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hangpersonal
2026-08-30 23:04:35 -07:00
parent 749dab5721
commit ce65a0f59a
14950 changed files with 4408250 additions and 1 deletions
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C2000Ware/libraries/.meta/C2000WARELibraryComponents.js
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let Common = system.getScript("/driverlib/Common.js");
let references = system.getScript("/libraries/C2000WARELibraryReferences.js");
let CATEGORY_FATFS = "FATFS";
let CATEGORY_CALIBRATION = "CALIBRATION"
let CATEGORY_CONTROL = "CONTROL"
let CATEGORY_MATH = "MATH"
let CATEGORY_DSP = "DSP"
let CATEGORY_COMMS = "COMMUNICATIONS"
var supported_modules_fatfs = [];
var supported_modules_calibration = [];
var supported_modules_control = [];
var supported_modules_math = [];
var supported_modules_dsp = [];
var supported_modules_comms = [];
var supported_modules = {};
supported_modules[CATEGORY_FATFS] = supported_modules_fatfs
supported_modules[CATEGORY_CALIBRATION] = supported_modules_calibration
supported_modules[CATEGORY_CONTROL] = supported_modules_control
supported_modules[CATEGORY_MATH] = supported_modules_math
supported_modules[CATEGORY_DSP] = supported_modules_dsp
supported_modules[CATEGORY_COMMS] = supported_modules_comms
var supported_library_moduleFile = [
{ moduleCategory: CATEGORY_FATFS , moduleName : "FATFS", moduleFile : "/libraries/fatfs/fatfs.js"},
{ moduleCategory: CATEGORY_CALIBRATION , moduleName : "HRPWM SFO", moduleFile : "/libraries/calibration/hrpwm/sfo.js"},
{ moduleCategory: CATEGORY_CONTROL , moduleName : "REFGEN", moduleFile : "/libraries/control/dcl/refgen.js"},
{ moduleCategory: CATEGORY_CONTROL , moduleName : "LOGGER", moduleFile : "/libraries/control/dcl/logger.js"},
{ moduleCategory: CATEGORY_CONTROL , moduleName : "CONTROLLER", moduleFile : "/libraries/control/dcl/controller.js"},
{ moduleCategory: CATEGORY_CONTROL , moduleName : "TCM", moduleFile : "/libraries/control/dcl/tcm.js"},
{ moduleCategory: CATEGORY_DSP , moduleName : "FFT", moduleFile : "/libraries/dsp/FPU/FFT/FFT.js"},
{ moduleCategory: CATEGORY_DSP , moduleName : "Filter", moduleFile : "/libraries/dsp/FPU/Filter/Filter.js"},
{ moduleCategory: CATEGORY_DSP , moduleName : "Vector", moduleFile : "/libraries/dsp/FPU/Vector/Vector.js"},
{ moduleCategory: CATEGORY_MATH , moduleName : "FPUfastRTS", moduleFile : "/libraries/math/FPUfastRTS/FPUfastRTS.js"},
{ moduleCategory: CATEGORY_MATH , moduleName : "IQmath", moduleFile : "/libraries/math/IQmath/IQmath.js"},
];
var device_specific_modules = [
{ moduleCategory: CATEGORY_DSP , moduleName : "VCU VCRC", moduleFile : "/libraries/dsp/VCU/VCRC/vcrc.js", devices: ["F28P65x", "F28P55x", "F28002x", "F28003x", "F2838x"]},
{ moduleCategory: CATEGORY_MATH , moduleName : "FASTINTDIV", moduleFile : "/libraries/math/FASTINTDIV/fastintdiv.js", devices: ["F28P65x", "F28002x", "F28003x", "F2838x"]},
{ moduleCategory: CATEGORY_COMMS , moduleName : "USB", moduleFile : "/libraries/communications/usb/usb.js", devices: ["F2807x","F2837xD", "F2837xS", "F2838x", "F28P65x", "F28P55x" ]},
]
for (var library_moduleFile in supported_library_moduleFile)
{
supported_modules[supported_library_moduleFile[library_moduleFile].moduleCategory].
push(supported_library_moduleFile[library_moduleFile].moduleFile)
}
for (var device_specific_modules_index in device_specific_modules)
{
if (device_specific_modules[device_specific_modules_index].
devices.includes(Common.getDeviceName()))
{
supported_modules[device_specific_modules[device_specific_modules_index].moduleCategory].
push(device_specific_modules[device_specific_modules_index].moduleFile)
}
}
var categories_filtered= []
categories_filtered.push({
displayName: CATEGORY_FATFS,
modules: supported_modules[CATEGORY_FATFS]
})
categories_filtered.push({
displayName: CATEGORY_CALIBRATION,
modules: supported_modules[CATEGORY_CALIBRATION]
})
categories_filtered.push({
displayName: CATEGORY_CONTROL,
modules: supported_modules[CATEGORY_CONTROL]
})
categories_filtered.push({
displayName: CATEGORY_MATH,
modules: supported_modules[CATEGORY_MATH]
})
categories_filtered.push({
displayName: CATEGORY_DSP,
modules: supported_modules[CATEGORY_DSP]
})
categories_filtered.push({
displayName: CATEGORY_COMMS,
modules: supported_modules[CATEGORY_COMMS]
})
exports = {
displayName: "C2000Ware Libraries",
templates: [
{
name : "/libraries/c2000ware_libraries.cmd.genlibs.xdt",
outputPath: "c2000ware_libraries.cmd.genlibs",
alwaysRun : true
},
{
name : "/libraries/c2000ware_libraries.opt.xdt",
outputPath: "c2000ware_libraries.opt",
alwaysRun : true
},
{
name : "/libraries/c2000ware_libraries.c.xdt",
outputPath: "c2000ware_libraries.c",
alwaysRun : true
},
{
name : "/libraries/c2000ware_libraries.h.xdt",
outputPath: "c2000ware_libraries.h",
alwaysRun : true
},
{
name: "/libraries/communications/usb/templates/usb_structs.c.xdt",
outputPath: "usb_structs.c",
alwaysRun : false
},
{
name: "/libraries/communications/usb/templates/usb_structs.h.xdt",
outputPath: "usb_structs.h",
alwaysRun : false
}
],
references: references.componentReferences,
topModules: [
{
displayName: "C2000Ware Libraries",
description: "C2000Ware Libraries",
categories: categories_filtered
},
],
}
C2000Ware/libraries/.meta/C2000WARELibraryReferences.js
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let controller_data = system.getScript("/libraries/control/dcl/controller_data.js");
var references = [
// {
// name: "DCL_PI_A1",
// path: "../libraries/control/DCL/c28/source/DCL_PI_A1.asm",
// alwaysInclude: false,
// },
// {
// name: "DCL_error",
// path: "../libraries/control/DCL/c28/source/DCL_error.c",
// alwaysInclude: false,
// }
]
var controller_references = controller_data.getRefFilesArr()
references = references.concat(controller_references)
function getReferencePath(name)
{
for (var ref of references)
{
if (ref.name == name)
{
return ref.path
}
}
}
var componentReferences = []
for (var ref of references)
{
componentReferences.push({
path: ref.path,
alwaysInclude: ref.alwaysInclude
})
}
function appendReferences(refObjs)
{
componentReferences = componentReferences.concat(refObjs);
}
exports = {
references: references,
getReferencePath : getReferencePath,
appendReferences : appendReferences,
componentReferences : componentReferences
}
C2000Ware/libraries/.meta/LinkerDefineFix.js
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let longDescription = `
For modules such as FFT, there are preprocessor pre-defines that need to be added from the .genlibs. As of right now,
no current
implementation of this exists in SysConfig, this must be done manually. To do this, right-click on the project name
and select Properties, then go to: **CCS Build -> C2000 Linker -> Advanced Options -> Command File Preprocessing**.
Then add in the pre-define variable that exists in your c2000ware_libraries.cmd.genlibs file (with its value, if
necessary), and rebuild the project.
For example, for the FFT add in FFT_ALIGN=(4 * FFT_SIZE) for FPU32 configuration
or FFT_ALIGN=(8 * FFT_SIZE) for FPU64 configuration.
![Image Missing](../../libraries/.meta/dsp/FPU/FFT/references/LinkerDefineFix.png)
---
`
exports = {
errorFix : longDescription
}
C2000Ware/libraries/.meta/c2000ware_libraries.c.xdt
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% let Common = system.getScript("/driverlib/Common.js");
%
%
%
/*
* Copyright (c) 2021 Texas Instruments Incorporated - http://www.ti.com
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* * Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
#include "c2000ware_libraries.h"
void C2000Ware_libraries_init()
{
% let keys = Object.keys(system.modules).sort();
% for (let i = 0; i < keys.length; i++) {
% let mod = system.modules[keys[i]];
% if (mod.templates && mod.templates.c2000ware_libraries_c) {
% if (mod.c2000wareLibraryName != "FID") {
`mod.c2000wareLibraryName.replace("-","_")`_init();
% }
% }
% }
}
%
% for (let i = 0; i < keys.length; i++) {
% let mod = system.modules[keys[i]];
% if (mod.templates && mod.templates.c2000ware_libraries_c) {
% let gen = system.getTemplate(mod.templates.c2000ware_libraries_c);
% if(gen(mod) != ""){
`gen(mod)`
% }
% }
% }
C2000Ware/libraries/.meta/c2000ware_libraries.cmd.genlibs.xdt
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/*
* ======== c2000ware_libraries.cmd.genlibs ========
* Libraries needed to link this application's configuration
*
* NOTE, this feature requires software components configured in your
* system to correctly indicate their dependencies and report the
* libraries needed for your specific configuration. If you find
* errors, please report them on TI's E2E forums
* (https://e2e.ti.com/) so they can be addressed in a future
* release.
*
* This file allows one to portably link applications that use SysConfig
* _without_ having to make changes to build rules when moving to a new
* device OR when upgrading to a new version of a SysConfig enabled
* product.
*
* DO NOT EDIT - This file is generated by the SysConfig tool for the
* TI C/C++ toolchain
*/
% let keys = Object.keys(system.modules).sort();
% for (let i = 0; i < keys.length; i++) {
% let mod = system.modules[keys[i]];
% //console.log(mod)
% if (mod.templates && mod.templates.c2000ware_libraries_cmd_genlibs) {
% let gen = system.getTemplate(mod.templates.c2000ware_libraries_cmd_genlibs);
`gen(mod)`
% }
% }
C2000Ware/libraries/.meta/c2000ware_libraries.h.xdt
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% let Common = system.getScript("/driverlib/Common.js");
/*
* Copyright (c) 2021 Texas Instruments Incorporated - http://www.ti.com
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* * Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
#ifndef C2000WARE_LIBRARIES_H
#define C2000WARE_LIBRARIES_H
//*****************************************************************************
//
// If building with a C++ compiler, make all of the definitions in this header
// have a C binding.
//
//*****************************************************************************
#ifdef __cplusplus
extern "C"
{
#endif
#include "board.h"
% // common #include values for all DCL modules
% let gen = system.getTemplate("/libraries/control/dcl/templates/dcl.c2000ware_libraries.h.xdt")
% if (gen().length > 0)
% {
`gen()`
% }
% let keys = Object.keys(system.modules).sort();
% for (let i = 0; i < keys.length; i++) {
% let mod = system.modules[keys[i]];
% if (mod.templates && mod.templates.c2000ware_libraries_h) {
% let gen = system.getTemplate(mod.templates.c2000ware_libraries_h);
`gen(mod)`
% }
% }
%
% for (let i = 0; i < keys.length; i++) {
% let mod = system.modules[keys[i]];
% if (mod.templates && mod.templates.c2000ware_libraries_h) {
% if ((mod.c2000wareLibraryName != "FFR") && (mod.c2000wareLibraryName != "FID") && (mod.c2000wareLibraryName != "VECTOR")) {
void `mod.c2000wareLibraryName.replace("-","_")`_init();
% }
% }
% }
void C2000Ware_libraries_init();
//*****************************************************************************
//
// Mark the end of the C bindings section for C++ compilers.
//
//*****************************************************************************
#ifdef __cplusplus
}
#endif
#endif
C2000Ware/libraries/.meta/c2000ware_libraries.opt.xdt
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%%{
/*
* ======== c2000ware_libraries.opt ========
* Project options needed for this application's configuration
*
* NOTE, this feature requires software components configured in your
* system to correctly indicate their project properties
* needed for your specific configuration. If you find
* errors, please report them on TI's E2E forums
* (https://e2e.ti.com/) so they can be addressed in a future
* release.
*
* This file allows one to portably link applications that use SysConfig
* _without_ having to make changes to build rules when moving to a new
* device OR when upgrading to a new version of a SysConfig enabled
* product.
*
* DO NOT EDIT - This file is generated by the SysConfig tool for the
* TI C/C++ toolchain
*/
%%}
% // common #include values for all DCL modules
% let gen = system.getTemplate("/libraries/control/dcl/templates/dcl.c2000ware_libraries.opt.xdt")
% if (gen().length > 0)
% {
`gen()`
% }
% let keys = Object.keys(system.modules).sort();
% for (let i = 0; i < keys.length; i++) {
% let mod = system.modules[keys[i]];
% //console.log(mod)
% if (mod.templates && mod.templates.c2000ware_libraries_opt) {
% let gen = system.getTemplate(mod.templates.c2000ware_libraries_opt);
`gen(mod)`
% }
% }
C2000Ware/libraries/.meta/calibration/hrpwm/sfo.js
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let Common = system.getScript("/driverlib/Common.js");
let Pinmux = system.getScript("/driverlib/pinmux.js");
let config = [
]
var sfoModule = {
c2000wareLibraryName: "HRPWM_SFO",
displayName: "HRPWM SFO",
defaultInstanceName: "mySFO",
description: "HRPWM SFO Calibration",
maxInstances: 1,
config: config,
templates: {
c2000ware_libraries_h : "/libraries/calibration/hrpwm/templates/sfo.c2000ware_libraries.h.xdt",
c2000ware_libraries_c : "/libraries/calibration/hrpwm/templates/sfo.c2000ware_libraries.c.xdt",
c2000ware_libraries_opt : "/libraries/calibration/hrpwm/templates/sfo.c2000ware_libraries.opt.xdt",
c2000ware_libraries_cmd_genlibs : "/libraries/calibration/hrpwm/templates/sfo.c2000ware_libraries.cmd.genlibs.xdt",
},
};
exports = sfoModule;
C2000Ware/libraries/.meta/calibration/hrpwm/templates/sfo.c2000ware_libraries.c.xdt
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%let Common = system.getScript("/driverlib/Common.js");
%let device_memmap = system.getScript("/driverlib/device_driverlib_peripherals/" + Common.getDeviceName().toLowerCase() + "_memmap.js");
% var moduleName = "sfo"
% var libraryFolder = "sfo"
% var module = system.modules['/libraries/calibration/hrpwm' + '/' + moduleName + '.js'];
%if (module != null)
%{
//
// HRWPM SFO Global Variables
//
int MEP_ScaleFactor; // Global variable used by the SFO library
// Result can be used for all HRPWM channels
// This variable is also copied to HRMSTEP
// register by SFO() function.
%var epwm_instances = [];
% for(var i = 0; i < device_memmap.DeviceMemoryMap.length; i++) {
% if (device_memmap.DeviceMemoryMap[i].name.includes("EPWM") &&
%device_memmap.DeviceMemoryMap[i].name.indexOf("XBAR") === -1)
%{
%epwm_instances.push(device_memmap.DeviceMemoryMap[i].name)
%}
%}
volatile uint32_t ePWM[] = {`epwm_instances`};
% for(var i = 0; i < module.$instances.length; i++) {
% var instance = module.$instances[i];
% let modInst = instance[moduleName];
// Initialization Function
void `instance.$name`_init(){
//
// Calling SFO() updates the HRMSTEP register with calibrated MEP_ScaleFactor.
// HRMSTEP must be populated with a scale factor value prior to enabling
// high resolution period control.
//
uint16_t status;
status = SFO();
while(status == SFO_INCOMPLETE)
{
status = SFO();
if(status == SFO_ERROR)
{
ESTOP0; // SFO function returns 2 if an error occurs & # of MEP
} // steps/coarse step exceeds maximum of 255.
}
}
// Run-Time Function Call
void `instance.$name`_runtime(){
//
// Call the scale factor optimizer lib function SFO()
// periodically to track for any change due to temp/voltage.
// This function generates MEP_ScaleFactor by running the
// MEP calibration module in the HRPWM logic. This scale
// factor can be used for all HRPWM channels. The SFO()
// function also updates the HRMSTEP register with the
// scale factor value.
//
uint16_t status;
status = SFO(); // in background, MEP calibration module
// continuously updates MEP_ScaleFactor
if (status == SFO_ERROR)
{
ESTOP0; // SFO function returns 2 if an error occurs & #
// of MEP steps/coarse step
} // exceeds maximum of 255.
