CCS/CCSTUDIO-C2000: How to give filtered signal to PID controller as reference ?

Ananda Hange

Part Number: CCSTUDIO-C2000

Tool/software: Code Composer Studio

I need to give filtered signal to my pid1 controller as my reference rk. AdcBufFiltered is my filtered signal.i'm using CCSv6.

LPF.c

#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File
#include "DCL.h"               // Digital control library
#include "IQmathLib.h"
// ADC start parameters
#if (CPU_FRQ_150MHZ)     // Default - 150 MHz SYSCLKOUT
  #define ADC_MODCLK 0x3 // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 150/(2*3)   = 25.0 MHz
#endif

#define ADC_CKPS   0x1   // ADC module clock = HSPCLK/2*ADC_CKPS   = 25.0MHz/(1*2) = 12.5MHz
#define ADC_SHCLK  0xf   // S/H width in ADC module periods                        = 16 ADC clocks
#define AVG        50  // Average sample limit
#define ZOFFSET    0x00  // Average Zero offset
#define BUF_SIZE   50  // Sample buffer size


typedef volatile struct {
float Kp; // proportional gain
float Ki; // integral gain
float Kd; // derivative gain
float Kr; // set point weight
float c1; // D filter coefficient 1
float c2; // D filter coefficient 2
float d2; // D filter storage 1
float d3; // D filter storage 2
float i10; // I storage
float i14; // sat storage
float Umax; // upper saturation limit
float Umin; // lower saturation limit
} PID2 ;

#define PID1_DEFAULTS { 0.0587f, \
	    	0.001f, \
			0.0f, \
			1.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.9f, \
			0.1f \
}

#define PID2_DEFAULTS { 0.0439f, \
	    	0.000538f, \
			0.0f, \
			1.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			3.0f, \
			0.2f \
}


#define PID3_DEFAULTS { -0.0259f, \
	    	0.00192f, \
			0.0f, \
			1.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.9f, \
			0.1f \
}
//pid parameters

PID pid1 = PID1_DEFAULTS; //current  control fuel cell
PID pid2 = PID2_DEFAULTS; //voltage  control bidirectional outer loop
PID pid3 = PID3_DEFAULTS ;// cureent control bidirectional inner current loop


//#define eps  0.01		//for error comparison
//#define MAX  1			//for current saturation
//#define MIN  0.1			//for current saturation
//#define Kp   0.1
//#define Kd   0.0
//#define Ki   0.005

void InitEPwm1Example(void);
void InitEPwm2Example(void);
void InitEPwm3Example(void);

interrupt void cpu_timer0_isr(void);

#define AdcBufLen 50
#define AdcFsVoltage	_IQ(3.0)		// ADC full scale voltage

// global variables
_iq AdcBuf[AdcBufLen];					// ADC results buffer
_iq AdcBufFiltered[AdcBufLen];			// filtered ADC results buffer
_iq xBuffer[5] = {0,0,0,0,0};			// filter sample buffer
// filter coefficients
_iq coeffs[5] = {_IQ(0.0357),_IQ(0.2411),_IQ(0.4465),_IQ(0.2411),_IQ(0.0357)};


// Global variable for this Program
Uint16 SampleTable[BUF_SIZE];
Uint16 SampleTable1[BUF_SIZE];
//Uint16 coeff[BUF_FILT];
Uint16 SampleTable2[BUF_SIZE];
Uint16 SampleTable3[BUF_SIZE];
Uint16 SampleTable4[BUF_SIZE];
Uint16 SampleTable5[BUF_SIZE];
Uint16 SampleTable6[BUF_SIZE];
Uint16 i=0;

float d,d1,I_sensor_FC,Vsensor_FC, Vsensor_Load,Vsensor_Batt, I_sensor_Batt, I_sensor_Load, factor_dc=28.2 ,factor_bidir=2.991;
float IDC_offset=0,IDC1_offset=0,VDC2_offset=0,VDC_offset=0,VDC1_offset=0,ILbatt=0,ILfc=0,Iload=0, sum=0,IDC2_offset=0;
float rk=0, yk=0, lk=1, uk, rk1=60, yk1=0, lk1=1, uk1, rk2=1, yk2=0, lk2=1,b, uk2, duty=0, a[10];
int p, z=0;
float Vo=0,Vin_batt=0,ek=0,ek1=0,ek2=0,VFC=0;
float voltage_ref=60,current_ref=0.5;
float Boost_factor=26.75;
  _iq IQssfir(_iq*, _iq*, Uint16);
//pid constant
//float Iref=0.7, Iact=0;
//float pre_err=0, integral=0, error=0, derivative, output
//float Ki=0.05,Kp=0,Kd=0;
//float t=0.01;		//100ms loop time
//float MAX=1,MIN=0;
//float eps=0.01;
int j;




main()
{
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP2833x_SysCtrl.c file.






	InitSysCtrl();

// Specific clock setting for this example
   EALLOW;
   SysCtrlRegs.HISPCP.all = ADC_MODCLK;	// HSPCLK = SYSCLKOUT/ADC_MODCLK
   EDIS;

// 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.
   InitEPwm1Gpio();
   InitEPwm2Gpio();
   InitEPwm3Gpio();
   EALLOW;
   GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 0;    // GPIO pin
   GpioCtrlRegs.GPBDIR.bit.GPIO34 = 1;     // Output pin
   EDIS;

// 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();

   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 all the Device Peripherals:
// This function is found in DSP2833x_InitPeripherals.c
// InitPeripherals(); // Not required for this example
   InitCpuTimers();   // For this example, only initialize the Cpu Timers
   InitAdc();  // For this example, init the ADC

   #if (CPU_FRQ_150MHZ)
// Configure CPU-Timer 0, 1, and 2 to interrupt every second:
// 150MHz CPU Freq, 1 second Period (in uSeconds)
   ConfigCpuTimer(&CpuTimer0, 150, 20);
   #endif

   EALLOW;
   SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
   EDIS;

///********************** A - Initialize ADC and ePWM **********************///////

   InitEPwm1Example();
   InitEPwm2Example();
   InitEPwm3Example();
   EALLOW;
   SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
   EDIS;

   CpuTimer0Regs.TCR.all = 0x4001; // Use write-only instruction to set TSS bit = 0

// Specific ADC setup for this example:
   AdcRegs.ADCTRL2.bit.SOC_SEQ1 = 1;	// start ADC by software
   AdcRegs.ADCTRL1.bit.ACQ_PS = ADC_SHCLK;
   AdcRegs.ADCTRL3.bit.ADCCLKPS = ADC_CKPS;
   AdcRegs.ADCTRL1.bit.SEQ_CASC = 1;        // 1  Cascaded mode
   AdcRegs.ADCMAXCONV.all = 0x0006;       // Setup 7 conv's on SEQ1
   AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0x0;
   AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 0x1;
   AdcRegs.ADCCHSELSEQ1.bit.CONV02 = 0x2;
   AdcRegs.ADCCHSELSEQ1.bit.CONV03 = 0x3;
   AdcRegs.ADCCHSELSEQ2.bit.CONV04 = 0x4;
   AdcRegs.ADCCHSELSEQ2.bit.CONV05 = 0x5;
   AdcRegs.ADCCHSELSEQ2.bit.CONV06 = 0x6;

   AdcRegs.ADCTRL1.bit.CONT_RUN = 1;       // Setup continuous run


// Step 5. User specific code, enable interrupts:
   IER |= M_INT1;
   IER |= M_INT3;

   // Enable TINT0 in the PIE: Group 1 interrupt 7
      PieCtrlRegs.PIEIER1.bit.INTx7 = 1;

      // Enable EPWM INTn in the PIE: Group 3 interrupt 1-3
         PieCtrlRegs.PIEIER3.bit.INTx1 = 1;
         PieCtrlRegs.PIEIER3.bit.INTx2 = 1;
         PieCtrlRegs.PIEIER3.bit.INTx3 = 1;

      // Clear SampleTable
         for (i=0; i<BUF_SIZE; i++)
         {
           SampleTable[i] =0;
           SampleTable1[i]=0;
           SampleTable2[i]=0;
           SampleTable3[i]=0;
           SampleTable4[i]=0;
           SampleTable5[i]=0;
           SampleTable6[i]=0;

         }

         AdcRegs.ADCTRL2.all = 0x2000;


     // Enable global Interrupts and higher priority real-time debug events:
        EINT;   // Enable Global interrupt INTM
        ERTM;   // Enable Global realtime interrupt DBGM


      // Step 6. IDLE loop. Just sit and loop forever (optional):
      for(;;);

 }

interrupt void cpu_timer0_isr(void)
{
   GpioDataRegs.GPBSET.bit.GPIO34 = 1;  // Set GPIO34 for monitoring
   CpuTimer0.InterruptCount++;

