опрос внешнего порта по фолтам перенёс обратно в фон, так как нужно выйти из прерывания чтоб работали прерывания таймера для таймаута

убрал компенсацию дедтайма, так как она приводит к ошибке при больших шим, а при попытке компенсации ошибок получается слишком ресурсозатратно, по времени не вмещаемся

Projects/epwm_test_biss_c_cpu1/.cproject

@@ -61,7 +61,7 @@
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DEFINE.2084039298" name="Pre-define NAME (--define, -D)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DEFINE" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="${COM_TI_C2000WARE_SOFTWARE_PACKAGE_SYMBOLS}"/>
-									<listOptionValue builtIn="false" value="REF1"/>
+									<listOptionValue builtIn="false" value="REF0"/>
 									<listOptionValue builtIn="false" value="NRS485"/>
 									<listOptionValue builtIn="false" value="USE_25MHZ_XTAL"/>
 									<listOptionValue builtIn="false" value="DEBUG"/>

Projects/epwm_test_biss_c_cpu1/src/Peripherals/gpio_init.c

@@ -85,6 +85,15 @@ void GpioInit(void)
     GpioCtrlRegs.GPCDIR.bit.GPIO95 = 1;
     GpioDataRegs.GPCDAT.bit.GPIO95 = 1;
     GpioCtrlRegs.GPCCSEL4.bit.GPIO95 = 2;
+#else
+    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
+
 #endif
     GpioCtrlRegs.GPIO_FaultPWM_MUX.bit.GPIO_FaultPWM = 0;//FaultPWM
     GpioCtrlRegs.GPIO_FaultPWM_GMUX.bit.GPIO_FaultPWM = 0;
@@ -94,13 +103,7 @@ void GpioInit(void)
 
     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

Projects/epwm_test_biss_c_cpu1/src/config.h

@@ -16,6 +16,7 @@
 #define GPIO_FaultPWM_DAT   GPCDAT
 #define GPIO_FaultPWM_GMUX  GPCGMUX1
 #define GPIO_FaultPWM_MUX   GPCMUX1
+#define GPIO_FaultPWMpin    64
 
 #define GPIO_RS485_DE       21
 #define GPIO_RS485_RE       83

Projects/epwm_test_biss_c_cpu2/.cproject

@@ -64,7 +64,7 @@
 									<listOptionValue builtIn="false" value="${COM_TI_C2000WARE_SOFTWARE_PACKAGE_SYMBOLS}"/>
 									<listOptionValue builtIn="false" value="FREEMASTER"/>
 									<listOptionValue builtIn="false" value="NRS485"/>
-									<listOptionValue builtIn="false" value="REF1"/>
+									<listOptionValue builtIn="false" value="REF0"/>
 									<listOptionValue builtIn="false" value="USE_25MHZ_XTAL"/>
 									<listOptionValue builtIn="false" value="DEBUG"/>
 									<listOptionValue builtIn="false" value="CPU2"/>

Projects/epwm_test_biss_c_cpu2/epwm_test.c

@@ -22,6 +22,7 @@
 #include "rele.h"
 #include "uart_4Mbit.h"
 #include "frm_uart.h"
+#include "fault.h"
 
 void main(void)
 {
@@ -35,9 +36,7 @@ void main(void)
         FMSTR_Poll();
 #endif
         SyncPWMFonRun();
-        rele_run();
+        if(fault_read_check()) fault_read_ports();//вынесено сюда, так как нельзя вызывать в прерывании,так как не будет считать таймер таймаута
-        AdcRun();
-        BissClkgenRun();
     }
 }
 

Projects/epwm_test_biss_c_cpu2/src/Peripherals/pwm_init.h

@@ -26,7 +26,7 @@
 #define PERIOD_BRAKE        (SYS_PWM_FREQUENCY/2.0/FREQUENCY_BRAKE) //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)//4*100
 
 #define SDFM_DELAY_mkS      50.0 //mkS
 #define SDFM_DELAY          (SDFM_DELAY_mkS*SYS_PWM_FREQUENCY/1000000)

