biss-c переделан на более универсальный вариант, может работать с разной разрядностью:

#define SINGLETURN      - бит на один оборот
#define MULTITURN       - бит на количество оборотов
их сумма -- общее кол-во бит

Скорость фримастера уменьшил на 57600, так как на 115200 уарт сыпет ошибками

Добавил вычисление смещения угла датчика.

Projects/epwm_test_biss_c_cpu2/2838x_FLASH_lnk_cpu2.cmd

@@ -99,7 +99,7 @@ SECTIONS
    MSGRAM_CM_TO_CPU    : > CMTOCPURAM, type=NOINIT
 
    /* The following section definition are for SDFM examples */
-//   Filter_RegsFile  : > RAMGS10
+
 //   Filter1_RegsFile : > RAMLS1
 //   Filter2_RegsFile : > RAMLS2
 //   Filter3_RegsFile : > RAMLS3
@@ -107,8 +107,8 @@ SECTIONS
 
    Filter6_RegsFile : > RAMLS6
 
-   ADC_RegsFile0 : >  RAMGS0 | RAMGS1 | RAMGS2
+   ADC_RegsFile0 : >  RAMLS1
-   ADC_RegsFile1 : >  RAMGS3 | RAMGS4 | RAMGS5
+
 
 
 //   Filter14_RegsFile : > RAMGS14

Projects/epwm_test_biss_c_cpu2/epwm_test.c

@@ -25,14 +25,15 @@
 
 void main(void)
 {
+    asm (" NOP");
     InitPerif();
 
     for(;;)
     {
-//        asm (" NOP");
-//        frmmstr_run();
         UartErrorReset();
+#ifdef  FREEMASTER
         FMSTR_Poll();
+#endif
         SyncPWMFonRun();
         rele_run();
         AdcRun();

Projects/epwm_test_biss_c_cpu2/src/SyncPWMFonRun.c

@@ -73,8 +73,8 @@ void SyncPWMFonRun(void)
                     fault_read_clr();
                     fault_read_ports();
             }else{
-                buttonsDisp();
+//                buttonsDisp();
-                ScreenDisp();
+//                ScreenDisp();
             }
         }
 

Projects/epwm_test_biss_c_cpu2/src/biss.c

@@ -171,6 +171,25 @@ uint64_t BissAll = 0;
 uint32_t WrongCS =0, RightCS = 0, bisscErr = 0;
 int16_t bissSpeed;
 
+
+//#define SINGLETURN      19
+//#define MULTITURN       17
+
+#define SINGLETURN      17
+#define MULTITURN       12
+
+
+//#define SUMMTURN                (SINGLETURN+MULTITURN)
+//#define ANGLESUMM_SHIFT         (64-SUMMTURN)
+//#define MASK_SINGLETURN         (((uint64_t)1<<SINGLETURN)-1)
+//#define ANGLE16bit_SHIFT        (SINGLETURN - 16)
+
+
+const uint16_t SUMMTURN        =        (SINGLETURN + MULTITURN);//29
+const uint16_t ANGLESUMM_SHIFT =        (64 - SUMMTURN);//35
+const uint32_t MASK_SINGLETURN =        (((uint64_t)1<<SINGLETURN)-1);//
+const uint16_t ANGLE16bit_SHIFT=        (SINGLETURN - 16);
+
 void BissCalc(uint64_t BissData)
 {
     uint16_t BissEmptyBits = 0;
@@ -193,12 +212,21 @@ void BissCalc(uint64_t BissData)
     {
         BissAll = BissData << 2;
 
