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280049 CLA运行速度比CPU慢很多

2019-12-23 分类：C2000™ 32位实时 MCU 阅读(496)

280049芯片，相同的一段ISR()函数，代码开始和结束利用GPIO作为测试信号，链接示波器检测GPIO信号

工程1：利用EPWM1 ZERO中断触发10us的周期中断,执行ISR()函数，通过示波器测量执行之间约6us。

工程2：利用EPWM2 ZERO中断触发10us的周期中断，执行CLATASK1,内部调用ISR()函数，通过示波器测量执行时间10us不能完成。

测试1:验证工程2中断的正确性，在工程2的ISR()函数内减少代码量，通过示波器检测中断时间，确认10us的中断是正确的。但是执行时间还是不正常。

例如：ISR（）内代码只留下两行读取AD寄存器的代码：示波器检测执行时间需要120ns

//########################################################################################
// Function Name: CLALoopCtrlISR
// Input:// Output:// Return:// Description://########################################################################################
#pragma FUNC_ALWAYS_INLINE(CLALoopCtrlISR)
inline void CLALoopCtrlISR()
{ TEST3_SET();      // GPIO测试

stClaToCpuPara.iVoutADFbk = AdccResultRegs.ADCRESULT0; stClaToCpuPara.iPriCurADFbk = AdcbResultRegs.ADCRESULT0;

TEST3_CLR();         // GPIO测试
// Clear INT Flag
EPwm1Regs.ETCLR.bit.INT = 1;

