pwm控制的基本原理利用dsp28335的pwm控制直流力矩电机，实现俯仰和航向轴的定位、随动控制.zip

// TI File $Revision: /main/2 $ // Checkin $Date: April 4, 2007 14:25:27 $ //########################################################################### // // FILE: DSP2833x_SWPrioritizedDefaultIsr.c // // TITLE: DSP2833x Device Default Software Prioritized Interrupt Service Routines. // //########################################################################### // // $TI Release: DSP2833x Header Files V1.01 $ // $Release Date: September 26, 2007 $ //########################################################################### #include "DSP2833x_Device.h" // DSP2833x Headerfile Include File #include "DSP2833x_Examples.h" // DSP2833x Examples Include File #include "DSP2833x_SWPrioritizedIsrLevels.h" // Connected to INT13 of CPU (use MINT13 mask): // Note CPU-Timer1 is reserved for TI use, however XINT13 // ISR can be used by the user. #if (INT13PL != 0) interrupt void INT13_ISR(void) // INT13 or CPU-Timer1 { IER |= MINT13; // Set "global" priority EINT; // Insert ISR Code here // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } #endif // Connected to INT14 of CPU (use MINT14 mask): #if (INT14PL != 0) interrupt void INT14_ISR(void) // CPU-Timer2 { IER |= MINT14; // Set "global" priority EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } #endif // Connected to INT15 of CPU (use MINT15 mask): #if (INT15PL != 0) interrupt void DATALOG_ISR(void) // Datalogging interrupt { IER |= MINT15; // Set "global" priority EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } #endif // Connected to INT16 of CPU (use MINT16 mask): #if (INT16PL != 0) interrupt void RTOSINT_ISR(void) // RTOS interrupt { IER |= MINT16; // Set "global" priority EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } #endif // Connected to EMUINT of CPU (non-maskable): interrupt void EMUINT_ISR(void) // Emulation interrupt { EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } // Connected to NMI of CPU (non-maskable): interrupt void NMI_ISR(void) // Non-maskable interrupt { EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } interrupt void ILLEGAL_ISR(void) // Illegal operation TRAP { EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } interrupt void USER1_ISR(void) // User Defined trap 1 { EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } interrupt void USER2_ISR(void) // User Defined trap 2 { EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } interrupt void USER3_ISR(void) // User Defined trap 3 { EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } interrupt void USER4_ISR(void) // User Defined trap 4 { EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } interrupt void USER5_ISR(void) // User Defined trap 5 { EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } interrupt void USER6_ISR(void) // User Defined trap 6 { EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } interrupt void USER7_ISR(void) // User Defined trap 7 { EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } interrupt void USER8_ISR(void) // User Defined trap 8 { EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } interrupt void USER9_ISR(void) // User Defined trap 9 { EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } interrupt void USER10_ISR(void) // User Defined trap 10 { EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } interrupt void USER11_ISR(void) // User Defined trap 11 { EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } interrupt void USER12_ISR(void) // User Defined trap 12 { EINT; // Insert ISR Code here....... // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } // ----------------------------------------------------------- // PIE Group 1 - MUXed into CPU INT1 // ----------------------------------------------------------- // Connected to PIEIER1_1 (use MINT1 and MG11 masks): #if (G11PL != 0) interrupt void SEQ1INT_ISR( void ) // ADC { // Set interrupt priority: volatile Uint16 TempPIEIER = PieCtrlRegs.PIEIER1.all; IER |= M_INT1; IER &= MINT1; // Set "global" priority PieCtrlRegs.PIEIER1.all &= MG11; // Set "group" priority PieCtrlRegs.PIEACK.all = 0xFFFF; // Enable PIE interrupts EINT; // Insert ISR Code here....... // Restore registers saved: DINT; PieCtrlRegs.PIEIER1.all = TempPIEIER; // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0"); for(;;); } #endif // Connected to PIEIER1_2 (use MINT1 and MG12 masks): #if (G12PL != 0) interrupt void SEQ2INT_ISR( void ) // ADC { // Set interrupt priority: volatile Uint16 TempPIEIER = PieCtrlRegs.PIEIER1.all; IER |= M_INT1; IER &= MINT1; // Set "global" priority PieCtrlRegs.PIEIER1.all &= MG12; // Set "group" priority PieCtrlRegs.PIEACK.all = 0xFFFF; // Enable PIE interrupts EINT; // Insert ISR Code here....... // Restore registers saved: DINT; PieCtrlRegs.PIEIER1.all = TempPIEIER; // Next two lines for debug only to halt the processor here // Remove after inserting ISR Code asm (" ESTOP0");