TMS320F28335: PID Simulation Digital Control Library (DCL)

//###########################################################################
//
// FILE:   Example_2833xAdcSoc.c
//
// TITLE:  ADC Start of Conversion Example
//
//! \addtogroup f2833x_example_list
//! <h1> ADC Start of Conversion (adc_soc)</h1>
//!
//! This ADC example uses ePWM1 to generate a periodic ADC SOC on SEQ1.
//! Two channels are converted, ADCINA3 and ADCINA2.
//!
//! \b Watch \b Variables \n
//! - Voltage1[10]	- Last 10 ADCRESULT0 values
//! - Voltage2[10]	- Last 10 ADCRESULT1 values
//! - ConversionCount	- Current result number 0-9
//! - LoopCount		- Idle loop counter
//
//###########################################################################
// $TI Release: $
// $Release Date: $
// $Copyright:
// Copyright (C) 2009-2023 Texas Instruments Incorporated - http://www.ti.com/
//
// Redistribution and use in source and binary forms, with or without 
// modification, are permitted provided that the following conditions 
// are met:
// 
//   Redistributions of source code must retain the above copyright 
//   notice, this list of conditions and the following disclaimer.
// 
//   Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the 
//   documentation and/or other materials provided with the   
//   distribution.
// 
//   Neither the name of Texas Instruments Incorporated nor the names of
//   its contributors may be used to endorse or promote products derived
//   from this software without specific prior written permission.
// 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// $
//###########################################################################

//
// Included Files
//
#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File

//
// Function Prototypes
//
__interrupt void adc_isr(void);

//
// Globals
//
Uint16 LoopCount;
Uint16 ConversionCount;
Uint16 Voltage1[10];
Uint16 Voltage2[10];

//
// Main
//
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
        //
        // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 150/(2*3)   = 25.0 MHz
        //
        #define ADC_MODCLK 0x3
    #endif
    #if (CPU_FRQ_100MHZ)
        //
        // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 100/(2*2)   = 25.0 MHz
        //
        #define ADC_MODCLK 0x2
    #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

    //
    // 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 register
    PieVectTable.ADCINT = &adc_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();  // For this example, init the ADC

    //
    // Step 5. User specific code, enable interrupts:
    //

    //
    // 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

    LoopCount = 0;
    ConversionCount = 0;

    //
    // Configure ADC
    //
    AdcRegs.ADCMAXCONV.all = 0x0001;       // Setup 2 conv's on SEQ1
    AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0x3; // Setup ADCINA3 as 1st SEQ1 conv.
    AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 0x2; // Setup ADCINA2 as 2nd SEQ1 conv.
    
    //
    // Enable SOCA from ePWM to start SEQ1
    //
    AdcRegs.ADCTRL2.bit.EPWM_SOCA_SEQ1 = 1;
    
    AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1;  // Enable SEQ1 interrupt (every EOS)

    //
    // 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 from CPMA 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++;
    }
}

//
// adc_isr - 
//
__interrupt void  
adc_isr(void)
{
    Voltage1[ConversionCount] = AdcRegs.ADCRESULT0 >>4;
    Voltage2[ConversionCount] = AdcRegs.ADCRESULT1 >>4;

    //
    // If 40 conversions have been logged, start over
    //
    if(ConversionCount == 9)
    {
        ConversionCount = 0;
    }
    else
    {
        ConversionCount++;
    }

    //
    // Reinitialize for next ADC sequence
    //
    AdcRegs.ADCTRL2.bit.RST_SEQ1 = 1;         // Reset SEQ1
    AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;       // Clear INT SEQ1 bit
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;   // Acknowledge interrupt to PIE

    return;
}

//
// End of File
//

//###########################################################################
//
// FILE:   Example_2833xAdcSoc.c
//
// TITLE:  ADC Start of Conversion Example
//
//! \addtogroup f2833x_example_list
//! <h1> ADC Start of Conversion (adc_soc)</h1>
//!
//! This ADC example uses ePWM1 to generate a periodic ADC SOC on SEQ1.
//! Two channels are converted, ADCINA3 and ADCINA2.
//!
//! \b Watch \b Variables \n
//! - Voltage1[10]	- Last 10 ADCRESULT0 values
//! - Voltage2[10]	- Last 10 ADCRESULT1 values
//! - ConversionCount	- Current result number 0-9
//! - LoopCount		- Idle loop counter
//
//###########################################################################
// $TI Release: $
// $Release Date: $
// $Copyright:
// Copyright (C) 2009-2023 Texas Instruments Incorporated - http://www.ti.com/
//
// Redistribution and use in source and binary forms, with or without 
// modification, are permitted provided that the following conditions 
// are met:
// 
//   Redistributions of source code must retain the above copyright 
//   notice, this list of conditions and the following disclaimer.
// 
//   Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the 
//   documentation and/or other materials provided with the   
//   distribution.
// 
//   Neither the name of Texas Instruments Incorporated nor the names of
//   its contributors may be used to endorse or promote products derived
//   from this software without specific prior written permission.
// 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// $
//###########################################################################

//
// Included Files
//
#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File

//
// Function Prototypes
//
__interrupt void adc_isr(void);

//
// Globals
//
Uint16 LoopCount;
Uint16 ConversionCount;
Uint16 Voltage1[10];
Uint16 Voltage2[10];

//
// Main
//
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
        //
        // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 150/(2*3)   = 25.0 MHz
        //
        #define ADC_MODCLK 0x3
    #endif
    #if (CPU_FRQ_100MHZ)
        //
        // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 100/(2*2)   = 25.0 MHz
        //
        #define ADC_MODCLK 0x2
    #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

    //
    // 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 register
    PieVectTable.ADCINT = &adc_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();  // For this example, init the ADC

    //
    // Step 5. User specific code, enable interrupts:
    //

    //
    // 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

    LoopCount = 0;
    ConversionCount = 0;

    //
    // Configure ADC
    //
    AdcRegs.ADCMAXCONV.all = 0x0001;       // Setup 2 conv's on SEQ1
    AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0x3; // Setup ADCINA3 as 1st SEQ1 conv.
    AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 0x2; // Setup ADCINA2 as 2nd SEQ1 conv.
    
