📄 motor.c
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#include "DSP28_Device.h"
#include "comm.h"
#include "mcbsp.h"
#include "gui_string.h"
#include "motor.h"
#define DATATYPE 0 /* 0代表edit菜单；1代表选项菜单*/
unsigned int i,j;
unsigned int send_flag;
/***************************************************/
interrupt void mrinta_isr(void);
interrupt void t1pint_isr(void);
interrupt void t2pint_isr(void);
interrupt void cap_isr(void);
interrupt void pdpinta_isr(void);
void delay(unsigned int m);
void pidcontrol(int u,int y);//调节电流
void pidcontrol1(int u,int y);//调节速度
unsigned int t1prd=117;//定时器1的周期
unsigned int t2prd=117;//定时器2的标志
unsigned int dir=1;//电机转动方向
unsigned int start=0;//电机启动停止标志
unsigned int setflag=0;//表示是否进行速度设定
unsigned int sudusendflag=0,xssdbz=0;//速度上传标志和速度显示的计数
unsigned int sdxsjs=0;
unsigned int dccurent,u,v,w,speedad;//直流母线电流
unsigned int dcvoltage;//直流母线电压
Uint32 Sumdcv=0;
unsigned int dcvcount=0,Averagedcv=0;//母线电压平均值初始化
unsigned int capstastus;//定义cap口的电平
Uint32 Time,T2cnt,Speed=0,count=0;
unsigned Pole=2;//极对数
Uint32 Sum=0,Average=0;
unsigned int l=0,nn=0;
//速度到pwm的初始值
unsigned int pwm=10;//pwm的占空比初值
float kp=0.1,ki=0.1,kd=0.0;
int Speedset=1500;
int ek=0,ek1=0,ek2=0;
int du;
float duk;
int t2=0;
unsigned int test[2000],test1[5000],test2[2000];
int sss=0;
/***************************************************/
/*******************************************************/
#define menu_num 5 /*通过num来控制输出文字的个数，通过gui_string.sam控制内容。*/
unsigned int Test;
/////////////////////////////////////////////////////////////////////////
unsigned int Edit_result;
unsigned int i,k;
/////////////////////////////////////////////////////////////////////////
unsigned int mcbspx[FRAMLENGTH];
unsigned int mcbspr[FRAMLENGTH];
unsigned int mcbsp_s;
PmcbspForDec psend;
PmcbspForDec preceive;
/************************************************/
void main(void)
{
#if DATATYPE==0
Test =FRAME_DATASEND; //0x1 数据传送帧
#endif
#if DATATYPE==1
Test =FRAME_DATAEND; // 0x3 数据传送结束帧
#endif
/*初始化系统*/
InitSysCtrl();
/*关中断*/
DINT;
IER = 0x0000;
IFR = 0x0000;
/*初始化PIE*/
InitPieCtrl();
/*初始化PIE矢量表*/
InitPieVectTable();
/*初始化GPIO*/
Gpioinit();
/*初始化AD*/
InitAdc();
/*初始化PWM*/
Init_eva_pwm();
/*初始化CAP*/
Capinit();
/*初始化MCBSP外设*/
InitMcbsp();
EALLOW; // This is needed to write to EALLOW protected register
PieVectTable.CAPINT1=&cap_isr;
PieVectTable.CAPINT2=&cap_isr;
PieVectTable.CAPINT3=&cap_isr;
PieVectTable.T1PINT=&t1pint_isr;
PieVectTable.T2PINT=&t2pint_isr;
PieVectTable.PDPINTA=&pdpinta_isr;
PieVectTable.MRINTA= &mrinta_isr;
EDIS; // This is needed to disable write to EALL
PieCtrl.PIEIER2.bit.INTx4=1;//T1pint中断
PieCtrl.PIEIER3.bit.INTx1=1;//T2pint中断
PieCtrl.PIEIER3.bit.INTx5=1;//Cap1中断
PieCtrl.PIEIER3.bit.INTx6=1;//Cap2中断
PieCtrl.PIEIER3.bit.INTx7=1;//Cap3中断
PieCtrl.PIEIER1.bit.INTx1=1;//pdpinta中断
PieCtrl.PIEIER6.bit.INTx5 = 1;//McBSP接受中断
/* 设置IER寄存器 */
