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28335 电机控制，矢量中断采用外部中断触发，电机跑3000rpm时会随机出现咯噔一下。

2016-06-07 分类：C2000™ 32位实时 MCU 阅读(333)

各位大神好，我用28335做电机控制及通信，考虑到通信的需求，矢量中断须采用外部中断触发。电机跑3000rpm是会随机出现咯噔一下啊。请问是什么原因啊？EPWM初始化程序如下：

EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0; // Stop all the TB clocks
EDIS;

// ePWM1
//TB
EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
EPwm1Regs.TBCTL.bit.PHSEN = TB_ENABLE;//TB_DISABLE; //Master Mode//keybo
EPwm1Regs.TBCTL.bit.PRDLD = TB_SHADOW;
EPwm1Regs.TBCTL.bit.SYNCOSEL = 0;//TB_CTR_ZERO;//keybo
EPwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;
EPwm1Regs.TBCTL.bit.CLKDIV = TB_DIV1;
EPwm1Regs.TBPRD = PWM_PRD;
EPwm1Regs.TBPHS.half.TBPHS = 0;//keybo
EPwm1Regs.TBCTR = 0;
//CC
EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
EPwm1Regs.CMPA.half.CMPA = 0;
EPwm1Regs.CMPB = 0;
//AQ
EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;
EPwm1Regs.AQCTLA.bit.CAD = AQ_CLEAR;
EPwm1Regs.AQCTLB.bit.CAU = AQ_CLEAR;
EPwm1Regs.AQCTLB.bit.CAD = AQ_SET;
//DB
EPwm1Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
EPwm1Regs.DBCTL.bit.POLSEL = DB_ACTV_LOC; //ALC
EPwm1Regs.DBCTL.bit.IN_MODE = DBA_ALL;
EPwm1Regs.DBFED = DB_TIME;
EPwm1Regs.DBRED = DB_TIME;
//PC
EPwm1Regs.PCCTL.bit.CHPEN = CHP_DISABLE;
//TZ
EALLOW;
EPwm1Regs.TZCTL.bit.TZA = TZ_HIZ; //High impedance
EPwm1Regs.TZCTL.bit.TZB = TZ_HIZ; //High impedance
EDIS;
//ET
EPwm1Regs.ETSEL.bit.INTSEL = ET_CTR_ZERO;
// EPwm1Regs.ETSEL.bit.INTEN = 1;
EPwm1Regs.ETSEL.bit.SOCASEL = ET_CTR_ZERO;
EPwm1Regs.ETSEL.bit.SOCAEN = 1;//1;
// EPwm1Regs.ETSEL.bit.SOCBSEL = ET_CTR_ZERO;
// EPwm1Regs.ETSEL.bit.SOCBEN = 1;
EPwm1Regs.ETPS.bit.INTPRD = ET_1ST;
EPwm1Regs.ETPS.bit.SOCAPRD = ET_1ST;
//add by keybo //EPwm1Regs.ETPS.bit.SOCACNT = ET_1ST;
// EPwm1Regs.ETPS.bit.SOCBPRD = ET_1ST;

