dev(UML-2579): В тестовое окружение sdfm добавлен CLA модуль. Даннный код имеет ознакомительный характер т.к программа озврпщает указатель на нулевой адресс при первомже прерывании.

2024-09-05 16:33:09 +03:00 · 2024-09-05 16:33:09 +03:00 · 6a297b55eb
commit 6a297b55eb
parent 9077ce62ff
37 changed files with 977 additions and 586 deletions
--- a/README.md
+++ b/README.md
@ -0,0 +1,32 @@
+# SDFM_CONTROL
+
+## Overview
+Данный проект представляет собой переработанный проект MotorControlModuleSDFM_TMS320F28388D написаный с целью тестирования измененых параметров модуля SDFM а  также тестирования его взаимодейсвия с CLA . 
+
+## Usage
+
+Проект разделен на два программных модуля:
+
+* Модуль инициализации `epwm_test_biss_c_cpu1` и предоставляет собой программу загружаемую на CPU1, основной задачей данной программы является настройка перефериии и выделение памяти.
+* Модуль управления `epwm_test_biss_c_cpu2` и предоставляет собой программу загружаемую на CPU2, основной задачей данной программы является управление резольвером посредсвом генерациии шим сигнала посредством EPWM, снятие показаний с модуля SDFM, передача данных в CLA  .
+
+
+### Prerequisites
+- CCS не ниже версии 12.3.
+- С2000.
+
+### Installation
+
+1. Скачивание репозитория:
+   
+   git clone http://sofdev:3000/sedov/MotorControlSdfmCla
+   
+
+2. Импорт проекта в CCS:
+   Запустите CCS.
+   Выберите "Import" -> "Existing CCS Projects into Workspace".
+   Выберите папку, в которую вы скачали проект.
+   Нажмите "Finish".
+
+3. Сборка проекта:
+   В CCS выберите "Project" -> "Build Project".
--- a/epwm_test_biss_c_cpu1/.cproject
+++ b/epwm_test_biss_c_cpu1/.cproject
@ -24,7 +24,7 @@
 								<listOptionValue builtIn="false" value="CCS_MBS_VERSION=6.1.3"/>
 								<listOptionValue builtIn="false" value="RUNTIME_SUPPORT_LIBRARY=libc.a"/>
 								<listOptionValue builtIn="false" value="OUTPUT_TYPE=executable"/>
-								<listOptionValue builtIn="false" value="PRODUCTS=c2000ware_software_package:5.0.0.00;"/>
+								<listOptionValue builtIn="false" value="PRODUCTS=c2000ware_software_package:5.1.0.00;"/>
 								<listOptionValue builtIn="false" value="PRODUCT_MACRO_IMPORTS={&quot;c2000ware_software_package&quot;:[&quot;${COM_TI_C2000WARE_SOFTWARE_PACKAGE_INCLUDE_PATH}&quot;,&quot;${COM_TI_C2000WARE_SOFTWARE_PACKAGE_LIBRARY_PATH}&quot;,&quot;${COM_TI_C2000WARE_SOFTWARE_PACKAGE_LIBRARIES}&quot;,&quot;${COM_TI_C2000WARE_SOFTWARE_PACKAGE_SYMBOLS}&quot;,&quot;${COM_TI_C2000WARE_SOFTWARE_PACKAGE_SYSCONFIG_MANIFEST}&quot;]}"/>
 							</option>
 							<option id="com.ti.ccstudio.buildDefinitions.core.OPT_CODEGEN_VERSION.197899427" name="Compiler version" superClass="com.ti.ccstudio.buildDefinitions.core.OPT_CODEGEN_VERSION" value="22.6.0.LTS" valueType="string"/>
@ -47,7 +47,7 @@
 								<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DISPLAY_ERROR_NUMBER.1020551485" name="Emit diagnostic identifier numbers (--display_error_number, -pden)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DISPLAY_ERROR_NUMBER" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 								<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DIAG_WRAP.1678665744" name="Wrap diagnostic messages (--diag_wrap)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DIAG_WRAP" useByScannerDiscovery="false" value="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DIAG_WRAP.off" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.INCLUDE_PATH.71573062" name="Add dir to #include search path (--include_path, -I)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.INCLUDE_PATH" valueType="includePath">
-									<listOptionValue builtIn="false" value="${COM_TI_C2000WARE_SOFTWARE_PACKAGE_INSTALL_DIR}"/>
+									<listOptionValue builtIn="false" value="${COM_TI_C2000WARE_SOFTWARE_PACKAGE_INCLUDE_PATH}"/>
 									<listOptionValue builtIn="false" value="${workspace_loc:/${ProjName}/lib}"/>
 									<listOptionValue builtIn="false" value="${workspace_loc:/${ProjName}/src/CLB}"/>
 									<listOptionValue builtIn="false" value="${workspace_loc:/${ProjName}/src/Peripherals}"/>
--- a/epwm_test_biss_c_cpu1/.launches/epwm_test_biss_c_cpu1.launch
+++ b/epwm_test_biss_c_cpu1/.launches/epwm_test_biss_c_cpu1.launch
--- a/epwm_test_biss_c_cpu1/2838x_FLASH_lnk_cpu1.cmd
+++ b/epwm_test_biss_c_cpu1/2838x_FLASH_lnk_cpu1.cmd
@ -1,6 +1,3 @@
-CLA_SCRATCHPAD_SIZE = 0x100;
--undef_sym=__cla_scratchpad_end
--undef_sym=__cla_scratchpad_start

 MEMORY
 {
@ -64,11 +61,6 @@ MEMORY
   CANB_MSG_RAM     : origin = 0x04B000, length = 0x000800

   RESET            : origin = 0x3FFFC0, length = 0x000002
-
-   CLA1_MSGRAMLOW   : origin = 0x001480,   length = 0x000080
-   CLA1_MSGRAMHIGH  : origin = 0x001500,   length = 0x000080
-   CLA1_DMA_MSGRAM  : origin = 0x001680,   length = 0x000080
-   DMA_CLA1_MSGRAM  : origin = 0x001700,   length = 0x000080
 }

 SECTIONS
@ -114,63 +106,6 @@ SECTIONS
   Filter4_RegsFile : > RAMGS4, fill=0x4444
   Difference_RegsFile : >RAMGS5, fill=0x3333

-
-    /* CLA specific sections */
-#if defined(__TI_EABI__)
-   Cla1Prog         :   LOAD = FLASH6,
-                        RUN = RAMLS5,
-                        LOAD_START(Cla1funcsLoadStart),
-                        LOAD_END(Cla1funcsLoadEnd),
-                        RUN_START(Cla1funcsRunStart),
-                        LOAD_SIZE(Cla1funcsLoadSize),
-                        ALIGN(8)
-#else
-   Cla1Prog         :   LOAD = FLASH6,
-                        RUN = RAMLS5,
-                        LOAD_START(_Cla1funcsLoadStart),
-                        LOAD_END(_Cla1funcsLoadEnd),
-                        RUN_START(_Cla1funcsRunStart),
-                        LOAD_SIZE(_Cla1funcsLoadSize),
-                        ALIGN(8)
-#endif
-
-   CLADataLS0       : > RAMLS0
-   CLADataLS1       : > RAMLS1
-
-   Cla1ToCpuMsgRAM  : > CLA1_MSGRAMLOW, type=NOINIT
-   CpuToCla1MsgRAM  : > CLA1_MSGRAMHIGH, type=NOINIT
-   Cla1ToDmaMsgRAM  : > CLA1_DMA_MSGRAM, type=NOINIT
-   DmaToCla1MsgRAM  : > DMA_CLA1_MSGRAM, type=NOINIT
-
-   Cla1DataRam      : >> RAMLS0 | RAMLS1
-
-   /* CLA C compiler sections */
-   //
-   // Must be allocated to memory the CLA has write access to
-   //
-   CLAscratch       :
-                     { *.obj(CLAscratch)
-                     . += CLA_SCRATCHPAD_SIZE;
-                     *.obj(CLAscratch_end) } >  RAMLS1
-
-   .scratchpad      : > RAMLS1
-   .bss_cla         : > RAMLS1
-   cla_shared       : > RAMLS1
-#if defined(__TI_EABI__)
-   .const_cla       :   LOAD = FLASH2,
-                        RUN = RAMLS1,
-                        RUN_START(Cla1ConstRunStart),
-                        LOAD_START(Cla1ConstLoadStart),
-                        LOAD_SIZE(Cla1ConstLoadSize)
-#else
-   .const_cla       :   LOAD = FLASH2,
-                        RUN = RAMLS1,
-                        RUN_START(_Cla1ConstRunStart),
-                        LOAD_START(_Cla1ConstLoadStart),
-                        LOAD_SIZE(_Cla1ConstLoadSize)
-#endif
-
-
   #if defined(__TI_EABI__)
       .TI.ramfunc : {} LOAD = FLASH3,
                        RUN = RAMLS0 | RAMLS1 | RAMLS2 |RAMLS3,
--- a/epwm_test_biss_c_cpu1/epwm_test.c
+++ b/epwm_test_biss_c_cpu1/epwm_test.c
@ -19,23 +19,10 @@
 #include "frmmstr_run.h"
 #include "adc_init.h"
 #include "biss.h"
-#include "CLAinit.h"

-//////////////////////////////////////////////////////////////////////////////////////////////////////
-
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////
 void main(void)
 {
    InitPerif();
-    // Определение глобальной константы
-    #pragma DATA_SECTION(glob_buff, "CLADataLS0") // Поместим константу в память, доступную CLA
-    Uint16 glob_buff = 0x555;
-    // Инициализация CLA
-        CLA_configClaMemory();
-        CLA_initCpu1Cla1();
-       Cla1ForceTask1();  // Выполнить задачу 1 один раз для инициализации
-       CLA_runTest();
    for(;;)
    {

@ -43,7 +30,6 @@ void main(void)
 }


-
 //
 // End of file
 //
--- a/epwm_test_biss_c_cpu1/src/Peripherals/gpio_init.c
+++ b/epwm_test_biss_c_cpu1/src/Peripherals/gpio_init.c
@ -73,6 +73,8 @@ void GpioSetOrange(void)



+
+
 void GpioInit(void)
 {
    EALLOW;
--- a/epwm_test_biss_c_cpu1/src/Peripherals/pwm_init.h
+++ b/epwm_test_biss_c_cpu1/src/Peripherals/pwm_init.h
@ -1,7 +1,7 @@
 /*
 * pwm_init.h
 *
- *  Created on: 21 ŕâă. 2023 ă.
+ *  Created on: 21 <EFBFBD><EFBFBD><EFBFBD>. 2023 <EFBFBD>.
 *      Author: seklyuts
 */
 #include "f28x_project.h"
@ -14,28 +14,51 @@

 #define FREQUENCY_BRAKE     200000.0 //Hz
 #define FREQUENCY_MOTOR     10000.0 //Hz
-#define EPWM_DB_mkS         3.0 //mkS
+#define EPWM_DB_mkS         4.0 //mkS
+#define FREQUENCY_FAN       1000.0 //Hz
+
+
+#define PERIOD_FAN          (SYS_PWM_FREQUENCY/2.0/FREQUENCY_FAN)

 #define PERIOD_BRAKE        (SYS_PWM_FREQUENCY/2.0/FREQUENCY_BRAKE) //Tic
-#define PERIOD_MOTOR        (SYS_PWM_FREQUENCY/2.0/FREQUENCY_MOTOR) //Tic
+#define PERIOD_MOTOR        (SYS_PWM_FREQUENCY/2.0/FREQUENCY_MOTOR) //Tic = 5000

 #define EPWM_DB             (EPWM_DB_mkS*SYS_PWM_FREQUENCY/1000000)

 #define SDFM_DELAY_mkS      50.0 //mkS
 #define SDFM_DELAY          (SDFM_DELAY_mkS*SYS_PWM_FREQUENCY/1000000)

-#define PERIOD_2        (PERIOD_MOTOR/2.0)
-#define PWM_MAX         (PERIOD_MOTOR - EPWM_DB)
-#define PWM_MIN         EPWM_DB*2
+#define PERIOD_DIV2        (PERIOD_MOTOR/2.0)
+#define PERIOD_MAX    (PERIOD_MOTOR*1.25)
+//#define PWM_MAX         (PERIOD_MOTOR - EPWM_DB)
+//#define PWM_MIN         EPWM_DB*2
 #define INDEPENDED      1
 #define COMPLIMENTARY   0

+
+#ifdef REF0
+
 #define PWM_A           5
 #define PWM_B           2
 #define PWM_C           7
-
+#define PWM_FAN         3
 #define PWM_BRAKE       8

+#define PWM_BASE_TIMER  1
+
+#else
+
+#define PWM_A           5
+#define PWM_B           4
+#define PWM_C           2
+#define PWM_FAN         3
+#define PWM_BRAKE       8
+
+#define PWM_BASE_TIMER  1
+#endif
+
+
+
 void PWMInit(uint16_t Num, uint16_t Period, uint16_t Independed);
 void PWMGpioInit(void);
 void PWMInitEnable(void);
@ -43,7 +66,7 @@ void PWMInitInterruptEn(void);
 void PWMAllInit(void);
 void PWM_ABC_StopAllClose(void);
 void PWM_ABC_StartOut(void);
-
+void PWM_ABC_Start(uint16_t Num);

 void InitEPwm1Example(void);
 void InitEPwm2Example(void);
--- a/epwm_test_biss_c_cpu1/src/Peripherals/pwm_interrupts.c
+++ b/epwm_test_biss_c_cpu1/src/Peripherals/pwm_interrupts.c
@ -35,7 +35,7 @@ typedef struct
    int16_t UC;
 }strPWMABC;

-volatile strPWMABC PWM_motor = {PERIOD_2, PERIOD_2, PERIOD_2};
+volatile strPWMABC PWM_motor = {PERIOD_DIV2, PERIOD_DIV2, PERIOD_DIV2};

 int16_t A_proc,B_proc,C_proc;
 uint16_t PWM_Vent = PERIOD_MOTOR;
@ -44,9 +44,9 @@ uint16_t PWM_Chop = 0;
 void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc)
 {

-    A_proc = (int16_t)((phaseA/Udc)*PERIOD_2);
-    B_proc = (int16_t)((phaseB/Udc)*PERIOD_2);
-    C_proc = (int16_t)((phaseC/Udc)*PERIOD_2);
+    A_proc = (int16_t)((phaseA/Udc)*PERIOD_DIV2);
+    B_proc = (int16_t)((phaseB/Udc)*PERIOD_DIV2);
+    C_proc = (int16_t)((phaseC/Udc)*PERIOD_DIV2);

    if(A_proc > 0) A_proc+= EPWM_DB/2;
    else if(A_proc < 0) A_proc-= EPWM_DB/2;
@ -55,9 +55,9 @@ void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc)
    if(C_proc > 0) C_proc+= EPWM_DB/2;
    else if(C_proc < 0) C_proc-= EPWM_DB/2;

-    PWM_motor.UA = PERIOD_2 + A_proc;
-    PWM_motor.UB = PERIOD_2 + B_proc;
-    PWM_motor.UC = PERIOD_2 - C_proc;
+    PWM_motor.UA = PERIOD_DIV2 + A_proc;
+    PWM_motor.UB = PERIOD_DIV2 + B_proc;
+    PWM_motor.UC = PERIOD_DIV2 - C_proc;

