LAUNCHXL-F28379D: C2000™︎ 微控制器论坛

我用的是主控LAUNCHXL-F2837D 驱动板是drv8301—REVB  在进行用户指南移植过后，在根据指南中第一级增量构建中三相PWM占空比不等于50% CMPA不等于TBPRD的一半，还有电压偏执不等于0 。为什么？

Ben Qin：

你好，

? ? said:在进行用户指南移植过后

具体是哪一个文件？

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? ?：

你好，请问一下说这个具体文件是问的用户指南吗？还是程序文件？ 用户指南是这个链接Universal Motor Control Project and Lab User’s Guide (ti.com.cn)，程序文件是用的C2000motorcontrol/solution/universal_lab

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Ben Qin：

? ? said:用户指南是这个链接Universal Motor Control Project and Lab User’s Guide (ti.com.cn)，

你是如何进行移植的？这个文件似乎没有提到移植相关的内容。

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Ben Qin：

你所用的例程是基于280025C的，并不能直接用在28379D上。

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? ?：

你好 这个文档有相关的讲解 关于将代码移植到其他C2000MCU 和移植到其他相关驱动板

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Ben Qin：

我咨询下相关资深工程师后回复您。

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? ?：

你好 麻烦一下 可不可以快点回复

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Ben Qin：

你好，你用的具体是哪一个例程？

你根据相关资料正确配置了PWM吗？看起来似乎没有。

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? ?：

你好 我是根据User’s Guide Motor Control SDK Universal Project and Lab 这个文档对 建立关于f28379d的工程，我个人也是也认为i是pwm配置出现了问题，我去掉驱动器，只用控制板去测量引脚输出的pwm的电压显示为0。