Projects/epwm_test_biss_c_cpu2/src/Peripherals/pwm_interrupts.c

@@ -21,6 +21,8 @@
 #include "pwm_interrupts.h"
 #include "SyncPWMFonRun.h"
 #include "pwm_init.h"
+#include "biss.h"
+
 
 volatile uint16_t AutoChange = 0;
 volatile uint16_t PWM_out = 2500;
@@ -77,18 +79,21 @@ void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc, uint16
         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;
+
-    else if(A_proc < 0) A_proc-= EPWM_DB/2;
+//    if(   (A_proc > 0) && (A_proc < (PeriodPWM_2-EPWM_DB))   ) A_proc+= EPWM_DB/2;
-    if(B_proc > 0) B_proc+= EPWM_DB/2;
+//    else if((A_proc < 0) && (A_proc > -(PeriodPWM_2-EPWM_DB))  ) A_proc-= EPWM_DB/2;
-    else if(B_proc < 0) B_proc-= EPWM_DB/2;
+//
-    if(C_proc > 0) C_proc+= EPWM_DB/2;
+//    if((B_proc > 0) && (B_proc < (PeriodPWM_2-EPWM_DB)))  B_proc+= EPWM_DB/2;
-    else if(C_proc < 0) C_proc-= EPWM_DB/2;
+//    else if((B_proc < 0) && (B_proc > -(PeriodPWM_2-EPWM_DB)) ) B_proc-= EPWM_DB/2;
+//
+//    if((C_proc > 0) && (C_proc < (PeriodPWM_2-EPWM_DB)))  C_proc+= EPWM_DB/2;
+//    else if((C_proc < 0) && (C_proc > -(PeriodPWM_2-EPWM_DB)))C_proc-= EPWM_DB/2;
+
+
 
     PWM_motor.UA = PeriodPWM_2 + A_proc;
     PWM_motor.UB = PeriodPWM_2 + B_proc;
@@ -113,6 +118,9 @@ void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc, uint16
     EPwmRegs[PWM_A]->CMPA.bit.CMPA = PeriodPWM[0] - PWM_motor.UA;
     EPwmRegs[PWM_B]->CMPA.bit.CMPA = PeriodPWM[0] - PWM_motor.UB;
     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;
 }
 
 
@@ -149,7 +157,7 @@ __interrupt void epwm1_isr(void)
 // 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)
 {
@@ -186,7 +194,6 @@ __interrupt void epwm2_isr(void)
 //        EPwmRegs[PWM_FAN]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_Vent;
 //        EPwmRegs[3]->CMPB.bit.CMPB = PERIOD_MOTOR - PWM_Chop;
         Test_ADC_PWM_Synch1++;
-        if(TestStopSync == 2)  TestStopSync = 3;
 //        if(rele_isReleOn()) ReleOut(1);//GpioTurnOnRele();
 //        else ReleOut(0);//GpioTurnOffRele();
     }
@@ -304,7 +311,9 @@ __interrupt void epwm11_isr(void)
 
 
     saveTimingNow(0);
-    if(TestStopSync != 3) sdfm_start_conversion_current();
+
+    sdfm_start_conversion_current();
+    BissClkgenRun();
 
     PwmFlagStartCurrentMeashure = 1;
     EPwm11Regs.ETCLR.bit.INT = 1;

Projects/epwm_test_biss_c_cpu2/src/SyncPWMFonRun.c

@@ -23,9 +23,28 @@ volatile uint16_t testMode = 0;
 uint16_t BisscPwrOn = 1;
 uint16_t BrakeOn = 0;
 
+void SyncPWMFondiod(void)
+{
+    static    uint16_t diod = 0;
+    if(counter < 100) counter++;
+    else
+    {
+        counter = 0;
+        if(counter1 < 100) counter1++;
+        else
+        {
+            counter1=0;
+            counter2++;
+            diod++;
+            if(diod > 7) diod = 0;
+            Gpio_rainbow(diod);
+        }
+    }
+}
+
 void SyncPWMFonRun(void)
 {
-        static    uint16_t diod = 0;
+
 
