULTS,SVGEN_PWM24_TIME_DEFAULTS,SVGEN_PWM24_TIME_DEFAULTS, \
+ (void (*)(unsigned int))svgen_pwm24_calc, (void (*)(unsigned int))svgen_pwm24_calc_dq }
+
+// extern int ar_sa_a[3][4][7];
+
+extern SVGEN_PWM24 svgen_pwm24_1;
+extern SVGEN_PWM24 svgen_pwm24_2;
+
+extern SVGENDQ svgen_dq_1;
+extern SVGENDQ svgen_dq_2;
+
+// extern _iq pidCur_Kp;
+// extern _iq pidCur_Ki;
+
+// extern _iq iq_alfa_coef;
+
+// extern _iq iq_koef_mod_korrect_1;
+// extern _iq iq_koef_mod_korrect_2;
+
+//extern int freq_array[COUNT_VAR_FREQ];
+
+void svgen_pwm24_calc(SVGEN_PWM24 *vt);
+void svgen_pwm24_calc_dq(SVGEN_PWM24 *vt);
+
+void init_alpha_pwm24(int xFreq);
+void test_calc_pwm24(_iq uz1, _iq uz2, _iq fz1/*, _iq fz2, int revers*/);
+void calc_arr_tph(int sector,int region, _iq iq_ttt0, _iq iq_ttt1,
+ _iq iq_ttt2, _iq iq_ttt3, _iq iq_ttt4, _iq iq_ttt5, _iq delta_t, unsigned int number_sv,
+ _iq iqIa, _iq iqIb, _iq iqIc);
+_iq calc_delta_t(_iq delta_1, unsigned int number,int region);
+
+//void change_freq_pwm(_iq FreqMax, int freq_pwm_xtics, _iq XilinxFreq);
+void change_freq_pwm(_iq freq_pwm_xtics);
+
+//void calc_freq_pwm();
+
+void calc_time_one_tk(_iq gain, _iq teta, _iq delta_U,
+ _iq Ia, _iq Ib, _iq Ic,
+ unsigned int number,
+ SVGEN_PWM24_TIME *tk0,
+ SVGEN_PWM24_TIME *tk1,
+ SVGEN_PWM24_TIME *tk2,
+ SVGEN_PWM24_TIME *tk3,
+ SVGEN_PWM24_TIME *tk4,
+ SVGEN_PWM24_TIME *tk5);
+
+void test_calc_pwm24_dq(_iq U_zad1, _iq U_zad2,_iq teta);
+
+void svgen_set_time_keys_closed(SVGEN_PWM24 *vt);
+void svgen_set_time_middle_keys_open(SVGEN_PWM24 *vt);
+
+
+
+void InitVariablesSvgen(unsigned int freq);
+//void init_alpha(void);
+_iq correct_balance_uzpt_pwm24(_iq Tinput, _iq Kplus);
+void recalc_time_pwm_minimal_2_xilinx_pwm24_l(SVGEN_PWM24 *pwm24,
+ _iq *T0, _iq *T1,
+ _iq timpuls_corr );
+void test_calc_simple_dq_pwm24(_iq uz1, _iq uz2, _iq fz1, _iq fz2, _iq Uzad_max);
+void test_calc_dq_pwm24(_iq Ud, _iq Uq, _iq Ud2, _iq Uq2, _iq tetta,_iq Uzad_max, _iq* maxUq1, _iq* maxUq2, _iq* Uq1Out, _iq* Uq2Out);
+//void test_calc_simple_uf_pwm24(_iq uz1, _iq uz2, _iq fz1, _iq fz2,_iq Uzad_max);
+
+//void init_freq_array(void);
+
+typedef union {
+ unsigned int all;
+ struct {
+ unsigned int k0;
+ unsigned int k1;
+ unsigned int k2;
+ unsigned int k3;
+ unsigned int k4;
+ unsigned int k5;
+ unsigned int k6;
+ unsigned int k7;
+ unsigned int k8;
+ unsigned int k9;
+ unsigned int k10;
+ unsigned int k11;
+ unsigned int k12;
+ unsigned int k13;
+ unsigned int k14;
+ unsigned int k15;
+ }bit;
+} UP_OR_DOWN;
+
+extern UP_OR_DOWN up_down;
+extern _iq winding_displacement;
+
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif /* _V_PWM24_H */
diff --git a/Inu/Src/main_matlab/old/xp_write_xpwm_time.h b/Inu/Src/main_matlab/old/xp_write_xpwm_time.h
new file mode 100644
index 0000000..5e1159d
--- /dev/null
+++ b/Inu/Src/main_matlab/old/xp_write_xpwm_time.h
@@ -0,0 +1,183 @@
+/*
+ * xp_write_xpwm_time.h
+ *
+ * Created on: 03 ���. 2018 �.
+ * Author: stud
+ */
+
+#ifndef XP_WRITE_TIME_H_
+#define XP_WRITE_TIME_H_
+
+
+#include "word_structurs.h"
+
+
+
+#define PWM_ERROR_LEVEL_INTERRUPT 0 // �� ���������� ��� ��, ������!!!
+#define PWM_LOW_LEVEL_INTERRUPT 1 // �� ����� ����
+#define PWM_HIGH_LEVEL_INTERRUPT 2 // �� ������ ����
+
+
+#define PWM_MODE_RELOAD_FORCE 0 // ��������� ��� ��������
+#define PWM_MODE_RELOAD_LEVEL_LOW 1 // ��������� �������� ��� ���� ����, ��� saw_direct=1
+#define PWM_MODE_RELOAD_LEVEL_HIGH 2 // ��������� �������� ��� ����� ����, ��� saw_direct=0
+
+
+
+
+
+#define PWM_KEY_NUMBER_A1_PLUS 0
+#define PWM_KEY_NUMBER_A1_MINUS 1
+#define PWM_KEY_NUMBER_B1_PLUS 2
+#define PWM_KEY_NUMBER_B1_MINUS 3
+#define PWM_KEY_NUMBER_C1_PLUS 4
+#define PWM_KEY_NUMBER_C1_MINUS 5
+
+#define PWM_KEY_NUMBER_A2_PLUS 6
+#define PWM_KEY_NUMBER_A2_MINUS 7
+#define PWM_KEY_NUMBER_B2_PLUS 8
+#define PWM_KEY_NUMBER_B2_MINUS 9
+#define PWM_KEY_NUMBER_C2_PLUS 10
+#define PWM_KEY_NUMBER_C2_MINUS 11
+
+#define PWM_KEY_NUMBER_BR1_PLUS 12
+#define PWM_KEY_NUMBER_BR1_MINUS 13
+
+#define PWM_KEY_NUMBER_BR2_PLUS 14
+#define PWM_KEY_NUMBER_BR2_MINUS 15
+
+//////////////////////////////////////////////////////////////////////
+#define ENABLE_PWM_BREAK_ALL 0x0fff
+#define ENABLE_PWM_BREAK_1 0xcfff
+#define ENABLE_PWM_BREAK_2 0x3fff
+
+#define ENABLE_PWM_1 0xffc0
+#define ENABLE_PWM_2 0xf03f
+#define ENABLE_PWM_1_2 0xf000
+
+#define ENABLE_PWM_ALL 0x0000
+
+//
+#define DISABLE_PWM_BREAK_ALL 0xf000
+#define DISABLE_PWM_BREAK_1 0x3000
+#define DISABLE_PWM_BREAK_2 0xc000
+
+#define DISABLE_PWM_1 0x003f
+#define DISABLE_PWM_2 0x0fc0
+#define DISABLE_PWM_1_2 0x0fff
+
+#define DISABLE_PWM_ALL 0xffff
+
+///
+#define DISABLE_PWM_A1 0x0003
+#define DISABLE_PWM_B1 0x000c
+#define DISABLE_PWM_C1 0x0030
+
+#define DISABLE_PWM_A2 0x00c0
+#define DISABLE_PWM_B2 0x0300
+#define DISABLE_PWM_C2 0x0c00
+//
+//////////////////////////////////////////////////////////////////////
+/*
+ * PWM - Start Stop
+ * (15) - Soft start-stop m0de 1- soft mode enabled, 0 -disabled. ���� ������ ����� ������ ���������, �� ��� ������
+ * ������� ����(0)-������� = 0, ������ ����������� � ������ �������� ���� (����� ������ ������� ���������)., ���� ���- �����.
+ * ���������� ����������� �����- ��� soft mode ����� ����������� � ������ ��������.
+ * �����! ��� ������������ ��������� ���� ������ ������� ������ ���� ����� ����.
+ * (0) - 1 -start, 0 - stop
+ */
+#define PWM_START_SOFT 0x8001
+#define PWM_START_HARD 0x0001
+
+#define PWM_STOP_SOFT 0x8000
+#define PWM_STOP_HARD 0x0000
+
+/////////////////////////////////////
+
+
+
+
+/////////////////////////////////////
+typedef struct
+{
+ // Winding 1 times
+ unsigned int Ta0_0;
+ unsigned int Ta0_1;
+ unsigned int Tb0_0;
+ unsigned int Tb0_1;
+ unsigned int Tc0_0;
+ unsigned int Tc0_1;
+ // Winding 2 times
+ unsigned int Ta1_0;
+ unsigned int Ta1_1;
+ unsigned int Tb1_0;
+ unsigned int Tb1_1;
+ unsigned int Tc1_0;
+ unsigned int Tc1_1;
+ // Break transistors
+ unsigned int Tbr0_0;
+ unsigned int Tbr0_1;
+ unsigned int Tbr1_0;
+ unsigned int Tbr1_1;
+ //Level transistors closed
+ unsigned int Tclosed_0;
+ unsigned int Tclosed_1;
+ unsigned int Tclosed_high;
+ unsigned int pwm_tics;
+ unsigned int inited;
+ unsigned int freq_pwm;
+ unsigned int Tclosed_saw_direct_0;
+ unsigned int Tclosed_saw_direct_1;
+ unsigned int current_period;
+ unsigned int where_interrupt;
+ unsigned int mode_reload;
+ unsigned int one_or_two_interrupts_run;
+ WORD_UINT2BITS_STRUCT saw_direct;
+ void (*write_1_2_winding_break_times)();
+ void (*write_1_2_winding_break_times_split)();
+} XPWM_TIME;
+
+#define DEFAULT_XPWM_TIME {0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0,0,0,0,0, {0}, \
+ xpwm_write_1_2_winding_break_times_16_lines, \
+ xpwm_write_1_2_winding_break_times_16_lines_split_eages }
+
+void xpwm_write_1_2_winding_break_times_16_lines();
+void xpwm_write_1_2_winding_break_times_16_lines_split_eages(XPWM_TIME *p);
+void xpwm_write_zero_winding_break_times_16_lines_split_eages();
+void initXpwmTimeStructure(XPWM_TIME *p);
+
+extern XPWM_TIME xpwm_time;
+
+#define write_winding1_fase_a(T0, T1) \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 0); WriteMemory(ADR_PWM_TIMING, T0); \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 1); WriteMemory(ADR_PWM_TIMING, T1);
+
+#define write_winding1_fase_b(T0, T1) \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 2); WriteMemory(ADR_PWM_TIMING, T0); \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 3); WriteMemory(ADR_PWM_TIMING, T1);
+
+#define write_winding1_fase_c(T0, T1) \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 4); WriteMemory(ADR_PWM_TIMING, T0); \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 5); WriteMemory(ADR_PWM_TIMING, T1);
+
+#define write_winding2_fase_a(T0, T1) \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 6); WriteMemory(ADR_PWM_TIMING, T0); \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 7); WriteMemory(ADR_PWM_TIMING, T1);
+
+#define write_winding2_fase_b(T0, T1) \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 8); WriteMemory(ADR_PWM_TIMING, T0); \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 9); WriteMemory(ADR_PWM_TIMING, T1);
+
+#define write_winding2_fase_c(T0, T1) \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 10); WriteMemory(ADR_PWM_TIMING, T0); \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 11); WriteMemory(ADR_PWM_TIMING, T1);
+#define write_break_winding1(T0, T1) \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 12); WriteMemory(ADR_PWM_TIMING, T0); \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 13); WriteMemory(ADR_PWM_TIMING, T1);
+
+#define write_break_winding2(T0, T1) \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 14); WriteMemory(ADR_PWM_TIMING, T0); \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 15); WriteMemory(ADR_PWM_TIMING, T1);
+
+
+#endif /* XP_WRITE_TIME_H_ */
diff --git a/Inu/Src/main_matlab/rotation_speed_matlab.c b/Inu/Src/main_matlab/rotation_speed_matlab.c
new file mode 100644
index 0000000..74c91d5
--- /dev/null
+++ b/Inu/Src/main_matlab/rotation_speed_matlab.c
@@ -0,0 +1,428 @@
+#include "rotation_speed.h"
+#include "xp_rotation_sensor.h"
+#include "IQmathLib.h"
+#include "params.h"
+#include "adc_tools.h"
+#include "rmp_cntl_my1.h"
+#include "my_filter.h"
+#include "vector.h"
+#include "TuneUpPlane.h" //�����������
+#include "errors.h"
+#include "log_to_memory.h"
+#include "DSP281x_Device.h" //for int16
+
+#pragma DATA_SECTION(rotor,".fast_vars1");
+ROTOR_VALUE rotor = ROTOR_VALUE_DEFAULTS;
+
+RMP_MY1 rmp_wrot = RMP_MY1_DEFAULTS;
+
+_iq koef_Wout_filter = _IQ(0.2); //_IQ(0.15);
+_iq koef_Wout_filter_long = _IQ(0.12);//_IQ(0.03);
+
+
+static _iq impulses_To_iqF(unsigned int time, unsigned int impulses);
+static _iq counter_To_iqF(unsigned int count, unsigned int freq_mode);
+static _iq delta_Angle_To_iqF(unsigned long delta, unsigned int period);
+static void sort_F_array(_iq *array, unsigned int size);
+
+void rotorInit(void)
+{
+ unsigned int i = 0, size = 0, *pint = 0;
+
+ rmp_wrot.RampLowLimit = 0;
+ rmp_wrot.RampHighLimit = _IQ(1);
+ rmp_wrot.RampPlus = _IQ(0.0015/NORMA_FROTOR);
+ rmp_wrot.RampMinus = _IQ(-0.0015/NORMA_FROTOR);
+ rmp_wrot.DesiredInput = 0;
+ rmp_wrot.Out = 0;
+
+ pint = (unsigned int*)&rotor;
+ size = sizeof(rotor) / sizeof(unsigned int);
+ for(i = 0; i < size; i++)
+ {
+ *(pint + i) = 0;
+ }
+
+ koef_Wout_filter = _IQ(0.2); //_IQ(0.15);
+ koef_Wout_filter_long = _IQ(0.001); //_IQ(0.0005);
+}
+
+#pragma CODE_SECTION(update_rot_sensors,".fast_run");
+void update_rot_sensors()
+{
+// rotation_sensor.update_registers(&rotation_sensor);
+}
+
+#pragma CODE_SECTION(Rotor_measure,".fast_run");
+void Rotor_measure(void)
+{
+ static unsigned long PrevAngle1 = 0, PrevAngle2 = 0, PrevAngle3 = 0, PrevAngle4 = 0;
+ static unsigned int peroid_shim_mks = (unsigned int)(1000000L / FREQ_PWM / 2.0);
+ static _iq prev_wrot = 0;
+ static unsigned int prev_wrot_count = 0;
+ static int direct_accum = 0;
+ static int sens1_err_count = 0;
+ static int sens2_err_count = 0;
+
+
+// unsigned int s_number = 0, begin_data = 0, end_data = 0, i;
+// _iq accumulator = 0, deltaF = 0, deltaAngle = 0;
+// rotation_sensor.read_sensors(&rotation_sensor);
+// if(rotation_sensor.in_plane.read.regs.comand_reg.bit.update_registers)
+// {
+// rotor.error_update_count ++;
+// }
+// // logpar.log22 = rotation_sensor.in_plane.out.CountOne1;
+// // logpar.log23 = rotation_sensor.in_plane.out.CountZero1;
+// if(rotation_sensor.use_sensor1)
+// {
+// if((rotation_sensor.in_plane.out.CountOne1 <= 200)// && !rotation_sensor.in_plane.out.counter_freq1)
+// || rotation_sensor.in_plane.out.CountOne1 == 65535)
+// { rotation_sensor.in_plane.out.CountOne1 = 0; }
+// if((rotation_sensor.in_plane.out.CountZero1 <= 200)// && !rotation_sensor.in_plane.out.counter_freq1)
+// || rotation_sensor.in_plane.out.CountZero1 == 65535)
+// { rotation_sensor.in_plane.out.CountZero1 = 0; }
+
+// //����� ��������� ���� ������� �� �������
+// if (rotation_sensor.in_plane.out.Impulses1 < 5) {
+// if(rotation_sensor.in_plane.out.CountOne1) {
+// rotor.iqFsensors[s_number++] = counter_To_iqF(rotation_sensor.in_plane.out.CountOne1,
+// rotation_sensor.in_plane.out.counter_freq1);
+// }
+// if(rotation_sensor.in_plane.out.CountZero1) {
+// rotor.iqFsensors[s_number++] = counter_To_iqF(rotation_sensor.in_plane.out.CountZero1,
+// rotation_sensor.in_plane.out.counter_freq1);
+// }
+// }
+
+// if(rotation_sensor.in_plane.out.Impulses1 > 2)
+// {
+// rotor.iqFsensors[s_number++] = impulses_To_iqF(rotation_sensor.in_plane.out.Time1,
+// rotation_sensor.in_plane.out.Impulses1);
+// // logpar.log11 = (int16) _IQtoIQ15(rotor.iqFsensors[s_number - 1]);
+// } else {
+// // logpar.log11 = 0;
+// }
+
+// if (rotor.iqF > 139810L)//10 rpm
+// {
+// if (rotation_sensor.in_plane.out.CountOne1 == 0 && rotation_sensor.in_plane.out.CountZero1 == 0
+// && rotation_sensor.in_plane.out.Impulses1 == 0) {
+// sens1_err_count += 1;
+// } else {
+// sens1_err_count = 0;
+// }
+// if (sens1_err_count > 50) {
+// sens1_err_count = 50;
+// faults.faults4.bit.Speed_Datchik_1_Off |= 1;
+// }
+// } else {
+// sens1_err_count = 0;
+// }
+// }
+
+// // logpar.log4 = rotation_sensor.in_plane.out.CountOne2;
+// // logpar.log20 = rotation_sensor.in_plane.out.CountZero2;
+// if(rotation_sensor.use_sensor2)
+// {
+// if((rotation_sensor.in_plane.out.CountOne2 <= 200)// && !rotation_sensor.in_plane.out.counter_freq2)
+// || rotation_sensor.in_plane.out.CountOne2 == 65535)
+// { rotation_sensor.in_plane.out.CountOne2 = 0; }
+// if((rotation_sensor.in_plane.out.CountZero2 <= 200)// && !rotation_sensor.in_plane.out.counter_freq2)
+// || rotation_sensor.in_plane.out.CountZero2 == 65535)
+// { rotation_sensor.in_plane.out.CountZero2 = 0; }
+
+// //����� ��������� ����, ������� �� �������
+// if (rotation_sensor.in_plane.out.Impulses2 < 5) {
+// if(rotation_sensor.in_plane.out.CountOne2) {
+// rotor.iqFsensors[s_number++] = counter_To_iqF(rotation_sensor.in_plane.out.CountOne2,
+// rotation_sensor.in_plane.out.counter_freq2);
+// }
+// if(rotation_sensor.in_plane.out.CountZero2) {
+// rotor.iqFsensors[s_number++] = counter_To_iqF(rotation_sensor.in_plane.out.CountZero2,
+// rotation_sensor.in_plane.out.counter_freq2);
+// }
+// }
+
+// if(rotation_sensor.in_plane.out.Impulses2 > 2)
+// {
+// rotor.iqFsensors[s_number++] = impulses_To_iqF(rotation_sensor.in_plane.out.Time2,
+// rotation_sensor.in_plane.out.Impulses2);
+// // logpar.log16 = (int16) _IQtoIQ15(rotor.iqFsensors[s_number - 1]);
+// }
+
+// if (rotor.iqF > 139810L)//10 rpm
+// {
+// if (rotation_sensor.in_plane.out.CountOne2 == 0 && rotation_sensor.in_plane.out.CountZero2 == 0
+// && rotation_sensor.in_plane.out.Impulses2 == 0) {
+// sens2_err_count += 1;
+// } else {
+// sens2_err_count = 0;
+// }
+// if (sens2_err_count > 50) {
+// sens2_err_count = 50;
+// faults.faults4.bit.Speed_Datchik_2_Off |= 1;
+// }
+// } else {
+// sens2_err_count = 0;
+// }
+
+// }
+
+// if(rotation_sensor.use_angle_plane && (s_number < SENSORS_NUMBER))
+// {
+// if(rotation_sensor.rotation_plane.cds_rs->read.sbus.config.bit.channel1_enable && rotor.iqFsensors[0] && (s_number < (SENSORS_NUMBER - 1)))
+// {
+// if(rotation_sensor.rotation_plane.out.Delta_angle1 < 1500)
+// {
+// rotor.iqFsensors[s_number++] = delta_Angle_To_iqF(rotation_sensor.rotation_plane.out.Delta_angle1,
+// rotation_sensor.rotation_plane.out.survey_time_mks);
+
+// }
+
+// deltaAngle = _IQabs(rotation_sensor.rotation_plane.out.Current_angle1 - PrevAngle1);
+// if(deltaAngle > 1500)
+// {
+// deltaAngle = 262144 - deltaAngle;
+// }
+// if((deltaAngle < 291) && (deltaAngle >= 0))
+// {
+// rotor.iqFsensors[s_number++] =
+// delta_Angle_To_iqF(deltaAngle, peroid_shim_mks);
+// }
+// PrevAngle1 = rotation_sensor.rotation_plane.out.Current_angle1;
+// }
+// // else
+// // {
+// // rotor.iqFsensors[s_number++] = 0;
+// // rotor.iqFsensors[s_number++] = 0;
+// // }
+// if(rotation_sensor.rotation_plane.cds_rs->read.sbus.config.bit.channel2_enable && (s_number < (SENSORS_NUMBER - 1)))
+// {
+// rotor.iqFsensors[s_number++] = delta_Angle_To_iqF(rotation_sensor.rotation_plane.out.Delta_angle2,
+// rotation_sensor.rotation_plane.out.survey_time_mks);
+// rotor.iqFsensors[s_number++] =
+// delta_Angle_To_iqF(_IQabs(rotation_sensor.rotation_plane.out.Current_angle2 - PrevAngle2),
+// peroid_shim_mks);
+// PrevAngle2 = rotation_sensor.rotation_plane.out.Current_angle2;
+// }
+// if(rotation_sensor.rotation_plane.cds_rs->read.sbus.config.bit.channel3_enable && (s_number < (SENSORS_NUMBER - 1)))
+// {
+// rotor.iqFsensors[s_number++] = delta_Angle_To_iqF(rotation_sensor.rotation_plane.out.Delta_angle3,
+// rotation_sensor.rotation_plane.out.survey_time_mks);
+// rotor.iqFsensors[s_number++] =
+// delta_Angle_To_iqF(_IQabs(rotation_sensor.rotation_plane.out.Current_angle3 - PrevAngle3),
+// peroid_shim_mks);
+// PrevAngle3 = rotation_sensor.rotation_plane.out.Current_angle3;
+// }
+// if(rotation_sensor.rotation_plane.cds_rs->read.sbus.config.bit.channel4_enable && (s_number < (SENSORS_NUMBER - 1)))
+// {
+// rotor.iqFsensors[s_number++] = delta_Angle_To_iqF(rotation_sensor.rotation_plane.out.Delta_angle4,
+// rotation_sensor.rotation_plane.out.survey_time_mks);
+// rotor.iqFsensors[s_number++] =
+// delta_Angle_To_iqF(_IQabs(rotation_sensor.rotation_plane.out.Current_angle4 - PrevAngle4),
+// peroid_shim_mks);
+// PrevAngle2 = rotation_sensor.rotation_plane.out.Current_angle4;
+// }
+// }
+// // logpar.log22 = (int16) _IQtoIQ15(rotor.iqFsensors[0]);
+// // logpar.log23 = (int16) _IQtoIQ15(rotor.iqFsensors[1]);
+// // logpar.log24 = (int16) _IQtoIQ15(rotor.iqFsensors[2]);
+// // logpar.log25 = (int16) _IQtoIQ15(rotor.iqFsensors[3]);
+// // logpar.log29 = (int16) _IQtoIQ15(rotor.iqFsensors[4]);
+// // logpar.log30 = (int16) _IQtoIQ15(rotor.iqFsensors[5]);
+
+// if(s_number > SENSORS_NUMBER_ONLY_IN) {s_number = SENSORS_NUMBER_ONLY_IN;} //TODO set SENSORS_NUMBER when tune angle measure
+// if(s_number > 3)
+// {
+// sort_F_array(rotor.iqFsensors, s_number);
+// deltaF = rotor.iqFout >> 2;
+// if(deltaF < 43000) // ~3 ob/min
+// {
+// deltaF = 43000;
+// }
+// i = 0;
+// begin_data = 0;
+// end_data = s_number; //TODO test, as usial
+// while(i < s_number)
+// {
+// if(_IQabs(rotor.iqFout - rotor.iqFsensors[i]) >= deltaF)
+// {
+// i++;
+// }
+// else
+// {
+// break;
+// }
+// }
+// if(i < s_number) { begin_data = i; }
+// else {begin_data = 0;}
+// while((i < s_number) && (_IQabs(rotor.iqFout - rotor.iqFsensors[i]) < deltaF))
+// {
+// i++;
+// }
+// if(i <= SENSORS_NUMBER)
+// {
+// end_data = i;
+// }
+// else
+// {
+// end_data = SENSORS_NUMBER;
+// }
+
+// }
+// else
+// {
+// begin_data = 0;
+// end_data = s_number;
+// }
+// if (begin_data >= end_data) { //This part to prevent freeze of speed on some level if signal lost
+// begin_data = 0;
+// end_data = s_number;
+// }
+// for(i = begin_data; i < end_data; i++)
+// {
+// accumulator += rotor.iqFsensors[i];
+// }
+
+// if(end_data != begin_data)
+// {
+// rotor.iqF = accumulator / (end_data - begin_data);
+// prev_wrot_count = 0;
+// }
+// else
+// {
+// rotor.iqF = prev_wrot;
+// prev_wrot_count += 1;
+// }
+
+// // logpar.log19 = (int16)(_IQtoIQ15(rotor.iqF));
+
+// if (prev_wrot != rotor.iqF || rotor.iqF==0 )
+// {
+// rmp_wrot.DesiredInput = rotor.iqF;
+// rmp_wrot.calc(&rmp_wrot);
+// rotor.iqF = rmp_wrot.Out;
+// }
+// prev_wrot=rotor.iqF;
+// //�� ���������� ������� ���������.
+// if (prev_wrot_count > 10) {
+// prev_wrot = 0;
+// prev_wrot_count = 10;
+// }
+
+// rotor.iqFout = exp_regul_iq(koef_Wout_filter, rotor.iqFout, rotor.iqF);
+// rotor.iqFlong = exp_regul_iq(koef_Wout_filter_long, rotor.iqFlong, rotor.iqF);
+
+// rotor.direct_rotor_in1 = rotation_sensor.in_plane.out.direction1;
+// rotor.direct_rotor_in2 = rotation_sensor.in_plane.out.direction2;
+// rotor.direct_rotor_angle = rotation_sensor.rotation_plane.out.direction;
+
+// rotor.error.sens_err1 = rotation_sensor.in_plane.read.pbus.direction.bit.sens_err1;
+// rotor.error.sens_err2 = rotation_sensor.in_plane.read.pbus.direction.bit.sens_err2;
+
+// // rotor.direct_rotor = (rotor.direct_rotor_in1 + rotor.direct_rotor_in2) > 0 ? 1 : // + rotor.direct_rotor_angle
+// // (rotor.direct_rotor_in1 + rotor.direct_rotor_in2) < 0 ? -1 : // + rotor.direct_rotor_angle
+// // 0;
+// if(rotor.iqFout >139810L) //10ob/min
+// {
+// if((rotor.direct_rotor_in1 + rotor.direct_rotor_in2) > 0)
+// {
+// direct_accum++;
+// }
+// else if((rotor.direct_rotor_in1 + rotor.direct_rotor_in2) < 0)
+// {
+// direct_accum--;
+// }
+// else
+// {
+// if(direct_accum > 0) {direct_accum--;}
+// if(direct_accum < 0) {direct_accum++;}
+// }
+// if(direct_accum > 60) { direct_accum = 60; }
+// if(direct_accum < -60) { direct_accum = -60; }
+// rotor.direct_rotor = direct_accum > 0 ? 1 :
+// direct_accum < 0 ? -1 :
+// 0;
+// // if (f.flag_second_PCH) {
+// // rotor.direct_rotor = - rotor.direct_rotor;
+// // }
+// }
+// else
+// {
+// rotor.direct_rotor = (rotor.direct_rotor_in1 + rotor.direct_rotor_in2) > 0 ? 1 : // + rotor.direct_rotor_angle
+// (rotor.direct_rotor_in1 + rotor.direct_rotor_in2) < 0 ? -1 : // + rotor.direct_rotor_angle
+// 0;
+// // if (f.flag_second_PCH) {
+// // rotor.direct_rotor = - rotor.direct_rotor;
+// // }
+// direct_accum = rotor.direct_rotor;
+// }
+
+// if(rotation_sensor.in_plane.write.regs.comand_reg.bit.set_sampling_time) //�������� ��������
+// {
+// rotation_sensor.in_plane.write.regs.comand_reg.bit.filter_sensitivity = 0x5C;
+// }
+// else //�������� �������, ������ ���������
+// {
+// rotation_sensor.in_plane.write.regs.comand_reg.bit.filter_sensitivity = 0xA8;
+// }
+}
+
+#pragma CODE_SECTION(impulses_To_iqF,".fast_run");
+_iq impulses_To_iqF(unsigned int time, unsigned int impulses) //time mks. impulses count
+{
+ //Flong = (impulses / time / IMPULSES_PER_TURN) * _IQ(1) / NORMA_FROTOR;
+ static unsigned long long koeff_to_F = 16777216LL / IMPULSES_PER_TURN * 1000000LL / NORMA_FROTOR;
+ long long Flong = (long long)impulses * koeff_to_F / time;
+ return (_iq)Flong;
+}
+
+//Frot = Fimp / IMPULSES_PER_TURN / NORMA_FROTOR =
+// = counter_freq / counter / 2 / IMPULSES_PER_TURN / NORMA_FROTOR
+//���� �� 2, �.�. ������� ������������ �������� �������
+//��������� �� (1LL << 24) ����� �������� � iq24
+#pragma CODE_SECTION(counter_To_iqF,".fast_run");
+_iq counter_To_iqF(unsigned int count, unsigned int freq_mode)
+{
+ static long long koeff_to_F = 60000000LL * _IQ(1) / IMPULSES_PER_TURN / 2 / NORMA_FROTOR;
+ long long Flong = 0;
+ if(freq_mode == 0) // 60Mhz
+ {
+ Flong = koeff_to_F / count / 100;
+ }
+ else //600KHz
+ {
+ Flong = koeff_to_F / count;
+ }
+ return Flong;
+}
+
+#pragma CODE_SECTION(delta_Angle_To_iqF,".fast_run");
+_iq delta_Angle_To_iqF(unsigned long delta, unsigned int period)
+{
+ // iqF = (delta / ANGLE_RESOLUTION) / (period * 10^-6) * (1LL << 24) / NORMA_FROTOR;
+ // iqF = delta * 10^6 * (1LL << 24) / ANGLE_RESOLUTION / period / NORMA_FROTOR;
+ static long long koeff_to_F = 1000000LL * (1LL << 24) / ANGLE_RESOLUTION / NORMA_FROTOR;
+ return (_iq)(koeff_to_F * delta / period);
+}
+
+#pragma CODE_SECTION(sort_F_array,".fast_run2");
+void sort_F_array(_iq *array, unsigned int size)
+{
+ unsigned int i, j;
+ _iq tmp = 0;
+ for(i = size; i > 0; i--)
+ {
+ for(j = 1; j < size; j++)
+ {
+ if(array[j - 1] > array[j])
+ {
+ tmp = array[j];
+ array[j] = array[j - 1];
+ array[j - 1] = tmp;
+ }
+ }
+ }
+}
+
diff --git a/Inu/Src/main_matlab/v_pwm24_matlab.c b/Inu/Src/main_matlab/v_pwm24_matlab.c
new file mode 100644
index 0000000..9df9ad3
--- /dev/null
+++ b/Inu/Src/main_matlab/v_pwm24_matlab.c
@@ -0,0 +1,1644 @@
+
+
+#include "v_pwm24.h"
+//#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+//#include "big_dsp_module.h"
+//#include "rmp2cntl.h" // Include header for the VHZPROF object
+//#include "rmp_cntl_my1.h" // Include header for the VHZPROF object
+#include "pid_reg3.h" // Include header for the VHZPROF object
+
+#include "params.h"
+// #include "PWMTools.h"
+#include "adc_tools.h"
+#include "v_pwm24.h"
+
+#include "dq_to_alphabeta_cos.h"
+
+#include "IQmathLib.h"
+// #include "log_to_memory.h"
+//Xilinx
+//#include "x_parameters.h"
+// #include "x_basic_types.h"
+// #include "xp_project.h"
+// #include "xp_cds_tk.h"
+#include "svgen_dq.h"
+#include "xp_write_xpwm_time.h"
+
+#include "def.h"
+
+#define DEF_FREQ_PWM_XTICS T1_PRD
+#define DEF_PERIOD_MIN_XTICS (DT + 10e-6)*FTBCLK
+
+// ������� ��� � xilinx ����� (60000000 / 16 / FREQ_PWM = 3750000 / FREQ_PWM)
+// #pragma DATA_SECTION(VAR_FREQ_PWM_XTICS,".fast_vars1");
+int VAR_FREQ_PWM_XTICS = DEF_FREQ_PWM_XTICS;
+
+// ����������� �������� ���� � xilinx �����
+// #pragma DATA_SECTION(VAR_PERIOD_MAX_XTICS,".fast_vars1");
+int VAR_PERIOD_MAX_XTICS = DEF_FREQ_PWM_XTICS - DEF_PERIOD_MIN_XTICS;
+
+// ����������� �������� ���� � xilinx ����� (mintime+deadtime) (F���� * T���.�����.��� = (60 / 16 / 2) * T��� = (60 * T��� / 16 / 2))
+// #pragma DATA_SECTION(VAR_PERIOD_MIN_XTICS,".fast_vars1");
+int VAR_PERIOD_MIN_XTICS = DEF_PERIOD_MIN_XTICS;//
+
+// ����������� �������� ���� � xilinx ����� ��� ��������� ������ (mintime) (F���� * T���.�����.��� = (60 / 16 / 2) * T��� = (60 * T��� / 16 / 2))
+// #pragma DATA_SECTION(VAR_PERIOD_MIN_BR_XTICS,".fast_vars1");
+// int VAR_PERIOD_MIN_BR_XTICS = DEF_PERIOD_MIN_BR_XTICS;//
+
+#define PWM_ONE_INTERRUPT_RUN 1
+#define PWM_TWICE_INTERRUPT_RUN 0
+
+
+
+#define SQRT3 29058990 //1.7320508075688772935274463415059
+#define CONST_IQ_1 16777216 //1
+#define CONST_IQ_05 8388608 //0.5
+#define CONST_IQ_2 33554432 //2
+
+#define CONST_IQ_PI6 8784530 //30
+#define CONST_IQ_PI3 17569060 // 60
+#define CONST_IQ_PI 52707178 // 180
+#define CONST_IQ_OUR1 35664138 //
+#define CONST_IQ_2PI 105414357 // 360
+#define CONST_IQ_120G 35138119 // 120 grad
+#define CONST_IQ_3 50331648 // 3
+
+#define IQ_ALFA_SATURATION1 15099494//16441671//15099494
+#define IQ_ALFA_SATURATION2 1677721//16441671//15099494
+
+
+#define PI 3.1415926535897932384626433832795
+
+// #pragma DATA_SECTION(iq_alfa_coef,".fast_vars");
+_iq iq_alfa_coef = 16777216;
+
+// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+//#pragma DATA_SECTION(freq_array,".v_24pwm_vars");
+//int freq_array[COUNT_VAR_FREQ];
+// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+//#pragma DATA_SECTION(pidCur_Kp,".v_24pwm_vars");
+//_iq pidCur_Kp = 0;
+
+// #pragma DATA_SECTION(pidCur_Ki,".fast_vars");
+_iq pidCur_Ki = 0;
+
+// #pragma DATA_SECTION(ar_tph,".fast_vars");
+_iq ar_tph[7];
+
+// #pragma DATA_SECTION(winding_displacement,".fast_vars");
+_iq winding_displacement = CONST_IQ_PI6;
+
+//#pragma DATA_SECTION(iq_koef_mod_korrect_1,".fast_vars");//v_24pwm_vars
+//_iq iq_koef_mod_korrect_1;
+
+//#pragma DATA_SECTION(iq_koef_mod_korrect_2,".v_24pwm_vars");
+//_iq iq_koef_mod_korrect_2;
+
+//#pragma DATA_SECTION(ar_sa_all,".v_24pwm_vars");
+// #pragma DATA_SECTION(ar_sa_all,".fast_vars");
+int ar_sa_all[3][6][4][7] = { {
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ },
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ },
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ },
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ },
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ },
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ }
+ },
+ {
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ },
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ },
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ },
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ },
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ },
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ }
+ },
+ {
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ },
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ },
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ },
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ },
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ },
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ }
+ }
+ };
+
+
+// #pragma DATA_SECTION(svgen_pwm24_1,".v_24pwm_vars");
+//#pragma DATA_SECTION(svgen_pwm24_1,".fast_vars");
+SVGEN_PWM24 svgen_pwm24_1 = SVGEN_PWM24_DEFAULTS;
+// #pragma DATA_SECTION(svgen_pwm24_2,".v_24pwm_vars");
+//#pragma DATA_SECTION(svgen_pwm24_2,".fast_vars");
+SVGEN_PWM24 svgen_pwm24_2 = SVGEN_PWM24_DEFAULTS;
+
+// #pragma DATA_SECTION(svgen_dq_1,".v_24pwm_vars");
+SVGENDQ svgen_dq_1 = SVGENDQ_DEFAULTS;
+// #pragma DATA_SECTION(svgen_dq_2,".v_24pwm_vars");
+SVGENDQ svgen_dq_2 = SVGENDQ_DEFAULTS;
+
+//#pragma DATA_SECTION(delta_t1_struct,".v_24pwm_vars");
+//#pragma DATA_SECTION(delta_t1_struct,".fast_vars");
+//PIDREG3 delta_t1_struct = PIDREG3_DEFAULTS;
+//#pragma DATA_SECTION(delta_t2_struct,".v_24pwm_vars");
+//#pragma DATA_SECTION(delta_t2_struct,".fast_vars");
+//PIDREG3 delta_t2_struct = PIDREG3_DEFAULTS;
+
+void calc_t_abc(_iq k, _iq teta, int region, _iq *iq_tt0, _iq *iq_tt1, _iq *iq_tt2, _iq *iq_tt3, _iq *iq_tt4, _iq *iq_tt5);
+void set_predel_dshim24(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax);
+void set_predel_dshim24_simple0(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax);
+void set_predel_dshim24_simple1(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax);
+int detect_sec(_iq teta);
+int detect_region(_iq k, _iq teta);
+//
+
+
+
+
+//void init_alpha(void)
+//{
+//
+//// power_ain1.init(&power_ain1);
+//// power_ain2.init(&power_ain2);
+//
+// svgen_mf1.NewEntry = 0;//_IQ(0.5);
+// svgen_mf2.NewEntry = 0;
+//
+// svgen_mf1.SectorPointer = 0;
+// svgen_mf2.SectorPointer = 0;
+//
+////����� �� ��������� 0 ��������
+// svgen_mf1.Alpha = _IQ(0);
+// svgen_mf2.Alpha = _IQ(0);
+//
+//
+//
+//
+//
+//#if (SETUP_SDVIG_OBMOTKI == SDVIG_OBMOTKI_30_PLUS)
+//// 30 ����. �����
+// svgen_mf1.Alpha = _IQ(0.5);
+// svgen_mf2.Alpha = _IQ(0);
+//
+// svgen_mf1.Full_Alpha = svgen_mf1.Alpha;
+// svgen_mf2.Full_Alpha = svgen_mf2.Alpha;
+//#else
+//
+//
+//#if (SETUP_SDVIG_OBMOTKI == SDVIG_OBMOTKI_30_MINUS)
+//// -30 ����. �����
+// svgen_mf1.Alpha = _IQ(0);
+// svgen_mf2.Alpha = _IQ(0.5);
+// svgen_mf1.Full_Alpha = svgen_mf1.Alpha;
+// svgen_mf2.Full_Alpha = svgen_mf2.Alpha;
+//#else
+//
+//#if (SETUP_SDVIG_OBMOTKI == SDVIG_OBMOTKI_ZERO)
+//// -30 ����. �����
+// svgen_mf1.Alpha = _IQ(0);
+// svgen_mf2.Alpha = _IQ(0);
+// svgen_mf1.Full_Alpha = svgen_mf1.Alpha;
+// svgen_mf2.Full_Alpha = svgen_mf2.Alpha;
+//#else
+// #error "!!!������!!! �� ��������� SETUP_SDVIG_OBMOTKI � params_motor.h!!!"
+//
+//
+//#endif
+//
+//#endif
+//
+//
+//
+//#endif
+//
+//
+//
+//}
+
+void InitVariablesSvgen(unsigned int freq)
+{
+////////// Inserted from 'initPWM_Variables' for modulation project //////////
+
+ //��� ������ ���� �������, ����� ���� ��������� ������, ��� ������ ����
+ xpwm_time.Tclosed_0 = 0;
+ xpwm_time.Tclosed_1 = VAR_FREQ_PWM_XTICS + 1;
+ xpwm_time.Tclosed_high = VAR_FREQ_PWM_XTICS + 1;
+ xpwm_time.pwm_tics = VAR_FREQ_PWM_XTICS;
+ // ������� ����������� ���
+ // "����������� ��� ��� ���� ����=0x0
+ //���� SAW_DIRECTbit = 0 �� �������� ����>������� �������� �������� ���������� ���������=0
+ //�� ������ ����
+ //���� SAW_DIRECTbit = 1 �� �������� ����<=������� �������� �������� ���������� ���������=0
+ //�� ������ ����
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ //��� 22220 ������������� 0, �.�. ��� ������ � ������ ������ ���� ���������� ��������� ����������.
+ xpwm_time.saw_direct.all = 0;//0x0555;
+ xpwm_time.one_or_two_interrupts_run = PWM_TWICE_INTERRUPT_RUN;
+
+ initXpwmTimeStructure(&xpwm_time);
+ init_alpha_pwm24(VAR_FREQ_PWM_XTICS);
+/////////////////////////////////////////////////////////////
+
+ svgen_pwm24_1.pwm_minimal_impuls_zero_minus = 0;//(float)DEF_PERIOD_MIN_MKS*1000.0*FREQ_INTERNAL_GENERATOR_XILINX_TMS/1000000000.0;// DEF_PERIOD_MIN_XTICS_100;//DEF_PERIOD_MIN_XTICS_80;
+ svgen_pwm24_1.pwm_minimal_impuls_zero_plus = 0;//(float)DEF_PERIOD_MIN_MKS*1000.0*FREQ_INTERNAL_GENERATOR_XILINX_TMS/1000000000.0;// DEF_PERIOD_MIN_XTICS_80;
+
+ svgen_pwm24_2.pwm_minimal_impuls_zero_minus = svgen_pwm24_1.pwm_minimal_impuls_zero_minus;
+ svgen_pwm24_2.pwm_minimal_impuls_zero_plus = svgen_pwm24_1.pwm_minimal_impuls_zero_plus;
+
+
+ svgen_pwm24_1.Tclosed_high = xpwm_time.Tclosed_1;
+ svgen_pwm24_2.Tclosed_high = xpwm_time.Tclosed_1;
+
+
+
+
+ svgen_dq_1.Ualpha = 0;
+ svgen_dq_1.Ubeta = 0;
+
+ svgen_dq_2.Ualpha = 0;
+ svgen_dq_2.Ubeta = 0;
+
+
+
+}
+
+
+
+
+
+
+
+
+
+
+// #pragma CODE_SECTION(recalc_time_pwm_minimal_2_xilinx_pwm24_l,".fast_run2");
+void recalc_time_pwm_minimal_2_xilinx_pwm24_l(SVGEN_PWM24 *pwm24,
+ _iq *T0, _iq *T1,
+ _iq timpuls_corr )
+{
+
+//_iq pwm_t, timpuls_corr;
+
+ volatile unsigned long pwm_t;
+ volatile unsigned int minimal_plus, minimal_minus;
+
+
+
+ minimal_plus = pwm24->pwm_minimal_impuls_zero_plus;
+ minimal_minus = pwm24->pwm_minimal_impuls_zero_minus;
+
+ // if (pwm24->prev_level == V_PWM24_PREV_PWM_CLOSE || pwm24->prev_level == V_PWM24_PREV_PWM_MIDDLE || pwm24->prev_level == V_PWM24_PREV_PWM_WORK_KM0)
+ // {
+ // minimal_plus *= 2;
+// minimal_minus *= 2;
+// }
+
+ pwm_t = timpuls_corr / pwm24->XilinxFreq;
+
+ // *T_imp = pwm_t;
+
+// if (pwm_t>(pwm24->Tclosed_high-4*minimal_minus))
+// pwm_t=(pwm24->Tclosed_high-4*minimal_minus);
+
+
+ if (timpuls_corr >= 0)
+ {
+ *T0 = pwm_t + minimal_plus;
+ // *T1 = 0;
+ *T1 = pwm24->Tclosed_high - minimal_minus;
+ }
+ else
+ {
+ *T0 = 0 + minimal_plus;
+ // *T1 = -pwm_t - minimal_minus;
+ *T1 = pwm24->Tclosed_high + pwm_t - minimal_minus;
+ }
+
+
+ // if (*T0 < minimal_plus)
+ // *T0 = minimal_plus;
+
+ // if (*T0 > (pwm24->Tclosed_high - 2 * minimal_plus))
+ // *T0 = (pwm24->Tclosed_high - 2 * minimal_plus);
+
+ // if (*T1 < (2 * minimal_minus))
+ // *T1 = 2 * minimal_minus;
+
+ // if (*T1 > (pwm24->Tclosed_high - minimal_minus))
+ // *T1 = (pwm24->Tclosed_high - minimal_minus);
+
+}
+
+static DQ_TO_ALPHABETA dq_to_ab = DQ_TO_ALPHABETA_DEFAULTS;
+
+// #pragma CODE_SECTION(test_calc_dq_pwm24,".v_24pwm_run");
+void test_calc_dq_pwm24(_iq Ud, _iq Uq, _iq Ud2, _iq Uq2, _iq tetta,_iq Uzad_max)
+{
+// DQ_TO_ALPHABETA dq_to_ab = DQ_TO_ALPHABETA_DEFAULTS;
+ _iq maxUq1 = 0;
+ _iq maxUq2 = 0;
+ _iq Uq1Out = 0;
+ _iq Uq2Out = 0;
+
+ maxUq1 = 0;
+ maxUq2 = 0;
+
+ _iq Uzad_max_square = _IQmpy(Uzad_max, Uzad_max);
+
+ if (tetta > CONST_IQ_2PI)
+ {
+ tetta -= CONST_IQ_2PI;
+ }
+
+ if (tetta < 0)
+ {
+ tetta += CONST_IQ_2PI;
+ }
+ //��������� ����������� ���������
+ maxUq1 = _IQsqrt(Uzad_max_square - _IQmpy(Ud, Ud));
+ if (Uq > (maxUq1)) { Uq = (maxUq1);}
+ if (Uq < -(maxUq1)) { Uq = -(maxUq1);}
+ Uq1Out = Uq;
+
+ //Reculct dq to alpha-beta
+ dq_to_ab.Tetta = tetta;
+ dq_to_ab.Ud = Ud;
+ dq_to_ab.Uq = Uq;
+ dq_to_ab.calc2(&dq_to_ab);
+ //Calc swgen times for 1-st winding
+ svgen_dq_1.Ualpha = dq_to_ab.Ualpha;
+ svgen_dq_1.Ubeta = dq_to_ab.Ubeta;
+ svgen_dq_1.calc(&svgen_dq_1);
+
+ //��������� ����������� ���������
+ maxUq2 = _IQsqrt(Uzad_max_square - _IQmpy(Ud, Ud));
+ if (Uq2 > maxUq2) { Uq2 = maxUq2;}
+ if (Uq2 < -(maxUq2)) { Uq2 = -(maxUq2);}
+
+Uq2Out = Uq2;
+
+ //Reculc dq to alpha-beta for 2-nd winding with winding displasement
+ dq_to_ab.Tetta = tetta - winding_displacement;
+ dq_to_ab.Ud = Ud2;
+ dq_to_ab.Uq = Uq2;
+ dq_to_ab.calc2(&dq_to_ab);
+ //Calc swgen times for 1-st winding
+ svgen_dq_2.Ualpha = dq_to_ab.Ualpha;
+ svgen_dq_2.Ubeta = dq_to_ab.Ubeta;
+ svgen_dq_2.calc(&svgen_dq_2);
+
+ //1 winding
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Ta_0.Ti, &svgen_pwm24_1.Ta_1.Ti, svgen_dq_1.Ta);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Tb_0.Ti, &svgen_pwm24_1.Tb_1.Ti, svgen_dq_1.Tb);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Tc_0.Ti, &svgen_pwm24_1.Tc_1.Ti, svgen_dq_1.Tc);
+
+ // 2 winding
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Ta_0.Ti, &svgen_pwm24_2.Ta_1.Ti, svgen_dq_2.Ta);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Tb_0.Ti, &svgen_pwm24_2.Tb_1.Ti, svgen_dq_2.Tb);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Tc_0.Ti, &svgen_pwm24_2.Tc_1.Ti, svgen_dq_2.Tc);
+
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+/*
+ set_predel_dshim24(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);*/
+}
+
+
+// #pragma CODE_SECTION(test_calc_simple_dq_pwm24,".v_24pwm_run");
+void test_calc_simple_dq_pwm24(_iq uz1, _iq uz2, _iq fz1, _iq fz2,_iq Uzad_max)
+{
+ static _iq hz_to_angle = _IQ(2.0 * PI * NORMA_FROTOR / FREQ_PWM / 2);
+// static _iq tetta = 0;
+ DQ_TO_ALPHABETA dq_to_ab = DQ_TO_ALPHABETA_DEFAULTS;
+
+ _iq Ud = 0;
+ _iq Uq = _IQsat(uz1,Uzad_max,0);
+
+ analog.tetta += _IQmpy(fz1, hz_to_angle);
+
+ if (analog.tetta >= CONST_IQ_2PI)
+ {
+ analog.tetta -= CONST_IQ_2PI;
+ }
+
+ if (analog.tetta < 0)
+ {
+ analog.tetta += CONST_IQ_2PI;
+ }
+
+ dq_to_ab.Tetta = analog.tetta;
+ dq_to_ab.Ud = Ud;
+ dq_to_ab.Uq = Uq;
+ dq_to_ab.calc2(&dq_to_ab);
+
+ svgen_dq_1.Ualpha = dq_to_ab.Ualpha;
+ svgen_dq_1.Ubeta = dq_to_ab.Ubeta;
+
+// svgen_dq_1.Ualpha = 0;
+// svgen_dq_1.Ubeta = 0;
+
+ svgen_dq_1.calc(&svgen_dq_1);
+
+ dq_to_ab.Tetta = analog.tetta - winding_displacement;
+ dq_to_ab.Ud = Ud;
+ dq_to_ab.Uq = Uq;
+ dq_to_ab.calc2(&dq_to_ab);
+
+ svgen_dq_2.Ualpha = dq_to_ab.Ualpha;
+ svgen_dq_2.Ubeta = dq_to_ab.Ubeta;
+
+ svgen_dq_2.calc(&svgen_dq_2);
+
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Ta_0.Ti, &svgen_pwm24_1.Ta_1.Ti, svgen_dq_1.Ta);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Tb_0.Ti, &svgen_pwm24_1.Tb_1.Ti, svgen_dq_1.Tb);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Tc_0.Ti, &svgen_pwm24_1.Tc_1.Ti, svgen_dq_1.Tc);
+
+ // 2
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Ta_0.Ti, &svgen_pwm24_2.Ta_1.Ti, svgen_dq_2.Ta);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Tb_0.Ti, &svgen_pwm24_2.Tb_1.Ti, svgen_dq_2.Tb);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Tc_0.Ti, &svgen_pwm24_2.Tc_1.Ti, svgen_dq_2.Tc);
+
+// logpar.log1 = (int16)(_IQtoIQ15(uz1));
+// logpar.log2 = (int16)(_IQtoIQ15(fz1));
+// logpar.log3 = (int16)(_IQtoIQ15(Ud));
+// logpar.log4 = (int16)(_IQtoIQ15(Uq));
+// logpar.log5 = (int16)(_IQtoIQ15(svgen_dq_1.Ualpha));
+// logpar.log6 = (int16)(_IQtoIQ15(svgen_dq_1.Ubeta));
+// logpar.log7 = (int16)(_IQtoIQ15(svgen_dq_1.Ta));
+// logpar.log8 = (int16)(_IQtoIQ15(svgen_dq_1.Tb));
+// logpar.log9 = (int16)(_IQtoIQ15(svgen_dq_1.Tc));
+// logpar.log10 = (int16)(_IQtoIQ12(analog.tetta));
+// logpar.log11 = (int16)(svgen_pwm24_1.Ta_0.Ti);
+// logpar.log12 = (int16)((svgen_pwm24_1.Ta_1.Ti));
+// logpar.log13 = (int16)(svgen_pwm24_1.Tb_0.Ti);
+// logpar.log14 = (int16)((svgen_pwm24_1.Tb_1.Ti));
+// logpar.log15 = (int16)(svgen_pwm24_1.Tc_0.Ti);
+// logpar.log16 = (int16)((svgen_pwm24_1.Tc_1.Ti));
+
+
+// svgen_pwm24_1.calc(&svgen_pwm24_1);
+// svgen_pwm24_2.calc(&svgen_pwm24_2);
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ // set_predel_dshim24(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ // set_predel_dshim24(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ // set_predel_dshim24(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ // set_predel_dshim24(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ // set_predel_dshim24(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ // set_predel_dshim24(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ // set_predel_dshim24(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ // set_predel_dshim24(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ // set_predel_dshim24(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ // set_predel_dshim24(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ // set_predel_dshim24(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ // set_predel_dshim24(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+}
+
+// #pragma CODE_SECTION(test_calc_pwm24,".v_24pwm_run");
+void test_calc_pwm24(_iq uz1, _iq uz2, _iq fz1)
+{
+ //static int i =0;
+ svgen_pwm24_1.Freq = fz1;
+ svgen_pwm24_2.Freq = fz1;
+
+ svgen_pwm24_1.Gain = uz1;//_IQmpy(uz1,iq_koef_mod_korrect_1);
+ svgen_pwm24_2.Gain = uz2;//_IQmpy(uz2,iq_koef_mod_korrect_2);
+
+ svgen_pwm24_1.delta_U = filter.iqU_1_fast - filter.iqU_2_fast;
+ svgen_pwm24_2.delta_U = filter.iqU_3_fast - filter.iqU_4_fast;
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ svgen_pwm24_1.delta_U = 0;
+ svgen_pwm24_2.delta_U = 0;
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ svgen_pwm24_1.Ia = analog.iqIa1_1;
+ svgen_pwm24_1.Ib = analog.iqIb1_1;
+ svgen_pwm24_1.Ic = analog.iqIc1_1;
+
+ svgen_pwm24_2.Ia = analog.iqIa2_1;
+ svgen_pwm24_2.Ib = analog.iqIb2_1;
+ svgen_pwm24_2.Ic = analog.iqIc2_1;
+
+ svgen_pwm24_1.calc(&svgen_pwm24_1);
+ svgen_pwm24_2.calc(&svgen_pwm24_2);
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ set_predel_dshim24(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+// if(((svgen_pwm24_2.Ta_0.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Ta_0.Ti <= (VAR_FREQ_PWM_XTICS))) ||
+// ((svgen_pwm24_2.Ta_1.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Ta_1.Ti <= (VAR_FREQ_PWM_XTICS))) ||
+// ((svgen_pwm24_2.Tb_0.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Tb_0.Ti <= (VAR_FREQ_PWM_XTICS))) ||
+// ((svgen_pwm24_2.Tb_1.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Tb_1.Ti <= (VAR_FREQ_PWM_XTICS))) ||
+// ((svgen_pwm24_2.Tc_0.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Tc_0.Ti <= (VAR_FREQ_PWM_XTICS))) ||
+// ((svgen_pwm24_2.Tc_1.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Tc_1.Ti <= (VAR_FREQ_PWM_XTICS))))
+// {
+// asm(" NOP ");
+// }
+//
+// if( ((svgen_pwm24_2.Ta_0.Ti > 0) && (svgen_pwm24_2.Ta_0.Ti < (VAR_PERIOD_MIN_XTICS))) ||
+// ((svgen_pwm24_2.Ta_1.Ti > 0) && (svgen_pwm24_2.Ta_1.Ti < (VAR_PERIOD_MIN_XTICS))) ||
+// ((svgen_pwm24_2.Tb_0.Ti > 0) && (svgen_pwm24_2.Tb_0.Ti < (VAR_PERIOD_MIN_XTICS))) ||
+// ((svgen_pwm24_2.Tb_1.Ti > 0) && (svgen_pwm24_2.Tb_1.Ti < (VAR_PERIOD_MIN_XTICS))) ||
+// ((svgen_pwm24_2.Tc_0.Ti > 0) && (svgen_pwm24_2.Tc_0.Ti < (VAR_PERIOD_MIN_XTICS))) ||
+// ((svgen_pwm24_2.Tc_1.Ti > 0) && (svgen_pwm24_2.Tc_1.Ti < (VAR_PERIOD_MIN_XTICS))))
+// {
+// asm(" NOP ");
+// }
+}
+
+
+// #pragma CODE_SECTION(svgen_pwm24_calc,".v_24pwm_run");
+void svgen_pwm24_calc(SVGEN_PWM24 *vt)
+{
+ _iq StepAngle;
+
+ StepAngle = _IQmpy(vt->Freq,vt->FreqMax);
+
+ vt->Alpha = vt->Alpha + StepAngle;
+
+
+ if (vt->Alpha > CONST_IQ_2PI)
+ {
+ vt->Alpha -= CONST_IQ_2PI;
+ }
+
+ if (vt->Alpha < 0)
+ {
+ vt->Alpha += CONST_IQ_2PI;
+ }
+
+
+ calc_time_one_tk(vt->Gain, vt->Alpha, vt->delta_U, vt->Ia, vt->Ib, vt->Ic,
+ vt->number_svgen, &vt->Ta_0, &vt->Ta_1,&vt->Tb_0, &vt->Tb_1,&vt->Tc_0, &vt->Tc_1);
+
+
+
+ vt->Ta_0.Ti = vt->Ta_0.Ti/vt->XilinxFreq;
+ vt->Ta_1.Ti = vt->Ta_1.Ti/vt->XilinxFreq;
+
+ vt->Tb_0.Ti = vt->Tb_0.Ti/vt->XilinxFreq;
+ vt->Tb_1.Ti = vt->Tb_1.Ti/vt->XilinxFreq;
+
+ vt->Tc_0.Ti = vt->Tc_0.Ti/vt->XilinxFreq;
+ vt->Tc_1.Ti = vt->Tc_1.Ti/vt->XilinxFreq;
+
+}
+
+
+// #pragma CODE_SECTION(calc_time_one_tk,".v_24pwm_run");
+void calc_time_one_tk(_iq gain, _iq teta, _iq delta_U,
+ _iq Ia, _iq Ib, _iq Ic,
+ unsigned int number,
+ SVGEN_PWM24_TIME *tk0,
+ SVGEN_PWM24_TIME *tk1,
+ SVGEN_PWM24_TIME *tk2,
+ SVGEN_PWM24_TIME *tk3,
+ SVGEN_PWM24_TIME *tk4,
+ SVGEN_PWM24_TIME *tk5)
+{
+ _iq iq_t0 = 0, iq_t1 = 0, iq_t2 = 0, iq_t3 = 0, iq_t4 = 0, iq_t5 = 0;
+ _iq t_pos = 0, t_neg = 0;
+ _iq delta_ttt;
+ _iq teta60;
+
+ int sector, region;
+ int cur_sign, i, ki;
+ int updown_tk0;
+ int updown_tk1;
+
+ volatile _iq t_tk0, t_tk1;
+
+ updown_tk0 = 1;
+ updown_tk1 = 0;
+
+ sector = detect_sec(teta); //
+ teta60 = teta - _IQmpy(_IQ(sector - 1),CONST_IQ_PI3); //
+
+ if ((sector == 2) || (sector == 4) || (sector == 6))
+ {
+ teta60 = CONST_IQ_PI3 - teta60;
+ }
+
+ region = detect_region(gain, teta60); //
+
+ calc_t_abc(gain, teta60, region, &iq_t0, &iq_t1, &iq_t2, &iq_t3, &iq_t4, &iq_t5);
+
+
+ delta_ttt = 0; //calc_delta_t(delta_U,number,region);
+ //delta_ttt = 0;
+
+ //if (number == 1)
+ //{
+ //logpar.log1 = (int16)(_IQtoIQ15(delta_U));
+ //logpar.log2 = (int16)(_IQtoIQ15(delta_ttt));
+ //}
+ //else
+ //{
+ //logpar.log3 = (int16)(_IQtoIQ15(delta_U));
+ //logpar.log4 = (int16)(_IQtoIQ15(delta_ttt));
+ //}
+
+ calc_arr_tph(sector, region, iq_t0, iq_t1, iq_t2, iq_t3, iq_t4, iq_t5, delta_ttt,number, Ia, Ib, Ic);
+
+ for (ki = 0; ki < 3; ki++)
+ {
+ t_pos = 0;
+ t_neg = 0;
+
+ for (i = 0; i < 7; i++)
+ {
+ cur_sign = ar_sa_all[ki][sector - 1][region - 1][i];
+
+ if (cur_sign > 0)
+ {
+ t_pos += ar_tph[i];
+ }
+
+ if (cur_sign < 0)
+ {
+ t_neg += ar_tph[i];
+ }
+ }
+
+ t_pos = t_pos << 1;
+
+ t_neg = t_neg << 1;
+
+ if (t_neg == 0)
+ {
+ t_tk0 = 0;
+ }
+ else
+ {
+ t_tk0 = t_neg;
+ }
+
+ if (t_pos == 0)
+ {
+ t_tk1 = CONST_IQ_1;
+ }
+ else
+ {
+ t_tk1 = CONST_IQ_1 - t_pos;
+ }
+
+ switch (ki)
+ {
+ case 0:
+ tk0->up_or_down = updown_tk0;
+ tk0->Ti = t_tk0;
+
+ tk1->up_or_down = updown_tk1;
+ tk1->Ti = t_tk1;
+
+ break;
+
+ case 1:
+ tk2->up_or_down = updown_tk0;
+ tk2->Ti = t_tk0;
+
+ tk3->up_or_down = updown_tk1;
+ tk3->Ti = t_tk1;
+
+ break;
+
+ case 2:
+ tk4->up_or_down = updown_tk0;
+ tk4->Ti = t_tk0;
+
+ tk5->up_or_down = updown_tk1;
+ tk5->Ti = t_tk1;
+
+ break;
+
+ default: break;
+ }
+ }
+}
+
+
+
+
+// #pragma CODE_SECTION(detect_region,".v_24pwm_run");
+int detect_region(_iq k, _iq teta)
+{
+ volatile _iq x,y;
+ volatile int reg=0;
+
+ x = _IQmpy(k,_IQcos(teta));
+ y = _IQmpy(k,_IQsin(teta));
+
+ if (y>=CONST_IQ_05) reg=4;
+ else if (y < (CONST_IQ_1 - _IQmpy(x,SQRT3))) reg = 1;
+ else if (y < (_IQmpy(x,SQRT3) - CONST_IQ_1)) reg = 2;
+ else reg = 3;
+
+ return reg;
+}
+
+
+
+
+// #pragma CODE_SECTION(detect_sec,".v_24pwm_run");
+int detect_sec(_iq teta)
+{
+ volatile _iq sector;
+ volatile int sectorint;
+
+ sector = _IQdiv(teta,CONST_IQ_PI3);
+ sectorint = (sector >> 24) + 1;
+
+ if (sectorint > 6) sectorint-=6;
+
+ return sectorint;
+}
+
+
+#define nSIN_t(k,t) _IQmpy(k,_IQsin(t))
+
+#define nSIN_p3pt(k,t) _IQmpy(k,_IQsin(CONST_IQ_PI3+t))
+
+#define nSIN_p3mt(k,t) _IQmpy(k,_IQsin(CONST_IQ_PI3-t))
+
+#define nSIN_tmp3(k,t) _IQmpy(k,_IQsin(t-CONST_IQ_PI3))
+
+//k - (Uzad)
+//teta -
+//region -
+/*
+ * iq_tt0 - time of vectors op, oo, on
+ * iq_tt1 - time of vectors ap, an
+ * iq_tt2 - time of vectors bp, bn
+ * iq_tt3 - time of vector c
+ * iq_tt4 - time of vector a
+ * iq_tt5 - time of vector b
+ */
+// #pragma CODE_SECTION(calc_t_abc,".v_24pwm_run");
+void calc_t_abc(_iq k, _iq teta, int region, _iq *iq_tt0, _iq *iq_tt1, _iq *iq_tt2, _iq *iq_tt3, _iq *iq_tt4, _iq *iq_tt5)
+{
+ switch(region)
+ {
+ case 1 :
+ *iq_tt0 = CONST_IQ_05 - nSIN_p3pt(k,teta);
+ *iq_tt1 = nSIN_p3mt(k,teta);
+ *iq_tt2 = nSIN_t(k,teta);
+ *iq_tt3 = 0;
+ *iq_tt4 = 0;
+ *iq_tt5 = 0;
+ break;
+
+ case 2 :
+ *iq_tt0 = 0;
+ *iq_tt1 = CONST_IQ_1 - nSIN_p3pt(k,teta);
+ *iq_tt2 = 0;
+ *iq_tt3 = nSIN_t(k,teta);
+ *iq_tt4 = nSIN_p3mt(k,teta) - CONST_IQ_05;
+ *iq_tt5 = 0;
+ break;
+
+ case 3 :
+ *iq_tt0 = 0;
+ *iq_tt1 = CONST_IQ_05 - nSIN_t(k,teta);
+ *iq_tt2 = CONST_IQ_05 - nSIN_p3mt(k,teta);
+ *iq_tt3 = nSIN_p3pt(k,teta) - CONST_IQ_05;
+ *iq_tt4 = 0;
+ *iq_tt5 = 0;
+ break;
+
+ case 4 :
+ *iq_tt0 = 0;
+ *iq_tt1 = 0;
+ *iq_tt2 = CONST_IQ_1 - nSIN_p3pt(k,teta);
+ *iq_tt3 = nSIN_p3mt(k,teta);
+ *iq_tt4 = 0;
+ *iq_tt5 = nSIN_t(k,teta) - CONST_IQ_05;
+ break;
+
+ default :
+ *iq_tt0 = 0;
+ *iq_tt1 = 0;
+ *iq_tt2 = 0;
+ *iq_tt3 = 0;
+ *iq_tt4 = 0;
+ *iq_tt5 = 0;
+ break;
+ }
+
+ return;
+}
+
+//sector
+//region
+//iq_ttt0 - iq_ttt5 - times from calc_t_abs
+//delta_t -
+//number_sv -
+//iqIa, iqIb, iqIc
+// #pragma CODE_SECTION(calc_arr_tph, ".v_24pwm_run");
+void calc_arr_tph(int sector,int region, _iq iq_ttt0, _iq iq_ttt1, _iq iq_ttt2, _iq iq_ttt3, _iq iq_ttt4,
+ _iq iq_ttt5, _iq delta_t, unsigned int number_sv,
+ _iq iqIa, _iq iqIb, _iq iqIc)
+{
+ _iq iq_var1 = 0;
+ _iq iqIx, iqIy, iqIz;
+ _iq iq_alfa_1_p = CONST_IQ_05, iq_alfa_1_n = CONST_IQ_05, iq_alfa_2_n = CONST_IQ_05, iq_alfa_2_p = CONST_IQ_05;
+ _iq iq_alfa = 0;
+// _iq iqIa, iqIb, iqIc;
+ _iq iq_mpy1 = 0;
+ _iq iq_mpy3 = 0;
+ _iq summ = 0;
+
+
+ switch (sector)
+ {
+ case 1:
+ iqIx = iqIc;
+ iqIy = iqIa;
+ iqIz = iqIb;
+
+ break;
+ case 2:
+
+ iqIx = iqIb;
+ iqIy = iqIa;
+ iqIz = iqIc;
+
+ break;
+ case 3:
+
+ iqIx = iqIb;
+ iqIy = iqIc;
+ iqIz = iqIa;
+
+ break;
+ case 4:
+
+ iqIx = iqIa;
+ iqIy = iqIc;
+ iqIz = iqIb;
+
+ break;
+ case 5:
+
+ iqIx = iqIa;
+ iqIy = iqIb;
+ iqIz = iqIc;
+
+ break;
+ case 6:
+
+ iqIx = iqIc;
+ iqIy = iqIb;
+ iqIz = iqIa;
+
+ break;
+ default:
+
+ iqIx = 0;
+ iqIy = 0;
+ iqIz = 0;
+
+ break;
+ }
+
+ if (region == 1)
+ {
+// if (delta_t != 0) //��������� ���������� //��������� �����������
+// {
+// iq_alfa = _IQsat((CONST_IQ_05 - _IQmpy(delta_t,IQ_KP_DELTA_T)),IQ_ALFA_SATURATION1,IQ_ALFA_SATURATION2);
+
+ //if (delta_t < 0)
+ //{
+ //iq_alfa = IQ_ALFA_SATURATION1;
+ //}
+ //else
+ //{
+ //iq_alfa = IQ_ALFA_SATURATION2;
+ //}
+// }
+// else
+ {
+ iq_alfa = CONST_IQ_05;
+ }
+ }
+ else
+ {
+ iq_mpy1 = _IQmpy(_IQabs(iqIx),iq_ttt1)+_IQmpy(_IQabs(iqIy),iq_ttt2);
+ iq_mpy3 = _IQmpy(iqIz,iq_ttt3);
+
+ summ = _IQdiv((iq_mpy3),(iq_mpy1));
+
+ //iq_alfa = _IQsat((_IQmpy(CONST_IQ_05,(CONST_IQ_1 + summ)) - _IQmpy(delta_t,IQ_KP_DELTA_T)),IQ_ALFA_SATURATION1,IQ_ALFA_SATURATION2);
+ iq_alfa = CONST_IQ_05; //test
+ }
+
+
+ if (iqIx >= 0)
+ {
+ iq_alfa_1_p = iq_alfa;
+ iq_alfa_1_n = CONST_IQ_1 - iq_alfa;
+ }
+ else
+ {
+ iq_alfa_1_p = CONST_IQ_1 - iq_alfa;
+ iq_alfa_1_n = iq_alfa;
+ }
+
+ if (iqIy >= 0)
+ {
+ iq_alfa_2_p = CONST_IQ_1 - iq_alfa;
+ iq_alfa_2_n = iq_alfa;
+ }
+ else
+ {
+ iq_alfa_2_p = iq_alfa;
+ iq_alfa_2_n = CONST_IQ_1 - iq_alfa;
+ }
+
+
+ //if (number_sv == 2)
+ //{
+ //logpar.log1 = (int16)(sector);
+ //logpar.log2 = (int16)(region);
+ //logpar.log3 = (int16)(_IQtoIQ15(iq_alfa));
+ //logpar.log4 = (int16)(_IQtoIQ15(iq_alfa_1_p));
+ //logpar.log5 = (int16)(_IQtoIQ15(iq_alfa_2_p));
+ //logpar.log6 = (int16)(_IQtoIQ13(summ));
+ //logpar.log3 = (int16)(_IQtoIQ14(iq_ttt0));
+ //logpar.log4 = (int16)(_IQtoIQ14(iq_ttt1));
+ //logpar.log5 = (int16)(_IQtoIQ14(iq_ttt2));
+ //logpar.log6 = (int16)(_IQtoIQ14(iq_ttt3));
+ //logpar.log7 = (int16)(_IQtoIQ14(iq_ttt4));
+ //logpar.log8 = (int16)(_IQtoIQ14(iq_ttt5));
+ //logpar.log10 = (int16)(_IQtoIQ15(delta_t1_struct.Up));
+ //logpar.log11 = (int16)(_IQtoIQ15(delta_t1_struct.Ui));
+ //logpar.log12 = (int16)(_IQtoIQ15(delta_t1_struct.Ud));
+ //logpar.log13 = (int16)(_IQtoIQ15(iqIx));
+ //logpar.log14 = (int16)(_IQtoIQ15(iqIy));
+ //logpar.log15 = (int16)(_IQtoIQ15(iqIz));
+
+ //logpar.log12 = (int16)(_IQtoIQ15(_IQmpy(iq_alfa_2_p,iq_ttt2)));
+ //logpar.log13 = (int16)(_IQtoIQ15(_IQmpy(iq_alfa_2_n,iq_ttt2)));
+ //logpar.log14 = (int16)(_IQtoIQ15(delta_t));
+ //}
+ //else
+ //logpar.log15 = (int16)(_IQtoIQ15(delta_t));
+
+// if (region == 1)
+// {
+// if (f.Rele3 == 1)
+// {
+// iq_alfa_1_p = CONST_IQ_05;
+// iq_alfa_2_p = CONST_IQ_05;
+// iq_alfa_1_n = CONST_IQ_05;
+// iq_alfa_2_n = CONST_IQ_05;
+// }
+// }
+// else
+// {
+// if (f.Down50 == 1)
+// {
+// iq_alfa_1_p = CONST_IQ_05;
+// iq_alfa_2_p = CONST_IQ_05;
+// iq_alfa_1_n = CONST_IQ_05;
+// iq_alfa_2_n = CONST_IQ_05;
+// }
+// }
+
+ switch (region)
+ {
+ case 1:
+ iq_var1 = _IQdiv(iq_ttt0,CONST_IQ_3);
+
+ ar_tph[0] = iq_var1;
+ ar_tph[1] = _IQmpy(iq_alfa_1_n,iq_ttt1);
+ ar_tph[2] = _IQmpy(iq_alfa_2_n,iq_ttt2);
+ ar_tph[3] = iq_var1;
+ ar_tph[4] = _IQmpy(iq_alfa_1_p,iq_ttt1);
+ ar_tph[5] = _IQmpy(iq_alfa_2_p,iq_ttt2);
+ ar_tph[6] = iq_var1;
+ break;
+
+ case 2:
+ ar_tph[0] = _IQmpy(iq_alfa_1_n,iq_ttt1);
+ ar_tph[1] = iq_ttt4;
+ ar_tph[2] = iq_ttt3;
+ ar_tph[3] = _IQmpy(iq_alfa_1_p,iq_ttt1);
+ ar_tph[4] = 0;
+ ar_tph[5] = 0;
+ ar_tph[6] = 0;
+ break;
+
+ case 3:
+ ar_tph[0] = _IQmpy(iq_alfa_1_n,iq_ttt1);
+ ar_tph[1] = _IQmpy(iq_alfa_2_n,iq_ttt2);
+ ar_tph[2] = iq_ttt3;
+ ar_tph[3] = _IQmpy(iq_alfa_1_p,iq_ttt1);
+ ar_tph[4] = _IQmpy(iq_alfa_2_p,iq_ttt2);
+ ar_tph[5] = 0;
+ ar_tph[6] = 0;
+ break;
+
+ case 4:
+ ar_tph[0] = _IQmpy(iq_alfa_2_n,iq_ttt2);
+ ar_tph[1] = iq_ttt3;
+ ar_tph[2] = iq_ttt5;
+ ar_tph[3] = _IQmpy(iq_alfa_2_p,iq_ttt2);
+ ar_tph[4] = 0;
+ ar_tph[5] = 0;
+ ar_tph[6] = 0;
+ break;
+
+ default :
+ break;
+ }
+
+
+}
+
+/*
+ // Function is commented because of in project 222220 should not be large voltage diviation
+// #pragma CODE_SECTION(calc_delta_t,".v_24pwm_run");
+_iq calc_delta_t(_iq delta_1, unsigned int number,int region)
+{
+ if(_IQabs(delta_1) > MAX_LEVEL_DELTA_T)
+ {
+ // ������ ���������� ConvErrors.m2.bit.Razbalans |= 1;
+ return 0;
+ }
+
+ if (number == 1)
+ {
+ delta_t1_struct.Fdb = delta_1;
+ delta_t1_struct.calc(&delta_t1_struct);
+
+ if (_IQabs(delta_t1_struct.Out) <= INSENSITIVE_LEVEL_DELTA_T) return 0;
+ else return delta_t1_struct.Out;
+ }
+ else
+ {
+ delta_t2_struct.Fdb = delta_1;
+ delta_t2_struct.calc(&delta_t2_struct);
+
+ if (_IQabs(delta_t2_struct.Out) <= INSENSITIVE_LEVEL_DELTA_T) return 0;
+ else return delta_t2_struct.Out;
+ }
+}
+
+*/
+//#pragma CODE_SECTION(set_predel_dshim24,".fast_run2");
+
+// #pragma CODE_SECTION(set_predel_dshim24_simple0,".v_24pwm_run");
+void set_predel_dshim24_simple0(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax)
+{
+ dmax++; //���� ������ �������� ������, ��� ���� �������� ����, ����� ������ �����������
+ if (T->Ti < dmin)
+ {
+ if (T->Ti < dmin/2)
+ T->Ti = 0;
+ else
+ T->Ti = dmin;
+
+ } else if (T->Ti >= (dmax - dmin)) {
+ T->Ti = (dmax - dmin);
+ }
+}
+// #pragma CODE_SECTION(set_predel_dshim24_simple1,".v_24pwm_run");
+void set_predel_dshim24_simple1(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax)
+{
+ dmax++; //���� ������ �������� ������, ��� ���� �������� ����, ����� ������ �����������
+ if (T->Ti >= (dmax - dmin))
+ {
+ if (T->Ti >= (dmax - dmin/2))
+ T->Ti = dmax;
+ else
+ T->Ti = dmax-dmin;
+// T->Ti = dmax;
+ } else if (T->Ti <= dmin) {
+ T->Ti = dmin;
+ }
+}
+
+
+// #pragma CODE_SECTION(set_predel_dshim24,".v_24pwm_run");
+void set_predel_dshim24(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax)
+{
+ //static unsigned int counter_pass = 0;
+ //static unsigned int summ = 0;
+ //int16 dshim24 = 0;
+ dmax++; //���� ������ �������� ������, ��� ���� �������� ����, ����� ������ �����������
+ if (T->Ti < dmin)
+ {
+ T->impuls_lenght_max = 0;
+ T->counter_pass_max = 0;
+
+ T->impuls_lenght_min = T->impuls_lenght_min + T->Ti;
+ T->counter_pass_min++;
+
+ if (T->counter_pass_min <= 3)
+ {
+ if (T->impuls_lenght_min <= dmin)
+ {
+ T->Ti = 0;
+ }
+ else
+ {
+// T->Ti = dmin; //T->impuls_lenght_min;
+// T->impuls_lenght_min -= dmin;// = 0;
+ T->Ti = T->impuls_lenght_min;
+ T->impuls_lenght_min = 0;
+ T->counter_pass_min = 0;
+// if (T->impuls_lenght_min < 0) {
+// T->counter_pass_min = 0;
+// T->impuls_lenght_min = 0;
+// } else {
+// T->counter_pass_min -= 1;
+// }
+ }
+ }
+ else
+ {
+ T->counter_pass_min = 1;
+ T->impuls_lenght_min = T->Ti;
+ T->Ti = 0;
+ }
+ }
+ else
+ {
+ T->impuls_lenght_min = 0;
+ T->counter_pass_min = 0;
+
+// if (T->Ti > (dmax - dmin))
+// {
+// dshim = dmax;
+// }
+// else
+// {
+// dshim = T->Ti;
+// }
+
+ if (T->Ti >= (dmax - dmin))
+ {
+ T->impuls_lenght_max = T->impuls_lenght_max + (dmax - T->Ti - 1);
+ T->counter_pass_max++;
+
+ if (T->counter_pass_max <= 3)
+ {
+ if (T->impuls_lenght_max <= dmin)
+ {
+ T->Ti = dmax;
+ }
+ else
+ {
+// T->Ti = dmax - dmin; //T->impuls_lenght_max;
+// T->impuls_lenght_max -= dmin;// = 0;
+ T->Ti = dmax - T->impuls_lenght_max;
+ T->impuls_lenght_max = 0;
+ T->counter_pass_max = 0;
+// if (T->impuls_lenght_max < 0) {
+// T->impuls_lenght_max = 0;
+// T->counter_pass_max = 0;
+// } else {
+// T->counter_pass_max -= 1;
+// }
+ }
+ }
+ else
+ {
+ T->counter_pass_max = 1;
+ T->impuls_lenght_max = dmax - T->Ti;
+ T->Ti = dmax;
+ }
+ }
+ else
+ {
+ T->counter_pass_max = 0;
+ T->impuls_lenght_max = 0;
+ }
+ }
+
+ //return dshim24;
+}
+
+
+
+void init_alpha_pwm24(int xFreq)
+{
+ xFreq = xFreq + 1;
+
+ svgen_pwm24_1.number_svgen = 1;
+ svgen_pwm24_2.number_svgen = 2;
+
+ //pidCur_Kp = _IQ(PID_KP_DELTA_KOMP_I);
+ //pidCur_Ki = _IQ(PID_KI_DELTA_KOMP_I);
+
+// svgen_pwm24_1.prev_level = V_PWM24_PREV_PWM_CLOSE;
+ svgen_pwm24_1.saw_direct.all = xpwm_time.saw_direct.all & 0x3f;
+ svgen_pwm24_1.Tclosed_saw_direct_0 = xpwm_time.Tclosed_saw_direct_0;// xpwm_time.Tclosed_high;//var_freq_pwm_xtics + 1;
+ svgen_pwm24_1.Tclosed_saw_direct_1 = xpwm_time.Tclosed_saw_direct_1;
+ svgen_pwm24_1.Tclosed_high = xpwm_time.Tclosed_high;
+
+// svgen_pwm24_2.prev_level = V_PWM24_PREV_PWM_CLOSE;
+ svgen_pwm24_2.saw_direct.all = (xpwm_time.saw_direct.all >> 6) & 0x3f;
+ svgen_pwm24_2.Tclosed_saw_direct_0 = xpwm_time.Tclosed_saw_direct_0;// xpwm_time.Tclosed_high;//var_freq_pwm_xtics + 1;
+ svgen_pwm24_2.Tclosed_saw_direct_1 = xpwm_time.Tclosed_saw_direct_1;
+ svgen_pwm24_2.Tclosed_high = xpwm_time.Tclosed_high;
+
+ svgen_pwm24_1.FreqMax = _IQ(2.0*PI*F_STATOR_MAX/FREQ_PWM/2);//��������������� ������� �� 2, �.�. 2 ���� ������� � ���������� �� ������ ���
+ svgen_pwm24_2.FreqMax = _IQ(2.0*PI*F_STATOR_MAX/FREQ_PWM/2);
+
+ svgen_pwm24_1.XilinxFreq = CONST_IQ_1/xFreq;
+ svgen_pwm24_2.XilinxFreq = CONST_IQ_1/xFreq;
+
+ // 30
+ svgen_pwm24_1.Alpha = 0; //winding_displacement;
+ svgen_pwm24_2.Alpha = -winding_displacement;
+
+ svgen_pwm24_1.delta_t = 0;
+ svgen_pwm24_2.delta_t = 0;
+}
+
+/*
+void init_freq_array(void)
+{
+ unsigned int i = 0;
+ //unsigned int j = 0;
+ int var1 = 0;
+
+ var1 = 32767 / (FREQ_PWM_MAX - FREQ_PWM_MIN);
+
+ for (i = 0; i < COUNT_VAR_FREQ; i++)
+ {
+ //j = rand() / 1023;
+ //freq_array[i] = array_optim_freq[j];
+ //do
+ freq_array[i] = FREQ_PWM_MIN + (rand() / var1);
+ //while ((freq_array[i] < 945) && (freq_array[i] > 930));
+ }
+
+ //freq_array[0] = 991;
+ //freq_array[1] = 1430;
+}
+*/
+
+
+//#pragma CODE_SECTION(calc_freq_pwm,".v_24pwm_run");
+//#pragma CODE_SECTION(calc_freq_pwm,".fast_run");
+/*void calc_freq_pwm()
+{
+ static int prev_freq_pwm = 0;
+ static float pwm_period = 0;
+ static float var0 = 0;
+ //static int line = 0;
+ //static int i = 0;
+ static unsigned int proc_ticks = 1;
+ int var1 = 0;
+ //static int i = 0;
+
+ if ((f.flag_change_pwm_freq == 1) && (f.flag_random_freq == 1))
+ {
+ if (proc_ticks >= 1)
+ {
+ proc_ticks = 0;
+
+
+ if (line == 0)
+ {
+ VAR_FREQ_PWM_HZ = VAR_FREQ_PWM_HZ + 1;
+ if (VAR_FREQ_PWM_HZ > FREQ_PWM_MAX)
+ {
+ VAR_FREQ_PWM_HZ = FREQ_PWM_MAX;
+ line = 1;
+ }
+ }
+ else
+ {
+ VAR_FREQ_PWM_HZ = VAR_FREQ_PWM_HZ - 1;
+ if (VAR_FREQ_PWM_HZ < FREQ_PWM)
+ {
+ VAR_FREQ_PWM_HZ = FREQ_PWM;
+ line = 0;
+ }
+ }
+
+
+
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ //VAR_FREQ_PWM_HZ = freq_array[i];
+ //i_led2_on_off(1);
+
+ var1 = 32767 / (freq_pwm_max_hz - freq_pwm_min_hz);
+ VAR_FREQ_PWM_HZ = freq_pwm_min_hz + (rand() / var1);
+
+ //i_led2_on_off(0);
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ if (VAR_FREQ_PWM_HZ > freq_pwm_max_hz)
+ {
+ VAR_FREQ_PWM_HZ = freq_pwm_max_hz;
+ }
+ else
+ {
+ if (VAR_FREQ_PWM_HZ < freq_pwm_min_hz)
+ {
+ VAR_FREQ_PWM_HZ = freq_pwm_min_hz;
+ }
+ }
+ //i++;
+
+ //if (i >= COUNT_VAR_FREQ)
+ //{
+ //i = 0;
+ //}
+
+ }
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ //if (VAR_FREQ_PWM_HZ == FREQ_PWM_MIN)
+ //{
+ //VAR_FREQ_PWM_HZ = FREQ_PWM_MAX;
+ //}
+ //else
+ //{
+ //VAR_FREQ_PWM_HZ = FREQ_PWM_MIN;
+ //}
+
+ //if (f.Rele1 == 1)
+ //{
+ //if (i == 0)
+ //{
+ //VAR_FREQ_PWM_HZ = 1192;;
+ //i = 1;
+ //}
+ //else
+ //{
+ //VAR_FREQ_PWM_HZ = 792;
+ //}
+ //}
+ //else
+ //{
+ //i = 0;
+ //VAR_FREQ_PWM_HZ = 1192;
+ //}
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ }
+ //else
+ //{
+ //VAR_FREQ_PWM_HZ = FREQ_PWM;
+ //}
+
+
+ if (prev_freq_pwm != VAR_FREQ_PWM_HZ)
+ {
+ prev_freq_pwm = VAR_FREQ_PWM_HZ;
+ FREQ_MAX = _IQ(2.0*PI*F_STATOR_MAX/VAR_FREQ_PWM_HZ);
+
+ var0 = (float)VAR_FREQ_PWM_HZ;
+ //pwm_period = ((float64)HSPCLK) / ((float64)VAR_FREQ_PWM_HZ);
+
+ pwm_period = HSPCLK / var0;
+
+ pwm_period = pwm_period / 2.0;
+
+ FREQ_PWM_XTICS = ((int) pwm_period) >> 3;
+
+ XILINX_FREQ = 16777216/(FREQ_PWM_XTICS + 1);
+
+ FLAG_CHANGE_FREQ_PWM = 1;
+ }
+
+ proc_ticks++;
+}
+*/
+
+void change_freq_pwm(_iq xFreq) {
+ svgen_pwm24_1.FreqMax = _IQ(2.0*PI*F_STATOR_MAX/3750000 / xFreq / 2 /2);//��������������� ������� �� 2, �.�. 2 ���� ������� � ���������� �� ������ ���
+ svgen_pwm24_2.FreqMax = _IQ(2.0*PI*F_STATOR_MAX/ 3750000 / xFreq / 2 /2);
+
+ xFreq += 1;
+ svgen_pwm24_1.XilinxFreq = CONST_IQ_1/xFreq;
+ svgen_pwm24_2.XilinxFreq = CONST_IQ_1/xFreq;
+}
+
+// #pragma CODE_SECTION(test_calc_pwm24_dq,".v_24pwm_run");
+void test_calc_pwm24_dq(_iq U_zad1, _iq U_zad2,_iq teta)
+{
+ svgen_pwm24_1.Freq = 0;
+ svgen_pwm24_2.Freq = 0;
+
+ svgen_pwm24_1.Gain = U_zad1;
+ svgen_pwm24_2.Gain = U_zad2;
+
+ svgen_pwm24_1.Alpha = teta;
+ svgen_pwm24_2.Alpha = teta - winding_displacement;
+
+ svgen_pwm24_1.delta_U = filter.iqU_1_fast - filter.iqU_2_fast;
+ svgen_pwm24_2.delta_U = filter.iqU_3_fast - filter.iqU_4_fast;
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ svgen_pwm24_1.delta_U = 0;
+ svgen_pwm24_2.delta_U = 0;
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ svgen_pwm24_1.Ia = analog.iqIa1_1;
+ svgen_pwm24_1.Ib = analog.iqIb1_1;
+ svgen_pwm24_1.Ic = analog.iqIc1_1;
+
+ svgen_pwm24_2.Ia = analog.iqIa2_1;
+ svgen_pwm24_2.Ib = analog.iqIb2_1;
+ svgen_pwm24_2.Ic = analog.iqIc2_1;
+
+ svgen_pwm24_1.calc_dq(&svgen_pwm24_1);
+ svgen_pwm24_2.calc_dq(&svgen_pwm24_2);
+
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ set_predel_dshim24(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+
+}
+
+
+// #pragma CODE_SECTION(svgen_pwm24_calc,".v_24pwm_run");
+void svgen_pwm24_calc_dq(SVGEN_PWM24 *vt)
+{
+
+ if (vt->Alpha > CONST_IQ_2PI)
+ {
+ vt->Alpha -= CONST_IQ_2PI;
+ }
+
+ if (vt->Alpha < 0)
+ {
+ vt->Alpha += CONST_IQ_2PI;
+ }
+
+
+ calc_time_one_tk(vt->Gain, vt->Alpha, vt->delta_U, vt->Ia, vt->Ib, vt->Ic,
+ vt->number_svgen, &vt->Ta_0, &vt->Ta_1,&vt->Tb_0, &vt->Tb_1,&vt->Tc_0, &vt->Tc_1);
+
+
+ vt->Ta_0.Ti = vt->Ta_0.Ti/vt->XilinxFreq;
+ vt->Ta_1.Ti = vt->Ta_1.Ti/vt->XilinxFreq;
+
+ vt->Tb_0.Ti = vt->Tb_0.Ti/vt->XilinxFreq;
+ vt->Tb_1.Ti = vt->Tb_1.Ti/vt->XilinxFreq;
+
+ vt->Tc_0.Ti = vt->Tc_0.Ti/vt->XilinxFreq;
+ vt->Tc_1.Ti = vt->Tc_1.Ti/vt->XilinxFreq;
+
+}
+
+void svgen_set_time_keys_closed(SVGEN_PWM24 *vt)
+{
+ vt->Ta_0.Ti = VAR_FREQ_PWM_XTICS + 1;
+ vt->Ta_1.Ti = 0;
+
+ vt->Tb_0.Ti = VAR_FREQ_PWM_XTICS + 1;
+ vt->Tb_1.Ti = 0;
+
+ vt->Tc_0.Ti = VAR_FREQ_PWM_XTICS + 1;
+ vt->Tc_1.Ti = 0;
+}
+
+void svgen_set_time_middle_keys_open(SVGEN_PWM24 *vt)
+{
+ vt->Ta_0.Ti = 0;
+ vt->Ta_1.Ti = VAR_FREQ_PWM_XTICS + 1;
+
+ vt->Tb_0.Ti = 0;
+ vt->Tb_1.Ti = VAR_FREQ_PWM_XTICS + 1;
+
+ vt->Tc_0.Ti = 0;
+ vt->Tc_1.Ti = VAR_FREQ_PWM_XTICS + 1;
+}
diff --git a/Inu/Src/main_matlab/xp_write_xpwm_time_matlab.c b/Inu/Src/main_matlab/xp_write_xpwm_time_matlab.c
new file mode 100644
index 0000000..093b88c
--- /dev/null
+++ b/Inu/Src/main_matlab/xp_write_xpwm_time_matlab.c
@@ -0,0 +1,361 @@
+/*
+ * xp_write_xpwm_time.c
+ *
+ * Created on: 03 àïð. 2018 ã.
