?? example_280xadcsoc.c
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//###########################################################################
//
// FILE: Example_280xAdc.c
//
// TITLE: DSP280x ADC Example Program.
//
// ASSUMPTIONS:
//###########################################################################
#include "DSP280x_Device.h" // DSP280x Headerfile Include File
#include "DSP280x_Examples.h" // DSP280x Examples Include File
// Prototype statements for functions found within this file.
interrupt void adc_isr(void);
// Global variables used in this example:
Uint16 LoopCount, ADJ_count;
Uint16 PwmCount;
Uint16 ConversionCount;
Uint16 Voltage1[128];
Uint16 I_SUM; //馬達電流
Uint32 I_SUM128=0;
Uint16 U_SUM; //直流電壓
Uint32 U_SUM128=0;
Uint16 MOTOR_COUNT=0,MOTOR_ADJ=0,MOTOR_ADJ_s60s90=0;//馬達速度控制電壓
Uint32 M_U=0;
Uint32 MOTOR_SUM128=0,MOTOR_SUM=0;
Uint16 Uint16Emf[16],Uint16Emf1;
Uint16 Uint16Motor,Uint16Motor_ERR;
Uint16 EPWM1_CMPA,emf_count,emf_flag,DutyFine,kk=2,EPWM1_CMPA123=300;
Uint16 MT_325=80;
Uint16 GPIO31;
Uint16 Voltage5[128],COUNTMAX,COUNTMIN;
Uint16 Soft_vol=50;
Uint16 I_TEMP=10;
Uint16 M_DC_R;
Uint16 EMF,DC_R=27;
Uint16 EMF_pwma=0;
Uint16 EMF_js=0;
Uint32 LED_COUNT=0;
Uint32 EMF_pj=0,EMF_pj_temp;
Uint16 NOLOAD_CURRENT=0;
Uint16 MAX_PWM=2400;//最大輸出電壓脈沖
Uint16 MAX_PWM_adj=1800;//最大輸出電壓脈沖
Uint16 MAX_COUNT=0,U_SUM_SUM=0,U_SUM_PJ=0;
Uint32 MAX_PWM_SUM=0;
Uint16 M_U_PJ=0,M_U_SUM=0,M_U_COUNT=0,PWM_U=0,PWM_U_TEMP=0;
Uint16 i_temp=10,I_SUM_SUM=0,I_SUM_PJ=0;
Uint16 PWM_RJ=0,pwm_temp,pwm_jj=0;
Uint16 I_ARR[128];
Uint16 U_ARR[128];
Uint16 rqd_flag=0;
void cal_dc_in_vol(void); //--計算輸入直流電壓--
void S60_S90_QF(void);
//--------運行開始標志----
void run_start(void);
//--------------------------------
//---保護投入標志--
struct PROTECT_FLAG_BITS{
Uint16 SAMP_flag:1; //1 采樣標志位
Uint16 FAULT_flag:1; //1 采樣標志位
Uint16 A1_flag:1; //A1標志位
Uint16 S60_S90_flag:1; //A2標志位
Uint16 A3_flag:1; //A3標志位
Uint16 A4_flag:1; //A4標志位
Uint16 soft_run_flag:1;//軟啟動標志位
Uint16 stop_run_flag:1;//軟啟動標志位
Uint16 YX_run_flag:1; //允許啟動標志位
Uint16 YX_exe_flag:1; //允許啟動標志位
Uint16 run_start_flag:1; //允許啟動標志位
Uint16 run_jc_flag:1; //允許啟動標志位
Uint16 pwm_js_flag:1; //允許啟動標志位
Uint16 DZ_ReadErr_flag:1; //reserved //yxl 2007-3-24
};
union PROTECT_FLAG_REG{
Uint16 all;
struct PROTECT_FLAG_BITS bit;
}PROTECT_FLAG_reg;
//----增加PWM部分定義---
typedef struct
{
volatile struct EPWM_REGS *EPwmRegHandle;
Uint16 EPwm_CMPA_Direction;
Uint16 EPwm_CMPB_Direction;
Uint16 EPwmTimerIntCount;
Uint16 EPwmMaxCMPA;
Uint16 EPwmMinCMPA;
Uint16 EPwmMaxCMPB;
Uint16 EPwmMinCMPB;
}EPWM_INFO;
// Prototype statements for functions found within this file.
