├── .gitignore ├── Expressions.txt ├── LICENSE ├── Misc-After_20250517.txt ├── ProjectPanGu-C-no-codes.7z ├── README.md ├── User_CLA ├── CLA_shared.h ├── DCL.h ├── DCLCLA.h ├── DCL_PID_L1.asm ├── DCL_PI_L1.asm ├── F28069_PI_CLA.cla └── mainCLA.c ├── User_acmsimcv5 ├── ACMConfig.h ├── main_switch.c ├── main_switch.h ├── pi_math.h ├── pmsm_comm.c ├── pmsm_comm.h ├── pmsm_observer.c ├── pmsm_observer.h ├── shared_flux_estimator.c ├── shared_flux_estimator.h ├── simuser_bezier.c ├── simuser_bezier.h ├── simuser_cjh.c ├── simuser_cjh.h ├── simuser_wb.c ├── simuser_wb.h ├── simuser_wb_cury.c ├── simuser_wb_cury.h ├── simuser_yzz.c ├── simuser_yzz.h ├── super_config.c ├── super_config.h ├── typedef.h └── utility.c ├── User_application ├── ACMSim.h ├── All_Definition.h ├── AppCury.c ├── AppCury.h ├── Device_define.h ├── Experiment.c ├── Experiment.h ├── ShareMemory.c ├── ShareMemory.h ├── main.c ├── new_user.c ├── new_user.h ├── tools.c ├── tools.h ├── yx2837xDeadtime_compensation.c └── yx2837xdeadtime.h ├── User_driver ├── CONSOLE.c ├── CONSOLE.h ├── DAC_MAX5307.c ├── DAC_MAX5307.h ├── ECaptureVoltage.c ├── ECaptureVoltage.h ├── F2837xD_Ipc.c ├── F2837xD_Ipc_Driver.c ├── F2837xD_Ipc_Driver_Lite.c ├── F2837xD_Ipc_Driver_Util.c ├── i2cTalkToLDC1612.c ├── i2cTalkToLDC1612.h ├── yx2837xD_Adc.c ├── yx2837xD_EPwm.c ├── yx2837xD_EQep.c ├── yx2837xD_Gpio.c └── yxsvgen.c ├── User_peripheral ├── F2837xD_Adc_defines.h ├── F2837xD_Can_defines.h ├── F2837xD_Cla_defines.h ├── F2837xD_Cla_typedefs.h ├── F2837xD_CodeStartBranch.asm ├── F2837xD_CpuTimers.c ├── F2837xD_DBGIER.asm ├── F2837xD_DefaultISR.c ├── F2837xD_Dma.c ├── F2837xD_Dma_defines.h ├── F2837xD_ECap.c ├── F2837xD_EPwm_defines.h ├── F2837xD_EQep_defines.h ├── F2837xD_Emif.c ├── F2837xD_Emif_defines.h ├── F2837xD_Examples.h ├── F2837xD_GlobalPrototypes.h ├── F2837xD_GlobalVariableDefs.c ├── F2837xD_Gpio_defines.h ├── F2837xD_I2c_defines.h ├── F2837xD_Ipc_defines.h ├── F2837xD_Ipc_drivers.h ├── F2837xD_PieCtrl.c ├── F2837xD_PieVect.c ├── F2837xD_Pie_defines.h ├── F2837xD_SWPrioritizedIsrLevels.h ├── F2837xD_Sci.c ├── F2837xD_Spi.c ├── F2837xD_SysCtrl.c ├── F2837xD_SysCtrl_defines.h ├── F2837xD_Systick_defines.h ├── F2837xD_TempSensorConv.c ├── F2837xD_Upp.c ├── F2837xD_Upp_defines.h ├── F2837xD_cputimervars.h ├── F2837xD_defaultisr.h ├── F2837xD_sci_io.c ├── F2837xD_sci_io.h ├── F2837xD_sdfm_drivers.c ├── F2837xD_sdfm_drivers.h ├── F2837xD_struct.c ├── F2837xD_struct.h ├── F2837xD_usDelay.asm ├── FlashAPI │ ├── Constants │ │ ├── Constants.h │ │ ├── F2837xD.h │ │ └── FMC.h │ ├── F021.h │ ├── F021_F2837xD_C28x.h │ ├── Helpers.h │ ├── Init.h │ ├── Registers.h │ ├── Registers_C28x.h │ └── Types.h ├── PeripheralHeader │ ├── F2837xD_adc.h │ ├── F2837xD_analogsubsys.h │ ├── F2837xD_can.h │ ├── F2837xD_cla.h │ ├── F2837xD_cmpss.h │ ├── F2837xD_cputimer.h │ ├── F2837xD_dac.h │ ├── F2837xD_dcsm.h │ ├── F2837xD_device.h │ ├── F2837xD_dma.h │ ├── F2837xD_ecap.h │ ├── F2837xD_emif.h │ ├── F2837xD_epwm.h │ ├── F2837xD_epwm_xbar.h │ ├── F2837xD_eqep.h │ ├── F2837xD_flash.h │ ├── F2837xD_gpio.h │ ├── F2837xD_i2c.h │ ├── F2837xD_input_xbar.h │ ├── F2837xD_ipc.h │ ├── F2837xD_mcbsp.h │ ├── F2837xD_memconfig.h │ ├── F2837xD_nmiintrupt.h │ ├── F2837xD_output_xbar.h │ ├── F2837xD_piectrl.h │ ├── F2837xD_pievect.h │ ├── F2837xD_sci.h │ ├── F2837xD_sdfm.h │ ├── F2837xD_spi.h │ ├── F2837xD_sysctrl.h │ ├── F2837xD_upp.h │ ├── F2837xD_xbar.h │ └── F2837xD_xint.h └── f2837xbmsk.h ├── assets ├── 1721979047918-1.png ├── 1721979047918-2.png ├── 1721979047918-3.png ├── 1721979047918-4.png ├── 1721979047919-10.png ├── 1721979047919-11.png ├── 1721979047919-12.png ├── 1721979047919-5.png ├── 1721979047919-6.png ├── 1721979047919-7.png ├── 1721979047919-8.png ├── 1721979047919-9.png ├── 1721979047920-13.png ├── 1721979047920-14.png ├── 1721979047920-15.png ├── 1721979047920-16.png ├── 1721979047920-17.png ├── 1721979047920-18.png ├── 1721979047920-19.png ├── 1721979047920-20.png ├── 1721979047920-21.png ├── 1721979047920-22.png ├── 1721979047920-23.png ├── 1721979047920-24.png ├── 1721979047920-25.png ├── 1721979047920-26.png ├── 1721979047920-27.png ├── 1721979047920-28.png ├── 1721979047920-29.png ├── 1721979047920-30.png ├── 1721979047920-31.png ├── 1721979047920-32.png ├── 1721979047921-33.png ├── 1721979047921-34.jpeg ├── 1721979047921-35.png ├── 1721979047921-36.png ├── 1721979047921-37.png ├── 1721979047921-38.png ├── 1721979047921-39.png ├── 1721979047921-40.png ├── 1721979047921-41.png ├── 1721979047921-42.png ├── 1721979047921-43.png ├── 1721979047921-44.png ├── 1721979047921-45.png ├── 1721979047921-46.png ├── 1721979047921-47.png ├── 1721979047921-48.png ├── 1721979047921-49.png ├── 1721979047921-50.png ├── 1721979047921-51.png ├── 1721979047921-52.png ├── 1721979047921-53.png ├── 1721979047921-54.png ├── 1721979047921-55.png ├── 1721979047921-56.png ├── 1721979047921-57.png ├── 1721979047921-58.png ├── 1721979047921-59.png ├── 1721979047922-60.png ├── 1721979047922-61.png ├── 1721979047922-62.png ├── 1721979047922-63.png ├── 1721979047922-64.png ├── 1721979047922-65.png ├── 1721979047922-66.png ├── 1721979047922-67.png ├── 1721979047922-68.png ├── 1721979047922-69.png ├── 1721979047922-70.png ├── 1721979047922-71.png ├── 1721979047922-72.png └── 1721979047924-83.png ├── cmd ├── 2837xD_FLASH_lnk_cpu1.cmd ├── 2837xD_RAM_lnk_cpu1.cmd └── F2837xD_Headers_nonBIOS_cpu1.cmd └── connections ├── Seed560V2.ccxml └── xds200new.ccxml /.gitignore: -------------------------------------------------------------------------------- 1 | *.code-workspace 2 | .vscode/ 3 | 4 | 5 | /Debug/ 6 | /Release/ 7 | /lib/ 8 | /targetConfigs/ 9 | /NewTargetConfiguration.ccxml 10 | /.ccsproject 11 | /.cproject 12 | # /.gitignore 13 | /.project 14 | # /.settings 15 | 16 | Release/* 17 | .xdchelp 18 | config/* 19 | .launches/* 20 | 21 | 22 | *.sublime-project 23 | *.sublime-workspace 24 | 25 | 26 | *.d 27 | *.obj 28 | *.map 29 | *.out 30 | *.xml 31 | *.mk 32 | # *.ccxml 33 | *.opt 34 | # *.ccsproject 35 | # *.cproject 36 | # *.project 37 | *.prefs 38 | *.launch 39 | makefile 40 | /RAM/ 41 | /FLASH/ 42 | /Flash/ 43 | -------------------------------------------------------------------------------- /Expressions.txt: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | -------------------------------------------------------------------------------- /Misc-After_20250517.txt: -------------------------------------------------------------------------------- 1 | /* 将Bezier Controller放在mainloop中运行的代码 */ 2 | #if WHO_IS_USER == USER_BEZIER 3 | if( (d_sim.user.bezier_NUMBER_OF_STEPS<8000) && (d_sim.user.BOOL_BEZIER_RUN_IN_MAIN == TRUE) ){ 4 | // When the button is on, then give a Sweeping Ref 5 | if (Axis_1.FLAG_ENABLE_PWM_OUTPUT && d_sim.user.bezier_Give_Sweeping_Ref_in_Interrupt){ 6 | overwrite_sweeping_frequency(); 7 | _user_Check_ThreeDB_Point( (*CTRL).i->varOmega*MECH_RAD_PER_SEC_2_RPM, d_sim.user.CMD_SPEED_SINE_RPM ); 8 | // _user_commands(); // 用户指令 9 | } 10 | CTRL = &CTRL_1; 11 | 12 | PID_Speed->Ref = (*CTRL).i->cmd_varOmega; 13 | 14 | // Ref is given in Interrupt 15 | if (!d_sim.user.bezier_Give_Sweeping_Ref_in_Interrupt){ 16 | overwrite_sweeping_frequency(); 17 | /* Mark -3db points */ 18 | _user_Check_ThreeDB_Point( (*CTRL).i->varOmega*MECH_RAD_PER_SEC_2_RPM, d_sim.user.CMD_SPEED_SINE_RPM ); 19 | } 20 | 21 | if(d_sim.user.bool_apply_ESO_SPEED_for_SPEED_FBK == TRUE){ 22 | PID_Speed->Fbk = OBSV.esoaf.xOmg * MOTOR.npp_inv ; 23 | }else{ 24 | PID_Speed->Fbk = (*CTRL).i->varOmega; 25 | } 26 | PID_Speed->ErrPrev = PID_Speed->Err; 27 | PID_Speed->Err = PID_Speed->Ref - PID_Speed->Err; 28 | PID_Speed->OutLimit = BezierVL.points[BezierVL.order].y; 29 | control_output(PID_Speed, &BezierVL); 30 | if (d_sim.user.BOOL_BEZIER_ADAPTIVE_GAIN == FALSE){ 31 | (*debug).set_iq_command = PID_Speed->Out; 32 | }else{ 33 | (*debug).set_iq_command = control_output_adaptVersion(PID_Speed, &BezierVL_AdaptVersion); 34 | } 35 | (*debug).set_id_command = 0; 36 | } 37 | #endif 38 | // #if WHO_IS_USER == USER_QIAN 39 | // Sensor Coil 40 | // I2CA_ReadData_Channel(0); 41 | // DELAY_US(30); 42 | // I2CA_ReadData_Channel(1); 43 | // DELAY_US(30); 44 | // I2CA_ReadData_Channel(2); 45 | // DELAY_US(300); 46 | // I2CA_ReadData_Channel(3); 47 | // DELAY_US(300); 48 | // #endif 49 | // mainWhileLoopCounter1++; 50 | // mainWhileLoopCounter2=2992; 51 | // if (Motor_mode_START==1){ 52 | // Axis_1.FLAG_ENABLE_PWM_OUTPUT = 1; 53 | // DSP_START_LED1 54 | // DSP_START_LED2 55 | // mainWhileLoopCounter1 = Axis_1.FLAG_ENABLE_PWM_OUTPUT +5; 56 | // }else if (Motor_mode_START==0){ 57 | // Axis_1.FLAG_ENABLE_PWM_OUTPUT = 0; 58 | // DSP_STOP_LED1 59 | // DSP_STOP_LED2 60 | // mainWhileLoopCounter1 = Axis_1.FLAG_ENABLE_PWM_OUTPUT +5; 61 | // } 62 | // mainWhileLoopCounter1 = mainWhileLoopCounter2; 63 | 64 | // mainWhileLoopCounter3 += 1; 65 | // Axis_1.ID += 1; 66 | // mainWhileLoopCounter2 += 1; 67 | 68 | 69 | 70 | /* XXXXXXXXXXXXXXXX */ 71 | 72 | -------------------------------------------------------------------------------- /ProjectPanGu-C-no-codes.7z: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/horychen/ProjectPanGu-C/77be76304f172f655c3d92afb6d777d5fc1e4f0d/ProjectPanGu-C-no-codes.7z -------------------------------------------------------------------------------- /User_CLA/CLA_shared.h: -------------------------------------------------------------------------------- 1 | /* CLA_shared.h */ 2 | 3 | #ifndef _C_CLA_SHARED_H 4 | #define _C_CLA_SHARED_H 5 | 6 | #include "DCLCLA.h" 7 | #include "F2837xD_Cla_typedefs.h" 8 | 9 | #define CLA_PROG_ENABLE 0x0001 10 | #define CLARAM0_ENABLE 0x0010 11 | #define CLARAM1_ENABLE 0x0020 12 | #define CLARAM2_ENABLE 0x0040 13 | #define CLA_RAM0CPUE 0x0100 14 | #define CLA_RAM1CPUE 0x0200 15 | #define CLA_RAM2CPUE 0x0400 16 | 17 | /* shared controller data */ 18 | extern float rk; 19 | extern float yk; 20 | extern float uk; 21 | extern DCL_PI_CLA pi1; 22 | 23 | // CLA memory address symbols 24 | extern Uint16 Cla1funcsLoadStart; 25 | extern Uint16 Cla1funcsLoadEnd; 26 | extern Uint16 Cla1funcsLoadSize; 27 | extern Uint16 Cla1funcsRunStart; 28 | extern Uint16 Cla1Prog_Start; 29 | 30 | // CLA math table symbols 31 | extern Uint16 Cla1mathTablesLoadStart; 32 | extern Uint16 Cla1mathTablesLoadEnd; 33 | extern Uint16 Cla1mathTablesLoadSize; 34 | extern Uint16 Cla1mathTablesRunStart; 35 | 36 | // CLA C Tasks 37 | __interrupt void Cla1Task1(); 38 | __interrupt void Cla1Task2(); 39 | __interrupt void Cla1Task3(); 40 | __interrupt void Cla1Task4(); 41 | __interrupt void Cla1Task5(); 42 | __interrupt void Cla1Task6(); 43 | __interrupt void Cla1Task7(); 44 | __interrupt void Cla1Task8(); 45 | 46 | 47 | 48 | #endif // _C_CLA_SHARED_H 49 | 50 | /* end of file */ 51 | -------------------------------------------------------------------------------- /User_CLA/DCL_PID_L1.asm: -------------------------------------------------------------------------------- 1 | ; DCL_PID_L1.asm - Series PID controller 2 | ; 3 | ;;############################################################################# 4 | ;;! 5 | ;;! Copyright: Copyright (C) 2023 Texas Instruments Incorporated - 6 | ;;! All rights reserved not granted herein. 7 | ;;! Limited License. 8 | ;;! 9 | ;;! Texas Instruments Incorporated grants a world-wide, royalty-free, 10 | ;;! non-exclusive license under copyrights and patents it now or hereafter 11 | ;;! owns or controls to make, have made, use, import, offer to sell and sell 12 | ;;! ("Utilize") this software subject to the terms herein. With respect to the 13 | ;;! foregoing patent license, such license is granted solely to the extent that 14 | ;;! any such patent is necessary to Utilize the software alone. The patent 15 | ;;! license shall not apply to any combinations which include this software, 16 | ;;! other than combinations with devices manufactured by or for TI 17 | ;;! ("TI Devices"). 18 | ;;! No hardware patent is licensed hereunder. 19 | ;;! 20 | ;;! Redistributions must preserve existing copyright notices and reproduce this 21 | ;;! license (including the above copyright notice and the disclaimer and 22 | ;;! (if applicable) source code license limitations below) in the documentation 23 | ;;! and/or other materials provided with the distribution. 24 | ;;! 25 | ;;! Redistribution and use in binary form, without modification, are permitted 26 | ;;! provided that the following conditions are met: 27 | ;;! 28 | ;;! * No reverse engineering, decompilation, or disassembly of this software is 29 | ;;! permitted with respect to any software provided in binary form. 30 | ;;! * Any redistribution and use are licensed by TI for use only 31 | ;;! with TI Devices. 32 | ;;! * Nothing shall obligate TI to provide you with source code for the 33 | ;;! software licensed and provided to you in object code. 34 | ;;! 35 | ;;! If software source code is provided to you, modification and redistribution 36 | ;;! of the source code are permitted provided that the following conditions 37 | ;;! are met: 38 | ;;! 39 | ;;! * any redistribution and use of the source code, including any resulting 40 | ;;! derivative works, are licensed by TI for use only with TI Devices. 41 | ;;! * any redistribution and use of any object code compiled from the source 42 | ;;! code and any resulting derivative works, are licensed by TI for use 43 | ;;! only with TI Devices. 44 | ;;! 45 | ;;! Neither the name of Texas Instruments Incorporated nor the names of its 46 | ;;! suppliers may be used to endorse or promote products derived from this 47 | ;;! software without specific prior written permission. 48 | ;;############################################################################# 49 | 50 | 51 | .if $defined(__TI_EABI__) 52 | .if __TI_EABI__ 53 | .asg DCL_runPID_L1, _DCL_runPID_L1 54 | .endif 55 | .endif 56 | 57 | .global _DCL_runPID_L1 58 | .def __cla_DCL_runPID_L1_sp 59 | 60 | SIZEOF_LFRAME .set 10 61 | LFRAME_MR3 .set 0 62 | LFRAME_V5 .set 2 63 | LFRAME_V6 .set 4 64 | LFRAME_V7 .set 6 65 | LFRAME_LK .set 8 66 | 67 | __cla_DCL_runPID_L1_sp .usect ".scratchpad:Cla1Prog:_DCL_runPID_L1", SIZEOF_LFRAME, 0, 1 68 | .asg __cla_DCL_runPID_L1_sp, LFRAME 69 | 70 | .sect "Cla1Prog:_DCL_runPID_L1" 71 | 72 | .align 2 73 | 74 | ; C prototype: 75 | ; float DCL_runPID_L1(DCL_PID *p, float32_t rk, float32_t yk, float32_t lk) 76 | ; argument 1 = *p : PID structure address [MAR0] 77 | ; argument 2 = rk : control loop reference [MR0] 78 | ; argument 3 = yk : control loop feedback [MR1] 79 | ; argument 4 = lk : controller saturation input [MR2] 80 | ; return = uk : control effort [MR0] 81 | 82 | _DCL_runPID_L1: 83 | ; MDEBUGSTOP 84 | MSETFLG RNDF32=1 ; round to nearest even 85 | MMOV32 @LFRAME + LFRAME_MR3, MR3 ; save MR3 86 | MMOV32 @LFRAME + LFRAME_LK, MR2 ; save lk 87 | 88 | ;*** proportional path & integral prelude *** 89 | MSUBF32 MR3, MR0, MR1 ; MR3 = ek 90 | || MMOV32 MR2, *MAR0[2]++ ; MR2 = Kpa 91 | MMPYF32 MR2, MR2, MR3 ; MR2 = Kpa * ek 92 | || MMOV32 MR3, *MAR0[4]++ ; MR3 = Kia 93 | MMPYF32 MR2, MR2, MR3 ; MR2 = v7 94 | || MMOV32 MR3, *MAR0[-2]++ ; MR3 = Kra 95 | MMPYF32 MR3, MR0, MR3 ; MR3 = Kra * rk 96 | || MMOV32 @LFRAME + LFRAME_V7, MR2 ; save v7 97 | MSUBF32 MR3, MR3, MR1 ; MR3 = v5 98 | || MMOV32 MR2, *MAR0[4]++ ; MR2 = Kda 99 | 100 | ;*** derivative path *** 101 | MMPYF32 MR0, MR1, MR2 ; MR0 = Kda * yk 102 | || MMOV32 @LFRAME + LFRAME_V5, MR3 ; save v5 103 | MMOV32 MR3, *MAR0[6]++ ; MR3 = c1a 104 | MMPYF32 MR0, MR0, MR3 ; MR0 = v1 105 | || MMOV32 MR1, *MAR0[-2]++ ; MR1 = d3 106 | MSUBF32 MR2, MR0, MR1 ; MR2 = v1 - d3 107 | || MMOV32 MR3, *MAR0 ; MR3 = d2 108 | MMOV32 *MAR0[-2]++, MR0 ; save d2 = v1 109 | MSUBF32 MR2, MR2, MR3 ; MR2 = v4 110 | || MMOV32 MR1, *MAR0[4]++ ; MR1 = c2a 111 | MMPYF32 MR0, MR1, MR2 ; MR0 = c2a * v4 112 | || MMOV32 MR3, @LFRAME + LFRAME_V5 ; MR3 = v5 113 | MSUBF32 MR2, MR3, MR2 ; MR2 = v5 - v4 114 | || MMOV32 *MAR0[-14]++, MR0 ; save d3 115 | 116 | ;*** integral path *** 117 | MMOV32 MR3, *MAR0[18]++ ; MR3 = Kpa 118 | MMPYF32 MR0, MR2, MR3 ; MR0 = v6 119 | || MMOV32 MR1, *MAR0[-2]++ ; MR1 = i14 120 | MMOV32 @LFRAME + LFRAME_V6, MR0 ; save v6 121 | MMOV32 MR2, @LFRAME + LFRAME_V7 ; MR2 = v7 122 | MMPYF32 MR0, MR1, MR2 ; MR0 = i14 * v7 123 | || MMOV32 MR3, *MAR0 ; MR3 = i10 124 | MADDF32 MR1, MR0, MR3 ; MR1 = v8 125 | || MMOV32 MR2, @LFRAME + LFRAME_V6 ; MR2 = v6 126 | MADDF32 MR0, MR1, MR2 ; MR0 = v9 127 | || MMOV32 *MAR0[4]++, MR1 ; save i10 128 | 129 | ;*** saturation *** 130 | MMOVF32 MR2, #0.0f ; MR2 = 0.0f 131 | MMOVF32 MR3, #1.0f ; MR3 = 1.0f 132 | MMOV32 MR1, *MAR0[2]++ ; MR1 = Umaxa 133 | MMINF32 MR0, MR1 ; MR0 = sat+ 134 | MMOV32 MR3, MR2, GT ; MR3 = v12 135 | MMOV32 MR1, *MAR0[-4]++ ; MR1 = Umina 136 | MMAXF32 MR0, MR1 ; MR0 = sat- 137 | MMOV32 MR3, MR2, LT ; MR3 = v12 138 | MRCNDD UNC ; return call 139 | MMOV32 MR1, @LFRAME + LFRAME_LK ; MR1 = lk 140 | MMPYF32 MR2, MR1, MR3 ; MR2 = v12 * lk 141 | || MMOV32 MR3, @LFRAME + LFRAME_MR3 ; restore MR3 142 | MMOV32 *MAR0, MR2 ; save i14 143 | 144 | .unasg LFRAME 145 | 146 | ; end of file 147 | -------------------------------------------------------------------------------- /User_CLA/DCL_PI_L1.asm: -------------------------------------------------------------------------------- 1 | ; DCL_PI_L1.asm - Series PI controller 2 | ; 3 | ;;############################################################################# 4 | ;;! 5 | ;;! Copyright: Copyright (C) 2023 Texas Instruments Incorporated - 6 | ;;! All rights reserved not granted herein. 7 | ;;! Limited License. 8 | ;;! 9 | ;;! Texas Instruments Incorporated grants a world-wide, royalty-free, 10 | ;;! non-exclusive license under copyrights and patents it now or hereafter 11 | ;;! owns or controls to make, have made, use, import, offer to sell and sell 12 | ;;! ("Utilize") this software subject to the terms herein. With respect to the 13 | ;;! foregoing patent license, such license is granted solely to the extent that 14 | ;;! any such patent is necessary to Utilize the software alone. The patent 15 | ;;! license shall not apply to any combinations which include this software, 16 | ;;! other than combinations with devices manufactured by or for TI 17 | ;;! ("TI Devices"). 18 | ;;! No hardware patent is licensed hereunder. 19 | ;;! 20 | ;;! Redistributions must preserve existing copyright notices and reproduce this 21 | ;;! license (including the above copyright notice and the disclaimer and 22 | ;;! (if applicable) source code license limitations below) in the documentation 23 | ;;! and/or other materials provided with the distribution. 24 | ;;! 25 | ;;! Redistribution and use in binary form, without modification, are permitted 26 | ;;! provided that the following conditions are met: 27 | ;;! 28 | ;;! * No reverse engineering, decompilation, or disassembly of this software is 29 | ;;! permitted with respect to any software provided in binary form. 30 | ;;! * Any redistribution and use are licensed by TI for use only 31 | ;;! with TI Devices. 32 | ;;! * Nothing shall obligate TI to provide you with source code for the 33 | ;;! software licensed and provided to you in object code. 34 | ;;! 35 | ;;! If software source code is provided to you, modification and redistribution 36 | ;;! of the source code are permitted provided that the following conditions 37 | ;;! are met: 38 | ;;! 39 | ;;! * any redistribution and use of the source code, including any resulting 40 | ;;! derivative works, are licensed by TI for use only with TI Devices. 41 | ;;! * any redistribution and use of any object code compiled from the source 42 | ;;! code and any resulting derivative works, are licensed by TI for use 43 | ;;! only with TI Devices. 44 | ;;! 45 | ;;! Neither the name of Texas Instruments Incorporated nor the names of its 46 | ;;! suppliers may be used to endorse or promote products derived from this 47 | ;;! software without specific prior written permission. 