pwm.h

MC56F802BLDC 可以使用的算法 就是电机启动有点慢

/******************************************************************************
*
* Motorola Inc.
* (c) Copyright 2001 Motorola, Inc.
* ALL RIGHTS RESERVED.
*
*******************************************************************************
*
* FILE NAME: pwm.h
*
* DESCRIPTION: Header file for PWM driver
*
* MODULES INCLUDED: pwmtarget.h
*
* NOTES:
*
*******************************************************************************/

#ifndef __PWM_H
#define __PWM_H

/******************************************************************************
*
*                      General Interface Description
*
* The Pulse Width Modulator (PWM) modules incorporate three complementary, individually
* programmable PWM signal outputs. The DSP56801 and DSP56803 contain one PWM module (PWM A)
* while DSP56805 and DSP56807 have two PWM modules (PWM A and PWM B).
* Each module is also capable of supporting six independent PWM functions 
* to enhance motor control functionality. 
* Complementary operation permits programmable dead-time insertion,
* distortion correction via current sensing by software, and separate top and bottom output
* polarity control. The up-counter value is programmable to support a continuously variable
* PWM frequency. Both edge- and center-aligned synchronous pulse width control (full 0%
* to 100% modulation) are supported. 
*
* The device is capable of controlling most motor types: 
*      ACIM (AC Induction Motors)
*      BDC and BLDC (Brush and Brushless DC motors)
*      SRM and VRM (Switched and Variable Reluctance Motors)
*      Stepper motors
*
* The PWMs incorporate fault protection and cycle-by-cycle current limiting with sufficient
* output drive capability to directly drive standard opto-isolators.
* Note, The DSP56801 PWM has 1 Fault Pin, the DSP56803 has 3 Fault Pins,
* the DSP56805 and DSP56807 have 4 Fault Pins.
* Write-once protection feature for key parameters is also included. A patented PWM
* waveform distortion correction circuit is also provided. Each PWM is double-buffered and
* includes interrupt controls to permit integral reload rates to be programmable from 1 to 16.
* The PWM modules also provide a reference output to synchronize the Analog-to-Digital
* Converters.
*
* For more information, please refer to the User Manual for the particular chip that you
* are using, such as the DSP56F801/803/805/807 User's Manual, for a description
* of the PWM device.
*
* The PWM device driver interface uses "ioctl" call to control specific PWM functions
* during operation. For details see "ioctl" call.
*
******************************************************************************/



/************************************************************
* PWM module identifiers, correspond to module base address
*************************************************************/

#define PWM_A  (&ArchIO.PwmA)
#define PWM_B  (&ArchIO.PwmB)    /* not applicable for DSP56801/803 */


/****************************************************
* Configurable items, i.e. defines, for appconfig.h
*****************************************************

  void pwmxxISR( void );               prototype for user ISR 
  #define INTERRUPT_VECTOR_ADDR_yy    pwmxxISR
  #define ITCN_INT_PRIORITY_yy  value 0-7 (0 = interrupt disabled)

  #define  PWM_x_CONTROL_REG               0x0000 
  #define  PWM_x_FAULT_CONTROL_REG         0x0000
  #define  PWM_x_FAULT_STATUS_REG          0x0000
  #define  PWM_x_OUTPUT_CONTROL_REG        0x0000
  #define  PWM_x_COUNTER_MODULO_REG        0x0000
  #define  PWM_x_DEAD_TIME_REG             0x0000
  #define  PWM_x_DISABLE_MAPPING_1_REG     0x0000
  #define  PWM_x_DISABLE_MAPPING_2_REG     0x0000
  #define  PWM_x_CONFIG_REG                0x0000
  #define  PWM_x_CHANNEL_CONTROL_REG       0x0000

  where:
         x  is PWM module (A or B)
         yy  is interrupt vector number
                61 - PWM A Fault
                60 - PWM B Fault
                59 - PWM A Reload
                58 - PWM B Reload
*/

/*****************************************************************
* ioctl() commands
*
*  Word16 ioctl( PWM_module_identifier, Command_name, Parameter );
*
******************************************************************

 COMMAND NAME                             PARAMETERS, COMMENTS
------------------------------------------------------------------ */
#define PWM_INIT                          /* NULL */

