seklyuts/MotorControlModuleSDFM_TMS320F28388D
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Отлажено измерение тока и напряжение

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Учтено инвертирование ШИМ в третьей фазе
Настроено масштабирование напряжение (вектор напряжения в вольтах, а не в процентах ШИМ)
Напряжение моста фильтруется
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seklyuts 2023-12-26 13:28:58 +03:00
parent 3448fe9df8
commit 65f17dc051
22 changed files with 640 additions and 261 deletions
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192
Projects/epwm_test/.cproject
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@ -119,7 +119,7 @@
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BIN
Projects/epwm_test/Start_rfm.pmp
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Binary file not shown.

5
Projects/epwm_test/epwm_test.c
View File

@ -18,7 +18,7 @@
#include "init_perif.h" #include "init_perif.h"
#include "frmmstr_run.h" #include "frmmstr_run.h"
#include "ExtEEPROM.h" #include "ExtEEPROM.h"
#include "adc_init.h"
void main(void) void main(void)
{ {
@ -26,8 +26,9 @@ void main(void)
for(;;) for(;;)
{ {
// asm (" NOP"); // asm (" NOP");
ExtEEPROM_run(); //ExtEEPROM_run();
frmmstr_run(); frmmstr_run();
adc_run();
} }
} }

4
Projects/epwm_test/lib/f2838x_epwm.c
View File

@ -292,7 +292,7 @@ void InitEPwm8Gpio(void)
// Comment out other unwanted lines. // Comment out other unwanted lines.
// //
GpioCtrlRegs.GPAPUD.bit.GPIO14 = 1; // Disable pull-up on GPIO14 (EPWM8A) GpioCtrlRegs.GPAPUD.bit.GPIO14 = 1; // Disable pull-up on GPIO14 (EPWM8A)
GpioCtrlRegs.GPAPUD.bit.GPIO15 = 1; // Disable pull-up on GPIO15 (EPWM8B) // GpioCtrlRegs.GPAPUD.bit.GPIO15 = 1; // Disable pull-up on GPIO15 (EPWM8B)
// GpioCtrlRegs.GPEPUD.bit.GPIO159 = 1; // Disable pull-up on GPIO159 (EPWM8A) // GpioCtrlRegs.GPEPUD.bit.GPIO159 = 1; // Disable pull-up on GPIO159 (EPWM8A)
// GpioCtrlRegs.GPFPUD.bit.GPIO160 = 1; // Disable pull-up on GPIO160 (EPWM8B) // GpioCtrlRegs.GPFPUD.bit.GPIO160 = 1; // Disable pull-up on GPIO160 (EPWM8B)
@ -302,7 +302,7 @@ void InitEPwm8Gpio(void)
// Comment out other unwanted lines. // Comment out other unwanted lines.
// //
GpioCtrlRegs.GPAMUX1.bit.GPIO14 = 1; // Configure GPIO14 as EPWM8A GpioCtrlRegs.GPAMUX1.bit.GPIO14 = 1; // Configure GPIO14 as EPWM8A
GpioCtrlRegs.GPAMUX1.bit.GPIO15 = 1; // Configure GPIO15 as EPWM8B // GpioCtrlRegs.GPAMUX1.bit.GPIO15 = 1; // Configure GPIO15 as EPWM8B
// GpioCtrlRegs.GPEMUX2.bit.GPIO159 = 1; // Configure GPIO159 as EPWM8A // GpioCtrlRegs.GPEMUX2.bit.GPIO159 = 1; // Configure GPIO159 as EPWM8A
// GpioCtrlRegs.GPFMUX1.bit.GPIO160 = 1; // Configure GPIO160 as EPWM8B // GpioCtrlRegs.GPFMUX1.bit.GPIO160 = 1; // Configure GPIO160 as EPWM8B

20
Projects/epwm_test/src/ExternalEEPROM/BL25CM1A.c
View File

@ -28,27 +28,27 @@
void Bl25cm1a_en(void) void Bl25cm1a_en(void)
{ {
volatile uint16_t empty; volatile uint16_t empty;
Gpio15outSPI_CS_BL25CM1A(0); Gpio_SPI_CS_BL25CM1A(0);
transmitData(WREN); transmitData(WREN);
while(SpiRegs.SPIFFRX.bit.RXFFST != 1) while(SpiRegs.SPIFFRX.bit.RXFFST != 1)
{ {
} }
Gpio15outSPI_CS_BL25CM1A(1); Gpio_SPI_CS_BL25CM1A(1);
empty = SpiRegs.SPIRXBUF; empty = SpiRegs.SPIRXBUF;
} }
uint16_t Bl25cm1a_ReadStatus(void) uint16_t Bl25cm1a_ReadStatus(void)
{ {
volatile uint16_t empty; volatile uint16_t empty;
Gpio15outSPI_CS_BL25CM1A(0); Gpio_SPI_CS_BL25CM1A(0);
transmitData(RDSR); transmitData(RDSR);
transmitData(0xFF); transmitData(0xFF);
while(SpiRegs.SPIFFRX.bit.RXFFST != 2) while(SpiRegs.SPIFFRX.bit.RXFFST != 2)
{ {
} }
Gpio15outSPI_CS_BL25CM1A(1); Gpio_SPI_CS_BL25CM1A(1);
empty = SpiRegs.SPIRXBUF; empty = SpiRegs.SPIRXBUF;
empty = SpiRegs.SPIRXBUF; empty = SpiRegs.SPIRXBUF;
return empty; return empty;
@ -64,7 +64,7 @@ void Bl25cm1a_read_8_bytes(uint32_t Addr, uint16_t * read_data, uint16_t num_byt
{ {
Stat = Bl25cm1a_ReadStatus(); Stat = Bl25cm1a_ReadStatus();
} }
Gpio15outSPI_CS_BL25CM1A(0); Gpio_SPI_CS_BL25CM1A(0);
transmitData(READ); transmitData(READ);
transmitData(Addr>>16); transmitData(Addr>>16);
transmitData(Addr>>8); transmitData(Addr>>8);
@ -74,7 +74,7 @@ void Bl25cm1a_read_8_bytes(uint32_t Addr, uint16_t * read_data, uint16_t num_byt
{ {
} }
Gpio15outSPI_CS_BL25CM1A(1); Gpio_SPI_CS_BL25CM1A(1);
empty = SpiRegs.SPIRXBUF; empty = SpiRegs.SPIRXBUF;
empty = SpiRegs.SPIRXBUF; empty = SpiRegs.SPIRXBUF;
empty = SpiRegs.SPIRXBUF; empty = SpiRegs.SPIRXBUF;
@ -97,7 +97,7 @@ void Bl25cm1a_write_8_bytes(uint32_t Addr, uint16_t * write_data, uint16_t num_b
} }
Bl25cm1a_en(); Bl25cm1a_en();
Gpio15outSPI_CS_BL25CM1A(0); Gpio_SPI_CS_BL25CM1A(0);
transmitData(WRITE); transmitData(WRITE);
transmitData(Addr>>16); transmitData(Addr>>16);
transmitData(Addr>>8); transmitData(Addr>>8);
@ -107,7 +107,7 @@ void Bl25cm1a_write_8_bytes(uint32_t Addr, uint16_t * write_data, uint16_t num_b
{ {
} }
Gpio15outSPI_CS_BL25CM1A(1); Gpio_SPI_CS_BL25CM1A(1);
empty = SpiRegs.SPIRXBUF; empty = SpiRegs.SPIRXBUF;
empty = SpiRegs.SPIRXBUF; empty = SpiRegs.SPIRXBUF;
empty = SpiRegs.SPIRXBUF; empty = SpiRegs.SPIRXBUF;
@ -129,7 +129,7 @@ uint16_t Bl25cm1a_verify_8_bytes(uint32_t Addr, uint16_t * verify_data, uint16_
{ {
Stat = Bl25cm1a_ReadStatus(); Stat = Bl25cm1a_ReadStatus();
} }
Gpio15outSPI_CS_BL25CM1A(0); Gpio_SPI_CS_BL25CM1A(0);
transmitData(READ); transmitData(READ);
transmitData(Addr>>16); transmitData(Addr>>16);
transmitData(Addr>>8); transmitData(Addr>>8);
@ -139,7 +139,7 @@ uint16_t Bl25cm1a_verify_8_bytes(uint32_t Addr, uint16_t * verify_data, uint16_
{ {
} }
Gpio15outSPI_CS_BL25CM1A(1); Gpio_SPI_CS_BL25CM1A(1);
empty = SpiRegs.SPIRXBUF; empty = SpiRegs.SPIRXBUF;
empty = SpiRegs.SPIRXBUF; empty = SpiRegs.SPIRXBUF;
empty = SpiRegs.SPIRXBUF; empty = SpiRegs.SPIRXBUF;

