pwm.c

dsp2812采用规则采样法得到spwm波

/*
上海三意电机驱动技术有限公司
MCK2812LV 直流无刷马达驱动程序
SUPPORT2 Yangj编写 V1.1  2006.3.29
本程序在220V 3400转 5对级直流无刷电机调试下通过
*/
#include "DSP281x_Device.h"     // DSP281x Headerfile Include File
#include "DSP281x_Examples.h"   // DSP281x Examples Include File
#include "math.h"

#define C_TIME 20
#define pwm_half_per 3750 /*3750 pwm=20khz*//*sytemclk=150MHz*/
                          /*1875 pwm=40kHz*/

#define pole 2  /*电机的级对数*/
#define timer2_per 60000//234375/* timer2 period with a 1/128 timer prescaler and 150MHz CPUCLK*/ 
#define PI 3.1415926
unsigned int adc_res;
unsigned int dir=1;
unsigned int ldd=0;
unsigned int PWM_DUTY=2000;

unsigned int I_result[2048];
unsigned int i=0;
unsigned int hall=0x000;
unsigned int time_cnt=C_TIME;
unsigned int hallspeed=0;
unsigned int prehall=0;
unsigned int speed;
unsigned int a=0,b=0,c=0,d=0;
unsigned int displaytime=0;
unsigned int displayflag=0;

unsigned int fc=10000;
unsigned int f=50;
float M=0.9;
unsigned int k=0;
// Prototype statements for functions found within this file.
void init_eva(void);
void eva_timer1_isr(void);

//void init_evb(void);

// Global counts used in this example


void main(void)
{

// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP281x_SysCtrl.c file.
   InitSysCtrl();

// Step 2. Initalize GPIO: 
// This example function is found in the DSP281x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio();  // Skipped for this example  

// Initialize only GPAMUX and GPBMUX for this test
   EALLOW;
   // Enable PWM pins
   GpioMuxRegs.GPAMUX.all = 0x003F; // EVA PWM 1-6  pins
   GpioMuxRegs.GPAQUAL.all=0x0000;
   EDIS;
    
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts 
   DINT;

// Initialize PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.  
// This function is found in the DSP281x_PieCtrl.c file.
   InitPieCtrl();
   IER = 0x0000;
   IFR = 0x0000;
   
  // Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
   EALLOW;  // This is needed to write to EALLOW protected registers
   PieVectTable.T1PINT = &eva_timer1_isr;
 
   EDIS;  



// Disable CPU interrupts and clear all CPU interrupt flags:
 

// Initialize the PIE vector table with pointers to the shell Interrupt 
// Service Routines (ISR).  
// This will populate the entire table, even if the interrupt
// is not used in this example.  This is useful for debug purposes.
// The shell ISR routines are found in DSP281x_DefaultIsr.c.
// This function is found in DSP281x_PieVect.c.
   InitPieVectTable();
   EvaRegs.T1CON.all=0x0000;//disable time1
// Step 4. Initialize all the Device Peripherals:
// This function is found in DSP281x_InitPeripherals.c
// InitPeripherals(); // Not required for this example
   init_eva();
//   init_evb();

// Step 5. User specific code, enable interrupts:
 // Enable PIE group 2 interrupt 4 for T1PINT
    PieCtrlRegs.PIEIER2.all = M_INT4;


    // Enable CPU INT2 for T1PINT, INT3 for T2PINT, INT4 for T3PINT
    // and INT5 for T4PINT:
    IER |= M_INT2;

    // Enable global Interrupts and higher priority real-time debug events:
    EINT;   // Enable Global interrupt INTM
    ERTM;   // Enable Global realtime interrupt DBGM
    EvaRegs.EVAIMRA.bit.T1PINT = 1;
    EvaRegs.EVAIFRA.bit.T1PINT = 1;
  // Just sit and loop forever:
  // PWM pins can be observed with a scope.	
   
  for(;;)
  {
  }

}

void init_eva()
{

 // EVA Configure T1PWM, T2PWM, PWM1-PWM6 
// Initalize the timers
   

   EvaRegs.GPTCONA.bit.TCMPOE = 1;//0
   EvaRegs.GPTCONA.bit.T1PIN = 2;//0
   // Initalize EVA Timer1
   //EvaRegs.T1PR=0.0001; 
   EvaRegs.T1PR = pwm_half_per;       // Timer1 period
   EvaRegs.T1CMPR=0; 
   //EvaRegs.T1CMPR = PWM_DUTY;     // Timer1 compare
   EvaRegs.T1CNT = 0x0000;      // Timer1 counter
   EvaRegs.DBTCONA.all=0x0000;      //deadband units off
   EvaRegs.ACTRA.all  =0x0fff; //pwm pin set active high*/
   // Enable compare for PWM1-PWM6
   EvaRegs.CMPR1=0;
   //EvaRegs.CMPR1=PWM_DUTY;
   EvaRegs.CMPR2=PWM_DUTY;
   EvaRegs.CMPR3=PWM_DUTY;
   EvaRegs.COMCONA.all = 0xA600;
   EvaRegs.T1CON.all = 0x842;//0x840   

    
  // Compare action control.  Action that takes place
  // on a cmpare event
  // output pin 1 CMPR1 - active high
  // output pin 2 CMPR1 - active low
  // output pin 3 CMPR2 - active high
  // output pin 4 CMPR2 - active low
  // output pin 5 CMPR3 - active high
  // output pin 6 CMPR3 - active low
 
  EvaRegs.DBTCONA.all = 0x1000; // Disable deadband
 


} 


 void eva_timer1_isr(void)
{
   
   EvaRegs.EVAIMRA.bit.T1PINT = 1;

   EvaRegs.EVAIFRA.all = BIT7;
   EvaRegs.ACTRA.all =0x0666;//0x0c02
   //EvaRegs.CMPR3=pwm_half_per-200;
   //EvaRegs.CMPR1=PWM_DUTY;
   //EvaRegs.CMPR2=PWM_DUTY;
   EvaRegs.CMPR1=(pwm_half_per/2)*(1+0.9*sin(PI*k/100));
   EvaRegs.CMPR2=(pwm_half_per/2)*(1+0.9*sin(PI*k/100+2*PI/3));
   EvaRegs.CMPR3=(pwm_half_per/2)*(1+0.9*sin(PI*k/100+4*PI/3));
   k++;
   if(k==200)
   {
     k=0;
   }
 //  EvaRegs.CMPR1=PWM_DUTY;
 //  EvaRegs.CMPR2=PWM_DUTY;
 //  EvaRegs.CMPR3=PWM_DUTY;
    
   PieCtrlRegs.PIEACK.all = PIEACK_GROUP2;
}