/* * File: main.c * Author: hamilton * * Created on November 4, 2013, 4:11 PM */ #include #include #include #include #include "xc.h" #include "UART.h" #include "config.h" #include "extern.h" #include "conv.h" #include "init.h" #include "can.h" #include "CalibrationConstants.h" #include "libq.h" #include "park.h" #include "svgen.h" #include "types.h" #include "I2C.h" #include "crc.h" #include "PerformCalibration.h" #ifdef DEBUG #include "WindingCurrentLimits.h" #endif _FOSCSEL(FNOSC_PRIPLL) //_FOSCSEL(FNOSC_FRC) _FOSC(FCKSM_CSECMD & OSCIOFNC_ON) _FWDT(FWDTEN_OFF) _FPOR(FPWRT_PWR128) _FICD(ICS_PGD1 & JTAGEN_OFF) void (*getErrLoc(void))(void); // Get Address Error Loc void (*errLoc)(void); // Function Pointer int main(void) { int j; #ifdef DEBUG char s[256]; float last_time = 0; char ModeStr[10]; #endif /* Configure Oscillator to operate the device at 40Mhz Fosc= Fin*M/(N1*N2), Fcy=Fosc/2 Fosc= 7992075Hz*(41)/(2*2)=79920750Hz for Fosc, Fcy = 39960375Hz (Crystal rate Measured on Test Board) */ /* Configure PLL prescaler, PLL postscaler, PLL divisor */ PLLFBD = 38; /* M = PLLFBD + 2 */ CLKDIVbits.PLLPOST = 0; /* N1 = 2 */ CLKDIVbits.PLLPRE = 0; /* N2 = 2 */ __builtin_write_OSCCONH(0x03); /* New Oscillator selection FRC w/ PLL */ __builtin_write_OSCCONL(0x01); /* Enable Switch */ while (OSCCONbits.COSC != 0b011); /* Wait for Oscillator to switch to FRC w/ PLL */ while (OSCCONbits.LOCK != 1); /* Wait for Pll to Lock */ // __builtin_write_OSCCONH(0x01); /* New Oscillator selection FRC w/ PLL */ // __builtin_write_OSCCONL(0x01); /* Enable Switch */ // while (OSCCONbits.COSC != 0b001); /* Wait for Oscillator to switch to FRC w/ PLL */ // while (OSCCONbits.LOCK != 1); /* Wait for Pll to Lock */ TRISD = 0xffff; //Move this back into InitIO()) TRISDbits.TRISD1 = 0; //AUXIO_PIN2 Set as Output AUXIO_PIN2 = 0; AUXIO_PIN3 = 1; InitIO(); //SCOTT VREF_ENABLE = 1; //Turn on External Reference InitIIC(); InitU1(); //RS-232 eeprom_timer = 0L; //init TMR8 to provide timeout for EEPROM Loading T8CON = 0x0010; //Start with timer disabled, prescaler = 8 PR8 = 4995; //4995 = ~1000Hz with Clock at 39960375MHz and prescaler = 1:8. EEPROM Timeout depends upon this rate. _T8IF = 0; //Clear interrupt _T8IP = 5; _T8IE = 1; //Enable interrupt. T8CON = 0x8010; AUXIO_PIN3 = 1; LoadCalibration(); AUXIO_PIN3 = 0; InitVariables(); InitPIDGains(); //init TMR1 to interrupt at rate specified in config.h _T1IP = 5; TMR1 = 0; //Clear the timer PR1 = SetCANTimer(CAN_packet_rate.Value); T1CON = 0x8020; //enabled, prescaler 1:64, internal clock _T1IF = 0; //Clear Interrupt _T1IE = 0; //Keep Interrupt disabled until everything is set up. //init TMR5 to provide ~1kHz interuput for speed/position/power control loop. T5CON = 0x0010; //Start with timer disabled, prescaler = 8 PR5 = 4574; //~1092Hz with Clock at 39960375MHz and prescaler = 1:8. RPM calculation depends upon this rate. _T5IF = 0; //Clear interrupt _T5IP = 5; _T5IE = 1; //Enable interrupt. T5CON = 0x8010; // init TMR3 to provide the timebase for interrupt that starts the AIO process on ADC0 //T3CON = 0x8000; // T3CON = 0x0000; //Start with timer disabled // PR3 = 275; //Rolls over about every 8uSec and initiates ADC sampling. Required sampling and conversion time is about 4uS, so there's enough margin here, although 4uS seems too short. // _T3IP = 5; // _T3IF = 0; //Clear interrupt // _T3IE = 0; //Disable interrupt. Not Needed // init TMR3 to provide