seklyuts/MotorControlModuleSDFM_TMS320F28388D
2
0
Fork 0
Code Issues Pull Requests Packages Projects Releases 4 Wiki Activity

сделана возможность меннять частоту ШИМ

Browse Source
This commit is contained in:
seklyuts 2024-08-21 08:38:36 +03:00
parent 1035d02861
commit 44cfb121d4
28 changed files with 393 additions and 205 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
Projects/epwm_test_biss_c_cpu1/.cproject
View File

@ -15,7 +15,7 @@
<storageModule moduleId="cdtBuildSystem" version="4.0.0"> <storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactExtension="out" artifactName="${ProjName}" buildProperties="" cleanCommand="${CG_CLEAN_CMD}" description="" id="com.ti.ccstudio.buildDefinitions.C2000.Default.1796646261" name="CPU1_FLASH" parent="com.ti.ccstudio.buildDefinitions.C2000.Default"> <configuration artifactExtension="out" artifactName="${ProjName}" buildProperties="" cleanCommand="${CG_CLEAN_CMD}" description="" id="com.ti.ccstudio.buildDefinitions.C2000.Default.1796646261" name="CPU1_FLASH" parent="com.ti.ccstudio.buildDefinitions.C2000.Default">
<folderInfo id="com.ti.ccstudio.buildDefinitions.C2000.Default.1796646261." name="/" resourcePath=""> <folderInfo id="com.ti.ccstudio.buildDefinitions.C2000.Default.1796646261." name="/" resourcePath="">
<toolChain id="com.ti.ccstudio.buildDefinitions.C2000_22.6.exe.DebugToolchain.2086402514" name="TI Build Tools" secondaryOutputs="" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.exe.DebugToolchain" targetTool="com.ti.ccstudio.buildDefinitions.C2000_22.6.exe.linkerDebug.1002978132"> <toolChain id="com.ti.ccstudio.buildDefinitions.C2000_22.6.exe.DebugToolchain.2086402514" name="TI Build Tools" secondaryOutputs="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.outputType__BIN.2063562915" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.exe.DebugToolchain" targetTool="com.ti.ccstudio.buildDefinitions.C2000_22.6.exe.linkerDebug.1002978132">
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.core.OPT_TAGS.606629708" superClass="com.ti.ccstudio.buildDefinitions.core.OPT_TAGS" valueType="stringList"> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.core.OPT_TAGS.606629708" superClass="com.ti.ccstudio.buildDefinitions.core.OPT_TAGS" valueType="stringList">
<listOptionValue builtIn="false" value="DEVICE_CONFIGURATION_ID=TMS320C28XX.TMS320F28388D"/> <listOptionValue builtIn="false" value="DEVICE_CONFIGURATION_ID=TMS320C28XX.TMS320F28388D"/>
<listOptionValue builtIn="false" value="DEVICE_CORE_ID="/> <listOptionValue builtIn="false" value="DEVICE_CORE_ID="/>
@ -68,7 +68,7 @@
<listOptionValue builtIn="false" value="CPU1"/> <listOptionValue builtIn="false" value="CPU1"/>
<listOptionValue builtIn="false" value="_FLASH"/> <listOptionValue builtIn="false" value="_FLASH"/>
</option> </option>
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.OPT_LEVEL.112350031" name="Optimization level (--opt_level, -O)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.OPT_LEVEL" useByScannerDiscovery="false" value="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.OPT_LEVEL.off" valueType="enumerated"/> <option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.OPT_LEVEL.112350031" name="Optimization level (--opt_level, -O)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.OPT_LEVEL" useByScannerDiscovery="false" value="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.OPT_LEVEL._none" valueType="enumerated"/>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DIAG_SUPPRESS.774130655" name="Suppress diagnostic &lt;id&gt; (--diag_suppress, -pds)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DIAG_SUPPRESS" useByScannerDiscovery="false" valueType="stringList"> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DIAG_SUPPRESS.774130655" name="Suppress diagnostic &lt;id&gt; (--diag_suppress, -pds)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DIAG_SUPPRESS" useByScannerDiscovery="false" valueType="stringList">
<listOptionValue builtIn="false" value="10063"/> <listOptionValue builtIn="false" value="10063"/>
</option> </option>
@ -104,11 +104,11 @@
<inputType id="com.ti.ccstudio.buildDefinitions.C2000_22.6.exeLinker.inputType__GEN_CMDS.124158911" name="Generated Linker Command Files" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.exeLinker.inputType__GEN_CMDS"/> <inputType id="com.ti.ccstudio.buildDefinitions.C2000_22.6.exeLinker.inputType__GEN_CMDS.124158911" name="Generated Linker Command Files" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.exeLinker.inputType__GEN_CMDS"/>
</tool> </tool>
<tool id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.1747906040" name="C2000 Hex Utility" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex"> <tool id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.1747906040" name="C2000 Hex Utility" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex">
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.TOOL_ENABLE.1913583788" name="Enable tool" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.TOOL_ENABLE" value="false" valueType="boolean"/> <option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.TOOL_ENABLE.1913583788" name="Enable tool" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.TOOL_ENABLE" value="true" valueType="boolean"/>
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.BYTE.1101072510" name="Output as bytes rather than target addressing (--byte, -byte)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.BYTE" value="false" valueType="boolean"/> <option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.BYTE.1101072510" name="Output as bytes rather than target addressing (--byte, -byte)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.BYTE" value="false" valueType="boolean"/>
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.MAP.1539045047" name="Specify map file name (--map, -map=file)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.MAP" value="" valueType="string"/> <option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.MAP.1539045047" name="Specify map file name (--map, -map=file)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.MAP" value="" valueType="string"/>
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.LINKERFILL.1786756473" name="Include linker fill sections in images (--linkerfill, -linkerfill)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.LINKERFILL" value="false" valueType="boolean"/> <option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.LINKERFILL.1786756473" name="Include linker fill sections in images (--linkerfill, -linkerfill)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.LINKERFILL" value="false" valueType="boolean"/>
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.OUTPUT_FORMAT.1010264582" name="Output format" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.OUTPUT_FORMAT" value="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.OUTPUT_FORMAT.ASCII" valueType="enumerated"/> <option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.OUTPUT_FORMAT.1010264582" name="Output format" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.OUTPUT_FORMAT" value="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.OUTPUT_FORMAT.BINARY" valueType="enumerated"/>
<outputType id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.outputType__BIN.2063562915" name="Binary File" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.outputType__BIN"/> <outputType id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.outputType__BIN.2063562915" name="Binary File" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.outputType__BIN"/>
</tool> </tool>
</toolChain> </toolChain>

12
Projects/epwm_test_biss_c_cpu1/2838x_FLASH_lnk_cpu1.cmd
View File

@ -36,12 +36,12 @@ MEMORY
// RAMGS15_RSVD : origin = 0x01CFF8, length = 0x000008 /* Reserve and do not use for code as per the errata advisory "Memory: Prefetching Beyond Valid Memory" */ // RAMGS15_RSVD : origin = 0x01CFF8, length = 0x000008 /* Reserve and do not use for code as per the errata advisory "Memory: Prefetching Beyond Valid Memory" */
/* Flash sectors */ /* Flash sectors */
FLASH0 : origin = 0x080002, length = 0x001FFE /* on-chip Flash */ FLASH0 : origin = 0x080002, length = 0x001FFE, fill=0x0000 /* on-chip Flash */
FLASH1 : origin = 0x082000, length = 0x002000 /* on-chip Flash */ FLASH1 : origin = 0x082000, length = 0x002000, fill=0x0000 /* on-chip Flash */
FLASH2 : origin = 0x084000, length = 0x002000 /* on-chip Flash */ FLASH2 : origin = 0x084000, length = 0x002000, fill=0x0000 /* on-chip Flash */
FLASH3 : origin = 0x086000, length = 0x002000 /* on-chip Flash */ FLASH3 : origin = 0x086000, length = 0x002000, fill=0x0000 /* on-chip Flash */
FLASH4 : origin = 0x088000, length = 0x008000 /* on-chip Flash */ FLASH4 : origin = 0x088000, length = 0x008000, fill=0x0000 /* on-chip Flash */
FLASH5 : origin = 0x090000, length = 0x008000 /* on-chip Flash */ FLASH5 : origin = 0x090000, length = 0x008000, fill=0x0000 /* on-chip Flash */
FLASH6 : origin = 0x098000, length = 0x008000 /* on-chip Flash */ FLASH6 : origin = 0x098000, length = 0x008000 /* on-chip Flash */
FLASH7 : origin = 0x0A0000, length = 0x008000 /* on-chip Flash */ FLASH7 : origin = 0x0A0000, length = 0x008000 /* on-chip Flash */
FLASH8 : origin = 0x0A8000, length = 0x008000 /* on-chip Flash */ FLASH8 : origin = 0x0A8000, length = 0x008000 /* on-chip Flash */

