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motorcontroldemo_035/Vsrc/V_PWM_Module.c

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2019-07-29 08:17:46 +03:00
/*!
Copyright 2017 <EFBFBD><EFBFBD> "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" <EFBFBD> <EFBFBD><EFBFBD><EFBFBD> "<EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
\file V_PWM_Module.c
\brief <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD> (<EFBFBD><EFBFBD>. TPWM_Module)
\author <EFBFBD><EFBFBD><EFBFBD> "<EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>". http://motorcontrol.ru
\version v 2.0 25/03/2016
\addtogroup V_PWM_Module
@{*/
#include "V_IQmath.h"
#include "V_PWM_Module.h"
#include "main.h"
//! <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//! \memberof TPWM_Module
void PWM_Module_Init(TPWM_Module *p) {
SIU->PWMSYNC_bit.PRESCRST = 0; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> - <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// ------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ePWM0
// ------------------------------------------------------------------------
if (p->Frequency < PWM_FREQ_MIN)
p->Frequency = PWM_FREQ_MIN;
if (p->Frequency > PWM_FREQ_MAX)
p->Frequency = PWM_FREQ_MAX;
PWM0->TBPRD = _IQ10div(_IQ10(SystemCoreClock/1000.0), p->Frequency << 1) >> 10; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
p->k_pwm = PWM0->TBPRD;
p->FreqPrev = p->Frequency; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM0->TBPHS_bit.TBPHS = 0x0000; // Phase is 0
PWM0->TBCTR = 0x0000; // Clear counter
// Setup counter mode
PWM0->TBCTL_bit.PRDLD = TB_SHADOW; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> TBPRD <20><><EFBFBD> TBCTR = 0
PWM0->TBCTL_bit.CTRMODE = TB_COUNT_UPDOWN; // Count up-down
PWM0->TBCTL_bit.PHSEN = TB_DISABLE; // Disable phase loading
PWM0->TBCTL_bit.PHSDIR = TB_UP; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
PWM0->TBCTL_bit.HSPCLKDIV = 0; // High Speed Time-base Clock Prescale
PWM0->TBCTL_bit.CLKDIV = 0; // Time-base Clock Prescale
PWM0->TBCTL_bit.SYNCOSEL = TB_CTR_ZERO; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> TBCTR = 0
// Setup shadowing
PWM0->CMPCTL_bit.SHDWAMODE = CC_SHADOW; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> SHADOW <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM0->CMPCTL_bit.LOADAMODE = CC_CTR_ZERO; // Load on period and zero
PWM0->CMPCTL_bit.SHDWBMODE = CC_SHADOW; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> SHADOW <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM0->CMPCTL_bit.LOADBMODE = CC_CTR_ZERO; // Load on period and zero
// Set Compare values
PWM0->CMPA_bit.CMPA = 0; // Set compare A value
// Set actions
PWM0->AQCTLA = AQ_EPWM_DISABLE; // <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> PWM1A <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM0->AQCTLA_bit.ZRO = 1; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM0->AQCTLA_bit.CAU = 2; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM0->AQCTLA_bit.CAD = 1; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD> PWMB <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD> PWM<57>. <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>
PWM0->AQCTLB = PWM0->AQCTLA; // <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> PWM1B <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM0->AQCTLB_bit.ZRO = PWM0->AQCTLA_bit.ZRO; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM0->AQCTLB_bit.CAU = PWM0->AQCTLA_bit.CAU; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM0->AQCTLB_bit.CAD = PWM0->AQCTLA_bit.CAD; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM0->AQSFRC_bit.RLDCSF = 0; //<2F><> <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0
// Setup Deadband
// DBRED = DBFED = 150 * T<>_<EFBFBD><5F><EFBFBD> / 4
PWM0->DBRED = _IQ4mpy(_IQ4(150 / 4), p->DeadBand >> 20) >> 4;
PWM0->DBFED = PWM0->DBRED;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:
// INMODE: S5=0 S4=0 - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> PWMA
// POLSEL: S3 = 1 S2 = 1 - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD>, <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// OUTMODE:S0 = 1 S1 = 1 <20><> <20><><EFBFBD><EFBFBD><EFBFBD> PWMA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> PWMA, <20><> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><> <20><><EFBFBD><EFBFBD><EFBFBD> PWMB <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> PWMA <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD> <20> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM0->DBCTL_bit.INMODE = DBA_ALL;
