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Dear Sir,
if I erase flash memory then all function work correctly.
after that i have added any function or data or anything then run, unwanted result occurs.
like i have transmit packet after every 10 sec. but in that case it transmits continuously.
Dear Matthew,
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//! \file /solutions/tidm_02010_dmpfc/common/source/sys_main.c
//! \brief This project is used to control two motor and pfc with one MCU
//! Support for dualmtrpfc board with F28002x/F28003x/F280013x
//!
//
// include the related header files
//
#if defined(SYSCONFIG_EN)
#include "user.h"
#include "board.h"
#endif // SYSCONFIG_EN
#include "sys_settings.h"
#include "sys_main.h"
#include "systems.h"
#include "math.h"
#include "string.h"
//Global
unsigned int cpuTimer1IntCount=0;
unsigned int cpuTimer2IntCount=0;
unsigned int b=0;
unsigned char compressor1motorFlag = false;
static unsigned char ucRxBuff[10]={0};
//
// Globals
//
volatile bool rx_flag=0;
volatile bool tx_flag=0;
//extern volatile bool cx_flag;
volatile uint8_t CompressorStartFlag=0;
unsigned int uiRxByteCntr=0;
char ucRxStatus = 'H';
char ucRxStatus1;
//unsigned int uiRxByteLen=4;
unsigned int uiRxByteLenCntr=0;
#define ODU_HEADER '$'
//
// Send data for SCI-A
//
char sDataA[] = "RR120.50#";
// Received data for SCI-A
uint16_t rDataA[1];
char rxflag=0;
static unsigned char rx_data;
static unsigned char rx_data_save;
unsigned int uiTempValue = 0;
//unsigned int uiTempValue1 = 0;
// Used for checking the received data
uint16_t rDataPointA;
// Function Prototypes
//
__interrupt void INT_SCI_COM_TX_ISR(void);
__interrupt void INT_SCI_COM_RX_ISR(void);
void initSCIAFIFO(void);
void error(void);
volatile SYSTEM_Vars_t systemVars;
#pragma DATA_SECTION(systemVars,"user_data");
#if defined(EPWMDAC_MODE)
HAL_PWMDACData_t pwmDACData;
#pragma DATA_SECTION(pwmDACData,"user_data");
#endif // EPWMDAC_MODE
#if defined(DAC128S_ENABLE)
#if defined(DAC80504_SEL)
DAC80504_Handle dac128sHandle; //!< the DAC80504 interface handle
DAC80504_Obj dac128s; //!< the DAC80504 interface object
#else // DAC128S805
DAC128S_Handle dac128sHandle; //!< the DAC128S interface handle
DAC128S_Obj dac128s; //!< the DAC128S interface object
#endif // DAC128S805
#pragma DATA_SECTION(dac128sHandle,"sys_data");
#pragma DATA_SECTION(dac128s,"sys_data");
//#define DACTEST_EN
#if defined(DACTEST_EN)
float32_t dacTestValue[4];
#pragma DATA_SECTION(dacTestValue,"sys_data");
#endif // DACTEST
#endif // DAC128S_ENABLE
//------------------ADDED-09-02-2024------------------------------
#define ADC_RESOLUTION_VALUE (4096.0f) //(4896.0f) //(4096.0f) //(400.0f)
#define LOG_10_E (0.434294f)
#define TEMP_T_25_K (298.15f)//kevin
//air temperature
#define TEMP_AIR_RES_T_25 (10000.0f)//(10000U)//Ohm
#define TEMP_AIR_BETA (3950.0f)
#define TEMP_AIR_RES_GND (10000.0f)//Ohm
volatile float fTempValue;
unsigned int tempnewvalue1,tempnewvalue2,tempnewvalue3;
//float32_t Temp_Sensor_Ambient,Temp_Sensor1,value,Temp_Sensor_coils,Temp_Sensor_Pipes;
static float ntc_sensor_get_temp(float res, uint16_t res_25, uint16_t beta);
__interrupt void INT_CPU_TIMER1_ISR(void);
void configCPUTimer(uint32_t, float, float);
// **************************************************************************
// the functions
//INT_MTR1_EMI_1_ISR
void main(void)
{
unsigned char *msg;
ucRxStatus ='H';
// Clear memory for system and controller
// The variables must be assigned to these sector if need to be cleared to zero
HAL_clearDataRAM((void *)loadStart_est_data, (uint16_t)loadSize_est_data);
HAL_clearDataRAM((void *)loadStart_user_data, (uint16_t)loadSize_user_data);
HAL_clearDataRAM((void *)loadStart_sys_data, (uint16_t)loadSize_sys_data);
HAL_clearDataRAM((void *)loadStart_foc_data, (uint16_t)loadSize_foc_data);
HAL_clearDataRAM((void *)loadStart_pfc_data, (uint16_t)loadSize_pfc_data);
HAL_clearDataRAM((void *)loadStart_motor_data, (uint16_t)loadSize_motor_data);
HAL_clearDataRAM((void *)loadStart_dmaBuf_data, (uint16_t)loadSize_dmaBuf_data);
HAL_clearDataRAM((void *)loadStart_vibc_data, (uint16_t)loadSize_vibc_data);
HAL_clearDataRAM((void *)loadStart_sfra_data, (uint16_t)loadSize_sfra_data);
HAL_clearDataRAM((void *)loadStart_datalog_data, (uint16_t)loadSize_datalog_data);
HAL_clearDataRAM((void *)loadStart_dbgc_data, (uint16_t)loadSize_dbgc_data);
uint16_t* read_ADC_Value=(uint16_t*) 0x00000B40;
uint16_t* read_ADC_Value1=(uint16_t*) 0x00000B41;
uint16_t* read_ADC_Value2=(uint16_t*) 0x00000B42;
// AdcData1 = *read_ADC_Value;
// AdcData2 = *read_ADC_Value1;
#if defined(DMCPFC_REV3P2)
systemVars.boardKit = BOARD_DMCPFC_REV3P2; // DMCPFC_REV3P1 for F28002x/3x/13x-64pin
#elif defined(DMCPFC_REV3P1)
systemVars.boardKit = BOARD_DMCPFC_REV3P1; // DMCPFC_REV3P1 for F28002x-64pin
#elif defined(HVMTRPFC_REV1P1)
systemVars.boardKit = BOARD_HVMTRPFC_REV1P1; // HVMTRPFC_REV1P1 for F28002x
#elif defined(BSXL8323RH_REVB)
systemVars.boardKit = BOARD_BSXL8323RH_REVB; // BSXL8323RH_REVA for F28002x
#else
#error Not select a right board for this project
#endif
#if defined(MOTOR1_DISABLE) && defined(MOTOR2_DISABLE) && defined(PFC_DISABLE)
#error Need to enable at least one function of PFC, MOTOR1, or MOTOR2
#endif //
#if defined(MOTOR1_DISABLE)
systemVars.estType_M1 = EST_TYPE_NO_OBSERVER; // this motor is disable
#elif defined(MOTOR1_FAST) && defined(MOTOR1_ESMO)
systemVars.estType_M1 = EST_TYPE_FAST_ESMO; // the estimator is FAST and ESMO
#elif defined(MOTOR1_FAST)
systemVars.estType_M1 = EST_TYPE_FAST; // the estimator is only FAST
#elif defined(MOTOR1_ESMO)
systemVars.estType_M1 = EST_TYPE_ESMO; // the estimator is only ESMO
#else // !MOTOR1_FAST & !MOTOR1_ESMO
#error Not select a right estimator for motor 1 in this project
#endif // !MOTOR1_FAST & !MOTOR1_ESMO
#if defined(MOTOR2_DISABLE)
systemVars.estType_M2 = EST_TYPE_NO_OBSERVER; // this motor is disable
#elif defined(MOTOR2_FAST) && defined(MOTOR2_ESMO)
systemVars.estType_M2 = EST_TYPE_FAST_ESMO; // the estimator is FAST and ESMO
#elif defined(MOTOR2_FAST)
systemVars.estType_M2 = EST_TYPE_FAST; // the estimator is only FAST
#elif defined(MOTOR2_ESMO)
systemVars.estType_M2 = EST_TYPE_ESMO; // the estimator is only ESMO
#else // !MOTOR2_FAST & !MOTOR2_ESMO
#error Not select a right estimator for motor 2 in this project
#endif // !MOTOR2_FAST & !MOTOR2_ESMO
#if defined(MOTOR1_FAST) && defined(MOTOR1_ESMO) && \
defined(MOTOR2_FAST) && defined(MOTOR2_ESMO) && defined(_F28002x)
#error Limit to the RAM size for copy the program to run in RAM. FAST and ESMO
can not on dual motor at the same. Only support one motor runs FAST and ESMO
in parallel, and another motor run FAST or ESMO.
#endif // MOTOR1_FAST & MOTOR1_ESMO & MOTOR2_FAST & MOTOR2_ESMO
#if defined(MOTOR1_DCLINKSS)
systemVars.currentSenseType_M1 = CURSEN_TYPE_SINGLE_SHUNT;
#else
systemVars.currentSenseType_M1 = CURSEN_TYPE_THREE_SHUNT;
#endif // Current Sense Type of Motor 1
#if defined(MOTOR2_DCLINKSS)
systemVars.currentSenseType_M2 = CURSEN_TYPE_SINGLE_SHUNT;
#else
systemVars.currentSenseType_M2 = CURSEN_TYPE_THREE_SHUNT;
#endif // Current Sense Type of Motor 2
// ** above codes are only for checking the settings, not occupy the memory
// Initialize device clock and peripherals
Device_init(); // call the function in device.c
// Disable pin locks and enable internal pullups.
Device_initGPIO(); // call the function in device.c
// GPIO28 is the SCI Rx pin.
//
GPIO_setPinConfig(DEVICE_GPIO_CFG_SCIRXDC);
GPIO_setDirectionMode(DEVICE_GPIO_PIN_SCIRXDC, GPIO_DIR_MODE_IN);
GPIO_setPadConfig(DEVICE_GPIO_PIN_SCIRXDC, GPIO_PIN_TYPE_STD);
GPIO_setQualificationMode(DEVICE_GPIO_PIN_SCIRXDC, GPIO_QUAL_ASYNC);
//
// GPIO29 is the SCI Tx pin.
//
GPIO_setPinConfig(DEVICE_GPIO_CFG_SCITXDC);
GPIO_setDirectionMode(DEVICE_GPIO_PIN_SCITXDC, GPIO_DIR_MODE_OUT);
GPIO_setPadConfig(DEVICE_GPIO_PIN_SCITXDC, GPIO_PIN_TYPE_STD);
GPIO_setQualificationMode(DEVICE_GPIO_PIN_SCITXDC, GPIO_QUAL_ASYNC);
//
// Initializes PIE and clears PIE registers. Disables CPU interrupts.
Interrupt_initModule(); // call the function in driverlib.lib
// Initializes the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
Interrupt_initVectorTable(); // call the function in driverlib.lib
// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
//07042024
Interrupt_register(INT_SCIC_RX, INT_SCI_COM_RX_ISR);
Interrupt_register(INT_SCIC_TX, INT_SCI_COM_TX_ISR);
//
// Initialize the Device Peripherals:
//
initSCIAFIFO();
// SYS_TX_init();
Interrupt_register(INT_TIMER1, INT_CPU_TIMER1_ISR); //NEW ADD
#if !defined(_SIMPLE_FAST_LIB)
// false->enable motor identification, true->disable motor identification
userParams[MTR_1].flag_bypassMotorId = true;
userParams[MTR_2].flag_bypassMotorId = true;
#endif // !(_SIMPLE_FAST_LIB)
#if defined(SYSCONFIG_EN)
// disable the ePWM module time base clock sync signal
// to synchronize all of the PWMs
SysCtl_disablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC);
Board_init();
//CPUTimer_enableInterrupt(CPU_TIMER1_BASE); //new add
configCPUTimer(CPUTIMER1_BASE, DEVICE_SYSCLK_FREQ, 119047);// 5000000
CPUTimer_enableInterrupt(CPU_TIMER1_BASE);
Interrupt_enable(INT_TIMER1);
CPUTimer_startTimer(CPU_TIMER1_BASE); //new add
// initialize the driver
halHandle = HAL_init(&hal, sizeof(hal));
// set the driver parameters
HAL_setParams(halHandle);
// set the control parameters for PFC
initPFCCtrlParameters();
// set the control parameters for motor 1
initMotor1CtrlParameters();
// set the control parameters for motor 2
initMotor2CtrlParameters();
// set the handle in hal for motors and pfc
HAL_initMtrHandle(halHandle, halMtrHandle[MTR_1], halMtrHandle[MTR_2]);
HAL_initPFCHandle(halHandle, halPFCHandle);
// set PWM phase shift between motor and pfc
HAL_setupPWMsPhaseShift(halHandle);
// enable the ePWM module time base clock sync signal
SysCtl_enablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC);
//-----------------------------ADD Communication purpose 12032024-------------------
// for(i = 0; i < 2; i++)
// {
// sDataA[i] = i;
// }
rDataPointA = sDataA[0];
// Interrupt_enable(INT_SCIA_RX);
// Interrupt_enable(INT_SCIA_TX);
// Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP9);
//-----------------------------------------end communication 12032024----------
#else // !SYSCONFIG_EN
// initialize the driver
halHandle = HAL_init(&hal, sizeof(hal));
// set the driver parameters
HAL_setParams(halHandle);
// set the control parameters for PFC
initPFCCtrlParameters();
// set the control parameters for motor 1
initMotor1CtrlParameters();
// set the control parameters for motor 2
initMotor2CtrlParameters();
// set the handle in hal for motors and pfc
HAL_initMtrHandle(halHandle, halMtrHandle[MTR_1], halMtrHandle[MTR_2]);
HAL_initPFCHandle(halHandle, halPFCHandle);
// set PWM phase shift between motor and pfc
HAL_setupPWMsPhaseShift(halHandle);
// initialize the interrupt vector table
HAL_initIntVectorTable(halHandle);
// enable the ADC/PWM interrupts for control
// enable interrupts to trig DMA
HAL_enableCtrlInts(halHandle);
#endif // !SYSCONFIG_EN
motorVars[MTR_1].speedRef_Hz = 30.0f;
motorVars[MTR_2].speedRef_Hz = 30.0f;
systemVars.speedComp_Hz = 60.0f;
systemVars.speedFan_Hz = 50.0f;
#if !defined(HVMTRPFC_REV1P1)
#if defined(EPWMDAC_MODE)
#error Only HVMTRPFC_REV1P1 supports the EPWMDAC function.
