Digital Boost Converter Example for DSP

  1 //###########################################################################
  2 //
  3 // Original Author: D.F.
  4 //
  5 // $TI Release: 2833x/2823x Header Files and Peripheral Examples V133 $
  6 // $Release Date: June 8, 2012 $
  7 //###########################################################################
  8 
  9 #include "DSP28x_Project.h"
 10 #include "math.h"
 11 #include "stdlib.h"
 12 #include "stdio.h"
 13 
 14 // Prototype statements for functions found within this file.
 15 
 16 //中斷副程式
 17 interrupt void system_isr(void);
 18 interrupt void uart_isr(void);
 19 
 20 //其他副程式
 21 void ADC_setup(void);
 22 void GPIO_Select(void);
 23 void InitEPwm1(void);                  //Battery開關20kHz使用
 24 void InitEPwm6(void);                 //System中斷60kHz使用
 25 void scia_echoback_init(void);
 26 void scia_fifo_init(void);
 27 void scia_xmit(int a);
 28 void scia_msg(char *msg);
 29 
 30 // Global variables
 31 Uint16 LoopCount;
 32 float timercount=0,sec=0;
 33 float fsample = 60000;             //60k
 34 float Tsample=0.00001667;   //除數被除數都要用float或double，不然會錯
 35 
 36 //AD參數
 37 float ADCa4=0,ADCa5=0,ADCa6=0,ADCa7=0;    //給ADCa用的參數
 38 float ADCb0=0,ADCb1=0,ADCb2=0,ADCb3=0,ADCb4=0,ADCb5=0,ADCb6=0,ADCb7=0;    //給ADCb用的參數
 39 
 40 //Battery Converter參數
 41 float Digital_Vin_Battery=0,Digital_Iin_Battery=0,Digital_Vout_Battery=0,Digital_Iout_Battery=0;
 42 float Actual_Vin_Battery=0, Actual_Iin_Battery=0,Actual_Vout_Battery=0, Actual_Iout_Battery=0;
 43 float Actual_Pin=0, Actual_Pout=0,Actual_Eff;
 44 float Vout_Battery_ref=250;                                   //BUS Voltage=300V
 45 float Battery_command=0.05;
 46 float Vout_Battery_error=0, Battery_temp=0;
 47 float kp_Battery=0.0005, ki_Battery=0.02;
 48 
 49 //與電腦通訊的參數
 50 int B0=0,B1=0,B2=0,B3=0,B4=0,B5=0,B6=0,B7=0;                             //10Hz中斷用來與電腦通訊的參數
 51 //int Bb0=0,Bb1=0,Bb2=0,Bb3=0,Bb4=0,Bb5=0,Bb6=0,Bb7=0;
 52 
 53 char *msg=0;
 54 
 55 //***************主程式***************//
 56 main()
 57 {
 58 // Step 1. Initialize System Control:
 59    InitSysCtrl();
 60 
 61    //***************晶片頻率配置(150MHz)***************//
 62    EALLOW;
 63    #if (CPU_FRQ_150MHZ)     // Default - 150 MHz SYSCLKOUT
 64      #define ADC_MODCLK 0x3 // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 150/(2*3)   = 25.0 MHz
 65    #endif
 66    #if (CPU_FRQ_100MHZ)
 67      #define ADC_MODCLK 0x2 // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 100/(2*2)   = 25.0 MHz
 68    #endif
 69    EDIS;
 70    //***************System系統頻率配置(15MHz)***************//
 71    EALLOW;
 72    SysCtrlRegs.HISPCP.all = ADC_MODCLK;  //Define ADCCLK clock frequency(ADC頻率為25MHz)
 73    EDIS;
 74 
 75 // Step 2. Initialize GPIO and UART:
 76    InitGpio();
 77    InitSciaGpio();
 78 
 79 // Step 3. Clear all interrupts and initialize PIE vector table:
 80    DINT;
 81    InitPieCtrl();
 82    IER = 0x0000;          // Disable CPU interrupts and clear all CPU interrupt flags
 83    IFR = 0x0000;          // Disable CPU interrupts and clear all CPU interrupt flags
 84    InitPieVectTable(); // Initialize the PIE vector table with pointers to the shell Interrupt
 85 
