cIQmath.rar_无刷电机_直流无刷_直流无刷电机

/* ============================================================================== System Name: BLDC31 File Name: BLDC3_1.C Description: Primary system file for the Real Implementation of Sensored Trapezoidal Drive for a Three Phase Brushless DC Motor (BLDC) using Hall Effect sensor Originator: Digital control systems Group - Texas Instruments Note: In this software, the default inverter is supposed to be DMC1500 board. ===================================================================================== History: ------------------------------------------------------------------------------------- 04-15-2005 Version 3.20: Support both F280x and F281x targets 04-25-2005 Version 3.21: Move EINT and ERTM down to ensure that all initialization is completed before interrupts are allowed. ================================================================================= */ // Include header files used in the main function #include "target.h" #if (DSP_TARGET==F2808) #include "DSP280x_Device.h" #endif #if (DSP_TARGET==F2812) #include "DSP281x_Device.h" #endif #include "IQmathLib.h" #include "bldc3_1.h" #include "parameter.h" #include "build.h" #include <math.h> // Prototype statements for functions found within this file. interrupt void MainISR(void); void spi_fifo_init(void); void dac_update(void); void test_ioinit(void); // Global variables used in this system float32 SpeedRef = 0.20; // Speed reference (pu) float32 T = 0.001/ISR_FREQUENCY; // Samping period (sec), see parameter.h Uint32 VirtualTimer = 0; Uint16 ILoopFlag = FALSE; Uint16 SpeedLoopFlag = FALSE; int16 DFuncDesired = 0x1A00; // Desired duty cycle (Q15) _iq CurrentSet = _IQ(0.0031); Uint16 IsrTicker = 0; Uint16 BackTicker = 0; int16 DlogCh1 = 0; int16 DlogCh2 = 0; int16 DlogCh3 = 0; int16 DlogCh4 = 0; int16 dac[5]; volatile Uint16 EnableFlag = FALSE; // Instance PID regulator to regulate the DC-bus current and speed PIDREG3 pid1_idc = PIDREG3_DEFAULTS; PIDREG3 pid1_spd = PIDREG3_DEFAULTS; // Instance a PWM driver instance PWMGEN pwm1 = PWMGEN_DEFAULTS; // Create an instance of the ADC driver ADCVALS adc1 = ADCVALS_DEFAULTS; // Instance a enable PWM drive driver (only for DMC1500) DRIVE drv1 = DRIVE_DEFAULTS; // Instance a Hall effect driver HALL3 hall1 = HALL3_DEFAULTS; // Instance a ramp controller to smoothly ramp the frequency RMPCNTL rc1 = RMPCNTL_DEFAULTS; // Instance a RAMP2 Module RMP2 rmp2 = RMP2_DEFAULTS; // Instance a MOD6 Module MOD6CNT mod1 = MOD6CNT_DEFAULTS; // Instance a SPEED_PR Module SPEED_MEAS_CAP speed1 = SPEED_MEAS_CAP_DEFAULTS; // Create an instance of DATALOG Module DLOG_4CH dlog = DLOG_4CH_DEFAULTS; void main(void) { // ****************************************** // Initialization code for DSP_TARGET = F2808 // ****************************************** #if (DSP_TARGET==F2808) // Initialize System Control registers, PLL, WatchDog, Clocks to default state: // This function is found in the DSP280x_SysCtrl.c file. InitSysCtrl(); // Globally synchronize all ePWM modules to the time base clock (TBCLK) EALLOW; SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1; EDIS; // HISPCP prescale register settings, normally it will be set to default values EALLOW; // This is needed to write to EALLOW protected registers SysCtrlRegs.HISPCP.all = 0x0000; // SYSCLKOUT/1 EDIS; // This is needed to disable write to EALLOW protected registers // Disable and clear all CPU interrupts: DINT; IER = 0x0000; IFR = 0x0000; // Initialize Pie Control Registers To Default State: // This function is found in the DSP280x_PieCtrl.c file. InitPieCtrl(); // Initialize the PIE Vector Table To a Known