Texas Instruments TMS320x2833x User manual

TMS320x2833x, 2823x Enhanced Pulse Width
Modulator (ePWM) Module
Reference Guide
Literature Number: SPRUG04A
October 2008–Revised July 2009

2SPRUG04A–October 2008–Revised July 2009
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Preface ....................................................................................................................................... 8
1 Introduction ...................................................................................................................... 11
1.1 Submodule Overview .................................................................................................. 11
1.2 Register Mapping ...................................................................................................... 15
2 ePWM Submodules ............................................................................................................ 17
2.1 Overview ................................................................................................................ 17
2.2 Time-Base (TB) Submodule .......................................................................................... 20
2.3 Counter-Compare (CC) Submodule ................................................................................. 31
2.4 Action-Qualifier (AQ) Submodule .................................................................................... 37
2.5 Dead-Band Generator (DB) Submodule ............................................................................ 51
2.6 PWM-Chopper (PC) Submodule ..................................................................................... 55
2.7 Trip-Zone (TZ) Submodule ........................................................................................... 59
2.8 Event-Trigger (ET) Submodule ....................................................................................... 63
3 Applications to Power Topologies ....................................................................................... 68
3.1 Overview of Multiple Modules ........................................................................................ 68
3.2 Key Configuration Capabilities ....................................................................................... 68
3.3 Controlling Multiple Buck Converters With Independent Frequencies .......................................... 69
3.4 Controlling Multiple Buck Converters With Same Frequencies .................................................. 73
3.5 Controlling Multiple Half H-Bridge (HHB) Converters ............................................................. 76
3.6 Controlling Dual 3-Phase Inverters for Motors (ACI and PMSM) ................................................ 78
3.7 Practical Applications Using Phase Control Between PWM Modules .......................................... 82
3.8 Controlling a 3-Phase Interleaved DC/DC Converter ............................................................. 83
3.9 Controlling Zero Voltage Switched Full Bridge (ZVSFB) Converter ............................................. 87
4 Registers .......................................................................................................................... 90
4.1 Time-Base Submodule Registers .................................................................................... 90
4.2 Counter-Compare Submodule Registers ........................................................................... 94
4.3 Action-Qualifier Submodule Registers .............................................................................. 97
4.4 Dead-Band Submodule Registers .................................................................................. 101
4.5 PWM-Chopper Submodule Control Register ..................................................................... 103
4.6 Trip-Zone Submodule Control and Status Registers ............................................................ 105
4.7 Event-Trigger Submodule Registers ............................................................................... 108
4.8 Proper Interrupt Initialization Procedure ........................................................................... 113
Appendix A Revision History ..................................................................................................... 114
3
SPRUG04A–October 2008–Revised July 2009 Table of Contents
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List of Figures
1 Multiple ePWM Modules.................................................................................................. 13
2 Submodules and Signal Connections for an ePWM Module ........................................................ 14
3 ePWM Submodules and Critical Internal Signal Interconnects...................................................... 15
4 Time-Base Submodule Block Diagram................................................................................. 20
5 Time-Base Submodule Signals and Registers ........................................................................ 21
6 Time-Base Frequency and Period ...................................................................................... 23
7 Time-Base Counter Synchronization Scheme 1 ...................................................................... 25
8 Time-Base Counter Synchronization Scheme 2 ...................................................................... 26
9 Time-Base Counter Synchronization Scheme 3 ...................................................................... 27
10 Time-Base Up-Count Mode Waveforms................................................................................ 29
11 Time-Base Down-Count Mode Waveforms ............................................................................ 30
12 Time-Base Up-Down-Count Waveforms, TBCTL[PHSDIR = 0] Count Down On Synchronization Event..... 30