}
void `module.c2000wareLibraryName`_init(){
`instance.$name`_init();
}
% }
%}
%
C2000Ware/libraries/.meta/calibration/hrpwm/templates/sfo.c2000ware_libraries.cmd.genlibs.xdt
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%let Common = system.getScript("/driverlib/Common.js");
/* libraries required for /libraries/calibration/hrpwm */
-l"libraries/calibration/hrpwm/`Common.getDeviceName().toLowerCase()`/lib/SFO_v8_fpu_lib_build_c28_driverlib.lib"
C2000Ware/libraries/.meta/calibration/hrpwm/templates/sfo.c2000ware_libraries.h.xdt
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% var moduleName = "sfo"
% var libraryFolder = "sfo"
% var module = system.modules['/libraries/calibration/hrpwm' + '/' + moduleName + '.js'];
%if (module != null)
%{
#include <SFO_V8.h>
extern int MEP_ScaleFactor;
extern volatile uint32_t ePWM[];
% for(var i = 0; i < module.$instances.length; i++) {
% var instance = module.$instances[i];
% }
void `instance.$name`_runtime();
void `instance.$name`_init();
%}
C2000Ware/libraries/.meta/calibration/hrpwm/templates/sfo.c2000ware_libraries.opt.xdt
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% let Common = system.getScript("/driverlib/Common.js");
% var c2000warePath = Common.getC2000WarePath()
%
-I"`c2000warePath`libraries/calibration/hrpwm/`Common.getDeviceName().toLowerCase()`/include"
C2000Ware/libraries/.meta/communications/usb/templates/usb.c2000ware_libraries.c.xdt
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% let Common = system.getScript("/driverlib/Common.js");
% var currnetSDKProductPath = system.getProducts()[0].path
% var sdkPath = system.utils.path.join(currnetSDKProductPath + "../../../")
% sdkPath = sdkPath.replace(new RegExp('\\' + system.utils.path.sep, 'g'), '/')
%
% var moduleName = "usb"
% var module = system.modules['/libraries/communications/usb/' + moduleName + '.js'];
%
%if(module != null)
%{
% var instance = module.$instances[0];
%
% if ((instance.usb_mode == "Host") || (instance.usb_mode == "Dual"))
%{
uint8_t `instance.usb_host_hcdPool`[`instance.$name`_HCD_MEMORY_SIZE];
%}
void USBLib_init(){
% if (instance.usb_mode == "Device")
%{
%if (instance.deviceClasses == "Bulk")
%{
//
// Initialize the USB stack mode and pass in a mode callback.
//
USBStackModeSet(0, eUSBModeForceDevice, `instance.usb_mode_callback`);
%}
%if ((instance.deviceClasses == "CDC") || (instance.deviceClasses == "Mouse") || (instance.deviceClasses == "Keyboard") )
%{
//
// Set the USB stack mode to Device mode with VBUS monitoring.
//
USBStackModeSet(0, eUSBModeForceDevice, 0);
%}
%}
% else if (instance.usb_mode == "Host")
%{
//
// Initialize the USB stack mode and pass in a mode callback.
//
USBStackModeSet(0, eUSBModeForceHost, `instance.usb_mode_callback`);
%}
% if (instance.usb_mode == "Device")
%{
% if (instance.deviceClasses == "Mouse")
%{
USBDHIDMouseInit(0, (tUSBDHIDMouseDevice *)&g_sMouseDevice);
%}
% else if (instance.deviceClasses == "CDC")
% {
USBDCDCInit(0, &g_sCDCDevice);
%}
% else if (instance.deviceClasses == "Keyboard")
% {
USBDHIDKeyboardInit(0, &g_sKeyboardDevice);
%}
% else if (instance.deviceClasses == "Bulk")
% {
USBDBulkInit(0, &g_sBulkDevice);
%}
%}
% if (instance.usb_mode == "Host")
%{
% var power_fault_options = "";
% for (var int_index in instance.usb_host_mode_power_config)
% {
% power_fault_options += ((power_fault_options == "")?"":" | ") + instance.usb_host_mode_power_config[int_index];
% }
//
// Initialize the power configuration.
//
USBHCDPowerConfigInit(0,`power_fault_options`);
//
// Initialize the USB controller for OTG operation with a 2ms polling
// rate.
//
USBHCDInit(0,`instance.usb_host_hcdPool`, `instance.$name`_HCD_MEMORY_SIZE);
%}
}
%}
%
C2000Ware/libraries/.meta/communications/usb/templates/usb.c2000ware_libraries.cmd.genlibs.xdt
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% let Common = system.getScript("/driverlib/Common.js");
% var moduleNameUSB = "usb"
% var moduleUSB = system.modules['/libraries/communications/usb' + '/' + moduleNameUSB + '.js'];
%
%if(moduleUSB != null)
%{
% var instance = moduleUSB.$instances[0];
%{
-l"libraries/communications/usb/`Common.getDeviceName().toLowerCase()`/lib/usblib.lib"
%}
%}
C2000Ware/libraries/.meta/communications/usb/templates/usb.c2000ware_libraries.h.xdt
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% var moduleName = "usb"
% var module = system.modules['/libraries/communications/usb/' + moduleName + '.js'];
%
%if(module != null)
%{
% var instance = module.$instances[0];
#include "usblib.h"
#include "usbhid.h"
% if (instance.usb_mode == "Device")
%{
#include "usb_structs.h"
% if (instance.deviceClasses == "Mouse")
%{
#include "device/usbdhid.h"
#include "device/usbdhidmouse.h"
%}
% else if (instance.deviceClasses == "Keyboard")
%{
#include "device/usbdhid.h"
#include "device/usbdhidkeyb.h"
%}
% else if (instance.deviceClasses == "Bulk")
%{
extern void `instance.usb_mode_callback`(uint32_t ui32Index, tUSBMode eMode);
%}
%}
% else if (instance.usb_mode == "Host")
%{
#include "usbmsc.h"
#include "host/usbhost.h"
#include "host/usbhmsc.h"
extern void `instance.usb_mode_callback`(uint32_t ui32Index, tUSBMode eMode);
#define `instance.$name`_HCD_MEMORY_SIZE `instance.hcdMemorySize`
%}
%
% else if (instance.usb_mode == "Dual")
%{
extern void `instance.usb_mode_callback`(uint32_t ui32Index, tUSBMode eMode);
#define `instance.$name`_HCD_MEMORY_SIZE `instance.hcdMemorySize`
%}
#define USB_MODE `instance.usb_mode`
void USBLib_init();
%}
%
C2000Ware/libraries/.meta/communications/usb/templates/usb.c2000ware_libraries.opt.xdt
+5
View File
@@ -0,0 +1,5 @@
% let Common = system.getScript("/driverlib/Common.js");
% var c2000warePath = Common.getC2000WarePath()
% var device = Common.getDeviceName().toLowerCase()
-Dccs_c2k
-I"`c2000warePath`libraries/communications/usb/`device`/include"
C2000Ware/libraries/.meta/communications/usb/templates/usb_structs.c.dynamic.js
+6
View File
@@ -0,0 +1,6 @@
exports = {
USBmoduleStatic: {},
templates: {
"/libraries/communications/usb/templates/usb_structs.c.xdt" : ""
}
};
C2000Ware/libraries/.meta/communications/usb/templates/usb_structs.c.xdt
+702
View File
@@ -0,0 +1,702 @@
/*
* Copyright (c) 2021 Texas Instruments Incorporated - http://www.ti.com
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* * Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
% var moduleName = "usb"
% var module = system.modules['/libraries/communications/usb/' + moduleName + '.js'];
%
% function getCharArray(string)
% {
% let text = [];
% let length = 0;
% let index = 0;
% for (var i = 0; i < string.length; i++)
% {
% text[index] = "'" + (string.charAt(i)) + "'";
% index++;
% text[index] = "0" ;
% index++;
% }
% length = string.length;
% return [text,length]
% }
%if(module != null)
%{
% var instance = module.$instances[0];
% if ((instance.usb_mode == "Device") || (instance.usb_mode == "Dual"))
%{
//
// Included Files
//
#include "usb_structs.h"
% if (instance.deviceClasses == "CDC")
%{
// Data structures defining this CDC USB device.
//******************************************************************************
//
// The languages supported by this device.
//
//******************************************************************************
const uint8_t g_pui8LangDescriptor[] =
{
4,
USB_DTYPE_STRING,
USBShort(USB_LANG_EN_US)
};
//******************************************************************************
//
// The manufacturer string.
//
//******************************************************************************
% var descriptor_str_length = 0;
% var descriptor_str = getCharArray(instance.manufacturerString_cdc);
% var descriptor_str_length = descriptor_str[1]
% var descriptor_str_text = descriptor_str[0];
const uint8_t g_pui8ManufacturerString[] =
{
(`descriptor_str_length` + 1) * 2,
USB_DTYPE_STRING,
`descriptor_str_text`,
};
//******************************************************************************
//
// The product string.
//
//******************************************************************************
% descriptor_str = getCharArray(instance.productString_cdc);
% descriptor_str_length = descriptor_str[1]
% descriptor_str_text = descriptor_str[0];
const uint8_t g_pui8ProdectString[] =
{
2 + (`descriptor_str_length` * 2),
USB_DTYPE_STRING,
`descriptor_str_text`,
};
//******************************************************************************
//
// The serial number string.
//
//******************************************************************************
% descriptor_str = getCharArray(instance.serialNumberString_cdc);
% descriptor_str_length = descriptor_str[1]
% descriptor_str_text = descriptor_str[0];
const uint8_t g_pui8SerialNumberString[] =
{
2 + (`descriptor_str_length` * 2),
USB_DTYPE_STRING,
`descriptor_str_text`,
};
//******************************************************************************
//
// The control interface description string.
//
//******************************************************************************
% descriptor_str = getCharArray(instance.controlInterfaceString_cdc);
% descriptor_str_length = descriptor_str[1]
% descriptor_str_text = descriptor_str[0];
const uint8_t g_pui8ControlInterfaceString[] =
{
2 + (`descriptor_str_length` * 2),
USB_DTYPE_STRING,
`descriptor_str_text`,
};
//******************************************************************************
//
// The configuration description string.
//
//******************************************************************************
% descriptor_str = getCharArray(instance.configString_cdc);
% descriptor_str_length = descriptor_str[1]
% descriptor_str_text = descriptor_str[0];
const uint8_t g_pui8ConfigString[] =
{
2 + (`descriptor_str_length` * 2),
USB_DTYPE_STRING,
`descriptor_str_text`,
};
//******************************************************************************
//
// The descriptor string table.
//
//******************************************************************************
const uint8_t * const g_pui8StringDescriptors[] =
{
g_pui8LangDescriptor,
g_pui8ManufacturerString,
g_pui8ProdectString,
g_pui8SerialNumberString,
g_pui8ControlInterfaceString,
g_pui8ConfigString
};
#define NUM_STRING_DESCRIPTORS (sizeof(g_pui8StringDescriptors) /\
sizeof(uint8_t *))
//******************************************************************************
//
// CDC device callback function prototypes.
//
//*****************************************************************************
uint32_t `instance.usbCDCRxHandler`(void *pvCBData, uint32_t ui32Event,
uint32_t ui32MsgValue, void *pvMsgData);
uint32_t `instance.usbCDCTxHandler`(void *pvCBData, uint32_t ui32Event,
uint32_t ui32MsgValue, void *pvMsgData);
uint32_t `instance.usbCDCControlHandler`(void *pvCBData, uint32_t ui32Event,
uint32_t ui32MsgValue, void *pvMsgData);
extern tUSBBuffer `instance.usbCDCTxStruct`;
extern tUSBBuffer `instance.usbCDCRxStruct`;
//*****************************************************************************
//
//! The structure used by the application to define operating parameters for
//! the CDC device.
//
//*****************************************************************************
tUSBDCDCDevice `instance.usbCDCDeviceStruct` =
{
USB_VID_TI_1CBE,
USB_PID_SERIAL,
0,
USB_CONF_ATTR_SELF_PWR,
`instance.usbCDCControlHandler`,
(void *)&`instance.usbCDCDeviceStruct`,
USBBufferEventCallback,
(void *)&`instance.usbCDCRxStruct`,
USBBufferEventCallback,
(void *)&`instance.usbCDCTxStruct`,
g_pui8StringDescriptors,
NUM_STRING_DESCRIPTORS
};
//******************************************************************************
//
// Receive buffer (from the USB perspective).
//
//******************************************************************************
uint8_t `instance.usbCDCRxBuffer`[`instance.usbBufferSize`];
uint8_t g_pui8RxBufferWorkspace[USB_BUFFER_WORKSPACE_SIZE];
tUSBBuffer `instance.usbCDCRxStruct` =
{
false, // This is a receive buffer.
`instance.usbCDCRxHandler`, // pfnCallback
(void *)&`instance.usbCDCDeviceStruct`, // Callback data is our device pointer.
USBDCDCPacketRead, // pfnTransfer
USBDCDCRxPacketAvailable, // pfnAvailable
(void *)&`instance.usbCDCDeviceStruct`, // pvHandle
`instance.usbCDCRxBuffer`, // pi8Buffer
`instance.$name`_SCI_BUFFER_SIZE // ui32BufferSize
};
//******************************************************************************
//
// Transmit buffer (from the USB perspective).
//
//******************************************************************************
uint8_t `instance.usbCDCTxBuffer`[`instance.usbBufferSize`];
uint8_t g_pui8TxBufferWorkspace[USB_BUFFER_WORKSPACE_SIZE];
tUSBBuffer `instance.usbCDCTxStruct` =
{
true, // This is a transmit buffer.
`instance.usbCDCTxHandler`, // pfnCallback
(void *)&`instance.usbCDCDeviceStruct`, // Callback data is our device pointer.
USBDCDCPacketWrite, // pfnTransfer
USBDCDCTxPacketAvailable, // pfnAvailable
(void *)&`instance.usbCDCDeviceStruct`, // pvHandle
`instance.usbCDCTxBuffer`, // pi8Buffer
`instance.$name`_SCI_BUFFER_SIZE // ui32BufferSize
};
%}
% else if (instance.deviceClasses == "Mouse")
%{
#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_types.h"
#include "usblib.h"
#include "usbhid.h"
#include "usb_ids.h"
#include "device/usbdevice.h"
#include "device/usbdhid.h"
#include "device/usbdhidmouse.h"
//******************************************************************************
//
// The languages supported by this device.
//
//******************************************************************************
const uint8_t g_pLangDescriptor[] =
{
4,
USB_DTYPE_STRING,
USBShort(USB_LANG_EN_US)
};
//******************************************************************************
//
// The manufacturer string.
//
//******************************************************************************
% var descriptor_str_length = 0;
% var descriptor_str = getCharArray(instance.manufacturerString_mouse);
% var descriptor_str_length = descriptor_str[1]
% var descriptor_str_text = descriptor_str[0];
const uint8_t g_pManufacturerString[] =
{
(`descriptor_str_length` + 1) * 2,
USB_DTYPE_STRING,
`descriptor_str_text`
};
//******************************************************************************
//
// The product string.
//
//******************************************************************************
% descriptor_str = getCharArray(instance.productString_mouse);
% descriptor_str_length = descriptor_str[1]
% descriptor_str_text = descriptor_str[0];
const uint8_t g_pProductString[] =
{
(`descriptor_str_length` + 1) * 2,
USB_DTYPE_STRING,
`descriptor_str_text`
};
//******************************************************************************
//
// The serial number string.
//
//******************************************************************************
% descriptor_str = getCharArray(instance.serialNumberString_mouse);
% descriptor_str_length = descriptor_str[1]
% descriptor_str_text = descriptor_str[0];
const uint8_t g_pSerialNumberString[] =
{
(`descriptor_str_length` + 1) * 2,
USB_DTYPE_STRING,
`descriptor_str_text`
};
//******************************************************************************
//
// The interface description string.
//
//******************************************************************************
% descriptor_str = getCharArray(instance.mouseHIDInterfaceString);
% descriptor_str_length = descriptor_str[1]
% descriptor_str_text = descriptor_str[0];
const uint8_t g_pHIDInterfaceString[] =
{
(`descriptor_str_length` + 1) * 2,
USB_DTYPE_STRING,
`descriptor_str_text`
};
//******************************************************************************
//
// The configuration description string.
//
//******************************************************************************
% descriptor_str = getCharArray(instance.configString_mouse);
% descriptor_str_length = descriptor_str[1]
% descriptor_str_text = descriptor_str[0];
const uint8_t g_pConfigString[] =
{
(`descriptor_str_length` + 1) * 2,
USB_DTYPE_STRING,
`descriptor_str_text`
};
//******************************************************************************
//
// The descriptor string table.
//
//******************************************************************************
const uint8_t * const g_pStringDescriptors[] =
{
g_pLangDescriptor,
g_pManufacturerString,
g_pProductString,
g_pSerialNumberString,
g_pHIDInterfaceString,
g_pConfigString
};
#define NUM_STRING_DESCRIPTORS (sizeof(g_pStringDescriptors) /\
sizeof(uint8_t *))
//******************************************************************************
//
// The HID mouse device initialization and customization structures.
//
//******************************************************************************
tHIDMouseInstance g_sMouseInstance;
tUSBDHIDMouseDevice `instance.usbMouseDeviceStruct` =
{
USB_VID_TI_1CBE,
USB_PID_MOUSE,
`instance.usbMouseMaxPowerConsumption`,
USB_CONF_ATTR_SELF_PWR,
`instance.usbMouseHandler`,
(void *)&`instance.usbMouseDeviceStruct`,
g_pStringDescriptors,
NUM_STRING_DESCRIPTORS,
};
%}
% else if (instance.deviceClasses == "Keyboard")
%{
//******************************************************************************
//
// The languages supported by this device.
