/**
* @brief Constructor
* @param None
* @retval None
*/
CUartConsole::CUartConsole()
:overflowCounter_(0),
#ifdef CONSOLE_NONEDMA_MODE
buffront_ptr_(TxBuf_),
#endif
bufback_ptr_(TxBuf_)
{
InitSciGpio();
InitSci();
}
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();
}
}
void main(void)
{
int i=0; // Loop Variable
timeout_ctr = 0 ;
//############################ Initialisation ###############################//
// _SOURCE_
DeviceInit(); // DeviceInit.c
InitGpio(); // GpioInit.c
InitPieVectTable(); // PieVect.c
InitPieCtrl(); // PieCtrl.c
InitSci(); // Serial.c
init_lcd_menu(); // LcdMenu.c
lcd_init(); // LcdDriver.c
SineRefInit(); // SineRefInit.c
AdcInit(); // AdcInit.c
PwmInit(); // PwmInit.c
State.all = 0;
State.bit.Start = 1;
PeripheralEn.bit.Buttons= 1; // Allow button checks
EnableInterrupts(); // PieCtrl.c
DisableInverter(); // Ensure inverter is disabled on start-up
lcd_position(0x5,0x0);
lcd_puts("Kingfisher"); // Print introductory message on top line
lcd_position(0x0,0x1); // Start Cursor From First Line
lcd_puts(" Hydro Controller "); // Print introductory message on bottom line
asm(" CLRC INTM, DBGM"); // Enable global interrupts and real-time debug
CpuTimer0Regs.PRD.all = COUNTER0_PRD; // Initialise CPU timer0
CpuTimer1Regs.PRD.all = COUNTER1_PRD; // Initialise CPU timer0
//############################# Polling Loop ################################//
while(1)
{
//#######################################################################//
// STATES //
//#######################################################################//
//
//############################ START STATE ##############################//
if(State.bit.Start)
{
asm("NOP");
}
//######################### EXCITATION STATE ############################//
if (State.bit.Excitation)
{
data_out.bit.led_ctrl_green = 1;
data_out.bit.led_ctrl_red = 0;
if ( (AdcSignal.V_HVDC < 50) && (AdcSignal.Shaft_Velocity > 2000) && !(State.bit.Fault) )
{
// PeripheralEn.bit.Buttons= 0;
timeout_ctr++;
if (timeout_ctr > 3)
{
State.all = 0;
State.bit.Fault = 1;
timeout_ctr = 0;
}
else
{
data_out.bit.startup = 1;
shift_data_out();
if (CpuTimer0Regs.TCR.bit.TIF == 1)
{
for (i=1;i<=2;i++) // wait 2 seconds
{
CpuTimer0Regs.TCR.bit.TIF = 1; // Clear flag
while(!CpuTimer0Regs.TCR.bit.TIF);
}
}
data_out.bit.startup = 0;
shift_data_out();
if (CpuTimer0Regs.TCR.bit.TIF == 1)
{
for(i=1;i<=3;i++) // wait 3 seconds
{
CpuTimer0Regs.TCR.bit.TIF = 1; // Clear flag
while(!CpuTimer0Regs.TCR.bit.TIF);
}
}
}
}
else if ( (AdcSignal.V_HVDC >= 50) && (AdcSignal.V_HVDC < 250) )
{
timeout_ctr = 0;
State.all = 0;
State.bit.Excited = 1;
// Perhaps change LCD Screen to message saying "Slowly increase turbine speed to increase voltage."
}
else if ( (AdcSignal.V_HVDC > 250) )
{
timeout_ctr = 0; // Resets the timeout counter for excitation
State.all = 0;
State.bit.StartupSequence = 1;
}
}
//############################ EXCITED STATE ############################//
if (State.bit.Excited)
{
if (AdcSignal.V_HVDC > 250)
{
timeout_ctr = 0; // Resets the timeout counter for excitation
State.all = 0;
State.bit.StartupSequence = 1;
}
else
{
// !!!!! ADD SOME CODE FOR THIS CONDITION !!!!!
