motor_ctl-1/empty.c

/*
 * Copyright (c) 2021, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include "ti_msp_dl_config.h"


/* This results in approximately 0.5s of delay assuming 80MHz CPU_CLK */
#define DELAY (40000000)
unsigned int ACnt;    // Variable: speed control period counter
unsigned int BCnt;   // Variable: speed control period tick
unsigned int CCnt;
unsigned int DCnt;
unsigned int ECnt,FCnt,GCnt;
unsigned int  HALLACnt,HALLBCnt,HALLCCnt;
unsigned int DAC_value;
unsigned int SPEED_edgeCapture,TIPIN_edgeCapture;


//#define DAC12_REF_VOLTAGE_mV (3300)
//#define DAC12_OUTPUT_VOLTAGE_mV (1650)


volatile bool gCheckADC;
unsigned int i = 0;
#define RESULT_SIZE (64)
volatile uint16_t gAdcResult0[RESULT_SIZE]; //OPA0 OUTPUT
volatile uint16_t gAdcResult1[RESULT_SIZE]; // PA25 pcb temp
volatile uint16_t gAdcResult2[RESULT_SIZE];// PA24 motor temp
volatile uint16_t gAdcResult3[RESULT_SIZE]; // PB24 zhuanba
volatile uint16_t gAdcResult4[RESULT_SIZE];// PB20 bus current
volatile uint16_t gAdcResult5[RESULT_SIZE]; // PA14 BAT VOLTAGE
volatile uint16_t gAdcResult6[RESULT_SIZE]; //OPA1 OUTPUT
volatile uint16_t gAdcResult7[RESULT_SIZE]; //PB19 A1_6 Liju
void SysTick_Handler(void)  // 20ms
{
    ACnt++;
//    DL_GPIO_togglePins(OUTPUT_CAN_STB_PORT, OUTPUT_CAN_STB_PIN);
}


void SPEED_INST_IRQHandler(void)
{
    switch (DL_TimerG_getPendingInterrupt(SPEED_INST))
    {
        case DL_TIMERG_IIDX_CC0_DN:
            SPEED_edgeCapture = DL_Timer_getCaptureCompareValue(SPEED_INST, DL_TIMER_CC_0_INDEX);
            break;
        case DL_TIMER_IIDX_ZERO:
            DCnt++;
            break;
        default:
            break;
    }
}

void TAPIN_INST_IRQHandler(void)
{
    switch (DL_TimerG_getPendingInterrupt(TAPIN_INST))
    {
        case DL_TIMERG_IIDX_CC0_DN:
            TIPIN_edgeCapture = DL_Timer_getCaptureCompareValue(TAPIN_INST, DL_TIMER_CC_0_INDEX);
            break;
        case DL_TIMER_IIDX_ZERO:
            ECnt++;
            break;
        default:
            break;
    }
}


void GROUP1_IRQHandler(void)
{
    /*
     * Get the pending interrupt for the GPIOA port and store for
     * comparisons later
     */
    uint32_t gpioA = DL_GPIO_getEnabledInterruptStatus(GPIOA,
                                                       HALL_HALLA_PIN | HALL_HALLB_PIN | HALL_HALLC_PIN);
    /*
     * Bitwise AND the pending interrupt with the pin you want to check,
     * then check if it is equal to the pins. Clear the interrupt status.
     */
    if ((gpioA & HALL_HALLA_PIN) == HALL_HALLA_PIN)
    {
//        HALLACnt = DL_Timer_getCaptureCompareValue(TIMG12, DL_TIMER_CC_0_INDEX);
//        HALLACnt++;
        DL_GPIO_clearInterruptStatus(GPIOA, HALL_HALLA_PIN);
    }

    if ((gpioA & HALL_HALLB_PIN) == HALL_HALLB_PIN)
    {
        HALLBCnt++;
        DL_GPIO_clearInterruptStatus(GPIOA, HALL_HALLB_PIN);
    }

    if ((gpioA & HALL_HALLC_PIN) == HALL_HALLC_PIN)
    {
        HALLCCnt++;
        DL_GPIO_clearInterruptStatus(GPIOA, HALL_HALLC_PIN);
    }
}