    FaultABC = 0;//(FaultPWM);
    if(FaultABC) FaultABCFix = FaultABC;
@ -65,9 +65,9 @@ void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc)
    if((FaultABC)||(FaultABCFix))
    {
        PWM_ABC_StopAllClose();
-        PWM_motor.UA = PERIOD_2;
-        PWM_motor.UB = PERIOD_2;
-        PWM_motor.UC = PERIOD_2;
+        PWM_motor.UA = PERIOD_DIV2;
+        PWM_motor.UB = PERIOD_DIV2;
+        PWM_motor.UC = PERIOD_DIV2;
        vectorFault();
    }

@ -132,9 +132,9 @@ __interrupt void epwm2_isr(void)
        AdcStartSet();
        BissStartSet();
        PWM_ABC_StopAllClose();
-        PWM_motor.UA = PERIOD_2;
-        PWM_motor.UB = PERIOD_2;
-        PWM_motor.UC = PERIOD_2;
+        PWM_motor.UA = PERIOD_DIV2;
+        PWM_motor.UB = PERIOD_DIV2;
+        PWM_motor.UC = PERIOD_DIV2;
        vectorFault();
        EPwmRegs[3]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_Vent;
        EPwmRegs[3]->CMPB.bit.CMPB = PERIOD_MOTOR - PWM_Chop;
--- a/epwm_test_biss_c_cpu1/src/Peripherals/sdfm.c
+++ b/epwm_test_biss_c_cpu1/src/Peripherals/sdfm.c
@ -137,9 +137,6 @@ void SdfmGpioInit(void)
    GPIO_SetupPinOptions(25, GPIO_INPUT, GPIO_ASYNC);
    GPIO_SetupPinMux(25,GPIO_MUX_CPU2,7);               //SDFM-2 Channel 1 Clock Input

-    GpioCtrlRegs.GPAMUX2.bit.GPIO25 = 0x03;
-    GpioCtrlRegs.GPAGMUX2.bit.GPIO25 = 0x01;
-
    GPIO_SetupPinOptions(58, GPIO_INPUT, GPIO_ASYNC);
    GPIO_SetupPinMux(58,GPIO_MUX_CPU2,7);               //SDFM-2 Channel 2 Data Input (Udc)
    GPIO_SetupPinOptions(59, GPIO_INPUT, GPIO_ASYNC);
--- a/epwm_test_biss_c_cpu1/src/Peripherals/sdfm_pwm_xbar.c
+++ b/epwm_test_biss_c_cpu1/src/Peripherals/sdfm_pwm_xbar.c
@ -0,0 +1,33 @@
+/*
+ * sdfm_pwm_xbar.c
+ *
+ *  Created on: 29 авг. 2024 г.
+ *      Author: seklyuts
+ */
+#include "f28x_project.h"
+#include "pwm_init.h"
+
+
+void sdfm_pwm_xbarInit(void)
+{
+    EALLOW;
+//    EPwmXbarRegs.TRIPLOCK = 0x5A5A0000;
+//    EPwmXbarRegs.TRIP4MUX0TO15CFG.bit. = ; //str 2145
+    EPwmXbarRegs.TRIP4MUX16TO31CFG.bit.MUX16 = 1;//SD1FLT1.CEVT1_OR_CEVT2
+    EPwmXbarRegs.TRIP4MUX16TO31CFG.bit.MUX18 = 1;//SD1FLT2.CEVT1_OR_CEVT2
+    EPwmXbarRegs.TRIP4MUX16TO31CFG.bit.MUX20 = 1;//SD1FLT3.CEVT1_OR_CEVT2
+    EPwmXbarRegs.TRIP4MUX16TO31CFG.bit.MUX22 = 1;//SD1FLT4.CEVT1_OR_CEVT2
+    EPwmXbarRegs.TRIP4MUX16TO31CFG.bit.MUX24 = 1;//SD2FLT1.CEVT1_OR_CEVT2
+    EPwmXbarRegs.TRIP4MUX16TO31CFG.bit.MUX26 = 1;//SD2FLT2.CEVT1_OR_CEVT2
+    EPwmXbarRegs.TRIP4MUX16TO31CFG.bit.MUX28 = 1;//SD2FLT3.CEVT1_OR_CEVT2
+    EPwmXbarRegs.TRIP4MUX16TO31CFG.bit.MUX30 = 1;//SD2FLT4.CEVT1_OR_CEVT2
+    EPwmXbarRegs.TRIP4MUXENABLE.bit.MUX16 = 1;
+    EPwmXbarRegs.TRIP4MUXENABLE.bit.MUX18 = 1;
+    EPwmXbarRegs.TRIP4MUXENABLE.bit.MUX20 = 1;
+    EPwmXbarRegs.TRIP4MUXENABLE.bit.MUX22 = 1;
+    EPwmXbarRegs.TRIP4MUXENABLE.bit.MUX24 = 1;
+    EPwmXbarRegs.TRIP4MUXENABLE.bit.MUX26 = 1;
+    EPwmXbarRegs.TRIP4MUXENABLE.bit.MUX28 = 1;
+    EPwmXbarRegs.TRIP4MUXENABLE.bit.MUX30 = 1;
+    EDIS;
+}
--- a/epwm_test_biss_c_cpu1/src/Peripherals/sdfm_pwm_xbar.h
+++ b/epwm_test_biss_c_cpu1/src/Peripherals/sdfm_pwm_xbar.h
@ -0,0 +1,13 @@
+/*
+ * sdfm_pwm_xbar.h
+ *
+ *  Created on: 29 авг. 2024 г.
+ *      Author: seklyuts
+ */
+
+#ifndef SRC_PERIPHERALS_SDFM_PWM_XBAR_H_
+#define SRC_PERIPHERALS_SDFM_PWM_XBAR_H_
+
+void sdfm_pwm_xbarInit(void);
+
+#endif /* SRC_PERIPHERALS_SDFM_PWM_XBAR_H_ */
--- a/epwm_test_biss_c_cpu1/src/init_perif.c
+++ b/epwm_test_biss_c_cpu1/src/init_perif.c
@ -17,6 +17,7 @@
 #include "i2c_init.h"
 #include "spi_init.h"
 #include "biss.h"
+#include "sdfm_pwm_xbar.h"


 #define TO_CPU1              0
@ -117,6 +118,7 @@ void InitPerif(void)
    BissGpioInit();
    BissInit();

+    sdfm_pwm_xbarInit();


 //    ConfigureADC();
--- a/epwm_test_biss_c_cpu1/targetConfigs/TMS320F28388D.ccxml
+++ b/epwm_test_biss_c_cpu1/targetConfigs/TMS320F28388D.ccxml
@ -1,7 +1,6 @@
 <?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 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"/>
        <connection XML_version="1.2" id="Texas Instruments XDS2xx USB Debug Probe_0">
--- a/epwm_test_biss_c_cpu2/.launches/epwm_test_biss_c_cpu2.launch
+++ b/epwm_test_biss_c_cpu2/.launches/epwm_test_biss_c_cpu2.launch
--- a/epwm_test_biss_c_cpu2/2838x_FLASH_lnk_cpu2.cmd
+++ b/epwm_test_biss_c_cpu2/2838x_FLASH_lnk_cpu2.cmd
@ -1,3 +1,6 @@
+CLA_SCRATCHPAD_SIZE = 0x100;
+--undef_sym=__cla_scratchpad_end
+--undef_sym=__cla_scratchpad_start

 MEMORY
 {
@ -61,6 +64,11 @@ MEMORY
   CANB_MSG_RAM     : origin = 0x04B000, length = 0x000800

   RESET            : origin = 0x3FFFC0, length = 0x000002
+
+   CLA1_MSGRAMLOW   : origin = 0x001480,   length = 0x000080
+   CLA1_MSGRAMHIGH  : origin = 0x001500,   length = 0x000080
+   CLA1_DMA_MSGRAM  : origin = 0x001680,   length = 0x000080
+   DMA_CLA1_MSGRAM  : origin = 0x001700,   length = 0x000080
 }

 SECTIONS
@ -100,7 +108,7 @@ SECTIONS

   /* The following section definition are for SDFM examples */
 //   Filter_RegsFile  : > RAMGS10
-   Filter1_RegsFile : > RAMLS1
+   Filter1_RegsFile : > RAMGS5
   Filter2_RegsFile : > RAMLS2
   Filter3_RegsFile : > RAMLS3
   Filter4_RegsFile : > RAMLS4
@ -114,6 +122,66 @@ SECTIONS
 //   Filter14_RegsFile : > RAMGS14
 //   Difference_RegsFile : >RAMGS5

+
+
+
+    /* CLA specific sections */
+#if defined(__TI_EABI__)
+   Cla1Prog         :   LOAD = FLASH6,
+                        RUN = RAMLS7,
+                        LOAD_START(Cla1funcsLoadStart),
+                        LOAD_END(Cla1funcsLoadEnd),
+                        RUN_START(Cla1funcsRunStart),
+                        LOAD_SIZE(Cla1funcsLoadSize),
+                        ALIGN(8)
+#else
+   Cla1Prog         :   LOAD = FLASH6,
+                        RUN = RAMLS7,
+                        LOAD_START(_Cla1funcsLoadStart),
+                        LOAD_END(_Cla1funcsLoadEnd),
+                        RUN_START(_Cla1funcsRunStart),
+                        LOAD_SIZE(_Cla1funcsLoadSize),
+                        ALIGN(8)
+#endif
+
+   CLADataLS0       : > RAMLS0
+   CLADataLS1       : > RAMLS1
+
+   Cla1ToCpuMsgRAM  : > CLA1_MSGRAMLOW, type=NOINIT
+   CpuToCla1MsgRAM  : > CLA1_MSGRAMHIGH, type=NOINIT
+   Cla1ToDmaMsgRAM  : > CLA1_DMA_MSGRAM, type=NOINIT
+   DmaToCla1MsgRAM  : > DMA_CLA1_MSGRAM, type=NOINIT
+
+   Cla1DataRam      : >> RAMLS0 | RAMLS1
+
+   /* CLA C compiler sections */
+   //
+   // Must be allocated to memory the CLA has write access to
+   //
+   CLAscratch       :
+                     { *.obj(CLAscratch)
+                     . += CLA_SCRATCHPAD_SIZE;
+                     *.obj(CLAscratch_end) } >  RAMLS1
+
+   .scratchpad      : > RAMLS1
+   .bss_cla         : > RAMLS1
+   cla_shared       : > RAMLS1
+#if defined(__TI_EABI__)
+   .const_cla       :   LOAD = FLASH2,
+                        RUN = RAMLS1,
+                        RUN_START(Cla1ConstRunStart),
+                        LOAD_START(Cla1ConstLoadStart),
+                        LOAD_SIZE(Cla1ConstLoadSize)
+#else
+   .const_cla       :   LOAD = FLASH2,
+                        RUN = RAMLS1,
+                        RUN_START(_Cla1ConstRunStart),
+                        LOAD_START(_Cla1ConstLoadStart),
+                        LOAD_SIZE(_Cla1ConstLoadSize)
+#endif
+
+
+
   #if defined(__TI_EABI__)
       .TI.ramfunc : {} LOAD = FLASH3,
                        RUN = RAMLS0 | RAMLS1 | RAMLS2 |RAMLS3,
--- a/epwm_test_biss_c_cpu2/Start_rfm.pmp
+++ b/epwm_test_biss_c_cpu2/Start_rfm.pmp
--- a/epwm_test_biss_c_cpu2/epwm_test.c
+++ b/epwm_test_biss_c_cpu2/epwm_test.c
@ -23,6 +23,7 @@

 void main(void)
 {
+
    InitPerif();

    for(;;)
--- a/epwm_test_biss_c_cpu2/src/ExternalEEPROM/BL25CM1A.c
+++ b/epwm_test_biss_c_cpu2/src/ExternalEEPROM/BL25CM1A.c
@ -230,7 +230,7 @@ void Bl25cm1a_write_data(uint32_t Addr_8bit, uint16_t quant_8bit, uint16_t * wri
    while( (Addr_8bit&0xFF)+(quant_8bit) > BL25CM1A0_PAGE)           //åñëè äàííûå âûõîäÿò çà ãðàíèöó òåêóùåé ñòðàíèöû
    {
        page_quant_8bit = BL25CM1A0_PAGE - (Addr_8bit&0xFF);       //âû÷èñëÿåì êîë-âî áàéò äàííûõ äî êîíöà òåêóùåé ñòðàíèöû
-        Bl25cm1a_write_1_page(Addr_8bit,  page_quant_8bit/2, addr_write_data); //çàïèñûâàåì ýòè äàííûå íà òåêóùóþ ñòðàíèöó
+        Bl25cm1a_write_1_page(Addr_8bit,  page_quant_8bit, addr_write_data); //çàïèñûâàåì ýòè äàííûå íà òåêóùóþ ñòðàíèöó
        Addr_8bit += page_quant_8bit;                                             //ïåðåëèñòûâàåì ñòðàíèöó âíåøíåé ïàìÿòè
        addr_write_data += page_quant_8bit/2;                                  //øàãàåì íà ñëåäóþùèå íåçàïèñàííûå äàííûå â áóôåðå
        quant_8bit -= page_quant_8bit;                                            //óìåíüøàåì êîë-âî äàííûõ íà âåëè÷èíó êîòîðóþ óæå çàïèñàëè
--- a/epwm_test_biss_c_cpu2/src/ExternalEEPROM/GD25Q16ETIGR.c
+++ b/epwm_test_biss_c_cpu2/src/ExternalEEPROM/GD25Q16ETIGR.c
@ -1,7 +1,7 @@
 /*
 * GD25Q16ETIGR.c
 *
- *  Created on: 7 ñåíò. 2023 ã.
+ *  Created on: 7 сент. 2023 г.
 *      Author: seklyuts
 */
 #include "f28x_project.h"
@ -29,15 +29,27 @@ uint16_t GD25Q16ETIGR_buffer8bytes[8];

 uint16_t SectorWasErraised[512];

+uint16_t writeVerify = 1;

-uint16_t GD25Q16ETIGR_Sektor_Addr(uint32_t Addr)
+
+void delay(void)
 {
-    uint16_t sektor;
-    for (sektor=1; sektor <= 512; sektor++ )
+    uint32_t i;
+    for(i=0;i<100000;i++)
    {
-        if(Addr < (0x1000*sektor)) return sektor-1;
+        asm (" NOP");
+    }
+}
+
+
+
+void GD25Q16ETIGR_checkRXFFST(void)
+{
+    volatile    uint16_t empty;
+    while(SpiRegs.SPIFFRX.bit.RXFFST > 0)
+    {
+        empty = SpiRegs.SPIRXBUF;
    }
-    return 511;
 }


@ -54,6 +66,7 @@ void GD25Q16ETIGR_clean_SectorWasErraised(void)
 void GD25Q16ETIGR_en(void)
 {
    volatile    uint16_t empty;
+//    GD25Q16ETIGR_checkRXFFST();
    transmitData(WriteEnable);
    while(SpiRegs.SPIFFRX.bit.RXFFST != 1)
    {
@ -65,6 +78,7 @@ void GD25Q16ETIGR_en(void)
 uint16_t GD25Q16ETIGR_ReadStatus(void)
 {
    volatile    uint16_t empty;
+//    GD25Q16ETIGR_checkRXFFST();
    transmitData(ReadStatusRegister1);
    transmitData(0xFF);
    while(SpiRegs.SPIFFRX.bit.RXFFST != 2)
@ -76,18 +90,37 @@ uint16_t GD25Q16ETIGR_ReadStatus(void)
    return empty;
 }

