调试背景
工作需要,要写一个无刷直流(BLDC)电机的控制程序,其中就要用到pwm调速,因此对28335的ePWM功能进行学习,学习过程记录在此,以便复习和同大家讨论。
注:本文参考普中F28335教程进行调试,在其基础之上做一些改进及实验,以便加深对各个功能的理解
ww1
直接copy普中教程,用ePWM6 控制LED,达到呼吸灯的效果。代码如下
void EPWM6_Init(Uint16 tbprd){
EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0; //Disable TBCLK within the ePWM
SysCtrlRegs.PCLKCR1.bit.EPWM6ENCLK = 1; //ENABLE ePWM6 CLK
EDIS;
InitEPwm6Gpio(); //provided by TI
EPwm6Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_DISABLE;
EPwm6Regs.TBCTL.bit.PHSEN = TB_DISABLE;
EPwm6Regs.TBPHS.half.TBPHS = 0;
EPwm6Regs.TBCTR = 0x0000; //Clear counter
EPwm6Regs.TBPRD = tbprd;
EPwm6Regs.TBCTL.bit.CTRMODE = TB_COUNT_DOWN; // count down
EPwm6Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;
EPwm6Regs.TBCTL.bit.CLKDIV = TB_DIV1;
//Setup shadow register load on ZERO
EPwm6Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;
EPwm6Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
EPwm6Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
EPwm6Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
// Set Compare values
EPwm6Regs.CMPA.half.CMPA = 0; //Set Compare A value
EPwm6Regs.CMPB = 0; //Set Compare B value
// Set actions
EPwm6Regs.AQCTLA.bit.ZRO = AQ_CLEAR; // Set PWM1A on Zero
EPwm6Regs.AQCTLA.bit.CAU = AQ_SET; // Clear PWM1A on event A, up count
EPwm6Regs.AQCTLB.bit.ZRO = AQ_CLEAR; // Set PWM1B on Zero
EPwm6Regs.AQCTLB.bit.CBU = AQ_SET; // Clear PWM1B on event B, up count
EPwm6Regs.ETSEL.bit.INTSEL = ET_CTR_ZERO; // Select INT on Zero event
EPwm6Regs.ETSEL.bit.INTEN = 1; // Enable INT
EPwm6Regs.ETPS.bit.INTPRD = ET_1ST; // Generate INT on 1st event
EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1; // Start all the timers synced
EDIS;
}
程序烧录后,发现IO10,11上两个LED没有反应,用示波器观察波形发现恒为高电平。
打中断,查看寄存器配置是否出错。如下图所示,发现在运行了EPwm6Regs.TBPRD = tbprd后,该寄存器值仍为0;
基于该现象,进行了以下排查:
1、检查寄存器时钟开启是否正确,是否错开到其他pwm模块。
2、查看该寄存器是否有写保护,导致数据不能正常写入。
检查发现均没有出现上述情况。怀疑是DSP的PWM有问题(毕竟板子是很多人共用)。
WW2
上周怀疑ePWM6有问题,本周用ePWM5再次进行尝试。将上述代码中的EPwm6替换成EPwm5即可
EPwm6Regs -> EPwm5Regs
替换完成后,EPwm5对应的LED能正常亮起,达到呼吸灯效果。
结论:代码没问题,是手上板子的EPwm6有问题!!在这个事情上浪费2天。
更改计数方向及PWM动作方式
//主函数
void main(void){
InitSysCtrl();
//DINT;
Uint32 i = 0;
InitPieCtrl();
IER = 0x0000;
IFR = 0x0000;
InitPieVectTable();
LED_Init();
EPWM5_Init(500);
while(1){
DELAY_US(10*1000);
i++;
EPwm5A_SetCompare(400);
EPwm5B_SetCompare(200);
if(i>300){
LED1_TOGGLE;
i=0;
}
}
}
//EPwm_Init() 部分
EPwm5Regs.AQCTLA.bit.ZRO = AQ_CLEAR; // set to 0 PWM1A on Zero
EPwm5Regs.AQCTLA.bit.CAD = AQ_SET; // set to 1 PWM1A on event A, down count
EPwm5Regs.AQCTLB.bit.ZRO = AQ_CLEAR; // set to 0 PWM1B on Zero
EPwm5Regs.AQCTLB.bit.CBD = AQ_SET; // set to 1 PWM1B on event B, down count