//
//******************************************************************************
const uint8_t g_pui8LangDescriptor[] =
{
4,
USB_DTYPE_STRING,
USBShort(USB_LANG_EN_US)
};
//******************************************************************************
//
// The manufacturer string.
//
//******************************************************************************
% var descriptor_str_length = 0;
% var descriptor_str = getCharArray(instance.manufacturerString_keyboard);
% var descriptor_str_length = descriptor_str[1]
% var descriptor_str_text = descriptor_str[0];
const uint8_t g_pui8ManufacturerString[] =
{
(`descriptor_str_length` + 1) * 2,
USB_DTYPE_STRING,
`descriptor_str_text`
};
//******************************************************************************
//
// The product string.
//
//******************************************************************************
% descriptor_str = getCharArray(instance.productString_keyboard);
% descriptor_str_length = descriptor_str[1]
% descriptor_str_text = descriptor_str[0];
const uint8_t g_pui8ProductString[] =
{
(`descriptor_str_length` + 1) * 2,
USB_DTYPE_STRING,
`descriptor_str_text`
};
//******************************************************************************
//
// The serial number string.
//
//******************************************************************************
% descriptor_str = getCharArray(instance.serialNumberString_keyboard);
% descriptor_str_length = descriptor_str[1]
% descriptor_str_text = descriptor_str[0];
const uint8_t g_pui8SerialNumberString[] =
{
(`descriptor_str_length` + 1) * 2,
USB_DTYPE_STRING,
`descriptor_str_text`
};
//******************************************************************************
//
// The interface description string.
//
//******************************************************************************
% descriptor_str = getCharArray(instance.keyboardHIDInterfaceString);
% descriptor_str_length = descriptor_str[1]
% descriptor_str_text = descriptor_str[0];
const uint8_t g_pui8HIDInterfaceString[] =
{
(`descriptor_str_length` + 1) * 2,
USB_DTYPE_STRING,
`descriptor_str_text`
};
//******************************************************************************
//
// The configuration description string.
//
//******************************************************************************
% descriptor_str = getCharArray(instance.configString_keyboard);
% descriptor_str_length = descriptor_str[1]
% descriptor_str_text = descriptor_str[0];
const uint8_t g_pui8ConfigString[] =
{
(`descriptor_str_length` + 1) * 2,
USB_DTYPE_STRING,
`descriptor_str_text`
};
//******************************************************************************
//
// The descriptor string table.
//
//******************************************************************************
const uint8_t * const g_pui8StringDescriptors[] =
{
g_pui8LangDescriptor,
g_pui8ManufacturerString,
g_pui8ProductString,
g_pui8SerialNumberString,
g_pui8HIDInterfaceString,
g_pui8ConfigString
};
#define NUM_STRING_DESCRIPTORS (sizeof(g_pui8StringDescriptors) /\
sizeof(uint8_t *))
//******************************************************************************
//
// The HID keyboard device initialization and customization structures.
//
//******************************************************************************
tUSBDHIDKeyboardDevice `instance.usbKeyboardDeviceStruct` =
{
USB_VID_TI_1CBE,
USB_PID_KEYBOARD,
500,
USB_CONF_ATTR_SELF_PWR | USB_CONF_ATTR_RWAKE,
`instance.usbKeyboardHandler`,
(void *)&`instance.usbKeyboardDeviceStruct`,
g_pui8StringDescriptors,
NUM_STRING_DESCRIPTORS,
0//&g_KeyboardInstance
};
%}
% else if (instance.deviceClasses == "Bulk")
%{
//******************************************************************************
//
// The languages supported by this device.
//
//******************************************************************************
const uint8_t g_pui8LangDescriptor[] =
{
4,
USB_DTYPE_STRING,
USBShort(USB_LANG_EN_US)
};
//******************************************************************************
//
// The manufacturer string.
//
//******************************************************************************
% var descriptor_str_length = 0;
% var descriptor_str = getCharArray(instance.manufacturerString_bulk);
% var descriptor_str_length = descriptor_str[1]
% var descriptor_str_text = descriptor_str[0];
const uint8_t g_pui8ManufacturerString[] =
{
(`descriptor_str_length` + 1) * 2,
USB_DTYPE_STRING,
`descriptor_str_text`
};
//******************************************************************************
//
// The product string.
//
//******************************************************************************
% descriptor_str = getCharArray(instance.productString_bulk);
% descriptor_str_length = descriptor_str[1]
% descriptor_str_text = descriptor_str[0];
const uint8_t g_pui8ProductString[] =
{
(`descriptor_str_length` + 1) * 2,
USB_DTYPE_STRING,
`descriptor_str_text`
};
//******************************************************************************
//
// The serial number string.
//
//******************************************************************************
% descriptor_str = getCharArray(instance.serialNumberString_bulk);
% descriptor_str_length = descriptor_str[1]
% descriptor_str_text = descriptor_str[0];
const uint8_t g_pui8SerialNumberString[] =
{
(`descriptor_str_length` + 1) * 2,
USB_DTYPE_STRING,
`descriptor_str_text`
};
//******************************************************************************
//
// The data interface description string.
//
//******************************************************************************
% descriptor_str = getCharArray(instance.dataInterfaceString);
% descriptor_str_length = descriptor_str[1]
% descriptor_str_text = descriptor_str[0];
const uint8_t g_pui8DataInterfaceString[] =
{
(`descriptor_str_length` + 1) * 2,
USB_DTYPE_STRING,
`descriptor_str_text`
};
//******************************************************************************
//
// The configuration description string.
//
//******************************************************************************
% descriptor_str = getCharArray(instance.dataInterfaceString);
% descriptor_str_length = descriptor_str[1]
% descriptor_str_text = descriptor_str[0];
const uint8_t g_pui8ConfigString[] =
{
(`descriptor_str_length` + 1) * 2,
USB_DTYPE_STRING,
`descriptor_str_text`
};
//******************************************************************************
//
// The descriptor string table.
//
//******************************************************************************
const uint8_t *const g_pui8StringDescriptors[] =
{
g_pui8LangDescriptor,
g_pui8ManufacturerString,
g_pui8ProductString,
g_pui8SerialNumberString,
g_pui8DataInterfaceString,
g_pui8ConfigString
};
#define NUM_STRING_DESCRIPTORS (sizeof(g_pui8StringDescriptors) / \
sizeof(uint8_t *))
//******************************************************************************
//
// The bulk device initialization and customization structures. In this case,
// we are using USBBuffers between the bulk device class driver and the
// application code. The function pointers and callback data values are set
// to insert a buffer in each of the data channels, transmit and receive.
//
// With the buffer in place, the bulk channel callback is set to the relevant
// channel function and the callback data is set to point to the channel
// instance data. The buffer, in turn, has its callback set to the application
// function and the callback data set to our bulk instance structure.
//
//******************************************************************************
tUSBDBulkDevice `instance.usbBulkDeviceStruct` =
{
USB_VID_TI_1CBE,
USB_PID_BULK,
500,
USB_CONF_ATTR_SELF_PWR,
USBBufferEventCallback,
(void *)&`instance.usbBulkRxStruct`,
USBBufferEventCallback,
(void *)&`instance.usbBulkTxStruct`,
g_pui8StringDescriptors,
NUM_STRING_DESCRIPTORS
};
//******************************************************************************
//
// Receive buffer (from the USB perspective).
//
//******************************************************************************
uint8_t `instance.usbBulkRxBuffer`[`instance.usbBulkBufferSize`];
uint8_t g_pui8RxBufferWorkspace[USB_BUFFER_WORKSPACE_SIZE];
tUSBBuffer `instance.usbBulkRxStruct` =
{
false, // This is a receive buffer.
`instance.usbBulkRxHandler`, // pfnCallback
(void *)&`instance.usbBulkDeviceStruct`, // Callback data is our device pointer.
USBDBulkPacketRead, // pfnTransfer
USBDBulkRxPacketAvailable, // pfnAvailable
(void *)&`instance.usbBulkDeviceStruct`, // pvHandle
`instance.usbBulkRxBuffer`, // pi8Buffer
`instance.usbBulkBufferSize` // ui32BufferSize
};
//******************************************************************************
//
// Transmit buffer (from the USB perspective).
//
//******************************************************************************
uint8_t `instance.usbBulkTxBuffer`[`instance.usbBulkBufferSize`];
uint8_t g_pui8TxBufferWorkspace[USB_BUFFER_WORKSPACE_SIZE];
tUSBBuffer `instance.usbBulkTxStruct` =
{
true, // This is a transmit buffer.
`instance.usbBulkTxHandler`, // pfnCallback
(void *)&`instance.usbBulkDeviceStruct`, // Callback data is our device pointer.
USBDBulkPacketWrite, // pfnTransfer
USBDBulkTxPacketAvailable, // pfnAvailable
(void *)&`instance.usbBulkDeviceStruct`, // pvHandle
`instance.usbBulkTxBuffer`, // pi8Buffer
`instance.usbBulkBufferSize` // ui32BufferSize
};
%}
%}
%}
//
// End of file
//
C2000Ware/libraries/.meta/communications/usb/templates/usb_structs.h.dynamic.js
+6
View File
@@ -0,0 +1,6 @@
exports = {
USBmoduleStatic: {},
templates: {
"/libraries/communications/usb/templates/usb_structs.h.xdt" : ""
}
};
C2000Ware/libraries/.meta/communications/usb/templates/usb_structs.h.xdt
+162
View File
@@ -0,0 +1,162 @@
/*
* Copyright (c) 2021 Texas Instruments Incorporated - http://www.ti.com
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* * Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
% var moduleName = "usb"
% var module = system.modules['/libraries/communications/usb/' + moduleName + '.js'];
%
%if(module != null)
%{
% var instance = module.$instances[0];
#ifndef USB_STRUCTS_H
#define USB_STRUCTS_H
//
// Included Files
//
#include <stdbool.h>
#include <stdint.h>
#include "inc/hw_types.h"
#include "usb.h"
#include "usblib.h"
#include "usb_ids.h"
% if ((instance.usb_mode == "Device") || (instance.usb_mode == "Dual"))
%{
#include "device/usbdevice.h"
% if (instance.deviceClasses == "CDC")
%{
#include "usbcdc.h"
#include "device/usbdcdc.h"
//
// Defines
//
//
// The size of the transmit and receive buffers used for the redirected SCI.
// This number should be a power of 2 for best performance. 256 is chosen
// pretty much at random though the buffer should be at least twice the size of
// a maximum-sized USB packet.
//
#define `instance.$name`_SCI_BUFFER_SIZE `instance.usbBufferSize`
//
// Globals
//
extern tUSBBuffer `instance.usbCDCTxStruct`;
extern tUSBBuffer `instance.usbCDCRxStruct`;
extern tUSBDCDCDevice `instance.usbCDCDeviceStruct`;
extern uint8_t `instance.usbCDCTxBuffer`[];
extern uint8_t `instance.usbCDCRxBuffer`[];
//
// Function Prototypes
//
extern uint32_t `instance.usbCDCRxHandler`(void *pvCBData, uint32_t ui32Event,
uint32_t ui32MsgValue, void *pvMsgData);
extern uint32_t `instance.usbCDCTxHandler`(void *pvi32CBData, uint32_t ui32Event,
uint32_t ui32MsgValue, void *pvMsgData);
%}
% else if (instance.deviceClasses == "Mouse")
%{
#include "usbhid.h"
#include "device/usbdhid.h"
#include "device/usbdhidmouse.h"
extern uint32_t `instance.usbMouseHandler`(void *pvCBData, uint32_t ui32Event,
uint32_t ui32MsgData, void *pvMsgData);
extern tUSBDHIDMouseDevice `instance.usbMouseDeviceStruct`;
%}
% else if (instance.deviceClasses == "Keyboard")
%{
#include "usbhid.h"
#include "device/usbdhid.h"
#include "device/usbdhidkeyb.h"
//
// Globals
//
extern tUSBDHIDKeyboardDevice `instance.usbKeyboardDeviceStruct`;
//
// Function Prototypes
//
extern uint32_t `instance.usbKeyboardHandler`(void *pvCBData, uint32_t ui32Event,
uint32_t ui32MsgData, void *pvMsgData);
%}
% else if (instance.deviceClasses == "Bulk")
%{
#include "device/usbdbulk.h"
//
// Defines
//
//
// The size of the transmit and receive buffers used. 256 is chosen pretty
// much at random though the buffer should be at least twice the size of
// a maximum-sized USB packet.
