void initVariables (void)
{
rising_edge_delay = DB_RED;
falling_edge_delay = DB_FED;
overlap = 0;
duty = 0;
period = INITIAL_PERIOD;
first_run = 1;
Input_Voltage_Q15 = 0;
Bus_Voltage_Q15 = 0;
Input_Current_Q15 = 0;
VIN_SCALE = VIN_SCALE_INIT;
VBUS_SCALE = VBUS_SCALE_INIT;
I_SCALE = I_SCALE_INIT;
I_OFFSET = I_OFFSET_INIT;
control_gain = 0x8000;
v_temporary = 0;
//Vin_reference_Q15 = 0x8000;
Vin_reference_Q15 = _IQ15(100);
Min_Startup_Voltage_Q15 = MIN_STARTUP_VOLTAGE;
Min_Operating_Voltage_Q15 = MIN_OPERATING_VOLTAGE;
Max_Operating_Voltage_Q15 = _IQ15(INITIAL_MAX_OPERATING_VOLTAGE);
Max_Voltage_Q15 = _IQ15(INITIAL_MAX_VOLTAGE);
startup_flag = 0;
step_dir = 0;
input_current_prescale = 0;
VIN_OFFSET = VIN_OFFSET_INIT;
input_voltage_prescale = 0;
Power_Good = 0;
Output_Over_Voltage = 1;
deadtime_after_Q1_off = INITIAL_DEADTIME_AFTER_Q1_OFF;
deadtime_after_Q2_off = INITIAL_DEADTIME_AFTER_Q2_OFF;
deadtime_after_Q1_off_hi_res = INITIAL_DEADTIME_AFTER_Q1_OFF_HI_RES;
deadtime_after_Q2_off_hi_res = INITIAL_DEADTIME_AFTER_Q2_OFF_HI_RES;
early_turn_on_Q2 = INITIAL_EARLY_TURN_ON_Q2;
duty = INITIAL_EARLY_TURN_ON_Q2;
Num_Power_Samples = INITIAL_POWER_SAMPLES;
for (i = 0; i < MAX_POWER_SAMPLES; i++)
{
Power_Samples_Q15[i] = 0;
}
Power_Sample_Counter = 0;
Power_Sample_Sum_Q15 = 0;
MPPT_Step_Size_Q15 = INITIAL_MPPT_STEP_SIZE;
Num_Power_Samples_Q15 = _IQ15(Num_Power_Samples);
Hiccup_Current_Limit_Q15 = _IQ15(INITIAL_HICCUP_CURRENT_LIMIT);
High_Voltage_Reference_Q15 = _IQ15(100);
delay_flag = 0;
Current_Limit_Q15 = _IQ15(INITIAL_CURRENT_LIMIT);
duty_comp = 0;
initialize_Period_Table();
Sample_Advance = 0;
i_sense_v_gain = 0;
i_sense_v_shift = 0;
clkdiv = 0;
}
// MainISR
interrupt void MainISR(void)
{
// Verifying the ISR
IsrTicker++;
if(RunMotor)
{
// =============================== LEVEL 1 ======================================
// Checks target independent modules, duty cycle waveforms and PWM update
// Keep the motors disconnected at this level
// ==============================================================================
#if (BUILDLEVEL==LEVEL1)
// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the ramp control macro
// ------------------------------------------------------------------------------
rc1.TargetValue = VRef1;
RC_MACRO(rc1)
// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation macro
// ------------------------------------------------------------------------------
pwm1.MfuncC1 = (int16)_IQtoIQ15(_IQabs(rc1.SetpointValue)); // MfuncC1 is in Q15
PWM_MACRO(pwm1) // Calculate the new PWM compare values
if(rc1.SetpointValue < 0)
{
Rotation1 = 0;
}
else
{
Rotation1 = 1;
}
if(Motor==1)
{
if(Rotation1==0)
{
EPwm1Regs.AQCSFRC.bit.CSFB = 0; //Forcing Disabled on EPWM1B
EPwm1Regs.AQCSFRC.bit.CSFA = 1; //EPWM1A forced low
}
else if(Rotation1 == 1)
{
EPwm1Regs.AQCSFRC.bit.CSFA = 0; //Forcing Disabled on EPWM1A
EPwm1Regs.AQCSFRC.bit.CSFB = 1; //EPWM1B forced low
}
else
{
EPwm1Regs.AQCSFRC.bit.CSFA = 1; //EPWM1A forced low
EPwm1Regs.AQCSFRC.bit.CSFB = 1; //EPWM1B forced low
}
EPwm1Regs.CMPA.half.CMPA=pwm1.PWM1out;
}
//else if (Motor==2)
