TI中文支持网Part Number:TMS320F28335
- 我同时启动ADC和epwm，并启动epwm的中断，但出来的波形占空比一直在90%，请问该怎么办，求大佬解惑
haotian zhao：
有人吗？
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Green Deng：
波形的占空比跟ADC、ePWM中断是否启用没什么特别直接的关系啊。主要是看你CMPA、CMPB等等寄存器的设置。
你可以看一下芯片TRM第247页开始的一些例子，里面讲了占空比控制
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jiangtao zhou：
显然是代码写错了，不如贴一下初始化EPWM的代码。
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haotian zhao：
void EPWM1_Init(Uint16 tbprd){ EALLOW; SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1; // Disable TBCLK within the ePWM SysCtrlRegs.PCLKCR1.bit.EPWM1ENCLK = 1; // ePWM1 EDIS;
// ePWM频率=TBCLK/(2*TBPRD)=150000000/(2*50000)
// Interrupts that are used in this example are re-mapped to // ISR functions found within this file. EALLOW; // This is needed to write to EALLOW protected registers //PieVectTable.EPWM1_INT = &epwm1_timer_isr; EDIS; // This is needed to disable write to EALLOW protected registers
EALLOW; SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0; // Stop all the TB clocks EDIS; InitEPwm1Gpio();
// Setup Sync EPwm1Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN; // Pass through
// Allow each timer to be sync'ed EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE;// 失能关闭（如使能为将相依移位值装载到计数器）
EPwm1Regs.TBPHS.half.TBPHS = 0;
EPwm1Regs.TBPRD = tbprd; EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up EPwm1Regs.TBCTL.bit.HSPCLKDIV=TB_DIV1; EPwm1Regs.TBCTL.bit.CLKDIV=TB_DIV1; // ePWM频率=TBCLK/(2*TBPRD)=150000000/(2*50000) EPwm1Regs.ETSEL.bit.INTSEL = ET_CTR_ZERO; // Select INT on Zero event EPwm1Regs.ETSEL.bit.INTEN = 1; // Enable INT EPwm1Regs.ETPS.bit.INTPRD = ET_1ST; // Generate INT on 1st event 在第一个事件中产生INT
EPwm1Regs.CMPA.half.CMPA =375; EPwm1Regs.AQCTLA.bit.ZRO = AQ_CLEAR;//时基计数器的值等于0时输出低电平 EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;//向上计数时，时基计数器的值与cmpa寄存器的值相等不动作时输出高电平
EALLOW; SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1; // Start all the timers synced 启动所有同步的定时器 EDIS;
// Enable CPU INT3 which is connected to EPWM1-6 INT: 启用与EPWM1-6 INT相连的CPU INT3。 IER |= M_INT3;
// Enable EPWM INTn in the PIE: Group 3 interrupt 1-6启用PIE中的EPWM INTn：第3组中断1-6 PieCtrlRegs.PIEIER3.bit.INTx1 = 1;
// Enable global Interrupts and higher priority real-time debug events: EINT; // Enable Global interrupt INTM ERTM; // Enable Global realtime interrupt DBGM}void EPWM2_Init(Uint16 tbprd){ EALLOW; SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1; // Disable TBCLK within the ePWM SysCtrlRegs.PCLKCR1.bit.EPWM2ENCLK = 1; // ePWM2 EDIS;
EALLOW; // This is needed to write to EALLOW protected registers // PieVectTable.EPWM2_INT = &epwm2_timer_isr; EDIS; // This is needed to disable write to EALLOW protected registers
EALLOW; SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0; // Stop all the TB clocks EDIS; InitEPwm2Gpio();
// Setup Sync EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN; // Pass through
EPwm2Regs.TBCTL.bit.PHSEN = TB_DISABLE;// 失能关闭（如使能为将相依移位值装载到计数器）
EPwm2Regs.TBPHS.half.TBPHS = 0;
EPwm2Regs.TBPRD = tbprd; EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up EPwm2Regs.TBCTL.bit.HSPCLKDIV=TB_DIV1; EPwm2Regs.TBCTL.bit.CLKDIV=TB_DIV1; EPwm2Regs.ETSEL.bit.INTSEL = ET_CTR_ZERO; // Select INT on Zero event EPwm2Regs.ETSEL.bit.INTEN = 1; // Enable INT EPwm2Regs.ETPS.bit.INTPRD = ET_1ST; // Generate INT on 1st event 在第一个事件中产生INT
EPwm2Regs.CMPA.half.CMPA =0; EPwm2Regs.CMPB = 0; EPwm2Regs.AQCTLA.bit.ZRO = AQ_SET;//时基计数器的值等于0时输出高电平 EPwm2Regs.AQCTLA.bit.CAU = AQ_CLEAR;//向上计数时，时基计数器的值与cmpa寄存器的值相等不动作时输出低电平
EALLOW; SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1; // Start all the timers synced 启动所有同步的定时器 EDIS;
// Enable CPU INT3 which is connected to EPWM1-6 INT: 启用与EPWM1-6 INT相连的CPU INT3。 IER |= M_INT3;
