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TMS320F280049C: HRPWM在移相控制下设定移相值和实际移相值存在误差

QI DONG
Prodigy 40 points
Part Number: TMS320F280049C
Other Parts Discussed in Thread: SYSCONFIG

Dear all：

我现在使用ePWM1和ePWM2来做移相控制，ePWM2为工作在HRPWM模式，使用高精度移相模式，开关频率为100KHz，使用的F280049主频在100MHz。

根据计算得到我移相值的取值范围应该在0-128000之间。当前存在的问题如下：

当设定移相值从63999变到64000的时候，实际移相值变化明显，但是从64000变到64001时，实际移相值变化并不大。

当设定移相值从64000变化到64128时实际移相向右移动，但设定移相值从64000变化到64256时实际移相想左移动。

图中通道2为EPWM1A输出，固定不变的，通道1为EPWM2A输出，是实际动作的移相桥臂。

这个问题导致我当前控制出现问题。

配置代码是根据sysconfig修改而来的，实际代码如下（使用sysconfig配置也出现同样的问题）

// Config ePWM
// Time Base
EPWM_setPeriodLoadMode(EPWM1_BASE, EPWM_PERIOD_SHADOW_LOAD);
EPWM_setEmulationMode(EPWM1_BASE, EPWM_EMULATION_STOP_AFTER_NEXT_TB);
EPWM_setClockPrescaler(EPWM1_BASE, EPWM_CLOCK_DIVIDER_1, EPWM_HSCLOCK_DIVIDER_1);
EPWM_setTimeBasePeriod(EPWM1_BASE, mEPWM1_TBPRD_VALUE);
EPWM_setTimeBaseCounter(EPWM1_BASE, 0);
EPWM_setTimeBaseCounterMode(EPWM1_BASE, EPWM_COUNTER_MODE_UP_DOWN);
EPWM_setCountModeAfterSync(EPWM1_BASE, EPWM_COUNT_MODE_UP_AFTER_SYNC);
EPWM_disablePhaseShiftLoad(EPWM1_BASE);
EPWM_setPhaseShift(EPWM1_BASE, 0);
EPWM_setSyncOutPulseMode(EPWM1_BASE, EPWM_SYNC_OUT_PULSE_ON_COUNTER_ZERO);
EPWM_setSyncPulseSource(EPWM1_BASE, HRPWM_PWMSYNC_SOURCE_ZERO);

// Counter Compare
EPWM_setCounterCompareValue(EPWM1_BASE, EPWM_COUNTER_COMPARE_A, 0);
EPWM_setCounterCompareShadowLoadMode(EPWM1_BASE, EPWM_COUNTER_COMPARE_A, EPWM_COMP_LOAD_ON_CNTR_ZERO);
EPWM_setCounterCompareValue(EPWM1_BASE, EPWM_COUNTER_COMPARE_B, 0);
EPWM_setCounterCompareShadowLoadMode(EPWM1_BASE, EPWM_COUNTER_COMPARE_B, EPWM_COMP_LOAD_ON_CNTR_ZERO);

// ActionQualifier
EPWM_setActionQualifierShadowLoadMode(EPWM1_BASE, EPWM_ACTION_QUALIFIER_A, EPWM_AQ_LOAD_ON_CNTR_ZERO);
EPWM_setActionQualifierShadowLoadMode(EPWM1_BASE, EPWM_ACTION_QUALIFIER_B, EPWM_AQ_LOAD_ON_CNTR_ZERO);

HWREGH(EPWM1_BASE + EPWM_O_AQCTLA) = 0;
HWREGH(EPWM1_BASE + EPWM_O_AQCTLA2) = 0;
EPWM_setActionQualifierContSWForceAction(EPWM1_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_SW_OUTPUT_LOW);
EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_HIGH, EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);
EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_LOW, EPWM_AQ_OUTPUT_ON_TIMEBASE_PERIOD);
// EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPA);
// EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPA);
// EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPB);
// EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPB);
// EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_T1_COUNT_UP);
// EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_T1_COUNT_DOWN);
// EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_T2_COUNT_UP);
// EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_T2_COUNT_DOWN);

HWREGH(EPWM1_BASE + EPWM_O_AQCTLB) = 0;
HWREGH(EPWM1_BASE + EPWM_O_AQCTLB2) = 0;
EPWM_setActionQualifierContSWForceAction(EPWM1_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_SW_OUTPUT_HIGH);
EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_HIGH, EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);
EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_LOW, EPWM_AQ_OUTPUT_ON_TIMEBASE_PERIOD);
// EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPA);
// EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPA);
// EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPB);
// EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPB);
// EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_T1_COUNT_UP);
// EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_T1_COUNT_DOWN);
// EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_T2_COUNT_UP);
// EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_T2_COUNT_DOWN);

