void InitEPwm1Example()
{
CLK_enablePwmClock(myClk, PWM_Number_1);
PWM_setPeriod(myPwm1, 6000); // Set timer period
PWM_setPhase(myPwm1, 0x0000); // Phase is 0
PWM_setCount(myPwm1, 0x0000);
// Setup TBCLK
PWM_setCounterMode(myPwm1, PWM_CounterMode_UpDown); // Count up/down
PWM_disableCounterLoad(myPwm1); // Disable phase loading
PWM_setHighSpeedClkDiv(myPwm1, PWM_HspClkDiv_by_4); // Clock ratio to SYSCLKOUT
PWM_setClkDiv(myPwm1, PWM_ClkDiv_by_4);
PWM_setShadowMode_CmpA(myPwm1, PWM_ShadowMode_Shadow); // Load registers every ZERO
PWM_setShadowMode_CmpB(myPwm1, PWM_ShadowMode_Shadow);
PWM_setLoadMode_CmpA(myPwm1, PWM_LoadMode_Zero);
PWM_setLoadMode_CmpB(myPwm1, PWM_LoadMode_Zero);
// Setup compare
PWM_setCmpA(myPwm1, 3000);
// Set actions
PWM_setActionQual_CntUp_CmpA_PwmA(myPwm1, PWM_ActionQual_Set);
PWM_setActionQual_CntDown_CmpA_PwmA(myPwm1, PWM_ActionQual_Clear);
PWM_setActionQual_CntUp_CmpA_PwmB(myPwm1, PWM_ActionQual_Clear);
PWM_setActionQual_CntDown_CmpA_PwmB(myPwm1, PWM_ActionQual_Set);
// Define an event (DCAEVT1) based on TZ1 and TZ2
PWM_setDigitalCompareInput(myPwm1, PWM_DigitalCompare_A_High, PWM_DigitalCompare_InputSel_COMP1OUT); // DCAH = Comparator 1 output
PWM_setDigitalCompareInput(myPwm1, PWM_DigitalCompare_A_Low, PWM_DigitalCompare_InputSel_TZ2); // DCAL = TZ2
PWM_setTripZoneDCEventSelect_DCAEVT1(myPwm1, PWM_TripZoneDCEventSel_DCxHL_DCxLX); // DCAEVT1 = DCAH low(will become active as Comparator output goes low)
PWM_setDigitalCompareAEvent1(myPwm1, false, true, false, false); // DCAEVT1 = DCAEVT1 (not filtered), Take async path
// Define an event (DCBEVT1) based on TZ1 and TZ2
PWM_setDigitalCompareInput(myPwm1, PWM_DigitalCompare_B_High, PWM_DigitalCompare_InputSel_COMP1OUT); // DCBH = Comparator 1 output
PWM_setDigitalCompareInput(myPwm1, PWM_DigitalCompare_B_Low, PWM_DigitalCompare_InputSel_TZ2); // DCAL = TZ2
PWM_setTripZoneDCEventSelect_DCBEVT1(myPwm1, PWM_TripZoneDCEventSel_DCxHL_DCxLX); // DCBEVT1 = (will become active as Comparator output goes low)
PWM_setDigitalCompareBEvent1(myPwm1, false, true, false, false); // DCBEVT1 = DCBEVT1 (not filtered), Take async path
// Enable DCAEVT1 and DCBEVT1 are one shot trip sources
// Note: DCxEVT1 events can be defined as one-shot.
// DCxEVT2 events can be defined as cycle-by-cycle.
PWM_enableTripZoneSrc(myPwm1, PWM_TripZoneSrc_OneShot_CmpA);
PWM_enableTripZoneSrc(myPwm1, PWM_TripZoneSrc_OneShot_CmpB);
// What do we want the DCAEVT1 and DCBEVT1 events to do?