-void GD25Q16ETIGR_sector_erase(uint32_t Addr)
+volatile uint32_t MaxRepeat = 0;
+
+uint16_t GD25Q16ETIGR_WaitStatus(void)
 {
-    volatile    uint16_t empty;
+    uint16_t repeat = 0, ErrRepeat = 0x4000;
    uint16_t Stat = 1;

    Stat = GD25Q16ETIGR_ReadStatus();
    while((Stat&0x1) != 0 )
    {
        Stat = GD25Q16ETIGR_ReadStatus();
+        repeat++;
+        if(repeat > ErrRepeat) return 1;
    }
+    if(repeat > MaxRepeat) MaxRepeat = repeat;
+    return 0;
+}
+
+uint16_t GD25Q16ETIGR_sector_erase(uint32_t Addr)
+{
+    volatile    uint16_t empty;
+
+    uint16_t Err = 0;
+    GD25Q16ETIGR_en();
+    Err = GD25Q16ETIGR_WaitStatus();
+    if(Err) return Err;

    GD25Q16ETIGR_en();
+
+//    GD25Q16ETIGR_checkRXFFST();
+
    transmitData(SectorErase);
    transmitData(Addr>>16);
    transmitData(Addr>>8);
@ -100,18 +133,19 @@ void GD25Q16ETIGR_sector_erase(uint32_t Addr)
    empty = SpiRegs.SPIRXBUF;
    empty = SpiRegs.SPIRXBUF;
    empty = SpiRegs.SPIRXBUF;
+    return 0;
 }

-void GD25Q16ETIGR_read_8_bytes(uint32_t Addr, uint16_t * read_data, uint16_t num_byte)//÷òåíèå äî 8 áàéò
+uint16_t GD25Q16ETIGR_read_8_bytes(uint32_t Addr, uint16_t * read_data, uint16_t num_byte)//чтение до 8 байт
 {
    volatile    uint16_t empty, i, j;
-    uint16_t Stat = 1;

-    Stat = GD25Q16ETIGR_ReadStatus();
-    while((Stat&0x1) != 0 )
-    {
-        Stat = GD25Q16ETIGR_ReadStatus();
-    }
+    uint16_t Err = 0;
+
+    Err = GD25Q16ETIGR_WaitStatus();
+    if(Err) return Err;
+
+//    GD25Q16ETIGR_checkRXFFST();

    transmitData(ReadData);
    transmitData(Addr>>16);
@ -130,18 +164,19 @@ void GD25Q16ETIGR_read_8_bytes(uint32_t Addr, uint16_t * read_data, uint16_t num
    {
        read_data[j] = SpiRegs.SPIRXBUF;
    }
+    return 0;
 }

-uint16_t GD25Q16ETIGR_verify_8_bytes(uint32_t Addr, uint16_t * verify_data, uint16_t num_byte)//÷òåíèå è ïðîâåðêà äî 8 áàéò
+uint16_t GD25Q16ETIGR_verify_8_bytes(uint32_t Addr, uint16_t * verify_data, uint16_t num_byte)//чтение и проверка до 8 байт
 {
    volatile    uint16_t empty, i, j;
-    uint16_t Stat = 1;

-    Stat = GD25Q16ETIGR_ReadStatus();
-    while((Stat&0x1) != 0 )
-    {
-        Stat = GD25Q16ETIGR_ReadStatus();
-    }
+    uint16_t Err = 0;
+
+    Err = GD25Q16ETIGR_WaitStatus();
+    if(Err) return Err;
+
+//    GD25Q16ETIGR_checkRXFFST();

    transmitData(ReadData);
    transmitData(Addr>>16);
@ -158,23 +193,33 @@ uint16_t GD25Q16ETIGR_verify_8_bytes(uint32_t Addr, uint16_t * verify_data, uint
    empty = SpiRegs.SPIRXBUF;
    for(j = 0; j<num_byte; j++)
    {
-        if(verify_data[j] != SpiRegs.SPIRXBUF) return 1;
+        if(verify_data[j] != SpiRegs.SPIRXBUF) Err++;
    }
-    return 0;
+
+//    GD25Q16ETIGR_checkRXFFST();
+
+    return Err;
 }

-void GD25Q16ETIGR_write_8_bytes(uint32_t Addr, uint16_t * write_data, uint16_t num_byte)//çàïèñü äî 8 áàéò
+
+
+
+
+
+
+uint16_t GD25Q16ETIGR_write_8_bytes(uint32_t Addr, uint16_t * write_data, uint16_t num_byte)//запись до 8 байт
 {
    volatile    uint16_t empty, i, j;
-    uint16_t Stat = 1;

-    Stat = GD25Q16ETIGR_ReadStatus();
-    while((Stat&0x1) != 0 )
-    {
-        Stat = GD25Q16ETIGR_ReadStatus();
-    }
+    uint16_t Err = 0;
+    GD25Q16ETIGR_en();
+    Err = GD25Q16ETIGR_WaitStatus();
+    if(Err) return Err;

    GD25Q16ETIGR_en();
+
+//    GD25Q16ETIGR_checkRXFFST();
+
    transmitData(PageProgram);
    transmitData(Addr>>16);
    transmitData(Addr>>8);
@ -192,28 +237,83 @@ void GD25Q16ETIGR_write_8_bytes(uint32_t Addr, uint16_t * write_data, uint16_t n
    {
        empty = SpiRegs.SPIRXBUF;
    }
+    return 0;
 }

-void GD25Q16ETIGR_read_data(uint32_t Addr, uint16_t quant8, uint16_t * read_data)
+
+uint32_t ErrAdr[8];// адреса неисправных байтов, которые не удалось записать даже повторно.
+uint32_t CounterOfFixedError = 0;
+uint32_t CounterOfTotalError = 0;
+
+uint16_t GD25Q16ETIGR_write_veryfy_8_bytes(uint32_t Addr, uint16_t * write_data, uint16_t num_byte)//запись и проверка до 8 байт
+{
+    uint16_t addr_write_data[8];
+    uint16_t addr_read_data[8];
+    uint16_t i, Err = 0, DoneOK = 0;
+
+    for(i = 0; i<num_byte; i++)
+    {
+        addr_write_data[i] = write_data[i];
+    }
+
+    Err = GD25Q16ETIGR_write_8_bytes(Addr, addr_write_data, num_byte);
+    if(Err) return Err;
+    Err = GD25Q16ETIGR_read_8_bytes(Addr, addr_read_data, num_byte);
+    if(Err) return Err;
+
+    for(i = 0; i<num_byte; i++)
+    {
+            if(addr_write_data[i] == addr_read_data[i])
+            {
+                DoneOK++;
+            }
+            else
+            {
+                Err = GD25Q16ETIGR_write_8_bytes(Addr+i, addr_write_data+i, 1);
+                if(Err) return Err;
+                Err = GD25Q16ETIGR_read_8_bytes(Addr, addr_read_data, num_byte);
+                if(Err) return Err;
+                if(addr_write_data[i] == addr_read_data[i])
+                {
+                    DoneOK++;
+                    CounterOfFixedError++;
+                }
+                else
+                {
+                    ErrAdr[Err] = Addr+i;
+                    CounterOfTotalError++;
+                }
+            }
+    }
+    return 0;
+}
+
+
+
+uint16_t GD25Q16ETIGR_read_data(uint32_t Addr, uint16_t quant8, uint16_t * read_data)
 {
    uint32_t i=0;
    uint16_t addr_read_data[8];
+    uint16_t Err = 0;

    if(quant8 > 8)
    {
        for(i = 0; i < (quant8-8); i += 8)
-        {//â ýòîì öèêëå òîëüêî ïîëíûå ïîñûëêè ïî 8 áàéò
-            GD25Q16ETIGR_read_8_bytes(Addr+i, addr_read_data, 8);
+        {//в этом цикле только полные посылки по 8 байт
+            Err = GD25Q16ETIGR_read_8_bytes(Addr+i, addr_read_data, 8);
+            if(Err) return Err;
            copy8_to_16(addr_read_data, read_data, 4);
            read_data+=4;
        }
    }
    if(i < quant8)
-    {//òóò ì.á. îò 1 äî 8 áàéò
-        GD25Q16ETIGR_read_8_bytes(Addr+i, addr_read_data, (quant8 - i));
-        if((quant8 - i) & 1) {addr_read_data[quant8] = 0; quant8++; }//åñëè áàéò íå÷¸òíîå ÷èñëî, òî äîïîëíÿåì äî ÷¸òíîãî íóë¸ì
+    {//тут м.б. от 1 до 8 байт
+        Err = GD25Q16ETIGR_read_8_bytes(Addr+i, addr_read_data, (quant8 - i));
+        if(Err) return Err;
+        if((quant8 - i) & 1) {addr_read_data[quant8] = 0; quant8++; }//если байт нечётное число, то дополняем до чётного нулём
        copy8_to_16(addr_read_data, read_data, (quant8 - i)/2);
    }
+    return 0;
 }


@ -226,14 +326,14 @@ uint16_t GD25Q16ETIGR_verify_data(uint32_t Addr, uint16_t quant8, uint16_t * ver
    if(quant8 > 8)
    {
        for(i = 0; i < (quant8-8); i += 8)
-        {//â ýòîì öèêëå òîëüêî ïîëíûå ïîñûëêè ïî 8 áàéò
+        {//в этом цикле только полные посылки по 8 байт
            copy16_to_8(verify_data, addr_vfy_data, 4);
            if(GD25Q16ETIGR_verify_8_bytes(Addr+i, addr_vfy_data, 8)) return 1;
            verify_data+=4;
        }
    }
    if(i < quant8)
-    {//òóò ì.á. îò 1 äî 8 áàéò
+    {//тут м.б. от 1 до 8 байт
        quant16 = quant16bitWords(quant8-i);
        copy16_to_8(verify_data, addr_vfy_data, quant16);
        if(GD25Q16ETIGR_verify_8_bytes(Addr+i, addr_vfy_data, (quant8 - i))) return 1;
@ -241,57 +341,67 @@ uint16_t GD25Q16ETIGR_verify_data(uint32_t Addr, uint16_t quant8, uint16_t * ver
    return 0;
 }

-void GD25Q16ETIGR_write_1_page(uint32_t Addr, uint16_t quant8, uint16_t * write_data) // çàïèñü âíóòðè îäíîé ñòðàíèöû
+uint16_t GD25Q16ETIGR_write_1_page(uint32_t Addr, uint16_t quant8, uint16_t * write_data) // запись внутри одной страницы
 {
    uint32_t i=0;
    uint16_t addr_write_data[8];
    uint16_t quant16;
+    uint16_t Err = 0;

    if(quant8 > 8)
    {
        for(i = 0; i < (quant8-8); i += 8)
-        { //â ýòîì öèêëå òîëüêî ïîëíûå ïîñûëêè ïî 8 áàéò
+        { //в этом цикле только полные посылки по 8 байт
            copy16_to_8(write_data, addr_write_data, 4);
-            GD25Q16ETIGR_write_8_bytes(Addr+i, addr_write_data, 8);
+            if(!writeVerify) Err = GD25Q16ETIGR_write_8_bytes(Addr+i, addr_write_data, 8);
+            else Err = GD25Q16ETIGR_write_veryfy_8_bytes(Addr+i, addr_write_data, 8);
+            if(Err) return Err;
            write_data += 4;
        }
    }
    if(i < quant8)
-    {//òóò ì.á. îò 1 äî 8 áàéò
+    {//тут м.б. от 1 до 8 байт
        quant16 = quant16bitWords(quant8-i);
        copy16_to_8(write_data, addr_write_data, quant16);
-        GD25Q16ETIGR_write_8_bytes(Addr+i, addr_write_data, (quant8 - i));
+        if(!writeVerify) Err = GD25Q16ETIGR_write_8_bytes(Addr+i, addr_write_data, (quant8 - i));
+        else Err = GD25Q16ETIGR_write_veryfy_8_bytes(Addr+i, addr_write_data, (quant8 - i));
+        if(Err) return Err;
    }
+    return 0;
 }

-void GD25Q16ETIGR_write_data(uint32_t Addr_8bit, uint16_t quant_8bit, uint16_t * write_data)
+uint16_t GD25Q16ETIGR_write_data(uint32_t Addr_8bit, uint16_t quant_8bit, uint16_t * write_data)
 {
    uint16_t * addr_write_data = write_data;
    uint16_t page_quant_8bit = 0;
    uint16_t FlashSektorStart = 0;
    uint16_t FlashSektorEnd = 0;
    uint16_t i=0;
+    uint16_t Err = 0;

-    FlashSektorStart = GD25Q16ETIGR_Sektor_Addr(Addr_8bit); //ñåêòîð ñ êîòîðîãî íà÷èíàåòñÿ çàïèñü
-    FlashSektorEnd = GD25Q16ETIGR_Sektor_Addr(Addr_8bit + quant_8bit - 1); //ñåêòîð â êîòîðîì êîíåö çàïèñè
+    FlashSektorStart = (Addr_8bit)>>12; //сектор с которого начинается запись
+    FlashSektorEnd = (Addr_8bit + quant_8bit - 1)>>12; //сектор в котором конец записи

    for(i = FlashSektorStart; i <= FlashSektorEnd; i++)
    {
-        if(!SectorWasErraised[i]) {SectorWasErraised[i] = 1; GD25Q16ETIGR_sector_erase(i*0x1000);}
+        if(!SectorWasErraised[i]) {SectorWasErraised[i] = 1; Err = GD25Q16ETIGR_sector_erase((uint32_t)i*0x1000); if(Err) return Err;}
    }

-    while( (Addr_8bit&0xFF)+(quant_8bit) > GD25Q16E_PAGE)           //åñëè äàííûå âûõîäÿò çà ãðàíèöó òåêóùåé ñòðàíèöû
+    while( (Addr_8bit&0xFF)+(quant_8bit) > GD25Q16E_PAGE)           //если данные выходят за границу текущей страницы
    {
-        page_quant_8bit = GD25Q16E_PAGE - (Addr_8bit&0xFF);       //âû÷èñëÿåì êîë-âî áàéò äàííûõ äî êîíöà òåêóùåé ñòðàíèöû
-        GD25Q16ETIGR_write_1_page(Addr_8bit,  page_quant_8bit/2, addr_write_data); //çàïèñûâàåì ýòè äàííûå íà òåêóùóþ ñòðàíèöó
-        Addr_8bit += page_quant_8bit;                                             //ïåðåëèñòûâàåì ñòðàíèöó âíåøíåé ïàìÿòè
-        addr_write_data += page_quant_8bit/2;                                  //øàãàåì íà ñëåäóþùèå íåçàïèñàííûå äàííûå â áóôåðå (îíè ó íàñ 16-áèòíûìè ñëîâàìè)
-        quant_8bit -= page_quant_8bit;                                            //óìåíüøàåì êîë-âî äàííûõ íà âåëè÷èíó êîòîðóþ óæå çàïèñàëè
+        page_quant_8bit = GD25Q16E_PAGE - (Addr_8bit&0xFF);       //вычисляем кол-во байт данных до конца текущей страницы
+        Err = GD25Q16ETIGR_write_1_page(Addr_8bit,  page_quant_8bit, addr_write_data); //записываем эти данные на текущую страницу
+        if(Err) return Err;
+        Addr_8bit += page_quant_8bit;                                             //перелистываем страницу внешней памяти
+        addr_write_data += page_quant_8bit/2;                                  //шагаем на следующие незаписанные данные в буфере (они у нас 16-битными словами)
+        quant_8bit -= page_quant_8bit;                                            //уменьшаем кол-во данных на величину которую уже записали
    }
    if(quant_8bit > 0)
    {
-        GD25Q16ETIGR_write_1_page(Addr_8bit,  quant_8bit, addr_write_data); //åñëè äàííûå äëÿ çàïèñè îñòàëèñü, òî çàïèñûâàåì èõ
+        Err = GD25Q16ETIGR_write_1_page(Addr_8bit,  quant_8bit, addr_write_data); //если данные для записи остались, то записываем их
+        if(Err) return Err;
    }
+    return 0;
 }