// ePWM2
//TB
EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
EPwm2Regs.TBCTL.bit.PHSEN = TB_ENABLE; //Slave Mode
EPwm2Regs.TBCTL.bit.PRDLD = TB_SHADOW;
EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
EPwm2Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;
EPwm2Regs.TBCTL.bit.CLKDIV = TB_DIV1;
EPwm2Regs.TBPRD = PWM_PRD;
EPwm2Regs.TBPHS.half.TBPHS = 0;
EPwm2Regs.TBCTR = 0;
//CC
EPwm2Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
EPwm2Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
EPwm2Regs.CMPA.half.CMPA = 0;
EPwm2Regs.CMPB = 0;
//AQ
EPwm2Regs.AQCTLA.bit.CAU = AQ_SET;
EPwm2Regs.AQCTLA.bit.CAD = AQ_CLEAR;
EPwm2Regs.AQCTLB.bit.CAU = AQ_CLEAR;
EPwm2Regs.AQCTLB.bit.CAD = AQ_SET;
//DB
EPwm2Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
EPwm2Regs.DBCTL.bit.POLSEL = DB_ACTV_LOC; //ALC
EPwm2Regs.DBCTL.bit.IN_MODE = DBA_ALL;
EPwm2Regs.DBFED = DB_TIME;
EPwm2Regs.DBRED = DB_TIME;
//PC
EPwm2Regs.PCCTL.bit.CHPEN = CHP_DISABLE;
//TZ
EALLOW;
EPwm2Regs.TZCTL.bit.TZA = TZ_HIZ; //High impedance
EPwm2Regs.TZCTL.bit.TZB = TZ_HIZ; //High impedance
EDIS;

// ePWM3
//TB
EPwm3Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
EPwm3Regs.TBCTL.bit.PHSEN = TB_ENABLE; //Slave Mode
EPwm3Regs.TBCTL.bit.PRDLD = TB_SHADOW;
EPwm3Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
EPwm3Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;
EPwm3Regs.TBCTL.bit.CLKDIV = TB_DIV1;
EPwm3Regs.TBPRD = PWM_PRD;
EPwm3Regs.TBPHS.half.TBPHS = 0;
EPwm3Regs.TBCTR = 0;
//CC
EPwm3Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
EPwm3Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
EPwm3Regs.CMPA.half.CMPA = 0;
EPwm3Regs.CMPB = 0;
//AQ
EPwm3Regs.AQCTLA.bit.CAU = AQ_SET;
EPwm3Regs.AQCTLA.bit.CAD = AQ_CLEAR;
EPwm3Regs.AQCTLB.bit.CAU = AQ_CLEAR;
EPwm3Regs.AQCTLB.bit.CAD = AQ_SET;
//DB
EPwm3Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
EPwm3Regs.DBCTL.bit.POLSEL = DB_ACTV_LOC; //ALC
EPwm3Regs.DBCTL.bit.IN_MODE = DBA_ALL;
EPwm3Regs.DBFED = DB_TIME;
EPwm3Regs.DBRED = DB_TIME;
//PC
EPwm3Regs.PCCTL.bit.CHPEN = CHP_DISABLE;
//TZ
EALLOW;
EPwm3Regs.TZCTL.bit.TZA = TZ_HIZ; //High impedance
EPwm3Regs.TZCTL.bit.TZB = TZ_HIZ; //High impedance
EDIS;

EPwm1Regs.ETCLR.bit.SOCA = 1;
EPwm1Regs.ETCLR.bit.SOCB = 1;
EPwm1Regs.ETCLR.bit.INT = 1;

EPwm1Regs.ETSEL.bit.INTEN = 1;//1; //Enable ePWM1_INT

Disable_PWM(); //初始上电封锁PWM输出

Johnson Chen1：

外部中断和PWM的时序关系是怎么样的？

各位大神好，我用28335做电机控制及通信，考虑到通信的需求，矢量中断须采用外部中断触发。电机跑3000rpm是会随机出现咯噔一下啊。请问是什么原因啊？EPWM初始化程序如下：

EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0; // Stop all the TB clocks
EDIS;

