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//***************************************************/
//文件名：SVPWM.c
//功能：調用28335內部PWM模塊生成SVPWM輸出測試文件
//說明：輸入信息采用結構體，使用時改變結構體指針即可改變輸入信號。
// InitSvpwm（）函數提供PWM模塊初始化以及相應PIE中斷的配置。
// 通過park逆變換得到靜止平面坐標系下的電壓信號。
// 在PWM定時器下溢中斷中更新比較器的值，即每個PWM周期更新一次
//****************************************************/
#include "DSP2833x_Device.h" // DSP2833x Headerfile Include File
#include "DSP2833x_Examples.h" // DSP2833x Examples Include File
#include "math.h"
#include "float.h"
extern Uint16 RamfuncsRunStart;
extern Uint16 RamfuncsLoadStart;
extern Uint16 RamfuncsLoadEnd;
typedef struct
{
float ds; // 靜止平面坐標系下電壓信號
float qs;
float ang; // 電氣角度電氣角度=機械角度*極對數
float de; // 旋轉坐標系下電壓信號
float qe;
}IPARK;
IPARK ipark1={0,0,0,0.3,0.4};
// IPARK *v=&ipark1; //改變此處結構體指針改變輸入
void InitSvpwm(void);
void InitEPwm1(void);
void InitEPwm2(void);
void InitEPwm3(void);
interrupt void epwm1_isr(void);
void ipark(IPARK *v);
void svgen(IPARK *v);
#define PRD 7500 // PWM周期寄存器
#define PI 3.1415926
float tmr1,tmr2,tmr3;
void main(void)
{
InitSysCtrl();
DINT;
InitPieCtrl();
IER = 0x0000;
IFR = 0x0000;
InitPieVectTable();
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart); //Flash operation<F28335.cmd>
InitFlash();
InitSvpwm();
for(;;)
{
asm(" NOP");
}
}
void InitSvpwm(void)
{
InitEPwm1Gpio();
InitEPwm2Gpio();
InitEPwm3Gpio();
EALLOW;
PieVectTable.EPWM1_INT = &epwm1_isr;
EDIS;
EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
EDIS;
InitEPwm1();
InitEPwm2();
InitEPwm3();
EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
EDIS;
IER |= M_INT3;
// 使能中斷 EPWM INT1 位于PIE中斷分組3.1
PieCtrlRegs.PIEIER3.bit.INTx1 = 1;
EINT;
ERTM;
}
interrupt void epwm1_isr(void)
{
// 更新 CMPA 和 CMPB 寄存器值
svgen(&ipark1);
EPwm1Regs.CMPA.half.CMPA=tmr1;
EPwm2Regs.CMPA.half.CMPA=tmr2;
EPwm3Regs.CMPA.half.CMPA=tmr3;
EPwm1Regs.CMPB=tmr1;
EPwm2Regs.CMPB=tmr2;
EPwm3Regs.CMPB=tmr3;
// 清除中斷標志
EPwm1Regs.ETCLR.bit.INT = 1;
// 清除中斷響應
PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}
void ipark(IPARK *v)
{
float ang;
ang=(v->ang/360)*2*PI; //角度轉化為弧度
v->ds=v->de*cos(ang)-v->qe*sin(ang); //得到靜止平面坐標系下d軸電壓
v->qs=v->qe*cos(ang)+v->de*sin(ang); //得到靜止平面坐標系下q軸電壓
}
void svgen(IPARK *v)
{
float Va,Vb,Vc,t1,t2,Ta,Tb,Tc;
Uint32 sector=0; // sector=a+2b+4c 扇區狀態標示注意：setor的值1~6與扇區不是順序對應
ipark(v);
Va=v->qs; // Va = Uq
Vb=(-0.5) * v->qs + (0.8660254) * v->ds; // Vb = 1/2*(sqrt(3)*Ud - Uq) sqrt(3)/2=0.866
Vc=(-0.5) * v->qs - (0.8660254) * v->ds; // Vc = -1/2*(sqrt(3)Ud + Uq)
if(Va>0.0000001) // 判斷屬于哪個扇區
sector=1; // Va>0 則 a=1；否則a=0
if(Vb>0.0000001) //
sector=sector+2; // Vb>0 則 b=1；否則b=0
if(Vc>0.0000001) //