#define PWM_SET_RELOAD_FREQUENCY          /* PWM_RELOAD_OPPORTUNITY_X */ 
#define PWM_HALF_CYCLE_RELOAD             /* PWM_ENABLE | PWM_DISABLE  */
#define PWM_SET_CURRENT_POLARITY          /* (PWM_IPOL_0 | PWM_IPOL_1 | PWM_IPOL_2) / PWM_ZERO_MASK  */
#define PWM_SET_PRESCALER                 /* PWM_PRESCALER_DIV_X  */
#define PWM_RELOAD_INT                    /* PWM_ENABLE | PWM_DISABLE  */
#define PWM_SET_CURRENT_SENSING           /* PWM_CORRECTION_XX  */
#define PWM_DEVICE                        /* PWM_ENABLE | PWM_DISABLE  */
#define PWM_CLEAR_RELOAD_FLAG             /* NULL  */
#define PWM_LOAD_OK                       /* NULL  */

#define PWM_FAULT_INT_ENABLE              /* PWM_FAULT_x  */
#define PWM_FAULT_INT_DISABLE             /* PWM_FAULT_x  */
#define PWM_SET_AUTOMATIC_FAULT_CLEAR     /* PWM_FAULT_x  */
#define PWM_SET_MANUAL_FAULT_CLEAR        /* PWM_FAULT_x  */

#define PWM_CLEAR_FAULT_FLAG              /* PWM_FAULT_x  */

#define PWM_OUTPUT_PAD                    /* PWM_ENABLE | PWM_DISABLE  */
#define PWM_OUTPUT_SOFTWARE_CONTROL       /* mc_tPWMSignalMask  */
#define PWM_OUTPUT_CONTROL                /* mc_tPWMSignalMask  */
 
#define PWM_SET_MODULO                    /* value */
#define PWM_GET_MODULO                    /* NULL  */
         
#define PWM_SET_DEADTIME                  /* value  */
         
#define PWM_WRITE_DISABLE_MAPPING_REG1    /* value  */
#define PWM_WRITE_DISABLE_MAPPING_REG2    /* value  */

#define PWM_SET_ALIGNMENT                 /* (PWM_ALIGN_EDGE | PWM_ALIGN_CENTER)  */
#define PWM_SET_NEG_TOP_SIDE_POLARITY     /* (PWM_CHANNEL_45 | PWM_CHANNEL_23 | PWM_CHANNEL_01) / PWM_ZERO_MASK  */
#define PWM_SET_NEG_BOTTOM_SIDE_POLARITY  /* (PWM_CHANNEL_45 | PWM_CHANNEL_23 | PWM_CHANNEL_01) / PWM_ZERO_MASK  */

#define PWM_SET_INDEPENDENT_OPERATION     /* (PWM_CHANNEL_45 | PWM_CHANNEL_23 | PWM_CHANNEL_01) / PWM_ZERO_MASK */
#define PWM_SET_WRITE_PROTECT             /* NULL  */
          
#define PWM_HARDWARE_ACCELERATION         /* PWM_ENABLE | PWM_DISABLE  */
#define PWM_SET_CHANNEL_MASK              /* mc_tPWMSignalMask  */
#define PWM_SET_LOAD_MODE                 /* PWM_LOAD_xx  */
#define PWM_SET_SWAP                      /* (PWM_CHANNEL_45 | PWM_CHANNEL_23 | PWM_CHANNEL_01) / PWM_ZERO_MASK */

#define PWM_WRITE_VALUE_REG_0             /* value  */
#define PWM_WRITE_VALUE_REG_1             /* value  */
#define PWM_WRITE_VALUE_REG_2             /* value  */
#define PWM_WRITE_VALUE_REG_3             /* value  */
#define PWM_WRITE_VALUE_REG_4             /* value  */
#define PWM_WRITE_VALUE_REG_5             /* value  */
#define PWM_WRITE_VALUE_REGS_COMPL        /* pwm_sComplementaryValues*  */
#define PWM_WRITE_VALUE_REGS_INDEP        /* pwm_sIndependentValues*  */
#define PWM_READ_FAULT_STATUS_REG         /* NULL  */
#define PWM_READ_COUNTER_REG              /* NULL */
#define PWM_READ_CONTROL_REG              /* NULL  */
#define PWM_READ_PORT_REG                 /* NULL  */

