void setFreq(int keypadValue){
if(keypadValue == 0xF){
//default value
EALLOW;
ConfigCpuTimer(&CpuTimer1, 150, 1000000*1/10000*.5);
CpuTimer1Regs.TCR.bit.TSS = 0;
EALLOW;
}
else if(keypadValue == 1){ //
//second value not default
EALLOW;
ConfigCpuTimer(&CpuTimer1, 150, 1000000*1/5000*.5);
CpuTimer1Regs.TCR.bit.TSS = 0;
EALLOW;
}
else if(keypadValue == 2){
//third value
EALLOW;
ConfigCpuTimer(&CpuTimer1, 150, 1000000*1/20000*.5);
CpuTimer1Regs.TCR.bit.TSS = 0;
EALLOW;
}
else{
//do nothing
}
}
void StopWatchSetUp(float time)
{
// CPU Timer0
// Initialize address pointers to respective timer registers:
StopWatch.RegsAddr = &CpuTimer0Regs;
// Initialize timer period to maximum:
CpuTimer0Regs.PRD.all = 0xFFFFFFFF;
// Initialize pre-scale counter to divide by 1 (SYSCLKOUT):
CpuTimer0Regs.TPR.all = 0;
CpuTimer0Regs.TPRH.all = 0;
// Make sure timer is stopped:
CpuTimer0Regs.TCR.bit.TSS = 1;
// Reload all counter register with period value:
CpuTimer0Regs.TCR.bit.TRB = 1;
// Reset interrupt counters:
StopWatch.InterruptCount = 0;
ConfigCpuTimer(&StopWatch,CPU_FREQ_MHZ , time);
//pie interrupt
IER |= M_INT1;
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
ReloadCpuTimer0();
StartCpuTimer0();
}
/**
* Initialize the Timer0 Module
*
*
*
* @param none
*
* @return none
*/
void cpu_timer0_init(void)
{
// Configure CPU-Timer 0 to interrupt every 500 milliseconds:
// 60MHz CPU Freq, 50 millisecond Period (in uSeconds)
ConfigCpuTimer(&CpuTimer0, 60, 500000); // @tgh
CpuTimer0Regs.TCR.all = 0x4001; // Use write-only instruction to set TSS bit = 0 @tgh
}
void timerStart(void){
// Configure CPU-Timer 0. 1 ms ticks.
ConfigCpuTimer(&CpuTimer0, 150, TICK_PERIOD_us);
// To ensure precise timing, use write-only instructions to write to the entire register. Therefore, if any
// of the configuration bits are changed in ConfigCpuTimer and InitCpuTimers (in DSP2833x_CpuTimers.h), the
// below settings must also be updated.
CpuTimer0Regs.TCR.all = 0x4001; // Use write-only instruction to set TSS bit = 0
// Enable CPU int1 which is connected to CPU-Timer 0, CPU int13
// which is connected to CPU-Timer 1, and CPU int 14, which is connected
// to CPU-Timer 2:
IER |= M_INT1;
IER |= M_INT13;
IER |= M_INT14;
// Enable TINT0 in the PIE: Group 1 interrupt 7
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
}
void changeFunctions(){
EALLOW;
ConfigCpuTimer(&CpuTimer1, 150, 1000000*1/20000*.5);
CpuTimer1Regs.TCR.bit.TSS = 0;
EALLOW;
PieVectTable.XINT13 = &test_isr;
}
void main(void)
{
InitSysCtrl();
InitXintf();
InitXintf16Gpio();
ADInit();
DINT;
InitPieCtrl();
IER = 0x0000;
IFR = 0x0000;
InitPieVectTable();
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.TINT0 = &ISRTimer0;
EDIS; // This is needed to disable write to EALLOW protected registers
InitCpuTimers(); // For this example, only initialize the Cpu Timers
ConfigCpuTimer(&CpuTimer0, 100, 987); //在定时器内进行采样,采样率1.5KHz
IER |= M_INT1;
PieCtrlRegs.PIECTRL.bit.ENPIE = 1;
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
EINT;
ERTM;
/*EALLOW;
GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 0; // GPIO0 = GPIO0
GpioCtrlRegs.GPADIR.bit.GPIO0 = 1;
EDIS;
GpioDataRegs.GPADAT.bit.GPIO0 = 0;*/
SET_ADRST;
DELAY_US(100000);
CLEAR_ADRST;
StartCpuTimer0();
while(1);
}
static void init_peripherals_drivers(void)
{
uint16_t i;
/// Initialization of HRADC boards
stop_DMA();
decimation_factor = HRADC_FREQ_SAMP / ISR_CONTROL_FREQ;
decimation_coeff = 1.0 / decimation_factor;
HRADCs_Info.enable_Sampling = 0;
HRADCs_Info.n_HRADC_boards = NUM_HRADC_BOARDS;
Init_DMA_McBSP_nBuffers(NUM_HRADC_BOARDS, decimation_factor, HRADC_SPI_CLK);
Init_SPIMaster_McBSP(HRADC_SPI_CLK);
Init_SPIMaster_Gpio();
InitMcbspa20bit();
DELAY_US(500000);
send_ipc_lowpriority_msg(0,Enable_HRADC_Boards);
DELAY_US(2000000);
for(i = 0; i < NUM_HRADC_BOARDS; i++)
{
Init_HRADC_Info(&HRADCs_Info.HRADC_boards[i], i, decimation_factor,
buffers_HRADC[i], TRANSDUCER_GAIN[i]);
Config_HRADC_board(&HRADCs_Info.HRADC_boards[i], TRANSDUCER_OUTPUT_TYPE[i],
HRADC_HEATER_ENABLE[i], HRADC_MONITOR_ENABLE[i]);
}
Config_HRADC_SoC(HRADC_FREQ_SAMP);
/// Initialization of PWM modules
g_pwm_modules.num_modules = 2;
PWM_MODULATOR_MOD_A = &EPwm1Regs;
PWM_MODULATOR_MOD_B = &EPwm2Regs;
disable_pwm_outputs();
disable_pwm_tbclk();
init_pwm_mep_sfo();
/// PWM initialization
init_pwm_module(PWM_MODULATOR_MOD_A, PWM_FREQ, 0, PWM_Sync_Master, 0,
PWM_ChB_Independent, PWM_DEAD_TIME);
init_pwm_module(PWM_MODULATOR_MOD_B, PWM_FREQ, 0, PWM_Sync_Slave, 0,
PWM_ChB_Independent, PWM_DEAD_TIME);
InitEPwm1Gpio();
InitEPwm2Gpio();
/// Initialization of timers
InitCpuTimers();
ConfigCpuTimer(&CpuTimer0, C28_FREQ_MHZ, 1000000);
CpuTimer0Regs.TCR.bit.TIE = 0;
}
void changeFunctions(float samplingRate){
EALLOW;
ConfigCpuTimer(&CpuTimer1, 150, 1000000*1/samplingRate*.5);
CpuTimer1Regs.TCR.bit.TSS = 0;
EALLOW;
PieVectTable.XINT13 = &DAC_isr;
}
void changeFunctions(){
EALLOW;
ConfigCpuTimer(&CpuTimer1, 150, 1000000*1/20000*.5);
CpuTimer1Regs.TCR.bit.TSS = 0;
SRAMaddress = 0x260000;
EALLOW;
PieVectTable.XINT13 = &DAC_isr;
}
/*-----------------------------------------------------------------------------
* void config_schedulerTimer(void)
*
* Abstract:
* This function configures scheduler timer
*/
void config_schedulerTimer(void)
{
InitCpuTimers();
/* Configure CPU-Timer 0 to interrupt every 2.0E-7 sec. */
/* Parameters: Timer Pointer, CPU Freq in MHz, Period in usec. */
ConfigCpuTimer(&CpuTimer0, 90.0, 2.0E-7 * 1000000);
StartCpuTimer0();
}
/* ----------------------- Start implementation -----------------------------*/
BOOL
xMBPortTimersInit( USHORT usTim1Timerout50us )
{
// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.TINT0 = &prvvTIMERExpiredISR;
EDIS; // This is needed to disable write to EALLOW protected registers
// Initialize the Device Peripheral. This function can be found in DSP2833x_CpuTimers.c
InitCpuTimers();
#if (CPU_FRQ_150MHZ)
// Configure CPU-Timer 0 to interrupt every second:
// 150MHz CPU Freq, 1 second Period (in uSeconds)
ConfigCpuTimer(&CpuTimer0, 150, usTim1Timerout50us);
#endif
#if (CPU_FRQ_100MHZ)
// Configure CPU-Timer 0 to interrupt every second:
// 100MHz CPU Freq, 1 second Period (in uSeconds)
ConfigCpuTimer(&CpuTimer0, 100, usTim1Timerout50us);
#endif
// To ensure precise timing, use write-only instructions to write to the entire register. Therefore, if any
// of the configuration bits are changed in ConfigCpuTimer and InitCpuTimers (in DSP2833x_CpuTimers.h), the
// below settings must also be updated.