-        BiSStheta = (BissAll & 0xFFFFFFFFF0000000) >> 28;
+        BiSStheta = BissAll >> ANGLESUMM_SHIFT;//
-        Bissth1 = (BiSStheta & 0x7FFFF);
+        Bissth1 = (BiSStheta & MASK_SINGLETURN);            //угол внутри одного оборота
-        Bissth2 = Bissth1 >> 3;
+        Bissth2 = Bissth1 >> ANGLE16bit_SHIFT;
-        BissCRC =  (BissAll & 0x0000000003F00000) >> 20;
+        BissCRC =  (BissAll  >> (ANGLESUMM_SHIFT - 8)) & 0x3F;
-        BissAllCRC = (BissAll & 0xFFFFFFFFFC000000) >> 26; //38 bit
+        BissAllCRC = BissAll >> (ANGLESUMM_SHIFT-2);
         BissCRC2_ = crcbitbybitfast(BissAllCRC);
+
+
+//        BiSStheta = (BissAll & 0xFFFFFFFFF0000000) >> 28;
+//        Bissth1 = (BiSStheta & 0x7FFFF);            //угол внутри одного оборота
+//        Bissth2 = Bissth1 >> 3;
+//        BissCRC =  (BissAll & 0x0000000003F00000) >> 20;
+//        BissAllCRC = (BissAll & 0xFFFFFFFFFC000000) >> 26; //38 bit
+//        BissCRC2_ = crcbitbybitfast(BissAllCRC);
+
         if(BissCRC2_ != BissCRC)
         {
             WrongCS++;
@@ -208,16 +236,19 @@ void BissCalc(uint64_t BissData)
         else
         {
             RightCS++;
-            Angle = -Bissth2*5;
+            Angle = Bissth2*5;
             dAngle = Angle - Angle_;
-            Angle_ = Angle_;
+            Angle_ = Angle;
             bisscErr = 0;
 
             bissSpeed = Bissth1 - Bissth1_;
             Bissth1_ = Bissth1;
         }
-        BissErr =  (BissAll & 0x0000000008000000) >> 27;
+        BissErr =  (BissAll >> (ANGLESUMM_SHIFT-1)) & 1;
-        BissWarn = (BissAll & 0x0000000004000000) >> 26;
+        BissWarn = (BissAll >> (ANGLESUMM_SHIFT-2)) & 1;
+
+//        BissErr =  (BissAll & 0x0000000008000000) >> 27;
+//        BissWarn = (BissAll & 0x0000000004000000) >> 26;
     }
 
 }

Projects/epwm_test_biss_c_cpu2/src/frm_uart.c

@@ -10,7 +10,7 @@
 #include "SyncPWMFonRun.h"
 
 #define LSPCLK_HZ   100000000.0
-#define BAUD        115200.0
+#define BAUD        57600.0
 #define BRR         LSPCLK_HZ/(BAUD*8)
 
 

Projects/epwm_test_biss_c_cpu2/src/uart_4Mbit.c

@@ -13,10 +13,10 @@
 #define BAUD        4000000.0
 #define BRR         LSPCLK_HZ/(BAUD*8)
 
-//uint16_t AdcaResult0_[4096];
+uint16_t AdcaResult0_[1024];
 //uint16_t AdcaResult1_[4096];
 
-//#pragma DATA_SECTION(AdcaResult0_,"ADC_RegsFile0");
+#pragma DATA_SECTION(AdcaResult0_,"ADC_RegsFile0");
 //#pragma DATA_SECTION(AdcaResult1_,"ADC_RegsFile1");
 
 uint16_t N = 0;
@@ -24,7 +24,7 @@ uint16_t N = 0;
 
 __interrupt void Uart_ISR(void)
 {
-//    if(N < 4096) {AdcaResult0_[N] = SciaRegs.SCIRXBUF.all; N++;}
+    if(N < 4096) {AdcaResult0_[N] = SciaRegs.SCIRXBUF.all; N++;}
     PieCtrlRegs.PIEACK.all = PIEACK_GROUP9;
 }
 
@@ -82,12 +82,15 @@ void UartInit(void)
     EDIS;
 }
 
+uint16_t UartErr=0;
+
 void UartErrorReset(void)
 {
     if(SciaRegs.SCIRXST.bit.RXERROR)
     {
         EALLOW;
         SciaRegs.SCICTL1.bit.SWRESET = 0;
+        UartErr++;
         EDIS;
     }
     else