State: // This function is found in DSP280x_PieVect.c. // This function populates the PIE vector table with pointers // to the shell ISR functions found in DSP280x_DefaultIsr.c. InitPieVectTable(); // User specific functions, Reassign vectors (optional), Enable Interrupts: // Waiting for enable flag set while (EnableFlag==FALSE) { BackTicker++; } // Initialize all the Device Peripherals: // This function is found in DSP280x_CpuTimers.c InitCpuTimers(); // Configure CPU-Timer 0 to interrupt every ISR Period: // 100MHz CPU Freq, ISR Period (in uSeconds) // This function is found in DSP280x_CpuTimers.c ConfigCpuTimer(&CpuTimer0, 100, SYSTEM_FREQUENCY*10/ISR_FREQUENCY); StartCpuTimer0(); // Reassign ISRs. // Reassign the PIE vector for TINT0 to point to a different // ISR then the shell routine found in DSP280x_DefaultIsr.c. // This is done if the user does not want to use the shell ISR routine // but instead wants to use their own ISR. EALLOW; // This is needed to write to EALLOW protected registers PieVectTable.TINT0 = &MainISR; EDIS; // This is needed to disable write to EALLOW protected registers // Enable PIE group 1 interrupt 7 for TINT0 PieCtrlRegs.PIEIER1.all = M_INT7; // Enable CPU INT1 for TINT0: IER |= M_INT1; #endif // ****************************************** // Initialization code for DSP_TARGET = F2812 // ****************************************** #if (DSP_TARGET==F2812) // Initialize System Control registers, PLL, WatchDog, Clocks to default state: // This function is found in the DSP281x_SysCtrl.c file. InitSysCtrl(); // HISPCP prescale register settings, normally it will be set to default values EALLOW; // This is needed to write to EALLOW protected registers SysCtrlRegs.HISPCP.all = 0x0000; // SYSCLKOUT/1 EDIS; // This is needed to disable write to EALLOW protected registers // Disable and clear all CPU interrupts: DINT; IER = 0x0000; IFR = 0x0000; // Initialize Pie Control Registers To Default State: // This function is found in the DSP281x_PieCtrl.c file. InitPieCtrl(); // Initialize the PIE Vector Table To a Known State: // This function is found in DSP281x_PieVect.c. // This function populates the PIE vector table with pointers // to the shell ISR functions found in DSP281x_DefaultIsr.c. InitPieVectTable(); // User specific functions, Reassign vectors (optional), Enable Interrupts: // Initialize EVA Timer 1/2: // Setup Timer 1/2 Registers (EV A) EvaRegs.GPTCONA.all = 0; // Set the Period for the GP timer 2 EvaRegs.T2PR = SYSTEM_FREQUENCY*1000000*T; // Perscaler X1 (T2), ISR period = T x 1 // Clear the counter/compare Regs for GP timer 2 EvaRegs.T2CNT = 0x0000; EvaRegs.T2CMPR = 0x0000; // Waiting for enable flag set while (EnableFlag==FALSE) { BackTicker++; } // Enable Period interrupt bits for GP timer 2 EvaRegs.EVAIMRB.bit.T2PINT = 1; EvaRegs.EVAIFRB.bit.T2PINT = 1; // Count up, x1, internal clk, disable compare, use own period EvaRegs.T2CON.all = 0x9040; // Reassign ISRs. // Reassign the PIE vector for T2PINT to point to a different // ISR then the shell routine found in DSP281x_DefaultIsr.c. // This is done if the user does not want to use the shell ISR routine // but instead wants to use their own ISR. EALLOW; // This is needed to write to EALLOW protected registers PieVectTable.T2PINT = &MainISR; EDIS; // This is needed to disable write to EALLOW protected registers // Enable PIE group 3 interrupt 1 for T2PINT PieCtrlRegs.PIEIER3.all = M_INT1; // Enable CPU INT3 for T2PINT: IER |= M_INT3; #endif // Initialize PWM module pwm1.PeriodMax = (SYSTEM_FREQUENCY/PWM_FREQUENCY)*1000; // Asymmetric PWM pwm1.DutyFunc = DFuncDesired; // DutyFunc = Q15 pwm1.init(&pwm1)