13 Time-Base Up-Down Count Waveforms, TBCTL[PHSDIR = 1] Count Up On Synchronization Event......... 31
14 Counter-Compare Submodule........................................................................................... 31
15 Detailed View of the Counter-Compare Submodule.................................................................. 32
16 Counter-Compare Event Waveforms in Up-Count Mode ............................................................ 35
17 Counter-Compare Events in Down-Count Mode...................................................................... 36
18 Counter-Compare Events In Up-Down-Count Mode, TBCTL[PHSDIR = 0] Count Down On
Synchronization Event ................................................................................................... 37
19 Counter-Compare Events In Up-Down-Count Mode, TBCTL[PHSDIR = 1] Count Up On Synchronization
Event ....................................................................................................................... 37
20 Action-Qualifier Submodule.............................................................................................. 38
21 Action-Qualifier Submodule Inputs and Outputs ...................................................................... 39
22 Possible Action-Qualifier Actions for EPWMxA and EPWMxB Outputs............................................ 40
23 Up-Down-Count Mode Symmetrical Waveform ....................................................................... 43
24 Up, Single Edge Asymmetric Waveform, With Independent Modulation on EPWMxA and
EPWMxB—Active High................................................................................................... 44
25 Up, Single Edge Asymmetric Waveform With Independent Modulation on EPWMxA and
EPWMxB—Active Low.................................................................................................... 45
26 Up-Count, Pulse Placement Asymmetric Waveform With Independent Modulation on EPWMxA ............. 46
27 Up-Down-Count, Dual Edge Symmetric Waveform, With Independent Modulation on EPWMxA and
EPWMxB — Active Low.................................................................................................. 48
28 Up-Down-Count, Dual Edge Symmetric Waveform, With Independent Modulation on EPWMxA and
EPWMxB — Complementary............................................................................................ 49
29 Up-Down-Count, Dual Edge Asymmetric Waveform, With Independent Modulation on EPWMxA—Active
Low.......................................................................................................................... 50
30 Dead_Band Submodule .................................................................................................. 51
31 Configuration Options for the Dead-Band Submodule ............................................................... 52
32 Dead-Band Waveforms for Typical Cases (0% < Duty < 100%).................................................... 53
33 PWM-Chopper Submodule............................................................................................... 55
34 PWM-Chopper Submodule Operational Details....................................................................... 56
35 Simple PWM-Chopper Submodule Waveforms Showing Chopping Action Only................................. 56
36 PWM-Chopper Submodule Waveforms Showing the First Pulse and Subsequent Sustaining Pulses........ 57
37 PWM-Chopper Submodule Waveforms Showing the Pulse Width (Duty Cycle) Control of Sustaining
Pulses....................................................................................................................... 58
38 Trip-Zone Submodule..................................................................................................... 59
39 Trip-Zone Submodule Mode Control Logic ............................................................................ 62
40 Trip-Zone Submodule Interrupt Logic................................................................................... 63
41 Event-Trigger Submodule ................................................................................................ 63
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42 Event-Trigger Submodule Inter-Connectivity of ADC Start of Conversion......................................... 64
43 Event-Trigger Submodule Showing Event Inputs and Prescaled Outputs......................................... 65
44 Event-Trigger Interrupt Generator....................................................................................... 66
45 Event-Trigger SOCA Pulse Generator.................................................................................. 67
46 Event-Trigger SOCB Pulse Generator.................................................................................. 67
47 Simplified ePWM Module................................................................................................. 68
48 EPWM1 Configured as a Typical Master, EPWM2 Configured as a Slave ....................................... 69
49 Control of Four Buck Stages. Here FPWM1≠FPWM2≠FPWM3≠FPWM4 .................................................... 70
50 Buck Waveforms for (Note: Only three bucks shown here).......................................................... 71
51 Control of Four Buck Stages. (Note: FPWM2 = N x FPWM1).............................................................. 73
52 Buck Waveforms for (Note: FPWM2 = FPWM1))............................................................................. 74
53 Control of Two Half-H Bridge Stages (FPWM2 = N x FPWM1)............................................................ 76
54 Half-H Bridge Waveforms for (Note: Here FPWM2 = FPWM1 )............................................................ 77
55 Control of Dual 3-Phase Inverter Stages as Is Commonly Used in Motor Control ............................... 79