#define PWM_SOFTWARE_OUTPUTS_CONTROL      /* pwm_sOutputControl*  */
#define PWM_UPDATE_VALUE_REG_0            /* value  */
#define PWM_UPDATE_VALUE_REG_1            /* value  */
#define PWM_UPDATE_VALUE_REG_2            /* value  */
#define PWM_UPDATE_VALUE_REG_3            /* value  */
#define PWM_UPDATE_VALUE_REG_4            /* value  */
#define PWM_UPDATE_VALUE_REG_5            /* value  */
#define PWM_UPDATE_VALUE_REGS_COMPL       /* pwm_sComplementaryValues*  */
#define PWM_UPDATE_VALUE_REGS_INDEP       /* pwm_sIndependentValues*  */  
#define PWM_UPDATE_VALUE_SET_VLMODE       /* pwm_sUpdateValueSetVlmode*  */    
#define PWM_CORRECT_DEAD_TIME_COMPL       /* pwm_sComplementaryValues*  */ 
#define PWM_SET_MASK_SWAP                 /* pwm_sChannelControl*  */    
 

/****************************************************************************
* PWM constants and type declarations use in the ioctl functions
*****************************************************************************/
#define PWM_ZERO_MASK                   0x0000   

#define PWM_IPOL_0                      0x0400   /* Current Polarity Bit 0 */  
#define PWM_IPOL_1                      0x0200   /* Current Polarity Bit 1 */  
#define PWM_IPOL_2                      0x0100   /* Current Polarity Bit 2 */  

#define PWM_RELOAD_OPPORTUNITY_1        0
#define PWM_RELOAD_OPPORTUNITY_2        1
#define PWM_RELOAD_OPPORTUNITY_3        2
#define PWM_RELOAD_OPPORTUNITY_4        3
#define PWM_RELOAD_OPPORTUNITY_5        4
#define PWM_RELOAD_OPPORTUNITY_6        5
#define PWM_RELOAD_OPPORTUNITY_7        6
#define PWM_RELOAD_OPPORTUNITY_8        7
#define PWM_RELOAD_OPPORTUNITY_9        8
#define PWM_RELOAD_OPPORTUNITY_10       9
#define PWM_RELOAD_OPPORTUNITY_11       10
#define PWM_RELOAD_OPPORTUNITY_12       11
#define PWM_RELOAD_OPPORTUNITY_13       12
#define PWM_RELOAD_OPPORTUNITY_14       13
#define PWM_RELOAD_OPPORTUNITY_15       14
#define PWM_RELOAD_OPPORTUNITY_16       15

#define PWM_PRESCALER_DIV_1             0
#define PWM_PRESCALER_DIV_2             1
#define PWM_PRESCALER_DIV_4             2
#define PWM_PRESCALER_DIV_8             3

#define PWM_CORRECTION_NO               0
#define PWM_CORRECTION_SOFTWARE         1
#define PWM_CORRECTION_DURING_DEADTIME  2       /* not applicable for DSP56801 */
#define PWM_CORRECTION_DURING_CYCLE     3       /* not applicable for DSP56801 */

#define PWM_FAULT_0                     0
#define PWM_FAULT_1                     1       /* not applicable for DSP56801 */
#define PWM_FAULT_2                     2       /* not applicable for DSP56801 */
#define PWM_FAULT_3                     3       /* not applicable for DSP56801/803 */

#define PWM_ENABLE                      true
#define PWM_DISABLE                     false

#define PWM_ALIGN_EDGE                  true
#define PWM_ALIGN_CENTER                false

#define PWM_CHANNEL_45                  0x0004
#define PWM_CHANNEL_23                  0x0002
#define PWM_CHANNEL_01                  0x0001

#define PWM_LOAD_INDEP                  0
#define PWM_LOAD_FROM_0_TO_5            1
#define PWM_LOAD_FROM_0_TO_3            2


#define PWM_COMPLEMENTARY_MODE          0
#define PWM_INDEPENDENT_MODE            1

 
/****************************************************************************/

typedef UWord16 pwm_tPWMChannelSwap;   /*  pwm_tPWMChannelSwap contains three control bits
							representing channel swapping of PWM signals.
							The bits can be combined in a numerical value
							that represents the union of the appropriate
							bits.  For example, the value 0x05 indicates
							that PWM channel 0 and 1 are swapped, channel 4 and 5 are swapped.