1 //###########################################################################
2 //
3 // Original Author: D.F.
4 //
5 // $TI Release: 2833x/2823x Header Files and Peripheral Examples V133 $
6 // $Release Date: June 8, 2012 $
7 //###########################################################################
8
9 #include "DSP28x_Project.h"
10 #include "math.h"
11 #include "stdlib.h"
12 #include "stdio.h"
13
14 // Prototype statements for functions found within this file.
15
16 //中斷副程式
17 interrupt void system_isr(void);
18 interrupt void uart_isr(void);
19
20 //其他副程式
21 void ADC_setup(void);
22 void GPIO_Select(void);
23 void InitEPwm1(void); //Battery開關20kHz使用
24 void InitEPwm6(void); //System中斷60kHz使用
25 void scia_echoback_init(void);
26 void scia_fifo_init(void);
27 void scia_xmit(int a);
28 void scia_msg(char *msg);
29
30 // Global variables
31 Uint16 LoopCount;
32 float timercount=0,sec=0;
33 float fsample = 60000; //60k
34 float Tsample=0.00001667; //除數被除數都要用float或double，不然會錯
35
36 //AD參數
37 float ADCa4=0,ADCa5=0,ADCa6=0,ADCa7=0; //給ADCa用的參數
38 float ADCb0=0,ADCb1=0,ADCb2=0,ADCb3=0,ADCb4=0,ADCb5=0,ADCb6=0,ADCb7=0; //給ADCb用的參數
39
40 //Battery Converter參數
41 float Digital_Vin_Battery=0,Digital_Iin_Battery=0,Digital_Vout_Battery=0,Digital_Iout_Battery=0;
42 float Actual_Vin_Battery=0, Actual_Iin_Battery=0,Actual_Vout_Battery=0, Actual_Iout_Battery=0;
43 float Actual_Pin=0, Actual_Pout=0,Actual_Eff;
44 float Vout_Battery_ref=250; //BUS Voltage=300V
45 float Battery_command=0.05;
46 float Vout_Battery_error=0, Battery_temp=0;
47 float kp_Battery=0.0005, ki_Battery=0.02;
48
49 //與電腦通訊的參數
50 int B0=0,B1=0,B2=0,B3=0,B4=0,B5=0,B6=0,B7=0; //10Hz中斷用來與電腦通訊的參數
51 //int Bb0=0,Bb1=0,Bb2=0,Bb3=0,Bb4=0,Bb5=0,Bb6=0,Bb7=0;
52
53 char *msg=0;
54
55 //***************主程式***************//
56 main()
57 {
58 // Step 1. Initialize System Control:
59 InitSysCtrl();
60
61 //***************晶片頻率配置(150MHz)***************//
62 EALLOW;
63 #if (CPU_FRQ_150MHZ) // Default - 150 MHz SYSCLKOUT
64 #define ADC_MODCLK 0x3 // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 150/(2*3) = 25.0 MHz
65 #endif
66 #if (CPU_FRQ_100MHZ)
67 #define ADC_MODCLK 0x2 // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 100/(2*2) = 25.0 MHz
68 #endif
69 EDIS;
70 //***************System系統頻率配置(15MHz)***************//
71 EALLOW;
72 SysCtrlRegs.HISPCP.all = ADC_MODCLK; //Define ADCCLK clock frequency(ADC頻率為25MHz)
73 EDIS;
74
75 // Step 2. Initialize GPIO and UART:
76 InitGpio();
77 InitSciaGpio();
78
79 // Step 3. Clear all interrupts and initialize PIE vector table:
80 DINT;
81 InitPieCtrl();
82 IER = 0x0000; // Disable CPU interrupts and clear all CPU interrupt flags
83 IFR = 0x0000; // Disable CPU interrupts and clear all CPU interrupt flags
84 InitPieVectTable(); // Initialize the PIE vector table with pointers to the shell Interrupt
85
86 //***************中斷向量表配置***************// //目前CpuTimer的中斷好像比EPWM6的中斷還優先，可能會有問題
87 EALLOW; // This is needed to write to EALLOW protected register
88 PieVectTable.ADCINT = &system_isr; //系統用PAW6中斷
89 // PieVectTable.TINT0 = &uart_isr; //UART用系統內部CPUT_IMER中斷
90 EDIS; // This is needed to disable write to EALLOW protected registers