//
#define `instance.$name`_BULK_BUFFER_SIZE `instance.usbBulkBufferSize`
//
// Globals
//
extern tUSBBuffer `instance.usbBulkTxStruct`;
extern tUSBBuffer `instance.usbBulkRxStruct`;
extern tUSBDBulkDevice `instance.usbBulkDeviceStruct`;
extern uint8_t `instance.usbBulkTxBuffer`[];
extern uint8_t `instance.usbBulkRxBuffer`[];
//
// Function Prototypes
//
extern uint32_t `instance.usbBulkRxHandler`(void *pvCBData, uint32_t ui32Event,
uint32_t ui32MsgValue, void *pvMsgData);
extern uint32_t `instance.usbBulkTxHandler`(void *pvi32CBData, uint32_t ui32Event,
uint32_t ui32MsgValue, void *pvMsgData);
%}
%}
#endif // USB_STRUCTS_H
%}
//
// End of file
//
C2000Ware/libraries/.meta/communications/usb/usb.js
+696
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let Common = system.getScript("/driverlib/Common.js");
let Pinmux = system.getScript("/driverlib/pinmux.js");
var HIDMouseConfigNames = ["manufacturerString_mouse", "productString_mouse", "serialNumberString_mouse", "mouseHIDInterfaceString" , "configString_mouse", "usbMouseDeviceStruct","usbMouseHandler","usbMouseMaxPowerConsumption"]
var CDCConfigNames = ["manufacturerString_cdc", "productString_cdc", "serialNumberString_cdc", "controlInterfaceString_cdc", "configString_cdc", "usbCDCTxStruct", "usbCDCRxStruct", "usbCDCTxBuffer", "usbCDCRxBuffer", "usbBufferSize", "usbCDCDeviceStruct", "usbCDCRxHandler", "usbCDCTxHandler","usbCDCControlHandler"]
var HIDKeyboardConfigNames = ["manufacturerString_keyboard", "productString_keyboard", "serialNumberString_keyboard", "keyboardHIDInterfaceString", "configString_keyboard","usbKeyboardDeviceStruct", "usbKeyboardHandler"]
var BulkConfigNames = ["manufacturerString_bulk", "productString_bulk", "dataInterfaceString", "configString_bulk", "usbBulkDeviceStruct", "usbBulkTxStruct", "usbBulkRxStruct", "usbBulkTxBuffer", "usbBulkRxBuffer", "usbBulkBufferSize", "usbBulkRxHandler", "usbBulkTxHandler"]
function onValidate(inst, validation)
{
for (var configName of CDCConfigNames)
{
if (inst.configName == "")
{
validation.logError("Value cannot be empty for ", inst.configName);
}
}
}
function onchangeUSBMode(inst, ui)
{
if (inst.usb_mode == "Device")
{
ui.deviceClasses.hidden = false;
ui.hostApplication.hidden = true;
ui.hcdMemorySize.hidden = true;
ui.mouseMemorySize.hidden = true;
ui.keyboardMemorySize.hidden = true;
if(inst.deviceClasses == "Bulk")
{
ui.usb_mode_callback.hidden = false;
}
else
{
ui.usb_mode_callback.hidden = true;
}
ui.usb_host_mode_power_config.hidden = true;
ui.usb_host_hcdPool.hidden = true;
for (var configName of CDCConfigNames)
{
ui[configName].hidden = false;
}
}
else if (inst.usb_mode == "Host")
{
ui.deviceClasses.hidden = true;
ui.hostApplication.hidden = false;
ui.hcdMemorySize.hidden = false;
ui.mouseMemorySize.hidden = false;
ui.usb_mode_callback.hidden = false;
ui.usb_host_mode_power_config.hidden = false;
ui.usb_host_hcdPool.hidden = false;
for (var configName of CDCConfigNames)
{
ui[configName].hidden = true;
}
for (var configName of HIDMouseConfigNames)
{
ui[configName].hidden = true;
}
for (var configName of HIDKeyboardConfigNames)
{
ui[configName].hidden = true;
}
for (var configName of BulkConfigNames)
{
ui[configName].hidden = true;
}
}
else if(inst.usb_mode == "Dual")
{
ui.deviceClasses.hidden = false;
ui.hostApplication.hidden = false;
ui.hcdMemorySize.hidden = false;
ui.mouseMemorySize.hidden = false;
ui.usb_mode_callback.hidden = false;
ui.usb_host_mode_power_config.hidden = false;
for (var configName of CDCConfigNames)
{
ui[configName].hidden = false;
}
onChangeHostApplication(inst, ui)
}
}
function onChangeHostApplication(inst, ui)
{
if (inst.hostApplication == "Mouse")
{
ui.mouseMemorySize.hidden = false;
ui.keyboardMemorySize.hidden = true;
}
else if (inst.hostApplication == "Keyboard")
{
ui.mouseMemorySize.hidden = true;
ui.keyboardMemorySize.hidden = false;
}
else if (inst.hostApplication == "Mass Storage")
{
ui.mouseMemorySize.hidden = true;
ui.keyboardMemorySize.hidden = true;
}
}
function onchangeDeviceClass(inst, ui)
{
if (inst.deviceClasses == "CDC")
{
for (var configName of CDCConfigNames)
{
ui[configName].hidden = false;
}
for (var configName of HIDMouseConfigNames)
{
ui[configName].hidden = true;
}
for (var configName of HIDKeyboardConfigNames)
{
ui[configName].hidden = true;
}
for (var configName of BulkConfigNames)
{
ui[configName].hidden = true;
}
}
else if(inst.deviceClasses == "Mouse")
{
for (var configName of HIDMouseConfigNames)
{
ui[configName].hidden = false;
}
for (var configName of CDCConfigNames)
{
ui[configName].hidden = true;
}
for (var configName of HIDKeyboardConfigNames)
{
ui[configName].hidden = true;
}
for (var configName of BulkConfigNames)
{
ui[configName].hidden = true;
}
}
else if(inst.deviceClasses == "Keyboard")
{
for (var configName of HIDKeyboardConfigNames)
{
ui[configName].hidden = false;
}
for (var configName of HIDMouseConfigNames)
{
ui[configName].hidden = true;
}
for (var configName of CDCConfigNames)
{
ui[configName].hidden = true;
}
for (var configName of BulkConfigNames)
{
ui[configName].hidden = true;
}
}
else if(inst.deviceClasses == "Bulk")
{
for (var configName of BulkConfigNames)
{
ui[configName].hidden = false;
}
for (var configName of HIDMouseConfigNames)
{
ui[configName].hidden = true;
}
for (var configName of HIDKeyboardConfigNames)
{
ui[configName].hidden = true;
}
for (var configName of CDCConfigNames)
{
ui[configName].hidden = true;
}
}
}
let staticConfig = [
{
name : "usb_mode",
displayName : "USB Mode",
description : 'Configure USB mode: Device/Host/Dual',
hidden : false,
onChange : onchangeUSBMode,
default : 'Device',
options : [
{ name: "Device", displayName : "Device Mode" },
{ name: "Host", displayName : "Host Mode" },
{ name: "Dual", displayName : "Dual Mode" },
]
},
{
name : "usb_mode_callback",
displayName : "USB Mode CallBack",
description : 'Function called by the USB library whenever a mode change occurs',
hidden : true,
default : 'ModeCallback',
},
{
name : "usb_host_mode_power_config",
displayName : "USB Host Mode Power Fault Configuration",
description : 'Initialize the power fault configuration',
hidden : true,
default : ['USBHCD_VBUS_AUTO_HIGH', 'USBHCD_VBUS_FILTER'],
options : [
{ name: "USBHCD_FAULT_LOW", displayName : "Driver the power pin low on fault" },
{ name: "USBHCD_FAULT_HIGH", displayName : "Driver the power pin low on fault" },
{ name: "USBHCD_FAULT_VBUS_NONE", displayName : "No automatic action when power fault detected" },
{ name: "USBHCD_FAULT_VBUS_TRI", displayName : " Tri-state the pin on a power fault." },
{ name: "USBHCD_FAULT_VBUS_DIS", displayName : "Drive the USBnEPEN pin to it's inactive state on a power fault." },
{ name: "USBHCD_VBUS_MANUAL", displayName : "Power control is completely managed by the application" },
{ name: "USBHCD_VBUS_AUTO_LOW", displayName : "Set the power pin to active high" },
{ name: "USBHCD_VBUS_AUTO_HIGH", displayName : "Set the power pin to active low" },
{ name: "USBHCD_VBUS_FILTER", displayName : "Filter power fault" },
]
},
{
name : "deviceClasses",
displayName : "Device classes",
description : 'Device Classes supported: CDC/Mouse/Keyboard/Bulk',
hidden : false,
default : 'CDC',
onChange : onchangeDeviceClass,
options : [
{ name: "CDC", displayName : "CDC Device class" },
{ name: "Mouse", displayName : "HID Mouse Device Class" },
{ name: "Keyboard", displayName : "HID Keyboard Device Class" },
{ name: "Bulk", displayName : "Bulk Device Class"}
]
},
{
name : "hcdMemorySize",
displayName : "HCD Memory Size",
description : "The size of the host controller's memory pool in bytes.",
hidden : true,
default : 128
},
{
name : "mouseMemorySize",
displayName : "Mouse Memory Size",
description : "The size of the mouse device interface's memory pool in bytes.",
hidden : true,
default : 128
},
{
name : "keyboardMemorySize",
displayName : "Keyboard Memory Size",
description : "The memory pool to provide to the keyboard device.",
hidden : true,
default : 128
},
{
name : "hostApplication",
displayName : "Host Application",
description : "Host Application",
hidden : true,
onChange : onChangeHostApplication,
default : "Mouse",
options : [
{ name: "Mouse", displayName : "Host Mouse Application" },
{ name: "Keyboard", displayName : "Host Keyboard Application" },
{ name: "Mass Storage", displayName : "Host Mass Storage Application"}
]
},
{
name : "usb_host_hcdPool",
displayName : "HCD Pool Array name",
description : "The memory pool to provide to the Host controller driver..",
hidden : true,
default : "g_pui8HCDPool"
},
]
var CDCConfig =[
{
name : "manufacturerString_cdc",
displayName : "Manufacturer string descriptor",
description : 'Specify the Manufacturer string',
hidden : false,
default : "Texas Instruments"
},
{
name : "productString_cdc",
displayName : "Product String descriptor",
description : 'Specify the product string',
hidden : false,
default : "Virtual Com Port"
},
{
name : "serialNumberString_cdc",
displayName : "Serial Number String",
description : 'Specify the serial number string',
hidden : false,
default : "12345678"
},
{
name : "controlInterfaceString_cdc",
displayName : "Control Interface String",
description : 'Specify the control interface string',
hidden : false,
default : "ACM Control Interface"
},
{
name : "configString_cdc",
displayName : "Specify the config string",
description : 'Specify the config string',
hidden : false,
default : "Self Powered Configuration"
},
{
name : "usbCDCTxStruct",
displayName : "USB CDC Tx Struct name for initialization of buffer object for transmit",
description : "The structure used by the application to initialize a buffer object for transmit",
hidden : false,
default : "g_sTxBuffer"
},
{
name : "usbCDCRxStruct",
displayName : "USB CDC Rx Struct name for initialization of buffer object for receive",
description : "The structure used by the application to initialize a buffer object for receive",
hidden : false,
default : "g_sRxBuffer"
},
{
name : "usbCDCTxBuffer",
displayName : "USB CDC Tx Buffer",
description : "Transmit buffer name.",
hidden : false,
default : "g_pi8USBTxBuffer"
},
{
name : "usbCDCRxBuffer",
displayName : "USB CDC Tx Buffer",
description : "Receive buffer name",
hidden : false,
default : "g_pi8USBRxBuffer"
},
{
name : "usbBufferSize",
displayName : "USB CDC Buffer Size",
description : "CDC Buffer size in bytes.",
hidden : false,
default : 256
},
{
name : "usbCDCDeviceStruct",
displayName : "USB CDC Device Struct Name",
description : "Structure to define operating parameters for the CDC device",
hidden : false,
default : "g_sCDCDevice"
},
{
name : "usbCDCRxHandler",
displayName : "USB CDC Device Receive Handler",
description : "Callback function name for CDC Receive Events",
hidden : false,
default : "RxHandler"
},
{
name : "usbCDCTxHandler",
displayName : "USB CDC Device Transmit Handler",
description : "Callback function name for CDC Transmit Events",
hidden : false,
default : "TxHandler"
},
{
name : "usbCDCControlHandler",
displayName : "USB CDC Device Control Handler",
description : "Callback function name for CDC Control Events",
hidden : false,
default : "ControlHandler"
},
]
var HIDMouseConfig =[
{
name : "manufacturerString_mouse",
displayName : "Manufacturer string descriptor",
description : 'Specify the Manufacturer string',
hidden : true,
default : "Texas Instruments"
},
{
name : "productString_mouse",
displayName : "Product String descriptor",
description : 'Specify the product string',
hidden : true,
default : "MouseExample"
},
{
name : "serialNumberString_mouse",
displayName : "Serial Number String",
description : 'Specify the serial number string',
hidden : true,
default : "12345678"
},
{
name : "mouseHIDInterfaceString",
displayName : "Mouse HID Interface String",
description : 'Specify the mouse HID interface string',
hidden : true,
default : "HID Mouse Interface"
},
{
name : "configString_mouse",
displayName : "Specify the config string",
description : 'Specify the config string',
hidden : true,
default : "HID Mouse Configuration"
},
{
name : "usbMouseDeviceStruct",
displayName : "USB Mouse Device Struct Name",
description : "Structure to define operating parameters for the Mouse device",
hidden : true,
default : "g_sMouseDevice"
},
{
name : "usbMouseMaxPowerConsumption",
displayName : "USB Mouse Max Power Consumption in milliamps",
description : "The maximum power consumption of the device, expressed in milliamps.",
hidden : true,
default : 500
},
{
name : "usbMouseHandler",
displayName : "USB Mouse Device Handler",
description : "Callback function name for Mouse Events",
hidden : true,
default : "MouseHandler"
}
]
var HIDKeyboardConfig =[
{
name : "manufacturerString_keyboard",
displayName : "Manufacturer string descriptor",
description : 'Specify the Manufacturer string',
hidden : true,
default : "Texas Instruments"
},
{
name : "productString_keyboard",
displayName : "Product String descriptor",
description : 'Specify the product string',
hidden : true,
default : "Keyboard Example"
},
{
name : "serialNumberString_keyboard",
displayName : "Serial Number String",
description : 'Specify the serial number string',
hidden : true,
default : "12345678"
},
{
name : "keyboardHIDInterfaceString",
displayName : "Keyboard HID Interface String",
description : 'Specify the Keyboard HID interface string',
hidden : true,
default : "HID Keyboard Interface"
},
{
name : "configString_keyboard",
displayName : "Specify the config string",
description : 'Specify the config string',
hidden : true,
default : "HID Keyboard Configuration"
},
{
name : "usbKeyboardDeviceStruct",
displayName : "USB Mouse Device Struct Name",
description : "Structure to define operating parameters for the Keyboard device",
hidden : true,
default : "g_sKeyboardDevice"
},
{
name : "usbKeyboardHandler",
displayName : "USB Mouse Device Handler",
description : "Callback function name for Keyboard Events",
hidden : true,
default : "KeyboardHandler"
}
]
var BulkConfig =[
{
name : "manufacturerString_bulk",
displayName : "Manufacturer string descriptor",
description : 'Specify the Manufacturer string',
hidden : true,
default : "Texas Instruments"
},
{
name : "productString_bulk",
displayName : "Product String descriptor",
description : 'Specify the product string',
hidden : true,
default : "Generic Bulk Device"
},
{
name : "serialNumberString_bulk",
displayName : "Serial Number String",
description : 'Specify the serial number string',
hidden : true,
default : "12345678"
},
{
name : "dataInterfaceString",
displayName : "Bulk Data Interface String",
description : 'Specify the bulk data interface string',
hidden : true,
default : "Bulk Data Interface"
},
{
name : "configString_bulk",
displayName : "Specify the config string",
description : 'Specify the config string',
hidden : true,
default : "Bulk Data Configuration"
},
{
name : "usbBulkDeviceStruct",
displayName : "USB Bulk Device Struct Name",
description : "Structure to define operating parameters for the Bulk device",
hidden : true,
default : "g_sBulkDevice"
},
{
name : "usbBulkTxStruct",
displayName : "USB Bulk Tx Struct name for initialization of buffer object for transmit",
description : "The structure used by the application to initialize a buffer object for transmit",
hidden : true,
default : "g_sTxBuffer"
},
{
name : "usbBulkRxStruct",
displayName : "USB Bulk Rx Struct name for initialization of buffer object for receive",
description : "The structure used by the application to initialize a buffer object for receive",
hidden : true,
default : "g_sRxBuffer"
},
{
name : "usbBulkTxBuffer",
displayName : "USB Bulk Tx Buffer",
description : "Transmit buffer name.",
hidden : true,
default : "g_pui8USBTxBuffer"
},
{
name : "usbBulkRxBuffer",
displayName : "USB Bulk Rx Buffer",
description : "Receive buffer name.",
hidden : true,
default : "g_pui8USBRxBuffer"
},
{
name : "usbBulkBufferSize",
displayName : "USB CDC Buffer Size",
description : "Buffer size in bytes.",
hidden : true,
default : 256
},
{
name : "usbBulkRxHandler",
displayName : "USB Bulk Device Receive Handler",
description : "Callback function name for Bulk Receive Events",
hidden : true,
default : "RxHandler"
},
{
name : "usbBulkTxHandler",
displayName : "USB Bulk Device Transmit Handler",
description : "Callback function name for Bulk Transmit Events",
hidden : true,
default : "TxHandler"
},
]
staticConfig = staticConfig.concat([
// Group for CDC Device Class
{
name: "GROUP_CDC_DEVICE",
displayName: "CDC Device Class Configuration",
