c_pwm1.c

电压空间矢量改进算法的实现！现场调试已过

/* include C standard file*/
#include <stdio.h>
#include <math.h>

/* include DSP standard file*/
#include    "F243_c.h" 
/* include variable define and I/O adress define*/
#include	"c_pwm1.h"

void kick_dog(void)
{
	*WDKEY=0x5555;
	*WDKEY=0xAAAA;
}

void delay(uint time)
{
   uint i;   
   for(i=0;i<time;i++)
      {         
         i++; i--;
         kick_dog();
      }
}

void freeze(void)
{     
	asm(" SETC INTM");  
	while(1)
	{
        DISABLE_PWM;
        kick_dog();
        DEAL_PDP_BUG;                                   
		*EVIFRA = 0x0001;
		*ACTR = 0x0000;   /*When urgency occured, CPU halted here, closing all PWM output*/
		ERROR;
		FBUZ_ON;		 
  	}
}  

void over_current(void)
{     
	asm(" SETC INTM");  
	while(1)
	{
        DISABLE_PWM;                           
		*ACTR = 0x0000;
		kick_dog();
		WAITING;
		FBUZ_ON;
		delay(50000);
		ERROR;
		FBUZ_OFF;
		delay(50000);			
  	}
}  


main()
{             
    sint i; 
     
    /***disable global interrupts***/
    asm(" SETC INTM");
    
    /*DEAL PDPINT BUG*/
    DEAL_PDP_BUG;
    
    /*Enable the watchdog timer*/	
    *WDCR = 0x0028;
    kick_dog();      
	
    WSGR = 0xFE40;      /*one wait state for IO space*/  
    
    /*configure system register*/
    *SCSR = 0x4001;  

    /*Setup shared I/O pins*/
    *OCRA = 0x0560;     /*100,96,91:PWM_EN(OPA7,OPB1,3);102,98,94:PWM;83:CAP3;87:AD1_BUSY(IPB7)*/
        				/*85:AD2_BUSY(IPB6);128:AD1_CNS(OPB5);130:AD2_CNS(OPB4)*/
    *OCRB = 0x0000;
    *PADATDIR = 0x8202; /*58 output high,100 output low */
    *PBDATDIR = 0x3A00; /* 设置96,91,128,130为输出，四个管脚输出都为低电平*/ 
                        /* 设置85,87为输入*/
    *PDDATDIR = 0x3000;
    *PCDATDIR = 0XC000;
    
    /* Setup SCI module */
    *SCICCR = 0x07;    /* 1 stop bit,no parity,8 char bits, async mode, idle line protocal*/             
    *SCICTL1 = 0x02;   /*Enable TX; Disalbe RX,RX ERR ,SLEEP,TXWAKE*/                    
    *SCICTL2 = 0x00;   /* Disable RX INT, Disable TX INT */              
    *SCIHBAUD = 0x01;
    *SCILBAUD = 0x03;  /* Baud rat =9600 bps */
                       /*BRR=259,波特率=20MHz/[(259+1)*8]=9600 bps*/    
    temp = *SCITXBUF;  /* Clear the buffers */
    temp = *SCITXBUF; 
    
    /*CAN initialization*/	
	*MCR = 0x1000;              /*change configuration request,set CCR=1*/
 	while (!(*GSR & 0x0010));   /*wait for change configuration enable CCE=1*/
	*BCR2 = 0x0001; 		    /*set BRP=1,TQ=(BRP+1)/Iclk*/
	*BCR1 = 0x0523; 		    /*resynchronize on the falling edge only,SJW=1,sample only once,
 						         TSEG1=5,TSEG2=4,Baud rate=1 Mbit/s */
	*MCR = 0x0000;		        /*return in normal operation*/ 
 	while (*GSR & 0x0010);      /*wait for change configuration disable CCE=0*/
    /*End CAN Initialization*/
    
    /*Disable timer1 and 2, and the PWM configuration*/
    *T1CNT = 0x0000; 	/*Clear timer counter*/
    *T1CON = 0x0900; 	/*set T1 in continuous UP/DOWN mode，时钟预定标系数x/2，不使能定时器操作*/
    *T1PR = T1_PER; 	/*Set timer period, switch frequency is 5 KHz*/
    *GPTCON = 0x0000; 	/*configure GPTCON, if PDPINT  is active,the sixth bit is set to zero*/     
    *DBTCON = 0x0000; 	/*Disable deadband units*/
	
    *CMPR1 = T1_PER;
    *CMPR2 = T1_PER;
    *CMPR3 = T1_PER;
    *ACTR = 0x0666;  	/*Configure PWM outputs,PWM1、3、5高有效*/
	*COMCON = 0x8200;   /*Enable PWM outputs&compare operation*/
    
	/*Setup the core interrupts*/
    *IMR = 0x0000;		/*Clear the IMR register        */
    *IFR = 0x00FF;		/*Clear any pending interrups   */
    *IMR = 0x0002;		/*Enable INT4 for CAP3, enable INT2 for T1 in CAP3 ISR later*/
    
    /*Setup the event manager interrupts*/
    *EVIFRA = 0xFFFF;   	/* Clear Event Manager IFR and set up the EM IMR regs */
    *EVIFRB = 0xFFFF;
    *EVIFRC = 0xFFFF;      
    *EVIMRA = 0x0200;      	/* Enable T1 UnderFlow INT in INT2 and PDPINT in INT1*/
    *EVIMRB = 0x0000;       /* Disable T2 int */
    *EVIMRC = 0x0000;       /* Disable CAP3 INT */
   