82
Projects/epwm_test/src/Peripherals/adc_init.c
View File

@ -5,6 +5,88 @@
* Author: seklyuts * Author: seklyuts
*/ */
#include "f28x_project.h"
Uint16 AdcbResult0;
Uint16 AdcbResult1;
int16 ADCdiff;
Uint16 adc_start = 0;
__interrupt void adcb1_isr(void)
{
AdcbResult0 = AdcbResultRegs.ADCRESULT0;
AdcbResult1 = AdcbResultRegs.ADCRESULT1;
AdcbRegs.ADCINTFLGCLR.bit.ADCINT1 = 1;
ADCdiff = AdcbResult0 - AdcbResult1;
//
// Acknowledge
//
PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
}
void ConfigureADC(void)
{
//
// Map ISR functions
//
EALLOW;
PieVectTable.ADCB1_INT = &adcb1_isr; //function for ADCA interrupt 1
PieCtrlRegs.PIEIER1.bit.INTx2 = 1;
IER |= M_INT1;
//
// Write configurations
//
AdcbRegs.ADCCTL2.bit.PRESCALE = 6; //set ADCCLK divider to /4
AdcSetMode(ADC_ADCB, ADC_RESOLUTION_12BIT, ADC_SIGNALMODE_SINGLE);
//
// Set pulse positions to late
//
AdcbRegs.ADCCTL1.bit.INTPULSEPOS = 1;
AdcbRegs.ADCCTL2.bit.SIGNALMODE = 0;
//
// Power up the ADC
//
AdcbRegs.ADCCTL1.bit.ADCPWDNZ = 1;
//
// Delay for 1ms to allow ADC time to power up
//
DELAY_US(1000);
//ADCB
AdcbRegs.ADCSOC0CTL.bit.CHSEL = 0; //SOC0 will convert pin B0
AdcbRegs.ADCSOC0CTL.bit.ACQPS = 14; //sample window is acqps +
//1 SYSCLK cycles
AdcbRegs.ADCSOC1CTL.bit.CHSEL = 1; //SOC1 will convert pin B1
AdcbRegs.ADCSOC1CTL.bit.ACQPS = 14; //sample window is acqps +
//1 SYSCLK cycles
AdcbRegs.ADCINTSEL1N2.bit.INT1SEL = 1; //end of SOC1 will set INT1 flag
AdcbRegs.ADCINTSEL1N2.bit.INT1E = 1; //enable INT1 flag
AdcbRegs.ADCINTFLGCLR.bit.ADCINT1 = 1; //make sure INT1 flag is cleared
EDIS;
}
void adc_run(void)
{
if(adc_start)
{
adc_start = 0;
AdcbRegs.ADCSOCFRC1.all = 0x0003; //SOC0 and SOC1
}
}
void adc_start_set(void)
{
adc_start = 1;
}

7
Projects/epwm_test/src/Peripherals/adc_init.h
View File

@ -10,6 +10,11 @@
//
// Function Prototypes
//
void ConfigureADC(void);
void adc_run(void);
void adc_start_set(void);
#endif /* SRC_PERIPHERALS_ADC_INIT_H_ */ #endif /* SRC_PERIPHERALS_ADC_INIT_H_ */

136
Projects/epwm_test/src/Peripherals/gpio_init.c
View File

@ -9,74 +9,75 @@
void GpioInit(void) void GpioInit(void)
{ {
EALLOW; EALLOW;
// GpioCtrlRegs.GPAMUX2.bit.GPIO20 = 0; GpioCtrlRegs.GPAMUX1.bit.GPIO4 = 0;
// GpioCtrlRegs.GPAGMUX2.bit.GPIO20 = 0; GpioCtrlRegs.GPAGMUX1.bit.GPIO4 = 0;
// GpioCtrlRegs.GPADIR.bit.GPIO20 = 1; GpioCtrlRegs.GPADIR.bit.GPIO4 = 1;
// GpioDataRegs.GPADAT.bit.GPIO20 = 0; GpioDataRegs.GPADAT.bit.GPIO4 = 0;
// //
// GpioCtrlRegs.GPAMUX2.bit.GPIO21 = 0; // GpioCtrlRegs.GPAMUX2.bit.GPIO21 = 0;
// GpioCtrlRegs.GPAGMUX2.bit.GPIO21 = 0; // GpioCtrlRegs.GPAGMUX2.bit.GPIO21 = 0;
// GpioCtrlRegs.GPADIR.bit.GPIO21 = 1; // GpioCtrlRegs.GPADIR.bit.GPIO21 = 1;
// GpioDataRegs.GPADAT.bit.GPIO21 = 0; // GpioDataRegs.GPADAT.bit.GPIO21 = 0;
GpioCtrlRegs.GPAMUX1.bit.GPIO15 = 0; GpioCtrlRegs.GPCMUX2.bit.GPIO95 = 0; // ğåëå ñèëîâîå
GpioCtrlRegs.GPAGMUX1.bit.GPIO15 = 0; GpioCtrlRegs.GPCGMUX2.bit.GPIO95 = 0;
GpioCtrlRegs.GPADIR.bit.GPIO15 = 1; GpioCtrlRegs.GPCDIR.bit.GPIO95 = 1;
GpioDataRegs.GPADAT.bit.GPIO15 = 0; GpioDataRegs.GPCDAT.bit.GPIO95 = 1;
GpioCtrlRegs.GPBMUX2.bit.GPIO54 = 0; GpioCtrlRegs.GPCMUX1.bit.GPIO64 = 0;//FaultPWM
GpioCtrlRegs.GPBGMUX2.bit.GPIO54 = 0; GpioCtrlRegs.GPCGMUX1.bit.GPIO64 = 0;
GpioCtrlRegs.GPBDIR.bit.GPIO54 = 1; GpioCtrlRegs.GPCDIR.bit.GPIO64 = 0;
GpioDataRegs.GPBDAT.bit.GPIO54 = 0; GpioDataRegs.GPCDAT.bit.GPIO64 = 0;
//
GpioCtrlRegs.GPBMUX2.bit.GPIO55 = 0; // GpioCtrlRegs.GPBMUX2.bit.GPIO55 = 0;
GpioCtrlRegs.GPBGMUX2.bit.GPIO55 = 0; // GpioCtrlRegs.GPBGMUX2.bit.GPIO55 = 0;
GpioCtrlRegs.GPBDIR.bit.GPIO55 = 1; // GpioCtrlRegs.GPBDIR.bit.GPIO55 = 1;
GpioDataRegs.GPBDAT.bit.GPIO55 = 0; // GpioDataRegs.GPBDAT.bit.GPIO55 = 0;
//
GpioCtrlRegs.GPBMUX2.bit.GPIO56 = 0; // GpioCtrlRegs.GPBMUX2.bit.GPIO56 = 0;
GpioCtrlRegs.GPBGMUX2.bit.GPIO56 = 0; // GpioCtrlRegs.GPBGMUX2.bit.GPIO56 = 0;
GpioCtrlRegs.GPBDIR.bit.GPIO56 = 1; // GpioCtrlRegs.GPBDIR.bit.GPIO56 = 1;
GpioDataRegs.GPBDAT.bit.GPIO56 = 0; // GpioDataRegs.GPBDAT.bit.GPIO56 = 0;
//
GpioCtrlRegs.GPBMUX2.bit.GPIO57 = 0; // GpioCtrlRegs.GPBMUX2.bit.GPIO57 = 0;
GpioCtrlRegs.GPBGMUX2.bit.GPIO57 = 0; // GpioCtrlRegs.GPBGMUX2.bit.GPIO57 = 0;
GpioCtrlRegs.GPBDIR.bit.GPIO57 = 1; // GpioCtrlRegs.GPBDIR.bit.GPIO57 = 1;
GpioDataRegs.GPBDAT.bit.GPIO57 = 0; // GpioDataRegs.GPBDAT.bit.GPIO57 = 0;
//
//
//
GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 0; // GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 0;
GpioCtrlRegs.GPAGMUX2.bit.GPIO18 = 0; // GpioCtrlRegs.GPAGMUX2.bit.GPIO18 = 0;
GpioCtrlRegs.GPADIR.bit.GPIO18 = 0; // GpioCtrlRegs.GPADIR.bit.GPIO18 = 0;
//
GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 0; // GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 0;
GpioCtrlRegs.GPAGMUX2.bit.GPIO19 = 0; // GpioCtrlRegs.GPAGMUX2.bit.GPIO19 = 0;
GpioCtrlRegs.GPADIR.bit.GPIO19 = 0; // GpioCtrlRegs.GPADIR.bit.GPIO19 = 0;
//
GpioCtrlRegs.GPCMUX2.bit.GPIO90 = 0; // GpioCtrlRegs.GPCMUX2.bit.GPIO90 = 0;
GpioCtrlRegs.GPCGMUX2.bit.GPIO90 = 0; // GpioCtrlRegs.GPCGMUX2.bit.GPIO90 = 0;
GpioCtrlRegs.GPCDIR.bit.GPIO90 = 0; // GpioCtrlRegs.GPCDIR.bit.GPIO90 = 0;
//
GpioCtrlRegs.GPCMUX2.bit.GPIO92 = 0; // GpioCtrlRegs.GPCMUX2.bit.GPIO92 = 0;
GpioCtrlRegs.GPCGMUX2.bit.GPIO92 = 0; // GpioCtrlRegs.GPCGMUX2.bit.GPIO92 = 0;
GpioCtrlRegs.GPCDIR.bit.GPIO92 = 0; // GpioCtrlRegs.GPCDIR.bit.GPIO92 = 0;
//
GpioCtrlRegs.GPCMUX2.bit.GPIO94 = 0; // GpioCtrlRegs.GPCMUX2.bit.GPIO94 = 0;
GpioCtrlRegs.GPCGMUX2.bit.GPIO94 = 0; // GpioCtrlRegs.GPCGMUX2.bit.GPIO94 = 0;
GpioCtrlRegs.GPCDIR.bit.GPIO94 = 0; // GpioCtrlRegs.GPCDIR.bit.GPIO94 = 0;
//
GpioCtrlRegs.GPDMUX2.bit.GPIO127 = 0; // GpioCtrlRegs.GPDMUX2.bit.GPIO127 = 0;
GpioCtrlRegs.GPDGMUX2.bit.GPIO127 = 0; // GpioCtrlRegs.GPDGMUX2.bit.GPIO127 = 0;
GpioCtrlRegs.GPDDIR.bit.GPIO127 = 0; // GpioCtrlRegs.GPDDIR.bit.GPIO127 = 0;
//
GpioCtrlRegs.GPEMUX2.bit.GPIO147 = 0; // GpioCtrlRegs.GPEMUX2.bit.GPIO147 = 0;
GpioCtrlRegs.GPEGMUX2.bit.GPIO147 = 0; // GpioCtrlRegs.GPEGMUX2.bit.GPIO147 = 0;
GpioCtrlRegs.GPEDIR.bit.GPIO147 = 0; // GpioCtrlRegs.GPEDIR.bit.GPIO147 = 0;
//
GpioCtrlRegs.GPDMUX1.bit.GPIO104 = 0; GpioCtrlRegs.GPDMUX1.bit.GPIO103 = 0;
GpioCtrlRegs.GPDGMUX1.bit.GPIO104 = 0; GpioCtrlRegs.GPDGMUX1.bit.GPIO103 = 0;
GpioCtrlRegs.GPDDIR.bit.GPIO104 = 0; GpioCtrlRegs.GPDDIR.bit.GPIO103 = 1;
GpioDataRegs.GPDDAT.bit.GPIO103 = 0;
EDIS; EDIS;
} }
@ -91,14 +92,10 @@ void GpioInit(void)
// GpioDataRegs.GPADAT.bit.GPIO21 = out_bit; // GpioDataRegs.GPADAT.bit.GPIO21 = out_bit;
//} //}
void Gpio15outSPI_CS_BL25CM1A(uint16_t out_bit)
{
GpioDataRegs.GPADAT.bit.GPIO15 = out_bit;
}
void Gpio54out(uint16_t out_bit) void Gpio4out(uint16_t out_bit)
{ {
GpioDataRegs.GPBDAT.bit.GPIO54 = out_bit; GpioDataRegs.GPADAT.bit.GPIO4 = out_bit;
} }
void Gpio55out(uint16_t out_bit) void Gpio55out(uint16_t out_bit)
@ -115,3 +112,8 @@ void Gpio57out(uint16_t out_bit)
{ {
GpioDataRegs.GPBDAT.bit.GPIO57 = out_bit; GpioDataRegs.GPBDAT.bit.GPIO57 = out_bit;
} }
void Gpio95out(uint16_t out_bit)
{
GpioDataRegs.GPCDAT.bit.GPIO95 = out_bit;
}

