pmsm31.c

TI 的DSP2407A的无速度传感器永磁同步电机FOC控制程序

/* ==============================================================================
System Name:  PMSM3_1   (QEP version)

File Name:	PMSM31.C

Description:  Peripheral independent object for the implementation 
              of Sensored Field Orientation Control for a Three Phase 
              Permanent-Magnet Synchronous Motor using measured rotor angle.


Originator:		Digital control systems Group - Texas Instruments

        
        
Target dependency:	x240/1/2/3/07 
To Select the target device see target.h file.

Note that the PWM/sampling frequency in C system is running at 15 kHz, which 
is different from the PWM/samping frequency in ASM system (i.e., 20 kHz) as 
indicated in the PMSM3-1 system documentation. Also, this PWM/samping frequency
in both ASM and C systems are based on x2407 with 30 MHz clock. If the x243 with
20 MHz clock is used, then the PWM/samping frequency may be decreased accordingly.   
			
=====================================================================================
 History:
-------------------------------------------------------------------------------------
 03-01-2001	Release	Rev 1.0
=================================================================================  */
/*-----------------------------------------------------------------------------
    Include header information for this file.
-----------------------------------------------------------------------------*/
#include <pmsm31.h>
/*-----------------------------------------------------------------------------
    System settings
-----------------------------------------------------------------------------*/
#define WAIT_STATES     0x40
/*-----------------------------------------------------------------------------
    Global Declarations 

    Instance the PWM Generator (Driver) Interface.
    Also initalize the PWMGEN object.
    This pre-initializer takes on the nature depending on the TARGET device.
    

    An IMPORTANT NOTE : 
        This pre-initalization initializes the PWMGEN data structure in
        memory. This WILL NOT initialize the PWM Generator timers and
        so on. This is accomplished by calling the init method in the 
        PWMGEN object. This applies to most drivers that supply an init 
        method.
-----------------------------------------------------------------------------*/
        PWMGEN pwm = PWMGEN_DEFAULTS;

/*-----------------------------------------------------------------------------
    Instance a speed measurement object. The defaults are set in
    SPEED_FR.H. Also  the init defaults to measure speed by frequency.
-----------------------------------------------------------------------------*/
        SPEED_MEAS speed = SPEED_FR_MEAS_DEFAULTS;

/*------------------------------------------------------------------------------
    Declaration for the QEP Interface Driver. The defaults are set in
    F2407QEP.H or F243_QEP.H
------------------------------------------------------------------------------*/
        QEP qep = QEP_DEFAULTS;
                                         
/*-----------------------------------------------------------------------------
    Instance a single FOC_TI object.
-----------------------------------------------------------------------------*/
        FOC_TI foc = FOC_TI_INITVALS; 

/*-----------------------------------------------------------------------------
    Instance the EVMDAC Interface.
-----------------------------------------------------------------------------*/
	    EVMDAC dac = EVMDAC_DEFAULTS;

/*-----------------------------------------------------------------------------
    Instance the WATCHDOG Interface.
-----------------------------------------------------------------------------*/
        WATCHDOG wdog = WATCHDOG_DEFAULTS;

/*-----------------------------------------------------------------------------
    Instance ILEG2MEAS object. The defaults are set in F2407ILG.H or F243ILG.H
-----------------------------------------------------------------------------*/
     	ILEG2MEAS ilg2 = ILEG2MEAS_DEFAULTS;

/*-----------------------------------------------------------------------------
    Instance DRIVE object. The defaults are set in F07DRIVE.H or F243DRIVE.H
-----------------------------------------------------------------------------*/
     	DRIVE drive = DRIVE_DEFAULTS;

/*-----------------------------------------------------------------------------
    Instance the ISR checking variable
-----------------------------------------------------------------------------*/
        int	isr_ticker;
        
void main()   
{
/*-----------------------------------------------------------------------------
    Return system to a sane condition
-----------------------------------------------------------------------------*/
        RstSystem();
     
#if (BUILDLEVEL==LEVEL1)
/*-----------------------------------------------------------------------------
    Set the pwm period to 500 cycles,(F243) [ or 750 cycles, LF240x ].
    This assumes a CPU CLKIN of 5MHz for the F243 and CLKIN of 7.5 MHz
    for the LF240x.
    Defaults for pwm are set in F243_PWM.H
    Note that this will ONLY change runtime configurable parameters.
    For changing settings like timer modes or PWM Polarity, once the 
    constants like PWM_INIT_STATE, or ACTR_INIT_STATE are changed, the
    driver file must be re-compiled.

    To do this change the constant and then run the batch file 
    ..\..\drv011\build\f243drv.bat or f2407drv.bat

    This will re-build the driver, with the new timer mode or PWM polarity,
    and then run the (re)build for this project. This will update the 
    setting.
-----------------------------------------------------------------------------*/
/*        pwm.period_max=1000;    */    /* This is based on 15kHz PWM frequency (30MHz) */
        pwm.period_max=1333;       /* This is based on 15kHz PWM frequency (40MHz)*/

/*-----------------------------------------------------------------------------
    Initialize the FOC_TI object. This is a call to the init method within 
    the FOC_TI object foc.
-----------------------------------------------------------------------------*/
        FOC_TI_Init(&foc);

/*-----------------------------------------------------------------------------
    Initialize the real time monitor
-----------------------------------------------------------------------------*/
        rtmon_init();           /* Call the monitor init function           */
 //      	enable_ints();      /* Set off the system running.              */
		asm (" CLRC INTM");     /* Set off the system running.              */

/*-----------------------------------------------------------------------------
    Initialize DRIVE  --  Waiting for PWM enable flag setting 
-----------------------------------------------------------------------------*/
        while(drive.enable_flg==0)
        {
        drive.init(&drive);
        }
           
