TMDSDOCK28335: ILLEGAL_ISR on TMS320F28335 Flash Programming

Yasushi Eto

Part Number: TMDSDOCK28335
Other Parts Discussed in Thread: TMS320F28335, C2000WARE

Hi all,
I'm having trouble with Flash programming on TMS320F28335.

Now I'm using a C2000 TMS320F28335, and I want to copy the program from Flash to RAM so that the DSP can work stand alone.
However, the DSP does not work when I press the Debug button in Code Composer Studio (CCS) and write the program to the DSP : PWM waveforms cannot be observed when I run the program.
The CCS debug window shows "ILLEGAL_ISR() at DSP2833x_DefaultIsr.c:154 0x338044", but I can't figure out where the problem is.

I attached some picture and the CCS projects that we are currently considering because it is difficult to explain the situation in writing. Please find it.

```
Projects.zip
- DAB_40V_Ver7 : Write to RAM。It works fine.
- DAB_40V_Ver8 : Modify above project to write flash. It cannot work.
Environment1, 2.PNG : Specific environments on CCS
Pin_settings.jpg : A pin settings on control CARD of F28335
Result.PNG : Debug window on CCS
Waveform on GPIO 00 by DAB_40V_ver7.jpg
```
And I used CCS(9.3.0.00012).

I want any advice to fix this issue.

Best Regards,
Eto

Projects.zip

over 2 years ago

+1 MatthewPate over 2 years ago

TI__Guru 74730 points

This usually occurs when the sections of code that you have declared should run from RAM is called before the memcopy function is ran to copy them over from flash to RAM. Please take a look at this example in C2000Ware, for the correct order of operations for any code you want to run from RAM on a flash loaded project.

C:\ti\c2000\C2000Ware_4_00_00_00\device_support\f2833x\examples\flash_f28335

Let me know if this gets us on the right track.

Another option might be to try not copying over anything to RAM, just executing from flash(even though it is slower than RAM) just to see if we can get that working. This would take the whole memcopy process out of the picture and would show that the flash placement and programming is OK.

Best,

Matthew

0 Yasushi Eto over 2 years ago in reply to MatthewPate

Prodigy 20 points

I was able to get the program to work. The source code before and after the modification is attached.

Thanks!

---

before:

main-before.c

// DAB-40V-ver6
// 2021/2/5 Yasushi Eto
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November  1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
//             http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################

#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File
#include <string.h>

// Prototype statements for functions found within this file.
void EPwm1Config(void);
void EPwm2Config(void);
void EPwm3Config(void);
void EPwm4Config(void);
void AdcConfig(void);
__interrupt void epwm1_isr(void); // Control method inside


#pragma CODE_SECTION(epwm1_isr, "ramfuncs");
extern Uint16 RamfuncsLoadStart;
extern Uint16 RamfuncsLoadEnd;
extern Uint16 RamfuncsRunStart;
extern Uint16 RamfuncsLoadSize;


// Global variables used in this example
float d;
#define PRD 750 // 100kHz
int Vo, Vref, pref2;
float Sum = 0; // Summation for PI control
float e = 0; // error
float e2 = 0; // past error
float T = 0.00001; // sampling rate 10us
float p2, i2, pref;
int CMAX = 1000; // countmax
int counter = 0;
int flag = 0;

float Kp = 0.00001;
float Ki = 10;

// Maximum Dead Band values
#define MAX_D   0.5
#define MIN_D   0


void main(void) {
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP2833x_SysCtrl.c file.
   InitSysCtrl();

   EALLOW;
   #if (CPU_FRQ_150MHZ)     // Default - 150 MHz SYSCLKOUT
     #define ADC_MODCLK 0x3 // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 150/(2*3)   = 25.0 MHz
   #endif
   #if (CPU_FRQ_100MHZ)
     #define ADC_MODCLK 0x2 // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 100/(2*2)   = 25.0 MHz
   #endif
   EDIS;

   // Define ADCCLK clock frequency ( less than or equal to 25 MHz )
   // Assuming InitSysCtrl() has set SYSCLKOUT to 150 MHz
   EALLOW;
   SysCtrlRegs.HISPCP.all = ADC_MODCLK;
   EDIS;

// 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

// For this case just init GPIO pins for ePWM1, ePWM2, ePWM3
// These functions are in the DSP2833x_EPwm.c file
   InitEPwm1Gpio();
   InitEPwm2Gpio();
   InitEPwm3Gpio();
   InitEPwm4Gpio();

