TMS320F28335: EPWM Interrupt

Pouriya Boostani

Part Number: TMS320F28335

Hi,

I'm trying to make spwm using lookup table and epwm interrupt. When counter equals to zero the interrupt generates and it must update the CMPA and CMPB of EPWM1,2 and 3.

When I watch the epwm output ports, it shows that the value of CMPx is the first value in lookup tables and it doesn't update.

(EPWM1:CMPA=CMPB=25, EPWM2:CMPA=CMPB=4675, EPWM3:CMPA=CMPB=4675).

The following is the written program:

/*
 * main.c
 */

#include "DSP2833x_Device.h"
#include "DSP2833x_Examples.h"
#include "DSP2833x_Gpio.h"
#include "DSP2833x_EPwm.h"
#include "c2000_main.h"
#include <stdlib.h>
#include <stdio.h>

   int i = 0;
Uint16 lut1[240]={25,26,29,35,42,52,63,77,93,111,131,153,177,203,231,261,293,327,363,401,
		   440,482,525,570,617,666,716,768,821,876,933,991,1051,1112,1174,1238,1303,1369,1437,1505,
		   1575,1646,1718,1790,1864,1939,2014,2090,2167,2245,2323,2401,2480,2560,2640,2720,2801,2882,2963,3044,
		   3125,3206,3287,3368,3449,3530,3610,3690,3770,3849,3927,4005,4083,4160,4236,4311,4386,4460,4532,4604,
		   4675,4745,4813,4881,4947,5012,5076,5138,5199,5259,5317,5374,5429,5482,5534,5584,5633,5680,5725,5768,
		   5810,5849,5887,5923,5957,5989,6019,6047,6073,6097,6119,6139,6157,6173,6187,6198,6208,6215,6221,6224,
		   6225,6224,6221,6215,6208,6198,6187,6173,6157,6139,6119,6097,6073,6047,6019,5989,5957,5923,5887,5849,
		   5810,5768,5725,5680,5633,5584,5534,5482,5429,5374,5317,5259,5199,5138,5076,5012,4947,4881,4813,4745,
		   4675,4604,4532,4460,4386,4311,4236,4160,4083,4005,3927,3849,3770,3690,3610,3530,3449,3368,3287,3206,
		   3125,3044,2963,2882,2801,2720,2640,2560,2480,2401,2323,2245,2167,2090,2014,1939,1864,1790,1718,1646,
		   1575,1505,1437,1369,1303,1238,1174,1112,1051,991,933,876,821,768,716,666,617,570,525,482,
		   440,401,363,327,293,261,231,203,177,153,131,111,93,77,63,52,42,35,29,26};
Uint16 lut2[240]={4675,4604,4532,4460,4386,4311,4236,4160,4083,4005,3927,3849,3770,3690,3610,3530,3449,3368,3287,3206,
		   3125,3044,2963,2882,2801,2720,2640,2560,2480,2401,2323,2245,2167,2090,2014,1939,1864,1790,1718,1646,
		   1575,1505,1437,1369,1303,1238,1174,1112,1051,991,933,876,821,768,716,666,617,570,525,482,
		   440,401,363,327,293,261,231,203,177,153,131,111,93,77,63,52,42,35,29,26,
		   25,26,29,35,42,52,63,77,93,111,131,153,177,203,231,261,293,327,363,401,
		   440,482,525,570,617,666,716,768,821,876,933,991,1051,1112,1174,1238,1303,1369,1437,1505,
		   1575,1646,1718,1790,1864,1939,2014,2090,2167,2245,2323,2401,2480,2560,2640,2720,2801,2882,2963,3044,
		   3125,3206,3287,3368,3449,3530,3610,3690,3770,3849,3927,4005,4083,4160,4236,4311,4386,4460,4532,4604,
		   4675,4745,4813,4881,4947,5012,5076,5138,5199,5259,5317,5374,5429,5482,5534,5584,5633,5680,5725,5768,
		   5810,5849,5887,5923,5957,5989,6019,6047,6073,6097,6119,6139,6157,6173,6187,6198,6208,6215,6221,6224,
		   6225,6224,6221,6215,6208,6198,6187,6173,6157,6139,6119,6097,6073,6047,6019,5989,5957,5923,5887,5849,
		   5810,5768,5725,5680,5633,5584,5534,5482,5429,5374,5317,5259,5199,5138,5076,5012,4947,4881,4813,4745};
Uint16 lut3[240]={4675,4745,4813,4881,4947,5012,5076,5138,5199,5259,5317,5374,5429,5482,5534,5584,5633,5680,5725,5768,
		   5810,5849,5887,5923,5957,5989,6019,6047,6073,6097,6119,6139,6157,6173,6187,6198,6208,6215,6221,6224,
		   6225,6224,6221,6215,6208,6198,6187,6173,6157,6139,6119,6097,6073,6047,6019,5989,5957,5923,5887,5849,
		   5810,5768,5725,5680,5633,5584,5534,5482,5429,5374,5317,5259,5199,5138,5076,5012,4947,4881,4813,4745,
		   4675,4604,4532,4460,4386,4311,4236,4160,4083,4005,3927,3849,3770,3690,3610,3530,3449,3368,3287,3206,
		   3125,3044,2963,2882,2801,2720,2640,2560,2480,2401,2323,2245,2167,2090,2014,1939,1864,1790,1718,1646,
		   1575,1505,1437,1369,1303,1238,1174,1112,1051,991,933,876,821,768,716,666,617,570,525,482,
		   440,401,363,327,293,261,231,203,177,153,131,111,93,77,63,52,42,35,29,26,
		   25,26,29,35,42,52,63,77,93,111,131,153,177,203,231,261,293,327,363,401,
		   440,482,525,570,617,666,716,768,821,876,933,991,1051,1112,1174,1238,1303,1369,1437,1505,
		   1575,1646,1718,1790,1864,1939,2014,2090,2167,2245,2323,2401,2480,2560,2640,2720,2801,2882,2963,3044,
		   3125,3206,3287,3368,3449,3530,3610,3690,3770,3849,3927,4005,4083,4160,4236,4311,4386,4460,4532,4604};

