CCS/TMS320F28379D: DCL C200 motorware

nick reiss

Part Number: TMS320F28379D
Other Parts Discussed in Thread: MOTORWARE, DRV8305

Tool/software: Code Composer Studio

Hello everyone, I have a school project where i need to control the speed of a DC motor using a PID and PWM dutycycle. I need to read the speed of this motor using ADC module.

so i used a C2000 motorware example for PID, but unfortunately this example was for F28069M (I'm using F28379D). So i went to change the registers on it, but i have some questions about this example :

1- why did they configure 2 GPIOs in this program as output, don't we have one output which is PWM output and one input which is ADC ?

-----------------------------------------------------------------------------------
/* configure GPIO */
InitGpio(); // [F2806x_Gpio.c]
EALLOW;
GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 0; // GPIO34 = I/O pin
GpioCtrlRegs.GPBDIR.bit.GPIO34 = 1; // GPIO34 = output
GpioDataRegs.GPBSET.bit.GPIO34 = 1; // GPIO34 = 1
GpioCtrlRegs.GPBMUX1.bit.GPIO39 = 0; // GPIO39 = I/O pin
GpioCtrlRegs.GPBDIR.bit.GPIO39 = 1; // GPIO39 = output
GpioDataRegs.GPBCLEAR.bit.GPIO39 = 1; // GPIO39 = 0
EDIS;
-------------------------------------------------------------------------------------

2- same in ADC configuration there are using 2 SOC channels (SOC1 and SOC2) even like we just need one channel to read the feedback value. (and the same there used two ADCINT)

---------------------------------------------------------------------------------------------------------
AdcRegs.ADCSOC0CTL.bit.CHSEL = 0; // set SOC0 channel select to ADCINA0
AdcRegs.ADCSOC1CTL.bit.CHSEL = 8; // set SOC1 channel select to ADCINB0
-------------------------------------------------------------------------------------------------------------

3- In pid parameters why do we need the external saturation variable lk ?

hope someone can help understand this better.

over 6 years ago

0 nick reiss over 6 years ago

Intellectual 595 points

here is the full program :

Fullscreen Example_F28069_PID.c Download

/* Example_F28069_PID.c
 *
 * Copyright (C) 2018 Texas Instruments Incorporated - http://www.ti.com/
 * ALL RIGHTS RESERVED  
 *
*/

// header files
#include "F2806x_Device.h"
#include "F2806x_Examples.h"
#include "F2806x_GlobalPrototypes.h"
#include "DCLF32.h"

// function prototypes
extern interrupt void control_Isr(void);

// global  variables
long IdleLoopCount = 0;
long IsrCount = 0;
float rk = 0.25f;
float yk;
float lk;
float uk;
DCL_PID pid1 = PID_DEFAULTS;
float Duty;


/* main */
main()
{
	/* initialise system */
	InitSysCtrl();							// [F2806x_SysCtrl.c]
	DINT;									// disable interrupts
	IER = 0x0000;
	IFR = 0x0000;
	InitPieCtrl();							// initialise PIE control registers [F2806x_PieCtrl.c]
	InitPieVectTable();						// initialise PIE vector table [F2806x_PieVect.c]
	EALLOW;
	PieVectTable.ADCINT1 = &control_Isr;	// [F28069_PID_cisr.c]
	EDIS;