PWM0->DBCTL_bit.POLSEL = DB_ACTV_HIC;
PWM0->DBCTL_bit.OUTMODE = DB_FULL_ENABLE;
PWM0->ETSEL_bit.INTSEL = ET_DISABLE; // Disable INT (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
PWM0->ETSEL_bit.INTEN = 0; // Disable INT
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> TZ <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (one-shot)
// PWM0->TZSEL_bit.OSHT1 = TZ_ENABLE;
// PWM0->TZSEL_bit.OSHT2 = TZ_ENABLE;
// PWM0->TZSEL_bit.OSHT3 = TZ_ENABLE;
// Trip-Zone
PWM0->TZCTL_bit.TZA = TZ_STATE; // <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> "One-Shot Trip" <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM0->TZCTL_bit.TZB = TZ_STATE; // <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD> VectorCARD <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ADC
//PWM0->ETSEL_bit.SOCAEN = 1; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>
//PWM0->ETSEL_bit.SOCASEL = 1; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> CTR == 0 (Underflow)
// ------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ePWM1
// ------------------------------------------------------------------------
// Setup TBCLK
PWM1->TBPRD = PWM0->TBPRD; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><>
PWM1->TBPHS_bit.TBPHS = 0x0001; // <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> 1 <20><>-<2D><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM1->TBCTR = 0x0000; // Clear counter
// Setup counter mode
PWM1->TBCTL_bit.PRDLD = TB_SHADOW; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> TBPRD <20><><EFBFBD> TBCTR = 0
PWM1->TBCTL_bit.CTRMODE = TB_COUNT_UPDOWN; // Count up-down
PWM1->TBCTL_bit.PHSEN = TB_ENABLE; // Enable phase loading
PWM1->TBCTL_bit.PHSDIR = TB_UP; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
PWM1->TBCTL_bit.HSPCLKDIV = 0; // High Speed Time-base Clock Prescale
PWM1->TBCTL_bit.CLKDIV = 0; // Time-base Clock Prescale
PWM1->TBCTL_bit.SYNCOSEL = TB_SYNC_IN; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"
// Setup shadowing
PWM1->CMPCTL_bit.SHDWAMODE = CC_SHADOW; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> SHADOW <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM1->CMPCTL_bit.LOADAMODE = CC_CTR_ZERO; // Load on period and zero
PWM1->CMPCTL_bit.SHDWBMODE = CC_SHADOW; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> SHADOW <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM1->CMPCTL_bit.LOADBMODE = CC_CTR_ZERO; // Load on period and zero
// Set Compare values
PWM1->CMPA_bit.CMPA = 0; // Set compare A value
// Set actions
PWM1->AQCTLA = AQ_EPWM_DISABLE; // <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM1->AQCTLA_bit.ZRO = 1; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM1->AQCTLA_bit.CAU = 2; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM1->AQCTLA_bit.CAD = 1; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD> PWMB <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD> PWM<57>. <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>
PWM1->AQCTLB = PWM0->AQCTLA; // <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> PWM1B <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM1->AQCTLB_bit.ZRO = PWM0->AQCTLA_bit.ZRO; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM1->AQCTLB_bit.CAU = PWM0->AQCTLA_bit.CAU; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM1->AQCTLB_bit.CAD = PWM0->AQCTLA_bit.CAD; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM1->AQSFRC_bit.RLDCSF = 0; //<2F><> <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0
// Active high complementary PWMs - Setup Deadband
PWM1->DBRED = PWM0->DBRED;
PWM1->DBFED = PWM1->DBRED;
PWM1->DBCTL_bit.INMODE = PWM0->DBCTL_bit.INMODE;
PWM1->DBCTL_bit.OUTMODE = PWM0->DBCTL_bit.OUTMODE;
PWM1->DBCTL_bit.POLSEL = PWM0->DBCTL_bit.POLSEL;
// Interrupt where we will change the Compare Values
PWM1->ETSEL_bit.INTSEL = ET_DISABLE; // Disable INT
PWM1->ETSEL_bit.INTEN = 0; // Disable INT
// Trip-Zone
PWM1->TZCTL_bit.TZA = TZ_STATE; // <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> "One-Shot Trip" <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM1->TZCTL_bit.TZB = TZ_STATE; // <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// ------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ePWM2
