setup.c

关于无传感器BLDC使用DSPIC现实的源码

/**********************************************************************
 *                                                                     *
 *                        Software License Agreement                   *
 *                                                                     *
 *    The software supplied herewith by Microchip Technology           *
 *    Incorporated (the "Company") for its dsPIC controller            *
 *    is intended and supplied to you, the Company's customer,         *
 *    for use solely and exclusively on Microchip dsPIC                *
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 /**********************************************************************
 *                                                                     * 
 *    Author: Smart Power Soutions, LLP                                * 
 *                                                                     *
 *    Filename:       setup.c         	                                *
 *    Date:           4/21/04                                         *
 *    File Version:   4.00                                             *
 *    Project:        53                                               *
 *    Drawing:        2                                                *
 *                                                                     *
 *    Tools used:    MPLAB C30 Compiler v 1.20.01                      *
 *                                                                     *
 *    Linker File:    p30f6010.gld                                   *
 *                                                                     *
 *                                                                     *
 ***********************************************************************
 *	Code Description
 *  
 *  This file contains all of the peripheral setup routines for the
 *  dsPIC.  There is also a WriteConfig() function, which is used to
 *  make sure the device configuration bits at runtime.
 *  In particular, the WriteConfig() function inverts the polarity of
 *  The PWM output signals.  Normally, this would be done because
 *  the gate driver circuits require active low polarity.  However, in
 *  this application, the polarity is changed so that the active portion
 *  of the duty cycle will occur at the end of the PWM timer count
 *  period.  The PWM is configured to trigger an A/D conversion at
 *  the end of the PWM cycle.  This allows the A/D to always be 
 *  triggered at the end of the on time, regardless of the PWM duty
 *  cycle.  The user must write a complemented duty cycle value to 
 *  the PDC registers for this technique to work.  (Note:  This trick
 *  will only work when the PWM is operating in the independent mode
 *  where no dead time insertion is used.)
 *
 *
 *                                          ADC triggered here
 *                                                |
 *  PWM1    _____                  _______________         
 *               |________________|               |_______
 *
 *  PWM2    _____          _______________________         
 *               |________|                       |_______ 
 *
 *  PWM3    _____                        _________         
 *               |______________________|         |_______ 
 *
 *
 **********************************************************************/

#include "general.h"
#include "hardware.h"
#include "defs.h"
#include "extern_globals.h"

void setup_ports(void);
void setup_motor_pwms(void);
void setup_adc(void);
void setup_qei(void);
void setup_timers(void);

unsigned int ReadConfig(int);
void WriteConfig(int,int);

#ifdef DEVELOPMODE
void setup_uart(void);
#endif

void setup_ports(void)
{
	// Clear All Ports Prior to defining I/O

	PORTB=0;
	PORTC=0;
	PORTD=0;
	PORTE=0;

	
	// Ensure Firing is disabled
	DISABLE_FIRING;
	
	// Now set pin direction registers
	

							
	TRISB = 0xFFFF;	// RB15 is the Output Compare(B) Fault Input -> input
							// RB14-0 Left as inputs as these are the analogue channels.							
							
	TRISC = 0x6000;			// RC14 is S2 Start/Stop switch -> input
							// RC13 is S3 Rev/Fwd switch -> input
							
	TRISD = 0x0003;	// RD0 and 1 default -> inputs used for debug EMUC2/EMUD2
							
							
	TRISE = 0x0100;			// RE8 is the input from the Trip Button for the PWM FLTA -> input
							// RE5-0 are the PWMs -> outputs
							

	return;
}

// Note that the normal operation of the PWM module
// is that switches turn on at the start of the cycle
// when the PWM ramp resets to zero. Switches turn off when
// the ramp reaches the duty cycle value.
// This means that if you want to use the special event 
// trigger to the ADC module, the natural place to put 
// the trigger is just after the switches turn on.
// This is so you don't have to keep moving the sample
// point which is not recommended as the SFR for
// the sample point (SEVTCMP) is not double buffered.
// If SEVTCMP is changed on the fly then the next ADC trigger
// might occur too early in the PWM cycle or may not happen.
// In this instance we would like to trigger ADC just before
// the switches turn off to get best sample of ibus. 
// This avoids problems with discontinuous current waveforms.
// In order to do this without changing SEVTCMP, all firing
// has been inverted. The actual ACTIVE state of firing is 1
// but this has been changed to be 0 in the config bits
// This means that switches turn off when ramp resets and
// back on when duty cycle (PDCx) = ramp.
// All duty cycle values therefore need to be corrected to be
// 2*PTER-D where D is the required duty.
// Also all definitions of what happens during faults and 
// output overrides need to be changed to drive swicthes 
// INACTIVE to be on and ACTIVE to be off.
// All comments below related to bit bit defs etc are for 
// conventional (non-inverted) firing.

void setup_motor_pwms(void)
{
	unsigned int config_value,temp;
	// Setup Motor Control PWM Module
	
