void Init_Hard(void){
Init_CLK();
gpio_init();
externalInterrupt_CcCv_init();
InitDelTim();
delay_ms(100);
Init_Beep();
Init_Timer4(); //FAN_PWM
Init_Encoder();
InitAdc();
Init_DAC_CH1();
Init_DAC_CH2();
Init_DS18B20();
Init_PVD();
Init_EXTI1();
Init_SPI2();
uart_init(USART3, BR38400);
lcd_init (); //Глючная инициализация
lcd_init ();
lcd_init ();
lcd_init ();
timMeasInit(); //DEBUG
}
/*! Configure the pins used for reading the battery state and
* charging the battery.
*/
void InitBattery(void)
{
// enable the resistor on the interface pins to the battery charger
BAT_CHARGE_REN |= BAT_CHARGE_OPEN_DRAIN_BITS;
// Start with these as pull downs so we use less current
BAT_CHARGE_OUT &= ~BAT_CHARGE_OPEN_DRAIN_BITS;
// Set these bits as inputs
BAT_CHARGE_DIR &= ~BAT_CHARGE_OPEN_DRAIN_BITS;
// charge enable output
BAT_CHARGE_DIR |= BAT_CHARGE_ENABLE_PIN;
/* turn on the pullup in the MSP430 for the open drain bit of the charger
* If the watch has 5V then we don't care about the current draw of the
* of the pull down resistor. Otherwise, the charge chip will let
* the pin go high
*/
BAT_CHARGE_OUT |= BAT_CHARGE_PWR_BIT;
BATTERY_CHARGE_DISABLE();
InitAdc();
ChargeEnable = pdTRUE;
ChargeStatus = CHARGE_STATUS_OFF;
}
int16_t main(void)
{
// Initialize IO ports and peripherals.
ConfigureOscillator();
InitApp();
InitAdc();
AtpInit();
odo_init(); // TODO
motion_init(SendDone);
SendBoardId();
__delay_ms(3000);
SendBoardId();
while(1) {
//SendBoardId();
if (odoBroadcast) {
OnGetPos();
}
__delay_ms(odoDelay);
}
}
void UserInit(void)
{
mInitAllLEDs();
mInitAllSwitches();
InitAdc();
old_sw2 = sw2;
Pump1tris = 0;
Pump2tris = 0;
TRISVPP = 0; //output
TRISVPP_RST=0; //output
TRISPGD=0;
TRISPGC=0;
TRISVDD=0;
TRISVPP_RUN=0;
VPP_RUN=0; //run = off
PGD_LOW=1;
TRISPGD_LOW=1; //LV devices disabled, high impedance / input
PGC_LOW=1;
TRISPGC_LOW=1; //LV devices disabled, high impedance / input
VPP = 1; //VPP is low (inverted)
VPP_RST=0; //No hard reset (inverted
PGD=0;
PGC=0;
INTCON2bits.RBPU=1; //disable Portb pullup resistors
timer1Init();
timer0Init();
}//end UserInit
void bsp_init() {
bsp_led_init();
bsp_pwm_config();
bsp_sw_init();
bsp_timer_config();
InitAdc();
}
void main(void)
{
InitSysCtrl();
// 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 F28335.cmd file.
// 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.SEQ1INT = &PWM_AD_isr;
PieVectTable.ECAN0INTA = &Skiip4_CAN_isr;
EDIS; // This is needed to disable write to EALLOW protected registers
InitFlash();
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
MemCopy(&IQmathLoadStart, &IQmathLoadEnd, &IQmathRunStart);
//ECan-A模块初始化
InitECan();
InitECan1();
InitGpio(); // Skipped for this example
InitAdc(); // Initialize necessary ADC module, directly for SVPWM.
InitEPwm();
IER |= M_INT1;
// Enable SEQ1_INT which is connected to PIE1.1:
IER |= M_INT9;
// Enable eCAN0-A INT which is connected to PIE9.5:
EINT;
} // end of main()
void main(void)
{
//--- CPU Initialization
InitSysCtrl(); // Initialize the CPU (FILE: SysCtrl.c)
InitGpio(); // Initialize the shared GPIO pins (FILE: Gpio.c)
InitPieCtrl(); // Initialize and enable the PIE (FILE: PieCtrl.c)
InitWatchdog(); // Initialize the Watchdog Timer (FILE: WatchDog.c)
//--- Peripheral Initialization
InitAdc(); // Initialize the ADC (FILE: Adc.c)
InitEPwm(); // Initialize the EPwm (FILE: EPwm.c)
int d;
for (d = 0; d < SIN_DEFINITION; d++) {
sinValues[d] = (int)(fabs(sin(d * 180.f / SIN_DEFINITION * 2 * PI / 360)) * SIN_AMPLITUDE) + LOWER_HYSTERESIS_BAND;
}
// Variable Initialization