//CpuTimer0Regs.TCR.all = 0x4009; // Use write-only instruction to set TSS bit = 1
CpuTimer0Regs.TCR.all = 0xC011;
// Enable CPU int1 which is connected to CPU-Timer 0
IER |= M_INT1;
//IER |= M_INT13;
//IER |= M_INT14;
// Enable TINT0 in the PIE: Group 1 interrupt 7
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
return TRUE;
}
void main(void){
InitSysCtrl();
DINT;
InitPieCtrl();
IER = 0x0000;
IFR = 0x0000;
InitPieVectTable();
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.TIMER0_INT = &cpu_timer0_isr;
EDIS; // This is needed to disable write to EALLOW protected registers
InitCpuTimers(); // For this example, only initialize the Cpu Timers
// 100MHz CPU Freq, 50 microsecond Period (in uSeconds) 20,000 Hz
ConfigCpuTimer(&CpuTimer0, CPU_CLOCK_100, INT_PERIOD_uS);
CpuTimer0Regs.TCR.all = 0x4001; // Use write-only instruction to set TSS bit = 0
// Configure GPIO12 (LED rojo) as a GPIO output pin
EALLOW;
GpioCtrlRegs.GPAMUX1.bit.GPIO12 = 0; // declare GPIO
GpioCtrlRegs.GPADIR.bit.GPIO12 = 1; // decalre as output
EDIS;
// Enable CPU INT1 which is connected to CPU-Timer 0:
IER |= M_INT1;
// Enable TINT0 in the PIE: Group 1 __interrupt 7
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
//Configure the ADCs and power them up
ConfigureADC();
//Setup the ADCs for software conversions
SetupADCSoftware();
// Enable DACOUTA
EALLOW;
//Use VDAC as the reference for DAC
DaccRegs.DACCTL.bit.DACREFSEL = REFERENCE_VDAC;
//Enable DAC output
DaccRegs.DACOUTEN.bit.DACOUTEN = 1;
EDIS;
// iniciar buffers de datos
init_buffer();
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global __interrupt INTM
ERTM; // Enable Global realtime __interrupt DBGM
// Step 6. IDLE loop. Just sit and loop forever (optional):
for(;;);
}
/**
* Añadir descripcion de la funcion
* @param unsigned long int WaitTime
* @returns void
*/
void SetAlarm(unsigned long int WaitTime)
{
NextSchedulingDelay = WaitTime;
EALLOW;
PieVectTable.TINT0 = &cpu_timer0_isr;
EDIS;
CpuTimer0Regs.TCR.bit.TSS = 1;
InitCpuTimers();
ConfigCpuTimer(&CpuTimer0, 150, (float)(WaitTime*1000));
CpuTimer0Regs.TCR.all = 0x4001; /** Use write-only instruction to set TSS bit = 0 */
IER |= M_INT1;
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
}
void Uart_timer_init()
{
EALLOW;
PieVectTable.TINT0 = &cpu_timer0_isr;
EDIS;
InitCpuTimers();
ConfigCpuTimer(&CpuTimer0, 60, 30000); // 30ms
CpuTimer0Regs.TCR.all = 0x4001;
IER |= M_INT1;
// Enable TINT0 in the PIE: Group 1 interrupt 7
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
}
//---------------------------------------------------------------------------
// ConfigCpuTimer:
//---------------------------------------------------------------------------
// This function initializes the selected timer to the period specified
// by the "Freq" and "Period" parameters. The "Freq" is entered as "MHz"
// and the period in "uSeconds". The timer is held in the stopped state
// after configuration.
//
void SetupTimerInterrupt(void)
{
InitCpuTimers(); // For this example, only initialize the Cpu Timers
// Configure CPU-Timer 0, 1, and 2 to interrupt every second:
// 150MHz CPU Freq, 1 msecond Period (in uSeconds)
ConfigCpuTimer(&CpuTimer2, 150, 1000);
// To ensure precise timing, use write-only instructions to write to the entire register. Therefore, if any
// of the configuration bits are changed in ConfigCpuTimer and InitCpuTimers (in DSP2833x_CpuTimers.h), the
// below settings must also be updated.
CpuTimer2Regs.TCR.all = 0x4001; // Use write-only instruction to set TSS bit = 0
// Step 4. User specific code, enable interrupts:
// Enable CPU int 14, which is connected to CPU-Timer 2:
IER |= M_INT14;
// Enable TINT0 in the PIE: Group 1 interrupt 7
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
}
void ClockSetup()
{
Clock.RegsAddr = &CpuTimer1Regs;
// Initialize timer period to maximum:
CpuTimer1Regs.PRD.all = 0xFFFFFFFF;
// Initialize pre-scale counter to divide by 1 (SYSCLKOUT):
CpuTimer1Regs.TPR.all = 0;
CpuTimer1Regs.TPRH.all = 0;
// Make sure timer is stopped:
CpuTimer1Regs.TCR.bit.TSS = 1;
// Reload all counter register with period value:
CpuTimer1Regs.TCR.bit.TRB = 1;
// Reset interrupt counters:
Clock.InterruptCount = 0;
ConfigCpuTimer(&Clock,CPU_FREQ_MHZ, CLOCK_PERIOD);
//pie interrupt
IER |= M_INT13;
ReloadCpuTimer1();
StartCpuTimer1();
}
/**
* This function will initial TMS320F28379D board.
*/
void rt_hw_board_init()
{
/* Configure the system clock @ 84 Mhz */
InitSysCtrl();
DINT;
InitPieCtrl();
IER = 0x0000;
IFR = 0x0000;
InitPieVectTable();
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.TIMER2_INT = &cpu_timer2_isr;
PieVectTable.RTOS_INT = &RTOSINT_Handler;
EDIS;
InitCpuTimers();
ConfigCpuTimer(&CpuTimer2, 200, 1000000 / RT_TICK_PER_SECOND);
CpuTimer2Regs.TCR.all = 0x4000;
IER |= M_INT14;
#ifdef RT_USING_HEAP
rt_system_heap_init((void *)HEAP_BEGIN, (void *)HEAP_END);
#endif
rt_hw_sci_init();
#ifdef RT_USING_COMPONENTS_INIT
rt_components_board_init();
#endif
#ifdef RT_USING_CONSOLE
rt_console_set_device(RT_CONSOLE_DEVICE_NAME);
#endif
rt_interrupt_leave_sethook((void (*)(void))trap_rtosint);
}
//
// IssueSCCReset - This function will generate SCC Reset for the specified
// CPU timer instance number
//
void IssueSCCReset(Uint16 peripheral_number)
{
//
// Initialize CPU timers. This will stop all timers.
