TMS320F280025C: 官方捕获例程无法计算占空比

你好，你是用的原始工程做的测试吗？也就是说在没有对例程做修改的情况下做的测试？

jianqiu zhang 说：

在debug时cap1，cap2，cap3，cap4的值不一样，可是做差后数值一样

这段是什么意思？例程应该是只使用了eCAP1啊。

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

//
// Defines
//
#define PWM3_TIMER_MIN 500U
#define PWM3_TIMER_MAX 8000U
#define EPWM_TIMER_UP 1U
#define EPWM_TIMER_DOWN 0U

//
// Globals
//
uint32_t ecap1IntCount;
uint32_t ecap1PassCount;
uint32_t epwm3TimerDirection;
volatile uint32_t cap1Count;
volatile uint32_t cap2Count;
volatile uint32_t cap3Count;
volatile uint32_t cap4Count;
volatile uint32_t epwm3PeriodCount;


//
// Function Prototypes
//
void error(void);
void initECAP(void);
void initEPWM(void);

volatile float T1=0,T2=0,T3=0;
volatile float frequence=0;
volatile float duty=0;



//
// Comment to Make the CAN Controller work as a Receiver.
//

#define TX_MSG_OBJ_ID 20
//#else


#define RX_CMD_OBJ_ID 1

volatile uint32_t INT_OBJ_ID = 0;

//#define RX_MSG_OBJ_RESERVED1 2
//#define RX_MSG_OBJ_CMD 3
//#define RX_MSG_OBJ_DATA 4
//#define RX_MSG_OBJ_RESERVED2 5
//#define RX_MSG_OBJ_RESERVED3 6
//#define RX_MSG_OBJ_RESERVED4 7
//#define RX_MSG_OBJ_RESERVED5 8
//#define RX_MSG_OBJ_REMOTE 11

#define RX_DATA_LENGTH 8
#define TX_DATA_LENGTH 8
#define MSGCOUNT 10



//
// Globals
//



volatile uint32_t txMsgCount = 0;
volatile uint32_t txMsgSuccessful = 1;

uint16_t textdata[32];

//volatile unsigned long i;



uint16_t txMsgData[32];
uint16_t rxMsgData[32];



volatile uint32_t rxMsgCount = MSGCOUNT,rxcount=0;


uint16_t ER_CMD[32]={'E','R','R', '_','C','M','D'};//
uint16_t CO_CMD[32]={'C','O','R', 'R','E','C','T','_','D','A','T','A'};//


volatile uint32_t errorFlag = 0,error_log=0;
volatile int waittask=0;
//
// Function Prototypes
//
__interrupt void canaISR(void);

//
// Main
//
void main(void)
{
// int waittask=0;


//
// Initialize device clock and peripherals
//
Device_init();

//
// Disable pin locks and enable internal pullups.
//
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();

//
// Configure GPIO4/5 as ePWM3A/3B
//
GPIO_setPadConfig(4,GPIO_PIN_TYPE_STD);
GPIO_setPinConfig(GPIO_4_EPWM3_A);
GPIO_setPadConfig(5,GPIO_PIN_TYPE_STD);
GPIO_setPinConfig(GPIO_5_EPWM3_B);

//
// Board initialization
// Configure GPIO 16 as eCAP input
// Enable interrupts required for this example
//
Board_init();

//
// Configure ePWM
//
initEPWM();

//
// Initialize counters:
//
ecap1IntCount = 0U;
ecap1PassCount = 0U;
epwm3PeriodCount = 0U;
cap1Count = 0U;
cap2Count = 0U;
cap3Count = 0U;
cap4Count = 0U;

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



// Loop forever. Suspend or place breakpoints to observe the buffers.

for(;;)
{

NOP;
}
}

//
// initEPWM - Configure ePWM
//
void initEPWM()
{
//
// Disable sync(Freeze clock to PWM as well)
//
SysCtl_disablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC);

//
// Configure ePWM
// Counter runs in up-count mode.
// Action qualifier will toggle output on period match

EPWM_setTimeBaseCounterMode(EPWM3_BASE, EPWM_COUNTER_MODE_UP);
//TBPRD
EPWM_setTimeBasePeriod(EPWM3_BASE, PWM3_TIMER_MIN);
//TBPH
EPWM_setPhaseShift(EPWM3_BASE, 25010U);

