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Tool/software: Code Composer Studio
Hi,
I have found the below code in the TI forum for PI control , which i am trying to run in code composer v6, but am getting a error " #include "DCLF32.h" in this part . Kindly help me as am new to code composer
#include "DSP28x_Project.h" // Device Headerfile and Examples Include File #include "DCL.h" #include "DCLF32.h" #include "DCL_fdlog.h" #include "DCLC28.h" float32_t rk = 20.0f; float32_t yk; float32_t lk; float32_t uk; float Duty; DCL_PI pi1 = PI_DEFAULTS; // // Function Prototypes // Uint16 LoopCount; Uint16 ConversionCount; void adc_isr(void); void gpio_select(void); void InitEPwm1(void); void control_Isr(void); float voltage1; float cmpa; // // Main // void main(void) { InitSysCtrl(); DINT; InitPieCtrl(); EALLOW; #if (CPU_FRQ_150MHZ) // Default - 150 MHz SYSCLKOUT // // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 150/(2*3) = 25.0 MHz // #define ADC_MODCLK 0x3 #endif #if (CPU_FRQ_100MHZ) // // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 100/(2*2) = 25.0 MHz // #define ADC_MODCLK 0x2 #endif EDIS; EALLOW; SysCtrlRegs.HISPCP.all = ADC_MODCLK; EDIS; IER = 0x0000; IFR = 0x0000; InitPieVectTable(); EALLOW; // This is needed to write to EALLOW protected registers PieVectTable.ADCINT = &adc_isr; EDIS; // This is needed to disable write to EALLOW protected registers InitAdc(); // For this example, init the ADC gpio_select(); InitEPwm1(); PieCtrlRegs.PIEIER1.bit.INTx6 = 1; IER |= M_INT1; AdcRegs.ADCMAXCONV.all = 0x0001; // Setup 2 conv's on SEQ1 AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0x3; // Setup ADCINA3 as 1st SEQ1 conv. AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 0x2; // Setup ADCINA2 as 2nd SEQ1 conv. /* initialise controller variables */ pi1.Kp=2.0f; pi1.Ki=1.0f; pi1.Umax=0.8f; pi1.Umin=0.2f; rk = 20.0f; // initial value for control reference lk = 1.0f; // control loop not saturated // // Enable SOCA from ePWM to start SEQ1 // AdcRegs.ADCTRL2.bit.EPWM_SOCA_SEQ1 = 1; AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1; // Enable SEQ1 interrupt (every EOS) // control loop not saturated EINT; // Enable Global interrupt INTM ERTM; // Enable Global realtime interrupt DBGM for(;;); } // // cpu_timer0_isr - // void gpio_select(){ EALLOW; GpioCtrlRegs.GPAPUD.bit.GPIO0 = 0; // Enable pullup on GPIO0 GpioCtrlRegs.GPAPUD.bit.GPIO1 = 0; // Enable pullup on GPIO0 GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 1; // GPIO0 = PWM1A GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 1; // GPIO0 = PWM1A EDIS; } void InitEPwm1(){ EPwm1Regs.TBCTL.bit.CTRMODE = 0; // Count up down EPwm1Regs.TBPRD = 3750; // Set timer period EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE; // Disable phase loading EPwm1Regs.TBPHS.half.TBPHS = 0x0000; // Phase is 0 EPwm1Regs.TBCTR = 0x0000; // Clear counter EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0x001; // Clock ratio to SYSCLKOUT EPwm1Regs.TBCTL.bit.CLKDIV = 000; EPwm1Regs.TBCTL.bit.SYNCOSEL=1; EPwm1Regs.CMPA.half.CMPA =1875; // Set compare A value EPwm1Regs.CMPB = 1875; // Set Compare B value EPwm1Regs.CMPCTL.bit.LOADAMODE=1; EPwm1Regs.CMPCTL.bit.SHDWAMODE=0; /* EPwm1Regs.DBCTL.bit.OUT_MODE=3; EPwm1Regs.DBCTL.bit.POLSEL=2; EPwm1Regs.DBCTL.bit.IN_MODE=0; EPwm1Regs.DBRED=100; EPwm1Regs.DBFED=100;*/ EPwm1Regs.AQCTLA.bit.ZRO=2; // Set PWM1A on Zero EPwm1Regs.AQCTLA.bit.CAU=1; EPwm1Regs.ETSEL.bit.SOCAEN = 1; // Enable SOC on A group EPwm1Regs.ETSEL.bit.SOCASEL = 1; // Select SOC from from CPMA on upcount EPwm1Regs.ETPS.bit.SOCAPRD = 1; // Generate pulse on 1st event } __interrupt void adc_isr(void) { yk=(AdcRegs.ADCRESULT0 >>4)*300.0f/4095.0f; //Voltage2[ConversionCount] = AdcRegs.ADCRESULT1 >>4; //DCL_runClamp_C1(float *data, float Umax, float Umin); // lk=0.0f; uk = DCL_runPI_C1(&pi1, rk, yk); if (uk>0.8f){ uk=0.8f; } else if (uk<0.1f){ uk=0.1f; } //uk=0.5f; EPwm1Regs.CMPA.half.CMPA =(EPwm1Regs.TBPRD)*uk; // Set compare A value EPwm1Regs.CMPB = EPwm1Regs.TBPRD*uk; // Set Compare B value // If 40 conversions have been logged, start over // // // Reinitialize for next ADC sequence // AdcRegs.ADCTRL2.bit.RST_SEQ1 = 1; // Reset SEQ1 AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1; // Clear INT SEQ1 bit PieCtrlRegs.PIEACK.all = PIEACK_GROUP1; // Acknowledge interrupt to PIE return; }