// ePWM1
//TB
EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
EPwm1Regs.TBCTL.bit.PHSEN = TB_ENABLE;//TB_DISABLE; //Master Mode//keybo
EPwm1Regs.TBCTL.bit.PRDLD = TB_SHADOW;
EPwm1Regs.TBCTL.bit.SYNCOSEL = 0;//TB_CTR_ZERO;//keybo
EPwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;
EPwm1Regs.TBCTL.bit.CLKDIV = TB_DIV1;
EPwm1Regs.TBPRD = PWM_PRD;
EPwm1Regs.TBPHS.half.TBPHS = 0;//keybo
EPwm1Regs.TBCTR = 0;
//CC
EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
EPwm1Regs.CMPA.half.CMPA = 0;
EPwm1Regs.CMPB = 0;
//AQ
EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;
EPwm1Regs.AQCTLA.bit.CAD = AQ_CLEAR;
EPwm1Regs.AQCTLB.bit.CAU = AQ_CLEAR;
EPwm1Regs.AQCTLB.bit.CAD = AQ_SET;
//DB
EPwm1Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
EPwm1Regs.DBCTL.bit.POLSEL = DB_ACTV_LOC; //ALC
EPwm1Regs.DBCTL.bit.IN_MODE = DBA_ALL;
EPwm1Regs.DBFED = DB_TIME;
EPwm1Regs.DBRED = DB_TIME;
//PC
EPwm1Regs.PCCTL.bit.CHPEN = CHP_DISABLE;
//TZ
EALLOW;
EPwm1Regs.TZCTL.bit.TZA = TZ_HIZ; //High impedance
EPwm1Regs.TZCTL.bit.TZB = TZ_HIZ; //High impedance
EDIS;
//ET
EPwm1Regs.ETSEL.bit.INTSEL = ET_CTR_ZERO;
// EPwm1Regs.ETSEL.bit.INTEN = 1;
EPwm1Regs.ETSEL.bit.SOCASEL = ET_CTR_ZERO;
EPwm1Regs.ETSEL.bit.SOCAEN = 1;//1;
// EPwm1Regs.ETSEL.bit.SOCBSEL = ET_CTR_ZERO;
// EPwm1Regs.ETSEL.bit.SOCBEN = 1;
EPwm1Regs.ETPS.bit.INTPRD = ET_1ST;
EPwm1Regs.ETPS.bit.SOCAPRD = ET_1ST;
//add by keybo //EPwm1Regs.ETPS.bit.SOCACNT = ET_1ST;
// EPwm1Regs.ETPS.bit.SOCBPRD = ET_1ST;

// ePWM2
//TB
EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
EPwm2Regs.TBCTL.bit.PHSEN = TB_ENABLE; //Slave Mode
EPwm2Regs.TBCTL.bit.PRDLD = TB_SHADOW;
EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
EPwm2Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;
EPwm2Regs.TBCTL.bit.CLKDIV = TB_DIV1;
EPwm2Regs.TBPRD = PWM_PRD;
EPwm2Regs.TBPHS.half.TBPHS = 0;
EPwm2Regs.TBCTR = 0;
//CC
EPwm2Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
EPwm2Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
EPwm2Regs.CMPA.half.CMPA = 0;
EPwm2Regs.CMPB = 0;
//AQ
EPwm2Regs.AQCTLA.bit.CAU = AQ_SET;
EPwm2Regs.AQCTLA.bit.CAD = AQ_CLEAR;
EPwm2Regs.AQCTLB.bit.CAU = AQ_CLEAR;
EPwm2Regs.AQCTLB.bit.CAD = AQ_SET;
//DB
EPwm2Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
EPwm2Regs.DBCTL.bit.POLSEL = DB_ACTV_LOC; //ALC
EPwm2Regs.DBCTL.bit.IN_MODE = DBA_ALL;
EPwm2Regs.DBFED = DB_TIME;
EPwm2Regs.DBRED = DB_TIME;
//PC
EPwm2Regs.PCCTL.bit.CHPEN = CHP_DISABLE;
//TZ
EALLOW;
EPwm2Regs.TZCTL.bit.TZA = TZ_HIZ; //High impedance
EPwm2Regs.TZCTL.bit.TZB = TZ_HIZ; //High impedance
EDIS;

