#include?“DSP28x_Project.h“
#include?“DSP2833x_EPwm_defines.h“

#include?“IQmathlib.h“
#include?“C28x_FPU_FastRTS.h“

void?HRPWM1_Config（int）;
void?HRPWM2_Config（int）;
void?HRPWM3_Config（int）;
void?HRPWM4_Config（void）;//參考信號
void?HRPWM5_Config（int）;//驅動信號
//void?HRPWM6_Config（int）;
void?EPwmGpio（void）;
void?PIDintial（void）;

void?start（void）;



void?CapGpio（void）;
void?SetCAPMode（void）;

void?Gpio（void）;


void?AB（void）;
void?AC（void）;
void?BC（void）;
void?BA（void）;
void?CA（void）;
void?CB（void）;
void?zero（void）;

interrupt?void?cpu_timer0_isr（void）;//速度計算
interrupt?void?cap_Velocity0（void）;?//轉速的估算
interrupt?void?cap_Velocity1（void）;//鑒相器正向加
interrupt?void?cap_Velocity2（void）;//鑒相器反向減

#define?Start1?GpioDataRegs.GPASET.bit.GPIO10
#define?Start0?GpioDataRegs.GPACLEAR.bit.GPIO10

#define?Start2_1?GpioDataRegs.GPASET.bit.GPIO12
#define?Start2_0?GpioDataRegs.GPACLEAR.bit.GPIO12

#define?reset1?GpioDataRegs.GPASET.bit.GPIO7
#define?reset0?GpioDataRegs.GPACLEAR.bit.GPIO7

#define?Reset1?GpioDataRegs.GPASET.bit.GPIO11
#define?Reset0?GpioDataRegs.GPACLEAR.bit.GPIO11



Uint32?ij?DutyFine?nupdate;
Uint32?duty_2duty_1duty_3;
Uint32?period=20000;
Uint32?cankao_T=50000;//參考頻率為2.5khz對應轉速等于T*8
Uint32??qudong_T=3000;//驅動頻率為50Khz
Uint32?temp;
Uint32?v1=0v2=0v3=0;
Uint32?counter=0;


int?????flag=0;
_iq??KPKIKDKP1KI1KD1KP2KI2KD2;
_iq?kpkikd;
_iq?Error=0vError=0Error1=0Error2=0hvError=0hError1=0hError2=0;
_iq?vError1=0Error1_1=0Error2_1=0hvError_1=0hError1_1=0hError2_1=0;
_iq?vError2=0Error1_2=0Error2_2=0hvError_2=0hError1_2=0hError2_2=0;
_iq?aError=0rError=0;
_iq?aError1=0rError1=0;
_iq?aError2=0rError2=0;

_iq?velocity=0velocity1=0velocity2=0velocity3=0velocity4=0cankao;
_iq?result=0result_hv=0;
_iq?result1=0result2=0;
_iq?duty_v_iq=2900duty_hv_iq=100;
Uint32?duty_v=2900duty_hv=100;

Uint16?jia1jia2jia3;

void??main（void）
{

???????InitSysCtrl（）;
???????DINT;
???????InitPieCtrl（）;

???????IER?=?0x0000;
???????IFR?=?0x0000;

???????InitPieVectTable（）;
???????//初始化Gpio
???????EPwmGpio（）;
???????CapGpio（）;
???????Gpio（）;


???????HRPWM1_Config（period）;???????//?ePWM1?target?15?MHz?PWM?（SYSCLK=150MHz）?or?10?MHz?PWM?（SYSCLK=100MHz）
???????HRPWM2_Config（period）;???????//?ePWM2?target?7.5?MHz?PWM?（SYSCLK=150MHz）?or?5?MHz?PWM?（SYSCLK=100MHz）
???????HRPWM3_Config（period）;
???????HRPWM5_Config（qudong_T）;???????//?驅動信號
???????HRPWM4_Config（）;
?????????//?HRPWM4_Config（cankao_T）;???????//?參考信號

???????start（）;
???????PIDintial（）;



???????EALLOW;
???????SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC?=?0;//PWM模塊時基時鐘同步使能禁止


???????SysCtrlRegs.PCLKCR1.bit.ECAP3ENCLK=1;//使能系統時鐘為CAP3提供基準
???????SysCtrlRegs.PCLKCR1.bit.ECAP5ENCLK=1;//使能系統時鐘為CAP5提供基準
???????SysCtrlRegs.PCLKCR1.bit.ECAP6ENCLK=1;//使能系統時鐘為CAP6提供基準

???????EDIS;

???????EALLOW;??//?This?is?needed?to?write?to?EALLOW?protected?registers
???????PieVectTable.TINT0?=?&cpu_timer0_isr;


???????PieVectTable.ECAP5_INT?=?&cap_Velocity0;
???????PieVectTable.ECAP6_INT?=?&cap_Velocity1;
?