pmsm3_4.c

来自「通过Ｆ２８１２产生ＰＷＭ波形来控制电机的运转．」· C语言 代码 · 共 478 行 · 第 1/2 页

	pwmdac1.init(&pwmdac1); 

// Initialize DATALOG module
    dlog.iptr1 = &DlogCh1;
    dlog.iptr2 = &DlogCh2;
    dlog.iptr3 = &DlogCh3;
    dlog.iptr4 = &DlogCh4;
    dlog.trig_value = 0x1;
    dlog.size = 0x400;
    dlog.prescalar = 1;
    dlog.init(&dlog);

// Initialize QEP module
    qep1.LineEncoder = 500;//gaidong
    qep1.MechScaler = _IQ30(0.25/qep1.LineEncoder);
    qep1.PolePairs = P/2;
    qep1.CalibratedAngle = 0;       //-1250;
    qep1.init(&qep1);

// Initialize the Speed module for QEP based speed calculation
    speed1.K1 = _IQ21(1/(BASE_FREQ*T));
    speed1.K2 = _IQ(1/(1+T*2*PI*30));  // Low-pass cut-off frequency
    speed1.K3 = _IQ(1)-speed1.K2;
    speed1.BaseRpm = 120*(BASE_FREQ/P);

// Initialize enable drive module (FOR DMC1500 ONLY)   
    drv1.init(&drv1);

// Initialize ADC module
// Note for DMC550: 
//  - At 24 dc-bus volt, the ADC input for measured Vdc_bus range is 24*1/(24.9+1) = 0.927 volt
//  - Then, Vdc_bus gain = 3.0/0.927 = 3.2375 (or 0x675C in Q13) 
    ilg2_vdc1.VdcMeasGain = 0x675C;
    //ilg2_vdc1.ChSelect = 0x0610;
    ilg2_vdc1.init(&ilg2_vdc1);

// Initialize the RAMPGEN module
    rg1.StepAngleMax = _IQ(BASE_FREQ*T);

// Initialize the RAMPGEN module
    rc1.RampDelayMax = 5;

// Initialize the PID_REG3 module for Id
	pid1_id.Kp = _IQ(0.1);
	pid1_id.Ki = _IQ(T/0.02);			
	pid1_id.Kd = _IQ(0/T); 						
	pid1_id.Kc = _IQ(0.5);
    pid1_id.OutMax = _IQ(0.30);
    pid1_id.OutMin = _IQ(-0.30);    

// Initialize the PID_REG3 module for Iq
	pid1_iq.Kp = _IQ(0.1); 
	pid1_iq.Ki = _IQ(T/0.02);				
	pid1_iq.Kd = _IQ(0/T); 				
	pid1_iq.Kc = _IQ(0.5);
    pid1_iq.OutMax = _IQ(0.95);
    pid1_iq.OutMin = _IQ(-0.95);

// Initialize the PID_REG3 module for speed control
    pid1_spd.Kp = _IQ(1);                  
	pid1_spd.Ki = _IQ(T*SpeedLoopPrescaler/0.3);
	pid1_spd.Kd = _IQ(0/(T*SpeedLoopPrescaler));
 	pid1_spd.Kc = _IQ(0.2);
    pid1_spd.OutMax = _IQ(1);
    pid1_spd.OutMin = _IQ(-1); 

// Initialize the PID_REG3 module for position control
    pid1_pos.Kp = _IQ(28.2);
	pid1_pos.Ki = _IQ(0);        // Integral term is not used 
	pid1_pos.Kd = _IQ(0);        // Derivative term is not used
 	pid1_pos.Kc = _IQ(0);
    pid1_pos.OutMax = _IQ(1);
    pid1_pos.OutMin = _IQ(-1);

// Enable global Interrupts and higher priority real-time debug events:
	EINT;   // Enable Global interrupt INTM
	ERTM;	// Enable Global realtime interrupt DBGM


   


    


// IDLE loop. Just sit and loop forever:

	for(;;) BackTicker++;

}

interrupt void MainISR(void)
{

		if(key_addr == 0x00EF)
	    	EvaRegs.COMCONA.all=0x0100;    //STOP KEY

	if (key_addr == 0x00FD)     //START KEY
		EvaRegs.COMCONA.all=0xA200;	



// Verifying the ISR
    IsrTicker++;
	
	 //EvaRegs.COMCONA.all=0x0100;

//#else if /*(&(0xa0001)!=0x00EF);*/
//	continue;



// ***************** LEVEL1 *****************
#if (BUILDLEVEL==LEVEL1)

// ------------------------------------------------------------------------------
//    Connect inputs of the RMP module and call the Ramp control
//    calculation function.
// ------------------------------------------------------------------------------
    rc1.TargetValue = _IQ(SpeedRef);
    rc1.calc(&rc1);

