📄 pmsm3_4_4.c
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// 11 Forced high
EvaRegs.GPTCONA.all = 0;
// Enable Underflow interrupt bits for GP timer 1
EvaRegs.EVAIMRA.bit.T1UFINT = 1;
EvaRegs.EVAIFRA.bit.T1UFINT = 1;
// Enable CAP3 interrupt bits for GP timer 2
EvaRegs.EVAIMRC.bit.CAP3INT = 1;
EvaRegs.EVAIFRC.bit.CAP3INT = 1;
// Enable PDPINTA interrupt bits
EvaRegs.EVAIFRA.bit.PDPINTA = 1;
EvaRegs.EVAIMRA.bit.PDPINTA = 1;
// Reassign ISRs.
// Reassign the PIE vector for T1UFINT and CAP3INT to point to a different
// ISR then the shell routine found in DSP281x_DefaultIsr.c.
// This is done if the user does not want to use the shell ISR routine
// but instead wants to use their own ISR.
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.T1UFINT = &MainISR; //主中断入口
PieVectTable.CAPINT3 = &QepISR; //光电编码处理模块中断入口
PieVectTable.PDPINTA = &PdpIntAISR; //功率模块电源故障中断入口
EDIS; // This is needed to disable write to EALLOW protected registers
// Enable PIE group 1 interrupt 1 for PDPINTA
PieCtrlRegs.PIEIER1.all = M_INT1;
// Enable PIE group 2 interrupt 6 for T1UFINT
PieCtrlRegs.PIEIER2.all = M_INT6;
// Enable PIE group 3 interrupt 7 for CAP3INT
PieCtrlRegs.PIEIER3.all = M_INT7;
// Enable CPU INT1 for PDPINTA, INT2 for T1UFINT and INT3 for CAP3INT:
IER |= (M_INT1 | M_INT2 | M_INT3);
// IER |= (M_INT2 | M_INT3);
#endif
// ******************** 以下是对各个功能模块进行初始化！*************************** //
// Initialize PWM module
pwm1.PeriodMax = SYSTEM_FREQUENCY*1000000*Ts/2; // Perscaler X1 (T1), ISR period = Ts x 1
pwm1.init(&pwm1);
// Initialize PWMDAC module
//pwmdac1.PeriodMax = (SYSTEM_FREQUENCY*200/(30*2))*5; // PWMDAC Frequency = 30 kHz
pwmdac1.PeriodMax = (SYSTEM_FREQUENCY*200/(10*2))*5; // PWMDAC Frequency = 10 kHz
pwmdac1.PwmDacInPointer0 = &PwmDacCh1;
pwmdac1.PwmDacInPointer1 = &PwmDacCh2;
pwmdac1.PwmDacInPointer2 = &PwmDacCh3;
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*Ts));
speed1.K2 = _IQ(1/(1+Ts*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 the RAMPGEN module
ramp_gen1.StepAngleMax = _IQ(BASE_FREQ*Ts);
// Initialize the RAMPGEN module
ramp_ctl1.RampDelayMax = 5;
// Initialize the PID_REG3 module for Id
pid1_id.Kp = _IQ(0.1);
pid1_id.Ki = _IQ(Ts/0.02);
pid1_id.Kd = _IQ(0/Ts);
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(Ts/0.02);
pid1_iq.Kd = _IQ(0/Ts);
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(Ts*SpeedLoopPrescaler/0.3);
pid1_spd.Kd = _IQ(0/(Ts*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);
// Initialize the PID_REG3 module for position control
// 该模块的 pmsm3_5.c 的源程序如下
// pid1_pos.Kp = _IQ(2.0);
// pid1_pos.J1 = _IQ(1); // Integral term is not used
// pid1_pos.J2 = _IQ(1); // Derivative term is not used
// pid1_pos.J3 = _IQ(0);
// pid1_pos.Kf = _IQ(P/(BASE_FREQ*Ts));
// Initialize ADC module
// step1: 运行校正程序，获取gain和offset(对参考通道A6、A7按顺序采样并计算，软件启动ADC)
ADCcalibration(&AdcCalibration);
// step2: 设置两路相电流为同步采样，T1下溢中断启动ADC
// 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_meas1.ChSelect = 0x0610;
ilg2_meas1.init(&ilg2_meas1);
// ilg2_meas1->ImeasAGain = ILEG2MEAS_AdcCali.CalGain; // Parameter: gain for Ia (Q13)
// ilg2_meas1->ImeasAOffset = ILEG2MEAS_AdcCali.CalOffset; // Parameter: offset for Ia (Q15)
// ilg2_meas1->ImeasBGain = ILEG2MEAS_AdcCali.CalGain; // Parameter: gain for Ib (Q13)
// ilg2_meas1->ImeasBOffset = ILEG2MEAS_AdcCali.CalOffset; // Parameter: offset for Ib (Q15)
ilg2_meas1.ImeasAGain = AdcCalibration.CalGain; // Parameter: gain for Ia (Q13)
ilg2_meas1.ImeasAOffset = AdcCalibration.CalOffset; // Parameter: offset for Ia (Q15)
ilg2_meas1.ImeasBGain = AdcCalibration.CalGain; // Parameter: gain for Ib (Q13)
ilg2_meas1.ImeasBOffset = AdcCalibration.CalOffset; // Parameter: offset for Ib (Q15)
/*
ilg2_meas1.ImeasAGain = _IQ13(AdcCalibration.CalGain); // Parameter: gain for Ia (Q13)
ilg2_meas1.ImeasAOffset = AdcCalibration.CalOffset; // Parameter: offset for Ia (Q15)
ilg2_meas1.ImeasBGain = _IQ13(AdcCalibration.CalGain); // Parameter: gain for Ib (Q13)
ilg2_meas1.ImeasBOffset = AdcCalibration.CalOffset; // Param
*/
// 至此，整个系统初始化结束！系统正常，电机可以开始启动。
//**************************************************/
// Waiting for enable flag set
while (EnableFlag==FALSE)
{
/***********************************/
///// /**************2009年2月23日改动，没连接驱动板，展时不用下面几个语句。
