/**************三相馬達(dá)控制用定時(shí)功能測(cè)試程序***************/
//文件名：e3phase.c
//說(shuō)明：  本程序聯(lián)合利用定時(shí)器A1，A2，A4和B2，產(chǎn)生驅(qū)動(dòng)三相馬達(dá)的電壓波形（SPWM），
//	  完成對(duì)三菱M16C/6N系列單片機(jī)的三相馬達(dá)控制用的定時(shí)功能的測(cè)試。晶振頻率為16MHz。
//程序員：文武松
//時(shí)間：  05-04-09

/***********************包含的頭文件************************/
#include "sfr6n.h"		//NOTE：在三菱單片機(jī)的C語(yǔ)言中，頭文件必須用引號(hào)

/*************************宏定義****************************/
#define uint unsigned int
#define uchar unsigned char
#define ulong unsigned long

#define CLK 16			//晶振頻率16MHz
#define modul_rate 80		//調(diào)制比（0.8）*100 
#define carrier_F 3600		//載波頻率20KHz
#define output_F 10		//輸出正弦波的頻率
#define c2_data 399		//carrier period/2=(MCU clk frequency/carrier frequency)/2
#define c4_data	199		//carrier period/4

#define PWM_max 397		//TAi的最大值
#define PWM_min 2		//TAi的最小值

/**********************全局變量的定義***********************/
uint modul_data;		//modul_data=modul_rate*carrier period/4/100
uint sin_cut;			//連續(xù)兩次指向正弦表的指針之差