// DCAEVTx events can force EPWMxA
// DCBEVTx events can force EPWMxB
PWM_setTripZoneState_TZA(myPwm1, PWM_TripZoneState_EPWM_High); // EPWM1A will go high
PWM_setTripZoneState_TZB(myPwm1, PWM_TripZoneState_EPWM_Low); // EPWM1B will go low
// Enable TZ interrupt
PWM_enableTripZoneInt(myPwm1, PWM_TripZoneFlag_OST);
}
void InitEPwmTimer()
{
// Stop all the TB clocks
CLK_disableTbClockSync(myClk);
CLK_enablePwmClock(myClk, PWM_Number_1);
CLK_enablePwmClock(myClk, PWM_Number_2);
CLK_enablePwmClock(myClk, PWM_Number_3);
// Setup Sync
PWM_setSyncMode(myPwm1, PWM_SyncMode_EPWMxSYNC);
PWM_setSyncMode(myPwm2, PWM_SyncMode_EPWMxSYNC);
PWM_setSyncMode(myPwm3, PWM_SyncMode_EPWMxSYNC);
// Allow each timer to be sync'ed
PWM_enableCounterLoad(myPwm1);
PWM_enableCounterLoad(myPwm2);
PWM_enableCounterLoad(myPwm3);
PWM_setPhase(myPwm1, 100);
PWM_setPhase(myPwm2, 200);
PWM_setPhase(myPwm3, 300);
PWM_setPeriod(myPwm1, PWM1_TIMER_TBPRD);
PWM_setCounterMode(myPwm1, PWM_CounterMode_Up); // Count up
PWM_setIntMode(myPwm1, PWM_IntMode_CounterEqualZero); // Select INT on Zero event
PWM_enableInt(myPwm1); // Enable INT
PWM_setIntPeriod(myPwm1, PWM_IntPeriod_FirstEvent); // Generate INT on 1st event
PWM_setPeriod(myPwm2, PWM2_TIMER_TBPRD);
PWM_setCounterMode(myPwm2, PWM_CounterMode_Up); // Count up
PWM_setIntMode(myPwm2, PWM_IntMode_CounterEqualZero); // Enable INT on Zero event
PWM_enableInt(myPwm2); // Enable INT
PWM_setIntPeriod(myPwm2, PWM_IntPeriod_SecondEvent); // Generate INT on 2nd event
PWM_setPeriod(myPwm3, PWM3_TIMER_TBPRD);
PWM_setCounterMode(myPwm3, PWM_CounterMode_Up); // Count up
PWM_setIntMode(myPwm3, PWM_IntMode_CounterEqualZero); // Enable INT on Zero event
PWM_enableInt(myPwm3); // Enable INT
PWM_setIntPeriod(myPwm3, PWM_IntPeriod_ThirdEvent); // Generate INT on 3rd event
// Start all the timers synced
CLK_enableTbClockSync(myClk);
}
void InitEPwm2Example()
{
CLK_enablePwmClock(myClk, PWM_Number_2);
// Setup TBCLK
PWM_setCounterMode(myPwm2, PWM_CounterMode_Up); // Count up
PWM_setPeriod(myPwm2, EPWM2_TIMER_TBPRD); // Set timer period
PWM_disableCounterLoad(myPwm2); // Disable phase loading
PWM_setPhase(myPwm2, 0x0000); // Phase is 0
PWM_setCount(myPwm2, 0x0000); // Clear counter
PWM_setHighSpeedClkDiv(myPwm2, PWM_HspClkDiv_by_2); // Clock ratio to SYSCLKOUT
PWM_setClkDiv(myPwm2, PWM_ClkDiv_by_2);
// Setup shadow register load on ZERO
PWM_setShadowMode_CmpA(myPwm2, PWM_ShadowMode_Shadow);
PWM_setShadowMode_CmpB(myPwm2, PWM_ShadowMode_Shadow);
PWM_setLoadMode_CmpA(myPwm2, PWM_LoadMode_Zero);
PWM_setLoadMode_CmpB(myPwm2, PWM_LoadMode_Zero);
// Set Compare values
PWM_setCmpA(myPwm2, EPWM2_MIN_CMPA); // Set compare A value
PWM_setCmpB(myPwm2, EPWM2_MIN_CMPB); // Set Compare B value
// Set actions
PWM_setActionQual_Period_PwmA(myPwm2, PWM_ActionQual_Clear); // Clear PWM2A on Period
PWM_setActionQual_CntUp_CmpA_PwmA(myPwm2, PWM_ActionQual_Set); // Set PWM2A on event A, up count
PWM_setActionQual_Period_PwmB(myPwm2, PWM_ActionQual_Clear); // Clear PWM2B on Period
PWM_setActionQual_CntUp_CmpB_PwmB(myPwm2, PWM_ActionQual_Set); // Set PWM2B on event B, up count
// Interrupt where we will change the Compare Values
PWM_setIntMode(myPwm2, PWM_IntMode_CounterEqualZero); // Select INT on Zero event
PWM_enableInt(myPwm2); // Enable INT
PWM_setIntPeriod(myPwm2, PWM_IntPeriod_ThirdEvent); // Generate INT on 3rd event
// Information this example uses to keep track
// of the direction the CMPA/CMPB values are
// moving, the min and max allowed values and
// a pointer to the correct ePWM registers
epwm2_info.EPwm_CMPA_Direction = EPWM_CMP_UP; // Start by increasing CMPA
epwm2_info.EPwm_CMPB_Direction = EPWM_CMP_DOWN; // and decreasing CMPB
epwm2_info.EPwmTimerIntCount = 0; // Zero the interrupt counter
epwm2_info.myPwmHandle = myPwm2; // Set the pointer to the ePWM module
