//#include "driverlib.h"#include "device.h"#include "math.h"//// Defines//#define RESULTS_BUFFER_SIZE 256

//// Globals//uint16_t adcAResultsA0[RESULTS_BUFFER_SIZE]; // Buffer for resultsuint16_t adcAResultsA1[RESULTS_BUFFER_SIZE];uint16_t adcAResultsB4[RESULTS_BUFFER_SIZE];uint16_t index; // Index into result bufferuint16_t indexa1; // Index into result bufferuint16_t indexb4; // Index into result buffer

volatile uint16_t bufferFull; // Flag to indicate buffer is full

//// Function Prototypes//void initADC(void);void initEPWM(void);void initADCSOC(void);__interrupt void adcA1ISR(void);

int duty=0;int y=0;double z=0;double i=0;int j=0;double x=0;double sin_value=0;

//// Main//void main(void){ // Initialize device clock and peripherals Device_init(); // Disable pin locks and enable internal pullups. 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(); // Interrupts that are used in this example are re-mapped to ISR functions // found within this file. Interrupt_register(INT_ADCA1, &adcA1ISR); // Set up the ADC and the ePWM and initialize the SOC initADC(); initEPWM(); initADCSOC(); // Initialize results buffer for(index = 0; index < RESULTS_BUFFER_SIZE; index++) { adcAResultsA0[index] = 0; } index = 0; bufferFull = 0; // Enable ADC interrupt Interrupt_enable(INT_ADCA1); // Enable Global Interrupt (INTM) and realtime interrupt (DBGM) EINT; ERTM; // Loop indefinitely GPIO_writePin(23U,1); while(1) { // Start ePWM1, enabling SOCA and putting the counter in up-count mode

//PWM x=0; for(j=0;j=3250) { duty=duty-40; } EPWM_setCounterCompareValue(EPWM1_BASE, EPWM_COUNTER_COMPARE_A,duty);//设置比较值 EPWM_setCounterCompareValue(EPWM2_BASE, EPWM_COUNTER_COMPARE_A,duty); EPWM_setCounterCompareValue(EPWM1_BASE, EPWM_COUNTER_COMPARE_B,duty); EPWM_setCounterCompareValue(EPWM2_BASE, EPWM_COUNTER_COMPARE_B,duty);

EPWM_enableADCTrigger(EPWM1_BASE, EPWM_SOC_A);// EPWM_setTimeBaseCounterMode(EPWM1_BASE, EPWM_COUNTER_MODE_UP_DOWN); // Wait while ePWM1 causes ADC conversions which then cause interrupts. // When the results buffer is filled, the bufferFull flag will be set. while(bufferFull == 0) { } bufferFull = 0; // Clear the buffer full flag // Stop ePWM1, disabling SOCA and freezing the counter// EPWM_disableADCTrigger(EPWM1_BASE, EPWM_SOC_A);// EPWM_setTimeBaseCounterMode(EPWM1_BASE, EPWM_COUNTER_MODE_STOP_FREEZE); // Software breakpoint. At this point, conversion results are stored in // adcAResults. // Hit run again to get updated conversions. //// ESTOP0; }}}//// Function to configure and power up ADCA. void initADC(void){ // Enable internal reference on ADCs ADC_setVREF(ADCA_BASE, ADC_REFERENCE_INTERNAL, ADC_REFERENCE_3_3V); ADC_setVREF(ADCB_BASE, ADC_REFERENCE_INTERNAL, ADC_REFERENCE_3_3V); ADC_setVREF(ADCC_BASE, ADC_REFERENCE_INTERNAL, ADC_REFERENCE_3_3V); // Set ADCCLK divider to /2 ADC_setPrescaler(ADCA_BASE, ADC_CLK_DIV_2_0); ADC_setPrescaler(ADCB_BASE, ADC_CLK_DIV_2_0); // Set pulse positions to late ADC_setInterruptPulseMode(ADCA_BASE, ADC_PULSE_END_OF_CONV); // Power up the ADC and then delay for 1 ms ADC_enableConverter(ADCA_BASE); ADC_enableConverter(ADCB_BASE); DEVICE_DELAY_US(1000);}