91
92 // Step 4. Initialize all the Device Peripherals:
93 InitCpuTimers();
94 InitAdc();
95 ADC_setup();
96
97 ConfigCpuTimer(&CpuTimer0,15,1000000); //決定CpuTimer0的中段時間，頻率為150M/15/1000=10kHz
98 CpuTimer0Regs.TCR.all=0x4000;
99 // Step 5. User specific code, enable interrupts:
100
101 // Enable ADCINT in PIE
102 PieCtrlRegs.PIEIER1.bit.INTx6 = 1; //INTx6 為EPWM6的中斷，因此靠EPWM6來做中斷副程式(可查中斷向量表)
103 // PieCtrlRegs.PIEIER1.bit.INTx7 = 1; //INTx7 為CpuTimer0的中斷，因此靠CpuTimer0來做中斷副程式(可查中斷向量表)
104 IER |= M_INT1; // Enable CPU Interrupt 1
105 EINT; // Enable Global interrupt INTM
106 ERTM; // Enable Global realtime interrupt DBGM
107
108 LoopCount = 0;
109
110 scia_fifo_init(); // Initialize the SCI FIFO
111 scia_echoback_init(); // Initalize SCI for echoback
112 InitEPwm1();
113 InitEPwm6();
114 GPIO_Select();
115
116 // Wait for ADC interrupt
117 for(;;)
118 {
119 LoopCount++;
120 }
121
122 }
123
124 //***************系統中斷副程式以下***************//
125 interrupt void system_isr(void)
126 {
127 timercount++;
128 if(timercount==60000) sec++;
129 if(timercount>=60000) timercount=0;
130
131 //ADC取值
132 Digital_Vin_Battery = AdcRegs.ADCRESULT0 >>4;
133 Digital_Iin_Battery = AdcRegs.ADCRESULT1 >>4;
134 Digital_Vout_Battery = AdcRegs.ADCRESULT2 >>4;
135 Digital_Iout_Battery = AdcRegs.ADCRESULT3 >>4;
136
137 //計算實際值 ""3/4095=0.00073260073"" 數位轉到DSP收到的0-3V,再轉回實際值
138 Actual_Vin_Battery = (Digital_Vin_Battery/4095)*317; // 130為電壓最大值
139 Actual_Iin_Battery = (Digital_Iin_Battery-1.5*4095/3)*3/4095*12/3*2; // 12為電流最大值 *2因為電流有正負交流
140 Actual_Vout_Battery = (Digital_Vout_Battery/4095)*305;
141 Actual_Iout_Battery = (Digital_Iout_Battery-1.5*4095/3)*3/4095*5/3*2;
142
143 Actual_Pin=Actual_Vin_Battery*Actual_Iin_Battery;
144 Actual_Pout=Actual_Vout_Battery*Actual_Iout_Battery;
145 Actual_Eff=Actual_Pout/Actual_Pin*100;
146 Vout_Battery_error=Vout_Battery_ref-Actual_Vout_Battery;
147
148 //*****測試PWM用3V電阻分壓穩1.55V***//
149 // = Digital_Vout_Battery*3/4095;
150 //Vout_Battery_error=1.55-Actual_Vout_Battery;
151
152 if(1)//可以作300V+-?的判斷
153 {
154 Battery_temp=Battery_temp+Vout_Battery_error*Tsample; //積分 : 上次的量+誤差量*Tsample
155 if(Battery_temp<=-60) Battery_temp=-60; //限制暫存不要衝太快
156 if(Battery_temp>=60) Battery_temp=60; //限制暫存不要衝太快
157 Battery_command=kp_Battery*Vout_Battery_error+ki_Battery*Battery_temp; //kp*誤差+ki*積分誤差量
158 if(Battery_command<=0.05) Battery_command=0.05; //限制輸出不可超出此範圍
159 if(Battery_command>=0.8) Battery_command=0.8; //限制輸出不可超出此範圍
160 }
161 if(Actual_Vin_Battery>=8)//可以作保護判斷(進入else,關閉EPWM)
162 {
163 InitEPwm1Gpio();
164 EPwm1Regs.CMPA.half.CMPA=Battery_command*3750;
165
166 //EPwm1Regs.CMPA.half.CMPA=Digital_Vin_Battery/4095*3750; //測試AD進來的數值直接轉成PWM
167 }
168 else //超過保戶限制，將PWM強制式設置成GPIO形式，並令為OFF，然後清除累積誤差
169 {
170 EALLOW;
171 GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 0; // Configure GPIO0 as GPIO0 (GPIO原本EPWM功能設為I/O輸出角位)
172 GpioCtrlRegs.GPADIR.bit.GPIO0=1; // 設定GPIO在輸入輸出模式時 : 0為輸入 1為輸出 (is used for output)
173 GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 0; // Configure GPIO1 as GPIO1 (GPIO原本EPWM功能設為I/O輸出角位)
174 GpioCtrlRegs.GPADIR.bit.GPIO1=1; // 設定GPIO在輸入輸出模式時 : 0為輸入 1為輸出 (is used for output)
175 EDIS;
