//********************************************
//采用TMS320F2812實現二相永磁同步電機的磁場定向控制
//文件名稱：PMSM3_1.C
//*******************************************
//#include "IQmathLib.h"/*包含IQmath庫函數的頭文件*/
//void mian()
//{}

#include "DSP281x_Device.h"     // DSP281x Headerfile Include File
#include "pid.h"

#define TXCOUNT 10
#define RXCOUNT 1000
#define N 10


long loopcount=0;
Uint16 CAN_REV_H[1000];
Uint16 CAN_REV_L[1000];
Uint16 ConversionCount=0;
long CAN_REV;
long m=0;
void InitEcan(void);
void IODIS(void);
Uint16 filter(Uint16 *);
int t1_cnt=0;


//ECAN0 interrupt declaration
interrupt void ECAN0_ISR(void);
interrupt void adc_isr(void);
interrupt void eva_timer1_isr(void);

//Function declaration 
void can_send(void);

Uint16 Loopcnt;
//Uint16 ConversionCount;
Uint16 Voltage1[N];
Uint16 Voltage2[N];
Uint16 temp;

Uint32 sum=0;
Uint16 tmp=0;
Uint16 value[N];
float32 v_p;
Uint16  v_p1;

  struct STRUCT_PID sPID;     //PID Control Stucture
  Uint32 rOut=0;  //PID Response(Output)
  Uint32 rIn=0;   //PID Feedback(Input)

 void main(void)
{
  struct ECAN_REGS ECanaShadow;
  Loopcnt=0;

  //pid parameters setting
 
  
  PID_Init(&sPID);//Initialize Stucture
  sPID.Derivative=1;
  sPID.Integral=2;
  sPID.LastError=0;
  sPID.PrevError=0;
  sPID.Proportion=2;
  sPID.SetPoint=1;
  sPID.SumError=0;
//  ConversionCount=0;
// Step 1. Initialize 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 GPIO to it's default state.
// InitGpio();  // Skipped for this example
 
// For this example use the following configuration:
   InitGpio();	  

// 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.  
// This 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).  
// 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();
   InitECan();
   InitAdc();


// Reconfigure PIE vector address
EALLOW;
PieVectTable.T1CINT=&eva_timer1_isr;
PieVectTable.ECAN0INTA=&ECAN0_ISR;
PieVectTable.ADCINT=&adc_isr;
EDIS;

// Enable ECAN0
     
     PieCtrlRegs.PIEIER1.bit.INTx6=1; //A/D interrupt
     PieCtrlRegs.PIEIER2.all=M_INT5; //T1PR interrupt
	 PieCtrlRegs.PIEIER9.all=M_INT5;  // CAN interrupt
    
     IER|=(M_INT1|M_INT2|M_INT9);
     InitEv();
     EINT;
     ERTM;

 
 
// Step 4. Initialize all the Device Peripherals:
// This function is found in DSP281x_InitPeripherals.c
// InitPeripherals(); // Not required for this example
//EvaRegs.T1CMPR=0x0080;
//EvaRegs.T1PR=0xFFFF;
//EvaRegs.GPTCONA.bit.T1TOADC=1;
//EvaRegs.T1CON.all=0x1042;

  



//while(1)
//{
//while(ECanaRegs.CANRMP.all!=0xFFFFFFFF){}
//ECanaRegs.CANRMP.all=0xFFFFFFFF;
//}
 //start to send
 while(1)
 {
 can_send();
 Loopcnt++;


// IODIS();
 }


/******************/
// CAN 接受程序
/******************/

 }

 interrupt void ECAN0_ISR(void)
 {

m++;
CAN_REV_H[m]=ECanaMboxes.MBOX3.MDH.word.HI_WORD;
CAN_REV_L[m]=ECanaMboxes.MBOX3.MDL.word.LOW_WORD;
CAN_REV=CAN_REV_H[m]*65536+CAN_REV_L[m];

ECanaMboxes.MBOX0.MDH.all=CAN_REV_H[m];
ECanaMboxes.MBOX0.MDL.all=CAN_REV_L[m];

ECanaRegs.CANRMP.bit.RMP3=1;
if(m>1000)
{m=0;}
can_send();
return;

 }
 
interrupt void adc_isr(void)
{

Voltage1[ConversionCount]=(AdcRegs.ADCRESULT0)/16;
Voltage2[ConversionCount]=AdcRegs.ADCRESULT1;

if(ConversionCount==N-1)
{
IODIS();
temp=filter(Voltage1)/(8);
v_p=((float32)(temp))/4095*3.3;
v_p1=(Uint16)(v_p*1000);
BC7281Init(v_p1);
delay_loop();

 rIn++;
 rOut=PIDCalc(sPID,rIn);
 if(rIn>4095)
 {rIn=0;}


//can_send();
//temp=temp*256;
//InitEva(0x7FFF);

ConversionCount=0;
}
else ConversionCount++;

// restart next ADC conversion
AdcRegs.ADCTRL2.bit.RST_SEQ1=1; // reset SEQ1;
AdcRegs.ADCST.bit.INT_SEQ1_CLR=1;
PieCtrlRegs.PIEACK.all=PIEACK_GROUP1;
//can_send();
return;
}


//中值濾波程序
Uint16 filter(Uint16 *a)
{
char i,j;
sum=0;
for(i=0;i<N;i++)
{
value[i]=a[i];
}

//排序算法，總共要進行(N-1)+(N-2)＋....1次才可以
for(j=0;j<N-1;j++)//j=0--10
{
 for(i=0;i<N-1-j;i++)//(i=0-11,---i=0--1)
 {
  if(value[i]>value[i+1])
  {
   tmp=value[i];
   value[i]=value[i+1];
   value[i+1]=tmp;
   }
 }
}
sum=value[1]+value[2]+value[3]+value[4]+value[5]+value[6]+value[7]+value[8];
return sum;
}


//定時器1中斷程序
interrupt void eva_timer1_isr(void)
{
PieCtrlRegs.PIEIER1.bit.INTx6=0;
if(t1_cnt>4)
{
EvaRegs.CMPR1=0x01FF;
EvaRegs.T1CMPR=0x01FF;
t1_cnt=0;
}
else 
{t1_cnt++;
EvaRegs.CMPR1=0x00FF;
EvaRegs.T1CMPR=0x00FF;
}
//can_send();

EvaRegs.EVAIMRA.bit.T1CINT=1;
EvaRegs.EVAIFRA.all=BIT8;
PieCtrlRegs.PIEACK.all=PIEACK_GROUP2;

PieCtrlRegs.PIEIER1.bit.INTx6=1;
return;
}


//CAN發送程序
void can_send(void)
{
int i;
struct ECAN_REGS ECanaShadow;
 for (i=0;i<TXCOUNT;i++)
 {
 ECanaShadow.CANTRS.all=0;
 ECanaShadow.CANTRS.bit.TRS0=1;

 ECanaRegs.CANTRS.all=ECanaShadow.CANTRS.all;

 while(ECanaRegs.CANTA.bit.TA0==0){} //wait the finish of transmit msg
 
 ECanaShadow.CANTA.all=0;
 ECanaShadow.CANTA.bit.TA0=1;   // clear TA1

 ECanaRegs.CANTA.all=ECanaShadow.CANTA.all;
 loopcount++;
 }
 loopcount=0;
}