///********************** B - Sense the output voltages and inductor currents  **********************///////

   while (AdcRegs.ADCST.bit.INT_SEQ1== 0) {} // Wait for interrupt
   AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;
   SampleTable[i] =((AdcRegs.ADCRESULT0>>4));               //FC Current Sensing
   SampleTable1[i] =((AdcRegs.ADCRESULT1>>4));             // Battery current Sensing
   SampleTable2[i] =((AdcRegs.ADCRESULT2>>4));             //  Sensing
   SampleTable3[i] =((AdcRegs.ADCRESULT3>>4));             //  Battry Voltage Sensing
   SampleTable4[i] =((AdcRegs.ADCRESULT4>>4));           //  Load current Sensing
   SampleTable5[i] =((AdcRegs.ADCRESULT5>>4));           //  Load voltage Sensing
   SampleTable6[i] =((AdcRegs.ADCRESULT6>>4));
   //z =((AdcRegs.ADCRESULT3>>4));
   // Write your code here
   	  I_sensor_FC =SampleTable[i]*7.326007326e-4-IDC_offset; // Current sensor output = ADC * 3/4095 - IDC_offset ,IDC_offset=-0.1333
      I_sensor_Batt = SampleTable1[i]*7.326007326e-4- IDC1_offset;//IDC1_offset=-0.116
      I_sensor_Load = SampleTable4[i]*7.326007326e-4- IDC2_offset;//IDC_offset=-0.13
      Vsensor_Batt= SampleTable3[i]*7.326007326e-4-VDC_offset; // Voltage sensor output = ADC * 3/4095 - VDC_offset
      Vsensor_Load= SampleTable5[i]*7.326007326e-4-VDC1_offset;
      Vsensor_FC= SampleTable6[i]*7.326007326e-4-VDC2_offset;

      //IL=(Isensor_out-2.46)*7.5583; //current sensor measurement
      //IL=((I_sensor_new-2.43)/0.13);
   // IL=(I_sensor_new)*factor_bidir; //bidirectional current output

     ILfc=((I_sensor_FC-1.5)/0.05);//Fuel cell input current
     ILbatt=((I_sensor_Batt-1.5)/0.05);//battry input current
     Iload=((I_sensor_Load-1.5)/0.05);//Load current
     Vin_batt =(  Vsensor_Batt*26.667);//Battery Voltage
     Vo=( Vsensor_Load* 29.1);//output voltage
     VFC=( Vsensor_FC* 29.1);

    //fuel cell current current control




      yk=ILfc;
        ek=rk-yk;
      uk = DCL_runPID(&pid1,rk,yk,lk); //� Reference input current: r(k) � Feedback input: y(k) � Saturation input: l(k) � Control output: u(k)

           	d = uk;
           	if(d<=0.3)
           	      		{
           	      	    	d = 0.3;					                      // Lower limit for duty ratio
           	      	    }
           	      	if(d>=0.7)
           	      	 	{
           	      	    	d = 0.7;										 // Upper limit for duty ratio
           	      	 	}

// Outer voltage loop
 yk1=Vo;
 rk1=voltage_ref;
 ek1=rk1-yk1;
 uk1 = DCL_runPID(&pid2,rk1,yk,lk1); //� Reference input current: r(k) � Feedback input: y(k) � Saturation input: l(k) � Control output: u(k)

   if(uk1<=-5)
         		{
         	    	uk1 = -4;
         		}			                      // Lower limit for duty ratio
         	if(uk1>=5)
         	 	{
         	    	uk1 = 4;										 // Upper limit for duty ratio
         	 	}

    yk2=ILbatt;
   	rk2=uk1;//current ref
	ek2=rk2-yk2;
    uk2= DCL_runPID(&pid3,rk2,yk2,lk2); //� Reference input current: r(k) � Feedback input: y(k) � Saturation input: l(k) � Control output: u(k)

d1=uk2;

  // d =0.5 ;
      	if(d1<=0.3)
      		{
      	    	d1 = 0.3;
      		}			                      // Lower limit for duty ratio
      	if(d1>=0.7)
      	 	{
      	    	d1 = 0.7;										 // Upper limit for duty ratio
      	 	}

      	//Update duty ratio to compare register


      	 EPwm1Regs.CMPA.half.CMPA = d*10000;//duty pulse of fuel cell boost pin no.-01
      	// TBPRD = fCPU / ( 2 * fPWM *CLKDIV * HSPCLKDIV)

      	 EPwm2Regs.CMPA.half.CMPA = d1*10000;//duty pulse of batt-bidir pin no.-03

      	 PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
      	 GpioDataRegs.GPBCLEAR.bit.GPIO34 = 1;


      	 static Uint16 index=0;
      	AdcBuf[index] = _IQmpy(AdcFsVoltage, _IQ16toIQ((_iq)AdcRegs.ADCRESULT2));
    	//AdcBuf[index] =  Vsensor_Batt;
      	/*** Call the filter function ***/
      		xBuffer[0] = AdcBuf[index];				// Add the new entry to the delay chain
      		AdcBufFiltered[index] = (IQssfir(xBuffer, coeffs, 5)/16777216.0);
      		rk=AdcBufFiltered[index];
      		 //yk=AdcBufFiltered[index];
      		index++;									// Increment the index
      		if(index == AdcBufLen) index = 0;			// Rewind the pointer to beginning
      		// Reinitialize for next ADC sequence
      	  	AdcRegs.ADCTRL2.bit.RST_SEQ2 = 1;   	// Reset SEQ1
      	  	AdcRegs.ADCST.bit.INT_SEQ2_CLR = 1;		// Clear INT SEQ1 bit
      	  	//PieCtrlRegs.PIEACK.all = 1;   			// Acknowledge interrupt to PIE

   }



void InitEPwm1Example()
{

   EPwm1Regs.TBPRD = 10000;                        // Set timer period = 16/150M *468 = 50us ; f=20kHz
   EPwm1Regs.TBPHS.half.TBPHS = 0x0000;           // Phase is 0
   EPwm1Regs.TBCTR = 0x0000;                      // Clear counter

   // Setup TBCLK
   EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
   EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE;        // Disable phase loading
   	   	   	   	  // EPwm1Regs.TBCTL.bit.PRDLD = TB_SHADOW;
   	   	   	   	  // EPwm1Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO; // Sync down-stream module
   EPwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;       // Clock ratio to SYSCLKOUT
   EPwm1Regs.TBCTL.bit.CLKDIV = TB_DIV1;

   EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
   EPwm1Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
   EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
   EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

   // Setup compare
   //EPwm1Regs.CMPA.half.CMPA = dutycycle_initial;                 // Set initial d = 0.5 intially
   //EPwm1Regs.CMPB  = dutycycle_initial;                 // Set initial d = 0.5 intially

   // Set actions
   EPwm1Regs.AQCTLA.bit.PRD = AQ_SET;             // Set PWM1A when tmr = Period
   EPwm1Regs.AQCTLA.bit.CAU = AQ_CLEAR;           // Clear PWM1A when tmr = Compare value when count up

   EPwm1Regs.AQCTLB.bit.CAU = AQ_CLEAR;          // Set PWM1B on Zero
   EPwm1Regs.AQCTLB.bit.CAD = AQ_SET;

//      //Dead band setting
      EPwm1Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE; // enable Dead-band module
      EPwm1Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC; // Active Hi complementary
      EPwm1Regs.DBFED = 1; // FED = 10 TBCLKs 10*16/150M = 1.0666uS
      EPwm1Regs.DBRED = 1; // RED = 10 TBCLKs

}

void InitEPwm2Example()
{

   EPwm2Regs.TBPRD = 10000;                        // Set timer period = 16/150M *468 = 50us ; f=20kHz
   EPwm2Regs.TBPHS.half.TBPHS =TB_DISABLE;           // Phase is dissable
   EPwm2Regs.TBCTR = 0x0000;                      // Clear counter

   // Setup TBCLK
   EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
   EPwm2Regs.TBCTL.bit.PHSEN =TB_DISABLE;        // Disable phase loading

   EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO; // Sync down-stream module

   //EPwm2Regs.TBCTL.bit.PHSDIR = TB_DOWN; // Count DOWN on sync (=120 deg)
   EPwm2Regs.TBCTL.bit.PRDLD = TB_SHADOW;
   //EPwm2Regs.TBCTL.bit.SYNCOSEL = 1;  //TB_SYNC_IN; // sync flow-through

   EPwm2Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;       // Clock ratio to SYSCLKOUT
   EPwm2Regs.TBCTL.bit.CLKDIV = TB_DIV1;