// ePWM3
//TB
EPwm3Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
EPwm3Regs.TBCTL.bit.PHSEN = TB_ENABLE; //Slave Mode
EPwm3Regs.TBCTL.bit.PRDLD = TB_SHADOW;
EPwm3Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
EPwm3Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;
EPwm3Regs.TBCTL.bit.CLKDIV = TB_DIV1;
EPwm3Regs.TBPRD = PWM_PRD;
EPwm3Regs.TBPHS.half.TBPHS = 0;
EPwm3Regs.TBCTR = 0;
//CC
EPwm3Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
EPwm3Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
EPwm3Regs.CMPA.half.CMPA = 0;
EPwm3Regs.CMPB = 0;
//AQ
EPwm3Regs.AQCTLA.bit.CAU = AQ_SET;
EPwm3Regs.AQCTLA.bit.CAD = AQ_CLEAR;
EPwm3Regs.AQCTLB.bit.CAU = AQ_CLEAR;
EPwm3Regs.AQCTLB.bit.CAD = AQ_SET;
//DB
EPwm3Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
EPwm3Regs.DBCTL.bit.POLSEL = DB_ACTV_LOC; //ALC
EPwm3Regs.DBCTL.bit.IN_MODE = DBA_ALL;
EPwm3Regs.DBFED = DB_TIME;
EPwm3Regs.DBRED = DB_TIME;
//PC
EPwm3Regs.PCCTL.bit.CHPEN = CHP_DISABLE;
//TZ
EALLOW;
EPwm3Regs.TZCTL.bit.TZA = TZ_HIZ; //High impedance
EPwm3Regs.TZCTL.bit.TZB = TZ_HIZ; //High impedance
EDIS;

EPwm1Regs.ETCLR.bit.SOCA = 1;
EPwm1Regs.ETCLR.bit.SOCB = 1;
EPwm1Regs.ETCLR.bit.INT = 1;

EPwm1Regs.ETSEL.bit.INTEN = 1;//1; //Enable ePWM1_INT

Disable_PWM(); //初始上电封锁PWM输出

Xiaobo Chen：

回复 Johnson Chen1:

外部中断100us来一次，上升沿触发，且这个信号用于EPWMxSAYNCI来同步PWM的TB模块。大概的时序就是这样子。现在是电机跑起来后 偶尔会出现咯噔一下。

各位大神好，我用28335做电机控制及通信，考虑到通信的需求，矢量中断须采用外部中断触发。电机跑3000rpm是会随机出现咯噔一下啊。请问是什么原因啊？EPWM初始化程序如下：

EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0; // Stop all the TB clocks
EDIS;

// ePWM1
//TB
EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
EPwm1Regs.TBCTL.bit.PHSEN = TB_ENABLE;//TB_DISABLE; //Master Mode//keybo
EPwm1Regs.TBCTL.bit.PRDLD = TB_SHADOW;
EPwm1Regs.TBCTL.bit.SYNCOSEL = 0;//TB_CTR_ZERO;//keybo
EPwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;
EPwm1Regs.TBCTL.bit.CLKDIV = TB_DIV1;
EPwm1Regs.TBPRD = PWM_PRD;
EPwm1Regs.TBPHS.half.TBPHS = 0;//keybo
EPwm1Regs.TBCTR = 0;
//CC
EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
EPwm1Regs.CMPA.half.CMPA = 0;
EPwm1Regs.CMPB = 0;
//AQ
EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;
EPwm1Regs.AQCTLA.bit.CAD = AQ_CLEAR;
EPwm1Regs.AQCTLB.bit.CAU = AQ_CLEAR;
EPwm1Regs.AQCTLB.bit.CAD = AQ_SET;
//DB
EPwm1Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
EPwm1Regs.DBCTL.bit.POLSEL = DB_ACTV_LOC; //ALC
EPwm1Regs.DBCTL.bit.IN_MODE = DBA_ALL;
EPwm1Regs.DBFED = DB_TIME;
EPwm1Regs.DBRED = DB_TIME;
//PC
EPwm1Regs.PCCTL.bit.CHPEN = CHP_DISABLE;
//TZ
EALLOW;
EPwm1Regs.TZCTL.bit.TZA = TZ_HIZ; //High impedance
EPwm1Regs.TZCTL.bit.TZB = TZ_HIZ; //High impedance
EDIS;
//ET
EPwm1Regs.ETSEL.bit.INTSEL = ET_CTR_ZERO;
// EPwm1Regs.ETSEL.bit.INTEN = 1;
EPwm1Regs.ETSEL.bit.SOCASEL = ET_CTR_ZERO;
EPwm1Regs.ETSEL.bit.SOCAEN = 1;//1;
// EPwm1Regs.ETSEL.bit.SOCBSEL = ET_CTR_ZERO;
// EPwm1Regs.ETSEL.bit.SOCBEN = 1;
EPwm1Regs.ETPS.bit.INTPRD = ET_1ST;
EPwm1Regs.ETPS.bit.SOCAPRD = ET_1ST;
//add by keybo //EPwm1Regs.ETPS.bit.SOCACNT = ET_1ST;
// EPwm1Regs.ETPS.bit.SOCBPRD = ET_1ST;

