//功能：调用28335内部PWM模块生成SVPWM输出测试文件
//说明：输入信息采用结构体，使用时改变结构体指针即可改变输入信号。
// InitSvpwm（）函数提供PWM模块初始化以及相应PIE中断的配置。
// 通过park逆变换得到静止平面坐标系下的电压信号。
// 在PWM定时器下溢中断中更新比较器的值，即每个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; // 静止平面坐标系下电压信号
float qs;
float ang; // 电气角度 电气角度=机械角度*极对数
float de; // 旋转坐标系下电压信号
float qe;
}IPARK;
IPARK ipark1={0,0,0,0.3,0.4};
// IPARK *v=&ipark1; //改变此处结构体指针改变输入
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
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;
// 使能中断 EPWM INT1 位于PIE中断分组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;
// 清除中断标志
EPwm1Regs.ETCLR.bit.INT = 1;
// 清除中断响应
PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}
void ipark(IPARK *v)
{
float ang;
ang=(v->ang/360)*2*PI; //角度转化为弧度
v->ds=v->de*cos(ang)-v->qe*sin(ang); //得到静止平面坐标系下d轴电压
v->qs=v->qe*cos(ang)+v->de*sin(ang); //得到静止平面坐标系下q轴电压
}
void svgen(IPARK *v)
{
float Va,Vb,Vc,t1,t2,Ta,Tb,Tc;
Uint32 sector=0; // sector=a+2b+4c 扇区状态标示 注意：setor的值1~6与扇区不是顺序对应
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) // 判断属于哪个扇区
sector=1; // Va>0 则 a=1；否则a=0
if(Vb>0.0000001) //
sector=sector+2; // Vb>0 则 b=1；否则b=0
if(Vc>0.0000001) //
sector=sector+4; // Vc>0 则 c=1; 否则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 对应扇区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 对应扇区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 对应扇区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 对应扇区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 对应扇区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 对应扇区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时错误
Ta=0.5;
Tb=0.5;
Tc=0.5;
}
tmr1=Ta*PRD;
tmr2=Tb*PRD;
tmr3=Tc*PRD;
}
void InitEPwm1()
{
// 配置时钟
EPwm1Regs.TBCTL.bit.CTRMODE = 0x2; // 增减计数模式
EPwm1Regs.TBPRD = PRD; // 设置周期
EPwm1Regs.TBCTL.bit.PHSEN = 0x0; // 禁用相位加载同步
EPwm1Regs.TBPHS.half.TBPHS = 0x0000; // 相位初值
EPwm1Regs.TBCTR = 0x0000; // 计数初值
EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0x1; // TBCLK = SYSCLKOUT / (HSPCLKDIV × CLKDIV)
EPwm1Regs.TBCTL.bit.CLKDIV = 0x1;
// 配置比较寄存器
EPwm1Regs.CMPCTL.bit.SHDWAMODE = 0x0; //使用阴影寄存器
EPwm1Regs.CMPCTL.bit.SHDWBMODE = 0x0;
EPwm1Regs.CMPCTL.bit.LOADAMODE = 0x0; //计数器值为0时更新比较器值
EPwm1Regs.CMPCTL.bit.LOADBMODE = 0x0;
// 设置比较器初值
EPwm1Regs.CMPA.half.CMPA = 1875;
EPwm1Regs.CMPB = 1875;
// 模式设定
EPwm1Regs.AQCTLA.bit.ZRO = 0x1; // 等于0时输出低
EPwm1Regs.AQCTLA.bit.CAU = 0x3; // 计数值=比较值时输出取反
EPwm1Regs.AQCTLB.bit.ZRO = 0x2; // 等于0时输出高
EPwm1Regs.AQCTLB.bit.CBU = 0x3; // 计数值=比较值时输出取反
// 配置中断
EPwm1Regs.ETSEL.bit.INTSEL = 0x1; // 计数值到0触发事件
EPwm1Regs.ETSEL.bit.INTEN = 1; // 使能中断
EPwm1Regs.ETPS.bit.INTPRD = 0x1; // 每次事件发生都触发中断
}
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; //屏蔽中断
}
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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