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尊敬的先生：
如果我将数据从 Hercules 传输到 MCU、并且我在 UART 中使用了断点 、然后进入并逐步执行(使用 F5/F6)、然后在 ucRxBuff[0]：'$'中实现正确的值。
有关更多详细信息、请查看以下 pic。
如果我去自由运行条件,那么 ucRxBuff[0]缓冲区会显示0x00值。
有关更多详细信息、请查看以下 pic。
有关总体过程、请查看视频以了解更多详细信息。
e2e.ti.com/.../2024_2D00_04_2D00_05-16_2D00_31_2D00_24.mp4
注意： ucRxBuff 缓冲区不用于整个代码中的任何位置 、我只会选中它。
此代码是否是 ISR 的一部分？ [/报价]可以。
如果您重复读取 SCI 缓冲区，它将清除 FIFO，直到您返回全0。 这可能是您的问题的原因。SCI 缓冲器不会重复使用。
如需更多详细信息、请找到 ISR & main 函数。
__interrupt void INT_SCI_COM_RX_ISR(void) { // char rx_data; // memset((char *)&rDataA[0], 0, sizeof((char *)rDataA)); // SCI_readCharArray(SCIA_BASE, rDataA, 1); ASSERT(SCI_isBaseValid(SCIA_BASE)); if(SCI_isFIFOEnabled(SCIA_BASE)) { while(SCI_getRxFIFOStatus(SCIA_BASE) == SCI_FIFO_RX15) { } rx_data = (HWREGH(SCIA_BASE + SCI_O_RXBUF) & SCI_RXBUF_SAR_M); if(ucRxStatus == 'H') { if(rx_data == '$') { uiRxByteCntr = 0; ucRxBuff[uiRxByteCntr++] = rx_data; ucRxStatus = 'A'; } else { uiRxByteCntr = 0; ucRxStatus = 'H'; } } else if(ucRxStatus == 'A') { if(rx_data == '*') // { ucRxBuff[uiRxByteCntr++] = rx_data; rx_flag = 1; ucRxStatus = 'H'; } else { ucRxBuff[uiRxByteCntr++] = rx_data; } } else { ucRxStatus = 'H'; uiRxByteCntr = 0; } } //-------------------------New added end------------------ SCI_clearOverflowStatus(SCIA_BASE); SCI_clearInterruptStatus(SCIA_BASE, SCI_INT_RXFF); // Issue PIE ack Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP9); }//############################################################################# // $Copyright: // Copyright (C) 2017-2023 Texas Instruments Incorporated - http://www.ti.com/ // 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. // $ //############################################################################# //! \file /solutions/tidm_02010_dmpfc/common/source/sys_main.c //! \brief This project is used to control two motor and pfc with one MCU //! Support for dualmtrpfc board with F28002x/F28003x/F280013x //! // // include the related header files // #if defined(SYSCONFIG_EN) #include "user.h" #include "board.h" #endif // SYSCONFIG_EN #include "sys_settings.h" #include "sys_main.h" #include "systems.h" #include "math.h" #include "string.h" //Global static uint16_t cpuTimer1IntCount=0; unsigned long b=0; unsigned char compressor1motorFlag = false; // // Globals // volatile uint8_t rx_flag; unsigned int uiRxByteCntr=0; unsigned char ucRxBuff[9]; char ucRxBuff1[4]; char ucRxStatus = 'H'; unsigned int uiRxByteLen=4; unsigned int uiRxByteLenCntr=0; #define ODU_HEADER '$' // // Send data for SCI-A // char sDataA[] = "RR120.50#"; //uint16_t sDataA[9]; // // Received data for SCI-A // uint16_t rDataA[1]; char rxflag=0; char rx_data; //char rDataA[10]; uint16_t data_rx_h[9]; uint16_t Datacopy[9]; //unsigned char ucRxBuff[20]; // // Used for checking the received data // uint16_t rDataPointA; // // Function Prototypes // __interrupt void INT_SCI_COM_TX_ISR(void); __interrupt void INT_SCI_COM_RX_ISR(void); void initSCIAFIFO(void); void error(void); //volatile SYSTEM_Vars_t systemVars = SYSTEM_VARS_INIT; volatile SYSTEM_Vars_t systemVars; #pragma DATA_SECTION(systemVars,"user_data"); #if defined(EPWMDAC_MODE) HAL_PWMDACData_t pwmDACData; #pragma DATA_SECTION(pwmDACData,"user_data"); #endif // EPWMDAC_MODE #if defined(DAC128S_ENABLE) #if defined(DAC80504_SEL) DAC80504_Handle dac128sHandle; //!< the DAC80504 interface handle DAC80504_Obj dac128s; //!< the DAC80504 interface object #else // DAC128S805 DAC128S_Handle dac128sHandle; //!< the DAC128S interface handle DAC128S_Obj dac128s; //!< the DAC128S interface object #endif // DAC128S805 #pragma DATA_SECTION(dac128sHandle,"sys_data"); #pragma DATA_SECTION(dac128s,"sys_data"); //#define DACTEST_EN #if defined(DACTEST_EN) float32_t dacTestValue[4]; #pragma DATA_SECTION(dacTestValue,"sys_data"); #endif // DACTEST #endif // DAC128S_ENABLE //------------------ADDED-09-02-2024------------------------------ #define ADC_RESOLUTION_VALUE (4096.0f) //(4896.0f) //(4096.0f) //(400.0f) #define LOG_10_E (0.434294f) #define TEMP_T_25_K (298.15f)//kevin //air temperature #define TEMP_AIR_RES_T_25 (10000.0f)//(10000U)//Ohm #define TEMP_AIR_BETA (3950.0f) #define TEMP_AIR_RES_GND (10000.0f)//Ohm volatile float fTempValue; unsigned int tempnewvalue1,tempnewvalue2,tempnewvalue3,value1; //float32_t Temp_Sensor_Ambient,Temp_Sensor1,value,Temp_Sensor_coils,Temp_Sensor_Pipes; static float ntc_sensor_get_temp(float res, uint16_t res_25, uint16_t beta); __interrupt void INT_CPU_TIMER1_ISR(void); void configCPUTimer(uint32_t, float, float); // ************************************************************************** // the functions //INT_MTR1_EMI_1_ISR void main(void) { unsigned char *msg; ucRxStatus ='H'; // uint16_t receivedChar; uint16_t i; // Clear memory for system and controller // The variables must be assigned to these sector if need to be cleared to zero HAL_clearDataRAM((void *)loadStart_est_data, (uint16_t)loadSize_est_data); HAL_clearDataRAM((void *)loadStart_user_data, (uint16_t)loadSize_user_data); HAL_clearDataRAM((void *)loadStart_sys_data, (uint16_t)loadSize_sys_data); HAL_clearDataRAM((void *)loadStart_foc_data, (uint16_t)loadSize_foc_data); HAL_clearDataRAM((void *)loadStart_pfc_data, (uint16_t)loadSize_pfc_data); HAL_clearDataRAM((void *)loadStart_motor_data, (uint16_t)loadSize_motor_data); HAL_clearDataRAM((void *)loadStart_dmaBuf_data, (uint16_t)loadSize_dmaBuf_data); HAL_clearDataRAM((void *)loadStart_vibc_data, (uint16_t)loadSize_vibc_data); HAL_clearDataRAM((void *)loadStart_sfra_data, (uint16_t)loadSize_sfra_data); HAL_clearDataRAM((void *)loadStart_datalog_data, (uint16_t)loadSize_datalog_data); HAL_clearDataRAM((void *)loadStart_dbgc_data, (uint16_t)loadSize_dbgc_data); uint16_t* read_ADC_Value=(uint16_t*) 0x00000B40; uint16_t* read_ADC_Value1=(uint16_t*) 0x00000B41; uint16_t* read_ADC_Value2=(uint16_t*) 0x00000B42; // AdcData1 = *read_ADC_Value; // AdcData2 = *read_ADC_Value1; #if defined(DMCPFC_REV3P2) systemVars.boardKit = BOARD_DMCPFC_REV3P2; // DMCPFC_REV3P1 for F28002x/3x/13x-64pin #elif defined(DMCPFC_REV3P1) systemVars.boardKit = BOARD_DMCPFC_REV3P1; // DMCPFC_REV3P1 for F28002x-64pin #elif defined(HVMTRPFC_REV1P1) systemVars.boardKit = BOARD_HVMTRPFC_REV1P1; // HVMTRPFC_REV1P1 for F28002x #elif defined(BSXL8323RH_REVB) systemVars.boardKit = BOARD_BSXL8323RH_REVB; // BSXL8323RH_REVA for F28002x #else #error Not select a right board for this project #endif #if defined(MOTOR1_DISABLE) && defined(MOTOR2_DISABLE) && defined(PFC_DISABLE) #error Need to enable at least one function of PFC, MOTOR1, or MOTOR2 #endif // #if defined(MOTOR1_DISABLE) systemVars.estType_M1 = EST_TYPE_NO_OBSERVER; // this motor is disable #elif defined(MOTOR1_FAST) && defined(MOTOR1_ESMO) systemVars.estType_M1 = EST_TYPE_FAST_ESMO; // the estimator is FAST and ESMO #elif defined(MOTOR1_FAST) systemVars.estType_M1 = EST_TYPE_FAST; // the estimator is only FAST #elif defined(MOTOR1_ESMO) systemVars.estType_M1 = EST_TYPE_ESMO; // the estimator is only ESMO #else // !MOTOR1_FAST & !MOTOR1_ESMO #error Not select a right estimator for motor 1 in this project #endif // !MOTOR1_FAST & !MOTOR1_ESMO #if defined(MOTOR2_DISABLE) systemVars.estType_M2 = EST_TYPE_NO_OBSERVER; // this motor is disable #elif defined(MOTOR2_FAST) && defined(MOTOR2_ESMO) systemVars.estType_M2 = EST_TYPE_FAST_ESMO; // the estimator is FAST and ESMO #elif defined(MOTOR2_FAST) systemVars.estType_M2 = EST_TYPE_FAST; // the estimator is only FAST #elif defined(MOTOR2_ESMO) systemVars.estType_M2 = EST_TYPE_ESMO; // the estimator is only ESMO #else // !MOTOR2_FAST & !MOTOR2_ESMO #error Not select a right estimator for motor 2 in this project #endif // !MOTOR2_FAST & !MOTOR2_ESMO #if defined(MOTOR1_FAST) && defined(MOTOR1_ESMO) && \ defined(MOTOR2_FAST) && defined(MOTOR2_ESMO) && defined(_F28002x) #error Limit to the RAM size for copy the program to run in RAM. FAST and ESMO can not on dual motor at the same. Only support one motor runs FAST and ESMO in parallel, and another motor run FAST or ESMO. #endif // MOTOR1_FAST & MOTOR1_ESMO & MOTOR2_FAST & MOTOR2_ESMO #if defined(MOTOR1_DCLINKSS) systemVars.currentSenseType_M1 = CURSEN_TYPE_SINGLE_SHUNT; #else systemVars.currentSenseType_M1 = CURSEN_TYPE_THREE_SHUNT; #endif // Current Sense Type of Motor 1 #if defined(MOTOR2_DCLINKSS) systemVars.currentSenseType_M2 = CURSEN_TYPE_SINGLE_SHUNT; #else systemVars.currentSenseType_M2 = CURSEN_TYPE_THREE_SHUNT; #endif // Current Sense Type of Motor 2 // ** above codes are only for checking the settings, not occupy the memory // Initialize device clock and peripherals Device_init(); // call the function in device.c // Disable pin locks and enable internal pullups. Device_initGPIO(); // call the function in device.c // GPIO28 is the SCI Rx pin. // GPIO_setPinConfig(DEVICE_GPIO_CFG_SCIRXDA); GPIO_setDirectionMode(DEVICE_GPIO_PIN_SCIRXDA, GPIO_DIR_MODE_IN); GPIO_setPadConfig(DEVICE_GPIO_PIN_SCIRXDA, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(DEVICE_GPIO_PIN_SCIRXDA, GPIO_QUAL_ASYNC); // // GPIO29 is the SCI Tx pin. // GPIO_setPinConfig(DEVICE_GPIO_CFG_SCITXDA); GPIO_setDirectionMode(DEVICE_GPIO_PIN_SCITXDA, GPIO_DIR_MODE_OUT); GPIO_setPadConfig(DEVICE_GPIO_PIN_SCITXDA, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(DEVICE_GPIO_PIN_SCITXDA, GPIO_QUAL_ASYNC); // // Initializes PIE and clears PIE registers. Disables CPU interrupts. Interrupt_initModule(); // call the function in driverlib.lib // Initializes the PIE vector table with pointers to the shell Interrupt // Service Routines (ISR). Interrupt_initVectorTable(); // call the function in driverlib.lib // Interrupts that are used in this example are re-mapped to // ISR functions found within this file. // Interrupt_register(INT_SCIA_RX, INT_SCI_COM_RX_ISR); Interrupt_register(INT_SCIA_TX, INT_SCI_COM_TX_ISR); // // Initialize the Device Peripherals: // initSCIAFIFO(); // SYS_TX_init(); Interrupt_register(INT_TIMER1, INT_CPU_TIMER1_ISR); //NEW ADD #if !defined(_SIMPLE_FAST_LIB) // false->enable motor identification, true->disable motor identification userParams[MTR_1].flag_bypassMotorId = true; userParams[MTR_2].flag_bypassMotorId = true; #endif // !