【NXP电机驱动套件MAPS-56F84000】试用之三软件开发

wangzh_2002

上一章讲了电机开发套件的硬件电路板，这一章就将软件，我是这方面的新手，软件部分可能进展的比较慢，而且是从最简单的有霍尔传感器的无刷电机入手，找到了一个电机

额定电压14.5V，自带霍尔传感器，功率40W.
在开发软件前先列出驱动一路电机的所有端口

序号	名称	MAPS	作用
1	ADC端口	GPIOA5/ANA5	[url=]A相电流[/url]
2		GPIOB5/ANB5	B相电流
3		GPIOB4/ANB4	C相电流
4		GPIOA6/ANA6	电压
5		GPIOA4/ANA4	母线电流
6	PWM驱动信号	GPIOE1/PWM0A	进行电路上桥和下桥的驱动
7		GPIOE0/PWM0B
8		GPIOE3/PWM1A
9		GPIOE2/PWM1B
10		GPIOE5/PWM2A
11		GPIOE4/PWM2B
12	霍尔传感器	GPIOC3(JP8­_3-CN1_19)	[url=]霍尔A[/url](U)
13		[url=]GPIOC4[/url](JP7_3-CN1_20)	[url=]霍尔[/url]B(V)
14		GPIOC6	霍尔C(W)
15	串口	GPIOF4 (pin 62), TXD1   GPIOF5 (pin 63), RXD1	9600bps，进行监控用
16	SPI	GPIOC10 (pin 54), MOSI0	对MC33937进行读写操作
17		GPIOC8 (pin 52), MISO0
18		GPIOC9 (pin 53), SCLK0
19		GPIOC7 (pin 50), SS0_B
20	按钮	GPIOD5	进行转速加减操作
21		GPIOD6
[url=]22[/url]	指示灯	GPIOB3	故障显示
23	故障检测	GPIOF0- XB_IN6	检测故障
24	MC39337中断	GPIOF3
25	MC39337使能	[url=]GPIOF2[/url]	使能MC33937，进行电机的驱动