    //
    // Enable SOCA from ePWM to start SEQ1
    //
    AdcRegs.ADCTRL2.bit.EPWM_SOCA_SEQ1 = 1;
    
    AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1;  // Enable SEQ1 interrupt (every EOS)

    //
    // 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 from CPMA 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++;
    }
}

//
// adc_isr - 
//
__interrupt void  
adc_isr(void)
{
    Voltage1[ConversionCount] = AdcRegs.ADCRESULT0 >>4;
    Voltage2[ConversionCount] = AdcRegs.ADCRESULT1 >>4;

    //
    // If 40 conversions have been logged, start over
    //
    if(ConversionCount == 9)
    {
        ConversionCount = 0;
    }
    else
    {
        ConversionCount++;
    }

    //
    // Reinitialize for next ADC sequence
    //
    AdcRegs.ADCTRL2.bit.RST_SEQ1 = 1;         // Reset SEQ1
    AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;       // Clear INT SEQ1 bit
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;   // Acknowledge interrupt to PIE

    return;
}

//
// End of File
//

//###########################################################################
//
// FILE:   Example_2833xAdcSoc.c
//
// TITLE:  ADC Start of Conversion Example
//
//! \addtogroup f2833x_example_list
//! <h1> ADC Start of Conversion (adc_soc)</h1>
//!
//! This ADC example uses ePWM1 to generate a periodic ADC SOC on SEQ1.
//! Two channels are converted, ADCINA3 and ADCINA2.
//!
//! \b Watch \b Variables \n
//! - Voltage1[10]  - Last 10 ADCRESULT0 values
//! - Voltage2[10]  - Last 10 ADCRESULT1 values
//! - ConversionCount   - Current result number 0-9
//! - LoopCount     - Idle loop counter
//
//###########################################################################
// $TI Release: $
// $Release Date: $
// $Copyright:
// Copyright (C) 2009-2023 Texas Instruments Incorporated - http://www.ti.com/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//
//   Redistributions of source code must retain the above copyright
//   notice, this list of conditions and the following disclaimer.
//
//   Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the
//   distribution.
//
//   Neither the name of Texas Instruments Incorporated nor the names of
//   its contributors may be used to endorse or promote products derived
//   from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// $
//###########################################################################

//
// Included Files
//
#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File
#include "DSP2833x_Device.h"
#include "DSP2833x_Examples.h"
#include "DSP2833x_GlobalPrototypes.h"
#include "DCLF32.h"
//
// Function Prototypes
//
__interrupt void adc_isr(void);

//
// Globals
//
Uint16 LoopCount;
Uint16 ConversionCount;
Uint16 Voltage1[10];
Uint16 Voltage2[10];
float rk = 0.25f;
float yk;
float lk;
float uk;
DCL_PID pid1 = PID_DEFAULTS;
float Duty;
float upperlim = 0.95f;
float lowerlim = 0.05f;
unsigned int clampactive;

//
// Main
//
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
        //
        // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 150/(2*3)   = 25.0 MHz
        //
        #define ADC_MODCLK 0x3
    #endif
    #if (CPU_FRQ_100MHZ)
        //
        // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 100/(2*2)   = 25.0 MHz
        //
        #define ADC_MODCLK 0x2
    #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

    //
    // 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 register
    PieVectTable.ADCINT = &adc_isr;
    EDIS;    // This is needed to disable write to EALLOW protected registers

    //* configure ePWM1 */
    EALLOW;
    SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
    EDIS;
    InitEPwm();								// [F2806x_EPwm.c]
    EPwm1Regs.TBCTL.bit.CTRMODE = 3;		// freeze TB counter
    EPwm1Regs.TBCTL.bit.PRDLD = 1;  		// immediate load
    EPwm1Regs.TBCTL.bit.PHSEN = 0;	   		// disable phase loading
    EPwm1Regs.TBCTL.bit.SYNCOSEL = 3;		// disable SYNCOUT signal
    EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0;		// TBCLK = SYSCLKOUT
    EPwm1Regs.TBCTL.bit.CLKDIV = 0;			// clock divider = /1
    EPwm1Regs.TBCTL.bit.FREE_SOFT = 2;		// free run on emulation suspend
    EPwm1Regs.TBPRD = 0x2328;	          	// set period for ePWM1 (0x2328 = 10kHz)
    EPwm1Regs.TBPHS.all = 0;			    // time-base Phase Register
    EPwm1Regs.TBCTR = 0;					// time-base Counter Register
    EPwm1Regs.ETSEL.bit.SOCAEN = 1;        	// enable SOC on A group
    EPwm1Regs.ETSEL.bit.SOCASEL = 1;       	// select SOC from zero match
    EPwm1Regs.ETPS.bit.SOCAPRD = 1;        	// generate pulse on 1st event
    EPwm1Regs.CMPCTL.bit.SHDWAMODE = 0;		// enable shadow mode
    EPwm1Regs.CMPCTL.bit.LOADAMODE = 2; 	// reload on CTR=zero
    EPwm1Regs.CMPA.half.CMPA = 0x0080;	 	// set compare A value
    EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;		// HIGH on CMPA up match
    EPwm1Regs.AQCTLA.bit.ZRO = AQ_CLEAR;	// LOW on zero match
    EALLOW;
    SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
    EDIS;

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

    //
    // Step 5. User specific code, enable interrupts:
    //

    //
    // 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

    LoopCount = 0;
    ConversionCount = 0;

    //
    // Configure ADC
    //
    AdcRegs.ADCMAXCONV.all = 0x0001;       // Setup 2 conv's on SEQ1
    AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0x3; // Setup ADCINA3 as 1st SEQ1 conv.
    AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 0x2; // Setup ADCINA2 as 2nd SEQ1 conv.

