TMS320F280049C: 变频移相控制PWM丟波（波形异常）问题

//#############################################################################
//
// FILE:   epwm_ex3_synchronization.c
//
// TITLE:  ePWM Using The Synch Chain and Phase Shift.
//
//! \addtogroup driver_example_list
//! <h1>ePWM Synchronization</h1>
//!
//! This example configures ePWM1, ePWM2, ePWM3 and ePWM4 as follows
//!  - ePWM1 without phase shift as master
//!  - ePWM2 with phase shift of 300 TBCLKs
//!  - ePWM3 with phase shift of 600 TBCLKs
//!  - ePWM4 with phase shift of 900 TBCLKs
//!
//! \b External \b Connections \n
//! - GPIO0 EPWM1A
//! - GPIO1 EPWM1B
//! - GPIO2 EPWM2A
//! - GPIO3 EPWM2B
//! - GPIO4 EPWM3A
//! - GPIO5 EPWM3B
//! - GPIO6 EPWM4A
//! - GPIO7 EPWM4B
//!
//! \b Watch \b Variables \n
//! - None.
//
//#############################################################################
// $TI Release: F28004x Support Library v1.12.00.00 $
// $Release Date: Fri Feb 12 18:57:27 IST 2021 $
// $Copyright:
// Copyright (C) 2021 Texas Instruments Incorporated - http://www.ti.com/
//
// Redistribution and use in source and binary forms, with or without 
// modification, are permitted provided that the following conditions 
// are met:
// 
//   Redistributions of source code must retain the above copyright 
//   notice, this list of conditions and the following disclaimer.
// 
//   Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the 
//   documentation and/or other materials provided with the   
//   distribution.
// 
//   Neither the name of Texas Instruments Incorporated nor the names of
//   its contributors may be used to endorse or promote products derived
//   from this software without specific prior written permission.
// 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// $
//#############################################################################

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

#define EPWM_TIMER_TBPRD_MAX    ((float32_t)277.0) // 180kHz

//
// Function Prototypes
//
void initEPWM(uint32_t base);

__interrupt void Timer2ISR(void);
__interrupt void epwm2ISR(void);
__interrupt void epwm3ISR(void);
__interrupt void epwm4ISR(void);





//
// Main
//
void main(void)
{
    //
    // 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);


	// add Timer Interrupt
	Interrupt_register(INT_TIMER2, &Timer2ISR);	

	 // Initialize timer period to maximum
    CPUTimer_setPeriod(CPUTIMER2_BASE, DEVICE_SYSCLK_FREQ/100000 ); // 100KHz
    // Initialize pre-scale counter to divide by 1 (SYSCLKOUT)
    CPUTimer_setPreScaler(CPUTIMER2_BASE, 0);
    // Make sure timer is stopped
    CPUTimer_stopTimer(CPUTIMER2_BASE);
    CPUTimer_setEmulationMode(CPUTIMER2_BASE,
                              CPUTIMER_EMULATIONMODE_STOPAFTERNEXTDECREMENT);
    // Reload all counter register with period value
    CPUTimer_reloadTimerCounter(CPUTIMER2_BASE);
    // Restart timer
    CPUTimer_resumeTimer(CPUTIMER2_BASE);	

    //
    // Configure GPIO0/1 , GPIO2/3 and GPIO4/5 and GPIO6/7 as
    // ePWM1A/1B, ePWM2A/2B, ePWM3A/3B, ePWM4A/4B pins respectively
    //
    Board_init();

    // Disable sync(Freeze clock to PWM as well). GTBCLKSYNC is applicable
    // only for multiple core devices. Uncomment the below statement if
    // applicable.
    //
    // SysCtl_disablePeripheral(SYSCTL_PERIPH_CLK_GTBCLKSYNC);
    SysCtl_disablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC);

    //
    // Initialize PWM1 without phase shift as master
    //
    //initEPWM(myEPWM1_BASE);

    //
    // Initialize PWM2 with phase shift of 300 TBCLKs
    //
    initEPWM(myEPWM2_BASE);
    //
    // Initialize PWM3 with phase shift of 600 TBCLKs
    //
    initEPWM(myEPWM3_BASE);
	EPWM_enablePhaseShiftLoad(myEPWM3_BASE);
    EPWM_setPhaseShift(myEPWM3_BASE, 274);

	EPWM_setDeadBandOutputSwapMode(myEPWM3_BASE, EPWM_DB_OUTPUT_A, 1);
	EPWM_setDeadBandOutputSwapMode(myEPWM3_BASE, EPWM_DB_OUTPUT_B, 1);


