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Part Number: TMS320F28377D
Other Parts Discussed in Thread: C2000WARE
按照下图3进行配置，下面是我电路的实际波形，绿色是PWM1A的驱动，紫色是PWM1B的驱动，黄色是引出的CTRIPOUT信号，现在有个问题 ，PWM1A是设置的TZA.FORCE LOW 动作，但是可以看到CTRIP信号到来时，经过了一定时间的延时，PWM1A才关断，延时时间好像跟我设置的DBRED(80ns)差不多，但是理论上TZA不经过DB的呀，不该有这个延时呀。
你好，你测试的是CMPSS模块控制TZ模块拉低PWMA吗？看波形似乎看不出两者有什么动作关系啊。TZ是one ***？关键两种模式似乎都跟图片上的波形对不起了啊
有没有参考过TI例程：C:\ti\c2000\C2000Ware_4_00_00_00\driverlib\f2837xd\examples\cpu1\epwm
// Included Files
//pin define Cmpss3 CMP3IN_P to B2 vo_sense to A1 改EPWM6的话 ADC soc信号要改 EPWMENCK信号要改 TRIP路径EPWM bar ET事件 低输入时不正常
//PWM1A TZA-FORCE LO 1B 在AQ中 T1事件动作通过同步TRIP EVENT
#include "F28x_Project.h"
// Defines
//
//definitions for selecting DACH reference
#define REFERENCE_VDDA 0
#define REFERENCE_VDAC 1
//definitions for COMPH input selection
#define NEGIN_DAC 0
#define NEGIN_PIN 1
//definitions for CTRIPH/CTRIPOUTH output selection
#define CTRIP_ASYNCH 0
#define CTRIP_SYNCH 1
#define CTRIP_FILTER 2
#define CTRIP_LATCH 3
int i=0;
//ADC定义
#define Vo_ref 2470 //12V 2460
float Vo_ave=0;
#define chanel 1
#define acqps 29 //采样窗 (acqps+1)*sysclk *5ns
//斜坡定义
#define slopeval 10 /* Required slope compensation */
#define dacval 8000
//
// Function Prototypes
//
void InitAdc(void);
void InitCMPSS(void);
void InitEPWM(void);
void pid_init(void);
interrupt void adc_isr(void);
//
// Main
//
void main(void)
{
//
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the F2837xD_SysCtrl.c file.
//
InitSysCtrl();
//
// Step 2. Initialize GPIO:
// This example function is found in the F2837xD_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
//
InitGpio();
//
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
DINT;
// Initialize the PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
// This function is found in the F2837xD_PieCtrl.c file.
InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
/* DSP28377D_PieVect.c */
InitPieVectTable();
/* Interrupt re-mapped to ISR function */
EALLOW;
PieVectTable.ADCA1_INT = &adc_isr;
EDIS;
InitAdc();
/* Enable ADCA1INT1 in PIE */
PieCtrlRegs.PIEIER1.bit.INTx1 = 1;/* Enable INT 1.1 in the PIE */
IER |= M_INT1;/* Enable CPU Interrupt 1 */
EINT;/* Enable Global interrupt INTM */
ERTM;/* Enable Global realtime interrupt DBGM */
// Configure Comparator COMP3H to accept POS input from pin and NEG input
// from DAC
InitEPWM();
InitEPwm1Gpio();
InitCMPSS();
// Configure GPIO5() to output OUTPUTXBAR3
//
GPIO_SetupPinMux(5, GPIO_MUX_CPU1, 3);
//观察ctripout值 gpio5
// Configure COMP3 to feed TRIP4 EPWM DC trip input
//
pid_init();
while(1)
{
;
}
}
//