   

// 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.EPWM1_INT = &epwm1_isr;
   EDIS;    // This is needed to disable write to EALLOW protected registers

// Step 4. Initialize all the Device Peripherals:
// This function is found in DSP2833x_InitPeripherals.c
// InitPeripherals();  // Not required for this example
   InitAdc();
   AdcConfig();

   EALLOW;
   SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
   EDIS;

   EPwm1Config(); // S1S3
   EPwm2Config(); // S2S4
   EPwm3Config(); // S5S7
   EPwm4Config(); // S6S8

   EALLOW;
   SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
   EDIS;

// Step 5. User specific code, enable interrupts
   memcpy(&RamfuncsRunStart,&RamfuncsLoadStart,(size_t)&RamfuncsLoadSize);
   InitFlash();

// Enable CPU INT3 which is connected to EPWM1 INT:
   IER |= M_INT3;

// Enable EPWM INTn in the PIE: Group 1 interrupt 1
   PieCtrlRegs.PIEIER3.bit.INTx1 = 1;

// Enable global Interrupts and higher priority real-time debug events:
   EINT;   // Enable Global interrupt INTM
   ERTM;   // Enable Global realtime interrupt DBGM

   pref = -37.0; // Direct reference

// Step 6. IDLE loop. Just sit and loop forever (optional):
   for(;;) {
    }
}


__interrupt void epwm1_isr(void) {
    Vo = AdcRegs.ADCRESULT0 >>4;  //CT output
    Vref = AdcRegs.ADCRESULT1 >>4;  // CT reference voltage
    pref2 = AdcRegs.ADCRESULT2 >>4;  // Control value from external

    p2=(1/20.81083)*(Vo-Vref+13); // Sensing Power estimation
//    pref = (pref2-2047)*0.04; // V1=V2=40V I2=1A
//    pref = -37.0; // Direct reference (optional)


    counter = counter + 1;
    if(counter >= CMAX){
         if(flag == 0){
              pref = pref+1;
              flag = 1;
         }else if (flag == 1){
              pref = pref-1;
              flag = 0;
         }
     counter = 0;
    }


    // PI control
    e2 = e;
    e = pref-p2;
//    Sum = Sum + (e2 + e)*(3*T/2);
    Sum = Sum + e*3*T;
    // Limitter
    if(Sum > 0.05){
         Sum = 0.05;
    } else if(Sum < -0.05){
         Sum = -0.05;
    }
    d = Kp*e + Ki*Sum;
//    d = Kp*e + 0.3;
    // Limitter
    if(d > 0.5){ 
         d = 0.5;
    } else if(d < -0.5){
         d =-0.5;
    }


    //  Describe control method's here...
    EPwm3Regs.CMPA.half.CMPA = PRD/2+PRD*d/2;
    EPwm4Regs.CMPA.half.CMPA = PRD/2+PRD*d/2;
    if(PRD+PRD*d > PRD){
        EPwm3Regs.CMPB = PRD*d/2;
        EPwm4Regs.CMPB = PRD*d/2;
    } else {
        EPwm3Regs.CMPB = PRD+PRD*d/2;
        EPwm4Regs.CMPB = PRD+PRD*d/2;
    }
   // Clear INT flag for this timer
   EPwm1Regs.ETCLR.bit.INT = 1;

   // Acknowledge this interrupt to receive more interrupts from group 3
   PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}



void EPwm1Config() {
   EPwm1Regs.TBPRD = PRD;                        // Set timer period -> 100kHz
   EPwm1Regs.TBPHS.half.TBPHS = 0x0000;           // Phase is 0
   EPwm1Regs.TBCTR = 0x0000;                      // Clear counter

   // Setup TBCLK
   EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
   EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE;        // master
   EPwm1Regs.TBCTL.bit.PRDLD = TB_SHADOW;
   EPwm1Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO;
   //EPwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV4;       // Clock ratio to SYSCLKOUT
   //EPwm1Regs.TBCTL.bit.CLKDIV = TB_DIV4;

   EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
   EPwm1Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
   EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
   EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

   // Setup compare
   EPwm1Regs.CMPA.half.CMPA = PRD/2; //For Duty 50%PWM
   EPwm1Regs.CMPB = PRD*0.49; //For AdcSoc

