TMS320F28P650DK: Configuration of phase and period control mode for HRPWM

//#############################################################################
//
// FILE:   hrpwm_ex3_prdupdown_sfo.c
//
// TITLE:  HRPWM Period Control.
//
//! \addtogroup driver_example_list
//! <h1>HRPWM Period Control</h1>
//!
//! This example modifies the MEP control registers to show edge displacement
//! for high-resolution period with ePWM in Up-Down count mode
//! due to the HRPWM control extension of the respective ePWM module.
//!
//! This example calls the following TI's MEP Scale Factor Optimizer (SFO)
//! software library V8 functions:
//!
//! \b int \b SFO(); \n
//! - updates MEP_ScaleFactor dynamically when HRPWM is in use
//! - updates HRMSTEP register (exists only in EPwm1Regs register space)
//!   with MEP_ScaleFactor value
//! - returns 2 if error: MEP_ScaleFactor is greater than maximum value of 255
//!   (Auto-conversion may not function properly under this condition)
//! - returns 1 when complete for the specified channel
//! - returns 0 if not complete for the specified channel
//!
//! This example is intended to explain the HRPWM capabilities. The code can be
//! optimized for code efficiency. Refer to TI's Digital power application
//! examples and TI Digital Power Supply software libraries for details.
//!
//! \b External \b Connections \n
//!  - Monitor ePWM1/2/3/4 A/B pins on an oscilloscope.
//
//#############################################################################
//
//
// 
// C2000Ware v5.03.00.00
//
// Copyright (C) 2024 Texas Instruments Incorporated - http://www.ti.com
//
// Redistribution and use in source and binary forms, with or without 
// modification, are permitted provided that the following conditions 
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// 
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//   notice, this list of conditions and the following disclaimer.
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// $
//#############################################################################
//
// Included Files
//
#include "clocktree.h"
#include "board.h"
#include "sfo_v8.h"

//
// Defines
//
#define EPWM_TIMER_TBPRD    20UL
#define LAST_EPWM_INDEX_FOR_EXAMPLE    5
#define MIN_HRPWM_PRD_PERCENT   0.2
#define EPWM_TIMER_TBPRD        20

//
// Globals
//

float32_t periodFine = MIN_HRPWM_PRD_PERCENT;
uint16_t status;

int MEP_ScaleFactor; // Global variable used by the SFO library
                     // Result can be used for all HRPWM channels
                     // This variable is also copied to HRMSTEP
                     // register by SFO() function.
uint32_t count = 0;
uint8_t phaseHR = 0;
uint16_t phase = 0;
volatile uint32_t ePWM[] =
    {0, myEPWM1_BASE, myEPWM2_BASE};
extern volatile uint32_t gHrpwmCal_base;
//
// Function Prototypes
//
void error(void);

//
// Main
//
void main(void)
{
    uint16_t i = 0;

    //
    // Initialize device clock and peripherals
    //
    Device_init();

    //
    // Disable pin locks and enable internal pull ups.
    //
    Device_initGPIO();

    //
    // Initialize PIE and clear PIE registers. Disables CPU interrupts.
    //
    Interrupt_initModule();

    //
    // Initialize the PIE vector table with pointers to the shell Interrupt
    // Service Routines (ISR).
    //
    Interrupt_initVectorTable();
    //
    // We are only required to calibrate HRPWMCAL1 as we using EPWMs between 1-8.
    //
//    gHrpwmCal_base = HRPWMCAL1_BASE;
//    gHrpwmCal_base = HRPWMCAL2_BASE;
//    gHrpwmCal_base = HRPWMCAL3_BASE;
    //
    // Calling SFO() updates the HRMSTEP register with calibrated MEP_ScaleFactor.
    // HRMSTEP must be populated with a scale factor value prior to enabling
    // high resolution period control.
    //
    while(status == SFO_INCOMPLETE)
    {
        status = SFO();
        if(status == SFO_ERROR)
        {
            error();   // SFO function returns 2 if an error occurs & # of MEP
        }              // steps/coarse step exceeds maximum of 255.
    }

    //
    // Disable sync(Freeze clock to PWM as well)
    //
    SysCtl_disablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC);

    //
    // Initialize EPWM GPIOs and change XBAR inputs from using GPIO0
    //
    Board_init();
    EPWM_enableOneShotSync(myEPWM2_BASE);
    //
    // Enable sync and clock to PWM
    //
    SysCtl_enablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC);
    //
    // Enable Global Interrupt (INTM) and realtime interrupt (DBGM)
    //
    EINT;
    ERTM;


    for(;;)
    {
         //
         // Sweep DutyFine
         //
         for(phaseHR = 0; phaseHR < 256; phaseHR += 1)
         {
             DEVICE_DELAY_US(1000);
             //
             // Update TBPHSHR going through all MEP steps
             // with auto conversion on
             //
             HRPWM_setHiResPhaseShiftOnly(ePWM[2], phaseHR);