interrupt void epwm1_timer_isr(void)
{
   EPwm1Regs.CMPA.half.CMPA = lut1[i];
   EPwm1Regs.CMPB = lut1[i];
   EPwm2Regs.CMPA.half.CMPA = lut2[i];
   EPwm2Regs.CMPB = lut2[i];
   EPwm3Regs.CMPA.half.CMPA = lut3[i];
   EPwm3Regs.CMPB = lut3[i];
   i++;
   if(i == 240) i=0;

   EPwm1Regs.ETCLR.bit.INT = 1;

   PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}

void main(void)
{
	InitSysCtrl();

   DINT;

   InitPieCtrl();

   IER = 0x0000;
   IFR = 0x0000;

   InitPieVectTable();

   EALLOW;
   PieVectTable.EPWM1_INT = &epwm1_timer_isr;
   EDIS;

   IER |= M_INT3;

   PieCtrlRegs.PIEIER3.bit.INTx1 = 1;
   PieCtrlRegs.PIEIER3.bit.INTx2 = 1;
   PieCtrlRegs.PIEIER3.bit.INTx3 = 1;

   EINT;
   ERTM;

   EALLOW;
   SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;      // Stop all the TB clocks
   EDIS;

   EALLOW;
   GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 1;		        // EPWM1A
   GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 1;			// EPWM1B
   GpioCtrlRegs.GPAMUX1.bit.GPIO2 = 1;			// EPWM2A
   GpioCtrlRegs.GPAMUX1.bit.GPIO3 = 1;			// EPWM2B
   GpioCtrlRegs.GPAMUX1.bit.GPIO4 = 1;			// EPWM3A
   GpioCtrlRegs.GPAMUX1.bit.GPIO5 = 1;			// EPWM3B
   GpioCtrlRegs.GPAPUD.bit.GPIO0 = 0;			       // Enabling Pull-up
   GpioCtrlRegs.GPAPUD.bit.GPIO1 = 0;
   GpioCtrlRegs.GPAPUD.bit.GPIO2 = 0;
   GpioCtrlRegs.GPAPUD.bit.GPIO3 = 0;
   GpioCtrlRegs.GPAPUD.bit.GPIO4 = 0;
   GpioCtrlRegs.GPAPUD.bit.GPIO5 = 0;
   EDIS;