    //
    // Enable SOCA from ePWM to start SEQ1
    //
    AdcRegs.ADCTRL2.bit.EPWM_SOCA_SEQ1 = 1;

    AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1;  // Enable SEQ1 interrupt (every EOS)

    //
    // 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 from CPMA 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++;
    }
}

/* initialise controller variables */
	pid1.Kp = 9.0f;
	pid1.Ki = 0.015f;
	pid1.Kd = 0.35f;
	pid1.Kr = 1.0f;
	pid1.c1 = 188.0296600613396f;
	pid1.c2 = 0.880296600613396f;
	pid1.d2 = 0.0f;
	pid1.d3 = 0.0f;
	pid1.i10 = 0.0f;
	pid1.i14 = 1.0f;
	pid1.Umax = 1.0f;
	pid1.Umin = -1.0f;

	rk = 0.25f;								// initial value for control reference
	lk = 1.0f;								// control loop not saturated

//
// adc_isr -
//
__interrupt void
adc_isr(void)
{
    Voltage1[ConversionCount] = AdcRegs.ADCRESULT0 >>4;
    Voltage2[ConversionCount] = AdcRegs.ADCRESULT1 >>4;

    // read ADC channel
    yk = ((float) AdcRegs.ADCRESULT0 - 2048.0f) / 2047.0f;

    // run PID controller
    uk = DCL_runPID_C4(&pid1, rk, yk, lk);
	
    // external clamp for anti-windup reset
    clampactive = DCL_runClamp_C1(&uk, upperlim, lowerlim);
    lk = (clampactive == 0U) ? 1.0f : 0.0f;

    // write u(k) to PWM
    Duty = (uk / 2.0f + 0.5f) * (float) EPwm1Regs.TBPRD;
    EPwm1Regs.CMPA.half.CMPA = (Uint16) Duty;

    //
    // If 40 conversions have been logged, start over
    //
    if(ConversionCount == 9)
    {
        ConversionCount = 0;
    }
    else
    {
        ConversionCount++;
    }

    //
    // Reinitialize for next ADC sequence
    //
    AdcRegs.ADCTRL2.bit.RST_SEQ1 = 1;         // Reset SEQ1
    AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;       // Clear INT SEQ1 bit
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;   // Acknowledge interrupt to PIE

    return;
}

//
// End of File
//

//###########################################################################
//
// FILE:   Example_2833xAdcSoc.c
//
// TITLE:  ADC Start of Conversion Example
//
//! \addtogroup f2833x_example_list
//! <h1> ADC Start of Conversion (adc_soc)</h1>
//!
//! This ADC example uses ePWM1 to generate a periodic ADC SOC on SEQ1.
//! Two channels are converted, ADCINA3 and ADCINA2.
//!
//! \b Watch \b Variables \n
//! - Voltage1[10]  - Last 10 ADCRESULT0 values
//! - Voltage2[10]  - Last 10 ADCRESULT1 values
//! - ConversionCount   - Current result number 0-9
//! - LoopCount     - Idle loop counter
//
//###########################################################################
// $TI Release: $
// $Release Date: $
// $Copyright:
// Copyright (C) 2009-2023 Texas Instruments Incorporated - http://www.ti.com/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//
//   Redistributions of source code must retain the above copyright
//   notice, this list of conditions and the following disclaimer.
//
//   Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the
//   distribution.
//
//   Neither the name of Texas Instruments Incorporated nor the names of
//   its contributors may be used to endorse or promote products derived
//   from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// $
//###########################################################################

//
// Included Files
//
#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File
#include "DSP2833x_Device.h"
#include "DSP2833x_Examples.h"
#include "DSP2833x_GlobalPrototypes.h"
#include "DCLF32.h"

//
// Function Prototypes
//
__interrupt void adc_isr(void);
//
// Globals
//
Uint16 LoopCount;
Uint16 ConversionCount;
Uint16 Voltage1[10];
Uint16 Voltage2[10];
//float32_t pid1;
DCL_PID pid1 = PID_DEFAULTS;

float32_t yk;
float32_t lk;
float32_t uk;

float32_t rk = 0.25;                             // initial value for control reference
float32_t lk = 1.0;                              // control loop not saturated

//DCL_PID pid1 = PID_DEFAULTS;

float Duty;
float upperlim = 0.95;
float lowerlim = 0.05;
unsigned int clampactive;
//
// Main
//
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
        //
        // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 150/(2*3)   = 25.0 MHz
        //
        #define ADC_MODCLK 0x3
    #endif
    #if (CPU_FRQ_100MHZ)
        //
        // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 100/(2*2)   = 25.0 MHz
        //
        #define ADC_MODCLK 0x2
    #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

    //
    // 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 register
    PieVectTable.ADCINT = &adc_isr;
    EDIS;    // This is needed to disable write to EALLOW protected registers