13
Projects/epwm_test_biss_c_cpu1/src/Peripherals/gpio_init.c
View File

@ -92,6 +92,15 @@ void GpioInit(void)
InputXbarRegs.INPUT4SELECT = GPIO_FaultPWMpin;//xint1 InputXbarRegs.INPUT4SELECT = GPIO_FaultPWMpin;//xint1
GpioCtrlRegs.GPIO_Bttonclik_MUX.bit.GPIO_Bttonclik = 0;//Buttons Clik
GpioCtrlRegs.GPIO_Bttonclik_GMUX.bit.GPIO_Bttonclik = 0;
GpioCtrlRegs.GPIO_Bttonclik_DIR.bit.GPIO_Bttonclik = 0;
GpioDataRegs.GPIO_Bttonclik_DAT.bit.GPIO_Bttonclik = 0;
GpioCtrlRegs.GPIO_Bttonclik_SEL.bit.GPIO_Bttonclik = 2;
InputXbarRegs.INPUT6SELECT = GPIO_Bttonclikpin;//xint3
GpioCtrlRegs.GPAMUX2.bit.GPIO20 = 1;//EQEP GpioCtrlRegs.GPAMUX2.bit.GPIO20 = 1;//EQEP
GpioCtrlRegs.GPAGMUX2.bit.GPIO20 = 0; GpioCtrlRegs.GPAGMUX2.bit.GPIO20 = 0;
GpioCtrlRegs.GPADIR.bit.GPIO20 = 0; GpioCtrlRegs.GPADIR.bit.GPIO20 = 0;
@ -122,9 +131,9 @@ void GpioInit(void)
GpioCtrlRegs.GPDCSEL1.bit.GPIO103 = 2; GpioCtrlRegs.GPDCSEL1.bit.GPIO103 = 2;
#else #else
GpioCtrlRegs.GPAMUX2.bit.GPIO21 = 0; GpioCtrlRegs.GPAMUX2.bit.GPIO21 = 0;
GpioCtrlRegs.GPAGMUX2.bit.GPIO21 = 0; GpioCtrlRegs.GPAGMUX2.bit.GPIO21 = 0;//питание датчика bissc
GpioCtrlRegs.GPADIR.bit.GPIO21 = 1; GpioCtrlRegs.GPADIR.bit.GPIO21 = 1;
GpioDataRegs.GPADAT.bit.GPIO21 = 1;//BISS-C_PWR_EN GpioDataRegs.GPADAT.bit.GPIO21 = 0;//BISS-C_PWR_EN
GpioCtrlRegs.GPACSEL3.bit.GPIO21 = 2; GpioCtrlRegs.GPACSEL3.bit.GPIO21 = 2;
GpioCtrlRegs.GPDMUX1.bit.GPIO98 = 0; GpioCtrlRegs.GPDMUX1.bit.GPIO98 = 0;

8
Projects/epwm_test_biss_c_cpu1/src/config.h
View File

@ -37,6 +37,14 @@
#define GPIO_FaultPWM_MUX GPDMUX1 #define GPIO_FaultPWM_MUX GPDMUX1
#define GPIO_FaultPWMpin 99 #define GPIO_FaultPWMpin 99
#define GPIO_Bttonclik GPIO83
#define GPIO_Bttonclik_SEL GPCCSEL3
#define GPIO_Bttonclik_DIR GPCODR
#define GPIO_Bttonclik_DAT GPCDAT
#define GPIO_Bttonclik_GMUX GPCGMUX2
#define GPIO_Bttonclik_MUX GPCMUX2
#define GPIO_Bttonclikpin 83
#define GPIO_RS485_DE 133 #define GPIO_RS485_DE 133
#define GPIO_RS485_RE 145 #define GPIO_RS485_RE 145

1
Projects/epwm_test_biss_c_cpu1/src/vector.c
View File

@ -136,7 +136,6 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
BissStartSet(); BissStartSet();
FMSTREnableSet(); FMSTREnableSet();
AdcStartSet(); AdcStartSet();
} }
void vectorInitCurrLoop(void) void vectorInitCurrLoop(void)

5
Projects/epwm_test_biss_c_cpu1/src/vector.h
View File

@ -1,7 +1,7 @@
/* /*
* vector.h * vector.h
* *
* Created on: 20 сент. 2023 г. * Created on: 20 <EFBFBD><EFBFBD><EFBFBD><EFBFBD>. 2023 <EFBFBD>.
* Author: seklyuts * Author: seklyuts
*/ */
@ -76,7 +76,7 @@ typedef struct
typedef enum typedef enum
{ {
OffMode, //Мотор остановлен OffMode, //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
StepMode, // StepMode, //
StayMode, StayMode,
CurrentRegTune, CurrentRegTune,
@ -95,6 +95,7 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
void vectorFault(void); void vectorFault(void);
float my_sqrtf(float x); float my_sqrtf(float x);
void vectorResCurrLoop(void); void vectorResCurrLoop(void);
void vectorRegKoeffRecalc(float Koeff);
#endif /* SRC_VECTOR_H_ */ #endif /* SRC_VECTOR_H_ */

3
Projects/epwm_test_biss_c_cpu1/targetConfigs/TMS320F28388D.ccxml
View File

@ -1,7 +1,6 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?> <?xml version="1.0" encoding="UTF-8" standalone="no"?>
<configurations XML_version="1.2" id="configurations_0"> <configurations XML_version="1.2" id="configurations_0">
<configuration XML_version="1.2" id="Texas Instruments XDS2xx USB Debug Probe_0"> <configuration XML_version="1.2" id="Texas Instruments XDS2xx USB Debug Probe_0">
<instance XML_version="1.2" desc="Texas Instruments XDS2xx USB Debug Probe_0" href="connections/TIXDS2XXUSB_Connection.xml" id="Texas Instruments XDS2xx USB Debug Probe_0" xml="TIXDS2XXUSB_Connection.xml" xmlpath="connections"/> <instance XML_version="1.2" desc="Texas Instruments XDS2xx USB Debug Probe_0" href="connections/TIXDS2XXUSB_Connection.xml" id="Texas Instruments XDS2xx USB Debug Probe_0" xml="TIXDS2XXUSB_Connection.xml" xmlpath="connections"/>
<connection XML_version="1.2" id="Texas Instruments XDS2xx USB Debug Probe_0"> <connection XML_version="1.2" id="Texas Instruments XDS2xx USB Debug Probe_0">

6
Projects/epwm_test_biss_c_cpu2/.cproject
View File

@ -15,7 +15,7 @@
<storageModule moduleId="cdtBuildSystem" version="4.0.0"> <storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactExtension="out" artifactName="${ProjName}" buildProperties="" cleanCommand="${CG_CLEAN_CMD}" description="" id="com.ti.ccstudio.buildDefinitions.C2000.Default.1796646261" name="CPU2_FLASH" parent="com.ti.ccstudio.buildDefinitions.C2000.Default"> <configuration artifactExtension="out" artifactName="${ProjName}" buildProperties="" cleanCommand="${CG_CLEAN_CMD}" description="" id="com.ti.ccstudio.buildDefinitions.C2000.Default.1796646261" name="CPU2_FLASH" parent="com.ti.ccstudio.buildDefinitions.C2000.Default">
<folderInfo id="com.ti.ccstudio.buildDefinitions.C2000.Default.1796646261." name="/" resourcePath=""> <folderInfo id="com.ti.ccstudio.buildDefinitions.C2000.Default.1796646261." name="/" resourcePath="">
<toolChain id="com.ti.ccstudio.buildDefinitions.C2000_22.6.exe.DebugToolchain.2086402514" name="TI Build Tools" secondaryOutputs="" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.exe.DebugToolchain" targetTool="com.ti.ccstudio.buildDefinitions.C2000_22.6.exe.linkerDebug.1002978132"> <toolChain id="com.ti.ccstudio.buildDefinitions.C2000_22.6.exe.DebugToolchain.2086402514" name="TI Build Tools" secondaryOutputs="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.outputType__BIN.2063562915" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.exe.DebugToolchain" targetTool="com.ti.ccstudio.buildDefinitions.C2000_22.6.exe.linkerDebug.1002978132">
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.core.OPT_TAGS.606629708" superClass="com.ti.ccstudio.buildDefinitions.core.OPT_TAGS" valueType="stringList"> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.core.OPT_TAGS.606629708" superClass="com.ti.ccstudio.buildDefinitions.core.OPT_TAGS" valueType="stringList">
<listOptionValue builtIn="false" value="DEVICE_CONFIGURATION_ID=TMS320C28XX.TMS320F28388D"/> <listOptionValue builtIn="false" value="DEVICE_CONFIGURATION_ID=TMS320C28XX.TMS320F28388D"/>
<listOptionValue builtIn="false" value="DEVICE_CORE_ID="/> <listOptionValue builtIn="false" value="DEVICE_CORE_ID="/>
@ -105,11 +105,11 @@
<inputType id="com.ti.ccstudio.buildDefinitions.C2000_22.6.exeLinker.inputType__GEN_CMDS.124158911" name="Generated Linker Command Files" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.exeLinker.inputType__GEN_CMDS"/> <inputType id="com.ti.ccstudio.buildDefinitions.C2000_22.6.exeLinker.inputType__GEN_CMDS.124158911" name="Generated Linker Command Files" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.exeLinker.inputType__GEN_CMDS"/>
</tool> </tool>
<tool id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.1747906040" name="C2000 Hex Utility" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex"> <tool id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.1747906040" name="C2000 Hex Utility" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex">
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.TOOL_ENABLE.1913583788" name="Enable tool" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.TOOL_ENABLE" value="false" valueType="boolean"/> <option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.TOOL_ENABLE.1913583788" name="Enable tool" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.TOOL_ENABLE" value="true" valueType="boolean"/>
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.BYTE.1101072510" name="Output as bytes rather than target addressing (--byte, -byte)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.BYTE" value="false" valueType="boolean"/> <option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.BYTE.1101072510" name="Output as bytes rather than target addressing (--byte, -byte)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.BYTE" value="false" valueType="boolean"/>
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.MAP.1539045047" name="Specify map file name (--map, -map=file)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.MAP" value="" valueType="string"/> <option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.MAP.1539045047" name="Specify map file name (--map, -map=file)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.MAP" value="" valueType="string"/>
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.LINKERFILL.1786756473" name="Include linker fill sections in images (--linkerfill, -linkerfill)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.LINKERFILL" value="false" valueType="boolean"/> <option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.LINKERFILL.1786756473" name="Include linker fill sections in images (--linkerfill, -linkerfill)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.LINKERFILL" value="false" valueType="boolean"/>
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.OUTPUT_FORMAT.1010264582" name="Output format" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.OUTPUT_FORMAT" value="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.OUTPUT_FORMAT.ASCII" valueType="enumerated"/> <option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.OUTPUT_FORMAT.1010264582" name="Output format" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.OUTPUT_FORMAT" value="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.OUTPUT_FORMAT.BINARY" valueType="enumerated"/>
<outputType id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.outputType__BIN.2063562915" name="Binary File" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.outputType__BIN"/> <outputType id="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.outputType__BIN.2063562915" name="Binary File" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.hex.outputType__BIN"/>
</tool> </tool>
</toolChain> </toolChain>

