void main()
{
volatile int status = 0;
uint16_t i;
volatile FILE *fid;
// If running from flash copy RAM only functions to RAM
#ifdef _FLASH
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t)&RamfuncsLoadSize);
#endif
// Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the F2806x_SysCtrl.c file.
InitSysCtrl();
// For this example, only init the pins for the SCI-A port.
EALLOW;
GpioCtrlRegs.GPCMUX2.bit.GPIO84 = 1;
GpioCtrlRegs.GPCMUX2.bit.GPIO85 = 1;
GpioCtrlRegs.GPCGMUX2.bit.GPIO84 = 1;
GpioCtrlRegs.GPCGMUX2.bit.GPIO85 = 1;
EDIS;
// 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 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();
// Initialize SCIA
scia_init();
//Initialize GPIOs for the LEDs and turn them off
EALLOW;
GpioCtrlRegs.GPADIR.bit.GPIO12 = 1;
GpioCtrlRegs.GPADIR.bit.GPIO13 = 1;
GpioDataRegs.GPADAT.bit.GPIO12 = 1;
GpioDataRegs.GPADAT.bit.GPIO13 = 1;
EDIS;
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
// Configure the ADC:
// Initialize the ADC
EALLOW;
//write configurations
AdcaRegs.ADCCTL2.bit.PRESCALE = 6; //set ADCCLK divider to /4
AdcbRegs.ADCCTL2.bit.PRESCALE = 6; //set ADCCLK divider to /4
AdcSetMode(ADC_ADCA, ADC_RESOLUTION_12BIT, ADC_SIGNALMODE_SINGLE);
AdcSetMode(ADC_ADCB, ADC_RESOLUTION_12BIT, ADC_SIGNALMODE_SINGLE);
//Set pulse positions to late
AdcaRegs.ADCCTL1.bit.INTPULSEPOS = 1;
AdcbRegs.ADCCTL1.bit.INTPULSEPOS = 1;
//power up the ADCs
AdcaRegs.ADCCTL1.bit.ADCPWDNZ = 1;
AdcbRegs.ADCCTL1.bit.ADCPWDNZ = 1;
//delay for 1ms to allow ADC time to power up
DELAY_US(1000);
//ADCA
EALLOW;
AdcaRegs.ADCSOC0CTL.bit.CHSEL = 0x0E; //SOC0 will convert pin ADCIN14
AdcaRegs.ADCSOC0CTL.bit.ACQPS = 25; //sample window is acqps + 1 SYSCLK cycles
AdcaRegs.ADCSOC1CTL.bit.CHSEL = 0x0E; //SOC1 will convert pin ADCIN14
AdcaRegs.ADCSOC1CTL.bit.ACQPS = 25; //sample window is acqps + 1 SYSCLK cycles
AdcaRegs.ADCINTSEL1N2.bit.INT1SEL = 1; //end of SOC1 will set INT1 flag
AdcaRegs.ADCINTSEL1N2.bit.INT1E = 1; //enable INT1 flag
AdcaRegs.ADCINTFLGCLR.bit.ADCINT1 = 1; //make sure INT1 flag is cleared
//Redirect STDOUT to SCI
status = add_device("scia", _SSA, SCI_open, SCI_close, SCI_read, SCI_write, SCI_lseek, SCI_unlink, SCI_rename);
fid = fopen("scia","w");
freopen("scia:", "w", stdout);
setvbuf(stdout, NULL, _IONBF, 0);
//Print a TI Logo to STDOUT
drawTILogo();
//Twiddle LEDs
GpioDataRegs.GPADAT.bit.GPIO12 = 0;
GpioDataRegs.GPADAT.bit.GPIO13 = 1;
for(i = 0; i < 50; i++){
GpioDataRegs.GPATOGGLE.bit.GPIO12 = 1;
GpioDataRegs.GPATOGGLE.bit.GPIO13 = 1;
DELAY_US(50000);
}
//LEDs off
GpioDataRegs.GPADAT.bit.GPIO12 = 1;
GpioDataRegs.GPADAT.bit.GPIO13 = 1;
//Clear out one of the text boxes so we can write more info to it
clearTextBox();
currentSample = sampleADC();
//Main program loop - continually sample temperature
for(;;) {
//Sample ADCIN14
currentSample = sampleADC();
//Update the serial terminal output
updateDisplay();
//If the sample is above midscale light one LED
if(currentSample > 2048){
GpioDataRegs.GPADAT.all = 0x2000;
}else{
//Otherwise light the other
GpioDataRegs.GPADAT.all = 0x1000;
}
DELAY_US(1000000);
}
}
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;
//}
}
}
