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📄 aci32.asm

📁 本程序来自TI公司网站原程序,其功能是通过传统的V/F控制算法并加上对电机的转子速度辨识即无速度传感器控制来实现对感应电机的控制,控制程序可以采用.asm也可以采用.C。程序的具体算法和介绍在软件压缩
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12 
	.word	0
	.word	0
	.word	0
	.word	0
	.word	0
	.word	0
	.word	32767
	.word	_bc_calc+0
	.word	0
	.word	64
	.word	-32768
	.word	32767
	.word	0
	.word	0
	.word	0
	.word	_rmp_cntl_calc+0
IS4	.set	164

	.sym	_vhz,_vhz,8,2,2624,.fake15
	.globl	_vhz
	.word	IS5,_dac
	.word	768
	.word	768
	.word	768
	.word	768
	.word	2000
	.word	_F24X_EVM_DAC_Update+0
IS5	.set	6

	.sym	_dac,_dac,8,2,96,.fake0
	.globl	_dac
	.word	IS6,_wdog
	.word	_F24x_WD_Disable+0
	.word	_F24x_WD_ResetCounter+0
IS6	.set	2

	.sym	_wdog,_wdog,8,2,32,.fake3
	.globl	_wdog
	.word	IS7,_ilg2_vdc
	.word	8191
	.word	0
	.word	0
	.word	8191
	.word	0
	.word	0
	.word	8191
	.word	0
	.word	0
	.word	0
	.word	1808
	.word	_F2407_ileg2_dcbus_drv_init+0
	.word	_F2407_ileg2_dcbus_drv_read+0
IS7	.set	13

	.sym	_ilg2_vdc,_ilg2_vdc,8,2,208,.fake16
	.globl	_ilg2_vdc
	.word	IS8,_drive
	.word	0
	.word	_F24xx_drive_drv_init+0
	.word	_F24xx_drive_drv_calc+0
IS8	.set	3

	.sym	_drive,_drive,8,2,48,.fake17
	.globl	_drive
	.globl	_isr_ticker
	.text

	.sym	_main,_main,32,2,0
	.globl	_main

	.func	100
;>>>> 	void main()   
******************************************************
* FUNCTION DEF : _main
******************************************************
_main:
	POPD	*+
	SAR	AR0,*+
	SAR	AR1,*
	LARK	AR0,1
	LAR	AR0,*0+

