DSP经典源程序程序

#include \ #include \

/***************************************************/ interrupt void t1pint_isr(void); interrupt void t2pint_isr(void); interrupt void cap_isr(void);

interrupt void pdpinta_isr(void); void delay(unsigned int m);

unsigned int t1prd=117;//定时器1的周期 unsigned int t2prd=117;//定时器2的标志

unsigned int dir=0;//电机转动方向 unsigned int pwm=20;

unsigned int dccurent,u,v,w,speedad;//直流母线电流 unsigned int dcvoltage;//直流母线电压 Uint32 Sumdcv=0;

unsigned int dcvcount=0,Averagedcv=0;//母线电压平均值初始化

unsigned int capstastus;//定义cap口的电平 Uint32 Time,T2cnt,Speed=0,count=0; unsigned Pole=2;//极对数 Uint32 Sum=0,Average=0; unsigned int l=0,nn=0;

int t2=0;

unsigned int test[2000],test1[2000],test2[2000]; int sss=0;

/***************************************************/

void main(void) { /*初始化系统*/ InitSysCtrl(); /*关中断*/ DINT; IER = 0x0000; IFR = 0x0000; /*初始化PIE*/ InitPieCtrl(); /*初始化PIE矢量表*/ InitPieVectTable(); /*初始化GPIO*/ Gpioinit(); /*初始化AD*/ InitAdc();

/*初始化PWM*/ Init_eva_pwm();

/*初始化CAP*/ Capinit(); EALLOW; // This is needed to write to EALLOW protected register PieVectTable.CAPINT1=&cap_isr; PieVectTable.CAPINT2=&cap_isr; PieVectTable.CAPINT3=&cap_isr; PieVectTable.T1PINT=&t1pint_isr; PieVectTable.T2PINT=&t2pint_isr;

PieVectTable.PDPINTA=&pdpinta_isr;

EDIS; // This is needed to disable write to EALL PieCtrl.PIEIER2.bit.INTx4=1;//T1pint中断 PieCtrl.PIEIER3.bit.INTx1=1;//T2pint中断 PieCtrl.PIEIER3.bit.INTx5=1;//Cap1中断 PieCtrl.PIEIER3.bit.INTx6=1;//Cap2中断 PieCtrl.PIEIER3.bit.INTx7=1;//Cap3中断

PieCtrl.PIEIER1.bit.INTx1=1;//pdpinta中断 /* 设置IER寄存器 */ IER |= M_INT1;

IER |= M_INT2; // t1pint enable

IER |= M_INT3; // capture enable

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

// Step 6. IDLE loop. Just sit and loop forever (optional): while(1) { } }

interrupt void t2pint_isr(void) {

count++;

EvaRegs.EVAIFRB.bit.T2PINT=1;//清除中断标志 EvaRegs.EVAIMRB.bit.T2PINT=1;//中断允许 PieCtrl.PIEACK.bit.ACK3=1;//向cpu申请中断 }

interrupt void cap_isr(void) {

/*****以下用来检测传感器的输出电平，用来换向****/ Uint32 kk=t2prd; EALLOW;

GpioMuxRegs.GPAMUX.bit.CAP1Q1_GPIOA8=0;//设定cap1~3为gpio GpioMuxRegs.GPAMUX.bit.CAP2Q2_GPIOA9=0;

GpioMuxRegs.GPAMUX.bit.CAP3QI1_GPIOA10=0;

