📄 macro.h.bak
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add #1,(TC_shift+9-15+w_shift-6-16-1)
rpt #(TC_shift+9-15+w_shift-6-16-1)
sfr ;2^(6+16)
sdp w,agl
add agl,16 ;2^(6+16)
adds agl_l
sub #360*64,15
sub #360*64,15
posrst? bcnd negrst?,geq
add #360*64,15
add #360*64,15
negrst? bcnd iwdt_end?,geq
add #360*64,15
add #360*64,15
iwdt_end? sach agl
sacl agl_l
.endm
;=========================================================================
;===========================================
; sincos for 0-360度
; 待做:
; DP自动切换
;------------------------------------------------------------
sincos .macro agl,agl_l,sinagl,cosagl,sect_tmp,temp1,temp2,temp3,temp4
lacc agl,12
splk #90*64,temp1
rpt #3
subc temp1
sacl sect_tmp
sub sect_tmp
adds agl_l
rpt #3
sfr
sach temp1 ;for look up table
sacl temp2 ;for interpolation
lacl temp1
add #sin
tblr temp4
add #1
tblr temp3
lacc temp3
sub temp4
sacl temp3
lt temp3
mpyu temp2 ;2^12,还应除以2^4
pac ;2*16
add temp4,16
add #1,15
sach sinagl ;sin(0-90)
lacc #90*64,12
sub temp1,16
subs temp2
sach temp1
sacl temp2
lacl temp1
add #sin
tblr temp4
add #1
tblr temp3
lacc temp3
sub temp4
sacl temp3
lt temp3
mpyu temp2 ;2^12,还应除以2^4
pac ;2*16
add temp4,16
add #1,15
sach temp1 ;sin(0-90)
lacc sect_tmp,1
add #bpart?
bacc
bpart? b part0?
b part1?
b part2?
b part3?
part0? bldd temp1,#cosagl
b sincos_end?
part1? lacl sinagl
neg
sacl cosagl
bldd temp1,#sinagl
b sincos_end?
part2? lacl sinagl
neg
sacl sinagl
lacl temp1
neg
sacl cosagl
b sincos_end?
part3? bldd sinagl,#cosagl
lacl temp1
neg
sacl sinagl
sincos_end? nop
.endm
;=========================================================================
; 有待修改: 1.四舍五入
;-------------------------------------------------------------------------
vvvf .macro w,w_n,vsd,vsq,vn,temp1
bldd #vn,vsd
splk #0,vsq
lacc w
abs
sacl temp1
sub w_n
bcnd norm,lt
abovenorm nop
b vvvf_end
norm lacc temp1,15
rpt #15
subc w_n
sacl temp1 ;2^15
lt temp1
mpy vsd
pac
add #1,14
sach vsd,1
mpy vsq
pac
add #1,14
sach vsq,1
vvvf_end nop
.endm
;=========================================================================
;===================================================================
;空间矢量模块
;(VSAL_REF,VSBE_REF,VDC)--->(SVPWM发出)
;------------------------------------------------------------------
;专用变量: VSAL_REF,VSBE_REF,
;(全在DP=4) Vref1,Vref2,Vref3,
; VDC,VDCINVT,
; X,Y,Z,SECTOR,
; t1,t2,taon,tbon,tcon,
; CMPR1_TMP,CMPR2_TMP,CMPR3_TMP
;临时变量: TEMP,TEMP1
;引用常量: PWMPRD,VDCINVT_kh,VDCINVT_kl
;编译开关: Tc_short,SVPWM_load
;------------------------------------------------------------------
SVPWM .MACRO
;------------------------------------------------------------------
anb_abc VSBE_REF,VSAL_REF,Vref1,Vref3,Vref2,TEMP
;------------------------------------------------------------------
;计算vdcinvt
LDP #VDC/128
lacl VDC
SFR
ADD #VDCINVT_kh*2,15
or #VDCINVT_kl
RPT #15
SUBC VDC ;2^5
LDP #VDCINVT/128
sacl VDCINVT ;2^2
;计算X,Y,Z
LT VDCINVT ;2^2
mpy Vref1 ;2^14
pac ;2^16
add #1,15
LDP #X/128
sach X
mpy Vref3
pac
neg
add #1,15
