📄 pmsm3_4.c
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clarke1.calc(&clarke1);
// ------------------------------------------------------------------------------
// Connect inputs of the PARK module and call the park transformation
// calculation function.
// ------------------------------------------------------------------------------
park1.Alpha = clarke1.Alpha;
park1.Beta = clarke1.Beta;
park1.Angle = speed1.ElecTheta;
park1.calc(&park1);
// ------------------------------------------------------------------------------
// Connect inputs of the PID_REG3 module and call the PID speed controller
// calculation function.
// ------------------------------------------------------------------------------
if (SpeedLoopCount==SpeedLoopPrescaler)
{
pid1_spd.Ref = _IQ(SpeedRef);
pid1_spd.Fdb = speed1.Speed;
pid1_spd.calc(&pid1_spd);
SpeedLoopCount=1;
}
else SpeedLoopCount++;
// ------------------------------------------------------------------------------
// Connect inputs of the PID_REG3 module and call the PID IQ controller
// calculation function.
// ------------------------------------------------------------------------------
pid1_iq.Ref = pid1_spd.Out;
pid1_iq.Fdb = park1.Qs;
pid1_iq.calc(&pid1_iq);
//pid_Iq_calc(&pid1_iq);
// ------------------------------------------------------------------------------
// Connect inputs of the PID_REG3 module and call the PID ID controller
// calculation function.
// ------------------------------------------------------------------------------
pid1_id.Ref = _IQ(IdRef);
pid1_id.Fdb = park1.Ds;
pid1_id.calc(&pid1_id);
// ------------------------------------------------------------------------------
// Connect inputs of the INV_PARK module and call the inverse park transformation
// calculation function.
// ------------------------------------------------------------------------------
ipark1.Ds = pid1_id.Out;
ipark1.Qs = pid1_iq.Out;
ipark1.Angle = speed1.ElecTheta;
ipark1.calc(&ipark1);
// ------------------------------------------------------------------------------
// Connect inputs of the SVGEN_DQ module and call the space-vector gen.
// calculation function.
// ------------------------------------------------------------------------------
svgen_dq1.Ualpha = ipark1.Alpha;
svgen_dq1.Ubeta = ipark1.Beta;
svgen_dq1.calc(&svgen_dq1);
// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation
// update function.
// ------------------------------------------------------------------------------
pwm1.MfuncC1 = (int16)_IQtoIQ15(svgen_dq1.Ta); // MfuncC1 is in Q15
pwm1.MfuncC2 = (int16)_IQtoIQ15(svgen_dq1.Tb); // MfuncC2 is in Q15
pwm1.MfuncC3 = (int16)_IQtoIQ15(svgen_dq1.Tc); // MfuncC3 is in Q15
pwm1.update(&pwm1);
// ------------------------------------------------------------------------------
// Call the QEP calculation function
// ------------------------------------------------------------------------------
qep1.calc(&qep1);
// ------------------------------------------------------------------------------
// Connect inputs of the SPEED_FR module and call the speed calculation function
// ------------------------------------------------------------------------------
#if (DSP_TARGET==F2808)
speed1.ElecTheta = _IQ24toIQ((int32)qep1.ElecTheta);
speed1.DirectionQep = (int32)(qep1.DirectionQep);
speed1.calc(&speed1);
#endif
#if (DSP_TARGET==F2812)
speed1.ElecTheta = _IQ15toIQ((int32)qep1.ElecTheta);
speed1.DirectionQep = (int32)(qep1.DirectionQep);
speed1.calc(&speed1);
#endif
#if 0 // 使用计算机 Motor Monitor 软件观测，不需要
// Connect inputs of the PWMDAC module
// ------------------------------------------------------------------------------
PwmDacCh1 = (int16)_IQtoIQ15(svgen_dq1.Ta);
PwmDacCh2 = (int16)_IQtoIQ15(speed1.ElecTheta);
PwmDacCh3 = (int16)_IQtoIQ15(clarke1.As);
// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = (int16)_IQtoIQ15(svgen_dq1.Ta);
DlogCh2 = (int16)_IQtoIQ15(speed1.ElecTheta);
DlogCh3 = (int16)_IQtoIQ15(pid1_spd.Ref);
DlogCh4 = (int16)_IQtoIQ15(pid1_spd.Fdb);
// ------------------------------------------------------------------------------
// Connect inputs of the EN_DRV module and call the enable/disable PWM signal
// update function. (FOR DMC1500 ONLY)
// ------------------------------------------------------------------------------
drv1.EnableFlag = EnableFlag;
drv1.update(&drv1);
#endif
}
#endif // (BUILDLEVEL==LEVEL5)
// ***************** LEVEL6 *****************
#if (BUILDLEVEL==LEVEL6) // 位置闭环
// ------------------------------------------------------------------------------
// Specify the initial position reference when DC-bus voltage is less than 25%
// ------------------------------------------------------------------------------
#if (DSP_TARGET==F2808)
if (_IQ15toIQ((int32)ilg2_vdc1.VdcMeas) < _IQ(0.25))
PositionRef = _IQtoF(_IQ24toIQ((int32)qep1.ElecTheta));
#endif
#if (DSP_TARGET==F2812)
if (_IQ15toIQ((int32)ilg2_vdc1.VdcMeas) < _IQ(0.25))
PositionRef = _IQtoF(_IQ15toIQ((int32)qep1.MechTheta));
#endif
// ------------------------------------------------------------------------------
// Connect inputs of the RMP_CNTL module and call the Ramp control
// calculation function.
// ------------------------------------------------------------------------------
rc1.TargetValue = _IQ(PositionRef);
rc1.calc(&rc1);
// ------------------------------------------------------------------------------
// Call the ILEG2_VDC read function.
// ------------------------------------------------------------------------------
ilg2_vdc1.read(&ilg2_vdc1);
// ------------------------------------------------------------------------------
// Connect inputs of the CLARKE module and call the clarke transformation
// calculation function.
// ------------------------------------------------------------------------------
clarke1.As = _IQ15toIQ((int32)ilg2_vdc1.ImeasA);
clarke1.Bs = _IQ15toIQ((int32)ilg2_vdc1.ImeasB);
clarke1.calc(&clarke1);
// ------------------------------------------------------------------------------
// Connect inputs of the PARK module and call the park transformation
// calculation function.
// ------------------------------------------------------------------------------
park1.Alpha = clarke1.Alpha;
park1.Beta = clarke1.Beta;
#if (DSP_TARGET==F2808)
park1.Angle = _IQ24toIQ((int32)qep1.ElecTheta);
#endif
#if (DSP_TARGET==F2812)
park1.Angle = _IQ15toIQ((int32)qep1.ElecTheta);
#endif
park1.calc(&park1);
// ------------------------------------------------------------------------------
// Connect inputs of the PID_REG3 modules and compute the P position
// controller.
// Note that this P controller is manually implemented in the main function.
// It is not from the DMC library.
// ------------------------------------------------------------------------------
// pid1_pos.Ref = _IQ(PositionRef);
pid1_pos.Ref = rc1.SetpointValue;
#if (DSP_TARGET==F2808)
pid1_pos.Fdb = _IQ24toIQ((int32)qep1.MechTheta);
#endif
#if (DSP_TARGET==F2812)
pid1_pos.Fdb = _IQ15toIQ((int32)qep1.MechTheta);
#endif
pid1_pos.calc(&pid1_pos);
// ------------------------------------------------------------------------------
// Connect inputs of the PID_REG3 module and call the PID IQ controller
// calculation function.
// ------------------------------------------------------------------------------
pid1_iq.Ref = pid1_pos.Out;
pid1_iq.Fdb = park1.Qs;
pid1_iq.calc(&pid1_iq);
// ------------------------------------------------------------------------------
// Connect inputs of the PID_REG3 module and call the PID ID controller
// calculation function.