// InitCMPSS - Initialize CMPSS3 and configure settings
//
void InitAdc(void)
{
//ADC时钟开启
EALLOW;
CpuSysRegs.PCLKCR13.bit.ADC_A=1;
EDIS;
EALLOW;
AdcaRegs.ADCCTL2.bit.PRESCALE = 6; //set ADCCLK divider to /4
AdcSetMode(ADC_ADCA, ADC_RESOLUTION_12BIT, ADC_SIGNALMODE_SINGLE);
AdcaRegs.ADCSOC0CTL.bit.CHSEL =chanel; //SOC0 will convert ADCINA1
AdcaRegs.ADCSOC0CTL.bit.ACQPS = acqps; //SOC0 will use sample duration of 20 SYSCLK cycles
AdcaRegs.ADCSOC0CTL.bit.TRIGSEL = 5; //SOC0 will begin conversion on ePWM1 SOCA 5 EPWM1A
AdcaRegs.ADCSOC1CTL.bit.CHSEL =chanel; //SOC0 will convert ADCINA1
AdcaRegs.ADCSOC1CTL.bit.ACQPS = acqps; //SOC0 will use sample duration of 20 SYSCLK cycles
AdcaRegs.ADCSOC1CTL.bit.TRIGSEL = 5; //SOC0 will begin conversion on ePWM1 SOCA
AdcaRegs.ADCSOC2CTL.bit.CHSEL =chanel; //SOC0 will convert ADCINA1
AdcaRegs.ADCSOC2CTL.bit.ACQPS = acqps; //SOC0 will use sample duration of 20 SYSCLK cycles
AdcaRegs.ADCSOC2CTL.bit.TRIGSEL = 5; //SOC0 will begin conversion on ePWM1 SOCA
AdcaRegs.ADCSOC3CTL.bit.CHSEL =chanel; //SOC0 will convert ADCINA1
AdcaRegs.ADCSOC3CTL.bit.ACQPS = acqps; //SOC0 will use sample duration of 20 SYSCLK cycles
AdcaRegs.ADCSOC3CTL.bit.TRIGSEL = 5; //SOC0 will begin conversion on ePWM1 SOCA
AdcaRegs.ADCINTSEL1N2.bit.INT1SEL = 0; //end of SOC0 will set INT1 flag
AdcaRegs.ADCINTSEL1N2.bit.INT1E = 1; //enable INT1 flag
AdcaRegs.ADCINTFLGCLR.bit.ADCINT1 = 1; //make sure INT1 flag is cleared
//Set pulse positions to late
AdcaRegs.ADCCTL1.bit.INTPULSEPOS = 1;
//power up the ADC
AdcaRegs.ADCCTL1.bit.ADCPWDNZ = 1;
//delay for 1ms to allow ADC time to power up
DELAY_US(1000);
EDIS;
}
void InitCMPSS(void)
{
EALLOW;
CpuSysRegs.PCLKCR14.bit.CMPSS3 = 0; //禁用时钟
//将CMPSS分配给CPU1
DevCfgRegs.CPUSEL12.bit.CMPSS3 = 0;
CpuSysRegs.PCLKCR14.bit.CMPSS3 = 1; //启用时钟
EDIS;
EALLOW;
//
//Enable CMPSS
//
Cmpss3Regs.COMPCTL.bit.COMPDACE = 1;
//NEG signal comes from DAC
//
Cmpss3Regs.COMPCTL.bit.COMPHSOURCE = NEGIN_DAC;
//
//Use VDDA as the reference for DAC
//
Cmpss3Regs.COMPDACCTL.bit.SELREF = REFERENCE_VDDA; //VDDA的值是多少 3.3
//选择同步或异步比较器触发
// Cmpss3Regs.COMPCTL.bit.ASYNCHEN = 0; //High comparator asynchronous path enable. Allows asynchronous comparator output to feed into OR gate with latched digital filter signal when CTRIPHSEL=3 or CTRIPOUTHSEL=3
//
// Configure CTRIPOUT path
// Asynch output feeds CTRIPH and CTRIPOUTH
//
Cmpss3Regs.COMPCTL.bit.COMPHINV=0; // 0比较器同相输出 1 比较器反相输出
//配置数字滤波器
//最大SAMPWIN值提供最大数量的样本（5位）
Cmpss3Regs.CTRIPHFILCTL.bit.SAMPWIN = 20 ; // 0x1F & 0x00;
//最大THRESH值需要整个窗口的静态值
//(5 位 THRESH 应该大于 SAMPWIN 的一半)
Cmpss3Regs.CTRIPHFILCTL.bit.THRESH = 17 ; //0x1F & 0x01
