TMS320F28335: control the motor according to the temperature change, timer interrupt problem

jiyoung choi

Prodigy 20 points

Part Number: TMS320F28335

Tool/software:

Hi, team.

I want to control the motor according to the temperature change.

The code we are currently working on is as follows.(delay function)

I am using Delay function now, but when I use the timer interrupt function, there is no error, but it does not work.

-------

#include "DSP2833x_Device.h" // DSP2833x header file

// function
void Gpio_select(void); // GPIO initialization function
void InitSystem(void); // System initialization function
void InitPWM(void); // PWM initialization function
void SetMotorSpeed(float duty); // motor speed setting function
void delay_ms(unsigned long ms); // delay function
void setupADC(void); // ADC setup function
float readTemperature(void); // temperature measurement function
float lowPassFilter(float newValue); // low-pass filter function

// defining a constant
#define AQ_SET 2
#define AQ_CLEAR 1
#define PWM_PIN 0
#define IN1_PIN 1
#define IN2_PIN 2
#define VREF 3.3
#define ADC_MAX_VALUE 4096
#define TEMP_THRESHOLD_LOW 40.0
#define TEMP_THRESHOLD_HIGH 80.0
#define FILTER_SIZE 10

// a global variablech
float filterBuffer[FILTER_SIZE] = {0};
int filterIndex = 0;
float temperature; // Global variables that store temperature values

void main(void)
{
InitSystem(); // system initialization
Gpio_select(); // GPIO initialization
InitPWM(); // PWM initialization
setupADC(); // ADC setting

// Initial settings
SetMotorSpeed(0.1); // motor speed 50%
GpioDataRegs.GPASET.bit.GPIO1 = 1; // Forward rotation
GpioDataRegs.GPACLEAR.bit.GPIO2 = 1;
GpioDataRegs.GPASET.bit.GPIO0 = 1; // Enable pin

while (1)
{
// Temperature measurement and filter application
temperature = readTemperature(); // Store values in global variables

// LED status control and motor control depending on temperature
if (temperature <= TEMP_THRESHOLD_LOW)
{
// Turn on the green LED and rotate the motor at 50% speed in the forward directionGpioDataRegs.GPASET.bit.GPIO29 = 1;
GpioDataRegs.GPACLEAR.bit.GPIO30 = 1;
GpioDataRegs.GPACLEAR.bit.GPIO31 = 1;
SetMotorSpeed(0.1);
GpioDataRegs.GPASET.bit.GPIO1 = 1; // forward rotation
GpioDataRegs.GPACLEAR.bit.GPIO2 = 1;
}
else if (temperature > TEMP_THRESHOLD_LOW && temperature <= TEMP_THRESHOLD_HIGH)
{
// Turn on the yellow LED and rotate the motor at low speed

GpioDataRegs.GPACLEAR.bit.GPIO29 = 1;
GpioDataRegs.GPACLEAR.bit.GPIO30 = 1;
GpioDataRegs.GPASET.bit.GPIO31 = 1;
SetMotorSpeed(0.1); // 속도 30%
GpioDataRegs.GPASET.bit.GPIO1 = 1; // forward rotation
GpioDataRegs.GPACLEAR.bit.GPIO2 = 1;
}
else
{
// turn on the red LED and stop motor
GpioDataRegs.GPACLEAR.bit.GPIO29 = 1;
GpioDataRegs.GPACLEAR.bit.GPIO31 = 1;
GpioDataRegs.GPASET.bit.GPIO30 = 1;
SetMotorSpeed(0.0); // 모터 정지
GpioDataRegs.GPACLEAR.bit.GPIO1 = 1;
GpioDataRegs.GPACLEAR.bit.GPIO2 = 1;
}

delay_ms(1000); // wait 1 second
}
}

GpioCtrlRegs.GPADIR.bit.GPIO2 = 1; // control signal 2
GpioCtrlRegs.GPADIR.bit.GPIO0 = 1; // PWM pin
GpioCtrlRegs.GPADIR.bit.GPIO29 = 1; // green LED
GpioCtrlRegs.GPADIR.bit.GPIO30 = 1; // red LED
GpioCtrlRegs.GPADIR.bit.GPIO31 = 1; // yellow LED
EDIS;
}

// system initialization function
void InitSystem(void)
{
EALLOW;
SysCtrlRegs.WDCR = 0x0068;
SysCtrlRegs.PLLSTS.bit.DIVSEL = 2;
SysCtrlRegs.PLLCR.bit.DIV = 10;
SysCtrlRegs.HISPCP.all = 0x0001;
SysCtrlRegs.LOSPCP.all = 0x0002;
SysCtrlRegs.PCLKCR0.all = 0x0000;
SysCtrlRegs.PCLKCR1.all = 0x0000;
SysCtrlRegs.PCLKCR3.all = 0x0000;
SysCtrlRegs.PCLKCR3.bit.GPIOINENCLK = 1;
EDIS;
}