   // Set actions
   EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;             // Set PWM1A on Zero
   EPwm1Regs.AQCTLA.bit.ZRO = AQ_CLEAR;           // 1A:S1

   EPwm1Regs.AQCTLB.bit.CAU = AQ_CLEAR;          // Set PWM1B on Zero
   EPwm1Regs.AQCTLB.bit.ZRO = AQ_SET;            // 1B:S3

   // Deadband
   EPwm1Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;    // enable Dead-band module
   EPwm1Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC;     // Active Hi complementary
   EPwm1Regs.DBFED= 38;// FED = 38 TBCLKs -> 0.5us DT @PRD 750
   EPwm1Regs.DBRED= 38;// RED = 38 TBCLKs

   // Interrupt
   EPwm1Regs.ETSEL.bit.INTSEL = ET_CTRU_CMPA;     // Select INT on Zero event
   EPwm1Regs.ETSEL.bit.INTEN = 1;                // Enable INT
   EPwm1Regs.ETPS.bit.INTPRD = ET_1ST;           // Generate INT on 1st event
   EPwm1Regs.ETSEL.bit.SOCAEN = 1;        // Enable SOC on A group
   EPwm1Regs.ETSEL.bit.SOCASEL = ET_CTRU_CMPB;       // Select SOC from from CPMB on upcount. See Fig.44 of ePWM Reference
   EPwm1Regs.ETPS.bit.SOCAPRD = 1;        // Generate INT on 1st event
}

void EPwm2Config() {
    EPwm2Regs.TBPRD = PRD;                        // Set timer period -> 100kHz
    EPwm2Regs.TBCTR = 0x0000;                      // Clear counter

    // Setup TBCLK
    EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
    EPwm2Regs.TBCTL.bit.PHSEN = TB_ENABLE;        // slave move this PWM
    EPwm2Regs.TBCTL.bit.PRDLD = TB_SHADOW;
    EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
    //EPwm2Regs.TBCTL.bit.HSPCLKDIV = TB_DIV4;       // Clock ratio to SYSCLKOUT
    //EPwm2Regs.TBCTL.bit.CLKDIV = TB_DIV4;

    EPwm2Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
    EPwm2Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
    EPwm2Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
    EPwm2Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

    // Setup compare
    EPwm2Regs.CMPA.half.CMPA = PRD/2;

    // Set actions
    EPwm2Regs.AQCTLA.bit.CAU = AQ_CLEAR;             // Set PWM2A on Zero
    EPwm2Regs.AQCTLA.bit.ZRO = AQ_SET;           // 2A:S2

    EPwm2Regs.AQCTLB.bit.CAU = AQ_SET;          // Set PWM1B on Zero
    EPwm2Regs.AQCTLB.bit.ZRO = AQ_CLEAR;            // 2B:S4

    // Deadband
    EPwm2Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;    // enable Dead-band module
    EPwm2Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC;     // Active Hi complementary
    EPwm2Regs.DBFED= 38;// FED = 38 TBCLKs -> 0.5us DT @PRD 750
    EPwm2Regs.DBRED= 38;// RED = 38 TBCLKs

}

void EPwm3Config() {
    EPwm3Regs.TBPRD = PRD;                        // Set timer period -> 100kHz
    EPwm3Regs.TBCTR = 0x0000;                      // Clear counter

    // Setup TBCLK
    EPwm3Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
    EPwm3Regs.TBCTL.bit.PHSEN = TB_ENABLE;        // slave move this PWM
    EPwm3Regs.TBCTL.bit.PRDLD = TB_SHADOW;
    EPwm3Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
    //EPwm3Regs.TBCTL.bit.HSPCLKDIV = TB_DIV4;       // Clock ratio to SYSCLKOUT
    //EPwm3Regs.TBCTL.bit.CLKDIV = TB_DIV4;

    EPwm3Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
    EPwm3Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
    EPwm3Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
    EPwm3Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

    // Setup compare
    EPwm3Regs.CMPA.half.CMPA = PRD/2;

    // Set actions
    EPwm3Regs.AQCTLA.bit.CAU = AQ_SET;             // Set PWM2A on Zero
    EPwm3Regs.AQCTLA.bit.CBU = AQ_CLEAR;           // 2A:S5

    EPwm3Regs.AQCTLB.bit.CAU = AQ_CLEAR;          // Set PWM1B on Zero
    EPwm3Regs.AQCTLB.bit.CBU = AQ_SET;            // 2B:S7