//最大 CLKPRESCALE 值提供样本之间的最长时间（12 位）
Cmpss3Regs.CTRIPHFILCLKCTL.bit.CLKPRESCALE =2 ; //234 2 10 7 0x3FF & 0x001;
//重置过滤逻辑并开始过滤
Cmpss3Regs.CTRIPHFILCTL.bit.FILINIT = 1;
//清除锁存器
Cmpss3Regs.COMPSTSCLR.bit.HSYNCCLREN=1; //1 EPWMSYNCPER will reset latch
Cmpss3Regs.COMPSTSCLR.bit.HLATCHCLR = 1; //清除锁存值
//输出路径
Cmpss3Regs.COMPCTL.bit.CTRIPHSEL = CTRIP_ASYNCH;
// Cmpss3Regs.COMPCTL.bit.CTRIPHSEL = CTRIP_FILTER;
Cmpss3Regs.COMPCTL.bit.CTRIPOUTHSEL = CTRIP_ASYNCH;
// Cmpss3Regs.COMPCTL.bit.CTRIPOUTHSEL = CTRIP_FILTER;
// Cmpss3Regs.COMPHYSCTL.bit.COMPHYS=2; //设置 滞环宽度
//同步清除使能
// Cmpss3Regs.COMPSTSCLR.bit.HSYNCCLREN = 1;
//
// Configure CTRIPOUTH output pin
// Configure OUTPUTXBAR3 to be CTRIPOUT1H
//
OutputXbarRegs.OUTPUT3MUX0TO15CFG.bit.MUX4 = 0;
//
//Enable OUTPUTXBAR3 Mux for Output
//
OutputXbarRegs.OUTPUT3MUXENABLE.bit.MUX4 = 1;
//
//DAC source select. Determines whether DACHVALA is updated from DACHVALS or from the ramp generator
//
Cmpss3Regs.COMPDACCTL.bit.DACSOURCE = 1; // 0 DAC updated from DACHVALS, 1 DAC updated from the ramp generator
Cmpss3Regs.COMPDACCTL.bit.RAMPLOADSEL=1; //斜坡加载模式 Ramp load select. Determines whether RAMPSTS is updated from RAMPMAXREFA or RAMPMAXREFS when COMPSTS[COMPHSTS] is triggered.
Cmpss3Regs.COMPDACCTL.bit.SWLOADSEL=1; /*Software load select. Determines whether DACxVALA is updated
from DACxVALS on SYSCLK or EPWMSYNCPER.
0 DACxVALA is updated from DACxVALS on SYSCLK
1 DACxVALA is updated from DACxVALS on EPWMSYNCPER
*/
//
//Ramp generator source select. Determines which EPWMSYNCPER signal is used within the CMPSS module
//
Cmpss3Regs.COMPDACCTL.bit.RAMPSOURCE = 0; // 0 EPWM1SYNCPER, 3 EPWM4SYNCPER 更改EPWM需要修改 Ramp generator source select. Determines which EPWMSYNCPER
// signal is used within the CMPSS module
EDIS;
Cmpss3Regs.RAMPDECVALS = slopeval;
// Cmpss3Regs.RAMPMAXREFS = dacval; //2048==> 2048/16 *3.3(ref) /4096=dacout 0.07
}
//
// InitEPWM - Initialize EPWM1 module settings
//
void InitEPWM(void)
{
EALLOW;
// ClkCfgRegs.PERCLKDIVSEL.bit.EPWMCLKDIV=1; //EPWM分频器
CpuSysRegs.PCLKCR0.bit.TBCLKSYNC = 0;
//
//Configure EPWM to run at SYSCLK
//
// ClkCfgRegs.PERCLKDIVSEL.bit.EPWMCLKDIV = 0;
EPwm1Regs.TBCTL.bit.CLKDIV = 0;
EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0;
//Initialize dummy values for EPWM CTR/PRD
//
EPwm1Regs.TBCTR = 0;
EPwm1Regs.TBPRD = 117; // 850kHz PWM
CpuSysRegs.PCLKCR0.bit.TBCLKSYNC = 1;
EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE; // Disable phase loading禁止计数器装载相位寄存器的值
EPwm1Regs.TBPHS.bit.TBPHS= 0;/* Set Phase register to zero */
EPwm1Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_DISABLE; // Sync down-stream module
EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW; //影子装载模式
EPwm1Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO; // Load on Zero在CTR=0时，影子寄存器装载
EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
//
//Configure TRIP4 to be CTRIP3H
//
EPwmXbarRegs.TRIP4MUX0TO15CFG.bit.MUX4 = 0; // 0.4 是CMPSS3的CTRIPH
//Enable TRIP4 Mux for Output
//
EPwmXbarRegs.TRIP4MUXENABLE.bit.MUX4 = 1;
// Enable PWM
//
EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP;
EPwm1Regs.CMPA.bit.CMPA =95; //max duty limit 97/117 考虑了死区 0.82最大占空比
EPwm1Regs.CMPB.bit.CMPB =95; //max duty limit 97/117 考虑了死区 0.82最大占空比
// Set actions AQ也配置 实际上A是通过跳闸
//
EPwm1Regs.AQCTLA.bit.ZRO = AQ_SET; // Set PWM1A on event A, up count
EPwm1Regs.AQCTLA.bit.CAU = AQ_CLEAR; // Clear PWM1A on event A, up count 限制最大占空比防止一直高电平
// EPwm1Regs.AQCTLA2.bit.T1U = AQ_CLEAR; // Action when event occurs on T2 in UP-Count
EPwm1Regs.AQCTLB.bit.ZRO = AQ_SET; // Set PWM1B on event B, up count
EPwm1Regs.AQCTLB.bit.CBU = AQ_CLEAR; // Set PWM1B on event B, up count 最小占空比限制
EPwm1Regs.AQCTLB2.bit.T1U = AQ_CLEAR; // Action when event occurs on T2 in UP-Count 1:DCAEVT2发生时动作
EPwm1Regs.AQTSRCSEL.bit.T1SEL = 3; // 0:DCAEVT1, 1:DCAEVT2, 2:DCBEVT1, 3:DCBEVT2 有TI T2事件 DCAEVT2事件被配置为异步跳闸 能否应用于B的T1事件触发
//
//---------------------------- Active Low PWMs - Setup Deadband
//
// EPwm1Regs.DBCTL.bit.HALFCYCLE = 1; // Half cycle clocking enabled
EPwm1Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
EPwm1Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC;
EPwm1Regs.DBCTL.bit.DEDB_MODE=0;
//EPwm1Regs.DBCTL.bit.IN_MODE = DBA_ALL;
EPwm1Regs.DBCTL.bit.IN_MODE =DBA_RED_DBB_FED; //A RED B FED+invert
EPwm1Regs.DBRED.bit.DBRED = 8; //死区时间 DBFED × TTBCLK(10nS @100Mhz)
EPwm1Regs.DBFED.bit.DBFED = 10;
//-----ET------------------------触发ADC采样-----------------------
EPwm1Regs.ETSEL.bit.SOCAEN = 1; /* Enable SOC on A group */
EPwm1Regs.ETSEL.bit.SOCASEL =1; //001: Enable event time-base counter equal to zero. (TBCTR = 0x00)
EPwm1Regs.ETPS.bit.SOCPSSEL = 1; //EPWMxSOC A/B Pre-Scale Selection Bits 预分频
// EPwm1Regs.ETPS.bit.INTPSSEL=1; //EPWM int中断
// EPwm1Regs.ETPS.bit.SOCAPRD=1;
EPwm1Regs.ETSOCPS.bit.SOCAPRD2 = 4; /* Generate pulse on 6st event */
// EPwm1Regs.ETCLR.bit.SOCA=1; //清除SOCA中断标志位
EPwm1Regs.TZSEL.bit.DCAEVT2 = 1; // Enable DCAEVT2 as a CBC trip source for this ePWM module
EPwm1Regs.TZCBCCLR.bit.DCAEVT2 = 1; // Clear Flag for Digital Compare Output A Event 2 selected for CBC
EPwm1Regs.TZCLR.bit.DCAEVT2=1 ; // Clear Flag for Digital Compare Output A Event 2
// 0: Writing 0 has no effect. This bit always reads back 0.