56 3-Phase Inverter Waveforms for (Only One Inverter Shown) ....................................................... 80
57 Configuring Two PWM Modules for Phase Control................................................................... 82
58 Timing Waveforms Associated With Phase Control Between 2 Modules.......................................... 83
59 Control of a 3-Phase Interleaved DC/DC Converter.................................................................. 84
60 3-Phase Interleaved DC/DC Converter Waveforms for .............................................................. 85
61 Controlling a Full-H Bridge Stage (FPWM2 = FPWM1) ..................................................................... 87
62 ZVS Full-H Bridge Waveforms........................................................................................... 88
63 Time-Base Period Register (TBPRD)................................................................................... 90
64 Time-Base Phase Register (TBPHS)................................................................................... 90
65 Time-Base Counter Register (TBCTR)................................................................................. 90
66 Time-Base Control Register (TBCTL) .................................................................................. 91
67 Time-Base Status Register (TBSTS) ................................................................................... 93
68 Counter-Compare A Register (CMPA) ................................................................................. 94
69 Counter-Compare B Register (CMPB).................................................................................. 94
70 Counter-Compare Control Register (CMPCTL) ....................................................................... 96
71 Compare A High Resolution Register (CMPAHR) ................................................................... 97
72 Action-Qualifier Output A Control Register (AQCTLA) ............................................................... 97
73 Action-Qualifier Output B Control Register (AQCTLB) ............................................................... 98
74 Action-Qualifier Software Force Register (AQSFRC)................................................................. 99
75 Action-Qualifier Continuous Software Force Register (AQCSFRC)............................................... 100
76 Dead-Band Generator Control Register (DBCTL)................................................................... 101
77 Dead-Band Generator Rising Edge Delay Register (DBRED)..................................................... 103
78 Dead-Band Generator Falling Edge Delay Register (DBFED)..................................................... 103
79 PWM-Chopper Control Register (PCCTL)............................................................................ 103
80 Trip-Zone Select Register (TZSEL).................................................................................... 105
81 Trip-Zone Control Register (TZCTL) .................................................................................. 106
82 Trip-Zone Enable Interrupt Register (TZEINT)....................................................................... 106
83 Trip-Zone Flag Register (TZFLG)...................................................................................... 107
84 Trip-Zone Clear Register (TZCLR) .................................................................................... 107
85 Trip-Zone Force Register (TZFRC).................................................................................... 108
86 Event-Trigger Selection Register (ETSEL) ........................................................................... 108
87 Event-Trigger Prescale Register (ETPS) ............................................................................. 109
88 Event-Trigger Flag Register (ETFLG)................................................................................. 111
89 Event-Trigger Clear Register (ETCLR)................................................................................ 112
90 Event-Trigger Force Register (ETFRC)............................................................................... 112
5
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List of Tables
1 ePWM Module Control and Status Register Set Grouped by Submodule......................................... 16
2 Submodule Configuration Parameters.................................................................................. 17
3 Time-Base Submodule Registers ....................................................................................... 21
4 Key Time-Base Signals................................................................................................... 22
5 Counter-Compare Submodule Registers .............................................................................. 32
6 Counter-Compare Submodule Key Signals............................................................................ 33
7 Action-Qualifier Submodule Registers.................................................................................. 38
8 Action-Qualifier Submodule Possible Input Events ................................................................... 39
9 Action-Qualifier Event Priority for Up-Down-Count Mode............................................................ 41
10 Action-Qualifier Event Priority for Up-Count Mode.................................................................... 41
11 Action-Qualifier Event Priority for Down-Count Mode ................................................................ 41
12 Behavior if CMPA/CMPB is Greater than the Period................................................................. 41
13 Dead-Band Generator Submodule Registers.......................................................................... 51