    // Deadband
    EPwm3Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;    // enable Dead-band module
    EPwm3Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC;     // Active Hi complementary
    EPwm3Regs.DBFED= 38;// FED = 38 TBCLKs -> 0.5us DT @PRD 750
    EPwm3Regs.DBRED= 38;// RED = 38 TBCLKs

}

void EPwm4Config() {
    EPwm4Regs.TBPRD = PRD;                        // Set timer period -> 100kHz
    EPwm4Regs.TBCTR = 0x0000;                      // Clear counter

    // Setup TBCLK
    EPwm4Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
    EPwm4Regs.TBCTL.bit.PHSEN = TB_ENABLE;        // slave move this PWM
    EPwm4Regs.TBCTL.bit.PRDLD = TB_SHADOW;
    EPwm4Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
    //EPwm4Regs.TBCTL.bit.HSPCLKDIV = TB_DIV4;       // Clock ratio to SYSCLKOUT
    //EPwm4Regs.TBCTL.bit.CLKDIV = TB_DIV4;

    EPwm4Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
    EPwm4Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
    EPwm4Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
    EPwm4Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

    // Setup compare
    EPwm4Regs.CMPA.half.CMPA = PRD/2;

    // Set actions
    EPwm4Regs.AQCTLA.bit.CAU = AQ_CLEAR;             // Set PWM2A on Zero
    EPwm4Regs.AQCTLA.bit.CBU = AQ_SET;           // 2A:S6

    EPwm4Regs.AQCTLB.bit.CAU = AQ_SET;          // Set PWM1B on Zero
    EPwm4Regs.AQCTLB.bit.CBU = AQ_CLEAR;            // 2B:S8

    // Deadband
    EPwm4Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;    // enable Dead-band module
    EPwm4Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC;     // Active Hi complementary
    EPwm4Regs.DBFED= 38;// FED = 38 TBCLKs -> 0.5us DT @PRD 750
    EPwm4Regs.DBRED= 38;// RED = 38 TBCLKs

}


void AdcConfig(void){
    AdcRegs.ADCMAXCONV.all = 0x0003;       // Setup 3 conv's on SEQ1
    AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0x0000; // Setup ADCINA0 as 1st SEQ1 conv.
    AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 0x0001; // Setup ADCINA1 as 2nd SEQ1 conv.
    AdcRegs.ADCCHSELSEQ1.bit.CONV02 = 0x0002; // Setup ADCINA7 as 3rd SEQ1 conv. ?
    AdcRegs.ADCTRL2.bit.EPWM_SOCA_SEQ1 = 1;// Enable SOCA from ePWM to start SEQ1
    AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1;  // Enable SEQ1 interrupt (every EOS)
}

//===========================================================================
// No more.
//===========================================================================

after:

main-after.c

// DAB-40V-ver6
// 2021/2/5 Yasushi Eto
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November  1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
//             http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################

#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File
#include <string.h>

// Functions that will be run from RAM need to be assigned to
// a different section.  This section will then be mapped using
// the linker cmd file.
#pragma CODE_SECTION(epwm1_isr, "ramfuncs");

// Prototype statements for functions found within this file.
void EPwm1Config(void);
void EPwm2Config(void);
void EPwm3Config(void);
void EPwm4Config(void);
void AdcConfig(void);
__interrupt void epwm1_isr(void); // Control method inside


extern Uint16 RamfuncsLoadStart;
extern Uint16 RamfuncsLoadEnd;
extern Uint16 RamfuncsRunStart;
extern Uint16 RamfuncsLoadSize;


// Global variables used in this example
float d;
#define PRD 750 // 100kHz
int Vo, Vref, pref2;
float Sum = 0; // Summation for PI control
float e = 0; // error
float e2 = 0; // past error
float T = 0.00001; // sampling rate 10us
float p2, i2, pref;
int CMAX = 1000; // countmax
int counter = 0;
int flag = 0;

float Kp = 0.0004;
float fi = 30000;
float Ki = 0.1;

// Maximum Dead Band values
#define MAX_D   0.5
#define MIN_D   0


void main(void) {
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP2833x_SysCtrl.c file.
   InitSysCtrl();

