Texas Instruments 28xxx User manual

TMS320x28xx, 28xxx Enhanced PulseWidthModulator (ePWM) Module
Reference Guide
Literature Number: SPRU791DNovember 2004 – Revised October 2007

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Contents
Preface ............................................................................................................................... 9
1 Introduction ............................................................................................................. 131.1 Introduction ......................................................................................................... 141.2 Submodule Overview ............................................................................................. 141.3 Register Mapping .................................................................................................. 17
2 ePWM Submodules ................................................................................................... 192.1 Overview ............................................................................................................ 202.2 Time-Base (TB) Submodule ..................................................................................... 232.2.1 Purpose of the Time-Base Submodule ................................................................ 232.2.2 Controlling and Monitoring the Time-base Submodule .............................................. 242.2.3 Calculating PWM Period and Frequency .............................................................. 252.2.4 Phase Locking the Time-Base Clocks of Multiple ePWM Modules ................................ 302.2.5 Time-base Counter Modes and Timing Waveforms ................................................. 302.3 Counter-Compare (CC) Submodule ............................................................................ 322.3.1 Purpose of the Counter-Compare Submodule ....................................................... 332.3.2 Controlling and Monitoring the Counter-Compare Submodule ..................................... 332.3.3 Operational Highlights for the Counter-Compare Submodule ...................................... 342.3.4 Count Mode Timing Waveforms ....................................................................... 342.4 Action-Qualifier (AQ) Submodule ............................................................................... 372.4.1 Purpose of the Action-Qualifier Submodule .......................................................... 372.4.2 Action-Qualifier Submodule Control and Status Register Definitions ............................. 372.4.3 Action-Qualifier Event Priority .......................................................................... 402.4.4 Waveforms for Common Configurations .............................................................. 412.5 Dead-Band Generator (DB) Submodule ....................................................................... 502.5.1 Purpose of the Dead-Band Submodule ............................................................... 502.5.2 Controlling and Monitoring the Dead-Band Submodule ............................................. 502.5.3 Operational Highlights for the Dead-Band Submodule .............................................. 512.6 PWM-Chopper (PC) Submodule ................................................................................ 552.6.1 Purpose of the PWM-Chopper Submodule ........................................................... 552.6.2 Controlling the PWM-Chopper Submodule ........................................................... 552.6.3 Operational Highlights for the PWM-Chopper Submodule .......................................... 552.6.4 Waveforms ................................................................................................ 562.7 Trip-Zone (TZ) Submodule ....................................................................................... 592.7.1 Purpose of the Trip-Zone Submodule ................................................................. 592.7.2 Controlling and Monitoring the Trip-Zone Submodule ............................................... 602.7.3 Operational Highlights for the Trip-Zone Submodule ................................................ 602.7.4 Generating Trip Event Interrupts ....................................................................... 622.8 Event-Trigger (ET) Submodule .................................................................................. 632.8.1 Operational Overview of the Event-Trigger Submodule ............................................. 64
3 Applications to Power Topologies .............................................................................. 693.1 Overview of Multiple Modules ................................................................................... 703.2 Key Configuration Capabilities................................................................................... 703.3 Controlling Multiple Buck Converters With Independent Frequencies ..................................... 71
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3.4 Controlling Multiple Buck Converters With Same Frequencies ............................................. 753.5 Controlling Multiple Half H-Bridge (HHB) Converters ........................................................ 783.6 Controlling Dual 3-Phase Inverters for Motors (ACI and PMSM) ........................................... 803.7 Practical Applications Using Phase Control Between PWM Modules ...................................... 843.8 Controlling a 3-Phase Interleaved DC/DC Converter ......................................................... 853.9 Controlling Zero Voltage Switched Full Bridge (ZVSFB) Converter ........................................ 89
4 Registers ................................................................................................................. 934.1 Time-Base Submodule Registers ............................................................................... 944.2 Counter-Compare Submodule Registers....................................................................... 974.3 Action-Qualifier Submodule Registers .......................................................................... 994.4 Dead-Band Submodule Registers ............................................................................. 1034.5 PWM-Chopper Submodule Control Register ................................................................. 1054.6 Trip-Zone Submodule Control and Status Registers ........................................................ 1064.7 Event-Trigger Submodule Registers .......................................................................... 1104.8 Proper Interrupt Initialization Procedure ...................................................................... 115
A Revision History ..................................................................................................... 117