             //
             // Call the scale factor optimizer lib function SFO()
             // periodically to track for any change due to temp/voltage.
             // This function generates MEP_ScaleFactor by running the
             // MEP calibration module in the HRPWM logic. This scale
             // factor can be used for all HRPWM channels. The SFO()
             // function also updates the HRMSTEP register with the
             // scale factor value.
             //
             status = SFO(); // in background, MEP calibration module
                             // continuously updates MEP_ScaleFactor

             if (status == SFO_ERROR)
             {
                 error();   // SFO function returns 2 if an error occurs & #
                            // of MEP steps/coarse step
             }              // exceeds maximum of 255.
         }
     }
}

void INT_myEPWM1_ISR(void)
{
    count++;
    if(count == 100000){
        //
        // Move TBPHS by 1
        //
        EPWM_setPhaseShift(ePWM[2], phase);
        count = 0;
        phase += 1;
        if(phase == 20)
        {
            phase = 0;
        }
        EPWM_startOneShotSync(myEPWM2_BASE);

    }
    EPWM_clearEventTriggerInterruptFlag(myEPWM1_BASE);
    Interrupt_clearACKGroup(INT_myEPWM1_INTERRUPT_ACK_GROUP);


}

//
// error - Halt debugger when called
//
void error (void)
{
    ESTOP0;         // Stop here and handle error
}

/**
 * These arguments were used when this file was generated. They will be automatically applied on subsequent loads
 * via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
 * @cliArgs --device "F28P65x" --package "256ZEJ" --part "F28P65x_256ZEJ" --context "CPU1" --product "C2000WARE@5.03.00.00"
 * @versions {"tool":"1.20.0+3587"}
 */

/**
 * Import the modules used in this configuration.
 */
const epwm             = scripting.addModule("/driverlib/epwm.js", {}, false);
const epwm1            = epwm.addInstance();
const epwm2            = epwm.addInstance();
const inputxbar        = scripting.addModule("/driverlib/inputxbar.js", {}, false);
const inputxbar1       = inputxbar.addInstance();
const inputxbar_input  = scripting.addModule("/driverlib/inputxbar_input.js");
const inputxbar_input1 = inputxbar_input.addInstance();
const inputxbar_input2 = inputxbar_input.addInstance();

/**
 * Write custom configuration values to the imported modules.
 */
const divider8       = system.clockTree["EPWMCLKDIV"];
divider8.divideValue = 1;

epwm1.$name                                                      = "myEPWM1";
epwm1.epwmTimebase_hsClockDiv                                    = "EPWM_HSCLOCK_DIVIDER_1";
epwm1.epwmTimebase_period                                        = 20;
epwm1.epwmCounterCompare_cmpA                                    = 10;
epwm1.epwmCounterCompare_cmpB                                    = 10;
epwm1.epwmTimebase_counterMode                                   = "EPWM_COUNTER_MODE_UP_DOWN";
epwm1.epwmActionQualifier_EPWM_AQ_OUTPUT_A_ON_TIMEBASE_DOWN_CMPA = "EPWM_AQ_OUTPUT_LOW";
epwm1.epwmActionQualifier_EPWM_AQ_OUTPUT_B_ON_TIMEBASE_UP_CMPB   = "EPWM_AQ_OUTPUT_HIGH";
epwm1.epwmActionQualifier_EPWM_AQ_OUTPUT_B_ON_TIMEBASE_DOWN_CMPB = "EPWM_AQ_OUTPUT_LOW";
epwm1.hrpwm_enable                                               = true;
epwm1.hrpwm_autoConv                                             = true;
epwm1.hrpwm_edgeModeA                                            = "HRPWM_MEP_CTRL_RISING_AND_FALLING_EDGE";
epwm1.hrpwm_edgeModeB                                            = "HRPWM_MEP_CTRL_RISING_AND_FALLING_EDGE";
epwm1.hrpwm_HRLoadB                                              = "HRPWM_LOAD_ON_CNTR_ZERO_PERIOD";
epwm1.hrpwm_HRLoadA                                              = "HRPWM_LOAD_ON_CNTR_ZERO_PERIOD";
epwm1.hrpwm_periodEnable                                         = true;
epwm1.epwmCounterCompare_shadowLoadModeCMPB                      = "EPWM_COMP_LOAD_ON_CNTR_ZERO_PERIOD";
epwm1.epwmCounterCompare_shadowLoadModeCMPA                      = "EPWM_COMP_LOAD_ON_CNTR_ZERO_PERIOD";
epwm1.epwmActionQualifier_EPWM_AQ_OUTPUT_A_ON_TIMEBASE_UP_CMPA   = "EPWM_AQ_OUTPUT_HIGH";
epwm1.epwmTimebase_forceSyncPulse                                = true;
epwm1.epwmEventTrigger_enableInterrupt                           = true;
epwm1.epwmEventTrigger_registerInterrupts                        = true;
epwm1.epwmEventTrigger_interruptSource                           = "EPWM_INT_TBCTR_ZERO";
epwm1.epwmTimebase_syncInPulseSource                             = "EPWM_SYNC_IN_PULSE_SRC_DISABLE";
epwm1.epwmTimebase_syncOutPulseMode                              = ["EPWM_SYNC_OUT_PULSE_ON_CNTR_ZERO"];
epwm1.epwmEventTrigger_interruptEventCount                       = "15";
epwm1.epwm.$assign                                               = "EPWM1";
epwm1.epwm.epwm_aPin.$assign                                     = "GPIO0";
epwm1.epwm.epwm_bPin.$assign                                     = "GPIO1";
epwm1.epwmInt.enableInterrupt                                    = true;

