1、DSP2812 PWM生成+QEP光電編碼器解碼實現2011-04-13 19:54#include "DSP281x_Device.h"     / DSP281x Headerfile Include File#include "DSP281x_Examples.h"   / DSP281x Examples Include File#define PWM_Divide 1  /#define Fre_1KHz   /0x493D/0x927B/ Pr

2、ototype statements for functions found within this file./void init_eva(void);/void init_evb(void);void init_PWM(void);void init_QEP_CAP(void);interrupt void T4PINT00_ISR(void);/ Global counts used in this exampleUint16 TEST;Uint32 T2PINT00_ISR_Count;Uint32 T4PINT00_ISR_Count;Uint32 T1CNT0;Uint32 T1C

3、NT1;Uint32 QEPFlag;Uint16 Fre_1KHz;Uint16 Fre_Flag;Uint32 TimeQEP;void main(void) TEST = 0; TimeQEP = 0; QEPFlag = 0; T2PINT00_ISR_Count = 0; T4PINT00_ISR_Count = 0; T1CNT0 = 0; T1CNT1 = 0; Fre_1KHz = 0x927B;/0x493D; Fre_Flag = Fre_1KHz; / Step 1. In

4、itialize System Control: / PLL, WatchDog, enable Peripheral Clocks / This example function is found in the DSP281x_SysCtrl.c file. InitSysCtrl(); / Step 2. Initalize GPIO:  / This example function is found in the DSP281x_Gpio.c file and / illustrates how to set the

5、 GPIO to it's default state. / InitGpio();  / Skipped for this example  / Initialize only GPAMUX and GPBMUX for this test EALLOW; / Enable PWM pins GpioMuxRegs.GPAMUX.all = 0x00FF; / EVA PWM 1-6  pins GpioMuxRegs.GPBMUX.all = 0x00FF; / EVB PWM 7-12 pi

6、ns EDIS; / Step 3. Clear all interrupts and initialize PIE vector table: / Disable CPU interrupts  DINT; / Initialize PIE control registers to their default state. / The default state is all PIE interrupts disabled and flags / are cleared.   / T

7、his function is found in the DSP281x_PieCtrl.c file. InitPieCtrl(); / Disable CPU interrupts and clear all CPU interrupt flags: IER = 0x0000; IFR = 0x0000; / Initialize the PIE vector table with pointers to the shell Interrupt  / Service Routines (ISR).  

8、 / This will populate the entire table, even if the interrupt / is not used in this example.  This is useful for debug purposes. / The shell ISR routines are found in DSP281x_DefaultIsr.c. / This function is found in DSP281x_PieVect.c. InitPieVectTable(); EALLOW;&#

9、160; / This is needed to write to EALLOW protected registers PieVectTable.T4PINT = &T4PINT00_ISR; EDIS;    / This is needed to disable write to EALLOW protected registers / Step 4. Initialize all the Device Peripherals: / This function is found in DSP281x_InitP

10、eripherals.c / InitPeripherals(); / Not required for this example init_PWM(); init_QEP_CAP(); / Step 5. User specific code, enable interrupts: / Enable CPU INT1 which is connected to CPU-Timer 0: IER |= M_INT5; / Enable T2CINT in the PIE: Group 3 interrupt 2 P

11、ieCtrlRegs.PIEIER5.bit.INTx1 = 1; / Enable global Interrupts and higher priority real-time debug events: EINT;   / Enable Global interrupt INTM ERTM;   / Enable Global realtime interrupt DBGM / Just sit and loop forever: / PWM pins can be observed with a

12、scope.  /for(;); while(1)   /TEST = EvaRegs.GPTCONA.bit.T2STAT;/方向測試  if(QEPFlag=1)     if(T1CNT1>T1CNT0)       TimeQEP = (T1CNT1-T1CNT0+65535*T4PINT00_ISR_Count);     

13、0;else       TimeQEP = (T1CNT1-T1CNT0+65535+65535*T4PINT00_ISR_Count);      T1CNT0 = 0;   T1CNT1 = 0;   QEPFlag = 0;    / 對PWM進行實時更改會產生問題，不可以這樣操作  /*if(Fre_Flag != Fre_1KHz)&#

14、160;    EvaRegs.T1CON.bit.TENABLE = 0;   EvbRegs.T3CON.bit.TENABLE = 0;   Fre_Flag = Fre_1KHz;      EvaRegs.T1PR = Fre_Flag;         / Timer1 period      EvaReg

15、s.T1CMPR = Fre_Flag>>1;      / Timer1 compare   Fre_Flag = Fre_1KHz;   EvbRegs.T3PR = Fre_Flag;         / Timer3 period   EvbRegs.T3CMPR = Fre_Flag>>1;     &#

16、160;/ Timer3 compare   Fre_Flag = Fre_1KHz;   EvbRegs.T3CNT = (Fre_Flag*3)>>2;    / Timer3 counter   EvaRegs.T1CON.bit.TENABLE = 1;   EvbRegs.T3CON.bit.TENABLE = 1;  */ void init_PWM(void) / Initaliz