   EPwm2Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
   EPwm2Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
   EPwm2Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
   EPwm2Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

   // Setup compare
   //EPwm2Regs.CMPA.half.CMPA = dutycycle_initial;                 // Set initial d = 0.5 intially
   //EPwm1Regs.CMPB  = dutycycle_initial;                 // Set initial d = 0.5 intially

   // Set actions
   EPwm2Regs.AQCTLA.bit.PRD = AQ_SET;             // Set PWM1A when tmr = Period
   EPwm2Regs.AQCTLA.bit.CAU = AQ_CLEAR;           // Clear PWM1A when tmr = Compare value when count up

   EPwm2Regs.AQCTLB.bit.CAU = AQ_CLEAR;          // Set PWM1B on Zero
   EPwm2Regs.AQCTLB.bit.CAD = AQ_SET;

//      // Dead band setting
      EPwm2Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE; // enable Dead-band module
      EPwm2Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC; // Active Hi complementary
      EPwm2Regs.DBFED = 1; // FED = 10 TBCLKs 10*16/150M = 1.0666uS
      EPwm2Regs.DBRED = 1; // RED = 10 TBCLKs

}

void InitEPwm3Example()
{

   EPwm3Regs.TBPRD = 624;                        // Set timer period = 16/150M *468 = 50us ; f=20kHz
   EPwm3Regs.TBPHS.half.TBPHS = 155;             // when phase =3, pd = 0 ; when phase = 3+ 155-dutycycle+dutycycleaux
   EPwm3Regs.TBCTR = 0x0000;                     // Clear counter

   // Setup TBCLK
   EPwm3Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
   EPwm3Regs.TBCTL.bit.PHSEN = TB_ENABLE;        // Disable phase loading

   	   	          EPwm3Regs.TBCTL.bit.PHSDIR = TB_DOWN; // Count DOWN on sync (=120 deg)
      	  	  	  EPwm3Regs.TBCTL.bit.PRDLD = TB_SHADOW;
                  EPwm3Regs.TBCTL.bit.SYNCOSEL = 1;  //TB_SYNC_IN; // sync flow-through

   	   	   	   	   //EPwm2Regs.TBCTL.bit.PRDLD = TB_SHADOW;
   	   	   	   	   //EPwm3Regs.TBCTL.bit.SYNCOSEL = 0; // Sync down-stream module
   EPwm3Regs.TBCTL.bit.HSPCLKDIV = TB_DIV4;       // Clock ratio to SYSCLKOUT
   EPwm3Regs.TBCTL.bit.CLKDIV = TB_DIV4;

   EPwm3Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
   EPwm3Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
   EPwm3Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
   EPwm3Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

   // Setup compare
   //EPwm3Regs.CMPA.half.CMPA = dutycycle_initial;                 // Set initial d = 0.5 intially
   //EPwm1Regs.CMPB  = dutycycle_initial;                 // Set initial d = 0.5 intially

   // Set actions
   EPwm3Regs.AQCTLA.bit.PRD = AQ_SET;             // Set PWM1A when tmr = Period
   EPwm3Regs.AQCTLA.bit.CAU = AQ_CLEAR;           // Clear PWM1A when tmr = Compare value when count up

   EPwm3Regs.AQCTLB.bit.CAU = AQ_CLEAR;          // Set PWM1B on Zero
   EPwm3Regs.AQCTLB.bit.CAD = AQ_SET;

//      // Dead band setting
      EPwm3Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE; // enable Dead-band module
      EPwm3Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC; // Active Hi complementary
      EPwm3Regs.DBFED = 1; // FED = 10 TBCLKs 10*16/150M = 1.0666uS
      EPwm3Regs.DBRED = 1; // RED = 10 TBCLKs

}

 //===========================================================================
// No more.
//===========================================================================

over 5 years ago

0 John Westmoreland43 over 5 years ago

Guru 13875 points

Hello Ananda,

You should take a look at the DCL - Digital Control Library - www.ti.com/.../C2000-DIGITAL-CONTROL-LIBRARY .

HTH,
John W.

0 Ananda Hange over 5 years ago in reply to John Westmoreland43

Prodigy 90 points

My filtered signal is in the array format of length 50.And i want that signal convert into float rk ,which is my reference to pid. I can't write rk=AdcBufFiltered[index]. then rk is choose any value from the array.how to resolve that problem.

0 Richard Poley over 5 years ago in reply to Ananda Hange

TI__Mastermind 27200 points

It looks like the filtered signal is in IQ format, so you can use the IQ to float conversion from that library:

rk=_IQtoF(AdcBufFiltered[index]);

You should also typecast the ADC results to float. Your first assignment, the current sensor reading, would look like this:

I_sensor_FC =(float) SampleTable[i] * 7.326007326e-4 - IDC_offset;

On last thing; where you are assigning float constants it's better to place an 'f' at the end to make it unambiguous to the compiler. For example:

float IDC_offset=0.0f, ...

Regards,

Richard

0 Ananda Hange over 5 years ago in reply to Richard Poley

Prodigy 90 points

Filter.c

//File: Filter.c
//* Description: Contains IQmath filter for C28x workshop labs
//* Devices: TMS320F2812, TMS320F2811, TMS320F2810
//* Author: Technical Training Organization (TTO), Texas Instruments
//* Function List:
//*   _iq fir(_iq *x, _iq *a, Uint16 n)
//* History:
//*   11/10/03 - original (based on DSP281x header files v1.00)                   // ( and IQmath v1.4d)
//* Notes: none
/**********************************************************************/
#include "DSP2833x_Device.h"
#include "IQmathLib.h"


/**********************************************************************
* Function: IQssfir()
* Description: IQmath n-tap single-sample FIR filter.
*
*         y(k) = a(0)*x(k) + a(1)*x(k-1) + ... + a(n-1)*x(k-n+1)
*
* DSP: TMS320F2812, TMS320F2811, TMS320F2810
* Include files: DSP281x_Device.h, IQmathLib.h
* Function Prototype: _iq IQssfir(_iq*, _iq*, Uint16)
* Useage: y = IQssfir(x, a, n);
* Input Parameters: x = array of input and delay chain (global IQ format)
*                   a = array of coefficients (global IQ format)
*                   n = number of coefficients
* Return Value: y = result
* Notes:
* 1) This is just a simple filter example, and completely unoptimized.
*    The goal with the code was clarity and simplicity, not efficiency.
* 2) The filtering is done from last tap to first tap.  This allows
*    more efficient delay chain updating.
**********************************************************************/
_iq IQssfir(_iq *x, _iq *a, Uint16 n)
{

Uint16 i;								// general purpose
_iq y;									// result
_iq *xold;								// delay line pointer

/*** Setup the pointers ***/
	a = a + (n-1);						// a points to last coefficient
	x = x + (n-1);						// x points to last buffer element
	xold = x;							// xold points to last buffer element

/*** Last tap has no delay line update ***/
	y = _IQmpy(*a--, *x--);

/*** Do the other taps from end to beginning ***/
	for(i=0; i<n-1; i++)
	{
		y = y + _IQmpy(*a--, *x);		// filter tap
		*xold-- = *x--;					// delay line update
	}

/*** Finish up ***/
	return(y);

} //end IQssfir()


/*** end of file ***/

LPF2.c

/*
 * LPF2.c
 *
 *  Created on: Feb 14, 2019
 *      Author: Ananda
 */



#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File
#include "DCL.h"               // Digital control library
#include "IQmathLib.h"
// ADC start parameters
#if (CPU_FRQ_150MHZ)     // Default - 150 MHz SYSCLKOUT
  #define ADC_MODCLK 0x3 // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 150/(2*3)   = 25.0 MHz
#endif

#define ADC_CKPS   0x1   // ADC module clock = HSPCLK/2*ADC_CKPS   = 25.0MHz/(1*2) = 12.5MHz
#define ADC_SHCLK  0xf   // S/H width in ADC module periods                        = 16 ADC clocks
#define AVG        50  // Average sample limit
#define ZOFFSET    0x00  // Average Zero offset
#define BUF_SIZE   50  // Sample buffer size


typedef volatile struct {
float Kp; // proportional gain
float Ki; // integral gain
float Kd; // derivative gain
float Kr; // set point weight
float c1; // D filter coefficient 1
float c2; // D filter coefficient 2
float d2; // D filter storage 1
float d3; // D filter storage 2
float i10; // I storage
float i14; // sat storage
float Umax; // upper saturation limit
float Umin; // lower saturation limit
} PID2 ;

#define PID1_DEFAULTS { 0.0587f, \
	    	0.001f, \
			0.0f, \
			1.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.9f, \
			0.1f \
}

#define PID2_DEFAULTS { 0.0439f, \
	    	0.000538f, \
			0.0f, \
			1.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			3.0f, \
			0.2f \
}