//
InitCpuTimers();
//
// Configure the specified CPU Timer for a 500ns period @200MHz CPU Frq
//
ConfigCpuTimer(&(*TIMERVARS[peripheral_number]), 200, 0.5);
EALLOW;
//
// Enable CPU interrupt 1, 13, and 14
//
IER |= (M_INT1 | M_INT13 | M_INT14);
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
//
// Start specified Timer
//
(*TIMERREGS[peripheral_number]).TCR.all = 0x4020;
//
// Enable Global interrupt INTM
//
EINT;
EDIS;
while(1)
{
SafeCopyCodeZ1(32, (Uint16 *)0xC000, (Uint16 *)0x80000);
}
}
static void init_peripherals_drivers(void)
{
uint16_t i;
/// Initialization of HRADC boards
stop_DMA();
decimation_factor = (uint16_t) roundf(HRADC_FREQ_SAMP / ISR_CONTROL_FREQ);
decimation_coeff = 1.0 / (float) decimation_factor;
HRADCs_Info.enable_Sampling = 0;
HRADCs_Info.n_HRADC_boards = NUM_HRADC_BOARDS;
Init_DMA_McBSP_nBuffers(NUM_HRADC_BOARDS, decimation_factor, HRADC_SPI_CLK);
Init_SPIMaster_McBSP(HRADC_SPI_CLK);
Init_SPIMaster_Gpio();
InitMcbspa20bit();
DELAY_US(500000);
send_ipc_lowpriority_msg(0,Enable_HRADC_Boards);
DELAY_US(2000000);
for(i = 0; i < NUM_HRADC_BOARDS; i++)
{
Init_HRADC_Info(&HRADCs_Info.HRADC_boards[i], i, decimation_factor,
buffers_HRADC[i], TRANSDUCER_GAIN[i]);
Config_HRADC_board(&HRADCs_Info.HRADC_boards[i], TRANSDUCER_OUTPUT_TYPE[i],
HRADC_HEATER_ENABLE[i], HRADC_MONITOR_ENABLE[i]);
}
Config_HRADC_SoC(HRADC_FREQ_SAMP);
/**
*
* Initialization of PWM modules. PWM signals are mapped as the following:
*
* ePWM => Signal POF transmitter
* channel Name on BCB
*
* ePWM1A => Q1_MOD_1 PWM1
* ePWM1B => Q1_MOD_5 PWM2
* ePWM2A => Q2_MOD_1 PWM3
* ePWM2B => Q2_MOD_5 PWM4
* ePWM3A => Q1_MOD_2 PWM5
* ePWM3B => Q1_MOD_6 PWM6
* ePWM4A => Q2_MOD_2 PWM7
* ePWM4B => Q2_MOD_6 PWM8
* ePWM5A => Q1_MOD_3 PWM9
* ePWM5B => Q1_MOD_7 PWM10
* ePWM6A => Q2_MOD_3 PWM11
* ePWM6B => Q2_MOD_7 PWM12
* ePWM7A => Q1_MOD_4 PWM13
* ePWM7B => Q1_MOD_8 PWM14
* ePWM8A => Q2_MOD_4 PWM15
* ePWM8B => Q2_MOD_8 PWM16
*
*/
g_pwm_modules.num_modules = 8;
PWM_MODULATOR_Q1_MOD_1_5 = &EPwm1Regs;
PWM_MODULATOR_Q2_MOD_1_5 = &EPwm2Regs;
PWM_MODULATOR_Q1_MOD_2_6 = &EPwm3Regs;
PWM_MODULATOR_Q2_MOD_2_6 = &EPwm4Regs;
PWM_MODULATOR_Q1_MOD_3_7 = &EPwm5Regs;
PWM_MODULATOR_Q2_MOD_3_7 = &EPwm6Regs;
PWM_MODULATOR_Q1_MOD_4_8 = &EPwm7Regs;
PWM_MODULATOR_Q2_MOD_4_8 = &EPwm8Regs;
disable_pwm_outputs();
disable_pwm_tbclk();
init_pwm_mep_sfo();
init_pwm_module(PWM_MODULATOR_Q1_MOD_1_5, PWM_FREQ, 0, PWM_Sync_Master, 0,
PWM_ChB_Independent, PWM_DEAD_TIME);
init_pwm_module(PWM_MODULATOR_Q2_MOD_1_5, PWM_FREQ, 1, PWM_Sync_Slave, 180,
PWM_ChB_Independent, PWM_DEAD_TIME);
cfg_pwm_module_h_brigde_q2(PWM_MODULATOR_Q2_MOD_1_5);
init_pwm_module(PWM_MODULATOR_Q1_MOD_2_6, PWM_FREQ, 0, PWM_Sync_Slave, 45,
PWM_ChB_Independent, PWM_DEAD_TIME);
init_pwm_module(PWM_MODULATOR_Q2_MOD_2_6, PWM_FREQ, 3, PWM_Sync_Slave, 225,
PWM_ChB_Independent, PWM_DEAD_TIME);
cfg_pwm_module_h_brigde_q2(PWM_MODULATOR_Q2_MOD_2_6);
init_pwm_module(PWM_MODULATOR_Q1_MOD_3_7, PWM_FREQ, 0, PWM_Sync_Slave, 90,
PWM_ChB_Independent, PWM_DEAD_TIME);
init_pwm_module(PWM_MODULATOR_Q2_MOD_3_7, PWM_FREQ, 5, PWM_Sync_Slave, 270,
PWM_ChB_Independent, PWM_DEAD_TIME);
cfg_pwm_module_h_brigde_q2(PWM_MODULATOR_Q2_MOD_3_7);
init_pwm_module(PWM_MODULATOR_Q1_MOD_4_8, PWM_FREQ, 0, PWM_Sync_Slave, 135,
PWM_ChB_Independent, PWM_DEAD_TIME);
init_pwm_module(PWM_MODULATOR_Q2_MOD_4_8, PWM_FREQ, 7, PWM_Sync_Slave, 315,
PWM_ChB_Independent, PWM_DEAD_TIME);
cfg_pwm_module_h_brigde_q2(PWM_MODULATOR_Q2_MOD_4_8);
InitEPwm1Gpio();
InitEPwm2Gpio();
InitEPwm3Gpio();
InitEPwm4Gpio();
InitEPwm5Gpio();
InitEPwm6Gpio();
InitEPwm7Gpio();
InitEPwm8Gpio();
/// Initialization of timers
InitCpuTimers();
ConfigCpuTimer(&CpuTimer0, C28_FREQ_MHZ, 1000000);
CpuTimer0Regs.TCR.bit.TIE = 0;
}
main() {
InitSysCtrl(); // 初始化system
DINT;
// 初始化PIE
InitPieCtrl();
// 初始化ADC
InitPieVectTable();
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
InitFlash();
//AdcOffsetSelfCal();
InitAdc();
IER = 0x0000;
IFR = 0x0000;
// 初始化中斷向量表
InitEPwm1Gpio();
GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 1; // GPIO0 = PWM1A
GpioCtrlRegs.GPADIR.bit.GPIO0 = 1; //GPIO0 = output
EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
InitEPwm1Example();
InitCpuTimers();
ConfigCpuTimer(&CpuTimer0, 1, 3906); //必須先配置 再致能 !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
CpuTimer0Regs.TCR.all = 0x4000; // 致能CPUTIMER0
EDIS;
// 設定中斷向量表位置
EALLOW;
PieVectTable.XINT1 = &xint1_isr;
PieVectTable.XINT2 = &xint2_isr;
PieVectTable.ADCINT1 = &adc_isr;
PieVectTable.TINT0 = &cputimer_isr;
EDIS;
// 設置外部中斷腳位及燈號腳位
EALLOW;
GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 0; // GPIO ADC開關
GpioCtrlRegs.GPADIR.bit.GPIO1 = 0; // input
GpioCtrlRegs.GPAQSEL1.bit.GPIO1 = 0; // XINT1 Synch to SYSCLKOUT only
GpioIntRegs.GPIOXINT1SEL.bit.GPIOSEL = 1; // XINT1 is GPIO1
GpioCtrlRegs.GPAPUD.bit.GPIO1 = 0;
GpioCtrlRegs.GPAMUX1.bit.GPIO2 = 0; // GPIO
GpioCtrlRegs.GPADIR.bit.GPIO2 = 1; // OUTput
GpioDataRegs.GPACLEAR.bit.GPIO2 = 1; // 當ADC ON/OFF 標示燈
GpioCtrlRegs.GPAMUX1.bit.GPIO3 = 0; // GPIO ePWM開關
GpioCtrlRegs.GPADIR.bit.GPIO3 = 0;
GpioCtrlRegs.GPAQSEL1.bit.GPIO3 = 0; // XINT2 Synch to SYSCLKOUT only
GpioIntRegs.GPIOXINT2SEL.bit.GPIOSEL = 3; // XINT2 is GPIO3
GpioCtrlRegs.GPAPUD.bit.GPIO3 = 0; //
GpioCtrlRegs.GPAMUX1.bit.GPIO4 = 0; // GPIO
GpioCtrlRegs.GPADIR.bit.GPIO4 = 1; // OUTput
GpioDataRegs.GPACLEAR.bit.GPIO4 = 1; // 當 ePWM ON/OFF 標示燈
GpioCtrlRegs.GPAMUX1.bit.GPIO6 = 0; // GPIO
GpioCtrlRegs.GPADIR.bit.GPIO6 = 1; // OUTput 閃爍用
GpioDataRegs.GPACLEAR.bit.GPIO6 = 1;
EDIS;
IER |= M_INT1; // 開啟GROUP1中斷
EINT;
ERTM;
EALLOW;
PieCtrlRegs.PIECTRL.bit.ENPIE = 1; // 致能PIE(非必要)
PieCtrlRegs.PIEIER1.bit.INTx1 = 0;
PieCtrlRegs.PIEIER1.bit.INTx4 = 1;
PieCtrlRegs.PIEIER1.bit.INTx5 = 1;
//PieCtrlRegs.PIEIER1.bit.INTx7 = 1; // !!!!!!!! 不能同時開啟 , 否則打架 !!!!!!!!!