IER |= M_INT1;
IER |= M_INT2; // t1pint enable
IER |= M_INT3; // capture enable
IER |= M_INT6;
// Enable global Interrupts and higher priority real-time debug events:
//startmotor();
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
psend=(PmcbspForDec)(&mcbspx[0]);
// Step 6. IDLE loop. Just sit and loop forever (optional):
while(1)
{
switch(Test)
{
case FRAME_DATASEND:
psend->Length=FRAMLENGTH;
psend->Type=FRAME_DATASEND; //0x1 数据传送
psend->Mutul=FRAME_SING;
psend->Data[0]=MOTOR_START; //0xAA30 电机实验开始
mcbsp_tx((unsigned int *)psend);
Test=0;
break;
case FRAME_DATAEND:
psend->Length=FRAMLENGTH;
psend->Type=FRAME_DATAEND; //0x3 数据传送
psend->Mutul=FRAME_SING;
psend->Data[0]=MOTOR_OVER; //0xAA32 电机实验结束
mcbsp_tx((unsigned int *)psend);
Test=0;
break;
default:
break;
}
mcbsp_rx(&mcbspr[0]);
mcbsp_s=mcbsp_status();
if((mcbsp_s == 0xffff)||(mcbsp_s == 3)){
/*通知主机程序通讯出错,准备重发*/
psend->Length = FRAMLENGTH;
psend->Type = FRAME_CMD;
psend->Data[0] = CHECK_ERR;
psend->Mutul = FRAME_SING;
mcbsp_tx((unsigned int *) psend);
}
if(mcbsp_s == 0)
{
preceive=(PmcbspForDec)(&mcbspr[0]);
if(mcbspr[3]==0xaa38)
{
switch(mcbspr[4])
{
case 0xaa35:
{
start=1;
xssdbz=1;
startmotor();break;//启动电机
}
case 0xaa34:
{
start=0;
xssdbz=1;
stopmotor();//停止电机
setflag=0;
break;
}
case 0xaa36:
{
if(start==1)
{
dir=!dir;//换向
stopmotor();
delay(1000);
startmotor();
xssdbz=1;
}
break;
}
default:break;
}
}
if(mcbspr[3]==0xaa37)//pid参数设定
{
xssdbz=1;
Speedset=mcbspr[4];
kp=(float)mcbspr[5]/1000;
ki=(float)mcbspr[6]/1000;
kd=(float)mcbspr[7]/1000;
if(start==1)
setflag=1;//表示开始设定速度，pid
else
setflag=0;
}
}
if((sudusendflag==1)&&(xssdbz==1))//每隔2s上传一次速度
{
sudusendflag=0;
psend->Length = FRAMLENGTH;
psend->Type = FRAME_DATASEND;
psend->Data[0] = 0xaa20;
if(start==0)//电机停止状态下速度为0
Speed=0x0;
psend->Data[1] =Speed;
psend->Mutul = FRAME_SING;
mcbsp_tx((unsigned int *) psend);
}
}
}
interrupt void t2pint_isr(void)
{
count++;
EvaRegs.EVAIFRB.bit.T2PINT=1;//清除中断标志
EvaRegs.EVAIMRB.bit.T2PINT=1;//中断允许
PieCtrl.PIEACK.bit.ACK3=1;//向cpu申请中断
}
interrupt void cap_isr(void)
{
/*****以下用来检测传感器的输出电平，用来换向****/
Uint32 kk=t2prd;
EALLOW;
GpioMuxRegs.GPAMUX.bit.CAP1Q1_GPIOA8=0;//设定cap1~3为gpio
GpioMuxRegs.GPAMUX.bit.CAP2Q2_GPIOA9=0;
GpioMuxRegs.GPAMUX.bit.CAP3QI1_GPIOA10=0;
GpioMuxRegs.GPADIR.bit.GPIOA8=0;//设定cap1~3为输入
GpioMuxRegs.GPADIR.bit.GPIOA9=0;
GpioMuxRegs.GPADIR.bit.GPIOA10=0;
capstastus=(GpioDataRegs.GPADAT.all&0x0700)>>8;
if(dir==1)
{
switch(capstastus)//ir2136 的hin和lin是反向的
{
case 1: EvaRegs.ACTR.all=0x7fd;break;//h3 fall
case 2: EvaRegs.ACTR.all=0xfd7;break;//h1 fall
case 3: EvaRegs.ACTR.all=0x7df;break;//h2 rise
case 4: EvaRegs.ACTR.all=0xd7f;break;//h2 fall
case 5: EvaRegs.ACTR.all=0xf7d;break;//h1 rise
case 6: EvaRegs.ACTR.all=0xdf7;break;//h3 rise
}
}
else
{
switch(capstastus)//ir2136 的hin和lin是反向的
{
case 5: EvaRegs.ACTR.all=0xfd7;break;//h1 rise