22
Projects/epwm_test/src/Peripherals/gpio_init.h
View File

@ -9,20 +9,26 @@
#define SRC_GPIO_INIT_H_ #define SRC_GPIO_INIT_H_
#define FaultAL !GpioDataRegs.GPCDAT.bit.GPIO90
#define FaultAH !GpioDataRegs.GPCDAT.bit.GPIO92 //#define FaultAL !GpioDataRegs.GPCDAT.bit.GPIO90
#define FaultBL !GpioDataRegs.GPCDAT.bit.GPIO94 //#define FaultAH !GpioDataRegs.GPCDAT.bit.GPIO92
#define FaultBH !GpioDataRegs.GPDDAT.bit.GPIO127 //#define FaultBL !GpioDataRegs.GPCDAT.bit.GPIO94
#define FaultCL !GpioDataRegs.GPEDAT.bit.GPIO147 //#define FaultBH !GpioDataRegs.GPDDAT.bit.GPIO127
#define FaultCH !GpioDataRegs.GPDDAT.bit.GPIO104 //#define FaultCL !GpioDataRegs.GPEDAT.bit.GPIO147
//#define FaultCH !GpioDataRegs.GPDDAT.bit.GPIO104
#define FaultPWM !GpioDataRegs.GPCDAT.bit.GPIO64
void GpioInit(void); void GpioInit(void);
//void Gpio20out(uint16_t out_bit); //void Gpio20out(uint16_t out_bit);
//void Gpio21out(uint16_t out_bit); //void Gpio21out(uint16_t out_bit);
void Gpio15outSPI_CS_BL25CM1A(uint16_t out_bit); void Gpio_SPI_CS_BL25CM1A(uint16_t out_bit);
void Gpio54out(uint16_t out_bit); void Gpio4out(uint16_t out_bit);
void Gpio55out(uint16_t out_bit); void Gpio55out(uint16_t out_bit);
void Gpio56out(uint16_t out_bit); void Gpio56out(uint16_t out_bit);
void Gpio57out(uint16_t out_bit); void Gpio57out(uint16_t out_bit);
void Gpio95out(uint16_t out_bit);
#endif /* SRC_GPIO_INIT_H_ */ #endif /* SRC_GPIO_INIT_H_ */