   EPwm1Regs.TBPRD = 6250;						
   EPwm1Regs.TBCTR = 0x0000;
   EPwm1Regs.TBCTL.bit.CTRMODE = 2;			// Up-Down
   EPwm1Regs.TBCTL.bit.SYNCOSEL = 3;			// Disable
   EPwm1Regs.TBCTL.bit.PHSDIR = 0;
   EPwm1Regs.TBCTL.bit.PHSEN = 0;			       // Disable
   EPwm1Regs.TBCTL.bit.CLKDIV = 0;			       // /1
   EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0;		       // /1
   EPwm1Regs.CMPCTL.bit.SHDWAMODE = 0;			// Shadow Mode
   EPwm1Regs.CMPCTL.bit.SHDWBMODE = 0;
   EPwm1Regs.CMPCTL.bit.LOADAMODE = 0;			// Load on CTR=Zero
   EPwm1Regs.CMPCTL.bit.LOADBMODE = 0;
   EPwm1Regs.CMPA.half.CMPA = 0;
   EPwm1Regs.CMPB = 0;
   EPwm1Regs.AQCTLA.all = 144;				// Set on CAD, Clear on CAU
   EPwm1Regs.AQCTLB.all = 1536;				// Set on CBU, Clear on CBD
   EPwm1Regs.AQCSFRC.bit.CSFA = 0;			// Disable
   EPwm1Regs.AQCSFRC.bit.CSFB = 0;			// Disable
   EPwm1Regs.AQSFRC.bit.RLDCSF = 0;			// Load on CTR=Zero
   EPwm1Regs.DBCTL.bit.OUT_MODE = 3;
   EPwm1Regs.DBCTL.bit.IN_MODE = 0;
   EPwm1Regs.DBCTL.bit.POLSEL = 2;
   EPwm1Regs.DBFED = 10;
   EPwm1Regs.DBRED = 10;
   EPwm1Regs.ETSEL.bit.SOCAEN = 0;			// Disable
   EPwm1Regs.ETSEL.bit.SOCBEN = 0;			// Disable
   EPwm1Regs.ETSEL.bit.INTEN = 1;			// Enable
   EPwm1Regs.ETSEL.bit.INTSEL = 1;			// CTR=Zero
   EPwm1Regs.ETPS.bit.INTPRD = 1;			// First Event

   EPwm2Regs.TBPRD = 6250;
   EPwm2Regs.TBCTR = 0x0000;
   EPwm2Regs.TBCTL.bit.CTRMODE = 2;
   EPwm2Regs.TBCTL.bit.SYNCOSEL = 3;
   EPwm2Regs.TBCTL.bit.PHSDIR = 0;
   EPwm2Regs.TBCTL.bit.PHSEN = 0;
   EPwm2Regs.TBCTL.bit.CLKDIV = 0;
   EPwm2Regs.TBCTL.bit.HSPCLKDIV = 0;
   EPwm2Regs.CMPCTL.bit.SHDWAMODE = 0;
   EPwm2Regs.CMPCTL.bit.SHDWBMODE = 0;
   EPwm2Regs.CMPCTL.bit.LOADAMODE = 0;
   EPwm2Regs.CMPCTL.bit.LOADBMODE = 0;
   EPwm2Regs.CMPA.half.CMPA = 0;
   EPwm2Regs.CMPB = 0;
   EPwm2Regs.AQCTLA.all = 144;
   EPwm2Regs.AQCTLB.all = 1536;
   EPwm2Regs.AQCSFRC.bit.CSFA = 0;
   EPwm2Regs.AQCSFRC.bit.CSFB = 0;
   EPwm2Regs.AQSFRC.bit.RLDCSF = 0;
   EPwm2Regs.DBCTL.bit.OUT_MODE = 3;
   EPwm2Regs.DBCTL.bit.IN_MODE = 0;
   EPwm2Regs.DBCTL.bit.POLSEL = 2;
   EPwm2Regs.DBFED = 10;
   EPwm2Regs.DBRED = 10;
   EPwm2Regs.ETSEL.bit.SOCAEN = 0;
   EPwm2Regs.ETSEL.bit.SOCBEN = 0;
   EPwm2Regs.ETSEL.bit.INTEN = 1;
   EPwm2Regs.ETSEL.bit.INTSEL = 1;
   EPwm2Regs.ETPS.bit.INTPRD = 1;

