pwm完整程序.txt

本程序是基于DSP2407开发的一PWM完整程序

#include  "LF2407REGS.h" 
#include  "pid.c" 

#define PWMT 1000    //PWM周期,50us,50/(1/(4*10)*2)
#define NMAX 3000                //电机最高转速,r/min
#define SPER 100              //100个PWM周期速度调节一次
#define I_K  1000                //
#define N_K  1000

//  屏蔽中断程序
void inline disable() 
{
    asm(" setc INTM");
}
// 开总中断程序
void inline enable()
{
    asm(" clrc INTM"); 
}

// 初始化子程序
void initial()
{
   asm(" setc SXM");   // 符号位扩展有效
 asm(" clrc OVM");   // 累加器中结果正常溢出
 asm(" clrc CNF");   // B0被配置为数据存储空间                 
 SCSR1=0x81FE;               // CLKIN=10M，CLKOUT=4*CLKIN=40M
 WDCR=0x0E8;    // 不使能看门狗，因为SCSR2中的WDOVERRIDE
           // 即WD?の桓次缓蟮娜笔≈滴?，故可以用
           // 软件禁止看门狗
 IMR=0x0000;    // 禁止所有中断
 IFR=0x0FFFF;    // 清除全部中断标志，"写1清0"
 WSGR=0X00;    // 禁止所有的等待状态

}
void interrupt timer3(void)
{
   int abc=0;

}
// 该中断服务程序主要是为了防止干扰，不做任何其它操作
void interrupt nothing(void)
{
// return;      // 中断直接返回
}
// 主程序
PID i_pid = {0,0.5,0.5,0,0,0,0,0,0,0},
 n_pid = {1000,1,2,3,0,0,0,20,40,200,400};
unsigned int temp,i_in,i_out,n_out,n_in,n_ref, //p,i,d参数用Q12;kspeed用Q22
 encincr,encoderold,speedtmp,speedstep,kspeed,direction;
void main(void)   //不传入不返回
{
    
 disable();      // 总中断禁止
 initial();      // 系统初始化
 
 T2PER = 0XFFFF;                //最大周期
 T2CNT = 0X0000;
 T2CON = 0X9870;                //定向增减,允许编码接口
 T1PER = PWMT;     //PWM设置,周期50微秒,2*500*(1/20)us
 T1CNT = 0X0000;
 ACTRA = 0X0096;                //PWM1,4高有效,2,3低有效
 DBTCONA = 0X01F4;              //死区1.6微秒,死区定时周期1个（X/32）,0.05*32=1.56us
 CMPR1 = PWMT*0.2;           //占空比0.5,500*0.5,(还可以增加实现6个pwm)
 CMPR2 = PWMT*0.6;               
 COMCONA = 0X8200;              //允许比较,T1下溢重载
 T1CON = 0X0840;                //连续增减计数,内部时钟,不分频
 GPTCONA = 0X0100;              //T1周期中断标志启动AD转换
 MCRA = 0X03D8;                 //引脚设置为PWM1-4,QEP1-2
 IMR = 0X0020;                  //允许INT6中断
 
 IFR = 0Xffff;                  //清标志
 EVAIFRA = 0X0000;
 EVAIFRB = 0X0000;
 EVAIFRC = 0X0000;
 EVAIMRA = 0X0000;
 EVAIMRB = 0X0000;
 EVAIMRC = 0X0000;
 
 
 //AD设置
 ADCTRL2 = 0X0500;              //允许EVA启动AD转换
 ADCTRL1 = 0X0900;              //10分频
 MAXCONV = 0X0000;              //一次最多一个转换通道
 CHSELSEQ1 = 0x0000;            //ADCIN00通道
 
 MCRA=MCRA&0Xdfff;  //IOPB5,对SN74LVC4245输出使能
 PBDATDIR=PBDATDIR|0X2000;
 PBDATDIR=PBDATDIR&0Xffdf;
 
 EVBIMRA = 0X80;
 EVBIFRA = 0X0FFFF;
 GPTCONB = 0X0;
 T3PER = 0X0EA6;
 T3CNT = 0X0;
 T3CON = 0X084C;
 IMR = 0XFF;
 IFR = 0X0FFF;
 
// enable();
 asm(" CLRC INTM");  /// Enable all interrupt 
 
 while(1)
 {
  ;  
 }
}


void interrupt adcint(void)
{
 EVAIFRA = EVAIFRA;       //清T1周期中断标志
 ADCTRL2 = ADCTRL2 | 0x0202;
 //电流PI调节
 i_in = (RESULT0)>>6;   //
 
 if (direction)
 {
  i_pid.Pmax = PWMT/2;
  i_pid.Pmin = 0;
  temp = PWMT/2;
 }
 else
 {
  i_pid.Pmax = PWMT;
  i_pid.Pmin = PWMT/2;
  temp = PWMT; 
 }
 i_out = PIDCalc ( &i_pid,i_in ); 
 CMPR2 = ((i_out*I_K)>>12)+temp;                    //更新占空比
 CMPR1 = ((i_out*I_K)>>12)+temp;                    //
 
 //读编码器脉冲数,计算转角增量和转速
 temp = T2CNT;
 encincr = temp-encoderold;      //编码增量
 speedtmp+=encincr;                                 //编码脉冲累计
 encoderold = temp;
 if (--speedstep)
 {
   return;
 }
 else                                  //计算转速
 {
  n_in = speedtmp*kspeed;              //kspeed,100*50us内发出的最大脉冲数,1/(3000/60*4*1024*5*10^(-3)),1024线编码器
  n_in = NMAX*n_in;                       //转速反馈量
  speedtmp = 0;
  speedstep = SPER;
 }
 //速度PI调节
 n_pid.SetPoint = n_ref;
 n_pid.Pmax = i_pid.Pmax;
 n_pid.Pmin = i_pid.Pmin; 
 n_out = PIDCalc ( &n_pid,(n_in>>22) );
 temp = n_pid.Pmax;
 
 i_pid.SetPoint = ((n_out*N_K)>>12)+temp; 
 
 return;
}