28335cap中断捕捉hall信号实现换向，定时器1给定PWM码值，检测六路pwm，hall换向时对应PWM输出波形有缺失

yue hu1

Prodigy 10 points

您好，

我采用cap中断采集HALL信号进行换向。配置如下

PWM配置

void InitEPwm1Initialize(void)

{

EALLOW;

SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;

EDIS;

EPwm1Regs.TBSTS.all=0;

EPwm2Regs.TBSTS.all=0;

EPwm3Regs.TBSTS.all=0;

EPwm1Regs.TBPHS.half.TBPHS=0;

EPwm2Regs.TBPHS.half.TBPHS=0;

EPwm3Regs.TBPHS.half.TBPHS=0;

EPwm1Regs.TBCTR=0;

EPwm2Regs.TBCTR=0;

EPwm3Regs.TBCTR=0;

EPwm1Regs.CMPCTL.all=0x50; // Immediate mode for CMPA and CMPB

EPwm2Regs.CMPCTL.all=0x50;

EPwm3Regs.CMPCTL.all=0x50;

EPwm1Regs.AQCTLA.all=0; // EPWMxA = 1 when CTR=CMPA and counter inc

// EPWMxA = 0 when CTR=CMPA and counter dec

EPwm1Regs.AQCTLB.all=0;

EPwm1Regs.AQSFRC.all=0;

EPwm1Regs.AQCSFRC.all=0;

EPwm2Regs.AQCTLA.all=0; // EPWMxA = 1 when CTR=CMPA and counter inc

// EPWMxA = 0 when CTR=CMPA and counter dec

EPwm2Regs.AQCTLB.all=0;

EPwm2Regs.AQSFRC.all=0;

EPwm2Regs.AQCSFRC.all=0;

EPwm3Regs.AQCTLA.all=0; // EPWMxA = 1 when CTR=CMPA and counter inc

// EPWMxA = 0 when CTR=CMPA and counter dec

EPwm3Regs.AQCTLB.all=0;

EPwm3Regs.AQSFRC.all=0;

EPwm3Regs.AQCSFRC.all=0;

EPwm1Regs.DBCTL.all=0x0; // EPWMxB is EPWMxA's

EPwm2Regs.DBCTL.all=0x0;

EPwm3Regs.DBCTL.all=0x0;

EPwm1Regs.DBRED=0;

EPwm2Regs.DBRED=0;

EPwm3Regs.DBRED=0;

EPwm1Regs.DBFED=0;

EPwm2Regs.DBFED=0;

EPwm3Regs.DBFED=0;

EPwm1Regs.TZSEL.all=0;

EPwm2Regs.TZSEL.all=0;

EPwm3Regs.TZSEL.all=0;

EPwm1Regs.TZCTL.all=0;

EPwm2Regs.TZCTL.all=0;

EPwm3Regs.TZCTL.all=0;

EPwm1Regs.TZEINT.all=0;

EPwm2Regs.TZEINT.all=0;

EPwm3Regs.TZEINT.all=0;

EPwm1Regs.TZFLG.all=0;

EPwm2Regs.TZFLG.all=0;

EPwm3Regs.TZFLG.all=0;

EPwm1Regs.TZCLR.all=0;

EPwm2Regs.TZCLR.all=0;

EPwm3Regs.TZCLR.all=0;

EPwm1Regs.TZFRC.all=0;

EPwm2Regs.TZFRC.all=0;

EPwm3Regs.TZFRC.all=0;

EPwm1Regs.ETSEL.all = 0; // Enable SOC on A group

EPwm2Regs.ETSEL.all=0;

EPwm3Regs.ETSEL.all=0;

EPwm1Regs.ETFLG.all=0;

EPwm2Regs.ETFLG.all=0;

EPwm3Regs.ETFLG.all=0;

EPwm1Regs.ETCLR.all=0;

EPwm2Regs.ETCLR.all=0;

EPwm3Regs.ETCLR.all=0;

EPwm1Regs.ETFRC.all=0;

EPwm2Regs.ETFRC.all=0;

EPwm3Regs.ETFRC.all=0;

EPwm1Regs.PCCTL.all=0;

EPwm2Regs.PCCTL.all=0;

EPwm3Regs.PCCTL.all=0;

EPwm1Regs.TBCTL.all=0x010; // Enable Timer

EPwm2Regs.TBCTL.all=0x010;

EPwm3Regs.TBCTL.all=0x0010;

EPwm1Regs.TBPRD=7500;

EPwm2Regs.TBPRD=7500;

EPwm3Regs.TBPRD=7500;

EPwm1Regs.CMPA.half.CMPA =0;

EPwm2Regs.CMPA.half.CMPA =0;

EPwm3Regs.CMPA.half.CMPA =0;

EPwm1Regs.CMPB=0;

EPwm2Regs.CMPB=0;

EPwm3Regs.CMPB=0;

EALLOW;

SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;

EDIS;

}

CAP配置

void InitECapture4(void)

{

EALLOW;

