LAUNCHXL-F28379D: help running dual_axis_drive project with different PWM configuration

Arun Kumar

Part Number: LAUNCHXL-F28379D
Other Parts Discussed in Thread: BOOSTXL-3PHGANINV

I am having some trouble trying to get the dual axis project running with different PWM modules in one of my custom boards.

With the BOOSTXL-3PhGaNInv inverter PWM1,2,3 are used for the first motor and PWM 4,5,6 are used for the second motor.

The pin configuration in my custom board is exactly same as the BOOSTXL-3PhGaNInv hardware, with one change(Motor 1 Phase A pwm is connected to PWM11 and Motor 2 Phase A pwm is connected to PWM12)

I would like to use PWM11,2,3 for the first Motor and PWM12,5,6 for the second Motor.

In dual_axis_servo_drive_user.h, I tried changing the following:

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//#define M1_ADC_TRIGGER_SOC     ADC_TRIGGER_EPWM1_SOCA  // NC: Set up based board
#define M1_ADC_TRIGGER_SOC     ADC_TRIGGER_EPWM11_SOCA
//#define M1_U_PWM_BASE          EPWM1_BASE          // NC: Set up based board
#define M1_U_PWM_BASE          EPWM11_BASE
#define M1_V_PWM_BASE          EPWM2_BASE          // NC: Set up based board
#define M1_W_PWM_BASE          EPWM3_BASE          // NC: Set up based board
//#define M1_INT_PWM             INT_EPWM1           // NC: Set up based board
#define M1_INT_PWM             INT_EPWM11
//#define M2_ADC_TRIGGER_SOC     ADC_TRIGGER_EPWM4_SOCA  // NC: Set up based board
#define M2_ADC_TRIGGER_SOC     ADC_TRIGGER_EPWM12_SOCA
//#define M2_U_PWM_BASE          EPWM4_BASE          // NC: Set up based board
#define M2_U_PWM_BASE          EPWM12_BASE
#define M2_V_PWM_BASE          EPWM5_BASE          // NC: Set up based board
#define M2_W_PWM_BASE          EPWM6_BASE          // NC: Set up based board
//#define M2_INT_PWM             INT_EPWM4           // NC: Set up based board
#define M2_INT_PWM             INT_EPWM12
XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

//#define M1_ADC_TRIGGER_SOC     ADC_TRIGGER_EPWM1_SOCA  // NC: Set up based board
#define M1_ADC_TRIGGER_SOC     ADC_TRIGGER_EPWM11_SOCA

//#define M1_U_PWM_BASE          EPWM1_BASE          // NC: Set up based board
#define M1_U_PWM_BASE          EPWM11_BASE
#define M1_V_PWM_BASE          EPWM2_BASE          // NC: Set up based board
#define M1_W_PWM_BASE          EPWM3_BASE          // NC: Set up based board

//#define M1_INT_PWM             INT_EPWM1           // NC: Set up based board
#define M1_INT_PWM             INT_EPWM11

//#define M2_ADC_TRIGGER_SOC     ADC_TRIGGER_EPWM4_SOCA  // NC: Set up based board
#define M2_ADC_TRIGGER_SOC     ADC_TRIGGER_EPWM12_SOCA

//#define M2_U_PWM_BASE          EPWM4_BASE          // NC: Set up based board
#define M2_U_PWM_BASE          EPWM12_BASE
#define M2_V_PWM_BASE          EPWM5_BASE          // NC: Set up based board
#define M2_W_PWM_BASE          EPWM6_BASE          // NC: Set up based board

//#define M2_INT_PWM             INT_EPWM4           // NC: Set up based board
#define M2_INT_PWM             INT_EPWM12

But when running Build level 1, to check the PWM pulses, the PWM ISR counter(motorVars[0].isrTicker) does not increment, which means that the PWM 11 interrupt is not generated.

Is there any other configuration settings that needs to be modified?

Thanks,

over 2 years ago

+1 Yanming Luo over 2 years ago

TI__Guru** 114440 points

Did you set up the related GPIOs to EPWM in HAL_setupGPIOs() and enable the peripherals clock for EPWM11 and EPWM12?

Can you check if the control registers are configured correctly for EPWM11 and EPWM12?

If you want to run the lab with CLA, you need to change the following code according to the PWM you used in HAL_setupCLA().

// Enable EPWM1 INT trigger for CLA TASK1
CLA_setTriggerSource(CLA_TASK_1, CLA_TRIGGER_EPWM1INT);

// Enable EPWM4 INT trigger for CLA TASK5
CLA_setTriggerSource(CLA_TASK_5, CLA_TRIGGER_EPWM4INT);

0 Arun Kumar over 2 years ago in reply to Yanming Luo

Expert 1030 points

Hi Yanming,

Yes I have setup the GPIOs in HAL_setupGPIOs()

I had not changed the CLA trigger. Once I had changed it to CLA_TRIGGER_EPWM11INT and CLA_TRIGGER_EPWM12INT, i could see the PWM ISR counter incrementing correctly.

0 Arun Kumar over 2 years ago in reply to Yanming Luo

Expert 1030 points

Hi Yanming Luo

I was just reading this forum post about PWM synchronization

https://e2e.ti.com/support/microcontrollers/c2000-microcontrollers-group/c2000/f/c2000-microcontrollers-forum/996698/tms320f28388d-configure-sync-down-stream-pwm-for-dual-3-phase-inverters-for-pmsm-motor-with-f28388d

So since we are now not using sequent PWM modules anymore (PWM11,2,3 for Motor 1 and PWM 12,4,5 for Motor 2), do we have to modify the the sync related settings? I see in HAL_setupMotorPWMs() that PWM1 SyncOut is used to synchronize PWM4 SyncIN

Also should the phase shift values remain the same (0,2,4) ?

0 Yanming Luo over 2 years ago in reply to Arun Kumar

TI__Guru** 114440 points

Arun Kumar said:
So since we are now not using sequent PWM modules anymore (PWM11,2,3 for Motor 1 and PWM 12,4,5 for Motor 2), do we have to modify the the sync related settings? I see in HAL_setupMotorPWMs() that PWM1 SyncOut is used to synchronize PWM4 SyncIN

Yes. It's neccesary.

Arun Kumar said:
Also should the phase shift values remain the same (0,2,4) ?

You may need to change the value according to the PWM module.

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LAUNCHXL-F28379D: help running dual_axis_drive project with different PWM configuration