void test_DRV8301_setup() {
for (int i = 0; i < num_motors; ++i) {
DRV8301_enable(&gate_drivers[i]);
DRV8301_setupSpi(&gate_drivers[i], &gate_driver_regs[i]);
//@TODO we can use reporting only if we actually wire up the nOCTW pin
gate_driver_regs[i].Ctrl_Reg_1.OC_MODE = DRV8301_OcMode_LatchShutDown;
//Overcurrent set to approximately 150A at 100degC. This may need tweaking.
gate_driver_regs[i].Ctrl_Reg_1.OC_ADJ_SET = DRV8301_VdsLevel_0p730_V;
//20V/V on 500uOhm gives a range of +/- 150A
gate_driver_regs[i].Ctrl_Reg_2.GAIN = DRV8301_ShuntAmpGain_20VpV;
gate_driver_regs[i].SndCmd = true;
DRV8301_writeData(&gate_drivers[i], &gate_driver_regs[i]);
gate_driver_regs[i].RcvCmd = true;
DRV8301_readData(&gate_drivers[i], &gate_driver_regs[i]);
}
}
void main(void) {
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t)&RamfuncsLoadSize);
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
InitSysCtrl();
SysCtrlRegs.PCLKCR1.bit.EQEP2ENCLK = 0; // eQEP2
SysCtrlRegs.PCLKCR0.bit.SPIBENCLK = 0; // SPI-B
InitFlash();
// Step 2. Initalize GPIO:
// InitGpio(); // Skipped; not needed
InitEQep1Gpio();
//InitEPwm1Gpio();
//InitEPwm2Gpio();
//InitEPwm3Gpio();
InitECap1Gpio();
InitECap2Gpio();
InitECap3Gpio();
EALLOW;
GpioCtrlRegs.GPAMUX2.bit.GPIO16 = 1;
GpioCtrlRegs.GPAMUX2.bit.GPIO17 = 1;
GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 1;
GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 1;
GpioCtrlRegs.GPBMUX2.bit.GPIO50 = 0;
GpioCtrlRegs.GPBMUX2.bit.GPIO51 = 0;
GpioCtrlRegs.GPBDIR.bit.GPIO50 = 1;
setupDrv8301();
setupSpiA();
//DRV8301_setupSpi();
EDIS;
DINT;
InitPieCtrl(); // The default state is all PIE interrupts disabled and flags are cleared.
// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell ISRs.
// 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 F2806x_DefaultIsr.c.
InitPieVectTable();
// Interrupts that are used in this example are re-mapped to our ISR functions
EALLOW;
PieVectTable.ECAP1_INT = &ecap1_isr; // Group 4 PIE Peripheral Vectors
PieVectTable.ECAP2_INT = &ecap2_isr; // ''
PieVectTable.ECAP3_INT = &ecap3_isr; // ''
PieVectTable.ADCINT1 = &adc_isr; //
//PieVectTable.SCIRXINTA = &scia_isr;
EDIS;
// Step 4. Initialize all the Device Peripherals:
InitECapRegs();
scia_init();
epwmInit(1,2,0); //10kHz, 50% duty, no chop
InitAdc();
AdcOffsetSelfCal();
// Step 5. Enable interrupts:
IER |= M_INT1; // Enable CPU Interrupt 1 (connected to ADC)
IER |= M_INT4; // Enable CPU INT4 which is connected to ECAP1-4 INT
IER |= M_INT3; // Enable CPU INT1 which is connected to CPU-Timer 0:
PieCtrlRegs.PIEIER1.bit.INTx1 = 1; // INT1.1 for ADC
PieCtrlRegs.PIEIER4.bit.INTx1 = 1; // INT4.1 for ecap1
PieCtrlRegs.PIEIER4.bit.INTx2 = 1; // INT4.2 for ecap2
PieCtrlRegs.PIEIER4.bit.INTx3 = 1; // INT4.3 for ecap3
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
qep_data.init(&qep_data);
int printData = 10001;
readHallStateFlag = 1;
char writeBuffer[80] = {0};
int lastPhase = 0;
gogo = 1;
DRV8301_enable();
DRV8301_setupSpi();
i = 0;
while(1) {
qep_data.calc(&qep_data);
if (readHallStateFlag)
updateHallState();
if ((lastPhase != Phase) && (printData)) {
//\033[2J\033[0;0H\r
sprintf(writeBuffer, "Hall State: %d\n\r", (int)Phase);
scia_msg(writeBuffer);
sprintf(writeBuffer, "Velocity: %d rpm\n\r", qep_data.SpeedRpm_fr);
scia_msg(writeBuffer);
//sprintf(writeBuffer, "Mechanical Angle: %f degrees\n\r", qep_data.theta_mech*360);
//scia_msg(writeBuffer);
//sprintf(writeBuffer, "Electrical Angle: %f\n\r", qep_data.theta_elec);
//scia_msg(writeBuffer);
lastPhase = Phase;
}
//DRV8301_readData();
//if (!Phase /*|| drv8301.fault || drv8301.OverTempShutdown || drv8301.OverTempWarning*/) {
//while (!Phase || drv8301.fault || drv8301.OverTempShutdown || drv8301.OverTempWarning){
//GpioDataRegs.GPBCLEAR.bit.GPIO50 = 1;
///DELAY_US(32000);
//DELAY_US(32000);
//sprintf(writeBuffer, "\aERROR DECTECTED: \n\r Hall State: %d %d %d\n\r", CoilA, CoilB, CoilC);
//scia_msg(writeBuffer);
//sprintf(writeBuffer, "Fault Bit: %d\n\rOverTempShutdown: %d\n\rOverTempWarning%d\n\r", drv8301.fault, drv8301.OverTempShutdown, drv8301.OverTempWarning);
//scia_msg(writeBuffer);
//}
//}
//else {
//GpioDataRegs.GPBSET.bit.GPIO50 = 1;
//}
}
}