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List of Figures
1-1 Multiple ePWM Modules ................................................................................................... 151-2 Submodules and Signal Connections for an ePWM Module ......................................................... 161-3 ePWM Submodules and Critical Internal Signal Interconnects ...................................................... 172-1 Time-Base Submodule Block Diagram .................................................................................. 232-2 Time-Base Submodule Signals and Registers ......................................................................... 242-3 Time-Base Frequency and Period ....................................................................................... 262-4 Time-Base Counter Synchronization Scheme 1 ....................................................................... 272-5 Time-Base Counter Synchronization Scheme 2 ....................................................................... 282-6 Time-Base Counter Synchronization Scheme 3 ....................................................................... 292-7 Time-Base Up-Count Mode Waveforms ................................................................................ 302-8 Time-Base Down-Count Mode Waveforms ............................................................................. 312-9 Time-Base Up-Down-Count Waveforms, TBCTL[PHSDIR = 0] Count Down On Synchronization Event ...... 312-10 Time-Base Up-Down Count Waveforms, TBCTL[PHSDIR = 1] Count Up On Synchronization Event ......... 322-11 Counter-Compare Submodule ............................................................................................ 322-12 Detailed View of the Counter-Compare Submodule ................................................................... 332-13 Counter-Compare Event Waveforms in Up-Count Mode ............................................................. 352-14 Counter-Compare Events in Down-Count Mode ....................................................................... 352-15 Counter-Compare Events In Up-Down-Count Mode, TBCTL[PHSDIR = 0] Count Down OnSynchronization Event .................................................................................................... 362-16 Counter-Compare Events In Up-Down-Count Mode, TBCTL[PHSDIR = 1] Count Up On SynchronizationEvent ........................................................................................................................ 362-17 Action-Qualifier Submodule ............................................................................................... 372-18 Action-Qualifier Submodule Inputs and Outputs ....................................................................... 382-19 Possible Action-Qualifier Actions for EPWMxA and EPWMxB Outputs ............................................ 392-20 Up-Down-Count Mode Symmetrical Waveform ........................................................................ 422-21 Up, Single Edge Asymmetric Waveform, With Independent Modulation on EPWMxA andEPWMxB—Active High .................................................................................................... 432-22 Up, Single Edge Asymmetric Waveform With Independent Modulation on EPWMxA andEPWMxB—Active Low .................................................................................................... 442-23 Up-Count, Pulse Placement Asymmetric Waveform With Independent Modulation on EPWMxA .............. 452-24 Up-Down-Count, Dual Edge Symmetric Waveform, With Independent Modulation on EPWMxA andEPWMxB — Active Low ................................................................................................... 472-25 Up-Down-Count, Dual Edge Symmetric Waveform, With Independent Modulation on EPWMxA andEPWMxB — Complementary ............................................................................................. 482-26 Up-Down-Count, Dual Edge Asymmetric Waveform, With Independent Modulation on EPWMxA—ActiveLow ........................................................................................................................... 492-27 Dead_Band Submodule ................................................................................................... 502-28 Configuration Options for the Dead-Band Submodule ................................................................ 512-29 Dead-Band Waveforms for Typical Cases (0% < Duty < 100%) ..................................................... 532-30 PWM-Chopper Submodule ............................................................................................... 552-31 PWM-Chopper Submodule Operational Details ........................................................................ 562-32 Simple PWM-Chopper Submodule Waveforms Showing Chopping Action Only .................................. 562-33 PWM-Chopper Submodule Waveforms Showing the First Pulse and Subsequent Sustaining Pulses ......... 572-34 PWM-Chopper Submodule Waveforms Showing the Pulse Width (Duty Cycle) Control of SustainingPulses ........................................................................................................................ 582-35 Trip-Zone Submodule ...................................................................................................... 592-36 Trip-Zone Submodule Mode Control Logic ............................................................................. 622-37 Trip-Zone Submodule Interrupt Logic.................................................................................... 632-38 Event-Trigger Submodule ................................................................................................. 632-39 Event-Trigger Submodule Inter-Connectivity of ADC Start of Conversion and Interrupt Signals ................ 642-40 Event-Trigger Submodule Showing Event Inputs and Prescaled Outputs .......................................... 652-41 Event-Trigger Interrupt Generator ........................................................................................ 662-42 Event-Trigger SOCA Pulse Generator .................................................................................. 67
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2-43 Event-Trigger SOCB Pulse Generator .................................................................................. 673-1 Simplified ePWM Module.................................................................................................. 703-2 EPWM1 Configured as a Typical Master, EPWM2 Configured as a Slave ........................................ 713-3 Control of Four Buck Stages. Here F
PWM1
≠F
PWM2
≠F
PWM3
≠F
PWM4
.................................................. 723-4 Buck Waveforms for Figure 3-3 (Note: Only three bucks shown here) ............................................. 733-5 Control of Four Buck Stages. (Note: F
PWM2
= N x F
PWM1
)............................................................. 753-6 Buck Waveforms for Figure 3-5 (Note: F
