系统控制代码

系统控制代码/*不知道你是要写转速闭环控制程序还是功能测试时计算转速。

如测试时计算转速：1.可用转速计直接测试2.可用示波器看反电动势波形的频率进行计算。

频率/极对数*60即为每分钟转速。

如是写转速闭环控制程序，这个比较复杂。

分为加速/减速/匀速三种情况来写。

一般为连续换12次相/2即为一圈时间（以三相六极匀速为例）。

转速=60*F/磁极，F为电源频率，一般为50，磁极SN为13.?同步电动机的转速=60*频率/?极对数（我国工频为50Hz)异步电动机转速=（60*频率/?极对数）×转差率电机转速与频率的公式?n=60f/p?上式中?n——电机的转速（转/分）；?60——每分钟（秒）；?f——电源频率（赫芝）；?p——电机旋转磁场的极对数。

?*//*由于一个特定的优先级可被分配给多个中断请求源，因此提供了一种解决给定用户分配优先级内优先级冲突的方法。

每个中断源都有一个自然顺序优先级，这由其在IVT中的位置决定。

表28-2给出了每个中断源在IVT中的位置。

中断向量的编号越低，其自然优先级越高，而向量的编号越高，其自然优先级越低。

任何待处理的中断源的总优先级都首先由该中断源在中断优先级控制（IPCx）寄存器中的用户分配优先级决定，然后由IVT中的自然顺序优先级决定。

自然顺序优先级仅用于解决具有相同用户分配优先级而同时等待处理的中断之间的冲突。

一旦解决了优先级冲突，异常处理过程就开始了，CPU只能被具有更高用户分配优先级的中断源中断。

在异常处理过程开始后才等待处理的中断，如果它与当前正在处理的中断具有相同的用户分配优先级，即便具有较高的自然顺序优先级，也将保持待处理状态直到当前的异常处理过程结束*/#define __dsPIC30F2010__#include <p30f2010.h>#define FCY 10000000/*FCY为指令周期时钟频率xtal = 5.0Mhz; PLLx8板子上接的晶振为5MHz，5MHz/4*8=10^7;*/#define MILLISEC FCY/10000 // 1 mSec delay constant#define FPWM 39000#define POLEPAIRS 2 // 转子的极对数；number of pole pairs of the motor#define INDEX 1 // 转子的起始位置；Hall sensor position index#define S2 !PORTCbits.RC14#define S3 !PORTCbits.RC13#define CR 0x0D#define LF 0x0A#define BAUD 19200#define SPEEDMULT 2343750 // 10^7*60/256=2343750;factor used to calculate speed #define OFFSET 8 // offset in InData to load speed values#define POTMULT 4 //电位器的AD转换系数: pot to speed ratio#define Kps 750 // Kp and Ks terms need to be adjusted as per#define Kis 20 // the motor and loadvoid InitADC10(void);void AverageADC(void);void DelayNmSec(unsigned int N);void InitMCPWM(void);//电机控制模块初始化void InitUART(void);void SendSpeed(void);void InitTMR3(void);void SendMsg(void);void CalculateDC(void);//PID调节函数struct {unsigned RunMotor : 1;//电机运行标志unsigned CalSpeed : 1; //速度调节标志unsigned CheckRX : 1;unsigned SendTX : 1;unsigned unused : 12;} Flags;unsigned int HallValue;unsigned int timer3value;unsigned int timer3avg;unsigned char polecount;unsigned char *TXPtr;unsigned char *RXPtr;int DesiredSpeed;int ActualSpeed;int SpeedError;int DutyCycle;int SpeedIntegral;int timeout;//TMR2定时器中断溢出的次数，从而达到计时的目的unsigned char InData[] = {"000000"};unsigned char OutData[] = {"Speed = 00000 rpm\r\n"};/*通过看这个OutData这个数组可以看到当在这个数组的第九个字符的时候是要设定的speed的值。

这也是OFFSET=8的原因，*/unsigned int StateTable[] = {0x0000, 0x0210, 0x2004, 0x0204,0x0801, 0x0810, 0x2001, 0x0000};/*************************************************************Low side driver table is as below. In the StateLoTableClk,the Low side driver is a PWM while the high side driver iseither on or off.*************************************************************/unsigned int StateLoTableClk[] = {0x0000, 0x0210, 0x2004, 0x0204,0x0801, 0x0810, 0x2001, 0x0000};unsigned int StateLoTableAntiClk[] = {0x0000, 0x2001, 0x0810, 0x0801,0x0204, 0x2004, 0x0210, 0x0000};/****************************************************************Interrupt vector for Change Notification CN5, 6 and 7 is as below.When a Hall sensor changes states, an interrupt will becaused which will vector to the routine belowThe program then reads PORTB, mask bits 3, 4 and 5,shift and adjust the value to read as 1, 2 ... 6. Thisvalue is then used as an offset in the lookup table StateLoTableClkor StateLoTableAntiClk to determine the value loaded in the OCDCONregister. This routine also reads the Hall sensors and countsup to the POLEPAIRS to determine the time for one mechanicalrevolution using the fact that 1 mech rev = POLEPAIR*(1 elect. rev)*****************************************************************/void __attribute__((__interrupt__)) _CNInterrupt (void){IF = 0; // clear flagHallValue = PORTB & 0x0038; // mask RB3,4 & 5HallValue = HallValue >> 3; // shift right 3 timesOVDCON = StateLoTableAntiClk[HallValue];// The code below is uses TMR3 to calculate the speed of the rotorif (HallValue == INDEX) // has the same position been sensed?if (polecount++ == POLEPAIRS) //has one mech rev elasped?{/*这个if条件成立的话，那么电机就转了一圈了。

