[参考译文] TMS320F280049C：HRPWM 模式不工作，阴影模式设置为在 CTR=PRD 上加载

//#############################################################################
//
// FILE:   hrpwm_ex1_duty_sfo.c
//
// TITLE:  HRPWM Duty Control with SFO.
//
//! \addtogroup driver_example_list
//! <h1>HRPWM Duty Control with SFO</h1>
//!
//! This example modifies the MEP control registers to show edge displacement
//! for high-resolution period with ePWM in Up count mode
//! due to the HRPWM control extension of the respective ePWM module.
//!
//! This example calls the following TI's MEP Scale Factor Optimizer (SFO)
//! software library V8 functions:
//!
//! \b int \b SFO(); \n
//! - updates MEP_ScaleFactor dynamically when HRPWM is in use
//! - updates HRMSTEP register (exists only in EPwm1Regs register space)
//! with MEP_ScaleFactor value
//! - returns 2 if error: MEP_ScaleFactor is greater than maximum value of 255
//!   (Auto-conversion may not function properly under this condition)
//! - returns 1 when complete for the specified channel
//! - returns 0 if not complete for the specified channel
//!
//! This example is intended to explain the HRPWM capabilities. The code can be
//! optimized for code efficiency. Refer to TI's Digital power application
//! examples and TI Digital Power Supply software libraries for details.
//!
//! \b External \b Connections \n
//!  - Monitor ePWM1/2/3/4 A/B pins on an oscilloscope.
//
//#############################################################################
//
//
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//#############################################################################

//
// Included Files
//
#include "driverlib.h"
#include "device.h"
#include "board.h"
#include "SFO_V8.h"

#define EPWM_TIMER_TBPRD            100UL
#define MIN_HRPWM_DUTY_PERCENT      4.0/((float32_t)EPWM_TIMER_TBPRD)*100.0
//
// Defines
//
#define LAST_EPWM_INDEX_FOR_EXAMPLE    5

#define LOAD_MODE 1

//
// Globals
//

float32_t dutyFine = MIN_HRPWM_DUTY_PERCENT;
uint16_t status;

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.

volatile uint32_t ePWM[] =
    {0, myEPWM1_BASE, myEPWM2_BASE, myEPWM3_BASE, myEPWM4_BASE};
//
// Function Prototypes
//
void initHRPWM(uint32_t period);
void error(void);
//__interrupt void epwm1ISR(void);
//__interrupt void epwm2ISR(void);
//__interrupt void epwm3ISR(void);
//__interrupt void epwm4ISR(void);

//
// Main
//
void main(void)
{
    uint16_t i = 0;

    //
    // Initialize device clock and peripherals
    //
    Device_init();

    //
    // Disable pin locks and enable internal pull ups.
    //
    Device_initGPIO();

    //
    // Initialize PIE and clear PIE registers. Disables CPU interrupts.
    //
    Interrupt_initModule();

    //
    // Initialize the PIE vector table with pointers to the shell Interrupt
    // Service Routines (ISR).
    //
    Interrupt_initVectorTable();

    //
    // Assign the interrupt service routines to ePWM interrupts
    //
    //Interrupt_register(INT_EPWM1, &epwm1ISR);
    //Interrupt_register(INT_EPWM2, &epwm2ISR);
    //Interrupt_register(INT_EPWM3, &epwm3ISR);
    //Interrupt_register(INT_EPWM4, &epwm4ISR);

    //
    // Initialize the EPWM GPIO Pins and change the XBAR inputs from using GPIO0
    //
    Board_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.
    //
    while(status == SFO_INCOMPLETE)
    {
        status = SFO();
        if(status == SFO_ERROR)
        {
            error();   // SFO function returns 2 if an error occurs & # of MEP
        }              // steps/coarse step exceeds maximum of 255.
    }



    //
    // Disable sync(Freeze clock to PWM as well)
    //
    SysCtl_disablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC);

    initHRPWM(EPWM_TIMER_TBPRD);