30
Projects/epwm_test_biss_c_cpu2/2838x_FLASH_lnk_cpu2.cmd
View File

@ -36,13 +36,13 @@ MEMORY
// RAMGS15_RSVD : origin = 0x01CFF8, length = 0x000008 /* Reserve and do not use for code as per the errata advisory "Memory: Prefetching Beyond Valid Memory" */ // RAMGS15_RSVD : origin = 0x01CFF8, length = 0x000008 /* Reserve and do not use for code as per the errata advisory "Memory: Prefetching Beyond Valid Memory" */
/* Flash sectors */ /* Flash sectors */
FLASH0 : origin = 0x080002, length = 0x001FFE /* on-chip Flash */ FLASH0 : origin = 0x080002, length = 0x001FFE, fill=0x0000 /* on-chip Flash */
FLASH1 : origin = 0x082000, length = 0x002000 /* on-chip Flash */ FLASH1 : origin = 0x082000, length = 0x002000, fill=0x0000 /* on-chip Flash */
FLASH2 : origin = 0x084000, length = 0x002000 /* on-chip Flash */ FLASH2 : origin = 0x084000, length = 0x002000, fill=0x0000 /* on-chip Flash */
FLASH3 : origin = 0x086000, length = 0x002000 /* on-chip Flash */ FLASH3 : origin = 0x086000, length = 0x002000, fill=0x0000 /* on-chip Flash */
FLASH4 : origin = 0x088000, length = 0x008000 /* on-chip Flash */ FLASH4 : origin = 0x088000, length = 0x008000, fill=0x0000 /* on-chip Flash */
FLASH5 : origin = 0x090000, length = 0x008000 /* on-chip Flash */ FLASH5 : origin = 0x090000, length = 0x008000, fill=0x0000 /* on-chip Flash */
FLASH6 : origin = 0x098000, length = 0x008000 /* on-chip Flash */ FLASH6 : origin = 0x098000, length = 0x008000, fill=0x0000 /* on-chip Flash */
FLASH7 : origin = 0x0A0000, length = 0x008000 /* on-chip Flash */ FLASH7 : origin = 0x0A0000, length = 0x008000 /* on-chip Flash */
FLASH8 : origin = 0x0A8000, length = 0x008000 /* on-chip Flash */ FLASH8 : origin = 0x0A8000, length = 0x008000 /* on-chip Flash */
FLASH9 : origin = 0x0B0000, length = 0x008000 /* on-chip Flash */ FLASH9 : origin = 0x0B0000, length = 0x008000 /* on-chip Flash */
@ -74,7 +74,7 @@ SECTIONS
#if defined(__TI_EABI__) #if defined(__TI_EABI__)
.init_array : > FLASH1, ALIGN(8) .init_array : > FLASH1, ALIGN(8)
.bss : > RAMLS5 // instead of RAMLS5 .bss : >> RAMLS5 | RAMLS6 // instead of RAMLS5
.bss:output : > RAMLS3 .bss:output : > RAMLS3
.bss:cio : > RAMLS5 .bss:cio : > RAMLS5
.data : > RAMLS5 .data : > RAMLS5
@ -92,7 +92,7 @@ SECTIONS
ramgs0 : > RAMGS0, type=NOINIT ramgs0 : > RAMGS0, type=NOINIT
ramgs1 : > RAMGS1, type=NOINIT ramgs1 : > RAMGS1, type=NOINIT
MSGRAM_CPU1_TO_CPU2 : > CPU1TOCPU2RAM, type=NOINIT MSGRAM_CPU1_TO_CPU2 : > CPU1TOCPU2RAM, type=NOINIT
MSGRAM_CPU2_TO_CPU1 : > CPU2TOCPU1RAM, type=NOINIT MSGRAM_CPU2_TO_CPU1 : > CPU2TOCPU1RAM, type=NOINIT
MSGRAM_CPU_TO_CM : > CPUTOCMRAM, type=NOINIT MSGRAM_CPU_TO_CM : > CPUTOCMRAM, type=NOINIT
@ -100,11 +100,13 @@ SECTIONS
/* The following section definition are for SDFM examples */ /* The following section definition are for SDFM examples */
Filter_RegsFile : > RAMGS10 Filter_RegsFile : > RAMGS10
Filter1_RegsFile : > RAMLS1, fill=0x1111 Filter1_RegsFile : > RAMLS1
Filter2_RegsFile : > RAMLS2, fill=0x2222 Filter2_RegsFile : > RAMLS2
Filter3_RegsFile : > RAMLS3, fill=0x3333 Filter3_RegsFile : > RAMLS3
Filter4_RegsFile : > RAMLS4, fill=0x4444 Filter4_RegsFile : > RAMLS4
Difference_RegsFile : >RAMGS5, fill=0x3333 Filter6_RegsFile : > RAMLS6
Filter14_RegsFile : > RAMGS14
Difference_RegsFile : >RAMGS5
#if defined(__TI_EABI__) #if defined(__TI_EABI__)
.TI.ramfunc : {} LOAD = FLASH3, .TI.ramfunc : {} LOAD = FLASH3,

4
Projects/epwm_test_biss_c_cpu2/Freemaster/PE_freemaster_56F8xxx.c
View File

@ -120,7 +120,7 @@ FMSTR_BPTR FMSTR_CopyToBuffer(FMSTR_BPTR pDestBuff, FMSTR_ADDR nSrcAddr, FMSTR_S
while(nSize--) while(nSize--)
{ {
*pd++ = *ps; *pd++ = *ps;
*pd++ = (*ps++) >> 8; //*pd++ = *ps++; *pd++ = (*ps++) >> 8; //*pd++ = *ps++;изменения для TI
} }
return (FMSTR_BPTR) pd; return (FMSTR_BPTR) pd;
} }
@ -158,7 +158,7 @@ FMSTR_BPTR FMSTR_CopyFromBuffer(FMSTR_ADDR nDestAddr, FMSTR_BPTR pSrcBuff, FMSTR
while(nSize--) while(nSize--)
{ {
*pd = *ps++; *pd = *ps++;
*pd++ += (*ps++)<<8; // *pd++ = *ps++; *pd++ += (*ps++)<<8; // *pd++ = *ps++; изменения для TI
} }
return (FMSTR_BPTR) ps; return (FMSTR_BPTR) ps;
} }

4
Projects/epwm_test_biss_c_cpu2/Freemaster/PE_freemaster_rec.c
View File

@ -185,7 +185,7 @@ FMSTR_BPTR FMSTR_SetUpRec(FMSTR_BPTR pMessageIO)
#else #else
/* size in native sizeof units (=bytes on most platforms) */ /* size in native sizeof units (=bytes on most platforms) */
pcm_wRecBuffSize = (FMSTR_SIZE)FMSTR_REC_BUFF_SIZE; pcm_wRecBuffSize = (FMSTR_SIZE)FMSTR_REC_BUFF_SIZE;
FMSTR_ARR2ADDR(pcm_nRecBuffAddr, pcm_pOwnRecBuffer); // заполнение буфера FMSTR_ARR2ADDR(pcm_nRecBuffAddr, pcm_pOwnRecBuffer); // заполнение буфера
#endif #endif
/* seek the setup data */ /* seek the setup data */
@ -629,7 +629,7 @@ static void FMSTR_Recorder2(void)
for (i=0U; i<pcm_nRecVarCount; i++) for (i=0U; i<pcm_nRecVarCount; i++)
{ {
sz = pcm_pRecVarSize[i]; sz = pcm_pRecVarSize[i];
FMSTR_CopyMemory(pcm_dwRecWritePtr, pcm_pRecVarAddr[i], sz); // заполнение буфера тут FMSTR_CopyMemory(pcm_dwRecWritePtr, pcm_pRecVarAddr[i], sz); // заполнение буфера тут
sz /= FMSTR_CFG_BUS_WIDTH; sz /= FMSTR_CFG_BUS_WIDTH;
pcm_dwRecWritePtr += sz; pcm_dwRecWritePtr += sz;
} }

BIN
Projects/epwm_test_biss_c_cpu2/Start_rfm.pmp
View File

Binary file not shown.