epwm2.$name                                                      = "myEPWM2";
epwm2.epwmTimebase_hsClockDiv                                    = "EPWM_HSCLOCK_DIVIDER_1";
epwm2.epwmTimebase_period                                        = 20;
epwm2.epwmCounterCompare_cmpA                                    = 10;
epwm2.epwmCounterCompare_cmpB                                    = 10;
epwm2.epwmTimebase_counterMode                                   = "EPWM_COUNTER_MODE_UP_DOWN";
epwm2.epwmActionQualifier_EPWM_AQ_OUTPUT_A_ON_TIMEBASE_DOWN_CMPA = "EPWM_AQ_OUTPUT_LOW";
epwm2.epwmActionQualifier_EPWM_AQ_OUTPUT_B_ON_TIMEBASE_UP_CMPB   = "EPWM_AQ_OUTPUT_HIGH";
epwm2.epwmActionQualifier_EPWM_AQ_OUTPUT_B_ON_TIMEBASE_DOWN_CMPB = "EPWM_AQ_OUTPUT_LOW";
epwm2.hrpwm_enable                                               = true;
epwm2.hrpwm_autoConv                                             = true;
epwm2.hrpwm_edgeModeA                                            = "HRPWM_MEP_CTRL_RISING_AND_FALLING_EDGE";
epwm2.hrpwm_edgeModeB                                            = "HRPWM_MEP_CTRL_RISING_AND_FALLING_EDGE";
epwm2.hrpwm_HRLoadB                                              = "HRPWM_LOAD_ON_CNTR_ZERO_PERIOD";
epwm2.hrpwm_HRLoadA                                              = "HRPWM_LOAD_ON_CNTR_ZERO_PERIOD";
epwm2.hrpwm_periodEnable                                         = true;
epwm2.epwmCounterCompare_shadowLoadModeCMPB                      = "EPWM_COMP_LOAD_ON_CNTR_ZERO_PERIOD";
epwm2.epwmCounterCompare_shadowLoadModeCMPA                      = "EPWM_COMP_LOAD_ON_CNTR_ZERO_PERIOD";
epwm2.epwmActionQualifier_EPWM_AQ_OUTPUT_A_ON_TIMEBASE_UP_CMPA   = "EPWM_AQ_OUTPUT_HIGH";
epwm2.epwmTimebase_forceSyncPulse                                = true;
epwm2.epwmTimebase_phaseEnable                                   = true;
epwm2.epwmTimebase_phaseShift                                    = 1;
epwm2.epwmTimebase_counterModeAfterSync                          = "EPWM_COUNT_MODE_UP_AFTER_SYNC";
epwm2.epwm.$assign                                               = "EPWM2";
epwm2.epwm.epwm_aPin.$assign                                     = "GPIO2";
epwm2.epwm.epwm_bPin.$assign                                     = "GPIO3";

inputxbar1.$name = "myINPUTXBAR5";

inputxbar_input1.$name          = "myINPUTXBARINPUT0";
inputxbar_input1.inputxbarInput = "XBAR_INPUT5";
inputxbar_input1.inputxbarGpio  = "GPIO40";

inputxbar_input2.$name          = "myINPUTXBARINPUT1";
inputxbar_input2.inputxbarInput = "XBAR_INPUT6";
inputxbar_input2.inputxbarGpio  = "GPIO40";