asm (" ESTOP0"); // Emulator Halt instruction
int i = 0;
//--- Enable global interrupts
// Enable global interrupts and realtime debug
asm("DBGM");
asm(" CLRC INTM");
//--- Main Loop
while(D) // endless loop - wait for an interrupt
{
i ++;
if (i == 600) {
EPwm1Regs.AQSFRC.bit.ACTSFA = 1; // What to do when One-Time Software Forced Event is invoked
// 00 Does nothing (action disabled)
// 01 Clear (low)
// 10 Set (high)
// 11 Toggle
EPwm1Regs.AQSFRC.bit.OTSFA = 1; // Invoke One-Time Software Forced Event on Output A
EPwm1Regs.AQSFRC.bit.ACTSFB = 2; // What to do when One-Time Software Forced Event is invoked
// 00 Does nothing (action disabled)
// 01 Clear (low)
// 10 Set (high)
// 11 Toggle
EPwm1Regs.AQSFRC.bit.OTSFB = 1; // Invoke One-Time Software Forced Event on Output A
i = 0;
}
}
//--- Main Loop
while(1) // endless loop - wait for an interrupt
{
asm(" NOP");
}
} //end of main()
void CmdAdc(void) {
static bool init = true;
uart_cmd_t *cmdPtr = GetCmdPointer();
adc_info_t *adc = GetAdcPointer();
int8_t ch = -1;
// Initialize device on first run
if (init){
InitAdc(adc);
UARTprintf(ADC_INIT_COMPLETE);
init = false;
}
// Handle parameters
if (cmdPtr->argsNum) {
switch(*cmdPtr->currentArgs){
case 'h':
CmdAdcHelp();
break;
case 'a':
ch = GetAdcValue(adc, cmdPtr);
PrintSingleChannel(adc, ch);
break;
case 'd':
GetAdcValues();
PrintAllChannels();
break;
case 'c':
ToggleTriggerEnable(adc, cmdPtr);
break;
case 't':
SetTriggerValue(adc, cmdPtr);
break;
case 's':
WaitForTrigger(adc, cmdPtr);
break;
case 'p':
WriteToPool();
break;
case 'i':
PrintAdcInformation(adc, cmdPtr);
break;
}
}
else {
UARTprintf(CMD_ZERO_ARGS);
}
}
static void InitDisplay(void)
{
__disable_interrupt();
ENABLE_LCD_LED();
DISABLE_LCD_POWER();
/* clear shipping mode, if set to allow configuration */
PMMCTL0_H = PMMPW_H;
PM5CTL0 &= ~LOCKLPM5;
PMMCTL0_H = 0x00;
/* disable DMA during read-modify-write cycles */
DMACTL4 = DMARMWDIS;
#if BOOTLOADER
/*
* enable RAM alternate interrupt vectors
* these are defined in AltVect.s43 and copied to RAM by cstartup
*/
SYSCTL |= SYSRIVECT;
ClearBootloaderSignature();
#endif
SetupClockAndPowerManagementModule();
CheckClip(); // enable debuguart
__enable_interrupt();
PrintF("\r\n*** %s:%c%c%c ***", (niResetType == NORMAL_RESET ? "NORMAL" : "MASTER"),
BUILD[0], BUILD[1], BUILD[2]);
if (niResetType != NORMAL_RESET) InitStateLog();
SaveStateLog();
WhoAmI();
ShowStateInfo();
InitAdc();
/* timer for battery checking at a regular frequency. */
StartTimer(BatteryTimer);
InitVibration();
InitRealTimeClock(); // enable rtc interrupt
LcdPeripheralInit();
DrawSplashScreen();
InitSerialRam();
/* turn the radio on; initialize the serial port profile or BLE/GATT */
SendMessage(TurnRadioOnMsg, MSG_OPT_NONE);
DISABLE_LCD_LED();
}
void UserInit(void)
{
//mInitAllLEDs();
//mInitAllSwitches();
InitAdc();
//old_sw2 = sw2;
//Pump1tris = 0;
//Pump2tris = 0;
//CS and AUX to output, ground (MCLR and VPP)
BP_AUX=0; //PWM
BP_AUX_DIR=0;
BP_CS=0; //MCLR
BP_CS_DIR=0;
BP_LEDMODE_DIR=0;
BP_MISO_DIR=0; //VPPEN
BP_MISO=1;
//PWM setup (leave off for now)
//cleanup timers
T2CON=0; // clear settings
T4CON=0;
OC5CON =0;
T2CONbits.TCKPS1=1;
T2CONbits.TCKPS0=0;
//assign pin with PPS
BP_AUX_RPOUT = OC5_IO;
OC5R = PWM_D;
OC5RS = PWM_D;
OC5CON = 0x6;
PR2 = PWM_P;
TRISVPP = 0; //output
TRISVPP_RST=0; //output
TRISPGD=0;
TRISPGC=0;
//TRISVDD=0;
//TRISVPP_RUN=0;
// VPP_RUN=0; //run = off
PGD_LOW=1;
TRISPGD_LOW=1; //LV devices disabled, high impedance / input
PGC_LOW=1;
TRISPGC_LOW=1; //LV devices disabled, high impedance / input