//ECAP4配置外部寄存器

ECap4Regs.ECEINT.all = 0x0000; // Disable all capture interrupts禁止所有捕捉中断

ECap4Regs.ECCLR.all = 0xFFFF; // Clear all CAP interrupt flags清除所有CAP中断标志位

ECap4Regs.ECCTL1.bit.CAPLDEN = 0; // Disable CAP1-CAP4 register loads禁止CAP1-CAP4寄存器装载

ECap4Regs.ECCTL2.bit.TSCTRSTOP = 0; // Make sure the counter is stopped确保计数器停止

// Configure peripheral registers配置外部寄存器

ECap4Regs.ECCTL2.bit.CAP_APWM = 0; // ECAP模式，另一种模式是APWM

ECap4Regs.ECCTL2.bit.CONT_ONESHT = 1; // 单次模式

ECap4Regs.ECCTL2.bit.STOP_WRAP = 0; // Stop at 1 events

//ECap2Regs.ECCTL2.bit.STOP_WRAP = 3; // Stop at 4 events

ECap4Regs.ECCTL1.bit.CAP1POL = 0; // 默认上升沿触发

// ECap4Regs.ECCTL1.bit.CAP2POL = 1; // 下降沿触发

//ECap2Regs.ECCTL1.bit.CAP3POL = 1; // Falling edge

// ECap2Regs.ECCTL1.bit.CAP4POL = 0; // Rising edge

ECap4Regs.ECCTL1.bit.CTRRST1 = 0; // Difference operation 差分模式下

// ECap4Regs.ECCTL1.bit.CTRRST2 = 1; // Difference operation

//ECap2Regs.ECCTL1.bit.CTRRST3 = 1; // Difference operation

//ECap2Regs.ECCTL1.bit.CTRRST4 = 1; // Difference operation

ECap4Regs.ECCTL2.bit.SYNCI_EN = 0; // disable sync in禁止内部同步选择

ECap4Regs.ECCTL2.bit.SYNCO_SEL = 2; // Pass through禁止外部同步选择

ECap4Regs.ECCTL1.bit.CAPLDEN = 1; // Enable capture units使能CAP1~CAP4寄存器加载

ECap4Regs.ECCTL2.bit.TSCTRSTOP = 1; // Start Counter开始计数

ECap4Regs.ECCTL2.bit.REARM = 1; // arm one-shot单次强制

ECap4Regs.ECCTL1.bit.CAPLDEN = 1; // Enable CAP1-CAP4 register loads

ECap4Regs.ECEINT.bit.CEVT1 = 1; // 1 events = interrupt

// ECap4Regs.ECEINT.bit.CEVT2 = 1; // 2 events = interrupt

EDIS;

}

void InitECapture5(void)

{

EALLOW;

//ECAP3配置外部寄存器

ECap5Regs.ECEINT.all = 0x0000; // Disable all capture interrupts禁止所有捕捉中断

ECap5Regs.ECCLR.all = 0xFFFF; // Clear all CAP interrupt flags清除所有CAP中断标志位

ECap5Regs.ECCTL1.bit.CAPLDEN = 0; // Disable CAP1-CAP4 register loads禁止CAP1-CAP4寄存器装载

ECap5Regs.ECCTL2.bit.TSCTRSTOP = 0; // Make sure the counter is stopped确保计数器停止

// Configure peripheral registers配置外部寄存器

ECap5Regs.ECCTL2.bit.CAP_APWM = 0; // ECAP模式，另一种模式是APWM

ECap5Regs.ECCTL2.bit.CONT_ONESHT = 1; // 单次模式

ECap5Regs.ECCTL2.bit.STOP_WRAP = 0; // Stop at 1 events

//ECap3Regs.ECCTL2.bit.STOP_WRAP = 3; // Stop at 4 events

ECap5Regs.ECCTL1.bit.CAP1POL = 0; // 默认上升沿触发

// ECap5Regs.ECCTL1.bit.CAP2POL = 1; // 下降沿触发

//ECap3Regs.ECCTL1.bit.CAP3POL = 1; // Falling edge

// ECap3Regs.ECCTL1.bit.CAP4POL = 0; // Rising edge

ECap5Regs.ECCTL1.bit.CTRRST1 = 0; // Difference operation 差分模式下

// ECap5Regs.ECCTL1.bit.CTRRST2 = 1; // Difference operation

//ECap3Regs.ECCTL1.bit.CTRRST3 = 1; // Difference operation

//ECap3Regs.ECCTL1.bit.CTRRST4 = 1; // Difference operation

ECap5Regs.ECCTL2.bit.SYNCI_EN = 0; // disable sync in禁止内部同步选择

ECap5Regs.ECCTL2.bit.SYNCO_SEL = 2; // Pass through禁止外部同步选择

ECap5Regs.ECCTL1.bit.CAPLDEN = 1; // Enable capture units使能CAP1~CAP4寄存器加载

ECap5Regs.ECCTL2.bit.TSCTRSTOP = 1; // Start Counter开始计数

ECap5Regs.ECCTL2.bit.REARM = 1; // arm one-shot单次强制

ECap5Regs.ECCTL1.bit.CAPLDEN = 1; // Enable CAP1-CAP4 register loads

ECap5Regs.ECEINT.bit.CEVT1 = 1; // 1 events = interrupt

// ECap5Regs.ECEINT.bit.CEVT2 = 1; // 2 events = interrupt

}

void InitECapture6(void)

