//
// Main
//
void main(void)
{
Uint16 ReceivedChar;
char *msg;
//
// 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();
//
// For this example, only init the pins for the SCI-A port.
// GPIO_SetupPinMux() - Sets the GPxMUX1/2 and GPyMUX1/2 register bits
// GPIO_SetupPinOptions() - Sets the direction and configuration of the GPIOS
// These functions are found in the F2837xS_Gpio.c file.
//
GPIO_SetupPinMux(28, GPIO_MUX_CPU1, 1);
GPIO_SetupPinOptions(28, GPIO_INPUT, GPIO_PUSHPULL);
GPIO_SetupPinMux(29, GPIO_MUX_CPU1, 1);
GPIO_SetupPinOptions(29, GPIO_OUTPUT, GPIO_ASYNC);
//
// 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 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 4. User specific code:
//
LoopCount = 0;
scia_fifo_init(); // Initialize the SCI FIFO
scia_echoback_init(); // Initialize SCI for echoback
msg = "\r\n\n\nHello World!\0";
scia_msg(msg);
msg = "\r\nYou will enter a character, and the DSP will echo it back! \n\0";
scia_msg(msg);
for(;;)
{
msg = "\r\nEnter a character: \0";
scia_msg(msg);
//
// Wait for inc character
//
while(SciaRegs.SCIFFRX.bit.RXFFST == 0) { } // wait for empty state
//
// Get character
//
ReceivedChar = SciaRegs.SCIRXBUF.all;
//
// Echo character back
//
msg = " You sent: \0";
scia_msg(msg);
scia_xmit(ReceivedChar);
LoopCount++;
}
}
void main(void)
{
char s1[32];
unsigned char flag = 0;
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP2802x_SysCtrl.c file.
InitSysCtrl();
// Step 2. Initalize GPIO:
// This example function is found in the DSP2802x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio();
// Setup only the GP I/O only for I2C functionality
InitI2CGpio();
// 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 DSP2802x_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 DSP2802x_DefaultIsr.c.
// This function is found in DSP2802x_PieVect.c.
InitPieVectTable();
#ifndef _DEBUG
// Copy time critical code and Flash setup code to RAM
// This includes the following ISR functions: EPwm1_timer_isr(), EPwm2_timer_isr()
// EPwm3_timer_isr and and InitFlash();
// The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
// symbols are created by the linker. Refer to the F2808.cmd file.
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
InitFlash();
#endif
// Step 4. Initialize all the Device Peripherals:
// This function is found in DSP2802x_InitPeripherals.c
// InitPeripherals(); // Not required for this example
I2C_Init(); //use polling
// Step 5. Com port initial
scia_echoback_init();
scia_msg("-- Network Analyzer V0.03--\r\n");
scia_msg("-- Build On: "__DATE__" "__TIME__"--\r\n");
scia_msg("-- Start: 36.125KHz--\r\n");
scia_msg("-- End: 100kHz --\r\n");
scia_msg("-- Step : 125Hz --\r\n");
scia_msg("-- Point: 511 --\r\n");
// Step 6. BSP init, LEDs & Button
led_init();
button_init();
GPIOx_Init();
//blink
led_on(0x007f);
led_off(0x007f);
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
// Step 7. Initial AD5933
ad5933_init();
// Application loop
for(;;)
{
/*
* GPIO12 pressed routine
*/
while( (0 == GpioDataRegs.GPADAT.bit.GPIO12)
&& ( 0 == GpioDataRegs.GPADAT.bit.GPIO19 ) ){};
//GPIO12 pressed
if(1 == GpioDataRegs.GPADAT.bit.GPIO12)
{
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
DELAY_US(100000); // Delay 100ms , wait
sprintf(s1,"Temperature=%d\r\n", ad5993_GetTemperature());
scia_msg(s1);
ad5933_sweep( 0x0001 << 0, mag_ref);
//led indicator
led_off(0x007f);
if( diff_variance < AD5933_STANDARD_VARIANCE )
{
led_off(0x01 << 0); //led0 off
led_off(0x01 << 6); //led6 off
