eetop.cn_svpwm.rar_DSP SVPWM_SVPWM DSP_dsp_dsp 电机_dsp电机控制

#include "DSP281x_Device.h" #include "DSP281x_Examples.h" #define LCD_DELAY_nUS(A) Delay(((((long double) A * 1000.0L) / (long double)6.666667) - 18.0L) / 14.0L) void Delay(unsigned long loopCnt); //'''''''''''''''''''''''''液晶显示值/''''''''''''''''''''''''''''''''''''' extern unsigned char number[10]; extern unsigned char a,b,c,d,e, biao_zhi; unsigned char f; int NowSpd=0; long Place_now_display=0; //'''''''''''''''''''''''''''end'''''''''''''''''''''''''''''''// //::::::::::::::::::::::::电机初始化变量定义::::::::::::::::::::::::::::::::: char motor_OK=1, shan_qu=0; //;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; /*::::::::::::::::::::::::::速度变量值定义:::::::::::::::::::::::::::::::::::::::::::*/ int temp=0, temp1=0, temp2=0; long SatErr_speed=0, OutPreSat_speed=0; //速度变量值定义 long speed_now=0, Up_speed=0, speed_error=0, Ui_speed=0; long speed_set=0; //:::::::::::::::::::::::::::位置环变量定义::::::::::::::::::::::::::: long PlaceSet=0, PlaceError=0, Place_now=0, Now_P=0,//圈数 OutPreSat_Place=0; //位置变量值定义 unsigned char PlaceSetBit=0; //位置设定标志位 //-------------------------------------------------------------------- //:::::::::::::::::::::::::空间矢量变量定义::::::::::::::::::::::::::::::::::::::::: int extent_temp=0, extent_temp1=0, extent_temp2=0;//位置变量值定义 unsigned int extent[14]={0x3999, 0x2999, 0x6999, 0x4999, 0x5999, 0x1999, 0x3999, 0x2999, 0x6999, 0x4999, 0x5999, 0x1999, 0x3999, 0x2999 }; //区域数组定义 int extent_i=0, extent_D=0, extent_Q=0, extent_D_1=0; //扇区变量,extent_i, extent_D, extent_Q(extent_Q比extent_D超前90度 //----------------------------------- extern const int sin_theta[1000];//外部SIN表 extern const int cos_theta[1000];//外部cos表 //cos_theta[theta]为Q15格式, ID, IQ为Q7格式1-128, Id,Iq为LONG型 int t1=0, t2=0, CMPR_temp=1250, theta=0, pwm_temp=0;// turn=0; long Id=0, Iq=0, ID=0, IQ=0, Ualfa=0, Ubeta=0, x=0, y=0, z=0, temp_volue=0; //===========================电流环变量定义========================= int AD2_temp=0,Ki_Q_temp=0, Ki_D_temp=0, pwm_x=0,theta_add_60=0; long Iu=0,Iv=0, I_d=0, I_q=0, I_ref_D=0, I_ref_Q=0, I_er_Q=0, I_er_D=0, I_order_Q=0, OutPreSat_IQ=0, SatErr_IQ=0, Ui_IQ=0, Up_IQ=0, OutPreSat_ID=0, SatErr_ID=0, Ui_ID=0, Up_ID=0; //------------------------------------------------------------------ // long adc_x0=0, adc_x1=0, adc_restul1=0, adc_restul0=0,adc_i=0; //===========================测试变量============================== // unsigned int TimeClash=0, timer2_x=0,timer2_x1=0, timer1_test[1000]={0}, // timer2_test[1000]={0}, timer3_test[500]={0}, //timer4_test[500]={0}, // test_i=0, ICTs=0; unsigned int TimeClash=0; extern unsigned int IsrTest; //------------------------------------------------------------------- //==========================串口程式变量定义========================== int ReceiveTemp = 0, SciCommand_i=0, SciCommand_j=0, SetBit=0; int SpeedSetTemp = 0, PlaceEnable=1, SpeedSetAD=0; long PlaceSetTemp=0, SciCommand[14]={0}; //-------------------------------------------------------------------- ////////////////外部中断初始化/////////////////////// void init_Xint1(void) { EALLOW; PieCtrlRegs.PIEIER1.bit.INTx4=1; //中断允许 PieCtrlRegs.PIEIFR1.bit.INTx4=0; //清除中断标志 PieCtrlRegs.PIEACK.bit.ACK1=1; XIntruptRegs.XINT1CR.bit.POLARITY=1; // 上升沿触发 XIntruptRegs.XINT1CR.bit.ENABLE=1; EDIS; EINT; } ////////////////ADC初始化///////////////////// void init_ADC(void) { //AdcRegs.ADCTRL1.bit.RESET = 1; //AdcRegs.ADCTRL1.bit.RESET = 