/* Check for the last result to be loaded then change boolean */
void ADC12_0_INST_IRQHandler(void)
{
    switch (DL_ADC12_getPendingInterrupt(ADC12_0_INST)) {
        case DL_ADC12_IIDX_MEM5_RESULT_LOADED:
            gCheckADC = true;
            DL_GPIO_setPins(OUTPUT_CAN_STB_PORT, OUTPUT_CAN_STB_PIN);
//            DL_GPIO_togglePins(OUTPUT_CAN_STB_PORT, OUTPUT_CAN_STB_PIN);
            delay_cycles(1000);
            gAdcResult0[i] =
                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_0);
             gAdcResult1[i] =
                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_1);
             gAdcResult2[i] =
                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_2);
             gAdcResult3[i] =
                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_3);

             gAdcResult4[i] =
                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_4);
             gAdcResult5[i] =
                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_5);


             gAdcResult6[i] =
                 DL_ADC12_getMemResult(ADC12_1_INST, DL_ADC12_MEM_IDX_0);
            DL_GPIO_clearPins(OUTPUT_CAN_STB_PORT, OUTPUT_CAN_STB_PIN);
            gAdcResult7[i] =
                DL_ADC12_getMemResult(ADC12_1_INST, DL_ADC12_MEM_IDX_1);
           DL_GPIO_clearPins(OUTPUT_CAN_STB_PORT, OUTPUT_CAN_STB_PIN);
             i++;
             if (i >= RESULT_SIZE) {
     //            __BKPT(0);
                 i = 0;
             }
             else{
                 ;/*No action required*/
             }
            break;
        default:
            break;
    }
}


void MOTOR_PWM_INST_IRQHandler(void)
{
    switch (DL_TimerA_getPendingInterrupt(MOTOR_PWM_INST))
    {
        case DL_TIMERG_IIDX_LOAD:
            GCnt++;
            break;
        case DL_TIMER_IIDX_ZERO:

            FCnt++;

            break;
        default:
            break;
    }
}

int main(void)
{
    SYSCFG_DL_init();

//    NVIC_EnableIRQ(TIMER_1MS_INST_INT_IRQN);

    NVIC_EnableIRQ(ADC12_0_INST_INT_IRQN);

    NVIC_EnableIRQ(SPEED_INST_INT_IRQN);
    NVIC_EnableIRQ(TAPIN_INST_INT_IRQN); //

    NVIC_EnableIRQ(HALL_INT_IRQN);  //HALL GPIO

    NVIC_EnableIRQ(MOTOR_PWM_INST_INT_IRQN); //MOTOR PWM

    DL_TimerA_startCounter(TIMA0);
    DL_TimerG_startCounter(SPEED_INST);
    DL_TimerG_startCounter(TAPIN_INST);

    DL_GPIO_clearPins(OUTPUT_CAN_STB_PORT, OUTPUT_CAN_STB_PIN);
    DL_GPIO_setPins(OUTPUT_CAN_STB_PORT, OUTPUT_CAN_STB_PIN);
    DL_GPIO_togglePins(OUTPUT_CAN_STB_PORT, OUTPUT_CAN_STB_PIN);

//
//    /* Set output voltage:
//     *  DAC value (12-bits) = DesiredOutputVoltage x 4095
//     *                          -----------------------
//     *                              ReferenceVoltage
//     */
//    DAC_value = (DAC12_OUTPUT_VOLTAGE_mV * 4095) / DAC12_REF_VOLTAGE_mV;

    DL_DAC12_output12(DAC0, 2048);
    DL_DAC12_enable(DAC0);



    while (1)
    {
        CCnt++;
        delay_cycles(DELAY);

        DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, 1875, DL_TIMER_CC_0_INDEX);
        DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, 1250, DL_TIMER_CC_2_INDEX);
        DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, 625, DL_TIMER_CC_3_INDEX);

        DL_TimerG_setCaptureCompareValue(LIGHT_PWM_INST, 100, DL_TIMER_CC_0_INDEX);
        DL_TimerG_setCaptureCompareValue(LIGHT_PWM_INST, 100, DL_TIMER_CC_1_INDEX);


    }

}