spwm_m.c

TMS320F2812控制电机PWM程序

#include "DSP28_Device.h"
//#include "stdio.h"
#include "math.h"
//#include "float.h"
//#define NX 404
#define NX 404   // for test
#define PI 3.1415925
#define LimMax 0.6  //for change 0-0.95
#define LimMin 0.1
float M=0.9;        // for change 0-0.9 //此值是加力,加幅值.
int k0,h1,h2;
double a[NX];
int  tp = 2500;     //for change 1250- 3750
void zkb();
interrupt void eva_T1UFINT_ISR(void);
void InitEva(void);
void main(void){   

    k0 = 0;
    h1 = 0;
    h2 = 0;
    InitSysCtrl();
    DINT;   //禁止全局中断
    IER=0;
    IFR=0;    
    EALLOW;
    // Enable PWM pins
    GpioMuxRegs.GPAMUX.all = 0x00FF; // EVA PWM 1-6  pins
    // GpioMuxRegs.GPBMUX.all = 0x00FF; // EVB PWM 7-12 pins
    EDIS;   
    InitPieCtrl();
    InitPieVectTable();    
    EALLOW;
    PieVectTable.T1UFINT=&eva_T1UFINT_ISR;
    EDIS;    
    IER|=M_INT2;
    PieCtrl.PIEIER2.bit.INTx6=1;   
    InitEva();
    zkb();           
    EvaRegs.T1CON.all=EvaRegs.T1CON.all|0x0040;  //启动定时器1
    EINT;
    while(1)
     {
        asm("NOP");
     }
       }	
void zkb()
{
  unsigned int n=0;        
  float q,l,j;
  while (n<=NX)         
  {
    q=(n+0.75);    //为消除偶次偕波，减少谐波角度出发，选择从A相3/4周期进行采样
    q=q*2*PI;      
    q/=(NX+1); 
    j=sin(q);      
    l=0.5*tp*(1+M*j);//M为调制比     //计算占空比表达式   
     if((l>=(tp*LimMin))&&(l<=(tp*LimMax)))
      {
      	a[n]=l;
      }
       else
      {
         if(l>(tp*LimMax))
           a[n]=tp*LimMax;
         else
           a[n]=tp*LimMin;
      }  
     n=n+1;
       }
}
interrupt void eva_T1UFINT_ISR(void)    // EV-A
{
  int h2;
  int flag;
  flag=(EvaRegs.EVAIFRA.all) & 0x0200;  //T1UFINT中下益中断标志位置1 
        if(flag!=0x0200) 
            {
           EINT;
           return;
             } 
        else
         {
           if(k0<=NX)
          {
           h1=k0+135;      //B相表达式
            if(h1>=404)
              h1=h1-404;
              h2=k0+270;   //C相表达式
             if(h2>=404)
              h2=h2-404;
           EvaRegs.CMPR1=a[k0];
           EvaRegs.CMPR2=a[h1];                                                                                                                                                                            
           EvaRegs.CMPR3=a[h2]; 
           k0=k0+1;
           }
          else       
           {
             k0=0; 
           }
          }
  
    EvaRegs.EVAIMRA.bit.T1UFINT=1;
    EvaRegs.EVAIFRA.bit.T1UFINT=1;
    PieCtrl.PIEACK.all=0x0002;
    EINT;                       //开全局中断

    
}
void InitEva(void)
{   

   EvaRegs.ACTR.all=0x0666;
   EvaRegs.DBTCONA.all = 0x0000;  // Disable deadband
   EvaRegs.COMCONA.all = 0xa600;  //使能比较操作

   EvaRegs.EVAIMRA.all=0x0200; //EVAIMRA(EVA的中断屏蔽寄存器A).T1PINT(通用定时器1的周期中断使能)
   EvaRegs.EVAIMRB.all=0x0000;
   EvaRegs.EVAIMRC.all=0x0000;
   EvaRegs.EVAIFRA.all=0xffff;//EVAIFRA(EVA的中断标志寄存器.T1PINT(通用定时器1的周期中断标志)
   EvaRegs.EVAIFRB.all=0xffff;//写1清除定时器1的周期中断标志
   EvaRegs.EVAIFRC.all=0xffff;                             
   EvaRegs.CMPR1=0;
   EvaRegs.CMPR2=0;
   EvaRegs.CMPR3=0;
 
   EvaRegs.GPTCONA.all=0x0041;
   EvaRegs.T1PR = tp;  // Timer1 period PWM载波周期为 65536个定标的定时器时钟周期 
   EvaRegs.T1CNT = tp*0.25;
   EvaRegs.T1CON.all = 0x094e;
   EINT;

   return;
} 

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