main1875.c

是用于开关磁阻电机的位置伺服控制的C语言源代码,基于CCS的开发环境.希望可以对你有所帮助.

#include "C240.h" 
#define TRUE   1
#define FALSE  0
#define VELOCITY_CONST 3125000  
/* define variable */ 
static unsigned int PBvalue[4][6]= 
{{0x0703,0x0704,0x0706,0x0701,0x0702,0x0705},
 {0x0702,0x0705,0x0704,0x0703,0x0706,0x0701},
 {0x0704,0x0703,0x0701,0x0706,0x0705,0x0702},
 {0x0705,0x0702,0x0703,0x0704,0x0701,0x0706}};
unsigned int align_PBvalue;
unsigned int disalign_PBvalue;
unsigned int CAP_A;
unsigned int CAP_B;
unsigned int CAP_C;
unsigned int IA_max,IB_max,IC_max;   /* MAX limit for current */
unsigned int IA_min,IB_min,IC_min;   /* MIN limit for current */
/*unsigned int ADC_channel;            /* Channel for A/D convert */
static unsigned int Amax[12]=
{0x9e00,0x9e00,0x9e00,0x9a40,0x96c0,0x94c0,0x92c0,0x92c0,0x94c0,0x96c0,0x9a40,0x9e00};
static unsigned int Amin[12]=
{0x9c00,0x9c00,0x9c00,0x9840,0x95c0,0x9300,0x9100,0x9100,0x9300,0x95c0,0x9840,0x9c00};
int IA_index;
int display_times;                   /* accumulation for display */
int input_state;
int sign_state;
int start_mode;
int run_state;
int dot_state;  
int CAP2_flag;
int CAP3_flag;                       
int inputdata_num;
unsigned long input_value; 
unsigned int input_dotbit;
unsigned long position_value; 
unsigned int position_dotbit;
unsigned long position;
unsigned long velocity_value; 
unsigned int velocity_dotbit; 
int display_order;        /* 1 while display velocity ,2 while display current ,3 while display input data */
/* define Input/Output variable value */
ioport unsigned int port0,port1,port2,port3,port4,port5; 
/* define structure type and variable value */  
/*********************************************/
/*********************************************/                  
void dsp_setup() 
{
 unsigned int temp;
 /*********************************************/
 /* Disable watchdog timer */
 /*********************************************/
 temp = WDCR;
 temp = temp|0x68;
 WDCR = temp;
 /*********************************************/
 /* initialize PLL module (20 MHz XTAL1) */
 /*********************************************/
 CKCR1 = 0x60;      	             /* crystal=20MHz CPUCLK = 20MHz */
                    	             /* and 1x PLL mult ratio */
 CKCR0 = 0xc3;      	             /* low–power mode 0, */
                    	             /* ACLK enabled, */
                                 	 /* PLL enabled, */
                    	             /* SYSCLK=CPUCLK/2 */
 SYSCR = 0x40c0;  
 
 XINT1CR=0x0006;
}
 

/* Initiate the event management register */
void eventmgr_init()
{
 
 GPTCON=0x0042; 
 /* No period interrupt start A/D */ 
 /* Initialize PWM */
 /* Period is 100us */          
 ACTR=0x0fff;
 COMCON=0x4a57; 
 T1PER=0x07d0;   
 T1CON=0x0000; 
 T1CON=0x910e;
 /* enable PWM output */ 
 T1CON=0x914e; 
 OCRA = 0xf800;     	             /* pins IOPB0–IOPB3 & IOPA0–IOPA2 to I/O pins */
 OCRB = 0x00f0;      	             /* pins are: ADSOC, XF, /BIO, CAP1–CAP4 */ 
 PBDATDIR = 0x0700;
 /* outputs IOPB0–IOPB2, set low */
 PADATDIR = 0x0707; 	             /* outputs IOPA0–IOPA2, set high */
 /* Initialize T3 */
 T3CNT=0x0;
 T3PER=0xffff;
 T3CON=0x9440;                       /* Prescaler=/16 */
 /* Setup capture units */
 CAPCON = 0x0;    	                 /* reset capture control register */
 CAPFIFO= 0x0ff;                     /* Clear FIFO’s */
 CAPCON = 0xb6fc;                    /* enable #1,#2,#3 use Timer3, both edges */    
 
} 

/*******************************************************************/
void disable_interrupts()
{
 asm(" SETC INTM");
}