GpioMuxRegs.GPADIR.bit.GPIOA8=0;//设定cap1~3为输入 GpioMuxRegs.GPADIR.bit.GPIOA9=0; GpioMuxRegs.GPADIR.bit.GPIOA10=0;

capstastus=(GpioDataRegs.GPADAT.all&0x0700)>>8;

if(dir==1) {

switch(capstastus)//ir2136 的hin和lin是反向的 { case 1: EvaRegs.ACTR.all=0x7fd;break;//h3 fall case 2: EvaRegs.ACTR.all=0xfd7;break;//h1 fall case 3: EvaRegs.ACTR.all=0x7df;break;//h2 rise case 4: EvaRegs.ACTR.all=0xd7f;break;//h2 fall case 5: EvaRegs.ACTR.all=0xf7d;break;//h1 rise case 6: EvaRegs.ACTR.all=0xdf7;break;//h3 rise } } else { switch(capstastus)//ir2136 的hin和lin是反向的 { case 5: EvaRegs.ACTR.all=0xfd7;break;//h1 rise case 1: EvaRegs.ACTR.all=0xd7f;break;//h3 fall case 3: EvaRegs.ACTR.all=0xdf7;break;//h2 rise case 2: EvaRegs.ACTR.all=0xf7d;break;//h1 fall case 6: EvaRegs.ACTR.all=0x7fd;break;//h3 rise case 4: EvaRegs.ACTR.all=0x7df;break;//h2 fall } }

/*以下用来计算转速*/

T2cnt=EvaRegs.T2CNT;//读取定时器2的值

Time=kk*count+ T2cnt;//获得运转1相所需时间 Sum+=Time; l++;

if(l==12)//每转12/6/pole计算一下转速 {

Average=Sum/12;

Speed=kk*20000*60/(Average*6*Pole);//计算转速 Sum=0; l=0;

test[nn]=Speed;//测试用，存储速度值 nn++; if(nn==2000) { nn=0;

}

}

count=0;

EvaRegs.T2CON.all = 0x1400;//关闭定时器2 EvaRegs.T2CNT = 0x0000;

EvaRegs.T2CON.all = 0x1440;//启动定时器2

/*************************/

GpioMuxRegs.GPAMUX.bit.CAP1Q1_GPIOA8=1;//重新设定cap1~3为gpio GpioMuxRegs.GPAMUX.bit.CAP2Q2_GPIOA9=1; GpioMuxRegs.GPAMUX.bit.CAP3QI1_GPIOA10=1;

EvaRegs.EVAIFRC.all = 7 ; // 清捕捉中断

EvaRegs.CAPFIFO.all = 0x01500; // 清空捕捉堆栈 PieCtrl.PIEACK.bit.ACK3=1;//cap1中断向cpu申请中断 }

interrupt void t1pint_isr(void) {

dcvoltage=(AdcRegs.RESULT0)>>4; dccurent=(AdcRegs.RESULT3)>>4; w=(AdcRegs.RESULT1)>>4; u=(AdcRegs.RESULT2)>>4; speedad=(AdcRegs.RESULT4)>>4; v=(AdcRegs.RESULT5)>>4;

//母线电压检测，过压保护，

//注：电机在启动或者转动方向改变时，可能母线电压有脉动 //采用多次求平均值

Sumdcv+=dcvoltage; dcvcount++;

if(dcvcount==500) { Averagedcv=Sumdcv/500;//求平均母线电压 Sumdcv=0; dcvcount=0; }

if(Averagedcv>=3000) { stopmotor(); GpioDataRegs.GPADAT.bit.GPIOA11 =1;//过压显示 }

/******************************/

AdcRegs.ADC_ST_FLAG.bit.INT_SEQ1_CLR=1; //清除状态字 AdcRegs.ADCTRL2.bit.RST_SEQ1=1;//复位seq1

EvaRegs.EVAIFRA.bit.T1PINT=1;//清除中断标志

EvaRegs.EVAIMRA.bit.T1PINT=1;//中断允许

PieCtrl.PIEACK.bit.ACK2=1;//向cpu申请中断 }

interrupt void pdpinta_isr(void) {

EvaRegs.EVAIFRA.bit.PDPINTA=1;//清除PDPINTA中断标志 PieCtrl.PIEACK.bit.ACK1=1;//向cpu申请中断

stopmotor();

GpioDataRegs.GPADAT.bit.GPIOA12 =1;//故障显示 EvaRegs.COMCONA.bit.FCOMPOE=1;//重新使能比较输出 }

/***********************************************************************/

// No more

/***********************************************************************/

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