@ -300,6 +410,9 @@ void GD25Q16ETIGR_write_data(uint32_t Addr_8bit, uint16_t quant_8bit, uint16_t *
 uint16_t GD25Q16ETIGR_ReadManufacturerDeviceID(void)
 {
    volatile    uint16_t empty, i, j;
+
+//    GD25Q16ETIGR_checkRXFFST();
+
    transmitData(ReadManufacturerDeviceID);

    for(i = 0; i<5; i++) transmitData(0xFF);
--- a/epwm_test_biss_c_cpu2/src/ExternalEEPROM/GD25Q16ETIGR.h
+++ b/epwm_test_biss_c_cpu2/src/ExternalEEPROM/GD25Q16ETIGR.h
@ -13,8 +13,8 @@

 void GD25Q16ETIGR_en(void);
 void GD25Q16ETIGR_write(void);
-void GD25Q16ETIGR_write_data(uint32_t Addr, uint16_t quant, uint16_t * write_data);
-void GD25Q16ETIGR_read_data(uint32_t Addr, uint16_t quant, uint16_t * read_data);
+uint16_t GD25Q16ETIGR_write_data(uint32_t Addr, uint16_t quant, uint16_t * write_data);
+uint16_t GD25Q16ETIGR_read_data(uint32_t Addr, uint16_t quant, uint16_t * read_data);
 uint16_t GD25Q16ETIGR_verify_data(uint32_t Addr, uint16_t quant, uint16_t * verify_data);
 uint16_t GD25Q16ETIGR_ReadManufacturerDeviceID(void);
 void GD25Q16ETIGR_clean_SectorWasErraised(void);
--- a/epwm_test_biss_c_cpu2/src/ExternalEEPROM/ZD24C02A.c
+++ b/epwm_test_biss_c_cpu2/src/ExternalEEPROM/ZD24C02A.c
@ -1,7 +1,7 @@
 /*
 * ZD24C02A.c
 *
- *  Created on: 8 сент. 2023 г.
+ *  Created on: 8 <EFBFBD><EFBFBD><EFBFBD><EFBFBD>. 2023 <EFBFBD>.
 *      Author: seklyuts
 */
 #include "f28x_project.h"
@ -9,12 +9,12 @@
 #include "ZD24C02A.h"
 #include "Arr.h"

-//Нуждается в проверке и отладке, так как с этой микросхемой не удалось добиться стабильной работы, она то работает, то нет

-volatile uint16_t SlaveAdr = I2C_SLAVE_ADDRESS;
+
+volatile uint16_t SlaveAdr = I2C_SLAVE_ADDRESS1;
 uint16_t BufferZD24C02A[17];

-uint16_t ZD24C02A_write_8(uint16_t Addr, uint16_t * Array, uint16_t quant)// может писать очередями по 16 байт
+uint16_t ZD24C02A_write_8(uint16_t Addr, uint16_t * Array, uint16_t quant)// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> 16 <20><><EFBFBD><EFBFBD>
 {
    if(I2CWrite(SlaveAdr, Addr, quant, true, Array)) return 1;
    else return 0;
@ -41,24 +41,33 @@ uint16_t ZD24C02A_verify_8(uint16_t Addr, uint16_t * Array, uint16_t quant)
 uint16_t ZD24C02A_write(uint32_t Addr, uint16_t quant8, uint16_t * write_data)
 {
    uint32_t i=0;
-    uint16_t addr_write_data[8];
+    uint16_t addr_write_data[0x100];
    uint16_t quant16;

-    if(quant8 > 8)
+    quant16 = quant16bitWords(quant8);
+    copy16_to_8(write_data, addr_write_data, quant16);
+
+    for(i = 0; i < quant8; i += 1)
+    {
+        if( ZD24C02A_write_8(Addr+i, addr_write_data+i, 1)) return 1;
+    }
+
+/*    if(quant8 > 8)
    {
        for(i = 0; i < (quant8-8); i += 8)
-        {//в этом цикле только полные посылки по 8 байт
+        {//<EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> 8 <20><><EFBFBD><EFBFBD>
            copy16_to_8(write_data, addr_write_data, 4);
            if( ZD24C02A_write_8(Addr+i, addr_write_data, 8)) return 1;
            write_data += 4;
        }
    }
    if(i < quant8)
-    {//тут м.б. от 1 до 8 байт
+    {//<EFBFBD><EFBFBD><EFBFBD> <20>.<2E>. <20><> 1 <20><> 8 <20><><EFBFBD><EFBFBD>
        quant16 = quant16bitWords(quant8-i);
        copy16_to_8(write_data, addr_write_data, quant16);
        if( ZD24C02A_write_8(Addr+i, addr_write_data, (quant8 - i))) return 1;
    }
+    */
    return 0;
 }

@ -70,16 +79,16 @@ uint16_t ZD24C02A_read(uint32_t Addr, uint16_t quant8, uint16_t * read_data)
    if(quant8 > 8)
    {
        for(i = 0; i < (quant8-8); i += 8)
-        {//в этом цикле только полные посылки по 8 байт
+        {//<EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> 8 <20><><EFBFBD><EFBFBD>
            if( ZD24C02A_read_8(Addr+i, addr_read_data, 8)) return 1;
            copy8_to_16(addr_read_data, read_data, 4);
            read_data+=4;
        }
    }
    if(i < quant8)
-    {//тут м.б. от 1 до 8 байт
+    {//<EFBFBD><EFBFBD><EFBFBD> <20>.<2E>. <20><> 1 <20><> 8 <20><><EFBFBD><EFBFBD>
        if( ZD24C02A_read_8(Addr+i, addr_read_data, (quant8 - i))) return 1;
-        if((quant8 - i) & 1) {addr_read_data[quant8] = 0; quant8++; }//если байт нечётное число, то дополняем до чётного нулём
+        if((quant8 - i) & 1) {addr_read_data[quant8] = 0; quant8++; }//<EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>, <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
        copy8_to_16(addr_read_data, read_data, (quant8 - i)/2);
    }
    return 0;
@ -95,7 +104,7 @@ uint16_t ZD24C02A_verify(uint32_t Addr, uint16_t quant8, uint16_t * verify_data)
    if(quant8 > 8)
    {
        for(i = 0; i < (quant8-8); i += 8)
-        {//в этом цикле только полные посылки по 8 байт
+        {//<EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> 8 <20><><EFBFBD><EFBFBD>
            copy16_to_8(verify_data, addr_vfy_data, 4);
            Err_read = ZD24C02A_verify_8(Addr+i, addr_vfy_data, 8);
            if(Err_read) return Err_read;
@ -103,22 +112,17 @@ uint16_t ZD24C02A_verify(uint32_t Addr, uint16_t quant8, uint16_t * verify_data)
        }
    }
    if(i < quant8)
-    {//тут м.б. от 1 до 8 байт
+    {//<EFBFBD><EFBFBD><EFBFBD> <20>.<2E>. <20><> 1 <20><> 8 <20><><EFBFBD><EFBFBD>
        quant16 = quant16bitWords(quant8-i);
        copy16_to_8(verify_data, addr_vfy_data, quant16);
        Err_read = ZD24C02A_verify_8(Addr+i, addr_vfy_data, (quant8 - i));
        if(Err_read) return Err_read;
    }
-    return 0;
+    return 0;// 0 - DONE_SUCCESS ;  1 - FLASH_ERR;  2 - ERROR_VERIFY
 }



-
-
-
-
-
 void ZD24C02A_read_all(uint16_t byteCount, uint16_t * Array)
 {
    I2CRead(SlaveAdr, byteCount, true, Array);
--- a/epwm_test_biss_c_cpu2/src/ExternalEEPROM/ZD24C02A.h
+++ b/epwm_test_biss_c_cpu2/src/ExternalEEPROM/ZD24C02A.h
@ -1,14 +1,16 @@
 /*
 * ZD24C02A.h
 *
- *  Created on: 8 ñåíò. 2023 ã.
+ *  Created on: 8 <EFBFBD><EFBFBD><EFBFBD><EFBFBD>. 2023 <EFBFBD>.
 *      Author: seklyuts
 */

 #ifndef SRC_ZD24C02A_H_
 #define SRC_ZD24C02A_H_

-#define I2C_SLAVE_ADDRESS 0x51U
+#define I2C_SLAVE_ADDRESS0 0x51U
+#define I2C_SLAVE_ADDRESS1 0x50U
+
 #define I2C_OWN_ADDRESS 0x30U

 #define ZD24C02A_SIZE 0x80
--- a/epwm_test_biss_c_cpu2/src/Peripherals/CLAinit.c
+++ b/epwm_test_biss_c_cpu2/src/Peripherals/CLAinit.c
@ -8,165 +8,58 @@
 #ifndef CLAINIT_C_
 #define CLAINIT_C_

-#include "f2838x_device.h"
-#include "cla_shared.h"
-#include "f2838x_examples.h"
-#include "config.h"
-#include "f28x_project.h"
+#include "CLAinit.h"

-
-//
-// Defines
-//
-#define WAITSTEP     asm(" RPT #255 || NOP")
-
-//
-// Globals
-//
-
-//
-//Task 1 (C) Variables
-// NOTE: Do not initialize the Message RAM variables globally, they will be
-// reset during the message ram initialization phase in the CLA memory
-// configuration routine
-//
-#ifdef __cplusplus
-#pragma DATA_SECTION("CpuToCla1MsgRAM");
-float fVal;
-#pragma DATA_SECTION("Cla1ToCpuMsgRAM");
-float fResult;
-#else
-#pragma DATA_SECTION(fVal,"CpuToCla1MsgRAM");
-float fVal;
-#pragma DATA_SECTION(fResult,"Cla1ToCpuMsgRAM");
-float fResult;
-#endif //__cplusplus
-float y[BUFFER_SIZE];
-
-//
-//Task 2 (C) Variables
-//
-
-//
-//Task 3 (C) Variables
-//
-
-//
-//Task 4 (C) Variables
-//
-
-//
-//Task 5 (C) Variables
-//
-
-//
-//Task 6 (C) Variables
-//
-
-//
-//Task 7 (C) Variables
-//
-
-//
-//Task 8 (C) Variables
-//
-
-//
 //Common (C) Variables
 //The Exponential table
-//
-#ifdef __cplusplus
-#pragma DATA_SECTION("CLADataLS0")
-#else
-#pragma DATA_SECTION(CLAasinTable,"CLADataLS0")
-#endif //__cplusplus
-float CLAasinTable[]={
-    0.0, 1.0, 0.0,
-    0.000000636202, 0.999877862610, 0.007815361896,
-    0.000005099694, 0.999510644409, 0.015647916155,
-    0.000017268312, 0.998895919094, 0.023514960332,
-    0.000041121765, 0.998029615282, 0.031434003631,
-    0.000080794520, 0.996905974725, 0.039422875916,
-    0.000140631089, 0.995517492804, 0.047499840611,
-    0.000225244584, 0.993854840311, 0.055683712914,
-    0.000339579512, 0.991906765146, 0.063993984848,
-    0.000488979852, 0.989659972212, 0.072450958820,
-    0.000679263611, 0.987098979366, 0.081075891529,
-    0.000916805182, 0.984205946802, 0.089891150305,
-    0.001208627040, 0.980960476685, 0.098920384204,
-    0.001562502549, 0.977339379243, 0.108188712551,
-    0.001987071928, 0.973316400729, 0.117722933997,
-    0.002491973784, 0.968861907789, 0.127551759665,
-    0.003087995053, 0.963942521723, 0.137706074532,
-    0.003787242692, 0.958520694794, 0.148219231941,
-    0.004603341138, 0.952554219267, 0.159127386977,
-    0.005551660294, 0.945995657913, 0.170469875522,
-    0.006649579796, 0.938791682505, 0.182289647088,
-    0.007916796475, 0.930882303984, 0.194633761132,
-    0.009375683410, 0.922199974574, 0.207553958472,
-    0.011051710808, 0.912668537890, 0.221107321885,
-    0.012973941175, 0.902201997769, 0.235357042896,
-    0.015175614174, 0.890703070035, 0.250373315541,
-    0.017694840102, 0.878061473098, 0.266234382514,
-    0.020575425537, 0.864151902887, 0.283027765009,
-    0.023867860513, 0.848831624374, 0.300851714968,
-    0.027630504055, 0.831937595031, 0.319816937941,
-    0.031931014547, 0.813283013821, 0.340048646894,
-    0.036848083955, 0.792653161200, 0.361689022958,
-    0.042473551274, 0.769800358920, 0.384900179460,
-    0.048914992206, 0.744437830278, 0.409867752228,
-    0.056298910750, 0.716232177740, 0.436805274317,
-    0.064774696786, 0.684794109766, 0.465959540059,
-    0.074519565699, 0.649666934178, 0.497617226179,
-    0.085744766889, 0.610312179660, 0.532113122767,
-    0.098703445606, 0.566091493186, 0.569840443472,
-    0.113700678529, 0.516243664372, 0.611263845480,
-    0.131106395009, 0.459855210927, 0.656936015611,
-    0.151372169232, 0.395822366759, 0.707518998893,
-    0.175053263659, 0.322801460177, 0.763811905770,
-    0.202837883870, 0.239143420888, 0.826787304376,
-    0.235586468765, 0.142806299514, 0.897639596948,
-    0.274385149825, 0.031236880585, 0.977850174820,
-    0.320619535938, -0.098791845166, 1.069276441800,
-    0.376078169620, -0.251407364538, 1.174275392129,
-    0.443100143614, -0.431959397725, 1.295878193174,
-    0.524789871827, -0.647485610469, 1.438041695773,
-    0.625336471263, -0.907400624736, 1.606018804842,
-    0.750500589935, -1.224540947101, 1.806917563896,
-    0.908377657341, -1.616794995066, 2.050569262035,
-    1.110633894185, -2.109729648039, 2.350920816737,
-    1.374584721437, -2.740985157716, 2.728353889708,
-    1.726848242753, -3.567962877198, 3.213722960014,
-    2.210117561056, -4.682006534082, 3.855770086891,
-    2.896554011854, -6.236312386687, 4.735651038017,
-    3.916505715382, -8.505488022524, 5.997790945975,
-    5.526855868703, -12.026617159136, 7.922628470498,
-    8.298197116322, -17.983705080358, 11.123941286820,
-    13.741706072449, -29.488929624542, 17.203344479111,
-    27.202707817485, -57.466598393615, 31.741016484669,
-    83.158101335898, -171.803399517566, 90.149831709374
-};
+// MAX_SIZE=50
+// Ïåðåìåííûå, êîòîðûå áóäóò ïåðåäàíû îò CPU ê CLA
+#pragma DATA_SECTION(CurrentA, "CpuToCla1MsgRAM");
+  float CurrentA;           // Òîê â ôàçå A
+#pragma DATA_SECTION(CurrentB, "CpuToCla1MsgRAM");
+  float CurrentB;           // Òîê â ôàçå B
+#pragma DATA_SECTION(CurrentC, "CpuToCla1MsgRAM");
+  float CurrentC;           // Òîê â ôàçå C
+#pragma DATA_SECTION(currentCoefK, "CpuToCla1MsgRAM");
+  float currentCoefK;    // Êîýôôèöèåíò ïðåîáðàçîâàíèÿ
+#pragma DATA_SECTION(currentCoefB, "CpuToCla1MsgRAM");
+  float currentCoefB;           // Êîýôôèöèåíò ñäâèãà
+#pragma DATA_SECTION(dataList, "Cla1ToCpuMsgRAM");
+  float dataList[MAX_SIZE];           // Êîýôôèöèåíò ñäâèãà
+#pragma DATA_SECTION(dataSize, "Cla1ToCpuMsgRAM");
+  int dataSize;           // Êîýôôèöèåíò ñäâèãà

