📄 imvc07_a.lst
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605 0183 9024- SACL _position ;store position
606 0184 ef00 RET
607
608 ;=============================================================================
609 ; Routine Name: _tabcdq
610 ; ---------------------
611 ; Description: Transforms coordinates from abc to dq frame
612 ; input of the transformation routine are current from phase A and B
613 ; and position of the rotor flux(theta)and output are transformed currents
614 ; from the synchronous reference frame.
615 ; ---------------------
616 ; Calling Convention: extern void tabcdq();
617 ;=============================================================================
618 0185 254d Cas1 .word 9549 ; Constant Ca=1/sqrt(3) scaled by *2^-1
619 0186 49e7 Cbs1 .word 18919 ; Constant Cb=2/sqrt(3) scaled by *2^-1
620 0187 c064 Cnalpha .word -16284 ; Constant Calpha=-0.5, negative
621 0188 6ed5 Cbeta .word 28373 ; Constant Cbeta=sqrt(3)/2
622 ;=============================================================================
623 .global _tabcdq
624 ;=============================================================================
625 0189 _tabcdq:
626 0189 bc00- LDP #_theta
627 ; call sine to obtain sin_theta
628 018a 1025- LACC _theta ; argument
629 018b 90a0 SACL *+ ; push argument on the stack
630 018c 7a80 CALL _sine ; call function
018d 026a'
631 018e 8b90 MAR *- ; restore SP
632 018f bc00- LDP #_theta
633 0190 9022- SACL _sin_theta ; store sin_theta
634 ; cosine(theta) = sine(theta + PI/2)
635 0191 1025- LACC _theta
636 0192 bf90 ADD #C_PI_2 ; obtain augument
0193 4000
637 0194 90a0 SACL *+ ; push augument on the stack
638 0195 7a80 CALL _sine ; call function
0196 026a'
639 0197 8b90 MAR *- ; restore SP
640 0198 bc00- LDP #_theta
641 0199 9023- SACL _cos_theta ; store cos_theta
642 ; transform abc2alphabeta
643 019a be43 SETC OVM ; OPERATIONS WIIL BE MADE UNDER OVM = 1
644 ; _i_alpha = _i_a
645 019b 1016- LACC _i_a
TMS320C1x/C2x/C2xx/C5x COFF Assembler Version 7.00 Mon May 28 09:55:02 2007
Copyright (c) 1987-1999 Texas Instruments Incorporated
D:\Imvc\IMVC07_a.asm PAGE 16
646 019c 9018- SACL _i_alpha
647 ; _i_beta = (Cas1*_i_a + Cbs1*_i_b)*2
648 019d a217- MAC Cbs1,_i_b
019e 0186'
649 019f b900 LACL #0
650 01a0 a216- MAC Cas1,_i_a
01a1 0185'
651 01a2 be04 APAC
652 01a3 sat2
1 01a3 bc00- LDP #satvals12
1 01a4 6127- ADD satvals12+1,16
1 01a5 6527- SUB satvals12+1,16
1 01a6 6527- SUB satvals12+1,16
1 01a7 6127- ADD satvals12+1,16
653 01a8 9a19- SACH _i_beta, 2
654 ; transform alphabeta2dq
655 ; _i_d = _i_alpha*_cos_theta + _i_beta*_sin_theta
656 01a9 5423- MPY _cos_theta ; P still loaded with _i_a(lpha)
657 01aa 7119- LTP _i_beta
658 01ab 5422- MPY _sin_theta
659 01ac be04 APAC
660 01ad sat1
1 01ad bc00- LDP #satvals12
1 01ae 6126- ADD satvals12,16
1 01af 6526- SUB satvals12,16
1 01b0 6526- SUB satvals12,16
1 01b1 6126- ADD satvals12,16
661 01b2 991a- SACH _i_d, 1
662 ; i_q = -_i_alpha*_sin_theta + _i_beta*_cos_theta
663 01b3 5423- MPY _cos_theta ; P still loaded with _i_beta
664 01b4 7118- LTP _i_alpha
665 01b5 5422- MPY _sin_theta
666 01b6 be05 SPAC
667 01b7 sat1
1 01b7 bc00- LDP #satvals12
1 01b8 6126- ADD satvals12,16
1 01b9 6526- SUB satvals12,16
1 01ba 6526- SUB satvals12,16
1 01bb 6126- ADD satvals12,16
668 01bc 991b- SACH _i_q, 1
669 01bd be42 CLRC OVM ; OPERATIONS WERE MADE UNDER OVM = 1
670 01be ef00 RET
671
672 ;=============================================================================
673 ; Routine Name: _tdqabc
674 ; ---------------------
675 ; Description: Transforms coordinates from dq to abc frame
676 ; Input of the routine are dq reference voltages (output of the dq axis
677 ; current controllers and the rotation angle of the rotor flux(theta)
