main.c

#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File
#include "include.h"


// These are defined by the linker (see F28335.cmd)
extern Uint16 RamfuncsLoadStart;
extern Uint16 RamfuncsLoadEnd;
extern Uint16 RamfuncsRunStart;
extern Uint16 RamfuncsLoadSize;

static Uint16 cnt_500ms = 0;

//static Uint16 current_normal_cnt = 0,current_fault_cnt = 0, cnt_current = 0;
//#define TERMINAL_DEBUG

__interrupt void time0_isr(void);

void PowerUpReset(void)
{
    Uint16 Temp_WD = 0;
    if((SysCtrlRegs.WDCR & 0x80) == 0)//如果是上电复位
    {
        EALLOW;
        Temp_WD = SysCtrlRegs.SCSR;
        SysCtrlRegs.SCSR = (Temp_WD & 0xFE);//启动看门狗复位
        SysCtrlRegs.WDCR = 0x00B8;
        EDIS;
    }
    else
    {
        EALLOW;
        SysCtrlRegs.WDCR = 0x00E8;//关闭看门狗
        EDIS;
    }
}


int main(void) {

    PowerUpReset();
    // Step 1. Initialize System Control:
    InitSysCtrl();

    // Step 2. Initialize GPIO:
    LedInit();

    // 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();

    #ifdef _FLASH
    // Copy time critical code and Flash setup code to RAM
    // This includes the following ISR functions: epwm1_timer_isr(), epwm2_timer_isr()
    // epwm3_timer_isr and and InitFlash();
    // The  RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
    // symbols are created by the linker. Refer to the F28335.cmd file.

    memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (Uint32)&RamfuncsLoadSize);

    // Call Flash Initialization to setup flash waitstates
    // This function must reside in RAM

    InitFlash();
    #endif

    // ISR functions found within this file.
    EALLOW;  // This is needed to write to EALLOW protected registers
    PieVectTable.TINT0 = &time0_isr;
    EDIS;   // This is needed to disable write to EALLOW protected registers
    // Step 4. Initialize the Device Peripheral.
    //-Timer1 initialize
    InitCpuTimers();
    //-Configure CPU-Timer 0, 1, and 2 to interrupt every second:
    //-100MHz CPU Freq, 1 second Period (in uSeconds)
    ConfigCpuTimer(&CpuTimer0, 150, 5000);//5ms

    //-XINTF Module Initialize for AD2S1210
    Init_Zone();

    //-ADC Module Init
    Steering_ADC_Init();
    Steering_ADC_EPwm();
//    Steerint_ADC_DMA_Init();

    //-Init the ePWM
    BLDC_IO_Init();
    InitEPwmBLDC();
    Control_Init();

    //-SCI Module Initialize for 422
    Steering_SCIB_Init();

    ExternalInterruptInit();
    // Step 5. User specific code, enable interrupts:
    //-Initialize the variable
    StateMachine_Init(); // state machine initial

    // initial the ad2s1210
    AD2S1210_Init();

    //-System Check
    SelfCheck();
//    send_test1();

    // To ensure precise timing, use write-only instructions to write to the entire register. Therefore, if any
    // of the configuration bits are changed in ConfigCpuTimer and InitCpuTimers (in DSP2833x_CpuTimers.h), the
    // below settings must also be updated.
    CpuTimer0Regs.TCR.all = 0x4000; // Use write-only instruction to set TSS bit = 0

    PieCtrlRegs.PIEIER1.bit.INTx4 = 1;
    // Enable ADCINT in PIE
    PieCtrlRegs.PIEIER1.bit.INTx6 = 1;
    // Enable TINT0 in the PIE: Group 1 interrupt 7
    PieCtrlRegs.PIEIER1.bit.INTx7 = 1;

    // Enable CPU int1 which is connected to CPU-Timer 0
    IER |= M_INT1;

    EnableInterrupts();
    // 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):
    while(1)
    {
        if (0xAABB == TelemetrySendFlag)
        {
            BLDC_TelemetrySend();
            TelemetrySendFlag = 0;
        }

        if (0xABCD == Time5msSendFlag)
        {
            BLDC_CycleSend500ms();
            Time5msSendFlag = 0;
        }
        #ifdef TERMINAL_DEBUG
        if (0x1234 == TimeDQCurrentSendFlag)
        {
//            BLDC_TreePhaseCurrent();
//            BLDC_FeedbackCurrent();
//            if (0x1234 == update_flag)
//            {
//                BLDC_TreePhaseCurrentTest(CurrentA[cnt_current], CurrentB[cnt_current], CurrentC[cnt_current]);
//                BLDC_FeedbackCurrentTest(CurrentA[cnt_current], CurrentB[cnt_current]);
//                cnt_current = (cnt_current + 1) % 500;
//                if (0 == cnt_current)
//                {
//                    update_flag = 0xABCD;
//                }
//            }
            TimeDQCurrentSendFlag = 0;
        }
        #endif

        if (SELFCHECK == m2d_Messege.Commond)
        {
            BLDC_SelfCheck();
            m2d_Messege.Commond = 0;
        }
        else if (DELIVERRY == m2d_Messege.Commond)
        {
            CommandResponse(DELIVERRY_REACT);
            m2d_Messege.Commond = 0;
        }
        else if (RESET == m2d_Messege.Commond)
        {
            CommandResponse(RESET_REACT);
            m2d_Messege.Commond = 0;
        }
        else if (APROXMT_ZERO == m2d_Messege.Commond)
        {
            CommandResponse(APROXMT_ZERO_REACT);
            m2d_Messege.Commond = 0;
        }
        else
        {
        // do nothing
        }
    }
}


__interrupt void time0_isr(void)
{
    // Insert ISR Code here
//    BLDC_RotateTurnControl(d2m_Messege.ControlPhaseState);
//    BLDC_RotateTurnControlPro(d2m_Messege.ControlPhaseState);
//    BLDC_RotateTurnControlPosition(d2m_Messege.ControlPhaseState);

//    if (0xABCD == CurrentOverLoad)
//    {
//        if ( (d2m_Messege.MotorDriver_IA > 13.0f)
//          || (d2m_Messege.MotorDriver_IB > 13.0f)
//          || (d2m_Messege.MotorDriver_IC > 13.0f))
//        {
//            current_fault_cnt++;
//        }
//        else
//        {
//            current_normal_cnt++;
//        }
//        if (current_fault_cnt >= 2)
//        {
//            BLDC_Stop();
//            LedErr();
//            CurrentOverLoad = 0;
//        }
//        if (current_normal_cnt >= 10)
//        {
//            CurrentOverLoad = 0;
//        }
//    }
//    else
//    {
//        current_fault_cnt  = 0;
//        current_normal_cnt = 0;
//    }

    #ifdef TERMINAL_DEBUG
    cnt_500ms = (cnt_500ms + 1) % 10;
    if(1 == cnt_500ms)
    {
        TimeDQCurrentSendFlag = 0x1234;
    }
    #else
    cnt_500ms = (cnt_500ms + 1) % 100;
    #endif

    if(0 == cnt_500ms)
    {
        LedRunning();
        Time5msSendFlag = 0xABCD;
    }
// To receive more interrupts from this PIE group, acknowledge this interrupt
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
}