XIntruptRegs.XINT1CR.bit.POLARITY = 3; // interrupt occur on both falling and rising edge
XIntruptRegs.XINT1CR.bit.ENABLE = 1; // Enable Xint1
XIntruptRegs.XINT2CR.bit.POLARITY = 3; // interrupt occur on both falling and rising edge
XIntruptRegs.XINT2CR.bit.ENABLE = 1; // Enable Xint2
EDIS;
LoopCount = 0;
ConversionCount = 0;
// Configure ADC
// Note: Channel ADCINA4 will be double sampled to workaround the ADC 1st sample issue for rev0 silicon errata
EALLOW;
AdcRegs.ADCCTL1.bit.ADCENABLE = 0; // 不致能ADC (在initadc中已經致能)
AdcRegs.ADCCTL1.bit.INTPULSEPOS = 1; //ADCINT1 trips after AdcResults latch
AdcRegs.INTSEL1N2.bit.INT1E = 0; //disabled ADCINT1
AdcRegs.INTSEL1N2.bit.INT1CONT = 0; //Disable ADCINT1 Continuous mode
AdcRegs.INTSEL1N2.bit.INT1SEL = 0; //setup EOC0 to trigger ADCINT1 to fire
AdcRegs.ADCSOC0CTL.bit.CHSEL = 1; //set SOC0 channel select to ADCINA1
AdcRegs.ADCSOC0CTL.bit.TRIGSEL = 1; //set SOC0 start trigger on CPUtimer
AdcRegs.ADCSOC0CTL.bit.ACQPS = 6;//set SOC0 S/H Window to 7 ADC Clock Cycles, (6 ACQPS plus 1)
//AdcRegs.ADCINTFLGCLR.bit.ADCINT1 = 1;
EDIS;
//GpioCtrlRegs.AIOMUX1.bit. &= ~(0x08); // ADCINA1
//
EALLOW;
SysCtrlRegs.XCLK.bit.XCLKOUTDIV = 2;
EDIS;
for (;;) {
//volatile long double n;
//for (n = 0; n < 5000; n++)
// ;
//EALLOW;
//GpioDataRegs.GPATOGGLE.bit.GPIO6 = 1;
//EDIS;
if (GpioDataRegs.GPADAT.bit.GPIO1 == 1) {
Voltage1[array] = AdcResult.ADCRESULT0;
if (Voltage1[array] > 5000) {
EALLOW;
SysCtrlRegs.PCLKCR1.bit.EPWM1ENCLK = 0;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
SysCtrlRegs.LPMCR0.bit.LPM = 3; // 全部休眠
EDIS;
EALLOW;
SysCtrlRegs.CLKCTL.bit.WDHALTI = 1; // 從休眠中開啟 , 全部重設!!
EDIS;
}
v1 = 3031;
v2 = (int)Voltage1[array];
k1 = 0.3; //0.0001;
k2 = 0.000055;
verr = v1 - v2;
vk2 = verr + z1;
z1 = verr;
vko2 =(int) vk2 * k2;
if (vko2 >= 1400)
{
vko2 = 1400;
}
else if (vko2 <= -1300) ///////////////////////
{
vko2 = -1300;
}
vou2 = vko2 + z2;
z2 = vou2;
vk1 = verr;
vko1 =(int) vk1 * k1;
vout =(int)( vou2 + vko1);
if (vout >= 1400) {
vout = 1400;
} else if (vout <= 0) {
vout = 0;
}
EALLOW;
EPwm1Regs.CMPA.half.CMPA = 1500 - vout; // Set compare A value
EDIS;
if (array < 255)
array++;
else
array = 0;
}
}
}
main()
{
int16 i;
int16 j;
int16 test[100];
//一、 system initialize: pll clock:150M;hispcp=1 100m/2; lospcp=2 100m/4;eWM,ADC,cpu Timer clock enabled
InitSysCtrl(); //修改了默认时钟到150MHz,关闭了无关外设时钟
// DELAY_US(1000000);
//二、initialize GPIO:set the GPIO to it's default state: 普通GPIO状态,均为输入,输入采样方式为第一种,均为上拉使能.