 86    //***************中斷向量表配置***************//   //目前CpuTimer的中斷好像比EPWM6的中斷還優先，可能會有問題
 87    EALLOW;  // This is needed to write to EALLOW protected register
 88    PieVectTable.ADCINT = &system_isr;     //系統用PAW6中斷
 89  //  PieVectTable.TINT0 = &uart_isr;       //UART用系統內部CPUT_IMER中斷
 90    EDIS;    // This is needed to disable write to EALLOW protected registers
 91 
 92 // Step 4. Initialize all the Device Peripherals:
 93    InitCpuTimers();
 94    InitAdc();
 95    ADC_setup();
 96 
 97    ConfigCpuTimer(&CpuTimer0,15,1000000);   //決定CpuTimer0的中段時間，頻率為150M/15/1000=10kHz
 98    CpuTimer0Regs.TCR.all=0x4000;
 99 // Step 5. User specific code, enable interrupts:
100 
101 // Enable ADCINT in PIE
102    PieCtrlRegs.PIEIER1.bit.INTx6 = 1;    //INTx6 為EPWM6的中斷，因此靠EPWM6來做中斷副程式(可查中斷向量表)
103 //   PieCtrlRegs.PIEIER1.bit.INTx7 = 1;    //INTx7 為CpuTimer0的中斷，因此靠CpuTimer0來做中斷副程式(可查中斷向量表)
104    IER |= M_INT1; // Enable CPU Interrupt 1
105    EINT;          // Enable Global interrupt INTM
106    ERTM;          // Enable Global realtime interrupt DBGM
107 
108    LoopCount = 0;
109 
110    scia_fifo_init();       // Initialize the SCI FIFO
111    scia_echoback_init();  // Initalize SCI for echoback
112    InitEPwm1();
113    InitEPwm6();
114    GPIO_Select();
115 
116 // Wait for ADC interrupt
117    for(;;)
118    {
119       LoopCount++;
120    }
121 
122 }
123 
124 //***************系統中斷副程式以下***************//
125 interrupt void  system_isr(void)
126 {
127    timercount++;
128    if(timercount==60000) sec++;
129    if(timercount>=60000) timercount=0;
130 
131    //ADC取值
132    Digital_Vin_Battery    = AdcRegs.ADCRESULT0  >>4;
133    Digital_Iin_Battery      = AdcRegs.ADCRESULT1  >>4;
134    Digital_Vout_Battery = AdcRegs.ADCRESULT2  >>4;
135    Digital_Iout_Battery   = AdcRegs.ADCRESULT3  >>4;
136 
137     //計算實際值 ""3/4095=0.00073260073"" 數位轉到DSP收到的0-3V,再轉回實際值
138     Actual_Vin_Battery     = (Digital_Vin_Battery/4095)*317;                                // 130為電壓最大值
139     Actual_Iin_Battery     = (Digital_Iin_Battery-1.5*4095/3)*3/4095*12/3*2;        // 12為電流最大值   *2因為電流有正負交流
140     Actual_Vout_Battery    = (Digital_Vout_Battery/4095)*305;
141     Actual_Iout_Battery    = (Digital_Iout_Battery-1.5*4095/3)*3/4095*5/3*2;
142 
143     Actual_Pin=Actual_Vin_Battery*Actual_Iin_Battery;
144     Actual_Pout=Actual_Vout_Battery*Actual_Iout_Battery;
145     Actual_Eff=Actual_Pout/Actual_Pin*100;
146     Vout_Battery_error=Vout_Battery_ref-Actual_Vout_Battery;
147 
148     //*****測試PWM用3V電阻分壓穩1.55V***//
149     //   = Digital_Vout_Battery*3/4095;
150     //Vout_Battery_error=1.55-Actual_Vout_Battery;
151 
152     if(1)//可以作300V+-?的判斷
153     {
154         Battery_temp=Battery_temp+Vout_Battery_error*Tsample;          //積分 : 上次的量+誤差量*Tsample
155         if(Battery_temp<=-60) Battery_temp=-60;             //限制暫存不要衝太快
156         if(Battery_temp>=60)  Battery_temp=60;               //限制暫存不要衝太快
157         Battery_command=kp_Battery*Vout_Battery_error+ki_Battery*Battery_temp;      //kp*誤差+ki*積分誤差量
158         if(Battery_command<=0.05) Battery_command=0.05;     //限制輸出不可超出此範圍
159         if(Battery_command>=0.8) Battery_command=0.8;     //限制輸出不可超出此範圍
160     }
161     if(Actual_Vin_Battery>=8)//可以作保護判斷(進入else,關閉EPWM)