// ------------------------------------------------------------------------
// Setup TBCLK
PWM2->TBPRD = PWM0->TBPRD;
PWM2->TBPHS_bit.TBPHS = 0x0001; // <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> 1 <20><>-<2D><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM2->TBCTR = 0x0000; // Clear counter
// Setup counter mode
PWM2->TBCTL_bit.PRDLD = TB_SHADOW; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> TBPRD <20><><EFBFBD> TBCTR = 0
PWM2->TBCTL_bit.CTRMODE = TB_COUNT_UPDOWN; // Count up-down
PWM2->TBCTL_bit.PHSEN = TB_ENABLE; // Enable phase loading
PWM2->TBCTL_bit.PHSDIR = TB_UP; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
PWM2->TBCTL_bit.HSPCLKDIV = 0; // High Speed Time-base Clock Prescale
PWM2->TBCTL_bit.CLKDIV = 0; // Time-base Clock Prescale
PWM2->TBCTL_bit.SYNCOSEL = TB_SYNC_IN; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// Setup shadowing
PWM2->CMPCTL_bit.SHDWAMODE = CC_SHADOW; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> SHADOW <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM2->CMPCTL_bit.LOADAMODE = CC_CTR_ZERO; // Load on period and zero
PWM2->CMPCTL_bit.SHDWBMODE = CC_SHADOW; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> SHADOW <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM2->CMPCTL_bit.LOADBMODE = CC_CTR_ZERO; // Load on period and zero
// Set Compare values
PWM2->CMPA_bit.CMPA = 0; // Set compare A value
// Set actions
PWM2->AQCTLA = AQ_EPWM_DISABLE; // <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM2->AQCTLA_bit.ZRO = 1; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM2->AQCTLA_bit.CAU = 2; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM2->AQCTLA_bit.CAD = 1; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD> PWMB <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD> PWM<57>. <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>
PWM2->AQCTLB = PWM0->AQCTLA; // <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> PWM1B <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM2->AQCTLB_bit.ZRO = PWM0->AQCTLA_bit.ZRO; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM2->AQCTLB_bit.CAU = PWM0->AQCTLA_bit.CAU; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM2->AQCTLB_bit.CAD = PWM0->AQCTLA_bit.CAD; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM2->AQSFRC_bit.RLDCSF = 0; //<2F><> <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0
// Active high complementary PWMs - Setup Deadband
PWM2->DBRED = PWM0->DBRED;
PWM2->DBFED = PWM2->DBRED;
PWM2->DBCTL_bit.INMODE = PWM0->DBCTL_bit.INMODE;
PWM2->DBCTL_bit.OUTMODE = PWM0->DBCTL_bit.OUTMODE;
PWM2->DBCTL_bit.POLSEL = PWM0->DBCTL_bit.POLSEL;
// Interrupt where we will change the Compare Values
PWM2->ETSEL_bit.INTSEL = ET_DISABLE; // Disable INT
PWM2->ETSEL_bit.INTEN = 0; // Disable INT
// Trip-Zone
PWM2->TZCTL_bit.TZA = TZ_STATE; // <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> "One-Shot Trip" <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM2->TZCTL_bit.TZB = TZ_STATE; // <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
PWM0->TZFRC_bit.OST = 1;
PWM1->TZFRC_bit.OST = 1;
PWM2->TZFRC_bit.OST = 1;
//PWM0->TBCTL_bit.FREESOFT = 0;
//<2F><><EFBFBD> 6 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
GPIOA->ALTFUNCSET = (1 << 8) + (1 << 9) + (1 << 10) + (1 << 11) + (1 << 12) + (1 << 13);
GPIOA->DENSET = (1 << 8) + (1 << 9) + (1 << 10) + (1 << 11) + (1 << 12) + (1 << 13);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>
SIU->PWMSYNC_bit.PRESCRST= 0b111;
}
//! <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
//!<21><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Ud,
//!<21><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20>
//!<21><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
//! \memberof TPWM_Module
void PWM_Module_NormInput(TPWM_Module* p) {
_iq knorm;
p->UalphaNorm=p->UalphaRef;
p->UbetaNorm=p->UbetaRef;
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<28><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
p->U_mag=_IQmag(p->UalphaNorm,p->UbetaNorm);
p->UdCorTmp=_IQdiv(_IQ(1.0),(_IQ(1.0)+_IQmpy((adc.Udc_meas-_IQ(1.0)),p->UdCompK)));
//<2F><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> Ud
if (p->UdCompEnable&1) { //<2F><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?