14 Classical Dead-Band Operating Modes ............................................................................... 53
15 Dead-Band Delay Values in μS as a Function of DBFED and DBRED ........................................... 54
16 PWM-Chopper Submodule Registers .................................................................................. 55
17 Possible Pulse Width Values for SYSCLKOUT = 100 MHz ......................................................... 57
18 Trip-Zone Submodule Registers......................................................................................... 60
19 Possible Actions On a Trip Event ....................................................................................... 61
20 Event-Trigger Submodule Registers ................................................................................... 65
21 Time-Base Period Register (TBPRD) Field Descriptions ............................................................ 90
22 Time-Base Phase Register (TBPHS) Field Descriptions............................................................. 90
23 Time-Base Counter Register (TBCTR) Field Descriptions........................................................... 90
24 Time-Base Control Register (TBCTL) Field Descriptions ............................................................ 91
25 Time-Base Status Register (TBSTS) Field Descriptions............................................................. 93
26 Counter-Compare A Register (CMPA) Field Descriptions ........................................................... 94
27 Counter-Compare B Register (CMPB) Field Descriptions ........................................................... 95
28 Counter-Compare Control Register (CMPCTL) Field Descriptions ................................................ 96
29 Compare A High Resolution Register (CMPAHR) Field Descriptions.............................................. 97
30 Action-Qualifier Output A Control Register (AQCTLA) Field Descriptions ........................................ 97
31 Action-Qualifier Output B Control Register (AQCTLB) Field Descriptions ........................................ 98
32 Action-Qualifier Software Force Register (AQSFRC) Field Descriptions .......................................... 99
33 Action-qualifier Continuous Software Force Register (AQCSFRC) Field Descriptions......................... 100
34 Dead-Band Generator Control Register (DBCTL) Field Descriptions............................................. 102
35 Dead-Band Generator Rising Edge Delay Register (DBRED) Field Descriptions............................... 103
36 Dead-Band Generator Falling Edge Delay Register (DBFED) Field Descriptions .............................. 103
37 PWM-Chopper Control Register (PCCTL) Bit Descriptions ....................................................... 104
38 Trip-Zone Submodule Select Register (TZSEL) Field Descriptions .............................................. 105
39 Trip-Zone Control Register (TZCTL) Field Descriptions ............................................................ 106
40 Trip-Zone Enable Interrupt Register (TZEINT) Field Descriptions ................................................ 106
41 Trip-Zone Flag Register (TZFLG) Field Descriptions ............................................................... 107
42 Trip-Zone Clear Register (TZCLR) Field Descriptions ............................................................. 108
43 Trip-Zone Force Register (TZFRC) Field Descriptions ............................................................. 108
44 Event-Trigger Selection Register (ETSEL) Field Descriptions .................................................... 109
45 Event-Trigger Prescale Register (ETPS) Field Descriptions ...................................................... 110
46 Event-Trigger Flag Register (ETFLG) Field Descriptions........................................................... 111
47 Event-Trigger Clear Register (ETCLR) Field Descriptions ......................................................... 112
6List of Tables SPRUG04A–October 2008–Revised July 2009
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48 Event-Trigger Force Register (ETFRC) Field Descriptions ........................................................ 112
49 Changes for this Revision............................................................................................... 114
7
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Preface
SPRUG04A–October 2008–Revised July 2009
Read This First
The Enhanced Pulse Width Modulator (ePWM) module described in this reference guide is a Type 0
ePWM. See the TMS320x28xx, 28xxx DSP Peripheral Reference Guide (SPRU566) for a list of all
devices with a ePWM module of the same type, to determine the differences between the types, and for a
list of device-specific differences within a type. This reference guide includes an overview of the module
and information about each of its 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 Instruments
The following books describe the TMS320F2833x, 2823x module and related support tools that are
available on the TI website:
Data Manual and Errata—
SPRS439 — TMS320F28335, TMS320F28334, TMS320F28332, TMS320F28235, TMS320F28234,
TMS320F28232 Digital Signal Controllers (DSCs) Data Manual contains the pinout, signal
descriptions, as well as electrical and timing specifications for the F2833x/2823x devices.
SPRZ272 — TMS320F28335, TMS320F28334, TMS320F28332, TMS320F28235, TMS320F28234,
TMS320F28232 DSC Silicon Errata describes the advisories and usage notes for different
versions of silicon.
CPU User's Guides—
SPRU430 — TMS320C28x CPU and Instruction Set Reference Guide describes the central processing
unit (CPU) and the assembly language instructions of the TMS320C28x fixed-point digital signal
processors (DSPs). It also describes emulation features available on these DSPs.