-float asin_expected[BUFFER_SIZE]={
-    1.570796, 1.393789, 1.320141, 1.263401, 1.215375,
-    1.172892, 1.134327, 1.098718, 1.065436, 1.034046,
-    1.004232, 0.9757544, 0.9484279, 0.9221048, 0.8966658,
-    0.8720123, 0.8480621, 0.8247454, 0.8020028, 0.7797828,
-    0.7580408, 0.7367374, 0.7158381, 0.6953120, 0.6751316,
-    0.6552721, 0.6357113, 0.6164289, 0.5974064, 0.5786270,
-    0.5600753, 0.5417370, 0.5235988, 0.5056486, 0.4878751,
-    0.4702678, 0.4528166, 0.4355124, 0.4183464, 0.4013104,
-    0.3843968, 0.3675981, 0.3509074, 0.3343180, 0.3178237,
-    0.3014185, 0.2850964, 0.2688521, 0.2526802, 0.2365756,
-    0.2205333, 0.2045484, 0.1886164, 0.1727327, 0.1568929,
-    0.1410927, 0.1253278, 0.1095943, 0.09388787, 0.07820469,
-    0.06254076, 0.04689218, 0.03125509, 0.01562564
-};
+
+
+  //extern static SimpleList list;
+
+// Ïåðåìåííûå, êîòîðûå áóäóò ïåðåäàíû îò CLA ê CPU
+#pragma DATA_SECTION(currentIa, "Cla1ToCpuMsgRAM");
+ volatile float currentIa;               // Òîê â ôàçå A
+#pragma DATA_SECTION(currentIb, "Cla1ToCpuMsgRAM");
+ volatile float currentIb;               // Òîê â ôàçå B
+#pragma DATA_SECTION(currentIc, "Cla1ToCpuMsgRAM");
+ volatile float currentIc;               // Òîê â ôàçå C
+#pragma DATA_SECTION(currentAlpha, "Cla1ToCpuMsgRAM");
+ volatile float currentAlpha;     // Òîê â îñè àëüôà
+#pragma DATA_SECTION(currentBeta, "Cla1ToCpuMsgRAM");
+ volatile float currentBeta;      // Òîê â îñè áåòà
+#pragma DATA_SECTION(currentOffset, "Cla1ToCpuMsgRAM");
+ volatile float currentOffset;     // Ñìåùåíèå íóëÿ òîêà
+#pragma DATA_SECTION(currentRms, "Cla1ToCpuMsgRAM");
+ volatile float currentRms;       // Ñðåäíåêâàäðàòè÷íîå çíà÷åíèå òîêà
+#pragma DATA_SECTION(currentLength, "Cla1ToCpuMsgRAM");
+ volatile float currentLength;     // Àìïëèòóäíîå çíà÷åíèå òîêà
+#pragma DATA_SECTION(currentSqrlen, "Cla1ToCpuMsgRAM");
+ volatile float currentSqrlen;    // Êâàäðàò àìïëèòóäíîãî çíà÷åíèÿ òîêà

 uint16_t pass=0;
 uint16_t fail=0;

-
+void CLA_Init(){
+    CLA_configClaMemory();
+    CLA_initCpu1Cla1();
+}

 //
 // CLA_runTest - Execute CLA task tests for specified vectors
@ -174,25 +67,20 @@ uint16_t fail=0;
 void CLA_runTest(void)
 {
    int16_t i;
-    float error;
+       float error;
+       int pass = 0, fail = 0;

-    for(i=0; i < BUFFER_SIZE; i++)
-    {
-        fVal= (float)(BUFFER_SIZE - i)/(float)BUFFER_SIZE;
-        Cla1ForceTask1andWait();
+       for (i = 0; i < BUFFER_SIZE; i++) {
+           // Ïåðåäàåì âõîäíûå çíà÷åíèÿ îò CPU ê CLA
+           CurrentA =1;
+           CurrentB = 1;
+           CurrentC = 1;
+           currentCoefK = 0.1f;
+           currentCoefB=0;
+           Cla1ForceTask1andWait();

-        y[i] = fResult;
-        error = fabsf(asin_expected[i]-y[i]);
-        int ii=GpioDataRegs.GPADAT.bit.GPIO31;
-        if(error < 0.1f)
-        {
-            pass++;
-        }
-        else
-        {
-            fail++;
-        }
-    }
+
+       }

    //
    // CLA tasks 2-8 are not used in this example
@ -254,19 +142,19 @@ void CLA_configClaMemory(void)
    // First configure the CLA to be the master for LS5 and then
    // set the space to be a program block
    //
-    MemCfgRegs.LSxMSEL.bit.MSEL_LS5 = 1;
-    MemCfgRegs.LSxCLAPGM.bit.CLAPGM_LS5 = 1;
+    MemCfgRegs.LSxMSEL.bit.MSEL_LS7 = 1;
+    MemCfgRegs.LSxCLAPGM.bit.CLAPGM_LS7 = 1;

    //
    // Next configure LS0RAM and LS1RAM as data spaces for the CLA
    // First configure the CLA to be the master for LS0(1) and then
    // set the spaces to be code blocks
    //
-    MemCfgRegs.LSxMSEL.bit.MSEL_LS6 = 1;
-    MemCfgRegs.LSxCLAPGM.bit.CLAPGM_LS6 = 0;
+    MemCfgRegs.LSxMSEL.bit.MSEL_LS0 = 1;
+    MemCfgRegs.LSxCLAPGM.bit.CLAPGM_LS0 = 0;

-    MemCfgRegs.LSxMSEL.bit.MSEL_LS7 = 1;
-    MemCfgRegs.LSxCLAPGM.bit.CLAPGM_LS7 = 0;
+    MemCfgRegs.LSxMSEL.bit.MSEL_LS1 = 1;
+    MemCfgRegs.LSxCLAPGM.bit.CLAPGM_LS1 = 0;

    EDIS;
 }
@ -283,7 +171,7 @@ __interrupt void cla1Isr1 ()
    //
    // Uncomment to halt debugger and stop here
    //
-    asm(" ESTOP0");
+  //  asm(" ESTOP0");
 }

 //
@ -394,6 +282,10 @@ void CLA_initCpu1Cla1(void)
    PieVectTable.CLA1_7_INT = &cla1Isr7;
    PieVectTable.CLA1_8_INT = &cla1Isr8;

+
+
+    /// Enable CLA Task1 to SDFM1 Iterput
+    DmaClaSrcSelRegs.CLA1TASKSRCSEL1.bit.TASK1 = 95U;
    //
    // Enable CLA interrupts at the group and subgroup levels
    //
--- a/epwm_test_biss_c_cpu2/src/Peripherals/CLAinit.h
+++ b/epwm_test_biss_c_cpu2/src/Peripherals/CLAinit.h
@ -8,6 +8,35 @@
 #ifndef SRC_PERIPHERALS_CLAINIT_H_
 #define SRC_PERIPHERALS_CLAINIT_H_

+#include "f2838x_device.h"
+#include "cla_shared.h"
+#include "f2838x_examples.h"
+#include "f28x_project.h"
+
+
+//
+// Defines
+//
+#define WAITSTEP     asm(" RPT #255 || NOP")
+#define MAX_SIZE 50 // Ìàêñèìàëüíûé ðàçìåð ñïèñêà
+//
+// Globals
+//
+// Function prototypes
+void CLA_Init();
+void CLA_runTest(void);
+void CLA_configClaMemory(void);
+void CLA_initCpu1Cla1(void);
+
+// CLA1 ISR prototypes
+__interrupt void cla1Isr1();
+__interrupt void cla1Isr2();
+__interrupt void cla1Isr3();
+__interrupt void cla1Isr4();
+__interrupt void cla1Isr5();
+__interrupt void cla1Isr6();
+__interrupt void cla1Isr7();
+__interrupt void cla1Isr8();


 #endif /* SRC_PERIPHERALS_CLAINIT_H_ */
--- a/epwm_test_biss_c_cpu2/src/Peripherals/cla.cla
+++ b/epwm_test_biss_c_cpu2/src/Peripherals/cla.cla
@ -1,43 +1,10 @@
 //#############################################################################
 // \file cla_ex1_asin_cla.cla
 //
-// \brief  Arc Sine Example
+// \brief  SDFM Example
 //
 //#############################################################################
-//
-//
-// $Copyright:
-// Copyright (C) 2022 Texas Instruments Incorporated - http://www.ti.com
-//
-// Redistribution and use in source and binary forms, with or without 
-// modification, are permitted provided that the following conditions 
-// are met:
-// 
-//   Redistributions of source code must retain the above copyright 
-//   notice, this list of conditions and the following disclaimer.
-// 
-//   Redistributions in binary form must reproduce the above copyright
-//   notice, this list of conditions and the following disclaimer in the 
-//   documentation and/or other materials provided with the   
-//   distribution.
-// 
-//   Neither the name of Texas Instruments Incorporated nor the names of
-//   its contributors may be used to endorse or promote products derived
-//   from this software without specific prior written permission.
-// 
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
-// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
-// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
-// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
-// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
-// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
-// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
-// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-// $
-//#############################################################################
+

 //
 // Included Files
@ -45,6 +12,7 @@
 #include "cla_shared.h"
 #include "f28x_project.h"
 #include "config.h"
+
 //
 // Defines
 //
@ -52,77 +20,121 @@
 //
 // Globals
 //
-// Note that the globals defined in the .cla source are global to the cla source
-// file.  i.e. they may be shared across tasks. All of the data shared between
-// the CLA and the C28x CPU must be defined in the C (or C++) code, and not the
-// CLA code.  
-//

-//
-// Function Definitions
-//
-//Task 1 : Calculate asin(X)
-// Description:
-//             Step(1): Calculate absolute of the input X
-//
-//             Step(2):   Use the upper 6-bits of input "X" value as an
-//                          index into the table to obtain the coefficients
-//                          for a second order equation:
-//
-//                        _FPUasinTable:
-//                             CoeffA0[0]
-//                             CoeffA1[0]
-//                             CoeffA2[0]
-//                                .
-//                                .
-//                             CoeffA0[63]
-//                             CoeffA1[63]
-//                             CoeffA2[63]
-//
-//             Step(3):   Calculate the angle using the following equation:
-//
-//                        arctan(Ratio) = A0 + A1*Ratio + A2*Ratio*Ratio
-//                        arctan(Ratio) = A0 + Ratio(A1 + A2*Ratio)
-//
-//             Step(4):   The final angle is determined as follows:
-//
-//                        if( X < 0 )
-//                            Angle = -Angle
+
+#define MAX_SIZE 50 // Ěŕęńčěŕëüíűé đŕçěĺđ ńďčńęŕ
+#define SDFM_VOLTAGE_MAX    320.0           //mV
+#define R_BRAKE             220.0           //mOM
+#define R_DRW               4.0             //mOM
+#define R_VDC               806.0           //Om
+#define R_DEL_VDC           2000000.0       //Om
+
+#define BIT_MAX             32768//4096
+#define     IMAX_A          25.0 //A
+#define     IMAX            (IMAX_A*BIT_MAX/FACTOR_CURRENT_MOTOR_A)
+
+#define FACTOR_VDC         (SDFM_VOLTAGE_MAX/R_VDC*(R_DEL_VDC+R_VDC)/1000)
+
+#define FACTOR_CURRENT_BRAKE_A (SDFM_VOLTAGE_MAX/R_BRAKE)         //A
+#define FACTOR_CURRENT_MOTOR_A   (SDFM_VOLTAGE_MAX/R_DRW)            //A
+
+#define FACTOR_CURRENT_BRAKE (FACTOR_CURRENT_BRAKE_A/BIT_MAX)
+#define FACTOR_CURRENT_MOTOR   (FACTOR_CURRENT_MOTOR_A/BIT_MAX)
+
+
+
+float mySqrt(float number) {
+    if (number < 0) {
+        // Âîçâđŕůŕĺě NaN äë˙ îňđčöŕňĺëüíűő ÷čńĺë
+        return -1.0f; // Čëč ěîćíî čńďîëüçîâŕňü ńďĺöčŕëüíîĺ çíŕ÷ĺíčĺ äë˙ îáîçíŕ÷ĺíč˙ îřčáęč
+    }
+
+    if (number == 0) {
+        return 0; // Ęîđĺíü čç íóë˙
+    }
+
+    float guess = number / 2.0f; // Íŕ÷ŕëüíîĺ ďđĺäďîëîćĺíčĺ
+    float epsilon = 0.00001f; // Ňî÷íîńňü
+
+    while (fabs(guess * guess - number) >= epsilon) {
+        guess = (guess + number / guess) / 2.0f; // Îáíîâë˙ĺě ďđĺäďîëîćĺíčĺ
+    }
+
+    return guess;
+}
+
+// Ôóíęöč˙ äë˙ äîáŕâëĺíč˙ çíŕ÷ĺíč˙ â ńďčńîę
+void addToList(float value) {
+    int i;
+    if (dataSize < MAX_SIZE) {
+        dataList[dataSize++] = value;
+    } else {
+        for ( i = 1; i < MAX_SIZE; ++i) {
+            dataList[i - 1] = dataList[i];
+        }
+        dataList[MAX_SIZE - 1] = value;
+    }
+}
+
+// Ôóíęöč˙ äë˙ ďîëó÷ĺíč˙ ńóěěű âńĺő çíŕ÷ĺíčé
+float sumList() {
+    int i;
+    float total = 0.0f;
+    for ( i = 0; i < dataSize; ++i) {
+        total += dataList[i];
+    }
+    return total;
+}
+
+// Ôóíęöč˙ äë˙ ďîëó÷ĺíč˙ ňĺęóůĺăî đŕçěĺđŕ ńďčńęŕ
+int getListSize() {
+    return dataSize;
+}
+
+// Ôóíęöč˙ äë˙ ďđĺîáđŕçîâŕíč˙ ęîäŕ â ňîę
+void convertCurrentToAmps(float currentCode, float offset, float factor, float* current) {
+    *current = (currentCode * factor) + offset; // Čńďîëüçóĺě óęŕçŕňĺëü äë˙ čçěĺíĺíč˙ çíŕ÷ĺíč˙
+}
+
+// Ôóíęöč˙ äë˙ ďîäń÷ĺňŕ îńíîâíűő ďŕđŕěĺňđîâ
+void calculateMainParameters(float currentA, float currentB, float currentC,
+                             float* currentAlpha, float* currentBeta, float* currentOffset) {
+    *currentAlpha = currentA;
+    *currentBeta = (currentA + 2 * currentB) * 0.577350269f;
+    *currentOffset = currentA + currentB + currentC;
+}
+
+// Ôóíęöč˙ äë˙ ďîäń÷ĺňŕ ńňŕňčńňč÷ĺńęčő ďŕđŕěĺňđîâ
+void calculateStatisticalParameters(float a, float b,
+                                    float* currentRms, float* currentLength, float* currentSqrlen) {
+    *currentSqrlen = (a * a + b * b);
+    addToList(*currentSqrlen);
+    addToList( *currentSqrlen); // Äîáŕâë˙ĺě çíŕ÷ĺíčĺ â ńďčńîę
+    *currentRms = mySqrt(sumList() / getListSize());
+    *currentLength = mySqrt(a * a + b * b); // Čńďîëüçóĺě a č b äë˙ âű÷čńëĺíč˙ äëčíű
+
+}
 __interrupt void Cla1Task1 ( void )
 {
-    //
-    //Local Variables
-    //
-    int xTblIdx; //integer valued Table index
-    float A0,A1,A2; //Table coefficients
-    float *entry;
-    float result;
-
-    //
-    //Preprocessing
-    //
-    __mdebugstop();
-    xTblIdx = fVal * TABLE_SIZE_M_1; //convert table index to u16-bits
-    xTblIdx = xTblIdx * 3; //Table is ordered as 3 32-bit coefficients, the
-                           //index points to these triplets, hence the *3*sizeof(float)
-    entry = &CLAasinTable[xTblIdx];
-    A0 = *entry++;
-    A1 = *entry++;
-    A2 = *entry;
+    // Äë˙ đŕáîňű ôóíęöčč íóćíî ďĺđĺäŕňü âíĺříčĺ äŕíííűĺ â CLA


