seklyuts
224107e96d
авторассчёт скорости uart
перед клоками:
EALLOW;
ClkCfgRegs.LOSPCP.bit.LSPCLKDIV = 2;
EDIS;
ибо сбрасывается при ресете хардварном в 0
272 lines
5.9 KiB
C
272 lines
5.9 KiB
C
/*
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* interrupts.c
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*
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* Created on: 21 <20><><EFBFBD>. 2023 <20>.
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* Author: seklyuts
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*/
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#include <pwm_init.h>
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#include "f28x_project.h"
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#include "frm_uart.h"
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#include "gpio_init.h"
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#include "i2c_init.h"
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#include "timer_base.h"
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#include "vector.h"
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#include "pwm_interrupts.h"
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#include "sdfm.h"
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#include "adc_init.h"
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#include <pwm_init.h>
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#include "biss.h"
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volatile uint16_t AutoChange = 0;
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volatile uint16_t PWM_out = 2500;
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//volatile uint16_t PWM_motor = PERIOD_2;
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uint16_t Fault = 0, Fault_fix = 0, Ready = 0, Ready_Fix = 0;
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uint16_t counter1s=0;
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uint16_t FaultABC = 0, FaultABCFix = 0;
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uint16_t PwmFlagStartCurrentMeashure = 0;
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extern volatile struct EPWM_REGS * EPwmRegs[17];
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typedef struct
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{
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int16_t UA;
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int16_t UB;
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int16_t UC;
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}strPWMABC;
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volatile strPWMABC PWM_motor = {PERIOD_2, PERIOD_2, PERIOD_2};
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int16_t A_proc,B_proc,C_proc;
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uint16_t PWM_Vent = PERIOD_MOTOR;
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uint16_t PWM_Chop = 0;
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void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc)
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{
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A_proc = (int16_t)((phaseA/Udc)*PERIOD_2);
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B_proc = (int16_t)((phaseB/Udc)*PERIOD_2);
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C_proc = (int16_t)((phaseC/Udc)*PERIOD_2);
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if(A_proc > 0) A_proc+= EPWM_DB/2;
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else if(A_proc < 0) A_proc-= EPWM_DB/2;
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if(B_proc > 0) B_proc+= EPWM_DB/2;
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else if(B_proc < 0) B_proc-= EPWM_DB/2;
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if(C_proc > 0) C_proc+= EPWM_DB/2;
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else if(C_proc < 0) C_proc-= EPWM_DB/2;
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PWM_motor.UA = PERIOD_2 + A_proc;
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PWM_motor.UB = PERIOD_2 + B_proc;
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PWM_motor.UC = PERIOD_2 - C_proc;
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FaultABC = 0;//(FaultPWM);
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if(FaultABC) FaultABCFix = FaultABC;
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if((FaultABC)||(FaultABCFix))
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{
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PWM_ABC_StopAllClose();
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PWM_motor.UA = PERIOD_2;
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PWM_motor.UB = PERIOD_2;
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PWM_motor.UC = PERIOD_2;
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vectorFault();
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}
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EPwmRegs[PWM_A]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UA;
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EPwmRegs[PWM_B]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UB;
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EPwmRegs[PWM_C]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UC;
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EPwmRegs[3]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_Vent;
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EPwmRegs[3]->CMPB.bit.CMPB = PERIOD_MOTOR - PWM_Chop;
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}
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//
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// epwm1_isr - EPWM1 ISR
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//
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__interrupt void epwm1_isr(void)
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{
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// if(AutoChange) pwm_AutoChange(1);
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// else
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EPwm1Regs.CMPA.bit.CMPA = PWM_out;
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//
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// Clear INT flag for this timer
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//
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EPwm1Regs.ETCLR.bit.INT = 1;
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MainTimerBaseTimeoutInc();
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//
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// Acknowledge this interrupt to receive more interrupts from group 3
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//
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PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
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}
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//
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// epwm2_isr - EPWM2 ISR
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//
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uint32_t Test_ADC_PWM_Synch1=0, Test_ADC_PWM_Synch2=0;
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uint16_t TestStopSync = 0;
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__interrupt void epwm2_isr(void)
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{
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// Gpio57out(1);
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// EALLOW;
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// Sdfm1Regs.SDDFPARM4.bit.FEN = 1;
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// EDIS;
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// GpioDataRegs.GPADAT.bit.GPIO0 = 1;
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//
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// Clear INT flag for this timer
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//
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EPwm2Regs.ETCLR.bit.INT = 1;
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TimerBaseTimeoutInc();
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if(PwmFlagStartCurrentMeashure) /// Не были отработаны измерения тока в сигма-дельта и не было запущено векторное управление
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{
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PwmFlagStartCurrentMeashure = 0;