// ------------------------------------------------------------------------------
//    Connect inputs of the RAMP GEN module and call the Ramp generator
//    calculation function.
// ------------------------------------------------------------------------------
    rg1.Freq = rc1.SetpointValue;
    rg1.calc(&rg1);

// ------------------------------------------------------------------------------
//    Connect inputs of the INV_PARK module and call the inverse park transformation
//    calculation function.
// ------------------------------------------------------------------------------
    ipark1.Ds = _IQ(VdTesting);
    ipark1.Qs = _IQ(VqTesting);	
    ipark1.Angle = rg1.Out;
    ipark1.calc(&ipark1);

// ------------------------------------------------------------------------------
//    Connect inputs of the SVGEN_DQ module and call the space-vector gen.
//    calculation function.
// ------------------------------------------------------------------------------
  	svgen_dq1.Ualpha = ipark1.Alpha;
 	svgen_dq1.Ubeta = ipark1.Beta;
  	svgen_dq1.calc(&svgen_dq1);	

// ------------------------------------------------------------------------------
//    Connect inputs of the PWM_DRV module and call the PWM signal generation 
//    update function.
// ------------------------------------------------------------------------------
    pwm1.MfuncC1 = (int16)_IQtoIQ15(svgen_dq1.Ta); // MfuncC1 is in Q15
    pwm1.MfuncC2 = (int16)_IQtoIQ15(svgen_dq1.Tb); // MfuncC2 is in Q15  
    pwm1.MfuncC3 = (int16)_IQtoIQ15(svgen_dq1.Tc); // MfuncC3 is in Q15
	pwm1.update(&pwm1);

// ------------------------------------------------------------------------------
//    Connect inputs of the PWMDAC module 
// ------------------------------------------------------------------------------	
    PwmDacCh1 = (int16)_IQtoIQ15(svgen_dq1.Ta);
    PwmDacCh2 = (int16)_IQtoIQ15(svgen_dq1.Tb);    
    PwmDacCh3 = (int16)_IQtoIQ15(svgen_dq1.Tc);    

// ------------------------------------------------------------------------------
//    Connect inputs of the DATALOG module 
// ------------------------------------------------------------------------------
    DlogCh1 = (int16)_IQtoIQ15(svgen_dq1.Ta);
    DlogCh2 = (int16)_IQtoIQ15(svgen_dq1.Tb);
    DlogCh3 = (int16)_IQtoIQ15(svgen_dq1.Tc);
    DlogCh4 = (int16)_IQtoIQ15(svgen_dq1.Ta-svgen_dq1.Tb);

// ------------------------------------------------------------------------------
//    Connect inputs of the EN_DRV module and call the enable/disable PWM signal
//    update function. (FOR DMC1500 ONLY)
// ------------------------------------------------------------------------------ 
    drv1.EnableFlag = EnableFlag;
    drv1.update(&drv1);

#endif // (BUILDLEVEL==LEVEL1)




// ------------------------------------------------------------------------------
//    Call the PWMDAC update function.
// ------------------------------------------------------------------------------
	pwmdac1.update(&pwmdac1);  

// ------------------------------------------------------------------------------
//    Call the DATALOG update function.
// ------------------------------------------------------------------------------
    dlog.update(&dlog);



#if (DSP_TARGET==F2812)
// Enable more interrupts from this timer
	EvaRegs.EVAIMRA.bit.T1UFINT = 1;
	
// Note: To be safe, use a mask value to write to the entire
	// EVAIFRA register.  Writing to one bit will cause a read-modify-write
	// operation that may have the result of writing 1's to clear 
	// bits other then those intended. 
    EvaRegs.EVAIFRA.all = BIT9;
	
// Acknowledge interrupt to recieve more interrupts from PIE group 2
	PieCtrlRegs.PIEACK.all |= PIEACK_GROUP2;
#endif

}


#if (DSP_TARGET==F2812)
interrupt void QepISR(void)
{

// ------------------------------------------------------------------------------
//    Call the QEP_DRV isr function.
// ------------------------------------------------------------------------------
   qep1.isr(&qep1);

// Enable more interrupts from this timer
	EvaRegs.EVAIMRC.bit.CAP3INT = 1;
	
// Note: To be safe, use a mask value to write to the entire
	// EVAIFRC register.  Writing to one bit will cause a read-modify-write
	// operation that may have the result of writing 1's to clear 
	// bits other then those intended. 
    EvaRegs.EVAIFRC.all = BIT2;
	
// Acknowledge interrupt to recieve more interrupts from PIE group 3
	PieCtrlRegs.PIEACK.all |= PIEACK_GROUP3;
  
}
#endif

//===========================================================================
// No more.
//===========================================================================