sprintf(s1,"Ref larger than standard.\r\n" );
scia_msg(s1);
}
else
{
led_on(0x01 << 0); //led0 on
led_on(0x01 << 6); //led6 on
sprintf(s1,"Ref less than standard.\r\n" );
scia_msg(s1);
}
scia_PrintLF();
}
/*
* GPIO19 pressed routine
*/
if( 1 == GpioDataRegs.GPADAT.bit.GPIO19)
{
//clear flag
flag = 0;
//GROUP1--0b1010
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
//set GPIO1 GPIO3
GPIOx_Set(0x000A);
// Delay 100ms , wait
DELAY_US(100000);
sprintf(s1,"Temperature=%d\r\n", ad5993_GetTemperature());
scia_msg(s1);
ad5933_sweep(0x0001 << 0, mag_ref0);;
//led0 indicator
led_off(0x007f);
if( diff_variance < AD5933_STANDARD_VARIANCE )
{
led_off(0x01 << 0); //led0 off
sprintf(s1,"Group0 Ref larger than standard.\r\n" );
scia_msg(s1);
}
else
{
led_on(0x01 << 0); //led0 on
flag++;
sprintf(s1,"Group0 Ref less than standard.\r\n" );
scia_msg(s1);
}
scia_PrintLF();
//GROUP2--0b0101
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
//set GPIO0 GPIO2
GPIOx_Set(0x0005);
// Delay 100ms , wait
DELAY_US(100000);
sprintf(s1,"Temperature=%d\r\n", ad5993_GetTemperature());
scia_msg(s1);
ad5933_sweep(0x0001 << 1, mag_ref1);
//led1 indicator
led_off(0x007f);
if( diff_variance < AD5933_STANDARD_VARIANCE )
{
led_off(0x01 << 1); //led1 off
sprintf(s1,"Group1 Ref larger than standard.\r\n" );
scia_msg(s1);
}
else
{
led_on(0x01 << 1); //led1 on
flag++;
sprintf(s1,"Group1 Ref less than standard.\r\n" );
scia_msg(s1);
}
scia_PrintLF();
//GROUP3--0b1111
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
//set GPIO0~GPIO3
GPIOx_Set(0x000F);
// Delay 100ms , wait
DELAY_US(100000);
sprintf(s1,"Temperature=%d\r\n", ad5993_GetTemperature());
scia_msg(s1);
ad5933_sweep(0x0001 << 2, mag_ref2);
//led2 indicator
led_off(0x007f);
if( diff_variance < AD5933_STANDARD_VARIANCE )
{
led_off(0x01 << 2); //led2 off
sprintf(s1,"Group2 Ref larger than standard.\r\n" );
scia_msg(s1);
}
else
{
led_on(0x01 << 2); //led2 on
flag++;
sprintf(s1,"Group2 Ref less than standard.\r\n" );
scia_msg(s1);
}
scia_PrintLF();
//GROUP4--0b1110
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
//set GPIO1~GPIO3
GPIOx_Set(0x000E);
// Delay 100ms , wait
DELAY_US(100000);
sprintf(s1,"Temperature=%d\r\n", ad5993_GetTemperature());
scia_msg(s1);
ad5933_sweep(0x0001 << 3, mag_ref3);
//led3 indicator
led_off(0x007f);
if( diff_variance < AD5933_STANDARD_VARIANCE )
{
led_off(0x01 << 3); //led3 off
sprintf(s1,"Group3 Ref larger than standard.\r\n" );
scia_msg(s1);
}
else
{
led_on(0x01 << 3); //led3 on
flag++;
sprintf(s1,"Group3 Ref less than standard.\r\n" );
scia_msg(s1);
}
scia_PrintLF();
//GROUP5--0b0110
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
//set GPIO2~GPIO3
GPIOx_Set(0x0006);
// Delay 100ms , wait
DELAY_US(100000);
sprintf(s1,"Temperature=%d\r\n", ad5993_GetTemperature());
scia_msg(s1);
ad5933_sweep(0x0001 << 4, mag_ref4);
//led4 indicator
led_off(0x007f);
if( diff_variance < AD5933_STANDARD_VARIANCE )
{
led_off(0x01 << 4); //led4 off
sprintf(s1,"Group4 Ref larger than standard.\r\n" );
scia_msg(s1);
}
else
{
led_on(0x01 << 4); //led4 on
flag++;
sprintf(s1,"Group4 Ref less than standard.\r\n" );
scia_msg(s1);
}
scia_PrintLF();
//GROUP6--0b1101
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
//set GPIO0 GPIO2 GPIO3
GPIOx_Set(0x000D);
// Delay 100ms , wait
DELAY_US(100000);
sprintf(s1,"Temperature=%d\r\n", ad5993_GetTemperature());
scia_msg(s1);
ad5933_sweep(0x0001 << 5, mag_ref5);
//led5 indicator
led_off(0x007f);
if( diff_variance < AD5933_STANDARD_VARIANCE )
{
led_off(0x01 << 5); //led5 off
