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PM_Sensorless.c
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PM_Sensorless.c
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/* ==============================================================================
System Name: PM_Sensorless
File Name: PM_Sensorless.C
Description: Primary system file for the Real Implementation of Sensorless
Field Orientation Control for Three Phase Permanent-Magnet
Synchronous Motor(s) (PMSM)
Originator: Digital control systems Group - Texas Instruments
Note: In this software, the default inverter is supposed to be DRV8412-EVM kit.
=====================================================================================
History: 04-9-2010 Version 1.1: Support F2803x
================================================================================= */
// Include header files used in the main function
#include "PeripheralHeaderIncludes.h"
#include "PM_Sensorless-Settings.h"
#include "IQmathLib.h"
#include "PM_Sensorless.h"
#include <math.h>
#ifdef DRV8301
union DRV8301_STATUS_REG_1 DRV8301_stat_reg1;
union DRV8301_STATUS_REG_2 DRV8301_stat_reg2;
union DRV8301_CONTROL_REG_1 DRV8301_cntrl_reg1;
union DRV8301_CONTROL_REG_2 DRV8301_cntrl_reg2;
Uint16 read_drv_status = 0;
#endif
// Prototype statements for functions found within this file.
interrupt void MainISR(void);
void DeviceInit();
void MemCopy();
void InitFlash();
// State Machine function prototypes
//------------------------------------
// Alpha states
void A0(void); //state A0
void B0(void); //state B0
void C0(void); //state C0
// A branch states
void A1(void); //state A1
void A2(void); //state A2
void A3(void); //state A3
// B branch states
void B1(void); //state B1
void B2(void); //state B2
void B3(void); //state B3
// C branch states
void C1(void); //state C1
void C2(void); //state C2
void C3(void); //state C3
// Variable declarations
void (*Alpha_State_Ptr)(void); // Base States pointer
void (*A_Task_Ptr)(void); // State pointer A branch
void (*B_Task_Ptr)(void); // State pointer B branch
void (*C_Task_Ptr)(void); // State pointer C branch
// Used for running BackGround in flash, and ISR in RAM
extern Uint16 *RamfuncsLoadStart, *RamfuncsLoadEnd, *RamfuncsRunStart;
int16 VTimer0[4]; // Virtual Timers slaved off CPU Timer 0 (A events)
int16 VTimer1[4]; // Virtual Timers slaved off CPU Timer 1 (B events)
int16 VTimer2[4]; // Virtual Timers slaved off CPU Timer 2 (C events)
int16 SerialCommsTimer;
// Global variables used in this system
_iq VdTesting = _IQ(0.0); // Vd reference (pu)
_iq VqTesting = _IQ(0.2); // Vq reference (pu)
_iq IdRef = _IQ(0.0); // Id reference (pu)
_iq IqRef = _IQ(0.1); // Iq reference (pu)
_iq SpeedRef = _IQ(0.25); // Speed reference (pu)
_iq cal_offset_A = _IQ15(0.4990); //F28035
_iq cal_offset_B = _IQ15(0.5034); //F28035
//_iq cal_offset_A = _IQ15(0.5);
//_iq cal_offset_B = _IQ15(0.5);
_iq cal_filt_gain;
float32 T = 0.001/ISR_FREQUENCY; // Samping period (sec), see parameter.h
Uint32 IsrTicker = 0;
Uint16 BackTicker = 0;
Uint16 lsw=0;
int16 PwmDacCh1=0;
int16 PwmDacCh2=0;
int16 PwmDacCh3=0;
int16 PwmDacCh4=0;
int16 DlogCh1 = 0;
int16 DlogCh2 = 0;
int16 DlogCh3 = 0;
int16 DlogCh4 = 0;
#if (BUILDLEVEL==LEVEL1)
Uint16 DRV_RESET = 1;
#else
Uint16 DRV_RESET = 0;
#endif
volatile Uint16 EnableFlag = FALSE;
Uint16 LockRotorFlag = FALSE;
Uint16 RunMotor = FALSE;
Uint16 SpeedLoopPrescaler = 10; // Speed loop prescaler
Uint16 SpeedLoopCount = 1; // Speed loop counter
// Instance a position estimator
SMOPOS smo1 = SMOPOS_DEFAULTS;
// Instance a sliding-mode position observer constant Module
SMOPOS_CONST smo1_const = SMOPOS_CONST_DEFAULTS;
// Instance a QEP interface driver
QEP qep1 = QEP_DEFAULTS;
// Instance a few transform objects