#endif // EPWMDAC_MODE
#else // HVMTRPFC_REV1P1
#if defined(EPWMDAC_MODE)
// set DAC parameters
pwmDACData.periodMax =
PWMDAC_getPeriod(halHandle->pwmDACHandle[PWMDAC_NUMBER_1]);
#if defined(PWMDAC_MOTOR) && defined(PWMDAC_PFC)
pwmDACData.ptrData[0] = &adcDataPFC.IacBus;
pwmDACData.ptrData[1] = &adcDataPFC.VacBus;
pwmDACData.ptrData[2] = &angleFOCM1_rad;
pwmDACData.ptrData[3] = &adcData[MTR_1].I_A.value[0];
pwmDACData.offset[0] = 0.5f;
pwmDACData.offset[1] = 0.5f;
pwmDACData.offset[2] = 0.5f;
pwmDACData.offset[3] = 0.5f;
pwmDACData.gain[0] = 1.0f;
pwmDACData.gain[1] = 1.0f;
pwmDACData.gain[2] = 1.0f / MATH_TWO_PI;
pwmDACData.gain[3] = 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
#elif defined(PWMDAC_MOTOR) && !defined(PWMDAC_PFC)
pwmDACData.ptrData[0] = &angleESTM1_rad;
pwmDACData.ptrData[1] = &adcData[MTR_1].I_A.value[0];
pwmDACData.ptrData[2] = &adcData[MTR_1].V_V.value[0];
pwmDACData.ptrData[3] = &angleFOCM1_rad;
pwmDACData.offset[0] = 0.5f;
pwmDACData.offset[1] = 0.5f;
pwmDACData.offset[2] = 0.5f;
pwmDACData.offset[3] = 0.5f;
pwmDACData.gain[0] = 1.0f / MATH_TWO_PI;
pwmDACData.gain[1] = 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
pwmDACData.gain[2] = 1.0f / USER_M1_ADC_FULL_SCALE_VOLTAGE_V;
pwmDACData.gain[3] = 1.0f / MATH_TWO_PI;
#elif defined(PWMDAC_PFC) && !defined(PWMDAC_MOTOR)
pwmDACData.ptrData[0] = &adcDataPFC.IacBus;
pwmDACData.ptrData[1] = &adcDataPFC.VacBus;
pwmDACData.ptrData[2] = &pfcVars.IacRef;
pwmDACData.ptrData[3] = &pfcVars.IacError;
pwmDACData.offset[0] = 0.0f;
pwmDACData.offset[1] = 0.0f;
pwmDACData.offset[2] = 0.0f;
pwmDACData.offset[3] = 0.0f;
pwmDACData.gain[0] = 1.0f;
pwmDACData.gain[1] = 1.0f;
pwmDACData.gain[2] = 1.0f;
pwmDACData.gain[3] = 1.0f;
#elif !defined(PWMDAC_PFC) && !defined(PWMDAC_MOTOR)
// No EPWMDAC supporting
#else
#error Only PWMDAC_PFC or PWMDAC_MOTOR can be supported at the same time
#endif // PWMDAC_PFC or PWMDAC_MOTOR
#endif // EPWMDAC_MODE
#endif // !HVMTRPFC_REV1P1
#if defined(DATALOGF2_EN)
//#warning No enough memory if use datalog, so may disable the VIB_COMP
// Initialize Datalog
datalogHandle = DATALOGIF_init(&datalog, sizeof(datalog));
DATALOG_Obj *datalogObj = (DATALOG_Obj *)datalogHandle;
HAL_setupDMAforDLOG(halHandle, 0, &datalogBuff1[0], &datalogBuff1[1]);
HAL_setupDMAforDLOG(halHandle, 1, &datalogBuff2[0], &datalogBuff2[1]);
// set datalog parameters
datalogObj->iptr[0] = &angleFOCM1_rad;
datalogObj->iptr[1] = &adcData[MTR_1].I_A.value[0];
#endif // DATALOGF2_EN
#if defined(DAC128S_ENABLE)
#if defined(DAC80504_SEL)
// initialize the DAC80504
dac128sHandle = DAC80504_init(&dac128s);
#if !defined(SYSCONFIG_EN)
// setup SPI for DAC80504
DAC80504_setupSPI(dac128sHandle);
#else // SYSCONFIG_EN
SPI_setTxFifoTransmitDelay(DAC_SPI_BASE, 0x04);
SPI_clearInterruptStatus(DAC_SPI_BASE, SPI_INT_TXFF);
#endif // SYSCONFIG_EN
DAC80504_writeCommand(dac128sHandle);
#else // DAC128S805
// initialize the DAC128S05
dac128sHandle = DAC128S_init(&dac128s);
#if !defined(SYSCONFIG_EN)
// setup SPI for DAC128S05
DAC128S_setupSPI(dac128sHandle);
#else // SYSCONFIG_EN
SPI_setTxFifoTransmitDelay(DAC_SPI_BASE, 0x04);
SPI_clearInterruptStatus(DAC_SPI_BASE, SPI_INT_TXFF);
#endif // SYSCONFIG_EN
DAC128S_writeCommand(dac128sHandle);
#endif // DAC128S805
// The following settings are for output the values of different variables
// in each build level for debug. The User can select one of these groups in
// different build level as commented note
// DAC_LEVEL1_DACTEST
// DAC_LEVEL4_DCLINK, DAC_LEVEL4_ALL, DAC_LEVEL2_MOTOR_IS, DAC_LEVEL4_MOTORS
// DAC_LEVEL4_VIBCOMP, DAC_LEVEL_TEST, DAC_LEVEL4_PFC
// DAC_LEVEL2_MOTOR1_IS, DAC_LEVEL2_MOTOR1_VS, DAC_LEVEL3_MOTOR1_EST
// DAC_LEVEL2_MOTOR2_IS, DAC_LEVEL2_MOTOR2_VS, DAC_LEVEL3_MOTOR2_EST
// DAC_LEVEL4_MOTOR1_EST, DAC_LEVEL4_SMOM1, DAC_LEVEL4_FASTM1, DAC_LEVEL4_DSMOM1
// DAC_LEVEL4_MOTOR2_EST, DAC_LEVEL4_SMOM2, DAC_LEVEL4_FASTM2, DAC_LEVEL4_DSMOM2
#define DAC_LEVEL4_ALL // define the DAC level
#if defined(DAC_LEVEL4_DCLINK)
// Using in build Level_4 to debug single shunt
dac128s.ptrData[0] = &angleFOCM1_rad; // CH_A
dac128s.ptrData[1] = &adcData[0].I_A.value[0]; // CH_B
dac128s.ptrData[2] = &adcData[0].I_A.value[1]; // CH_C
dac128s.ptrData[3] = &adcData[0].I_A.value[2]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f * 2.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[2] = 4096.0f * 2.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f * 2.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.0f * 4096.0f);
#elif defined(DAC_LEVEL4_PFC)
// Using in build Level_4 to monitor the rotor angles of motor 1 and 2,
// and the sensing AC current and voltage for PFC
dac128s.ptrData[0] = &adcDataPFC.IacBus; // CH_A
dac128s.ptrData[1] = &adcDataPFC.VacBus; // CH_B
dac128s.ptrData[2] = &adcDataPFC.VdcBus; // CH_C
dac128s.ptrData[3] = &adcDataPFC.IacBus; // CH_D
dac128s.gain[0] = 4096.0f;
dac128s.gain[1] = 4096.0f;
dac128s.gain[2] = 4096.0f;
dac128s.gain[3] = 4096.0f;
dac128s.offset[0] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.0f * 4096.0f);
#elif defined(DAC_LEVEL4_ALL)
// Using in build Level_4 to monitor the rotor angles of motor 1 and 2,
// and the sensing AC current and voltage for PFC
dac128s.ptrData[0] = &adcDataPFC.IacBus; // CH_A
dac128s.ptrData[1] = &adcDataPFC.VacBus; // CH_B
dac128s.ptrData[2] = &angleFOCM1_rad; // CH_C
dac128s.ptrData[3] = &angleFOCM2_rad; // CH_D
dac128s.gain[0] = 4096.0f;
dac128s.gain[1] = 4096.0f;
dac128s.gain[2] = 4096.0f / MATH_TWO_PI;
dac128s.gain[3] = 4096.0f / MATH_TWO_PI;
dac128s.offset[0] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL2_MOTOR_IS)
// Using in build level 2: Verify motor_2 current sensing signals
dac128s.ptrData[0] = &adcData[0].I_A.value[0]; // CH_A
dac128s.ptrData[1] = &adcData[1].I_A.value[0]; // CH_B
dac128s.ptrData[2] = &angleFOCM1_rad; // CH_C
dac128s.ptrData[3] = &angleFOCM2_rad; // CH_D
dac128s.gain[0] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[1] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[2] = 4096.0f / MATH_TWO_PI;
dac128s.gain[3] = 4096.0f / MATH_TWO_PI;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL2_MOTOR1_IS)
// Using in build Level 2: Verify motor_1 current sensing signals
dac128s.ptrData[0] = &angleFOCM1_rad; // CH_D
dac128s.ptrData[1] = &adcData[0].I_A.value[0]; // CH_A
dac128s.ptrData[2] = &adcData[0].I_A.value[1]; // CH_B
dac128s.ptrData[3] = &adcData[0].I_A.value[2]; // CH_C
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL2_MOTOR1_VS)
// Using in build level 2: Verify motor_1 voltage sensing signals
dac128s.ptrData[0] = &angleFOCM1_rad; // CH_A
dac128s.ptrData[1] = &adcData[0].V_V.value[0]; // CH_B
dac128s.ptrData[2] = &adcData[0].V_V.value[1]; // CH_C
dac128s.ptrData[3] = &adcData[0].V_V.value[2]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL3_MOTOR1_EST)
// Using in build Level 2 and 3: Verify motor_1 estimation angle
dac128s.ptrData[0] = &angleGenM1_rad; // CH_A
dac128s.ptrData[1] = &angleESTM1_rad; // CH_B
dac128s.ptrData[2] = &adcData[0].I_A.value[0]; // CH_C
dac128s.ptrData[3] = &adcData[0].V_V.value[0]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f / MATH_TWO_PI;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL2_MOTOR2_IS)
// Using in build level 2: Verify motor_2 current sensing signals
dac128s.ptrData[0] = &adcData[1].I_A.value[0]; // CH_A
dac128s.ptrData[1] = &adcData[1].I_A.value[1]; // CH_B
dac128s.ptrData[2] = &adcData[1].I_A.value[2]; // CH_C
dac128s.ptrData[3] = &angleFOCM2_rad; // CH_D
dac128s.gain[0] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[1] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f / MATH_TWO_PI;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL2_MOTOR2_VS)
// Using in build level 2: Verify motor_2 voltage sensing signals
dac128s.ptrData[0] = &angleFOCM2_rad; // CH_D
dac128s.ptrData[1] = &adcData[1].V_V.value[0]; // CH_A
dac128s.ptrData[2] = &adcData[1].V_V.value[1]; // CH_B
dac128s.ptrData[3] = &adcData[1].V_V.value[2]; // CH_C
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL3_MOTOR2_EST)
// Using in build level 2 and 3: Verify motor_2 estimation angle
dac128s.ptrData[0] = &angleGenM2_rad; // CH_A
dac128s.ptrData[1] = &angleESTM2_rad; // CH_B
dac128s.ptrData[2] = &adcData[1].I_A.value[0]; // CH_C
dac128s.ptrData[3] = &adcData[1].V_V.value[0]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f / MATH_TWO_PI;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL4_MOTOR2_EST)
// Using in build level 2 and 3: Verify motor_2 estimation angle
dac128s.ptrData[0] = &angleESTM2_rad; // CH_A
dac128s.ptrData[1] = &adcData[1].I_A.value[0]; // CH_B
dac128s.ptrData[2] = &adcData[1].V_V.value[0]; // CH_C
dac128s.ptrData[3] = &adcData[1].I_A.value[1]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL4_MOTORS)
// Using in build level 3 and 4: Verify motor_1 & motor_2 closed-loop
dac128s.ptrData[0] = &angleFOCM1_rad; // CH_A
dac128s.ptrData[1] = &angleFOCM2_rad; // CH_B
dac128s.ptrData[2] = &adcData[0].I_A.value[0]; // CH_C