   EPwm3Regs.TBPRD = 6250;
   EPwm3Regs.TBCTR = 0x0000;
   EPwm3Regs.TBCTL.bit.CTRMODE = 2;
   EPwm3Regs.TBCTL.bit.SYNCOSEL = 3;
   EPwm3Regs.TBCTL.bit.PHSDIR = 0;
   EPwm3Regs.TBCTL.bit.PHSEN = 0;
   EPwm3Regs.TBCTL.bit.CLKDIV = 0;
   EPwm3Regs.TBCTL.bit.HSPCLKDIV = 0;
   EPwm3Regs.CMPCTL.bit.SHDWAMODE = 0;
   EPwm3Regs.CMPCTL.bit.SHDWBMODE = 0;
   EPwm3Regs.CMPCTL.bit.LOADAMODE = 0;
   EPwm3Regs.CMPCTL.bit.LOADBMODE = 0;
   EPwm3Regs.CMPA.half.CMPA = 0;
   EPwm3Regs.CMPB = 0;
   EPwm3Regs.AQCTLA.all = 144;
   EPwm3Regs.AQCTLB.all = 1536;
   EPwm3Regs.AQCSFRC.bit.CSFA = 0;
   EPwm3Regs.AQCSFRC.bit.CSFB = 0;
   EPwm3Regs.AQSFRC.bit.RLDCSF = 0;
   EPwm3Regs.DBCTL.bit.OUT_MODE = 3;
   EPwm3Regs.DBCTL.bit.IN_MODE = 0;
   EPwm3Regs.DBCTL.bit.POLSEL = 2;
   EPwm3Regs.DBFED = 10;
   EPwm3Regs.DBRED = 10;
   EPwm3Regs.ETSEL.bit.SOCAEN = 0;
   EPwm3Regs.ETSEL.bit.SOCBEN = 0;
   EPwm3Regs.ETSEL.bit.INTEN = 1;
   EPwm3Regs.ETSEL.bit.INTSEL = 1;
   EPwm3Regs.ETPS.bit.INTPRD = 1;


   EALLOW;
   SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;         // Start all the timers synced
   EDIS;
}

In DefaultIsr.c file:

interrupt void EPWM1_INT_ISR(void)
{

}

Also I copied

   EPwm1Regs.ETCLR.bit.INT = 1;

   PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;

to DefaultIsr file but it didn't work.


Regards,

Pouriya

over 8 years ago

0 Richard Poley over 8 years ago

TI__Mastermind 27200 points

Pouriya,

As it stands, this code will not run because you have only assigned one interrupt service routine in the PIE table, but enabled multiple interrupts (EPWM1-3). EPWM1 triggers the ISR you have in your pos (epwm1_timer_isr), the others go to the default routines in the DSP2833x_DefaultIsr.c file, each of which contains an ESTOP instruction which halts the code, so everything stops. That's why you only load the values once.

If you want to test this you can simply comment out the two lines which enable the PWM2 & 3 interrupts, like this:
PieCtrlRegs.PIEIER3.bit.INTx1 = 1;
// PieCtrlRegs.PIEIER3.bit.INTx2 = 1;
// PieCtrlRegs.PIEIER3.bit.INTx3 = 1;

This leaves only PWM1 interrupt active, and on my machine it runs as you would expect, cycling through the lut1 values.

Regards,

Richard

0 Pouriya Boostani over 8 years ago in reply to Richard Poley

Prodigy 180 points

Thanks. it worked well.

Regards,

Pouriya

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TMS320F28335: EPWM Interrupt