// 1: Writing 1 clears the DCAEVT2 event trip condition.
EPwm1Regs.TZCLR.bit.CBC=1 ; //Clear Flag for Cycle-By-Cycle (CBC) Trip Latch 清除中断标志TZFLG
// 0: Has no effect. Always reads back a 0.
// 1: Clears this Trip (set) condition.
EPwm1Regs.TZCLR.bit.CBCPULSE=0; //00: CTR = zero pulse clears CBC trip latch. (Same as legacy designs.)
//------------------B通道 DCBEVT2--------------------------------------
// EPwm1Regs.TZSEL.bit.DCBEVT2 = 1; // Enable DCAEVT2 as a CBC trip source for this ePWM module
// EPwm1Regs.TZCBCCLR.bit.DCBEVT2 = 1; // Clear Flag for Digital Compare Output A Event 2 selected for CBC
// EPwm1Regs.TZCLR.bit.DCBEVT2=1 ; //
// EPwm1Regs.TZCLR.bit.CBCPULSE=0; //00: CTR = zero pulse clears CBC trip latch. (Same as legacy designs.)
EPwm1Regs.TZCTL.bit.TZA = TZ_FORCE_LO; /* EPWM1A will go low 这是锁存的*/
// EPwm1Regs.TZCTL.bit.TZB = TZ_FORCE_LO;/* EPWM1B will go low */
EPwm1Regs.TZCTL.bit.TZB = TZ_NO_CHANGE; /* EPWM1B has no action 在AQ中动作*/
// EPwm1Regs.TZCTL.bit.DCAEVT2 = TZ_FORCE_LO; // 10: Force EPWMxA to a low state 保护不用 通过T1 T2事件进行动作 可以避免直通 这是不锁存的
// EPwm1Regs.TZCTL.bit.DCBEVT2 = TZ_NO_CHANGE; // 11: Do Nothing, trip action is disabled
// EPwm1Regs.TZCTL.bit.DCAEVT2 = TZ_NO_CHANGE; //屏蔽DCA B动作 采用TZAB动作
// EPwm1Regs.TZCTL2.bit.ETZE = 1; //0: Use trip action from TZCTL (legacy EPWM compatibility) 1: Use trip action defined in TZCTL2, TZCTLDCA and TZCTLDCB. Settings in TZCTL are ignored
EPwm1Regs.DCTRIPSEL.bit.DCAHCOMPSEL = 3; // Trip IN4 3
EPwm1Regs.DCTRIPSEL.bit.DCBHCOMPSEL = 3; // Trip 4 3
EPwm1Regs.TZDCSEL.bit.DCAEVT2 = TZ_DCAH_HI; /*000: Event disabled DCAH为高 产生一个DCAEVT2事件
001: DCAH = low, DCAL = don't care
010: DCAH = high, DCAL = don't care
011: DCAL = low, DCAH = don't care
100: DCAL = high, DCAH = don't care
101: DCAL = high, DCAH = low */
EPwm1Regs.TZDCSEL.bit.DCBEVT2 = TZ_DCBH_HI; //TRIP4 产生DCAH与DCBH事件，DCAH配置CBC跳闸触发TZA ，DCBH配置为事件T1 用于B pwm
EPwm1Regs.DCACTL.bit.EVT2SRCSEL =1; // 0: Source Is DCAEVT2 Signal; 1: Source Is DCEVTFILT Signal TZ路径
EPwm1Regs.DCACTL.bit.EVT2FRCSYNCSEL =1; // 0: Source is synchronized with EPWMCLK; 1: Source is passed through asynchronously 通过sync生成DCAEVT2.FORCE
EPwm1Regs.DCBCTL.bit.EVT2SRCSEL =0; // 0: Source Is DCBEVT2 Signal; 1: Source Is DCEVTFILT Signal
