DSP2812控制板输出的PWM频率很低

您好，
我建议您先跑下TI的例程。

老师，您好，很高兴收到您的回复。
我用的是BLDC3-1例程，现在出现的问题是捕获端口捕获不到霍尔信号状态，没办法进行换相。程序一直进行的是f281xhall3中启动电机寄存器Stallcount的递增，直到0xFFFF后进行换相。
您能帮我看看问题出在哪吗？万分感谢您！！
下面是我的主程序和f281xhall3源程序：
#include "DSP281x_Device.h" // DSP281x Headerfile Include File
#include "DSPMotor_Head.h"

#include "IQmathLib.h"
#include "BLDCMotor.h"
#include "parameter.h"
#include "DSP281x_GlobalPrototypes.h"
#include <math.h>
///// 函数声明 ////////////////////////////////////////////////////////////
interrupt void MainISR(void);

///// 全局变量声明
float32 SpeedRef = 0.5; // Speed reference (pu)，0.5*BaseSpeed
float32 T = 0.001/ISR_FREQUENCY; // Samping period (sec), see parameter.h
Uint32 VirtualTimer = 0;
Uint16 ILoopFlag = FALSE;
Uint16 SpeedLoopFlag = FALSE;
int16 DFuncDesired = 0xFA00; // Desired duty cycle (Q15)=0.2

_iq CurrentSet = _IQ(0.3);

Uint16 IsrTicker = 0;
Uint16 BackTicker = 0;

int16 DlogCh1 = 0;
int16 DlogCh2 = 0;
int16 DlogCh3 = 0;
int16 DlogCh4 = 0;

// Instance PID regulator to regulate the DC-bus current and speed
PIDREG3 pid1_idc = PIDREG3_DEFAULTS;
PIDREG3 pid1_spd = PIDREG3_DEFAULTS;

// Instance a PWM driver instance
PWMGEN pwm1 = PWMGEN_DEFAULTS;

// Create an instance of the ADC driver
ADCVALS adc1 = ADCVALS_DEFAULTS;

// Instance a Hall effect driver
HALL3 hall1 = HALL3_DEFAULTS;

// Instance a ramp controller to smoothly ramp the frequency
RMPCNTL rc1 = RMPCNTL_DEFAULTS;//where is rm_cntl_calc？？，rc1 function??

// Instance a RAMP2 Module
RMP2 rmp2 = RMP2_DEFAULTS;//where is rmp2_cntl_calc？？，rmp2 function??

// Instance a MOD6 Module
MOD6CNT mod1 = MOD6CNT_DEFAULTS;//mod6cnt_calc function??

// Instance a SPEED_PR Module
SPEED_MEAS_CAP speed1 = SPEED_MEAS_CAP_DEFAULTS;//speed_prd_calc where??

// Create an instance of DATALOG Module
DLOG_4CH dlog = DLOG_4CH_DEFAULTS;

////////////////////////// 主程序 //////////////////////////////////////////////

void main(void)
{

// Initialize System Control registers, PLL, WatchDog, Clocks to default state:
// This function is found in the DSP281x_SysCtrl.c file.
InitSysCtrl();

// HISPCP prescale register settings, normally it will be set to default values
EALLOW; // This is needed to write to EALLOW protected registers
SysCtrlRegs.HISPCP.all = 0x0000; // SYSCLKOUT/1
EDIS; // This is needed to disable write to EALLOW protected registers

// Disable and clear all CPU interrupts:
DINT;
IER = 0x0000;
IFR = 0x0000;

// Initialize Pie Control Registers To Default State:
// This function is found in the DSP281x_PieCtrl.c file.
InitPieCtrl();

// Initialize the PIE Vector Table To a Known State:
// This function is found in DSP281x_PieVect.c.
// This function populates the PIE vector table with pointers
// to the shell ISR functions found in DSP281x_DefaultIsr.c.
InitPieVectTable();

//EvaRegs.EVAIMRC.bit.CAP1INT=1;
EvaRegs.EVAIFRC.bit.CAP1INT=1;
//EvaRegs.EVAIMRC.bit.CAP2INT=1;
EvaRegs.EVAIFRC.bit.CAP2INT=1;
//EvaRegs.EVAIMRC.bit.CAP3INT=1;
EvaRegs.EVAIFRC.bit.CAP3INT=1;

// User specific functions, Reassign vectors (optional), Enable Interrupts:

// Initialize EVA Timer 1/2:
// Setup Timer 1/2 Registers (EV A)
EvaRegs.GPTCONA.all = 0;

// Set the Period for the GP timer 2
EvaRegs.T2PR = SYSTEM_FREQUENCY*1000000*T; // Perscaler X1 (T2), ISR period = T x 1

// Clear the counter/compare Regs for GP timer 2
EvaRegs.T2CNT = 0x0000;
EvaRegs.T2CMPR = 0x0000;

// Enable Period interrupt bits for GP timer 2
EvaRegs.EVAIMRB.bit.T2PINT = 1;
EvaRegs.EVAIFRB.bit.T2PINT = 1;

// Count up, x1, internal clk, disable compare, use own period
EvaRegs.T2CON.all = 0x1040;//已经使能计数

// Reassign ISRs.
// Reassign the PIE vector for T2PINT to point to a different
// ISR then the shell routine found in DSP281x_DefaultIsr.c.
// This is done if the user does not want to use the shell ISR routine
// but instead wants to use their own ISR.

EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.T2PINT = &MainISR;//
EDIS; // This is needed to disable write to EALLOW protected registers

// Enable PIE group 3 interrupt 1 for T2PINT
PieCtrlRegs.PIEIER3.all = M_INT1;

// Enable CPU INT3 for T2PINT:
IER |= M_INT3;

// Initialize PWM module
pwm1.PeriodMax = (SYSTEM_FREQUENCY/PWM_FREQUENCY)*1000; // Asymmetric PWM
pwm1.DutyFunc = DFuncDesired; // DutyFunc = Q15
pwm1.init(&pwm1);

// Initialize DATALOG module
dlog.iptr1 = &DlogCh1;
dlog.iptr2 = &DlogCh2;
dlog.iptr3 = &DlogCh3;
dlog.iptr4 = &DlogCh4;
dlog.trig_value = 0x01;
dlog.size = 0x400;
dlog.prescalar = 1;
dlog.init(&dlog);

// Initialize ADC module
adc1.ChSelect = 0x6543; // for DMC1500 and eZdsp2812/eZdsp2808 boards
adc1.init(&adc1);

// Initialize the SPEED_PR module (150 MHz, N = 1 event period/rev)
speed1.InputSelect = 0;
speed1.BaseRpm = 120*(BASE_FREQ/P);//120*f/极数
speed1.SpeedScaler = (Uint32)(ISR_FREQUENCY/(1*BASE_FREQ*0.001));

// Initialize RMPCNTL module
rc1.RampDelayMax = 20;//
rc1.RampLowLimit = _IQ(0);
rc1.RampHighLimit = _IQ(1);

// Initialize Hall module
hall1.DebounceAmount = 5;
hall1.Revolutions = -10;
hall1.init(&hall1);
mod1.Counter = Counter;
// Initialize RMP2 module
rmp2.Out = (int32)DFuncDesired;
rmp2.Ramp2Delay = 0x00000050;
rmp2.Ramp2Max = 0x00007FFF;
rmp2.Ramp2Min = 0x0000000F;

// Initialize the PID_REG3 module for dc-bus current
pid1_idc.Kp = _IQ(1);
pid1_idc.Ki = _IQ(T/0.003);//Ki=Kp*T/Ti
pid1_idc.Kd = _IQ(0/T);
pid1_idc.Kc = _IQ(0.2);
pid1_idc.OutMax = _IQ(0.99);
pid1_idc.OutMin = _IQ(0);

// Initialize the PID_REG3 module for speed
pid1_spd.Kp = _IQ(1);
pid1_spd.Ki = _IQ(T/0.1);
pid1_spd.Kd = _IQ(0/T);
pid1_spd.Kc = _IQ(0.2);
pid1_spd.OutMax = _IQ(0.99);
pid1_spd.OutMin = _IQ(0);

// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
EvaRegs.T1CON.bit.TENABLE=1;//开始计数
// IDLE loop. Just sit and loop forever:
for(;;) BackTicker++;

}

interrupt void MainISR(void)//T2的周期中断
{

// Verifying the ISR
IsrTicker++;

// ------------------------------------------------------------------------------
// Call the ADC04U_DRV read function.
// ------------------------------------------------------------------------------
adc1.read(&adc1);

// ------------------------------------------------------------------------------
// Connect inputs of the RMP module and call the Ramp control
// calculation function.
// ------------------------------------------------------------------------------
rc1.TargetValue = _IQ(SpeedRef);
rc1.calc(&rc1);

// ------------------------------------------------------------------------------
// Connect inputs of the HALL module and call the Hall sensor
// read function.
// ------------------------------------------------------------------------------
hall1.HallMapPointer = (int16)mod1.Counter;
hall1.read(&hall1);

// ------------------------------------------------------------------------------
// Connect inputs of the MOD6 module and call the Modulo 6 counter
// calculation function.
// ------------------------------------------------------------------------------
mod1.TrigInput =(int32)hall1.CmtnTrigHall;
mod1.Counter = (int32)hall1.HallMapPointer;
mod1.calc(&mod1);