dac128s.ptrData[3] = &adcData[1].I_A.value[0]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f / MATH_TWO_PI;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL4_SMOM1)
// Using in build level 2 and 3: Verify motor_2 estimation angle
dac128s.ptrData[0] = &adcData[0].I_A.value[0]; // CH_A
dac128s.ptrData[1] = &adcData[0].I_A.value[0]; // CH_B
dac128s.ptrData[2] = &anglePLLM1_rad; // CH_C
// dac128s.ptrData[3] = &angleESTM1_rad; // CH_D
dac128s.ptrData[3] = &angleFOCM1_rad; // CH_D
dac128s.gain[0] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[1] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[2] = 4096.0f / MATH_TWO_PI;
dac128s.gain[3] = 4096.0f / MATH_TWO_PI;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL4_FASTM2)
// Using in build level 2 and 3: Verify motor_2 estimation angle
dac128s.ptrData[0] = &angleFOCM2_rad; // CH_A
dac128s.ptrData[1] = &angleESTM2_rad; // CH_B
dac128s.ptrData[2] = &adcData[1].I_A.value[0]; // CH_C
dac128s.ptrData[3] = &adcData[1].I_A.value[1]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f / MATH_TWO_PI;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL4_SMOM2)
// Using in build level 2 and 3: Verify motor_2 estimation angle
dac128s.ptrData[0] = &angleFOCM2_rad; // CH_C
dac128s.ptrData[1] = &anglePLLM2_rad; // CH_A
dac128s.ptrData[2] = &adcData[1].I_A.value[0]; // CH_C
dac128s.ptrData[3] = &adcData[1].I_A.value[1]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f / MATH_TWO_PI;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL4_DSMOM2)
// Using in build level 2 and 3: Verify motor_2 estimation angle
dac128s.ptrData[0] = &angleFOCM2_rad; // CH_C
dac128s.ptrData[1] = &anglePLLM2_rad; // CH_A
dac128s.ptrData[2] = &angleESTM2_rad; // CH_B
dac128s.ptrData[3] = &adcData[1].I_A.value[0]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f / MATH_TWO_PI;
dac128s.gain[2] = 4096.0f / MATH_TWO_PI;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL4_VIBCOMP)
// Using in build level 4: for vibration compensation debug
dac128s.ptrData[0] = &vibComp.angleMechPoles_rad; // CH_A
dac128s.ptrData[1] = &angleFOCM1_rad; // CH_B
dac128s.ptrData[2] = &vibComp.Iq_comp_A; // CH_C
dac128s.ptrData[3] = &Idq_in_A[0].value[1]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI / USER_MOTOR1_NUM_POLE_PAIRS;
dac128s.gain[1] = 4096.0f / MATH_TWO_PI;
dac128s.gain[2] = 4096.0f * 0.5f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f * 0.5f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.offset[0] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL_TEST) && defined(DACTEST_EN)
// Using in build level 4: for vibration compensation debug
dac128s.ptrData[0] = &dacTestValue[0]; // CH_A
dac128s.ptrData[1] = &dacTestValue[1]; // CH_B
dac128s.ptrData[2] = &dacTestValue[2]; // CH_C
dac128s.ptrData[3] = &dacTestValue[3]; // CH_D
dac128s.gain[0] = 4096.0f;
dac128s.gain[1] = 4096.0f;
dac128s.gain[2] = 4096.0f;
dac128s.gain[3] = 4096.0f;
dac128s.offset[0] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.0f * 4096.0f);
#else
#error Not assign the variables to the DAC object
#endif //DAC_LEVEL
#endif // DAC128S_ENABLE
#if defined(SFRA_ENABLE) && (SFRA_TEST_TYPE == SFRA_TEST_PFC)
// Plot GH & H plots using SFRA_GUI
configureSFRA(SFRA_GUI_PLOT_GH_H, PFC_SAMPLING_FREQ_HZ);
sfraTestLoop = SFRA_TEST_PFC_CURRENT;
sfraCollectStart = false; // disable SFRA data collection
#endif // SFRA_ENABLE && SFRA_TEST_PFC
#if defined(SFRA_ENABLE) && (SFRA_TEST_TYPE == SFRA_TEST_MOTOR1)
// Plot GH & H plots using SFRA_GUI, GH & CL plots using SFRA_GUI_MC
configureSFRA(SFRA_GUI_PLOT_GH_H, USER_M1_SAMPLING_FREQ_Hz);
sfraTestLoop = SFRA_TEST_MOTOR1_IQ;
sfraCollectStart = false; // disable SFRA data collection
#endif // SFRA_ENABLE && SFRA_TEST_MOTOR1
#if defined(SFRA_ENABLE) && ( SFRA_TEST_TYPE == SFRA_TEST_MOTOR2)
// Plot GH & H plots using SFRA_GUI, GH & CL plots using SFRA_GUI_MC
configureSFRA(SFRA_GUI_PLOT_GH_H, MOTOR2_SAMPLING_FREQ_Hz);
sfraTestLoop = SFRA_TEST_MOTOR2_IQ;
sfraCollectStart = false; // disable SFRA data collection
#endif // SFRA_ENABLE && SFRA_TEST_MOTOR2
systemVars.flagEnableSystem = false;
compressor1motorFlag = false; //add 10032024
#if(PFC_BUILDLEVEL >= PFC_LEVEL_2)
pfcVars.flagEnableOffsetCalc = false;
motorVars[MTR_1].flagEnableOffsetCalc = true;
motorVars[MTR_2].flagEnableOffsetCalc = true;
#else
pfcVars.flagEnableOffsetCalc = true;
motorVars[MTR_1].flagEnableOffsetCalc = true;
motorVars[MTR_2].flagEnableOffsetCalc = true;
#endif // PFC_BUILDLEVEL == PFC_LEVEL_1
systemVars.powerRelayWaitTime_ms = POWER_RELAY_WAIT_TIME_ms; //6s
systemVars.timerBase_1ms = 0;
systemVars.flagEnableExtCmd = false;
systemVars.flagEnableSystem = false;
// Waiting for enable system flag to be set
while(systemVars.flagEnableSystem == false)
{
if(HAL_getCPUTimerStatus(halHandle, HAL_CPU_TIMER0) == true)
{
// read the ADC data with offsets
HAL_readPFCADCData(&adcDataPFC);
// convert dc bus voltage from pu to SI unit
pfcVars.VdcBusLPF = pfcVars.VdcBusLPF +
(adcDataPFC.VdcBus - pfcVars.VdcBusLPF) * pfcVars.lpfVdcCoeff;
pfcVars.VdcBusLPF_V = pfcVars.VdcBusLPF * USER_PFC_ADC_FULL_SCALE_DC_VOLTAGE_V;
#if(PFC_BUILDLEVEL > PFC_LEVEL_4)
if(pfcVars.VdcBusLPF_V >= POWER_RELAY_ON_VOLTAGE_V)
{
systemVars.timerBase_1ms++;
}
#else
systemVars.timerBase_1ms++;
#endif
if(systemVars.timerBase_1ms > systemVars.powerRelayWaitTime_ms)
{
systemVars.flagEnableSystem = true;
systemVars.timerBase_1ms = 0;
// Turn on the power relay
HAL_turnOnPowerRelay(ACPOWER_RELAY_GPIO);
HAL_turnOnPowerRelay(ACPOWER_RELAY_GPIO);
// Turn on the FWV relay which is used for power relay
// on the new board for F280015x
HAL_turnOnPowerRelay(FOURWAY_RELAY_GPIO);
HAL_turnOnPowerRelay(FOURWAY_RELAY_GPIO);
}
HAL_clearCPUTimerFlag(halHandle, HAL_CPU_TIMER0);
}
}
// Turn on the power relay
HAL_turnOnPowerRelay(ACPOWER_RELAY_GPIO);
HAL_turnOnPowerRelay(ACPOWER_RELAY_GPIO);
systemVars.flagEnableSystem = false;
systemVars.timerBase_1ms = 0;
systemVars.powerRelayWaitTime_ms = OFFSET_CHECK_WAIT_TIME_ms; //4s
// Waiting for enable system flag to be set
while(systemVars.flagEnableSystem == false)
{
if(HAL_getCPUTimerStatus(halHandle, HAL_CPU_TIMER0) == true)
{
systemVars.timerBase_1ms++;
if(systemVars.timerBase_1ms > systemVars.powerRelayWaitTime_ms)
{
systemVars.flagEnableSystem = true;
systemVars.timerBase_1ms = 0;
}
HAL_clearCPUTimerFlag(halHandle, HAL_CPU_TIMER0);
}
}
systemVars.flagEnableSystem = true;
// Turn on the power relay
HAL_turnOnPowerRelay(ACPOWER_RELAY_GPIO);
#ifndef PFC_DISABLE
// run offset calibration for PFC
runPFCOffsetsCalculation();
#endif // PFC_DISABLE
#ifndef MOTOR1_DISABLE
// run offset calibration for motor 1
runMotor1OffsetsCalculation();
#endif // !MOTOR1_DISABLE
#ifndef MOTOR2_DISABLE
// run offset calibration for motor 2
runMotor2OffsetsCalculation();
#endif // !MOTOR2_DISABLE
// enable global interrupts
HAL_enableGlobalInts(halHandle);
// enable debug interrupts
HAL_enableDebugInt(halHandle);
systemVars.flagEnableSystem = true;
HAL_clearCPUTimerFlag(halHandle, HAL_CPU_TIMER0);
motorVars[0].flagEnableRunAndIdentify = false;
motorVars[1].flagEnableRunAndIdentify = false;
compressor1motorFlag = false;
// msg = "@ Welcome VOEPL Team @";
// SCI_writeCharArray(SCIC_BASE, (uint16_t*)msg, 22);
msg = "@ Welcome To Voepl @";
SCI_writeCharArray(SCIC_BASE, (uint16_t*)msg, 20);
Interrupt_enable(INT_SCIC_RX);
Interrupt_enable(INT_SCIC_TX);
Interrupt_register(INT_SCIC_TX, INT_SCI_COM_TX_ISR); //ok
systemVars.powerRelayWaitTime_ms1 = OFFSET_CHECK_WAIT_TIME_ms1; //10s
while(systemVars.flagEnableSystem == true)
{
// Interrupt_register(INT_SCIA_TX, INT_SCI_COM_TX_ISR); //ok
tempnewvalue1 = (*read_ADC_Value);
fTempValue = (float)(ADC_RESOLUTION_VALUE - tempnewvalue1);//value
fTempValue *= (TEMP_AIR_RES_GND / tempnewvalue1);
Temp_Sensor_coils = (float)ntc_sensor_get_temp(fTempValue, TEMP_AIR_RES_T_25, TEMP_AIR_BETA);
//--------------------------------------Ambient sensor-------------------------------------------------
tempnewvalue2 = (*read_ADC_Value1);
fTempValue = (float)(ADC_RESOLUTION_VALUE - tempnewvalue2);//value
fTempValue *= (TEMP_AIR_RES_GND / tempnewvalue2);
Temp_Sensor_Ambient = (float)ntc_sensor_get_temp(fTempValue, TEMP_AIR_RES_T_25, TEMP_AIR_BETA);
//---------------------------------Discharge_Sensor-------------------------------------------------------------
tempnewvalue3 = (*read_ADC_Value2);
fTempValue = (float)(ADC_RESOLUTION_VALUE - tempnewvalue3);//value
fTempValue *= (TEMP_AIR_RES_GND / tempnewvalue3);
Temp_Sensor_Discharge = (float)ntc_sensor_get_temp(fTempValue, TEMP_AIR_RES_T_25, TEMP_AIR_BETA);
//-------------------------------------------NEW---ADD---END------------------------------------------------------
// systemVars.timerBase_1ms = 0;
// systemVars.powerRelayWaitTime_ms1 = OFFSET_CHECK_WAIT_TIME_ms1; //10s
// while(tx_flag == false)
// {
// if(HAL_getCPUTimerStatus(halHandle, HAL_CPU_TIMER0) == true)
// {
//// systemVars.powerRelayWaitTime_ms1 = OFFSET_CHECK_WAIT_TIME_ms1; //10s
// systemVars.timerBase_1ms++;
// if(systemVars.timerBase_1ms > systemVars.powerRelayWaitTime_ms1)//10000