8
Projects/epwm_test_biss_c_cpu2/src/Peripherals/eqep.c
View File

@ -6,12 +6,14 @@
*/ */
#include "f28x_project.h" #include "f28x_project.h"
#include "temperature.h" #include "temperature.h"
#include "eqep.h"
uint16_t eqepTic[3] = {0,0,0}; uint16_t eqepTic[3] = {0,0,0};
uint16_t eqip_Max = 160; //16mS uint16_t eqip_Max = 160; //16mS
uint16_t eqepTemperature = 0; uint16_t eqepTemperature = 0;
uint16_t geteqepTemperature(){
return eqepTemperature;
}
uint16_t eqep_read_counter(void) uint16_t eqep_read_counter(void)
{ {
return EQep1Regs.QPOSCNT; return EQep1Regs.QPOSCNT;
@ -33,7 +35,7 @@ void eqep_init(void)
EQep1Regs.QEPCTL.bit.QPEN = 1;//QEP unit timer enable EQep1Regs.QEPCTL.bit.QPEN = 1;//QEP unit timer enable
} }
void eqepTest(void) void eqepTest(void) //каждую 0.1 мс
{ {
eqepTic[0] = EQep1Regs.QPOSCNT; eqepTic[0] = EQep1Regs.QPOSCNT;
if(eqepTic[0] != 0) if(eqepTic[0] != 0)

2
Projects/epwm_test_biss_c_cpu2/src/Peripherals/eqep.h
View File

@ -12,5 +12,5 @@ uint16_t eqep_read_counter(void);
void eqep_reset_counter(void); void eqep_reset_counter(void);
void eqep_init(void); void eqep_init(void);
void eqepTest(void); void eqepTest(void);
uint16_t geteqepTemperature(void);
#endif /* SRC_PERIPHERALS_EQEP_H_ */ #endif /* SRC_PERIPHERALS_EQEP_H_ */

15
Projects/epwm_test_biss_c_cpu2/src/Peripherals/i2c_init.c
View File

@ -32,12 +32,12 @@ void I2CMasterGpioInit(void)
// //
//Configure I2C pins //Configure I2C pins
// //
GPIO_SetupPinMux(GPIO_PIN_SDAA, GPIO_MUX_CPU1, 6); GPIO_SetupPinMux(GPIO_PIN_SDAA, GPIO_MUX_CPU2, 6);
GPIO_SetupPinOptions(GPIO_PIN_SDAA, GPIO_OUTPUT, GPIO_PULLUP); GPIO_SetupPinOptions(GPIO_PIN_SDAA, GPIO_OUTPUT, GPIO_PULLUP);
GPIO_SetupPinMux(GPIO_PIN_SCLA, GPIO_MUX_CPU1, 6); GPIO_SetupPinMux(GPIO_PIN_SCLA, GPIO_MUX_CPU2, 6);
GPIO_SetupPinOptions(GPIO_PIN_SCLA, GPIO_OUTPUT, GPIO_PULLUP); GPIO_SetupPinOptions(GPIO_PIN_SCLA, GPIO_OUTPUT, GPIO_PULLUP);
} }
#define I2C_NUMBYTES 0x2U
void I2CMasterInit(uint16_t I2C_OwnAddress, uint16_t I2CSlave_Address) void I2CMasterInit(uint16_t I2C_OwnAddress, uint16_t I2CSlave_Address)
{ {
EALLOW; EALLOW;
@ -50,10 +50,9 @@ void I2CMasterInit(uint16_t I2C_OwnAddress, uint16_t I2CSlave_Address)
// I2C configuration. Use a 400kHz I2CCLK with a 50% duty cycle. // I2C configuration. Use a 400kHz I2CCLK with a 50% duty cycle.
// //
//I2C_initMaster(base, DEVICE_SYSCLK_FREQ, 400000, I2C_DUTYCYCLE_50); = 1000000 / (I2CPSC+1) / (I2CCLKL + I2CCLKH) //I2C_initMaster(base, DEVICE_SYSCLK_FREQ, 400000, I2C_DUTYCYCLE_50); = 1000000 / (I2CPSC+1) / (I2CCLKL + I2CCLKH)
I2caRegs.I2CPSC.all = 49; // Prescaler - need 7-12 Mhz on module clk I2caRegs.I2CPSC.all = 0xB; // Prescaler - need 7-12 Mhz on module clk
I2caRegs.I2CCLKL = 12; // NOTE: must be non zero I2caRegs.I2CCLKL = 0x7; // NOTE: must be non zero
I2caRegs.I2CCLKH = 12; // NOTE: must be non zero I2caRegs.I2CCLKH = 0x8; // NOTE: must be non zero
// //
// Configure Master as a Transmitter // Configure Master as a Transmitter
@ -64,7 +63,7 @@ void I2CMasterInit(uint16_t I2C_OwnAddress, uint16_t I2CSlave_Address)
// //
// Set data count // Set data count
// //
// I2caRegs.I2CCNT = I2C_NUMBYTES; I2caRegs.I2CCNT = I2C_NUMBYTES;
// //
// Set the bit count to 8 bits per data byte // Set the bit count to 8 bits per data byte

23
Projects/epwm_test_biss_c_cpu2/src/Peripherals/pwm_init.c
View File

@ -94,14 +94,14 @@ void PWMAllInit(void)
PwmBrake100 = PERIOD_BRAKE; PwmBrake100 = PERIOD_BRAKE;
PwmMotor100 = PERIOD_MOTOR; PwmMotor100 = PERIOD_MOTOR;
PWMInit(PWM_BASE_TIMER, TimerBase, INDEPENDED); //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> PWMInit(PWM_BASE_TIMER, TimerBase, INDEPENDED); //счётчик общего назначени
PWMInit(PWM_A, PwmMotor100, COMPLIMENTARY);//<EFBFBD><EFBFBD><EFBFBD> PWMInit(PWM_A, PwmMotor100, COMPLIMENTARY);//ШИМ
PWMInit(PWM_B, PwmMotor100, COMPLIMENTARY);//<EFBFBD><EFBFBD><EFBFBD> PWMInit(PWM_B, PwmMotor100, COMPLIMENTARY);//ШИМ
PWMInit(PWM_C, PwmMotor100, COMPLIMENTARY);//<EFBFBD><EFBFBD><EFBFBD> PWMInit(PWM_C, PwmMotor100, COMPLIMENTARY);//ШИМ
PWMInit(PWM_BRAKE, PwmBrake100, INDEPENDED);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> PWMInit(PWM_BRAKE, PwmBrake100, INDEPENDED);//Тормоз
PWMInit(PWM_FAN, PwmFan100, INDEPENDED);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> PWMInit(PWM_FAN, PwmFan100, INDEPENDED);//вентилятор и чоппер
//11 <EFBFBD> 12 <20><><EFBFBD> SDFM //11 и 12 для SDFM
PWMInit(11, PwmMotor100, INDEPENDED); PWMInit(11, PwmMotor100, INDEPENDED);
PWMInit(12, PwmMotor100, INDEPENDED); PWMInit(12, PwmMotor100, INDEPENDED);
@ -124,12 +124,12 @@ void PWMAllInit(void)
EDIS; EDIS;
EALLOW; EALLOW;
CpuSysRegs.PCLKCR0.bit.TBCLKSYNC =1;// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> CpuSysRegs.PCLKCR0.bit.TBCLKSYNC =1;// синхронный запуск таймеров
EDIS; EDIS;
} }
void PWMGpioInit(void)//<EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD> void PWMGpioInit(void)//Тут в библиотечном файле вручную проверяем что пины те которые надо по схеме
{ {
InitEPwm2Gpio(); InitEPwm2Gpio();
InitEPwm5Gpio(); InitEPwm5Gpio();
@ -191,6 +191,9 @@ void PWMInitInterruptEn(void)
} }
void PWMInit(uint16_t Num, uint16_t Period, uint16_t Independed) void PWMInit(uint16_t Num, uint16_t Period, uint16_t Independed)
{ {
@ -221,7 +224,7 @@ void PWMInit(uint16_t Num, uint16_t Period, uint16_t Independed)
EPwmRegs[Num]->TZCTL.bit.TZA = 3; EPwmRegs[Num]->TZCTL.bit.TZA = 3;
EPwmRegs[Num]->TZCTL.bit.TZB = 3; EPwmRegs[Num]->TZCTL.bit.TZB = 3;
EPwmRegs[Num]->TZFRC.all = 4; EPwmRegs[Num]->TZFRC.all = 4;
EDIS; // EDIS; //Программно выставляем TZ-событие
// //
// Set actions // Set actions
// //