用TMR3的计数值来计算电机的转速，要满足的条件是：TMR3计数到满值的时间要长于电机转一圈的时间，即：1/(10^7/256)*65536>电机转一圈的时间===》10^7/256/65536=0.59<转速，故这样uptInitMCPWM();InitADC10();InitUART();InitTMR3();InitTMR1();//初始化TMR1定时器timer3avg = 0;//wait_S2_start();while(1){T1CONbits.TON=1;//开启TMR1定时器Flags.RunMotor = 1; // set running flagwhile (Flags.RunMotor&&timeout<30)// while motor is running 而且定了30S的定时{// read hall position sensors on PORTBHallValue = PORTB & 0x0038; // mask RB3,4 & 5HallValue = HallValue >> 3; // shift right to get value = 1, 2 (6)OVDCON = StateLoTableAntiClk[HallValue]; //电机逆时钟转动Load the overide control register PWMCON1 = 0x0777; // enable PWM outputsT3CONbits.TON = 1; // start tmr3polecount = 1;DelayNmSec(100);if (S2) // if S2 is pressed, stop{DelayNmSec(10);//按键去抖if(S2)//如果S2真的被按下去了，那么就要停止电机的转动{PWMCON1 = 0x0700; // disable PWM outputsOVDCON = 0x0000; // overide PWM low.Flags.RunMotor = 0; // reset run flagwhile (S2) // wait for key releaseDelayNmSec(10);}}if (Flags.CalSpeed) // if calculate flag set then// Flags_CalSpeed=1只会出现在AD中断中{SendSpeed(); // send present speed seriallyCalculateDC(); // calculate new dutycycle using PIFlags.CalSpeed = 0; // 计算本次的速度之后也即更新了电机速度设定值了，及时即使清除这个标志位clear flag}}if(Flags.RunMotor==0){wait_S2_start();continue;//也即当等待开启电机按钮的时候，下面的语句不执行了，直接从头开始while(1)大语句开始执行}timeout=0;TMR1=0;//TMR1初值T3CONbits.TON = 0; //TMR3计数器关掉T1CONbits.TON=1;//TMR1定时器开启//电机暂停30sPWMCON1 = 0x0700; // disable PWM outputsOVDCON = 0x0000; // overide PWM low.Flags.RunMotor = 0; // reset run flagwhile(timeout<30);//等待30s//开始正转30stimeout=0;TMR1=0;//T1CONbits.TON=1;Flags.RunMotor = 1; // set running flagwhile (Flags.RunMotor&&timeout<30) // while motor is running {HallValue = PORTB & 0x0038; // mask RB3,4 & 5HallValue = HallValue >> 3; // shift right to get value = 1, 2 (6)OVDCON = StateLoTableClk[HallValue]; // 电机顺时钟转动Load the overide control register PWMCON1 = 0x0777; // enable PWM outputsT3CONbits.TON = 1;if (S2) // if S2 is pressed, stop{DelayNmSec(10);//按键去抖if(S2){PWMCON1 = 0x0700; // disable PWM outputsOVDCON = 0x0000; // overide PWM low.Flags.RunMotor = 0; // reset run flagwhile (S2) // wait for key releaseDelayNmSec(10);}}if (Flags.CalSpeed) // if calculate flag set then{SendSpeed(); // send present speed seriallyCalculateDC(); // calculate new dutycycle using PIFlags.CalSpeed = 0; // clear flag}}if(Flags.RunMotor==0){wait_S2_start();continue;//也即当等待开启电机按钮的时候，下面的语句不执行了，直接从头开始while(1)大语句开始执行}} // end of while (1)} // end of main/*******************************************************************Below is the code required to setup the ADC registers for :1. 1 channel conversion (in this case RB2/AN2)2. PWM trigger starts conversion3. Pot is connected to CH0 and RB24. AD interrupt is set and buffer is read in the interrupt*********************************************************************/void InitADC10(void){ADPCFG = 0xFFF8; // all PORTB = Digital;RB0 to RB2 = analogADCON1 = 0x0064; // PWM starts conversionADCON2 = 0x0200; // simulataneous sample 4 channelsADCHS = 0x0002; // Connect RB2/AN2 as CH0 = potADCON3 = 0x0080; // Tad = internal RC (4uS)IFS0bits.ADIF = 0;IEC0bits.ADIE = 1;ADCON1bits.ADON = 1; // turn ADC ON}/******************************************************************** InitMCPWM, intializes the Motor PWM as follows:1. FPWM = 39000 hz at 10Mips2. Independant PWMs3. Control outputs using OVDCON4. Init Duty Cycle with a value = 1005. Set ADC to be triggered by PWM special trigger*********************************************************************/void InitMCPWM(void)PTPER = FCY/FPWM - 1; // set the pwm period register：PTPER=10^7/39000-1=255,那么计算PDCx的时候大于这个数字占空比为100%PWMCON1 = 0x0700; // disable PWMs/*这里的7表示：PMOD4：PMOD1=111，即PWM配对IO脚处于独立输出模式。