    //
    // Initialize PWM4 with phase shift of 900 TBCLKs
    //
    //initEPWM(myEPWM4_BASE);
    //EPWM_selectPeriodLoadEvent(myEPWM4_BASE, EPWM_SHADOW_LOAD_MODE_SYNC);
    //EPWM_setPhaseShift(myEPWM4_BASE, 900);
    //EPWM_setTimeBaseCounter(myEPWM4_BASE, 900);

    //
    // ePWM1 SYNCO is generated on CTR=0//
    //
    //EPWM_setSyncOutPulseMode(EPWM1_BASE, EPWM_SYNC_OUT_PULSE_ON_COUNTER_ZERO);

    //
    // ePWM2 uses the ePWM 1 SYNCO as its SYNCIN.
    // ePWM2 SYNCO is generated from its SYNCIN, which is ePWM1 SYNCO
    //
    EPWM_setSyncOutPulseMode(myEPWM2_BASE, EPWM_SYNC_OUT_PULSE_ON_COUNTER_ZERO);
	EPWM_setSyncOutPulseMode(myEPWM3_BASE, EPWM_SYNC_OUT_PULSE_DISABLED);

	
	// PWM LINK	
	EPWM_setupEPWMLinks(myEPWM3_BASE,
							  EPWM_LINK_WITH_EPWM_2,
							  EPWM_LINK_TBPRD);
	
	// Global Load
	EPWM_enableGlobalLoad(myEPWM2_BASE);
	EPWM_enableGlobalLoad(myEPWM3_BASE);

	EPWM_setGlobalLoadEventPrescale(myEPWM2_BASE, 1);
	EPWM_setGlobalLoadEventPrescale(myEPWM3_BASE, 1);
	
	EPWM_enableGlobalLoadRegisters(myEPWM2_BASE, EPWM_GL_REGISTER_TBPRD_TBPRDHR);
	
	EPWM_enableGlobalLoadRegisters(myEPWM3_BASE, EPWM_GL_REGISTER_TBPRD_TBPRDHR);

	EPWM_setGlobalLoadTrigger(myEPWM2_BASE, EPWM_GL_LOAD_PULSE_CNTR_ZERO);
	EPWM_setGlobalLoadTrigger(myEPWM3_BASE, EPWM_GL_LOAD_PULSE_SYNC);
	
	
	//
    // ePWM4 uses the ePWM 1 SYNCO as its SYNCIN.
    //
    //SysCtl_setSyncInputConfig(SYSCTL_SYNC_IN_EPWM4, SYSCTL_SYNC_IN_SRC_EPWM1SYNCOUT);
    //
    // Enable all phase shifts.
    //
    //EPWM_enablePhaseShiftLoad(myEPWM2_BASE);
    //EPWM_enablePhaseShiftLoad(myEPWM3_BASE);
    //EPWM_enablePhaseShiftLoad(myEPWM4_BASE);

    //
    // 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);

	Interrupt_enable(INT_TIMER2);

	CPUTimer_enableInterrupt(CPUTIMER2_BASE);

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

    //
    // IDLE loop. Just sit and loop forever (optional):
    //
    for(;;)
    {

    }
}

//
// epwm1ISR - ePWM 1 ISR
//
uint16_t uiCntrDirc = 0;

uint16_t uiPRDTicks = 0;
uint16_t uiPhasTicks = 0;
float32_t fPRD_pu = 0.6;
float32_t fPhas_pu = 0.0;


__interrupt void Timer2ISR(void)
{
    //
    // Clear INT flag for this timer
    //
    EPWM_clearEventTriggerInterruptFlag(myEPWM1_BASE);

	if(uiCntrDirc == 0)
	{
		fPRD_pu += 0.01;
		if(fPRD_pu >= 0.7) // 257k Hz
		{
			uiCntrDirc = 1;
		}
	}
	else
	{
		fPRD_pu -= 0.01;
		if(fPRD_pu <= 0.6) // 300k Hz
		{
			uiCntrDirc = 0;
		}
	}

	uiPRDTicks = (uint16_t)(fPRD_pu * EPWM_TIMER_TBPRD_MAX);
	
	//fPhas_pu = ((float32_t)uiPRDTicks * 0.98);
	
	uiPhasTicks = (uint16_t)((float32_t)uiPRDTicks * 0.98);

	
	HWREGH(myEPWM2_BASE + HRPWM_O_TBPRD) = uiPRDTicks;
	
    HWREGH(myEPWM3_BASE + HRPWM_O_TBPHS + 1) = uiPhasTicks;

	
    //
    // Acknowledge interrupt group
    //
    Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP3);
}