86
Projects/epwm_test/src/Peripherals/pwm_init.c
View File

@ -14,7 +14,11 @@
#define COUNT_UP 1 #define COUNT_UP 1
#define COUNT_DOWN 0 #define COUNT_DOWN 0
volatile struct EPWM_REGS * EPwmRegs[17] = {NULL, &EPwm1Regs, &EPwm2Regs, &EPwm3Regs, &EPwm4Regs, &EPwm5Regs, &EPwm6Regs, &EPwm7Regs, &EPwm8Regs, &EPwm9Regs, &EPwm10Regs, &EPwm11Regs, &EPwm12Regs, &EPwm13Regs, &EPwm14Regs, &EPwm15Regs, &EPwm16Regs}; volatile struct EPWM_REGS * EPwmRegs[17] = {NULL, &EPwm1Regs, &EPwm2Regs, &EPwm3Regs, &EPwm4Regs, &EPwm5Regs, &EPwm6Regs, &EPwm7Regs, &EPwm8Regs, &EPwm9Regs, &EPwm10Regs,
&EPwm11Regs, &EPwm12Regs, &EPwm13Regs, &EPwm14Regs, &EPwm15Regs, &EPwm16Regs};
uint32_t EPwmTimerIntCount[17]; uint32_t EPwmTimerIntCount[17];
uint16_t EPwm_DB_Direction[17]; uint16_t EPwm_DB_Direction[17];
volatile uint16_t PwmBrake100 = PERIOD_BRAKE; volatile uint16_t PwmBrake100 = PERIOD_BRAKE;
@ -27,24 +31,24 @@ volatile uint16_t PwmMotor100 = PERIOD_MOTOR;
void PWM_ABC_StopAllClose(void) void PWM_ABC_StopAllClose(void)
{ {
EALLOW; EALLOW;
EPwm2Regs.TZCTL.bit.TZA = 2; EPwmRegs[PWM_A]->TZCTL.bit.TZA = 2;
EPwm2Regs.TZCTL.bit.TZB = 2; EPwmRegs[PWM_A]->TZCTL.bit.TZB = 2;
EPwm3Regs.TZCTL.bit.TZA = 2; EPwmRegs[PWM_B]->TZCTL.bit.TZA = 2;
EPwm3Regs.TZCTL.bit.TZB = 2; EPwmRegs[PWM_B]->TZCTL.bit.TZB = 2;
EPwm4Regs.TZCTL.bit.TZA = 2; EPwmRegs[PWM_C]->TZCTL.bit.TZA = 2;
EPwm4Regs.TZCTL.bit.TZB = 2; EPwmRegs[PWM_C]->TZCTL.bit.TZB = 2;
EDIS; EDIS;
} }
void PWM_ABC_StartOut(void) void PWM_ABC_StartOut(void)
{ {
EALLOW; EALLOW;
EPwm2Regs.TZCTL.bit.TZA = 3; EPwmRegs[PWM_A]->TZCTL.bit.TZA = 3;
EPwm2Regs.TZCTL.bit.TZB = 3; EPwmRegs[PWM_A]->TZCTL.bit.TZB = 3;
EPwm3Regs.TZCTL.bit.TZA = 3; EPwmRegs[PWM_B]->TZCTL.bit.TZA = 3;
EPwm3Regs.TZCTL.bit.TZB = 3; EPwmRegs[PWM_B]->TZCTL.bit.TZB = 3;
EPwm4Regs.TZCTL.bit.TZA = 3; EPwmRegs[PWM_C]->TZCTL.bit.TZA = 3;
EPwm4Regs.TZCTL.bit.TZB = 3; EPwmRegs[PWM_C]->TZCTL.bit.TZB = 3;
EDIS; EDIS;
} }
@ -61,13 +65,14 @@ void PWMAllInit(void)
PwmBrake100 = PERIOD_BRAKE; PwmBrake100 = PERIOD_BRAKE;
PwmMotor100 = PERIOD_MOTOR; PwmMotor100 = PERIOD_MOTOR;
PWMInit(1, PwmMotor100, INDEPENDED); PWMInit(1, PwmMotor100, INDEPENDED); //ñ÷¸ò÷èê îáùåãî íàçíà÷åíèÿ
PWMInit(2, PwmMotor100, COMPLIMENTARY); PWMInit(PWM_A, PwmMotor100, COMPLIMENTARY);//ØÈÌ
PWMInit(3, PwmMotor100, COMPLIMENTARY); PWMInit(PWM_B, PwmMotor100, COMPLIMENTARY);//ØÈÌ
PWMInit(4, PwmMotor100, COMPLIMENTARY); PWMInit(PWM_C, PwmMotor100, COMPLIMENTARY);//ØÈÌ
PWMInit(5, PwmBrake100, INDEPENDED); PWMInit(PWM_BRAKE, PwmBrake100, INDEPENDED);//Òîðìîç
PWMInit(6, PwmMotor100, COMPLIMENTARY); // PWMInit(6, PwmMotor100, COMPLIMENTARY);
//11 è 12 äëÿ SDFM
PWMInit(11, PwmMotor100, INDEPENDED); PWMInit(11, PwmMotor100, INDEPENDED);
PWMInit(12, PwmMotor100, INDEPENDED); PWMInit(12, PwmMotor100, INDEPENDED);
@ -81,38 +86,39 @@ void PWMAllInit(void)
EPwm12Regs.CMPB.bit.CMPB = SDFM_DELAY; EPwm12Regs.CMPB.bit.CMPB = SDFM_DELAY;
EALLOW; EALLOW;
EPwm2Regs.TZCTL.bit.TZA = 2; EPwmRegs[PWM_A]->TZCTL.bit.TZA = 2;
EPwm2Regs.TZCTL.bit.TZB = 2; EPwmRegs[PWM_A]->TZCTL.bit.TZB = 2;
EPwm3Regs.TZCTL.bit.TZA = 2; EPwmRegs[PWM_B]->TZCTL.bit.TZA = 2;
EPwm3Regs.TZCTL.bit.TZB = 2; EPwmRegs[PWM_B]->TZCTL.bit.TZB = 2;
EPwm4Regs.TZCTL.bit.TZA = 2; EPwmRegs[PWM_C]->TZCTL.bit.TZA = 2;
EPwm4Regs.TZCTL.bit.TZB = 2; EPwmRegs[PWM_C]->TZCTL.bit.TZB = 2;
EDIS; EDIS;
EALLOW; EALLOW;
CpuSysRegs.PCLKCR0.bit.TBCLKSYNC =1; CpuSysRegs.PCLKCR0.bit.TBCLKSYNC =1;// ñèíõðîííûé çàïóñê òàéìåðîâ
EDIS; EDIS;
} }
void PWMGpioInit(void) void PWMGpioInit(void)//Òóò â áèáëèîòå÷íîì ôàéëå âðó÷íóþ ïðîâåðÿåì ÷òî ïèíû òå êîòîðûå íàäî ïî ñõåìå
{ {
InitEPwm2Gpio(); InitEPwm2Gpio();
InitEPwm3Gpio();
InitEPwm4Gpio();
InitEPwm5Gpio(); InitEPwm5Gpio();
InitEPwm6Gpio(); InitEPwm7Gpio();
InitEPwm11Gpio(); InitEPwm8Gpio();
// InitEPwm11Gpio();
} }
void PWMInitEnable(void) void PWMInitEnable(void)
{ {
CpuSysRegs.PCLKCR2.bit.EPWM1=1; CpuSysRegs.PCLKCR2.bit.EPWM1=1;
CpuSysRegs.PCLKCR2.bit.EPWM2=1; CpuSysRegs.PCLKCR2.bit.EPWM2=1;
CpuSysRegs.PCLKCR2.bit.EPWM3=1;
CpuSysRegs.PCLKCR2.bit.EPWM4=1;
CpuSysRegs.PCLKCR2.bit.EPWM5=1; CpuSysRegs.PCLKCR2.bit.EPWM5=1;
CpuSysRegs.PCLKCR2.bit.EPWM6=1; CpuSysRegs.PCLKCR2.bit.EPWM7=1;
CpuSysRegs.PCLKCR2.bit.EPWM8=1;
CpuSysRegs.PCLKCR2.bit.EPWM11=1;
CpuSysRegs.PCLKCR2.bit.EPWM12=1;
} }
void PWMInitInterruptEn(void) void PWMInitInterruptEn(void)
@ -125,8 +131,7 @@ void PWMInitInterruptEn(void)
PieVectTable.EPWM2_INT = &epwm2_isr; PieVectTable.EPWM2_INT = &epwm2_isr;
PieVectTable.EPWM3_INT = &epwm3_isr; PieVectTable.EPWM3_INT = &epwm3_isr;
PieVectTable.EPWM4_INT = &epwm4_isr; PieVectTable.EPWM4_INT = &epwm4_isr;
PieVectTable.EPWM5_INT = &epwm5_isr; PieVectTable.EPWM8_INT = &epwm8_isr;
PieVectTable.EPWM6_INT = &epwm6_isr;
PieVectTable.EPWM11_INT = &epwm11_isr; PieVectTable.EPWM11_INT = &epwm11_isr;
EDIS; // This is needed to disable write to EALLOW protected registers EDIS; // This is needed to disable write to EALLOW protected registers
@ -138,12 +143,11 @@ void PWMInitInterruptEn(void)
// //
// Enable EPWM INTn in the PIE: Group 3 interrupt 1-3 (page 150) // Enable EPWM INTn in the PIE: Group 3 interrupt 1-3 (page 150)
// //
// PieCtrlRegs.PIEIER3.bit.INTx1 = 1; PieCtrlRegs.PIEIER3.bit.INTx1 = 1;
PieCtrlRegs.PIEIER3.bit.INTx2 = 1; PieCtrlRegs.PIEIER3.bit.INTx2 = 1;
// PieCtrlRegs.PIEIER3.bit.INTx3 = 1;
// PieCtrlRegs.PIEIER3.bit.INTx4 = 1; PieCtrlRegs.PIEIER3.bit.INTx8 = 1;
PieCtrlRegs.PIEIER3.bit.INTx5 = 1;
PieCtrlRegs.PIEIER3.bit.INTx6 = 1;
PieCtrlRegs.PIEIER3.bit.INTx11 = 1; PieCtrlRegs.PIEIER3.bit.INTx11 = 1;
} }

15
Projects/epwm_test/src/Peripherals/pwm_init.h
View File

@ -14,22 +14,27 @@
#define FREQUENCY_BRAKE 200000.0 //Hz #define FREQUENCY_BRAKE 200000.0 //Hz
#define FREQUENCY_MOTOR 10000.0 //Hz #define FREQUENCY_MOTOR 10000.0 //Hz
#define EPWM_DB_mkS 3.0 //mkS #define EPWM_DB_mkS 6.0 //mkS
#define PERIOD_BRAKE (SYS_PWM_FREQUENCY/2/FREQUENCY_BRAKE) //Tic #define PERIOD_BRAKE (SYS_PWM_FREQUENCY/2.0/FREQUENCY_BRAKE) //Tic
#define PERIOD_MOTOR (SYS_PWM_FREQUENCY/2/FREQUENCY_MOTOR) //Tic #define PERIOD_MOTOR (SYS_PWM_FREQUENCY/2.0/FREQUENCY_MOTOR) //Tic
#define EPWM_DB (EPWM_DB_mkS*SYS_PWM_FREQUENCY/1000000) #define EPWM_DB (EPWM_DB_mkS*SYS_PWM_FREQUENCY/1000000)
#define SDFM_DELAY_mkS 70.0 //mkS #define SDFM_DELAY_mkS 50.0 //mkS
#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) #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
#define PWM_A 5
#define PWM_B 2
#define PWM_C 7
#define PWM_BRAKE 8
void PWMInit(uint16_t Num, uint16_t Period, uint16_t Independed); void PWMInit(uint16_t Num, uint16_t Period, uint16_t Independed);
void PWMGpioInit(void); void PWMGpioInit(void);