		// PTCON - Timebase Control
		// Bit 15 1=Timebase is ON, 0=OFF
		// Bit 14 - Not Implemented
		// Bit 13 1=Timebase Halts in CPU idle,0 = runs
		// Bits12-8 - Not Implemented
		// Bits7-4 Timebase Interrupt Postscaler Select
		// 1111 = 1:16 Postscale
		// ::::
		// 0001 = 1:2 Postscale
		// 0000 = 1:1 Postscle
		// Bits3-2 Timebase I/p Clk Prescale Select
		// 11 = 1:64 Prescale
		// 10 = 1:16 Prescale
		// 01 = 1:4 Prescale
		// 00 = 1:1 Prescale
		// Bits1-0 Timebase Mode Select
		// 11 = Continuous Up/Down with Double Updates
		// 10 = Continuous Up/Down
		// 01 = Single Event
		// 00 = Free-running
		
	PTCON = 0x8000;		//Timebase On, runs in idle, no post or prescaler, free-running
	
		// PTPER - Period Register
		// Bit 15 - Not Implemented
		// Bits14-0 - Value used for period comparison and therefore
		//			  reset or change in direct of PWM ramp
		// PWM period is given by (PTER+1) * Tcy * Prescaler if in Free-run or single event
		// 				   and by (PTER+1) * Tcy * Prescaler / 2 otherwise
		
	PTPER = FULL_DUTY/2;		// With 7.3728MHz Fcy and no prescaler 
									// When FULL_DUTY= 922 this gives 16kHz PWM
	
		// SEVTCMP - Special Event Trigger Control
		// Bit15 1=Trigger Occurs When Counting Down, 0 = Up
		// Bits14-0 = Special Event Compare Value
						
							
	SEVTCMP = FULL_DUTY/2;	// Trigger occurs just before switch turns off
									// as firing is inverted
		
		// PWMCON1 - PWM Control Register #1
		// Bits15-12 Not Implemented
		// Bits11-8 1=PWM Pin Pair Independent, 0=Complementary
		// Bit11 = PWM4 --- Bit8 = PWM1
		// Bits7-4 1=PWM High Side Pin is Enabled for PWM, 0 = I/O
		// Bit7 = PWM4 --- Bit4 = PWM1
		// Bits3-0 1=PWM Low Side Pin is Enabled for PWM, 0 = I/O
		// Bit3 = PWM4 --- Bit4 = PWM1

	PWMCON1 = 0x0700;		// Phase#4 Firing Signals Not Used, all others independent
	

		// PWMCON2 - PWM Control Register #2
		// Bits15-12 Not Implemented
		// Bits11-8 Special Event Trigger Postscale
		// 1111 = 1:16 Postscale
		// ::::
		// 0001 = 1:2 Postscale
		// 0000 = 1:1 Postscle
		// Bits7-2 Not Implemented
		// Bit1 - 1=Output Overrides Synch to PWM Timebase
		//		  0=Output Overrides Occur on next Tcy boundary
		// Bit0 - 1=Updates from Duty Cycle and Period Registers Disabled
		//		  0=Updates from Duty Cycle and Period Registers Enabled
							
	PWMCON2 = 0x0000;		// No Special Event Prescale, Fast Overrides, Updates enabled
	
		// DTCON1 & 2 - Deadtime control registers
		// See manual for details of bits
		
	DTCON1 = 0x0000;		// Deadtime disabled as only modulating diagonally		
		
	
		// FLTACON - FaultA Input control register
		// Bits15-8 1=PWMs Driven ACTIVE on Fault, 0 = INACTIVE
		// Bit15 = #4 High Side
		// Bit14 = #4 Low Side
		// Bit13 = #3 High Side
		// :::::
		// Bit8 = #1 Low Side
		// Bit7 - 1=Cycle-cycle limit, 0=latched fault
		// Bits6-4 Not Implemented
		// Bits3-0 1=Pin Pair Controlled by FLTA, 0 = not controlled
		// Bit3 = #4 Pair
		// ::::
		// Bit0 = #1 Pair
							
			
	FLTACON = 0xFF0F;	//All pins driven ACTIVE with latched FLTA
							//but this turns switches off due to inversion
							//of ACTIVE definition


							

							
	OVDCON = 0x3FFF;		// All outputs (except #4 which is not used) made PWMs.
								// All override states = ACTIVE due to inversion
	
	// PDC1-4 - PWM#1-4 Duty Cycle Register
	// Bits15-0 PWM Duty Cycle Value
		
	PDC1=FULL_DUTY;			// In this instance 0 duty cycle is full value
	PDC2=FULL_DUTY;			// in duty cycle registers due to inversion
	PDC3=FULL_DUTY;

	// Note that the Pin Polarity Definition (ie ACTIVE=1 or ACTIVE=0)
	// And the Reset state is determined by device configuaration bits
	// usually set during programming.
	// However in this instance as inverting this definition we want
	// ACTIVE to be set to zero which is not what user would expect.
	// Therefore we will read the config value and check to see if the
	// bits which determine PWM operation are set correctly

	// Call ReadConfig with 4 first to get the bottom 16 bits of F80004
	// config register.

	config_value=ReadConfig(4);
	temp=config_value;
	// Mask off the bits we are interested in and shift them down
	temp=(temp & 0x0700)>>8;
	// If the PWM polarity and reset definition bits are set 
	// correctly already then temp should be set to 4
	if (temp != 4)
	{
		// Form correct config_value