//epwm disable pull up
InitGpio(); //全部引脚初始化
//用户自定义IO初始化(主要包括:逻辑输入输出引脚)
InitLogicIO();
//串口初始化
InitScicGpio();
InitSci();
//初始化触摸屏变量
initvar();
// MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
//EPwm初始化
// InitEPwmGpio(); //PWM IO初始化
//InitEPwm1Gpio();
//InitEPwm2Gpio(); //所有PWM模块都需要开启
//InitEPwm3Gpio();
//InitEPwm4Gpio();
//InitEPwm5Gpio();
//InitEPwm6Gpio();
//三、initialize interrupts:disable cpu interrupt; disabel all pie interrupts and clear all pie interrupt flags
DINT;
InitPieCtrl();
IER=0x0000;
IFR=0x0000;
//initialize Pie interrupts and enable pie
InitPieVectTable();
//用户自定义的中断初始化
EALLOW;
PieVectTable.TINT0 = &cpu_timer0_isr; //Cpu timer0 interrupt
PieVectTable.XINT1 = &xint1_isr;
EDIS;
//四、initialize peripherials and setup peripherials
InitFlash();
InitXintf();
//ADC initialize
InitAdc();
//ADC setup
SetupAdc();
// Adc_Inquire();
//Epwm Setup
// SetupEPwm(); //pwm开始产生
//CPU timer0 initialize
InitCpuTimers();
// Configure CPU-Timer 0 to interrupt every msecond:
// 150MHz CPU Freq, 3m second Period (in uSeconds)
ConfigCpuTimer(&CpuTimer0, 150, 3000);
StartCpuTimer0();
//五、User specific code, enable interrupts:
//在开始中断之前先进行测试循环。此时进行单步运行
//1. I/O test
//测试程序，GPIOA的低18位为通用I/O输入
//测试程序，GPIOA的24,25,26,27为通用I/O输入，GPIOB的48-61为通用I/O输入
//由于I/o口均有上拉，所以只要测试输入0时是否正确即可。这样最大限度保护芯片。
for(i=0;i<100;i++)
{
j=i;
}
// EALLOW;
// GpioCtrlRegs.GPADIR.all = 0x0003FFFF; // GPIO functionality GPIO0-GPIO15
// EDIS;
// GpioDataRegs.GPACLEAR.all = 0x0003FFFF;
// GpioDataRegs.GPASET.all = 0x0001AAAA;
// GpioDataRegs.GPATOGGLE.all = 0x0003FFFF;
//2. Communication Test: //具体通讯是否成功还需要更多程序
//测试RS485通讯芯片
GpioDataRegs.GPASET.bit.GPIO21=1;
GpioDataRegs.GPATOGGLE.bit.GPIO22=1;
//测试CAN通讯芯片
GpioDataRegs.GPATOGGLE.bit.GPIO19=1;
for(i=0;i<100;i++)
{
j=i;
}
//测试RS485通讯芯片
GpioDataRegs.GPASET.bit.GPIO21=1;
GpioDataRegs.GPATOGGLE.bit.GPIO22=1;
//测试CAN通讯芯片
GpioDataRegs.GPATOGGLE.bit.GPIO19=1;
for(i=0;i<100;i++)
{
j=i;
}
// 3. A/D Test
//软件启动adc转换
for(i=0;i<100;i++)
{
AdcRegs.ADCTRL2.bit.SOC_SEQ1=1;
Adc_Inquire();
}
// 4. PWM Test //每次测一个单相，这样子发现错误及时下电
for(i=0;i<100;i++)
{
j=i;
}
*FPGA_PWMA_Wait1=1000;
*FPGA_PWMA_Duty1=1000;
*FPGA_PWMA_Wait2=2000;
*FPGA_PWMA_Duty2=2000;
*FPGA_PWMA_Wait3=3000;
*FPGA_PWMA_Duty3=3000;
*FPGA_PWMA_Wait4=4000;
*FPGA_PWMA_Duty4=4000;
*FPGA_PWMA_Wait5=5000;
*FPGA_PWMA_Duty5=5000;
*FPGA_PWMA_Wait6=6000;
*FPGA_PWMA_Duty6=6000;
*FPGA_PWMA_Wait7=1000;
*FPGA_PWMA_Duty7=1000;
*FPGA_PWMA_Wait8=2000;
*FPGA_PWMA_Duty8=2000;
*FPGA_PWMA_Wait9=3000;
*FPGA_PWMA_Duty9=3000;
*FPGA_PWMA_Wait10=4000;
*FPGA_PWMA_Duty10=4000;
*FPGA_PWMA_Wait11=5000;
*FPGA_PWMA_Duty11=5000;
*FPGA_PWMA_Wait12=6000;
*FPGA_PWMA_Duty12=6000;
for(i=0;i<100;i++)
{
j=i;
}
*FPGA_PWMB_Wait1=1000;
*FPGA_PWMB_Duty1=1000;
*FPGA_PWMB_Wait2=2000;
*FPGA_PWMB_Duty2=2000;
*FPGA_PWMB_Wait3=3000;
*FPGA_PWMB_Duty3=3000;
*FPGA_PWMB_Wait4=4000;
*FPGA_PWMB_Duty4=4000;
*FPGA_PWMB_Wait5=5000;
*FPGA_PWMB_Duty5=5000;
*FPGA_PWMB_Wait6=6000;
*FPGA_PWMB_Duty6=6000;
*FPGA_PWMB_Wait7=1000;
*FPGA_PWMB_Duty7=1000;
*FPGA_PWMB_Wait8=2000;
*FPGA_PWMB_Duty8=2000;
*FPGA_PWMB_Wait9=3000;
*FPGA_PWMB_Duty9=3000;
*FPGA_PWMB_Wait10=4000;
*FPGA_PWMB_Duty10=4000;
*FPGA_PWMB_Wait11=5000;
*FPGA_PWMB_Duty11=5000;
*FPGA_PWMB_Wait12=6000;
*FPGA_PWMB_Duty12=6000;
for(i=0;i<100;i++)
{
j=i;
}
*FPGA_PWMC_Wait1=1000;
*FPGA_PWMC_Duty1=1000;
*FPGA_PWMC_Wait2=2000;
*FPGA_PWMC_Duty2=2000;
*FPGA_PWMC_Wait3=3000;
*FPGA_PWMC_Duty3=3000;
*FPGA_PWMC_Wait4=4000;
*FPGA_PWMC_Duty4=4000;
*FPGA_PWMC_Wait5=5000;
*FPGA_PWMC_Duty5=5000;
*FPGA_PWMC_Wait6=6000;
*FPGA_PWMC_Duty6=6000;
*FPGA_PWMC_Wait7=1000;
*FPGA_PWMC_Duty7=1000;
*FPGA_PWMC_Wait8=2000;
*FPGA_PWMC_Duty8=2000;
*FPGA_PWMC_Wait9=3000;
*FPGA_PWMC_Duty9=3000;
*FPGA_PWMC_Wait10=4000;
*FPGA_PWMC_Duty10=4000;
*FPGA_PWMC_Wait11=5000;
*FPGA_PWMC_Duty11=5000;
*FPGA_PWMC_Wait12=6000;
*FPGA_PWMC_Duty12=6000;
for(i=0;i<100;i++)
{
j=i;
}
*FPGA_PWMD_Wait1=1000;
*FPGA_PWMD_Duty1=1000;
*FPGA_PWMD_Wait2=2000;
*FPGA_PWMD_Duty2=2000;
*FPGA_PWMD_Wait3=3000;
*FPGA_PWMD_Duty3=3000;
*FPGA_PWMD_Wait4=4000;
*FPGA_PWMD_Duty4=4000;
*FPGA_PWMD_Wait5=5000;
*FPGA_PWMD_Duty5=5000;
*FPGA_PWMD_Wait6=6000;
*FPGA_PWMD_Duty6=6000;
*FPGA_PWMD_Wait7=1000;
*FPGA_PWMD_Duty7=1000;
*FPGA_PWMD_Wait8=2000;
*FPGA_PWMD_Duty8=2000;
*FPGA_PWMD_Wait9=3000;
*FPGA_PWMD_Duty9=3000;
*FPGA_PWMD_Wait10=4000;
*FPGA_PWMD_Duty10=4000;
*FPGA_PWMD_Wait11=5000;
*FPGA_PWMD_Duty11=5000;
*FPGA_PWMD_Wait12=6000;
*FPGA_PWMD_Duty12=6000;
for(i=0;i<100;i++)
{
j=i;
}
*FPGA_PWME_Wait1=1000;
*FPGA_PWME_Duty1=1000;
*FPGA_PWME_Wait2=2000;
*FPGA_PWME_Duty2=2000;
*FPGA_PWME_Wait3=3000;
*FPGA_PWME_Duty3=3000;
*FPGA_PWME_Wait4=4000;
*FPGA_PWME_Duty4=4000;
*FPGA_PWME_Wait5=5000;
*FPGA_PWME_Duty5=5000;
*FPGA_PWME_Wait6=6000;
*FPGA_PWME_Duty6=6000;
*FPGA_PWME_Wait7=1000;
*FPGA_PWME_Duty7=1000;
*FPGA_PWME_Wait8=2000;
*FPGA_PWME_Duty8=2000;
*FPGA_PWME_Wait9=3000;
*FPGA_PWME_Duty9=3000;
*FPGA_PWME_Wait10=4000;
*FPGA_PWME_Duty10=4000;
*FPGA_PWME_Wait11=5000;
*FPGA_PWME_Duty11=5000;
*FPGA_PWME_Wait12=6000;
*FPGA_PWME_Duty12=6000;
//PWM复位功能演示，复位以后，所有PWM为零。
GpioDataRegs.GPACLEAR.bit.GPIO31=1;
DELAY_US(1);
GpioDataRegs.GPASET.bit.GPIO31=1;
// 5. D/A Test
*DAC1=1024;
*DAC2=2048;
*DAC3=3072;
*DAC4=4095;
// 6.测试FPGA的I/O
// 首先测试是否结果为1
for(j=0;j<10;j++)
{
for(i=0; i<24; i++)
test[i]=*(FPGA_IO1_DATA+i);
i=0;
}
//再测试是否结果为0
for(j=0;j<100;j++)