+ * Author: stud
+ */
+
+#include "xp_write_xpwm_time.h"
+// #include "MemoryFunctions.h"
+// #include "Spartan2E_Adr.h"
+// #include "PWMTMSHandle.h"
+
+#include "def.h"
+
+
+// #pragma DATA_SECTION(xpwm_time,".fast_vars1");
+XPWM_TIME xpwm_time = DEFAULT_XPWM_TIME;
+
+#define set_default_tclosed(k,b) {if (b) k = p->Tclosed_saw_direct_1; else k = p->Tclosed_saw_direct_0;}
+
+void initXpwmTimeStructure(XPWM_TIME *p) {
+ p->Ta0_0 = p->Tclosed_0;
+ p->Ta0_1 = p->Tclosed_1;
+ p->Tb0_0 = p->Tclosed_0;
+ p->Tb0_1 = p->Tclosed_1;
+ p->Tc0_0 = p->Tclosed_0;
+ p->Tc0_1 = p->Tclosed_1;
+
+ p->Ta1_0 = p->Tclosed_0;
+ p->Ta1_1 = p->Tclosed_1;
+ p->Tb1_0 = p->Tclosed_0;
+ p->Tb1_1 = p->Tclosed_1;
+ p->Tc1_0 = p->Tclosed_0;
+ p->Tc1_1 = p->Tclosed_1;
+
+ p->Tbr0_0 = 0;
+ p->Tbr0_1 = 0;
+ p->Tbr1_0 = 0;
+ p->Tbr1_1 = 0;
+}
+
+
+// ������� �������� ����� ��������������� � �������
+void xpwm_write_1_2_winding_break_times_16_lines(XPWM_TIME *p) {
+
+}
+
+// void xpwm_write_1_2_winding_break_times_16_lines_split_eages(XPWM_TIME *p) {
+
+// }
+/*
+//#pragma CODE_SECTION(xpwm_write_1_2_winding_break_times_16_lines,".fast_run1");
+void xpwm_write_1_2_winding_break_times_16_lines(XPWM_TIME *p)
+{
+ if(!(ReadMemory(ADR_ERRORS_TOTAL_INFO)))
+ {
+ WriteMemory(ADR_PWM_KEY_NUMBER, 0);
+ WriteMemory(ADR_PWM_TIMING, p->Ta0_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 1);
+ WriteMemory(ADR_PWM_TIMING, p->Ta0_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 2);
+ WriteMemory(ADR_PWM_TIMING, p->Tb0_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 3);
+ WriteMemory(ADR_PWM_TIMING, p->Tb0_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 4);
+ WriteMemory(ADR_PWM_TIMING, p->Tc0_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 5);
+ WriteMemory(ADR_PWM_TIMING, p->Tc0_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 6);
+ WriteMemory(ADR_PWM_TIMING, p->Ta1_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 7);
+ WriteMemory(ADR_PWM_TIMING, p->Ta1_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 8);
+ WriteMemory(ADR_PWM_TIMING, p->Tb1_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 9);
+ WriteMemory(ADR_PWM_TIMING, p->Tb1_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 10);
+ WriteMemory(ADR_PWM_TIMING, p->Tc1_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 11);
+ WriteMemory(ADR_PWM_TIMING, p->Tc1_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 12);
+ WriteMemory(ADR_PWM_TIMING, p->Tbr0_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 13);
+ WriteMemory(ADR_PWM_TIMING, p->Tbr0_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 14);
+ WriteMemory(ADR_PWM_TIMING, p->Tbr1_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 15);
+ WriteMemory(ADR_PWM_TIMING, p->Tbr1_1);
+ }
+ else
+ {
+ WriteMemory(ADR_PWM_KEY_NUMBER, 0);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 1);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 2);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 3);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 4);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 5);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 6);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 7);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 8);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 9);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 10);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 11);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 12);
+ WriteMemory(ADR_PWM_TIMING, 0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 13);
+ WriteMemory(ADR_PWM_TIMING, 0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 14);
+ WriteMemory(ADR_PWM_TIMING, 0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 15);
+ WriteMemory(ADR_PWM_TIMING, 0);
+ }
+}
+*/
+// #pragma CODE_SECTION(xpwm_write_1_2_winding_break_times_16_lines_split_eages,".fast_run1");
+void xpwm_write_1_2_winding_break_times_16_lines_split_eages(XPWM_TIME *p)
+{
+ // if (!(i_ReadMemory(ADR_ERRORS_TOTAL_INFO)))
+ {
+//a
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit0==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_A1_PLUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Ta0_0);
+ EPwm2Regs.CMPA.half.CMPA = p->Ta0_0;
+ }
+
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit1 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit1==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_A1_MINUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Ta0_1);
+ EPwm1Regs.CMPA.half.CMPA = p->Ta0_1;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit2 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit2==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_B1_PLUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tb0_0);
+ EPwm4Regs.CMPA.half.CMPA = p->Tb0_0;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit3 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit3==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_B1_MINUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tb0_1);
+ EPwm3Regs.CMPA.half.CMPA = p->Tb0_1;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit4 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit4==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_C1_PLUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tc0_0);
+ EPwm6Regs.CMPA.half.CMPA = p->Tc0_0;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit5 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit5==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_C1_MINUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tc0_1);
+ EPwm5Regs.CMPA.half.CMPA = p->Tc0_1;
+ }
+//b
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit6 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit6==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_A2_PLUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Ta1_0);
+ EPwm8Regs.CMPA.half.CMPA = p->Ta1_0;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit7 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit7==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_A2_MINUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Ta1_1);
+ EPwm7Regs.CMPA.half.CMPA = p->Ta1_1;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit8 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit8==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_B2_PLUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tb1_0);
+ EPwm10Regs.CMPA.half.CMPA = p->Tb1_0;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit9 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit9==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_B2_MINUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tb1_1);
+ EPwm9Regs.CMPA.half.CMPA = p->Tb1_1;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit10 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit10==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_C2_PLUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tc1_0);
+ EPwm12Regs.CMPA.half.CMPA = p->Tc1_0;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit11 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit11==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_C2_MINUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tc1_1);
+ EPwm11Regs.CMPA.half.CMPA = p->Tc1_1;
+ }
+
+//br1 br2
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_BR1_PLUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tbr0_0);
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_BR1_MINUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tbr0_1);
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_BR2_PLUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tbr1_0);
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_BR2_MINUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tbr1_1);
+ }
+// else
+// {
+// // hard_stop_x24_pwm_all();
+// // stop_pwm();
+// xpwm_write_zero_winding_break_times_16_lines_split_eages(p);
+// }
+}
+/*
+// #pragma CODE_SECTION(xpwm_write_zero_1,".fast_run2");
+void xpwm_write_zero_1(XPWM_TIME *p)
+{
+ unsigned int tclose;
+
+ //a
+ set_default_tclosed(tclose, p->saw_direct.bits.bit0);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_A1_PLUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Ta0_0 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit1);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_A1_MINUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Ta0_1 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit2);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_B1_PLUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Tb0_0 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit3);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_B1_MINUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Tb0_1 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit4);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_C1_PLUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Tc0_0 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit5);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_C1_MINUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Tc0_1 = tclose;
+
+}
+
+// #pragma CODE_SECTION(xpwm_write_zero_2,".fast_run1");
+void xpwm_write_zero_2(XPWM_TIME *p)
+{
+ unsigned int tclose;
+
+//b
+ set_default_tclosed(tclose, p->saw_direct.bits.bit6);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_A2_PLUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Ta1_0 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit7);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_A2_MINUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Ta1_1 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit8);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_B2_PLUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Tb1_0 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit9);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_B2_MINUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Tb1_1 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit10);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_C2_PLUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Tc1_0 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit11);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_C2_MINUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Tc1_1 = tclose;
+
+}
+
+// #pragma CODE_SECTION(xpwm_write_zero_break_1,".fast_run2");
+void xpwm_write_zero_break_1(XPWM_TIME *p)
+{
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_BR1_PLUS);
+ i_WriteMemory(ADR_PWM_TIMING, 0);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_BR1_MINUS);
+ i_WriteMemory(ADR_PWM_TIMING, 0);
+
+ p->Tbr0_0 = 0;
+ p->Tbr0_1 = 0;
+
+}
+
+// #pragma CODE_SECTION(xpwm_write_zero_break_2,".fast_run2");
+void xpwm_write_zero_break_2(XPWM_TIME *p)
+{
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_BR2_PLUS);
+ i_WriteMemory(ADR_PWM_TIMING, 0);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_BR2_MINUS);
+ i_WriteMemory(ADR_PWM_TIMING, 0);
+
+ p->Tbr1_0 = 0;
+ p->Tbr1_1 = 0;
+}
+
+// #pragma CODE_SECTION(xpwm_write_zero_winding_break_times_16_lines_split_eages,".fast_run2");
+void xpwm_write_zero_winding_break_times_16_lines_split_eages(XPWM_TIME *p)
+{
+ xpwm_write_zero_1(p);
+ xpwm_write_zero_2(p);
+ xpwm_write_zero_break_1(p);
+ xpwm_write_zero_break_2(p);
+}
+
+*/
+
diff --git a/Inu/Src2/VectorControl/abc_to_alphabeta.c b/Inu/Src2/VectorControl/abc_to_alphabeta.c
new file mode 100644
index 0000000..7f37475
--- /dev/null
+++ b/Inu/Src2/VectorControl/abc_to_alphabeta.c
@@ -0,0 +1,23 @@
+#include "IQmathLib.h" // Include header for IQmath library
+#include "abc_to_alphabeta.h"
+
+
+
+
+/////////////////////////////////////////////////
+
+
+#pragma CODE_SECTION(abc_to_alphabeta_calc,".fast_run");
+void abc_to_alphabeta_calc(ABC_TO_ALPHABETA *v)
+{
+ static _iq iq_1_sqrt3 = _IQ(0.57735026918962576450914878050196); // = 1/sqrt(3)
+ static _iq iq_2_sqrt3 = _IQ(1.1547005383792515290182975610039); // =2/sqrt(3)
+
+ v->Ualpha = v->Ua;
+ v->Ubeta = _IQmpy(iq_1_sqrt3,v->Ua) + _IQmpy(iq_2_sqrt3,v->Ub);
+
+}
+
+
+
+/////////////////////////////////////////////////
diff --git a/Inu/Src2/VectorControl/abc_to_alphabeta.h b/Inu/Src2/VectorControl/abc_to_alphabeta.h
new file mode 100644
index 0000000..eb16b58
--- /dev/null
+++ b/Inu/Src2/VectorControl/abc_to_alphabeta.h
@@ -0,0 +1,39 @@
+#ifndef __ABC_ALPHABETA_H__
+#define __ABC_ALPHABETA_H__
+
+#include "IQmathLib.h"
+
+typedef struct { _iq Ua; //phase A voltage, input
+ _iq Ub; //phase B voltage, input
+ _iq Uc; //phase C voltage, input
+// _iq Tetta; //phase angle, input
+ _iq Ualpha; // axis d voltage, output
+ _iq Ubeta; // axis q voltage, output
+ void (*calc)(); // Pointer to calculation function
+ }ABC_TO_ALPHABETA;
+
+
+
+
+
+typedef ABC_TO_ALPHABETA *ABC_TO_ALPHABETA_handle;
+
+#define ABC_TO_ALPHABETA_DEFAULTS { 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ (void (*)(Uint32))abc_to_alphabeta_calc\
+ }
+
+
+void abc_to_alphabeta_calc(ABC_TO_ALPHABETA_handle);
+
+
+
+
+
+
+
+
+#endif // end __ABC_ALPHABETA_H
diff --git a/Inu/Src2/VectorControl/abc_to_dq.c b/Inu/Src2/VectorControl/abc_to_dq.c
new file mode 100644
index 0000000..39c414d
--- /dev/null
+++ b/Inu/Src2/VectorControl/abc_to_dq.c
@@ -0,0 +1,38 @@
+#include "IQmathLib.h" // Include header for IQmath library
+#include "abc_to_dq.h"
+
+
+
+
+
+
+
+
+/////////////////////////////////////////////////
+
+
+#pragma CODE_SECTION(abc_to_dq_calc,".fast_run");
+void abc_to_dq_calc(ABC_TO_DQ *v)
+{
+ static _iq iq_two_third_pi = _IQ(6.283185307179586476925286766559/3.0);
+ static _iq iq_two_third = _IQ(2.0/3.0);
+
+ v->Id = _IQmpy(iq_two_third,_IQmpy(v->Ia, _IQsin(v->Tetta)) + _IQmpy(v->Ib, _IQsin(v->Tetta - iq_two_third_pi)) + _IQmpy(v->Ic, _IQsin(v->Tetta + iq_two_third_pi)));
+ v->Iq = _IQmpy(iq_two_third,_IQmpy(v->Ia, _IQcos(v->Tetta)) + _IQmpy(v->Ib, _IQcos(v->Tetta - iq_two_third_pi)) + _IQmpy(v->Ic, _IQcos(v->Tetta + iq_two_third_pi)));
+}
+
+
+#pragma CODE_SECTION(abc_to_dq_calc_v2,".fast_run");
+void abc_to_dq_calc_v2(ABC_TO_DQ *v)
+{
+ static _iq iq_two_third_pi = _IQ(6.283185307179586476925286766559/3.0);
+ static _iq iq_two_third = _IQ(2.0/3.0);
+
+ v->Id = _IQmpy(iq_two_third,_IQmpy(v->Ia, _IQcos(v->Tetta)) + _IQmpy(v->Ib, _IQcos(v->Tetta - iq_two_third_pi)) + _IQmpy(v->Ic, _IQcos(v->Tetta + iq_two_third_pi)));
+ v->Iq = _IQmpy(iq_two_third,_IQmpy(-v->Ia, _IQsin(v->Tetta)) - _IQmpy(v->Ib, _IQcos(v->Tetta - iq_two_third_pi)) - _IQmpy(v->Ic, _IQcos(v->Tetta + iq_two_third_pi)));
+}
+
+
+/////////////////////////////////////////////////
+
+
diff --git a/Inu/Src2/VectorControl/abc_to_dq.h b/Inu/Src2/VectorControl/abc_to_dq.h
new file mode 100644
index 0000000..1afd618
--- /dev/null
+++ b/Inu/Src2/VectorControl/abc_to_dq.h
@@ -0,0 +1,42 @@
+#ifndef __ABC_DQ_H__
+#define __ABC_DQ_H__
+
+
+
+typedef struct { _iq Ia; //phase A voltage, input
+ _iq Ib; //phase B voltage, input
+ _iq Ic; //phase C voltage, input
+ _iq Tetta; //phase angle, input
+ _iq Id; // axis d voltage, output
+ _iq Iq; // axis q voltage, output
+ void (*calc)(); // Pointer to calculation function
+ void (*calc_v2)(); // Pointer to calculation function
+ }ABC_TO_DQ;
+
+
+
+
+
+typedef ABC_TO_DQ *ABC_TO_DQ_handle;
+
+#define ABC_TO_DQ_DEFAULTS { 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ (void (*)(_iq))abc_to_dq_calc, \
+ (void (*)(_iq))abc_to_dq_calc_v2 }
+
+
+void abc_to_dq_calc(ABC_TO_DQ_handle);
+void abc_to_dq_calc_v2(ABC_TO_DQ_handle);
+
+
+
+
+
+
+
+
+#endif // end __ABC_DQ_H
diff --git a/Inu/Src2/VectorControl/alphabeta_to_abc.c b/Inu/Src2/VectorControl/alphabeta_to_abc.c
new file mode 100644
index 0000000..a161888
--- /dev/null
+++ b/Inu/Src2/VectorControl/alphabeta_to_abc.c
@@ -0,0 +1,24 @@
+#include "IQmathLib.h" // Include header for IQmath library
+#include "alphabeta_to_abc.h"
+
+
+
+
+/////////////////////////////////////////////////
+
+
+#pragma CODE_SECTION(alphabeta_to_abc_calc,".fast_run");
+void alphabeta_to_abc_calc(ALPHABETA_TO_ABC *v)
+{
+ static _iq iq_0_5 = _IQ(0.5); // = 1/2
+ static _iq iq_sqrt3_2 = _IQ(0.86602540378443864676372317075294); // =sqrt(3)/2
+
+ v->Ua = v->Ualpha;
+ v->Ub = -_IQmpy(iq_0_5,v->Ualpha) + _IQmpy(iq_sqrt3_2,v->Ubeta);
+ v->Uc = -_IQmpy(iq_0_5,v->Ualpha) - _IQmpy(iq_sqrt3_2,v->Ubeta);
+
+}
+
+
+
+/////////////////////////////////////////////////
diff --git a/Inu/Src2/VectorControl/alphabeta_to_abc.h b/Inu/Src2/VectorControl/alphabeta_to_abc.h
new file mode 100644
index 0000000..c5dca95
--- /dev/null
+++ b/Inu/Src2/VectorControl/alphabeta_to_abc.h
@@ -0,0 +1,38 @@
+#ifndef __ALPHABETA_ABC_H__
+#define __ALPHABETA_ABC_H__
+
+#include "IQmathLib.h"
+
+typedef struct { _iq Ualpha; // axis d voltage, output
+ _iq Ubeta; // axis q voltage, output
+ _iq Ua; //phase A voltage, input
+ _iq Ub; //phase B voltage, input
+ _iq Uc; //phase C voltage, input
+ void (*calc)(); // Pointer to calculation function
+ }ALPHABETA_TO_ABC;
+
+
+
+
+
+typedef ALPHABETA_TO_ABC *ALPHABETA_TO_ABC_handle;
+
+#define ALPHABETA_TO_ABC_DEFAULTS{ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ (void (*)(Uint32))alphabeta_to_abc_calc\
+ }
+
+
+void alphabeta_to_abc_calc(ALPHABETA_TO_ABC_handle);
+
+
+
+
+
+
+
+
+#endif // end __ALPHABETA_ABC_H__
diff --git a/Inu/Src2/VectorControl/alphabeta_to_dq.c b/Inu/Src2/VectorControl/alphabeta_to_dq.c
new file mode 100644
index 0000000..026a212
--- /dev/null
+++ b/Inu/Src2/VectorControl/alphabeta_to_dq.c
@@ -0,0 +1,22 @@
+#include "IQmathLib.h" // Include header for IQmath library
+#include "alphabeta_to_dq.h"
+
+
+
+
+
+
+
+
+/////////////////////////////////////////////////
+
+
+#pragma CODE_SECTION(alphabeta_to_dq_calc,".fast_run");
+void alphabeta_to_dq_calc(ALPHABETA_TO_DQ *v)
+{
+
+ v->Ud = _IQmpy(v->Ualpha, _IQcos(v->Tetta)) + _IQmpy(v->Ubeta, _IQsin(v->Tetta));
+ v->Uq = -_IQmpy(v->Ualpha, _IQsin(v->Tetta)) + _IQmpy(v->Ubeta, _IQcos(v->Tetta));
+
+}
+/////////////////////////////////////////////////
diff --git a/Inu/Src2/VectorControl/alphabeta_to_dq.h b/Inu/Src2/VectorControl/alphabeta_to_dq.h
new file mode 100644
index 0000000..cd7ac27
--- /dev/null
+++ b/Inu/Src2/VectorControl/alphabeta_to_dq.h
@@ -0,0 +1,32 @@
+#ifndef __ALPHABETA_DQ_H__
+#define __ALPHABETA_DQ_H__
+
+#include "IQmathLib.h"
+
+typedef struct { _iq Ualpha; //phase A voltage, input
+ _iq Ubeta; //phase B voltage, input
+ _iq Tetta; //phase angle, input
+ _iq Ud; // axis d voltage, output
+ _iq Uq; // axis q voltage, output
+ void (*calc)(); // Pointer to calculation function
+ }ALPHABETA_TO_DQ;
+
+
+
+
+
+typedef ALPHABETA_TO_DQ *ALPHABETA_TO_DQ_handle;
+
+#define ALPHABETA_TO_DQ_DEFAULTS { 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ (void (*)(Uint32))alphabeta_to_dq_calc \
+ }
+
+
+void alphabeta_to_dq_calc(ALPHABETA_TO_DQ_handle);
+
+
+#endif // end __ALPHABETA_DQ_H
diff --git a/Inu/Src2/VectorControl/dq_to_alphabeta_cos.c b/Inu/Src2/VectorControl/dq_to_alphabeta_cos.c
new file mode 100644
index 0000000..e0dd2f8
--- /dev/null
+++ b/Inu/Src2/VectorControl/dq_to_alphabeta_cos.c
@@ -0,0 +1,39 @@
+#include "dq_to_alphabeta_cos.h"
+
+#include "IQmathLib.h" // Include header for IQmath library
+
+
+
+
+
+/////////////////////////////////////////////////
+
+
+#pragma CODE_SECTION(dq_to_alphabeta_calc,".fast_run2");
+void dq_to_alphabeta_calc(DQ_TO_ALPHABETA_handle v)
+{
+
+ v->Ualpha = _IQmpy(v->Ud, _IQcos(v->Tetta)) + _IQmpy(v->Uq, _IQsin(v->Tetta));
+ v->Ubeta = -_IQmpy(v->Ud, _IQsin(v->Tetta)) + _IQmpy(v->Uq, _IQcos(v->Tetta));
+
+}
+
+
+#pragma CODE_SECTION(dq_to_alphabeta_calc2,".fast_run2");
+void dq_to_alphabeta_calc2(DQ_TO_ALPHABETA_handle v)
+{
+
+ v->Ualpha = _IQmpy(v->Ud, _IQsin(v->Tetta)) + _IQmpy(v->Uq, _IQcos(v->Tetta));
+ v->Ubeta = -_IQmpy(v->Ud, _IQcos(v->Tetta)) + _IQmpy(v->Uq, _IQsin(v->Tetta));
+
+}
+
+#pragma CODE_SECTION(dq_to_alphabeta_calc_cos,".fast_run2");
+void dq_to_alphabeta_calc_cos(DQ_TO_ALPHABETA_handle v)
+{
+
+ v->Ualpha = _IQmpy(v->Ud, _IQcos(v->Tetta)) - _IQmpy(v->Uq, _IQsin(v->Tetta));
+ v->Ubeta = _IQmpy(v->Ud, _IQsin(v->Tetta)) + _IQmpy(v->Uq, _IQcos(v->Tetta));
+
+}
+/////////////////////////////////////////////////
diff --git a/Inu/Src2/VectorControl/dq_to_alphabeta_cos.h b/Inu/Src2/VectorControl/dq_to_alphabeta_cos.h
new file mode 100644
index 0000000..b261ced
--- /dev/null
+++ b/Inu/Src2/VectorControl/dq_to_alphabeta_cos.h
@@ -0,0 +1,40 @@
+
+
+
+#ifndef __DQ_ALPHABETA_H__
+#define __DQ_ALPHABETA_H__
+
+#include "IQmathLib.h"
+
+typedef struct { _iq Ualpha; //phase A voltage, input
+ _iq Ubeta; //phase B voltage, input
+ _iq Tetta; //phase angle, input
+ _iq Ud; // axis d voltage, output
+ _iq Uq; // axis q voltage, output
+ void (*calc)(); // Pointer to calculation function
+ void (*calc2)(); // Pointer to calculation function. Like in MATLAB
+ void (*calc_cos)(); // Pointer to calculation function, Ualpha = Uq*Cos(Tetta)
+ }DQ_TO_ALPHABETA;
+
+
+
+
+
+typedef DQ_TO_ALPHABETA *DQ_TO_ALPHABETA_handle;
+
+#define DQ_TO_ALPHABETA_DEFAULTS { 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ (void (*)(Uint32))dq_to_alphabeta_calc, \
+ (void (*)(Uint32))dq_to_alphabeta_calc2, \
+ (void (*)(Uint32))dq_to_alphabeta_calc_cos \
+ }
+
+
+void dq_to_alphabeta_calc(DQ_TO_ALPHABETA_handle);
+void dq_to_alphabeta_calc2(DQ_TO_ALPHABETA_handle);
+void dq_to_alphabeta_calc_cos(DQ_TO_ALPHABETA_handle);
+
+#endif // end __DQ_ALPHABETA_H__
diff --git a/Inu/Src2/VectorControl/efficiency_compensation.c b/Inu/Src2/VectorControl/efficiency_compensation.c
new file mode 100644
index 0000000..16ab749
--- /dev/null
+++ b/Inu/Src2/VectorControl/efficiency_compensation.c
@@ -0,0 +1,107 @@
+#include "IQmathLib.h"
+#include "efficiency_compensation.h"
+
+
+static int DetectCommandRegion(_iq *power);
+
+/***********************************************************/
+/**
+*
+*Increases the power demand depending on the machine efficiency
+*
+*@param p_zad - pointer to demanded power
+*@param i_q - pointer to value of active current
+*
+*@return return value throw the pointer
+*
+*************************************************************/
+void EfficiencyCompensation(_iq *p_zad, _iq *i_q)
+{
+ static _iq efficiency_nominal = 16139681L; //96.2%
+ static _iq i_q_nom_levels[] = {3635063L, 4395630L, 4977240L, 5536481L, 6011835L, 6487190L,
+ 6934582L, 7381975L, 7751073L, 8220835L};
+
+ /**
+ * Coefficients of a square trinomial calculating the correction
+ */
+ static _iq a0[10] = {17585441L, 17401328L, 17206712L, 17060750L, 17074172L, 16904722L,
+ 17129537L, 17698285L, 17188257L, 17740228L};
+ static _iq a1[10] = {-2030043L, -1358954L, -905969L, -587202L, -553648L, -318767L,
+ -536870L, -1224736L, -570425L, -1224736L};
+ static _iq a2[10] = {-385875L, -385875L, -385875L, -402653L, -335544L,
+ -348966L, -234881L, 0L, -167772L, 50331L};
+ _iq efficiency, p_local;
+ _iq i_q_abs;
+ int region = 0;
+ region = DetectCommandRegion(p_zad);
+ efficiency = efficiency_nominal;
+ i_q_abs = _IQabs(*i_q);
+ p_local = *p_zad;
+
+ if (i_q_abs <= i_q_nom_levels[region]) {
+ *p_zad = _IQdiv(*p_zad, efficiency_nominal);
+ return;
+ }
+ /**
+ * This is because of all electric values are normalized by 3000,
+ * but in a model in this place the current is normalized by 1000.
+ */
+ i_q_abs = i_q_abs * 3;
+ efficiency = _IQmpy(i_q_abs, i_q_abs);
+ efficiency = a0[region] + _IQmpy(a1[region], i_q_abs) + _IQmpy(a2[region], efficiency);
+ p_local = _IQdiv(p_local, efficiency);
+ *p_zad = p_local;
+}
+
+
+
+#define BOUND_1p5_MWT 2796202L
+#define BOUND_2p5_MWT 4660337L
+#define BOUND_3p5_MWT 6524472L
+#define BOUND_4p5_MWT 8388608L
+#define BOUND_6p5_MWT 12116878L
+#define BOUND_7p5_MWT 13981013L
+#define BOUND_8p5_MWT 15845148L
+#define BOUND_5p5_MWT 10252743L
+#define BOUND_9p5_MWT 17709283L
+
+/**************************************************************/
+/**
+ * Detects command mode:
+ * 0 corresponds to 1 MWt
+ * 1 - 2 MWt
+ * ...
+ * 9 - 10 MWt
+ *
+ * @param power - pointer to demanded power in watts
+ *
+ * @return corresponding mode
+ */
+int DetectCommandRegion(_iq *power)
+{
+ int region = 0;
+ if (*power < BOUND_1p5_MWT)
+ {
+ region = 0;
+ } else if (*power < BOUND_2p5_MWT) {
+ region = 1;
+ } else if (*power < BOUND_3p5_MWT) {
+ region = 2;
+ } else if (*power < BOUND_4p5_MWT) {
+ region = 3;
+ } else if (*power < BOUND_5p5_MWT) {
+ region = 4;
+ } else if (*power < BOUND_6p5_MWT) {
+ region = 5;
+ } else if (*power < BOUND_7p5_MWT) {
+ region = 6;
+ } else if (*power < BOUND_8p5_MWT) {
+ region = 7;
+ } else if (*power < BOUND_9p5_MWT) {
+ region = 8;
+ } else {
+ region = 9;
+ }
+
+ return region;
+}
diff --git a/Inu/Src2/VectorControl/efficiency_compensation.h b/Inu/Src2/VectorControl/efficiency_compensation.h
new file mode 100644
index 0000000..f1d744b
--- /dev/null
+++ b/Inu/Src2/VectorControl/efficiency_compensation.h
@@ -0,0 +1,13 @@
+/*
+ * efficiency_compensation.h
+ *
+ * Created on: 26 ����. 2018 �.
+ * Author: stud
+ */
+
+#ifndef SRC_VECTORCONTROL_EFFICIENCY_COMPENSATION_H_
+#define SRC_VECTORCONTROL_EFFICIENCY_COMPENSATION_H_
+
+void EfficiencyCompensation(_iq *p_zad, _iq *i_q);
+
+#endif /* SRC_VECTORCONTROL_EFFICIENCY_COMPENSATION_H_ */
diff --git a/Inu/Src2/VectorControl/params_motor.h b/Inu/Src2/VectorControl/params_motor.h
new file mode 100644
index 0000000..5f050ca
--- /dev/null
+++ b/Inu/Src2/VectorControl/params_motor.h
@@ -0,0 +1,23 @@
+/*
+ * params_motor.h
+ *
+ * Created on: 14 ����. 2020 �.
+ * Author: yura
+ */
+
+#ifndef SRC_MAIN_PARAMS_MOTOR_H_
+#define SRC_MAIN_PARAMS_MOTOR_H_
+
+
+#define L_SIGMA_S 0.000964
+#define L_SIGMA_R 0.001134
+#define L_M 0.03889
+#define R_STATOR 0.0118
+#define R_ROTOR_SHTRIH 0.0111
+#define SLIP_NOM 0.0106
+#define R_ROTOR (R_ROTOR_SHTRIH / SLIP_NOM)
+#define F_STATOR_NOM 12.0
+
+
+
+#endif /* SRC_MAIN_PARAMS_MOTOR_H_ */
diff --git a/Inu/Src2/VectorControl/pwm_vector_regul.c b/Inu/Src2/VectorControl/pwm_vector_regul.c
new file mode 100644
index 0000000..3a45fc4
--- /dev/null
+++ b/Inu/Src2/VectorControl/pwm_vector_regul.c
@@ -0,0 +1,666 @@
+#include "IQmathLib.h"
+#include "math.h"
+#include "my_filter.h"
+#include "params.h"
+#include "adc_tools.h"
+#include "abc_to_dq.h"
+#include "regul_power.h"
+#include "regul_turns.h"
+#include "teta_calc.h"
+#include "pwm_vector_regul.h"
+#include "pid_reg3.h"
+#include "vector.h"
+#include "params_motor.h"
+#include "v_pwm24.h"
+//#include "power_distribution.h"
+#include "rotation_speed.h"
+//#include "calc_3_power.h"
+
+// #pragma DATA_SECTION(pidD,".fast_vars1");
+// PIDREG3 pidD = PIDREG3_UNDEPENDENT_DEFAULTS;
+PIDREG3 pidD = PIDREG3_DEFAULTS;
+// #pragma DATA_SECTION(pidQ,".fast_vars1");
+// PIDREG3 pidQ = PIDREG3_UNDEPENDENT_DEFAULTS;
+PIDREG3 pidQ = PIDREG3_DEFAULTS;
+
+// #pragma DATA_SECTION(pidD2,".fast_vars1");
+// PIDREG3 pidD2 = PIDREG3_UNDEPENDENT_DEFAULTS;
+PIDREG3 pidD2 = PIDREG3_DEFAULTS;
+// #pragma DATA_SECTION(pidQ2,".fast_vars1");
+// PIDREG3 pidQ2 = PIDREG3_UNDEPENDENT_DEFAULTS;
+PIDREG3 pidQ2 = PIDREG3_DEFAULTS;
+
+// #pragma DATA_SECTION(cos_fi,".fast_vars1");
+COS_FI_STRUCT cos_fi = {0,0};
+
+// #pragma DATA_SECTION(vect_control,".fast_vars1");
+VECTOR_CONTROL vect_control = VECTOR_CONTROL_DEFAULTS;
+
+// #pragma DATA_SECTION(koeff_Fs_filter,".fast_vars");
+long koeff_Fs_filter = _IQ(0.01);
+
+// _iq winding_displacement = FIXED_PIna6;
+
+WINDING a;
+FLAG f;
+
+
+ROTOR_VALUE rotor = ROTOR_VALUE_DEFAULTS;
+
+#define IQ_ONE 16777216
+
+#define CONST_IQ_2PI 105414357
+#define CONST_IQ_2PI3 35138119 // 120 grad
+#define CONST_IQ_PI2 26340229
+
+#define K_MODUL_MIN 167772 //83886 //0.5% - ����������� ��-�� ��������������
+#define K_MODUL_MAX 15435038LL //13421772LL //80% 16106127LL ~ 96% //15435038LL ~ 0.92%
+ //15770583LL ~ 0.94%
+#define K_MODUL_MAX_PART 15099494LL // 15099494LL ~ 0.9
+
+#define I_ZERO_LEVEL_IQ 111848 //20A //279620 ~ 50A //55924 ~ 10A
+#define K_MODUL_DEAD_TIME 503316 //3%
+
+//#define I_ZERO_LEVEL_IQ 27962 //5A //55924 ~ 10A
+
+#define Id_MIN 1118481 //200A //111848 ~ 20A //55924 ~ 10A
+
+// #pragma DATA_SECTION(zadan_Id_min,".fast_vars");
+_iq zadan_Id_min = Id_MIN;
+
+#define START_TETTA_IQ 4392264 //15 grad
+
+void analog_dq_calc(void);
+void analog_Udq_calc(_iq Ud1, _iq Uq1, _iq Ud2, _iq Uq2);
+void calcUdUqCompensation(_iq Frot);
+
+float kI_D = 0.2;
+float kI_Q = 0.2;
+float kP_D = 0.1;//.1;
+float kP_Q = 0.3;//.3;
+
+// float kI_D_rev = 0.02;
+// float kI_Q_rev = 0.03;
+// float kP_D_rev = 0.1;//.3;
+// float kP_Q_rev = 0.15;//.3;
+
+void init_DQ_pid()
+{
+ unsigned int i = 0;
+ int *pStr = (int*)&f;
+ for (i = 0; i < sizeof(f) / sizeof(int); i++) {
+ *(pStr + i) = 0;
+ }
+
+ *pStr = (int*)&a;
+ for (i = 0; i < sizeof(a) / sizeof(int); i++) {
+ *(pStr + i) = 0;
+ }
+
+ pidD.Ref = 0;
+ pidD.Kp = _IQ(kP_D);//_IQ(0.2); //_IQ(0.1);
+ pidD.Ki = _IQ(kI_D); //_IQ(0.2);// //
+ pidD.Kc = _IQ(0.3);
+ pidD.Kd = 0;
+ pidD.OutMax = K_MODUL_MAX_PART;
+ pidD.OutMin = -K_MODUL_MAX_PART; //0;
+ pidD.Up = 0;
+ pidD.Ui = 0;
+ pidD.Ud = 0;
+ pidD.Out = 0;
+
+ pidQ.Ref = 0;
+ pidQ.Kp = _IQ(kP_Q);//_IQ(0.3);//_IQ(0.3);
+ pidQ.Ki = _IQ(kI_Q); //_IQ(0.2); //
+ pidQ.Kc = _IQ(0.3);
+ pidQ.Kd = 0;
+ pidQ.OutMax = K_MODUL_MAX_PART; //_IQ(0.9);
+ pidQ.OutMin = -K_MODUL_MAX_PART; //-_IQ(0.9); //0;
+ pidQ.Up = 0;
+ pidQ.Ui = 0;
+ pidQ.Ud = 0;
+ pidQ.Out = 0;
+
+ pidD2.Ref = 0;
+ pidD2.Kp = _IQ(kP_D);//_IQ(0.1); //_IQ(0.1);
+ pidD2.Ki = _IQ(kI_D); //_IQ(0.2);// //
+ pidD2.Kc = _IQ(0.3);
+ pidD2.Kd = 0;
+ pidD2.OutMax = K_MODUL_MAX_PART;
+ pidD2.OutMin = -K_MODUL_MAX_PART; //0;
+ pidD2.Up = 0;
+ pidD2.Ui = 0;
+ pidD2.Ud = 0;
+ pidD2.Out = 0;
+
+ pidQ2.Ref = 0;
+ pidQ2.Kp = _IQ(kP_Q);// _IQ(0.3);//_IQ(0.3);
+ pidQ2.Ki = _IQ(kI_Q); //_IQ(0.2); //
+ pidQ2.Kc = _IQ(0.3);
+ pidQ2.Kd = 0;
+ pidQ2.OutMax = K_MODUL_MAX_PART; //_IQ(0.9);
+ pidQ2.OutMin = -K_MODUL_MAX_PART; //-_IQ(0.9); //0;
+ pidQ2.Up = 0;
+ pidQ2.Ui = 0;
+ pidQ2.Ud = 0;
+ pidQ2.Out = 0;
+
+ init_tetta_pid();
+ init_Fvect_pid();
+ init_Pvect_pid();
+ init_tetta_calc_struct();
+
+ init_Adc_Variables();
+
+ cos_fi.cos_fi_nom = _IQ(0.87);
+ cos_fi.cos_fi_nom_squared = _IQ(0.87 * 0.87);
+ // cos_fi.cos_fi_nom = _IQ(COS_FI);
+ // cos_fi.cos_fi_nom_squared = _IQ(COS_FI * COS_FI);
+
+ vect_control.koef_Ud_comp = _IQ((L_SIGMA_S + L_M * L_SIGMA_R / (L_M + L_SIGMA_R)) * 2 * 3.14 * NORMA_FROTOR); //Lsigm_s + Lm*Lsigm_r / (Lm + Lsigm_r)
+ vect_control.koef_Uq_comp = _IQ((L_M + L_SIGMA_S) * 2 * 3.14 * NORMA_FROTOR);
+ vect_control.k_modul_max = K_MODUL_MAX;
+ vect_control.k_modul_max_square = _IQmpy(K_MODUL_MAX, K_MODUL_MAX);
+ vect_control.iq_Id_out_max = _IQ(ID_OUT_SAT_POWER_LOW_SPEED / NORMA_ACP);
+
+ vect_control.koeff_correct_Id = IQ_ONE;
+
+ vect_control.equial_Iq_Proportional = _IQ(0.05);
+ vect_control.flag_reverse = 0;
+}
+
+void reset_DQ_pid()
+{
+ pidD.Up = 0;
+ pidD.Up1 = 0;
+ pidD.Ui = 0;
+ pidD.Ud = 0;
+ pidD.Out = 0;
+ pidQ.Up = 0;
+ pidQ.Up1 = 0;
+ pidQ.Ui = 0;
+ pidQ.Ud = 0;
+ pidQ.Out = 0;
+
+ pidD2.Up = 0;
+ pidD2.Up1 = 0;
+ pidD2.Ui = 0;
+ pidD2.Ud = 0;
+ pidD2.Out = 0;
+ pidQ2.Up = 0;
+ pidQ2.Up1 = 0;
+ pidQ2.Ui = 0;
+ pidQ2.Ud = 0;
+ pidQ2.Out = 0;
+}
+
+// #pragma CODE_SECTION(Idq_to_Udq,".fast_run2");
+void Idq_to_Udq(_iq Id_zad, _iq Iq_zad, _iq Id_measured, _iq Iq_measured, _iq* Ud_zad, _iq* Uq_zad)
+{
+ pidD.Ref = Id_zad;
+ pidD.Fdb = Id_measured;
+ pidD.calc(&pidD);
+ *Ud_zad = pidD.Out;
+
+ pidQ.Ref = Iq_zad;
+ pidQ.Fdb = Iq_measured;
+ pidQ.calc(&pidQ);
+ *Uq_zad = pidQ.Out;
+
+}
+
+// inline void set_pid_coeffs() {
+// if (vect_control.flag_reverse == 0) {
+// pidD.Kp = _IQ(kP_D);//_IQ(0.2); //_IQ(0.1);
+// pidD.Ki = _IQ(kI_D); //_IQ(0.2);// //
+// pidQ.Kp = _IQ(kP_Q);//_IQ(0.3);//_IQ(0.3);
+// pidQ.Ki = _IQ(kI_Q); //_IQ(0.2); //
+// pidD2.Kp = _IQ(kP_D);//_IQ(0.1); //_IQ(0.1);
+// pidD2.Ki = _IQ(kI_D); //_IQ(0.2);// //
+// pidQ2.Kp = _IQ(kP_Q);// _IQ(0.3);//_IQ(0.3);
+// pidQ2.Ki = _IQ(kI_Q); //_IQ(0.2); //
+// } else {
+// pidD.Kp = _IQ(kP_D_rev);//_IQ(0.2); //_IQ(0.1);
+// pidD.Ki = _IQ(kI_D_rev); //_IQ(0.2);// //
+// pidQ.Kp = _IQ(kP_Q_rev);//_IQ(0.3);//_IQ(0.3);
+// pidQ.Ki = _IQ(kI_Q_rev); //_IQ(0.2); //
+// pidD2.Kp = _IQ(kP_D_rev);//_IQ(0.1); //_IQ(0.1);
+// pidD2.Ki = _IQ(kI_D_rev); //_IQ(0.2);// //
+// pidQ2.Kp = _IQ(kP_Q_rev);// _IQ(0.3);//_IQ(0.3);
+// pidQ2.Ki = _IQ(kI_Q_rev); //_IQ(0.2); //
+// }
+// }
+
+void Idq_to_Udq_2_windings(_iq Id_zad, _iq Iq_zad, _iq Id_measured1, _iq Iq_measured1, _iq* Ud_zad1, _iq* Uq_zad1
+ , _iq Id_measured2, _iq Iq_measured2, _iq* Ud_zad2, _iq* Uq_zad2)
+{
+ pidD.Ref = Id_zad;
+ pidD.Fdb = Id_measured1;
+ pidD.calc(&pidD);
+ *Ud_zad1 = pidD.Out;
+
+ pidQ.Ref = Iq_zad;
+ pidQ.Fdb = Iq_measured1;
+ pidQ.calc(&pidQ);
+ *Uq_zad1 = pidQ.Out;
+
+ pidD2.Ref = Id_zad;
+ pidD2.Fdb = Id_measured2;
+ pidD2.calc(&pidD2);
+ *Ud_zad2 = pidD2.Out;
+
+ pidQ2.Ref = Iq_zad;
+ pidQ2.Fdb = Iq_measured2;
+ pidQ2.calc(&pidQ2);
+ *Uq_zad2 = pidQ2.Out;
+}
+
+// #pragma CODE_SECTION(pwm_vector_model_titov,".fast_run");
+void pwm_vector_model_titov(_iq Pzad, _iq Fzad, int direction, _iq Frot, int mode,
+ int reset, int calcPWMtimes)
+{
+ int calc_channel = 1;
+ _iq U_zad1 = 0, U_zad2 = 0;
+
+
+ // if (f.flag_leading == 0 && f.read_task_from_optical_bus == 1 && f.sync_rotor_from_optical_bus == 1) {
+ // Frot = rotor.iqFrotFromOptica;
+ // }
+
+ //��������� Id ��� ���������� ����������� ��������
+ if (_IQabs(Frot) > IQ_F_ROTOR_NOM) {
+ vect_control.koeff_correct_Id = _IQdiv(IQ_F_ROTOR_NOM, _IQabs(Frot));
+ } else {
+ vect_control.koeff_correct_Id = IQ_ONE;
+ }
+
+
+ if(direction < 0) { Frot = -Frot; }
+// prev_dir = direction;
+ if(reset == 1) //����� ���������� �������-���� �����-����
+ {
+ reset_DQ_pid();
+ reset_tetta_pid();
+ analog.iqIq1_filter = 0;
+ analog.iqIq2_filter = 0;
+ analog.iqUq2_filter = 0;
+ U_zad1 = K_MODUL_MIN;
+ U_zad2 = K_MODUL_MIN;
+ vect_control.iq_Id_out_max = Id_out_max_low_speed;
+ vect_control.flag_reverse = 0;
+ }
+
+ set_cos_tetta_calc_params();
+ analog_dq_calc();
+
+
+ vector_turns(Fzad, Frot, analog.iqIq1, mode, &vect_control.iqIq_zad, &vect_control.iqId_zad);
+ vector_power(Pzad, analog.iqPvsi1 + analog.iqPvsi2, analog.iqIq1, mode, Frot, &vect_control.iqIq_zad, &vect_control.iqId_zad);
+
+ vect_control.iqPzad = pidPvect.Ref;
+ vect_control.iqPizm = pidPvect.Fdb;
+ vect_control.iqFrot = Frot;
+
+ // ������� ������������ �������� Id
+ if (vect_control.iqId_zad < Id_MIN) { vect_control.iqId_zad = zadan_Id_min; }
+
+ //��������� Id ��� ���������� ����������� ��������
+ // if (_IQabs(Frot) > IQ_F_ROTOR_NOM) {
+ // vect_control.iqId_zad = _IQmpy(vect_control.iqId_zad, vect_control.koeff_correct_Id);
+ // }
+
+
+// Frot =_IQ(15.0 / 6 / NORMA_FROTOR);
+// vect_control.iqIq_zad = _IQ(IQ_OUT_NOM / NORMA_ACP);
+// vect_control.iqId_zad = 0;// _IQ(789.0 / NORMA_ACP);
+
+ // set_pid_coeffs();
+ Idq_to_Udq_2_windings(vect_control.iqId_zad, vect_control.iqIq_zad, analog.iqId1, analog.iqIq1, &vect_control.iqUdKm1, &vect_control.iqUqKm1,
+ analog.iqId2, analog.iqIq2, &vect_control.iqUdKm2, &vect_control.iqUqKm2);
+
+
+ calc_tetta_Id(Frot, vect_control.iqId_zad, vect_control.iqIq_zad, &analog.tetta, &analog.Fsl, &analog.iqFstator, reset);
+ filter.Fsl = exp_regul_iq(koeff_Fs_filter, filter.Fsl, analog.Fsl);
+
+ // analog.tetta = _IQ(vect_control.theta);
+ analog.iqIq_zadan = vect_control.iqIq_zad;
+
+ // calcUdUqCompensation(Frot); //TODO: test on power after testing rotating
+ vect_control.iqUdKm1Out = vect_control.iqUdKm1;
+ vect_control.iqUqKm1Out = vect_control.iqUqKm1;
+ vect_control.iqUdKm2Out = vect_control.iqUdKm2;
+ vect_control.iqUqKm2Out = vect_control.iqUqKm2;
+
+ if(vect_control.iqUdKm1Out > K_MODUL_MAX_PART) { vect_control.iqUdKm1Out = K_MODUL_MAX_PART;}
+ if(vect_control.iqUdKm1Out < -K_MODUL_MAX_PART) { vect_control.iqUdKm1Out = -K_MODUL_MAX_PART;}
+ if(vect_control.iqUqKm1Out > K_MODUL_MAX_PART) { vect_control.iqUqKm1Out = K_MODUL_MAX_PART;}
+ if(vect_control.iqUqKm1Out < -K_MODUL_MAX_PART) { vect_control.iqUqKm1Out = -K_MODUL_MAX_PART;}
+
+ if(vect_control.iqUdKm2Out > K_MODUL_MAX_PART) { vect_control.iqUdKm2Out = K_MODUL_MAX_PART;}
+ if(vect_control.iqUdKm2Out < -K_MODUL_MAX_PART) { vect_control.iqUdKm2Out = -K_MODUL_MAX_PART;}
+ if(vect_control.iqUqKm2Out > K_MODUL_MAX_PART) { vect_control.iqUqKm2Out = K_MODUL_MAX_PART;}
+ if(vect_control.iqUqKm2Out < -K_MODUL_MAX_PART) { vect_control.iqUqKm2Out = -K_MODUL_MAX_PART;}
+
+ U_zad1 = _IQsqrt(_IQmpy(vect_control.iqUdKm1Out, vect_control.iqUdKm1Out) + _IQmpy(vect_control.iqUqKm1Out, vect_control.iqUqKm1Out));
+ U_zad2 = _IQsqrt(_IQmpy(vect_control.iqUdKm2Out, vect_control.iqUdKm2Out) + _IQmpy(vect_control.iqUqKm2Out, vect_control.iqUqKm2Out));
+ vect_control.iqUzad1 = U_zad1;
+ vect_control.iqUzad2 = U_zad2;
+
+ if (U_zad1 > vect_control.k_modul_max) {
+ if (vect_control.iqUqKm1Out > 0) {
+ vect_control.iqUqKm1Out = _IQsqrt(vect_control.k_modul_max_square - _IQmpy(vect_control.iqUdKm1Out, vect_control.iqUdKm1Out));
+ } else {
+ vect_control.iqUqKm1Out = -_IQsqrt(vect_control.k_modul_max_square - _IQmpy(vect_control.iqUdKm1Out, vect_control.iqUdKm1Out));
+ }
+ }
+ if (U_zad2 > vect_control.k_modul_max) {
+ if (vect_control.iqUqKm2Out > 0) {
+ vect_control.iqUqKm2Out = _IQsqrt(vect_control.k_modul_max_square - _IQmpy(vect_control.iqUdKm2Out, vect_control.iqUdKm2Out));
+ } else {
+ vect_control.iqUqKm2Out = -_IQsqrt(vect_control.k_modul_max_square - _IQmpy(vect_control.iqUdKm2Out, vect_control.iqUdKm2Out));
+ }
+ }
+
+ // ����������� ��������� Iq ����� ����� ���������
+ // vect_control.equial_Iq_Delta = analog.iqIq1 - analog.iqIq2;
+ // vect_control.equial_Iq_Out = _IQmpy(vect_control.equial_Iq_Delta,
+ // vect_control.equial_Iq_Proportional);
+ // vect_control.iqUqKm1Out -= vect_control.equial_Iq_Out;
+ // vect_control.iqUqKm2Out += vect_control.equial_Iq_Out;
+
+ // if (U_zad1 < K_MODUL_DEAD_TIME) {
+ // vect_control.iqUdKm1 = 0;
+ // vect_control.iqUqKm1 = 0;
+ // }
+ // if (U_zad2 < K_MODUL_DEAD_TIME) {
+ // vect_control.iqUdKm2 = 0;
+ // vect_control.iqUqKm2 = 0;
+ // }
+
+ vect_control.iqUzad1 = _IQsqrt(_IQmpy(vect_control.iqUdKm1Out, vect_control.iqUdKm1Out) + _IQmpy(vect_control.iqUqKm1Out, vect_control.iqUqKm1Out));
+ vect_control.iqUzad2 = _IQsqrt(_IQmpy(vect_control.iqUdKm2Out, vect_control.iqUdKm2Out) + _IQmpy(vect_control.iqUqKm2Out, vect_control.iqUqKm2Out));
+
+ analog_Udq_calc(vect_control.iqUdKm1, vect_control.iqUqKm1, vect_control.iqUdKm2, vect_control.iqUqKm2);
+
+
+ if(mode == 0) // �����-�� ��� ������ ����� ��� ���������
+ {
+ U_zad1 = K_MODUL_MIN;
+ U_zad2 = K_MODUL_MIN;
+ vect_control.iqUdKm1Out = 0;
+ vect_control.iqUqKm1Out = 0;
+ vect_control.iqUdKm2Out = 0;
+ vect_control.iqUqKm2Out = 0;
+// teta_st = analog.tetta;
+ }
+
+ a.iqk1 = vect_control.iqUzad1;
+// analog.iqUdKm = Ud_zad;
+// analog.iqUqKm = Uq_zad;
+// analog.iqId_zad = vect_control.iqId_zad;
+
+
+ if(mode && f.Go && calcPWMtimes)
+ {
+ test_calc_dq_pwm24(vect_control.iqUdKm1Out, vect_control.iqUqKm1Out, vect_control.iqUdKm2Out, vect_control.iqUqKm2Out, analog.tetta,K_MODUL_MAX);
+ }
+
+
+}
+
+
+
+// #pragma DATA_SECTION(koeff_Iq_filter_slow,".fast_vars");
+long koeff_Iq_filter_slow = _IQ(0.5); //_IQ(0.3);
+// #pragma DATA_SECTION(koeff_Idq_filter,".fast_vars");
+long koeff_Idq_filter = _IQ(0.15);
+// #pragma DATA_SECTION(koeff_Uq_filter,".fast_vars");
+long koeff_Uq_filter = 500;
+// #pragma DATA_SECTION(koeff_Ud_filter,".fast_vars");
+long koeff_Ud_filter = _IQ(0.5);
+
+
+// #pragma CODE_SECTION(analog_dq_calc,".fast_run");
+void analog_dq_calc()
+{
+ ABC_TO_DQ abc_dq_converter = ABC_TO_DQ_DEFAULTS;
+
+ abc_dq_converter.Ia = analog.iqIa1_1;
+ abc_dq_converter.Ib = analog.iqIb1_1;
+ abc_dq_converter.Ic = analog.iqIc1_1;
+ abc_dq_converter.Tetta = analog.tetta;
+ abc_dq_converter.calc(&abc_dq_converter);
+ analog.iqId1 = abc_dq_converter.Id;
+ filter.iqId1 = exp_regul_iq(koeff_Idq_filter, filter.iqId1, analog.iqId1);
+ analog.iqIq1 = abc_dq_converter.Iq;
+ filter.iqIq1 = exp_regul_iq(koeff_Idq_filter, filter.iqIq1, analog.iqIq1);
+// analog.iqIq1_filter = zad_intensiv_q(koeff_Iq_filter_slow, koeff_Iq_filter_slow,
+// analog.iqIq1_filter, analog.iqIq1);
+ analog.iqIq1_filter = exp_regul_iq(koeff_Iq_filter_slow, analog.iqIq1_filter, analog.iqIq1);
+
+ abc_dq_converter.Ia = analog.iqIa2_1;
+ abc_dq_converter.Ib = analog.iqIb2_1;
+ abc_dq_converter.Ic = analog.iqIc2_1;
+ abc_dq_converter.Tetta = analog.tetta - winding_displacement;
+ abc_dq_converter.calc(&abc_dq_converter);
+ analog.iqId2 = abc_dq_converter.Id;
+ filter.iqId2 = exp_regul_iq(koeff_Idq_filter, filter.iqId2, analog.iqId2);
+ analog.iqIq2 = abc_dq_converter.Iq;
+ filter.iqIq2 = exp_regul_iq(koeff_Idq_filter, filter.iqIq2, analog.iqIq2);
+// analog.iqIq2_filter = zad_intensiv_q(koeff_Iq_filter_slow, koeff_Iq_filter_slow,
+// analog.iqIq2_filter, analog.iqIq2);
+ analog.iqIq2_filter = exp_regul_iq(koeff_Iq_filter_slow, analog.iqIq2_filter, analog.iqIq2);
+
+ if (_IQabs(analog.iqId1) < I_ZERO_LEVEL_IQ) { analog.iqId1 = 0; }
+ if (_IQabs(analog.iqIq1) < I_ZERO_LEVEL_IQ) { analog.iqIq1 = 0; }
+ if (_IQabs(analog.iqId2) < I_ZERO_LEVEL_IQ) { analog.iqId2 = 0; }
+ if (_IQabs(analog.iqIq2) < I_ZERO_LEVEL_IQ) { analog.iqIq2 = 0; }
+
+// analog.iqPvsi1 = _IQmpy(_IQmpy(analog.iqIq1_filter, analog.iqUq1), 25165824L);
+// analog.iqPvsi2 = _IQmpy(_IQmpy(analog.iqIq2_filter, analog.iqUq2), 25165824L);
+
+ analog.iqPvsi1 = _IQmpy(_IQmpy(analog.iqIq1_filter, _IQabs(analog.iqUq1)), 25165824L);
+ analog.iqPvsi2 = _IQmpy(_IQmpy(analog.iqIq2_filter, _IQabs(analog.iqUq2)), 25165824L);
+
+// analog.iqM_1 = _IQdiv(analog.iqPvsi1, _IQmpy(rotor.iqW, CONST_IQ_2PI));
+// analog.iqM_2 = _IQdiv(analog.iqPvsi2, _IQmpy(rotor.iqW, CONST_IQ_2PI));
+// logpar.log11 = (int16)_IQtoIQ15(analog.iqIq1_filter);
+}
+
+// #pragma CODE_SECTION(analog_Udq_calc,".fast_run");
+void analog_Udq_calc(_iq Ud1, _iq Uq1, _iq Ud2, _iq Uq2)
+{
+ analog.iqUd1 = _IQmpy(Ud1, _IQmpy((filter.iqU_1_long + filter.iqU_2_long), 8388608L)); // 8388608 = _IQ(0.5)
+ analog.iqUq1 = _IQmpy(Uq1, _IQmpy((filter.iqU_1_long + filter.iqU_2_long), 8388608L));
+ analog.iqUd2 = _IQmpy(Ud2, _IQmpy((filter.iqU_3_long + filter.iqU_4_long), 8388608L));
+ analog.iqUq2 = _IQmpy(Uq2, _IQmpy((filter.iqU_3_long + filter.iqU_4_long), 8388608L));
+
+ filter.iqUd1 = exp_regul_iq(koeff_Ud_filter, filter.iqUd1, analog.iqUd1);
+
+}
+
+
+//#pragma CODE_SECTION(analog_dq_calc_const,".fast_run");
+void analog_dq_calc_const()
+{
+ ABC_TO_DQ abc_dq_converter = ABC_TO_DQ_DEFAULTS;
+
+ abc_dq_converter.Ia = analog.iqIa1_1;
+ abc_dq_converter.Ib = analog.iqIb1_1;
+ abc_dq_converter.Ic = analog.iqIc1_1;
+ abc_dq_converter.Tetta = analog.tetta; // svgen_pwm24_1.Alpha;
+ abc_dq_converter.calc(&abc_dq_converter);
+ analog.iqId1 = abc_dq_converter.Id;
+ analog.iqIq1 = abc_dq_converter.Iq;
+ analog.iqIq1_filter = zad_intensiv_q(koeff_Iq_filter_slow, koeff_Iq_filter_slow,
+ analog.iqIq1_filter, analog.iqIq1);
+
+ abc_dq_converter.Ia = analog.iqIa2_1;
+ abc_dq_converter.Ib = analog.iqIb2_1;
+ abc_dq_converter.Ic = analog.iqIc2_1;
+ abc_dq_converter.Tetta = analog.tetta; // svgen_pwm24_2.Alpha;
+ abc_dq_converter.calc(&abc_dq_converter);
+ analog.iqId2 = abc_dq_converter.Id;
+ analog.iqIq2 = abc_dq_converter.Iq;
+ analog.iqIq2_filter = zad_intensiv_q(koeff_Iq_filter_slow, koeff_Iq_filter_slow,
+ analog.iqIq2_filter, analog.iqIq2);
+
+ analog.iqPvsi1 = _IQmpy(_IQmpy(analog.iqIq1_filter, analog.iqUq1), 25165824L);
+ analog.iqPvsi2 = _IQmpy(_IQmpy(analog.iqIq2_filter, analog.iqUq2), 25165824L);
+// analog.iqPvsi1 = _IQmpy(_IQmpy(analog.iqIq1, analog.iqUq1), 25165824L);
+// analog.iqPvsi2 = _IQmpy(_IQmpy(analog.iqIq2, analog.iqUq2), 25165824L);
+
+// analog.iqM_1 = _IQdiv(analog.iqPvsi1, _IQmpy(rotor.iqW, CONST_IQ_2PI));
+// analog.iqM_2 = _IQdiv(analog.iqPvsi2, _IQmpy(rotor.iqW, CONST_IQ_2PI));
+}
+
+void calcUdUqCompensation(_iq Frot) {
+ _iq Uzpt = (filter.iqU_1_long + filter.iqU_2_long) >> 1;
+ _iq UdVolt = _IQmpy(_IQmpy(Frot, vect_control.koef_Ud_comp), analog.iqIq1);
+ _iq UqVolt = _IQmpy(_IQmpy(Frot, vect_control.koef_Uq_comp), analog.iqId1);
+ if (Uzpt != 0) {
+ vect_control.iqUdCompensation1 = -_IQdiv(UdVolt, Uzpt);
+ vect_control.iqUqCompensation1 = _IQdiv(UqVolt, Uzpt);
+ } else {
+ vect_control.iqUdCompensation1 = 0;
+ vect_control.iqUqCompensation1 = 0;
+ }
+
+ vect_control.iqUdKm1Out = vect_control.iqUdKm1 + vect_control.iqUdCompensation1;
+ vect_control.iqUqKm1Out = vect_control.iqUqKm1 + vect_control.iqUqCompensation1;
+
+ Uzpt = (filter.iqU_3_long + filter.iqU_4_long) >> 1;
+ UdVolt = _IQmpy(_IQmpy(Frot, vect_control.koef_Ud_comp), analog.iqIq2);
+ UqVolt = _IQmpy(_IQmpy(Frot, vect_control.koef_Uq_comp), analog.iqId2);
+ if (Uzpt != 0) {
+ vect_control.iqUdCompensation2 = -_IQdiv(UdVolt, Uzpt);
+ vect_control.iqUqCompensation2 = _IQdiv(UqVolt, Uzpt);
+ } else {
+ vect_control.iqUdCompensation2 = 0;
+ vect_control.iqUqCompensation2 = 0;
+ }
+
+
+ vect_control.iqUdKm2Out = vect_control.iqUdKm2 + vect_control.iqUdCompensation2;
+ vect_control.iqUqKm2Out = vect_control.iqUqKm2 + vect_control.iqUqCompensation2;
+}
+
+#define IQ_150_RPM 2097152 //150��/���
+#define IQ_140_RPM 1957341 //140��/���
+//#define IQ_135_RPM 1887436 //135��/���
+#define IQ_125_RPM 1747626 //125��/���
+#define IQ_120_RPM 1677721 //120��/���
+#define IQ_115_RPM 1607816 //115��/���
+#define IQ_110_RPM 1537911 //110��/���
+
+#define K_MODUL_SWITCH_COS_FI 13925089 //83%
+#define K_MODUL_SWITCH_COS_FI_2 14260633 //85%
+#define K_MODUL_SWITCH_OFF 10905190 //65% //11744051 ~ 70% //12582912 ~ 75%
+
+#define U200V 1118481
+
+
+// #pragma CODE_SECTION(set_cos_tetta_calc_params,".fast_run1");
+void set_cos_tetta_calc_params() {
+
+ _iq currentCos = _IQ(COS_FI);
+ _iq currentCosSq = _IQ(COS_FI * COS_FI);
+ static _iq cosFi_low_speed = _IQ(0.85);
+ static _iq cosFi_Sq_low_speed = _IQ(0.85 * 0.85);
+ static _iq cosFi_mid_speed = _IQ(COS_FI);
+ static _iq cosFi_Sq_mid_speed = _IQ(COS_FI * COS_FI);
+ static _iq cosFi_high_speed = _IQ(0.89);
+ static _iq cosFi_Sq_high_speed = _IQ(0.89 * 0.89);
+ static _iq stepChangeCos = _IQ(0.001);
+ static _iq kt_low_speed = _IQ(0.0045);
+ static _iq kt_over_140rpm = _IQ(0.0048);
+ static _iq kt_over_150rpm = _IQ(0.0049);
+ static _iq kt_single_inv = _IQ(0.0039);
+
+ _iq current_kt = _IQ(0.0045);
+ static _iq stepChangeKt =_IQ(0.00001);
+
+ static _iq addCompensateUd = _IQ(0.0004);
+
+ static unsigned int flag_high_Km = 0;
+
+ if (a.iqk1 < K_MODUL_SWITCH_OFF) {
+ flag_high_Km = 0;
+ }
+
+// if (_IQabs(rotor.iqFout) > IQ_150_RPM) {
+// currentCos = _IQ(0.9);
+// currentCosSq = _IQ(0.9 * 0.9);
+//// tetta_calc.k_t = _IQ(0.0049);
+// current_kt = kt_over_150rpm; //_IQ(0.0049);
+// } else
+ if (_IQabs(rotor.iqFout) > IQ_140_RPM || (a.iqk1 > K_MODUL_SWITCH_COS_FI_2)
+ || flag_high_Km == 1) {
+ if (a.iqk1 > K_MODUL_SWITCH_COS_FI_2) {
+ flag_high_Km = 1;
+ }
+ currentCos = cosFi_high_speed;
+ currentCosSq = cosFi_Sq_high_speed;
+// tetta_calc.k_t = _IQ(0.0048);
+ current_kt = kt_over_140rpm; //_IQ(0.0048);
+ } else if ((_IQabs(rotor.iqFout) > IQ_115_RPM && cos_fi.cos_fi_nom < _IQ(0.889))
+ || (_IQabs(rotor.iqFout) < IQ_135_RPM && cos_fi.cos_fi_nom > _IQ(0.889))
+ || (a.iqk1 > K_MODUL_SWITCH_COS_FI)) {
+ currentCos = cosFi_mid_speed;
+ currentCosSq = cosFi_Sq_mid_speed;
+// tetta_calc.k_t = _IQ(0.0045);
+ current_kt = kt_low_speed; //_IQ(0.0045);
+ } else if (_IQabs(rotor.iqFout) < IQ_110_RPM) {
+ currentCos = cosFi_low_speed;
+ currentCosSq = cosFi_Sq_low_speed;
+ //(f.secondPChState != 4)
+ if(((analog.iqIm_1 > I_OUT_NOMINAL_IQ) || (analog.iqIm_2 > I_OUT_NOMINAL_IQ))
+ && (f.secondPChState != 4)) {
+ current_kt = kt_single_inv; //_IQ(0.0039);
+ } else if ((analog.iqIm_1 < 9507089) || (analog.iqIm_2 < 9507089)) {
+ current_kt = kt_low_speed; //_IQ(0.0045);
+ }
+ }
+
+ if (analog.iqUd1 < -U200V || (a.iqk1 > K_MODUL_SWITCH_COS_FI_2)) {
+ current_kt += addCompensateUd; // _IQ(0.0004);
+ }
+ cos_fi.cos_fi_nom = zad_intensiv_q(stepChangeCos, stepChangeCos, cos_fi.cos_fi_nom, currentCos);
+ cos_fi.cos_fi_nom_squared = zad_intensiv_q(stepChangeCos, stepChangeCos, cos_fi.cos_fi_nom_squared, currentCosSq);
+
+ tetta_calc.k_t = zad_intensiv_q(stepChangeKt, stepChangeKt, tetta_calc.k_t, current_kt);
+}
+
+
+void limit_mzz_zad_power(_iq Frot)
+{
+ Frot = labs(Frot);
+
+ if (vect_control.flag_reverse) {
+// f.iq_mzz_zad = _IQ(1300.0/NORMA_MZZ);
+ f.iq_mzz_zad = _IQ(1100.0/NORMA_MZZ);
+ } else
+ if (Frot < 279620) //20 ob/min
+ {
+// f.iq_mzz_zad = _IQ(1200.0/NORMA_MZZ);
+ f.iq_mzz_zad = _IQ(1400.0/NORMA_MZZ);
+ }
+ else if (Frot < 419430) //30 ob/min
+ {
+ f.iq_mzz_zad = _IQ(1400.0/NORMA_MZZ);
+ }
+// else if(rotor.iqFout < 699050) //50 ob/min
+ else if (Frot < 838860) //60 ob/min
+// else if (rotor.iqFout < 978670) //70 ob/min
+ {
+// f.iq_mzz_zad = _IQ(1800.0/NORMA_MZZ);
+ f.iq_mzz_zad = _IQ(2000.0/NORMA_MZZ);
+ }
+ else
+ {
+ f.iq_mzz_zad = _IQ(2000.0/NORMA_MZZ);
+// f.iq_mzz_zad = _IQ(1500.0/NORMA_MZZ);
+ }
+}
+
+
diff --git a/Inu/Src2/VectorControl/pwm_vector_regul.h b/Inu/Src2/VectorControl/pwm_vector_regul.h
new file mode 100644
index 0000000..9b7c079
--- /dev/null
+++ b/Inu/Src2/VectorControl/pwm_vector_regul.h
@@ -0,0 +1,81 @@
+#ifndef PWM_VECTOR_REGUL
+#define PWM_VECTOR_REGUL
+
+#include "pid_reg3.h"
+
+void pwm_vector_model_titov(_iq Pzad, _iq Fzad, int direction, _iq Frot, int mode,
+ int reset, int calcPWMtimes);
+void init_DQ_pid(void);
+//void detect_I_M_overload(void);
+void analog_dq_calc_const(void);
+
+void set_cos_tetta_calc_params();
+void limit_mzz_zad_power(_iq Frot);
+
+extern _iq zadan_Id_min;
+extern PIDREG3 pidD;
+extern PIDREG3 pidQ;
+extern PIDREG3 pidD2;
+extern PIDREG3 pidQ2;
+
+extern long koeff_Ud_filter;
+
+typedef struct {
+ _iq cos_fi_nom;
+ _iq cos_fi_nom_squared;
+} COS_FI_STRUCT;
+
+extern COS_FI_STRUCT cos_fi;
+
+#define ONE_IQ24 16777216
+
+typedef struct {
+ _iq iqId_zad;
+ _iq iqIq_zad;
+ _iq iqUdKm1;
+ _iq iqUqKm1;
+ _iq iqUdKm2;
+ _iq iqUqKm2;
+ _iq iqUdCompensation1;
+ _iq iqUqCompensation1;
+ _iq iqUdCompensation2;
+ _iq iqUqCompensation2;
+ _iq iqUdKm1Out;
+ _iq iqUqKm1Out;
+ _iq iqUdKm2Out;
+ _iq iqUqKm2Out;
+
+ _iq iqUzad1;
+ _iq iqUzad2;
+
+ _iq koef_Ud_comp;
+ _iq koef_Uq_comp;
+ _iq koeff_correct_Id;
+
+ _iq equial_Iq_Proportional; //Пропорциональный коэффициент регулятора поддержания Iq одинаковым на обоих обмотках
+ _iq equial_Iq_Delta; //Разница в Iq двух обмоток
+ _iq equial_Iq_Out;
+
+ _iq k_modul_max;
+ _iq k_modul_max_square;
+ _iq iq_Id_out_max;
+
+ _iq iqPzad;
+ _iq iqPizm;
+ _iq iqFrot;
+
+ int flag_reverse;
+
+ float theta;
+
+} VECTOR_CONTROL;
+
+#define VECTOR_CONTROL_DEFAULTS {0,0,0,0,0,0,0,0,0,0, 0,0, 0,0,0, 0,0,0, 0,0,0,0,0, 0,0}
+
+extern VECTOR_CONTROL vect_control;
+
+extern PIDREG3 pidFvect;
+
+#endif //PWM_VECTOR_REGUL
+
+
diff --git a/Inu/Src2/VectorControl/regul_power.c b/Inu/Src2/VectorControl/regul_power.c
new file mode 100644
index 0000000..8ffcb42
--- /dev/null
+++ b/Inu/Src2/VectorControl/regul_power.c
@@ -0,0 +1,269 @@
+#include "vector.h"
+#include "IQmathLib.h"
+#include "math.h"
+#include "pid_reg3.h"
+#include "adc_tools.h"
+#include "params.h"
+#include "regul_power.h"
+#include "pwm_vector_regul.h"
+#include "my_filter.h"
+
+// #pragma DATA_SECTION(pidPvect,".fast_vars1");
+PIDREG3 pidPvect = PIDREG3_DEFAULTS;
+
+
+#define IQ_OUT_SAT_POWER (2880.0 * COS_FI)
+#define MAX_PID_CURRENT_P 2200.0 // 2200.0 ~ 1.6 Inom
+
+#define IM_CURRENT_STOP_RMP 11184810 //2000
+
+#define IQ_1500A 8388608
+#define IQ_1800A 10066329
+
+#define K_RMP_100A_PER_TIC 559240
+#define K_RMP_400A_PER_SEC 2663
+
+#define K_MODUL_MAX 15770583
+
+// #define P_DELTA_ZAD_IZM 5592405 //3 MWt
+
+#define LIMIT_Iq_ON_POWER_REVERSE
+
+_iq Id_out_max_low_speed = _IQ(ID_OUT_SAT_POWER_LOW_SPEED / NORMA_ACP);
+_iq Id_out_max_full = _IQ(ID_OUT_SAT_POWER / NORMA_ACP);
+
+
+void init_Pvect_pid()
+{
+ pidPvect.Ref = 0;
+ pidPvect.Kp = _IQ(1.0);//_IQ(1.0);
+ pidPvect.Ki = _IQ(0.1);//_IQ(0.05);//_IQ(0.06);
+ pidPvect.Kc = _IQ(0.5);
+ // pidPvect.Kp = _IQ(1); //_IQ(2.5);//_IQ(5.0);//
+ // pidPvect.Ki = _IQ(0.1);//_IQ(0.05);//_IQ(0.06);
+ // pidPvect.Kc = _IQ(0.5);
+ pidPvect.OutMax = _IQ(MAX_PID_CURRENT_P / NORMA_ACP);
+ pidPvect.OutMin = -_IQ(MAX_PID_CURRENT_P / NORMA_ACP);
+}
+
+void reset_Pvect_pid()
+{
+ pidPvect.Up = 0;
+ pidPvect.Up1 = 0;
+ pidPvect.Ui = 0;
+ pidPvect.Ud = 0;
+ pidPvect.Out = 0;
+}
+
+_iq koeff_Iq_filter = _IQ(0.5);
+
+#define LEVEL_LIMIT_KM 14596177 //87% //15099494 ~ 90% //15435038 ~ 92%
+
+#define POWER_7_MWt 13048945
+#define POWER_4_MWt 7456540
+#define POWER_200_kWt 372827
+
+// #pragma CODE_SECTION(vector_power,".fast_run2");
+void vector_power(_iq Pzad, _iq P_measured, _iq Iq_measured, int mode, _iq Frot, _iq* Iq_zad, _iq* Id_zad)
+{
+ static _iq Pzad_rmp = 0;
+ static _iq koef_slow = _IQ(0.000075); //_IQ(0.000065);15sec //_IQ(0.000085); 13sec // //_IQ(0.000065); normal rampa 13 seconds
+ static _iq koef_slow_low_task = _IQ(0.000040); //Ðàìïà äëÿ çàäàíèé ìîùíîñòè ìåíüøå ïîëîâèíû íîìèíàëà, ÷òîáû íåáûëî ïåðåðåãóëÿöèè
+ static _iq koef_slow_2 = _IQ(0.000045); //_IQ(0.000039); // _IQ(0.000015); //_IQ(0.000011) ~ 10 sec 0-10MWt //_IQ(0.00002) ~ 7 ñåê 0-10ÌÂò
+ static _iq koef_fast = _IQ(0.00013); //_IQ(0.00008); //_IQ(0.000025); ~3.1 sev 10-0MWt
+// static _iq prev_Pzad = 0;
+// static _iq cos_fi_nom_alg = _IQ(COS_FI), cos_fi_nom_squared_alg = _IQ(COS_FI * COS_FI);
+// static _iq cos_fi_nom = _IQ(COS_FI), cos_fi_nom_squared = _IQ(COS_FI * COS_FI);
+ static _iq Iq_out_nom = _IQ(IQ_OUT_NOM / NORMA_ACP); //, Id_out_nom = _IQ(ID_OUT_NOM / NORMA_ACP);
+// static _iq Iq_out_max = _IQ(IQ_OUT_SAT_POWER / NORMA_ACP);
+ static _iq Id_out_max = _IQ(ID_OUT_SAT_POWER_LOW_SPEED / NORMA_ACP);
+ static _iq pid_Out_max = _IQ(MAX_PID_CURRENT_P / NORMA_ACP);
+ _iq koef_rmp, koef_spad; //koef_spad - äëþ çàùèòû îò ïðåâûøåíèþ âèíòîì ðàçðåø¸ííûõ îáîðîòîâ (170îá/ìèí)
+ _iq Iq_out_unsat, Iq_out_sat, Id_out_sat, Id_out_unsat;
+// _iq Iq_out_limited = 0;
+ static _iq Iq_out_filter = 0;
+ static _iq mzz_zad_int=0;
+ static int counterStopRampa = 0;
+#ifdef LIMIT_Iq_ON_POWER_REVERSE
+ static int flag_reverse = 0;
+#endif //LIMIT_Iq_ON_POWER_REVERSE
+
+ // if (f.DownTemperature) {
+ // mzz_zad_int = zad_intensiv_q(35480, 35480, mzz_zad_int, _IQmpy(f.iq_mzz_zad, temperature_limit_koeff));
+ // } else
+// if(f.DownToNominal && (f.iq_mzz_zad > Iq_out_nom)) {
+// mzz_zad_int = zad_intensiv_q(29480, 29480, mzz_zad_int, Iq_out_nom);
+// } else if (a.iqk1 > LEVEL_LIMIT_KM || a.iqk2 > LEVEL_LIMIT_KM) {
+// Pzad = 0;
+// Pzad_rmp = zad_intensiv_q((koef_fast << 3), (koef_fast << 3), Pzad_rmp, Pzad);
+// // f.DownToNominalVoltage = 1;
+// }
+// else
+ {
+ if (f.iq_mzz_zad != 0) {
+ mzz_zad_int = zad_intensiv_q(28480, 28480, mzz_zad_int, f.iq_mzz_zad);
+ } else {
+ mzz_zad_int = zad_intensiv_q(25480, 25480, mzz_zad_int, pid_Out_max);
+ }
+// f.DownToNominalVoltage = 0;
+ }
+
+ if((mode != 2) || (!f.Go)
+// || (f.flag_leading == 0 && f.read_task_from_optical_bus == 1 && f.sync_Iq_from_optical_bus == 1)
+ )
+ {
+ Pzad_rmp = P_measured;
+// prev_Pzad = P_measured;
+ pidPvect.Ui = Iq_measured;
+ Id_out_max = Id_out_max_low_speed;
+ if(!f.Go)
+ {
+ *Iq_zad = *Id_zad = 0;
+ }
+ #ifdef LIMIT_Iq_ON_POWER_REVERSE
+ flag_reverse = 0;
+ #endif
+ return;
+ }
+
+#ifdef LIMIT_Iq_ON_POWER_REVERSE
+ // Ïðè òîðîæåíèè îãðàíè÷èâàåì Iq íóë¸ì ñî ñòîðîíû íå òîðìîæåíèÿ
+ // ò.ê. ïðè òîðìîæåíèè èç-çà êîëåáàíèé çàäàíèå íà òîê ìîæåò ïîìåíÿòü çíàê
+ if ((Frot > 0 && Pzad_rmp < 0 && pidPvect.Out < 0) ||
+ (Frot < 0 && Pzad_rmp > 0 && pidPvect.Out > 0)) {
+ flag_reverse = 1;
+ vect_control.flag_reverse = 1;
+ } else
+ if ((Frot > 0 && Pzad_rmp > 0) || (Frot < 0 && Pzad_rmp < 0))
+ {
+ flag_reverse = 0;
+ vect_control.flag_reverse = 0;
+ }
+ if (flag_reverse == 0) {
+ pidPvect.OutMax = mzz_zad_int;
+ pidPvect.OutMin = -mzz_zad_int;
+ } else {
+ if (Pzad_rmp < 0) {
+ pidPvect.OutMax = 0;
+ pidPvect.OutMin = -mzz_zad_int;
+ } else {
+ pidPvect.OutMax = mzz_zad_int;
+ pidPvect.OutMin = 0;
+ }
+ }
+#else
+ pidPvect.OutMax = mzz_zad_int;
+ pidPvect.OutMin = -mzz_zad_int;
+#endif //LIMIT_Iq_ON_POWER_REVERSE
+
+// if (f.setCosTerminal) {
+// cos_fi.cos_fi_nom = f.cosinusTerminal;
+// cos_fi.cos_fi_nom_squared = f.cosinusTerminalSquared;
+// }
+
+
+ //if(Pzad != prev_Pzad)
+ //{
+ if((_IQabs(Pzad_rmp) <= _IQabs(Pzad)) &&
+ (((Pzad >= 0) && (Pzad_rmp >= 0)) || ((Pzad < 0) && (Pzad_rmp < 0))))
+ {
+ // if (_IQabs(Pzad) < POWER_4_MWt) {
+ // koef_rmp = koef_slow_low_task;
+ // } else if (_IQabs(Pzad_rmp) < POWER_7_MWt) { // 7MWt
+ // koef_rmp = koef_slow;
+ // } else {
+ // koef_rmp = koef_slow_2;
+ // }
+ koef_rmp = koef_slow;
+ //Ïðè íàáðîñå ìîùíîñòè ýëåêòðè÷åñêàÿ ìîùíîñòü ìîæåò ïðåâûñèòü çàäàííóþ
+ //ïîýòîìó åñëè ïðèáëèçèëèñü ê çàäàíèþ, òî çàìåäëÿåì ðàìïó âåêòîðîé ìîùíîñòè
+ // if (_IQabs(f.iq_p_zad_electric) - _IQabs(analog.iqW) < POWER_200_kWt) {
+ // koef_rmp = koef_rmp / 4;
+ // }
+ }
+ else
+ {
+ koef_rmp = koef_fast;
+ }
+ //}
+
+// EfficiencyCompensation(&Pzad, &Iq_measured);
+
+ // if (analog.iqIm_1 > IM_CURRENT_STOP_RMP || analog.iqIm_2 > IM_CURRENT_STOP_RMP) {
+ // counterStopRampa = 400;
+ // } else {
+ // if (counterStopRampa > 0) {
+ // counterStopRampa -= 1;
+ // }
+ // }
+ // if (counterStopRampa <= 0) {
+ // Pzad_rmp = zad_intensiv_q(koef_rmp, koef_rmp, Pzad_rmp, Pzad);
+ // counterStopRampa = 0;
+ // } else {
+ // Pzad_rmp = zad_intensiv_q(koef_slow_2, koef_slow_2, Pzad_rmp, Pzad);
+ // }
+
+ Pzad_rmp = zad_intensiv_q(koef_rmp, koef_rmp, Pzad_rmp, Pzad);
+
+#ifdef P_DELTA_ZAD_IZM
+ //Åñëè èçìåðåííàÿ ìîùíîñòü íà ìíîãî ìåíüøå çàäàííîé ðàìïû,
+ //òî ðàìïà îãðàíè÷èâàåòñÿ çíà÷åíèåì èçìåðåííîé ïëþñ íåêîòîðàÿ äåëüòà
+ if ((Pzad_rmp > 0 && P_measured > 0) &&
+ ((Pzad_rmp - P_measured) > P_DELTA_ZAD_IZM)) {
+ Pzad_rmp = P_measured + P_DELTA_ZAD_IZM;
+ }
+ if ((Pzad_rmp < 0 && P_measured < 0) &&
+ ((Pzad_rmp - P_measured) < -P_DELTA_ZAD_IZM)) {
+ Pzad_rmp = P_measured - P_DELTA_ZAD_IZM;
+ }
+#endif
+
+ f.iq_p_rampa = Pzad_rmp;
+
+
+ //������ �� ���������� ������ ����������� ��������
+ if(_IQabs(Frot) > IQ_170_RPM)
+ {
+ koef_spad = _IQdiv((IQ_170_RPM + IQ_10_RPM - _IQabs(Frot)), IQ_10_RPM);
+ if(koef_spad < 0) {
+ koef_spad = 0;
+ }
+ pidPvect.OutMax = _IQmpy(pidPvect.OutMax, koef_spad);
+ pidPvect.OutMin = _IQmpy(pidPvect.OutMin, koef_spad);
+ Pzad_rmp = _IQmpy(Pzad_rmp, koef_spad);
+ }
+ pidPvect.Ref = Pzad_rmp;
+ pidPvect.Fdb = P_measured;
+
+
+ pidPvect.calc(&pidPvect);
+
+ Iq_out_unsat = pidPvect.Out;
+
+ Iq_out_filter = Iq_out_unsat; // exp_regul_iq(koeff_Iq_filter, Iq_out_filter, Iq_out_unsat);
+
+ // ìîäåëè çäåñü íå áûëî îãðàíè÷åíèé
+ Iq_out_sat = _IQsat(Iq_out_filter, mzz_zad_int, -mzz_zad_int); //Test
+
+ if(Iq_out_filter < 0)
+ {
+ Id_out_unsat = _IQdiv(_IQmpy((-Iq_out_filter), _IQsqrt(ONE_IQ24 - cos_fi.cos_fi_nom_squared)), cos_fi.cos_fi_nom);
+ } else {
+ Id_out_unsat = _IQdiv(_IQmpy(Iq_out_filter, _IQsqrt(ONE_IQ24 - cos_fi.cos_fi_nom_squared)), cos_fi.cos_fi_nom);
+ }
+
+ if (_IQabs(Frot) < IQ_50_RPM) {
+ Id_out_max = zad_intensiv_q(5592, 5592, Id_out_max, Id_out_max_low_speed); //????