// {
// //systemVars.flagEnableSystem = true;
// tx_flag = 1;
// systemVars.timerBase_1ms = 0;
// }
//
// HAL_clearCPUTimerFlag(halHandle, HAL_CPU_TIMER0);
// }
// }
if(tx_flag == true)
{
msg = "$0025,0020#";
SCI_writeCharArray(SCIC_BASE, (uint16_t*)msg, 11);
tx_flag = false;
}
if(rx_flag ==true)
{
// unsigned char ucTempValue = 0;
// uiTempValue = (ucRxBuff[0] & 0x0F) << 3; // Thousands digit (shift left by 3, which is equivalent to multiplying by 8)
// uiTempValue += (ucRxBuff[1] & 0x0F) << 2; // Hundreds digit (shift left by 2, equivalent to multiplying by 4)
// uiTempValue += (ucRxBuff[2] & 0x0F) << 1; // Tens digit (shift left by 1, equivalent to multiplying by 2)
// uiTempValue += (ucRxBuff[3] & 0x0F); // Units digit (no shift, equivalent to multiplying by 1)
// rx_flag = 0;
// unsigned int uiTempValue=0;
uiTempValue = (ucRxBuff[1] & 0x0F);
uiTempValue *= 1000;
uiTempValue += ((ucRxBuff[2] & 0x0F) * 100);
uiTempValue += ((ucRxBuff[3] & 0x0F) * 10);
uiTempValue += ((ucRxBuff[4] & 0x0F) * 1);
// Temp_Sensor_Ambient=(float)uiTempValue;
// IDU_Ambiet_Temp=(float)uiTempValue;
IDU_Ambiet_Temp=uiTempValue;
// uiTempValue1 = (ucRxBuff[5] & 0x0F);
// uiTempValue1 *= 1000;
// uiTempValue1 += ((ucRxBuff[6] & 0x0F) * 100);
// uiTempValue1 += ((ucRxBuff[7] & 0x0F) * 10);
// uiTempValue1 += ((ucRxBuff[8] & 0x0F) * 1);
// IDU_set_Temp=uiTempValue1;
ucRxStatus1 = '^';
//motorVars[MTR_2].CompressorStartFlag = true;
CompressorStartFlag=true;
rx_flag=false;
// cx_flag=true;
}
// loop while the enable system flag is true
// 1ms time base
if(HAL_getCPUTimerStatus(halHandle, HAL_CPU_TIMER0) == true)
{
systemVars.timerBase_1ms++;
HAL_clearCPUTimerFlag(halHandle, HAL_CPU_TIMER0);
SYS_processFault();
if( compressor1motorFlag == true) // this is compressor flagRunIdentAndOnLine added by bn
{
SYS_updateCtrlState();
motorVars[MTR_1].flagEnableRunAndIdentify = true;
compressor1motorFlag = false;
}
switch(systemVars.timerBase_1ms)
{
// 5ms time base
case 1: // motor 1 protection check
#ifndef MOTOR1_DISABLE
calculateRMSData(MTR_1);
runMotorMonitor(MTR_1);
#endif // !MOTOR1_DISABLE
break;
case 2: // motor 2 protection check
#if !defined(MOTOR2_DISABLE) // single motor on high voltage kit
calculateRMSData(MTR_2);
runMotorMonitor(MTR_2);
#endif // !MOTOR2_DISABLE
break;
case 3: // pfc protection check
#if !defined(PFC_DISABLE)
runPFCMonitor();
#endif // PFC_DISABLE
break;
case 4: // calculate motor and pfc protection value
#if !defined(MOTOR1_DCLINKSS)
calcMotorOverCurrentThreshold(MTR_1);
#elif !defined(MOTOR1_DISABLE) // MOTOR1_DCLINKSS
calcMotorDCLinkOverCurrentThreshold(MTR_1);
#endif // MOTOR1_DCLINKSS
#if !defined(MOTOR2_DISABLE) && !defined(MOTOR2_DCLINKSS)
calcMotorOverCurrentThreshold(MTR_2);
#elif !defined(MOTOR2_DISABLE) // MOTOR2_DCLINKSS
calcMotorDCLinkOverCurrentThreshold(MTR_2);
#endif // !MOTOR2_DISABLE & MOTOR2_DCLINKSS
#if !defined(PFC_DISABLE)
calcPFCOverCurrentThreshold();
#endif // PFC_DISABLE
#if defined(MOTOR1_FWC)
updateFWCParams();
#endif // MOTOR1_FWC
#if defined(MOTOR1_MTPA)
updateMTPAParams();
#endif // MOTOR1_MTPA
break;
case 5: // system control
systemVars.timerBase_1ms = 0;
systemVars.timerCnt_5ms++;
SYS_displayFault(); // 5ms
#if defined(MOTOR2_ESMO) && !defined(MOTOR2_DISABLE)
if(motorVars[MTR_2].motorState >= MOTOR_CTRL_RUN)
{
ESMO_updateFilterParams(esmoM2Handle);
ESMO_updatePLLParams(esmoM2Handle);
}
#endif // MOTOR2_ESMO
#if defined(MOTOR1_ESMO) && !defined(MOTOR1_DISABLE)
if(motorVars[MTR_1].motorState >= MOTOR_CTRL_RUN)
{
ESMO_updateFilterParams(esmoM1Handle);
ESMO_updatePLLParams(esmoM1Handle);
}
#endif // MOTOR2_ESMO
break;
default:
break;
}
#if defined(SFRA_ENABLE)
// SFRA test
SFRA_F32_runBackgroundTask(&sfra1);
SFRA_GUI_runSerialHostComms(&sfra1);
#endif // SFRA_ENABLE
}
#ifndef MOTOR1_DISABLE
// run control for motor 1
runMotor1Control();
#endif // !MOTOR1_DISABLE
#if !defined(MOTOR2_DISABLE)
// run control for motor 2
runMotor2Control();
#endif // !MOTOR2_DISABLE
#if !defined(PFC_DISABLE)
// run control for PFC
runPFCMainControl();
#endif // PFC_DISABLE
if(systemVars.flagEnableExtCmd == true)
{
if(GPIO_readPin(TEST_SWITCH_GPIO) == 0)
{
motorVars[MTR_2].flagEnableRunAndIdentify = true;
motorVars[MTR_2].speedRef_Hz = systemVars.speedFan_Hz;
}
else
{
motorVars[MTR_2].flagEnableRunAndIdentify = false;
}
}
} // end of while() loop
#ifndef MOTOR1_DISABLE
// disable the PWM for stopping the motor 1
HAL_disableMTRPWM(halMtrHandle[0]);
#endif // !MOTOR1_DISABLE
// disable the PWM for stopping the motor 1
#if !defined(MOTOR2_DISABLE)
HAL_disableMTRPWM(halMtrHandle[1]);
#endif // !MOTOR2_DISABLE
} // end of main() function
static float ntc_sensor_get_temp(float res, uint16_t res_25, uint16_t beta)
{
float temp = 1 / (1 / TEMP_T_25_K + (log10((float)res/res_25) / LOG_10_E / beta));
temp -= 273.15;
return temp;
}
__interrupt void INT_MTR1_EMI_1_ISR(void)
{
// ADC_clearInterruptStatus(MTR1_EMI_BASE, ADC_INT_NUMBER1);
// if(true==ADC_getInterruptOverflowStatus(MTR1_EMI_BASE, ADC_INT_NUMBER1))
// {
// ADC_clearInterruptOverflowStatus(MTR1_EMI_BASE, ADC_INT_NUMBER1);
// ADC_clearInterruptStatus(MTR1_EMI_BASE, ADC_INT_NUMBER1);
// }
// Interrupt_clearACKGroup(INT_MTR1_EMI_1_INTERRUPT_ACK_GROUP);
}
//
//-- end of this file ----------------------------------------------------------
void
configCPUTimer(uint32_t cpuTimer, float freq, float period)
{
uint32_t temp;
temp = (uint32_t)((freq / 1000000) * period);
CPUTimer_setPeriod(CPU_TIMER1_BASE, 119047U);
CPUTimer_setPreScaler(CPU_TIMER1_BASE, 1000U);
CPUTimer_reloadTimerCounter(CPU_TIMER1_BASE);
CPUTimer_setEmulationMode(CPU_TIMER1_BASE, CPUTIMER_EMULATIONMODE_RUNFREE);
CPUTimer_enableInterrupt(CPU_TIMER1_BASE);
if(cpuTimer == CPUTIMER1_BASE)
{
cpuTimer1IntCount = 0;
}
}
__interrupt void INT_CPU_TIMER1_ISR(void) //INT_CPU_TIMER1_ISR
{
if(CompressorStartFlag == true)
// if( (ucRxStatus1 == '^'))
{
b++;
cpuTimer1IntCount++;
if(cpuTimer1IntCount >= 181)
{
// if( (ucRxStatus1 == '^'))
// {
compressor1motorFlag = true;
motorVars[MTR_1].flagEnableRunAndIdentify = true;
// cpuTimer1IntCount=0;
// cx_flag=false;
cpuTimer1IntCount=0;
CompressorStartFlag = false;
}
}
cpuTimer2IntCount++;
if(cpuTimer2IntCount == 10)
{
tx_flag =true;
cpuTimer2IntCount=0;
}
Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP1);
}
void error(void)
{
asm(" ESTOP0"); // Test failed!! Stop!
for (;;);
}
__interrupt void INT_SCI_COM_TX_ISR(void)
{
// uint16_t i;
// SCI_writeCharArray(SCIA_BASE, sDataA, 9);
//
//
// SCI_clearInterruptStatus(SCIA_BASE, SCI_INT_TXFF);
// // Issue PIE ACK
// //
// Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP9);
// // SCI_enableInterrupt(uint32_t base, uint32_t intFlags);
}
__interrupt void INT_SCI_COM_RX_ISR(void)
{
ASSERT(SCI_isBaseValid(SCIC_BASE));
if(SCI_isFIFOEnabled(SCIC_BASE))
{
while(SCI_getRxFIFOStatus(SCIC_BASE) == SCI_FIFO_RX15)
{
}
//rx_data =(HWREGH(SCIC_BASE + SCI_O_RXBUF) & SCI_RXBUF_SAR_M);
rx_data = (HWREGH(SCIC_BASE + SCI_O_RXBUF) & SCI_RXBUF_SAR_M);
}
rx_data_save = rx_data;
if(ucRxStatus == 'H')
{
if(rx_data == '$')
{
uiRxByteCntr = 0;
ucRxBuff[uiRxByteCntr++] = rx_data_save;
ucRxStatus = 'A';
}
else
{
uiRxByteCntr = 0;
ucRxStatus = 'H';
}
}
else if(ucRxStatus == 'A')
{
if(rx_data == '*') //
{
ucRxBuff[uiRxByteCntr++] = rx_data_save;
rx_flag = 1;
// cx_flag = 1;
ucRxStatus = 'H';
}
else
{
ucRxBuff[uiRxByteCntr++] = rx_data_save;
}
}
else
{
ucRxStatus = 'H';
uiRxByteCntr = 0;
}
//-------------------------New added end------------------
SCI_clearOverflowStatus(SCIC_BASE);
SCI_clearInterruptStatus(SCIC_BASE, SCI_INT_RXFF);
// Issue PIE ack
Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP9);
}
void initSCIAFIFO()
{
//
// 8 char bits, 1 stop bit, no parity. Baud rate is 9600.
//
SCI_setConfig(SCIC_BASE, DEVICE_LSPCLK_FREQ, 9600, (SCI_CONFIG_WLEN_8 |
SCI_CONFIG_STOP_ONE |
SCI_CONFIG_PAR_NONE));
SCI_enableModule(SCIC_BASE);
SCI_enableLoopback(SCIC_BASE);
SCI_resetChannels(SCIC_BASE);
SCI_disableFIFO(SCIC_BASE);
// RX and TX FIFO Interrupts Enabled
SCI_enableInterrupt(SCIC_BASE, (SCI_INT_RXFF | SCI_INT_TXFF));
SCI_disableInterrupt(SCIC_BASE, SCI_INT_RXERR);
// The transmit FIFO generates an interrupt when FIFO status
// bits are less than or equal to 2 out of 16 words
// The receive FIFO generates an interrupt when FIFO status
// bits are greater than equal to 2 out of 16 words
SCI_setFIFOInterruptLevel(SCIC_BASE, SCI_FIFO_TX2, SCI_FIFO_RX2);
SCI_performSoftwareReset(SCIC_BASE);
SCI_resetTxFIFO(SCIC_BASE);//
SCI_resetRxFIFO(SCIC_BASE);//
SCI_resetChannels(SCIC_BASE);
}
this code work ok.
//#############################################################################
// $Copyright:
// Copyright (C) 2017-2023 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.
// $
//#############################################################################
//! \file /solutions/tidm_02010_dmpfc/common/source/sys_main.c
//! \brief This project is used to control two motor and pfc with one MCU
//! Support for dualmtrpfc board with F28002x/F28003x/F280013x
//!