VPP = 1; //VPP is low (inverted)
VPP_RST=0; //No hard reset (inverted
PGD=0;
PGC=0;
//INTCON2bits.RBPU=1; //disable Portb pullup resistors
//timer1Init();
//timer0Init();
}//end UserInit
void InitSystem(void)
{
InitLed();
InitUart();
BluetoothInit();
InitAdc();
InitSensor();
InitFan();
InitRtc();
InitSecondTimer();
}
void main(void)
{
InitSysCtrl();
InitSpiaGpio();
Gpio_select();
/*
EALLOW;
SysCtrlRegs.WDCR = 0x00AF; // re-enable the watchdog
EDIS;
*/
DINT;
IER = 0x0000;
IFR = 0x0000;
InitPieCtrl();
InitPieVectTable();
InitAdc();
spi_fifo_init();
Setup_ePWM(); // ePWM
Setup_ADC(); // ADC setup
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.SPIRXINTA = &spiRxFifoIsr;
PieVectTable.SPITXINTA = &spiTxFifoIsr;
PieVectTable.SEQ1INT = &adc1_isr;
PieVectTable.EPWM1_INT = &ePWM1A_compare_isr;
EDIS; // This is needed to disable write to EALLOW protected registers
PieCtrlRegs.PIECTRL.bit.ENPIE = 1; // Enable the PIE block
PieCtrlRegs.PIEIER6.bit.INTx1 = 1; // Enable PIE Group 6, INT 1
PieCtrlRegs.PIEIER6.bit.INTx2 = 1; // Enable PIE Group 6, INT 2
PieCtrlRegs.PIEIER1.bit.INTx1 = 1; // adc1 (seq1 - pwm)
PieCtrlRegs.PIEIER3.bit.INTx1 = 1; // epwm1
IER |= 25; // Enable CPU INT6
EINT; // Enable Global Interrupts
ERTM;
while (1)
{
if (AdcRegs.ADCST.bit.INT_SEQ1 == 1) // ADC seq1 interrupt for pwm (at prd)
{
flag1 = 1;
AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;
}
if (EPwm1Regs.ETFLG.bit.INT == 1) // epwm interrupt for pwm of second converter (at prd)
{
flag2 = 1;
EPwm1Regs.ETCLR.bit.INT = 1;
}
}
}
void main()
{
initVariables();
DINT;
ms_delay(1);
InitAdc();
SetupAdc();
InitSysCtrl();
InitPieCtrl();
IER = 0x0000;
IFR = 0x0000;
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
InitPieVectTable();
easyDSP_SCI_Init();
InitEPwm3();
InitEPwm4();
pwm_setup();
initialize_mppt_timer();
EALLOW;
PieVectTable.TINT2 = &mppt_int;
PieVectTable.EPWM3_INT = &pwm_int;
PieCtrlRegs.PIEIER3.bit.INTx3 = 0x1;
EDIS;
IER |= M_INT3;
IER |= M_INT14;
EINT;
ms_delay(1);
InitEPwm3Gpio();
//InitEPwm4Gpio();
// EALLOW;
// GpioCtrlRegs.GPADIR.bit.GPIO4 = 1;
// GpioCtrlRegs.GPADIR.bit.GPIO5 = 1;
// GpioCtrlRegs.GPADIR.bit.GPIO6 = 1;
// GpioCtrlRegs.GPADIR.bit.GPIO7 = 1;
//
// GpioDataRegs.GPASET.bit.GPIO4 = 1;
// GpioDataRegs.GPASET.bit.GPIO5 = 1;
// GpioDataRegs.GPACLEAR.bit.GPIO6 = 1;
// GpioDataRegs.GPACLEAR.bit.GPIO7 = 1;
// EDIS;
ERTM;
for(;;)
{
//// Bus_Voltage_Q15 = ((long int) AdcResult.ADCRESULT1*VBUS_SCALE);
if(delay_flag)
{
ms_delay(10000);
delay_flag = 0;
}
}
}
int main() {
unsigned char Lcd_LINE1[6] = {'\0'};
unsigned char Lcd_LINE2[16] = {'\0'};
unsigned int i;
InitCan();
InitQEI();
InitPwm();
// InitInt();
InitAdc();
// InitUart();
//pid
unsigned int *pwmOUT;
pid_t mypid;
float degPOT = 0.0;
float degMTR = 0.0;
while (1) {
if(InData0[1] > 0){
// if(InData0[2] == 1){
// PDC2 = (unsigned int)(InData0[1]* 2 *.5914);
// PDC1 = 0;
// }
// else{
// PDC1 = (unsigned int)(InData0[1]* 2* .5914);
// PDC2 = 0;
// }
pwmOUT = CalcPid(&mypid, degPOT, degMTR);
PDC1 = *(pwmOUT + 0); // 16-bit register
PDC2 = *(pwmOUT + 1); // 16-bit register
}
if (InData0[3] == 1) {
C1TX0B4 = 2;
C1TX0B1 = POSCNT;
C1TX0B2 = C1RX0B2;
C1TX0B3 = C1RX0B3;
C1TX0CONbits.TXREQ = 1;
while (C1TX0CONbits.TXREQ != 0);
}
msDelay(10);
} //while
} // main
int Sensor_Temperature_Init() {
InitAdc();
EALLOW;
AdcRegs.ADCCTL2.bit.ADCNONOVERLAP = 1; //Enable non-overlap mode
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.ADCSOC0CTL.bit.ACQPS = 63; //Set SOC0 acquisition period to 26 ADCCLK
AdcRegs.INTSEL1N2.bit.INT1E = 1; //Enabled ADCINT1
