基于DSP28335的直流电机闭环调速

#include "DSP2833x_Device.h" void SysCtrl(void); // /*与ECana模块相关的函数*/ void En_ECanaModeClk(void); void Confi_ECanaGpio(void); void Init_ECana(void); void Confi_ECanaMbox1_Tr(void); void Confi_ECanaInterrupt(void); void Confi_PieECana(void); void interrupt ISR_ECana(void); /*与定时中断相关的函数*/ void Confi_LedGpio(void); //中断正常检测引脚 #define LED1 GpioDataRegs.GPBDAT.bit.GPIO60 #define LED2 GpioDataRegs.GPBDAT.bit.GPIO61 void En_CpuTimer(void); void En_CpuTimer(void); // void Confi_CpuTimer0(float PRD,float TDDR); void Confi_PieTimer0(void); // void Confi_CpuTimer1(float PRD,float TDDR); // void interrupt ISR_Timer0(void); void interrupt ISR_Timer1(void); // /*与EPwm产生相关的定义的函数*/ void En_EPwmModeClk(void); void En_TBCLKSYNC(void); void Dis_TBCLKSYNC(void); // void Confi_EPwmGpio(void); void Init_EPwmMode(void); // #define Duty1 EPwm1Regs.CMPA.half.CMPA #define Duty2 EPwm2Regs.CMPA.half.CMPA #define Duty3 EPwm3Regs.CMPA.half.CMPA #define Duty4 EPwm4Regs.CMPA.half.CMPA #define Duty5 EPwm5Regs.CMPA.half.CMPA #define Duty6 EPwm6Regs.CMPA.half.CMPA // /*与Hall位置检测相关的定义的函数*/ void Confi_HallGpio(void); Uint16 hall_a; Uint16 hall_b; Uint16 hall_c; //Hall 位置传感器的缓存器 #define Hall_A GpioDataRegs.GPADAT.bit.GPIO24 #define Hall_B GpioDataRegs.GPADAT.bit.GPIO25 #define Hall_C GpioDataRegs.GPADAT.bit.GPIO26 // /*设置外部按键*/ void Confi_KeyGpio(void); #define Key1 GpioDataRegs.GPBDAT.bit.GPIO58 #define Key2 GpioDataRegs.GPBDAT.bit.GPIO59 // Uint16 ct; Uint32 Speed; //定义速度符号 // Uint16 count_dir; //定义定时器0的计数方向 Uint16 running_dir; //定义电机转动方向 int16 count; //定时器定时个数 int16 count_buf; //定时计数器缓存器 //#define count_max = 100; //定时器定时个数最大计数值 // /*与捕获模块相关的函数*/ void En_ECapModeClk(void); #define T1 ECap1Regs.CAP1 #define T2 ECap1Regs.CAP2 #define T3 ECap1Regs.CAP3 #define T4 ECap1Regs.CAP4 // Uint32 t1; Uint32 t2; Uint32 t3; Uint32 t4; // Uint32 Period1; Uint32 Period2; Uint32 Period3; /// void Init_ECapMode(void); // void main(void) { Speed = 0;Period1 = Period2 = Period3 = 0; // t1=t2=t3=t4=0; count = 0; count_dir = 0; //定时计数值为加计数 running_dir = 0; //电机转向初始为正方向旋转 // ct = 0; // SysCtrl(); En_ECanaModeClk(); //ECana模块的时钟使能 En_ECapModeClk(); //ECap模块的时钟使能 En_EPwmModeClk(); //EPwm模块的时钟使能 En_CpuTimer(); //使能定时器的时钟模块 Dis_TBCLKSYNC(); //与epwm模块相关 // // Confi_LedGpio(); //设置LED灯的功能引脚 Confi_EPwmGpio(); //设置pwm功能相关的引脚 Confi_HallGpio(); //设置位置模块外部引脚功能 Confi_ECanaGpio(); //设置ECana模块引脚功能 Init_ECana(); //初始化ECana Confi_ECanaMbox1_Tr(); //设置邮箱1为发送邮箱 // DINT; // IFR = 0x0000; IER = 0x0000; // Confi_CpuTimer0(100000,150); //定时周期为 0.1s Confi_PieTimer0(); Confi_CpuTimer1(10000,150); //设置定时器1 Confi_ECanaInterrupt(); //设置ECana发送中断 Confi_PieECana(); // EALLOW; PieVectTable.TINT0 = & ISR_Timer0; PieVectTable.XINT13 = & ISR_Timer1; PieVectTable.ECAN0INTA = & ISR_ECana; EDIS; PieCtrlRegs.PIECTRL.bit.ENPIE = 1; // Init_EPwmMode(); En_TBCLKSYNC(); // Init_ECapMode(); // IER = 0x1101; //启动定时器0 和1,已经ECana模块的中断 // EINT;ERTM; //CpuTimer1Regs.TCR.bit.TSS = 0; LED1 = 1; LED2 = 1; ECap1Regs.ECCTL2.bit.TSCTRSTOP = 1; //ECanaRegs.CANMC.bit.CDR = 1; ECanaMboxes.MBOX1.MDL.all = Speed; //ECanaRegs.CANMC.bit.CDR = 0; ECanaRegs.CANTRS.bit.TRS1 = 