uint pointer;			//正弦表指針

uint pwm_v;			//v相定時(shí)器寄存器值
uint pwm_w;			//w相定時(shí)器寄存器值
uint pwm_u;			//u相定時(shí)器寄存器值
uint sin_sum;			//指針記憶單元
/*uint A1_DATA;			//定時(shí)器寄存器A1緩沖器
uint A11_DATA;			//定時(shí)器寄存器A11緩沖器
uint A2_DATA;			//定時(shí)器寄存器A2緩沖器
uint A21_DATA;			//定時(shí)器寄存器A21緩沖器
uint A4_DATA;			//定時(shí)器寄存器A4緩沖器
uint A41_DATA;			//定時(shí)器寄存器A41緩沖器
*/
const uint sin_tb[600]={
 174,348,523,697,871,1045,1218,1391,1564,1736,
1908,2079,2249,2419,2588,2756,2923,3090,3255,3420,
3583,3746,3907,4067,4226,4383,4539,4694,4848,5000,
5150,5299,5446,5591,5735,5877,6018,6156,6293,6427,
6560,6691,6819,6946,7071,7193,7313,7431,7547,7660,
7771,7880,7986,8090,8190,8290,8386,8480,8571,8660,
8746,8829,8910,8987,9063,9135,9205,9271,9335,9396,
9455,9510,9563,9612,9659,9702,9743,9781,9816,9848,
9875,9902,9925,9945,9961,9975,9986,9993,9998,10000,
9998,9993,9986,9975,9961,9945,9925,9902,9876,9848,
9816,9781,9743,9702,9659,9612,9563,9510,9455,9396,
9335,9271,9205,9135,9063,8987,8910,8829,8746,8660,
8571,8480,8386,8290,8191,8090,7986,7880,7771,7660,
7547,7431,7313,7193,7071,6946,6819,6691,6560,6427,
6293,6156,6018,5877,5735,5591,5446,5299,5150,5000,
4848,4694,4539,4383,4226,4067,3907,3746,3583,3420,
3555,3090,2923,2756,2588,2419,2249,2079,1908,1736,
1564,1391,1218,1045,871,697,523,348,174,50,
 174,348,523,697,871,1045,1218,1391,1564,1736,
1908,2079,2249,2419,2588,2756,2923,3090,3255,3420,
3583,3746,3907,4067,4226,4383,4539,4694,4848,5000,
5150,5299,5446,5591,5735,5877,6018,6156,6293,6427,
6560,6691,6819,6946,7071,7193,7313,7431,7547,7660,
7771,7880,7986,8090,8190,8290,8386,8480,8571,8660,
8746,8829,8910,8987,9063,9135,9205,9271,9335,9396,
9455,9510,9563,9612,9659,9702,9743,9781,9816,9848,
9875,9902,9925,9945,9961,9975,9986,9993,9998,10000,
9998,9993,9986,9975,9961,9945,9925,9902,9876,9848,
9816,9781,9743,9702,9659,9612,9563,9510,9455,9396,
9335,9271,9205,9135,9063,8987,8910,8829,8746,8660,
8571,8480,8386,8290,8191,8090,7986,7880,7771,7660,
7547,7431,7313,7193,7071,6946,6819,6691,6560,6427,
6293,6156,6018,5877,5735,5591,5446,5299,5150,5000,
4848,4694,4539,4383,4226,4067,3907,3746,3583,3420,
3555,3090,2923,2756,2588,2419,2249,2079,1908,1736,
1564,1391,1218,1045,871,697,523,348,174,50,
 174,348,523,697,871,1045,1218,1391,1564,1736,
1908,2079,2249,2419,2588,2756,2923,3090,3255,3420,
3583,3746,3907,4067,4226,4383,4539,4694,4848,5000,
5150,5299,5446,5591,5735,5877,6018,6156,6293,6427,
6560,6691,6819,6946,7071,7193,7313,7431,7547,7660,
7771,7880,7986,8090,8190,8290,8386,8480,8571,8660,
8746,8829,8910,8987,9063,9135,9205,9271,9335,9396,
9455,9510,9563,9612,9659,9702,9743,9781,9816,9848,
9875,9902,9925,9945,9961,9975,9986,9993,9998,10000,
9998,9993,9986,9975,9961,9945,9925,9902,9876,9848,
9816,9781,9743,9702,9659,9612,9563,9510,9455,9396,
9335,9271,9205,9135,9063,8987,8910,8829,8746,8660,
8571,8480,8386,8290,8191,8090,7986,7880,7771,7660,
7547,7431,7313,7193,7071,6946,6819,6691,6560,6427,
6293,6156,6018,5877,5735,5591,5446,5299,5150,5000,
4848,4694,4539,4383,4226,4067,3907,3746,3583,3420,
3555,3090,2923,2756,2588,2419,2249,2079,1908,1736,
1564,1391,1218,1045,871,697,523,348,174,50,
 174,348,523,697,871,1045,1218,1391,1564,1736,
1908,2079,2249,2419,2588,2756,2923,3090,3255,3420,
3583,3746,3907,4067,4226,4383,4539,4694,4848,5000,
5150,5299,5446,5591,5735,5877,6018,6156,6293,6427,
6560,6691,6819,6946,7071,7193,7313,7431,7547,7660,
7771,7880,7986,8090,8190,8290,8386,8480,8571,8660
};

/*************************函數(shù)聲明**************************/
//void delay_s(uchar x);			//延時(shí)xms子程序
void main_init(void);			//初始化子程序
void angle(void);			//計(jì)算正弦表指針函數(shù)
void Ai_data(void);			//計(jì)算定時(shí)器寄存器值的函數(shù)
void judge_Ai(void);			//定時(shí)器寄存器值上下限判斷子程序
void PWM_SET(void);			//定時(shí)器寄存器賦值子程序
void tb2int(void);			//中斷子程序
void main(void);			//主函數(shù)

/***********************延時(shí)xms子程序***********************/
//說(shuō)明：本函數(shù)實(shí)現(xiàn)了延時(shí)xms的功能
//輸入：x
//輸出：無(wú)
/*void delay_s(uchar x)
{
	uchar n;
	while(x!=0)
	{
		for(n=0;n<=125;n++)
		{
			x--;
		}
	}
}
*/
/***********************初始化子程序************************/
//說(shuō)明：本函數(shù)實(shí)現(xiàn)了對(duì)與三相馬達(dá)控制有關(guān)的一些寄存器的初始化
//輸入：無(wú)
//輸出：無(wú)
void main_init(void)
{
	prc2=1;
	pd8=0x03;			//將P80,P81設(shè)置成輸出方式
	pd7=0x0ff;			//將P72，P73,P74,P75設(shè)置成輸出方式
	prc2=0;
	