176 GpioDataRegs.GPACLEAR.bit.GPIO0=1; //MOSFET turn off (Inverter兩臂4開關turn OFF)
177 GpioDataRegs.GPACLEAR.bit.GPIO1=1; //MOSFET turn off (Inverter兩臂4開關turn OFF)
178 //清除誤差的累積
179 Battery_temp=0;
180 Battery_command=0;
181 Vout_Battery_error=0;
182 GpioDataRegs.GPATOGGLE.bit.GPIO14=1;
183 }
184 // ADCa4 = AdcRegs.ADCRESULT4 >>4;
185 // ADCa5 = AdcRegs.ADCRESULT5 >>4;
186 // ADCa6 = AdcRegs.ADCRESULT6 >>4;
187 // ADCa7 = AdcRegs.ADCRESULT7 >>4;
188 // ADCb0 = AdcRegs.ADCRESULT8 >>4;
189 // ADCb1 = AdcRegs.ADCRESULT9 >>4;
190 // ADCb2 = AdcRegs.ADCRESULT10 >>4;
191 // ADCb3 = AdcRegs.ADCRESULT11 >>4;
192 // ADCb4 = AdcRegs.ADCRESULT12 >>4;
193 // ADCb5 = AdcRegs.ADCRESULT13 >>4;
194 // ADCb6 = AdcRegs.ADCRESULT14 >>4;
195 // ADCb7 = AdcRegs.ADCRESULT15 >>4;
196
197 GpioDataRegs.GPATOGGLE.bit.GPIO13=1; //因為60k才驅動一次，因此示波器看到的方波應該為30kHz
198 // Reinitialize for next ADC sequence
199 AdcRegs.ADCTRL2.bit.RST_SEQ1 = 1; // Reset SEQ1
200 AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1; // Clear INT SEQ1 bit
201 PieCtrlRegs.PIEACK.all = PIEACK_GROUP1; // Acknowledge interrupt to PIE
202 return;
203 }
204 //***************系統中斷副程式以上***************//
205
206
207 //***************UART中斷副程式以下***************//
208 interrupt void uart_isr(void)
209 {
210 CpuTimer0.InterruptCount++;
211 B0=Digital_Vin_Battery; //傳回電腦終端機的參數
212 B1=Digital_Iin_Battery; //傳回電腦終端機的參數
213 B2=Digital_Vout_Battery; //傳回電腦終端機的參數
214 B3=Digital_Iout_Battery; //傳回電腦終端機的參數
215 B4=ADCa4; //傳回電腦終端機的參數
216 B5=ADCa5; //傳回電腦終端機的參數
217 B6=ADCa6; //傳回電腦終端機的參數
218 B7=ADCa7; //傳回電腦終端機的參數
219 sprintf(msg,"\r\n A%4d B%4d C%4d D%4d E%4d F%4d G%4d H%4d \n\0",B0,B1,B2,B3,B4,B5,B6,B7);
220 scia_msg(msg);
221 //GpioDataRegs.GPATOGGLE.bit.GPIO14=1; //因為10Hz才驅動一次，因此示波器看到的方波應該為5Hz
222 PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
223 }
224 //***************UART中斷副程式以上***************//
225
226
227 //***************GOIP設置以下***************//
228 void GPIO_Select(void)
229 {
230 //GPAMUX1:GPIO0 ~GPIO15 的設定
231 //GPAMUX2:GPIO16~GPIO31 的設定
232
233 EALLOW;
234 //GPIO13配置為System的系統中斷確認
235 GpioCtrlRegs.GPAMUX1.bit.GPIO13=0; // 0為GPIO一般輸入輸出
236 GpioCtrlRegs.GPADIR.bit.GPIO13=1; // 設定GPIO在輸入輸出模式時 : 0為輸入 1為輸出 (is used for output)
237 //GPIO14配置為UART的系統中斷確認
238 GpioCtrlRegs.GPAMUX1.bit.GPIO14=0; // 0為GPIO一般輸入輸出
239 GpioCtrlRegs.GPADIR.bit.GPIO14=1; // 設定GPIO在輸入輸出模式時 : 0為輸入 1為輸出 (is used for output)
240 EDIS;
241
242 GpioDataRegs.GPASET.bit.GPIO13=1;//turn on GPIO12 (initial GPIO12 state to high)
243 GpioDataRegs.GPASET.bit.GPIO14=1;//turn on GPIO14 (initial GPIO14 state to high)
244 }
245 //***************GOIP設置以上***************//
246
247
248 //***************EPWM1設置以下***************//
249 void InitEPwm1() //For Battery開關 g1,g2
250 {
251 EPwm1Regs.TBPRD = 3750; // 設定開關切換頻率20kHz,因為上下數,頻率減半,所以TBPRD從7500(20kHz)調為3750(40kHz) //f=150M/2(上下數)/TBPRD
252 EPwm1Regs.TBPHS.half.TBPHS = 0; // Set Phase register to zero 相移為零
253 EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;//TB_COUNT_UPDOWN 為 上下數的三角載波
254 EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE; // ?Master module? (then the synchronization event is ignored and the time-base counter is not loaded with the phase.)