48 | ;;############################################################################# 49 | 50 | 51 | .if $defined(__TI_EABI__) 52 | .if __TI_EABI__ 53 | .asg DCL_runPI_L1, _DCL_runPI_L1 54 | .endif 55 | .endif 56 | 57 | .global _DCL_runPI_L1 58 | .def __cla_DCL_runPI_L1_sp 59 | 60 | SIZEOF_LFRAME .set 5 61 | LFRAME_MR3 .set 0 62 | 63 | __cla_DCL_runPI_L1_sp .usect ".scratchpad:Cla1Prog:_DCL_runPI_L1", SIZEOF_LFRAME, 0, 1 64 | .asg __cla_DCL_runPI_L1_sp, LFRAME 65 | 66 | .sect "Cla1Prog:_DCL_runPI_L1" 67 | 68 | .align 2 69 | 70 | ; C prototype: 71 | ; float DCL_runPI_L1(DCL_PI_CLA *p, float32_t rk, float32_t yk) 72 | ; argument 1 = *p : 32-bit PI structure address [MAR0] 73 | ; argument 2 = rk : 32-bit floating-point reference [MR0] 74 | ; argument 3 = yk : 32-bit floating-point feedback [MR1] 75 | ; return = uk : 32-bit floating-point [MR0] 76 | 77 | _DCL_runPI_L1: 78 | ; MDEBUGSTOP 79 | MSETFLG RNDF32=1 ; round to nearest even 80 | MMOV32 @LFRAME + LFRAME_MR3, MR3 ; save MR3 81 | 82 | ;*** servo error *** 83 | MSUBF32 MR2, MR0, MR1 ; MR2 = v1 84 | 85 | ;*** proportional path *** 86 | MMOV32 MR1, *MAR0[2]++ ; MR1 = Kpa 87 | MMPYF32 MR2, MR1, MR2 ; MR2 = v2 88 | 89 | ;*** integral path *** 90 | || MMOV32 MR1, *MAR0[8]++ ; MR1 = Kia 91 | MMPYF32 MR0, MR2, MR1 ; MR0 = v3 92 | || MMOV32 MR1, *MAR0[-6]++ ; MR1 = i6 93 | MMPYF32 MR0, MR0, MR1 ; MR0 = v8 94 | || MMOV32 MR1, *MAR0 ; MR1 = i10 95 | MADDF32 MR0, MR0, MR1 ; MR0 = v4 96 | MMOV32 *MAR0[2]++, MR0 ; save i10 97 | MADDF32 MR0, MR0, MR2 ; MR0 = v5 98 | 99 | ;*** output saturation *** 100 | MMOVF32 MR2, #0.0f ; MR2 = 0.0f 101 | MMOVF32 MR3, #1.0f ; MR3 = 1.0f 102 | MMOV32 MR1, *MAR0[2]++ ; MR1 = Umaxa 103 | MMINF32 MR0, MR1 ; MR0 = sat+ 104 | MMOV32 MR3, MR2, GT ; MR3 = v6 105 | MMOV32 MR1, *MAR0[2]++ ; MR1 = Umina 106 | MMAXF32 MR0, MR1 ; MR0 = sat- 107 | MRCNDD UNC ; return call 108 | MMOV32 MR3, MR2, LT ; MR3 = v6 109 | MMOV32 *MAR0, MR3 ; save i6 110 | MMOV32 MR3, @LFRAME + LFRAME_MR3 ; restore MR3 111 | 112 | .unasg LFRAME 113 | 114 | ; end of file 115 | -------------------------------------------------------------------------------- /User_CLA/F28069_PI_CLA.cla: -------------------------------------------------------------------------------- 1 | /* control_F28069_CLA.cla 2 | * 3 | * Copyright (C) 2020 Texas Instruments Incorporated - http://www.ti.com/ 4 | * ALL RIGHTS RESERVED 5 | * 6 | */ 7 | 8 | #include "CLA_shared.h" 9 | #include "F2837xD_Cla_typedefs.h" 10 | 11 | 12 | __interrupt void Cla1Task1 ( void ) 13 | { 14 | 15 | } 16 | 17 | __interrupt void Cla1Task2 ( void ) 18 | { 19 | 20 | } 21 | 22 | // task 3 contains the PI controller 23 | __interrupt void Cla1Task3 ( void ) 24 | { 25 | // __mdebugstop(); 26 | 27 | // run the PI controller 28 | uk = DCL_runPI_L1(&pi1, rk, yk); 29 | 30 | __mnop(); 31 | __mnop(); 32 | __mnop(); 33 | } 34 | 35 | __interrupt void Cla1Task4 ( void ) 36 | { 37 | 38 | } 39 | 40 | __interrupt void Cla1Task5 ( void ) 41 | { 42 | 43 | } 44 | 45 | __interrupt void Cla1Task6 ( void ) 46 | { 47 | 48 | } 49 | 50 | __interrupt void Cla1Task7 ( void ) 51 | { 52 | 53 | } 54 | 55 | __interrupt void Cla1Task8 ( void ) 56 | { 57 | 58 | } 59 | 60 | // end of file 61 | 62 | -------------------------------------------------------------------------------- /User_CLA/mainCLA.c: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | // function prototypes 4 | //interrupt void control_Isr(void); 5 | 6 | // global variables 7 | long IdleLoopCount = 0; 8 | long IsrCount = 0; 9 | float Duty; 10 | 11 | // shared variables 12 | #pragma DATA_SECTION(rk, "CpuToCla1MsgRAM") 13 | #pragma DATA_SECTION(yk, "CpuToCla1MsgRAM") 14 | #pragma DATA_SECTION(uk, "Cla1ToCpuMsgRAM") 15 | float rk = 0.25f; 16 | float yk; 17 | float uk; 18 | 19 | #pragma DATA_SECTION(pi1, "Cla1DataRam1") 20 | DCL_PI_CLA pi1 = PI_CLA_DEFAULTS; 21 | 22 | -------------------------------------------------------------------------------- /User_acmsimcv5/ACMConfig.h: -------------------------------------------------------------------------------- 1 | #ifndef ACMCONFIG_H 2 | #define ACMCONFIG_H 3 | 4 | // // 参数误差 5 | // #define MISMATCH_R 100.0 6 | // #define MISMATCH_RREQ 100.0 7 | // #define MISMATCH_LD 100.0 8 | // #define MISMATCH_LQ 100.0 9 | // #define MISMATCH_KE 100.0 10 | // #define MISMATCH_LMU 100.0 11 | 12 | 13 | // // 磁链给定 14 | // #define IM_MAGNETIZING_INDUCTANCE (d_sim.init.Ld - d_sim.init.Lq) 15 | // #define IM_FLUX_COMMAND_DC_PART d_sim.init.KE // 1.3593784874408608 16 | // #define IM_FLUX_COMMAND_SINE_PART 0.0 17 | // #define IM_FLUX_COMMAND_SINE_HERZ 10 18 | 19 | // #if MACHINE_TYPE % 10 == 2 20 | // #define CORRECTION_4_SHARED_FLUX_EST INIT_KE 21 | // #define U_MOTOR_KE INIT_KE 22 | // #else 23 | // #define CORRECTION_4_SHARED_FLUX_EST IM_FLUX_COMMAND_DC_PART 24 | // #define U_MOTOR_R IM_STAOTR_RESISTANCE // typo! 25 | // #define U_MOTOR_RREQ IM_ROTOR_RESISTANCE 26 | // #endif 27 | 28 | /* 经常要修改的 */ 29 | // #define INVERTER_NONLINEARITY_COMPENSATION_INIT 0 // 5（9月1日及以前峣杰实验一直用的5） // 4 // 1:ParkSul12, 2:Sigmoid, 3:LUT(Obsolete), 4:LUT(by index), 5 Slessinv-a2a3Model 30 | // #define INVERTER_NONLINEARITY 0 // 4 // 1:ModelSul96, 2:ModelExpSigmoid, 3: ModelExpLUT, 4:LUT(by index) 31 | // #define SENSORLESS_CONTROL FALSE 32 | // #define SENSORLESS_CONTROL_HFSI FALSE 33 | 34 | /* ParkSul2012 梯形波 */ 35 | // #define GAIN_THETA_TRAPEZOIDAL (40) //(500) // 20 36 | 37 | // /* 电机类型 */ //（TODO：饱和模型里面用的还是 IM.rr 而不是 IM.rreq） 38 | // #define INDUCTION_MACHINE_CLASSIC_MODEL 1 39 | // #define INDUCTION_MACHINE_FLUX_ONLY_MODEL 11 40 | // #define PM_SYNCHRONOUS_MACHINE 2 41 | // #define MACHINE_TYPE 1 42 | 43 | 44 | // #if APPLY_WCTUNER 45 | // #define CURRENT_KP (0.3063) // (1.19) // (0.6) // (0.84) // (0.84) // (0.84) 46 | // #define CURRENT_KI (231.578947368421) // (194.74) // (194.74) // (194.74) // (194.74) // (194.74) 47 | // #define SPEED_KP (1.3099) // (0.19) // (2.59) // (0.81) // (0.41) // (0.36) 48 | // #define SPEED_KI (763.5600) // (3.93) // (13.96) // (11.00) // (2.75) // (19.55) 49 | // #define SPEED_KFB (2.36) 50 | // #else 51 | // #define CURRENT_KP (0.9550441666912972) // (1.19) // (0.6) // (0.84) // (0.84) // (0.84) 52 | // #define CURRENT_KI (231.578947368421) // (194.74) // (194.74) // (194.74) // (194.74) // (194.74) 53 | // #define SPEED_KP (0.5896379954298365) // (0.19) // (2.59) // (0.81) // (0.41) // (0.36) 54 | // #define SPEED_KI (2.0106192982974678) // (3.93) // (13.96) // (11.00) // (2.75) // (19.55) 55 | // #define SPEED_KFB (0) 56 | // #endif 57 | 58 | 59 | 60 | // /* 指令类型 */ 61 | // #define EXCITATION_POSITION 0 62 | // #define EXCITATION_SWEEP_FREQUENCY 2 63 | // #define EXCITATION_VELOCITY 1 64 | // #define EXCITATION_TYPE (1) 65 | 66 | // /* Sweep Frequency */ 67 | // #define SWEEP_FREQ_MAX_FREQ 200 68 | // #define SWEEP_FREQ_INIT_FREQ 2 69 | // #define SWEEP_FREQ_VELOCITY_AMPL 500 70 | // #define SWEEP_FREQ_CURRENT_AMPL 1 71 | // #define SWEEP_FREQ_C2V FALSE 72 | // #define SWEEP_FREQ_C2C FALSE 73 | 74 | 75 | #endif 76 | -------------------------------------------------------------------------------- /User_acmsimcv5/pi_math.h: -------------------------------------------------------------------------------- 1 | /* ================================================================================= 2 | File name: PI.H 3 | ===================================================================================*/ 4 | 5 | 6 | #ifndef __PI_H__ 7 | #define __PI_H__ 8 | 9 | #include "typedef.h" 10 | 11 | 12 | typedef struct { REAL Ref; // Input: reference set-point 13 | REAL Fbk; // Input: feedback 14 | REAL Out; // Output: controller output 15 | REAL Kp; // Parameter: proportional loop gain 16 | REAL Ki; // Parameter: integral gain 17 | REAL Umax; // Parameter: upper saturation limit 18 | REAL Umin; // Parameter: lower saturation limit 19 | REAL up; // Data: proportional term 20 | REAL ui; // Data: integral term 21 | REAL v1; // Data: pre-saturated controller output 22 | REAL i1; // Data: integrator storage: ui(k-1) 23 | REAL w1; // Data: saturation record: [u(k-1) - v(k-1)] 24 | } PI_CONTROLLER; 25 | 26 | 27 | /*----------------------------------------------------------------------------- 28 | Default initalisation values for the PI_GRANDO objects 29 | -----------------------------------------------------------------------------*/ 30 | 31 | #define PI_CONTROLLER_DEFAULTS { \ 32 | 0, \ 33 | 0, \ 34 | 0, \ 35 | 1.0, \ 36 | 0.0, \ 37 | 1.0, \ 38 | -1.0, \ 39 | 0.0, \ 40 | 0.0, \ 41 | 0.0, \ 42 | 0.0, \ 43 | 1.0 \ 44 | } 45 | 46 | 47 | /* 陈艺铭找到的德州仪器官方PI */ 48 | #define USE_LAOMING_PI FALSE /* change PI algorithm*/ 49 | extern PI_CONTROLLER texas_pi_id; 50 | extern PI_CONTROLLER texas_pi_iq; 51 | extern PI_CONTROLLER texas_pi_spd; 52 | 53 | /*------------------------------------------------------------------------------ 54 | PI_GRANDO Macro Definition 55 | ------------------------------------------------------------------------------*/ 56 | #define _IQsat(A, Pos, Neg) (fmaxf(((fminf((A),(Pos)))),(Neg))) 57 | #define PI_MACRO(v) \ 58 | \ 59 | /* proportional term */ \ 60 | v.up = (v.Kp * (v.Ref - v.Fbk)); \ 61 | \ 62 | /* integral term */ \ 63 | v.ui = (v.Out == v.v1)?( (v.Ki * v.up)+ v.i1) : v.i1; \ 64 | v.i1 = v.ui; \ 65 | \ 66 | /* control output */ \ 67 | v.v1 = v.up + v.ui; \ 68 | v.Out= _IQsat(v.v1, v.Umax, v.Umin); \ 69 | //v.w1 = (v.Out == v.v1) ? _IQ(1.0) : _IQ(0.0); \ 70 | 71 | // *********************************************************************************** 72 | // This macro works with angles as inputs, hence error is rolled within -pi to +pi 73 | // *********************************************************************************** 74 | #define PI_POS_MACRO(v) \ 75 | /* proportional term */ \ 76 | v.up = v.Ref - v.Fbk; \ 77 | if (v.up >= (0.5)) \ 78 | v.up -= (1.0); /* roll in the error */ \ 79 | else if (v.up <= (-0.5)) \ 80 | v.up += (1.0); /* roll in the error */ \ 81 | \ 82 | /* integral term */ \ 83 | v.up = (v.Kp * v.up); \ 84 | v.ui = (v.Out == v.v1)?((v.Ki * v.up)+ v.i1) : v.i1; \ 85 | v.i1 = v.ui; \ 86 | \ 87 | /* control output */ \ 88 | v.v1 = v.up + v.ui; \ 89 | v.Out= _IQsat(v.v1, v.Umax, v.Umin); \ 90 | //v.w1 = (v.Out == v.v1) ? _IQ(1.0) : _IQ(0.0); \ 91 | 92 | 93 | #endif // __PI_H__ 94 | 95 | -------------------------------------------------------------------------------- /User_acmsimcv5/pmsm_comm.h: -------------------------------------------------------------------------------- 1 | #ifndef PMSM_COMMISSIONING_H 2 | #define PMSM_COMMISSIONING_H 3 | 4 | #if ENABLE_COMMISSIONING || WHO_IS_USER == USER_WB 5 | 6 | #define COMM_IV_SIZE_R1 200 // 300 7 | #define COMM_IV_SIZE_L1 30 8 | struct CommissioningDataStruct{ 9 | 10 | int bool_comm_status; 11 | 12 | REAL timebase; 13 | int32 counterEntered; 14 | int16 i; 15 | 16 | REAL R; 17 | REAL L; 18 | REAL R3; 19 | REAL L3; 20 | REAL KE; 21 | REAL Js; // shaft inertia 22 | 23 | // R 24 | REAL current_command; 25 | REAL current_sum; 26 | REAL voltage_sum; 27 | int32 counterSS; 28 | int16 bool_collecting; 29 | REAL i_phase_data_R1[COMM_IV_SIZE_R1]; 30 | REAL v_phase_data_R1[COMM_IV_SIZE_R1]; 31 | REAL i_data_L1[COMM_IV_SIZE_L1]; 32 | REAL t_data_L1[COMM_IV_SIZE_L1]; 33 | REAL inverter_voltage_drop; 34 | 35 | // L 36 | REAL last_voltage_command; 37 | REAL id_prev; 38 | REAL iq_prev; 39 | 40 | // Js 41 | int16 number_of_repeats_Js; 42 | }; 43 | extern struct CommissioningDataStruct COMM; 44 | extern int16 bool_single_phase_excitation; 45 | 46 | void COMM_PI_tuning(REAL LL, REAL RR, REAL BW_current, REAL delta, REAL JJ, REAL KE, REAL npp); 47 | 48 | void init_COMM(); 49 | void COMM_resistanceId(REAL id_fb, REAL iq_fb); 50 | 51 | void COMM_inductanceId(REAL id_fb, REAL iq_fb); 52 | void COMM_inductanceId_ver2(REAL id_fb, REAL iq_fb); 53 | void COMM_inductanceId_ver3(REAL id_fb, REAL iq_fb); 54 | 55 | void COMM_PMFluxId(REAL id_fb, REAL iq_fb, REAL omg_elec_fb); 56 | 57 | void COMM_inertiaId(REAL id_fb, REAL iq_fb, REAL cosPark, REAL sinPark, REAL omg_elec_fb); 58 | void COMM_end(REAL id_fb, REAL iq_fb); 59 | 60 | // Main Procedure 61 | #define USING_OLD_COMM FALSE 62 | void StepByStepCommissioning(); 63 | void StepByStepCommissioning_NEW_WB(); 64 | void StepbyStepCommissioning_OLD(); 65 | 66 | #endif 67 | #endif 68 | -------------------------------------------------------------------------------- /User_acmsimcv5/pmsm_observer.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/horychen/ProjectPanGu-C/77be76304f172f655c3d92afb6d777d5fc1e4f0d/User_acmsimcv5/pmsm_observer.c -------------------------------------------------------------------------------- /User_acmsimcv5/pmsm_observer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/horychen/ProjectPanGu-C/77be76304f172f655c3d92afb6d777d5fc1e4f0d/User_acmsimcv5/pmsm_observer.h -------------------------------------------------------------------------------- /User_acmsimcv5/shared_flux_estimator.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/horychen/ProjectPanGu-C/77be76304f172f655c3d92afb6d777d5fc1e4f0d/User_acmsimcv5/shared_flux_estimator.c -------------------------------------------------------------------------------- /User_acmsimcv5/shared_flux_estimator.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/horychen/ProjectPanGu-C/77be76304f172f655c3d92afb6d777d5fc1e4f0d/User_acmsimcv5/shared_flux_estimator.h -------------------------------------------------------------------------------- /User_acmsimcv5/simuser_wb_cury.h: -------------------------------------------------------------------------------- 1 | #ifndef SIMUSER_WB_CURY_H 2 | #define SIMUSER_WB_CURY_H 3 | 4 | #include "ACMSim.h" 5 | 6 | /* 7 | Cury Code Copied from Pangu-C: AppCury.h, AppCury.h, tool.c 8 | rearranged and modified by WuBo 9 | */ 10 | #if WHO_IS_USER == USER_CURY 11 | 12 | // Files needed to be put in the Device_define.h ??? 13 | // void EUREKA_GPIO_SETUP(); 这个函数是最开始的GPIO定义，在原始代码中存在，暂时不要动 14 | 15 | // tools 16 | extern REAL iq_command_from_PC; 17 | //当初这两个变量是认真的吗，我学完EE270是不是就知道这些在干嘛了 18 | #define ANGLE_SHIFT_FOR_FIRST_INVERTER 0.0 // Torque Inverter 19 | #define ANGLE_SHIFT_FOR_SECOND_INVERTER 0.0 // Suspension Inverter 20 | 21 | // void handle_interrupts(); 22 | // void main_loop(); 23 | // void DeadtimeCompensation(REAL Current_U, REAL Current_V, REAL Current_W, REAL CMPA[], REAL CMPA_DBC[]); 24 | // void test_pwm_output(); 25 | 26 | // void voltage_commands_to_pwm(); 27 | // void voltage_measurement_based_on_eCAP(); 28 | // void measurement_position_count_axisCnt0(); 29 | // void measurement_position_count_axisCnt1(); 30 | // void measurement_enc(); 31 | // void measurement_current_axisCnt0(); 32 | // void measurement_current_axisCnt1(); 33 | 34 | 35 | 36 | /* Step 1 : Cury 运动轨迹生成*/ 37 | #define BEZIER_ORDER 4 38 | #define BEZIER_TRACE_SIZE 100 39 | void run_iecon_main(Uint64 t); 40 | void reset_position(); 41 | void linear_controller(REAL t); 42 | void sinusoidal_controller(REAL t); 43 | void calc_theta_from_height(REAL height); 44 | REAL hip_shank_angle_to_can(REAL angle, int type); 45 | 46 | /* Step 2 : CAN编码器到实物位置的线性插值映射 */ 47 | #define CAN_QMAX 131072 // 功望编码器的最大值 48 | #define CAN_QMAX_INV 7.62939453125e-06 // 功望编码器的最大值的倒数 49 | #define HIP_MIN 0.2269 50 | #define HIP_MAX 0.5585 51 | #define SHANK_MIN 0.4538 52 | #define SHANK_MAX 1.1170 53 | #define CAN01_MIN 48000 54 | #define CAN01_MAX 41500 55 | #define CAN03_MIN 58000 56 | #define CAN03_MAX 46000 57 | 58 | /* Step 3 : 位置环，纯控制算法代码 */ 59 | #define HIP_TYPE 0 60 | #define SHANK_TYPE 1 61 | void Cury_call_position_loop_controller(); 62 | void control_two_motor_position(); 63 | void control_single_motor_position(); 64 | void run_shank_loop(); 65 | void run_hip_loop(); 66 | void run_both_loop(); 67 | void run_impedance_control(); 68 | 69 | #define NO_POSITION_CONTROL 0 70 | #define TWOMOTOR_POSITION_CONTROL 1 71 | #define SINGLE_POSITION_CONTROL 2 72 | #define SHANK_LOOP_RUN 3 73 | #define HIP_LOOP_RUN 4 74 | #define BOTH_LOOP_RUN 5 75 | #define IMPEDANCE_CONTROL 6 76 | 77 | /* Cury Controller from old files*/ 78 | #define INIT_THETA1 0.0 79 | #define INIT_THETA2 0.0 80 | typedef struct{ 81 | int CONTROLLER_TYPE; 82 | REAL IECON_HEIGHT; 83 | REAL L1; 84 | REAL L2; 85 | REAL theta1, theta2; // unit [rad] theta1: hip ; theta2: knee 86 | REAL dot_theta1, dot_theta2; 87 | REAL T; // unit [s] 88 | REAL T_inv; // unit [Hz] 89 | REAL height_limit[2]; // unit [m] 90 | REAL C[BEZIER_ORDER][2]; 91 | int order; 92 | REAL bezier_trace[BEZIER_TRACE_SIZE + 1][2]; 93 | REAL legBouncingSpeed; 94 | REAL hipBouncingFreq; 95 | REAL legBouncingIq; 96 | REAL hipBouncingIq; 97 | BOOL bool_TEMP; 98 | } CURYCONTROLLER; 99 | extern CURYCONTROLLER cury_controller; 100 | 101 | 102 | #endif 103 | #endif // SIMUSER_WB_CURY_H 104 | 105 | 106 | -------------------------------------------------------------------------------- /User_acmsimcv5/super_config.c: -------------------------------------------------------------------------------- 1 | // This c file is automatically generated. Any modification to this file will get lost. 2 | #include "super_config.h" 3 | #include 4 | 5 | void init_d_sim() { 6 | d_sim.init.npp = 26; 7 | d_sim.init.IN = 8.0; 8 | d_sim.init.R = 0.256955624; 9 | d_sim.init.Ld = 0.000173; 10 | d_sim.init.Lq = 0.00020300000000000003; 11 | d_sim.init.KE = 0.0193; 12 | d_sim.init.Rreq = 0.0; 13 | d_sim.init.Js = 0.000364; 14 | d_sim.init.Vdc = 48; 15 | 16 | d_sim.sim.INVERTER_NONLINEARITY = 0; 17 | d_sim.sim.CLTS = 0.0001; 18 | d_sim.sim.NUMBER_OF_STEPS = 2000; 19 | d_sim.sim.MACHINE_SIMULATIONs_PER_SAMPLING_PERIOD = 1; 20 | 21 | d_sim.FOC.delta = 8.5; 22 | d_sim.FOC.CLBW_HZ = 800; 23 | d_sim.FOC.bool_apply_decoupling_voltages_to_current_regulation = FALSE; 24 | d_sim.FOC.VL_EXE_PER_CL_EXE = 1; 25 | 26 | d_sim.CL.SERIES_KP_D_AXIS = 0.8695928465136548; 27 | d_sim.CL.SERIES_KI_D_AXIS = 1485.2926242774565; 28 | d_sim.CL.SERIES_KP_Q_AXIS = 1.0203892938859649; 29 | d_sim.CL.SERIES_KI_Q_AXIS = 1265.791251231527; 30 | d_sim.CL.LIMIT_DC_BUS_UTILIZATION = 0.96; 31 | 32 | d_sim.VL.SERIES_KP = 0.285976533335005; 33 | d_sim.VL.SERIES_KI = 69.57160201721341; 34 | d_sim.VL.LIMIT_OVERLOAD_FACTOR = 0.25; 35 | 36 | d_sim.user.verbose = TRUE; 37 | d_sim.user.who_is_user = 2023231051; 38 | d_sim.user.mode_select_synchronous_motor = 4; 39 | d_sim.user.mode_select_induction_motor = 32; 40 | d_sim.user.INVERTER_NONLINEARITY_COMPENSATION_METHOD = FALSE; 41 | d_sim.user.Select_exp_operation = 0.0; 42 | d_sim.user.set_rpm_speed_command = 50; 43 | d_sim.user.set_id_command = 2.0; 44 | d_sim.user.set_iq_command = 2.0; 45 | d_sim.user.BOOL_INIT_MY_VARIABLES = FALSE; 46 | d_sim.user.BOOL_1996_SUL_ON = TRUE; 47 | d_sim.user.zeta = 1.0; 48 | d_sim.user.omega_n = 800; 49 | d_sim.user.max_CLBW_PER_min_CLBW = 0.9; 50 | d_sim.user.VL_FEEDBACK_KFB = 0; 51 | d_sim.user.Current_Loop_Ki_scale = 1.0; 52 | d_sim.user.bool_Null_D_Control = TRUE; 53 | d_sim.user.bool_apply_WC_tunner_for_speed_loop = FALSE; 54 | d_sim.user.bool_enable_Harnefors_back_calculation = FALSE; 55 | d_sim.user.Check_Harnerfors_1998_On = -1.0; 56 | d_sim.user.Position_Loop_Kp = 10.0; 57 | d_sim.user.BOOL_WUBO_POS_CMD_TEST = TRUE; 58 | d_sim.user.set_deg_position_command = 180; 59 | d_sim.user.Position_cmd_sine_frequency = 1; 60 | d_sim.user.Position_Loop_Output_Limit = 200; 61 | d_sim.user.Position_Loop_Ref_prev = 0.0; 62 | d_sim.user.Position_Loop_Ref_Diff = 0.0; 63 | d_sim.user.Position_Loop_Ref_Diff_TEST = 0.0; 64 | d_sim.user.bool_Compensation_byPosDiff = TRUE; 65 | d_sim.user.IMP_Spring_Factor = 0.5; 66 | d_sim.user.IMP_Damping_Factor = 0.1; 67 | d_sim.user.bool_apply_external_Force_to_Position_Loop = FALSE; 68 | d_sim.user.positionLoopType = 2; 69 | d_sim.user.tracking_trace_Type = -1; 70 | d_sim.user.target_position_cnt_shank = 58000; 71 | d_sim.user.target_position_cnt_hip = 48000; 72 | d_sim.user.bool_apply_Rohr_1991_Controller = FALSE; 73 | d_sim.user.bool_apply_Rohr_1991_Controller_with_Forgetting_Factor = FALSE; 74 | d_sim.user.Rohr_K_min = 0.0; 75 | d_sim.user.Rohr_K_max = 2.5; 76 | d_sim.user.Rohr_gamma = 1.0; 77 | d_sim.user.Rohr_sigma = 2.0; 78 | d_sim.user.Rohr_K_integral = 1000.0; 79 | d_sim.user.bool_ESO_SPEED_ON = TRUE; 80 | d_sim.user.bool_apply_ESO_SPEED_for_SPEED_FBK = TRUE; 81 | d_sim.user.CAREFUL_ESOAF_OMEGA_OBSERVER = 4000; 82 | d_sim.user.bool_apply_sweeping_frequency_excitation = FALSE; 83 | d_sim.user.bool_sweeping_frequency_for_speed_loop = FALSE; 84 | d_sim.user.bool_speed_sweeping_with_Load = FALSE; 85 | d_sim.user.bool_sweeping_frequency_for_current_loop_iD = FALSE; 86 | d_sim.user.bool_sweeping_frequency_for_Rejection_Load = FALSE; 87 | d_sim.user.CMD_CURRENT_SINE_AMPERE = 1.0; 88 | d_sim.user.CMD_SPEED_SINE_RPM = 100; 89 | d_sim.user.CMD_SPEED_SINE_HZ = 1; 90 | d_sim.user.CMD_SPEED_SINE_STEP_SIZE = 1; 91 | d_sim.user.CMD_SPEED_SINE_LAST_END_TIME = 0.0; 92 | d_sim.user.CMD_SPEED_SINE_END_TIME = 1e-4; 93 | d_sim.user.CMD_SPEED_SINE_HZ_CEILING = 400; 94 | d_sim.user.timebase_for_Sweeping = 0.0; 95 | d_sim.user.Mark_Sweeping_Freq_ThreeDB_Point = 0.0; 96 | d_sim.user.Mark_Counter = 0.0; 97 | d_sim.user.Set_SpeedLoop_KI_as_Zero = FALSE; 98 | d_sim.user.Stable_Time_for_Sweeping = 1.5; 99 | d_sim.user.flag_clear_timebase_once = FALSE; 100 | d_sim.user.bool_Parameter_Mismatch_test = FALSE; 101 | d_sim.user.ParaMis_percent_max = 4; 102 | d_sim.user.ParaMis_percent_min = 0.4; 103 | d_sim.user.ParaMis_Mode_Select = 5; 104 | d_sim.user.ParaMis_OneCycleTime = 0.5; 105 | d_sim.user.bool_apply_HitWall_analysis = FALSE; 106 | d_sim.user.HitWall_max_limit_ratio = 2.0; 107 | d_sim.user.HitWall_min_limit_ratio = 0.1; 108 | d_sim.user.HitWall_high_RPM_command = 400; 109 | d_sim.user.HitWall_time_interval = 0.2; 110 | d_sim.user.COMM_bool_comm_status = 1; 111 | d_sim.user.flag_Nyquist_one_cycle_DONE = FALSE; 112 | d_sim.user.Nyquist_plot_num_cycles = 1.0; 113 | d_sim.user.Nyquist_one_cycle_count = 0.0; 114 | d_sim.user.Nyquist_Input_Current_Amp = 0.35; 115 | d_sim.user.Nyquist_Input_Speed_Amp = 100.0; 116 | d_sim.user.Nyquist_sum_sin = 0.0; 117 | d_sim.user.Nyquist_sum_cos = 0.0; 118 | d_sim.user.Nyquist_Amp = 0.0; 119 | d_sim.user.Nyquist_Phase = 0.0; 120 | d_sim.user.Nyquist_Re = 0.0; 121 | d_sim.user.Nyquist_Im = 0.0; 122 | d_sim.user.Nyquist_Freq_Ceiling = 200; 123 | 124 | } 125 | -------------------------------------------------------------------------------- /User_acmsimcv5/typedef.h: -------------------------------------------------------------------------------- 1 | #ifndef TYPEDEF_H 2 | #define TYPEDEF_H 3 | 4 | #ifndef DSP28_DATA_TYPES 5 | #define DSP28_DATA_TYPES 6 | typedef int int16; 7 | typedef unsigned int Uint16; 8 | typedef long int32; 9 | typedef unsigned long Uint32; 10 | typedef long long int64; 11 | typedef unsigned long long Uint64; 12 | typedef float float32; 13 | typedef double float64; 14 | typedef long double float128; 15 | #endif 16 | 17 | typedef float32 REAL; 18 | 19 | /* Constants */ 20 | #define CONST_PI_OVER_180 (0.0174533) 21 | #define CONST_180_OVER_PI (57.2958) 22 | #define CONST_1_OVER_SQRT3 (0.57735) 23 | 24 | /* Macro for two-phase Amplitude-invariant Clarke transformation*/ 25 | #define UV2A_AI(U, V) ( U ) 26 | #define UV2B_AI(U, V) ( (U + 2*(V)) * CONST_1_OVER_SQRT3 ) 27 | 28 | #define UVW2A_AI(U, V, W) ( 0.666667 * U - 0.333333 * V - 0.333333 * W ) 29 | #define UVW2B_AI(U, V, W) ( 0 * U + (V - W) * CONST_1_OVER_SQRT3 ) 30 | #define UVW2G_AI(U, V, W) ( 0.333333 * (U + V + W)) 31 | 32 | #define AB2U_AI(A, B) ( ( A ) ) 33 | #define AB2V_AI(A, B) ( ( (A)*-0.5 + (B)*0.866 ) ) 34 | #define AB2W_AI(A, B) ( ( (A)*-0.5 + (B)*-0.866 ) ) 35 | 36 | // Macro for Power-invariant inverse Clarke transformation 37 | #define AB2U_PI(A, B) ( 0.816496580927726 * ( A ) ) 38 | #define AB2V_PI(A, B) ( 0.816496580927726 * ( A*-0.5 + B*0.8660254037844387 ) ) 39 | #define AB2W_PI(A, B) ( 0.816496580927726 * ( A*-0.5 + B*-0.8660254037844385 ) ) 40 | 41 | /* Macro for Park transformation*/ 42 | #define AB2M(A, B, COS, SIN) ((A) * COS + (B) * SIN) 43 | #define AB2T(A, B, COS, SIN) ((A) * -SIN + (B) * COS) 44 | #define MT2A(M, T, COS, SIN) ((M) * COS - (T) * SIN) 45 | #define MT2B(M, T, COS, SIN) ((M) * SIN + (T) * COS) 46 | 47 | /* General Constants */ 48 | #ifndef BOOL 49 | #define BOOL int 50 | #endif 51 | #ifndef TRUE 52 | #define TRUE (1) 53 | #endif 54 | #ifndef FALSE 55 | #define FALSE (0) 56 | #endif 57 | #define M_PI 3.14159265358979323846 // pi 58 | #define M_SQRT2 1.41421356237309504880 // sqrt(2) 59 | #define ONE_OVER_2PI 0.15915494309189535 // 1/(2*pi) 60 | #define ONE_OVER_60 0.01666666666666667 // 1/60 61 | #define ONE_OVER_360 0.00277777777777778 // 1/360 62 | #define TWO_PI_OVER_3 2.0943951023931953 // 2*pi/3 63 | #define SIN_2PI_SLASH_3 0.86602540378443871 // sin(2*pi/3) 64 | #define SIN_DASH_2PI_SLASH_3 -0.86602540378443871 // sin(-2*pi/3) 65 | #define SQRT_2_SLASH_3 0.81649658092772603 // sqrt(2.0/3.0) 66 | #define abs use_fabsf_instead_or_you_will_regret 67 | #define MECH_RAD_PER_SEC_2_RPM (60.0 * ONE_OVER_2PI) 68 | #define ELEC_RAD_PER_SEC_2_RPM (60.0 * ONE_OVER_2PI * (*CTRL).motor->npp_inv) 69 | // #define ELEC_RAD_PER_SEC_2_RPM ( 60.0/(2*M_PI*(*CTRL).motor->npp) ) 70 | #define RPM_2_ELEC_RAD_PER_SEC ((2 * M_PI * (*CTRL).motor->npp) * ONE_OVER_60) 71 | #define RPM_2_MECH_RAD_PER_SEC ((2 * M_PI * ONE_OVER_60)) 72 | // #define RPM_2_ELEC_RAD_PER_SEC ( (2*M_PI*(*CTRL).motor->npp)/60.0 ) 73 | // New convention 74 | #define M_PI_OVER_180 0.017453292519943295 // pi/180 75 | #define ONE_OVER_THREE (0.3333333333333333) // 1/3 76 | #define ONE_OVER_SQRT3 (0.5773502691896257) // 1/sqrt(3) 77 | #define CONST_PI_OVER_180 (0.0174533) // pi/180 78 | #define CONST_180_OVER_PI (57.2958) // 180/pi 79 | #define CONST_1_OVER_SQRT3 (0.57735) // 1/sqrt(3) 80 | 81 | 82 | 83 | /* Motor Control Related Utility Macros */ 84 | #define CLARKE_TRANS_TORQUE_GAIN (1.5) // consistent with experiment 85 | #define CLARKE_TRANS_TORQUE_GAIN_INVERSE (0.666666667) 86 | #define POW2AMPL (0.816496581) // = 1/sqrt(1.5) power-invariant to aplitude-invariant (the dqn vector becomes shorter to have the same length as the abc vector) 87 | #define AMPL2POW (1.22474487) 88 | 89 | // 模拟测量环节，可以在此为测量电机添加噪声、温飘等，也可以在此实现类似光电编码器的转速测量环节。 