seklyuts/MotorControlModuleSDFM_TMS320F28388D
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отсортированы модули ШИМ, сделана инициализация сдвига нуля сигма-дельта, сделан тестовый блок SPI

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This commit is contained in:
Eugene 2023-09-06 17:01:47 +03:00
parent e00e3daaff
commit 71d9e23a6d
10 changed files with 183 additions and 37 deletions
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BIN
Projects/epwm_test/Start_rfm.pmp
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32
Projects/epwm_test/epwm_test.c
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@ -16,6 +16,7 @@
#include "f28x_project.h"
#include "init_perif.h"
#include"frm_uart.h"
#include "spi_init.h"
//
// Main
//
@ -25,6 +26,12 @@ volatile uint16_t counter=0 ;
volatile uint16_t counter1=0 ;
volatile uint16_t counter2=0 ;
uint16_t sdata = 0; // sent data
uint16_t rdata = 0; // received data
uint16_t error = 0;
void main(void)
{
@ -35,7 +42,30 @@ void main(void)
//
for(;;)
{
asm (" NOP");
asm (" NOP");
transmitData(sdata);
//
// Wait until data is received
//
while(SpiaRegs.SPIFFRX.bit.RXFFST != 1)
{
}
//
// Check against sent data
//
rdata = SpiaRegs.SPIRXBUF;
if(rdata != sdata)
{
error++;
}
sdata++;
if(FMSTR_is_enable()) {
if(counter < 100) counter++;

12
Projects/epwm_test/src/init_perif.c
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@ -11,19 +11,21 @@
#include "sdfm.h"
#include "f2838x_sdfm_drivers.h"
#include "gpio_init.h"
#include "spi_init.h"
void InitPerif(void)
{
InitSysCtrl();
// InitGpio();
PWMGpioInit();
PWMInitEnable();
PWMInitGpio();
SdfmInitGpio();
SdfmGpioInit();
SdfmInitEnable();
GpioInit();
SpiaGpioInit();
// Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
@ -55,10 +57,12 @@ void InitPerif(void)
InitPieVectTable();
//
GpioInit();
PWMInitInterruptEn();
PWMAllInit();
SdfmInitInterruptEn();
SdfmInit(SDFM1);
SpiInit();
//
// Enable global Interrupts and higher priority real-time debug events:
//

6
Projects/epwm_test/src/pwm_init.c
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@ -77,9 +77,8 @@ void PWMAllInit(void)
}
void PWMInitGpio(void)
void PWMGpioInit(void)
{
// InitEPwm1Gpio();
InitEPwm2Gpio();
InitEPwm3Gpio();
InitEPwm4Gpio();
@ -89,7 +88,6 @@ void PWMInitGpio(void)
void PWMInitEnable(void)
{
// CpuSysRegs.PCLKCR2.bit.EPWM1=1;
CpuSysRegs.PCLKCR2.bit.EPWM2=1;
CpuSysRegs.PCLKCR2.bit.EPWM3=1;
CpuSysRegs.PCLKCR2.bit.EPWM4=1;
@ -104,7 +102,7 @@ void PWMInitInterruptEn(void)
// ISR functions found within this file.
//
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.EPWM1_INT = &epwm1_isr;
// PieVectTable.EPWM1_INT = &epwm1_isr;
PieVectTable.EPWM2_INT = &epwm2_isr;
PieVectTable.EPWM3_INT = &epwm3_isr;
PieVectTable.EPWM4_INT = &epwm4_isr;

2
Projects/epwm_test/src/pwm_init.h
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@ -20,7 +20,7 @@
void PWMInit(uint16_t Num, uint16_t Period, uint16_t Independed);
void PWMInitGpio(void);
void PWMGpioInit(void);
void PWMInitEnable(void);
void PWMInitInterruptEn(void);
void PWMAllInit(void);

6
Projects/epwm_test/src/pwm_interrupts.c
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@ -100,11 +100,11 @@ __interrupt void epwm4_isr(void)
__interrupt void epwm5_isr(void)
{
Fault = !GpioDataRegs.GPADAT.bit.GPIO18;
if(Fault)
if(Fault || Fault_fix)
{
EPwm5Regs.CMPA.bit.CMPA = 0;
EPwm5Regs.CMPA.bit.CMPA = PERIOD_BRAKE;
PWM_out = 0;
Fault_fix = 1;
if(Fault)Fault_fix = 1;
}
else
{

