bldc3_1.c

TI公司28系列DSP控制无刷直流电机

/* ==============================================================================
System Name:  BLDC31

File Name:	BLDC3_1.C

Description:	Primary system file for the Real Implementation of Sensored 
          		Trapezoidal Drive for a Three Phase Brushless DC Motor (BLDC) using
          		Hall Effect sensor
          		
Originator:		Digital control systems Group - Texas Instruments

Note: In this software, the default inverter is supposed to be DMC1500 board.
=====================================================================================
 History:
-------------------------------------------------------------------------------------
 04-15-2005	Version 3.20: Support both F280x and F281x targets 
 04-25-2005 Version 3.21: Move EINT and ERTM down to ensure that all initialization
 						  is completed before interrupts are allowed.
=================================================================================  */

// Include header files used in the main function
#include "target.h"

#if (DSP_TARGET==F2808)
#include "DSP280x_Device.h"
#endif
#if (DSP_TARGET==F2812)
#include "DSP281x_Device.h"
#endif

#include "IQmathLib.h"
#include "bldc3_1.h"
#include "parameter.h"
#include "build.h"
#include <math.h>

// Prototype statements for functions found within this file.
interrupt void MainISR(void);

// Global variables used in this system
float32 SpeedRef = 0.20;           // Speed reference (pu)
float32 T = 0.001/ISR_FREQUENCY;   // Samping period (sec), see parameter.h

Uint32 VirtualTimer = 0;
Uint16 ILoopFlag = FALSE;
Uint16 SpeedLoopFlag = FALSE;
int16 DFuncDesired = 0x1A00;      // Desired duty cycle (Q15)

_iq CurrentSet = _IQ(0.0031);

Uint16 IsrTicker = 0;
Uint16 BackTicker = 0;

int16 DlogCh1 = 0;
int16 DlogCh2 = 0;
int16 DlogCh3 = 0;
int16 DlogCh4 = 0;

volatile Uint16 EnableFlag = FALSE;

// Instance PID regulator to regulate the DC-bus current and speed
PIDREG3 pid1_idc = PIDREG3_DEFAULTS;
PIDREG3 pid1_spd = PIDREG3_DEFAULTS;

// Instance a PWM driver instance
PWMGEN pwm1 = PWMGEN_DEFAULTS;

// Create an instance of the ADC driver
ADCVALS adc1 = ADCVALS_DEFAULTS;

// Instance a enable PWM drive driver (only for DMC1500) 
DRIVE drv1 = DRIVE_DEFAULTS;

// Instance a Hall effect driver
HALL3 hall1 = HALL3_DEFAULTS;

// Instance a ramp controller to smoothly ramp the frequency
RMPCNTL rc1 = RMPCNTL_DEFAULTS;

// Instance a RAMP2 Module
RMP2 rmp2 = RMP2_DEFAULTS;

// Instance a MOD6 Module
MOD6CNT mod1 = MOD6CNT_DEFAULTS;

// Instance a SPEED_PR Module
SPEED_MEAS_CAP speed1 = SPEED_MEAS_CAP_DEFAULTS;

// Create an instance of DATALOG Module
DLOG_4CH dlog = DLOG_4CH_DEFAULTS; 


void main(void)
{

// ******************************************
// Initialization code for DSP_TARGET = F2808
// ******************************************
#if (DSP_TARGET==F2808)

// Initialize System Control registers, PLL, WatchDog, Clocks to default state:
        // This function is found in the DSP280x_SysCtrl.c file.
	InitSysCtrl();

// Globally synchronize all ePWM modules to the time base clock (TBCLK)
    EALLOW;
    SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
    EDIS;

// HISPCP prescale register settings, normally it will be set to default values
    EALLOW;   // This is needed to write to EALLOW protected registers
    SysCtrlRegs.HISPCP.all = 0x0000;     // SYSCLKOUT/1 
    EDIS;   // This is needed to disable write to EALLOW protected registers 

// Disable and clear all CPU interrupts:
	DINT;
	IER = 0x0000;
	IFR = 0x0000;

// Initialize Pie Control Registers To Default State:
        // This function is found in the DSP280x_PieCtrl.c file.
	InitPieCtrl();

// Initialize the PIE Vector Table To a Known State:
        // This function is found in DSP280x_PieVect.c.
	// This function populates the PIE vector table with pointers
        // to the shell ISR functions found in DSP280x_DefaultIsr.c.
	InitPieVectTable();	
	
// User specific functions, Reassign vectors (optional), Enable Interrupts:

   // Waiting for enable flag set
   while (EnableFlag==FALSE) 
    { 
      BackTicker++;
    }

// Initialize all the Device Peripherals:
// This function is found in DSP280x_CpuTimers.c
   InitCpuTimers();

// Configure CPU-Timer 0 to interrupt every ISR Period:
// 100MHz CPU Freq, ISR Period (in uSeconds)
// This function is found in DSP280x_CpuTimers.c
   ConfigCpuTimer(&CpuTimer0, 100, SYSTEM_FREQUENCY*10/ISR_FREQUENCY);
   StartCpuTimer0();

// Reassign ISRs. 
        // Reassign the PIE vector for TINT0 to point to a different 
        // ISR then the shell routine found in DSP280x_DefaultIsr.c.
        // This is done if the user does not want to use the shell ISR routine
        // but instead wants to use their own ISR.