epwm2_info.EPwmMaxCMPA = EPWM2_MAX_CMPA; // Setup min/max CMPA/CMPB values
epwm2_info.EPwmMinCMPA = EPWM2_MIN_CMPA;
epwm2_info.EPwmMaxCMPB = EPWM2_MAX_CMPB;
epwm2_info.EPwmMinCMPB = EPWM2_MIN_CMPB;
}
void main(void)
{
CPU_Handle myCpu;
PLL_Handle myPll;
WDOG_Handle myWDog;
// Initialize all the handles needed for this application
myClk = CLK_init((void *)CLK_BASE_ADDR, sizeof(CLK_Obj));
myCpu = CPU_init((void *)NULL, sizeof(CPU_Obj));
myFlash = FLASH_init((void *)FLASH_BASE_ADDR, sizeof(FLASH_Obj));
myGpio = GPIO_init((void *)GPIO_BASE_ADDR, sizeof(GPIO_Obj));
myPie = PIE_init((void *)PIE_BASE_ADDR, sizeof(PIE_Obj));
myPll = PLL_init((void *)PLL_BASE_ADDR, sizeof(PLL_Obj));
myPwm1 = PWM_init((void *)PWM_ePWM1_BASE_ADDR, sizeof(PWM_Obj));
myPwm2 = PWM_init((void *)PWM_ePWM2_BASE_ADDR, sizeof(PWM_Obj));
myPwm3 = PWM_init((void *)PWM_ePWM3_BASE_ADDR, sizeof(PWM_Obj));
myPwm4 = PWM_init((void *)PWM_ePWM4_BASE_ADDR, sizeof(PWM_Obj));
myWDog = WDOG_init((void *)WDOG_BASE_ADDR, sizeof(WDOG_Obj));
// Perform basic system initialization
WDOG_disable(myWDog);
CLK_enableAdcClock(myClk);
(*Device_cal)();
CLK_disableAdcClock(myClk);
//Select the internal oscillator 1 as the clock source
CLK_setOscSrc(myClk, CLK_OscSrc_Internal);
// Setup the PLL for x12 /2 which will yield 60Mhz = 10Mhz * 12 / 2
PLL_setup(myPll, PLL_Multiplier_12, PLL_DivideSelect_ClkIn_by_2);
// Disable the PIE and all interrupts
PIE_disable(myPie);
PIE_disableAllInts(myPie);
CPU_disableGlobalInts(myCpu);
CPU_clearIntFlags(myCpu);
// If running from flash copy RAM only functions to RAM
#ifdef _FLASH
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t)&RamfuncsLoadSize);
#endif
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the f2802x_SysCtrl.c file.
// InitSysCtrl();
// Step 2. Initialize GPIO:
// This example function is found in the f2802x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio(); // Skipped for this example
// InitEPwmGpio();
// 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 f2802x_PieCtrl.c file.
// InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
// IER = 0x0000;
// IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example. This is useful for debug purposes.
// The shell ISR routines are found in f2802x_DefaultIsr.c.
// This function is found in f2802x_PieVect.c.
// InitPieVectTable();
// For this case just init GPIO pins for EPwm1, EPwm2, EPwm3, EPwm4
GPIO_setPullUp(myGpio, GPIO_Number_0, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_1, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_0, GPIO_0_Mode_EPWM1A);
GPIO_setMode(myGpio, GPIO_Number_1, GPIO_1_Mode_EPWM1B);
GPIO_setPullUp(myGpio, GPIO_Number_2, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_3, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_2, GPIO_2_Mode_EPWM2A);
GPIO_setMode(myGpio, GPIO_Number_3, GPIO_3_Mode_EPWM2B);
GPIO_setPullUp(myGpio, GPIO_Number_4, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_5, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_4, GPIO_4_Mode_EPWM3A);
GPIO_setMode(myGpio, GPIO_Number_5, GPIO_5_Mode_EPWM3B);
GPIO_setPullUp(myGpio, GPIO_Number_6, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_7, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_6, GPIO_6_Mode_EPWM4A);
GPIO_setMode(myGpio, GPIO_Number_7, GPIO_7_Mode_EPWM4B);
// Setup a debug vector table and enable the PIE
PIE_setDebugIntVectorTable(myPie);
PIE_enable(myPie);
// Step 4. Initialize the Device Peripherals:
CLK_enablePwmClock(myClk, PWM_Number_1);
CLK_enablePwmClock(myClk, PWM_Number_2);
CLK_enablePwmClock(myClk, PWM_Number_3);
CLK_enablePwmClock(myClk, PWM_Number_4);
CLK_enableHrPwmClock(myClk);
// For this example, only initialize the ePWM
// Step 5. User specific code, enable interrupts:
// Calling SFO() updates the HRMSTEP register with calibrated MEP_ScaleFactor.