{//ECAP4配置外部寄存器

ECap6Regs.ECEINT.all = 0x0000; // Disable all capture interrupts禁止所有捕捉中断

ECap6Regs.ECCLR.all = 0xFFFF; // Clear all CAP interrupt flags清除所有CAP中断标志位

ECap6Regs.ECCTL1.bit.CAPLDEN = 0; // Disable CAP1-CAP4 register loads禁止CAP1-CAP4寄存器装载

ECap6Regs.ECCTL2.bit.TSCTRSTOP = 0; // Make sure the counter is stopped确保计数器停止

// Configure peripheral registers配置外部寄存器

ECap6Regs.ECCTL2.bit.CAP_APWM = 0; // ECAP模式，另一种模式是APWM

ECap6Regs.ECCTL2.bit.CONT_ONESHT = 1; // 单次模式

ECap6Regs.ECCTL2.bit.STOP_WRAP = 0; // Stop at1 events

//ECap4Regs.ECCTL2.bit.STOP_WRAP = 3; // Stop at 4 events

ECap6Regs.ECCTL1.bit.CAP1POL = 0; // 默认上升沿触发

// ECap6Regs.ECCTL1.bit.CAP2POL = 1; // 下降沿触发

//ECap4Regs.ECCTL1.bit.CAP3POL = 1; // Falling edge

// ECap4Regs.ECCTL1.bit.CAP4POL = 0; // Rising edge

ECap6Regs.ECCTL1.bit.CTRRST1 = 0; // Difference operation 差分模式下

// ECap6Regs.ECCTL1.bit.CTRRST2 = 1; // Difference operation

//ECap4Regs.ECCTL1.bit.CTRRST3 = 1; // Difference operation

//ECap4Regs.ECCTL1.bit.CTRRST4 = 1; // Difference operation

ECap6Regs.ECCTL2.bit.SYNCI_EN = 0; // disable sync in禁止内部同步选择

ECap6Regs.ECCTL2.bit.SYNCO_SEL = 2; // Pass through禁止外部同步选择

ECap6Regs.ECCTL1.bit.CAPLDEN = 1; // Enable capture units使能CAP1~CAP4寄存器加载

ECap6Regs.ECCTL2.bit.TSCTRSTOP = 1; // Start Counter开始计数

ECap6Regs.ECCTL2.bit.REARM = 1; // arm one-shot单次强制

ECap6Regs.ECCTL1.bit.CAPLDEN = 1; // Enable CAP1-CAP4 register loads

ECap6Regs.ECEINT.bit.CEVT1 = 1; // 1 events = interrupt

// ECap6Regs.ECEINT.bit.CEVT2 = 1; // 2 events = interrupt

}

void InitlowECapture4(void)

{

EALLOW;

//ECAP4配置外部寄存器

ECap4Regs.ECEINT.all = 0x0000; // Disable all capture interrupts禁止所有捕捉中断

ECap4Regs.ECCLR.all = 0xFFFF; // Clear all CAP interrupt flags清除所有CAP中断标志位

ECap4Regs.ECCTL1.bit.CAPLDEN = 0; // Disable CAP1-CAP4 register loads禁止CAP1-CAP4寄存器装载