    //
    // Enable sync and clock to PWM
    //
    SysCtl_enablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC);


    // Enable ePWM interrupts
    //
    //Interrupt_enable(INT_EPWM1);
    //Interrupt_enable(INT_EPWM2);
    //Interrupt_enable(INT_EPWM3);
    //Interrupt_enable(INT_EPWM4);

    //
    // Enable Global Interrupt (INTM) and realtime interrupt (DBGM)
    //
    EINT;
    ERTM;


    for(;;)
    {
         //
         // Sweep DutyFine
         //
         for(dutyFine = MIN_HRPWM_DUTY_PERCENT; dutyFine < 99.9; dutyFine += 0.01)
         {
             DEVICE_DELAY_US(1000);
             for(i=1; i<LAST_EPWM_INDEX_FOR_EXAMPLE; i++)
             {
                 float32_t count = (dutyFine * (float32_t)(EPWM_TIMER_TBPRD << 8))/100;
                 uint32_t compCount = (count);
                 HRPWM_setCounterCompareValue(ePWM[i], HRPWM_COUNTER_COMPARE_A, compCount);
                 HRPWM_setCounterCompareValue(ePWM[i], HRPWM_COUNTER_COMPARE_B, compCount);
             }

             //
             // 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.
             //
             status = SFO(); // in background, MEP calibration module
                             // continuously updates MEP_ScaleFactor

             if (status == SFO_ERROR)
             {
                 error();   // SFO function returns 2 if an error occurs & #
                            // of MEP steps/coarse step
             }              // exceeds maximum of 255.
         }
     }
}

//
// epwm1ISR - ePWM 1 ISR
//
//__interrupt void epwm1ISR(void)
//{
//    EPWM_clearEventTriggerInterruptFlag(EPWM1_BASE);
//    Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP3);
//}

//
// epwm2ISR - ePWM 2 ISR
//
//__interrupt void epwm2ISR(void)
//{
//    EPWM_clearEventTriggerInterruptFlag(EPWM2_BASE);
//    Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP3);
//}

//
// epwm3ISR - ePWM 3 ISR
//
//__interrupt void epwm3ISR(void)
//{
//    EPWM_clearEventTriggerInterruptFlag(EPWM3_BASE);
//    Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP3);
//}

//
// epwm4ISR - ePWM 4 ISR
//
//__interrupt void epwm4ISR(void)
//{
//    EPWM_clearEventTriggerInterruptFlag(EPWM4_BASE);
//    Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP3);
//}



void initHRPWM(uint32_t period)
{

    uint16_t j;

    //
    // ePWM channel register configuration with HRPWM
    // ePWMxA / ePWMxB toggle low/high with MEP control on Rising edge
    //
    for (j=1;j<LAST_EPWM_INDEX_FOR_EXAMPLE;j++)
    {
        EPWM_setEmulationMode(ePWM[j], EPWM_EMULATION_FREE_RUN);

        //
        // Set-up TBCLK
        //
        EPWM_setTimeBasePeriod(ePWM[j], period-1);
        EPWM_setPhaseShift(ePWM[j], 0U);
        EPWM_setTimeBaseCounter(ePWM[j], 0U);

        //
        // set duty 50% initially
        //
        HRPWM_setCounterCompareValue(ePWM[j], HRPWM_COUNTER_COMPARE_A, (period/2 << 8));
        HRPWM_setCounterCompareValue(ePWM[j], HRPWM_COUNTER_COMPARE_B, (period/2 << 8));


        //
        // Set up counter mode
        //
        EPWM_setTimeBaseCounterMode(ePWM[j], EPWM_COUNTER_MODE_UP);
        EPWM_disablePhaseShiftLoad(ePWM[j]);
        EPWM_setClockPrescaler(ePWM[j],
                               EPWM_CLOCK_DIVIDER_1,
                               EPWM_HSCLOCK_DIVIDER_1);
        EPWM_setSyncOutPulseMode(ePWM[j], EPWM_SYNC_OUT_PULSE_DISABLED);