    //* configure ePWM1 */
    EALLOW;
    SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
    EDIS;
    InitEPwm();                             // [F2806x_EPwm.c]
    EPwm1Regs.TBCTL.bit.CTRMODE = 3;        // freeze TB counter
    EPwm1Regs.TBCTL.bit.PRDLD = 1;          // immediate load
    EPwm1Regs.TBCTL.bit.PHSEN = 0;          // disable phase loading
    EPwm1Regs.TBCTL.bit.SYNCOSEL = 3;       // disable SYNCOUT signal
    EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0;      // TBCLK = SYSCLKOUT
    EPwm1Regs.TBCTL.bit.CLKDIV = 0;         // clock divider = /1
    EPwm1Regs.TBCTL.bit.FREE_SOFT = 2;      // free run on emulation suspend
    EPwm1Regs.TBPRD = 0x2328;               // set period for ePWM1 (0x2328 = 10kHz)
    EPwm1Regs.TBPHS.all = 0;                // time-base Phase Register
    EPwm1Regs.TBCTR = 0;                    // time-base Counter Register
    EPwm1Regs.ETSEL.bit.SOCAEN = 1;         // enable SOC on A group
    EPwm1Regs.ETSEL.bit.SOCASEL = 1;        // select SOC from zero match
    EPwm1Regs.ETPS.bit.SOCAPRD = 1;         // generate pulse on 1st event
    EPwm1Regs.CMPCTL.bit.SHDWAMODE = 0;     // enable shadow mode
    EPwm1Regs.CMPCTL.bit.LOADAMODE = 2;     // reload on CTR=zero
    EPwm1Regs.CMPA.half.CMPA = 0x0080;      // set compare A value
    EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;      // HIGH on CMPA up match
    EPwm1Regs.AQCTLA.bit.ZRO = AQ_CLEAR;    // LOW on zero match
    EALLOW;
    SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
    EDIS;

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

    //
    // Step 5. User specific code, enable interrupts:
    //

    //
    // 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

    LoopCount = 0;
    ConversionCount = 0;

    //
    // Configure ADC
    //
    AdcRegs.ADCMAXCONV.all = 0x0001;       // Setup 2 conv's on SEQ1
    AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0x3; // Setup ADCINA3 as 1st SEQ1 conv.
    AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 0x2; // Setup ADCINA2 as 2nd SEQ1 conv.

    //
    // Enable SOCA from ePWM to start SEQ1
    //
    AdcRegs.ADCTRL2.bit.EPWM_SOCA_SEQ1 = 1;

    AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1;  // Enable SEQ1 interrupt (every EOS)

    //
    // 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 from CPMA 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++;
    }
}

// initialise controller variables
pid1.Kp = 9.0f;
pid1.Ki = 0.015f;
pid1.Kd = 0.35f;
pid1.Kr = 1.0f;
pid1.c1 = 188.0296600613396f;
pid1.c2 = 0.880296600613396f;
pid1.d2 = 0.0f;
pid1.d3 = 0.0f;
pid1.i10 = 0.0f;
pid1.i14 = 1.0f;
pid1.Umax = 1.0f;
pid1.Umin = -1.0f;

//float rk = 0.25f;                             // initial value for control reference
//float lk = 1.0f;                              // control loop not saturated

//
// adc_isr -
//
__interrupt void
adc_isr(void)
{
    Voltage1[ConversionCount] = AdcRegs.ADCRESULT0 >>4;
    Voltage2[ConversionCount] = AdcRegs.ADCRESULT1 >>4;

    // read ADC channel
    yk = ((float) AdcRegs.ADCRESULT0 - 2048.0f) / 2047.0f;

    // run PID controller
    uk = DCL_runPID_C4(&pid1, rk, yk, lk);

    // external clamp for anti-windup reset
    clampactive = DCL_runClamp_C1(&uk, upperlim, lowerlim);
    //clampactive = DCL_runClamp_C1(&uk, Umax, Umin);
    lk = (clampactive == 0U) ? 1.0f : 0.0f;

    // write u(k) to PWM
    Duty = (uk / 2.0f + 0.5f) * (float) EPwm1Regs.TBPRD;
    EPwm1Regs.CMPA.half.CMPA = (Uint16) Duty;

    //
    // If 40 conversions have been logged, start over
    //
    if(ConversionCount == 9)
    {
        ConversionCount = 0;
    }
    else
    {
        ConversionCount++;
    }

    //
    // Reinitialize for next ADC sequence
    //
    AdcRegs.ADCTRL2.bit.RST_SEQ1 = 1;         // Reset SEQ1
    AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;       // Clear INT SEQ1 bit
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;   // Acknowledge interrupt to PIE

    return;
}

//
// End of File
//

//###########################################################################
//
// FILE:   Example_2833xAdcSoc.c
//
// TITLE:  ADC Start of Conversion Example
//
//! \addtogroup f2833x_example_list
//! <h1> ADC Start of Conversion (adc_soc)</h1>
//!
//! This ADC example uses ePWM1 to generate a periodic ADC SOC on SEQ1.
//! Two channels are converted, ADCINA3 and ADCINA2.
//!
//! \b Watch \b Variables \n
//! - Voltage1[10]  - Last 10 ADCRESULT0 values
//! - Voltage2[10]  - Last 10 ADCRESULT1 values
//! - ConversionCount   - Current result number 0-9
//! - LoopCount     - Idle loop counter
//
//###########################################################################
// $TI Release: $
// $Release Date: $
// $Copyright:
// Copyright (C) 2009-2023 Texas Instruments Incorporated - http://www.ti.com/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//
//   Redistributions of source code must retain the above copyright
//   notice, this list of conditions and the following disclaimer.
//
//   Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the
//   distribution.
//
//   Neither the name of Texas Instruments Incorporated nor the names of
//   its contributors may be used to endorse or promote products derived
//   from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// $
//###########################################################################

//
// Included Files
//
#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File
#include "DSP2833x_Device.h"
#include "DSP2833x_Examples.h"
#include "DSP2833x_GlobalPrototypes.h"
#include "DCLF32.h"

