TMS320F280025C: Input XBAR TRIP GPIO configuration

Sebastian Siegfried

Part Number: TMS320F280025C
Other Parts Discussed in Thread: C2000WARE, LAUNCHXL-F280025C

Hi,

I'm using the motorcontrol SDK example univeral motorcontrol lab and there is nFault GPIO34 configured, to trip the ePWM modul and to shut down the controller.

I would like now to add another GPIO trip input, but I'm unable to make that working.

What I have done:

in hal.h - configured GPIO 25 as an additional trip pin:

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//! \brief Defines the gpio for the nFAULT of Power Module
#define MTR1_PM_nFAULT_GPIO     34
//! \brief Defines the gpio for the nFAULT of Power Module
#define MTR1_PM_nFAULT_2_GPIO   25
...
//------------------------------------------------------------------------------
// XBAR-EPWM
#define MTR1_XBAR_TRIP_ADDRL    XBAR_O_TRIP7MUX0TO15CFG
#define MTR1_XBAR_TRIP_ADDRH    XBAR_O_TRIP7MUX16TO31CFG
#define MTR1_IDC_XBAR_EPWM_MUX  XBAR_EPWM_MUX05_CMPSS3_CTRIPL   // CMPSS3-LP
#define MTR1_IDC_XBAR_MUX       XBAR_MUX05                      // CMPSS3-LP
#define MTR1_IU_XBAR_EPWM_MUX   XBAR_EPWM_MUX00_CMPSS1_CTRIPH       // CMPSS1-HP
#define MTR1_IV_XBAR_EPWM_MUX   XBAR_EPWM_MUX04_CMPSS3_CTRIPH_OR_L  // CMPSS3-HP&LP
#define MTR1_IW_XBAR_EPWM_MUX   XBAR_EPWM_MUX01_CMPSS1_CTRIPL       // CMPSS1-LP
#define MTR1_IU_XBAR_MUX        XBAR_MUX00          // CMPSS1-HP
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//! \brief Defines the gpio for the nFAULT of Power Module
#define MTR1_PM_nFAULT_GPIO     34

//! \brief Defines the gpio for the nFAULT of Power Module
#define MTR1_PM_nFAULT_2_GPIO   25

...

//------------------------------------------------------------------------------
// XBAR-EPWM
#define MTR1_XBAR_TRIP_ADDRL    XBAR_O_TRIP7MUX0TO15CFG
#define MTR1_XBAR_TRIP_ADDRH    XBAR_O_TRIP7MUX16TO31CFG

#define MTR1_IDC_XBAR_EPWM_MUX  XBAR_EPWM_MUX05_CMPSS3_CTRIPL   // CMPSS3-LP
#define MTR1_IDC_XBAR_MUX       XBAR_MUX05                      // CMPSS3-LP

#define MTR1_IU_XBAR_EPWM_MUX   XBAR_EPWM_MUX00_CMPSS1_CTRIPH       // CMPSS1-HP
#define MTR1_IV_XBAR_EPWM_MUX   XBAR_EPWM_MUX04_CMPSS3_CTRIPH_OR_L  // CMPSS3-HP&LP
#define MTR1_IW_XBAR_EPWM_MUX   XBAR_EPWM_MUX01_CMPSS1_CTRIPL       // CMPSS1-LP

#define MTR1_IU_XBAR_MUX        XBAR_MUX00          // CMPSS1-HP
#define MTR1_IV_XBAR_MUX        XBAR_MUX04          // CMPSS3-HP&LP
#define MTR1_IW_XBAR_MUX        XBAR_MUX01          // CMPSS1-LP

#define MTR1_XBAR_INPUT1        XBAR_INPUT1
#define MTR1_XBAR_INPUT2        XBAR_INPUT2
#define MTR1_TZ_OSHT1           EPWM_TZ_SIGNAL_OSHT1
#define MTR1_TZ_OSHT2           EPWM_TZ_SIGNAL_OSHT2

#define MTR1_XBAR_TRIP          XBAR_TRIP7
#define MTR1_DCTRIPIN           EPWM_DC_COMBINATIONAL_TRIPIN7

#define MTR1_IU_XBAR_OUT_MUX    XBAR_OUT_MUX00_CMPSS1_CTRIPOUTH       // CMPSS1-HP
#define MTR1_IV_XBAR_OUT_MUX    XBAR_OUT_MUX04_CMPSS3_CTRIPOUTH_OR_L  // CMPSS3-HP&LP
#define MTR1_IW_XBAR_OUT_MUX    XBAR_OUT_MUX01_CMPSS1_CTRIPOUTL       // CMPSS1-LP