// Trip-Zone
EPWM_setTripZoneAction(EPWM1_BASE, EPWM_TZ_ACTION_EVENT_TZA, EPWM_TZ_ACTION_LOW);
EPWM_setTripZoneAction(EPWM1_BASE, EPWM_TZ_ACTION_EVENT_TZB, EPWM_TZ_ACTION_LOW);
EPWM_enableTripZoneSignals(EPWM1_BASE, EPWM_TZ_SIGNAL_OSHT1 | EPWM_TZ_SIGNAL_OSHT2);
// EPWM_enableTripZoneInterrupt(EPWM1_BASE, EPWM_TZ_INTERRUPT_OST);
EPWM_clearTripZoneFlag(EPWM1_BASE, EPWM_TZ_FLAG_OST);
EPWM_forceTripZoneEvent(EPWM1_BASE, EPWM_TZ_FORCE_EVENT_OST);

// Dead-Band
EPWM_setDeadBandCounterClock(EPWM1_BASE, EPWM_DB_COUNTER_CLOCK_FULL_CYCLE);
EPWM_setRisingEdgeDeadBandDelayInput(EPWM1_BASE, EPWM_DB_INPUT_EPWMA);
EPWM_setFallingEdgeDeadBandDelayInput(EPWM1_BASE, EPWM_DB_INPUT_EPWMB);
EPWM_setRisingEdgeDelayCount(EPWM1_BASE, mEPWM1_DBRED_VALUE);
EPWM_setFallingEdgeDelayCount(EPWM1_BASE, mEPWM1_DBFED_VALUE);
EPWM_setDeadBandDelayPolarity(EPWM1_BASE, EPWM_DB_RED, EPWM_DB_POLARITY_ACTIVE_HIGH);
EPWM_setDeadBandDelayPolarity(EPWM1_BASE, EPWM_DB_FED, EPWM_DB_POLARITY_ACTIVE_LOW);
EPWM_setDeadBandDelayMode(EPWM1_BASE, EPWM_DB_RED,true);
EPWM_setDeadBandDelayMode(EPWM1_BASE, EPWM_DB_FED,true);
EPWM_setDeadBandOutputSwapMode(EPWM1_BASE, EPWM_DB_OUTPUT_A, false);
EPWM_setDeadBandOutputSwapMode(EPWM1_BASE, EPWM_DB_OUTPUT_B, false);

EPWM_setEmulationMode(EPWM2_BASE, EPWM_EMULATION_STOP_AFTER_NEXT_TB);
EPWM_setPeriodLoadMode(EPWM2_BASE, EPWM_PERIOD_SHADOW_LOAD);
HRPWM_setClockPrescaler(EPWM2_BASE, EPWM_CLOCK_DIVIDER_1, EPWM_HSCLOCK_DIVIDER_1);
EPWM_setTimeBasePeriod(EPWM2_BASE, mEPWM2_TBPRD_VALUE);
HRPWM_setTimeBaseCounter(EPWM2_BASE, 0);
HRPWM_setTimeBaseCounterMode(EPWM2_BASE, EPWM_COUNTER_MODE_UP_DOWN);
EPWM_setCountModeAfterSync(EPWM2_BASE, EPWM_COUNT_MODE_UP_AFTER_SYNC);

EPWM_enablePhaseShiftLoad(EPWM2_BASE);
HRPWM_setPhaseShift(EPWM2_BASE, 0);

EPWM_setSyncOutPulseMode(EPWM2_BASE, EPWM_SYNC_OUT_PULSE_ON_EPWMxSYNCIN);
EPWM_setSyncPulseSource(EPWM2_BASE, HRPWM_PWMSYNC_SOURCE_ZERO);

// Counter Compare
EPWM_setCounterCompareValue(EPWM2_BASE, EPWM_COUNTER_COMPARE_A, 1);
EPWM_setCounterCompareShadowLoadMode(EPWM2_BASE, EPWM_COUNTER_COMPARE_A, EPWM_COMP_LOAD_ON_CNTR_ZERO);
EPWM_setCounterCompareValue(EPWM2_BASE, EPWM_COUNTER_COMPARE_B, 499);
EPWM_setCounterCompareShadowLoadMode(EPWM2_BASE, EPWM_COUNTER_COMPARE_B, EPWM_COMP_LOAD_ON_CNTR_ZERO);

// ActionQualifier
EPWM_setActionQualifierShadowLoadMode(EPWM2_BASE, EPWM_ACTION_QUALIFIER_A, EPWM_AQ_LOAD_ON_CNTR_ZERO);
EPWM_setActionQualifierShadowLoadMode(EPWM2_BASE, EPWM_ACTION_QUALIFIER_B, EPWM_AQ_LOAD_ON_CNTR_ZERO);

HWREGH(EPWM2_BASE + EPWM_O_AQCTLA) = 0;
HWREGH(EPWM2_BASE + EPWM_O_AQCTLA2) = 0;
EPWM_setActionQualifierT2TriggerSource(EPWM2_BASE, EPWM_AQ_TRIGGER_EVENT_TRIG_DC_EVTFILT);
EPWM_setActionQualifierContSWForceAction(EPWM2_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_SW_OUTPUT_LOW);
EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_HIGH, EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);
EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_LOW, EPWM_AQ_OUTPUT_ON_TIMEBASE_PERIOD);
// EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPA);
// EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPA);
// EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPB);
// EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPB);
// EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_T1_COUNT_UP);
// EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_T1_COUNT_DOWN);
// EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_T2_COUNT_UP);
// EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_T2_COUNT_DOWN);