CLARKE clarke1 = CLARKE_DEFAULTS;
PARK park1 = PARK_DEFAULTS;
IPARK ipark1 = IPARK_DEFAULTS;
// Instance PID regulators to regulate the d and q axis currents, and speed
PID_GRANDO_CONTROLLER pid1_id = {PID_TERM_DEFAULTS,PID_PARAM_DEFAULTS,PID_DATA_DEFAULTS};
PID_GRANDO_CONTROLLER pid1_iq = {PID_TERM_DEFAULTS,PID_PARAM_DEFAULTS,PID_DATA_DEFAULTS};
PID_GRANDO_CONTROLLER pid1_spd = {PID_TERM_DEFAULTS,PID_PARAM_DEFAULTS,PID_DATA_DEFAULTS};
// Instance a PWM driver instance
PWMGEN pwm1 = PWMGEN_DEFAULTS;
// Instance a PWM DAC driver instance
PWMDAC pwmdac1 = PWMDAC_DEFAULTS;
// Instance a Space Vector PWM modulator. This modulator generates a, b and c
// phases based on the d and q stationery reference frame inputs
SVGENDQ svgen_dq1 = SVGENDQ_DEFAULTS;
// Instance a ramp controller to smoothly ramp the frequency
RMPCNTL rc1 = RMPCNTL_DEFAULTS;
// Instance a ramp generator to simulate an Anglele
RAMPGEN rg1 = RAMPGEN_DEFAULTS;
// Instance a phase voltage calculation
PHASEVOLTAGE volt1 = PHASEVOLTAGE_DEFAULTS;
// Instance a speed calculator based on QEP
SPEED_MEAS_QEP speed1 = SPEED_MEAS_QEP_DEFAULTS;
// Instance a speed calculator based on sliding-mode position observer
SPEED_ESTIMATION speed3 = SPEED_ESTIMATION_DEFAULTS;
// Create an instance of DATALOG Module
DLOG_4CH dlog = DLOG_4CH_DEFAULTS;
void main(void)
{
DeviceInit(); // Device Life support & GPIO
// Only used if running from FLASH
// Note that the variable FLASH is defined by the compiler
// (see TwoChannelBuck.pjt file)
#ifdef FLASH
// Copy time critical code and Flash setup code to RAM
// The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
// symbols are created by the linker. Refer to the linker files.
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
InitFlash(); // Call the flash wrapper init function
#endif //(FLASH)
// Waiting for enable flag set
while (EnableFlag==FALSE)
{
BackTicker++;
}
// Timing sync for slow background tasks
// Timer period definitions found in device specific PeripheralHeaderIncludes.h
CpuTimer0Regs.PRD.all = mSec1; // A tasks
CpuTimer1Regs.PRD.all = mSec5; // B tasks
CpuTimer2Regs.PRD.all = mSec50; // C tasks
// Tasks State-machine init
Alpha_State_Ptr = &A0;
A_Task_Ptr = &A1;
B_Task_Ptr = &B1;
C_Task_Ptr = &C1;
// Initialize PWM module
pwm1.PeriodMax = SYSTEM_FREQUENCY*1000000*T/2; // Prescaler X1 (T1), ISR period = T x 1
PWM_INIT_MACRO(pwm1)
// Initialize PWMDAC module
pwmdac1.PeriodMax = 500; // @60Mhz: 1500->20kHz, 1000-> 30kHz, 500->60kHz
pwmdac1.PwmDacInPointer0 = &PwmDacCh1;
pwmdac1.PwmDacInPointer1 = &PwmDacCh2;
pwmdac1.PwmDacInPointer2 = &PwmDacCh3;
pwmdac1.PwmDacInPointer3 = &PwmDacCh4;
PWMDAC_INIT_MACRO(pwmdac1)
// Initialize DATALOG module
dlog.iptr1 = &DlogCh1;
dlog.iptr2 = &DlogCh2;
dlog.iptr3 = &DlogCh3;
dlog.iptr4 = &DlogCh4;
dlog.trig_value = 0x1;
dlog.size = 0x00c8;
dlog.prescalar = 5;
dlog.init(&dlog);
// Initialize ADC module
ADC_MACRO()
// Initialize QEP module
qep1.LineEncoder = 2048;
qep1.MechScaler = _IQ30(0.25/qep1.LineEncoder);
qep1.PolePairs = POLES/2;
qep1.CalibratedAngle = 0;
QEP_INIT_MACRO(qep1)
// Initialize the Speed module for QEP based speed calculation
speed1.K1 = _IQ21(1/(BASE_FREQ*T));
speed1.K2 = _IQ(1/(1+T*2*PI*5)); // Low-pass cut-off frequency
speed1.K3 = _IQ(1)-speed1.K2;
speed1.BaseRpm = 120*(BASE_FREQ/POLES);
// Initialize the SPEED_EST module SMOPOS based speed calculation
speed3.K1 = _IQ21(1/(BASE_FREQ*T));
speed3.K2 = _IQ(1/(1+T*2*PI*5)); // Low-pass cut-off frequency
speed3.K3 = _IQ(1)-speed3.K2;
speed3.BaseRpm = 120*(BASE_FREQ/POLES);
// Initialize the RAMPGEN module
rg1.StepAngleMax = _IQ(BASE_FREQ*T);
// Initialize the SMOPOS constant module
smo1_const.Rs = RS;
smo1_const.Ls = LS;
smo1_const.Ib = BASE_CURRENT;
