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Inverter_first_version.cpp
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Inverter_first_version.cpp
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//###########################################################################
// Description:
//! \addtogroup f2803x_example_list
//! <h1>Cpu Timer (cpu_timer)</h1>
//!
//! This example configures CPU Timer0, 1, and 2 and increments
//! a counter each time the timer asserts an interrupt.
//!
//! \b Watch \b Variables \n
//! - CpuTimer0.InterruptCount
//! - CpuTimer1.InterruptCount
//! - CpuTimer2.InterruptCount
//
//###########################################################################
// $TI Release: F2803x C/C++ Header Files and Peripheral Examples V130 $
// $Release Date: May 8, 2015 $
// $Copyright: Copyright (C) 2009-2015 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
#include "DSP28x_Project.h" // Device Headerfile and Examples Include File
// Prototype statements for functions found within this file.
__interrupt void cpu_timer0_isr(void);
void InitEPwm1Example(void);
void InitEPwm2Example(void);
void InitPIvalue(void);
int ADCValue[256] , ADCCount = 0;
float v1, v2, verr, vk1, vk2, vout, vr, z1=0, z2=0, vko1, vko2, vou1, vou2;
float kP, kI ;
int i ; // Loop Count
int sintable1[256]=
{
0, 13, 25, 38, 50, 63, 75, 88, 100, 112, 124, 137, 149, 161, 172, 184,
196, 207, 219, 230, 241, 252, 263, 274, 284, 295, 305, 315, 325, 334, 344, 353,
362, 371, 379, 388, 396, 404, 411, 419, 426, 433, 439, 445, 452, 457, 463, 468,
473, 478, 482, 486, 490, 493, 497, 500, 502, 504, 506, 508, 510, 511, 511, 512,
512, 512, 511, 511, 510, 508, 506, 504, 502, 500, 497, 493, 490, 486, 482, 478,
473, 468, 463, 457, 452, 445, 439, 433, 426, 419, 411, 404, 396, 388, 379, 371,
362, 353, 344, 334, 325, 315, 305, 295, 284, 274, 263, 252, 241, 230, 219, 207,
196, 184, 172, 161, 149, 137, 124, 112, 100, 88, 75, 63, 50, 38, 25, 13,
0, -13, -25, -38, -50, -63, -75, -88, -100, -112, -124, -137, -149, -161, -172, -184,
-196, -207, -219, -230, -241, -252, -263, -274, -284, -295, -305, -315, -325, -334, -344, -353,
-362, -371, -379, -388, -396, -404, -411, -419, -426, -433, -439, -445, -452, -457, -463, -468,
-473, -478, -482, -486, -490, -493, -497, -500, -502, -504, -506, -508, -510, -511, -511, -512,
-512, -512, -511, -511, -510, -508, -506, -504, -502, -500, -497, -493, -490, -486, -482, -478,
-473, -468, -463, -457, -452, -445, -439, -433, -426, -419, -411, -404, -396, -388, -379, -371,
-362, -353, -344, -334, -325, -315, -305, -295, -284, -274, -263, -252, -241, -230, -219, -207,
-196, -184, -172, -161, -149, -137, -124, -112, -100, -88, -75, -63, -50, -38, -25, -13,
};
void main(void)
{
InitPIvalue();
InitSysCtrl();
DINT;
InitPieCtrl();
IER = 0x0000;
IFR = 0x0000;
InitPieVectTable();
//Configure Epwm1 , 2
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
InitEPwm1Gpio();//Configure GPIO0 as EPWM1A , GPIO1 as EPWM1B
InitEPwm2Gpio();//Configure GPIO2 as EPWM1A , GPIO3 as EPWM1B
InitEPwm1Example();
InitEPwm2Example();
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
SysCtrlRegs.PCLKCR1.bit.EPWM1ENCLK = 1;
SysCtrlRegs.PCLKCR1.bit.EPWM2ENCLK = 1;
// configure ADCSCOC0
EALLOW;
AdcRegs.ADCCTL1.bit.ADCENABLE = 0; // 不致能ADC (在initadc中已經致能)