// ------------------------------------------------------------------------------
pid1_id.Ref = _IQ(IdRef);
pid1_id.Fdb = park1.Ds;
pid1_id.calc(&pid1_id);
// ------------------------------------------------------------------------------
// Call the QEP_DRV calculation function.
// ------------------------------------------------------------------------------
qep1.calc(&qep1);
// ------------------------------------------------------------------------------
// Connect inputs of the INV_PARK module and call the inverse park transformation
// calculation function.
// ------------------------------------------------------------------------------
ipark1.Ds = pid1_id.Out;
ipark1.Qs = pid1_iq.Out;
#if (DSP_TARGET==F2808)
ipark1.Angle = _IQ24toIQ((int32)qep1.ElecTheta);
#endif
#if (DSP_TARGET==F2812)
ipark1.Angle = _IQ15toIQ((int32)qep1.ElecTheta);
#endif
ipark1.calc(&ipark1);
// ------------------------------------------------------------------------------
// Connect inputs of the SVGEN_DQ module and call the space-vector gen.
// calculation function.
// ------------------------------------------------------------------------------
svgen_dq1.Ualpha = ipark1.Alpha;
svgen_dq1.Ubeta = ipark1.Beta;
svgen_dq1.calc(&svgen_dq1);
// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation
// update function.
// ------------------------------------------------------------------------------
pwm1.MfuncC1 = (int16)_IQtoIQ15(svgen_dq1.Ta); // MfuncC1 is in Q15
pwm1.MfuncC2 = (int16)_IQtoIQ15(svgen_dq1.Tb); // MfuncC2 is in Q15
pwm1.MfuncC3 = (int16)_IQtoIQ15(svgen_dq1.Tc); // MfuncC3 is in Q15
pwm1.update(&pwm1);
// ------------------------------------------------------------------------------
// Connect inputs of the PWMDAC module
// ------------------------------------------------------------------------------
PwmDacCh1 = (int16)_IQtoIQ15(svgen_dq1.Ta);
#if (DSP_TARGET==F2808)
PwmDacCh2 = (int16)_IQtoIQ15(_IQ24toIQ(qep1.ElecTheta));
#endif
#if (DSP_TARGET==F2812)
PwmDacCh2 = qep1.ElecTheta;
#endif
PwmDacCh3 = (int16)_IQtoIQ15(clarke1.As);
// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = (int16)_IQtoIQ15(svgen_dq1.Ta);
#if (DSP_TARGET==F2808)
DlogCh3 = (int16)_IQtoIQ15(_IQ24toIQ(qep1.ElecTheta));
#endif
#if (DSP_TARGET==F2812)
DlogCh3 = qep1.ElecTheta;
#endif
DlogCh3 = (int16)_IQtoIQ15(pid1_pos.Ref);
DlogCh4 = (int16)_IQtoIQ15(pid1_pos.Fdb);
// ------------------------------------------------------------------------------
// Connect inputs of the EN_DRV module and call the enable/disable PWM signal
// update function. (FOR DMC1500 ONLY)
// ------------------------------------------------------------------------------
drv1.EnableFlag = EnableFlag;
drv1.update(&drv1);
#endif // (BUILDLEVEL==LEVEL6)
#if 0 // 使用计算机 Motor Monitor 软件观测，不需要
// Call the PWMDAC update function.
// ------------------------------------------------------------------------------
pwmdac1.update(&pwmdac1);
// ------------------------------------------------------------------------------
// Call the DATALOG update function.