smo1_const.Vb = BASE_VOLTAGE;
smo1_const.Ts = T;
SMO_CONST_MACRO(smo1_const)
// Initialize the SMOPOS module
smo1.Fsmopos = _IQ(smo1_const.Fsmopos);
smo1.Gsmopos = _IQ(smo1_const.Gsmopos);
smo1.Kslide = _IQ(0.15);
smo1.Kslf = _IQ(0.10);
// Initialize the PID_GRANDO_CONTROLLER module for Id
pid1_id.param.Kp = _IQ(3.176*BASE_CURRENT/BASE_VOLTAGE); //Anaheim
// pid1_id.param.Kp = _IQ(0.25*BASE_CURRENT/BASE_VOLTAGE); //test motor 24V
// pid1_id.param.Kp = _IQ(0.125*BASE_CURRENT/BASE_VOLTAGE); //test motor 48V
pid1_id.param.Kr = _IQ(1.0);
pid1_id.param.Ki = _IQ(T/0.0005); //Anaheim
// pid1_id.param.Ki = _IQ(T/0.0956); //test motor
pid1_id.param.Kd = _IQ(0/T);
pid1_id.param.Km = _IQ(1.0);
pid1_id.param.Umax = _IQ(0.50);
pid1_id.param.Umin = _IQ(-0.50);
// Initialize the PID_GRANDO_CONTROLLER module for Iq
pid1_iq.param.Kp = _IQ(3.176*BASE_CURRENT/BASE_VOLTAGE); //Anaheim
// pid1_iq.param.Kp = _IQ(0.25*BASE_CURRENT/BASE_VOLTAGE); //test motor 24V
// pid1_iq.param.Kp = _IQ(0.125*BASE_CURRENT/BASE_VOLTAGE); //test motor 48V
pid1_iq.param.Kr = _IQ(1.0);
pid1_iq.param.Ki = _IQ(T/0.0005); //Anaheim
// pid1_iq.param.Ki = _IQ(T/0.0956); //test motor
pid1_iq.param.Kd = _IQ(0/T);
pid1_iq.param.Km = _IQ(1.0);
pid1_iq.param.Umax = _IQ(0.95);
pid1_iq.param.Umin = _IQ(-0.95);
// Initialize the PID_GRANDO_CONTROLLER module for Speed
pid1_spd.param.Kp = _IQ(0.2*BASE_FREQ/BASE_CURRENT/(POLES/2)); //Anaheim
// pid1_spd.param.Kp = _IQ(1.0*BASE_FREQ/BASE_CURRENT/(POLES/2)); //test motor
pid1_spd.param.Kr = _IQ(1.0);
pid1_spd.param.Ki = _IQ(T*SpeedLoopPrescaler/0.3); //Anaheim
// pid1_spd.param.Ki = _IQ(T*SpeedLoopPrescaler/0.6); //test motor
pid1_spd.param.Kd = _IQ(0/(T*SpeedLoopPrescaler));
pid1_spd.param.Km = _IQ(1.0);
pid1_spd.param.Umax = _IQ(0.95);
pid1_spd.param.Umin = _IQ(-0.95);
// Initialize the phase current offset calibration filter
cal_filt_gain = _IQ15(T/(T+TC_CAL));
#ifdef DRV8301
// Initialize SPI for communication to the DRV8301
DRV8301_SPI_Init(&SpibRegs);
#endif
// Reassign ISRs.
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.EPWM1_INT = &MainISR;
EDIS;
// Enable PIE group 3 interrupt 1 for EPWM1_INT
PieCtrlRegs.PIEIER3.bit.INTx1 = 1;
// Enable CNT_zero interrupt using EPWM1 Time-base
EPwm1Regs.ETSEL.bit.INTEN = 1; // Enable EPWM1INT generation
EPwm1Regs.ETSEL.bit.INTSEL = 1; // Enable interrupt CNT_zero event
EPwm1Regs.ETPS.bit.INTPRD = 1; // Generate interrupt on the 1st event
EPwm1Regs.ETCLR.bit.INT = 1; // Enable more interrupts
// Enable CPU INT3 for EPWM1_INT:
IER |= M_INT3;
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
// IDLE loop. Just sit and loop forever:
for(;;) //infinite loop
{
// State machine entry & exit point
//===========================================================
(*Alpha_State_Ptr)(); // jump to an Alpha state (A0,B0,...)
//===========================================================
#ifdef DRV8301
//read the status registers from the DRV8301
if(read_drv_status)
{
if(GpioDataRegs.GPADAT.bit.GPIO14 == 0)
{
DRV8301_stat_reg1.all = DRV8301_SPI_Read(&SpibRegs,STAT_REG_1_ADDR);
DRV8301_stat_reg2.all = DRV8301_SPI_Read(&SpibRegs,STAT_REG_2_ADDR);
read_drv_status = 0;
}
}
#endif
}
} //END MAIN CODE
//=================================================================================
// STATE-MACHINE SEQUENCING AND SYNCRONIZATION FOR SLOW BACKGROUND TASKS
//=================================================================================
//--------------------------------- FRAMEWORK -------------------------------------
void A0(void)
{
// loop rate synchronizer for A-tasks
if(CpuTimer0Regs.TCR.bit.TIF == 1)
{
CpuTimer0Regs.TCR.bit.TIF = 1; // clear flag
//-----------------------------------------------------------
(*A_Task_Ptr)(); // jump to an A Task (A1,A2,A3,...)