AdcRegs.INTSEL1N2.bit.INT1CONT = 0; //Disable ADCINT1 Continuous mode
AdcRegs.INTSEL1N2.bit.INT1SEL = 0; //setup EOC0 to trigger ADCINT1 to fire
PieCtrlRegs.PIEIER1.bit.INTx1 = 1; //enable ADC-interrupts
PieVectTable.ADCINT1 = &Sensor_Temperature_ISR;
// Enable ADCINT1 in PIE
IER |= M_INT1; // Enable CPU Interrupt 1
EDIS;
}
int main() {
unsigned char Lcd_LINE1[6] = {'\0'};
unsigned char Lcd_LINE2[16] = {'\0'};
unsigned int i;
InitCan();
InitQEI();
InitPwm();
// InitInt();
InitAdc();
// InitUart();
while (1) {
if(InData0[1] > 0){
if(InData0[2] == 1){
PDC2 = (unsigned int)(InData0[1]* 2 *.5914);
PDC1 = 0;
}
else{
PDC1 = (unsigned int)(InData0[1]* 2* .5914);
PDC2 = 0;
}
}
if (InData0[3] == 1) {
C1TX0B4 = 2;
C1TX0B1 = POSCNT;
C1TX0B2 = C1RX0B2;
C1TX0B3 = C1RX0B3;
C1TX0CONbits.TXREQ = 1;
while (C1TX0CONbits.TXREQ != 0);
}
msDelay(10);
} //while
} // main
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();
}
}
/*************************************************************************
* Function Name: main
* Parameters: none
*
* Return: none
*
* Description: main
*
*************************************************************************/
int main(void)
{
MamInit();
// Init clock
InitClock();
// Init GPIO
GpioInit();
// Init VIC
init_VIC();
// Enable TIM0 clocks
PCONP_bit.PCTIM0 = 1; // enable clock
PCLKSEL0_bit.PCLK_TIMER0 = 1; //timer clock = pclk
// Init Time0
T0TCR_bit.CE = 0; // counting disable
T0TCR_bit.CR = 1; // set reset
T0TCR_bit.CR = 0; // release reset
T0CTCR_bit.CTM = 0; // Timer Mode: every rising PCLK edge
T0MCR_bit.MR0I = 1; // Enable Interrupt on MR0
T0MCR_bit.MR0R = 1; // Enable reset on MR0
T0MCR_bit.MR0S = 0; // Disable stop on MR0
// set timer 0 period
T0PR = 18-1;
T0MR0 = (TIMER0_IN_FREQ)/(18 * TIMER0_TICK_PER_SEC);
// init timer 0 interrupt
T0IR_bit.MR0INT = 1; // clear pending interrupt
VIC_SetVectoredIRQ(Timer0IntrHandler,0,VIC_TIMER0);
VICINTENABLE |= 1UL << VIC_TIMER0;
T0TCR_bit.CE = 1; // counting Enable
__enable_interrupt();
LcdInitPio();
BoardInit();
SysSpiInitPio();
DacInitPio();
AdcInitPio();
InitAdc();
LcdInitModule();
LcdClear();
// LcdLine(10,32,130, 32);
// LcdLine(60,10,60, 60);
// LcdLine(70,10,70, 60);
// LcdRect(10,20,40, 50);
// LcdRect(10,1,80, 7);
/* SetFont(BIG_FONT);
LcdLine(10, 28, 120, 28);
LcdLine(10, 45, 120, 45);
// LcdRect(10, 30, 50, 43);
LcdText(50, 20, 200, 36, "-123456789.0");
*/
/*
LcdBmp(10, 20, BMP_HN_WIDTH, BMP_HN_HEIGHT, bmp_hn);
LcdBmp(10, 35, BMP_O2_WIDTH, BMP_O2_HEIGHT, bmp_o2);
DrawCheckBox(8, 8, 0, 1);
DrawCheckBox(20, 8, 1, 1);*/
// DrawMainScreen();
DrawParamScreen();
LcdClear();
//DrawMenuScreen();
DrawDOutTestScreen();
LcdDraw();
OutputSet(LCD_LED);
InitMessages();
InitKeyb();
InitCursor();
InitAdc();
// SetCursorPos(100, 32);
SendMessage(MSG_EDITOR_SCREEN_ACTIVATE);
int debug = 0, debug2 = 0;
char s[4];
/*
LcdClear();
for(char i = 0; i < 16; i++)
LcdLine(i * 8, 0, i * 8, 63);
LcdDraw();
*/
// debug = ReadTemp() / 32;
debug = 3855.0 + 20.0 * ((402.0 - 3855.0) / 20.0);
unsigned int dac_codes[4] = {0, 0, 0, 0};
dac_codes[0] = debug;
// unsigned int dac_codes[4] = {0, 0, 0, 4095};
WriteToDac(dac_codes);
// char adc_codes[4] = {0x58, 0, 0, 0};
// char adc_codes2[4] = {0, 0, 0, 0,};
char state = 0;
while(1)
{
/*
WriteIntToFram(0, 100);
ReadIntFromFram(0, &debug);
*/
/*
WriteToDac(dac_codes);
*/
/*
switch(state)
{
case 0:
//if(GetTimer(KEYB_TIMER) > 100)
if(GetMessage(MSG_R_ENCODER_PRESSED))
{
OutputSet(LED11);
OutputClr(LED12);
OutputClr(LED13);
OutputSet(LED15);
ResetTimer(KEYB_TIMER);