0; AdcRegs.ADCTRL3.bit.ADCPWDN = 1; LCD_DELAY_nUS(2000); AdcRegs.ADCTRL3.bit.ADCBGRFDN = 3; LCD_DELAY_nUS(2000); AdcRegs.ADCTRL1.bit.CONT_RUN = 1; //连续运行； AdcRegs.ADCTRL1.bit.CPS = 0; AdcRegs.ADCTRL2.bit.EVA_SOC_SEQ1 = 1; AdcRegs.ADCTRL2.bit.SOC_SEQ1 = 1; AdcRegs.ADCTRL3.bit.ADCCLKPS = 3; //25MHZ AdcRegs.ADCMAXCONV.bit.MAX_CONV1 = 2; AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0; AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 1; AdcRegs.ADCCHSELSEQ1.bit.CONV02 = 2; } ///////////////初始化事件管理器EVA//////////////////// void Init_Evx(void) { //=======定时器3定时中断初始化====================== EALLOW; EvbRegs.T3PR=9375; //一毫秒 EvbRegs.T3CON.all=0x1340; //8分频 PieCtrlRegs.PIEIER4.bit.INTx4=1;//定时器3周期中断允许 PieCtrlRegs.PIEIFR4.bit.INTx4=0;//清除中断标志位 PieCtrlRegs.PIEACK.bit.ACK4=1; EvbRegs.EVBIMRA.bit.T3PINT=1; EvbRegs.EVBIFRA.bit.T3PINT=1; EDIS; //------------------------------------------- //========定时器1下溢中断&(svpwm)初始化==================== EALLOW; EvaRegs.T1CON.all = 0x0842; //定时器1，连续增减，一分频， 使能，比较使能,立即重载 EvaRegs.T1PR = 1250; //30MHZ PWM EvaRegs.CMPR1 = 0; //测试用 EvaRegs.CMPR2 = 0; //测试用 EvaRegs.COMCONA.all |= 0X9200; //使能比较操作, 使能SVPWM模式, T0下溢重载, PWM比较输出使能 EvaRegs.ACTRA.all = 0X0999; //SV正转, PWM 1,3,5低有效 & pWM 2,4,6高有效; // EvaRegs.EXTCONA.bit.INDCOE = 1; //独立输出比较使能 // EvaRegs.GPTCONA.all |= 0x0052; EvaRegs.T1CNT = 0; EvaRegs.EVAIMRA.bit.T1UFINT = 1; //下溢中断允许 EvaRegs.EVAIFRA.bit.T1UFINT = 1; //清除下溢中断标志位 PieCtrlRegs.PIEIER2.bit.INTx6 = 1;//下溢中断向量允许 PieCtrlRegs.PIEIFR2.bit.INTx6 = 0;//清除下溢中断标志 PieCtrlRegs.PIEACK.bit.ACK2 = 1; /////////////////QEP初始化//////////////// EvaRegs.T2CON.all = 0x1870; EvaRegs.T2CNT = 0x0000; EvaRegs.T2PR = 0xffff; //------------------------------------------ /*////////////// EVB捕获功能初始化 ///////// EvbRegs.CAPCONB.bit.CAP45EN = 1; //使能捕捉单元4和5 EvbRegs.CAPCONB.bit.CAP45TSEL = 3; //44和5选择定时器3 EvbRegs.CAPCONB.bit.CAP4EDGE = 3; // 单元4上升和下降沿触发 EvbRegs.CAPCONB.bit.CAP5EDGE = 3; // 单元5上升和下降沿触发 EvbRegs.EVBIFRC.bit.CAP4INT = 1; //复位捕捉4标志位 EvbRegs.EVBIFRC.bit.CAP5INT = 1; //复位捕捉5标志位 EvbRegs.EVBIMRC.bit.CAP4INT = 1; //允许捕捉中断4 EvbRegs.EVBIMRC.bit.CAP5INT = 1; //允许捕捉中断5 PieCtrlRegs.PIEIER5.bit.INTx5 = 1; //允许捕捉中断4向量 PieCtrlRegs.PIEIER5.bit.INTx6 = 1; //允许捕捉中断5向量 PieCtrlRegs.PIEIFR5.bit.INTx5 = 0; //清除捕捉中断4标志位 PieCtrlRegs.PIEIFR5.bit.INTx6 = 0; //清除捕捉中断5标志位 PieCtrlRegs.PIEACK.bit.ACK5 = 1; */ //------------------------------------------ EDIS; } ///////////////////SCI初始化////////////////////////////////// void InitSci(void) { EALLOW; //Send SciaRegs.SCICTL1.bit.SWRESET = 1; SciaRegs.SCICCR.bit.SCICHAR = 7; //取八位数据 SciaRegs.SCICTL1.bit.TXENA = 1; //open send //Receive SciaRegs.SCICTL1.bit.RXENA = 1; //open receive SciaRegs.SCICTL2.bit.RXBKINTENA = 1; //允许接收中断 SciaRegs.SCIHBAUD = 0x01; SciaRegs.SCILBAUD = 0xE7; //9600 PieCtrlRegs.PIEIER9.bit.INTx1 = 1; //允许接收中断 PieCtrlRegs.PIEIFR9.bit.INTx1 = 0; PieCtrlRegs.PIEACK.bit.ACK9 = 1; ///////////////功率保护中断初始化//////////////// EvaRegs.EVAIMRA.bit.PDPINTA = 1; //PDPINTA中断允许 EvaRegs.EVAIFRA.bit.PDPINTA = 1; //PDPINTA中断标志清零 PieCtrlRegs.PIEIER1.bit.INTx1 = 1; //PDPINTA中断允许 PieCtrlRegs.PIEIFR1.bit.INTx1 = 0; PieCtrlRegs.PIEACK.bit.ACK1 = 1; // EDIS; } //----------------------------------------------------------- ///////////////////电机初始化函数(位置确定)//////////////////////////// void motor_init(void) { switch(GpioDataRegs.GPADAT.all & 0xE000) { case 0xA000: shan_qu=0; break; case 0x2000: shan_qu=1; break; case 0x6000: shan_qu=2; break;