// HRMSTEP must be populated with a scale factor value prior to enabling
// high resolution period control.
status = SFO_INCOMPLETE;
while (status== SFO_INCOMPLETE) // Call until complete
{
status = SFO();
if (status == SFO_ERROR)
{
error(); // SFO function returns 2 if an error occurs & # of MEP steps/coarse step
} // exceeds maximum of 255.
}
// Some useful PWM period vs Frequency values
// TBCLK = 60 MHz
//===================
// Period Freq
// 1000 30 KHz
// 800 37.5 KHz
// 600 50 KHz
// 500 60 KHz
// 250 120 KHz
// 200 150 KHz
// 100 300 KHz
// 50 600 KHz
// 30 1 MHz
// 25 1.2 MHz
// 20 1.5 MHz
// 12 2.5 MHz
// 10 3 MHz
// 9 3.3 MHz
// 8 3.8 MHz
// 7 4.3 MHz
// 6 5.0 MHz
// 5 6.0 MHz
//====================================================================
// ePWM and HRPWM register initialization
//====================================================================
Period = 500;
PeriodFine=0xFFBF;
CLK_disableTbClockSync(myClk);
HRPWM_Config(myPwm1, Period, 1);
HRPWM_Config(myPwm2, Period, 0);
HRPWM_Config(myPwm3, Period, 0);
HRPWM_Config(myPwm4, Period, 0);
CLK_enableTbClockSync(myClk);
// Software Control variables
Increment_Freq = 1;
Increment_Freq_Fine = 1;
IsrTicker = 0;
UpdatePeriod = 0;
UpdatePeriodFine = 0;
// User control variables:
UpdateCoarse = 0;
UpdateFine = 1;
// Reassign ISRs.
PIE_registerPieIntHandler(myPie, PIE_GroupNumber_3, PIE_SubGroupNumber_1,
(intVec_t)&MainISR);
// Enable PIE group 3 interrupt 1 for EPWM1_INT
PIE_enableInt(myPie, PIE_GroupNumber_3, PIE_InterruptSource_EPWM1);
// Enable CNT_zero interrupt using EPWM1 Time-base
PWM_setIntMode(myPwm1, PWM_IntMode_CounterEqualZero); // Select INT on Zero event
PWM_enableInt(myPwm1); // Enable INT
PWM_setIntPeriod(myPwm1, PWM_IntPeriod_FirstEvent); // Generate INT on 3rd event
PWM_clearIntFlag(myPwm1);
// Enable CPU INT3 for EPWM1_INT:
CPU_enableInt(myCpu, CPU_IntNumber_3);
// Enable global Interrupts and higher priority real-time debug events:
CPU_enableGlobalInts(myCpu);
CPU_enableDebugInt(myCpu);
PWM_forceSync(myPwm1); // Synchronize high resolution phase to start HR period
for(;;)
{
// The below code controls coarse edge movement
if(UpdateCoarse==1)
{
if(Increment_Freq==1) //Increase frequency to 600 kHz
Period= Period - 1;
else
Period= Period + 1; //Decrease frequency to 300 kHz
if(Period<100 && Increment_Freq==1)
Increment_Freq=0;
else if(Period>500 && Increment_Freq==0)
Increment_Freq=1;
UpdatePeriod=1;
}
// The below code controls high-resolution fine edge movement
if(UpdateFine==1)
{
if(Increment_Freq_Fine==1) // Increase high-resolution frequency
PeriodFine=PeriodFine-1;
else
PeriodFine=PeriodFine+1; // Decrement high-resolution frequency
if(PeriodFine<=0x3333 && Increment_Freq_Fine==1)
Increment_Freq_Fine=0;
else if(PeriodFine>= 0xFFBF && Increment_Freq_Fine==0)
Increment_Freq_Fine=1;
UpdatePeriodFine=1;
}
// Call the scale factor optimizer lib function SFO()
// periodically to track for any change due to temp/voltage.
// This function generates MEP_ScaleFactor by running the
// MEP calibration module in the HRPWM logic. This scale
// factor can be used for all HRPWM channels. HRMSTEP
// register is automatically updated by the SFO function.
status = SFO(); // in background, MEP calibration module continuously updates MEP_ScaleFactor
if (status == SFO_ERROR)
{
error(); // SFO function returns 2 if an error occurs & # of MEP steps/coarse step
} // exceeds maximum of 255.