//
// Function Prototypes
//


__interrupt void adc_isr(void);
//
// Globals
//
Uint16 LoopCount;
Uint16 ConversionCount;
Uint16 Voltage1[10];
Uint16 Voltage2[10];

float32_t yk;
float32_t lk;
float32_t uk;
float32_t rk = 0.25;                             // initial value for control reference
float32_t lk = 1.0;                              // control loop not saturated

float Duty;
float upperlim = 0.95;
float lowerlim = 0.05;
unsigned int clampactive;

//
// Main
//

void main(void)
{


    DCL_PID pid1 = PID_DEFAULTS;

    pid1.Kp = 9.0f;
    pid1.Ki = 0.015f;
    pid1.Kd = 0.35f;
    pid1.Kr = 1.0f;
    pid1.c1 = 188.0296600613396f;
    pid1.c2 = 0.880296600613396f;
    pid1.d2 = 0.0f;
    pid1.d3 = 0.0f;
    pid1.i10 = 0.0f;
    pid1.i14 = 1.0f;
    pid1.Umax = 1.0f;
    pid1.Umin = -1.0f;

    //
    // 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
        //
        // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 150/(2*3)   = 25.0 MHz
        //
        #define ADC_MODCLK 0x3
    #endif
    #if (CPU_FRQ_100MHZ)
        //
        // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 100/(2*2)   = 25.0 MHz
        //
        #define ADC_MODCLK 0x2
    #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

    //
    // 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 register
    PieVectTable.ADCINT = &adc_isr;
    EDIS;    // This is needed to disable write to EALLOW protected registers

    //* configure ePWM1 */
    EALLOW;
    SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
    EDIS;
    InitEPwm();                             // [F2806x_EPwm.c]
    EPwm1Regs.TBCTL.bit.CTRMODE = 3;        // freeze TB counter
    EPwm1Regs.TBCTL.bit.PRDLD = 1;          // immediate load
    EPwm1Regs.TBCTL.bit.PHSEN = 0;          // disable phase loading
    EPwm1Regs.TBCTL.bit.SYNCOSEL = 3;       // disable SYNCOUT signal
    EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0;      // TBCLK = SYSCLKOUT
    EPwm1Regs.TBCTL.bit.CLKDIV = 0;         // clock divider = /1
    EPwm1Regs.TBCTL.bit.FREE_SOFT = 2;      // free run on emulation suspend
    EPwm1Regs.TBPRD = 0x2328;               // set period for ePWM1 (0x2328 = 10kHz)
    EPwm1Regs.TBPHS.all = 0;                // time-base Phase Register
    EPwm1Regs.TBCTR = 0;                    // time-base Counter Register
    EPwm1Regs.ETSEL.bit.SOCAEN = 1;         // enable SOC on A group
    EPwm1Regs.ETSEL.bit.SOCASEL = 1;        // select SOC from zero match
    EPwm1Regs.ETPS.bit.SOCAPRD = 1;         // generate pulse on 1st event
    EPwm1Regs.CMPCTL.bit.SHDWAMODE = 0;     // enable shadow mode
    EPwm1Regs.CMPCTL.bit.LOADAMODE = 2;     // reload on CTR=zero
    EPwm1Regs.CMPA.half.CMPA = 0x0080;      // set compare A value
    EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;      // HIGH on CMPA up match
    EPwm1Regs.AQCTLA.bit.ZRO = AQ_CLEAR;    // LOW on zero match
    EALLOW;
    SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
    EDIS;

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

    //
    // Step 5. User specific code, enable interrupts:
    //

    //
    // 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

    LoopCount = 0;
    ConversionCount = 0;

    //
    // Configure ADC
    //
    AdcRegs.ADCMAXCONV.all = 0x0001;       // Setup 2 conv's on SEQ1
    AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0x3; // Setup ADCINA3 as 1st SEQ1 conv.
    AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 0x2; // Setup ADCINA2 as 2nd SEQ1 conv.

    //
    // Enable SOCA from ePWM to start SEQ1
    //
    AdcRegs.ADCTRL2.bit.EPWM_SOCA_SEQ1 = 1;

    AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1;  // Enable SEQ1 interrupt (every EOS)

    //
    // 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 from CPMA 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++;
    }
}

//
// adc_isr -
//
__interrupt void
adc_isr(void)
{
    Voltage1[ConversionCount] = AdcRegs.ADCRESULT0 >>4;
    Voltage2[ConversionCount] = AdcRegs.ADCRESULT1 >>4;

    // read ADC channel
    yk = ((float) AdcRegs.ADCRESULT0 - 2048.0f) / 2047.0f;

    // run PID controller
    uk = DCL_runPID_C4(&pid1, rk, yk, lk);

    // external clamp for anti-windup reset
    clampactive = DCL_runClamp_C1(&uk, upperlim, lowerlim);
    //clampactive = DCL_runClamp_C1(&uk, Umax, Umin);
    lk = (clampactive == 0U) ? 1.0f : 0.0f;

    // write u(k) to PWM
    Duty = (uk / 2.0f + 0.5f) * (float) EPwm1Regs.TBPRD;
    EPwm1Regs.CMPA.half.CMPA = (Uint16) Duty;

    //
    // If 40 conversions have been logged, start over
    //
    if(ConversionCount == 9)
    {
        ConversionCount = 0;
    }
    else
    {
        ConversionCount++;
    }

