Part Number: TMS320F28335
Other Parts Discussed in Thread: CONTROLSUITE
Tool/software: Code Composer Studio
Hello everyone,
I'm using a C2000 F28335 (R2.2) control card with a docking station and coding with Code Composer 6.2.0.00050. I need to send commands to a motor using RS232 (SCI).
The motor is correctly linked to the F28335 :
- its Rx to Tx pin of the card and its Tx to Rx pin of the card,
- powered by an external power supply (+24V).
To begin my project, I've used the SCI loopback example and it perfectly worked. But with my program I'm getting Framing Error (FE) bit set to 1 after the first sent command. Maybe I'm missing something and/or I did it wrong. Could you please help me ?
My objective is to activate the motor, then to ask 60 RPM (I'm also using a LED to see if the FE bit is set) :
1st command : EN [CR] (enable motor)
2nd command : V60 [CR] ( asking 60 RPM)
3st command (inside the for loop) : POS [CR] (requesting actual position)
Here is my code :
#include "DSP28x_Project.h" // Device Headerfile and Examples Include File
#define CPU_FREQ 150E6
#define LSPCLK_FREQ CPU_FREQ/4
// Prototype statements for functions found within this file.
__interrupt void cpu_timer0_isr(void);
void scia_init(void);
void scia_fifo_init(void);
void scia_xmit(int a);
void scib_init(void);
void scib_fifo_init(void);
void scib_xmit(int a);
void error();
void scia_msg(char *msg);
// Global counts used in this example
Uint16 LoopCount;
Uint16 ErrorCount;
char dataToRead[10];
void main(void)
{
// unsigned char SendChar;
unsigned char ReceivedChar;
char *msg;
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP2833x_SysCtrl.c file.
InitSysCtrl();
// Step 2. Initialize GPIO:
// This example function is found in the DSP2833x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio(); // Skipped for this example
InitSciaGpio();
InitScibGpio();
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
DINT;
// Initialize the PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
// This function is found in the DSP2833x_PieCtrl.c file.
InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example. This is useful for debug purposes.
// The shell ISR routines are found in DSP2833x_DefaultIsr.c.
// This function is found in DSP2833x_PieVect.c.
InitPieVectTable();
// Enable CPU and PIE interrupts
// This example function is found in the DSP2833x_PieCtrl.c file.
EnableInterrupts();
// Step 4. Initialize all the Device Peripherals to a known state:
// This function is found in DSP2833x_InitPeripherals.c
// InitPeripherals(); skip this for SCI tests
// Step 5. User specific functions, Reassign vectors (optional), Enable Interrupts:
LoopCount = 0;
ErrorCount = 0;
scia_fifo_init(); // Initialize the SCI FIFO
scia_init(); // Initialize SCI
scib_fifo_init(); // Initialize the SCI FIFO
scib_init(); // Initialize SCI
unsigned char charP = 0x50;
unsigned char charO = 0x4F;
unsigned char charS = 0x53;
unsigned char charE = 0x45;
unsigned char charN = 0x4E;
unsigned char charI = 0x49;
unsigned char charD = 0x44;
unsigned char charCR = 0x0D;
int statePosRead = 0;
// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.TINT0 = &cpu_timer0_isr;
EDIS; // This is needed to disable write to EALLOW protected registers
// Step 4. Initialize the Device Peripheral. This function can be
// found in DSP2833x_CpuTimers.c
InitCpuTimers(); // For this example, only initialize the Cpu Timers
ConfigCpuTimer(&CpuTimer0, 150, 50000);
// To ensure precise timing, use write-only instructions to write to the entire register. Therefore, if any
// of the configuration bits are changed in ConfigCpuTimer and InitCpuTimers (in DSP2833x_CpuTimers.h), the
// below settings must also be updated.