	.line	6
;>>>> 	        RstSystem();
;>>>> 	#if (BUILDLEVEL==LEVEL1)
;>>>> 	#if     TARGET==F243                      
;>>>> 	        pwm.period_max=667;          /* This is based on 15kHz PWM frequency (20MHz) */
;>>>> 	#elif   TARGET==F2407                                                          
	CALL	_RstSystem
	.line	31
;>>>> 	        pwm.period_max=1333;       /* This is based on 15kHz PWM frequency (40MHz)*/
;>>>> 	#endif  /* TARGET */            
	LDPK	_pwm
	SPLK	#1333,_pwm
	.line	38
;>>>> 	        VFMRAS_TI_Init(&vhz);
	LALK	_vhz+0
	SACL	*+
	CALL	_VFMRAS_TI_Init
	MAR	*-
	.line	43
;>>>> 	       	rtmon_init();            /* Call the monitor init function           */
	CALL	_rtmon_init
	.line	44
;>>>> 	       	enable_ints();           /* Set off the system running.              */
	CALL	_enable_ints
	.line	49
;>>>> 	        while(drive.enable_flg==0)
	LDPK	_drive
	LAC	_drive
	BNZ	L2
L1:
	.line	51
;>>>> 	        drive.init(&drive);
	LALK	_drive+0
	SACL	*+
	LDPK	_drive+1
	LAC	_drive+1
	CALA
	MAR	*-
	.line	49
	LDPK	_drive
	LAC	_drive
	BZ	L1
L2:
	.line	57
;>>>> 	        pwm.init(&pwm);
;>>>> 	#if     TARGET==F243                      
;>>>> 	        EVIFRA=0xffff;          
;>>>> 	#elif   TARGET==F2407                                                          
	LALK	_pwm+0
	SACL	*+
	LAC	_pwm+5
	CALA
	MAR	*-,AR3
	.line	65
;>>>> 		    EVAIFRA=0xffff;        
;>>>> 	#endif  /* TARGET */
	LARK	AR3,29743
	SPLK	#-1,* 
	.line	72
;>>>> 	        dac.qptr0=&vhz.svgen.va;
	LALK	_vhz+28
	LDPK	_dac
	SACL	_dac
	.line	73
;>>>> 	        dac.qptr1=&vhz.svgen.vb;
	LALK	_vhz+29
	SACL	_dac+1
	.line	74
;>>>> 	        dac.qptr2=&vhz.svgen.vc;
	LALK	_vhz+30
	SACL	_dac+2
	.line	75
;>>>> 	        dac.qptr3=&vhz.svgen.alpha;
;>>>> 	#endif /* (BUILDLEVEL==LEVEL1) */  
;>>>> 	#if (BUILDLEVEL==LEVEL2)
;>>>> 	#if     TARGET==F243                      
;>>>> 	        pwm.period_max=667;          /* This is based on 15kHz PWM frequency (20MHz) */
;>>>> 	#elif   TARGET==F2407                                                          
;>>>> 	        pwm.period_max=1333;       /* This is based on 15kHz PWM frequency (40MHz)*/
;>>>> 	#endif  /* TARGET */            
;>>>> 	        VFMRAS_TI_Init(&vhz);
;>>>> 	        rtmon_init();            /* Call the monitor init function           */
;>>>> 	        enable_ints();           /* Set off the system running.              */
;>>>> 	        while(drive.enable_flg==0)
;>>>> 	        drive.init(&drive);
;>>>> 	        pwm.init(&pwm);
;>>>> 	        dac.qptr0=&vhz.svgen.va;
;>>>> 	        dac.qptr1=&vhz.svgen.vb;
;>>>> 	        dac.qptr2=&vhz.svgen.vc;
;>>>> 	        dac.qptr3=&vhz.svgen.alpha;
;>>>> 	#endif /* (BUILDLEVEL==LEVEL2) */   
;>>>> 	#if (BUILDLEVEL==LEVEL3)
;>>>> 	#if     TARGET==F243                      
;>>>> 	        pwm.period_max=667;          /* This is based on 15kHz PWM frequency (20MHz) */
;>>>> 	#elif   TARGET==F2407                                                          
;>>>> 	        pwm.period_max=1333;       /* This is based on 15kHz PWM frequency (40MHz)*/
;>>>> 	#endif  /* TARGET */            
;>>>> 	        VFMRAS_TI_Init(&vhz);
;>>>> 	        rtmon_init();            /* Call the monitor init function           */