//// Function to configure ePWM1 to generate the SOC.//void initEPWM(void){ GPIO_setPadConfig(4U, GPIO_PIN_TYPE_PULLUP);//fault GPIO_setDirectionMode(4U, GPIO_DIR_MODE_IN); GPIO_setPadConfig(23U, GPIO_PIN_TYPE_STD);//推挽输出 继电器 GPIO_setDirectionMode(23U, GPIO_DIR_MODE_OUT);

GPIO_setPadConfig(0U, GPIO_PIN_TYPE_STD);//推挽输出 GPIO_setPinConfig(GPIO_0_EPWM1A); GPIO_setPadConfig(1U, GPIO_PIN_TYPE_STD); GPIO_setPinConfig(GPIO_1_EPWM1B); GPIO_setPadConfig(2U, GPIO_PIN_TYPE_STD);//推挽输出 GPIO_setPinConfig(GPIO_2_EPWM2A); GPIO_setPadConfig(3U, GPIO_PIN_TYPE_STD); GPIO_setPinConfig(GPIO_3_EPWM2B);//EPWM1 // Disable SOCA EPWM_disableADCTrigger(EPWM1_BASE, EPWM_SOC_A); // Configure the SOC to occur on the first up-count event EPWM_setADCTriggerSource(EPWM1_BASE, EPWM_SOC_A, EPWM_SOC_TBCTR_PERIOD); EPWM_setADCTriggerEventPrescale(EPWM1_BASE, EPWM_SOC_A, 1); // Set the compare A value to 1000 and the period to 1999 // Assuming ePWM clock is 100MHz, this would give 50kHz sampling // 50MHz ePWM clock would give 25kHz sampling, etc. // The sample rate can also be modulated by changing the ePWM period // directly (ensure that the compare A value is less than the period).//// EPWM_setCounterCompareValue(EPWM1_BASE, EPWM_COUNTER_COMPARE_A, 1000);

EPWM_setTimeBasePeriod(EPWM1_BASE, 3330); // Set the local ePWM module clock divider to /1 EPWM_setClockPrescaler(EPWM1_BASE,EPWM_CLOCK_DIVIDER_1,EPWM_HSCLOCK_DIVIDER_1); // Freeze the counter EPWM_setTimeBaseCounterMode(EPWM1_BASE, EPWM_COUNTER_MODE_UP_DOWN);//EPWM_COUNTER_MODE_STOP_FREEZE/*EPMW1和 EPMW2初始相位相同 */ EPWM_setPhaseShift(EPWM1_BASE, 0U); EPWM_setTimeBaseCounter(EPWM1_BASE, 0U); EPWM_disablePhaseShiftLoad(EPWM1_BASE); EPWM_setSyncOutPulseMode(EPWM1_BASE,EPWM_SYNC_OUT_PULSE_ON_COUNTER_ZERO);/*设置死区*/ EPWM_setDeadBandCounterClock(EPWM1_BASE,EPWM_DB_COUNTER_CLOCK_FULL_CYCLE);//Dead band counter runs at TBCLK rate EPWM_setRisingEdgeDelayCount(EPWM1_BASE,50U);//500ns死区 EPWM_setFallingEdgeDelayCount(EPWM1_BASE,50U);// EPWM_setDeadBandDelayMode(EPWM1_BASE,EPWM_DB_RED,true); EPWM_setDeadBandDelayMode(EPWM1_BASE,EPWM_DB_FED,true); EPWM_setRisingEdgeDeadBandDelayInput(EPWM1_BASE,EPWM_DB_INPUT_EPWMA); EPWM_setFallingEdgeDeadBandDelayInput(EPWM1_BASE,EPWM_DB_INPUT_EPWMA); EPWM_setDeadBandDelayPolarity(EPWM1_BASE,EPWM_DB_FED, EPWM_DB_POLARITY_ACTIVE_LOW); EPWM_setDeadBandDelayPolarity(EPWM1_BASE,EPWM_DB_RED,EPWM_DB_POLARITY_ACTIVE_HIGH);/*设置动作方向 */ EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_HIGH, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPA); EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_LOW, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPA); EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_HIGH, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPB); EPWM_setActionQualifierAction(EPWM1_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_LOW, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPB);/////////////////EPWM2 EPWM_setTimeBasePeriod(EPWM2_BASE,3300U); EPWM_setPhaseShift(EPWM2_BASE,0);//设置初始移相值 EPWM_setTimeBaseCounter(EPWM2_BASE, 0U); EPWM_setTimeBaseCounterMode(EPWM2_BASE,EPWM_COUNTER_MODE_UP_DOWN);// EPWM_enablePhaseShiftLoad(EPWM2_BASE); EPWM_setSyncOutPulseMode(EPWM2_BASE,EPWM_SYNC_OUT_PULSE_ON_EPWMxSYNCIN); EPWM_setClockPrescaler(EPWM2_BASE,EPWM_CLOCK_DIVIDER_1,EPWM_HSCLOCK_DIVIDER_1);

