关于SDFM模块的时钟和FILRES信号问题-TI中文支持网

我在看28377的datasheet和controlsuit里面的28377例程时，28377的开发板是用ti的1304作为调制模块接入28377的sdfm模块，他们两个的时钟是由EPWM5模块的PWM输出提供，EPWM11的CPMA作为SDFM模块的FILRES信号。请问时钟信号能由别的端口提供吗（除EPWM端口外），EPWM11的CPMA触发SDFM模块内部的Data Filter Unit单元的重启动，请问这个有什么用呢？是用这个来保证采样和控制的时序吗？谢谢！

Eric Ma：

这个时钟信号可以由别的端口提供，如外部时钟输出端口。EPWM11那个是用来做同步几个SDFM模块的。

ERIC

shook xu：

回复 Eric Ma:

普通的ADC可以由EPWM模块来触发转换，转换完成后触发ADC中断从而执行算法，这样就能够保证采样与计算之间严格的同步时序，那么SDFM模块是怎么保证这一时序的呢？另：EPWM11的CPMA用来同步SDFM模块是每个周期都同步一次吗？谢谢！

Eric Ma：

回复 shook xu:

SDFM也可以在采样完之后进行中断，然后再执行算法计算。

同步是每个周期进行的。

ERIC

shook xu：

回复 Eric Ma:

首先非常感谢你的回答，想追问一下：

那这个同步设置在寄存器设置中需要设置哪些状态位呢，第一，在sdfm模块中设置允许外部同步信号同步sdfm模块，第二在pwm模块中设置cmpc或cmpd的寄存器的值。然后再怎么设置呢？还有sdfm怎么选择是由cmpc还是cmpd来同步呢？

期待你的再次回答，非常感谢！

shook xu：

回复 shook xu:

为了更好的说明这个问题，controlsuit里面有一个示例程序说是将pwm11配置为sd模块的同步（程序地址在C:\ti\controlSUITE\development_kits\TMDSIDDK_v1.0\IDDK_PM_Servo_F2837x文件夹下面），将该controlsuit中的代码源程序给出，第一段是设置pwm11的程序，第二段是设置sdfm的程序，这两段程序中设置了那几个参数就可以实现同步？请不吝赐教，非常感谢！

(*ePWM[n]).TBCTL.bit.PRDLD = TB_IMMEDIATE; // set Immediate load (*ePWM[n]).TBPRD = period-1; // PWM frequency = 1 / period (*ePWM[n]).TBPHS.bit.TBPHS = 0; (*ePWM[n]).TBCTR = 0; (*ePWM[n]).TBCTL.bit.CTRMODE = TB_COUNT_UP; (*ePWM[n]).TBCTL.bit.HSPCLKDIV = TB_DIV1; (*ePWM[n]).TBCTL.bit.CLKDIV = TB_DIV1;

(*ePWM[n]).TBCTL.bit.PHSEN = TB_DISABLE; (*ePWM[n]).TBCTL.bit.SYNCOSEL = TB_CTR_ZERO; // sync "down-stream"

// Counter Compare Submodule Registers (*ePWM[n]).CMPA.bit.CMPA = 0; // set duty 0% initially (*ePWM[n]).CMPCTL.bit.SHDWAMODE = CC_SHADOW; (*ePWM[n]).CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;

// Action Qualifier SubModule Registers (*ePWM[n]).AQCTLA.bit.CAU = AQ_CLEAR; (*ePWM[n]).AQCTLA.bit.ZRO = AQ_SET;

EPwm11Regs.TBCTL.bit.PHSEN = TB_ENABLE; EPwm11Regs.TBPHS.bit.TBPHS = 2; EPwm11Regs.TBCTL.bit.PHSDIR = TB_UP;

EPwm11Regs.CMPC = (EPwm11Regs.TBPRD-640-640*0.5); EPwm11Regs.CMPA.bit.CMPA = 640+320+500; // 640+320; EPwm11Regs.CMPD = 0;