}
}// end main
void main(void)
{
CPU_Handle myCpu;
PLL_Handle myPll;
WDOG_Handle myWDog;
// Initialize all the handles needed for this application
myClk = CLK_init((void *)CLK_BASE_ADDR, sizeof(CLK_Obj));
myCpu = CPU_init((void *)NULL, sizeof(CPU_Obj));
myFlash = FLASH_init((void *)FLASH_BASE_ADDR, sizeof(FLASH_Obj));
myGpio = GPIO_init((void *)GPIO_BASE_ADDR, sizeof(GPIO_Obj));
myPie = PIE_init((void *)PIE_BASE_ADDR, sizeof(PIE_Obj));
myPll = PLL_init((void *)PLL_BASE_ADDR, sizeof(PLL_Obj));
myPwm1 = PWM_init((void *)PWM_ePWM1_BASE_ADDR, sizeof(PWM_Obj));
myPwm2 = PWM_init((void *)PWM_ePWM2_BASE_ADDR, sizeof(PWM_Obj));
myPwm3 = PWM_init((void *)PWM_ePWM3_BASE_ADDR, sizeof(PWM_Obj));
myPwm4 = PWM_init((void *)PWM_ePWM4_BASE_ADDR, sizeof(PWM_Obj));
myWDog = WDOG_init((void *)WDOG_BASE_ADDR, sizeof(WDOG_Obj));
// Perform basic system initialization
WDOG_disable(myWDog);
CLK_enableAdcClock(myClk);
(*Device_cal)();
CLK_disableAdcClock(myClk);
//Select the internal oscillator 1 as the clock source
CLK_setOscSrc(myClk, CLK_OscSrc_Internal);
// Setup the PLL for x12 /2 which will yield 60Mhz = 10Mhz * 12 / 2
PLL_setup(myPll, PLL_Multiplier_12, PLL_DivideSelect_ClkIn_by_2);
// Disable the PIE and all interrupts
PIE_disable(myPie);
PIE_disableAllInts(myPie);
CPU_disableGlobalInts(myCpu);
CPU_clearIntFlags(myCpu);
// If running from flash copy RAM only functions to RAM
#ifdef _FLASH
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t)&RamfuncsLoadSize);
#endif
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the f2802x_SysCtrl.c file.
// InitSysCtrl();
// Step 2. Initialize GPIO:
// This example function is found in the f2802x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio(); // Skipped for this example
// InitEPwmGpio();
// 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 f2802x_PieCtrl.c file.
// InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
// IER = 0x0000;
// IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example. This is useful for debug purposes.
// The shell ISR routines are found in f2802x_DefaultIsr.c.
// This function is found in f2802x_PieVect.c.
// InitPieVectTable();
// For this case just init GPIO pins for EPwm1, EPwm2, EPwm3, EPwm4
GPIO_setPullUp(myGpio, GPIO_Number_0, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_1, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_0, GPIO_0_Mode_EPWM1A);
GPIO_setMode(myGpio, GPIO_Number_1, GPIO_1_Mode_EPWM1B);
GPIO_setPullUp(myGpio, GPIO_Number_2, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_3, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_2, GPIO_2_Mode_EPWM2A);
GPIO_setMode(myGpio, GPIO_Number_3, GPIO_3_Mode_EPWM2B);
GPIO_setPullUp(myGpio, GPIO_Number_4, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_5, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_4, GPIO_4_Mode_EPWM3A);
GPIO_setMode(myGpio, GPIO_Number_5, GPIO_5_Mode_EPWM3B);
GPIO_setPullUp(myGpio, GPIO_Number_6, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_7, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_6, GPIO_6_Mode_EPWM4A);
GPIO_setMode(myGpio, GPIO_Number_7, GPIO_7_Mode_EPWM4B);
// Setup a debug vector table and enable the PIE
PIE_setDebugIntVectorTable(myPie);
PIE_enable(myPie);
CLK_enablePwmClock(myClk, PWM_Number_1);
CLK_enablePwmClock(myClk, PWM_Number_2);
CLK_enablePwmClock(myClk, PWM_Number_3);
CLK_enablePwmClock(myClk, PWM_Number_4);
CLK_enableHrPwmClock(myClk);
// For this example, only initialize the ePWM
// Step 4. User specific code, enable interrupts:
UpdateFine = 1;
PeriodFine = 0;
status = SFO_INCOMPLETE;
// Calling SFO() updates the HRMSTEP register with calibrated MEP_ScaleFactor.
// HRMSTEP must be populated with a scale factor value prior to enabling
// high resolution period control.
while (status== SFO_INCOMPLETE) // Call until complete
{
status = SFO();
if (status == SFO_ERROR)
{
error(); // SFO function returns 2 if an error occurs & # of MEP steps/coarse step
} // exceeds maximum of 255.