// ------------------------------------------------------------------------------
dlog.update(&dlog);
#endif
volt1.DcBusVolt = _IQ(1.0);
volt1.MfuncV1 = svgen_dq1.Ta;
volt1.MfuncV2 = svgen_dq1.Tb;
volt1.MfuncV3 = svgen_dq1.Tc;
volt1.calc(&volt1);
//lMotorRpmMeas = (float)speed1.SpeedRpm;//_IQtoF(_IQmpy(speed1.Speed, _IQ(200.0)) );//(_IQtoF(speed1.Speed));
lMotorRpmMeas = _IQtoF(_IQmpy(speed1.Speed, _IQ(200.0)) );//(_IQtoF(speed1.Speed));
//fIa = (float)(_IQtoF(speed1.Speed));
fMotorFreq = _IQtoF(rg1.Freq);
fTheta = _IQtoF(_IQmpy(speed1.ElecTheta, _IQ(100.0)));
fPWMTu = _IQtoF(_IQmpy(rg1.Out, _IQ(100.0)));
iq19Vdc = _IQ19mpy(_IQ19(asOscSamData[ADC_CHAN_DC_VOL_INDEX]), _IQ19(FLOAT_FACTOR_DC_VOL));
fVa = _IQ19toF(_IQ19mpy(_IQtoIQ19(volt1.VphaseA), iq19Vdc));
fVb = _IQ19toF(_IQ19mpy(_IQtoIQ19(volt1.VphaseB), iq19Vdc));
fVc = _IQ19toF(_IQ19mpy(_IQtoIQ19(volt1.VphaseC), iq19Vdc));
fIa = _IQ19toF(iq19Iu);
fIb = _IQ19toF(iq19Iv);
fIc = _IQ19toF(iq19Iw);
fVds = _IQtoF(_IQmpy(ipark1.Ds, _IQ(1)));
fVqs = _IQtoF(_IQmpy(ipark1.Qs, _IQ(1)));
//fPWMTu = _IQ19toF(_IQ19mpy(_IQtoIQ19(svgen_dq1.Ta), _IQ19(100.0)));
fPWMTv = _IQ19toF(_IQ19mpy(_IQtoIQ19(svgen_dq1.Tb), _IQ19(100.0)));
fPWMTw = _IQ19toF(_IQ19mpy(_IQtoIQ19(svgen_dq1.Tc), _IQ19(100.0)));
MONITOR_THETA(fTheta);
MONITOR_VDS(fVds);
MONITOR_VQS(fVqs);
MONITOR_PWMTU(fPWMTu);
MONITOR_PWMTV(fPWMTv);
MONITOR_PWMTW(fPWMTw);
#if (DSP_TARGET==F2808)
// Enable more interrupts from this timer
EPwm1Regs.ETCLR.bit.INT = 1;
// Acknowledge interrupt to recieve more interrupts from PIE group 3
PieCtrl.PIEACK.all = PIEACK_GROUP3;
#endif
#if (DSP_TARGET==F2812)
// Enable more interrupts from this timer
EvaRegs.EVAIMRA.bit.T1UFINT = 1;
// Note: To be safe, use a mask value to write to the entire
// EVAIFRA 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.EVAIFRA.all = BIT9;
// Acknowledge interrupt to recieve more interrupts from PIE group 2
PieCtrl.PIEACK.all |= PIEACK_GROUP2;
#endif
if (200 == IsrTicker) BEEP_Off();
}
#if (DSP_TARGET==F2812)
interrupt void QepISR(void)
{
if(PMSM_OPEN_LOOP ==bMode)
{
ucIndexCount ++;
if (5 <ucIndexCount)
{
bMode = PMSM_CLOSE_LOOP;
}
}
// ------------------------------------------------------------------------------
// Call the QEP_DRV isr function.
// ------------------------------------------------------------------------------
qep1.isr(&qep1);
// Enable more interrupts from this timer
EvaRegs.EVAIMRC.bit.CAP3INT = 1;
// Note: To be safe, use a mask value to write to the entire
// EVAIFRC 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.EVAIFRC.all = BIT2;
// Acknowledge interrupt to recieve more interrupts from PIE group 3
PieCtrl.PIEACK.all |= PIEACK_GROUP3;
}
#endif
//===========================================================================
// No more.
//===========================================================================
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