;>>>> 	        enable_ints();           /* Set off the system running.              */
;>>>> 	        while(drive.enable_flg==0)
;>>>> 	        drive.init(&drive);
;>>>> 	        pwm.init(&pwm);          
;>>>> 	        dac.qptr0=&vhz.svgen.va;
;>>>> 	        dac.qptr1=&vhz.svgen.vb;
;>>>> 	        dac.qptr2=&vhz.svgen.vc;
;>>>> 	        dac.qptr3=&vhz.svgen.alpha;
;>>>> 	       	ilg2_vdc.init(&ilg2_vdc);
;>>>> 	#endif /* (BUILDLEVEL==LEVEL3) */   
;>>>> 	#if (BUILDLEVEL==LEVEL4)
;>>>> 	#if     TARGET==F243                      
;>>>> 	        pwm.period_max=667;          /* This is based on 15kHz PWM frequency (20MHz) */
;>>>> 	#elif   TARGET==F2407                                                          
;>>>> 	        pwm.period_max=1333;       /* This is based on 15kHz PWM frequency (40MHz)*/
;>>>> 	#endif  /* TARGET */            
;>>>> 	        VFMRAS_TI_Init(&vhz);
;>>>> 	        rtmon_init();            /* Call the monitor init function           */
;>>>> 	        enable_ints();           /* Set off the system running.              */
;>>>> 	        while(drive.enable_flg==0)
;>>>> 	        drive.init(&drive);
;>>>> 	        pwm.init(&pwm);          
;>>>> 	        cap.init(&cap);
;>>>> 	        speed.shift = 6;  
;>>>> 	        speed.speed_scaler = 156;
;>>>> 	        speed.rpm_max = 3600;
;>>>> 	        dac.qptr0=&vhz.svgen.va;
;>>>> 	        dac.qptr1=&vhz.svgen.vb;
;>>>> 	        dac.qptr2=&vhz.svgen.vc;
;>>>> 	        dac.qptr3=&vhz.svgen.alpha;
;>>>> 	       	ilg2_vdc.init(&ilg2_vdc);
;>>>> 	#endif /* (BUILDLEVEL==LEVEL4) */  
;>>>> 	#if (BUILDLEVEL==LEVEL5)
;>>>> 	#if     TARGET==F243                      
;>>>> 	        pwm.period_max=667;          /* This is based on 15kHz PWM frequency (20MHz) */
;>>>> 	#elif   TARGET==F2407                                                          
;>>>> 	        pwm.period_max=1333;       /* This is based on 15kHz PWM frequency (40MHz)*/
;>>>> 	#endif  /* TARGET */            
;>>>> 	        VFMRAS_TI_Init(&vhz);
;>>>> 	        rtmon_init();            /* Call the monitor init function           */
;>>>> 	        enable_ints();           /* Set off the system running.              */
;>>>> 	        while(drive.enable_flg==0)
;>>>> 	        drive.init(&drive);
;>>>> 	        pwm.init(&pwm);          
;>>>> 	        cap.init(&cap);
;>>>> 	        speed.shift = 6;  
;>>>> 	        speed.speed_scaler = 156;
;>>>> 	        speed.rpm_max = 3600;
;>>>> 	        dac.qptr0=&vhz.svgen.va;
;>>>> 	        dac.qptr1=&vhz.svgen.vb;
;>>>> 	        dac.qptr2=&vhz.svgen.vc;
;>>>> 	        dac.qptr3=&vhz.svgen.alpha;
;>>>> 	     	ilg2_vdc.init(&ilg2_vdc);
;>>>> 	#endif /* (BUILDLEVEL==LEVEL5) */  
;>>>> 	#if     TARGET==F243                      
;>>>> 	        EVIFRA=0x0ffff;           /* Clear all Group A EV interrupt flags    */
;>>>> 	#elif   TARGET==F2407                                                          
	LALK	_vhz+26
	SACL	_dac+3
	.line	379
;>>>> 	        EVAIFRA=0x0ffff;          /* Clear all EV1 Group A EV interrupt flags*/
;>>>> 	#endif              
;>>>> 	        while(1)             /* Nothing running in the background at present */
	SPLK	#-1,* 
L3:
	.line	387
	B	L3
	.endfunc	489,000000000H,1

