example_rtm.c

一个在mck2407板上控制无刷电机恒速运行的程序

/*********************************************************************
* Filename: example_rtm.c                                            *
*                                                                    *
* Author: David M. Alter, Texas Instruments Inc.                     *
*                                                                    *
* Last Modified: 06/10/02                                            *
*                                                                    *
* Description: This program illustrates basic initialization and     *
* operation of the LF2407 DSP.  The following peripherals are        *
* exercised:                                                         *
*  1) Timer 2 is configured to generate a 250ms period interrupt.    *
*  2) The quad LED bank on the LF2407 EVM is sequenced in the        *
*     Timer2 ISR.                                                    *
*  3) The IOPC0 pin is toggled in the Timer2 ISR.                    *
*  4) Timer 1 is configured to drive 20KHz 25% duty cycle symmetric  *
*     PWM on the PWM1 pin.                                           *
* Additionally, the Code Composer realtime monitor has been          *
* incorporated into the program.                                     *
*                                                                    *
*                                                                    *
*********************************************************************/

/*********************************************************************
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* YOUR USE OF THE PROGRAM.                                           *
*                                                                    *
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* (U.S.$500).                                                        *
*                                                                    *
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*                                                                    *
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* copyright notice included in the Program.  TI reserves all         *
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*********************************************************************/

/*** Build options ***/
#define		REALTIME	1				/* 1=use realtime monitor, 0=don't use */


/*** Address Definitions ***/
#include        "f2407_c.h"

#define         DAC0    port0000        /* EVM DAC register 0 (I/O space) */
ioport unsigned port0000;               /* '24xx compiler specific keyword */

#define         DAC1    port0001        /* EVM DAC register 1 (I/O space) */
ioport unsigned port0001;               /* '24xx compiler specific keyword */

#define         DAC2    port0002        /* EVM DAC register 2 (I/O space) */
ioport unsigned port0002;               /* '24xx compiler specific keyword */

#define         DAC3    port0003        /* EVM DAC register 3 (I/O space) */
ioport unsigned port0003;               /* '24xx compiler specific keyword */

#define         DACUD   port0004        /* EVM DAC update register (I/O space) */
ioport unsigned port0004;               /* '24xx compiler specific keyword */

#define         DIPSWCH port0008        /* EVM DIP switch (I/O space) */
ioport unsigned port0008;               /* '24xx compiler specific keyword */

#define         LED     port000C        /* EVM LED bank (I/O space) */
ioport unsigned port000C;               /* '24xx compiler specific keyword */


/*** Constant Definitions ***/
#define         timer2_per    58594     /* 250ms timer2 period with a 1/128
                                           timer prescaler and 30MHz CPUCLK */

#define         pwm_half_per  750       /* period/2, 20KHz symmetric PWM with
                                           a 30MHz CPUCLK */
                                           
#define         pwm_duty      563       /* 25% PWM duty cycle */

                                   
/*** Global Variable Definitions ***/
unsigned int    LED_index;              /* LED_index */
unsigned int    count;                  /* counter */

/****************************** MAIN ROUTINE ***************************/
void main(void)
{

/*** Configure the System Control and Status registers ***/
    *SCSR1 = 0x00FD;
/*
 bit 15        0:      reserved
 bit 14        0:      CLKOUT = CPUCLK
 bit 13-12     00:     IDLE1 selected for low-power mode
 bit 11-9      000:    PLL x4 mode
 bit 8         0:      reserved
 bit 7         1:      1 = enable ADC module clock
 bit 6         1:      1 = enable SCI module clock
 bit 5         1:      1 = enable SPI module clock
 bit 4         1:      1 = enable CAN module clock
 bit 3         1:      1 = enable EVB module clock
 bit 2         1:      1 = enable EVA module clock
 bit 1         0:      reserved
 bit 0         1:      clear the ILLADR bit
*/

    *SCSR2 = (*SCSR2 | 0x000B) & 0x000F;
/*
 bit 15-6      0's:    reserved
 bit 5         0:      do NOT clear the WD OVERRIDE bit
 bit 4         0:      XMIF_HI-Z, 0=normal mode, 1=Hi-Z'd
 bit 3         1:      disable the boot ROM, enable the FLASH
 bit 2     no change   MP/MC* bit reflects state of MP/MC* pin
 bit 1-0      11:      11 = SARAM mapped to prog and data
*/


/*** Disable the watchdog timer ***/
    *WDCR  = 0x00E8;
/*
 bits 15-8     0's:     reserved
 bit 7         1:       clear WD flag
 bit 6         1:       disable the dog
 bit 5-3       101:     must be written as 101
 bit 2-0       000:     WDCLK divider = 1
*/


/*** Setup external memory interface for LF2407 EVM ***/
    WSGR = 0x0040;
/*
 bit 15-11     0's:    reserved
 bit 10-9      00:     bus visibility off
 bit 8-6       001:    1 wait-state for I/O space
 bit 5-3       000:    0 wait-state for data space
 bit 2-0       000:    0 wait state for program space
*/


/*** Setup shared I/O pins ***/
    *MCRA = 0x0040;                     /* group A pins */
/*
 bit 15        0:      0=IOPB7,     1=TCLKINA
 bit 14        0:      0=IOPB6,     1=TDIRA
 bit 13        0:      0=IOPB5,     1=T2PWM/T2CMP
 bit 12        0:      0=IOPB4,     1=T1PWM/T1CMP
 bit 11        0:      0=IOPB3,     1=PWM6
 bit 10        0:      0=IOPB2,     1=PWM5
 bit 9         0:      0=IOPB1,     1=PWM4
 bit 8         0:      0=IOPB0,     1=PWM3
 bit 7         0:      0=IOPA7,     1=PWM2
 bit 6         1:      0=IOPA6,     1=PWM1
 bit 5         0:      0=IOPA5,     1=CAP3
 bit 4         0:      0=IOPA4,     1=CAP2/QEP2
 bit 3         0:      0=IOPA3,     1=CAP1/QEP1
 bit 2         0:      0=IOPA2,     1=XINT1
 bit 1         0:      0=IOPA1,     1=SCIRXD
 bit 0         0:      0=IOPA0,     1=SCITXD
*/

    *MCRB = 0xFE00;                     /* group B pins */