//-----------------------------------------------------------
VTimer0[0]++; // virtual timer 0, instance 0 (spare)
SerialCommsTimer++;
}
Alpha_State_Ptr = &B0; // Comment out to allow only A tasks
}
void B0(void)
{
// loop rate synchronizer for B-tasks
if(CpuTimer1Regs.TCR.bit.TIF == 1)
{
CpuTimer1Regs.TCR.bit.TIF = 1; // clear flag
//-----------------------------------------------------------
(*B_Task_Ptr)(); // jump to a B Task (B1,B2,B3,...)
//-----------------------------------------------------------
VTimer1[0]++; // virtual timer 1, instance 0 (spare)
}
Alpha_State_Ptr = &C0; // Allow C state tasks
}
void C0(void)
{
// loop rate synchronizer for C-tasks
if(CpuTimer2Regs.TCR.bit.TIF == 1)
{
CpuTimer2Regs.TCR.bit.TIF = 1; // clear flag
//-----------------------------------------------------------
(*C_Task_Ptr)(); // jump to a C Task (C1,C2,C3,...)
//-----------------------------------------------------------
VTimer2[0]++; //virtual timer 2, instance 0 (spare)
}
Alpha_State_Ptr = &A0; // Back to State A0
}
//=================================================================================
// A - TASKS (executed in every 1 msec)
//=================================================================================
//--------------------------------------------------------
void A1(void) // SPARE (not used)
//--------------------------------------------------------
{
if (EnableFlag == FALSE)
{
//de-assert the DRV830x EN_GATE pin
#ifdef DSP2803x_DEVICE_H
GpioDataRegs.GPBCLEAR.bit.GPIO39 = 1;
#endif
RunMotor = FALSE;
EALLOW;
EPwm1Regs.TZFRC.bit.OST=1;
EPwm2Regs.TZFRC.bit.OST=1;
EPwm3Regs.TZFRC.bit.OST=1;
EDIS;
}
else if((EnableFlag == TRUE) && (RunMotor == FALSE))
{
#ifdef DRV8302
#if DRV_GAIN == 10
GpioDataRegs.GPACLEAR.bit.GPIO25 = 1; // GAIN = 10
#elif DRV_GAIN == 40
GpioDataRegs.GPASET.bit.GPIO25 = 1; // GAIN = 40
#else
#error Invalid GAIN setting for DRV8302!!
#endif
//GpioDataRegs.GPACLEAR.bit.GPIO24 = 1; // M_OC - cycle by cycle current limit
GpioDataRegs.GPASET.bit.GPIO24 = 1; // M_OC - fault on OC
#endif
//if we want the power stage active we need to enable the DRV830x
//and configure it.
if(DRV_RESET == 0)
{
//assert the DRV830x EN_GATE pin
#ifdef DSP2803x_DEVICE_H
GpioDataRegs.GPBSET.bit.GPIO39 = 1;
#endif
DELAY_US(50000); //delay to allow DRV830x supplies to ramp up
#ifdef DRV8301
DRV8301_cntrl_reg1.bit.GATE_CURRENT = 0; // full current 1.7A
// DRV8301_cntrl_reg1.bit.GATE_CURRENT = 1; // med current 0.7A
// DRV8301_cntrl_reg1.bit.GATE_CURRENT = 2; // min current 0.25A
DRV8301_cntrl_reg1.bit.GATE_RESET = 0; // Normal Mode
DRV8301_cntrl_reg1.bit.PWM_MODE = 0; // six independant PWMs
// DRV8301_cntrl_reg1.bit.OC_MODE = 0; // current limiting when OC detected
DRV8301_cntrl_reg1.bit.OC_MODE = 1; // latched OC shutdown
// DRV8301_cntrl_reg1.bit.OC_MODE = 2; // Report on OCTWn pin and SPI reg only, no shut-down
// DRV8301_cntrl_reg1.bit.OC_MODE = 3; // OC protection disabled
// DRV8301_cntrl_reg1.bit.OC_ADJ_SET = 0; // OC @ Vds=0.060V
// DRV8301_cntrl_reg1.bit.OC_ADJ_SET = 4; // OC @ Vds=0.097V
// DRV8301_cntrl_reg1.bit.OC_ADJ_SET = 6; // OC @ Vds=0.123V
// DRV8301_cntrl_reg1.bit.OC_ADJ_SET = 9; // OC @ Vds=0.175V
DRV8301_cntrl_reg1.bit.OC_ADJ_SET = 15; // OC @ Vds=0.358V
// DRV8301_cntrl_reg1.bit.OC_ADJ_SET = 16; // OC @ Vds=0.403V
// DRV8301_cntrl_reg1.bit.OC_ADJ_SET = 17; // OC @ Vds=0.454V
// DRV8301_cntrl_reg1.bit.OC_ADJ_SET = 18; // OC @ Vds=0.511V
DRV8301_cntrl_reg1.bit.Reserved = 0;
// DRV8301_cntrl_reg2.bit.OCTW_SET = 0; // report OT and OC
DRV8301_cntrl_reg2.bit.OCTW_SET = 1; // report OT only
#if DRV_GAIN == 10
DRV8301_cntrl_reg2.bit.GAIN = 0; // CS amplifier gain = 10
#elif DRV_GAIN == 20
DRV8301_cntrl_reg2.bit.GAIN = 1; // CS amplifier gain = 20
#elif DRV_GAIN == 40
DRV8301_cntrl_reg2.bit.GAIN = 2; // CS amplifier gain = 40
#elif DRV_GAIN == 80
DRV8301_cntrl_reg2.bit.GAIN = 3; // CS amplifier gain = 80
#endif
DRV8301_cntrl_reg2.bit.DC_CAL_CH1 = 0; // not in CS calibrate mode