p->UalphaNorm=_IQmpy(p->UalphaNorm, p->UdCorTmp);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>-<2D><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
p->UbetaNorm=_IQmpy(p->UbetaNorm, p->UdCorTmp);//<2F> <20><><EFBFBD> <20><><EFBFBD><EFBFBD>
}
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD> U_lim=1.0, <20><><EFBFBD> <20> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> U_lim
if (p->U_lim>_IQ(1.0/0.866)) //<2F><> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
p->U_lim=_IQ(1.0/0.866);
/* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*/
knorm=_IQmag(p->UalphaNorm,p->UbetaNorm);//<2F><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> 540 <20> 311
if (knorm>=p->U_lim) { //<2F><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?
knorm=_IQdiv(p->U_lim,knorm);//<2F> <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
p->UalphaNorm=_IQmpy(knorm,p->UalphaNorm);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
p->UbetaNorm=_IQmpy(knorm,p->UbetaNorm);//<2F> <20><><EFBFBD>
p->ULimitation=1;//<2F><><EFBFBD><EFBFBD> <20> <20><><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
} else
p->ULimitation=0;
/* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*/
/* <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, 220*sqrt(2)
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
*/
p->UalphaNorm=_IQmpy(p->UalphaNorm,_IQ(0.866));
p->UbetaNorm=_IQmpy(p->UbetaNorm,_IQ(0.866));
}
//! <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 6<><36> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>
//! \memberof TPWM_Module
void PWM_Module_No_SV_Update(TPWM_Module *p) {
_iq lambda1;
_iq lambda2;
_iq lambda3;
int16 gamma;
int16 gamma1;
long tmp_pwm;
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>.
DINT;
if (PWM0->TBCTR>30) {
PWM0->CMPA_bit.CMPA=(Uint16)p->GammaA;
PWM1->CMPA_bit.CMPA=(Uint16)p->GammaB;
PWM2->CMPA_bit.CMPA=(Uint16)p->GammaC;
}
EINT;
PWM_Module_NormInput(p);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20>.<2E>. http://motorcontrol.ru/wp-content/uploads/2015/11/Chuev_vector_control.pdf
tmp_pwm = _IQmpy(_1_SQRT3,p->UbetaNorm); /*<2A><><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> 3*/
lambda1 = _IQmpy(p->k_pwm,(p->UalphaNorm - tmp_pwm));
lambda2 = _IQmpy(p->k_pwm,2*tmp_pwm);
lambda3 = _IQmpy(p->k_pwm,p->UalphaNorm + tmp_pwm);
if (lambda1<=0)
if (lambda3>0) {
gamma=lambda3;
gamma1=-lambda1;
p->sector=1; /*110 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
p->GammaA=p->k_pwm-gamma;
p->GammaB=p->k_pwm-(gamma+gamma1+1);
p->GammaC=p->k_pwm-0;
} else if (lambda2>0) {
gamma=lambda2;
gamma1=-lambda3;
p->sector=2; /*011 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
p->GammaA=p->k_pwm-0;
p->GammaB=p->k_pwm-(gamma+gamma1+1);
p->GammaC=p->k_pwm-gamma1;
/*011 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
} else if (lambda1!=0) {
gamma=-lambda1;
gamma1=-lambda2;
p->sector=3; /*011 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
p->GammaA=p->k_pwm-0;
p->GammaB=p->k_pwm-gamma;
p->GammaC=p->k_pwm-(gamma+gamma1+1);
/*011 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
} else {
gamma=-lambda3;
gamma1 = lambda1;
p->sector= 4; /*101 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
p->GammaA=p->k_pwm-gamma1;
p->GammaB=p->k_pwm-0;