+ } else {
+ Id_out_max = zad_intensiv_q(5592, 5592, Id_out_max, Id_out_max_full);
+ }
+ Id_out_sat = _IQsat(Id_out_unsat, Id_out_max, 0);
+
+// prev_Iq_zad = Iq_out_sat;
+
+ *Iq_zad = Iq_out_sat;
+ *Id_zad = Id_out_sat;
+
+}
+
+
diff --git a/Inu/Src2/VectorControl/regul_power.h b/Inu/Src2/VectorControl/regul_power.h
new file mode 100644
index 0000000..2f1b127
--- /dev/null
+++ b/Inu/Src2/VectorControl/regul_power.h
@@ -0,0 +1,32 @@
+#ifndef REGUL_POWER
+#define REGUL_POWER
+#include "IQmathLib.h"
+#include "pid_reg3.h"
+
+void init_Pvect_pid(void);
+void vector_power(_iq Pzad, _iq P_measured, _iq Iq, int mode, _iq Frot, _iq* Iq_zad, _iq* Id_zad);
+
+extern PIDREG3 pidPvect;
+
+extern _iq Id_out_max_low_speed;
+extern _iq Id_out_max_full;
+
+
+#define IQ_5_RPM 69905L //5��/���
+#define IQ_10_RPM 139810L
+#define IQ_20_RPM 279620L
+#define IQ_50_RPM 699050L
+#define IQ_135_RPM 1887436L
+#define IQ_165_RPM 2306867L //165��/���
+#define IQ_170_RPM 2376772L //170��/���
+#define IQ_175_RPM 2446677L
+#define IQ_190_RPM 2656392L
+#define IQ_250_RPM 3495253L
+#define IQ_255_RPM 3565158L
+
+
+#define ID_OUT_SAT_POWER 800 //0.456 ~ sin(Fi)
+#define ID_OUT_SAT_POWER_LOW_SPEED (500.0) //0.52 ~ sin(Fi)
+
+
+#endif //REGUL_POWER
diff --git a/Inu/Src2/VectorControl/regul_turns.c b/Inu/Src2/VectorControl/regul_turns.c
new file mode 100644
index 0000000..444547f
--- /dev/null
+++ b/Inu/Src2/VectorControl/regul_turns.c
@@ -0,0 +1,185 @@
+#include "IQmathLib.h"
+#include "math.h"
+#include "params.h"
+#include "adc_tools.h"
+#include "regul_turns.h"
+#include "pid_reg3.h"
+#include "vector.h"
+#include "teta_calc.h"
+#include "pwm_vector_regul.h"
+#include "my_filter.h"
+
+// #pragma DATA_SECTION(pidFvect,".fast_vars1");
+PIDREG3 pidFvect = PIDREG3_DEFAULTS;
+
+#define MAX_PID_CURRENT IQ_OUT_NOM
+
+#define IQ_165_RPM 2306867 //165��/���
+#define IQ_170_RPM 2376772 //170��/���
+#define IQ_5_RPM 69905 //5��/���
+
+#define TIME_RMP_FAST 10.0 //sec
+#define TIME_RMP_SLOW 30.0 //sec
+#define F_DEST 3.0 //Hz
+
+void init_Fvect_pid()
+{
+ pidFvect.Ref = 0;
+ pidFvect.Kp = _IQ(10.0);//_IQ(30.0);// //
+ pidFvect.Ki = _IQ(0.03); //_IQ(0.015);
+ pidFvect.Kc = _IQ(0.5);
+ pidFvect.OutMax = _IQ(MAX_PID_CURRENT / NORMA_ACP);
+ pidFvect.OutMin = -_IQ(MAX_PID_CURRENT / NORMA_ACP);
+}
+
+void reset_F_pid()
+{
+ pidFvect.Up = 0;
+ pidFvect.Up1 = 0;
+ pidFvect.Ui = 0;
+ pidFvect.Ud = 0;
+ pidFvect.Out = 0;
+}
+
+void vector_turns(_iq Fzad, _iq Frot, _iq Iq, int mode, _iq* Iq_zad, _iq* Id_zad)
+{
+ static _iq Fzad_rmp = 0, koef_fast = _IQ(F_DEST / (float)NORMA_FROTOR / TIME_RMP_SLOW / (float)FREQ_PWM / 2.5);
+ static _iq koef_slow = _IQ(F_DEST / (float)NORMA_FROTOR / TIME_RMP_SLOW / (float)FREQ_PWM / 5.0);
+// static _iq cos_fi_nom = _IQ(COS_FI), cos_fi_nom_squared = _IQ(COS_FI * COS_FI); //prev_Fzad = 0,
+ static _iq Iq_out_max = _IQ(IQ_OUT_NOM / NORMA_ACP);
+ static _iq Id_out_max = _IQ(500.0 / NORMA_ACP); //_IQ(ID_OUT_NOM / NORMA_ACP);
+ static _iq mzz_zad_int=0;
+ static int Iq_rmp_to_optica = 0;
+// static int flag_Iq_synced_with_optica = 0;
+// static _iq step_Iq_rmp = _IQ(20.0 / NORMA_ACP);
+ _iq koef_rmp; //, koef_spad;
+ _iq Iq_out_unsat, Iq_out_sat, Id_out_sat, Id_out_unsat;
+ _iq deltaVar;
+
+// if (f.DownTemperature) {
+// // mzz_zad_int = zad_intensiv_q(35480, 35480, mzz_zad_int, _IQmpy(Iq_out_max, temperature_limit_koeff));
+// mzz_zad_int = zad_intensiv_q(25480, 25480, mzz_zad_int, _IQmpy(f.iq_mzz_zad, temperature_limit_koeff));
+// } else
+ {
+ mzz_zad_int = zad_intensiv_q(35480, 35480, mzz_zad_int, f.iq_mzz_zad);
+// mzz_zad_int = zad_intensiv_q(25480, 25480, mzz_zad_int, pid_Out_max);
+ }
+
+ pidFvect.OutMax = Iq_out_max;
+ pidFvect.OutMin = -Iq_out_max;
+
+ if (Fzad >= 0 && Frot > 0) {
+ pidFvect.OutMin = 0;
+ }
+
+ if (Fzad <= 0 && Frot < 0) {
+ pidFvect.OutMax = 0;
+ }
+
+
+
+ if((mode != 1) || (!f.Go)) //������� ������� ��������� � �����-���, ��� �� ��� ����� ������ �� ���� �������
+ { //
+ Fzad_rmp = Frot;
+// prev_Fzad = Frot;
+ reset_F_pid(); //���� ����, ����� ���� ���-�� ���� �� ���
+ pidFvect.Ui = Iq;
+ pidFvect.Out = Iq;
+ *Iq_zad = Iq;
+ Iq_rmp_to_optica = Iq;
+// *Id_zad = _IQdiv(_IQmpy(Iq, _IQsqrt(ONE_IQ24 - cos_fi.cos_fi_nom_squared)), cos_fi.cos_fi_nom);
+ if(!f.Go)
+ {
+ *Iq_zad = *Id_zad = 0;
+ }
+// flag_Iq_synced_with_optica = 0;
+ return;
+ }
+
+ //������������� ������ ��
+ //������� �� Iq ��������� �� ���������� ����
+// if ((f.flag_leading == 0) && (f.read_task_from_optical_bus == 1) && (f.sync_Iq_from_optical_bus == 1)) {
+// // if (flag_Iq_synced_with_optica == 0) {
+// // if (_IQabs(analog.iqIq_zad_from_optica - Iq_rmp_to_optica) > 1118481) { //200A
+// // Iq_rmp_to_optica = zad_intensiv_q(step_Iq_rmp, step_Iq_rmp, Iq_rmp_to_optica, analog.iqIq_zad_from_optica);
+// // } else {
+// // Iq_rmp_to_optica = analog.iqIq_zad_from_optica;
+// // flag_Iq_synced_with_optica = 1;
+// // }
+// // } else {
+// // Iq_rmp_to_optica = analog.iqIq_zad_from_optica;
+// // }
+// Iq_rmp_to_optica = analog.iqIq_zad_from_optica;
+// Iq_out_unsat = Iq_rmp_to_optica;
+// Iq_out_sat = _IQsat(Iq_out_unsat, mzz_zad_int, -mzz_zad_int);
+// Id_out_unsat = _IQdiv(_IQmpy(_IQabs(Iq_out_sat), _IQsqrt(ONE_IQ24 - cos_fi.cos_fi_nom_squared)), cos_fi.cos_fi_nom);
+// Id_out_sat = _IQsat(Id_out_unsat, Id_out_max, 0);
+// *Iq_zad = Iq_out_sat;
+// *Id_zad = Id_out_sat;
+
+// reset_F_pid();
+// pidFvect.Ui = Iq_out_sat;
+// pidFvect.Out = Iq_out_sat;
+// Fzad_rmp = Frot;
+// return;
+// }
+
+ //if(Fzad != prev_Fzad) //����� ������� �� ������. ���� ������ ���������, �� ��������.
+ //{ //���� ��������� ��� ������, �� ������.
+ if(_IQabs(Fzad_rmp) <= _IQabs(Fzad) &&
+ (((Fzad >= 0) && (Fzad_rmp >= 0)) || ((Fzad < 0 ) && (Fzad_rmp < 0))))
+ {
+ koef_rmp = koef_slow;
+ }
+ else
+ {
+ koef_rmp = koef_fast;
+ }
+// prev_Fzad = Fzad;
+ //}
+
+ // Fzad_rmp = zad_intensiv_q(koef_rmp, koef_rmp, Fzad_rmp, Fzad);
+// logpar.log2 = (int16)(_IQtoIQ15(Fzad));
+// logpar.log19 = (int16)(_IQtoIQ15(Fzad_rmp));
+
+ //� �����-�� ������ ��������� ��������� �������� ������� zad_intensiv_q
+ // ������� ��� �� �� ������� ����.
+ deltaVar = Fzad-Fzad_rmp;
+
+ if ((deltaVar>koef_rmp) || (deltaVar<-koef_rmp))
+ {
+ if (deltaVar>0) Fzad_rmp += koef_rmp;
+ else Fzad_rmp -= koef_rmp;
+ }
+ else
+ Fzad_rmp = Fzad;
+
+ pidFvect.Ref = Fzad_rmp;
+ pidFvect.Fdb = Frot;
+
+ pidFvect.calc(&pidFvect);
+ Iq_out_unsat = pidFvect.Out;
+
+ //TODO: ATTENTION!!! worked better on stend
+ if (_IQabs(Iq_out_unsat) < 27962) //5A
+ {
+ pidTetta.Ui = 0;
+ pidTetta.SatErr = 0;
+ }
+ Iq_out_sat = _IQsat(Iq_out_unsat, Iq_out_max, -Iq_out_max);
+// if(f.DownToNominal) //In this mode max I equial Inom
+// {
+// Iq_out_sat = _IQsat(Iq_out_unsat, I_OUT_NOMINAL_IQ, -I_OUT_NOMINAL_IQ);
+// }
+ // Iq_out_sat = _IQsat(Iq_out_unsat, mzz_zad_int, -mzz_zad_int); //Test
+ //������ d �������-���� ����
+ Iq_out_unsat = _IQabs(Iq_out_unsat);
+ Id_out_unsat = _IQdiv(_IQmpy(Iq_out_unsat, _IQsqrt(ONE_IQ24 - cos_fi.cos_fi_nom_squared)), cos_fi.cos_fi_nom);
+ Id_out_sat = _IQsat(Id_out_unsat, Id_out_max, 0);
+
+
+
+ *Iq_zad = Iq_out_sat;
+ *Id_zad = Id_out_sat;
+
+}
diff --git a/Inu/Src2/VectorControl/regul_turns.h b/Inu/Src2/VectorControl/regul_turns.h
new file mode 100644
index 0000000..57529b5
--- /dev/null
+++ b/Inu/Src2/VectorControl/regul_turns.h
@@ -0,0 +1,12 @@
+#ifndef REGUL_TURNS
+#define REGUL_TURNS
+#include "IQmathLib.h"
+#include "pid_reg3.h"
+
+void init_Fvect_pid(void);
+void vector_turns(_iq Fzad, _iq Frot, _iq Iq, int mode, _iq* Iq_zad, _iq* Id_zad);
+
+
+#endif //REGUL_TURNS
+
+
diff --git a/Inu/Src2/VectorControl/teta_calc.c b/Inu/Src2/VectorControl/teta_calc.c
new file mode 100644
index 0000000..d76bfe5
--- /dev/null
+++ b/Inu/Src2/VectorControl/teta_calc.c
@@ -0,0 +1,262 @@
+#include "teta_calc.h"
+#include "params.h"
+#include "pid_reg3.h"
+#include "IQmathLib.h"
+#include "vector.h"
+#include "my_filter.h"
+
+#define CONST_IQ_2PI 105414357
+#define PI 3.1415926535897932384626433832795
+
+PIDREG3 pidTetta = PIDREG3_DEFAULTS;
+
+#define MAX_Ud_Pid_Out (167772 * 100) //419430 ~ 0.5 //251658 ~ 0.3 //209715 ~ 0.25 //167772 ~ 0.2Hz //100663 //0.12Hz
+// 184549 ~ 2.2
+
+#define MAX_Ud_Pid_Out_Id 176160 //0.2 ~ 167772 //0.21 ~ 176160
+ //0.15 ~ 125829
+#define BPSI_START 0.17 //0.15
+
+void init_tetta_pid()
+{
+ pidTetta.Ref = 0;
+ pidTetta.Fdb = 0;
+ pidTetta.Kp = _IQ(0.1); //_IQ(0.15);
+ pidTetta.Ki = _IQ(0.0003); //_IQ(0.00003)
+ pidTetta.Kc = _IQ(0.5);
+ pidTetta.OutMax = MAX_Ud_Pid_Out;
+ pidTetta.OutMin = -MAX_Ud_Pid_Out;
+ pidTetta.Up = 0;
+ pidTetta.Ui = 0;
+}
+
+void reset_tetta_pid()
+{
+ pidTetta.Up = 0;
+ pidTetta.Up1 = 0;
+ pidTetta.Ui = 0;
+ pidTetta.Out = 0;
+}
+
+
+//#pragma CODE_SECTION(calc_tetta,".fast_run");
+void calc_tetta(_iq Frot, int direction, _iq Ud, int direct_zadan, _iq *tetta_out, _iq *Fsl_out, _iq *Fstator_out, int mode, int reset) //
+{
+ static _iq tetta = 0, Fsl_start = 0, bpsi_start = _IQ(BPSI_START / NORMA_FROTOR);// , bpsi_start_on_go = _IQ(0.1 / NORMA_FROTOR);
+ static _iq hz_to_angle = _IQ(2.0 * PI * NORMA_FROTOR / FREQ_PWM / 2.0);
+ static int flag_start = 0;
+ static int koeff_zad_int = 30; //1000;
+ static long stop_frot = 27962; //2 rpm // 10000;
+// static _iq prev_Fsl = 0;
+ static int flag_reverse = 0;
+// static int flag_out_of_reverse = 0;
+ static int prev_direction = 0;
+ static _iq koeffKpRmp = _IQ(0.0003750);
+ static _iq koeffKiRmp = _IQ(0.00005);
+ static _iq lowSpeedKp = _IQ(0.1);
+ static _iq lowSpeedKi = _IQ(0.0003);
+ static _iq highSpeedKp = _IQ(0.01);
+ static _iq highSpeedKi = _IQ(0.011); //_IQ(0.02);
+
+ _iq Fstat, Fsl;
+ int reverse_Ud = 1;
+
+ if(reset == 1)
+ {
+ flag_start = 1; //Won`t work, if machine will stop without changing mode
+ Fsl_start = 0;
+ flag_reverse = 0;
+// flag_out_of_reverse = 0;
+ }
+ if (_IQabs(Frot) < 768955) { //55 rpm
+ pidTetta.Kp = zad_intensiv_q(koeffKpRmp, koeffKpRmp, pidTetta.Kp, lowSpeedKp);
+ pidTetta.Ki = zad_intensiv_q(koeffKiRmp, koeffKiRmp, pidTetta.Ki, lowSpeedKi);
+ }
+ else if ((_IQabs(Frot) < 1118481)) { //80 rpm
+ pidTetta.Kp = zad_intensiv_q(koeffKpRmp, koeffKpRmp, pidTetta.Kp, highSpeedKp);
+ pidTetta.Ki = zad_intensiv_q(koeffKiRmp, koeffKiRmp, pidTetta.Ki, highSpeedKi);
+ }
+ //������ ����������� direction == 1
+ //direction == 0 - ��������� �����
+// if(((Frot >= 0) && (direct_zadan == 1) && (direction >= 0)) ||
+// ((direct_zadan == -1) && (direction >= 0) && (Frot >= stop_frot)))
+ //27962 ~ 2 rpm
+// if(((direct_zadan == 1) && (direction == 0)) || (direction > 0))
+// {
+// Ud = -Ud;
+// }
+
+
+ if(Frot >= 27962) {
+ reverse_Ud = -1;
+ flag_reverse = (Frot >= 27962 && direct_zadan == -1) ? 1 : 0;
+ prev_direction = 1;
+ }
+ else if (Frot <= -27962) {
+ reverse_Ud = 1;
+ flag_reverse = (Frot <= -27962 && direct_zadan == 1) ? 1 : 0;
+ prev_direction = -1;
+ }
+ if(_IQabs(Frot) < 27962) {
+ if (flag_reverse == 1) {
+ if (prev_direction == 1) {
+ reverse_Ud = -1;
+ } else {
+ reverse_Ud = 1;
+ }
+ } else
+// if (flag_start)
+ {
+ if (direct_zadan == 1) {
+ reverse_Ud = -1;
+ } else {
+ reverse_Ud = 1;
+ }
+ }
+ }
+ Ud = Ud * reverse_Ud;
+
+ pidTetta.Ref = Ud * 100; //Ref -�������
+ pidTetta.calc(&pidTetta);
+ Fsl = pidTetta.Out / 100;
+
+ if(flag_start) //
+ {
+ if(_IQabs(Frot) < stop_frot)
+ {
+ Fsl_start = bpsi_start * direct_zadan; //���� ��������� �����, �������-�� ����������.
+ }
+ else
+ {
+ if(Fsl_start == 0)
+ {
+ Fsl_start = bpsi_start * direct_zadan; //direction;
+ }
+ flag_start = 0;
+ }
+
+ }
+ else
+ {
+ //����� ��������� ����� ����, ����� �������� ����������, �.�. ���������� ���� �� ������������ ���������� ���������.
+ if(_IQabs(Frot) < (stop_frot))
+ {
+// if((direct_zadan == 1) && (Fsl + Fsl_start < bpsi_start))
+// {
+// Fsl_start += (koeff_zad_int << 2);
+//// Fsl_start += koeff_zad_int;
+// }
+// if((direct_zadan == -1) && (Fsl + Fsl_start > -bpsi_start))
+// {
+// Fsl_start -= (koeff_zad_int << 2);
+//// Fsl_start -= koeff_zad_int;
+// }
+ }
+ else
+ {
+ if(_IQabs(Fsl_start) > koeff_zad_int)
+ {
+ if(Fsl_start > 0)
+ {
+ Fsl_start -= koeff_zad_int;
+ }
+ if(Fsl_start < 0)
+ {
+ Fsl_start += koeff_zad_int;
+ }
+ }
+ else
+ {
+ Fsl_start = 0;
+ }
+ }
+
+ }
+ Fsl += Fsl_start;
+ Fstat = Frot * POLUS + Fsl;
+ tetta += _IQmpy(Fstat, hz_to_angle);
+
+
+ if (tetta > CONST_IQ_2PI)
+ {
+ tetta -= CONST_IQ_2PI;
+ }
+
+ if (tetta < 0)
+ {
+ tetta += CONST_IQ_2PI;
+ }
+ *tetta_out = tetta;
+ *Fsl_out = Fsl;
+// prev_Fsl = Fsl;
+ *Fstator_out = Fstat;
+
+
+}
+
+TETTA_CALC tetta_calc = TETTA_CALC_DEF;
+
+void init_tetta_calc_struct()
+{
+ tetta_calc.Imds = 0;
+ tetta_calc.tetta = 0;
+ tetta_calc.k_r = _IQ(0.015);
+ tetta_calc.k_t = _IQ(0.0045); //_IQ(0.0045);
+ tetta_calc.hz_to_angle = _IQ(2.0 * PI * NORMA_FROTOR / FREQ_PWM / 2.);
+}
+
+void calc_tetta_Id(_iq Frot, _iq Id, _iq Iq, _iq *tetta_out, _iq *Fsl_out, _iq *Fstator_out, int reset) {
+
+ _iq Fsl, Fst;
+ if (reset) {
+ tetta_calc.Imds = 0;
+ }
+
+ tetta_calc.Imds = tetta_calc.Imds + _IQmpy(tetta_calc.k_r, (Id - tetta_calc.Imds));
+ Fsl = _IQmpy(tetta_calc.k_t, Iq);
+ if (tetta_calc.Imds != 0) {
+ Fsl = _IQdiv(Fsl, tetta_calc.Imds);
+ } else {
+ Fsl = 0;
+ }
+ // Fsl = _IQ(0.2 / NORMA_FROTOR);
+ if (Fsl > MAX_Ud_Pid_Out_Id) { Fsl = MAX_Ud_Pid_Out_Id;}
+ if (Fsl < -MAX_Ud_Pid_Out_Id) { Fsl = -MAX_Ud_Pid_Out_Id;}
+
+ Fst = Frot * POLUS + Fsl;
+ tetta_calc.tetta += _IQmpy(Fst, tetta_calc.hz_to_angle);
+
+ if (tetta_calc.tetta > CONST_IQ_2PI)
+ {
+ tetta_calc.tetta -= CONST_IQ_2PI;
+ }
+
+ if (tetta_calc.tetta < 0)
+ {
+ tetta_calc.tetta += CONST_IQ_2PI;
+ }
+ *Fsl_out = Fsl;
+ *tetta_out = tetta_calc.tetta;
+ *Fstator_out = Fst;
+
+
+}
+
+#define LEVEL_REDUCE_UD 838860 //150V
+
+void correct_tetta_calc_Kt(void) {
+ static _iq coeff_add_Kt = _IQ(0.00005);
+ static _iq max_Kt = _IQ(0.0069);
+ static _iq min_Kt = _IQ(0.0029);
+
+ if (tetta_calc.Imds > LEVEL_REDUCE_UD) {
+ tetta_calc.k_t -= coeff_add_Kt;
+ }
+ if (tetta_calc.Imds < -LEVEL_REDUCE_UD) {
+ tetta_calc.k_t += coeff_add_Kt;
+ }
+ if (tetta_calc.k_t > max_Kt) {tetta_calc.k_t = max_Kt; }
+ if (tetta_calc.k_t < min_Kt) {tetta_calc.k_t = min_Kt; }
+}
+
+
diff --git a/Inu/Src2/VectorControl/teta_calc.h b/Inu/Src2/VectorControl/teta_calc.h
new file mode 100644
index 0000000..b04dda5
--- /dev/null
+++ b/Inu/Src2/VectorControl/teta_calc.h
@@ -0,0 +1,39 @@
+#ifndef TETA_CALC
+#define TETA_CALC
+
+#include "IQmathLib.h"
+#include "pid_reg3.h"
+
+void init_tetta_pid(void);
+void reset_tetta_pid(void);
+void calc_tetta(_iq Frot, int direction, _iq Ud, int direct_zadan, _iq *tetta_out, _iq *Fsl_out, _iq *Fstator_out, int mode, int reset);
+void calc_tetta_Id(_iq Frot, _iq Id, _iq Iq, _iq *tetta_out, _iq *Fsl_out, _iq *Fstator_out, int reset);
+void init_tetta_calc_struct(void);
+
+// k_r = Ts / Tr_cm
+// Tr_cm = Lr / Rr
+// Lr - ������������� ������
+// Rr - ������������� ������
+//
+// k_t = 1 / (Tr_cm * 2 * Pi * f_b)
+//
+// K = Ts * f_b
+// f_b - ������� ������������� ������� (12 ��)
+// Ts - ������ ������� (840 ��)
+
+typedef struct {
+ _iq Imds;
+ _iq tetta;
+
+ _iq hz_to_angle;
+ _iq k_r;
+ _iq k_t;
+} TETTA_CALC;
+
+#define TETTA_CALC_DEF {0,0,0,0,0}
+
+extern TETTA_CALC tetta_calc;
+
+extern PIDREG3 pidTetta;
+#endif //TETA_CALC
+
diff --git a/Inu/Src2/main/IQmathLib.c b/Inu/Src2/main/IQmathLib.c
new file mode 100644
index 0000000..5720d7e
--- /dev/null
+++ b/Inu/Src2/main/IQmathLib.c
@@ -0,0 +1,182 @@
+#include "IQmathLib.h"
+
+
+// Преобразование числа с плавающей точкой в число с фиксированной точкой
+#define float_to_fixed(A) (long)((A)*(1 << (GLOBAL_Q)) + (A > 0 ? 0.5: -0.5))
+// Преобразование числа с плавающей точкой в число с фиксированной точкой с выбором числа бит, отдаваемых под дробную часть
+#define float_to_fixed_base_select(A, F_BITS) (long)((A)*(1 << (F_BITS)) + (A > 0 ? 0.5: -0.5))
+// Преобразование целого числа в число с фиксированной точкой
+#define int_to_fixed(A) (long)((A) << (GLOBAL_Q))
+// Преобразование целого числа в число с фиксированной точкой с выбором числа бит, отдаваемых под дробную часть
+#define int_to_fixed_base_select(A, F_BITS) (long)((A) << (F_BITS))
+//Преобразование числа с фиксированной точкой в число с плавающей точкой
+#define fixed_to_float(A) ((double)A / (1 << GLOBAL_Q))
+//Перобразование числа с фиксированной точкой в целое число
+#define fixed_to_int(A) ((int)(A >> GLOBAL_Q) )
+
+
+long multiply(long x, long y)
+{
+ long long z = (long long)x * (long long)y;
+ return (long)(z >> GLOBAL_Q);
+}
+//служебная функция. Умножает числа с 27 битами, отданными под дробную часть
+static inline long multiply_27(long x, long y)
+{
+ long long z = (long long)x * (long long)y;
+ return z & 0x4000000 ? (long)(z >> 27) + 1 : (long)(z >> 27);
+}
+
+long long multiply_fixed_base_select(long long x, long long y, int base)
+{
+ long long z = (long long)x * (long long)y;
+ return z & (1 << base) ? (z >> base) + 1 : (z >> base);
+}
+
+long divide(long num, long den)
+{
+ long long numLong = (long long)num;
+ long long quotient = (numLong << GLOBAL_Q) / den;
+ return (long)quotient;
+}
+//
+static inline long long divide_fixed_base_select(long long num, long long den, int base)
+{
+ long long quotient = ((long long)num << base) / den;
+ return quotient;
+}
+
+#define div_def(A,B) (long)(((long long)(A) << 24)/(B))
+#define div_mod(A,B) (A)%(B)
+#define mult_def(A,B) (long)((((long long)(A))*((long long)(B))) >> 24)
+#define abs_def(A) ((A) > 0 ? (A): -(A))
+
+long sin_fixed(long x)
+{
+ //Константы сделал ститическими, что бы они вычислялись во время запуска программы, а не исполнения
+ static long FIXED_2PI = float_to_fixed(TWO_PI);
+ static long FIXED_PI = float_to_fixed(PI);
+ static long FIXED_PIna2 = float_to_fixed(PI_2);
+ //Здесть так же что бы не производить операции деления посчитал констаны ряда Тейлора
+ static long one_110 = float_to_fixed_base_select(1./110, 27);
+ static long one_72 = float_to_fixed_base_select(1./72, 27);
+ static long one_42 = float_to_fixed_base_select(1./42, 27);
+ static long one_20= float_to_fixed_base_select(1./20, 27);
+ static long one_6 = float_to_fixed_base_select(1./6, 27);
+
+ long long xx, tmp ;
+ while(x >= FIXED_2PI) { x -= FIXED_2PI;} //Помещаю аргумент в диапазон 2 ПИ
+ while(x <= -FIXED_2PI) { x += FIXED_2PI;}
+ //Так как ряды быстрее сходнятся при малых значениях, помещаю значение аргумента
+ //в ближайшие к нулю области
+ if(x > FIXED_PI)
+ {
+ x -= FIXED_2PI;
+ }
+ else if(x < -FIXED_PI)
+ {
+ x += FIXED_2PI;
+ }
+ if(x < -FIXED_PIna2)
+ {
+ x = -FIXED_PI - x;
+ }
+ else if(x > FIXED_PIna2)
+ {
+ x = FIXED_PI - x;
+ }
+ //проверяю угол на значения, при которых синус раве 0 или 1
+ if(x == 0) return 0;
+ if(x == FIXED_PIna2) return int_to_fixed(1);
+ if(x == -FIXED_PIna2) return int_to_fixed(-1);
+ //Перевожу в формат с максимальной точностью для возможного дипазано значений
+ x <<= (27 - GLOBAL_Q);
+ //Считаю ряд фурье
+ xx = multiply_27(x, x);
+ tmp = ONE_27 - multiply_27(one_110, xx);
+ tmp = multiply_27(xx, tmp);
+ tmp = ONE_27 - multiply_27(tmp, one_72);
+ tmp = multiply_27(xx, tmp);
+ tmp = ONE_27 - multiply_27(tmp, one_42);
+ tmp = multiply_27(xx, tmp);
+ tmp = ONE_27 - multiply_27(tmp, one_20);
+ tmp = multiply_27(xx, tmp);
+ tmp = ONE_27 - multiply_27(tmp, one_6);
+ tmp = multiply_27(x, tmp);
+ return tmp >> (27 - GLOBAL_Q); //Перед возвращением из функции преобразую в первоначальный формат
+}
+
+long cos_fixed(long x)
+{
+ //Константы сделал ститическими, что бы они вычислялись во время запуска программы, а не исполнения
+ static long FIXED_2PI = float_to_fixed(TWO_PI);
+ static long FIXED_PI = float_to_fixed(PI);
+ static long FIXED_PIna2 = float_to_fixed(PI_2);
+ //Здесть так же что бы не производить операции деления посчитал констаны ряда Тейлора
+ static long one_132 = float_to_fixed_base_select(1./132, 27);
+ static long one_90 = float_to_fixed_base_select(1./90, 27);
+ static long one_56 = float_to_fixed_base_select(1./56, 27);
+ static long one_30 = float_to_fixed_base_select(1./30, 27);
+ static long one_12 = float_to_fixed_base_select(1./12, 27);
+
+ long xx, tmp, counter = 0;
+ while(x >= FIXED_2PI) { x -= FIXED_2PI;} //Помещаю аргумент в диапазон 2 ПИ
+ while(x < 0) { x += FIXED_2PI;}
+ x = _IQabs(x); //Так как косинус симметричен относительно нуля, нахожу его модуль
+ //проверяю угол на значения, при которых синус раве 0 или 1
+ if(x == 0) return 1 << GLOBAL_Q;
+ if(x == FIXED_PI) return -(1 << GLOBAL_Q);
+ if(x == (FIXED_PIna2) || (x == FIXED_3PIna2))return 0;
+ //Так как ряды быстрее сходнятся при малых значениях, помещаю значение аргумента
+ //в ближайшие к нулю области
+ while(x > FIXED_PIna2)
+ {
+ x -= FIXED_PIna2;
+ counter++;
+ }
+
+ if(counter == 1 || counter == 3) { x = FIXED_PIna2 - x;}
+ //Перевожу в формат с максимальной точностью для возможного дипазона значений
+ x <<= (27 - GLOBAL_Q);
+ //Считаю ряд фурье
+ xx = multiply_27(x, x);
+ tmp = ONE_27 - multiply_27(xx, one_132);
+ tmp= multiply_27(xx, tmp);
+ tmp = ONE_27 - multiply_27(xx, one_90);
+ tmp= multiply_27(xx, tmp);
+ tmp = ONE_27 - multiply_27(tmp, one_56);
+ tmp = multiply_27(xx, tmp);
+ tmp = ONE_27 - multiply_27(tmp, one_30);
+ tmp = multiply_27(xx, tmp);
+ tmp = ONE_27 - multiply_27(tmp, one_12);
+ tmp = multiply_27(xx, tmp);
+ tmp = ONE_27 - (tmp >> 1);
+ tmp >>= (27 - GLOBAL_Q);
+ return (counter == 0) || (counter == 3) ? tmp : -tmp;
+}
+
+long sqrt_fixed(long x)
+{
+ int variable_size_bits = sizeof(x) << 3;
+ long average_val, prev_avg_val;
+ if(x <= 0) return 0;
+ while(!(x & (1 << --variable_size_bits))); //Нахожу старший значащий бит
+ //Нахожу приближение корня сдвгом на половину числа бит между старшим значащим битом
+ //и положением точки
+ if(variable_size_bits > GLOBAL_Q)
+ {
+ average_val = x >> ((variable_size_bits - GLOBAL_Q) >> 1);
+ }
+ else
+ {
+ average_val = x << ((GLOBAL_Q - variable_size_bits) >> 1);
+ }
+ prev_avg_val = divide(x, average_val); //Нахожу 1/А
+ //В цикле нахожу среднее арифметическое между А и 1/А, пока число не перестанет меняться
+ while(_IQabs(prev_avg_val - average_val) > 1)
+ {
+ prev_avg_val = average_val;
+ average_val = (average_val + divide(x, average_val)) >> 1;
+ }
+ return average_val;
+}
diff --git a/Inu/Src2/main/IQmathLib.h b/Inu/Src2/main/IQmathLib.h
new file mode 100644
index 0000000..0e52bad
--- /dev/null
+++ b/Inu/Src2/main/IQmathLib.h
@@ -0,0 +1,661 @@
+/**
+* ��������� ���������� IQmath ��� ������������ � MATLAB
+*
+*/
+#ifndef IQ_MATH_LIB
+#define IQ_MATH_LIB
+
+
+#ifndef GLOBAL_Q
+#define GLOBAL_Q 24
+#endif
+
+typedef long _iq;
+typedef long _iq30;
+typedef long _iq29;
+typedef long _iq28;
+typedef long _iq27;
+typedef long _iq26;
+typedef long _iq25;
+typedef long _iq24;
+typedef long _iq23;
+typedef long _iq22;
+typedef long _iq21;
+typedef long _iq20;
+typedef long _iq19;
+typedef long _iq18;
+typedef long _iq17;
+typedef long _iq16;
+typedef long _iq15;
+typedef long _iq14;
+typedef long _iq13;
+typedef long _iq12;
+typedef long _iq11;
+typedef long _iq10;
+typedef long _iq9;
+typedef long _iq8;
+typedef long _iq7;
+typedef long _iq6;
+typedef long _iq5;
+typedef long _iq4;
+typedef long _iq3;
+typedef long _iq2;
+typedef long _iq1;
+
+//---------------------------------------------------------------------------
+#define _IQmpy2(A) ((A)<<1)
+#define _IQmpy4(A) ((A)<<2)
+#define _IQmpy8(A) ((A)<<3)
+#define _IQmpy16(A) ((A)<<4)
+#define _IQmpy32(A) ((A)<<5)
+#define _IQmpy64(A) ((A)<<6)
+
+#define _IQdiv2(A) ((A)>>1)
+#define _IQdiv4(A) ((A)>>2)
+#define _IQdiv8(A) ((A)>>3)
+#define _IQdiv16(A) ((A)>>4)
+#define _IQdiv32(A) ((A)>>5)
+#define _IQdiv64(A) ((A)>>6)
+//---------------------------------------------------------------------------
+#define _IQ30(A) (long) ((A) * 1073741824.0L)
+#define _IQ29(A) (long) ((A) * 536870912.0L)
+#define _IQ28(A) (long) ((A) * 268435456.0L)
+#define _IQ27(A) (long) ((A) * 134217728.0L)
+#define _IQ26(A) (long) ((A) * 67108864.0L)
+#define _IQ25(A) (long) ((A) * 33554432.0L)
+#define _IQ24(A) (long) ((A) * 16777216.0L)
+#define _IQ23(A) (long) ((A) * 8388608.0L)
+#define _IQ22(A) (long) ((A) * 4194304.0L)
+#define _IQ21(A) (long) ((A) * 2097152.0L)
+#define _IQ20(A) (long) ((A) * 1048576.0L)
+#define _IQ19(A) (long) ((A) * 524288.0L)
+#define _IQ18(A) (long) ((A) * 262144.0L)
+#define _IQ17(A) (long) ((A) * 131072.0L)
+#define _IQ16(A) (long) ((A) * 65536.0L)
+#define _IQ15(A) (long) ((A) * 32768.0L)
+#define _IQ14(A) (long) ((A) * 16384.0L)
+#define _IQ13(A) (long) ((A) * 8192.0L)
+#define _IQ12(A) (long) ((A) * 4096.0L)
+#define _IQ11(A) (long) ((A) * 2048.0L)
+#define _IQ10(A) (long) ((A) * 1024.0L)
+#define _IQ9(A) (long) ((A) * 512.0L)
+#define _IQ8(A) (long) ((A) * 256.0L)
+#define _IQ7(A) (long) ((A) * 128.0L)
+#define _IQ6(A) (long) ((A) * 64.0L)
+#define _IQ5(A) (long) ((A) * 32.0L)
+#define _IQ4(A) (long) ((A) * 16.0L)
+#define _IQ3(A) (long) ((A) * 8.0L)
+#define _IQ2(A) (long) ((A) * 4.0L)
+#define _IQ1(A) (long) ((A) * 2.0L)
+
+#if GLOBAL_Q == 30
+#define _IQ(A) _IQ30(A)
+#endif
+#if GLOBAL_Q == 29
+#define _IQ(A) _IQ29(A)
+#endif
+#if GLOBAL_Q == 28
+#define _IQ(A) _IQ28(A)
+#endif
+#if GLOBAL_Q == 27
+#define _IQ(A) _IQ27(A)
+#endif
+#if GLOBAL_Q == 26
+#define _IQ(A) _IQ26(A)
+#endif
+#if GLOBAL_Q == 25
+#define _IQ(A) _IQ25(A)
+#endif
+#if GLOBAL_Q == 24
+#define _IQ(A) _IQ24(A)
+#endif
+#if GLOBAL_Q == 23
+#define _IQ(A) _IQ23(A)
+#endif
+#if GLOBAL_Q == 22
+#define _IQ(A) _IQ22(A)
+#endif
+#if GLOBAL_Q == 21
+#define _IQ(A) _IQ21(A)
+#endif
+#if GLOBAL_Q == 20
+#define _IQ(A) _IQ20(A)
+#endif
+#if GLOBAL_Q == 19
+#define _IQ(A) _IQ19(A)
+#endif
+#if GLOBAL_Q == 18
+#define _IQ(A) _IQ18(A)
+#endif
+#if GLOBAL_Q == 17
+#define _IQ(A) _IQ17(A)
+#endif
+#if GLOBAL_Q == 16
+#define _IQ(A) _IQ16(A)
+#endif
+#if GLOBAL_Q == 15
+#define _IQ(A) _IQ15(A)
+#endif
+#if GLOBAL_Q == 14
+#define _IQ(A) _IQ14(A)
+#endif
+#if GLOBAL_Q == 13
+#define _IQ(A) _IQ13(A)
+#endif
+#if GLOBAL_Q == 12
+#define _IQ(A) _IQ12(A)
+#endif
+#if GLOBAL_Q == 11
+#define _IQ(A) _IQ11(A)
+#endif
+#if GLOBAL_Q == 10
+#define _IQ(A) _IQ10(A)
+#endif
+#if GLOBAL_Q == 9
+#define _IQ(A) _IQ9(A)
+#endif
+#if GLOBAL_Q == 8
+#define _IQ(A) _IQ8(A)
+#endif
+#if GLOBAL_Q == 7
+#define _IQ(A) _IQ7(A)
+#endif
+#if GLOBAL_Q == 6
+#define _IQ(A) _IQ6(A)
+#endif
+#if GLOBAL_Q == 5
+#define _IQ(A) _IQ5(A)
+#endif
+#if GLOBAL_Q == 4
+#define _IQ(A) _IQ4(A)
+#endif
+#if GLOBAL_Q == 3
+#define _IQ(A) _IQ3(A)
+#endif
+#if GLOBAL_Q == 2
+#define _IQ(A) _IQ2(A)
+#endif
+#if GLOBAL_Q == 1
+#define _IQ(A) _IQ1(A)
+#endif
+
+//---------------------------------------------------------------------------
+
+#define _IQ30toF(A) ((float) ((A) / 1073741824.0L))
+#define _IQ29toF(A) ((float) ((A) / 536870912.0L))
+#define _IQ28toF(A) ((float) ((A) / 268435456.0L))
+#define _IQ27toF(A) ((float) ((A) / 134217728.0L))
+#define _IQ26toF(A) ((float) ((A) / 67108864.0L))
+#define _IQ25toF(A) ((float) ((A) / 33554432.0L))
+#define _IQ24toF(A) ((float) ((A) / 16777216.0L))
+#define _IQ23toF(A) ((float) ((A) / 8388608.0L))
+#define _IQ22toF(A) ((float) ((A) / 4194304.0L))
+#define _IQ21toF(A) ((float) ((A) / 2097152.0L))
+#define _IQ20toF(A) ((float) ((A) / 1048576.0L))
+#define _IQ19toF(A) ((float) ((A) / 524288.0L))
+#define _IQ18toF(A) ((float) ((A) / 262144.0L))
+#define _IQ17toF(A) ((float) ((A) / 131072.0L))
+#define _IQ16toF(A) ((float) ((A) / 65536.0L))
+#define _IQ15toF(A) ((float) ((A) / 32768.0L))
+#define _IQ14toF(A) ((float) ((A) / 16384.0L))
+#define _IQ13toF(A) ((float) ((A) / 8192.0L))
+#define _IQ12toF(A) ((float) ((A) / 4096.0L))
+#define _IQ11toF(A) ((float) ((A) / 2048.0L))
+#define _IQ10toF(A) ((float) ((A) / 1024.0L))
+#define _IQ9toF(A) ((float) ((A) / 512.0L))
+#define _IQ8toF(A) ((float) ((A) / 256.0L))
+#define _IQ7toF(A) ((float) ((A) / 128.0L))
+#define _IQ6toF(A) ((float) ((A) / 64.0L))
+#define _IQ5toF(A) ((float) ((A) / 32.0L))
+#define _IQ4toF(A) ((float) ((A) / 16.0L))
+#define _IQ3toF(A) ((float) ((A) / 8.0L))
+#define _IQ2toF(A) ((float) ((A) / 4.0L))
+#define _IQ1toF(A) ((float) ((A) / 2.0L))
+
+#if GLOBAL_Q == 30
+#define _IQtoF(A) _IQ30toF(A)
+#endif
+#if GLOBAL_Q == 29
+#define _IQtoF(A) _IQ29toF(A)
+#endif
+#if GLOBAL_Q == 28
+#define _IQtoF(A) _IQ28toF(A)
+#endif
+#if GLOBAL_Q == 27
+#define _IQtoF(A) _IQ27toF(A)
+#endif
+#if GLOBAL_Q == 26
+#define _IQtoF(A) _IQ26toF(A)
+#endif
+#if GLOBAL_Q == 25
+#define _IQtoF(A) _IQ25toF(A)
+#endif
+#if GLOBAL_Q == 24
+#define _IQtoF(A) _IQ24toF(A)
+#endif
+#if GLOBAL_Q == 23
+#define _IQtoF(A) _IQ23toF(A)
+#endif
+#if GLOBAL_Q == 22
+#define _IQtoF(A) _IQ22toF(A)
+#endif
+#if GLOBAL_Q == 21
+#define _IQtoF(A) _IQ21toF(A)
+#endif
+#if GLOBAL_Q == 20
+#define _IQtoF(A) _IQ20toF(A)
+#endif
+#if GLOBAL_Q == 19
+#define _IQtoF(A) _IQ19toF(A)
+#endif
+#if GLOBAL_Q == 18
+#define _IQtoF(A) _IQ18toF(A)
+#endif
+#if GLOBAL_Q == 17
+#define _IQtoF(A) _IQ17toF(A)
+#endif
+#if GLOBAL_Q == 16
+#define _IQtoF(A) _IQ16toF(A)
+#endif
+#if GLOBAL_Q == 15
+#define _IQtoF(A) _IQ15toF(A)
+#endif
+#if GLOBAL_Q == 14
+#define _IQtoF(A) _IQ14toF(A)
+#endif
+#if GLOBAL_Q == 13
+#define _IQtoF(A) _IQ13toF(A)
+#endif
+#if GLOBAL_Q == 12
+#define _IQtoF(A) _IQ12toF(A)
+#endif
+#if GLOBAL_Q == 11
+#define _IQtoF(A) _IQ11toF(A)
+#endif
+#if GLOBAL_Q == 10
+#define _IQtoF(A) _IQ10toF(A)
+#endif
+#if GLOBAL_Q == 9
+#define _IQtoF(A) _IQ9toF(A)
+#endif
+#if GLOBAL_Q == 8
+#define _IQtoF(A) _IQ8toF(A)
+#endif
+#if GLOBAL_Q == 7
+#define _IQtoF(A) _IQ7toF(A)
+#endif
+#if GLOBAL_Q == 6
+#define _IQtoF(A) _IQ6toF(A)
+#endif
+#if GLOBAL_Q == 5
+#define _IQtoF(A) _IQ5toF(A)
+#endif
+#if GLOBAL_Q == 4
+#define _IQtoF(A) _IQ4toF(A)
+#endif
+#if GLOBAL_Q == 3
+#define _IQtoF(A) _IQ3toF(A)
+#endif
+#if GLOBAL_Q == 2
+#define _IQtoF(A) _IQ2toF(A)
+#endif
+#if GLOBAL_Q == 1
+#define _IQtoF(A) _IQ1toF(A)
+#endif
+
+#define _IQsat(A, Pos, Neg) ((A > Pos) ? Pos : (A < Neg) ? Neg : A)
+//---------------------------------------------------------------------------
+#define _IQtoIQ30(A) ((long) (A) << (30 - GLOBAL_Q))
+#define _IQ30toIQ(A) ((long) (A) >> (30 - GLOBAL_Q))
+
+#if (GLOBAL_Q >= 29)
+#define _IQtoIQ29(A) ((long) (A) >> (GLOBAL_Q - 29))
+#define _IQ29toIQ(A) ((long) (A) << (GLOBAL_Q - 29))
+#else
+#define _IQtoIQ29(A) ((long) (A) << (29 - GLOBAL_Q))
+#define _IQ29toIQ(A) ((long) (A) >> (29 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 28)
+#define _IQtoIQ28(A) ((long) (A) >> (GLOBAL_Q - 28))
+#define _IQ28toIQ(A) ((long) (A) << (GLOBAL_Q - 28))
+#else
+#define _IQtoIQ28(A) ((long) (A) << (28 - GLOBAL_Q))
+#define _IQ28toIQ(A) ((long) (A) >> (28 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 27)
+#define _IQtoIQ27(A) ((long) (A) >> (GLOBAL_Q - 27))
+#define _IQ27toIQ(A) ((long) (A) << (GLOBAL_Q - 27))
+#else
+#define _IQtoIQ27(A) ((long) (A) << (27 - GLOBAL_Q))
+#define _IQ27toIQ(A) ((long) (A) >> (27 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 26)
+#define _IQtoIQ26(A) ((long) (A) >> (GLOBAL_Q - 26))
+#define _IQ26toIQ(A) ((long) (A) << (GLOBAL_Q - 26))
+#else
+#define _IQtoIQ26(A) ((long) (A) << (26 - GLOBAL_Q))
+#define _IQ26toIQ(A) ((long) (A) >> (26 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 25)
+#define _IQtoIQ25(A) ((long) (A) >> (GLOBAL_Q - 25))
+#define _IQ25toIQ(A) ((long) (A) << (GLOBAL_Q - 25))
+#else
+#define _IQtoIQ25(A) ((long) (A) << (25 - GLOBAL_Q))
+#define _IQ25toIQ(A) ((long) (A) >> (25 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 24)
+#define _IQtoIQ24(A) ((long) (A) >> (GLOBAL_Q - 24))
+#define _IQ24toIQ(A) ((long) (A) << (GLOBAL_Q - 24))
+#else
+#define _IQtoIQ24(A) ((long) (A) << (24 - GLOBAL_Q))
+#define _IQ24toIQ(A) ((long) (A) >> (24 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 23)
+#define _IQtoIQ23(A) ((long) (A) >> (GLOBAL_Q - 23))
+#define _IQ23toIQ(A) ((long) (A) << (GLOBAL_Q - 23))
+#else
+#define _IQtoIQ23(A) ((long) (A) << (23 - GLOBAL_Q))
+#define _IQ23toIQ(A) ((long) (A) >> (23 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 22)
+#define _IQtoIQ22(A) ((long) (A) >> (GLOBAL_Q - 22))
+#define _IQ22toIQ(A) ((long) (A) << (GLOBAL_Q - 22))
+#else
+#define _IQtoIQ22(A) ((long) (A) << (22 - GLOBAL_Q))
+#define _IQ22toIQ(A) ((long) (A) >> (22 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 21)
+#define _IQtoIQ21(A) ((long) (A) >> (GLOBAL_Q - 21))
+#define _IQ21toIQ(A) ((long) (A) << (GLOBAL_Q - 21))
+#else
+#define _IQtoIQ21(A) ((long) (A) << (21 - GLOBAL_Q))
+#define _IQ21toIQ(A) ((long) (A) >> (21 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 20)
+#define _IQtoIQ20(A) ((long) (A) >> (GLOBAL_Q - 20))
+#define _IQ20toIQ(A) ((long) (A) << (GLOBAL_Q - 20))
+#else
+#define _IQtoIQ20(A) ((long) (A) << (20 - GLOBAL_Q))
+#define _IQ20toIQ(A) ((long) (A) >> (20 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 19)
+#define _IQtoIQ19(A) ((long) (A) >> (GLOBAL_Q - 19))
+#define _IQ19toIQ(A) ((long) (A) << (GLOBAL_Q - 19))
+#else
+#define _IQtoIQ19(A) ((long) (A) << (19 - GLOBAL_Q))
+#define _IQ19toIQ(A) ((long) (A) >> (19 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 18)
+#define _IQtoIQ18(A) ((long) (A) >> (GLOBAL_Q - 18))
+#define _IQ18toIQ(A) ((long) (A) << (GLOBAL_Q - 18))
+#else
+#define _IQtoIQ18(A) ((long) (A) << (18 - GLOBAL_Q))
+#define _IQ18toIQ(A) ((long) (A) >> (18 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 17)
+#define _IQtoIQ17(A) ((long) (A) >> (GLOBAL_Q - 17))
+#define _IQ17toIQ(A) ((long) (A) << (GLOBAL_Q - 17))
+#else
+#define _IQtoIQ17(A) ((long) (A) << (17 - GLOBAL_Q))
+#define _IQ17toIQ(A) ((long) (A) >> (17 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 16)
+#define _IQtoIQ16(A) ((long) (A) >> (GLOBAL_Q - 16))
+#define _IQ16toIQ(A) ((long) (A) << (GLOBAL_Q - 16))
+#else
+#define _IQtoIQ16(A) ((long) (A) << (16 - GLOBAL_Q))
+#define _IQ16toIQ(A) ((long) (A) >> (16 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 15)
+#define _IQtoIQ15(A) ((long) (A) >> (GLOBAL_Q - 15))
+#define _IQ15toIQ(A) ((long) (A) << (GLOBAL_Q - 15))
+#define _IQtoQ15(A) ((long) (A) >> (GLOBAL_Q - 15))
+#define _Q15toIQ(A) ((long) (A) << (GLOBAL_Q - 15))
+#else
+#define _IQtoIQ15(A) ((long) (A) << (15 - GLOBAL_Q))
+#define _IQ15toIQ(A) ((long) (A) >> (15 - GLOBAL_Q))
+#define _IQtoQ15(A) ((long) (A) << (15 - GLOBAL_Q))
+#define _Q15toIQ(A) ((long) (A) >> (15 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 14)
+#define _IQtoIQ14(A) ((long) (A) >> (GLOBAL_Q - 14))
+#define _IQ14toIQ(A) ((long) (A) << (GLOBAL_Q - 14))
+#define _IQtoQ14(A) ((long) (A) >> (GLOBAL_Q - 14))
+#define _Q14toIQ(A) ((long) (A) << (GLOBAL_Q - 14))
+#else
+#define _IQtoIQ14(A) ((long) (A) << (14 - GLOBAL_Q))
+#define _IQ14toIQ(A) ((long) (A) >> (14 - GLOBAL_Q))
+#define _IQtoQ14(A) ((long) (A) << (14 - GLOBAL_Q))
+#define _Q14toIQ(A) ((long) (A) >> (14 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 13)
+#define _IQtoIQ13(A) ((long) (A) >> (GLOBAL_Q - 13))
+#define _IQ13toIQ(A) ((long) (A) << (GLOBAL_Q - 13))
+#define _IQtoQ13(A) ((long) (A) >> (GLOBAL_Q - 13))
+#define _Q13toIQ(A) ((long) (A) << (GLOBAL_Q - 13))
+#else
+#define _IQtoIQ13(A) ((long) (A) << (13 - GLOBAL_Q))
+#define _IQ13toIQ(A) ((long) (A) >> (13 - GLOBAL_Q))
+#define _IQtoQ13(A) ((long) (A) << (13 - GLOBAL_Q))
+#define _Q13toIQ(A) ((long) (A) >> (13 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 12)
+#define _IQtoIQ12(A) ((long) (A) >> (GLOBAL_Q - 12))
+#define _IQ12toIQ(A) ((long) (A) << (GLOBAL_Q - 12))
+#define _IQtoQ12(A) ((long) (A) >> (GLOBAL_Q - 12))
+#define _Q12toIQ(A) ((long) (A) << (GLOBAL_Q - 12))
+#else
+#define _IQtoIQ12(A) ((long) (A) << (12 - GLOBAL_Q))
+#define _IQ12toIQ(A) ((long) (A) >> (12 - GLOBAL_Q))
+#define _IQtoQ12(A) ((long) (A) << (12 - GLOBAL_Q))
+#define _Q12toIQ(A) ((long) (A) >> (12 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 11)
+#define _IQtoIQ11(A) ((long) (A) >> (GLOBAL_Q - 11))
+#define _IQ11toIQ(A) ((long) (A) << (GLOBAL_Q - 11))
+#define _IQtoQ11(A) ((long) (A) >> (GLOBAL_Q - 11))
+#define _Q11toIQ(A) ((long) (A) << (GLOBAL_Q - 11))
+#else
+#define _IQtoIQ11(A) ((long) (A) << (11 - GLOBAL_Q))
+#define _IQ11toIQ(A) ((long) (A) >> (11 - GLOBAL_Q))
+#define _IQtoQ11(A) ((long) (A) << (11 - GLOBAL_Q))
+#define _Q11toIQ(A) ((long) (A) >> (11 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 10)
+#define _IQtoIQ10(A) ((long) (A) >> (GLOBAL_Q - 10))
+#define _IQ10toIQ(A) ((long) (A) << (GLOBAL_Q - 10))
+#define _IQtoQ10(A) ((long) (A) >> (GLOBAL_Q - 10))
+#define _Q10toIQ(A) ((long) (A) << (GLOBAL_Q - 10))
+#else
+#define _IQtoIQ10(A) ((long) (A) << (10 - GLOBAL_Q))
+#define _IQ10toIQ(A) ((long) (A) >> (10 - GLOBAL_Q))
+#define _IQtoQ10(A) ((long) (A) << (10 - GLOBAL_Q))
+#define _Q10toIQ(A) ((long) (A) >> (10 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 9)
+#define _IQtoIQ9(A) ((long) (A) >> (GLOBAL_Q - 9))
+#define _IQ9toIQ(A) ((long) (A) << (GLOBAL_Q - 9))
+#define _IQtoQ9(A) ((long) (A) >> (GLOBAL_Q - 9))
+#define _Q9toIQ(A) ((long) (A) << (GLOBAL_Q - 9))
+#else
+#define _IQtoIQ9(A) ((long) (A) << (9 - GLOBAL_Q))
+#define _IQ9toIQ(A) ((long) (A) >> (9 - GLOBAL_Q))
+#define _IQtoQ9(A) ((long) (A) << (9 - GLOBAL_Q))
+#define _Q9toIQ(A) ((long) (A) >> (9 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 8)
+#define _IQtoIQ8(A) ((long) (A) >> (GLOBAL_Q - 8))
+#define _IQ8toIQ(A) ((long) (A) << (GLOBAL_Q - 8))
+#define _IQtoQ8(A) ((long) (A) >> (GLOBAL_Q - 8))
+#define _Q8toIQ(A) ((long) (A) << (GLOBAL_Q - 8))
+#else
+#define _IQtoIQ8(A) ((long) (A) << (8 - GLOBAL_Q))
+#define _IQ8toIQ(A) ((long) (A) >> (8 - GLOBAL_Q))
+#define _IQtoQ8(A) ((long) (A) << (8 - GLOBAL_Q))
+#define _Q8toIQ(A) ((long) (A) >> (8 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 7)
+#define _IQtoIQ7(A) ((long) (A) >> (GLOBAL_Q - 7))
+#define _IQ7toIQ(A) ((long) (A) << (GLOBAL_Q - 7))
+#define _IQtoQ7(A) ((long) (A) >> (GLOBAL_Q - 7))
+#define _Q7toIQ(A) ((long) (A) << (GLOBAL_Q - 7))
+#else
+#define _IQtoIQ7(A) ((long) (A) << (7 - GLOBAL_Q))
+#define _IQ7toIQ(A) ((long) (A) >> (7 - GLOBAL_Q))
+#define _IQtoQ7(A) ((long) (A) << (7 - GLOBAL_Q))
+#define _Q7toIQ(A) ((long) (A) >> (7 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 6)
+#define _IQtoIQ6(A) ((long) (A) >> (GLOBAL_Q - 6))
+#define _IQ6toIQ(A) ((long) (A) << (GLOBAL_Q - 6))
+#define _IQtoQ6(A) ((long) (A) >> (GLOBAL_Q - 6))
+#define _Q6toIQ(A) ((long) (A) << (GLOBAL_Q - 6))
+#else
+#define _IQtoIQ6(A) ((long) (A) << (6 - GLOBAL_Q))
+#define _IQ6toIQ(A) ((long) (A) >> (6 - GLOBAL_Q))
+#define _IQtoQ6(A) ((long) (A) << (6 - GLOBAL_Q))
+#define _Q6toIQ(A) ((long) (A) >> (6 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 5)
+#define _IQtoIQ5(A) ((long) (A) >> (GLOBAL_Q - 5))
+#define _IQ5toIQ(A) ((long) (A) << (GLOBAL_Q - 5))
+#define _IQtoQ5(A) ((long) (A) >> (GLOBAL_Q - 5))
+#define _Q5toIQ(A) ((long) (A) << (GLOBAL_Q - 5))
+#else
+#define _IQtoIQ5(A) ((long) (A) << (5 - GLOBAL_Q))
+#define _IQ5toIQ(A) ((long) (A) >> (5 - GLOBAL_Q))
+#define _IQtoQ5(A) ((long) (A) << (5 - GLOBAL_Q))
+#define _Q5toIQ(A) ((long) (A) >> (5 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 4)
+#define _IQtoIQ4(A) ((long) (A) >> (GLOBAL_Q - 4))
+#define _IQ4toIQ(A) ((long) (A) << (GLOBAL_Q - 4))
+#define _IQtoQ4(A) ((long) (A) >> (GLOBAL_Q - 4))
+#define _Q4toIQ(A) ((long) (A) << (GLOBAL_Q - 4))
+#else
+#define _IQtoIQ4(A) ((long) (A) << (4 - GLOBAL_Q))
+#define _IQ4toIQ(A) ((long) (A) >> (4 - GLOBAL_Q))
+#define _IQtoQ4(A) ((long) (A) << (4 - GLOBAL_Q))
+#define _Q4toIQ(A) ((long) (A) >> (4 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 3)
+#define _IQtoIQ3(A) ((long) (A) >> (GLOBAL_Q - 3))
+#define _IQ3toIQ(A) ((long) (A) << (GLOBAL_Q - 3))
+#define _IQtoQ3(A) ((long) (A) >> (GLOBAL_Q - 3))
+#define _Q3toIQ(A) ((long) (A) << (GLOBAL_Q - 3))
+#else
+#define _IQtoIQ3(A) ((long) (A) << (3 - GLOBAL_Q))
+#define _IQ3toIQ(A) ((long) (A) >> (3 - GLOBAL_Q))
+#define _IQtoQ3(A) ((long) (A) << (3 - GLOBAL_Q))
+#define _Q3toIQ(A) ((long) (A) >> (3 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 2)
+#define _IQtoIQ2(A) ((long) (A) >> (GLOBAL_Q - 2))
+#define _IQ2toIQ(A) ((long) (A) << (GLOBAL_Q - 2))
+#define _IQtoQ2(A) ((long) (A) >> (GLOBAL_Q - 2))
+#define _Q2toIQ(A) ((long) (A) << (GLOBAL_Q - 2))
+#else
+#define _IQtoIQ2(A) ((long) (A) << (2 - GLOBAL_Q))
+#define _IQ2toIQ(A) ((long) (A) >> (2 - GLOBAL_Q))
+#define _IQtoQ2(A) ((long) (A) << (2 - GLOBAL_Q))
+#define _Q2toIQ(A) ((long) (A) >> (2 - GLOBAL_Q))
+#endif
+
+#if (GLOBAL_Q >= 1)
+#define _IQtoQ1(A) ((long) (A) >> (GLOBAL_Q - 1))
+#define _Q1toIQ(A) ((long) (A) << (GLOBAL_Q - 1))
+#else
+#define _IQtoQ1(A) ((long) (A) << (1 - GLOBAL_Q))
+#define _Q1toIQ(A) ((long) (A) >> (1 - GLOBAL_Q))
+#endif
+
+#define _IQtoIQ1(A) ((long) (A) >> (GLOBAL_Q - 1))
+#define _IQ1toIQ(A) ((long) (A) << (GLOBAL_Q - 1))
+
+/////////////////////////////////////////////////////////////
+long multiply(long x, long y);
+long long multiply_fixed_base_select(long long x, long long y, int base);
+long divide(long num, long den);
+long sin_fixed(long x);
+long cos_fixed(long x);
+long sqrt_fixed(long x);
+
+#define _IQabs(A) ((A) > 0 ? (A): -(A))
+#define _IQmpy(A,B) multiply(A,B)
+#define _IQ19mpy(A,B) multiply_fixed_base_select(A,B,19)
+#define _IQdiv(A,B) divide(A,B)
+#define _IQsin(A) sin_fixed(A)
+#define _IQcos(A) cos_fixed(A)
+#define _IQsqrt(A) sqrt_fixed(A)
+
+#define PI 3.1415926535897932384626433832795
+#define PI_2 1.5707963267948966192313216916398
+#define TWO_PI 6.283185307179586476925286766559
+
+#ifndef ONE_24
+#define ONE_24 16777216
+#endif
+#ifndef ONE_27
+#define ONE_27 134217728
+#endif
+#ifndef ONE_28
+#define ONE_28 268435456
+#endif
+
+// #ifndef FIXED_PI
+// #define FIXED_PI 52707179
+// #endif
+
+// #ifndef FIXED_2PI
+// #define FIXED_2PI 105414357
+// #endif
+
+#ifndef FIXED_PI_30
+#define FIXED_PI_30 3373259426
+#endif
+
+#ifndef FIXED_2PI_30
+#define FIXED_2PI_30 6746518852
+#endif
+
+#ifndef FIXED_3PIna2
+#define FIXED_3PIna2 79060768
+#endif
+
+#ifndef FIXED_PIna3
+#define FIXED_PIna3 17569059
+#endif
+
+#ifndef FIXED_PIna6
+#define FIXED_PIna6 8784529
+#endif
+
+
+#endif //IQ_MATH_LIB
diff --git a/Inu/Src2/main/PWMTools.c b/Inu/Src2/main/PWMTools.c
new file mode 100644
index 0000000..561b909
--- /dev/null
+++ b/Inu/Src2/main/PWMTools.c
@@ -0,0 +1,719 @@
+#include <math.h>
+#include <stdlib.h>
+//#include "project.h"
+
+#include "IQmathLib.h"
+//#include "f281xpwm.h"
+//
+////#include "SpaceVectorPWM.h"
+//#include "MemoryFunctions.h"
+//#include "PWMTools.h"
+//#include "pwm_vector_regul.h"
+//#include "PWMTMSHandle.h"
+//#include "TuneUpPlane.h"
+//#include "RS_Functions.h"
+//#include "CAN_setup.h"
+//#include "global_time.h"
+#include "params.h"
+#include "vector.h"
+//#include "rmp_cntl_my1.h"
+//#include "vhzprof.h"
+//#include "adc_tools.h"
+//#include "v_pwm24.h"
+//#include "break_regul.h"
+//#include "break_tools.h"
+//#include "detect_phase.h"
+//#include "mathlib.h"
+//#include "project.h"
+//#include "log_to_memory.h"
+//#include "rotation_speed.h"
+//#include "detect_overload.h"
+//#include "xp_write_xpwm_time.h"
+//#include "errors.h"
+//#include "sync_tools.h"
+//#include "optical_bus.h"
+//#include "IQmathLib.h"
+
+#define DEF_FREQ_PWM_XTICS (3750000 / FREQ_PWM / 2)
+#define DEF_PERIOD_MIN_XTICS 400 //375 ~ 100mks //315 ~ 84 mks //460//(3750000 * mks / 1000000)
+#define DEF_PERIOD_MIN_BR_XTICS 165
+
+#define DEF_FREQ_PWM_XTICS_MIN = 4261
+#define DEF_FREQ_PWM_XTICS_MAX = 4687
+
+#define STOP_ROTOR_LIMIT 27962 //2 rpm
+#define STOP_ROTOR_MIN_CURRENT 4194304 //750A //3355443 //600A
+
+#define K_MODUL_MAX 15770583 //13421772 //80% //10066329 //60% //5033164 //30% 15099494 ~ 90% //15435038 ~ 0.92%
+ //15770583 ~ 0.94%
+#define MIN_Fsl_WHEN_STOPED 41943 //0.05 //67108 //0.08Hz
+
+#define PWM_ONE_INTERRUPT_RUN 1
+#define PWM_TWICE_INTERRUPT_RUN 0
+
+
+//4464
+// ������� ��� � xilinx ����� (60000000 / 16 / FREQ_PWM = 3750000 / FREQ_PWM)
+#pragma DATA_SECTION(VAR_FREQ_PWM_XTICS,".fast_vars1");
+int VAR_FREQ_PWM_XTICS = DEF_FREQ_PWM_XTICS;
+
+// ����������� �������� ���� � xilinx �����
+#pragma DATA_SECTION(VAR_PERIOD_MAX_XTICS,".fast_vars1");
+int VAR_PERIOD_MAX_XTICS = DEF_FREQ_PWM_XTICS - DEF_PERIOD_MIN_XTICS;
+
+// ����������� �������� ���� � xilinx ����� (mintime+deadtime) (F���� * T���.�����.��� = (60 / 16 / 2) * T��� = (60 * T��� / 16 / 2))
+#pragma DATA_SECTION(VAR_PERIOD_MIN_XTICS,".fast_vars1");
+int VAR_PERIOD_MIN_XTICS = DEF_PERIOD_MIN_XTICS;//
+
+// ����������� �������� ���� � xilinx ����� ��� ��������� ������ (mintime) (F���� * T���.�����.��� = (60 / 16 / 2) * T��� = (60 * T��� / 16 / 2))
+#pragma DATA_SECTION(VAR_PERIOD_MIN_BR_XTICS,".fast_vars1");
+int VAR_PERIOD_MIN_BR_XTICS = DEF_PERIOD_MIN_BR_XTICS;//
+
+#pragma DATA_SECTION(freq1,".fast_vars1");
+_iq freq1;
+
+#pragma DATA_SECTION(k1,".fast_vars1");
+_iq k1 = 0;
+
+RMP_MY1 rmp_freq = RMP_MY1_DEFAULTS;
+//VHZPROF vhz1 = VHZPROF_DEFAULTS;
+
+// WINDING a;
+// FLAG f;
+
+#define COUNT_SAVE_LOG_OFF 100 //������� ������ ��� ����������� ����� ���������
+#define COUNT_START_IMP 2
+
+int i = 0;
+/*void InitPWM()
+{
+ WriteMemory(ADR_PWM_MODE_0, 0x0000); //�������� � �������� ��������� ��� TMS
+}*/
+
+static void write_swgen_pwm_times();
+void write_swgen_pwm_times_split_eages(unsigned int mode_reload);
+void fix_pwm_freq_synchro_ain();
+void detect_level_interrupt(void);
+void detect_current_saw_val(void);
+
+void InitXPWM(void)
+{
+
+ #ifdef XPWMGEN
+ /* Start of PWM Generator initialization*/
+ for(i = 0; i < 16; i++) // ��������
+ {
+ WriteMemory(ADR_PWM_KEY_NUMBER, i);
+ WriteMemory(ADR_PWM_TIMING, 0);
+
+ }
+ WriteMemory(ADR_PWM_DIRECT, 0xffff);
+ WriteMemory(ADR_PWM_DRIVE_MODE, 0); //Choose PWM sourse PWMGenerator on Spartan 200e
+ WriteMemory(ADR_PWM_DEAD_TIME, 360); //Dead time in tics. 1 tic = 16.67 nsec
+#ifndef _test_without_power
+ // OFF WDOG
+ WriteMemory(ADR_PWM_WDOG, 0x8005); //TODO turn on
+#else
+ // ON WDOG
+ WriteMemory(ADR_PWM_WDOG, 0x0005); //TODO turn on
+#endif
+ WriteMemory(ADR_PWM_PERIOD, VAR_FREQ_PWM_XTICS); // Saw period in tics. 1 tic = 16.67 nsec
+ WriteMemory(ADR_PWM_SAW_DIRECT, 0x0555);
+ WriteMemory(ADR_TK_MASK_0, 0);
+ WriteMemory(ADR_TK_MASK_1, 0xffff); //Turn off additional 16 tk lines
+#if C_PROJECT_TYPE == PROJECT_BALZAM
+ WriteMemory(ADR_PWM_IT_TYPE, 1); //1 interrupt per PWM period
+#else
+ WriteMemory(ADR_PWM_IT_TYPE, 0); //interrupt on each counter twist
+#endif
+// WriteMemory(ADR_PWM_WDOG, 0x8008);//���������� ������ �� PWM
+ #endif
+
+ #ifdef TMSPWMGEN
+
+ WriteMemory(ADR_PWM_MODE_0, 0x0000); //�������� � �������� ��������� ��� TMS
+
+ #endif
+
+/* End �f PWM Gen init */
+}
+
+void initPWM_Variables(void)
+{
+ //��� ������ ���� �������, ����� ���� ��������� ������, ��� ������ ����
+// xpwm_time.Tclosed_0 = 0;
+// xpwm_time.Tclosed_1 = VAR_FREQ_PWM_XTICS + 1;
+// xpwm_time.pwm_tics = VAR_FREQ_PWM_XTICS;
+// xpwm_time.saw_direct.all = 0;//0x0555;
+// xpwm_time.one_or_two_interrupts_run = PWM_TWICE_INTERRUPT_RUN;
+
+
+ init_alpha_pwm24(VAR_FREQ_PWM_XTICS);
+ InitVariablesSvgen(VAR_FREQ_PWM_XTICS);
+ init_DQ_pid();
+ break_resistor_managment_init();
+
+ rmp_freq.RampLowLimit = _IQ(-4); //0
+ rmp_freq.RampHighLimit = _IQ(4);
+
+ rmp_freq.RampPlus = _IQ(0.00005); //_IQ(0.0002);_IQ(0.000005);
+
+ rmp_freq.RampMinus = _IQ(-0.00005); //_IQ(-0.000005);
+ rmp_freq.DesiredInput = 0;
+ rmp_freq.Out = 0;
+
+ a.k = 0;
+ a.k1 = 0;
+ a.k2 = 0;
+
+ k1 = 0;
+ freq1 = 0;
+}
+
+#pragma CODE_SECTION(start_PWM24,".fast_run2")
+void start_PWM24(int O1, int O2)
+{
+ if ((O1 == 1) && (O2 == 1))
+ {
+ start_pwm();
+ }
+ else
+ {
+ if ((O1 == 0) && (O2 == 1))
+ {
+ start_pwm_b();
+ }
+ if ((O1 == 1) && (O2 == 0))
+ {
+ start_pwm_a();
+ }
+ }
+}
+
+inline void init_regulators()
+{
+ if(f.Mode != 0)
+ {
+ pwm_vector_model_titov(f.iq_p_zad, f.iq_fzad, rotor.direct_rotor,
+ rotor.iqFout, f.Mode, 1, 1);
+ }
+}
+
+#define select_working_channels(go_a, go_b) go_a = !f.Obmotka1; \
+ go_b = !f.Obmotka2;
+
+void PWM_interrupt()
+{
+ static unsigned int pwm_run = 0;
+ static _iq Uzad1, Fzad, Uzad2;
+ static int count_step=0;
+ static int count_step_ram_off = 0;
+ static int count_start_impuls = 0;
+ static int flag_record_log = 0;
+ static int log_saved_to_const_mem = 0;
+ static int prevGo = -1;
+ static volatile unsigned int go_a = 0;
+ static volatile unsigned int go_b = 0;
+
+ static int stop_rotor_counter = 0;
+
+ static int prev_go_a = 1;
+ static int prev_go_b = 1;
+
+ int pwm_enable_calc_main = 0;
+
+ int start_int_xtics = 0, end_int_xtics = 0;
+
+// i_led1_on_off(1);
+ if (pwm_run == 1)
+ {
+// stop_pwm();
+// errors.slow_stop.bit.PWM_interrupt_to_long |= 1;
+ return;
+ }
+ pwm_run = 1;
+
+
+// detect_level_interrupt();
+// start_int_xtics = xpwm_time.current_period;
+ if (xpwm_time.where_interrupt == PWM_LOW_LEVEL_INTERRUPT
+ || xpwm_time.one_or_two_interrupts_run == PWM_ONE_INTERRUPT_RUN)
+ {
+ pwm_enable_calc_main = 1;
+ if (f.flag_second_PCH) {
+ fix_pwm_freq_synchro_ain();
+ }
+ }
+ else {
+// i_sync_pin_on();
+ pwm_enable_calc_main = 0;
+ }
+
+
+// project.cds_in[0].read_pbus(&project.cds_in[0]); //read direction
+// project.read_all_pbus();
+// optical_bus_read();
+
+ update_rot_sensors();
+ global_time.calc(&global_time);
+//
+ inc_RS_timeout_cicle();
+ inc_CAN_timeout_cicle();
+ detect_I_M_overload();
+ DetectI_Out_BreakFase();
+ Rotor_measure();
+
+ if ((f.Go == 1) && (f.Stop == 0)
+ && (f.rotor_stopped == 0)
+// && (faults.faults5.bit.rotor_stopped == 0)
+ /* && (f.Ready2 == 1)*/)
+ {
+ if (f.Ready2) {f.flag_turn_On_Pump = 1;} //�� ��-��� ������
+ if (f.Go != prevGo) {
+ set_start_mem(FAST_LOG);
+// clear_mem(FAST_LOG);
+// count_start_impuls = 0;
+ count_step = 0;
+ count_step_ram_off = COUNT_SAVE_LOG_OFF;
+
+ init_regulators();
+ stop_rotor_counter = 0;
+ } else {
+ if (f.Mode == 0) {
+ rmp_freq.DesiredInput = freq1;
+ rmp_freq.calc(&rmp_freq);
+// Fzad = rmp_freq.Out;
+ Fzad = freq1;
+// if(k1 < 87772)
+// { k1 = 87772;}
+ Uzad1 = k1;
+ Uzad2 = k1;
+ }
+
+ select_working_channels(go_a, go_b);
+
+ if (go_a == 0 && prev_go_a != go_a) {
+ stop_pwm_a();
+ }
+ if (go_a == 1 && prev_go_a != go_a) {
+ start_pwm_a();
+ }
+ if (go_b == 0 && prev_go_b != go_b) {
+ stop_pwm_b();
+ }
+ if (go_b == 1 && prev_go_b != go_b) {
+ start_pwm_b();
+ }
+
+ prev_go_a = go_a;
+ prev_go_b = go_b;
+
+ if (count_start_impuls < COUNT_START_IMP) {
+ count_start_impuls++;
+
+ Fzad = 0;
+ rmp_freq.Out = 0;
+
+// set_start_mem(FAST_LOG);
+// set_start_mem(SLOW_LOG);
+ } else {
+
+ if (count_start_impuls==2)
+ {
+ if (go_a == 1 && go_b == 1) {
+ // ��� ���������� middle ��������� ������ ����� ����������� ������� pwm
+ // start_pwm(); ������ ��������� ���� ��� �� ��������� f.Go
+ start_pwm();
+ } else if (go_a == 1) {
+ write_swgen_pwm_times(); //TODO: Check with new PWM
+ start_pwm_a();
+ } else if (go_b == 1) {
+ write_swgen_pwm_times();
+ start_pwm_b();
+ }
+ } // end if (count_start_impuls==1)
+
+ count_start_impuls++;
+ if (count_start_impuls > 2 * COUNT_START_IMP) {
+ count_start_impuls = 2 * COUNT_START_IMP;
+ }
+
+
+ }
+ }
+ flag_record_log = 1;
+ log_saved_to_const_mem = 0;
+ } else {
+ if (f.Discharge
+ && (errors.slow_stop2.bit.Break_Resistor == 0)
+ && (errors.plains_and_others.bit.er0_setted == 0)
+ && (errors.umu_errors.bit.Voltage380_BSU_Off == 0))
+// && !f.Stop)
+ {
+ start_break_pwm();
+ break_resistor_managment_calc();
+ } else {
+ //Do not stop, when come for the first time, to write to xilinx times to close keys.
+ //Otherwise mintime error can occure.