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

	/* configure ADC */
	InitAdc();								// [F2806x_Adc.c]
	EALLOW;
	AdcRegs.ADCCTL1.bit.INTPULSEPOS	= 0;	// early interrupt generation
	AdcRegs.INTSEL1N2.bit.INT1E = 1;		// enabled ADCINT1
	AdcRegs.INTSEL1N2.bit.INT1CONT = 0;		// disable ADCINT1 continuous mode
	AdcRegs.INTSEL1N2.bit.INT1SEL = 1;		// setup EOC1 to trigger ADCINT1
	AdcRegs.INTSEL1N2.bit.INT2E = 0;	    // enable ADCINT2
	AdcRegs.INTSEL1N2.bit.INT2CONT = 0;	    // disable ADCINT1 continuous mode
	AdcRegs.INTSEL1N2.bit.INT2SEL = 0;	    // setup EOC1 to trigger ADCINT2
	AdcRegs.ADCSOC0CTL.bit.CHSEL = 0;		// set SOC0 channel select to ADCINA0
	AdcRegs.ADCSOC1CTL.bit.CHSEL = 8;		// set SOC1 channel select to ADCINB0
	AdcRegs.ADCSOC0CTL.bit.TRIGSEL = 5;		// set SOC0 start trigger on EPWM1A, due to round-robin SOC0 converts first then SOC1
	AdcRegs.ADCSOC1CTL.bit.TRIGSEL = 5;		// set SOC1 start trigger on EPWM1A, due to round-robin SOC0 converts first then SOC1
	AdcRegs.ADCSOC0CTL.bit.ACQPS = 6;		// set SOC0 S/H Window to 7 ADC Clock Cycles, (6 ACQPS plus 1)
	AdcRegs.ADCSOC1CTL.bit.ACQPS = 6;		// set SOC1 S/H Window to 7 ADC Clock Cycles, (6 ACQPS plus 1)
	EDIS;

	/* configure GPIO */
	InitGpio();  							// [F2806x_Gpio.c]
	EALLOW;
	GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 0;	// GPIO34 = I/O pin
	GpioCtrlRegs.GPBDIR.bit.GPIO34 = 1;		// GPIO34 = output
	GpioDataRegs.GPBSET.bit.GPIO34 = 1;		// GPIO34 = 1
	GpioCtrlRegs.GPBMUX1.bit.GPIO39 = 0;	// GPIO39 = I/O pin
	GpioCtrlRegs.GPBDIR.bit.GPIO39 = 1;		// GPIO39 = output
	GpioDataRegs.GPBCLEAR.bit.GPIO39 = 1;	// GPIO39 = 0
	EDIS;

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

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

	/* enable interrupts */
	PieCtrlRegs.PIEIER1.bit.INTx1 = 1; 		// enable PIE INT 1.1 (ADCINT1) - [adcisr]
	IER |= M_INT1;							// enable core interrupt 1 (ADC) - [control_isr]
	SetDBGIER(0x0001);						// enable real-time debug interupts
	EINT;          							// enable global interrupt mask

	EALLOW;
	EPwm1Regs.TBCTL.bit.CTRMODE = 0;		// PWM1 timer: count up and start
	EDIS;

	/* idle loop */
	while(1)
	{
		IdleLoopCount++;					// increment loop counter
		asm(" NOP");
	} // while

} // main


/* control ISR: triggered by ADC EOC */
interrupt void control_Isr(void)
{
	PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
	AdcRegs.ADCINTFLGCLR.bit.ADCINT1 = 1;

	// read ADC channel
	yk = ((float) AdcResult.ADCRESULT0 - 2048.0f) / 2047.0f;
	lk = (float) AdcResult.ADCRESULT1;

	// external clamp for anti-windup reset
	DCL_runClamp_C1(&lk, 1.0f, 0.0f);

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

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

	IsrCount++;
}


/* end of file */

0 Richard Poley over 6 years ago in reply to nick reiss

TI__Mastermind 27200 points

The code you attached is one the examples from the Digital Control Library.

1) The example source file is intended to illustrate running a PID_C4 controller on the F28069 LaunchPad board. The lines which configure GPIOs 34 and 39 are there simply to control the LEDs on the LaunchPad board, though the program does not make use of them. This should have been made clearer in the user's guide.

You are correct that the configuration of the PWM output pin used in the ISR has not been done in the program. GPIO0 should have been configured since that is used as the control output. I will mark that for correction in the next revision.

2) The program reads two ADC channels - one for the feedback (yk), the other for a saturation input (lk). "lk" is used to detect saturation outside the controller so that the integral path of the PID can be disabled to prevent windup.