EPWM_setDeadBandCounterClock(EPWM2_BASE,EPWM_DB_COUNTER_CLOCK_FULL_CYCLE);//Dead band counter runs at TBCLK rate EPWM_setRisingEdgeDelayCount(EPWM2_BASE,50U);//500ns死区 EPWM_setFallingEdgeDelayCount(EPWM2_BASE,50U);// EPWM_setDeadBandDelayMode(EPWM2_BASE,EPWM_DB_RED,true); EPWM_setDeadBandDelayMode(EPWM2_BASE,EPWM_DB_FED,true); EPWM_setRisingEdgeDeadBandDelayInput(EPWM2_BASE,EPWM_DB_INPUT_EPWMA); EPWM_setFallingEdgeDeadBandDelayInput(EPWM2_BASE,EPWM_DB_INPUT_EPWMA); EPWM_setDeadBandDelayPolarity(EPWM2_BASE,EPWM_DB_FED, EPWM_DB_POLARITY_ACTIVE_LOW); EPWM_setDeadBandDelayPolarity(EPWM2_BASE,EPWM_DB_RED, EPWM_DB_POLARITY_ACTIVE_HIGH); EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_HIGH, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPA); EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_LOW, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPA); EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_HIGH, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPB); EPWM_setActionQualifierAction(EPWM2_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_LOW, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPB);

}

// Function to configure ADCA's SOC0 to be triggered by ePWM1.void initADCSOC(void){ // Configure SOC0 of ADCA to convert pin A0. The EPWM1SOCA signal will be // the trigger. // - For 12-bit resolution, a sampling window of 7 (80 ns at a 100MHz // SYSCLK rate) will be used. // - NOTE: A longer sampling window will be required if the ADC driving // source is less than ideal (an ideal source would be a high bandwidth // op-amp with a small series resistance). See TI application report // SPRACT6 for guidance on ADC driver design. ADC_setupSOC(ADCA_BASE, ADC_SOC_NUMBER0, ADC_TRIGGER_EPWM1_SOCA, ADC_CH_ADCIN0, 8); ADC_setupSOC(ADCA_BASE, ADC_SOC_NUMBER1, ADC_TRIGGER_EPWM1_SOCA, ADC_CH_ADCIN1, 8); ADC_setupSOC(ADCB_BASE, ADC_SOC_NUMBER4, ADC_TRIGGER_EPWM1_SOCA, ADC_CH_ADCIN4, 8); // Set SOC0 to set the interrupt 1 flag. Enable the interrupt and make // sure its flag is cleared. ADC_setInterruptSource(ADCA_BASE, ADC_INT_NUMBER1, ADC_SOC_NUMBER0); ADC_enableInterrupt(ADCA_BASE, ADC_INT_NUMBER1); ADC_clearInterruptStatus(ADCA_BASE, ADC_INT_NUMBER1);}

// ADC A Interrupt 1 ISR__interrupt void adcA1ISR(void){ // Add the latest result to the buffer adcAResultsA0[index++] = ADC_readResult(ADCARESULT_BASE, ADC_SOC_NUMBER0); adcAResultsA1[indexa1++] = ADC_readResult(ADCARESULT_BASE, ADC_SOC_NUMBER1); adcAResultsB4[indexb4++] = ADC_readResult(ADCBRESULT_BASE, ADC_SOC_NUMBER4); // Set the bufferFull flag if the buffer is full

if(RESULTS_BUFFER_SIZE