TIMotorLIBExample3/main.c

This example adds current vector control to Example 2.

/******************************************************************************
** Copyright (C) 2010  Pablo Garcia
** 
** This library is free software; you can redistribute it and/or
** modify it under the terms of the GNU Lesser General Public
** License as published by the Free Software Foundation; either
** version 2.1 of the License, or (at your option) any later version.

** This library is distributed in the hope that it will be useful,
** but WITHOUT ANY WARRANTY; without even the implied warranty of
** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
** Lesser General Public License for more details.

** You should have received a copy of the GNU Lesser General Public
** License along with this library; if not, write to the Free Software
** Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
******************************************************************************/

//-----------------------------------------------------------
// Includes
// -------------------------------------------------------------
#include "Example3.h"  // includes for our particular project

//-----------------------------------------------------------
// Define
//-----------------------------------------------------------
#define VBUS                  50
// A/D #defines
#define IA_CH                 0                   // ia A/D channel
#define IB_CH                 0                   // ib A/D channel

//-----------------------------------------------------------
// Implemented Functions
// -------------------------------------------------------------
interrupt void ADInterrupt(void);
interrupt void pwmInterrupt(void);

//-----------------------------------------------------------
// Globals
//-----------------------------------------------------------
const _iq Vbus = _IQ(VBUS);                       // bus voltage
const _iq Vmax = _IQ(VBUS>>1);                    // max output
const _iq Fmax = _IQ(50);                         // max frequency
const Uint16 DB_US = 3;                                     // dead time (us)
// A/D variables
volatile _iq ia, ib;                                        // measured currents
// pwm variables
volatile _iq vas, vbs, vcs;                       // phase voltages
volatile _iq f;                                                       // frequency
// Current regulator
volatile struct sqddata idqs_s;                   // current vector in stationary reference frame
volatile struct sqddata idqs_s_ref;     // reference current  vector in stationary reference frame
volatile struct qddata err_idqs;        // current regulator error
volatile struct qddata vdqs_s;                    // voltage vector in stationary reference frame
_iq Kp_current, Ki_current;


//-----------------------------------------------------------

interrupt void ADInterrupt(void)
{
  ia = ReadADInputWriteRaw(ADCINA2);
  ib = ReadADInputWriteRaw(ADCINB2);

  // update states
  UPDATEQD_STATE(err_idqs);
  UPDATEQD_STATE(vdqs_s);
  // abc phase currents to two current vector in stator reference frame
  PH2QD(ia,ib,idqs_s);
                                                  
  // Current Regulator
  err_idqs.d[N] = idqs_s_ref.d - idqs_s.d;
  err_idqs.q[N] = idqs_s_ref.q - idqs_s.q;
  PI_QD_REG(err_idqs,vdqs_s,Kp_current,Ki_current);
  
  // dq to abc
  DQ2PH_QDDATA(vdqs_s,vas,vbs,vcs);

  // preload PWM values to be updated in next sample
  UpdatePWM3ph(vas,vbs,vcs,1);
  // prepare next adquisition
  ReinitAD();
}

//-----------------------------------------------------------

//-----------------------------------------------------------
// ISR on PWM
//-----------------------------------------------------------
interrupt void pwmInterrupt(void)
{
  // process .....
  // Acknowledge this interrupt to receive more interrupts from group 3
  PieCtrlRegs.PIEACK.all |= PIEACK_GROUP3;
  // PABLO: Interrupt ACK should go to UpdatePWM function
  // Clear INT flag for this timer
  EPwm1Regs.ETCLR.bit.INT = 1;
}

//-----------------------------------------------------------

//-----------------------------------------------------------
// main
// -------------------------------------------------------------
void main(void)
{
  // init current control variables
  Kp_current = _IQ(150.0);
  Ki_current = _IQ(50.0);
  INIT_QDDATA(err_idqs);
  INIT_QDDATA(vdqs_s);
  idqs_s_ref.d = _IQ(0);
  idqs_s_ref.q = _IQ(0);

  // SYSCLKOUT = 150Mhz
  // HSPCLK SYSCLKOUT/8 = 18.75MHz
  // LSPCLK= SYSCLKOUT/4
  InitCPU(8, 4);

  // Init three phase PWM
  Init3phPWM(pwmInterrupt, EPWMA, 100, DB_US, Vbus, SOCA);
  
  // AD initialization
  ConfigureAD(ADInterrupt, CASCADED_SEQ_MODE, 
    SIMULTANEOUS_MODE, PWM_SOC, 0);

  // ------------------ Add AD channels
  // ------------------- Current Sensor data -----------------------------
  // loops = 2;
  // rt = 1/1000;
  // Rm = 150;     (143 measured between input and GND)
  // op_gain = 0.5;
  // MAXBITS = 4096;
  // Vmax = 3
  // GAIN: % 1/(loops*rt_sensor*Rm*op_gain*MAXBITS/Vmax)
  // ------------------- Current Sensor data------ ------------------------

  AddChannel(ADCINA2, IA_CH, _IQ(0.03493696), _IQ(0.00512));                    // ia current
  AddChannel(ADCINB2, IB_CH, _IQ(-0.104635519999999), _IQ(0.00512));            // ib current

  // Configure Memory to store AD samples (OVERWRITE/NOVERWRITE)
  InitDataStorageBuffer(NOVERWRITE);
  SetTrigger();     // enable trigger to store AD samples

  // Enable PWM clock
  EnableEPWMModuleTBCLK();
  // enable PIE module and CPU interrupts
  EnableInterrupts();         // <-- PABLO: This call MUST BE the last one
  // main loop
  while(1){
    IDLE;
  }
}