3) (see above) If this feature is not needed in your system you can simply not read ADCRESULT1, and call the PID controller with '1.0f' in place of "lk":
uk = DCL_runPID_C4(&pid1, rk, yk, 1.0f);

There is more information on this controller, and the use of lk on p.30 of the DCL User's Guide.

I hope this helps.

Regards,

Richard

0 nick reiss over 6 years ago in reply to Richard Poley

Intellectual 595 points

yeah thank you very much, you're a life saver.

I modified the example program to another one for F28379D, and to configure the PWM as output I replaced the LED GPIO lines in the code with two fuctions :
InitGpio();
InitEPwm1Gpio();

1-so I guess those functions configure my PWM as output on ePWM1A right ?

2- and i don't know what the 1.0f mean (i know it's double float data type).
if i want to give my Kp a value 120.08 how am i gonna convert to a double float value.

here is my program modified :

Fullscreen Lab3_cpu01.c Download

// header files
#include "F28x_Project.h"
#include "DCLF32.h"

// function prototypes
extern interrupt void control_Isr(void);

// global  variables
long IdleLoopCount = 0;
long IsrCount = 0;
float rk = 0.25f;
float yk;
float lk;
float uk;
DCL_PID pid1 = PID_DEFAULTS;
float Duty;

/* main */
main()
{
	// Initialize System Control
	InitSysCtrl();
	EALLOW;
	ClkCfgRegs.PERCLKDIVSEL.bit.EPWMCLKDIV = 1;
	EDIS;

	// Initialize GPIO
	InitGpio(); 		// Configure default GPIO
	InitEPwm1Gpio();	// Configure EPWM1 GPIO pins

    // Clear all interrupts and initialize PIE vector table
    DINT;
    InitPieCtrl();
    IER = 0x0000;
    IFR = 0x0000;
    InitPieVectTable();

    /* configure ePWM1 */
    EALLOW;
    CpuSysRegs.PCLKCR0.bit.TBCLKSYNC = 0;
    EDIS;
    //InitEPwm();								// [F2806x_EPwm.c] ????
    EPwm1Regs.TBCTL.bit.CTRMODE = 3;		// freeze TB counter
    EPwm1Regs.TBCTL.bit.PRDLD = 1;  		// immediate load
    EPwm1Regs.TBCTL.bit.PHSEN = 0;	   		// disable phase loading
    EPwm1Regs.TBCTL.bit.SYNCOSEL = 3;		// disable SYNCOUT signal
    EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0;		// TBCLK = SYSCLKOUT
    EPwm1Regs.TBCTL.bit.CLKDIV = 0;			// clock divider = /1
    EPwm1Regs.TBCTL.bit.FREE_SOFT = 2;		// free run on emulation suspend
    EPwm1Regs.TBPRD = 0x2328;	          	// set period for ePWM1 (0x2328 = 10kHz)
    EPwm1Regs.TBPHS.all = 0;			    // time-base Phase Register
    EPwm1Regs.TBCTR = 0;					// time-base Counter Register
    EPwm1Regs.ETSEL.bit.SOCAEN = 1;        	// enable SOC on A group
    EPwm1Regs.ETSEL.bit.SOCASEL = 1;       	// select SOC from zero match
    EPwm1Regs.ETPS.bit.SOCAPRD = 1;        	// generate pulse on 1st event
	EPwm1Regs.CMPCTL.bit.SHDWAMODE = 0;		// enable shadow mode
	EPwm1Regs.CMPCTL.bit.LOADAMODE = 2; 	// reload on CTR=zero
	EPwm1Regs.CMPA.bit.CMPA = 0x0080;	 	// set compare A value 128 ?
	EPwm1Regs.AQCTLA.bit.CAU = 0x2;		// HIGH on CMPA up match
	EPwm1Regs.AQCTLA.bit.ZRO = 0x1;	// LOW on zero match
	EALLOW;
    CpuSysRegs.PCLKCR0.bit.TBCLKSYNC = 1;
    EDIS;