the timebase for interrupt that starts the AIO process on ADC1 //T5CON = 0x0000; //Start with timer disabled //PR5 = 250; //Rolls over about every 8uSec and initiates ADC sampling. Required sampling and conversion time is about 4uS, so there's enough margin here, although 4uS seems too short. // _T5IP = 5; // _T5IF = 0; //Clear interrupt // _T5IE = 0; //Disable interrupt. Not Needed //Set up DMA channel and ADC InitDma0(); //Argument is number of samples to transfer per interrupt. InitDma3(); //Argument is number of samples to transfer per interrupt. InitADC1_WithIntrpt(); InitADC2_WithIntrpt(); InitSPI(); PORTA = 0; //Set up encoder peripheral InitQEI(); halls = (PORTD & 0x0070) >> 4; // Shift RD4/5/6 to least significant bits of variable. if (EncoderStatus == NO_ENCODER_SYNC_HAS_OCCURED) //guess at encoder position as middle of hall state since neither a hall effect transition or index pulse has occurred. POSCNT = 819 + halls * 136 - 68; //Set Up CN pins CN13/14/15 corresponds to RD4/5/6 which corresponds to Hall W,V,U CNPU1bits.CN13PUE = 1; CNPU1bits.CN14PUE = 1; CNPU1bits.CN15PUE = 1; CNEN1bits.CN13IE = 1; // Enable CN13 pin for interrupt detection CNEN1bits.CN14IE = 1; // Enable CN13 pin for interrupt detection CNEN1bits.CN15IE = 1; // Enable CN13 pin for interrupt detection IEC1bits.CNIE = 0; // Enable CN interrupts -- Disabled for now as the hall effect sensors are not currently used. IFS1bits.CNIF = 0; //Clear CN Interrupt //init CAN bus InitCAN1(); //Setup CAN1 InitDma12(); //Setup two DMA channels for use with CAN1 for (j = 0; j < ECAN1_NUM_TX_BUFFERS; j++) //Setup CAN messages type and frame type for each message. { message[j].message_type = CAN_MSG_DATA; //data message message[j].frame_type = CAN_FRAME_EXT; //extended (29 bit identifier) } BRIDGE_ENABLE = 1; //Power up Transistor Driver Power Supplies now that MCPWM is set up. !!!!!!!!!!!! WHY IS THIS DONE BEFORE MCPWM IS SET UP? !!!!!!!!!!!!!!!!!!! BATTSWITCH_ENABLE = 1; //Turn on BattSwitch FET PS // Enable Timer interrupts now that everything is set up. AD1CON1bits.ADON = 1; //Enable ADC, this starts sampling and thus creates DMA interrupt from which most everything happens. AD2CON1bits.ADON = 1; //Enable ADC, this starts sampling and thus creates DMA interrupt for slow rate ADC reads //Set up motor control module, this peripheral controls all seven PWM outputs InitMCPWM(); _T1IE = 1; //Enable 25Hz Interrupt, _T1Interrupt gets called at the beginning of each period. //TestWindingCurrentTarget(); //#ifdef TUNE_SHUNT_REGULATOR //In this tuning scenario, power supply takes the place of a rotating motor and bridge needs to be a pure rectifier // P1OVDCON = 0xc000; ///For Shunt Regulator Tuning. Over-ride and turn off all transistor bridge fets //#endif //P1OVDCON = 0x4000; ///Turn off all fets except let Load DUmp (4L) be driven by P1DC4) For calibrating load dump // POSCNT = 2780; //Hard coded for Locked Rotor Test. This value needs to be determined and set everytime the rotor lock is assembled/disassembled. // #ifdef DEBUG // PrintScaling(); // TestCurrentMinMax(); #endif while (1) { //#ifdef DEBUG #if 1 //This is here because the ifdef DEBUG appears in lots of places in the code and hasn't been througly tested recently, but it's nice to shut down the spewing RS-232 for teh deployments if (f_time > last_time) //Wait for time to be updated. { last_time = f_time; if(CalibrationMode == 2) //Calibrate mode