下面是我修改的相关部分的代码

void HAL_setupPWMs(HAL_MTR_Handle handle)
{HAL_MTR_Obj*obj = (HAL_MTR_Obj *)handle;uint16_tcnt;uint16_tpwmPeriodCycles = (uint16_t)(USER_M1_PWM_TBPRD_NUM);uint16_tnumPWMTicksPerISRTick = USER_M1_NUM_PWM_TICKS_PER_ISR_TICK;// disable the ePWM module time base clock sync signal// to synchronize all of the PWMsSysCtl_disablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC);// turns off the outputs of the EPWM peripherals which will put the power// switches into a high impedance state.EPWM_forceTripZoneEvent(obj->pwmHandle[0], EPWM_TZ_FORCE_EVENT_OST);EPWM_forceTripZoneEvent(obj->pwmHandle[1], EPWM_TZ_FORCE_EVENT_OST);EPWM_forceTripZoneEvent(obj->pwmHandle[2], EPWM_TZ_FORCE_EVENT_OST);#if defined(BSXL8323RS_REVA) || defined(BSXL8323RH_REVB) || \defined(BSXL8353RS_REVA) || defined(BSXL8316RT_REVA) || \defined(BSXL3PHGAN_REVA) || defined(HVMTRPFC_REV1P1) || \defined(BSXL8301_REVB)for(cnt=0; cnt<3; cnt++){// setup the Time-Base Control Register (TBCTL)EPWM_setTimeBaseCounterMode(obj->pwmHandle[cnt],EPWM_COUNTER_MODE_UP_DOWN);EPWM_disablePhaseShiftLoad(obj->pwmHandle[cnt]);EPWM_setPeriodLoadMode(obj->pwmHandle[cnt], EPWM_PERIOD_DIRECT_LOAD);//EPWM_enableSyncOutPulseSource(obj->pwmHandle[cnt],//EPWM_SYNC_OUT_PULSE_ON_SOFTWARE);EPWM_setSyncOutPulseMode(obj->pwmHandle[cnt],EPWM_SYNC_OUT_PULSE_ON_SOFTWARE);EPWM_setClockPrescaler(obj->pwmHandle[cnt], EPWM_CLOCK_DIVIDER_1,EPWM_HSCLOCK_DIVIDER_1);EPWM_setCountModeAfterSync(obj->pwmHandle[cnt],EPWM_COUNT_MODE_UP_AFTER_SYNC);EPWM_setEmulationMode(obj->pwmHandle[cnt], EPWM_EMULATION_FREE_RUN);// setup the Timer-Based Phase Register (TBPHS)EPWM_setPhaseShift(obj->pwmHandle[cnt], 0);// setup the Time-Base Counter Register (TBCTR)EPWM_setTimeBaseCounter(obj->pwmHandle[cnt], 0);// setup the Time-Base Period Register (TBPRD)// set to zero initiallyEPWM_setTimeBasePeriod(obj->pwmHandle[cnt], 0);// setup the Counter-Compare Control Register (CMPCTL)EPWM_setCounterCompareShadowLoadMode(obj->pwmHandle[cnt],EPWM_COUNTER_COMPARE_A,EPWM_COMP_LOAD_ON_CNTR_ZERO);EPWM_setCounterCompareShadowLoadMode(obj->pwmHandle[cnt],EPWM_COUNTER_COMPARE_B,EPWM_COMP_LOAD_ON_CNTR_ZERO);EPWM_setCounterCompareShadowLoadMode(obj->pwmHandle[cnt],EPWM_COUNTER_COMPARE_C,EPWM_COMP_LOAD_ON_CNTR_ZERO);EPWM_setCounterCompareShadowLoadMode(obj->pwmHandle[cnt],EPWM_COUNTER_COMPARE_D,EPWM_COMP_LOAD_ON_CNTR_ZERO);
#else//!MOTOR1_ISBLDC
#if defined(MOTOR1_DCLINKSS).......
#else// !(MOTOR1_DCLINKSS)// setup the Action-Qualifier Output A Register (AQCTLA)EPWM_setActionQualifierAction(obj->pwmHandle[cnt],EPWM_AQ_OUTPUT_A,EPWM_AQ_OUTPUT_HIGH,EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPA);EPWM_setActionQualifierAction(obj->pwmHandle[cnt],EPWM_AQ_OUTPUT_A,EPWM_AQ_OUTPUT_HIGH,EPWM_AQ_OUTPUT_ON_TIMEBASE_PERIOD);EPWM_setActionQualifierAction(obj->pwmHandle[cnt],EPWM_AQ_OUTPUT_A,EPWM_AQ_OUTPUT_LOW,EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPA);EPWM_setActionQualifierAction(obj->pwmHandle[cnt],EPWM_AQ_OUTPUT_A,EPWM_AQ_OUTPUT_LOW,EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO);#endif// !