    //
    // Reinitialize for next ADC sequence
    //
    AdcRegs.ADCTRL2.bit.RST_SEQ1 = 1;         // Reset SEQ1
    AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;       // Clear INT SEQ1 bit
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;   // Acknowledge interrupt to PIE

    return;
}

//
// End of File
//

//###########################################################################
//
// FILE:   Example_2833xAdcSoc.c
//
// TITLE:  ADC Start of Conversion Example
//
//! \addtogroup f2833x_example_list
//! <h1> ADC Start of Conversion (adc_soc)</h1>
//!
//! This ADC example uses ePWM1 to generate a periodic ADC SOC on SEQ1.
//! Two channels are converted, ADCINA3 and ADCINA2.
//!
//! \b Watch \b Variables \n
//! - Voltage1[10]  - Last 10 ADCRESULT0 values
//! - Voltage2[10]  - Last 10 ADCRESULT1 values
//! - ConversionCount   - Current result number 0-9
//! - LoopCount     - Idle loop counter
//
//###########################################################################
// $TI Release: $
// $Release Date: $
// $Copyright:
// Copyright (C) 2009-2023 Texas Instruments Incorporated - http://www.ti.com/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//
//   Redistributions of source code must retain the above copyright
//   notice, this list of conditions and the following disclaimer.
//
//   Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the
//   distribution.
//
//   Neither the name of Texas Instruments Incorporated nor the names of
//   its contributors may be used to endorse or promote products derived
//   from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// $
//###########################################################################

//
// Included Files
//
#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File
#include "DSP2833x_Device.h"
#include "DSP2833x_Examples.h"
#include "DSP2833x_GlobalPrototypes.h"
#include "DCLF32.h"

//
// Function Prototypes
//


__interrupt void adc_isr(void);
//
// Globals
//
Uint16 LoopCount;
Uint16 ConversionCount;
Uint16 Voltage1[10];
Uint16 Voltage2[10];

//typedef struct dcl_pid pid1;

//float32_t pid1;
float pid1;
//DCL_PID pid1 = PID_DEFAULTS;


float32_t yk;
float32_t lk;
float32_t uk;
float32_t rk = 0.25;                             // initial value for control reference
float32_t lk = 1.0;                              // control loop not saturated

float Duty;
float upperlim = 0.95;
float lowerlim = 0.05;
unsigned int clampactive;

//
// Main
//

void main(void)
{


    DCL_PID pid1 = PID_DEFAULTS;

    pid1.Kp = 9.0f;
    pid1.Ki = 0.015f;
    pid1.Kd = 0.35f;
    pid1.Kr = 1.0f;
    pid1.c1 = 188.0296600613396f;
    pid1.c2 = 0.880296600613396f;
    pid1.d2 = 0.0f;
    pid1.d3 = 0.0f;
    pid1.i10 = 0.0f;
    pid1.i14 = 1.0f;
    pid1.Umax = 1.0f;
    pid1.Umin = -1.0f;

    //
    // 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
        //
        // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 150/(2*3)   = 25.0 MHz
        //
        #define ADC_MODCLK 0x3
    #endif
    #if (CPU_FRQ_100MHZ)
        //
        // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 100/(2*2)   = 25.0 MHz
        //
        #define ADC_MODCLK 0x2
    #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

    //
    // 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 register
    PieVectTable.ADCINT = &adc_isr;
    EDIS;    // This is needed to disable write to EALLOW protected registers

    //* configure ePWM1 */
    EALLOW;
    SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
    EDIS;
    InitEPwm();                             // [F2806x_EPwm.c]
    EPwm1Regs.TBCTL.bit.CTRMODE = 3;        // freeze TB counter
    EPwm1Regs.TBCTL.bit.PRDLD = 1;          // immediate load
    EPwm1Regs.TBCTL.bit.PHSEN = 0;          // disable phase loading
    EPwm1Regs.TBCTL.bit.SYNCOSEL = 3;       // disable SYNCOUT signal
    EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0;      // TBCLK = SYSCLKOUT
    EPwm1Regs.TBCTL.bit.CLKDIV = 0;         // clock divider = /1
    EPwm1Regs.TBCTL.bit.FREE_SOFT = 2;      // free run on emulation suspend
    EPwm1Regs.TBPRD = 0x2328;               // set period for ePWM1 (0x2328 = 10kHz)
    EPwm1Regs.TBPHS.all = 0;                // time-base Phase Register
    EPwm1Regs.TBCTR = 0;                    // time-base Counter Register
    EPwm1Regs.ETSEL.bit.SOCAEN = 1;         // enable SOC on A group
    EPwm1Regs.ETSEL.bit.SOCASEL = 1;        // select SOC from zero match
    EPwm1Regs.ETPS.bit.SOCAPRD = 1;         // generate pulse on 1st event
    EPwm1Regs.CMPCTL.bit.SHDWAMODE = 0;     // enable shadow mode
    EPwm1Regs.CMPCTL.bit.LOADAMODE = 2;     // reload on CTR=zero
    EPwm1Regs.CMPA.half.CMPA = 0x0080;      // set compare A value
    EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;      // HIGH on CMPA up match
    EPwm1Regs.AQCTLA.bit.ZRO = AQ_CLEAR;    // LOW on zero match
    EALLOW;
    SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
    EDIS;

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

    //
    // Step 5. User specific code, enable interrupts:
    //

    //
    // 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

    LoopCount = 0;
    ConversionCount = 0;

    //
    // Configure ADC
    //
    AdcRegs.ADCMAXCONV.all = 0x0001;       // Setup 2 conv's on SEQ1
    AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0x3; // Setup ADCINA3 as 1st SEQ1 conv.
    AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 0x2; // Setup ADCINA2 as 2nd SEQ1 conv.