90 | #define RANDOM (((REAL)rand() / (RAND_MAX)) * 2 - 1) // [-1, 1] 91 | 92 | extern REAL one_over_six; 93 | 94 | 95 | 96 | /* User */ 97 | #include "super_config.h" 98 | #include "main_switch.h" 99 | 100 | // 速度环 increase to 3 times because of the bug in dynamics clamping 101 | #define VL_SERIES_KI_CODE (VL_SERIES_KI*VL_SERIES_KP*VL_TS) 102 | #define SPEED_LOOP_LIMIT_AMPERE (1 * d_sim.init.npp) // (1.0*1.414*INIT_IN) 103 | 104 | /* 控制策略 */ 105 | // #define VOLTAGE_CURRENT_DECOUPLING_CIRCUIT FALSE 106 | #define SATURATED_MAGNETIC_CIRCUIT FALSE 107 | 108 | #define CL_TS (d_sim.sim.CLTS) 109 | #define CL_TS_INVERSE (1.0 / CL_TS) 110 | #define VL_TS (d_sim.FOC.VL_EXE_PER_CL_EXE*CL_TS) 111 | #define PL_TS VL_TS 112 | #define SPEED_LOOP_CEILING (d_sim.FOC.VL_EXE_PER_CL_EXE) 113 | // #define TS_UPSAMPLING_FREQ_EXE (CL_TS / MACHINE_TS) 114 | // #define TS_UPSAMPLING_FREQ_EXE_INVERSE (1.0/TS_UPSAMPLING_FREQ_EXE) 115 | #define MACHINE_TS (CL_TS/d_sim.sim.MACHINE_SIMULATIONs_PER_SAMPLING_PERIOD) 116 | #define MACHINE_TS_INVERSE (1.0/MACHINE_TS) 117 | 118 | // #define LOAD_INERTIA 0.0 119 | #define LOAD_TORQUE 0.2 // 0.0 120 | #define VISCOUS_COEFF 0.007 // 0.0007 121 | 122 | 123 | 124 | #define PMSM_PERMANENT_MAGNET_FLUX_LINKAGE d_sim.init.KE 125 | #define MOTOR_RATED_POWER_WATT 750 126 | #define MOTOR_RATED_SPEED_RPM 3000 127 | #define MOTOR_RATED_TORQUE ( MOTOR_RATED_POWER_WATT / (MOTOR_RATED_SPEED_RPM/60.0*2*3.1415926) ) 128 | #define MOTOR_TORQUE_CONSTANT ( MOTOR_RATED_TORQUE / (d_sim.init.IN*1.414) ) 129 | #define MOTOR_BACK_EMF_CONSTANT ( MOTOR_TORQUE_CONSTANT / 1.5 / d_sim.init.npp ) 130 | #define MOTOR_BACK_EMF_CONSTANT_mV_PER_RPM ( MOTOR_BACK_EMF_CONSTANT * 1e3 / (1.0/d_sim.init.npp/2/3.1415926*60) ) 131 | #define SPEED_LOOP_LIMIT_NEWTON_METER (1.0*MOTOR_RATED_TORQUE) 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | #endif 143 | -------------------------------------------------------------------------------- /User_application/AppCury.h: -------------------------------------------------------------------------------- 1 | #ifndef APPCURY_H 2 | #define APPCURY_H 3 | #include 4 | 5 | #define HIP_TYPE 0 6 | #define SHANK_TYPE 1 7 | // 吴波debug Cury时注释掉的 8 | // extern REAL HIP_MIN; 9 | // extern REAL HIP_MAX; // 娑撹桨绮堟稊鍫ｇ箹娑擃亝妲哥拹鐔烘畱閿涚喕锟藉奔绗朚AX濮ｆ摤IN鐏忓骏绱� 10 | // extern REAL CAN01_MIN; //43000//96000//89000 //51943 25000&40000 12000 34000 11 | // extern REAL CAN01_MAX; //33200//10300//101000 //61584 12 | 13 | // extern REAL SHANK_MIN; 14 | // extern REAL SHANK_MAX; 15 | // extern REAL CAN03_MIN; //29180//25000 16 | // extern REAL CAN03_MAX; //12500//40000 17 | 18 | extern REAL SHANK_POS_CONTROL_IQ; 19 | extern REAL HIP_POS_CONTROL_POS; 20 | 21 | #define CAN_QMAX 131072 22 | 23 | 24 | // 閸嬪洩顔曢弫鐗堝祦閻愯鏆熼柌蹇撳嚒閻拷 25 | #define HIP_SHANK_N 106 26 | // 閻€劋绨�涙ê鍋嶉弫鐗堝祦閻ㄥ嫮绮ㄩ弸鍕秼 27 | typedef struct { 28 | REAL hip[HIP_SHANK_N]; 29 | REAL shank[HIP_SHANK_N]; 30 | } HIP_SHANK_ANGLE_TABLE; 31 | 32 | extern HIP_SHANK_ANGLE_TABLE hip_shank_angle_table; 33 | 34 | extern REAL HIP_SHANK_FREQUENCY; 35 | extern REAL TEST_HIP_KP; 36 | extern REAL TEST_SHANK_KP; 37 | extern REAL TEST_HIP_SPD_KP; 38 | extern REAL TEST_HIP_SPD_KI; 39 | extern REAL TEST_SHANK_SPD_KP; 40 | extern REAL TEST_SHANK_SPD_KI; 41 | 42 | extern REAL TEST_HIP_POS_OUTLIMIT; 43 | extern REAL TEST_SHANK_POS_OUTLIMIT; 44 | 45 | extern REAL deg_four_bar_map_motor_encoder_angle; 46 | extern REAL rad_four_bar_map_motor_encoder_angle; 47 | extern int32 cnt_four_bar_map_motor_encoder_angle; 48 | 49 | 50 | REAL linearInterpolate(REAL x, REAL x1, REAL x2, REAL y1, REAL y2); 51 | REAL linearInterpolate_Uint_to_real(Uint32 x, Uint32 x1, Uint32 x2, REAL y1, REAL y2); 52 | REAL look_up_hip_shank_angle(REAL t, int type); 53 | REAL hip_shank_angle_to_can(REAL angle, int type); 54 | 55 | #define PI 3.14159265 56 | #define BEZIER_ORDER 4 57 | #define BEZIER_TRACE_SIZE 100 58 | #define INIT_THETA1 0.0 59 | #define INIT_THETA2 0.0 60 | extern REAL IECON_HEIGHT; 61 | 62 | // 吴波debug Cury时注释掉的 63 | // typedef struct 64 | // { 65 | // REAL L1; 66 | // REAL L2; 67 | // REAL theta1, theta2; // unit [rad] theta1: hip ; theta2: knee 68 | // REAL dot_theta1, dot_theta2; 69 | // REAL T; // unit [s] 70 | // REAL height_limit[2]; // unit [m] 71 | // REAL C[BEZIER_ORDER][2]; 72 | // int order; 73 | // REAL bezier_trace[BEZIER_TRACE_SIZE + 1][2]; 74 | // } CURYCONTROLLER; 75 | 76 | // extern CURYCONTROLLER curycontroller; 77 | 78 | void calc_theta_from_height(REAL height); 79 | void reset_position(); 80 | void linear_controller(REAL t); 81 | void sinusoidal_controller(REAL t); 82 | void get_bezier_points(); 83 | REAL bezier_linear_interpoolation(REAL t); 84 | void bezier_controller(REAL t); 85 | void analoge_controller(REAL height); 86 | void run_iecon_main(Uint64 t); 87 | 88 | typedef struct 89 | { 90 | REAL current[6]; 91 | REAL weight[6]; 92 | } CURRENT_WEIGHT_TABLE; 93 | 94 | REAL get_current_from_weight(REAL weight); 95 | 96 | // impedance control 97 | extern REAL HIP_IMPEDANCE_DESIRE; 98 | extern REAL SHANK_IMPEDANCE_DESIRE; 99 | extern REAL HIP_PREV_ANGLE; 100 | extern REAL SHANK_PREV_ANGLE; 101 | extern REAL HIP_IMPENDENCE_B; 102 | extern REAL HIP_IMPENDENCE_D; 103 | extern REAL SHANK_IMPENDENCE_B; 104 | extern REAL SHANK_IMPENDENCE_D; 105 | 106 | extern REAL IMPENDENCE_HIP_D_ANGULAR; 107 | extern REAL IMPENDENCE_SHANK_D_ANGULAR; 108 | extern REAL IQOUT_SHANK; 109 | extern REAL IQOUT_HIP; 110 | 111 | 112 | REAL position_count_to_angle(int axisType, Uint32 hip_count_fbk, Uint32 shank_count_fbk); 113 | REAL calc_theta_angular_velocity(int axisType, REAL hip_theta_fbk, REAL shank_theta_fbk); 114 | REAL Impendence_Control_cal(int axisType, Uint32 hip_count_fbk, Uint32 shank_count_fbk); 115 | 116 | REAL get_motorpos(REAL angle); 117 | 118 | #endif 119 | 120 | -------------------------------------------------------------------------------- /User_application/Experiment.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Experiment.h 3 | * 4 | * Created on: May 19, 2021 5 | * Author: horyc 6 | */ 7 | 8 | #ifndef THE_DRIVER_LAYER_EXPERIMENT_H_ 9 | #define THE_DRIVER_LAYER_EXPERIMENT_H_ 10 | 11 | #define AS_LOAD_MOTOR_CONST 1 12 | #define AS_LOAD_MOTOR_RAMP 2 13 | #define NSOAF_LOW_SPEED_OPERATION 3 14 | #define NSOAF_HIGH_SPEED_OPERATION 4 15 | #define NSOAF_RAMP_SPEED_OPERATION 41 16 | #define XCUBE_TaTbTc_DEBUG_MODE 5 17 | #define SLESSINV_CONST_LOAD_PAA 10 18 | 19 | void init_ADC_scale_and_offset(); 20 | void init_experiment_overwrite(); 21 | void runtime_command_and_tuning(); 22 | void init_experiment_PLACE_gain_and_offset(); 23 | 24 | /* NSOAF */ 25 | 26 | #define SLOW_REVERSAL_RATE 50 // Park.Sul2014 27 | 28 | void short_stopping_at_zero_speed(); 29 | void slow_speed_reversal(); 30 | void low_speed_operation_init(); 31 | void slow_speed_reversal_tuning(); 32 | void zero_speed_stopping_tuning(); 33 | void zero_speed_stopping(); 34 | void high_speed_operation_init(); 35 | void high_speed_operation_tuning(); 36 | void high_speed_operation(); 37 | void ramp_speed_operation_init(); 38 | void ramp_speed_operation(); 39 | void ramp_speed_operation_tuning(); 40 | 41 | 42 | #endif /* THE_DRIVER_LAYER_EXPERIMENT_H_ */ 43 | -------------------------------------------------------------------------------- /User_application/ShareMemory.h: -------------------------------------------------------------------------------- 1 | #ifndef SHARE_MOMORY_H 2 | #define SHARE_MOMORY_H 3 | 4 | //Share Memory Configuration 5 | // �����ڴ�ṹ������ 6 | struct IPC_MEMORY_WRITE{ 7 | /* read/write (RW) shared memory @ GS1 owned by CPU1 */ 8 | REAL dac_buffer[8]; 9 | REAL test; 10 | REAL Read_RPM; 11 | };// ˫����� 12 | extern struct IPC_MEMORY_WRITE Write; 13 | 14 | struct IPC_MEMORY_READ{ 15 | /* read only (RO) shared memory @ GS0 */ 16 | Uint32 SCI_A_position_count; 17 | Uint32 SCI_B_position_count; 18 | 19 | Uint32 SCI_shank_position_count; 20 | Uint32 CAN_position_count_ID0x03; 21 | 22 | Uint32 SCI_hip_position_count; 23 | Uint32 CAN_position_count_ID0x01; 24 | 25 | REAL position_cmd_elec; 26 | REAL speed_cmd_elec; 27 | REAL current_cmd_from_PC; 28 | bool run_enable; 29 | int16 SCI_char; 30 | };// ˫����� 31 | extern struct IPC_MEMORY_READ Read; 32 | 33 | void write_DAC_buffer(); 34 | void single_core_dac(); 35 | #endif 36 | -------------------------------------------------------------------------------- /User_application/new_user.h: -------------------------------------------------------------------------------- 1 | #ifndef NEW_USER_H // 如果没有定义 NEW_USER_H 2 | #define NEW_USER_H // 定义 NEW_USER_H 3 | 4 | 5 | 6 | /* When PWM is DISABLE*/ 7 | typedef enum { 8 | RESET_MODE_SOFT, // 保持配置参数 _Reset_CTRL_except_Controller_Param(); 9 | RESET_MODE_HARD, // 恢复出厂设置 _Reset_CTRL_ALL(); 10 | RESET_MODE_SAFE // 进入安全状态后重置 _Reset_Controller_Param(); 11 | } st_reset_mode; 12 | 13 | void _user_ResetController(st_reset_mode mode); 14 | void _Reset_CTRL_except_Controller_Param(); 15 | void _Reset_CTRL_ALL(); 16 | void _Reset_Controller_Param(); 17 | 18 | 19 | /* When PWM is ENABLE */ 20 | // typedef enum { 21 | // MODE_SELECT_PWM_DIRECT 22 | // MODE_SELECT_VOLTAGE_OPEN_LOOP 23 | // MODE_SELECT_WITHOUT_ENCODER_CURRENT_VECTOR_ROTATE 24 | // MODE_SELECT_FOC 25 | // MODE_SELECT_FOC_SENSORLESS 26 | // MODE_SELECT_INDIRECT_FOC 27 | // MODE_SELECT_ID_SWEEPING_FREQ 28 | // MODE_SELECT_IQ_SWEEPING_FREQ 29 | // MODE_SELECT_FOC_HARNEFORS_1998 30 | // MODE_SELECT_VELOCITY_LOOP 31 | // MODE_SELECT_VELOCITY_LOOP_SENSORLESS 32 | // MODE_SELECT_TESTING_SENSORLESS 33 | // MODE_SELECT_V_LOOP_WC_TUNER // 这个模式被弃用了，现在于USER_WB中实现WC Tuner 34 | // MODE_SELECT_Marino2005 35 | // MODE_SELECT_SWEEPING_FREQ 36 | // MODE_SELECT_V_LOOP_ESO_SPEED_REF 37 | // MODE_SELECT_POSITION_LOOP 38 | // MODE_SELECT_CURY_POSITION_LOOP 39 | // MODE_SELECT_POSITION_IMPEDANCE_CONTRssOL 40 | // MODE_SELECT_COMMISSIONING 41 | // } st_mode_select; 42 | // st_mode_select modeSelect; 43 | 44 | typedef struct{ 45 | int ID; 46 | struct ControllerForExperiment *pCTRL; 47 | struct DebugExperiment *Pdebug; 48 | 49 | // Motor Operation Mode 50 | // mode_select 51 | 52 | 53 | // Commonly used for prototype motor testing 54 | //int use_first_set_three_phase; 55 | //int Set_current_loop; 56 | //int Set_x_suspension_current_loop; 57 | //int Set_y_suspension_current_loop; 58 | //REAL Set_manual_rpm; 59 | //REAL Prev_manual_rpm; 60 | //REAL rampRate_rpm; 61 | //REAL Set_manual_current_id; 62 | //REAL Set_manual_current_iq; 63 | //REAL Set_manual_current_ix; 64 | //REAL Set_manual_current_iy; 65 | //int Select_exp_operation; 66 | //int *pFLAG_INVERTER_NONLINEARITY_COMPENSATION; 67 | //int flag_overwrite_theta_d; 68 | //REAL Overwrite_Current_Frequency; 69 | //REAL Overwrite_Suspension_Current_Frequency; 70 | //REAL used_theta_d_elec; 71 | //REAL angle_shift_for_first_inverter; 72 | //REAL angle_shift_for_second_inverter; 73 | //REAL OverwriteSpeedOutLimitDuringInit; 74 | 75 | // ADC Offset 76 | // Automatic Offset Removing 77 | 78 | // volatile struct ADC_RESULT_REGS *pAdcaResultRegs; 79 | // volatile struct ADC_RESULT_REGS *pAdcbResultRegs; 80 | // volatile struct ADC_RESULT_REGS *pAdccResultRegs; 81 | 82 | 83 | // int FLAG_ENABLE_PWM_OUTPUT; // 电机模式标志位 84 | int AD_offset_flag2; 85 | REAL offset_counter; 86 | REAL offset_online[6]; 87 | // Raw 88 | REAL adc_offset[12]; // ADC offset. U, V, W corresponds to ADCRESULT2, ADCRESULT3, ADCRESULT1. 89 | REAL adc_scale[12]; 90 | // Sensor - Raw measurement 91 | REAL vdc; 92 | REAL iabg[6]; 93 | REAL iuvw[6]; 94 | REAL iuvw_offset_online[6]; 95 | Uint32 SCI_Position_Count_fromCPU2; 96 | // DAC 97 | int DAC_MAX5307_FLAG; // for single core case 98 | REAL dac_offset[NO_OF_DAC_CHANNELS]; 99 | REAL dac_time; 100 | REAL dac_watch[80]; 101 | REAL dac_watch_stator_resistance; 102 | int channels[NO_OF_DAC_CHANNELS]; 103 | int channels_preset; 104 | // Sensor Coil 105 | REAL place_sensor[8]; 106 | REAL place_offset[8]; 107 | REAL place_scale[8]; 108 | } st_axis; 109 | 110 | extern st_axis Axis_1; 111 | extern st_axis Axis_2; 112 | extern st_axis *Axis; 113 | 114 | 115 | void user_init_axis(int axisCnt); 116 | void measurement_position_count_axisCnt0(); // 对四个电机采取不同的axisCnt函数，而不是循环——方便处理当驱动对象为4台不同电机时的情况 117 | void measurement_position_count_axisCnt1(); 118 | void measurement_position_count_axisCnt2(); 119 | void measurement_position_count_axisCnt3(); 120 | void measurement_enc(); 121 | void write_RPM_to_cpu02_dsp_cores_2(); 122 | 123 | void user_routine_init_in_main(); 124 | void user_routine_in_main_loop(); 125 | void user_routine_init_pwm_output(); 126 | void user_routine_read_from_cpu02(); 127 | void user_routine_debug_switch(); 128 | void user_routine_disable_pwm_output(); 129 | REAL user_routine_enable_pwm_output(); // 返回四台逆变器的三相占空比 130 | 131 | #endif // NEW_USER_H 132 | 133 | -------------------------------------------------------------------------------- /User_application/tools.h: -------------------------------------------------------------------------------- 1 | #ifndef MAIN_TOOLS 2 | #define MAIN_TOOLS 3 | 4 | void EUREKA_GPIO_SETUP(); 5 | extern REAL iq_command_from_PC; 6 | #define ANGLE_SHIFT_FOR_FIRST_INVERTER 0.0 // Torque Inverter 7 | #define ANGLE_SHIFT_FOR_SECOND_INVERTER 0.0 // Suspension Inverter 8 | 9 | void axis_basic_setup(int axisCnt); 10 | void compute_CLA_task_vectors(); 11 | void init_spi(); 12 | void handle_interrupts(); 13 | void main_loop(); 14 | void DeadtimeCompensation(REAL Current_U, REAL Current_V, REAL Current_W, REAL CMPA[], REAL CMPA_DBC[]); 15 | void test_pwm_output(); 16 | 17 | void voltage_commands_to_pwm(); 18 | void voltage_measurement_based_on_eCAP(); 19 | void measurement_position_count_axisCnt0(); 20 | void measurement_position_count_axisCnt1(); 21 | void measurement_enc(); 22 | void measurement_current_axisCnt0(); 23 | void measurement_current_axisCnt1(); 24 | #if WHO_IS_USER == USER_QIAN 25 | void measurement_sensor_coil(); 26 | #endif 27 | 28 | void control_two_motor_position(); 29 | void control_single_motor_position(); 30 | void run_shank_loop(); 31 | void run_hip_loop(); 32 | void run_both_loop(); 33 | void run_impedance_control(); 34 | 35 | void DISABLE_PWM_OUTPUT(); 36 | void ENABLE_PWM_OUTPUT(int positionLoopType); 37 | 38 | void read_count_from_cpu02_dsp_cores_2(); 39 | void write_RPM_to_cpu02_dsp_cores_2(); 40 | void cla_test_codes(); 41 | void test_ipc_tocpu02(); 42 | 43 | #endif 44 | -------------------------------------------------------------------------------- /User_application/yx2837xDeadtime_compensation.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/horychen/ProjectPanGu-C/77be76304f172f655c3d92afb6d777d5fc1e4f0d/User_application/yx2837xDeadtime_compensation.c -------------------------------------------------------------------------------- /User_application/yx2837xdeadtime.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/horychen/ProjectPanGu-C/77be76304f172f655c3d92afb6d777d5fc1e4f0d/User_application/yx2837xdeadtime.h -------------------------------------------------------------------------------- /User_driver/CONSOLE.c: -------------------------------------------------------------------------------- 1 | /* 2 | * SCI_232.c 3 | * 4 | * Created on: 2021��5��15�� 5 | * Author: yuanx 6 | */ 7 | #include 8 | 9 | // 10 | // Globals 11 | // 12 | Uint16 sdataA[2] = {0x22, 0x23}; // Send data for SCI-A 13 | Uint16 rdataA[2]; // Received data for SCI-A 14 | Uint16 rdata_pointA; // Used for checking the received data 15 | 16 | 17 | Uint16 LoopCount; 18 | Uint16 ErrorCount; 19 | Uint16 SendChar; 20 | Uint16 ReceivedChar; 21 | 22 | 23 | __interrupt void scicTxFifoIsr(void){ 24 | Uint16 i; 25 | 26 | for(i=0; i< 2; i++) 27 | { 28 | ScicRegs.SCITXBUF.all=sdataA[i]; // Send data 29 | } 30 | 31 | // for(i=0; i< 2; i++) // Increment send data for next cycle 32 | // { 33 | // sdataA[i] = (sdataA[i]+1) & 0x00F; 34 | // } 35 | 36 | ScicRegs.SCIFFTX.bit.TXFFINTCLR=1; // Clear SCI Interrupt flag 37 | PieCtrlRegs.PIEACK.all |= PIEACK_GROUP8; // Issue PIE ACK for Group 8 (for SCI-C and SCI-D) 38 | } 39 | 40 | __interrupt void scicRxFifoIsr(void){ 41 | Uint16 i; 42 | 43 | for(i=0;i<2;i++) 44 | { 45 | rdataA[i]=ScicRegs.SCIRXBUF.all; // Read data 46 | } 47 | 48 | for(i=0;i<2;i++) // Check received data 49 | { 50 | if(rdataA[i] != ( (rdata_pointA+i) & 0x00FF) ) 51 | { 52 | //error(); 53 | } 54 | } 55 | 56 | rdata_pointA = (rdata_pointA+1) & 0x00FF; 57 | 58 | ScicRegs.SCIFFRX.bit.RXFFOVRCLR=1; // Clear Overflow flag 59 | ScicRegs.SCIFFRX.bit.RXFFINTCLR=1; // Clear Interrupt flag 60 | PieCtrlRegs.PIEACK.all |= PIEACK_GROUP8; // Issue PIE ACK for Group 8 (for SCI-C and SCI-D) 61 | } 62 | 63 | 64 | void sci_poll(int16 ch){ 65 | static int set_current_flag = FALSE; 66 | 67 | static int dac_offset_flag = FALSE; 68 | static int dac_channel_flag = FALSE; 69 | 70 | static int reverse_speed_flag = FALSE; 71 | static int reverse_current_flag = FALSE; 72 | 73 | if( set_current_flag || dac_offset_flag || dac_channel_flag ){ 74 | if(set_current_flag){ 75 | switch(ch){ 76 | case ' ': set_current_flag = FALSE; break; 77 | case '+': G.sendCurrentCommandFlag = TRUE; PID_Speed->OutLimit += 0.1; break; 78 | case '-': G.sendCurrentCommandFlag = TRUE; PID_Speed->OutLimit -= 0.1; break; 79 | case '1': G.sendCurrentCommandFlag = TRUE; PID_Speed->OutLimit = 0.1; break; 80 | case '2': G.sendCurrentCommandFlag = TRUE; PID_Speed->OutLimit = 2; break; 81 | case '3': G.sendCurrentCommandFlag = TRUE; PID_Speed->OutLimit = 3; break; 82 | case '4': G.sendCurrentCommandFlag = TRUE; PID_Speed->OutLimit = 4; break; 83 | case '5': G.sendCurrentCommandFlag = TRUE; PID_Speed->OutLimit = 5; break; 84 | case '6': G.sendCurrentCommandFlag = TRUE; PID_Speed->OutLimit = -5; break; 85 | case '7': G.sendCurrentCommandFlag = TRUE; PID_Speed->OutLimit = -4; break; 86 | case '8': G.sendCurrentCommandFlag = TRUE; PID_Speed->OutLimit = -3; break; 87 | case '9': G.sendCurrentCommandFlag = TRUE; PID_Speed->OutLimit = -2; break; 88 | case '0': G.sendCurrentCommandFlag = TRUE; PID_Speed->OutLimit = -1; break; 89 | default : break; 90 | } 91 | } 92 | } 93 | else // No Flag is set 94 | { 95 | switch(ch) 96 | { 97 | /* Default mode is to change speed. */ 98 | case '1': 99 | G.sendSpeedCommandFlag = TRUE; // (*Axis).Select_exp_operation = -500; 100 | break; 101 | case '2': 102 | G.sendSpeedCommandFlag = TRUE; // (*Axis).Select_exp_operation = -300; 103 | break; 104 | case '3': 105 | G.sendSpeedCommandFlag = TRUE; // (*Axis).Select_exp_operation = 50; 106 | break; 107 | case '4': 108 | G.sendSpeedCommandFlag = TRUE; // (*Axis).Select_exp_operation = 100; 109 | break; 110 | case '5': 111 | G.sendSpeedCommandFlag = TRUE; // (*Axis).Select_exp_operation = 300; 112 | break; 113 | case '6': 114 | G.sendSpeedCommandFlag = TRUE; // (*Axis).Select_exp_operation = 500; 115 | break; 116 | case '7': 117 | G.sendSpeedCommandFlag = TRUE; // (*Axis).Select_exp_operation = 800; 118 | break; 119 | case '8': 120 | G.sendSpeedCommandFlag = TRUE; // (*Axis).Select_exp_operation = 1500; 121 | break; 122 | case '9': 123 | G.sendSpeedCommandFlag = TRUE; // (*Axis).Select_exp_operation = 2000; 124 | break; 125 | case '0': 126 | G.sendSpeedCommandFlag = TRUE; // (*Axis).Select_exp_operation = 0; 127 | break; 128 | case '-': 129 | reverse_speed_flag = TRUE; // not used 130 | reverse_current_flag = TRUE; // not used 131 | break; 132 | 133 | /* Change torque current */ 134 | case 'c': 135 | set_current_flag = TRUE; 136 | G.sendCurrentCommandFlag = TRUE; 137 | break; 138 | 139 | /* Stop */ 140 | case 's': 141 | case 'S': 142 | break; 143 | 144 | /* Run */ 145 | case 'r': 146 | case 'R': 147 | G.sendSpeedCommandFlag = TRUE; 148 | break; 149 | 150 | default : 151 | /*Do Nothing Or Test Respond*/; 152 | //send_flag = 999; 153 | break; 154 | } 155 | } 156 | 157 | 158 | } 159 | 160 | 161 | 162 | 163 | /* 164 | * else if(dac_channel_flag){ 165 | switch(ch) 166 | { 167 | case '+': dac_channel += 1; send_flag=5; break; 168 | case '-': dac_channel -= 1; send_flag=5; break; 169 | case ' ': dac_channel_flag=False; break; 170 | default : break; 171 | } 172 | }else if(dac_offset_flag){ 173 | if(dac_channel>8){ 174 | dac_channel=8; 175 | }else if(dac_channel<1){ 176 | dac_channel=1; 177 | } 178 | switch(ch) 179 | { 180 | case '+': dac_offset[dac_channel-1] += 1; send_flag=55; break; 181 | case '-': dac_offset[dac_channel-1] -= 1; send_flag=55; break; 182 | case ' ': dac_offset_flag=False; break; 183 | default : break; 184 | } 185 | } 186 | */ 187 | -------------------------------------------------------------------------------- /User_driver/CONSOLE.h: -------------------------------------------------------------------------------- 1 | /* 2 | * CONSOLE.h 3 | * 4 | * Created on: Jun 10, 2021 5 | * Author: horyc 6 | */ 7 | 8 | #ifndef THE_DRIVER_LAYER_CONSOLE_H_ 9 | #define THE_DRIVER_LAYER_CONSOLE_H_ 10 | 11 | extern Uint16 LoopCount; 12 | extern Uint16 ErrorCount; 13 | extern Uint16 SendChar; 14 | extern Uint16 ReceivedChar; 15 | 16 | 17 | void sci_poll(int16 ch); 18 | 19 | #endif /* THE_DRIVER_LAYER_CONSOLE_H_ */ 20 | -------------------------------------------------------------------------------- /User_driver/DAC_MAX5307.