6
Projects/epwm_test_biss_c_cpu2/src/Peripherals/pwm_init.h
View File

@ -21,7 +21,7 @@
#define PERIOD_FAN (SYS_PWM_FREQUENCY/2.0/FREQUENCY_FAN) #define PERIOD_FAN (SYS_PWM_FREQUENCY/2.0/FREQUENCY_FAN)
#define PERIOD_BRAKE (SYS_PWM_FREQUENCY/2.0/FREQUENCY_BRAKE) //Tic #define PERIOD_BRAKE (SYS_PWM_FREQUENCY/2.0/FREQUENCY_BRAKE) //Tic
#define PERIOD_MOTOR (SYS_PWM_FREQUENCY/2.0/FREQUENCY_MOTOR) //Tic #define PERIOD_MOTOR (SYS_PWM_FREQUENCY/2.0/FREQUENCY_MOTOR) //Tic = 5000
#define EPWM_DB (EPWM_DB_mkS*SYS_PWM_FREQUENCY/1000000) #define EPWM_DB (EPWM_DB_mkS*SYS_PWM_FREQUENCY/1000000)
@ -29,8 +29,8 @@
#define SDFM_DELAY (SDFM_DELAY_mkS*SYS_PWM_FREQUENCY/1000000) #define SDFM_DELAY (SDFM_DELAY_mkS*SYS_PWM_FREQUENCY/1000000)
#define PERIOD_2 (PERIOD_MOTOR/2.0) #define PERIOD_2 (PERIOD_MOTOR/2.0)
#define PWM_MAX (PERIOD_MOTOR - EPWM_DB) //#define PWM_MAX (PERIOD_MOTOR - EPWM_DB)
#define PWM_MIN EPWM_DB*2 //#define PWM_MIN EPWM_DB*2
#define INDEPENDED 1 #define INDEPENDED 1
#define COMPLIMENTARY 0 #define COMPLIMENTARY 0

71
Projects/epwm_test_biss_c_cpu2/src/Peripherals/pwm_interrupts.c
View File

@ -12,7 +12,6 @@
#include "i2c_init.h" #include "i2c_init.h"
#include "timer_base.h" #include "timer_base.h"
#include "vector.h" #include "vector.h"
#include "pwm_interrupts.h"
#include "sdfm.h" #include "sdfm.h"
#include "adc_init.h" #include "adc_init.h"
#include <pwm_init.h> #include <pwm_init.h>
@ -20,6 +19,7 @@
#include "eqep.h" #include "eqep.h"
#include "temperature.h" #include "temperature.h"
#include "rele.h" #include "rele.h"
#include "pwm_interrupts.h"
volatile uint16_t AutoChange = 0; volatile uint16_t AutoChange = 0;
volatile uint16_t PWM_out = 2500; volatile uint16_t PWM_out = 2500;
@ -37,18 +37,42 @@ typedef struct
int16_t UC; int16_t UC;
}strPWMABC; }strPWMABC;
volatile uint16_t PeriodPWM[2] = {PERIOD_MOTOR, PERIOD_MOTOR};
volatile uint16_t PeriodPWM_2 = PERIOD_2;
volatile strPWMABC PWM_motor = {PERIOD_2, PERIOD_2, PERIOD_2}; volatile strPWMABC PWM_motor = {PERIOD_2, PERIOD_2, PERIOD_2};
int16_t A_proc,B_proc,C_proc; int16_t A_proc,B_proc,C_proc;
uint16_t PWM_Vent = PERIOD_FAN; uint16_t PWM_Vent = PERIOD_FAN;
uint16_t PWM_Chop = 0; uint16_t PWM_Chop = 0;
uint16_t PWM_SDFM_delay = SDFM_DELAY;
uint16_t Timing_PWM[16]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc) void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc, uint16_t Mode)
{ {
A_proc = (int16_t)((phaseA/Udc)*PERIOD_2); if(PeriodPWM[0] != PeriodPWM[1])
B_proc = (int16_t)((phaseB/Udc)*PERIOD_2); {
C_proc = (int16_t)((phaseC/Udc)*PERIOD_2); if(Mode == OffMode)
{
if(PeriodPWM[0] < PERIOD_2) PeriodPWM[0]=PERIOD_2;
if(PeriodPWM[0] > PERIOD_MOTOR) PeriodPWM[0]=PERIOD_MOTOR;
PeriodPWM[1] = PeriodPWM[0];
vectorRegKoeffRecalc(PeriodPWM[0]/PERIOD_MOTOR);
EPwmRegs[PWM_A]->TBPRD = EPwmRegs[PWM_B]->TBPRD = EPwmRegs[PWM_C]->TBPRD = PeriodPWM[0];
PeriodPWM_2 = PeriodPWM[0]/2;
EPwmRegs[11]->TBPRD = PeriodPWM[0]*2-1;
PWM_SDFM_delay = 2*PeriodPWM[0] - 5000;
EPwm11Regs.CMPA.bit.CMPA = PWM_SDFM_delay;
}
else PeriodPWM[0] == PeriodPWM[1];
}
A_proc = (int16_t)((phaseA/Udc)*PeriodPWM_2);
B_proc = (int16_t)((phaseB/Udc)*PeriodPWM_2);
C_proc = (int16_t)((phaseC/Udc)*PeriodPWM_2);
if(A_proc > 0) A_proc+= EPWM_DB/2; if(A_proc > 0) A_proc+= EPWM_DB/2;
else if(A_proc < 0) A_proc-= EPWM_DB/2; else if(A_proc < 0) A_proc-= EPWM_DB/2;
@ -57,12 +81,12 @@ void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc)
if(C_proc > 0) C_proc+= EPWM_DB/2; if(C_proc > 0) C_proc+= EPWM_DB/2;
else if(C_proc < 0) C_proc-= EPWM_DB/2; else if(C_proc < 0) C_proc-= EPWM_DB/2;
PWM_motor.UA = PERIOD_2 + A_proc; PWM_motor.UA = PeriodPWM_2 + A_proc;
PWM_motor.UB = PERIOD_2 + B_proc; PWM_motor.UB = PeriodPWM_2 + B_proc;
#ifdef REF0 #ifdef REF0
PWM_motor.UC = PERIOD_2 - C_proc; PWM_motor.UC = PeriodPWM_2 - C_proc;
#else #else
PWM_motor.UC = PERIOD_2 + C_proc; PWM_motor.UC = PeriodPWM_2 + C_proc;
#endif #endif
// FaultABC = FaultPWM; // FaultABC = FaultPWM;
@ -71,18 +95,16 @@ void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc)
if((FaultABC)||(FaultABCFix)) if((FaultABC)||(FaultABCFix))
{ {
PWM_ABC_StopAllClose(); PWM_ABC_StopAllClose();
PWM_motor.UA = PERIOD_2; PWM_motor.UA = PeriodPWM_2;
PWM_motor.UB = PERIOD_2; PWM_motor.UB = PeriodPWM_2;
PWM_motor.UC = PERIOD_2; PWM_motor.UC = PeriodPWM_2;
vectorFault(); vectorFault();
} }
EPwmRegs[PWM_A]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UA; EPwmRegs[PWM_A]->CMPA.bit.CMPA = PeriodPWM[0] - PWM_motor.UA;
EPwmRegs[PWM_B]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UB; EPwmRegs[PWM_B]->CMPA.bit.CMPA = PeriodPWM[0] - PWM_motor.UB;
EPwmRegs[PWM_C]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UC; EPwmRegs[PWM_C]->CMPA.bit.CMPA = PeriodPWM[0] - PWM_motor.UC;
// EPwmRegs[PWM_FAN]->CMPA.bit.CMPA = PERIOD_FAN - PWM_Vent;
// EPwmRegs[3]->CMPB.bit.CMPB = PERIOD_MOTOR - PWM_Chop;
} }
@ -251,20 +273,23 @@ __interrupt void epwm6_isr(void)
uint16_t PWM_test = SDFM_DELAY;
void saveTimingNow(uint16_t N)
{
Timing_PWM[N] = EPwm11Regs.TBCTR;
}
__interrupt void epwm11_isr(void) __interrupt void epwm11_isr(void)
{ {
// EPwm11Regs.CMPA.bit.CMPA = PWM_SDFM_delay;
// EPwm11Regs.CMPB.bit.CMPB = PWM_SDFM_delay;
// EPwm11Regs.CMPC = PWM_SDFM_delay;
// EPwm11Regs.CMPD = PWM_SDFM_delay;
EPwm11Regs.CMPA.bit.CMPA = PWM_test; saveTimingNow(0);
EPwm11Regs.CMPB.bit.CMPB = PWM_test;
EPwm11Regs.CMPC = PWM_test;
EPwm11Regs.CMPD = PWM_test;
if(TestStopSync != 3) sdfm_start_conversion_current(); if(TestStopSync != 3) sdfm_start_conversion_current();
PwmFlagStartCurrentMeashure = 1; PwmFlagStartCurrentMeashure = 1;

