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Main Code Lab 7

This C code file contains the main function and other functions for a motor control application using an microcontroller. The main function initializes various peripherals like ADC, timers, PWM outputs. It contains the main control loop that runs continuously to read sensor values, calculate motor speed error, and update the PWM duty cycle output for closed-loop motor speed control. Other functions initialize the PWM modules, set up interrupts and define the interrupt service routine to process ADC conversion results.

Uploaded by

William Huang
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© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
400 views

Main Code Lab 7

This C code file contains the main function and other functions for a motor control application using an microcontroller. The main function initializes various peripherals like ADC, timers, PWM outputs. It contains the main control loop that runs continuously to read sensor values, calculate motor speed error, and update the PWM duty cycle output for closed-loop motor speed control. Other functions initialize the PWM modules, set up interrupts and define the interrupt service routine to process ADC conversion results.

Uploaded by

William Huang
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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C:\Users\William\Documents\School\Spring 2014\ECEN 442\Labs\Lab 7\Main.

Wednesday, April 16, 2014 12:42 PM

#include "DSP28x_Project.h" // Device Headerfile and Examples Include File //Timer Period for 20kHz #define EPWM_TIMER_TBPRD 2999; interrupt void adcint1_isr(void); void InitEPwm4(void); void InitEPwm6(void); //Initial Duty Cycle int16 duty_cycle = 100; int16 dac0 = 200; int16 dac1 = 200; volatile Uint32 speed = 0; long Result = 0; volatile volatile volatile volatile volatile volatile volatile int32 int32 int32 int32 int32 int32 int16 speed_ref=600; speed_error=0; integral=0; ki=8; kp=0; control=0; speed_scaler = 600;

void main() { InitSysCtrl(); DINT; InitPieCtrl(); InitAdc(); IER = 0x0000; IFR = 0x0000; InitPieVectTable(); //########################################################################### // User specific code: //########################################################################### EALLOW; //Mux GPIO6,GPIO10,GPIO11 to PWM pins GpioCtrlRegs.GPAMUX1.bit.GPIO6 = 1; GpioCtrlRegs.GPAMUX1.bit.GPIO10 = 1; GpioCtrlRegs.GPAMUX1.bit.GPIO11 = 1; //GPIO 7 set as output and low GpioCtrlRegs.GPAMUX1.bit.GPIO7 = 0; GpioCtrlRegs.GPADIR.bit.GPIO7 = 1; GpioDataRegs.GPACLEAR.bit.GPIO7 = 1; //MUX EQEP GpioCtrlRegs.GPAMUX2.bit.GPIO20 = 1; GpioCtrlRegs.GPAMUX2.bit.GPIO21 = 1;
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C:\Users\William\Documents\School\Spring 2014\ECEN 442\Labs\Lab 7\Main.c

Wednesday, April 16, 2014 12:42 PM

GpioCtrlRegs.GPAMUX2.bit.GPIO23 = 1; //Set up CpuTimer0 for 15 to 60 ms CpuTimer0Regs.PRD.all = 0x000DBB9F; CpuTimer0Regs.TCR.bit.TSS = 1; CpuTimer0Regs.TCR.bit.TRB = 1; CpuTimer0Regs.TCR.bit.TSS = 0; CpuTimer0Regs.TCR.bit.TIE = 1; // Set up ADC Channel, SOC trigger and acquisition period AdcRegs.ADCSOC0CTL.bit.CHSEL = 0x0; AdcRegs.ADCSOC0CTL.bit.TRIGSEL = 0x01; AdcRegs.ADCSOC0CTL.bit.ACQPS = 0x3F; //Set up continuous Update and enable EOC interrupt AdcRegs.INTSEL1N2.bit.INT1CONT = 1; AdcRegs.INTSEL1N2.bit.INT1E = 1; AdcRegs.INTSEL1N2.bit.INT1SEL = 0x00; //set up custom interupt handling PieVectTable.ADCINT1 = &adcint1_isr; PieCtrlRegs.PIECTRL.bit.ENPIE = 1; PieCtrlRegs.PIEIER1.bit.INTx1 = 1; IER |= M_INT1; //Set up EQEP EQep1Regs.QDECCTL.bit.QSRC=0; EQep1Regs.QEPCTL.bit.PCRM=1; EQep1Regs.QPOSMAX=0xFFFFFFFF; EQep1Regs.QEPCTL.bit.QPEN=1; // Enable the PIE block // Enable PIE Group 1 INT1 (for SOC0) // Enable CPU INT1 includes SOC0