         if(SynchPWMFonRunEnable())
         {
@@ -33,20 +52,9 @@ void SyncPWMFonRun(void)
                 FMSTR_Recorder();
 #endif
                 SynchPWMFonRunEnableClr();
-                if(counter < 100) counter++;
+                AdcRun();
-                else
+                rele_run();
-                {
+                SyncPWMFondiod();
-                    counter = 0;
-                    if(counter1 < 100) counter1++;
-                    else
-                    {
-                        counter1=0;
-                        counter2++;
-                        diod++;
-                        if(diod > 7) diod = 0;
-                        Gpio_rainbow(diod);
-                    }
-                }
         }
         else
         {
@@ -67,15 +75,14 @@ void SyncPWMFonRun(void)
             {
                 GpioDataRegs.GPADAT.bit.GPIO14 = 0;
             }
-
+//            if(fault_read_check())
-            if(fault_read_check())
+//            {
-            {
+//                   fault_read_clr();
-                    fault_read_clr();
+//                    fault_read_ports();
-                    fault_read_ports();
+//            }else{
-            }else{
 //                buttonsDisp();
 //                ScreenDisp();
-            }
+//            }
         }
 
 }

Projects/epwm_test_biss_c_cpu2/src/biss.c

@@ -10,6 +10,7 @@
 #include "biss.h"
 #include "CLB/board.h"
 #include "crc.h"
+#include "pwm_interrupts.h"
 
 
 #define DEVICE_SYSCLK_FREQ  250000000
@@ -194,6 +195,8 @@ void BissCalc(uint64_t BissData)
 {
     uint16_t BissEmptyBits = 0;
 
+    saveTimingNow(5);
+
     BissData = BissData << 2;
 
     while(((BissData & 0xC000000000000000) != 0x8000000000000000) && (BissEmptyBits < 15))
@@ -243,6 +246,7 @@ void BissCalc(uint64_t BissData)
 
             bissSpeed = Bissth1 - Bissth1_;
             Bissth1_ = Bissth1;
+            saveTimingNow(6);
         }
         BissErr =  (BissAll >> (ANGLESUMM_SHIFT-1)) & 1;
         BissWarn = (BissAll >> (ANGLESUMM_SHIFT-2)) & 1;

Projects/epwm_test_biss_c_cpu2/src/fault.c

@@ -19,9 +19,9 @@ __interrupt void fault_isr(void)
     PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
 
     faultCounter++;
-    fault_read = 1;
     PWM_ABC_StopAllClose();
     vectorFault();
+    fault_read = 1;
     vectorResCurrLoop();
 }
 
@@ -40,6 +40,7 @@ void fault_read_clr(void)
 void fault_read_ports(void)
 {
     uint16_t Fault_Bytes;
+    fault_read = 0;
     I2CWrite(I2C_FAULT_SLAVE_ADDRESS, 0, 0, false, &Fault_Bytes);
     I2CRead(I2C_FAULT_SLAVE_ADDRESS, 1, true, &Fault_Bytes);
     Fault1[faultCounter&0xF] = Fault_Bytes;

Projects/epwm_test_biss_c_cpu2/src/init_perif.c

@@ -100,7 +100,7 @@ void InitPerif(void)
     ADCConfigure();
 
 #ifdef REF0
-    temperatureInit();
+//    temperatureInit();
 #else
     eqep_init();
 #endif
@@ -120,8 +120,10 @@ void InitPerif(void)
 
     I2CMasterInit(I2C_OWN_ADDRESS,0x3C);
     /* Init LCD */
+#ifndef REF0
     SSD1306_Init();
     buttonsInit();
+#endif
     faultInit();
     rele_initRele();
 

Projects/epwm_test_biss_c_cpu2/src/rele.c

@@ -69,16 +69,17 @@ void rele_control(int16_t UdcFiltered)
 {
     if((!Rele.State) || (!Rele.StateChange))
     {
+        PWM_ABC_StopAllClose();
         vectorFault();
         Rele.ReleCounter = 0;
         Rele.Error = 0;
     }
     else {
 
-        if(Rele.Error) vectorFault();
+        if(Rele.Error) {PWM_ABC_StopAllClose(); vectorFault();}
         else {
             if(Rele.ReleCounter == 0) Rele.Udc = UdcFiltered;
-            if(Rele.ReleCounter < Rele.CounterMax) {Rele.ReleCounter++; vectorFault();}
+            if(Rele.ReleCounter < Rele.CounterMax) {Rele.ReleCounter++; PWM_ABC_StopAllClose(); vectorFault();}
             else if(Rele.ReleCounter == Rele.CounterMax)
             {
                 Rele.ReleCounter++;