#define PID3_DEFAULTS { -0.0259f, \
	    	0.00192f, \
			0.0f, \
			1.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.9f, \
			0.1f \
}
//pid parameters

PID pid1 = PID1_DEFAULTS; //current  control fuel cell
PID pid2 = PID2_DEFAULTS; //voltage  control bidirectional outer loop
PID pid3 = PID3_DEFAULTS ;// cureent control bidirectional inner current loop


//#define eps  0.01		//for error comparison
//#define MAX  1			//for current saturation
//#define MIN  0.1			//for current saturation
//#define Kp   0.1
//#define Kd   0.0
//#define Ki   0.005

void InitEPwm1Example(void);
void InitEPwm2Example(void);
void InitEPwm3Example(void);

interrupt void cpu_timer0_isr(void);

#define AdcBufLen 50
#define AdcFsVoltage	_IQ(3.0)		// ADC full scale voltage

// global variables
_iq AdcBuf[AdcBufLen];					// ADC results buffer
_iq AdcBufFiltered[AdcBufLen];			// filtered ADC results buffer
_iq xBuffer[5] = {0,0,0,0,0};			// filter sample buffer
// filter coefficients
_iq coeffs[5] = {_IQ(0.0357),_IQ(0.2411),_IQ(0.4465),_IQ(0.2411),_IQ(0.0357)};
//_iq rk[AdcBufLen];


// Global variable for this Program
Uint16 SampleTable[BUF_SIZE];
Uint16 SampleTable1[BUF_SIZE];
//Uint16 coeff[BUF_FILT];
Uint16 SampleTable2[BUF_SIZE];
Uint16 SampleTable3[BUF_SIZE];
Uint16 SampleTable4[BUF_SIZE];
Uint16 SampleTable5[BUF_SIZE];
Uint16 SampleTable6[BUF_SIZE];
Uint16 i=0;

float d,d1,I_sensor_FC,Vsensor_FC, Vsensor_Load,Vsensor_Batt, I_sensor_Batt, I_sensor_Load, factor_dc=28.2 ,factor_bidir=2.991;
float IDC_offset=0.0f,IDC1_offset=0.0f,VDC2_offset=0.0f,VDC_offset=0.0f,VDC1_offset=0.0f,ILbatt=0.0f,ILfc=0.0f,Iload=0.0f, sum=0.0f,IDC2_offset=0.0f;
float yk=0.0f, lk=1.0f, uk, rk1=60.0f, yk1=0.0f, lk1=1.0f, uk1, rk2=1.0f, yk2=0.0f, lk2=1.0f,b, uk2, duty=0.0f, a[10];
float rk=0.0f;
int p, z=0;
float Vo=0.0f,Vin_batt=0.0f,ek=0.0f,ek1=0.0f,ek2=0.0f,VFC=0.0f;
float voltage_ref=60.0f,current_ref=0.5f;
float Boost_factor=26.75f;
  _iq IQssfir(_iq*, _iq*, Uint16);
//pid constant
//float Iref=0.7, Iact=0;
//float pre_err=0, integral=0, error=0, derivative, output
//float Ki=0.05,Kp=0,Kd=0;
//float t=0.01;		//100ms loop time
//float MAX=1,MIN=0;
//float eps=0.01;
int j;




main()
{
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP2833x_SysCtrl.c file.







	InitSysCtrl();

// Specific clock setting for this example
   EALLOW;
   SysCtrlRegs.HISPCP.all = ADC_MODCLK;	// HSPCLK = SYSCLKOUT/ADC_MODCLK
   EDIS;

// 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.
   InitEPwm1Gpio();
   InitEPwm2Gpio();
   InitEPwm3Gpio();
   EALLOW;
   GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 0;    // GPIO pin
   GpioCtrlRegs.GPBDIR.bit.GPIO34 = 1;     // Output pin
   EDIS;

// 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();

   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 all the Device Peripherals:
// This function is found in DSP2833x_InitPeripherals.c
// InitPeripherals(); // Not required for this example
   InitCpuTimers();   // For this example, only initialize the Cpu Timers
   InitAdc();  // For this example, init the ADC

   #if (CPU_FRQ_150MHZ)
// Configure CPU-Timer 0, 1, and 2 to interrupt every second:
// 150MHz CPU Freq, 1 second Period (in uSeconds)
   ConfigCpuTimer(&CpuTimer0, 150, 20);
   #endif

   EALLOW;
   SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
   EDIS;

///********************** A - Initialize ADC and ePWM **********************///////

   InitEPwm1Example();
   InitEPwm2Example();
   InitEPwm3Example();
   EALLOW;
   SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
   EDIS;

   CpuTimer0Regs.TCR.all = 0x4001; // Use write-only instruction to set TSS bit = 0

// Specific ADC setup for this example:
   AdcRegs.ADCTRL2.bit.SOC_SEQ1 = 1;	// start ADC by software
   AdcRegs.ADCTRL1.bit.ACQ_PS = ADC_SHCLK;
   AdcRegs.ADCTRL3.bit.ADCCLKPS = ADC_CKPS;
   AdcRegs.ADCTRL1.bit.SEQ_CASC = 1;        // 1  Cascaded mode
   AdcRegs.ADCMAXCONV.all = 0x0006;       // Setup 7 conv's on SEQ1
   AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0x0;
   AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 0x1;
   AdcRegs.ADCCHSELSEQ1.bit.CONV02 = 0x2;
   AdcRegs.ADCCHSELSEQ1.bit.CONV03 = 0x3;
   AdcRegs.ADCCHSELSEQ2.bit.CONV04 = 0x4;
   AdcRegs.ADCCHSELSEQ2.bit.CONV05 = 0x5;
   AdcRegs.ADCCHSELSEQ2.bit.CONV06 = 0x6;

   AdcRegs.ADCTRL1.bit.CONT_RUN = 1;       // Setup continuous run


// Step 5. User specific code, enable interrupts:
   IER |= M_INT1;
   IER |= M_INT3;

   // Enable TINT0 in the PIE: Group 1 interrupt 7
      PieCtrlRegs.PIEIER1.bit.INTx7 = 1;

      // Enable EPWM INTn in the PIE: Group 3 interrupt 1-3
         PieCtrlRegs.PIEIER3.bit.INTx1 = 1;
         PieCtrlRegs.PIEIER3.bit.INTx2 = 1;
         PieCtrlRegs.PIEIER3.bit.INTx3 = 1;

      // Clear SampleTable
         for (i=0; i<BUF_SIZE; i++)
         {
           SampleTable[i] =0;
           SampleTable1[i]=0;
           SampleTable2[i]=0;
           SampleTable3[i]=0;
           SampleTable4[i]=0;
           SampleTable5[i]=0;
           SampleTable6[i]=0;

         }

         AdcRegs.ADCTRL2.all = 0x2000;


     // Enable global Interrupts and higher priority real-time debug events:
        EINT;   // Enable Global interrupt INTM
        ERTM;   // Enable Global realtime interrupt DBGM


      // Step 6. IDLE loop. Just sit and loop forever (optional):
      for(;;);

 }

interrupt void cpu_timer0_isr(void)
{
   GpioDataRegs.GPBSET.bit.GPIO34 = 1;  // Set GPIO34 for monitoring
   CpuTimer0.InterruptCount++;

///********************** B - Sense the output voltages and inductor currents  **********************///////

   while (AdcRegs.ADCST.bit.INT_SEQ1== 0) {} // Wait for interrupt
   AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;
   SampleTable[i]  = ((AdcRegs.ADCRESULT0>>4));               //FC Current Sensing
   SampleTable1[i] = ((AdcRegs.ADCRESULT1>>4));             // Battery current Sensing
   SampleTable2[i] = ((AdcRegs.ADCRESULT2>>4));             //  Sensing
   SampleTable3[i] = ((AdcRegs.ADCRESULT3>>4));             //  Battry Voltage Sensing
   SampleTable4[i] = ((AdcRegs.ADCRESULT4>>4));           //  Load current Sensing
   SampleTable5[i] = ((AdcRegs.ADCRESULT5>>4));           //  Load voltage Sensing
   SampleTable6[i] = ((AdcRegs.ADCRESULT6>>4));
   //z =((AdcRegs.ADCRESULT3>>4));
   // Write your code here
   	  I_sensor_FC	 =(float) SampleTable[i]*7.326007326e-4-IDC_offset; 		// Current sensor output = ADC * 3/4095 - IDC_offset ,IDC_offset=-0.1333
      I_sensor_Batt  =(float) SampleTable1[i]*7.326007326e-4- IDC1_offset;		//IDC1_offset=-0.116
      I_sensor_Load  =(float) SampleTable4[i]*7.326007326e-4- IDC2_offset;		//IDC_offset=-0.13
      Vsensor_Batt	 =(float) SampleTable3[i]*7.326007326e-4-VDC_offset; 		// Voltage sensor output = ADC * 3/4095 - VDC_offset
      Vsensor_Load	 =(float) SampleTable5[i]*7.326007326e-4-VDC1_offset;
      Vsensor_FC	 =(float) SampleTable6[i]*7.326007326e-4-VDC2_offset;