1; /////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////// while(1) { if(Key1 == 0 && Key2 == 1) //启动按键是否按下 { CpuTimer0Regs.TCR.bit.TSS = 0; //有键按下时启动定时器0 CpuTimer1Regs.TCR.bit.TSS = 0; // count_dir = 0; //启动键按下后，设定为计数加计数方式 do { // hall_a = Hall_A ;hall_b = Hall_B;hall_c = Hall_C; if(running_dir == 0) //判断电机方向 { /*六路位置判断*/ if(hall_a == 0 && hall_b == 1 && hall_c ==1) //判断霍尔位置确定开关管的导通启动电机 1 { if(count ==0 || count<50) //电机调速占空比的确定 { Duty2 = 50000 - 500* count; Duty3 = 50000 - 500* count; //电机的启动运行 } else if(count>=50) { Duty2 = 25000;Duty3 = 25000; //电机的正常运行 } EPwm1Regs.AQCTLA.bit.CAU = 1; EPwm2Regs.AQCTLA.bit.CAU = 2; EPwm3Regs.AQCTLA.bit.CAU = 2; EPwm4Regs.AQCTLA.bit.CAU = 1; EPwm5Regs.AQCTLA.bit.CAU = 1; EPwm6Regs.AQCTLA.bit.CAU = 1; // } else if(hall_a == 0 && hall_b == 1 && hall_c == 0) //2 { if(count==0 || count<=50) { Duty3 = 50000 - 500 * count; Duty6 = 50000 - 500* count; } else if(count>50) { Duty3 = 25000;Duty6 = 25000; } EPwm1Regs.AQCTLA.bit.CAU = 1; EPwm2Regs.AQCTLA.bit.CAU = 1; EPwm3Regs.AQCTLA.bit.CAU = 2; EPwm4Regs.AQCTLA.bit.CAU = 1; EPwm5Regs.AQCTLA.bit.CAU = 1; EPwm6Regs.AQCTLA.bit.CAU = 2; // } else if(hall_a == 1 && hall_b ==1 && hall_c ==0) //3 { if(count== 0 || count<=50) { Duty1 = 50000 - 500* count; Duty6 = 50000 - 500 * count; } else if (count >50) { Duty1 = 25000;Duty6 = 25000; } EPwm1Regs.AQCTLA.bit.CAU = 2; EPwm2Regs.AQCTLA.bit.CAU = 1; EPwm3Regs.AQCTLA.bit.CAU = 1; EPwm4Regs.AQCTLA.bit.CAU = 1; EPwm5Regs.AQCTLA.bit.CAU = 1; EPwm6Regs.AQCTLA.bit.CAU = 2; } else if(hall_a == 1 && hall_b == 0 && hall_c == 0) // 4 { if(count == 0 || count <=50) { Duty1 = 50000- 500 * count;Duty4 = 50000 - 500* count; } else if(count >50) { Duty1 = 25000;Duty4 = 25000; } EPwm1Regs.AQCTLA.bit.CAU = 2; EPwm2Regs.AQCTLA.bit.CAU = 1; EPwm3Regs.AQCTLA.bit.CAU = 1; EPwm4Regs.AQCTLA.bit.CAU = 2; EPwm5Regs.AQCTLA.bit.CAU = 1; EPwm6Regs.AQCTLA.bit.CAU = 1; //// } else if(hall_a == 1 && hall_b == 0 && hall_c == 1) //5 { if(count == 0 || count<=50) { Duty5 = 50000 - 500* count; Duty4 = 50000 - 500* count; } else if(count >50) { Duty5 = 25000;Duty4 = 25000; } EPwm1Regs.AQCTLA.bit.CAU = 1; EPwm2Regs.AQCTLA.bit.CAU = 1; EPwm3Regs.AQCTLA.bit.CAU = 1; EPwm4Regs.AQCTLA.bit.CAU = 2; EPwm5Regs.AQCTLA.bit.CAU = 2; EPwm6Regs.AQCTLA.bit.CAU = 1; // } else if(hall_a == 0 && hall_b ==0 && hall_c ==1) //6 { if(count == 0 || count <=50) { Duty5 = 50000- 500 * count; Duty2 = 50000- 500* count; } else if(count >50) { Duty5 = 25000;Duty2 = 25000; } EPwm1Regs.AQCTLA.bit.CAU = 1; EPwm2Regs.AQCTLA.bit.CAU = 2; EPwm3Regs.AQCTLA.bit.CAU = 1; EPwm4Regs.AQCTLA.bit.CAU = 1; EPwm5Regs.AQCTLA.bit.CAU = 2; EPwm6Regs.AQCTLA.bit.CAU = 1; /// } // ECanaMboxes.MBOX1.MDL.all = Speed; ECanaRegs.CANTRS.bit.TRS1 = 1; //启动ECana通讯 } ///正转启动设置完成 else if(running_dir ==1) //电机反转标定 { /*反向转动时的，位置信号所对应的开关管导通顺序*/ if(hall_a == 0 && hall_b == 1 && hall_c == 1) //位置信号 1 Q1 Q4 导通 { if(count == 0 || count<50 ) { Duty4 = 50000 - 500 * count; Duty1 = 50000 - 500 * count; } else if(count >= 50) { Duty4 = 25000;Duty1 = 25000; } EPwm1Regs.AQCTLA.bit.CAU = 2; EPwm2Regs.AQCTLA.bit.CAU = 1; EPwm3Regs.AQCTLA.bit.CAU = 1; EPwm4Regs.AQCTLA.bit.CAU = 2; EPwm5Regs.AQCTLA.bit.CAU = 1; EPwm6