f280x_stepper_pwm.c

DSP280X芯片的编程简单例子

/* ==================================================================================
File name:       F280X_STEPPRE_PWM.C
                    
Originator:	Digital Control Systems Group
			Texas Instruments

Description:   This file contains source for the EPWM drivers for the F280x for DC-motor
 
    dc-bus+ ------------------------
                |                  |
              [1A]                [2A]
                |----(dc-motor)----|
              [1B]                [2B]
                |                  |
    dc-bus- ------------------------

Target: TMS320F280x family
              
=====================================================================================
History:
-------------------------------------------------------------------------------------
 04-15-2005	Version 3.20: Using DSP280x v. 1.10 or higher 
------------------------------------------------------------------------------------*/

#include "DSP280x_Device.h"
#include "f280x_stepper_pwm.h"

void F280X_STEPPER_PWM_Init(PWMGEN *p) 
{       

         // Setup Sync
         EPwm1Regs.TBCTL.bit.SYNCOSEL = 0;          // Pass through
         EPwm2Regs.TBCTL.bit.SYNCOSEL = 0;          // Pass through
         EPwm3Regs.TBCTL.bit.SYNCOSEL = 0;          // Pass through
         EPwm4Regs.TBCTL.bit.SYNCOSEL = 0;          // Pass through
         EPwm5Regs.TBCTL.bit.SYNCOSEL = 0;          // Pass through
         EPwm6Regs.TBCTL.bit.SYNCOSEL = 0;          // Pass through

         // Allow each timer to be sync'ed
         EPwm1Regs.TBCTL.bit.PHSEN = 1;
         EPwm2Regs.TBCTL.bit.PHSEN = 1;
         EPwm3Regs.TBCTL.bit.PHSEN = 1;
         EPwm4Regs.TBCTL.bit.PHSEN = 1;
         EPwm5Regs.TBCTL.bit.PHSEN = 1;
         EPwm6Regs.TBCTL.bit.PHSEN = 1;

         // Init Timer-Base Period Register for EPWM1-EPWM3
         EPwm1Regs.TBPRD = p->PeriodMax;
         EPwm2Regs.TBPRD = p->PeriodMax;
         EPwm3Regs.TBPRD = p->PeriodMax;

         // Init Timer-Base Phase Register for EPWM1-EPWM3
         EPwm1Regs.TBPHS.half.TBPHS = 0;
         EPwm2Regs.TBPHS.half.TBPHS = 0;
         EPwm3Regs.TBPHS.half.TBPHS = 0;

         // Init Timer-Base Control Register for EPWM1-EPWM3
         EPwm1Regs.TBCTL.all = PWM_INIT_STATE;
         EPwm2Regs.TBCTL.all = PWM_INIT_STATE;
         EPwm3Regs.TBCTL.all = PWM_INIT_STATE;

         // Init Compare Control Register for EPWM1-EPWM3
         EPwm1Regs.CMPCTL.all = CMPCTL_INIT_STATE;
         EPwm2Regs.CMPCTL.all = CMPCTL_INIT_STATE;
         EPwm3Regs.CMPCTL.all = CMPCTL_INIT_STATE;

         // Init Action Qualifier Output A Register for EPWM1-EPWM3
         EPwm1Regs.AQCTLA.all = AQCTLA_INIT_STATE;
         EPwm2Regs.AQCTLA.all = AQCTLA_INIT_STATE;
         EPwm3Regs.AQCTLA.all = AQCTLA_INIT_STATE;

         // Init Dead-Band Generator Control Register for EPWM1-EPWM3
         EPwm1Regs.DBCTL.all = DBCTL_INIT_STATE;
         EPwm2Regs.DBCTL.all = DBCTL_INIT_STATE;
         EPwm3Regs.DBCTL.all = DBCTL_INIT_STATE;

         // Init Dead-Band Generator Falling/Rising Edge Delay Register for EPWM1-EPWM3
         EPwm1Regs.DBFED = DBCNT_INIT_STATE;
         EPwm1Regs.DBRED = DBCNT_INIT_STATE;
         EPwm2Regs.DBFED = DBCNT_INIT_STATE;
         EPwm2Regs.DBRED = DBCNT_INIT_STATE;
         EPwm3Regs.DBFED = DBCNT_INIT_STATE;
         EPwm3Regs.DBRED = DBCNT_INIT_STATE;

