//###########################################################################
//
// 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(dá)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(dá)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(jì)算輸入直流電壓--
void S60_S90_QF(void);
//--------運(yùn)行開始標(biāo)志----
void run_start(void);
//--------------------------------
//---保護(hù)投入標(biāo)志--
struct PROTECT_FLAG_BITS{
	Uint16 SAMP_flag:1;	   //1 采樣標(biāo)志位
	Uint16 FAULT_flag:1;	   //1 采樣標(biāo)志位
	Uint16 A1_flag:1;	   //A1標(biāo)志位
	Uint16 S60_S90_flag:1;	   //A2標(biāo)志位
	Uint16 A3_flag:1;	   //A3標(biāo)志位
	Uint16 A4_flag:1;	   //A4標(biāo)志位
	Uint16 soft_run_flag:1;//軟啟動(dòng)標(biāo)志位	
	Uint16 stop_run_flag:1;//軟啟動(dòng)標(biāo)志位
	Uint16 YX_run_flag:1;     //允許啟動(dòng)標(biāo)志位
	Uint16 YX_exe_flag:1;     //允許啟動(dòng)標(biāo)志位
	Uint16 run_start_flag:1;  //允許啟動(dòng)標(biāo)志位
	Uint16 run_jc_flag:1;     //允許啟動(dòng)標(biāo)志位
    Uint16 pwm_js_flag:1;     //允許啟動(dòng)標(biāo)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(shè)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(shè)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(shè)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(shè)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;