description: "",
longDescription: "",
config: CDCConfig,
collapsed: true
}
])
staticConfig = staticConfig.concat([
// Group for HID Mouse Device Class
{
name: "GROUP_MOUSE_DEVICE",
displayName: "HID Mouse Device Class Configuration",
description: "",
longDescription: "",
config: HIDMouseConfig,
collapsed: true
}
])
staticConfig = staticConfig.concat([
// Group for HID Keyboard Device Class
{
name: "GROUP_KEYBOARD_DEVICE",
displayName: "HID Keyboard Device Class Configuration",
description: "",
longDescription: "",
config: HIDKeyboardConfig,
collapsed: true
}
])
staticConfig = staticConfig.concat([
// Group for Bulk Device Class
{
name: "GROUP_BULK_DEVICE",
displayName: "Bulk Device Class Configuration",
description: "",
longDescription: "",
config: BulkConfig,
collapsed: true
}
])
var USBLibModule = {
c2000wareLibraryName: "USBLib",
displayName: "USB Library",
defaultInstanceName: "myUSBLib",
description: "USB Library",
//moduleInstances: moduleInstances,
maxInstances : 1,
modules : modules,
config : staticConfig,
templates: {
c2000ware_libraries_h : "/libraries/communications/usb/templates/usb.c2000ware_libraries.h.xdt",
c2000ware_libraries_c : "/libraries/communications/usb/templates/usb.c2000ware_libraries.c.xdt",
c2000ware_libraries_opt : "/libraries/communications/usb/templates/usb.c2000ware_libraries.opt.xdt",
c2000ware_libraries_cmd_genlibs : "/libraries/communications/usb/templates/usb.c2000ware_libraries.cmd.genlibs.xdt",
},
validate : onValidate
};
function modules(inst)
{
if(inst.usb_mode == "Device" || inst.usb_mode == "Dual")
{
return [
{
name: "pullInTemplateUSBStructsC",
moduleName: "/libraries/communications/usb/templates/usb_structs.c.dynamic.js",
},
{
name: "pullInTemplateUSBStructsH",
moduleName: "/libraries/communications/usb/templates/usb_structs.h.dynamic.js",
}
];
}
else
{
return [];
}
}
exports = USBLibModule;
C2000Ware/libraries/.meta/control/dcl/controller.js
+232
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@@ -0,0 +1,232 @@
let Common = system.getScript("/driverlib/Common.js");
let Pinmux = system.getScript("/driverlib/pinmux.js");
let references = system.getScript("/libraries/C2000WARELibraryReferences.js");
let controller_data = system.getScript("/libraries/control/dcl/controller_data.js");
// get the main dropdown lists
var CONTROLLER_CHOICE_LIST = controller_data.get_dropdown_list('controller');
var PRECISION_LIST = controller_data.get_dropdown_list('precision');
var ACCELERATOR_LIST = controller_data.get_dropdown_list('accelerator');
// set the default values for each list
var DEFAULT_CONTROLLER_CHOICE = CONTROLLER_CHOICE_LIST[0].name;
var DEFAULT_PRECISION = "F32"; // F32 by default as it is most common
var DEFAULT_ACCELERATOR = ACCELERATOR_LIST[0].name;
// whenever the controller changes, the list of parameters should change
function onChangeControllerChoice(inst, ui)
{
// TODO - update terms to zero when changing from PID to DF types
// everything hidden by default
for(var i in config)
{
// console.log("ui[config[i].name].hidden=" + ui[config[i].name].hidden)
ui[config[i].name].hidden = true;
}
// default is to unhide controller choice, precision, and accelerator
ui.controllerChoice.hidden = false;
ui.controllerPrecision.hidden = false;
ui.controllerAccelerator.hidden = true;
ui.structDisplay.hidden = false;
// get the list of elements for this chosen controller
var control_struct_entry = controller_data.get_control_struct_entry(inst.structDisplay);
if (control_struct_entry)
{
// unhide the long description for this controller
var longDescName = control_struct_entry["longDescName"];
ui["longDesc_" + longDescName].hidden=false;
var config_entries_list = control_struct_entry["config_entries_list"];
// unhide the given elements in that list
for(var e of config_entries_list)
{
ui[e[0]].hidden = false;
inst[e[0]] = e[1];
}
}
}
let config = [
{
name : "controllerChoice",
displayName : "Controller/Filter",
onChange : onChangeControllerChoice,
description : 'Choice of Controller. NOTE: Changing controller will change all parameters to default.',
hidden : false,
default : DEFAULT_CONTROLLER_CHOICE,
options : CONTROLLER_CHOICE_LIST,
},
{
name : "controllerPrecision",
displayName : "Precision",
onChange : onChangeControllerChoice,
description : 'Choice of Precision. NOTE: Changing precision will change all parameters to default.',
hidden : false,
default : DEFAULT_PRECISION,
options : PRECISION_LIST,
},
{
name : "controllerAccelerator",
displayName : "Accelerator",
description : 'Choice of Accelerator.',
hidden : true,
default : DEFAULT_ACCELERATOR,
options : ACCELERATOR_LIST,
},
{
name : "structDisplay",
displayName : "Controller Structure Chosen",
description : 'Visualization of the chosen DCL structure.',
hidden : false,
getValue : (inst) => {
var choices_dict = {
"controller":inst.controllerChoice,
"precision":inst.controllerPrecision,
"accelerator":inst.controllerAccelerator,
};
return controller_data.get_struct_options(choices_dict).join();
},
default : ""
}
]
function isNumber(s)
{
// remove trailing L or f for longs and floats
if (s.endsWith("L") || s.endsWith("f"))
{
s = s.slice(0,-1);
}
// check if the resultant value is a number
return !isNaN(s);
}
function onValidate(inst, validation) {
// list the available controlStruct options
var choices_dict = {
"controller":inst.controllerChoice,
"precision":inst.controllerPrecision,
"accelerator":inst.controllerAccelerator,
};
var availControlStructs = controller_data.get_struct_options(choices_dict);
if (availControlStructs.length <= 0)
{
validation.logError(
"Precision not available for this controller, please choose a different precision option.",
inst, "controllerPrecision");
// validation.logError(
// "Precision and accelerator combination not available for this controller, please choose a different precision/accelerator option.",
// inst, "controllerAccelerator");
}
var control_struct_entry = controller_data.get_control_struct_entry(inst.structDisplay);
if (control_struct_entry)
{
var config_entries_list = control_struct_entry["config_entries_list"];
for(var e of config_entries_list)
{
// check for empty elements
if(inst[e[0]] == "")
{
validation.logError(
"A value must be provided.",
inst, e[0]);
}
// check if it's an actual number
if(!isNumber(inst[e[0]]))
{
validation.logError(
"Value must be a valid number (hex, decimal, float, long, etc.)",
inst, e[0]
);
}
}
}
// only do this check if one of the floating point precisions are chosen
if (inst.controllerPrecision == "F32" || inst.controllerPrecision == "F64") {
// check if controllerPrecision matches the precision being used by FPU.js in the "Other Dependencies" section
var fpuMod = system.modules["/libraries/math/FPU/FPU.js"];
if(fpuMod)
{
if(fpuMod.$static.fpuType.replace("PU","") != inst.controllerPrecision)
{
// when controller precision == F64, and the FPU.js file has FPU32 chosen, then warn the user that performance loss will occur
if (inst.controllerPrecision == "F64" && fpuMod.$static.fpuType == "FPU32") {
// for devices that can actually support F64, tell user that they can fix the issue
if (controller_data.fpu64_supported)
{
validation.logWarning("Double-precision data type chosen with single-precision floating-point processor chosen. Relatively poor cycle performance should be expected. To improve performance, precision can be updated here or in 'Other Dependencies' below.", inst, "controllerPrecision");
}
// for devices that can't support F64, tell the user that performance loss should be expected
else
{
validation.logWarning("Double-precision data type chosen with single-precision floating-point processor chosen. Relatively poor cycle performance should be expected.", inst, "controllerPrecision");
}
}
else
{
// when controller precision == F32, and the FPU.js file has FPU64 chosen, there should be no issue as FPU64 is backwards compatible with FPU32 instructions and C code
}
}
}
}
// verify that TMU1 is enabled if NLPID is chosen
if (inst.controllerChoice == "NLPID")
{
var fpuMod = system.modules["/libraries/math/FPU/FPU.js"];
if(fpuMod && fpuMod.$static.tmuType != "TMU1")
{
validation.logError("TMU1 must be enabled to use NLPID controller. Update 'Other Dependencies' below to enable TMU1.", inst, "controllerChoice");
}
}
}
// Choose which controllerChoice to have its parameters be unhidden by default
controller_data.set_config_entries_default_unhidden(DEFAULT_CONTROLLER_CHOICE)
// add on all the long description config entries for each controller
config = config.concat(controller_data.getLongDescriptionConfigEntries(DEFAULT_CONTROLLER_CHOICE));
// add on all the config_entries from controller_data.js to "config" array
config = config.concat(controller_data.get_config_entries_list());
var longDescription = `The DCL contains the following controller types:
* Linear PID
* Linear PI
* Non-linear PID
* Non-linear PI
* Double Integrator
* Direct Form 1 (first order)
* Direct Form 1 (third order)
* Direct Form 2 (second order)
* Direct Form 2 (third order)
See the DCL User's Guide for details on each controller/compensator and its variables:
[Digital Control Library User's Guide](https://dev.ti.com/tirex/explore/node?node=AKZRbh4oxv98HaO0YKjygQ__gYkahfz__LATEST)`
var controllerModule = {
c2000wareLibraryName: "CONTROLLER",
displayName: "CONTROLLER",
defaultInstanceName: "myCONTROLLER",
description: "CONTROLLER",
longDescription: longDescription,
config: config,
references : [],
templates: {
c2000ware_libraries_c : "/libraries/control/dcl/templates/controller.c2000ware_libraries.c.xdt",
c2000ware_libraries_h : "/libraries/control/dcl/templates/controller.c2000ware_libraries.h.xdt",
},
validate : onValidate,
modules: (inst) => {
var mods = [];
var refFilesArr = controller_data.getRefFilesModuleArrFromControlStruct(inst.structDisplay);
mods = refFilesArr;
return mods;
}
};
exports = controllerModule;
C2000Ware/libraries/.meta/control/dcl/controller_data.js
+557
View File
@@ -0,0 +1,557 @@
var longDescriptionObj = system.getScript("/libraries/control/dcl/controller_longdesc.js").get_longDescriptionObj();
let fpu_obj = system.getScript("/libraries/.meta/math/FPU/FPU.js").moduleStatic.config;
//==========================================================================
// CONFIG ENTRIES LOOKUP LISTS
// Use to lookup which config entries to enable/disable per controller
// structure. Stored as "{name:default_val}"
//==========================================================================
// PID
var PID32 = [["Kp","0x01000000"],["Ki","0L"],["Kd","0L"],["c1","0x01000000"],["c2","0L"],["d2","0L"],["d3","0L"],["i10","0L"],["i14","0x01000000"],["Umax","0x01000000"],["Umin","0xFF000000"]]
var PID_CLA = [["Kp","1.0f"],["Ki","0.0f"],["Kd","0.0f"],["Kr","1.0f"],["c1","0.0f"],["c2","0.0f"],["d2","0.0f"],["d3","0.0f"],["i10","0.0f"],["i14","0.0f"],["Umax","1.0f"],["Umin","-1.0f"]]
var PID = [["Kp","1.0f"],["Ki","0.0f"],["Kd","0.0f"],["Kr","1.0f"],["c1","1.0f"],["c2","0.0f"],["d2","0.0f"],["d3","0.0f"],["i10","0.0f"],["i14","1.0f"],["Umax","1.0f"],["Umin","-1.0f"]]
var PIDF64 = [["Kp","1.0L"],["Ki","0.0L"],["Kd","0.0L"],["Kr","1.0L"],["c1","0.0L"],["c2","0.0L"],["d2","0.0L"],["d3","0.0L"],["i10","0.0L"],["i14","0.0L"],["i16","0.0L"],["Umax","1.0L"],["Umin","-1.0L"]]
// PI
var PI32 = [["Kp","0x01000000"],["Ki","0L"],["i6","0x01000000"],["i10","0L"],["Umax","0x01000000"],["Umin","0xFF000000"]]
var PI_CLA = [["Kp","1.0f"],["Ki","0.0f"],["i10","0.0f"],["Umax","1.0f"],["Umin","-1.0f"],["i6","1.0f"],["i11","0.0f"],["Imax","1.0f"],["Imin","-1.0f"]]
var PI = [["Kp","1.0f"],["Ki","0.0f"],["i10","0.0f"],["Umax","1.0f"],["Umin","-1.0f"],["i6","1.0f"],["i11","0.0f"],["Imax","1.0f"],["Imin","-1.0f"]]
var PI2 = [["Kp","1.0f"],["Ki","0.0f"],["i6{PI2}","0.0f"],["i9","0.0f"],["i12","1.0f"],["i13","1.0f"],["Umax","1.0f"],["Umin","-1.0f"]]
//NLPID
var NLPID = [["Kp","1.0f"],["Ki","0.0f"],["Kd","0.0f"],["alpha_p","1.0f"],["alpha_i","1.0f"],["alpha_d","1.0f"],["delta_p","0.1f"],["delta_i","0.1f"],["delta_d","0.1f"],["gamma_p","1.0f"],["gamma_i","1.0f"],["gamma_d","1.0f"],["c1","1.0f"],["c2","0.0f"],["d2","0.0f"],["d3","0.0f"],["i7","0.0f"],["i16","1.0f"],["i18","0.0f"],["Umax","1.0f"],["Umin","-1.0f"]]
// DF
var DF11_CLA = [["b0","0.5f"],["b1","0.5f"],["a1","1.0f"],["d1","0.0f"],["d2{DF11}","0.0f"]]
var DF13_CLA = [["b0","0.25f"],["b1","0.25f"],["b2","0.25f"],["b3","0.25f"],["a0","0.0f"],["a1","0.0f"],["a2","0.0f"],["a3","0.0f"],["d0","0.0f"],["d1","0.0f"],["d2{DF13}","0.0f"],["d3{DF13}","0.0f"],["d4","0.0f"],["d5","0.0f"],["d6","0.0f"],["d7","0.0f"]]
var DF22_CLA = [["b0","1.0f"],["b1","0.0f"],["b2","0.0f"],["a1","0.0f"],["a2","0.0f"],["x1","0.0f"],["x2","0.0f"]]
var DF23_CLA = [["b0","1.0f"],["b1","0.0f"],["b2","0.0f"],["b3","0.0f"],["a1","0.0f"],["a2","0.0f"],["a3","0.0f"],["x1","0.0f"],["x2","0.0f"],["x3","0.0f"]]
var DF11 = [["b0","0.5f"],["b1","0.5f"],["a1","0.0f"],["d1","0.0f"],["d2{DF11}","0.0f"]]
var DF13 = [["b0","0.25f"],["b1","0.25f"],["b2","0.25f"],["b3","0.25f"],["a0","1.0f"],["a1","0.0f"],["a2","0.0f"],["a3","0.0f"],["d0","0.0f"],["d1","0.0f"],["d2{DF13}","0.0f"],["d3{DF13}","0.0f"],["d4","0.0f"],["d5","0.0f"],["d6","0.0f"],["d7","0.0f"]]
var DF22 = [["b0","1.0f"],["b1","0.0f"],["b2","0.0f"],["a1","0.0f"],["a2","0.0f"],["x1","0.0f"],["x2","0.0f"]]
var DF23 = [["b0","1.0f"],["b1","0.0f"],["b2","0.0f"],["b3","0.0f"],["a1","0.0f"],["a2","0.0f"],["a3","0.0f"],["x1","0.0f"],["x2","0.0f"],["x3","0.0f"]]
var DF22F64 = [["b0","1.0"],["b1","0.0"],["b2","0.0"],["a1","0.0"],["a2","0.0"],["x1","0.0"],["x2","0.0"]]
//==========================================================================
// CONFIG ENTRIES DICTIONARY
// These get directly dropped into the config list of the controller.js
//==========================================================================
var config_entries = [
{name:"Kp", displayName:"Proportional Gain (Kp)", description:"Controller Proportional Gain", hidden:true, default:""},// PID
{name:"Ki", displayName:"Integral Gain (Ki)", description:"Controller Integral Gain", hidden:true, default:""},
{name:"Kd", displayName:"Derivative Gain (Kd)", description:"Controller Derivative Gain", hidden:true, default:""},
{name:"Kr", displayName:"Set Point Weight (Kr)", description:"Set Point Weight", hidden:true, default:""},
{name:"c1", displayName:"D-term filter coefficient 1 (c1)", description:"D-term filter coefficient 1", hidden:true, default:""},
{name:"c2", displayName:"D-term filter coefficient 2 (c2)", description:"D-term filter coefficient 2", hidden:true, default:""},
{name:"d2", displayName:"D-term filter Intermediate Storage 1 (d2)", description:"D-term filter Intermediate Storage 1", hidden:true, default:""},
{name:"d3", displayName:"D-term filter Intermediate Storage 2 (d3)", description:"D-term filter Intermediate Storage 2", hidden:true, default:""},
{name:"i10", displayName:"I-term Intermediate Storage (i10)", description:"I-term Intermediate Storage", hidden:true, default:""},
{name:"i14", displayName:"Intermediate Saturation Storage (i14)", description:"Intermediate Saturation Storage", hidden:true, default:""},
{name:"i16", displayName:"Spare (i16)", description:"Spare", hidden:true, default:""},
{name:"Umax", displayName:"Upper Saturation Limit (Umax)", description:"Upper Saturation Limit", hidden:true, default:""},
{name:"Umin", displayName:"Lower Saturation Limit (Umin)", description:"Lower Saturation Limit", hidden:true, default:""},
{name:"i6", displayName:"Saturation Storage (i6)", description:"Saturation Storage", hidden:true, default:""},// PI unique
{name:"i6{PI2}", displayName:"Integrator 1 Storage (i6)", description:"Integrator 1 Storage", hidden:true, default:""},
{name:"i9", displayName:"Integrator 2 Storage (i9)", description:"Integrator 2 Storage", hidden:true, default:""},
{name:"i11", displayName:"I Storage (i11)", description:"I Storage", hidden:true, default:""},
{name:"i12", displayName:"Saturation 1 Storage (i12)", description:"Saturation 1 Storage", hidden:true, default:""},
{name:"i13", displayName:"Saturation 2 Storage (i13)", description:"Saturation 2 Storage", hidden:true, default:""},
{name:"Imax", displayName:"Upper integrator saturation limit (Imax)", description:"Upper integrator saturation limit", hidden:true, default:""},
{name:"Imin", displayName:"Lower integrator saturation limit (Imin)", description:"Lower integrator saturation limit", hidden:true, default:""},