(_SIMPLE_FAST_LIB) #if defined(SYSCONFIG_EN) // disable the ePWM module time base clock sync signal // to synchronize all of the PWMs SysCtl_disablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC); Board_init(); //CPUTimer_enableInterrupt(CPU_TIMER1_BASE); //new add configCPUTimer(CPUTIMER1_BASE, DEVICE_SYSCLK_FREQ, 119047);// 5000000 CPUTimer_enableInterrupt(CPU_TIMER1_BASE); Interrupt_enable(INT_TIMER1); CPUTimer_startTimer(CPU_TIMER1_BASE); //new add // initialize the driver halHandle = HAL_init(&hal, sizeof(hal)); // set the driver parameters HAL_setParams(halHandle); // set the control parameters for PFC initPFCCtrlParameters(); // set the control parameters for motor 1 initMotor1CtrlParameters(); // set the control parameters for motor 2 initMotor2CtrlParameters(); // set the handle in hal for motors and pfc HAL_initMtrHandle(halHandle, halMtrHandle[MTR_1], halMtrHandle[MTR_2]); HAL_initPFCHandle(halHandle, halPFCHandle); // set PWM phase shift between motor and pfc HAL_setupPWMsPhaseShift(halHandle); // enable the ePWM module time base clock sync signal SysCtl_enablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC); //-----------------------------ADD Communication purpose 12032024------------------- // for(i = 0; i < 2; i++) // { // sDataA[i] = i; // } rDataPointA = sDataA[0]; // Interrupt_enable(INT_SCIA_RX); // Interrupt_enable(INT_SCIA_TX); // Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP9); //-----------------------------------------end communication 12032024---------- #else // !SYSCONFIG_EN // initialize the driver halHandle = HAL_init(&hal, sizeof(hal)); // set the driver parameters HAL_setParams(halHandle); // set the control parameters for PFC initPFCCtrlParameters(); // set the control parameters for motor 1 initMotor1CtrlParameters(); // set the control parameters for motor 2 initMotor2CtrlParameters(); // set the handle in hal for motors and pfc HAL_initMtrHandle(halHandle, halMtrHandle[MTR_1], halMtrHandle[MTR_2]); HAL_initPFCHandle(halHandle, halPFCHandle); // set PWM phase shift between motor and pfc HAL_setupPWMsPhaseShift(halHandle); // initialize the interrupt vector table HAL_initIntVectorTable(halHandle); // enable the ADC/PWM interrupts for control // enable interrupts to trig DMA HAL_enableCtrlInts(halHandle); #endif // !SYSCONFIG_EN motorVars[MTR_1].speedRef_Hz = 30.0f; motorVars[MTR_2].speedRef_Hz = 30.0f; systemVars.speedComp_Hz = 60.0f; systemVars.speedFan_Hz = 50.0f; #if !defined(HVMTRPFC_REV1P1) #if defined(EPWMDAC_MODE) #error Only HVMTRPFC_REV1P1 supports the EPWMDAC function. #endif // EPWMDAC_MODE #else // HVMTRPFC_REV1P1 #if defined(EPWMDAC_MODE) // set DAC parameters pwmDACData.periodMax = PWMDAC_getPeriod(halHandle->pwmDACHandle[PWMDAC_NUMBER_1]); #if defined(PWMDAC_MOTOR) && defined(PWMDAC_PFC) pwmDACData.ptrData[0] = &adcDataPFC.IacBus; pwmDACData.ptrData[1] = &adcDataPFC.VacBus; pwmDACData.ptrData[2] = &angleFOCM1_rad; pwmDACData.ptrData[3] = &adcData[MTR_1].I_A.value[0]; pwmDACData.offset[0] = 0.5f; pwmDACData.offset[1] = 0.5f; pwmDACData.offset[2] = 0.5f; pwmDACData.offset[3] = 0.5f; pwmDACData.gain[0] = 1.0f; pwmDACData.gain[1] = 1.0f; pwmDACData.gain[2] = 1.0f / MATH_TWO_PI; pwmDACData.gain[3] = 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A; #elif defined(PWMDAC_MOTOR) && !defined(PWMDAC_PFC) pwmDACData.ptrData[0] = &angleESTM1_rad; pwmDACData.ptrData[1] = &adcData[MTR_1].I_A.value[0]; pwmDACData.ptrData[2] = &adcData[MTR_1].V_V.value[0]; pwmDACData.ptrData[3] = &angleFOCM1_rad; pwmDACData.offset[0] = 0.5f; pwmDACData.offset[1] = 0.5f; pwmDACData.offset[2] = 0.5f; pwmDACData.offset[3] = 0.5f; pwmDACData.gain[0] = 1.0f / MATH_TWO_PI; pwmDACData.gain[1] = 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A; pwmDACData.gain[2] = 1.0f / USER_M1_ADC_FULL_SCALE_VOLTAGE_V; pwmDACData.gain[3] = 1.0f / MATH_TWO_PI; #elif defined(PWMDAC_PFC) && !defined(PWMDAC_MOTOR) pwmDACData.ptrData[0] = &adcDataPFC.IacBus; pwmDACData.ptrData[1] = &adcDataPFC.VacBus; pwmDACData.ptrData[2] = &pfcVars.IacRef; pwmDACData.ptrData[3] = &pfcVars.IacError; pwmDACData.offset[0] = 0.0f; pwmDACData.offset[1] = 0.0f; pwmDACData.offset[2] = 0.0f; pwmDACData.offset[3] = 0.0f; pwmDACData.gain[0] = 1.0f; pwmDACData.gain[1] = 1.0f; pwmDACData.gain[2] = 1.0f; pwmDACData.gain[3] = 1.0f; #elif !defined(PWMDAC_PFC) && !defined(PWMDAC_MOTOR) // No EPWMDAC supporting #else #error Only PWMDAC_PFC or PWMDAC_MOTOR can be supported at the same time #endif // PWMDAC_PFC or PWMDAC_MOTOR #endif // EPWMDAC_MODE #endif // !HVMTRPFC_REV1P1 #if defined(DATALOGF2_EN) //#warning No enough memory if use datalog, so may disable the VIB_COMP // Initialize Datalog datalogHandle = DATALOGIF_init(&datalog, sizeof(datalog)); DATALOG_Obj *datalogObj = (DATALOG_Obj *)datalogHandle; HAL_setupDMAforDLOG(halHandle, 0, &datalogBuff1[0], &datalogBuff1[1]); HAL_setupDMAforDLOG(halHandle, 1, &datalogBuff2[0], &datalogBuff2[1]); // set datalog parameters datalogObj->iptr[0] = &angleFOCM1_rad; datalogObj->iptr[1] = &adcData[MTR_1].I_A.value[0]; #endif // DATALOGF2_EN #if defined(DAC128S_ENABLE) #if defined(DAC80504_SEL) // initialize the DAC80504 dac128sHandle = DAC80504_init(&dac128s); #if !defined(SYSCONFIG_EN) // setup SPI for DAC80504 DAC80504_setupSPI(dac128sHandle); #else // SYSCONFIG_EN SPI_setTxFifoTransmitDelay(DAC_SPI_BASE, 0x04); SPI_clearInterruptStatus(DAC_SPI_BASE, SPI_INT_TXFF); #endif // SYSCONFIG_EN DAC80504_writeCommand(dac128sHandle); #else // DAC128S805 // initialize the DAC128S05 dac128sHandle = DAC128S_init(&dac128s); #if !defined(SYSCONFIG_EN) // setup SPI for DAC128S05 DAC128S_setupSPI(dac128sHandle); #else // SYSCONFIG_EN SPI_setTxFifoTransmitDelay(DAC_SPI_BASE, 0x04); SPI_clearInterruptStatus(DAC_SPI_BASE, SPI_INT_TXFF); #endif // SYSCONFIG_EN DAC128S_writeCommand(dac128sHandle); #endif // DAC128S805 // The following settings are for output the values of different variables // in each build level for debug. The User can select one of these groups in // different build level as commented note // DAC_LEVEL1_DACTEST // DAC_LEVEL4_DCLINK, DAC_LEVEL4_ALL, DAC_LEVEL2_MOTOR_IS, DAC_LEVEL4_MOTORS // DAC_LEVEL4_VIBCOMP, DAC_LEVEL_TEST, DAC_LEVEL4_PFC // DAC_LEVEL2_MOTOR1_IS, DAC_LEVEL2_MOTOR1_VS, DAC_LEVEL3_MOTOR1_EST // DAC_LEVEL2_MOTOR2_IS, DAC_LEVEL2_MOTOR2_VS, DAC_LEVEL3_MOTOR2_EST // DAC_LEVEL4_MOTOR1_EST, DAC_LEVEL4_SMOM1, DAC_LEVEL4_FASTM1, DAC_LEVEL4_DSMOM1 // DAC_LEVEL4_MOTOR2_EST, DAC_LEVEL4_SMOM2, DAC_LEVEL4_FASTM2, DAC_LEVEL4_DSMOM2 #define DAC_LEVEL4_ALL // define the DAC level #if defined(DAC_LEVEL4_DCLINK) // Using in build Level_4 to debug single shunt dac128s.ptrData[0] = &angleFOCM1_rad; // CH_A dac128s.ptrData[1] = &adcData[0].I_A.value[0]; // CH_B dac128s.ptrData[2] = &adcData[0].I_A.value[1]; // CH_C dac128s.ptrData[3] = &adcData[0].I_A.value[2]; // CH_D dac128s.gain[0] = 4096.0f / MATH_TWO_PI; dac128s.gain[1] = 4096.0f * 2.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[2] = 4096.0f * 2.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[3] = 4096.0f * 2.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A; dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.0f * 4096.0f); #elif defined(DAC_LEVEL4_PFC) // Using in build Level_4 to monitor the rotor angles of motor 1 and 2, // and the sensing AC current and voltage for PFC dac128s.ptrData[0] = &adcDataPFC.IacBus; // CH_A dac128s.ptrData[1] = &adcDataPFC.VacBus; // CH_B dac128s.ptrData[2] = &adcDataPFC.VdcBus; // CH_C dac128s.ptrData[3] = &adcDataPFC.IacBus; // CH_D dac128s.gain[0] = 4096.0f; dac128s.gain[1] = 4096.0f; dac128s.gain[2] = 4096.0f; dac128s.gain[3] = 4096.0f; dac128s.offset[0] = (uint16_t)(0.0f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.0f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.0f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.0f * 4096.0f); #elif defined(DAC_LEVEL4_ALL) // Using in build Level_4 to monitor the rotor angles of motor 1 and 2, // and the sensing AC current and voltage for PFC dac128s.ptrData[0] = &adcDataPFC.IacBus; // CH_A dac128s.ptrData[1] = &adcDataPFC.VacBus; // CH_B dac128s.ptrData[2] = &angleFOCM1_rad; // CH_C dac128s.ptrData[3] = &angleFOCM2_rad; // CH_D dac128s.gain[0] = 4096.0f; dac128s.gain[1] = 4096.0f; dac128s.gain[2] = 4096.0f / MATH_TWO_PI; dac128s.gain[3] = 4096.0f / MATH_TWO_PI; dac128s.offset[0] = (uint16_t)(0.0f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.0f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f); #elif defined(DAC_LEVEL2_MOTOR_IS) // Using in build level 2: Verify motor_2 current sensing signals dac128s.ptrData[0] = &adcData[0].I_A.value[0]; // CH_A dac128s.ptrData[1] = &adcData[1].I_A.value[0]; // CH_B dac128s.ptrData[2] = &angleFOCM1_rad; // CH_C dac128s.ptrData[3] = &angleFOCM2_rad; // CH_D dac128s.gain[0] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[1] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[2] = 4096.0f / MATH_TWO_PI; dac128s.gain[3] = 4096.0f / MATH_TWO_PI; dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f); #elif defined(DAC_LEVEL2_MOTOR1_IS) // Using in build Level 2: Verify motor_1 current sensing signals dac128s.ptrData[0] = &angleFOCM1_rad; // CH_D dac128s.ptrData[1] = &adcData[0].I_A.value[0]; // CH_A dac128s.ptrData[2] = &adcData[0].I_A.value[1]; // CH_B dac128s.ptrData[3] = &adcData[0].I_A.value[2]; // CH_C dac128s.gain[0] = 4096.0f / MATH_TWO_PI; dac128s.gain[1] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[2] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[3] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A; dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f); #elif defined(DAC_LEVEL2_MOTOR1_VS) // Using in build level 2: Verify motor_1 voltage sensing signals