#include "DSP28_Device.h"
#include "motor.h"


/***************************************************/
interrupt void t1pint_isr(void);
interrupt void t2pint_isr(void);
interrupt void  cap_isr(void);
interrupt void  pdpinta_isr(void);
void delay(unsigned int m);

unsigned int t1prd=117;//定時器1的周期
unsigned int t2prd=117;//定時器2的標志

unsigned int dir=0;//電機轉動方向
unsigned int pwm=20;

unsigned int dccurent,u,v,w,speedad;//直流母線電流
unsigned int dcvoltage;//直流母線電壓
Uint32 Sumdcv=0;
unsigned int dcvcount=0,Averagedcv=0;//母線電壓平均值初始化


unsigned int capstastus;//定義cap口的電平
Uint32 Time,T2cnt,Speed=0,count=0;
unsigned Pole=2;//極對數
Uint32 Sum=0,Average=0;
unsigned int l=0,nn=0;

int t2=0;
unsigned int test[2000],test1[2000],test2[2000];
int sss=0;
/***************************************************/

void main(void)
{
	/*初始化系統*/
	InitSysCtrl();

	/*關中斷*/
	DINT;
	IER = 0x0000;
	IFR = 0x0000;

	/*初始化PIE*/
	InitPieCtrl();

	/*初始化PIE矢量表*/
	InitPieVectTable();	
	
	/*初始化GPIO*/
	Gpioinit();
	
	/*初始化AD*/
	InitAdc();
	
	/*初始化PWM*/
	Init_eva_pwm(); 
    
    /*初始化CAP*/
    Capinit();	
	
	EALLOW;  // This is needed to write to EALLOW protected register
    PieVectTable.CAPINT1=&cap_isr;
    PieVectTable.CAPINT2=&cap_isr;
    PieVectTable.CAPINT3=&cap_isr;
    PieVectTable.T1PINT=&t1pint_isr;
    PieVectTable.T2PINT=&t2pint_isr;
    PieVectTable.PDPINTA=&pdpinta_isr;    
    EDIS;    // This is needed to disable write to EALL
	
	PieCtrl.PIEIER2.bit.INTx4=1;//T1pint中斷
    PieCtrl.PIEIER3.bit.INTx1=1;//T2pint中斷
    PieCtrl.PIEIER3.bit.INTx5=1;//Cap1中斷
    PieCtrl.PIEIER3.bit.INTx6=1;//Cap2中斷
    PieCtrl.PIEIER3.bit.INTx7=1;//Cap3中斷
    PieCtrl.PIEIER1.bit.INTx1=1;//pdpinta中斷    	
	/* 設置IER寄存器 */

	IER |= M_INT1;
    IER |= M_INT2; // t1pint enable
    IER |= M_INT3; // capture enable   
    
    
    // Enable global Interrupts and higher priority real-time debug events:
	startmotor();
	EINT;   // Enable Global interrupt INTM
	ERTM;	// Enable Global realtime interrupt DBGM
	

    
    
// Step 6. IDLE loop. Just sit and loop forever (optional):	
    while(1)
    {           
	}	
} 	


interrupt void  t2pint_isr(void)
{
  count++; 
  EvaRegs.EVAIFRB.bit.T2PINT=1;//清除中斷標志
  EvaRegs.EVAIMRB.bit.T2PINT=1;//中斷允許    
  PieCtrl.PIEACK.bit.ACK3=1;//向cpu申請中斷 
}


interrupt void  cap_isr(void)
{  
   /*****以下用來檢測傳感器的輸出電平，用來換向****/
   Uint32 kk=t2prd;
   EALLOW;
   GpioMuxRegs.GPAMUX.bit.CAP1Q1_GPIOA8=0;//設定cap1~3為gpio
   GpioMuxRegs.GPAMUX.bit.CAP2Q2_GPIOA9=0;
   GpioMuxRegs.GPAMUX.bit.CAP3QI1_GPIOA10=0;   
   GpioMuxRegs.GPADIR.bit.GPIOA8=0;//設定cap1~3為輸入
   GpioMuxRegs.GPADIR.bit.GPIOA9=0;
   GpioMuxRegs.GPADIR.bit.GPIOA10=0;
   capstastus=(GpioDataRegs.GPADAT.all&0x0700)>>8;
   