+ //Also we do not stop pwm wile break_resistor keys working
+ if (!count_start_impuls) {
+ // ��� ���������� ������ �� ������ ����� ����������
+ stop_pwm();
+ }
+ break_resistor_set_closed();
+ }
+ if (count_step_ram_off > 0) {
+ count_step_ram_off--;
+ flag_record_log = 1;
+ } else {
+ flag_record_log = 0;
+ }
+
+ pwm_vector_model_titov(f.iq_p_zad, f.iq_fzad, rotor.direct_rotor,
+ rotor.iqFout, 0, 1, 1);
+
+ if (count_start_impuls > 0) {
+ count_start_impuls -= 1;
+ } else {
+ count_start_impuls = 0;
+ }
+
+ Uzad1 = 87772; //0.5%
+ Uzad2 = 87772;
+ k1 = Uzad1;
+ svgen_pwm24_1.Gain = Uzad1;
+ svgen_pwm24_2.Gain = Uzad1;
+ svgen_dq_1.Ualpha = 0;
+ svgen_dq_1.Ubeta = 0;
+ svgen_dq_2.Ualpha = 0;
+ svgen_dq_2.Ubeta = 0;
+ a.iqk = Uzad1;
+ }
+// a.iqk1 = Uzad1;
+// a.iqk2 = Uzad2;
+// a.iqk = (a.iqk1 + a.iqk2) >> 1;
+// a.iqf = Fzad;
+ prevGo = f.Go;
+
+ break_resistor_recup_calc();
+ break_resistor_managment_update();
+
+ if (count_start_impuls >= (2 * COUNT_START_IMP) ) {
+
+ if (f.Mode == 0) {
+// test_calc_pwm24(Uzad1, Uzad2, Fzad);
+ if (pwm_enable_calc_main) {
+ test_calc_simple_dq_pwm24(Uzad1, Uzad2, Fzad, Fzad, K_MODUL_MAX);
+ }
+ analog_dq_calc_const();
+ } else {
+ if ((_IQabs(rotor.iqFout) < STOP_ROTOR_LIMIT)
+ && (_IQabs(analog.iqIq1) > STOP_ROTOR_MIN_CURRENT)) {
+ if ((stop_rotor_counter >= 2520)) {
+ stop_rotor_counter = 2520;
+// faults.faults5.bit.rotor_stopped |= 1;
+ f.rotor_stopped |= 1;
+ } else {
+ stop_rotor_counter += 1;
+ }
+ if (_IQabs(analog.Fsl) < MIN_Fsl_WHEN_STOPED) {
+// faults.faults5.bit.rotor_stopped |= 1;
+ f.rotor_stopped |= 1;
+ }
+ } else {
+ if (stop_rotor_counter > 0) {
+ stop_rotor_counter -= 1;
+ } else {
+ stop_rotor_counter = 0;
+ }
+ }
+
+ pwm_vector_model_titov(f.iq_p_zad, f.iq_fzad, rotor.direct_rotor,
+ rotor.iqFout, f.Mode, 0, pwm_enable_calc_main);
+ }
+
+ } else {
+ // ��� ����� middle ��������� ����� ����������� ������
+ if (count_start_impuls)
+ {
+// svgen_set_time_keys_closed(&svgen_pwm24_1);
+// svgen_set_time_keys_closed(&svgen_pwm24_2);
+ svgen_set_time_middle_keys_open(&svgen_pwm24_1);
+ svgen_set_time_middle_keys_open(&svgen_pwm24_2);
+ }
+ else
+ // � ��� �� ��� �����������
+ {
+ svgen_set_time_keys_closed(&svgen_pwm24_1);
+ svgen_set_time_keys_closed(&svgen_pwm24_2);
+ //������� ������ ����
+// if (faults.faults5.bit.rotor_stopped == 1) {
+ if (f.rotor_stopped == 1) {
+ if (stop_rotor_counter > 0) {
+ stop_rotor_counter -= 1;
+ } else {
+// faults.faults5.bit.rotor_stopped = 0;
+ f.rotor_stopped = 0;
+ stop_rotor_counter = 0;
+ }
+ } else {
+ stop_rotor_counter = 0;
+ }
+ }
+ }
+
+ if (f.Mode) {
+ a.iqf = analog.iqFstator;
+ } else {
+ a.iqf = Fzad;
+ analog.iqFstator = Fzad;
+ a.iqk1 = _IQsqrt(_IQmpy(svgen_dq_1.Ualpha, svgen_dq_1.Ualpha) + _IQmpy(svgen_dq_1.Ubeta, svgen_dq_1.Ubeta)); //For output Kmodul to terminal
+ a.iqk2 = _IQsqrt(_IQmpy(svgen_dq_2.Ualpha, svgen_dq_2.Ualpha) + _IQmpy(svgen_dq_2.Ubeta, svgen_dq_2.Ubeta)); //end counting Uout
+ }
+ a.iqk = (a.iqk1 + a.iqk2) / 2;
+
+// write_swgen_pwm_times();
+
+ if (xpwm_time.one_or_two_interrupts_run == PWM_ONE_INTERRUPT_RUN)
+ write_swgen_pwm_times_split_eages(PWM_MODE_RELOAD_FORCE);
+ else
+ {
+ if (f.Go == 1)
+ {
+ if (count_start_impuls == (2 * COUNT_START_IMP))
+ {
+ if (pwm_enable_calc_main)
+ write_swgen_pwm_times_split_eages(PWM_MODE_RELOAD_LEVEL_HIGH);
+ else
+ write_swgen_pwm_times_split_eages(PWM_MODE_RELOAD_LEVEL_LOW);
+ }
+ else
+// if (pwm_enable_calc_main)
+ write_swgen_pwm_times_split_eages(PWM_MODE_RELOAD_FORCE);
+ }
+ else
+ {
+ if (count_start_impuls == (2 * COUNT_START_IMP) - 1)
+ {
+ if (pwm_enable_calc_main)
+ write_swgen_pwm_times_split_eages(PWM_MODE_RELOAD_LEVEL_HIGH);
+ else
+ write_swgen_pwm_times_split_eages(PWM_MODE_RELOAD_LEVEL_LOW);
+
+ }
+ else
+ write_swgen_pwm_times_split_eages(PWM_MODE_RELOAD_FORCE);
+ }
+
+ // if (pwm_enable_calc_main)
+ // prev_run_calc_uf = run_calc_uf;
+
+ }
+
+
+
+
+
+ // logs recording
+// if ((flag_record_log && !f.stop_Log) || f.Startstoplog)
+// //if (f.Log1_Log2 == 1)// && f.Go == 1 && (!f.Stop))
+// //if(f.Go == 1)
+// {
+// test_mem_limit(FAST_LOG, !f.Ciclelog);
+// count_step++;
+//
+// if (count_step >= 0) {
+// fillADClogs();
+//// logpar.log13 = flag_record_log;
+//// logpar.log14 = count_start_impuls;
+//// logpar.log10 = (int16)_IQtoIQ15(analog.iqIq1_filter);
+//// logpar.log11 = (int16)_IQtoIQ15(rotor.iqFrotFromOptica);
+// logpar.log15 = (int16) _IQtoIQ15(analog.iqIq2);
+// logpar.log16 = (int16) _IQtoIQ15(a.iqk1);
+// logpar.log17 = (int16) _IQtoIQ15(analog.iqId1);
+// logpar.log18 = (int16) _IQtoIQ15(analog.iqIq1);
+//
+//// logpar.log24 = (int16) break_result_1;
+//// logpar.log25 = (int16) break_result_2;
+// logpar.log27 = (int16)(_IQtoIQ15(analog.iqIbtr1_1));
+// logpar.log28 = (int16)(_IQtoIQ15(analog.iqIbtr2_1));
+//
+// getFastLogs(!f.Ciclelog);
+// count_step = 0;
+// }
+// } else {
+// if (f.Stop && log_saved_to_const_mem == 0) {
+// logpar.copy_log_to_const_memory = 1;
+// log_saved_to_const_mem = 1;
+// }
+// }
+
+// optical_bus_write();
+
+// detect_current_saw_val();
+ end_int_xtics = xpwm_time.current_period;
+ f.PWMcounterVal = labs(start_int_xtics - end_int_xtics);
+
+ pwm_run = 0;
+
+ i_sync_pin_off();
+// i_led1_on_off(0);
+
+}
+
+void slow_vector_update()
+{
+ _iq iqKzad = 0;
+ freq1 = _IQ (f.fzad/F_STATOR_MAX);//f.iqFRotorSetHz;
+ iqKzad = _IQ(f.kzad);
+ k1 = zad_intensiv_q(30000, 30000, k1, iqKzad); //20000
+
+
+}
+
+//#pragma CODE_SECTION(write_swgen_pwm_times,".fast_run");
+//void write_swgen_pwm_times()
+//{
+// xpwm_time.Ta0_0 = (unsigned int) svgen_pwm24_1.Tc_0.Ti;
+// xpwm_time.Ta0_1 = (unsigned int) svgen_pwm24_1.Tc_1.Ti;
+// xpwm_time.Tb0_0 = (unsigned int) svgen_pwm24_1.Tb_0.Ti;
+// xpwm_time.Tb0_1 = (unsigned int) svgen_pwm24_1.Tb_1.Ti;
+// xpwm_time.Tc0_0 = (unsigned int) svgen_pwm24_1.Ta_0.Ti;
+// xpwm_time.Tc0_1 = (unsigned int) svgen_pwm24_1.Ta_1.Ti;
+//
+// xpwm_time.Ta1_0 = (unsigned int) svgen_pwm24_2.Tc_0.Ti;
+// xpwm_time.Ta1_1 = (unsigned int) svgen_pwm24_2.Tc_1.Ti;
+// xpwm_time.Tb1_0 = (unsigned int) svgen_pwm24_2.Tb_0.Ti;
+// xpwm_time.Tb1_1 = (unsigned int) svgen_pwm24_2.Tb_1.Ti;
+// xpwm_time.Tc1_0 = (unsigned int) svgen_pwm24_2.Ta_0.Ti;
+// xpwm_time.Tc1_1 = (unsigned int) svgen_pwm24_2.Ta_1.Ti;
+//
+// xpwm_time.Tbr0_0 = break_result_1;
+// xpwm_time.Tbr0_1 = break_result_2;
+// xpwm_time.Tbr1_0 = break_result_3;
+// xpwm_time.Tbr1_1 = break_result_4;
+//
+// xpwm_time.write_1_2_winding_break_times(&xpwm_time);
+//
+//
+//// logpar.log29 = xpwm_time.Ta0_0;
+//// logpar.log30 = xpwm_time.Ta0_1;
+//// logpar.log10 = xpwm_time.Tb0_0;
+//// logpar.log11 = xpwm_time.Tb0_1;
+//// logpar.log12 = xpwm_time.Tc0_0;
+//// logpar.log13 = xpwm_time.Tc0_1;
+//// logpar.log7 = _IQtoIQ12(svgen_pwm24_1.Alpha);
+//// logpar.log8 = xpwm_time.Ta0_0 - xpwm_time.Tb0_0;
+//// logpar.log9 = xpwm_time.Ta0_1 - xpwm_time.Tb0_1;
+//// logpar.log10 = xpwm_time.Tb0_0 - xpwm_time.Tc0_0;
+//// logpar.log11 = xpwm_time.Tb0_1 - xpwm_time.Tc0_1;
+//// logpar.log12 = xpwm_time.Tc0_0 - xpwm_time.Ta0_0;
+//// logpar.log13 = xpwm_time.Tc0_1 - xpwm_time.Ta0_1;
+//
+//}
+
+//#pragma CODE_SECTION(write_swgen_pwm_times_split_eages,".fast_run2");
+//void write_swgen_pwm_times_split_eages(unsigned int mode_reload)
+//{
+//
+// xpwm_time.Ta0_0 = (unsigned int) svgen_pwm24_1.Tc_0.Ti;
+// xpwm_time.Ta0_1 = (unsigned int) svgen_pwm24_1.Tc_1.Ti;
+// xpwm_time.Tb0_0 = (unsigned int) svgen_pwm24_1.Tb_0.Ti;
+// xpwm_time.Tb0_1 = (unsigned int) svgen_pwm24_1.Tb_1.Ti;
+// xpwm_time.Tc0_0 = (unsigned int) svgen_pwm24_1.Ta_0.Ti;
+// xpwm_time.Tc0_1 = (unsigned int) svgen_pwm24_1.Ta_1.Ti;
+//
+// xpwm_time.Ta1_0 = (unsigned int) svgen_pwm24_2.Tc_0.Ti;
+// xpwm_time.Ta1_1 = (unsigned int) svgen_pwm24_2.Tc_1.Ti;
+// xpwm_time.Tb1_0 = (unsigned int) svgen_pwm24_2.Tb_0.Ti;
+// xpwm_time.Tb1_1 = (unsigned int) svgen_pwm24_2.Tb_1.Ti;
+// xpwm_time.Tc1_0 = (unsigned int) svgen_pwm24_2.Ta_0.Ti;
+// xpwm_time.Tc1_1 = (unsigned int) svgen_pwm24_2.Ta_1.Ti;
+//
+// xpwm_time.Tbr0_0 = break_result_1;
+// xpwm_time.Tbr0_1 = break_result_2;
+// xpwm_time.Tbr1_0 = break_result_3;
+// xpwm_time.Tbr1_1 = break_result_4;
+//
+// xpwm_time.mode_reload = mode_reload;
+//
+// xpwm_time.write_1_2_winding_break_times_split(&xpwm_time);
+//}
+
+#define CONST_IQ_1 16777216 //1
+
+//#pragma CODE_SECTION(fix_pwm_freq_synchro_ain,".fast_run");
+//void fix_pwm_freq_synchro_ain()
+//{
+//// if (f.Sync_input_or_output == SYNC_INPUT)
+// {
+// sync_inc_error();
+//
+// if (f.disable_sync || f.sync_ready == 0)
+// {
+//
+//
+// return;
+// }
+//
+// if (f.pwm_freq_plus_minus_zero==1)
+// {
+//
+//
+// //Increment xtics
+// VAR_FREQ_PWM_XTICS = DEF_FREQ_PWM_XTICS + 1;
+// WriteMemory(ADR_PWM_PERIOD, VAR_FREQ_PWM_XTICS); // Saw period in tics. 1 tic = 16.67 nsec
+//
+// change_freq_pwm(VAR_FREQ_PWM_XTICS);
+//
+//
+// }
+//
+// if (f.pwm_freq_plus_minus_zero==-1)
+// {
+// //4464
+// //Decrement xtics
+// VAR_FREQ_PWM_XTICS = DEF_FREQ_PWM_XTICS - 1;
+// WriteMemory(ADR_PWM_PERIOD, VAR_FREQ_PWM_XTICS); // Saw period in tics. 1 tic = 16.67 nsec
+//
+// change_freq_pwm(VAR_FREQ_PWM_XTICS);
+//
+// }
+//
+// if (f.pwm_freq_plus_minus_zero==0)
+// {
+// VAR_FREQ_PWM_XTICS = DEF_FREQ_PWM_XTICS - 1;
+// WriteMemory(ADR_PWM_PERIOD, VAR_FREQ_PWM_XTICS);
+// change_freq_pwm(VAR_FREQ_PWM_XTICS);
+// }
+//
+// }
+//
+//
+//
+//}
+
+
+//void detect_level_interrupt(void)
+//{
+//
+// WriteMemory(ADR_SAW_REQUEST, 0x8000);
+// xpwm_time.current_period = ReadMemory(ADR_SAW_VALUE);
+//
+// if (xpwm_time.current_period<xpwm_time.pwm_tics/2)
+// xpwm_time.where_interrupt = PWM_LOW_LEVEL_INTERRUPT;
+//
+// if (xpwm_time.current_period>xpwm_time.pwm_tics/2)
+// xpwm_time.where_interrupt = PWM_HIGH_LEVEL_INTERRUPT;
+//
+//}
+//
+//void detect_current_saw_val(void)
+//{
+// WriteMemory(ADR_SAW_REQUEST, 0x8000);
+// xpwm_time.current_period = ReadMemory(ADR_SAW_VALUE);
+//}
+
+
+
+
diff --git a/Inu/Src2/main/PWMTools.h b/Inu/Src2/main/PWMTools.h
new file mode 100644
index 0000000..593f723
--- /dev/null
+++ b/Inu/Src2/main/PWMTools.h
@@ -0,0 +1,19 @@
+#ifndef PWMTOOLS_H
+#define PWMTOOLS_H
+#include "f281xpwm.h"
+
+void InitXPWM(void);
+void InitPWM(void);
+void PWM_interrupt(void);
+void initPWM_Variables(void);
+
+void slow_vector_update(void);
+
+extern PWMGEND pwmd;
+
+extern int VAR_FREQ_PWM_XTICS;
+extern int VAR_PERIOD_MAX_XTICS;
+extern int VAR_PERIOD_MIN_XTICS;
+extern int VAR_PERIOD_MIN_BR_XTICS;
+#endif //PWMTOOLS_H
+
diff --git a/Inu/Src2/main/adc_tools.c b/Inu/Src2/main/adc_tools.c
new file mode 100644
index 0000000..4af68a7
--- /dev/null
+++ b/Inu/Src2/main/adc_tools.c
@@ -0,0 +1,528 @@
+// #include "project.h"
+#include "adc_tools.h"
+// #include "xp_project.h"
+#include "IQmathLib.h"
+#include "math.h"
+#include "my_filter.h"
+#include "params.h"
+// #include "params_protect.h"
+#include "vector.h"
+// #include "xp_adc.h"
+// #include "TuneUpPlane.h" //Ìîðãàíèå ñâåòîäèîäîì
+// #include "log_to_memory.h"
+// #include "errors.h"
+
+// #define COUNT_ARR_ADC_BUF 2
+#define Shift_Filter 1 //2
+
+#define BTR_ENABLED
+
+#define R_ADC_DEFAULT { 1180 ,1180 , 256, 256, 256, 256, 256, 1180, 1180, 256, 256, 256, 256, 256, 256, 256, 256, 256 }
+#define K_LEM_ADC_DEFAULT { 60000,60000,5000, 5000,5000,5000,5000,60000,60000,5000,5000,5000,5000,5000,5000,5000,5000,5000 }
+//#define LOG_ACP_TO_BUF
+
+int ADC_f[COUNT_ARR_ADC_BUF][16];
+
+int ADC_sf[COUNT_ARR_ADC_BUF][16];
+
+
+#define ZERO_ADC_DEFAULT {2048, 2048, 2048, 2048, 2048, 2048, 2048, 2048, 2048, 2048, 2048, 2048, 2048, 2048, 2048, 2048, 2048, 2048}
+_iq19 iq19_zero_ADC[18] = ZERO_ADC_DEFAULT;
+
+int zero_ADC[18] = ZERO_ADC_DEFAULT;
+_iq iq_k_norm_ADC[18];
+_iq19 iq19_k_norm_ADC[18];
+
+_iq iq_norm_ADC[18];
+
+unsigned int const R_ADC[18] = R_ADC_DEFAULT;
+unsigned int const K_LEM_ADC[18] = K_LEM_ADC_DEFAULT;
+
+//#pragma DATA_SECTION(analog,".fast_vars");
+ANALOG_VALUE analog;
+//#pragma DATA_SECTION(filter,".fast_vars");
+ANALOG_VALUE filter;
+
+ANALOG_RAW_DATA rawData = ANALOG_RAW_DATA_DEFAULT;
+
+_iq koef_Ud_long_filter=0;
+_iq koef_Ud_fast_filter=0;
+_iq koef_Im_filter=0;
+
+_iq koef_Iabc_filter=0;
+
+_iq koef_Wlong=0;
+
+
+void calc_norm_ADC(void);
+void analog_values_calc(void);
+_iq im_calc( _iq ia, _iq ib, _iq ic);
+
+void read_adc(ANALOG_RAW_DATA *data)
+{
+ ADC_f[0][0] = data->U1_1;
+ ADC_f[0][1] = data->U1_2;
+ ADC_f[0][2] = data->Izpt1_1;
+ ADC_f[0][3] = data->Izpt1_2;
+ ADC_f[0][4] = data->Ia1;
+ ADC_f[0][5] = data->Ib1;
+ ADC_f[0][6] = data->Ic1;
+ ADC_f[0][7] = 0;
+ ADC_f[0][8] = data->U2_1;
+ ADC_f[0][9] = data->U2_2;
+ ADC_f[0][10] = data->Izpt2_1;
+ ADC_f[0][11] = data->Izpt2_2;
+ ADC_f[0][12] = data->Ia2;
+ ADC_f[0][13] = data->Ib2;
+ ADC_f[0][14] = data->Ic2;
+ ADC_f[0][15] = 0;
+
+
+ ADC_sf[0][0] += (ADC_f[0][0] - ADC_sf[0][0]) >> Shift_Filter;
+ ADC_sf[0][1] += (ADC_f[0][1] - ADC_sf[0][1]) >> Shift_Filter;
+ ADC_sf[0][2] += (ADC_f[0][2] - ADC_sf[0][2]) >> Shift_Filter;
+ ADC_sf[0][3] += (ADC_f[0][3] - ADC_sf[0][3]) >> Shift_Filter;
+ ADC_sf[0][4] += (ADC_f[0][4] - ADC_sf[0][4]) >> Shift_Filter;
+ ADC_sf[0][5] += (ADC_f[0][5] - ADC_sf[0][5]) >> Shift_Filter;
+ ADC_sf[0][6] += (ADC_f[0][6] - ADC_sf[0][6]) >> Shift_Filter;
+
+ ADC_sf[0][7] += (ADC_f[0][7] - ADC_sf[0][7]) >> Shift_Filter;
+ ADC_sf[0][8] += (ADC_f[0][8] - ADC_sf[0][8]) >> Shift_Filter;
+ ADC_sf[0][9] += (ADC_f[0][9] - ADC_sf[0][9]) >> Shift_Filter;
+ ADC_sf[0][10] += (ADC_f[0][10] - ADC_sf[0][10]) >> Shift_Filter;
+ ADC_sf[0][11] += (ADC_f[0][11] - ADC_sf[0][11]) >> Shift_Filter;
+ ADC_sf[0][12] += (ADC_f[0][12] - ADC_sf[0][12]) >> Shift_Filter;
+ ADC_sf[0][13] += (ADC_f[0][13] - ADC_sf[0][13]) >> Shift_Filter;
+ ADC_sf[0][14] += (ADC_f[0][14] - ADC_sf[0][14]) >> Shift_Filter;
+ ADC_sf[0][15] += (ADC_f[0][15] - ADC_sf[0][15]) >> Shift_Filter;
+
+
+ ADC_f[1][0] = 0;
+ ADC_f[1][1] = 0;
+ ADC_f[1][2] = 0;
+ ADC_f[1][3] = 0;
+
+ ADC_sf[1][0] += (ADC_f[1][0] - ADC_sf[1][0]) >> Shift_Filter;
+ ADC_sf[1][1] += (ADC_f[1][1] - ADC_sf[1][1]) >> Shift_Filter;
+ ADC_sf[1][2] += (ADC_f[1][2] - ADC_sf[1][2]) >> Shift_Filter;
+ ADC_sf[1][3] += (ADC_f[1][3] - ADC_sf[1][3]) >> Shift_Filter;
+}
+
+void acp_Handler(void)
+{
+ // read_adc();
+ calc_norm_ADC();
+ analog_values_calc();
+ // Read_Fast_Errors();
+}
+
+#define COUNT_DETECT_ZERO 500
+
+// void detect_zero_analog()
+// {
+// int i, k;
+// double tmp_buff[2][16] = {0};
+// // _iq koef_zero_ADC_filter = 1;
+// for(i = 0; i < 16; tmp_buff[0][i++] = 0);
+// for(i = 0; i < 16; tmp_buff[1][i++] = 0);
+// i = 0;
+// for (i = 0; i<COUNT_DETECT_ZERO; i++)
+// {
+// read_adc();
+
+// for(k = 2; k < 15; k++)
+// {
+// if((k == 7) || (k == 8))
+// {
+// continue;
+// }
+// tmp_buff[0][k] += ADC_f[0][k];
+// }
+// for(k = 0;k < 4; k++)
+// {
+// tmp_buff[1][k] += ADC_f[1][k];
+// }
+// pause_1000(1000);
+// }
+// k = 2;
+// for(i = 2; i < 15; i++)
+// {
+// if(i == 7)
+// {
+// continue;
+// }
+
+// if((i == 8) || (i == 9))
+// {
+// k++;
+// continue;
+// }
+// zero_ADC[k] = (int)(tmp_buff[0][i] / COUNT_DETECT_ZERO + 0.5);
+// k++;
+// }
+// for(i = 0; i < 4; i++, k++)
+// {
+// zero_ADC[k] = (int)(tmp_buff[1][i] / COUNT_DETECT_ZERO + 0.5);
+// }
+// zero_ADC[0] = zero_ADC[2];
+// zero_ADC[1] = zero_ADC[2];
+// zero_ADC[7] = zero_ADC[9];
+// zero_ADC[8] = zero_ADC[9];
+
+
+// }
+
+void init_Adc_Variables(void)
+{
+ unsigned int k;
+ int *panalog, *pfilter;
+
+ for (k=0;k<16;k++)
+ {
+
+ ADC_f[0][k]=0;
+ ADC_sf[0][k]=0;
+ ADC_f[1][k]=0;
+ ADC_sf[1][k]=0;
+ }
+
+ // detect_zero_analog();
+
+ for (k=0;k<18;k++)
+ {
+ iq19_k_norm_ADC[k] = _IQ19(K_LEM_ADC[k]*250.0/R_ADC[k]/NORMA_ACP/4096.0);
+
+ iq19_zero_ADC[k]=_IQ19(zero_ADC[k]); //_IQ19(2030);//_IQ19(1770);
+
+ }
+
+ koef_Ud_long_filter = _IQ(0.05);
+ koef_Ud_fast_filter = _IQ(0.2); // _IQ(0.001/0.00931); //_IQ(0.001/0.00131);
+
+ koef_Im_filter = _IQ(0.015);
+
+ koef_Iabc_filter = _IQ(0.0005); //_IQ(0.002/0.006);
+ koef_Wlong = _IQ(0.001);
+
+ panalog = (int*)&analog;
+ pfilter = (int*)&filter;
+ for (k=0;k < sizeof(ANALOG_VALUE) / sizeof(int) ;k++)
+ {
+
+ *(panalog + k) = 0;
+ *(pfilter + k) = 0;
+ }
+
+}
+
+inline _iq norma_adc(int plane, int chan, int n_norm)
+{
+ // return _IQ19toIQ(_IQ19mpy((iq19_zero_ADC[n_norm] - ((long)ADC_sf[plane][chan]<<19) ),iq19_k_norm_ADC[n_norm]));
+ // return _IQ19toIQ(_IQ19mpy((((long)ADC_sf[plane][chan]<<19) - iq19_zero_ADC[n_norm]),iq19_k_norm_ADC[n_norm]));
+ return _IQ19toIQ(_IQ19mpy((((long)ADC_sf[plane][chan]<<19)),iq19_k_norm_ADC[n_norm]));
+}
+
+void calc_norm_ADC(void)
+{
+ iq_norm_ADC[0] = norma_adc(0, 0, 0);
+ iq_norm_ADC[1] = norma_adc(0, 1, 1);
+ iq_norm_ADC[2] = norma_adc(0, 2, 2);
+ iq_norm_ADC[3] = norma_adc(0, 3, 3);
+ iq_norm_ADC[4] = norma_adc(0, 4, 4);
+ iq_norm_ADC[5] = norma_adc(0, 5, 5);
+ iq_norm_ADC[6] = norma_adc(0, 6, 6);
+ iq_norm_ADC[7] = norma_adc(0, 8, 7);
+ iq_norm_ADC[8] = norma_adc(0, 9, 8);
+ iq_norm_ADC[9] = norma_adc(0, 10, 9);
+ iq_norm_ADC[10] = norma_adc(0, 11, 10);
+ iq_norm_ADC[11] = norma_adc(0, 12, 11);
+ iq_norm_ADC[12] = norma_adc(0, 13, 12);
+ iq_norm_ADC[13] = norma_adc(0, 14, 13);
+ iq_norm_ADC[14] = norma_adc(1, 0, 14);
+ iq_norm_ADC[15] = norma_adc(1, 1, 15);
+ iq_norm_ADC[16] = norma_adc(1, 2, 16);
+ iq_norm_ADC[17] = norma_adc(1, 3, 17);
+}
+
+void analog_values_calc(void)
+{
+
+ analog.iqU_1 = iq_norm_ADC[0];
+ analog.iqU_2 = iq_norm_ADC[1];
+ analog.iqU_3 = iq_norm_ADC[7];
+ analog.iqU_4 = iq_norm_ADC[8];
+
+ analog.iqIin_1 = iq_norm_ADC[2];
+ analog.iqIin_2 = -iq_norm_ADC[3];
+ analog.iqIin_3 = iq_norm_ADC[9];
+ analog.iqIin_4 = -iq_norm_ADC[10];
+
+
+// #if PROJECT_ARKTIKA == 1
+ analog.iqIa1_1 = iq_norm_ADC[4];
+ analog.iqIb1_1 = iq_norm_ADC[5];
+ analog.iqIc1_1 = iq_norm_ADC[6];
+
+ analog.iqIa2_1 = iq_norm_ADC[11];
+ analog.iqIb2_1 = iq_norm_ADC[12];
+ analog.iqIc2_1 = iq_norm_ADC[13];
+// #endif
+#if PROJECT_SIBERIA == 1
+ analog.iqIa1_1 = iq_norm_ADC[6];
+ analog.iqIb1_1 = iq_norm_ADC[5];
+ analog.iqIc1_1 = iq_norm_ADC[4];
+
+ analog.iqIa2_1 = iq_norm_ADC[13];
+ analog.iqIb2_1 = iq_norm_ADC[12];
+ analog.iqIc2_1 = iq_norm_ADC[11];
+#endif
+
+ analog.iqIbtr1_1 = labs(iq_norm_ADC[14]);
+ analog.iqIbtr1_2 = labs(iq_norm_ADC[16]);
+ analog.iqIbtr2_1 = labs(iq_norm_ADC[15]);
+ analog.iqIbtr2_2 = labs(iq_norm_ADC[17]);
+
+ analog.iqIa1_rms = exp_regul_iq(koef_Iabc_filter, analog.iqIa1_rms, _IQabs(analog.iqIa1_1));
+ analog.iqIb1_rms = exp_regul_iq(koef_Iabc_filter, analog.iqIb1_rms, _IQabs(analog.iqIb1_1));
+ analog.iqIc1_rms = exp_regul_iq(koef_Iabc_filter, analog.iqIc1_rms, _IQabs(analog.iqIc1_1));
+
+ analog.iqIa2_rms = exp_regul_iq(koef_Iabc_filter, analog.iqIa2_rms, _IQabs(analog.iqIa2_1));
+ analog.iqIb2_rms = exp_regul_iq(koef_Iabc_filter, analog.iqIb2_rms, _IQabs(analog.iqIb2_1));
+ analog.iqIc2_rms = exp_regul_iq(koef_Iabc_filter, analog.iqIc2_rms, _IQabs(analog.iqIc2_1));
+
+
+ filter.iqU_1_long = exp_regul_iq(koef_Ud_long_filter, filter.iqU_1_long, analog.iqU_1);
+ filter.iqU_2_long = exp_regul_iq(koef_Ud_long_filter, filter.iqU_2_long, analog.iqU_2);
+ filter.iqU_3_long = exp_regul_iq(koef_Ud_long_filter, filter.iqU_3_long, analog.iqU_3);
+ filter.iqU_4_long = exp_regul_iq(koef_Ud_long_filter, filter.iqU_4_long, analog.iqU_4);
+
+ filter.iqIin_1 = exp_regul_iq(koef_Im_filter, filter.iqIin_1, analog.iqIin_1);
+ filter.iqIin_2 = exp_regul_iq(koef_Im_filter, filter.iqIin_2, analog.iqIin_2);
+ filter.iqIin_3 = exp_regul_iq(koef_Im_filter, filter.iqIin_3, analog.iqIin_3);
+ filter.iqIin_4 = exp_regul_iq(koef_Im_filter, filter.iqIin_4, analog.iqIin_4);
+
+
+
+
+ filter.iqU_1_fast = exp_regul_iq(koef_Ud_fast_filter, filter.iqU_1_fast, analog.iqU_1);
+ filter.iqU_2_fast = exp_regul_iq(koef_Ud_fast_filter, filter.iqU_2_fast, analog.iqU_2);
+
+ filter.iqU_3_fast = exp_regul_iq(koef_Ud_fast_filter, filter.iqU_3_fast, analog.iqU_3);
+ filter.iqU_4_fast = exp_regul_iq(koef_Ud_fast_filter, filter.iqU_4_fast, analog.iqU_4);
+
+ filter.iqIa1_1 = exp_regul_iq(koef_Ud_fast_filter, filter.iqIa1_1, analog.iqIa1_1);
+ filter.iqIb1_1 = exp_regul_iq(koef_Ud_fast_filter, filter.iqIb1_1, analog.iqIb1_1);
+ filter.iqIc1_1 = exp_regul_iq(koef_Ud_fast_filter, filter.iqIc1_1, analog.iqIc1_1);
+
+ filter.iqIa2_1 = exp_regul_iq(koef_Ud_fast_filter, filter.iqIa2_1, analog.iqIa2_1);
+ filter.iqIb2_1 = exp_regul_iq(koef_Ud_fast_filter, filter.iqIb2_1, analog.iqIb2_1);
+ filter.iqIc2_1 = exp_regul_iq(koef_Ud_fast_filter, filter.iqIc2_1, analog.iqIc2_1);
+
+
+
+ analog.iqW1 = _IQmpy(filter.iqU_1_fast, analog.iqIin_1) + _IQmpy(filter.iqU_2_fast, analog.iqIin_2);
+ analog.iqW2 = _IQmpy(filter.iqU_3_fast, analog.iqIin_3) + _IQmpy(filter.iqU_4_fast, analog.iqIin_4);
+ analog.iqW = analog.iqW1 + analog.iqW2;
+
+
+
+ analog.iqIm_1 = im_calc(filter.iqIa1_1, filter.iqIb1_1, filter.iqIc1_1);
+ analog.iqIm_2 = im_calc(filter.iqIa2_1, filter.iqIb2_1, filter.iqIc2_1);
+
+
+// i_led1_on_off(0);
+// i_led1_on_off(1);
+
+ filter.iqIm_1 = exp_regul_iq(koef_Im_filter, filter.iqIm_1, analog.iqIm_1);
+ filter.iqIm_2 = exp_regul_iq(koef_Im_filter, filter.iqIm_2, analog.iqIm_2);
+// filter.iqIm = exp_regul_iq(koef_Iabc_filter, filter.iqIm, filter.iqIm_2);
+
+ filter.iqW1 = exp_regul_iq(koef_Iabc_filter, filter.iqW1, analog.iqW1);
+ filter.iqW2 = exp_regul_iq(koef_Iabc_filter, filter.iqW2, analog.iqW2);
+ filter.iqW = exp_regul_iq(koef_Wlong, filter.iqW, filter.iqW1 + filter.iqW2);
+
+// filter.iqIin_1 = exp_regul_iq(koef_Im_filter, filter.iqIin_1, analog.iqIin_1);
+// filter.iqIin_2 = exp_regul_iq(koef_Im_filter, filter.iqIin_2, analog.iqIin_2);
+
+}
+
+#define CONST_IQ_11PI6 96629827 //11Pi/6
+#define CONST_IQ_PI6 8784529 // Pi/6
+
+
+// _iq err_level_adc_on_go = ERR_LEVEL_ADC_PLUS_6_ON_GO_IQ;
+
+// _iq err_level_adc = ERR_LEVEL_ADC_PLUS_6_IQ;
+
+
+// unsigned int detect_protect_ACP_plus()
+// {
+// unsigned int mask = 0, result = 0;
+// static unsigned int prev_mask = 0xFCFC;
+
+// if(f.Go)
+// {
+// mask |= filter.iqU_1_long > err_level_adc_on_go ? 1 : 0;
+// mask |= filter.iqU_2_long > err_level_adc_on_go ? 1 << 1: 0;
+// }
+// else
+// {
+// mask |= filter.iqU_1_long > err_level_adc ? 1 : 0;
+// mask |= filter.iqU_2_long > err_level_adc ? 1 << 1: 0;
+// }
+
+
+// #ifdef NEW_I_ZPT_REZISTORS
+// mask |= ADC_sf[0][2] < ERR_LEVEL_I_ZPT_PLUS_REZ_249? 1 << 2: 0;
+// mask |= ADC_sf[0][3] < ERR_LEVEL_I_ZPT_PLUS_REZ_249? 1 << 3: 0;
+// #else
+// mask |= ADC_sf[0][2] < ERR_LEVEL_I_ZPT_PLUS? 1 << 2: 0;
+// mask |= ADC_sf[0][3] < ERR_LEVEL_I_ZPT_PLUS? 1 << 3: 0;
+// #endif
+
+// mask |= ADC_sf[0][4] < ERR_LEVEL_I_FAZA_PLUS? 1 << 4: 0;
+// mask |= ADC_sf[0][5] < ERR_LEVEL_I_FAZA_PLUS? 1 << 5: 0;
+// mask |= ADC_sf[0][6] < ERR_LEVEL_I_FAZA_PLUS? 1 << 6: 0;
+
+// if(f.Go)
+// {
+// mask |= filter.iqU_3_long > err_level_adc_on_go ? 1 << 8: 0;
+// mask |= filter.iqU_4_long > err_level_adc_on_go ? 1 << 9: 0;
+// }
+// else
+// {
+// mask |= (filter.iqU_3_long > err_level_adc) ? 1 << 8: 0;
+// mask |= (filter.iqU_4_long > err_level_adc) ? 1 << 9: 0;
+// }
+
+
+// #ifdef NEW_I_ZPT_REZISTORS
+// mask |= ADC_sf[0][10] < ERR_LEVEL_I_ZPT_PLUS_REZ_249? 1 << 10: 0;
+// mask |= ADC_sf[0][11] < ERR_LEVEL_I_ZPT_PLUS_REZ_249? 1 << 11: 0;
+// #else
+// mask |= ADC_sf[0][10] < ERR_LEVEL_I_ZPT_PLUS? 1 << 10: 0;
+// mask |= ADC_sf[0][11] < ERR_LEVEL_I_ZPT_PLUS? 1 << 11: 0;
+// #endif
+
+// mask |= ADC_sf[0][12] < ERR_LEVEL_I_FAZA_PLUS? 1 << 12: 0;
+// mask |= ADC_sf[0][13] < ERR_LEVEL_I_FAZA_PLUS? 1 << 13: 0;
+// mask |= ADC_sf[0][14] < ERR_LEVEL_I_FAZA_PLUS? 1 << 14: 0;
+
+// //Calculate values for BTR
+// #ifdef BTR_ENABLED
+// mask |= ADC_sf[1][0] < ERR_LEVEL_BREAK_REZ? 1 << 7: 0; //BTR1pos
+// mask |= ADC_sf[1][2] < ERR_LEVEL_BREAK_REZ? 1 << 15: 0; //BTR1neg
+// #endif //BTR_ENABLED
+// /* */
+
+// result = mask & prev_mask;
+// prev_mask |= mask; //
+// //
+// if(mask == 0) { prev_mask = 0xFFFF;}
+// return result;
+
+// }
+
+
+// unsigned int detect_protect_ACP_minus()
+// {
+// unsigned int mask = 0, result = 0;
+// static unsigned int prev_mask = 0xFCFC; //
+
+// /* */
+// if(f.Ready2)
+// {
+// // mask |= (ADC_sf[0] > ERR_LEVEL_ADC_MINUS_6) ? 1: 0;
+// // mask |= (ADC_sf[1] > ERR_LEVEL_ADC_MINUS_6) ? 1 << 1: 0;
+// }
+// #ifdef NEW_I_ZPT_REZISTORS
+// mask |= (ADC_sf[0][2] > ERR_LEVEL_I_ZPT_MINUS_REZ_249)? 1 << 2: 0;
+// mask |= (ADC_sf[0][3] > ERR_LEVEL_I_ZPT_MINUS_REZ_249)? 1 << 3: 0;
+// #else
+// mask |= (ADC_sf[0][2] < ERR_LEVEL_I_ZPT_PLUS)? 1 << 2: 0;
+// mask |= (ADC_sf[0][3] < ERR_LEVEL_I_ZPT_PLUS)? 1 << 3: 0;
+// #endif
+// mask |= ADC_sf[0][4] > ERR_LEVEL_I_FAZA_MINUS? 1 << 4: 0;
+// mask |= ADC_sf[0][5] > ERR_LEVEL_I_FAZA_MINUS? 1 << 5: 0;
+// mask |= ADC_sf[0][6] > ERR_LEVEL_I_FAZA_MINUS? 1 << 6: 0;
+// /* */
+// /* if(f.Ready2)
+// {
+// mask |= (ADC_sf[0][7] > ERR_LEVEL_ADC_MINUS_6) ? 1 << 8: 0;
+// mask |= (ADC_sf[0][8] > ERR_LEVEL_ADC_MINUS_6) ? 1 << 9: 0;
+// } */
+// #ifdef NEW_I_ZPT_REZISTORS
+// mask |= ADC_sf[0][10] > ERR_LEVEL_I_ZPT_MINUS_REZ_249? 1 << 10: 0;
+// mask |= ADC_sf[0][11] > ERR_LEVEL_I_ZPT_MINUS_REZ_249? 1 << 11: 0;
+// #else
+// mask |= ADC_sf[0][10] < ERR_LEVEL_I_ZPT_PLUS? 1 << 10: 0;
+// mask |= ADC_sf[0][11] < ERR_LEVEL_I_ZPT_PLUS? 1 << 11: 0;
+// #endif
+
+// mask |= ADC_sf[0][12] > ERR_LEVEL_I_FAZA_MINUS? 1 << 12: 0;
+// mask |= ADC_sf[0][13] > ERR_LEVEL_I_FAZA_MINUS? 1 << 13: 0;
+// mask |= ADC_sf[0][14] > ERR_LEVEL_I_FAZA_MINUS? 1 << 14: 0;
+
+// //Calculate values for BTR
+// #ifdef BTR_ENABLED
+// mask |= ADC_sf[1][1] < ERR_LEVEL_BREAK_REZ? 1 << 7: 0; //BTR2pos
+// mask |= ADC_sf[1][3] < ERR_LEVEL_BREAK_REZ? 1 << 15: 0; //BTR2neg
+// #endif //BTR_ENABLED
+// /* */
+
+
+// result = mask & prev_mask;
+// prev_mask |= mask; //
+// //
+// if(mask == 0) { prev_mask = 0xFFFF;}
+// return result;
+
+// }
+
+// #pragma CODE_SECTION(fillADClogs,".fast_run");
+// void fillADClogs(void)
+// {
+// logpar.log1 = (int16)_IQtoIQ15(analog.iqU_1);
+// logpar.log2 = (int16)_IQtoIQ15(analog.iqU_2);
+// logpar.log3 = (int16)_IQtoIQ15(analog.iqIin_1);
+// logpar.log4 = (int16)_IQtoIQ15(analog.iqIin_2);
+// logpar.log5 = (int16)_IQtoIQ15(analog.iqIa1_1);
+// logpar.log6 = (int16)_IQtoIQ15(analog.iqIb1_1);
+// logpar.log7 = (int16)_IQtoIQ15(analog.iqIc1_1);
+// logpar.log8 = (int16)_IQtoIQ15(analog.iqU_3);
+// logpar.log9 = (int16)_IQtoIQ15(analog.iqU_4);
+// logpar.log10 = (int16)_IQtoIQ15(analog.iqIin_3);
+// logpar.log11 = (int16)_IQtoIQ15(analog.iqIin_4);
+// logpar.log12 = (int16)_IQtoIQ15(analog.iqIa2_1);
+// logpar.log13 = (int16)_IQtoIQ15(analog.iqIb2_1);
+// logpar.log14 = (int16)_IQtoIQ15(analog.iqIc2_1);
+// // logpar.log15 = (int16)_IQtoIQ15(filter.iqU_1_fast);
+// // logpar.log16 = (int16)_IQtoIQ15(filter.iqU_1_long);
+// }
+
+/********************************************************************/
+/* Расчет модулy тока из показаний трех фаз */
+/********************************************************************/
+_iq SQRT_32 = _IQ(0.8660254037844);
+_iq CONST_23 = _IQ(2.0/3.0);
+_iq CONST_15 = _IQ(1.5);
+
+_iq im_calc( _iq ia, _iq ib, _iq ic)
+{
+ _iq isa,isb, t;
+
+
+ isa = _IQmpy(CONST_15,ia);
+ isb = _IQmpy(SQRT_32,ib-ic );
+
+// ( _IQ19mpy(SQRT_32, _IQ15toIQ19(ib)) - _IQ15mpy(SQRT_32, _IQ15toIQ19(ic)) );
+
+ // t = _IQmag(isa,isb);
+ t = _IQsqrt(_IQmpy(isa, isa) + _IQmpy(isb, isb));
+ t = _IQmpy(CONST_23,t);
+
+ return (t);
+
+}
+
+
diff --git a/Inu/Src2/main/adc_tools.h b/Inu/Src2/main/adc_tools.h
new file mode 100644
index 0000000..137324f
--- /dev/null
+++ b/Inu/Src2/main/adc_tools.h
@@ -0,0 +1,137 @@
+#ifndef ADC_TOOLS_H
+#define ADC_TOOLS_H
+
+#include "IQmathLib.h"
+// #include "isr.h"
+
+typedef struct
+{
+
+ _iq iqIin_1;
+ _iq iqIin_2;
+ _iq iqIin_3;
+ _iq iqIin_4;
+// _iq iqIin_1_rms;
+// _iq iqIin_2_rms;
+// _iq iqIin_3_rms;
+// _iq iqIin_4_rms;
+ _iq iqIin;
+
+ _iq iqIa1_1;
+ _iq iqIb1_1;
+ _iq iqIc1_1;
+ _iq iqIa2_1;
+ _iq iqIb2_1;
+ _iq iqIc2_1;
+
+ _iq iqIa1_rms;
+ _iq iqIb1_rms;
+ _iq iqIc1_rms;
+ _iq iqIa2_rms;
+ _iq iqIb2_rms;
+ _iq iqIc2_rms;
+
+ _iq iqIq_zadan;
+ _iq iqIq_zad_from_optica;
+ _iq iqId1;
+ _iq iqIq1;
+ _iq iqIq1_filter;
+ _iq iqId2;
+ _iq iqIq2;
+ _iq iqIq2_filter;
+
+ _iq iqUd1;
+ _iq iqUq1;
+ _iq iqUd2;
+ _iq iqUq2;
+ _iq iqUq2_filter;
+ _iq tetta;
+ _iq Fsl;
+
+ _iq iqFstator;
+
+ _iq iqU_1;
+ _iq iqU_2;
+ _iq iqU_3;
+ _iq iqU_4;
+
+ _iq iqW1;
+ _iq iqWexp;
+ _iq iqWfir;
+ _iq iqWout;
+ _iq iqPvsi1;
+ _iq iqPvsi2;
+ _iq iqM_1;
+ _iq iqM_2;
+
+ _iq iqW2;
+
+ _iq iqW;
+
+ _iq iqU_1_long;
+ _iq iqU_2_long;
+ _iq iqU_3_long;
+ _iq iqU_4_long;
+
+ _iq iqU_1_fast;
+ _iq iqU_2_fast;
+ _iq iqU_3_fast;
+ _iq iqU_4_fast;
+
+ _iq iqIm_1;
+ _iq iqIm_2;
+ _iq iqIm_1_long;
+ _iq iqIm_2_long;
+
+ _iq iqIm;
+
+ _iq iqIbtr1_1;
+ _iq iqIbtr1_2;
+ _iq iqIbtr2_1;
+ _iq iqIbtr2_2;
+
+} ANALOG_VALUE;
+
+typedef struct {
+ float U1_1;
+ float U1_2;
+ float Izpt1_1;
+ float Izpt1_2;
+ float Ia1;
+ float Ib1;
+ float Ic1;
+ float U2_1;
+ float U2_2;
+ float Izpt2_1;
+ float Izpt2_2;
+ float Ia2;
+ float Ib2;
+ float Ic2;
+
+ void (*read_adc)();
+} ANALOG_RAW_DATA;
+
+
+
+extern ANALOG_VALUE analog;
+extern ANALOG_VALUE filter;
+extern _iq iq_norm_ADC[18];
+extern ANALOG_RAW_DATA rawData;
+
+#define COUNT_ARR_ADC_BUF 2
+extern int ADC_f[COUNT_ARR_ADC_BUF][16];
+
+void log_acp(void);
+void acp_Handler(void);
+void init_Adc_Variables(void);
+void calc_Izpt_rms(void);
+unsigned int detect_protect_ACP_plus(void);
+unsigned int detect_protect_ACP_minus(void);
+void fillADClogs(void);
+void read_adc(ANALOG_RAW_DATA *data);
+
+#define ANALOG_RAW_DATA_DEFAULT {0,0,0,0,0,0,0,0,0,0,0,0,0,0,\
+ read_adc}
+
+#endif // ADC_TOOLS_H
+
diff --git a/Inu/Src2/main/dmctype.h b/Inu/Src2/main/dmctype.h
new file mode 100644
index 0000000..95f314f
--- /dev/null
+++ b/Inu/Src2/main/dmctype.h
@@ -0,0 +1,31 @@
+/* =================================================================================
+File name: DMCTYPE.H
+
+Originator: Digital Control Systems Group
+ Texas Instruments
+
+Description: DMC data type definition file.
+=====================================================================================
+ History:
+-------------------------------------------------------------------------------------
+ 04-15-2005 Version 3.20
+------------------------------------------------------------------------------*/
+
+#ifndef DMCTYPE
+#define DMCTYPE
+
+//---------------------------------------------------------------------------
+// For Portability, User Is Recommended To Use Following Data Type Size
+// Definitions For 16-bit and 32-Bit Signed/Unsigned Integers:
+//
+
+typedef int int16;
+typedef long int32;
+typedef unsigned int Uint16;
+typedef unsigned long Uint32;
+typedef float float32;
+typedef long double float64;
+
+
+#endif // DMCTYPE
+
diff --git a/Inu/Src2/main/my_filter.c b/Inu/Src2/main/my_filter.c
new file mode 100644
index 0000000..3fc444f
--- /dev/null
+++ b/Inu/Src2/main/my_filter.c
@@ -0,0 +1,122 @@
+// #include "DSP281x_Device.h" // DSP281x Headerfile Include File
+// #include "DSP281x_Examples.h" // DSP281x Examples Include File
+#include "IQmathLib.h"
+#include "my_filter.h"
+
+
+// #pragma CODE_SECTION(exp_regul_iq19,".fast_run");
+_iq19 exp_regul_iq19(_iq19 k_exp_regul, _iq19 InpVarCurr, _iq19 InpVarInstant)
+{
+ _iq19 t1;
+
+ t1 = (InpVarCurr + _IQ19mpy( (InpVarInstant-InpVarCurr), k_exp_regul));
+ return t1;
+}
+
+
+// #pragma CODE_SECTION(exp_regul_iq,".fast_run");
+_iq exp_regul_iq(_iq k_exp_regul, _iq InpVarCurr, _iq InpVarInstant)
+{
+ _iq t1;
+ t1 = (InpVarCurr + _IQmpy( (InpVarInstant-InpVarCurr), k_exp_regul));
+ return t1;
+}
+
+// #pragma CODE_SECTION(exp_regul_iq,".fast_run");
+void exp_regul_iq_fast(_iq k_exp_regul, _iq *InpVarCurr, _iq InpVarInstant)
+{
+ _iq t1;
+ volatile _iq t2,t3,t4;
+
+
+ t2 = (InpVarInstant- *InpVarCurr);
+ t3 = _IQmpy( t2, k_exp_regul);
+ t4 = *InpVarCurr + t3;
+ t1 = t4;
+ *InpVarCurr = t1;
+// t1 = (InpVarCurr + _IQmpy( (InpVarInstant-InpVarCurr), k_exp_regul));
+// return t1;
+}
+
+_iq zad_intensiv_q(_iq StepP, _iq StepN, _iq InpVarCurr, _iq InpVarInstant)
+{
+ _iq deltaVar, VarOut;
+
+ deltaVar = InpVarInstant-InpVarCurr;
+
+ if ((deltaVar>StepP) || (deltaVar<-StepN))
+ {
+ if (deltaVar>0) InpVarCurr += StepP;
+ else InpVarCurr -= StepN;
+ }
+ else
+ InpVarCurr=InpVarInstant;
+
+
+ VarOut = InpVarCurr;
+ return VarOut;
+
+
+}
+
+
+
+
+
+/*
+
+_iq18 filter_1p(_iq18 predx,_iq18 predy, _iq18 inpx)
+{
+ _iq18 t1;
+
+ t1 = _IQ18mpy(k1_filter_1p_fast,(predx+inpx))+_IQ18mpy(k2_filter_1p_fast,predy);
+ return t1;
+}
+
+
+*/
+
+/*
+
+void init_filter_batter2()
+{
+ u_filter_batter2[0]=0;
+ u_filter_batter2[1]=0;
+ u_filter_batter2[2]=0;
+
+ i_filter_batter2[0]=0;
+ i_filter_batter2[1]=0;
+ i_filter_batter2[2]=0;
+
+ k_filter_batter2[0]=_IQ(K1_FILTER_BATTER2_3HZ);
+ k_filter_batter2[1]=_IQ(K2_FILTER_BATTER2_3HZ);
+ k_filter_batter2[2]=_IQ(K3_FILTER_BATTER2_3HZ );
+
+}
+
+
+
+
+//#pragma CODE_SECTION(filter_batter2,".fast_run");
+_iq filter_batter2(_iq InpVarCurr)
+{
+_iq y;
+
+ y = _IQmpy(k_filter_batter2[0],( InpVarCurr + _IQmpyI32(i_filter_batter2[0],2) + i_filter_batter2[1] ) ) +
+ _IQmpy(k_filter_batter2[1], u_filter_batter2[0]) + _IQmpy(k_filter_batter2[2], u_filter_batter2[1]);
+
+ u_filter_batter2[1]=u_filter_batter2[0];
+ u_filter_batter2[0]=y;
+
+ i_filter_batter2[1]=i_filter_batter2[0];
+ i_filter_batter2[0]=InpVarCurr;
+ return y;
+
+}
+
+
+*/
+
+
+
+
diff --git a/Inu/Src2/main/my_filter.h b/Inu/Src2/main/my_filter.h
new file mode 100644
index 0000000..cb8b6d3
--- /dev/null
+++ b/Inu/Src2/main/my_filter.h
@@ -0,0 +1,76 @@
+#ifndef _MY_FILTER
+#define _MY_FILTER
+
+
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+
+
+
+#include "IQmathLib.h"
+//#include "filter.h"
+//#include "myfir16.h"
+
+
+
+#define k1_filter_1p_fast 62643 // 0.238965*262144
+#define k2_filter_1p_fast 136857 // 0.52207*262144
+#define k3_filter_1p_fast2 8552
+
+
+#define filter_1p_fast(predx, predy,inpx) predy=_IQ18mpy(k1_filter_1p_fast,(predx+inpx))+_IQ18mpy(k2_filter_1p_fast,predy);predx=inpx
+#define filter_1p_fast2(predx, predy,inpx) predy=_IQ18mpy(k3_filter_1p_fast2,(predx+inpx));predx=inpx
+
+
+
+
+
+//extern FIR16 fir;
+//extern FIR16 fir_wrotor;
+//extern IIR5BIQ16 iir;
+
+
+void init_my_filter_fir();
+int calc_my_filter_fir(int xn);
+
+void init_my_filter_fir_58();
+int calc_my_filter_fir_58(int xn);
+
+
+
+void calc_my_filter_fir_50_75hz(_iq xn_0,_iq xn_1,_iq xn_2,_iq xn_3,_iq xn_4,_iq xn_5,
+ _iq *yn_0,_iq *yn_1,_iq *yn_2,_iq *yn_3,_iq *yn_4,_iq *yn_5);
+
+void init_my_filter_fir_50_75hz();
+
+
+
+void init_my_filter_iir();
+int calc_my_filter_iir(int xn);
+
+
+
+_iq19 exp_regul_iq19(_iq19 k_exp_regul, _iq19 InpVarCurr, _iq19 InpVarInstant);
+_iq exp_regul_iq(_iq k_exp_regul, _iq InpVarCurr, _iq InpVarInstant);
+
+
+
+
+_iq18 filter_1p(_iq18 predx,_iq18 predy, _iq18 inpx);
+
+void exp_regul_iq_fast(_iq k_exp_regul, _iq *InpVarCurr, _iq InpVarInstant);
+
+
+_iq zad_intensiv_q(_iq StepP, _iq StepN, _iq InpVarCurr, _iq InpVarInstant);
+
+
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif /* _MY_FILTER */
+
diff --git a/Inu/Src2/main/params.h b/Inu/Src2/main/params.h
new file mode 100644
index 0000000..e34752d
--- /dev/null
+++ b/Inu/Src2/main/params.h
@@ -0,0 +1,181 @@
+#ifndef _PARAMS
+#define _PARAMS
+
+
+#define PROPUSK_TEST_TKAK_ON_GO 1 // ������� ������������ ��������� ������ ��� ������ Go=1
+
+
+/*************************************************************************************/
+//#define _test_without_power 1 // �������� �������� ��� ������� ��� ����
+//#define _test_without_skaf 1 // �������� �������� ��� ������� ��� ����� ����������
+//#define _test_fast_calc 1 // �������� �������� ��� ������� ��� ����
+//#define _test_fast_calc_level1 1 // ���������� �������� ������� ��� ��������� ��������
+
+#define _test_without_doors
+//#define _test_without_BSO
+//#define _test_without_CAN
+//#define CHECK_IN_OUT_TERMINAL
+
+//#define OFF_ERROR_UKSS1 // ����1
+//#define OFF_ERROR_UKSS2 //���1
+//#define OFF_ERROR_UKSS3 //���2
+//#define OFF_ERROR_UKSS4 //����2
+//#define OFF_ERROR_UKSS5 //��
+//#define OFF_ERROR_UKSS6 //BTR1
+//#define OFF_ERROR_UKSS7 //BTR2
+//#define OFF_ERROR_UKSS8 //����
+
+//#define DISABLE_RS_MPU 1
+
+#define NEW_I_ZPT_REZISTORS
+
+#define ENABLE_RECUPER 1
+
+#define FREQ_TIMER0 200 /* ������� �������_0 */
+#define FREQ_TIMER1 3300 /* ������� �������_1 */
+
+//#define FREQ_PWM 1180 /* ������� ���� */ //3138 // 2360//2477 //
+//#define DOUBLE_UPDATE_PWM 1
+
+#define DMIN 750 // 15mks Dminimum
+#define SECOND (FREQ_PWM*3)
+#define MINUTE (SECOND*60)
+
+
+
+//#define REVERS_ON_CLOCK 1 // 0 // 1- �� ������� .. 0 - ������ �������
+
+//#define BAN_ROTOR_REVERS_DIRECT 1
+
+//#define TIME_PAUSE_ZADATCHIK 750//500
+//
+//#define TIME_SET_LINE_RELAY_FAN 3000 // ����� ������ �������� �� ���� ��������� ���������� �����������
+//#define LEVEL_FAN_ON_TEMPER_ACDRIVE 1400 //������� ��������� ����������� ���������� ���������
+//#define LEVEL_FAN_OFF_TEMPER_ACDRIVE 1200 //������� ���������� ����������� ���������� ���������
+////(������ ���� ������ LEVEL_FAN_ON_TEMPER_ACDRIVE � ������� �� ���������� ~20 �������� )
+//#define TIME_SET_LINE_RELAY_FAN 3000 //����� ������ �������� �� ���� ��������� ���������� �����������
+//
+//
+//#define MAX_TIME_DIRECT_ROTOR 5000 // ����. �������� �������� �� ����������� ����������� ��������
+//#define MIN_TIME_DIRECT_ROTOR -5000 // ����������� �������� �������� �� ����������� ����������� ��������
+//
+//#define LEVEL_FORWARD_TIME_DIRECT_ROTOR 4000 // �������� �������� ������� ��������� ��� ����������� ������
+//#define LEVEL_BACK_TIME_DIRECT_ROTOR -4000 // �������� �������� ������� ��������� ��� ����������� �����
+//
+//#define MAX_TIME_ERROR_ROTOR 5000 // ����. �������� �������� �� ����������� ������������� ������������ ��������
+//#define MIN_TIME_ERROR_ROTOR 0 // ���. �������� �������� �� ����������� ������������� ������������ ��������
+//
+//
+//#define LEVEL_ON_ERROR_ROTOR 4000 // �������� �������� ������� ��������� ��� ����������� ������������ � �������
+//#define LEVEL_OFF_ERROR_ROTOR 1000 // �������� �������� ������� ��������� ��� ����������� ������������ ��� �������
+//
+//
+//
+//#define WORK_TWICE 0 /* �������� � ����y ��������� */
+//
+//
+//#define PID_KP_IM 0.018 //0.036 //0.018 //0.18 //0.095 // PID Kp
+//#define PID_KI_IM 0.08 // 0.008 // PID Ki
+//#define PID_KD_IM 0.0000 //*100 // PID Kd
+//#define PID_KC_IM 0.09 // PID Kc
+//
+//
+//#define PID_KP_F 12//26//12 //40 //20 //12 //20 //60.0 //20.0 //0.095 // PID Kp
+//#define PID_KI_F 0.00010 // 0.008 // PID Ki
+//#define PID_KD_F 0.000 //*100 PID Kd
+//#define PID_KC_F 0.005 // PID Kc
+////#define PID_KC_F 0.000 // PID Kc
+//
+//#define ADD_KP_DF (1000.0/NORMA_MZZ)//(500.0/NORMA_MZZ)//(50.0/NORMA_MZZ)
+//#define ADD_KI_DF (2000.0/NORMA_MZZ)//(1000.0/NORMA_MZZ)//(100.0/NORMA_MZZ)
+//#define MAX_DELTA_pidF 2.0
+//#define MIN_MZZ_FOR_DF 1761607 //(210/NORMA_MZZ)
+//
+//
+//#define Im_PREDEL 600 /* ���������� ������ ��� ��� ������ �� ���� */
+//#define I_OUT_PREDEL -20 /* ���������� ���. ��� ����������y ��� ������ �� ���� */
+//#define U_IN_PREDEL 500 /* ���������� ������������ ������� ����y����� ��� ������ �� ���� */
+//
+//#define IQ_NORMAL_CHARGE_UD_MAX 12163481 // 1450 V //13002342 // 1550 //_IQtoF(filter.iqU_1_long)*NORMA_ACP
+//#define IQ_NORMAL_CHARGE_UD_MIN 10066329 // 1200 V
+//
+//
+//#define U_D_MAX_ERROR_GLOBAL 17616076 // 2100 V //17196646 //2050V // 16777216 //2000V/2000*2^24
+//#define U_D_MAX_ERROR 16777216 // 2000V //16357785 //1950V //15938355 //1900V/2000*2^24
+//
+////#define U_D_NORMA_MIN 3774873 // 450 V // 13421772 // 450 V 22.05.08 //1600V/2000*2^24
+////#define U_D_NORMA_MAX 15518924 // //15099494 //1850V/2000*2^24
+//
+//#define U_D_MIN_ERROR 10905190 // 1300V/2000*2^24
+//
+//#define I_IN_MAX_ERROR_GLOBAL 18454937 // 2200 A //16777216 //2000 A // 13421772 //1600 A //10905190 //1300 // 900A
+//
+//#define KOEFF_WROTOR_FILTER_SPARTAN 7//8
+//#define MAX_DELTA_WROTOR_S_1_2 1
+//
+//#define ENABLE_I_HDW_PROTECT_ON_GLOBAL 1 // ��������� ��������� ������� �������� �� ���������� ������� ������
+//
+//#define TIME_WAIT_CHARGE 2000 //5000 // 10000
+//#define TIME_WAIT_CHARGE_OUT 15000 //15000
+//#define TIME_SET_LINE_RELAY 10000
+//#define TIME_SET_LINE_RELAY5 3000
+//#define TIME_WAIT_LEVEL_QPU2 3000
+//
+
+///--------------------------- 22220 paremetrs -------------------/////////
+
+////////////////////////////////////////////////////////////////
+// Loaded capasitors level
+#define V_CAPASITORS_LOADED_IQ 11184810 //13421772 ~ 2400V // 11184810 ~ 2000V
+#define V_NOMINAL 14260633 //15099494 ~ 2700V
+
+// Level of nominal currents
+#define I_OUT_NOMINAL 1585.0 //A
+#define I_OUT_NOMINAL_IQ 12482249 //9777761 ~ 1748 //8388608 ~ 1500A // 10066329 ~ 1800A // 8863067 ~ 1585
+ //11184811 ~ 2000A // 12482249 ~ 2232A
+#define I_OUT_1_6_NOMINAL_IQ 14180908
+#define I_OUT_1_8_NOMINAL_IQ 15953520
+#define I_ZPT_NOMINAL_IQ 6123683 //1095A
+
+#define IQ_OUT_NOM 2000.0 //1350.0
+#define ID_OUT_NOM (I_OUT_NOMINAL * 0.52)
+
+#define NORMA_FROTOR 20.0
+#define NORMA_MZZ 3000.0 //5000
+#define NORMA_ACP 3000.0
+#define DISABLE_TEST_TKAK_ON_START 1
+//#define MOTOR_STEND 1
+#define F_STATOR_MAX 20.0 /* ����. �������� ���������� ������������ */
+#define F_STATOR_NOM 12.0 //Hz
+#define IQ_F_STATOR_NOM 10066329
+
+#define F_ROTOR_NOM 2.0 //Hz
+#define IQ_F_ROTOR_NOM 1677721
+
+#define FREQ_PWM 450 //420 // 350 //401 //379
+#define FREQ_PWM_BASE 400
+
+#ifdef MOTOR_STEND
+#define POLUS 4 /* ����� ��� ������� */
+#define BPSI_NORMAL 0.9//0.7 //Hz
+#define MAX_FZAD_FROM_SU 16.7 // ����������� �������� �������� ������� � ������ �� ��
+#define MAX_FZAD_FROM_SU_OBOROT 1100
+#define COS_FI 0.98
+#else
+#define POLUS 6 /* ����� ��� ������� */
+#define BPSI_NORMAL 0.9 //Hz
+#define MAX_FZAD_FROM_SU 16.7 // ����������� �������� �������� ������� � ������ �� ��
+#define MAX_FZAD_FROM_SU_OBOROT 1650
+#define COS_FI 0.87
+//PCH21 - 0.81
+//PCH32 - 0.82
+//PCH12 - 0.82
+#endif
+
+
+#define KOEF_TEMPER_DECR_MZZ 2.0
+
+#endif
+
+
+
diff --git a/Inu/Src2/main/pid_reg3.c b/Inu/Src2/main/pid_reg3.c
new file mode 100644
index 0000000..4cc46c1
--- /dev/null
+++ b/Inu/Src2/main/pid_reg3.c
@@ -0,0 +1,107 @@
+/*=====================================================================================
+ File name: PID_REG3.C (IQ version)
+
+ Originator: Digital Control Systems Group
+ Texas Instruments
+
+ Description: The PID controller with anti-windup
+
+=====================================================================================
+ History:
+-------------------------------------------------------------------------------------
+ 04-15-2005 Version 3.20
+-------------------------------------------------------------------------------------*/
+
+#include "IQmathLib.h" // Include header for IQmath library
+// Don't forget to set a proper GLOBAL_Q in "IQmathLib.h" file
+//#include "dmctype.h"
+#include "pid_reg3.h"
+
+#define IQ_100 1677721600
+
+#pragma CODE_SECTION(pid_reg3_calc,".fast_run");
+void pid_reg3_calc(PIDREG3 *v)
+{
+_iq Ud2;
+ // Compute the error
+ v->Err = v->Ref - v->Fdb;
+
+ // Compute the proportional output
+ v->Up = _IQmpy(v->Kp,v->Err);
+
+ // Compute the integral output
+ v->Ui = v->Ui + _IQmpy(v->Ki,v->Up) + _IQmpy(v->Kc,v->SatErr);
+/*
+ // Saturate the integral output
+ if (v->Ui > v->OutMax)
+ v->Ui = v->OutMax;
+ else if (v->Ui < v->OutMin)
+ v->Ui = v->OutMin;
+*/
+ // Compute the derivative output
+ Ud2 = v->Up - v->Up1;// _IQmpy(IQ_100,(v->Up - v->Up1));
+ v->Ud = _IQmpy(v->Kd,Ud2);
+
+
+ // Compute the pre-saturated output
+ v->OutPreSat = v->Up + v->Ui + v->Ud;
+
+ // Saturate the output
+ if (v->OutPreSat > v->OutMax)
+ v->Out = v->OutMax;
+ else if (v->OutPreSat < v->OutMin)
+ v->Out = v->OutMin;
+ else
+ v->Out = v->OutPreSat;
+
+ // Compute the saturate difference
+ v->SatErr = v->Out - v->OutPreSat;
+
+ // Update the previous proportional output
+ v->Up1 = v->Up;
+
+
+}
+
+#pragma CODE_SECTION(pid_reg3_calc,".fast_run");
+void pid_reg3_undependent_calc(PIDREG3 *v)
+{
+_iq Ud2;
+ // Compute the error
+ v->Err = v->Ref - v->Fdb;
+
+ // Compute the proportional output
+ v->Up = _IQmpy(v->Kp,v->Err);
+
+ // Compute the integral output
+ v->Ui = v->Ui + _IQmpy(v->Ki,v->Err) + _IQmpy(v->Kc,v->SatErr);
+/*
+ // Saturate the integral output
+ if (v->Ui > v->OutMax)
+ v->Ui = v->OutMax;
+ else if (v->Ui < v->OutMin)
+ v->Ui = v->OutMin;
+*/
+ // Compute the derivative output
+ Ud2 = v->Up - v->Up1;// _IQmpy(IQ_100,(v->Up - v->Up1));
+ v->Ud = _IQmpy(v->Kd,Ud2);
+
+
+ // Compute the pre-saturated output
+ v->OutPreSat = v->Up + v->Ui + v->Ud;
+
+ // Saturate the output
+ if (v->OutPreSat > v->OutMax)
+ v->Out = v->OutMax;
+ else if (v->OutPreSat < v->OutMin)
+ v->Out = v->OutMin;
+ else
+ v->Out = v->OutPreSat;
+
+ // Compute the saturate difference
+ v->SatErr = v->Out - v->OutPreSat;
+
+ // Update the previous proportional output
+ v->Up1 = v->Up;
+
+}
diff --git a/Inu/Src2/main/pid_reg3.h b/Inu/Src2/main/pid_reg3.h
new file mode 100644
index 0000000..20b68c6
--- /dev/null
+++ b/Inu/Src2/main/pid_reg3.h
@@ -0,0 +1,117 @@
+/* =================================================================================
+File name: PID_REG3.H (IQ version)
+
+Originator: Digital Control Systems Group
+ Texas Instruments
+
+Description:
+Header file containing constants, data type definitions, and
+function prototypes for the PIDREG3.
+=====================================================================================
+ History:
+-------------------------------------------------------------------------------------
+ 04-15-2005 Version 3.20
+------------------------------------------------------------------------------*/
+#ifndef __PIDREG3_H__
+#define __PIDREG3_H__
+
+#include "IQmathlib.h"
+//#include "dmctype.h"
+
+typedef struct { _iq Ref; // Input: Reference input
+ _iq Fdb; // Input: Feedback input
+ _iq Err; // Variable: Error
+ _iq Kp; // Parameter: Proportional gain
+ _iq Up; // Variable: Proportional output
+ _iq Ui; // Variable: Integral output
+ _iq Ud; // Variable: Derivative output
+ _iq OutPreSat; // Variable: Pre-saturated output
+ _iq OutMax; // Parameter: Maximum output
+ _iq OutMin; // Parameter: Minimum output
+ _iq Out; // Output: PID output
+ _iq SatErr; // Variable: Saturated difference
+ _iq Ki; // Parameter: Integral gain
+ _iq Kc; // Parameter: Integral correction gain
+ _iq Kd; // Parameter: Derivative gain
+ _iq Up1; // History: Previous proportional output
+ void (*calc)(); // Pointer to calculation function
+ } PIDREG3;
+
+typedef PIDREG3 *PIDREG3_handle;
+/*-----------------------------------------------------------------------------
+Default initalizer for the PIDREG3 object.
+-----------------------------------------------------------------------------*/
+#define PIDREG3_DEFAULTS { 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ (void (*)(PIDREG3_handle))pid_reg3_calc }
+
+#define PIDREG3_UNDEPENDENT_DEFAULTS { 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ 0, \
+ (void (*)(PIDREG3_handle))pid_reg3_undependent_calc }
+
+/*------------------------------------------------------------------------------
+Prototypes for the functions in PIDREG3.C
+------------------------------------------------------------------------------*/
+void pid_reg3_calc(PIDREG3_handle);
+void pid_reg3_undependent_calc(PIDREG3 *v);
+
+#endif // __PIDREG3_H__
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Inu/Src2/main/rotation_speed.h b/Inu/Src2/main/rotation_speed.h
new file mode 100644
index 0000000..a28fa49
--- /dev/null
+++ b/Inu/Src2/main/rotation_speed.h
@@ -0,0 +1,44 @@
+#ifndef _ROT_SPEED
+#define _ROT_SPEED
+
+#include "IQmathLib.h"
+
+#define SENSORS_NUMBER 10
+#define SENSORS_NUMBER_ONLY_IN 6
+#define IMPULSES_PER_TURN (1LL << 13) //Old sensor
+//#define IMPULSES_PER_TURN (1LL << 10) //New sensor
+#define ANGLE_RESOLUTION (1LL << 18) //2^18
+
+typedef struct
+{
+ int direct_rotor;
+ int direct_rotor_in1;
+ int direct_rotor_in2;
+ int direct_rotor_angle;
+ union {
+ unsigned int sens_err1:1;
+ unsigned int sens_err2:1;
+ unsigned int reserved:14;
+ } error;
+
+ _iq iqFsensors[SENSORS_NUMBER];
+
+ _iq iqF;
+ _iq iqFout;
+ _iq iqFlong;
+
+ _iq iqFrotFromOptica;
+
+ unsigned int error_update_count;
+} ROTOR_VALUE;
+
+#define ROTOR_VALUE_DEFAULTS {0,0,0,0,0, {0,0,0,0,0,0,0,0},0,0,0,0,0}
+
+extern ROTOR_VALUE rotor;
+
+void Rotor_measure(void);
+void rotorInit(void);
+void update_rot_sensors();
+
+#endif //_ROT_SPEED
+
diff --git a/Inu/Src2/main/svgen_dq.h b/Inu/Src2/main/svgen_dq.h
new file mode 100644
index 0000000..2949fd1
--- /dev/null
+++ b/Inu/Src2/main/svgen_dq.h
@@ -0,0 +1,38 @@
+/* =================================================================================
+File name: SVGEN_DQ.H (IQ version)
+
+Originator: Digital Control Systems Group
+ Texas Instruments
+
+Description:
+Header file containing constants, data type definitions, and
+function prototypes for the SVGEN_DQ.
+=====================================================================================
+ History:
+-------------------------------------------------------------------------------------
+ 04-15-2005 Version 3.20
+------------------------------------------------------------------------------*/
+#ifndef __SVGEN_DQ_H__
+#define __SVGEN_DQ_H__
+
+typedef struct { _iq Ualpha; // Input: reference alpha-axis phase voltage
+ _iq Ubeta; // Input: reference beta-axis phase voltage
+ _iq Ta; // Output: reference phase-a switching function
+ _iq Tb; // Output: reference phase-b switching function
+ _iq Tc; // Output: reference phase-c switching function
+ void (*calc)(); // Pointer to calculation function
+ } SVGENDQ;
+
+typedef SVGENDQ *SVGENDQ_handle;
+/*-----------------------------------------------------------------------------
+Default initalizer for the SVGENDQ object.
+-----------------------------------------------------------------------------*/
+#define SVGENDQ_DEFAULTS { 0,0,0,0,0, \
+ (void (*)(Uint32))svgendq_calc }
+
+/*------------------------------------------------------------------------------
+Prototypes for the functions in SVGEN_DQ.C
+------------------------------------------------------------------------------*/
+void svgendq_calc(SVGENDQ_handle);
+
+#endif // __SVGEN_DQ_H__
diff --git a/Inu/Src2/main/svgen_dq_v2.c b/Inu/Src2/main/svgen_dq_v2.c
new file mode 100644
index 0000000..cb8b85c
--- /dev/null
+++ b/Inu/Src2/main/svgen_dq_v2.c
@@ -0,0 +1,120 @@
+/*=====================================================================================
+ File name: SVGEN_DQ.C (IQ version)
+
+ Originator: Digital Control Systems Group
+ Texas Instruments
+
+ Description: Space-vector PWM generation based on d-q components
+
+=====================================================================================
+ History:
+-------------------------------------------------------------------------------------
+ 04-15-2005 Version 3.20
+-------------------------------------------------------------------------------------*/
+
+#include "IQmathLib.h" // Include header for IQmath library
+// Don't forget to set a proper GLOBAL_Q in "IQmathLib.h" file
+#include "dmctype.h"
+#include "svgen_dq.h"
+_iq iq_max = _IQ(1.0)-1;
+
+
+// #pragma CODE_SECTION(svgendq_calc,".fast_run2");
+void svgendq_calc(SVGENDQ *v)
+{
+ _iq Va,Vb,Vc,t1,t2,temp_sv1,temp_sv2;
+ Uint16 Sector = 0; // Sector is treated as Q0 - independently with global Q
+
+ Sector = 0; \
+ temp_sv1=_IQdiv2(v->Ubeta); /*divide by 2*/ \
+ temp_sv2=_IQmpy(_IQ(0.8660254),v->Ualpha); /* 0.8660254 = sqrt(3)/2*/ \
+
+// Inverse clarke transformation
+ Va = v->Ubeta; \
+ Vb = -temp_sv1 + temp_sv2; \
+ Vc = -temp_sv1 - temp_sv2; \
+
+// 60 degree Sector determination
+ if (Va>0)
+ Sector = 1;
+ if (Vb>0)
+ Sector = Sector + 2;
+ if (Vc>0)
+ Sector = Sector + 4;
+
+// X,Y,Z (Va,Vb,Vc) calculations X = Va, Y = Vb, Z = Vc \ Va = v.Ubeta;
+ Vb = temp_sv1 + temp_sv2;
+ Vc = temp_sv1 - temp_sv2;
+// Sector 0: this is special case for (Ualpha,Ubeta) = (0,0)
+
+ if (Sector==0) // Sector 0: this is special case for (Ualpha,Ubeta) = (0,0)
+ {
+ v->Ta = _IQ(0.5);
+ v->Tb = _IQ(0.5);
+ v->Tc = _IQ(0.5);
+ }
+ if (Sector==1) // Sector 1: t1=Z and t2=Y (abc ---> Tb,Ta,Tc)
+ {
+ t1 = Vc;
+ t2 = Vb;
+ v->Tb = _IQdiv2((_IQ(1)-t1-t2)); // tbon = (1-t1-t2)/2
+ v->Ta = v->Tb+t1; // taon = tbon+t1
+ v->Tc = v->Ta+t2; // tcon = taon+t2
+ }
+ else if (Sector==2) // Sector 2: t1=Y and t2=-X (abc ---> Ta,Tc,Tb)
+ {
+ t1 = Vb;
+ t2 = -Va;
+ v->Ta = _IQdiv2((_IQ(1)-t1-t2)); // taon = (1-t1-t2)/2
+ v->Tc = v->Ta+t1; // tcon = taon+t1
+ v->Tb = v->Tc+t2; // tbon = tcon+t2
+ }
+ else if (Sector==3) // Sector 3: t1=-Z and t2=X (abc ---> Ta,Tb,Tc)
+ {
+ t1 = -Vc;
+ t2 = Va;
+ v->Ta = _IQdiv2((_IQ(1)-t1-t2)); // taon = (1-t1-t2)/2
+ v->Tb = v->Ta+t1; // tbon = taon+t1
+ v->Tc = v->Tb+t2; // tcon = tbon+t2
+ }
+ else if (Sector==4) // Sector 4: t1=-X and t2=Z (abc ---> Tc,Tb,Ta)
+ {
+ t1 = -Va;
+ t2 = Vc;
+ v->Tc = _IQdiv2((_IQ(1)-t1-t2)); // tcon = (1-t1-t2)/2
+ v->Tb = v->Tc+t1; // tbon = tcon+t1
+ v->Ta = v->Tb+t2; // taon = tbon+t2
+ }
+ else if (Sector==5) // Sector 5: t1=X and t2=-Y (abc ---> Tb,Tc,Ta)
+ {
+ t1 = Va;
+ t2 = -Vb;
+ v->Tb = _IQdiv2((_IQ(1)-t1-t2)); // tbon = (1-t1-t2)/2
+ v->Tc = v->Tb+t1; // tcon = tbon+t1
+ v->Ta = v->Tc+t2; // taon = tcon+t2
+ }
+ else if (Sector==6) // Sector 6: t1=-Y and t2=-Z (abc ---> Tc,Ta,Tb)
+ {
+ t1 = -Vb;
+ t2 = -Vc;
+ v->Tc = _IQdiv2((_IQ(1)-t1-t2)); // tcon = (1-t1-t2)/2
+ v->Ta = v->Tc+t1; // taon = tcon+t1
+ v->Tb = v->Ta+t2; // tbon = taon+t2
+ }
+
+// Convert the unsigned GLOBAL_Q format (ranged (0,1)) -> signed GLOBAL_Q format (ranged (-1,1))
+ v->Ta = _IQmpy2(v->Ta - _IQ(0.5));
+ v->Tb = _IQmpy2(v->Tb - _IQ(0.5));
+ v->Tc = _IQmpy2(v->Tc - _IQ(0.5));
+
+ if (v->Ta > iq_max) v->Ta = iq_max;
+ if (v->Tb > iq_max) v->Tb = iq_max;
+ if (v->Tc > iq_max) v->Tc = iq_max;
+
+ if (v->Ta < -iq_max) v->Ta = -iq_max;
+ if (v->Tb < -iq_max) v->Tb = -iq_max;
+ if (v->Tc < -iq_max) v->Tc = -iq_max;
+
+}
+
+
diff --git a/Inu/Src2/main/v_pwm24.c b/Inu/Src2/main/v_pwm24.c
new file mode 100644
index 0000000..357cb98
--- /dev/null
+++ b/Inu/Src2/main/v_pwm24.c
@@ -0,0 +1,1635 @@
+
+
+#include "v_pwm24.h"
+//#include "DSP281x_Device.h" // DSP281x Headerfile Include File
+//#include "big_dsp_module.h"
+//#include "rmp2cntl.h" // Include header for the VHZPROF object
+//#include "rmp_cntl_my1.h" // Include header for the VHZPROF object
+#include "pid_reg3.h" // Include header for the VHZPROF object
+
+#include "params.h"
+// #include "PWMTools.h"
+#include "adc_tools.h"
+#include "v_pwm24.h"
+
+#include "dq_to_alphabeta_cos.h"
+
+#include "IQmathLib.h"
+// #include "log_to_memory.h"
+//Xilinx
+//#include "x_parameters.h"
+// #include "x_basic_types.h"
+// #include "xp_project.h"
+// #include "xp_cds_tk.h"
+#include "svgen_dq.h"
+#include "xp_write_xpwm_time.h"
+
+#include "def.h"
+
+#define DEF_FREQ_PWM_XTICS T1_PRD
+#define DEF_PERIOD_MIN_XTICS (DT + 10e-6)*FTBCLK
+
+// ������� ��� � xilinx ����� (60000000 / 16 / FREQ_PWM = 3750000 / FREQ_PWM)
+// #pragma DATA_SECTION(VAR_FREQ_PWM_XTICS,".fast_vars1");
+int VAR_FREQ_PWM_XTICS = DEF_FREQ_PWM_XTICS;
+
+// ����������� �������� ���� � xilinx �����
+// #pragma DATA_SECTION(VAR_PERIOD_MAX_XTICS,".fast_vars1");
+int VAR_PERIOD_MAX_XTICS = DEF_FREQ_PWM_XTICS - DEF_PERIOD_MIN_XTICS;
+
+// ����������� �������� ���� � xilinx ����� (mintime+deadtime) (F���� * T���.�����.��� = (60 / 16 / 2) * T��� = (60 * T��� / 16 / 2))
+// #pragma DATA_SECTION(VAR_PERIOD_MIN_XTICS,".fast_vars1");
+int VAR_PERIOD_MIN_XTICS = DEF_PERIOD_MIN_XTICS;//
+
+// ����������� �������� ���� � xilinx ����� ��� ��������� ������ (mintime) (F���� * T���.�����.��� = (60 / 16 / 2) * T��� = (60 * T��� / 16 / 2))
+// #pragma DATA_SECTION(VAR_PERIOD_MIN_BR_XTICS,".fast_vars1");
+// int VAR_PERIOD_MIN_BR_XTICS = DEF_PERIOD_MIN_BR_XTICS;//
+
+#define PWM_ONE_INTERRUPT_RUN 1
+#define PWM_TWICE_INTERRUPT_RUN 0
+
+
+
+#define SQRT3 29058990 //1.7320508075688772935274463415059
+#define CONST_IQ_1 16777216 //1
+#define CONST_IQ_05 8388608 //0.5
+#define CONST_IQ_2 33554432 //2
+
+#define CONST_IQ_PI6 8784530 //30
+#define CONST_IQ_PI3 17569060 // 60
+#define CONST_IQ_PI 52707178 // 180
+#define CONST_IQ_OUR1 35664138 //
+#define CONST_IQ_2PI 105414357 // 360
+#define CONST_IQ_120G 35138119 // 120 grad
+#define CONST_IQ_3 50331648 // 3
+
+#define IQ_ALFA_SATURATION1 15099494//16441671//15099494
+#define IQ_ALFA_SATURATION2 1677721//16441671//15099494
+
+
+#define PI 3.1415926535897932384626433832795
+
+// #pragma DATA_SECTION(iq_alfa_coef,".fast_vars");
+_iq iq_alfa_coef = 16777216;
+
+// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+//#pragma DATA_SECTION(freq_array,".v_24pwm_vars");
+//int freq_array[COUNT_VAR_FREQ];
+// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+//#pragma DATA_SECTION(pidCur_Kp,".v_24pwm_vars");
+//_iq pidCur_Kp = 0;
+
+// #pragma DATA_SECTION(pidCur_Ki,".fast_vars");
+_iq pidCur_Ki = 0;
+
+// #pragma DATA_SECTION(ar_tph,".fast_vars");
+_iq ar_tph[7];
+
+// #pragma DATA_SECTION(winding_displacement,".fast_vars");
+_iq winding_displacement = CONST_IQ_PI6;
+
+//#pragma DATA_SECTION(iq_koef_mod_korrect_1,".fast_vars");//v_24pwm_vars
+//_iq iq_koef_mod_korrect_1;
+
+//#pragma DATA_SECTION(iq_koef_mod_korrect_2,".v_24pwm_vars");
+//_iq iq_koef_mod_korrect_2;
+
+//#pragma DATA_SECTION(ar_sa_all,".v_24pwm_vars");
+// #pragma DATA_SECTION(ar_sa_all,".fast_vars");
+int ar_sa_all[3][6][4][7] = { {
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ },
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ },
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ },
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ },
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ },
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ }
+ },
+ {
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ },
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ },
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ },
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ },
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ },
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ }
+ },
+ {
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ },
+ {
+ {-1,-1,-1,0,0,0,1},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0},{-1,-1,-1,0,0,0,0}
+ },
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ },
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ },
+ {
+ {-1,0,0,0,1,1,1},{0,1,1,1,0,0,0},{0,0,1,1,1,0,0},{0,1,1,1,0,0,0}
+ },
+ {
+ {-1,-1,0,0,0,1,1},{-1,-1,0,0,0,0,0},{-1,0,0,0,1,0,0},{0,0,1,1,0,0,0}
+ }
+ }
+ };
+
+
+// #pragma DATA_SECTION(svgen_pwm24_1,".v_24pwm_vars");
+//#pragma DATA_SECTION(svgen_pwm24_1,".fast_vars");
+SVGEN_PWM24 svgen_pwm24_1 = SVGEN_PWM24_DEFAULTS;
+// #pragma DATA_SECTION(svgen_pwm24_2,".v_24pwm_vars");
+//#pragma DATA_SECTION(svgen_pwm24_2,".fast_vars");
+SVGEN_PWM24 svgen_pwm24_2 = SVGEN_PWM24_DEFAULTS;
+
+// #pragma DATA_SECTION(svgen_dq_1,".v_24pwm_vars");
+SVGENDQ svgen_dq_1 = SVGENDQ_DEFAULTS;
+// #pragma DATA_SECTION(svgen_dq_2,".v_24pwm_vars");
+SVGENDQ svgen_dq_2 = SVGENDQ_DEFAULTS;
+
+//#pragma DATA_SECTION(delta_t1_struct,".v_24pwm_vars");
+//#pragma DATA_SECTION(delta_t1_struct,".fast_vars");
+//PIDREG3 delta_t1_struct = PIDREG3_DEFAULTS;
+//#pragma DATA_SECTION(delta_t2_struct,".v_24pwm_vars");
+//#pragma DATA_SECTION(delta_t2_struct,".fast_vars");
+//PIDREG3 delta_t2_struct = PIDREG3_DEFAULTS;
+
+void calc_t_abc(_iq k, _iq teta, int region, _iq *iq_tt0, _iq *iq_tt1, _iq *iq_tt2, _iq *iq_tt3, _iq *iq_tt4, _iq *iq_tt5);
+void set_predel_dshim24(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax);
+void set_predel_dshim24_simple0(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax);
+void set_predel_dshim24_simple1(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax);
+int detect_sec(_iq teta);
+int detect_region(_iq k, _iq teta);
+//
+
+
+
+
+//void init_alpha(void)
+//{
+//
+//// power_ain1.init(&power_ain1);
+//// power_ain2.init(&power_ain2);
+//
+// svgen_mf1.NewEntry = 0;//_IQ(0.5);
+// svgen_mf2.NewEntry = 0;
+//
+// svgen_mf1.SectorPointer = 0;
+// svgen_mf2.SectorPointer = 0;
+//
+////����� �� ��������� 0 ��������
+// svgen_mf1.Alpha = _IQ(0);
+// svgen_mf2.Alpha = _IQ(0);
+//
+//
+//
+//
+//
+//#if (SETUP_SDVIG_OBMOTKI == SDVIG_OBMOTKI_30_PLUS)
+//// 30 ����. �����
+// svgen_mf1.Alpha = _IQ(0.5);
+// svgen_mf2.Alpha = _IQ(0);
+//
+// svgen_mf1.Full_Alpha = svgen_mf1.Alpha;
+// svgen_mf2.Full_Alpha = svgen_mf2.Alpha;
+//#else
+//
+//
+//#if (SETUP_SDVIG_OBMOTKI == SDVIG_OBMOTKI_30_MINUS)
+//// -30 ����. �����
+// svgen_mf1.Alpha = _IQ(0);
+// svgen_mf2.Alpha = _IQ(0.5);
+// svgen_mf1.Full_Alpha = svgen_mf1.Alpha;
+// svgen_mf2.Full_Alpha = svgen_mf2.Alpha;
+//#else
+//
+//#if (SETUP_SDVIG_OBMOTKI == SDVIG_OBMOTKI_ZERO)
+//// -30 ����. �����
+// svgen_mf1.Alpha = _IQ(0);
+// svgen_mf2.Alpha = _IQ(0);
+// svgen_mf1.Full_Alpha = svgen_mf1.Alpha;
+// svgen_mf2.Full_Alpha = svgen_mf2.Alpha;
+//#else
+// #error "!!!������!!! �� ��������� SETUP_SDVIG_OBMOTKI � params_motor.h!!!"
+//
+//
+//#endif
+//
+//#endif
+//
+//
+//
+//#endif
+//
+//
+//
+//}
+
+void InitVariablesSvgen(unsigned int freq)
+{
+////////// Inserted from 'initPWM_Variables' for modulation project //////////
+
+ //��� ������ ���� �������, ����� ���� ��������� ������, ��� ������ ����
+ xpwm_time.Tclosed_0 = 0;
+ xpwm_time.Tclosed_1 = VAR_FREQ_PWM_XTICS + 1;
+ xpwm_time.Tclosed_high = VAR_FREQ_PWM_XTICS + 1;
+ xpwm_time.pwm_tics = VAR_FREQ_PWM_XTICS;
+ // ������� ����������� ���
+ // "����������� ��� ��� ���� ����=0x0
+ //���� SAW_DIRECTbit = 0 �� �������� ����>������� �������� �������� ���������� ���������=0
+ //�� ������ ����
+ //���� SAW_DIRECTbit = 1 �� �������� ����<=������� �������� �������� ���������� ���������=0
+ //�� ������ ����
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ //��� 22220 ������������� 0, �.�. ��� ������ � ������ ������ ���� ���������� ��������� ����������.