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/horychen/ProjectPanGu-C/77be76304f172f655c3d92afb6d777d5fc1e4f0d/User_driver/DAC_MAX5307.c -------------------------------------------------------------------------------- /User_driver/DAC_MAX5307.h: -------------------------------------------------------------------------------- 1 | #include "All_Definition.h" 2 | 3 | void DAC_MAX5307(int channel_number, REAL dac_value); 4 | -------------------------------------------------------------------------------- /User_driver/ECaptureVoltage.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/horychen/ProjectPanGu-C/77be76304f172f655c3d92afb6d777d5fc1e4f0d/User_driver/ECaptureVoltage.c -------------------------------------------------------------------------------- /User_driver/ECaptureVoltage.h: -------------------------------------------------------------------------------- 1 | /* 2 | * ECaptureVoltage.h 3 | * 4 | * Created on: May 19, 2021 5 | * Author: horyc 6 | */ 7 | 8 | #ifndef THE_DRIVER_LAYER_ECAPTUREVOLTAGE_H_ 9 | #define THE_DRIVER_LAYER_ECAPTUREVOLTAGE_H_ 10 | 11 | void InitECapture(); 12 | void InitECaptureContinuousMode(); 13 | void do_enhanced_capture(); 14 | 15 | void ecap_moving_average(); 16 | 17 | #endif /* THE_DRIVER_LAYER_ECAPTUREVOLTAGE_H_ */ 18 | -------------------------------------------------------------------------------- /User_driver/F2837xD_Ipc.c: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_Ipc.c 4 | // 5 | // TITLE: Inter-Processor Communication module support functions 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | // 15 | // Included Files 16 | // 17 | #include "F2837xD_device.h" 18 | #include "F2837xD_Examples.h" 19 | #include 20 | 21 | // 22 | // InitIpc - Initialize all IPC registers and clear all flags 23 | // 24 | void InitIpc() 25 | { 26 | // 27 | //Clear sent flags. Received flags must not be cleared locally 28 | //to handle the case where the remote CPU starts executing first. 29 | //In this case, a remote flag could be sent correctly and be 30 | //incorrectly cleared by this function. Unfortunately, we're 31 | //still left with a startup synchronization problem if the 32 | //remote CPU has flags left over from a previous run. There's 33 | //probably a better way of handling this. 34 | // 35 | IpcRegs.IPCCLR.all = 0xFFFFFFFF; 36 | 37 | // 38 | //Clear commands 39 | // 40 | IpcRegs.IPCSENDCOM = 0; 41 | IpcRegs.IPCSENDADDR = 0; 42 | IpcRegs.IPCSENDDATA = 0; 43 | IpcRegs.IPCLOCALREPLY = 0; 44 | 45 | // 46 | //Clear boot status and pump semaphore 47 | // 48 | #if defined(CPU1) 49 | IpcRegs.IPCBOOTMODE = 0; 50 | #elif defined(CPU2) 51 | IpcRegs.IPCBOOTSTS = 0; 52 | #endif 53 | ReleaseFlashPump(); 54 | } 55 | 56 | // 57 | // ReadIpcTimer - Read the current IPC timer value. The low register must be 58 | // read first to latch a value in the high register. 59 | // 60 | unsigned long long ReadIpcTimer() 61 | { 62 | Uint32 low, high; 63 | 64 | low = IpcRegs.IPCCOUNTERL; 65 | high = IpcRegs.IPCCOUNTERH; 66 | return ((unsigned long long)high << 32) | (unsigned long long)low; 67 | } 68 | 69 | // 70 | // SendIpcData - Copy data into the IPC send message RAM for this CPU and set 71 | // a flag. If the specified 16-bit word length is greater than 72 | // the size of the message RAM, the data is truncated. 73 | // 74 | void SendIpcData(void *data, Uint16 word_length, Uint16 flag) 75 | { 76 | word_length = (word_length < MSG_RAM_SIZE) ? word_length : MSG_RAM_SIZE; 77 | 78 | memcpy(SEND_MSG_RAM, data, word_length); 79 | 80 | if (flag != NO_IPC_FLAG) 81 | { 82 | SendIpcFlag(flag); 83 | } 84 | } 85 | 86 | // 87 | // RecvIpcData - Copy data out of the IPC receive message RAM for this CPU. If 88 | // the specified 16-bit word length is greater than the size of 89 | // the message RAM, the data is truncated. 90 | // 91 | void RecvIpcData(void *recv_buf, Uint16 word_length) 92 | { 93 | word_length = (word_length < MSG_RAM_SIZE) ? word_length : MSG_RAM_SIZE; 94 | memcpy(RECV_MSG_RAM, recv_buf, word_length); 95 | } 96 | 97 | // 98 | // FillIpcSendData - Fill the IPC send message RAM for this CPU with a constant 99 | // value 100 | // 101 | void FillIpcSendData(Uint16 fill_data) 102 | { 103 | memset(SEND_MSG_RAM, fill_data, MSG_RAM_SIZE); 104 | } 105 | 106 | // 107 | // SendIpcCommand - Write the send command, address, and data registers with 108 | // the specified values, then set an IPC flag. 109 | // 110 | void SendIpcCommand(Uint32 command, Uint32 address, Uint32 data, Uint16 flag) 111 | { 112 | IpcRegs.IPCSENDCOM = command; 113 | IpcRegs.IPCSENDADDR = address; 114 | IpcRegs.IPCSENDDATA = data; 115 | 116 | if (flag != NO_IPC_FLAG) 117 | { 118 | SendIpcFlag(flag); 119 | } 120 | } 121 | 122 | // 123 | // SendIpcFlag - Set an IPC flag bit for the other CPU. Flags 0-3 will generate 124 | // PIE interrupts. 125 | // 126 | void SendIpcFlag(Uint16 flag) 127 | { 128 | IpcRegs.IPCSET.all = 1UL << flag; 129 | } 130 | 131 | // 132 | // AckIpcFlag - Acknowledge/clear a received IPC flag 133 | // 134 | void AckIpcFlag(Uint16 flag) 135 | { 136 | IpcRegs.IPCACK.all = 1UL << flag; 137 | } 138 | 139 | // 140 | // CancelIpcFlag - Clear a sent IPC flag bit before the other CPU acknowledges 141 | // it. You will normally never use this function. To clear a 142 | // received flag, call AckIpcFlag() instead. 143 | // 144 | void CancelIpcFlag(Uint16 flag) 145 | { 146 | IpcRegs.IPCCLR.all = 1UL << flag; 147 | } 148 | 149 | // 150 | // WaitForIpcFlag - Wait for any IPC flag in the specified mask to be set. 151 | // WARNING: If you use this function to wait for an IPC 152 | // interrupt, you must not clear the IPC flag in the interrupt 153 | // handler. Otherwise, this function will never return. 154 | // 155 | void WaitForIpcFlag(Uint16 flag) 156 | { 157 | // 158 | //WARNING: Don't use this function to wait for an IPC interrupt! 159 | // 160 | while ((IpcRegs.IPCSTS.all & (1UL << flag)) == 0x00000000) {;} 161 | } 162 | 163 | // 164 | // WaitForIpcAck - Wait for any IPC flag in the specified mask to be 165 | // acknowledged. 166 | // 167 | void WaitForIpcAck(Uint16 flag) 168 | { 169 | while ((IpcRegs.IPCFLG.all & (1UL << flag)) != 0x00000000) {;} 170 | } 171 | 172 | // 173 | // IpcSync - Synchronize the two CPUs. Neither CPU will return from this 174 | // function call before the other one enters it. Must be called with 175 | // the same flag number on both CPUs. 176 | // 177 | void IpcSync(Uint16 flag) 178 | { 179 | SendIpcFlag(flag); 180 | WaitForIpcFlag(flag); 181 | AckIpcFlag(flag); 182 | WaitForIpcAck(flag); 183 | } 184 | 185 | // 186 | // End of file 187 | // 188 | -------------------------------------------------------------------------------- /User_driver/i2cTalkToLDC1612.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/horychen/ProjectPanGu-C/77be76304f172f655c3d92afb6d777d5fc1e4f0d/User_driver/i2cTalkToLDC1612.c -------------------------------------------------------------------------------- /User_driver/i2cTalkToLDC1612.h: -------------------------------------------------------------------------------- 1 | #include "All_Definition.h" 2 | 3 | //The following functions will be called in main.c. 4 | void I2CA_Init(void); 5 | Uint32 I2CA_ReadData_Channel(Uint16 channel); 6 | int Single_channel_config(Uint16 channel); 7 | 8 | 9 | extern uint32_t raw_value_rdlu[4]; 10 | //extern uint32 raw_value_rdlu[4]; 11 | // extern Uint32 raw_value_zero; 12 | // extern Uint32 raw_value_one; 13 | // extern Uint32 raw_value_two; 14 | // extern Uint32 raw_value_three; 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /User_driver/yx2837xD_EPwm.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/horychen/ProjectPanGu-C/77be76304f172f655c3d92afb6d777d5fc1e4f0d/User_driver/yx2837xD_EPwm.c -------------------------------------------------------------------------------- /User_driver/yx2837xD_Gpio.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/horychen/ProjectPanGu-C/77be76304f172f655c3d92afb6d777d5fc1e4f0d/User_driver/yx2837xD_Gpio.c -------------------------------------------------------------------------------- /User_driver/yxsvgen.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/horychen/ProjectPanGu-C/77be76304f172f655c3d92afb6d777d5fc1e4f0d/User_driver/yxsvgen.c -------------------------------------------------------------------------------- /User_peripheral/F2837xD_Adc_defines.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_Adc_defines.h 4 | // 5 | // TITLE: #defines used in ADC examples 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef F2837xD_ADC_DEFINES_H 15 | #define F2837xD_ADC_DEFINES_H 16 | 17 | #ifdef __cplusplus 18 | extern "C" { 19 | #endif 20 | 21 | // 22 | // Defines 23 | // 24 | 25 | // 26 | //definitions for specifying an ADC 27 | // 28 | #define ADC_ADCA 0 29 | #define ADC_ADCB 1 30 | #define ADC_ADCC 2 31 | #define ADC_ADCD 3 32 | 33 | // 34 | //definitions for selecting ADC resolution 35 | // 36 | #define ADC_RESOLUTION_12BIT 0 37 | #define ADC_RESOLUTION_16BIT 1 38 | 39 | // 40 | //definitions for selecting ADC signal mode 41 | //(single-ended mode is only a valid mode for 12-bit resolution) 42 | // 43 | #define ADC_SIGNALMODE_SINGLE 0 44 | #define ADC_SIGNALMODE_DIFFERENTIAL 1 45 | 46 | #ifdef __cplusplus 47 | } 48 | #endif /* extern "C" */ 49 | 50 | #endif // - end of F2837xD_ADC_DEFINES_H 51 | 52 | // 53 | // End of file 54 | // 55 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_Can_defines.h: -------------------------------------------------------------------------------- 1 | //############################################################################# 2 | // 3 | // FILE: F2837xD_Can_defines.h 4 | // 5 | // TITLE: Common defines used in CAN Test Cases 6 | // 7 | //############################################################################# 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //############################################################################# 13 | 14 | #ifndef F2837xD_CAN_DEFINES_H 15 | #define F2837xD_CAN_DEFINES_H 16 | 17 | #ifdef __cplusplus 18 | extern "C" { 19 | #endif 20 | 21 | // 22 | // Defines 23 | // 24 | 25 | // 26 | // Reset Values 27 | // 28 | #define CAN_RESET_VALUE_ZERO 0x00000000 29 | #define CAN_CTL_RESET_VALUE 0x00001401 30 | #define CAN_ES_RESET_VALUE 0x00000007 31 | #define CAN_BTR_RESET_VALUE 0x00002301 32 | #define CAN_REL_RESET_VALUE 0xA3170504 33 | #define CAN_RAM_INIT_RESET_VALUE 0x00000005 34 | #define CAN_IF_CMD_RESET_VALUE 0x00000001 35 | #define CAN_IF_MASK_RESET_VALUE 0xFFFFFFFF 36 | 37 | // 38 | // Register value when Peripheral Clock is Disabled 39 | // 40 | #define CAN_MODULE_CLK_DISABLE_VALUE 0x00000000 41 | 42 | // 43 | // Bit field definition of CAN_CTL register. 44 | // 45 | #define CAN_CTL_INIT 0x00000001 // Initialization 46 | #define CAN_CTL_IE0 0x00000002 // Interrupt Enable 0 47 | #define CAN_CTL_SIE 0x00000004 // Status Interrupt Enable 48 | #define CAN_CTL_EIE 0x00000008 // Error Interrupt Enable 49 | #define CAN_CTL_DAR 0x00000020 // Disable Automatic-Retransmission 50 | #define CAN_CTL_CCE 0x00000040 // Configuration Change Enable 51 | #define CAN_CTL_TEST 0x00000080 // Test Mode Enable 52 | #define CAN_CTL_IDS 0x00000100 // Interruption Debug Support Enable 53 | #define CAN_CTL_ABO 0x00000200 // Auto-Bus On Enable 54 | #define CAN_CTL_PMD_S 10 55 | #define CAN_CTL_PMD_M 0x00003C00 // Parity/SECDED Enable 56 | #define CAN_CTL_SWR 0x00008000 // Software Reset Enable 57 | #define CAN_CTL_INITDBG 0x00010000 // Debug Mode Status 58 | #define CAN_CTL_IE1 0x00020000 // Interrupt Enable 1 59 | #define CAN_CTL_PDR 0x01000000 // Power Down Mode Request 60 | #define CAN_CTL_WUBA 0x02000000 // Wake Up on Bus Activity 61 | 62 | // 63 | // Bit field definition of CAN_IF1_CMD register. 64 | // 65 | #define CAN_IF1_CMD_MESSNUM_S 0 66 | #define CAN_IF1_CMD_MESSNUM_M 0x000000FF // Message Number 67 | #define CAN_IF1_CMD_BUSY 0x00008000 // Busy Flag 68 | #define CAN_IF1_CMD_DATAB 0x00010000 // Access Data B 69 | #define CAN_IF1_CMD_DATAA 0x00020000 // Access Data A 70 | #define CAN_IF1_CMD_TXRQSTNDAT 0x00040000 // Transmission Request Bit 71 | #define CAN_IF1_CMD_CLRINTPND 0x00080000 // Clear Interrupt Pending Bit 72 | #define CAN_IF1_CMD_CONTROL 0x00100000 // Access Control Bits 73 | #define CAN_IF1_CMD_ARB 0x00200000 // Access Arbitration Bits 74 | #define CAN_IF1_CMD_MASK 0x00400000 // Access Mask Bits 75 | #define CAN_IF1_CMD_WR_RD 0x00800000 // Write and Read 76 | 77 | // 78 | // Bit field definition of CAN_IF2_CMD register. 79 | // 80 | #define CAN_IF2_CMD_MESSNUM_S 0 81 | #define CAN_IF2_CMD_MESSNUM_M 0x000000FF // Message Number 82 | #define CAN_IF2_CMD_BUSY 0x00008000 // Busy Flag 83 | #define CAN_IF2_CMD_DATAB 0x00010000 // Access Data B 84 | #define CAN_IF2_CMD_DATAA 0x00020000 // Access Data A 85 | #define CAN_IF2_CMD_TXRQSTNDAT 0x00040000 // Transmission Request Bit 86 | #define CAN_IF2_CMD_CLRINTPND 0x00080000 // Clear Interrupt Pending Bit 87 | #define CAN_IF2_CMD_CONTROL 0x00100000 // Access Control Bits 88 | #define CAN_IF2_CMD_ARB 0x00200000 // Access Arbitration Bits 89 | #define CAN_IF2_CMD_MASK 0x00400000 // Access Mask Bits 90 | #define CAN_IF2_CMD_WR_RD 0x00800000 // Write and Read 91 | 92 | #ifdef __cplusplus 93 | } 94 | #endif /* extern "C" */ 95 | 96 | #endif // - end of F2837xD_CAN_DEFINES_H 97 | 98 | // 99 | // End of file 100 | // 101 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_Cla_defines.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_Cla_defines.h 4 | // 5 | // TITLE: #defines used in CLA examples 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef F2837xD_CLA_DEFINES_H 15 | #define F2837xD_CLA_DEFINES_H 16 | 17 | #ifdef __cplusplus 18 | extern "C" { 19 | #endif 20 | 21 | // 22 | // Defines 23 | // 24 | 25 | // 26 | // MCTL Register 27 | // 28 | #define CLA_FORCE_RESET 0x1 29 | #define CLA_IACK_ENABLE 0x1 30 | #define CLA_IACK_DISABLE 0x0 31 | 32 | // 33 | // MMEMCFG Register 34 | // 35 | #define CLA_CLA_SPACE 0x1 36 | #define CLA_CPU_SPACE 0x0 37 | 38 | // 39 | // MIER Interrupt Enable Register 40 | // 41 | #define CLA_INT_ENABLE 0x1 42 | #define CLA_INT_DISABLE 0x0 43 | 44 | // 45 | // Peripheral Interrupt Source Select define for DMAnCLASourceSelect Register 46 | // 47 | #define CLA_TRIG_NOPERPH 0 48 | #define CLA_TRIG_ADCAINT1 1 49 | #define CLA_TRIG_ADCAINT2 2 50 | #define CLA_TRIG_ADCAINT3 3 51 | #define CLA_TRIG_ADCAINT4 4 52 | #define CLA_TRIG_ADCAEVT 5 53 | #define CLA_TRIG_ADCBINT1 6 54 | #define CLA_TRIG_ADCBINT2 7 55 | #define CLA_TRIG_ADCBINT3 8 56 | #define CLA_TRIG_ADCBINT4 9 57 | #define CLA_TRIG_ADCBEVT 10 58 | #define CLA_TRIG_ADCCINT1 11 59 | #define CLA_TRIG_ADCCINT2 12 60 | #define CLA_TRIG_ADCCINT3 13 61 | #define CLA_TRIG_ADCCINT4 14 62 | #define CLA_TRIG_ADCCEVT 15 63 | #define CLA_TRIG_ADCDINT1 16 64 | #define CLA_TRIG_ADCDINT2 17 65 | #define CLA_TRIG_ADCDINT3 18 66 | #define CLA_TRIG_ADCDINT4 19 67 | #define CLA_TRIG_ADCDEVT 20 68 | 69 | #define CLA_TRIG_XINT1 29 70 | #define CLA_TRIG_XINT2 30 71 | #define CLA_TRIG_XINT3 31 72 | #define CLA_TRIG_XINT4 32 73 | #define CLA_TRIG_XINT5 33 74 | 75 | #define CLA_TRIG_EPWM1INT 36 76 | #define CLA_TRIG_EPWM2INT 37 77 | #define CLA_TRIG_EPWM3INT 38 78 | #define CLA_TRIG_EPWM4INT 39 79 | #define CLA_TRIG_EPWM5INT 40 80 | #define CLA_TRIG_EPWM6INT 41 81 | #define CLA_TRIG_EPWM7INT 42 82 | #define CLA_TRIG_EPWM8INT 43 83 | #define CLA_TRIG_EPWM9INT 44 84 | #define CLA_TRIG_EPWM10INT 45 85 | #define CLA_TRIG_EPWM11INT 46 86 | #define CLA_TRIG_EPWM12INT 47 87 | 88 | #define CLA_TRIG_TINT0 68 89 | #define CLA_TRIG_TINT1 69 90 | #define CLA_TRIG_TINT2 70 91 | 92 | #define CLA_TRIG_MXEVTA 71 93 | #define CLA_TRIG_MREVTA 72 94 | #define CLA_TRIG_MXEVTB 73 95 | #define CLA_TRIG_MREVTB 74 96 | 97 | #define CLA_TRIG_ECAP1INT 75 98 | #define CLA_TRIG_ECAP2INT 76 99 | #define CLA_TRIG_ECAP3INT 77 100 | #define CLA_TRIG_ECAP4INT 78 101 | #define CLA_TRIG_ECAP5INT 79 102 | #define CLA_TRIG_ECAP6INT 80 103 | 104 | #define CLA_TRIG_EQEP1INT 83 105 | #define CLA_TRIG_EQEP2INT 84 106 | #define CLA_TRIG_EQEP3INT 85 107 | 108 | #define CLA_TRIG_HRCAP1INT 87 109 | #define CLA_TRIG_HRCAP2INT 88 110 | 111 | #define CLA_TRIG_SD1INT 95 112 | #define CLA_TRIG_SD2INT 96 113 | 114 | #define CLA_TRIG_UPP1_INT 107 115 | 116 | #define CLA_TRIG_SPITXINTA 109 117 | #define CLA_TRIG_SPIRXINTA 110 118 | #define CLA_TRIG_SPITXINTB 111 119 | #define CLA_TRIG_SPIRXINTB 112 120 | #define CLA_TRIG_SPITXINTC 113 121 | #define CLA_TRIG_SPIRXINTC 114 122 | 123 | #define Cla1ForceTask1andWait()asm(" IACK #0x0001"); \ 124 | asm(" RPT #3 || NOP"); \ 125 | while(Cla1Regs.MIRUN.bit.INT1 == 1); 126 | 127 | #define Cla1ForceTask2andWait()asm(" IACK #0x0002"); \ 128 | asm(" RPT #3 || NOP"); \ 129 | while(Cla1Regs.MIRUN.bit.INT2 == 1); 130 | 131 | #define Cla1ForceTask3andWait()asm(" IACK #0x0004"); \ 132 | asm(" RPT #3 || NOP"); \ 133 | while(Cla1Regs.MIRUN.bit.INT3 == 1); 134 | 135 | #define Cla1ForceTask4andWait()asm(" IACK #0x0008"); \ 136 | asm(" RPT #3 || NOP"); \ 137 | while(Cla1Regs.MIRUN.bit.INT4 == 1); 138 | 139 | #define Cla1ForceTask5andWait()asm(" IACK #0x0010"); \ 140 | asm(" RPT #3 || NOP"); \ 141 | while(Cla1Regs.MIRUN.bit.INT5 == 1); 142 | 143 | #define Cla1ForceTask6andWait()asm(" IACK #0x0020"); \ 144 | asm(" RPT #3 || NOP"); \ 145 | while(Cla1Regs.MIRUN.bit.INT6 == 1); 146 | 147 | #define Cla1ForceTask7andWait()asm(" IACK #0x0040"); \ 148 | asm(" RPT #3 || NOP"); \ 149 | while(Cla1Regs.MIRUN.bit.INT7 == 1); 150 | 151 | #define Cla1ForceTask8andWait()asm(" IACK #0x0080"); \ 152 | asm(" RPT #3 || NOP"); \ 153 | while(Cla1Regs.MIRUN.bit.INT8 == 1); 154 | 155 | #define Cla1ForceTask1() asm(" IACK #0x0001") 156 | #define Cla1ForceTask2() asm(" IACK #0x0002") 157 | #define Cla1ForceTask3() asm(" IACK #0x0004") 158 | #define Cla1ForceTask4() asm(" IACK #0x0008") 159 | #define Cla1ForceTask5() asm(" IACK #0x0010") 160 | #define Cla1ForceTask6() asm(" IACK #0x0020") 161 | #define Cla1ForceTask7() asm(" IACK #0x0040") 162 | #define Cla1ForceTask8() asm(" IACK #0x0080") 163 | 164 | #ifdef __cplusplus 165 | } 166 | #endif 167 | 168 | #endif // - end of F2837xD_CLA_DEFINES_H 169 | 170 | // 171 | // End of file 172 | // 173 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_Cla_typedefs.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_Cla_typedefs.h 4 | // 5 | // TITLE: Variable type definitions 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef F2837xD_CLA_TYPEDEFS_H_ 15 | #define F2837xD_CLA_TYPEDEFS_H_ 16 | 17 | // 18 | // Macros to manipulate pre-processor to generate a header file name 19 | // at compile time that is based on the test name and can be used as 20 | // an argument to #include 21 | // 22 | #define XSTRINGIZE(s) STRINGIZE(s) 23 | #define STRINGIZE(s) #s 24 | #define XCONCAT(x,y) CONCAT(x,y) 25 | #define CONCAT(x,y) x##y 26 | 27 | // 28 | // Suppress warnings casting CLA pointers 29 | // 30 | #pragma diag_suppress 70,770,232 31 | 32 | #ifdef __TMS320C28XX_CLA__ 33 | // 34 | // For Portability, User Is Recommended To Use Following Data Type Size 35 | // Definitions For 16-bit and 32-Bit Signed/Unsigned Integers: 36 | // 37 | // CLA does not support 64-bit types 38 | // This definition is only to allow inclusion of the standard header files 39 | // which do use 64-bit types 40 | // 41 | 42 | #if (!defined(F28_DATA_TYPES) && !defined(DSP28_DATA_TYPES)) 43 | #define F28_DATA_TYPES 44 | #define DSP28_DATA_TYPES 45 | typedef short int16; 46 | typedef long int32; 47 | typedef unsigned char Uint8; 48 | typedef unsigned short Uint16; 49 | typedef unsigned long Uint32; 50 | typedef float float32; 51 | typedef long double float64; 52 | typedef struct { Uint32 low32; Uint32 high32; } Uint64; 53 | typedef struct { int32 low32; int32 high32; } int64; 54 | #else 55 | #error F2837xD_Cla_Typedefs.h must be included before F2837xD_Device.h or any other header \ 56 | file that redefines data types using the guard macros F28_DATA_TYPES or DSP28_DATA_TYPES 57 | #endif //(!defined(F28_DATA_TYPES) && !defined(DSP28_DATA_TYPES)) 58 | 59 | #ifndef _TI_STD_TYPES 60 | #define _TI_STD_TYPES 61 | // 62 | //These types are also defined in DSP/BIOS 5.x's and the 63 | //SYS/BIOS 6.x's files. We need to protect their 64 | //definition with the #ifndef/#define guard to avoid the duplicate 65 | //definition warning. 66 | // 67 | //SYS/BIOS requires that the file be included before 68 | //any other .h files. 