In hal.c - configure the GPIO25 pin as input (I use an external pull up):

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    GPIO_setPinConfig(GPIO_25_GPIO25);
    GPIO_setDirectionMode(25, GPIO_DIR_MODE_IN);
    GPIO_setPadConfig(25, GPIO_PIN_TYPE_STD);
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    GPIO_setPinConfig(GPIO_25_GPIO25);
    GPIO_setDirectionMode(25, GPIO_DIR_MODE_IN);
    GPIO_setPadConfig(25, GPIO_PIN_TYPE_STD);

In hal.c - set the trip zone:

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    XBAR_setEPWMMuxConfig(MTR1_XBAR_TRIP, MTR1_IU_XBAR_EPWM_MUX);
    // Configure TRIP7 to be CTRIP1H and CTRIP1L using the ePWM X-BAR
    XBAR_setEPWMMuxConfig(MTR1_XBAR_TRIP, MTR1_IV_XBAR_EPWM_MUX);
    // Configure TRIP7 to be CTRIP3H and CTRIP3L using the ePWM X-BAR
    XBAR_setEPWMMuxConfig(MTR1_XBAR_TRIP, MTR1_IW_XBAR_EPWM_MUX);
    // Disable all the mux first
    XBAR_disableEPWMMux(MTR1_XBAR_TRIP, 0xFFFF);
    // Enable Mux 0  OR Mux 4 to generate TRIP
    XBAR_enableEPWMMux(MTR1_XBAR_TRIP, MTR1_IU_XBAR_MUX |
                                       MTR1_IV_XBAR_MUX | MTR1_IW_XBAR_MUX);
#endif  // !(MOTOR1_ISBLDC || MOTOR1_DCLINKSS)
    // configure the input x bar for TZ2 to GPIO, where Over Current is connected --> //ToDo: Trigger another GPIO error
    XBAR_setInputPin(INPUTXBAR_BASE, MTR1_XBAR_INPUT1, MTR1_PM_nFAULT_GPIO);
    XBAR_lockInput(INPUTXBAR_BASE, MTR1_XBAR_INPUT1);
    XBAR_setInputPin(INPUTXBAR_BASE, MTR1_XBAR_INPUT2, MTR1_PM_nFAULT_2_GPIO);
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    XBAR_setEPWMMuxConfig(MTR1_XBAR_TRIP, MTR1_IU_XBAR_EPWM_MUX);

    // Configure TRIP7 to be CTRIP1H and CTRIP1L using the ePWM X-BAR
    XBAR_setEPWMMuxConfig(MTR1_XBAR_TRIP, MTR1_IV_XBAR_EPWM_MUX);

    // Configure TRIP7 to be CTRIP3H and CTRIP3L using the ePWM X-BAR
    XBAR_setEPWMMuxConfig(MTR1_XBAR_TRIP, MTR1_IW_XBAR_EPWM_MUX);

    // Disable all the mux first
    XBAR_disableEPWMMux(MTR1_XBAR_TRIP, 0xFFFF);

    // Enable Mux 0  OR Mux 4 to generate TRIP
    XBAR_enableEPWMMux(MTR1_XBAR_TRIP, MTR1_IU_XBAR_MUX |
                                       MTR1_IV_XBAR_MUX | MTR1_IW_XBAR_MUX);
#endif  // !(MOTOR1_ISBLDC || MOTOR1_DCLINKSS)

    // configure the input x bar for TZ2 to GPIO, where Over Current is connected --> //ToDo: Trigger another GPIO error
    XBAR_setInputPin(INPUTXBAR_BASE, MTR1_XBAR_INPUT1, MTR1_PM_nFAULT_GPIO);
    XBAR_lockInput(INPUTXBAR_BASE, MTR1_XBAR_INPUT1);

    XBAR_setInputPin(INPUTXBAR_BASE, MTR1_XBAR_INPUT2, MTR1_PM_nFAULT_2_GPIO);
    XBAR_lockInput(INPUTXBAR_BASE, MTR1_XBAR_INPUT2);