162     {
163         InitEPwm1Gpio();
164         EPwm1Regs.CMPA.half.CMPA=Battery_command*3750;
165 
166         //EPwm1Regs.CMPA.half.CMPA=Digital_Vin_Battery/4095*3750;   //測試AD進來的數值直接轉成PWM
167     }
168     else   //超過保戶限制，將PWM強制式設置成GPIO形式，並令為OFF，然後清除累積誤差
169     {
170         EALLOW;
171         GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 0;      // Configure GPIO0 as GPIO0   (GPIO原本EPWM功能設為I/O輸出角位)
172         GpioCtrlRegs.GPADIR.bit.GPIO0=1;      // 設定GPIO在輸入輸出模式時 : 0為輸入 1為輸出 (is used for output)
173         GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 0;      // Configure GPIO1 as GPIO1   (GPIO原本EPWM功能設為I/O輸出角位)
174         GpioCtrlRegs.GPADIR.bit.GPIO1=1;      // 設定GPIO在輸入輸出模式時 : 0為輸入 1為輸出 (is used for output)
175         EDIS;
176           GpioDataRegs.GPACLEAR.bit.GPIO0=1;    //MOSFET turn off   (Inverter兩臂4開關turn OFF)
177           GpioDataRegs.GPACLEAR.bit.GPIO1=1;    //MOSFET turn off   (Inverter兩臂4開關turn OFF)
178            //清除誤差的累積
179           Battery_temp=0;
180           Battery_command=0;
181           Vout_Battery_error=0;
182           GpioDataRegs.GPATOGGLE.bit.GPIO14=1;
183     }
184 //   ADCa4 = AdcRegs.ADCRESULT4  >>4;
185 //   ADCa5 = AdcRegs.ADCRESULT5  >>4;
186 //   ADCa6 = AdcRegs.ADCRESULT6  >>4;
187 //   ADCa7 = AdcRegs.ADCRESULT7  >>4;
188 //   ADCb0 = AdcRegs.ADCRESULT8  >>4;
189 //   ADCb1 = AdcRegs.ADCRESULT9  >>4;
190 //   ADCb2 = AdcRegs.ADCRESULT10 >>4;
191 //   ADCb3 = AdcRegs.ADCRESULT11 >>4;
192 //   ADCb4 = AdcRegs.ADCRESULT12 >>4;
193 //   ADCb5 = AdcRegs.ADCRESULT13 >>4;
194 //   ADCb6 = AdcRegs.ADCRESULT14 >>4;
195 //   ADCb7 = AdcRegs.ADCRESULT15 >>4;
196 
197    GpioDataRegs.GPATOGGLE.bit.GPIO13=1;  //因為60k才驅動一次，因此示波器看到的方波應該為30kHz
198    // Reinitialize for next ADC sequence
199    AdcRegs.ADCTRL2.bit.RST_SEQ1 = 1;         // Reset SEQ1
200    AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;       // Clear INT SEQ1 bit
201    PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;   // Acknowledge interrupt to PIE
202    return;
203 }
204 //***************系統中斷副程式以上***************//
205 
206 
207 //***************UART中斷副程式以下***************//
208 interrupt void  uart_isr(void)
209 {
210     CpuTimer0.InterruptCount++;
211     B0=Digital_Vin_Battery;                                 //傳回電腦終端機的參數
212     B1=Digital_Iin_Battery;                                  //傳回電腦終端機的參數
213     B2=Digital_Vout_Battery;                             //傳回電腦終端機的參數
214     B3=Digital_Iout_Battery;                              //傳回電腦終端機的參數
215     B4=ADCa4;                                  //傳回電腦終端機的參數
216     B5=ADCa5;                                  //傳回電腦終端機的參數
217     B6=ADCa6;                                  //傳回電腦終端機的參數
218     B7=ADCa7;                                  //傳回電腦終端機的參數
219     sprintf(msg,"\r\n A%4d B%4d C%4d D%4d E%4d F%4d G%4d H%4d \n\0",B0,B1,B2,B3,B4,B5,B6,B7);
220     scia_msg(msg);
221     //GpioDataRegs.GPATOGGLE.bit.GPIO14=1;  //因為10Hz才驅動一次，因此示波器看到的方波應該為5Hz
222     PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
223 }
224 //***************UART中斷副程式以上***************//
225 
226 
227 //***************GOIP設置以下***************//
228 void GPIO_Select(void)
229 {