p->GammaC=p->k_pwm-(gamma+gamma1+1);
/*101 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
}
else if (lambda2>0) {
gamma=lambda1;
gamma1=lambda2;
p->sector= 0; /*110 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
p->GammaA=p->k_pwm-(gamma+gamma1+1);
p->GammaB=p->k_pwm-gamma1;
p->GammaC=p->k_pwm-0;
/*110 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
} else if (lambda3<0) {
gamma=-lambda3;
gamma1 = lambda1;
p->sector= 4; /*101 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
p->GammaA=p->k_pwm-gamma1;
p->GammaB=p->k_pwm-0;
p->GammaC=p->k_pwm-(gamma+gamma1+1);
/*101 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
} else {
gamma=-lambda2;
gamma1=lambda3;
p->sector=5; /*101 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
p->GammaA=p->k_pwm-(gamma+gamma1+1);
p->GammaB=p->k_pwm-0;
p->GammaC=p->k_pwm-gamma;
/*101 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
}
/*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
if (p->GammaA<0) p->GammaA=0;
if (p->GammaB<0) p->GammaB=0;
if (p->GammaC<0) p->GammaC=0;
if (p->GammaA>p->k_pwm) p->GammaA=p->k_pwm+1;
if (p->GammaB>p->k_pwm) p->GammaB=p->k_pwm+1;
if (p->GammaC>p->k_pwm) p->GammaC=p->k_pwm+1;
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>.
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> - <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD>
DINT;
if (PWM0->TBCTR>30) {
Ряд правок: V_PWM_Module.c - изменено чередование ШИМ каналов; V_adc.c - добавлена обработка датчика температуры; cood1.c - изменены дефолтные коэффициенты усиления для датчиков тока и датчика температуры.
2019-09-24 11:41:09 +03:00
PWM0->CMPA_bit.CMPA=(Uint16)p->GammaB;
PWM1->CMPA_bit.CMPA=(Uint16)p->GammaC;
PWM2->CMPA_bit.CMPA=(Uint16)p->GammaA;
Initial commit
2019-07-29 08:17:46 +03:00
}
EINT;
}
//! <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>
//! \memberof TPWM_Module
void PWM_Module_Sin_Update(TPWM_Module *p) {
_iq PhasePtsA;
_iq PhasePtsB;
_iq PhasePtsC;
_iq knorm;
p->UalphaNorm = p->UalphaRef;
p->UbetaNorm = p->UbetaRef;
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<28><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
p->U_mag = _IQmag(p->UalphaNorm, p->UbetaNorm);
/* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*/
knorm = _IQmag(p->UalphaNorm, p->UbetaNorm);
if (knorm >= p->U_lim) { //<2F><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?
knorm = _IQdiv(p->U_lim, knorm); //<2F> <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
p->UalphaNorm = _IQmpy(knorm, p->UalphaNorm); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
p->UbetaNorm = _IQmpy(knorm, p->UbetaNorm); //<2F> <20><><EFBFBD>
p->ULimitation = 1; //<2F><><EFBFBD><EFBFBD> <20> <20><><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
} else
p->ULimitation = 0;
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. <20><><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> 0.866 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,
//<2F><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> (270<37> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 311<31>), <20><> <20><><EFBFBD> <20><><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//p->UalphaNorm, p->UbetaNorm <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> 1/0.866 <20><><EFBFBD>.