   EALLOW;
   #if (CPU_FRQ_150MHZ)     // Default - 150 MHz SYSCLKOUT
     #define ADC_MODCLK 0x3 // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 150/(2*3)   = 25.0 MHz
   #endif
   #if (CPU_FRQ_100MHZ)
     #define ADC_MODCLK 0x2 // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 100/(2*2)   = 25.0 MHz
   #endif
   EDIS;

   // Define ADCCLK clock frequency ( less than or equal to 25 MHz )
   // Assuming InitSysCtrl() has set SYSCLKOUT to 150 MHz
   EALLOW;
   SysCtrlRegs.HISPCP.all = ADC_MODCLK;
   EDIS;

// 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

// For this case just init GPIO pins for ePWM1, ePWM2, ePWM3
// These functions are in the DSP2833x_EPwm.c file
   InitEPwm1Gpio();
   InitEPwm2Gpio();
   InitEPwm3Gpio();
   InitEPwm4Gpio();


// 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.EPWM1_INT = &epwm1_isr;
   EDIS;    // This is needed to disable write to EALLOW protected registers

// Step 4. Initialize all the Device Peripherals:
// This function is found in DSP2833x_InitPeripherals.c
// InitPeripherals();  // Not required for this example

   EALLOW;
   SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
   EDIS;

   EPwm1Config(); // S1S3
   EPwm2Config(); // S2S4
   EPwm3Config(); // S5S7
   EPwm4Config(); // S6S8

   EALLOW;
   SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
   EDIS;

// Step 5. User specific code, enable interrupts
   memcpy(&RamfuncsRunStart,&RamfuncsLoadStart,(size_t)&RamfuncsLoadSize);
   InitFlash();

// Enable CPU INT3 which is connected to EPWM1 INT:
   IER |= M_INT3;


// I'm not sure but if InitAdc() is called faster than PWM config, "ILLEGAL ISR" will be occured.
// If "ILLEGAL ISR" occured in InitAdc(), Change the location of the below 2 line
   InitAdc();
   AdcConfig();

// Enable EPWM INTn in the PIE: Group 1 interrupt 1
   PieCtrlRegs.PIEIER3.bit.INTx1 = 1;

// Enable global Interrupts and higher priority real-time debug events:
   EINT;   // Enable Global interrupt INTM
   ERTM;   // Enable Global realtime interrupt DBGM

   pref = -37.0; // Direct reference

// Step 6. IDLE loop. Just sit and loop forever (optional):
   for(;;) {
    }
}


__interrupt void epwm1_isr(void) {
    Vo = AdcRegs.ADCRESULT0 >>4;  //CT output
    Vref = AdcRegs.ADCRESULT1 >>4;  // CT reference voltage
    pref2 = AdcRegs.ADCRESULT2 >>4;  // Control value from external

    p2=(0.0477427)*(Vo-Vref+68); // Sensing Power estimation
//    pref = (pref2-2047)*0.04; // V1=V2=40V I2=1A
    pref = 13.84; // Direct reference (optional)
/*
pref d
13.84 0.1
25.51 0.2
32.75 0.3
36.60 0.4
-19.68 -0.1
-30.47 -0.2
-39.84 -0.3
-45.92 -0.4
  */
/*
    counter = counter + 1;
    if(counter >= CMAX){
         if(flag == 0){
              pref = pref+1;
              flag = 1;
         }else if (flag == 1){
              pref = pref-1;
              flag = 0;
         }
     counter = 0;
    }
*/

    // PI control
    e2 = e;
    e = pref-p2;
    Sum = Sum + (e2 + e)*(T/2);
//    Sum = Sum + e*T;
    // Limitter
    if(Sum > 1.3){
         Sum = 1.3;
    } else if(Sum < -1.3){
         Sum = -1.3;
    }
    d = Kp*e + Ki*Sum;
//    d = Kp*e + 0.3;
    // Limitter
    if(d > 0.5){ 
         d = 0.5;
    } else if(d < -0.5){
         d =-0.5;
    }


    //  Describe control method's here...
    EPwm3Regs.CMPA.half.CMPA = PRD/2+PRD*d/2;
    EPwm4Regs.CMPA.half.CMPA = PRD/2+PRD*d/2;
    if(PRD+PRD*d > PRD){
        EPwm3Regs.CMPB = PRD*d/2;
        EPwm4Regs.CMPB = PRD*d/2;
    } else {
        EPwm3Regs.CMPB = PRD+PRD*d/2;
        EPwm4Regs.CMPB = PRD+PRD*d/2;
    }
   // Clear INT flag for this timer
   EPwm1Regs.ETCLR.bit.INT = 1;