	/* configure ADC */
	//InitAdc();								// [F2806x_Adc.c] ???
	EALLOW;
	AdcaRegs.ADCCTL1.bit.INTPULSEPOS = 0;	// early interrupt generation
	AdcaRegs.ADCINTSEL1N2.bit.INT1E = 1;		// enabled ADCINT1 (ADCINTSEL1N2)
	AdcaRegs.ADCINTSEL1N2.bit.INT1CONT = 0;	// disable ADCINT1 continuous mode
	AdcaRegs.ADCINTSEL1N2.bit.INT1SEL = 1;	// setup EOC1 to trigger ADCINT1 (j'ai chang� la valeur de 1 � 01h)
	AdcaRegs.ADCINTSEL1N2.bit.INT2E = 0;	    // enable ADCINT2 (you mean disable ?? not ??)
	AdcaRegs.ADCINTSEL1N2.bit.INT2CONT = 0;	// disable ADCINT1 continuous mode ????
	AdcaRegs.ADCINTSEL1N2.bit.INT2SEL = 0;	    // setup EOC1 to trigger ADCINT2 ????
	AdcaRegs.ADCSOC0CTL.bit.CHSEL = 0;		// set SOC0 channel select to ADCINA0 (j'ai chang� la valeur de 0 � 0h)
	AdcaRegs.ADCSOC1CTL.bit.CHSEL = 8;		// set SOC1 channel select to ADCINB0 (j'ai chang� la valeur de 8 � 8h)
	AdcaRegs.ADCSOC0CTL.bit.TRIGSEL = 5;	// set SOC0 start trigger on EPWM1A, due to round-robin SOC0 converts first then SOC1
											// (j'ai chang� la valeur de 5 � 05h)
	AdcaRegs.ADCSOC1CTL.bit.TRIGSEL = 5;	// set SOC1 start trigger on EPWM1A, due to round-robin SOC0 converts first then SOC1
											// (j'ai chang� la valeur de 5 � 05h)
	AdcaRegs.ADCSOC0CTL.bit.ACQPS = 6;	// set SOC0 S/H Window to 7 ADC Clock Cycles, (6 ACQPS plus 1)
	AdcaRegs.ADCSOC1CTL.bit.ACQPS = 6;	// set SOC1 S/H Window to 7 ADC Clock Cycles, (6 ACQPS plus 1)
											// (j'ai chang� la valeur de 6 � 06h)
	EDIS;

	/* configure GPIO */
	InitGpio();  							// [F2806x_Gpio.c]
    InitEPwm1Gpio();	// Configure EPWM1 GPIO pins
	//EALLOW;
	//GpioCtrlRegs.GPBMUX1.bit.GPIO0 = 0;	// GPIO34 = I/O pin
	//GpioCtrlRegs.GPBDIR.bit.GPIO0 = 1;		// GPIO34 = output
	//GpioDataRegs.GPBSET.bit.GPIO0 = 1;		// GPIO34 = 1
	//GpioCtrlRegs.GPBMUX1.bit.GPIO1 = 0;	// GPIO39 = I/O pin
	//GpioCtrlRegs.GPBDIR.bit.GPI1 = 1;		// GPIO39 = output
	//GpioDataRegs.GPBCLEAR.bit.GPIO1 = 1;	// GPIO39 = 0
	//EDIS;


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

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


	/* enable interrupts */
	PieCtrlRegs.PIEIER1.bit.INTx1 = 1; 		// enable PIE INT 1.1 (ADCINT1) - [adcisr]
	IER |= M_INT1;							// enable core interrupt 1 (ADC) - [control_isr]
	SetDBGIER(0x0001);						// enable real-time debug interupts
	EINT;          							// enable global interrupt mask

	EALLOW;
	EPwm1Regs.TBCTL.bit.CTRMODE = 0;		// PWM1 timer: count up and start
	EDIS;

	/* idle loop */
	while(1)
	{
		IdleLoopCount++;					// increment loop counter
		asm(" NOP");
	} // while
} // main