230     //GPAMUX1:GPIO0  ~GPIO15    的設定
231     //GPAMUX2:GPIO16~GPIO31    的設定
232 
233     EALLOW;
234     //GPIO13配置為System的系統中斷確認
235     GpioCtrlRegs.GPAMUX1.bit.GPIO13=0;  // 0為GPIO一般輸入輸出
236     GpioCtrlRegs.GPADIR.bit.GPIO13=1;      // 設定GPIO在輸入輸出模式時 : 0為輸入 1為輸出 (is used for output)
237     //GPIO14配置為UART的系統中斷確認
238     GpioCtrlRegs.GPAMUX1.bit.GPIO14=0;       // 0為GPIO一般輸入輸出
239     GpioCtrlRegs.GPADIR.bit.GPIO14=1;           // 設定GPIO在輸入輸出模式時 : 0為輸入 1為輸出 (is used for output)
240     EDIS;
241 
242     GpioDataRegs.GPASET.bit.GPIO13=1;//turn on GPIO12 (initial GPIO12 state to high)
243     GpioDataRegs.GPASET.bit.GPIO14=1;//turn on GPIO14 (initial GPIO14 state to high)
244 }
245 //***************GOIP設置以上***************//
246 
247 
248 //***************EPWM1設置以下***************//
249 void InitEPwm1()           //For Battery開關 g1,g2
250 {
251     EPwm1Regs.TBPRD = 3750;                   // 設定開關切換頻率20kHz,因為上下數,頻率減半,所以TBPRD從7500(20kHz)調為3750(40kHz)  //f=150M/2(上下數)/TBPRD
252     EPwm1Regs.TBPHS.half.TBPHS     = 0; // Set Phase register to zero   相移為零
253     EPwm1Regs.TBCTL.bit.CTRMODE    = TB_COUNT_UPDOWN;//TB_COUNT_UPDOWN 為 上下數的三角載波
254     EPwm1Regs.TBCTL.bit.PHSEN      = TB_DISABLE;  // ?Master module? (then the synchronization event is ignored and the time-base counter is not loaded with the phase.)
255     EPwm1Regs.TBCTL.bit.PRDLD      = TB_SHADOW;  //?
256     EPwm1Regs.TBCTL.bit.SYNCOSEL   = TB_CTR_ZERO; //? Sync down-stream module
257     EPwm1Regs.TBCTL.bit.HSPCLKDIV  = TB_DIV1;     //系統除頻功能(不除頻，系統150MHZ) Clock ratio to SYSCLKOUT
258     EPwm1Regs.TBCTL.bit.CLKDIV     = TB_DIV1;         //系統除頻功能(不除頻，系統150MHZ)
259     EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;
260     EPwm1Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
261     EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO; // load on CTR=Zero
262     EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO; // load on CTR=Zero
263 
264     //SPWM 當command > carrier : set high (for positive cycle)
265     EPwm1Regs.AQCTLA.bit.CAU       = AQ_CLEAR;         //上數碰到，PWM設為0(看EPWM就很明顯了)
266     EPwm1Regs.AQCTLA.bit.CAD       = AQ_SET;              //下數碰到，PWM設為1(看EPWM就很明顯了)
267 
268     EPwm1Regs.DBCTL.bit.OUT_MODE   = DB_FULL_ENABLE; // 上下數的Dead-band 都開啟
269     EPwm1Regs.DBCTL.bit.POLSEL     = DB_ACTV_HIC; //EPWMxB對A反向  Active high complementary (AHC). EPWMxB is inverted.
270 //---setting Dead-time---//
271     EPwm1Regs.DBFED = 75;//150; // FED = 75 TBCLKs (TBCLKS=1/150M) 0.5us  (下降緣Dead-time)
272     EPwm1Regs.DBRED = 75;//150; // RED = 75 TBCLKs                                              (上升緣Dead-time)
273 }
274 
275 
276 void InitEPwm6()
277 {
278   //EPWM6 isn‘t divided, so EPWM6 clock is 150MHz
279   EPwm6Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;   // 不要除頻Clock ratio equal to SYSCLKOUT
280   EPwm6Regs.TBCTL.bit.CLKDIV = TB_DIV1;      // 不要除頻
281   // Assumes ePWM6 clock is already enabled in InitSysCtrl();
282   EPwm6Regs.ETSEL.bit.SOCAEN = 1;        // Enable SOC on A group
283   EPwm6Regs.ETSEL.bit.SOCASEL = 2;       //當TBCTR=TBPRD開始取樣
284   EPwm6Regs.ETPS.bit.SOCAPRD = 1;        // Generate pulse on 1st event
285   //EPwm6Regs.ETSEL.bit.SOCASEL = 4;       // Select SOC from CMPA on upcount