// ------------------------------------------------------------------------------
// Connect inputs of the RMP2 module and call the Ramp control 2
// calculation function.
// ------------------------------------------------------------------------------
rmp2.DesiredInput = (int32)DFuncDesired;
rmp2.calc(&rmp2);

// ------------------------------------------------------------------------------
// Connect inputs of the PID_REG3 module and call the PID speed controller
// calculation function.
// ------------------------------------------------------------------------------
pid1_spd.Ref = rc1.SetpointValue;
pid1_spd.Fdb = speed1.Speed;
pid1_spd.calc(&pid1_spd);

// ------------------------------------------------------------------------------
// Set the speed closed loop flag once the speed is built up to a desired value.
// ------------------------------------------------------------------------------
if (rc1.EqualFlag == 0x7FFFFFFF)
{
SpeedLoopFlag = TRUE;
rc1.RampDelayMax = 300;
}

// ------------------------------------------------------------------------------
// Connect inputs of the PWM_DRV module and call the PWM signal generation
// update function.
// ------------------------------------------------------------------------------
// Switch from fixed duty-cycle or controlled Speed duty-cycle by SpeedLoopFlag variable
if (SpeedLoopFlag == FALSE)
{
pwm1.DutyFunc = (int16)rmp2.Out;
}// fixed duty-cycle
else
{
pwm1.DutyFunc = (int16)_IQtoIQ15(pid1_spd.Out);
}// controlled Speed duty-cycle

pwm1.CmtnPointer = (int16)mod1.Counter;
pwm1.update(&pwm1);

// ------------------------------------------------------------------------------
// Connect inputs of the SPEED_PR module and call the speed calculation
// function.
// ------------------------------------------------------------------------------
if ((mod1.Counter == 5)&&(hall1.CmtnTrigHall == 0x7FFF))
{
speed1.TimeStamp = VirtualTimer;
speed1.calc(speed1);
}

// ------------------------------------------------------------------------------
// Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
DlogCh1 = (int16)mod1.Counter;
DlogCh2 = (int16)mod1.TrigInput;
DlogCh3 = (int16)_IQtoIQ15(pid1_spd.Ref);
DlogCh4 = (int16)_IQtoIQ15(pid1_spd.Fdb);

// ------------------------------------------------------------------------------
// Increase virtual timer and force 15 bit wrap around
// ------------------------------------------------------------------------------
VirtualTimer++;
VirtualTimer &= 0x00007FFF;

// ------------------------------------------------------------------------------
// Call the DATALOG update function.
// ------------------------------------------------------------------------------
dlog.update(&dlog);

// Enable more interrupts from this timer
EvaRegs.EVAIMRB.bit.T2PINT = 1;

// Note: To be safe, use a mask value to write to the entire
// EVAIFRB register. Writing to one bit will cause a read-modify-write
// operation that may have the result of writing 1's to clear
// bits other then those intended.
EvaRegs.EVAIFRB.all = BIT0;

// Acknowledge interrupt to recieve more interrupts from PIE group 3
PieCtrlRegs.PIEACK.all |= PIEACK_GROUP3;
}


//===========================================================================
// No more.


f281xhall3源程序：#include "DSP281x_Device.h"
#include "DSP281x_Hall3.h"
#include "DSP281x_GlobalPrototypes.h"
Uint32 Counter;
void F281X_EV1_HALL3_Init(HALL3 *p)
{

F281X_EV1_HALL3_Determine_State(p);
p->HallGpioBuffer = p->HallGpio; // Init with current CAP/GPIO logic levels
p->HallGpioAccepted = p->HallGpio; // Init with current CAP/GPIO logic levels

EvaRegs.CAPCONA.all = HALL3_INIT_STATE; // Set up capture units, CAP1-3 using GP timer 2
EvaRegs.CAPFIFOA.all = 0x1500; // Write "01" each CAPxFIFO for EV to believe that there is already an entry in the FIFO

EALLOW; // Enable EALLOW
GpioMuxRegs.GPAMUX.all |= 0x0700; // Set up the capture 1-3 pins to primary functions
EDIS; // Disable EALLOW