53
Projects/epwm_test/src/Peripherals/pwm_interrupts.c
View File

@ -14,6 +14,8 @@
#include "vector.h" #include "vector.h"
#include "pwm_interrupts.h" #include "pwm_interrupts.h"
#include "sdfm.h" #include "sdfm.h"
#include "adc_init.h"
#include <pwm_init.h>
volatile uint16_t AutoChange = 0; volatile uint16_t AutoChange = 0;
@ -23,6 +25,7 @@ uint16_t Fault = 0, Fault_fix = 0, Ready = 0, Ready_Fix = 0;
uint16_t counter1s=0; uint16_t counter1s=0;
uint16_t FaultABC = 0, FaultABCFix = 0; uint16_t FaultABC = 0, FaultABCFix = 0;
uint16_t PwmFlagStartADC = 0; uint16_t PwmFlagStartADC = 0;
extern volatile struct EPWM_REGS * EPwmRegs[17];
typedef struct typedef struct
{ {
@ -34,14 +37,17 @@ typedef struct
volatile strPWMABC PWM_motor = {PERIOD_2, PERIOD_2, PERIOD_2}; volatile strPWMABC PWM_motor = {PERIOD_2, PERIOD_2, PERIOD_2};
void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC) void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc)
{ {
int16_t A,B,C; int16_t A,B,C;
A = (int16_t)(phaseA*(PERIOD_2/100.0)); Gpio4out(1);
B = (int16_t)(phaseB*(PERIOD_2/100.0));
C = (int16_t)(phaseC*(PERIOD_2/100.0));
A = (int16_t)((phaseA/Udc)*PERIOD_2);
B = (int16_t)((phaseB/Udc)*PERIOD_2);
C = (int16_t)((phaseC/Udc)*PERIOD_2);
Gpio4out(0);
if(A > 0) A+= EPWM_DB/2; if(A > 0) A+= EPWM_DB/2;
else if(A < 0) A-= EPWM_DB/2; else if(A < 0) A-= EPWM_DB/2;
@ -52,9 +58,9 @@ void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC)
PWM_motor.UA = PERIOD_2 + A; PWM_motor.UA = PERIOD_2 + A;
PWM_motor.UB = PERIOD_2 + B; PWM_motor.UB = PERIOD_2 + B;
PWM_motor.UC = PERIOD_2 + C; PWM_motor.UC = PERIOD_2 - C;
FaultABC = (FaultAL + (FaultAH<<1) + (FaultBL<<2) + (FaultBH<<3) + (FaultCL<<4) + (FaultCH<<5) ); FaultABC = 0;//(FaultPWM);
if(FaultABC) FaultABCFix = FaultABC; if(FaultABC) FaultABCFix = FaultABC;
if((FaultABC)||(FaultABCFix)) if((FaultABC)||(FaultABCFix))
@ -66,9 +72,9 @@ void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC)
vectorFault(); vectorFault();
} }
EPwm2Regs.CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UA; EPwmRegs[PWM_A]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UA;
EPwm3Regs.CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UB; EPwmRegs[PWM_B]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UB;
EPwm4Regs.CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UC; EPwmRegs[PWM_C]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UC;
} }
@ -100,10 +106,12 @@ __interrupt void epwm1_isr(void)
// //
// epwm2_isr - EPWM2 ISR // epwm2_isr - EPWM2 ISR
// //
uint32_t Test_ADC_PWM_Synch1=0, Test_ADC_PWM_Synch2=0;
uint16_t TestStopSync = 0;
__interrupt void epwm2_isr(void) __interrupt void epwm2_isr(void)
{ {
Gpio57out(1); // Gpio57out(1);
// EALLOW; // EALLOW;
// Sdfm1Regs.SDDFPARM4.bit.FEN = 1; // Sdfm1Regs.SDDFPARM4.bit.FEN = 1;
@ -120,14 +128,23 @@ __interrupt void epwm2_isr(void)
{ {
PwmFlagStartADC = 0; PwmFlagStartADC = 0;
FMSTR_enable_set(); FMSTR_enable_set();
adc_start_set();
PWM_ABC_StopAllClose();
PWM_motor.UA = PERIOD_2;
PWM_motor.UB = PERIOD_2;
PWM_motor.UC = PERIOD_2;
vectorFault();
Test_ADC_PWM_Synch1++;
if(TestStopSync == 2) TestStopSync = 3;
} }
else Test_ADC_PWM_Synch2++;
// //
// Acknowledge this interrupt to receive more interrupts from group 3 // Acknowledge this interrupt to receive more interrupts from group 3
// //
PieCtrlRegs.PIEACK.all = PIEACK_GROUP3; PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
// Gpio4out(1);
// GpioDataRegs.GPADAT.bit.GPIO0 = 0; // GpioDataRegs.GPADAT.bit.GPIO0 = 0;
Gpio57out(0); // Gpio57out(0);
} }
@ -166,7 +183,7 @@ __interrupt void epwm4_isr(void)
PieCtrlRegs.PIEACK.all = PIEACK_GROUP3; PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
} }
__interrupt void epwm5_isr(void) __interrupt void epwm8_isr(void)
{ {
// Ready = GpioDataRegs.GPADAT.bit.GPIO19; // Ready = GpioDataRegs.GPADAT.bit.GPIO19;
// if(Ready == 0) // if(Ready == 0)
@ -182,13 +199,13 @@ __interrupt void epwm5_isr(void)
// } // }
// else // else
// { // {
EPwm5Regs.CMPA.bit.CMPA = PERIOD_BRAKE - PWM_out; EPwm8Regs.CMPA.bit.CMPA = PERIOD_BRAKE - PWM_out;
// } // }
// //
// Clear INT flag for this timer // Clear INT flag for this timer
// //
EPwm5Regs.ETCLR.bit.INT = 1; EPwm8Regs.ETCLR.bit.INT = 1;
// //
// Acknowledge this interrupt to receive more interrupts from group 3 // Acknowledge this interrupt to receive more interrupts from group 3
@ -224,19 +241,19 @@ uint16_t PWM_test = SDFM_DELAY;
__interrupt void epwm11_isr(void) __interrupt void epwm11_isr(void)
{ {
// Gpio55out(1);
EPwm11Regs.CMPA.bit.CMPA = PWM_test; EPwm11Regs.CMPA.bit.CMPA = PWM_test;
EPwm11Regs.CMPB.bit.CMPB = PWM_test; EPwm11Regs.CMPB.bit.CMPB = PWM_test;
EPwm11Regs.CMPC = PWM_test; EPwm11Regs.CMPC = PWM_test;
EPwm11Regs.CMPD = PWM_test; EPwm11Regs.CMPD = PWM_test;
sdfm_start_conversion_current(); if(TestStopSync != 3) sdfm_start_conversion_current();
PwmFlagStartADC = 1; PwmFlagStartADC = 1;
EPwm11Regs.ETCLR.bit.INT = 1; EPwm11Regs.ETCLR.bit.INT = 1;
PieCtrlRegs.PIEACK.all = PIEACK_GROUP3; PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
// Gpio55out(0); // Gpio4out(0);
} }

4
Projects/epwm_test/src/Peripherals/pwm_interrupts.h
View File

@ -14,10 +14,10 @@ __interrupt void epwm1_isr(void);
__interrupt void epwm2_isr(void); __interrupt void epwm2_isr(void);
__interrupt void epwm3_isr(void); __interrupt void epwm3_isr(void);
__interrupt void epwm4_isr(void); __interrupt void epwm4_isr(void);
__interrupt void epwm5_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); void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc);
void pwm_clr_PwmFlagStartADC(void); void pwm_clr_PwmFlagStartADC(void);