    //
    // Enable SOCA from ePWM to start SEQ1
    //
    AdcRegs.ADCTRL2.bit.EPWM_SOCA_SEQ1 = 1;

    AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1;  // Enable SEQ1 interrupt (every EOS)

    //
    // 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 from CPMA 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++;
    }
}

//
// adc_isr -
//
__interrupt void
adc_isr(void)
{
    Voltage1[ConversionCount] = AdcRegs.ADCRESULT0 >>4;
    Voltage2[ConversionCount] = AdcRegs.ADCRESULT1 >>4;

    // read ADC channel
    yk = ((float) AdcRegs.ADCRESULT0 - 2048.0f) / 2047.0f;

    // run PID controller
    uk = DCL_runPID_C4(&pid1, rk, yk, lk);

    // external clamp for anti-windup reset
    clampactive = DCL_runClamp_C1(&uk, upperlim, lowerlim);
    //clampactive = DCL_runClamp_C1(&uk, Umax, Umin);
    lk = (clampactive == 0U) ? 1.0f : 0.0f;

    // write u(k) to PWM
    Duty = (uk / 2.0f + 0.5f) * (float) EPwm1Regs.TBPRD;
    EPwm1Regs.CMPA.half.CMPA = (Uint16) Duty;

    //
    // If 40 conversions have been logged, start over
    //
    if(ConversionCount == 9)
    {
        ConversionCount = 0;
    }
    else
    {
        ConversionCount++;
    }

    //
    // Reinitialize for next ADC sequence
    //
    AdcRegs.ADCTRL2.bit.RST_SEQ1 = 1;         // Reset SEQ1
    AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;       // Clear INT SEQ1 bit
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;   // Acknowledge interrupt to PIE

    return;
}

//
// End of File
//

//###########################################################################
//
// FILE:   Example_2833xAdcSoc.c
//
// TITLE:  ADC Start of Conversion Example
//
//! \addtogroup f2833x_example_list
//! <h1> ADC Start of Conversion (adc_soc)</h1>
//!
//! This ADC example uses ePWM1 to generate a periodic ADC SOC on SEQ1.
//! Two channels are converted, ADCINA3 and ADCINA2.
//!
//! \b Watch \b Variables \n
//! - Voltage1[10]  - Last 10 ADCRESULT0 values
//! - Voltage2[10]  - Last 10 ADCRESULT1 values
//! - ConversionCount   - Current result number 0-9
//! - LoopCount     - Idle loop counter
//
//###########################################################################
// $TI Release: $
// $Release Date: $
// $Copyright:
// Copyright (C) 2009-2023 Texas Instruments Incorporated - http://www.ti.com/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//
//   Redistributions of source code must retain the above copyright
//   notice, this list of conditions and the following disclaimer.
//
//   Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the
//   distribution.
//
//   Neither the name of Texas Instruments Incorporated nor the names of
//   its contributors may be used to endorse or promote products derived
//   from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// $
//###########################################################################

//
// Included Files
//
#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File
#include "DSP2833x_Device.h"
#include "DSP2833x_Examples.h"
#include "DSP2833x_GlobalPrototypes.h"
#include "DCLF32.h"

//
// Function Prototypes
//

void gpio_select(void);
void Setup_ePWM1(void);

__interrupt void adc_isr(void);
//
// Globals
//
Uint16 LoopCount;
Uint16 ConversionCount;
Uint16 Voltage1[10];
Uint16 Voltage2[10];
//DCL_PID pid1 = PID_DEFAULTS;

//typedef struct dcl_pid pid1;

struct dcl_pid pid1;
//float pid1;
DCL_PID pid1 = PID_DEFAULTS;


float32_t yk;
float32_t lk;
float32_t uk;
//float32_t rk = 0.25;                             // initial value for control reference
//float32_t lk = 1.0;                              // control loop not saturated
float32_t rk;                             // initial value for control reference
float32_t lk;                              // control loop not saturated


float Duty;
float upperlim = 0.95;
float lowerlim = 0.05;
unsigned int clampactive;

//
// Main
//

void main(void)
{


    //DCL_PID pid1 = PID_DEFAULTS;

    pid1.Kp = 9.0f;
    pid1.Ki = 0.015f;
    pid1.Kd = 0.35f;
    pid1.Kr = 1.0f;
    pid1.c1 = 188.0296600613396f;
    pid1.c2 = 0.880296600613396f;
    pid1.d2 = 0.0f;
    pid1.d3 = 0.0f;
    pid1.i10 = 0.0f;
    pid1.i14 = 1.0f;
    pid1.Umax = 1.0f;
    pid1.Umin = -1.0f;

    rk = 0.25;                             // initial value for control reference
    lk = 1.0;

    //
    // 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
        //
        // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 150/(2*3)   = 25.0 MHz
        //
        #define ADC_MODCLK 0x3
    #endif
    #if (CPU_FRQ_100MHZ)
        //
        // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 100/(2*2)   = 25.0 MHz
        //
        #define ADC_MODCLK 0x2
    #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

    //
    // 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 register
    PieVectTable.ADCINT = &adc_isr;
    EDIS;    // This is needed to disable write to EALLOW protected registers

    //* configure ePWM1 */
    EALLOW;
    SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
    EDIS;

    //InitEPwm1Gpio();                             // [F2806x_EPwm.c]
    gpio_select();
    Setup_ePWM1();     // init  ePWM1A


