qy.rar_TMS320c2812_dsp 2812_电机_电机 调试

#include "DSP28_Device.h" #include "motor.h" /***************************************************/ interrupt void t1pint_isr(void); interrupt void t2pint_isr(void); interrupt void cap_isr(void); interrupt void pdpinta_isr(void); void delay(unsigned int m); void pidcontrol(int u,int y);//速度调节 unsigned int t1prd=117;//定时器1的周期 unsigned int t2prd=117;//定时器2的标志 unsigned int dir=0;//电机转动方向 unsigned int dccurent;//直流母线电流 Uint32 Sumdcc=0; unsigned int dcccount=0,Averagedcc=0;//母线电流平均值初始化 unsigned int dcvoltage;//直流母线电压 Uint32 Sumdcv=0; unsigned int dcvcount=0,Averagedcv=0;//母线电压平均值初始化 unsigned int capstastus;//定义cap口的电平 Uint32 Time,T2cnt,count=0;//,Speed=0,; unsigned Pole=2;//极对数 Uint32 Sum=0,Average=0; unsigned int l=0,nnn=0,Speed=0; //速度到pwm的初始值 unsigned int pwm=20;//pwm的占空比初值 float kp=0.003,ki=0.02,kd=0.0; int Speedset=2200; int ek=0,ek1=0,ek2=0; int du; float duk; int t2=0; unsigned int yy=0; unsigned int test0[2000],test1[5000]; int sss=0; /***************************************************/ void main(void) { /*初始化系统*/ InitSysCtrl(); /*关中断*/ DINT; IER = 0x0000; IFR = 0x0000; /*初始化PIE*/ InitPieCtrl(); /*初始化PIE矢量表*/ InitPieVectTable(); /*初始化GPIO*/ Gpioinit(); /*初始化AD*/ InitAdc(); /*初始化PWM*/ Init_eva_pwm(); /*初始化CAP*/ Capinit(); EALLOW; // This is needed to write to EALLOW protected register PieVectTable.CAPINT1=&cap_isr; PieVectTable.CAPINT2=&cap_isr; PieVectTable.CAPINT3=&cap_isr; PieVectTable.T1PINT=&t1pint_isr; PieVectTable.T2PINT=&t2pint_isr; PieVectTable.PDPINTA=&pdpinta_isr; EDIS; // This is needed to disable write to EALL PieCtrl.PIEIER2.bit.INTx4=1;//T1pint中断 PieCtrl.PIEIER3.bit.INTx1=1;//T2pint中断 PieCtrl.PIEIER3.bit.INTx5=1;//Cap1中断 PieCtrl.PIEIER3.bit.INTx6=1;//Cap2中断 PieCtrl.PIEIER3.bit.INTx7=1;//Cap3中断 PieCtrl.PIEIER1.bit.INTx1=1;//pdpinta中断 /* 设置IER寄存器 */ IER |= M_INT1; IER |= M_INT2; // t1pint enable IER |= M_INT3; // capture enable // Enable global Interrupts and higher priority real-time debug events: startmotor(); EINT; // Enable Global interrupt INTM ERTM; // Enable Global realtime interrupt DBGM // Step 6. IDLE loop. Just sit and loop forever (optional): while(1) { } } interrupt void t2pint_isr(void) { count++; EvaRegs.EVAIFRB.bit.T2PINT=1;//清除中断标志 EvaRegs.EVAIMRB.bit.T2PINT=1;//中断允许 PieCtrl.PIEACK.bit.ACK3=1;//向cpu申请中断 } interrupt void cap_isr(void) { /*****以下用来检测传感器的输出电平，用来换向****/ Uint32 kk=t2prd; EALLOW; GpioMuxRegs.GPAMUX.bit.CAP1Q1_GPIOA8=0;//设定cap1~3为gpio GpioMuxRegs.GPAMUX.bit.CAP2Q2_GPIOA9=0; GpioMuxRegs.GPAMUX.bit.CAP3QI1_GPIOA10=0; GpioMuxRegs.GPADIR.bit.GPIOA8=0;//设定cap1~3为输入 GpioMuxRegs.GPADIR.bit.GPIOA9=0; GpioMuxRegs.GPADIR.bit.GPIOA10=0; capstastus=(GpioDataRegs.GPADAT.all&0x0700)>>8; if(dir==1) { switch(capstastus)//ir2136 的hin和lin是反向的 { case 1: EvaRegs.ACTR.all=0x7fd;break;//h3 fall case 2: EvaRegs.ACTR.all=0xfd7;break;//h1 fall case 3: EvaRegs.ACTR.all=0x7df;break;//h2 rise case 4: EvaRegs.ACTR.all=0xd7f;break;//h2 fall case 5: EvaRegs.ACTR.all=0xf7d;break;//h1 rise case 6: EvaRegs.ACTR.all=0xdf7;break;//h3 rise } } else { switch(capstastus)//ir2136 的hin和lin是反向的 { case 5: EvaRegs.ACTR.all=0xfd7;break;//h1 rise case 1: EvaRegs.ACTR.all=0xd7f;break;//h3 fall case 3: EvaRegs.ACTR.all=0xdf7;break;//h2 rise case 2: EvaRegs.ACTR.all=0xf7d;break;//h1 fall case 6: EvaRegs.ACTR.all=0x7fd;break;//h3 rise case 4: EvaRegs.ACTR.all=0x7df;break;//h2 fall } } /*以下用来计算转速*/ T2cnt=EvaRegs.T2CNT;//读取定时器2的值 Time=kk*count+ T2cnt;//获得运转1相所需时间 Sum+=Time; l++; if(l==12)//每转12/6/pole计算一下转速 { Average=Sum/12; Speed=kk*20000*60/(Average*6*Pole);//计算转速 Sum=0; l=0; test0[nnn]=Speed;//测试用，存储速度值 nnn++; if(nnn==2000) { nnn=0; } } count=0; EvaRegs.T2CON.all = 0x1400;//关闭定时器2 EvaRegs.T2CNT = 0x0000; EvaRegs.T2CON.all = 0x1440;//启动定时器2 /*************************/ GpioMuxRegs.GPAMUX.bit.CAP1Q1_GPIOA8=1;//重新设定cap1~3为gpio GpioMuxRegs.GPAMUX.bit.CAP2Q2_GPIOA9=1; GpioMuxRegs.GPAMUX.bit.CAP3QI1_GPIOA10=1; EvaRegs.EVAIFRC.all = 7 ; // 清捕捉中断 EvaRegs.CAPFIFO.all = 0x01500; // 清空捕捉堆栈 PieCtrl.PIEACK.bit.ACK3=1;//cap1中断向cpu申请中断 } interrupt void t1pint_isr(void) { dcvoltage=(AdcRegs.RESULT0)>>4; dccurent=(AdcRegs.RESULT1)>>4; yy++; if(yy==10000) { yy=0; GpioDataRegs.GPADAT.bit.GPIOA13 =!GpioDataRegs.GPADAT.bit.GPIOA13;//程序运行显示 } //母线电压检测，过压保护， //注：电机在启动或者转动方向改变时，可能母线电压有脉动 //采用多次求平均值 Sumdcv+=dcvoltage; dcvcount++; if(dcvcount==500) { Averagedcv=Sumdcv/500;//求平均母线电压 Sumdcv=0; dcvcount=0; } //母线电流检测，过流保护，采用多次求平均值 Sumdcc+=dccurent; dcccount++; if(dcccount==200) { Averagedcc=Sumdcc/200;//求平均母线电流 Sumdcc=0; dcccount=0; } if((Averagedcv>=3000)|(Averagedcc>=3000)) { stopmotor(); if(Averagedcv>=3000) GpioDataRegs.GPADAT.bit.GPIOA11 =1;//过压显示 if(Averagedcc>=3000) GpioDataRegs.GPADAT.bit.GPIOA12 =1;//过流显示 } else { GpioDataRegs.GPADAT.bit.GPIOA11 =0;//过压显示 GpioDataRegs.GPADAT.bit.GPIOA12 =0;//过流显示 ////速度调节 test1[t2]=Averagedcc; t2++; if(t2==5000) { pidcontrol(Speedset,Speed);//250ms t2=0; } } /******************************/ AdcRegs.ADC_ST_FLAG.bit.INT_SEQ1_CLR=1; //清除状态字 AdcRegs.ADCTRL2.bit.RST_SEQ1=1;//复位seq1 EvaRegs.EVAIFRA.bit.T1PINT=1;//清除中断标志 EvaRegs.EVAIMRA.bit.T1PINT=1;//中断允许 PieCtrl.PIEACK.bit.ACK2=1;//向cpu申请中断 } interrupt void pdpinta_isr(void) { EvaRegs.EVAIFRA.bit.PDPINTA=1;//清除PDPINTA中断标志 PieCtrl.PIEACK.bit.ACK1=1;//向cpu申请中断 stopmotor(); EvaRegs.COMCONA.bit.FCOMPOE=1;//重新使能比较输出 } //pid控制 void pidcontrol(int u,int y) { ek=u-y; duk=kp*(ek-ek1)+ki*ek+kd*(ek+ek2-ek1*2); du=(int)duk; if(duk>1) duk=1; if(duk<-1) duk=-1; pwm-=du; if(pwm<4) { pwm=4; } if(pwm>70) { pwm=70; } EvaRegs.CMPR1=pwm; EvaRegs.CMPR2=pwm; EvaRegs.CMPR3=pwm; ek2=ek1; ek1=ek; } void delay(unsigned int m) { unsigned int i,j; for(i=0;i<m;i++) { for(j=0;j<1500;j++) {} } } /***********************************************************************/ // No more /***********************************************************************/