      //IL=(Isensor_out-2.46)*7.5583; //current sensor measurement
      //IL=((I_sensor_new-2.43)/0.13);
   // IL=(I_sensor_new)*factor_bidir; //bidirectional current output

     ILfc		=(float) ((I_sensor_FC-1.5)/0.05);				//Fuel cell input current
     ILbatt		=(float) ((I_sensor_Batt-1.5)/0.05);			//battry input current
     Iload		=(float) ((I_sensor_Load-1.5)/0.05);			//Load current
     Vin_batt 	=(float) (Vsensor_Batt*26.667);					//Battery Voltage
     Vo			=(float) (Vsensor_Load* 29.1);					//output voltage
     VFC		=(float) (Vsensor_FC* 29.1);					//Fuelcell voltage

    //fuel cell current current control
     yk=ILfc;
     	 	 	 ek=rk-yk;
           		      uk = DCL_runPID(&pid1,rk,yk,lk); 			//� Reference input current: r(k) � Feedback input: y(k) � Saturation input: l(k) � Control output: u(k)

           		           	d = uk;
           		           	if(d<=0.3)
           		           	      		{
           		           	      	    	d = 0.3;					                      // Lower limit for duty ratio
           		           	      	    }
           		           	      	if(d>=0.7)
           		           	      	 	{
           		           	      	    	d = 0.7;										 // Upper limit for duty ratio
           		           	      	 	}






// Outer voltage loop
 yk1=Vo;
 rk1=voltage_ref;
 ek1=rk1-yk1;
 uk1 = DCL_runPID(&pid2,rk1,yk,lk1); //� Reference input current: r(k) � Feedback input: y(k) � Saturation input: l(k) � Control output: u(k)

   if(uk1<=-5)
         		{
         	    	uk1 = -4;
         		}			                      // Lower limit for duty ratio
         	if(uk1>=5)
         	 	{
         	    	uk1 = 4;										 // Upper limit for duty ratio
         	 	}

    yk2=ILbatt;
   	rk2=uk1;//current ref
	ek2=rk2-yk2;
    uk2= DCL_runPID(&pid3,rk2,yk2,lk2); //� Reference input current: r(k) � Feedback input: y(k) � Saturation input: l(k) � Control output: u(k)

d1=uk2;

  // d =0.5 ;
      	if(d1<=0.3)
      		{
      	    	d1 = 0.3;
      		}			                      // Lower limit for duty ratio
      	if(d1>=0.7)
      	 	{
      	    	d1 = 0.7;										 // Upper limit for duty ratio
      	 	}

      	//Update duty ratio to compare register


      	 EPwm1Regs.CMPA.half.CMPA = d*10000;//duty pulse of fuel cell boost pin no.-01
      	// TBPRD = fCPU / ( 2 * fPWM *CLKDIV * HSPCLKDIV)

      	 EPwm2Regs.CMPA.half.CMPA = d1*10000;//duty pulse of batt-bidir pin no.-03

      	 PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
      	 GpioDataRegs.GPBCLEAR.bit.GPIO34 = 1;


      	 static Uint16 index=0;
      	AdcBuf[index] = _IQmpy(AdcFsVoltage, _IQ16toIQ((_iq)AdcRegs.ADCRESULT2));
    	//AdcBuf[index] =  Vsensor_Batt;
      	/*** Call the filter function ***/
      		xBuffer[0] = AdcBuf[index];				// Add the new entry to the delay chain
      		AdcBufFiltered[index] = (IQssfir(xBuffer, coeffs, 5)/16777216.0);
      		rk=_IQtoF(AdcBufFiltered[index]);
      		       		 //yk=AdcBufFiltered[index];
      		index++;									// Increment the index
      		if(index == AdcBufLen) index = 0;			// Rewind the pointer to beginning
      		// Reinitialize for next ADC sequence
      	  	AdcRegs.ADCTRL2.bit.RST_SEQ2 = 1;   	// Reset SEQ1
      	  	AdcRegs.ADCST.bit.INT_SEQ2_CLR = 1;		// Clear INT SEQ1 bit
      	  	//PieCtrlRegs.PIEACK.all = 1;   			// Acknowledge interrupt to PIE

   }



void InitEPwm1Example()
{

   EPwm1Regs.TBPRD = 10000;                        // Set timer period = 16/150M *468 = 50us ; f=20kHz
   EPwm1Regs.TBPHS.half.TBPHS = 0x0000;           // Phase is 0
   EPwm1Regs.TBCTR = 0x0000;                      // Clear counter

   // Setup TBCLK
   EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
   EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE;        // Disable phase loading
   	   	   	   	  // EPwm1Regs.TBCTL.bit.PRDLD = TB_SHADOW;
   	   	   	   	  // EPwm1Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO; // Sync down-stream module
   EPwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;       // Clock ratio to SYSCLKOUT
   EPwm1Regs.TBCTL.bit.CLKDIV = TB_DIV1;

   EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
   EPwm1Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
   EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
   EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

   // Setup compare
   //EPwm1Regs.CMPA.half.CMPA = dutycycle_initial;                 // Set initial d = 0.5 intially
   //EPwm1Regs.CMPB  = dutycycle_initial;                 // Set initial d = 0.5 intially

   // Set actions
   EPwm1Regs.AQCTLA.bit.PRD = AQ_SET;             // Set PWM1A when tmr = Period
   EPwm1Regs.AQCTLA.bit.CAU = AQ_CLEAR;           // Clear PWM1A when tmr = Compare value when count up

   EPwm1Regs.AQCTLB.bit.CAU = AQ_CLEAR;          // Set PWM1B on Zero
   EPwm1Regs.AQCTLB.bit.CAD = AQ_SET;

//      //Dead band setting
      EPwm1Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE; // enable Dead-band module
      EPwm1Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC; // Active Hi complementary
      EPwm1Regs.DBFED = 1; // FED = 10 TBCLKs 10*16/150M = 1.0666uS
      EPwm1Regs.DBRED = 1; // RED = 10 TBCLKs

}

void InitEPwm2Example()
{

   EPwm2Regs.TBPRD = 10000;                        // Set timer period = 16/150M *468 = 50us ; f=20kHz
   EPwm2Regs.TBPHS.half.TBPHS =TB_DISABLE;           // Phase is dissable
   EPwm2Regs.TBCTR = 0x0000;                      // Clear counter

   // Setup TBCLK
   EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
   EPwm2Regs.TBCTL.bit.PHSEN =TB_DISABLE;        // Disable phase loading

   EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO; // Sync down-stream module

   //EPwm2Regs.TBCTL.bit.PHSDIR = TB_DOWN; // Count DOWN on sync (=120 deg)
   EPwm2Regs.TBCTL.bit.PRDLD = TB_SHADOW;
   //EPwm2Regs.TBCTL.bit.SYNCOSEL = 1;  //TB_SYNC_IN; // sync flow-through

   EPwm2Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;       // Clock ratio to SYSCLKOUT
   EPwm2Regs.TBCTL.bit.CLKDIV = TB_DIV1;

   EPwm2Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
   EPwm2Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
   EPwm2Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
   EPwm2Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

   // Setup compare
   //EPwm2Regs.CMPA.half.CMPA = dutycycle_initial;                 // Set initial d = 0.5 intially
   //EPwm1Regs.CMPB  = dutycycle_initial;                 // Set initial d = 0.5 intially

   // Set actions
   EPwm2Regs.AQCTLA.bit.PRD = AQ_SET;             // Set PWM1A when tmr = Period
   EPwm2Regs.AQCTLA.bit.CAU = AQ_CLEAR;           // Clear PWM1A when tmr = Compare value when count up

   EPwm2Regs.AQCTLB.bit.CAU = AQ_CLEAR;          // Set PWM1B on Zero
   EPwm2Regs.AQCTLB.bit.CAD = AQ_SET;

//      // Dead band setting
      EPwm2Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE; // enable Dead-band module
      EPwm2Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC; // Active Hi complementary
      EPwm2Regs.DBFED = 1; // FED = 10 TBCLKs 10*16/150M = 1.0666uS
      EPwm2Regs.DBRED = 1; // RED = 10 TBCLKs