}
// Some useful Period vs Frequency values
// SYSCLKOUT = 60 MHz 40 MHz
// --------------------------------------
// Period Frequency Frequency
// 1000 60 kHz 40 kHz
// 800 75 kHz 50 kHz
// 600 100 kHz 67 kHz
// 500 120 kHz 80 kHz
// 250 240 kHz 160 kHz
// 200 300 kHz 200 kHz
// 100 600 kHz 400 kHz
// 50 1.2 Mhz 800 kHz
// 25 2.4 Mhz 1.6 MHz
// 20 3.0 Mhz 2.0 MHz
// 12 5.0 MHz 3.3 MHz
// 10 6.0 MHz 4.0 MHz
// 9 6.7 MHz 4.4 MHz
// 8 7.5 MHz 5.0 MHz
// 7 8.6 MHz 5.7 MHz
// 6 10.0 MHz 6.6 MHz
// 5 12.0 MHz 8.0 MHz
//====================================================================
// ePWM and HRPWM register initialization
//====================================================================
CLK_disableTbClockSync(myClk);
HRPWM_Config(myPwm1, 30); // ePWMx target
HRPWM_Config(myPwm2, 30); // ePWMx target
HRPWM_Config(myPwm3, 30); // ePWMx target
HRPWM_Config(myPwm4, 30); // ePWMx target
CLK_enableTbClockSync(myClk);
PWM_forceSync(myPwm1);
PWM_forceSync(myPwm2);
PWM_forceSync(myPwm3);
PWM_forceSync(myPwm4);
for(;;)
{
// Sweep PeriodFine as a Q16 number from 0.2 - 0.999
for(PeriodFine = 0x3333; PeriodFine < 0xFFBF; PeriodFine++)
{
if(UpdateFine)
{
/*
// Because auto-conversion is enabled, the desired
// fractional period must be written directly to the
// TBPRDHR (or TBPRDHRM) register in Q16 format
// (lower 8-bits are ignored)
EPwm1Regs.TBPRDHR = PeriodFine;
// The hardware will automatically scale
// the fractional period by the MEP_ScaleFactor
// in the HRMSTEP register (which is updated
// by the SFO calibration software).
// Hardware conversion:
// MEP delay movement = ((TBPRDHR(15:0) >> 8) * HRMSTEP(7:0) + 0x80) >> 8
*/
// for(i=1;i<PWM_CH;i++)
// {
// (*ePWM[i]).TBPRDHR = PeriodFine; //In Q16 format
// }
PWM_setPeriodHr(myPwm1, PeriodFine);
PWM_setPeriodHr(myPwm2, PeriodFine);
PWM_setPeriodHr(myPwm3, PeriodFine);
PWM_setPeriodHr(myPwm4, PeriodFine);
}
else
{
// No high-resolution movement on TBPRDHR.
// for(i=1;i<PWM_CH;i++)
// {
// (*ePWM[i]).TBPRDHR = 0;
// }
PWM_setPeriodHr(myPwm1, 0);
PWM_setPeriodHr(myPwm2, 0);
PWM_setPeriodHr(myPwm3, 0);
PWM_setPeriodHr(myPwm4, 0);
}
// Call the scale factor optimizer lib function SFO()
// periodically to track for any change due to temp/voltage.
// This function generates MEP_ScaleFactor by running the
// MEP calibration module in the HRPWM logic. This scale
// factor can be used for all HRPWM channels. HRMSTEP
// register is automatically updated by the SFO function.
status = SFO(); // in background, MEP calibration module continuously updates MEP_ScaleFactor
if (status == SFO_ERROR) {
error(); // SFO function returns 2 if an error occurs & # of MEP steps/coarse step
} // exceeds maximum of 255.
} // end PeriodFine for loop
} // end infinite for loop
} // end main
void main(void)
{
CPU_Handle myCpu;
PLL_Handle myPll;
WDOG_Handle myWDog;
// Initialize all the handles needed for this application
myClk = CLK_init((void *)CLK_BASE_ADDR, sizeof(CLK_Obj));
myCpu = CPU_init((void *)NULL, sizeof(CPU_Obj));
myFlash = FLASH_init((void *)FLASH_BASE_ADDR, sizeof(FLASH_Obj));
myGpio = GPIO_init((void *)GPIO_BASE_ADDR, sizeof(GPIO_Obj));
myPie = PIE_init((void *)PIE_BASE_ADDR, sizeof(PIE_Obj));
myPll = PLL_init((void *)PLL_BASE_ADDR, sizeof(PLL_Obj));
myPwm1 = PWM_init((void *)PWM_ePWM1_BASE_ADDR, sizeof(PWM_Obj));
myPwm2 = PWM_init((void *)PWM_ePWM2_BASE_ADDR, sizeof(PWM_Obj));
myPwm3 = PWM_init((void *)PWM_ePWM3_BASE_ADDR, sizeof(PWM_Obj));
myPwm4 = PWM_init((void *)PWM_ePWM4_BASE_ADDR, sizeof(PWM_Obj));
myWDog = WDOG_init((void *)WDOG_BASE_ADDR, sizeof(WDOG_Obj));
// Perform basic system initialization
WDOG_disable(myWDog);
CLK_enableAdcClock(myClk);
(*Device_cal)();
CLK_disableAdcClock(myClk);
//Select the internal oscillator 1 as the clock source
CLK_setOscSrc(myClk, CLK_OscSrc_Internal);
// Setup the PLL for x12 /2 which will yield 60Mhz = 10Mhz * 12 / 2
PLL_setup(myPll, PLL_Multiplier_12, PLL_DivideSelect_ClkIn_by_2);
// Disable the PIE and all interrupts
PIE_disable(myPie);
PIE_disableAllInts(myPie);
CPU_disableGlobalInts(myCpu);
CPU_clearIntFlags(myCpu);
// If running from flash copy RAM only functions to RAM
#ifdef _FLASH
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t)&RamfuncsLoadSize);
#endif
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the f2802x_SysCtrl.c file.
