2023年公司提供基于的开关磁阻电机驱动程序全套

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1、/* File: TYPEDEFS.H * TMS320x240 Test Bed Code * Texas Instruments, Inc. * Copyright (c) 1996 Texas Instruments Inc. * 11/05/96 Version 1.0 * Jeff Crankshaw */#ifndef TYPEDEFS_H#define TYPEDEFS_H#define FALSE 0#define TRUE 1typedef unsigned int WORD; /* 16bit data */typedef unsigned long DWORD; /* 3

2、2bit data */typedef volatile WORD * PORT;#define STR(x) #x#define OUTMAC(address,data) asm(” LDPK _”STR(data); asm(” OUT _”STR(data) ”,” STR(address)#define INMAC(address,data) asm(” LDPK _”STR(data); asm(” IN _”STR(data) ”,” STR(address)#define Int_Read(addr) * (int *) (addr)#define Int_Write(addr,

3、data) * (int *) (addr) = (data)#endif /* _TYPEDEFS */* File: C240.H * TMS320x240 Test Bed Code * Texas Instruments, Inc. * Copyright (c) 1996 Texas Instruments Inc. * 11/05/96 Version 1.0 * Jeff Crankshaw * * TMS320C240 Peripheral Register Addresses * */#ifndef c240_h#define c240_h#include ”typedefs

4、.h”/*/* definitions of I/O space macros */*/#define STR(x) #x#define OUTMAC(address,data) asm(” LDPK _”STR(data); asm(” OUT _”STR(data) ”,” STR(address)#define INMAC(address,data) asm(” LDPK _”STR(data); asm(” IN _”STR(data) ”,” STR(address)#define LED_LOC 000ch /* F240 EVM I/O space location for LE

5、Ds */*/* definitions of CPU core registers */*/#define IMR_REG ( PORT )0x0004 )#define IFR_REG ( PORT )0x0006 )/*/* External Memory Interface Registers */*/#define WSGR 0x0ffff/* Wait State Generator Register */*/* System Module Registers */*/#define SYSCR ( PORT )0x07018) /* System Module Control R

6、egister */#define SYSSR ( PORT )0x0701A) /* System Module Status Register */#define SYSIVR ( PORT )0x0701E) /* System Interrupt Vector Register */#define XINT1_CR ( PORT )0x07070) /* Int1 (type A) Control reg */#define NMI_CR ( PORT )0x07072) /* Non maskable Int (type A) Control reg */#define XINT2_

7、CR ( PORT )0x07078) /* Int2 (type C) Control reg */#define XINT3_CR ( PORT )0x0707A) /* Int3 (type C) Control reg */#define PDPINT_CR ( PORT )0x0742C) /* Power Drive Protection Int cntl reg */* System Interrupt Vector Register Address offsets */#define PHANTOM_INT_VECTOR 0x00#define NMI_INT_VECTOR 0

8、x02#define XINT1_INT_VECTOR 0x01#define XINT2_INT_VECTOR 0x11#define XINT3_INT_VECTOR 0x1f#define SPI_INT_VECTOR 0x05#define SCI_RX_INT_VECTOR 0x06#define SCI_TX_INT_VECTOR 0x07#define RTI_INT_VECTOR 0x10#define PDP_INT_VECTOR 0x20#define EV_CMP1_INT_VECTOR 0x21#define EV_CMP2_INT_VECTOR 0x22#define

9、 EV_CMP3_INT_VECTOR 0x23#define EV_SCMP1_INT_VECTOR 0x24#define EV_SCMP2_INT_VECTOR 0x25#define EV_SCMP3_INT_VECTOR 0x26#define EV_T1PER_INT_VECTOR 0x27#define EV_T1CMP_INT_VECTOR 0x28#define EV_T1UF_INT_VECTOR 0x29#define EV_T1OF_INT_VECTOR 0x2a#define EV_T2PER_INT_VECTOR 0x2b#define EV_T2CMP_INT_V

10、ECTOR 0x2c#define EV_T2UF_INT_VECTOR 0x2d#define EV_T2OF_INT_VECTOR 0x2e#define EV_T3PER_INT_VECTOR 0x2f#define EV_T3CMP_INT_VECTOR 0x30#define EV_T3UF_INT_VECTOR 0x31#define EV_T3OF_INT_VECTOR 0x32#define EV_CAP1_INT_VECTOR 0x33#define EV_CAP2_INT_VECTOR 0x34#define EV_CAP3_INT_VECTOR 0x35#define E