   // Acknowledge this interrupt to receive more interrupts from group 3
   PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}



void EPwm1Config() {
   EPwm1Regs.TBPRD = PRD;                        // Set timer period -> 100kHz
   EPwm1Regs.TBPHS.half.TBPHS = 0x0000;           // Phase is 0
   EPwm1Regs.TBCTR = 0x0000;                      // Clear counter

   // Setup TBCLK
   EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
   EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE;        // master
   EPwm1Regs.TBCTL.bit.PRDLD = TB_SHADOW;
   EPwm1Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO;
   //EPwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV4;       // Clock ratio to SYSCLKOUT
   //EPwm1Regs.TBCTL.bit.CLKDIV = TB_DIV2;

   EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
   EPwm1Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
   EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
   EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

   // Setup compare
   EPwm1Regs.CMPA.half.CMPA = PRD/2; //For Duty 50%PWM
   EPwm1Regs.CMPB = PRD*0.9; //For AdcSoc

   // Set actions
   EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;             // Set PWM1A on Zero
   EPwm1Regs.AQCTLA.bit.ZRO = AQ_CLEAR;           // 1A:S1

   EPwm1Regs.AQCTLB.bit.CAU = AQ_CLEAR;          // Set PWM1B on Zero
   EPwm1Regs.AQCTLB.bit.ZRO = AQ_SET;            // 1B:S3

   // Deadband
   EPwm1Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;    // enable Dead-band module
   EPwm1Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC;     // Active Hi complementary
   EPwm1Regs.DBFED= 38;// FED = 38 TBCLKs -> 0.5us DT @PRD 750
   EPwm1Regs.DBRED= 38;// RED = 38 TBCLKs

   // Interrupt
   EPwm1Regs.ETSEL.bit.INTSEL = ET_CTRU_CMPB;     // Select INT on Zero event
   EPwm1Regs.ETSEL.bit.INTEN = 1;                // Enable INT
   EPwm1Regs.ETPS.bit.INTPRD = ET_1ST;           // Generate INT on 1st event
   EPwm1Regs.ETSEL.bit.SOCAEN = 1;        // Enable SOC on A group
   EPwm1Regs.ETSEL.bit.SOCASEL = ET_CTR_ZERO;       // Select SOC from from CPMB on upcount. See Fig.44 of ePWM Reference
   EPwm1Regs.ETPS.bit.SOCAPRD = ET_1ST;        // Generate INT on 1st event
}

void EPwm2Config() {
    EPwm2Regs.TBPRD = PRD;                        // Set timer period -> 100kHz
    EPwm2Regs.TBCTR = 0x0000;                      // Clear counter

    // Setup TBCLK
    EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
    EPwm2Regs.TBCTL.bit.PHSEN = TB_ENABLE;        // slave move this PWM
    EPwm2Regs.TBCTL.bit.PRDLD = TB_SHADOW;
    EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
    //EPwm2Regs.TBCTL.bit.HSPCLKDIV = TB_DIV4;       // Clock ratio to SYSCLKOUT
    //EPwm2Regs.TBCTL.bit.CLKDIV = TB_DIV2;

    EPwm2Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
    EPwm2Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
    EPwm2Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
    EPwm2Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

    // Setup compare
    EPwm2Regs.CMPA.half.CMPA = PRD/2;

    // Set actions
    EPwm2Regs.AQCTLA.bit.CAU = AQ_CLEAR;             // Set PWM2A on Zero
    EPwm2Regs.AQCTLA.bit.ZRO = AQ_SET;           // 2A:S2

    EPwm2Regs.AQCTLB.bit.CAU = AQ_SET;          // Set PWM1B on Zero
    EPwm2Regs.AQCTLB.bit.ZRO = AQ_CLEAR;            // 2B:S4

    // Deadband
    EPwm2Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;    // enable Dead-band module
    EPwm2Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC;     // Active Hi complementary
    EPwm2Regs.DBFED= 38;// FED = 38 TBCLKs -> 0.5us DT @PRD 750
    EPwm2Regs.DBRED= 38;// RED = 38 TBCLKs

}

void EPwm3Config() {
    EPwm3Regs.TBPRD = PRD;                        // Set timer period -> 100kHz
    EPwm3Regs.TBCTR = 0x0000;                      // Clear counter