void InitEPwm1Example(void);
void InitEPwm2Example(void);
//void InitEPwm3Example(void);
interrupt void epwm1_isr(void);
interrupt void epwm2_isr(void);
//interrupt void epwm3_isr(void);
//void update_compare(EPWM_INFO*);
// Global variables used in this example
EPWM_INFO epwm1_info;
EPWM_INFO epwm2_info;
//EPWM_INFO epwm3_info;
// Configure the period for each timer
#define EPWM1_TIMER_TBPRD 2500 // Period register
#define EPWM1_MAX_CMPA 900
#define EPWM1_MIN_CMPA 900
#define EPWM1_MAX_CMPB 900
#define EPWM1_MIN_CMPB 900
#define EPWM2_TIMER_TBPRD 2500 // Period register
#define EPWM2_MAX_CMPA 1750
#define EPWM2_MIN_CMPA 1750
#define EPWM2_MAX_CMPB 1750
#define EPWM2_MIN_CMPB 1750
#define EPWM3_TIMER_TBPRD 2000 // Period register
#define EPWM3_MAX_CMPA 950
#define EPWM3_MIN_CMPA 50
#define EPWM3_MAX_CMPB 1950
#define EPWM3_MIN_CMPB 1050
// To keep track of which way the compare value is moving
#define EPWM_CMP_UP 1
#define EPWM_CMP_DOWN 0
//=============================================================
void motor_ctrl_10(void);
void motor_ctrl_9(void);
void motor_ctrl_8(void);
void motor_ctrl_2(void);
void motor_ctrl_1(void);
//================================================================================
main()
{
Uint16 i,TEMP_PWM;
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP280x_SysCtrl.c file.
InitSysCtrl();
// For this example, set HSPCLK to SYSCLKOUT / 8 (12.5Mhz assuming 100Mhz SYSCLKOUT)
EALLOW;
SysCtrlRegs.HISPCP.all = 0x4; // HSPCLK = SYSCLKOUT/8
EDIS;
// Step 2. Initialize GPIO:
// This example function is found in the DSP280x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio(); // Skipped for this example
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
DINT;
// Initialize the PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
// This function is found in the DSP280x_PieCtrl.c file.
InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
//----------------
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
InitFlash();
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// 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 DSP280x_DefaultIsr.c.
// This function is found in DSP280x_PieVect.c.
InitPieVectTable();
EPwm1Regs.AQCSFRC.bit.CSFA =0x01;
// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
EALLOW; // This is needed to write to EALLOW protected register
PieVectTable.ADCINT = &adc_isr;
//---增加ePWM部分-----
PieVectTable.EPWM1_INT = &epwm1_isr;
PieVectTable.EPWM2_INT = &epwm2_isr;
// PieVectTable.EPWM3_INT = &epwm3_isr;
//----
EDIS; // This is needed to disable write to EALLOW protected registers
//----------------------------------------------------
// For this example, only initialize the ePWM
EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
EDIS;
// For this case just init GPIO pins for ePWM1, ePWM2, ePWM3
// These functions are in the DSP280x_EPwm.c file
InitEPwm1Gpio();
//InitEPwm2Gpio();
//InitEPwm3Gpio();
InitEPwm1Example();
//InitEPwm2Example();
// InitEPwm3Example();
EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
EDIS;
// Step 5. User specific code, enable interrupts:
// Enable CPU INT3 which is connected to EPWM1-3 INT:
IER |= M_INT3;
// Enable EPWM INTn in the PIE: Group 3 interrupt 1-3
PieCtrlRegs.PIEIER3.bit.INTx1 = 1;
PieCtrlRegs.PIEIER3.bit.INTx2 = 1;
PieCtrlRegs.PIEIER3.bit.INTx3 = 1;
//----------------------------------------------------
// Step 4. Initialize all the Device Peripherals:
// This function is found in DSP280x_InitPeripherals.c
// InitPeripherals(); // Not required for this example
InitAdc(); // For this example, init the ADC
// Step 5. User specific code, enable interrupts:
// Enable ADCINT in PIE
PieCtrlRegs.PIEIER1.bit.INTx6 = 1;
IER |= M_INT1; // Enable CPU Interrupt 1
LoopCount = 0;
ConversionCount = 0;
PwmCount = 0;
//EPwm1Regs.CMPA.half.CMPA = 0x0080; // Set compare A value
//EPwm1Regs.TBPRD = 0xFFFF; // Set period for ePWM1
//EPwm1Regs.TBCTL.bit.CTRMODE = 0; // count up and start
EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
Uint16Motor=0;
EPWM1_CMPA=60;
//-------------------------------------------
// Enable GPIO outputs on GPIO8 - GPIO11, set it high
EALLOW;
/* GpioCtrlRegs.GPAPUD.bit.GPIO2 = 0; // Enable pullup on GPIO8
GpioDataRegs.GPASET.bit.GPIO2 = 1; // Load output latch
GpioCtrlRegs.GPAMUX1.bit.GPIO2 = 0; // GPIO8 = GPIO8
GpioCtrlRegs.GPADIR.bit.GPIO2 = 1; // GPIO8 = output
*/
//設置LED故障引腳 D4
GpioCtrlRegs.GPAPUD.bit.GPIO25 = 0; // Enable pullup on GPIO8
GpioDataRegs.GPASET.bit.GPIO25 = 1; // Load output latch
GpioCtrlRegs.GPAMUX2.bit.GPIO25 = 0; // GPIO8 = GPIO8
GpioCtrlRegs.GPADIR.bit.GPIO25 = 1; // GPIO8 = output
//設置LED故障引腳 D5
GpioCtrlRegs.GPAPUD.bit.GPIO26 = 0; // Enable pullup on GPIO8
GpioDataRegs.GPASET.bit.GPIO26 = 1; // Load output latch
GpioCtrlRegs.GPAMUX2.bit.GPIO26 = 0; // GPIO8 = GPIO8
GpioCtrlRegs.GPADIR.bit.GPIO26 = 1; // GPIO8 = output
//設置LED故障引腳 D6
GpioCtrlRegs.GPAPUD.bit.GPIO13 = 0; // Enable pullup on GPIO8
GpioDataRegs.GPASET.bit.GPIO13 = 1; // Load output latch
GpioCtrlRegs.GPAMUX1.bit.GPIO13 = 0; // GPIO8 = GPIO8
GpioCtrlRegs.GPADIR.bit.GPIO13 = 1; // GPIO8 = output
//設置LM2678控制引腳
/*GpioCtrlRegs.GPAPUD.bit.GPIO5 = 0; // Enable pullup on GPIO8
GpioDataRegs.GPASET.bit.GPIO5 = 1; // Load output latch
GpioCtrlRegs.GPAMUX1.bit.GPIO5 = 0; // GPIO8 = GPIO8
GpioCtrlRegs.GPADIR.bit.GPIO5 = 1; // GPIO8 = output
*/
// Enable Trip Zone inputs on GPIO6
GpioCtrlRegs.GPAPUD.bit.GPIO6 = 0; // Enable pullup on GPIO6
GpioCtrlRegs.GPAQSEL1.bit.GPIO6 = 3; // asynch input
GpioCtrlRegs.GPAMUX1.bit.GPIO6 = 0; // GPIO6 = GPIO6
GpioCtrlRegs.GPADIR.bit.GPIO6 = 0; // GPIO6 = input
// Enable Trip Zone inputs on GPIO7
GpioCtrlRegs.GPAPUD.bit.GPIO7 = 0; // Enable pullup on GPIO7
GpioCtrlRegs.GPAQSEL1.bit.GPIO7 = 3; // asynch input
GpioCtrlRegs.GPAMUX1.bit.GPIO7 = 0; // GPIO7 = GPIO7
GpioCtrlRegs.GPADIR.bit.GPIO7 = 0; // GPIO7 = input
// Enable Trip Zone inputs on GPIO8
GpioCtrlRegs.GPAPUD.bit.GPIO8 = 0; // Enable pullup on GPIO8
GpioCtrlRegs.GPAQSEL1.bit.GPIO8 = 3; // asynch input