//修改部分，为了启动电机
if(p->HallGpio == 1)//AC相导通
{
Counter = 1;
}
else if(p->HallGpio == 2)//BA相导通
{
Counter = 3;
}
else if(p->HallGpio == 3)//BC相导通
{
Counter = 2;
}
else if(p->HallGpio == 4)//CB相导通
{
Counter = 5;
}
else if(p->HallGpio == 5)//AB相导通
{
Counter = 0;
}
else//CA相导通
{
Counter = 4;
}
}


void F281X_EV1_HALL3_Read(HALL3 *p)
{

p->CapFlag = EvaRegs.EVAIFRC.all; // Save capture flag register, convenient for Watch Window
if (p->CapFlag==0) // NO_EDGE_DETECTED: No hall signal edges detected on CAP1-3 (bits 0-2)
{
p->CmtnTrigHall = 0; // Reset trigger, it only handshakes with calling program.
if (p->EdgeDebounced==0) // If motor has not moved then debounce current position.
{
F281X_EV1_HALL3_Debounce(p);//如果是第七次调用Debounced后，则会直接给EdgeDebounced赋值为0x7FFF,那么CmtnTrigHall的值也就会发生跳变。
p->CmtnTrigHall = p->EdgeDebounced; // Set Commutation trigger here
}
else
{ // If current position is debounced, find match in table
F281X_EV1_HALL3_Next_State_Ptr(p); // and return pointer to current state. Ptr to be incremented
// by MOD6CNT after RET.
p->EdgeDebounced = 0; // Reset trigger
}
}
else // EDGE_DETECTED: Any hall signal edges detected on CAP1-3
{
p->StallCount = 0xFFFF; // On new edge, reset stall counter
EvaRegs.EVAIFRC.all = 0x0007; // Clear all CAP1-3 Int-flags
F281X_EV1_HALL3_Determine_State(p); // Since motor has moved, determine state (read HallGpio)
p->CapCounter += 1; // Increment running edge detection counter
}
}

void F281X_EV1_HALL3_Determine_State(HALL3 *p)
{
EALLOW; // Enable EALLOW
// Configure CAP1-3 as GPIO-inputs (GPIO8-GPIO10)
GpioMuxRegs.GPAMUX.all &= 0xF8FF;

// config GPIO8-GPIO10 as inputs
GpioMuxRegs.GPADIR.bit.GPIOA8 = 0;
GpioMuxRegs.GPADIR.bit.GPIOA9 = 0;
GpioMuxRegs.GPADIR.bit.GPIOA10 = 0;
EDIS; // Disable EALLOW

p->HallGpio = GpioDataRegs.GPADAT.all&0x0700; // HallGpio.2-0 = GPIO10-GPIO8
p->HallGpio = p->HallGpio>>8;

EALLOW; // Enable EALLOW
GpioMuxRegs.GPAMUX.all |= 0x0700; // Set up the CAP1-3 pins to primary functions
EDIS; // Disable EALLOW

}


void F281X_EV1_HALL3_Debounce(HALL3 *p)
{

if (p->HallGpio == p->HallGpioAccepted) // GPIO_UNCHANGED: Current GPIO reading == debounced GPIO reading?
{
if (p->Revolutions <= 0) // Only create hall map during initial Revolutions
F281X_EV1_HALL3_Create_Map(p);
p->StallCount -= 1; // Decrement stall counter
if (p->StallCount == 0)
{
p->EdgeDebounced = 0x7FFF; // If motor has stalled, then user trigger to commutate
p->StallCount = 0xFFFF; // Reset counter to starting value
}
}
else // GPIO_CHANGED: If not zero, then the motor has moved to a new position.
{
if (p->HallGpio == p->HallGpioBuffer) // Current GPIO reading == previous GPIO reading?
{
if (p->DebounceCount >= p->DebounceAmount) // If equal, is current GPIO reading debounced?
{
p->HallGpioAccepted = p->HallGpioBuffer; // Current GPIO reading is now debounced
p->EdgeDebounced = 0x7FFF; // Edge/position debounced, trigger commutation

p->DebounceCount = 0; // Reset debounce counter

if (p->HallMapPointer==0)
p->Revolutions += 1; // Increment on every rev (HallMapPointer = 0)
}
else // DEBOUNCE_MORE
p->DebounceCount += 1; // Increment debounce counter
}
else // NEW_READING
{
p->HallGpioBuffer = p->HallGpio; // Save new reading and reset debounce counter
p->DebounceCount = 0;
}
}
}


void F281X_EV1_HALL3_Next_State_Ptr(HALL3 *p)
{
int16 i, HallPointer;

if (p->Revolutions>0) // Only run function after map has been created.
{
for (i=0;i<=5;i++) // Search for a match of current debounced GPIO position
{ // and the table entries.
if (p->HallMap[i] == p->HallGpioAccepted) // Match_Found
HallPointer = i;
}
p->HallMapPointer = HallPointer; // On match, save pointer position. Pointer will be incremented
} // by 1 since MOD6CNT will receive a positive trigger
} // and pointer as inputs.


void F281X_EV1_HALL3_Create_Map(HALL3 *p)
{
p->HallMap[p->HallMapPointer] = p->HallGpioAccepted; // Save debounced GPIO to table.
}

这个程序太长有点繁琐，但是恳求老师百忙之中能解决学生的疑惑，在此万分感谢！