(MOTOR1_DCLINKSS)// setup the Dead-Band Generator Control Register (DBCTL)EPWM_setDeadBandDelayMode(obj->pwmHandle[cnt], EPWM_DB_RED, true);EPWM_setDeadBandDelayMode(obj->pwmHandle[cnt], EPWM_DB_FED, true);// select EPWMA as the input to the dead band generatorEPWM_setRisingEdgeDeadBandDelayInput(obj->pwmHandle[cnt],EPWM_DB_INPUT_EPWMA);// configure the right polarity for active high complementary config.EPWM_setDeadBandDelayPolarity(obj->pwmHandle[cnt],EPWM_DB_RED,EPWM_DB_POLARITY_ACTIVE_HIGH);EPWM_setDeadBandDelayPolarity(obj->pwmHandle[cnt],EPWM_DB_FED,EPWM_DB_POLARITY_ACTIVE_LOW);// setup the Dead-Band Rising Edge Delay Register (DBRED)EPWM_setRisingEdgeDelayCount(obj->pwmHandle[cnt], MTR1_PWM_DBRED_CNT);// setup the Dead-Band Falling Edge Delay Register (DBFED)EPWM_setFallingEdgeDelayCount(obj->pwmHandle[cnt], MTR1_PWM_DBFED_CNT);#endif//!MOTOR1_ISBLDC// setup the PWM-Chopper Control Register (PCCTL)EPWM_disableChopper(obj->pwmHandle[cnt]);// setup the Trip Zone Select Register (TZSEL)EPWM_disableTripZoneSignals(obj->pwmHandle[cnt], HAL_TZSEL_SIGNALS_ALL);}
#if defined(MOTOR1_ISBLDC)
..........
#elif
.........#else//!(MOTOR1_ISBLDC || MOTOR1_DCLINKSS)// setup the Event Trigger Selection Register (ETSEL)EPWM_setInterruptSource(obj->pwmHandle[0], EPWM_INT_TBCTR_ZERO);EPWM_enableInterrupt(obj->pwmHandle[0]);EPWM_setADCTriggerSource(obj->pwmHandle[0],EPWM_SOC_A, EPWM_SOC_TBCTR_D_CMPC);EPWM_enableADCTrigger(obj->pwmHandle[0], EPWM_SOC_A);
#endif// !(MOTOR1_ISBLDC || MOTOR1_DCLINKSS)// setup the Event Trigger Prescale Register (ETPS)if(numPWMTicksPerISRTick > 15){EPWM_setInterruptEventCount(obj->pwmHandle[0], 15);EPWM_setADCTriggerEventPrescale(obj->pwmHandle[0], EPWM_SOC_A, 15);EPWM_setADCTriggerEventPrescale(obj->pwmHandle[0], EPWM_SOC_B, 15);}else if(numPWMTicksPerISRTick < 1){EPWM_setInterruptEventCount(obj->pwmHandle[0], 1);EPWM_setADCTriggerEventPrescale(obj->pwmHandle[0], EPWM_SOC_A, 1);EPWM_setADCTriggerEventPrescale(obj->pwmHandle[0], EPWM_SOC_B, 1);}else{EPWM_setInterruptEventCount(obj->pwmHandle[0], numPWMTicksPerISRTick);EPWM_setADCTriggerEventPrescale(obj->pwmHandle[0], EPWM_SOC_A,numPWMTicksPerISRTick);EPWM_setADCTriggerEventPrescale(obj->pwmHandle[0], EPWM_SOC_B,numPWMTicksPerISRTick);}// setup the Event Trigger Clear Register (ETCLR)EPWM_clearEventTriggerInterruptFlag(obj->pwmHandle[0]);EPWM_clearADCTriggerFlag(obj->pwmHandle[0], EPWM_SOC_A);EPWM_clearADCTriggerFlag(obj->pwmHandle[0], EPWM_SOC_B);// since the PWM is configured as an up/down counter, the period register is// set to one-half of the desired PWM periodEPWM_setTimeBasePeriod(obj->pwmHandle[0], pwmPeriodCycles);EPWM_setTimeBasePeriod(obj->pwmHandle[1], pwmPeriodCycles);EPWM_setTimeBasePeriod(obj->pwmHandle[2], pwmPeriodCycles);// write the PWM data valuefor ADC triggerEPWM_setCounterCompareValue(obj->pwmHandle[0], EPWM_COUNTER_COMPARE_C, 10);// enable the ePWM module time base clock sync signalSysCtl_enablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC);return;
}// end of HAL_setupPWMs() functionstatic inline void
