CCS/TMS320F28379D: PI Controller

Hi,

We offer PI/PID library and example project in digital control library (DCL). Please download latest version C2000ware and install it in default location. You can then find DCL in the path below:

C:\ti\c2000\C2000Ware_3_03_00_00\libraries\control\DCL\c28

Thanks.

Han

1. I found DCL folder but the PI controller program in it was in assembly language. Is there any example in embedded C Language for PI Controller?

2. I tried to measure the time taken by the CLA task with the help of EPWM TBCTR register. It worked 

3. The following way didn't work to measure the cla task time taken

• At the beginning of the task I enabled the GpioData register for High output
• At the end of the task I made it low.
• But the above configuration is not enabling the GPIO pins. I don't know why is it so? (Note: They have given that CLA has access to GPIO. I didn't forget to use __meallow(); )

for your reference,

During Initialization,

void Init_Gpio()
{
    //-----Port A Consists of GPIO0-GPIO31
    //-----Port B Consists of GPIO32-GPIO63
    //-----Port C Consists of GPIO64-GPIO95
    //-----Port D Consists of GPIO96-GPIO127
    //-----Port E Consists of GPIO128-GPIO159
    //-----Port F Consists of GPIO160-GPIO168

    EALLOW;

    GpioCtrlRegs.GPAGMUX2.bit.GPIO26 = 0;       // 0|0=GPIO  0|1=OUTPUTXBAR1  0|2=EQEP2A       0|3=MDXB
    GpioCtrlRegs.GPAMUX2.bit.GPIO26  = 0;       // 1|0=GPIO  1|1=rsvd         1|2=SPISIMOB     1|3=SD2_D1

    GpioCtrlRegs.GPAPUD.bit.GPIO26 = 0;         // Enable pullup on GPIO26
    GpioCtrlRegs.GPAMUX2.bit.GPIO26 = 0;        // GPIO26 = GPIO26
    GpioCtrlRegs.GPADIR.bit.GPIO26 = 1;         // GPIO26 = output

    EDIS;

}

During CLA task beginning

interrupt void Cla1Task1(void)
{
__meallow();
GpioDataRegs.GPADAT.bit.GPIO26 = 1;
__medis();
...
...
...
...
...
__meallow();
GpioDataRegs.GPADAT.bit.GPIO26 = 0;
__medis();
}

For 1, DCL has library for PI in both C and asm. C version functions can be found in

C:\ti\c2000\C2000Ware_3_03_00_00\libraries\control\DCL\c28\include\DCLF32.h

and example projects can be found in

C:\ti\c2000\C2000Ware_3_03_00_00\libraries\control\DCL\c28\examples

For 3, you will need to set the master control of the GPIO pin to CLA to toggle a pin on CLA by setting the "GPIO A Core Select Register" GPACSELx. For your example, you will need to add the line below into GPIO initialization.

    GpioCtrlRegs.GPACSEL4.bit.GPIO26 = 0x1;

BTW, you will NOT need to do __meallow for GPIO data register.