+ xpwm_time.saw_direct.all = 0;//0x0555;
+ xpwm_time.one_or_two_interrupts_run = PWM_TWICE_INTERRUPT_RUN;
+
+ initXpwmTimeStructure(&xpwm_time);
+ init_alpha_pwm24(VAR_FREQ_PWM_XTICS);
+/////////////////////////////////////////////////////////////
+
+ svgen_pwm24_1.pwm_minimal_impuls_zero_minus = 0;//(float)DEF_PERIOD_MIN_MKS*1000.0*FREQ_INTERNAL_GENERATOR_XILINX_TMS/1000000000.0;// DEF_PERIOD_MIN_XTICS_100;//DEF_PERIOD_MIN_XTICS_80;
+ svgen_pwm24_1.pwm_minimal_impuls_zero_plus = 0;//(float)DEF_PERIOD_MIN_MKS*1000.0*FREQ_INTERNAL_GENERATOR_XILINX_TMS/1000000000.0;// DEF_PERIOD_MIN_XTICS_80;
+
+ svgen_pwm24_2.pwm_minimal_impuls_zero_minus = svgen_pwm24_1.pwm_minimal_impuls_zero_minus;
+ svgen_pwm24_2.pwm_minimal_impuls_zero_plus = svgen_pwm24_1.pwm_minimal_impuls_zero_plus;
+
+
+ svgen_pwm24_1.Tclosed_high = xpwm_time.Tclosed_1;
+ svgen_pwm24_2.Tclosed_high = xpwm_time.Tclosed_1;
+
+
+
+
+ svgen_dq_1.Ualpha = 0;
+ svgen_dq_1.Ubeta = 0;
+
+ svgen_dq_2.Ualpha = 0;
+ svgen_dq_2.Ubeta = 0;
+
+
+
+}
+
+
+
+
+
+
+
+
+
+
+// #pragma CODE_SECTION(recalc_time_pwm_minimal_2_xilinx_pwm24_l,".fast_run2");
+void recalc_time_pwm_minimal_2_xilinx_pwm24_l(SVGEN_PWM24 *pwm24,
+ _iq *T0, _iq *T1,
+ _iq timpuls_corr )
+{
+
+//_iq pwm_t, timpuls_corr;
+
+ volatile unsigned long pwm_t;
+ volatile unsigned int minimal_plus, minimal_minus;
+
+
+
+ minimal_plus = pwm24->pwm_minimal_impuls_zero_plus;
+ minimal_minus = pwm24->pwm_minimal_impuls_zero_minus;
+
+ // if (pwm24->prev_level == V_PWM24_PREV_PWM_CLOSE || pwm24->prev_level == V_PWM24_PREV_PWM_MIDDLE || pwm24->prev_level == V_PWM24_PREV_PWM_WORK_KM0)
+ // {
+ // minimal_plus *= 2;
+// minimal_minus *= 2;
+// }
+
+ pwm_t = timpuls_corr / pwm24->XilinxFreq;
+
+ // *T_imp = pwm_t;
+
+// if (pwm_t>(pwm24->Tclosed_high-4*minimal_minus))
+// pwm_t=(pwm24->Tclosed_high-4*minimal_minus);
+
+
+ if (timpuls_corr >= 0)
+ {
+ *T0 = pwm_t + minimal_plus;
+ // *T1 = 0;
+ *T1 = pwm24->Tclosed_high - minimal_minus;
+ }
+ else
+ {
+ *T0 = 0 + minimal_plus;
+ // *T1 = -pwm_t - minimal_minus;
+ *T1 = pwm24->Tclosed_high + pwm_t - minimal_minus;
+ }
+
+
+ // if (*T0 < minimal_plus)
+ // *T0 = minimal_plus;
+
+ // if (*T0 > (pwm24->Tclosed_high - 2 * minimal_plus))
+ // *T0 = (pwm24->Tclosed_high - 2 * minimal_plus);
+
+ // if (*T1 < (2 * minimal_minus))
+ // *T1 = 2 * minimal_minus;
+
+ // if (*T1 > (pwm24->Tclosed_high - minimal_minus))
+ // *T1 = (pwm24->Tclosed_high - minimal_minus);
+
+}
+
+static DQ_TO_ALPHABETA dq_to_ab = DQ_TO_ALPHABETA_DEFAULTS;
+
+// #pragma CODE_SECTION(test_calc_dq_pwm24,".v_24pwm_run");
+void test_calc_dq_pwm24(_iq Ud, _iq Uq, _iq Ud2, _iq Uq2, _iq tetta,_iq Uzad_max)
+{
+// DQ_TO_ALPHABETA dq_to_ab = DQ_TO_ALPHABETA_DEFAULTS;
+ _iq maxUq = 0;
+ _iq Uzad_max_square = _IQmpy(Uzad_max, Uzad_max);
+
+ if (tetta > CONST_IQ_2PI)
+ {
+ tetta -= CONST_IQ_2PI;
+ }
+
+ if (tetta < 0)
+ {
+ tetta += CONST_IQ_2PI;
+ }
+ //��������� ����������� ���������
+ maxUq = _IQsqrt(Uzad_max_square - _IQmpy(Ud, Ud));
+ if (Uq > maxUq) { Uq = maxUq;}
+ if (Uq < -maxUq) { Uq = -maxUq;}
+
+
+ //Reculct dq to alpha-beta
+ dq_to_ab.Tetta = tetta;
+ dq_to_ab.Ud = Ud;
+ dq_to_ab.Uq = Uq;
+ dq_to_ab.calc2(&dq_to_ab);
+ //Calc swgen times for 1-st winding
+ svgen_dq_1.Ualpha = dq_to_ab.Ualpha;
+ svgen_dq_1.Ubeta = dq_to_ab.Ubeta;
+ svgen_dq_1.calc(&svgen_dq_1);
+
+ //��������� ����������� ���������
+ maxUq = _IQsqrt(Uzad_max_square - _IQmpy(Ud, Ud));
+ if (Uq2 > maxUq) { Uq2 = maxUq;}
+ if (Uq2 < -maxUq) { Uq2 = -maxUq;}
+
+ //Reculc dq to alpha-beta for 2-nd winding with winding displasement
+ dq_to_ab.Tetta = tetta - winding_displacement;
+ dq_to_ab.Ud = Ud2;
+ dq_to_ab.Uq = Uq2;
+ dq_to_ab.calc2(&dq_to_ab);
+ //Calc swgen times for 1-st winding
+ svgen_dq_2.Ualpha = dq_to_ab.Ualpha;
+ svgen_dq_2.Ubeta = dq_to_ab.Ubeta;
+ svgen_dq_2.calc(&svgen_dq_2);
+
+ //1 winding
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Ta_0.Ti, &svgen_pwm24_1.Ta_1.Ti, svgen_dq_1.Ta);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Tb_0.Ti, &svgen_pwm24_1.Tb_1.Ti, svgen_dq_1.Tb);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Tc_0.Ti, &svgen_pwm24_1.Tc_1.Ti, svgen_dq_1.Tc);
+
+ // 2 winding
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Ta_0.Ti, &svgen_pwm24_2.Ta_1.Ti, svgen_dq_2.Ta);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Tb_0.Ti, &svgen_pwm24_2.Tb_1.Ti, svgen_dq_2.Tb);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Tc_0.Ti, &svgen_pwm24_2.Tc_1.Ti, svgen_dq_2.Tc);
+
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+/*
+ set_predel_dshim24(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);*/
+}
+
+
+// #pragma CODE_SECTION(test_calc_simple_dq_pwm24,".v_24pwm_run");
+void test_calc_simple_dq_pwm24(_iq uz1, _iq uz2, _iq fz1, _iq fz2,_iq Uzad_max)
+{
+ static _iq hz_to_angle = _IQ(2.0 * PI * NORMA_FROTOR / FREQ_PWM / 2);
+// static _iq tetta = 0;
+ DQ_TO_ALPHABETA dq_to_ab = DQ_TO_ALPHABETA_DEFAULTS;
+
+ _iq Ud = 0;
+ _iq Uq = _IQsat(uz1,Uzad_max,0);
+
+ analog.tetta += _IQmpy(fz1, hz_to_angle);
+
+ if (analog.tetta >= CONST_IQ_2PI)
+ {
+ analog.tetta -= CONST_IQ_2PI;
+ }
+
+ if (analog.tetta < 0)
+ {
+ analog.tetta += CONST_IQ_2PI;
+ }
+
+ dq_to_ab.Tetta = analog.tetta;
+ dq_to_ab.Ud = Ud;
+ dq_to_ab.Uq = Uq;
+ dq_to_ab.calc2(&dq_to_ab);
+
+ svgen_dq_1.Ualpha = dq_to_ab.Ualpha;
+ svgen_dq_1.Ubeta = dq_to_ab.Ubeta;
+
+// svgen_dq_1.Ualpha = 0;
+// svgen_dq_1.Ubeta = 0;
+
+ svgen_dq_1.calc(&svgen_dq_1);
+
+ dq_to_ab.Tetta = analog.tetta - winding_displacement;
+ dq_to_ab.Ud = Ud;
+ dq_to_ab.Uq = Uq;
+ dq_to_ab.calc2(&dq_to_ab);
+
+ svgen_dq_2.Ualpha = dq_to_ab.Ualpha;
+ svgen_dq_2.Ubeta = dq_to_ab.Ubeta;
+
+ svgen_dq_2.calc(&svgen_dq_2);
+
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Ta_0.Ti, &svgen_pwm24_1.Ta_1.Ti, svgen_dq_1.Ta);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Tb_0.Ti, &svgen_pwm24_1.Tb_1.Ti, svgen_dq_1.Tb);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_1, &svgen_pwm24_1.Tc_0.Ti, &svgen_pwm24_1.Tc_1.Ti, svgen_dq_1.Tc);
+
+ // 2
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Ta_0.Ti, &svgen_pwm24_2.Ta_1.Ti, svgen_dq_2.Ta);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Tb_0.Ti, &svgen_pwm24_2.Tb_1.Ti, svgen_dq_2.Tb);
+ recalc_time_pwm_minimal_2_xilinx_pwm24_l (&svgen_pwm24_2, &svgen_pwm24_2.Tc_0.Ti, &svgen_pwm24_2.Tc_1.Ti, svgen_dq_2.Tc);
+
+// logpar.log1 = (int16)(_IQtoIQ15(uz1));
+// logpar.log2 = (int16)(_IQtoIQ15(fz1));
+// logpar.log3 = (int16)(_IQtoIQ15(Ud));
+// logpar.log4 = (int16)(_IQtoIQ15(Uq));
+// logpar.log5 = (int16)(_IQtoIQ15(svgen_dq_1.Ualpha));
+// logpar.log6 = (int16)(_IQtoIQ15(svgen_dq_1.Ubeta));
+// logpar.log7 = (int16)(_IQtoIQ15(svgen_dq_1.Ta));
+// logpar.log8 = (int16)(_IQtoIQ15(svgen_dq_1.Tb));
+// logpar.log9 = (int16)(_IQtoIQ15(svgen_dq_1.Tc));
+// logpar.log10 = (int16)(_IQtoIQ12(analog.tetta));
+// logpar.log11 = (int16)(svgen_pwm24_1.Ta_0.Ti);
+// logpar.log12 = (int16)((svgen_pwm24_1.Ta_1.Ti));
+// logpar.log13 = (int16)(svgen_pwm24_1.Tb_0.Ti);
+// logpar.log14 = (int16)((svgen_pwm24_1.Tb_1.Ti));
+// logpar.log15 = (int16)(svgen_pwm24_1.Tc_0.Ti);
+// logpar.log16 = (int16)((svgen_pwm24_1.Tc_1.Ti));
+
+
+// svgen_pwm24_1.calc(&svgen_pwm24_1);
+// svgen_pwm24_2.calc(&svgen_pwm24_2);
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+//
+// set_predel_dshim24_simple0(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+// set_predel_dshim24_simple1(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+}
+
+// #pragma CODE_SECTION(test_calc_pwm24,".v_24pwm_run");
+void test_calc_pwm24(_iq uz1, _iq uz2, _iq fz1)
+{
+ //static int i =0;
+ svgen_pwm24_1.Freq = fz1;
+ svgen_pwm24_2.Freq = fz1;
+
+ svgen_pwm24_1.Gain = uz1;//_IQmpy(uz1,iq_koef_mod_korrect_1);
+ svgen_pwm24_2.Gain = uz2;//_IQmpy(uz2,iq_koef_mod_korrect_2);
+
+ svgen_pwm24_1.delta_U = filter.iqU_1_fast - filter.iqU_2_fast;
+ svgen_pwm24_2.delta_U = filter.iqU_3_fast - filter.iqU_4_fast;
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ svgen_pwm24_1.delta_U = 0;
+ svgen_pwm24_2.delta_U = 0;
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ svgen_pwm24_1.Ia = analog.iqIa1_1;
+ svgen_pwm24_1.Ib = analog.iqIb1_1;
+ svgen_pwm24_1.Ic = analog.iqIc1_1;
+
+ svgen_pwm24_2.Ia = analog.iqIa2_1;
+ svgen_pwm24_2.Ib = analog.iqIb2_1;
+ svgen_pwm24_2.Ic = analog.iqIc2_1;
+
+ svgen_pwm24_1.calc(&svgen_pwm24_1);
+ svgen_pwm24_2.calc(&svgen_pwm24_2);
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ set_predel_dshim24(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+// if(((svgen_pwm24_2.Ta_0.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Ta_0.Ti <= (VAR_FREQ_PWM_XTICS))) ||
+// ((svgen_pwm24_2.Ta_1.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Ta_1.Ti <= (VAR_FREQ_PWM_XTICS))) ||
+// ((svgen_pwm24_2.Tb_0.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Tb_0.Ti <= (VAR_FREQ_PWM_XTICS))) ||
+// ((svgen_pwm24_2.Tb_1.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Tb_1.Ti <= (VAR_FREQ_PWM_XTICS))) ||
+// ((svgen_pwm24_2.Tc_0.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Tc_0.Ti <= (VAR_FREQ_PWM_XTICS))) ||
+// ((svgen_pwm24_2.Tc_1.Ti > (VAR_FREQ_PWM_XTICS - VAR_PERIOD_MIN_XTICS)) && (svgen_pwm24_2.Tc_1.Ti <= (VAR_FREQ_PWM_XTICS))))
+// {
+// asm(" NOP ");
+// }
+//
+// if( ((svgen_pwm24_2.Ta_0.Ti > 0) && (svgen_pwm24_2.Ta_0.Ti < (VAR_PERIOD_MIN_XTICS))) ||
+// ((svgen_pwm24_2.Ta_1.Ti > 0) && (svgen_pwm24_2.Ta_1.Ti < (VAR_PERIOD_MIN_XTICS))) ||
+// ((svgen_pwm24_2.Tb_0.Ti > 0) && (svgen_pwm24_2.Tb_0.Ti < (VAR_PERIOD_MIN_XTICS))) ||
+// ((svgen_pwm24_2.Tb_1.Ti > 0) && (svgen_pwm24_2.Tb_1.Ti < (VAR_PERIOD_MIN_XTICS))) ||
+// ((svgen_pwm24_2.Tc_0.Ti > 0) && (svgen_pwm24_2.Tc_0.Ti < (VAR_PERIOD_MIN_XTICS))) ||
+// ((svgen_pwm24_2.Tc_1.Ti > 0) && (svgen_pwm24_2.Tc_1.Ti < (VAR_PERIOD_MIN_XTICS))))
+// {
+// asm(" NOP ");
+// }
+}
+
+
+// #pragma CODE_SECTION(svgen_pwm24_calc,".v_24pwm_run");
+void svgen_pwm24_calc(SVGEN_PWM24 *vt)
+{
+ _iq StepAngle;
+
+ StepAngle = _IQmpy(vt->Freq,vt->FreqMax);
+
+ vt->Alpha = vt->Alpha + StepAngle;
+
+
+ if (vt->Alpha > CONST_IQ_2PI)
+ {
+ vt->Alpha -= CONST_IQ_2PI;
+ }
+
+ if (vt->Alpha < 0)
+ {
+ vt->Alpha += CONST_IQ_2PI;
+ }
+
+
+ calc_time_one_tk(vt->Gain, vt->Alpha, vt->delta_U, vt->Ia, vt->Ib, vt->Ic,
+ vt->number_svgen, &vt->Ta_0, &vt->Ta_1,&vt->Tb_0, &vt->Tb_1,&vt->Tc_0, &vt->Tc_1);
+
+
+
+ vt->Ta_0.Ti = vt->Ta_0.Ti/vt->XilinxFreq;
+ vt->Ta_1.Ti = vt->Ta_1.Ti/vt->XilinxFreq;
+
+ vt->Tb_0.Ti = vt->Tb_0.Ti/vt->XilinxFreq;
+ vt->Tb_1.Ti = vt->Tb_1.Ti/vt->XilinxFreq;
+
+ vt->Tc_0.Ti = vt->Tc_0.Ti/vt->XilinxFreq;
+ vt->Tc_1.Ti = vt->Tc_1.Ti/vt->XilinxFreq;
+
+}
+
+
+// #pragma CODE_SECTION(calc_time_one_tk,".v_24pwm_run");
+void calc_time_one_tk(_iq gain, _iq teta, _iq delta_U,
+ _iq Ia, _iq Ib, _iq Ic,
+ unsigned int number,
+ SVGEN_PWM24_TIME *tk0,
+ SVGEN_PWM24_TIME *tk1,
+ SVGEN_PWM24_TIME *tk2,
+ SVGEN_PWM24_TIME *tk3,
+ SVGEN_PWM24_TIME *tk4,
+ SVGEN_PWM24_TIME *tk5)
+{
+ _iq iq_t0 = 0, iq_t1 = 0, iq_t2 = 0, iq_t3 = 0, iq_t4 = 0, iq_t5 = 0;
+ _iq t_pos = 0, t_neg = 0;
+ _iq delta_ttt;
+ _iq teta60;
+
+ int sector, region;
+ int cur_sign, i, ki;
+ int updown_tk0;
+ int updown_tk1;
+
+ volatile _iq t_tk0, t_tk1;
+
+ updown_tk0 = 1;
+ updown_tk1 = 0;
+
+ sector = detect_sec(teta); //
+ teta60 = teta - _IQmpy(_IQ(sector - 1),CONST_IQ_PI3); //
+
+ if ((sector == 2) || (sector == 4) || (sector == 6))
+ {
+ teta60 = CONST_IQ_PI3 - teta60;
+ }
+
+ region = detect_region(gain, teta60); //
+
+ calc_t_abc(gain, teta60, region, &iq_t0, &iq_t1, &iq_t2, &iq_t3, &iq_t4, &iq_t5);
+
+
+ delta_ttt = 0; //calc_delta_t(delta_U,number,region);
+ //delta_ttt = 0;
+
+ //if (number == 1)
+ //{
+ //logpar.log1 = (int16)(_IQtoIQ15(delta_U));
+ //logpar.log2 = (int16)(_IQtoIQ15(delta_ttt));
+ //}
+ //else
+ //{
+ //logpar.log3 = (int16)(_IQtoIQ15(delta_U));
+ //logpar.log4 = (int16)(_IQtoIQ15(delta_ttt));
+ //}
+
+ calc_arr_tph(sector, region, iq_t0, iq_t1, iq_t2, iq_t3, iq_t4, iq_t5, delta_ttt,number, Ia, Ib, Ic);
+
+ for (ki = 0; ki < 3; ki++)
+ {
+ t_pos = 0;
+ t_neg = 0;
+
+ for (i = 0; i < 7; i++)
+ {
+ cur_sign = ar_sa_all[ki][sector - 1][region - 1][i];
+
+ if (cur_sign > 0)
+ {
+ t_pos += ar_tph[i];
+ }
+
+ if (cur_sign < 0)
+ {
+ t_neg += ar_tph[i];
+ }
+ }
+
+ t_pos = t_pos << 1;
+
+ t_neg = t_neg << 1;
+
+ if (t_neg == 0)
+ {
+ t_tk0 = 0;
+ }
+ else
+ {
+ t_tk0 = t_neg;
+ }
+
+ if (t_pos == 0)
+ {
+ t_tk1 = CONST_IQ_1;
+ }
+ else
+ {
+ t_tk1 = CONST_IQ_1 - t_pos;
+ }
+
+ switch (ki)
+ {
+ case 0:
+ tk0->up_or_down = updown_tk0;
+ tk0->Ti = t_tk0;
+
+ tk1->up_or_down = updown_tk1;
+ tk1->Ti = t_tk1;
+
+ break;
+
+ case 1:
+ tk2->up_or_down = updown_tk0;
+ tk2->Ti = t_tk0;
+
+ tk3->up_or_down = updown_tk1;
+ tk3->Ti = t_tk1;
+
+ break;
+
+ case 2:
+ tk4->up_or_down = updown_tk0;
+ tk4->Ti = t_tk0;
+
+ tk5->up_or_down = updown_tk1;
+ tk5->Ti = t_tk1;
+
+ break;
+
+ default: break;
+ }
+ }
+}
+
+
+
+
+// #pragma CODE_SECTION(detect_region,".v_24pwm_run");
+int detect_region(_iq k, _iq teta)
+{
+ volatile _iq x,y;
+ volatile int reg=0;
+
+ x = _IQmpy(k,_IQcos(teta));
+ y = _IQmpy(k,_IQsin(teta));
+
+ if (y>=CONST_IQ_05) reg=4;
+ else if (y < (CONST_IQ_1 - _IQmpy(x,SQRT3))) reg = 1;
+ else if (y < (_IQmpy(x,SQRT3) - CONST_IQ_1)) reg = 2;
+ else reg = 3;
+
+ return reg;
+}
+
+
+
+
+// #pragma CODE_SECTION(detect_sec,".v_24pwm_run");
+int detect_sec(_iq teta)
+{
+ volatile _iq sector;
+ volatile int sectorint;
+
+ sector = _IQdiv(teta,CONST_IQ_PI3);
+ sectorint = (sector >> 24) + 1;
+
+ if (sectorint > 6) sectorint-=6;
+
+ return sectorint;
+}
+
+
+#define nSIN_t(k,t) _IQmpy(k,_IQsin(t))
+
+#define nSIN_p3pt(k,t) _IQmpy(k,_IQsin(CONST_IQ_PI3+t))
+
+#define nSIN_p3mt(k,t) _IQmpy(k,_IQsin(CONST_IQ_PI3-t))
+
+#define nSIN_tmp3(k,t) _IQmpy(k,_IQsin(t-CONST_IQ_PI3))
+
+//k - (Uzad)
+//teta -
+//region -
+/*
+ * iq_tt0 - time of vectors op, oo, on
+ * iq_tt1 - time of vectors ap, an
+ * iq_tt2 - time of vectors bp, bn
+ * iq_tt3 - time of vector c
+ * iq_tt4 - time of vector a
+ * iq_tt5 - time of vector b
+ */
+// #pragma CODE_SECTION(calc_t_abc,".v_24pwm_run");
+void calc_t_abc(_iq k, _iq teta, int region, _iq *iq_tt0, _iq *iq_tt1, _iq *iq_tt2, _iq *iq_tt3, _iq *iq_tt4, _iq *iq_tt5)
+{
+ switch(region)
+ {
+ case 1 :
+ *iq_tt0 = CONST_IQ_05 - nSIN_p3pt(k,teta);
+ *iq_tt1 = nSIN_p3mt(k,teta);
+ *iq_tt2 = nSIN_t(k,teta);
+ *iq_tt3 = 0;
+ *iq_tt4 = 0;
+ *iq_tt5 = 0;
+ break;
+
+ case 2 :
+ *iq_tt0 = 0;
+ *iq_tt1 = CONST_IQ_1 - nSIN_p3pt(k,teta);
+ *iq_tt2 = 0;
+ *iq_tt3 = nSIN_t(k,teta);
+ *iq_tt4 = nSIN_p3mt(k,teta) - CONST_IQ_05;
+ *iq_tt5 = 0;
+ break;
+
+ case 3 :
+ *iq_tt0 = 0;
+ *iq_tt1 = CONST_IQ_05 - nSIN_t(k,teta);
+ *iq_tt2 = CONST_IQ_05 - nSIN_p3mt(k,teta);
+ *iq_tt3 = nSIN_p3pt(k,teta) - CONST_IQ_05;
+ *iq_tt4 = 0;
+ *iq_tt5 = 0;
+ break;
+
+ case 4 :
+ *iq_tt0 = 0;
+ *iq_tt1 = 0;
+ *iq_tt2 = CONST_IQ_1 - nSIN_p3pt(k,teta);
+ *iq_tt3 = nSIN_p3mt(k,teta);
+ *iq_tt4 = 0;
+ *iq_tt5 = nSIN_t(k,teta) - CONST_IQ_05;
+ break;
+
+ default :
+ *iq_tt0 = 0;
+ *iq_tt1 = 0;
+ *iq_tt2 = 0;
+ *iq_tt3 = 0;
+ *iq_tt4 = 0;
+ *iq_tt5 = 0;
+ break;
+ }
+
+ return;
+}
+
+//sector
+//region
+//iq_ttt0 - iq_ttt5 - times from calc_t_abs
+//delta_t -
+//number_sv -
+//iqIa, iqIb, iqIc
+// #pragma CODE_SECTION(calc_arr_tph, ".v_24pwm_run");
+void calc_arr_tph(int sector,int region, _iq iq_ttt0, _iq iq_ttt1, _iq iq_ttt2, _iq iq_ttt3, _iq iq_ttt4,
+ _iq iq_ttt5, _iq delta_t, unsigned int number_sv,
+ _iq iqIa, _iq iqIb, _iq iqIc)
+{
+ _iq iq_var1 = 0;
+ _iq iqIx, iqIy, iqIz;
+ _iq iq_alfa_1_p = CONST_IQ_05, iq_alfa_1_n = CONST_IQ_05, iq_alfa_2_n = CONST_IQ_05, iq_alfa_2_p = CONST_IQ_05;
+ _iq iq_alfa = 0;
+// _iq iqIa, iqIb, iqIc;
+ _iq iq_mpy1 = 0;
+ _iq iq_mpy3 = 0;
+ _iq summ = 0;
+
+
+ switch (sector)
+ {
+ case 1:
+ iqIx = iqIc;
+ iqIy = iqIa;
+ iqIz = iqIb;
+
+ break;
+ case 2:
+
+ iqIx = iqIb;
+ iqIy = iqIa;
+ iqIz = iqIc;
+
+ break;
+ case 3:
+
+ iqIx = iqIb;
+ iqIy = iqIc;
+ iqIz = iqIa;
+
+ break;
+ case 4:
+
+ iqIx = iqIa;
+ iqIy = iqIc;
+ iqIz = iqIb;
+
+ break;
+ case 5:
+
+ iqIx = iqIa;
+ iqIy = iqIb;
+ iqIz = iqIc;
+
+ break;
+ case 6:
+
+ iqIx = iqIc;
+ iqIy = iqIb;
+ iqIz = iqIa;
+
+ break;
+ default:
+
+ iqIx = 0;
+ iqIy = 0;
+ iqIz = 0;
+
+ break;
+ }
+
+ if (region == 1)
+ {
+// if (delta_t != 0) //��������� ���������� //��������� �����������
+// {
+// iq_alfa = _IQsat((CONST_IQ_05 - _IQmpy(delta_t,IQ_KP_DELTA_T)),IQ_ALFA_SATURATION1,IQ_ALFA_SATURATION2);
+
+ //if (delta_t < 0)
+ //{
+ //iq_alfa = IQ_ALFA_SATURATION1;
+ //}
+ //else
+ //{
+ //iq_alfa = IQ_ALFA_SATURATION2;
+ //}
+// }
+// else
+ {
+ iq_alfa = CONST_IQ_05;
+ }
+ }
+ else
+ {
+ iq_mpy1 = _IQmpy(_IQabs(iqIx),iq_ttt1)+_IQmpy(_IQabs(iqIy),iq_ttt2);
+ iq_mpy3 = _IQmpy(iqIz,iq_ttt3);
+
+ summ = _IQdiv((iq_mpy3),(iq_mpy1));
+
+ //iq_alfa = _IQsat((_IQmpy(CONST_IQ_05,(CONST_IQ_1 + summ)) - _IQmpy(delta_t,IQ_KP_DELTA_T)),IQ_ALFA_SATURATION1,IQ_ALFA_SATURATION2);
+ iq_alfa = CONST_IQ_05; //test
+ }
+
+
+ if (iqIx >= 0)
+ {
+ iq_alfa_1_p = iq_alfa;
+ iq_alfa_1_n = CONST_IQ_1 - iq_alfa;
+ }
+ else
+ {
+ iq_alfa_1_p = CONST_IQ_1 - iq_alfa;
+ iq_alfa_1_n = iq_alfa;
+ }
+
+ if (iqIy >= 0)
+ {
+ iq_alfa_2_p = CONST_IQ_1 - iq_alfa;
+ iq_alfa_2_n = iq_alfa;
+ }
+ else
+ {
+ iq_alfa_2_p = iq_alfa;
+ iq_alfa_2_n = CONST_IQ_1 - iq_alfa;
+ }
+
+
+ //if (number_sv == 2)
+ //{
+ //logpar.log1 = (int16)(sector);
+ //logpar.log2 = (int16)(region);
+ //logpar.log3 = (int16)(_IQtoIQ15(iq_alfa));
+ //logpar.log4 = (int16)(_IQtoIQ15(iq_alfa_1_p));
+ //logpar.log5 = (int16)(_IQtoIQ15(iq_alfa_2_p));
+ //logpar.log6 = (int16)(_IQtoIQ13(summ));
+ //logpar.log3 = (int16)(_IQtoIQ14(iq_ttt0));
+ //logpar.log4 = (int16)(_IQtoIQ14(iq_ttt1));
+ //logpar.log5 = (int16)(_IQtoIQ14(iq_ttt2));
+ //logpar.log6 = (int16)(_IQtoIQ14(iq_ttt3));
+ //logpar.log7 = (int16)(_IQtoIQ14(iq_ttt4));
+ //logpar.log8 = (int16)(_IQtoIQ14(iq_ttt5));
+ //logpar.log10 = (int16)(_IQtoIQ15(delta_t1_struct.Up));
+ //logpar.log11 = (int16)(_IQtoIQ15(delta_t1_struct.Ui));
+ //logpar.log12 = (int16)(_IQtoIQ15(delta_t1_struct.Ud));
+ //logpar.log13 = (int16)(_IQtoIQ15(iqIx));
+ //logpar.log14 = (int16)(_IQtoIQ15(iqIy));
+ //logpar.log15 = (int16)(_IQtoIQ15(iqIz));
+
+ //logpar.log12 = (int16)(_IQtoIQ15(_IQmpy(iq_alfa_2_p,iq_ttt2)));
+ //logpar.log13 = (int16)(_IQtoIQ15(_IQmpy(iq_alfa_2_n,iq_ttt2)));
+ //logpar.log14 = (int16)(_IQtoIQ15(delta_t));
+ //}
+ //else
+ //logpar.log15 = (int16)(_IQtoIQ15(delta_t));
+
+// if (region == 1)
+// {
+// if (f.Rele3 == 1)
+// {
+// iq_alfa_1_p = CONST_IQ_05;
+// iq_alfa_2_p = CONST_IQ_05;
+// iq_alfa_1_n = CONST_IQ_05;
+// iq_alfa_2_n = CONST_IQ_05;
+// }
+// }
+// else
+// {
+// if (f.Down50 == 1)
+// {
+// iq_alfa_1_p = CONST_IQ_05;
+// iq_alfa_2_p = CONST_IQ_05;
+// iq_alfa_1_n = CONST_IQ_05;
+// iq_alfa_2_n = CONST_IQ_05;
+// }
+// }
+
+ switch (region)
+ {
+ case 1:
+ iq_var1 = _IQdiv(iq_ttt0,CONST_IQ_3);
+
+ ar_tph[0] = iq_var1;
+ ar_tph[1] = _IQmpy(iq_alfa_1_n,iq_ttt1);
+ ar_tph[2] = _IQmpy(iq_alfa_2_n,iq_ttt2);
+ ar_tph[3] = iq_var1;
+ ar_tph[4] = _IQmpy(iq_alfa_1_p,iq_ttt1);
+ ar_tph[5] = _IQmpy(iq_alfa_2_p,iq_ttt2);
+ ar_tph[6] = iq_var1;
+ break;
+
+ case 2:
+ ar_tph[0] = _IQmpy(iq_alfa_1_n,iq_ttt1);
+ ar_tph[1] = iq_ttt4;
+ ar_tph[2] = iq_ttt3;
+ ar_tph[3] = _IQmpy(iq_alfa_1_p,iq_ttt1);
+ ar_tph[4] = 0;
+ ar_tph[5] = 0;
+ ar_tph[6] = 0;
+ break;
+
+ case 3:
+ ar_tph[0] = _IQmpy(iq_alfa_1_n,iq_ttt1);
+ ar_tph[1] = _IQmpy(iq_alfa_2_n,iq_ttt2);
+ ar_tph[2] = iq_ttt3;
+ ar_tph[3] = _IQmpy(iq_alfa_1_p,iq_ttt1);
+ ar_tph[4] = _IQmpy(iq_alfa_2_p,iq_ttt2);
+ ar_tph[5] = 0;
+ ar_tph[6] = 0;
+ break;
+
+ case 4:
+ ar_tph[0] = _IQmpy(iq_alfa_2_n,iq_ttt2);
+ ar_tph[1] = iq_ttt3;
+ ar_tph[2] = iq_ttt5;
+ ar_tph[3] = _IQmpy(iq_alfa_2_p,iq_ttt2);
+ ar_tph[4] = 0;
+ ar_tph[5] = 0;
+ ar_tph[6] = 0;
+ break;
+
+ default :
+ break;
+ }
+
+
+}
+
+/*
+ // Function is commented because of in project 222220 should not be large voltage diviation
+// #pragma CODE_SECTION(calc_delta_t,".v_24pwm_run");
+_iq calc_delta_t(_iq delta_1, unsigned int number,int region)
+{
+ if(_IQabs(delta_1) > MAX_LEVEL_DELTA_T)
+ {
+ // ������ ���������� ConvErrors.m2.bit.Razbalans |= 1;
+ return 0;
+ }
+
+ if (number == 1)
+ {
+ delta_t1_struct.Fdb = delta_1;
+ delta_t1_struct.calc(&delta_t1_struct);
+
+ if (_IQabs(delta_t1_struct.Out) <= INSENSITIVE_LEVEL_DELTA_T) return 0;
+ else return delta_t1_struct.Out;
+ }
+ else
+ {
+ delta_t2_struct.Fdb = delta_1;
+ delta_t2_struct.calc(&delta_t2_struct);
+
+ if (_IQabs(delta_t2_struct.Out) <= INSENSITIVE_LEVEL_DELTA_T) return 0;
+ else return delta_t2_struct.Out;
+ }
+}
+
+*/
+//#pragma CODE_SECTION(set_predel_dshim24,".fast_run2");
+
+// #pragma CODE_SECTION(set_predel_dshim24_simple0,".v_24pwm_run");
+void set_predel_dshim24_simple0(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax)
+{
+ dmax++; //���� ������ �������� ������, ��� ���� �������� ����, ����� ������ �����������
+ if (T->Ti < dmin)
+ {
+ if (T->Ti < dmin/2)
+ T->Ti = 0;
+ else
+ T->Ti = dmin;
+
+ } else if (T->Ti >= (dmax - dmin)) {
+ T->Ti = (dmax - dmin);
+ }
+}
+// #pragma CODE_SECTION(set_predel_dshim24_simple1,".v_24pwm_run");
+void set_predel_dshim24_simple1(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax)
+{
+ dmax++; //���� ������ �������� ������, ��� ���� �������� ����, ����� ������ �����������
+ if (T->Ti >= (dmax - dmin))
+ {
+ if (T->Ti >= (dmax - dmin/2))
+ T->Ti = dmax;
+ else
+ T->Ti = dmax-dmin;
+// T->Ti = dmax;
+ } else if (T->Ti <= dmin) {
+ T->Ti = dmin;
+ }
+}
+
+
+// #pragma CODE_SECTION(set_predel_dshim24,".v_24pwm_run");
+void set_predel_dshim24(SVGEN_PWM24_TIME *T,int16 dmin,int16 dmax)
+{
+ //static unsigned int counter_pass = 0;
+ //static unsigned int summ = 0;
+ //int16 dshim24 = 0;
+ dmax++; //���� ������ �������� ������, ��� ���� �������� ����, ����� ������ �����������
+ if (T->Ti < dmin)
+ {
+ T->impuls_lenght_max = 0;
+ T->counter_pass_max = 0;
+
+ T->impuls_lenght_min = T->impuls_lenght_min + T->Ti;
+ T->counter_pass_min++;
+
+ if (T->counter_pass_min <= 3)
+ {
+ if (T->impuls_lenght_min <= dmin)
+ {
+ T->Ti = 0;
+ }
+ else
+ {
+// T->Ti = dmin; //T->impuls_lenght_min;
+// T->impuls_lenght_min -= dmin;// = 0;
+ T->Ti = T->impuls_lenght_min;
+ T->impuls_lenght_min = 0;
+ T->counter_pass_min = 0;
+// if (T->impuls_lenght_min < 0) {
+// T->counter_pass_min = 0;
+// T->impuls_lenght_min = 0;
+// } else {
+// T->counter_pass_min -= 1;
+// }
+ }
+ }
+ else
+ {
+ T->counter_pass_min = 1;
+ T->impuls_lenght_min = T->Ti;
+ T->Ti = 0;
+ }
+ }
+ else
+ {
+ T->impuls_lenght_min = 0;
+ T->counter_pass_min = 0;
+
+// if (T->Ti > (dmax - dmin))
+// {
+// dshim = dmax;
+// }
+// else
+// {
+// dshim = T->Ti;
+// }
+
+ if (T->Ti >= (dmax - dmin))
+ {
+ T->impuls_lenght_max = T->impuls_lenght_max + (dmax - T->Ti - 1);
+ T->counter_pass_max++;
+
+ if (T->counter_pass_max <= 3)
+ {
+ if (T->impuls_lenght_max <= dmin)
+ {
+ T->Ti = dmax;
+ }
+ else
+ {
+// T->Ti = dmax - dmin; //T->impuls_lenght_max;
+// T->impuls_lenght_max -= dmin;// = 0;
+ T->Ti = dmax - T->impuls_lenght_max;
+ T->impuls_lenght_max = 0;
+ T->counter_pass_max = 0;
+// if (T->impuls_lenght_max < 0) {
+// T->impuls_lenght_max = 0;
+// T->counter_pass_max = 0;
+// } else {
+// T->counter_pass_max -= 1;
+// }
+ }
+ }
+ else
+ {
+ T->counter_pass_max = 1;
+ T->impuls_lenght_max = dmax - T->Ti;
+ T->Ti = dmax;
+ }
+ }
+ else
+ {
+ T->counter_pass_max = 0;
+ T->impuls_lenght_max = 0;
+ }
+ }
+
+ //return dshim24;
+}
+
+
+
+void init_alpha_pwm24(int xFreq)
+{
+ xFreq = xFreq + 1;
+
+ svgen_pwm24_1.number_svgen = 1;
+ svgen_pwm24_2.number_svgen = 2;
+
+ //pidCur_Kp = _IQ(PID_KP_DELTA_KOMP_I);
+ //pidCur_Ki = _IQ(PID_KI_DELTA_KOMP_I);
+
+// svgen_pwm24_1.prev_level = V_PWM24_PREV_PWM_CLOSE;
+ svgen_pwm24_1.saw_direct.all = xpwm_time.saw_direct.all & 0x3f;
+ svgen_pwm24_1.Tclosed_saw_direct_0 = xpwm_time.Tclosed_saw_direct_0;// xpwm_time.Tclosed_high;//var_freq_pwm_xtics + 1;
+ svgen_pwm24_1.Tclosed_saw_direct_1 = xpwm_time.Tclosed_saw_direct_1;
+ svgen_pwm24_1.Tclosed_high = xpwm_time.Tclosed_high;
+
+// svgen_pwm24_2.prev_level = V_PWM24_PREV_PWM_CLOSE;
+ svgen_pwm24_2.saw_direct.all = (xpwm_time.saw_direct.all >> 6) & 0x3f;
+ svgen_pwm24_2.Tclosed_saw_direct_0 = xpwm_time.Tclosed_saw_direct_0;// xpwm_time.Tclosed_high;//var_freq_pwm_xtics + 1;
+ svgen_pwm24_2.Tclosed_saw_direct_1 = xpwm_time.Tclosed_saw_direct_1;
+ svgen_pwm24_2.Tclosed_high = xpwm_time.Tclosed_high;
+
+ svgen_pwm24_1.FreqMax = _IQ(2.0*PI*F_STATOR_MAX/FREQ_PWM/2);//��������������� ������� �� 2, �.�. 2 ���� ������� � ���������� �� ������ ���
+ svgen_pwm24_2.FreqMax = _IQ(2.0*PI*F_STATOR_MAX/FREQ_PWM/2);
+
+ svgen_pwm24_1.XilinxFreq = CONST_IQ_1/xFreq;
+ svgen_pwm24_2.XilinxFreq = CONST_IQ_1/xFreq;
+
+ // 30
+ svgen_pwm24_1.Alpha = 0; //winding_displacement;
+ svgen_pwm24_2.Alpha = -winding_displacement;
+
+ svgen_pwm24_1.delta_t = 0;
+ svgen_pwm24_2.delta_t = 0;
+}
+
+/*
+void init_freq_array(void)
+{
+ unsigned int i = 0;
+ //unsigned int j = 0;
+ int var1 = 0;
+
+ var1 = 32767 / (FREQ_PWM_MAX - FREQ_PWM_MIN);
+
+ for (i = 0; i < COUNT_VAR_FREQ; i++)
+ {
+ //j = rand() / 1023;
+ //freq_array[i] = array_optim_freq[j];
+ //do
+ freq_array[i] = FREQ_PWM_MIN + (rand() / var1);
+ //while ((freq_array[i] < 945) && (freq_array[i] > 930));
+ }
+
+ //freq_array[0] = 991;
+ //freq_array[1] = 1430;
+}
+*/
+
+
+//#pragma CODE_SECTION(calc_freq_pwm,".v_24pwm_run");
+//#pragma CODE_SECTION(calc_freq_pwm,".fast_run");
+/*void calc_freq_pwm()
+{
+ static int prev_freq_pwm = 0;
+ static float pwm_period = 0;
+ static float var0 = 0;
+ //static int line = 0;
+ //static int i = 0;
+ static unsigned int proc_ticks = 1;
+ int var1 = 0;
+ //static int i = 0;
+
+ if ((f.flag_change_pwm_freq == 1) && (f.flag_random_freq == 1))
+ {
+ if (proc_ticks >= 1)
+ {
+ proc_ticks = 0;
+
+
+ if (line == 0)
+ {
+ VAR_FREQ_PWM_HZ = VAR_FREQ_PWM_HZ + 1;
+ if (VAR_FREQ_PWM_HZ > FREQ_PWM_MAX)
+ {
+ VAR_FREQ_PWM_HZ = FREQ_PWM_MAX;
+ line = 1;
+ }
+ }
+ else
+ {
+ VAR_FREQ_PWM_HZ = VAR_FREQ_PWM_HZ - 1;
+ if (VAR_FREQ_PWM_HZ < FREQ_PWM)
+ {
+ VAR_FREQ_PWM_HZ = FREQ_PWM;
+ line = 0;
+ }
+ }
+
+
+
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ //VAR_FREQ_PWM_HZ = freq_array[i];
+ //i_led2_on_off(1);
+
+ var1 = 32767 / (freq_pwm_max_hz - freq_pwm_min_hz);
+ VAR_FREQ_PWM_HZ = freq_pwm_min_hz + (rand() / var1);
+
+ //i_led2_on_off(0);
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ if (VAR_FREQ_PWM_HZ > freq_pwm_max_hz)
+ {
+ VAR_FREQ_PWM_HZ = freq_pwm_max_hz;
+ }
+ else
+ {
+ if (VAR_FREQ_PWM_HZ < freq_pwm_min_hz)
+ {
+ VAR_FREQ_PWM_HZ = freq_pwm_min_hz;
+ }
+ }
+ //i++;
+
+ //if (i >= COUNT_VAR_FREQ)
+ //{
+ //i = 0;
+ //}
+
+ }
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ //if (VAR_FREQ_PWM_HZ == FREQ_PWM_MIN)
+ //{
+ //VAR_FREQ_PWM_HZ = FREQ_PWM_MAX;
+ //}
+ //else
+ //{
+ //VAR_FREQ_PWM_HZ = FREQ_PWM_MIN;
+ //}
+
+ //if (f.Rele1 == 1)
+ //{
+ //if (i == 0)
+ //{
+ //VAR_FREQ_PWM_HZ = 1192;;
+ //i = 1;
+ //}
+ //else
+ //{
+ //VAR_FREQ_PWM_HZ = 792;
+ //}
+ //}
+ //else
+ //{
+ //i = 0;
+ //VAR_FREQ_PWM_HZ = 1192;
+ //}
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ }
+ //else
+ //{
+ //VAR_FREQ_PWM_HZ = FREQ_PWM;
+ //}
+
+
+ if (prev_freq_pwm != VAR_FREQ_PWM_HZ)
+ {
+ prev_freq_pwm = VAR_FREQ_PWM_HZ;
+ FREQ_MAX = _IQ(2.0*PI*F_STATOR_MAX/VAR_FREQ_PWM_HZ);
+
+ var0 = (float)VAR_FREQ_PWM_HZ;
+ //pwm_period = ((float64)HSPCLK) / ((float64)VAR_FREQ_PWM_HZ);
+
+ pwm_period = HSPCLK / var0;
+
+ pwm_period = pwm_period / 2.0;
+
+ FREQ_PWM_XTICS = ((int) pwm_period) >> 3;
+
+ XILINX_FREQ = 16777216/(FREQ_PWM_XTICS + 1);
+
+ FLAG_CHANGE_FREQ_PWM = 1;
+ }
+
+ proc_ticks++;
+}
+*/
+
+void change_freq_pwm(_iq xFreq) {
+ svgen_pwm24_1.FreqMax = _IQ(2.0*PI*F_STATOR_MAX/3750000 / xFreq / 2 /2);//��������������� ������� �� 2, �.�. 2 ���� ������� � ���������� �� ������ ���
+ svgen_pwm24_2.FreqMax = _IQ(2.0*PI*F_STATOR_MAX/ 3750000 / xFreq / 2 /2);
+
+ xFreq += 1;
+ svgen_pwm24_1.XilinxFreq = CONST_IQ_1/xFreq;
+ svgen_pwm24_2.XilinxFreq = CONST_IQ_1/xFreq;
+}
+
+// #pragma CODE_SECTION(test_calc_pwm24_dq,".v_24pwm_run");
+void test_calc_pwm24_dq(_iq U_zad1, _iq U_zad2,_iq teta)
+{
+ svgen_pwm24_1.Freq = 0;
+ svgen_pwm24_2.Freq = 0;
+
+ svgen_pwm24_1.Gain = U_zad1;
+ svgen_pwm24_2.Gain = U_zad2;
+
+ svgen_pwm24_1.Alpha = teta;
+ svgen_pwm24_2.Alpha = teta - winding_displacement;
+
+ svgen_pwm24_1.delta_U = filter.iqU_1_fast - filter.iqU_2_fast;
+ svgen_pwm24_2.delta_U = filter.iqU_3_fast - filter.iqU_4_fast;
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ svgen_pwm24_1.delta_U = 0;
+ svgen_pwm24_2.delta_U = 0;
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ svgen_pwm24_1.Ia = analog.iqIa1_1;
+ svgen_pwm24_1.Ib = analog.iqIb1_1;
+ svgen_pwm24_1.Ic = analog.iqIc1_1;
+
+ svgen_pwm24_2.Ia = analog.iqIa2_1;
+ svgen_pwm24_2.Ib = analog.iqIb2_1;
+ svgen_pwm24_2.Ic = analog.iqIc2_1;
+
+ svgen_pwm24_1.calc_dq(&svgen_pwm24_1);
+ svgen_pwm24_2.calc_dq(&svgen_pwm24_2);
+
+
+ // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+ set_predel_dshim24(&svgen_pwm24_1.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_1.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_1.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Ta_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Ta_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tb_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tb_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+ set_predel_dshim24(&svgen_pwm24_2.Tc_0,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+ set_predel_dshim24(&svgen_pwm24_2.Tc_1,VAR_PERIOD_MIN_XTICS,VAR_FREQ_PWM_XTICS);
+
+
+}
+
+
+// #pragma CODE_SECTION(svgen_pwm24_calc,".v_24pwm_run");
+void svgen_pwm24_calc_dq(SVGEN_PWM24 *vt)
+{
+
+ if (vt->Alpha > CONST_IQ_2PI)
+ {
+ vt->Alpha -= CONST_IQ_2PI;
+ }
+
+ if (vt->Alpha < 0)
+ {
+ vt->Alpha += CONST_IQ_2PI;
+ }
+
+
+ calc_time_one_tk(vt->Gain, vt->Alpha, vt->delta_U, vt->Ia, vt->Ib, vt->Ic,
+ vt->number_svgen, &vt->Ta_0, &vt->Ta_1,&vt->Tb_0, &vt->Tb_1,&vt->Tc_0, &vt->Tc_1);
+
+
+ vt->Ta_0.Ti = vt->Ta_0.Ti/vt->XilinxFreq;
+ vt->Ta_1.Ti = vt->Ta_1.Ti/vt->XilinxFreq;
+
+ vt->Tb_0.Ti = vt->Tb_0.Ti/vt->XilinxFreq;
+ vt->Tb_1.Ti = vt->Tb_1.Ti/vt->XilinxFreq;
+
+ vt->Tc_0.Ti = vt->Tc_0.Ti/vt->XilinxFreq;
+ vt->Tc_1.Ti = vt->Tc_1.Ti/vt->XilinxFreq;
+
+}
+
+void svgen_set_time_keys_closed(SVGEN_PWM24 *vt)
+{
+ vt->Ta_0.Ti = VAR_FREQ_PWM_XTICS + 1;
+ vt->Ta_1.Ti = 0;
+
+ vt->Tb_0.Ti = VAR_FREQ_PWM_XTICS + 1;
+ vt->Tb_1.Ti = 0;
+
+ vt->Tc_0.Ti = VAR_FREQ_PWM_XTICS + 1;
+ vt->Tc_1.Ti = 0;
+}
+
+void svgen_set_time_middle_keys_open(SVGEN_PWM24 *vt)
+{
+ vt->Ta_0.Ti = 0;
+ vt->Ta_1.Ti = VAR_FREQ_PWM_XTICS + 1;
+
+ vt->Tb_0.Ti = 0;
+ vt->Tb_1.Ti = VAR_FREQ_PWM_XTICS + 1;
+
+ vt->Tc_0.Ti = 0;
+ vt->Tc_1.Ti = VAR_FREQ_PWM_XTICS + 1;
+}
diff --git a/Inu/Src2/main/v_pwm24.h b/Inu/Src2/main/v_pwm24.h
new file mode 100644
index 0000000..ff83ca4
--- /dev/null
+++ b/Inu/Src2/main/v_pwm24.h
@@ -0,0 +1,190 @@
+#ifndef _V_PWM24_H
+#define _V_PWM24_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+#include "IQmathLib.h"
+// #include "DSP281x_Device.h"
+#include "word_structurs.h"
+#include "svgen_dq.h"
+
+//#define COUNT_VAR_FREQ 400
+
+//#define IQ_KP_DELTA_T 134217728//0.004
+//#define IQ_KP_DELTA_COMP_I 134217728//0.004
+
+//#define PID_KP_DELTA_T 0.5//1//20//2//0.001//11.18 //0.036 //0.018 //0.18 //0.095 // PID Kp
+//#define PID_KI_DELTA_T 0.000005//0.01 //0.08 // 0.008 // PID Ki
+//#define PID_KD_DELTA_T 2//5//0.01 //0.08 // 0.008 // PID Ki
+//#define PID_KC_DELTA_T 0.005 //0.09 // PID Kc
+
+//#define PID_KP_DELTA_KOMP_I 1//0.12//0.06//5//10
+//#define PID_KI_DELTA_KOMP_I 0.005//0//0.005//0.01
+//#define PID_KC_DELTA_KOMP_I 0.005//0//0.005//0.01
+//#define PID_KD_DELTA_KOMP_I 0//0//0.005//0.01
+//#define PID_KD_DELTA_T 0.0000 //*100 // PID Kd
+
+
+
+//#define DELTA_T_MAX 1258291//15099494//0.9//8388608//0.5//13421772//0.8 //8388608// 0.5//13421772 // 0.8
+//#define DELTA_T_MIN -1258291//-15099494//0.9//-8388608//-0.5//-13421772//0.8 //-8388608// -0.5//-13421772 // -0.8
+
+//#define DELTA_KOMP_I_MAX 1258291//6//1677721//0.1//3355443//0.2//1677721//200 A//4194304// 500 A
+//#define DELTA_KOMP_I_MIN -1258291//-6//-1677721//-0.1//-3355443//-0.2//-1677721//-200 A//-4194304// -500 A
+
+
+//#define INSENSITIVE_LEVEL_DELTA_T 83886 //10 V//167772// 20V //335544//40 V//83886 //10 V//335544//40 V//58720//7V//167772// 20V //83886 //10 V
+//#define MAX_LEVEL_DELTA_T 1258291//150V//1677721 //200v//2516582//300 V//4194304//500 V//2516582 // 838860 //100 V
+
+
+typedef struct { _iq Ti; // Output: reference phase-a switching function (pu)
+ int up_or_down; // Output: reference phase-b switching function (pu)
+ int impuls_lenght_max;
+ int impuls_lenght_min;
+ int counter_pass_max;
+ int counter_pass_min;
+ } SVGEN_PWM24_TIME;
+
+
+typedef struct {
+ _iq Gain; // Input: reference gain voltage (pu)
+ //_iq Offset; // Input: reference offset voltage (pu)
+ _iq Freq; // Input: reference frequency (pu)
+ _iq FreqMax; // Parameter: Maximum step angle = 6*base_freq*T (pu)
+ _iq Alpha; // History: Sector angle (pu)
+
+ _iq delta_U;
+ _iq delta_t;
+ int XilinxFreq; // Xilinx freq in TIC
+
+ unsigned int pwm_minimal_impuls_zero_minus;
+ unsigned int pwm_minimal_impuls_zero_plus;
+
+ WORD_UINT2BITS_STRUCT saw_direct;
+
+ int prev_level; // ���������� ��������� ����, ��� �������� �� middle ��� close � �������
+ unsigned int Tclosed_high;
+ unsigned int Tclosed_saw_direct_0;
+ unsigned int Tclosed_saw_direct_1;
+
+ _iq Ia;
+ _iq Ib;
+ _iq Ic;
+ unsigned int number_svgen;
+ SVGEN_PWM24_TIME Ta_0; // Output: reference phase-a switching function (pu)
+ SVGEN_PWM24_TIME Ta_1; // Output: reference phase-a switching function (pu)
+ SVGEN_PWM24_TIME Tb_0; // Output: reference phase-b switching function (pu)
+ SVGEN_PWM24_TIME Tb_1; // Output: reference phase-b switching function (pu)
+ SVGEN_PWM24_TIME Tc_0; // Output: reference phase-c switching function (pu)
+ SVGEN_PWM24_TIME Tc_1; // Output: reference phase-c switching function (pu)
+ void (*calc)(); // Pointer to calculation function
+ void (*calc_dq)(); // Pointer to calculation function which don`t calculate angle from freq
+} SVGEN_PWM24;
+
+typedef SVGEN_PWM24 *SVGEN_PWM24_handle;
+
+
+#define SVGEN_PWM24_TIME_DEFAULTS { 0,0,0,0 }
+
+
+#define SVGEN_PWM24_DEFAULTS { 0,0,0,0,0,0,0,0,0, \
+ {0}, 0,0,0,0,0,0,0,0,\
+ SVGEN_PWM24_TIME_DEFAULTS,SVGEN_PWM24_TIME_DEFAULTS,SVGEN_PWM24_TIME_DEFAULTS, \
+ SVGEN_PWM24_TIME_DEFAULTS,SVGEN_PWM24_TIME_DEFAULTS,SVGEN_PWM24_TIME_DEFAULTS, \
+ (void (*)(unsigned int))svgen_pwm24_calc, (void (*)(unsigned int))svgen_pwm24_calc_dq }
+
+// extern int ar_sa_a[3][4][7];
+
+extern SVGEN_PWM24 svgen_pwm24_1;
+extern SVGEN_PWM24 svgen_pwm24_2;
+
+extern SVGENDQ svgen_dq_1;
+extern SVGENDQ svgen_dq_2;
+
+// extern _iq pidCur_Kp;
+// extern _iq pidCur_Ki;
+
+// extern _iq iq_alfa_coef;
+
+// extern _iq iq_koef_mod_korrect_1;
+// extern _iq iq_koef_mod_korrect_2;
+
+//extern int freq_array[COUNT_VAR_FREQ];
+
+void svgen_pwm24_calc(SVGEN_PWM24 *vt);
+void svgen_pwm24_calc_dq(SVGEN_PWM24 *vt);
+
+void init_alpha_pwm24(int xFreq);
+void test_calc_pwm24(_iq uz1, _iq uz2, _iq fz1/*, _iq fz2, int revers*/);
+void calc_arr_tph(int sector,int region, _iq iq_ttt0, _iq iq_ttt1,
+ _iq iq_ttt2, _iq iq_ttt3, _iq iq_ttt4, _iq iq_ttt5, _iq delta_t, unsigned int number_sv,
+ _iq iqIa, _iq iqIb, _iq iqIc);
+_iq calc_delta_t(_iq delta_1, unsigned int number,int region);
+
+//void change_freq_pwm(_iq FreqMax, int freq_pwm_xtics, _iq XilinxFreq);
+void change_freq_pwm(_iq freq_pwm_xtics);
+
+//void calc_freq_pwm();
+
+void calc_time_one_tk(_iq gain, _iq teta, _iq delta_U,
+ _iq Ia, _iq Ib, _iq Ic,
+ unsigned int number,
+ SVGEN_PWM24_TIME *tk0,
+ SVGEN_PWM24_TIME *tk1,
+ SVGEN_PWM24_TIME *tk2,
+ SVGEN_PWM24_TIME *tk3,
+ SVGEN_PWM24_TIME *tk4,
+ SVGEN_PWM24_TIME *tk5);
+
+void test_calc_pwm24_dq(_iq U_zad1, _iq U_zad2,_iq teta);
+
+void svgen_set_time_keys_closed(SVGEN_PWM24 *vt);
+void svgen_set_time_middle_keys_open(SVGEN_PWM24 *vt);
+
+
+
+void InitVariablesSvgen(unsigned int freq);
+//void init_alpha(void);
+_iq correct_balance_uzpt_pwm24(_iq Tinput, _iq Kplus);
+void recalc_time_pwm_minimal_2_xilinx_pwm24_l(SVGEN_PWM24 *pwm24,
+ _iq *T0, _iq *T1,
+ _iq timpuls_corr );
+void test_calc_simple_dq_pwm24(_iq uz1, _iq uz2, _iq fz1, _iq fz2, _iq Uzad_max);
+void test_calc_dq_pwm24(_iq Ud, _iq Uq, _iq Ud2, _iq Uq2, _iq tetta,_iq Uzad_max);
+//void test_calc_simple_uf_pwm24(_iq uz1, _iq uz2, _iq fz1, _iq fz2,_iq Uzad_max);
+
+//void init_freq_array(void);
+
+typedef union {
+ unsigned int all;
+ struct {
+ unsigned int k0;
+ unsigned int k1;
+ unsigned int k2;
+ unsigned int k3;
+ unsigned int k4;
+ unsigned int k5;
+ unsigned int k6;
+ unsigned int k7;
+ unsigned int k8;
+ unsigned int k9;
+ unsigned int k10;
+ unsigned int k11;
+ unsigned int k12;
+ unsigned int k13;
+ unsigned int k14;
+ unsigned int k15;
+ }bit;
+} UP_OR_DOWN;
+
+extern UP_OR_DOWN up_down;
+extern _iq winding_displacement;
+
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif /* _V_PWM24_H */
diff --git a/Inu/Src2/main/vector.h b/Inu/Src2/main/vector.h
new file mode 100644
index 0000000..5245af8
--- /dev/null
+++ b/Inu/Src2/main/vector.h
@@ -0,0 +1,256 @@
+/*
+ ???? ??? (?) 2006 ?.
+
+ Processor: TMS320C32
+
+ Filename: vector_troll.h
+
+ ??????? ?????????? ?????????y
+
+ Edit date: 04-12-02
+
+ Function:
+
+ Revisions:
+*/
+
+
+#ifndef _VECTOR_SEV
+#define _VECTOR_SEV
+
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+
+#include "IQmathLib.h"
+
+
+typedef struct
+{
+ float W; /* ������� ������� ������ */
+ float Angle; /* ���� ��������� ������ */
+ float Phi; /* �������� � ���� ������ */
+ float k; /* �����. ��������� */
+ float k1; /* �����. ��������� */
+ float k2; /* �����. ��������� */
+ float f; /* ������� ������� */
+
+ _iq iqk;
+ _iq iqk1;
+ _iq iqk2;
+ _iq iqf;
+
+
+
+} WINDING;
+
+
+
+
+typedef struct
+{
+ unsigned int Prepare;
+ unsigned int terminal_prepare;
+ unsigned int prepareSVU;
+ unsigned int Test_Lamps;
+ unsigned int fault;
+
+ unsigned int prevGo;
+ unsigned int Go;
+ unsigned int Stop;
+ unsigned int Mode;
+ unsigned int Revers;
+ unsigned int Is_Blocked;
+
+ unsigned int Ready1;
+ unsigned int Ready2;
+ unsigned int Discharge;
+ unsigned int is_charging;
+
+ unsigned int ErrorChannel1;
+ unsigned int ErrorChannel2;
+ unsigned int FaultChannel1;
+ unsigned int FaultChannel2;
+
+ unsigned int secondPChState;
+
+ unsigned int Set_power;
+
+ unsigned int Impuls;
+
+ unsigned int Obmotka1;
+ unsigned int Obmotka2;
+// unsigned int Down50;
+
+ unsigned int Power_over_Nominal;
+ unsigned int I_over_nominal; //????????? ?????? ?????? ? ??????????? ???????????? ????
+ unsigned int I_over_1_6_nominal; //????????? ?????? ?????? ? ??????????? ???????????? ????
+ unsigned int I_over_1_8_nominal; //????????? ?????? ?????? ? ??????????? ???????????? ????
+ unsigned int Moment_over_1_6_noninal; //????????? ?????? ?????? ? ??????????? ???????????? ??????? ? 1.6 ???
+ unsigned int Moment_over_1_8_nominal; //????????? ?????? ?????? ? ??????????? ???????????? ??????? ? 1.8 ???
+ unsigned int DownToNominal;
+ unsigned int DownToNominalCurrent;
+ unsigned int DownToNominalMoment;
+ unsigned int DownTemperature;
+ unsigned int DownToNominalVoltage;
+ unsigned int DownToNominalFreq;
+ unsigned int nominal_I_exceeded_counter; //??????? ??? ????????? ??????????? ???
+ unsigned int nominal_M_exceeded_counter; //??????? ??? ????????? ??????????? ??????
+// unsigned int I_zpt_over_nominal;
+
+ unsigned int Up50;
+ unsigned int Ciclelog;
+ unsigned int pidD_set;
+ unsigned int Bpsi;
+ unsigned int Piregul1;
+ unsigned int Piregul2;
+ unsigned int Startstoplog;
+ unsigned int Setspeed;
+
+ unsigned int BWC_turn_ON;
+ unsigned int BWC_Auto_mode;
+
+ unsigned int Setsdvigfaza;
+ unsigned int Off_piregul;
+
+ unsigned int Restart;
+ unsigned int stop_Log;
+
+ unsigned int Work_net;
+ unsigned int Mask_impuls;
+ unsigned int Impuls_width;
+
+
+ unsigned int Work;
+
+ unsigned int Auto;
+
+ unsigned int Uzad;
+ unsigned int Umin;
+
+ unsigned int RScount;
+ unsigned int vector_run;
+ unsigned int test_all_run;
+
+ unsigned int decr_mzz_temp;
+// unsigned int flag_decr_mzz_temp;
+
+ unsigned int flag_Break_Resistor_Error;
+ unsigned int flag_local_control; //1 - local
+ unsigned int flag_leading; //������� �� ������
+ unsigned int flag_second_leading; //������ �� ������
+ unsigned int read_task_from_optical_bus;
+ unsigned int sync_rotor_from_optical_bus;
+ unsigned int sync_Iq_from_optical_bus;
+ unsigned int flag_distance;
+ unsigned int flag_second_PCH;
+ unsigned int leftShaft;
+ unsigned int inverter_number;
+ unsigned int ice_movement_limit;
+ unsigned int flag_batery_charged;
+ unsigned int flag_Pump_Is_On; //Gidropodpor
+ unsigned int flag_turn_On_Pump;
+ unsigned int flag_UMP_blocked;
+ unsigned int power_units_doors_closed;
+ unsigned int power_units_doors_locked;
+
+ unsigned int flag_decr_mzz_power;
+
+ unsigned int rotor_stopped;
+
+ float decr_mzz_power;
+ _iq iq_decr_mzz_power;
+
+ _iq iq_decr_mzz_voltage;
+
+ float fzad;
+ float kzad;
+ float kzad_plus;
+ float fzad_provorot;
+ float Sdvigfaza;
+
+ float mzz_zad;
+ float fr_zad;
+ float Power;
+ float p_zad;
+
+
+// _iq iq_bpsi_zad;
+ _iq iq_mzz_zad;
+ _iq iq_fzad_provorot;
+ _iq iq_fzad;
+ _iq iq_p_zad;
+ _iq iq_p_rampa;
+ _iq iq_p_zad_electric;
+ _iq iq_p_limit_zad;
+ int p_limit_zad; //����������� �������� � �������� ������
+
+ unsigned int flag_Enable_Prepare;
+
+ union {
+ unsigned int all;
+ struct {
+ unsigned int BV1: 1;
+ unsigned int BV2: 1;
+ unsigned int BI1: 1;
+ unsigned int BI2: 1;
+ unsigned int UMU: 1;
+ unsigned int UKSI: 1;
+ unsigned int reserved: 10;
+ } UKSS;
+ } status_ready;
+
+ unsigned int On_Power_QTV;
+ unsigned int Power_QTV_is_On;
+
+ unsigned int RS_MPU_ERROR;
+ unsigned int MPU_Ready;
+
+ unsigned int flag_tormog;
+
+ int special_test_from_mpu;
+
+ int MessageToCan1;
+ int MessageToCan2;
+ int flag_change_pwm_freq;
+ int flag_random_freq;
+ long tmp;
+
+ unsigned int rele1;
+
+ _iq cosinusTerminal;
+ _iq cosinusTerminalSquared;
+// _iq cosinusFiOut;
+
+ int setCosTerminal;
+ int setTettaKt;
+
+ //Sync vals
+ int pwm_freq_plus_minus_zero;
+ int disable_sync;
+ int sync_ready;
+ int flag_sync_vipr1_vipr2;
+ int level_find_sync_zero;
+ int delta_error_sync;
+ int delta_capnum;
+ int count_error_sync;
+ int capnum0;
+ int PWMcounterVal;
+
+ int build_version;
+
+} FLAG;
+
+
+extern FLAG f;
+extern WINDING a;
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif /* _VECTOR_SEV */
+
+
diff --git a/Inu/Src2/main/word_structurs.h b/Inu/Src2/main/word_structurs.h
new file mode 100644
index 0000000..d94d243
--- /dev/null
+++ b/Inu/Src2/main/word_structurs.h
@@ -0,0 +1,64 @@
+/*
+ * word_structurs.h
+ *
+ * Created on: 5 ���. 2020 �.
+ * Author: Yura
+ */
+
+#ifndef SRC_MYLIBS_WORD_STRUCTURS_H_
+#define SRC_MYLIBS_WORD_STRUCTURS_H_
+
+////////////////////////////////////////////////////////////////////////////////
+typedef union
+{
+ struct
+ {
+ unsigned int bit0: 1;
+ unsigned int bit1: 1;
+ unsigned int bit2: 1;
+ unsigned int bit3: 1;
+ unsigned int bit4: 1;
+ unsigned int bit5: 1;
+ unsigned int bit6: 1;
+ unsigned int bit7: 1;
+ unsigned int bit8: 1;
+ unsigned int bit9: 1;
+ unsigned int bit10: 1;
+ unsigned int bit11: 1;
+ unsigned int bit12: 1;
+ unsigned int bit13: 1;
+ unsigned int bit14: 1;
+ unsigned int bit15: 1;
+ } bits; // ���������� �������� ������� �������
+ int all; // ���������� �������� ������� ������
+} WORD_INT2BITS_STRUCT; // ��������� ���� ������ � ��������� ��������
+//////
+////////////////////////////////////////////////////////////////////////////////
+typedef union
+{
+ struct
+ {
+ unsigned int bit0: 1;
+ unsigned int bit1: 1;
+ unsigned int bit2: 1;
+ unsigned int bit3: 1;
+ unsigned int bit4: 1;
+ unsigned int bit5: 1;
+ unsigned int bit6: 1;
+ unsigned int bit7: 1;
+ unsigned int bit8: 1;
+ unsigned int bit9: 1;
+ unsigned int bit10: 1;
+ unsigned int bit11: 1;
+ unsigned int bit12: 1;
+ unsigned int bit13: 1;
+ unsigned int bit14: 1;
+ unsigned int bit15: 1;
+ } bits; // ���������� �������� ������� �������
+ unsigned int all; // ���������� �������� ������� ������
+} WORD_UINT2BITS_STRUCT; // ��������� ���� ������ � ��������� ��������
+//////
+
+
+
+#endif /* SRC_MYLIBS_WORD_STRUCTURS_H_ */
diff --git a/Inu/Src2/main/xp_write_xpwm_time.c b/Inu/Src2/main/xp_write_xpwm_time.c
new file mode 100644
index 0000000..093b88c
--- /dev/null
+++ b/Inu/Src2/main/xp_write_xpwm_time.c
@@ -0,0 +1,361 @@
+/*
+ * xp_write_xpwm_time.c
+ *
+ * Created on: 03 àïð. 2018 ã.
+ * Author: stud
+ */
+
+#include "xp_write_xpwm_time.h"
+// #include "MemoryFunctions.h"
+// #include "Spartan2E_Adr.h"
+// #include "PWMTMSHandle.h"
+
+#include "def.h"
+
+
+// #pragma DATA_SECTION(xpwm_time,".fast_vars1");
+XPWM_TIME xpwm_time = DEFAULT_XPWM_TIME;
+
+#define set_default_tclosed(k,b) {if (b) k = p->Tclosed_saw_direct_1; else k = p->Tclosed_saw_direct_0;}
+
+void initXpwmTimeStructure(XPWM_TIME *p) {
+ p->Ta0_0 = p->Tclosed_0;
+ p->Ta0_1 = p->Tclosed_1;
+ p->Tb0_0 = p->Tclosed_0;
+ p->Tb0_1 = p->Tclosed_1;
+ p->Tc0_0 = p->Tclosed_0;
+ p->Tc0_1 = p->Tclosed_1;
+
+ p->Ta1_0 = p->Tclosed_0;
+ p->Ta1_1 = p->Tclosed_1;
+ p->Tb1_0 = p->Tclosed_0;
+ p->Tb1_1 = p->Tclosed_1;
+ p->Tc1_0 = p->Tclosed_0;
+ p->Tc1_1 = p->Tclosed_1;
+
+ p->Tbr0_0 = 0;
+ p->Tbr0_1 = 0;
+ p->Tbr1_0 = 0;
+ p->Tbr1_1 = 0;
+}
+
+
+// ������� �������� ����� ��������������� � �������
+void xpwm_write_1_2_winding_break_times_16_lines(XPWM_TIME *p) {
+
+}
+
+// void xpwm_write_1_2_winding_break_times_16_lines_split_eages(XPWM_TIME *p) {
+
+// }
+/*
+//#pragma CODE_SECTION(xpwm_write_1_2_winding_break_times_16_lines,".fast_run1");
+void xpwm_write_1_2_winding_break_times_16_lines(XPWM_TIME *p)
+{
+ if(!(ReadMemory(ADR_ERRORS_TOTAL_INFO)))
+ {
+ WriteMemory(ADR_PWM_KEY_NUMBER, 0);
+ WriteMemory(ADR_PWM_TIMING, p->Ta0_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 1);
+ WriteMemory(ADR_PWM_TIMING, p->Ta0_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 2);
+ WriteMemory(ADR_PWM_TIMING, p->Tb0_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 3);
+ WriteMemory(ADR_PWM_TIMING, p->Tb0_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 4);
+ WriteMemory(ADR_PWM_TIMING, p->Tc0_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 5);
+ WriteMemory(ADR_PWM_TIMING, p->Tc0_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 6);
+ WriteMemory(ADR_PWM_TIMING, p->Ta1_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 7);
+ WriteMemory(ADR_PWM_TIMING, p->Ta1_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 8);
+ WriteMemory(ADR_PWM_TIMING, p->Tb1_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 9);
+ WriteMemory(ADR_PWM_TIMING, p->Tb1_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 10);
+ WriteMemory(ADR_PWM_TIMING, p->Tc1_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 11);
+ WriteMemory(ADR_PWM_TIMING, p->Tc1_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 12);
+ WriteMemory(ADR_PWM_TIMING, p->Tbr0_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 13);
+ WriteMemory(ADR_PWM_TIMING, p->Tbr0_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 14);
+ WriteMemory(ADR_PWM_TIMING, p->Tbr1_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 15);
+ WriteMemory(ADR_PWM_TIMING, p->Tbr1_1);
+ }
+ else
+ {
+ WriteMemory(ADR_PWM_KEY_NUMBER, 0);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 1);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 2);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 3);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 4);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 5);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 6);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 7);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 8);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 9);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 10);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 11);
+ WriteMemory(ADR_PWM_TIMING, p->Tclosed_1);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 12);
+ WriteMemory(ADR_PWM_TIMING, 0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 13);
+ WriteMemory(ADR_PWM_TIMING, 0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 14);
+ WriteMemory(ADR_PWM_TIMING, 0);
+ WriteMemory(ADR_PWM_KEY_NUMBER, 15);
+ WriteMemory(ADR_PWM_TIMING, 0);
+ }
+}
+*/
+// #pragma CODE_SECTION(xpwm_write_1_2_winding_break_times_16_lines_split_eages,".fast_run1");
+void xpwm_write_1_2_winding_break_times_16_lines_split_eages(XPWM_TIME *p)
+{
+ // if (!(i_ReadMemory(ADR_ERRORS_TOTAL_INFO)))
+ {
+//a
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit0==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_A1_PLUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Ta0_0);
+ EPwm2Regs.CMPA.half.CMPA = p->Ta0_0;
+ }
+
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit1 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit1==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_A1_MINUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Ta0_1);
+ EPwm1Regs.CMPA.half.CMPA = p->Ta0_1;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit2 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit2==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_B1_PLUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tb0_0);
+ EPwm4Regs.CMPA.half.CMPA = p->Tb0_0;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit3 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit3==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_B1_MINUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tb0_1);
+ EPwm3Regs.CMPA.half.CMPA = p->Tb0_1;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit4 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit4==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_C1_PLUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tc0_0);
+ EPwm6Regs.CMPA.half.CMPA = p->Tc0_0;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit5 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit5==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_C1_MINUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tc0_1);
+ EPwm5Regs.CMPA.half.CMPA = p->Tc0_1;
+ }
+//b
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit6 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit6==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_A2_PLUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Ta1_0);
+ EPwm8Regs.CMPA.half.CMPA = p->Ta1_0;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit7 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit7==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_A2_MINUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Ta1_1);
+ EPwm7Regs.CMPA.half.CMPA = p->Ta1_1;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit8 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit8==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_B2_PLUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tb1_0);
+ EPwm10Regs.CMPA.half.CMPA = p->Tb1_0;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit9 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit9==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_B2_MINUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tb1_1);
+ EPwm9Regs.CMPA.half.CMPA = p->Tb1_1;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit10 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit10==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_C2_PLUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tc1_0);
+ EPwm12Regs.CMPA.half.CMPA = p->Tc1_0;
+ }
+ if ((p->mode_reload==PWM_MODE_RELOAD_FORCE)
+ || (p->saw_direct.bits.bit11 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_HIGH)
+ || (p->saw_direct.bits.bit11==0 && p->mode_reload==PWM_MODE_RELOAD_LEVEL_LOW) )
+ {
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_C2_MINUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tc1_1);
+ EPwm11Regs.CMPA.half.CMPA = p->Tc1_1;
+ }
+
+//br1 br2
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_BR1_PLUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tbr0_0);
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_BR1_MINUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tbr0_1);
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_BR2_PLUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tbr1_0);
+ // i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_BR2_MINUS);
+ // i_WriteMemory(ADR_PWM_TIMING, p->Tbr1_1);
+ }
+// else
+// {
+// // hard_stop_x24_pwm_all();
+// // stop_pwm();
+// xpwm_write_zero_winding_break_times_16_lines_split_eages(p);
+// }
+}
+/*
+// #pragma CODE_SECTION(xpwm_write_zero_1,".fast_run2");
+void xpwm_write_zero_1(XPWM_TIME *p)
+{
+ unsigned int tclose;
+
+ //a
+ set_default_tclosed(tclose, p->saw_direct.bits.bit0);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_A1_PLUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Ta0_0 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit1);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_A1_MINUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Ta0_1 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit2);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_B1_PLUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Tb0_0 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit3);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_B1_MINUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Tb0_1 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit4);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_C1_PLUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Tc0_0 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit5);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_C1_MINUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Tc0_1 = tclose;
+
+}
+
+// #pragma CODE_SECTION(xpwm_write_zero_2,".fast_run1");
+void xpwm_write_zero_2(XPWM_TIME *p)
+{
+ unsigned int tclose;
+
+//b
+ set_default_tclosed(tclose, p->saw_direct.bits.bit6);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_A2_PLUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Ta1_0 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit7);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_A2_MINUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Ta1_1 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit8);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_B2_PLUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Tb1_0 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit9);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_B2_MINUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Tb1_1 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit10);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_C2_PLUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Tc1_0 = tclose;
+
+ set_default_tclosed(tclose, p->saw_direct.bits.bit11);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_C2_MINUS);
+ i_WriteMemory(ADR_PWM_TIMING, tclose);
+ p->Tc1_1 = tclose;
+
+}
+
+// #pragma CODE_SECTION(xpwm_write_zero_break_1,".fast_run2");
+void xpwm_write_zero_break_1(XPWM_TIME *p)
+{
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_BR1_PLUS);
+ i_WriteMemory(ADR_PWM_TIMING, 0);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_BR1_MINUS);
+ i_WriteMemory(ADR_PWM_TIMING, 0);
+
+ p->Tbr0_0 = 0;
+ p->Tbr0_1 = 0;
+
+}
+
+// #pragma CODE_SECTION(xpwm_write_zero_break_2,".fast_run2");
+void xpwm_write_zero_break_2(XPWM_TIME *p)
+{
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_BR2_PLUS);
+ i_WriteMemory(ADR_PWM_TIMING, 0);
+ i_WriteMemory(ADR_PWM_KEY_NUMBER, PWM_KEY_NUMBER_BR2_MINUS);
+ i_WriteMemory(ADR_PWM_TIMING, 0);
+
+ p->Tbr1_0 = 0;
+ p->Tbr1_1 = 0;
+}
+
+// #pragma CODE_SECTION(xpwm_write_zero_winding_break_times_16_lines_split_eages,".fast_run2");
+void xpwm_write_zero_winding_break_times_16_lines_split_eages(XPWM_TIME *p)
+{
+ xpwm_write_zero_1(p);
+ xpwm_write_zero_2(p);
+ xpwm_write_zero_break_1(p);
+ xpwm_write_zero_break_2(p);
+}
+
+*/
+
diff --git a/Inu/Src2/main/xp_write_xpwm_time.h b/Inu/Src2/main/xp_write_xpwm_time.h
new file mode 100644
index 0000000..5e1159d
--- /dev/null
+++ b/Inu/Src2/main/xp_write_xpwm_time.h
@@ -0,0 +1,183 @@
+/*
+ * xp_write_xpwm_time.h
+ *
+ * Created on: 03 ���. 2018 �.
+ * Author: stud
+ */
+
+#ifndef XP_WRITE_TIME_H_
+#define XP_WRITE_TIME_H_
+
+
+#include "word_structurs.h"
+
+
+
+#define PWM_ERROR_LEVEL_INTERRUPT 0 // �� ���������� ��� ��, ������!!!
+#define PWM_LOW_LEVEL_INTERRUPT 1 // �� ����� ����
+#define PWM_HIGH_LEVEL_INTERRUPT 2 // �� ������ ����
+
+
+#define PWM_MODE_RELOAD_FORCE 0 // ��������� ��� ��������
+#define PWM_MODE_RELOAD_LEVEL_LOW 1 // ��������� �������� ��� ���� ����, ��� saw_direct=1
+#define PWM_MODE_RELOAD_LEVEL_HIGH 2 // ��������� �������� ��� ����� ����, ��� saw_direct=0
+
+
+
+
+
+#define PWM_KEY_NUMBER_A1_PLUS 0
+#define PWM_KEY_NUMBER_A1_MINUS 1
+#define PWM_KEY_NUMBER_B1_PLUS 2
+#define PWM_KEY_NUMBER_B1_MINUS 3
+#define PWM_KEY_NUMBER_C1_PLUS 4
+#define PWM_KEY_NUMBER_C1_MINUS 5
+
+#define PWM_KEY_NUMBER_A2_PLUS 6
+#define PWM_KEY_NUMBER_A2_MINUS 7
+#define PWM_KEY_NUMBER_B2_PLUS 8
+#define PWM_KEY_NUMBER_B2_MINUS 9
+#define PWM_KEY_NUMBER_C2_PLUS 10
+#define PWM_KEY_NUMBER_C2_MINUS 11
+
+#define PWM_KEY_NUMBER_BR1_PLUS 12
+#define PWM_KEY_NUMBER_BR1_MINUS 13
+
+#define PWM_KEY_NUMBER_BR2_PLUS 14
+#define PWM_KEY_NUMBER_BR2_MINUS 15
+
+//////////////////////////////////////////////////////////////////////
+#define ENABLE_PWM_BREAK_ALL 0x0fff
+#define ENABLE_PWM_BREAK_1 0xcfff
+#define ENABLE_PWM_BREAK_2 0x3fff
+
+#define ENABLE_PWM_1 0xffc0
+#define ENABLE_PWM_2 0xf03f
+#define ENABLE_PWM_1_2 0xf000
+
+#define ENABLE_PWM_ALL 0x0000
+
+//
+#define DISABLE_PWM_BREAK_ALL 0xf000
+#define DISABLE_PWM_BREAK_1 0x3000
+#define DISABLE_PWM_BREAK_2 0xc000
+
+#define DISABLE_PWM_1 0x003f
+#define DISABLE_PWM_2 0x0fc0
+#define DISABLE_PWM_1_2 0x0fff
+
+#define DISABLE_PWM_ALL 0xffff
+
+///
+#define DISABLE_PWM_A1 0x0003
+#define DISABLE_PWM_B1 0x000c
+#define DISABLE_PWM_C1 0x0030
+
+#define DISABLE_PWM_A2 0x00c0
+#define DISABLE_PWM_B2 0x0300
+#define DISABLE_PWM_C2 0x0c00
+//
+//////////////////////////////////////////////////////////////////////
+/*
+ * PWM - Start Stop
+ * (15) - Soft start-stop m0de 1- soft mode enabled, 0 -disabled. ���� ������ ����� ������ ���������, �� ��� ������
+ * ������� ����(0)-������� = 0, ������ ����������� � ������ �������� ���� (����� ������ ������� ���������)., ���� ���- �����.
+ * ���������� ����������� �����- ��� soft mode ����� ����������� � ������ ��������.
+ * �����! ��� ������������ ��������� ���� ������ ������� ������ ���� ����� ����.
+ * (0) - 1 -start, 0 - stop
+ */
+#define PWM_START_SOFT 0x8001
+#define PWM_START_HARD 0x0001
+
+#define PWM_STOP_SOFT 0x8000
+#define PWM_STOP_HARD 0x0000
+
+/////////////////////////////////////
+
+
+
+
+/////////////////////////////////////
+typedef struct
+{
+ // Winding 1 times
+ unsigned int Ta0_0;
+ unsigned int Ta0_1;
+ unsigned int Tb0_0;
+ unsigned int Tb0_1;
+ unsigned int Tc0_0;
+ unsigned int Tc0_1;
+ // Winding 2 times
+ unsigned int Ta1_0;
+ unsigned int Ta1_1;
+ unsigned int Tb1_0;
+ unsigned int Tb1_1;
+ unsigned int Tc1_0;
+ unsigned int Tc1_1;
+ // Break transistors
+ unsigned int Tbr0_0;
+ unsigned int Tbr0_1;
+ unsigned int Tbr1_0;
+ unsigned int Tbr1_1;
+ //Level transistors closed
+ unsigned int Tclosed_0;
+ unsigned int Tclosed_1;
+ unsigned int Tclosed_high;
+ unsigned int pwm_tics;
+ unsigned int inited;
+ unsigned int freq_pwm;
+ unsigned int Tclosed_saw_direct_0;
+ unsigned int Tclosed_saw_direct_1;
+ unsigned int current_period;
+ unsigned int where_interrupt;
+ unsigned int mode_reload;
+ unsigned int one_or_two_interrupts_run;
+ WORD_UINT2BITS_STRUCT saw_direct;
+ void (*write_1_2_winding_break_times)();
+ void (*write_1_2_winding_break_times_split)();
+} XPWM_TIME;
+
+#define DEFAULT_XPWM_TIME {0,0,0,0,0,0, 0,0,0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0,0,0,0,0, {0}, \
+ xpwm_write_1_2_winding_break_times_16_lines, \
+ xpwm_write_1_2_winding_break_times_16_lines_split_eages }
+
+void xpwm_write_1_2_winding_break_times_16_lines();
+void xpwm_write_1_2_winding_break_times_16_lines_split_eages(XPWM_TIME *p);
+void xpwm_write_zero_winding_break_times_16_lines_split_eages();
+void initXpwmTimeStructure(XPWM_TIME *p);
+
+extern XPWM_TIME xpwm_time;
+
+#define write_winding1_fase_a(T0, T1) \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 0); WriteMemory(ADR_PWM_TIMING, T0); \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 1); WriteMemory(ADR_PWM_TIMING, T1);
+
+#define write_winding1_fase_b(T0, T1) \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 2); WriteMemory(ADR_PWM_TIMING, T0); \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 3); WriteMemory(ADR_PWM_TIMING, T1);
+
+#define write_winding1_fase_c(T0, T1) \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 4); WriteMemory(ADR_PWM_TIMING, T0); \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 5); WriteMemory(ADR_PWM_TIMING, T1);
+
+#define write_winding2_fase_a(T0, T1) \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 6); WriteMemory(ADR_PWM_TIMING, T0); \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 7); WriteMemory(ADR_PWM_TIMING, T1);
+
+#define write_winding2_fase_b(T0, T1) \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 8); WriteMemory(ADR_PWM_TIMING, T0); \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 9); WriteMemory(ADR_PWM_TIMING, T1);
+
+#define write_winding2_fase_c(T0, T1) \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 10); WriteMemory(ADR_PWM_TIMING, T0); \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 11); WriteMemory(ADR_PWM_TIMING, T1);
+#define write_break_winding1(T0, T1) \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 12); WriteMemory(ADR_PWM_TIMING, T0); \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 13); WriteMemory(ADR_PWM_TIMING, T1);
+
+#define write_break_winding2(T0, T1) \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 14); WriteMemory(ADR_PWM_TIMING, T0); \
+ WriteMemory(ADR_PWM_KEY_NUMBER, 15); WriteMemory(ADR_PWM_TIMING, T1);
+
+
+#endif /* XP_WRITE_TIME_H_ */
diff --git a/Inu/controller.c b/Inu/controller.c
new file mode 100644
index 0000000..e306f9b
--- /dev/null
+++ b/Inu/controller.c
@@ -0,0 +1,1355 @@
+/**************************************************************************
+ Description: ��������� ���������� ������ ���������� - ������������
+ ����� ������� init28335, detcoeff, isr.
+ ����� ���������� ��������� ������������ ���������� ����������
+ TMS320F28335/TMS320F28379D (ADC, PWM, QEP � �.�.).
+
+ �����: ���������� �.�.
+ ���� ���������� ����������: 2021.11.08
+**************************************************************************/
+
+
+#include "simstruc.h"
+#include "wrapper_inu.h"
+#include "def.h"
+#include "controller.h"
+#include "pwm_vector_regul.h"
+
+
+extern UMotorMeasure motor;
+
+extern TimerSimHandle t1sim
+extern TimerSimHandle t2sim;
+extern TimerSimHandle t3sim;
+extern TimerSimHandle t4sim;
+extern TimerSimHandle t5sim;
+extern TimerSimHandle t6sim;
+extern TimerSimHandle t7sim;
+extern TimerSimHandle t8sim;
+extern TimerSimHandle t9sim;
+extern TimerSimHandle t10sim;
+extern TimerSimHandle t11sim;
+extern TimerSimHandle t12sim;
+
+extern DeadBandSimHandle dt1sim
+extern DeadBandSimHandle dt2sim;
+extern DeadBandSimHandle dt3sim;
+extern DeadBandSimHandle dt4sim;
+extern DeadBandSimHandle dt5sim;
+extern DeadBandSimHandle dt6sim;
+extern DeadBandSimHandle dt7sim;
+extern DeadBandSimHandle dt8sim;
+extern DeadBandSimHandle dt9sim;
+extern DeadBandSimHandle dt10sim;
+extern DeadBandSimHandle dt11sim;
+extern DeadBandSimHandle dt12sim;
+
+extern void init28335(void);
+extern void detcoeff(void);
+extern void isr(void);
+extern void input_param(unsigned short num, unsigned short val);
+// extern void init_DQ_pid();
+int calcAlgUpr = 0;
+
+int timers_adc = 0;
+int timers_pwm = 0;
+
+void readInputParameters(const real_T *u) {
+ // int t;
+ //// ����� (begin)
+ //nn = 0;
+ //// ���������� ��������
+ //motor.udc1_ml = u[nn++];//�
+ //motor.udc2_ml = u[nn++];//�
+
+ //motor.ia1_ml = u[nn++];//�
+ //motor.ib1_ml = u[nn++];//�
+ //motor.ic1_ml = u[nn++];//�
+ //motor.ia2_ml = u[nn++];//�
+ //motor.ib2_ml = u[nn++];//�
+ //motor.ic2_ml = u[nn++];//�
+ //motor.wm_ml = u[nn++];//���/�
+
+ //// ���������� (��������, � ��)
+ //mst.faultReset = (unsigned short)u[nn++];
+ //mst.start = (unsigned short)u[nn++];
+ //mst.pzMode = (unsigned short)u[nn++];
+ //mst.wmZz = u[nn++];//o.e. (�� N_BAZ)
+ //mst.pmZz = u[nn++]*(P_NOM/S_BAZ);//o.e. (�� S_BAZ)
+ //mst.wmLim = u[nn++];//o.e. (�� N_BAZ)
+ //mst.pmLim = u[nn++]*(P_NOM/S_BAZ);//o.e. (�� S_BAZ)
+ //mst.pIncrMaxTy = u[nn++]*TY*DECIM_PSI_WM_PM*(P_NOM/S_BAZ);//o.e. (�� S_BAZ)
+ //mst.pDecrMaxTy = u[nn++]*TY*DECIM_PSI_WM_PM*(P_NOM/S_BAZ);//o.e. (�� S_BAZ)
+
+ ////
+ //mst.off_curr_pi = (unsigned short)u[nn++];
+ //mst.only_one_km = (unsigned short)u[nn++];
+ //mst.enable_compens_iq1_iq2 = (unsigned short)u[nn++];
+ //mst.pi_iq_ki = u[nn++];
+ //mst.pi_id_ki = u[nn++];
+ //t = (unsigned short)u[nn++];
+ //t = (unsigned short)u[nn++];
+ //t = (unsigned short)u[nn++];
+ //t = (unsigned short)u[nn++];
+ //t = (unsigned short)u[nn++];
+
+
+ //// ��������� (��������, � ��)
+ //paramNo = FIRST_WRITE_PAR_NUM;
+ //paramNew[paramNo++] = (unsigned short)u[nn++];
+ //paramNew[paramNo++] = (unsigned short)u[nn++];
+
+
+ //// ����� (end)
+
+
+}
+
+
+void processSFunctionIfChanged(SimStruct *S, int_T *iW) {
+
+ // ������������ ��������� S-Function ������ ���, ����� ��� ����������
+ if ( iW[0] == 1 ) {
+ iW[0] = 0;
+ kkk = 0;
+ for ( lll = 0; lll < NPARAMS; lll++ ) {
+ // ���������� ���-�� ��������� � ���������
+ dimen = mxGetNumberOfElements(ssGetSFcnParam(S,lll));
+ // ������������ �������� � ����������� �� ��� �������
+ if ( dimen > LEN_PARAM_MATR*2 ) {
+ ssSetErrorStatus(S,"� ���������-������� ������� ����� ���������");
+ return;
+ }
+ else if ( dimen > 1 ) {
+ // ���������� ���-�� ��������� ���������-�������
+ paramMatrDimen = dimen;
+ // ���������� �������� ��������� ���������-�������
+ for ( mmm = 0; mmm < dimen; mmm++ )
+ paramMatr[mmm] = mxGetPr(ssGetSFcnParam(S,lll))[mmm];
+ }
+ else {
+ // ���������� �������� ����������-��������
+ paramScal[kkk++] = mxGetPr(ssGetSFcnParam(S,lll))[0];
+ }
+ }
+ // ��������� (begin)
+ nn = 0;
+ dt = paramScal[nn++];//��� ������������� (������ ������ ������������ � S-function ���������!)