	.sym	_c_int02,_c_int02,32,2,0
	.globl	_c_int02

	.func	492
;>>>> 	void interrupt c_int02()
******************************************************
* FUNCTION DEF : _c_int02
******************************************************
_c_int02:
	CALL	I$$SAVE
	SAR	AR1,*
	LARK	AR0,1
	LAR	AR0,*0+

	.line	3
;>>>> 	     asm("      CLRC     XF ");    
      CLRC     XF 
	.line	5
;>>>> 		isr_ticker++;
;>>>> 	#if (BUILDLEVEL==LEVEL1)
;>>>> 	#if     TARGET==F243                      
;>>>> 	        EVIFRA=0x0ffff;           /* Clear all Group A EV interrupt flags    */
;>>>> 	#elif   TARGET==F2407                                                          
	LDPK	_isr_ticker
	LAC	_isr_ticker
	ADDK	1
	SACL	_isr_ticker
	.line	13
;>>>> 	        EVAIFRA=0x0ffff;          /* Clear all EV1 Group A EV interrupt flags*/
;>>>> 	#endif              
	LARK	AR3,29743
	MAR	* ,AR3
	SPLK	#-1,* ,AR1
	.line	19
;>>>> 	        drive.calc(&drive);
	LALK	_drive+0
	SACL	*+
	LAC	_drive+2
	CALA
	MAR	*-
	.line	25
;>>>> 	        VFMRAS_TI_Run(&vhz); 
	LALK	_vhz+0
	SACL	*+
	CALL	_VFMRAS_TI_Run
	MAR	*-
	.line	30
;>>>> 	        dac.update(&dac);
;>>>> 	#endif /* BUILDLEVEL==LEVEL1*/
;>>>> 	#if (BUILDLEVEL==LEVEL2)
;>>>> 	#if     TARGET==F243                      
;>>>> 	        EVIFRA=0x0ffff;           /* Clear all Group A EV interrupt flags    */
;>>>> 	#elif   TARGET==F2407                                                          
;>>>> 	        EVAIFRA=0x0ffff;          /* Clear all EV1 Group A EV interrupt flags*/
;>>>> 	#endif              
;>>>> 	        drive.calc(&drive);
;>>>> 	        VFMRAS_TI_Run(&vhz); 
;>>>> 	        pwm.mfunc_c1=vhz.svgen.va;         
;>>>> 	        pwm.mfunc_c2=vhz.svgen.vb;
;>>>> 	        pwm.mfunc_c3=vhz.svgen.vc;
;>>>> 	        pwm.update(&pwm);
;>>>> 	        dac.update(&dac);
;>>>> 	#endif /* BUILDLEVEL==LEVEL2*/
;>>>> 	#if (BUILDLEVEL==LEVEL3)
;>>>> 	#if     TARGET==F243                      
;>>>> 	        EVIFRA=0x0ffff;           /* Clear all Group A EV interrupt flags    */
;>>>> 	#elif   TARGET==F2407                                                          
;>>>> 	        EVAIFRA=0x0ffff;          /* Clear all EV1 Group A EV interrupt flags*/
;>>>> 	#endif              
;>>>> 	        drive.calc(&drive);
;>>>> 	        VFMRAS_TI_Run(&vhz); 
;>>>> 	        pwm.mfunc_c1=vhz.svgen.va;         
;>>>> 	        pwm.mfunc_c2=vhz.svgen.vb;
;>>>> 	        pwm.mfunc_c3=vhz.svgen.vc;
;>>>> 	        pwm.update(&pwm);
;>>>> 	        ilg2_vdc.read(&ilg2_vdc);
;>>>> 		  	vhz.current_abc.a=ilg2_vdc.Imeas_a;
;>>>> 		  	vhz.current_abc.b=ilg2_vdc.Imeas_b;
;>>>> 		  	vhz.current_abc.c=ilg2_vdc.Imeas_c;        
;>>>> 	        vhz.Vbus=ilg2_vdc.Vdc_meas;
;>>>> 	        dac.update(&dac);
;>>>> 	#endif /* BUILDLEVEL==LEVEL3*/
;>>>> 	#if (BUILDLEVEL==LEVEL4)
;>>>> 	#if     TARGET==F243                      