SPRUEO2 — TMS320C28x Floating Point Unit and Instruction Set Reference Guide describes the
floating-point unit and includes the instructions for the FPU.
Peripheral Guides—
SPRU566 — TMS320x28xx, 28xxx DSP Peripheral Reference Guide describes the peripheral
reference guides of the 28x digital signal processors (DSPs).
SPRUFB0 — TMS320x2833x, 2823x System Control and Interrupts Reference Guide describes the
various interrupts and system control features of the 2833x and 2823x digital signal controllers
(DSCs).
SPRU812 — TMS320x2833x, 2823x Analog-to-Digital Converter (ADC) Reference Guide describes
how to configure and use the on-chip ADC module, which is a 12-bit pipelined ADC.
SPRU949 — TMS320x2833x, 2823x DSC External Interface (XINTF) Reference Guide describes the
XINTF, which is a nonmultiplexed asynchronous bus, as it is used on the 2833x and 2823x devices.
8Preface SPRUG04A–October 2008–Revised July 2009
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www.ti.com Related Documentation From Texas Instruments
SPRU963 — TMS320x2833x, 2823x Boot ROM Reference Guide describes the purpose and features of
the bootloader (factory-programmed boot-loading software) and provides examples of code. It also
describes other contents of the device on-chip boot ROM and identifies where all of the information
is located within that memory.
SPRUFB7 — TMS320x2833x, 2823x Multichannel Buffered Serial Port (McBSP) Reference Guide
describes the McBSP available on the 2833x and 2823x devices. The McBSPs allow direct
interface between a DSP and other devices in a system.
SPRUFB8 — TMS320x2833x, 2823x Direct Memory Access (DMA) Module Reference Guide
describes the DMA on the 2833x and 2823x devices.
SPRUG04 — TMS320x2833x, 2823x Enhanced Pulse Width Modulator (ePWM) Module Reference
Guide describes 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
power conversion.
SPRUG02 — TMS320x2833x, 2823x High-Resolution Pulse Width Modulator (HRPWM) Reference
Guide describes the operation of the high-resolution extension to the pulse width modulator
(HRPWM).
SPRUFG4 — TMS320x2833x, 2823x Enhanced Capture (eCAP) Module Reference Guide describes
the enhanced capture module. It includes the module description and registers.
SPRUG05 — TMS320x2833x, 2823x Enhanced Quadrature Encoder Pulse (eQEP) Module
Reference Guide describes the eQEP module, which is used for interfacing with a linear or rotary
incremental encoder to get position, direction, and speed information from a rotating machine in
high-performance motion and position control systems. It includes the module description and
registers.
SPRUEU1 — TMS320x2833x, 2823x Enhanced Controller Area Network (eCAN) Reference Guide
describes the eCAN that uses established protocol to communicate serially with other controllers in
electrically noisy environments.
SPRUFZ5 — TMS320x2833x, 2823x Serial Communications Interface (SCI) Reference Guide
describes the SCI, which is a two-wire asynchronous serial port, commonly known as a UART. The
SCI modules support digital communications between the CPU and other asynchronous peripherals
that use the standard non-return-to-zero (NRZ) format.
SPRUEU3 — TMS320x2833x, 2823x DSC 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 of programmed length (one to sixteen bits) to be shifted into and out of the device at a
programmed bit-transfer rate.
SPRUG03 — TMS320x2833x, 2823x Inter-Integrated Circuit (I2C) Module Reference Guide describes
the features and operation of the inter-integrated circuit (I2C) module.
Tools Guides—
SPRU513 — TMS320C28x Assembly Language Tools v5.0.0 User's Guide describes the assembly
language tools (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/C++ Compiler v5.0.0 User's Guide describes the
TMS320C28x™ C/C++ compiler. This compiler accepts ANSI standard C/C++ source code and
produces TMS320 DSP assembly language source code for the TMS320C28x device.
SPRU608 — TMS320C28x Instruction Set Simulator Technical Overview describes the simulator,
available within the Code Composer Studio for TMS320C2000 IDE, that simulates the instruction
set of the C28x™ core.