}

void InitEPwm3Example()
{

   EPwm3Regs.TBPRD = 624;                        // Set timer period = 16/150M *468 = 50us ; f=20kHz
   EPwm3Regs.TBPHS.half.TBPHS = 155;             // when phase =3, pd = 0 ; when phase = 3+ 155-dutycycle+dutycycleaux
   EPwm3Regs.TBCTR = 0x0000;                     // Clear counter

   // Setup TBCLK
   EPwm3Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
   EPwm3Regs.TBCTL.bit.PHSEN = TB_ENABLE;        // Disable phase loading

   	   	          EPwm3Regs.TBCTL.bit.PHSDIR = TB_DOWN; // Count DOWN on sync (=120 deg)
      	  	  	  EPwm3Regs.TBCTL.bit.PRDLD = TB_SHADOW;
                  EPwm3Regs.TBCTL.bit.SYNCOSEL = 1;  //TB_SYNC_IN; // sync flow-through

   	   	   	   	   //EPwm2Regs.TBCTL.bit.PRDLD = TB_SHADOW;
   	   	   	   	   //EPwm3Regs.TBCTL.bit.SYNCOSEL = 0; // Sync down-stream module
   EPwm3Regs.TBCTL.bit.HSPCLKDIV = TB_DIV4;       // Clock ratio to SYSCLKOUT
   EPwm3Regs.TBCTL.bit.CLKDIV = TB_DIV4;

   EPwm3Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
   EPwm3Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
   EPwm3Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
   EPwm3Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

   // Setup compare
   //EPwm3Regs.CMPA.half.CMPA = dutycycle_initial;                 // Set initial d = 0.5 intially
   //EPwm1Regs.CMPB  = dutycycle_initial;                 // Set initial d = 0.5 intially

   // Set actions
   EPwm3Regs.AQCTLA.bit.PRD = AQ_SET;             // Set PWM1A when tmr = Period
   EPwm3Regs.AQCTLA.bit.CAU = AQ_CLEAR;           // Clear PWM1A when tmr = Compare value when count up

   EPwm3Regs.AQCTLB.bit.CAU = AQ_CLEAR;          // Set PWM1B on Zero
   EPwm3Regs.AQCTLB.bit.CAD = AQ_SET;

//      // Dead band setting
      EPwm3Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE; // enable Dead-band module
      EPwm3Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC; // Active Hi complementary
      EPwm3Regs.DBFED = 1; // FED = 10 TBCLKs 10*16/150M = 1.0666uS
      EPwm3Regs.DBRED = 1; // RED = 10 TBCLKs

}

 //===========================================================================
// No more.
//===========================================================================

LPF2.c

/*
 * LPF2.c
 *
 *  Created on: Feb 14, 2019
 *      Author: Ananda
 */



#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File
#include "DCL.h"               // Digital control library
#include "IQmathLib.h"
// ADC start parameters
#if (CPU_FRQ_150MHZ)     // Default - 150 MHz SYSCLKOUT
  #define ADC_MODCLK 0x3 // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 150/(2*3)   = 25.0 MHz
#endif

#define ADC_CKPS   0x1   // ADC module clock = HSPCLK/2*ADC_CKPS   = 25.0MHz/(1*2) = 12.5MHz
#define ADC_SHCLK  0xf   // S/H width in ADC module periods                        = 16 ADC clocks
#define AVG        50  // Average sample limit
#define ZOFFSET    0x00  // Average Zero offset
#define BUF_SIZE   50  // Sample buffer size


typedef volatile struct {
float Kp; // proportional gain
float Ki; // integral gain
float Kd; // derivative gain
float Kr; // set point weight
float c1; // D filter coefficient 1
float c2; // D filter coefficient 2
float d2; // D filter storage 1
float d3; // D filter storage 2
float i10; // I storage
float i14; // sat storage
float Umax; // upper saturation limit
float Umin; // lower saturation limit
} PID2 ;

#define PID1_DEFAULTS { 0.0587f, \
	    	0.001f, \
			0.0f, \
			1.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.9f, \
			0.1f \
}

#define PID2_DEFAULTS { 0.0439f, \
	    	0.000538f, \
			0.0f, \
			1.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			3.0f, \
			0.2f \
}


#define PID3_DEFAULTS { -0.0259f, \
	    	0.00192f, \
			0.0f, \
			1.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.0f, \
			0.9f, \
			0.1f \
}
//pid parameters

PID pid1 = PID1_DEFAULTS; //current  control fuel cell
PID pid2 = PID2_DEFAULTS; //voltage  control bidirectional outer loop
PID pid3 = PID3_DEFAULTS ;// cureent control bidirectional inner current loop


//#define eps  0.01		//for error comparison
//#define MAX  1			//for current saturation
//#define MIN  0.1			//for current saturation
//#define Kp   0.1
//#define Kd   0.0
//#define Ki   0.005

void InitEPwm1Example(void);
void InitEPwm2Example(void);
void InitEPwm3Example(void);

interrupt void cpu_timer0_isr(void);

#define AdcBufLen 50
#define AdcFsVoltage	_IQ(3.0)		// ADC full scale voltage

// global variables
_iq AdcBuf[AdcBufLen];					// ADC results buffer
_iq AdcBufFiltered[AdcBufLen];			// filtered ADC results buffer
_iq xBuffer[5] = {0,0,0,0,0};			// filter sample buffer
// filter coefficients
_iq coeffs[5] = {_IQ(0.0357),_IQ(0.2411),_IQ(0.4465),_IQ(0.2411),_IQ(0.0357)};
//_iq rk[AdcBufLen];


// Global variable for this Program
Uint16 SampleTable[BUF_SIZE];
Uint16 SampleTable1[BUF_SIZE];
//Uint16 coeff[BUF_FILT];
Uint16 SampleTable2[BUF_SIZE];
Uint16 SampleTable3[BUF_SIZE];
Uint16 SampleTable4[BUF_SIZE];
Uint16 SampleTable5[BUF_SIZE];
Uint16 SampleTable6[BUF_SIZE];
Uint16 i=0;

float d,d1,I_sensor_FC,Vsensor_FC, Vsensor_Load,Vsensor_Batt, I_sensor_Batt, I_sensor_Load, factor_dc=28.2 ,factor_bidir=2.991;
float IDC_offset=0.0f,IDC1_offset=0.0f,VDC2_offset=0.0f,VDC_offset=0.0f,VDC1_offset=0.0f,ILbatt=0.0f,ILfc=0.0f,Iload=0.0f, sum=0.0f,IDC2_offset=0.0f;
float yk=0.0f, lk=1.0f, uk, rk1=60.0f, yk1=0.0f, lk1=1.0f, uk1, rk2=1.0f, yk2=0.0f, lk2=1.0f,b, uk2, duty=0.0f, a[10];
float rk=0.0f;
int p, z=0;
float Vo=0.0f,Vin_batt=0.0f,ek=0.0f,ek1=0.0f,ek2=0.0f,VFC=0.0f;
float voltage_ref=60.0f,current_ref=0.5f;
float Boost_factor=26.75f;
  _iq IQssfir(_iq*, _iq*, Uint16);
//pid constant
//float Iref=0.7, Iact=0;
//float pre_err=0, integral=0, error=0, derivative, output
//float Ki=0.05,Kp=0,Kd=0;
//float t=0.01;		//100ms loop time
//float MAX=1,MIN=0;
//float eps=0.01;
int j;




main()
{
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP2833x_SysCtrl.c file.







	InitSysCtrl();

// Specific clock setting for this example
   EALLOW;
   SysCtrlRegs.HISPCP.all = ADC_MODCLK;	// HSPCLK = SYSCLKOUT/ADC_MODCLK
   EDIS;

// 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.
   InitEPwm1Gpio();
   InitEPwm2Gpio();
   InitEPwm3Gpio();
   EALLOW;
   GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 0;    // GPIO pin
   GpioCtrlRegs.GPBDIR.bit.GPIO34 = 1;     // Output pin
   EDIS;

// 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();

   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 all the Device Peripherals:
// This function is found in DSP2833x_InitPeripherals.c
// InitPeripherals(); // Not required for this example
   InitCpuTimers();   // For this example, only initialize the Cpu Timers
   InitAdc();  // For this example, init the ADC

   #if (CPU_FRQ_150MHZ)
// Configure CPU-Timer 0, 1, and 2 to interrupt every second:
// 150MHz CPU Freq, 1 second Period (in uSeconds)
   ConfigCpuTimer(&CpuTimer0, 150, 20);
   #endif

   EALLOW;
   SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
   EDIS;

///********************** A - Initialize ADC and ePWM **********************///////

   InitEPwm1Example();
   InitEPwm2Example();
   InitEPwm3Example();
   EALLOW;
   SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
   EDIS;

