www.pudn.com > DSP2812formotorcontrol.rar > BLDCMotor.c
/////////////////////////// 无刷直流电动机 24V seakeke@163.com 和我联系////////////////////////////////////////// #include "DSP281x_Device.h" // DSP281x Headerfile Include File #include "DSPMotor_Head.h" #include "IQmathLib.h" #include "BLDCMotor.h" #include "parameter.h" #include///// 函数声明 //////////////////////////////////////////////////////////// interrupt void MainISR(void); ///// 全局变量声明 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)=0.2 _iq CurrentSet = _IQ(0.3); Uint16 IsrTicker = 0; Uint16 BackTicker = 0; int16 DlogCh1 = 0; int16 DlogCh2 = 0; int16 DlogCh3 = 0; int16 DlogCh4 = 0; // 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 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; ////////////////////////// 主程序 ////////////////////////////////////////////// void main(void) { // 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; // 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 = 0x1040; // 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; // Initialize PWM module pwm1.PeriodMax = (SYSTEM_FREQUENCY/PWM_FREQUENCY)*1000; // Asymmetric PWM pwm1.DutyFunc = DFuncDesired; // DutyFunc = Q15 pwm1.init(&pwm1); // Initialize DATALOG module dlog.iptr1 = &DlogCh1; dlog.iptr2 = &DlogCh2; dlog.iptr3 = &DlogCh3; dlog.iptr4 = &DlogCh4; dlog.trig_value = 0x01; dlog.size = 0x400; dlog.prescalar = 1; dlog.init(&dlog); // Initialize ADC module adc1.ChSelect = 0x6543; // for DMC1500 and eZdsp2812/eZdsp2808 boards adc1.init(&adc1); // Initialize the SPEED_PR module (150 MHz, N = 1 event period/rev) speed1.InputSelect = 0; speed1.BaseRpm = 120*(BASE_FREQ/P); speed1.SpeedScaler = (Uint32)(ISR_FREQUENCY/(1*BASE_FREQ*0.001)); // Initialize RMPCNTL module rc1.RampDelayMax = 20; rc1.RampLowLimit = _IQ(0); rc1.RampHighLimit = _IQ(1); // Initialize Hall module hall1.DebounceAmount = 5; hall1.Revolutions = -10; hall1.init(&hall1); // Initialize RMP2 module rmp2.Out = (int32)DFuncDesired; rmp2.Ramp2Delay = 0x00000050; rmp2.Ramp2Max = 0x00007FFF; rmp2.Ramp2Min = 0x0000000F; // Initialize the PID_REG3 module for dc-bus current pid1_idc.Kp = _IQ(1); pid1_idc.Ki = _IQ(T/0.003); pid1_idc.Kd = _IQ(0/T); pid1_idc.Kc = _IQ(0.2); pid1_idc.OutMax = _IQ(0.99); pid1_idc.OutMin = _IQ(0); // Initialize the PID_REG3 module for speed pid1_spd.Kp = _IQ(1); pid1_spd.Ki = _IQ(T/0.1); pid1_spd.Kd = _IQ(0/T); pid1_spd.Kc = _IQ(0.2); pid1_spd.OutMax = _IQ(0.99); pid1_spd.OutMin = _IQ(0); // Enable global Interrupts and higher priority real-time debug events: EINT; // Enable Global interrupt INTM ERTM; // Enable Global realtime interrupt DBGM // IDLE loop. Just sit and loop forever: for(;;) BackTicker++; } interrupt void MainISR(void) { // Verifying the ISR IsrTicker++; // ------------------------------------------------------------------------------ // Call the ADC04U_DRV read function. // ------------------------------------------------------------------------------ adc1.read(&adc1); // ------------------------------------------------------------------------------ // Connect inputs of the RMP module and call the Ramp control // calculation function. // ------------------------------------------------------------------------------ rc1.TargetValue = _IQ(SpeedRef); rc1.calc(&rc1); // ------------------------------------------------------------------------------ // Connect inputs of the HALL module and call the Hall sensor // read function. // ------------------------------------------------------------------------------ hall1.HallMapPointer = (int16)mod1.Counter; hall1.read(&hall1); // ------------------------------------------------------------------------------ // Connect inputs of the MOD6 module and call the Modulo 6 counter // calculation function. // ------------------------------------------------------------------------------ mod1.TrigInput =(int32)hall1.CmtnTrigHall; mod1.Counter = (int32)hall1.HallMapPointer; mod1.calc(&mod1); // ------------------------------------------------------------------------------ // Connect inputs of the RMP2 module and call the Ramp control 2 // calculation function. // ------------------------------------------------------------------------------ rmp2.DesiredInput = (int32)DFuncDesired; rmp2.calc(&rmp2); // ------------------------------------------------------------------------------ // Connect inputs of the PID_REG3 module and call the PID speed controller // calculation function. // ------------------------------------------------------------------------------ pid1_spd.Ref = rc1.SetpointValue; pid1_spd.Fdb = speed1.Speed; pid1_spd.calc(&pid1_spd); // ------------------------------------------------------------------------------ // Set the speed closed loop flag once the speed is built up to a desired value. // ------------------------------------------------------------------------------ if (rc1.EqualFlag == 0x7FFFFFFF) { SpeedLoopFlag = TRUE; rc1.RampDelayMax = 300; } // ------------------------------------------------------------------------------ // Connect inputs of the PWM_DRV module and call the PWM signal generation // update function. // ------------------------------------------------------------------------------ // Switch from fixed duty-cycle or controlled Speed duty-cycle by SpeedLoopFlag variable if (SpeedLoopFlag == FALSE) pwm1.DutyFunc = (int16)rmp2.Out; // fixed duty-cycle else pwm1.DutyFunc = (int16)_IQtoIQ15(pid1_spd.Out); // controlled Speed duty-cycle pwm1.CmtnPointer = (int16)mod1.Counter; pwm1.update(&pwm1); // ------------------------------------------------------------------------------ // Connect inputs of the SPEED_PR module and call the speed calculation // function. // ------------------------------------------------------------------------------ if ((mod1.Counter == 5)&(hall1.CmtnTrigHall == 0x7FFF)) { speed1.TimeStamp = VirtualTimer; speed1.calc(speed1); } // ------------------------------------------------------------------------------ // Connect inputs of the DATALOG module // ------------------------------------------------------------------------------ DlogCh1 = (int16)mod1.Counter; DlogCh2 = (int16)mod1.TrigInput; DlogCh3 = (int16)_IQtoIQ15(pid1_spd.Ref); DlogCh4 = (int16)_IQtoIQ15(pid1_spd.Fdb); // ------------------------------------------------------------------------------ // Increase virtual timer and force 15 bit wrap around // ------------------------------------------------------------------------------ VirtualTimer++; VirtualTimer &= 0x00007FFF; // ------------------------------------------------------------------------------ // Call the DATALOG update function. // ------------------------------------------------------------------------------ dlog.update(&dlog); // Enable more interrupts from this timer EvaRegs.EVAIMRB.bit.T2PINT = 1; // Note: To be safe, use a mask value to write to the entire // EVAIFRB register. Writing to one bit will cause a read-modify-write // operation that may have the result of writing 1's to clear // bits other then those intended. EvaRegs.EVAIFRB.all = BIT0; // Acknowledge interrupt to recieve more interrupts from PIE group 3 PieCtrlRegs.PIEACK.all |= PIEACK_GROUP3; } //=========================================================================== // No more. //===========================================================================