EPwm11Regs.ETSEL.bit.INTSEL = ET_CTRU_CMPA; // INT on PRD event//当tbclk寄存器的值等于cmpa或者C且处于上升时触发中断 EPwm11Regs.ETSEL.bit.INTEN = 1; // Enable INT EPwm11Regs.ETPS.bit.INTPRD = ET_1ST; // Generate INT on every event

(*SDFM[sdfmNumber]).SDDFPARM1.bit.FILRESEN = filter1_Config_ext_reset; (*SDFM[sdfmNumber]).SDDFPARM2.bit.FILRESEN = filter2_Config_ext_reset; (*SDFM[sdfmNumber]).SDDFPARM3.bit.FILRESEN = filter3_Config_ext_reset; (*SDFM[sdfmNumber]).SDDFPARM4.bit.FILRESEN = filter4_Config_ext_reset;

dxss dx：

回复 shook xu:

你好！

1、我使用F23379D伺服代码（路径：C:\ti\controlSUITE\development_kits\TMDSIDDK_v2.0\IDDK_PM_Servo_F2837x_v2_00_00_00），PWM输出是高电平输出（配置：(*ePWM[chanel]).DBCTL.bit.POLSEL = DB_ACTV_HIC;），使用SD_CURRENT_SENSE才电流模式，电机可以正常运行，电流采样是正确的；当电机不接电机时，电流采样是0；

2、由于换成新板子，需要将输出PWM逻辑改成低电平有效（配置：(*ePWM[chanel]).DBCTL.bit.POLSEL = DB_ACTV_LOC;;），使用SD_CURRENT_SENSE采电流模式，当电机不接电机时，能采到电流，但是电流采样不是0，采集到的电流有较大跳变现象，所以怀疑SDFM才电流与PWM输出没有同步，该如何改动？

3、以下代码是原来PWM高电平输出，正确代码，标记处是修改位置，请问还有哪里需要改动？

代码如下：

（注：原来是DB_ACTV_HIC高电平输出有效，现在改成DB_ACTV_LOC电平输出有效）

void HOS_PWM_Int(){volatile int16 temp;

// Initialize PWM module　初始化ＰＷＭ模块EALLOW;CpuSysRegs.PCLKCR0.bit.TBCLKSYNC = 0; //时钟同步清零

HOS_PWMChanelUpDwnCntCnf(1,INV_PWM_TICKS,200);HOS_PWMChanelUpDwnCntCnf(2,INV_PWM_TICKS,200);HOS_PWMChanelUpDwnCntCnf(3,INV_PWM_TICKS,200);

HOS_PWMChanelUpCntCnf(4,SDFM_TICKS); //Sigma接口EPwm4Regs.CMPA.bit.CMPA=EPwm4Regs.TBPRD>>1;//周期

// ********************************************************************//PWM 11 for syncing up the SD filter windows with motor control PWMs// ********************************************************************//==================SD时钟设置=======================================HOS_PWMChanelUpCntCnf(11,INV_PWM_TICKS); //同步SD滤波

// configure 2 and 3 as slaves/*==================估计是电流采样同步使用=======================================*/EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN; //同步输出选择EPwm2Regs.TBCTL.bit.PHSEN = TB_ENABLE; //相加载使能EPwm2Regs.TBPHS.bit.TBPHS = 2; //相位偏移寄存器EPwm2Regs.TBCTL.bit.PHSDIR = TB_UP; //相位方向

EPwm3Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;EPwm3Regs.TBCTL.bit.PHSEN = TB_ENABLE; //相加载使能EPwm3Regs.TBPHS.bit.TBPHS = 2; //相位偏移寄存器EPwm3Regs.TBCTL.bit.PHSDIR = TB_UP; //相位方向

//==================Sigma同步=======================================

EPwm4Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN; //Sigma接口//==================EPWM11　SD同步=======================================EPwm11Regs.TBCTL.bit.PHSEN = TB_ENABLE; //SDEPwm11Regs.TBPHS.bit.TBPHS = 2;EPwm11Regs.TBCTL.bit.PHSDIR = TB_UP;EPwm11Regs.CMPC = EPwm11Regs.TBPRD – SDFM_TICKS*(OSR_RATE+1)*3/2;//周期EPwm11Regs.CMPA.bit.CMPA = (SDFM_TICKS*(OSR_RATE+1)*3/2) + 500; // 500 is arbitrary