AdcRegs.ADCCTL1.bit.INTPULSEPOS = 1; //ADCINT1 trips after AdcResults latch
AdcRegs.INTSEL1N2.bit.INT1E = 0; //disabled ADCINT1
AdcRegs.INTSEL1N2.bit.INT1CONT = 0; //Disable ADCINT1 Continuous mode
// AdcRegs.INTSEL1N2.bit.INT1SEL = 0; //setup EOC0 to trigger ADCINT1 to fire
AdcRegs.ADCSOC0CTL.bit.CHSEL = 1; //set SOC0 channel select to ADCINA1
AdcRegs.ADCSOC0CTL.bit.TRIGSEL = 1; //set SOC0 start trigger on CPUtimer
AdcRegs.ADCSOC0CTL.bit.ACQPS = 6;//set SOC0 S/H Window to 7 ADC Clock Cycles, (6 ACQPS plus 1)
//AdcRegs.ADCINTFLGCLR.bit.ADCINT1 = 1;
EDIS;
// Configure Gpio control
EALLOW;
GpioCtrlRegs.GPAMUX1.bit.GPIO4 = 0; // GPIO ADC開關
GpioCtrlRegs.GPADIR.bit.GPIO4 = 0; // input
GpioCtrlRegs.GPAPUD.bit.GPIO4 = 0;
GpioCtrlRegs.GPAMUX1.bit.GPIO6 = 0; // GPIO
GpioCtrlRegs.GPADIR.bit.GPIO6 = 1; // OUTput
GpioDataRegs.GPACLEAR.bit.GPIO6 = 1; // 當ADC ON/OFF 標示燈
GpioCtrlRegs.GPAMUX1.bit.GPIO8 = 0; // GPIO ePWM開關
GpioCtrlRegs.GPADIR.bit.GPIO8 = 0;
//GpioCtrlRegs.GPAQSEL1.bit.GPIO3 = 0; // XINT2 Synch to SYSCLKOUT only
// GpioIntRegs.GPIOXINT2SEL.bit.GPIOSEL = 3; // XINT2 is GPIO3
GpioCtrlRegs.GPAPUD.bit.GPIO8 = 0; //
GpioCtrlRegs.GPAMUX1.bit.GPIO10 = 0; // GPIO
GpioCtrlRegs.GPADIR.bit.GPIO10 = 1; // OUTput
GpioDataRegs.GPACLEAR.bit.GPIO10 = 1; // 當 ePWM ON/OFF 標示燈
GpioCtrlRegs.GPAMUX1.bit.GPIO12 = 0; // GPIO
GpioCtrlRegs.GPADIR.bit.GPIO12 = 1; // OUTput 閃爍用
GpioDataRegs.GPACLEAR.bit.GPIO12 = 1;
EDIS;
// Configure Cputimer
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
InitCpuTimers(); // For this example, only initialize the Cpu Timer
ConfigCpuTimer(&CpuTimer0, 1, 3906);
CpuTimer0Regs.TCR.all = 0x4000; // Use write-only instruction to set TSS bit = 0
IER |= M_INT1;
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
for(;;);
}
void InitPIvalue(){
for( i=0;i<255;i++) ADCValue[i] = 0;
}
void InitEPwm1Example() {
SysCtrlRegs.PCLKCR1.bit.EPWM1ENCLK = 1;
// Setup TBCLK
EPwm1Regs.TBPRD = 1500; // Set timer period 801 TBCLKs
// EPwm1Regs.TBPHS.half.TBPHS = 0x0000; // Phase is 0
EPwm1Regs.TBCTR = 0x0000; // Clear counter
// Set Compare values
EPwm1Regs.CMPA.half.CMPA = 1500; // Set compare A value
EPwm1Regs.CMPB = 1500; // Set Compare B value
// Setup counter mode
EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN; // Count up
EPwm1Regs.TBCTL.bit.PHSEN = 0x00; // Enable phase loading
EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0; // Clock ratio to SYSCLKOUT
EPwm1Regs.TBCTL.bit.CLKDIV = 0;
EPwm1Regs.TBCTL.bit.SYNCOSEL = 0x01;
// Setup shadowing
EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;
EPwm1Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO; // Load on Zero
EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
// Set actions
EPwm1Regs.AQCTLA.bit.CAU = AQ_CLEAR; // Set PWM1A on event A, up count
EPwm1Regs.AQCTLA.bit.CAD = AQ_CLEAR; // Clear PWM1A on event A, down count
EPwm1Regs.DBCTL.bit.IN_MODE = 0x00;
EPwm1Regs.DBCTL.bit.POLSEL = 0x01;
EPwm1Regs.DBCTL.bit.OUT_MODE = 0x01;
EPwm1Regs.DBCTL.bit.HALFCYCLE = 0x00;
EPwm1Regs.DBRED = 0;
EPwm1Regs.DBFED = 0;
}
void InitEPwm2Example() {
SysCtrlRegs.PCLKCR1.bit.EPWM2ENCLK = 1;
// Setup TBCLK
EPwm2Regs.TBPRD = 1500; // Set timer period 801 TBCLKs
//EPwm2Regs.TBPHS.half.TBPHS = 0; // Phase is 0
EPwm2Regs.TBCTR = 0x0000; // Clear counter