//
// include the related header files
//
#if defined(SYSCONFIG_EN)
#include "user.h"
#include "board.h"
#endif // SYSCONFIG_EN
#include "sys_settings.h"
#include "sys_main.h"
#include "systems.h"
#include "math.h"
#include "string.h"
//Global
unsigned int cpuTimer1IntCount=0;
unsigned int cpuTimer2IntCount=0;
unsigned int b=0;
unsigned char compressor1motorFlag = false;
static unsigned char ucRxBuff[10]={0};
//
// Globals
//
volatile bool rx_flag=0;
volatile bool tx_flag=0;
//extern volatile bool cx_flag;
volatile uint8_t CompressorStartFlag=0;
unsigned int uiRxByteCntr=0;
char ucRxStatus = 'H';
char ucRxStatus1;
//unsigned int uiRxByteLen=4;
unsigned int uiRxByteLenCntr=0;
#define ODU_HEADER '$'
//
// Send data for SCI-A
//
char sDataA[] = "RR120.50#";
// Received data for SCI-A
uint16_t rDataA[1];
char rxflag=0;
static unsigned char rx_data;
static unsigned char rx_data_save;
unsigned int uiTempValue = 0;
unsigned int uiTempValue1 = 0;
// Used for checking the received data
uint16_t rDataPointA;
// Function Prototypes
//
__interrupt void INT_SCI_COM_TX_ISR(void);
__interrupt void INT_SCI_COM_RX_ISR(void);
void initSCIAFIFO(void);
void error(void);
volatile SYSTEM_Vars_t systemVars;
#pragma DATA_SECTION(systemVars,"user_data");
#if defined(EPWMDAC_MODE)
HAL_PWMDACData_t pwmDACData;
#pragma DATA_SECTION(pwmDACData,"user_data");
#endif // EPWMDAC_MODE
#if defined(DAC128S_ENABLE)
#if defined(DAC80504_SEL)
DAC80504_Handle dac128sHandle; //!< the DAC80504 interface handle
DAC80504_Obj dac128s; //!< the DAC80504 interface object
#else // DAC128S805
DAC128S_Handle dac128sHandle; //!< the DAC128S interface handle
DAC128S_Obj dac128s; //!< the DAC128S interface object
#endif // DAC128S805
#pragma DATA_SECTION(dac128sHandle,"sys_data");
#pragma DATA_SECTION(dac128s,"sys_data");
//#define DACTEST_EN
#if defined(DACTEST_EN)
float32_t dacTestValue[4];
#pragma DATA_SECTION(dacTestValue,"sys_data");
#endif // DACTEST
#endif // DAC128S_ENABLE
//------------------ADDED-09-02-2024------------------------------
#define ADC_RESOLUTION_VALUE (4096.0f) //(4896.0f) //(4096.0f) //(400.0f)
#define LOG_10_E (0.434294f)
#define TEMP_T_25_K (298.15f)//kevin
//air temperature
#define TEMP_AIR_RES_T_25 (10000.0f)//(10000U)//Ohm
#define TEMP_AIR_BETA (3950.0f)
#define TEMP_AIR_RES_GND (10000.0f)//Ohm
volatile float fTempValue;
unsigned int tempnewvalue1,tempnewvalue2,tempnewvalue3;
//float32_t Temp_Sensor_Ambient,Temp_Sensor1,value,Temp_Sensor_coils,Temp_Sensor_Pipes;
static float ntc_sensor_get_temp(float res, uint16_t res_25, uint16_t beta);
__interrupt void INT_CPU_TIMER1_ISR(void);
void configCPUTimer(uint32_t, float, float);
// **************************************************************************
// the functions
//INT_MTR1_EMI_1_ISR
void main(void)
{
unsigned char *msg;
ucRxStatus ='H';
// Clear memory for system and controller
// The variables must be assigned to these sector if need to be cleared to zero
HAL_clearDataRAM((void *)loadStart_est_data, (uint16_t)loadSize_est_data);
HAL_clearDataRAM((void *)loadStart_user_data, (uint16_t)loadSize_user_data);
HAL_clearDataRAM((void *)loadStart_sys_data, (uint16_t)loadSize_sys_data);
HAL_clearDataRAM((void *)loadStart_foc_data, (uint16_t)loadSize_foc_data);
HAL_clearDataRAM((void *)loadStart_pfc_data, (uint16_t)loadSize_pfc_data);
HAL_clearDataRAM((void *)loadStart_motor_data, (uint16_t)loadSize_motor_data);
HAL_clearDataRAM((void *)loadStart_dmaBuf_data, (uint16_t)loadSize_dmaBuf_data);
HAL_clearDataRAM((void *)loadStart_vibc_data, (uint16_t)loadSize_vibc_data);
HAL_clearDataRAM((void *)loadStart_sfra_data, (uint16_t)loadSize_sfra_data);
HAL_clearDataRAM((void *)loadStart_datalog_data, (uint16_t)loadSize_datalog_data);
HAL_clearDataRAM((void *)loadStart_dbgc_data, (uint16_t)loadSize_dbgc_data);
uint16_t* read_ADC_Value=(uint16_t*) 0x00000B40;
uint16_t* read_ADC_Value1=(uint16_t*) 0x00000B41;
uint16_t* read_ADC_Value2=(uint16_t*) 0x00000B42;
// AdcData1 = *read_ADC_Value;
// AdcData2 = *read_ADC_Value1;
#if defined(DMCPFC_REV3P2)
systemVars.boardKit = BOARD_DMCPFC_REV3P2; // DMCPFC_REV3P1 for F28002x/3x/13x-64pin
#elif defined(DMCPFC_REV3P1)
systemVars.boardKit = BOARD_DMCPFC_REV3P1; // DMCPFC_REV3P1 for F28002x-64pin
#elif defined(HVMTRPFC_REV1P1)
systemVars.boardKit = BOARD_HVMTRPFC_REV1P1; // HVMTRPFC_REV1P1 for F28002x
#elif defined(BSXL8323RH_REVB)
systemVars.boardKit = BOARD_BSXL8323RH_REVB; // BSXL8323RH_REVA for F28002x
#else
#error Not select a right board for this project
#endif
#if defined(MOTOR1_DISABLE) && defined(MOTOR2_DISABLE) && defined(PFC_DISABLE)
#error Need to enable at least one function of PFC, MOTOR1, or MOTOR2
#endif //
#if defined(MOTOR1_DISABLE)
systemVars.estType_M1 = EST_TYPE_NO_OBSERVER; // this motor is disable
#elif defined(MOTOR1_FAST) && defined(MOTOR1_ESMO)
systemVars.estType_M1 = EST_TYPE_FAST_ESMO; // the estimator is FAST and ESMO
#elif defined(MOTOR1_FAST)
systemVars.estType_M1 = EST_TYPE_FAST; // the estimator is only FAST
#elif defined(MOTOR1_ESMO)
systemVars.estType_M1 = EST_TYPE_ESMO; // the estimator is only ESMO
#else // !MOTOR1_FAST & !MOTOR1_ESMO
#error Not select a right estimator for motor 1 in this project
#endif // !MOTOR1_FAST & !MOTOR1_ESMO
#if defined(MOTOR2_DISABLE)
systemVars.estType_M2 = EST_TYPE_NO_OBSERVER; // this motor is disable
#elif defined(MOTOR2_FAST) && defined(MOTOR2_ESMO)
systemVars.estType_M2 = EST_TYPE_FAST_ESMO; // the estimator is FAST and ESMO
#elif defined(MOTOR2_FAST)
systemVars.estType_M2 = EST_TYPE_FAST; // the estimator is only FAST
#elif defined(MOTOR2_ESMO)
systemVars.estType_M2 = EST_TYPE_ESMO; // the estimator is only ESMO
#else // !MOTOR2_FAST & !MOTOR2_ESMO
#error Not select a right estimator for motor 2 in this project
#endif // !MOTOR2_FAST & !MOTOR2_ESMO
#if defined(MOTOR1_FAST) && defined(MOTOR1_ESMO) && \
defined(MOTOR2_FAST) && defined(MOTOR2_ESMO) && defined(_F28002x)
#error Limit to the RAM size for copy the program to run in RAM. FAST and ESMO
can not on dual motor at the same. Only support one motor runs FAST and ESMO
in parallel, and another motor run FAST or ESMO.
#endif // MOTOR1_FAST & MOTOR1_ESMO & MOTOR2_FAST & MOTOR2_ESMO
#if defined(MOTOR1_DCLINKSS)
systemVars.currentSenseType_M1 = CURSEN_TYPE_SINGLE_SHUNT;
#else
systemVars.currentSenseType_M1 = CURSEN_TYPE_THREE_SHUNT;
#endif // Current Sense Type of Motor 1
#if defined(MOTOR2_DCLINKSS)
systemVars.currentSenseType_M2 = CURSEN_TYPE_SINGLE_SHUNT;
#else
systemVars.currentSenseType_M2 = CURSEN_TYPE_THREE_SHUNT;
#endif // Current Sense Type of Motor 2
// ** above codes are only for checking the settings, not occupy the memory
// Initialize device clock and peripherals
Device_init(); // call the function in device.c
// Disable pin locks and enable internal pullups.
Device_initGPIO(); // call the function in device.c
// GPIO28 is the SCI Rx pin.
//
GPIO_setPinConfig(DEVICE_GPIO_CFG_SCIRXDC);
GPIO_setDirectionMode(DEVICE_GPIO_PIN_SCIRXDC, GPIO_DIR_MODE_IN);
GPIO_setPadConfig(DEVICE_GPIO_PIN_SCIRXDC, GPIO_PIN_TYPE_STD);
GPIO_setQualificationMode(DEVICE_GPIO_PIN_SCIRXDC, GPIO_QUAL_ASYNC);
//
// GPIO29 is the SCI Tx pin.
//
GPIO_setPinConfig(DEVICE_GPIO_CFG_SCITXDC);
GPIO_setDirectionMode(DEVICE_GPIO_PIN_SCITXDC, GPIO_DIR_MODE_OUT);
GPIO_setPadConfig(DEVICE_GPIO_PIN_SCITXDC, GPIO_PIN_TYPE_STD);
GPIO_setQualificationMode(DEVICE_GPIO_PIN_SCITXDC, GPIO_QUAL_ASYNC);
//
// Initializes PIE and clears PIE registers. Disables CPU interrupts.
Interrupt_initModule(); // call the function in driverlib.lib
// Initializes the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
Interrupt_initVectorTable(); // call the function in driverlib.lib
// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
//07042024
Interrupt_register(INT_SCIC_RX, INT_SCI_COM_RX_ISR);
Interrupt_register(INT_SCIC_TX, INT_SCI_COM_TX_ISR);
//
// Initialize the Device Peripherals:
//
initSCIAFIFO();
// SYS_TX_init();
Interrupt_register(INT_TIMER1, INT_CPU_TIMER1_ISR); //NEW ADD
#if !defined(_SIMPLE_FAST_LIB)
// false->enable motor identification, true->disable motor identification
userParams[MTR_1].flag_bypassMotorId = true;
userParams[MTR_2].flag_bypassMotorId = true;
#endif // !(_SIMPLE_FAST_LIB)
#if defined(SYSCONFIG_EN)
// disable the ePWM module time base clock sync signal
// to synchronize all of the PWMs
SysCtl_disablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC);
Board_init();
//CPUTimer_enableInterrupt(CPU_TIMER1_BASE); //new add
configCPUTimer(CPUTIMER1_BASE, DEVICE_SYSCLK_FREQ, 119047);// 5000000
CPUTimer_enableInterrupt(CPU_TIMER1_BASE);
Interrupt_enable(INT_TIMER1);
CPUTimer_startTimer(CPU_TIMER1_BASE); //new add
// initialize the driver
halHandle = HAL_init(&hal, sizeof(hal));
// set the driver parameters
HAL_setParams(halHandle);
// set the control parameters for PFC
initPFCCtrlParameters();
// set the control parameters for motor 1
initMotor1CtrlParameters();
// set the control parameters for motor 2
initMotor2CtrlParameters();
// set the handle in hal for motors and pfc
HAL_initMtrHandle(halHandle, halMtrHandle[MTR_1], halMtrHandle[MTR_2]);
HAL_initPFCHandle(halHandle, halPFCHandle);
// set PWM phase shift between motor and pfc
HAL_setupPWMsPhaseShift(halHandle);
// enable the ePWM module time base clock sync signal
SysCtl_enablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC);
//-----------------------------ADD Communication purpose 12032024-------------------
// for(i = 0; i < 2; i++)
// {
// sDataA[i] = i;
// }
rDataPointA = sDataA[0];
// Interrupt_enable(INT_SCIA_RX);
// Interrupt_enable(INT_SCIA_TX);
// Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP9);
//-----------------------------------------end communication 12032024----------
#else // !SYSCONFIG_EN
// initialize the driver
halHandle = HAL_init(&hal, sizeof(hal));
// set the driver parameters
HAL_setParams(halHandle);
// set the control parameters for PFC
initPFCCtrlParameters();
// set the control parameters for motor 1
initMotor1CtrlParameters();
// set the control parameters for motor 2
initMotor2CtrlParameters();
// set the handle in hal for motors and pfc
HAL_initMtrHandle(halHandle, halMtrHandle[MTR_1], halMtrHandle[MTR_2]);
HAL_initPFCHandle(halHandle, halPFCHandle);
// set PWM phase shift between motor and pfc
HAL_setupPWMsPhaseShift(halHandle);
// initialize the interrupt vector table
HAL_initIntVectorTable(halHandle);
// enable the ADC/PWM interrupts for control
// enable interrupts to trig DMA
HAL_enableCtrlInts(halHandle);
#endif // !SYSCONFIG_EN
motorVars[MTR_1].speedRef_Hz = 30.0f;
motorVars[MTR_2].speedRef_Hz = 30.0f;
systemVars.speedComp_Hz = 60.0f;
systemVars.speedFan_Hz = 50.0f;
#if !defined(HVMTRPFC_REV1P1)
#if defined(EPWMDAC_MODE)
#error Only HVMTRPFC_REV1P1 supports the EPWMDAC function.