ECap4Regs.ECCTL2.bit.TSCTRSTOP = 0; // Make sure the counter is stopped确保计数器停止

// Configure peripheral registers配置外部寄存器

ECap4Regs.ECCTL2.bit.CAP_APWM = 0; // ECAP模式，另一种模式是APWM

ECap4Regs.ECCTL2.bit.CONT_ONESHT = 1; // 单次模式

ECap4Regs.ECCTL2.bit.STOP_WRAP = 0; // Stop at 1 events

//ECap2Regs.ECCTL2.bit.STOP_WRAP = 3; // Stop at 4 events

ECap4Regs.ECCTL1.bit.CAP1POL = 1; // 默认下降沿触发

// ECap4Regs.ECCTL1.bit.CAP2POL = 1; // 下降沿触发

//ECap2Regs.ECCTL1.bit.CAP3POL = 1; // Falling edge

// ECap2Regs.ECCTL1.bit.CAP4POL = 0; // Rising edge

ECap4Regs.ECCTL1.bit.CTRRST1 = 0; // Difference operation 差分模式下

// ECap4Regs.ECCTL1.bit.CTRRST2 = 1; // Difference operation

//ECap2Regs.ECCTL1.bit.CTRRST3 = 1; // Difference operation

//ECap2Regs.ECCTL1.bit.CTRRST4 = 1; // Difference operation

ECap4Regs.ECCTL2.bit.SYNCI_EN = 0; // disable sync in禁止内部同步选择

ECap4Regs.ECCTL2.bit.SYNCO_SEL = 2; // Pass through禁止外部同步选择

ECap4Regs.ECCTL1.bit.CAPLDEN = 1; // Enable capture units使能CAP1~CAP4寄存器加载

ECap4Regs.ECCTL2.bit.TSCTRSTOP = 1; // Start Counter开始计数

ECap4Regs.ECCTL2.bit.REARM = 1; // arm one-shot单次强制

ECap4Regs.ECCTL1.bit.CAPLDEN = 1; // Enable CAP1-CAP4 register loads

ECap4Regs.ECEINT.bit.CEVT1 = 1; // 1 events = interrupt

// ECap4Regs.ECEINT.bit.CEVT2 = 1; // 2 events = interrupt

EDIS;

}

void InitlowECapture5(void)

{

EALLOW;

//ECAP3配置外部寄存器

ECap5Regs.ECEINT.all = 0x0000; // Disable all capture interrupts禁止所有捕捉中断

ECap5Regs.ECCLR.all = 0xFFFF; // Clear all CAP interrupt flags清除所有CAP中断标志位

ECap5Regs.ECCTL1.bit.CAPLDEN = 0; // Disable CAP1-CAP4 register loads禁止CAP1-CAP4寄存器装载

ECap5Regs.ECCTL2.bit.TSCTRSTOP = 0; // Make sure the counter is stopped确保计数器停止

// Configure peripheral registers配置外部寄存器

ECap5Regs.ECCTL2.bit.CAP_APWM = 0; // ECAP模式，另一种模式是APWM

ECap5Regs.ECCTL2.bit.CONT_ONESHT = 1; // 单次模式

ECap5Regs.ECCTL2.bit.STOP_WRAP = 0; // Stop at 1 events

//ECap3Regs.ECCTL2.bit.STOP_WRAP = 3; // Stop at 4 events

ECap5Regs.ECCTL1.bit.CAP1POL = 1; // 默认下降沿触发

// ECap5Regs.ECCTL1.bit.CAP2POL = 1; // 下降沿触发

//ECap3Regs.ECCTL1.bit.CAP3POL = 1; // Falling edge

// ECap3Regs.ECCTL1.bit.CAP4POL = 0; // Rising edge

ECap5Regs.ECCTL1.bit.CTRRST1 = 0; // Difference operation 差分模式下

// ECap5Regs.ECCTL1.bit.CTRRST2 = 1; // Difference operation

//ECap3Regs.ECCTL1.bit.CTRRST3 = 1; // Difference operation

//ECap3Regs.ECCTL1.bit.CTRRST4 = 1; // Difference operation

ECap5Regs.ECCTL2.bit.SYNCI_EN = 0; // disable sync in禁止内部同步选择

ECap5Regs.ECCTL2.bit.SYNCO_SEL = 2; // Pass through禁止外部同步选择

ECap5Regs.ECCTL1.bit.CAPLDEN = 1; // Enable capture units使能CAP1~CAP4寄存器加载

ECap5Regs.ECCTL2.bit.TSCTRSTOP = 1; // Start Counter开始计数

ECap5Regs.ECCTL2.bit.REARM = 1; // arm one-shot单次强制

ECap5Regs.ECCTL1.bit.CAPLDEN = 1; // Enable CAP1-CAP4 register loads

ECap5Regs.ECEINT.bit.CEVT1 = 1; // 1 events = interrupt

// ECap5Regs.ECEINT.bit.CEVT2 = 1; // 2 events = interrupt

}

void InitlowECapture6(void)

{//ECAP4配置外部寄存器

ECap6Regs.ECEINT.all = 0x0000; // Disable all capture interrupts禁止所有捕捉中断

ECap6Regs.ECCLR.all = 0xFFFF; // Clear all CAP interrupt flags清除所有CAP中断标志位

ECap6Regs.ECCTL1.bit.CAPLDEN = 0; // Disable CAP1-CAP4 register loads禁止CAP1-CAP4寄存器装载