EPwm11Regs.CMPD = 0;// ***********************************// Set up GPIOs for PWM functions// **************************************InitEPwm1Gpio();/ InitEPwm2Gpio();// InitEPwm3Gpio();//C相PWM管

InitEPwm4Gpio();//clk for Sigma Delta

EDIS;EALLOW;

EPwm11Regs.ETSEL.bit.INTSEL= ET_CTRU_CMPA ; EPwm11Regs.ETSEL.bit.INTEN = 1;// Enable INT EPWMxINTn 使能EPwm11Regs.ETPS.bit.INTPRD = ET_1ST;EDIS;

PhaseCurrentHwInit(); / BusVoltageDetectInit();/ Init_Val();//TODO 编码器AbsEncoderInit(); // TODO Feedbacks OFFSET Calibration RoutineEALLOW;CpuSysRegs.PCLKCR0.bit.TBCLKSYNC = 1;EDIS;offset_SDFM1 = 0;offset_SDFM2 = 0;

for (OffsetCalCounter=0; OffsetCalCounter<20000; ){if(EPwm11Regs.ETFLG.bit.INT==1)//中断状态标志位{if(OffsetCalCounter>1000){offset_SDFM1 = K1*offset_SDFM1 + K2*(temp=SDFM1_READ_FILTER1_DATA_16BIT)*SD_PU_SCALE_FACTOR;offset_SDFM2 = K1*offset_SDFM2 + K2*(temp=SDFM1_READ_FILTER2_DATA_16BIT)*SD_PU_SCALE_FACTOR;

}EPwm11Regs.ETCLR.bit.INT=1;//清除中断标志位OffsetCalCounter++;}}

//TODO ISR Mapping// ****************************************************************************// ****************************************************************************EALLOW;//PWM11 INT is used to trigger Motor Control ISREPwm11Regs.ETSEL.bit.INTSEL = ET_CTRU_CMPA;

EPwm11Regs.ETSEL.bit.INTEN = 1; // Enable INTEPwm11Regs.ETPS.bit.INTPRD = ET_1ST; // Generate INT on every event

PieVectTable.EPWM11_INT = &MotorControlISR;PieCtrlRegs.PIEIER3.bit.INTx11 = 1; // Enable PWM11INT in PIE group 3

EPwm11Regs.ETCLR.bit.INT=1;

IER = 0x185;

EINT; // Enable Global interrupt INTMERTM; // Enable Global realtime interrupt DBGMEDIS;

}//========================================================================

//TODOvoid HOS_PWMChanelUpDwnCntCnf(uint16 chanel, uint16 period, uint16 dead_band){EALLOW;

// Time Base SubModule Registers(*ePWM[chanel]).TBCTL.bit.PRDLD = TB_IMMEDIATE; // set Immediate load(*ePWM[chanel]).TBPRD = period / 2; // PWM frequency = 1 / period(*ePWM[chanel]).TBPHS.bit.TBPHS = 0; //set time base phase high(*ePWM[chanel]).TBCTR = 0; //Time Base Counter(*ePWM[chanel]).TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;(*ePWM[chanel]).TBCTL.bit.HSPCLKDIV = TB_DIV1;(*ePWM[chanel]).TBCTL.bit.CLKDIV = TB_DIV1;

(*ePWM[chanel]).TBCTL.bit.PHSEN = TB_DISABLE;(*ePWM[chanel]).TBCTL.bit.SYNCOSEL = TB_CTR_ZERO; //sync "down-stream"

// Counter Compare Submodule Registers(*ePWM[chanel]).CMPA.bit.CMPA = 0; // set duty 0% initially(*ePWM[chanel]).CMPCTL.bit.SHDWAMODE = CC_SHADOW;(*ePWM[chanel]).CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;