/* control ISR: triggered by ADC EOC */
interrupt void control_Isr(void)
{
	PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
	AdcaRegs.ADCINTFLGCLR.bit.ADCINT1 = 1;

	// read ADC channel
	yk = ((float) AdcaResultRegs.ADCRESULT0 - 2048.0f) / 2047.0f;
	//lk = (float) AdcaResultRegs.ADCRESULT1;
	//AdcaResultRegs.ADCRESULT0

	// external clamp for anti-windup reset
	//DCL_runClamp_C1(&lk, 1.0f, 0.0f);

	// run PID controller
	uk = DCL_runPID_C4(&pid1, rk, yk, 1.0f);

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

	IsrCount++;
}


/* end of file */

0 Richard Poley over 6 years ago in reply to nick reiss

TI__Mastermind 27200 points

Yes, that should work.

The function InitGpio() is in file "F2837xD_Gpio.c". It simply initializes all GPIO pins as inputs.

The function InitEPwm1Gpio(); is in "F2837xD_EPwm.c" and configures just GPIO0 and GPIO1 pins as outputs from PWM module 1.

The 'f' after the number tells the compiler to treat it as a single precision floating point, which is 32-bits on C28x. When you set lk as "1.0f" the compiler runs as is there is no extrenal saturation because lk is multiplied by the input to the integrator. It's like turning off the feature.

To set Kp to this value you just need to modify line 100 in the file you attached to read:
pid1.Kp = 120.08f;

I hope this helps.

Regards,

Richard

0 Richard Poley over 6 years ago in reply to Richard Poley

TI__Mastermind 27200 points

A couple of corrections to my last post:

"The 'f' after the number tells the compiler to treat it as a single precision floating point, which is 32-bits on C28x. When you set lk as "1.0f" the controller runs as is there is no external saturation because lk is multiplied by the input to the integrator. It's like turning off the feature."

The PID_C4 controller you are using is single precision floating-point, so you don't need to perform any single to double conversion.

Regards,

Richard

0 nick reiss over 6 years ago in reply to Richard Poley

Intellectual 595 points

soryy I didn't get it, does that mean I can remove the 'f' from the numbers ?

0 Richard Poley over 6 years ago in reply to nick reiss

TI__Mastermind 27200 points

You'll need to keep the 'f' in all the numbers. It tells to compiler to use single precision floating point and that's how the C4 controller is written. Nothing in the program uses double precision.

Regards,

Richard

0 nick reiss over 6 years ago in reply to Richard Poley

Intellectual 595 points

ah oh thanks

0 nick reiss over 6 years ago in reply to Richard Poley

Intellectual 595 points

Hello again,

1- In the line where we convert the PID output to a duty cycle, why the did they divide uk per (2.0f + 0.5f) ?
to what value correspond (2.0f+0.5f) ?
-------------------------------------------------------------------------
Duty = (uk / 2.0f + 0.5f) * (float) EPwm1Regs.TBPRD;
----------------------------------------------------------------------------
2- I want to contol the speed of a 220V DC motor with adjusting the PWM dutycyle, and I have the BOOSTXL-DRV8305-EVM .
All the examples that i saw they were using 3 phase motors with DRV8305 and none for 2 phase motor.

my question is : can I use the DRV8305 with my 2 phase motor ?

0 Richard Poley over 6 years ago in reply to nick reiss

TI__Mastermind 27200 points

In response to the first question, the assumption in the example was that the controller output was normalised to +/-1.0f. The code line scales and then offsets the controller output to bring it in the 0 - 1.0f range, which is multiplied by the PWM period to get the duty cycle. It's just a code example.

I need to bring in someone else to respond to your second question.

Regards,

Richard

0 Yanming Luo over 6 years ago in reply to Richard Poley

TI__Guru** 116110 points

For Question 2, this depends on what control techniques you will implement on the 2-phase motor, we didn't have a reference design for such a 2-phase motor.
Btw, the DRV8305 is low voltage gate driver, its maximum operating voltage is 45V, so it's not a good choice for your motor.

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CCS/TMS320F28379D: DCL C200 motorware