   if(dir==1)
    {
     	switch(capstastus)//ir2136 的hin和lin是反向的
   	 	{
   			case 1: EvaRegs.ACTR.all=0x7fd;break;//h3 fall
   			case 2: EvaRegs.ACTR.all=0xfd7;break;//h1 fall
   			case 3: EvaRegs.ACTR.all=0x7df;break;//h2 rise
   			case 4: EvaRegs.ACTR.all=0xd7f;break;//h2 fall
   			case 5: EvaRegs.ACTR.all=0xf7d;break;//h1 rise
   			case 6: EvaRegs.ACTR.all=0xdf7;break;//h3 rise
   	 	}
    }
    else
    {
    	switch(capstastus)//ir2136 的hin和lin是反向的
   	 	{
   			case 5: EvaRegs.ACTR.all=0xfd7;break;//h1 rise    
   			case 1: EvaRegs.ACTR.all=0xd7f;break;//h3 fall
   			case 3: EvaRegs.ACTR.all=0xdf7;break;//h2 rise
   			case 2: EvaRegs.ACTR.all=0xf7d;break;//h1 fall
   			case 6: EvaRegs.ACTR.all=0x7fd;break;//h3 rise
   			case 4: EvaRegs.ACTR.all=0x7df;break;//h2 fall
   	 	}
    }
      
   
   /*以下用來計算轉速*/
    T2cnt=EvaRegs.T2CNT;//讀取定時器2的值
    Time=kk*count+ T2cnt;//獲得運轉1相所需時間    
    Sum+=Time;   
    l++;
        
    if(l==12)//每轉12/6/pole計算一下轉速
    {
      Average=Sum/12;  
              
      Speed=kk*20000*60/(Average*6*Pole);//計算轉速        
      Sum=0;      
      l=0;      
      test[nn]=Speed;//測試用，存儲速度值      
      nn++;      
      if(nn==2000)
      {      	 
      	  nn=0;  
      }

    }
    
    count=0;
    EvaRegs.T2CON.all = 0x1400;//關閉定時器2   
    EvaRegs.T2CNT = 0x0000;
    EvaRegs.T2CON.all = 0x1440;//啟動定時器2
    
   
    /*************************/
    GpioMuxRegs.GPAMUX.bit.CAP1Q1_GPIOA8=1;//重新設定cap1~3為gpio
    GpioMuxRegs.GPAMUX.bit.CAP2Q2_GPIOA9=1;
    GpioMuxRegs.GPAMUX.bit.CAP3QI1_GPIOA10=1; 
   
    EvaRegs.EVAIFRC.all = 7 ; // 清捕捉中斷
    EvaRegs.CAPFIFO.all = 0x01500; // 清空捕捉堆棧   
    PieCtrl.PIEACK.bit.ACK3=1;//cap1中斷向cpu申請中斷
}

interrupt void  t1pint_isr(void)
{
    dcvoltage=(AdcRegs.RESULT0)>>4;
  	dccurent=(AdcRegs.RESULT3)>>4;
    w=(AdcRegs.RESULT1)>>4;
    u=(AdcRegs.RESULT2)>>4;  	
    speedad=(AdcRegs.RESULT4)>>4;
    v=(AdcRegs.RESULT5)>>4;     
    
    
    
   //母線電壓檢測，過壓保護，
   //注：電機在啟動或者轉動方向改變時，可能母線電壓有脈動
   //采用多次求平均值
    Sumdcv+=dcvoltage;
    dcvcount++;
    if(dcvcount==500)
    {
    	Averagedcv=Sumdcv/500;//求平均母線電壓
    	Sumdcv=0;
    	dcvcount=0;	
    }    
  		
  	if(Averagedcv>=3000)
  	{
  		stopmotor();
  		GpioDataRegs.GPADAT.bit.GPIOA11 =1;//過壓顯示	
  	}    
  	
  	/******************************/  
  	AdcRegs.ADC_ST_FLAG.bit.INT_SEQ1_CLR=1; //清除狀態字
 	AdcRegs.ADCTRL2.bit.RST_SEQ1=1;//復位seq1
  
  	EvaRegs.EVAIFRA.bit.T1PINT=1;//清除中斷標志
  	EvaRegs.EVAIMRA.bit.T1PINT=1;//中斷允許 
   
  	PieCtrl.PIEACK.bit.ACK2=1;//向cpu申請中斷

}


interrupt void  pdpinta_isr(void)
{
  
  	EvaRegs.EVAIFRA.bit.PDPINTA=1;//清除PDPINTA中斷標志
  	PieCtrl.PIEACK.bit.ACK1=1;//向cpu申請中斷
  	
    stopmotor();
    GpioDataRegs.GPADAT.bit.GPIOA12 =1;//故障顯示
  	EvaRegs.COMCONA.bit.FCOMPOE=1;//重新使能比較輸出
 
}

/***********************************************************************/
//	No	more
/***********************************************************************/