CpuTimer0Regs.TCR.all = 0x4000; // Use write-only instruction to set TSS bit = 0
// Configure GPIO58 as a GPIO output pin
EALLOW;
GpioCtrlRegs.GPBMUX2.bit.GPIO58 = 0;
GpioCtrlRegs.GPBDIR.bit.GPIO58 = 1;
EDIS;
// Enable CPU INT1 which is connected to CPU-Timer 0:
IER |= M_INT1;
// Enable TINT0 in the PIE: Group 1 interrupt 7
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
// EN CR
scib_xmit(charE);
scib_xmit(charN);
scib_xmit(charCR);
while (ScibRegs.SCIFFTX.bit.TXFFST != 0) {}
// V60 CR
scib_xmit(0x56);
scib_xmit(0x39);
scib_xmit(charCR);
DELAY_US(10000);
for(;;)
{
scib_xmit(charP);
scib_xmit(charO);
scib_xmit(charS);
scib_xmit(charCR);
DELAY_US(10000);
while (ScibRegs.SCIFFRX.bit.RXFFST == 0) {}
int cptRead = ScibRegs.SCIFFRX.bit.RXFFST;
int i = 0;
//char *dataToRead = malloc(cptRead*sizeof(char));
//char dataToRead[cptRead];
for(i=0;i<cptRead;i++)
{
dataToRead[i] = ScibRegs.SCIRXBUF.all;
DELAY_US(1000);
}
msg = "\r\nReceived position : \n\0";
scia_msg(msg);
scia_xmit(dataToRead[0]);
LoopCount++;
}
}
__interrupt void cpu_timer0_isr(void)
{
if (ScibRegs.SCIRXST.bit.FE == 1){
CpuTimer0.InterruptCount++;
GpioDataRegs.GPBTOGGLE.bit.GPIO58 = 1; // Toggle GPIO58 if FE bit is set
}
PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
}
void error()
{
ErrorCount++;
}
void scia_init()
{
// Note: Clocks were turned on to the SCIA peripheral
// in the InitSysCtrl() function
SciaRegs.SCICCR.all =0x0007; // 1 stop bit, No loopback
// No parity,8 char bits,
// async mode, idle-line protocol
SciaRegs.SCICTL1.all =0x0003; // enable TX, RX, internal SCICLK,
// Disable RX ERR, SLEEP, TXWAKE
SciaRegs.SCICTL2.all =0x0003;
SciaRegs.SCICTL2.bit.TXINTENA =1;
SciaRegs.SCICTL2.bit.RXBKINTENA =1;
SciaRegs.SCIHBAUD =0x0001; // BRR = 487 => Baud = 9600
SciaRegs.SCILBAUD =0x00E7;
SciaRegs.SCICTL1.all =0x0023; // Relinquish SCI from Reset
}
// Transmit a character from the SCI'
void scia_xmit(int a)
{
while (SciaRegs.SCICTL2.bit.TXRDY == 0) {}
SciaRegs.SCITXBUF=a;
}
void scia_msg(char * msg)
{
int i;
i = 0;
while(msg[i] != '\0')
{
scia_xmit(msg[i]);
i++;
}
}
// Initialize the SCI FIFO
void scia_fifo_init()
{
SciaRegs.SCIFFTX.all=0xE040;
SciaRegs.SCIFFRX.all=0x204f;
SciaRegs.SCIFFCT.all=0x0;
}
void scib_init()
{
// Note: Clocks were turned on to the SCIB peripheral
// in the InitSysCtrl() function
ScibRegs.SCICCR.all =0x0007; // 1 stop bit, No loopback
// No parity,8 char bits,
// async mode, idle-line protocol
ScibRegs.SCICTL1.all =0x0003; // enable TX, RX, internal SCICLK,
// Disable RX ERR, SLEEP, TXWAKE
ScibRegs.SCICTL2.all =0x0003;
ScibRegs.SCICTL2.bit.TXINTENA =1;
ScibRegs.SCICTL2.bit.RXBKINTENA =1;
ScibRegs.SCIHBAUD =0x0001; // BRR = 487 => Baud = 9600
ScibRegs.SCILBAUD =0x00E7;
ScibRegs.SCICTL1.all =0x0023; // Relinquish SCI from Reset
}
// Transmit a character from the SCI'
void scib_xmit(int a)
{
while (ScibRegs.SCICTL2.bit.TXRDY == 0) {}
ScibRegs.SCITXBUF=a;
}
// Initialize the SCI FIFO
void scib_fifo_init()
{
ScibRegs.SCIFFTX.all=0xE040;
ScibRegs.SCIFFRX.all=0x204f;
ScibRegs.SCIFFCT.all=0x0;
}
//===========================================================================
// No more.
//===========================================================================
Thanks for your help !