LDP #Y/128
sach Y
mpy Vref2
pac
neg
add #1,15
LDP #Z/128
sach Z
;------------------------------------------------------------------
;60 degrees SECTOR determination
;------------------------------------------------------------------
clrc SXM
LACC Vref3,4
AND #8000H,4
ADD Vref2,3
AND #0C000H,4
ADD Vref1,2
XOR #0F000H,4
AND #0E000H,4
sach SECTOR
setc SXM
;------------------------------------------------------------------
;t1 and t2 calculation depending on the SECTOR number
;------------------------------------------------------------------
lacl SECTOR
add #(bsector-2)
bacc
bsector b sector1
b sector2
b sector3
b sector4
b sector5
b sector6
sector1 bldd #Z,t1
bldd #Y,t2
b t1t2out
sector2 bldd #Y,t1
lacc X
neg
sacl t2
b t1t2out
sector3 lacc Z
neg
sacl t1
bldd #X,t2
b t1t2out
sector4 lacc X
neg
sacl t1
bldd #Z,t2
b t1t2out
sector5 bldd #X,t1
lacc Y
neg
sacl t2
b t1t2out
sector6 lacc Y
neg
sacl t1
lacc Z
neg
sacl t2
t1t2out nop
;------------------------------------------------------------------
;END t1 and t2 calculation
;------------------------------------------------------------------
lacl t1 ;if t1+t2>PWMPRD we have to saturate
add t2
sacl TEMP
sub #PWMPRD
bcnd satend,LEQ
sat lacc #PWMPRD,15 ;divide PWMPRD by (t1+t2)
rpt #15
subc TEMP
sacl TEMP
lt TEMP
mpy t1 ;t1 (saturated)=t1*(PWMPRD/(t1+t2))
pac
sach t1,1
mpy t2 ;t2 (saturated)=t2*(PWMPRD/(t1+t2))
pac
sach t2,1
satend nop
;------------------------------------------------------------------
;taon,tbon and tcon calculation
lacc #PWMPRD
sub t1
sub t2 ;taon=(PWMPRD-t1-t2)/2
add #1
sfr
sacl taon
add t1 ;tbon=taon+t1
sacl tbon
add t2 ;tcon=tbon+t2
sacl tcon
;------------------------------------------------------------------
;SECTOR switching
lacl SECTOR
add #(bpush-2)
bacc
bpush b push1
b push2
b push3
b push4
b push5
b push6
push1 bldd tbon,#CMPR1_TMP
bldd taon,#CMPR2_TMP
bldd tcon,#CMPR3_TMP
.if (SVPWM_load==1)
bldd tbon,#CMPR1
bldd taon,#CMPR2
bldd tcon,#CMPR3
.if (ENSCMP==1)
bldd tbon,#SCMPR1 ;(this line only for zd)
bldd taon,#SCMPR2 ;(this line only for zd)
bldd tcon,#SCMPR3 ;(this line only for zd)
.endif
.endif
B push_end
push2 bldd taon,#CMPR1_TMP
bldd tcon,#CMPR2_TMP
bldd tbon,#CMPR3_TMP
.if (SVPWM_load==1)
bldd taon,#CMPR1
bldd tcon,#CMPR2
bldd tbon,#CMPR3
.if (ENSCMP==1)
bldd taon,#SCMPR1 ;(this line only for zd)
bldd tcon,#SCMPR2 ;(this line only for zd)
bldd tbon,#SCMPR3 ;(this line only for zd)
.endif
.endif
b push_end
push3 bldd taon,#CMPR1_TMP
bldd tbon,#CMPR2_TMP
bldd tcon,#CMPR3_TMP
.if (SVPWM_load==1)
bldd taon,#CMPR1
bldd tbon,#CMPR2
bldd tcon,#CMPR3
.if (ENSCMP==1)
bldd taon,#SCMPR1 ;(this line only for zd)
bldd tbon,#SCMPR2 ;(this line only for zd)
bldd tcon,#SCMPR3 ;(this line only for zd)
.endif
.endif
b push_end
push4 bldd tcon,#CMPR1_TMP
bldd tbon,#CMPR2_TMP
bldd taon,#CMPR3_TMP
.if (SVPWM_load==1)
bldd tcon,#CMPR1
bldd tbon,#CMPR2
bldd taon,#CMPR3
.if (ENSCMP==1)
bldd tcon,#SCMPR1 ;(this line only for zd)
bldd tbon,#SCMPR2 ;(this line only for zd)