从上表可以知道，这个驱动电路共用了25个IO口。
程序的流程，程序还是比较简单，功能也简单，主要是实现电机的运转和调速。

现在对上述端口进行初始化
static void PeripheralCoreInit(void)
{
setReg16(INTC_VBA, 0x0000);  /电源复位用的
setReg16(COP_CTRL, 0x00);//Computer Operating Properly(COP)
/* Initialize peripherals clock, system interrupt*/
PE_low_level_init();//初始化端口
OCCS_Init();//初始化时钟
Timer_Init();//初始化定时器，也就是3个霍尔传感器的检测，采用端口上升沿触发
PWM_A_Init(&udtPWMAreg);//6路PWM初始化，驱动的关键
ADC12_Init();//12位ADC初始化，主要用来进行模拟量（电压的采样）
SPI_Init();//MC33937的SPI初始化
/* SCI1 Init for FreeMATER communication */
SCI1_Init(9600);//实时监控FreeMATER的串口初始化
SIM_PCE0 |= SIM_PCE0_GPIOD; //两个按钮
SIM_PCE0 |= SIM_PCE0_GPIOB; // 故障指示灯
GPIOB_DDR |= GPIOB_DDR_DD_3; //电路板上的 User LED指示灯，用来故障显示
}
其他部分的初始化函数都比较简短，现在仅列出PWM初始化的代码
void PWM_A_Init(PWMA_REG_UPDATE *ptr)
{
  SIM_PCE0   |= SIM_PCE0_GPIOE; // Enable GPIOE clock
  GPIOE_PER   |= (GPIOE_PER_PE_0 | GPIOE_PER_PE_1 | GPIOE_PER_PE_2 | GPIOE_PER_PE_3 | GPIOE_PER_PE_4 | GPIOE_PER_PE_5);   // Enabled PWM peripheral on GPIO_E
  /* enable PWMA 的 SM0, SM1, SM2模块 */
  SIM_PCE3   |= (SIM_PCE3_PWMACH0 | SIM_PCE3_PWMACH1 | SIM_PCE3_PWMACH2); // Enable PWM Module Clock
  /***************************************************************************************/
  /* SM0模块 */
  PWMA_SM0CTRL  = PWMA_SM0CTRL_FULL;  // full reload cycle
  PWMA_SM0CTRL2   = PWMA_SM0CTRL2_FORCE_SEL_1; // Local Reload signal from this submodule
  /* set 16kHz PWM period --> 62.5us = 10ns * (6249 + 1)  */
  PWMA_SM0INIT = 0;
  PWMA_SM0VAL0 = 0;  
  PWMA_SM0VAL1 = 6249;  
  PWMA_SM0VAL2 = 0;    //0% duty cycle
  PWMA_SM0VAL3 = 0;  //0% duty cycle
  PWMA_SM0VAL4 = 0;  //0% duty cycle
  PWMA_SM0VAL5 = 0;  //0% duty cycle
  /* dead time = 1us */
  PWMA_SM0DTCNT0 = 100;
  PWMA_SM0DTCNT1 = 100;
  /* PWM A output set to low polarity due to MC33937 MOSFET driver inputs */
  PWMA_SM0OCTRL |= PWMA_SM0OCTRL_POLA | PWMA_SM0OCTRL_PWMAFS_0;
  /* disable all faults */
  PWMA_SM0DISMAP0 = 0xF011; // enable FAULT0
  PWMA_SM0DISMAP1 = 0;
  /* trigger signal 0 used to synchronize ADC via XBAR */
  PWMA_SM0TCTRL |= PWMA_SM0TCTRL_OUT_TRIG_EN_0;
  /***************************************************************************************/  
  /* SM1 模块 */
  PWMA_SM1CTRL  = PWMA_SM1CTRL_FULL;  // full reload cycle
  PWMA_SM1CTRL2   = PWMA_SM1CTRL2_FORCE_SEL_1 | PWMA_SM1CTRL2_CLK_SEL_1 | PWMA_SM1CTRL2_RELOAD_SEL | PWMA_SM1CTRL2_INIT_SEL_1;  
  /* 设置 16kHz PWM 周期 --> 62.5us = 10ns * (6249 + 1)  */
  PWMA_SM1INIT = 0;
  PWMA_SM1VAL0 = 0;  
  PWMA_SM1VAL1 = 6249;  
  PWMA_SM1VAL2 = 0;    //0% duty cycle
  PWMA_SM1VAL3 = 0;  //0% duty cycle
  PWMA_SM1VAL4 = 0;  //0% duty cycle
  PWMA_SM1VAL5 = 0;  //0% duty cycle
  /* 死区时间 = 1us */
  PWMA_SM1DTCNT0 = 100;
  PWMA_SM1DTCNT1 = 100;
  PWMA_SM1OCTRL |= PWMA_SM1OCTRL_POLA | PWMA_SM1OCTRL_PWMAFS_0;
  PWMA_SM1DISMAP0 = 0xF011; // enable FAULT0
  PWMA_SM1DISMAP1 = 0;
  /***************************************************************************************/  
  /* SM2模块 */
  PWMA_SM2CTRL  = PWMA_SM2CTRL_FULL;  // full reload cycle
  PWMA_SM2CTRL2   = PWMA_SM2CTRL2_FORCE_SEL_1 | PWMA_SM2CTRL2_CLK_SEL_1 | PWMA_SM2CTRL2_RELOAD_SEL | PWMA_SM2CTRL2_INIT_SEL_1;  
  /* 设置 16kHz PWM 频率 --> 62.5us = 10ns * (6249 + 1)  */
  PWMA_SM2INIT = 0;
  PWMA_SM2VAL0 = 0;  
  PWMA_SM2VAL1 = 6249;  
  PWMA_SM2VAL2 = 0;    //0% duty cycle
  PWMA_SM2VAL3 = 0;  //0% duty cycle
  PWMA_SM2VAL4 = 0;   //0% duty cycle
  PWMA_SM2VAL5 = 0;  //0% duty cycle
  PWMA_SM2DTCNT0 = 100;
  PWMA_SM2DTCNT1 = 100;
  PWMA_SM2OCTRL |= PWMA_SM1OCTRL_POLA | PWMA_SM2OCTRL_PWMAFS_0;
  PWMA_SM2DISMAP0 = 0xF011; // enable FAULT0
  PWMA_SM2DISMAP1 = 0;
  /***************************************************************************************/
  PWMA_MCTRL |= PWMA_MCTRL_CLDOK; // Clear LDOK bit
  PWMA_MCTRL |= PWMA_MCTRL_LDOK; // LDOK
  PWMA_MCTRL |= PWMA_MCTRL_RUN; // Enable clock
  /***************************************************************************************/  
  /* PWM 失效监控打开,采用交叉开关的技术，把XB_IN6连接到XBAR_OUT29端口上*/
  SIM_PCE0 |= SIM_PCE0_GPIOF;
  SIM_GPSCL |= SIM_GPSFL_F0_0;
  GPIOF_PER |= GPIOF_PER_PE_0;
  XBARA_SEL14 = 0x0600U; // 输入XB_IN6连接到XBAR_OUT29
  SIM_IPS0 |= SIM_IPS0_PWMAF0; // 选择 XBAR_OUT29 到 PWMA_FAULT0端口
  PWMA_FCTRL0 = PWMA_FCTRL0_FLVL_0 | PWMA_FCTRL0_FAUTO_0; //1
  PWMA_FFILT0 = PWMA_FFILT0_FILT_PER_5; // 滤波
  PWMA_FSTS0  = 0x10; //使能循环输出
}
位置的判断和换向在3个定时器中实现，速度的控制在另一个定时器中实现，也就是定时器TA3
                 
#pragma interrupt saveall
void IsrQTA3Compare(void)
{
  CheckManualInterface(&udtInterfaceStatus);//检查按钮
  if(f16DirectionOfRotation)//方向
  f16SpeedActual = div_s(PERIOD_TO_SPEED,(Word16)uw16HSperiod);//当前速度计算
  else
  f16SpeedActual = negate(div_s(PERIOD_TO_SPEED,(Word16)uw16HSperiod));//方向的速度计算
  if(!uw16HSperiod)//速度为0
  f16SpeedActual = FRAC16(0.0);
  f16SpeedRamp = GFLIB_Ramp16(f16SpeedRequired, f16SpeedRamp, &gfRampSpeed);//调用电机运行库计算
f16SpeedError= sub(abs_s(f16SpeedRamp),abs_s(f16SpeedActual));//速度偏差
f16DutyCycle= GFLIB_ControllerPIp(f16SpeedError, &gfPICtrlParamsSpeed, &i16PiSatFlagSpeed);//PI速度调节
  //if(f16SpeedRequired<400)f16DutyCycle=f16SpeedRequired*2;//速度低于400，强制降低PWM占空比
    MC33927_GetSR0(&mudtStatusRegister0);//读MC33937状态
    MC33927_GetSR1(&mudtStatusRegister1);
    MC33927_GetSR2(&mudtStatusRegister2);
    mudtStatusRegister3= MC33927_GetSR3();
  f16DcbVoltage = ADC12_RSLT0;//读电压值
clrReg16Bits(TMRA_3_SCTRL,0x8000);//清除中断标志
}
#pragma interrupt off
今天就到此为止了，下一次写程序运行情况