medium_event.c

#include "defs.h"
#include "Motor_isr.h"
#include "hardware.h"
#include "TuningInterface.h"
#include "stdio.h"
unsigned int DegreesAdvanced;   // Degrees of Phase advance based on speed
unsigned int ElectricalSpeed;	// Electrical Speed in electrical revolutions per second

void MediumEvent(void)
{
	static int HighLowCntr = 0;
	static unsigned int ramp_timer; 
	static unsigned int ramp_demand = 0;
	static unsigned int ramp_speed;
	static int motor_speed;
	static unsigned long ThreeSixtyDegreeAverage;

	ControlFlags.MediumEventFlag = 0;
	{
		PWMCON2bits.UDIS = 1;  			// disable the duty cycle update

		switch (RunMode)
		{
			case MOTOR_OFF:
				PDC1 = 0;
				PDC2 = 0;
				PDC3 = 0;
				break;
            case SENSORLESS_RUNNING:
				DegreesAdvanced =  __builtin_divud(((Speed-phase_advance_start) * phase_advance_slope),1000);
				if (DegreesAdvanced > MAX_PHASE_ADVANCE)	// Limit Phase advance to MAX_PHASE_ADVANCE
					DegreesAdvanced = MAX_PHASE_ADVANCE;	
				if (DegreesAdvanced <= 0)	// Because DegreesAdvanced is a divisor (in the next few line) alway have at least 1 degree of advance
					phase_advance = 0;
				else if (Speed > phase_advance_start)
					phase_advance = __builtin_divud(((unsigned long)ThreeSixtyDegreeAverage*DegreesAdvanced),360);
				else
					phase_advance = 0;
				if (ElectricalSpeed > (CrossOverERPS + 50))  // If electrical speed per second is over 300 then consider going to high speed mode
					HighLowCntr++;	
				if (ElectricalSpeed < (CrossOverERPS - 50))	 // If electrical speed per second is under 250 then consider going to low speed mode
					HighLowCntr--;
				if (HighLowCntr > 20)	    // The device only goes into high speed mode when the HighLowCntr reaches a certain magnitude
				{
					ControlFlags.HighSpeedMode = 1;
					HighLowCntr = 0;
				}
				if (HighLowCntr < -20)		// The device only goes into low speed mode when the HighLowCntr reaches a certain negative magnitude
				{
					ControlFlags.HighSpeedMode = 0;
					HighLowCntr = 0;
				}
                break;
            case SENSORLESS_INIT:
                //printf("SENSORLESS_INIT\r\n");
                GetParameters();
                signal_average = (vbus >> 1);
				RunMode = SENSORLESS_START;
				HighLowCntr = 0;
				ControlFlags.HighSpeedMode = 0;
				break;
			case SENSORLESS_START:
				switch (SensorlessStartState)
				{
					case LOCK1:
						PDC1 = lock1_demand;
						PDC2 = PDC1;
						PDC3 = PDC1;
						if (--lock1_duration == 0)
						{				
							Sector++;						// Increment Sector (there are 6 total)
							if(Sector > 5) Sector = 0;
								Commutate(Sector);			// Change the PWM output for next sector
							SensorlessStartState++;
						}
						break;
					case LOCK2:
						PDC1 = lock2_demand;
						PDC2 = PDC1;
						PDC3 = PDC1;
						if (--lock2_duration == 0)
						{				
							Sector++;						// Increment Sector (there are 6 total)
							if(Sector > 5) Sector = 0;
								Commutate(Sector);			// Change the PWM output for next sector
							SensorlessStartState++;
						}
						break;
					case RAMP_INIT:
						ramp_timer = 0;	
						ramp_demand = ramp_start_demand;
						motor_speed = ramp_start_speed;   // countdown timer to determine when it's time to switch to the next sector 
						ramp_speed = ramp_start_speed;  // current ramp speed in PWM interrupts per sector
						SensorlessStartState++;	
						break;
					case RAMP:
						if (ramp_timer++ >= ramp_duration)
						{
							SensorlessStartState = 0;
							RunMode = SENSORLESS_RUNNING;
                            //printf("SENSORLESS_INIT\r\n");
							T3CONbits.TON = 0; 	
							IEC0bits.T3IE = 0;
							IFS0bits.T1IF = 0;
							IEC0bits.T1IE = 1;
						}
						else
						{
							// check for demand change
							if (ramp_timer%ramp_demand_rate == 0)
									ramp_demand++;
							PDC1 = (unsigned int) ramp_demand;
							PDC2 = PDC1;
							PDC3 = PDC1;
							// check for speed change
							if (ramp_timer%ramp_speed_rate == 0)
							{
								motor_speed--;
								ramp_speed--;
							}
							if (motor_speed-- <= 0)
							{
								motor_speed = ramp_speed;
								Sector++;						// Increment Sector (there are 6 total)
								if(Sector > 5) Sector = 0;
								Commutate(Sector);			// Change the PWM output for next sector
							}
						}
						break;
					default:
						SensorlessStartState = 0;
						break;			
				}
				break;
			default:
				if (RunMode > (NO_OF_RUN_MODES - 1))
				RunMode = 0;
			break;
		}
		PWMCON2bits.UDIS = 0;  			// enable the duty cycle update

	}
}