;>>>> 	        EVIFRA=0x0ffff;           /* Clear all Group A EV interrupt flags    */
;>>>> 	#elif   TARGET==F2407                                                          
;>>>> 	        EVAIFRA=0x0ffff;          /* Clear all EV1 Group A EV interrupt flags*/
;>>>> 	#endif              
;>>>> 	        drive.calc(&drive);
;>>>> 	        if((cap.read(&cap))==0)             /* Call the capture read function */
;>>>> 	        speed.time_stamp=cap.time_stamp;    /* Read out new time stamp        */
;>>>> 	        speed.calc(&speed);                 /* Call the speed calulator       */
;>>>> 	        VFMRAS_TI_Run(&vhz); 
;>>>> 	        pwm.mfunc_c1=vhz.svgen.va;         
;>>>> 	        pwm.mfunc_c2=vhz.svgen.vb;
;>>>> 	        pwm.mfunc_c3=vhz.svgen.vc;
;>>>> 	        pwm.update(&pwm);
;>>>> 	        ilg2_vdc.read(&ilg2_vdc);
;>>>> 		  	vhz.current_abc.a=ilg2_vdc.Imeas_a;
;>>>> 		  	vhz.current_abc.b=ilg2_vdc.Imeas_b;
;>>>> 		  	vhz.current_abc.c=ilg2_vdc.Imeas_c;        
;>>>> 	        vhz.Vbus=ilg2_vdc.Vdc_meas;
;>>>> 	        dac.update(&dac);
;>>>> 	#endif /* BUILDLEVEL==LEVEL4*/
;>>>> 	#if (BUILDLEVEL==LEVEL5)
;>>>> 	#if     TARGET==F243                      
;>>>> 	        EVIFRA=0x0ffff;           /* Clear all Group A EV interrupt flags    */
;>>>> 	#elif   TARGET==F2407                                                          
;>>>> 	        EVAIFRA=0x0ffff;          /* Clear all EV1 Group A EV interrupt flags*/
;>>>> 	#endif              
;>>>> 	        drive.calc(&drive);
;>>>> 	        if((cap.read(&cap))==0)             /* Call the capture read function */
;>>>> 	        speed.time_stamp=cap.time_stamp;    /* Read out new time stamp        */
;>>>> 	        speed.calc(&speed);                 /* Call the speed calulator       */
;>>>> 	        VFMRAS_TI_Run(&vhz); 
;>>>> 	        pwm.mfunc_c1=vhz.svgen.va;         
;>>>> 	        pwm.mfunc_c2=vhz.svgen.vb;
;>>>> 	        pwm.mfunc_c3=vhz.svgen.vc;
;>>>> 	        pwm.update(&pwm);
;>>>> 	     	ilg2_vdc.read(&ilg2_vdc);
;>>>> 		  	vhz.current_abc.a=ilg2_vdc.Imeas_a;
;>>>> 		  	vhz.current_abc.b=ilg2_vdc.Imeas_b;
;>>>> 		  	vhz.current_abc.c=ilg2_vdc.Imeas_c;        
;>>>> 	        vhz.Vbus=ilg2_vdc.Vdc_meas;
;>>>> 	        dac.update(&dac);
;>>>> 	#endif /* BUILDLEVEL==LEVEL5*/
	LALK	_dac+0
	SACL	*+
	LDPK	_dac+5
	LAC	_dac+5
	CALA
	MAR	*-
	.line	254
;>>>> 		 	vhz.freq_testing_rpm = mul_q(vhz.freq_testing,15,3600,0,0);
	LACK	0
	SACL	*+
	SACL	*+
	LACK	3600
	SACL	*+
	LACK	15
	SACL	*+
	BLKD	_vhz+3,*+
	CALL	_mul_q
	SBRK	5
	LDPK	_vhz+4
	SACL	_vhz+4
	.line	258
;>>>> 	       	vhz.speed_ref_rpm = mul_q(vhz.speed_ref,15,3600,0,0);
	LACK	0
	SACL	*+
	SACL	*+
	LACK	3600
	SACL	*+
	LACK	15
	SACL	*+
	BLKD	_vhz+5,*+
	CALL	_mul_q
	SBRK	5
	LDPK	_vhz+6
	SACL	_vhz+6
	.line	261
;>>>> 	  	asm("    SETC     XF ");   
    SETC     XF 
EPI0_2:
	.line	263
	SBRK	1
	B	I$$REST,AR1   ;and return