// ePWM2
//TB
EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
EPwm2Regs.TBCTL.bit.PHSEN = TB_ENABLE; //Slave Mode
EPwm2Regs.TBCTL.bit.PRDLD = TB_SHADOW;
EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
EPwm2Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;
EPwm2Regs.TBCTL.bit.CLKDIV = TB_DIV1;
EPwm2Regs.TBPRD = PWM_PRD;
EPwm2Regs.TBPHS.half.TBPHS = 0;
EPwm2Regs.TBCTR = 0;
//CC
EPwm2Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
EPwm2Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
EPwm2Regs.CMPA.half.CMPA = 0;
EPwm2Regs.CMPB = 0;
//AQ
EPwm2Regs.AQCTLA.bit.CAU = AQ_SET;
EPwm2Regs.AQCTLA.bit.CAD = AQ_CLEAR;
EPwm2Regs.AQCTLB.bit.CAU = AQ_CLEAR;
EPwm2Regs.AQCTLB.bit.CAD = AQ_SET;
//DB
EPwm2Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
EPwm2Regs.DBCTL.bit.POLSEL = DB_ACTV_LOC; //ALC
EPwm2Regs.DBCTL.bit.IN_MODE = DBA_ALL;
EPwm2Regs.DBFED = DB_TIME;
EPwm2Regs.DBRED = DB_TIME;
//PC
EPwm2Regs.PCCTL.bit.CHPEN = CHP_DISABLE;
//TZ
EALLOW;
EPwm2Regs.TZCTL.bit.TZA = TZ_HIZ; //High impedance
EPwm2Regs.TZCTL.bit.TZB = TZ_HIZ; //High impedance
EDIS;

// ePWM3
//TB
EPwm3Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
EPwm3Regs.TBCTL.bit.PHSEN = TB_ENABLE; //Slave Mode
EPwm3Regs.TBCTL.bit.PRDLD = TB_SHADOW;
EPwm3Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
EPwm3Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;
EPwm3Regs.TBCTL.bit.CLKDIV = TB_DIV1;
EPwm3Regs.TBPRD = PWM_PRD;
EPwm3Regs.TBPHS.half.TBPHS = 0;
EPwm3Regs.TBCTR = 0;
//CC
EPwm3Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
EPwm3Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
EPwm3Regs.CMPA.half.CMPA = 0;
EPwm3Regs.CMPB = 0;
//AQ
EPwm3Regs.AQCTLA.bit.CAU = AQ_SET;
EPwm3Regs.AQCTLA.bit.CAD = AQ_CLEAR;
EPwm3Regs.AQCTLB.bit.CAU = AQ_CLEAR;
EPwm3Regs.AQCTLB.bit.CAD = AQ_SET;
//DB
EPwm3Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
EPwm3Regs.DBCTL.bit.POLSEL = DB_ACTV_LOC; //ALC
EPwm3Regs.DBCTL.bit.IN_MODE = DBA_ALL;
EPwm3Regs.DBFED = DB_TIME;
EPwm3Regs.DBRED = DB_TIME;
//PC
EPwm3Regs.PCCTL.bit.CHPEN = CHP_DISABLE;
//TZ
EALLOW;
EPwm3Regs.TZCTL.bit.TZA = TZ_HIZ; //High impedance
EPwm3Regs.TZCTL.bit.TZB = TZ_HIZ; //High impedance
EDIS;