DRV8301_cntrl_reg2.bit.DC_CAL_CH2 = 0; // not in CS calibrate mode
DRV8301_cntrl_reg2.bit.OC_TOFF = 0; // normal mode
DRV8301_cntrl_reg2.bit.Reserved = 0;
//write to DRV8301 control register 1, returns status register 1
DRV8301_stat_reg1.all = DRV8301_SPI_Write(&SpibRegs,CNTRL_REG_1_ADDR,DRV8301_cntrl_reg1.all);
//write to DRV8301 control register 2, returns status register 1
DRV8301_stat_reg1.all = DRV8301_SPI_Write(&SpibRegs,CNTRL_REG_2_ADDR,DRV8301_cntrl_reg2.all);
#endif
}
speed3.EstimatedSpeed=0;
speed3.EstimatedTheta=0;
speed3.OldEstimatedTheta=0;
speed3.EstimatedSpeedRpm=0;
rg1.Freq=0;
rg1.Out=0;
rg1.Angle=0;
rc1.TargetValue=0;
rc1.SetpointValue=0;
smo1.Theta=0;
smo1.Ealpha=0;
smo1.Ebeta=0;
pid1_id.data.d1 = 0;
pid1_id.data.d2 = 0;
pid1_id.data.i1 = 0;
pid1_id.data.ud = 0;
pid1_id.data.ui = 0;
pid1_id.data.up = 0;
pid1_id.data.v1 = 0;
pid1_id.data.w1 = 0;
pid1_id.term.Out = 0;
pid1_iq.data.d1 = 0;
pid1_iq.data.d2 = 0;
pid1_iq.data.i1 = 0;
pid1_iq.data.ud = 0;
pid1_iq.data.ui = 0;
pid1_iq.data.up = 0;
pid1_iq.data.v1 = 0;
pid1_iq.data.w1 = 0;
pid1_iq.term.Out = 0;
pid1_spd.data.d1 = 0;
pid1_spd.data.d2 = 0;
pid1_spd.data.i1 = 0;
pid1_spd.data.ud = 0;
pid1_spd.data.ui = 0;
pid1_spd.data.up = 0;
pid1_spd.data.v1 = 0;
pid1_spd.data.w1 = 0;
pid1_spd.term.Out = 0;
lsw=0;
RunMotor = TRUE;
EALLOW;
EPwm1Regs.TZCLR.bit.OST=1;
EPwm2Regs.TZCLR.bit.OST=1;
EPwm3Regs.TZCLR.bit.OST=1;
EDIS;
}
//-------------------
//the next time CpuTimer0 'counter' reaches Period value go to A2
A_Task_Ptr = &A2;
//-------------------
}
//-----------------------------------------------------------------
void A2(void) // SPARE (not used)
//-----------------------------------------------------------------
{
//-------------------
//the next time CpuTimer0 'counter' reaches Period value go to A3
A_Task_Ptr = &A3;
//-------------------
}
//-----------------------------------------
void A3(void) // SPARE (not used)
//-----------------------------------------
{
//-----------------
//the next time CpuTimer0 'counter' reaches Period value go to A1
A_Task_Ptr = &A1;
//-----------------
}
//=================================================================================
// B - TASKS (executed in every 5 msec)
//=================================================================================
//----------------------------------- USER ----------------------------------------
//----------------------------------------
void B1(void) // Toggle GPIO-00
//----------------------------------------
{
//-----------------
//the next time CpuTimer1 'counter' reaches Period value go to B2
B_Task_Ptr = &B2;
//-----------------
}
//----------------------------------------
void B2(void) // SPARE
//----------------------------------------
{
//-----------------
//the next time CpuTimer1 'counter' reaches Period value go to B3
B_Task_Ptr = &B3;
//-----------------
}
//----------------------------------------
void B3(void) // SPARE
//----------------------------------------
{
//-----------------
//the next time CpuTimer1 'counter' reaches Period value go to B1
B_Task_Ptr = &B1;
//-----------------
}
//=================================================================================
// C - TASKS (executed in every 50 msec)
//=================================================================================
//--------------------------------- USER ------------------------------------------
//----------------------------------------
void C1(void) // Toggle GPIO-34
//----------------------------------------
{
GpioDataRegs.GPBTOGGLE.bit.GPIO34 = 1; // Blink LED
//-----------------
//the next time CpuTimer2 'counter' reaches Period value go to C2
C_Task_Ptr = &C2;
//-----------------
}
//----------------------------------------
void C2(void) // SPARE
//----------------------------------------
{
//-----------------
//the next time CpuTimer2 'counter' reaches Period value go to C3
C_Task_Ptr = &C3;