69 | // 70 | #endif 71 | 72 | struct MSTF_SHADOW_BITS { // bits description 73 | Uint16 LVF:1; // 0 Latched Overflow Flag 74 | Uint16 LUF:1; // 1 Latched Underflow Flag 75 | Uint16 NF:1; // 2 Negative Float Flag 76 | Uint16 ZF:1; // 3 Zero Float Flag 77 | Uint16 rsvd1:2; // 5:4 Reserved 78 | Uint16 TF:1; // 6 Test Flag 79 | Uint16 rsvd2:2; // 8:7 Reserved 80 | Uint16 RNDF32:1; // 9 Rounding Mode 81 | Uint16 rsvd3:1; // 10 Reserved 82 | Uint16 MEALLOW:1; // 11 MEALLOW Status 83 | Uint16 RPCL:4; // 15:12 Return PC: Low Portion 84 | Uint16 RPCH:8; // 23:16 Return PC: High Portion 85 | Uint16 rsvd4:8; // 31:24 Reserved 86 | }; 87 | extern __cregister volatile unsigned int MSTF; 88 | 89 | #endif //__TMS320C28XX_CLA__ 90 | 91 | #ifndef __TMS320C28XX__ 92 | #define __cregister 93 | #endif //__TMS320C28xx__ 94 | 95 | #endif //F2837xD_CLA_TYPEDEFS_H_ 96 | 97 | // 98 | // End of file 99 | // 100 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_CodeStartBranch.asm: -------------------------------------------------------------------------------- 1 | ;//########################################################################### 2 | ;// 3 | ;// FILE: F2837xD_CodeStartBranch.asm 4 | ;// 5 | ;// TITLE: Branch for redirecting code execution after boot. 6 | ;// 7 | ;// For these examples, code_start is the first code that is executed after 8 | ;// exiting the boot ROM code. 9 | ;// 10 | ;// The codestart section in the linker cmd file is used to physically place 11 | ;// this code at the correct memory location. This section should be placed 12 | ;// at the location the BOOT ROM will re-direct the code to. For example, 13 | ;// for boot to FLASH this code will be located at 0x3f7ff6. 14 | ;// 15 | ;// In addition, the example F2837xD projects are setup such that the codegen 16 | ;// entry point is also set to the code_start label. This is done by linker 17 | ;// option -e in the project build options. When the debugger loads the code, 18 | ;// it will automatically set the PC to the "entry point" address indicated by 19 | ;// the -e linker option. In this case the debugger is simply assigning the PC, 20 | ;// it is not the same as a full reset of the device. 21 | ;// 22 | ;// The compiler may warn that the entry point for the project is other then 23 | ;// _c_init00. _c_init00 is the C environment setup and is run before 24 | ;// main() is entered. The code_start code will re-direct the execution 25 | ;// to _c_init00 and thus there is no worry and this warning can be ignored. 26 | ;// 27 | ;//########################################################################### 28 | ;// $TI Release: F2837xD Support Library v210 $ 29 | ;// $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 30 | ;// $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 31 | ;// http://www.ti.com/ ALL RIGHTS RESERVED $ 32 | ;//########################################################################### 33 | 34 | *********************************************************************** 35 | 36 | WD_DISABLE .set 0 ;set to 1 to disable WD, else set to 0 37 | 38 | .ref _c_int00 39 | .global code_start 40 | 41 | *********************************************************************** 42 | * Function: codestart section 43 | * 44 | * Description: Branch to code starting point 45 | *********************************************************************** 46 | 47 | .sect "codestart" 48 | 49 | code_start: 50 | .if WD_DISABLE == 1 51 | LB wd_disable ;Branch to watchdog disable code 52 | .else 53 | LB _c_int00 ;Branch to start of boot._asm in RTS library 54 | .endif 55 | 56 | ;end codestart section 57 | 58 | *********************************************************************** 59 | * Function: wd_disable 60 | * 61 | * Description: Disables the watchdog timer 62 | *********************************************************************** 63 | .if WD_DISABLE == 1 64 | 65 | .text 66 | wd_disable: 67 | SETC OBJMODE ;Set OBJMODE for 28x object code 68 | EALLOW ;Enable EALLOW protected register access 69 | MOVZ DP, #7029h>>6 ;Set data page for WDCR register 70 | MOV @7029h, #0068h ;Set WDDIS bit in WDCR to disable WD 71 | EDIS ;Disable EALLOW protected register access 72 | LB _c_int00 ;Branch to start of boot._asm in RTS library 73 | 74 | .endif 75 | 76 | ;end wd_disable 77 | 78 | .end 79 | 80 | ;// 81 | ;// End of file. 82 | ;// 83 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_CpuTimers.c: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_CpuTimers.c 4 | // 5 | // TITLE: CPU 32-bit Timers Initialization & Support Functions. 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | // 15 | // Included Files 16 | // 17 | #include "F2837xD_device.h" 18 | #include "F2837xD_Examples.h" 19 | 20 | // 21 | // Globals 22 | // 23 | struct CPUTIMER_VARS CpuTimer0; 24 | struct CPUTIMER_VARS CpuTimer1; 25 | struct CPUTIMER_VARS CpuTimer2; 26 | 27 | // 28 | // InitCpuTimers - This function initializes all three CPU timers to a known 29 | // state. 30 | // 31 | void InitCpuTimers(void) 32 | { 33 | // 34 | // CPU Timer 0 35 | // Initialize address pointers to respective timer registers: 36 | // 37 | CpuTimer0.RegsAddr = &CpuTimer0Regs; 38 | 39 | // 40 | // Initialize timer period to maximum: 41 | // 42 | CpuTimer0Regs.PRD.all = 0xFFFFFFFF; 43 | 44 | // 45 | // Initialize pre-scale counter to divide by 1 (SYSCLKOUT): 46 | // 47 | CpuTimer0Regs.TPR.all = 0; 48 | CpuTimer0Regs.TPRH.all = 0; 49 | 50 | // 51 | // Make sure timer is stopped: 52 | // 53 | CpuTimer0Regs.TCR.bit.TSS = 1; 54 | 55 | // 56 | // Reload all counter register with period value: 57 | // 58 | CpuTimer0Regs.TCR.bit.TRB = 1; 59 | 60 | // 61 | // Reset interrupt counters: 62 | // 63 | CpuTimer0.InterruptCount = 0; 64 | 65 | // 66 | // Initialize address pointers to respective timer registers: 67 | // 68 | CpuTimer1.RegsAddr = &CpuTimer1Regs; 69 | CpuTimer2.RegsAddr = &CpuTimer2Regs; 70 | 71 | // 72 | // Initialize timer period to maximum: 73 | // 74 | CpuTimer1Regs.PRD.all = 0xFFFFFFFF; 75 | CpuTimer2Regs.PRD.all = 0xFFFFFFFF; 76 | 77 | // 78 | // Initialize pre-scale counter to divide by 1 (SYSCLKOUT): 79 | // 80 | CpuTimer1Regs.TPR.all = 0; 81 | CpuTimer1Regs.TPRH.all = 0; 82 | CpuTimer2Regs.TPR.all = 0; 83 | CpuTimer2Regs.TPRH.all = 0; 84 | 85 | // 86 | // Make sure timers are stopped: 87 | // 88 | CpuTimer1Regs.TCR.bit.TSS = 1; 89 | CpuTimer2Regs.TCR.bit.TSS = 1; 90 | 91 | // 92 | // Reload all counter register with period value: 93 | // 94 | CpuTimer1Regs.TCR.bit.TRB = 1; 95 | CpuTimer2Regs.TCR.bit.TRB = 1; 96 | 97 | // 98 | // Reset interrupt counters: 99 | // 100 | CpuTimer1.InterruptCount = 0; 101 | CpuTimer2.InterruptCount = 0; 102 | } 103 | 104 | // 105 | // ConfigCpuTimer - This function initializes the selected timer to the period 106 | // specified by the "Freq" and "Period" parameters. The "Freq" 107 | // is entered as "MHz" and the period in "uSeconds". The timer 108 | // is held in the stopped state after configuration. 109 | // 110 | void ConfigCpuTimer(struct CPUTIMER_VARS *Timer, float Freq, float Period) 111 | { 112 | Uint32 temp; 113 | 114 | // 115 | // Initialize timer period: 116 | // 117 | Timer->CPUFreqInMHz = Freq; 118 | Timer->PeriodInUSec = Period; 119 | temp = (long) (Freq * Period); 120 | 121 | // 122 | // Counter decrements PRD+1 times each period 123 | // 124 | Timer->RegsAddr->PRD.all = temp - 1; 125 | 126 | // 127 | // Set pre-scale counter to divide by 1 (SYSCLKOUT): 128 | // 129 | Timer->RegsAddr->TPR.all = 0; 130 | Timer->RegsAddr->TPRH.all = 0; 131 | 132 | // 133 | // Initialize timer control register: 134 | // 135 | Timer->RegsAddr->TCR.bit.TSS = 1; // 1 = Stop timer, 0 = Start/Restart 136 | // Timer 137 | Timer->RegsAddr->TCR.bit.TRB = 1; // 1 = reload timer 138 | Timer->RegsAddr->TCR.bit.SOFT = 0; 139 | Timer->RegsAddr->TCR.bit.FREE = 0; // Timer Free Run Disabled 140 | Timer->RegsAddr->TCR.bit.TIE = 1; // 0 = Disable/ 1 = Enable Timer 141 | // Interrupt 142 | 143 | // 144 | // Reset interrupt counter: 145 | // 146 | Timer->InterruptCount = 0; 147 | } 148 | 149 | 150 | // 151 | // End of file 152 | // 153 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_DBGIER.asm: -------------------------------------------------------------------------------- 1 | ;//########################################################################### 2 | ;// 3 | ;// FILE: F2837xD_DBGIER.asm 4 | ;// 5 | ;// TITLE: Set the DBGIER register 6 | ;// 7 | ;// DESCRIPTION: 8 | ;// 9 | ;// Function to set the DBGIER register (for realtime emulation). 10 | ;// Function Prototype: void SetDBGIER(Uint16) 11 | ;// Usage: SetDBGIER(value); 12 | ;// Input Parameters: Uint16 value = value to put in DBGIER register. 13 | ;// Return Value: none 14 | ;// 15 | ;//########################################################################### 16 | ;// $TI Release: F2837xD Support Library v210 $ 17 | ;// $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 18 | ;// $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 19 | ;// http://www.ti.com/ ALL RIGHTS RESERVED $ 20 | ;//########################################################################### 21 | .global _SetDBGIER 22 | .text 23 | 24 | _SetDBGIER: 25 | MOV *SP++,AL 26 | POP DBGIER 27 | LRETR 28 | 29 | ;// 30 | ;// End of file 31 | ;// 32 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_Dma_defines.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_Dma_defines.h 4 | // 5 | // TITLE: #defines used in DMA examples 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef F2837xD_DMA_DEFINES_H 15 | #define F2837xD_DMA_DEFINES_H 16 | 17 | #ifdef __cplusplus 18 | extern "C" { 19 | #endif 20 | 21 | // 22 | // Defines 23 | // 24 | 25 | // 26 | // PERINTSEL bits 27 | // 28 | #define DMA_ADCAINT1 1 29 | #define DMA_ADCAINT2 2 30 | #define DMA_ADCAINT3 3 31 | #define DMA_ADCAINT4 4 32 | #define DMA_ADCAEVT 5 33 | #define DMA_ADCBINT1 6 34 | #define DMA_ADCBINT2 7 35 | #define DMA_ADCBINT3 8 36 | #define DMA_ADCBINT4 9 37 | #define DMA_ADCBEVT 10 38 | #define DMA_ADCCINT1 11 39 | #define DMA_ADCCINT2 12 40 | #define DMA_ADCCINT3 13 41 | #define DMA_ADCCINT4 14 42 | #define DMA_ADCCEVT 15 43 | #define DMA_ADCDINT1 16 44 | #define DMA_ADCDINT2 17 45 | #define DMA_ADCDINT3 18 46 | #define DMA_ADCDINT4 19 47 | #define DMA_ADCDEVT 20 48 | 49 | #define DMA_XINT1 29 50 | #define DMA_XINT2 30 51 | #define DMA_XINT3 31 52 | #define DMA_XINT4 32 53 | #define DMA_XINT5 33 54 | 55 | #define DMA_EPWM1A 36 56 | #define DMA_EPWM1B 37 57 | #define DMA_EPWM2A 38 58 | #define DMA_EPWM2B 39 59 | #define DMA_EPWM3A 40 60 | #define DMA_EPWM3B 41 61 | #define DMA_EPWM4A 42 62 | #define DMA_EPWM4B 43 63 | #define DMA_EPWM5A 44 64 | #define DMA_EPWM5B 45 65 | #define DMA_EPWM6A 46 66 | #define DMA_EPWM6B 47 67 | #define DMA_EPWM7A 48 68 | #define DMA_EPWM7B 49 69 | #define DMA_EPWM8A 50 70 | #define DMA_EPWM8B 51 71 | #define DMA_EPWM9A 52 72 | #define DMA_EPWM9B 53 73 | #define DMA_EPWM10A 54 74 | #define DMA_EPWM10B 55 75 | #define DMA_EPWM11A 56 76 | #define DMA_EPWM11B 57 77 | #define DMA_EPWM12A 58 78 | #define DMA_EPWM12B 59 79 | #define DMA_EPWM13A 60 80 | #define DMA_EPWM13B 61 81 | #define DMA_EPWM14A 62 82 | #define DMA_EPWM14B 63 83 | #define DMA_EPWM15A 64 84 | #define DMA_EPWM15B 65 85 | #define DMA_EPWM16A 66 86 | #define DMA_EPWM16B 67 87 | 88 | #define DMA_TINT0 68 89 | #define DMA_TINT1 69 90 | #define DMA_TINT2 70 91 | 92 | #define DMA_MXEVTA 71 93 | #define DMA_MREVTA 72 94 | #define DMA_MXEVTB 73 95 | #define DMA_MREVTB 74 96 | 97 | #define DMA_SD1FLT1 95 98 | #define DMA_SD1FLT2 96 99 | #define DMA_SD1FLT3 97 100 | #define DMA_SD1FLT4 98 101 | 102 | #define DMA_SD2FLT1 99 103 | #define DMA_SD2FLT2 100 104 | #define DMA_SD2FLT3 101 105 | #define DMA_SD2FLT4 102 106 | 107 | #define DMA_SPIATX 109 108 | #define DMA_SPIARX 110 109 | #define DMA_SPIBTX 111 110 | #define DMA_SPIBRX 112 111 | #define DMA_SPICTX 113 112 | #define DMA_SPICRX 114 113 | 114 | #define DMA_USBRX1 131 115 | #define DMA_USBTX1 132 116 | #define DMA_USBRX2 133 117 | #define DMA_USBTX2 134 118 | #define DMA_USBRX3 135 119 | #define DMA_USBTX3 136 120 | 121 | // 122 | // OVERINTE bit 123 | // 124 | #define OVRFLOW_DISABLE 0x0 125 | #define OVEFLOW_ENABLE 0x1 126 | 127 | // 128 | // PERINTE bit 129 | // 130 | #define PERINT_DISABLE 0x0 131 | #define PERINT_ENABLE 0x1 132 | 133 | // 134 | // CHINTMODE bits 135 | // 136 | #define CHINT_BEGIN 0x0 137 | #define CHINT_END 0x1 138 | 139 | // 140 | // ONESHOT bits 141 | // 142 | #define ONESHOT_DISABLE 0x0 143 | #define ONESHOT_ENABLE 0x1 144 | 145 | // 146 | // CONTINOUS bit 147 | // 148 | #define CONT_DISABLE 0x0 149 | #define CONT_ENABLE 0x1 150 | 151 | // 152 | // SYNCE bit 153 | // 154 | #define SYNC_DISABLE 0x0 155 | #define SYNC_ENABLE 0x1 156 | 157 | // 158 | // SYNCSEL bit 159 | // 160 | #define SYNC_SRC 0x0 161 | #define SYNC_DST 0x1 162 | 163 | // 164 | // DATASIZE bit 165 | // 166 | #define SIXTEEN_BIT 0x0 167 | #define THIRTYTWO_BIT 0x1 168 | 169 | // 170 | // CHINTE bit 171 | // 172 | #define CHINT_DISABLE 0x0 173 | #define CHINT_ENABLE 0x1 174 | 175 | #ifdef __cplusplus 176 | } 177 | #endif 178 | 179 | #endif // - end of F2837xD_DMA_DEFINES_H 180 | 181 | // 182 | // End of file 183 | // 184 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_ECap.c: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_ECap.c 4 | // 5 | // TITLE: F2837xD eCAP Initialization & Support Functions. 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | // 15 | // Included Files 16 | // 17 | #include "F2837xD_device.h" 18 | #include "F2837xD_Examples.h" 19 | 20 | // 21 | // InitECap - This function initializes the eCAP(s) to a known state. 22 | // 23 | void InitECap(void) 24 | { 25 | // Initialize eCAP1/2/3/4/5/6 26 | 27 | //tbd... 28 | } 29 | 30 | // 31 | // InitECapGpio - This function initializes GPIO pins to function as ECAP pins 32 | // Each GPIO pin can be configured as a GPIO pin or up to 3 33 | // different peripheral functional pins. By default all pins 34 | // come up as GPIO inputs after reset. 35 | // Caution: 36 | // For each eCAP peripheral 37 | // Only one GPIO pin should be enabled for ECAP operation. 38 | // Comment out other unwanted lines. 39 | // 40 | void InitECapGpio() 41 | { 42 | } 43 | 44 | // 45 | // InitECap1Gpio - Initialize ECAP1 GPIOs 46 | // 47 | void InitECap1Gpio(Uint16 pin) 48 | { 49 | EALLOW; 50 | InputXbarRegs.INPUT7SELECT = pin; // Set eCAP1 source to GPIO-pin 51 | EDIS; 52 | } 53 | 54 | // 55 | // InitECap2Gpio - Initialize ECAP2 GPIOs 56 | // 57 | void InitECap2Gpio(Uint16 pin) 58 | { 59 | EALLOW; 60 | InputXbarRegs.INPUT8SELECT = pin; // Set eCAP2 source to GPIO-pin 61 | EDIS; 62 | } 63 | 64 | // 65 | // InitECap3Gpio - Initialize ECAP3 GPIOs 66 | // 67 | void InitECap3Gpio(Uint16 pin) 68 | { 69 | EALLOW; 70 | InputXbarRegs.INPUT9SELECT = pin; // Set eCAP3 source to GPIO-pin 71 | EDIS; 72 | } 73 | 74 | // 75 | // InitECap4Gpio - Initialize ECAP4 GPIOs 76 | // 77 | void InitECap4Gpio(Uint16 pin) 78 | { 79 | EALLOW; 80 | InputXbarRegs.INPUT10SELECT = pin; // Set eCAP4 source to GPIO-pin 81 | EDIS; 82 | } 83 | 84 | // 85 | // InitECap5Gpio - Initialize ECAP5 GPIOs 86 | // 87 | void InitECap5Gpio(Uint16 pin) 88 | { 89 | EALLOW; 90 | InputXbarRegs.INPUT11SELECT = pin; // Set eCAP5 source to GPIO-pin 91 | EDIS; 92 | } 93 | 94 | // 95 | // InitECap6Gpio - Initialize ECAP6 GPIOs 96 | // 97 | void InitECap6Gpio(Uint16 pin) 98 | { 99 | EALLOW; 100 | InputXbarRegs.INPUT12SELECT = pin; // Set eCAP6 source to GPIO-pin 101 | EDIS; 102 | } 103 | 104 | // 105 | // InitAPwm1Gpio - Initialize EPWM1 GPIOs 106 | // 107 | void InitAPwm1Gpio() 108 | { 109 | EALLOW; 110 | OutputXbarRegs.OUTPUT3MUX0TO15CFG.bit.MUX0 = 3; // Select ECAP1.OUT on Mux0 111 | OutputXbarRegs.OUTPUT3MUXENABLE.bit.MUX0 = 1; // Enable MUX0 for ECAP1.OUT 112 | GpioCtrlRegs.GPAMUX1.bit.GPIO5 = 3; // Select OUTPUTXBAR3 on GPIO5 113 | EDIS; 114 | } 115 | 116 | // 117 | // End of file 118 | // 119 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_EQep_defines.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/horychen/ProjectPanGu-C/77be76304f172f655c3d92afb6d777d5fc1e4f0d/User_peripheral/F2837xD_EQep_defines.h -------------------------------------------------------------------------------- /User_peripheral/F2837xD_Gpio_defines.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_Gpio_defines.h 4 | // 5 | // TITLE: F2837xD GPIO support definitions 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef F2837xD_GPIO_DEFINES_H 15 | #define F2837xD_GPIO_DEFINES_H 16 | 17 | // 18 | // Defines 19 | // 20 | 21 | // 22 | //CPU pin masters for GPIO_SelectPinMux() 23 | // 24 | #define GPIO_MUX_CPU1 0x0 25 | #define GPIO_MUX_CPU1CLA 0x1 26 | #define GPIO_MUX_CPU2 0x2 27 | #define GPIO_MUX_CPU2CLA 0x3 28 | 29 | // 30 | //Flags for GPIO_SetupPinOptions(). The qualification flags (SYNC, QUAL3, 31 | //QUAL6, and ASYNC) take up two bits and must be in the order specified. 32 | // 33 | #define GPIO_INPUT 0 34 | #define GPIO_OUTPUT 1 35 | #define GPIO_PUSHPULL 0 36 | #define GPIO_PULLUP (1 << 0) 37 | #define GPIO_INVERT (1 << 1) 38 | #define GPIO_OPENDRAIN (1 << 2) 39 | #define GPIO_SYNC (0x0 << 4) 40 | #define GPIO_QUAL3 (0x1 << 4) 41 | #define GPIO_QUAL6 (0x2 << 4) 42 | #define GPIO_ASYNC (0x3 << 4) 43 | 44 | // 45 | //Flags for GPIO_SetupLock(). 46 | // 47 | #define GPIO_UNLOCK 0 48 | #define GPIO_LOCK 1 49 | 50 | // 51 | //Commands for the CPU2->CPU1 GPIO configuration interrupt handler 52 | // 53 | #define GPIO_CMD_INIT 1L 54 | #define GPIO_CMD_PINMUX 2L 55 | #define GPIO_CMD_PINOPTS 3L 56 | #define GPIO_CMD_WRITE32 4L 57 | #define GPIO_CMD_WRITE16 5L 58 | #define GPIO_CMD_READ32 6L 59 | #define GPIO_CMD_READ16 7L 60 | 61 | // 62 | //Helpful constants for array-based access to GPIO registers 63 | // 64 | #define GPY_CTRL_OFFSET (0x40/2) 65 | #define GPY_DATA_OFFSET (0x8/2) 66 | 67 | #define GPYQSEL (0x2/2) 68 | #define GPYMUX (0x6/2) 69 | #define GPYDIR (0xA/2) 70 | #define GPYPUD (0xC/2) 71 | #define GPYINV (0x10/2) 72 | #define GPYODR (0x12/2) 73 | #define GPYGMUX (0x20/2) 74 | #define GPYCSEL (0x28/2) 75 | #define GPYLOCK (0x3C/2) 76 | #define GPYCR (0x3E/2) 77 | 78 | #define GPYDAT (0x0/2) 79 | #define GPYSET (0x2/2) 80 | #define GPYCLEAR (0x4/2) 81 | #define GPYTOGGLE (0x6/2) 82 | 83 | #endif // end of F2837xD_GPIO_DEFINES_H definition 84 | 85 | // 86 | // End of file 87 | // 88 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_I2c_defines.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_I2c_defines.h 4 | // 5 | // TITLE: F2837xD I2C Common Definitions. 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef F2837xD_I2C_DEFINES_H 15 | #define F2837xD_I2C_DEFINES_H 16 | 17 | // 18 | // Defines 19 | // 20 | 21 | // 22 | // Error Messages 23 | // 24 | #define I2C_ERROR 0xFFFF 25 | #define I2C_ARB_LOST_ERROR 0x0001 26 | #define I2C_NACK_ERROR 0x0002 27 | #define I2C_BUS_BUSY_ERROR 0x1000 28 | #define I2C_STP_NOT_READY_ERROR 0x5555 29 | #define I2C_NO_FLAGS 0xAAAA 30 | #define I2C_SUCCESS 0x0000 31 | 32 | // 33 | // Clear Status Flags 34 | // 35 | #define I2C_CLR_AL_BIT 0x0001 36 | #define I2C_CLR_NACK_BIT 0x0002 37 | #define I2C_CLR_ARDY_BIT 0x0004 38 | #define I2C_CLR_RRDY_BIT 0x0008 39 | #define I2C_CLR_SCD_BIT 0x0020 40 | 41 | // 42 | // Interrupt Source Messages 43 | // 44 | #define I2C_NO_ISRC 0x0000 45 | #define I2C_ARB_ISRC 0x0001 46 | #define I2C_NACK_ISRC 0x0002 47 | #define I2C_ARDY_ISRC 0x0003 48 | #define I2C_RX_ISRC 0x0004 49 | #define I2C_TX_ISRC 0x0005 50 | #define I2C_SCD_ISRC 0x0006 51 | #define I2C_AAS_ISRC 0x0007 52 | 53 | // 54 | // I2CMSG structure defines 55 | // 56 | #define I2C_NO_STOP 0 57 | #define I2C_YES_STOP 1 58 | #define I2C_RECEIVE 0 59 | #define I2C_TRANSMIT 1 60 | #define I2C_MAX_BUFFER_SIZE 4 61 | 62 | // 63 | // I2C Slave State defines 64 | // 65 | #define I2C_NOTSLAVE 0 66 | #define I2C_ADDR_AS_SLAVE 1 67 | #define I2C_ST_MSG_READY 2 68 | 69 | // 70 | // I2C Slave Receiver messages defines 71 | // 72 | #define I2C_SND_MSG1 1 73 | #define I2C_SND_MSG2 2 74 | 75 | // 76 | // I2C State defines 77 | // 78 | #define I2C_IDLE 0 79 | #define I2C_SLAVE_RECEIVER 1 80 | #define I2C_SLAVE_TRANSMITTER 2 81 | #define I2C_MASTER_RECEIVER 3 82 | #define I2C_MASTER_TRANSMITTER 4 83 | 84 | // 85 | // I2C Message Commands for I2CMSG struct 86 | // 87 | #define I2C_MSGSTAT_INACTIVE 0x0000 88 | #define I2C_MSGSTAT_SEND_WITHSTOP 0x0010 89 | #define I2C_MSGSTAT_WRITE_BUSY 0x0011 90 | #define I2C_MSGSTAT_SEND_NOSTOP 0x0020 91 | #define I2C_MSGSTAT_SEND_NOSTOP_BUSY 0x0021 92 | #define I2C_MSGSTAT_RESTART 0x0022 93 | #define I2C_MSGSTAT_READ_BUSY 0x0023 94 | 95 | // 96 | // Generic defines 97 | // 98 | #define I2C_TRUE 1 99 | #define I2C_FALSE 0 100 | #define I2C_YES 1 101 | #define I2C_NO 0 102 | #define I2C_DUMMY_BYTE 0 103 | 104 | 105 | // 106 | // These are the Defines to select I2C pin muxing when calling the functions 107 | // I2cAGpioConfig() & I2cBGpioConfig() in F2837xD_I2C.c 108 | // 109 | #define I2C_A_GPIO0_GPIO1 1 //switch case 1 110 | #define I2C_A_GPIO32_GPIO33 2 //switch case 2 111 | #define I2C_A_GPIO42_GPIO43 3 //switch case 3 112 | #define I2C_A_GPIO91_GPIO92 4 //switch case 4 113 | #define I2C_A_GPIO63104_GPIO105 5 //switch case 5 114 | 115 | #define I2C_B_GPIO2_GPIO3 1 //switch case 1 116 | #define I2C_B_GPIO134_GPIO35 2 //switch case 2 117 | #define I2C_B_GPIO40_GPIO41 3 //switch case 3 118 | #define I2C_B_GPIO66_GPIO69 4 //switch case 4 119 | 120 | // 121 | // Globals 122 | // 123 | 124 | // 125 | // I2C Message Structure 126 | // 127 | struct I2CMSG { 128 | Uint16 MsgStatus; // Word stating what state msg is in: 129 | // I2C_MSGCMD_INACTIVE = do not send msg 130 | // I2C_MSGCMD_BUSY = msg start has been sent, 131 | // awaiting stop 132 | // I2C_MSGCMD_SEND_WITHSTOP = command to send 133 | // master trans msg complete with a stop bit 134 | // I2C_MSGCMD_SEND_NOSTOP = command to send 135 | // master trans msg without the stop bit 136 | // I2C_MSGCMD_RESTART = command to send a 137 | // restart as a master receiver with a 138 | // stop bit 139 | Uint16 SlaveAddress; // I2C address of slave msg is intended for 140 | Uint16 NumOfBytes; // Num of valid bytes in (or to be put 141 | // in MsgBuffer) 142 | Uint16 MemoryHighAddr; // EEPROM address of data associated with 143 | // msg (high byte) 144 | Uint16 MemoryLowAddr; // EEPROM address of data associated with 145 | // msg (low byte) 146 | Uint16 MsgBuffer[I2C_MAX_BUFFER_SIZE]; // Array holding msg data - max that 147 | // MAX_BUFFER_SIZE can be is 16 due 148 | // to the FIFO's 149 | }; 150 | 151 | #endif // end of F2837xD_I2C_DEFINES_H definition 152 | 153 | // 154 | // End of file 155 | // 156 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_Ipc_defines.