SendMessage(MSG_CUR_DEACTIVATE);
state = 1;
};
break;
case 1:
// if(GetTimer(KEYB_TIMER) > 100)
if(GetMessage(MSG_R_ENCODER_PRESSED))
{
OutputClr(LED11);
OutputSet(LED12);
OutputClr(LED13);
OutputClr(LED15);
ResetTimer(KEYB_TIMER);
SendMessage(MSG_CUR_ACTIVATE);
state = 0;
};
break;
case 2:
// if(GetTimer(KEYB_TIMER) > 100)
if(GetMessage(MSG_KEY_PRESSED))
{
OutputClr(LED11);
OutputClr(LED12);
OutputSet(LED13);
OutputClr(LED15);
ResetTimer(KEYB_TIMER);
state = 3;
};
break;
case 3:
// if(GetTimer(KEYB_TIMER) > 100)
if(GetMessage(MSG_KEY_PRESSED))
{
OutputClr(LED11);
OutputClr(LED12);
OutputClr(LED13);
OutputSet(LED15);
ResetTimer(KEYB_TIMER);
state = 0;
};
break;
};
if (GetMessage(MSG_L_ENCODER_CW))
{
debug++;
sprintf(s, "%d", debug);
// LcdClear();
LcdText(0, 0, 63, 9, s);
LcdDraw();
};
if (GetMessage(MSG_L_ENCODER_CCW))
{
debug--;
sprintf(s, "%d", debug);
// LcdClear();
LcdText(0, 0, 63, 9, s);
LcdDraw();
};
if (GetMessage(MSG_R_ENCODER_CW))
{
debug2++;
sprintf(s, "%d", debug2);
// LcdClear();
LcdText(100, 0, 127, 9, s);
LcdDraw();
};
if (GetMessage(MSG_R_ENCODER_CCW))
{
debug2--;
sprintf(s, "%d", debug2);
// LcdClear();
LcdText(100, 0, 127, 9, s);
LcdDraw();
};
*/
// ProcessEditorScreen();
// ProcessEditor();
ProcessAdc();
ProcessCursor();
ProcessKeyb();
ProcessMessages();
}
}
/**********************************************************************
* Function: main()
*
* Description: Main function for C2833x Real-time RFFT
**********************************************************************/
void main(void)
{
Uint16 i,j;
float32 freq; // Frequency of single-frequency-component signal
//--- CPU Initialization
InitSysCtrl(); // Initialize the CPU (FILE: SysCtrl.c)
InitGpio(); // Initialize the shared GPIO pins (FILE: Gpio.c)
InitPieCtrl(); // Initialize and enable the PIE (FILE: PieCtrl.c)
//--- Peripheral Initialization
InitAdc(); // Initialize the ADC (FILE: Adc.c)
// 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.ADCINT = &adc_isr;
EDIS; // This is needed to disable write to EALLOW protected registers
rfft_adc.Tail = &rfft.OutBuf; //Link the RFFT_ADC_F32_STRUCT to
//RFFT_F32_STRUCT. Tail pointer of
//RFFT_ADC_F32_STRUCT is passed to
//the OutBuf pointer of RFFT_F32_STRUCT
rfft.FFTSize = RFFT_SIZE; //Real FFT size
rfft.FFTStages = RFFT_STAGES; //Real FFT stages
rfft_adc.InBuf = &AdcBuf[0]; //Input buffer
rfft.OutBuf = &RFFToutBuff[0]; //Output buffer
rfft.CosSinBuf = &RFFTF32Coef[0]; //Twiddle factor
rfft.MagBuf = &RFFTmagBuff[0]; //Magnitude output buffer
RFFT_f32_sincostable(&rfft); //Calculate twiddle factor
//Clean up output buffer
for (i=0; i < RFFT_SIZE; i++)
{
RFFToutBuff[i] = 0;
}
//Clean up magnitude buffer
for (i=0; i < RFFT_SIZE/2; i++)
{
RFFTmagBuff[i] = 0;
}
//--- Enable global interrupts
asm(" CLRC INTM, DBGM"); // Enable global interrupts and realtime debug
//--- Main Loop
while(1) // endless loop - wait for an interrupt
{
if(FFTStartFlag) // If one frame data ready, then do FFT
{
RFFT_adc_f32u(&rfft_adc); // This version of FFT doesn't need buffer alignment
RFFT_f32_mag(&rfft); // Calculate spectrum amplitude
j = 1;
freq = RFFTmagBuff[1];
for(i=2;i<RFFT_SIZE/2+1;i++)
{
//Looking for the maximum valude of spectrum magnitude
if(RFFTmagBuff[i] > freq)
{
j = i;
freq = RFFTmagBuff[i];
}
}
freq = F_PER_SAMPLE * (float)j; //Convert normalized digital frequency to analog frequency
FFTStartFlag = 0; //Start collecting the next frame of data
}
asm(" NOP");
}
} //end of main()
void adcinit()
{
InitAdc(); // Init the ADC
EALLOW;
// Comment out other unwanted lines.