54
Projects/epwm_test/src/sdfm.c
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@ -11,7 +11,9 @@
//
// Defines
//
#define MAX_SAMPLES 1024
#define FILTER_BIT 10
#define SKIP_FIRST 100
#define MAX_SAMPLES (1<<FILTER_BIT)
#define SDFM_PIN_MUX_OPTION1 1
#define SDFM_PIN_MUX_OPTION2 2
#define SDFM_PIN_MUX_OPTION3 3
@ -22,6 +24,7 @@
//
uint16_t gPeripheralNumber;
//uint16_t gPWM_number = 1; // ePWM 1 for synchronizing SDFM1 filters
int16_t Filter1_Result[MAX_SAMPLES];
int16_t Filter3_Result[MAX_SAMPLES];
int16_t Filter2_Result[MAX_SAMPLES];
@ -30,12 +33,15 @@ int16_t Filter4_Result[MAX_SAMPLES];
#pragma DATA_SECTION(Filter2_Result,"Filter2_RegsFile");
#pragma DATA_SECTION(Filter3_Result,"Filter3_RegsFile");
#pragma DATA_SECTION(Filter4_Result,"Filter4_RegsFile");
int16_t ADC_Volt;
int16_t ADC_Volt = 0;
int16_t sdfmOffset = 0;
uint16_t startInitCurrent = 0;
uint16_t initDone = 0;
__interrupt void Sdfm1_ISR(void);
void SdfmInitGpio(void)
void SdfmGpioInit(void)
{
EALLOW;
@ -51,7 +57,6 @@ void SdfmInitEnable(void)
{
CpuSysRegs.PCLKCR0.bit.TBCLKSYNC = 1;
CpuSysRegs.PCLKCR6.bit.SD1 = 1;
}
void SdfmInitInterruptEn(void)
@ -147,6 +152,8 @@ void SdfmInit(uint16_t Num)
__interrupt void Sdfm1_ISR(void)
{
static uint16_t loopCounter1 = 0;
uint16_t i = 0;
int32_t OffsetCount = 0;
Gpio1out(1);
//
@ -158,25 +165,24 @@ __interrupt void Sdfm1_ISR(void)
// SDFM_INT_MASK) != SDFM_INT_MASK);
//
// Reset the loop counter
//
if(loopCounter1 >= MAX_SAMPLES)
{
loopCounter1 = 0;
}
//
// Read each SDFM filter output and store it in respective filter
// result array
//
if (IntFlags & 0x1000)
{
ADC_Volt = Filter1_Result[loopCounter1++] = SDFM1_READ_FILTER1_DATA_16BIT;
EALLOW;
Sdfm1Regs.SDCPARM1.bit.MFIE = 1;
EDIS;
if(loopCounter1 >= (MAX_SAMPLES-1))
{
loopCounter1 = 0;
if(startInitCurrent < SKIP_FIRST) startInitCurrent++;
else if(!initDone)
{
for(i = 0; i <= (MAX_SAMPLES-1); i++)
{
OffsetCount += Filter1_Result[i];
}
sdfmOffset = OffsetCount>>FILTER_BIT;
initDone = 1;
}
}
Filter1_Result[loopCounter1++] = SDFM1_READ_FILTER1_DATA_16BIT;
ADC_Volt = Filter1_Result[loopCounter1-1] - sdfmOffset;
}
if(IntFlags & 0x100)
@ -186,6 +192,12 @@ __interrupt void Sdfm1_ISR(void)
Sdfm1Regs.SDCPARM1.bit.MFIE = 0;
EDIS;
}
else
{
EALLOW;
Sdfm1Regs.SDCPARM1.bit.MFIE = 1;
EDIS;
}
//
// Clear SDFM flag register

2
Projects/epwm_test/src/sdfm.h
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@ -8,7 +8,7 @@
#ifndef SRC_SDFM_H_
#define SRC_SDFM_H_
void SdfmInitGpio(void);
void SdfmGpioInit(void);
void SdfmInitEnable(void);
void SdfmInitInterruptEn(void);
void SdfmInit(uint16_t Num);