Projects/epwm_test_biss_c_cpu2/src/vector.c

@@ -87,11 +87,45 @@ uint32_t ImpulsHi = 0;
 uint32_t ImpulsLow = 0;
 uint32_t ImpulsStep = 0;
 int16_t AngleOffset = 0xc000, vectorAngle;
+uint16_t SetAngeOffsetCounterTime[4] = {10000,20000,30000,40000};
+uint16_t SetAngeOffsetCounter = 0;
 
+int32_t ThetaL,ThetaH;
 
+void SetAngeOffset(void)
+{
 
-
+    SetAngeOffsetCounter++;
-
+    if(SetAngeOffsetCounter < SetAngeOffsetCounterTime[0])
+    {
+        vectorSinCos.Angle = 0x4000;
+    }
+    else if(SetAngeOffsetCounter < SetAngeOffsetCounterTime[1])
+    {
+        vectorSinCos.Angle = 0;
+    }
+    else if(SetAngeOffsetCounter == SetAngeOffsetCounterTime[1])
+    {
+        ThetaL = biss_getAngle();
+    }
+    else if(SetAngeOffsetCounter < SetAngeOffsetCounterTime[2])
+    {
+        vectorSinCos.Angle = 0xC000;
+    }
+    else if(SetAngeOffsetCounter < SetAngeOffsetCounterTime[3])
+    {
+        vectorSinCos.Angle = 0;
+    }
+    else
+    {
+        ThetaH = biss_getAngle();
+        AngleOffset = (ThetaL + ThetaH)/2;
+        SetAngeOffsetCounter = 0;
+        Mode = OffMode;
+    }
+    CurrLoop.piId.Ref = CurrentRegTuneAmpl;
+    CurrLoop.piIq.Ref = 0;
+}
 
 
 void vectorFault(void)
@@ -147,6 +181,7 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
             CurrLoop.piIq.Ref = CurrentRegTuneAmplInpuls;
         }
         else  CurrLoop.piIq.Ref = CurrentRegTuneAmpl;
+        CurrLoop.piId.Ref = 0;
         break;
     case StepModeImpulses:
         PWM_ABC_StartOut();
@@ -155,6 +190,7 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
         else CurrLoop.piIq.Ref = CurrentRegTuneAmplInpuls;
         if(ImpulsStep < (ImpulsLow + ImpulsHi)) ImpulsStep++;
         else ImpulsStep = 0;
+        CurrLoop.piId.Ref = 0;
         break;
     case StayMode:
         PWM_ABC_StartOut();
@@ -166,6 +202,7 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
         StepS = Step&((1<<StepShift)-1);
         if(StepS > (1<<(StepShift-1)))  CurrLoop.piId.Ref = 0;
         else CurrLoop.piId.Ref = CurrentRegTuneAmpl;
+        CurrLoop.piIq.Ref = 0;
         break;
     case TestPWNMode:
         NoLoop = 0;
@@ -186,6 +223,10 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
             CurrLoop.piId.Ref = 0;
         }
         break;
+    case SetAngleOffsetMode:
+        PWM_ABC_StartOut();
+        SetAngeOffset();
+        break;
     default:
         Mode = OffMode;
         PWM_ABC_StopAllClose();

Projects/epwm_test_biss_c_cpu2/src/vector.h

@@ -80,14 +80,15 @@ typedef struct
 
 typedef enum
 {
-  OffMode,
+  OffMode,//0
-  StepMode,
+  StepMode,//1
-  StepModeImpulses,
+  StepModeImpulses,//2
-  StayMode,
+  StayMode,//3
-  CurrentRegTune,
+  CurrentRegTune,//4
-  TestPWNMode,
+  TestPWNMode,//5
-  VectorModeU,
+  VectorModeU,//6
-  VectorModeI
+  VectorModeI,//7
+  SetAngleOffsetMode//8
 }TMode;
 
 

Projects/epwm_test_biss_c_cpu2/targetConfigs/TMS320F28388D.ccxml

@@ -1,29 +1,55 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <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">
+                                
+                <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>
+    
 </configurations>