sprintf(s1,"Group5 Ref larger than standard.\r\n" );
scia_msg(s1);
}
else
{
led_on(0x01 << 5); //led5 on
flag++;
sprintf(s1,"Group5 Ref less than standard.\r\n" );
scia_msg(s1);
}
scia_PrintLF();
if(6 == flag)
{
led_on(0x01 << 6); //led6 on
sprintf(s1,"total less than standard.\r\n" );
scia_msg(s1);
}
else
{
led_off(0x01 << 6); //led6 off
sprintf(s1,"any larger than standard.\r\n" );
scia_msg(s1);
}
//the end
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
}
} // end of for(;;)
} // end of main
void PSRAMDataPass(void){
msg = "PSRAM Data Area is OK!\r\0";
scia_msg(msg);
}
void PSRAMDataFail(void){
msg = "ERROR: PSRAM test failed!\r\0";
scia_msg(msg);
PSRAMError = 1;
}
void PSRAMTest(void){
Uint32 PSRAMDataSize = PSRAMZoneSize;
Uint32 i;
msg = "\PSRAM Test:\r\0";
scia_msg(msg);
//Clear operation
//PSRAMClear - стирание PSRAM
for(i=0;i < PSRAMDataSize;i++){
PSRAM_Zone[i] = 0;
}
//Write operations
//ProgrammAreaWrite - запись 16 зон в PSRAM
for(i=0;i < PSRAMDataSize;i++){
PSRAM_Zone[i] = i;
}
/*debug - —пециально измен¤ем значени¤ в пам¤ти дл¤ проверки правильности работы алгоритма Verify operations
PSRAM_Zone[800] = !PSRAM_Zone[800];
PSRAM_Zone[1800] = !PSRAM_Zone[1800];
PSRAM_Zone[2800] = !PSRAM_Zone[2800];
PSRAM_Zone[3800] = !PSRAM_Zone[3800];
*/
//Verify operations
//DataAreaVerify - проверка данных в PSRAM
PassCount = 0; // —брасываем счетчик успешных чтений
FailCount = 0; // —брасываем счетчик ошибочных чтений
// ѕроверка
for(i=0;i < PSRAMDataSize;i++){
VerifyData = PSRAM_Zone[i];
if(VerifyData != i){
FailCount++;
ZoneError = 1;
}
else{PassCount++;
//! ¬ывод адреса, по которому обнаружена ошибка
}
}
if(PassCount == PSRAMDataSize){
PSRAMDataPass();
}
else{
PSRAMDataFail();
}
if(PSRAMError == 1){
msg = "PSRAM Test is finished with errors!\r\0";
scia_msg(msg);
msg = "===========================\r\0";
scia_msg(msg);
}
else{
msg = "PSRAM is OK!\r===========================\r\0";
scia_msg(msg);
}
}
void doPwmMenu(void) {
int dutyCycleMult = 2;
int epwmFreq = 1500;
int pwmStatus = 0;
int breakOutOfLoop = 0;
while(breakOutOfLoop == 0) {
scia_msg(clearScreen);
printMenu(pwmMenu, 6);
read = scia_read();
switch (read) {
case 0x30: //go back
breakOutOfLoop = 1;
break;
case 0x31: //enable/disable pwm
if (pwmStatus == 0) {
epwmInit(epwmFreq, dutyCycleMult);
pwmStatus = 1;
pwmString2[25] = ' '; //[1) Toggle PWM: OFF]
pwmString2[26] = 'O';
pwmString2[27] = 'N';
}
else {
pwmStatus = 0;
EALLOW;
GpioCtrlRegs.GPADIR.all = 0xFFFF;
GpioCtrlRegs.GPAMUX1.all = 0x0000;
GpioDataRegs.GPASET.all = 0xFFFF;
EDIS;
pwmString2[25] = 'O';
pwmString2[26] = 'F';
pwmString2[27] = 'F';
}
break;
case 0x32:
if (pwmStatus == 1) {
char dutyCyclePrompt[] = "Enter the new duty cycle:";
int i = 0;
int mult = 10;
int newDutyCycleMult = 0;
char digits[] = "00";
scia_msg(dutyCyclePrompt);
while (i < 2) {
read = scia_read();
if (read < 0x3A || read > 0x2F) {
newDutyCycleMult = newDutyCycleMult + (mult*(read-48));
digits[i] = read;
i++;
mult = mult - 9;
}
else {
scia_msg(nope);
i = 0;
break;
}
}
if (i != 0) {
dutyCycleMult = newDutyCycleMult;
//"2) Duty Cycle: 50% ";
pwmString3[25] = digits[0];
pwmString3[26] = digits[1];
i = ((epwmFreq/100)*dutyCycleMult);
EPwm1Regs.CMPA.half.CMPA = (epwmFreq-i); // adjust duty for output EPWM1A
EPwm2Regs.CMPA.half.CMPA = (epwmFreq-i);
}
}
else {
scia_msg(pwm_is_kill);
read = scia_read();
}
break;
case 0x33:
if (pwmStatus == 1) {
}
else {
scia_msg(pwm_is_kill);
read = scia_read();
}
break;
}
}
}
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;
//}
}
}