GpioCtrlRegs.GPAMUX1.bit.GPIO8 = 0; // GPIO8 = GPIO8
GpioCtrlRegs.GPADIR.bit.GPIO8 = 0; // GPIO8 = input
// Enable Trip Zone inputs on GPIO9
GpioCtrlRegs.GPAPUD.bit.GPIO9 = 0; // Enable pullup on GPIO9
GpioCtrlRegs.GPAQSEL1.bit.GPIO9 = 3; // asynch input
GpioCtrlRegs.GPAMUX1.bit.GPIO9 = 0; // GPIO9 = GPIO9
GpioCtrlRegs.GPADIR.bit.GPIO9 = 0; // GPIO9 = input
// Enable Trip Zone inputs on GPIO31
GpioCtrlRegs.GPAPUD.bit.GPIO31 = 0; // Enable pullup on GPIO31
GpioCtrlRegs.GPAQSEL2.bit.GPIO31 = 3; // asynch input
GpioCtrlRegs.GPAMUX2.bit.GPIO31 = 0; // GPIO31 = GPIO31
GpioCtrlRegs.GPADIR.bit.GPIO31 = 0; // GPIO31 = input
// Enable Trip Zone inputs on GPIO32
GpioCtrlRegs.GPBPUD.bit.GPIO32 = 0; // Enable pullup on GPIO32
GpioCtrlRegs.GPBQSEL1.bit.GPIO32 = 3; // asynch input
GpioCtrlRegs.GPBMUX1.bit.GPIO32 = 0; // GPIO32 = GPIO32
GpioCtrlRegs.GPBDIR.bit.GPIO32 = 0; // GPIO32 = input
// Enable Trip Zone inputs on GPIO33
GpioCtrlRegs.GPBPUD.bit.GPIO33 = 0; // Enable pullup on GPIO33
GpioCtrlRegs.GPBQSEL1.bit.GPIO33 = 3; // asynch input
GpioCtrlRegs.GPBMUX1.bit.GPIO33 = 0; // GPIO33 = GPIO33
GpioCtrlRegs.GPBDIR.bit.GPIO33 = 0; // GPIO33 = input
EDIS;
//DSP28x_usDelay(500);
emf_flag=0;
emf_count=0;
GpioDataRegs.GPASET.bit.GPIO2=1;
PROTECT_FLAG_reg.bit.SAMP_flag=0;
PROTECT_FLAG_reg.bit.FAULT_flag=0;
GpioDataRegs.GPACLEAR.bit.GPIO5=1;
EPwm1Regs.AQCSFRC.bit.CSFA =0x01;
//--讀GPIO6-9--
asm(" nop");asm(" nop");asm(" nop");
PROTECT_FLAG_reg.bit.A1_flag =GpioDataRegs.GPADAT.bit.GPIO6;
asm(" nop");asm(" nop");asm(" nop");
PROTECT_FLAG_reg.bit.S60_S90_flag =GpioDataRegs.GPADAT.bit.GPIO7;
asm(" nop");asm(" nop");asm(" nop");
PROTECT_FLAG_reg.bit.A3_flag =GpioDataRegs.GPADAT.bit.GPIO8;
asm(" nop");asm(" nop");asm(" nop");
PROTECT_FLAG_reg.bit.A4_flag =GpioDataRegs.GPADAT.bit.GPIO9;
asm(" nop");asm(" nop");asm(" nop");
PROTECT_FLAG_reg.bit.soft_run_flag=0;
PROTECT_FLAG_reg.bit.stop_run_flag=1;
PROTECT_FLAG_reg.bit.YX_run_flag=1;
PROTECT_FLAG_reg.bit.YX_exe_flag=1;
PROTECT_FLAG_reg.bit.run_start_flag=0;
PROTECT_FLAG_reg.bit.run_jc_flag=0;
//PROTECT_FLAG_reg.bit.pw
//-------------------
for(i=0;i<128;i++)
{
I_ARR[i]=0;
U_ARR[i]=0;
}
//-------------------
// Reset the watchdog counter
//ServiceDog();
if(PROTECT_FLAG_reg.bit.A1_flag==0)//MC2
{
DC_R=25;
}
// DSP28x_usDelay(20000000);
// Enable the watchdog
EALLOW;
SysCtrlRegs.WDCR = 0x0028;
EDIS;
EINT; // Enable Global interrupt INTM
//ERTM; // Enable Global realtime interrupt DBGM
//-------------------------------------------
for(;;)
{
// Reset the watchdog counter
ServiceDog();
asm(" nop");
GPIO31=GpioDataRegs.GPADAT.bit.GPIO31+((GpioDataRegs.GPBDAT.bit.GPIO32)<<1)+((GpioDataRegs.GPBDAT.bit.GPIO33)<<2);
//S60_S90_QF();
LED_COUNT++;
if(LED_COUNT==80000)
GpioDataRegs.GPACLEAR.bit.GPIO26=1;
if(LED_COUNT==160000)
{
LED_COUNT=0;
GpioDataRegs.GPASET.bit.GPIO26=1;
}
//--------------------------------------------
PWM_U=(Uint32)25000/U_SUM_PJ;
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