📄 ad.c
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#include "DSP28_Device.h"
unsigned int count=0,isss;
// **************VARIABLES INITIALIZATION*************
int KP; //位置环比例系数
int KI; //位置环积分系数
int KD;
int KP_T; //位置环比例系数
int KI_T; //位置环积分系数
int KD_T;
int W1_SAMPLE;
int W1_ERROR;
int W1_ERR;
int W1_REF;
int W1_SUMERROR;
int W1_IRESULT;
int W1_PRESULT;
int W1_DRESULT;
int W1_PIDRESULT;
int W2_SAMPLE;
int W2_ERROR;
int W2_ERR;
int W2_REF;
int W2_SUMERROR;
int W2_IRESULT;
int W2_PRESULT;
int W2_DRESULT;
int W2_PIDRESULT;
int W3_SAMPLE;
int W3_ERROR;
int W3_ERR;
int W3_REF;
int W3_SUMERROR;
int W3_IRESULT;
int W3_PRESULT;
int W3_DRESULT;
int W3_PIDRESULT;
int W4_SAMPLE;
int W4_ERROR;
int W4_ERR;
int W4_REF;
int W4_SUMERROR;
int W4_IRESULT;
int W4_PRESULT;
int W4_DRESULT;
int W4_PIDRESULT;
int W5_SAMPLE;
int W5_ERROR;
int W5_ERR;
int W5_REF;
int W5_SUMERROR;
int W5_IRESULT;
int W5_PRESULT;
int W5_DRESULT;
int W5_PIDRESULT;
int I_KP; //电流环比例系数
int I_KI; //电流环积分系数
int I11_SAMPLE; //本次电流采样值
int I11_ERROR; //本次电流偏差值
int I11_REF; //电流设定值
int I11_SUMERROR; //电流偏差累计和
int I11_IRESULT;
int I11_PRESULT;
int I11_PIRESULT; //电流PID结果
int I12_SAMPLE; //本次电流采样值
int I12_ERROR; //本次电流偏差值
int I12_REF; //电流设定值
int I12_SUMERROR; //电流偏差累计和
int I12_IRESULT;
int I12_PRESULT;
int I12_PIRESULT; //电流PID结果
int I21_SAMPLE; //本次电流采样值
int I21_ERROR; //本次电流偏差值
int I21_REF; //电流设定值
int I21_SUMERROR; //电流偏差累计和
int I21_IRESULT;
int I21_PRESULT;
int I21_PIRESULT; //电流PID结果
int I22_SAMPLE; //本次电流采样值
int I22_ERROR; //本次电流偏差值
int I22_REF; //电流设定值
int I22_SUMERROR; //电流偏差累计和
int I22_IRESULT;
int I22_PRESULT;
int I22_PIRESULT; //电流PID结果
int I31_SAMPLE; //本次电流采样值
int I31_ERROR; //本次电流偏差值
int I31_REF; //电流设定值
int I31_SUMERROR; //电流偏差累计和
int I31_IRESULT;
int I31_PRESULT;
int I31_PIRESULT; //电流PID结果
int I32_SAMPLE; //本次电流采样值
int I32_ERROR; //本次电流偏差值
int I32_REF; //电流设定值
int I32_SUMERROR; //电流偏差累计和
int I32_IRESULT;
int I32_PRESULT;
int I32_PIRESULT; //电流PID结果
int I41_SAMPLE; //本次电流采样值
int I41_ERROR; //本次电流偏差值
int I41_REF; //电流设定值
int I41_SUMERROR; //电流偏差累计和
int I41_IRESULT;
int I41_PRESULT;
int I41_PIRESULT; //电流PID结果
int I42_SAMPLE; //本次电流采样值
int I42_ERROR; //本次电流偏差值
int I42_REF; //电流设定值
int I42_SUMERROR; //电流偏差累计和
int I42_IRESULT;
int I42_PRESULT;
int I42_PIRESULT; //电流PID结果
int I51_SAMPLE; //本次电流采样值
int I51_ERROR; //本次电流偏差值
int I51_ERROR1;
int I51_ERROR2;
int I51_ERR;
int I51_ERR1;
int I51_ERR2;
int I51_REF; //电流设定值
int I51_SUMERROR; //电流偏差累计和
int I51_IRESULT;
int I51_PRESULT;
int I51_PIRESULT; //电流PID结果
int I51_SATERR;
int I51_PI;
int I52_SAMPLE; //本次电流采样值
int I52_ERROR; //本次电流偏差值
int I52_REF; //电流设定值
int I52_SUMERROR; //电流偏差累计和
int I52_IRESULT;
int I52_PRESULT;
int I52_PIRESULT; //电流PID结果
// Prototype statements for functions found within this file.
