📄 main.asm
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.include "F2407REGS.H"
.mmregs
.global _c_int0
.sect "vecotrs"
b _c_int0
_c_int1 b _c_int1
_c_int2 b _c_int2
_c_int3 b _c_int3
_c_int4 b _c_int4
_c_int5 b _c_int5
_c_int6 b _c_int6
.space 16*6
stack .usect "blockb2",15
dac_val .usect "blockb2",5
sintab .usect "table",256
.sect "table_f"
sintab_flash .include sine.tab
.data
vkcurrent .set 00b38h
vsqrt3inv .set 093dh
vsqrt32 .set 0ddbh
pwmprd .set 258h
tonmax .set 0
maxduty .set pwmprd-2*tonmax
*****************pi current regulation parameters**********
vki .set 07ah ;4.12 format=0.03
vkpi .set 999h ;4.12 format=0.60
vkcor .set 0cch ;4.12 format=0.05 kcor=ki/kpi
*****************pi speed regulators parameters**********
vkispeed .set 7ah
vkpispeed .set 06800h ;4.12 format=6.5
vkcorspeed .set 12h
****************pi field weakening regulators parameters
vkiweak .set 7ah
vkpiweak .set 999h
vkcorweak .set 0cch
****************var and vdr limitations
vbase .set 01000h
vmin .set 0ec00h
vmax .set 01400h
*****************is adn idr limitations
vismax .set 0bb5h
idrmin .set 0f44bh
idrmax .set 0000h
*****************initialization phase iqr
iqrinit .set 09c1h
****************encoder variables and constants
vkencoder .set 0c000h
encpulses .set 4096
****************speed and estimated speed calculation constant*********
nbase .set 1000h
kspeed .set 0be7h
SPEEDSTEP .set 28
.bss tmp,1 ;temporary variable to use in isr only!!!!
.bss option,1
.bss daout,1
.bss daouttmp,1
*****************dac displaying table starts here
.bss i1,1
.bss i2,1
.bss i3,1
.bss ua,1
.bss ub,1
.bss uc,1
.bss seno1,1
.bss t1,1
.bss t2,1
.bss coseno,1
.bss va,1
.bss vb,1
.bss vc,1
.bss vdc,1
.bss taon,1
.bss tbon,1
.bss tcon,1
.bss theta,1
.bss ialfa,1
.bss ibeta,1
.bss valfar,1
.bss vbetar,1
.bss idr,1
.bss iqr,1
.bss id,1
.bss iq,1
.bss vdr,1
.bss vqr,1
.bss epiq,1
.bss epid,1
.bss xiq,1
.bss xid,1
.bss n,1
.bss n_ref,1
.bss epispeed,1
.bss xispeed,1
.bss x,1
.bss y,1
.bss z,1
.bss sectordisp,1
.bss initphase,1
.bss encoder,1
.bss vr,1
.bss iqrmin,1
.bss iqrmax,1
**********************end dac displaying table
.bss sector,1
.bss serialtmp,1
.bss da1,1
.bss da2,1
.bss da3,1
.bss da4,1
.bss vdcinvtc,1
.bss epvr,1
.bss xvr,1
.bss indice1,1
.bss upi,1
.bss elpi,1
.bss faultreset,1
.bss tmp1,1
.bss accb,2
.bss acc_tmp,2
.bss encoderold,1
.bss encincr,1
.bss speedtmp,1
.bss speedstep,1
.bss kcurrent,1
.bss sqrt3inv,1
.bss sqrt32,1
.bss ki,1
.bss kpi,1
.bss kcor,1
.bss kispeed,1
.bss kpispeed,1
.bss kcorspeed,1
.bss kiweak,1
.bss kpiweak,1
.bss kcorweak,1
.bss ismax,1
.bss kencoder,1
************************end variables and constants initializations
.text
***************************************************************
* macro
*inputs: argument in *ar5 must be positive
*outputs:resule in acclow
*notes: this function uses the Newton-Raphson method:
* x(n)=0.5*[x(n-1)+N/x(n-1)]
*this function uses *(ar5+1) & *(ar5+2) locations
****************************************************************
isqrt .macro
clrc sxm
lacc *+
sfr
sacl *+
splk #10,*
isqrt?: sbrk #2
lacc *+
rpt #15
subc *
and #0FFFFh
add *
sfr
sacl *+
lacc *
sub #1
sacl *
bcnd isqrt?,neq
mar *-
lacc *
mar *-
setc sxm
.endm
*******************************************************
*_c_int2 interrupt service routine
*synchronization of the conrtol algorithm with the pwm
*underflow interrupt
*******************************************************
_c_int2:
******************************************************
**********context saving
******************************************************
larp ar4
mar *-
sst #1,*-
sst #0,*-
sach *-
sacl *-
************end context saving
mar *,ar5
ldp #DP_EV ;*********************
lacc ivra
ldp #tmp
sacl tmp
sub #20h
bcnd pdproutine,eq
sub #9
bcnd controlroutine,eq
b contextrestorereturn
*************end int2 interrupt service routine
contextrestorereturn:
larp ar4
mar *+
lacl *+
add *+,16
lst #0,*+
lst #1,*+
clrc INTM
ret
*************end context restore and return
pdproutine:
ldp #ifra>>7
splk #001h,IFRA
ldp #DP_EV ;*********
splk #0fffh,actr
splk #0207h,COMCONA
splk #8207h,COMCONA