EPWM_setActionQualifierAction(EPWM3_BASE,
EPWM_AQ_OUTPUT_A,
EPWM_AQ_OUTPUT_TOGGLE,
EPWM_AQ_OUTPUT_ON_TIMEBASE_PERIOD);

// TBCLK = EPWMCLK/(highSpeedPrescaler * pre-scaler)
// EPWM_setClockPrescaler(uint32_t base, EPWM_ClockDivider prescaler,
// EPWM_HSClockDivider highSpeedPrescaler)
EPWM_setClockPrescaler(EPWM3_BASE,
EPWM_CLOCK_DIVIDER_1,
EPWM_HSCLOCK_DIVIDER_2);//EPWM_HSCLOCK_DIVIDER_2

epwm3TimerDirection = EPWM_TIMER_UP;

//
// Enable sync and clock to PWM
//
SysCtl_enablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC);
}

//
// myECAP0 ISR
//
__interrupt void INT_myECAP1_ISR(void)
{
//
// Get the capture counts. Each capture should be 2x the ePWM count
// because of the ePWM clock divider.
//
cap1Count = ECAP_getEventTimeStamp(myECAP0_BASE, ECAP_EVENT_1);
cap2Count = ECAP_getEventTimeStamp(myECAP0_BASE, ECAP_EVENT_2);
cap3Count = ECAP_getEventTimeStamp(myECAP0_BASE, ECAP_EVENT_3);
cap4Count = ECAP_getEventTimeStamp(myECAP0_BASE, ECAP_EVENT_4);

T1=cap4Count - cap3Count;
T2=cap4Count - cap2Count;
duty=T1/T2;
// T1=ECAP_getEventTimeStamp(myECAP0_BASE, ECAP_EVENT_2) - cap1Count;
// T2=ECAP_getEventTimeStamp(myECAP0_BASE, ECAP_EVENT_3) - cap1Count;


//
// Compare the period value with the captured count
//
epwm3PeriodCount = EPWM_getTimeBasePeriod(EPWM3_BASE);



if(cap2Count > ((epwm3PeriodCount *2) + 2U) ||
cap2Count < ((epwm3PeriodCount *2) - 2U))
{
error();
}

if(cap3Count > ((epwm3PeriodCount *2) + 2U) ||
cap3Count < ((epwm3PeriodCount *2) - 2U))
{
error();
}

if(cap4Count > ((epwm3PeriodCount *2) + 2U) ||
cap4Count < ((epwm3PeriodCount *2) - 2U))
{
error();
}

ecap1IntCount++;

//
// Keep track of the ePWM direction and adjust period accordingly to
// generate a variable frequency PWM.

if(epwm3TimerDirection == EPWM_TIMER_UP)
{
if(epwm3PeriodCount < PWM3_TIMER_MAX)
{
EPWM_setTimeBasePeriod(EPWM3_BASE, ++epwm3PeriodCount);

}
else
{
epwm3TimerDirection = EPWM_TIMER_DOWN;
EPWM_setTimeBasePeriod(EPWM3_BASE, ++epwm3PeriodCount);

}
}
else
{
if(epwm3PeriodCount > PWM3_TIMER_MIN)
{
EPWM_setTimeBasePeriod(EPWM3_BASE, --epwm3PeriodCount);

}
else
{
epwm3TimerDirection = EPWM_TIMER_UP;
EPWM_setTimeBasePeriod(EPWM3_BASE, ++epwm3PeriodCount);

}
}

//
// Count correct captures
//
ecap1PassCount++;

//
// Clear interrupt flags for more interrupts.
//
ECAP_clearInterrupt(myECAP0_BASE,ECAP_ISR_SOURCE_CAPTURE_EVENT_4);
ECAP_clearGlobalInterrupt(myECAP0_BASE);

//
// Start eCAP
//s
ECAP_reArm(myECAP0_BASE);

//
// Acknowledge the group interrupt for more interrupts.
//
Interrupt_clearACKGroup(INT_myECAP0_INTERRUPT_ACK_GROUP);
}

//
// CAN A ISR - The interrupt service routine called when a CAN interrupt is
// triggered on CAN module A.
//
__interrupt void
canaISR(void)
{
uint32_t status;

//
// Read the CAN-B interrupt status to find the cause of the interrupt
//
status = CAN_getInterruptCause(CANA_BASE);