dac128s.ptrData[0] = &angleFOCM1_rad; // CH_A dac128s.ptrData[1] = &adcData[0].V_V.value[0]; // CH_B dac128s.ptrData[2] = &adcData[0].V_V.value[1]; // CH_C dac128s.ptrData[3] = &adcData[0].V_V.value[2]; // CH_D dac128s.gain[0] = 4096.0f / MATH_TWO_PI; dac128s.gain[1] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_VOLTAGE_V; dac128s.gain[2] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_VOLTAGE_V; dac128s.gain[3] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_VOLTAGE_V; dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f); #elif defined(DAC_LEVEL3_MOTOR1_EST) // Using in build Level 2 and 3: Verify motor_1 estimation angle dac128s.ptrData[0] = &angleGenM1_rad; // CH_A dac128s.ptrData[1] = &angleESTM1_rad; // CH_B dac128s.ptrData[2] = &adcData[0].I_A.value[0]; // CH_C dac128s.ptrData[3] = &adcData[0].V_V.value[0]; // CH_D dac128s.gain[0] = 4096.0f / MATH_TWO_PI; dac128s.gain[1] = 4096.0f / MATH_TWO_PI; dac128s.gain[2] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[3] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_VOLTAGE_V; dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f); #elif defined(DAC_LEVEL2_MOTOR2_IS) // Using in build level 2: Verify motor_2 current sensing signals dac128s.ptrData[0] = &adcData[1].I_A.value[0]; // CH_A dac128s.ptrData[1] = &adcData[1].I_A.value[1]; // CH_B dac128s.ptrData[2] = &adcData[1].I_A.value[2]; // CH_C dac128s.ptrData[3] = &angleFOCM2_rad; // CH_D dac128s.gain[0] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[1] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[3] = 4096.0f / MATH_TWO_PI; dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f); #elif defined(DAC_LEVEL2_MOTOR2_VS) // Using in build level 2: Verify motor_2 voltage sensing signals dac128s.ptrData[0] = &angleFOCM2_rad; // CH_D dac128s.ptrData[1] = &adcData[1].V_V.value[0]; // CH_A dac128s.ptrData[2] = &adcData[1].V_V.value[1]; // CH_B dac128s.ptrData[3] = &adcData[1].V_V.value[2]; // CH_C dac128s.gain[0] = 4096.0f / MATH_TWO_PI; dac128s.gain[1] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_VOLTAGE_V; dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_VOLTAGE_V; dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_VOLTAGE_V; dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f); #elif defined(DAC_LEVEL3_MOTOR2_EST) // Using in build level 2 and 3: Verify motor_2 estimation angle dac128s.ptrData[0] = &angleGenM2_rad; // CH_A dac128s.ptrData[1] = &angleESTM2_rad; // CH_B dac128s.ptrData[2] = &adcData[1].I_A.value[0]; // CH_C dac128s.ptrData[3] = &adcData[1].V_V.value[0]; // CH_D dac128s.gain[0] = 4096.0f / MATH_TWO_PI; dac128s.gain[1] = 4096.0f / MATH_TWO_PI; dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_VOLTAGE_V; dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f); #elif defined(DAC_LEVEL4_MOTOR2_EST) // Using in build level 2 and 3: Verify motor_2 estimation angle dac128s.ptrData[0] = &angleESTM2_rad; // CH_A dac128s.ptrData[1] = &adcData[1].I_A.value[0]; // CH_B dac128s.ptrData[2] = &adcData[1].V_V.value[0]; // CH_C dac128s.ptrData[3] = &adcData[1].I_A.value[1]; // CH_D dac128s.gain[0] = 4096.0f / MATH_TWO_PI; dac128s.gain[1] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_VOLTAGE_V; dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A; dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f); #elif defined(DAC_LEVEL4_MOTORS) // Using in build level 3 and 4: Verify motor_1 & motor_2 closed-loop dac128s.ptrData[0] = &angleFOCM1_rad; // CH_A dac128s.ptrData[1] = &angleFOCM2_rad; // CH_B dac128s.ptrData[2] = &adcData[0].I_A.value[0]; // CH_C dac128s.ptrData[3] = &adcData[1].I_A.value[0]; // CH_D dac128s.gain[0] = 4096.0f / MATH_TWO_PI; dac128s.gain[1] = 4096.0f / MATH_TWO_PI; dac128s.gain[2] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A; dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f); #elif defined(DAC_LEVEL4_SMOM1) // Using in build level 2 and 3: Verify motor_2 estimation angle dac128s.ptrData[0] = &adcData[0].I_A.value[0]; // CH_A dac128s.ptrData[1] = &adcData[0].I_A.value[0]; // CH_B dac128s.ptrData[2] = &anglePLLM1_rad; // CH_C // dac128s.ptrData[3] = &angleESTM1_rad; // CH_D dac128s.ptrData[3] = &angleFOCM1_rad; // CH_D dac128s.gain[0] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[1] = 4096.0f * 1.