    //void Setup_ePWM1(void)
    //{
    //EPwm1Regs.TBCTL.bit.CTRMODE = 3;        // freeze TB counter
    //EPwm1Regs.TBCTL.bit.PRDLD = 1;          // immediate load
    //EPwm1Regs.TBCTL.bit.PHSEN = 0;          // disable phase loading
    //EPwm1Regs.TBCTL.bit.SYNCOSEL = 3;       // disable SYNCOUT signal
    //EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0;      // TBCLK = SYSCLKOUT
    //EPwm1Regs.TBCTL.bit.CLKDIV = 0;         // clock divider = /1
    //EPwm1Regs.TBCTL.bit.FREE_SOFT = 2;      // free run on emulation suspend
    //EPwm1Regs.TBPRD = 0x2328;               // set period for ePWM1 (0x2328 = 10kHz)
    //EPwm1Regs.TBPHS.all = 0;                // time-base Phase Register
    //EPwm1Regs.TBCTR = 0;                    // time-base Counter Register
    //EPwm1Regs.ETSEL.bit.SOCAEN = 1;         // enable SOC on A group
    //EPwm1Regs.ETSEL.bit.SOCASEL = 1;        // select SOC from zero match
    //EPwm1Regs.ETPS.bit.SOCAPRD = 1;         // generate pulse on 1st event
    //EPwm1Regs.CMPCTL.bit.SHDWAMODE = 0;     // enable shadow mode
    //EPwm1Regs.CMPCTL.bit.LOADAMODE = 2;     // reload on CTR=zero
    //EPwm1Regs.CMPA.half.CMPA = 0x0080;      // set compare A value
    //EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;      // HIGH on CMPA up match
    //EPwm1Regs.AQCTLA.bit.ZRO = AQ_CLEAR;    // LOW on zero match
    //}

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

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

    //
    // Step 5. User specific code, enable interrupts:
    //

    //gpio_select();
    //Setup_ePWM1();     // init  ePWM1A,ePWM1B


    //
    // 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

    LoopCount = 0;
    ConversionCount = 0;

    //
    // Configure ADC
    //
    AdcRegs.ADCMAXCONV.all = 0x0001;       // Setup 2 conv's on SEQ1
    AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0x3; // Setup ADCINA3 as 1st SEQ1 conv.
    AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 0x2; // Setup ADCINA2 as 2nd SEQ1 conv.

    //
    // Enable SOCA from ePWM to start SEQ1
    //
    AdcRegs.ADCTRL2.bit.EPWM_SOCA_SEQ1 = 1;

    AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1;  // Enable SEQ1 interrupt (every EOS)

    //
    // 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 from CPMA 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 Setup_ePWM1(void)
    {
    EPwm1Regs.TBCTL.bit.CTRMODE = 3;        // freeze TB counter
    EPwm1Regs.TBCTL.bit.PRDLD = 1;          // immediate load
    EPwm1Regs.TBCTL.bit.PHSEN = 0;          // disable phase loading
    EPwm1Regs.TBCTL.bit.SYNCOSEL = 3;       // disable SYNCOUT signal
    EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0;      // TBCLK = SYSCLKOUT
    EPwm1Regs.TBCTL.bit.CLKDIV = 0;         // clock divider = /1
    EPwm1Regs.TBCTL.bit.FREE_SOFT = 2;      // free run on emulation suspend
    EPwm1Regs.TBPRD = 0x2328;               // set period for ePWM1 (0x2328 = 10kHz)
    EPwm1Regs.TBPHS.all = 0;                // time-base Phase Register
    EPwm1Regs.TBCTR = 0;                    // time-base Counter Register
    EPwm1Regs.ETSEL.bit.SOCAEN = 1;         // enable SOC on A group
    EPwm1Regs.ETSEL.bit.SOCASEL = 1;        // select SOC from zero match
    EPwm1Regs.ETPS.bit.SOCAPRD = 1;         // generate pulse on 1st event
    EPwm1Regs.CMPCTL.bit.SHDWAMODE = 0;     // enable shadow mode
    EPwm1Regs.CMPCTL.bit.LOADAMODE = 2;     // reload on CTR=zero
    EPwm1Regs.CMPA.half.CMPA = 0x0080;      // set compare A value
    EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;      // HIGH on CMPA up match
    EPwm1Regs.AQCTLA.bit.ZRO = AQ_CLEAR;    // LOW on zero match
    }


void gpio_select(void)
        {
        EALLOW;
        GpioCtrlRegs.GPAPUD.bit.GPIO0 = 0;   // Enable pullup on GPIO0
        GpioCtrlRegs.GPAPUD.bit.GPIO1 = 0;   // Enable pullup on GPIO1
        GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 1;  // GPIO0 = PWM1A
        GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 1;  // GPIO0 = PWM1B
        EDIS;

        }
// adc_isr -
//
__interrupt void
adc_isr(void)
{
    Voltage1[ConversionCount] = AdcRegs.ADCRESULT0 >>4;
    Voltage2[ConversionCount] = AdcRegs.ADCRESULT1 >>4;

    // read ADC channel
    yk = ((float) AdcRegs.ADCRESULT0 - 2048.0f) / 2047.0f;

    // run PID controller
    uk = DCL_runPID_C4(&pid1, rk, yk, lk);

    // external clamp for anti-windup reset
    clampactive = DCL_runClamp_C1(&uk, upperlim, lowerlim);
    //clampactive = DCL_runClamp_C1(&uk, Umax, Umin);
    lk = (clampactive == 0U) ? 1.0f : 0.0f;

    // write u(k) to PWM
    Duty = (uk / 2.0f + 0.5f) * (float) EPwm1Regs.TBPRD;
    EPwm1Regs.CMPA.half.CMPA = (Uint16) Duty;

    //
    // If 40 conversions have been logged, start over
    //
    if(ConversionCount == 9)
    {
        ConversionCount = 0;
    }
    else
    {
        ConversionCount++;
    }

    //
    // Reinitialize for next ADC sequence
    //
    AdcRegs.ADCTRL2.bit.RST_SEQ1 = 1;         // Reset SEQ1
    AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;       // Clear INT SEQ1 bit
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;   // Acknowledge interrupt to PIE

    return;
}

//
// End of File
//