   CpuTimer0Regs.TCR.all = 0x4001; // Use write-only instruction to set TSS bit = 0

// Specific ADC setup for this example:
   AdcRegs.ADCTRL2.bit.SOC_SEQ1 = 1;	// start ADC by software
   AdcRegs.ADCTRL1.bit.ACQ_PS = ADC_SHCLK;
   AdcRegs.ADCTRL3.bit.ADCCLKPS = ADC_CKPS;
   AdcRegs.ADCTRL1.bit.SEQ_CASC = 1;        // 1  Cascaded mode
   AdcRegs.ADCMAXCONV.all = 0x0006;       // Setup 7 conv's on SEQ1
   AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0x0;
   AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 0x1;
   AdcRegs.ADCCHSELSEQ1.bit.CONV02 = 0x2;
   AdcRegs.ADCCHSELSEQ1.bit.CONV03 = 0x3;
   AdcRegs.ADCCHSELSEQ2.bit.CONV04 = 0x4;
   AdcRegs.ADCCHSELSEQ2.bit.CONV05 = 0x5;
   AdcRegs.ADCCHSELSEQ2.bit.CONV06 = 0x6;

   AdcRegs.ADCTRL1.bit.CONT_RUN = 1;       // Setup continuous run


// Step 5. User specific code, enable interrupts:
   IER |= M_INT1;
   IER |= M_INT3;

   // Enable TINT0 in the PIE: Group 1 interrupt 7
      PieCtrlRegs.PIEIER1.bit.INTx7 = 1;

      // Enable EPWM INTn in the PIE: Group 3 interrupt 1-3
         PieCtrlRegs.PIEIER3.bit.INTx1 = 1;
         PieCtrlRegs.PIEIER3.bit.INTx2 = 1;
         PieCtrlRegs.PIEIER3.bit.INTx3 = 1;

      // Clear SampleTable
         for (i=0; i<BUF_SIZE; i++)
         {
           SampleTable[i] =0;
           SampleTable1[i]=0;
           SampleTable2[i]=0;
           SampleTable3[i]=0;
           SampleTable4[i]=0;
           SampleTable5[i]=0;
           SampleTable6[i]=0;

         }

         AdcRegs.ADCTRL2.all = 0x2000;


     // Enable global Interrupts and higher priority real-time debug events:
        EINT;   // Enable Global interrupt INTM
        ERTM;   // Enable Global realtime interrupt DBGM


      // Step 6. IDLE loop. Just sit and loop forever (optional):
      for(;;);

 }

interrupt void cpu_timer0_isr(void)
{
   GpioDataRegs.GPBSET.bit.GPIO34 = 1;  // Set GPIO34 for monitoring
   CpuTimer0.InterruptCount++;

///********************** B - Sense the output voltages and inductor currents  **********************///////

   while (AdcRegs.ADCST.bit.INT_SEQ1== 0) {} // Wait for interrupt
   AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;
   SampleTable[i]  = ((AdcRegs.ADCRESULT0>>4));               //FC Current Sensing
   SampleTable1[i] = ((AdcRegs.ADCRESULT1>>4));             // Battery current Sensing
   SampleTable2[i] = ((AdcRegs.ADCRESULT2>>4));             //  Sensing
   SampleTable3[i] = ((AdcRegs.ADCRESULT3>>4));             //  Battry Voltage Sensing
   SampleTable4[i] = ((AdcRegs.ADCRESULT4>>4));           //  Load current Sensing
   SampleTable5[i] = ((AdcRegs.ADCRESULT5>>4));           //  Load voltage Sensing
   SampleTable6[i] = ((AdcRegs.ADCRESULT6>>4));
   //z =((AdcRegs.ADCRESULT3>>4));
   // Write your code here
   	  I_sensor_FC	 =(float) SampleTable[i]*7.326007326e-4-IDC_offset; 		// Current sensor output = ADC * 3/4095 - IDC_offset ,IDC_offset=-0.1333
      I_sensor_Batt  =(float) SampleTable1[i]*7.326007326e-4- IDC1_offset;		//IDC1_offset=-0.116
      I_sensor_Load  =(float) SampleTable4[i]*7.326007326e-4- IDC2_offset;		//IDC_offset=-0.13
      Vsensor_Batt	 =(float) SampleTable3[i]*7.326007326e-4-VDC_offset; 		// Voltage sensor output = ADC * 3/4095 - VDC_offset
      Vsensor_Load	 =(float) SampleTable5[i]*7.326007326e-4-VDC1_offset;
      Vsensor_FC	 =(float) SampleTable6[i]*7.326007326e-4-VDC2_offset;

      //IL=(Isensor_out-2.46)*7.5583; //current sensor measurement
      //IL=((I_sensor_new-2.43)/0.13);
   // IL=(I_sensor_new)*factor_bidir; //bidirectional current output

     ILfc		=(float) ((I_sensor_FC-1.5)/0.05);				//Fuel cell input current
     ILbatt		=(float) ((I_sensor_Batt-1.5)/0.05);			//battry input current
     Iload		=(float) ((I_sensor_Load-1.5)/0.05);			//Load current
     Vin_batt 	=(float) (Vsensor_Batt*26.667);					//Battery Voltage
     Vo			=(float) (Vsensor_Load* 29.1);					//output voltage
     VFC		=(float) (Vsensor_FC* 29.1);					//Fuelcell voltage

    //fuel cell current current control
     yk=ILfc;
     	 	 	 ek=rk-yk;
           		      uk = DCL_runPID(&pid1,rk,yk,lk); 			//� Reference input current: r(k) � Feedback input: y(k) � Saturation input: l(k) � Control output: u(k)

           		           	d = uk;
           		           	if(d<=0.3)
           		           	      		{
           		           	      	    	d = 0.3;					                      // Lower limit for duty ratio
           		           	      	    }
           		           	      	if(d>=0.7)
           		           	      	 	{
           		           	      	    	d = 0.7;										 // Upper limit for duty ratio
           		           	      	 	}






// Outer voltage loop
 yk1=Vo;
 rk1=voltage_ref;
 ek1=rk1-yk1;
 uk1 = DCL_runPID(&pid2,rk1,yk,lk1); //� Reference input current: r(k) � Feedback input: y(k) � Saturation input: l(k) � Control output: u(k)

   if(uk1<=-5)
         		{
         	    	uk1 = -4;
         		}			                      // Lower limit for duty ratio
         	if(uk1>=5)
         	 	{
         	    	uk1 = 4;										 // Upper limit for duty ratio
         	 	}

    yk2=ILbatt;
   	rk2=uk1;//current ref
	ek2=rk2-yk2;
    uk2= DCL_runPID(&pid3,rk2,yk2,lk2); //� Reference input current: r(k) � Feedback input: y(k) � Saturation input: l(k) � Control output: u(k)

d1=uk2;

  // d =0.5 ;
      	if(d1<=0.3)
      		{
      	    	d1 = 0.3;
      		}			                      // Lower limit for duty ratio
      	if(d1>=0.7)
      	 	{
      	    	d1 = 0.7;										 // Upper limit for duty ratio
      	 	}

      	//Update duty ratio to compare register


      	 EPwm1Regs.CMPA.half.CMPA = d*10000;//duty pulse of fuel cell boost pin no.-01
      	// TBPRD = fCPU / ( 2 * fPWM *CLKDIV * HSPCLKDIV)

      	 EPwm2Regs.CMPA.half.CMPA = d1*10000;//duty pulse of batt-bidir pin no.-03

      	 PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
      	 GpioDataRegs.GPBCLEAR.bit.GPIO34 = 1;


      	 static Uint16 index=0;
      	AdcBuf[index] = _IQmpy(AdcFsVoltage, _IQ16toIQ((_iq)AdcRegs.ADCRESULT2));
    	//AdcBuf[index] =  Vsensor_Batt;
      	/*** Call the filter function ***/
      		xBuffer[0] = AdcBuf[index];				// Add the new entry to the delay chain
      		AdcBufFiltered[index] = (IQssfir(xBuffer, coeffs, 5)/16777216.0);
      		rk=_IQtoF(AdcBufFiltered[index]);
      		       		 //yk=AdcBufFiltered[index];
      		index++;									// Increment the index
      		if(index == AdcBufLen) index = 0;			// Rewind the pointer to beginning
      		// Reinitialize for next ADC sequence
      	  	AdcRegs.ADCTRL2.bit.RST_SEQ2 = 1;   	// Reset SEQ1
      	  	AdcRegs.ADCST.bit.INT_SEQ2_CLR = 1;		// Clear INT SEQ1 bit
      	  	//PieCtrlRegs.PIEACK.all = 1;   			// Acknowledge interrupt to PIE