PWM2
= F
PWM1)
).............................................................. 763-7 Control of Two Half-H Bridge Stages (F
PWM2
= N x F
PWM1
)........................................................... 783-8 Half-H Bridge Waveforms for Figure 3-7 (Note: Here F
PWM2
= F
PWM1
).............................................. 793-9 Control of Dual 3-Phase Inverter Stages as Is Commonly Used in Motor Control ................................ 813-10 3-Phase Inverter Waveforms for Figure 3-9 (Only One Inverter Shown) ........................................... 823-11 Configuring Two PWM Modules for Phase Control .................................................................... 843-12 Timing Waveforms Associated With Phase Control Between 2 Modules .......................................... 853-13 Control of a 3-Phase Interleaved DC/DC Converter ................................................................... 863-14 3-Phase Interleaved DC/DC Converter Waveforms for Figure 3-13 ................................................ 873-15 Controlling a Full-H Bridge Stage (F
PWM2
= F
PWM1)
..................................................................... 893-16 ZVS Full-H Bridge Waveforms ........................................................................................... 904-1 Time-Base Period Register (TBPRD).................................................................................... 944-2 Time-Base Phase Register (TBPHS) .................................................................................... 944-3 Time-Base Counter Register (TBCTR) .................................................................................. 944-4 Time-Base Control Register (TBCTL) ................................................................................... 954-5 Time-Base Status Register (TBSTS) .................................................................................... 974-6 Counter-Compare A Register (CMPA) .................................................................................. 974-7 Counter-Compare B Register (CMPB) .................................................................................. 984-8 Counter-Compare Control Register (CMPCTL) ........................................................................ 994-9 Action-Qualifier Output A Control Register (AQCTLA) ............................................................... 1004-10 Action-Qualifier Output B Control Register (AQCTLB) ............................................................... 1014-11 Action-Qualifier Software Force Register (AQSFRC) ................................................................ 1024-12 Action-Qualifier Continuous Software Force Register (AQCSFRC) ................................................ 1024-13 Dead-Band Generator Control Register (DBCTL) .................................................................... 1034-14 Dead-Band Generator Rising Edge Delay Register (DBRED) ...................................................... 1054-15 Dead-Band Generator Falling Edge Delay Register (DBFED) ..................................................... 1054-16 PWM-Chopper Control Register (PCCTL) ............................................................................. 1054-17 Trip-Zone Select Register (TZSEL) .................................................................................... 1074-18 Trip-Zone Control Register (TZCTL) ................................................................................... 1084-19 Trip-Zone Enable Interrupt Register (TZEINT) ........................................................................ 1084-20 Trip-Zone Flag Register (TZFLG)....................................................................................... 1094-21 Trip-Zone Clear Register (TZCLR) ..................................................................................... 1104-22 Trip-Zone Force Register (TZFRC) ..................................................................................... 1104-23 Event-Trigger Selection Register (ETSEL) ............................................................................ 1114-24 Event-Trigger Prescale Register (ETPS) .............................................................................. 1124-25 Event-Trigger Flag Register (ETFLG) .................................................................................. 1134-26 Event-Trigger Clear Register (ETCLR) ................................................................................ 1144-27 Event-Trigger Force Register (ETFRC) ................................................................................ 115
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List of Tables
1-1 ePWM Module Control and Status Register Set Grouped by Submodule .......................................... 182-1 Submodule Configuration Parameters................................................................................... 202-2 Time-Base Submodule Registers ........................................................................................ 242-3 Key Time-Base Signals .................................................................................................... 252-4 Counter-Compare Submodule Registers ............................................................................... 332-5 Counter-Compare Submodule Key Signals ............................................................................. 342-6 Action-Qualifier Submodule Registers ................................................................................... 372-7 Action-Qualifier Submodule Possible Input Events .................................................................... 382-8 Action-Qualifier Event Priority for Up-Down-Count Mode ............................................................. 402-9 Action-Qualifier Event Priority for Up-Count Mode ..................................................................... 402-10 Action-Qualifier Event Priority for Down-Count Mode ................................................................. 402-11 Behavior if CMPA/CMPB is Greater than the Period .................................................................. 412-12 Dead-Band Generator Submodule Registers........................................................................... 502-13 Classical Dead-Band Operating Modes ................................................................................ 522-14 Dead-Band Delay Values in μS as a Function of DBFED and DBRED ............................................ 542-15 PWM-Chopper Submodule Registers ................................................................................... 552-16 Possible Pulse Width Values for SYSCLKOUT = 100 MHz .......................................................... 572-17 Trip-Zone Submodule Registers ......................................................................................... 