bldd taon,#SCMPR3 ;(this line only for zd)
.endif
.endif
b push_end
push5 bldd tcon,#CMPR1_TMP
bldd taon,#CMPR2_TMP
bldd tbon,#CMPR3_TMP
.if (SVPWM_load==1)
bldd tcon,#CMPR1
bldd taon,#CMPR2
bldd tbon,#CMPR3
.if (ENSCMP==1)
bldd tcon,#SCMPR1 ;(this line only for zd)
bldd taon,#SCMPR2 ;(this line only for zd)
bldd tbon,#SCMPR3 ;(this line only for zd)
.endif
.endif
b push_end
push6 bldd tbon,#CMPR1_TMP
bldd tcon,#CMPR2_TMP
bldd taon,#CMPR3_TMP
.if (SVPWM_load==1)
bldd tbon,#CMPR1
bldd tcon,#CMPR2
bldd taon,#CMPR3
.if (ENSCMP==1)
bldd tbon,#SCMPR1 ;(this line only for zd)
bldd tcon,#SCMPR2 ;(this line only for zd)
bldd taon,#SCMPR3 ;(this line only for zd)
.endif
.endif
push_end
.if (DEADCON==0)
LDP #CMPR1_TMP/128
LACC CMPR1_TMP,15
LDP #CMPR1/128
SACH CMPR1
LDP #CMPR2_TMP/128
LACC CMPR2_TMP,15
LDP #CMPR2/128
SACH CMPR2
LDP #CMPR3_TMP/128
LACC CMPR3_TMP,15
LDP #CMPR3/128
SACH CMPR3
.endif
.ENDM
;---------------------------------------------------------
;空间矢量模块结束
;==========================================================
;===========================================================
FM .macro in
ldp #in/128
LACC in
ldp #0E8H
SACL T1CMPR
.endm
;----------------------------------------------------------
;===========================================================
;瞬时电流死区补偿算法
;-----------------------------------------------------------
indb .macro IA,IB,IC
.if (immediate==1)
ldp #COMCON/128
LACL COMCON
XOR #0110000001100000B
rpt #1
SACL COMCON ;中末<->立即
.endif
LDP #IA/128
BIT IA,BIT15
sdp IA,CMPR1_TMP
BCND IA_ADD,TC
LACL CMPR1_TMP
sdp CMPR1_TMP,DT_COM
SUB DT_COM
BCND SUBAEND,GEQ
ZAC
SUBAEND LDP #0E8H
SFR ;CMPR1_TMP/2->CMPR1
SACL CMPR1
LDP #lyh/128
SACL lyh
.if (ENSCMP==1)
SACL SCMPR1
.endif
B DC_IB
IA_ADD LACL CMPR1_TMP
sdp CMPR1_TMP,DT_COM
add DT_COM
SUB #PWMPRD
BCND ADDAEND,LT
ZAC
ADDAEND ADD #PWMPRD
LDP #0E8H
SFR ;CMPR1_TMP/2->CMPR1
sacl CMPR1
LDP #lyh/128
SACL lyh
.if (ENSCMP==1)
SACL SCMPR1
.endif
DC_IB LDP #IB/128
BIT IB,BIT15
sdp IB,CMPR2_TMP
BCND IB_ADD,TC
LACL CMPR2_TMP
sdp CMPR2_TMP,DT_COM
SUB DT_COM
BCND SUBBEND,GEQ
ZAC
SUBBEND LDP #0E8H
SFR ;CMPR2_TMP/2->CMPR2
SACL CMPR2
.if (ENSCMP==1)
SACL SCMPR2
.endif
B DC_IC
IB_ADD LACL CMPR2_TMP
sdp CMPR2_TMP,DT_COM
add DT_COM
SUB #PWMPRD
BCND ADDBEND,LT
ZAC
ADDBEND ADD #PWMPRD
LDP #0E8H
SFR ;CMPR2_TEM/2->CMPR2
sacl CMPR2
.if (ENSCMP==1)
SACL SCMPR2
.endif
DC_IC LDP #IC/128
BIT IC,BIT15
sdp IC,CMPR3_TMP
BCND IC_ADD,TC
LACL CMPR3_TMP
sdp CMPR3_TMP,DT_COM
SUB DT_COM
BCND SUBCEND,GEQ
ZAC
SUBCEND LDP #0E8H
SFR ;CMPR3_TMP/2->CMPR3
SACL CMPR3
.if (ENSCMP==1)
SACL SCMPR3
.endif
B DC_END
IC_ADD LACL CMPR3_TMP
sdp CMPR3_TMP,DT_COM
add DT_COM
SUB #PWMPRD
BCND ADDCEND,LT
ZAC
ADDCEND LDP #0E8H
ADD #PWMPRD
SFR ;CMPR3_TMP/2->CMPR3
sacl CMPR3
.if (ENSCMP==1)
SACL SCMPR3
.endif
DC_END nop
.if (immediate==1)
ldp #COMCON/128
LACL COMCON
XOR #0110000001100000B
rpt #1
SACL COMCON ;中末<->立即
.endif
.endm
;===========================================================⌨️ 快捷键说明
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