{
for(i=0; i<24; i++)
test[i]=*(FPGA_IO1_DATA+i);
i=0;
}
//输出功能演示,只有输出使能的IO pin才能输出0
*FPGA_IODIR_LOW=0xFFFF;
*FPGA_IODIR_HIGH=0x00FF;
j=0;
for(i=0; i<24; i++)
{
*(FPGA_IO1_DATA+i)=j;
j=~j;
}
j=0;
for(i=0; i<24; i++)
{
j=~j;
*(FPGA_IO1_DATA+i)=j;
}
//复位功能演示，复位以后，所有IO上拉。且输出不使能
GpioDataRegs.GPACLEAR.bit.GPIO30=1;
DELAY_US(1);
GpioDataRegs.GPASET.bit.GPIO30=1;
j=*FPGA_IODIR_LOW;
j=*FPGA_IODIR_HIGH;
j=0;
for(i=0; i<24; i++)
*(FPGA_IO1_DATA+i)=j;
//开用到的中断，最后开中断。测试SCI 通讯以及DSP 和FPGA的通讯
EnableInterrupts(); //cpu timer0 中断
i=0;
// 六. 主循环IDLE loop. Just sit and loop forever (optional):
for(;;)
{
// ScicRegs.SCITXBUF=i;
DELAY_US(1000);
/*
if(GpioDataRegs.GPADAT.bit.GPIO27==0)
GpioDataRegs.GPBCLEAR.bit.GPIO50=1;
else
GpioDataRegs.GPBSET.bit.GPIO50=1;
if(GpioDataRegs.GPBDAT.bit.GPIO48==0)
GpioDataRegs.GPBCLEAR.bit.GPIO51=1;
else
GpioDataRegs.GPBSET.bit.GPIO51=1;
// ModebusRegsDataBuff[0]=i;
// GpioDataRegs.GPBTOGGLE.bit.GPIO60=1;
// GpioDataRegs.GPBTOGGLE.bit.GPIO61=1;
// GpioDataRegs.GPBTOGGLE.bit.GPIO58=1;
// GpioDataRegs.GPBTOGGLE.bit.GPIO59=1;
GpioDataRegs.GPBCLEAR.bit.GPIO53= 1;
GpioDataRegs.GPBCLEAR.bit.GPIO52= 1;
i++;
// if(i==2000)
if(i==FPGA_DATA_Test_length)
i=0;
// TestState=~TestState;
*/
slavecomm();
}
}
void main(void)
{
//Enable peripheral clocks and other things
//F2837xD_SysCtrl.c
InitSysCtrl();
EALLOW;
GpioCtrlRegs.GPAMUX1.all = 0x00000000; // All GPIO
GpioCtrlRegs.GPAMUX2.all = 0x00000000; // All GPIO
GpioCtrlRegs.GPBMUX1.all = 0x00000000; // All GPIO
GpioCtrlRegs.GPADIR.all = 0xFFFFFFFF; // All outputs
GpioCtrlRegs.GPBDIR.all = 0x00001FFF; // All outputs
EDIS;
//InitGpio();
//initalize GPIO
InitSpiaGpio();
DINT;
InitPieCtrl();
// Disable CPU __interrupts and clear all CPU __interrupt flags:
IER = 0x0000;
IFR = 0x0000;
InitPieVectTable();
EALLOW; //This is needed to write to EALLOW protected registers
ClkCfgRegs.LOSPCP.bit.LSPCLKDIV = 0x5; //LSPCLK (200 Mhz)/10
//-----------------------------------------------------------------------------------
//Instantiate CPU timer control
//CPU timer interrupt services in prototype phase
EALLOW;
PieVectTable.TIMER0_INT = &cpu_timer0_isr;
PieVectTable.TIMER1_INT = &cpu_timer1_isr;
PieVectTable.TIMER2_INT = &cpu_timer2_isr;
EDIS; //This is needed to disable write to EALLOW protected registers
InitCpuTimers();
// Configure CPU-Timer 0, 1, and 2 to interrupt every second:
// 200MHz CPU Freq, 1 second Period (in uSeconds)
ConfigCpuTimer(&CpuTimer0, 200, 100000);
ConfigCpuTimer(&CpuTimer1, 200, 10000000);
ConfigCpuTimer(&CpuTimer2, 200, 1000000);
// To ensure precise timing, use write-only instructions to write to the entire register. Therefore, if any
// of the configuration bits are changed in ConfigCpuTimer and InitCpuTimers (in F2837xD_cputimervars.h), the
// below settings must also be updated.
CpuTimer0Regs.TCR.all = 0x4000; // Use write-only instruction to set TSS bit = 0
CpuTimer1Regs.TCR.all = 0x4000; // Use write-only instruction to set TSS bit = 0
CpuTimer2Regs.TCR.all = 0x4000; // Use write-only instruction to set TSS bit = 0
// Enable CPU int1 which is connected to CPU-Timer 0, CPU int13
// which is connected to CPU-Timer 1, and CPU int 14, which is connected
// to CPU-Timer 2:
IER |= M_INT1;
IER |= M_INT13;
IER |= M_INT14;
// Enable TINT0 in the PIE: Group 1 interrupt 7
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
//Enable interrupts
//End CPU timer configuration
//-----------------------------------------------------------------------------------
spi_init();
spi_fifo();
output_high();
DELAY_US(1000000);
LTC_wakeup();
/*
//LTC ADCV read voltage functions here ---
//Note: Additional ADC readings may be possible i.e Sum of Measurement cells,
LTC_refon_set();
LTC_ADC_clear();
//LTC_ADC_conversion();
//----------------------------------------
//need to somehow clear receive buffer
SpiaRegs.SPIFFRX.bit.RXFFOVFCLR = 1;
//LTC_read_voltages_123();
//LTC_read_voltages_456();
//LTC_read_voltages_789();
//LTC_read_voltages_10_11_12();
//LTC_UVOV_get_flags();
//ready_rxbuf();
//read_voltage_from_receive_buffer();
//receive_all_data();
//LTC_read_UVOV_flags();
//read_voltage_from_receive_buffer();
//Uint16 checker[6] = {rdata[0], rdata[1], rdata[2], rdata[3], rdata[4], rdata[5]};
//Uint16 PEC_check = LTC_pec_calc(checker, 6);
*/
//------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
for(;;) //infinite loop
{
//incorporate a regular LTC_wakeup procedure (< 2.0 seconds)
//incorporate a regular LTC pulse signal (< 1.5 seconds)
//It is important to regularly pulse wake up and pulse signals to the
//LTC6804-2 and LTC3300 boards so that the Watchdog Timer does not expire
//LTC6804-2 ADC reference ON
//LTC3300 72 pulse cycle of an execute command repeatedly operating
}
}
void timerINIT(){
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP2833x_SysCtrl.c file.
//InitPeripheralClocks();
// Step 2. Initalize GPIO:
// This example function is found in the DSP2833x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio(); // Skipped for this example
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
DINT;
// Initialize the PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
// This function is found in the DSP2833x_PieCtrl.c file.
InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example. This is useful for debug purposes.
