CCS/TMS320F28054F: Migration of instaspin project from TMS320F28027 to TMS320F28054 microncontrollers

Hi,

to clarify...I didn't modify any PGA register

Hi Masky,

I will be looking into this issue for you. I understand you are working on the boostxldrv8301_revB development kit.

Are you using a TI example software or your own software?

Regards,
Kris

Hi Kris,

I'm working with my own HW and  SW. With the old microcontroller (TMS320F28027F), I was working with my own HW and SW too, but both designs were on the basis of boostxldrv8301_revB and LaunchpadXL.

Now, with the new HW, I only did a few changes on hal and gpios modules, but the motor never spins. In these days I did more test:

1. I verified the V adc channels and those are OK.
2. In the mainISR interrupt, if I fix the PWM duty cycle before call to the HAL_writePwmData, the PWM output are changed OK. 

I guess the problem could be in the CTRL_run function, so the SVGEN_RUN returns a bad duty cycle, but I'm completely loss:-(.

Thank you for your help.

Masky,

Thank you for the extra information.

Are you able to post the following:

- Your PWM initialization code
- The change you make in Main ISR which fixes the issue
- The relevant portions from HAL_writePwmData

Have you tried creating variables and recording the values that HAL_writePwmData is using when the code isn't working?  It would be good to see what is actually being written, as it does sound like incorrect values or possibly bad shadow-active load timing.

Thanks,
Kris

Hi Kris,

to clarify, the issue was not fixed. I only checked that HAL_writePwmData works as intended. So, below the information you ask for:

• PWM initialization code.

void HAL_setupPwms(HAL_Handle handle,
                   const uint_least16_t systemFreq_MHz,
                   const float_t pwmPeriod_usec,
                   const uint_least16_t numPwmTicksPerIsrTick)
{
  HAL_Obj   *obj = (HAL_Obj *)handle;
  uint16_t   halfPeriod_cycles = (uint16_t)((float_t)systemFreq_MHz*pwmPeriod_usec) >> 1;
  uint_least8_t    cnt;


  // turns off the outputs of the EPWM peripherals which will put the power switches
  // into a high impedance state.
  PWM_setOneShotTrip(obj->pwmHandle[PWM_Number_1]);
  PWM_setOneShotTrip(obj->pwmHandle[PWM_Number_2]);
  PWM_setOneShotTrip(obj->pwmHandle[PWM_Number_3]);

  for(cnt=0;cnt<3;cnt++)
    {
      // setup the Time-Base Control Register (TBCTL)
      PWM_setCounterMode(obj->pwmHandle[cnt],PWM_CounterMode_UpDown);
      PWM_disableCounterLoad(obj->pwmHandle[cnt]);
      PWM_setPeriodLoad(obj->pwmHandle[cnt],PWM_PeriodLoad_Immediate);
      PWM_setSyncMode(obj->pwmHandle[cnt],PWM_SyncMode_EPWMxSYNC);
      PWM_setHighSpeedClkDiv(obj->pwmHandle[cnt],PWM_HspClkDiv_by_1);
      PWM_setClkDiv(obj->pwmHandle[cnt],PWM_ClkDiv_by_1);
      PWM_setPhaseDir(obj->pwmHandle[cnt],PWM_PhaseDir_CountUp);
      PWM_setRunMode(obj->pwmHandle[cnt],PWM_RunMode_FreeRun);

      // setup the Timer-Based Phase Register (TBPHS)
      PWM_setPhase(obj->pwmHandle[cnt],0);

      // setup the Time-Base Counter Register (TBCTR)
      PWM_setCount(obj->pwmHandle[cnt],0);

      // setup the Time-Base Period Register (TBPRD)
      // set to zero initially
      PWM_setPeriod(obj->pwmHandle[cnt],0);

      // setup the Counter-Compare Control Register (CMPCTL)
      PWM_setLoadMode_CmpA(obj->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setLoadMode_CmpB(obj->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setShadowMode_CmpA(obj->pwmHandle[cnt],PWM_ShadowMode_Shadow);
      PWM_setShadowMode_CmpB(obj->pwmHandle[cnt],PWM_ShadowMode_Immediate);

      // setup the Action-Qualifier Output A Register (AQCTLA) 
      PWM_setActionQual_CntUp_CmpA_PwmA(obj->pwmHandle[cnt],PWM_ActionQual_Set);
      PWM_setActionQual_CntDown_CmpA_PwmA(obj->pwmHandle[cnt],PWM_ActionQual_Clear);

      // setup the Dead-Band Generator Control Register (DBCTL)
      PWM_setDeadBandOutputMode(obj->pwmHandle[cnt],PWM_DeadBandOutputMode_EPWMxA_Rising_EPWMxB_Falling);
      PWM_setDeadBandPolarity(obj->pwmHandle[cnt],PWM_DeadBandPolarity_EPWMxB_Inverted);

      // setup the Dead-Band Rising Edge Delay Register (DBRED)
      PWM_setDeadBandRisingEdgeDelay(obj->pwmHandle[cnt],HAL_PWM_DBRED_CNT);

