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灏嶆噳鐨勮▓绠楁帴鍙ode锛�

/*calculatethePeriodandFreqarrayvalue锛宖illthePeriodvalueintothePeriodregisterduringtheTImerinterrupt.

*calculatetheacceleraTIonprocedure锛宎totally1000elementsarray.

*parameterfre锛伙冀锛歱ointtothearraythatkeepsthefreqvalue.

*period锛伙冀锛歱ointtothearraythatkeepstheTImerperiodvalue.

*len锛歵heprocedureofacceleraTIonlength.itisbestthingtosetthefloatnumber锛宻omecompilesoftwaremaybetransfererrorifsetitasaint

*fre_max锛歮aximumspeed锛宖requencyvale.

*fre_min锛歴tartminimumspeed锛宖requencyvale.mind锛�10000000/65535=152锛宻ofre_mincan鈥榯lessthan152.

*flexible锛歠lexiblevalue.adjusttheScurves

*/

voidCalculateSModelLine锛坒loatfre锛伙冀锛寀nsignedshortperiod锛伙冀锛宖loatlen锛宖loatfre_max锛宖loatfre_min锛宖loatflexible锛�

{

inti=0;

floatdeno;

floatmelo;

floatdelt=fre_max-fre_min;

for锛�;i銆妉en;i++锛�

{

melo=flexible*锛坕-len/2锛�/锛坙en/2锛�;

deno=1.0/锛�1+expf锛�-melo锛夛級;//expfisalibraryfunctionofexponential锛坋锛�

fre锛籭锛�=delt*deno+fre_min;

period锛籭锛�=锛坲nsignedshort锛夛紙10000000.0/fre锛籭锛斤級;//10000000isthetimerdriverfrequency

}

return;

}

//startmovemotor

voidStartPWM锛堬級

{

DriverMotorFlag=TRUE;

Index=0;

MOTOR_EN_DISABLE=ENABLE;

OpenOC4锛圤C_ON|OC_TIMER_MODE16|OC_TIMER3_SRC|OC_PWM_FAULT_PIN_DISABLE锛�0锛�0锛�;

//maprc13tooc4output

RPC13R=11;

//50percentduty

OC4RS=OC_PERIOD_MIN/2;

OpenTimer3锛圱3_ON|T3_PS_1_8锛孫C_PERIOD_MIN锛�;

INTSetVectorPriority锛圛NT_TIMER_3_VECTOR锛孖NT_PRIORITY_LEVEL_6锛�;

INTSetVectorSubPriority锛圛NT_TIMER_3_VECTOR锛孖NT_SUB_PRIORITY_LEVEL_1锛�;

EnableIntT3;

}

//stopmotor锛宧ereisnodeceleration

voidStopPWM锛堬級

{

DriverMotorFlag=FALSE;

Index=0;

MOTOR_EN_DISABLE=DISENABLE;

OpenOC4锛圤C_OFF|OC_TIMER_MODE16|OC_TIMER3_SRC|OC_PWM_FAULT_PIN_DISABLE锛�0锛�0锛�;

//maprc13tooc4output

RPC13R=0;

PORTCbits.RC13=0;

CloseTimer3锛堬級;

DisableIntT3;

}

//changethetimerPeriodvalueinthecorrespondtimerratherthantheotherplace锛孫rthemotorwillbestalledoccasionally.

//鍓涢枊濮嬫垜鍦ㄥ彟澶栫殑涓€鍊嬪畾鏅傚櫒涓柗涓瘡闅�1ms鏀硅畩鎳夌敤鍦∣C妯″鐨則imer3鐨凱eriod鍊�锛岀祼(ji茅)妲�(g貌u)鍋剁櫦(f膩)鐨勯€犳垚闆绘鍦ㄥ姞閫熼亷绋嬩腑鍫佃綁(zhu菐n)銆傚叾瀵︽噳瑭叉槸鍦╰imer3鐨勪腑鏂蜂腑淇敼銆�

staticunsignedshortCountForAcc=0;

void__ISR锛坃TIMER_3_VECTOR锛宨pl6锛塗imer3OutHandler锛坴oid锛�

{

//cleartheinterruptflag锛宱rtheinterruptwillnotoccuragain.

mT3ClearIntFlag锛堬級;

if锛圕ountForAcc++銆�2锛�//herecanadjustthetotallytimeofacceleration

{

CountForAcc=0;

//if锛圖riverMotorFlag==TRUE&&PR3銆婳C_PERIOD_MAX+SPEED_STEP锛�

if锛圖riverMotorFlag==TRUE&&Index銆夾CC_TIMES锛�

{

PR3=Period锛籌ndex++锛�;

OC4RS=PR3/2;

}

}

}

閫氶亷CalculateSModelLine鎺ュ彛寰楀埌濡備笅涓嶅悓鐨勫咕姊濆姞閫熸洸绶氾細

榛冭壊锛欳alculateSModelLine锛團req锛孭eriod锛�1000锛�56000锛�16000锛�4锛�;

姗欒壊锛欳alculateSModelLine锛團req锛孭eriod锛�1000锛�64000锛�500锛�8锛�;

钘嶈壊锛欳alculateSModelLine锛團req锛孭eriod锛�1000锛�64000锛�500锛�15锛�;

鐏拌壊锛欳alculateSModelLine锛團req锛孭eriod锛�1000锛�40000锛�500锛�5锛�;

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鏅傞枔锛歅eriod绗竴鍊嬮粸鐨勫€肩偤10000000/500=20000锛屾渶鍚庝篃榛炵殑鍊�10000000/64000=156锛屽钩鍧囧€肩偤10000宸﹀彸锛宼imer涓柗鐨勫钩鍧囨檪闁揟n=10000/10000000=1ms锛�1000鍊嬮粸锛岀附鏅傞枔鐐�1s锛岀暥鐒�锛岃捣濮嬮牷鐜囧ぇ鍔犻€熸檪闁撳氨瓒婄煭锛屾瘮濡侳min=16000Hz锛孎(xi脿n)max=64000锛屽墖40ms宸﹀彸鍗冲彲瀹屾垚鍔犻€熼亷绋嬨€�

瑙掍綅绉伙細1.8锛堝柈姝ワ級*1000锛堟鏁�(sh霉)锛�/4锛堢窗鍒嗭級=450掳

涓婅堪鐐哄姞閫熼亷绋�锛屾笡閫熷悓妯ｇ殑閬撶悊锛屽彧瑕佸皣鏂圭▼鏀圭偤锛�

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