Projects/epwm_test_biss_c_cpu2/src/vector.c

@@ -73,7 +73,7 @@ float FactorCurrent = FACTOR_CURRENT_MOTOR;
 TvectorCurrentLoop CurrLoop;
 TMode Mode = OffMode;
 uint16_t Step = 0, StepS, Nstep = 2, NoLoop = 0, StepShift = 6;
-float CurrentRegTuneAmpl = 0, FRM_cur = 0, CurrentRegTuneAmplInpuls = 0;
+float CurrentRegTuneAmpld = 0, CurrentRegTuneAmplq = 0, FRM_cur = 0, CurrentRegTuneAmplInpuls = 0;
 int16_t Angle_test=0,sin_int,cos_int, AngleErr;
 float Udc;
 uint16_t SectorCheckOn=1;
@@ -123,7 +123,7 @@ void SetAngeOffset(void)
         SetAngeOffsetCounter = 0;
         Mode = OffMode;
     }
-    CurrLoop.piId.Ref = CurrentRegTuneAmpl;
+    CurrLoop.piId.Ref = CurrentRegTuneAmpld;
     CurrLoop.piIq.Ref = 0;
 }
 
@@ -131,9 +131,9 @@ void SetAngeOffset(void)
 void vectorFault(void)
 {
     Mode = OffMode;
-#ifdef REF0
+//#ifdef REF0
-    XintRegs.XINT2CR.bit.ENABLE = 1;
+//    XintRegs.XINT2CR.bit.ENABLE = 1;
-#endif
+//#endif
 }
 
 uint16_t Num = 0;
@@ -142,11 +142,12 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
 {
 
     saveTimingNow(1);
+
     pwm_clr_PwmFlagStartADC();
     Ia = -CurrentA;//sdfm_get(6);
     Ib = -CurrentB;//sdfm_get(3);
     Ic = -CurrentC;//sdfm_get(4);
-    if((Ia > IMAX_KZ)||(Ib>IMAX_KZ)||(Ic>IMAX_KZ)||(Ia<-IMAX_KZ)||(Ib<-IMAX_KZ)||(Ic<-IMAX_KZ) ) {OverCur[0] = Ia; OverCur[1] = Ib; OverCur[2] = Ic; ErrCur++;  Mode = OffMode; CurFault++;}
+    if((Ia > IMAX_KZ)||(Ib>IMAX_KZ)||(Ic>IMAX_KZ)||(Ia<-IMAX_KZ)||(Ib<-IMAX_KZ)||(Ic<-IMAX_KZ) ) {OverCur[0] = Ia; OverCur[1] = Ib; OverCur[2] = Ic; ErrCur++; PWM_ABC_StopAllClose(); vectorFault(); CurFault++;}
 
 
     UdcFiltered = Filter(sdfmUdc, &UdcFilter);
@@ -154,7 +155,7 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
     if(VoltProcImit) UdcVolt = VoltProcImit;
     else UdcVolt = (float)UdcFiltered*VdcFactor/BIT_MAX;
 
-    if(UdcVolt < 15) Mode = OffMode;
+    if(UdcVolt < 15) vectorFault();
 
     Step = Step + Nstep;
     CurrLoop.piId.Ref = 0;
@@ -164,7 +165,7 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
     if(Mode)     {XintRegs.XINT2CR.bit.ENABLE = 0; temperature_deInit();}
 #endif
 