{name:"alpha_p", displayName:"P path non-linear exponent (alpha_p)", description:"P path non-linear exponent", hidden:true, default:""},// NLPID unique
{name:"alpha_i", displayName:"I path non-linear exponent (alpha_i)", description:"I path non-linear exponent", hidden:true, default:""},
{name:"alpha_d", displayName:"D path non-linear exponent (alpha_d)", description:"D path non-linear exponent", hidden:true, default:""},
{name:"delta_p", displayName:"P path linearized range (delta_p)", description:"P path linearized range", hidden:true, default:""},
{name:"delta_i", displayName:"I path linearized range (delta_i)", description:"I path linearized range", hidden:true, default:""},
{name:"delta_d", displayName:"D path linearized range (delta_d)", description:"D path linearized range", hidden:true, default:""},
{name:"gamma_p", displayName:"P path gain limit (gamma_p)", description:"P path gain limit", hidden:true, default:""},
{name:"gamma_i", displayName:"I path gain limit (gamma_i)", description:"I path gain limit", hidden:true, default:""},
{name:"gamma_d", displayName:"D path gain limit (gamma_d)", description:"D path gain limit", hidden:true, default:""},
{name:"i7", displayName:"I path intermediate storage (i7)", description:"I path intermediate storage", hidden:true, default:""},
{name:"i18", displayName:"Spare (i18)", description:"Spare", hidden:true, default:""},
{name:"a0", displayName:"a0", description:"a0", hidden:true, default:""},// DF unique
{name:"a1", displayName:"a1", description:"a1", hidden:true, default:""},
{name:"a2", displayName:"a2", description:"a2", hidden:true, default:""},
{name:"a3", displayName:"a3", description:"a3", hidden:true, default:""},
{name:"b0", displayName:"b0", description:"b0", hidden:true, default:""},
{name:"b1", displayName:"b1", description:"b1", hidden:true, default:""},
{name:"b2", displayName:"b2", description:"b2", hidden:true, default:""},
{name:"b3", displayName:"b3", description:"b3", hidden:true, default:""},
{name:"d0", displayName:"e(k) (d0)", description:"e(k)", hidden:true, default:""},
{name:"d1", displayName:"e(k-1) (d1)", description:"e(k-1)", hidden:true, default:""},
{name:"d2{DF11}", displayName:"u(k-1) (d2)", description:"u(k-1)", hidden:true, default:""},
{name:"d2{DF13}", displayName:"e(k-2) (d2)", description:"e(k-2)", hidden:true, default:""},
{name:"d3{DF13}", displayName:"e(k-3) (d3)", description:"e(k-3)", hidden:true, default:""},
{name:"d4", displayName:"u(k) (d4)", description:"u(k)", hidden:true, default:""},
{name:"d5", displayName:"u(k-1) (d5)", description:"u(k-1)", hidden:true, default:""},
{name:"d6", displayName:"u(k-2) (d6)", description:"u(k-2)", hidden:true, default:""},
{name:"d7", displayName:"u(k-3) (d7)", description:"u(k-3)", hidden:true, default:""},
{name:"x1", displayName:"x1", description:"x1", hidden:true, default:""},
{name:"x2", displayName:"x2", description:"x2", hidden:true, default:""},
{name:"x3", displayName:"x3", description:"x3", hidden:true, default:""},
]
/**
* Get the config_entries list of dictionaries, for use in config array
* @returns config_entries list of dictionaries
*/
function get_config_entries_list()
{
return config_entries;
}
/**
* Get a specific dictionary within config_entries
* @param {string} name - The "name" of the dicitonary in
* config_entries to return
* @returns
*/
function get_config_entry(name)
{
for (obj of config_entries){
if (obj.name === name){
return obj
}
}
}
/**
* Get the default values for a given control structure
* @param {string} name - Name of the control type (like "PID") to have its variables unhidden
*/
function get_default_param_val(name, param_name)
{
var config_entries_list = get_control_struct_entry(name)["config_entries_list"];
for (var name_val_list of config_entries_list)
{
if (name_val_list[0]==param_name)
{
return name_val_list[1];
}
}
return 0;
}
/**
* Choose which controller to have its parameters be unhidden by default
* @param {string} name - Name of the control type (like "PID") to have its variables unhidden
*/
function set_config_entries_default_unhidden(name)
{
var config_entries_list = get_control_struct_entry(name)["config_entries_list"];
for (var obj of config_entries)
{
for (var name_val_list of config_entries_list)
{
if (name_val_list[0]==obj["name"])
{
obj["hidden"] = false;
obj["default"] = name_val_list[1];
break;
}
}
}
}
//==========================================================================
// REFERENCE FILES AND HEADER FILES
// Functions and data for the reference files that should be pulled in
//==========================================================================
// c and asm files, to be pulled in using submodules
var refFiles = {
"DCL_calcGamma": {"name":"DCL_calcGamma", "path":"../libraries/control/DCL/c28/source/DCL_calcGamma.asm", "alwaysInclude":false},
"DCL_clamp_C1": {"name":"DCL_clamp_C1", "path":"../libraries/control/DCL/c28/source/DCL_clamp_C1.asm", "alwaysInclude":false},
"DCL_clamp_L1": {"name":"DCL_clamp_L1", "path":"../libraries/control/DCL/c28/source/DCL_clamp_L1.asm", "alwaysInclude":false},
"DCL_DF11_C1": {"name":"DCL_DF11_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF11_C1.asm", "alwaysInclude":false},
"DCL_DF11_L1": {"name":"DCL_DF11_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF11_L1.asm", "alwaysInclude":false},
"DCL_DF13_C1": {"name":"DCL_DF13_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF13_C1.asm", "alwaysInclude":false},
"DCL_DF13_C2C3": {"name":"DCL_DF13_C2C3", "path":"../libraries/control/DCL/c28/source/DCL_DF13_C2C3.asm", "alwaysInclude":false},
"DCL_DF13_L1": {"name":"DCL_DF13_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF13_L1.asm", "alwaysInclude":false},
"DCL_DF13_L2L3": {"name":"DCL_DF13_L2L3", "path":"../libraries/control/DCL/c28/source/DCL_DF13_L2L3.asm", "alwaysInclude":false},
"DCL_DF22_C1": {"name":"DCL_DF22_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF22_C1.asm", "alwaysInclude":false},
"DCL_DF22_C2C3": {"name":"DCL_DF22_C2C3", "path":"../libraries/control/DCL/c28/source/DCL_DF22_C2C3.asm", "alwaysInclude":false},
"DCL_DF22_L1": {"name":"DCL_DF22_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF22_L1.asm", "alwaysInclude":false},
"DCL_DF22_L2L3": {"name":"DCL_DF22_L2L3", "path":"../libraries/control/DCL/c28/source/DCL_DF22_L2L3.asm", "alwaysInclude":false},
"DCL_DF23_C1": {"name":"DCL_DF23_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF23_C1.asm", "alwaysInclude":false},
"DCL_DF23_C2C3": {"name":"DCL_DF23_C2C3", "path":"../libraries/control/DCL/c28/source/DCL_DF23_C2C3.asm", "alwaysInclude":false},
"DCL_DF23_L1": {"name":"DCL_DF23_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF23_L1.asm", "alwaysInclude":false},
"DCL_DF23_L2L3": {"name":"DCL_DF23_L2L3", "path":"../libraries/control/DCL/c28/source/DCL_DF23_L2L3.asm", "alwaysInclude":false},
"DCL_error": {"name":"DCL_error", "path":"../libraries/control/DCL/c28/source/DCL_error.c", "alwaysInclude":false},
"DCL_frwlog": {"name":"DCL_frwlog", "path":"../libraries/control/DCL/c28/source/DCL_frwlog.asm", "alwaysInclude":false},
"DCL_futils": {"name":"DCL_futils", "path":"../libraries/control/DCL/c28/source/DCL_futils.asm", "alwaysInclude":false},
"DCL_futils32": {"name":"DCL_futils32", "path":"../libraries/control/DCL/c28/source/DCL_futils32.asm", "alwaysInclude":false},
"DCL_index": {"name":"DCL_index", "path":"../libraries/control/DCL/c28/source/DCL_index.asm", "alwaysInclude":false},
"DCL_NLPID_C3": {"name":"DCL_NLPID_C3", "path":"../libraries/control/DCL/c28/source/DCL_NLPID_C3.asm", "alwaysInclude":false},
"DCL_PI_A1": {"name":"DCL_PI_A1", "path":"../libraries/control/DCL/c28/source/DCL_PI_A1.asm", "alwaysInclude":false},
"DCL_PI_C1": {"name":"DCL_PI_C1", "path":"../libraries/control/DCL/c28/source/DCL_PI_C1.asm", "alwaysInclude":false},
"DCL_PI_C4": {"name":"DCL_PI_C4", "path":"../libraries/control/DCL/c28/source/DCL_PI_C4.asm", "alwaysInclude":false},
"DCL_PI_C7": {"name":"DCL_PI_C7", "path":"../libraries/control/DCL/c28/source/DCL_PI_C7.asm", "alwaysInclude":false},
"DCL_PI_L1": {"name":"DCL_PI_L1", "path":"../libraries/control/DCL/c28/source/DCL_PI_L1.asm", "alwaysInclude":false},
"DCL_PI_L2": {"name":"DCL_PI_L2", "path":"../libraries/control/DCL/c28/source/DCL_PI_L2.asm", "alwaysInclude":false},
"DCL_PI2_C2": {"name":"DCL_PI2_C2", "path":"../libraries/control/DCL/c28/source/DCL_PI2_C2.asm", "alwaysInclude":false},
"DCL_PID_A1": {"name":"DCL_PID_A1", "path":"../libraries/control/DCL/c28/source/DCL_PID_A1.asm", "alwaysInclude":false},
"DCL_PID_C1": {"name":"DCL_PID_C1", "path":"../libraries/control/DCL/c28/source/DCL_PID_C1.asm", "alwaysInclude":false},
"DCL_PID_C4": {"name":"DCL_PID_C4", "path":"../libraries/control/DCL/c28/source/DCL_PID_C4.asm", "alwaysInclude":false},
"DCL_PID_L1": {"name":"DCL_PID_L1", "path":"../libraries/control/DCL/c28/source/DCL_PID_L1.asm", "alwaysInclude":false},
"DCL_PID_L2": {"name":"DCL_PID_L2", "path":"../libraries/control/DCL/c28/source/DCL_PID_L2.asm", "alwaysInclude":false}
}
function getRefFilesArr()
{
var refArr = []
for (var ref in refFiles)
{
refArr.push(refFiles[ref])
}
return refArr
}
// h files, to be pulled in using c2000_libraries.h.xdt
// some of these header files have certain refFiles (asm/c files) dependencies
// NOTE: (probably) cannot move the refFilesList into the control_struct_dict since each header file references these reference files lists. If a reference file doesn't exist when the header file is imported, it may flag an error.
var headerFiles = {
"DCL": {"path":"../libraries/control/DCL/c28/include/DCL.h", "refFilesList":["DCL_error"]},
"DCLC28": {"path":"../libraries/control/DCL/c28/include/DCLC28.h", "refFilesList":["DCL_futils32","DCL_PID_A1","DCL_futils32","DCL_PI_A1"]},
"DCLCLA": {"path":"../libraries/control/DCL/c28/include/DCLCLA.h", "refFilesList":["DCL_PID_L1","DCL_PID_L2","DCL_PI_L1","DCL_PI_L2","DCL_DF11_L1","DCL_DF13_L1","DCL_DF13_L2L3","DCL_DF13_L2L3","DCL_DF22_L1","DCL_DF22_L2L3","DCL_DF22_L2L3","DCL_DF23_L1","DCL_DF23_L2L3","DCL_DF23_L2L3","DCL_clamp_L1"]},
"DCLF32": {"path":"../libraries/control/DCL/c28/include/DCLF32.h", "refFilesList":["DCL_futils","DCL_PID_C1","DCL_PID_C4","DCL_futils","DCL_PI_C1","DCL_PI_C4","DCL_PI_C7","DCL_futils","DCL_futils","DCL_DF11_C1","DCL_futils","DCL_DF13_C1","DCL_DF13_C2C3","DCL_DF13_C2C3","DCL_futils","DCL_DF22_C1","DCL_DF22_C2C3","DCL_DF22_C2C3","DCL_futils","DCL_DF23_C1","DCL_DF23_C2C3","DCL_DF23_C2C3","DCL_clamp_C1","DCL_futils"]},
"DCLF64": {"path":"../libraries/control/DCL/c28/include/DCLF64.h", "refFilesList":[]},
"DCL_fdlog": {"path":"../libraries/control/DCL/c28/include/DCL_fdlog.h", "refFilesList":["DCL_frwlog","DCL_frwlog"]},
"DCL_fdlog64": {"path":"../libraries/control/DCL/c28/include/DCL_fdlog64.h", "refFilesList":[]},
"DCL_log32": {"path":"../libraries/control/DCL/c28/include/DCL_log32.h", "refFilesList":[]},
"DCL_MLOG": {"path":"../libraries/control/DCL/c28/include/DCL_MLOG.h", "refFilesList":[]},
"DCL_MLOG32": {"path":"../libraries/control/DCL/c28/include/DCL_MLOG32.h", "refFilesList":[]},
"DCL_NLPID": {"path":"../libraries/control/DCL/c28/include/DCL_NLPID.h", "refFilesList":["DCL_futils","DCL_calcGamma","DCL_NLPID_C3"]},
"DCL_refgen": {"path":"../libraries/control/DCL/c28/include/DCL_refgen.h", "refFilesList":[]},
"DCL_refgen64": {"path":"../libraries/control/DCL/c28/include/DCL_refgen64.h", "refFilesList":[]},
"DCL_TCM": {"path":"../libraries/control/DCL/c28/include/DCL_TCM.h", "refFilesList":["DCL_index","DCL_index","DCL_index"]},
}
function getLongDescriptionConfigEntries(defaultControllerChoice)
{
var defaultLongDescName = control_struct_dict[defaultControllerChoice]["longDescName"];
var configArr = [];
for (var [c,longDescStr] of Object.entries(longDescriptionObj))
{
var hideByDefault = true;
if (c == defaultLongDescName)
{
hideByDefault = false;
}
configArr.push({
name:"longDesc_" + c,
hidden:hideByDefault,
default:"Click Question Mark for Details",
displayName:"Detailed Description",
longDescription:longDescStr,
readOnly:true
});
}
return configArr;
}
//==========================================================================
// CONTROL STRUCT LOOKUP DICTIONARY
// For each controller structure, determine which header files to use, and
// the config lookup list for this controller
//==========================================================================
var control_struct_dict = {
"PID32": {"headerFilesList":["DCL","DCLC28"], "longDescName":"PID32", "config_entries_list":PID32},
"PID_CLA": {"headerFilesList":["DCL","DCLCLA"], "longDescName":"PID", "config_entries_list":PID_CLA},
"PID": {"headerFilesList":["DCL","DCLF32"], "longDescName":"PID", "config_entries_list":PID},
"PIDF64": {"headerFilesList":["DCL","DCLF64"], "longDescName":"PID", "config_entries_list":PIDF64},
"PI32": {"headerFilesList":["DCL","DCLC28"], "longDescName":"PI32", "config_entries_list":PI32},
"PI_CLA": {"headerFilesList":["DCL","DCLCLA"], "longDescName":"PI", "config_entries_list":PI_CLA},
"PI": {"headerFilesList":["DCL","DCLF32"], "longDescName":"PI", "config_entries_list":PI},
"PI2": {"headerFilesList":["DCL","DCLF32"], "longDescName":"PI2", "config_entries_list":PI2},
"NLPID": {"headerFilesList":["DCL","DCL_NLPID"], "longDescName":"NLPID", "config_entries_list":NLPID},
"DF11_CLA": {"headerFilesList":["DCL","DCLCLA"], "longDescName":"DF11", "config_entries_list":DF11_CLA},
"DF13_CLA": {"headerFilesList":["DCL","DCLCLA"], "longDescName":"DF13", "config_entries_list":DF13_CLA},
"DF22_CLA": {"headerFilesList":["DCL","DCLCLA"], "longDescName":"DF22", "config_entries_list":DF22_CLA},
"DF23_CLA": {"headerFilesList":["DCL","DCLCLA"], "longDescName":"DF23", "config_entries_list":DF23_CLA},
"DF11": {"headerFilesList":["DCL","DCLF32"], "longDescName":"DF11", "config_entries_list":DF11},
"DF13": {"headerFilesList":["DCL","DCLF32"], "longDescName":"DF13", "config_entries_list":DF13},
"DF22": {"headerFilesList":["DCL","DCLF32"], "longDescName":"DF22", "config_entries_list":DF22},
"DF23": {"headerFilesList":["DCL","DCLF32"], "longDescName":"DF23", "config_entries_list":DF23},
"DF22F64": {"headerFilesList":["DCL","DCLF64"], "longDescName":"DF22", "config_entries_list":DF22F64},
}
function getHeaderFilesList(controlStruct)
{
return control_struct_dict[controlStruct]['headerFilesList'];
}
function getOptIncludePaths(controlStruct)
{
var headerFilesList = control_struct_dict[controlStruct]['headerFilesList'];
var includePathList = []
for (var i in headerFilesList)
{
var headerFileName = headerFilesList[i];
var headerFileObj = headerFiles[headerFileName];
var headerFilePath = headerFileObj["path"];
var includePath = headerFilePath.split("/").slice(0,-1).join("/");
if (!(includePathList.includes(includePath)))
{
includePathList.push(includePath);
}
}
return includePathList;
}
function getRefFilesModuleArrFromControlStruct(controlStruct)
{
if (controlStruct.length === 0)
{
return [];
}
var arr = [];
var headerFilesList = control_struct_dict[controlStruct]['headerFilesList'];
var pathToDynamicJsFiles = "/libraries/control/dcl/templates/dynamic_mods/"
for (var i in headerFilesList)
{
var h = headerFilesList[i]
var refFilesList = headerFiles[h]['refFilesList'];
for (var j in refFilesList)
{
var refFileName = refFilesList[j]
var moduleNamePath = pathToDynamicJsFiles + refFileName + "_dynamic.js"
// if it hasn't been added yet, add it
var alreadyInArray = arr.some(el => refFileName === el["name"])
if (!alreadyInArray)
{
arr.push({
name:refFileName,
moduleName:moduleNamePath,
});
}
}
}
// all available Sysconfig devices use at least FPU32, and so require FPU.js to be included
arr.push({name:"fpu", moduleName:"/libraries/.meta/math/FPU/FPU.js", hidden:false});
return arr;
}
/**
* Get the full control_struct_dict, which has every control structure
* @returns {dict} control_struct_dict, which contains each control stucture
* type, the header/asm files, and the corresponding config_entries_list
*/
function get_control_struct_dict()
{
return control_struct_dict;
}
/**
* Get a specific control_struct_dict entry by name.
* @param {string} name - The name of the control structure to return (like "PID32")
* @returns A specific control_struct_dict entry
*/
function get_control_struct_entry(name)
{
return control_struct_dict[name];
}
//==========================================================================
// DROPDOWN TO CONTROL STRUCTURE DICTIONARY
// List the displayName and control structures (like "PIDF64") available for
// each dropdown option (controller, precision, and accelerator).