// Action Qualifier SubModule Registers(*ePWM[chanel]).AQCTLA.bit.CAU = AQ_CLEAR; //向上比较(*ePWM[chanel]).AQCTLA.bit.CAD = AQ_SET; //向下比较

// Active high complementary PWMs – Set up the deadband 设置死区(*ePWM[chanel]).DBCTL.bit.IN_MODE = DBA_ALL; //死区输入选择模式控制(*ePWM[chanel]).DBCTL.bit.OUT_MODE = DB_FULL_ENABLE; //死区输出模式控制(*ePWM[chanel]).DBCTL.bit.POLSEL = DB_ACTV_LOC;//DB_ACTV_HIC;（注：原来是DB_ACTV_HIC高电平输出有效，现在改成DB_ACTV_LOC电平输出有效） (*ePWM[chanel]).DBRED.all = dead_band; //死区发生器上升沿延时计数寄存器　设置上升沿死区(*ePWM[chanel]).DBFED.all = dead_band; //死区发生器下降沿延时计数寄存器　设置下降沿死区EDIS;}//TODOvoid HOS_PWMChanelUpCntCnf(uint16 chanel, uint16 period){EALLOW;// Time Base SubModule Registers(*ePWM[chanel]).TBCTL.bit.PRDLD = TB_IMMEDIATE; // set Immediate load(*ePWM[chanel]).TBPRD = period-1; // PWM frequency = 1 / period 周期(*ePWM[chanel]).TBPHS.bit.TBPHS = 0;(*ePWM[chanel]).TBCTR = 0;(*ePWM[chanel]).TBCTL.bit.CTRMODE = TB_COUNT_UP;(*ePWM[chanel]).TBCTL.bit.HSPCLKDIV = TB_DIV1;(*ePWM[chanel]).TBCTL.bit.CLKDIV = TB_DIV1;

(*ePWM[chanel]).TBCTL.bit.PHSEN = TB_DISABLE; //相负载使(*ePWM[chanel]).TBCTL.bit.SYNCOSEL = TB_CTR_ZERO; // sync "down-stream" 同步输出选择

// Counter Compare Submodule Registers 比较寄存器计数器模块(*ePWM[chanel]).CMPA.bit.CMPA = 0; // set duty 0% initially 设置初始化占空比0(*ePWM[chanel]).CMPCTL.bit.SHDWAMODE = CC_SHADOW; //比较寄存器块操作模式(*ePWM[chanel]).CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;

// Action Qualifier SubModule Registers(*ePWM[chanel]).AQCTLA.bit.CAU = AQ_CLEAR; //比较器A寄存器向上计数(*ePWM[chanel]).AQCTLA.bit.ZRO = AQ_SET; //动作计数器为零

// Active high complementary PWMs – Set up the deadband 设置死区(*ePWM[chanel]).DBCTL.bit.IN_MODE = DBA_ALL;(*ePWM[chanel]).DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;(*ePWM[chanel]).DBCTL.bit.POLSEL = DB_ACTV_LOC;//DB_ACTV_HIC; （注：原来是DB_ACTV_HIC高电平输出有效，现在改成DB_ACTV_LOC电平输出有效） (*ePWM[chanel]).DBRED.all = 0; //死区发生器上升沿(*ePWM[chanel]).DBFED.all = 0; //死区发生器下降沿EDIS;}

//TODO Motor Control ISRinterrupt void MotorControlISR(void){GPIO_WritePin(59 , 0);EINT;

MotorControl_ISR();

//dx DLOG_4CH_F_FUNC(&dlog_4ch1);EPwm11Regs.ETCLR.bit.INT = 1;PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;GPIO_WritePin(59 , 1);

}// MainISR Ends Here

以上是配置PWM和Sigmadelt 同步采样电流；由于原来输出PWM都是高有效；现在改成低有效后，sigma delta filter module 采样电流就与PWM不同步了，不知道如何改，才可以同步采电流？多谢

Yonglu Hu：

回复 shook xu:

您好！

我也遇到了这个问题，请问您解决这个问题了吗？实现电流同步采样了吗？

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