EPwm1Regs.ETCLR.bit.SOCA = 1;
EPwm1Regs.ETCLR.bit.SOCB = 1;
EPwm1Regs.ETCLR.bit.INT = 1;

EPwm1Regs.ETSEL.bit.INTEN = 1;//1; //Enable ePWM1_INT

Disable_PWM(); //初始上电封锁PWM输出

Xiaobo Chen：

回复 Johnson Chen1:

您好！请问有EPWMxSYNCI应用方面的例程吗？

各位大神好，我用28335做电机控制及通信，考虑到通信的需求，矢量中断须采用外部中断触发。电机跑3000rpm是会随机出现咯噔一下啊。请问是什么原因啊？EPWM初始化程序如下：

EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0; // Stop all the TB clocks
EDIS;

// ePWM1
//TB
EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
EPwm1Regs.TBCTL.bit.PHSEN = TB_ENABLE;//TB_DISABLE; //Master Mode//keybo
EPwm1Regs.TBCTL.bit.PRDLD = TB_SHADOW;
EPwm1Regs.TBCTL.bit.SYNCOSEL = 0;//TB_CTR_ZERO;//keybo
EPwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;
EPwm1Regs.TBCTL.bit.CLKDIV = TB_DIV1;
EPwm1Regs.TBPRD = PWM_PRD;
EPwm1Regs.TBPHS.half.TBPHS = 0;//keybo
EPwm1Regs.TBCTR = 0;
//CC
EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
EPwm1Regs.CMPA.half.CMPA = 0;
EPwm1Regs.CMPB = 0;
//AQ
EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;
EPwm1Regs.AQCTLA.bit.CAD = AQ_CLEAR;
EPwm1Regs.AQCTLB.bit.CAU = AQ_CLEAR;
EPwm1Regs.AQCTLB.bit.CAD = AQ_SET;
//DB
EPwm1Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
EPwm1Regs.DBCTL.bit.POLSEL = DB_ACTV_LOC; //ALC
EPwm1Regs.DBCTL.bit.IN_MODE = DBA_ALL;
EPwm1Regs.DBFED = DB_TIME;
EPwm1Regs.DBRED = DB_TIME;
//PC
EPwm1Regs.PCCTL.bit.CHPEN = CHP_DISABLE;
//TZ
EALLOW;
EPwm1Regs.TZCTL.bit.TZA = TZ_HIZ; //High impedance
EPwm1Regs.TZCTL.bit.TZB = TZ_HIZ; //High impedance
EDIS;
//ET
EPwm1Regs.ETSEL.bit.INTSEL = ET_CTR_ZERO;
// EPwm1Regs.ETSEL.bit.INTEN = 1;
EPwm1Regs.ETSEL.bit.SOCASEL = ET_CTR_ZERO;
EPwm1Regs.ETSEL.bit.SOCAEN = 1;//1;
// EPwm1Regs.ETSEL.bit.SOCBSEL = ET_CTR_ZERO;
// EPwm1Regs.ETSEL.bit.SOCBEN = 1;
EPwm1Regs.ETPS.bit.INTPRD = ET_1ST;
EPwm1Regs.ETPS.bit.SOCAPRD = ET_1ST;
//add by keybo //EPwm1Regs.ETPS.bit.SOCACNT = ET_1ST;
// EPwm1Regs.ETPS.bit.SOCBPRD = ET_1ST;