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_Ipc_defines.h 4 | // 5 | // TITLE: F2837xD IPC support definitions 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef F2837xD_IPC_DEFINES_H 15 | #define F2837xD_IPC_DEFINES_H 16 | 17 | // 18 | // Defines 19 | // 20 | #define C1TOC2_MSG_RAM ((void *)0x3FC00) 21 | #define C2TOC1_MSG_RAM ((void *)0x3F800) 22 | 23 | #if defined(CPU1) 24 | #define SEND_MSG_RAM C1TOC2_MSG_RAM 25 | #define RECV_MSG_RAM C2TOC1_MSG_RAM 26 | #elif defined(CPU2) 27 | #define SEND_MSG_RAM C2TOC1_MSG_RAM 28 | #define RECV_MSG_RAM C1TOC2_MSG_RAM 29 | #endif 30 | #define MSG_RAM_SIZE 0x400 31 | 32 | // 33 | //Used with SendIpcData() and SendIpcCommand() to avoid setting a flag 34 | // 35 | #define NO_IPC_FLAG 32 36 | 37 | #endif // end of F2837xD_IPC_DEFINES_H definition 38 | 39 | // 40 | // End of file 41 | // 42 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_PieCtrl.c: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_PieCtrl.c 4 | // 5 | // TITLE: F2837xD Device PIE Control Register Initialization Functions. 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | // 15 | // Included Files 16 | // 17 | #include "F2837xD_device.h" // F2837xD Headerfile Include File 18 | #include "F2837xD_Examples.h" // F2837xD Examples Include File 19 | 20 | // 21 | // InitPieCtrl - This function initializes the PIE control registers to a 22 | // known state. 23 | // 24 | void InitPieCtrl(void) 25 | { 26 | // 27 | // Disable Interrupts at the CPU level: 28 | // 29 | DINT; 30 | 31 | // 32 | // Disable the PIE 33 | // 34 | PieCtrlRegs.PIECTRL.bit.ENPIE = 0; 35 | 36 | // 37 | // Clear all PIEIER registers: 38 | // 39 | PieCtrlRegs.PIEIER1.all = 0; 40 | PieCtrlRegs.PIEIER2.all = 0; 41 | PieCtrlRegs.PIEIER3.all = 0; 42 | PieCtrlRegs.PIEIER4.all = 0; 43 | PieCtrlRegs.PIEIER5.all = 0; 44 | PieCtrlRegs.PIEIER6.all = 0; 45 | PieCtrlRegs.PIEIER7.all = 0; 46 | PieCtrlRegs.PIEIER8.all = 0; 47 | PieCtrlRegs.PIEIER9.all = 0; 48 | PieCtrlRegs.PIEIER10.all = 0; 49 | PieCtrlRegs.PIEIER11.all = 0; 50 | PieCtrlRegs.PIEIER12.all = 0; 51 | 52 | // 53 | // Clear all PIEIFR registers: 54 | // 55 | PieCtrlRegs.PIEIFR1.all = 0; 56 | PieCtrlRegs.PIEIFR2.all = 0; 57 | PieCtrlRegs.PIEIFR3.all = 0; 58 | PieCtrlRegs.PIEIFR4.all = 0; 59 | PieCtrlRegs.PIEIFR5.all = 0; 60 | PieCtrlRegs.PIEIFR6.all = 0; 61 | PieCtrlRegs.PIEIFR7.all = 0; 62 | PieCtrlRegs.PIEIFR8.all = 0; 63 | PieCtrlRegs.PIEIFR9.all = 0; 64 | PieCtrlRegs.PIEIFR10.all = 0; 65 | PieCtrlRegs.PIEIFR11.all = 0; 66 | PieCtrlRegs.PIEIFR12.all = 0; 67 | } 68 | 69 | // 70 | // EnableInterrupts - This function enables the PIE module and CPU __interrupts 71 | // 72 | void EnableInterrupts() 73 | { 74 | // 75 | // Enable the PIE 76 | // 77 | PieCtrlRegs.PIECTRL.bit.ENPIE = 1; 78 | 79 | // 80 | // Enables PIE to drive a pulse into the CPU 81 | // 82 | PieCtrlRegs.PIEACK.all = 0xFFFF; 83 | 84 | // 85 | // Enable Interrupts at the CPU level 86 | // 87 | EINT; 88 | } 89 | 90 | // 91 | // End of file 92 | // 93 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_Pie_defines.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_Pie_defines.h 4 | // 5 | // TITLE: #defines used in PIE examples 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef F2837xD_PIE_DEFINES_H 15 | #define F2837xD_PIE_DEFINES_H 16 | 17 | #ifdef __cplusplus 18 | extern "C" { 19 | #endif 20 | 21 | // 22 | // Defines 23 | // 24 | #define PIEACK_GROUP1 0x0001 25 | #define PIEACK_GROUP2 0x0002 26 | #define PIEACK_GROUP3 0x0004 27 | #define PIEACK_GROUP4 0x0008 28 | #define PIEACK_GROUP5 0x0010 29 | #define PIEACK_GROUP6 0x0020 30 | #define PIEACK_GROUP7 0x0040 31 | #define PIEACK_GROUP8 0x0080 32 | #define PIEACK_GROUP9 0x0100 33 | #define PIEACK_GROUP10 0x0200 34 | #define PIEACK_GROUP11 0x0400 35 | #define PIEACK_GROUP12 0x0800 36 | 37 | #ifdef __cplusplus 38 | } 39 | #endif /* extern "C" */ 40 | 41 | #endif // - end of F2837xD_PIE_DEFINES_H 42 | 43 | // 44 | // End of file 45 | // 46 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_Sci.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/horychen/ProjectPanGu-C/77be76304f172f655c3d92afb6d777d5fc1e4f0d/User_peripheral/F2837xD_Sci.c -------------------------------------------------------------------------------- /User_peripheral/F2837xD_Spi.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/horychen/ProjectPanGu-C/77be76304f172f655c3d92afb6d777d5fc1e4f0d/User_peripheral/F2837xD_Spi.c -------------------------------------------------------------------------------- /User_peripheral/F2837xD_SysCtrl_defines.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_SysCtrl_defines.h 4 | // 5 | // TITLE: F2837xD LPM support definitions 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef F2837xD_SYSCTRL_DEFINES_H 15 | #define F2837xD_SYSCTRL_DEFINES_H 16 | 17 | // 18 | // Defines 19 | // 20 | #define LPM_IDLE 0x0 21 | #define LPM_STANDBY 0x1 22 | #define LPM_HALT 0x2 23 | #define LPM_HIB 0x3 24 | 25 | // 26 | //Key value used for write access to the flash pump semaphore register 27 | // 28 | #define IPC_PUMP_KEY 0x5a5a0000 29 | 30 | #endif // end of F2837xD_SYSCTRL_DEFINES_H definition 31 | 32 | // 33 | // End of file 34 | // 35 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_Systick_defines.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: systick.h 4 | // 5 | // TITLE: Stellaris style wrapper driver for C28x CPU Timer 0. 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef __SYSTICK_H__ 15 | #define __SYSTICK_H__ 16 | 17 | // 18 | // If building with a C++ compiler, make all of the definitions in this header 19 | // have a C binding. 20 | // 21 | #ifdef __cplusplus 22 | extern "C" 23 | { 24 | #endif 25 | 26 | // 27 | // Function Prototypes 28 | // 29 | extern void SysTickInit(void); 30 | extern void SysTickEnable(void); 31 | extern void SysTickDisable(void); 32 | extern void SysTickIntRegister(void (*pfnHandler)(void)); 33 | extern void SysTickIntUnregister(void); 34 | extern void SysTickIntEnable(void); 35 | extern void SysTickIntDisable(void); 36 | extern void SysTickPeriodSet(unsigned long ulPeriod); 37 | extern unsigned long SysTickPeriodGet(void); 38 | extern unsigned long SysTickValueGet(void); 39 | 40 | // 41 | // Mark the end of the C bindings section for C++ compilers. 42 | // 43 | #ifdef __cplusplus 44 | } 45 | #endif 46 | 47 | #endif // __SYSTICK_H__ 48 | 49 | // 50 | // End of file 51 | // 52 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_TempSensorConv.c: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_TempSensorConv.c 4 | // 5 | // TITLE: F2837xD Temperature Sensor Conversion Functions 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | // 15 | // Included Files 16 | // 17 | #include "F2837xD_device.h" 18 | #include "F2837xD_Examples.h" 19 | 20 | // 21 | // Defines 22 | // 23 | #define FP_SCALE 32768 //Scale factor for Q15 fixed point numbers (2^15) 24 | #define FP_ROUND FP_SCALE/2 //Added to Q15 numbers before converting to 25 | //integer to round the number. 26 | #define KELVIN 273 // Amount to add to Q15 fixed point numbers 27 | // to shift from Celsius to Kelvin 28 | // (Converting guarantees number is 29 | // positive, which makes rounding more 30 | // efficient) 31 | #define KELVIN_OFF FP_SCALE*KELVIN 32 | #define getTempSlope() (*(int (*)(void))0x7036E)() //Slope of temperature sensor 33 | //(deg. C / ADC code). 34 | //Stored in fixed point Q15 35 | //format. 36 | #define getTempOffset() (*(int (*)(void))0x70372)() //ADC code corresponding to 37 | //temperature sensor output 38 | //at 0 deg. C 39 | 40 | // 41 | // Globals 42 | // 43 | float32 tempSensor_tempSlope; 44 | float32 tempSensor_tempOffset; 45 | float32 tempSensor_scaleFactor; 46 | 47 | // 48 | // InitTempSensor - Initialize the temperature sensor by powering up the 49 | // sensor, loading the calibration values from OTP to RAM, 50 | // and recording the intended VREFHI voltage. 51 | // Note: This function doesn't support VREFLO != 0.0V, 52 | // but this could be implemented if desired. 53 | // 54 | void InitTempSensor(float32 vrefhi_voltage) 55 | { 56 | EALLOW; 57 | 58 | // 59 | //power up the the temperature sensor 60 | // 61 | AnalogSubsysRegs.TSNSCTL.bit.ENABLE = 1; 62 | 63 | // 64 | //delay to allow the sensor to power up 65 | // 66 | DELAY_US(1000); 67 | 68 | EDIS; 69 | 70 | // 71 | //need to remember VREFHI voltage so that sensor readings can be scaled 72 | //to match 2.5V values used for calibration data. 73 | // 74 | tempSensor_scaleFactor = vrefhi_voltage; 75 | 76 | // 77 | //check the device revision 78 | // 79 | if(DevCfgRegs.REVID >= 3) 80 | { 81 | // 82 | //for production devices (Rev. C), pull the slope and offset from OTP 83 | // 84 | tempSensor_tempSlope = (int32)getTempSlope(); 85 | tempSensor_tempOffset = getTempOffset(); 86 | } 87 | else 88 | { 89 | // 90 | //for pre-production devices, use these static values for slope 91 | //and offset 92 | // 93 | tempSensor_tempSlope = 5196; 94 | tempSensor_tempOffset = 1788; 95 | } 96 | } 97 | 98 | // 99 | // GetTemperatureC - This function uses the reference data stored in OTP to 100 | // convert the raw temperature sensor reading into degrees C 101 | // 102 | int16 GetTemperatureC(int16 sensorSample) 103 | { 104 | sensorSample = (int16)((tempSensor_scaleFactor/2.5)*(sensorSample)); 105 | 106 | return (((sensorSample - tempSensor_tempOffset)*tempSensor_tempSlope + 107 | FP_ROUND + KELVIN_OFF)/FP_SCALE - KELVIN); 108 | } 109 | 110 | // 111 | // GetTemperatureK - This function uses the reference data stored in OTP to 112 | // convert the raw temperature sensor reading into degrees K 113 | // 114 | int16 GetTemperatureK(int16 sensorSample) 115 | { 116 | sensorSample = (int16)((2.5/tempSensor_scaleFactor)*(sensorSample)); 117 | 118 | return (((sensorSample - tempSensor_tempOffset)*tempSensor_tempSlope + 119 | FP_ROUND + KELVIN_OFF)/FP_SCALE); 120 | } 121 | 122 | // 123 | // End of file 124 | // 125 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_Upp.c: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_Upp.c 4 | // 5 | // TITLE: F2837xD Upp Initialization & Support Functions. 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | // 15 | // Included Files 16 | // 17 | #include "F2837xD_device.h" 18 | #include "F2837xD_Examples.h" 19 | 20 | // 21 | // InitUpp1Gpio - Initialize UPP1 GPIOs 22 | // 23 | void InitUpp1Gpio(void) 24 | { 25 | EALLOW; 26 | 27 | // 28 | // Disable internal pull-up for the selected output pins 29 | // for reduced power consumption 30 | // Pull-ups can be enabled or disabled by the user. 31 | // Comment out other unwanted lines. 32 | // 33 | GpioCtrlRegs.GPAPUD.bit.GPIO10 = 1; // Disable pull-up on GPIO10 (uPP_WAIT) 34 | GpioCtrlRegs.GPAPUD.bit.GPIO11 = 1; // Disable pull-up on GPIO11 (uPP_START) 35 | GpioCtrlRegs.GPAPUD.bit.GPIO12 = 1; // Disable pull-up on GPIO12 (uPP_ENA) 36 | GpioCtrlRegs.GPAPUD.bit.GPIO13 = 1; // Disable pull-up on GPIO13 (uPP_D7) 37 | GpioCtrlRegs.GPAPUD.bit.GPIO14 = 1; // Disable pull-up on GPIO14 (uPP_D6) 38 | GpioCtrlRegs.GPAPUD.bit.GPIO15 = 1; // Disable pull-up on GPIO15 (uPP_D5) 39 | GpioCtrlRegs.GPAPUD.bit.GPIO16 = 1; // Disable pull-up on GPIO16 (uPP_D4) 40 | GpioCtrlRegs.GPAPUD.bit.GPIO17 = 1; // Disable pull-up on GPIO17 (uPP_D3) 41 | GpioCtrlRegs.GPAPUD.bit.GPIO18 = 1; // Disable pull-up on GPIO18 (uPP_D2) 42 | GpioCtrlRegs.GPAPUD.bit.GPIO19 = 1; // Disable pull-up on GPIO19 (uPP_D1) 43 | GpioCtrlRegs.GPAPUD.bit.GPIO20 = 1; // Disable pull-up on GPIO20 (uPP_D0) 44 | GpioCtrlRegs.GPAPUD.bit.GPIO21 = 1; // Disable pull-up on GPIO21 (uPP_CLK) 45 | 46 | // 47 | // Disable QUAL for selected pins (ASYNC Input) 48 | // 49 | GpioCtrlRegs.GPAQSEL1.bit.GPIO10 = 3; // Disable pull-up on GPIO10 (uPP_WAIT) 50 | GpioCtrlRegs.GPAQSEL1.bit.GPIO11 = 3; // Disable pull-up on GPIO11 (uPP_START) 51 | GpioCtrlRegs.GPAQSEL1.bit.GPIO12 = 3; // Disable pull-up on GPIO12 (uPP_ENA) 52 | GpioCtrlRegs.GPAQSEL1.bit.GPIO13 = 3; // Disable pull-up on GPIO13 (uPP_D7) 53 | GpioCtrlRegs.GPAQSEL1.bit.GPIO14 = 3; // Disable pull-up on GPIO14 (uPP_D6) 54 | GpioCtrlRegs.GPAQSEL1.bit.GPIO15 = 3; // Disable pull-up on GPIO15 (uPP_D5) 55 | GpioCtrlRegs.GPAQSEL2.bit.GPIO16 = 3; // Disable pull-up on GPIO16 (uPP_D4) 56 | GpioCtrlRegs.GPAQSEL2.bit.GPIO17 = 3; // Disable pull-up on GPIO17 (uPP_D3) 57 | GpioCtrlRegs.GPAQSEL2.bit.GPIO18 = 3; // Disable pull-up on GPIO18 (uPP_D2) 58 | GpioCtrlRegs.GPAQSEL2.bit.GPIO19 = 3; // Disable pull-up on GPIO19 (uPP_D1) 59 | GpioCtrlRegs.GPAQSEL2.bit.GPIO20 = 3; // Disable pull-up on GPIO20 (uPP_D0) 60 | GpioCtrlRegs.GPAQSEL2.bit.GPIO21 = 3; // Disable pull-up on GPIO21 (uPP_CLK) 61 | 62 | // 63 | // Configure uPP-1 pins using GPIO regs 64 | // This specifies which of the possible GPIO pins will be EPWM1 functional 65 | // pins. 66 | // Comment out other unwanted lines. 67 | // 68 | GpioCtrlRegs.GPAGMUX1.bit.GPIO10 = 3; // Configure GPIO10 as uPP_WAIT 69 | GpioCtrlRegs.GPAGMUX1.bit.GPIO11 = 3; // Configure GPIO11 as uPP_START 70 | GpioCtrlRegs.GPAGMUX1.bit.GPIO12 = 3; // Configure GPIO12 as uPP_ENA 71 | GpioCtrlRegs.GPAGMUX1.bit.GPIO13 = 3; // Configure GPIO13 as uPP_D7 72 | GpioCtrlRegs.GPAGMUX1.bit.GPIO14 = 3; // Configure GPIO14 as uPP_D6 73 | GpioCtrlRegs.GPAGMUX1.bit.GPIO15 = 3; // Configure GPIO15 as uPP_D5 74 | GpioCtrlRegs.GPAGMUX2.bit.GPIO16 = 3; // Configure GPIO16 as uPP_D4 75 | GpioCtrlRegs.GPAGMUX2.bit.GPIO17 = 3; // Configure GPIO17 as uPP_D3 76 | GpioCtrlRegs.GPAGMUX2.bit.GPIO18 = 3; // Configure GPIO18 as uPP_D2 77 | GpioCtrlRegs.GPAGMUX2.bit.GPIO19 = 3; // Configure GPIO19 as uPP_D1 78 | GpioCtrlRegs.GPAGMUX2.bit.GPIO20 = 3; // Configure GPIO20 as uPP_D0 79 | GpioCtrlRegs.GPAGMUX2.bit.GPIO21 = 3; // Configure GPIO21 as uPP_CLK 80 | 81 | GpioCtrlRegs.GPAMUX1.bit.GPIO10 = 3; // Configure GPIO10 as uPP_WAIT 82 | GpioCtrlRegs.GPAMUX1.bit.GPIO11 = 3; // Configure GPIO11 as uPP_START 83 | GpioCtrlRegs.GPAMUX1.bit.GPIO12 = 3; // Configure GPIO12 as uPP_ENA 84 | GpioCtrlRegs.GPAMUX1.bit.GPIO13 = 3; // Configure GPIO13 as uPP_D7 85 | GpioCtrlRegs.GPAMUX1.bit.GPIO14 = 3; // Configure GPIO14 as uPP_D6 86 | GpioCtrlRegs.GPAMUX1.bit.GPIO15 = 3; // Configure GPIO15 as uPP_D5 87 | GpioCtrlRegs.GPAMUX2.bit.GPIO16 = 3; // Configure GPIO16 as uPP_D4 88 | GpioCtrlRegs.GPAMUX2.bit.GPIO17 = 3; // Configure GPIO17 as uPP_D3 89 | GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 3; // Configure GPIO18 as uPP_D2 90 | GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 3; // Configure GPIO19 as uPP_D1 91 | GpioCtrlRegs.GPAMUX2.bit.GPIO20 = 3; // Configure GPIO20 as uPP_D0 92 | GpioCtrlRegs.GPAMUX2.bit.GPIO21 = 3; // Configure GPIO21 as uPP_CLK 93 | 94 | EDIS; 95 | } 96 | 97 | // 98 | // SoftResetUpp - Trigger an internal uPP reset 99 | // 100 | void SoftResetUpp(void) 101 | { 102 | UppRegs.PERCTL.bit.SOFTRST = 1; // Issue uPP Internal Reset. 103 | asm(" NOP"); 104 | asm(" NOP"); 105 | asm(" NOP"); 106 | asm(" NOP"); 107 | asm(" NOP"); 108 | asm(" NOP"); 109 | asm(" NOP"); 110 | asm(" NOP"); 111 | asm(" NOP"); 112 | asm(" NOP"); 113 | asm(" NOP"); 114 | asm(" NOP"); 115 | asm(" NOP"); 116 | asm(" NOP"); 117 | asm(" NOP"); 118 | asm(" NOP"); 119 | UppRegs.PERCTL.bit.SOFTRST = 0; // Release uPP Internal Reset. 120 | } 121 | 122 | // 123 | // End of file 124 | // 125 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_Upp_defines.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_Upp_defines.h 4 | // 5 | // TITLE: #defines used in Upp examples 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef F2837xD_UPP_DEFINES_H 15 | #define F2837xD_UPP_DEFINES_H 16 | 17 | #ifdef __cplusplus 18 | extern "C" { 19 | #endif 20 | 21 | // 22 | // Defines 23 | // 24 | #define uPP_TX_MSGRAM_ADDR 0x6C00 25 | #define uPP_TX_MSGRAM_SIZE 512 26 | 27 | #define uPP_RX_MSGRAM_ADDR 0x6E00 28 | #define uPP_RX_MSGRAM_SIZE 512 29 | 30 | #define uPP_RX_MODE 0 31 | #define uPP_TX_MODE 1 32 | 33 | #define uPP_SDR 0 34 | #define uPP_DDR 1 35 | 36 | #define uPP_TX_SIZE_64B 0 37 | #define uPP_TX_SIZE_128B 1 38 | #define uPP_TX_SIZE_256B 3 39 | 40 | #define uPP_RX_SIZE_64B 0 41 | #define uPP_RX_SIZE_128B 1 42 | #define uPP_RX_SIZE_256B 3 43 | 44 | #define uPP_INT_EOWI 0x8 45 | #define uPP_INT_EOLI 0x10 46 | #define uPP_INT_EOWQ 0x800 47 | #define uPP_INT_EOLQ 0x1000 48 | 49 | #ifdef __cplusplus 50 | } 51 | #endif /* extern "C" */ 52 | 53 | #endif // - end of F2837xD_UPP_DEFINES_H 54 | 55 | // 56 | // End of file 57 | // 58 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_cputimervars.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_Cputimers.h 4 | // 5 | // TITLE: F2837xD Device CPUTIMERS Register Definitions. 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef F2837xD_CPUTIMERVARS_H 15 | #define F2837xD_CPUTIMERVARS_H 16 | 17 | #ifdef __cplusplus 18 | extern "C" { 19 | #endif 20 | 21 | // 22 | // Globals 23 | // 24 | struct CPUTIMER_VARS { 25 | volatile struct CPUTIMER_REGS *RegsAddr; 26 | Uint32 InterruptCount; 27 | float CPUFreqInMHz; 28 | float PeriodInUSec; 29 | }; 30 | 31 | extern struct CPUTIMER_VARS CpuTimer0; 32 | extern struct CPUTIMER_VARS CpuTimer1; 33 | extern struct CPUTIMER_VARS CpuTimer2; 34 | 35 | // 36 | // Defines 37 | // 38 | 39 | // 40 | // Start Timer: 41 | // 42 | #define StartCpuTimer0() CpuTimer0Regs.TCR.bit.TSS = 0 43 | 44 | // 45 | // Stop Timer: 46 | // 47 | #define StopCpuTimer0() CpuTimer0Regs.TCR.bit.TSS = 1 48 | 49 | // 50 | // Reload Timer With period Value: 51 | // 52 | #define ReloadCpuTimer0() CpuTimer0Regs.TCR.bit.TRB = 1 53 | 54 | // 55 | // Read 32-Bit Timer Value: 56 | // 57 | #define ReadCpuTimer0Counter() CpuTimer0Regs.TIM.all 58 | 59 | // 60 | // Read 32-Bit Period Value: 61 | // 62 | #define ReadCpuTimer0Period() CpuTimer0Regs.PRD.all 63 | 64 | // 65 | // Start Timer: 66 | // 67 | #define StartCpuTimer1() CpuTimer1Regs.TCR.bit.TSS = 0 68 | #define StartCpuTimer2() CpuTimer2Regs.TCR.bit.TSS = 0 69 | 70 | // 71 | // Stop Timer: 72 | // 73 | #define StopCpuTimer1() CpuTimer1Regs.TCR.bit.TSS = 1 74 | #define StopCpuTimer2() CpuTimer2Regs.TCR.bit.TSS = 1 75 | 76 | // 77 | // Reload Timer With period Value: 78 | // 79 | #define ReloadCpuTimer1() CpuTimer1Regs.TCR.bit.TRB = 1 80 | #define ReloadCpuTimer2() CpuTimer2Regs.TCR.bit.TRB = 1 81 | 82 | // 83 | // Read 32-Bit Timer Value: 84 | // 85 | #define ReadCpuTimer1Counter() CpuTimer1Regs.TIM.all 86 | #define ReadCpuTimer2Counter() CpuTimer2Regs.TIM.all 87 | 88 | // 89 | // Read 32-Bit Period Value: 90 | // 91 | #define ReadCpuTimer1Period() CpuTimer1Regs.PRD.all 92 | #define ReadCpuTimer2Period() CpuTimer2Regs.PRD.all 93 | 94 | // 95 | // Function Prototypes 96 | // 97 | void InitCpuTimers(void); 98 | void ConfigCpuTimer(struct CPUTIMER_VARS *Timer, float Freq, float Period); 99 | 100 | #ifdef __cplusplus 101 | } 102 | #endif /* extern "C" */ 103 | 104 | 105 | #endif // end of F2837xD_CPUTIMERVARS_H definition 106 | 107 | // 108 | // End of file 109 | // 110 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_sci_io.c: -------------------------------------------------------------------------------- 1 | //############################################################################# 2 | // 3 | // File: F2837xD_sci_io.c 4 | // 5 | // Description: Contains the various functions related to the serial 6 | // communications interface (SCI) object 7 | // 8 | //############################################################################# 9 | // $TI Release: F2837xD Support Library v210 $ 10 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 11 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 12 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 13 | //############################################################################# 14 | 15 | // 16 | // Included Files 17 | // 18 | #include 19 | #include 20 | #include 21 | #include "F2837xD_sci_io.h" 22 | 23 | // 24 | // Globals 25 | // 26 | uint16_t deviceOpen = 0; 27 | 28 | // 29 | // SCI_open - Initialize and setup SCI 30 | // 31 | int SCI_open(const char * path, unsigned flags, int llv_fd) 32 | { 33 | if(deviceOpen) 34 | { 35 | return (-1); 36 | } 37 | else 38 | { 39 | EALLOW; 40 | CpuSysRegs.PCLKCR7.bit.SCI_A = 1; 41 | SciaRegs.SCIFFTX.all=0xE040; 42 | SciaRegs.SCIFFRX.all=0x2044; 43 | SciaRegs.SCIFFCT.all=0x0; 44 | SciaRegs.SCICCR.all =0x0007; // 1 stop bit, No loopback 45 | // No parity,8 char bits, 46 | // async mode, idle-line protocol 47 | SciaRegs.SCICTL1.all =0x0003; // enable TX, RX, internal SCICLK, 48 | // Disable RX ERR, SLEEP, TXWAKE 49 | SciaRegs.SCICTL2.all =0x0003; 50 | SciaRegs.SCICTL2.bit.TXINTENA =1; 51 | SciaRegs.SCICTL2.bit.RXBKINTENA =1; 52 | 53 | SciaRegs.SCIHBAUD.bit.BAUD =0x0000; // 9600 baud @LSPCLK = 10MHz 54 | //(40 MHz SYSCLK). 