11、V_CAP4_INT_VECTOR 0x36#define AC2_INT_VECTOR 0x04/*/* Digital I/O Registers */*/#define OCRA ( PORT )0x07090) /* Output Control Reg A */#define OCRB ( PORT )0x07092) /* Output Control Reg B */#define PADATDIR ( PORT )0x07098) /* I/O port A Data & Direction reg. */#define PBDATDIR ( PORT )0x0709A) /*

12、 I/O port B Data & Direction reg. */#define PCDATDIR ( PORT )0x0709C) /* I/O port C Data & Direction reg. */*/* WatchDog(WD) / Real Time Int(RTI) / Phase Lock Loop(PLL) Registers */*/#define RTICNTR ( PORT )0x07021) /* RTI Counter reg */#define WDTCNTR ( PORT )0x07023) /* WD Counter reg */#define WD

13、TKEY ( PORT )0x07025) /* WD Key reg */#define RTICR ( PORT )0x07027) /* RTI Control reg */#define WDCR ( PORT )0x07029) /* WD Control reg */#define CKCR0 ( PORT )0x0702B) /* PLL control reg 1 */#define CKCR1 ( PORT )0x0702D) /* PLL control reg 2 */*/* AnalogtoDigital Converter(ADC) registers */*/#de

14、fine ADCTRL1 ( PORT )0x07032) /* ADC Control & Status reg */#define ADCTRL2 ( PORT )0x07034) /* ADC Configuration reg */#define ADCFIFO1 ( PORT )0x07036) /* ADC Channel 1 Result Data */#define ADCFIFO2 ( PORT )0x07038) /* ADC Channel 2 Result Data */*/* Serial Peripheral Interface (SPI) Registers */

15、*/#define SPICCR ( PORT )0x07040) /* SPI Config Control Reg */#define SPICTL ( PORT )0x07041) /* SPI Operation Control Reg */#define SPISTS ( PORT )0x07042) /* SPI Status Reg */#define SPIBRR ( PORT )0x07044) /* SPI Baud rate control reg */#define SPIEMU ( PORT )0x07046) /* SPI Emulation buffer reg

16、*/#define SPIBUF ( PORT )0x07047) /* SPI Serial Input buffer reg */#define SPIDAT ( PORT )0x07049) /* SPI Serial Data reg */#define SPIPC1 ( PORT )0x0704D) /* SPI Port control reg1 */#define SPIPC2 ( PORT )0x0704E) /* SPI Port control reg2 */#define SPIPRI ( PORT )0x0704F) /* SPI Priority control re

17、g */*/* Serial Communications Interface (SCI) Registers */*/#define SCICCR ( PORT )0x07050) /* SCI Comms Control Reg */#define SCICTL1 ( PORT )0x07051) /* SCI Control Reg 1 */#define SCIHBAUD ( PORT )0x07052) /* SCI Baud rate control */#define SCILBAUD ( PORT )0x07053) /* SCI Baud rate control */#de

18、fine SCICTL2 ( PORT )0x07054) /* SCI Control Reg 2 */#define SCIRXST ( PORT )0x07055) /* SCI Receive status reg */#define SCIRXEMU ( PORT )0x07056) /* SCI EMU data buffer */#define SCIRXBUF ( PORT )0x07057) /* SCI Receive data buffer */#define SCITXBUF ( PORT )0x07059) /* SCI Transmit data buffer */

19、#define SCIPC1 ( PORT )0x0705D) /* SCI Port control reg1 */#define SCIPC2 ( PORT )0x0705E) /* SCI Port control reg2 */#define SCIPRI ( PORT )0x0705F) /* SCI Priority control reg */*/* Event Manager (EV) Registers */*/#define GPTCON ( PORT )0x07400) /* General Timer Controls */#define T1CNT ( PORT )0

20、x07401) /* T1 Counter Register */#define T1CMP ( PORT )0x07402) /* T1 Compare Register */#define T1PER ( PORT )0x07403) /* T1 Period Register */#define T1CON ( PORT )0x07404) /* T1 Control Register */#define T2CNT ( PORT )0x07405) /* T2 Counter Register */#define T2CMP ( PORT )0x07406) /* T2 Compare

21、 Register */#define T2PER ( PORT )0x07407) /* T2 Period Register */#define T2CON ( PORT )0x07408) /* T2 Control Register */#define T3CNT ( PORT )0x07409) /* T3 Counter Register */#define T3CMP ( PORT )0x0740a) /* T3 Compare Register */#define T3PER ( PORT )0x0740b) /* T3 Period Register */#define T3