	invc0=0x0c;			//有效中斷輸出的規(guī)定位未規(guī)定，三相PWM輸出模式，
					//三角波調(diào)制模式，輸出使能
	invc1=0x06;			//三相模式1，定時(shí)器B2溢出信號(hào)觸發(fā)定時(shí)器Ai，死區(qū)時(shí)間
					//定時(shí)器計(jì)數(shù)源選擇f1/2
	ictb2=2;			//設(shè)置定時(shí)器B2中斷請(qǐng)求發(fā)生的頻率為2
	
	idb0=0x15;			//設(shè)置三相輸出緩沖器0，第6，7位不使用
	idb1=0x2a;			//設(shè)置三相輸出緩沖器1，第6，7位不使用
	
	ta1mr=0x12; 			//選取單次工作方式，計(jì)數(shù)源選取f1
	ta2mr=0x12; 			//選取單次工作方式，計(jì)數(shù)源選取f1
	ta4mr=0x12; 			//選取單次工作方式，計(jì)數(shù)源選取f1
	tb2mr=0x00; 			//選取定時(shí)方式，計(jì)數(shù)源選取f1
	
	trgsr=0x45; 			//定時(shí)器A1，A2，A4選取TB2的溢出觸發(fā)
	tb2=c2_data; 			//設(shè)置定時(shí)器B2的初值
	dtt=24; 			//設(shè)置死區(qū)時(shí)間定時(shí)器DTT（3us）=16MHz(clk)/2*(3us)
}

/*********************計(jì)算正弦表的指針函數(shù)*******************/
//說(shuō)明：本函數(shù)根據(jù)指針跳讀參數(shù)sin_cut確定每次中斷時(shí)指向正弦表sin_tb[]的指針，
//	64個(gè)周期為一個(gè)循環(huán)
//輸入：無(wú)
//輸出：無(wú)
void angle(void)
{
	sin_sum=sin_sum+sin_cut;
	if(sin_sum>=23040)
	{
		sin_sum=sin_sum-23040;
	}
	else
	{
	}
	pointer=sin_sum/64;
}

/*****************計(jì)算定時(shí)器寄存器的值的函數(shù)*****************/
//說(shuō)明：本函數(shù)實(shí)現(xiàn)了對(duì)定時(shí)器寄存器Ai的值的計(jì)算，由于u,v,w相臨兩相之間相位差為120，
//	因此各指針之間相差也為120。
//輸入：無(wú)
//輸出：無(wú)
void Ai_data(void)
{	
//	 uint pwm_u;
	 pwm_u=c4_data-(uint)((ulong)(modul_data*sin_tb[pointer])/1000000);
	 pwm_v=c4_data-(uint)((ulong)(modul_data*sin_tb[pointer+120])/1000000);
	 pwm_w=c4_data-(uint)((ulong)(modul_data*sin_tb[pointer+240])/1000000);
}

/**************定時(shí)器寄存器值的上下限判斷子函數(shù)**************/
//說(shuō)明：本函數(shù)通過(guò)將計(jì)算得到的定時(shí)器寄存器的值與規(guī)定的上下限進(jìn)行比較，最終
//	確定定時(shí)器寄存器Ai,Ai1的值。
//輸入：無(wú)
//輸出：無(wú)
//void judge_Ai(void)
//{
/*	uint A1_DATA;
	uint A11_DATA;
	uint A2_DATA;
	uint A21_DATA;
	uint A4_DATA;
	uint A41_DATA;
*/
//	uint pwm_u;
/*	if(pwm_u>PWM_max)
	{
		A1_DATA=PWM_max;		//若計(jì)算出的定時(shí)器寄存器A1的值
						//大于給定的最大值，則取最大值	
		A11_DATA=c2_data-A1_DATA;
	}
	else 
	{
		if(pwm_u<PWM_min)
		{
			A1_DATA=PWM_min;	//若計(jì)算出的定時(shí)器寄存器A1的值
						//小于給定的最小值，則取最小值
			A11_DATA=c2_data-A1_DATA;
		}
		else
		{
			A1_DATA=pwm_u;		//否則取計(jì)算得到的定時(shí)器寄存器的值
			A11_DATA=c2_data-A1_DATA;
		}
	}
	