sector=sector+4; // Vc>0 則 c=1; 否則c=0
Va=v->qs;
Vb=(-0.5) * v->qs + (0.8660254) * v->ds;
Vc=(-0.5) * v->qs - (0.8660254) * v->ds;
switch(sector){
case 1: //sector==1 對應扇區II
t1=Vc;
t2=Vb;
Tb=(0.25)*(1-t1-t2);
Ta=Tb+(0.5)*t1;
Tc=Ta+(0.5)*t2;
break;
case 2: //sector==2 對應扇區VI
t1=Vb;
t2=-Va;
Ta=(0.25)*(1-t1-t2);
Tc=Ta+(0.5)*t1;
Tb=Tc+(0.5)*t2;
break;
case 3: //sector==3 對應扇區I
t1=-Vc;
t2=Va;
Ta=(0.25)*(1-t1-t2);
Tb=Ta+(0.5)*t1;
Tc=Tb+(0.5)*t2;
break;
case 4: //sector==4 對應扇區IV
t1=-Va;
t2=Vc;
Tc=(0.25)*(1-t1-t2);
Tb=Tc+(0.5)*t1;
Ta=Tb+(0.5)*t2;
break;
case 5: //sector==5 對應扇區III
t1=Va;
t2=-Vb;
Tb=(0.25)*(1-t1-t2);
Tc=Tb+(0.5)*t1;
Ta=Tc+(0.5)*t2;
break;
case 6: //sector==6 對應扇區V
t1=-Vb;
t2=-Vc;
Tc=(0.25)*(1-t1-t2);
Ta=Tc+(0.5)*t1;
Tb=Ta+(0.5)*t2;
break;
default: //sector=0和sector=7時錯誤
Ta=0.5;
Tb=0.5;
Tc=0.5;
}
tmr1=Ta*PRD;
tmr2=Tb*PRD;
tmr3=Tc*PRD;
}
void InitEPwm1()
{
// 配置時鐘
EPwm1Regs.TBCTL.bit.CTRMODE = 0x2; // 增減計數模式
EPwm1Regs.TBPRD = PRD; // 設置周期
EPwm1Regs.TBCTL.bit.PHSEN = 0x0; // 禁用相位加載同步
EPwm1Regs.TBPHS.half.TBPHS = 0x0000; // 相位初值
EPwm1Regs.TBCTR = 0x0000; // 計數初值
EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0x1; // TBCLK = SYSCLKOUT / (HSPCLKDIV × CLKDIV)
EPwm1Regs.TBCTL.bit.CLKDIV = 0x1;
// 配置比較寄存器
EPwm1Regs.CMPCTL.bit.SHDWAMODE = 0x0; //使用陰影寄存器
EPwm1Regs.CMPCTL.bit.SHDWBMODE = 0x0;
EPwm1Regs.CMPCTL.bit.LOADAMODE = 0x0; //計數器值為0時更新比較器值
EPwm1Regs.CMPCTL.bit.LOADBMODE = 0x0;
// 設置比較器初值
EPwm1Regs.CMPA.half.CMPA = 1875;
EPwm1Regs.CMPB = 1875;
// 模式設定
EPwm1Regs.AQCTLA.bit.ZRO = 0x1; // 等于0時輸出低
EPwm1Regs.AQCTLA.bit.CAU = 0x3; // 計數值=比較值時輸出取反
EPwm1Regs.AQCTLB.bit.ZRO = 0x2; // 等于0時輸出高
EPwm1Regs.AQCTLB.bit.CBU = 0x3; // 計數值=比較值時輸出取反
// 配置中斷
EPwm1Regs.ETSEL.bit.INTSEL = 0x1; // 計數值到0觸發事件
EPwm1Regs.ETSEL.bit.INTEN = 1; // 使能中斷
EPwm1Regs.ETPS.bit.INTPRD = 0x1; // 每次事件發生都觸發中斷
}
void InitEPwm2()
{
EPwm2Regs.TBCTL.bit.CTRMODE = 0x2;
EPwm2Regs.TBPRD = PRD;
EPwm2Regs.TBCTL.bit.PHSEN = 0x0;
EPwm2Regs.TBPHS.half.TBPHS = 0x0000;
EPwm2Regs.TBCTR = 0x0000;
EPwm2Regs.TBCTL.bit.HSPCLKDIV = 0x1;
EPwm2Regs.TBCTL.bit.CLKDIV = 0x1;
EPwm2Regs.CMPCTL.bit.SHDWAMODE = 0x0;
EPwm2Regs.CMPCTL.bit.SHDWBMODE = 0x0;
EPwm2Regs.CMPCTL.bit.LOADAMODE = 0x0;
EPwm2Regs.CMPCTL.bit.LOADBMODE = 0x0;
EPwm2Regs.CMPA.half.CMPA = 1875;
EPwm2Regs.CMPB = 1875;
EPwm2Regs.AQCTLA.bit.ZRO = 0x1;
EPwm2Regs.AQCTLA.bit.CAU = 0x3;
EPwm2Regs.AQCTLB.bit.ZRO = 0x2;
EPwm2Regs.AQCTLB.bit.CBU = 0x3;
EPwm2Regs.ETSEL.bit.INTEN = 0; //屏蔽中斷
}
void InitEPwm3(void)
{
EPwm3Regs.TBCTL.bit.CTRMODE = 0x2;
EPwm3Regs.TBPRD = PRD;
EPwm3Regs.TBCTL.bit.PHSEN = 0x0;
EPwm3Regs.TBPHS.half.TBPHS = 0x0000;
EPwm3Regs.TBCTR = 0x0000;
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