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