经典的电机的速度PID控制源程序(运用了TI的DMC) -

#include "2407bit.h"
#include "2407c.h"
#include "2407e.h"
#include "Pid_reg1.h"
#include "display.h"
#include "Speed_Reg.h"
#include "Postion_reg.h"
void IoInit(void);
void KeyScan(void);
unsigned int TimeFlag;
unsigned int dispclk=0;
unsigned int StopKeyCnt=0;
unsigned int KeyFlag[5]={0,0,0,0,0};
unsigned int KeyCnt[5]={0,0,0,0,0};
enum KeyTable {SW,ADD,SUB,XIN1,XIN2};
PIDREG1 pid0 = PIDREG1_DEFAULTS;
SPEEDPID speed0={
&pid0, //Point to PID calc
0, //Speed Freeback
0x01ff, //Init speed
0x100, //Speed
(void (*)(int))EVA_PWM1_Init, //Function for init
(void (*)(int))EVA_PWM1_Updata //Function for updata
};
POSTIONPID postion0={
&speed0, //Speed Reg
0, //Absolute postion
0xfffff, //Reference input
0, //Free back input
0, //Postion Reg Output
0x10, //Speed
1023, //Max Speed
-1023, //Min Speed
0, //E1
0, //E2
130, //Kp
250, //Ki
0, //Kd
(int (*)(int))PostionPid //Updata Function
};
main()
{
unsigned int Led;
asm(" SETC INTM"); //Disable all the interrupt
asm(" SETC SXM"); //Disable sign extend
asm(" CLRC OVM"); //Overflow normally
asm(" CLRC CNF"); //B0 served as data ram
*SCSR1=0x81FE; //CLKOUT is Dsp's Clk Clk=OscX4
*WDCR=0x00E8; //Wacth dog disable
*IMR=0x0032; //Enable INT2 INT6 INT5
*IFR=0xFFFF;
IoInit();
DispInit();
speed0.init();
T3Init();
asm(" CLRC SXM");
asm(" CLRC INTM");
while(KeyCnt[ADD]<5)
{
TimeFlag=0;
StopKeyCnt=0;
if(dispclk==25)
{
Led=(*PCDATDIR)&0x0001; //Change Led
Led=Led^0x0001;
*PCDATDIR=(*PCDATDIR&0xfffe)|Led;
//Display(postion0.PostionF);
Display(speed0.Qep_F);
dispclk=0;
}
//postion0.Updata(&postion0);
speed0.updata(&speed0);
KeyScan();
while(!TimeFlag);
}
while(1)
{
StopKeyCnt=0;
TimeFlag=0;
if(dispclk==25)
{
Led=(*PCDATDIR)&0x0001; //Change Led
Led=Led^0x0001;
*PCDATDIR=(*PCDATDIR&0xfffe)|Led;
Display(postion0.PostionF);
//Display(speed0.Qep_F);
dispclk=0;
}
postion0.Updata(&postion0);
//speed0.updata(&speed0);
KeyScan();
if(KeyCnt[XIN1]>4)
{
postion0.Speed=0;
postion0.PostionR=postion0.PostionF;}
while(!TimeFlag);
}
}
void interrupt gisr2 (void)
{
switch ((*PIVR))
{
case 0x002F :
{
(*EVBIFRA)|=1<<T1PINT; //Clear interrupt flag
(*T3CNT)=0x0000;
speed0.Qep_F=*T4CNT;
postion0.PostionF+=(int)*T4CNT;
//*T2CNT=0;
*T4CNT=0;
dispclk++;
TimeFlag=1;
}
break;
}
}
void interrupt gisr5(void)
{
/*int temp;
temp=0;
switch(*PIVR)
{
case 0x0006: //RX中断
{
temp=*SCIRXBUF;
if(!((*SCICTL1)&0x04))
{
//rxd data
*(RxdBuf+RxdIndex)=temp;
RxdIndex++;
if(RxdIndex==RxdNum)
{
RxdIndex=0;
*SCICTL1=0x0037;
}
}
else if(temp==TxdAdd)
{
//txd data
//txd enable
*SCICTL2=((*SCICTL2)|0x0001)&0xfffd; //发送中断使能
(*PFDATDIR)|=(1<<EN485); //485 发送使能
*SCITXBUF=*(TxdBuf+TxdIndex);
TxdIndex++;
}
else if(temp==RxdAdd)
*SCICTL1=0x0033;
}
break;
case 0x0007: //TX中断
{
//txd data
if(TxdIndex<(TxdNum+1))
{
*SCITXBUF=*(TxdBuf+TxdIndex);
TxdIndex++;
}
else
{
TxdIndex=0;
*SCICTL2=(*SCICTL2&0x0fffe)|0x0002; //接收中断使能
(*PFDATDIR)&=~(1<<EN485); //485 接收使能
}
}
break;
default:break;
}*/
}
void interrupt gisr6(void)
{
/* int i;
switch(*PIVR)
{
case 0x0004: //AD中断
{
*EVBIFRA=1<<T1UFINT; //Clear T1UFINT interrupt
(*ADCTRL2)|=0x0002; //Clear AD interrupt
for(i=0;i<8;i++)
AdValue[i]=*(RESULT8+i)>>6;
}
break;
}*/
}
void IoInit(void)
{
(*MCRA)&=~((1<<IN_DSP0)|(1<<IN_DSP1)|(1<<IN_DSP2)|(1<<IN_DSP3)|(1<<IN_DSP4)|(1<<IN_DSP5)|(1<<IN_DSP6)|(1<<IN_DSP7));
(*MCRB)&=~(1<<IOPC0);
(*MCRC)&=~((1<<OUT_DSP0)|(1<<OUT_DSP1)|(1<<OUT_DSP2)|(1<<OUT_DSP3)|(1<<OUT_DSP4)|(1<<OUT_DSP5)|(1<<OUT_DSP6)|(1<<OUT_DSP7));
(*PADATDIR)&=~(IN_DSP0+8);
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