	.endfunc	754,000000000H,1

	.sym	_RstSystem,_RstSystem,32,2,0
	.globl	_RstSystem

	.func	757
;>>>> 	void RstSystem(void)
******************************************************
* FUNCTION DEF : _RstSystem
******************************************************
_RstSystem:
	POPD	*+
	SAR	AR0,*+
	SAR	AR1,*
	LARK	AR0,1
	LAR	AR0,*0+,AR0

	.line	8
;>>>> 	        WSGR=WAIT_STATES;         /* Initialize Wait State Generator         */
	LACK	64
	SACL	* 
	OUT	* ,0ffffh,AR1
	.line	9
;>>>> 	        disable_ints();           /* Make sure the interrupts are disabled   */
	CALL	_disable_ints
	.line	10
;>>>> 	        wdog.disable();           /* Vccp/Wddis pin/bit must be high         */
	LDPK	_wdog
	LAC	_wdog
	CALA
	.line	11
;>>>> 	        IMR=0x02;                 /* Set up interrupt mask to enable INT2    
;>>>> 	                                     until an explicit enable.               */
;>>>> 	#if (TARGET==F243)
;>>>> 	        SCSR=0x40c0;              /* Init SCSR */
;>>>> 	        EVIMRA=0x0200;            /* Enable the timer underflow interrupt    */
;>>>> 	#endif
;>>>> 	#if (TARGET==F2407)
	LARK	AR3,4
	LACK	2
	MAR	* ,AR3
	SACL	* 
	.line	25
;>>>> 	        SCSR1=0xc;                /* Init SCSR */
	LARK	AR4,28696
	ADRK	8
	MAR	* ,AR4
	SAR	AR3,* ,AR5
	.line	26
;>>>> 	        EVAIMRA=0x0200;           /* Enable the timer underflow interrupt    */
;>>>> 	#endif
	LARK	AR5,29740
	SPLK	#512,* ,AR1
EPI0_3:
	.line	29
	SBRK	2
	LAR	AR0,*-
	PSHD	*
	RET

	.endfunc	785,000000000H,1

	.sym	_phantom,_phantom,32,2,0
	.globl	_phantom

	.func	788
;>>>> 	void interrupt phantom(void)
;>>>> 		static int phantom_count;
******************************************************
* FUNCTION DEF : _phantom
******************************************************
_phantom:
	CALL	I$$SAVE
	SAR	AR1,*
	LARK	AR0,1
	LAR	AR0,*0+


	.sym	_phantom_count,_phantom_count$1,4,3,16
	.line	5
;>>>> 		phantom_count ++;
	LDPK	_phantom_count$1
	LAC	_phantom_count$1
	ADDK	1
	SACL	_phantom_count$1
EPI0_4:
	.line	14
	SBRK	1
	B	I$$REST,AR1   ;and return

	.endfunc	801,000000000H,1

	.sym	_rtmon_init,_rtmon_init,32,2,0
	.globl	_rtmon_init

	.func	807
;>>>> 	void rtmon_init(void)
******************************************************
* FUNCTION DEF : _rtmon_init
******************************************************
_rtmon_init:
	POPD	*+
	SAR	AR0,*+
	SAR	AR1,*
	LARK	AR0,1
	LAR	AR0,*0+

	.line	3
;>>>> 	    asm("       CALL    MON_RT_CNFG ");
       CALL    MON_RT_CNFG 
EPI0_5:
	.line	4
	SBRK	2
	LAR	AR0,*-
	PSHD	*
	RET

	.endfunc	810,000000000H,1

	.sym	_isr_ticker,_isr_ticker,4,2,16
	.globl	_isr_ticker
*****************************************************
* UNDEFINED REFERENCES                              *
*****************************************************
	.global	_enable_ints
	.global	I$$SAVE
	.global	I$$REST
	.global	_disable_ints
	.end
12

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