has been selected and WindingControl ISR disabled. { PerformCalibration(); while(1); //Stay here forever, cycle power to leave calibration mode } if (raw == 1) sprintf(s, "%f %d %d %d %d %d %d %d\r\n", f_time, PhaseA_Curr, PhaseB_Curr, VBus_ADC[0], IBatt_ADC[0],DiffPress_ADC[0],AuxTorque_ADC[0],SEVTCMP ); else { switch (StatusBitFields.Mode) { case PREINDEXPULSE_MODE: sprintf(ModeStr, "%s", "PRE"); break; case TORQUE_MODE: sprintf(ModeStr, "%s", "TOR"); break; case GENERATOR_MODE: sprintf(ModeStr, "%s", "GEN"); break; } sprintf(s, "%.3f %s %7.1f RPM %6.3f A %6.3f A %6.3f A %6.3f A %6.3f A %5.3f A %5.2f A %5.2f A %6.1f V %8.3f V %6.3f A %6.1f V %6.1f V %5d - %5d %5d %5d %5d %5d %6.3f %8.5f %6.3f %x-%d %d %d - %d %d - %d %d %d %6.3f PSI %6.3f N-m %f %x %x %d %d %d %d %lu\r\n", f_time, ModeStr, ConvertFractToEngUnits(RPMs, RPMs_cnt, RPMs_eng), ConvertFractToEngUnits(UserCommandedCurrent.Value, Cal.IWind_cnt, Cal.IWind_eng), ConvertFractToEngUnits(CommandedCurrent, Cal.IWind_cnt, Cal.IWind_eng), ConvertFractToEngUnits(Iq_PID.controlReference, Cal.IWind_cnt, Cal.IWind_eng), ConvertFractToEngUnits(QuadratureCurrentSamples[0], Cal.IWind_cnt, Cal.IWind_eng), ConvertFractToEngUnits(FluxCurrentSamples[0], Cal.IWind_cnt, Cal.IWind_eng), //ConvertFractToEngUnits(PhaseA_Curr, Cal.IWind_cnt, Cal.IWind_eng), //ConvertFractToEngUnits(PhaseB_Curr, Cal.IWind_cnt, Cal.IWind_eng), ConvertFractToEngUnits(IBattSamples[0], Cal.IBatt_cnt, Cal.IBatt_eng), ConvertFractToEngUnits(IWindReduction_VqVd_Mag, Cal.IWind_cnt, Cal.IWind_eng), ConvertFractToEngUnits(IWindReduction_BattDraw_Mag, Cal.IBatt_cnt, Cal.IBatt_eng), ConvertFractToEngUnits(ShuntReg_PID.controlReference, Cal.VBus_cnt, Cal.VBus_eng), ConvertFractToEngUnits(VBus[ReportingFilterCtr], Cal.VBus_cnt, Cal.VBus_eng), ConvertFractToEngUnits(LoadDumpCurrent[ReportingFilterCtr], LD_Current_cnt, LD_Current_eng), ConvertFractToEngUnits(VoltageModification_Limiter, Cal.VBus_cnt, Cal.VBus_eng), ConvertFractToEngUnits(VoltageModification_BattCurrent, Cal.VBus_cnt, Cal.VBus_eng), ParkParm.qVq, ParkParm.qVd, iTemp1, iTemp2, iTemp3, iTemp4, (float) kCoeffs[0] / 32767, (float) kCoeffs[1] / 32767, (float) kCoeffs[2] / 32767, _RB0, StatusBitFields.EXT_Voltage_Detect, StatusBitFields.BattSwitchRequest, StatusBitFields.SlowSwitchSetting, BATTERY_SLOW, StatusBitFields.BattSwitchSetting, BATTERY_SWITCH, SEVTCMP, P1DC4, ConvertFractToEngUnits(DiffPressSamples[ADC2_OuterSampleCtr], Cal.DiffPress_cnt, Cal.DiffPress_eng), //ConvertFractToEngUnits(AuxTorqueSamples[ADC2_OuterSampleCtr], Cal.AuxTorque_cnt, Cal.AuxTorque_eng) //22.58*(ConvertFractToEngUnits(AuxTorqueSamples[ADC2_OuterSampleCtr], Cal.AuxTorque_cnt, Cal.AuxTorque_eng)-5.0)/5.0, ConvertFractToEngUnits(AuxTorqueSamples[ADC2_OuterSampleCtr], Cal.AuxTorque_cnt, Cal.AuxTorque_eng), ConvertFractToEngUnits(AuxTorqueSamples[ADC2_OuterSampleCtr], Cal.AuxTorque_cnt, Cal.AuxTorque_eng) , BRIDGE_ENABLE, SEVTCMP, SC_Range,SC_RangeCtr,StatusBitFields.SpringRangeValid,StatusBitFields.PermissiveMode, eeprom_timer ); //// // sprintf(s,"%.3f %d %d %8.5f %8.5f %8.5f\r\n", // f_time, // P1DC4,LoadDumpCalibration(P1DC4), // ConvertFractToEngUnits(LoadDumpCurrent[ReportingFilterCtr], LD_Current_cnt, LD_Current_eng), // ConvertFractToEngUnits(IBattSamples[0], Cal.IBatt_cnt, Cal.IBatt_eng), // ConvertFractToEngUnits(VBus[ReportingFilterCtr], Cal.VBus_cnt, Cal.VBus_eng) // ); } putsU1(s); } #endif } return 0; } //main