-    result = A0 + fVal*(A1 + A2*fVal);
+    // Ďđĺîáđŕçîâŕíčĺ ňîęîâ
+    convertCurrentToAmps(CurrentA, currentCoefB, currentCoefK, &currentIa);
+    convertCurrentToAmps(CurrentB, currentCoefB, currentCoefK, &currentIb);
+    convertCurrentToAmps(CurrentC, currentCoefB, currentCoefK, &currentIc);

-    //
-    //Post processing
-    //
-    if(fVal < 0)
-    {
-        result = - result;
-    }
-    int ii=GpioDataRegs.GPADAT.bit.GPIO31;
+    // Ďîäń÷ĺň îńíîâíűő ďŕđŕěĺňđîâ
+   calculateMainParameters(currentIa, currentIb, currentIc, &currentAlpha, &currentBeta, &currentOffset);

-    fResult = ii;
+    // Ďîäń÷ĺň ńňŕňčńňč÷ĺńęčő ďŕđŕěĺňđîâ
+    calculateStatisticalParameters(currentAlpha, currentBeta, &currentRms, &currentLength, &currentSqrlen);
+
+    // Äîáŕâëĺíčĺ äŕííűő â ńďčńîę
+    addToList(currentLength * currentLength);
+    currentIa=55;
+    currentIb=66;
+    currentIc=77;
 }

 interrupt void Cla1Task2 ( void )
--- a/epwm_test_biss_c_cpu2/src/Peripherals/cla_shared.h
+++ b/epwm_test_biss_c_cpu2/src/Peripherals/cla_shared.h
@ -6,42 +6,6 @@
 //
 // TITLE:  CLA arcsine example header file.
 //
-//#############################################################################
-//
-//
-// $Copyright:
-// Copyright (C) 2022 Texas Instruments Incorporated - http://www.ti.com
-//
-// Redistribution and use in source and binary forms, with or without 
-// modification, are permitted provided that the following conditions 
-// are met:
-// 
-//   Redistributions of source code must retain the above copyright 
-//   notice, this list of conditions and the following disclaimer.
-// 
-//   Redistributions in binary form must reproduce the above copyright
-//   notice, this list of conditions and the following disclaimer in the 
-//   documentation and/or other materials provided with the   
-//   distribution.
-// 
-//   Neither the name of Texas Instruments Incorporated nor the names of
-//   its contributors may be used to endorse or promote products derived
-//   from this software without specific prior written permission.
-// 
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
-// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
-// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
-// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
-// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
-// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
-// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
-// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-// $
-//#############################################################################
-
 //
 // Included Files
 //
@ -62,16 +26,33 @@ extern "C" {
 #define PI                3.141592653589
 #define INV2PI            0.159154943

+
+
 //
 // Globals
 //
-
 //
 //Task 1 (C) Variables
 //
-extern float y[];            //Result vector
-extern float fVal;           //Holds the input argument to the task
-extern float fResult;        //The arsine of the input argument
+#define MAX_SIZE 50
+extern float dataList[MAX_SIZE];
+extern float CurrentA;
+extern float CurrentB;
+extern float CurrentC;
+extern float currentCoefK;
+extern float currentCoefB;
+extern int dataSize;
+// Îïðåäåëåíèå âíåøíèõ ïåðåìåííûõ îò CLA
+extern volatile float currentIa;               // Òîê â ôàçå A
+extern volatile float currentIb;               // Òîê â ôàçå B
+extern volatile float currentIc;               // Òîê â ôàçå C
+
+extern volatile float currentAlpha;     // Òîê â îñè àëüôà
+extern volatile float currentBeta;      // Òîê â îñè áåòà
+extern volatile float currentOffset;     // Ñìåùåíèå íóëÿ òîêà
+extern volatile float currentRms;       // Ñðåäíåêâàäðàòè÷íîå çíà÷åíèå òîêà
+extern volatile float currentLength;     // Àìïëèòóäíîå çíà÷åíèå òîêà
+ extern volatile float currentSqrlen;    // Êâàäðàò àìïëèòóäíîãî çíà÷åíèÿ òîêà

 //
 //Task 2 (C) Variables
--- a/epwm_test_biss_c_cpu2/src/Peripherals/pwm_init.c
+++ b/epwm_test_biss_c_cpu2/src/Peripherals/pwm_init.c
@ -31,27 +31,28 @@ volatile uint16_t TimerBase = PERIOD_TIMER_BASE;



+
 void PWM_ABC_StopAllClose(void)
 {
    EALLOW;
-    EPwmRegs[PWM_A]->TZCTL.bit.TZA = 2;
-    EPwmRegs[PWM_A]->TZCTL.bit.TZB = 2;
-    EPwmRegs[PWM_B]->TZCTL.bit.TZA = 2;
-    EPwmRegs[PWM_B]->TZCTL.bit.TZB = 2;
-    EPwmRegs[PWM_C]->TZCTL.bit.TZA = 2;
-    EPwmRegs[PWM_C]->TZCTL.bit.TZB = 2;
+    EPwmRegs[PWM_A]->TZFRC.all = 4;
+    EPwmRegs[PWM_B]->TZFRC.all = 4;
+    EPwmRegs[PWM_C]->TZFRC.all = 4;
+//    EPwmRegs[PWM_A]->TZCTL.bit.TZA = 2;
+//    EPwmRegs[PWM_A]->TZCTL.bit.TZB = 2;
+//    EPwmRegs[PWM_B]->TZCTL.bit.TZA = 2;
+//    EPwmRegs[PWM_B]->TZCTL.bit.TZB = 2;
+//    EPwmRegs[PWM_C]->TZCTL.bit.TZA = 2;
+//    EPwmRegs[PWM_C]->TZCTL.bit.TZB = 2;
    EDIS;
 }

 void PWM_ABC_StartOut(void)
 {
    EALLOW;
-    EPwmRegs[PWM_A]->TZCTL.bit.TZA = 3;
-    EPwmRegs[PWM_A]->TZCTL.bit.TZB = 3;
-    EPwmRegs[PWM_B]->TZCTL.bit.TZA = 3;
-    EPwmRegs[PWM_B]->TZCTL.bit.TZB = 3;
-    EPwmRegs[PWM_C]->TZCTL.bit.TZA = 3;
-    EPwmRegs[PWM_C]->TZCTL.bit.TZB = 3;
+    EPwmRegs[PWM_A]->TZCLR.all = 0x4;//
+    EPwmRegs[PWM_B]->TZCLR.all = 0x4;//
+    EPwmRegs[PWM_C]->TZCLR.all = 0x4;//
    EDIS;
 }

@ -80,6 +81,81 @@ void PWM_ABC_Start(uint16_t Num)
    EDIS;
 }

+/*
+ * Нужно сформировать с соответствующих каналов SDFM (трёх каналов, на которых происходит измерение токов)
+ * модулей сигналы CEVT1  и/или CEVT2, выбрав значения CEVT1SEL и CEVT2SEL и настроив границы
+ * SDFLTxCMPH1.bit.HLT и SDFLTxCMPL1.bit.LLT (или SDFLTxCMPH2.bit.HLT и SDFLTxCMPL2.bit.LLT).
+ *
+ * На CPU1 при помощи EPwmXbarRegs (см. стр. 2145 TRM) подключить эти выходы на входы
+ * TRIPn (можно черех MUX завести сразу несколько сигналов SDxFLTy.CEVT1_OR_CEVT2 на один TRIPn,
+ * где n = 4..12, x = 1..2, y = 1..4)
+ *
+ * На блоке PWM подключить TRIPn к блоку "Digital Compare Signals" (стр 2917 TRM)
+ * через регистры DCTRIPSEL соответствующих PWM-модулей (трёх модулей, отвечающих за формирование
+ * напряжения мотора). Если настроено верно, то изменения сигналов можно видеть в DCACTL и/или DCBCTL
+ * в битах EVT1LAT и/или EVT2LAT.
+ */
+void PWMTripInit(void)
+{
+    EALLOW;
+    EPwmRegs[PWM_A]->DCTRIPSEL.all = 0x3333;//3 - TRIPIN4
+    EPwmRegs[PWM_B]->DCTRIPSEL.all = 0x3333;//3 - TRIPIN4
+    EPwmRegs[PWM_C]->DCTRIPSEL.all = 0x3333;//3 - TRIPIN4
+    EPwmRegs[PWM_A]->TZDCSEL.all = 0b010010010010;
+    EPwmRegs[PWM_B]->TZDCSEL.all = 0b010010010010;
+    EPwmRegs[PWM_C]->TZDCSEL.all = 0b010010010010;
+    EPwmRegs[PWM_A]->TZSEL.bit.DCAEVT1 = 1;
+    EPwmRegs[PWM_B]->TZSEL.bit.DCAEVT1 = 1;
+    EPwmRegs[PWM_C]->TZSEL.bit.DCAEVT1 = 1;
+    EPwmRegs[PWM_A]->TZSEL.bit.DCBEVT1 = 1;
+    EPwmRegs[PWM_B]->TZSEL.bit.DCBEVT1 = 1;
+    EPwmRegs[PWM_C]->TZSEL.bit.DCBEVT1 = 1;
+    EPwmRegs[PWM_A]->TZSEL.bit.DCAEVT2 = 0;
+    EPwmRegs[PWM_B]->TZSEL.bit.DCAEVT2 = 0;
+    EPwmRegs[PWM_C]->TZSEL.bit.DCAEVT2 = 0;
+    EPwmRegs[PWM_A]->TZSEL.bit.DCBEVT2 = 0;
+    EPwmRegs[PWM_B]->TZSEL.bit.DCBEVT2 = 0;
+    EPwmRegs[PWM_C]->TZSEL.bit.DCBEVT2 = 0;
+    EPwmRegs[PWM_A]->TZCTL.bit.DCAEVT1 = 2; //Force EPWMxA to a low state.
+    EPwmRegs[PWM_B]->TZCTL.bit.DCAEVT1 = 2; //Force EPWMxA to a low state.
+    EPwmRegs[PWM_C]->TZCTL.bit.DCAEVT1 = 2; //Force EPWMxA to a low state.
+    EPwmRegs[PWM_A]->TZCTL.bit.DCBEVT1 = 2; //Force EPWMxB to a low state.
+    EPwmRegs[PWM_B]->TZCTL.bit.DCBEVT1 = 2; //Force EPWMxB to a low state.
+    EPwmRegs[PWM_C]->TZCTL.bit.DCBEVT1 = 2; //Force EPWMxB to a low state.
+    EPwmRegs[PWM_A]->TZCTL.bit.DCAEVT2 = 2; //Force EPWMxA to a low state.
+    EPwmRegs[PWM_B]->TZCTL.bit.DCAEVT2 = 2; //Force EPWMxA to a low state.
+    EPwmRegs[PWM_C]->TZCTL.bit.DCAEVT2 = 2; //Force EPWMxA to a low state.
+    EPwmRegs[PWM_A]->TZCTL.bit.DCBEVT2 = 2; //Force EPWMxB to a low state.
+    EPwmRegs[PWM_B]->TZCTL.bit.DCBEVT2 = 2; //Force EPWMxB to a low state.
+    EPwmRegs[PWM_C]->TZCTL.bit.DCBEVT2 = 2; //Force EPWMxB to a low state.
+    EPwmRegs[PWM_A]->TZOSTCLR.all = 0xFFFF;//
+    EPwmRegs[PWM_B]->TZOSTCLR.all = 0xFFFF;//
+    EPwmRegs[PWM_C]->TZOSTCLR.all = 0xFFFF;//
+    EPwmRegs[PWM_A]->DCACTL.bit.EVT2LATSEL = 1;
+    EPwmRegs[PWM_B]->DCACTL.bit.EVT2LATSEL = 1;
+    EPwmRegs[PWM_C]->DCACTL.bit.EVT2LATSEL = 1;
+    EPwmRegs[PWM_A]->DCACTL.bit.EVT1LATSEL = 1;
+    EPwmRegs[PWM_B]->DCACTL.bit.EVT1LATSEL = 1;
+    EPwmRegs[PWM_C]->DCACTL.bit.EVT1LATSEL = 1;
+
+//    EPwmRegs[PWM_A]->TZFRC.bit.DCAEVT1 = 1;
+//    EPwmRegs[PWM_B]->TZFRC.bit.DCAEVT1 = 1;
+//    EPwmRegs[PWM_C]->TZFRC.bit.DCAEVT1 = 1;
+    EDIS;
+}
+
+
+void PWM_clrTripEvnt(void)
+{
+    EALLOW;
+    EPwmRegs[PWM_A]->TZCLR.all = 0xFFFF;//
+    EPwmRegs[PWM_B]->TZCLR.all = 0xFFFF;//
+    EPwmRegs[PWM_C]->TZCLR.all = 0xFFFF;//
+    EPwmRegs[PWM_A]->TZOSTCLR.all = 0xFFFF;//
+    EPwmRegs[PWM_B]->TZOSTCLR.all = 0xFFFF;//
+    EPwmRegs[PWM_C]->TZOSTCLR.all = 0xFFFF;//
+    EDIS;
+}

 void PWMAllInit(void)
 {
--- a/epwm_test_biss_c_cpu2/src/Peripherals/pwm_init.h
+++ b/epwm_test_biss_c_cpu2/src/Peripherals/pwm_init.h
@ -28,7 +28,8 @@
 #define SDFM_DELAY_mkS      50.0 //mkS
 #define SDFM_DELAY          (SDFM_DELAY_mkS*SYS_PWM_FREQUENCY/1000000)

-#define PERIOD_2        (PERIOD_MOTOR/2.0)
+#define PERIOD_DIV2        (PERIOD_MOTOR/2.0)
+#define PERIOD_MAX         (PERIOD_MOTOR*1.25)
 //#define PWM_MAX         (PERIOD_MOTOR - EPWM_DB)
 //#define PWM_MIN         EPWM_DB*2
 #define INDEPENDED      1
@ -73,7 +74,7 @@ void InitEPwm3Example(void);
 void InitEPwm4Example(void);
 void InitEPwm5Example(void);
 void InitEPwm6Example(void);
-
+void PWMTripInit(void);



--- a/epwm_test_biss_c_cpu2/src/Peripherals/pwm_interrupts.c
+++ b/epwm_test_biss_c_cpu2/src/Peripherals/pwm_interrupts.c
@ -5,7 +5,7 @@
 *      Author: seklyuts
 */

