362 lines
13 KiB
C
362 lines
13 KiB
C
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//###########################################################################
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//
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// FILE: epwm.c
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//
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// TITLE: C28x EPWM driver.
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//
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//###########################################################################
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// $Copyright:
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// Copyright (C) 2022 Texas Instruments Incorporated - http://www.ti.com
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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//
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// Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the
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// distribution.
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//
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// Neither the name of Texas Instruments Incorporated nor the names of
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// its contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// $
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//###########################################################################
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#include "epwm.h"
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//*****************************************************************************
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//
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// EPWM_setEmulationMode
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//
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//*****************************************************************************
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void EPWM_setEmulationMode(uint32_t base, EPWM_EmulationMode emulationMode)
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{
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//
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// Check the arguments.
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//
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ASSERT(EPWM_isBaseValid(base));
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//
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// Write to FREE_SOFT bits
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//
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HWREGH(base + EPWM_O_TBCTL) =
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((HWREGH(base + EPWM_O_TBCTL) & (~EPWM_TBCTL_FREE_SOFT_M)) |
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((uint16_t)emulationMode << EPWM_TBCTL_FREE_SOFT_S));
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}
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//*****************************************************************************
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//
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// EPWM_configureSignal
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//
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//*****************************************************************************
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void EPWM_configureSignal(uint32_t base, const EPWM_SignalParams *signalParams)
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{
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float32_t tbClkInHz = 0.0F;
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uint16_t tbPrdVal = 0U, cmpAVal = 0U, cmpBVal = 0U;
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//
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// Check the arguments.
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//
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ASSERT(EPWM_isBaseValid(base));
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//
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// Valid values in the function for TBCTR Mode are UP, DOWN
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// and UP-DOWN count.
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//
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ASSERT((uint16_t)signalParams->tbCtrMode <= 2U);
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//
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// Configure EPWM clock Divider
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//
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SysCtl_setEPWMClockDivider(signalParams->epwmClkDiv);
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//
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// Configure Time Base counter Clock
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//
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EPWM_setClockPrescaler(base, signalParams->tbClkDiv,
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signalParams->tbHSClkDiv);
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//
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// Configure Time Base Counter Mode
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//
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EPWM_setTimeBaseCounterMode(base, signalParams->tbCtrMode);
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//
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// Calculate TBCLK, TBPRD and CMPx values to be configured for
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// achieving desired signal
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//
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tbClkInHz = ((float32_t)signalParams->sysClkInHz /
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(float32_t)(1U << ((uint16_t)signalParams->epwmClkDiv +
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(uint16_t)signalParams->tbClkDiv)));
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if(signalParams->tbHSClkDiv <= EPWM_HSCLOCK_DIVIDER_4)
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{
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tbClkInHz /= (float32_t)(1U << (uint16_t)signalParams->tbHSClkDiv);
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}
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else
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{
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tbClkInHz /= (float32_t)(2U * (uint16_t)signalParams->tbHSClkDiv);
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}
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if(signalParams->tbCtrMode == EPWM_COUNTER_MODE_UP)
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{
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tbPrdVal = (uint16_t)((tbClkInHz / signalParams->freqInHz) - 1.0f);
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cmpAVal = (uint16_t)(signalParams->dutyValA *
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(float32_t)(tbPrdVal + 1U));
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cmpBVal = (uint16_t)(signalParams->dutyValB *
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(float32_t)(tbPrdVal + 1U));
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}
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else if(signalParams->tbCtrMode == EPWM_COUNTER_MODE_DOWN)
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{
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tbPrdVal = (uint16_t)((tbClkInHz / signalParams->freqInHz) - 1.0f);
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cmpAVal = (uint16_t)((float32_t)(tbPrdVal + 1U) -
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(signalParams->dutyValA * (float32_t)(tbPrdVal + 1U)));
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cmpBVal = (uint16_t)((float32_t)(tbPrdVal + 1U) -
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(signalParams->dutyValB * (float32_t)(tbPrdVal + 1U)));
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}
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else
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{
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tbPrdVal = (uint16_t)(tbClkInHz / (2.0f * signalParams->freqInHz));
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cmpAVal = (uint16_t)(((float32_t)tbPrdVal -
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((signalParams->dutyValA *
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(float32_t)tbPrdVal))) + 0.5f);
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cmpBVal = (uint16_t)(((float32_t)tbPrdVal -
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((signalParams->dutyValB *
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(float32_t)tbPrdVal))) + 0.5f);
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}
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//
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// Configure TBPRD value
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//
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EPWM_setTimeBasePeriod(base, tbPrdVal);
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//
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// Default Configurations.