    // Configure Trip Mechanism for the Motor control software
    // -Cycle by cycle trip on CPU halt
    // -One shot fault trip zone
    // These trips need to be repeated for EPWM1 ,2 & 3
    for(cnt=0; cnt<3; cnt++)
    {
        EPWM_enableTripZoneSignals(obj->pwmHandle[cnt], MTR1_TZ_OSHT1);
        EPWM_enableTripZoneSignals(obj->pwmHandle[cnt], MTR1_TZ_OSHT2);


        EPWM_enableTripZoneSignals(obj->pwmHandle[cnt],
                                   EPWM_TZ_SIGNAL_CBC6);

        //enable DC TRIP combinational input
        EPWM_enableDigitalCompareTripCombinationInput(obj->pwmHandle[cnt],
                                              MTR1_DCTRIPIN, EPWM_DC_TYPE_DCAH);

        EPWM_enableDigitalCompareTripCombinationInput(obj->pwmHandle[cnt],
                                              MTR1_DCTRIPIN, EPWM_DC_TYPE_DCBH);

        // Trigger event when DCAH is High
        EPWM_setTripZoneDigitalCompareEventCondition(obj->pwmHandle[cnt],
                                                     EPWM_TZ_DC_OUTPUT_A1,
                                                     EPWM_TZ_EVENT_DCXH_HIGH);

        // Trigger event when DCBH is High
        EPWM_setTripZoneDigitalCompareEventCondition(obj->pwmHandle[cnt],
                                                     EPWM_TZ_DC_OUTPUT_B1,
                                                     EPWM_TZ_EVENT_DCXL_HIGH);

        // Configure the DCA path to be un-filtered and asynchronous
        EPWM_setDigitalCompareEventSource(obj->pwmHandle[cnt],
                                          EPWM_DC_MODULE_A,
                                          EPWM_DC_EVENT_1,
                                          EPWM_DC_EVENT_SOURCE_FILT_SIGNAL);

        // Configure the DCB path to be un-filtered and asynchronous
        EPWM_setDigitalCompareEventSource(obj->pwmHandle[cnt],
                                          EPWM_DC_MODULE_B,
                                          EPWM_DC_EVENT_1,
                                          EPWM_DC_EVENT_SOURCE_FILT_SIGNAL);

        EPWM_setDigitalCompareEventSyncMode(obj->pwmHandle[cnt],
                                            EPWM_DC_MODULE_A,
                                            EPWM_DC_EVENT_1,
                                            EPWM_DC_EVENT_INPUT_NOT_SYNCED);

        EPWM_setDigitalCompareEventSyncMode(obj->pwmHandle[cnt],
                                            EPWM_DC_MODULE_B,
                                            EPWM_DC_EVENT_1,
                                            EPWM_DC_EVENT_INPUT_NOT_SYNCED);

        // Enable DCA as OST
        EPWM_enableTripZoneSignals(obj->pwmHandle[cnt], EPWM_TZ_SIGNAL_DCAEVT1);

        // Enable DCB as OST
        EPWM_enableTripZoneSignals(obj->pwmHandle[cnt], EPWM_TZ_SIGNAL_DCBEVT1);

        // What do we want the OST/CBC events to do?
        // TZA events can force EPWMxA
        // TZB events can force EPWMxB
        EPWM_setTripZoneAction(obj->pwmHandle[cnt],
                               EPWM_TZ_ACTION_EVENT_TZA,
                               EPWM_TZ_ACTION_LOW); //ToDo: Possible to trip to high, so that the motor is coasting

        EPWM_setTripZoneAction(obj->pwmHandle[cnt],
                               EPWM_TZ_ACTION_EVENT_TZB,
                               EPWM_TZ_ACTION_LOW);
    }

So, I cannot see, what I'm missing. It seems to be configured exactly like the GPIO34 pin and should trigger TZ2. Is there something missing with the comparator?

Edit: What I added to hal.c:

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...
XBAR_setInputPin(INPUTXBAR_BASE, MTR1_XBAR_INPUT2, MTR1_PM_nFAULT_2_GPIO);
XBAR_lockInput(INPUTXBAR_BASE, MTR1_XBAR_INPUT2);
for(cnt=0; cnt<3; cnt++)
{
        ...
        EPWM_enableTripZoneSignals(obj->pwmHandle[cnt], MTR1_TZ_OSHT2);
        ...
}
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...

