hello,
I am new to dsp and arm, this is my first project. I'm working on F28M36P63C to control stepping motors.
driver: SG-514MSC
motor: SIGMA SGSP-60YAW-0B
I have both created the project on Cortex-M3 with main function "mian1.c", and the project on TMS320C28x with main function "main2.c". the code is just a test to see if the c28x epwm function works well, the result is that the motor gives no response. I have given F28M36P63C some other tests to prove that the motor,the driver,the M3 processor work fine. This concludes several possibilities why the motor doesn't give response, which I'm still working on.
I'm not sure if there is anything wrong with the code, so I post it here,it's very simple. would anyone be kind enough to take a review? I would be really appriciate your any help!
/* main1.c */
#include <string.h>
#include "hw_ints.h"
#include "hw_memmap.h"
#include "hw_sysctl.h"
#include "hw_types.h"
#include "hw_nvic.h"
#include "interrupt.h"
#include "debug.h"
#include "sysctl.h"
#include "flash.h"
#include "ipc.h"
#include "gpio.h"
#ifdef _FLASH
// These are defined by the linker
extern unsigned long RamfuncsLoadStart;
extern unsigned long RamfuncsRunStart;
extern unsigned long RamfuncsLoadSize;
#endif
//*****************************************************************************
// The error routine that is called if the driver library encounters an error.
//*****************************************************************************
#ifdef DEBUG
void
__error__(char *pcFilename, unsigned long ulLine)
{
}
#endif
int main(void) {
HWREG (SYSCTL_MWRALLOW) = 0xA5A5A5A5;
// Sets up PLL, M3 running at 100MHz and C28 running at 100MHz
SysCtlClockConfigSet(
SYSCTL_USE_PLL | (SYSCTL_SPLLIMULT_M & 0xA) | SYSCTL_SYSDIV_1
| SYSCTL_M3SSDIV_1 | SYSCTL_XCLKDIV_4);
//relocate the vector table.
HWREG (NVIC_VTABLE) = 0x00201000;
//if running from FLASH, first set up flash configuration.flash configure functions must be executed out of RAM。
#ifdef _FLASH
// Copy time critical code and Flash setup code to RAM
// This includes the following functions: InitFlash();
// The RamfuncsLoadStart, RamfuncsLoadSize, and RamfuncsRunStart
// symbols are created by the linker. Refer to the device .cmd file.
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t) &RamfuncsLoadSize);
// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
FlashInit();
#endif
#ifdef _STANDALONE
#ifdef _FLASH
// Send boot command to allow the C28 application to begin execution
IPCMtoCBootControlSystem(CBROM_MTOC_BOOTMODE_BOOT_FROM_FLASH);
// Send boot command to allow the C28 application to begin execution
IPCMtoCBootControlSystem(CBROM_MTOC_BOOTMODE_BOOT_FROM_RAM);
#endif
#endif
//enable clock gating for GPIOA,F,G,J,P,Q.
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOJ);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOQ);
//give C28x control of port A pin 0
GPIOPinConfigureCoreSelect(GPIO_PORTA_BASE, GPIO_PIN_0,
GPIO_PIN_C_CORE_SELECT);
// Enable processor interrupts.
IntMasterEnable();
/*rotate*/
//c28 EPWM output,pad configure are controlled by m3.
GPIOPadConfigSet(GPIO_PORTA_BASE, GPIO_PIN_0, GPIO_PIN_TYPE_OD);
//step angle,D0,opendrain
GPIOPinTypeGPIOOutputOD(GPIO_PORTJ_BASE, GPIO_PIN_7);
//step angle,D1,opendrain
GPIOPinTypeGPIOOutputOD(GPIO_PORTF_BASE, GPIO_PIN_2);
//step angle,D2,opendrain
GPIOPinTypeGPIOOutputOD(GPIO_PORTG_BASE, GPIO_PIN_3);
//step angle,D3,opendrain
GPIOPinTypeGPIOOutputOD(GPIO_PORTQ_BASE, GPIO_PIN_7);
//=================================================================================
// run time
// rotate step angle setting D0~D3
//========================================
GPIOPinWrite(GPIO_PORTJ_BASE, GPIO_PIN_7, 0); //D0
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, 0); //D1
GPIOPinWrite(GPIO_PORTG_BASE, GPIO_PIN_3, 0); //D2
GPIOPinWrite(GPIO_PORTQ_BASE, GPIO_PIN_7, 0); //D3
for (;;) {
}
}
/* main2.c */
#include <string.h>
#include "F28M36x_Gpio.h"
#include "F28M36x_Device.h"
#include "F28M36x_Epwm.h"
#include "F28M36x_EPwm_defines.h"
#include "F28M36x_Examples.h"
#define C28_FREQ 150 //CPU frequency in MHz
#ifdef _FLASH
// These are defined by the linker (see device linker command file)
extern Uint16 RamfuncsLoadStart;
extern Uint16 RamfuncsLoadSize;
extern Uint16 RamfuncsRunStart;
#endif
void InitEpwm1(void);
int main(void) {
// step 1: initialize system control to known state
InitSysCtrl();
// step 2: initialize GPIO to a known state
InitGpio();
// Step 3. Clear all interrupts and initialize PIE vector table
InitPieCtrl();
#ifdef _FLASH
// Copy time critical code and Flash setup code to RAM
// This includes the following functions: InitFlash();
// The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
// symbols are created by the linker. Refer to the device .cmd file.
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t) &RamfuncsLoadSize);
// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
InitFlash();
#endif
// Disable CPU interrupts and clear all CPU interrupt flags:
IER &= 0x0000;
IFR &= 0x0000;
InitPieVectTable();
// Enable global Interrupts and higher priority real-time debug events:(also for boot process to respond MTOCIPCINT1 interrupt.)
EINT;
// Enable Global interrupt INTM
ERTM;
// Enable Global realtime interrupt DBGM
// enable CPU interrupts
IER &= 0xFFFF;
//GPIO0 as EPWM1A
EALLOW;
GpioG1CtrlRegs.GPAMUX1.bit.GPIO0 = 1;
EDIS;
InitEpwm1();
while (1) {
}
}
//=============================
//ePWM1A - rotate CW - GPIO0
//============================
void InitEpwm1(void) {
EALLOW;
//TB module
EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE;
EPwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV4;
EPwm1Regs.TBCTL.bit.CLKDIV = TB_DIV4;
EPwm1Regs.TBPHS.half.TBPHS = 0x0000;
EPwm1Regs.TBPRD = 6000;
EPwm1Regs.TBCTR = 0x0000;
//CC module
EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW; // Load registers every ZERO
EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
EPwm1Regs.CMPA.half.CMPA = 3000;
//AQ module
EPwm1Regs.AQCTLA.bit.CAU = AQ_SET; // Set PWM1A on CAU
EPwm1Regs.AQCTLA.bit.CAD = AQ_CLEAR; // Clear PWM1A on CAD
//EPwm1Regs.AQSFRC.bit.
//TZ module
EPwm1Regs.TZSEL.bit.OSHT1 = TZ_ENABLE;
EPwm1Regs.TZCTL.bit.TZA = TZ_FORCE_HI;
EDIS;
}