//
// epwm2ISR - ePWM 2 ISR
//
__interrupt void epwm2ISR(void)
{
    //
    // Clear INT flag for this timer
    //
    EPWM_clearEventTriggerInterruptFlag(myEPWM2_BASE);	

    //
    // Acknowledge interrupt group
    //
    Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP3);

	

	//GLDMODE = 0xF gfrcld
	//EPWM_forceGlobalLoadOneShotEvent(myEPWM2_BASE);

	//GLDMODE = 0x3 syncevt
	//EPWM_setGlobalLoadOneShotLatch(myEPWM2_BASE);
	
}

//
// epwm3ISR - ePWM 3 ISR
//
__interrupt void epwm3ISR(void)
{
    //
    // Clear INT flag for this timer
    //
    EPWM_clearEventTriggerInterruptFlag(myEPWM3_BASE);

    //
    // Acknowledge interrupt group
    //
    Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP3);
}

//
// epwm4ISR - ePWM 4 ISR
//
__interrupt void epwm4ISR(void)
{
    //
    // Clear INT flag for this timer
    //
    EPWM_clearEventTriggerInterruptFlag(myEPWM4_BASE);

    //
    // Acknowledge interrupt group
    //
    Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP3);
}

void initEPWM(uint32_t base)
{
    //
    // Set-up TBCLK
    //
    EPWM_setTimeBasePeriod(base, EPWM_TIMER_TBPRD_MAX);
    EPWM_setPhaseShift(base, 0U);
    EPWM_setTimeBaseCounter(base, 0U);

    //
    // Set Compare values
    //
    //EPWM_setCounterCompareValue(base,
    //                            EPWM_COUNTER_COMPARE_A,
    //                           EPWM_TIMER_TBPRD/2);
    //EPWM_setCounterCompareValue(base,
    //                            EPWM_COUNTER_COMPARE_B,
    //                            EPWM_TIMER_TBPRD/4);

    //
    // Set up counter mode
    //
    EPWM_setTimeBaseCounterMode(base, EPWM_COUNTER_MODE_UP_DOWN);
    EPWM_disablePhaseShiftLoad(base);
    EPWM_setClockPrescaler(base,
                           EPWM_CLOCK_DIVIDER_1,
                           EPWM_HSCLOCK_DIVIDER_1);

    //
    // Set up shadowing
    //
    EPWM_setCounterCompareShadowLoadMode(base,
                                         EPWM_COUNTER_COMPARE_A,
                                         EPWM_COMP_LOAD_ON_CNTR_ZERO);
    EPWM_setCounterCompareShadowLoadMode(base,
                                         EPWM_COUNTER_COMPARE_B,
                                         EPWM_COMP_LOAD_ON_CNTR_ZERO);

    //
    // Set actions
    //
    EPWM_setActionQualifierAction(base,
                                  EPWM_AQ_OUTPUT_A,
                                  EPWM_AQ_OUTPUT_HIGH,
                                  EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);
    //EPWM_setActionQualifierAction(base,
    //                              EPWM_AQ_OUTPUT_B,
    //                              EPWM_AQ_OUTPUT_HIGH,
    //                              EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);
    EPWM_setActionQualifierAction(base,
                                  EPWM_AQ_OUTPUT_A,
                                  EPWM_AQ_OUTPUT_LOW,
                                  EPWM_AQ_OUTPUT_ON_TIMEBASE_PERIOD);
    //EPWM_setActionQualifierAction(base,
    //                              EPWM_AQ_OUTPUT_B,
    //                              EPWM_AQ_OUTPUT_LOW,
    //                              EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPB);





	// DB Config
	EPWM_setDeadBandDelayMode(base, EPWM_DB_RED, true);
    EPWM_setDeadBandDelayMode(base, EPWM_DB_FED, true);

	EPWM_setRisingEdgeDeadBandDelayInput(base, 0);
    EPWM_setFallingEdgeDeadBandDelayInput(base, 0);

	EPWM_setDeadBandDelayPolarity(base, EPWM_DB_FED,
                                 EPWM_DB_POLARITY_ACTIVE_LOW);//DB FED output is inverted
    EPWM_setDeadBandDelayPolarity(base, EPWM_DB_RED,
                                 EPWM_DB_POLARITY_ACTIVE_HIGH);

	HWREG(base + HRPWM_O_DBFEDHR) = 20;
    HWREG(base + HRPWM_O_DBREDHR) = 20;							 
	
    //
    // Interrupt where we will change the Compare Values
    // Select INT on Time base counter zero event,
    // Enable INT, generate INT on 1rd event
    //
    //EPWM_setInterruptSource(base, EPWM_INT_TBCTR_ZERO);
    //EPWM_enableInterrupt(base);
    //EPWM_setInterruptEventCount(base, 1U);
}