aci3_1.c

TMS320f28xx控制三相感应电机程序。包括速度检测、速度调节、V/F控制、PWM生成等。

/* ==============================================================================
System Name:  ACI31

File Name:	ACI3_1.C

Description:	Primary system file for the Real Implementation of Sensored 
          		V/Hz Control for a Three Phase AC Induction Motor. 
last modify:lingyijian	
=====================================================================================
 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 "aci3_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 = 0.2;            // Speed reference (pu)
float32 T = 0.001/ISR_FREQUENCY;   // Samping period (sec), see parameter.h

Uint16 IsrTicker = 0;
Uint16 BackTicker = 0;

int16 PwmDacCh1 = 0;
int16 PwmDacCh2 = 0;
int16 PwmDacCh3 = 0;

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

volatile Uint16 EnableFlag = FALSE;

Uint16 SpeedLoopPrescaler = 20;      // Speed loop prescaler
Uint16 SpeedLoopCount = 1;           // Speed loop counter

Uint16 ClosedLoopFlag = FALSE;

// Instance PID regulators to regulate the speed
PIDREG3 pid1_spd = PIDREG3_DEFAULTS;

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

// Instance a PWM DAC driver instance
PWMDAC pwmdac1 = PWMDAC_DEFAULTS;

// Instance a Space Vector PWM modulator. This modulator generates a, b and c
// phases based on the magnitude and Frequency inputs
SVGENMF svgen_mf1 = SVGENMF_DEFAULTS;

// Instance a Capture interface driver 
CAPTURE cap1 = CAPTURE_DEFAULTS;

// Instance a speed calculator based on capture 
SPEED_MEAS_CAP speed1 = SPEED_MEAS_CAP_DEFAULTS;

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

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

//	Instance a voltage profile
VHZPROF vhz1 = VHZPROF_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++;
    }

// Enable CNT_zero interrupt using EPWM1 Time-base
    EPwm1Regs.ETSEL.bit.INTEN = 1;   // Enable EPWM1INT generation 
    EPwm1Regs.ETSEL.bit.INTSEL = 1;  // Enable interrupt CNT_zero event
    EPwm1Regs.ETPS.bit.INTPRD = 1;   // Generate interrupt on the 1st event
    EPwm1Regs.ETCLR.bit.INT = 1;     // Enable more interrupts

// Reassign ISRs. 
        // Reassign the PIE vector for EPWM1_INT 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.EPWM1_INT = &MainISR;
	EDIS;   // This is needed to disable write to EALLOW protected registers

// Enable PIE group 3 interrupt 1 for EPWM1_INT
    PieCtrlRegs.PIEIER3.all = M_INT1;

// Enable CPU INT3 for EPWM1_INT:
	IER |= M_INT3;

#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:
    // Setup Timer 1 Registers (EV A)
    EvaRegs.GPTCONA.all = 0;

   // Waiting for enable LowFreqag set
   while (EnableFlag==FALSE) 
    { 
      BackTicker++;
    }
    
// Enable Underflow interrupt bits for GP timer 1
    EvaRegs.EVAIMRA.bit.T1UFINT = 1;
    EvaRegs.EVAIFRA.bit.T1UFINT = 1;

// Reassign ISRs. 
        // Reassign the PIE vector for T1UFINT 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.T1UFINT = &MainISR;
	EDIS;   // This is needed to disable write to EALLOW protected registers

// Enable PIE group 2 interrupt 6 for T1UFINT
    PieCtrlRegs.PIEIER2.all = M_INT6;

// Enable CPU INT2 for T1UFINT:
	IER |= M_INT2;

#endif

   // Initialize PWM module
    pwm1.PeriodMax = SYSTEM_FREQUENCY*1000000*T/2;  // Perscaler X1 (T1), ISR period = T x 1
 	pwm1.init(&pwm1); 

    // Initialize PWMDAC module 
    pwmdac1.PeriodMax = (SYSTEM_FREQUENCY*200/(30*2))*5;   // PWMDAC Frequency = 30 kHz
    pwmdac1.PwmDacInPointer0 = &PwmDacCh1;
    pwmdac1.PwmDacInPointer1 = &PwmDacCh2;
    pwmdac1.PwmDacInPointer2 = &PwmDacCh3;
	pwmdac1.init(&pwmdac1); 

// Initialize DATALOG module      
    dlog.iptr1 = &DlogCh1;
    dlog.iptr2 = &DlogCh2;
    dlog.iptr3 = &DlogCh3;
    dlog.iptr4 = &DlogCh4;
    dlog.trig_value = 0x0;
    dlog.size = 0x400;
    dlog.prescalar = 1;
    dlog.init(&dlog);

// Initialize enable drive module (FOR DMC1500 ONLY) 
    drv1.init(&drv1);

// Initialize capture module
    cap1.init(&cap1);

// Initialize the SPEED_PR module
#if (DSP_TARGET==F2808)
   // x1-eCap Timer, 100MHz, 1000-teeth sprocket, only Capture Event 1 used (4x)
    speed1.InputSelect = 1;
 	speed1.BaseRpm = 120*BASE_FREQ/P;
 	speed1.SpeedScaler = 60*(SYSTEM_FREQUENCY*1000000*4/(1*1000*speed1.BaseRpm));
#endif
#if (DSP_TARGET==F2812)
    // x128-T2, 150MHz, 1000-teeth sprocket
    speed1.InputSelect = 0;
 	speed1.BaseRpm = 120*BASE_FREQ/P;
 	speed1.SpeedScaler = 60*(SYSTEM_FREQUENCY*1000000/1000)*1/(128*speed1.BaseRpm);
#endif

// Initialize the SVGEN_MF module
 	svgen_mf1.FreqMax = _IQ(6*BASE_FREQ*T);

// Initialize the VHZ_PROF module
	vhz1.LowFreq = _IQ(0.2);
	vhz1.HighFreq = _IQ(0.5);
	vhz1.FreqMax = _IQ(1);
	vhz1.VoltMax = _IQ(0.95);
	vhz1.VoltMin = _IQ(0.2);

// Initialize the PID_REG3 module for speed
    pid1_spd.Kp = _IQ(0.5);                  
	pid1_spd.Ki = _IQ(T*SpeedLoopPrescaler/10);