6
Projects/epwm_test_biss_c_cpu2/src/Peripherals/pwm_interrupts.h
View File

@ -1,7 +1,7 @@
/* /*
* pwm_interrupts.h * pwm_interrupts.h
* *
* Created on: 21 àâã. 2023 ã. * Created on: 21 <EFBFBD><EFBFBD><EFBFBD>. 2023 <EFBFBD>.
* Author: seklyuts * Author: seklyuts
*/ */
@ -17,9 +17,9 @@ __interrupt void epwm4_isr(void);
__interrupt void epwm8_isr(void); __interrupt void epwm8_isr(void);
__interrupt void epwm6_isr(void); __interrupt void epwm6_isr(void);
__interrupt void epwm11_isr(void); __interrupt void epwm11_isr(void);
void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc); void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc, uint16_t Mode);
void pwm_clr_PwmFlagStartADC(void); void pwm_clr_PwmFlagStartADC(void);
void saveTimingNow(uint16_t);
#endif /* SRC_PWM_INTERRUPTS_H_ */ #endif /* SRC_PWM_INTERRUPTS_H_ */

5
Projects/epwm_test_biss_c_cpu2/src/Peripherals/sdfm.c
View File

@ -12,6 +12,7 @@
#include "sdfm.h" #include "sdfm.h"
#include "vector.h" #include "vector.h"
#include "frm_uart.h" #include "frm_uart.h"
// //
// Defines // Defines
// //
@ -104,8 +105,8 @@ uint16_t loopCounter[8] = {0,0,0,0,0,0,0,0};
__interrupt void Sdfm1_ISR(void); __interrupt void Sdfm1_ISR(void);
__interrupt void Sdfm2_ISR(void); __interrupt void Sdfm2_ISR(void);
volatile float CurrentFactorBrake = FACTOR_CURRENT_BRAKE*32767.0; volatile float CurrentFactorBrake = FACTOR_CURRENT_BRAKE*32768.0;
volatile float CurrentFactorMotor = FACTOR_CURRENT_MOTOR*32767.0; volatile float CurrentFactorMotor = FACTOR_CURRENT_MOTOR*32768.0;

1
Projects/epwm_test_biss_c_cpu2/src/Peripherals/sdfm.h
View File

@ -64,6 +64,7 @@
#define FACTOR_CURRENT_BRAKE (FACTOR_CURRENT_BRAKE_A/BIT_MAX) #define FACTOR_CURRENT_BRAKE (FACTOR_CURRENT_BRAKE_A/BIT_MAX)
#define FACTOR_CURRENT_MOTOR (FACTOR_CURRENT_MOTOR_A/BIT_MAX) #define FACTOR_CURRENT_MOTOR (FACTOR_CURRENT_MOTOR_A/BIT_MAX)
#define DIV_FACTOR_CURRENT_MOTOR (1/FACTOR_CURRENT_MOTOR)
void SdfmGpioInit(void); void SdfmGpioInit(void);
void SdfmInitEnable(void); void SdfmInitEnable(void);

6
Projects/epwm_test_biss_c_cpu2/src/fault.c
View File

@ -25,6 +25,8 @@ __interrupt void fault_isr(void)
vectorResCurrLoop(); vectorResCurrLoop();
} }
uint16_t fault_read_check(void) uint16_t fault_read_check(void)
{ {
return fault_read; return fault_read;
@ -51,9 +53,11 @@ uint16_t Err1, Err2;
void faultInit(void) void faultInit(void)
{ {
uint16_t Fault_Bytes;
uint16_t Conf0 = 0xFE; uint16_t Conf0 = 0xFE;
uint16_t Conf1 = 0xFF; uint16_t Conf1 = 0xFF;
uint16_t Fault_Bytes;
Err1 = I2CWrite(I2C_FAULT_SLAVE_ADDRESS, 6, 1, true, &Conf0); Err1 = I2CWrite(I2C_FAULT_SLAVE_ADDRESS, 6, 1, true, &Conf0);
Err2 = I2CWrite(I2C_FAULT_SLAVE_ADDRESS, 7, 1, true, &Conf1); Err2 = I2CWrite(I2C_FAULT_SLAVE_ADDRESS, 7, 1, true, &Conf1);

20
Projects/epwm_test_biss_c_cpu2/src/frmmstr_run.c
View File

@ -9,6 +9,9 @@
#include "frm_uart.h" #include "frm_uart.h"
#include "gpio_init.h" #include "gpio_init.h"
#include "fault.h" #include "fault.h"
#include "i2c_oled.h"
#include "buttons.h"
#include "eqep.h"
volatile uint16_t counter=0 ; volatile uint16_t counter=0 ;
volatile uint16_t counter1=0 ; volatile uint16_t counter1=0 ;
@ -16,7 +19,7 @@ volatile uint16_t counter2=0 ;
volatile uint16_t testMode = 0; volatile uint16_t testMode = 0;
//uint16_t PWM_Vent1; uint16_t BisscPwrOn = 1;
void frmmstr_run(void) void frmmstr_run(void)
{ {
@ -60,6 +63,14 @@ static uint16_t diod = 0;
} }
else else
{ {
if(BisscPwrOn)
{
GpioDataRegs.GPADAT.bit.GPIO21 = 1;
}
else
{
GpioDataRegs.GPADAT.bit.GPIO21 = 0;
}
//Gpio95out(Rele); //Gpio95out(Rele);
//if(vectorReleOn()) GpioTurnOnRele; //if(vectorReleOn()) GpioTurnOnRele;
//else GpioTurnOffRele; //else GpioTurnOffRele;
@ -68,10 +79,11 @@ static uint16_t diod = 0;
{ {
fault_read_clr(); fault_read_clr();
fault_read_ports(); fault_read_ports();
} }else{
else { // buttonsDisp();
// ScreenDisp();
} }
} }
} }

177
Projects/epwm_test_biss_c_cpu2/src/init_perif.c
View File

@ -9,6 +9,7 @@
#include "pwm_init.h" #include "pwm_init.h"
#include "f28x_project.h" #include "f28x_project.h"
#include "f2838x_cputimervars.h"
#include "pwm_interrupts.h" #include "pwm_interrupts.h"
#include "sdfm.h" #include "sdfm.h"
#include "f2838x_sdfm_drivers.h" #include "f2838x_sdfm_drivers.h"
@ -23,6 +24,144 @@
#include "temperature.h" #include "temperature.h"
#include "eqep.h" #include "eqep.h"
#include "rele.h" #include "rele.h"
#include "rele.h"
#include "i2c_oled.h"
extern uint16_t I2C_TXdata[];
extern uint16_t I2C_RXdata[];
struct CPUTIMER_VARS CpuTimer0;
struct CPUTIMER_VARS CpuTimer1;
struct CPUTIMER_VARS CpuTimer2;
unsigned long uptimeSeconds = 0; // Ãëîáàëüíàÿ ïåðåìåííàÿ äëÿ ÷àñîâ
__interrupt void cpuTimer0ISR(void)
{
CpuTimer0.InterruptCount++;
uptimeSeconds++;
//
// Acknowledge this interrupt to receive more interrupts from group 1
//
PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
}
void InitCpuTimers(void)
{
//
// CPU Timer 0
// Initialize address pointers to respective timer registers:
//
CpuTimer0.RegsAddr = &CpuTimer0Regs;
//
// Initialize timer period to maximum:
//
CpuTimer0Regs.PRD.all = 0xFFFFFFFF;
//
// Initialize pre-scale counter to divide by 1 (SYSCLKOUT):
//
CpuTimer0Regs.TPR.all = 0;
CpuTimer0Regs.TPRH.all = 0;
//
// Make sure timer is stopped:
//
CpuTimer0Regs.TCR.bit.TSS = 1;
//
// Reload all counter register with period value:
//
CpuTimer0Regs.TCR.bit.TRB = 1;
//
// Reset interrupt counters:
//
CpuTimer0.InterruptCount = 0;
//
// Initialize address pointers to respective timer registers:
//
CpuTimer1.RegsAddr = &CpuTimer1Regs;
CpuTimer2.RegsAddr = &CpuTimer2Regs;
//
// Initialize timer period to maximum:
//
CpuTimer1Regs.PRD.all = 0xFFFFFFFF;
CpuTimer2Regs.PRD.all = 0xFFFFFFFF;
//
// Initialize pre-scale counter to divide by 1 (SYSCLKOUT):
//
CpuTimer1Regs.TPR.all = 0;
CpuTimer1Regs.TPRH.all = 0;
CpuTimer2Regs.TPR.all = 0;
CpuTimer2Regs.TPRH.all = 0;
//
// Make sure timers are stopped:
//
CpuTimer1Regs.TCR.bit.TSS = 1;
CpuTimer2Regs.TCR.bit.TSS = 1;
//
// Reload all counter register with period value:
//
CpuTimer1Regs.TCR.bit.TRB = 1;
CpuTimer2Regs.TCR.bit.TRB = 1;
//
// Reset interrupt counters:
//
CpuTimer1.InterruptCount = 0;
CpuTimer2.InterruptCount = 0;
}
//
// ConfigCpuTimer - This function initializes the selected timer to the period
// specified by the "Freq" and "Period" parameters. The "Freq"
// is entered as "MHz" and the period in "uSeconds". The timer
// is held in the stopped state after configuration.
//
void ConfigCpuTimer(struct CPUTIMER_VARS *Timer, float Freq, float Period)
{
Uint32 temp;
//
// Initialize timer period:
//
Timer->CPUFreqInMHz = Freq;
Timer->PeriodInUSec = Period;
temp = (long) (Freq * Period);
//
// Counter decrements PRD+1 times each period
//
Timer->RegsAddr->PRD.all = temp - 1;
//
// Set pre-scale counter to divide by 1 (SYSCLKOUT):
//
Timer->RegsAddr->TPR.all = 0;
Timer->RegsAddr->TPRH.all = 0;
//
// Initialize timer control register:
//
Timer->RegsAddr->TCR.bit.TSS = 1; // 1 = Stop timer, 0 = Start/Restart
// Timer
Timer->RegsAddr->TCR.bit.TRB = 1; // 1 = reload timer
Timer->RegsAddr->TCR.bit.SOFT = 0;
Timer->RegsAddr->TCR.bit.FREE = 0; // Timer Free Run Disabled
Timer->RegsAddr->TCR.bit.TIE = 1; // 0 = Disable/ 1 = Enable Timer
// Interrupt
//
// Reset interrupt counter:
//
Timer->InterruptCount = 0;
}
void InitPerif(void) void InitPerif(void)
{ {
@ -87,19 +226,45 @@ void InitPerif(void)
#else #else
eqep_init(); eqep_init();
#endif #endif
// Enable Timer0
EALLOW;
PieVectTable.TIMER0_INT = &cpuTimer0ISR;
EDIS;
InitCpuTimers();
// Configure CPU-Timer 0, 1, and 2 to interrupt every second:
// 200MHz CPU Freq, 1 second Period (in uSeconds)
//
ConfigCpuTimer(&CpuTimer0, 200, 1000000);
//
// To ensure precise timing, use write-only instructions to write to the
// entire register. Therefore, if any of the configuration bits are changed
// in ConfigCpuTimer and InitCpuTimers, the below settings must also be
// be updated.
//
CpuTimer0Regs.TCR.all = 0x4000;
//
// Enable CPU int1 which is connected to CPU-Timer 0, CPU int13
// which is connected to CPU-Timer 1, and CPU int 14, which is connected
// to CPU-Timer 2
//
IER |= M_INT1;
//
// Enable TINT0 in the PIE: Group 1 interrupt 7
//
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
// //
// Enable global Interrupts and higher priority real-time debug events: // Enable global Interrupts and higher priority real-time debug events:
// //
EINT; // Enable Global interrupt INTM EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM ERTM; // Enable Global realtime interrupt DBGM
I2CMasterInit(I2C_OWN_ADDRESS,I2C_FAULT_SLAVE_ADDRESS); I2CMasterInit(I2C_OWN_ADDRESS,0x3C);
/* Init LCD */
SSD1306_Init();
buttonsInit();
faultInit(); faultInit();
rele_initRele(); rele_initRele();
} }