ECap6Regs.ECCTL2.bit.TSCTRSTOP = 0; // Make sure the counter is stopped确保计数器停止

// Configure peripheral registers配置外部寄存器

ECap6Regs.ECCTL2.bit.CAP_APWM = 0; // ECAP模式，另一种模式是APWM

ECap6Regs.ECCTL2.bit.CONT_ONESHT = 1; // 单次模式

ECap6Regs.ECCTL2.bit.STOP_WRAP = 0; // Stop at1 events

//ECap4Regs.ECCTL2.bit.STOP_WRAP = 3; // Stop at 4 events

ECap6Regs.ECCTL1.bit.CAP1POL = 1; // 默认下降沿触发

// ECap6Regs.ECCTL1.bit.CAP2POL = 1; // 下降沿触发

//ECap4Regs.ECCTL1.bit.CAP3POL = 1; // Falling edge

// ECap4Regs.ECCTL1.bit.CAP4POL = 0; // Rising edge

ECap6Regs.ECCTL1.bit.CTRRST1 = 0; // Difference operation 差分模式下

// ECap4Regs.ECCTL1.bit.CTRRST2 = 1; // Difference operation

//ECap4Regs.ECCTL1.bit.CTRRST3 = 1; // Difference operation

//ECap4Regs.ECCTL1.bit.CTRRST4 = 1; // Difference operation

ECap6Regs.ECCTL2.bit.SYNCI_EN = 0; // disable sync in禁止内部同步选择

ECap6Regs.ECCTL2.bit.SYNCO_SEL = 2; // Pass through禁止外部同步选择

ECap6Regs.ECCTL1.bit.CAPLDEN = 1; // Enable capture units使能CAP1~CAP4寄存器加载

ECap6Regs.ECCTL2.bit.TSCTRSTOP = 1; // Start Counter开始计数

ECap6Regs.ECCTL2.bit.REARM = 1; // arm one-shot单次强制

ECap6Regs.ECCTL1.bit.CAPLDEN = 1; // Enable CAP1-CAP4 register loads

ECap6Regs.ECEINT.bit.CEVT1 = 1; // 1 events = interrupt

// ECap6Regs.ECEINT.bit.CEVT2 = 1; // 2 events = interrupt

}

Cap中断

interrupt void ECAP4_INT_ISR(void)

{

Getcap();

INT_FLAG=1;

SetPWM();

PieCtrlRegs.PIEACK.all = PIEACK_GROUP4; /*响应同组其他中断*/

ECap4Regs.ECCLR.all=0xFFFF; /*clare all flag*/

ECap4Regs.ECCTL2.bit.REARM = 1; /*则该ECAP口可以继续响应下一次中断*/

}

interrupt void ECAP5_INT_ISR(void)

{

Getcap();

INT_FLAG=1;

SetPWM();

PieCtrlRegs.PIEACK.all = PIEACK_GROUP4; /*响应同组其他中断*/

ECap5Regs.ECCLR.all=0xFFFF; /*clare all flag*/

ECap5Regs.ECCTL2.bit.REARM = 1; /*则该ECAP口可以继续响应下一次中断*/

}

interrupt void ECAP6_INT_ISR(void)

{

Getcap();

INT_FLAG=1;

SetPWM();

PieCtrlRegs.PIEACK.all = PIEACK_GROUP4; /*响应同组其他中断*/

ECap6Regs.ECCLR.all = 0xFFFF; /*clare all flag*/

ECap6Regs.ECCTL2.bit.REARM = 1; /*则该ECAP口可以继续响应下一次中断*/

}

获取hall信号函数和设置PWM函数

void Getcap(void)

{

actHallCode1 = GpioDataRegs.GPADAT.bit.GPIO27&0x01;

actHallCode2 = GpioDataRegs.GPBDAT.bit.GPIO48&0x01;

actHallCode3 = GpioDataRegs.GPBDAT.bit.GPIO49&0x01;

CAP = (Uint16)((Uint16)(actHallCode1)+(Uint16)(actHallCode2 << 1)+(Uint16)(actHallCode3 << 2));

if(actHallCode1==1)

{

InitlowECapture4(); // 默认下降沿触发

}

else

{

InitECapture4(); // 默认上升沿触发

}

if(actHallCode2==1)

{

InitlowECapture5(); // 默认下降沿触发

}

else

{

InitECapture5(); // 默认上升沿触发

}

if(actHallCode3==1)

{

InitlowECapture6(); // 默认下降沿触发

}

else

{

InitECapture6(); // 默认上升沿触发

}

void SetPWM(void)

{

if (MotorEnable==0)

{

if(DIR==0) {

switch(CAP)

{

case 1: /*编码为001，H3下降沿V1（IN2）、V6(EN3)*/

{

EPwm1Regs.CMPA.half.CMPA = actPWMCode;/*PWM1为第一路PWM输出*/

EPwm1Regs.CMPB = actPWMCode; /*Pwm2*/

EPwm2Regs.CMPA.half.CMPA = actPWMCode; /*PWM3*/

EPwm2Regs.CMPB = actPWMCode; /*Pwm4*/

EPwm3Regs.CMPA.half.CMPA = actPWMCode; /*PWM5*/

EPwm3Regs.CMPB = actPWMCode; /*Pwm6*/

/*动作限定控制A虰*/

EPwm1Regs.AQCTLA.all=0x18; /*/A+V1*/

EPwm1Regs.AQCSFRC.all=0x4;

EPwm2Regs.AQCSFRC.all=0x05;

EPwm3Regs.AQCSFRC.all=0x1;

EPwm3Regs.AQCTLB.all=0x0108;/*/C-V6*/

}break; /*使流程跳出switch结构，终止switch语句的执行*/

case 2: /*编码为010，H1下降沿V2（IN1）、V3(EN2)*/

{

EPwm1Regs.CMPA.half.CMPA = actPWMCode;/*PWM1为第一路PWM输出*/

EPwm1Regs.CMPB = actPWMCode; /*Pwm2*/

EPwm2Regs.CMPA.half.CMPA = actPWMCode; /*PWM3*/

EPwm2Regs.CMPB = actPWMCode; /*Pwm4*/

EPwm3Regs.CMPA.half.CMPA = actPWMCode; /*PWM5*/

EPwm3Regs.CMPB = actPWMCode; /*Pwm6*/

/*动作限定控制A和B*/

EPwm1Regs.AQCSFRC.all=0x1;