	EALLOW;	// This is needed to write to EALLOW protected registers
	PieVectTable.TINT0 = &MainISR;
	EDIS;   // This is needed to disable write to EALLOW protected registers

// Enable PIE group 1 interrupt 7 for TINT0
    PieCtrlRegs.PIEIER1.all = M_INT7;

// Enable CPU INT1 for TINT0:
	IER |= M_INT1;

#endif


// ******************************************
// Initialization code for DSP_TARGET = F2812
// ******************************************
#if (DSP_TARGET==F2812)

// Initialize System Control registers, PLL, WatchDog, Clocks to default state:
        // This function is found in the DSP281x_SysCtrl.c file.
	InitSysCtrl();

// HISPCP prescale register settings, normally it will be set to default values
    EALLOW;   // This is needed to write to EALLOW protected registers
    SysCtrlRegs.HISPCP.all = 0x0000;     // SYSCLKOUT/1 
    EDIS;   // This is needed to disable write to EALLOW protected registers 

// Disable and clear all CPU interrupts:
	DINT;
	IER = 0x0000;
	IFR = 0x0000;

// Initialize Pie Control Registers To Default State:
        // This function is found in the DSP281x_PieCtrl.c file.
	InitPieCtrl();

// Initialize the PIE Vector Table To a Known State:
        // This function is found in DSP281x_PieVect.c.
	// This function populates the PIE vector table with pointers
        // to the shell ISR functions found in DSP281x_DefaultIsr.c.
	InitPieVectTable();	
	
// User specific functions, Reassign vectors (optional), Enable Interrupts:
	
// Initialize EVA Timer 1/2:
    // Setup Timer 1/2 Registers (EV A)
    EvaRegs.GPTCONA.all = 0;

    // Set the Period for the GP timer 2
    EvaRegs.T2PR = SYSTEM_FREQUENCY*1000000*T;  // Perscaler X1 (T2), ISR period = T x 1
    
    // Clear the counter/compare Regs for GP timer 2
    EvaRegs.T2CNT = 0x0000;
    EvaRegs.T2CMPR = 0x0000;     

   // Waiting for enable flag set
   while (EnableFlag==FALSE) 
    { 
      BackTicker++;
    }

// Enable Period interrupt bits for GP timer 2
    EvaRegs.EVAIMRB.bit.T2PINT = 1;
    EvaRegs.EVAIFRB.bit.T2PINT = 1;

    // Count up, x1, internal clk, disable compare, use own period
    EvaRegs.T2CON.all = 0x9040;

// Reassign ISRs. 
        // Reassign the PIE vector for T2PINT to point to a different 
        // ISR then the shell routine found in DSP281x_DefaultIsr.c.
        // This is done if the user does not want to use the shell ISR routine
        // but instead wants to use their own ISR.
	
	EALLOW;	// This is needed to write to EALLOW protected registers
	PieVectTable.T2PINT = &MainISR;
	EDIS;   // This is needed to disable write to EALLOW protected registers

// Enable PIE group 3 interrupt 1 for T2PINT
    PieCtrlRegs.PIEIER3.all = M_INT1;

// Enable CPU INT3 for T2PINT:
	IER |= M_INT3;

#endif

// Initialize PWM module
    pwm1.PeriodMax = (SYSTEM_FREQUENCY/PWM_FREQUENCY)*1000;  // Asymmetric PWM
    pwm1.DutyFunc = DFuncDesired;                            // DutyFunc = Q15  
    pwm1.init(&pwm1);
    
// Initialize DATALOG module        
    dlog.iptr1 = &DlogCh1;  
    dlog.iptr2 = &DlogCh2;
    dlog.iptr3 = &DlogCh3;
    dlog.iptr4 = &DlogCh4;
    dlog.trig_value = 0x01;
    dlog.size = 0x400;
    dlog.prescalar = 1;
    dlog.init(&dlog);

// Initialize ADC module
    adc1.ChSelect = 0x6543;   // for DMC1500 and eZdsp2812/eZdsp2808 boards
	adc1.init(&adc1);

// Initialize enable drive module   
    drv1.init(&drv1);

// Initialize the SPEED_PR module (150 MHz, N = 1 event period/rev)
 	speed1.InputSelect = 0;
 	speed1.BaseRpm = 120*(BASE_FREQ/P);
 	speed1.SpeedScaler = (Uint32)(ISR_FREQUENCY/(1*BASE_FREQ*0.001));

// Initialize RMPCNTL module
    rc1.RampDelayMax = 20;
    rc1.RampLowLimit = _IQ(0);
    rc1.RampHighLimit = _IQ(1);

// Initialize Hall module   
    hall1.DebounceAmount = 5;
    hall1.Revolutions = -10;
    hall1.init(&hall1);

// Initialize RMP2 module
	rmp2.Out = (int32)DFuncDesired;
	rmp2.Ramp2Delay = 0x00000050;
    rmp2.Ramp2Max = 0x00007FFF;
    rmp2.Ramp2Min = 0x0000000F;

// Initialize the PID_REG3 module for dc-bus current
    pid1_idc.Kp = _IQ(1);                  
	pid1_idc.Ki = _IQ(T/0.003);			
	pid1_idc.Kd = _IQ(0/T);					
 	pid1_idc.Kc = _IQ(0.2);
    pid1_idc.OutMax = _IQ(0.99);
    pid1_idc.OutMin = _IQ(0); 

// Initialize the PID_REG3 module for speed
    pid1_spd.Kp = _IQ(1);
	pid1_spd.Ki = _IQ(T/0.1);
	pid1_spd.Kd = _IQ(0/T);