#endif // EPWMDAC_MODE
#else // HVMTRPFC_REV1P1
#if defined(EPWMDAC_MODE)
// set DAC parameters
pwmDACData.periodMax =
PWMDAC_getPeriod(halHandle->pwmDACHandle[PWMDAC_NUMBER_1]);
#if defined(PWMDAC_MOTOR) && defined(PWMDAC_PFC)
pwmDACData.ptrData[0] = &adcDataPFC.IacBus;
pwmDACData.ptrData[1] = &adcDataPFC.VacBus;
pwmDACData.ptrData[2] = &angleFOCM1_rad;
pwmDACData.ptrData[3] = &adcData[MTR_1].I_A.value[0];
pwmDACData.offset[0] = 0.5f;
pwmDACData.offset[1] = 0.5f;
pwmDACData.offset[2] = 0.5f;
pwmDACData.offset[3] = 0.5f;
pwmDACData.gain[0] = 1.0f;
pwmDACData.gain[1] = 1.0f;
pwmDACData.gain[2] = 1.0f / MATH_TWO_PI;
pwmDACData.gain[3] = 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
#elif defined(PWMDAC_MOTOR) && !defined(PWMDAC_PFC)
pwmDACData.ptrData[0] = &angleESTM1_rad;
pwmDACData.ptrData[1] = &adcData[MTR_1].I_A.value[0];
pwmDACData.ptrData[2] = &adcData[MTR_1].V_V.value[0];
pwmDACData.ptrData[3] = &angleFOCM1_rad;
pwmDACData.offset[0] = 0.5f;
pwmDACData.offset[1] = 0.5f;
pwmDACData.offset[2] = 0.5f;
pwmDACData.offset[3] = 0.5f;
pwmDACData.gain[0] = 1.0f / MATH_TWO_PI;
pwmDACData.gain[1] = 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
pwmDACData.gain[2] = 1.0f / USER_M1_ADC_FULL_SCALE_VOLTAGE_V;
pwmDACData.gain[3] = 1.0f / MATH_TWO_PI;
#elif defined(PWMDAC_PFC) && !defined(PWMDAC_MOTOR)
pwmDACData.ptrData[0] = &adcDataPFC.IacBus;
pwmDACData.ptrData[1] = &adcDataPFC.VacBus;
pwmDACData.ptrData[2] = &pfcVars.IacRef;
pwmDACData.ptrData[3] = &pfcVars.IacError;
pwmDACData.offset[0] = 0.0f;
pwmDACData.offset[1] = 0.0f;
pwmDACData.offset[2] = 0.0f;
pwmDACData.offset[3] = 0.0f;
pwmDACData.gain[0] = 1.0f;
pwmDACData.gain[1] = 1.0f;
pwmDACData.gain[2] = 1.0f;
pwmDACData.gain[3] = 1.0f;
#elif !defined(PWMDAC_PFC) && !defined(PWMDAC_MOTOR)
// No EPWMDAC supporting
#else
#error Only PWMDAC_PFC or PWMDAC_MOTOR can be supported at the same time
#endif // PWMDAC_PFC or PWMDAC_MOTOR
#endif // EPWMDAC_MODE
#endif // !HVMTRPFC_REV1P1
#if defined(DATALOGF2_EN)
//#warning No enough memory if use datalog, so may disable the VIB_COMP
// Initialize Datalog
datalogHandle = DATALOGIF_init(&datalog, sizeof(datalog));
DATALOG_Obj *datalogObj = (DATALOG_Obj *)datalogHandle;
HAL_setupDMAforDLOG(halHandle, 0, &datalogBuff1[0], &datalogBuff1[1]);
HAL_setupDMAforDLOG(halHandle, 1, &datalogBuff2[0], &datalogBuff2[1]);
// set datalog parameters
datalogObj->iptr[0] = &angleFOCM1_rad;
datalogObj->iptr[1] = &adcData[MTR_1].I_A.value[0];
#endif // DATALOGF2_EN
#if defined(DAC128S_ENABLE)
#if defined(DAC80504_SEL)
// initialize the DAC80504
dac128sHandle = DAC80504_init(&dac128s);
#if !defined(SYSCONFIG_EN)
// setup SPI for DAC80504
DAC80504_setupSPI(dac128sHandle);
#else // SYSCONFIG_EN
SPI_setTxFifoTransmitDelay(DAC_SPI_BASE, 0x04);
SPI_clearInterruptStatus(DAC_SPI_BASE, SPI_INT_TXFF);
#endif // SYSCONFIG_EN
DAC80504_writeCommand(dac128sHandle);
#else // DAC128S805
// initialize the DAC128S05
dac128sHandle = DAC128S_init(&dac128s);
#if !defined(SYSCONFIG_EN)
// setup SPI for DAC128S05
DAC128S_setupSPI(dac128sHandle);
#else // SYSCONFIG_EN
SPI_setTxFifoTransmitDelay(DAC_SPI_BASE, 0x04);
SPI_clearInterruptStatus(DAC_SPI_BASE, SPI_INT_TXFF);
#endif // SYSCONFIG_EN
DAC128S_writeCommand(dac128sHandle);
#endif // DAC128S805
// The following settings are for output the values of different variables
// in each build level for debug. The User can select one of these groups in
// different build level as commented note
// DAC_LEVEL1_DACTEST
// DAC_LEVEL4_DCLINK, DAC_LEVEL4_ALL, DAC_LEVEL2_MOTOR_IS, DAC_LEVEL4_MOTORS
// DAC_LEVEL4_VIBCOMP, DAC_LEVEL_TEST, DAC_LEVEL4_PFC
// DAC_LEVEL2_MOTOR1_IS, DAC_LEVEL2_MOTOR1_VS, DAC_LEVEL3_MOTOR1_EST
// DAC_LEVEL2_MOTOR2_IS, DAC_LEVEL2_MOTOR2_VS, DAC_LEVEL3_MOTOR2_EST
// DAC_LEVEL4_MOTOR1_EST, DAC_LEVEL4_SMOM1, DAC_LEVEL4_FASTM1, DAC_LEVEL4_DSMOM1
// DAC_LEVEL4_MOTOR2_EST, DAC_LEVEL4_SMOM2, DAC_LEVEL4_FASTM2, DAC_LEVEL4_DSMOM2
#define DAC_LEVEL4_ALL // define the DAC level
#if defined(DAC_LEVEL4_DCLINK)
// Using in build Level_4 to debug single shunt
dac128s.ptrData[0] = &angleFOCM1_rad; // CH_A
dac128s.ptrData[1] = &adcData[0].I_A.value[0]; // CH_B
dac128s.ptrData[2] = &adcData[0].I_A.value[1]; // CH_C
dac128s.ptrData[3] = &adcData[0].I_A.value[2]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f * 2.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[2] = 4096.0f * 2.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f * 2.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.0f * 4096.0f);
#elif defined(DAC_LEVEL4_PFC)
// Using in build Level_4 to monitor the rotor angles of motor 1 and 2,
// and the sensing AC current and voltage for PFC
dac128s.ptrData[0] = &adcDataPFC.IacBus; // CH_A
dac128s.ptrData[1] = &adcDataPFC.VacBus; // CH_B
dac128s.ptrData[2] = &adcDataPFC.VdcBus; // CH_C
dac128s.ptrData[3] = &adcDataPFC.IacBus; // CH_D
dac128s.gain[0] = 4096.0f;
dac128s.gain[1] = 4096.0f;
dac128s.gain[2] = 4096.0f;
dac128s.gain[3] = 4096.0f;
dac128s.offset[0] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.0f * 4096.0f);
#elif defined(DAC_LEVEL4_ALL)
// Using in build Level_4 to monitor the rotor angles of motor 1 and 2,
// and the sensing AC current and voltage for PFC
dac128s.ptrData[0] = &adcDataPFC.IacBus; // CH_A
dac128s.ptrData[1] = &adcDataPFC.VacBus; // CH_B
dac128s.ptrData[2] = &angleFOCM1_rad; // CH_C
dac128s.ptrData[3] = &angleFOCM2_rad; // CH_D
dac128s.gain[0] = 4096.0f;
dac128s.gain[1] = 4096.0f;
dac128s.gain[2] = 4096.0f / MATH_TWO_PI;
dac128s.gain[3] = 4096.0f / MATH_TWO_PI;
dac128s.offset[0] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL2_MOTOR_IS)
// Using in build level 2: Verify motor_2 current sensing signals
dac128s.ptrData[0] = &adcData[0].I_A.value[0]; // CH_A
dac128s.ptrData[1] = &adcData[1].I_A.value[0]; // CH_B
dac128s.ptrData[2] = &angleFOCM1_rad; // CH_C
dac128s.ptrData[3] = &angleFOCM2_rad; // CH_D
dac128s.gain[0] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[1] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[2] = 4096.0f / MATH_TWO_PI;
dac128s.gain[3] = 4096.0f / MATH_TWO_PI;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL2_MOTOR1_IS)
// Using in build Level 2: Verify motor_1 current sensing signals
dac128s.ptrData[0] = &angleFOCM1_rad; // CH_D
dac128s.ptrData[1] = &adcData[0].I_A.value[0]; // CH_A
dac128s.ptrData[2] = &adcData[0].I_A.value[1]; // CH_B
dac128s.ptrData[3] = &adcData[0].I_A.value[2]; // CH_C
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL2_MOTOR1_VS)
// Using in build level 2: Verify motor_1 voltage sensing signals
dac128s.ptrData[0] = &angleFOCM1_rad; // CH_A
dac128s.ptrData[1] = &adcData[0].V_V.value[0]; // CH_B
dac128s.ptrData[2] = &adcData[0].V_V.value[1]; // CH_C
dac128s.ptrData[3] = &adcData[0].V_V.value[2]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL3_MOTOR1_EST)
// Using in build Level 2 and 3: Verify motor_1 estimation angle
dac128s.ptrData[0] = &angleGenM1_rad; // CH_A
dac128s.ptrData[1] = &angleESTM1_rad; // CH_B
dac128s.ptrData[2] = &adcData[0].I_A.value[0]; // CH_C
dac128s.ptrData[3] = &adcData[0].V_V.value[0]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f / MATH_TWO_PI;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL2_MOTOR2_IS)
// Using in build level 2: Verify motor_2 current sensing signals
dac128s.ptrData[0] = &adcData[1].I_A.value[0]; // CH_A
dac128s.ptrData[1] = &adcData[1].I_A.value[1]; // CH_B
dac128s.ptrData[2] = &adcData[1].I_A.value[2]; // CH_C
dac128s.ptrData[3] = &angleFOCM2_rad; // CH_D
dac128s.gain[0] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[1] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f / MATH_TWO_PI;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL2_MOTOR2_VS)
// Using in build level 2: Verify motor_2 voltage sensing signals
dac128s.ptrData[0] = &angleFOCM2_rad; // CH_D
dac128s.ptrData[1] = &adcData[1].V_V.value[0]; // CH_A
dac128s.ptrData[2] = &adcData[1].V_V.value[1]; // CH_B
dac128s.ptrData[3] = &adcData[1].V_V.value[2]; // CH_C
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL3_MOTOR2_EST)
// Using in build level 2 and 3: Verify motor_2 estimation angle
dac128s.ptrData[0] = &angleGenM2_rad; // CH_A
dac128s.ptrData[1] = &angleESTM2_rad; // CH_B
dac128s.ptrData[2] = &adcData[1].I_A.value[0]; // CH_C
dac128s.ptrData[3] = &adcData[1].V_V.value[0]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f / MATH_TWO_PI;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL4_MOTOR2_EST)
// Using in build level 2 and 3: Verify motor_2 estimation angle
dac128s.ptrData[0] = &angleESTM2_rad; // CH_A
dac128s.ptrData[1] = &adcData[1].I_A.value[0]; // CH_B
dac128s.ptrData[2] = &adcData[1].V_V.value[0]; // CH_C
dac128s.ptrData[3] = &adcData[1].I_A.value[1]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_VOLTAGE_V;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL4_MOTORS)
// Using in build level 3 and 4: Verify motor_1 & motor_2 closed-loop
dac128s.ptrData[0] = &angleFOCM1_rad; // CH_A
dac128s.ptrData[1] = &angleFOCM2_rad; // CH_B
dac128s.ptrData[2] = &adcData[0].I_A.value[0]; // CH_C
dac128s.ptrData[3] = &adcData[1].I_A.value[0]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f / MATH_TWO_PI;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL4_SMOM1)
