[参考译文] TMS320F2800137：如何将 EPWM A 和 B 极性更改为 DRV8323连接驱动器

void HAL_setupPWMs(HAL_MTR_Handle handle)
{
    HAL_MTR_Obj *obj = (HAL_MTR_Obj *)handle;
    uint16_t cnt;

    uint16_t pwmPeriodCycles = (uint16_t)(MOTORCONFIG_PWM_TBPRD_NUM);
    uint16_t numPWMTicksPerISRTick = MOTORCONFIG_NUM_PWM_TICKS_PER_ISR_TICK;

    // disable the ePWM module time base clock sync signal
    // to synchronize all of the PWMs
    SysCtl_disablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC);

    // turns off the outputs of the EPWM peripherals which will put the power
    // switches into a high impedance state.
    EPWM_forceTripZoneEvent(obj->pwmHandle[0], EPWM_TZ_FORCE_EVENT_OST);
    EPWM_forceTripZoneEvent(obj->pwmHandle[1], EPWM_TZ_FORCE_EVENT_OST);
    EPWM_forceTripZoneEvent(obj->pwmHandle[2], EPWM_TZ_FORCE_EVENT_OST);

    for(cnt=0; cnt<3; cnt++)
    {
        // setup the Time-Base Control Register (TBCTL)
        EPWM_setTimeBaseCounterMode(obj->pwmHandle[cnt],
                                    EPWM_COUNTER_MODE_UP_DOWN);

        EPWM_disablePhaseShiftLoad(obj->pwmHandle[cnt]);

        EPWM_setPeriodLoadMode(obj->pwmHandle[cnt], EPWM_PERIOD_DIRECT_LOAD);

        EPWM_enableSyncOutPulseSource(obj->pwmHandle[cnt],
                                      EPWM_SYNC_OUT_PULSE_ON_SOFTWARE);

        EPWM_setClockPrescaler(obj->pwmHandle[cnt], EPWM_CLOCK_DIVIDER_1,
                                 EPWM_HSCLOCK_DIVIDER_1);

        EPWM_setCountModeAfterSync(obj->pwmHandle[cnt],
                                   EPWM_COUNT_MODE_UP_AFTER_SYNC);

        EPWM_setEmulationMode(obj->pwmHandle[cnt], EPWM_EMULATION_FREE_RUN);

        // setup the Timer-Based Phase Register (TBPHS)
        EPWM_setPhaseShift(obj->pwmHandle[cnt], 0);

        // setup the Time-Base Counter Register (TBCTR)
        EPWM_setTimeBaseCounter(obj->pwmHandle[cnt], 0);

        // setup the Time-Base Period Register (TBPRD)
        // set to zero initially
        EPWM_setTimeBasePeriod(obj->pwmHandle[cnt], 0);

        // setup the Counter-Compare Control Register (CMPCTL)
        EPWM_setCounterCompareShadowLoadMode(obj->pwmHandle[cnt], EPWM_COUNTER_COMPARE_A, EPWM_COMP_LOAD_ON_CNTR_ZERO);
        EPWM_setCounterCompareShadowLoadMode(obj->pwmHandle[cnt], EPWM_COUNTER_COMPARE_B, EPWM_COMP_LOAD_ON_CNTR_ZERO);
        EPWM_setCounterCompareShadowLoadMode(obj->pwmHandle[cnt], EPWM_COUNTER_COMPARE_C, EPWM_COMP_LOAD_ON_CNTR_ZERO);
        EPWM_setCounterCompareShadowLoadMode(obj->pwmHandle[cnt], EPWM_COUNTER_COMPARE_D, EPWM_COMP_LOAD_ON_CNTR_ZERO);

        // setup the Action-Qualifier Output A Register (AQCTLA)
        EPWM_setActionQualifierAction(obj->pwmHandle[cnt],
                                      EPWM_AQ_OUTPUT_A,
                                      EPWM_AQ_OUTPUT_HIGH,
                                      EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPA);

        EPWM_setActionQualifierAction(obj->pwmHandle[cnt],
                                      EPWM_AQ_OUTPUT_A,
                                      EPWM_AQ_OUTPUT_HIGH,
                                      EPWM_AQ_OUTPUT_ON_TIMEBASE_PERIOD);

        EPWM_setActionQualifierAction(obj->pwmHandle[cnt],
                                      EPWM_AQ_OUTPUT_A,
                                      EPWM_AQ_OUTPUT_LOW,
                                      EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPA);

        EPWM_setActionQualifierAction(obj->pwmHandle[cnt],
                                      EPWM_AQ_OUTPUT_A,
                                      EPWM_AQ_OUTPUT_LOW,
                                      EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);



        // setup the Dead-Band Generator Control Register (DBCTL)
        EPWM_setDeadBandDelayMode(obj->pwmHandle[cnt], EPWM_DB_RED, true);
        EPWM_setDeadBandDelayMode(obj->pwmHandle[cnt], EPWM_DB_FED, true);

        // select EPWMA as the input to the dead band generator
        EPWM_setRisingEdgeDeadBandDelayInput(obj->pwmHandle[cnt],
                                             EPWM_DB_INPUT_EPWMA);