// while(key_addr != 0x00FB); //INTFLAG KEY
EnableFlag=TRUE;
/***********************************/
}
/**************2009年2月23日改动，没连接驱动板，展时不用下面几个语句。
// DSP28x_usDelay(4096); // 延时
/************** 功率板启动动作顺序 **************/
// DisableBRK_CTRL(); //Disables Break Control（电机启动前，不使能刹车电阻）
// EnableRelay(); //Enable Relay（继电器1短路直流母线P上的上电电阻，继电器2使UVW相正常连接）
// EnableVCC_OTP(); //Eables VCC_OPT（IPM模块PWM桥光耦输入端1脚接+5V电源）
// DSP28x_usDelay(ADC_usDELAY); //
////////**********************************///////////
// Enable Watchdog for monitoring system running!
// 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 Background process
for(;;) BackTicker++;
}
//++++++++++++++++++++++++++++++++++++++++++++++++++++
// MainISR()
//++++++++++++++++++++++++++++++++++++++++++++++++++++
interrupt void MainISR(void)
{
/**************2009年2月23日改动，没连接驱动板，展时不用下面几个语句。
if(key_addr == 0x00EF) //STOP KEY
{
EvaRegs.COMCONA.all = 0x0100;
DisableVCC_OTP(); //驱动IPM光耦的控制端电源断电
}
if (key_addr == 0x00FD) //START KEY
{
EnableVCC_OTP(); //Eables VCC_OPT
EvaRegs.COMCONA.all = 0xA200;
}
*/////////////////////////////////////////
// Verifying the ISR
IsrTicker++;
// &&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&
//
// ***************** LEVEL1 *****************
//
// &&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&
#if (BUILDLEVEL==LEVEL1)
// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the Ramp control
// calculation function.
// ------------------------------------------------------------------------------
ramp_ctl1.TargetValue = _IQ(SpeedRef);
ramp_ctl1.calc(&ramp_ctl1);
// ------------------------------------------------------------------------------
// Connect inputs of the RAMP GEN module and call the Ramp generator
// calculation function.
// ------------------------------------------------------------------------------
ramp_gen1.Freq = ramp_ctl1.SetpointValue;
ramp_gen1.calc(&ramp_gen1);
// ------------------------------------------------------------------------------
// 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 = ramp_gen1.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)
// &&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&
//
// ***************** LEVEL2 *****************
//
// &&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&
#if (BUILDLEVEL==LEVEL2)
// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the Ramp control
// calculation function.
// ------------------------------------------------------------------------------
ramp_ctl1.TargetValue = _IQ(SpeedRef);
ramp_ctl1.calc(&ramp_ctl1);
// ------------------------------------------------------------------------------
// Connect inputs of the RAMP GEN module and call the Ramp generator
// calculation function.
// ------------------------------------------------------------------------------
ramp_gen1.Freq = ramp_ctl1.SetpointValue;
ramp_gen1.calc(&ramp_gen1);
// ------------------------------------------------------------------------------
// Call the ILEG2_MEAS read function.
// ------------------------------------------------------------------------------
ilg2_meas1.read(&ilg2_meas1);
// ------------------------------------------------------------------------------
// Connect inputs of the CLARKE module and call the clarke transformation
// calculation function.
// ------------------------------------------------------------------------------
clarke1.As = _IQ15toIQ((int32)ilg2_meas1.ImeasA);
clarke1.Bs = _IQ15toIQ((int32)ilg2_meas1.ImeasB);
clarke1.calc(&clarke1);
// ------------------------------------------------------------------------------
// Connect inputs of the PARK module and call the park transformation
// calculation function.
// ------------------------------------------------------------------------------
park1.Alpha = clarke1.Alpha;
park1.Beta = clarke1.Beta;
park1.Angle =3355443; //ramp_gen1.Out;gaidong
park1.calc(&park1);
// ------------------------------------------------------------------------------
// 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 = ramp_gen1.Out;
ipark1.calc(&ipark1);
// ------------------------------------------------------------------------------
// Connect inputs of the SVGEN_DQ module and call the space-vector gen.
// calculation function.
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