GpioCtrlRegs.AIODIR.all = 0x0000;
GpioCtrlRegs.AIOMUX1.bit.AIO2 = 2; // Configure AIO2 for A2 (analog input) operation
GpioCtrlRegs.AIOMUX1.bit.AIO4 = 2; // Configure AIO4 for A4 (analog input) operation
//GpioCtrlRegs.AIOMUX1.bit.AIO6 = 2; // Configure AIO6 for A6 (analog input) operation
GpioCtrlRegs.AIOMUX1.bit.AIO10 = 2; // Configure AIO10 for B2 (analog input) operation
GpioCtrlRegs.AIOMUX1.bit.AIO12 = 2; // Configure AIO12 for B4 (analog input) operation
GpioCtrlRegs.AIOMUX1.bit.AIO14 = 2; // Configure AIO14 for B6 (analog input) operation
//solve first conversion problem:
AdcRegs.ADCCTL2.bit.ADCNONOVERLAP = 1;
AdcRegs.ADCCTL2.bit.CLKDIV2EN = 1;
AdcRegs.ADCSOC0CTL.bit.CHSEL = 0; // SOC0 TO A0
AdcRegs.ADCSOC1CTL.bit.CHSEL = 1; // SOC1 TO A1
AdcRegs.ADCSOC2CTL.bit.CHSEL = 2; // SOC2 TO A2
AdcRegs.ADCSOC3CTL.bit.CHSEL = 3; // SOC3 TO A3
AdcRegs.ADCSOC4CTL.bit.CHSEL = 4; // SOC4 TO A4
AdcRegs.ADCSOC5CTL.bit.CHSEL = 5; // SOC5 TO A5
AdcRegs.ADCSOC6CTL.bit.CHSEL = 6; // SOC6 TO A6
AdcRegs.ADCSOC7CTL.bit.CHSEL = 7; // SOC7 TO A7
AdcRegs.ADCSOC8CTL.bit.CHSEL = 8; // SOC8 TO B0
AdcRegs.ADCSOC9CTL.bit.CHSEL = 9; // SOC9 TO B1
AdcRegs.ADCSOC10CTL.bit.CHSEL = 10; // SOC10 TO B2
AdcRegs.ADCSOC11CTL.bit.CHSEL = 11; // SOC11 TO B3
AdcRegs.ADCSOC12CTL.bit.CHSEL = 12; // SOC12 TO B4
AdcRegs.ADCSOC13CTL.bit.CHSEL = 13; // SOC13 TO B5
AdcRegs.ADCSOC14CTL.bit.CHSEL = 14; // SOC14 TO B6
AdcRegs.ADCSOC15CTL.bit.CHSEL = 15; // SOC15 TO B7
AdcRegs.ADCSOC0CTL.bit.ACQPS = ACQPS_VALUE; //Set SOC0 acquisition period to DEFINED PERIOD
AdcRegs.ADCSOC1CTL.bit.ACQPS = ACQPS_VALUE; //Set SOC1 acquisition period to DEFINED PERIOD
AdcRegs.ADCSOC2CTL.bit.ACQPS = ACQPS_VALUE; //Set SOC2 acquisition period to DEFINED PERIOD
AdcRegs.ADCSOC3CTL.bit.ACQPS = ACQPS_VALUE; //Set SOC3 acquisition period to DEFINED PERIOD
AdcRegs.ADCSOC4CTL.bit.ACQPS = ACQPS_VALUE; //Set SOC4 acquisition period to DEFINED PERIOD
AdcRegs.ADCSOC5CTL.bit.ACQPS = ACQPS_VALUE; //Set SOC5 acquisition period to DEFINED PERIOD
AdcRegs.ADCSOC6CTL.bit.ACQPS = ACQPS_VALUE; //Set SOC6 acquisition period to DEFINED PERIOD
AdcRegs.ADCSOC7CTL.bit.ACQPS = ACQPS_VALUE; //Set SOC7 acquisition period to DEFINED PERIOD
AdcRegs.ADCSOC8CTL.bit.ACQPS = ACQPS_VALUE; //Set SOC8 acquisition period to DEFINED PERIOD
AdcRegs.ADCSOC9CTL.bit.ACQPS = ACQPS_VALUE; //Set SOC9 acquisition period to DEFINED PERIOD
AdcRegs.ADCSOC10CTL.bit.ACQPS = ACQPS_VALUE; //Set SOC10 acquisition period to DEFINED PERIOD
AdcRegs.ADCSOC11CTL.bit.ACQPS = ACQPS_VALUE; //Set SOC11 acquisition period to DEFINED PERIOD
AdcRegs.ADCSOC12CTL.bit.ACQPS = ACQPS_VALUE; //Set SOC12 acquisition period to DEFINED PERIOD
AdcRegs.ADCSOC13CTL.bit.ACQPS = ACQPS_VALUE; //Set SOC13 acquisition period to DEFINED PERIOD
AdcRegs.ADCSOC14CTL.bit.ACQPS = ACQPS_VALUE; //Set SOC14 acquisition period to DEFINED PERIOD
AdcRegs.ADCSOC15CTL.bit.ACQPS = ACQPS_VALUE; //Set SOC15 acquisition period to DEFINED PERIOD
AdcRegs.INTSEL1N2.bit.INT1SEL = 15; //Connect ADCINT1 to SOC15 (last conversion)
AdcRegs.INTSEL1N2.bit.INT1E = 1; //Enable ADCINT1
EDIS;
}
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)
{
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the F2806x_SysCtrl.c file.
char * rto1 = (char *)0x8000;
for (rn1 = 0; rn1 < nn1; rn1++) *rto1++ = rfrom1;
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (Uint32)&RamfuncsLoadSize);
InitSysCtrl();
// Step 2. Initalize GPIO:
// This example function is found in the F2806x_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 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 registers
PieVectTable.EPWM5_INT = &epwm5_timer_isr;
EDIS; // This is needed to disable write to EALLOW protected registers
// Step 4. 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
//InitAdcAio(); // Function that sets analog input pins
ConfigADC();
//AdcOffsetSelfCal();
InitEPwm(); // Function initializes ePWM 1 - 5
// Step 5. User specific code, enable interrupts:
// 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, RamfuncsLoadSize, and RamfuncsRunStart
// symbols are created by the linker. Refer to the F2808.cmd file.
// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
InitFlash();
IER |= M_INT3; // Enable CPU INT3 which is connected to EPWM1-8 INT: page 175 in documentation
IER |= M_INT10; // Enable CPU Interrupt 10
// Enable EPWM INTn in the PIE: Group 3 interrupt 1-3
PieCtrlRegs.PIEIER3.bit.INTx5 = PWM5_INT_ENABLE;
// Enable ADCINT1 in PIE
/*PieCtrlRegs.PIEIER10.bit.INTx1 = 1; // Enable INT 10.1 in the PIE
PieCtrlRegs.PIEIER10.bit.INTx2 = 1; // Enable INT 10.2 in the PIE
PieCtrlRegs.PIEIER10.bit.INTx3 = 1; // Enable INT 10.3 in the PIE
PieCtrlRegs.PIEIER10.bit.INTx4 = 1; // Enable INT 10.4 in the PIE
PieCtrlRegs.PIEIER10.bit.INTx5 = 1; // Enable INT 10.5 in the PIE
PieCtrlRegs.PIEIER10.bit.INTx6 = 1; // Enable INT 10.6 in the PIE
PieCtrlRegs.PIEIER10.bit.INTx7 = 1; // Enable INT 10.7 in the PIE
PieCtrlRegs.PIEIER10.bit.INTx8 = 1; // Enable INT 10.8 in the PIE*/
// 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):
EALLOW;
GpioCtrlRegs.GPBMUX2.bit.GPIO54 = 0;
GpioCtrlRegs.GPBDIR.bit.GPIO54 = 1;
GpioDataRegs.GPBCLEAR.bit.GPIO54 = 1;
EDIS;
for(;;)
{
// This loop will be interrupted, so the overall
// delay between pin toggles will be longer.
DELAY_US(DELAY);
LoopCount++;
//GpioDataRegs.GPBTOGGLE.bit.GPIO34 = 1;
}
}
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;
//}
}
}
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()
{
phase=0;
w=2*3.1415927*100; // Frequencia fundamental do sinal gerado = 100Hz
Ts=1/10000.0; // Interrupção do ePWM1 =10kHz -> taxa de amostragem
offset=7500;
j=0;
segundos_count=0;
// Step 1.
InitSysCtrl();
// Step 2. Initialize 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.
DINT;
// Initialize the PIE control registers to their default state.
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).
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.ADCINT = &adc_isr;
EDIS; // This is needed to disable write to EALLOW protected registers
// Step 4. Initialize all the Device Peripherals:
EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0; //desabilita clk para ePWMx
EDIS;
InitEPwm1Example(); //Configura ePWM1
EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;//habilita clk para ePWMx
EDIS;
InitAdc(); // For this example, init the ADC
Config_ADC(); // For this example, config the ADC
// Step 5. User specific code, enable interrupts:
EALLOW;
GpioDataRegs.GPACLEAR.bit.GPIO31 = 1; // Reset output latch - Turn on LED1
GpioCtrlRegs.GPAMUX2.bit.GPIO31 = 0; // GPIO31 = GPIO31
GpioCtrlRegs.GPADIR.bit.GPIO31 = 1; // GPIO31 = output
GpioDataRegs.GPBCLEAR.bit.GPIO34 = 1; // Reset output latch - Turn on LED2
GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 0; // GPIO34 = GPIO34
GpioCtrlRegs.GPBDIR.bit.GPIO34 = 1; // GPIO34 = output
//Configure ePWM-1 pins using GPIO regs
//Enable internal pull-up for the selected pins */
GpioCtrlRegs.GPAPUD.bit.GPIO0 = 0; // Enable pull-up on GPIO0 (EPWM1A)
GpioCtrlRegs.GPAPUD.bit.GPIO1 = 0; // Enable pull-up on GPIO1 (EPWM1B)
GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 1; // Configure GPIO0 as EPWM1A
GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 1; // Configure GPIO1 as EPWM1B
EDIS;
// Enable ADCINT in PIE
PieCtrlRegs.PIEIER1.bit.INTx6 = 1;
IER |= M_INT1; // Enable CPU Interrupt 1
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
// Wait for ADC interrupt
ConversionCount = 0;
while(1) //loop infinito
{
asm(" NOP");
if(segundos_count >=2)
{
segundos_count=0; //Zera contador de segundos
ConversionCount = 0; // habilita gravação da aquisição nos vetores a cada 2 segundos
A3=A3+200; //Incrementa amplitude do terceiro harmônico - sinal de controle PWM
if (A3>=2000)
A3=0;
}
}
}
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);
}
}
/**
* initializes an ADC for further usage
* @param pinPair the pin of the ADC(s). 0, 1, 2 or 4 are valid numbers
* ADC0 = Pin19 (A) / Pin22 (B)
* ADC1 = Pin18 (A) / Pin23 (B)
* ADC2 = Pin17 (A) / Pin24 (B)
* ADC4 = Pin16 (A) / Pin25 (B)
* @param frequency the frequency (in Hz) at which the ADC operates (between 1,000 and 100,000)
* @param buffer1 The initialized Utilities_SimpleBuffer struct the data from ADCxA is written into
* @param buffer2 The Initialized Utilities_SimpleBuffer struct the data from ADCxB is written into (can be zero).
* If no buffer2 is specified, ADCxB is not used.