// Set Compare values
EPwm2Regs.CMPA.half.CMPA = 1050; // Set compare A value
EPwm2Regs.CMPB = 1050; // Set Compare B value
// Setup counter mode
EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN; // Count up
EPwm2Regs.TBCTL.bit.PHSEN = 0x01; // Enable phase loading
EPwm2Regs.TBCTL.bit.HSPCLKDIV = 0; // Clock ratio to SYSCLKOUT
EPwm2Regs.TBCTL.bit.CLKDIV = 0;
EPwm2Regs.TBCTL.bit.PHSDIR = TB_DOWN;
EPwm2Regs.TBCTL.bit.PRDLD = TB_SHADOW;
// EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
// Setup shadowing
EPwm2Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;
EPwm2Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
EPwm2Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO; // Load on Zero
EPwm2Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
// Set actions
EPwm2Regs.AQCTLA.bit.CAU = AQ_CLEAR; // Set PWM2A on event A, up count // Set PWM1A on event A, up count
EPwm2Regs.AQCTLA.bit.CAD = AQ_CLEAR;
EPwm2Regs.DBCTL.bit.IN_MODE = 0x00;
EPwm2Regs.DBCTL.bit.POLSEL = 0x01;
EPwm2Regs.DBCTL.bit.OUT_MODE = 0x01;
EPwm1Regs.DBCTL.bit.HALFCYCLE = 0x00;
EPwm2Regs.DBRED = 0;
EPwm2Regs.DBFED = 0;
}
__interrupt void cpu_timer0_isr(void)
{
DELAY_US(10);
ADCValue[ADCCount] = AdcResult.ADCRESULT0;
// Configure protect
if(ADCValue[ADCCount] >= 3583){
EPwm1Regs.AQCTLA.bit.CAU = AQ_CLEAR;
EPwm1Regs.AQCTLA.bit.CAD = AQ_CLEAR;
EPwm2Regs.AQCTLA.bit.CAU = AQ_CLEAR;
EPwm2Regs.AQCTLA.bit.CAD = AQ_CLEAR;
while(1);
}
// Detect the Epwm Switch
if(GpioDataRegs.GPADAT.bit.GPIO8 == 0){
EPwm1Regs.CMPA.half.CMPA = 1500 ;
EPwm1Regs.AQCTLA.bit.CAU = AQ_CLEAR;
EPwm1Regs.AQCTLA.bit.CAD = AQ_CLEAR;
EPwm2Regs.AQCTLA.bit.CAU = AQ_CLEAR;
EPwm2Regs.AQCTLA.bit.CAD = AQ_CLEAR;
for( i=0;i<256;i++) ADCValue[i] =0 ;
z1=0; z2=0;
GpioDataRegs.GPACLEAR.bit.GPIO10 = 1;
}else{
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;
EPwm1Regs.AQCTLA.bit.CAD = AQ_CLEAR;
EPwm2Regs.AQCTLA.bit.CAU = AQ_SET;
EPwm2Regs.AQCTLA.bit.CAD = AQ_CLEAR;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
GpioDataRegs.GPASET.bit.GPIO10 = 1;
}
// Detect the ADC Switch
if(GpioDataRegs.GPADAT.bit.GPIO4 ==0){
EPwm1Regs.CMPA.half.CMPA = 1500 ;
GpioDataRegs.GPACLEAR.bit.GPIO6 = 1;
for( i=0;i<256;i++) ADCValue[i] =0 ;
z1=0; z2=0;
}else if(GpioDataRegs.GPADAT.bit.GPIO4 ==1 && GpioDataRegs.GPADAT.bit.GPIO8 == 1 ){
v1 = 3174;
v2 = 0;
for(i=0;i<256;i++) v2 += ADCValue[i] ;
kP = 0.05;
kI = 0.0005;
verr = v1 - v2;
vk2 = verr + z1;
z1 = verr;
vko2 =(int)( vk2 * kI );
if (vko2 >= 1500)
{vko2 = 1500;}
else if (vko2 <= -1300) /////////////////////// 變頻要改
{vko2 = -1300;}
vou2 = vko2 + z2;
z2 = vou2;
vk1 = verr;
vko1 =(int) (vk1 * kP) ;
vout =(int)( vou2 + vko1);
if (vout >= 750) { ///////// 變頻要改
vout = 750;
} else if (vout <= 0) {
vout = 0;
}
EPwm1Regs.CMPA.half.CMPA = 1500 - (750 + ( vout*( sintable1[ADCCount] ) )>>9 );
EPwm1Regs.CMPA.half.CMPA = 1500 - (750 + ( ( vout*( sintable1[ADCCount] ) )>>9 )*(-1));
GpioDataRegs.GPASET.bit.GPIO6 = 1;
}else{
GpioDataRegs.GPASET.bit.GPIO6 = 1;
}
if( ADCCount != 255) ADCCount++;
else ADCCount = 0;
PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
}
//===========================================================================
// No more.
//===========================================================================