// Using in build level 2 and 3: Verify motor_2 estimation angle
dac128s.ptrData[0] = &adcData[0].I_A.value[0]; // CH_A
dac128s.ptrData[1] = &adcData[0].I_A.value[0]; // CH_B
dac128s.ptrData[2] = &anglePLLM1_rad; // CH_C
// dac128s.ptrData[3] = &angleESTM1_rad; // CH_D
dac128s.ptrData[3] = &angleFOCM1_rad; // CH_D
dac128s.gain[0] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[1] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[2] = 4096.0f / MATH_TWO_PI;
dac128s.gain[3] = 4096.0f / MATH_TWO_PI;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL4_FASTM2)
// Using in build level 2 and 3: Verify motor_2 estimation angle
dac128s.ptrData[0] = &angleFOCM2_rad; // CH_A
dac128s.ptrData[1] = &angleESTM2_rad; // CH_B
dac128s.ptrData[2] = &adcData[1].I_A.value[0]; // CH_C
dac128s.ptrData[3] = &adcData[1].I_A.value[1]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f / MATH_TWO_PI;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL4_SMOM2)
// Using in build level 2 and 3: Verify motor_2 estimation angle
dac128s.ptrData[0] = &angleFOCM2_rad; // CH_C
dac128s.ptrData[1] = &anglePLLM2_rad; // CH_A
dac128s.ptrData[2] = &adcData[1].I_A.value[0]; // CH_C
dac128s.ptrData[3] = &adcData[1].I_A.value[1]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f / MATH_TWO_PI;
dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL4_DSMOM2)
// Using in build level 2 and 3: Verify motor_2 estimation angle
dac128s.ptrData[0] = &angleFOCM2_rad; // CH_C
dac128s.ptrData[1] = &anglePLLM2_rad; // CH_A
dac128s.ptrData[2] = &angleESTM2_rad; // CH_B
dac128s.ptrData[3] = &adcData[1].I_A.value[0]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI;
dac128s.gain[1] = 4096.0f / MATH_TWO_PI;
dac128s.gain[2] = 4096.0f / MATH_TWO_PI;
dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL4_VIBCOMP)
// Using in build level 4: for vibration compensation debug
dac128s.ptrData[0] = &vibComp.angleMechPoles_rad; // CH_A
dac128s.ptrData[1] = &angleFOCM1_rad; // CH_B
dac128s.ptrData[2] = &vibComp.Iq_comp_A; // CH_C
dac128s.ptrData[3] = &Idq_in_A[0].value[1]; // CH_D
dac128s.gain[0] = 4096.0f / MATH_TWO_PI / USER_MOTOR1_NUM_POLE_PAIRS;
dac128s.gain[1] = 4096.0f / MATH_TWO_PI;
dac128s.gain[2] = 4096.0f * 0.5f / USER_M1_ADC_FULL_SCALE_CURRENT_A;
dac128s.gain[3] = 4096.0f * 0.5f / USER_M2_ADC_FULL_SCALE_CURRENT_A;
dac128s.offset[0] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f);
#elif defined(DAC_LEVEL_TEST) && defined(DACTEST_EN)
// Using in build level 4: for vibration compensation debug
dac128s.ptrData[0] = &dacTestValue[0]; // CH_A
dac128s.ptrData[1] = &dacTestValue[1]; // CH_B
dac128s.ptrData[2] = &dacTestValue[2]; // CH_C
dac128s.ptrData[3] = &dacTestValue[3]; // CH_D
dac128s.gain[0] = 4096.0f;
dac128s.gain[1] = 4096.0f;
dac128s.gain[2] = 4096.0f;
dac128s.gain[3] = 4096.0f;
dac128s.offset[0] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[1] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[2] = (uint16_t)(0.0f * 4096.0f);
dac128s.offset[3] = (uint16_t)(0.0f * 4096.0f);
#else
#error Not assign the variables to the DAC object
#endif //DAC_LEVEL
#endif // DAC128S_ENABLE
#if defined(SFRA_ENABLE) && (SFRA_TEST_TYPE == SFRA_TEST_PFC)
// Plot GH & H plots using SFRA_GUI
configureSFRA(SFRA_GUI_PLOT_GH_H, PFC_SAMPLING_FREQ_HZ);
sfraTestLoop = SFRA_TEST_PFC_CURRENT;
sfraCollectStart = false; // disable SFRA data collection
#endif // SFRA_ENABLE && SFRA_TEST_PFC
#if defined(SFRA_ENABLE) && (SFRA_TEST_TYPE == SFRA_TEST_MOTOR1)
// Plot GH & H plots using SFRA_GUI, GH & CL plots using SFRA_GUI_MC
configureSFRA(SFRA_GUI_PLOT_GH_H, USER_M1_SAMPLING_FREQ_Hz);
sfraTestLoop = SFRA_TEST_MOTOR1_IQ;
sfraCollectStart = false; // disable SFRA data collection
#endif // SFRA_ENABLE && SFRA_TEST_MOTOR1
#if defined(SFRA_ENABLE) && ( SFRA_TEST_TYPE == SFRA_TEST_MOTOR2)
// Plot GH & H plots using SFRA_GUI, GH & CL plots using SFRA_GUI_MC
configureSFRA(SFRA_GUI_PLOT_GH_H, MOTOR2_SAMPLING_FREQ_Hz);
sfraTestLoop = SFRA_TEST_MOTOR2_IQ;
sfraCollectStart = false; // disable SFRA data collection
#endif // SFRA_ENABLE && SFRA_TEST_MOTOR2
systemVars.flagEnableSystem = false;
compressor1motorFlag = false; //add 10032024
#if(PFC_BUILDLEVEL >= PFC_LEVEL_2)
pfcVars.flagEnableOffsetCalc = false;
motorVars[MTR_1].flagEnableOffsetCalc = true;
motorVars[MTR_2].flagEnableOffsetCalc = true;
#else
pfcVars.flagEnableOffsetCalc = true;
motorVars[MTR_1].flagEnableOffsetCalc = true;
motorVars[MTR_2].flagEnableOffsetCalc = true;
#endif // PFC_BUILDLEVEL == PFC_LEVEL_1
systemVars.powerRelayWaitTime_ms = POWER_RELAY_WAIT_TIME_ms; //6s
systemVars.timerBase_1ms = 0;
systemVars.flagEnableExtCmd = false;
systemVars.flagEnableSystem = false;
// Waiting for enable system flag to be set
while(systemVars.flagEnableSystem == false)
{
if(HAL_getCPUTimerStatus(halHandle, HAL_CPU_TIMER0) == true)
{
// read the ADC data with offsets
HAL_readPFCADCData(&adcDataPFC);
// convert dc bus voltage from pu to SI unit
pfcVars.VdcBusLPF = pfcVars.VdcBusLPF +
(adcDataPFC.VdcBus - pfcVars.VdcBusLPF) * pfcVars.lpfVdcCoeff;
pfcVars.VdcBusLPF_V = pfcVars.VdcBusLPF * USER_PFC_ADC_FULL_SCALE_DC_VOLTAGE_V;
#if(PFC_BUILDLEVEL > PFC_LEVEL_4)
if(pfcVars.VdcBusLPF_V >= POWER_RELAY_ON_VOLTAGE_V)
{
systemVars.timerBase_1ms++;
}
#else
systemVars.timerBase_1ms++;
#endif
if(systemVars.timerBase_1ms > systemVars.powerRelayWaitTime_ms)
{
systemVars.flagEnableSystem = true;
systemVars.timerBase_1ms = 0;
// Turn on the power relay
HAL_turnOnPowerRelay(ACPOWER_RELAY_GPIO);
HAL_turnOnPowerRelay(ACPOWER_RELAY_GPIO);
// Turn on the FWV relay which is used for power relay
// on the new board for F280015x
HAL_turnOnPowerRelay(FOURWAY_RELAY_GPIO);
HAL_turnOnPowerRelay(FOURWAY_RELAY_GPIO);
}
HAL_clearCPUTimerFlag(halHandle, HAL_CPU_TIMER0);
}
}
// Turn on the power relay
HAL_turnOnPowerRelay(ACPOWER_RELAY_GPIO);
HAL_turnOnPowerRelay(ACPOWER_RELAY_GPIO);
systemVars.flagEnableSystem = false;
systemVars.timerBase_1ms = 0;
systemVars.powerRelayWaitTime_ms = OFFSET_CHECK_WAIT_TIME_ms; //4s
// Waiting for enable system flag to be set
while(systemVars.flagEnableSystem == false)
{
if(HAL_getCPUTimerStatus(halHandle, HAL_CPU_TIMER0) == true)
{
systemVars.timerBase_1ms++;
if(systemVars.timerBase_1ms > systemVars.powerRelayWaitTime_ms)
{
systemVars.flagEnableSystem = true;
systemVars.timerBase_1ms = 0;
}
HAL_clearCPUTimerFlag(halHandle, HAL_CPU_TIMER0);
}
}
systemVars.flagEnableSystem = true;
// Turn on the power relay
HAL_turnOnPowerRelay(ACPOWER_RELAY_GPIO);
#ifndef PFC_DISABLE
// run offset calibration for PFC
runPFCOffsetsCalculation();
#endif // PFC_DISABLE
#ifndef MOTOR1_DISABLE
// run offset calibration for motor 1
runMotor1OffsetsCalculation();
#endif // !MOTOR1_DISABLE
#ifndef MOTOR2_DISABLE
// run offset calibration for motor 2
runMotor2OffsetsCalculation();
#endif // !MOTOR2_DISABLE
// enable global interrupts
HAL_enableGlobalInts(halHandle);
// enable debug interrupts
HAL_enableDebugInt(halHandle);
systemVars.flagEnableSystem = true;
HAL_clearCPUTimerFlag(halHandle, HAL_CPU_TIMER0);
motorVars[0].flagEnableRunAndIdentify = false;
motorVars[1].flagEnableRunAndIdentify = false;
compressor1motorFlag = false;
// msg = "@ Welcome VOEPL Team @";
// SCI_writeCharArray(SCIC_BASE, (uint16_t*)msg, 22);
msg = "@ Welcome To Voepl @";
SCI_writeCharArray(SCIC_BASE, (uint16_t*)msg, 20);
Interrupt_enable(INT_SCIC_RX);
Interrupt_enable(INT_SCIC_TX);
Interrupt_register(INT_SCIC_TX, INT_SCI_COM_TX_ISR); //ok
systemVars.powerRelayWaitTime_ms1 = OFFSET_CHECK_WAIT_TIME_ms1; //10s
while(systemVars.flagEnableSystem == true)
{
// Interrupt_register(INT_SCIA_TX, INT_SCI_COM_TX_ISR); //ok
tempnewvalue1 = (*read_ADC_Value);
fTempValue = (float)(ADC_RESOLUTION_VALUE - tempnewvalue1);//value
fTempValue *= (TEMP_AIR_RES_GND / tempnewvalue1);
Temp_Sensor_coils = (float)ntc_sensor_get_temp(fTempValue, TEMP_AIR_RES_T_25, TEMP_AIR_BETA);
//--------------------------------------Ambient sensor-------------------------------------------------
tempnewvalue2 = (*read_ADC_Value1);
fTempValue = (float)(ADC_RESOLUTION_VALUE - tempnewvalue2);//value
fTempValue *= (TEMP_AIR_RES_GND / tempnewvalue2);
Temp_Sensor_Ambient = (float)ntc_sensor_get_temp(fTempValue, TEMP_AIR_RES_T_25, TEMP_AIR_BETA);
//---------------------------------Discharge_Sensor-------------------------------------------------------------
tempnewvalue3 = (*read_ADC_Value2);
fTempValue = (float)(ADC_RESOLUTION_VALUE - tempnewvalue3);//value
fTempValue *= (TEMP_AIR_RES_GND / tempnewvalue3);
Temp_Sensor_Discharge = (float)ntc_sensor_get_temp(fTempValue, TEMP_AIR_RES_T_25, TEMP_AIR_BETA);
//-------------------------------------------NEW---ADD---END------------------------------------------------------
// systemVars.timerBase_1ms = 0;
// systemVars.powerRelayWaitTime_ms1 = OFFSET_CHECK_WAIT_TIME_ms1; //10s
// while(tx_flag == false)
// {
// if(HAL_getCPUTimerStatus(halHandle, HAL_CPU_TIMER0) == true)
// {
//// systemVars.powerRelayWaitTime_ms1 = OFFSET_CHECK_WAIT_TIME_ms1; //10s
// systemVars.timerBase_1ms++;
// if(systemVars.timerBase_1ms > systemVars.powerRelayWaitTime_ms1)//10000
// {
// //systemVars.flagEnableSystem = true;
// tx_flag = 1;
// systemVars.timerBase_1ms = 0;
// }
//
// HAL_clearCPUTimerFlag(halHandle, HAL_CPU_TIMER0);
// }