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
p->UalphaNorm = _IQmpy(p->UalphaNorm, _IQ(1/0.866/2));
p->UbetaNorm = _IQmpy(p->UbetaNorm, _IQ(1/0.866/2));
/*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD> <20> a,b,c */
PhasePtsA = _IQ(0.5) - (p->UalphaNorm);
PhasePtsB = _IQ(0.5) - (_IQmpy(p->UbetaNorm,_IQ(0.8660254)) - (p->UalphaNorm >> 1));
PhasePtsC = _IQ(0.5) - (-_IQmpy(p->UbetaNorm, _IQ(0.8660254)) - (p->UalphaNorm >> 1));
p->GammaA = _IQmpy(p->k_pwm, PhasePtsA);
p->GammaB = _IQmpy(p->k_pwm, PhasePtsB);
p->GammaC = _IQmpy(p->k_pwm, PhasePtsC);
/*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
if (p->GammaA < 0)
p->GammaA = 0;
if (p->GammaB < 0)
p->GammaB = 0;
if (p->GammaC < 0)
p->GammaC = 0;
if (p->GammaA > p->k_pwm)
p->GammaA = p->k_pwm + 1;
if (p->GammaB > p->k_pwm)
p->GammaB = p->k_pwm + 1;
if (p->GammaC > p->k_pwm)
p->GammaC = p->k_pwm + 1;
Ряд правок: V_PWM_Module.c - изменено чередование ШИМ каналов; V_adc.c - добавлена обработка датчика температуры; cood1.c - изменены дефолтные коэффициенты усиления для датчиков тока и датчика температуры.
2019-09-24 11:41:09 +03:00
PWM0->CMPA_bit.CMPA = (Uint16) p->GammaB;
PWM1->CMPA_bit.CMPA = (Uint16) p->GammaC;
PWM2->CMPA_bit.CMPA = (Uint16) p->GammaA;
Initial commit
2019-07-29 08:17:46 +03:00
}
//! <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<28><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> SRM)
//! \memberof TPWM_Module
void PWM_Module_Separate_Update(TPWM_Module *p) {
_iq PhasePtsA;
_iq PhasePtsB;
_iq PhasePtsC;
_iq knorm;
p->UPhARef = _IQmpy(p->UPhARef, _IQ(0.5));
p->UPhBRef = _IQmpy(p->UPhBRef, _IQ(0.5));
p->UPhCRef = _IQmpy(p->UPhCRef, _IQ(0.5));
PhasePtsA = _IQ(0.5) - p->UPhARef;
PhasePtsB = _IQ(0.5) - p->UPhBRef;
PhasePtsC = _IQ(0.5) - p->UPhCRef;
p->GammaA = _IQmpy(p->k_pwm, PhasePtsA);
p->GammaB = _IQmpy(p->k_pwm, PhasePtsB);
p->GammaC = _IQmpy(p->k_pwm, PhasePtsC);
/*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
if (p->GammaA < 0)
p->GammaA = 0;
if (p->GammaB < 0)
p->GammaB = 0;
if (p->GammaC < 0)
p->GammaC = 0;
if (p->GammaA > p->k_pwm)
p->GammaA = p->k_pwm + 1;
if (p->GammaB > p->k_pwm)
p->GammaB = p->k_pwm + 1;
if (p->GammaC > p->k_pwm)
p->GammaC = p->k_pwm + 1;
Ряд правок: V_PWM_Module.c - изменено чередование ШИМ каналов; V_adc.c - добавлена обработка датчика температуры; cood1.c - изменены дефолтные коэффициенты усиления для датчиков тока и датчика температуры.
2019-09-24 11:41:09 +03:00
PWM0->CMPA_bit.CMPA = (Uint16) p->GammaB;
PWM1->CMPA_bit.CMPA = (Uint16) p->GammaC;
PWM2->CMPA_bit.CMPA = (Uint16) p->GammaA;
Initial commit
2019-07-29 08:17:46 +03:00
}
//! <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//! \memberof TPWM_Module
void PWM_Module_ChargingMode(TPWM_Module *p) {
p->GammaA = p->k_pwm;
p->GammaB = p->k_pwm;
p->GammaC = p->k_pwm;
DINT;
if (PWM0->TBCTR > 30) {
PWM0->CMPA_bit.CMPA = (Uint16) p->GammaA;
PWM1->CMPA_bit.CMPA = (Uint16) p->GammaB;
PWM2->CMPA_bit.CMPA = (Uint16) p->GammaC;
}
EINT;
}
//! <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> (<28><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>), <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
//! \memberof TPWM_Module
void PWM_Module_Update(TPWM_Module *p) {
if (p->ChargingMode)
PWM_Module_ChargingMode(p);
else {
switch (p->PWM_type) {
case PWM_TYPE_6SECT_NO_SV: {
PWM_Module_No_SV_Update(p);
break;
}
case PWM_TYPE_SIN_PWM: {
PWM_Module_Sin_Update(p);
break;
}
case PWM_TYPE_SRD: {
PWM_Module_Separate_Update(p);
break;
}
}
}
}
//! <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//! <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//! <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20> <20>.<2E>.