//
// If the cause is a controller status interrupt, then get the status
//
if(status == CAN_INT_INT0ID_STATUS)
{
//
// Read the controller status. This will return a field of status
// error bits that can indicate various errors. Error processing
// is not done in this example for simplicity. Refer to the
// API documentation for details about the error status bits.
// The act of reading this status will clear the interrupt.
//
status = CAN_getStatus(CANA_BASE);

//
// Check to see if an error occurred.
//
if
(
((status & ~(CAN_STATUS_RXOK|CAN_STATUS_TXOK)) != CAN_STATUS_LEC_MSK) &&
((status & ~(CAN_STATUS_RXOK|CAN_STATUS_TXOK)) != CAN_STATUS_LEC_NONE)
)
{

//
// Set a flag to indicate some errors may have occurred.
//
error_log = status;
// errorFlag = 1;
ESTOP0;

}
}
else if(status == TX_MSG_OBJ_ID)
{
// GPIO_writePin(31, 0);
//
// Getting to this point means that the TX interrupt occurred on
// message object 1, and the message TX is complete. Clear the
// message object interrupt.
//

// GPIO_writePin(31, 0);
CAN_clearInterruptStatus(CANA_BASE, TX_MSG_OBJ_ID);

//
// Increment a counter to keep track of how many messages have been
// transmitted. In a real application this could be used to set flags to
// indicate when a message is transmitted.
//
txMsgCount++;

//
// Since the message was transmitted, clear any error flags.
//
errorFlag = 0;

//
// Clear the message transmitted successful Flag.
//
txMsgSuccessful = 0;
// GPIO_writePin(31, 1);
}

else if(status == RX_CMD_OBJ_ID)
{

CAN_readMessage(CANA_BASE, RX_CMD_OBJ_ID, rxMsgData);
// CAN_sendMessage(CANA_BASE, TX_MSG_OBJ_ID,TX_DATA_LENGTH,CO_CMD);
CAN_clearInterruptStatus(CANA_BASE, RX_CMD_OBJ_ID);



INT_OBJ_ID = RX_CMD_OBJ_ID;
waittask++;

rxMsgCount--;
rxcount++;
errorFlag = 0;

}
// else if(status == RX_MSG_OBJ_DATA)
// {
//
// CAN_readMessage(CANA_BASE, RX_MSG_OBJ_DATA, rxMsgData12);
//
// CAN_clearInterruptStatus(CANA_BASE, RX_MSG_OBJ_DATA);
//
// rxMsgCount--;
//
// errorFlag = 0;
// }
//
//
// else if(status == RX_MSG_OBJ_REMOTE)
// {
// CAN_readMessage(CANA_BASE, RX_MSG_OBJ_REMOTE, rxMsgData13);
// CAN_clearInterruptStatus(CANA_BASE, RX_MSG_OBJ_REMOTE);
//
// rxMsgCount--;
//
// errorFlag = 0;
//
// }

//#endif
//
// If something unexpected caused the interrupt, this would handle it.
//
else
{
//
// Spurious interrupt handling can go here.
//
}
// GPIO_writePin(31, 1);
//
// Clear the global interrupt flag for the CAN interrupt line
//
CAN_clearGlobalInterruptStatus(CANA_BASE, CAN_GLOBAL_INT_CANINT0);

//
// Acknowledge this interrupt located in group 9
//
Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP9);
}

//
// error - Error function
//
void error()
{
ESTOP0;
}

这个是debug时的结果

您好，如果方便的话能不能帮我看下哪里有问题？感谢

额，我是在看，但是你发这么一大段代码上来，也不对代码做些什么说明/标注，我看起来很慢也很累啊

不好意思啊，我的问题。我只是在例程的基础上增加了这个

但是得到的结果是捕获值相同

你好，请问你的问题是解决了吗？

其实我一直没明白你说的“cap2Count、cap3Count、cap4Count的值是一样的”是什么意思？因为正常情况下这三个值就是应该是一样，或者差几个值（看运行的电位不同）。

这四个不是分别捕获的上升沿，下降沿时计数器的值吗？为什么会是一样的啊？现在这个问题解决了。

你好，这个似乎跟之前的例程不同，里面的值是捕获的次数而不是计数器的值。

我会再看一下之后回复你。