+ // ��������� (end)
+ } //if ( iW[0] == 1 )
+
+}
+
+void initialisationOnStart(int_T *iW) {
+//// ���-��� ��������� ���� ��� ��� ������� ������
+// if ( iW[1] == 1 ) {
+// iW[1] = 0;
+//
+// timers_adc = 0;
+// timers_pwm = 0;
+//
+// // ������������� ����������
+// init28335();
+//
+// init_DQ_pid();
+//
+// // �������� ���������� ���������� �� EEPROM
+// // ... ��������� �� ������ (��. ���� "Parameters")
+// for ( j = FIRST_WRITE_PAR_NUM; j < paramNo; j++ ) {
+// param[j] = paramNew[j];
+// }
+// // ... ��������� �� �����
+// param[180] = 930;//rf.PsiZ, %*10 �� PSI_BAZ
+//
+// param[200] = 2048;//offset.Ia1, ��. ���
+// param[201] = 2048;//offset.Ib1, ��. ���
+// param[202] = 2048;//offset.Ic1, ��. ���
+// param[203] = 2048;//offset.Udc1, ��. ���
+// param[206] = 2048;//offset.Ia2, ��. ���
+// param[207] = 2048;//offset.Ib2, ��. ���
+// param[208] = 2048;//offset.Ic2, ��. ���
+// param[209] = 2048;//offset.Udc2, ��. ���
+//
+// param[210] = 100;//cc.Kp, %
+// param[211] = 100;//cc.Ki, %
+// param[212] = 100;//cf.Kp, %
+// param[213] = 100;//cf.Ki, %
+// param[214] = 100;//csp.Kp, %
+// param[215] = 100;//csp.Ki, %
+//
+// param[220] = 99;//protect.IacMax, % �� IAC_SENS_MAX
+// param[221] = 130;//protect.UdcMax, % �� U_NOM
+// param[222] = 110;//IzLim, % �� I_BAZ (�.�. ������ cf.IdLim)
+// param[223] = 105;//cf.IdLim, % �� I_BAZ (�.�. ������ IzLim)
+// param[224] = 105;//csp.IqLim, % �� I_BAZ
+// param[225] = 97;//protect.UdcMin, % �� U_NOM
+// param[226] = 115;//protect.WmMax, % �� N_NOM
+// param[228] = 103;//rf.WmNomPsi, % �� N_NOM
+// param[229] = 97;//rf.YlimPsi, % �� Y_LIM
+// param[231] = 300;//protect.TudcMin, ��
+// param[233] = 1000;//protect.TwmMax, ��
+//
+// param[244] = 26000;//rs.WlimIncr, ��
+// param[245] = 2000;//csp.IlimIncr, ��
+// param[248] = 6000;//rp.PlimIncr, ��
+//
+// param[269] = 9964;//9700;//KmeCorr, %*100
+//
+// param[285] = 10;//Kudc, ��*10
+// param[286] = 700;//Kwm, ��*10
+// param[288] = 250;//rs.Kwmz, ��
+// param[289] = 50;//rf.Kpsiz, ��
+// param[290] = 40;//Kme, ��
+// param[292] = 80;//rp.Kpmz, ��
+//
+// param[303] = (unsigned short)(19200.);//sgmPar.Rs, ����
+// param[304] = (unsigned short)(19364.);//sgmPar.Lls, ����*10
+// param[305] = (unsigned short)(8500.);//sgmPar.Rr, ����
+// param[306] = (unsigned short)(10212.);//sgmPar.Llr, ����*10
+// param[307] = (unsigned short)(35810.);//sgmPar.Lm, ����
+//
+// // ������������� ���������
+// detcoeff();
+//
+// // ��� ������������� ��������
+// T1Pr = (double)EPwm1Regs.TBPRD;
+// T2Pr = (double)EPwm2Regs.TBPRD;
+// T3Pr = (double)EPwm3Regs.TBPRD;
+// T4Pr = (double)EPwm4Regs.TBPRD;
+// T5Pr = (double)EPwm5Regs.TBPRD;
+// T6Pr = (double)EPwm6Regs.TBPRD;
+// T7Pr = (double)EPwm7Regs.TBPRD;
+// T8Pr = (double)EPwm8Regs.TBPRD;
+// T9Pr = (double)EPwm9Regs.TBPRD;
+// T10Pr = (double)EPwm10Regs.TBPRD;
+// T11Pr = (double)EPwm11Regs.TBPRD;
+// T12Pr = (double)EPwm12Regs.TBPRD;
+// t1cntAux = (double)EPwm1Regs.TBCTR;
+// t2cntAux = (double)EPwm2Regs.TBCTR;
+// t3cntAux = (double)EPwm3Regs.TBCTR;
+// t4cntAux = (double)EPwm4Regs.TBCTR;
+// t5cntAux = (double)EPwm5Regs.TBCTR;
+// t6cntAux = (double)EPwm6Regs.TBCTR;
+// t7cntAux = (double)EPwm7Regs.TBCTR;
+// t8cntAux = (double)EPwm8Regs.TBCTR;
+// t9cntAux = (double)EPwm9Regs.TBCTR;
+// t10cntAux = (double)EPwm10Regs.TBCTR;
+// t11cntAux = (double)EPwm11Regs.TBCTR;
+// t12cntAux = (double)EPwm12Regs.TBCTR;
+// // ... ���������� ��������� �������� �� ��� �������������
+// TxCntPlus = FTBCLK*dt;
+//
+// // ��� ������������� eQEP
+// Qposmax = (double)EQep2Regs.QPOSMAX;
+// qposcnt = 1.;//(double)EQep2Regs.QPOSCNT;
+//
+// // ��� ������������� ���
+// // (�� ���� 1e-6 ��. SetupAdc(), ���� ��� ������ �� 1.0 ���, � 0.8 ���)
+//// Tadc = (int)(1e-6/dt);
+// Tadc = (int)(1/FREQ_ADC_TIMER/dt);
+//
+// // ... �� ������ ������
+// if ( Tadc < 1 )
+// Tadc = 1;
+// tAdc = 1;
+// // ... ����� ��� ���� �������
+// nAdc = 0;
+//
+// // ��� ������������� Dead-Band Unit
+// CntDt = (int)(DT/dt);
+// stateDt1 = stateDt2 = stateDt3 = stateDt4 = stateDt5 = stateDt6 = 1;
+// stateDt7 = stateDt8 = stateDt9 = stateDt10 = stateDt11 = stateDt12 = 1;
+// cntDt1 = cntDt2 = cntDt3 = cntDt4 = cntDt5 = cntDt6 = 0;
+// cntDt7 = cntDt8 = cntDt9 = cntDt10 = cntDt11 = cntDt12 = 0;
+//
+// // ��� �����
+// DI_24V_SOURCE_FAULT = 0;
+//
+// // ��� ������
+// inuWork = 0;
+// ivc.psi = 0;
+// rf.psiZ = 0;
+// rs.wmZ = 0;
+// csp.wmLimZi = 0;
+// pm = 0;
+// rp.pmZ = 0;
+// csp.pmLimZi = 0;
+// id1 = 0;
+// iq1 = 0;
+// id2 = 0;
+// iq2 = 0;
+// idZ = 0;
+// iqZ = 0;
+// cf.idP = 0;
+// cf.idFF = 0;
+// cf.idI = 0;
+// csp.iqP = 0;
+// csp.iqFF = 0;
+// csp.iqI = 0;
+// cc.yd1 = 0;
+// cc.yq1 = 0;
+// cc.y1 = 0;
+// cc.y2 = 0;
+// } //if ( iW[1] == 1 )
+
+
+}
+
+void simulatePWMcounterAndReadComarators(void) {
+
+ //// ���������� Time-Base Submodule, Counter-Compare Submodule �
+ //// Event-Trigger Submodule
+ //// ePWM1 (up-down-count mode)
+ //// -------------------------
+ //t1cntAuxPrev = t1cntAux;
+ //t1cntAux += TxCntPlus;
+ //if ( t1cntAux > T1Pr ) {
+ // t1cntAux -= T1Pr*2.;
+ // // active CMPA load from shadow when TBCTR == TBPRD
+ // cmp1A = (double)EPwm1Regs.CMPA.half.CMPA;
+ // // ������ ���
+ // // tAdc = Tadc;
+ // // nAdc = 0;
+ // calcAlgUpr = 1; // ��� ����������
+ //}
+ //if ( (t1cntAuxPrev < 0) && (t1cntAux >= 0) ) {
+ // // active CMPA load from shadow when TBCTR == 0
+ // cmp1A = (double)EPwm1Regs.CMPA.half.CMPA;
+ // // ������ ���
+ // // tAdc = Tadc;
+ // // nAdc = 0;
+ // calcAlgUpr = 1; // ��� ����������
+ //}
+ //t1cnt = fabs(t1cntAux);
+
+ //// ePWM2 (up-down-count mode)
+ //// -------------------------
+ //t2cntAuxPrev = t2cntAux;
+ //t2cntAux += TxCntPlus;
+ //if ( t2cntAux > T2Pr ) {
+ // t2cntAux -= T2Pr*2.;
+ // // active CMPA load from shadow when TBCTR == TBPRD
+ // cmp2A = (double)EPwm2Regs.CMPA.half.CMPA;
+ //}
+ //if ( (t2cntAuxPrev < 0) && (t2cntAux >= 0) ) {
+ // // active CMPA load from shadow when TBCTR == 0
+ // cmp2A = (double)EPwm2Regs.CMPA.half.CMPA;
+ //}
+ //t2cnt = fabs(t2cntAux);
+
+ //// ePWM3 (up-down-count mode)
+ //// -------------------------
+ //t3cntAuxPrev = t3cntAux;
+ //t3cntAux += TxCntPlus;
+ //if ( t3cntAux > T3Pr ) {
+ // t3cntAux -= T3Pr*2.;
+ // // active CMPA load from shadow when TBCTR == TBPRD
+ // cmp3A = (double)EPwm3Regs.CMPA.half.CMPA;
+ //}
+ //if ( (t3cntAuxPrev < 0) && (t3cntAux >= 0) ) {
+ // // active CMPA load from shadow when TBCTR == 0
+ // cmp3A = (double)EPwm3Regs.CMPA.half.CMPA;
+ //}
+ //t3cnt = fabs(t3cntAux);
+
+ //// ePWM4 (up-down-count mode)
+ //// -------------------------
+ //t4cntAuxPrev = t4cntAux;
+ //t4cntAux += TxCntPlus;
+ //if ( t4cntAux > T4Pr ) {
+ // t4cntAux -= T4Pr*2.;
+ // // active CMPA load from shadow when TBCTR == TBPRD
+ // cmp4A = (double)EPwm4Regs.CMPA.half.CMPA;
+ //}
+ //if ( (t4cntAuxPrev < 0) && (t4cntAux >= 0) ) {
+ // // active CMPA load from shadow when TBCTR == 0
+ // cmp4A = (double)EPwm4Regs.CMPA.half.CMPA;
+ //}
+ //t4cnt = fabs(t4cntAux);
+
+ //// ePWM5 (up-down-count mode)
+ //// -------------------------
+ //t5cntAuxPrev = t5cntAux;
+ //t5cntAux += TxCntPlus;
+ //if ( t5cntAux > T5Pr ) {
+ // t5cntAux -= T5Pr*2.;
+ // // active CMPA load from shadow when TBCTR == TBPRD
+ // cmp5A = (double)EPwm5Regs.CMPA.half.CMPA;
+ //}
+ //if ( (t5cntAuxPrev < 0) && (t5cntAux >= 0) ) {
+ // // active CMPA load from shadow when TBCTR == 0
+ // cmp5A = (double)EPwm5Regs.CMPA.half.CMPA;
+ //}
+ //t5cnt = fabs(t5cntAux);
+
+ //// ePWM6 (up-down-count mode)
+ //// -------------------------
+ //t6cntAuxPrev = t6cntAux;
+ //t6cntAux += TxCntPlus;
+ //if ( t6cntAux > T6Pr ) {
+ // t6cntAux -= T6Pr*2.;
+ // // active CMPA load from shadow when TBCTR == TBPRD
+ // cmp6A = (double)EPwm6Regs.CMPA.half.CMPA;
+ //}
+ //if ( (t6cntAuxPrev < 0) && (t6cntAux >= 0) ) {
+ // // active CMPA load from shadow when TBCTR == 0
+ // cmp6A = (double)EPwm6Regs.CMPA.half.CMPA;
+ //}
+ //t6cnt = fabs(t6cntAux);
+
+ //// ePWM7 (up-down-count mode)
+ //// -------------------------
+ //t7cntAuxPrev = t7cntAux;
+ //t7cntAux += TxCntPlus;
+ //if (t7cntAux > T7Pr) {
+ // t7cntAux -= T7Pr*2.;
+ // // active CMPA load from shadow when TBCTR == TBPRD
+ // cmp7A = (double)EPwm7Regs.CMPA.half.CMPA;
+ //}
+ //if ( (t7cntAuxPrev < 0) && (t7cntAux >= 0) ) {
+ // // active CMPA load from shadow when TBCTR == 0
+ // cmp7A = (double)EPwm7Regs.CMPA.half.CMPA;
+ //}
+ //t7cnt = fabs(t7cntAux);
+
+ //// ePWM8 (up-down-count mode)
+ //// -------------------------
+ //t8cntAuxPrev = t8cntAux;
+ //t8cntAux += TxCntPlus;
+ //if(t8cntAux > T8Pr) {
+ // t8cntAux -= T8Pr*2.;
+ // // active CMPA load from shadow when TBCTR == TBPRD
+ // cmp8A = (double)EPwm8Regs.CMPA.half.CMPA;
+ //}
+ //if((t8cntAuxPrev < 0) && (t8cntAux >= 0)) {
+ // // active CMPA load from shadow when TBCTR == 0
+ // cmp8A = (double)EPwm8Regs.CMPA.half.CMPA;
+ //}
+ //t8cnt = fabs(t8cntAux);
+
+ //// ePWM9 (up-down-count mode)
+ //// -------------------------
+ //t9cntAuxPrev = t9cntAux;
+ //t9cntAux += TxCntPlus;
+ //if(t9cntAux > T9Pr) {
+ // t9cntAux -= T9Pr*2.;
+ // // active CMPA load from shadow when TBCTR == TBPRD
+ // cmp9A = (double)EPwm9Regs.CMPA.half.CMPA;
+ //}
+ //if((t9cntAuxPrev < 0) && (t9cntAux >= 0)) {
+ // // active CMPA load from shadow when TBCTR == 0
+ // cmp9A = (double)EPwm9Regs.CMPA.half.CMPA;
+ //}
+ //t9cnt = fabs(t9cntAux);
+
+ //// ePWM10 (up-down-count mode)
+ //// -------------------------
+ //t10cntAuxPrev = t10cntAux;
+ //t10cntAux += TxCntPlus;
+ //if(t10cntAux > T10Pr) {
+ // t10cntAux -= T10Pr*2.;
+ // // active CMPA load from shadow when TBCTR == TBPRD
+ // cmp10A = (double)EPwm10Regs.CMPA.half.CMPA;
+ //}
+ //if((t10cntAuxPrev < 0) && (t10cntAux >= 0)) {
+ // // active CMPA load from shadow when TBCTR == 0
+ // cmp10A = (double)EPwm10Regs.CMPA.half.CMPA;
+ //}
+ //t10cnt = fabs(t10cntAux);
+
+ //// ePWM11 (up-down-count mode)
+ //// -------------------------
+ //t11cntAuxPrev = t11cntAux;
+ //t11cntAux += TxCntPlus;
+ //if(t11cntAux > T11Pr) {
+ // t11cntAux -= T11Pr*2.;
+ // // active CMPA load from shadow when TBCTR == TBPRD
+ // cmp11A = (double)EPwm11Regs.CMPA.half.CMPA;
+ //}
+ //if((t11cntAuxPrev < 0) && (t11cntAux >= 0)) {
+ // // active CMPA load from shadow when TBCTR == 0
+ // cmp11A = (double)EPwm11Regs.CMPA.half.CMPA;
+ //}
+ //t11cnt = fabs(t11cntAux);
+
+ //// ePWM12 (up-down-count mode)
+ //// -------------------------
+ //t12cntAuxPrev = t12cntAux;
+ //t12cntAux += TxCntPlus;
+ //if(t12cntAux > T12Pr) {
+ // t12cntAux -= T12Pr*2.;
+ // // active CMPA load from shadow when TBCTR == TBPRD
+ // cmp12A = (double)EPwm12Regs.CMPA.half.CMPA;
+ //}
+ //if((t12cntAuxPrev < 0) && (t12cntAux >= 0)) {
+ // // active CMPA load from shadow when TBCTR == 0
+ // cmp12A = (double)EPwm12Regs.CMPA.half.CMPA;
+ //}
+ //t12cnt = fabs(t12cntAux);
+
+
+ //// ���������� ������ �������� � eQEP
+ //qposcnt += wm_ml/PI2*NOP*4.*dt;
+ //if ( qposcnt >= (Qposmax + 1.) )
+ // qposcnt -= (Qposmax + 1.);
+ //else if ( qposcnt < 0 )
+ // qposcnt += (Qposmax + 1.);
+ //EQep2Regs.QPOSCNT = (short)qposcnt;
+
+}
+
+
+void update_norm_ADC_array()
+{
+ //// Udc1
+ //if ( udc1_ml > UDC_SENS_MAX )
+ // udc1_ml = UDC_SENS_MAX;
+ //else if ( udc1_ml < -UDC_SENS_MAX )
+ // udc1_ml = -UDC_SENS_MAX;
+ //iq_norm_ADC[0] = _IQ(udc1_ml/NORMA_ACP);
+ //// Udc2
+ //if ( udc2_ml > UDC_SENS_MAX )
+ // udc2_ml = UDC_SENS_MAX;
+ //else if ( udc2_ml < -UDC_SENS_MAX )
+ // udc2_ml = -UDC_SENS_MAX;
+ //iq_norm_ADC[1] = _IQ(udc2_ml/NORMA_ACP);
+ //// Udc3
+ //if ( udc3_ml > UDC_SENS_MAX )
+ // udc3_ml = UDC_SENS_MAX;
+ //else if ( udc3_ml < -UDC_SENS_MAX )
+ // udc3_ml = -UDC_SENS_MAX;
+ //iq_norm_ADC[7] = _IQ(udc3_ml/NORMA_ACP);
+ //// Udc4
+ //if ( udc4_ml > UDC_SENS_MAX )
+ // udc4_ml = UDC_SENS_MAX;
+ //else if ( udc4_ml < -UDC_SENS_MAX )
+ // udc4_ml = -UDC_SENS_MAX;
+ //iq_norm_ADC[8] = _IQ(udc4_ml/NORMA_ACP);
+ //// Idc1
+ //if ( idc1_ml > IDC_SENS_MAX )
+ // idc1_ml = IDC_SENS_MAX;
+ //else if ( idc1_ml < -IDC_SENS_MAX )
+ // idc1_ml = -IDC_SENS_MAX;
+ //iq_norm_ADC[2] = _IQ(idc1_ml/NORMA_ACP);
+ //// Idc2
+ //if ( idc2_ml > IDC_SENS_MAX )
+ // idc2_ml = IDC_SENS_MAX;
+ //else if ( idc2_ml < -IDC_SENS_MAX )
+ // idc2_ml = -IDC_SENS_MAX;
+ //iq_norm_ADC[3] = _IQ(idc2_ml/NORMA_ACP);
+ //// Idc3
+ //if ( idc3_ml > IDC_SENS_MAX )
+ // idc3_ml = IDC_SENS_MAX;
+ //else if ( idc3_ml < -IDC_SENS_MAX )
+ // idc3_ml = -IDC_SENS_MAX;
+ //iq_norm_ADC[9] = _IQ(idc3_ml/NORMA_ACP);
+ //// Idc4
+ //if ( idc4_ml > IDC_SENS_MAX )
+ // idc4_ml = IDC_SENS_MAX;
+ //else if ( idc4_ml < -IDC_SENS_MAX )
+ // idc4_ml = -IDC_SENS_MAX;
+ //iq_norm_ADC[10] = _IQ(idc4_ml/NORMA_ACP);
+
+ //// Ia1
+ //if ( ia1_ml > IAC_SENS_MAX )
+ // ia1_ml = IAC_SENS_MAX;
+ //else if ( ia1_ml < -IAC_SENS_MAX )
+ // ia1_ml = -IAC_SENS_MAX;
+ //iq_norm_ADC[4] = _IQ(ia1_ml/NORMA_ACP);
+
+ //// Ib1
+ //if ( ib1_ml > IAC_SENS_MAX )
+ // ib1_ml = IAC_SENS_MAX;
+ //else if ( ib1_ml < -IAC_SENS_MAX )
+ // ib1_ml = -IAC_SENS_MAX;
+ //iq_norm_ADC[5] = _IQ(ib1_ml/NORMA_ACP);
+
+ //// Ic1
+ //if ( ic1_ml > IAC_SENS_MAX )
+ // ic1_ml = IAC_SENS_MAX;
+ //else if ( ic1_ml < -IAC_SENS_MAX )
+ // ic1_ml = -IAC_SENS_MAX;
+ //iq_norm_ADC[6] = _IQ(ic1_ml/NORMA_ACP);
+
+
+ //// Ia2
+ //if ( ia2_ml > IAC_SENS_MAX )
+ // ia2_ml = IAC_SENS_MAX;
+ //else if ( ia2_ml < -IAC_SENS_MAX )
+ // ia2_ml = -IAC_SENS_MAX;
+ //iq_norm_ADC[11] = _IQ(ia2_ml/NORMA_ACP);
+
+ //// Ib2
+ //if ( ib2_ml > IAC_SENS_MAX )
+ // ib2_ml = IAC_SENS_MAX;
+ //else if ( ib2_ml < -IAC_SENS_MAX )
+ // ib2_ml = -IAC_SENS_MAX;
+ //iq_norm_ADC[12] = _IQ(ib2_ml/NORMA_ACP);
+
+ //// Ic2
+ //if ( ic2_ml > IAC_SENS_MAX )
+ // ic2_ml = IAC_SENS_MAX;
+ //else if ( ic2_ml < -IAC_SENS_MAX )
+ // ic2_ml = -IAC_SENS_MAX;
+ //iq_norm_ADC[13] = _IQ(ic2_ml/NORMA_ACP);
+
+
+
+ //vect_control.off_curr_pi = mst.off_curr_pi;
+ //vect_control.only_one_km = mst.only_one_km;
+ //vect_control.enable_compens_iq1_iq2 = mst.enable_compens_iq1_iq2;
+}
+
+void simulateAdcAndCallIsr() {
+
+ ///* ���������� �������������� ���������� ������� ���������,
+ //��������������� � ��� (� ������� nAdc ��������� ����� �� �������
+ //����� ��� ������ ��������) */
+ //if ( tAdc < Tadc ) {
+ // tAdc++;
+ //}
+ //else {
+
+ // tAdc = 1;
+ // timers_adc++;
+ // if (timers_adc>=FREQ_ADC_TIMER)
+ // timers_adc = 0;
+
+ // update_norm_ADC_array();
+ // // ����� ���������� ����� ��� �������� isr()
+ // acp_Handler();
+ // //isr();
+
+
+ // // nAdc++;
+ // // switch ( nAdc ) {
+ // // case 5:
+ //
+ // // break;
+ // // case 6:
+
+ // // break;
+
+ // // case 7:
+ // // // ��� �� � ��
+ // // for ( j = FIRST_WRITE_PAR_NUM; j < paramNo; j++ ) {
+ // // if ( paramNew[j] != param[j] ) {
+ // // input_param((short)j, paramNew[j]);
+ // // break;
+ // // }
+ // // }
+ // // // ����� ���������� ����� ��� �������� isr()
+ // // isr();
+ // // break;
+ // // } //switch ( nAdc )
+
+ //} //tAdc
+
+ // if (calcAlgUpr) {
+ // // ��������� �������� ����������
+ // upr();
+ // calcAlgUpr = 0;
+ // timers_pwm++;
+ // if (timers_pwm>=FREQ_PWM_TIMER)
+ // timers_pwm = 0;
+ // }
+
+
+}
+
+void simulateActionActionQualifierSubmodule(void) {
+ //// ���������� Action-Qualifier Submodule
+ //// ... ePWM1
+ //if ( cmp1A > t1cnt ) {
+ // ci1A = 0;
+ // ci1B = 1;
+ //}
+ //else if ( cmp1A < t1cnt ) {
+ // ci1A = 1;
+ // ci1B = 0;
+ //}
+ //// ... ePWM2
+ //if ( cmp2A > t2cnt ) {
+ // ci2A = 0;
+ // ci2B = 1;
+ //}
+ //else if ( cmp2A < t2cnt ) {
+ // ci2A = 1;
+ // ci2B = 0;
+ //}
+ //// ... ePWM3
+ //if ( cmp3A > t3cnt ) {
+ // ci3A = 0;
+ // ci3B = 1;
+ //}
+ //else if ( cmp3A < t3cnt ) {
+ // ci3A = 1;
+ // ci3B = 0;
+ //}
+ //// ... ePWM4
+ //if ( cmp4A > t4cnt ) {
+ // ci4A = 0;
+ // ci4B = 1;
+ //}
+ //else if ( cmp4A < t4cnt ) {
+ // ci4A = 1;
+ // ci4B = 0;
+ //}
+ //// ... ePWM5
+ //if ( cmp5A > t5cnt ) {
+ // ci5A = 0;
+ // ci5B = 1;
+ //}
+ //else if ( cmp5A < t5cnt ) {
+ // ci5A = 1;
+ // ci5B = 0;
+ //}
+ //// ... ePWM6
+ //if ( cmp6A > t6cnt ) {
+ // ci6A = 0;
+ // ci6B = 1;
+ //}
+ //else if ( cmp6A < t6cnt ) {
+ // ci6A = 1;
+ // ci6B = 0;
+ //}
+ //// ... ePWM7
+ //if ( cmp7A > t7cnt ) {
+ // ci7A = 0;
+ // ci7B = 1;
+ //}
+ //else if ( cmp7A < t7cnt ) {
+ // ci7A = 1;
+ // ci7B = 0;
+ //}
+ //// ... ePWM8
+ //if ( cmp8A > t8cnt ) {
+ // ci8A = 0;
+ // ci8B = 1;
+ //}
+ //else if ( cmp8A < t8cnt ) {
+ // ci8A = 1;
+ // ci8B = 0;
+ //}
+ //// ... ePWM9
+ //if ( cmp9A > t9cnt ) {
+ // ci9A = 0;
+ // ci9B = 1;
+ //}
+ //else if ( cmp9A < t9cnt ) {
+ // ci9A = 1;
+ // ci9B = 0;
+ //}
+ //// ... ePWM10
+ //if ( cmp10A > t10cnt ) {
+ // ci10A = 0;
+ // ci10B = 1;
+ //}
+ //else if ( cmp10A < t10cnt ) {
+ // ci10A = 1;
+ // ci10B = 0;
+ //}
+ //// ... ePWM11
+ //if ( cmp11A > t11cnt ) {
+ // ci11A = 0;
+ // ci11B = 1;
+ //}
+ //else if ( cmp11A < t11cnt ) {
+ // ci11A = 1;
+ // ci11B = 0;
+ //}
+ //// ... ePWM12
+ //if ( cmp12A > t12cnt ) {
+ // ci12A = 0;
+ // ci12B = 1;
+ //}
+ //else if ( cmp12A < t12cnt ) {
+ // ci12A = 1;
+ // ci12B = 0;
+ //}
+
+
+}
+
+void simulateDeadBendSubmodule(void) {
+
+ //// ���������� Dead-Band Submodule
+ //// ... ePWM1
+ //if ( stateDt1 == 1 ) {
+ // ci1A_DT = ci1A;
+ // ci1B_DT = 0;
+ // if ( ci1A == 1 )
+ // cntDt1 = CntDt;
+ // if ( cntDt1 > 0 )
+ // cntDt1--;
+ // else
+ // stateDt1 = 2;
+ //}
+ //else if ( stateDt1 == 2 ) {
+ // ci1A_DT = 0;
+ // ci1B_DT = ci1B;
+ // if ( ci1B == 1 )
+ // cntDt1 = CntDt;
+ // if ( cntDt1 > 0 )
+ // cntDt1--;
+ // else
+ // stateDt1 = 1;
+ //}
+ //// ... ePWM2
+ //if ( stateDt2 == 1 ) {
+ // ci2A_DT = ci2A;
+ // ci2B_DT = 0;
+ // if ( ci2A == 1 )
+ // cntDt2 = CntDt;
+ // if ( cntDt2 > 0 )
+ // cntDt2--;
+ // else
+ // stateDt2 = 2;
+ //}
+ //else if ( stateDt2 == 2 ) {
+ // ci2A_DT = 0;
+ // ci2B_DT = ci2B;
+ // if ( ci2B == 1 )
+ // cntDt2 = CntDt;
+ // if ( cntDt2 > 0 )
+ // cntDt2--;
+ // else
+ // stateDt2 = 1;
+ //}
+ //// ... ePWM3
+ //if ( stateDt3 == 1 ) {
+ // ci3A_DT = ci3A;
+ // ci3B_DT = 0;
+ // if ( ci3A == 1 )
+ // cntDt3 = CntDt;
+ // if ( cntDt3 > 0 )
+ // cntDt3--;
+ // else
+ // stateDt3 = 2;
+ //}
+ //else if ( stateDt3 == 2 ) {
+ // ci3A_DT = 0;
+ // ci3B_DT = ci3B;
+ // if ( ci3B == 1 )
+ // cntDt3 = CntDt;
+ // if ( cntDt3 > 0 )
+ // cntDt3--;
+ // else
+ // stateDt3 = 1;
+ //}
+ //// ... ePWM4
+ //if ( stateDt4 == 1 ) {
+ // ci4A_DT = ci4A;
+ // ci4B_DT = 0;
+ // if ( ci4A == 1 )
+ // cntDt4 = CntDt;
+ // if ( cntDt4 > 0 )
+ // cntDt4--;
+ // else
+ // stateDt4 = 2;
+ //}
+ //else if ( stateDt4 == 2 ) {
+ // ci4A_DT = 0;
+ // ci4B_DT = ci4B;
+ // if ( ci4B == 1 )
+ // cntDt4 = CntDt;
+ // if ( cntDt4 > 0 )
+ // cntDt4--;
+ // else
+ // stateDt4 = 1;
+ //}
+ //// ... ePWM5
+ //if ( stateDt5 == 1 ) {
+ // ci5A_DT = ci5A;
+ // ci5B_DT = 0;
+ // if ( ci5A == 1 )
+ // cntDt5 = CntDt;
+ // if ( cntDt5 > 0 )
+ // cntDt5--;
+ // else
+ // stateDt5 = 2;
+ //}
+ //else if ( stateDt5 == 2 ) {
+ // ci5A_DT = 0;
+ // ci5B_DT = ci5B;
+ // if ( ci5B == 1 )
+ // cntDt5 = CntDt;
+ // if ( cntDt5 > 0 )
+ // cntDt5--;
+ // else
+ // stateDt5 = 1;
+ //}
+ //// ... ePWM6
+ //if ( stateDt6 == 1 ) {
+ // ci6A_DT = ci6A;
+ // ci6B_DT = 0;
+ // if ( ci6A == 1 )
+ // cntDt6 = CntDt;
+ // if ( cntDt6 > 0 )
+ // cntDt6--;
+ // else
+ // stateDt6 = 2;
+ //}
+ //else if ( stateDt6 == 2 ) {
+ // ci6A_DT = 0;
+ // ci6B_DT = ci6B;
+ // if ( ci6B == 1 )
+ // cntDt6 = CntDt;
+ // if ( cntDt6 > 0 )
+ // cntDt6--;
+ // else
+ // stateDt6 = 1;
+ //}
+ //// ... ePWM7
+ //if ( stateDt7 == 1 ) {
+ // ci7A_DT = ci7A;
+ // ci7B_DT = 0;
+ // if ( ci7A == 1 )
+ // cntDt7 = CntDt;
+ // if ( cntDt7 > 0 )
+ // cntDt7--;
+ // else
+ // stateDt7 = 2;
+ //}
+ //else if ( stateDt7 == 2 ) {
+ // ci7A_DT = 0;
+ // ci7B_DT = ci7B;
+ // if ( ci7B == 1 )
+ // cntDt7 = CntDt;
+ // if ( cntDt7 > 0 )
+ // cntDt7--;
+ // else
+ // stateDt7 = 1;
+ //}
+ //// ... ePWM8
+ //if ( stateDt8 == 1 ) {
+ // ci8A_DT = ci8A;
+ // ci8B_DT = 0;
+ // if ( ci8A == 1 )
+ // cntDt8 = CntDt;
+ // if ( cntDt8 > 0 )
+ // cntDt8--;
+ // else
+ // stateDt8 = 2;
+ //}
+ //else if ( stateDt8 == 2 ) {
+ // ci8A_DT = 0;
+ // ci8B_DT = ci8B;
+ // if ( ci8B == 1 )
+ // cntDt8 = CntDt;
+ // if ( cntDt8 > 0 )
+ // cntDt8--;
+ // else
+ // stateDt8 = 1;
+ //}
+ //// ... ePWM9
+ //if ( stateDt9 == 1 ) {
+ // ci9A_DT = ci9A;
+ // ci9B_DT = 0;
+ // if ( ci9A == 1 )
+ // cntDt9 = CntDt;
+ // if ( cntDt9 > 0 )
+ // cntDt9--;
+ // else
+ // stateDt9 = 2;
+ //}
+ //else if ( stateDt9 == 2 ) {
+ // ci9A_DT = 0;
+ // ci9B_DT = ci9B;
+ // if ( ci9B == 1 )
+ // cntDt9 = CntDt;
+ // if ( cntDt9 > 0 )
+ // cntDt9--;
+ // else
+ // stateDt9 = 1;
+ //}
+ //// ... ePWM10
+ //if ( stateDt10 == 1 ) {
+ // ci10A_DT = ci10A;
+ // ci10B_DT = 0;
+ // if ( ci10A == 1 )
+ // cntDt10 = CntDt;
+ // if ( cntDt10 > 0 )
+ // cntDt10--;
+ // else
+ // stateDt10 = 2;
+ //}
+ //else if ( stateDt10 == 2 ) {
+ // ci10A_DT = 0;
+ // ci10B_DT = ci10B;
+ // if ( ci10B == 1 )
+ // cntDt10 = CntDt;
+ // if ( cntDt10 > 0 )
+ // cntDt10--;
+ // else
+ // stateDt10 = 1;
+ //}
+ //// ... ePWM11
+ //if ( stateDt11 == 1 ) {
+ // ci11A_DT = ci11A;
+ // ci11B_DT = 0;
+ // if ( ci11A == 1 )
+ // cntDt11 = CntDt;
+ // if ( cntDt11 > 0 )
+ // cntDt11--;
+ // else
+ // stateDt11 = 2;
+ //}
+ //else if ( stateDt11 == 2 ) {
+ // ci11A_DT = 0;
+ // ci11B_DT = ci11B;
+ // if ( ci11B == 1 )
+ // cntDt11 = CntDt;
+ // if ( cntDt11 > 0 )
+ // cntDt11--;
+ // else
+ // stateDt11 = 1;
+ //}
+ //// ... ePWM12
+ //if ( stateDt12 == 1 ) {
+ // ci12A_DT = ci12A;
+ // ci12B_DT = 0;
+ // if ( ci12A == 1 )
+ // cntDt12 = CntDt;
+ // if ( cntDt12 > 0 )
+ // cntDt12--;
+ // else
+ // stateDt12 = 2;
+ //}
+ //else if ( stateDt12 == 2 ) {
+ // ci12A_DT = 0;
+ // ci12B_DT = ci12B;
+ // if ( ci12B == 1 )
+ // cntDt12 = CntDt;
+ // if ( cntDt12 > 0 )
+ // cntDt12--;
+ // else
+ // stateDt12 = 1;
+ //}
+
+}
+
+
+void simulateTripZoneSubmodule(void) {
+
+//// ���������� Trip-Zone Submodule
+// // ... clear flag for one-shot trip latch
+// if ( EPwm1Regs.TZCLR.all == 0x0004 ) {
+// EPwm1Regs.TZCLR.all = 0x0000;
+// EPwm1Regs.TZFRC.all = 0x0000;
+// }
+// if ( EPwm2Regs.TZCLR.all == 0x0004 ) {
+// EPwm2Regs.TZCLR.all = 0x0000;
+// EPwm2Regs.TZFRC.all = 0x0000;
+// }
+// if ( EPwm3Regs.TZCLR.all == 0x0004 ) {
+// EPwm3Regs.TZCLR.all = 0x0000;
+// EPwm3Regs.TZFRC.all = 0x0000;
+// }
+// if ( EPwm4Regs.TZCLR.all == 0x0004 ) {
+// EPwm4Regs.TZCLR.all = 0x0000;
+// EPwm4Regs.TZFRC.all = 0x0000;
+// }
+// if ( EPwm5Regs.TZCLR.all == 0x0004 ) {
+// EPwm5Regs.TZCLR.all = 0x0000;
+// EPwm5Regs.TZFRC.all = 0x0000;
+// }
+// if ( EPwm6Regs.TZCLR.all == 0x0004 ) {
+// EPwm6Regs.TZCLR.all = 0x0000;
+// EPwm6Regs.TZFRC.all = 0x0000;
+// }
+// if ( EPwm7Regs.TZCLR.all == 0x0004 ) {
+// EPwm7Regs.TZCLR.all = 0x0000;
+// EPwm7Regs.TZFRC.all = 0x0000;
+// }
+// if ( EPwm8Regs.TZCLR.all == 0x0004 ) {
+// EPwm8Regs.TZCLR.all = 0x0000;
+// EPwm8Regs.TZFRC.all = 0x0000;
+// }
+// if ( EPwm9Regs.TZCLR.all == 0x0004 ) {
+// EPwm9Regs.TZCLR.all = 0x0000;
+// EPwm9Regs.TZFRC.all = 0x0000;
+// }
+// if ( EPwm10Regs.TZCLR.all == 0x0004 ) {
+// EPwm10Regs.TZCLR.all = 0x0000;
+// EPwm10Regs.TZFRC.all = 0x0000;
+// }
+// if ( EPwm11Regs.TZCLR.all == 0x0004 ) {
+// EPwm11Regs.TZCLR.all = 0x0000;
+// EPwm11Regs.TZFRC.all = 0x0000;
+// }
+// if ( EPwm12Regs.TZCLR.all == 0x0004 ) {
+// EPwm12Regs.TZCLR.all = 0x0000;
+// EPwm12Regs.TZFRC.all = 0x0000;
+// }
+// // ... forces a one-shot trip event
+// if ( EPwm1Regs.TZFRC.all == 0x0004 )
+// ci1A_DT = ci1B_DT = 0;
+// if ( EPwm2Regs.TZFRC.all == 0x0004 )
+// ci2A_DT = ci2B_DT = 0;
+// if ( EPwm3Regs.TZFRC.all == 0x0004 )
+// ci3A_DT = ci3B_DT = 0;
+// if ( EPwm4Regs.TZFRC.all == 0x0004 )
+// ci4A_DT = ci4B_DT = 0;
+// if ( EPwm5Regs.TZFRC.all == 0x0004 )
+// ci5A_DT = ci5B_DT = 0;
+// if ( EPwm6Regs.TZFRC.all == 0x0004 )
+// ci6A_DT = ci6B_DT = 0;
+// if ( EPwm7Regs.TZFRC.all == 0x0004 )
+// ci7A_DT = ci7B_DT = 0;
+// if ( EPwm8Regs.TZFRC.all == 0x0004 )
+// ci8A_DT = ci8B_DT = 0;
+// if ( EPwm9Regs.TZFRC.all == 0x0004 )
+// ci9A_DT = ci9B_DT = 0;
+// if ( EPwm10Regs.TZFRC.all == 0x0004 )
+// ci10A_DT = ci10B_DT = 0;
+// if ( EPwm11Regs.TZFRC.all == 0x0004 )
+// ci11A_DT = ci11B_DT = 0;
+// if ( EPwm12Regs.TZFRC.all == 0x0004 )
+// ci12A_DT = ci12B_DT = 0;
+
+
+}
+
+
+void writeOutputParameters(real_T *xD) {
+
+// // ������ (begin)
+// nn = 0;
+// // ����������
+// // ... INU1
+// xD[nn++] = ci1A_DT;
+// xD[nn++] = ci2A_DT;
+// xD[nn++] = ci1B_DT;
+// xD[nn++] = ci2B_DT;
+//
+// xD[nn++] = ci3A_DT;
+// xD[nn++] = ci4A_DT;
+// xD[nn++] = ci3B_DT;
+// xD[nn++] = ci4B_DT;
+//
+// xD[nn++] = ci5A_DT;
+// xD[nn++] = ci6A_DT;
+// xD[nn++] = ci5B_DT;
+// xD[nn++] = ci6B_DT;
+// // ... INU2
+// xD[nn++] = ci7A_DT;
+// xD[nn++] = ci8A_DT;
+// xD[nn++] = ci7B_DT;
+// xD[nn++] = ci8B_DT;
+//
+// xD[nn++] = ci9A_DT;
+// xD[nn++] = ci10A_DT;
+// xD[nn++] = ci9B_DT;
+// xD[nn++] = ci10B_DT;
+//
+// xD[nn++] = ci11A_DT;
+// xD[nn++] = ci12A_DT;
+// xD[nn++] = ci11B_DT;
+// xD[nn++] = ci12B_DT;
+//
+//
+//// ������ ��� ��� ��������
+// xD[nn++] = udc1_ml;
+// xD[nn++] = udc2_ml;
+// xD[nn++] = udc3_ml;
+// xD[nn++] = udc4_ml;
+//
+// xD[nn++] = idc1_ml;
+// xD[nn++] = idc2_ml;
+// xD[nn++] = idc3_ml;
+// xD[nn++] = idc4_ml;
+//
+// xD[nn++] = _IQtoF(analog.iqIa1_1) * NORMA_ACP;
+// xD[nn++] = _IQtoF(analog.iqIb1_1) * NORMA_ACP;
+// xD[nn++] = _IQtoF(analog.iqIc1_1) * NORMA_ACP;
+// xD[nn++] = _IQtoF(analog.iqIa2_1) * NORMA_ACP;
+// xD[nn++] = _IQtoF(analog.iqIb2_1) * NORMA_ACP;
+// xD[nn++] = _IQtoF(analog.iqIc2_1) * NORMA_ACP;
+//
+//// timers out
+//
+// xD[nn++] = timers_adc;
+// xD[nn++] = timers_pwm;
+// xD[nn++] = Tadc;
+// xD[nn++] = dt;
+//
+// // ������ ��� ���������
+// xD[nn++] = _IQtoF(rp.pmZ);
+// xD[nn++] = _IQtoF(rs.wmZ);
+//
+// xD[nn++] = mst.start;
+// xD[nn++] = inuWork;
+// xD[nn++] = mst.pzMode;
+//
+// xD[nn++] = psi;
+// xD[nn++] = rf.psiZ;
+//
+// xD[nn++] = wm;
+// xD[nn++] = _IQtoF(vect_control.koeff_correct_Id);//rs.wmZ;
+// xD[nn++] = _IQtoF(vect_control.iqFrot) * NORMA_FROTOR * 60.0 / N_BAZ;//csp.wmLimZi;
+//
+// xD[nn++] = pm*S_BAZ;///P_NOM;
+// xD[nn++] = rp.pmZ*S_BAZ;///P_NOM;
+// xD[nn++] = csp.pmLimZi*S_BAZ;///P_NOM;
+//
+// xD[nn++] = _IQtoF(analog.iqId1)* NORMA_ACP;//_IQtoF(vect_control.iqPzad);
+// xD[nn++] = _IQtoF(analog.iqIq1)* NORMA_ACP;// * NORMA_ACP;
+// xD[nn++] = _IQtoF(analog.iqId2)* NORMA_ACP;//_IQtoF(vect_control.iqUqCompensation1);//
+// xD[nn++] = _IQtoF(analog.iqIq2)* NORMA_ACP;
+// xD[nn++] = _IQtoF(vect_control.iqId_zad)* NORMA_ACP;
+// xD[nn++] = _IQtoF(vect_control.iqIq_zad)* NORMA_ACP;//iqZ;
+//
+// xD[nn++] = me*M_BAZ/M_NOM;
+//
+// xD[nn++] = _IQtoF(vect_control.iqPzad) * NORMA_ACP * NORMA_ACP / 1000.0;;
+// xD[nn++] = _IQtoF(vect_control.iqPizm) * NORMA_ACP * NORMA_ACP / 1000.0;;
+// // xD[nn++] = sqrt(idZ*idZ + iqZ*iqZ);
+// // xD[nn++] = IzLim;
+//
+// // xD[nn++] = EPwm2Regs.CMPA.half.CMPA;//xpwm_time.Ta0_0;//cc.yd1;
+// // xD[nn++] = xpwm_time.Ta0_0;
+// // xD[nn++] = xpwm_time.Ta0_1;
+// // xD[nn++] = _IQtoF(cos_fi.cos_fi_nom);//cc.yd1;
+// // xD[nn++] = _IQtoF(cos_fi.cos_fi_nom_squared);//cc.yq1;
+// // xD[nn++] = _IQtoF(tetta_calc.k_t);
+// xD[nn++] = _IQtoF(vect_control.iqUzad1);//cc.yd1;
+// xD[nn++] = _IQtoF(vect_control.iqUzad2);//cc.yd1;
+//// xD[nn++] = _IQtoF(vect_control.iqUdKm1Out);//cc.yq1;
+//// xD[nn++] = _IQtoF(vect_control.iqUqKm1Out);
+//
+// xD[nn++] = _IQtoF(vect_control.iqUdKm1);//sqrt(cc.yd1*cc.yd1 + cc.yq1*cc.yq1);
+// xD[nn++] = _IQtoF(vect_control.iqUqKm1);//sqrt(cc.yd2*cc.yd2 + cc.yq2*cc.yq2);
+// xD[nn++] = _IQtoF(vect_control.iqUdKm2);//Y_LIM;
+// xD[nn++] = _IQtoF(vect_control.iqUqKm2);//Y_LIM;
+//
+//
+// xD[nn++] = _IQtoF(vect_control.iqUdKm1Out);//sqrt(cc.yd1*cc.yd1 + cc.yq1*cc.yq1);
+// xD[nn++] = _IQtoF(vect_control.iqUqKm1Out);//sqrt(cc.yd2*cc.yd2 + cc.yq2*cc.yq2);
+// xD[nn++] = _IQtoF(vect_control.iqUdKm2Out);//Y_LIM;
+// xD[nn++] = _IQtoF(vect_control.iqUqKm2Out);//Y_LIM;
+//
+// xD[nn++] = _IQtoF(vect_control.k_modul_max);//Y_LIM;
+//
+// xD[nn++] = _IQtoF(vect_control.k_modul_max_def);
+// xD[nn++] = _IQtoF(vect_control.maxUq1);
+// xD[nn++] = _IQtoF(vect_control.maxUq2);
+// xD[nn++] = _IQtoF(vect_control.Uq1Out);
+// xD[nn++] = _IQtoF(vect_control.Uq2Out);
+//// xD[nn++] = _IQtoF(vect_control.K_MODUL_MAX);
+//// xD[nn++] = _IQtoF(vect_control.K_MODUL_MAX);
+//// xD[nn++] = _IQtoF(vect_control.K_MODUL_MAX);
+//
+//
+// // xD[nn++] = sqrt(cc.yd1*cc.yd1 + cc.yq1*cc.yq1);
+// // xD[nn++] = sqrt(cc.yd2*cc.yd2 + cc.yq2*cc.yq2);
+// // xD[nn++] = Y_LIM;
+// // ������ (end)
+//
+//
+///////////////// new
+// xD[nn++] = _IQtoF(f.iq_mzz_zad) * NORMA_ACP;//
+// xD[nn++] = _IQtoF(pidPvect.OutMax) * NORMA_ACP;
+// xD[nn++] = _IQtoF(pidPvect.OutMin) * NORMA_ACP;
+// xD[nn++] = _IQtoF(pidPvect.Out) * NORMA_ACP;
+// xD[nn++] = _IQtoF(vect_control.mzz_zad_int) * NORMA_ACP ;
+// xD[nn++] = _IQtoF(filter.iqIm_1) * NORMA_ACP;
+// xD[nn++] = _IQtoF(filter.iqIm_2) * NORMA_ACP;
+//
+// xD[nn++] = _IQtoF(vect_control.Pzad_rmp) * NORMA_ACP * NORMA_ACP / 1000.0;
+// xD[nn++] = _IQtoF(f.iq_p_rampa) * NORMA_ACP * NORMA_ACP / 1000.0;
+// xD[nn++] = _IQtoF(analog.iqPvsi1) * NORMA_ACP * NORMA_ACP / 1000.0;
+// xD[nn++] = _IQtoF(analog.iqPvsi1) * NORMA_ACP * NORMA_ACP / 1000.0;
+//
+// xD[nn++] = _IQtoF(analog.iqW1) * NORMA_ACP * NORMA_ACP / 1000.0;
+// xD[nn++] = _IQtoF(analog.iqW2) * NORMA_ACP * NORMA_ACP / 1000.0;
+// xD[nn++] = _IQtoF(analog.iqW) * NORMA_ACP * NORMA_ACP / 1000.0;
+// xD[nn++] = _IQtoF(filter.iqW1) * NORMA_ACP * NORMA_ACP / 1000.0;
+// xD[nn++] = _IQtoF(filter.iqW2) * NORMA_ACP * NORMA_ACP / 1000.0;
+// xD[nn++] = _IQtoF(filter.iqW) * NORMA_ACP * NORMA_ACP / 1000.0;
+//
+//
+//
+// xD[nn++] = _IQtoF(vect_control.iqFrot) * NORMA_FROTOR * 60.0;
+// xD[nn++] = vect_control.flag_reverse;//_IQtoF(0);
+//
+// xD[nn++] = _IQtoF(vect_control.koeff_correct_Id);
+// xD[nn++] = _IQtoF(cos_fi.cos_fi_nom);
+//
+// xD[nn++] = _IQtoF(filter.Fsl) * NORMA_FROTOR;
+//
+// xD[nn++] = _IQtoF(filter.iqIa1_1) * NORMA_ACP;
+// xD[nn++] = _IQtoF(filter.iqIb1_1) * NORMA_ACP;
+// xD[nn++] = _IQtoF(filter.iqIc1_1) * NORMA_ACP;
+//
+// xD[nn++] = _IQtoF(filter.iqIa2_1) * NORMA_ACP;
+// xD[nn++] = _IQtoF(filter.iqIb2_1) * NORMA_ACP;
+// xD[nn++] = _IQtoF(filter.iqIc2_1) * NORMA_ACP;
+//
+// xD[nn++] = _IQtoF(tetta_calc.Imds);
+// xD[nn++] = _IQtoF(tetta_calc.tetta);
+//
+// xD[nn++] = _IQtoF(vect_control.Is) * NORMA_ACP;
+// xD[nn++] = _IQtoF(vect_control.Ids) * NORMA_ACP;
+// xD[nn++] = _IQtoF(vect_control.Id_ref_fw) * NORMA_ACP;
+// xD[nn++] = _IQtoF(vect_control.Id_ref_1) * NORMA_ACP;
+// xD[nn++] = _IQtoF(vect_control.Is_max) * NORMA_ACP;
+//
+// xD[nn++] = vect_control.flag_fw;
+//
+// xD[nn++] = _IQtoF(vect_control.ws_Iq1) * NORMA_ACP;
+// xD[nn++] = _IQtoF(vect_control.ws_Id_filter1) * NORMA_ACP;
+// xD[nn++] = _IQtoF(vect_control.ws_Id_filter2) * NORMA_ACP;
+//
+// xD[nn++] = _IQtoF(vect_control.ws_ws_t1) * NORMA_FROTOR;
+//
+// xD[nn++] = _IQtoF(analog.Fsl) * NORMA_FROTOR;
+// xD[nn++] = _IQtoF(filter.Fsl) * NORMA_FROTOR;
+//
+// xD[nn++] = vect_control.tmp1;
+// xD[nn++] = vect_control.tmp2;
+// xD[nn++] = vect_control.tmp3;
+// //xD[nn++] = _IQtoF(0) * NORMA_ACP;
+// //xD[nn++] = _IQtoF(0) * NORMA_ACP;
+// xD[nn++] = _IQtoF(0) * NORMA_ACP;
+//
+//
+//
+// xD[nn++] = _IQtoF(svgen_dq_1.Ta)*1000.0;
+// xD[nn++] = _IQtoF(svgen_dq_1.Tb)*1000.0;
+// xD[nn++] = _IQtoF(svgen_dq_1.Tc)*1000.0;
+//
+// xD[nn++] = _IQtoF(svgen_dq_2.Ta)*1000.0;
+// xD[nn++] = _IQtoF(svgen_dq_2.Tb)*1000.0;
+// xD[nn++] = _IQtoF(svgen_dq_2.Tc)*1000.0;
+//
+
+
+
+
+}
+
+
+
+void controller(SimStruct *S, const real_T *u, real_T *xD, real_T *rW, int_T *iW) {
+
+ readInputParameters(u);
+ processSFunctionIfChanged(S, iW);
+ initialisationOnStart(iW);
+
+ simulatePWMcounterAndReadComarators();
+
+
+ simulateAdcAndCallIsr();
+ simulateActionActionQualifierSubmodule();
+
+ // convertSVGenTimesToTkLines();
+ simulateDeadBendSubmodule();
+
+ // xilinxPwm3LevelSimulation();
+ simulateTripZoneSubmodule();
+
+
+ writeOutputParameters(xD);
+
+} //void controller(SimStruct ...
diff --git a/Inu/controller.h b/Inu/controller.h
new file mode 100644
index 0000000..c81e487
--- /dev/null
+++ b/Inu/controller.h
@@ -0,0 +1,222 @@
+// ������������ ����� ���������-�������
+#define LEN_PARAM_MATR 21
+
+// ������� � ����������� S_Function
+double paramScal[NPARAMS];
+double paramMatr[LEN_PARAM_MATR*2];
+int paramMatrDimen;
+
+// ������ �������� � ��������� �������, � ����� ������� ����������
+int nn;
+// ��� ��������������
+double dt;
+// ��� ��������� ����������
+int kkk, lll, mmm, dimen;
+
+
+
+// ����������, ������� ���������� � controller.c (begin)
+//#########################################################################
+// ���������
+//double ;
+
+// �����
+typedef struct
+{
+ double udc1_ml;
+ double udc2_ml;
+ double ia1_ml;
+ double ib1_ml;
+ double ic1_ml;
+ double ia2_ml;
+ double ib2_ml;
+ double ic2_ml;
+ double wm_ml;
+}UMotorMeasure;
+extern UMotorMeasure motor;
+
+// ��� �������� ������ � ��
+int j;
+unsigned short paramNo;
+unsigned short paramNew[PAR_NUMBER];
+
+// ��� ������������� Event Manager
+// ... Time-Base Submodule, Counter-Compare Submodule � Event-Trigger Submodule
+typedef struct
+{
+ double TxCntPlus;
+ double TPr;
+ double tcntAux;
+ double tcntAuxPrev;
+ double tcnt;
+ double cmp1A;
+ double cmp1B;
+}TimerSimHandle;
+extern TimerSimHandle t1sim
+extern TimerSimHandle t2sim;
+extern TimerSimHandle t3sim;
+extern TimerSimHandle t4sim;
+extern TimerSimHandle t5sim;
+extern TimerSimHandle t6sim;
+extern TimerSimHandle t7sim;
+extern TimerSimHandle t8sim;
+extern TimerSimHandle t9sim;
+extern TimerSimHandle t10sim;
+extern TimerSimHandle t11sim;
+extern TimerSimHandle t12sim;
+
+
+// ... Action-Qualifier Submodule
+int ci1A;
+int ci1B;
+int ci2A;
+int ci2B;
+int ci3A;
+int ci3B;
+int ci4A;
+int ci4B;
+int ci5A;
+int ci5B;
+int ci6A;
+int ci6B;
+int ci7A;
+int ci7B;
+int ci8A;
+int ci8B;
+int ci9A;
+int ci9B;
+int ci10A;
+int ci10B;
+int ci11A;
+int ci11B;
+int ci12A;
+int ci12B;
+// ... Dead-Band Submodule
+typedef struct
+{
+ int CntDt;
+ int stateDt;
+ int cntDt;
+ int ciA_DT;
+ int ciB_DT;
+}DeadBandSimHandle;
+extern DeadBandSimHandle dt1sim
+extern DeadBandSimHandle dt2sim;
+extern DeadBandSimHandle dt3sim;
+extern DeadBandSimHandle dt4sim;
+extern DeadBandSimHandle dt5sim;
+extern DeadBandSimHandle dt6sim;
+extern DeadBandSimHandle dt7sim;
+extern DeadBandSimHandle dt8sim;
+extern DeadBandSimHandle dt9sim;
+extern DeadBandSimHandle dt10sim;
+extern DeadBandSimHandle dt11sim;
+extern DeadBandSimHandle dt12sim;
+
+// ��� ������������� eQEP
+double Qposmax;
+double qposcnt;
+
+// ��� ������������� ADC
+int tAdc;
+int Tadc;
+int nAdc;
+//#########################################################################
+// ����������, ������� ���������� � controller.c (end)
+
+
+
+
+// ����������, ������� ��������� � controller.c (begin)
+//#########################################################################
+// ��� isr.c
+//-------------------------------------------------------------------------
+extern struct Offset offset;
+extern volatile struct Result result;
+extern volatile short state;
+extern volatile short faultNo;
+extern volatile struct Out out;
+// Udc
+extern float Kudc;
+extern volatile float udc1Nf;
+extern volatile float udc1;
+extern volatile float udc2Nf;
+extern volatile float udc2;
+// Iac
+extern volatile float ia1Nf;
+extern volatile float ib1Nf;
+extern volatile float ix1;
+extern volatile float iy1;
+extern volatile float iac1Nf;
+extern volatile float ia2Nf;
+extern volatile float ib2Nf;
+extern volatile float ix2;
+extern volatile float iy2;
+extern volatile float iac2Nf;
+// Wm
+extern float Kwm;
+extern volatile float wmNf;
+extern volatile float wm;
+extern volatile float wmAbs;
+// Me
+extern volatile float kMe;
+extern float KmeCorr;
+extern float Kme;
+extern volatile float meNf;
+extern volatile float me;
+// Pm
+extern volatile float pm;
+// ������
+extern struct Protect protect;
+extern volatile struct Emerg emerg;
+extern short csmSuccess;
+// ����������� ������
+extern volatile short onceShutdown;
+extern volatile short testParamFaultNo;
+extern volatile short onceFaultReset;
+extern volatile short stopPause;
+extern volatile short inuWork;
+// �����
+extern struct Mst mst;
+
+
+
+// ��� main.c
+//-------------------------------------------------------------------------
+extern struct Eprom eprom;
+
+
+
+// ��� upr.c
+//-------------------------------------------------------------------------
+extern volatile short onceUpr;
+extern struct SgmPar sgmPar;
+extern struct Rf rf;
+extern struct Rs rs;
+extern struct Rp rp;
+
+extern float IzLim;
+extern volatile float psi;
+extern float idZ;
+extern float iqZ;
+extern float iZ;
+extern float ws;
+extern float sinTheta;
+extern float cosTheta;
+extern float id1;
+extern float iq1;
+extern float id2;
+extern float iq2;
+extern struct Cc cc;
+extern struct Cf cf;
+extern struct Csp csp;
+extern struct Ivc ivc;
+extern struct Ip ip;
+
+
+
+// ��� param.c
+//-------------------------------------------------------------------------
+extern unsigned short param[];
+//#########################################################################
+// ����������, ������� ��������� � controller.c (end)
diff --git a/Inu/def.h b/Inu/def.h
new file mode 100644
index 0000000..233c12a
--- /dev/null
+++ b/Inu/def.h
@@ -0,0 +1,482 @@
+/**************************************************************************
+ Description: ������ ������ ������������� � �������.
+
+ �����: ���������� �.�.
+ ���� ���������� ����������: 2021.11.08
+**************************************************************************/
+
+#ifndef DEF
+#define DEF
+
+// �����������������, ���� ���� ����� ����� ��������� ��� (30 ����.)
+#define SHIFT
+
+
+// ������ ������ (��� state)
+#define STATE_SHUTDOWN 0 //��������� ���������
+#define STATE_STOP 1 //������� ���������
+#define STATE_WORK 2 //������
+
+
+// ������� �������� ��������� ����������, ��
+#define FSYSCLKOUT 200e6 //150e6 //
+// prescaled version of the system clock and is used by
+// all submodules within the ePWM, ��
+// (��. EPwmxRegs.TBCTL.bit.CLKDIV � EPwmxRegs.TBCTL.bit.HSPCLKDIV)
+#define FTBCLK (FSYSCLKOUT*0.5*0.5)
+//#define FTBCLK (FSYSCLKOUT*0.5*0.5*0.5*0.5)
+// ������ ���, c
+#define T_PWM 2220e-6 //F_PWM = 450 ��
+//#define T_PWM 6000e-6 //F_PWM = 166.7 ��
+// ������ ������ �������� ���������, �
+#define TY (T_PWM*0.5)
+// "������� �����", �
+#define DT 30e-6
+//#define DT 60e-6
+// Time-Base Period Register, ��. �������� �������
+#define T1_PRD (FTBCLK*T_PWM*0.5)
+// ������������ �������� ��������� ���������� ���������� ������������� ���,
+// ����� ����������� ������ �������� ���� 10 ���, ��. �������� �������
+#define Y_LIM (T1_PRD - (DT + 10e-6)*FTBCLK)
+
+
+// ��������� ��� ���������� �������
+#define PI2 6.283185307179586476925286766559 //pi*2
+#define SQRT2 1.4142135623730950488016887242097 //sqrt(2)
+#define SQRT3 1.7320508075688772935274463415059 //sqrt(3)
+#define ISQRT3 0.57735026918962576450914878050196 //1./sqrt(3)
+
+// ����������� �������� ���
+// ... �������� �� ����, ��
+#define P_NOM (5000e3*2.)
+// ... �������� ����������, � (ampl)
+#define U_NOM (3000.*SQRT2)
+// ... ������������ ��������, ��/���
+#define N_NOM 165.
+// ... ����� ��� �������
+#define PP 6.
+// ... ����������� ��������
+#define COS_FI 0.89
+// ... ���
+#define EFF 0.962
+// ... ����������� � ���� ������ �������, ��*�^2
+#define J (87e3*0.50)
+// ... ������ ��������, ��
+#define S_NOM (P_NOM/(COS_FI*EFF))
+// ... ������������ ��������, ���/�
+#define WM_NOM (N_NOM/60.*PI2)
+// ... ������ �� ����, �*�
+#define M_NOM (P_NOM/WM_NOM)
+
+
+// ������� �������� ���
+// ... ������ ��������, BA
+#define S_BAZ S_NOM
+// ... �������� ����������, � (ampl)
+#define U_BAZ U_NOM
+// ... ������ ���, � (ampl)
+#define I_BAZ (S_BAZ*2./(U_BAZ*SQRT3)*0.5) //0.5 - �.�. ������� ���
+// ... ������������ ��������, ��/���
+#define N_BAZ N_NOM
+// ... ������������ ��������, ���/�
+#define WM_BAZ (N_BAZ/60.*PI2)
+// ... ������������� ��������, ���/�
+#define WE_BAZ (WM_BAZ*PP)
+// ... ������ �� ����, �*�
+#define M_BAZ (S_BAZ/WM_BAZ)
+// ... ��������������� �������, ��
+#define PSI_BAZ (U_BAZ/(WE_BAZ*SQRT3))
+// ... �������������, ��
+#define L_BAZ (PSI_BAZ/I_BAZ)
+// ... �������������, ��
+#define R_BAZ (U_BAZ/(I_BAZ*SQRT3))
+
+
+// ��� ��������� �� ��������� ������� ���������� � ������� ������� ����������
+#define U_2_Y (T1_PRD*SQRT3/U_BAZ)
+
+// ���������� � ����� ����. ����, ������� ���� �� �� ������ ��� ����. 2048, �
+#define UDC_SENS_MAX (U_BAZ*1.15*1.3)
+// �������� ���, ������� ��� �� �� ������ ��� ����. 2048, � (ampl)
+#define IAC_SENS_MAX (I_BAZ*1.5)
+// number of pulses per rev. (from tacho, Hall, optical sensor...etc)
+#define NOP 1024.
+// ���������� �������� QEP �� TY ���. ��� ������� ����. WM_BAZ
+#define QEP_CNT_DEL_NOM (NOP*4.*TY*WM_BAZ/PI2)
+
+
+// ������������ ��� �������� ���������� ������� � o.e.
+#define GAIN_UDC (UDC_SENS_MAX/(2048.*U_BAZ))
+#define GAIN_IAC (IAC_SENS_MAX/(2048.*I_BAZ))
+#define GAIN_WM (1.0/QEP_CNT_DEL_NOM)
+
+
+// ����������� �������� ��� ��������� �������� � ���, o.e.
+#define WM_MIN 0.03 //0.003 //?
+// ��� ������������ ����������� ������, �������� � ��������
+#define DECIM_PSI_WM_PM 2. //1. //5. //?
+
+
+// for specify the PLL
+#define PLLSTS_DIVSEL 2
+#define PLLCR_DIV 10
+
+// ��� ������
+#define CONTROLLER_BIAS 3.2
+#define CONTROLLER_GAIN 2500.
+
+// ����� ���������� ����������
+#define PAR_NUMBER 400
+// ����� ������� �������������� ���������
+#define FIRST_WRITE_PAR_NUM 150
+
+
+
+// ���������� �����/������ (begin)
+//-------------------------------------------------------------------------
+// �����
+// ----------------------------
+#define DI_24V_SOURCE_FAULT GpioDataRegs.GPBDAT.bit.GPIO50
+
+// ������
+// ----------------------------
+// ... ������
+#define DO_GPIO00_SET GpioDataRegs.GPASET.bit.GPIO0 = 1
+#define DO_GPIO00_CLEAR GpioDataRegs.GPACLEAR.bit.GPIO0 = 1
+#define DO_GPIO01_SET GpioDataRegs.GPASET.bit.GPIO1 = 1
+#define DO_GPIO01_CLEAR GpioDataRegs.GPACLEAR.bit.GPIO1 = 1
+#define DO_GPIO02_SET GpioDataRegs.GPASET.bit.GPIO2 = 1
+#define DO_GPIO02_CLEAR GpioDataRegs.GPACLEAR.bit.GPIO2 = 1
+#define DO_GPIO03_SET GpioDataRegs.GPASET.bit.GPIO3 = 1
+#define DO_GPIO03_CLEAR GpioDataRegs.GPACLEAR.bit.GPIO3 = 1
+#define DO_GPIO04_SET GpioDataRegs.GPASET.bit.GPIO4 = 1
+#define DO_GPIO04_CLEAR GpioDataRegs.GPACLEAR.bit.GPIO4 = 1
+#define DO_GPIO05_SET GpioDataRegs.GPASET.bit.GPIO5 = 1
+#define DO_GPIO05_CLEAR GpioDataRegs.GPACLEAR.bit.GPIO5 = 1
+#define DO_GPIO06_SET GpioDataRegs.GPASET.bit.GPIO6 = 1
+#define DO_GPIO06_CLEAR GpioDataRegs.GPACLEAR.bit.GPIO6 = 1
+#define DO_GPIO07_SET GpioDataRegs.GPASET.bit.GPIO7 = 1
+#define DO_GPIO07_CLEAR GpioDataRegs.GPACLEAR.bit.GPIO7 = 1
+#define DO_GPIO08_SET GpioDataRegs.GPASET.bit.GPIO8 = 1
+#define DO_GPIO08_CLEAR GpioDataRegs.GPACLEAR.bit.GPIO8 = 1
+#define DO_GPIO09_SET GpioDataRegs.GPASET.bit.GPIO9 = 1
+#define DO_GPIO09_CLEAR GpioDataRegs.GPACLEAR.bit.GPIO9 = 1
+#define DO_GPIO10_SET GpioDataRegs.GPASET.bit.GPIO10 = 1
+#define DO_GPIO10_CLEAR GpioDataRegs.GPACLEAR.bit.GPIO10 = 1
+#define DO_GPIO11_SET GpioDataRegs.GPASET.bit.GPIO11 = 1
+#define DO_GPIO11_CLEAR GpioDataRegs.GPACLEAR.bit.GPIO11 = 1
+// ... �� ������������
+#define DO_GPIO019_SET GpioDataRegs.GPASET.bit.GPIO19 = 1
+#define DO_GPIO019_CLEAR GpioDataRegs.GPACLEAR.bit.GPIO19 = 1
+#define DO_GPIO020_SET GpioDataRegs.GPASET.bit.GPIO20 = 1
+#define DO_GPIO020_CLEAR GpioDataRegs.GPACLEAR.bit.GPIO20 = 1
+#define DO_GPIO022_SET GpioDataRegs.GPASET.bit.GPIO22 = 1
+#define DO_GPIO022_CLEAR GpioDataRegs.GPACLEAR.bit.GPIO22 = 1
+#define DO_GPIO48_SET GpioDataRegs.GPBSET.bit.GPIO48 = 1
+#define DO_GPIO48_CLEAR GpioDataRegs.GPBCLEAR.bit.GPIO48 = 1
+#define DO_GPIO49_SET GpioDataRegs.GPBSET.bit.GPIO49 = 1
+#define DO_GPIO49_CLEAR GpioDataRegs.GPBCLEAR.bit.GPIO49 = 1
+// ... ��� ���������� ������ CS EEPROM
+#define CS_SET GpioDataRegs.GPBSET.bit.GPIO57 = 1
+#define CS_CLEAR GpioDataRegs.GPBCLEAR.bit.GPIO57 = 1
+// ... ����������
+// (������ "����������")
+#define LED_GREEN1_ON GpioDataRegs.GPBCLEAR.bit.GPIO59 = 1
+#define LED_GREEN1_OFF GpioDataRegs.GPBSET.bit.GPIO59 = 1
+#define LED_GREEN1_TOGGLE GpioDataRegs.GPBTOGGLE.bit.GPIO59 = 1
+// (������ "������")
+#define LED_GREEN2_ON GpioDataRegs.GPBCLEAR.bit.GPIO60 = 1
+#define LED_GREEN2_OFF GpioDataRegs.GPBSET.bit.GPIO60 = 1
+#define LED_GREEN2_TOGGLE GpioDataRegs.GPBTOGGLE.bit.GPIO60 = 1
+// (������� "������")
+#define LED_RED_ON GpioDataRegs.GPBCLEAR.bit.GPIO61 = 1
+#define LED_RED_OFF GpioDataRegs.GPBSET.bit.GPIO61 = 1
+#define LED_RED_TOGGLE GpioDataRegs.GPBTOGGLE.bit.GPIO61 = 1
+// ... �� ������������
+#define DO_GPIO63_SET GpioDataRegs.GPBSET.bit.GPIO63 = 1
+#define DO_GPIO63_CLEAR GpioDataRegs.GPBCLEAR.bit.GPIO63 = 1
+//-------------------------------------------------------------------------
+// ���������� �����/������ (end)
+
+
+#include "DSP2833x_Device.h"
+#include "math.h"
+#include "C28x_FPU_FastRTS.h"
+
+
+// ��������� ��� ����������� ���� (��. control_current())
+struct Cc {
+ short once;
+ float KpOrig;
+ float KiOrig;
+ float Kp;
+ float Ki;
+ float K1;
+ float K2;
+ float K3;
+ float Xyff;
+ float yffAux2;
+ float yffAux3;
+ float del;
+ float kYlim;
+ float yd1P;
+ float yd1I;
+ float yd1FF;
+ float yd1;
+ float yq1P;
+ float yq1I;
+ float yq1FF;
+ float yq1;
+ float y1;
+ float yd2P;
+ float yd2I;
+ float yd2FF;
+ float yd2;
+ float yq2P;
+ float yq2I;
+ float yq2FF;
+ float yq2;
+ float y2;
+ short y1LimFlag;
+ short y2LimFlag;
+}; //Cc
+
+
+// ��������� ��� ���������� ������ (��. control_flux())
+struct Cf {
+ short once;
+ float KpOrig;
+ float KiOrig;
+ float Kp;
+ float Ki;
+ float IdLim;
+ float IdLimNeg;
+ float del;
+ float idP;
+ float idI;
+ float idFF;
+ short idLimFlag;
+}; //Cf
+
+
+// ��������� ��� ����������� �������� � �������� (��. control_speed_power())
+struct Csp {
+ short once;
+ float KpOrig;
+ float KiOrig;
+ float Kp;
+ float Ki;
+ float kMeNom;
+ float del;
+ float iqP;
+ float iqI;
+ float iqFF;
+ float IlimIncr;
+ float iqLimAux;
+ float iqLimZi;
+ float IqLim;
+ float IqLimNeg;
+ float iqLim;
+ float iqLimNeg;
+ float delWmAbs;
+ float KizIncr;
+ float pmZiRampDown;
+ float wmLimZi;
+ float pmLimZi;
+ short iqLimFlag;
+}; //Csp
+
+
+// ��������� ��� ������ � EEPROM �������
+struct Eprom {
+ short writeRequestNumber;
+ short readFaultNo;
+}; //Eprom
+
+
+// ��������� ��� ����������� ������� � ������ ������������ ������
+struct Emerg {
+ float udc1;
+ float udc2;
+ float iac1;
+ float iac2;
+ float me;
+ float wm;
+ float pm;
+}; //Emerg
+
+
+// ��������� ��� inverse park (��. ipark())
+struct Ip {
+ float yx1Aux;
+ float yy1Aux;
+ float yx2Aux;
+ float yy2Aux;
+ float theta;
+ float sinTheta;
+ float cosTheta;
+ float yx1;
+ float yy1;
+ float yx2;
+ float yy2;
+}; //Ip
+
+
+// ��������� ��� indirect vector control (��. indirect_vector_control())
+struct Ivc {
+ short once;
+ float im;
+ float wr;
+ float wsNf;
+ float ws;
+ float sinTheta;
+ float cosTheta;
+ float id1;
+ float iq1;
+ float psi;
+ float id2;
+ float iq2;
+}; //Ivc
+
+
+// ��������� ��� ������, ���������� � ��
+struct Mst {
+ short pzMode;
+ short faultReset;
+ short start;
+ float wmZz;
+ float pmZz;
+ float wmLim;
+ float pmLim;
+ float pIncrMaxTy;
+ float pDecrMaxTy;
+}; //Mst
+
+
+// ��������� ��� �������� ���� ��������
+struct Offset {
+ short Udc1;
+ short Udc2;
+ short Ic1;
+ short Ic2;
+ short Ia1;
+ short Ia2;
+ short Ib1;
+ short Ib2;
+}; //Offset
+
+
+// ��������� ��� ������
+struct Out {
+ float K;
+ float udc1;
+ float udc2;
+ float iac1;
+ float iac2;
+ float me;
+ float wm;
+ float pm;
+}; //Out
+
+
+// ��������� ��� �����
+struct Protect {
+ short IacMax;
+ short IacMin;
+ unsigned short Tdi24VSource;
+ volatile unsigned short tDI24VSource;
+ unsigned short TudcMin;
+ volatile unsigned short tUdc1Min;
+ volatile unsigned short tUdc2Min;
+ unsigned short TwmMax;
+ volatile unsigned short tWmMax;
+ float UdcMin;
+ float UdcMax;
+ float WmMax;
+}; //Protect
+
+
+// ��������� ��� ����������� ���
+struct Result {
+ short udc1;
+ short udc2;
+ short ic1;
+ short ic2;
+ short ia1;
+ short ia2;
+ short ib1;
+ short ib2;
+}; //Result
+
+
+// ��������� ��� ��������� ������ (��. reference_flux())
+struct Rf {
+ short once;
+ float PsiZ;
+ float PsizIncr;
+ float psiZi;
+ float psiZCorr;
+ float psiSub;
+ float psiZCorr2;
+ float psiZ;
+ float KpsiSub;
+ float Kpsiz;
+ float WmNomPsi;
+ float YlimPsi;
+ float pPsiZ;
+ float psiZPrev1;
+ float psiZPrev2;
+ float psiZPrev3;
+}; //Rf
+
+
+// ��������� ��� �������� �������� (��. reference_power())
+struct Rp {
+ short once;
+ float pmZz;
+ float pmZi;
+ float pmZ;
+ float Kpmz;
+ float PlimIncr;
+ float KpIncrDecr;
+ volatile float pmEqv;
+}; //Rp
+
+
+// ��������� ��� �������� �������� (��. reference_speed())
+struct Rs {
+ short once;
+ float wmZz;
+ float wmZi;
+ float wmZ;
+ float Kwmz;
+ float WlimIncr;
+ float wzIncrNf;
+ float wzIncr;
+ float pWmZ;
+ float wmZPrev1;
+ float wmZPrev2;
+ float wmZPrev3;
+ short tPwmZ;
+}; //Rs
+
+
+// ��������� ��� ���������� ���
+struct SgmPar {
+ float Rs;
+ float Lls;
+ float Rr;
+ float Llr;
+ float Lm;
+ float Ls;
+ float Lr;
+ float SigmaLs;
+ float LmInv;
+ float LrInv;
+ float Tr;
+ float TrInv;
+ float Kl;
+ float KlInv;
+}; //SgmPar
+
+#endif //DEF
diff --git a/Inu/detcoeff.c b/Inu/detcoeff.c
new file mode 100644
index 0000000..7e14b81
--- /dev/null
+++ b/Inu/detcoeff.c
@@ -0,0 +1,242 @@
+/**************************************************************************
+ Description: ������� ���������� ���� ��� � ������ ����������
+ ��������� � �������������� ������ ����������� ��� � ������.
+
+ �����: ���������� �.�.
+ ���� ���������� ����������: 2021.11.08
+**************************************************************************/
+
+
+#include "def.h"
+#include "detcoeff.h"
+
+
+void process_sgm_parameters(void);
+short read_eeprom(void);
+short test_param(void);
+
+
+
+void detcoeff(void) {
+ float Tci;
+ float Tcf;
+ float Tcs;
+ float Km;
+
+ // ��� ������������
+ testParamFaultNo = 0;
+
+ // ������ EEPROM
+ // ( -> param[])
+ eprom.readFaultNo = read_eeprom();
+ if ( eprom.readFaultNo != 0 ) {
+ faultNo = 1;
+ state = STATE_SHUTDOWN;
+ }
+ else {
+ // ��������� ������ param[]
+ testParamFaultNo = test_param();
+ if ( testParamFaultNo != 0 ) {
+ faultNo = 4;
+ state = STATE_SHUTDOWN;
+ }
+ else {
+ faultNo = 0;
+ state = STATE_STOP;
+ }
+ }
+
+
+ rf.PsiZ = (float)param[180]*0.001;//%*10 -> o.e.
+
+ // �������� ���� ��������, ��. ���
+ offset.Ia1 = param[200];
+ offset.Ib1 = param[201];
+ offset.Ic1 = param[202];
+ offset.Udc1 = param[203];
+ offset.Ia2 = param[206];
+ offset.Ib2 = param[207];
+ offset.Ic2 = param[208];
+ offset.Udc2 = param[209];
+
+ // ��������� ��
+ sgmPar.Rs = (float)param[303]*1e-6;//���� -> ��
+ sgmPar.Lls = (float)param[304]*1e-7;//����*10 -> ��
+ sgmPar.Rr = (float)param[305]*1e-6;//���� -> ��
+ sgmPar.Llr = (float)param[306]*1e-7;//����*10 -> ��
+ sgmPar.Lm = (float)param[307]*1e-6;//���� -> ��
+ // �������� �� ���������� �� ������ ��������������� ��������
+ process_sgm_parameters();
+
+ // ������������ ����������� Id � Iq
+ // ... ���������� ������� ������� ����, �
+ Tci = TY*3.8;
+ cc.KpOrig = 0.01*sgmPar.SigmaLs/Tci*I_BAZ*U_2_Y;
+ cc.Kp = cc.KpOrig*(float)param[210];
+ cc.KiOrig = 0.01*(sgmPar.Rs + sgmPar.Rr*sgmPar.Kl*sgmPar.Kl)/Tci*I_BAZ*U_2_Y*TY;
+ cc.Ki = cc.KiOrig*(float)param[211];
+
+ // ������������ ���������� Psi
+ // ... ���������� ������� ������� ������, �
+ Tcf = 50e-3;
+ cf.KpOrig = 0.01*sgmPar.KlInv/(sgmPar.Rr*Tcf)*PSI_BAZ/I_BAZ;
+ cf.Kp = cf.KpOrig*(float)param[212];
+ cf.KiOrig = 0.01/(sgmPar.Lm*Tcf)*PSI_BAZ/I_BAZ*TY*DECIM_PSI_WM_PM;
+ cf.Ki = cf.KiOrig*(float)param[213];
+
+ // ������������ ���������� N
+ // ... ���������� ������� ������� ��������, �
+ Tcs = 200e-3;
+ // ... ����������� ��� ��������� ���� � ������
+ Km = 1.5*PP*sgmPar.Kl*PSI_BAZ*rf.PsiZ;
+ csp.KpOrig = 0.01*J/(Km*Tcs)*WM_BAZ/I_BAZ;
+ csp.Kp = csp.KpOrig*(float)param[214];
+ csp.KiOrig = 0.01*J/(Km*Tcs*Tcs*5.)*WM_BAZ/I_BAZ*TY*DECIM_PSI_WM_PM;
+ csp.Ki = csp.KiOrig*(float)param[215];
+
+ // ������ �������
+ protect.IacMax = (short)(2047.*(float)param[220]*0.01);//% -> ��. ���
+ protect.IacMin = -protect.IacMax;
+ protect.UdcMax = (float)param[221]*0.01;//% -> o.e.
+ IzLim = (float)param[222]*0.01;//% -> o.e.
+ cf.IdLim = (float)param[223]*0.01;//% -> o.e.
+ cf.IdLimNeg = cf.IdLim*(-0.4);
+ csp.IqLim = (float)param[224]*0.01;//% -> o.e.
+ csp.IqLimNeg = -csp.IqLim;
+ protect.UdcMin = (float)param[225]*0.01;//% -> o.e.
+ protect.WmMax = (float)param[226]*0.01;//% -> o.e.
+ rf.WmNomPsi = (float)param[228]*0.01;//% -> o.e.
+ rf.YlimPsi = (float)param[229]*0.01*Y_LIM;//% -> ��. �������� �������
+ protect.TudcMin = (unsigned short)((float)param[231]*0.001/TY);
+ protect.TwmMax = (unsigned short)((float)param[233]*0.001/TY);
+
+ // ��� ������ ��
+ rs.WlimIncr = 1.0*TY*DECIM_PSI_WM_PM/((float)param[244]*0.001);
+ csp.IlimIncr = 1.0*TY*DECIM_PSI_WM_PM/((float)param[245]*0.001);
+ rp.PlimIncr = 1.0*TY*DECIM_PSI_WM_PM/((float)param[248]*0.001);
+ rf.PsizIncr = 1.0*TY*DECIM_PSI_WM_PM/2.0;
+
+ // ��� ���������
+ KmeCorr = (float)param[269]*0.0001;//%*100 -> o.e.
+
+ // ��� ������ ��������
+ Kudc = (TY*10000.)/(float)param[285];
+ if ( Kudc > 1.0 )
+ Kudc = 1.0;
+ Kwm = (TY*10000.)/(float)param[286];
+ if ( Kwm > 1.0 )
+ Kwm = 1.0;
+ rs.Kwmz = (TY*DECIM_PSI_WM_PM*1000.)/(float)param[288];
+ rf.Kpsiz = (TY*DECIM_PSI_WM_PM*1000.)/(float)param[289];
+ Kme = (TY*1000.)/(float)param[290];
+ rp.Kpmz = (TY*DECIM_PSI_WM_PM*1000.)/(float)param[292];
+ out.K = TY/100e-3;
+
+ // ��������
+ protect.Tdi24VSource = (unsigned short)(5.0/TY);
+
+ // �� � �������� ���������
+ udc1 = 0;
+ udc2 = 0;
+ wmNf = 0;
+ wm = 0;
+ me = 0;
+ out.udc1 = 0;
+ out.udc2 = 0;
+ out.iac1 = 0;
+ out.iac2 = 0;
+ out.wm = 0;
+ out.me = 0;
+ out.pm = 0;
+ protect.tWmMax = 0;
+ protect.tDI24VSource = 0;
+ onceShutdown = 0;
+ onceFaultReset = 0;
+ stopPause = 1;
+ mst.pzMode = 0;
+ mst.faultReset = 0;
+ mst.start = 0;
+ mst.wmZz = 0;
+ mst.pmZz = 0;
+ mst.wmLim = 0;
+ mst.pmLim = 0;
+ mst.pIncrMaxTy = 0;
+ mst.pDecrMaxTy = 0;
+} //void detcoeff(void)
+
+
+
+// ��������� �� ���������� �� ������ ��������������� ��������
+void process_sgm_parameters(void) {
+ // ������ ������������� ���� �������, ��
+ sgmPar.Ls = sgmPar.Lm + sgmPar.Lls;
+ // ������ ������������� ���� ������, ��
+ sgmPar.Lr = sgmPar.Lm + sgmPar.Llr;
+ // �����-�����
+ sgmPar.SigmaLs = (1. - sgmPar.Lm*sgmPar.Lm/(sgmPar.Ls*sgmPar.Lr))*sgmPar.Ls;
+ sgmPar.LmInv = 1.0/sgmPar.Lm;
+ sgmPar.LrInv = 1.0/sgmPar.Lr;
+ sgmPar.Kl = sgmPar.Lm*sgmPar.LrInv;
+ sgmPar.KlInv = 1.0/sgmPar.Kl;
+ sgmPar.Tr = sgmPar.Lr/sgmPar.Rr;
+ sgmPar.TrInv = sgmPar.Rr*sgmPar.LrInv;
+} //void process_sgm_parameters(void)
+
+
+
+// ������ PAR_NUMBER ���������� �� EEPROM � ��������� � ������� param[]
+// ( -> param[])
+short read_eeprom(void) {
+ return 0;
+}
+
+
+
+// ��������� ������������ �������� ����������, ���������� �� EEPROM
+// (� param.c � ���������� �.�. �� �� ������� ���������� ��������!)
+short test_param(void) {
+ if ( param[180] > 2000 ) return 180;//rf.PsiZ
+
+ if ( (param[200]<1748) || (param[200]>2348) ) return 200;//offset.Ia1
+ if ( (param[201]<1748) || (param[201]>2348) ) return 201;//offset.Ib1
+ if ( (param[202]<1748) || (param[202]>2348) ) return 202;//offset.Ic1
+ if ( (param[203]<1748) || (param[203]>2348) ) return 203;//offset.Udc1
+ if ( (param[206]<1748) || (param[206]>2348) ) return 206;//offset.Ia2
+ if ( (param[207]<1748) || (param[207]>2348) ) return 207;//offset.Ib2
+ if ( (param[208]<1748) || (param[208]>2348) ) return 208;//offset.Ic2
+ if ( (param[209]<1748) || (param[209]>2348) ) return 209;//offset.Udc2
+
+ if ( param[210] > 5000 ) return 210;//cc.Kp
+ if ( param[211] > 5000 ) return 211;//cc.Ki
+ if ( param[212] > 5000 ) return 212;//cf.Kp
+ if ( param[213] > 5000 ) return 213;//cf.Ki
+ if ( param[214] > 5000 ) return 214;//csp.Kp
+ if ( param[215] > 5000 ) return 215;//csp.Ki
+
+ if ( param[220] > 99 ) return 220;//protect.IacMax
+ if ( param[221] > 136 ) return 221;//protect.UdcMax
+ if ( param[222] > 200 ) return 222;//IzLim
+ if ( param[223] > 200 ) return 223;//cf.IdLim
+ if ( param[224] > 200 ) return 224;//csp.IqLim
+ if ( param[225] > 110 ) return 225;//protect.UdcMin
+ if ( param[226] > 200 ) return 226;//protect.WmMax
+ if ( param[228] > 200 ) return 228;//rf.WmNomPsi
+ if ( param[229] > 101 ) return 229;//rf.YlimPsi
+ if ( (param[231]<1) || (param[231]>8500) ) return 231;//protect.TudcMin
+ if ( (param[233]<1) || (param[233]>8500) ) return 233;//protect.TwmMax
+
+ if ( param[244] < 1 ) return 244;//rs.WlimIncr
+ if ( param[245] < 1 ) return 245;//csp.IlimIncr
+ if ( param[248] < 1 ) return 248;//rp.PlimIncr
+
+ if ( (param[269]<5000) || (param[269]>20000) ) return 269;//KmeCorr
+
+ if ( (param[285]<1) || (param[285]>20000) ) return 285;//Kudc
+ if ( (param[286]<1) || (param[286]>20000) ) return 286;//Kwm
+ if ( (param[288]<1) || (param[288]>20000) ) return 288;//rs.Kwmz
+ if ( (param[289]<1) || (param[289]>20000) ) return 289;//rf.Kpsiz
+ if ( (param[290]<1) || (param[290]>20000) ) return 290;//Kme
+ if ( (param[292]<1) || (param[292]>20000) ) return 292;//rp.Kpmz
+
+ return 0;
+} //short test_param(void)
diff --git a/Inu/detcoeff.h b/Inu/detcoeff.h
new file mode 100644
index 0000000..c3465ec
--- /dev/null
+++ b/Inu/detcoeff.h
@@ -0,0 +1,47 @@
+#ifndef DETCOEFF
+#define DETCOEFF
+
+// ����������, ������� ���������� � detcoeff.c (begin)
+//#########################################################################
+//#########################################################################
+// ����������, ������� ���������� � detcoeff.c (end)
+
+
+
+
+// ����������, ������� ��������� � detcoeff.c (begin)
+//#########################################################################
+extern short testParamFaultNo;
+extern struct Eprom eprom;
+extern volatile short faultNo;
+extern volatile short state;
+extern unsigned short param[];
+
+extern struct Rf rf;
+extern struct Offset offset;
+extern struct SgmPar sgmPar;
+extern struct Cc cc;
+extern struct Cf cf;
+extern struct Csp csp;
+extern float IzLim;
+extern struct Protect protect;
+extern struct Rs rs;
+extern struct Rp rp;
+extern float KmeCorr;
+extern float Kudc;
+extern float Kwm;
+extern float Kme;
+
+extern volatile struct Out out;
+extern volatile float udc1;
+extern volatile float udc2;
+extern volatile float wmNf;
+extern volatile float wm;
+extern volatile float me;
+extern short onceShutdown;
+extern short onceFaultReset;
+extern short stopPause;
+extern struct Mst mst;
+//#########################################################################
+// ����������, ������� ��������� � detcoeff.c (end)
+#endif //DETCOEFF
diff --git a/Inu/init28335.c b/Inu/init28335.c
new file mode 100644
index 0000000..42dfaa5
--- /dev/null
+++ b/Inu/init28335.c
@@ -0,0 +1,1621 @@
+/**************************************************************************
+ Description: ����� �������� ���������� ������� ���������� ���� ���
+ � �������������� ����������� �������� ����������
+ TMS320F28335/TMS320F28379D.
+
+ �����: ���������� �.�.
+ ���� ���������� ����������: 2021.10.04
+**************************************************************************/
+
+
+#include "def.h"
+#include "init28335.h"
+
+
+#ifndef ML
+extern void InitPll(Uint16 val, Uint16 divsel);
+extern void InitPieCtrl(void);
+extern void InitPieVectTable(void);
+extern void ADC_cal(void);
+extern void MemCopy(Uint16 *SourceAddr, Uint16* SourceEndAddr, Uint16* DestAddr);
+extern void InitFlash(void);
+extern short CsmUnlock(void);
+void InitPeripheralClocks(void);
+void SetupGpio(void);
+extern interrupt void isr(void);
+#endif //ML
+void SetupAdc(void);
+void SetupEpwm(void);
+void SetupEqep(void);
+
+
+void init28335(void) {
+#ifndef ML
+ // Global Disable all Interrupts
+ DINT;
+ // Disable CPU interrupts
+ IER = 0x0000;
+ // Clear all CPU interrupt flags
+ IFR = 0x0000;
+
+ // Initialize the PLL control: PLLCR[DIV] and PLLSTS[DIVSEL]
+ InitPll(PLLCR_DIV, PLLSTS_DIVSEL);
+
+ // Initialize interrupt controller and Vector Table
+ // to defaults for now. Application ISR mapping done later.
+ InitPieCtrl();
+ InitPieVectTable();
+
+ // Initialize the peripheral clocks
+ InitPeripheralClocks();
+
+ // Ulock the CSM
+ csmSuccess = CsmUnlock();
+
+ /* Copy time critical code and Flash setup code to RAM
+ (the RamfuncsLoadStart, RamfuncsLoadEnd, RamfuncsRunStart,
+ RamfuncsLoadStart2, RamfuncsLoadEnd2 and RamfuncsRunStart2
+ symbols are created by the linker) */
+ MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
+ MemCopy(&RamfuncsLoadStart2, &RamfuncsLoadEnd2, &RamfuncsRunStart2);
+ /* Copy the .switch section */
+ // (the SwitchLoadStart, SwitchLoadEnd and SwitchRunStart
+ // symbols are created by the linker)
+ MemCopy(&SwitchLoadStart, &SwitchLoadEnd, &SwitchRunStart);
+ /* Copy the .econst section */
+ // (the EconstLoadStart, EconstLoadEnd and EconstRunStart
+ // symbols are created by the linker)
+ MemCopy(&EconstLoadStart, &EconstLoadEnd, &EconstRunStart);
+ // Call Flash Initialization to setup flash waitstates
+ // (this function must reside in RAM)
+ InitFlash();
+#endif //ML
+
+ // Setup ePWM
+ SetupEpwm();
+ // Setup ADC
+ SetupAdc();
+ // Setup eQEP
+ SetupEqep();
+
+#ifndef ML
+ // Setup GPIO
+ SetupGpio();
+
+ // Reassign ISR
+ EALLOW;
+ PieVectTable.ADCINT = &isr;
+ EDIS;
+#endif //ML
+} //void init28335(void)
+
+
+
+#ifndef ML
+/* This function initializes the clocks to the peripheral modules.
+First the high and low clock prescalers are set
+Second the clocks are enabled to each peripheral.
+To reduce power, leave clocks to unused peripherals disabled
+
+Note: If a peripherals clock is not enabled then you cannot
+read or write to the registers for that peripheral */
+void InitPeripheralClocks(void) {
+ EALLOW;
+
+ // HISPCP/LOSPCP prescale register settings, normally it will be set
+ // to default values
+ // High speed clock = FSYSCLKOUT/2
+ SysCtrlRegs.HISPCP.all = 0x0001;
+ // Low speed clock = FSYSCLKOUT/4
+ SysCtrlRegs.LOSPCP.all = 0x0002;
+
+ /* Peripheral clock enables set for the selected peripherals.
+ If you are not using a peripheral leave the clock off
+ to save on power.
+
+ This function is not written to be an example of efficient code */
+
+ SysCtrlRegs.PCLKCR0.bit.ADCENCLK = 1; // ADC
+
+ /* IMPORTANT
+ The ADC_cal function, which copies the ADC calibration values from
+ TI reserved OTP into the ADCREFSEL and ADCOFFTRIM registers, occurs
+ automatically in the Boot ROM. If the boot ROM code is bypassed
+ during the debug process, the following function MUST be called for
+ the ADC to function according to specification. The clocks to the
+ ADC MUST be enabled before calling this function.
+ See the device data manual and/or the ADC Reference
+ Manual for more information */
+ ADC_cal();
+
+ SysCtrlRegs.PCLKCR0.bit.I2CAENCLK = 0; // I2C
+ SysCtrlRegs.PCLKCR0.bit.SCIAENCLK = 0; // SCI-A
+ SysCtrlRegs.PCLKCR0.bit.SCIBENCLK = 0; // SCI-B
+ SysCtrlRegs.PCLKCR0.bit.SCICENCLK = 0; // SCI-C
+ SysCtrlRegs.PCLKCR0.bit.SPIAENCLK = 0; // SPI-A
+ SysCtrlRegs.PCLKCR0.bit.MCBSPAENCLK = 0;// McBSP-A
+ SysCtrlRegs.PCLKCR0.bit.MCBSPBENCLK = 0;// McBSP-B
+ SysCtrlRegs.PCLKCR0.bit.ECANAENCLK = 0; // eCAN-A
+ SysCtrlRegs.PCLKCR0.bit.ECANBENCLK = 0; // eCAN-B
+
+ SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0; // Disable TBCLK within the ePWM
+ SysCtrlRegs.PCLKCR1.bit.EPWM1ENCLK = 1; // ePWM1
+ SysCtrlRegs.PCLKCR1.bit.EPWM2ENCLK = 1; // ePWM2
+ SysCtrlRegs.PCLKCR1.bit.EPWM3ENCLK = 1; // ePWM3
+ SysCtrlRegs.PCLKCR1.bit.EPWM4ENCLK = 1; // ePWM4
+ SysCtrlRegs.PCLKCR1.bit.EPWM5ENCLK = 1; // ePWM5
+ SysCtrlRegs.PCLKCR1.bit.EPWM6ENCLK = 1; // ePWM6
+ SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1; // Enable TBCLK within the ePWM
+
+ SysCtrlRegs.PCLKCR1.bit.ECAP3ENCLK = 0; // eCAP3
+ SysCtrlRegs.PCLKCR1.bit.ECAP4ENCLK = 0; // eCAP4
+ SysCtrlRegs.PCLKCR1.bit.ECAP5ENCLK = 0; // eCAP5
+ SysCtrlRegs.PCLKCR1.bit.ECAP6ENCLK = 0; // eCAP6
+ SysCtrlRegs.PCLKCR1.bit.ECAP1ENCLK = 0; // eCAP1
+ SysCtrlRegs.PCLKCR1.bit.ECAP2ENCLK = 0; // eCAP2
+ SysCtrlRegs.PCLKCR1.bit.EQEP1ENCLK = 0; // eQEP1
+ SysCtrlRegs.PCLKCR1.bit.EQEP2ENCLK = 1; // eQEP2
+
+ SysCtrlRegs.PCLKCR3.bit.CPUTIMER0ENCLK = 0; // CPU Timer 0
+ SysCtrlRegs.PCLKCR3.bit.CPUTIMER1ENCLK = 0; // CPU Timer 1
+ SysCtrlRegs.PCLKCR3.bit.CPUTIMER2ENCLK = 0; // CPU Timer 2
+
+ SysCtrlRegs.PCLKCR3.bit.DMAENCLK = 0; // DMA Clock
+ SysCtrlRegs.PCLKCR3.bit.XINTFENCLK = 1; // XTIMCLK
+ SysCtrlRegs.PCLKCR3.bit.GPIOINENCLK = 1; // GPIO input clock
+
+ EDIS;
+} //void InitPeripheralClocks(void)
+
+
+
+// ����������� GPIO
+void SetupGpio(void) {
+ EALLOW;
+ // GPIO and Peripheral Multiplexing
+ // GPIO0 ... GPIO15
+ GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 1;//EPWM1A (INU)
+ GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 1;//EPWM1B (INU)
+ GpioCtrlRegs.GPAMUX1.bit.GPIO2 = 1;//EPWM2A (INU)
+ GpioCtrlRegs.GPAMUX1.bit.GPIO3 = 1;//EPWM2B (INU)
+ GpioCtrlRegs.GPAMUX1.bit.GPIO4 = 1;//EPWM3A (INU)
+ GpioCtrlRegs.GPAMUX1.bit.GPIO5 = 1;//EPWM3B (INU)
+ GpioCtrlRegs.GPAMUX1.bit.GPIO6 = 1;//EPWM4A (INU)
+ GpioCtrlRegs.GPAMUX1.bit.GPIO7 = 1;//EPWM4B (INU)
+ GpioCtrlRegs.GPAMUX1.bit.GPIO8 = 1;//EPWM5A (INU)
+ GpioCtrlRegs.GPAMUX1.bit.GPIO9 = 1;//EPWM5B (INU)
+ GpioCtrlRegs.GPAMUX1.bit.GPIO10 = 1;//EPWM6A (INU)
+ GpioCtrlRegs.GPAMUX1.bit.GPIO11 = 1;//EPWM6B (INU)
+ GpioCtrlRegs.GPAMUX1.bit.GPIO12 = 0;//DI
+ GpioCtrlRegs.GPAMUX1.bit.GPIO13 = 0;//DO
+ GpioCtrlRegs.GPAMUX1.bit.GPIO14 = 0;//DI
+ GpioCtrlRegs.GPAMUX1.bit.GPIO15 = 0;//DO
+ // GPIO16 ... GPIO31
+ GpioCtrlRegs.GPAMUX2.bit.GPIO16 = 0;//DI
+ GpioCtrlRegs.GPAMUX2.bit.GPIO17 = 0;//DO
+ GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 0;//DI
+ GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 0;//DO
+ GpioCtrlRegs.GPAMUX2.bit.GPIO20 = 0;//DO
+ GpioCtrlRegs.GPAMUX2.bit.GPIO21 = 0;//DI
+ GpioCtrlRegs.GPAMUX2.bit.GPIO22 = 3;//SCITXDB
+ GpioCtrlRegs.GPAMUX2.bit.GPIO23 = 3;//SCIRXDB
+ GpioCtrlRegs.GPAMUX2.bit.GPIO24 = 2;//EQEP2A
+ GpioCtrlRegs.GPAMUX2.bit.GPIO25 = 2;//EQEP2B
+ GpioCtrlRegs.GPAMUX2.bit.GPIO26 = 2;//EQEP2I
+ GpioCtrlRegs.GPAMUX2.bit.GPIO27 = 0;//DI
+ GpioCtrlRegs.GPAMUX2.bit.GPIO28 = 1;//SCIRXDA
+ GpioCtrlRegs.GPAMUX2.bit.GPIO29 = 1;//SCITXDA
+ GpioCtrlRegs.GPAMUX2.bit.GPIO30 = 0;//DO
+ GpioCtrlRegs.GPAMUX2.bit.GPIO31 = 3;//XA17
+ // GPIO32 ... GPIO47
+ GpioCtrlRegs.GPBMUX1.bit.GPIO32 = 2;//EPWMSYNCI
+ GpioCtrlRegs.GPBMUX1.bit.GPIO33 = 2;//EPWMSYNCO
+ GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 0;//DO
+ GpioCtrlRegs.GPBMUX1.bit.GPIO35 = 0;//DO
+ GpioCtrlRegs.GPBMUX1.bit.GPIO36 = 3;//XZCS0
+ GpioCtrlRegs.GPBMUX1.bit.GPIO37 = 3;//XZCS7
+ GpioCtrlRegs.GPBMUX1.bit.GPIO38 = 3;//XWE0
+ GpioCtrlRegs.GPBMUX1.bit.GPIO39 = 3;//XA16
+ GpioCtrlRegs.GPBMUX1.bit.GPIO40 = 3;//XA0/XWE1
+ GpioCtrlRegs.GPBMUX1.bit.GPIO41 = 3;//XA1
+ GpioCtrlRegs.GPBMUX1.bit.GPIO42 = 3;//XA2
+ GpioCtrlRegs.GPBMUX1.bit.GPIO43 = 3;//XA3
+ GpioCtrlRegs.GPBMUX1.bit.GPIO44 = 3;//XA4
+ GpioCtrlRegs.GPBMUX1.bit.GPIO45 = 3;//XA5
+ GpioCtrlRegs.GPBMUX1.bit.GPIO46 = 3;//XA6
+ GpioCtrlRegs.GPBMUX1.bit.GPIO47 = 3;//XA7
+ // GPIO48 ... GPIO63
+ GpioCtrlRegs.GPBMUX2.bit.GPIO48 = 0;//DO
+ GpioCtrlRegs.GPBMUX2.bit.GPIO49 = 0;//DO
+ GpioCtrlRegs.GPBMUX2.bit.GPIO50 = 0;//DI (������������� ��������� ������� +24 �)
+ GpioCtrlRegs.GPBMUX2.bit.GPIO51 = 0;//DI
+ GpioCtrlRegs.GPBMUX2.bit.GPIO52 = 0;//DI
+ GpioCtrlRegs.GPBMUX2.bit.GPIO53 = 0;//DI
+ GpioCtrlRegs.GPBMUX2.bit.GPIO54 = 1;//SPISIMOA
+ GpioCtrlRegs.GPBMUX2.bit.GPIO55 = 1;//SPISOMIA
+ GpioCtrlRegs.GPBMUX2.bit.GPIO56 = 1;//SPICLKA
+ GpioCtrlRegs.GPBMUX2.bit.GPIO57 = 0;//DO
+ GpioCtrlRegs.GPBMUX2.bit.GPIO58 = 0;//DO
+ GpioCtrlRegs.GPBMUX2.bit.GPIO59 = 0;//DO (������� ��������� "����������")
+ GpioCtrlRegs.GPBMUX2.bit.GPIO60 = 0;//DO (������� ��������� "������")
+ GpioCtrlRegs.GPBMUX2.bit.GPIO61 = 0;//DO (������� ��������� "������")
+ GpioCtrlRegs.GPBMUX2.bit.GPIO62 = 1;//SCIRXDC
+ GpioCtrlRegs.GPBMUX2.bit.GPIO63 = 1;//SCITXDC
+ // GPIO64 ... GPIO79
+ GpioCtrlRegs.GPCMUX1.bit.GPIO64 = 3;//XD15
+ GpioCtrlRegs.GPCMUX1.bit.GPIO65 = 3;//XD14
+ GpioCtrlRegs.GPCMUX1.bit.GPIO66 = 3;//XD13
+ GpioCtrlRegs.GPCMUX1.bit.GPIO67 = 3;//XD12
+ GpioCtrlRegs.GPCMUX1.bit.GPIO68 = 3;//XD11
+ GpioCtrlRegs.GPCMUX1.bit.GPIO69 = 3;//XD10
+ GpioCtrlRegs.GPCMUX1.bit.GPIO70 = 3;//XD9
+ GpioCtrlRegs.GPCMUX1.bit.GPIO71 = 3;//XD8
+ GpioCtrlRegs.GPCMUX1.bit.GPIO72 = 3;//XD7
+ GpioCtrlRegs.GPCMUX1.bit.GPIO73 = 3;//XD6
+ GpioCtrlRegs.GPCMUX1.bit.GPIO74 = 3;//XD5
+ GpioCtrlRegs.GPCMUX1.bit.GPIO75 = 3;//XD4
+ GpioCtrlRegs.GPCMUX1.bit.GPIO76 = 3;//XD3
+ GpioCtrlRegs.GPCMUX1.bit.GPIO77 = 3;//XD2
+ GpioCtrlRegs.GPCMUX1.bit.GPIO78 = 3;//XD1
+ GpioCtrlRegs.GPCMUX1.bit.GPIO79 = 3;//XD0
+ // GPIO80 ... GPIO87
+ GpioCtrlRegs.GPCMUX2.bit.GPIO80 = 3;//XA8
+ GpioCtrlRegs.GPCMUX2.bit.GPIO81 = 3;//XA9
+ GpioCtrlRegs.GPCMUX2.bit.GPIO82 = 3;//XA10
+ GpioCtrlRegs.GPCMUX2.bit.GPIO83 = 3;//XA11
+ GpioCtrlRegs.GPCMUX2.bit.GPIO84 = 3;//XA12
+ GpioCtrlRegs.GPCMUX2.bit.GPIO85 = 3;//XA13
+ GpioCtrlRegs.GPCMUX2.bit.GPIO86 = 3;//XA14
+ GpioCtrlRegs.GPCMUX2.bit.GPIO87 = 3;//XA15
+
+ // �������� ��������� �������� �������
+ DO_GPIO019_CLEAR;
+ DO_GPIO020_CLEAR;
+ DO_GPIO022_CLEAR;
+ // ... ���������� ���������
+ LED_GREEN1_OFF;
+ LED_GREEN2_OFF;
+ LED_RED_OFF;
+ DO_GPIO63_CLEAR;
+
+ // Select the direction of the GPIO pins
+ // GPIO0 ... GPIO31
+ GpioCtrlRegs.GPADIR.bit.GPIO0 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO1 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO2 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO3 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO4 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO5 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO6 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO7 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO8 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO9 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO10 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO11 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO12 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO13 = 1;
+ GpioCtrlRegs.GPADIR.bit.GPIO14 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO15 = 1;
+ GpioCtrlRegs.GPADIR.bit.GPIO16 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO17 = 1;
+ GpioCtrlRegs.GPADIR.bit.GPIO18 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO19 = 1;
+ GpioCtrlRegs.GPADIR.bit.GPIO20 = 1;
+ GpioCtrlRegs.GPADIR.bit.GPIO21 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO22 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO23 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO24 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO25 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO26 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO27 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO28 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO29 = 0;
+ GpioCtrlRegs.GPADIR.bit.GPIO30 = 1;
+ GpioCtrlRegs.GPADIR.bit.GPIO31 = 0;
+ // GPIO32 ... GPIO63
+ GpioCtrlRegs.GPBDIR.bit.GPIO32 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO33 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO34 = 1;
+ GpioCtrlRegs.GPBDIR.bit.GPIO35 = 1;
+ GpioCtrlRegs.GPBDIR.bit.GPIO36 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO37 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO38 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO39 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO40 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO41 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO42 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO43 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO44 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO45 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO46 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO47 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO48 = 1;
+ GpioCtrlRegs.GPBDIR.bit.GPIO49 = 1;
+ GpioCtrlRegs.GPBDIR.bit.GPIO50 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO51 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO52 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO53 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO54 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO55 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO56 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO57 = 1;
+ GpioCtrlRegs.GPBDIR.bit.GPIO58 = 1;
+ GpioCtrlRegs.GPBDIR.bit.GPIO59 = 1;
+ GpioCtrlRegs.GPBDIR.bit.GPIO60 = 1;
+ GpioCtrlRegs.GPBDIR.bit.GPIO61 = 1;
+ GpioCtrlRegs.GPBDIR.bit.GPIO62 = 0;
+ GpioCtrlRegs.GPBDIR.bit.GPIO63 = 1;
+ // GPIO64 ... GPIO87
+ GpioCtrlRegs.GPCDIR.bit.GPIO64 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO65 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO66 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO67 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO68 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO69 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO70 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO71 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO72 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO73 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO74 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO75 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO76 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO77 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO78 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO79 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO80 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO81 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO82 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO83 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO84 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO85 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO86 = 0;
+ GpioCtrlRegs.GPCDIR.bit.GPIO87 = 0;
+
+ // Each input can have different qualification:
+ // 0 - Synchronize to FSYSCLKOUT only;
+ // 1 - Qualification using 3 samples;
+ // 2 - Qualification using 6 samples;
+ // 3 - Asynchronous.