}

请问，我时不时哪里还没有配置正确，盼专家解答，谢谢！

Aiden：ISR()内完整代码如下：
#pragma FUNC_ALWAYS_INLINE(CLALoopCtrlISR)
inline void CLALoopCtrlISR()
{ TEST3_SET();
stClaToCpuPara.iVoutADFbk = AdccResultRegs.ADCRESULT0; stClaToCpuPara.iPriCurADFbk = AdcbResultRegs.ADCRESULT0; stClaToCpuPara.iVoutADFbk = ((stClaToCpuPara.iVoutADFbk * AD_CAL_K / stSysFbkParaADFilter.stV2V5AD.lSample) & 0x0FFF);stClaToCpuPara.iPriCurADFbk = ((stClaToCpuPara.iPriCurADFbk * AD_CAL_K / stSysFbkParaADFilter.stV2V5AD.lSample) & 0x0FFF); if((stCpuToClaPara.bPIWorkEn == 1)&& (unFaultCode.uiWord == 0)){if(stCpuToClaPara.bSoftStartFlag == STATE_STARTING_OPENLOOP){stClaToCpuPara.iVoltLoopErr = stCpuToClaPara.iVoutSetPiont – stClaToCpuPara.iVoutADFbk;
if((stClaToCpuPara.iVoltLoopErr >= PI_CHANGE_VOUTERR_VALUE)&& (stClaToCpuPara.iVoltLoopErr >= stClaToCpuPara.iVoltLoopErrOld)){stClaToCpuPara.iVoltLoopKp = stCpuToClaPara.iVoltLoopKpDn;stClaToCpuPara.iVoltLoopKi = stCpuToClaPara.iVoltLoopKiDn;}else if((stClaToCpuPara.iVoltLoopErr <= -PI_CHANGE_VOUTERR_VALUE)&& (stClaToCpuPara.iVoltLoopErr <= stClaToCpuPara.iVoltLoopErrOld)){ stClaToCpuPara.iVoltLoopKp = stCpuToClaPara.iVoltLoopKpUp;stClaToCpuPara.iVoltLoopKi = stCpuToClaPara.iVoltLoopKiUp;}else{stClaToCpuPara.iVoltLoopKp = stCpuToClaPara.iVoltLoopKpNormal;stClaToCpuPara.iVoltLoopKi = stCpuToClaPara.iVoltLoopKiNormal;}if((stClaToCpuPara.iVoltLoopErr > 5) || (stClaToCpuPara.iVoltLoopErr < -5)){stClaToCpuPara.lVoltLoopPIOut += (int32)stClaToCpuPara.iVoltLoopKp * (stClaToCpuPara.iVoltLoopErr- stClaToCpuPara.iVoltLoopErrOld)+ (int32)stClaToCpuPara.iVoltLoopKi * stClaToCpuPara.iVoltLoopErr; } if(stClaToCpuPara.lVoltLoopPIOut > PI_OUT_MAX){stClaToCpuPara.lVoltLoopPIOut = PI_OUT_MAX;}else if(stClaToCpuPara.lVoltLoopPIOut < PI_OUT_MIN){stClaToCpuPara.lVoltLoopPIOut = PI_OUT_MIN;}
stClaToCpuPara.iVoltLoopErrOld = stClaToCpuPara.iVoltLoopErr;stClaToCpuPara.lActivePIOut = stClaToCpuPara.lVoltLoopPIOut;
//stClaToCpuPara.lCurrentLoopPIOut = stClaToCpuPara.lVoltLoopPIOut;}else{stClaToCpuPara.iVoltLoopErr = stCpuToClaPara.iVoutSetPiont – stClaToCpuPara.iVoutADFbk;stClaToCpuPara.iCurrentLoopErr = stCpuToClaPara.iCurrentSetPiont – stClaToCpuPara.iPriCurADFbk;
// VoltLoop PIif((stClaToCpuPara.iVoltLoopErr >= PI_CHANGE_VOUTERR_VALUE)&& (stClaToCpuPara.iVoltLoopErr >= stClaToCpuPara.iVoltLoopErrOld)){stClaToCpuPara.iVoltLoopKp = stCpuToClaPara.iVoltLoopKpDn;stClaToCpuPara.iVoltLoopKi = stCpuToClaPara.iVoltLoopKiDn;}else if((stClaToCpuPara.iVoltLoopErr <= -PI_CHANGE_VOUTERR_VALUE)&& (stClaToCpuPara.iVoltLoopErr <= stClaToCpuPara.iVoltLoopErrOld)){ stClaToCpuPara.iVoltLoopKp = stCpuToClaPara.iVoltLoopKpUp;stClaToCpuPara.iVoltLoopKi = stCpuToClaPara.iVoltLoopKiUp;}else{stClaToCpuPara.iVoltLoopKp = stCpuToClaPara.iVoltLoopKpNormal;stClaToCpuPara.iVoltLoopKi = stCpuToClaPara.iVoltLoopKiNormal;}
// CurrentLoop PIif((stClaToCpuPara.iCurrentLoopErr <= -PI_CHANGE_VOUTERR_VALUE)&& (stClaToCpuPara.iCurrentLoopErr <= stClaToCpuPara.iCurrentLoopErrOld)){ stClaToCpuPara.iCurrentLoopKp = stCpuToClaPara.iCurrentLoopKpUp;stClaToCpuPara.iCurrentLoopKi = stCpuToClaPara.iCurrentLoopKiUp;}else{stClaToCpuPara.iCurrentLoopKp = stCpuToClaPara.iCurrentLoopKpNormal;stClaToCpuPara.iCurrentLoopKi = stCpuToClaPara.iCurrentLoopKiNormal;}if((stClaToCpuPara.iVoltLoopErr > 5) || (stClaToCpuPara.iVoltLoopErr < -5)){stClaToCpuPara.lVoltLoopPIOut += (int32)stClaToCpuPara.iVoltLoopKp * (stClaToCpuPara.iVoltLoopErr-stClaToCpuPara.iVoltLoopErrOld)+ (int32)stClaToCpuPara.iVoltLoopKi * stClaToCpuPara.iVoltLoopErr; } if(stClaToCpuPara.lVoltLoopPIOut > PI_OUT_MAX){stClaToCpuPara.lVoltLoopPIOut = PI_OUT_MAX;}else if(stClaToCpuPara.lVoltLoopPIOut < PI_OUT_MIN){stClaToCpuPara.lVoltLoopPIOut = PI_OUT_MIN;}
stClaToCpuPara.lCurrentLoopPIOut += (int32)stClaToCpuPara.iCurrentLoopKp * (stClaToCpuPara.iCurrentLoopErr- stClaToCpuPara.iCurrentLoopErrOld)+ (int32)stClaToCpuPara.iCurrentLoopKi * stClaToCpuPara.iCurrentLoopErr;
if(stClaToCpuPara.lCurrentLoopPIOut > PI_OUT_MAX){stClaToCpuPara.lCurrentLoopPIOut = PI_OUT_MAX;}else if(stClaToCpuPara.lCurrentLoopPIOut < PI_OUT_MIN){stClaToCpuPara.lCurrentLoopPIOut = PI_OUT_MIN;}// Currentloop to Voltage loopif((stClaToCpuPara.lVoltLoopPIOutOld == PI_OUT_MAX) && (stClaToCpuPara.lVoltLoopPIOut < PI_OUT_MAX)){if(stClaToCpuPara.lCurrentLoopPIOutOld < stClaToCpuPara.lVoltLoopPIOut){stClaToCpuPara.lVoltLoopPIOut = stClaToCpuPara.lCurrentLoopPIOutOld;}}// Voltageloop to Currentloopelse if((stClaToCpuPara.lCurrentLoopPIOutOld == PI_OUT_MAX) && (stClaToCpuPara.lCurrentLoopPIOut < PI_OUT_MAX)){if(stClaToCpuPara.lVoltLoopPIOutOld < stClaToCpuPara.lCurrentLoopPIOut){stClaToCpuPara.lCurrentLoopPIOut = stClaToCpuPara.lVoltLoopPIOutOld;}}stClaToCpuPara.lVoltLoopPIOutOld = stClaToCpuPara.lVoltLoopPIOut;stClaToCpuPara.lCurrentLoopPIOutOld = stClaToCpuPara.lCurrentLoopPIOut;stClaToCpuPara.iCurrentLoopErrOld = stClaToCpuPara.iCurrentLoopErr;stClaToCpuPara.iVoltLoopErrOld = stClaToCpuPara.iVoltLoopErr;
if(stClaToCpuPara.lVoltLoopPIOut > stClaToCpuPara.lCurrentLoopPIOut){stClaToCpuPara.lActivePIOut = stClaToCpuPara.lCurrentLoopPIOut;}else{stClaToCpuPara.lActivePIOut = stClaToCpuPara.lVoltLoopPIOut;}}}
if(stCpuToClaPara.bSoftStartFlag == STATE_FINISH){CLASRSwitchCtrl();}
#if (OPENLOOP == 0)CLABurstModeCtrl();#endif
#if (OPENLOOP == 1)stClaToCpuPara.iPWMDutyCnt = stCpuToClaPara.iPWMDutyCntOpenLoop; #elsestClaToCpuPara.iPWMDutyCnt = stClaToCpuPara.lActivePIOut >> PI_OUT_Q;#endif
EPwm1Regs.CMPA.bit.CMPA = stClaToCpuPara.iPWMDutyCnt;EPwm1Regs.CMPB.bit.CMPB = PWM_DUTY_FULL – stClaToCpuPara.iPWMDutyCnt;
EPwm2Regs.CMPA.bit.CMPA = stClaToCpuPara.iPWMDutyCnt;EPwm2Regs.CMPB.bit.CMPB = PWM_DUTY_FULL – stClaToCpuPara.iPWMDutyCnt;EPwm7Regs.CMPA.bit.CMPA = stClaToCpuPara.iPWMDutyCnt + DOUBLE_PHASE_PWM7;EPwm7Regs.CMPB.bit.CMPB = PWM_DUTY_FULL – stClaToCpuPara.iPWMDutyCnt – DOUBLE_PHASE_PWM7;
stClaToCpuPara.iSOCTrigPoint = (stClaToCpuPara.iPWMDutyCnt >> 1) + SOC_TRIG_HW_DELAY;EPwm2Regs.CMPC = stClaToCpuPara.iSOCTrigPoint;

