dsp281x_hall3.c

程序是我用DSP2812开发的无刷直流电机控制程序

/* ==================================================================================
File name:       DSP281x_Hall3.C
                    
Originator:	Digital Control Systems Group
			Texas Instruments

Description:  This file contains source for the Capture drivers for the F281X

Target: TMS320F281x family
    
=====================================================================================
History:
-------------------------------------------------------------------------------------
 04-15-2005	Version 3.20: Using DSP281x v. 1.00 or higher 
------------------------------------------------------------------------------------*/

#include "DSP281x_Device.h"
#include "DSP281x_Hall3.h"

void  F281X_EV1_HALL3_Init(HALL3 *p)
{
        F281X_EV1_HALL3_Determine_State(p);
        p->HallGpioBuffer = p->HallGpio;       // Init with current CAP/GPIO logic levels
 	    p->HallGpioAccepted = p->HallGpio;     // Init with current CAP/GPIO logic levels

        EvaRegs.CAPCONA.all = HALL3_INIT_STATE;  // Set up capture units, CAP1-3 using GP timer 2
        EvaRegs.CAPFIFOA.all = 0x1500;           // Write "01" each CAPxFIFO for EV to believe that there is already an entry in the FIFO

        EALLOW;                       // Enable EALLOW
        GpioMuxRegs.GPAMUX.all |= 0x0700;     // Set up the capture 1-3 pins to primary functions
        EDIS;                         // Disable EALLOW

}


void F281X_EV1_HALL3_Read(HALL3 *p)
{

       p->CapFlag = EvaRegs.EVAIFRC.all;  // Save capture flag register, convenient for Watch Window
       if (p->CapFlag==0)                 // NO_EDGE_DETECTED: No hall signal edges detected on CAP1-3 (bits 0-2)
       {
         p->CmtnTrigHall = 0;          // Reset trigger, it only handshakes with calling program.
         if (p->EdgeDebounced==0)       // If motor has not moved then debounce current position. 
          {  
            F281X_EV1_HALL3_Debounce(p);
            p->CmtnTrigHall = p->EdgeDebounced;      // Set Commutation trigger here
          }
         else                                  // If current position is debounced, find match in table 
            F281X_EV1_HALL3_Next_State_Ptr(p); // and return pointer to current state.  Ptr to be incremented
									           // by MOD6CNT after RET.	
 
         p->EdgeDebounced = 0;                // Reset trigger
       }
       else                               // EDGE_DETECTED: Any hall signal edges detected on CAP1-3
       {
         p->StallCount = 0xFFFF;               // On new edge, reset stall counter
         EvaRegs.EVAIFRC.all = 0x0007;         // Clear all CAP1-3 Int-flags 
         F281X_EV1_HALL3_Determine_State(p);   // Since motor has moved, determine state (read HallGpio)
         p->CapCounter += 1;                     // Increment running edge detection counter
       }                    
}


void F281X_EV1_HALL3_Determine_State(HALL3 *p)
{
        EALLOW;                       // Enable EALLOW
        // Configure CAP1-3 as GPIO-inputs (GPIO8-GPIO10)
        GpioMuxRegs.GPAMUX.all &= 0xF8FF;
		
		// config GPIO8-GPIO10 as inputs
		GpioMuxRegs.GPADIR.bit.GPIOA8 = 0;
		GpioMuxRegs.GPADIR.bit.GPIOA9 = 0;
		GpioMuxRegs.GPADIR.bit.GPIOA10 = 0;
        EDIS;                         // Disable EALLOW
        
        p->HallGpio = GpioDataRegs.GPADAT.all&0x0700;  // HallGpio.2-0 = GPIO10-GPIO8 
        p->HallGpio = p->HallGpio>>8;

        EALLOW;                       // Enable EALLOW
        GpioMuxRegs.GPAMUX.all |= 0x0700;     // Set up the CAP1-3 pins to primary functions
        EDIS;                         // Disable EALLOW

}


void F281X_EV1_HALL3_Debounce(HALL3 *p)
{

   if (p->HallGpio == p->HallGpioAccepted)   // GPIO_UNCHANGED: Current GPIO reading == debounced GPIO reading?
   {
      if (p->Revolutions <= 0)         // Only create hall map during initial Revolutions
         F281X_EV1_HALL3_Create_Map(p);
      p->StallCount -= 1;            // Decrement stall counter
      if (p->StallCount == 0)
       {  
         p->EdgeDebounced = 0x7FFF;     // If motor has stalled, then user trigger to commutate
         p->StallCount = 0xFFFF;    // Reset counter to starting value
       } 
   }
   else          // GPIO_CHANGED: If not zero, then the motor has moved to a new position.
   {
      if (p->HallGpio == p->HallGpioBuffer)                    // Current GPIO reading == previous GPIO reading?
      {
        if (p->DebounceCount >= p->DebounceAmount)  // If equal, is current GPIO reading debounced?
        {
          p->HallGpioAccepted = p->HallGpioBuffer;  // Current GPIO reading is now debounced
          p->EdgeDebounced = 0x7FFF;        // Edge/position debounced, trigger commutation

          p->DebounceCount = 0;             // Reset debounce counter

          if (p->HallMapPointer==0)
             p->Revolutions += 1;          // Increment on every rev (HallMapPointer = 0)
        } 
        else     // DEBOUNCE_MORE
          p->DebounceCount += 1;            // Increment debounce counter
      }
      else       // NEW_READING
      {   
         p->HallGpioBuffer = p->HallGpio;  // Save new reading and reset debounce counter
         p->DebounceCount = 0;
      }
   }
}


void F281X_EV1_HALL3_Next_State_Ptr(HALL3 *p)
{
     int16 i, HallPointer;
     
     if (p->Revolutions>0)      // Only run function after map has been created.
     {
       for (i=0;i<=5;i++)             // Search for a match of current debounced GPIO position
       {                                                // and the table entries.
         if (p->HallMap[i] == p->HallGpioAccepted)               // Match_Found
             HallPointer = i; 
       }
       p->HallMapPointer = HallPointer;    // On match, save pointer position. Pointer will be incremented 
     }                                // by 1 since MOD6CNT will receive a positive trigger
}                                     // and pointer as inputs.


void F281X_EV1_HALL3_Create_Map(HALL3 *p)
{
   p->HallMap[p->HallMapPointer] = p->HallGpioAccepted;  // Save debounced GPIO to table.
}