602-18 Possible Actions On a Trip Event ........................................................................................ 612-19 Event-Trigger Submodule Registers .................................................................................... 654-1 Time-Base Period Register (TBPRD) Field Descriptions ............................................................. 944-2 Time-Base Phase Register (TBPHS) Field Descriptions.............................................................. 944-3 Time-Base Counter Register (TBCTR) Field Descriptions ............................................................ 944-4 Time-Base Control Register (TBCTL) Field Descriptions ............................................................. 954-5 Time-Base Status Register (TBSTS) Field Descriptions .............................................................. 974-6 Counter-Compare A Register (CMPA) Field Descriptions ............................................................ 984-7 Counter-Compare B Register (CMPB) Field Descriptions ............................................................ 984-8 Counter-Compare Control Register (CMPCTL) Field Descriptions ................................................. 994-9 Action-Qualifier Output A Control Register (AQCTLA) Field Descriptions ....................................... 1004-10 Action-Qualifier Output B Control Register (AQCTLB) Field Descriptions ....................................... 1014-11 Action-Qualifier Software Force Register (AQSFRC) Field Descriptions .......................................... 1024-12 Action-qualifier Continuous Software Force Register (AQCSFRC) Field Descriptions .......................... 1034-13 Dead-Band Generator Control Register (DBCTL) Field Descriptions .............................................. 1044-14 Dead-Band Generator Rising Edge Delay Register (DBRED) Field Descriptions ............................... 1054-15 Dead-Band Generator Falling Edge Delay Register (DBFED) Field Descriptions ............................... 1054-16 PWM-Chopper Control Register (PCCTL) Bit Descriptions ........................................................ 1054-17 Trip-Zone Submodule Select Register (TZSEL) Field Descriptions ............................................... 1074-18 Trip-Zone Control Register (TZCTL) Field Descriptions ............................................................. 1084-19 Trip-Zone Enable Interrupt Register (TZEINT) Field Descriptions ................................................. 1084-20 Trip-Zone Flag Register (TZFLG) Field Descriptions ................................................................ 1094-21 Trip-Zone Clear Register (TZCLR) Field Descriptions .............................................................. 1104-22 Trip-Zone Force Register (TZFRC) Field Descriptions .............................................................. 1104-23 Event-Trigger Selection Register (ETSEL) Field Descriptions ..................................................... 1114-24 Event-Trigger Prescale Register (ETPS) Field Descriptions ....................................................... 1124-25 Event-Trigger Flag Register (ETFLG) Field Descriptions ........................................................... 1144-26 Event-Trigger Clear Register (ETCLR) Field Descriptions .......................................................... 1144-27 Event-Trigger Force Register (ETFRC) Field Descriptions ......................................................... 115A-1 Changes for Revision D .................................................................................................. 117
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PrefaceSPRU791D – November 2004 – Revised October 2007
Read This First
This guide describes the Enhanced Pulse Width Modulator (ePWM) Module. It includes an overview of themodule and information about each of the sub-modules:•Time-Base Module•Counter Compare Module•Action Qualifier Module•Dead-Band Generator Module•PWM Chopper (PC) Module•Trip Zone Module•Event Trigger Module
Related Documentation From Texas InstrumentsThe following books describe the TMS320x280x and related support tools that are available on the TIwebsite:
Data Manuals—
SPRS230— TMS320F2809, F2808, F2806, F2802, F2801, C2802, C2801, and F2801x DSPs DataManual contains the pinout, signal descriptions, as well as electrical and timing specifications forthe F280x devices.
SPRS357— TMS320F28044 Digital Signal Processor Data Manual contains the pinout, signaldescriptions, as well as electrical and timing specifications for the F28044 device.
CPU User's Guides—SPRU430— TMS320C28x DSP CPU and Instruction Set Reference Guide describes the centralprocessing unit (CPU) and the assembly language instructions of the TMS320C28x fixed-pointdigital signal processors (DSPs). It also describes emulation features available on these DSPs.
SPRU712— TMS320x280x, 2801x, 2804x System Control and Interrupts Reference Guide describes thevarious interrupts and system control features of the 280x digital signal processors (DSPs).
Peripheral Guides—
SPRU566— TMS320x28xx, 28xxx Peripheral Reference Guide describes the peripheral reference guidesof the 28x digital signal processors (DSPs).
SPRU716— TMS320x280x, 2801x, 2804x Analog-to-Digital Converter (ADC) Reference Guide describeshow to configure and use the on-chip ADC module, which is a 12-bit pipelined ADC.
SPRU791— TMS320x28xx, 28xxx Enhanced Pulse Width Modulator (ePWM) Module Reference Guidedescribes the main areas of the enhanced pulse width modulator that include digital motor control,switch mode power supply control, UPS (uninterruptible power supplies), and other forms of powerconversion
SPRU924— TMS320x28xx, 28xxx High-Resolution Pulse Width Modulator (HRPWM) describes theoperation of the high-resolution extension to the pulse width modulator (HRPWM)
SPRU807— TMS320x28xx, 28xxx Enhanced Capture (eCAP) Module Reference Guide describes theenhanced capture module. It includes the module description and registers.
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Related Documentation From Texas Instruments
SPRU790— TMS320x28xx, 28xxx Enhanced Quadrature Encoder Pulse (eQEP) Reference Guidedescribes the eQEP module, which is used for interfacing with a linear or rotary incrementalencoder to get position, direction, and speed information from a rotating machine in highperformance motion and position control systems. It includes the module description and registers
SPRU074— TMS320x28xx, 28xxx Enhanced Controller Area Network (eCAN) Reference Guide describesthe eCAN that uses established protocol to communicate serially with other controllers in electricallynoisy environments.
SPRU051— TMS320x28xx, 28xxx Serial Communication Interface (SCI) Reference Guide describes theSCI, which is a two-wire asynchronous serial port, commonly known as a UART. The SCI modulessupport digital communications between the CPU and other asynchronous peripherals that use thestandard non-return-to-zero (NRZ) format.