255 EPwm1Regs.TBCTL.bit.PRDLD = TB_SHADOW; //?
256 EPwm1Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO; //? Sync down-stream module
257 EPwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1; //系統除頻功能(不除頻，系統150MHZ) Clock ratio to SYSCLKOUT
258 EPwm1Regs.TBCTL.bit.CLKDIV = TB_DIV1; //系統除頻功能(不除頻，系統150MHZ)
259 EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;
260 EPwm1Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
261 EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO; // load on CTR=Zero
262 EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO; // load on CTR=Zero
263
264 //SPWM 當command > carrier : set high (for positive cycle)
265 EPwm1Regs.AQCTLA.bit.CAU = AQ_CLEAR; //上數碰到，PWM設為0(看EPWM就很明顯了)
266 EPwm1Regs.AQCTLA.bit.CAD = AQ_SET; //下數碰到，PWM設為1(看EPWM就很明顯了)
267
268 EPwm1Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE; // 上下數的Dead-band 都開啟
269 EPwm1Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC; //EPWMxB對A反向 Active high complementary (AHC). EPWMxB is inverted.
270 //---setting Dead-time---//
271 EPwm1Regs.DBFED = 75;//150; // FED = 75 TBCLKs (TBCLKS=1/150M) 0.5us (下降緣Dead-time)
272 EPwm1Regs.DBRED = 75;//150; // RED = 75 TBCLKs (上升緣Dead-time)
273 }
274
275
276 void InitEPwm6()
277 {
278 //EPWM6 isn‘t divided, so EPWM6 clock is 150MHz
279 EPwm6Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1; // 不要除頻Clock ratio equal to SYSCLKOUT
280 EPwm6Regs.TBCTL.bit.CLKDIV = TB_DIV1; // 不要除頻
281 // Assumes ePWM6 clock is already enabled in InitSysCtrl();
282 EPwm6Regs.ETSEL.bit.SOCAEN = 1; // Enable SOC on A group
283 EPwm6Regs.ETSEL.bit.SOCASEL = 2; //當TBCTR=TBPRD開始取樣
284 EPwm6Regs.ETPS.bit.SOCAPRD = 1; // Generate pulse on 1st event
285 //EPwm6Regs.ETSEL.bit.SOCASEL = 4; // Select SOC from CMPA on upcount
286 //EPwm6Regs.CMPA.half.CMPA = 1250; // Set compare A value 剛好讓ADC中斷和inverter中斷各有1250個系統clock時間來處理自己中斷副程式要處理的任務
287 EPwm6Regs.TBPRD = 2500; // Set period for ePWM6 (PWM頻率為:150M/TB_DIV1(1:不除頻)/TB_DIV1(1:不除頻)/TBPRD=60k)
288 EPwm6Regs.TBCTL.bit.CTRMODE = 0; // count up and start
289 }
290
291
292
293 //*****************ADC設置以下***************//
294 void ADC_setup(void)
295 {
296 AdcRegs.ADCTRL3.bit.SMODE_SEL = 0x0; // Setup simultaneous sampling mode
297 AdcRegs.ADCTRL1.bit.SEQ_CASC = 0x1; // Setup cascaded sequencer mode
298 AdcRegs.ADCMAXCONV.all = 15; //設定一共需要8個(0~7)ADC轉換 on SEQ1
299