+ // GPIO0 ... GPIO15
+ GpioCtrlRegs.GPAQSEL1.bit.GPIO0 = 0;
+ GpioCtrlRegs.GPAQSEL1.bit.GPIO1 = 0;
+ GpioCtrlRegs.GPAQSEL1.bit.GPIO2 = 0;
+ GpioCtrlRegs.GPAQSEL1.bit.GPIO3 = 0;
+ GpioCtrlRegs.GPAQSEL1.bit.GPIO4 = 0;
+ GpioCtrlRegs.GPAQSEL1.bit.GPIO5 = 0;
+ GpioCtrlRegs.GPAQSEL1.bit.GPIO6 = 0;
+ GpioCtrlRegs.GPAQSEL1.bit.GPIO7 = 0;
+ GpioCtrlRegs.GPAQSEL1.bit.GPIO8 = 0;
+ GpioCtrlRegs.GPAQSEL1.bit.GPIO9 = 0;
+ GpioCtrlRegs.GPAQSEL1.bit.GPIO10 = 0;
+ GpioCtrlRegs.GPAQSEL1.bit.GPIO11 = 0;
+ GpioCtrlRegs.GPAQSEL1.bit.GPIO12 = 2;
+ GpioCtrlRegs.GPAQSEL1.bit.GPIO13 = 0;
+ GpioCtrlRegs.GPAQSEL1.bit.GPIO14 = 2;
+ GpioCtrlRegs.GPAQSEL1.bit.GPIO15 = 0;
+ // GPIO16 ... GPIO31
+ GpioCtrlRegs.GPAQSEL2.bit.GPIO16 = 2;
+ GpioCtrlRegs.GPAQSEL2.bit.GPIO17 = 0;
+ GpioCtrlRegs.GPAQSEL2.bit.GPIO18 = 2;
+ GpioCtrlRegs.GPAQSEL2.bit.GPIO19 = 0;
+ GpioCtrlRegs.GPAQSEL2.bit.GPIO20 = 0;
+ GpioCtrlRegs.GPAQSEL2.bit.GPIO21 = 2;
+ GpioCtrlRegs.GPAQSEL2.bit.GPIO22 = 3;
+ GpioCtrlRegs.GPAQSEL2.bit.GPIO23 = 3;
+ GpioCtrlRegs.GPAQSEL2.bit.GPIO24 = 0;
+ GpioCtrlRegs.GPAQSEL2.bit.GPIO25 = 0;
+ GpioCtrlRegs.GPAQSEL2.bit.GPIO26 = 0;
+ GpioCtrlRegs.GPAQSEL2.bit.GPIO27 = 2;
+ GpioCtrlRegs.GPAQSEL2.bit.GPIO28 = 3;
+ GpioCtrlRegs.GPAQSEL2.bit.GPIO29 = 3;
+ GpioCtrlRegs.GPAQSEL2.bit.GPIO30 = 0;
+ GpioCtrlRegs.GPAQSEL2.bit.GPIO31 = 0;
+ // GPIO32 ... GPIO47
+ GpioCtrlRegs.GPBQSEL1.bit.GPIO32 = 0;
+ GpioCtrlRegs.GPBQSEL1.bit.GPIO33 = 0;
+ GpioCtrlRegs.GPBQSEL1.bit.GPIO34 = 0;
+ GpioCtrlRegs.GPBQSEL1.bit.GPIO35 = 0;
+ GpioCtrlRegs.GPBQSEL1.bit.GPIO36 = 0;
+ GpioCtrlRegs.GPBQSEL1.bit.GPIO37 = 0;
+ GpioCtrlRegs.GPBQSEL1.bit.GPIO38 = 0;
+ GpioCtrlRegs.GPBQSEL1.bit.GPIO39 = 0;
+ GpioCtrlRegs.GPBQSEL1.bit.GPIO40 = 0;
+ GpioCtrlRegs.GPBQSEL1.bit.GPIO41 = 0;
+ GpioCtrlRegs.GPBQSEL1.bit.GPIO42 = 0;
+ GpioCtrlRegs.GPBQSEL1.bit.GPIO43 = 0;
+ GpioCtrlRegs.GPBQSEL1.bit.GPIO44 = 0;
+ GpioCtrlRegs.GPBQSEL1.bit.GPIO45 = 0;
+ GpioCtrlRegs.GPBQSEL1.bit.GPIO46 = 0;
+ GpioCtrlRegs.GPBQSEL1.bit.GPIO47 = 0;
+ // GPIO48 ... GPIO63
+ GpioCtrlRegs.GPBQSEL2.bit.GPIO48 = 0;
+ GpioCtrlRegs.GPBQSEL2.bit.GPIO49 = 0;
+ GpioCtrlRegs.GPBQSEL2.bit.GPIO50 = 2;
+ GpioCtrlRegs.GPBQSEL2.bit.GPIO51 = 2;
+ GpioCtrlRegs.GPBQSEL2.bit.GPIO52 = 2;
+ GpioCtrlRegs.GPBQSEL2.bit.GPIO53 = 2;
+ GpioCtrlRegs.GPBQSEL2.bit.GPIO54 = 3;
+ GpioCtrlRegs.GPBQSEL2.bit.GPIO55 = 3;
+ GpioCtrlRegs.GPBQSEL2.bit.GPIO56 = 3;
+ GpioCtrlRegs.GPBQSEL2.bit.GPIO57 = 3;
+ GpioCtrlRegs.GPBQSEL2.bit.GPIO58 = 0;
+ GpioCtrlRegs.GPBQSEL2.bit.GPIO59 = 0;
+ GpioCtrlRegs.GPBQSEL2.bit.GPIO60 = 0;
+ GpioCtrlRegs.GPBQSEL2.bit.GPIO61 = 0;
+ GpioCtrlRegs.GPBQSEL2.bit.GPIO62 = 2;
+ GpioCtrlRegs.GPBQSEL2.bit.GPIO63 = 0;
+
+ // Qualification Control (sampling period = (1/FSYSCLKOUT)*QUALPRDx*2)
+ // ( (1/150e6)*255*2 = 3.4 ��� )
+ // Port A
+ GpioCtrlRegs.GPACTRL.bit.QUALPRD0 = 255;//GPIO0 ... GPIO7
+ GpioCtrlRegs.GPACTRL.bit.QUALPRD1 = 255;//GPIO8 ... GPIO15
+ GpioCtrlRegs.GPACTRL.bit.QUALPRD2 = 255;//GPIO16 ... GPIO23
+ GpioCtrlRegs.GPACTRL.bit.QUALPRD3 = 255;//GPIO24 ... GPIO31
+ // Port B
+ GpioCtrlRegs.GPBCTRL.bit.QUALPRD0 = 255;//GPIO32 ... GPIO39
+ GpioCtrlRegs.GPBCTRL.bit.QUALPRD1 = 255;//GPIO40 ... GPIO47
+ GpioCtrlRegs.GPBCTRL.bit.QUALPRD2 = 255;//GPIO48 ... GPIO55
+ GpioCtrlRegs.GPBCTRL.bit.QUALPRD3 = 255;//GPIO56 ... GPIO63
+
+ // Pull-ups (the internal pullup �������� ��� ���-�������)
+ // GPIO0 ... GPIO31
+ GpioCtrlRegs.GPAPUD.all = 0x00000FFF;
+ // GPIO32 ... GPIO63
+ GpioCtrlRegs.GPBPUD.all = 0x00000000;
+ // GPIO64 ... GPIO87
+ GpioCtrlRegs.GPCPUD.all = 0x00000000;
+ EDIS;
+} //void SetupGpio(void)
+#endif //ML
+
+
+
+// ����������� ePWM
+void SetupEpwm(void) {
+ // ePWM1
+ // ####################################################################
+ // Time-Base (TB) Submodule
+ // --------------------------------------------------------------------
+ // Time-Base Control Register
+ EPwm1Regs.TBCTL.bit.FREE_SOFT = 0;//emulation mode - stop after the next time-base counter increment or decrement
+ EPwm1Regs.TBCTL.bit.PHSDIR = 1;//count up after the synchronization event
+ EPwm1Regs.TBCTL.bit.CLKDIV = 0;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm1Regs.TBCTL.bit.HSPCLKDIV = 2;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm1Regs.TBCTL.bit.SYNCOSEL = 1;//TBCTR==0 -> EPWMxSYNCO
+ EPwm1Regs.TBCTL.bit.PRDLD = 1;//load the TBPRD register immediately without using a shadow register
+ EPwm1Regs.TBCTL.bit.PHSEN = 0;//do not load TBCTR from TBPHS
+ EPwm1Regs.TBCTL.bit.CTRMODE = 3;//stop-freeze counter operation
+ // Time-Base Period Register
+ EPwm1Regs.TBPRD = (unsigned short)T1_PRD;
+ // Time-Base Phase Register
+ EPwm1Regs.TBPHS.half.TBPHS = 0;
+ // Time-Base Counter Register
+ EPwm1Regs.TBCTR = 1;
+ // Counter-Compare (CC) Submodule
+ // --------------------------------------------------------------------
+ // Counter-Compare A Register
+ EPwm1Regs.CMPA.half.CMPA = 0;
+ // Counter-Compare B Register
+ EPwm1Regs.CMPB = 0;
+ // Counter-Compare Control Register
+ EPwm1Regs.CMPCTL.bit.SHDWBMODE = 0;//CMPB operating mode - shadow
+ EPwm1Regs.CMPCTL.bit.SHDWAMODE = 0;//CMPA operating mode - shadow
+ EPwm1Regs.CMPCTL.bit.LOADBMODE = 0;//active CMPB load from shadow - load on CTR = Zero
+ EPwm1Regs.CMPCTL.bit.LOADAMODE = 2;//active CMPA load from shadow - load on CTR = Zero or CTR = PRD
+ // Action-Qualifier (AQ) Submodule
+ // --------------------------------------------------------------------
+ // Action-Qualifier Output A Control Register
+ EPwm1Regs.AQCTLA.bit.CBD = 0;//do nothing
+ EPwm1Regs.AQCTLA.bit.CBU = 0;//do nothing
+ EPwm1Regs.AQCTLA.bit.CAD = 2;//set - force EPWMxA output high
+ EPwm1Regs.AQCTLA.bit.CAU = 1;//clear - force EPWMxA output low
+ EPwm1Regs.AQCTLA.bit.PRD = 0;//do nothing
+ EPwm1Regs.AQCTLA.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Output B Control Register
+ EPwm1Regs.AQCTLB.bit.CBD = 0;//do nothing
+ EPwm1Regs.AQCTLB.bit.CBU = 0;//do nothing
+ EPwm1Regs.AQCTLB.bit.CAD = 0;//do nothing
+ EPwm1Regs.AQCTLB.bit.CAU = 0;//do nothing
+ EPwm1Regs.AQCTLB.bit.PRD = 0;//do nothing
+ EPwm1Regs.AQCTLB.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Software Force Register
+ EPwm1Regs.AQSFRC.all = 0;
+ // Action-Qualifier Continuous Software Force Register
+ EPwm1Regs.AQCSFRC.all = 0;
+ // Dead-Band Generator (DB) Submodule
+ // --------------------------------------------------------------------
+ // Dead-Band Generator Control Register
+ EPwm1Regs.DBCTL.bit.IN_MODE = 0;//EPWMxA In (from the action-qualifier) is the source for both falling-edge and rising-edge delay
+ EPwm1Regs.DBCTL.bit.POLSEL = 2;//active high complementary (AHC) mode
+ EPwm1Regs.DBCTL.bit.OUT_MODE = 3;//dead-band is fully enabled for both rising-edge delay on output EPWMxA and falling-edge delay on output EPWMxB
+ // Dead-Band Generator Rising Edge Delay Register
+ EPwm1Regs.DBRED = (unsigned short)(FTBCLK*DT);
+ // Dead-Band Generator Falling Edge Delay Register
+ EPwm1Regs.DBFED = (unsigned short)(FTBCLK*DT);
+ // PWM-Chopper (PC) Submodule
+ // --------------------------------------------------------------------
+ // PWM-Chopper Control Register
+ EPwm1Regs.PCCTL.all = 0;
+ // Trip-Zone (TZ) Submodule
+ // --------------------------------------------------------------------
+ EALLOW;
+ // Trip-Zone Select Register
+ EPwm1Regs.TZSEL.all = 0;
+ // Trip-Zone Control Register
+ EPwm1Regs.TZCTL.bit.TZB = 2;//when a trip event occurs the following action is taken on output EPWMxB - force EPWMxB to a low state
+ EPwm1Regs.TZCTL.bit.TZA = 2;//when a trip event occurs the following action is taken on output EPWMxA - force EPWMxA to a low state
+ // Trip-Zone Enable Interrupt Register
+ EPwm1Regs.TZEINT.all = 0;
+ // Trip-Zone Force Register
+ EPwm1Regs.TZFRC.all = 0x0004;//forces a one-shot trip event via software and sets the TZFLG[OST] bit
+ EDIS;
+ // Event-Trigger (ET) Submodule
+ // --------------------------------------------------------------------
+ // Event-Trigger Selection Register
+ EPwm1Regs.ETSEL.bit.SOCBEN = 1;//enable EPWMxSOCB pulse
+ EPwm1Regs.ETSEL.bit.SOCBSEL = 1;//EPWMxSOCB selection - enable event CTR == 0
+ EPwm1Regs.ETSEL.bit.SOCAEN = 1;//enable EPWMxSOCA pulse
+ EPwm1Regs.ETSEL.bit.SOCASEL = 2;//EPWMxSOCA selection - enable event CTR == PRD
+ EPwm1Regs.ETSEL.bit.INTEN = 0;//disable EPWMx_INT generation
+ EPwm1Regs.ETSEL.bit.INTSEL = 0;//reserved
+ // Event-Trigger Prescale Register
+ EPwm1Regs.ETPS.bit.SOCBPRD = 1;//generate the EPWMxSOCB pulse on the first event
+ EPwm1Regs.ETPS.bit.SOCAPRD = 1;//generate the EPWMxSOCA pulse on the first event
+ EPwm1Regs.ETPS.bit.INTPRD = 0;//disable the interrupt event counter (no interrupt will be generated)
+
+ // ePWM2
+ // ####################################################################
+ // Time-Base (TB) Submodule
+ // --------------------------------------------------------------------
+ // Time-Base Control Register
+ EPwm2Regs.TBCTL.bit.FREE_SOFT = 0;//emulation mode - stop after the next time-base counter increment or decrement
+ EPwm2Regs.TBCTL.bit.PHSDIR = 1;//count up after the synchronization event
+ EPwm2Regs.TBCTL.bit.CLKDIV = 0;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm2Regs.TBCTL.bit.HSPCLKDIV = 2;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm2Regs.TBCTL.bit.SYNCOSEL = 0;//SYNCO = SYNCI
+ EPwm2Regs.TBCTL.bit.PRDLD = 1;//load the TBPRD register immediately without using a shadow register
+ EPwm2Regs.TBCTL.bit.PHSEN = 1;//load TBCTR with TBPHS when EPWMxSYNCI input signal occurs
+ EPwm2Regs.TBCTL.bit.CTRMODE = 3;//stop-freeze counter operation
+ // Time-Base Period Register
+ EPwm2Regs.TBPRD = (unsigned short)T1_PRD;
+ // Time-Base Phase Register
+ EPwm2Regs.TBPHS.half.TBPHS = 2;
+ // Time-Base Counter Register
+ EPwm2Regs.TBCTR = 1;
+ // Counter-Compare (CC) Submodule
+ // --------------------------------------------------------------------
+ // Counter-Compare A Register
+ EPwm2Regs.CMPA.half.CMPA = 0;
+ // Counter-Compare B Register
+ EPwm2Regs.CMPB = 0;
+ // Counter-Compare Control Register
+ EPwm2Regs.CMPCTL.bit.SHDWBMODE = 0;//CMPB operating mode - shadow
+ EPwm2Regs.CMPCTL.bit.SHDWAMODE = 0;//CMPA operating mode - shadow
+ EPwm2Regs.CMPCTL.bit.LOADBMODE = 0;//has no effect in immediate mode
+ EPwm2Regs.CMPCTL.bit.LOADAMODE = 2;//active CMPA load from shadow - load on CTR = Zero or CTR = PRD
+ // Action-Qualifier (AQ) Submodule
+ // --------------------------------------------------------------------
+ // Action-Qualifier Output A Control Register
+ EPwm2Regs.AQCTLA.bit.CBD = 0;//do nothing
+ EPwm2Regs.AQCTLA.bit.CBU = 0;//do nothing
+ EPwm2Regs.AQCTLA.bit.CAD = 1;//clear - force EPWMxA output low
+ EPwm2Regs.AQCTLA.bit.CAU = 2;//set - force EPWMxA output high
+ EPwm2Regs.AQCTLA.bit.PRD = 0;//do nothing
+ EPwm2Regs.AQCTLA.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Output B Control Register
+ EPwm2Regs.AQCTLB.bit.CBD = 0;//do nothing
+ EPwm2Regs.AQCTLB.bit.CBU = 0;//do nothing
+ EPwm2Regs.AQCTLB.bit.CAD = 0;//do nothing
+ EPwm2Regs.AQCTLB.bit.CAU = 0;//do nothing
+ EPwm2Regs.AQCTLB.bit.PRD = 0;//do nothing
+ EPwm2Regs.AQCTLB.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Software Force Register
+ EPwm2Regs.AQSFRC.all = 0;
+ // Action-Qualifier Continuous Software Force Register
+ EPwm2Regs.AQCSFRC.all = 0;
+ // Dead-Band Generator (DB) Submodule
+ // --------------------------------------------------------------------
+ // Dead-Band Generator Control Register
+ EPwm2Regs.DBCTL.bit.IN_MODE = 0;//EPWMxA In (from the action-qualifier) is the source for both falling-edge and rising-edge delay
+ EPwm2Regs.DBCTL.bit.POLSEL = 2;//active high complementary (AHC) mode
+ EPwm2Regs.DBCTL.bit.OUT_MODE = 3;//dead-band is fully enabled for both rising-edge delay on output EPWMxA and falling-edge delay on output EPWMxB
+ // Dead-Band Generator Rising Edge Delay Register
+ EPwm2Regs.DBRED = (unsigned short)(FTBCLK*DT);
+ // Dead-Band Generator Falling Edge Delay Register
+ EPwm2Regs.DBFED = (unsigned short)(FTBCLK*DT);
+ // PWM-Chopper (PC) Submodule
+ // --------------------------------------------------------------------
+ // PWM-Chopper Control Register
+ EPwm2Regs.PCCTL.all = 0;
+ // Trip-Zone (TZ) Submodule
+ // --------------------------------------------------------------------
+ EALLOW;
+ // Trip-Zone Select Register
+ EPwm2Regs.TZSEL.all = 0;
+ // Trip-Zone Control Register
+ EPwm2Regs.TZCTL.bit.TZB = 2;//when a trip event occurs the following action is taken on output EPWMxB - force EPWMxB to a low state
+ EPwm2Regs.TZCTL.bit.TZA = 2;//when a trip event occurs the following action is taken on output EPWMxA - force EPWMxA to a low state
+ // Trip-Zone Enable Interrupt Register
+ EPwm2Regs.TZEINT.all = 0;
+ // Trip-Zone Force Register
+ EPwm2Regs.TZFRC.all = 0x0004;//forces a one-shot trip event via software and sets the TZFLG[OST] bit
+ EDIS;
+ // Event-Trigger (ET) Submodule
+ // --------------------------------------------------------------------
+ // Event-Trigger Selection Register
+ EPwm2Regs.ETSEL.all = 0;
+ // Event-Trigger Prescale Register
+ EPwm2Regs.ETPS.all = 0;
+
+ // ePWM3
+ // ####################################################################
+ // Time-Base (TB) Submodule
+ // --------------------------------------------------------------------
+ // Time-Base Control Register
+ EPwm3Regs.TBCTL.bit.FREE_SOFT = 0;//emulation mode - stop after the next time-base counter increment or decrement
+ EPwm3Regs.TBCTL.bit.PHSDIR = 1;//count up after the synchronization event
+ EPwm3Regs.TBCTL.bit.CLKDIV = 0;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm3Regs.TBCTL.bit.HSPCLKDIV = 2;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm3Regs.TBCTL.bit.SYNCOSEL = 0;//SYNCO = SYNCI
+ EPwm3Regs.TBCTL.bit.PRDLD = 1;//load the TBPRD register immediately without using a shadow register
+ EPwm3Regs.TBCTL.bit.PHSEN = 1;//load TBCTR with TBPHS when EPWMxSYNCI input signal occurs
+ EPwm3Regs.TBCTL.bit.CTRMODE = 3;//stop-freeze counter operation
+ // Time-Base Period Register
+ EPwm3Regs.TBPRD = (unsigned short)T1_PRD;
+ // Time-Base Phase Register
+ EPwm3Regs.TBPHS.half.TBPHS = 2;
+ // Time-Base Counter Register
+ EPwm3Regs.TBCTR = 1;
+ // Counter-Compare (CC) Submodule
+ // --------------------------------------------------------------------
+ // Counter-Compare A Register
+ EPwm3Regs.CMPA.half.CMPA = 0;
+ // Counter-Compare B Register
+ EPwm3Regs.CMPB = 0;
+ // Counter-Compare Control Register
+ EPwm3Regs.CMPCTL.bit.SHDWBMODE = 0;//CMPB operating mode - shadow
+ EPwm3Regs.CMPCTL.bit.SHDWAMODE = 0;//CMPA operating mode - shadow
+ EPwm3Regs.CMPCTL.bit.LOADBMODE = 0;//has no effect in immediate mode
+ EPwm3Regs.CMPCTL.bit.LOADAMODE = 2;//active CMPA load from shadow - load on CTR = Zero or CTR = PRD
+ // Action-Qualifier (AQ) Submodule
+ // --------------------------------------------------------------------
+ // Action-Qualifier Output A Control Register
+ EPwm3Regs.AQCTLA.bit.CBD = 0;//do nothing
+ EPwm3Regs.AQCTLA.bit.CBU = 0;//do nothing
+ EPwm3Regs.AQCTLA.bit.CAD = 2;//set - force EPWMxA output high
+ EPwm3Regs.AQCTLA.bit.CAU = 1;//clear - force EPWMxA output low
+ EPwm3Regs.AQCTLA.bit.PRD = 0;//do nothing
+ EPwm3Regs.AQCTLA.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Output B Control Register
+ EPwm3Regs.AQCTLB.bit.CBD = 0;//do nothing
+ EPwm3Regs.AQCTLB.bit.CBU = 0;//do nothing
+ EPwm3Regs.AQCTLB.bit.CAD = 0;//do nothing
+ EPwm3Regs.AQCTLB.bit.CAU = 0;//do nothing
+ EPwm3Regs.AQCTLB.bit.PRD = 0;//do nothing
+ EPwm3Regs.AQCTLB.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Software Force Register
+ EPwm3Regs.AQSFRC.all = 0;
+ // Action-Qualifier Continuous Software Force Register
+ EPwm3Regs.AQCSFRC.all = 0;
+ // Dead-Band Generator (DB) Submodule
+ // --------------------------------------------------------------------
+ // Dead-Band Generator Control Register
+ EPwm3Regs.DBCTL.bit.IN_MODE = 0;//EPWMxA In (from the action-qualifier) is the source for both falling-edge and rising-edge delay
+ EPwm3Regs.DBCTL.bit.POLSEL = 2;//active high complementary (AHC) mode
+ EPwm3Regs.DBCTL.bit.OUT_MODE = 3;//dead-band is fully enabled for both rising-edge delay on output EPWMxA and falling-edge delay on output EPWMxB
+ // Dead-Band Generator Rising Edge Delay Register
+ EPwm3Regs.DBRED = (unsigned short)(FTBCLK*DT);
+ // Dead-Band Generator Falling Edge Delay Register
+ EPwm3Regs.DBFED = (unsigned short)(FTBCLK*DT);
+ // PWM-Chopper (PC) Submodule
+ // --------------------------------------------------------------------
+ // PWM-Chopper Control Register
+ EPwm3Regs.PCCTL.all = 0;
+ // Trip-Zone (TZ) Submodule
+ // --------------------------------------------------------------------
+ EALLOW;
+ // Trip-Zone Select Register
+ EPwm3Regs.TZSEL.all = 0;
+ // Trip-Zone Control Register
+ EPwm3Regs.TZCTL.bit.TZB = 2;//when a trip event occurs the following action is taken on output EPWMxB - force EPWMxB to a low state
+ EPwm3Regs.TZCTL.bit.TZA = 2;//when a trip event occurs the following action is taken on output EPWMxA - force EPWMxA to a low state
+ // Trip-Zone Enable Interrupt Register
+ EPwm3Regs.TZEINT.all = 0;
+ // Trip-Zone Force Register
+ EPwm3Regs.TZFRC.all = 0x0004;//forces a one-shot trip event via software and sets the TZFLG[OST] bit
+ EDIS;
+ // Event-Trigger (ET) Submodule
+ // --------------------------------------------------------------------
+ // Event-Trigger Selection Register
+ EPwm3Regs.ETSEL.all = 0;
+ // Event-Trigger Prescale Register
+ EPwm3Regs.ETPS.all = 0;
+
+ // ePWM4
+ // ####################################################################
+ // Time-Base (TB) Submodule
+ // --------------------------------------------------------------------
+ // Time-Base Control Register
+ EPwm4Regs.TBCTL.bit.FREE_SOFT = 0;//emulation mode - stop after the next time-base counter increment or decrement
+ EPwm4Regs.TBCTL.bit.PHSDIR = 1;//count up after the synchronization event
+ EPwm4Regs.TBCTL.bit.CLKDIV = 0;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm4Regs.TBCTL.bit.HSPCLKDIV = 2;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm4Regs.TBCTL.bit.SYNCOSEL = 0;//SYNCO = SYNCI
+ EPwm4Regs.TBCTL.bit.PRDLD = 1;//load the TBPRD register immediately without using a shadow register
+ EPwm4Regs.TBCTL.bit.PHSEN = 1;//load TBCTR with TBPHS when EPWMxSYNCI input signal occurs
+ EPwm4Regs.TBCTL.bit.CTRMODE = 3;//stop-freeze counter operation
+ // Time-Base Period Register
+ EPwm4Regs.TBPRD = (unsigned short)T1_PRD;
+ // Time-Base Phase Register
+ EPwm4Regs.TBPHS.half.TBPHS = 2;
+ // Time-Base Counter Register
+ EPwm4Regs.TBCTR = 1;
+ // Counter-Compare (CC) Submodule
+ // --------------------------------------------------------------------
+ // Counter-Compare A Register
+ EPwm4Regs.CMPA.half.CMPA = 0;
+ // Counter-Compare B Register
+ EPwm4Regs.CMPB = 0;
+ // Counter-Compare Control Register
+ EPwm4Regs.CMPCTL.bit.SHDWBMODE = 0;//CMPB operating mode - shadow
+ EPwm4Regs.CMPCTL.bit.SHDWAMODE = 0;//CMPA operating mode - shadow
+ EPwm4Regs.CMPCTL.bit.LOADBMODE = 0;//has no effect in immediate mode
+ EPwm4Regs.CMPCTL.bit.LOADAMODE = 2;//active CMPA load from shadow - load on CTR = Zero or CTR = PRD
+ // Action-Qualifier (AQ) Submodule
+ // --------------------------------------------------------------------
+ // Action-Qualifier Output A Control Register
+ EPwm4Regs.AQCTLA.bit.CBD = 0;//do nothing
+ EPwm4Regs.AQCTLA.bit.CBU = 0;//do nothing
+ EPwm4Regs.AQCTLA.bit.CAD = 1;//clear - force EPWMxA output low
+ EPwm4Regs.AQCTLA.bit.CAU = 2;//set - force EPWMxA output high
+ EPwm4Regs.AQCTLA.bit.PRD = 0;//do nothing
+ EPwm4Regs.AQCTLA.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Output B Control Register
+ EPwm4Regs.AQCTLB.bit.CBD = 0;//do nothing
+ EPwm4Regs.AQCTLB.bit.CBU = 0;//do nothing
+ EPwm4Regs.AQCTLB.bit.CAD = 0;//do nothing
+ EPwm4Regs.AQCTLB.bit.CAU = 0;//do nothing
+ EPwm4Regs.AQCTLB.bit.PRD = 0;//do nothing
+ EPwm4Regs.AQCTLB.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Software Force Register
+ EPwm4Regs.AQSFRC.all = 0;
+ // Action-Qualifier Continuous Software Force Register
+ EPwm4Regs.AQCSFRC.all = 0;
+ // Dead-Band Generator (DB) Submodule
+ // --------------------------------------------------------------------
+ // Dead-Band Generator Control Register
+ EPwm4Regs.DBCTL.bit.IN_MODE = 0;//EPWMxA In (from the action-qualifier) is the source for both falling-edge and rising-edge delay
+ EPwm4Regs.DBCTL.bit.POLSEL = 2;//active high complementary (AHC) mode
+ EPwm4Regs.DBCTL.bit.OUT_MODE = 3;//dead-band is fully enabled for both rising-edge delay on output EPWMxA and falling-edge delay on output EPWMxB
+ // Dead-Band Generator Rising Edge Delay Register
+ EPwm4Regs.DBRED = (unsigned short)(FTBCLK*DT);
+ // Dead-Band Generator Falling Edge Delay Register
+ EPwm4Regs.DBFED = (unsigned short)(FTBCLK*DT);
+ // PWM-Chopper (PC) Submodule
+ // --------------------------------------------------------------------
+ // PWM-Chopper Control Register
+ EPwm4Regs.PCCTL.all = 0;
+ // Trip-Zone (TZ) Submodule
+ // --------------------------------------------------------------------
+ EALLOW;
+ // Trip-Zone Select Register
+ EPwm4Regs.TZSEL.all = 0;
+ // Trip-Zone Control Register
+ EPwm4Regs.TZCTL.bit.TZB = 2;//when a trip event occurs the following action is taken on output EPWMxB - force EPWMxB to a low state
+ EPwm4Regs.TZCTL.bit.TZA = 2;//when a trip event occurs the following action is taken on output EPWMxA - force EPWMxA to a low state
+ // Trip-Zone Enable Interrupt Register
+ EPwm4Regs.TZEINT.all = 0;
+ // Trip-Zone Force Register
+ EPwm4Regs.TZFRC.all = 0x0004;//forces a one-shot trip event via software and sets the TZFLG[OST] bit
+ EDIS;
+ // Event-Trigger (ET) Submodule
+ // --------------------------------------------------------------------
+ // Event-Trigger Selection Register
+ EPwm4Regs.ETSEL.all = 0;
+ // Event-Trigger Prescale Register
+ EPwm4Regs.ETPS.all = 0;
+
+ // ePWM5
+ // ####################################################################
+ // Time-Base (TB) Submodule
+ // --------------------------------------------------------------------
+ // Time-Base Control Register
+ EPwm5Regs.TBCTL.bit.FREE_SOFT = 0;//emulation mode - stop after the next time-base counter increment or decrement
+ EPwm5Regs.TBCTL.bit.PHSDIR = 1;//count up after the synchronization event
+ EPwm5Regs.TBCTL.bit.CLKDIV = 0;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm5Regs.TBCTL.bit.HSPCLKDIV = 2;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm5Regs.TBCTL.bit.SYNCOSEL = 0;//SYNCO = SYNCI
+ EPwm5Regs.TBCTL.bit.PRDLD = 1;//load the TBPRD register immediately without using a shadow register
+ EPwm5Regs.TBCTL.bit.PHSEN = 1;//load TBCTR with TBPHS when EPWMxSYNCI input signal occurs
+ EPwm5Regs.TBCTL.bit.CTRMODE = 3;//stop-freeze counter operation
+ // Time-Base Period Register
+ EPwm5Regs.TBPRD = (unsigned short)T1_PRD;
+ // Time-Base Phase Register
+ EPwm5Regs.TBPHS.half.TBPHS = 2;
+ // Time-Base Counter Register
+ EPwm5Regs.TBCTR = 1;
+ // Counter-Compare (CC) Submodule
+ // --------------------------------------------------------------------
+ // Counter-Compare A Register
+ EPwm5Regs.CMPA.half.CMPA = 0;
+ // Counter-Compare B Register
+ EPwm5Regs.CMPB = 0;
+ // Counter-Compare Control Register
+ EPwm5Regs.CMPCTL.bit.SHDWBMODE = 0;//CMPB operating mode - shadow
+ EPwm5Regs.CMPCTL.bit.SHDWAMODE = 0;//CMPA operating mode - shadow
+ EPwm5Regs.CMPCTL.bit.LOADBMODE = 0;//has no effect in immediate mode
+ EPwm5Regs.CMPCTL.bit.LOADAMODE = 2;//active CMPA load from shadow - load on CTR = Zero or CTR = PRD
+ // Action-Qualifier (AQ) Submodule
+ // --------------------------------------------------------------------
+ // Action-Qualifier Output A Control Register
+ EPwm5Regs.AQCTLA.bit.CBD = 0;//do nothing
+ EPwm5Regs.AQCTLA.bit.CBU = 0;//do nothing
+ EPwm5Regs.AQCTLA.bit.CAD = 2;//set - force EPWMxA output high
+ EPwm5Regs.AQCTLA.bit.CAU = 1;//clear - force EPWMxA output low
+ EPwm5Regs.AQCTLA.bit.PRD = 0;//do nothing
+ EPwm5Regs.AQCTLA.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Output B Control Register
+ EPwm5Regs.AQCTLB.bit.CBD = 0;//do nothing
+ EPwm5Regs.AQCTLB.bit.CBU = 0;//do nothing
+ EPwm5Regs.AQCTLB.bit.CAD = 0;//do nothing
+ EPwm5Regs.AQCTLB.bit.CAU = 0;//do nothing
+ EPwm5Regs.AQCTLB.bit.PRD = 0;//do nothing
+ EPwm5Regs.AQCTLB.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Software Force Register
+ EPwm5Regs.AQSFRC.all = 0;
+ // Action-Qualifier Continuous Software Force Register
+ EPwm5Regs.AQCSFRC.all = 0;
+ // Dead-Band Generator (DB) Submodule
+ // --------------------------------------------------------------------
+ // Dead-Band Generator Control Register
+ EPwm5Regs.DBCTL.bit.IN_MODE = 0;//EPWMxA In (from the action-qualifier) is the source for both falling-edge and rising-edge delay
+ EPwm5Regs.DBCTL.bit.POLSEL = 2;//active high complementary (AHC) mode
+ EPwm5Regs.DBCTL.bit.OUT_MODE = 3;//dead-band is fully enabled for both rising-edge delay on output EPWMxA and falling-edge delay on output EPWMxB
+ // Dead-Band Generator Rising Edge Delay Register
+ EPwm5Regs.DBRED = (unsigned short)(FTBCLK*DT);
+ // Dead-Band Generator Falling Edge Delay Register
+ EPwm5Regs.DBFED = (unsigned short)(FTBCLK*DT);
+ // PWM-Chopper (PC) Submodule
+ // --------------------------------------------------------------------
+ // PWM-Chopper Control Register
+ EPwm5Regs.PCCTL.all = 0;
+ // Trip-Zone (TZ) Submodule
+ // --------------------------------------------------------------------
+ EALLOW;
+ // Trip-Zone Select Register
+ EPwm5Regs.TZSEL.all = 0;
+ // Trip-Zone Control Register
+ EPwm5Regs.TZCTL.bit.TZB = 2;//when a trip event occurs the following action is taken on output EPWMxB - force EPWMxB to a low state
+ EPwm5Regs.TZCTL.bit.TZA = 2;//when a trip event occurs the following action is taken on output EPWMxA - force EPWMxA to a low state
+ // Trip-Zone Enable Interrupt Register
+ EPwm5Regs.TZEINT.all = 0;
+ // Trip-Zone Force Register
+ EPwm5Regs.TZFRC.all = 0x0004;//forces a one-shot trip event via software and sets the TZFLG[OST] bit
+ EDIS;
+ // Event-Trigger (ET) Submodule
+ // --------------------------------------------------------------------
+ // Event-Trigger Selection Register
+ EPwm5Regs.ETSEL.all = 0;
+ // Event-Trigger Prescale Register
+ EPwm5Regs.ETPS.all = 0;
+
+ // ePWM6
+ // ####################################################################
+ // Time-Base (TB) Submodule
+ // --------------------------------------------------------------------
+ // Time-Base Control Register
+ EPwm6Regs.TBCTL.bit.FREE_SOFT = 0;//emulation mode - stop after the next time-base counter increment or decrement
+ EPwm6Regs.TBCTL.bit.PHSDIR = 1;//count up after the synchronization event
+ EPwm6Regs.TBCTL.bit.CLKDIV = 0;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm6Regs.TBCTL.bit.HSPCLKDIV = 2;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm6Regs.TBCTL.bit.SYNCOSEL = 0;//SYNCO = SYNCI
+ EPwm6Regs.TBCTL.bit.PRDLD = 1;//load the TBPRD register immediately without using a shadow register
+ EPwm6Regs.TBCTL.bit.PHSEN = 1;//load TBCTR with TBPHS when EPWMxSYNCI input signal occurs
+ EPwm6Regs.TBCTL.bit.CTRMODE = 3;//stop-freeze counter operation
+ // Time-Base Period Register
+ EPwm6Regs.TBPRD = (unsigned short)T1_PRD;
+ // Time-Base Phase Register
+ EPwm6Regs.TBPHS.half.TBPHS = 2;
+ // Time-Base Counter Register
+ EPwm6Regs.TBCTR = 1;
+ // Counter-Compare (CC) Submodule
+ // --------------------------------------------------------------------
+ // Counter-Compare A Register
+ EPwm6Regs.CMPA.half.CMPA = 0;
+ // Counter-Compare B Register
+ EPwm6Regs.CMPB = 0;
+ // Counter-Compare Control Register
+ EPwm6Regs.CMPCTL.bit.SHDWBMODE = 0;//CMPB operating mode - shadow
+ EPwm6Regs.CMPCTL.bit.SHDWAMODE = 0;//CMPA operating mode - shadow
+ EPwm6Regs.CMPCTL.bit.LOADBMODE = 0;//has no effect in immediate mode
+ EPwm6Regs.CMPCTL.bit.LOADAMODE = 2;//active CMPA load from shadow - load on CTR = Zero or CTR = PRD
+ // Action-Qualifier (AQ) Submodule
+ // --------------------------------------------------------------------
+ // Action-Qualifier Output A Control Register
+ EPwm6Regs.AQCTLA.bit.CBD = 0;//do nothing
+ EPwm6Regs.AQCTLA.bit.CBU = 0;//do nothing
+ EPwm6Regs.AQCTLA.bit.CAD = 1;//clear - force EPWMxA output low
+ EPwm6Regs.AQCTLA.bit.CAU = 2;//set - force EPWMxA output high
+ EPwm6Regs.AQCTLA.bit.PRD = 0;//do nothing
+ EPwm6Regs.AQCTLA.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Output B Control Register
+ EPwm6Regs.AQCTLB.bit.CBD = 0;//do nothing
+ EPwm6Regs.AQCTLB.bit.CBU = 0;//do nothing
+ EPwm6Regs.AQCTLB.bit.CAD = 0;//do nothing
+ EPwm6Regs.AQCTLB.bit.CAU = 0;//do nothing
+ EPwm6Regs.AQCTLB.bit.PRD = 0;//do nothing
+ EPwm6Regs.AQCTLB.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Software Force Register
+ EPwm6Regs.AQSFRC.all = 0;
+ // Action-Qualifier Continuous Software Force Register
+ EPwm6Regs.AQCSFRC.all = 0;
+ // Dead-Band Generator (DB) Submodule
+ // --------------------------------------------------------------------
+ // Dead-Band Generator Control Register
+ EPwm6Regs.DBCTL.bit.IN_MODE = 0;//EPWMxA In (from the action-qualifier) is the source for both falling-edge and rising-edge delay
+ EPwm6Regs.DBCTL.bit.POLSEL = 2;//active high complementary (AHC) mode
+ EPwm6Regs.DBCTL.bit.OUT_MODE = 3;//dead-band is fully enabled for both rising-edge delay on output EPWMxA and falling-edge delay on output EPWMxB
+ // Dead-Band Generator Rising Edge Delay Register
+ EPwm6Regs.DBRED = (unsigned short)(FTBCLK*DT);
+ // Dead-Band Generator Falling Edge Delay Register
+ EPwm6Regs.DBFED = (unsigned short)(FTBCLK*DT);
+ // PWM-Chopper (PC) Submodule
+ // --------------------------------------------------------------------
+ // PWM-Chopper Control Register
+ EPwm6Regs.PCCTL.all = 0;
+ // Trip-Zone (TZ) Submodule
+ // --------------------------------------------------------------------
+ EALLOW;
+ // Trip-Zone Select Register
+ EPwm6Regs.TZSEL.all = 0;
+ // Trip-Zone Control Register
+ EPwm6Regs.TZCTL.bit.TZB = 2;//when a trip event occurs the following action is taken on output EPWMxB - force EPWMxB to a low state
+ EPwm6Regs.TZCTL.bit.TZA = 2;//when a trip event occurs the following action is taken on output EPWMxA - force EPWMxA to a low state
+ // Trip-Zone Enable Interrupt Register
+ EPwm6Regs.TZEINT.all = 0;
+ // Trip-Zone Force Register
+ EPwm6Regs.TZFRC.all = 0x0004;//forces a one-shot trip event via software and sets the TZFLG[OST] bit
+ EDIS;
+ // Event-Trigger (ET) Submodule
+ // --------------------------------------------------------------------
+ // Event-Trigger Selection Register
+ EPwm6Regs.ETSEL.all = 0;
+ // Event-Trigger Prescale Register
+ EPwm6Regs.ETPS.all = 0;
+
+#ifdef ML
+ // ePWM7
+ // ####################################################################
+ // Time-Base (TB) Submodule
+ // --------------------------------------------------------------------
+ // Time-Base Control Register
+ EPwm7Regs.TBCTL.bit.FREE_SOFT = 0;//emulation mode - stop after the next time-base counter increment or decrement
+ EPwm7Regs.TBCTL.bit.PHSDIR = 1;//count up after the synchronization event
+ EPwm7Regs.TBCTL.bit.CLKDIV = 0;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm7Regs.TBCTL.bit.HSPCLKDIV = 2;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm7Regs.TBCTL.bit.SYNCOSEL = 0;//SYNCO = SYNCI
+ EPwm7Regs.TBCTL.bit.PRDLD = 1;//load the TBPRD register immediately without using a shadow register
+ EPwm7Regs.TBCTL.bit.PHSEN = 1;//load TBCTR with TBPHS when EPWMxSYNCI input signal occurs
+ EPwm7Regs.TBCTL.bit.CTRMODE = 3;//stop-freeze counter operation
+ // Time-Base Period Register
+ EPwm7Regs.TBPRD = (unsigned short)T1_PRD;
+ // Time-Base Phase Register
+ EPwm7Regs.TBPHS.half.TBPHS = 2;
+ // Time-Base Counter Register
+ EPwm7Regs.TBCTR = 1;
+ // Counter-Compare (CC) Submodule
+ // --------------------------------------------------------------------
+ // Counter-Compare A Register
+ EPwm7Regs.CMPA.half.CMPA = 0;
+ // Counter-Compare B Register
+ EPwm7Regs.CMPB = 0;
+ // Counter-Compare Control Register
+ EPwm7Regs.CMPCTL.bit.SHDWBMODE = 0;//CMPB operating mode - shadow
+ EPwm7Regs.CMPCTL.bit.SHDWAMODE = 0;//CMPA operating mode - shadow
+ EPwm7Regs.CMPCTL.bit.LOADBMODE = 0;//has no effect in immediate mode
+ EPwm7Regs.CMPCTL.bit.LOADAMODE = 2;//active CMPA load from shadow - load on CTR = Zero or CTR = PRD
+ // Action-Qualifier (AQ) Submodule
+ // --------------------------------------------------------------------
+ // Action-Qualifier Output A Control Register
+ EPwm7Regs.AQCTLA.bit.CBD = 0;//do nothing
+ EPwm7Regs.AQCTLA.bit.CBU = 0;//do nothing
+ EPwm7Regs.AQCTLA.bit.CAD = 2;//set - force EPWMxA output high
+ EPwm7Regs.AQCTLA.bit.CAU = 1;//clear - force EPWMxA output low
+ EPwm7Regs.AQCTLA.bit.PRD = 0;//do nothing
+ EPwm7Regs.AQCTLA.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Output B Control Register
+ EPwm7Regs.AQCTLB.bit.CBD = 0;//do nothing
+ EPwm7Regs.AQCTLB.bit.CBU = 0;//do nothing
+ EPwm7Regs.AQCTLB.bit.CAD = 0;//do nothing
+ EPwm7Regs.AQCTLB.bit.CAU = 0;//do nothing
+ EPwm7Regs.AQCTLB.bit.PRD = 0;//do nothing
+ EPwm7Regs.AQCTLB.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Software Force Register
+ EPwm7Regs.AQSFRC.all = 0;
+ // Action-Qualifier Continuous Software Force Register
+ EPwm7Regs.AQCSFRC.all = 0;
+ // Dead-Band Generator (DB) Submodule
+ // --------------------------------------------------------------------
+ // Dead-Band Generator Control Register
+ EPwm7Regs.DBCTL.bit.IN_MODE = 0;//EPWMxA In (from the action-qualifier) is the source for both falling-edge and rising-edge delay
+ EPwm7Regs.DBCTL.bit.POLSEL = 2;//active high complementary (AHC) mode
+ EPwm7Regs.DBCTL.bit.OUT_MODE = 3;//dead-band is fully enabled for both rising-edge delay on output EPWMxA and falling-edge delay on output EPWMxB
+ // Dead-Band Generator Rising Edge Delay Register
+ EPwm7Regs.DBRED = (unsigned short)(FTBCLK*DT);
+ // Dead-Band Generator Falling Edge Delay Register
+ EPwm7Regs.DBFED = (unsigned short)(FTBCLK*DT);
+ // PWM-Chopper (PC) Submodule
+ // --------------------------------------------------------------------
+ // PWM-Chopper Control Register
+ EPwm7Regs.PCCTL.all = 0;
+ // Trip-Zone (TZ) Submodule
+ // --------------------------------------------------------------------
+ EALLOW;
+ // Trip-Zone Select Register
+ EPwm7Regs.TZSEL.all = 0;
+ // Trip-Zone Control Register
+ EPwm7Regs.TZCTL.bit.TZB = 2;//when a trip event occurs the following action is taken on output EPWMxB - force EPWMxB to a low state
+ EPwm7Regs.TZCTL.bit.TZA = 2;//when a trip event occurs the following action is taken on output EPWMxA - force EPWMxA to a low state
+ // Trip-Zone Enable Interrupt Register
+ EPwm7Regs.TZEINT.all = 0;
+ // Trip-Zone Force Register
+ EPwm7Regs.TZFRC.all = 0x0004;//forces a one-shot trip event via software and sets the TZFLG[OST] bit
+ EDIS;
+ // Event-Trigger (ET) Submodule
+ // --------------------------------------------------------------------
+ // Event-Trigger Selection Register
+ EPwm7Regs.ETSEL.all = 0;
+ // Event-Trigger Prescale Register
+ EPwm7Regs.ETPS.all = 0;
+
+ // ePWM8
+ // ####################################################################
+ // Time-Base (TB) Submodule
+ // --------------------------------------------------------------------
+ // Time-Base Control Register
+ EPwm8Regs.TBCTL.bit.FREE_SOFT = 0;//emulation mode - stop after the next time-base counter increment or decrement
+ EPwm8Regs.TBCTL.bit.PHSDIR = 1;//count up after the synchronization event
+ EPwm8Regs.TBCTL.bit.CLKDIV = 0;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm8Regs.TBCTL.bit.HSPCLKDIV = 2;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm8Regs.TBCTL.bit.SYNCOSEL = 0;//SYNCO = SYNCI
+ EPwm8Regs.TBCTL.bit.PRDLD = 1;//load the TBPRD register immediately without using a shadow register
+ EPwm8Regs.TBCTL.bit.PHSEN = 1;//load TBCTR with TBPHS when EPWMxSYNCI input signal occurs
+ EPwm8Regs.TBCTL.bit.CTRMODE = 3;//stop-freeze counter operation
+ // Time-Base Period Register
+ EPwm8Regs.TBPRD = (unsigned short)T1_PRD;
+ // Time-Base Phase Register
+ EPwm8Regs.TBPHS.half.TBPHS = 2;
+ // Time-Base Counter Register
+ EPwm8Regs.TBCTR = 1;
+ // Counter-Compare (CC) Submodule
+ // --------------------------------------------------------------------
+ // Counter-Compare A Register
+ EPwm8Regs.CMPA.half.CMPA = 0;
+ // Counter-Compare B Register
+ EPwm8Regs.CMPB = 0;
+ // Counter-Compare Control Register
+ EPwm8Regs.CMPCTL.bit.SHDWBMODE = 0;//CMPB operating mode - shadow
+ EPwm8Regs.CMPCTL.bit.SHDWAMODE = 0;//CMPA operating mode - shadow
+ EPwm8Regs.CMPCTL.bit.LOADBMODE = 0;//has no effect in immediate mode
+ EPwm8Regs.CMPCTL.bit.LOADAMODE = 2;//active CMPA load from shadow - load on CTR = Zero or CTR = PRD
+ // Action-Qualifier (AQ) Submodule
+ // --------------------------------------------------------------------
+ // Action-Qualifier Output A Control Register
+ EPwm8Regs.AQCTLA.bit.CBD = 0;//do nothing
+ EPwm8Regs.AQCTLA.bit.CBU = 0;//do nothing
+ EPwm8Regs.AQCTLA.bit.CAD = 1;//clear - force EPWMxA output low
+ EPwm8Regs.AQCTLA.bit.CAU = 2;//set - force EPWMxA output high
+ EPwm8Regs.AQCTLA.bit.PRD = 0;//do nothing
+ EPwm8Regs.AQCTLA.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Output B Control Register
+ EPwm8Regs.AQCTLB.bit.CBD = 0;//do nothing
+ EPwm8Regs.AQCTLB.bit.CBU = 0;//do nothing
+ EPwm8Regs.AQCTLB.bit.CAD = 0;//do nothing
+ EPwm8Regs.AQCTLB.bit.CAU = 0;//do nothing
+ EPwm8Regs.AQCTLB.bit.PRD = 0;//do nothing
+ EPwm8Regs.AQCTLB.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Software Force Register
+ EPwm8Regs.AQSFRC.all = 0;
+ // Action-Qualifier Continuous Software Force Register
+ EPwm8Regs.AQCSFRC.all = 0;
+ // Dead-Band Generator (DB) Submodule
+ // --------------------------------------------------------------------
+ // Dead-Band Generator Control Register
+ EPwm8Regs.DBCTL.bit.IN_MODE = 0;//EPWMxA In (from the action-qualifier) is the source for both falling-edge and rising-edge delay
+ EPwm8Regs.DBCTL.bit.POLSEL = 2;//active high complementary (AHC) mode
+ EPwm8Regs.DBCTL.bit.OUT_MODE = 3;//dead-band is fully enabled for both rising-edge delay on output EPWMxA and falling-edge delay on output EPWMxB
+ // Dead-Band Generator Rising Edge Delay Register
+ EPwm8Regs.DBRED = (unsigned short)(FTBCLK*DT);
+ // Dead-Band Generator Falling Edge Delay Register
+ EPwm8Regs.DBFED = (unsigned short)(FTBCLK*DT);
+ // PWM-Chopper (PC) Submodule
+ // --------------------------------------------------------------------
+ // PWM-Chopper Control Register
+ EPwm8Regs.PCCTL.all = 0;
+ // Trip-Zone (TZ) Submodule
+ // --------------------------------------------------------------------
+ EALLOW;
+ // Trip-Zone Select Register
+ EPwm8Regs.TZSEL.all = 0;
+ // Trip-Zone Control Register
+ EPwm8Regs.TZCTL.bit.TZB = 2;//when a trip event occurs the following action is taken on output EPWMxB - force EPWMxB to a low state
+ EPwm8Regs.TZCTL.bit.TZA = 2;//when a trip event occurs the following action is taken on output EPWMxA - force EPWMxA to a low state
+ // Trip-Zone Enable Interrupt Register
+ EPwm8Regs.TZEINT.all = 0;
+ // Trip-Zone Force Register
+ EPwm8Regs.TZFRC.all = 0x0004;//forces a one-shot trip event via software and sets the TZFLG[OST] bit
+ EDIS;
+ // Event-Trigger (ET) Submodule
+ // --------------------------------------------------------------------
+ // Event-Trigger Selection Register
+ EPwm8Regs.ETSEL.all = 0;
+ // Event-Trigger Prescale Register
+ EPwm8Regs.ETPS.all = 0;
+
+ // ePWM9
+ // ####################################################################
+ // Time-Base (TB) Submodule
+ // --------------------------------------------------------------------
+ // Time-Base Control Register
+ EPwm9Regs.TBCTL.bit.FREE_SOFT = 0;//emulation mode - stop after the next time-base counter increment or decrement
+ EPwm9Regs.TBCTL.bit.PHSDIR = 1;//count up after the synchronization event
+ EPwm9Regs.TBCTL.bit.CLKDIV = 0;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm9Regs.TBCTL.bit.HSPCLKDIV = 2;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm9Regs.TBCTL.bit.SYNCOSEL = 0;//SYNCO = SYNCI
+ EPwm9Regs.TBCTL.bit.PRDLD = 1;//load the TBPRD register immediately without using a shadow register
+ EPwm9Regs.TBCTL.bit.PHSEN = 1;//load TBCTR with TBPHS when EPWMxSYNCI input signal occurs
+ EPwm9Regs.TBCTL.bit.CTRMODE = 3;//stop-freeze counter operation
+ // Time-Base Period Register
+ EPwm9Regs.TBPRD = (unsigned short)T1_PRD;
+ // Time-Base Phase Register
+ EPwm9Regs.TBPHS.half.TBPHS = 2;
+ // Time-Base Counter Register
+ EPwm9Regs.TBCTR = 1;
+ // Counter-Compare (CC) Submodule
+ // --------------------------------------------------------------------
+ // Counter-Compare A Register
+ EPwm9Regs.CMPA.half.CMPA = 0;
+ // Counter-Compare B Register
+ EPwm9Regs.CMPB = 0;
+ // Counter-Compare Control Register
+ EPwm9Regs.CMPCTL.bit.SHDWBMODE = 0;//CMPB operating mode - shadow
+ EPwm9Regs.CMPCTL.bit.SHDWAMODE = 0;//CMPA operating mode - shadow
+ EPwm9Regs.CMPCTL.bit.LOADBMODE = 0;//has no effect in immediate mode
+ EPwm9Regs.CMPCTL.bit.LOADAMODE = 2;//active CMPA load from shadow - load on CTR = Zero or CTR = PRD
+ // Action-Qualifier (AQ) Submodule
+ // --------------------------------------------------------------------
+ // Action-Qualifier Output A Control Register
+ EPwm9Regs.AQCTLA.bit.CBD = 0;//do nothing
+ EPwm9Regs.AQCTLA.bit.CBU = 0;//do nothing
+ EPwm9Regs.AQCTLA.bit.CAD = 2;//set - force EPWMxA output high
+ EPwm9Regs.AQCTLA.bit.CAU = 1;//clear - force EPWMxA output low
+ EPwm9Regs.AQCTLA.bit.PRD = 0;//do nothing
+ EPwm9Regs.AQCTLA.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Output B Control Register
+ EPwm9Regs.AQCTLB.bit.CBD = 0;//do nothing
+ EPwm9Regs.AQCTLB.bit.CBU = 0;//do nothing
+ EPwm9Regs.AQCTLB.bit.CAD = 0;//do nothing
+ EPwm9Regs.AQCTLB.bit.CAU = 0;//do nothing
+ EPwm9Regs.AQCTLB.bit.PRD = 0;//do nothing
+ EPwm9Regs.AQCTLB.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Software Force Register
+ EPwm9Regs.AQSFRC.all = 0;
+ // Action-Qualifier Continuous Software Force Register
+ EPwm9Regs.AQCSFRC.all = 0;
+ // Dead-Band Generator (DB) Submodule
+ // --------------------------------------------------------------------
+ // Dead-Band Generator Control Register
+ EPwm9Regs.DBCTL.bit.IN_MODE = 0;//EPWMxA In (from the action-qualifier) is the source for both falling-edge and rising-edge delay
+ EPwm9Regs.DBCTL.bit.POLSEL = 2;//active high complementary (AHC) mode
+ EPwm9Regs.DBCTL.bit.OUT_MODE = 3;//dead-band is fully enabled for both rising-edge delay on output EPWMxA and falling-edge delay on output EPWMxB
+ // Dead-Band Generator Rising Edge Delay Register
+ EPwm9Regs.DBRED = (unsigned short)(FTBCLK*DT);
+ // Dead-Band Generator Falling Edge Delay Register
+ EPwm9Regs.DBFED = (unsigned short)(FTBCLK*DT);
+ // PWM-Chopper (PC) Submodule
+ // --------------------------------------------------------------------
+ // PWM-Chopper Control Register
+ EPwm9Regs.PCCTL.all = 0;
+ // Trip-Zone (TZ) Submodule
+ // --------------------------------------------------------------------
+ EALLOW;
+ // Trip-Zone Select Register
+ EPwm9Regs.TZSEL.all = 0;
+ // Trip-Zone Control Register
+ EPwm9Regs.TZCTL.bit.TZB = 2;//when a trip event occurs the following action is taken on output EPWMxB - force EPWMxB to a low state
+ EPwm9Regs.TZCTL.bit.TZA = 2;//when a trip event occurs the following action is taken on output EPWMxA - force EPWMxA to a low state
+ // Trip-Zone Enable Interrupt Register
+ EPwm9Regs.TZEINT.all = 0;
+ // Trip-Zone Force Register
+ EPwm9Regs.TZFRC.all = 0x0004;//forces a one-shot trip event via software and sets the TZFLG[OST] bit
+ EDIS;
+ // Event-Trigger (ET) Submodule
+ // --------------------------------------------------------------------
+ // Event-Trigger Selection Register
+ EPwm9Regs.ETSEL.all = 0;
+ // Event-Trigger Prescale Register
+ EPwm9Regs.ETPS.all = 0;
+
+ // ePWM10
+ // ####################################################################
+ // Time-Base (TB) Submodule
+ // --------------------------------------------------------------------
+ // Time-Base Control Register
+ EPwm10Regs.TBCTL.bit.FREE_SOFT = 0;//emulation mode - stop after the next time-base counter increment or decrement
+ EPwm10Regs.TBCTL.bit.PHSDIR = 1;//count up after the synchronization event
+ EPwm10Regs.TBCTL.bit.CLKDIV = 0;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm10Regs.TBCTL.bit.HSPCLKDIV = 2;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm10Regs.TBCTL.bit.SYNCOSEL = 0;//SYNCO = SYNCI
+ EPwm10Regs.TBCTL.bit.PRDLD = 1;//load the TBPRD register immediately without using a shadow register
+ EPwm10Regs.TBCTL.bit.PHSEN = 1;//load TBCTR with TBPHS when EPWMxSYNCI input signal occurs
+ EPwm10Regs.TBCTL.bit.CTRMODE = 3;//stop-freeze counter operation
+ // Time-Base Period Register
+ EPwm10Regs.TBPRD = (unsigned short)T1_PRD;
+ // Time-Base Phase Register
+ EPwm10Regs.TBPHS.half.TBPHS = 2;
+ // Time-Base Counter Register
+ EPwm10Regs.TBCTR = 1;
+ // Counter-Compare (CC) Submodule
+ // --------------------------------------------------------------------
+ // Counter-Compare A Register
+ EPwm10Regs.CMPA.half.CMPA = 0;
+ // Counter-Compare B Register
+ EPwm10Regs.CMPB = 0;
+ // Counter-Compare Control Register
+ EPwm10Regs.CMPCTL.bit.SHDWBMODE = 0;//CMPB operating mode - shadow
+ EPwm10Regs.CMPCTL.bit.SHDWAMODE = 0;//CMPA operating mode - shadow
+ EPwm10Regs.CMPCTL.bit.LOADBMODE = 0;//has no effect in immediate mode
+ EPwm10Regs.CMPCTL.bit.LOADAMODE = 2;//active CMPA load from shadow - load on CTR = Zero or CTR = PRD
+ // Action-Qualifier (AQ) Submodule
+ // --------------------------------------------------------------------
+ // Action-Qualifier Output A Control Register
+ EPwm10Regs.AQCTLA.bit.CBD = 0;//do nothing
+ EPwm10Regs.AQCTLA.bit.CBU = 0;//do nothing
+ EPwm10Regs.AQCTLA.bit.CAD = 1;//clear - force EPWMxA output low
+ EPwm10Regs.AQCTLA.bit.CAU = 2;//set - force EPWMxA output high
+ EPwm10Regs.AQCTLA.bit.PRD = 0;//do nothing
+ EPwm10Regs.AQCTLA.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Output B Control Register
+ EPwm10Regs.AQCTLB.bit.CBD = 0;//do nothing
+ EPwm10Regs.AQCTLB.bit.CBU = 0;//do nothing
+ EPwm10Regs.AQCTLB.bit.CAD = 0;//do nothing
+ EPwm10Regs.AQCTLB.bit.CAU = 0;//do nothing
+ EPwm10Regs.AQCTLB.bit.PRD = 0;//do nothing
+ EPwm10Regs.AQCTLB.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Software Force Register
+ EPwm10Regs.AQSFRC.all = 0;
+ // Action-Qualifier Continuous Software Force Register
+ EPwm10Regs.AQCSFRC.all = 0;
+ // Dead-Band Generator (DB) Submodule
+ // --------------------------------------------------------------------
+ // Dead-Band Generator Control Register
+ EPwm10Regs.DBCTL.bit.IN_MODE = 0;//EPWMxA In (from the action-qualifier) is the source for both falling-edge and rising-edge delay
+ EPwm10Regs.DBCTL.bit.POLSEL = 2;//active high complementary (AHC) mode
+ EPwm10Regs.DBCTL.bit.OUT_MODE = 3;//dead-band is fully enabled for both rising-edge delay on output EPWMxA and falling-edge delay on output EPWMxB
+ // Dead-Band Generator Rising Edge Delay Register
+ EPwm10Regs.DBRED = (unsigned short)(FTBCLK*DT);
+ // Dead-Band Generator Falling Edge Delay Register
+ EPwm10Regs.DBFED = (unsigned short)(FTBCLK*DT);
+ // PWM-Chopper (PC) Submodule
+ // --------------------------------------------------------------------
+ // PWM-Chopper Control Register
+ EPwm10Regs.PCCTL.all = 0;
+ // Trip-Zone (TZ) Submodule
+ // --------------------------------------------------------------------
+ EALLOW;
+ // Trip-Zone Select Register
+ EPwm10Regs.TZSEL.all = 0;
+ // Trip-Zone Control Register
+ EPwm10Regs.TZCTL.bit.TZB = 2;//when a trip event occurs the following action is taken on output EPWMxB - force EPWMxB to a low state
+ EPwm10Regs.TZCTL.bit.TZA = 2;//when a trip event occurs the following action is taken on output EPWMxA - force EPWMxA to a low state
+ // Trip-Zone Enable Interrupt Register
+ EPwm10Regs.TZEINT.all = 0;
+ // Trip-Zone Force Register
+ EPwm10Regs.TZFRC.all = 0x0004;//forces a one-shot trip event via software and sets the TZFLG[OST] bit
+ EDIS;
+ // Event-Trigger (ET) Submodule
+ // --------------------------------------------------------------------
+ // Event-Trigger Selection Register
+ EPwm10Regs.ETSEL.all = 0;
+ // Event-Trigger Prescale Register
+ EPwm10Regs.ETPS.all = 0;
+
+ // ePWM11
+ // ####################################################################
+ // Time-Base (TB) Submodule
+ // --------------------------------------------------------------------
+ // Time-Base Control Register
+ EPwm11Regs.TBCTL.bit.FREE_SOFT = 0;//emulation mode - stop after the next time-base counter increment or decrement
+ EPwm11Regs.TBCTL.bit.PHSDIR = 1;//count up after the synchronization event
+ EPwm11Regs.TBCTL.bit.CLKDIV = 0;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm11Regs.TBCTL.bit.HSPCLKDIV = 2;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm11Regs.TBCTL.bit.SYNCOSEL = 0;//SYNCO = SYNCI
+ EPwm11Regs.TBCTL.bit.PRDLD = 1;//load the TBPRD register immediately without using a shadow register
+ EPwm11Regs.TBCTL.bit.PHSEN = 1;//load TBCTR with TBPHS when EPWMxSYNCI input signal occurs
+ EPwm11Regs.TBCTL.bit.CTRMODE = 3;//stop-freeze counter operation
+ // Time-Base Period Register
+ EPwm11Regs.TBPRD = (unsigned short)T1_PRD;
+ // Time-Base Phase Register
+ EPwm11Regs.TBPHS.half.TBPHS = 2;
+ // Time-Base Counter Register
+ EPwm11Regs.TBCTR = 1;
+ // Counter-Compare (CC) Submodule
+ // --------------------------------------------------------------------
+ // Counter-Compare A Register
+ EPwm11Regs.CMPA.half.CMPA = 0;
+ // Counter-Compare B Register
+ EPwm11Regs.CMPB = 0;
+ // Counter-Compare Control Register
+ EPwm11Regs.CMPCTL.bit.SHDWBMODE = 0;//CMPB operating mode - shadow
+ EPwm11Regs.CMPCTL.bit.SHDWAMODE = 0;//CMPA operating mode - shadow
+ EPwm11Regs.CMPCTL.bit.LOADBMODE = 0;//has no effect in immediate mode
+ EPwm11Regs.CMPCTL.bit.LOADAMODE = 2;//active CMPA load from shadow - load on CTR = Zero or CTR = PRD
+ // Action-Qualifier (AQ) Submodule
+ // --------------------------------------------------------------------
+ // Action-Qualifier Output A Control Register
+ EPwm11Regs.AQCTLA.bit.CBD = 0;//do nothing
+ EPwm11Regs.AQCTLA.bit.CBU = 0;//do nothing
+ EPwm11Regs.AQCTLA.bit.CAD = 2;//set - force EPWMxA output high
+ EPwm11Regs.AQCTLA.bit.CAU = 1;//clear - force EPWMxA output low
+ EPwm11Regs.AQCTLA.bit.PRD = 0;//do nothing
+ EPwm11Regs.AQCTLA.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Output B Control Register
+ EPwm11Regs.AQCTLB.bit.CBD = 0;//do nothing
+ EPwm11Regs.AQCTLB.bit.CBU = 0;//do nothing
+ EPwm11Regs.AQCTLB.bit.CAD = 0;//do nothing
+ EPwm11Regs.AQCTLB.bit.CAU = 0;//do nothing
+ EPwm11Regs.AQCTLB.bit.PRD = 0;//do nothing
+ EPwm11Regs.AQCTLB.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Software Force Register
+ EPwm11Regs.AQSFRC.all = 0;
+ // Action-Qualifier Continuous Software Force Register
+ EPwm11Regs.AQCSFRC.all = 0;
+ // Dead-Band Generator (DB) Submodule
+ // --------------------------------------------------------------------
+ // Dead-Band Generator Control Register
+ EPwm11Regs.DBCTL.bit.IN_MODE = 0;//EPWMxA In (from the action-qualifier) is the source for both falling-edge and rising-edge delay
+ EPwm11Regs.DBCTL.bit.POLSEL = 2;//active high complementary (AHC) mode
+ EPwm11Regs.DBCTL.bit.OUT_MODE = 3;//dead-band is fully enabled for both rising-edge delay on output EPWMxA and falling-edge delay on output EPWMxB
+ // Dead-Band Generator Rising Edge Delay Register
+ EPwm11Regs.DBRED = (unsigned short)(FTBCLK*DT);
+ // Dead-Band Generator Falling Edge Delay Register
+ EPwm11Regs.DBFED = (unsigned short)(FTBCLK*DT);
+ // PWM-Chopper (PC) Submodule
+ // --------------------------------------------------------------------
+ // PWM-Chopper Control Register
+ EPwm11Regs.PCCTL.all = 0;
+ // Trip-Zone (TZ) Submodule
+ // --------------------------------------------------------------------
+ EALLOW;
+ // Trip-Zone Select Register
+ EPwm11Regs.TZSEL.all = 0;
+ // Trip-Zone Control Register
+ EPwm11Regs.TZCTL.bit.TZB = 2;//when a trip event occurs the following action is taken on output EPWMxB - force EPWMxB to a low state
+ EPwm11Regs.TZCTL.bit.TZA = 2;//when a trip event occurs the following action is taken on output EPWMxA - force EPWMxA to a low state
+ // Trip-Zone Enable Interrupt Register
+ EPwm11Regs.TZEINT.all = 0;
+ // Trip-Zone Force Register
+ EPwm11Regs.TZFRC.all = 0x0004;//forces a one-shot trip event via software and sets the TZFLG[OST] bit
+ EDIS;
+ // Event-Trigger (ET) Submodule
+ // --------------------------------------------------------------------
+ // Event-Trigger Selection Register
+ EPwm11Regs.ETSEL.all = 0;
+ // Event-Trigger Prescale Register
+ EPwm11Regs.ETPS.all = 0;
+
+ // ePWM12
+ // ####################################################################
+ // Time-Base (TB) Submodule
+ // --------------------------------------------------------------------
+ // Time-Base Control Register
+ EPwm12Regs.TBCTL.bit.FREE_SOFT = 0;//emulation mode - stop after the next time-base counter increment or decrement
+ EPwm12Regs.TBCTL.bit.PHSDIR = 1;//count up after the synchronization event
+ EPwm12Regs.TBCTL.bit.CLKDIV = 0;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm12Regs.TBCTL.bit.HSPCLKDIV = 2;//TBCLK = SYSCLKOUT/(HSPCLKDIV*CLKDIV)
+ EPwm12Regs.TBCTL.bit.SYNCOSEL = 0;//SYNCO = SYNCI
+ EPwm12Regs.TBCTL.bit.PRDLD = 1;//load the TBPRD register immediately without using a shadow register
+ EPwm12Regs.TBCTL.bit.PHSEN = 1;//load TBCTR with TBPHS when EPWMxSYNCI input signal occurs
+ EPwm12Regs.TBCTL.bit.CTRMODE = 3;//stop-freeze counter operation
+ // Time-Base Period Register
+ EPwm12Regs.TBPRD = (unsigned short)T1_PRD;
+ // Time-Base Phase Register
+ EPwm12Regs.TBPHS.half.TBPHS = 2;
+ // Time-Base Counter Register
+ EPwm12Regs.TBCTR = 1;
+ // Counter-Compare (CC) Submodule
+ // --------------------------------------------------------------------
+ // Counter-Compare A Register
+ EPwm12Regs.CMPA.half.CMPA = 0;
+ // Counter-Compare B Register
+ EPwm12Regs.CMPB = 0;
+ // Counter-Compare Control Register
+ EPwm12Regs.CMPCTL.bit.SHDWBMODE = 0;//CMPB operating mode - shadow
+ EPwm12Regs.CMPCTL.bit.SHDWAMODE = 0;//CMPA operating mode - shadow
+ EPwm12Regs.CMPCTL.bit.LOADBMODE = 0;//has no effect in immediate mode
+ EPwm12Regs.CMPCTL.bit.LOADAMODE = 2;//active CMPA load from shadow - load on CTR = Zero or CTR = PRD
+ // Action-Qualifier (AQ) Submodule
+ // --------------------------------------------------------------------
+ // Action-Qualifier Output A Control Register
+ EPwm12Regs.AQCTLA.bit.CBD = 0;//do nothing
+ EPwm12Regs.AQCTLA.bit.CBU = 0;//do nothing
+ EPwm12Regs.AQCTLA.bit.CAD = 1;//clear - force EPWMxA output low
+ EPwm12Regs.AQCTLA.bit.CAU = 2;//set - force EPWMxA output high
+ EPwm12Regs.AQCTLA.bit.PRD = 0;//do nothing
+ EPwm12Regs.AQCTLA.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Output B Control Register
+ EPwm12Regs.AQCTLB.bit.CBD = 0;//do nothing
+ EPwm12Regs.AQCTLB.bit.CBU = 0;//do nothing
+ EPwm12Regs.AQCTLB.bit.CAD = 0;//do nothing
+ EPwm12Regs.AQCTLB.bit.CAU = 0;//do nothing
+ EPwm12Regs.AQCTLB.bit.PRD = 0;//do nothing
+ EPwm12Regs.AQCTLB.bit.ZRO = 0;//do nothing
+ // Action-Qualifier Software Force Register
+ EPwm12Regs.AQSFRC.all = 0;
+ // Action-Qualifier Continuous Software Force Register
+ EPwm12Regs.AQCSFRC.all = 0;
+ // Dead-Band Generator (DB) Submodule
+ // --------------------------------------------------------------------
+ // Dead-Band Generator Control Register
+ EPwm12Regs.DBCTL.bit.IN_MODE = 0;//EPWMxA In (from the action-qualifier) is the source for both falling-edge and rising-edge delay
+ EPwm12Regs.DBCTL.bit.POLSEL = 2;//active high complementary (AHC) mode
+ EPwm12Regs.DBCTL.bit.OUT_MODE = 3;//dead-band is fully enabled for both rising-edge delay on output EPWMxA and falling-edge delay on output EPWMxB
+ // Dead-Band Generator Rising Edge Delay Register
+ EPwm12Regs.DBRED = (unsigned short)(FTBCLK*DT);
+ // Dead-Band Generator Falling Edge Delay Register
+ EPwm12Regs.DBFED = (unsigned short)(FTBCLK*DT);
+ // PWM-Chopper (PC) Submodule
+ // --------------------------------------------------------------------
+ // PWM-Chopper Control Register
+ EPwm12Regs.PCCTL.all = 0;
+ // Trip-Zone (TZ) Submodule
+ // --------------------------------------------------------------------
+ EALLOW;
+ // Trip-Zone Select Register
+ EPwm12Regs.TZSEL.all = 0;
+ // Trip-Zone Control Register
+ EPwm12Regs.TZCTL.bit.TZB = 2;//when a trip event occurs the following action is taken on output EPWMxB - force EPWMxB to a low state
+ EPwm12Regs.TZCTL.bit.TZA = 2;//when a trip event occurs the following action is taken on output EPWMxA - force EPWMxA to a low state
+ // Trip-Zone Enable Interrupt Register
+ EPwm12Regs.TZEINT.all = 0;
+ // Trip-Zone Force Register
+ EPwm12Regs.TZFRC.all = 0x0004;//forces a one-shot trip event via software and sets the TZFLG[OST] bit
+ EDIS;
+ // Event-Trigger (ET) Submodule
+ // --------------------------------------------------------------------
+ // Event-Trigger Selection Register
+ EPwm12Regs.ETSEL.all = 0;
+ // Event-Trigger Prescale Register
+ EPwm12Regs.ETPS.all = 0;
+#endif //ML
+} //void SetupEpwm(void)
+
+
+
+// ����������� ADC
+void SetupAdc(void) {
+#ifndef ML
+ unsigned short i;
+
+ // ADC Control Register 1
+ AdcRegs.ADCTRL1.bit.SUSMOD = 0;//emulation suspend is ignored
+ AdcRegs.ADCTRL1.bit.ACQ_PS = 3;//width of SOC pulse is (ACQ_PS+1) times the ADCLK period
+ AdcRegs.ADCTRL1.bit.CPS = 0;//ADCCLK = HSPCLK/(2*ADCCLKPS*(CPS+1))
+ AdcRegs.ADCTRL1.bit.CONT_RUN = 0;//start-stop mode
+ AdcRegs.ADCTRL1.bit.SEQ_OVRD = 0;//sequencer override disabled
+ AdcRegs.ADCTRL1.bit.SEQ_CASC = 1;//cascaded mode
+
+ // ADC Control Register 2
+ AdcRegs.ADCTRL2.bit.EPWM_SOCB_SEQ = 1;//allows SEQ to be started by ePWMx SOCB trigger
+ AdcRegs.ADCTRL2.bit.SOC_SEQ1 = 0;//clears a pending SOC trigger
+ AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1;//interrupt request by INT_SEQ1 is enabled
+ AdcRegs.ADCTRL2.bit.INT_MOD_SEQ1 = 0;//INT_SEQ1 is set at the end of every SEQ1 sequence
+ AdcRegs.ADCTRL2.bit.EPWM_SOCA_SEQ1 = 1;//allows SEQ1/SEQ to be started by ePWMx SOCA trigger
+ AdcRegs.ADCTRL2.bit.EXT_SOC_SEQ1 = 0;//disables an ADC autoconversion sequence to be started by a signal from a GPIO Port A pin
+ AdcRegs.ADCTRL2.bit.SOC_SEQ2 = 0;//clears a pending SOC trigger
+ AdcRegs.ADCTRL2.bit.INT_ENA_SEQ2 = 0;//interrupt request by INT_SEQ2 is disabled
+ AdcRegs.ADCTRL2.bit.INT_MOD_SEQ2 = 0;//INT_SEQ2 is set at the end of every SEQ2 sequence
+ AdcRegs.ADCTRL2.bit.EPWM_SOCB_SEQ2 = 0;//SEQ2 cannot be started by ePWMx SOCB trigger
+
+ /* The ADC resets to the ADC off state. When powering up the ADC, use
+ the following sequence:
+ 1. If external reference is desired, enable this mode using bits
+ 15-14 in the ADCREFSEL Register. This mode must be enabled before
+ band gap is powered;
+ 2. Power up the reference, bandgap, and analog circuits together by
+ setting bits 7-5 (ADCBGRFDN[1:0], ADCPWDN) in the ADCTRL3 register;
+ 3. Before performing the first conversion, a delay of 5 ms is required */
+
+ // ADC Reference Select Register
+ AdcRegs.ADCREFSEL.bit.REF_SEL = 1;//external reference, 2.048 V on ADCREFIN
+
+ // ADC Control Register 3
+ AdcRegs.ADCTRL3.all = 0x00E0;//power up the reference, bandgap, and analog circuits together
+ AdcRegs.ADCTRL3.bit.ADCCLKPS = 5;//ADCCLK = HSPCLK/(2*ADCCLKPS*(CPS+1)) -> ADCCLK = 75e6/(2*5*(0+1)) = 7.5e6 ��
+ AdcRegs.ADCTRL3.bit.SMODE_SEL = 1;//simultaneous sampling mode
+
+ // Delay before converting ADC channels
+ for ( i = 0; i < 65500; i++ )
+ ;
+#endif //ML
+
+ // Maximum Conversion Channels Register
+ AdcRegs.ADCMAXCONV.bit.MAX_CONV1 = 5;//6 double conv's (12 total)
+ // ADC Input Channel Select Sequencing Control Registers
+ AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0;
+ AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 1;
+ AdcRegs.ADCCHSELSEQ1.bit.CONV02 = 2;
+ AdcRegs.ADCCHSELSEQ1.bit.CONV03 = 3;
+ AdcRegs.ADCCHSELSEQ2.bit.CONV04 = 4;
+ AdcRegs.ADCCHSELSEQ2.bit.CONV05 = 5;
+ AdcRegs.ADCCHSELSEQ2.bit.CONV06 = 6;
+ AdcRegs.ADCCHSELSEQ2.bit.CONV07 = 7;
+ AdcRegs.ADCCHSELSEQ3.bit.CONV08 = 0;
+ AdcRegs.ADCCHSELSEQ3.bit.CONV09 = 0;
+ AdcRegs.ADCCHSELSEQ3.bit.CONV10 = 0;
+ AdcRegs.ADCCHSELSEQ3.bit.CONV11 = 0;
+ AdcRegs.ADCCHSELSEQ4.bit.CONV12 = 0;
+ AdcRegs.ADCCHSELSEQ4.bit.CONV13 = 0;
+ AdcRegs.ADCCHSELSEQ4.bit.CONV14 = 0;
+ AdcRegs.ADCCHSELSEQ4.bit.CONV15 = 0;
+} //void SetupAdc(void)
+
+
+
+// ����������� eQEP
+void SetupEqep(void) {
+ // eQEP Decoder Control Register
+ EQep2Regs.QDECCTL.bit.QSRC = 0;//Position-counter source selection: Quadrature count mode (QCLK = iCLK, QDIR = iDIR)
+ EQep2Regs.QDECCTL.bit.SOEN = 0;//Sync output-enable: Disable position-compare sync output
+ EQep2Regs.QDECCTL.bit.SPSEL = 0;//Sync output pin selection: Index pin is used for sync output
+ EQep2Regs.QDECCTL.bit.XCR = 0;//External clock rate: 2x resolution: Count the rising/falling edge
+ EQep2Regs.QDECCTL.bit.SWAP = 0;//Swap quadrature clock inputs: Quadrature-clock inputs are not swapped
+ EQep2Regs.QDECCTL.bit.IGATE = 0;//Index pulse gating option: Disable gating of Index pulse
+ EQep2Regs.QDECCTL.bit.QAP = 0;//QEPA input polarity: No effect
+ EQep2Regs.QDECCTL.bit.QBP = 0;//QEPB input polarity: No effect
+ EQep2Regs.QDECCTL.bit.QIP = 0;//QEPI input polarity: No effect
+ EQep2Regs.QDECCTL.bit.QSP = 0;//QEPS input polarity: No effect
+ // eQEP Control Register
+ EQep2Regs.QEPCTL.bit.FREE_SOFT = 0;//Emulation Control Bits: all stops immediately
+ EQep2Regs.QEPCTL.bit.PCRM = 1;//Position counter reset mode: position counter reset on the maximum position
+ EQep2Regs.QEPCTL.bit.SEI = 0;//Strobe event initialization of position counter: does nothing (action disabled)
+ EQep2Regs.QEPCTL.bit.IEI = 0;//Index event initialization of position counter: do nothing (action disabled)
+ EQep2Regs.QEPCTL.bit.SWI = 0;//Software initialization of position counter: do nothing (action disabled)
+ EQep2Regs.QEPCTL.bit.SEL = 0;//Strobe event latch of position counter: the position counter is latched on the rising edge of QEPS strobe
+ EQep2Regs.QEPCTL.bit.IEL = 1;//Index event latch of position counter (software index marker): latches position counter on rising edge of the index signal
+ EQep2Regs.QEPCTL.bit.QPEN = 1;//Quadrature position counter enable/software reset: eQEP position counter is enabled
+ EQep2Regs.QEPCTL.bit.QCLM = 0;//eQEP capture latch mode: latch on position counter read by CPU
+ EQep2Regs.QEPCTL.bit.UTE = 1;//eQEP unit timer enable: Enable unit timer
+ EQep2Regs.QEPCTL.bit.WDE = 0;//eQEP watchdog enable: disable the eQEP watchdog timer
+ // eQEP Position-compare Control Register
+ EQep2Regs.QPOSCTL.bit.PCSHDW = 0;//Position-compare shadow enable: Shadow disabled, load Immediate
+ EQep2Regs.QPOSCTL.bit.PCLOAD = 0;//Position-compare shadow load mode: Load on QPOSCNT = 0
+ EQep2Regs.QPOSCTL.bit.PCPOL = 0;//Polarity of sync output: Active HIGH pulse output
+ EQep2Regs.QPOSCTL.bit.PCE = 0;//Position-compare enable/disable: Disable position compare unit
+ EQep2Regs.QPOSCTL.bit.PCSPW = 0;//Select-position-compare sync output pulse width: 1 * 4 * SYSCLKOUT cycles
+ // eQEP Capture Control Register
+ EQep2Regs.QCAPCTL.bit.CEN = 1;//Enable eQEP capture: eQEP capture unit is enabled
+ EQep2Regs.QCAPCTL.bit.CCPS = 2;//eQEP capture timer clock prescaler: CAPCLK = SYSCLKOUT/4
+ EQep2Regs.QCAPCTL.bit.UPPS = 0;//Unit position event prescaler: UPEVNT = QCLK/1
+ // eQEP Position Counter Register
+ EQep2Regs.QPOSCNT = 0x00000000;
+ // eQEP Maximum Position Count Register Register
+ EQep2Regs.QPOSMAX = 0x7FFF;
+ // eQEP Position-compare Register
+ EQep2Regs.QPOSCMP = 0x00000000;
+ // eQEP Unit Timer Register
+ EQep2Regs.QUTMR = 0x00000000;
+ // eQEP Register Unit Period Register
+ EQep2Regs.QUPRD = 0x00000000;
+ // eQEP Watchdog Timer Register
+ EQep2Regs.QWDTMR = 0x0000;
+ // eQEP Watchdog Period Register
+ EQep2Regs.QWDPRD = 0x0000;
+ // eQEP Interrupt Enable Register
+ EQep2Regs.QEINT.all = 0x0000;
+ // eQEP Capture Timer Register
+ EQep2Regs.QCTMR = 0x0000;
+ // eQEP Capture Period Register
+ EQep2Regs.QCPRD = 0x0000;
+} //void SetupEqep(void)
diff --git a/Inu/init28335.h b/Inu/init28335.h
new file mode 100644
index 0000000..d75c3cf
--- /dev/null
+++ b/Inu/init28335.h
@@ -0,0 +1,24 @@
+#ifndef INIT28335
+#define INIT28335
+
+// ����������, ������� ���������� � init28335.c (begin)
+//#########################################################################
+//#########################################################################
+// ����������, ������� ���������� � init28335.c (end)
+
+
+
+
+// ����������, ������� ��������� � init28335.c (begin)
+//#########################################################################
+#ifndef ML
+extern Uint16 RamfuncsLoadStart, RamfuncsLoadEnd, RamfuncsRunStart;
+extern Uint16 RamfuncsLoadStart2, RamfuncsLoadEnd2, RamfuncsRunStart2;
+extern Uint16 SwitchLoadStart, SwitchLoadEnd, SwitchRunStart;
+extern Uint16 EconstLoadStart, EconstLoadEnd, EconstRunStart;
+extern short csmSuccess;
+#endif //ML
+//#########################################################################
+// ����������, ������� ��������� � init28335.c (end)
+
+#endif //INIT28335
diff --git a/Inu/isr.c b/Inu/isr.c
new file mode 100644
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diff --git a/Inu/isr.h b/Inu/isr.h
new file mode 100644
index 0000000..f0a8d7a
--- /dev/null
+++ b/Inu/isr.h
@@ -0,0 +1,72 @@
+#ifndef ISR
+#define ISR
+
+// ����������, ������� ���������� � isr.c (begin)
+//#########################################################################
+struct Offset offset;
+volatile struct Result result;
+volatile short state;
+volatile short faultNo;
+volatile struct Out out;
+// Udc
+float Kudc;
+volatile float udc1Nf;
+volatile float udc1;
+volatile float udc2Nf;
+volatile float udc2;
+// Iac
+volatile float ia1Nf;
+volatile float ib1Nf;
+volatile float ic1Nf;
+volatile float ix1;
+volatile float iy1;
+volatile float iac1Nf;
+volatile float ia2Nf;
+volatile float ib2Nf;
+volatile float ic2Nf;
+volatile float ix2;
+volatile float iy2;
+volatile float iac2Nf;
+// Wm
+float Kwm;
+volatile float wmNf;
+volatile float wm;
+volatile float wmAbs;
+// Me
+volatile float kMe;
+float KmeCorr;
+float Kme;
+volatile float meNf;
+volatile float me;
+// Pm
+volatile float pm;
+// ������
+struct Protect protect;
+volatile struct Emerg emerg;
+short csmSuccess;
+// ����������� ������
+volatile short onceShutdown;
+volatile short testParamFaultNo;
+volatile short onceFaultReset;
+volatile short stopPause;
+volatile short inuWork;
+// �����
+struct Mst mst;
+//#########################################################################
+// ����������, ������� ���������� � isr.c (end)
+
+
+
+
+// ����������, ������� ��������� � isr.c (begin)
+//#########################################################################
+extern struct SgmPar sgmPar;
+extern unsigned short param[];
+extern volatile short onceUpr;
+extern volatile float psi;
+extern float iq1;
+extern float iq2;
+extern struct Rp rp;
+//#########################################################################
+// ����������, ������� ��������� � isr.c (end)
+#endif //ISR
diff --git a/Inu/main.c b/Inu/main.c
new file mode 100644
index 0000000..05cade6
--- /dev/null
+++ b/Inu/main.c
@@ -0,0 +1,144 @@
+/**************************************************************************
+ Description: ��������� ���������� INU.