53
Projects/epwm_test/src/Peripherals/sdfm.c
View File

@ -91,7 +91,7 @@ volatile int16 * SdfmReadData[8] = {
int16_t sdfmAdc[8] = {0,0,0,0,0,0,0,0}; int16_t sdfmAdc[8] = {0,0,0,0,0,0,0,0};
int16_t sdfmAdcErr[8] = {0,0,0,0,0,0,0,0}; int16_t sdfmAdcErr[8] = {0,0,0,0,0,0,0,0};
int16_t sdfmOffset[8] = {0,0,0,0,0,0,0,0}; int16_t sdfmOffset[8] = {0,0,0,0,0,-10,0,0};
uint16_t startInitCurrent = 0; uint16_t startInitCurrent = 0;
uint16_t initDone[8] = {WAIT_STABILITY_SDFM,WAIT_STABILITY_SDFM,WAIT_STABILITY_SDFM,WAIT_STABILITY_SDFM,WAIT_STABILITY_SDFM,WAIT_STABILITY_SDFM,WAIT_STABILITY_SDFM,WAIT_STABILITY_SDFM}; uint16_t initDone[8] = {WAIT_STABILITY_SDFM,WAIT_STABILITY_SDFM,WAIT_STABILITY_SDFM,WAIT_STABILITY_SDFM,WAIT_STABILITY_SDFM,WAIT_STABILITY_SDFM,WAIT_STABILITY_SDFM,WAIT_STABILITY_SDFM};
uint16_t sdfmIndex = 0; uint16_t sdfmIndex = 0;
@ -105,7 +105,7 @@ __interrupt void Sdfm2_ISR(void);
volatile float CurrentFactorBrake = FACTOR_CURRENT_BRAKE*32767.0; volatile float CurrentFactorBrake = FACTOR_CURRENT_BRAKE*32767.0;
volatile float CurrentFactorMotor = FACTOR_CURRENT_MOTOR*32767.0; volatile float CurrentFactorMotor = FACTOR_CURRENT_MOTOR*32767.0;
volatile float VdcFactor = FACTOR_VDC;
@ -122,7 +122,7 @@ void SdfmGpioInit(void)
EALLOW; EALLOW;
GPIO_SetupPinOptions(16, GPIO_INPUT, GPIO_ASYNC); GPIO_SetupPinOptions(16, GPIO_INPUT, GPIO_ASYNC);
GPIO_SetupPinMux(16,GPIO_MUX_CPU1,7); //SDFM-1 Channel 1 Data Input (brake) GPIO_SetupPinMux(16,GPIO_MUX_CPU1,7); //SDFM-1 Channel 1 Data Input (Iu)a
GPIO_SetupPinOptions(17, GPIO_INPUT, GPIO_ASYNC); GPIO_SetupPinOptions(17, GPIO_INPUT, GPIO_ASYNC);
GPIO_SetupPinMux(17,GPIO_MUX_CPU1,7); //SDFM-1 Channel 1 Clock Input GPIO_SetupPinMux(17,GPIO_MUX_CPU1,7); //SDFM-1 Channel 1 Clock Input
@ -142,7 +142,7 @@ void SdfmGpioInit(void)
GPIO_SetupPinMux(59,GPIO_MUX_CPU1,7); //SDFM-2 Channel 2 Clock Input GPIO_SetupPinMux(59,GPIO_MUX_CPU1,7); //SDFM-2 Channel 2 Clock Input
GPIO_SetupPinOptions(60, GPIO_INPUT, GPIO_ASYNC); GPIO_SetupPinOptions(60, GPIO_INPUT, GPIO_ASYNC);
GPIO_SetupPinMux(60,GPIO_MUX_CPU1,7); //SDFM-2 Channel 3 Data Input (Iu)a GPIO_SetupPinMux(60,GPIO_MUX_CPU1,7); //SDFM-2 Channel 3 Data Input (brake)
GPIO_SetupPinOptions(61, GPIO_INPUT, GPIO_ASYNC); GPIO_SetupPinOptions(61, GPIO_INPUT, GPIO_ASYNC);
GPIO_SetupPinMux(61,GPIO_MUX_CPU1,7); //SDFM-2 Channel 3 Clock Input GPIO_SetupPinMux(61,GPIO_MUX_CPU1,7); //SDFM-2 Channel 3 Clock Input
@ -204,6 +204,7 @@ void SdfmInit(void)
Sdfm_configureInputCtrl(SDFM2, FILTER2, MODE_0); Sdfm_configureInputCtrl(SDFM2, FILTER2, MODE_0);
Sdfm_configureInputCtrl(SDFM2, FILTER3, MODE_0); Sdfm_configureInputCtrl(SDFM2, FILTER3, MODE_0);
Sdfm_configureInputCtrl(SDFM2, FILTER4, MODE_0); Sdfm_configureInputCtrl(SDFM2, FILTER4, MODE_0);
// //
// Comparator Module // Comparator Module
// //
@ -301,31 +302,28 @@ void SdfmInit(void)
void sdfmGet(uint16_t N) void sdfmGet(uint16_t N)
{ {
uint16_t i = 0; uint16_t i = 0;
int32_t OffsetCount = 0; int32_t OffsetCount = 0;
if(N == SDFM_IA) Gpio54out(1); // Gpio4out(1);
if(N == SDFM_IB) Gpio55out(1);
if(N == SDFM_IC) Gpio56out(1);
FilterResult[N][loopCounter[N]] = *SdfmReadData[N]; FilterResult[N][loopCounter[N]] = *SdfmReadData[N];
sdfmAdc[N] = FilterResult[N][loopCounter[N]] - sdfmOffset[N]; sdfmAdc[N] = FilterResult[N][loopCounter[N]] - sdfmOffset[N];
if(loopCounter[N] < MAX_SAMPLES) loopCounter[N]++; if(N != 5) {
else if(loopCounter[N] < MAX_SAMPLES) loopCounter[N]++;
{ else
loopCounter[N] = 0;
if(!initDone[N])
{ {
for(i = 0; i <= (MAX_SAMPLES-1); i++) OffsetCount += FilterResult[N][i]; loopCounter[N] = 0;
sdfmOffset[N] = OffsetCount>>FILTER_BIT; if(!initDone[N])
initDone[N] = 0xFF; {
for(i = 0; i <= (MAX_SAMPLES-1); i++) OffsetCount += FilterResult[N][i];
sdfmOffset[N] = OffsetCount>>FILTER_BIT;
initDone[N] = 0xFF;
}
else if(initDone[N] != 0xFF) initDone[N]--;
} }
else if(initDone[N] != 0xFF) initDone[N]--;
} }
EALLOW; EALLOW;
SDCPARM_Reg_arr[N]->bit.MFIE = 1; SDCPARM_Reg_arr[N]->bit.MFIE = 1;
@ -333,9 +331,11 @@ void sdfmGet(uint16_t N)
EDIS; EDIS;
sdfmAdcErr[N] = 0; sdfmAdcErr[N] = 0;
if(N == SDFM_IA) Gpio54out(0); // Gpio4out(0);
if(N == SDFM_IB) Gpio55out(0);
if(N == SDFM_IC) Gpio56out(0); // if(N == SDFM_IA) Gpio54out(0);
// if(N == SDFM_IB) Gpio55out(0);
// if(N == SDFM_IC) Gpio56out(0);
} }
@ -356,10 +356,8 @@ sdfm_check_all_current_measurements_was_done(void)
{ {
if((sdfmIndex & SDFM_ALL_CURRENTS) == SDFM_ALL_CURRENTS) if((sdfmIndex & SDFM_ALL_CURRENTS) == SDFM_ALL_CURRENTS)
{ {
Gpio15outSPI_CS_BL25CM1A(1);
sdfmIndex = 0; sdfmIndex = 0;
vectorControl(sdfmAdc[SDFM_IA],sdfmAdc[SDFM_IB],sdfmAdc[SDFM_IC]); vectorControl(sdfmAdc[SDFM_IA],sdfmAdc[SDFM_IB],sdfmAdc[SDFM_IC],sdfmAdc[SDFM_U_DC]);
Gpio15outSPI_CS_BL25CM1A(0);
} }
} }
@ -367,7 +365,7 @@ sdfm_check_all_current_measurements_was_done(void)
__interrupt void Sdfm1_ISR(void) __interrupt void Sdfm1_ISR(void)
{ {
uint16_t i; uint16_t i;
uint16_t IntFlags; uint32_t IntFlags;
IntFlags = Sdfm_readFlagRegister(SDFM1); IntFlags = Sdfm_readFlagRegister(SDFM1);
sdfmIndex |= (IntFlags & 0xF000)>>12; sdfmIndex |= (IntFlags & 0xF000)>>12;
@ -401,6 +399,7 @@ uint32_t IntFlags;
void sdfm_start_conversion_current(void) void sdfm_start_conversion_current(void)
{ {
sdfmIndex = 0; sdfmIndex = 0;
EALLOW; EALLOW;
Sdfm1Regs.SDIFLGCLR.all = 0xFFFFFFFF; Sdfm1Regs.SDIFLGCLR.all = 0xFFFFFFFF;
Sdfm2Regs.SDIFLGCLR.all = 0xFFFFFFFF; Sdfm2Regs.SDIFLGCLR.all = 0xFFFFFFFF;
@ -410,6 +409,8 @@ void sdfm_start_conversion_current(void)
SDDFPARM_Reg_arr[SDFM_IB]->bit.AE = 1; SDDFPARM_Reg_arr[SDFM_IB]->bit.AE = 1;
SDCPARM_Reg_arr[SDFM_IC]->bit.MFIE = 1; SDCPARM_Reg_arr[SDFM_IC]->bit.MFIE = 1;
SDDFPARM_Reg_arr[SDFM_IC]->bit.AE = 1; SDDFPARM_Reg_arr[SDFM_IC]->bit.AE = 1;
SDCPARM_Reg_arr[SDFM_U_DC]->bit.MFIE = 1;
SDDFPARM_Reg_arr[SDFM_U_DC]->bit.AE = 1;
EDIS; EDIS;
} }

19
Projects/epwm_test/src/Peripherals/sdfm.h
View File

@ -8,23 +8,24 @@
#ifndef SRC_SDFM_H_ #ifndef SRC_SDFM_H_
#define SRC_SDFM_H_ #define SRC_SDFM_H_
#define SDFM_IA 6 #define SDFM_IA 0//16, 17
#define SDFM_IB 3 #define SDFM_IB 3//22, 23
#define SDFM_IC 4 #define SDFM_IC 4//24, 25
#define SDFM_BRAKE 0 #define SDFM_BRAKE 6//60, 61
#define SDFM_U_DC 5 #define SDFM_U_DC 5//58, 59
#define SDFM_SIN 7 #define SDFM_SIN 7//62, 63
#define SDFM_COS 1 #define SDFM_COS 1//65, 66
#define SDFM_REF 2 #define SDFM_REF 2//67, 68
#define SDFM_BIT_IA (1<<SDFM_IA) #define SDFM_BIT_IA (1<<SDFM_IA)
#define SDFM_BIT_IB (1<<SDFM_IB) #define SDFM_BIT_IB (1<<SDFM_IB)
#define SDFM_BIT_IC (1<<SDFM_IC) #define SDFM_BIT_IC (1<<SDFM_IC)
#define SDFM_BIT_U (1<<SDFM_U_DC)
#define SDFM_ALL_CURRENTS (SDFM_BIT_IA | SDFM_BIT_IB | SDFM_BIT_IC) #define SDFM_ALL_CURRENTS (SDFM_BIT_IA | SDFM_BIT_IB | SDFM_BIT_IC | SDFM_BIT_U)
#define SDFM_VOLTAGE_MAX 320.0 //mV #define SDFM_VOLTAGE_MAX 320.0 //mV
#define R_BRAKE 220.0 //mOM #define R_BRAKE 220.0 //mOM