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[2] = 4096.0f / MATH_TWO_PI; dac128s.gain[3] = 4096.0f / MATH_TWO_PI; dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f); #elif defined(DAC_LEVEL4_FASTM2) // Using in build level 2 and 3: Verify motor_2 estimation angle dac128s.ptrData[0] = &angleFOCM2_rad; // CH_A dac128s.ptrData[1] = &angleESTM2_rad; // CH_B dac128s.ptrData[2] = &adcData[1].I_A.value[0]; // CH_C dac128s.ptrData[3] = &adcData[1].I_A.value[1]; // CH_D dac128s.gain[0] = 4096.0f / MATH_TWO_PI; dac128s.gain[1] = 4096.0f / MATH_TWO_PI; dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A; dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f); #elif defined(DAC_LEVEL4_SMOM2) // Using in build level 2 and 3: Verify motor_2 estimation angle dac128s.ptrData[0] = &angleFOCM2_rad; // CH_C dac128s.ptrData[1] = &anglePLLM2_rad; // CH_A dac128s.ptrData[2] = &adcData[1].I_A.value[0]; // CH_C dac128s.ptrData[3] = &adcData[1].I_A.value[1]; // CH_D dac128s.gain[0] = 4096.0f / MATH_TWO_PI; dac128s.gain[1] = 4096.0f / MATH_TWO_PI; dac128s.gain[2] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A; dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f); #elif defined(DAC_LEVEL4_DSMOM2) // Using in build level 2 and 3: Verify motor_2 estimation angle dac128s.ptrData[0] = &angleFOCM2_rad; // CH_C dac128s.ptrData[1] = &anglePLLM2_rad; // CH_A dac128s.ptrData[2] = &angleESTM2_rad; // CH_B dac128s.ptrData[3] = &adcData[1].I_A.value[0]; // CH_D dac128s.gain[0] = 4096.0f / MATH_TWO_PI; dac128s.gain[1] = 4096.0f / MATH_TWO_PI; dac128s.gain[2] = 4096.0f / MATH_TWO_PI; dac128s.gain[3] = 4096.0f * 1.0f / USER_M2_ADC_FULL_SCALE_CURRENT_A; dac128s.offset[0] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f); #elif defined(DAC_LEVEL4_VIBCOMP) // Using in build level 4: for vibration compensation debug dac128s.ptrData[0] = &vibComp.angleMechPoles_rad; // CH_A dac128s.ptrData[1] = &angleFOCM1_rad; // CH_B dac128s.ptrData[2] = &vibComp.Iq_comp_A; // CH_C dac128s.ptrData[3] = &Idq_in_A[0].value[1]; // CH_D dac128s.gain[0] = 4096.0f / MATH_TWO_PI / USER_MOTOR1_NUM_POLE_PAIRS; dac128s.gain[1] = 4096.0f / MATH_TWO_PI; dac128s.gain[2] = 4096.0f * 0.5f / USER_M1_ADC_FULL_SCALE_CURRENT_A; dac128s.gain[3] = 4096.0f * 0.5f / USER_M2_ADC_FULL_SCALE_CURRENT_A; dac128s.offset[0] = (uint16_t)(0.0f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.5f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.5f * 4096.0f); #elif defined(DAC_LEVEL_TEST) && defined(DACTEST_EN) // Using in build level 4: for vibration compensation debug dac128s.ptrData[0] = &dacTestValue[0]; // CH_A dac128s.ptrData[1] = &dacTestValue[1]; // CH_B dac128s.ptrData[2] = &dacTestValue[2]; // CH_C dac128s.ptrData[3] = &dacTestValue[3]; // CH_D dac128s.gain[0] = 4096.0f; dac128s.gain[1] = 4096.0f; dac128s.gain[2] = 4096.0f; dac128s.gain[3] = 4096.0f; dac128s.offset[0] = (uint16_t)(0.0f * 4096.0f); dac128s.offset[1] = (uint16_t)(0.0f * 4096.0f); dac128s.offset[2] = (uint16_t)(0.0f * 4096.0f); dac128s.offset[3] = (uint16_t)(0.0f * 4096.0f); #else #error Not assign the variables to the DAC object #endif //DAC_LEVEL #endif // DAC128S_ENABLE #if defined(SFRA_ENABLE) && (SFRA_TEST_TYPE == SFRA_TEST_PFC) // Plot GH & H plots using SFRA_GUI configureSFRA(SFRA_GUI_PLOT_GH_H, PFC_SAMPLING_FREQ_HZ); sfraTestLoop = SFRA_TEST_PFC_CURRENT; sfraCollectStart = false; // disable SFRA data collection #endif // SFRA_ENABLE && SFRA_TEST_PFC #if defined(SFRA_ENABLE) && (SFRA_TEST_TYPE == SFRA_TEST_MOTOR1) // Plot GH & H plots using SFRA_GUI, GH & CL plots using SFRA_GUI_MC configureSFRA(SFRA_GUI_PLOT_GH_H, USER_M1_SAMPLING_FREQ_Hz); sfraTestLoop = SFRA_TEST_MOTOR1_IQ; sfraCollectStart = false; // disable SFRA data collection #endif // SFRA_ENABLE && SFRA_TEST_MOTOR1 #if defined(SFRA_ENABLE) && ( SFRA_TEST_TYPE == SFRA_TEST_MOTOR2) // Plot GH & H plots using SFRA_GUI, GH & CL plots using SFRA_GUI_MC configureSFRA(SFRA_GUI_PLOT_GH_H, MOTOR2_SAMPLING_FREQ_Hz); sfraTestLoop = SFRA_TEST_MOTOR2_IQ; sfraCollectStart = false; // disable SFRA data collection #endif // SFRA_ENABLE && SFRA_TEST_MOTOR2 systemVars.flagEnableSystem = false; compressor1motorFlag = false; //add 10032024 #if(PFC_BUILDLEVEL >= PFC_LEVEL_2) pfcVars.flagEnableOffsetCalc = false; motorVars[MTR_1].flagEnableOffsetCalc = true; motorVars[MTR_2].flagEnableOffsetCalc = true; #else pfcVars.flagEnableOffsetCalc = true; motorVars[MTR_1].flagEnableOffsetCalc = true; motorVars[MTR_2].flagEnableOffsetCalc = true; #endif // PFC_BUILDLEVEL == PFC_LEVEL_1 systemVars.powerRelayWaitTime_ms = POWER_RELAY_WAIT_TIME_ms; //6s systemVars.timerBase_1ms = 0; systemVars.flagEnableExtCmd = false; systemVars.flagEnableSystem = false; // Waiting for enable system flag to be set while(systemVars.flagEnableSystem == false) { if(HAL_getCPUTimerStatus(halHandle, HAL_CPU_TIMER0) == true) { // read the ADC data with offsets HAL_readPFCADCData(&adcDataPFC); // convert dc bus voltage from pu to SI unit pfcVars.VdcBusLPF = pfcVars.VdcBusLPF + (adcDataPFC.VdcBus - pfcVars.VdcBusLPF) * pfcVars.lpfVdcCoeff; pfcVars.VdcBusLPF_V = pfcVars.VdcBusLPF * USER_PFC_ADC_FULL_SCALE_DC_VOLTAGE_V; #if(PFC_BUILDLEVEL > PFC_LEVEL_4) if(pfcVars.VdcBusLPF_V >= POWER_RELAY_ON_VOLTAGE_V) { systemVars.timerBase_1ms++; } #else systemVars.timerBase_1ms++; #endif if(systemVars.timerBase_1ms > systemVars.powerRelayWaitTime_ms) { systemVars.flagEnableSystem = true; systemVars.timerBase_1ms = 0; // Turn on the power relay HAL_turnOnPowerRelay(ACPOWER_RELAY_GPIO); HAL_turnOnPowerRelay(ACPOWER_RELAY_GPIO); // Turn on the FWV relay which is used for power relay // on the new board for F280015x