286   //EPwm6Regs.CMPA.half.CMPA     = 1250;    // Set compare A value 剛好讓ADC中斷和inverter中斷各有1250個系統clock時間來處理自己中斷副程式要處理的任務
287   EPwm6Regs.TBPRD = 2500;              // Set period for ePWM6   (PWM頻率為:150M/TB_DIV1(1:不除頻)/TB_DIV1(1:不除頻)/TBPRD=60k)
288   EPwm6Regs.TBCTL.bit.CTRMODE = 0;          // count up and start
289 }
290 
291 
292 
293 //*****************ADC設置以下***************//
294 void ADC_setup(void)
295 {
296     AdcRegs.ADCTRL3.bit.SMODE_SEL = 0x0;   // Setup simultaneous sampling mode
297     AdcRegs.ADCTRL1.bit.SEQ_CASC = 0x1;     // Setup cascaded sequencer mode
298     AdcRegs.ADCMAXCONV.all = 15;                //設定一共需要8個(0~7)ADC轉換 on SEQ1
299 
300     AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0;//設定"ADCIN0"抓到的值，轉換後存到 "ADCRESULT0 (CONV00)"
301     AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 1;//設定"ADCIN1"抓到的值，轉換後存到 "ADCRESULT1 (CONV01)"
302     AdcRegs.ADCCHSELSEQ1.bit.CONV02 = 2;//設定"ADCIN2"抓到的值，轉換後存到 "ADCRESULT2 (CONV01)"
303     AdcRegs.ADCCHSELSEQ1.bit.CONV03 = 3;//設定"ADCIN3"抓到的值，轉換後存到 "ADCRESULT3 (CONV03)"
304     AdcRegs.ADCCHSELSEQ2.bit.CONV04 = 4;//設定"ADCIN4"抓到的值，轉換後存到 "ADCRESULT4 (CONV04)"
305     AdcRegs.ADCCHSELSEQ2.bit.CONV05 = 5;//設定"ADCIN5"抓到的值，轉換後存到 "ADCRESULT5 (CONV05)"
306     AdcRegs.ADCCHSELSEQ2.bit.CONV06 = 6;//設定"ADCIN5"抓到的值，轉換後存到 "ADCRESULT6 (CONV06)"
307     AdcRegs.ADCCHSELSEQ2.bit.CONV07 = 7;//設定"ADCIN5"抓到的值，轉換後存到 "ADCRESULT7 (CONV07)"
308     AdcRegs.ADCCHSELSEQ3.bit.CONV08 = 8;
309     AdcRegs.ADCCHSELSEQ3.bit.CONV09 = 9;
310     AdcRegs.ADCCHSELSEQ3.bit.CONV10 = 10;
311     AdcRegs.ADCCHSELSEQ3.bit.CONV11 = 11;
312     AdcRegs.ADCCHSELSEQ4.bit.CONV12 = 12;
313     AdcRegs.ADCCHSELSEQ4.bit.CONV13 = 13;
314     AdcRegs.ADCCHSELSEQ4.bit.CONV14 = 14;
315     AdcRegs.ADCCHSELSEQ4.bit.CONV15 = 15;
316 
317     AdcRegs.ADCTRL2.bit.EPWM_SOCA_SEQ1 = 1;  // 允許ADC使用EPWM中斷 Enable SOCA from ePWM to start SEQ1
318     AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1;          // Enable SEQ1 interrupt (every EOS)
319 }
320 
321 //*****************ADC設置以上***************//
322 
323 
324 //*****************UART設置以下***************//
325 void scia_echoback_init()
326 {
327 
328      SciaRegs.SCICCR.all =0x0007;
329     SciaRegs.SCICTL1.all =0x0003;
330     SciaRegs.SCICTL2.all =0x0003;
331     SciaRegs.SCICTL2.bit.TXINTENA =1;
332     SciaRegs.SCICTL2.bit.RXBKINTENA =1;
333     #if (CPU_FRQ_150MHZ)
334           SciaRegs.SCIHBAUD    =0x0001;  // 9600 baud @LSPCLK = 37.5MHz.
335           SciaRegs.SCILBAUD    =0x00E7;
336     #endif
337     #if (CPU_FRQ_100MHZ)
338       SciaRegs.SCIHBAUD    =0x0001;  // 9600 baud @LSPCLK = 20MHz.
339       SciaRegs.SCILBAUD    =0x0044;
340     #endif
341     SciaRegs.SCICTL1.all =0x0023;
342 }
343 void scia_xmit(int a)
344 {
345     while (SciaRegs.SCIFFTX.bit.TXFFST != 0) {}
346     SciaRegs.SCITXBUF=a;
347 
348 }
349 void scia_msg(char * msg)
350 {
351     int i;
352     i = 0;
353     while(msg[i] != ‘\0‘)
354     {
355         scia_xmit(msg[i]);
356         i++;
357     }
358 }
359 void scia_fifo_init()
360 {
361    SciaRegs.SCIFFTX.all=0xE040;
362    SciaRegs.SCIFFRX.all=0x204f;
363    SciaRegs.SCIFFCT.all=0x0;
364 }
365 //*****************UART設置以上***************//