EPwm1Regs.DCBCTL.bit.EVT2FRCSYNCSEL = 1; // 0: Source is synchronized with EPWMCLK; 1: Source is passed through asynchronously
//---空窗设置---事件过滤--可不配置--------------------------------------------------------------------------
EPwm1Regs.DCFCTL.bit.SRCSEL = 1; // 01: Source Is DCAEVT2 Signal
EPwm1Regs.DCFCTL.bit.BLANKE = 1; // 1: Blanking window is enabled
EPwm1Regs.DCFCTL.bit.BLANKINV = 0; // 0: Blanking window not inverted; 1: Blanking window inverted
EPwm1Regs.DCFCTL.bit.PULSESEL = 1; // 01: Time-base counter equal to zero
//PWMSYNCSEL
EPwm1Regs.HRPCTL.bit.PWMSYNCSELX = 0; // EPWMSYNCPER is defined by PWMSYNCSEL 0 EPWM1
EPwm1Regs.HRPCTL.bit.PWMSYNCSEL = 1; // 1:CTR = zero; 0:CTR = PRD
EDIS;
EPwm1Regs.DCFOFFSET =0;
EPwm1Regs.DCFWINDOW = 20; //DCFWINDOW*TB_WINDOW(10nS @100Mhz)
}
struct pid{
double err; //定义偏差值
double err_last; //定义上一个偏差值
double err_pre; //定义上上一个偏差值
double Kp,Ki,Kd; //定义比例，积分，微分系数
double det_err_pi;
double out_pi;
} pid;
//初始化变量
void pid_init()
{
pid.err=0;
pid.err_last=0;
pid.err_pre=0;
pid.Kp=1.2; //kp=0.05;ki=0.01 PI参数调节 0.02 0.0015
pid.Ki=0.05;
// pid.Kd=1;
pid.out_pi=0; //初始duty
pid.det_err_pi=0;
}
interrupt void adc_isr(void)
{
// i++;
// GpioDataRegs.GPASET.bit.GPIO12 = 1;/* Set GPIO12 (for timing purposes) */
AdcaRegs.ADCINTFLGCLR.bit.ADCINT1 = 1;/* Clr ADCINT1 flag for next SOC */
PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;/* Acknowledge interrupt to PIE */
Vo_ave=((AdcaResultRegs.ADCRESULT0)+(AdcaResultRegs.ADCRESULT1)+(AdcaResultRegs.ADCRESULT2)+(AdcaResultRegs.ADCRESULT3))>>2;
pid.err=Vo_ref-Vo_ave;
pid.err=0.5*(pid.err+pid.err_last);
if (pid.err<=5&&pid.err>=-5)
pid.err=0;
pid.out_pi=pid.out_pi+pid.Kp*(pid.err-pid.err_last)+pid.Ki*pid.err;
pid.err_last=pid.err;
if (pid.out_pi<0)
pid.out_pi=0;
if (pid.out_pi>65530)
pid.out_pi=65530;
Cmpss3Regs.RAMPMAXREFS=(pid.out_pi); //左移4位 DAC为12位 RAMPMAXREFS的高12位to DACHVALA 所以要左移4位
// GpioDataRegs.GPACLEAR.bit.GPIO12 = 1;/* Set GPIO12 (for timing purposes) */
// ; //观察i值，判断有无进入中断
return;
}
/****************************************************************************
// No more.
****************************************************************************/
你好，因为我对CMPSS模块的掌握度也不高，所以需要将你的问题升级到英文E2E论坛。但由于现在是美国的节假日期间，没有工程师支持。需要等到1月3日之后才会有工程师开始接管论坛。需要麻烦你在1月3日之后再整理一个帖子发布一下新帖，到时候为你升级。（因为旧贴可能被刷下去，新帖的话系统有提示）