SPRU059— TMS320x28xx, 28xxx Serial Peripheral Interface (SPI) Reference Guide describes the SPI -a high-speed synchronous serial input/output (I/O) port - that allows a serial bit stream ofprogrammed length (one to sixteen bits) to be shifted into and out of the device at a programmedbit-transfer rate.
SPRU721— TMS320x28xx, 28xxx Inter-Integrated Circuit (I2C) Reference Guide describes the featuresand operation of the inter-integrated circuit (I2C) module that is available on the TMS320x280xdigital signal processor (DSP).
SPRU722— TMS320x280x, 2801x, 2804x Boot ROM Reference Guide describes the purpose andfeatures of the bootloader (factory-programmed boot-loading software). It also describes othercontents of the device on-chip boot ROM and identifies where all of the information is located withinthat memory.
Tools Guides—
SPRU513— TMS320C28x Assembly Language Tools User's Guide describes the assembly languagetools (assembler and other tools used to develop assembly language code), assembler directives,macros, common object file format, and symbolic debugging directives for the TMS320C28x device.
SPRU514— TMS320C28x Optimizing C Compiler User's Guide describes the TMS320C28x™ C/C++compiler. This compiler accepts ANSI standard C/C++ source code and produces TMS320 DSPassembly language source code for the TMS320C28x device.
SPRU608— The TMS320C28x Instruction Set Simulator Technical Overview describes the simulator,available within the Code Composer Studio for TMS320C2000 IDE, that simulates the instructionset of the C28x™ core.
SPRU625— TMS320C28x DSP/BIOS Application Programming Interface (API) Reference Guidedescribes development using DSP/BIOS.
Application Reports—
SPRAAM0— Getting Started With TMS320C28x™ Digital Signal Controllers is organized by developmentflow and functional areas to make your design effort as seamless as possible. Tips on gettingstarted with C28x™ DSP software and hardware development are provided to aid in your initialdesign and debug efforts. Each section includes pointers to valuable information including technicaldocumentation, software, and tools for use in each phase of design.
SPRAAD5— Power Line Communication for Lighting Apps using BPSK w/ a Single DSP Controllerpresents a complete implementation of a power line modem following CEA-709 protocol using asingle DSP.
SPRAA85— Programming TMS320x28xx and 28xxx Peripherals in C/C++ explores a hardwareabstraction layer implementation to make C/C++ coding easier on 28x DSPs. This method iscompared to traditional #define macros and topics of code efficiency and special case registers arealso addressed.
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Related Documentation From Texas Instruments
SPRA958— Running an Application from Internal Flash Memory on the TMS320F28xx DSP covers therequirements needed to properly configure application software for execution from on-chip flashmemory. Requirements for both DSP/BIOS™ and non-DSP/BIOS projects are presented. Examplecode projects are included.
SPRAA91— TMS320F280x DSC USB Connectivity Using TUSB3410 USB-to-UART Bridge Chippresents hardware connections as well as software preparation and operation of the developmentsystem using a simple communication echo program.
SPRAA58— TMS320x281x to TMS320x280x Migration Overview describes differences between theTexas Instruments TMS320x281x and TMS320x280x DSPs to assist in application migration fromthe 281x to the 280x. While the main focus of this document is migration from 281x to 280x, usersconsidering migrating in the reverse direction (280x to 281x) will also find this document useful.
SPRAAD8— TMS320280x and TMS320F2801x ADC Calibration describes a method for improving theabsolute accuracy of the 12-bit ADC found on the TMS320280x and TMS3202801x devices.Inherent gain and offset errors affect the absolute accuracy of the ADC. The methods described inthis report can improve the absolute accuracy of the ADC to levels better than 0.5%. Thisapplication report has an option to download an example program that executes from RAM on theF2808 EzDSP.
SPRAAI1— Using Enhanced Pulse Width Modulator (ePWM) Module for 0-100% Duty Cycle Controlprovides a guide for the use of the ePWM module to provide 0% to 100% duty cycle control and isapplicable to the TMS320x280x family of processors.
SPRAA88— Using PWM Output as a Digital-to-Analog Converter on a TMS320F280x presents a methodfor utilizing the on-chip pulse width modulated (PWM) signal generators on the TMS320F280xfamily of digital signal controllers as a digital-to-analog converter (DAC).
SPRAAH1— Using the Enhanced Quadrature Encoder Pulse (eQEP) Module provides a guide for the useof the eQEP module as a dedicated capture unit and is applicable to the TMS320x280x, 28xxxfamily of processors.
SPRA820— Online Stack Overflow Detection on the TMS320C28x DSP presents the methodology foronline stack overflow detection on the TMS320C28x™ DSP. C-source code is provided thatcontains functions for implementing the overflow detection on both DSP/BIOS™ andnon-DSP/BIOS applications.
SPRA806— An Easy Way of Creating a C-callable Assembly Function for the TMS320C28x DSPprovides instructions and suggestions to configure the C compiler to assist with understanding ofparameter-passing conventions and environments expected by the C compiler.Trademarks
TMS320C28x, C28x are trademarks of Texas Instruments.
