CCS/TMS570LC4357: TMS570LC4357

Hi sir,

When i sent a pwm signal to stepper motor.....signal is propertly received by a motor and it shown error like this:

 Unable to determine target status after 20 attempts

May I know the solution for this....how can I solve this issue?

Thanking you,

SHIVAKUMAR 

Dear Sir,

Can I use the below mentioned codes to control actuators?

CAN I USE THE BELOW MENTIONED CODES TO COUNT NUMBER OF TEETH ON THE GEAR WHEEL(TRIGGER WHEEL)...?

IF NOT PLEASE MENTION AN EXAMPLE CODES TO COUNT THE SAME.......

CODES:

int main(void)
{
/* USER CODE BEGIN (3) */

/* Enable CPU IRQ interrupt */
_enable_interrupt_();

/* initialize NHET1 based on HalCoGen settings */
hetInit();

#if 0 /* Intention of the RTI is to change the speed modes, among constant speed, acceleration and
and deceleration automatically */
/* Initialize RTI driver */
rtiInit();
/* Enable RTI Compare 0 interrupt notification */
rtiEnableNotification(rtiNOTIFICATION_COMPARE0);
/* Start RTI Counter Block 0 */

/** - Setup compare 0 value. This value is compared with selected free running counter. */
rtiREG1->CMP[0U].COMPx *= DURATION;

/** - Setup update compare 0 value. This value is added to the compare 0 value on each compare match. */
rtiREG1->CMP[0U].UDCPx *= DURATION;
rtiStartCounter(rtiCOUNTER_BLOCK0);

#endif

/* initialize HWAG */
hwagInit();

hwagREG1->HWATHNB = 57; // Total number of teeth for a 60-2 tooth wheel
hwagREG1->HWASTWD = 4; // Step Width = 64
hwagREG1->HWAGCR2 = 0x00010001; // Start HWAG and enable criterial searching
hwagREG1->HWAENASET = 0x10; // Enable PCNT(n) > 2 x PCNT(n-1) interrupt, Enable singularity not found interrupt

/* Configure additional settings of NHET1 based on the macros settings */
configNHET1();

while(1);

/* USER CODE END */

}

/* USER CODE BEGIN (4) */

/*
* NHET1 CNT instruction will generate interrupt whenever one PWM period
* is complete
*/
uint32 index = 0;
uint32 wheel_spin_count = 0;

void hetNotification(hetBASE_t *het, uint32 offset)
{
uint32 cnt_max_period=0;

/* speed = 0: constant speed
* speed = 1: deceleration
* speed = 2: acceleration
* currently speed variable is hard coded to one particular mode. In future, the speed value
* will be determined in the rtiNotification based on RTI interrupt.
*/
speed = 0;

if (speed == 0) {
cnt_max_period = hetRAM1->Instruction[pHET_L03_0].Control;
} else if ( speed == 1) {
cnt_max_period = (uint32)(hetRAM1->Instruction[pHET_L03_0].Control * ( 1 + DEC_RATE));
} else {
cnt_max_period = (uint32)(hetRAM1->Instruction[pHET_L03_0].Control * ( 1 - ACC_RATE));
}

if (cnt_max_period > CNT_MAX_BOUND) {
cnt_max_period = CNT_MAX_BOUND;
}

if (cnt_max_period < CNT_MIN_BOUND) {
cnt_max_period = CNT_MIN_BOUND;
}

if ((het == hetREG1) && offset == (pHET_L01_0+1) )
{
if (index == 59)
{
index = 0;
wheel_spin_count++;
hetRAM1->Instruction[pHET_L03_0].Control = (uint32)cnt_max_period * 3 + 0;
} else if ((index == 1) && (wheel_spin_count > 0))
{
hetRAM1->Instruction[pHET_L03_0].Control = (uint32)(cnt_max_period / 3);
} else
{
hetRAM1->Instruction[pHET_L03_0].Control = (uint32)cnt_max_period;
}
index++;
}
/* Load 50% duty cycle to NHET program */
hetRAM1->Instruction[pHET_L01_0].Data = cnt_max_period << 6; // cnt_max_period * 128 / 2

}
uint32 hwag_int_count = 0;
void hwagNotification(hwagBASE_t *hwag, uint32 offset)

{

hwag_int_count++;

if ((hwag == hwagREG1) && offset == 5 ){ //PCNT(n) > 2 x PCNT(n-1)
gioSetBit(hetPORT1, 12, 1); // set NHET1[12] when entering interrupt, for debug observation

hwagREG1->HWAGCR2 = 0x00010000; // Disable HWAG from running

hwagREG1->HWAACNT = 0; // Reset the ACNT
hwagREG1->HWATHVL = 0; // Reset tooth count
hetRAM1->Instruction[pHET_L04_0].Data = 0; // Reset the NHET CNT Data field in angle mode
// hwagREG1->HWAENACLR = 0x10; // Disable PCNT(n) > 2 x PCNT(n-1) interrupt
hwagREG1->HWAGCR2 = 0x00010001; // Start HWAG

uint32 i;
for (i=0;i<100;i++);
gioSetBit(hetPORT1, 12, 0); // clear NHET1[12] when exiting interrupt, for debug observation
}

}

/* configureNHET1 configures the selected NHET1 pin to output PWM. It
* also loads the initial PWM period and duty cycle into the NHET1
* RAM
*/
void configNHET1()
{

/* Set the selected pin to output. */
hetREG1->DIR = (1 << NHET1_PIN_PWM) | (1 << NHET1_TOOTH_WHEEL) | (1 << 12); //pin12 for observing interrupt

hetREG1->INTENAS = (1 << pHET_L01_0);

/* Load the PWM period based on the defined macro to the CNT instruction */
hetRAM1->Instruction[pHET_L03_0].Control = (uint32)(CNT_MAX_PERIOD) | (hetRAM1->Instruction[pHET_L03_0].Control & 0xFFFD0000);

/* Configure the pin number to output the PWM */
hetRAM1->Instruction[pHET_L01_0].Control = (hetRAM1->Instruction[pHET_L01_0].Control & 0xFFFFE0FF) | (NHET1_TOOTH_WHEEL << 8);

/* Load 50% duty cycle to NHET program */
hetRAM1->Instruction[pHET_L01_0].Data = CNT_MAX_PERIOD * 128 / 2;

}

uint32 count = 0;
void rtiNotification(rtiBASE_t *rtiREG,uint32 notification)
{
speed = count % 3;
count++;

}

/* USER CODE END */

Dear Sir,

 Still it is pending sir.

From the above coding, I need to get signal after reaching index = 58/59 during each rotation of toothed wheel. 

Kindly suggest with any alternate examples.

Thanking you,

SHIVAKUMAR

Hello,

I don't have hardware to do test for HWAG.