    /* 变量清零和初始化 */
    t_step = 0;
    p_u_dc_sam = 0;   /*p_u_dc_sam，用来指向下一个直流电压采样值放在队列中的那个位置*/
    for (i = 0; i < 16; i++)
	{
        u_dc_sam_array[i] = U_DC_START;	
    }    
    u_dc.err_I = 0;
    u_dc.control = 0; 
    u_dc.set = U_DC_SET;
    k_i_p = K_I_P_INIT;
    phase.angle = 50;
       
    /*采样直流测电压*/
    ADC12_START;
    while (!(ADC1_BUSY));		/*confirm ADC1 running*/
    while (!(ADC2_BUSY));
    do 
    {  
       kick_dog();
       u_a.former = u_a.nonce;
       while (ADC1_BUSY);   	/*ADC1 complete*/
       while (ADC2_BUSY);
       u_dc.sam = (sint)(ADC1_DATA); 
       temp = (sint)(ADC1_DATA);
       temp = (sint)(ADC1_DATA);
       temp = (sint)(ADC1_DATA);
       u_a.nonce = ADC2_DATA;
       temp = ADC2_DATA;
       temp = ADC2_DATA;
       temp = ADC2_DATA;                      
       ADC12_STOP;
       
       u_dc.sam += U_DC_E;
       u_a.nonce += U_A_E;
       u_dc.sam &= 0x0FFF;
       u_a.nonce &= 0x0FFF; 
       if (u_dc.sam >= 2048)  u_dc.sam -= 4096;        
       u_dc.sam = SLONGMUL((u_dc.sam) , (sint)K_V_DC , 12);
       if (u_a.nonce >= 2048)  u_a.nonce -= 4096;
       
       if ((u_a.former < 0) && (u_a.nonce >= 0))  phase.angle = 0; /*A相电压过零点*/
       
       ADC12_START;          
       while(!(ADC1_BUSY)); 
       while(!(ADC2_BUSY));       
    } 
    while ((u_dc.sam <= (sint)U_DC_START) || (phase.angle != 0));
	ADC12_STOP;
    /* 直流侧电压达到可以进行PFC控制*/
    FBUZ_ON;
    delay(30000); 
    FBUZ_OFF;
    *T1CNT = 0x0000;
    *T1CON |= 0x0040; 	             /* 使能T1并开始计数 */
    asm("	CLRC INTM " );           /*Enable global interrupts*/
    DISABLE_PWM;
    while (1);       
}


/* T1 周期中断服务程序 */
interrupt void timer1_per_int(void)
{	
    uint EVIFRA_temp;
    sint i, j = 0;
    
    asm("	SETC INTM " );
    kick_dog(); 
    /* 判断是不是PDPINT中断，若是则调用freeze()函数*/
    /*EVIFRA_temp = *EVIFRA;
    if(EVIFRA_temp & 0x0001)    freeze();*/
        
    *EVIFRA = 0x0200;	   /* 清T1周期中断标志 */          	
	*COMCON = 0x8200;   /*Enable PWM outputs&compare operation*/ 
	
	while (u_dc.control < CNTL_START) 
	{
		DISABLE_PWM;
		j++;
		if(j <= 20)		WAITING;
		if((j > 20) && (j <= 40))    ERROR;
		if(j > 40)    j = 0;
		kick_dog();
		t_step = 0;
		p_u_dc_sam = 0;   /*p_u_dc_sam，用来指向下一个直流电压采样值放在队列中的那个位置*/
    	for (i = 0; i < 16; i++)	u_dc_sam_array[i] = U_DC_START;	   
    	u_dc.err_I = 0;	
		u_dc.set = U_DC_SET;		
		phase.angle = 50;
		
		ADC1_START;	 
		while(!(ADC1_BUSY));		
		while (ADC1_BUSY);	
		temp = ADC1_DATA;      /*read ADC1 and ADC2 result in sequence*/ 
		temp = ADC1_DATA;
		temp = ADC1_DATA;
		u_dc.control = ADC1_DATA;
		ADC1_STOP;
		
		u_dc.control &= 0x0FFF; 
		if (u_dc.control >= 2048)  u_dc.control -= 4096; 
		
		while(phase.angle == 50)
		{
			kick_dog();
			ADC2_START;	 			
			while(!(ADC2_BUSY));
			u_a.former = u_a.nonce;	
			while (ADC2_BUSY);		
			u_a.nonce = ADC2_DATA;
			temp = ADC2_DATA;
			temp = ADC2_DATA;
			temp = ADC2_DATA;
			ADC2_STOP; 
		
			u_a.nonce += U_A_E;
			u_a.nonce &= 0x0FFF; 		 	
			if (u_a.nonce >= 2048)     u_a.nonce -= 4096;
		
			if ((u_a.former < 0) && (u_a.nonce >= 0)) phase.angle = 0; /*A相电压过零点*/ 
		}
	}
		         
	/* 启动所有AD转换,ADC1(4,3,2,1通道):u_dc_temp,i_a,i_b,u_dc.control; ADC2(4,3,2通道):u_a,u_b,u_c*/
    ADC12_START;                /*start ADC1 and ADC2 simultaneously*/ 
    while(!(ADC1_BUSY));        /*confirm converting*/