DDK_PM_Servo_F2837x_v2_00_00_00 的PWM与SDFM电流同步问题-TI中文支持网

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; //SD
EPwm11Regs.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 Routine
EALLOW;
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 ISR
EPwm11Regs.ETSEL.bit.INTSEL = ET_CTRU_CMPA;

EPwm11Regs.ETSEL.bit.INTEN = 1; // Enable INT
EPwm11Regs.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 INTM
ERTM; // Enable Global realtime interrupt DBGM
EDIS;

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

//TODO
void 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;
}
//TODO
void 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 ISR
interrupt 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：

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？