   }



void InitEPwm1Example()
{

   EPwm1Regs.TBPRD = 10000;                        // Set timer period = 16/150M *468 = 50us ; f=20kHz
   EPwm1Regs.TBPHS.half.TBPHS = 0x0000;           // Phase is 0
   EPwm1Regs.TBCTR = 0x0000;                      // Clear counter

   // Setup TBCLK
   EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
   EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE;        // Disable phase loading
   	   	   	   	  // EPwm1Regs.TBCTL.bit.PRDLD = TB_SHADOW;
   	   	   	   	  // EPwm1Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO; // Sync down-stream module
   EPwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;       // Clock ratio to SYSCLKOUT
   EPwm1Regs.TBCTL.bit.CLKDIV = TB_DIV1;

   EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
   EPwm1Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
   EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
   EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

   // Setup compare
   //EPwm1Regs.CMPA.half.CMPA = dutycycle_initial;                 // Set initial d = 0.5 intially
   //EPwm1Regs.CMPB  = dutycycle_initial;                 // Set initial d = 0.5 intially

   // Set actions
   EPwm1Regs.AQCTLA.bit.PRD = AQ_SET;             // Set PWM1A when tmr = Period
   EPwm1Regs.AQCTLA.bit.CAU = AQ_CLEAR;           // Clear PWM1A when tmr = Compare value when count up

   EPwm1Regs.AQCTLB.bit.CAU = AQ_CLEAR;          // Set PWM1B on Zero
   EPwm1Regs.AQCTLB.bit.CAD = AQ_SET;

//      //Dead band setting
      EPwm1Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE; // enable Dead-band module
      EPwm1Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC; // Active Hi complementary
      EPwm1Regs.DBFED = 1; // FED = 10 TBCLKs 10*16/150M = 1.0666uS
      EPwm1Regs.DBRED = 1; // RED = 10 TBCLKs

}

void InitEPwm2Example()
{

   EPwm2Regs.TBPRD = 10000;                        // Set timer period = 16/150M *468 = 50us ; f=20kHz
   EPwm2Regs.TBPHS.half.TBPHS =TB_DISABLE;           // Phase is dissable
   EPwm2Regs.TBCTR = 0x0000;                      // Clear counter

   // Setup TBCLK
   EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
   EPwm2Regs.TBCTL.bit.PHSEN =TB_DISABLE;        // Disable phase loading

   EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO; // Sync down-stream module

   //EPwm2Regs.TBCTL.bit.PHSDIR = TB_DOWN; // Count DOWN on sync (=120 deg)
   EPwm2Regs.TBCTL.bit.PRDLD = TB_SHADOW;
   //EPwm2Regs.TBCTL.bit.SYNCOSEL = 1;  //TB_SYNC_IN; // sync flow-through

   EPwm2Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;       // Clock ratio to SYSCLKOUT
   EPwm2Regs.TBCTL.bit.CLKDIV = TB_DIV1;

   EPwm2Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
   EPwm2Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
   EPwm2Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
   EPwm2Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

   // Setup compare
   //EPwm2Regs.CMPA.half.CMPA = dutycycle_initial;                 // Set initial d = 0.5 intially
   //EPwm1Regs.CMPB  = dutycycle_initial;                 // Set initial d = 0.5 intially

   // Set actions
   EPwm2Regs.AQCTLA.bit.PRD = AQ_SET;             // Set PWM1A when tmr = Period
   EPwm2Regs.AQCTLA.bit.CAU = AQ_CLEAR;           // Clear PWM1A when tmr = Compare value when count up

   EPwm2Regs.AQCTLB.bit.CAU = AQ_CLEAR;          // Set PWM1B on Zero
   EPwm2Regs.AQCTLB.bit.CAD = AQ_SET;

//      // Dead band setting
      EPwm2Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE; // enable Dead-band module
      EPwm2Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC; // Active Hi complementary
      EPwm2Regs.DBFED = 1; // FED = 10 TBCLKs 10*16/150M = 1.0666uS
      EPwm2Regs.DBRED = 1; // RED = 10 TBCLKs

}

void InitEPwm3Example()
{

   EPwm3Regs.TBPRD = 624;                        // Set timer period = 16/150M *468 = 50us ; f=20kHz
   EPwm3Regs.TBPHS.half.TBPHS = 155;             // when phase =3, pd = 0 ; when phase = 3+ 155-dutycycle+dutycycleaux
   EPwm3Regs.TBCTR = 0x0000;                     // Clear counter

   // Setup TBCLK
   EPwm3Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
   EPwm3Regs.TBCTL.bit.PHSEN = TB_ENABLE;        // Disable phase loading

   	   	          EPwm3Regs.TBCTL.bit.PHSDIR = TB_DOWN; // Count DOWN on sync (=120 deg)
      	  	  	  EPwm3Regs.TBCTL.bit.PRDLD = TB_SHADOW;
                  EPwm3Regs.TBCTL.bit.SYNCOSEL = 1;  //TB_SYNC_IN; // sync flow-through

   	   	   	   	   //EPwm2Regs.TBCTL.bit.PRDLD = TB_SHADOW;
   	   	   	   	   //EPwm3Regs.TBCTL.bit.SYNCOSEL = 0; // Sync down-stream module
   EPwm3Regs.TBCTL.bit.HSPCLKDIV = TB_DIV4;       // Clock ratio to SYSCLKOUT
   EPwm3Regs.TBCTL.bit.CLKDIV = TB_DIV4;

   EPwm3Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
   EPwm3Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
   EPwm3Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
   EPwm3Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

   // Setup compare
   //EPwm3Regs.CMPA.half.CMPA = dutycycle_initial;                 // Set initial d = 0.5 intially
   //EPwm1Regs.CMPB  = dutycycle_initial;                 // Set initial d = 0.5 intially

   // Set actions
   EPwm3Regs.AQCTLA.bit.PRD = AQ_SET;             // Set PWM1A when tmr = Period
   EPwm3Regs.AQCTLA.bit.CAU = AQ_CLEAR;           // Clear PWM1A when tmr = Compare value when count up

   EPwm3Regs.AQCTLB.bit.CAU = AQ_CLEAR;          // Set PWM1B on Zero
   EPwm3Regs.AQCTLB.bit.CAD = AQ_SET;

//      // Dead band setting
      EPwm3Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE; // enable Dead-band module
      EPwm3Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC; // Active Hi complementary
      EPwm3Regs.DBFED = 1; // FED = 10 TBCLKs 10*16/150M = 1.0666uS
      EPwm3Regs.DBRED = 1; // RED = 10 TBCLKs

}

 //===========================================================================
// No more.
//===========================================================================

IQmathLib.hwhen i use this line rk = _IQtoF(AdcBufFilter[index]); i got errors as follows,

Description Resource Path Location Type

unresolved symbol __IQ24toF, first referenced in ./LPF1.obj EV1 C/C++ Problem

Description Resource Path Location Type

<a href="file:/c:/ti/ccsv7/tools/compiler/dmed/HTML/10234.html">#10234-D</a> unresolved symbols remain EV1 C/C++ Problem

Description Resource Path Location Type

#10010 errors encountered during linking; "EV1.out" not built EV1 C/C++ Problem

I attached file LPF2.c which is main file and filter.c and IQmathlib.h file .

0 Richard Poley over 5 years ago in reply to Ananda Hange

TI__Mastermind 27200 points

It sounds like you haven't linked IQmath.lib. Check section 3.5 of the IQ math Quick Start guide.

Which device are you using?

Regards,

Richard

0 Ananda Hange over 5 years ago in reply to Richard Poley

Prodigy 90 points

Yeah I hadn't link that IQmath.lib .Even if i link that I got some new error as follows,

Description Resource Path Location Type
<a href="file:/c:/ti/ccsv7/tools/compiler/dmed/HTML/16008.html">#16008-D</a> file "../IQmath.lib<IQ24toF.obj>" specifies ISA revision "C2800", which is not compatible with ISA revision "C28FPU32" specified in a previous file or on the command line EV1 C/C++ Problem.

I'm using Delfino f28335 of c2000 famiy.

0 Richard Poley over 5 years ago in reply to Ananda Hange

TI__Mastermind 27200 points

I think this is because you've built for the FPU32 but are linking the fixed point version of IQmath. Try linking "IQmath_fpu32.lib" instead of "IQmath.lib". Both are in the \lib sub-directory in C2000Ware.

Regards,

Richard

0 John Westmoreland43 over 5 years ago in reply to Richard Poley

Guru 13875 points

Hello Ananda,

Just wondering - were you able to resolve your issue?

Did Richard's last reply do the trick for you?

Thanks,
John W.

0 Ananda Hange over 5 years ago in reply to John Westmoreland43

Prodigy 90 points

yeah problem is resolve.

Thanks.

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