Encoder Signal Generator - tms320f283335

encoder pulse generator

A & B signal.

PWM1A, PWM2A - Set Phase reg : 90 deg

---

/* ==============================================================================

System Name:  YPEMC_encoder pulse generator

File Name: encoder_gneerator.c

Target:    TMS320F28335

Note:     encoder pulse generator

duty ratio 0.5, 1024 pulse, frequency change

a

/a

b

/b

z

U

V

W

=====================================================================================

 History:

-------------------------------------------------------------------------------------

 xxxx-xx-xx : xxxxxxxxxxxxxxxxxxxxxxxx (jyc)

=================================================================================  */

// Include header files used in the main function

#include "DSP2833x_Device.h" /* DSP2833x Headerfile Include File */

#include "DSP2833x_Examples.h" /* DSP2833x Examples Include File */

#include <math.h>

interrupt void epwm1_isr(void); //

void Init_EPwm(void);

void Init_Gpio(void);

#define SYSCLK 150E6 /* 150MHz */

int PWM_FREQUENCY = 5000; /*  */ 

void main(void)

{

DINT;

IER = 0x0000;

IFR = 0x0000;

InitSysCtrl();

//GPIO setting///////////////////////////////////

Init_Gpio();

InitPieCtrl();

IER = 0x0000; // Disable CPU interrupts and clear all CPU interrupt flags:

IFR = 0x0000;

InitPieVectTable();

EALLOW; // This is needed to write to EALLOW protected registers

PieVectTable.EPWM1_INT = &epwm1_isr;

EDIS;   // This is needed to disable write to EALLOW protect

IER |= M_INT3; //Enable CPU INT3 for EPWM1_INT

PieCtrlRegs.PIEIER3.bit.INTx1 = 1; //Enable PIE group 3 interrupt 1 for EPWM1_INT

Init_EPwm(); //

EPwm1Regs.CMPA.half.CMPA = EPwm1Regs.TBPRD * 0.5;

EPwm2Regs.CMPA.half.CMPA = EPwm1Regs.TBPRD * 0.5;

EINT;   // Enable Global interrupt INTM

ERTM;   // Enable Global realtime interrupt DBGM

for(;;)

{

}

}

interrupt void epwm1_isr(void) // PMW 타이머 인터럽트 서비스 루틴.

{

EPwm1Regs.ETCLR.bit.INT = 1;

PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;

}

void Init_EPwm(void)

{

//3000 pulse per resolution(PPR)

//1초동안 펄스의 개수 = (rpm/60)*PPR

//rpm/60 : 1초동안 몇번도는지

//2000rpm : 100000

//1000rpm : 50000

//500rpm : 25000

//100rpm : 5000

//10rpm : 500

PWM_FREQUENCY = 5000;

EPwm1Regs.TBPRD = (SYSCLK/PWM_FREQUENCY)-1; // Period = 1201 TBCLK counts

EPwm1Regs.CMPA.half.CMPA = ((EPwm1Regs.TBPRD+1)>>1); // Set 50% fixed duty for EPWM1A

EPwm1Regs.TBPHS.half.TBPHS = 0; // Set Phase register to zero

EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Asymmetrical mode

EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE; // Master module

EPwm1Regs.TBCTL.bit.PRDLD = TB_SHADOW;

EPwm1Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO; // Sync down-stream module

EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;

EPwm1Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;

EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO; // load on CTR=Zero

EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO; // load on CTR=Zero

EPwm1Regs.AQCTLA.bit.ZRO = AQ_SET; // set actions for EPWM1A

EPwm1Regs.AQCTLA.bit.CAU = AQ_CLEAR;

EPwm2Regs.TBPRD = (SYSCLK/PWM_FREQUENCY)-1; // Period = 1201 TBCLK counts

EPwm2Regs.CMPA.half.CMPA = ((EPwm1Regs.TBPRD+1)>>1); // Set 50% fixed duty EPWM2A

EPwm2Regs.TBPHS.half.TBPHS = 0; // Set Phase register to zero initially

EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Asymmetrical mode

EPwm2Regs.TBCTL.bit.PHSEN = TB_ENABLE; // Slave module

EPwm2Regs.TBCTL.bit.PRDLD = TB_SHADOW;

EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN; // sync flow-through

EPwm2Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;

EPwm2Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;

EPwm2Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO; // load on CTR=Zero

EPwm2Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO; // load on CTR=Zero

EPwm2Regs.AQCTLA.bit.ZRO = AQ_SET; // set actions for EPWM2A

EPwm2Regs.AQCTLA.bit.CAU = AQ_CLEAR;

// Set Phase reg to 300/1200 * 360 = 90 deg

EPwm2Regs.TBPHS.half.TBPHS = ((EPwm1Regs.TBPRD+1)) - ((EPwm1Regs.TBPRD+1)*0.25); 

}

//---------------------------------------------------------------------------

void Init_Gpio(void)

{

/*

GPIO0/EPWM1A : A

GPIO1/EPWM1B/ECAP6/MFSRB : /A

GPIO2/EPWM2A : B

GPIO3/EPWM2B/ECAP5/MCLKRB : /B

GPIO34/ECAP1/XREADY : Z

GPIO24/ECAP1/EQEP2A/MDXB : U

GPIO25/ECAP2/EQEP2B/MDRB : V

GPIO26/ECAP3/EQEP2I/MCLKXB : W

*/

       EALLOW;

       //GPxMUXn : 핀 기능설정

GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 1;

GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 1;

GpioCtrlRegs.GPAMUX1.bit.GPIO2 = 1;

GpioCtrlRegs.GPAMUX1.bit.GPIO3 = 1;

GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 0;

GpioCtrlRegs.GPAMUX2.bit.GPIO24 = 0;

GpioCtrlRegs.GPAMUX2.bit.GPIO25 = 0;

GpioCtrlRegs.GPAMUX2.bit.GPIO26 = 0;

//GPxDIR : 방향 설정 (1: out, 0: in)

GpioCtrlRegs.GPADIR.all = 0xffffffff;      // GPIO0-GPIO31

GpioCtrlRegs.GPBDIR.all = 0xffffffff;      // GPIO32-GPIO63   

GpioCtrlRegs.GPCDIR.all = 0xffffffff;      // GPI064-GPIO95

       // Pull-ups can be enabled or disabled. 

GpioCtrlRegs.GPAPUD.all = 0x0000;      // Pullup's enabled GPIO0-GPIO31

GpioCtrlRegs.GPBPUD.all = 0x0000;      // Pullup's enabled GPIO32-GPIO63

GpioCtrlRegs.GPCPUD.all = 0x0000;      // Pullup's enabled GPIO64-GPIO79

   

EDIS;

GpioDataRegs.GPACLEAR.all = 0xffffffff; //초기 상태를 클리어.(0)

GpioDataRegs.GPBCLEAR.all = 0xffffffff; //초기 상태를 클리어.(0)

GpioDataRegs.GPCCLEAR.all = 0xffffffff; //초기 상태를 클리어.(0)

}