[参考译文] TMS320F28035：ePWM、伺服电机嗡嗡声/卡顿

https://e2e.ti.com/support/microcontrollers/c2000-microcontrollers-group/c2000/f/c2000-microcontrollers-forum/1515165/tms320f28035-epwm-servo-motor-buzzing-stuttering

工具/软件：

您好：

我使用带 ePWM 的56引脚 F28035来移动伺服电机。 随机地、伺服电机将在其遍历的某些点开始嗡嗡声/卡顿。 我发布了代码和视频来展示发生了什么。 我已经尝试使用不同的频率之间的50Hz 到333Hz ,但同样的行为出现。 作为参考、伺服电路使用333Hz。 是否应该查找任何要更改的设置或任何应该查找的寄存器行为？ 通常情况下、我们使用 F28035的80引脚型号、这样不会经常出现嗡嗡声。 谢谢你。

//
// Included Files
//
#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File

Uint16 isrCntr = 0;
Uint16 pos = 0;
Uint16 dir = 0;

__interrupt void pwm2Isr(void);

//
// Main
//
void main(void)
{
    //
    // Step 1. Initialize System Control:
    // PLL, WatchDog, enable Peripheral Clocks
    // This example function is found in the DSP2803x_SysCtrl.c file.
    //
    InitSysCtrl();

    InitPieCtrl();

    IER = 0x0000;
    IFR = 0x0000;

    InitPieVectTable();

    InitEPwm2Gpio();

    EALLOW;
    GpioCtrlRegs.GPAMUX2.bit.GPIO23 = 0;
    GpioCtrlRegs.GPADIR.bit.GPIO23 = 1;
    GpioDataRegs.GPACLEAR.bit.GPIO23 = 1;
    EDIS;

    EALLOW;
    SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
    EDIS;
    
    //
    // Setup TBCLK
    //
    EPwm2Regs.TBSTS.all = 0;
    EPwm2Regs.TBPHS.half.TBPHS = 0;
    EPwm2Regs.TBCTR = 0;
    EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP;  // Count up.
    EPwm2Regs.TBCTL.bit.PHSEN = TB_DISABLE;     // Disable phase loading.
    EPwm2Regs.TBPHS.half.TBPHS = 0x0000;        // Phase is 0.
    EPwm2Regs.TBCTR = 0x0000;                   // Clear counter.
    EPwm2Regs.TBCTL.bit.HSPCLKDIV = 0;          // Clock ratio to SYSCLKOUT.
    EPwm2Regs.TBCTL.bit.CLKDIV = 6;

    //
    // Setup shadow register load on ZERO
    //
    EPwm2Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;
    EPwm2Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;

    //
    // Set actions
    //
    EPwm2Regs.AQCTLA.bit.ZRO = AQ_SET;      // Set PWM2A on Zero
    EPwm2Regs.AQCTLA.bit.CAU = AQ_CLEAR;    // Clear PWM2A on event A, up count

    EPwm2Regs.ETSEL.bit.INTSEL = 2;
    EPwm2Regs.ETPS.all = 1;
    EPwm2Regs.TBCTL.bit.SYNCOSEL = 3;

    EALLOW;
    SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
    EDIS;

    EALLOW;
    PieVectTable.EPWM2_INT = &pwm2Isr;
    EDIS;

    IER |= M_INT3;

    EINT;
    ERTM;

    PieCtrlRegs.PIEIER3.bit.INTx2 = 1;

    GpioDataRegs.GPASET.bit.GPIO23 = 1;

    EPwm2Regs.ETCLR.bit.INT = 1;
    EPwm2Regs.ETSEL.bit.INTEN = 1;
    EPwm2Regs.TBPRD = 2815;
    EPwm2Regs.CMPA.half.CMPA = 1407;
    pos = 1407;

    while (1) {}
}

__interrupt void pwm2Isr(void)
{
    if (pos < 1642 && dir == 0)
    {
        EPwm2Regs.CMPA.half.CMPA = pos++;
    }
    else if (pos == 1642)
    {
        isrCntr++;

        if (isrCntr > 1000)
        {
            isrCntr = 0;
            dir = 1;
            EPwm2Regs.CMPA.half.CMPA = pos--;
        }
    }
    else if (pos > 1172 && dir == 1)
    {
        EPwm2Regs.CMPA.half.CMPA = pos--;
    }
    else if (pos == 1172)
    {
        isrCntr++;
        if (isrCntr > 1000)
        {
            dir = 0;
            isrCntr = 0;
        }
    }

    EPwm2Regs.ETCLR.bit.INT = 1;
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}

e2e.ti.com/.../servoMov2.mov