        //
        // Set up shadowing
        //
#if (LOAD_MODE == 0)
        EPWM_setCounterCompareShadowLoadMode(ePWM[j],
                                             EPWM_COUNTER_COMPARE_A,
                                             EPWM_COMP_LOAD_ON_CNTR_ZERO);
        EPWM_setCounterCompareShadowLoadMode(ePWM[j],
                                             EPWM_COUNTER_COMPARE_B,
                                             EPWM_COMP_LOAD_ON_CNTR_ZERO);
#else
        EPWM_setCounterCompareShadowLoadMode(ePWM[j],
                                             EPWM_COUNTER_COMPARE_A,
                                             EPWM_COMP_LOAD_ON_CNTR_PERIOD);
        EPWM_setCounterCompareShadowLoadMode(ePWM[j],
                                             EPWM_COUNTER_COMPARE_B,
                                             EPWM_COMP_LOAD_ON_CNTR_PERIOD);
#endif

        //
        // Set actions
        //

        EPWM_setActionQualifierAction(ePWM[j],
                                      EPWM_AQ_OUTPUT_A,
                                      EPWM_AQ_OUTPUT_HIGH,
                                      EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);


        EPWM_setActionQualifierAction(ePWM[j],
                                      EPWM_AQ_OUTPUT_B,
                                      EPWM_AQ_OUTPUT_HIGH,
                                      EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);

        EPWM_setActionQualifierAction(ePWM[j],
                                      EPWM_AQ_OUTPUT_A,
                                      EPWM_AQ_OUTPUT_LOW,
                                      EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPA);
        EPWM_setActionQualifierAction(ePWM[j],
                                      EPWM_AQ_OUTPUT_B,
                                      EPWM_AQ_OUTPUT_LOW,
                                      EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPB);


        HRPWM_setMEPEdgeSelect(ePWM[j], HRPWM_CHANNEL_A, HRPWM_MEP_CTRL_FALLING_EDGE);
        HRPWM_setMEPControlMode(ePWM[j], HRPWM_CHANNEL_A, HRPWM_MEP_DUTY_PERIOD_CTRL);
#if (LOAD_MODE == 0)
        HRPWM_setCounterCompareShadowLoadEvent(ePWM[j], HRPWM_CHANNEL_A, HRPWM_LOAD_ON_CNTR_ZERO);
#else
        HRPWM_setCounterCompareShadowLoadEvent(ePWM[j], HRPWM_CHANNEL_A, HRPWM_LOAD_ON_CNTR_PERIOD);
#endif

        HRPWM_setMEPEdgeSelect(ePWM[j], HRPWM_CHANNEL_B, HRPWM_MEP_CTRL_FALLING_EDGE);
        HRPWM_setMEPControlMode(ePWM[j], HRPWM_CHANNEL_B, HRPWM_MEP_DUTY_PERIOD_CTRL);
#if (LOAD_MODE == 0)
        HRPWM_setCounterCompareShadowLoadEvent(ePWM[j], HRPWM_CHANNEL_B, HRPWM_LOAD_ON_CNTR_ZERO);
#else
        HRPWM_setCounterCompareShadowLoadEvent(ePWM[j], HRPWM_CHANNEL_B, HRPWM_LOAD_ON_CNTR_PERIOD);
#endif

        HRPWM_enableAutoConversion(ePWM[j]);

        //
        // Turn off high-resolution period control.
        //

        HRPWM_disablePeriodControl(ePWM[j]);
        HRPWM_disablePhaseShiftLoad(ePWM[j]);


        //
        // Interrupt where we will change the Compare Values
        // Select INT on Time base counter zero event,
        // Enable INT, generate INT on 1st event
        //
        //EPWM_setInterruptSource(ePWM[j], EPWM_INT_TBCTR_ZERO);
        //EPWM_enableInterrupt(ePWM[j]);
        //EPWM_setInterruptEventCount(ePWM[j], 1U);
    }

}

//
// error - Halt debugger when called
//
void error (void)
{
    ESTOP0;         // Stop here and handle error
}