}
}
//############################# FAULT STATE #############################//
if (State.bit.Fault)
{
if (PeripheralEn.bit.Inverter)
{
DisableInverter();
data_out.bit.led_dump1 = 0;
data_out.bit.led_dump2 = 0;
data_out.bit.led_inverter = 0;
data_out.bit.led_update = 0;
}
data_out.bit.protect_trig = 1;
data_out.bit.led_ctrl_green = 0;
data_out.bit.led_ctrl_red = 1;
if ( !(LED_Fault_Ctr++ % 16384) )
{
data_out.bit.led_dump1 = ~(data_out.bit.led_dump1);
data_out.bit.led_dump2 = ~(data_out.bit.led_dump2);
data_out.bit.led_inverter = ~(data_out.bit.led_inverter);
data_out.bit.led_update = ~(data_out.bit.led_update);
}
}
//########################### DC STABLE STATE ###########################//
if (State.bit.DcStable)
{
if ( !(PeripheralEn.bit.Inverter) ) EnableInverter();
data_out.bit.led_ctrl_green = 1;
data_out.bit.led_ctrl_red = 0;
}
//############################## TEST STATE #############################//
if (State.bit.Test)
{
}
//########################### TURNED OFF STATE ##########################//
if (State.bit.TurnOff)
{
data_out.bit.led_ctrl_green = 0;
data_out.bit.led_ctrl_red = 0;
data_out.bit.led_dump1 = 0;
data_out.bit.led_dump2 = 0;
data_out.bit.led_inverter = 0;
data_out.bit.led_update = 0;
}
//#######################################################################//
// FLAGS //
//#######################################################################//
//
//######################## SCREEN UPDATE FLAG #######################//
if (flag_bc)
{
menu_update_lcd();
flag_bc = 0;
}
asm(" nop");
//########################### READ IN DATA FLAG #########################//
if (flag.bit.DataIN)
{
shift_data_in();
check_buttons();
flag.bit.DataIN = 0;
}
//########################## SEND OUT DATA FLAG #########################//
if (flag.bit.DataOUT)
{
shift_data_out();
flag.bit.DataOUT = 0;
}
//######################## HVDC VOLTAGE REGULATION ######################//
if (flag.bit.V_HVDC)
{
if ( !(State.bit.TurnOff) && !(State.bit.Fault) )
{
V_DcError = V_DC_REF - AdcSignal.V_HVDC; // Calculate the DC error from the reference
DutyError = 0.75*K_DC*V_DcError + 0.25*DutyError; // Modify the dump load duty cycle with respect to the DC error
if (V_DcError > 0) // If the DC voltage is less than the reference, dump no power
{
EPwm3Regs.CMPA.half.CMPA= 0;
EPwm3Regs.CMPB = 0;
}
else if (DutyError > DUMP1_DUTY_MAX)
{
DutyFeedback = 1.0*(DUMP1_DUTY_MAX)*DUMP_PRD;
EPwm3Regs.CMPA.half.CMPA= DutyFeedback;
DutyFeedback = 1.0*(DutyError - DUMP1_DUTY_MAX)*DUMP_PRD;
EPwm3Regs.CMPB = DutyFeedback;
}
else
{
DutyFeedback = 1.0*(DutyError)*DUMP_PRD;
EPwm3Regs.CMPA.half.CMPA= DutyFeedback;
EPwm3Regs.CMPB = 0;
}
}else // If there is a fault or the system is off, dump all power
{
EPwm3Regs.CMPA.half.CMPA = (DUMP1_DUTY_MAX)*DUMP_PRD; // Dump all power!
EPwm3Regs.CMPB = DUMP_PRD; // Dump all power!