22、CON ( PORT )0x0740c) /* T3 Control Register */#define COMCON ( PORT )0x07411) /* Compare Unit Control */#define ACTR ( PORT )0x07413) /* Full Compare Unit Output Action Ctrl */#define SACTR ( PORT )0x07414) /* Simple Comp Unit Output Action Ctrl */#define DBTCON ( PORT )0x07415) /* Dead Band Timer C

23、ontrol */#define CMPR1 ( PORT )0x07417) /* Full Compare Channel 1 Threshold */#define CMPR2 ( PORT )0x07418) /* Full Compare Channel 2 Threshold */#define CMPR3 ( PORT )0x07419) /* Full Compare Channel 3 Threshold */#define SCMPR1 ( PORT )0x0741a) /* Simple Comp Channel 1 Threshold */#define SCMPR2

24、( PORT )0x0741b) /* Simple Comp Channel 2 Threshold */#define SCMPR3 ( PORT )0x0741c) /* Simple Comp Channel 3 Threshold */#define CAPCON ( PORT )0x07420) /* Capture Unit Control */#define CAPFIFO ( PORT )0x07422) /* FIFO14 Status Register */#define FIFO1 ( PORT )0x07423) /* Capture Channel 1 FIFO T

25、op */#define FIFO2 ( PORT )0x07424) /* Capture Channel 2 FIFO Top */#define FIFO3 ( PORT )0x07425) /* Capture Channel 3 FIFO Top */#define FIFO4 ( PORT )0x07426) /* Capture Channel 4 FIFO Top */#define IMRA ( PORT )0x0742c) /* Group A Interrupt Mask Register */#define IMRB ( PORT )0x0742d) /* Group

26、B Interrupt Mask Register */#define IMRC ( PORT )0x0742e) /* Group C Interrupt Mask Register */#define IFRA ( PORT )0x0742f) /* Group A Interrupt Flag Register */#define IFRB ( PORT )0x07430) /* Group B Interrupt Flag Register */#define IFRC ( PORT )0x07431) /* Group C Interrupt Flag Register */#def

27、ine IVRA ( PORT )0x07432) /* Group A Int. Vector Offset Register */#define IVRB ( PORT )0x07433) /* Group B Int. Vector Offset Register */#define IVRC ( PORT )0x07434) /* Group C Int. Vector Offset Register */#endif/*+*/* */*File: CONSTANT.H */*Target Processor: TMS320F240 */*Compiler Version: */*As

28、sembler Version: */*Created: 10/1/97 */* */*/* Constants for the SRM control algorithms */*+*/*/* clock frequencies and time related constants */*/#define PWM_FREQ 0 /* PWM frequency (Hz) */#define SYSCLK_FREQ /* DSP clock frequency (Hz) */#define CPU_INT_FREQ 5000 /* timer ISR frequency (Hz) */#def

29、ine ONE_HALF_SECOND (CPU_INT_FREQ/2)/* */* current loop algorithm constants */* */#define ILOOP_GAIN 22 /* current loop gain: */* (Q3: gain = 2.75) */#define ILIMIT 1023 /* current limit: (1023 bits = */* 5 V x 0.855 A/V = 4.273 A) */#define MAXIMUM_DUTYRATIO 999 /* limit on the PWM duty cycle: */*

30、100 % = */* (SYSCLK_FREQ/PWM_FREQ 1) */*/* velocity loop algorithm constants */*/#define INTEGRAL_LIMIT 2793472 /* integrator limit */#define KI 3 /* (Q13*1000): Ki = 0.366 */#define KP 1 /* Q1: Kp = 0.5 */*/* position & velocity estimation algorithm constants */*/#define K_POSITION_EST 1432#define

31、K1_VELOCITY_EST 0#define K2_VELOCITY_EST 62500#define ALPHA 7 /* Q3: alpha = 0.875 */#define ONE_MINUS_ALPHA 1 /* Q3: 1alpha = 0.125 */*/* motor geometry related */*/#define NR 8 /* number of rotor poles */#define NUMBER_OF_PHASES 3/*/* Electrical Angles: 2*pi (rad) = 65535 */*/#define PIBYSIX_16 54