//-----------------
}
//-----------------------------------------
void C3(void) // SPARE
//-----------------------------------------
{
//-----------------
//the next time CpuTimer2 'counter' reaches Period value go to C1
C_Task_Ptr = &C1;
//-----------------
}
// MainISR
interrupt void MainISR(void)
{
// Verifying the ISR
IsrTicker++;
if(RunMotor)
{
// =============================== LEVEL 1 ======================================
// Checks target independent modules, duty cycle waveforms and PWM update
// Keep the motors disconnected at this level
// ==============================================================================
#if (BUILDLEVEL==LEVEL1)
// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the ramp control macro
// ------------------------------------------------------------------------------
rc1.TargetValue = SpeedRef;
RC_MACRO(rc1)
// ------------------------------------------------------------------------------
// Connect inputs of the RAMP GEN module and call the ramp generator macro
// ------------------------------------------------------------------------------
rg1.Freq = rc1.SetpointValue;
RG_MACRO(rg1)
// ------------------------------------------------------------------------------
// Connect inputs of the INV_PARK module and call the inverse park trans. macro
// ------------------------------------------------------------------------------
ipark1.Ds = VdTesting;
ipark1.Qs = VqTesting;
ipark1.Sine=_IQsinPU(rg1.Out);
ipark1.Cosine=_IQcosPU(rg1.Out);
IPARK_MACRO(ipark1)
// ------------------------------------------------------------------------------
// Connect inputs of the SVGEN_DQ module and call the space-vector gen. macro
// ------------------------------------------------------------------------------
svgen_dq1.Ualpha = ipark1.Alpha;
svgen_dq1.Ubeta = ipark1.Beta;
SVGEN_MACRO(svgen_dq1)
// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation macro
// ------------------------------------------------------------------------------
pwm1.MfuncC1 = _IQtoQ15(svgen_dq1.Ta);
pwm1.MfuncC2 = _IQtoQ15(svgen_dq1.Tb);
pwm1.MfuncC3 = _IQtoQ15(svgen_dq1.Tc);
PWM_MACRO(pwm1) // Calculate the new PWM compare values
EPwm1Regs.CMPA.half.CMPA=pwm1.PWM1out; // PWM 1A - PhaseA
EPwm2Regs.CMPA.half.CMPA=pwm1.PWM2out; // PWM 2A - PhaseB
EPwm3Regs.CMPA.half.CMPA=pwm1.PWM3out; // PWM 3A - PhaseC
// ------------------------------------------------------------------------------
// Connect inputs of the PWMDAC module
// ------------------------------------------------------------------------------
PwmDacCh1 = _IQtoQ15(svgen_dq1.Ta);
PwmDacCh2 = _IQtoQ15(svgen_dq1.Tb);
PwmDacCh3 = _IQtoQ15(svgen_dq1.Tc);
PwmDacCh4 = _IQtoQ15(svgen_dq1.Tb-svgen_dq1.Tc);
// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = _IQtoQ15(svgen_dq1.Ta);
DlogCh2 = _IQtoQ15(svgen_dq1.Tb);
DlogCh3 = _IQtoQ15(svgen_dq1.Tc);
DlogCh4 = _IQtoQ15(svgen_dq1.Tb-svgen_dq1.Tc);
#endif // (BUILDLEVEL==LEVEL1)
// =============================== LEVEL 2 ======================================
// Level 2 verifies the analog-to-digital conversion, offset compensation,
// clarke/park transformations (CLARKE/PARK), phase voltage calculations
// ==============================================================================
#if (BUILDLEVEL==LEVEL2)
// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the ramp control macro
// ------------------------------------------------------------------------------
rc1.TargetValue = SpeedRef;
RC_MACRO(rc1)
// ------------------------------------------------------------------------------
// Connect inputs of the RAMP GEN module and call the ramp generator macro
// ------------------------------------------------------------------------------
rg1.Freq = rc1.SetpointValue;
RG_MACRO(rg1)
// ------------------------------------------------------------------------------
// Measure phase currents, subtract the offset and normalize from (-0.5,+0.5) to (-1,+1).