*/
int Input_ADC_Init(int pinPair, long frequency, Utilities_SimpleBuffer *buffer1, Utilities_SimpleBuffer *buffer2, void (*isr)(float32*, float32*)) {
if(pinPair < 0 || pinPair > 4 || pinPair == 3) {
return INPUT_ADC_INVALID_PIN;
}
if(frequency > 100000 || frequency < 1000) {
return INPUT_ADC_INVALID_FREQUENCY;
}
if(*isr == 0) {
return INPUT_ADC_INVALID_ISR;
}
if(!buffer1) {
return INPUT_ADC_INVALID_BUFFER;
}
if(buffer2) {
if(buffer1->size != buffer2->size) {
return INPUT_ADC_ILLEGAL_BUFFERSIZE;
}
}
if(Input_ADC_isInitialized == 0) {
InitAdc();
}
Input_ADC_buffers[pinPair * 2] = buffer1;
Input_ADC_buffers[pinPair * 2 + 1] = buffer2;
EALLOW;
AdcRegs.ADCCTL1.bit.INTPULSEPOS = 1; //throw interrupt after conversion
EDIS;
Input_ADC_callbackFinish[pinPair] = isr;
Input_ADC_epwms[pinPair]->TBCTL.bit.PHSEN = TB_ENABLE;
Input_ADC_epwms[pinPair]->TBPRD = 40000000 / frequency; //period = 40M / frequency
Input_ADC_epwms[pinPair]->TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN; //Count up and down
Input_ADC_epwms[pinPair]->ETSEL.bit.SOCASEL = ET_CTR_PRDZERO; //Select INT on Zero and period
Input_ADC_epwms[pinPair]->ETSEL.bit.SOCAEN = 1; //Enable SOCA
Input_ADC_epwms[pinPair]->ETPS.bit.SOCAPRD = ET_1ST; //Generate INT on 1st event
if(pinPair == 0) {
IER |= M_INT1;
EALLOW;
AdcRegs.ADCSOC0CTL.bit.TRIGSEL = 0x11; //EPwm7 -> SOCA0/1
AdcRegs.ADCSOC0CTL.bit.CHSEL = 0; //sample A0 and B0
AdcRegs.ADCSOC0CTL.bit.ACQPS = 6; //minimum window-size
AdcRegs.ADCSAMPLEMODE.bit.SIMULEN0 = 1; //enable simultanious sampling
AdcRegs.INTSEL1N2.bit.INT1SEL = 1; //EOC1 triggers ADCINT1
AdcRegs.INTSEL1N2.bit.INT1E = 1; //enable interrupt
AdcRegs.INTSEL1N2.bit.INT1CONT = 0; //interrupt only if flag-bit is cleared
PieCtrlRegs.PIEIER1.bit.INTx1 = 1; //enable ADC-interrupts
PieVectTable.ADCINT1 = &Input_ADC_A0B0_ISR;
EDIS;
}
else if(pinPair == 1) {
IER |= M_INT1;
EALLOW;
AdcRegs.ADCSOC2CTL.bit.TRIGSEL = 0x11; //EPwm7 -> SOCA2/3
AdcRegs.ADCSOC2CTL.bit.CHSEL = 1; //sample A1 and B1
AdcRegs.ADCSOC2CTL.bit.ACQPS = 6; //minimum window-size
AdcRegs.ADCSAMPLEMODE.bit.SIMULEN2 = 1; //enable simultaneous sampling
AdcRegs.INTSEL1N2.bit.INT2SEL = 3; //EOC3 triggers ADCINT2
AdcRegs.INTSEL1N2.bit.INT2E = 1; //enable interrupt
AdcRegs.INTSEL1N2.bit.INT2CONT = 0; //interrupt only if flag-bit is cleared
PieCtrlRegs.PIEIER1.bit.INTx2 = 1; //enable ADC-interrupts
PieVectTable.ADCINT2 = &Input_ADC_A1B1_ISR;
EDIS;
}
else if(pinPair == 2) {
IER |= M_INT10;
EALLOW;
AdcRegs.ADCSOC4CTL.bit.TRIGSEL = 0x11; //EPwm7 -> SOCA4/5
AdcRegs.ADCSOC4CTL.bit.CHSEL = 2; //sample A2 and B2
AdcRegs.ADCSOC4CTL.bit.ACQPS = 6; //minimum window-size
AdcRegs.ADCSAMPLEMODE.bit.SIMULEN4 = 1; //enable simultaneous sampling
AdcRegs.INTSEL3N4.bit.INT3SEL = 5; //---1 //EOC5 triggers ADCINT3
AdcRegs.INTSEL3N4.bit.INT3E = 1; //enable interrupt
AdcRegs.INTSEL3N4.bit.INT3CONT = 0; //interrupt only if flag-bit is cleared
PieCtrlRegs.PIEIER10.bit.INTx3 = 1; //enable ADC-interrupt3 in group 10
PieVectTable.ADCINT3 = &Input_ADC_A2B2_ISR;
EDIS;
}
else if(pinPair == 4) {
IER |= M_INT10;
EALLOW;
AdcRegs.ADCSOC6CTL.bit.TRIGSEL = 0x13; //EPwm8 -> SOCA6/7
AdcRegs.ADCSOC6CTL.bit.CHSEL = 4; //sample A4 and B4
AdcRegs.ADCSOC6CTL.bit.ACQPS = 6; //minimum window-size
AdcRegs.ADCSAMPLEMODE.bit.SIMULEN6 = 1; //enable simultanious sampling
AdcRegs.INTSEL3N4.bit.INT4SEL = 7; //EOC7 triggers ADCINT4
AdcRegs.INTSEL3N4.bit.INT4E = 1; //enable interrupt
AdcRegs.INTSEL3N4.bit.INT4CONT = 0; //interrupt only if flag-bit is cleared
PieCtrlRegs.PIEIER10.bit.INTx4 = 1; //enable ADC-interrupts
PieVectTable.ADCINT4 = &Input_ADC_A4B4_ISR;
EDIS;
}
Input_ADC_isInitialized = 1;
return INPUT_ADC_SUCCESS;
}