// The shell ISR routines are found in DSP2833x_DefaultIsr.c.
// This function is found in DSP2833x_PieVect.c.
InitPieVectTable();
// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
EALLOW; // This is needed to write to EALLOW protected registers
// PieVectTable.TINT0 = &cpu_timer0_isr;
PieVectTable.XINT13 = &ADC_isr;
//PieVectTable.TINT2 = &cpu_timer2_isr;
EDIS; // This is needed to disable write to EALLOW protected registers
// Step 4. Initialize the Device Peripheral. This function can be
// found in DSP2833x_CpuTimers.c
InitCpuTimers(); // For this example, only initialize the Cpu Timers
EALLOW;
// Configure CPU-Timer 0, 1, and 2 to interrupt every second:
// 150MHz CPU Freq, 1 second Period (in uSeconds)
// ConfigCpuTimer(&CpuTimer0, 150, 1000000);
ConfigCpuTimer(&CpuTimer1, 150, 1000000*1/20000*.5); //1/10000 is the frequency we want to toggle timer1 to interrupt
//ConfigCpuTimer(&CpuTimer2, 150, 1000000);
// To ensure precise timing, use write-only instructions to write to the entire register. Therefore, if any
// of the configuration bits are changed in ConfigCpuTimer and InitCpuTimers (in DSP2833x_CpuTimers.h), the
// below settings must also be updated.
// CpuTimer0Regs.TCR.all = 0x4001; // Use write-only instruction to set TSS bit = 0
CpuTimer1Regs.TCR.all = 0x4001; // Use write-only instruction to set TSS bit = 0
//CpuTimer2Regs.TCR.all = 0x4001; // Use write-only instruction to set TSS bit = 0
// Step 5. User specific code, enable interrupts:
// Enable CPU int1 which is connected to CPU-Timer 0, CPU int13
// which is connected to CPU-Timer 1, and CPU int 14, which is connected
// to CPU-Timer 2:
//IER |= M_INT1;
IER |= M_INT13;
//IER |= M_INT14;
// Enable TINT0 in the PIE: Group 1 interrupt 7
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
EALLOW;
// Step 6. IDLE loop. Just sit and loop forever (optional):
}
//
// Main
//
void main(void)
{
//
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the F2837xS_SysCtrl.c file.
//
InitSysCtrl();
//
// Step 2. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
//
DINT;
//
// Initialize the PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
// This function is found in the F2837xS_PieCtrl.c file.
//
InitPieCtrl();
//
// Disable CPU interrupts and clear all CPU interrupt flags:
//
IER = 0x0000;
IFR = 0x0000;
//
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example. This is useful for debug purposes.
// The shell ISR routines are found in F2837xS_DefaultIsr.c.
// This function is found in F2837xS_PieVect.c.
//
InitPieVectTable();
//
// Step 3. Configure the timer used to profile the TMU and RTS routines
//
InitCpuTimers();
ConfigCpuTimer(&CpuTimer1, PROFILE_FREQ, PROFILE_PER);
//
// Step 4. Enable global Interrupts and higher priority real-time debug events:
//
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
//
// Step 5. Run the test, generate the input vector, call the RTS/TMU
// routines, get the error vector and, finally, print the execution time.
//
genInputVector(inputVector, VECTOR_SIZE);
ticksRTS = RTS_runTest(inputVector, rtsOutput, VECTOR_SIZE);
ticksTMU = TMU_runTest(inputVector, tmuOutput, VECTOR_SIZE);
maxError = genErrorVector(rtsOutput, tmuOutput, errorVector, VECTOR_SIZE);
timeRTS = ticksRTS * (1.0/PROFILE_FREQ);
timeTMU = ticksTMU * (1.0/PROFILE_FREQ);
//
// To use the printf statement, allocate space for the .cio, .sysmem section,
// increase allotment for the .text, stack and heap sections in the properties
// and linker command file.
//
printf("Execution Results \n");
printf("RTS Time : %10.6f us\n", timeRTS);
printf("TMU Time : %10.6f us\n", timeTMU);
}
void main(void)
{
//
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the F2837xS_SysCtrl.c file.
//
InitSysCtrl();
//
// Step 2. Initialize GPIO:
// This example function is found in the F2837xS_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
//
// InitGpio(); // Skipped for this example
//
// Step 3. Clear all __interrupts and initialize PIE vector table:
//
DINT;
//
// Initialize the PIE control registers to their default state.
// The default state is all PIE __interrupts disabled and flags
// are cleared.
// This function is found in the F2837xS_PieCtrl.c file.
//
InitPieCtrl();
//
// Disable CPU __interrupts and clear all CPU __interrupt flags:
//
IER = 0x0000;
IFR = 0x0000;
//
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the __interrupt
// is not used in this example. This is useful for debug purposes.
// The shell ISR routines are found in F2837xS_DefaultIsr.c.
// This function is found in F2837xS_PieVect.c.
//
InitPieVectTable();
//
// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
//
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.TIMER0_INT = &cpu_timer0_isr;
EDIS; // This is needed to disable write to EALLOW protected registers
//
// Step 4. Initialize the Device Peripheral. This function can be
// found in F2837xS_CpuTimers.c
//
InitCpuTimers(); // For this example, only initialize the Cpu Timers
//
// Configure CPU-Timer 0 to __interrupt every 500 milliseconds:
// 60MHz CPU Freq, 50 millisecond Period (in uSeconds)
//
ConfigCpuTimer(&CpuTimer0, 60, 500000);
//
// To ensure precise timing, use write-only instructions to write to the entire
// register. Therefore, if any of the configuration bits are changed in
// ConfigCpuTimer and InitCpuTimers (in F2837xS_cputimervars.h), the below
// settings must also be updated.
//
CpuTimer0Regs.TCR.all = 0x4001;
//
// Step 5. User specific code, enable __interrupts:
// Configure GPIO34 as a GPIO output pin
//
EALLOW;
GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 0;
GpioCtrlRegs.GPBDIR.bit.GPIO34 = 1;
EDIS;
//
// Enable CPU INT1 which is connected to CPU-Timer 0:
//
IER |= M_INT1;
//
// Enable TINT0 in the PIE: Group 1 __interrupt 7
//
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
//
// Enable global Interrupts and higher priority real-time debug events:
//
EINT; // Enable Global __interrupt INTM
ERTM; // Enable Global realtime __interrupt DBGM
//
// Step 6. IDLE loop. Just sit and loop forever (optional):
//
for(;;);
}
void main()
{
InitSysCtrl(); //初始化系统
DINT; //关中断
IER = 0x0000;
IFR = 0x0000;
InitPieCtrl(); //初始化PIE
InitPieVectTable(); //初始化PIE中断向量表
InitPeripherals(); //初始化外设
PieCtrl.PIEIER1.bit.INTx7 = 1; //使能PIE模块中的CPU定时器0的中断
IER|=M_INT1; //开CPU中断1；
EINT; //使能全局中断
ConfigCpuTimer(&CpuTimer0,150,900000); //CpuTimer0中断时间1s
StartCpuTimer0(); //启动CPU定时器0
GpioDataRegs.GPDDAT.bit.GPIOD5 = 0; //输出为低
GpioDataRegs.GPDDAT.bit.GPIOD6 = 0;
WriteLcdCom(0x01);////清屏
WriteLcdCom(0x0c);////整体显示开,游标开
WriteLcdCom(0x90); //第二行显示信息
WriteLcdDat(0xb7);
WriteLcdDat(0xeb);
WriteLcdDat(0xb3);
WriteLcdDat(0xa4);
WriteLcdDat(0xc7);
WriteLcdDat(0xe0);
for(;;)
{ WriteLcdCom(0x80); //第一行第一个字节地址
// ShowNumber(9);
ShowNumber(Clock.hours/10); //显示小时
ShowNumber(Clock.hours%10);
WriteLcdDat(0xa1); //在小时和分钟之间加：分隔
WriteLcdDat(0xc3);
ShowNumber(Clock.mins/10); //显示分钟
ShowNumber(Clock.mins%10);
WriteLcdDat(0xa1); //在分钟和秒之间加：分隔
WriteLcdDat(0xc3);
ShowNumber(Clock.secs/10); //显示秒
ShowNumber(Clock.secs%10);
WriteLcdCom(0x90); //第二行显示信息
WriteLcdDat(0xb7);
WriteLcdDat(0xeb);
WriteLcdDat(0xb3);
WriteLcdDat(0xa4);
WriteLcdDat(0xc7);
WriteLcdDat(0xe0);
}
}
void main()
{
int i;
InitSysCtrl();
InitGpio();
DINT; //禁止全局中断
InitPieCtrl(); //将PIE控制寄存器初始化为默认状态
IER=0x0000; //禁止CPU中断（IER：CPU级中断使能寄存器）
IFR=0x0000; //清除CPU中断标志位（IFR：CPU级中断标志寄存器）
InitPieVectTable(); //初始化中断向量表
EALLOW; //确认中断函数入口地址
/***********车哥的是把MemoryCopy()放在这里************/
PieVectTable.T1PINT = &renew_PWM_isr;
PieVectTable.RXAINT = &scia_receive_isr;
PieVectTable.TXAINT = &scia_send_isr;
PieVectTable.RXBINT = &scib_receive_isr;
PieVectTable.TXBINT = &scib_send_isr;
//PieVectTable.CAPINT5= &measure_height_isr;
PieVectTable.TINT0 = &cpu_timer0_isr;
// PieVectTable.ADCINT = &adc_isr;
EDIS;
InitPeripherals();
ConfigCpuTimer(&CpuTimer0, 150, 1000000);
StartCpuTimer0();
// Configure ADC
// AdcRegs.ADCMAXCONV.all = 0x0001; // Setup 2 conv's on SEQ1
// AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0x3; // Setup ADCINA3 as 1st SEQ1 conv.
// AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 0x2; // Setup ADCINA2 as 2nd SEQ1 conv.
// AdcRegs.ADCTRL2.bit.EVA_SOC_SEQ1 = 1; // Enable EVASOC to start SEQ1
// AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1; // Enable SEQ1 interrupt (every EOS)
// EvaRegs.GPTCONA.bit.T1TOADC = 1; // Enable EVASOC in EVA
for(i=0;i<11;i++) //初始化数据变量
{
bufferA[i] = 0;
bufferB[i] = 0;
}
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
InitFlash();
PieCtrlRegs.PIEIER2.bit.INTx4=1; //使能INT2 INTx4 T1PINT
PieCtrlRegs.PIEIER9.bit.INTx1=1; //使能PIE模块中的SCIA接收中断
PieCtrlRegs.PIEIER9.bit.INTx2=1; //使能PIE模块中的SCIA发送中断
PieCtrlRegs.PIEIER9.bit.INTx3=1; //使能PIE模块中的SCIB接收中断
PieCtrlRegs.PIEIER9.bit.INTx4=1; //使能PIE模块中的SCIB发送中断
// PieCtrlRegs.PIEIER5.bit.INTx6=1; //使能PIE模块中的CAP5捕获中断
PieCtrlRegs.PIEIER1.bit.INTx7=1; //使能PIE模块中的CPU定时器中断
PieCtrlRegs.PIEIER1.bit.INTx6=1; //使能PIE模块中的ADC中断
IER|=M_INT9 | M_INT2 | M_INT1; //开CPU中断
EINT; //开全局中断
ERTM; //开全局实时中断
/*初始化pid_z模块 全局Q24
pid_z.param.Kp =_IQ(0.5);
pid_z.param.Ki =_IQ(0.0);
pid_z.param.Kd =_IQ(0);
pid_z.param.Kr =_IQ(1.0);
pid_z.param.Km =_IQ(1.0);
pid_z.param.Umax=_IQ(1.0);
pid_x.param.Umin=_IQ(1.0);
//初始化pid_y模块 全局Q24
pid_y.param.Kp =_IQ(0.01);
pid_y.param.Ki =_IQ(0);
pid_y.param.Kd =_IQ(0);
pid_y.param.Kr =_IQ(1.0);
pid_y.param.Km =_IQ(1.0);
pid_y.param.Umax=_IQ(10.0);
pid_y.param.Umin=_IQ(10.0);
//初始化pid_x模块 全局Q24
pid_x.param.Kp =_IQ(0.01);
pid_x.param.Ki =_IQ(0);
pid_x.param.Kd =_IQ(0);
pid_x.param.Kr =_IQ(1.0);
pid_x.param.Km =_IQ(1.0);
pid_x.param.Umax=_IQ(10.0);
pid_x.param.Umin=_IQ(10.0);
*/
/**************看门狗******************
EALLOW;
SysCtrlRegs.SCSR=1;
EDIS;
KickDog();
EALLOW;
SysCtrlRegs.WDCR =0x2F; //使能看门狗
EDIS;
************************************/
//DELAY_US(2000000); //安全起见延时10s，现在延时2s做实验
DELAY_US(5000000); //delay 3s
// EvaRegs.T1CMPR=0x5B8D; //50%
// EvaRegs.T2CMPR=0x5B8D;
// EvbRegs.T3CMPR=0x5B8D;
// EvbRegs.T4CMPR=0x5B8D;
// EvaRegs.T1CMPR=soilgate; //60%
// EvaRegs.T2CMPR=soilgate;
// EvbRegs.T3CMPR=soilgate;
// EvbRegs.T4CMPR=soilgate;
// DELAY_US(2000000);
/*
EvaRegs.T1CMPR=0x7704; //65%
EvaRegs.T2CMPR=0x7704;
EvbRegs.T3CMPR=0x7704;
EvbRegs.T4CMPR=0x7704;
*/
/**********************油门设置*************************
EvaRegs.T1CMPR=0x927C;
EvaRegs.T2CMPR=0x927C;
EvbRegs.T3CMPR=0x927C;
EvbRegs.T4CMPR=0x927C;
DELAY_US(3000000); //delay 2s
EvaRegs.T1CMPR=0x493E;
EvaRegs.T2CMPR=0x493E;
EvbRegs.T3CMPR=0x493E;
EvbRegs.T4CMPR=0x493E;
****************************************************/
//进入循环，等待中断
for(;;)
{
DELAY_US(20000000);
TakeoffSoilgate(23437); //50%
DELAY_US(2000000);
TakeoffSoilgate(26906); //起飞57.3%
DELAY_US(10000000);
TakeoffSoilgate(26250); //软着陆
DELAY_US(1000000);
TakeoffSoilgate(25312);
DELAY_US(1000000);
TakeoffSoilgate(0x500E);
DELAY_US(15000000);
TakeoffSoilgate(26906); //起飞
b=-3.5;
DELAY_US(6000000);
TakeoffSoilgate(26250); //软着陆
DELAY_US(1000000);
TakeoffSoilgate(25312);
DELAY_US(1000000);
TakeoffSoilgate(0x500E);
DELAY_US(15000000);
// TakeoffSoilgate(26906); //起飞
for(;;)
{
}
/*
switch(FlyFlag)
{
case 1: //起飞
TakeoffSoilgate(809);
DELAY_US(2000000);
TakeoffSoilgate(23437);
break;
case 2: //开启定高PID，飞行20s
;
break;
case 3: //降落
break;
case 4: //起飞
break;
case 5: //往回飞,改大点飞行角度
break;
case 6: //降落
break;
case 7: //起飞
break;
case 8: //飞行，此过程中有风扇
break;
case 9: //降落
break;
}
*/
}//end for loop
}//end main
void changeFrequency(long freq){
EALLOW;
ConfigCpuTimer(&CpuTimer1, 150, 1000000*1/freq*.5);
CpuTimer1Regs.TCR.bit.TSS = 0;
}