//==========================================================================
var dropdown_to_controlstruct_dict = {
"controller":{
"PID":{
"displayName": "PID",
"structAvail":["PID32","PID_CLA","PID","PIDF64"]
},
"PI":{
"displayName": "PI",
"structAvail":["PI32","PI_CLA","PI"]
},
"PI2":{
"displayName": "PI\xB2",
"structAvail":["PI2"]
},
"NLPID":{
"displayName": "Non-Linear PID",
"structAvail":["NLPID"]
},
"DF11":{
"displayName": "Direct-Form 1, 1st Order",
"structAvail":["DF11","DF11_CLA"]
},
"DF13":{
"displayName": "Direct-Form 1, 3rd Order",
"structAvail":["DF13","DF13_CLA"]
},
"DF22":{
"displayName": "Direct-Form 2, 2nd Order",
"structAvail":["DF22","DF22_CLA","DF22F64"]
},
"DF23":{
"displayName": "Direct-Form 2, 3rd Order",
"structAvail":["DF23","DF23_CLA"]
},
},
"precision":{
"FIXED":{
"displayName": "Fixed-Point (32-bit)",
"structAvail":["PID32","PI32"]
},
"F32":{
"displayName": "Floating-Point (32-bit)",
"structAvail":["PID_CLA","PID","PI_CLA","PI","PI2","NLPID","DF11","DF11_CLA","DF13","DF13_CLA","DF22","DF22_CLA","DF23","DF23_CLA"]
},
"F64":{
"displayName": "Floating-Point (64-bit)",
"structAvail":["PIDF64","DF22F64"]
}
},
"accelerator": {
"NONE":{
"displayName": "NONE",
"structAvail":["PID32","PID","PIDF64","PI32","PI","PI2","NLPID","DF11","DF13","DF22","DF23","DF22F64"]
},
// "CLA":{
// "displayName": "Control Law Accelerator (CLA)",
// "structAvail":["PID_CLA","PI_CLA","DF11_CLA","DF13_CLA","DF22_CLA","DF23_CLA"]
// }
}
}
// check FPU and TMU support
var fpu_types = fpu_obj.filter(fpu_or_tmu_list => fpu_or_tmu_list.name === "fpuType")[0].options;
var tmu_types = fpu_obj.filter(fpu_or_tmu_list => fpu_or_tmu_list.name === "tmuType")[0].options;
var fpu64_supported = false;
var tmu1_supported = false;
if (fpu_types.length >= 2) {
// 2 options available means that both FPU32 (all Sysconfig devices) and FPU64 (some Sysconfig devices) are supported
fpu64_supported = true;
}
if (tmu_types.filter(tmu_obj => tmu_obj.name === "TMU1").length > 0) {
// look for TMU1 support from FPU.js
tmu1_supported = true;
}
// remove certain options depending on FPU/TMU support available
// (don't remove F64 since it can technically be used with FPU32 processor, but with degraded performance)
if (!tmu1_supported) {delete dropdown_to_controlstruct_dict["controller"]["NLPID"];}
//==========================================================================
// STRUCTURES AVAILABLE PER DEVICE
// List the device GPN and control structures (like "PIDF64") available for
// each device. Some devices don't have FPU64 (which would prevent *64
// usage), and some don't have TMU1 (which would prevent NLPID usage)
//==========================================================================
// start with a list of structures available on all devices (devices with at least C28x and FPU32)
var structs_avail_per_device = ["PID32","PID","PIDF64","PI32","PI","PI2",/*"NLPID",*/"DF11","DF13","DF22","DF23","DF22F64"];
// add TMU1 entries if there is "TMU1" available
// NLPID only available on devices with TMU1 (like F28002x and F28003x)
if (tmu1_supported) {structs_avail_per_device = structs_avail_per_device.concat(["NLPID"]);}
/**
*
*/
function intersect(a, b) {
var setA = new Set(a);
var setB = new Set(b);
var intersection = new Set([...setA].filter(x => setB.has(x)));
return Array.from(intersection);
}
/**
* Get the controllerChoice options to be displayed within Sysconfig
* @returns list of dicts with {name, displayName} entries for each control option
*/
function get_dropdown_list(list_name)
{
var l = [];
for (var opt in dropdown_to_controlstruct_dict[list_name])
{
l.push({name:opt, displayName:dropdown_to_controlstruct_dict[list_name][opt]['displayName']});
}
return l;
}
function get_struct_options(dropdown_choices_dict)
{
var all_controlstruct_lists = []
// using the list of options, get a list of structures available for each option (like "precision==FPU64")
for (var accelerator in dropdown_choices_dict)
{
var choice = dropdown_choices_dict[accelerator];
all_controlstruct_lists.push(dropdown_to_controlstruct_dict[accelerator][choice]['structAvail']);
}
// now get the options that are device specific (like TMU1 or FPU64 availability)
all_controlstruct_lists.push(structs_avail_per_device);
// find the intersection of a bunch of lists, returns elements that are in all lists
// make the first list the starting array
var intersection = all_controlstruct_lists[0];
// get intersection of all the other lists and the first one
for (var i = 1; i < all_controlstruct_lists.length; i++)
{
intersection = intersect(intersection,all_controlstruct_lists[i]);
}
return intersection;
// return intersection
}
function getModuleDataObj(inst)
{
var controllerChoice = inst.structDisplay;
var type = controllerChoice;
var defaultsListName = controllerChoice+'_DEFAULTS';
// the following 4 controllers prepend DCL_ to their *_DEFAULTS list, so do the same here
if(['PI32','PID32','REFGEN','REFGEN64'].includes(controllerChoice))
{
defaultsListName = 'DCL_'+defaultsListName;
}
var configEntriesList = get_control_struct_entry(controllerChoice)["config_entries_list"];
var configEntriesVals = [];
// create parameter,val pairs in lists, like [Ki,0]
for (var j in configEntriesList)
{
configEntriesVals.push ([
configEntriesList[j][0],
inst[configEntriesList[j][0]]
]);
}
var resData = {
"controllerChoice":controllerChoice,
"type":type,
"defaultsListName":defaultsListName,
"instName":inst.$name,
"configEntriesVals":configEntriesVals,
};
return resData;
}
//==========================================================================
// EXPORTS
// Export all of the functions so variables/structures can be accessed
// in other .js files
//==========================================================================
exports = {
get_config_entries_list : get_config_entries_list,
get_config_entry : get_config_entry,
set_config_entries_default_unhidden : set_config_entries_default_unhidden,
get_control_struct_dict : get_control_struct_dict,
get_control_struct_entry : get_control_struct_entry,
get_dropdown_list : get_dropdown_list,
get_struct_options : get_struct_options,
getRefFilesArr: getRefFilesArr,
getRefFilesModuleArrFromControlStruct: getRefFilesModuleArrFromControlStruct,
getOptIncludePaths:getOptIncludePaths,
getHeaderFilesList:getHeaderFilesList,
getModuleDataObj:getModuleDataObj,
get_default_param_val:get_default_param_val,
getLongDescriptionConfigEntries:getLongDescriptionConfigEntries,
fpu64_supported:fpu64_supported,
tmu1_supported:tmu1_supported
}
C2000Ware/libraries/.meta/control/dcl/controller_longdesc.js
+734
View File
@@ -0,0 +1,734 @@
var longDescriptionObj = {
//*************************************************************************/
// PID
//*************************************************************************/
"PID":
`# ***Linear PID Controllers***
The basic controller type described here is a linear PID. The PID implementations in the
DCL include several features not commonly found in basic PID designs, and this
complexity is reflected the benchmark figures. Applications which do not require
derivative action, or are more sensitive to cycle efficiency, may be better served by the
simpler PI controller structure described in the next section.
***NOTE***: The DCL contains one implementation of a linear PID controller in double precision
floating point form. This controller may be used with the FPU32 CPU, however support
for the double precision data type currently relies on the run time support libraries which
are not cycle efficient. The structure of the controller is identical to the PID_C1 & PID_C2
controllers described earlier in this chapter. Support functions for PIDF64 do not currently
include the ability to load the controller from transfer function coefficient or ZPK3
descriptions.
PID control is widely used in systems which employ output feedback control. In such
systems, the controlled output is measured and fed back to a summing point where it is
subtracted from the reference input. The difference between the reference and feedback
corresponds to the control loop error and forms the input to the PID controller.
Conceptually, the PID controller output is the parallel sum of three paths which act
respectively on the error, error integral, and error derivative. The relative weight of each
path may be adjusted by the user to optimize transient response, or to emulate the
behavior of a specified transfer function expressed in terms of its poles and zeros.
*Figure: Parallel form PID controller*
![](../../libraries/.meta/control/dcl/images/figures_scaled/Parallel_form_PID_controller-Figure5.png)
The diagram above shows the structure of a continuous time parallel PID controller. The
output of this controller is captured in the following equation:
![](../../libraries/.meta/control/dcl/images/PID_Equation-2.svg)
Conceptually, the controller comprises three separate paths connected in parallel. The
upper path contains an adjustable gain term (Kp). Its effect is to fix the open loop gain of
the control system. Since loop gain is proportional to this term, Kp is known as
proportional gain.
A second path contains an integrator which accumulates error history. A separate gain
term acts on this path. The output of the integral path changes continuously as long as a
non-zero error (e) is present at the controller input. A small but persistent servo error has
the effect of driving the output of the integrator such that the loop error will eventually
disappear. The principal effect of the integral path is therefore to eliminate steady state
error. The effect of the integral gain term is to change the rate at which this happens.
Integral action is especially important in applications such as electronic power supplies,
which must maintain accurate regulation over long periods of time.
The third path contains a differentiator. The output of this path is large whenever the rate
of change of the error is large. The principal effects of the derivative action are to damp
oscillation and reduce transients.
The operation of the PID controller can be visualized in terms of the transient error
following a step change of set-point.
*Figure: PID control action*
![](../../libraries/.meta/control/dcl/images/figures_scaled/PID_control_action-Figure6.png)
The figure above shows the action of the PID controller in terms of the control loop error
at time t1. The proportional term contributes a control effort which is proportional to the
instantaneous loop error. The output of the integral path is the accumulated error history:
the shaded area in the lower plot. The contribution of the derivative path is proportional to
the rate of change of the loop error. Derivative gain fixes the time interval over which a
tangential line to the error curve is projected forward in time.
Tuning the PID controller is a matter of finding the optimum combination of these three
effects. This in turn means finding the best balance of the three gain terms. For more
information on PID control & tuning, see the references in section 6.1.
The PID shown above is known as the “parallel” form because the three controller gains
appear in separate parallel paths. A slightly different PID architecture in which the
proportional gain is moved into the output path (i.e. after the summing point), so that the
proportional path becomes a direct connection between the controller input and the
summing point, is known as the “series” or “ideal” form. In the ideal form, the open loop
gain is directly influenced by the proportional controller gain, and there is less interaction
between the controller gains. However the proportional gain cannot be zero (since the
loop would be opened), and to maintain good control cannot be small. The parallel form
allows the proportional gain to be small, however there is slightly more interaction
between the controller gains, complicating the tuning process. The DCL contains both
ideal and parallel PID functions.
## ***Implementation***
The linear PID controllers in the DCL include the following features:
* Parallel and ideal forms
* Programmable output saturation
* Independent reference weighting on proportional path
* Anti-windup integrator reset
* Programmable low-pass derivative filter
* External saturation input for integrator anti-windup
* Adjustable output saturation
It is important to note that the controller sample period is not accounted for in the selection
of integral gain (Ki). This is relevant when computing the integral gain as opposed to
manual tuning against a transient response, for example. In such situations, users must
multiply the computed integral gain by the sample period before loading Ki (either directly
or through the SPS). The element T in the CSS sub-structure can be used to store the
sample period for this purpose.
All PID type controllers in the library implement integrator anti-windup reset in a similar
way. A clamp is present at the controller output which allows the user to set upper and
lower limits on the control effort. If either limit is exceeded, an internal floating-point
controller variable changes from 1.0 to 0.0. This variable is multiplied by the integrator
input, such that the integrator accumulates zero data only when the output is saturated,
thus preventing the well-known “wind-up” phenomenon.
The PID controllers in the library make provision for anti-windup reset to be triggered from
an external part of the loop. This is useful in situations where a component outside the
controller may be saturated. The floating-point variable lk is expected to be either 1.0 or
0.0 in the normal and saturated conditions respectively. If this feature is not required, the
functions should be called with the lk argument set to 1.0. Note that all the controllers
here require non-zero proportional gain to recover from loop saturation.
The derivative PID path includes a digital low-pass filter to avoid amplification of unwanted
high frequency noise. The filter implemented here is a simple first order lag filter
(with differentiator), converted into discrete form using the Tustin transform. Referring to
Figure 6, the difference equation of the filtered differentiator is
![](../../libraries/.meta/control/dcl/images/PID_Equation-3.svg)
The temporary storage elements d2 & d3 must be preserved from the (k - 1)th interval, so
the following must be computed after the differentiator update.
![](../../libraries/.meta/control/dcl/images/PID_Equation-4.svg)
![](../../libraries/.meta/control/dcl/images/PID_Equation-5.svg)
The derivative filter coefficients are
![](../../libraries/.meta/control/dcl/images/PID_Equation-6.svg)
![](../../libraries/.meta/control/dcl/images/PID_Equation-7.svg)
Both the sample period (T) and filter time constant (tau) must be determined by the user.
The time constant is the reciprocal of the desired filter bandwidth in radians per second.
All linear PID controller functions use a common C structure to hold coefficients and data.
Refer to the header file DCLF32.h for details of the DCL_PID controller structure.
The library PID controller architectures are shown below:
*Figure: DCL_PID C1, C2, & L1 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_PID_C1_C2_L1_architecture-Figure7.png)
*Figure: DCL_PID C3, C4, & L2 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_PID_C3_C4_L2_architecture-Figure8.png)
`,
//*************************************************************************/
// PI
//*************************************************************************/
"PI":
`# ***Linear PI Controllers***
The continuous time parallel PI control equation is
![](../../libraries/.meta/control/dcl/images/PI_Equation-8.svg)
The linear PI controllers in the DCL differ from the PID in the following respects.
* Removal of derivative path
* Removal of set-point weighting
* No provision for external saturation input
In all other respects, the PI controllers are similar to the PID controllers.
## ***Implementation***
All linear PI controller functions use a common C structure to hold coefficients and data,
defined in the header files DCLF32.h and DCLCLA.h.
The PI controller architectures are shown in the following diagrams.
*Figure: DCL_PI C1, C2, L1, & L3 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_PI_C1_C2_L1_L3_architecture-Figure9.png)
*Figure: DCL_PI C3, C4, L2 & L4 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_PI_C3_C4_L2_L4_architecture-Figure10.png)
*Figure: DCL_PI C5 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_PI_C5_architecture-Figure11.png)
Note that the C5 parallel form PI controller contains enhanced anti-windup reset logic which allows the
integral path to recover from saturation even when the proportional gain is zero.
*Figure: DCL_PI C6, C7, & L5 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_PI_C6_C7_L5_architecture-Figure12.png)
The C6, C7, & L5 controllers combine a series form PI with a Tustin integrator. This configuration
is best suited to applications in which the controller gains are selected on the basis of high
frequency loop gain and zero frequency, because Kp and Ki are effectively un-coupled in the
series form controller. Furthermore the Tustin integrator has fixed 90 degree phase lag at all
frequencies below the Nyquist limit, simplifying design of the compensator.
`,
//*************************************************************************/
// NLPID
//*************************************************************************/
"NLPID":
`# ***Non-linear PID Controller***
The DCL includes two implementations of a non-linear PID controller, denoted NLPID.
The controllers are broadly similar to the ideal PID_C1 controller, except that there is no
set-point weighting and in one case the derivative path sees the servo error instead of the
feedback. A non-linear gain block appears in series with each of the three paths.
To improve computational efficiency, the non-linear law is separated into two parts: one
part which is common to all paths, and a second part which contains terms specific to
each path. The non-linear part of the high-level controller structure is shown below:
*Figure: DCL_NLPID C1 input architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_NLPID_C1_input_architecture-Figure13.png)
The linear part of the DCL_NLPID_C1 controller is shown below:
*Figure: DCL_NLPID C1 output architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_NLPID_C1_output_architecture-Figure14.png)
*Figure: DCL_NLPID C2 & C3 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_NLPID_C2_C3_architecture-Figure15.png)
The non-linear control law is based on a power function of the modulus of the servo error,
with a linearized region about the zero error point. In the equation below, x represents the
input to the control law, y, the output, and "ALPHA" is a user selectable exponent representing
the degree of non-linearity.
![](../../libraries/.meta/control/dcl/images/NLPID_Equation-9.svg)
The following plot shows the x-y relationship for values of "ALPHA" between 0.2 and 2. Notice
that the curves intersect at x = 0, and x = ±1.
*Figure: Non-linear control law input-output plot*
![](../../libraries/.meta/control/dcl/images/figures_scaled/Non-linear_control_law_input-output_plot-Figure16.svg)
The gain of the control law is the slope of the x-y curve. Observe that with "ALPHA" = 1 the
control is linear with unity gain. With "ALPHA" > 1 the gain is zero when x = 0, and increases as x
increases. In the controller, a value of "ALPHA" in this range produces controller gain which
increases with increasing control error. With 0 < "ALPHA" < 1 the gain at x = 0 is infinite, and falls
as x increases. This range of "ALPHA" setting produces controller gain which decreases with
increasing servo error.
The plots below show the gain vs. control loop error curves for different values of "ALPHA".
Notice particularly the singularity at x = 0 when "ALPHA" < 1.