//{
if(Rotation1==0)
{
EPwm2Regs.AQCSFRC.bit.CSFB = 0; //Forcing Disabled on EPWM2B
EPwm2Regs.AQCSFRC.bit.CSFA = 1; //EPWM2A forced low
}
else if(Rotation1 == 1)
{
EPwm2Regs.AQCSFRC.bit.CSFA = 0; //Forcing Disabled on EPWM2A
EPwm2Regs.AQCSFRC.bit.CSFB = 1; //EPWM2B forced low
}
else
{
EPwm2Regs.AQCSFRC.bit.CSFA = 1; //EPWM2A forced low
EPwm2Regs.AQCSFRC.bit.CSFB = 1; //EPWM2B forced low
}
EPwm2Regs.CMPA.half.CMPA=pwm1.PWM1out;
//}
// ------------------------------------------------------------------------------
// Connect inputs of the PWMDAC module
// ------------------------------------------------------------------------------
PwmDacCh1 = (int16)_IQtoIQ15(VRef1);
PwmDacCh2 = (int16)_IQtoIQ15(rc1.SetpointValue);
// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = (int16)_IQtoIQ15(VRef1);
DlogCh2 = (int16)_IQtoIQ15(rc1.SetpointValue);
DlogCh3 = (int16)_IQtoIQ15(VRef1);
DlogCh4 = (int16)_IQtoIQ15(rc1.SetpointValue);
#endif // (BUILDLEVEL==LEVEL1)
// =============================== LEVEL 2 ======================================
// Level 2 verifies the analog-to-digital conversion, offset compensation
// ==============================================================================
#if (BUILDLEVEL==LEVEL2)
// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the ramp control macro
// ------------------------------------------------------------------------------
rc1.TargetValue = VRef1;
RC_MACRO(rc1)
// ------------------------------------------------------------------------------
// Measure phase currents, subtract the offset and normalize from (-0.5,+0.5) to (-1,+1).
// ------------------------------------------------------------------------------
if(Motor==1)
{
IFdbk1b=_IQ15toIQ((AdcResult.ADCRESULT1<<3)-_IQ15(0.5))<<1;
IFdbk1a=_IQ15toIQ((AdcResult.ADCRESULT0<<3)-_IQ15(0.5))<<1;
IFdbk1 = (IFdbk1a - IFdbk1b) >> 1;
}
else if(Motor==2)
// ------------------------------------------------------------------------------
rc1.TargetValue = VRef1;
RC_MACRO(rc1)
// ------------------------------------------------------------------------------
// Measure phase currents, subtract the offset and normalize from (-0.5,+0.5) to (-1,+1).
// ------------------------------------------------------------------------------
if(Motor==1)
{
IFdbk1b=_IQ15toIQ((AdcResult.ADCRESULT1<<3)-_IQ15(0.5))<<1;
IFdbk1a=_IQ15toIQ((AdcResult.ADCRESULT0<<3)-_IQ15(0.5))<<1;
IFdbk1 = (IFdbk1a - IFdbk1b) >> 1;
}
else if(Motor==2)
{
IFdbk1b=_IQ15toIQ((AdcResult.ADCRESULT4<<3)-_IQ15(0.5))<<1;
IFdbk1a=_IQ15toIQ((AdcResult.ADCRESULT3<<3)-_IQ15(0.5))<<1;
IFdbk1 = (IFdbk1a - IFdbk1b) >> 1;
}
// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation macro
// ------------------------------------------------------------------------------
pwm1.MfuncC1 = (int16)_IQtoIQ15(_IQabs(rc1.SetpointValue)); // MfuncC1 is in Q15
PWM_MACRO(pwm1) // Calculate the new PWM compare values
if(rc1.SetpointValue < 0)
{
Rotation1 = 0;
}
else
TEST(IQmath_ExtractInteger, IQ15int)
{
LONGS_EQUAL(65535, _IQ15int(_IQ15(65535.999969482))) ;
LONGS_EQUAL(-65536, _IQ15int(_IQ15(-65536.0))) ;
}