//! \memberof TPWM_Module
void PWM_Module_SlowCalc(TPWM_Module *p) {
Uint16 tmp;
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if (p->DeadBand < DEAD_BAND_MIN)
p->DeadBand = DEAD_BAND_MIN;
if (p->DeadBand > DEAD_BAND_MAX)
p->DeadBand = DEAD_BAND_MAX;
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IQ <20> <20><><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> 100<30><30><EFBFBD>
PWM0->DBRED = _IQ4mpy(_IQ4(100), p->DeadBand >> 20) >> 4;
//<2F><> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><> <20><> <20><><EFBFBD><EFBFBD><EFBFBD>
PWM0->DBFED = PWM0->DBRED;
PWM1->DBFED = PWM0->DBRED;
PWM1->DBRED = PWM0->DBRED;
PWM2->DBFED = PWM0->DBRED;
PWM2->DBRED = PWM0->DBRED;
if (p->MinGammaLimit < DEAD_BAND_MIN)
p->MinGammaLimit = GAMMA_LIMIT_MIN;
if (p->MinGammaLimit > DEAD_BAND_MAX)
p->MinGammaLimit = GAMMA_LIMIT_MAX;
PWM0->FWDTH = _IQ4mpy(_IQ4(100), p->MinGammaLimit >> 20) >> 4;
PWM1->FWDTH = PWM0->FWDTH;
PWM2->FWDTH = PWM0->FWDTH;
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>. <20><><EFBFBD><EFBFBD><EFBFBD> "<22><> <20><><EFBFBD><EFBFBD>".
if (p->FreqPrev != p->Frequency) { //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
DINT; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if (p->Frequency < PWM_FREQ_MIN)
p->Frequency = PWM_FREQ_MIN;
if (p->Frequency > PWM_FREQ_MAX)
p->Frequency = PWM_FREQ_MAX;
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
p->k_pwm = _IQ10div(_IQ10(SystemCoreClock/1000.0), p->Frequency << 1) >> 10; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM0->TBPRD = p->k_pwm;
//<2F><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><> <20><> <20><><EFBFBD><EFBFBD><EFBFBD>
PWM1->TBPRD = p->k_pwm;
PWM2->TBPRD = p->k_pwm;
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>
adc.IASampleLength = (p->Frequency >> 10) / 10; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 22.10, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD> <20><> 10 - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if (adc.IASampleLength > 4) //<2F><> <20><><EFBFBD><EFBFBD><EFBFBD> 4 <20><><EFBFBD><EFBFBD><EFBFBD>
adc.IASampleLength = 4;
if (adc.IASampleLength < 1) //<2F><> <20><><EFBFBD><EFBFBD><EFBFBD> 1 <20><><EFBFBD><EFBFBD><EFBFBD>
adc.IASampleLength = 1;
adc.IBSampleLength = adc.IASampleLength;
adc.ICSampleLength = adc.IASampleLength;
adc.UdcSampleLength = adc.IASampleLength;
p->FreqPrev = p->Frequency; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
EINT;
}
}
//! <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
//! \memberof TPWM_Module
void PWM_Module_On(TPWM_Module *p) {
p->Enabled = 1; //<2F><><EFBFBD><EFBFBD> "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWM0->TZCLR_bit.OST = 1;
PWM1->TZCLR_bit.OST = 1;
PWM2->TZCLR_bit.OST = 1;
}
//! <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
//! \memberof TPWM_Module
void PWM_Module_Off(TPWM_Module *p) {
p->Enabled = 0; //<2F><><EFBFBD><EFBFBD> "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
PWM0->TZFRC_bit.OST = 1;
PWM1->TZFRC_bit.OST = 1;
PWM2->TZFRC_bit.OST = 1;
}
/*@}*/
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