56
Projects/epwm_test_biss_c_cpu2/src/vector.c
View File

@ -105,7 +105,7 @@ uint16_t Num = 0;
void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t sdfmUdc) void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t sdfmUdc)
{ {
saveTimingNow(1);
pwm_clr_PwmFlagStartADC(); pwm_clr_PwmFlagStartADC();
Ia = -CurrentA;//sdfm_get(6); Ia = -CurrentA;//sdfm_get(6);
Ib = -CurrentB;//sdfm_get(3); Ib = -CurrentB;//sdfm_get(3);
@ -182,12 +182,14 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
} }
Udc = sdfmUdc * FACTOR_VDC; Udc = sdfmUdc * FACTOR_VDC;
vector_klark_park(SectorCheckOn,Ia,Ib,Ic); vector_klark_park(SectorCheckOn,Ia,Ib,Ic);
saveTimingNow(2);
vector_inversion(); vector_inversion();
saveTimingNow(3);
BissStartSet(); BissStartSet();
FMSTREnableSet(); FMSTREnableSet();
AdcStartSet(); AdcStartSet();
sdfm_start_conversion_brake(); sdfm_start_conversion_brake();
saveTimingNow(4);
} }
void vectorInitCurrLoop(void) void vectorInitCurrLoop(void)
@ -222,6 +224,15 @@ void vectorInitCurrLoop(void)
CurrLoop.piIq.i1 = 0; // Data: integrator storage: ui(k-1) CurrLoop.piIq.i1 = 0; // Data: integrator storage: ui(k-1)
} }
void vectorRegKoeffRecalc(float Koeff)
{
CurrLoop.piId.Kp = PI_REG_I_PROPOR*Koeff;
CurrLoop.piId.Ki = PI_REG_I_INTEGR*Koeff;
CurrLoop.piIq.Kp = PI_REG_I_PROPOR*Koeff;
CurrLoop.piIq.Ki = PI_REG_I_INTEGR*Koeff;
}
void vectorResCurrLoop(void) void vectorResCurrLoop(void)
{ {
CurrLoop.piId.Ref = 0; // Input: reference set-point CurrLoop.piId.Ref = 0; // Input: reference set-point
@ -290,27 +301,28 @@ void vector_inversion(void)
vectorUabc.b=-temp3; vectorUabc.b=-temp3;
vectorUabc.c=-(temp1+temp2); vectorUabc.c=-(temp1+temp2);
} }
pwm_set_volt_3F(vectorUabc.a,vectorUabc.b,vectorUabc.c, UdcVolt); pwm_set_volt_3F(vectorUabc.a,vectorUabc.b,vectorUabc.c, UdcVolt, Mode);
} }
float Test1, Test2; float Test1, Test2;
float FRM_Ud, FRM_Uq; float FRM_Ud, FRM_Uq;
volatile int16_t I_fbk_int, I_ref_int;
void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, int16_t CurrentC) void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, int16_t CurrentC)
{ {
/* if (Inputs->UpdateUdc) /* if (Inputs->UpdateUdc)
{ {
//Запоминаем Udc для контура тока(ограничение Umax Рё Umin РІ РџР<D19F>-регуляторе) //Запоминаем Udc для контура тока(ограничение Umax и Umin в ПИ-регуляторе)
Outputs->Udc = PmsmVect.UdcFilter.Output; Outputs->Udc = PmsmVect.UdcFilter.Output;
//Защита РѕС‚ деления РЅР° 0 Рё отрицательных чисел //Защита от деления на 0 и отрицательных чисел
if (Outputs->Udc <= 0.0f) if (Outputs->Udc <= 0.0f)
Outputs->Udc = VOLTAGE_UDC; Outputs->Udc = VOLTAGE_UDC;
//Расчет коэффициента для расчета скважности РЁР<D081>Рњ(РѕРґРёРЅ раз делим, потом каждый цикл РЁР<D081>Рњ умножаем, это эффективнее) //Расчет коэффициента для расчета скважности ШИМ(один раз делим, потом каждый цикл ШИМ умножаем, это эффективнее)
PmsmVect.UdcPwmFactor = 1.0f/Outputs->Udc; PmsmVect.UdcPwmFactor = 1.0f/Outputs->Udc;
//РЎР±СЂРѕСЃ флага //Сброс флага
Inputs->UpdateUdc = false; Inputs->UpdateUdc = false;
}*/ }*/
if (SectorOn ) if (SectorOn )
@ -343,7 +355,7 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
vectorIabc.c = (float)CurrentC * FactorCurrent; vectorIabc.c = (float)CurrentC * FactorCurrent;
} }
// преобразование Кларк // преобразование Кларк
vectorI2ph.Alfa = vectorIabc.a; vectorI2ph.Alfa = vectorIabc.a;
vectorI2ph.Beta = _IQmpy((vectorIabc.a +_IQmpy2(vectorIabc.b)),_IQ(ONEbySQRT3)); //vectorI2ph.Beta = _IQmpy((vectorIabc.b - vectorIabc.c),_IQ(ONEbySQRT3)); vectorI2ph.Beta = _IQmpy((vectorIabc.a +_IQmpy2(vectorIabc.b)),_IQ(ONEbySQRT3)); //vectorI2ph.Beta = _IQmpy((vectorIabc.b - vectorIabc.c),_IQ(ONEbySQRT3));
@ -354,7 +366,7 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
vectorSinCos.sin = ((float)sin_int)/32768.0; vectorSinCos.sin = ((float)sin_int)/32768.0;
vectorSinCos.cos = ((float)cos_int)/32768.0; vectorSinCos.cos = ((float)cos_int)/32768.0;
// преобразование Парка // преобразование Парка
vectorIdq.d = _IQmpy(vectorI2ph.Alfa,vectorSinCos.cos) + _IQmpy(vectorI2ph.Beta,vectorSinCos.sin); vectorIdq.d = _IQmpy(vectorI2ph.Alfa,vectorSinCos.cos) + _IQmpy(vectorI2ph.Beta,vectorSinCos.sin);
vectorIdq.q = _IQmpy(vectorI2ph.Beta,vectorSinCos.cos) - _IQmpy(vectorI2ph.Alfa,vectorSinCos.sin); vectorIdq.q = _IQmpy(vectorI2ph.Beta,vectorSinCos.cos) - _IQmpy(vectorI2ph.Alfa,vectorSinCos.sin);
@ -363,7 +375,7 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
// AngleErr = Angle_test - vectorSinCos.Angle; // AngleErr = Angle_test - vectorSinCos.Angle;
// CurrLoop.piIq.Ref = Inputs->IqRef;//Заданное // CurrLoop.piIq.Ref = Inputs->IqRef;//Заданное
if (FABS(CurrLoop.piIq.Ref) > CurrLoop.CurrentLimit) if (FABS(CurrLoop.piIq.Ref) > CurrLoop.CurrentLimit)
{ {
@ -399,7 +411,9 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
PI_MACRO(CurrLoop.piIq); PI_MACRO(CurrLoop.piIq);
PI_MACRO(CurrLoop.piId); PI_MACRO(CurrLoop.piId);
/*Пропорциональное ограничение напряжений Uq и Ud*/ I_fbk_int = (int16_t) (CurrLoop.piId.Fbk*DIV_FACTOR_CURRENT_MOTOR);
I_ref_int = (int16_t) (CurrLoop.piId.Ref*DIV_FACTOR_CURRENT_MOTOR);
/*Пропорциональное ограничение напряжений Uq и Ud*/
// Test1 = my_sqrtf(Test2); // Test1 = my_sqrtf(Test2);
@ -407,7 +421,7 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
if (Ulim > UmaxVolt)// максимальное напряжение РІ вольтах if (Ulim > UmaxVolt)// максимальное напряжение в вольтах
{ {
if(Ulim > ZERO_LVL) if(Ulim > ZERO_LVL)
{ {
@ -453,7 +467,7 @@ float my_sqrtf(float x)
return x * x0; return x * x0;
} }
// Фильтр сигнала // Фильтр сигнала
int16_t Filter(int16_t inValue, Filtered *Struct) { int16_t Filter(int16_t inValue, Filtered *Struct) {
(*Struct).Value16in = inValue; (*Struct).Value16in = inValue;
(*Struct).Value32+=(int32_t)((*Struct).Value16in)-(int32_t)((*Struct).Value16filtered); (*Struct).Value32+=(int32_t)((*Struct).Value16in)-(int32_t)((*Struct).Value16filtered);