// ePWM2
//TB
EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
EPwm2Regs.TBCTL.bit.PHSEN = TB_ENABLE; //Slave Mode
EPwm2Regs.TBCTL.bit.PRDLD = TB_SHADOW;
EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
EPwm2Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;
EPwm2Regs.TBCTL.bit.CLKDIV = TB_DIV1;
EPwm2Regs.TBPRD = PWM_PRD;
EPwm2Regs.TBPHS.half.TBPHS = 0;
EPwm2Regs.TBCTR = 0;
//CC
EPwm2Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
EPwm2Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
EPwm2Regs.CMPA.half.CMPA = 0;
EPwm2Regs.CMPB = 0;
//AQ
EPwm2Regs.AQCTLA.bit.CAU = AQ_SET;
EPwm2Regs.AQCTLA.bit.CAD = AQ_CLEAR;
EPwm2Regs.AQCTLB.bit.CAU = AQ_CLEAR;
EPwm2Regs.AQCTLB.bit.CAD = AQ_SET;
//DB
EPwm2Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
EPwm2Regs.DBCTL.bit.POLSEL = DB_ACTV_LOC; //ALC
EPwm2Regs.DBCTL.bit.IN_MODE = DBA_ALL;
EPwm2Regs.DBFED = DB_TIME;
EPwm2Regs.DBRED = DB_TIME;
//PC
EPwm2Regs.PCCTL.bit.CHPEN = CHP_DISABLE;
//TZ
EALLOW;
EPwm2Regs.TZCTL.bit.TZA = TZ_HIZ; //High impedance
EPwm2Regs.TZCTL.bit.TZB = TZ_HIZ; //High impedance
EDIS;

// ePWM3
//TB
EPwm3Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
EPwm3Regs.TBCTL.bit.PHSEN = TB_ENABLE; //Slave Mode
EPwm3Regs.TBCTL.bit.PRDLD = TB_SHADOW;
EPwm3Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
EPwm3Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;
EPwm3Regs.TBCTL.bit.CLKDIV = TB_DIV1;
EPwm3Regs.TBPRD = PWM_PRD;
EPwm3Regs.TBPHS.half.TBPHS = 0;
EPwm3Regs.TBCTR = 0;
//CC
EPwm3Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
EPwm3Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
EPwm3Regs.CMPA.half.CMPA = 0;
EPwm3Regs.CMPB = 0;
//AQ
EPwm3Regs.AQCTLA.bit.CAU = AQ_SET;
EPwm3Regs.AQCTLA.bit.CAD = AQ_CLEAR;
EPwm3Regs.AQCTLB.bit.CAU = AQ_CLEAR;
EPwm3Regs.AQCTLB.bit.CAD = AQ_SET;
//DB
EPwm3Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
EPwm3Regs.DBCTL.bit.POLSEL = DB_ACTV_LOC; //ALC
EPwm3Regs.DBCTL.bit.IN_MODE = DBA_ALL;
EPwm3Regs.DBFED = DB_TIME;
EPwm3Regs.DBRED = DB_TIME;
//PC
EPwm3Regs.PCCTL.bit.CHPEN = CHP_DISABLE;
//TZ
EALLOW;
EPwm3Regs.TZCTL.bit.TZA = TZ_HIZ; //High impedance
EPwm3Regs.TZCTL.bit.TZB = TZ_HIZ; //High impedance
EDIS;

EPwm1Regs.ETCLR.bit.SOCA = 1;
EPwm1Regs.ETCLR.bit.SOCB = 1;
EPwm1Regs.ETCLR.bit.INT = 1;

EPwm1Regs.ETSEL.bit.INTEN = 1;//1; //Enable ePWM1_INT

Disable_PWM(); //初始上电封锁PWM输出

COBO：

回复 Xiaobo Chen:

你好，你的问题解决了吗？我采用外部中断遇到的问题和你遇到的很像，我的QQ是281091509，方便的话交流一下。

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