HAL_turnOnPowerRelay(FOURWAY_RELAY_GPIO); HAL_turnOnPowerRelay(FOURWAY_RELAY_GPIO); } HAL_clearCPUTimerFlag(halHandle, HAL_CPU_TIMER0); } } //--------------------------BN ADD 26032024----------------- //-------------------------END------------------- // Turn on the power relay HAL_turnOnPowerRelay(ACPOWER_RELAY_GPIO); HAL_turnOnPowerRelay(ACPOWER_RELAY_GPIO); systemVars.flagEnableSystem = false; systemVars.timerBase_1ms = 0; systemVars.powerRelayWaitTime_ms = OFFSET_CHECK_WAIT_TIME_ms; //4s // Waiting for enable system flag to be set while(systemVars.flagEnableSystem == false) { if(HAL_getCPUTimerStatus(halHandle, HAL_CPU_TIMER0) == true) { systemVars.timerBase_1ms++; if(systemVars.timerBase_1ms > systemVars.powerRelayWaitTime_ms) { systemVars.flagEnableSystem = true; systemVars.timerBase_1ms = 0; } HAL_clearCPUTimerFlag(halHandle, HAL_CPU_TIMER0); } } systemVars.flagEnableSystem = true; // Turn on the power relay HAL_turnOnPowerRelay(ACPOWER_RELAY_GPIO); #ifndef PFC_DISABLE // run offset calibration for PFC runPFCOffsetsCalculation(); #endif // PFC_DISABLE #ifndef MOTOR1_DISABLE // run offset calibration for motor 1 runMotor1OffsetsCalculation(); #endif // !MOTOR1_DISABLE #ifndef MOTOR2_DISABLE // run offset calibration for motor 2 runMotor2OffsetsCalculation(); #endif // !MOTOR2_DISABLE // enable global interrupts HAL_enableGlobalInts(halHandle); // enable debug interrupts HAL_enableDebugInt(halHandle); systemVars.flagEnableSystem = true; HAL_clearCPUTimerFlag(halHandle, HAL_CPU_TIMER0); motorVars[0].flagEnableRunAndIdentify = false; motorVars[1].flagEnableRunAndIdentify = false; compressor1motorFlag = false; msg = "@ Welcome VOEPL Team @"; SCI_writeCharArray(SCIA_BASE, (uint16_t*)msg, 22); Interrupt_enable(INT_SCIA_RX); Interrupt_enable(INT_SCIA_TX); Interrupt_register(INT_SCIA_TX, INT_SCI_COM_TX_ISR); //ok while(systemVars.flagEnableSystem == true) { // Interrupt_register(INT_SCIA_TX, INT_SCI_COM_TX_ISR); //ok //SCI_writeCharArray(SCIA_BASE, (uint16_t*)rDataA, 17); // Interrupt_register(INT_SCIA_RX, INT_SCI_COM_RX_ISR); tempnewvalue1 = (*read_ADC_Value); fTempValue = (float)(ADC_RESOLUTION_VALUE - tempnewvalue1);//value fTempValue *= (TEMP_AIR_RES_GND / tempnewvalue1); Temp_Sensor_coils = (float)ntc_sensor_get_temp(fTempValue, TEMP_AIR_RES_T_25, TEMP_AIR_BETA); //--------------------------------------Ambient sensor------------------------------------------------- tempnewvalue2 = (*read_ADC_Value1); fTempValue = (float)(ADC_RESOLUTION_VALUE - tempnewvalue2);//value fTempValue *= (TEMP_AIR_RES_GND / tempnewvalue2); Temp_Sensor_Ambient = (float)ntc_sensor_get_temp(fTempValue, TEMP_AIR_RES_T_25, TEMP_AIR_BETA); //---------------------------------Discharge_Sensor------------------------------------------------------------- tempnewvalue3 = (*read_ADC_Value2); fTempValue = (float)(ADC_RESOLUTION_VALUE - tempnewvalue3);//value fTempValue *= (TEMP_AIR_RES_GND / tempnewvalue3); Temp_Sensor_Discharge = (float)ntc_sensor_get_temp(fTempValue, TEMP_AIR_RES_T_25, TEMP_AIR_BETA); //-------------------------------------------NEW---ADD---END------------------------------------------------------ // loop while the enable system flag is true // 1ms time base if(HAL_getCPUTimerStatus(halHandle, HAL_CPU_TIMER0) == true) { systemVars.timerBase_1ms++; HAL_clearCPUTimerFlag(halHandle, HAL_CPU_TIMER0); SYS_processFault(); if( compressor1motorFlag == true) // this is compressor flagRunIdentAndOnLine added by bn { SYS_updateCtrlState(); motorVars[MTR_1].flagEnableRunAndIdentify = true; compressor1motorFlag = false; } switch(systemVars.timerBase_1ms) { // 5ms time base case 1: // motor 1 protection check #ifndef MOTOR1_DISABLE calculateRMSData(MTR_1); runMotorMonitor(MTR_1); #endif // !MOTOR1_DISABLE break; case 2: // motor 2 protection check #if !defined(MOTOR2_DISABLE) // single motor on high voltage kit calculateRMSData(MTR_2); runMotorMonitor(MTR_2); #endif // !MOTOR2_DISABLE break; case 3: // pfc protection check #if !defined(PFC_DISABLE) runPFCMonitor(); #endif // PFC_DISABLE break; case 4: // calculate motor and pfc protection value #if !defined(MOTOR1_DCLINKSS) calcMotorOverCurrentThreshold(MTR_1); #elif !defined(MOTOR1_DISABLE) // MOTOR1_DCLINKSS calcMotorDCLinkOverCurrentThreshold(MTR_1); #endif // MOTOR1_DCLINKSS #if !defined(MOTOR2_DISABLE) && !defined(MOTOR2_DCLINKSS) calcMotorOverCurrentThreshold(MTR_2); #elif !defined(MOTOR2_DISABLE) // MOTOR2_DCLINKSS calcMotorDCLinkOverCurrentThreshold(MTR_2); #endif // !MOTOR2_DISABLE & MOTOR2_DCLINKSS #if !defined(PFC_DISABLE) calcPFCOverCurrentThreshold(); #endif // PFC_DISABLE #if defined(MOTOR1_FWC) updateFWCParams(); #endif // MOTOR1_FWC #if defined(MOTOR1_MTPA) updateMTPAParams(); #endif // MOTOR1_MTPA break; case 5: // system control systemVars.timerBase_1ms = 0; systemVars.timerCnt_5ms++; SYS_displayFault(); // 5ms #if defined(MOTOR2_ESMO) && !defined(MOTOR2_DISABLE) if(motorVars[MTR_2].motorState >= MOTOR_CTRL_RUN) { ESMO_updateFilterParams(esmoM2Handle); ESMO_updatePLLParams(esmoM2Handle); } #endif // MOTOR2_ESMO #if defined(MOTOR1_ESMO) && !defined(MOTOR1_DISABLE) if(motorVars[MTR_1].motorState >= MOTOR_CTRL_RUN) { ESMO_updateFilterParams(esmoM1Handle); ESMO_updatePLLParams(esmoM1Handle); } #endif // MOTOR2_ESMO break; default: break; } #if defined(SFRA_ENABLE) // SFRA test SFRA_F32_runBackgroundTask(&sfra1); SFRA_GUI_runSerialHostComms(&sfra1); #endif // SFRA_ENABLE } #ifndef MOTOR1_DISABLE // run control for motor 1 runMotor1Control(); #endif // !MOTOR1_DISABLE #if !defined(MOTOR2_DISABLE) // run control for motor 2 runMotor2Control(); #endif // !MOTOR2_DISABLE #if !defined(PFC_DISABLE) // run control for PFC runPFCMainControl(); #endif // PFC_DISABLE if(systemVars.flagEnableExtCmd == true) { if(GPIO_readPin(TEST_SWITCH_GPIO) == 0) { motorVars[MTR_2].flagEnableRunAndIdentify = true; motorVars[MTR_2].speedRef_Hz = systemVars.speedFan_Hz; } else { motorVars[MTR_2].flagEnableRunAndIdentify = false; } } } // end of while() loop #ifndef MOTOR1_DISABLE // disable the PWM for stopping the motor 1 HAL_disableMTRPWM(halMtrHandle[0]); #endif // !MOTOR1_DISABLE // disable the PWM for stopping the motor 1 #if !defined(MOTOR2_DISABLE) HAL_disableMTRPWM(halMtrHandle[1]); #endif // !MOTOR2_DISABLE } // end of main() function static float ntc_sensor_get_temp(float res, uint16_t res_25, uint16_t beta) { float temp = 1 / (1 / TEMP_T_25_K + (log10((float)res/res_25) / LOG_10_E / beta)); temp -= 273.15; return temp; } __interrupt void INT_MTR1_EMI_1_ISR(void) { // ADC_clearInterruptStatus(MTR1_EMI_BASE, ADC_INT_NUMBER1); // if(true==ADC_getInterruptOverflowStatus(MTR1_EMI_BASE, ADC_INT_NUMBER1)) // { // ADC_clearInterruptOverflowStatus(MTR1_EMI_BASE, ADC_INT_NUMBER1); // ADC_clearInterruptStatus(MTR1_EMI_BASE, ADC_INT_NUMBER1); // } // Interrupt_clearACKGroup(INT_MTR1_EMI_1_INTERRUPT_ACK_GROUP); } // //-- end of this file ---------------------------------------------------------- void configCPUTimer(uint32_t cpuTimer, float freq, float period) { uint32_t temp; temp = (uint32_t)((freq / 1000000) * period); CPUTimer_setPeriod(CPU_TIMER1_BASE, 119047U); CPUTimer_setPreScaler(CPU_TIMER1_BASE, 1000U); CPUTimer_reloadTimerCounter(CPU_TIMER1_BASE); CPUTimer_setEmulationMode(CPU_TIMER1_BASE, CPUTIMER_EMULATIONMODE_RUNFREE); CPUTimer_enableInterrupt(CPU_TIMER1_BASE); if(cpuTimer == CPUTIMER1_BASE) { cpuTimer1IntCount = 0; } } __interrupt void INT_CPU_TIMER1_ISR(void) //INT_CPU_TIMER1_ISR { CPUTimer_reloadTimerCounter(CPU_TIMER1_BASE); CPUTimer_startTimer(CPU_TIMER1_BASE); cpuTimer1IntCount++; b++; if(cpuTimer1IntCount ==181) { compressor1motorFlag = true; motorVars[MTR_1].flagEnableRunAndIdentify = true; cpuTimer1IntCount=0; } Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP1); } void error(void) { asm(" ESTOP0"); // Test failed!! Stop! for (;;); } __interrupt void INT_SCI_COM_TX_ISR(void) { // uint16_t i; // SCI_writeCharArray(SCIA_BASE, sDataA, 9); // // // SCI_clearInterruptStatus(SCIA_BASE, SCI_INT_TXFF); // // Issue PIE ACK // // // Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP9); // // SCI_enableInterrupt(uint32_t base, uint32_t intFlags); } __interrupt void INT_SCI_COM_RX_ISR(void) { // char rx_data; // memset((char *)&rDataA[0], 0, sizeof((char *)rDataA)); // SCI_readCharArray(SCIA_BASE, rDataA, 1); ASSERT(SCI_isBaseValid(SCIA_BASE)); if(SCI_isFIFOEnabled(SCIA_BASE)) { while(SCI_getRxFIFOStatus(SCIA_BASE) == SCI_FIFO_RX15) { } rx_data = (HWREGH(SCIA_BASE + SCI_O_RXBUF) & SCI_RXBUF_SAR_M); if(ucRxStatus == 'H') { if(rx_data == '$') { uiRxByteCntr = 0; ucRxBuff[uiRxByteCntr++] = rx_data; ucRxStatus = 'A'; } else { uiRxByteCntr = 0; ucRxStatus = 'H'; } } else if(ucRxStatus == 'A') { if(rx_data == '*') // { ucRxBuff[uiRxByteCntr++] = rx_data; rx_flag = 1; ucRxStatus = 'H'; } else { ucRxBuff[uiRxByteCntr++] = rx_data; } } else { ucRxStatus = 'H'; uiRxByteCntr = 0; } } //-------------------------New added end------------------ SCI_clearOverflowStatus(SCIA_BASE); SCI_clearInterruptStatus(SCIA_BASE, SCI_INT_RXFF); // Issue PIE ack Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP9); } void initSCIAFIFO() { // // 8 char bits, 1 stop bit, no parity. Baud rate is 9600. // SCI_setConfig(SCIA_BASE, DEVICE_LSPCLK_FREQ, 9600, (SCI_CONFIG_WLEN_8 | SCI_CONFIG_STOP_ONE | SCI_CONFIG_PAR_NONE)); SCI_enableModule(SCIA_BASE); SCI_enableLoopback(SCIA_BASE); SCI_resetChannels(SCIA_BASE); SCI_disableFIFO(SCIA_BASE); // RX and TX FIFO Interrupts Enabled SCI_enableInterrupt(SCIA_BASE, (SCI_INT_RXFF | SCI_INT_TXFF)); // SCI_disableInterrupt(SCIA_BASE, SCI_INT_RXERR); // The transmit FIFO generates an interrupt when FIFO status // bits are less than or equal to 2 out of 16 words // The receive FIFO generates an interrupt when FIFO status // bits are greater than equal to 2 out of 16 words SCI_setFIFOInterruptLevel(SCIA_BASE, SCI_FIFO_TX2, SCI_FIFO_RX2); SCI_performSoftwareReset(SCIA_BASE); // SCI_resetTxFIFO(SCIA_BASE); // SCI_resetRxFIFO(SCIA_BASE); SCI_resetChannels(SCIA_BASE); }[/quote]