1
Projects/epwm_test_biss_c_cpu2/src/vector.h
View File

@ -96,6 +96,7 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
void vectorFault(void); void vectorFault(void);
float my_sqrtf(float x); float my_sqrtf(float x);
void vectorResCurrLoop(void); void vectorResCurrLoop(void);
void vectorRegKoeffRecalc(float Koeff);
#endif /* SRC_VECTOR_H_ */ #endif /* SRC_VECTOR_H_ */

101
Projects/epwm_test_biss_c_cpu2/targetConfigs/TMS320F28388D.ccxml
View File

@ -1,81 +1,30 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?> <?xml version="1.0" encoding="UTF-8" standalone="no"?>
<configurations XML_version="1.2" id="configurations_0"> <configurations XML_version="1.2" id="configurations_0">
<configuration XML_version="1.2" id="Texas Instruments XDS100v2 USB Debug Probe_0">
<instance XML_version="1.2" desc="Texas Instruments XDS100v2 USB Debug Probe_0" href="connections/TIXDS100v2_Connection.xml" id="Texas Instruments XDS100v2 USB Debug Probe_0" xml="TIXDS100v2_Connection.xml" xmlpath="connections"/>
<connection XML_version="1.2" id="Texas Instruments XDS100v2 USB Debug Probe_0">
<instance XML_version="1.2" href="drivers/tixds100v2icepick_c.xml" id="drivers" xml="tixds100v2icepick_c.xml" xmlpath="drivers"/>
<instance XML_version="1.2" href="drivers/tixds100v2c28x.xml" id="drivers" xml="tixds100v2c28x.xml" xmlpath="drivers"/>
<instance XML_version="1.2" href="drivers/tixds100v2cla2.xml" id="drivers" xml="tixds100v2cla2.xml" xmlpath="drivers"/>
<instance XML_version="1.2" href="drivers/tixds100v2cs_child.xml" id="drivers" xml="tixds100v2cs_child.xml" xmlpath="drivers"/>
<instance XML_version="1.2" href="drivers/tixds100v2cs_dap.xml" id="drivers" xml="tixds100v2cs_dap.xml" xmlpath="drivers"/>
<instance XML_version="1.2" href="drivers/tixds100v2cortexM.xml" id="drivers" xml="tixds100v2cortexM.xml" xmlpath="drivers"/>
<instance XML_version="1.2" href="drivers/tixds510ajsm.xml" id="drivers" xml="tixds510ajsm.xml" xmlpath="drivers"/>
<platform XML_version="1.2" id="platform_0">
<instance XML_version="1.2" desc="TMS320F28388D_0" href="devices/f28388d.xml" id="TMS320F28388D_0" xml="f28388d.xml" xmlpath="devices"/>
<device HW_revision="1" XML_version="1.2" description="" id="TMS320F28388D_0" partnum="TMS320F28388D" simulation="no">
<router HW_revision="1.0" XML_version="1.2" description="ICEPick_C router" id="IcePick_C_0" isa="ICEPICK_C">
<subpath id="Subpath_1">
<property Type="numericfield" Value="0x11" desc="Port Number_0" id="Port Number"/>
</subpath>
<subpath id="CM">
<property Type="numericfield" Value="0x12" desc="Port Number_1" id="Port Number"/>
</subpath>
</router>
</device>
</platform>
</connection>
</configuration>
<configuration XML_version="1.2" id="Texas Instruments XDS2xx USB Debug Probe_0">
<instance XML_version="1.2" desc="Texas Instruments XDS2xx USB Debug Probe_0" href="connections/TIXDS2XXUSB_Connection.xml" id="Texas Instruments XDS2xx USB Debug Probe_0" xml="TIXDS2XXUSB_Connection.xml" xmlpath="connections"/>
<connection XML_version="1.2" id="Texas Instruments XDS2xx USB Debug Probe_0">
<instance XML_version="1.2" href="drivers/tixds560icepick_c.xml" id="drivers" xml="tixds560icepick_c.xml" xmlpath="drivers"/>
<instance XML_version="1.2" href="drivers/tixds560c28x.xml" id="drivers" xml="tixds560c28x.xml" xmlpath="drivers"/>
<instance XML_version="1.2" href="drivers/tixds560cla2.xml" id="drivers" xml="tixds560cla2.xml" xmlpath="drivers"/>
<instance XML_version="1.2" href="drivers/tixds560cs_child.xml" id="drivers" xml="tixds560cs_child.xml" xmlpath="drivers"/>
<instance XML_version="1.2" href="drivers/tixds560cs_dap.xml" id="drivers" xml="tixds560cs_dap.xml" xmlpath="drivers"/>
<instance XML_version="1.2" href="drivers/tixds560cortexM.xml" id="drivers" xml="tixds560cortexM.xml" xmlpath="drivers"/>
<instance XML_version="1.2" href="drivers/tixds560ajsm.xml" id="drivers" xml="tixds560ajsm.xml" xmlpath="drivers"/>
<platform XML_version="1.2" id="platform_0">
<instance XML_version="1.2" desc="TMS320F28388D_0" href="devices/f28388d.xml" id="TMS320F28388D_0" xml="f28388d.xml" xmlpath="devices"/>
<device HW_revision="1" XML_version="1.2" description="" id="TMS320F28388D_0" partnum="TMS320F28388D">
<router HW_revision="1.0" XML_version="1.2" description="ICEPick_C router" id="IcePick_C_0" isa="ICEPICK_C">
<subpath id="Subpath_1">
<property Type="numericfield" Value="0x11" desc="Port Number_0" id="Port Number"/>
</subpath>
<subpath id="CM">
<property Type="numericfield" Value="0x12" desc="Port Number_1" id="Port Number"/>
</subpath>
</router>
</device>
</platform>
</connection>
</configuration>
</configurations> </configurations>

6
Projects/epwm_test_biss_c_cpu2/Описание проекта freemaster.txt
View File

@ -76,11 +76,5 @@ ___________________________________________
нужно выбрать Mode = 3 и задать ток CurrentRegTuneAmpl в амперах нужно выбрать Mode = 3 и задать ток CurrentRegTuneAmpl в амперах
слева выбрать график I с биноклем который слева выбрать график I с биноклем который
после этого менять CurrLoop.piId.Kp и CurrLoop.piId.Ki чтобы изменить характеристику после этого менять CurrLoop.piId.Kp и CurrLoop.piId.Ki чтобы изменить характеристику
___________________________________________
Импульс тока
В переменную CurrentRegTuneAmplInpuls задать ток импульса
В переменную Impulse задать кол-во секунд (от 0.0001 с до 10 сек)
после этого ток примет значение CurrentRegTuneAmplInpuls на Impulse секунд и после этого Impulse станет равен 0, а ток вернётся к значению CurrentRegTuneAmpl