HAL_writePWMData(HAL_MTR_Handle handle, HAL_PWMData_t *pPWMData)
{HAL_MTR_Obj *obj = (HAL_MTR_Obj *)handle;float32_t period = (float32_t)(EPWM_getTimeBasePeriod(obj->pwmHandle[0]));uint16_t pwmCnt;for(pwmCnt=0; pwmCnt<3; pwmCnt++){// compute the valuefloat32_t V_pu = -pPWMData->Vabc_pu.value[pwmCnt];// Negativefloat32_t V_sat_pu = __fsat(V_pu, 0.5, -0.5);// -0.5~0.5float32_t V_sat_dc_pu = V_sat_pu + 0.5;// 0~1.0pPWMData->cmpValue[pwmCnt]= (int16_t)(V_sat_dc_pu * period);//if(pPWMData->cmpValue[pwmCnt] < pPWMData->minCMPValue){pPWMData->cmpValue[pwmCnt] = pPWMData->minCMPValue;}// write the PWM data valueEPWM_setCounterCompareValue(obj->pwmHandle[pwmCnt],EPWM_COUNTER_COMPARE_A,pPWMData->cmpValue[pwmCnt]);EPWM_setCounterCompareValue(obj->pwmHandle[pwmCnt],EPWM_COUNTER_COMPARE_B,pPWMData->cmpValue[pwmCnt]);}return;
} // end of HAL_writePWMData() functionvoid runMotor1OffsetsCalculation(MOTOR_Handle handle)
{.................ADC_setPPBReferenceOffset(MTR1_IU_ADC_BASE, MTR1_IU_ADC_PPB_NUM, 0);ADC_setPPBReferenceOffset(MTR1_IV_ADC_BASE, MTR1_IV_ADC_PPB_NUM, 0);ADC_setPPBReferenceOffset(MTR1_IW_ADC_BASE, MTR1_IW_ADC_PPB_NUM, 0);obj->adcData.offset_I_ad.value[0] =obj->adcData.offset_I_ad.value[0] * obj->adcData.current_sf;obj->adcData.offset_I_ad.value[1] =obj->adcData.offset_I_ad.value[1] * obj->adcData.current_sf;obj->adcData.offset_I_ad.value[2] =obj->adcData.offset_I_ad.value[2] * obj->adcData.current_sf;// Set the 3-phase output PWMs to 50% duty cycleobj->pwmData.Vabc_pu.value[0] = 0.0f;obj->pwmData.Vabc_pu.value[1] = 0.0f;obj->pwmData.Vabc_pu.value[2] = 0.0f;
//obj->pwmData.Vabc_pu.value[0] = 0.4f;
//obj->pwmData.Vabc_pu.value[1] = 0.5f;
//obj->pwmData.Vabc_pu.value[2] = 0.5f;......................
}__interrupt void motor1CtrlISR(void)
{................
#if(DMC_BUILDLEVEL == DMC_LEVEL_1)// output 50%obj->pwmData.Vabc_pu.value[0] = 0.0f;obj->pwmData.Vabc_pu.value[1] = 0.0f;obj->pwmData.Vabc_pu.value[2] = 0.0f;
//obj->pwmData.Vabc_pu.value[0] = 0.5f;
//obj->pwmData.Vabc_pu.value[1] = 0.5f;
//obj->pwmData.Vabc_pu.value[2] = 0.5f;
#endif
}

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Ben Qin：

已向工程师跟进

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Ben Qin：

参考下工程师的回复：

Currently, the Universal Motor Control doesn't support f28379d and DRV8301 kit, you need to follow the lab user's guide to port this project for f28379d. Make sure that you change the configuration correctly for f28379d and drv8301 kit.

Universal Project and Lab User’s Guide: https://www.ti.com/lit/spruj26

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? ?：

按照Universal Project and Lab User’s Guide 对f28379d和drv8301 进行了移植，上面问题就是移植后出现，但现在还未解决

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Ben Qin：

问题应该是出在PWM或者是GPIO的配置上。我们没有现成的移植例程，只能是建议对照手册移植并检查相关的配置。

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? ?：

你好 我现在pwm占空比正常了，现在出现的新的问题是设置flagEnableRunAndIdentify=1，将会产生过流现象，我更改motorVars_M1.overCurrent_A的值，仍会出现这种情况，我现在使用的开发板是F28379D驱动板是DRV8323RS，还有一个奇怪的现象，我没有连接编码器，但是在enc模式下电机可以运行。