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//
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EPWM_disablePhaseShiftLoad(base);
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EPWM_setPhaseShift(base, 0U);
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EPWM_setTimeBaseCounter(base, 0U);
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//
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// Setup shadow register load on ZERO
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//
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EPWM_setCounterCompareShadowLoadMode(base,
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EPWM_COUNTER_COMPARE_A,
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EPWM_COMP_LOAD_ON_CNTR_ZERO);
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EPWM_setCounterCompareShadowLoadMode(base,
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EPWM_COUNTER_COMPARE_B,
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EPWM_COMP_LOAD_ON_CNTR_ZERO);
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//
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// Set Compare values
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//
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EPWM_setCounterCompareValue(base, EPWM_COUNTER_COMPARE_A,
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cmpAVal);
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EPWM_setCounterCompareValue(base, EPWM_COUNTER_COMPARE_B,
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cmpBVal);
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//
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// Set actions for ePWMxA & ePWMxB
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//
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if(signalParams->tbCtrMode == EPWM_COUNTER_MODE_UP)
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{
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//
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// Set PWMxA on Zero
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_A,
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EPWM_AQ_OUTPUT_HIGH,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);
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//
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// Clear PWMxA on event A, up count
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_A,
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EPWM_AQ_OUTPUT_LOW,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPA);
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if(signalParams->invertSignalB == true)
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{
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//
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// Clear PWMxB on Zero
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_B,
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EPWM_AQ_OUTPUT_LOW,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);
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//
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// Set PWMxB on event B, up count
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_B,
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EPWM_AQ_OUTPUT_HIGH,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPB);
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}
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else
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{
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//
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// Set PWMxB on Zero
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_B,
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EPWM_AQ_OUTPUT_HIGH,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);
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//
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// Clear PWMxB on event B, up count
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_B,
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EPWM_AQ_OUTPUT_LOW,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPB);
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}
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}
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else if((signalParams->tbCtrMode == EPWM_COUNTER_MODE_DOWN))
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{
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//
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// Set PWMxA on Zero
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_A,
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EPWM_AQ_OUTPUT_HIGH,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);
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//
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// Clear PWMxA on event A, down count
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_A,
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EPWM_AQ_OUTPUT_LOW,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPA);
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if(signalParams->invertSignalB == true)
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{
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//
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// Clear PWMxB on Zero
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_B,
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EPWM_AQ_OUTPUT_LOW,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);
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//
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// Set PWMxB on event B, down count
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_B,
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EPWM_AQ_OUTPUT_HIGH,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPB);
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}
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else
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{
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//
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// Set PWMxB on Zero
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_B,
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EPWM_AQ_OUTPUT_HIGH,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);
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//
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// Clear PWMxB on event B, down count
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_B,
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EPWM_AQ_OUTPUT_LOW,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPB);
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}
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}
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else
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{
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//
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// Clear PWMxA on Zero
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_A,
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EPWM_AQ_OUTPUT_LOW,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);
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//
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// Set PWMxA on event A, up count
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_A,
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EPWM_AQ_OUTPUT_HIGH,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPA);
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//
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// Clear PWMxA on event A, down count
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_A,
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EPWM_AQ_OUTPUT_LOW,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPA);
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if(signalParams->invertSignalB == true)
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{
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//
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// Set PWMxB on Zero
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_B,
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EPWM_AQ_OUTPUT_HIGH,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);
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//
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// Clear PWMxB on event B, up count
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_B,
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EPWM_AQ_OUTPUT_LOW,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPB);
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//
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// Set PWMxB on event B, down count
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_B,
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EPWM_AQ_OUTPUT_HIGH,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPB);
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}
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else
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{
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//
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// Clear PWMxB on Zero
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_B,
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EPWM_AQ_OUTPUT_LOW,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);
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//
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// Set PWMxB on event B, up count
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_B,
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EPWM_AQ_OUTPUT_HIGH,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPB);
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//
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// Clear PWMxB on event B, down count
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//
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EPWM_setActionQualifierAction(base,
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EPWM_AQ_OUTPUT_B,
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EPWM_AQ_OUTPUT_LOW,
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EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPB);
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}
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}
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}
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