// InitSysCtrl();
// Step 2. Initialize GPIO:
// This example function is found in the f2802x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio(); // Skipped for this example
// For this case, just init GPIO for EPwm1-EPwm4
// For this case just init GPIO pins for EPwm1, EPwm2, EPwm3, EPwm4
// These functions are in the f2802x_EPwm.c file
// InitEPwm1Gpio();
// InitEPwm2Gpio();
// InitEPwm3Gpio();
// InitEPwm4Gpio();
// 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 f2802x_PieCtrl.c file.
// InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
// IER = 0x0000;
// IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example. This is useful for debug purposes.
// The shell ISR routines are found in f2802x_DefaultIsr.c.
// This function is found in f2802x_PieVect.c.
// InitPieVectTable();
// For this case just init GPIO pins for EPwm1, EPwm2, EPwm3, EPwm4
GPIO_setPullUp(myGpio, GPIO_Number_0, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_1, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_0, GPIO_0_Mode_EPWM1A);
GPIO_setMode(myGpio, GPIO_Number_1, GPIO_1_Mode_EPWM1B);
GPIO_setPullUp(myGpio, GPIO_Number_2, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_3, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_2, GPIO_2_Mode_EPWM2A);
GPIO_setMode(myGpio, GPIO_Number_3, GPIO_3_Mode_EPWM2B);
GPIO_setPullUp(myGpio, GPIO_Number_4, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_5, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_4, GPIO_4_Mode_EPWM3A);
GPIO_setMode(myGpio, GPIO_Number_5, GPIO_5_Mode_EPWM3B);
GPIO_setPullUp(myGpio, GPIO_Number_6, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_7, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_6, GPIO_6_Mode_EPWM4A);
GPIO_setMode(myGpio, GPIO_Number_7, GPIO_7_Mode_EPWM4B);
// Setup a debug vector table and enable the PIE
PIE_setDebugIntVectorTable(myPie);
PIE_enable(myPie);
CLK_enablePwmClock(myClk, PWM_Number_1);
CLK_enablePwmClock(myClk, PWM_Number_2);
CLK_enablePwmClock(myClk, PWM_Number_3);
CLK_enablePwmClock(myClk, PWM_Number_4);
// For this example, only initialize the EPwm
// Step 4. User specific code, enable interrupts:
update =1;
DutyFine =0;
CLK_disableTbClockSync(myClk);
// Some useful Period vs Frequency values
// SYSCLKOUT = 60 MHz 40 MHz
// --------------------------------------
// Period Frequency Frequency
// 1000 60 kHz 40 kHz
// 800 75 kHz 50 kHz
// 600 100 kHz 67 kHz
// 500 120 kHz 80 kHz
// 250 240 kHz 160 kHz
// 200 300 kHz 200 kHz
// 100 600 kHz 400 kHz
// 50 1.2 Mhz 800 kHz
// 25 2.4 Mhz 1.6 MHz
// 20 3.0 Mhz 2.0 MHz
// 12 5.0 MHz 3.3 MHz
// 10 6.0 MHz 4.0 MHz
// 9 6.7 MHz 4.4 MHz
// 8 7.5 MHz 5.0 MHz
// 7 8.6 MHz 5.7 MHz
// 6 10.0 MHz 6.6 MHz
// 5 12.0 MHz 8.0 MHz
//====================================================================
// EPwm and HRPWM register initialization
//====================================================================
HRPWM1_Config(10); // EPwm1 target, Period = 10
HRPWM2_Config(20); // EPwm2 target, Period = 20
HRPWM3_Config(10); // EPwm3 target, Period = 10
HRPWM4_Config(20); // EPwm4 target, Period = 20
CLK_enableTbClockSync(myClk);
while (update ==1)
{
PWM_setCmpAHr(myPwm1, DutyFine << 8);