-    vectorAngle = biss_getAngle() + AngleOffset;
+    vectorAngle = biss_getAngle() - AngleOffset;
 
     switch(Mode)
     {
@@ -178,15 +179,15 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
         if(Impuls > 0)
         {
             Impuls--;
-            CurrLoop.piIq.Ref = CurrentRegTuneAmplInpuls;
+            CurrLoop.piId.Ref = CurrentRegTuneAmplInpuls;
         }
-        else  CurrLoop.piIq.Ref = CurrentRegTuneAmpl;
+        else  CurrLoop.piId.Ref = CurrentRegTuneAmpld;
-        CurrLoop.piId.Ref = 0;
+        CurrLoop.piIq.Ref = CurrentRegTuneAmplq;
         break;
     case StepModeImpulses:
         PWM_ABC_StartOut();
         vectorSinCos.Angle = Step;
-        if(ImpulsStep <= ImpulsLow) CurrLoop.piIq.Ref = CurrentRegTuneAmpl;
+        if(ImpulsStep <= ImpulsLow) CurrLoop.piIq.Ref = CurrentRegTuneAmpld;
         else CurrLoop.piIq.Ref = CurrentRegTuneAmplInpuls;
         if(ImpulsStep < (ImpulsLow + ImpulsHi)) ImpulsStep++;
         else ImpulsStep = 0;
@@ -194,14 +195,15 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
         break;
     case StayMode:
         PWM_ABC_StartOut();
-        CurrLoop.piIq.Ref = CurrentRegTuneAmpl;
+        CurrLoop.piId.Ref = CurrentRegTuneAmpld;
+        CurrLoop.piIq.Ref = CurrentRegTuneAmplq;
         break;
     case CurrentRegTune:
         vectorSinCos.Angle = 0;
         PWM_ABC_StartOut();
         StepS = Step&((1<<StepShift)-1);
         if(StepS > (1<<(StepShift-1)))  CurrLoop.piId.Ref = 0;
-        else CurrLoop.piId.Ref = CurrentRegTuneAmpl;
+        else CurrLoop.piId.Ref = CurrentRegTuneAmpld;
         CurrLoop.piIq.Ref = 0;
         break;
     case TestPWNMode:
@@ -213,13 +215,13 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
         if(biss_getErr()>=3)
         {
             PWM_ABC_StopAllClose();
-            Mode = OffMode;
+            vectorFault();
         }
         else
         {
             PWM_ABC_StartOut();
             vectorSinCos.Angle = vectorAngle;
-            CurrLoop.piIq.Ref = CurrentRegTuneAmpl;
+            CurrLoop.piIq.Ref = CurrentRegTuneAmplq;
             CurrLoop.piId.Ref = 0;
         }
         break;
@@ -228,7 +230,7 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
         SetAngeOffset();
         break;
     default:
-        Mode = OffMode;
+        vectorFault();
         PWM_ABC_StopAllClose();
     }
     Udc = sdfmUdc * FACTOR_VDC;
@@ -356,8 +358,10 @@ void vector_inversion(void)
 }
 
 float Test1, Test2;
-float FRM_Ud, FRM_Uq;
+float FRM_Ud, FRM_Uq, FRM_Ud_, FRM_Uq_;
 volatile int16_t I_fbk_int, I_ref_int;
+float UmaxVolt;
+float Ulim;
 
 void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, int16_t CurrentC)
 {
@@ -452,7 +456,7 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
 
 
 
-  float UmaxVolt = VOLT_MAX_FACTOR * UdcVolt;
+  UmaxVolt = VOLT_MAX_FACTOR * UdcVolt;//  94/100*UdcVolt
 
   CurrLoop.piIq.Umax = UmaxVolt;            // Parameter: upper saturation limit
   CurrLoop.piIq.Umin = -UmaxVolt;
@@ -468,7 +472,7 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
 //  Test1 = my_sqrtf(Test2);
 
 
-  float Ulim = my_sqrtf(CurrLoop.piId.Out * CurrLoop.piId.Out + CurrLoop.piIq.Out * CurrLoop.piIq.Out);
+  Ulim = my_sqrtf(CurrLoop.piId.Out * CurrLoop.piId.Out + CurrLoop.piIq.Out * CurrLoop.piIq.Out);
 
 
 
@@ -476,6 +480,8 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
   {
         if(Ulim > ZERO_LVL)
         {
+          FRM_Ud_=  CurrLoop.piId.Out;
+          FRM_Uq_= CurrLoop.piIq.Out;
           float K = UmaxVolt / Ulim;
           FRM_Ud = CurrLoop.piId.Out *= K;
           FRM_Uq = CurrLoop.piIq.Out *= K;