// PWM initialization function
void InitPWM(void)
{
EALLOW;
EPwm1Regs.TBPRD = 1500;
EPwm1Regs.TBCTL.bit.CTRMODE = 0;
EPwm1Regs.AQCTLA.bit.ZRO = AQ_CLEAR;
EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;
EDIS;
}

// moror speed setup function
void SetMotorSpeed(float duty)
{
if (duty < 0.0) duty = 0.0;
if (duty > 1.0) duty = 1.0;
EPwm1Regs.CMPA.half.CMPA = (Uint16)(1500 * duty);
}

// delay function
void delay_ms(unsigned long ms)
{
unsigned long i;
for (i = 0; i < ms * 1500; i++)
{
asm(" NOP");
}
}

// ADC setup function
void setupADC(void)
{
extern void InitAdc(void);
InitAdc();
EALLOW;
AdcRegs.ADCTRL1.bit.ACQ_PS = 6;
AdcRegs.ADCTRL3.bit.ADCCLKPS = 11;
AdcRegs.ADCTRL1.bit.SEQ_CASC = 1;
AdcRegs.ADCTRL1.bit.CONT_RUN = 1;
EDIS;
}

// Temperature measurement function

float readTemperature(void)
{
Uint16 adcValue;
float voltage;

AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 7;
AdcRegs.ADCTRL2.bit.SOC_SEQ1 = 1;
while (AdcRegs.ADCST.bit.INT_SEQ1 == 0);
AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;
adcValue = AdcRegs.ADCRESULT0 >> 4;

voltage = (adcValue * VREF) / ADC_MAX_VALUE;

return lowPassFilter((voltage - 0.5) * 100);
}

// low-pass filter function
float lowPassFilter(float newValue)
{
filterBuffer[filterIndex] = newValue;
filterIndex = (filterIndex + 1) % FILTER_SIZE;

float sum = 0.0;
int i;
for (i = 0; i < FILTER_SIZE; i++)
{
sum += filterBuffer[i];
}

return sum / FILTER_SIZE;
}

------------

and, The following code is applied with timer interrupt.

-------------

#include "DSP2833x_Device.h" // DSP2833x header file
#include "DSP2833x_Examples.h" // DSP2833x examples header file

// function
void Gpio_select(void); // GPIO initialization function
void InitSystem(void); // system initialization function
void InitPWM(void); // PWM initialization function
void SetMotorSpeed(float duty); // motor speed setup function
void setupADC(void); // ADC setup function
float readTemperature(void); // temperature function
float lowPassFilter(float newValue); // low-pass filter function
void InitTimer1(void); // timer 1 initialization function
interrupt void cpu_timer1_isr(void); // Timer1 interrupt handler function

// constant
#define AQ_SET 2
#define AQ_CLEAR 1
#define PWM_PIN 0
#define IN1_PIN 1
#define IN2_PIN 2
#define VREF 3.3
#define ADC_MAX_VALUE 4096
#define TEMP_THRESHOLD_LOW 40.0
#define TEMP_THRESHOLD_HIGH 80.0
#define FILTER_SIZE 10

//
float filterBuffer[FILTER_SIZE] = {0};
int filterIndex = 0;
float temperature; // temperature

void main(void)
{
InitSystem(); // system initialization function
Gpio_select(); // GPIO initialization
InitPWM(); // PWM initailization
setupADC(); // ADC setup
InitTimer1(); // timer 1 initialization

// initial setup
SetMotorSpeed(0.1); // motor speed 10%
GpioDataRegs.GPASET.bit.GPIO1 = 1; // forward rotation
GpioDataRegs.GPACLEAR.bit.GPIO2 = 1;
GpioDataRegs.GPASET.bit.GPIO0 = 1; // Enable pin

while (1)
{
//
}
}

// GPIO initialization function
void Gpio_select(void)
{
EALLOW;
GpioCtrlRegs.GPAMUX1.all = 0;
GpioCtrlRegs.GPAMUX2.all = 0;
GpioCtrlRegs.GPADIR.all = 0;
GpioCtrlRegs.GPADIR.bit.GPIO1 = 1; // control signal 1
GpioCtrlRegs.GPADIR.bit.GPIO2 = 1; // control signal 2
GpioCtrlRegs.GPADIR.bit.GPIO0 = 1; // PWM pin
GpioCtrlRegs.GPADIR.bit.GPIO29 = 1; // green LED
GpioCtrlRegs.GPADIR.bit.GPIO30 = 1; // red LED
GpioCtrlRegs.GPADIR.bit.GPIO31 = 1; // yellow LED
EDIS;
}