HWREGH(EPWM2_BASE + EPWM_O_AQCTLB) = 0;
HWREGH(EPWM2_BASE + EPWM_O_AQCTLB2) = 0;
EPWM_setActionQualifierContSWForceAction(EPWM2_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_SW_OUTPUT_HIGH);
EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_HIGH, EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);
EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_LOW, EPWM_AQ_OUTPUT_ON_TIMEBASE_PERIOD);
// EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPA);
// EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPA);
// EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPB);
// EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPB);
// EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_T1_COUNT_UP);
// EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_T1_COUNT_DOWN);
// EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_T2_COUNT_UP);
// EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_T2_COUNT_DOWN);


// Trip-Zone
EPWM_setTripZoneAction(EPWM2_BASE, EPWM_TZ_ACTION_EVENT_TZA, EPWM_TZ_ACTION_LOW);
EPWM_setTripZoneAction(EPWM2_BASE, EPWM_TZ_ACTION_EVENT_TZB, EPWM_TZ_ACTION_LOW);
EPWM_enableTripZoneSignals(EPWM2_BASE, EPWM_TZ_SIGNAL_OSHT1 | EPWM_TZ_SIGNAL_OSHT2);
// EPWM_enableTripZoneInterrupt(EPWM2_BASE, EPWM_TZ_INTERRUPT_OST);
EPWM_clearTripZoneFlag(EPWM2_BASE, EPWM_TZ_FLAG_OST);
EPWM_forceTripZoneEvent(EPWM2_BASE, EPWM_TZ_FORCE_EVENT_OST);

// Dead-Band
EPWM_setDeadBandCounterClock(EPWM2_BASE, EPWM_DB_COUNTER_CLOCK_FULL_CYCLE);
EPWM_setRisingEdgeDeadBandDelayInput(EPWM2_BASE, EPWM_DB_INPUT_EPWMA);
EPWM_setFallingEdgeDeadBandDelayInput(EPWM2_BASE, EPWM_DB_INPUT_EPWMB);
EPWM_setRisingEdgeDelayCount(EPWM2_BASE, mEPWM2_DBRED_VALUE);
EPWM_setFallingEdgeDelayCount(EPWM2_BASE, mEPWM2_DBFED_VALUE);
EPWM_setDeadBandDelayPolarity(EPWM2_BASE, EPWM_DB_RED, EPWM_DB_POLARITY_ACTIVE_HIGH);
EPWM_setDeadBandDelayPolarity(EPWM2_BASE, EPWM_DB_FED, EPWM_DB_POLARITY_ACTIVE_LOW);
EPWM_setDeadBandDelayMode(EPWM2_BASE, EPWM_DB_RED,true);
EPWM_setDeadBandDelayMode(EPWM2_BASE, EPWM_DB_FED,true);
EPWM_setDeadBandOutputSwapMode(EPWM2_BASE, EPWM_DB_OUTPUT_A, true);
EPWM_setDeadBandOutputSwapMode(EPWM2_BASE, EPWM_DB_OUTPUT_B, true);

// HRPWM

HRPWM_enableAutoConversion(EPWM2_BASE);
HRPWM_setMEPEdgeSelect(EPWM2_BASE, HRPWM_CHANNEL_A, HRPWM_MEP_CTRL_RISING_AND_FALLING_EDGE);
HRPWM_setCounterCompareShadowLoadEvent(EPWM2_BASE, HRPWM_CHANNEL_A, HRPWM_LOAD_ON_CNTR_ZERO_PERIOD);
HRPWM_setMEPEdgeSelect(EPWM2_BASE, HRPWM_CHANNEL_B, HRPWM_MEP_CTRL_RISING_AND_FALLING_EDGE);
HRPWM_setCounterCompareShadowLoadEvent(EPWM2_BASE, HRPWM_CHANNEL_B, HRPWM_LOAD_ON_CNTR_ZERO_PERIOD);
HRPWM_setMEPControlMode(EPWM2_BASE, HRPWM_CHANNEL_A, HRPWM_MEP_DUTY_PERIOD_CTRL);
HRPWM_setMEPControlMode(EPWM2_BASE, HRPWM_CHANNEL_B, HRPWM_MEP_DUTY_PERIOD_CTRL);
HRPWM_enablePhaseShiftLoad(EPWM2_BASE);
HRPWM_enablePeriodControl(EPWM2_BASE);

SysCtl_enablePeripheral(SYSCTL_PERIPH_CLK_HRPWM);
while(u16status == SFO_INCOMPLETE)
{
u16status = SFO();
if(u16status == SFO_ERROR)
{
while(1);
//error(); // SFO function returns 2 if an error occurs & # of MEP
} // steps/coarse step exceeds maximum of 255.
}

请问这个配置哪里存在问题？

Best wishes