main.c

永磁同步电机驱动控制

/* ===================================================================== */
/* File name : MAIN.C   */
/* Author: HU QINGBO      */
/* Data: 2006.9.29      */
/* Version: 1.0         */
/* Organization: DSP MOTO CONTROL PROGROM 
/*               Zhejiang Tianhuang Techonology Industry Ltd.,  */
/* Description : C-PROGRAM TO CONTROL A DC USE F2407A          */ 
/* ================================================================== */
/*  头文件  */
#include "F2407_c.H"
#include "CONSTANT.H"
#include <stdio.h> 
#include <math.h>

extern int ia,ib,thet,speed_test,t2_sum;
extern unsigned cmp1,cmp2,cmp3;
int current_counter=CUR_COUNTER_CON,speed_counter=SPEED_COUNTER_CON;
int t2count_new=0,t2count_old=0,t2count_err=0,t2count_sum=0;
/* =============================================================== */


/* =============================================================== */
main()
{                               
   system_initial();                                //系统时钟建立
   ad_initial();
   io_initial();
   spi_initial();                                  //SPI初始化
   ev_initial();
   cap_initial();
   sci_initial();
   xint_initial();
   variable_initial();

   current_counter = CUR_COUNTER_CON;           //电流PI循环次数
   speed_counter = SPEED_COUNTER_CON;           //速度PI循环次数
   
   IMR=0X22;
   T1CON = T1CON | 0x0040;   					//开启定时器1 
   asm("	clrc INTM");                                    //中断使能
  
   while(1)
   {
   }
}

/* ==================================================================*/
/* 定时器1周期中断子程序 */
void interrupt T1INT()        				   //定时器1周期中断----测试用
{
      asm(" CLRC SXM");
      ia=RESULT0>>6;
      ib=RESULT1>>6;
      ADCTRL2=0X4000;
      asm(" nop");
      ADCTRL2=0X2000;
      asm(" SETC SXM");
      ia=ia-512;
      ib=ib-512;
      
      t2count_new = T2CNT;
      t2count_err=t2count_new-t2count_old;
      t2count_old=t2count_new;
      t2count_sum=t2count_sum+t2count_err;
      
      thet=thet+t2count_err;
      if(thet<0)
      thet=thet+4096;
      else if(thet>=4096)
      thet=thet-4096;
      Sincos();
      current_clarke();
      
       speed_counter--; 
   if (speed_counter ==0)
   {    
      t2_sum=t2count_sum;
      t2count_sum=0;
      speed_counter = SPEED_COUNTER_CON;          //赋初值
      speed_pi_loop();   
   }
      
      
       current_pi_loop();
       park_inv();
       swpwm_modulation();
       
       CMPR1=cmp1;
       CMPR2=cmp2;
       CMPR3=cmp3;
    
   EVAIFRA = 0X0080;   				//清中断标志，以进行下次中断
   asm("	clrc INTM"); 
   return;
}

/* =================================================================== */
/* 空中断子程序 */

void interrupt nothing()
{
   asm("	clrc INTM"); 
   return;
}