EPwm1Regs.AQCTLB.all=0x0108; //A-/*V2*/

EPwm2Regs.AQCTLA.all=0x18; //B+/*V3*/

EPwm2Regs.AQCSFRC.all=0x4;

EPwm3Regs.AQCSFRC.all=0x05;/*V6*/

}break;

case 3: /*编码为011，H2上升沿V3（IN2）、V6(EN1)*/

{

EPwm1Regs.CMPA.half.CMPA = actPWMCode;/*PWM1为第一路PWM输出*/

EPwm1Regs.CMPB = actPWMCode; /*Pwm2*/

EPwm2Regs.CMPA.half.CMPA = actPWMCode; /*PWM3*/

EPwm2Regs.CMPB = actPWMCode; /*Pwm4*/

EPwm3Regs.CMPA.half.CMPA = actPWMCode; /*PWM5*/

EPwm3Regs.CMPB = actPWMCode; /*Pwm6*/

/*动作限定控制A和B*/

EPwm1Regs.AQCSFRC.all=0x05;

EPwm2Regs.AQCTLA.all=0x18; //B+/*V3*/

EPwm2Regs.AQCSFRC.all=0x4;

EPwm3Regs.AQCSFRC.all=0x1;

EPwm3Regs.AQCTLB.all=0x0108; //C-/*V6*/

}break;

case 4: /*编码为100，H2下降沿V4（IN3）、V5(EN1)*/

{

EPwm1Regs.CMPA.half.CMPA = actPWMCode;/*PWM1为第一路PWM输出*/

EPwm1Regs.CMPB = actPWMCode; /*Pwm2*/

EPwm2Regs.CMPA.half.CMPA = actPWMCode; /*PWM3*/

EPwm2Regs.CMPB = actPWMCode; /*Pwm4*/

EPwm3Regs.CMPA.half.CMPA = actPWMCode; /*PWM5*/

EPwm3Regs.CMPB = actPWMCode; /*Pwm6*/

/*动作限定控制A和B*/

EPwm1Regs.AQCSFRC.all=0x05;

EPwm2Regs.AQCSFRC.all=0x1;

EPwm2Regs.AQCTLB.all=0x0108; //B-/*V4*/

EPwm3Regs.AQCTLA.all=0x18; //C+/*V5*/

EPwm3Regs.AQCSFRC.all=0x4;

}break;

case 5: /*编码为101，H1上升沿V1（IN3）、V4(EN2)*/

{ EPwm1Regs.CMPA.half.CMPA = actPWMCode;/*PWM1为第一路PWM输出*/

EPwm1Regs.CMPB = actPWMCode; /*Pwm2*/

EPwm2Regs.CMPA.half.CMPA = actPWMCode; /*PWM3*/

EPwm2Regs.CMPB = actPWMCode; /*Pwm4*/

EPwm3Regs.CMPA.half.CMPA = actPWMCode; /*PWM5*/

EPwm3Regs.CMPB = actPWMCode; /*Pwm6*/

/*动作限定控制A和B*/

EPwm1Regs.AQCTLA.all=0x18; //A+/*V1*/

EPwm1Regs.AQCSFRC.all=0x4;

EPwm2Regs.AQCSFRC.all=0x1;

EPwm2Regs.AQCTLB.all=0x0108; //B-/*V4*/

EPwm3Regs.AQCSFRC.all=0x05;

}break;

case 6: /*V1，对应的是CMPA,0x18CMPB对应0x0108*//*CAP321编码为110，H3上升沿V2（IN1）、V5(EN3)导通*/

{

EPwm1Regs.CMPA.half.CMPA = actPWMCode;/*PWM1为第一路PWM输出*/

EPwm1Regs.CMPB = actPWMCode; /*Pwm2*/

EPwm2Regs.CMPA.half.CMPA = actPWMCode; /*PWM3*/

EPwm2Regs.CMPB = actPWMCode; /*Pwm4*/

EPwm3Regs.CMPA.half.CMPA = actPWMCode; /*PWM5*/

EPwm3Regs.CMPB = actPWMCode; /*Pwm6*/

/*动作限定控制A和B*/

EPwm1Regs.AQCSFRC.all=0x1;

EPwm1Regs.AQCTLB.all=0x0108; /*/A-V2*/

EPwm2Regs.AQCSFRC.all=0x05;

EPwm3Regs.AQCTLA.all=0x18; /*/C+V5*/

EPwm3Regs.AQCSFRC.all=0x4;

}break;

default:

{

EPwm1Regs.CMPA.half.CMPA = 0; /*PWM1为第一路PWM输出*/

EPwm1Regs.CMPB =0; /*Pwm2*/

EPwm2Regs.CMPA.half.CMPA =0; /*PWM3*/

EPwm2Regs.CMPB = 0; /*Pwm4*/

EPwm3Regs.CMPA.half.CMPA = 0; /*PWM5*/

EPwm3Regs.CMPB = 0; /*Pwm6*/

EPwm1Regs.AQCSFRC.all=0x5;/*强制低*/

EPwm2Regs.AQCSFRC.all=0x5;/*强制低*/

EPwm3Regs.AQCSFRC.all=0x5;/*强制低*/

}

break;

}

else if(DIR==1) /*1电机为逆时针，舵轴为顺时针*/

{

switch(CAP)

{

case 1: /*编码为001，H3下降沿V2（IN2）、V5(EN3)*/

{

EPwm1Regs.CMPA.half.CMPA = actPWMCode;/*PWM1为第一路PWM输出*/

EPwm1Regs.CMPB = actPWMCode; /*Pwm2*/

EPwm2Regs.CMPA.half.CMPA = actPWMCode; /*PWM3*/

EPwm2Regs.CMPB = actPWMCode; /*Pwm4*/

EPwm3Regs.CMPA.half.CMPA = actPWMCode; /*PWM5*/

EPwm3Regs.CMPB = actPWMCode; /*Pwm6*/

/*动作限定控制A和B*/

EPwm1Regs.AQCSFRC.all=0x1;

EPwm1Regs.AQCTLB.all=0x0108; /*V2*/

EPwm2Regs.AQCSFRC.all=0x5;

EPwm3Regs.AQCTLA.all=0x18; /*V5*/

EPwm3Regs.AQCSFRC.all=0x4;

}break;

case 2: /*编码为010，H1下降沿V1（IN1）、V4(EN2)*/

{

EPwm1Regs.CMPA.half.CMPA = actPWMCode;/*PWM1为第一路PWM输出*/

EPwm1Regs.CMPB = actPWMCode; /*Pwm2*/

EPwm2Regs.CMPA.half.CMPA = actPWMCode; /*PWM3*/

EPwm2Regs.CMPB = actPWMCode; /*Pwm4*/

EPwm3Regs.CMPA.half.CMPA = actPWMCode; /*PWM5*/

EPwm3Regs.CMPB = actPWMCode; /*Pwm6*/

/*动作限定控制A和B*/

EPwm1Regs.AQCTLA.all=0x18; /*V1*/

EPwm1Regs.AQCSFRC.all=0x4;

EPwm2Regs.AQCSFRC.all=0x1;

EPwm2Regs.AQCTLB.all=0x0108; /*V4*/

EPwm3Regs.AQCSFRC.all=0x5;/*V6*/

}break;

case 3: /*编码为011，H2上升沿V4（IN2）、V5(EN1)*/

{

EPwm1Regs.CMPA.half.CMPA = actPWMCode;/*PWM1为第一路PWM输出*/

EPwm1Regs.CMPB = actPWMCode; /*Pwm2*/

EPwm2Regs.CMPA.half.CMPA = actPWMCode; /*PWM3*/

EPwm2Regs.CMPB = actPWMCode; /*Pwm4*/

EPwm3Regs.CMPA.half.CMPA = actPWMCode; /*PWM5*/

EPwm3Regs.CMPB = actPWMCode; /*Pwm6*/

/*动作限定控制A和B*/

EPwm1Regs.AQCSFRC.all=0x05;

EPwm2Regs.AQCSFRC.all=0x1;

EPwm2Regs.AQCTLB.all=0x0108; /*V4*/

EPwm3Regs.AQCTLA.all=0x18; /*V5*/

EPwm3Regs.AQCSFRC.all=0x4;

}break;

case 4: /*编码为100，H2下降沿V3（IN3）、V6(EN1)*/

{

EPwm1Regs.CMPA.half.CMPA = actPWMCode;/*PWM1为第一路PWM输出*/

EPwm1Regs.CMPB = actPWMCode; /*Pwm2*/

EPwm2Regs.CMPA.half.CMPA = actPWMCode; /*PWM3*/

EPwm2Regs.CMPB = actPWMCode; /*Pwm4*/

EPwm3Regs.CMPA.half.CMPA = actPWMCode; /*PWM5*/

EPwm3Regs.CMPB = actPWMCode; /*Pwm6*/

/*动作限定控制A和B*/

EPwm1Regs.AQCSFRC.all=0x5;

EPwm2Regs.AQCTLA.all=0x18; /*V3*/

EPwm2Regs.AQCSFRC.all=0x4;

EPwm3Regs.AQCSFRC.all=0x1;

