2-3 直流电动机单极性可逆双闭环PWM控制程序.doc

直流电动机单极性可逆双闭环PWM控制程序.equ _30F6010A, 1.include p30f6010A.inc.equ SPEED_SET, 750.equ _Tpwm, 1476.equ _Deadtime, 59.equ _timerate, 8.equ _volrate, 4.equ CURR_B0, 32.equ CURR_B1 , 1.equ SPEED_B0, 20.equ SPEED_B1, 1.equ CURR_RATE, 0x0014.equ SPEED_RATE, 0x04E8.equ CURR_MAX, 0x10B0 .equ CURR_MIN, 0x0.equ VOLT_MAX, 0x1800.equ VOLT_MIN, 0x01FF .equ SPEED_TRANS, 0x01AD .equ SPEED_SAMPLE_OFFSET, 0x01FF .global _reset.global _PWMInterrupt.global _ADCInterrupt.global _FLTAInterrupt.global _DefaultInterrupt.section .nbss, bss, near_curr :.space 6 _speed:.space 6_volt:.space 2_sign:.space 2_sysTimer:.space 2_currTimer:.space 2_speedTimer: .space 2;_adcSample:.space 4_speedPI:.space 4_currLim:.space 4_currPI:.space 4_voltLim:.space 4.text _reset:mov #_SP_init, W15 mov #_SPLIM_init, W0 mov W0, SPLIMnop RCALL _wreg_initmov #SPEED_SET, W0 cp0 W0 bra GE, _clockwise setm _sign neg W0, W0_clockwise:mov #SPEED_TRANS, W1 mul.UU W0, W1, W2 mov.w W2, _speed mov #_volrate, W1 mul.UU W0,W1,W0mov.w W0, _voltRCALL _sys_initRCALL _var_initRCALL _setupnop_Done:nopnopnop bra _Done_PWMInterrupt: push.s push.d W4mov.w _speedTimer, W0 cp _sysTimerbra LT, _next1mov.w _adcSample+2,W0 ; mov #SPEED_SAMPLE_OFFSET,W2sub W0,W2,W4mov #SPEED_RATE, W5 mpy W4*W5,A sac A,#-8,W0 mov.w W0, _speed+2 RCALL _SpeedCtrl mov _sysTimer, W1 add W1, #8, W1 mov W1, _speedTimer _next1: mov.w _currTimer, W0 cp _sysTimerbra LT, _next2mov.w _adcSample,W4 mov #CURR_RATE, W5mul.UU W4, W5, W0mov.w W0, _curr+2RCALL _CurrCtrl RCALL _DutyCircle mov W0, PDC1mov W0, PDC2mov _sysTimer, W1add W1, #2, W1 mov W1, _currTimer _next2: inc.w _sysTimer pwm_end:bclr IFS2,#PWMIFpop.d W4pop.sRETFIE_ADCInterrupt: push W0 mov ADCBUF0, W0 mov.w W0, _adcSample mov ADCBUF1, W0 btst _sign, #0 neg W0, W0 mov.w W0, _adcSample+2adc_end:bclr IFS0,#ADIFpop W0RETFIE _FLTAInterrupt:bclr PTCON,#15 setm PORTDbclr TRISE,#8bclr TRISA,#9bset PORTA,#9_Error:bra _ErrorRETFIE_DefaultInterrupt:bclr PTCON,#15 setm PORTDbclr TRISE,#8bclr TRISA,#10 bset PORTA,#10_Error1:bra _Error1RETFIE_sys_init: bset CORCON,#0bclr CORCON,#SATDWbset INTCON1, #NSTDISmov #0x4000,W0mov W0,IPC2mov #0x5000,W0mov W0,IPC9mov #0x6000,W0mov W0,IPC10bclr IFS2,#PWMIFbclr IFS0,#ADIFbclr IFS2,#FLTAIFbset IEC0,#ADIEbset IEC2,#PWMIEbset IEC2,#FLTAIEbclr TRISD, #11mov #0x0300,W0 mov W0,TRISEmov #0x03FF,W0mov W0,PORTEmov #0x008f,W0 mov W0,FLTACON btst _sign, #0 bra NZ, _pwm_countclock mov #0x0330, W0 mov W0,PWMCON1 mov #0x0A0A,W0 mov W0,OVDCON bra _pwm_next _pwm_countclock: mov #0x0303,W0 mov W0,PWMCON1 mov #0x0505,W0 mov W0,OVDCON _pwm_next: clr W0 mov W0,PWMCON2 mov #0x0002,W0 mov W0,PTCON mov #0x0001,W0 mov W0,SEVTCMP mov #_Tpwm,W0 mov W0,PTPER mov #_Deadtime ,W0 mov W0,DTCON1 clr W0 mov W0,DTCON2 clr.w PDC1 clr.w PDC2 clr.w PDC3 clr.w PDC4 mov W0,FLTBCON mov #0x0404,W0 mov W0,ADCON2 mov #0x0003,W0mov W0,ADCON3 clr ADCHS ;clr ADPCFG clr ADCSSL bset ADCSSL,#7 bset ADCSSL,#12 mov #0x8166,W0 mov W0,ADCON1 RETURN _wreg_init: CLR W0 MOV W0, W14 REPEAT #12 MOV W0, +W14 CLR W14RETURN _var_init: mov #SPEED_B0, W1mov.w W1, _speedPImov #SPEED_B1, W1mov.w W1, _speedPI+2mov #CURR_MAX, W1mov.w W1, _currLimmov #CURR_MIN, W1mov.w W1, _currLim+2mov #CURR_B0, W1mov.w W1, _currPImov #CURR_B1, W1mov.w W1, _currPI+2mov #VOLT_MAX, W1mov.w W1, _voltLimmov #VOLT_MIN, W1mov.w W1, _voltLim+2clr.w _speed+4 clr.w _curr clr.w _curr+4 clr.w _sign clr.w _sysTimer clr.w _currTimer clr.w _speedTimer clr.w _voltRETURN _setup:clr PORTDbset PTCON, #PTENRETURN_SpeedCtrl: mov.w _speed, W4mov.w _speed+2, W2sub W4, W2, W4mov.w _speedPI, W5mpy W4*W5, Amov.w _speed+4, W2sub W4, W2, W4mov.w W4, _speed+4mov.w _speedPI+2, W5mpy W4*W5, Badd Asac A,#-4,W0mov.w _curr, W2 add W2, W0, W0mov.w _currLim, W2 cpsgt W0, W2bra _LowLim1mov W2, W0bra _SpeedCtrl_end_LowLim1: mov.w _currLim+2, W2 cpsgt W0, W2mov W0, W2_SpeedCtrl_end:mov.w W0, _currRETURN _CurrCtrl: mov.w _curr, W4mov.w _curr+2, W2sub W4, W2, W4mov.w _currPI, W5mpy W4*W5, Amov.w _curr+4, W2sub W4, W2, W4mov.w W4, _curr+4mov.w _currPI+2, W5mpy W4*W5, Badd Asac A,W0mov _volt, W2 add W2, W0, W0mov.w _voltLim, W2 cpsgt W0, W2bra _LowLimmov W0, W2bra _CurrCtrl_end_LowLim: mov.w _voltLim+2, W2 cpsgt W0,