*Figure: Gain vs error curves for varying alpha*
![](../../libraries/.meta/control/dcl/images/figures_scaled/Gain_vs_error_curves_for_varying_alpha-Figure17.png)
The presence of zero or infinite gain at the zero control error point leads to practical
difficulties. With "ALPHA" > 1 the response becomes sluggish for small errors; with "ALPHA" < 1 it is
common to encounter oscillation or “chattering” near steady-state. These issues can be
overcome by limiting the controller gain in a region close to x = 0. This is done by
modifying the control law to introduce a user selectable region about x = 0 with linear gain
is applied. The non-linear control law becomes
![](../../libraries/.meta/control/dcl/images/NLPID_Equation-10.svg)
When the magnitude of servo error falls below δ the linear gain is applied, otherwise the
gain is determined by the non-linear law. For computational efficiency, we pre-compute
the gain in the linear region ("GAMMA") as follows.
![](../../libraries/.meta/control/dcl/images/NLPID_Equation-11.svg)
A typical plot of the linearized control law is shown below. Observe that when x = δ the
linear and non-linear curves intersect, so the controller makes a smooth transition
between the linear and non-linear regions as the servo error passes through x = ±δ.
*Figure: NLPID linearized region*
![](../../libraries/.meta/control/dcl/images/figures_scaled/NLPID_linearized_region-Figure18.png)
In addition to the P, I, and D gains, the user must select two additional terms in each
control path: "ALPHA" and δ. The library includes a separate function to compute and update "GAMMA"
for each path using the SPS structure. The use must initialize "GAMMA" parameters before calling
the NL controllers.
The NLPID controller has been seen to provide significantly improved control in many
cases, however it must be remembered that increased gain, even if only applied to part of
the control range, can lead to significantly increased output from the controller. In most
cases, this 'control effort' is limited by practical factors such as actuator saturation, PWM
modulation range, and so on. The corollary is that not every application benefits equally
from the use of non-linear control and some may see no benefit at all. In cases where
satisfactory performance cannot be achieved through the use of linear PID control, the
user is advised to start with all "ALPHA" = 1, and experiment by introducing non-linear terms
gradually while monitoring both control performance and the magnitude of the control
effort. In general, P and I paths benefit from increased gain at high servo error ("ALPHA" > 1),
while the D path benefits from reduced gain at high servo error ("ALPHA" < 1), but this is not
universally true. Further information on tuning the nonlinear PID controller can be found
in the Nonlinear PID Controller Tuning Guide in the \docs directory of the DCL.
Further information on this control law can be found in: “From PID to Active Disturbance
Rejection Control”, Jingqing Han, IEEE TRANSACTIONS ON INDUSTRIAL
ELECTRONICS, VOL. 56, NO. 3, MARCH 2009
## ***Implementation***
The NLPID controller uses a C structure to hold coefficients and data, defined in the
header file DCL_NLPID.h. Note that the NLPID functions make use of the pow()
function in the standard C library. For this reason the header file math.h must be
included, which is not supported by the CLA compiler. To allow different DCL functions to
be run on both the CPU and CLA in the same program, the NLPID functions are located in
a separate header file. Refer to the file DCL_NLPID.h for details of the NLPID controller
structure.
`,
//*************************************************************************/
// DF11
//*************************************************************************/
"DF11":
`# ***Direct Form 1 (First Order) Compensators***
The DCL includes one first order compensator in Direct Form 1. The DF11 compensator
implements a first order, or “simple lag”, type frequency response. The general form of
discrete time first order transfer function is
![](../../libraries/.meta/control/dcl/images/DF11_Equation-12.svg)
Denominator coefficients must be normalized accordingly. The corresponding difference
equation is
![](../../libraries/.meta/control/dcl/images/DF11_Equation-13.svg)
A diagrammatic representation of the DF11 is shown below:
*Figure: DCL_DF11 C1, C2, & L1 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_DF11_C1_C2_L1_architecture-Figure21.png)
## ***Implementation***
All DF11 functions use a common C structure to hold coefficients and data, defined in the
header files DCLF32.h and DCLCLA.h.
`,
//*************************************************************************/
// DF13
//*************************************************************************/
"DF13":
`# ***Direct Form 1 (Third Order) Compensators***
The Direct Form 1 (DF1) structure is a common type of discrete time control structure
used to implement a control law or dynamical system model specified either as a polezero
set, or as a rational polynomial in z (i.e. a discrete time transfer function). The DCL
includes one third order DF1 compensator, denoted “DF13”.
In general, the Direct Form 1 structure is less numerically robust than the Direct Form 2
(see below), and for this reason users are encouraged to choose the latter type whenever
possible. However, the DCL_DF13 structure is very common in digital power supplies
and for that reason is included in the library. The same function supports a second order
control law after the superfluous coefficients (a3 & b3) have been set to zero.
The general form of third order transfer function is
![](../../libraries/.meta/control/dcl/images/DF13_Equation-14.svg)
Notice that the coefficients have been adjusted to normalize the highest power of z in the
denominator. There is no notational standard for numbering of the controller coefficients;
the notation used here has the advantage that the coefficient suffixes are the same as the
delay line elements and this helps with clarity of the assembly code, however other
notations may be found in the literature. The corresponding difference equation is
![](../../libraries/.meta/control/dcl/images/DF13_Equation-15.svg)
The DF13 controller uses two, three-element delay lines to store previous input and
output data required to compute u(k). A diagrammatic representation is shown below.
*Figure: DCL_DF13 C1, C4, & L1 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_DF13_C1_C4_L1_architecture-Figure22.png)
The DF13 control law consists of seven multiplication operations which yield seven partial
products, and six addition or subtraction operations which combine the partial products to
obtain the compensator output, u(k). When implemented in this way, the control law is
referred to as the “full” DF13 form.
The DF13 control law can be re-structured to reduce control latency by pre-computing six
of the seven partial products which are already known in the previous sample interval.
The control law is then broken into two parts: the “immediate” part and the “partial” part.
The advantage of doing this is to reduce the “sample-to output” delay, or the time between
e(k) being sampled, and a corresponding u(k) becoming available. By partially precomputing
the control law, the computation delay can be reduced to one multiplication
and one addition.
In the kth interval, the immediate part is computed.
![](../../libraries/.meta/control/dcl/images/DF13_Equation-16.svg)
Next, the v(k) partial result is pre-computed for use in the (k+1)th interval.
![](../../libraries/.meta/control/dcl/images/DF13_Equation-17.svg)
Structurally, the pre-computed control law can be drawn as below:
*Figure: DCL_DF13 C2, C3, C5, C6, L2, & L3 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_DF13_C2_C3_C5_C6_L2_L3_architecture-Figure23.png)
The pre-computed structure allows the controller output (u(k)) to be used as soon as it is
computed. The remaining terms in the third order control law do not involve the newest
input e(k) and therefore do not affect u(k). These terms can be computed after u(k) has
been applied to the control loop and the input-output latency of the controller is therefore
reduced.
A further benefit of the pre-computed structure is that it allows the control effort to be
clamped after the immediate part. Computation of the pre-computed part can be made
dependent on the outcome of the clamp such that if u(k) matches or exceeds the clamp
limits there is no point in pre-computing the next partial control variable and the
computation can be avoided. The DCL includes three clamp functions intended for this
purpose.
## ***Implementation***
All DF13 functions use a common C structure to hold coefficients and data, defined in the
header files DCL.h and DCLCLA.h.
The assignment of coefficients and data in the DCL_DF13 structure to those in the
diagram is shown below:
*Figure: DCL_DF13 data & coefficient layout*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_DF13_data_coefficient_layout-Figure24.png)
To implement a full DF13 controller, the user might call:
uk = DCL_runDF13_C1(&df13, ek);
…where ek and uk are the controller input and output respectively, and df13 is the
controller structure.
To implement a pre-computed DF13 controller, the user might call:
uk = DCL_runDF13_C2(&df13, ek, vk);
vk = DCL_runDF13_C3(&df13, ek, uk);
...where vk is an intermediate float variable. This arrangement allows the user to make
use of the output immediately by placing instructions between the two lines above to use
the newest value of uk.
For applications where it is necessary to restrict the output of the compensator, a clamp
function can be used as follows.
uk = DCL_runDF13_C2(&df13, ek, vk);
s = DCL_runClamp_C1(&uk, upperLim, lowerLim);
if (0U == s)
{
vk = DCL_runDF13_C3(&df13, ek, uk);
}
The clamp function limits the controller output to lie between “lowerLim” and “upperLim”
and sets the unsigned integer “s” to 1 is that range is exceeded. The pre-computed part
of the controller will only be executed when the immediate result is in range.
`,
//*************************************************************************/
// DF22
//*************************************************************************/
"DF22":
`# ***Direct Form 2 (Second Order) Compensators***
The C2000 Digital Controller Library contains a second order implementation of the Direct
Form 2 controller structure, denoted “DCL_DF22”. This structure is sometimes referred to
as a “bi-quad” filter and is commonly used in a cascaded chain to build up digital filters of
high order.
***NOTE***: From version 3.4, the DCL contains support for the DF22 compensator in double precision
floating point. The controller architecture is identical to that described in section 3.8 so
the details need not be repeated here. One full controller and a pair of functions to
support a pre-computed controller are implemented. There are also 'reset' and 'update'
functions, and a double precision clamp function. Other single precision
functions to support coefficient calculation are not implemented at this time.
The transfer function of a second order discrete time compensator is
![](../../libraries/.meta/control/dcl/images/DF22_Equation-18.svg)
The corresponding difference equation is
![](../../libraries/.meta/control/dcl/images/DF22_Equation-19.svg)
A diagrammatic representation of the full Direct Form 2 realization is shown below:
*Figure: DCL_DF22 C1, C4,L1, & L4 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_DF22_C1_C4_L1_L4_architecture-Figure25.png)
As with the DCL_DF13 compensator, sample-to-output delay can be reduced through the
use of pre-computation. The immediate and pre-computed control laws are as follows. In
the kth interval, the immediate part is computed
![](../../libraries/.meta/control/dcl/images/DF22_Equation-20.svg)
Next, the v(k) partial result is pre-computed for use in the (k+1)th interval.
![](../../libraries/.meta/control/dcl/images/DF22_Equation-21.svg)
The pre-computed form of DCL_DF22 is shown in the following diagrams.
*Figure: DCL_DF22 C2, C5, & L2 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_DF22_C2_C5_L2_architecture-Figure26.png)
*Figure: DCL_DF22 C3, C6, & L3 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_DF22_C3_C6_L3_architecture-Figure27.png)
Notice that pre-computation is a little different from the Direct Form 1 case because the
intermediate value exists as one of the internal states and is therefore automatically
stored as “x1” in the DCL_DF22 structure. Therefore it is not necessary to create a
separate variable to store v(k).
## ***Implementation***
All DF22 functions use a common C structure to hold coefficients and data, defined in the
header file DCL.h and DCLCLA.h.
`,
//*************************************************************************/
// DF23
//*************************************************************************/
"DF23":
`# ***Direct Form 2 (Third Order) Compensators***
The third order Direct Form 2 compensator (DF23) is similar in all respects to the DF22
compensator. Separate full and pre-computed forms are supplied in C and assembly for
computation on the FPU32, and in assembly for computation on the CLA.
The control law is the same as the DF13 compensator.
![](../../libraries/.meta/control/dcl/images/DF23_Equation-23.svg)
A diagrammatic representation of the full third order Direct Form 2 compensator is shown
below:
*Figure: DCL_DF23 C1, C4, & L1 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_DF23_C1_C4_L1_architecture-Figure28.png)
Sample-to-output delay can be reduced through the use of pre-computation, in a similar
way to the DF22 compensator. In the kth interval, the immediate part is computed.
![](../../libraries/.meta/control/dcl/images/DF23_Equation-24.svg)
Next, the v(k) partial result is pre-computed for use in the (k+1)th interval.
![](../../libraries/.meta/control/dcl/images/DF23_Equation-25.svg)
The pre-computed form of DF23 is shown in the following diagrams:
*Figure: DCL_DF23 C2, C5, & L2 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_DF23_C2_C5_L2_architecture-Figure29.png)
*Figure: DCL_DF23 C3, C6, & L3 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_DF23_C3_C6_L3_architecture-Figure30.png)
## ***Implementation***
All DF23 functions use a common C structure to hold coefficients and data, defined in the header
file DCL.h. and DCLCLA.h.
`,
//*************************************************************************/
// PID32
//*************************************************************************/
"PID32":
`# ***Fixed-Point PID Controllers***
The DCL contains one implementation of a parallel form fixed-point PID controller. The
structure is similar to the floating-point C1 controller.
The linear PID controller in the DCL32 includes the following features.
* Parallel form
* Programmable output saturation
* Anti-windup integrator reset
* Programmable low-pass derivative filter
* Feedback input to derivative path
Both PID and PI type controllers in the DCl32 library implement integrator anti-windup
reset in a similar way. A clamp is present at the controller output which allows the user to
set upper and lower limits on the control effort. If either limit is exceeded, an internal
floating-point controller variable changes from logical 1 to logical 0. This variable is
converted into Q24 format and multiplied by the integrator input, such that the integrator
accumulates successive zero data when the output is saturated, avoiding the “wind-up”
phenomenon.
The following equations describe the implementation of the PID32 controller. Note that
the storage of static variables {i14 i10 d2 d3} is not shown.
The servo error equation is
![](../../libraries/.meta/control/dcl/images/PID32_Equation-26.svg)
The proportional path equation is
![](../../libraries/.meta/control/dcl/images/PID32_Equation-27.svg)
The integral path equations are
![](../../libraries/.meta/control/dcl/images/PID32_Equation-28.svg)
![](../../libraries/.meta/control/dcl/images/PID32_Equation-29.svg)
![](../../libraries/.meta/control/dcl/images/PID32_Equation-30.svg)
The derivative path equations are
![](../../libraries/.meta/control/dcl/images/PID32_Equation-31.svg)
![](../../libraries/.meta/control/dcl/images/PID32_Equation-32.svg)
![](../../libraries/.meta/control/dcl/images/PID32_Equation-33.svg)
![](../../libraries/.meta/control/dcl/images/PID32_Equation-34.svg)
Note that the derivative coefficient c1 must be divided by two on initialization. This
element is typically much larger than c2 so we enter half its value in the code and multiply
twice. This allows greater numerical range for a given Q-format.
The output path equations are
![](../../libraries/.meta/control/dcl/images/PID32_Equation-35.svg)
![](../../libraries/.meta/control/dcl/images/PID32_Equation-36.svg)
![](../../libraries/.meta/control/dcl/images/PID32_Equation-37.svg)
![](../../libraries/.meta/control/dcl/images/PID32_Equation-38.svg)
![](../../libraries/.meta/control/dcl/images/PID32_Equation-39.svg)
The DCL_PID32 implementation is shown below:
*Figure: DCL_PID32 A1 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_PID32_A1_architecture-Figure31.png)
The linear PID_A1 controller uses a C structure to hold coefficients and data, defined in
the header file DCLC28.h. The order of these structure elements must not be changed
by the user.
`,
//*************************************************************************/
// PI32
//*************************************************************************/
"PI32":
`# ***Fixed-Point PI Controllers***
The DCL contains one implementation of a fixed-point series form PI controller. The PI is
similar in operation to the PID controller, with the removal of the derivative path.
## ***Implementation***
The following equations describe the implementation of the PI32 controller.
![](../../libraries/.meta/control/dcl/images/PI32_Equation-40.svg)
![](../../libraries/.meta/control/dcl/images/PI32_Equation-41.svg)
![](../../libraries/.meta/control/dcl/images/PI32_Equation-42.svg)
![](../../libraries/.meta/control/dcl/images/PI32_Equation-43.svg)
![](../../libraries/.meta/control/dcl/images/PI32_Equation-44.svg)
![](../../libraries/.meta/control/dcl/images/PI32_Equation-45.svg)
![](../../libraries/.meta/control/dcl/images/PI32_Equation-46.svg)
![](../../libraries/.meta/control/dcl/images/PI32_Equation-47.svg)
![](../../libraries/.meta/control/dcl/images/PI32_Equation-48.svg)
The ideal form PI implementation is shown below:
*Figure: DCL_PI A1 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_PI_A1_architecture-Figure32.png)
The linear PI controller uses a C structure to hold coefficients and data, defined in the
header file DCLC28.h. The order of these structure elements must not be changed by
the user.
`,
//*************************************************************************/
// PI2
//*************************************************************************/
"PI2":
`# ***Double Integrator PI Controller***
The DCL contains one implementation of a linear PI controller having two series
integrators. This type of controller is similar to the parallel PI controller
except that the anti-windup reset logic is more complicated.
In this controller, allowance has been made for the Kp element to be zero. This scenario
presents a problem if the controller enters saturation because without the proportional
path there is no way to recover. The PI2 resolves this by releasing the anti-windup lock
when the integrator input reverses sign. The logic has to be implemented twice, since
there are two cascaded integrators. Similar anti-windup reset logic is present in the
PI_C5 controller.
## ***Implementation***
The double integrator PI2 controller uses a C structure to hold coefficients and data,
defined in the header file DCLF32.h.
The PI2 implementation is shown below:
*Figure: DCL_PI2 C1 architecture*
![](../../libraries/.meta/control/dcl/images/figures_scaled/DCL_PI2_C1_architecture-Figure20.png)
`,
}
function get_longDescriptionObj()
{
return longDescriptionObj;
}
exports = {
get_longDescriptionObj:get_longDescriptionObj,
}
C2000Ware/libraries/.meta/control/dcl/images/DF11_Equation-12.svg
+41
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