DSP编程 做实验的思路？大家帮忙看看对不对？

/*

 使用epwm6A 产生pwm波，并且触发ADC 采样 ADCA0（就是板子上外扩的那个点位器的电压）

 */

#include "DSP2833x_Device.h"     // DSP2833x Headerfile Include File

#include "DSP2833x_Examples.h"   // DSP2833x Examples Include File





typedef struct

{

  float Ref ;

  float Fdb ;



  float Kp;

  float Ki ;

  float Kd;



  float T ;  //  此值待修改



  float a0 ;

  float a1 ;

  float a2 ;



  float Err ;

  float Err_1 ;

  float ERR_2 ;



  float Out ;

  float Out_1 ;

  float OutMax ;

  float OutMin ;

}PID;





PID epwm_info ;



float adc[10] ;

float adcresultsa0[] ;

float SampleVoltage ;



void ADC_Convert(void) ;

void InitEPwm6Example(void);

void pid_cal(PID*);

void sequence(float a[],int i) ;

interrupt void adc_isr(void);





#define EPWM6_TIMER_TBPRD  750 // Period register value

#define ADC_MODCLK 0x3 // HSPCLK = SYSCLKOUT/2*ADC_MODCLK2 = 150/(2*3)   = 25.0 MHz

#define ADC_CKPS   0x1   // ADC module clock = HSPCLK/2*ADC_CKPS   = 25MHz/(2*1)   = 12.5MHz

#define ADC_SHCLK  0xf   // S/H width in ADC module periods        = 16 ADC clocks

void main(void)

{

// Step 1. Initialize System Control:

         InitSysCtrl();



         EALLOW;

         SysCtrlRegs.HISPCP.all = ADC_MODCLK;        // HSPCLK = SYSCLKOUT/（2*ADC_MODCLK）=25MHZ

         EDIS;



// Step 2. Initialize GPIO:

         InitEPwm6Gpio();



//Step 3. Clear all interrupts and initialize PIE vector table:

         // Disable CPU interrupts

         DINT;

         // Initialize the PIE control registers to their default state.

         // The default state is all PIE interrupts disabled and flags

         // are cleared.

         InitPieCtrl();

         // Disable CPU interrupts and clear all CPU interrupt flags:

         IER = 0x0000;

         IFR = 0x0000;



         InitPieVectTable();

         // Interrupts that are used in this example are re-mapped to

         // ISR functions found within this file.

         EALLOW;

         PieVectTable.ADCINT=&adc_isr;

         EDIS;

// Step 4. Initialize all the Device Peripherals:

          InitAdc();

          // Specific ADC setup for this example:

         AdcRegs.ADCTRL3.bit.ADCCLKPS = ADC_CKPS;//ADC内核时钟分频：HSPCLK/2=12.5MHZ

         AdcRegs.ADCTRL1.bit.ACQ_PS = ADC_SHCLK;//设置采样窗口时间：（15+1）*ADCCLK

         AdcRegs.ADCTRL1.bit.SEQ_CASC = 1;        // 1选择级联模式

         AdcRegs.ADCTRL1.bit.CONT_RUN = 1;       // 设置为连续运行

         AdcRegs.ADCMAXCONV.all = 0x0000;       // Setup 1 conv's on SEQ1

         AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0x0; // Setup ADCINA0 as 1st SEQ1 conv.

         AdcRegs.ADCTRL2.bit.EPWM_SOCA_SEQ1 = 1;// Enable SOCA from ePWM to start SEQ1

         AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1;  // Enable SEQ1 interrupt (every EOS)



     //  configure  EPwm module

         EALLOW;

         SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;

         EDIS;



         InitEPwm6Example();



         EALLOW;

         SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;

         EDIS;



// Step 5. User specific code, enable interrupts:

         IER |= M_INT1;

         PieCtrlRegs.PIEIER1.bit.INTx6 = 1;



         EINT;   // Enable Global interrupt INTM

         ERTM;   // Enable Global realtime interrupt DBGM







}



interrupt void adc_isr()

{

         ADC_Convert();

         epwm_info.Ref=1.5 ;

         epwm_info.Fdb=SampleVoltage ;

         epwm_info.Err=epwm_info.Ref-epwm_info.Fdb ;

         epwm_info.Kp=0.02 ;

         epwm_info.Ki=0.001 ;

         epwm_info.Kd=0 ;



         epwm_info.OutMax=0.5 ;

         epwm_info.OutMin=0 ;



         pid_cal(&epwm_info) ;



         AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;       // Clear INT SEQ1 bit

         PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;

}



void InitEPwm6Example(void)

{

        // Setup TBCLK

        EPwm6Regs.TBCTL.bit.CTRMODE=TB_COUNT_UP; // Count up;

        EPwm6Regs.TBPRD= EPWM6_TIMER_TBPRD ;

        EPwm6Regs.TBCTL.bit.PHSEN=TB_DISABLE ;

        EPwm6Regs.TBPHS.half.TBPHS=0x0000 ;

        EPwm6Regs.TBCTR=0x0000;

        EPwm6Regs.TBCTL.bit.HSPCLKDIV=TB_DIV2 ;

        EPwm6Regs.TBCTL.bit.CLKDIV=TB_DIV1 ;



        // Setup shadow register load on ZERO

        EPwm6Regs.CMPCTL.bit.SHDWAMODE= CC_SHADOW;

        EPwm6Regs.CMPCTL.bit.LOADAMODE= CC_CTR_ZERO;



        // Set Compare values

        EPwm6Regs.CMPA.half.CMPA= (epwm_info.Out)*EPWM6_TIMER_TBPRD;   ////此值待修改



        // Set actions

        EPwm6Regs.AQCTLA.bit.ZRO=AQ_SET;

        EPwm6Regs.AQCTLA.bit.CAU=AQ_CLEAR;



        EPwm6Regs.ETSEL.bit.SOCAEN = 1;        // Enable SOC on A group

        EPwm6Regs.ETSEL.bit.SOCASEL = 4;       // Select SOC from from CPMA on upcount

        EPwm6Regs.ETPS.bit.SOCAPRD = 1;        // Generate pulse on 1st event



}





void ADC_Convert(void)

{

        AdcRegs.ADCTRL2.bit.RST_SEQ1=1 ;



            SampleVoltage=((AdcRegs.ADCRESULT0)>>4)*3/4096.0 ;







        }

void pid_cal(PID *epwm_info)

{

        float a0 ,a1 ,a2 ;

        a0=epwm_info->Kp+epwm_info->Ki*epwm_info->T+epwm_info->Kd/epwm_info->T ;

        a1=epwm_info->Kp+2*epwm_info->Kd/epwm_info->T ;

        a2=epwm_info->Kd/epwm_info->T ;



        epwm_info->Out=epwm_info->Out_1+a0*epwm_info->Err-a1*epwm_info->Err_1+a2*epwm_info->ERR_2 ;



        if(epwm_info->Out>epwm_info->OutMax)

                epwm_info->Out=epwm_info->OutMax ;

        if(epwm_info->Out<epwm_info->OutMin)

                epwm_info->Out=epwm_info->OutMin ;



        epwm_info->Out_1=epwm_info->Out ;

        epwm_info->ERR_2=epwm_info->Err_1 ;

        epwm_info->Err_1=epwm_info->Err ;



        }