32、61#define PIBYFOUR_16 8192#define PIBYTHREE_16 10923#define TWOPIBYTHREE_16 21845#define THREEPIBYFOUR_16 24576#define FIVEPIBYSIX_16 27307#define PI_16 32768#define FOURPIBYTHREE_16 43690#define FIVEPIBYTHREE_16 54613#define TWOPI_16 65535/*+*/* */*File: SRM.H */*Target Processor: TMS320F240 */*Com

33、piler Version: */*Assembler Version: */*Created: 10/1/97 */* */*/* Variable declarations for the SRM control algorithm */*+*/#include ”constant.h”#include ”typedefs.h”/*/* position estimation state machine data structure */*/typedef struct int state;WORD position;int direction; state_machine;/*/* SR

34、M variables data structure: */*/*a2d_chani sets which A/D pin is used for the ith phase current/*desiredTorque torque command (output of velocity loop)/*integral_speed_error velocity loop integrator for PI compensator/*iDesi current command for the ith phase/*capture_edgei timer #2 count value at th

35、e occurence of/* the most recent ith capture/*capture_deltai2 change in the timer #2 count value between/* the occurences of the ith capture events. The two most/* recent events are stored./*delta_count change in the software counter of the timer ISR/* between occurences of any capture event./*wEst_

36、10xrpm shaft velocity estimate (units of rpm*10)/* wDes_10xrpm desired shaft velocity (units of rpm*10)/* activei flag indicating whether the ith phase is ON (1 = on)/* iFBi current feedback measurement for the ith phase/* dutyRatioi commanded % duty ratio for the highside FET of/* the ith phase/*po

37、sition shaft position estimate (electrical degrees)/* scaled: 2*pi (rad) = 65535 bits/*position_state position state of the SRM (defined by optocouplers)/*shaft_direction direction which the shaft is rotating./*trans_lut74 the position state machine/*position_initial_guess7 initial position guess, b

38、ased on state/*dp_remainder 16bit remainder used in the position estimation alg/*last_capture the most recent capture to occur/*/typedef struct int a2d_chanNUMBER_OF_PHASES;int desiredTorque;long integral_speed_error; WORD iDesNUMBER_OF_PHASES;WORD capture_edgeNUMBER_OF_PHASES;WORD capture_deltaNUMB

39、ER_OF_PHASES2;WORD delta_count;int wEst_10xrpm; int wDes_10xrpm; int activeNUMBER_OF_PHASES; WORD iFBNUMBER_OF_PHASES; int dutyRatioNUMBER_OF_PHASES;WORD position; int position_state;int shaft_direction;state_machine trans_lut74;WORD position_initial_guess7;long dp_remainder;int last_capture; anSRM_

40、struct;/*/*PROTOTYPE DEFINITIONS */*/void eventmgr_init();void initializeSRM(anSRM_struct *anSRM);void Commutation_Algorithm( anSRM_struct *anSRM);void Time_Update_Position(anSRM_struct *anSRM);void velocityController( anSRM_struct *anSRM);void currentController( anSRM_struct *anSRM);void computePos

41、itionAndVelocity(anSRM_struct *anSRM);void Msmt_Update_Velocity(anSRM_struct *anSRM, int mode);void Msmt_Update_Position(anSRM_struct *anSRM);void switch_lowside(int phaseactive);void switch_mux(int adc1, int adc2);void disable_interrupts();void dsp_setup();void initialize_counters_and_flags();void

42、enable_interrupts();void start_background();void check_for_stall();/*+/*/*File: MAIN.C/*Target Processor: TMS320F240/*Compiler Version: 6.6/*Assembler Version: 6.6/*Created: 10/31/97/*/*+/* This file is the main program for the control of an SRM drive with a/*position sensor/*+*/*/*INCLUDE FILES */*

43、/#include ”c240.h”#include ”srm.h”/*/*GLOBAL VARIABLE DECLARATIONS */*/int count;int slice;int old_count;int Update_Velocity;int Toggle_LED;int Msmt_Update;anSRM_struct SRM;int LEDvalue;/*/*MAIN PROGRAM */*/void main() disable_interrupts();dsp_setup();initializeSRM(&SRM);eventmgr_init();initialize_c

44、ounters_and_flags();enable_interrupts();start_background();/*+ */*BACKGROUND TASKS */* */*Upon completion of the required initialization, the main/*program starts the background task. The background is/*simply an infinite loop. Time critical motor control/*processing is done via interrupt service routines and lower/*priority processing is done in the background, when they/*are needed. Two background operations are defined:/*/*1) Update_Velocity when a capture interrupt occurs,/* the ISR stores the capture data and then int