/************************************************************************/
void enable_interrupts() 
{
 IFR  = 0xffff;                      /* Clear pending interrupts */
 IFRA = 0xffff;
 IFRB = 0xffff;
 IFRC = 0xffff;
 IMR  = 0x002a;                      /* Enable CPU Interrupts:INT 2,3,4,6 */
 IMRA = 0x0080;                      /* Enable timer 1 period  interrupts */
 IMRB = 0x0000;            /* Enable timer 3 period */
 IMRC = 0x0007;            /* Enable CAP1~3 interrupts*/
 /* start ADC */
 ADCTRL1=0xc904;
 ADCTRL1=0xca05; 
 ADCTRL2=0x0007;
 asm(" CLRC INTM");                  /* Global interrupt enable */
}

/* initiating parameter and register */
void init_SRM()
{
 velocity_value=0;
 velocity_dotbit=4;
 position_value=position=0;
 position_dotbit=4;
 input_value=0; 
 input_dotbit=4;
 display_times=0;
 input_state=FALSE; 
 sign_state=FALSE; 
 dot_state=FALSE;
 display_order=3;
 /*inputdata_num=0;
 start_mode=0;  */
 run_state=0;       /* 0,idle;1 while accelerate;3 while disaccelerate  */
 CAP_A=CAP_B=CAP_C=0;
 CAP2_flag=FALSE;
 CAP3_flag=FALSE;
 /*IA_max=IB_max=IC_max=0x8c00; /* 3.3A,  Voltage from LEM is 2.738V */ 
 /*IA_min=IB_min=IC_min=0x8800; /* 2.25A,  Voltage from LEM is 2.659V */ 
 /*IA_max=IB_max=IC_max=0x8700; /* 2A,Voltage from LEM is 2.642V */ 
 /*IA_min=IB_min=IC_min=0x83C0; /* 1.024A,  Voltage from LEM is 2.577V */ 
 /*IA_min=IB_min=IC_min=0x9a40;   /* 7A,  Voltage from LEM is 3.018V */
 IA_min=IB_min=IC_min=0x96c0;   /* 6A,Voltage from LEM is 2.948V */
 IA_max=IB_max=IC_max=0x9e00;   /* 8A,Voltage from LEM is 3.092V */
 /*IA_max=IB_max=IC_max=0xa600;   /* 10A,  Voltage from LEM is 3.25V */
 /*IA_max=IB_max=IC_max=0xa240;   /* 9A,Voltage from LEM is 3.175V */
}


/********************************************************** */
/* READ CAPTURE FIFO REGISTERS 
/* This routine is used to read the data from the capture FIFO
/* registers.
/*
/* inputs: capture = which FIFO to read?
/* range = 1–3
/* outputs fifo_data =
/* range = 0–65535
/********************************************************* */

/*********************************************/                  
/* ISR for GPT1 interrupt */
void c_int2()
{
 IFR=0x0002;                       /* clear CPU interrupt flag */
 IFRA=0x7ff;
 if (run_state)
 	display_times++;
}

/* ISR for CAP unit interrupt */
void c_int4()
{
 int groupc_flags;
 int capture; 
 IFR=0x0008;                         /* clear CPU interrupt flag */
 groupc_flags = IFRC;                /* read event manger interrupt */
 /* flag register */    
 if (run_state)
 	{
 
	 if ((groupc_flags & 0x07)==0)
		{
		 /* not a valid capture */
		 IFRC = 0xff;
		 capture = 0;
		} 
	 if (groupc_flags & 0x1)
	 	{ 
	 	 /* capture #1 */
	 	 IFRC = 0xf9;                    /* clear flag register */
		 if (CAP2_flag && CAP3_flag)
		     {PBDATDIR=PBvalue[sign_state+run_state-1][CAP_A];
		       if (CAP_A)
		       		CAP_A=0;
		       else
		            {
		            IA_index=0;
		            display_times=0;
		            CAP_A=1;
		            }
		     	}	
		       
		}
	 else if (groupc_flags & 0x2)
		{
		 /* capture #2 */
		 IFRC = 0xfa;
		 CAP2_flag=TRUE;
		 PBDATDIR=PBvalue[sign_state+run_state-1][CAP_B+2];
		     if (CAP_B)
		        CAP_B=0;
		     else
		   		 CAP_B=1; 
		
	    }
	 else if (groupc_flags & 0x4) 
		{
		 /* capture #3 */
		 IFRC = 0xfc;
		 CAP3_flag=TRUE;
		 PBDATDIR=PBvalue[sign_state+run_state-1][CAP_C+4];
		 if (CAP_C)
		     CAP_C=0;
		 else
		     CAP_C=1; 
	    }
 
