sy dc motor control.c

机遇TMS20LF2812无刷电机开环运行程序

/*///////////////////////////////////////////////////
上海三意电机驱动技术有限公司
MCK2812LV 直流有刷马达驱动程序
SUPPORT2编写 V1.0  2006.1.15
////////////////////////////////////////////////////*/
#include "DSP281x_Device.h"     // DSP281x Headerfile Include File
#include "DSP281x_Examples.h"   // DSP281x Examples Include File


// Prototype statements for functions found within this file.
void init_eva(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 = 0x00FF; // EVA PWM 1-6  pins
   GpioMuxRegs.GPBMUX.all = 0x00FF; // EVB PWM 7-12 pins
   //GpioMuxRegs.GPADIR.bit.GPIOA10=1;//cap3 as input
   //GpioMuxRegs.GPADIR.bit.GPIOA8=1;//cap1 as input
   //GpioMuxRegs.GPADIR.bit.GPIOA9=1;//cap2 as input
   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();

// Disable CPU interrupts and clear all CPU interrupt flags:
   IER = 0x0000;
   IFR = 0x0000;

// 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;
   EvaRegs.T2CON.all=0x0000;//disable time1 and timer2
// 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:


  // 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
   // Initalize EVA Timer1 
   EvaRegs.T1PR = 0x8FFF;       // Timer1 period
   EvaRegs.T1CMPR = 0x47ff;     // Timer1 compare
   EvaRegs.T1CNT = 0x0000;      // Timer1 counter
   // TMODE = continuous up/down
   // Timer enable
   // Timer compare enable
   EvaRegs.T1CON.all = 0x1042;   


  // Initalize EVA Timer2 
  EvaRegs.T2PR = 0x8FFF;       // Timer2 period
  EvaRegs.T2CMPR = 0x3C00;     // Timer2 compare
  EvaRegs.T2CNT = 0x0000;      // Timer2 counter
  // TMODE = continuous up/down
  // Timer enable
  // Timer compare enable
  EvaRegs.T2CON.all = 0x1042;   
  // Setup T1PWM and T2PWM
  // Drive T1/T2 PWM by compare logic
  EvaRegs.GPTCONA.bit.TCMPOE = 1;
  // Polarity of GP Timer 1 Compare = Active low
  EvaRegs.GPTCONA.bit.T1PIN = 1;
  // Polarity of GP Timer 2 Compare = Active low
  EvaRegs.GPTCONA.bit.T2PIN = 1;

  // Enable compare for PWM1-PWM6
  EvaRegs.CMPR1 =0x8550;
  EvaRegs.CMPR2 = 0x4050;
  EvaRegs.CMPR3 = 0x4050;
    
  // 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.ACTRA.all = 0x0666;
  EvaRegs.DBTCONA.all = 0x0000; // Disable deadband
  EvaRegs.COMCONA.all = 0xA600;


} 

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// No more.
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