+ �������� �/� ������������� ���������� � �/� ������.
+
+ �����: ���������� �.�.
+ ���� ���������� ����������: 2021.10.05
+**************************************************************************/
+
+
+#include "def.h"
+#include "main.h"
+
+
+void control_processor_led(void);
+void talk_with_desk(void);
+void talk_with_mst(void);
+void write_eeprom(void);
+extern void detcoeff(void);
+extern void init28335(void);
+
+
+#ifndef ML
+void main(void) {
+ // disable the watchdog
+ EALLOW;
+ SysCtrlRegs.WDCR = 0x0068;
+ EDIS;
+
+ // ������������� ����������
+ init28335();
+
+ // ������������� ���������
+ detcoeff();
+
+ // re-enable the watchdog
+ EALLOW;
+ SysCtrlRegs.WDCR = 0x00A8;
+ // ... clear the WD counter
+ SysCtrlRegs.WDKEY = 0x55;
+ SysCtrlRegs.WDKEY = 0xAA;
+ EDIS;
+
+ // clear Interrupt Flag ADC Sequencer 1
+ AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;
+ // clear PIEIFR1 register
+ PieCtrlRegs.PIEIFR1.all = 0;
+
+ // before we can start we have to enable interrupt mask in the PIE unit
+ PieCtrlRegs.PIEIER1.bit.INTx6 = 1;
+ // core line 1 (INT1)
+ IER |= M_INT1;
+ // enable global interrupts and higher priority real-time debug events
+ EINT;
+ ERTM;
+
+ // ��������� ������� (up-down-count mode)
+ EPwm1Regs.TBCTL.bit.CTRMODE = 2;
+ EPwm2Regs.TBCTL.bit.CTRMODE = 2;
+ EPwm3Regs.TBCTL.bit.CTRMODE = 2;
+ EPwm4Regs.TBCTL.bit.CTRMODE = 2;
+ EPwm5Regs.TBCTL.bit.CTRMODE = 2;
+ EPwm6Regs.TBCTL.bit.CTRMODE = 2;
+#ifdef ML
+ EPwm7Regs.TBCTL.bit.CTRMODE = 2;
+ EPwm8Regs.TBCTL.bit.CTRMODE = 2;
+ EPwm9Regs.TBCTL.bit.CTRMODE = 2;
+ EPwm10Regs.TBCTL.bit.CTRMODE = 2;
+ EPwm11Regs.TBCTL.bit.CTRMODE = 2;
+ EPwm12Regs.TBCTL.bit.CTRMODE = 2;
+#endif
+
+ // loop forever
+ while(1) {
+ // ����� � ��
+ // ( -> mst)
+ talk_with_mst();
+ // ����� � ��
+ // ( -> param[], eprom.writeRequestNumber)
+ talk_with_desk();
+ // ������ � EEPROM
+ // (param[], eprom.writeRequestNumber -> eprom.writeRequestNumber)
+ if ( eprom.writeRequestNumber > 0 ) {
+ write_eeprom();
+ }
+
+ // ��������� ������������ �� ������������ �����
+ control_processor_led();
+ } //while(1)
+} //void main(void)
+
+
+
+// ��������� ������������ �� ������������ �����
+void control_processor_led(void) {
+ static unsigned short Tled = (unsigned short)(0.5/TY);
+ static unsigned short tLed = 0;
+
+ if ( tLed < Tled ) {
+ tLed++;
+ }
+ else {
+ tLed = 1;
+ // � ��������� ���. ������� ������� �����������
+ if ( state == STATE_SHUTDOWN ) {
+ LED_GREEN1_OFF;
+ LED_GREEN2_OFF;
+ LED_RED_TOGGLE;
+ }
+ // � ���. ��������� ������� ������ ������ �����������
+ else if ( state == STATE_STOP ) {
+ LED_GREEN1_TOGGLE;
+ LED_GREEN2_OFF;
+ LED_RED_OFF;
+ }
+ // � ������� ���. ������� ������ ������ �����������
+ else {
+ LED_GREEN1_OFF;
+ LED_GREEN2_TOGGLE;
+ LED_RED_OFF;
+ }
+ }
+} //void control_processor_led(void)
+
+
+
+// �������� ��������� � ��
+// ( -> param[], eprom.writeRequestNumber)
+void talk_with_desk(void) {
+}
+
+
+
+// �������� ������� � ��
+// ( -> mst)
+void talk_with_mst(void) {
+}
+
+
+
+// ���������� ��������� � EEPROM
+// (param[], eprom.writeRequestNumber -> eprom.writeRequestNumber)
+void write_eeprom(void) {
+}
+#endif //ML
diff --git a/Inu/main.h b/Inu/main.h
new file mode 100644
index 0000000..f93fa02
--- /dev/null
+++ b/Inu/main.h
@@ -0,0 +1,17 @@
+#ifndef MAIN
+#define MAIN
+
+// ����������, ������� ���������� � main.c (begin)
+//#########################################################################
+struct Eprom eprom;
+//#########################################################################
+// ����������, ������� ���������� � main.c (end)
+
+
+
+// ����������, ������� ��������� � main.c (begin)
+//#########################################################################
+extern volatile short state;
+//#########################################################################
+// ����������, ������� ��������� � main.c (end)
+#endif //MAIN
diff --git a/Inu/param.c b/Inu/param.c
new file mode 100644
index 0000000..4ebbffa
--- /dev/null
+++ b/Inu/param.c
@@ -0,0 +1,426 @@
+/**************************************************************************
+ Description: ������� ��� ����� � ������ ����������.
+
+ �����: ���������� �.�.
+ ���� ���������� ����������: 2021.11.08
+**************************************************************************/
+
+
+#include "def.h"
+#include "param.h"
+
+
+#pragma CODE_SECTION(input_param, "ramfuncs");
+#pragma CODE_SECTION(output_param, "ramfuncs");
+
+
+extern short test_param(void);
+extern void process_sgm_parameters(void);
+
+
+// �������� �������� ���������
+void input_param(unsigned short num, unsigned short val) {
+ switch ( num ) {
+ case 180://rf.PsiZ, %*10 �� PSI_BAZ
+ if ( (val <= 2000) && (val != param[num]) ) {
+ param[num] = val;
+ rf.PsiZ = (float)val*0.001;//%*10 -> o.e.
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 200://offset.Ia1, ��. ���
+ if ( (val >= 1748) && (val <= 4096) && (val != param[num]) ) {
+ offset.Ia1 = param[num] = val;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 201://offset.Ib1, ��. ���
+ if ( (val >= 1748) && (val <= 4096) && (val != param[num]) ) {
+ offset.Ib1 = param[num] = val;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 202://offset.Ic1, ��. ���
+ if ( (val >= 1748) && (val <= 4096) && (val != param[num]) ) {
+ offset.Ic1 = param[num] = val;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 203://offset.Udc1, ��. ���
+ if ( (val >= 1748) && (val <= 4096) && (val != param[num]) ) {
+ offset.Udc1 = param[num] = val;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 206://offset.Ia2, ��. ���
+ if ( (val >= 1748) && (val <= 4096) && (val != param[num]) ) {
+ offset.Ia2 = param[num] = val;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 207://offset.Ib2, ��. ���
+ if ( (val >= 1748) && (val <= 4096) && (val != param[num]) ) {
+ offset.Ib2 = param[num] = val;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 208://offset.Ic2, ��. ���
+ if ( (val >= 1748) && (val <= 4096) && (val != param[num]) ) {
+ offset.Ic2 = param[num] = val;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 209://offset.Udc2, ��. ���
+ if ( (val >= 1748) && (val <= 4096) && (val != param[num]) ) {
+ offset.Udc2 = param[num] = val;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 210://cc.Kp, %
+ if ( (val <= 5000) && (val != param[num]) ) {
+ param[num] = val;
+ cc.Kp = (float)val*cc.KpOrig;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 211://cc.Ki, %
+ if ( (val <= 5000) && (val != param[num]) ) {
+ param[num] = val;
+ cc.Ki = (float)val*cc.KiOrig;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 212://cf.Kp, %
+ if ( (val <= 5000) && (val != param[num]) ) {
+ param[num] = val;
+ cf.Kp = (float)val*cf.KpOrig;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 213://cf.Ki, %
+ if ( (val <= 5000) && (val != param[num]) ) {
+ param[num] = val;
+ cf.Ki = (float)val*cf.KiOrig;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 214://csp.Kp, %
+ if ( (val <= 5000) && (val != param[num]) ) {
+ param[num] = val;
+ csp.Kp = (float)val*csp.KpOrig;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 215://csp.Ki, %
+ if ( (val <= 5000) && (val != param[num]) ) {
+ param[num] = val;
+ csp.Ki = (float)val*csp.KiOrig;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 220://protect.IacMax, % �� IAC_SENS_MAX
+ if ( (val <= 99) && (val != param[num]) ) {
+ param[num] = val;
+ protect.IacMax = (short)(2047.*(float)val*0.01);//% -> ��. ���
+ protect.IacMin = -protect.IacMax;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 221://protect.UdcMax, % �� U_NOM
+ if ( (val <= 136) && (val != param[num]) ) {
+ param[num] = val;
+ protect.UdcMax = (float)val*0.01;//% -> o.e.
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 222://IzLim, % �� I_BAZ
+ if ( (val <= 200) && (val != param[num]) ) {
+ param[num] = val;
+ IzLim = (float)val*0.01;//% -> o.e.
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 223://cf.IdLim, % �� I_BAZ
+ if ( (val <= 200) && (val != param[num]) ) {
+ param[num] = val;
+ cf.IdLim = (float)val*0.01;//% -> o.e.
+ cf.IdLimNeg = cf.IdLim*(-0.4);
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 224://csp.IqLim, % �� I_BAZ
+ if ( (val <= 200) && (val != param[num]) ) {
+ param[num] = val;
+ csp.IqLim = (float)val*0.01;//% -> o.e.
+ csp.IqLimNeg = -csp.IqLim;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 225://protect.UdcMin, % �� U_NOM
+ if ( (val <= 110) && (val != param[num]) ) {
+ param[num] = val;
+ protect.UdcMin = (float)val*0.01;//% -> o.e.
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 226://protect.WmMax, % �� N_NOM
+ if ( (val <= 200) && (val != param[num]) ) {
+ param[num] = val;
+ protect.WmMax = (float)val*0.01;//% -> o.e.
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 228://rf.WmNomPsi, % �� N_NOM
+ if ( (val <= 200) && (val != param[num]) ) {
+ param[num] = val;
+ rf.WmNomPsi = (float)val*0.01;//% -> o.e.
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 229://rf.YlimPsi, % �� Y_LIM
+ if ( (val <= 101) && (val != param[num]) ) {
+ param[num] = val;
+ rf.YlimPsi = (float)val*0.01*Y_LIM;//% -> ��. �������� �������
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 231://protect.TudcMin, ��
+ if ( (val >= 1) && (val <= 8500) && (val != param[num]) ) {
+ param[num] = val;
+ protect.TudcMin = (unsigned short)((float)val*0.001/TY);
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 233://protect.TwmMax, ��
+ if ( (val >= 1) && (val <= 8500) && (val != param[num]) ) {
+ param[num] = val;
+ protect.TwmMax = (unsigned short)((float)val*0.001/TY);
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 244://rs.WlimIncr, ��
+ if ( (val >= 1) && (val != param[num]) ) {
+ param[num] = val;
+ // ���. �� 1.0 �� �������-�� ��
+ rs.WlimIncr = 1.0*TY*DECIM_PSI_WM_PM/((float)val*0.001);
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 245://csp.IlimIncr, ��
+ if ( (val >= 1) && (val != param[num]) ) {
+ param[num] = val;
+ // ���. �� I_BAZ �� �������-�� ��
+ csp.IlimIncr = 1.0*TY*DECIM_PSI_WM_PM/((float)val*0.001);
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 248://rp.PlimIncr, ��
+ if ( (val >= 1) && (val != param[num]) ) {
+ param[num] = val;
+ // ���. �� 1.0 �� �������-�� ��
+ rp.PlimIncr = 1.0*TY*DECIM_PSI_WM_PM/((float)val*0.001);
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 269://KmeCorr, %*100
+ if ( (val >= 5000) && (val <= 20000) && (val != param[num]) ) {
+ param[num] = val;
+ KmeCorr = (float)val*0.0001;//%*100 -> o.e.
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 285://Kudc, ��*10
+ if ( (val >= 1) && (val <= 20000) && (val != param[num]) ) {
+ param[num] = val;
+ Kudc = (TY*10000.)/(float)val;
+ if ( Kudc > 1.0 )
+ Kudc = 1.0;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 286://Kwm, ��*10
+ if ( (val >= 1) && (val <= 20000) && (val != param[num]) ) {
+ param[num] = val;
+ Kwm = (TY*10000.)/(float)val;
+ if ( Kwm > 1.0 )
+ Kwm = 1.0;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 288://rs.Kwmz, ��
+ if ( (val >= 1) && (val <= 20000) && (val != param[num]) ) {
+ param[num] = val;
+ rs.Kwmz = (TY*DECIM_PSI_WM_PM*1000.)/(float)val;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 289://rf.Kpsiz, ��
+ if ( (val >= 1) && (val <= 20000) && (val != param[num]) ) {
+ param[num] = val;
+ rf.Kpsiz = (TY*DECIM_PSI_WM_PM*1000.)/(float)val;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 290://Kme, ��
+ if ( (val >= 1) && (val <= 20000) && (val != param[num]) ) {
+ param[num] = val;
+ Kme = (TY*1000.)/(float)val;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 292://rp.Kpmz, ��
+ if ( (val >= 1) && (val <= 20000) && (val != param[num]) ) {
+ param[num] = val;
+ rp.Kpmz = (TY*DECIM_PSI_WM_PM*1000.)/(float)val;
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 303://sgmPar.Rs, ����
+ if ( val != param[num] ) {
+ param[num] = val;
+ sgmPar.Rs = (float)val*1e-6;//���� -> ��
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 304://sgmPar.Lls, ����*10
+ if ( val != param[num] ) {
+ param[num] = val;
+ sgmPar.Lls = (float)val*1e-7;//����*10 -> ��
+ process_sgm_parameters();
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 305://sgmPar.Rr, ����
+ if ( val != param[num] ) {
+ param[num] = val;
+ sgmPar.Rr = (float)val*1e-6;//���� -> ��
+ process_sgm_parameters();
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 306://sgmPar.Llr, ����*10
+ if ( val != param[num] ) {
+ param[num] = val;
+ sgmPar.Llr = (float)val*1e-7;//����*10 -> ��
+ process_sgm_parameters();
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ case 307://sgmPar.Lm, ����
+ if ( val != param[num] ) {
+ param[num] = val;
+ sgmPar.Lm = (float)val*1e-6;//���� -> ��
+ process_sgm_parameters();
+ eprom.writeRequestNumber += 1;
+ }
+ break;
+ default:
+ if ( num < PAR_NUMBER ) {
+ param[num] = val;
+ }
+ break;
+ } //switch ( num )
+} //void input_param(unsigned short num, unsigned short val)
+
+
+
+// ����� �������� ���������
+unsigned short output_param(unsigned short num) {
+ static unsigned short output;
+
+ switch ( num ) {
+ case 1: //udc1, o.e. -> o.e.*CONTROLLER_GAIN
+ if ( state == STATE_SHUTDOWN ) {
+ output = (unsigned short)(emerg.udc1*CONTROLLER_GAIN);
+ }
+ else {
+ output = (unsigned short)(out.udc1*CONTROLLER_GAIN);
+ }
+ break;
+ case 2: //udc2, o.e. -> o.e.*CONTROLLER_GAIN
+ if ( state == STATE_SHUTDOWN ) {
+ output = (unsigned short)(emerg.udc2*CONTROLLER_GAIN);
+ }
+ else {
+ output = (unsigned short)(out.udc2*CONTROLLER_GAIN);
+ }
+ break;
+ case 5: //iac1, o.e. -> o.e.*CONTROLLER_GAIN
+ if ( state == STATE_SHUTDOWN ) {
+ output = (unsigned short)(emerg.iac1*CONTROLLER_GAIN);
+ }
+ else {
+ output = (unsigned short)(out.iac1*CONTROLLER_GAIN);
+ }
+ break;
+ case 6: //iac2, o.e. -> o.e.*CONTROLLER_GAIN
+ if ( state == STATE_SHUTDOWN ) {
+ output = (unsigned short)(emerg.iac2*CONTROLLER_GAIN);
+ }
+ else {
+ output = (unsigned short)(out.iac2*CONTROLLER_GAIN);
+ }
+ break;
+ case 7: //me, o.e. -> (o.e. + CONTROLLER_BIAS)*CONTROLLER_GAIN
+ if ( state == STATE_SHUTDOWN ) {
+ if ( emerg.me > CONTROLLER_BIAS )
+ output = (unsigned short)((CONTROLLER_BIAS + CONTROLLER_BIAS)*CONTROLLER_GAIN);
+ else if ( emerg.me > -CONTROLLER_BIAS )
+ output = (unsigned short)((emerg.me + CONTROLLER_BIAS)*CONTROLLER_GAIN);
+ else
+ output = 0;
+ }
+ else {
+ if ( out.me > CONTROLLER_BIAS )
+ output = (unsigned short)((CONTROLLER_BIAS + CONTROLLER_BIAS)*CONTROLLER_GAIN);
+ else if ( out.me > -CONTROLLER_BIAS )
+ output = (unsigned short)((out.me + CONTROLLER_BIAS)*CONTROLLER_GAIN);
+ else
+ output = 0;
+ }
+ break;
+ case 8: //nm, o.e. -> (o.e. + CONTROLLER_BIAS)*CONTROLLER_GAIN
+ if ( state == STATE_SHUTDOWN ) {
+ if ( emerg.wm > CONTROLLER_BIAS )
+ output = (unsigned short)((CONTROLLER_BIAS + CONTROLLER_BIAS)*CONTROLLER_GAIN);
+ else if ( emerg.wm > -CONTROLLER_BIAS )
+ output = (unsigned short)((emerg.wm + CONTROLLER_BIAS)*CONTROLLER_GAIN);
+ else
+ output = 0;
+ }
+ else {
+ if ( out.wm > CONTROLLER_BIAS )
+ output = (unsigned short)((CONTROLLER_BIAS + CONTROLLER_BIAS)*CONTROLLER_GAIN);
+ else if ( out.wm > -CONTROLLER_BIAS )
+ output = (unsigned short)((out.wm + CONTROLLER_BIAS)*CONTROLLER_GAIN);
+ else
+ output = 0;
+ }
+ break;
+ case 9: //pm, o.e. -> (o.e. + CONTROLLER_BIAS)*CONTROLLER_GAIN
+ if ( state == STATE_SHUTDOWN ) {
+ if ( emerg.pm > CONTROLLER_BIAS )
+ output = (unsigned short)((CONTROLLER_BIAS + CONTROLLER_BIAS)*CONTROLLER_GAIN);
+ else if ( emerg.pm > -CONTROLLER_BIAS )
+ output = (unsigned short)((emerg.pm + CONTROLLER_BIAS)*CONTROLLER_GAIN);
+ else
+ output = 0;
+ }
+ else {
+ if ( out.pm > CONTROLLER_BIAS )
+ output = (unsigned short)((CONTROLLER_BIAS + CONTROLLER_BIAS)*CONTROLLER_GAIN);
+ else if ( out.pm > -CONTROLLER_BIAS )
+ output = (unsigned short)((out.pm + CONTROLLER_BIAS)*CONTROLLER_GAIN);
+ else
+ output = 0;
+ }
+ break;
+ case 10: //compound
+ output = faultNo + (inuWork<<7);
+ break;
+ default:
+ output = param[num];
+ break;
+ } //switch ( num )
+ return output;
+} //unsigned short output_param(unsigned short num)
diff --git a/Inu/param.h b/Inu/param.h
new file mode 100644
index 0000000..9dc480e
--- /dev/null
+++ b/Inu/param.h
@@ -0,0 +1,41 @@
+#ifndef PARAM
+#define PARAM
+
+// ����������, ������� ���������� � param.c (begin)
+//#########################################################################
+unsigned short param[PAR_NUMBER];
+//#########################################################################
+// ����������, ������� ���������� � param.c (end)
+
+
+
+
+// ����������, ������� ��������� � param.c (begin)
+//#########################################################################
+extern volatile short state;
+extern volatile short faultNo;
+extern short onceFaultReset;
+extern struct SgmPar sgmPar;
+extern struct Offset offset;
+extern float Kudc;
+extern float Kwm;
+extern short testParamFaultNo;
+extern float IzLim;
+extern float Kme;
+extern struct Protect protect;
+extern float KmeCorr;
+extern volatile struct Out out;
+extern volatile struct Emerg emerg;
+extern struct Rf rf;
+extern struct Rs rs;
+extern struct Rp rp;
+extern struct Cf cf;
+extern struct Csp csp;
+extern struct Cc cc;
+// ��� �������� �� ��
+extern volatile short inuWork;
+// ��� ������ � EEPROM
+extern struct Eprom eprom;
+//#########################################################################
+// ����������, ������� ��������� � param.c (end)
+#endif //PARAM
diff --git a/Inu/upr.c b/Inu/upr.c
new file mode 100644
index 0000000..6d48221
--- /dev/null
+++ b/Inu/upr.c
@@ -0,0 +1,974 @@
+/**************************************************************************
+ Description: ������� ��������� �������� ���������� INU
+ (��������� N � P).
+
+ �����: ���������� �.�.
+ ���� ���������� ����������: 2021.11.08
+**************************************************************************/
+
+
+#include "def.h"
+#include "upr.h"
+#include "pwm_vector_regul.h"
+#include "IQmathLib.h"
+#include "adc_tools.h"
+#include "params.h"
+#include "vector.h"
+#include "v_pwm24.h"
+#include "xp_write_xpwm_time.h"
+#include "rotation_speed.h"
+
+
+#pragma CODE_SECTION(control_current, "ramfuncs");
+#pragma CODE_SECTION(control_flux, "ramfuncs");
+#pragma CODE_SECTION(control_speed_power, "ramfuncs");
+#pragma CODE_SECTION(indirect_vector_control, "ramfuncs");
+#pragma CODE_SECTION(ipark, "ramfuncs");
+#pragma CODE_SECTION(limit_current, "ramfuncs2");
+#pragma CODE_SECTION(pwm, "ramfuncs2");
+#pragma CODE_SECTION(reference_flux, "ramfuncs");
+#pragma CODE_SECTION(reference_power, "ramfuncs");
+#pragma CODE_SECTION(reference_speed, "ramfuncs");
+#pragma CODE_SECTION(select_feedback, "ramfuncs");
+#pragma CODE_SECTION(upr, "ramfuncs");
+
+
+void control_current(void);
+void control_flux(void);
+void control_speed_power(void);
+void indirect_vector_control(void);
+void ipark(void);
+void limit_current(void);
+void pwm(void);
+void reference_flux(void);
+void reference_power(void);
+void reference_speed(void);
+void select_feedback(void);
+
+void write_swgen_pwm_times_split_eages(void);
+void write_CMP_tims(void);
+
+int reset = 1;
+extern double wm_ml;
+
+void upr(void) {
+ static short decim_psi_wm_pm;
+ static int calcPWMtimes = 0;
+
+ if ( onceUpr == 0 ) {
+ onceUpr = 1;
+ decim_psi_wm_pm = (short)DECIM_PSI_WM_PM;
+ psi = 0;
+ rf.once = 0;
+ rs.once = 0;
+ rp.once = 0;
+ cf.once = 0;
+ csp.once = 0;
+ ivc.once = 0;
+ cc.once = 0;
+ reset = 1;
+ init_DQ_pid();
+ InitVariablesSvgen(FREQ_PWM);
+ pwm_vector_model_titov(0, 0, 0, 0, 0, 1, calcPWMtimes);
+ analog.tetta = 0;
+ } else {
+ reset = 0;
+ }
+
+ // ������� ������� ������������� (�� ������, �������� � ��������)
+ // �� ������ ���� ������ �� �������� ��� ���������� (�� ����) (?)
+ if ( decim_psi_wm_pm < (short)DECIM_PSI_WM_PM ) {
+ decim_psi_wm_pm++;
+ calcPWMtimes = 0;
+ }
+ else {
+ decim_psi_wm_pm = 1;
+ calcPWMtimes = 1;
+
+ // �������� ���������������
+ // (rf.PsiZ -> rf.psiZ, rf.pPsiZ)
+ reference_flux();
+
+ // �������� ��������
+ // (mst.wmZz, mst.wmLim -> rs.wmZ, rs.pWmZ)
+ reference_speed();
+
+ // �������� ��������
+ // (mst.pmZz, mst.pmLim -> rp.pmZ)
+ reference_power();
+
+ // �������� ��� (idZ, iqZ)
+ // ... ��������� ���������������
+ // (rf.psiZ, psi, rf.pPsiZ, cf.IdLim, cf.IdLimNeg -> idZ)
+ control_flux();
+ // ... ���������� �������� � ��������
+ // (rs.wmZ, wm, rs.pWmZ, rp.pmZ, mst.wmLim, mst.pmLim, csp.IqLim,
+ // csp.IqLimNeg -> iqZ, inuWork)
+ control_speed_power();
+ // ... ����������� ������� ����
+ // (idZ, iqZ, IzLim -> idZ, iqZ, csp.iqLimFlag)
+ limit_current();
+ } //decim_psi_wm_pm
+
+
+ if ( mst.start == 1 ) {
+ inuWork = 1;
+ } else {
+ inuWork = 0;
+ }
+
+
+
+ _iq Pzad = _IQ(rp.pmZ * 1.1);
+ // _iq Pzad = _IQ(1.1);
+ _iq Fzad = _IQ(rs.wmZ / (PI2 * 1.1574233675198942802148869545233));
+ // _iq Frot = _IQ(10.0 / 6.0 / NORMA_FROTOR);
+ _iq Frot = _IQ(wm_ml / PI2 / NORMA_FROTOR);
+ int direction = Frot >= 0 ? 1 : -1;
+ rotor.iqFout = Frot;
+ int mode = 2;
+ // int reset = 0;
+ f.Go = 1;
+ if (mode != 0) {
+ limit_mzz_zad_power(Frot);
+ // set_cos_tetta_calc_params();
+ pwm_vector_model_titov(Pzad, Fzad, direction, labs(Frot), mode, 0, calcPWMtimes);
+ } else {
+ // U/f=Const
+ #define K_MODUL_MAX 15435038LL
+ vect_control.iqUqKm1 = _IQ(0.6);
+ vect_control.iqUqKm2 = _IQ(0.6);
+ _iq Fconst = IQ_F_STATOR_NOM / 10;
+ test_calc_simple_dq_pwm24(vect_control.iqUqKm1, vect_control.iqUqKm2, Fconst, Fconst, K_MODUL_MAX);
+ }
+
+
+ reset = 0;
+ float theta = _IQtoF(analog.tetta);
+ sincos(theta, &sinTheta, &cosTheta);
+
+ if (calcPWMtimes)
+ write_swgen_pwm_times_split_eages(PWM_MODE_RELOAD_LEVEL_HIGH);
+ else
+ write_swgen_pwm_times_split_eages(PWM_MODE_RELOAD_LEVEL_LOW);
+ write_CMP_tims(calcPWMtimes);
+ // cc.yd1 = _IQtoF(vect_control.iqUdKm1Out) * Y_LIM;
+ // cc.yq1 = _IQtoF(vect_control.iqUqKm1Out) * Y_LIM;
+ // cc.yd2 = _IQtoF(vect_control.iqUdKm2Out) * Y_LIM;
+ // cc.yq2 = _IQtoF(vect_control.iqUqKm2Out) * Y_LIM;
+
+
+
+ // indirect vector control
+ // (wmNf, wm, ix1, iy1, ix2, iy2 -> ivc.ws, ivc.sinTheta, ivc.cosTheta,
+ // ivc.id1, ivc.iq1, ivc.id2, ivc.iq2, ivc.psi)
+ // indirect_vector_control();
+
+
+ // ����� �������� �.�.
+ // (... -> ws, sinTheta, cosTheta, id1, iq1, id2, iq2, psi)
+ // select_feedback();
+
+
+// idZ = 0.1;
+// iqZ = 0.2;
+ // ���������� ����
+ // (idZ, iqZ, id1, iq1, id2, iq2, ws, wm, psi ->
+ // -> cc.yd1, cc.yq1, cc.yd2, cc.yq2)
+ // control_current();
+
+
+ // ������� �������� ���������� �� �.�. d-q � �.�. x-y
+ // (cc.yd1, cc.yq1, cc.yd2, cc.yq2, sinTheta, cosTheta, ws ->
+ // -> ip.yx1, ip.yy1, ip.yx2, ip.yy2)
+ // ipark();
+
+ // ���
+ // (ip.yx1, ip.yy1, ip.yx2, ip.yy2 ->
+ // -> EPwm1Regs.CMPA.half.CMPA, EPwm2Regs.CMPA.half.CMPA,
+ // EPwm3Regs.CMPA.half.CMPA, EPwm4Regs.CMPA.half.CMPA,
+ // EPwm5Regs.CMPA.half.CMPA, EPwm6Regs.CMPA.half.CMPA,
+ // EPwm7Regs.CMPA.half.CMPA, EPwm8Regs.CMPA.half.CMPA,
+ // EPwm9Regs.CMPA.half.CMPA, EPwm10Regs.CMPA.half.CMPA,
+ // EPwm11Regs.CMPA.half.CMPA, EPwm12Regs.CMPA.half.CMPA)
+ // pwm();
+} //void upr(void)
+
+
+
+// ���������� ���
+// (idZ, iqZ, id1, iq1, id2, iq2, ws, wm, psi ->
+// -> cc.yd1, cc.yq1, cc.yd2, cc.yq2)
+void control_current(void) {
+ if ( cc.once == 0 ) {
+ cc.once = 1;
+ cc.y1LimFlag = 0;
+ cc.yd1I = 0;
+ cc.yq1I = 0;
+ cc.yd1 = 0;
+ cc.yq1 = 0;
+ cc.y2LimFlag = 0;
+ cc.yd2I = 0;
+ cc.yq2I = 0;
+ cc.yd2 = 0;
+ cc.yq2 = 0;
+ // ��� ���������� ����������
+ cc.K1 = sgmPar.SigmaLs*I_BAZ*WE_BAZ*U_2_Y;
+ cc.K2 = sgmPar.Rr*sgmPar.Lm/(sgmPar.Lr*sgmPar.Lr)*PSI_BAZ*U_2_Y;
+ cc.K3 = sgmPar.Kl*PSI_BAZ*WE_BAZ*U_2_Y;
+ }
+
+ // ��� ���������� ����������
+ cc.Xyff = ws*cc.K1;
+ cc.yffAux2 = psi*cc.K2;
+ cc.yffAux3 = psi*wm*cc.K3;
+
+ // ��������� Id1
+ cc.del = idZ - id1;
+ cc.yd1P = cc.del*cc.Kp;
+ if ( (cc.y1LimFlag == 0) || (cc.yd1*cc.del < 0) )
+ cc.yd1I += cc.del*cc.Ki;
+ cc.yd1FF = -iq1*cc.Xyff - cc.yffAux2;
+ cc.yd1 = cc.yd1P + cc.yd1I + cc.yd1FF;
+ // ��������� Iq1
+ cc.del = iqZ - iq1;
+ cc.yq1P = cc.del*cc.Kp;
+ if ( (cc.y1LimFlag == 0) || (cc.yq1*cc.del < 0) )
+ cc.yq1I += cc.del*cc.Ki;
+ cc.yq1FF = id1*cc.Xyff + cc.yffAux3;
+ cc.yq1 = cc.yq1P + cc.yq1I + cc.yq1FF;
+ // �����������
+ cc.y1 = sqrt(cc.yd1*cc.yd1 + cc.yq1*cc.yq1);
+ if ( cc.y1 > Y_LIM ) {
+ cc.kYlim = Y_LIM/cc.y1;
+ cc.yd1 *= cc.kYlim;
+ cc.yq1 *= cc.kYlim;
+ cc.y1LimFlag = 1;
+ }
+ else {
+ cc.y1LimFlag = 0;
+ }
+
+ // ��������� Id2
+ cc.del = idZ - id2;
+ cc.yd2P = cc.del*cc.Kp;
+ if ( (cc.y2LimFlag == 0) || (cc.yd2*cc.del < 0) )
+ cc.yd2I += cc.del*cc.Ki;
+ cc.yd2FF = -iq2*cc.Xyff - cc.yffAux2;
+ cc.yd2 = cc.yd2P + cc.yd2I + cc.yd2FF;
+ // ��������� Iq2
+ cc.del = iqZ - iq2;
+ cc.yq2P = cc.del*cc.Kp;
+ if ( (cc.y2LimFlag == 0) || (cc.yq2*cc.del < 0) )
+ cc.yq2I += cc.del*cc.Ki;
+ cc.yq2FF = id2*cc.Xyff + cc.yffAux3;
+ cc.yq2 = cc.yq2P + cc.yq2I + cc.yq2FF;
+ // �����������
+ cc.y2 = sqrt(cc.yd2*cc.yd2 + cc.yq2*cc.yq2);
+ if ( cc.y2 > Y_LIM ) {
+ cc.kYlim = Y_LIM/cc.y2;
+ cc.yd2 *= cc.kYlim;
+ cc.yq2 *= cc.kYlim;
+ cc.y2LimFlag = 1;
+ }
+ else {
+ cc.y2LimFlag = 0;
+ }
+} //void control_current(void)
+
+
+
+// ���������� ���������������
+// (rf.psiZ, psi, rf.pPsiZ, cf.IdLim, cf.IdLimNeg -> idZ)
+void control_flux(void) {
+ if ( cf.once == 0 ) {
+ cf.once = 1;
+ cf.idLimFlag = 0;
+ cf.idI = 0;
+ idZ = 0;
+ }
+
+ // ��������� Psi
+ cf.del = rf.psiZ - psi;
+ cf.idP = cf.del*cf.Kp;
+ if ( (cf.idLimFlag == 0) || (idZ*cf.del < 0) )
+ cf.idI += cf.del*cf.Ki;
+ cf.idFF = (rf.psiZ + rf.pPsiZ*sgmPar.Tr)*sgmPar.LmInv*PSI_BAZ/I_BAZ;
+ idZ = cf.idP + cf.idI + cf.idFF;
+ // ����������� ����������������� ����
+ if ( idZ > cf.IdLim ) {
+ idZ = cf.IdLim;
+ cf.idLimFlag = 1;
+ }
+ else if ( idZ < cf.IdLimNeg ) {
+ idZ = cf.IdLimNeg;
+ cf.idLimFlag = 1;
+ }
+ else {
+ cf.idLimFlag = 0;
+ }
+} //void control_flux(void)
+
+
+
+// ���������� �������� ��� ��������
+// (rs.wmZ, wm, rs.pWmZ, rp.pmZ, mst.wmLim, mst.pmLim, csp.IqLim,
+// csp.IqLimNeg -> iqZ, inuWork)
+void control_speed_power(void) {
+ if ( csp.once == 0 ) {
+ csp.once = 1;
+ csp.wmLimZi = mst.wmLim;
+ csp.pmLimZi = mst.pmLim;
+ csp.iqLimFlag = 0;
+ csp.iqI = 0;
+ iqZ = 0;
+ csp.iqLimZi = csp.IqLim;
+ csp.iqLim = csp.IqLim;
+ csp.pmZiRampDown = 0;
+ }
+
+ // ��� ����������� ��������
+ if ( mst.wmLim - csp.wmLimZi > rs.WlimIncr ) {
+ csp.wmLimZi += rs.WlimIncr;
+ }
+ else if ( csp.wmLimZi - mst.wmLim > rs.WlimIncr ) {
+ csp.wmLimZi -= rs.WlimIncr;
+ }
+ else {
+ csp.wmLimZi = mst.wmLim;
+ }
+ // ��� ����������� ��������
+ if ( mst.pmLim - csp.pmLimZi > rp.PlimIncr ) {
+ csp.pmLimZi += rp.PlimIncr;
+ }
+ else if ( csp.pmLimZi - mst.pmLim > rp.PlimIncr ) {
+ csp.pmLimZi -= rp.PlimIncr;
+ }
+ else {
+ csp.pmLimZi = mst.pmLim;
+ }
+
+ if ( inuWork == 0 ) {
+ if ( mst.start == 1 ) {
+ // ��� ����������, ����� ���������� � ��������� N ��� P
+ //if ( (rf.psiZ > rf.PsiZ*0.97) && (psi > rf.psiZ*0.97) )
+ inuWork = 1;
+ }
+ else {
+ // �� ���������
+ inuWork = 2;
+ }
+ // ����� ���������� ��� ������� ����
+ rs.wmZi = rs.wmZ = wm;
+ rp.pmZi = rp.pmZ = 0;
+ iqZ = 0;
+ }
+ else if ( inuWork == 1 ) {
+ if ( mst.start == 1 ) {
+ // ��������� N --------------
+ if ( mst.pzMode == 0 ) {
+ csp.del = rs.wmZ - wm;
+ csp.iqP = csp.del*csp.Kp;
+ if ( (csp.iqLimFlag == 0) || (iqZ*csp.del < 0) )
+ csp.iqI += csp.del*csp.Ki;
+ csp.iqFF = rs.pWmZ/kMe*(WM_BAZ*J/M_BAZ);
+ iqZ = csp.iqP + csp.iqI + csp.iqFF;
+ // ����������� ���� ��� ����������� ��������
+ if ( wmAbs > WM_MIN ) {
+ csp.iqLimAux = csp.pmLimZi/(wmAbs*kMe);
+ }
+ else {
+ csp.iqLimAux = csp.pmLimZi/(WM_MIN*kMe);
+ }
+ if ( csp.iqLimAux < csp.IqLim ) {
+ csp.iqLim = csp.iqLimAux;
+ }
+ else {
+ csp.iqLim = csp.IqLim;
+ }
+ }
+ // ��������� P --------------
+ else { //if ( mst.pzMode == 1 )
+ if ( wmAbs <= WM_MIN ) {
+ iqZ = rp.pmZ/(WM_MIN*kMe);
+ }
+ else if ( wmAbs <= rf.WmNomPsi ) {
+ iqZ = rp.pmZ/(wmAbs*kMe);
+ csp.kMeNom = kMe;
+ }
+ else {
+ iqZ = rp.pmZ/(wmAbs*csp.kMeNom);
+ }
+ // ����������� ���� ��� ����������� ��������
+ if ( wmAbs < csp.wmLimZi*0.98 ) {
+ csp.iqLimAux = fabs(iqZ);
+ }
+ else if ( wmAbs > csp.wmLimZi*1.02 ) {
+ csp.iqLimAux = 0;
+ }
+ else {
+ csp.iqLimAux = csp.iqLimZi;
+ }
+ // ... ������ �������� ��������� ����������� ���� (?)
+ csp.delWmAbs = fabs(wmAbs - csp.wmLimZi);
+ if ( csp.delWmAbs > 0.12 )
+ csp.KizIncr = 10.0;
+ else if ( csp.delWmAbs < 0.02 )
+ csp.KizIncr = 0.1;
+ else
+ csp.KizIncr = 0.1 + (csp.delWmAbs - 0.02)*(10.0 - 0.1)/(0.12 - 0.02);
+ // ... ��
+ if ( csp.iqLimAux - csp.iqLimZi > csp.IlimIncr*csp.KizIncr )
+ csp.iqLimZi += csp.IlimIncr*csp.KizIncr;
+ else if ( csp.iqLimZi - csp.iqLimAux > csp.IlimIncr*csp.KizIncr )
+ csp.iqLimZi -= csp.IlimIncr*csp.KizIncr;
+ else
+ csp.iqLimZi = csp.iqLimAux;
+ if ( csp.iqLimZi < csp.IqLim ) {
+ csp.iqLim = csp.iqLimZi;
+ }
+ else {
+ csp.iqLim = csp.IqLim;
+ }
+ } //mst.pzMode
+ // ��� ������� ���������
+ csp.pmZiRampDown = rp.pmEqv;
+ }
+ else { //if ( mst.start == 0 )
+ // ������� �������� ��������
+ if ( 0 - csp.pmZiRampDown > mst.pDecrMaxTy ) {
+ csp.pmZiRampDown += mst.pDecrMaxTy;
+ }
+ else if ( csp.pmZiRampDown - 0 > mst.pDecrMaxTy ) {
+ csp.pmZiRampDown -= mst.pDecrMaxTy;
+ }
+ else {
+ csp.pmZiRampDown = 0;
+ // ��� ������ - ��������� ������
+ inuWork = 2;
+ }
+ // ��������� �������� ���
+ if ( wmAbs > WM_MIN ) {
+ iqZ = csp.pmZiRampDown/(wmAbs*kMe);
+ }
+ else {
+ iqZ = csp.pmZiRampDown/(WM_MIN*kMe);
+ }
+ // �� ������, ���� mst.start ������������� ������
+ // ���������� ������ (inuWork = 2)
+ rs.wmZi = rs.wmZ = wm;
+ csp.iqI = iqZ;
+ rp.pmZi = rp.pmZ = rp.pmEqv;
+ } //mst.start
+
+ // ������� ����������� �����
+ if ( -csp.iqLim > csp.IqLimNeg )
+ csp.iqLimNeg = -csp.iqLim;
+ else
+ csp.iqLimNeg = csp.IqLimNeg;
+ // ����������� ������������������ ����
+ if ( iqZ > csp.iqLim ) {
+ iqZ = csp.iqLim;
+ csp.iqLimFlag = 1;
+ }
+ else if ( iqZ < csp.iqLimNeg ) {
+ iqZ = csp.iqLimNeg;
+ csp.iqLimFlag = 1;
+ }
+ else {
+ csp.iqLimFlag = 0;
+ }
+ // ��� �������� ��������
+ if ( mst.pzMode == 0 ) {
+ // ... � ����� ������������� P
+ rp.pmZ = iqZ*kMe*wmAbs;
+ rp.pmZi = rp.pmZ;
+ csp.iqLimZi = fabs(iqZ);
+ }
+ else {
+ // ... � ����� ������������� N
+ csp.iqI = iqZ;
+ csp.iqFF = 0;
+ rs.wmZ = wm;
+ rs.wmZi = rs.wmZ + csp.iqFF*0.05;
+ }
+ } //inuWork
+} //void control_speed_power(void)
+
+
+
+// ������� ��� indirect vector control
+// (wmNf, wm, ix1, iy1, ix2, iy2 -> ivc.ws, ivc.sinTheta, ivc.cosTheta,
+// ivc.id1, ivc.iq1, ivc.id2, ivc.iq2, ivc.psi)
+void indirect_vector_control(void) {
+ static float theta;
+
+ if ( ivc.once == 0 ) {
+ ivc.once = 1;
+ ivc.im = 0;
+ ivc.iq1 = 0;
+ ivc.iq2 = 0;
+ ivc.wr = 0;
+ theta = 0;
+ }
+
+ // ������� �������� ���, o.e.
+ if ( ivc.im > 4e-3 ) {
+ ivc.wr = (ivc.iq1 + ivc.iq2)*0.5/ivc.im*sgmPar.TrInv*(1.0/WE_BAZ);
+ }
+ // ������� ���� �������, �.�.
+ ivc.wsNf = wmNf + ivc.wr;
+ ivc.ws = wm + ivc.wr;
+ // ������������� ����, ���.
+ theta += ivc.wsNf*WE_BAZ*TY;
+ if ( theta > PI2 )
+ theta -= PI2;
+ else if ( theta < 0 )
+ theta += PI2;
+
+ vect_control.theta = theta;
+ // ��� ������������ ��������������
+ sincos(theta, &ivc.sinTheta, &ivc.cosTheta);
+ // park transformations, �.�.
+ ivc.id1 = ix1*ivc.cosTheta + iy1*ivc.sinTheta;
+ ivc.iq1 = -ix1*ivc.sinTheta + iy1*ivc.cosTheta;
+ ivc.id2 = ix2*ivc.cosTheta + iy2*ivc.sinTheta;
+ ivc.iq2 = -ix2*ivc.sinTheta + iy2*ivc.cosTheta;
+ // ��� ��������������, o.e.
+ ivc.im += ((ivc.id1 + ivc.id2)*0.5 - ivc.im)*sgmPar.TrInv*TY;
+ // ��������� ������, o.e.
+ ivc.psi = ivc.im*sgmPar.Lm*(1.0/L_BAZ);
+} //void indirect_vector_control(void)
+
+
+
+// ��������� ������� ���������� �� �.�. d-q � �.�. x-y
+// (cc.yd1, cc.yq1, cc.yd2, cc.yq2, sinTheta, cosTheta, ws ->
+// -> ip.yx1, ip.yy1, ip.yx2, ip.yy2)
+void ipark(void) {
+ ip.yx1Aux = cc.yd1*cosTheta - cc.yq1*sinTheta;
+ ip.yy1Aux = cc.yd1*sinTheta + cc.yq1*cosTheta;
+ ip.yx2Aux = cc.yd2*cosTheta - cc.yq2*sinTheta;
+ ip.yy2Aux = cc.yd2*sinTheta + cc.yq2*cosTheta;
+ // ���������, ��������� � ������������� ��
+ ip.theta = ws*WE_BAZ*TY*1.5;//���.
+ sincos(ip.theta, &ip.sinTheta, &ip.cosTheta);
+ ip.yx1 = ip.yx1Aux*ip.cosTheta - ip.yy1Aux*ip.sinTheta;
+ ip.yy1 = ip.yx1Aux*ip.sinTheta + ip.yy1Aux*ip.cosTheta;
+ ip.yx2 = ip.yx2Aux*ip.cosTheta - ip.yy2Aux*ip.sinTheta;
+ ip.yy2 = ip.yx2Aux*ip.sinTheta + ip.yy2Aux*ip.cosTheta;
+} //void ipark(void)
+
+
+
+// ������������ ������ ���
+// (idZ, iqZ, IzLim -> idZ, iqZ, csp.iqLimFlag)
+void limit_current(void) {
+ iZ = sqrt(idZ*idZ + iqZ*iqZ);
+ if ( iZ > IzLim ) {
+ if ( iqZ >= 0 ) {
+ iqZ = sqrt(IzLim*IzLim - idZ*idZ);
+ }
+ else {
+ iqZ = -sqrt(IzLim*IzLim - idZ*idZ);
+ }
+ csp.iqLimFlag = 1;
+ }
+} //void limit_current(void)
+
+
+
+// ���
+// (ip.yx1, ip.yy1, ip.yx2, ip.yy2 ->
+// -> EPwm1Regs.CMPA.half.CMPA, EPwm2Regs.CMPA.half.CMPA,
+// EPwm3Regs.CMPA.half.CMPA, EPwm4Regs.CMPA.half.CMPA,
+// EPwm5Regs.CMPA.half.CMPA, EPwm6Regs.CMPA.half.CMPA,
+// EPwm7Regs.CMPA.half.CMPA, EPwm8Regs.CMPA.half.CMPA,
+// EPwm9Regs.CMPA.half.CMPA, EPwm10Regs.CMPA.half.CMPA,
+// EPwm11Regs.CMPA.half.CMPA, EPwm12Regs.CMPA.half.CMPA)
+void pwm(void) {
+ static float yAux1;
+ static float yAux2;
+ static float ya;
+ static float yb;
+ static float yc;
+ static float yPredm = 0;
+ static float yaPredm;
+ static float ybPredm;
+ static float ycPredm;
+
+ // ��������� �� �.�. x-y � �.�. a-b-c
+ yAux1 = ip.yx1*(-0.5*ISQRT3);
+ yAux2 = ip.yy1*0.5;
+ ya = ip.yx1*ISQRT3;
+ yb = yAux1 + yAux2;
+ yc = yAux1 - yAux2;
+ // ���������������� �����������
+ if ((ya >= yb) && (ya <= yc)) {
+ yPredm = ya*0.5;
+ }
+ else if ((yc >= yb) && (yc <= ya)) {
+ yPredm = yc*0.5;
+ }
+ else if ((yb >= yc) && (yb <= ya)) {
+ yPredm = yb*0.5;
+ }
+ else if ((ya >= yc) && (ya <= yb)) {
+ yPredm = ya*0.5;
+ }
+ else if ((yc >= ya) && (yc <= yb)) {
+ yPredm = yc*0.5;
+ }
+ else if ((yb >= ya) && (yb <= yc)) {
+ yPredm = yb*0.5;
+ }
+ yaPredm = (ya + yPredm)*2.;
+ ybPredm = (yb + yPredm)*2.;
+ ycPredm = (yc + yPredm)*2.;
+ // full compare unit compare registers
+ if (yaPredm >= 0) {
+ EPwm1Regs.CMPA.half.CMPA = (unsigned short)yaPredm;
+ EPwm2Regs.CMPA.half.CMPA = 0;
+ }
+ else {
+ EPwm1Regs.CMPA.half.CMPA = 0;
+ EPwm2Regs.CMPA.half.CMPA = (unsigned short)(-yaPredm);
+ }
+ if (ybPredm >= 0) {
+ EPwm3Regs.CMPA.half.CMPA = (unsigned short)ybPredm;
+ EPwm4Regs.CMPA.half.CMPA = 0;
+ }
+ else {
+ EPwm3Regs.CMPA.half.CMPA = 0;
+ EPwm4Regs.CMPA.half.CMPA = (unsigned short)(-ybPredm);
+ }
+ if (ycPredm >= 0) {
+ EPwm5Regs.CMPA.half.CMPA = (unsigned short)ycPredm;
+ EPwm6Regs.CMPA.half.CMPA = 0;
+ }
+ else {
+ EPwm5Regs.CMPA.half.CMPA = 0;
+ EPwm6Regs.CMPA.half.CMPA = (unsigned short)(-ycPredm);
+ }
+
+ // ��������� �� �.�. x-y � �.�. a-b-c
+#ifndef SHIFT
+ yAux1 = ip.yx2*(-0.5*ISQRT3);
+ yAux2 = ip.yy2*0.5;
+ ya = ip.yx2*ISQRT3;
+ yb = yAux1 + yAux2;
+ yc = yAux1 - yAux2;
+#else //SHIFT
+ yAux1 = ip.yx2*0.5;
+ yAux2 = ip.yy2*0.5*ISQRT3;
+ ya = yAux1 + yAux2;
+ yb = -yAux1 + yAux2;
+ yc = ip.yy2*(-ISQRT3);
+#endif //SHIFT
+ // ���������������� �����������
+ if ((ya >= yb) && (ya <= yc)) {
+ yPredm = ya*0.5;
+ }
+ else if ((yc >= yb) && (yc <= ya)) {
+ yPredm = yc*0.5;
+ }
+ else if ((yb >= yc) && (yb <= ya)) {
+ yPredm = yb*0.5;
+ }
+ else if ((ya >= yc) && (ya <= yb)) {
+ yPredm = ya*0.5;
+ }
+ else if ((yc >= ya) && (yc <= yb)) {
+ yPredm = yc*0.5;
+ }
+ else if ((yb >= ya) && (yb <= yc)) {
+ yPredm = yb*0.5;
+ }
+ yaPredm = (ya + yPredm)*2.;
+ ybPredm = (yb + yPredm)*2.;
+ ycPredm = (yc + yPredm)*2.;
+#ifdef ML
+ // full compare unit compare registers
+ if (yaPredm >= 0) {
+ EPwm7Regs.CMPA.half.CMPA = (unsigned short)yaPredm;
+ EPwm8Regs.CMPA.half.CMPA = 0;
+ }
+ else {
+ EPwm7Regs.CMPA.half.CMPA = 0;
+ EPwm8Regs.CMPA.half.CMPA = (unsigned short)(-yaPredm);
+ }
+ if (ybPredm >= 0) {
+ EPwm9Regs.CMPA.half.CMPA = (unsigned short)ybPredm;
+ EPwm10Regs.CMPA.half.CMPA = 0;
+ }
+ else {
+ EPwm9Regs.CMPA.half.CMPA = 0;
+ EPwm10Regs.CMPA.half.CMPA = (unsigned short)(-ybPredm);
+ }
+ if (ycPredm >= 0) {
+ EPwm11Regs.CMPA.half.CMPA = (unsigned short)ycPredm;
+ EPwm12Regs.CMPA.half.CMPA = 0;
+ }
+ else {
+ EPwm11Regs.CMPA.half.CMPA = 0;
+ EPwm12Regs.CMPA.half.CMPA = (unsigned short)(-ycPredm);
+ }
+#endif //ML
+
+ // ��������� ��������
+ EALLOW;
+ EPwm1Regs.TZCLR.all = 0x0004;
+ EPwm2Regs.TZCLR.all = 0x0004;
+ EPwm3Regs.TZCLR.all = 0x0004;
+ EPwm4Regs.TZCLR.all = 0x0004;
+ EPwm5Regs.TZCLR.all = 0x0004;
+ EPwm6Regs.TZCLR.all = 0x0004;
+#ifdef ML
+ EPwm7Regs.TZCLR.all = 0x0004;
+ EPwm8Regs.TZCLR.all = 0x0004;
+ EPwm9Regs.TZCLR.all = 0x0004;
+ EPwm10Regs.TZCLR.all = 0x0004;
+ EPwm11Regs.TZCLR.all = 0x0004;
+ EPwm12Regs.TZCLR.all = 0x0004;
+#endif //ML
+ EDIS;
+} //void pwm(void)
+
+
+
+// ��������� �������� �����
+// (rf.PsiZ -> rf.psiZ, rf.pPsiZ)
+void reference_flux(void) {
+ if ( rf.once == 0 ) {
+ rf.once = 1;
+ rf.KpsiSub = TY*DECIM_PSI_WM_PM/6.0;
+ rf.psiZi = 0;
+ cc.y1 = 0;
+ cc.y2 = 0;
+ rf.psiSub = 0;
+ rf.psiZ = 0;
+ rf.psiZPrev1 = 0;
+ rf.psiZPrev2 = 0;
+ rf.psiZPrev3 = 0;
+ }
+
+ // ��
+ if ( rf.PsiZ - rf.psiZi > rf.PsizIncr ) {
+ rf.psiZi += rf.PsizIncr;
+ }
+ else if ( rf.psiZi - rf.PsiZ > rf.PsizIncr ) {
+ rf.psiZi -= rf.PsizIncr;
+ }
+ else {
+ rf.psiZi = rf.PsiZ;
+ }
+ // ��������� � ������������ �� ���������
+ if ( wmAbs <= rf.WmNomPsi )
+ rf.psiZCorr = rf.psiZi;
+ else
+ rf.psiZCorr = rf.psiZi*rf.WmNomPsi/wmAbs;
+ // ��������� � ������������ � ����������
+ if ( (cc.y1 > rf.YlimPsi) || (cc.y2 > rf.YlimPsi) ) {
+ rf.psiSub += (rf.psiZCorr - rf.psiSub)*rf.KpsiSub;
+ }
+ else {
+ rf.psiSub += (0 - rf.psiSub)*rf.KpsiSub;
+ }
+ rf.psiZCorr2 = rf.psiZCorr - rf.psiSub;
+ // ����� ������� �������� ���� �������
+ rf.psiZ += (rf.psiZCorr2 - rf.psiZ)*rf.Kpsiz;
+
+ // ����������� ��������� ���������������
+ rf.pPsiZ = (rf.psiZ - rf.psiZPrev3)/(TY*DECIM_PSI_WM_PM*3.);
+ rf.psiZPrev3 = rf.psiZPrev2;
+ rf.psiZPrev2 = rf.psiZPrev1;
+ rf.psiZPrev1 = rf.psiZ;
+} //void reference_flux(void)
+
+
+
+// ��������� �������� ��������
+// (mst.pmZz, mst.pmLim -> rp.pmZ)
+void reference_power(void) {
+ if ( rp.once == 0 ) {
+ rp.once = 1;
+ rp.pmZi = 0;
+ rp.pmZ = 0;
+ }
+
+ // �����������
+ if ( fabs(mst.pmZz) > mst.pmLim ) {
+ if ( mst.pmZz >= 0 )
+ rp.pmZz = mst.pmLim;
+ else
+ rp.pmZz = -mst.pmLim;
+ }
+ else {
+ rp.pmZz = mst.pmZz;
+ }
+ // ��� ����������� ���������� �������� (?)
+ if ( fabs(rp.pmZi - rp.pmEqv) > 0.02 )
+ rp.KpIncrDecr = 0.10;
+ else
+ rp.KpIncrDecr = 1.00;
+ // ��
+ if ( rp.pmZz - rp.pmZi > mst.pIncrMaxTy*rp.KpIncrDecr ) {
+ rp.pmZi += mst.pIncrMaxTy*rp.KpIncrDecr;
+ }
+ else if ( rp.pmZi - rp.pmZz > mst.pDecrMaxTy*rp.KpIncrDecr ) {
+ rp.pmZi -= mst.pDecrMaxTy*rp.KpIncrDecr;
+ }
+ else {
+ rp.pmZi = rp.pmZz;
+ }
+ // ����� ������� �������� ���� �������
+ // rp.pmZ += (rp.pmZi - rp.pmZ)*rp.Kpmz;
+ rp.pmZ = rp.pmZz;
+} //void reference_power(void)
+
+
+
+// ��������� �������� ��������
+// (mst.wmZz, mst.wmLim -> rs.wmZ, rs.pWmZ)
+void reference_speed(void) {
+ if ( rs.once == 0 ) {
+ rs.once = 1;
+ rs.wmZi = rs.wmZ = wm;
+ rs.wzIncr = rs.WlimIncr;
+ rs.wmZPrev1 = rs.wmZ;
+ rs.wmZPrev2 = rs.wmZ;
+ rs.wmZPrev3 = rs.wmZ;
+ rs.tPwmZ = 0;
+ }
+
+ // �����������
+ if ( fabs(mst.wmZz) > mst.wmLim ) {
+ if ( mst.wmZz >= 0 )
+ rs.wmZz = mst.wmLim;
+ else
+ rs.wmZz = -mst.wmLim;
+ }
+ else {
+ rs.wmZz = mst.wmZz;
+ }
+ // ��� ����������� ���������� �������� (?)
+ if ( fabs(rs.wmZi) < 0.5 )
+ rs.wzIncrNf = rs.WlimIncr*3.5;
+ else if ( fabs(rs.wmZi) < 0.8 )
+ rs.wzIncrNf = rs.WlimIncr*2.0;
+ else
+ rs.wzIncrNf = rs.WlimIncr;
+ rs.wzIncr += (rs.wzIncrNf - rs.wzIncr)*(TY*DECIM_PSI_WM_PM)/0.25;
+ // ��
+ if ( rs.wmZz - rs.wmZi > rs.wzIncr ) {
+ rs.wmZi += rs.wzIncr;
+ }
+ else if ( rs.wmZi - rs.wmZz > rs.wzIncr ) {
+ rs.wmZi -= rs.wzIncr;
+ }
+ else {
+ rs.wmZi = rs.wmZz;
+ }
+ // ����� ������� �������� ���� �������
+ // rs.wmZ += (rs.wmZi - rs.wmZ)*rs.Kwmz;
+ rs.wmZ = rs.wmZz;
+
+ // ����������� �������� ��������
+ rs.pWmZ = (rs.wmZ - rs.wmZPrev3)/(TY*DECIM_PSI_WM_PM*3.);
+ rs.wmZPrev3 = rs.wmZPrev2;
+ rs.wmZPrev2 = rs.wmZPrev1;
+ rs.wmZPrev1 = rs.wmZ;
+ // ... ����� �������� ������� ��� ����� � ������� �����
+ // if ( (inuWork == 0) || (mst.start == 0) || (mst.pzMode == 1) )
+ // rs.tPwmZ = 0;
+ // if ( rs.tPwmZ <= 3 ) {
+ // rs.tPwmZ++;
+ // rs.pWmZ = 0;
+ // }
+} //void reference_speed(void)
+
+
+
+// �������� �.�.
+// (... -> ws, sinTheta, cosTheta, id1, iq1, id2, iq2, psi)
+void select_feedback(void) {
+ ws = ivc.ws;
+ sinTheta = ivc.sinTheta;
+ cosTheta = ivc.cosTheta;
+ id1 = ivc.id1;
+ iq1 = ivc.iq1;
+ id2 = ivc.id2;
+ iq2 = ivc.iq2;
+ psi = ivc.psi;
+} //void select_feedback(void)
+
+void write_swgen_pwm_times_split_eages(unsigned int mode_reload) {
+
+ xpwm_time.Ta0_0 = (unsigned int) svgen_pwm24_1.Ta_0.Ti;
+ xpwm_time.Ta0_1 = (unsigned int) svgen_pwm24_1.Ta_1.Ti;
+ xpwm_time.Tb0_0 = (unsigned int) svgen_pwm24_1.Tb_0.Ti;
+ xpwm_time.Tb0_1 = (unsigned int) svgen_pwm24_1.Tb_1.Ti;
+ xpwm_time.Tc0_0 = (unsigned int) svgen_pwm24_1.Tc_0.Ti;
+ xpwm_time.Tc0_1 = (unsigned int) svgen_pwm24_1.Tc_1.Ti;
+
+ xpwm_time.Ta1_0 = (unsigned int) svgen_pwm24_2.Ta_0.Ti;
+ xpwm_time.Ta1_1 = (unsigned int) svgen_pwm24_2.Ta_1.Ti;
+ xpwm_time.Tb1_0 = (unsigned int) svgen_pwm24_2.Tb_0.Ti;
+ xpwm_time.Tb1_1 = (unsigned int) svgen_pwm24_2.Tb_1.Ti;
+ xpwm_time.Tc1_0 = (unsigned int) svgen_pwm24_2.Tc_0.Ti;
+ xpwm_time.Tc1_1 = (unsigned int) svgen_pwm24_2.Tc_1.Ti;
+
+ // xpwm_time.Tbr0_0 = break_result_1;
+ // xpwm_time.Tbr0_1 = break_result_2;
+ // xpwm_time.Tbr1_0 = break_result_3;
+ // xpwm_time.Tbr1_1 = break_result_4;
+
+ xpwm_time.mode_reload = PWM_MODE_RELOAD_FORCE;// mode_reload;
+
+ xpwm_time.write_1_2_winding_break_times_split(&xpwm_time);
+}
+
+void write_CMP_tims(int calcPWMtimes) {
+
+ // if (calcPWMtimes == 0) {
+ // return;
+ // }
+
+ // EPwm1Regs.CMPA.half.CMPA = xpwm_time.Ta0_1;
+ // EPwm2Regs.CMPA.half.CMPA = xpwm_time.Ta0_0;
+
+ // EPwm3Regs.CMPA.half.CMPA = xpwm_time.Tb0_1;
+ // EPwm4Regs.CMPA.half.CMPA = xpwm_time.Tb0_0;
+
+ // EPwm5Regs.CMPA.half.CMPA = xpwm_time.Tc0_1;
+ // EPwm6Regs.CMPA.half.CMPA = xpwm_time.Tc0_0;
+
+
+ // EPwm7Regs.CMPA.half.CMPA = xpwm_time.Ta1_1;
+ // EPwm8Regs.CMPA.half.CMPA = xpwm_time.Ta1_0;
+
+ // EPwm9Regs.CMPA.half.CMPA = xpwm_time.Tb1_1;
+ // EPwm10Regs.CMPA.half.CMPA = xpwm_time.Tb1_0;
+
+ // EPwm11Regs.CMPA.half.CMPA = xpwm_time.Tc1_1;
+ // EPwm12Regs.CMPA.half.CMPA = xpwm_time.Tc1_0;
+
+ // ��������� ��������
+ EALLOW;
+ EPwm1Regs.TZCLR.all = 0x0004;
+ EPwm2Regs.TZCLR.all = 0x0004;
+ EPwm3Regs.TZCLR.all = 0x0004;
+ EPwm4Regs.TZCLR.all = 0x0004;
+ EPwm5Regs.TZCLR.all = 0x0004;
+ EPwm6Regs.TZCLR.all = 0x0004;
+#ifdef ML
+ EPwm7Regs.TZCLR.all = 0x0004;
+ EPwm8Regs.TZCLR.all = 0x0004;
+ EPwm9Regs.TZCLR.all = 0x0004;
+ EPwm10Regs.TZCLR.all = 0x0004;
+ EPwm11Regs.TZCLR.all = 0x0004;
+ EPwm12Regs.TZCLR.all = 0x0004;
+#endif //ML
+ EDIS;
+}
+
diff --git a/Inu/upr.h b/Inu/upr.h
new file mode 100644
index 0000000..aba741d
--- /dev/null
+++ b/Inu/upr.h
@@ -0,0 +1,50 @@
+#ifndef UPR
+#define UPR
+
+// ����������, ������� ���������� � upr.c (begin)
+//#########################################################################
+volatile short onceUpr;
+struct SgmPar sgmPar;
+struct Rf rf;
+struct Rs rs;
+struct Rp rp;
+
+float IzLim;
+volatile float psi;
+float idZ;
+float iqZ;
+float iZ;
+float ws;
+float sinTheta;
+float cosTheta;
+float id1;
+float iq1;
+float id2;
+float iq2;
+struct Cc cc;
+struct Cf cf;
+struct Csp csp;
+struct Ivc ivc;
+struct Ip ip;
+//#########################################################################
+// ����������, ������� ���������� � upr.c (end)
+
+
+
+
+// ����������, ������� ��������� � upr.c (begin)
+//#########################################################################
+extern volatile float wmNf;
+extern volatile float wm;
+extern volatile float wmAbs;
+extern volatile float ix1;
+extern volatile float iy1;
+extern volatile float ix2;
+extern volatile float iy2;
+extern volatile float kMe;
+extern volatile short inuWork;
+extern struct Mst mst;
+extern volatile short faultNo;
+//#########################################################################
+// ����������, ������� ��������� � upr.c (end)
+#endif //UPR
diff --git a/Inu/wrapper_inu.c b/Inu/wrapper_inu.c
new file mode 100644
index 0000000..9b07a3b
--- /dev/null
+++ b/Inu/wrapper_inu.c
@@ -0,0 +1,267 @@
+/**************************************************************************
+ Description: ��������� - ���������.
+
+ �����: ���������� �.�.
+ ���� ���������� ����������: 2021.09.23
+**************************************************************************/
+
+
+
+#define S_FUNCTION_NAME wrapper_inu
+#define S_FUNCTION_LEVEL 2
+#include "simstruc.h"
+#include "math.h"
+#include "wrapper_inu.h"
+
+
+
+#define MDL_UPDATE
+/* Function: mdlUpdate ====================================================
+ * Abstract:
+ * This function is called once for every major integration time step.
+ * Discrete states are typically updated here, but this function is useful
+ * for performing any tasks that should only take place once per
+ * integration step.
+ */
+static void mdlUpdate(SimStruct *S, int_T tid)
+{
+ const real_T *u = (const real_T*) ssGetInputPortRealSignal(S,0);
+ real_T *xD = ssGetDiscStates(S);
+ real_T *rW = ssGetRWork(S);
+ int_T *iW = ssGetIWork(S);
+
+ controller(S, u, xD, rW, iW);
+
+}//end mdlUpdate
+
+
+
+/* Function: mdlCheckParameters ===========================================
+* Abstract:
+* mdlCheckParameters verifies new parameter settings whenever parameter
+* change or are re-evaluated during a simulation.
+*/
+#define MDL_CHECK_PARAMETERS /* Change to #undef to remove function */
+#if defined(MDL_CHECK_PARAMETERS) && defined(MATLAB_MEX_FILE)
+static void mdlCheckParameters(SimStruct *S)
+{
+ int i;
+
+ // ��������� � ��������� ��������� � ��������� ��� ��������� �� ������
+ // � �������� �������������
+ for (i=0; i<NPARAMS; i++)
+ {
+ // Input parameter must be scalar or vector of type double
+ if (!mxIsDouble(ssGetSFcnParam(S,i)) || mxIsComplex(ssGetSFcnParam(S,i)) ||
+ mxIsEmpty(ssGetSFcnParam(S,i)))
+ {
+ ssSetErrorStatus(S,"Input parameter must be of type double");
+ return;
+ }
+ // �������� �.�. ������ ��������, �������� ��� ��������
+ if (mxGetNumberOfDimensions(ssGetSFcnParam(S,i)) > 2)
+ {
+ ssSetErrorStatus(S,"�������� �.�. ������ ��������, �������� ��� ��������");
+ return;
+ }
+
+ // Parameter not tunable
+// ssSetSFcnParamTunable(S, i, SS_PRM_NOT_TUNABLE);
+ // Parameter tunable (we must create a corresponding run-time parameter)
+ ssSetSFcnParamTunable(S, i, SS_PRM_TUNABLE);
+ // Parameter tunable only during simulation
+// ssSetSFcnParamTunable(S, i, SS_PRM_SIM_ONLY_TUNABLE);
+
+ }//for (i=0; i<NPARAMS; i++)
+
+}//end mdlCheckParameters
+
+#endif //MDL_CHECK_PARAMETERS
+
+
+#define MDL_PROCESS_PARAMETERS /* Change to #undef to remove function */
+#if defined(MDL_PROCESS_PARAMETERS) && defined(MATLAB_MEX_FILE)
+/* Function: mdlProcessParameters =========================================
+ * Abstract:
+ * This method will be called after mdlCheckParameters, whenever
+ * parameters change or get re-evaluated. The purpose of this method is
+ * to process the newly changed parameters. For example "caching" the
+ * parameter changes in the work vectors. Note this method is not
+ * called when it is used with the Real-Time Workshop. Therefore,
+ * if you use this method in an S-function which is being used with the
+ * Real-Time Workshop, you must write your S-function such that it doesn't
+ * rely on this method. This can be done by inlining your S-function
+ * via the Target Language Compiler.
+ */
+static void mdlProcessParameters(SimStruct *S)
+{
+ int_T *iW = ssGetIWork(S);
+
+ iW[0] = 1;//processParameters
+}
+#endif //MDL_PROCESS_PARAMETERS
+
+
+
+/* Function: mdlInitializeSizes ===========================================
+ * Abstract:
+ * The sizes information is used by Simulink to determine the S-function
+ * block's characteristics (number of inputs, outputs, states, etc.).
+ */
+static void mdlInitializeSizes(SimStruct *S)
+{
+ //---------------------------------------------------------------------
+ // Number of expected parameters
+ ssSetNumSFcnParams(S, NPARAMS);
+
+ // � ���������� ������ ������, ��� ��������� ���������� �������� �-���
+ // mdlCheckParameters()
+ #ifdef MATLAB_MEX_FILE
+ // ���-�� ��������� � ����������� ���������� ������ ���������
+ if(ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S))
+ {
+ // ��������� � ��������� ���������
+ mdlCheckParameters(S);
+ }
+ else
+ {
+ return;// Parameter mismatch will be reported by Simulink
+ }
+ #endif // MATLAB_MEX_FILE
+
+ //---------------------------------------------------------------------
+ // Register the number and type of states the S-Function uses
+ ssSetNumContStates(S, 0); // number of continuous states
+ ssSetNumDiscStates(S, OUTPUT_0_WIDTH); // number of discrete states
+
+ //---------------------------------------------------------------------
+ // ������������� ���-�� ��-�� ������
+ if (!ssSetNumInputPorts(S, 1)) return;
+ // ������������� ���-�� �������� �� ��-�� �����
+ ssSetInputPortWidth(S, 0, INPUT_0_WIDTH);
+
+ // ��������, ��� ��� ������ ��-�� ����� ��� direct feedthrough
+ ssSetInputPortDirectFeedThrough(S, 0, 0);
+
+ // �������, ����� ������� �� ������� ����� ��� ���������������, � ��
+ // � �������
+ ssSetInputPortRequiredContiguous(S, 0, 1); // direct input signal access
+
+ //---------------------------------------------------------------------
+ // ������������� ���-�� ���-�� ������
+ if (!ssSetNumOutputPorts(S, 1)) return;
+ // ������������� ���-�� �������� � ���-�� �����
+ ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH);
+
+ //---------------------------------------------------------------------
+ // Number of sample times
+ ssSetNumSampleTimes(S, 1);
+
+ //---------------------------------------------------------------------
+ // Set size of the work vectors
+ ssSetNumRWork( S, RWORK_0_WIDTH); // number of real work vector elements
+ ssSetNumIWork( S, IWORK_0_WIDTH); // number of integer work vector elements
+ ssSetNumPWork( S, 0); // number of pointer work vector elements
+ ssSetNumModes( S, 0); // number of mode work vector elements
+ ssSetNumNonsampledZCs( S, 0); // number of nonsampled zero crossings
+// ssSetNumDWork(S, 1);
+
+// ssSetDWorkWidth(S, 0, 12);//Inm
+// ssSetDWorkDataType(S, 0, SS_DOUBLE);
+
+ //---------------------------------------------------------------------
+ /*
+ * All options have the form SS_OPTION_<name> and are documented in
+ * matlabroot/simulink/include/simstruc.h. The options should be
+ * bitwise or'd together as in
+ * ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE | SS_OPTION_name2))
+ */
+ // � ������� ����� SS_OPTION_EXCEPTION_FREE_CODE �������, ��� �
+ // ����� ��������� ��� "����������"
+ ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE));
+
+}//end mdlInitializeSizes
+
+
+
+/* Function: mdlInitializeSampleTimes =====================================
+ * Abstract:
+ * This function is used to specify the sample time(s) for your
+ * S-function. You must register the same number of sample times as
+ * specified in ssSetNumSampleTimes.
+ */
+static void mdlInitializeSampleTimes(SimStruct *S)
+{
+ double dt;
+
+ // ��� �������������
+ dt = mxGetPr(ssGetSFcnParam(S,NPARAMS-1))[0];
+
+ // Register one pair for each sample time
+ ssSetSampleTime(S, 0, dt);
+ ssSetOffsetTime(S, 0, 0.0);
+
+}//end mdlInitializeSampleTimes
+
+
+#define MDL_START // Change to #undef to remove function
+#if defined(MDL_START)
+/* Function: mdlStart =====================================================
+ * Abstract:
+ * This function is called once at start of model execution. If you
+ * have states that should be initialized once, this is the place
+ * to do it.
+ */
+static void mdlStart(SimStruct *S)
+{
+ int_T *iW = ssGetIWork(S);
+
+ iW[0] = 1;//processParameters
+ iW[1] = 1;//start
+}
+#endif // MDL_START
+
+
+
+/* Function: mdlOutputs ===================================================
+ * Abstract:
+ * In this function, you compute the outputs of your S-function
+ * block. Generally outputs are placed in the output vector(s),
+ * ssGetOutputPortSignal.
+ */
+static void mdlOutputs(SimStruct *S, int_T tid)
+{
+ real_T *y = ssGetOutputPortRealSignal(S,0);
+ real_T *xD = ssGetDiscStates(S);
+
+ int i;
+
+ // OUTPUTS
+ for (i=0; i<OUTPUT_0_WIDTH; i++)
+ y[i] = xD[i];
+
+}//end mdlOutputs
+
+
+
+/* Function: mdlTerminate =================================================
+ * Abstract:
+ * In this function, you should perform any actions that are necessary
+ * at the termination of a simulation. For example, if memory was
+ * allocated in mdlStart, this is the place to free it.
+ */
+static void mdlTerminate(SimStruct *S)
+{
+}
+
+
+
+/*=============================*
+ * Required S-function trailer *
+ *=============================*/
+
+#ifdef MATLAB_MEX_FILE // Is this file being compiled as a MEX-file?
+#include "simulink.c" // MEX-file interface mechanism
+#else
+#include "cg_sfun.h" // Code generation registration function
+#endif
diff --git a/Inu/wrapper_inu.h b/Inu/wrapper_inu.h
new file mode 100644
index 0000000..326ea68
--- /dev/null
+++ b/Inu/wrapper_inu.h
@@ -0,0 +1,25 @@
+/**************************************************************************
+ Description: ������� ���������� ������, �������, ����������, � �����
+ ������� ������� �������� S-function.
+
+ �����: ���������� �.�.
+ ���� ���������� ����������: 2021.09.22
+**************************************************************************/
+
+
+#ifndef WRAPPER
+#define WRAPPER
+
+
+#define INPUT_0_WIDTH 20 //���-�� ������
+#define OUTPUT_0_WIDTH 49 //���-�� �������
+#define NPARAMS 1 //���-�� ���������� (�������� � ��������)
+#define RWORK_0_WIDTH 5 //width of the real-work vector
+#define IWORK_0_WIDTH 5 //width of the integer-work vector
+
+
+void controller(SimStruct *S, const real_T *u, real_T *xD, real_T *rW,
+ int_T *iW);
+
+
+#endif
diff --git a/ReadMe.txt b/ReadMe.txt
new file mode 100644
index 0000000..23ba3bc
--- /dev/null
+++ b/ReadMe.txt
@@ -0,0 +1,2 @@
+��� ������������ ��������� ������ �������������� ����������� ���������.
+
diff --git a/allmex.m b/allmex.m
new file mode 100644
index 0000000..5be3931
--- /dev/null
+++ b/allmex.m
@@ -0,0 +1,24 @@
+clear, clc
+% ����������� S-function
+currFolder = cd;
+%cd([currFolder, '\Inu']);
+
+delete("wrapper_inu.mexw64")
+
+status=system('run_mex.bat wrapper_inu.c')
+if status==0
+else
+ error('Error!')
+end
+
+% status=system('run_mex.bat wrapper_inu_2.c')
+% if status==0
+% else
+% error('Error!')
+% end
+
+%mex -D"ML" -D"__IQMATHLIB_H_INCLUDED__" -D"_MATLAB_SIMULATOR" -I"..\device_support_ml\include" -I"." -I".\Inu" -I".\Inu\Src\main" -I".\Inu\Src\VectorControl" -I".\Inu\Src\main_matlab" -I".\Inu\Src\myLibs" -I".\Inu\Src\myXilinx" -outdir "." .\Inu\wrapper_inu_1.c .\Inu\controller.c .\Inu\init28335.c .\Inu\detcoeff.c .\Inu\isr.c .\Inu\main.c .\Inu\param.c .\Inu\upr.c .\Inu\Src\main_matlab\IQmathLib_matlab.c .\Inu\Src\main_matlab\main_matlab.c .\Inu\Src\main_matlab\adc_tools_matlab.c .\Inu\Src\myLibs\modbus_read_table.c .\Inu\Src\myLibs\my_filter.c .\Inu\Src\myLibs\pid_reg3.c .\Inu\Src\myLibs\svgen_dq_v2.c .\Inu\Src\myLibs\rmp_cntl_my1.c .\Inu\Src\myLibs\modbus_table.c .\Inu\Src\myLibs\mathlib.c .\Inu\Src\main_matlab\v_pwm24_matlab.c .\Inu\Src\main_matlab\xp_write_xpwm_time_matlab.c .\Inu\Src\main_matlab\errors_matlab.c .\Inu\Src\main\detect_overload.c .\Inu\Src\main\rotation_speed.c .\Inu\Src\main\global_time.c .\Inu\Src\main\PWMTools.c .\Inu\Src\VectorControl\pwm_vector_regul.c .\Inu\Src\VectorControl\abc_to_dq.c .\Inu\Src\VectorControl\regul_power.c .\Inu\Src\VectorControl\regul_turns.c .\Inu\Src\VectorControl\teta_calc.c .\Inu\Src\VectorControl\dq_to_alphabeta_cos.c ..\device_support_ml\source\C28x_FPU_FastRTS.obj ..\device_support_ml\source\DSP2833x_GlobalVariableDefs.obj
+%mex -D"ML" -D"__IQMATHLIB_H_INCLUDED__" -D"_MATLAB_SIMULATOR" -I"..\device_support_ml\include" -I"." -I".\Inu" -I".\Inu\Src\main" -I".\Inu\Src\VectorControl" -I".\Inu\Src\main_matlab" -I".\Inu\Src\myLibs" -I".\Inu\Src\myXilinx" -outdir "." .\Inu\wrapper_inu_2.c .\Inu\controller.c .\Inu\init28335.c .\Inu\detcoeff.c .\Inu\isr.c .\Inu\main.c .\Inu\param.c .\Inu\upr.c .\Inu\Src\main_matlab\IQmathLib_matlab.c .\Inu\Src\main_matlab\main_matlab.c .\Inu\Src\main_matlab\adc_tools_matlab.c .\Inu\Src\myLibs\modbus_read_table.c .\Inu\Src\myLibs\my_filter.c .\Inu\Src\myLibs\pid_reg3.c .\Inu\Src\myLibs\svgen_dq_v2.c .\Inu\Src\myLibs\rmp_cntl_my1.c .\Inu\Src\myLibs\modbus_table.c .\Inu\Src\myLibs\mathlib.c .\Inu\Src\main_matlab\v_pwm24_matlab.c .\Inu\Src\main_matlab\xp_write_xpwm_time_matlab.c .\Inu\Src\main_matlab\errors_matlab.c .\Inu\Src\main\detect_overload.c .\Inu\Src\main\rotation_speed.c .\Inu\Src\main\global_time.c .\Inu\Src\main\PWMTools.c .\Inu\Src\VectorControl\pwm_vector_regul.c .\Inu\Src\VectorControl\abc_to_dq.c .\Inu\Src\VectorControl\regul_power.c .\Inu\Src\VectorControl\regul_turns.c .\Inu\Src\VectorControl\teta_calc.c .\Inu\Src\VectorControl\dq_to_alphabeta_cos.c ..\device_support_ml\source\C28x_FPU_FastRTS.obj ..\device_support_ml\source\DSP2833x_GlobalVariableDefs.obj
+
+
+clear currFolder
diff --git a/am_two_wind.mexw64 b/am_two_wind.mexw64
new file mode 100644
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HcmV?d00001
diff --git a/init.m b/init.m
new file mode 100644
index 0000000..15e83d0
--- /dev/null
+++ b/init.m
@@ -0,0 +1,78 @@
+% C����� ��� ������� ���������� ������
+
+clear;%������� ������� ������������
+Ts = 10e-6;%��� ��������������
+Decim = 20;%�������� ������������
+Limit = 2000000;%���-�� ������������ �����
+% Scope-� ���������� ��������� tt ������ �������
+tt = Ts*Decim*Limit;
+
+
+% ��� ��������� ������
+SQRT2 = sqrt(2);
+SQRT3 = sqrt(3);
+PI2 = pi*2;
+
+% ��������� �������� ���, ���� �� NmNom
+w0 = 0;%0.5;%-0.75;%
+% �������� ������, �.�.
+Mst = 0.6;%0.6;
+
+% ���������/��������� ������/������� ������� ��������
+changingLoadEnable = 1;%1
+% ���������/��������� ��� � ���������� ����
+noiseEnable = 0;%1;%
+% ... �������� ����
+NP = 0.08;
+
+% ����������� �������� ���
+% ... �������� �� ����, ��
+Pnom = 5000e3*2;
+% ... �������� ����������, � (rms)
+Unom = 3000;
+% ... ������������ ��������, ��/���
+NmNom = 165;
+% ... ����� ��� �������
+Pp = 6;
+% ... ����������� ��������
+CosFi = 0.87;
+% ... ���
+Eff = 0.962;
+% ... ����������� � ���� ������ �������, ��*�^2
+J = 87e3*0.5;
+% ... ������ ��������, ��
+Snom = Pnom/CosFi/Eff;
+% ... ������������ ��������, ���/�
+WmNom = NmNom/60*PI2;
+% ... ������ �� ����, �*�
+Mnom = Pnom/WmNom;
+% ... ��. ��������, ���/�
+WeNom = WmNom*Pp;
+% ... ��. ��������, ��
+FeNom = WeNom/PI2;
+% ... ��������������� �������, ��
+PsiNom = Unom*SQRT2/(WeNom*SQRT3);
+% ... ���������� �� ����� ���������, B
+UdcNom = Unom*SQRT2*1.18;
+% ... ���, � (ampl)
+Inom = Snom/(Unom*SQRT3)*SQRT2*0.5;%0.5 - �.�. ������� ���
+
+% ��������� ���
+Rs = 11.8e-3;%��
+Xls = 72.7e-3;%72.7e-3;%��
+Rr = 11.1e-3*2.0;%*0.8;%��
+Xlr = 85.5e-3;%��
+Xm = 2.87 * 1.5;%2.87;%��
+Fe = 12;%��
+Lls = Xls/(Fe*PI2);%��
+Llr = Xlr/(Fe*PI2);%��
+Lm = Xm/(Fe*PI2);%��
+
+% ������� �� ����� INU, �
+Cdc = 50e-3;
+% ������� � INU
+Csn = Pnom/(1000*WeNom*Unom^2)/10*0.5;%� (0.5 - �.�. ���������������� ���)
+Rsn = 2*Ts/Csn*10;%��
+
+% ���������� ������� ������� ��� ���� ���, c
+Tiac = 30e-6;
diff --git a/inu_im_2wnd_3lvl.slx b/inu_im_2wnd_3lvl.slx
new file mode 100644
index 0000000000000000000000000000000000000000..e40b9cb4eacb29ba050d3d0ecab51b7e644b466a
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HcmV?d00001
diff --git a/run_mex.bat b/run_mex.bat
new file mode 100644
index 0000000..411f269
--- /dev/null
+++ b/run_mex.bat
@@ -0,0 +1,59 @@
+@echo off
+
+
+IF [%1]==[] (set params_f1=.\Inu\wrapper_inu_1.c)
+IF NOT [%1]==[] (set params_f1=.\Inu\%1)
+
+echo %params_f1%
+
+set params_d1=-D"ML" -D"__IQMATHLIB_H_INCLUDED__" -D"_MATLAB_SIMULATOR"
+set params_d2=-D"_MATLAB_FAST_SIMULATOR" -D"PROJECT_SHIP=1"
+
+set params_i=-I"..\device_support_ml\include"^
+ -I"."^
+ -I".\Inu"^
+ -I".\Inu\Src\main"^
+ -I".\Inu\Src\N12_VectorControl"^
+ -I".\Inu\Src\main_matlab"^
+ -I".\Inu\Src\N12_Libs"^
+ -I".\Inu\Src\N12_Xilinx"
+
+set params_o=-outdir "."
+
+set params_f2=.\Inu\controller.c^
+ .\Inu\Src\main_matlab\IQmathLib_matlab.c^
+ .\Inu\Src\main_matlab\main_matlab.c^
+ .\Inu\Src\main_matlab\errors_matlab.c^
+ .\Inu\Src\main_matlab\adc_tools_matlab.c^
+ .\Inu\Src\main\v_pwm24_v2.c^
+ .\Inu\Src\N12_Libs\mathlib.c^
+ .\Inu\Src\N12_Libs\filter_v1.c^
+ .\Inu\Src\N12_Libs\pid_reg3.c^
+ .\Inu\Src\N12_Libs\rmp_cntl_v1.c^
+ .\Inu\Src\N12_Libs\svgen_dq_v2.c^
+ .\Inu\Src\N12_Libs\svgen_mf.c^
+ .\Inu\Src\N12_Libs\uf_alg_ing.c^
+ .\Inu\Src\N12_Xilinx\xp_write_xpwm_time.c^
+ .\Inu\Src\N12_Libs\global_time.c^
+ .\Inu\Src\N12_VectorControl\vector_control.c^
+ .\Inu\Src\N12_VectorControl\abc_to_dq.c^
+ .\Inu\Src\N12_VectorControl\regul_power.c^
+ .\Inu\Src\N12_VectorControl\regul_turns.c^
+ .\Inu\Src\N12_VectorControl\teta_calc.c^
+ .\Inu\Src\N12_VectorControl\dq_to_alphabeta_cos.c
+
+set params_f3=.\Inu\Src\N12_Libs\modbus_table.c^
+ .\Inu\Src\main\detect_overload.c^
+ .\Inu\Src\N12_VectorControl\filter_analog.c^
+ .\Inu\Src\N12_VectorControl\filter_bat2.c^
+ .\Inu\Src\main\PWMTools.c
+
+set params_obj=..\device_support_ml\source\C28x_FPU_FastRTS.obj ..\device_support_ml\source\DSP2833x_GlobalVariableDefs.obj
+
+
+
+
+echo mex %params_d1% %params_d2% %params_i% %params_o% %params_f1% %params_f2% %params_obj% -g
+
+
+mex %params_d1% %params_d2% %params_i% %params_o% %params_f1% %params_f2% %params_obj% -g