    }
else
	IFRC = 0xff;
}
  
/*********************************************/                  
void keyboard_ISR() 
{
 int i; 
 unsigned int scan_in,scan_out,x2;
 unsigned long align_position;
 int row,column=0,key_NO;   /* row=0,1,2;  column=1,2,3,4 */
 row=4;
 for(i=0;i<5000;i++);
 scan_in=port5;
 x2=scan_in & 0x0f;
 if (x2!=0x0f)
 {              
 switch(x2)
 	{
 	 case 0x0e: column=4; 
 	            break;
 	 case 0x0d: column=3;
 	 			break;
 	 case 0x0b: column=2;
 	 			break;
     case 0x07: column=1;
     			break;
     default  : column=17;
    }
 scan_out=0x0f7;
 port0=scan_out;            /* scan keyboard */
 for(i=0;i<1000;i++);
 scan_in=port5; 
 while ((scan_in & 0x0f)==0x0f)
 	{
 	 scan_out=scan_out>>1;
 	 port0=scan_out;
 	 for(i=0;i<1000;i++);  
 	 scan_in=port5;
 	 row--;
 	 if (row==0)
 	 	{
 	 	 row=17;
 	 	 break;
 	 	}
 	}
 key_NO=4*(row-1)+column; 
 port0=0x00;
 x2=port5;
 while ((x2&0x0f)!=0x0f)
 	{
 	x2=port5;
 	port0=0x00;
 	}
 for(i=0;i<7500;i++);
 x2=port5;
 while ((x2&0x0f)!=0x0f)
 	{
 	x2=port5;
 	port0=0x00;
 	} 
 switch(key_NO)
 	{  
     case 1  :
     case 2  :
     case 3  :
     case 4  :
     case 5  : 
     case 6  :
     case 7  : 
     case 8  :
     case 9  :
     case 10 :  break;
     
     case 11 :     
     case 12 : break;                
     case 13 : init_SRM();
               PBDATDIR = 0x0701; 	  /* outputs IOPA0–IOPA2, IOPA0 set high */
               input_state=TRUE;
               break;
     case 14 : break;
     case 15 : run_state=1;
               PBDATDIR = 0x0704;
               break;
     case 16 :                    
               run_state=0;
               PBDATDIR = 0x0701; 	  /* outputs IOPA0–IOPA2, IOPA0 set high */
               break;
 	 default : break;               
 	}
 }	
}  
/*************************************/
/* ISR for A/D and keyboard interrupt */
void c_int6() 
{
 
 unsigned int ADCfifo_data,adc1data,channel;
 int ADCfifo_status;
 /*PCDATDIR=0x0700; */  
 IFR=0x0020;
 /*do {
 /*	ADCfifo_data= ADCFIFO1;                /* read value */
 /*	ADCfifo_status = ADCTRL2 & 0x0c0;   /* read status register, mask bits */
 /*	} 
 while (ADCfifo_status != 0);   */
 ADCfifo_data= ADCFIFO1;
 adc1data= ADCFIFO1;
 if (adc1data!=0)
 	ADCfifo_data=adc1data;	
 channel=ADCTRL1 & 0x0e;
 switch(channel)
 {
 	
    case 6: if (ADCfifo_data>=IB_max)
		   		PADATDIR=PADATDIR & 0x070d;
		    else if (ADCfifo_data<=IB_min)
			    PADATDIR=PADATDIR | 0x02;
			ADCTRL1=0xc908;
            ADCTRL1=0xca09;
            break;
    case 8: 
            if (ADCfifo_data>=IC_max)
	            PADATDIR=PADATDIR & 0x070b;
	        else if (ADCfifo_data<=IC_min)
			    PADATDIR=PADATDIR | 0x04;
			ADCTRL1=0xc904;
            ADCTRL1=0xca05;
            break;
    case 4: 
            if (display_times>=10)
            	 {
            	 display_times=0;
            	 IA_max=Amax[IA_index];
            	 IA_min=Amin[IA_index];
            	 IA_index++;
            	 if (IA_index>=12)
            	 	 IA_index=0;
                 }
            if (ADCfifo_data>=IA_max)
		   		PADATDIR=PADATDIR & 0x070e;
		 	else if (ADCfifo_data<=IA_min)
			    PADATDIR=PADATDIR | 0x01;
			ADCTRL1=0xc906;
            ADCTRL1=0xca07;
            break;
 }
 /*ADC_channel++;
 if (ADC_channel>4)
 	ADC_channel=2;
 ADCTRL1=0xca00 + (ADC_channel<<1);
 ADCTRL1=ADCTRL1 | 1;  */
 /*PCDATDIR=0x0701; */ 
 }
  
/* ***************************************************************** */
/* The main program  
/* ***************************************************************** */

main()
{
 unsigned int INT1_status;
 disable_interrupts();
 dsp_setup();
 eventmgr_init();
 init_SRM();
 enable_interrupts(); 
 for(;;)
	{	
	port0=0x00;
 	INT1_status=XINT1CR; 
 	if (INT1_status & 0x8000)
 		{   
 		keyboard_ISR();
 		XINT1CR=0x0006;
 		}
    }
}