60
Projects/epwm_test/src/Peripherals/spi_init.c
View File

@ -7,6 +7,12 @@
#include "f28x_project.h" #include "f28x_project.h"
#define SPI_PROGRAM_CS_GPAMUX1 GpioCtrlRegs.GPDMUX1.bit.GPIO98
#define SPI_PROGRAM_CS_GPAGMUX1 GpioCtrlRegs.GPDGMUX1.bit.GPIO98
#define SPI_PROGRAM_CS_GPADIR GpioCtrlRegs.GPDDIR.bit.GPIO98
#define SPI_PROGRAM_CS_GPADAT GpioDataRegs.GPDDAT.bit.GPIO98
__interrupt void spia_rx_isr(void); __interrupt void spia_rx_isr(void);
__interrupt void spia_tx_isr(void); __interrupt void spia_tx_isr(void);
@ -86,20 +92,20 @@ void SpiAGpioInit(void)
// Pull-ups can be enabled or disabled by the user. // Pull-ups can be enabled or disabled by the user.
// This will enable the pullups for the specified pins. // This will enable the pullups for the specified pins.
// //
GpioCtrlRegs.GPBPUD.bit.GPIO32 = 0; // Enable pull-up on GPIO16 (SPISIMOA) GpioCtrlRegs.GPBPUD.bit.GPIO32 = 0; // Enable pull-up on (SPISIMOA)
GpioCtrlRegs.GPBPUD.bit.GPIO33 = 0; // Enable pull-up on GPIO17 (SPISOMIA) GpioCtrlRegs.GPBPUD.bit.GPIO33 = 0; // Enable pull-up on (SPISOMIA)
GpioCtrlRegs.GPBPUD.bit.GPIO34 = 0; // Enable pull-up on GPIO18 (SPICLKA) GpioCtrlRegs.GPBPUD.bit.GPIO34 = 0; // Enable pull-up on (SPICLKA)
GpioCtrlRegs.GPBPUD.bit.GPIO35 = 0; // Enable pull-up on GPIO19 (SPISTEA) GpioCtrlRegs.GPBPUD.bit.GPIO35 = 0; // Enable pull-up on (SPISTEA)
// //
// Set qualification for selected pins to asynch only // Set qualification for selected pins to asynch only
// //
// This will select asynch (no qualification) for the selected pins. // This will select asynch (no qualification) for the selected pins.
// //
GpioCtrlRegs.GPBQSEL1.bit.GPIO32 = 3; // Asynch input GPIO16 (SPISIMOA) GpioCtrlRegs.GPBQSEL1.bit.GPIO32 = 3; // Asynch input (SPISIMOA)
GpioCtrlRegs.GPBQSEL1.bit.GPIO33 = 3; // Asynch input GPIO17 (SPISOMIA) GpioCtrlRegs.GPBQSEL1.bit.GPIO33 = 3; // Asynch input (SPISOMIA)
GpioCtrlRegs.GPBQSEL1.bit.GPIO34 = 3; // Asynch input GPIO18 (SPICLKA) GpioCtrlRegs.GPBQSEL1.bit.GPIO34 = 3; // Asynch input (SPICLKA)
GpioCtrlRegs.GPBQSEL1.bit.GPIO35 = 3; // Asynch input GPIO19 (SPISTEA) GpioCtrlRegs.GPBQSEL1.bit.GPIO35 = 3; // Asynch input (SPISTEA)
// //
// Configure SPI-A pins // Configure SPI-A pins
@ -107,14 +113,44 @@ void SpiAGpioInit(void)
// This specifies which of the possible GPIO pins will be SPI functional // This specifies which of the possible GPIO pins will be SPI functional
// pins. // pins.
// //
GpioCtrlRegs.GPBMUX1.bit.GPIO32 = 3; // Configure GPIO16 as SPISIMOA GpioCtrlRegs.GPBMUX1.bit.GPIO32 = 3; // Configure GPIO32 as SPISIMOA
GpioCtrlRegs.GPBMUX1.bit.GPIO33 = 3; // Configure GPIO17 as SPISOMIA GpioCtrlRegs.GPBMUX1.bit.GPIO33 = 3; // Configure GPIO33 as SPISOMIA
GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 3; // Configure GPIO18 as SPICLKA GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 3; // Configure GPIO34 as SPICLKA
GpioCtrlRegs.GPBMUX1.bit.GPIO35 = 3; // Configure GPIO19 as SPISTEA GpioCtrlRegs.GPBMUX1.bit.GPIO35 = 3; // Configure GPIO35 as SPISTEA
SPI_PROGRAM_CS_GPAMUX1 = 0;//program CS for BL25CM1A
SPI_PROGRAM_CS_GPAGMUX1 = 0;
SPI_PROGRAM_CS_GPADIR = 1;
SPI_PROGRAM_CS_GPADAT = 0;
EDIS; EDIS;
} }
void spi_TurnOnCS1_GD25Q16E(void)
{
EALLOW;
GpioCtrlRegs.GPBMUX1.bit.GPIO35 = 3; // Configure GPIO35 as SPISTEA
EDIS;
}
void spi_TurnOffCS1_GD25Q16E(void)
{
EALLOW;
GpioCtrlRegs.GPBMUX1.bit.GPIO35 = 0;
GpioDataRegs.GPBDAT.bit.GPIO35 = 1;
EDIS;
}
void Gpio_SPI_CS_BL25CM1A(uint16_t out_bit)
{
EALLOW;
SPI_PROGRAM_CS_GPADAT = out_bit;
EDIS;
}
void spi_transmitAData(uint16_t a) void spi_transmitAData(uint16_t a)
{ {
SpiaRegs.SPITXBUF = a<<8; SpiaRegs.SPITXBUF = a<<8;

2
Projects/epwm_test/src/Peripherals/spi_init.h
View File

@ -17,7 +17,7 @@ void spi_transmitAData(uint16_t a);
void SpiBGpioInit(void); void SpiBGpioInit(void);
void SpiBInit(void); void SpiBInit(void);
void transmitBData(uint16_t a); void transmitBData(uint16_t a);
void Gpio_SPI_CS_BL25CM1A(uint16_t out_bit);
#ifdef ExtEEPROM_SPIB #ifdef ExtEEPROM_SPIB

2
Projects/epwm_test/src/frmmstr_run.c
View File

@ -12,6 +12,7 @@
volatile uint16_t counter=0 ; volatile uint16_t counter=0 ;
volatile uint16_t counter1=0 ; volatile uint16_t counter1=0 ;
volatile uint16_t counter2=0 ; volatile uint16_t counter2=0 ;
volatile uint16_t Rele=0;
void frmmstr_run(void) void frmmstr_run(void)
{ {
@ -30,5 +31,6 @@ void frmmstr_run(void)
FMSTR_Poll(); FMSTR_Poll();
FMSTR_Recorder(); FMSTR_Recorder();
FMSTR_enable_clr(); FMSTR_enable_clr();
Gpio95out(Rele);
} }
} }

45
Projects/epwm_test/src/init_perif.c
View File

@ -18,21 +18,14 @@
#include "GD25Q16ETIGR.h" #include "GD25Q16ETIGR.h"
#include "ZD24C02A.h" #include "ZD24C02A.h"
#include "vector.h" #include "vector.h"
#include "adc_init.h"
void InitPerif(void) void InitPerif(void)
{ {
InitSysCtrl(); InitSysCtrl();
PWMGpioInit();
PWMInitEnable();
SdfmGpioInit();
SdfmInitEnable();
SpiGpioInit();
I2CMasterGpioInit();
// Clear all interrupts and initialize PIE vector table: // Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts // Disable CPU interrupts
@ -63,23 +56,35 @@ void InitPerif(void)
// //
InitPieVectTable(); InitPieVectTable();
//
GpioInit(); GpioInit();
PWMInitInterruptEn(); //
PWMAllInit(); SdfmInitEnable();
SdfmInitInterruptEn();
SdfmInit(); SdfmInit();
SpiInit(); SdfmGpioInit();
I2CMasterInit(I2C_OWN_ADDRESS,I2C_SLAVE_ADDRESS); SdfmInitInterruptEn();
//
PWMInitEnable();
PWMAllInit();
PWMGpioInit();
PWMInitInterruptEn();
vectorInitCurrLoop();
// SpiGpioInit();
// SpiInit();
// I2CMasterGpioInit();
// I2CMasterInit(I2C_OWN_ADDRESS,I2C_SLAVE_ADDRESS);
FRMUartInit();
// vectorInitCurrLoop();
// ConfigureADC();
// //
// 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
FRMUartInit();
GD25Q16ETIGR_en();
// Bl25cm1a_en();
vectorInitCurrLoop();
} }