/*-----------------------------------------------------------------------------
    Initialize PWM Generator
-----------------------------------------------------------------------------*/
        pwm.init(&pwm);

/*-----------------------------------------------------------------------------
    Clear any EV(A)IFRA flags.
-----------------------------------------------------------------------------*/
//#if     TARGET==F243                      
//        EVIFRA=0xffff;          
//#elif   TARGET==F2407                                                          
	    EVBIFRA=0xffff;        
//#endif  /* TARGET */

/*-----------------------------------------------------------------------------
    Set the dac pointers
-----------------------------------------------------------------------------*/
        dac.qptr0=&foc.svgen.va;
        dac.qptr1=&foc.svgen.vb;
        dac.qptr2=&foc.svgen.vc;
        dac.qptr3=&foc.rg.rmp_out;

#endif /* (BUILDLEVEL==LEVEL1) */  


#if (BUILDLEVEL==LEVEL2)

/*-----------------------------------------------------------------------------
    Set the pwm period to 500 cycles,(F243) [ or 750 cycles, LF240x ].
    This assumes a CPU CLKIN of 5MHz for the F243 and CLKIN of 7.5 MHz
    for the LF240x.
    Defaults for pwm are set in F243_PWM.H
    Note that this will ONLY change runtime configurable parameters.
    For changing settings like timer modes or PWM Polarity, once the 
    constants like PWM_INIT_STATE, or ACTR_INIT_STATE are changed, the
    driver file must be re-compiled.

    To do this change the constant and then run the batch file 
    ..\..\drv011\build\f243drv.bat or f2407drv.bat

    This will re-build the driver, with the new timer mode or PWM polarity,
    and then run the (re)build for this project. This will update the 
    setting.
-----------------------------------------------------------------------------*/
//#if     TARGET==F243                      
//        pwm.period_max=667;          /* This is based on 15kHz PWM frequency (20MHz) */

//#elif   TARGET==F2407                                                          
/*        pwm.period_max=1000;    */    /* This is based on 15kHz PWM frequency (30MHz) */
        pwm.period_max=1333;       /* This is based on 15kHz PWM frequency (40MHz)*/
//#endif  /* TARGET */            

/*-----------------------------------------------------------------------------
    Initialize the FOC_TI object. This is a call to the init method within 
    the FOC_TI object foc.
-----------------------------------------------------------------------------*/
        FOC_TI_Init(&foc);

/*-----------------------------------------------------------------------------
    Initialize the real time monitor
-----------------------------------------------------------------------------*/
        rtmon_init();            /* Call the monitor init function           */
 //      	enable_ints();      /* Set off the system running.              */
		asm (" CLRC INTM");     /* Set off the system running.              */

/*-----------------------------------------------------------------------------
    Initialize DRIVE  --  Waiting for PWM enable flag setting 
-----------------------------------------------------------------------------*/
        while(drive.enable_flg==0)
        {
        drive.init(&drive);
        }
           
/*-----------------------------------------------------------------------------
    Initialize PWM Generator
-----------------------------------------------------------------------------*/
        pwm.init(&pwm);

/*-----------------------------------------------------------------------------
    Initialize ILEG2MEAS
-----------------------------------------------------------------------------*/
       	ilg2.init(&ilg2);

/*-----------------------------------------------------------------------------
    Set the dac pointers 
-----------------------------------------------------------------------------*/
        dac.qptr0=&ilg2.out_a;
        dac.qptr1=&ilg2.out_b;
        dac.qptr2=&foc.rg.rmp_out;
        dac.qptr3=&foc.voltage_dq.q;

#endif /* (BUILDLEVEL==LEVEL2) */   


#if (BUILDLEVEL==LEVEL3)

/*-----------------------------------------------------------------------------
    Set the pwm period to 500 cycles,(F243) [ or 750 cycles, LF240x ].
    This assumes a CPU CLKIN of 5MHz for the F243 and CLKIN of 7.5 MHz
    for the LF240x.
    Defaults for pwm are set in F243_PWM.H
    Note that this will ONLY change runtime configurable parameters.
    For changing settings like timer modes or PWM Polarity, once the 
    constants like PWM_INIT_STATE, or ACTR_INIT_STATE are changed, the
    driver file must be re-compiled.

    To do this change the constant and then run the batch file 
    ..\..\drv011\build\f243drv.bat or f2407drv.bat

    This will re-build the driver, with the new timer mode or PWM polarity,
    and then run the (re)build for this project. This will update the 
    setting.
-----------------------------------------------------------------------------*/
//#if     TARGET==F243                      
//        pwm.period_max=667;          /* This is based on 15kHz PWM frequency (20MHz) */

//#elif   TARGET==F2407                                                          
/*        pwm.period_max=1000;    */    /* This is based on 15kHz PWM frequency (30MHz) */
        pwm.period_max=1333;       /* This is based on 15kHz PWM frequency (40MHz)*/
//#endif  /* TARGET */            

/*-----------------------------------------------------------------------------
    Initialize the FOC_TI object. This is a call to the init method within 
    the FOC_TI object foc.
-----------------------------------------------------------------------------*/
        FOC_TI_Init(&foc);

/*-----------------------------------------------------------------------------
    Initialize the real time monitor
-----------------------------------------------------------------------------*/
        rtmon_init();            /* Call the monitor init function           */
 //      	enable_ints();      /* Set off the system running.              */
		asm (" CLRC INTM");     /* Set off the system running.              */

/*-----------------------------------------------------------------------------
    Initialize DRIVE  --  Waiting for PWM enable flag setting 
-----------------------------------------------------------------------------*/
        while(drive.enable_flg==0)
        {
        drive.init(&drive);
        }