-#include <pwm_init.h>
+
 #include "f28x_project.h"
 #include "frm_uart.h"
 #include "gpio_init.h"
@ -39,8 +39,8 @@ typedef struct


 volatile uint16_t PeriodPWM[2] = {PERIOD_MOTOR, PERIOD_MOTOR};
-volatile uint16_t PeriodPWM_2 = PERIOD_2;
-volatile strPWMABC PWM_motor = {PERIOD_2, PERIOD_2, PERIOD_2};
+volatile uint16_t PeriodPWM_2 = PERIOD_DIV2;
+volatile strPWMABC PWM_motor = {PERIOD_DIV2, PERIOD_DIV2, PERIOD_DIV2};

 int16_t A_proc,B_proc,C_proc;
 uint16_t PWM_Vent = PERIOD_FAN;
@ -55,8 +55,8 @@ void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc, uint16
    {
        if(Mode == OffMode)
        {
-            if(PeriodPWM[0] < PERIOD_2) PeriodPWM[0]=PERIOD_2;
-            if(PeriodPWM[0] > PERIOD_MOTOR) PeriodPWM[0]=PERIOD_MOTOR;
+            if(PeriodPWM[0] < PERIOD_DIV2) PeriodPWM[0]=PERIOD_DIV2;
+            if(PeriodPWM[0] > PERIOD_MAX) PeriodPWM[0]=PERIOD_MAX;
            PeriodPWM[1] = PeriodPWM[0];
            vectorRegKoeffRecalc(PeriodPWM[0]/PERIOD_MOTOR);
            EALLOW;
@ -168,9 +168,9 @@ __interrupt void epwm2_isr(void)
        AdcStartSet();
        BissStartSet();
        PWM_ABC_StopAllClose();
-        PWM_motor.UA = PERIOD_2;
-        PWM_motor.UB = PERIOD_2;
-        PWM_motor.UC = PERIOD_2;
+        PWM_motor.UA = PERIOD_DIV2;
+        PWM_motor.UB = PERIOD_DIV2;
+        PWM_motor.UC = PERIOD_DIV2;
        vectorFault();
        EPwmRegs[PWM_FAN]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_Vent;
 //        EPwmRegs[3]->CMPB.bit.CMPB = PERIOD_MOTOR - PWM_Chop;
--- a/epwm_test_biss_c_cpu2/src/Peripherals/sdfm.c
+++ b/epwm_test_biss_c_cpu2/src/Peripherals/sdfm.c
@ -11,6 +11,7 @@
 #include "gpio_init.h"
 #include "sdfm.h"
 #include "vector.h"
+#include "CLAinit.h"
 #include "frm_uart.h"

 //
@ -51,6 +52,9 @@ int16_t  Filter7_Result[MAX_SAMPLES];
 #pragma DATA_SECTION(Filter6_Result,"Filter3_RegsFile");
 #pragma DATA_SECTION(Filter7_Result,"Filter4_RegsFile");

+//Ñòðóêòóðà [0]- áèò íîìåð áëîêà SDFM [1-8] - áèòû ïðè÷èíû ïðåðûâàíèÿÿ
+int16_t iterputErrorSost=0;
+
 int16_t * FilterResult[8] = {Filter0_Result, Filter1_Result, Filter2_Result, Filter3_Result, Filter4_Result, Filter5_Result, Filter6_Result, Filter7_Result};

 union SDCPARM1_REG * SDCPARM_Reg_arr[8] = {
@ -88,11 +92,23 @@ volatile int16 * SdfmReadData[8] = {
                                    (volatile int16 *)((Uint16)0x5EC7),
 };

+volatile int16 * SdfmReadFiltr[8] = {
+                                    (volatile int16 *)((Uint16)0x5E1A),
+                                    (volatile int16 *)((Uint16)0x5E2A),
+                                    (volatile int16 *)((Uint16)0x5E3A),
+                                    (volatile int16 *)((Uint16)0x5E4A),
+                                    (volatile int16 *)((Uint16)0x5E9A),
+                                    (volatile int16 *)((Uint16)0x5EAA),
+                                    (volatile int16 *)((Uint16)0x5EBA),
+                                    (volatile int16 *)((Uint16)0x5ECA),
+};
+
 #define WAIT_STABILITY_SDFM  6

 int16_t  sdfmAdc[8] = {0,0,0,0,0,0,0,0};
+int16_t  sdfmFiltr[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,-10,0,0};
+int16_t  sdfmOffset[8] = {0,0,-50,0,0,0,0,0};
 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 AllInitDone =0;
@ -193,7 +209,7 @@ void SdfmInitInterruptEn(void)

 void SdfmInit(void)
 {
-    uint16_t  HLT, LLT;
+    uint16_t  HLT, LLT, Max, Min;
    //
    // Configure SDFM type to 0
    //
@ -213,7 +229,14 @@ void SdfmInit(void)

    //
    // Comparator Module
-    //
+    // Ñ<>Ñ‚Ñ€ 3210
+    // HLT1
+    //When comparator data > = (SDFLTxCMPH1.HLT), HLT1 comparator generates COMPH1 event.
+    //The COMPH1 event is connected to both CEVT1 and CEVT2.
+    //LLT1
+    //When comparator data < = (SDFLTxCMPL1.LLT), the LLT1 comparator generates COMPL1 event.
+    //The COMPL1 event is connected to both CEVT1 and CEVT2.
+
    HLT = 0x7FFF;    //Over value threshold settings
    LLT = 0x0000;    //Under value threshold settings

@ -304,8 +327,126 @@ void SdfmInit(void)
    Sdfm2Regs.SDDFPARM3.bit.FEN  = 1;
    Sdfm2Regs.SDDFPARM4.bit.FEN  = 1;
    EDIS;
+
+    Max = (BIT_MAX>>1)+IMAX_A_KZ*DIV_FACTOR_CURRENT_MOTOR/2/20;
+    Min = (BIT_MAX>>1)-IMAX_A_KZ*DIV_FACTOR_CURRENT_MOTOR/2/20;
+
+
+
+    sdfmInitPwmFlt(SDFM_IA, Min, Max);
+    sdfmInitPwmFlt(SDFM_IB, Min, Max);
+    sdfmInitPwmFlt(SDFM_IC, Min, Max);
+
+    sdfmInitPwmFlt(SDFM_U_DC, 0, 0x4200);
 }

+#define CEVT_interrupt_enable  0;
+
+void sdfmInitPwmFlt(uint16_t N, uint16_t LowFLT, uint16_t HightFlt)
+{
+    EALLOW;
+    switch(N)
+    {
+    case 0:
+        Sdfm1Regs.SDCPARM1.bit.CEVT1SEL = 1;
+        Sdfm1Regs.SDCPARM1.bit.CEVT2SEL = 1;
+        Sdfm1Regs.SDCOMP1CTL.bit.CEVT1DIGFILTSEL = 0;
+        Sdfm1Regs.SDCOMP1CTL.bit.CEVT2DIGFILTSEL = 0;
+        Sdfm1Regs.SDIFLGCLR.bit.FLT1_FLG_CEVT1 =  1;
+        Sdfm1Regs.SDIFLGCLR.bit.FLT1_FLG_CEVT2 =  1;
+        Sdfm1Regs.SDCPARM1.bit.EN_CEVT1 = CEVT_interrupt_enable;
+        Sdfm1Regs.SDCPARM1.bit.EN_CEVT2 = CEVT_interrupt_enable;
+        Sdfm1Regs.SDFLT1CMPH1.bit.HLT = HightFlt;
+        Sdfm1Regs.SDFLT1CMPL1.bit.LLT = LowFLT;
+        //Sdfm1Regs.SDIFLG.bit.FLT1_FLG_CEVT1;-flag
+        break;
+    case 1:
+        Sdfm1Regs.SDCPARM2.bit.CEVT1SEL = 1;
+        Sdfm1Regs.SDCPARM2.bit.CEVT2SEL = 1;
+        Sdfm1Regs.SDCOMP2CTL.bit.CEVT1DIGFILTSEL = 0;
+        Sdfm1Regs.SDCOMP2CTL.bit.CEVT2DIGFILTSEL = 0;
+        Sdfm1Regs.SDIFLGCLR.bit.FLT2_FLG_CEVT1 = 1;
+        Sdfm1Regs.SDIFLGCLR.bit.FLT2_FLG_CEVT2 = 1;
+        Sdfm1Regs.SDCPARM2.bit.EN_CEVT1 = CEVT_interrupt_enable;
+        Sdfm1Regs.SDCPARM2.bit.EN_CEVT2 = CEVT_interrupt_enable;
+        Sdfm1Regs.SDFLT2CMPH1.bit.HLT = HightFlt;
+        Sdfm1Regs.SDFLT2CMPL1.bit.LLT = LowFLT;
+        break;
+    case 2:
+        Sdfm1Regs.SDCPARM3.bit.CEVT1SEL = 1;
+        Sdfm1Regs.SDCPARM3.bit.CEVT2SEL = 1;
+        Sdfm1Regs.SDCOMP3CTL.bit.CEVT1DIGFILTSEL = 0;
+        Sdfm1Regs.SDCOMP3CTL.bit.CEVT2DIGFILTSEL = 0;
+        Sdfm1Regs.SDIFLGCLR.bit.FLT3_FLG_CEVT1 = 1;
+        Sdfm1Regs.SDIFLGCLR.bit.FLT3_FLG_CEVT2 = 1;
+        Sdfm1Regs.SDCPARM3.bit.EN_CEVT1 = CEVT_interrupt_enable;
+        Sdfm1Regs.SDCPARM3.bit.EN_CEVT2 = CEVT_interrupt_enable;
+        Sdfm1Regs.SDFLT3CMPH1.bit.HLT = HightFlt;
+        Sdfm1Regs.SDFLT3CMPL1.bit.LLT = LowFLT;
+        break;
+    case 3:
+        Sdfm1Regs.SDCPARM4.bit.CEVT1SEL = 1;
+        Sdfm1Regs.SDCPARM4.bit.CEVT2SEL = 1;
+        Sdfm1Regs.SDCOMP4CTL.bit.CEVT1DIGFILTSEL = 0;
+        Sdfm1Regs.SDCOMP4CTL.bit.CEVT2DIGFILTSEL = 0;
+        Sdfm1Regs.SDIFLGCLR.bit.FLT4_FLG_CEVT1 = 1;
+        Sdfm1Regs.SDIFLGCLR.bit.FLT4_FLG_CEVT2 = 1;
+        Sdfm1Regs.SDCPARM4.bit.EN_CEVT1 = CEVT_interrupt_enable;
+        Sdfm1Regs.SDCPARM4.bit.EN_CEVT2 = CEVT_interrupt_enable;
+        Sdfm1Regs.SDFLT4CMPH1.bit.HLT = HightFlt;
+        Sdfm1Regs.SDFLT4CMPL1.bit.LLT = LowFLT;
+        break;
+    case 4:
+        Sdfm2Regs.SDCPARM1.bit.CEVT1SEL = 1;
+        Sdfm2Regs.SDCPARM1.bit.CEVT2SEL = 1;
+        Sdfm2Regs.SDCOMP1CTL.bit.CEVT1DIGFILTSEL = 0;
+        Sdfm2Regs.SDCOMP1CTL.bit.CEVT2DIGFILTSEL = 0;
+        Sdfm2Regs.SDIFLGCLR.bit.FLT1_FLG_CEVT1 = 1;
+        Sdfm2Regs.SDIFLGCLR.bit.FLT1_FLG_CEVT2 = 1;
+        Sdfm2Regs.SDCPARM1.bit.EN_CEVT1 = CEVT_interrupt_enable;
+        Sdfm2Regs.SDCPARM1.bit.EN_CEVT2 = CEVT_interrupt_enable;
+        Sdfm2Regs.SDFLT1CMPH1.bit.HLT = HightFlt;
+        Sdfm2Regs.SDFLT1CMPL1.bit.LLT = LowFLT;
+        break;
+    case 5:
+        Sdfm2Regs.SDCPARM2.bit.CEVT1SEL = 1;
+        Sdfm2Regs.SDCPARM2.bit.CEVT2SEL = 1;
+        Sdfm2Regs.SDCOMP2CTL.bit.CEVT1DIGFILTSEL = 0;
+        Sdfm2Regs.SDCOMP2CTL.bit.CEVT2DIGFILTSEL = 0;
+        Sdfm2Regs.SDIFLGCLR.bit.FLT2_FLG_CEVT1 = 1;
+        Sdfm2Regs.SDIFLGCLR.bit.FLT2_FLG_CEVT2 = 1;
+        Sdfm2Regs.SDCPARM2.bit.EN_CEVT1 = CEVT_interrupt_enable;
+        Sdfm2Regs.SDCPARM2.bit.EN_CEVT2 = CEVT_interrupt_enable;
+        Sdfm2Regs.SDFLT2CMPH1.bit.HLT = HightFlt;
+        Sdfm2Regs.SDFLT2CMPL1.bit.LLT = LowFLT;
+        break;
+    case 6:
+        Sdfm2Regs.SDCPARM3.bit.CEVT1SEL = 1;
+        Sdfm2Regs.SDCPARM3.bit.CEVT2SEL = 1;
+        Sdfm2Regs.SDCOMP3CTL.bit.CEVT1DIGFILTSEL = 0;
+        Sdfm2Regs.SDCOMP3CTL.bit.CEVT2DIGFILTSEL = 0;
+        Sdfm2Regs.SDIFLGCLR.bit.FLT3_FLG_CEVT1 = 1;
+        Sdfm2Regs.SDIFLGCLR.bit.FLT3_FLG_CEVT2 = 1;
+        Sdfm2Regs.SDCPARM3.bit.EN_CEVT1 = CEVT_interrupt_enable;
+        Sdfm2Regs.SDCPARM3.bit.EN_CEVT2 = CEVT_interrupt_enable;
+        Sdfm2Regs.SDFLT3CMPH1.bit.HLT = HightFlt;
+        Sdfm2Regs.SDFLT3CMPL1.bit.LLT = LowFLT;
+        break;
+    case 7:
+        Sdfm2Regs.SDCPARM4.bit.CEVT1SEL = 1;
+        Sdfm2Regs.SDCPARM4.bit.CEVT2SEL = 1;
+        Sdfm2Regs.SDCOMP4CTL.bit.CEVT1DIGFILTSEL = 0;
+        Sdfm2Regs.SDCOMP4CTL.bit.CEVT2DIGFILTSEL = 0;
+        Sdfm2Regs.SDIFLGCLR.bit.FLT4_FLG_CEVT1 = 1;
+        Sdfm2Regs.SDIFLGCLR.bit.FLT4_FLG_CEVT2 = 1;
+        Sdfm2Regs.SDCPARM4.bit.EN_CEVT1 = CEVT_interrupt_enable;
+        Sdfm2Regs.SDCPARM4.bit.EN_CEVT2 = CEVT_interrupt_enable;
+        Sdfm2Regs.SDFLT4CMPH1.bit.HLT = HightFlt;
+        Sdfm2Regs.SDFLT4CMPL1.bit.LLT = LowFLT;
+        break;
+    }
+    EDIS;
+}


 void sdfmGetResult(uint16_t N)
@ -313,11 +454,10 @@ void sdfmGetResult(uint16_t N)
    uint16_t i = 0;
    int32_t OffsetCount = 0;