    // Setup TBCLK
    EPwm3Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
    EPwm3Regs.TBCTL.bit.PHSEN = TB_ENABLE;        // slave move this PWM
    EPwm3Regs.TBCTL.bit.PRDLD = TB_SHADOW;
    EPwm3Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
    //EPwm3Regs.TBCTL.bit.HSPCLKDIV = TB_DIV4;       // Clock ratio to SYSCLKOUT
    //EPwm3Regs.TBCTL.bit.CLKDIV = TB_DIV2;

    EPwm3Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
    EPwm3Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
    EPwm3Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
    EPwm3Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
//    EPwm3Regs.CMPCTL.bit.SHDWAMODE = 1;    // Load registers in realtime
//    EPwm3Regs.CMPCTL.bit.SHDWBMODE = 1;

    // Setup compare
    EPwm3Regs.CMPA.half.CMPA = PRD/2;

    // Set actions
    EPwm3Regs.AQCTLA.bit.CAU = AQ_SET;             // Set PWM2A on Zero
    EPwm3Regs.AQCTLA.bit.CBU = AQ_CLEAR;           // 2A:S5

    EPwm3Regs.AQCTLB.bit.CAU = AQ_CLEAR;          // Set PWM1B on Zero
    EPwm3Regs.AQCTLB.bit.CBU = AQ_SET;            // 2B:S7

    // Deadband
    EPwm3Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;    // enable Dead-band module
    EPwm3Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC;     // Active Hi complementary
    EPwm3Regs.DBFED= 38;// FED = 38 TBCLKs -> 0.5us DT @PRD 750
    EPwm3Regs.DBRED= 38;// RED = 38 TBCLKs

}

void EPwm4Config() {
    EPwm4Regs.TBPRD = PRD;                        // Set timer period -> 100kHz
    EPwm4Regs.TBCTR = 0x0000;                      // Clear counter

    // Setup TBCLK
    EPwm4Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
    EPwm4Regs.TBCTL.bit.PHSEN = TB_ENABLE;        // slave move this PWM
    EPwm4Regs.TBCTL.bit.PRDLD = TB_SHADOW;
    EPwm4Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
    //EPwm4Regs.TBCTL.bit.HSPCLKDIV = TB_DIV4;       // Clock ratio to SYSCLKOUT
    //EPwm4Regs.TBCTL.bit.CLKDIV = TB_DIV2;

        EPwm3Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
        EPwm3Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
        EPwm3Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
        EPwm3Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
    //    EPwm3Regs.CMPCTL.bit.SHDWAMODE = 1;    // Load registers in realtime
    //    EPwm3Regs.CMPCTL.bit.SHDWBMODE = 1;

    // Setup compare
    EPwm4Regs.CMPA.half.CMPA = PRD/2;

    // Set actions
    EPwm4Regs.AQCTLA.bit.CAU = AQ_CLEAR;             // Set PWM2A on Zero
    EPwm4Regs.AQCTLA.bit.CBU = AQ_SET;           // 2A:S6

    EPwm4Regs.AQCTLB.bit.CAU = AQ_SET;          // Set PWM1B on Zero
    EPwm4Regs.AQCTLB.bit.CBU = AQ_CLEAR;            // 2B:S8

    // Deadband
    EPwm4Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;    // enable Dead-band module
    EPwm4Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC;     // Active Hi complementary
    EPwm4Regs.DBFED= 38;// FED = 38 TBCLKs -> 0.5us DT @PRD 750
    EPwm4Regs.DBRED= 38;// RED = 38 TBCLKs

}


void AdcConfig(void){
    AdcRegs.ADCMAXCONV.all = 0x0003;       // Setup 3 conv's on SEQ1
    AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0x0000; // Setup ADCINA0 as 1st SEQ1 conv.
    AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 0x0001; // Setup ADCINA1 as 2nd SEQ1 conv.
    AdcRegs.ADCCHSELSEQ1.bit.CONV02 = 0x0002; // Setup ADCINA7 as 3rd SEQ1 conv. ?
    AdcRegs.ADCTRL2.bit.EPWM_SOCA_SEQ1 = 1;// Enable SOCA from ePWM to start SEQ1
    AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1;  // Enable SEQ1 interrupt (every EOS)
}

//===========================================================================
// No more.
//===========================================================================

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