}
flag.bit.V_HVDC = 0; // Reset the flag
}
//###################### SHAFT VELOCITY MEASUREMENT #####################//
if (ShaftVelocCtr >= 1000) // Updates the measured velocity every 1000*(1/EPWM8) = 0.5s
{
AdcSignal.Shaft_Velocity = shaftspeedtest; //0.8*(ShaftPulseCtr/0.5)*60 + 0.2*AdcSignal.Shaft_Velocity; // Where 1 pulse = 1 rotation
ShaftPulseCtr = 0; // { Reset counters
ShaftVelocCtr = 0; // {
}
//################### OUTPUT AC VOLTAGE FREQUENCY MEASURE ################//
if (V_AcOutPrdCtr >= 10)
{
AdcSignal.V_AcOut_Freq = (SYSCLK/ADC_SAMP_PRD+1)*(V_AcOutPrdCtr/FreqOutDivCtr); // Approximate frequency over at least 10 periods
AcOutFreqError = AC_OUT_FREQ - AdcSignal.V_AcOut_Freq; // Find frequency error
V_AcOutReqFreq = V_AcOutReqFreq + 0.05*AcOutFreqError; // Frequency feedback loop
sinGen.freq = V_AcOutReqFreq*(BIT31)*(2*BIT32*INVERTER_PWM_PRD)*(1/(sinGen.step_max*SYSCLK)); // Alter reference sine wave frequency
V_AcOutPrdCtr = 0 ; // }
FreqOutDivCtr = 0 ; // } Reset counters
}
//####################### INVERTER CONTROL #######################//
if (flag.bit.Inverter)
{
/* BROKEN InverterMaxDuty = V_AC_OUT_REF*(1.0/(AdcSignal.V_HVDC)); // Find the maximum duty cycle necessary to create Vacoutpeak=325V
DutyScaleMax = (BIT16*InverterMaxDuty-BIT15)*30.51850948e-6; // 30.51850948e-6 = 1/(BIT15-1)
if ( !(State.bit.InvSoftStart) )
{
DutyScaleError = DutyScaleMax - DutyScale;
DutyScale = DutyScale + 0.01*DutyScaleError;
if (DutyScale < 0.2)
{
DutyScale = 0.2;
ADD SOME CODE IN CASE IT IS DANGEROUS TO GO BELOW 0.2
}
}
*/
// ----- Toggle the onboard LED to show inverter control is active
if (GPIO34_count >= 4000) // toggle_time = GPIO34_count_limit/fpwm
{
GpioDataRegs.GPBTOGGLE.bit.GPIO34 = 1; // Toggle the pin
GPIO34_count = 0; // Reset the count
}
flag.bit.Inverter = 0;
}
//################### INPUT AC VOLTAGE FREQUENCY MEASURE ################//
if (V_AcInPrdCtr >= 10)
{
AdcSignal.V_AcIn_Freq = 0.8*((SYSCLK/ADC_SAMP_PRD+1)*(V_AcInPrdCtr/FreqInDivCtr)) + 0.2*(AdcSignal.V_AcIn_Freq); // Approximate frequency over at least 10 periods
genSlip = 100*((AdcSignal.V_AcIn_Freq*60) - (AdcSignal.Shaft_Velocity))/(AdcSignal.V_AcIn_Freq*60); // Calculates slip: s= 100%*((ns-nr)/ns)
V_AcInPrdCtr = 0 ; // }
FreqInDivCtr = 0 ; // } Reset counters
}
/* if(SendADCResult)
{
SendADCResult = 0;
SerialSendStr("Voltage: ");
SerialSendInt((int)V_DC_measured);
SerialSendStr(" PWM1: ");
SerialSendInt((int)(EPwm3Regs.CMPA.half.CMPA*100.0/(DUMP_PRD*1.0)));
SerialSendCR();
SerialSendStr(" PWM2: ");
SerialSendInt((int)((EPwm3Regs.CMPB*100.0)/(DUMP_PRD*1.0)));
SerialSendCR();
}*/
}
}
