seklyuts/MotorControlModuleSDFM_TMS320F28388D
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biss-c переделан на более универсальный вариант, может работать с разной разрядностью:

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#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.
This commit is contained in:
seklyuts 2024-09-06 08:34:55 +03:00
parent 0f29a7eb48
commit 57dca5e05a
10 changed files with 134 additions and 31 deletions
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6
Projects/epwm_test_biss_c_cpu2/2838x_FLASH_lnk_cpu2.cmd
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@ -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_RegsFile1 : > RAMGS3 | RAMGS4 | RAMGS5
ADC_RegsFile0 : > RAMLS1
// Filter14_RegsFile : > RAMGS14

BIN
Projects/epwm_test_biss_c_cpu2/Start_rfm.pmp
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Binary file not shown.

5
Projects/epwm_test_biss_c_cpu2/epwm_test.c
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@ -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();

4
Projects/epwm_test_biss_c_cpu2/src/SyncPWMFonRun.c
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@ -73,8 +73,8 @@ void SyncPWMFonRun(void)
fault_read_clr();
fault_read_ports();
}else{
buttonsDisp();
ScreenDisp();
// buttonsDisp();
// ScreenDisp();
}
}

49
Projects/epwm_test_biss_c_cpu2/src/biss.c
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@ -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;
Bissth1 = (BiSStheta & 0x7FFFF);
Bissth2 = Bissth1 >> 3;
BissCRC = (BissAll & 0x0000000003F00000) >> 20;
BissAllCRC = (BissAll & 0xFFFFFFFFFC000000) >> 26; //38 bit
BiSStheta = BissAll >> ANGLESUMM_SHIFT;//
Bissth1 = (BiSStheta & MASK_SINGLETURN); //угол внутри одного оборота
Bissth2 = Bissth1 >> ANGLE16bit_SHIFT;
BissCRC = (BissAll >> (ANGLESUMM_SHIFT - 8)) & 0x3F;
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;
BissWarn = (BissAll & 0x0000000004000000) >> 26;
BissErr = (BissAll >> (ANGLESUMM_SHIFT-1)) & 1;
BissWarn = (BissAll >> (ANGLESUMM_SHIFT-2)) & 1;
// BissErr = (BissAll & 0x0000000008000000) >> 27;
// BissWarn = (BissAll & 0x0000000004000000) >> 26;
}
}

2
Projects/epwm_test_biss_c_cpu2/src/frm_uart.c
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@ -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)

9
Projects/epwm_test_biss_c_cpu2/src/uart_4Mbit.c
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@ -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

45
Projects/epwm_test_biss_c_cpu2/src/vector.c
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@ -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();

17
Projects/epwm_test_biss_c_cpu2/src/vector.h
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@ -80,14 +80,15 @@ typedef struct
typedef enum
{
OffMode,
StepMode,
StepModeImpulses,
StayMode,
CurrentRegTune,
TestPWNMode,
VectorModeU,
VectorModeI
OffMode,//0
StepMode,//1
StepModeImpulses,//2
StayMode,//3
CurrentRegTune,//4
TestPWNMode,//5
VectorModeU,//6
VectorModeI,//7
SetAngleOffsetMode//8
}TMode;

28
Projects/epwm_test_biss_c_cpu2/targetConfigs/TMS320F28388D.ccxml
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@ -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>