         // Init PWM Chopper Control Register for EPWM1-EPWM3
         EPwm1Regs.PCCTL.all = PCCTL_INIT_STATE;
         EPwm2Regs.PCCTL.all = PCCTL_INIT_STATE;
         EPwm3Regs.PCCTL.all = PCCTL_INIT_STATE;
 
         EALLOW;                       // Enable EALLOW 

         // Init Trip Zone Select Register
         EPwm1Regs.TZSEL.all = TZSEL_INIT_STATE;
         EPwm2Regs.TZSEL.all = TZSEL_INIT_STATE;
         EPwm3Regs.TZSEL.all = TZSEL_INIT_STATE;

         // Init Trip Zone Control Register
         EPwm1Regs.TZCTL.all = TZCTL_INIT_STATE;
         EPwm2Regs.TZCTL.all = TZCTL_INIT_STATE;
         EPwm3Regs.TZCTL.all = TZCTL_INIT_STATE;

         // Setting six EPWM as primary output pins
         GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 1;   // EPWM1A pin
         GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 1;   // EPWM1B pin
         GpioCtrlRegs.GPAMUX1.bit.GPIO2 = 1;   // EPWM2A pin
         GpioCtrlRegs.GPAMUX1.bit.GPIO3 = 1;   // EPWM2B pin
         GpioCtrlRegs.GPAMUX1.bit.GPIO4 = 1;   // EPWM3A pin
         GpioCtrlRegs.GPAMUX1.bit.GPIO5 = 1;   // EPWM3B pin

         EDIS;                         // Disable EALLOW
}


void F280X_STEPPER_PWM_Update(PWMGEN *p) 
{       

	int32 Tmp;
	int16 MPeriod;

// Convert "Period" (Q15) modulation function to Q0
    Tmp = (int32)p->PeriodMax*(int32)p->MfuncPeriod;     // Q15 = Q0*Q15
    MPeriod = (int16)(Tmp>>15);                           // Q15 -> Q0 (period)


// Convert "DutyFunc" or "GPR0_STEPPRE__PWM" (Q15) duty modulation function to Q0
// Compute the timer period (Q0) from the period modulation input (Q15)
        Tmp = (int32)p->PeriodMax*(int32)p->MfuncPeriod;           // Q15 = Q0*Q15
        MPeriod = (int16)(Tmp>>16) + (int16)(p->PeriodMax>>1);     // Q0 = (Q15->Q0)/2 + (Q0/2)
        EPwm1Regs.TBPRD = MPeriod;  
        EPwm2Regs.TBPRD = MPeriod;  
        EPwm3Regs.TBPRD = MPeriod;  
        EPwm4Regs.TBPRD = MPeriod;

		MPeriod = MPeriod - 50;
        
// Compute the compare A (Q0) from the EPWM1AO & EPWM1BO duty cycle ratio (Q15)
        Tmp = (int32)MPeriod*(int32)p->DutyFuncA1;                    // Q15 = Q0*Q15
        EPwm1Regs.CMPA.half.CMPA = (int16)(Tmp>>16) + (int16)(EPwm1Regs.TBPRD>>1);   // Q0 = (Q15->Q0)/2 + (Q0/2)

// Compute the compare B (Q0) from the EPWM2AO & EPWM2BO duty cycle ratio (Q15)
        Tmp = (int32)MPeriod*(int32)p->DutyFuncB1;                   // Q15 = Q0*Q15
        EPwm2Regs.CMPA.half.CMPA = (int16)(Tmp>>16) + (int16)(EPwm1Regs.TBPRD>>1);  // Q0 = (Q15->Q0)/2 + (Q0/2)

// Compute the compare C (Q0) from the EPWM3AO & EPWM3BO duty cycle ratio (Q15)
        Tmp = (int32)MPeriod*(int32)p->DutyFuncA2;                   // Q15 = Q0*Q15
        EPwm3Regs.CMPA.half.CMPA = (int16)(Tmp>>16) + (int16)(EPwm1Regs.TBPRD>>1);  // Q0 = (Q15->Q0)/2 + (Q0/2)

// Compute the compare D (Q0) from the EPWM4AO & EPWM4BO duty cycle ratio (Q15)
        Tmp = (int32)MPeriod*(int32)p->DutyFuncB2;                   // Q15 = Q0*Q15
        EPwm4Regs.CMPA.half.CMPA = (int16)(Tmp>>16) + (int16)(EPwm1Regs.TBPRD>>1);  // Q0 = (Q15->Q0)/2 + (Q0/2)
}