	if(pwm_v>PWM_max)
	{
		A2_DATA=PWM_max;		//若計(jì)算出的定時(shí)器寄存器A2的值
						//大于給定的最大值，則取最大值	
		A21_DATA=c2_data-A2_DATA;
	}
	else 
	{
		if(pwm_v<PWM_min)
		{
			A2_DATA=PWM_min;	//若計(jì)算出的定時(shí)器寄存器A2的值
						//小于給定的最小值，則取最小值
			A21_DATA=c2_data-A2_DATA;
		}
		else
		{
			A2_DATA=pwm_v;		//否則取計(jì)算得到的定時(shí)器寄存器的值
			A21_DATA=c2_data-A2_DATA;
		}
	}
	
	if(pwm_w>PWM_max)
	{
		A4_DATA=PWM_max;		//若計(jì)算出的定時(shí)器寄存器A4的值
						//大于給定的最大值，則取最大值	
		A41_DATA=c2_data-A4_DATA;
	}
	else 
	{
		if(pwm_w<PWM_min)
		{
			A4_DATA=PWM_min;	//若計(jì)算出的定時(shí)器寄存器A4的值
						//小于給定的最小值，則取最小值
			A41_DATA=c2_data-A4_DATA;
		}
		else
		{
			A4_DATA=pwm_w;		//否則取計(jì)算得到的定時(shí)器寄存器的值
			A41_DATA=c2_data-A4_DATA;
		}
	}
}
*/
/*********************定時(shí)器賦值子程序***********************/
//說(shuō)明：本函數(shù)將計(jì)算，判斷是否超過(guò)上下限后得到的定時(shí)器寄存器的值賦給定時(shí)器寄存器。
//輸入：無(wú)
//輸出：無(wú)
//void PWM_SET(void)
//{
/*	uint A1_DATA;
	uint A11_DATA;
	uint A2_DATA;
	uint A21_DATA;
	uint A4_DATA;
	uint A41_DATA;
*/
/*	ta1=A1_DATA;
	ta11=A11_DATA;
	ta2=A2_DATA;
	ta21=A21_DATA;
	ta4=A4_DATA;
	ta41=A41_DATA;
}
*/
/************************中斷子程序**************************/
//說(shuō)明：本函數(shù)完成對(duì)定時(shí)器寄存器Ai和Ai1值的計(jì)算及賦值。
//輸入：無(wú)
//輸出：無(wú)
#pragma INTERRUPT/B tb2int
void tb2int(void)
{
	angle();			//計(jì)算正弦表的指針函數(shù)
	Ai_data();			//計(jì)算定時(shí)器寄存器的值函數(shù)
//	judge_Ai();			//定時(shí)器寄存器值的上下限判斷子函數(shù)
//	PWM_SET();			//定時(shí)器賦值子函數(shù)
}

/**************************主函數(shù)****************************/
//說(shuō)明：主要實(shí)現(xiàn)指針跳讀參數(shù)sin_cut及參數(shù)modul_data的計(jì)算，并啟動(dòng)定時(shí)器TB2。
//輸入：無(wú)
//輸出：無(wú)
void main(void)
{
	sin_sum=0;
	main_init();				//初始化子程序
	
	sin_cut=(360*64)/(carrier_F/output_F);
					//計(jì)算連續(xù)兩次指向正弦表的指針之差
	modul_data=c4_data*modul_rate;
	
	asm("FCLR I");			//中斷禁止
	tb2ic=0x07;			//設(shè)置定時(shí)器B2的中斷優(yōu)先級(jí)為7級(jí)
	asm("LDIPL #110B");		//中斷使能級(jí)別為6級(jí)
	asm("FSET I");			//允許中斷
	
	tb2s=1;				//啟動(dòng)定時(shí)器b2
	while(1);
}