ldp #DP_PF2
splk #0ff00h,PBDATDIR
rpt #200
nop
splk #0ff02h,PBDATDIR
b contextrestorereturn
**************end pdproutine
**Current sampling----AD conversion
controlroutine:
ldp #DP_PF2
splk #0ff08h,PCDATDIR
ldp #DP_PF1
splk #186dh,ADCCNTL1
*********current sampling
conversion: bit ADCCNTL1,8
bcnd conversion,tc
lacc ADC_FIFO1,10
ldp #i2
sach i2
ldp #DP_PF1
lacc ADC_FIFO2,10
ldp #i3
sach i3
*************fault enable and test EVM led on/off
lacc faultreset
bcnd initcontrol,eq
ldp #DP_EV
splk #0999h,ACTR
ldp #faultreset
splk #0,faultreset
*************initialization phase
initcontrol:
lacl initphase
bcnd noinit1,neq
setc xf
lacc #0fc00h
sacl theta
lacc #iqrinit
sacl iqr
lacc #0
sacl idr
sacl encoder
sacl encoderold
sacl n
sacl speedtmp
lacc #speedstep
sacl speedstep
ldp #DP_EV
splk #1,T3CNT
ldp #initphase
b go
**************end initialization phase
noinit1:
*************encoder pulses reading
clrc xf
ldp #DP_EV
lacc T3CNT
neg
ldp #i1
sacl tmp
sub encoderold
sacl encincr
add encoder
bcnd encmagzero,gt,eq ;**********
add #encpulses
encmagzero:
sacl encoder
sub #encpulses
bcnd encminmax,lt
sacl encoder
encminmax:
lacc tmp
sacl encoderold
*************end encoder pulses reading
*****************
**theta calculation
*****************
lt encoder
mpyu kencoder
pac
sach theta,2
lacl theta
and #0fffh
sacl theta
**end theta calculation
**************calculate speed and update reference speed variables
lacc speedstep
sub #1
sacl speedstep
bcnd nocalc,gt
lt speedtmp
mpy #kspeed
pac
rpt #7
sfr
sacl n
lacc #0
sacl speedtmp
lacc #SPEEDSTEP
sacl speedstep
**************end speed calculation from encoder pulses
***speed regulator with integral component correction
lacc n_ref
sub n
sacl epispeed
lacc xispeed,12
lt epispeed
mpy kpispeed
apac
sach upi,4
bit upi,0
bcnd upimagzeros,ntc
lacc iqrmin
sub upi
bcnd neg_sat,gt
lacc upi
b limiters
neg_sat:
lacc iqrmin
b limiters
upimagzeros:
lacc iqrmax
sub upi
bcnd pos_sat,lt
lacc upi
b limiters
pos_sat:
lacc iqrmax
limiters:
sacl iqr
sub upi
sacl elpi
lt elpi
mpy kcorspeed
pac
lt epispeed
mpy kispeed
apac
add xispeed,12
sach xispeed,4
*************end speed regulator withe integral component correction
***field-weaking algorithm with pi regulator
***calculation of sqrt(vdr^2+vqr^2)
***only if n>nbase/2
*******************************************************************
lacc #nbase
sfr
sub n
bcnd nocalc,geq
lar ar5,#60h
zac
mpy #0
mar *,ar5
spm 2
sqra vdr
sqra vqr
apac
sach *
isqrt
spm 0
sacl vr,6
***********voltage regulator with integral component correction
lacc #vbase
sub vr
sacl epvr
lacc xvr,12
lt epvr
mpy kpi
apac
sach upi,4
bit upi,0
bcnd upimagzerov,ntc
lacc #idrmin
sub upi
bcnd neg_satv,gt
lacc upi
b limiterv
neg_satv:
lacc #idrmin
b limiterv
upimagzerov:
lacc #idrmax
sub upi
bcnd pos_satv,lt
lacc upi
b limiterv
pos_satv:
lacc #idrmax
limiterv:
sacl idr
sub upi
sacl elpi
lt elpi
mpy kcor
pac
lt epvr
mpy ki
apac
add xvr,12
sach xvr,4
***************end voltage regulator with integral component correction
**************************************************************************
**field-weakening algorithe iqr limitation
**for pi regulator
**calculation of sqrt (ismax^2-idr^2)
**output iqrmax
**************************************************************************
lar ar5,#60h
zac
mpy #0
mar *,ar5
spm 2
sqra idr
sqrs ismax
apac
sach *
isqrt
spm 0
sacl iqrmax,6
neg
sacl iqrmin,6
**********end field weakening routines
******************************************************************************
****encoder update
************************************************************************
nocalc:
lacc speedtmp
add encincr
sacl speedtmp
*****end measured speed and reference speed variables updating
go:
*****************sampled current scaling to nominal current 1000h<->i_nominal
********************************************************************
ldp #i1
lacc i2
add #045h
and #3ffh
sub #512
sacl tmp
spm 3
lt tmp
mpy kcurrent
pac
sfr
sfr
neg
sacl i2
lacc i3
add #03ch
and #3ffh
sub #512
sacl tmp
lt tmp
mpy kcurrent
pac
sfr
sfr
neg
sacl i3
add i2
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