EPwm5Regs.TBCTL.bit.CTRMODE = TB_COUNT_DOWN; // count DOWN
EPwm5Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;
EPwm5Regs.TBCTL.bit.CLKDIV = TB_DIV1;
其中TBPRD = 500, 不分频。所以T = 1/150MHz * 500 = 3.33uS = 300KHz。DutyA = 400/500 = 80%,DutyB = 200/500 = 40%,且因为是下降计数,应在周期的后段。理论波形如左图所示:
设:现需要一个30Khz,40%的互补波形,理论值应该为:16分频后,TBPRD = 150 / (16*0.03) = 313。Camp A= 125。
方法一:手动设置两路独立波形达到互补效果:结果如下图所示。
//主函数中如下更改
EPWM5_Init(313); //EPWM5_Init(500);
EPwm5A_SetCompare(125); //EPwm5A_SetCompare(400);
EPwm5B_SetCompare(125); //EPwm5B_SetCompare(200);
//EPwm_Init() 部分
EPwm5Regs.AQCTLA.bit.ZRO = AQ_SET; // set to 0 PWM1A on Zero
EPwm5Regs.AQCTLA.bit.CAU = AQ_CLEAR; // set to 1 PWM1A on event A, down count
EPwm5Regs.AQCTLB.bit.ZRO = AQ_CLEAR; // set to 0 PWM1B on Zero
EPwm5Regs.AQCTLB.bit.CBU = AQ_SET; // set to 1 PWM1B on event B, down count
EPwm5Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // count DOWN
EPwm5Regs.TBCTL.bit.HSPCLKDIV = TB_DIV4;
EPwm5Regs.TBCTL.bit.CLKDIV = TB_DIV4;
方法二:使用DB寄存器将CHA,CHB联动使用,当DB选用FULL后,只有A通道设置起作用,B通道设置不起作用。:
//主函数中如下更改
EPWM5_Init(313); //EPWM5_Init(500);
EPwm5A_SetCompare(125); //EPwm5A_SetCompare(400);
EPwm5B_SetCompare(300); //EPwm5B_SetCompare(200);
//EPwm_Init() 部分
EPwm5Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE; // enable Dead-band module
EPwm5Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC; // Active Hi complementary
EPwm5Regs.DBFED = 5; // FED = 5 TBCLKs
EPwm5Regs.DBRED = 5; // RED = 5 TBCLKs
EPwm5Regs.AQCTLA.bit.ZRO = AQ_SET; //
EPwm5Regs.AQCTLA.bit.CAU = AQ_CLEAR; //
EPwm5Regs.AQCTLB.bit.ZRO = AQ_SET; // 若B通道起作用,理论上B通道应该是300/313=95.8%的方波。
EPwm5Regs.AQCTLB.bit.CBU = AQ_CLEAR; //
EPwm5Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // count DOWN
EPwm5Regs.TBCTL.bit.HSPCLKDIV = TB_DIV4;
EPwm5Regs.TBCTL.bit.CLKDIV = TB_DIV4;
但实际波形如下图所示,B通道为A的互补,仅A通道设置起作用
多PWM模块联动+相位延迟
main函数修改如下:
EPWM1_Init(5000);
EPWM2_Init(5000);
EPWM3_Init(5000);
EPwm1A_SetCompare(1000);
EPwm1B_SetCompare(1000);
EPwm2A_SetCompare(1000);
EPwm2B_SetCompare(1000);
EPwm3A_SetCompare(1000);
EPwm3B_SetCompare(1000);
PWM初始化函数修改如下(PWM1不做修改):
EPwm2Regs.TBPRD = tbprd;
EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO; //在CTR计数到0时,产生一个SYNCout信号
EPwm2Regs.TBCTL.bit.PHSEN = TB_ENABLE; //启用相位同步功能。
EPwm2Regs.TBPHS.half.TBPHS = 3333; //一个SYNC信号来时,CTR装填为3333、即落后PWM1 120°(在不同计数模式,同样落后120°可能不同,可以自己画图看看。
EPwm2Regs.TBCTR = 0x0000; //Clear counter
EPwm3Regs.TBPRD = tbprd;
EPwm3Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_DISABLE; //PWM4由PWM直接给,不是接到3后面的
EPwm3Regs.TBCTL.bit.PHSEN = TB_ENABLE; //与PWM2相同
EPwm3Regs.TBPHS.half.TBPHS = 3333; //SYNC信号来自PWM2,落后2 120°,落后1 240°
EPwm3Regs.TBCTR = 0x0000; //Clear counter