      // setup the Dead-Band Falling Edge Delay Register (DBFED)
      PWM_setDeadBandFallingEdgeDelay(obj->pwmHandle[cnt],HAL_PWM_DBFED_CNT);
      // setup the PWM-Chopper Control Register (PCCTL)
      PWM_disableChopping(obj->pwmHandle[cnt]);

      // setup the Trip Zone Select Register (TZSEL)
      PWM_disableTripZones(obj->pwmHandle[cnt]);
    }


  // setup the Event Trigger Selection Register (ETSEL)
  PWM_disableInt(obj->pwmHandle[PWM_Number_1]);
  PWM_setSocAPulseSrc(obj->pwmHandle[PWM_Number_1],PWM_SocPulseSrc_CounterEqualZero);
  PWM_enableSocAPulse(obj->pwmHandle[PWM_Number_1]);
  

  // setup the Event Trigger Prescale Register (ETPS)
  if(numPwmTicksPerIsrTick == 3)
    {
      PWM_setIntPeriod(obj->pwmHandle[PWM_Number_1],PWM_IntPeriod_ThirdEvent);
      PWM_setSocAPeriod(obj->pwmHandle[PWM_Number_1],PWM_SocPeriod_ThirdEvent);
    }
  else if(numPwmTicksPerIsrTick == 2)
    {
      PWM_setIntPeriod(obj->pwmHandle[PWM_Number_1],PWM_IntPeriod_SecondEvent);
      PWM_setSocAPeriod(obj->pwmHandle[PWM_Number_1],PWM_SocPeriod_SecondEvent);
    }
  else
    {
      PWM_setIntPeriod(obj->pwmHandle[PWM_Number_1],PWM_IntPeriod_FirstEvent);
      PWM_setSocAPeriod(obj->pwmHandle[PWM_Number_1],PWM_SocPeriod_FirstEvent);
    }


  // setup the Event Trigger Clear Register (ETCLR)
  PWM_clearIntFlag(obj->pwmHandle[PWM_Number_1]);
  PWM_clearSocAFlag(obj->pwmHandle[PWM_Number_1]);

  // first step to synchronize the pwms
  CLK_disableTbClockSync(obj->clkHandle);

  // since the PWM is configured as an up/down counter, the period register is set to one-half 
  // of the desired PWM period
  PWM_setPeriod(obj->pwmHandle[PWM_Number_1],halfPeriod_cycles);
  PWM_setPeriod(obj->pwmHandle[PWM_Number_2],halfPeriod_cycles);
  PWM_setPeriod(obj->pwmHandle[PWM_Number_3],halfPeriod_cycles);

  // last step to synchronize the pwms
  CLK_enableTbClockSync(obj->clkHandle);

  return;
}  // end of HAL_setupPwms() function

• Main ISR code. In comments the lines to fix the duty cycle.

interrupt void mainISR(void)
{

	if(ThyCnt) ThyCnt--;

  // acknowledge the ADC interrupt
  HAL_acqAdcInt(halHandle,ADC_IntNumber_1);

  // convert the ADC data
  HAL_readAdcData(halHandle,&gAdcData);

  // run the controller
  CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData);

// write the PWM compare values
//  gPwmData.Tabc.value[0]=PWM0;
//  gPwmData.Tabc.value[1]=PWM1;
//  gPwmData.Tabc.value[2]=PWM2;
  HAL_writePwmData(halHandle,&gPwmData);

  calcPosRel(ctrlHandle);					// calcula angulo recorrid0 _IQ20

  // setup the controller
  CTRL_setup(ctrlHandle);

  return;
} // end of mainISR() function

• Finally, the HAL_writePwmData.

//! \brief     Writes PWM data to the PWM comparators for motor control
//! \param[in] handle    The hardware abstraction layer (HAL) handle
//! \param[in] pPwmData  The pointer to the PWM data
static inline void HAL_writePwmData(HAL_Handle handle,HAL_PwmData_t *pPwmData)
{
  uint_least8_t cnt;
  HAL_Obj *obj = (HAL_Obj *)handle;
  PWM_Obj *pwm;
  _iq period;
  _iq pwmData_sat;
  _iq pwmData_sat_dc;
  _iq value;
  uint16_t value_sat;

  for(cnt=0;cnt<3;cnt++)
    {
      pwm = (PWM_Obj *)obj->pwmHandle[cnt];
      period = (_iq)pwm->TBPRD;
      pwmData_sat = _IQsat(pPwmData->Tabc.value[cnt],_IQ(1.0),_IQ(-1.0));
      pwmData_sat_dc = _IQmpy(pwmData_sat + _IQ(1.0), _IQ(0.5));
      value = _IQmpy(pwmData_sat_dc, period);
      value_sat = (uint16_t)_IQsat(value, period, _IQ(0.0));

      // write the PWM data
      PWM_write_CmpA(obj->pwmHandle[cnt],value_sat);
    }

  return;
} // end of HAL_writePwmData() function

Sorry to write again. I did a double check, if I change the PWM duty cycle, gAdcData works as intented (so the adc HW is ok and the PWM initialization code too), but not in the opposite direction, I mean, if gAdcData are fixed, the PWM output never changes. I have no idea but I guess something happen with the controller, maybe I'm wrong.

Any help will be appreciate.