// Connect inputs of the CLARKE module and call the clarke transformation macro
// ------------------------------------------------------------------------------
#ifdef DSP2803x_DEVICE_H
// clarke1.As=-(_IQ15toIQ((AdcResult.ADCRESULT1<<3)-cal_offset_A)<<1);
// clarke1.Bs=-(_IQ15toIQ((AdcResult.ADCRESULT2<<3)-cal_offset_B)<<1);
clarke1.As=(_IQ15toIQ((AdcResult.ADCRESULT1<<3)-cal_offset_A)<<1);
clarke1.Bs=(_IQ15toIQ((AdcResult.ADCRESULT2<<3)-cal_offset_B)<<1);
#endif
CLARKE_MACRO(clarke1)
// ------------------------------------------------------------------------------
// Connect inputs of the PARK module and call the park trans. macro
// ------------------------------------------------------------------------------
park1.Alpha = clarke1.Alpha;
park1.Beta = clarke1.Beta;
park1.Angle = rg1.Out;
park1.Sine = _IQsinPU(park1.Angle);
park1.Cosine = _IQcosPU(park1.Angle);
PARK_MACRO(park1)
// ------------------------------------------------------------------------------
// Connect inputs of the INV_PARK module and call the inverse park trans. macro
// ------------------------------------------------------------------------------
ipark1.Ds = VdTesting;
ipark1.Qs = VqTesting;
ipark1.Sine=park1.Sine;
ipark1.Cosine=park1.Cosine;
IPARK_MACRO(ipark1)
// ------------------------------------------------------------------------------
// Connect inputs of the VOLT_CALC module and call the phase voltage calc. macro
// ------------------------------------------------------------------------------
#ifdef DSP2803x_DEVICE_H
volt1.DcBusVolt = _IQ15toIQ((AdcResult.ADCRESULT3<<3)); // DC Bus voltage meas.
#endif
volt1.MfuncV1 = svgen_dq1.Ta;
volt1.MfuncV2 = svgen_dq1.Tb;
volt1.MfuncV3 = svgen_dq1.Tc;
VOLT_MACRO(volt1)
// ------------------------------------------------------------------------------
// Connect inputs of the SVGEN_DQ module and call the space-vector gen. macro
// ------------------------------------------------------------------------------
svgen_dq1.Ualpha = ipark1.Alpha;
svgen_dq1.Ubeta = ipark1.Beta;
SVGEN_MACRO(svgen_dq1)
// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation macro
// ------------------------------------------------------------------------------
pwm1.MfuncC1 = _IQtoQ15(svgen_dq1.Ta);
pwm1.MfuncC2 = _IQtoQ15(svgen_dq1.Tb);
pwm1.MfuncC3 = _IQtoQ15(svgen_dq1.Tc);
PWM_MACRO(pwm1) // Calculate the new PWM compare values
EPwm1Regs.CMPA.half.CMPA=pwm1.PWM1out; // PWM 1A - PhaseA
EPwm2Regs.CMPA.half.CMPA=pwm1.PWM2out; // PWM 2A - PhaseB
EPwm3Regs.CMPA.half.CMPA=pwm1.PWM3out; // PWM 3A - PhaseC
// ------------------------------------------------------------------------------
// Connect inputs of the PWCCMDAC module
// ------------------------------------------------------------------------------
PwmDacCh1 = _IQtoQ15(volt1.Valpha);
PwmDacCh2 = _IQtoQ15(clarke1.Alpha);
PwmDacCh3 = _IQtoQ15(volt1.Vbeta );
PwmDacCh4 = _IQtoQ15(clarke1.Beta);
// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = _IQtoQ15(volt1.Valpha);
DlogCh2 = _IQtoQ15(clarke1.Alpha);
DlogCh3 = _IQtoQ15(volt1.Vbeta );
DlogCh4 = _IQtoQ15(clarke1.Beta);
#endif // (BUILDLEVEL==LEVEL2)
// =============================== LEVEL 3 ======================================
// Level 3 auto-calculates the current sensor offset calibration
// ==============================================================================
#if (BUILDLEVEL==LEVEL3)
_iq IAfdbk;
_iq IBfdbk;
// ------------------------------------------------------------------------------
// Measure phase currents, subtract the offset and normalize from (-0.5,+0.5) to (-1,+1).