55 | SciaRegs.SCILBAUD.bit.BAUD =0x0081; 56 | 57 | SciaRegs.SCICTL1.all =0x0023; // Relinquish SCI from Reset 58 | EDIS; 59 | 60 | deviceOpen = 1; 61 | return (1); 62 | } 63 | } 64 | 65 | // 66 | // SCI_close - Set SCI to closed 67 | // 68 | int SCI_close(int dev_fd) 69 | { 70 | if((dev_fd != 1) || (!deviceOpen)) 71 | { 72 | return (-1); 73 | } 74 | else 75 | { 76 | deviceOpen = 0; 77 | return (0); 78 | } 79 | } 80 | 81 | // 82 | // SCI_read - Read from the SCI RX buffer 83 | // 84 | int SCI_read(int dev_fd, char * buf, unsigned count) 85 | { 86 | uint16_t readCount = 0; 87 | uint16_t * bufPtr = (uint16_t *) buf; 88 | 89 | if(count == 0) 90 | { 91 | return (0); 92 | } 93 | 94 | while((readCount < count) && SciaRegs.SCIRXST.bit.RXRDY) 95 | { 96 | *bufPtr = SciaRegs.SCIRXBUF.bit.SAR; 97 | readCount++; 98 | bufPtr++; 99 | } 100 | 101 | return (readCount); 102 | } 103 | 104 | // 105 | // SCI_write - Write to the SCI TX buffer 106 | // 107 | int SCI_write(int dev_fd, char * buf, unsigned count) 108 | { 109 | uint16_t writeCount = 0; 110 | uint16_t * bufPtr = (uint16_t *) buf; 111 | 112 | if(count == 0) 113 | { 114 | return (0); 115 | } 116 | 117 | while(writeCount < count) 118 | { 119 | while(SciaRegs.SCICTL2.bit.TXRDY != 1) 120 | { 121 | } 122 | SciaRegs.SCITXBUF.bit.TXDT = *bufPtr; 123 | writeCount++; 124 | bufPtr++; 125 | } 126 | 127 | return (writeCount); 128 | } 129 | 130 | // 131 | // SCI_lseek - Do nothing 132 | // 133 | off_t SCI_lseek(int dev_fd, off_t offset, int origin) 134 | { 135 | return (0); 136 | } 137 | 138 | // 139 | // SCI_unlink - Do nothing 140 | // 141 | int SCI_unlink(const char * path) 142 | { 143 | return (0); 144 | } 145 | 146 | // 147 | // SCI_rename - Do nothing 148 | // 149 | int SCI_rename(const char * old_name, const char * new_name) 150 | { 151 | return (0); 152 | } 153 | 154 | // 155 | // End of file 156 | // 157 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_sci_io.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_sci_io.h 4 | // 5 | // TITLE: Prototypes for SCI redirection to STDIO 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef F2837xD_SCI_IO_H 15 | #define F2837xD_SCI_IO_H 16 | 17 | #ifdef __cplusplus 18 | extern "C" { 19 | #endif 20 | 21 | // 22 | // Function Prototypes 23 | // 24 | extern int SCI_open(const char * path, unsigned flags, int llv_fd); 25 | extern int SCI_close(int dev_fd); 26 | extern int SCI_read(int dev_fd, char * buf, unsigned count); 27 | extern int SCI_write(int dev_fd, char * buf, unsigned count); 28 | extern off_t SCI_lseek(int dev_fd, off_t offset, int origin); 29 | extern int SCI_unlink(const char * path); 30 | extern int SCI_rename(const char * old_name, const char * new_name); 31 | 32 | #ifdef __cplusplus 33 | } 34 | #endif /* extern "C" */ 35 | 36 | 37 | #endif 38 | 39 | // 40 | // End of file 41 | // 42 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_struct.c: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_struct.c 4 | // 5 | // TITLE: F2837xD SDFM structure 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | // 15 | // Included Files 16 | // 17 | #include "F2837xD_device.h" 18 | #include "F2837xD_struct.h" 19 | 20 | // 21 | // Globals 22 | // 23 | #if defined(CPU1) 24 | volatile struct ADC_REGS *ADC[MAX_ADC] = 25 | { 0, &AdcaRegs, &AdcbRegs, 26 | &AdccRegs, &AdcdRegs }; 27 | #endif 28 | 29 | volatile struct ECAP_REGS *ECAP[MAX_ECAP] = 30 | { 0, &ECap1Regs, &ECap2Regs, &ECap3Regs, 31 | &ECap4Regs, &ECap5Regs, &ECap6Regs }; 32 | 33 | volatile struct EPWM_REGS *EPWM[MAX_EPWM] = 34 | { 0, &EPwm1Regs, &EPwm2Regs, &EPwm3Regs, 35 | &EPwm4Regs, &EPwm5Regs, &EPwm6Regs, 36 | &EPwm7Regs, &EPwm8Regs, &EPwm9Regs, 37 | &EPwm10Regs, &EPwm11Regs, &EPwm12Regs }; 38 | 39 | // volatile struct EQEP_REGS *EQEP[MAX_EQEP] = 40 | // { 0, &EQep1Regs, &EQep2Regs, &EQep3Regs }; 41 | 42 | volatile struct I2C_REGS *I2C[MAX_I2C] = 43 | { 0, &I2caRegs }; 44 | 45 | volatile struct McBSP_REGS *MCBSP[MAX_MCBSP] = 46 | { 0, &McbspaRegs }; 47 | 48 | volatile struct SCI_REGS *SCI[MAX_SCI] = 49 | { 0, &SciaRegs }; 50 | 51 | volatile struct SPI_REGS *SPI[MAX_SPI] = 52 | { 0, &SpiaRegs, &SpibRegs, &SpicRegs }; 53 | 54 | volatile struct SDFM_REGS *SDFM[MAX_SDFM] = 55 | { 0, &Sdfm1Regs, &Sdfm2Regs}; 56 | 57 | #if defined(CPU1) 58 | volatile Uint16 *TRIP_SEL[MAX_TRIPSEL] = 59 | { 0, &InputXbarRegs.INPUT1SELECT, &InputXbarRegs.INPUT2SELECT, 60 | &InputXbarRegs.INPUT3SELECT, &InputXbarRegs.INPUT4SELECT, 61 | &InputXbarRegs.INPUT5SELECT, &InputXbarRegs.INPUT6SELECT, 62 | &InputXbarRegs.INPUT7SELECT, &InputXbarRegs.INPUT8SELECT, 63 | &InputXbarRegs.INPUT9SELECT, &InputXbarRegs.INPUT10SELECT, 64 | &InputXbarRegs.INPUT11SELECT, &InputXbarRegs.INPUT12SELECT, 65 | &InputXbarRegs.INPUT13SELECT, &InputXbarRegs.INPUT14SELECT 66 | }; 67 | #endif 68 | 69 | // 70 | // End of file 71 | // 72 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_struct.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_sdfm_strut.h 4 | // 5 | // TITLE: contains structures used for the SDFM driver. 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef F2837xD_SDFM_STRUCT_H 15 | #define F2837xD_SDFM_STRUCT_H 16 | 17 | #ifdef __cplusplus 18 | extern "C" { 19 | #endif 20 | 21 | #define MAX_CPUTIMER 4 22 | #define MAX_ECAP 7 23 | #define MAX_EPWM 13 24 | #define MAX_EQEP 4 25 | #define MAX_I2C 2 26 | #define MAX_MCBSP 2 27 | #define MAX_SCI 2 28 | #define MAX_SPI 4 29 | #define MAX_ADC 5 30 | #define MAX_SDFM 3 31 | #define MAX_TRIPSEL 15 32 | 33 | extern volatile Uint16 *TRIP_SEL[MAX_TRIPSEL]; 34 | extern volatile struct ADC_REGS *ADC[MAX_ADC]; 35 | extern volatile struct CPUTIMER_REGS *CPUTIMER[MAX_CPUTIMER]; 36 | extern volatile struct ECAP_REGS *ECAP[MAX_ECAP]; 37 | extern volatile struct EPWM_REGS *EPWM[MAX_EPWM]; 38 | extern volatile struct EQEP_REGS *EQEP[MAX_EQEP]; 39 | extern volatile struct I2C_REGS *I2C[MAX_I2C]; 40 | extern volatile struct McBSP_REGS *MCBSP[MAX_MCBSP]; 41 | extern volatile struct SCI_REGS *SCI[MAX_SCI]; 42 | extern volatile struct SPI_REGS *SPI[MAX_SPI]; 43 | extern volatile struct SDFM_REGS *SDFM[MAX_SDFM]; 44 | 45 | #ifdef __cplusplus 46 | } 47 | #endif /* extern "C" */ 48 | 49 | #endif // - end of F2837xD_SDFM_STRUCT_H 50 | 51 | // 52 | // End of file 53 | // 54 | -------------------------------------------------------------------------------- /User_peripheral/F2837xD_usDelay.asm: -------------------------------------------------------------------------------- 1 | ;//########################################################################### 2 | ;// 3 | ;// FILE: F2837xD_usDelay.asm 4 | ;// 5 | ;// TITLE: Simple delay function 6 | ;// 7 | ;// DESCRIPTION: 8 | ;// This is a simple delay function that can be used to insert a specified 9 | ;// delay into code. 10 | ;// This function is only accurate if executed from internal zero-waitstate 11 | ;// SARAM. If it is executed from waitstate memory then the delay will be 12 | ;// longer then specified. 13 | ;// To use this function: 14 | ;// 1 - update the CPU clock speed in the F2837xD_Examples.h 15 | ;// file. For example: 16 | ;// #define CPU_RATE 6.667L // for a 150MHz CPU clock speed 17 | ;// 2 - Call this function by using the DELAY_US(A) macro 18 | ;// that is defined in the F2837xD_Device.h file. This macro 19 | ;// will convert the number of microseconds specified 20 | ;// into a loop count for use with this function. 21 | ;// This count will be based on the CPU frequency you specify. 22 | ;// 3 - For the most accurate delay 23 | ;// - Execute this function in 0 waitstate RAM. 24 | ;// - Disable interrupts before calling the function 25 | ;// If you do not disable interrupts, then think of 26 | ;// this as an "at least" delay function as the actual 27 | ;// delay may be longer. 28 | ;// The C assembly call from the DELAY_US(time) macro will 29 | ;// look as follows: 30 | ;// extern void Delay(long LoopCount); 31 | ;// MOV AL,#LowLoopCount 32 | ;// MOV AH,#HighLoopCount 33 | ;// LCR _Delay 34 | ;// Or as follows (if count is less then 16-bits): 35 | ;// MOV ACC,#LoopCount 36 | ;// LCR _Delay 37 | ;// 38 | ;//########################################################################### 39 | ;// $TI Release: F2837xD Support Library v210 $ 40 | ;// $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 41 | ;// $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 42 | ;// http://www.ti.com/ ALL RIGHTS RESERVED $ 43 | ;//########################################################################### 44 | 45 | .def _F28x_usDelay 46 | .sect "ramfuncs" 47 | 48 | .global __F28x_usDelay 49 | _F28x_usDelay: 50 | SUB ACC,#1 51 | BF _F28x_usDelay,GEQ ;; Loop if ACC >= 0 52 | LRETR 53 | 54 | ;There is a 9/10 cycle overhead and each loop 55 | ;takes five cycles. The LoopCount is given by 56 | ;the following formula: 57 | ; DELAY_CPU_CYCLES = 9 + 5*LoopCount 58 | ; LoopCount = (DELAY_CPU_CYCLES - 9) / 5 59 | ; The macro DELAY_US(A) performs this calculation for you 60 | ; 61 | ; 62 | 63 | ;// 64 | ;// End of file 65 | ;// 66 | -------------------------------------------------------------------------------- /User_peripheral/FlashAPI/Constants/Constants.h: -------------------------------------------------------------------------------- 1 | /*--------------------------------------------------------*/ 2 | /* F021\Constants\Constants.h */ 3 | /* */ 4 | /* Copyright (c) 2009-2011 Texas Instruments Incorporated */ 5 | /* */ 6 | /* F021 Flash API v1.53 */ 7 | /*--------------------------------------------------------*/ 8 | 9 | /*! 10 | \file F021\Constants\Constants.h 11 | \brief A set of Constant Values. 12 | */ 13 | #ifndef F021_CONSTANTS_H_ 14 | #define F021_CONSTANTS_H_ 15 | 16 | #if defined(_CONCERTO) 17 | #include "Concerto.h" 18 | #elif defined(_F2837xD) 19 | #include "F2837xD.h" 20 | #else 21 | #include "FMC.h" 22 | #endif 23 | 24 | 25 | 26 | /*! 27 | \brief Define to map the direct access to the TI OTP memory. 28 | */ 29 | #define F021_TIOTP_BASE_ADDRESS ((Fapi_TiOtpBytesType *)(F021_PROGRAM_TIOTP_OFFSET + F021_TIOTP_SETTINGS_BASE)) 30 | 31 | /*! 32 | \brief Define to map the direct access to the FMC registers. 33 | */ 34 | #define F021_CPU0_BASE_ADDRESS ((Fapi_FmcRegistersType *)F021_CPU0_REGISTER_ADDRESS) 35 | 36 | #endif /* F021_CONSTANTS_H_ */ 37 | -------------------------------------------------------------------------------- /User_peripheral/FlashAPI/Constants/F2837xD.h: -------------------------------------------------------------------------------- 1 | /*--------------------------------------------------------*/ 2 | /* F021\Constants\F2837xD.h */ 3 | /* */ 4 | /* Copyright (c) 2010-2013 Texas Instruments Incorporated */ 5 | /* */ 6 | /*--------------------------------------------------------*/ 7 | 8 | /*! 9 | \file F021\Constants\F2837xD.h 10 | \brief A set of Constant Values for the F2837xD Family. 11 | */ 12 | #ifndef F021_CONSTANTS_F2837xD_H_ 13 | #define F021_CONSTANTS_F2837xD_H_ 14 | 15 | /*! 16 | \brief Specifies the bit mask for determining all address bits exclusive of 17 | the offest imposed by the memory map register 18 | */ 19 | #define F021_PROGRAM_ADDRESS_MASK 0x07FFFFFF 20 | 21 | /*! 22 | \brief Specifies the Offset to the TI OTP 23 | */ 24 | 25 | #define F021_PROGRAM_TIOTP_OFFSET 0x00070000 //TI OTP start on C28x 26 | 27 | 28 | 29 | /* Final values to be determined */ 30 | 31 | /*! 32 | \brief Maximum FClck Value 33 | */ 34 | #define F021_FCLK_MAX 0x18 35 | 36 | 37 | /*! 38 | \brief PGM_OSU Max Value 39 | */ 40 | #define F021_PGM_OSU_MAX 0xFF 41 | 42 | /*! 43 | \brief PGM_OSU Min Value 44 | */ 45 | #define F021_PGM_OSU_MIN 0x02 46 | 47 | /*! 48 | \brief ERA_OSU Max Value 49 | */ 50 | #define F021_ERA_OSU_MAX 0xFF 51 | 52 | /*! 53 | \brief ERA_OSU Min Value 54 | */ 55 | #define F021_ERA_OSU_MIN 0x02 56 | 57 | /*! 58 | \brief ADD_EXZ Max Value 59 | */ 60 | #define F021_ADD_EXZ_MAX 0x0F 61 | 62 | /*! 63 | \brief ADD_EXZ Min Value 64 | */ 65 | #define F021_ADD_EXZ_MIN 0x02 66 | 67 | /*! 68 | \brief EXE_VALD Max Value 69 | */ 70 | #define F021_EXE_VALD_MAX 0x0F 71 | 72 | /*! 73 | \brief EXE_VALD Min Value 74 | */ 75 | #define F021_EXE_VALD_MIN 0x02 76 | 77 | /*! 78 | \brief PROG_PUL_WIDTH Max Value 79 | */ 80 | #define F021_PROG_PUL_WIDTH_MAX 0xFFFF 81 | 82 | /*! 83 | \brief PROG_PUL_WIDTH Min Value 84 | */ 85 | #define F021_PROG_PUL_WIDTH_MIN 0x0002 86 | 87 | /*! 88 | \brief ERA_PUL_WIDTH Max Value 89 | */ 90 | #define F021_ERA_PUL_WIDTH_MAX 0xFFFFFFFF 91 | 92 | /*! 93 | \brief ERA_PUL_WIDTH Min Value 94 | */ 95 | #define F021_ERA_PUL_WIDTH_MIN 0x00000002 96 | 97 | /*! 98 | * FMC memory map defines 99 | */ 100 | #if defined (_F2837xD) 101 | #define F021_FLASH_MAP_BEGIN 0x80000 102 | #define F021_FLASH_MAP_END 0xBFFFF 103 | #define F021_OTP_MAP_BEGIN 0x78000//Customer OTP start 104 | #define F021_OTP_MAP_END 0x783FF//Customer OTP End 105 | #define F021_OTPECC_MAP_BEGIN 0x1071000 106 | #define F021_OTPECC_MAP_END 0x107107F 107 | #define F021_FLASHECC_MAP_BEGIN 0x1080000 108 | #define F021_FLASHECC_MAP_END 0x1087FFF 109 | #define F021_EEPROM_MAP_BEGIN 0xFFFFFFFF 110 | #define F021_EEPROM_MAP_END 0xFFFFFFFF 111 | #define F021_EEPROMECC_MAP_BEGIN 0xFFFFFFFF 112 | #define F021_EEPROMECC_MAP_END 0xFFFFFFFF 113 | #endif 114 | 115 | /*! 116 | \brief Define to map the direct access to the FMC registers. 117 | */ 118 | 119 | #define F021_CPU0_REGISTER_ADDRESS 0x0005F800 120 | 121 | /*! 122 | * Specific TI OTP Offsets 123 | */ 124 | 125 | #define F021_TIOTP_PER_BANK_SIZE 0x800 //Even though TI OTP is 2K, Size is mentioned here as 0x800 (4K) because code uses this to find the offset of TI OTP (1, 2) relative to OTP Base address 126 | #define F021_TIOTP_SETTINGS_BASE 0xA8 127 | #define F021_TIOTP_BANK_SECTOR_OFFSET 0xAC 128 | 129 | 130 | #endif /* F021_CONSTANTS_F2837xD_H_ */ 131 | -------------------------------------------------------------------------------- /User_peripheral/FlashAPI/Constants/FMC.h: -------------------------------------------------------------------------------- 1 | /*--------------------------------------------------------*/ 2 | /* F021\Constants\FMC.h */ 3 | /* */ 4 | /* Copyright (c) 2009-2011 Texas Instruments Incorporated */ 5 | /* */ 6 | /* F021 Flash API v1.00 */ 7 | /*--------------------------------------------------------*/ 8 | 9 | /*! 10 | \file F021\Constants\FMC.h 11 | \brief A set of Constant Values for the FMC Family. 12 | */ 13 | #ifndef F021_CONSTANTS_FMC_H_ 14 | #define F021_CONSTANTS_FMC_H_ 15 | 16 | /*! 17 | \brief Specifies the bit mask for determining all address bits exclusive of 18 | the offest imposed by the memory map register 19 | */ 20 | #define F021_PROGRAM_ADDRESS_MASK 0x07FFFFFFU 21 | 22 | /*! 23 | \brief Specifies the Offset to the TI OTP 24 | */ 25 | #define F021_PROGRAM_TIOTP_OFFSET 0xF0080000 26 | 27 | 28 | /*! 29 | \brief PGM_OSU Max Value 30 | */ 31 | #define F021_PGM_OSU_MAX 0xFFU 32 | 33 | /*! 34 | \brief PGM_OSU Min Value 35 | */ 36 | #define F021_PGM_OSU_MIN 0x02U 37 | 38 | /*! 39 | \brief ERA_OSU Max Value 40 | */ 41 | #define F021_ERA_OSU_MAX 0xFFU 42 | 43 | /*! 44 | \brief ERA_OSU Min Value 45 | */ 46 | #define F021_ERA_OSU_MIN 0x02U 47 | 48 | /*! 49 | \brief ADD_EXZ Max Value 50 | */ 51 | #define F021_ADD_EXZ_MAX 0x0FU 52 | 53 | /*! 54 | \brief ADD_EXZ Min Value 55 | */ 56 | #define F021_ADD_EXZ_MIN 0x02U 57 | 58 | /*! 59 | \brief EXE_VALD Max Value 60 | */ 61 | #define F021_EXE_VALD_MAX 0x0FU 62 | 63 | /*! 64 | \brief EXE_VALD Min Value 65 | */ 66 | #define F021_EXE_VALD_MIN 0x02U 67 | 68 | /*! 69 | \brief PROG_PUL_WIDTH Max Value 70 | */ 71 | #define F021_PROG_PUL_WIDTH_MAX 0xFFFFU 72 | 73 | /*! 74 | \brief PROG_PUL_WIDTH Min Value 75 | */ 76 | #define F021_PROG_PUL_WIDTH_MIN 0x0002U 77 | 78 | /*! 79 | \brief ERA_PUL_WIDTH Max Value 80 | */ 81 | #define F021_ERA_PUL_WIDTH_MAX 0xFFFFFFFFU 82 | 83 | /*! 84 | \brief ERA_PUL_WIDTH Min Value 85 | */ 86 | #define F021_ERA_PUL_WIDTH_MIN 0x00000002U 87 | 88 | /*! 89 | * FMC memory map defines 90 | */ 91 | #define F021_FLASH_MAP_BEGIN 0x00000000 92 | #define F021_FLASH_MAP_END 0x00FFFFFF 93 | #define F021_OTP_MAP_BEGIN 0xF0000000 94 | #define F021_OTP_MAP_END 0xF000FFFF 95 | #define F021_OTPECC_MAP_BEGIN 0xF0040000 96 | #define F021_OTPECC_MAP_END 0xF0041FFF 97 | #define F021_EEPROMECC_MAP_BEGIN 0xF0100000 98 | #define F021_EEPROMECC_MAP_END 0xF01FFFFF 99 | #define F021_EEPROM_MAP_BEGIN 0xF0200000 100 | #define F021_EEPROM_MAP_END 0xF03FFFFF 101 | #define F021_FLASHECC_MAP_BEGIN 0xF0400000 102 | #define F021_FLASHECC_MAP_END 0xF04FFFFF 103 | 104 | /*! 105 | \brief Define to map the direct access to the FMC registers. 106 | */ 107 | #define F021_CPU0_REGISTER_ADDRESS 0xFFF87000 108 | 109 | /*! 110 | * Specific TI OTP Offsets 111 | */ 112 | #define F021_TIOTP_PER_BANK_SIZE 0x2000U 113 | #define F021_TIOTP_SETTINGS_BASE 0x150U 114 | #define F021_TIOTP_BANK_SECTOR_OFFSET 0x158U 115 | 116 | #endif /* F021_CONSTANTS_FMC_H_ */ 117 | -------------------------------------------------------------------------------- /User_peripheral/FlashAPI/F021_F2837xD_C28x.h: -------------------------------------------------------------------------------- 1 | /*--------------------------------------------------------*/ 2 | /* F021\F021_F2837xD_C28x.h */ 3 | /* */ 4 | /* Copyright (c) 2009-2013 Texas Instruments Incorporated */ 5 | /* */ 6 | /* F021 Flash API v1.53 */ 7 | /*--------------------------------------------------------*/ 8 | 9 | /*! 10 | \file F021\F021_F2837xD_C28x.h 11 | \brief Setups the defines required for Harmony C28x 12 | */ 13 | #ifndef F021_F2837xD_C28X_H_ 14 | #define F021_F2837xD_C28X_H_ 15 | 16 | #if !defined(_F2837xD) 17 | #define _F2837xD 18 | #endif 19 | 20 | #if !defined(_LITTLE_ENDIAN) 21 | #define _LITTLE_ENDIAN 22 | #endif 23 | 24 | #if !defined(_C28X) 25 | #define _C28X 26 | #endif 27 | 28 | #include "F021.h" 29 | 30 | #endif /*F021_F2837xD_C28X_H_*/ 31 | -------------------------------------------------------------------------------- /User_peripheral/FlashAPI/Helpers.h: -------------------------------------------------------------------------------- 1 | /*--------------------------------------------------------*/ 2 | /* F021\Helpers.h */ 3 | /* */ 4 | /* Copyright (c) 2009-2011 Texas Instruments Incorporated */ 5 | /* */ 6 | /* F021 Flash API v1.00 */ 7 | /*--------------------------------------------------------*/ 8 | 9 | /*! 10 | \file F021\Helpers.h 11 | \brief A set of helper Macros. 12 | 13 | These helper Macros are to facilitate common 14 | operations. 15 | */ 16 | #ifndef F021_HELPERS_H_ 17 | #define F021_HELPERS_H_ 18 | 19 | /*! 20 | \brief Quick Register referencing macro 21 | */ 22 | #define REGISTER(mRegister) (* (volatile uint32 *)(mRegister)) 23 | 24 | #define FAPI_WRITE_LOCKED_FSM_REGISTER(mRegister,mValue) \ 25 | { \ 26 | Fapi_GlobalInit.m_poFlashControlRegisters->FsmWrEna.FSM_WR_ENA_BITS.WR_ENA = 0x5U; \ 27 | mRegister = mValue; \ 28 | Fapi_GlobalInit.m_poFlashControlRegisters->FsmWrEna.FSM_WR_ENA_BITS.WR_ENA = 0x2U; \ 29 | } 30 | 31 | 32 | #if defined(_LITTLE_ENDIAN) 33 | #define EI16(idx) (idx ^ 1) 34 | #define EI8(idx) (idx ^ 3) 35 | #else 36 | #define EI16(idx) (idx) 37 | #define EI8(idx) (idx) 38 | #endif 39 | 40 | #endif /* F021_HELPERS_H_ */ 41 | -------------------------------------------------------------------------------- /User_peripheral/FlashAPI/Init.h: -------------------------------------------------------------------------------- 1 | /*--------------------------------------------------------*/ 2 | /* F021\Init.h */ 3 | /* */ 4 | /* Copyright (c) 2009-2011 Texas Instruments Incorporated */ 5 | /* */ 6 | /* F021 Flash API v1.00 */ 7 | /*--------------------------------------------------------*/ 8 | 9 | #pragma once 10 | 11 | /*! 12 | \file F021\Init.h 13 | \brief 14 | */ 15 | #ifndef FAPI_INIT_H_ 16 | #define FAPI_INIT_H_ 17 | 18 | typedef struct 19 | { 20 | Fapi_TiOtpBytesType *m_poTiOtpBaseAddress; 21 | Fapi_FmcRegistersType *m_poFlashControlRegisters; 22 | uint8 m_u8MainBankWidth; 23 | uint8 m_u8EeBankWidth; 24 | uint8 m_u8MainEccWidth; 25 | uint8 m_u8EeEccWidth; 26 | uint8 m_u8CurrentRwait; 27 | uint8 m_u8CurrentEwait; 28 | uint16 m_u16HclkFrequency; 29 | } Fapi_InitStruct; 30 | 31 | #endif /* FAPI_FLASH_STATE_MACHINE_H_ */ 32 | -------------------------------------------------------------------------------- /User_peripheral/FlashAPI/Registers.h: -------------------------------------------------------------------------------- 1 | /*--------------------------------------------------------*/ 2 | /* F021\Registers.h */ 3 | /* */ 4 | /* Copyright (c) 2009-2011 Texas Instruments Incorporated */ 5 | /* */ 6 | /* F021 Flash API v1.00 */ 7 | /*--------------------------------------------------------*/ 8 | 9 | /*! 10 | \file F021\Registers.h 11 | \brief A complete mapping of the F021 Flash Registers 12 | 13 | Allows named access to the F021 Flash Registers. 14 | */ 15 | #ifndef F021_REGISTERS_H_ 16 | #define F021_REGISTERS_H_ 17 | 18 | #include "Types.h" 19 | 20 | #if defined(_F2837xD) 21 | #include "Registers_C28x.h" 22 | #elif defined(_C28X) 23 | #include "Registers_Concerto_C28x.h" 24 | #elif defined(_CONCERTO) 25 | #include "Registers_Concerto_Cortex.h" 26 | #elif defined(_LITTLE_ENDIAN) 27 | #include "Registers_FMC_LE.h" 28 | #else 29 | #include "Registers_FMC_BE.h" 30 | #endif 31 | 32 | #endif /*F021_REGISTERS_H_*/ 33 | -------------------------------------------------------------------------------- /User_peripheral/PeripheralHeader/F2837xD_cputimer.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_cputimer.h 4 | // 5 | // TITLE: F2837xD Device CPUTIMER Register Definitions. 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef __F2837xD_CPUTIMER_H__ 15 | #define __F2837xD_CPUTIMER_H__ 16 | 17 | #ifdef __cplusplus 18 | extern "C" { 19 | #endif 20 | 21 | 22 | //--------------------------------------------------------------------------- 23 | // CPUTIMER Individual Register Bit Definitions: 24 | 25 | struct TIM_BITS { // bits description 26 | Uint16 LSW:16; // 15:0 CPU-Timer Counter Registers 27 | Uint16 MSW:16; // 31:16 CPU-Timer Counter Registers High 28 | }; 29 | 30 | union TIM_REG { 31 | Uint32 all; 32 | struct TIM_BITS bit; 33 | }; 34 | 35 | struct PRD_BITS { // bits description 36 | Uint16 LSW:16; // 15:0 CPU-Timer Period Registers 37 | Uint16 MSW:16; // 31:16 CPU-Timer Period Registers High 38 | }; 39 | 40 | union PRD_REG { 41 | Uint32 all; 42 | struct PRD_BITS bit; 43 | }; 44 | 45 | struct TCR_BITS { // bits description 46 | Uint16 rsvd1:4; // 3:0 Reserved 47 | Uint16 TSS:1; // 4 CPU-Timer stop status bit. 48 | Uint16 TRB:1; // 5 Timer reload 49 | Uint16 rsvd2:4; // 9:6 Reserved 50 | Uint16 SOFT:1; // 10 Emulation modes 51 | Uint16 FREE:1; // 11 Emulation modes 52 | Uint16 rsvd3:2; // 13:12 Reserved 53 | Uint16 TIE:1; // 14 CPU-Timer Interrupt Enable. 