void main()
{
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP2803x_SysCtrl.c file.
InitSysCtrl();
// Step 2. Initialize GPIO:
// Enable XCLOCKOUT to allow monitoring of oscillator 1
EALLOW;
GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 3; //enable XCLOCKOUT through GPIO mux
SysCtrlRegs.XCLK.bit.XCLKOUTDIV = 2; //XCLOCKOUT = SYSCLK
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
DINT;
// Initialize 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 DSP2803x_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 DSP2803x_DefaultIsr.c.
// This function is found in DSP2803x_PieVect.c.
InitPieVectTable();
// Step 4. Initialize all the Device Peripherals:
// Configure and Initialize the ADC:
InitAdc();
AdcOffsetSelfCal();
EALLOW;
AdcRegs.ADCCTL1.bit.TEMPCONV = 1; //Connect channel A5 internally to the temperature sensor
AdcRegs.ADCSOC0CTL.bit.CHSEL = 5; //Set SOC0 channel select to ADCINA5
AdcRegs.ADCSOC1CTL.bit.CHSEL = 5; //Set SOC1 channel select to ADCINA5
AdcRegs.ADCSOC0CTL.bit.ACQPS = 36; //Set SOC0 acquisition period to 37 ADCCLK
AdcRegs.ADCSOC1CTL.bit.ACQPS = 36; //Set SOC1 acquisition period to 37 ADCCLK
AdcRegs.INTSEL1N2.bit.INT1SEL = 1; //Connect ADCINT1 to EOC1
AdcRegs.INTSEL1N2.bit.INT1E = 1; //Enable ADCINT1
// Note: two channels have been connected to the temp sensor
// so that the first sample can be discarded to avoid the
// ADC first sample issue. See the device errata.
// Set the flash OTP wait-states to minimum. This is important
// for the performance of the temperature conversion function.
FlashRegs.FOTPWAIT.bit.OTPWAIT = 1;
//Main program loop - continually sample temperature
for(;;)
{
//Sample the temp sensor...
//Force start of conversion on SOC0 and SOC1
AdcRegs.ADCSOCFRC1.all = 0x03;
//Wait for end of conversion.
while(AdcRegs.ADCINTFLG.bit.ADCINT1 == 0){} //Wait for ADCINT1
AdcRegs.ADCINTFLGCLR.bit.ADCINT1 = 1; //Clear ADCINT1
//Get temp sensor sample result from SOC1
temp = AdcResult.ADCRESULT1;
//Convert the raw temperature sensor measurement into temperature
degC = GetTemperatureC(temp);
degK = GetTemperatureK(temp);
}
}
main()
{
// Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the F2806x_SysCtrl.c file.
InitSysCtrl();
// 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 F2806x_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 F2806x_DefaultIsr.c.
// This function is found in F2806x_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 register
PieVectTable.ADCINT1 = &adc_isr;
EDIS; // This is needed to disable write to EALLOW protected registers
// Initialize all the Device Peripherals:
// This function is found in F2806x_InitPeripherals.c
// InitPeripherals(); // Not required for this example
InitAdc(); // For this example, init the ADC
AdcOffsetSelfCal();
// User specific code, enable interrupts:
// Enable ADCINT1 in PIE
PieCtrlRegs.PIEIER1.bit.INTx1 = 1; // Enable INT 1.1 in the PIE
IER |= M_INT1; // Enable CPU Interrupt 1
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
LoopCount = 0;
ConversionCount = 0;
// Configure ADC
EALLOW;
AdcRegs.ADCCTL2.bit.ADCNONOVERLAP = 1; // Enable non-overlap mode
AdcRegs.ADCCTL1.bit.INTPULSEPOS = 1; // ADCINT1 trips after AdcResults latch
AdcRegs.INTSEL1N2.bit.INT1E = 1; // Enabled ADCINT1
AdcRegs.INTSEL1N2.bit.INT1CONT = 0; // Disable ADCINT1 Continuous mode
AdcRegs.INTSEL1N2.bit.INT1SEL = 1; // setup EOC1 to trigger ADCINT1 to fire
AdcRegs.ADCSOC0CTL.bit.CHSEL = 4; // set SOC0 channel select to ADCINA4
AdcRegs.ADCSOC1CTL.bit.CHSEL = 2; // set SOC1 channel select to ADCINA2
AdcRegs.ADCSOC0CTL.bit.TRIGSEL = 5; // set SOC0 start trigger on EPWM1A, due to round-robin SOC0 converts first then SOC1
AdcRegs.ADCSOC1CTL.bit.TRIGSEL = 5; // set SOC1 start trigger on EPWM1A, due to round-robin SOC0 converts first then SOC1
AdcRegs.ADCSOC0CTL.bit.ACQPS = 6; // set SOC0 S/H Window to 7 ADC Clock Cycles, (6 ACQPS plus 1)
AdcRegs.ADCSOC1CTL.bit.ACQPS = 6; // set SOC1 S/H Window to 7 ADC Clock Cycles, (6 ACQPS plus 1)
EDIS;
// Assumes ePWM1 clock is already enabled in InitSysCtrl();
EPwm1Regs.ETSEL.bit.SOCAEN = 1; // Enable SOC on A group
EPwm1Regs.ETSEL.bit.SOCASEL = 4; // Select SOC from CMPA on upcount
EPwm1Regs.ETPS.bit.SOCAPRD = 1; // Generate pulse on 1st event
EPwm1Regs.CMPA.half.CMPA = 0x0080; // Set compare A value
EPwm1Regs.TBPRD = 0xFFFF; // Set period for ePWM1
EPwm1Regs.TBCTL.bit.CTRMODE = 0; // count up and start
// Wait for ADC interrupt
for(;;)
{
LoopCount++;
}
}
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;
//}
}
}