case 1: EvaRegs.ACTR.all=0xd7f;break;//h3 fall
case 3: EvaRegs.ACTR.all=0xdf7;break;//h2 rise
case 2: EvaRegs.ACTR.all=0xf7d;break;//h1 fall
case 6: EvaRegs.ACTR.all=0x7fd;break;//h3 rise
case 4: EvaRegs.ACTR.all=0x7df;break;//h2 fall
}
}
/*以下用来计算转速*/
T2cnt=EvaRegs.T2CNT;//读取定时器2的值
Time=kk*count+ T2cnt;//获得运转1相所需时间
Sum+=Time;
l++;
if(l==12)//每转12/6/pole计算一下转速
{
Average=Sum/12;
Speed=kk*20000*60/(Average*6*Pole);//计算转速
Sum=0;
l=0;
test[nn]=Speed;//测试用，存储速度值
nn++;
if(nn==2000)
{
nn=0;
}
}
count=0;
EvaRegs.T2CON.all = 0x1400;//关闭定时器2
EvaRegs.T2CNT = 0x0000;
EvaRegs.T2CON.all = 0x1440;//启动定时器2
/*************************/
GpioMuxRegs.GPAMUX.bit.CAP1Q1_GPIOA8=1;//重新设定cap1~3为gpio
GpioMuxRegs.GPAMUX.bit.CAP2Q2_GPIOA9=1;
GpioMuxRegs.GPAMUX.bit.CAP3QI1_GPIOA10=1;
EvaRegs.EVAIFRC.all = 7 ; // 清捕捉中断
EvaRegs.CAPFIFO.all = 0x01500; // 清空捕捉堆栈
PieCtrl.PIEACK.bit.ACK3=1;//cap1中断向cpu申请中断
}
interrupt void t1pint_isr(void)
{
dcvoltage=(AdcRegs.RESULT0)>>4;
dccurent=(AdcRegs.RESULT3)>>4;
w=(AdcRegs.RESULT1)>>4;
u=(AdcRegs.RESULT2)>>4;
speedad=(AdcRegs.RESULT4)>>4;
v=(AdcRegs.RESULT5)>>4;
sdxsjs++;
if(sdxsjs==40000)
{
sudusendflag=1;//速度上传标志置位
sdxsjs=0;
GpioDataRegs.GPADAT.bit.GPIOA13 =!GpioDataRegs.GPADAT.bit.GPIOA13;//程序运行显示
}//速度上传得计时
//母线电压检测，过压保护，
//注：电机在启动或者转动方向改变时，可能母线电压有脉动
//采用多次求平均值
Sumdcv+=dcvoltage;
dcvcount++;
if(dcvcount==500)
{
Averagedcv=Sumdcv/500;//求平均母线电压
Sumdcv=0;
dcvcount=0;
}
if(Averagedcv>=3000)
{
stopmotor();
GpioDataRegs.GPADAT.bit.GPIOA11 =1;//过压显示
}
else
{
GpioDataRegs.GPADAT.bit.GPIOA11 =0;
test1[t2]=dcvoltage;
test2[t2]=dccurent;
////速度调节
t2++;
if(t2==5000)
{
if(setflag==1)
{
pidcontrol(Speedset,Speed);//50ms
}
t2=0;
}
}
/******************************/
AdcRegs.ADC_ST_FLAG.bit.INT_SEQ1_CLR=1; //清除状态字
AdcRegs.ADCTRL2.bit.RST_SEQ1=1;//复位seq1
EvaRegs.EVAIFRA.bit.T1PINT=1;//清除中断标志
EvaRegs.EVAIMRA.bit.T1PINT=1;//中断允许
PieCtrl.PIEACK.bit.ACK2=1;//向cpu申请中断
}
interrupt void pdpinta_isr(void)
{
EvaRegs.EVAIFRA.bit.PDPINTA=1;//清除PDPINTA中断标志
PieCtrl.PIEACK.bit.ACK1=1;//向cpu申请中断
stopmotor();
GpioDataRegs.GPADAT.bit.GPIOA12 =1;//故障显示
EvaRegs.COMCONA.bit.FCOMPOE=1;//重新使能比较输出
}
/**************************************/
interrupt void mrinta_isr(void) // McBSP-A
{
PieCtrl.PIEACK.bit.ACK6 = 1;
if(Mcbsp_RxRdy() == 1)
{
RevBuffer[datarevlength] = McbspRegs.DRR1.all;
datarevlength++;
}
EINT;
}
//pid控制
void pidcontrol(int u,int y)
{
ek=u-y;
duk=kp*(ek-ek1)+ki*ek+kd*(ek+ek2-ek1*2);
du=(int)duk;
if(duk>1) duk=1;
if(duk<-1) duk=-1;
pwm-=du;
if(pwm<4)
{
pwm=4;
}
if(pwm>70)
{
pwm=70;
}
EvaRegs.CMPR1=pwm;
EvaRegs.CMPR2=pwm;
EvaRegs.CMPR3=pwm;
ek2=ek1;
ek1=ek;
}
void delay(unsigned int m)
{
unsigned int i,j;
for(i=0;i<m;i++)
{
for(j=0;j<1500;j++)
{}
}
}
/***********************************************************************/
// No more
/***********************************************************************/
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