// }
if(tx_flag == true)
{
msg = "$0025,0020#";
SCI_writeCharArray(SCIC_BASE, (uint16_t*)msg, 11);
tx_flag = false;
}
if(rx_flag ==true)
{
// unsigned char ucTempValue = 0;
// uiTempValue = (ucRxBuff[0] & 0x0F) << 3; // Thousands digit (shift left by 3, which is equivalent to multiplying by 8)
// uiTempValue += (ucRxBuff[1] & 0x0F) << 2; // Hundreds digit (shift left by 2, equivalent to multiplying by 4)
// uiTempValue += (ucRxBuff[2] & 0x0F) << 1; // Tens digit (shift left by 1, equivalent to multiplying by 2)
// uiTempValue += (ucRxBuff[3] & 0x0F); // Units digit (no shift, equivalent to multiplying by 1)
// rx_flag = 0;
// unsigned int uiTempValue=0;
uiTempValue = (ucRxBuff[1] & 0x0F);
uiTempValue *= 1000;
uiTempValue += ((ucRxBuff[2] & 0x0F) * 100);
uiTempValue += ((ucRxBuff[3] & 0x0F) * 10);
uiTempValue += ((ucRxBuff[4] & 0x0F) * 1);
// Temp_Sensor_Ambient=(float)uiTempValue;
// IDU_Ambiet_Temp=(float)uiTempValue;
IDU_Ambiet_Temp=uiTempValue;
uiTempValue1 = (ucRxBuff[5] & 0x0F);
uiTempValue1 *= 1000;
uiTempValue1 += ((ucRxBuff[6] & 0x0F) * 100);
uiTempValue1 += ((ucRxBuff[7] & 0x0F) * 10);
uiTempValue1 += ((ucRxBuff[8] & 0x0F) * 1);
IDU_set_Temp=uiTempValue1;
ucRxStatus1 = '^';
//motorVars[MTR_2].CompressorStartFlag = true;
CompressorStartFlag=true;
rx_flag=false;
// cx_flag=true;
}
// loop while the enable system flag is true
// 1ms time base
if(HAL_getCPUTimerStatus(halHandle, HAL_CPU_TIMER0) == true)
{
systemVars.timerBase_1ms++;
HAL_clearCPUTimerFlag(halHandle, HAL_CPU_TIMER0);
SYS_processFault();
if( compressor1motorFlag == true) // this is compressor flagRunIdentAndOnLine added by bn
{
SYS_updateCtrlState();
motorVars[MTR_1].flagEnableRunAndIdentify = true;
compressor1motorFlag = false;
}
switch(systemVars.timerBase_1ms)
{
// 5ms time base
case 1: // motor 1 protection check
#ifndef MOTOR1_DISABLE
calculateRMSData(MTR_1);
runMotorMonitor(MTR_1);
#endif // !MOTOR1_DISABLE
break;
case 2: // motor 2 protection check
#if !defined(MOTOR2_DISABLE) // single motor on high voltage kit
calculateRMSData(MTR_2);
runMotorMonitor(MTR_2);
#endif // !MOTOR2_DISABLE
break;
case 3: // pfc protection check
#if !defined(PFC_DISABLE)
runPFCMonitor();
#endif // PFC_DISABLE
break;
case 4: // calculate motor and pfc protection value
#if !defined(MOTOR1_DCLINKSS)
calcMotorOverCurrentThreshold(MTR_1);
#elif !defined(MOTOR1_DISABLE) // MOTOR1_DCLINKSS
calcMotorDCLinkOverCurrentThreshold(MTR_1);
#endif // MOTOR1_DCLINKSS
#if !defined(MOTOR2_DISABLE) && !defined(MOTOR2_DCLINKSS)
calcMotorOverCurrentThreshold(MTR_2);
#elif !defined(MOTOR2_DISABLE) // MOTOR2_DCLINKSS
calcMotorDCLinkOverCurrentThreshold(MTR_2);
#endif // !MOTOR2_DISABLE & MOTOR2_DCLINKSS
#if !defined(PFC_DISABLE)
calcPFCOverCurrentThreshold();
#endif // PFC_DISABLE
#if defined(MOTOR1_FWC)
updateFWCParams();
#endif // MOTOR1_FWC
#if defined(MOTOR1_MTPA)
updateMTPAParams();
#endif // MOTOR1_MTPA
break;
case 5: // system control
systemVars.timerBase_1ms = 0;
systemVars.timerCnt_5ms++;
SYS_displayFault(); // 5ms
#if defined(MOTOR2_ESMO) && !defined(MOTOR2_DISABLE)
if(motorVars[MTR_2].motorState >= MOTOR_CTRL_RUN)
{
ESMO_updateFilterParams(esmoM2Handle);
ESMO_updatePLLParams(esmoM2Handle);
}
#endif // MOTOR2_ESMO
#if defined(MOTOR1_ESMO) && !defined(MOTOR1_DISABLE)
if(motorVars[MTR_1].motorState >= MOTOR_CTRL_RUN)
{
ESMO_updateFilterParams(esmoM1Handle);
ESMO_updatePLLParams(esmoM1Handle);
}
#endif // MOTOR2_ESMO
break;
default:
break;
}
#if defined(SFRA_ENABLE)
// SFRA test
SFRA_F32_runBackgroundTask(&sfra1);
SFRA_GUI_runSerialHostComms(&sfra1);
#endif // SFRA_ENABLE
}
#ifndef MOTOR1_DISABLE
// run control for motor 1
runMotor1Control();
#endif // !MOTOR1_DISABLE
#if !defined(MOTOR2_DISABLE)
// run control for motor 2
runMotor2Control();
#endif // !MOTOR2_DISABLE
#if !defined(PFC_DISABLE)
// run control for PFC
runPFCMainControl();
#endif // PFC_DISABLE
if(systemVars.flagEnableExtCmd == true)
{
if(GPIO_readPin(TEST_SWITCH_GPIO) == 0)
{
motorVars[MTR_2].flagEnableRunAndIdentify = true;
motorVars[MTR_2].speedRef_Hz = systemVars.speedFan_Hz;
}
else
{
motorVars[MTR_2].flagEnableRunAndIdentify = false;
}
}
} // end of while() loop
#ifndef MOTOR1_DISABLE
// disable the PWM for stopping the motor 1
HAL_disableMTRPWM(halMtrHandle[0]);
#endif // !MOTOR1_DISABLE
// disable the PWM for stopping the motor 1
#if !defined(MOTOR2_DISABLE)
HAL_disableMTRPWM(halMtrHandle[1]);
#endif // !MOTOR2_DISABLE
} // end of main() function
static float ntc_sensor_get_temp(float res, uint16_t res_25, uint16_t beta)
{
float temp = 1 / (1 / TEMP_T_25_K + (log10((float)res/res_25) / LOG_10_E / beta));
temp -= 273.15;
return temp;
}
__interrupt void INT_MTR1_EMI_1_ISR(void)
{
// ADC_clearInterruptStatus(MTR1_EMI_BASE, ADC_INT_NUMBER1);
// if(true==ADC_getInterruptOverflowStatus(MTR1_EMI_BASE, ADC_INT_NUMBER1))
// {
// ADC_clearInterruptOverflowStatus(MTR1_EMI_BASE, ADC_INT_NUMBER1);
// ADC_clearInterruptStatus(MTR1_EMI_BASE, ADC_INT_NUMBER1);
// }
// Interrupt_clearACKGroup(INT_MTR1_EMI_1_INTERRUPT_ACK_GROUP);
}
//
//-- end of this file ----------------------------------------------------------
void
configCPUTimer(uint32_t cpuTimer, float freq, float period)
{
uint32_t temp;
temp = (uint32_t)((freq / 1000000) * period);
CPUTimer_setPeriod(CPU_TIMER1_BASE, 119047U);
CPUTimer_setPreScaler(CPU_TIMER1_BASE, 1000U);
CPUTimer_reloadTimerCounter(CPU_TIMER1_BASE);
CPUTimer_setEmulationMode(CPU_TIMER1_BASE, CPUTIMER_EMULATIONMODE_RUNFREE);
CPUTimer_enableInterrupt(CPU_TIMER1_BASE);
if(cpuTimer == CPUTIMER1_BASE)
{
cpuTimer1IntCount = 0;
}
}
__interrupt void INT_CPU_TIMER1_ISR(void) //INT_CPU_TIMER1_ISR
{
if(CompressorStartFlag == true)
// if( (ucRxStatus1 == '^'))
{
b++;
cpuTimer1IntCount++;
if(cpuTimer1IntCount >= 181)
{
// if( (ucRxStatus1 == '^'))
// {
compressor1motorFlag = true;
motorVars[MTR_1].flagEnableRunAndIdentify = true;
// cpuTimer1IntCount=0;
// cx_flag=false;
cpuTimer1IntCount=0;
CompressorStartFlag = false;
}
}
cpuTimer2IntCount++;
if(cpuTimer2IntCount == 10)
{
tx_flag =true;
cpuTimer2IntCount=0;
}
Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP1);
}
void error(void)
{
asm(" ESTOP0"); // Test failed!! Stop!
for (;;);
}
__interrupt void INT_SCI_COM_TX_ISR(void)
{
// uint16_t i;
// SCI_writeCharArray(SCIA_BASE, sDataA, 9);
//
//
// SCI_clearInterruptStatus(SCIA_BASE, SCI_INT_TXFF);
// // Issue PIE ACK
// //
// Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP9);
// // SCI_enableInterrupt(uint32_t base, uint32_t intFlags);
}
__interrupt void INT_SCI_COM_RX_ISR(void)
{
ASSERT(SCI_isBaseValid(SCIC_BASE));
if(SCI_isFIFOEnabled(SCIC_BASE))
{
while(SCI_getRxFIFOStatus(SCIC_BASE) == SCI_FIFO_RX15)
{
}
//rx_data =(HWREGH(SCIC_BASE + SCI_O_RXBUF) & SCI_RXBUF_SAR_M);
rx_data = (HWREGH(SCIC_BASE + SCI_O_RXBUF) & SCI_RXBUF_SAR_M);
}
rx_data_save = rx_data;
if(ucRxStatus == 'H')
{
if(rx_data == '$')
{
uiRxByteCntr = 0;
ucRxBuff[uiRxByteCntr++] = rx_data_save;
ucRxStatus = 'A';
}
else
{
uiRxByteCntr = 0;
ucRxStatus = 'H';
}
}
else if(ucRxStatus == 'A')
{
if(rx_data == '*') //
{
ucRxBuff[uiRxByteCntr++] = rx_data_save;
rx_flag = 1;
// cx_flag = 1;
ucRxStatus = 'H';
}
else
{
ucRxBuff[uiRxByteCntr++] = rx_data_save;
}
}
else
{
ucRxStatus = 'H';
uiRxByteCntr = 0;
}
//-------------------------New added end------------------
SCI_clearOverflowStatus(SCIC_BASE);
SCI_clearInterruptStatus(SCIC_BASE, SCI_INT_RXFF);
// Issue PIE ack
Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP9);
}
void initSCIAFIFO()
{
//
// 8 char bits, 1 stop bit, no parity. Baud rate is 9600.
//
SCI_setConfig(SCIC_BASE, DEVICE_LSPCLK_FREQ, 9600, (SCI_CONFIG_WLEN_8 |
SCI_CONFIG_STOP_ONE |
SCI_CONFIG_PAR_NONE));
SCI_enableModule(SCIC_BASE);
SCI_enableLoopback(SCIC_BASE);
SCI_resetChannels(SCIC_BASE);
SCI_disableFIFO(SCIC_BASE);
// RX and TX FIFO Interrupts Enabled
SCI_enableInterrupt(SCIC_BASE, (SCI_INT_RXFF | SCI_INT_TXFF));
SCI_disableInterrupt(SCIC_BASE, SCI_INT_RXERR);
// The transmit FIFO generates an interrupt when FIFO status
// bits are less than or equal to 2 out of 16 words
// The receive FIFO generates an interrupt when FIFO status
// bits are greater than equal to 2 out of 16 words
SCI_setFIFOInterruptLevel(SCIC_BASE, SCI_FIFO_TX2, SCI_FIFO_RX2);
SCI_performSoftwareReset(SCIC_BASE);
SCI_resetTxFIFO(SCIC_BASE);//
SCI_resetRxFIFO(SCIC_BASE);//
SCI_resetChannels(SCIC_BASE);
}
this above code not work properly.
we added line no.1009-1014 then code not work properly.
If you put a breakpoint at line 1000, does ucRxBuff[5] - [8] have the values you expect from the SCI/UART transfer? Maybe the issue is back at the SCI data receive, and if that data is bad its going to impact the code you have mentioned.
Best,
Matthew
Dear Mathew,
Please find Detail video.
It very urgent issue because please resolved as early as possible...our project is delay due this issue only otherwise our project is complete almost 80%.
..
Hello,
Please clarify exactly what the intended behavior is, then clarify what the code is doing incorrectly in your second file and the video. Given that we do not have the context of the intended behavior, It is not clear so far from your replies, unfortunately. With that information, we'll be able to more easily help you.
Regards,
Jason Osborn