17、e EVA Timer1    EvaRegs.T1PR = Fre_Flag;          / Timer1 period    EvaRegs.T1CMPR = Fre_Flag>>1;      / Timer1 compare    EvaRegs.T1CNT = 0x0000;      &

18、#160;  / Timer1 counter    / T1CON      EvaRegs.T1CON.bit.TMODE = 2;    EvaRegs.T1CON.bit.TPS = PWM_Divide;   / 75000000/8    EvaRegs.T1CON.bit.TENABLE = 0;    EvaRegs.T1CON.bit.TCLKS10 = 0; 

19、;EvaRegs.T1CON.bit.TCLD10 = 0;    EvaRegs.T1CON.bit.TECMPR = 1; / Drive T1 PWM by compare logic EvaRegs.GPTCONA.bit.TCMPOE = 1; / Polarity of GP Timer 1 Compare = Active low EvaRegs.GPTCONA.bit.T1PIN = 1; Fre_Flag = Fre_1KHz; / Initialize EVB Timer3 

20、 EvbRegs.T3PR = Fre_Flag;          / Timer3 period EvbRegs.T3CMPR = Fre_Flag>>1;       / Timer3 compare Fre_Flag = Fre_1KHz; EvbRegs.T3CNT = (Fre_Flag>>2)*3;      / Tim

21、er3 counter / T3CON EvbRegs.T3CON.bit.TMODE = 2; EvbRegs.T3CON.bit.TPS = PWM_Divide;   / 75000000/8 EvbRegs.T3CON.bit.TENABLE = 0; EvbRegs.T3CON.bit.TCLKS10 = 0; EvbRegs.T3CON.bit.TCLD10 = 0; EvbRegs.T3CON.bit.TECMPR = 1; / Drive T3 PWM by compare lo

22、gic EvbRegs.GPTCONB.bit.TCMPOE = 1; / Polarity of GP Timer 3 Compare = Active low EvbRegs.GPTCONB.bit.T3PIN = 1; EvaRegs.T1CON.bit.TENABLE = 1; EvbRegs.T3CON.bit.TENABLE = 1;void init_QEP_CAP(void) / Initalize EVA Timer2  EvaRegs.T2PR = 0xFFFF;  

23、0;      / Timer2 period /EvaRegs.T2CMPR = 0x7000;       / Timer2 compare EvaRegs.T2CNT = 0x0000;        / Timer2 counter / T2CON EvaRegs.T2CON.bit.FREE = 0; EvaRegs.T2CON.bit.SOFT = 0;&

24、#160;EvaRegs.T2CON.bit.rsvd = 0; EvaRegs.T2CON.bit.TMODE = 3;  / 定向增減模式 EvaRegs.T2CON.bit.TPS = 0; EvaRegs.T2CON.bit.T2SWT1 = 0; EvaRegs.T2CON.bit.TENABLE = 1; EvaRegs.T2CON.bit.TCLKS10 = 3;  / QEP為時鐘源 EvaRegs.T2CON.bit.TCLD10 = 0;  / 禁止比較操

25、作 EvaRegs.T2CON.bit.TECMPR = 0; EvaRegs.T2CON.bit.SET1PR = 0; / CAPCONA EvaRegs.CAPCONA.bit.CAPRES = 0;  /  EvaRegs.CAPCONA.bit.CAP12EN = 3; / 使能QRP1、2 EvaRegs.CAPCONA.bit.CAP3EN = 0; EvaRegs.CAPCONA.bit.CAP3TSEL = 0; EvaRegs.CAPCONA.bit.CA

26、P12TSEL = 0; / 定時器選T2 EvaRegs.CAPCONA.bit.CAP3TOADC = 0; / 無操作 EvaRegs.CAPCONA.bit.CAP1EDGE = 3; / QEP1兩個邊沿都檢測 EvaRegs.CAPCONA.bit.CAP2EDGE = 3; / QEP2兩個邊沿都檢測 EvaRegs.CAPCONA.bit.CAP3EDGE = 0; / 不檢測 EvaRegs.CAPFIFOA.all = 0;    / 清除FIF

27、O EvaRegs.EVAIMRB.bit.T2PINT = 1;  / 允許周期中斷 EvaRegs.EVAIFRB.bit.T2PINT = 1;  / 復位中斷標志位 / Initialize EVB Timer4  EvbRegs.T4PR = 0xB71B;         / Timer4 period EvbRegs.T4CNT = 0x0000;    

28、0;   / Timer4 counter EvbRegs.T4CON.bit.FREE = 0; EvbRegs.T4CON.bit.SOFT = 0; EvbRegs.T4CON.bit.rsvd = 0; EvbRegs.T4CON.bit.TMODE = 2;  / 連增模式 EvbRegs.T4CON.bit.TPS = 3;   / 75000000/8 EvbRegs.T4CON.bit.T4SWT3 = 0; EvbRegs.T4CON.bit.TENABLE = 1; EvbRegs.T4CON.bit.TCLKS10 = 0;