PWM_setCmpAHr(myPwm2, DutyFine << 8);
PWM_setCmpAHr(myPwm3, DutyFine << 8);
PWM_setCmpAHr(myPwm4, DutyFine << 8);
}
}
void InitEPwmTimer()
{
CLK_disableTbClockSync(myClk);
CLK_enablePwmClock(myClk, PWM_Number_1);
CLK_enablePwmClock(myClk, PWM_Number_2);
CLK_enablePwmClock(myClk, PWM_Number_3);
GPIO_setPullUp(myGpio, GPIO_Number_0, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_1, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_0, GPIO_0_Mode_EPWM1A);
GPIO_setMode(myGpio, GPIO_Number_1, GPIO_1_Mode_EPWM1B);
GPIO_setPullUp(myGpio, GPIO_Number_2, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_3, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_2, GPIO_2_Mode_EPWM2A);
GPIO_setMode(myGpio, GPIO_Number_3, GPIO_3_Mode_EPWM2B);
GPIO_setPullUp(myGpio, GPIO_Number_4, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_5, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_4, GPIO_4_Mode_EPWM3A);
GPIO_setMode(myGpio, GPIO_Number_5, GPIO_5_Mode_EPWM3B);
// Setup Sync
PWM_setSyncMode(myPwm1, PWM_SyncMode_EPWMxSYNC);
PWM_setSyncMode(myPwm2, PWM_SyncMode_EPWMxSYNC);
PWM_setSyncMode(myPwm3, PWM_SyncMode_EPWMxSYNC);
// Allow each timer to be sync'ed
PWM_enableCounterLoad(myPwm1);
PWM_enableCounterLoad(myPwm2);
PWM_enableCounterLoad(myPwm3);
// Set the phase
PWM_setPhase(myPwm1, 100);
PWM_setPhase(myPwm1, 200);
PWM_setPhase(myPwm1, 300);
PWM_setPeriod(myPwm1, PWM1_TIMER_TBPRD);
PWM_setCounterMode(myPwm1, PWM_CounterMode_Up); // Count up
PWM_setIntMode(myPwm1, PWM_IntMode_CounterEqualZero); // Select INT on Zero event
PWM_enableInt(myPwm1); // Enable INT
PWM_setIntPeriod(myPwm1, PWM_IntPeriod_FirstEvent); // Generate INT on 1st event
PWM_setPeriod(myPwm2, PWM2_TIMER_TBPRD);
PWM_setCounterMode(myPwm2, PWM_CounterMode_Up); // Count up
PWM_setIntMode(myPwm2, PWM_IntMode_CounterEqualZero); // Enable INT on Zero event
PWM_enableInt(myPwm2); // Enable INT
PWM_setIntPeriod(myPwm2, PWM_IntPeriod_SecondEvent); // Generate INT on 2nd event
PWM_setPeriod(myPwm3, PWM3_TIMER_TBPRD);
PWM_setCounterMode(myPwm3, PWM_CounterMode_Up); // Count up
PWM_setIntMode(myPwm3, PWM_IntMode_CounterEqualZero); // Enable INT on Zero event
PWM_enableInt(myPwm3); // Enable INT
PWM_setIntPeriod(myPwm3, PWM_IntPeriod_ThirdEvent); // Generate INT on 3rd event
PWM_setCmpA(myPwm1, PWM1_TIMER_TBPRD / 2);
PWM_setActionQual_Period_PwmA(myPwm1, PWM_ActionQual_Set);
PWM_setActionQual_CntUp_CmpA_PwmA(myPwm1, PWM_ActionQual_Clear);
PWM_setActionQual_Period_PwmB(myPwm1, PWM_ActionQual_Set);
PWM_setActionQual_CntUp_CmpA_PwmB(myPwm1, PWM_ActionQual_Clear);
PWM_setCmpA(myPwm2, PWM2_TIMER_TBPRD / 2);
PWM_setActionQual_Period_PwmA(myPwm2, PWM_ActionQual_Set);
PWM_setActionQual_CntUp_CmpA_PwmA(myPwm2, PWM_ActionQual_Clear);
PWM_setActionQual_Period_PwmB(myPwm2, PWM_ActionQual_Set);
PWM_setActionQual_CntUp_CmpA_PwmB(myPwm2, PWM_ActionQual_Clear);
PWM_setCmpA(myPwm3, PWM3_TIMER_TBPRD / 2);
PWM_setActionQual_Period_PwmA(myPwm3, PWM_ActionQual_Set);
PWM_setActionQual_CntUp_CmpA_PwmA(myPwm3, PWM_ActionQual_Clear);
PWM_setActionQual_Period_PwmB(myPwm3, PWM_ActionQual_Set);
PWM_setActionQual_CntUp_CmpA_PwmB(myPwm3, PWM_ActionQual_Clear);
CLK_enableTbClockSync(myClk);
}