XBAR_setInputPin(INPUTXBAR_BASE, MTR1_XBAR_INPUT2, MTR1_PM_nFAULT_2_GPIO);
XBAR_lockInput(INPUTXBAR_BASE, MTR1_XBAR_INPUT2);

for(cnt=0; cnt<3; cnt++)
{
        ...
        EPWM_enableTripZoneSignals(obj->pwmHandle[cnt], MTR1_TZ_OSHT2);
        ...
}

Edit 2: I also tried the example epwm_ex1_trip_zone from here: C:\ti\c2000\C2000Ware_4_00_00_00\driverlib\f28002x\examples\epwm

The thing is, when I for example use GPIO13 like the following, I can trip:

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    uint32_t gp = 13;
    GPIO_setPinConfig(GPIO_13_GPIO13);
    GPIO_setDirectionMode(gp, GPIO_DIR_MODE_IN);
    GPIO_setPadConfig(gp, GPIO_PIN_TYPE_PULLUP);
    GPIO_setQualificationMode(gp, GPIO_QUAL_ASYNC);
    XBAR_setInputPin(INPUTXBAR_BASE, XBAR_INPUT2, gp);
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    uint32_t gp = 13;
    GPIO_setPinConfig(GPIO_13_GPIO13);
    GPIO_setDirectionMode(gp, GPIO_DIR_MODE_IN);
    GPIO_setPadConfig(gp, GPIO_PIN_TYPE_PULLUP);
    GPIO_setQualificationMode(gp, GPIO_QUAL_ASYNC);
    XBAR_setInputPin(INPUTXBAR_BASE, XBAR_INPUT2, gp);

But when I use for example GPIO14, it does not work. Also when I just use the PULLUP config for the GPIO14, it never pulls it up.

So, do not all GPIO have a pullup and work as a input for the XBAR?

over 3 years ago

0 Nima Eskandari over 3 years ago

TI__Guru 52020 points

Luke, can you take a look at the added XBAR trip configuration for the EPWM and see what is missing?

0 Nima Eskandari over 3 years ago in reply to Nima Eskandari

TI__Guru 52020 points

Sebastian, can you show only the lines of code you added to the hal.c? what was already there and what is new for your new TRIP?

0 Sebastian Siegfried over 3 years ago in reply to Nima Eskandari

Intellectual 680 points

I edited the main question with the hal.c code.

0 Sebastian Siegfried over 3 years ago in reply to Nima Eskandari

Intellectual 680 points

I found out, that when I use GPIO35 for example, it works, but only when I pull it up with an external pull up. Somehow the internal pullup does not work in the universal motor control example, also when I initalize it correctly. In the ePWM example it works fine.

0 Nima Eskandari over 3 years ago in reply to Sebastian Siegfried

TI__Guru 52020 points

Internal pull ups are weak by design. They are not able to provide a lot of current.

Were you using the INTERNAL PULL UP TO TRIGGER the TRIP?

0 Sebastian Siegfried over 3 years ago in reply to Nima Eskandari

Intellectual 680 points

In the universal motorcontrol lab the pullup on GPIO35 does not work (the input stays low always), in the epwm example from above, it works. I really don't understand why the XBAR is so GPIO dependent (why for example GPIO14 will not trigger) and I really cannot find anything about that in the datasheet.

+1 Luke Jones over 3 years ago in reply to Sebastian Siegfried

TI__Mastermind 23990 points

Hi Sebastian,

I am assuming you are using the LaunchPad for this device. On the LaunchPad, GPIO14 is connected to many other sources so the internal pull-up is too weak in this case. The XBARs are not GPIO dependent, you would not run into this issue on a custom PCB.

Refer to this file in your C2000Ware installation to see all of the GPIO connections on the LaunchPad:

/boards/LaunchPads/LAUNCHXL-F280025C/RevA/MCU089A(001)_Sch.PDF

With regards to GPIO25 not triggering TZ2, make sure the settings for GPIO25 are not being changed anywhere else as this is a very large project using many different resources. Otherwise the code you added looks correct.

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TMS320F280025C: Input XBAR TRIP GPIO configuration