interrupt void ad(void);
void init_eva();
void main(void)
{
//unsigned int i=0;
InitSysCtrl();
DINT;
IER = 0x0000;
IFR = 0x0000;
InitPieCtrl();
InitPieVectTable();
EALLOW;
// Enable PWM pins
GpioMuxRegs.GPAMUX.all = 0x00FF; // EVA PWM 1-6 pins
GpioMuxRegs.GPBMUX.all = 0x00FF; // EVB PWM 7-12 pins
GpioMuxRegs.GPADIR.all = 0x0FFF; //bit 9 10 11 12输出功能
GpioDataRegs.GPADAT.all = 0xFFFF;
EDIS;
// 初始化转子位置
/*
EvaRegs.T1PR = 15000; // Timer1 period
EvaRegs.T1CMPR = 7550; // Timer1 compare
EvaRegs.T1CNT = 0x0000; // Timer1 counter
EvaRegs.ACTR.all =0xfffa; //A项通电
EvbRegs.ACTRB.all =0xffff;
EvaRegs.T1CON.all = 0x1042;
EvaRegs.GPTCONA.bit.TCOMPOE =1;
EvaRegs.DBTCONA.all = 0x0000; // Disable deadband
EvaRegs.COMCONA.all = 0xC600; //1100 0110 0000 0000
for (i=0;i<0xFFFF;i++)
{
;
} */
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.T2PINT=&T2PINT_ISR;
PieVectTable.T2CINT=&T2CINT_ISR;
PieVectTable.ADCINT=&ad;
EDIS; // This is needed to disable write to EALLOW protected registers
PieCtrl.PIEIER3.all |= (M_INT2 | M_INT1);
InitAdc();
init_availables();
InitEv();
for(isss=0;isss<2000;isss++)
{isss+=1;
}
// Enable INT14 which is connected to CPU-Timer 2:
IER |= (M_INT1 | M_INT3);
//KickDog();
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
/* while(AdcRegs.ADC_ST_FLAG.bit.SEQ1_BSY==0)
{
AdcRegs.ADCTRL2.bit.SOC_SEQ1=1;
}
*/
for(;;)
{
KickDog();
}
}
interrupt void ad(void)
{
//^^^^^^^^ 采样CURRENT，电流环程序^^^^^^^^^
DINT;
count+=1;
if (count==2000) count=0;
if (count==1000) I51_REF=1365;
if (count==0) I51_REF=1365;
//进行位置计算
/*
W5_SAMPLE=AdcRegs.RESULT14>>4;
W5_ERROR=W5_REF-W5_SAMPLE;
W5_SUMERROR+=W5_ERROR;
if(W5_SUMERROR<-400) W5_SUMERROR=-400;
else if (W5_SUMERROR>400) W5_SUMERROR=400;
W5_IRESULT=W5_SUMERROR;
W5_IRESULT=W5_IRESULT>>4;
W5_IRESULT=W5_IRESULT*KI_T;
W5_PRESULT=W5_ERROR*KP_T;
// W5_PRESULT=W5_PRESULT>>7;
W5_DRESULT=KD_T*(W5_ERROR-W5_ERR);
W5_DRESULT=W5_DRESULT>>1;
W5_PIDRESULT=W5_PRESULT+W5_IRESULT+W5_DRESULT;
//W5_PIDRESULT=-W5_PIDRESULT;
I51_REF-=W5_PIDRESULT;
I52_REF+=W5_PIDRESULT;