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Chapter 1SPRU791D – November 2004 – Revised October 2007
Introduction
The enhanced pulse width modulator (ePWM) peripheral is a key element in controlling many of thepower-related systems found in both commercial and industrial equipments. These systems include digitalmotor control, switch mode power supply control, uninterruptible power supplies (UPS), and other forms ofpower conversion. The ePWM peripheral performs a digital to analog (DAC) function, where the duty cycleis equivalent to a DAC analog value; it is sometimes referred to as a Power DAC.
This reference guide is applicable for the ePWM found on the TMS320x280x, TMS320x2801x andTMS320x2804x processors. This includes all Flash-based, ROM-based, and RAM-based devices.
Topic .................................................................................................. Page
1.1 Introduction .............................................................................. 141.2 Submodule Overview................................................................. 141.3 Register Mapping ...................................................................... 17
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1.1 Introduction
1.2 Submodule Overview
Introduction
An effective PWM peripheral must be able to generate complex pulse width waveforms with minimal CPUoverhead or intervention. It needs to be highly programmable and very flexible while being easy tounderstand and use. The ePWM unit described here addresses these requirements by allocating allneeded timing and control resources on a per PWM channel basis. Cross coupling or sharing of resourceshas been avoided; instead, the ePWM is built up from smaller single channel modules with separateresources and that can operate together as required to form a system. This modular approach results inan orthogonal architecture and provides a more transparent view of the peripheral structure, helping usersto understand its operation quickly.
In this document the letter x within a signal or module name is used to indicate a generic ePWM instanceon a device. For example output signals EPWMxA and EPWMxB refer to the output signals from theePWMx instance. Thus, EPWM1A and EPWM1B belong to ePWM1 and likewise EPWM4A and EPWM4Bbelong to ePWM4.
The ePWM module represents one complete PWM channel composed of two PWM outputs: EPWMxAand EPWMxB. Multiple ePWM modules are instanced within a device as shown in Figure 1-1 . EachePWM instance is identical with one exception. Some instances include a hardware extension that allowsmore precise control of the PWM outputs. This extension is the high-resolution pulse width modulator(HRPWM) and is described in the TMS320x28xx, 28xxx High-Resolution Pulse Width Modulator(HRPWM) Reference Guide (SPRU924). See the device-specific data manual to determine which ePWMinstances include this feature. Each ePWM module is indicated by a numerical value starting with 1. Forexample ePWM1 is the first instance and ePWM3 is the 3rd instance in the system and ePWMx indicatesany instance.
The ePWM modules are chained together via a clock synchronization scheme that allows them to operateas a single system when required. Additionally, this synchronization scheme can be extended to thecapture peripheral modules (eCAP). The number of modules is device-dependent and based on targetapplication needs. Modules can also operate stand-alone.
Each ePWM module supports the following features:•Dedicated 16-bit time-base counter with period and frequency control•Two PWM outputs (EPWMxA and EPWMxB) that can be used in the following configurations::– Two independent PWM outputs with single-edge operation– Two independent PWM outputs with dual-edge symmetric operation– One independent PWM output with dual-edge asymmetric operation•Asynchronous override control of PWM signals through software.•Programmable phase-control support for lag or lead operation relative to other ePWM modules.•Hardware-locked (synchronized) phase relationship on a cycle-by-cycle basis.•Dead-band generation with independent rising and falling edge delay control.•Programmable trip zone allocation of both cycle-by-cycle trip and one-shot trip on fault conditions.•A trip condition can force either high, low, or high-impedance state logic levels at PWM outputs.•All events can trigger both CPU interrupts and ADC start of conversion (SOC)•Programmable event prescaling minimizes CPU overhead on interrupts.•PWM chopping by high-frequency carrier signal, useful for pulse transformer gate drives.
Each ePWM module is connected to the input/output signals shown in Figure 1-1 . The signals aredescribed in detail in subsequent sections.
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PIE
TZ1 to TZ6
Peripheral
Frame 1
ePWM1 module
ePWM2 module
ePWMx module
SYNCO
SYNCI
SYNCI
SYNCO
SYNCI
SYNCO
ADC
GPIO
MUX
xSYNCI
xSYNCO
xSOC
EPWMxA
EPWMxB
EPWM2A
EPWM2B
EPWM1A
EPWM1B
EPWM1INT
EPWM1SOC
EPWM2INT
EPWM2SOC
EPWMxINT
EPWMxSOC
To eCAP1
Submodule Overview
Figure 1-1. Multiple ePWM Modules
The order in which the ePWM modules are connected may differ from what is shown in Figure 1-1 . SeeSection 2.2.3.2 for the synchronization scheme for a particular device. Each ePWM module consists ofseven submodules and is connected within a system via the signals shown in Figure 1-2 .