72
Projects/epwm_test/src/vector.c
View File

@ -16,11 +16,21 @@
#include "gpio_init.h" #include "gpio_init.h"
#include "frm_uart.h" #include "frm_uart.h"
#include "skvt.h" #include "skvt.h"
#include "adc_init.h"
#define IMAX_A 10.0 //A #define IMAX_A 10.0 //A
#define IMAX (IMAX_A*BIT_MAX/FACTOR_CURRENT_MOTOR_A) #define IMAX (IMAX_A*BIT_MAX/FACTOR_CURRENT_MOTOR_A)
typedef struct {
int16_t Value16in; // Íåôèëüðîâàííîå çíà÷åíèå
int16_t Value16filtered; // Ôèëüðîâàííîå çíà÷åíèå
int32_t Value32; // Êîíå÷íîå íàïðÿæåíèå òðåíèðîâêè
int16_t ShiftFilter; // Filters
} Filtered;
Filtered UdcFilter = {0,0,0,10};
int16_t Filter(int16_t inValue, Filtered *Struct);
const int16_t mcgenSineTable256[257] = \ const int16_t mcgenSineTable256[257] = \
{ 0,-201,-402,-603,-804,-1005,-1206,-1407,-1607,-1808, { 0,-201,-402,-603,-804,-1005,-1206,-1407,-1607,-1808,
@ -63,22 +73,35 @@ TMode Mode = OffMode;
uint16_t Step = 0, StepS, Nstep = 2, NoLoop = 0, StepShift = 6; uint16_t Step = 0, StepS, Nstep = 2, NoLoop = 0, StepShift = 6;
float CurrentRegTuneAmpl = 0, FRM_cur = 0; float CurrentRegTuneAmpl = 0, FRM_cur = 0;
int16_t Angle_test=0,sin_int,cos_int, AngleErr; int16_t Angle_test=0,sin_int,cos_int, AngleErr;
float Udc;
uint16_t SectorCheckOn=1;
volatile int16_t UdcFiltered = 0;
float UdcVolt = 0;
volatile float VdcFactor = FACTOR_VDC;
volatile VoltProcImit = 0;
void vectorFault(void) void vectorFault(void)
{ {
Mode = OffMode; Mode = OffMode;
} }
void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC) void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t sdfmUdc)
{ {
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);
Ic = CurrentC;//sdfm_get(4); Ic = -CurrentC;//sdfm_get(4);
if((Ia > IMAX)||(Ib>IMAX)||(Ic>IMAX)||(Ia<-IMAX)||(Ib<-IMAX)||(Ic<-IMAX) ) {OverCur[0] = Ia; OverCur[1] = Ib; OverCur[2] = Ic; ErrCur++; if(ErrCur >= 3) {Mode = OffMode; CurFault++;}} if((Ia > IMAX)||(Ib>IMAX)||(Ic>IMAX)||(Ia<-IMAX)||(Ib<-IMAX)||(Ic<-IMAX) ) {OverCur[0] = Ia; OverCur[1] = Ib; OverCur[2] = Ic; ErrCur++; if(ErrCur >= 3) {Mode = OffMode; CurFault++;}}
else ErrCur = 0; else ErrCur = 0;
UdcFiltered = Filter(sdfmUdc, &UdcFilter);
if(UdcFiltered < 0) UdcFiltered = 0;
if(VoltProcImit) UdcVolt = VoltProcImit;
else UdcVolt = (float)UdcFiltered*VdcFactor/32768;
Step = Step + Nstep; Step = Step + Nstep;
CurrLoop.piId.Ref = 0; CurrLoop.piId.Ref = 0;
switch(Mode) switch(Mode)
@ -106,9 +129,12 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC)
Mode = OffMode; Mode = OffMode;
PWM_ABC_StopAllClose(); PWM_ABC_StopAllClose();
} }
vector_klark_park(1,Ia,Ib,Ic); Udc = sdfmUdc * FACTOR_VDC;
vector_klark_park(SectorCheckOn,Ia,Ib,Ic);
vector_inversion(); vector_inversion();
FMSTR_enable_set(); FMSTR_enable_set();
adc_start_set();
} }
void vectorInitCurrLoop(void) void vectorInitCurrLoop(void)
@ -215,7 +241,7 @@ 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); pwm_set_volt_3F(vectorUabc.a,vectorUabc.b,vectorUabc.c, UdcVolt);
} }
float Test1, Test2; float Test1, Test2;
@ -283,9 +309,9 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
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);
Angle_test = Atan(sin_int, cos_int); // Angle_test = Atan(sin_int, cos_int);
AngleErr = Angle_test - vectorSinCos.Angle; // AngleErr = Angle_test - vectorSinCos.Angle;
// CurrLoop.piIq.Ref = Inputs->IqRef;//Çàäàííîå // CurrLoop.piIq.Ref = Inputs->IqRef;//Çàäàííîå
@ -312,24 +338,38 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
CurrLoop.piId.uCorr = CurrLoop.piIq.uCorr = 0.0f; CurrLoop.piId.uCorr = CurrLoop.piIq.uCorr = 0.0f;
#endif #endif
Gpio4out(1);
float UmaxVolt = VOLT_MAX_FACTOR * UdcVolt;
CurrLoop.piIq.Umax = UmaxVolt; // Parameter: upper saturation limit
CurrLoop.piIq.Umin = -UmaxVolt;
CurrLoop.piId.Umax = UmaxVolt; // Parameter: upper saturation limit
CurrLoop.piId.Umin = -UmaxVolt;
PI_MACRO(CurrLoop.piIq); PI_MACRO(CurrLoop.piIq);
PI_MACRO(CurrLoop.piId); PI_MACRO(CurrLoop.piId);
/*Ïðîïîðöèîíàëüíîå îãðàíè÷åíèå íàïðÿæåíèé Uq è Ud*/ /*Ïðîïîðöèîíàëüíîå îãðàíè÷åíèå íàïðÿæåíèé Uq è Ud*/
// Test1 = my_sqrtf(Test2); // Test1 = my_sqrtf(Test2);
Gpio4out(0);
float Ulim = my_sqrtf(CurrLoop.piId.Out * CurrLoop.piId.Out + CurrLoop.piIq.Out * CurrLoop.piIq.Out); float Ulim = my_sqrtf(CurrLoop.piId.Out * CurrLoop.piId.Out + CurrLoop.piIq.Out * CurrLoop.piIq.Out);
if (Ulim > VOLT_MAX_PROC)
Gpio4out(1);
if (Ulim > UmaxVolt)// ìàêñèìàëüíîå íàïðÿæåíèå â âîëüòàõ
{ {
if(Ulim > ZERO_LVL) if(Ulim > ZERO_LVL)
{ {
float K = VOLT_MAX_PROC / Ulim; float K = UmaxVolt / Ulim;
FRM_Ud = CurrLoop.piId.Out *= K; FRM_Ud = CurrLoop.piId.Out *= K;
FRM_Uq = CurrLoop.piIq.Out *= K; FRM_Uq = CurrLoop.piIq.Out *= K;
} }
} }
Gpio4out(0);
if(!NoLoop) if(!NoLoop)
{ {
vectorUdq.q = CurrLoop.piIq.Out; vectorUdq.q = CurrLoop.piIq.Out;
@ -363,3 +403,11 @@ float my_sqrtf(float x)
/* now sqrt(x) = x * 1/sqrt(x) */ /* now sqrt(x) = x * 1/sqrt(x) */
return x * x0; return x * x0;
} }
// Ôèëüòð ñèãíàëà
int16_t Filter(int16_t inValue, Filtered *Struct) {
(*Struct).Value16in = inValue;
(*Struct).Value32+=(int32_t)((*Struct).Value16in)-(int32_t)((*Struct).Value16filtered);
(*Struct).Value16filtered =(int16_t)(((*Struct).Value32)>>((*Struct).ShiftFilter));
return ((*Struct).Value16filtered);
}

10
Projects/epwm_test/src/vector.h
View File

@ -34,8 +34,9 @@
#define SIN_LENGTH_TABLE 256 #define SIN_LENGTH_TABLE 256
#define VOLT_MAX_PROC 94.0 #define VOLT_MAX_PROC 94.0
#define PI_REG_I_PROPOR 35.0 #define VOLT_MAX_FACTOR VOLT_MAX_PROC/100.0
#define PI_REG_I_INTEGR 0.1 #define PI_REG_I_PROPOR 16.0
#define PI_REG_I_INTEGR 0.05
#define CURRENT_MAX 40.0 //A #define CURRENT_MAX 40.0 //A
#define ZERO_LVL 0.00001f #define ZERO_LVL 0.00001f
@ -84,13 +85,16 @@ typedef enum
}TMode; }TMode;
int16_t vector_mcsinPIxLUT(int16_t Value, int16_t *psinTable); int16_t vector_mcsinPIxLUT(int16_t Value, int16_t *psinTable);
void vector_inversion(void); void vector_inversion(void);
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);
void vectorInitCurrLoop(void); void vectorInitCurrLoop(void);
void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC); void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t sdfmUdc);
void vectorFault(void); void vectorFault(void);
float my_sqrtf(float x); float my_sqrtf(float x);
void vectorResCurrLoop(void); void vectorResCurrLoop(void);
#endif /* SRC_VECTOR_H_ */ #endif /* SRC_VECTOR_H_ */

12
Projects/epwm_test/targetConfigs/TMS320F28388D.ccxml
View File

@ -1,16 +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">