        // configure the right polarity for active high complementary config.
        EPWM_setDeadBandDelayPolarity(obj->pwmHandle[cnt],
                                      EPWM_DB_RED,
                                      EPWM_DB_POLARITY_ACTIVE_HIGH);
        EPWM_setDeadBandDelayPolarity(obj->pwmHandle[cnt],
                                      EPWM_DB_FED,
                                      EPWM_DB_POLARITY_ACTIVE_LOW);

        // setup the Dead-Band Rising Edge Delay Register (DBRED)
        EPWM_setRisingEdgeDelayCount(obj->pwmHandle[cnt], MTR1_PWM_DBRED_CNT);

        // setup the Dead-Band Falling Edge Delay Register (DBFED)
        EPWM_setFallingEdgeDelayCount(obj->pwmHandle[cnt], MTR1_PWM_DBFED_CNT);

        // setup the PWM-Chopper Control Register (PCCTL)
        EPWM_disableChopper(obj->pwmHandle[cnt]);

        // setup the Trip Zone Select Register (TZSEL)
        EPWM_disableTripZoneSignals(obj->pwmHandle[cnt], HAL_TZSEL_SIGNALS_ALL);
    }

    // setup the Event Trigger Selection Register (ETSEL)
    EPWM_setInterruptSource(obj->pwmHandle[0], EPWM_INT_TBCTR_ZERO);

    EPWM_enableInterrupt(obj->pwmHandle[0]);

    EPWM_setADCTriggerSource(obj->pwmHandle[0],
                             EPWM_SOC_A, EPWM_SOC_TBCTR_D_CMPC);

    EPWM_enableADCTrigger(obj->pwmHandle[0], EPWM_SOC_A);

    // setup the Event Trigger Prescale Register (ETPS)
    if(numPWMTicksPerISRTick > 15)
    {
        numPWMTicksPerISRTick = 15;
    }
    else if(numPWMTicksPerISRTick < 1)
    {
        numPWMTicksPerISRTick = 1;
    }

    EPWM_setInterruptEventCount(obj->pwmHandle[0], numPWMTicksPerISRTick);

    EPWM_setADCTriggerEventPrescale(obj->pwmHandle[0], EPWM_SOC_A,
                                    numPWMTicksPerISRTick);
    EPWM_setADCTriggerEventPrescale(obj->pwmHandle[0], EPWM_SOC_B,
                                    numPWMTicksPerISRTick);

    // setup the Event Trigger Clear Register (ETCLR)
    EPWM_clearEventTriggerInterruptFlag(obj->pwmHandle[0]);
    EPWM_clearADCTriggerFlag(obj->pwmHandle[0], EPWM_SOC_A);
    EPWM_clearADCTriggerFlag(obj->pwmHandle[0], EPWM_SOC_B);

    // since the PWM is configured as an up/down counter, the period register is
    // set to one-half of the desired PWM period
    EPWM_setTimeBasePeriod(obj->pwmHandle[0], pwmPeriodCycles);
    EPWM_setTimeBasePeriod(obj->pwmHandle[1], pwmPeriodCycles);
    EPWM_setTimeBasePeriod(obj->pwmHandle[2], pwmPeriodCycles);

    // write the PWM data value  for ADC trigger
    EPWM_setCounterCompareValue(obj->pwmHandle[0], EPWM_COUNTER_COMPARE_C, 10);

    return;
}

//! \brief     Writes PWM data to the PWM comparators for motor control
//! \param[in] handle    The hardware abstraction layer (HAL) handle
//! \param[in] pPWMData  The pointer to the PWM data
static inline void
HAL_writePWMData(HAL_MTR_Handle handle, HAL_PWMData_t *pPWMData)
{
    HAL_MTR_Obj *obj = (HAL_MTR_Obj *)handle;

    float32_t period = (float32_t)(EPWM_getTimeBasePeriod(obj->pwmHandle[0]));

    uint16_t pwmCnt;

    for(pwmCnt=0; pwmCnt<3; pwmCnt++)
    {
      // compute the value
        float32_t V_pu = -pPWMData->Vabc_pu.value[pwmCnt];      // Negative
        float32_t V_sat_pu = __fsat(V_pu, 0.5, -0.5);           // -0.5~0.5
        float32_t V_sat_dc_pu = V_sat_pu + 0.5;                 // 0~1.0
        pPWMData->cmpValue[pwmCnt]  = (int16_t)(V_sat_dc_pu * period);  //

        if(pPWMData->cmpValue[pwmCnt] < pPWMData->minCMPValue)
        {
            pPWMData->cmpValue[pwmCnt] = pPWMData->minCMPValue;
        }

        // write the PWM data value
        EPWM_setCounterCompareValue(obj->pwmHandle[pwmCnt],
                                    EPWM_COUNTER_COMPARE_A,
                                    pPWMData->cmpValue[pwmCnt]);

        EPWM_setCounterCompareValue(obj->pwmHandle[pwmCnt],
                                    EPWM_COUNTER_COMPARE_B,
                                    pPWMData->cmpValue[pwmCnt]);
    }

    return;
}