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EPWMxINT
EPWMxTZINT
EPWMxSOCA
EPWMxSOCB
EPWMxSYNCI
EPWMxSYNCO Time-base (TB) module
Counter-compare (CC) module
Action-qualifier (AQ) module
Dead-band (DB) module
PWM-chopper (PC) module
Event-trigger (ET) module
Trip-zone (TZ) module
Peripheral bus
ePWM module
TZ1 to TZ6
EPWMxA
EPWMxB
PIE
ADC GPIO
MUX
Submodule Overview
Figure 1-2. Submodules and Signal Connections for an ePWM Module
Figure 1-3 shows more internal details of a single ePWM module. The main signals used by the ePWMmodule are:•PWM output signals (EPWMxA and EPWMxB).The PWM output signals are made available external to the device through the GPIO peripheraldescribed in the system control and interrupts guide for your device.•Trip-zone signals ( TZ1 to TZ6).These input signals alert the ePWM module of an external fault condition. Each module on a devicecan be configured to either use or ignore any of the trip-zone signals. The trip-zone signals can beconfigured as asynchronous inputs through the GPIO peripheral.•Time-base synchronization input (EPWMxSYNCI) and output (EPWMxSYNCO) signals.The synchronization signals daisy chain the ePWM modules together. Each module can be configuredto either use or ignore its synchronization input. The clock synchronization input and output signal arebrought out to pins only for ePWM1 (ePWM module #1). The synchronization output for ePWM1(EPWM1SYNCO) is also connected to the SYNCI of the first enhanced capture module (eCAP1).•ADC start-of-conversion signals (EPWMxSOCA and EPWMxSOCB).Each ePWM module has two ADC start of conversion signals (one for each sequencer). Any ePWMmodule can trigger a start of conversion for either sequencer. Which event triggers the start ofconversion is configured in the Event-Trigger submodule of the ePWM.•Peripheral BusThe peripheral bus is 32-bits wide and allows both 16-bit and 32-bit writes to the ePWM register file.
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Action
qualifier
(AQ)
Time-base (TB)
Dead
band
(DB)
Counter compare (CC)
Trip
zone
(TZ)
Event
trigger and
interrupt
(ET)
PWM
chopper
(PC)
TZ1 to TZ6
TBPRD shadow (16)
TBPRD active (16)
CTR = PRD
CTR = ZERO
CTR = CMPA
CTR = CMPB
CTR_Dir
TBCTL[SWFSYNC] (software
forced sync)
TBPHS active (16)
Counter
UP/DWN
(16 bit)
TBCTR
active
(16)
Sync
in/out
select
MUX
S0 S1
CMPA active (16)
CMPA shadow (16)
CMPB active (16)
CMPB shadow (16)
EPWMxA
EPWMxB
EPWMxSOCB
EPWMxSOCA
EPWMxINT
EPWMxSYNCI
EPWMxSYNCO
TBCTL[SWFSYNC]
CTR_PRD
TBCTL[PHSEN]
CTR_Dir
CTR = ZERO
CTR = CMPA
CTR = CMPB
16
16
16
16
16
16
Phase
control
EPWMxTZINT
CTR=ZERO
1.3 Register Mapping
Register Mapping
Figure 1-3. ePWM Submodules and Critical Internal Signal Interconnects
Figure 1-3 also shows the key internal submodule interconnect signals. Each submodule is described indetail in its respective section.
The complete ePWM module control and status register set is grouped by submodule as shown inTable 1-1 . Each register set is duplicated for each instance of the ePWM module. The start address foreach ePWM register file instance on a device is specified in the appropriate data manual.
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Register Mapping
Table 1-1. ePWM Module Control and Status Register Set Grouped by Submodule
SizeName Offset
(1)
(x16) Shadow Description
Time-Base Submodule Registers
TBCTL 0x0000 1 No Time-Base Control RegisterTBSTS 0x0001 1 No Time-Base Status RegisterTBPHSHR 0x0002 1 No Extension for HRPWM Phase Register
(2)
TBPHS 0x0003 1 No Time-Base Phase RegisterTBCTR 0x0004 1 No Time-Base Counter RegisterTBPRD 0x0005 1 Yes Time-Base Period Register
Counter-Compare Submodule Registers
CMPCTL 0x0007 1 No Counter-Compare Control RegisterCMPAHR 0x0008 1 No Extension for HRPWM Counter-Compare A Register
(2)
CMPA 0x0009 1 Yes Counter-Compare A RegisterCMPB 0x000A 1 Yes Counter-Compare B Register
Action-Qualifier Submodule Registers
AQCTLA 0x000B 1 No Action-Qualifier Control Register for Output A (EPWMxA)AQCTLB 0x000C 1 No Action-Qualifier Control Register for Output B (EPWMxB)AQSFRC 0x000D 1 No Action-Qualifier Software Force RegisterAQCSFRC 0x000E 1 Yes Action-Qualifier Continuous S/W Force Register Set
Dead-Band Generator Submodule Registers
DBCTL 0x000F 1 No Dead-Band Generator Control RegisterDBRED 0x0010 1 No Dead-Band Generator Rising Edge Delay Count RegisterDBFED 0x0011 1 No Dead-Band Generator Falling Edge Delay Count Register
Trip-Zone Submodule Registers
TZSEL 0x0012 1 No Trip-Zone Select RegisterTZCTL 0x0014 1 No Trip-Zone Control Register
(3)
TZEINT 0x0015 1 No Trip-Zone Enable Interrupt Register
(3)
TZFLG 0x0016 1 No Trip-Zone Flag Register
(3)
TZCLR 0x0017 1 No Trip-Zone Clear Register
(3)
TZFRC 0x0018 1 No Trip-Zone Force Register
(3)
Event-Trigger Submodule Registers
ETSEL 0x0019 1 No Event-Trigger Selection RegisterETPS 0x001A 1 No Event-Trigger Pre-Scale RegisterETFLG 0x001B 1 No Event-Trigger Flag RegisterETCLR 0x001C 1 No Event-Trigger Clear RegisterETFRC 0x001D 1 No Event-Trigger Force Register
PWM-Chopper Submodule Registers
PCCTL 0x001E 1 No PWM-Chopper Control Register
High-Resolution Pulse Width Modulator (HRPWM) Extension Registers
HRCNFG 0x0020 1 No HRPWM Configuration Register
(2) (3)
(1)
Locations not shown are reserved.(2)
These registers are only available on ePWM instances that include the high-resolution PWM extension. Otherwise theselocations are reserved. These registers are described in the TMS320x28xx, 28xxx High-Resolution Pulse Width Modulator(HRPWM) Reference Guide (SPRU924). See the device specific data manual to determine which instances include theHRPWM.