// ------------------------------------------------------------------------------
#ifdef DSP2803x_DEVICE_H
IAfdbk=_IQ15toIQ((AdcResult.ADCRESULT1<<3)-cal_offset_A)<<1;
IBfdbk=_IQ15toIQ((AdcResult.ADCRESULT2<<3)-cal_offset_B)<<1;
#endif
// ------------------------------------------------------------------------------
// LPF to average the calibration offsets
// Use the offsets calculated here to initialize cal_offset_A and cal_offset_B
// so that they are used for the remaining build levels
// ------------------------------------------------------------------------------
cal_offset_A = _IQ15mpy(cal_filt_gain,_IQtoIQ15(IAfdbk)) + cal_offset_A;
cal_offset_B = _IQ15mpy(cal_filt_gain,_IQtoIQ15(IBfdbk)) + cal_offset_B;
// ------------------------------------------------------------------------------
// force all PWMs to 0% duty cycle
// ------------------------------------------------------------------------------
EPwm1Regs.CMPA.half.CMPA=pwm1.PeriodMax; // PWM 1A - PhaseA
EPwm2Regs.CMPA.half.CMPA=pwm1.PeriodMax; // PWM 2A - PhaseB
EPwm3Regs.CMPA.half.CMPA=pwm1.PeriodMax; // PWM 3A - PhaseC
// ------------------------------------------------------------------------------
// Connect inputs of the PWMDAC module
// ------------------------------------------------------------------------------
PwmDacCh1 = _IQtoQ15(IAfdbk);
PwmDacCh2 = _IQtoQ15(IBfdbk);
PwmDacCh2 = _IQtoQ15(cal_offset_A);
PwmDacCh3 = _IQtoQ15(cal_offset_B);
// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = _IQtoQ15(IAfdbk);
DlogCh2 = _IQtoQ15(IBfdbk);
DlogCh3 = _IQtoQ15(cal_offset_A);
DlogCh4 = _IQtoQ15(cal_offset_B);
#endif // (BUILDLEVEL==LEVEL3)
// =============================== LEVEL 4 ======================================
// Level 4 verifies the dq-axis current regulation performed by PID and speed
// measurement modules
// ==============================================================================
// lsw=0: lock the rotor of the motor
// lsw=1: close the current loop
#if (BUILDLEVEL==LEVEL4)
// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the ramp control macro
// ------------------------------------------------------------------------------
if(lsw==0) rc1.TargetValue = 0;
else rc1.TargetValue = SpeedRef;
RC_MACRO(rc1)
// ------------------------------------------------------------------------------
// Connect inputs of the RAMP GEN module and call the ramp generator macro
// ------------------------------------------------------------------------------
rg1.Freq = rc1.SetpointValue;
RG_MACRO(rg1)
// ------------------------------------------------------------------------------
// Measure phase currents, subtract the offset and normalize from (-0.5,+0.5) to (-1,+1).
// Connect inputs of the CLARKE module and call the clarke transformation macro
// ------------------------------------------------------------------------------
#ifdef DSP2803x_DEVICE_H
// clarke1.As=-(_IQ15toIQ((AdcResult.ADCRESULT1<<3)-cal_offset_A)<<1);
// clarke1.Bs=-(_IQ15toIQ((AdcResult.ADCRESULT2<<3)-cal_offset_B)<<1);
clarke1.As=(_IQ15toIQ((AdcResult.ADCRESULT1<<3)-cal_offset_A)<<1);
clarke1.Bs=(_IQ15toIQ((AdcResult.ADCRESULT2<<3)-cal_offset_B)<<1);
#endif
CLARKE_MACRO(clarke1)
// ------------------------------------------------------------------------------
// Connect inputs of the PARK module and call the park trans. macro
// ------------------------------------------------------------------------------
park1.Alpha = clarke1.Alpha;
park1.Beta = clarke1.Beta;
if(lsw==0) park1.Angle = 0;
else if(lsw==1) park1.Angle = rg1.Out;
park1.Sine = _IQsinPU(park1.Angle);
park1.Cosine = _IQcosPU(park1.Angle);
PARK_MACRO(park1)
// ------------------------------------------------------------------------------
// Connect inputs of the PID_GRANDO_CONTROLLER module and call the PID IQ controller macro
// ------------------------------------------------------------------------------
if(lsw==0) pid1_iq.term.Ref = 0;
else if(lsw==1) pid1_iq.term.Ref = IqRef;
pid1_iq.term.Fbk = park1.Qs;
PID_GR_MACRO(pid1_iq)
// ------------------------------------------------------------------------------
// Connect inputs of the PID_GRANDO_CONTROLLER module and call the PID ID controller macro
// ------------------------------------------------------------------------------
if(lsw==0) pid1_id.term.Ref = _IQ(0.05);
else pid1_id.term.Ref = IdRef;
pid1_id.term.Fbk = park1.Ds;
PID_GR_MACRO(pid1_id)
// ------------------------------------------------------------------------------
// Connect inputs of the INV_PARK module and call the inverse park trans. macro
// ------------------------------------------------------------------------------
ipark1.Ds = pid1_id.term.Out;
ipark1.Qs = pid1_iq.term.Out ;
ipark1.Sine = park1.Sine;
ipark1.Cosine = park1.Cosine;
IPARK_MACRO(ipark1)
// ------------------------------------------------------------------------------
// Call the QEP calculation module
// ------------------------------------------------------------------------------
QEP_MACRO(qep1);
// ------------------------------------------------------------------------------
// Connect inputs of the SPEED_FR module and call the speed calculation macro
// ------------------------------------------------------------------------------
speed1.ElecTheta = qep1.ElecTheta;
speed1.DirectionQep = (int32)(qep1.DirectionQep);
SPEED_FR_MACRO(speed1)
// ------------------------------------------------------------------------------
// Connect inputs of the VOLT_CALC module and call the phase voltage calc. macro
// ------------------------------------------------------------------------------
#ifdef DSP2803x_DEVICE_H
volt1.DcBusVolt = _IQ15toIQ((AdcResult.ADCRESULT3<<3)); // DC Bus voltage meas.