TEST3_CLR();// Clear INT FlagEPwm1Regs.ETCLR.bit.INT = 1;
}

如需要其他信息便于定位问题，请告知。由于公司加密软件原因工程无法直接上传，请谅解。谢谢！

280049芯片，相同的一段ISR()函数，代码开始和结束利用GPIO作为测试信号，链接示波器检测GPIO信号

工程1：利用EPWM1 ZERO中断触发10us的周期中断,执行ISR()函数，通过示波器测量执行之间约6us。

工程2：利用EPWM2 ZERO中断触发10us的周期中断，执行CLATASK1,内部调用ISR()函数，通过示波器测量执行时间10us不能完成。

测试1:验证工程2中断的正确性，在工程2的ISR()函数内减少代码量，通过示波器检测中断时间，确认10us的中断是正确的。但是执行时间还是不正常。

例如：ISR（）内代码只留下两行读取AD寄存器的代码：示波器检测执行时间需要120ns

//########################################################################################
// Function Name: CLALoopCtrlISR
// Input:// Output:// Return:// Description://########################################################################################
#pragma FUNC_ALWAYS_INLINE(CLALoopCtrlISR)
inline void CLALoopCtrlISR()
{ TEST3_SET();      // GPIO测试

stClaToCpuPara.iVoutADFbk = AdccResultRegs.ADCRESULT0; stClaToCpuPara.iPriCurADFbk = AdcbResultRegs.ADCRESULT0;

TEST3_CLR();         // GPIO测试
// Clear INT Flag
EPwm1Regs.ETCLR.bit.INT = 1;

}

请问，我时不时哪里还没有配置正确，盼专家解答，谢谢！

Annie Liu：

回复 Aiden:

为更加有效地解决您的问题，我们建议您将问题发布在E2E英文技术论坛上https://e2e.ti.com/support/microcontrollers/c2000/f/171，将由资深的工程师为您提供帮助。我们的E2E英文社区有TI专家进行回复，并得到全球各地工程师的支持，分享他们的知识和经验。

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