if(I51_REF<1) I51_REF=1;
else if (I51_REF>2730) I51_REF=2730;
if(I52_REF<1) I52_REF=1;
else if (I52_REF>2730) I52_REF=2730;
W5_ERR=W5_ERROR;
*/
// **位置1 ACDINT10 **
/*
W1_SAMPLE=AdcRegs.RESULT10>>4;
W1_ERROR=W1_REF-W1_SAMPLE;
W1_SUMERROR+=W1_ERROR;
if(W1_SUMERROR<-5000) W1_SUMERROR=-5000;
else if (W1_SUMERROR>5000) W1_SUMERROR=5000;
W1_IRESULT=W1_SUMERROR;
W1_IRESULT=W1_IRESULT>>4;
W1_IRESULT=W1_IRESULT*KI;
W1_PRESULT=W1_ERROR*KP;
W1_PRESULT=W1_PRESULT>>8;
W1_DRESULT=KD*(W1_ERROR-W1_ERR);
W1_PIDRESULT=W1_PRESULT+W1_IRESULT+W1_DRESULT;
I11_REF+=W1_PIDRESULT;
I12_REF-=W1_PIDRESULT;
if(I11_REF<0) I11_REF=0;
else if (I11_REF>2730) I11_REF=2730;
if(I12_REF<0) I12_REF=0;
else if (I12_REF>2000) I12_REF=2000;
W1_ERR=W1_ERROR;
*/
// **位置2 ACDINT11 **
// **位置3 ACDINT12 **
// **位置4 ACDINT13 **
// **位置5 ACDINT14 **
// **第一路电流 ACDINT0 CMPR1 **
I11_SAMPLE=AdcRegs.RESULT0>>4;
//I11_SAMPLE=I11_SAMPLE-220;
I11_ERROR=I11_REF-I11_SAMPLE;
I11_SUMERROR+=I11_ERROR;
if(I11_SUMERROR<-5000) I11_SUMERROR=-5000;
else if (I11_SUMERROR>5000) I11_SUMERROR=5000;
I11_IRESULT=I11_SUMERROR;
I11_IRESULT=I11_IRESULT>>8;
I11_IRESULT=I11_IRESULT*I_KI;
I11_PRESULT=I11_ERROR*I_KP;
I11_PRESULT=I11_PRESULT>>2;
I11_PIRESULT=I11_PRESULT;
EvaRegs.CMPR1+=I11_PIRESULT;
if(EvaRegs.CMPR1<5000) EvaRegs.CMPR1=5000;
else if (EvaRegs.CMPR1>9000) EvaRegs.CMPR1=9000;
// EvaRegs.CMPR1=5000;
// **第二路电流 ACDINT1 CMPER2**
I12_SAMPLE=AdcRegs.RESULT1>>4;
// if (I12_SAMPLE>2000) EvaRegs.ACTR.all = 0x0a0f;
// else if(I12_SAMPLE<1024) EvaRegs.ACTR.all=0x0aaf;
I12_ERROR=I12_REF-I12_SAMPLE;
I12_SUMERROR+=I12_ERROR;
if(I12_SUMERROR<-5000) I12_SUMERROR=-5000;
else if (I12_SUMERROR>5000) I12_SUMERROR=5000;
I12_IRESULT=I12_SUMERROR;
I12_IRESULT=I12_IRESULT*I_KI;
I12_IRESULT=I12_IRESULT>>8;
I12_PRESULT=I12_ERROR*I_KP;
I12_PRESULT=I12_PRESULT>>2;
I12_PIRESULT=I12_PRESULT+I12_IRESULT;
EvaRegs.CMPR2+=I12_PIRESULT;
if(EvaRegs.CMPR2<6000) EvaRegs.CMPR2=6000;
else if (EvaRegs.CMPR2>9000) EvaRegs.CMPR2=9000;
//EvaRegs.CMPR2=9000;
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