// Enable EPWM INTn in the PIE: Group 3 interrupt 1-6启用PIE中的EPWM INTn：第3组中断1-6 PieCtrlRegs.PIEIER3.bit.INTx2 = 3;
// Enable global Interrupts and higher priority real-time debug events: EINT; // Enable Global interrupt INTM ERTM; // Enable Global realtime interrupt DBGM}interrupt void epwm1_timer_isr(void){ Uint16 pwmval; result1=(AdcRegs.ADCRESULT3)>>4; t1=(float)result1*(3.3/4095); //转换成电压; PID1.sum_error+=(incPIDcalcu(&PID1,t1)); pwmval=(Uint16)PID1.sum_error; EPWM1A_set(pwmval);
/if(pwmval>=750) pwmval=750; if(pwmval<=300) pwmval=300; EPWM1A_set(pwmval);
EPwm1Regs.CMPA.half.CMPA =pwmval; // Clear INT flag for this timer EPwm1Regs.ETCLR.bit.INT = 1; // Acknowledge this interrupt to receive more interrupts from group 3 PieCtrlRegs.PIEACK.bit.ACK3 = 1; LED6_TOGGLE; AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1; //清楚排序器中断位 asm (" ESTOP0"); for(;;);}
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haotian zhao：
我现在解决了adc采样问题，但这个pwm还是不能用
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haotian zhao：
/* interrupt void epwm2_timer_isr(void){ Uint16 pwmval; result2=(AdcRegs.ADCRESULT2)>>4; t2=(float)result2*(3.3/4095)*2.34; //转换成电流;
// if(pwmval<=640)
//电流环 PID2.sum_error+=(incPIDcalcu(&PID2,t2)); pwmval=(Uint16)PID2.sum_error; //pwm限幅处理 if(pwmval>=6700) pwmval=6700; //720*32/36=640 最大输出32V if(pwmval<=2000) pwmval=2000; //720*10/36=200 最小输出10v 最小输出10v EPWM2A_set(pwmval); LED7_TOGGLE; // Clear INT flag for this timer EPwm2Regs.ETCLR.bit.INT = 1; // Acknowledge this interrupt to receive more interrupts from group 3 PieCtrlRegs.PIEACK.bit.ACK3 = 1; AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1; //清楚排序器中断位}*/void EPWM1A_set(Uint16 val){ EPwm1Regs.CMPA.half.CMPA = val;}
void EPWM2A_set(Uint16 val){ EPwm2Regs.CMPA.half.CMPA = val;}void PID1init(void){ PID1.setpoint=0; //设定值 PID1.sum_error=0; //误差累计 PID1.proportion=0; //比例常熟 PID1.integral=0; //积分常数 PID1.differential =0; //微分常数
PID1.error_1=0; //e(t-1) PID1.error_2=0; //e(t-2)
void PID2init(void){ PID2.setpoint=0; //设定值 PID2.sum_error=0; //误差累计 PID2.proportion=0; //比例常数 PID2.integral=0; //积分常数 PID2.differential =0; //微分常数
PID2.error_1=0; //e(t-1) PID2.error_2=0; //e(t-2)}
float incPIDcalcu(PIDtypedef *PIDx,float present_point){ float ierror,incpid; ierror=PIDx->setpoint-present_point; //公式一 // incpid=(PIDx->proportion+PIDx->integral+PIDx->differential) *ierror // -(PIDx->proportion+2*PIDx->differential) *(PIDx->error_1) // +(PIDx->differential)*(PIDx->error_2); //公式二 incpid= (PIDx->proportion) *(ierror-(PIDx->error_1)) +(PIDx->integral) *ierror +(PIDx->differential) *(ierror-2*(PIDx->error_1)+(PIDx->error_2));
return (incpid);}void PID_set(PIDtypedef *PIDx,float Pp,float Ii,float Dd){ PIDx->proportion=Pp; PIDx->integral=Ii; PIDx->differential=Dd;}
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Green Deng：
抱歉代码有点多，另外建议上传的时候用回复框里面的“插入” – “代码”，语言选择“C”或者“C++”，否则看起来太累了。
我的理解，你是希望程序运行过程中实时得修改CMPx的值是吗？运行的时候有没有查看过对应寄存器的值有没有改变？
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haotian zhao：
抱歉，前几天一直再改代码，我已经知道了怎么去修改这个的值了，但新的问题又来了，首先是我的ADC采样电压虽然可以采到值，但因为PID运算问题导致pwm波形不能完全修改，我尝试改变CMPx的值却没有效果，但通过改变TBPRD的值可以修改我的pwm波，但就在刚刚，我的板子又出了点问题，谢谢您的解答。
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haotian zhao：
我的新问题是，采样值经过处理之后的没有值。。。。这令我十分疑惑，但首先我得处理我的板子，这是我的代码，谢谢您的帮助。
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haotian zhao：
最新的问题是：pid的算法问题，它好像完全没有处理
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Green Deng：
已在你的新帖中回复：e2echina.ti.com/…/tms320f28335-c28xx-error-connecting-to-the-target-error–233-0x0-the-jtag-ir-and-dr-scan-paths-cannot-circulate-bits-they-may-be-broken-an-attempt-to-scan-the-jtag-scan-path-has-failed-the-target-s-jtag-scan-path-appears-to-b