// PWM initialization function
void InitPWM(void)
{
EALLOW;
EPwm1Regs.TBPRD = 1500;
EPwm1Regs.TBCTL.bit.CTRMODE = 0;
EPwm1Regs.AQCTLA.bit.ZRO = AQ_CLEAR;
EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;
EDIS;
}

// motor speed setup function
void SetMotorSpeed(float duty)
{
if (duty < 0.0) duty = 0.0;
if (duty > 1.0) duty = 1.0;
EPwm1Regs.CMPA.half.CMPA = (Uint16)(1500 * duty);
}

// temperature
float readTemperature(void)
{
Uint16 adcValue;
float voltage;

AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 7;
AdcRegs.ADCTRL2.bit.SOC_SEQ1 = 1;
while (AdcRegs.ADCST.bit.INT_SEQ1 == 0);
AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;
adcValue = AdcRegs.ADCRESULT0 >> 4;

voltage = (adcValue * VREF) / ADC_MAX_VALUE;

return lowPassFilter((voltage - 0.5) * 100);
}

// low-pass filter function
float lowPassFilter(float newValue)
{
filterBuffer[filterIndex] = newValue;
filterIndex = (filterIndex + 1) % FILTER_SIZE;

float sum = 0.0;
int i;
for (i = 0; i < FILTER_SIZE; i++)
{
sum += filterBuffer[i];
}

return sum / FILTER_SIZE;
}

// timer 1 initialization function
void InitTimer1(void)
{
EALLOW;
CpuTimer1Regs.PRD.all = 0x927C00; // 1second
CpuTimer1Regs.TCR.bit.TSS = 1; // stop timer
CpuTimer1Regs.TCR.bit.TRB = 1; // reload timer
CpuTimer1Regs.TCR.bit.TIE = 1; // timer interrupt
CpuTimer1Regs.TCR.bit.TSS = 0; // start timer interrupt

EDIS;
PieCtrlRegs.PIEIER3.bit.INTx7 = 1; // timer interrupt1
IER |= M_INT3; // CPU interrupt 3
EINT; // global interrupt
}

// timer 1 interrupt handler
interrupt void cpu_timer1_isr(void)
{
// temperature and filter
temperature = readTemperature();

// LED status control and motor control depending on temperature
if (temperature <= TEMP_THRESHOLD_LOW)
{
// turn on green LED and Turn the motor forward at 10% speed
GpioDataRegs.GPASET.bit.GPIO29 = 1;
GpioDataRegs.GPACLEAR.bit.GPIO30 = 1;
GpioDataRegs.GPACLEAR.bit.GPIO31 = 1;
SetMotorSpeed(0.1);
GpioDataRegs.GPASET.bit.GPIO1 = 1; // forward rotation
GpioDataRegs.GPACLEAR.bit.GPIO2 = 1;
}
else if (temperature > TEMP_THRESHOLD_LOW && temperature <= TEMP_THRESHOLD_HIGH)
{
// turn on yellow LED and rotate the motor at low speed
GpioDataRegs.GPACLEAR.bit.GPIO29 = 1;
GpioDataRegs.GPACLEAR.bit.GPIO30 = 1;
GpioDataRegs.GPASET.bit.GPIO31 = 1;
SetMotorSpeed(0.1); // speed 10%
GpioDataRegs.GPASET.bit.GPIO1 = 1; // forward rotation
GpioDataRegs.GPACLEAR.bit.GPIO2 = 1;
}
else
{
// turn on red LED and stop motor
GpioDataRegs.GPACLEAR.bit.GPIO29 = 1;
GpioDataRegs.GPACLEAR.bit.GPIO31 = 1;
GpioDataRegs.GPASET.bit.GPIO30 = 1;
SetMotorSpeed(0.0); // stop motor
GpioDataRegs.GPACLEAR.bit.GPIO1 = 1;
GpioDataRegs.GPACLEAR.bit.GPIO2 = 1;
}

// timer interrupt clear
PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}

-------------

when I debug this code, there is no error but is wasn't work.
can I get advise?
Thank you.

over 1 year ago

0 Delaney Woodward over 1 year ago

TI__Mastermind 26190 points

Hello,

Can you try adding a breakpoint into your CPU timer ISR to verify that it is getting hit? If the ISR is being branched to, please step through the code in your ISR to verify the functionality is working as expected.

Best Regards,

Delaney

C2000™︎ microcontrollers

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TMS320F28335: control the motor according to the temperature change, timer interrupt problem