678 ; and output are the reference voltages in the natural frame of the motor
679 ; ---------------------
680 ; Calling Convention: extern void tdqabc();
681 ;=============================================================================
682 .global _tdqabc
TMS320C1x/C2x/C2xx/C5x COFF Assembler Version 7.00 Mon May 28 09:55:02 2007
Copyright (c) 1987-1999 Texas Instruments Incorporated
D:\Imvc\IMVC07_a.asm PAGE 17
683 ;=============================================================================
684 01bf _tdqabc:
685 01bf bc00- LDP #_theta
686 ; transform dq2alphabeta
687 01c0 be43 SETC OVM ; OPERATIONS WIIL BE MADE UNDER OVM = 1
688 ; _u_beta = _u_d*_sin_theta + _u_q*_cos_theta;
689 01c1 731d- LT _u_q_ref
690 01c2 5423- MPY _cos_theta
691 01c3 711c- LTP _u_d_ref
692 01c4 5422- MPY _sin_theta
693 01c5 be04 APAC
694 01c6 sat1
1 01c6 bc00- LDP #satvals12
1 01c7 6126- ADD satvals12,16
1 01c8 6526- SUB satvals12,16
1 01c9 6526- SUB satvals12,16
1 01ca 6126- ADD satvals12,16
695 01cb 991f- SACH _u_beta_ref, 1
696 ; _u_alpha = _u_d*_cos_theta - _u_q*_sin_theta;
697 01cc 5423- MPY _cos_theta ; P still loaded with _u_d
698 01cd 711d- LTP _u_q_ref
699 01ce 5422- MPY _sin_theta
700 01cf be05 SPAC
701 01d0 sat1
1 01d0 bc00- LDP #satvals12
1 01d1 6126- ADD satvals12,16
1 01d2 6526- SUB satvals12,16
1 01d3 6526- SUB satvals12,16
1 01d4 6126- ADD satvals12,16
702 01d5 991e- SACH _u_alpha_ref, 1
703 ; transform alphabeta2abc
704 ; _u_a = _u_alpha;
705 01d6 9933- SACH _u_a_ref, 1
706 ; _u_b = Cnalpha*_u_alpha + Cbeta*_u_beta;
707 01d7 a21e- MAC Cnalpha,_u_alpha_ref
01d8 0187'
708 01d9 b900 LACL #0
709 01da a21f- MAC Cbeta,_u_beta_ref
01db 0188'
710 01dc be04 APAC
711 01dd sat1
1 01dd bc00- LDP #satvals12
1 01de 6126- ADD satvals12,16
1 01df 6526- SUB satvals12,16
1 01e0 6526- SUB satvals12,16
1 01e1 6126- ADD satvals12,16
712 01e2 9934- SACH _u_b_ref, 1
713 ; _u_c = Cnalpha*_u_alpha - Cbeta*_u_beta;
714 01e3 a21e- MAC Cnalpha,_u_alpha_ref
01e4 0187'
715 01e5 b900 LACL #0
716 01e6 a21f- MAC Cbeta,_u_beta_ref
01e7 0188'
717 01e8 be05 SPAC
TMS320C1x/C2x/C2xx/C5x COFF Assembler Version 7.00 Mon May 28 09:55:02 2007
Copyright (c) 1987-1999 Texas Instruments Incorporated
D:\Imvc\IMVC07_a.asm PAGE 18
718 01e9 sat1
1 01e9 bc00- LDP #satvals12
1 01ea 6126- ADD satvals12,16
1 01eb 6526- SUB satvals12,16
1 01ec 6526- SUB satvals12,16
1 01ed 6126- ADD satvals12,16
719 01ee 9935- SACH _u_c_ref, 1
720 01ef be42 CLRC OVM ; OPERATIONS WERE MADE UNDER OVM = 1
721 01f0 ef00 RET
722
723 ;=============================================================================
724 ; Routine Name: _update_pwm
725 ; -------------------------
726 ; Description: update the compare registers with ON time value for the power stage
727 ; -------------------------
728 ; Calling Convention: extern void update_pwm ();
729 ;=============================================================================
730 .global _update_pwm
731 ;=============================================================================
732 01f1 _update_pwm:
733 01f1 be47 SETC SXM
734 01f2 bc00- LDP #_pwm_period
735 01f3 7336- LT _pwm_period
736
737 01f4 5433- MPY _u_a_ref
738 01f5 be03 PAC
739 01f6 2f36- ADD _pwm_period, 15 ; += period/2
740 01f7 bce8 LDP #DP_EV ; Event Manager Data Page Pointer
741 01f8 9817 SACH CMPR1 ; CMPR1 = (period * (1 + u_a_ref)) /2
742
743 01f9 bc00- LDP #_pwm_period
744 01fa 5434- MPY _u_b_ref
745 01fb be03 PAC
746 01fc 2f36- ADD _pwm_period, 15 ; += period/2
747 01fd bce8 LDP #DP_EV ; Event Manager Data Page Pointer
748 01fe 9818 SACH CMPR2 ; CMPR2 = (period * (1 + u_b_ref)) /2
749
750 01ff bc00- LDP #_pwm_period
751 0200 5435- MPY _u_c_ref
752 0201 be⌨️ 快捷键说明
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