54 | Uint16 TIF:1; // 15 CPU-Timer Interrupt Flag. 55 | }; 56 | 57 | union TCR_REG { 58 | Uint16 all; 59 | struct TCR_BITS bit; 60 | }; 61 | 62 | struct TPR_BITS { // bits description 63 | Uint16 TDDR:8; // 7:0 CPU-Timer Divide-Down. 64 | Uint16 PSC:8; // 15:8 CPU-Timer Prescale Counter. 65 | }; 66 | 67 | union TPR_REG { 68 | Uint16 all; 69 | struct TPR_BITS bit; 70 | }; 71 | 72 | struct TPRH_BITS { // bits description 73 | Uint16 TDDRH:8; // 7:0 CPU-Timer Divide-Down. 74 | Uint16 PSCH:8; // 15:8 CPU-Timer Prescale Counter. 75 | }; 76 | 77 | union TPRH_REG { 78 | Uint16 all; 79 | struct TPRH_BITS bit; 80 | }; 81 | 82 | struct CPUTIMER_REGS { 83 | union TIM_REG TIM; // CPU-Timer, Counter Register 84 | union PRD_REG PRD; // CPU-Timer, Period Register 85 | union TCR_REG TCR; // CPU-Timer, Control Register 86 | Uint16 rsvd1; // Reserved 87 | union TPR_REG TPR; // CPU-Timer, Prescale Register 88 | union TPRH_REG TPRH; // CPU-Timer, Prescale Register High 89 | }; 90 | 91 | //--------------------------------------------------------------------------- 92 | // CPUTIMER External References & Function Declarations: 93 | // 94 | #ifdef CPU1 95 | extern volatile struct CPUTIMER_REGS CpuTimer0Regs; 96 | extern volatile struct CPUTIMER_REGS CpuTimer1Regs; 97 | extern volatile struct CPUTIMER_REGS CpuTimer2Regs; 98 | #endif 99 | #ifdef CPU2 100 | extern volatile struct CPUTIMER_REGS CpuTimer0Regs; 101 | extern volatile struct CPUTIMER_REGS CpuTimer1Regs; 102 | extern volatile struct CPUTIMER_REGS CpuTimer2Regs; 103 | #endif 104 | #ifdef __cplusplus 105 | } 106 | #endif /* extern "C" */ 107 | 108 | #endif 109 | 110 | //=========================================================================== 111 | // End of file. 112 | //=========================================================================== 113 | -------------------------------------------------------------------------------- /User_peripheral/PeripheralHeader/F2837xD_dac.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_dac.h 4 | // 5 | // TITLE: F2837xD Device DAC Register Definitions. 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef __F2837xD_DAC_H__ 15 | #define __F2837xD_DAC_H__ 16 | 17 | #ifdef __cplusplus 18 | extern "C" { 19 | #endif 20 | 21 | 22 | //--------------------------------------------------------------------------- 23 | // DAC Individual Register Bit Definitions: 24 | 25 | struct DACREV_BITS { // bits description 26 | Uint16 REV:8; // 7:0 DAC Revision Register 27 | Uint16 rsvd1:8; // 15:8 Reserved 28 | }; 29 | 30 | union DACREV_REG { 31 | Uint16 all; 32 | struct DACREV_BITS bit; 33 | }; 34 | 35 | struct DACCTL_BITS { // bits description 36 | Uint16 DACREFSEL:1; // 0 DAC Reference Select 37 | Uint16 rsvd1:1; // 1 Reserved 38 | Uint16 LOADMODE:1; // 2 DACVALA Load Mode 39 | Uint16 rsvd2:1; // 3 Reserved 40 | Uint16 SYNCSEL:4; // 7:4 DAC PWMSYNC Select 41 | Uint16 rsvd3:8; // 15:8 Reserved 42 | }; 43 | 44 | union DACCTL_REG { 45 | Uint16 all; 46 | struct DACCTL_BITS bit; 47 | }; 48 | 49 | struct DACVALA_BITS { // bits description 50 | Uint16 DACVALA:12; // 11:0 DAC Active Output Code 51 | Uint16 rsvd1:4; // 15:12 Reserved 52 | }; 53 | 54 | union DACVALA_REG { 55 | Uint16 all; 56 | struct DACVALA_BITS bit; 57 | }; 58 | 59 | struct DACVALS_BITS { // bits description 60 | Uint16 DACVALS:12; // 11:0 DAC Shadow Output Code 61 | Uint16 rsvd1:4; // 15:12 Reserved 62 | }; 63 | 64 | union DACVALS_REG { 65 | Uint16 all; 66 | struct DACVALS_BITS bit; 67 | }; 68 | 69 | struct DACOUTEN_BITS { // bits description 70 | Uint16 DACOUTEN:1; // 0 DAC Output Code 71 | Uint16 rsvd1:15; // 15:1 Reserved 72 | }; 73 | 74 | union DACOUTEN_REG { 75 | Uint16 all; 76 | struct DACOUTEN_BITS bit; 77 | }; 78 | 79 | struct DACLOCK_BITS { // bits description 80 | Uint16 DACCTL:1; // 0 DAC Control Register Lock 81 | Uint16 DACVAL:1; // 1 DAC Value Register Lock 82 | Uint16 DACOUTEN:1; // 2 DAC Output Enable Register Lock 83 | Uint16 rsvd1:13; // 15:3 Reserved 84 | }; 85 | 86 | union DACLOCK_REG { 87 | Uint16 all; 88 | struct DACLOCK_BITS bit; 89 | }; 90 | 91 | struct DACTRIM_BITS { // bits description 92 | Uint16 OFFSET_TRIM:8; // 7:0 DAC Offset Trim 93 | Uint16 rsvd1:4; // 11:8 Reserved 94 | Uint16 rsvd2:4; // 15:12 Reserved 95 | }; 96 | 97 | union DACTRIM_REG { 98 | Uint16 all; 99 | struct DACTRIM_BITS bit; 100 | }; 101 | 102 | struct DAC_REGS { 103 | union DACREV_REG DACREV; // DAC Revision Register 104 | union DACCTL_REG DACCTL; // DAC Control Register 105 | union DACVALA_REG DACVALA; // DAC Value Register - Active 106 | union DACVALS_REG DACVALS; // DAC Value Register - Shadow 107 | union DACOUTEN_REG DACOUTEN; // DAC Output Enable Register 108 | union DACLOCK_REG DACLOCK; // DAC Lock Register 109 | union DACTRIM_REG DACTRIM; // DAC Trim Register 110 | Uint16 rsvd1; // Reserved 111 | }; 112 | 113 | //--------------------------------------------------------------------------- 114 | // DAC External References & Function Declarations: 115 | // 116 | #ifdef CPU1 117 | extern volatile struct DAC_REGS DacaRegs; 118 | extern volatile struct DAC_REGS DacbRegs; 119 | extern volatile struct DAC_REGS DaccRegs; 120 | #endif 121 | #ifdef CPU2 122 | extern volatile struct DAC_REGS DacaRegs; 123 | extern volatile struct DAC_REGS DacbRegs; 124 | extern volatile struct DAC_REGS DaccRegs; 125 | #endif 126 | #ifdef __cplusplus 127 | } 128 | #endif /* extern "C" */ 129 | 130 | #endif 131 | 132 | //=========================================================================== 133 | // End of file. 134 | //=========================================================================== 135 | -------------------------------------------------------------------------------- /User_peripheral/PeripheralHeader/F2837xD_input_xbar.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_input_xbar.h 4 | // 5 | // TITLE: F2837xD Device INPUT_XBAR Register Definitions. 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef __F2837xD_INPUT_XBAR_H__ 15 | #define __F2837xD_INPUT_XBAR_H__ 16 | 17 | #ifdef __cplusplus 18 | extern "C" { 19 | #endif 20 | 21 | 22 | //--------------------------------------------------------------------------- 23 | // INPUT_XBAR Individual Register Bit Definitions: 24 | 25 | struct INPUTSELECTLOCK_BITS { // bits description 26 | Uint16 INPUT1SELECT:1; // 0 Lock bit for INPUT1SEL Register 27 | Uint16 INPUT2SELECT:1; // 1 Lock bit for INPUT2SEL Register 28 | Uint16 INPUT3SELECT:1; // 2 Lock bit for INPUT3SEL Register 29 | Uint16 INPUT4SELECT:1; // 3 Lock bit for INPUT4SEL Register 30 | Uint16 INPUT5SELECT:1; // 4 Lock bit for INPUT5SEL Register 31 | Uint16 INPUT6SELECT:1; // 5 Lock bit for INPUT7SEL Register 32 | Uint16 INPUT7SELECT:1; // 6 Lock bit for INPUT8SEL Register 33 | Uint16 INPUT8SELECT:1; // 7 Lock bit for INPUT9SEL Register 34 | Uint16 INPUT9SELECT:1; // 8 Lock bit for INPUT10SEL Register 35 | Uint16 INPUT10SELECT:1; // 9 Lock bit for INPUT11SEL Register 36 | Uint16 INPUT11SELECT:1; // 10 Lock bit for INPUT11SEL Register 37 | Uint16 INPUT12SELECT:1; // 11 Lock bit for INPUT12SEL Register 38 | Uint16 INPUT13SELECT:1; // 12 Lock bit for INPUT13SEL Register 39 | Uint16 INPUT14SELECT:1; // 13 Lock bit for INPUT14SEL Register 40 | Uint16 INPUT15SELECT:1; // 14 Lock bit for INPUT15SEL Register 41 | Uint16 INPUT16SELECT:1; // 15 Lock bit for INPUT16SEL Register 42 | Uint16 rsvd1:16; // 31:16 Reserved 43 | }; 44 | 45 | union INPUTSELECTLOCK_REG { 46 | Uint32 all; 47 | struct INPUTSELECTLOCK_BITS bit; 48 | }; 49 | 50 | struct INPUT_XBAR_REGS { 51 | Uint16 INPUT1SELECT; // INPUT1 Input Select Register (GPIO0 to x) 52 | Uint16 INPUT2SELECT; // INPUT2 Input Select Register (GPIO0 to x) 53 | Uint16 INPUT3SELECT; // INPUT3 Input Select Register (GPIO0 to x) 54 | Uint16 INPUT4SELECT; // INPUT4 Input Select Register (GPIO0 to x) 55 | Uint16 INPUT5SELECT; // INPUT5 Input Select Register (GPIO0 to x) 56 | Uint16 INPUT6SELECT; // INPUT6 Input Select Register (GPIO0 to x) 57 | Uint16 INPUT7SELECT; // INPUT7 Input Select Register (GPIO0 to x) 58 | Uint16 INPUT8SELECT; // INPUT8 Input Select Register (GPIO0 to x) 59 | Uint16 INPUT9SELECT; // INPUT9 Input Select Register (GPIO0 to x) 60 | Uint16 INPUT10SELECT; // INPUT10 Input Select Register (GPIO0 to x) 61 | Uint16 INPUT11SELECT; // INPUT11 Input Select Register (GPIO0 to x) 62 | Uint16 INPUT12SELECT; // INPUT12 Input Select Register (GPIO0 to x) 63 | Uint16 INPUT13SELECT; // INPUT13 Input Select Register (GPIO0 to x) 64 | Uint16 INPUT14SELECT; // INPUT14 Input Select Register (GPIO0 to x) 65 | Uint16 rsvd1[16]; // Reserved 66 | union INPUTSELECTLOCK_REG INPUTSELECTLOCK; // Input Select Lock Register 67 | }; 68 | 69 | //--------------------------------------------------------------------------- 70 | // INPUT_XBAR External References & Function Declarations: 71 | // 72 | #ifdef CPU1 73 | extern volatile struct INPUT_XBAR_REGS InputXbarRegs; 74 | #endif 75 | #ifdef __cplusplus 76 | } 77 | #endif /* extern "C" */ 78 | 79 | #endif 80 | 81 | //=========================================================================== 82 | // End of file. 83 | //=========================================================================== 84 | -------------------------------------------------------------------------------- /User_peripheral/PeripheralHeader/F2837xD_nmiintrupt.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_nmiintrupt.h 4 | // 5 | // TITLE: F2837xD Device NMIINTRUPT Register Definitions. 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef __F2837xD_NMIINTRUPT_H__ 15 | #define __F2837xD_NMIINTRUPT_H__ 16 | 17 | #ifdef __cplusplus 18 | extern "C" { 19 | #endif 20 | 21 | 22 | //--------------------------------------------------------------------------- 23 | // NMIINTRUPT Individual Register Bit Definitions: 24 | 25 | struct NMICFG_BITS { // bits description 26 | Uint16 NMIE:1; // 0 Global NMI Enable 27 | Uint16 rsvd1:15; // 15:1 Reserved 28 | }; 29 | 30 | union NMICFG_REG { 31 | Uint16 all; 32 | struct NMICFG_BITS bit; 33 | }; 34 | 35 | struct NMIFLG_BITS { // bits description 36 | Uint16 NMIINT:1; // 0 NMI Interrupt Flag 37 | Uint16 CLOCKFAIL:1; // 1 Clock Fail Interrupt Flag 38 | Uint16 RAMUNCERR:1; // 2 RAM Uncorrectable Error NMI Flag 39 | Uint16 FLUNCERR:1; // 3 Flash Uncorrectable Error NMI Flag 40 | Uint16 CPU1HWBISTERR:1; // 4 HW BIST Error NMI Flag 41 | Uint16 CPU2HWBISTERR:1; // 5 HW BIST Error NMI Flag 42 | Uint16 PIEVECTERR:1; // 6 PIE Vector Fetch Error Flag 43 | Uint16 rsvd1:1; // 7 Reserved 44 | Uint16 rsvd2:1; // 8 Reserved 45 | Uint16 CPU2WDRSn:1; // 9 CPU2 WDRSn Reset Indication Flag 46 | Uint16 CPU2NMIWDRSn:1; // 10 CPU2 NMIWDRSn Reset Indication Flag 47 | Uint16 rsvd3:1; // 11 Reserved 48 | Uint16 rsvd4:4; // 15:12 Reserved 49 | }; 50 | 51 | union NMIFLG_REG { 52 | Uint16 all; 53 | struct NMIFLG_BITS bit; 54 | }; 55 | 56 | struct NMIFLGCLR_BITS { // bits description 57 | Uint16 NMIINT:1; // 0 NMIINT Flag Clear 58 | Uint16 CLOCKFAIL:1; // 1 CLOCKFAIL Flag Clear 59 | Uint16 RAMUNCERR:1; // 2 RAMUNCERR Flag Clear 60 | Uint16 FLUNCERR:1; // 3 FLUNCERR Flag Clear 61 | Uint16 CPU1HWBISTERR:1; // 4 CPU1HWBISTERR Flag Clear 62 | Uint16 CPU2HWBISTERR:1; // 5 CPU2HWBISTERR Flag Clear 63 | Uint16 PIEVECTERR:1; // 6 PIEVECTERR Flag Clear 64 | Uint16 rsvd1:1; // 7 Reserved 65 | Uint16 rsvd2:1; // 8 Reserved 66 | Uint16 CPU2WDRSn:1; // 9 CPU2WDRSn Flag Clear 67 | Uint16 CPU2NMIWDRSn:1; // 10 CPU2NMIWDRSn Flag Clear 68 | Uint16 OVF:1; // 11 OVF Flag Clear 69 | Uint16 rsvd3:4; // 15:12 Reserved 70 | }; 71 | 72 | union NMIFLGCLR_REG { 73 | Uint16 all; 74 | struct NMIFLGCLR_BITS bit; 75 | }; 76 | 77 | struct NMIFLGFRC_BITS { // bits description 78 | Uint16 rsvd1:1; // 0 Reserved 79 | Uint16 CLOCKFAIL:1; // 1 CLOCKFAIL Flag Force 80 | Uint16 RAMUNCERR:1; // 2 RAMUNCERR Flag Force 81 | Uint16 FLUNCERR:1; // 3 FLUNCERR Flag Force 82 | Uint16 CPU1HWBISTERR:1; // 4 CPU1HWBISTERR Flag Force 83 | Uint16 CPU2HWBISTERR:1; // 5 CPU2HWBISTERR Flag Force 84 | Uint16 PIEVECTERR:1; // 6 PIEVECTERR Flag Force 85 | Uint16 rsvd2:1; // 7 Reserved 86 | Uint16 rsvd3:1; // 8 Reserved 87 | Uint16 CPU2WDRSn:1; // 9 CPU2WDRSn Flag Force 88 | Uint16 CPU2NMIWDRSn:1; // 10 CPU2NMIWDRSn Flag Force 89 | Uint16 OVF:1; // 11 OVF Flag Force 90 | Uint16 rsvd4:4; // 15:12 Reserved 91 | }; 92 | 93 | union NMIFLGFRC_REG { 94 | Uint16 all; 95 | struct NMIFLGFRC_BITS bit; 96 | }; 97 | 98 | struct NMISHDFLG_BITS { // bits description 99 | Uint16 rsvd1:1; // 0 Reserved 100 | Uint16 CLOCKFAIL:1; // 1 Shadow CLOCKFAIL Flag 101 | Uint16 RAMUNCERR:1; // 2 Shadow RAMUNCERR Flag 102 | Uint16 FLUNCERR:1; // 3 Shadow FLUNCERR Flag 103 | Uint16 CPU1HWBISTERR:1; // 4 Shadow CPU1HWBISTERR Flag 104 | Uint16 CPU2HWBISTERR:1; // 5 Shadow CPU2HWBISTERR Flag 105 | Uint16 PIEVECTERR:1; // 6 Shadow PIEVECTERR Flag 106 | Uint16 rsvd2:1; // 7 Reserved 107 | Uint16 rsvd3:1; // 8 Reserved 108 | Uint16 CPU2WDRSn:1; // 9 Shadow CPU2WDRSn Flag 109 | Uint16 CPU2NMIWDRSn:1; // 10 Shadow CPU2NMIWDRSn Flag 110 | Uint16 OVF:1; // 11 Shadow OVF Flag 111 | Uint16 rsvd4:4; // 15:12 Reserved 112 | }; 113 | 114 | union NMISHDFLG_REG { 115 | Uint16 all; 116 | struct NMISHDFLG_BITS bit; 117 | }; 118 | 119 | struct NMI_INTRUPT_REGS { 120 | union NMICFG_REG NMICFG; // NMI Configuration Register 121 | union NMIFLG_REG NMIFLG; // NMI Flag Register (XRSn Clear) 122 | union NMIFLGCLR_REG NMIFLGCLR; // NMI Flag Clear Register 123 | union NMIFLGFRC_REG NMIFLGFRC; // NMI Flag Force Register 124 | Uint16 NMIWDCNT; // NMI Watchdog Counter Register 125 | Uint16 NMIWDPRD; // NMI Watchdog Period Register 126 | union NMISHDFLG_REG NMISHDFLG; // NMI Shadow Flag Register 127 | }; 128 | 129 | //--------------------------------------------------------------------------- 130 | // NMIINTRUPT External References & Function Declarations: 131 | // 132 | #ifdef CPU1 133 | extern volatile struct NMI_INTRUPT_REGS NmiIntruptRegs; 134 | #endif 135 | #ifdef CPU2 136 | extern volatile struct NMI_INTRUPT_REGS NmiIntruptRegs; 137 | #endif 138 | #ifdef __cplusplus 139 | } 140 | #endif /* extern "C" */ 141 | 142 | #endif 143 | 144 | //=========================================================================== 145 | // End of file. 146 | //=========================================================================== 147 | -------------------------------------------------------------------------------- /User_peripheral/PeripheralHeader/F2837xD_xint.h: -------------------------------------------------------------------------------- 1 | //########################################################################### 2 | // 3 | // FILE: F2837xD_xint.h 4 | // 5 | // TITLE: F2837xD Device XINT Register Definitions. 6 | // 7 | //########################################################################### 8 | // $TI Release: F2837xD Support Library v210 $ 9 | // $Release Date: Tue Nov 1 14:46:15 CDT 2016 $ 10 | // $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated - 11 | // http://www.ti.com/ ALL RIGHTS RESERVED $ 12 | //########################################################################### 13 | 14 | #ifndef __F2837xD_XINT_H__ 15 | #define __F2837xD_XINT_H__ 16 | 17 | #ifdef __cplusplus 18 | extern "C" { 19 | #endif 20 | 21 | 22 | //--------------------------------------------------------------------------- 23 | // XINT Individual Register Bit Definitions: 24 | 25 | struct XINT1CR_BITS { // bits description 26 | Uint16 ENABLE:1; // 0 XINT1 Enable 27 | Uint16 rsvd1:1; // 1 Reserved 28 | Uint16 POLARITY:2; // 3:2 XINT1 Polarity 29 | Uint16 rsvd2:12; // 15:4 Reserved 30 | }; 31 | 32 | union XINT1CR_REG { 33 | Uint16 all; 34 | struct XINT1CR_BITS bit; 35 | }; 36 | 37 | struct XINT2CR_BITS { // bits description 38 | Uint16 ENABLE:1; // 0 XINT2 Enable 39 | Uint16 rsvd1:1; // 1 Reserved 40 | Uint16 POLARITY:2; // 3:2 XINT2 Polarity 41 | Uint16 rsvd2:12; // 15:4 Reserved 42 | }; 43 | 44 | union XINT2CR_REG { 45 | Uint16 all; 46 | struct XINT2CR_BITS bit; 47 | }; 48 | 49 | struct XINT3CR_BITS { // bits description 50 | Uint16 ENABLE:1; // 0 XINT3 Enable 51 | Uint16 rsvd1:1; // 1 Reserved 52 | Uint16 POLARITY:2; // 3:2 XINT3 Polarity 53 | Uint16 rsvd2:12; // 15:4 Reserved 54 | }; 55 | 56 | union XINT3CR_REG { 57 | Uint16 all; 58 | struct XINT3CR_BITS bit; 59 | }; 60 | 61 | struct XINT4CR_BITS { // bits description 62 | Uint16 ENABLE:1; // 0 XINT4 Enable 63 | Uint16 rsvd1:1; // 1 Reserved 64 | Uint16 POLARITY:2; // 3:2 XINT4 Polarity 65 | Uint16 rsvd2:12; // 15:4 Reserved 66 | }; 67 | 68 | union XINT4CR_REG { 69 | Uint16 all; 70 | struct XINT4CR_BITS bit; 71 | }; 72 | 73 | struct XINT5CR_BITS { // bits description 74 | Uint16 ENABLE:1; // 0 XINT5 Enable 75 | Uint16 rsvd1:1; // 1 Reserved 76 | Uint16 POLARITY:2; // 3:2 XINT5 Polarity 77 | Uint16 rsvd2:12; // 15:4 Reserved 78 | }; 79 | 80 | union XINT5CR_REG { 81 | Uint16 all; 82 | struct XINT5CR_BITS bit; 83 | }; 84 | 85 | struct XINT_REGS { 86 | union XINT1CR_REG XINT1CR; // XINT1 configuration register 87 | union XINT2CR_REG XINT2CR; // XINT2 configuration register 88 | union XINT3CR_REG XINT3CR; // XINT3 configuration register 89 | union XINT4CR_REG XINT4CR; // XINT4 configuration register 90 | union XINT5CR_REG XINT5CR; // XINT5 configuration register 91 | Uint16 rsvd1[3]; // Reserved 92 | Uint16 XINT1CTR; // XINT1 counter register 93 | Uint16 XINT2CTR; // XINT2 counter register 94 | Uint16 XINT3CTR; // XINT3 counter register 95 | }; 96 | 97 | //--------------------------------------------------------------------------- 98 | // XINT External References & Function Declarations: 99 | // 100 | #ifdef CPU1 101 | extern volatile struct XINT_REGS XintRegs; 102 | #endif 103 | #ifdef CPU2 104 | extern volatile struct XINT_REGS XintRegs; 105 | #endif 106 | #ifdef __cplusplus 107 | } 108 | #endif /* extern "C" */ 109 | 110 | #endif 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length = 0x000800 11 | RAMLS1 : origin = 0x008800, length = 0x000800 12 | RAMLS2 : origin = 0x009000, length = 0x000800 13 | RAMLS3 : origin = 0x009800, length = 0x000800 14 | RAMLS4 : origin = 0x00A000, length = 0x000800 15 | RESET : origin = 0x3FFFC0, length = 0x000002 16 | 17 | PAGE 1 : 18 | 19 | BOOT_RSVD : origin = 0x000002, length = 0x000120 /* Part of M0, BOOT rom will use this for stack */ 20 | RAMM1 : origin = 0x000400, length = 0x000400 /* on-chip RAM block M1 */ 21 | RAMD1 : origin = 0x00B800, length = 0x000800 22 | 23 | RAMLS5 : origin = 0x00A800, length = 0x000800 24 | 25 | RAMGS0 : origin = 0x00C000, length = 0x001000 26 | RAMGS1 : origin = 0x00D000, length = 0x001000 27 | RAMGS2 : origin = 0x00E000, length = 0x001000 28 | RAMGS3 : origin = 0x00F000, length = 0x001000 29 | RAMGS4 : origin = 0x010000, length = 0x001000 30 | RAMGS5 : origin = 0x011000, length = 0x001000 31 | RAMGS6 : origin = 0x012000, length = 0x001000 32 | RAMGS7 : origin = 0x013000, length = 0x001000 33 | RAMGS8 : origin = 0x014000, length = 0x001000 34 | RAMGS9 : origin = 0x015000, length = 0x001000 35 | RAMGS10 : origin = 0x016000, length = 0x001000 36 | RAMGS11 : origin = 0x017000, length = 0x001000 37 | RAMGS12 : origin = 0x018000, length = 0x001000 /* Only Available on F28379D, F28377D, F28375D devices. Remove line on other devices. */ 38 | RAMGS13 : origin = 0x019000, length = 0x001000 /* Only Available on F28379D, F28377D, F28375D devices. Remove line on other devices. */ 39 | RAMGS14 : origin = 0x01A000, length = 0x001000 /* Only Available on F28379D, F28377D, F28375D devices. Remove line on other devices. */ 40 | RAMGS15 : origin = 0x01B000, length = 0x001000 /* Only Available on F28379D, F28377D, F28375D devices. Remove line on other devices. */ 41 | 42 | CPU2TOCPU1RAM : origin = 0x03F800, length = 0x000400 43 | CPU1TOCPU2RAM : origin = 0x03FC00, length = 0x000400 44 | 45 | CANA_MSG_RAM : origin = 0x049000, length = 0x000800 46 | CANB_MSG_RAM : origin = 0x04B000, length = 0x000800 47 | } 48 | 49 | 50 | SECTIONS 51 | { 52 | codestart : > BEGIN, PAGE = 0 53 | .text : >>RAMM0 | RAMD0 | RAMLS0 | RAMLS1 | RAMLS2 | RAMLS3 | RAMLS4, PAGE = 0 54 | .cinit : > RAMM0, PAGE = 0 55 | .pinit : > RAMM0, PAGE = 0 56 | .switch : > RAMM0, PAGE = 0 57 | .reset : > RESET, PAGE = 0, TYPE = DSECT /* not used, */ 58 | 59 | .stack : > RAMM1, PAGE = 1 60 | .ebss : > RAMLS5, PAGE = 1 61 | .econst : > RAMLS5, PAGE = 1 62 | .esysmem : > RAMLS5, PAGE = 1 63 | //Filter_RegsFile : > RAMGS0, PAGE = 1 64 | 65 | SHARERAMGS0 : > RAMGS0, PAGE = 1 66 | SHARERAMGS1 : > RAMGS1, PAGE = 1 67 | 68 | ramgs0 : > RAMGS0, PAGE = 1 69 | ramgs1 : > RAMGS1, PAGE = 1 70 | 71 | #ifdef __TI_COMPILER_VERSION__ 72 | ramfuncs : > RAMM0 PAGE = 0 73 | #endif 74 | 75 | /* The following section definitions are required when using the IPC API Drivers */ 76 | GROUP : > CPU1TOCPU2RAM, PAGE = 1 77 | { 78 | PUTBUFFER 79 | PUTWRITEIDX 80 | GETREADIDX 81 | } 82 | 83 | GROUP : > CPU2TOCPU1RAM, PAGE = 1 84 | { 85 | GETBUFFER : TYPE = DSECT 86 | GETWRITEIDX : TYPE = DSECT 87 | PUTREADIDX : TYPE = DSECT 88 | } 89 | 90 | /* The following section definition are for SDFM examples */ 91 | Filter1_RegsFile : > RAMGS1, PAGE = 1, fill=0x1111 92 | Filter2_RegsFile : > RAMGS2, PAGE = 1, fill=0x2222 93 | Filter3_RegsFile : > RAMGS3, PAGE = 1, fill=0x3333 94 | Filter4_RegsFile : > RAMGS4, PAGE = 1, fill=0x4444 95 | Difference_RegsFile : >RAMGS5, PAGE = 1, fill=0x3333 96 | } 97 | 98 | /* 99 | //=========================================================================== 100 | // End of file. 101 | //=========================================================================== 102 | */ 103 | -------------------------------------------------------------------------------- /connections/Seed560V2.ccxml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /connections/xds200new.ccxml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | --------------------------------------------------------------------------------