EPwm3Regs.AQCTLB.all=0x0108; /*V6*/

}break;

case 5: /*编码为101，H1上升沿V2（IN3）、V3(EN2)*/

{

EPwm1Regs.CMPA.half.CMPA = actPWMCode;/*PWM1为第一路PWM输出*/

EPwm1Regs.CMPB = actPWMCode; /*Pwm2*/

EPwm2Regs.CMPA.half.CMPA = actPWMCode; /*PWM3*/

EPwm2Regs.CMPB = actPWMCode; /*Pwm4*/

EPwm3Regs.CMPA.half.CMPA = actPWMCode; /*PWM5*/

EPwm3Regs.CMPB = actPWMCode; /*Pwm6*/

/*动作限定控制A和B*/

EPwm1Regs.AQCSFRC.all=0x1;

EPwm1Regs.AQCTLB.all=0x0108; /*V2*/

EPwm2Regs.AQCTLA.all=0x18; /*V3*/

EPwm2Regs.AQCSFRC.all=0x4;

EPwm3Regs.AQCSFRC.all=0x5;

}break;

case 6: /*CAP321编码为110编码001，H3上升沿V1（IN1）、V6(EN3)导通*/

{

EPwm1Regs.CMPA.half.CMPA = actPWMCode;/*PWM1为第一路PWM输出*/

EPwm1Regs.CMPB = actPWMCode; /*Pwm2*/

EPwm2Regs.CMPA.half.CMPA = actPWMCode; /*PWM3*/

EPwm2Regs.CMPB = actPWMCode; /*Pwm4*/

EPwm3Regs.CMPA.half.CMPA = actPWMCode; /*PWM5*/

EPwm3Regs.CMPB = actPWMCode; /*Pwm6*//*动作限定控制A和B*/

EPwm1Regs.AQCTLA.all=0x18; /*V1*/

EPwm1Regs.AQCSFRC.all=0x4;

EPwm2Regs.AQCSFRC.all=0x05;

EPwm3Regs.AQCSFRC.all=0x1;

EPwm3Regs.AQCTLB.all=0x0108; /*V6*/

}break;

default:

{

EPwm1Regs.CMPA.half.CMPA = 0; /*PWM1为第一路PWM输出*/

EPwm1Regs.CMPB =0; /*Pwm2*/

EPwm2Regs.CMPA.half.CMPA =0; /*PWM3*/

EPwm2Regs.CMPB = 0; /*Pwm4*/

EPwm3Regs.CMPA.half.CMPA = 0; /*PWM5*/

EPwm3Regs.CMPB = 0; /*Pwm6*/

EPwm1Regs.AQCSFRC.all=0x5;/*强制低*/

EPwm2Regs.AQCSFRC.all=0x5;/*强制低*/

EPwm3Regs.AQCSFRC.all=0x5;/*强制低*/

}

break;

}

else if(MotorEnable==1)//为0表明电机没有使能，不做任何操作

{

EPwm1Regs.CMPA.half.CMPA = 0; /*PWM1为第一路PWM输出*/

EPwm1Regs.CMPB =0; /*Pwm2*/

EPwm2Regs.CMPA.half.CMPA =0; /*PWM3*/

EPwm2Regs.CMPB = 0; /*Pwm4*/

EPwm3Regs.CMPA.half.CMPA = 0; /*PWM5*/

EPwm3Regs.CMPB = 0; /*Pwm6*/

/*动作限定控制A和B*///

EPwm1Regs.AQCTLA.all=0; /*V1*/

EPwm1Regs.AQCTLB.all=0; /*V2*/

EPwm2Regs.AQCTLA.all=0; /*V3*/

EPwm2Regs.AQCTLB.all=0; /*V4*/

EPwm3Regs.AQCTLA.all=0; /*V5*/

EPwm3Regs.AQCTLB.all=0; /*V6*/

EPwm1Regs.AQCSFRC.all=0x5;/*强制低*/

EPwm2Regs.AQCSFRC.all=0x5;/*强制低*/

EPwm3Regs.AQCSFRC.all=0x5;/*强制低*/

}

定时器1中断

interrupt void cpu_timer1_isr(void)

{

actPWMCode=200

if(Encoder_angle_Actuatorspeed == 0)

{

Getcap();

SetPWM();

}

EPwm1Regs.CMPA.half.CMPA = actPWMCode;/*PWM1为第一路PWM输出*/

EPwm1Regs.CMPB = actPWMCode; /*Pwm2*/

EPwm2Regs.CMPA.half.CMPA = actPWMCode; /*PWM3*/

EPwm2Regs.CMPB = actPWMCode; /*Pwm4*/

EPwm3Regs.CMPA.half.CMPA = actPWMCode; /*PWM5*/

EPwm3Regs.CMPB = actPWMCode; /*Pwm6*/

CpuTimer1Regs.TCR.bit.TIF=1; //*清除定时器中断标志位*/

EINT;

}

对电机进行测试，检测六路PWM输出如下，D1-D6分别代表PWM1-6,D7-D9分别代表hall1hall2hall3，问题为，红色区域，hall2变高，导通管子由v1-v6变为v3v6，可以看到D3在hall换向后没有波型，第一个PWM波没有，波形缺失，请帮忙看一下，我的配置有无问题，因为如果用CPLD作换向逻辑，hall换向后管子立刻导通，没有波形缺失，谢谢！