(3)
EALLOW protected registers as described in the specific device version of the System Control and Interrupts Reference Guidelisted in Section 1 .
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Chapter 2SPRU791D – November 2004 – Revised October 2007
ePWM Submodules
Seven submodules are included in every ePWM peripheral. Each of these submodules performs specifictasks that can be configured by software.
Topic .................................................................................................. Page
2.1 Overview .................................................................................. 202.2 Time-Base (TB) Submodule ........................................................ 232.3 Counter-Compare (CC) Submodule ............................................. 322.4 Action-Qualifier (AQ) Submodule ................................................ 372.5 Dead-Band Generator (DB) Submodule ........................................ 502.6 PWM-Chopper (PC) Submodule .................................................. 552.7 Trip-Zone (TZ) Submodule ......................................................... 592.8 Event-Trigger (ET) Submodule .................................................... 63
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2.1 Overview
Overview
Table 2-1 lists the seven key submodules together with a list of their main configuration parameters. Forexample, if you need to adjust or control the duty cycle of a PWM waveform, then you should see thecounter-compare submodule in Section 2.3 for relevant details.
Table 2-1. Submodule Configuration Parameters
Submodule Configuration Parameter or Option
Time-base (TB)
•Scale the time-base clock (TBCLK) relative to the system clock (SYSCLKOUT).•Configure the PWM time-base counter (TBCTR) frequency or period.•Set the mode for the time-base counter:– count-up mode: used for asymmetric PWM– count-down mode: used for asymmetric PWM– count-up-and-down mode: used for symmetric PWM•Configure the time-base phase relative to another ePWM module.•Synchronize the time-base counter between modules through hardware or software.•Configure the direction (up or down) of the time-base counter after a synchronization event.•Configure how the time-base counter will behave when the device is halted by an emulator.•Specify the source for the synchronization output of the ePWM module:– Synchronization input signal– Time-base counter equal to zero– Time-base counter equal to counter-compare B (CMPB)– No output synchronization signal generated.Counter-compare (CC)
•Specify the PWM duty cycle for output EPWMxA and/or output EPWMxB•Specify the time at which switching events occur on the EPWMxA or EPWMxB outputAction-qualifier (AQ)
•Specify the type of action taken when a time-base or counter-compare submodule event occurs:– No action taken– Output EPWMxA and/or EPWMxB switched high– Output EPWMxA and/or EPWMxB switched low– Output EPWMxA and/or EPWMxB toggled•Force the PWM output state through software control•Configure and control the PWM dead-band through softwareDead-band (DB)
•Control of traditional complementary dead-band relationship between upper and lower switches•Specify the output rising-edge-delay value•Specify the output falling-edge delay value•Bypass the dead-band module entirely. In this case the PWM waveform is passed throughwithout modification.PWM-chopper (PC)
•Create a chopping (carrier) frequency.•Pulse width of the first pulse in the chopped pulse train.•Duty cycle of the second and subsequent pulses.•Bypass the PWM-chopper module entirely. In this case the PWM waveform is passed throughwithout modification.Trip-zone (TZ)
•Configure the ePWM module to react to one, all, or none of the trip-zone pins.•Specify the tripping action taken when a fault occurs:– Force EPWMxA and/or EPWMxB high– Force EPWMxA and/or EPWMxB low– Force EPWMxA and/or EPWMxB to a high-impedance state– Configure EPWMxA and/or EPWMxB to ignore any trip condition.•Configure how often the ePWM will react to each trip-zone pin:– One-shot
– Cycle-by-cycle
•Enable the trip-zone to initiate an interrupt.•Bypass the trip-zone module entirely.
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