// // // //

QEP quadrature count mode QPOSCNT reset on maximum Maximum value of QPOSCNT QEP enable

//Disable EPWM CLK to syncronize clks SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0; EDIS; InitEPwm4(); InitEPwm6(); //Enable EPWM clk EALLOW; SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1; EDIS; EINT; for(;;){ dac0 = speed; dac1 = speed_ref; duty_cycle = control; EPwm6Regs.CMPA.half.CMPA = dac0; EPwm6Regs.CMPB = dac1; EPwm4Regs.CMPA.half.CMPA = duty_cycle;
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C:\Users\William\Documents\School\Spring 2014\ECEN 442\Labs\Lab 7\Main.c

Wednesday, April 16, 2014 12:42 PM

} } //###################### End of main code ####################### interrupt void adcint1_isr(void) { //Save adc result back to Result variable Result = AdcResult.ADCRESULT0; PieCtrlRegs.PIEACK.all = PIEACK_GROUP1; speed_ref = speed_scaler * (AdcResult.ADCRESULT0/1024); // Speed reference speed = (EQep1Regs.QPOSCNT*67*60)/4000; EQep1Regs.QPOSCNT = 0; speed_error = speed_ref-speed; // Speed error calculation integral = integral+speed_error/ki; // Controller integrator if(integral < 0){ integral = 0; } if(integral > 2999 ){ integral = EPWM_TIMER_TBPRD; } control = speed_error*kp + integral; //Controller proportional + integrator } void InitEPwm4() { // Setup TBCLK EPwm4Regs.TBCTL.bit.CTRMODE = 0; EPwm4Regs.TBPRD = EPWM_TIMER_TBPRD; EPwm4Regs.TBCTL.bit.HSPCLKDIV = 0; EPwm4Regs.TBCTL.bit.CLKDIV = 0; // Setup shadow register load on EPwm4Regs.CMPCTL.bit.SHDWAMODE = EPwm4Regs.CMPCTL.bit.SHDWBMODE = EPwm4Regs.CMPCTL.bit.LOADAMODE = EPwm4Regs.CMPCTL.bit.LOADBMODE =

// Count up // Set timer period // Clock ratio to SYSCLKOUT

ZERO CC_SHADOW; CC_SHADOW; CC_CTR_ZERO; CC_CTR_ZERO;

// Set Compare values,Compare B is not used EPwm4Regs.CMPA.half.CMPA = duty_cycle; // Set actions EPwm4Regs.AQCTLA.bit.ZRO = AQ_SET; EPwm4Regs.AQCTLA.bit.CAU = AQ_CLEAR; } void InitEPwm6() { // Setup TBCLK EPwm6Regs.TBCTL.bit.CTRMODE = 0; EPwm6Regs.TBPRD = EPWM_TIMER_TBPRD; EPwm6Regs.TBCTL.bit.HSPCLKDIV = 0; EPwm6Regs.TBCTL.bit.CLKDIV = 0;

// Set compare A value

// Set PWM4A pin on Zero // Clear PWM4A pin on event A, up count

// Count up // Set timer period // Clock ratio to SYSCLKOUT


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C:\Users\William\Documents\School\Spring 2014\ECEN 442\Labs\Lab 7\Main.c

Wednesday, April 16, 2014 12:42 PM

// Setup shadow register load on EPwm6Regs.CMPCTL.bit.SHDWAMODE = EPwm6Regs.CMPCTL.bit.SHDWBMODE = EPwm6Regs.CMPCTL.bit.LOADAMODE = EPwm6Regs.CMPCTL.bit.LOADBMODE = // Set Compare values EPwm6Regs.CMPA.half.CMPA = dac0; EPwm6Regs.CMPB = dac1; // Set actions EPwm6Regs.AQCTLA.bit.ZRO EPwm6Regs.AQCTLA.bit.CAU EPwm6Regs.AQCTLB.bit.ZRO EPwm6Regs.AQCTLB.bit.CBU }

ZERO CC_SHADOW; CC_SHADOW; CC_CTR_ZERO; CC_CTR_ZERO;

// Set compare A value // Set compare B value

= = = =

AQ_SET; AQ_CLEAR; AQ_SET; AQ_CLEAR;

// // // //

Set PWM7B pin on Zero Clear PWM1A pin on event B, up count Set PWM7B pin on Zero Clear PWM1A pin on event B, up count

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