-//    Gpio4out(1);
-
    FilterResult[N][loopCounter[N]] = *SdfmReadData[N];
    sdfmAdc[N] = FilterResult[N][loopCounter[N]] - sdfmOffset[N];
-    if(N != SDFM_U_DC) {
+    sdfmFiltr[N] = *SdfmReadFiltr[N];
+    if((N != SDFM_U_DC)&(N != SDFM_BRAKE)) {
        if(loopCounter[N] < MAX_SAMPLES) loopCounter[N]++;
        else
        {
@ -337,12 +477,6 @@ void sdfmGetResult(uint16_t N)
    SDDFPARM_Reg_arr[N]->bit.AE = 0;
    EDIS;
    sdfmAdcErr[N] = 0;
-
-//    Gpio4out(0);
-
-//    if(N == SDFM_IA)         Gpio54out(0);
-//    if(N == SDFM_IB)         Gpio55out(0);
-//    if(N == SDFM_IC)         Gpio56out(0);
 }


@ -366,6 +500,13 @@ void sdfm_check_all_current_measurements_was_done(void)
        sdfmIndex &= ~SDFM_ALL_CURRENTS;
        if(AllInitDone)
        {
+            //ïåðåäàåì äàííûå â CLA
+            CurrentA =sdfmAdc[SDFM_IA];
+            CurrentB = sdfmAdc[SDFM_IB];
+            CurrentC = sdfmAdc[SDFM_IC];
+            currentCoefK = FACTOR_CURRENT_MOTOR;
+            currentCoefB=0;
+            Cla1ForceTask1();//Ïèíàåì ïåðâóþ çàäà÷ó CLA
            vectorControl(sdfmAdc[SDFM_IA],sdfmAdc[SDFM_IB],sdfmAdc[SDFM_IC],sdfmAdc[SDFM_U_DC]);
        }
    }
@ -383,6 +524,15 @@ void sdfm_check_brake_measurements_was_done(void)
    }
 }

+uint16_t sdfmOverCurrentCounter = 0;
+
+void sdfmOverCurrent(void)
+{
+//    PWM_ABC_StopAllClose();
+//    vectorFault();
+    sdfmOverCurrentCounter++;
+}
+

 __interrupt void Sdfm1_ISR(void)
 {
@ -390,10 +540,18 @@ uint16_t i;
 uint32_t IntFlags;

    IntFlags = Sdfm_readFlagRegister(SDFM1);
+    //Òóò íóæíà ïðîâåðêà íà 8 ìëàäøèõ   åñëè õîòü 1 â åäèíèöå òî  ìû èç ïðåðûâàíèÿ êîìïîðàòîðà è äåëî äðÿíü.
+    if((IntFlags&0xF)>0){
+        //ïðåðûâàíèå îò êîìïîðàòîðà ïîäãîòîâêà ôëàãîâ îøèáêè.
+        iterputErrorSost=((IntFlags&0xF)<<1);
+        //Ñêîðåå âñåãî íóæíà ïðîâåðêà ÷òî ìû â STOP
+        return;
+    }
    sdfmIndex |= (IntFlags & 0xF000)>>12;

    for(i = 0; i < 4; i++) if((uint16_t)IntFlags & (0x1000 << i)) sdfmGetResult(i);
    for(i = 0; i < 4; i++) if((uint16_t)IntFlags & (0x100 << i)) sdfmErr(i);
+    if( (((uint16_t)IntFlags)&0xFF) != 0 ) sdfmOverCurrent();

    Sdfm_clearFlagRegister(SDFM1,IntFlags);
    sdfm_check_all_current_measurements_was_done();
@ -408,6 +566,12 @@ uint16_t i;
 uint32_t IntFlags;

    IntFlags = Sdfm_readFlagRegister(SDFM2);
+    if((IntFlags&0xF)>0){
+            //ïðåðûâàíèå îò êîìïîðàòîðà ïîäãîòîâêà ôëàãîâ îøèáêè.
+            iterputErrorSost=((IntFlags&0xF)<<1)+1;
+            //Ñêîðåå âñåãî íóæíà ïðîâåðêà ÷òî ìû â STOP
+            return;
+        }
    sdfmIndex |= (IntFlags & 0xF000)>>8;

    for(i = 0; i < 4; i++) if((uint16_t)IntFlags & (0x1000 << i)) sdfmGetResult(i+4);
@ -449,13 +613,13 @@ void sdfm_start_conversion_brake(void)

    EDIS;
 }
-
+int16_t sdfm_get_erors(int16_t N)
+{
+    return iterputErrorSost;
+}
 int16_t sdfm_get(int16_t N)
 {
-    if( N>=0 && N<=7 )
    return sdfmAdc[N];
-    else
-    return 0;
 }


--- a/epwm_test_biss_c_cpu2/src/Peripherals/sdfm.h
+++ b/epwm_test_biss_c_cpu2/src/Peripherals/sdfm.h
@ -60,12 +60,14 @@
 #define FACTOR_VDC         (SDFM_VOLTAGE_MAX/R_VDC*(R_DEL_VDC+R_VDC)/1000) //=  320/806*(2000000+806)/1000

 #define FACTOR_CURRENT_BRAKE_A (SDFM_VOLTAGE_MAX/R_BRAKE)         //A
-#define FACTOR_CURRENT_MOTOR_A   (SDFM_VOLTAGE_MAX/R_DRW)            //A
+#define FACTOR_CURRENT_MOTOR_A   (SDFM_VOLTAGE_MAX/R_DRW)            //A //=320/4 = 80 A

 #define FACTOR_CURRENT_BRAKE (FACTOR_CURRENT_BRAKE_A/BIT_MAX)
-#define FACTOR_CURRENT_MOTOR   (FACTOR_CURRENT_MOTOR_A/BIT_MAX)
+#define FACTOR_CURRENT_MOTOR   (FACTOR_CURRENT_MOTOR_A/BIT_MAX) // 80/32768 = 0.00244
 #define DIV_FACTOR_CURRENT_MOTOR (1/FACTOR_CURRENT_MOTOR)

+#define SDFM_FLT
+
 void SdfmGpioInit(void);
 void SdfmInitEnable(void);
 void SdfmInitInterruptEn(void);
@ -74,7 +76,7 @@ void sdfm_start_conversion_current(void);
 int16_t sdfm_get(int16_t N);
 void SdfmTypeInit(void);
 void sdfm_start_conversion_brake(void);
-
+void sdfmInitPwmFlt(uint16_t N, uint16_t LowFLT, uint16_t HightFlt);


 #endif /* SRC_SDFM_H_ */
--- a/epwm_test_biss_c_cpu2/src/frm_uart.c
+++ b/epwm_test_biss_c_cpu2/src/frm_uart.c
@ -9,7 +9,8 @@
 #include "frm_uart.h"

 #define LSPCLK_HZ   50000000.0
-#define BAUD        57600.0
+//#define BAUD        57600.0
+#define BAUD        4000000.0
 #define BRR         LSPCLK_HZ/(BAUD*8) + 1

 uint16_t frmEn = 0;
--- a/epwm_test_biss_c_cpu2/src/frmmstr_run.c
+++ b/epwm_test_biss_c_cpu2/src/frmmstr_run.c
@ -26,18 +26,18 @@ void frmmstr_run(void)
 {
 static    uint16_t diod = 0;

-//    if(SciaRegs.SCIRXST.bit.RXERROR)
-//    {
-//        EALLOW;
-//        SciaRegs.SCICTL1.bit.SWRESET = 0;
-//        EDIS;
-//    }
-//    else
-//    {
-//        EALLOW;
-//        SciaRegs.SCICTL1.bit.SWRESET = 1;
-//        EDIS;
-//    }
+    if(SciaRegs.SCIRXST.bit.RXERROR)
+    {
+        EALLOW;
+        SciaRegs.SCICTL1.bit.SWRESET = 0;
+        EDIS;
+    }
+    else
+    {
+        EALLOW;
+        SciaRegs.SCICTL1.bit.SWRESET = 1;
+        EDIS;
+    }

    if(FMSTRIsEnable())
    {
--- a/epwm_test_biss_c_cpu2/src/init_perif.c
+++ b/epwm_test_biss_c_cpu2/src/init_perif.c
@ -27,6 +27,7 @@
 #include "rele.h"
 #include "i2c_oled.h"
 #include "timersec.h"
+#include "CLAinit.h"

 extern uint16_t I2C_TXdata[];
 extern uint16_t I2C_RXdata[];
@ -80,6 +81,7 @@ void InitPerif(void)
    PWMAllInit();

    PWMInitInterruptEn();
+    PWMTripInit();

    SpiCInit();

@ -111,11 +113,12 @@ void InitPerif(void)
    ERTM;  // Enable Global realtime interrupt DBGM

    I2CMasterInit(I2C_OWN_ADDRESS,0x3C);
+    CLA_Init();
    /* Init LCD */
-    SSD1306_Init();
-    buttonsInit();
-    faultInit();
-    rele_initRele();
+  //  SSD1306_Init();
+    //   buttonsInit();
+    //  faultInit();
+    // rele_initRele();


 }
--- a/epwm_test_biss_c_cpu2/src/vector.c
+++ b/epwm_test_biss_c_cpu2/src/vector.c
@ -21,8 +21,7 @@
 #include "temperature.h"
 #include "rele.h"

-#define     IMAX_A          35.0 //A
-#define     IMAX            (IMAX_A*BIT_MAX/FACTOR_CURRENT_MOTOR_A)
+

 typedef struct {
    int16_t Value16in;      //
@ -84,6 +83,9 @@ float UdcVolt = 0;
 volatile float VdcFactor = FACTOR_VDC;
 volatile uint16_t VoltProcImit = 0;
 uint32_t Impuls = 0;
+uint32_t ImpulsHi = 0;
+uint32_t ImpulsLow = 0;
+uint32_t ImpulsStep = 0;
 int16_t AngleOffset = 0xc000, vectorAngle;


@ -110,7 +112,7 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
    Ia = -CurrentA;//sdfm_get(6);
    Ib = -CurrentB;//sdfm_get(3);
    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++;  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++;  Mode = OffMode; CurFault++;}


    UdcFiltered = Filter(sdfmUdc, &UdcFilter);
@ -146,6 +148,14 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
        }
        else  CurrLoop.piIq.Ref = CurrentRegTuneAmpl;
        break;
+    case StepModeImpulses:
+        PWM_ABC_StartOut();
+        vectorSinCos.Angle = Step;
+        if(ImpulsStep <= ImpulsLow) CurrLoop.piIq.Ref = CurrentRegTuneAmpl;
+        else CurrLoop.piIq.Ref = CurrentRegTuneAmplInpuls;
+        if(ImpulsStep < (ImpulsLow + ImpulsHi)) ImpulsStep++;
+        else ImpulsStep = 0;
+        break;
    case StayMode:
        PWM_ABC_StartOut();
        CurrLoop.piIq.Ref = CurrentRegTuneAmpl;
@ -383,10 +393,10 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
                                  ( CurrLoop.piIq.Ref = -CurrLoop.CurrentLimit);
  }

-  CurrLoop.piIq.Fbk = vectorIdq.q;
+  CurrLoop.piIq.Fbk = vectorIdq.q;// действующий ток

 //  CurrLoop.piId.Ref = 0;
-  CurrLoop.piId.Fbk = vectorIdq.d;
+  CurrLoop.piId.Fbk = vectorIdq.d;//

 //  CurrLoop.piId.Umax = CurrLoop.piIq.Umax = Inputs->Udc;
 //  CurrLoop.piId.Umin = CurrLoop.piIq.Umin = -CurrLoop.piIq.Umax;
--- a/epwm_test_biss_c_cpu2/src/vector.h
+++ b/epwm_test_biss_c_cpu2/src/vector.h
@ -37,9 +37,13 @@
 #define VOLT_MAX_FACTOR         VOLT_MAX_PROC/100.0
 #define PI_REG_I_PROPOR         14.0 // 30
 #define PI_REG_I_INTEGR         0.14 // 0.04
-#define CURRENT_MAX             40.0 //A
+#define CURRENT_MAX             45.0 //A
 #define ZERO_LVL                0.00001f

+
+#define     IMAX_A_KZ          70.0 //A
+#define     IMAX_KZ            (IMAX_A_KZ*BIT_MAX/FACTOR_CURRENT_MOTOR_A)
+
 typedef struct
 {
  float q;
@ -76,8 +80,9 @@ typedef struct

 typedef enum
 {
-  OffMode,             //<2F><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-  StepMode,             //
+  OffMode,
+  StepMode,
+  StepModeImpulses,
  StayMode,
  CurrentRegTune,
  TestPWNMode,
--- a/epwm_test_biss_c_cpu2/Описание
+++ b/epwm_test_biss_c_cpu2/Описание
@ -31,10 +31,12 @@ Rele.Error - появляется если после включение рел
 Mode - режим работы. 
 0 - стоим, всё выключено, 
 1 - шаговый режим (задать ток CurrentRegTuneAmpl для шагового режима, скорость меняется через Nstep)
-2 - режим поворота на заданный угол (задать ток CurrentRegTuneAmpl для шагового режима, угол поворота через vectorSinCos.angle)
-3 - режим настройки регулятора тока  
-4 - шим по одному транзистору (панель TestPWM, см ниже)
-6 - вращение по датчику с контуром тока (задать ток CurrentRegTuneAmpl)
+2 - шаговый импульсный режим
+3 - режим поворота на заданный угол (задать ток CurrentRegTuneAmpl для шагового режима, угол поворота через vectorSinCos.angle)
+4 - режим настройки регулятора тока  
+5 - шим по одному транзистору (панель TestPWM, см ниже)
+6 - зарезервировано (переключится в 0)
+7 - вращение по датчику с контуром тока (задать ток CurrentRegTuneAmpl)


 CurrentRegTuneAmpl - заданный ток для формирования поля когда включен контур тока
@ -46,6 +48,9 @@ NoLoop - отключение контура тока (возможность з
 vectorUdq.q - поперечная составляющая напряжения, при включенном регуляторе тока формируется регулятором, при отключенном можно задавать вручную

 vectorUdq.d - продольная составляющая напряжения, при включенном регуляторе тока формируется регулятором, при отключенном можно задавать вручную
+___________________________________________
+
+В шаговом режиме можно задать одиночный импульс с шагом 0.0001 с. 

 Impuls - время импульса тока в секундах (когда значение не равно нулю работает обратный отсчёт и ток = CurrentRegTuneAmplInpuls, когда равно нулю значение тока = CurrentRegTuneAmpl)

@ -54,6 +59,14 @@ CurrentRegTuneAmplInpuls - величина импульса тока в амп
 AngleOffset - смещение датчика ротора относительно обмоток статора.
 ___________________________________________

+Шаговый импульсный режим.
+
+ток задаётся импульсами: 
+в течение времени ImpulsLow ток имеет значение CurrentRegTuneAmpl
+в течение времени ImpulsHi ток имеет значение CurrentRegTuneAmplInpuls
+время кратно 0.0001 с 
+___________________________________________
+
 в левом окне блок TestPWM - в этом режиме можно включить ШИМ на любой транзистор.
 Для этого нужно включить реле, выбрать Mode = 4.
 После этого переменная Num обозначает -- какие из транзисторов включены.
@ -77,4 +90,10 @@ ___________________________________________
 слева выбрать график I с биноклем который
 после этого менять CurrLoop.piId.Kp и CurrLoop.piId.Ki чтобы изменить характеристику

+___________________________________________
+Измененние частоты ШИМ проводить при Mode = 0.
+В других режимах частота меняться не будет.
+
+Задаётся период в мкС от 50 до 125
+В переменной PeriodPWM (слева выбрать вкладку timing)