101
Projects/epwm_test/src/spi_init.c
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@ -5,6 +5,107 @@
* Author: seklyuts
*/
#include "f28x_project.h"
void SpiInit(void)
{
//
// Initialize SPI-A
//
//
// Initialize SPI FIFO registers
//
CpuSysRegs.PCLKCR8.bit.SPI_A = 1;
SpiaRegs.SPIFFTX.all = 0xE040;
SpiaRegs.SPIFFRX.all = 0x2044;
SpiaRegs.SPIFFCT.all = 0x0;
//
// Initialize core SPI registers
//
//
// Set reset low before configuration changes
// Clock polarity (0 == rising, 1 == falling)
// 16-bit character
// Enable loop-back
//
SpiaRegs.SPICCR.bit.SPISWRESET = 0;
SpiaRegs.SPICCR.bit.CLKPOLARITY = 0;
SpiaRegs.SPICCR.bit.SPICHAR = (16 - 1);
SpiaRegs.SPICCR.bit.SPILBK = 1;
//
// Enable master (0 == slave, 1 == master)
// Enable transmission (Talk)
// Clock phase (0 == normal, 1 == delayed)
// SPI interrupts are disabled
//
SpiaRegs.SPICTL.bit.MASTER_SLAVE = 1;
SpiaRegs.SPICTL.bit.TALK = 1;
SpiaRegs.SPICTL.bit.CLK_PHASE = 0;
SpiaRegs.SPICTL.bit.SPIINTENA = 0;
//
// Set the baud rate using a 1 MHz SPICLK
// BRR = (LSPCLK / SPICLK) - 1
//
SpiaRegs.SPIBRR.bit.SPI_BIT_RATE = ((50000000 / 1000000) - 1);
// Set FREE bit
// Halting on a breakpoint will not halt the SPI
//
SpiaRegs.SPIPRI.bit.FREE = 1;
//
// Release the SPI from reset
//
SpiaRegs.SPICCR.bit.SPISWRESET = 1;
}
void SpiaGpioInit(void)
{
EALLOW;
//
// Enable internal pull-up for the selected pins
//
// Pull-ups can be enabled or disabled by the user.
// This will enable the pullups for the specified pins.
//
GpioCtrlRegs.GPBPUD.bit.GPIO32 = 0; // Enable pull-up on GPIO16 (SPISIMOA)
GpioCtrlRegs.GPBPUD.bit.GPIO33 = 0; // Enable pull-up on GPIO17 (SPISOMIA)
GpioCtrlRegs.GPBPUD.bit.GPIO34 = 0; // Enable pull-up on GPIO18 (SPICLKA)
GpioCtrlRegs.GPBPUD.bit.GPIO35 = 0; // Enable pull-up on GPIO19 (SPISTEA)
//
// Set qualification for selected pins to asynch only
//
// This will select asynch (no qualification) for the selected pins.
//
GpioCtrlRegs.GPBQSEL1.bit.GPIO32 = 3; // Asynch input GPIO16 (SPISIMOA)
GpioCtrlRegs.GPBQSEL1.bit.GPIO33 = 3; // Asynch input GPIO17 (SPISOMIA)
GpioCtrlRegs.GPBQSEL1.bit.GPIO34 = 3; // Asynch input GPIO18 (SPICLKA)
GpioCtrlRegs.GPBQSEL1.bit.GPIO35 = 3; // Asynch input GPIO19 (SPISTEA)
//
// Configure SPI-A pins
//
// This specifies which of the possible GPIO pins will be SPI functional
// pins.
//
GpioCtrlRegs.GPBMUX1.bit.GPIO32 = 3; // Configure GPIO16 as SPISIMOA
GpioCtrlRegs.GPBMUX1.bit.GPIO33 = 3; // Configure GPIO17 as SPISOMIA
GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 3; // Configure GPIO18 as SPICLKA
GpioCtrlRegs.GPBMUX1.bit.GPIO35 = 3; // Configure GPIO19 as SPISTEA
EDIS;
}
void transmitData(uint16_t a)
{
SpiaRegs.SPITXBUF = a;
}

5
Projects/epwm_test/src/spi_init.h
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@ -8,8 +8,9 @@
#ifndef SRC_SPI_INIT_H_
#define SRC_SPI_INIT_H_
void SpiaGpioInit(void);
void SpiInit(void);
void transmitData(uint16_t a);
#endif /* SRC_SPI_INIT_H_ */