300 AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0;//設定"ADCIN0"抓到的值，轉換後存到 "ADCRESULT0 (CONV00)"
301 AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 1;//設定"ADCIN1"抓到的值，轉換後存到 "ADCRESULT1 (CONV01)"
302 AdcRegs.ADCCHSELSEQ1.bit.CONV02 = 2;//設定"ADCIN2"抓到的值，轉換後存到 "ADCRESULT2 (CONV01)"
303 AdcRegs.ADCCHSELSEQ1.bit.CONV03 = 3;//設定"ADCIN3"抓到的值，轉換後存到 "ADCRESULT3 (CONV03)"
304 AdcRegs.ADCCHSELSEQ2.bit.CONV04 = 4;//設定"ADCIN4"抓到的值，轉換後存到 "ADCRESULT4 (CONV04)"
305 AdcRegs.ADCCHSELSEQ2.bit.CONV05 = 5;//設定"ADCIN5"抓到的值，轉換後存到 "ADCRESULT5 (CONV05)"
306 AdcRegs.ADCCHSELSEQ2.bit.CONV06 = 6;//設定"ADCIN5"抓到的值，轉換後存到 "ADCRESULT6 (CONV06)"
307 AdcRegs.ADCCHSELSEQ2.bit.CONV07 = 7;//設定"ADCIN5"抓到的值，轉換後存到 "ADCRESULT7 (CONV07)"
308 AdcRegs.ADCCHSELSEQ3.bit.CONV08 = 8;
309 AdcRegs.ADCCHSELSEQ3.bit.CONV09 = 9;
310 AdcRegs.ADCCHSELSEQ3.bit.CONV10 = 10;
311 AdcRegs.ADCCHSELSEQ3.bit.CONV11 = 11;
312 AdcRegs.ADCCHSELSEQ4.bit.CONV12 = 12;
313 AdcRegs.ADCCHSELSEQ4.bit.CONV13 = 13;
314 AdcRegs.ADCCHSELSEQ4.bit.CONV14 = 14;
315 AdcRegs.ADCCHSELSEQ4.bit.CONV15 = 15;
316
317 AdcRegs.ADCTRL2.bit.EPWM_SOCA_SEQ1 = 1; // 允許ADC使用EPWM中斷 Enable SOCA from ePWM to start SEQ1
318 AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1; // Enable SEQ1 interrupt (every EOS)
319 }
320
321 //*****************ADC設置以上***************//
322
323
324 //*****************UART設置以下***************//
325 void scia_echoback_init()
326 {
327
328 SciaRegs.SCICCR.all =0x0007;
329 SciaRegs.SCICTL1.all =0x0003;
330 SciaRegs.SCICTL2.all =0x0003;
331 SciaRegs.SCICTL2.bit.TXINTENA =1;
332 SciaRegs.SCICTL2.bit.RXBKINTENA =1;
333 #if (CPU_FRQ_150MHZ)
334 SciaRegs.SCIHBAUD =0x0001; // 9600 baud @LSPCLK = 37.5MHz.
335 SciaRegs.SCILBAUD =0x00E7;
336 #endif
337 #if (CPU_FRQ_100MHZ)
338 SciaRegs.SCIHBAUD =0x0001; // 9600 baud @LSPCLK = 20MHz.
339 SciaRegs.SCILBAUD =0x0044;
340 #endif
341 SciaRegs.SCICTL1.all =0x0023;
342 }
343 void scia_xmit(int a)
344 {
345 while (SciaRegs.SCIFFTX.bit.TXFFST != 0) {}
346 SciaRegs.SCITXBUF=a;
347
348 }
349 void scia_msg(char * msg)
350 {
351 int i;
352 i = 0;
353 while(msg[i] != ‘\0‘)
354 {
355 scia_xmit(msg[i]);
356 i++;
357 }
358 }
359 void scia_fifo_init()
360 {
361 SciaRegs.SCIFFTX.all=0xE040;
362 SciaRegs.SCIFFRX.all=0x204f;
363 SciaRegs.SCIFFCT.all=0x0;
364 }
365 //*****************UART設置以上***************//
原文地址：https://www.cnblogs.com/CiAn-H/p/9058299.html
时间： 2024-10-11 07:10:10