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FMSTREnableSet();
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AdcStartSet();
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BissStartSet();
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PWM_ABC_StopAllClose();
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PWM_motor.UA = PERIOD_2;
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PWM_motor.UB = PERIOD_2;
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PWM_motor.UC = PERIOD_2;
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vectorFault();
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EPwmRegs[3]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_Vent;
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EPwmRegs[3]->CMPB.bit.CMPB = PERIOD_MOTOR - PWM_Chop;
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Test_ADC_PWM_Synch1++;
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if(TestStopSync == 2) TestStopSync = 3;
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}
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else Test_ADC_PWM_Synch2++;
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//
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// Acknowledge this interrupt to receive more interrupts from group 3
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//
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PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
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// Gpio4out(1);
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// GpioDataRegs.GPADAT.bit.GPIO0 = 0;
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// Gpio57out(0);
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}
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//
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// epwm3_isr - EPWM3 ISR
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//
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__interrupt void epwm3_isr(void)
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{
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EPwm3Regs.CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UB;
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//
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// Clear INT flag for this timer
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//
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EPwm3Regs.ETCLR.bit.INT = 1;
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//
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// Acknowledge this interrupt to receive more interrupts from group 3
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//
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PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
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}
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__interrupt void epwm4_isr(void)
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{
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EPwm4Regs.CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UC;
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//
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// Clear INT flag for this timer
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//
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EPwm4Regs.ETCLR.bit.INT = 1;
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//
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// Acknowledge this interrupt to receive more interrupts from group 3
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//
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PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
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}
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__interrupt void epwm8_isr(void)
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{
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// Ready = GpioDataRegs.GPADAT.bit.GPIO19;
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// if(Ready == 0)
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// {
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// Ready_Fix = 0;
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// }
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// Fault = !GpioDataRegs.GPADAT.bit.GPIO18;
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// if(Fault) Fault_fix = 1;
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// if(Fault_fix)
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// {
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// EPwm5Regs.CMPA.bit.CMPA = PERIOD_BRAKE;
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// PWM_out = 0;
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// }
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// else
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// {
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EPwm8Regs.CMPA.bit.CMPA = PERIOD_BRAKE - PWM_out;
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// }
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//
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// Clear INT flag for this timer
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//
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EPwm8Regs.ETCLR.bit.INT = 1;
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//
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// Acknowledge this interrupt to receive more interrupts from group 3
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//
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PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
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}
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float Volt=0;
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__interrupt void epwm6_isr(void)
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{
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EPwm6Regs.CMPA.bit.CMPA = PERIOD_MOTOR - PWM_out;
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//
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// Clear INT flag for this timer
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//
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EPwm6Regs.ETCLR.bit.INT = 1;
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//
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// Acknowledge this interrupt to receive more interrupts from group 3
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//
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PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
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}
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uint16_t PWM_test = SDFM_DELAY;
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__interrupt void epwm11_isr(void)
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{
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EPwm11Regs.CMPA.bit.CMPA = PWM_test;
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EPwm11Regs.CMPB.bit.CMPB = PWM_test;
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EPwm11Regs.CMPC = PWM_test;
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EPwm11Regs.CMPD = PWM_test;
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if(TestStopSync != 3) sdfm_start_conversion_current();
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PwmFlagStartCurrentMeashure = 1;
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EPwm11Regs.ETCLR.bit.INT = 1;
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PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
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// Gpio4out(0);
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}
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void pwm_clr_PwmFlagStartADC(void)
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{
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PwmFlagStartCurrentMeashure = 0;
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}
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//
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// InitEPwm1Example - Initialize EPWM1 configuration
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//
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