SPRU625 — TMS320C28x DSP/BIOS 5.32 Application Programming Interface (API) Reference
Guide describes development using DSP/BIOS.
9
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Related Documentation From Texas Instruments www.ti.com
Application Reports—
SPRAAM0 — Getting Started With TMS320C28x Digital Signal Controllers is organized by
development flow and functional areas to make your design effort as seamless as possible. Tips on
getting started with C28x™ DSP software and hardware development are provided to aid in your
initial design and debug efforts. Each section includes pointers to valuable information including
technical documentation, software, and tools for use in each phase of design.
SPRAAD5 — Power Line Communication for Lighting Applications Using Binary Phase Shift
Keying (BPSK) with a Single DSP Controller presents a complete implementation of a power line
modem following CEA-709 protocol using a single DSP.
SPRAA85 — Programming TMS320x28xx and 28xxx Peripherals in C/C++ explores a hardware
abstraction layer implementation to make C/C++ coding easier on 28x DSPs. This method is
compared to traditional #define macros and topics of code efficiency and special case registers are
also addressed.
SPRA958 — Running an Application from Internal Flash Memory on the TMS320F28xxx DSP covers
the requirements needed to properly configure application software for execution from on-chip flash
memory. Requirements for both DSP/BIOS™ and non-DSP/BIOS projects are presented. Example
code projects are included.
SPRAA91 — TMS320F280x Digital Signal Controller USB Connectivity Using the TUSB3410
USB-to-UART Bridge Chip presents hardware connections as well as software preparation and
operation of the development system using a simple communication echo program.
SPRAAD8 — TMS320x280x and TMS320F2801x ADC Calibration describes a method for improving
the absolute accuracy of the 12-bit ADC found on the TMS320x280x and TMS320F2801x devices.
Inherent gain and offset errors affect the absolute accuracy of the ADC. The methods described in
this report can improve the absolute accuracy of the ADC to levels better than 0.5%. This
application report has an option to download an example program that executes from RAM on the
F2808 EzDSP.
SPRAAI1 — Using the ePWM Module for 0% – 100% Duty Cycle Control provides a guide for the use
of the ePWM module to provide 0% to 100% duty cycle control and is applicable to the
TMS320x280x family of processors.
SPRAA88 — Using PWM Output as a Digital-to-Analog Converter on a TMS320F280x Digital Signal
Controller presents a method for utilizing the on-chip pulse width modulated (PWM) signal
generators on the TMS320F280x family of digital signal controllers as a digital-to-analog converter
(DAC).
SPRAAH1 — Using the Enhanced Quadrature Encoder Pulse (eQEP) Module in TMS320x280x,
28xxx as a Dedicated Capture provides a guide for the use of the eQEP module as a dedicated
capture unit and is applicable to the TMS320x280x, 28xxx family of processors.
SPRA820 — Online Stack Overflow Detection on the TMS320C28x DSP presents the methodology for
online stack overflow detection on the TMS320C28x DSP. C-source code is provided that contains
functions for implementing the overflow detection on both DSP/BIOS and non-DSP/BIOS
applications.
SPRA806 — An Easy Way of Creating a C-callable Assembly Function for the TMS320C28x DSP
provides instructions and suggestions to configure the C compiler to assist with C-callable
assembly routines.
TMS320C28x, C28x are trademarks of Texas Instruments.
10 Read This First SPRUG04A–October 2008–Revised July 2009
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Reference Guide
SPRUG04A–October 2008–Revised July 2009
TMS320x2833x, 2823x Enhanced Pulse Width Modulator
(ePWM) Module
The enhanced pulse width modulator (ePWM) peripheral is a key element in controlling many of the power
electronic systems found in both commercial and industrial equipments. These systems include digital
motor control, switch mode power supply control, uninterruptible power supplies (UPS), and other forms of
power conversion. The ePWM peripheral performs a digital to analog (DAC) function, where the duty cycle
is equivalent to a DAC analog value; it is sometimes referred to as a Power DAC.
This reference guide is applicable for ePWM type 0 . See the TMS320x28xx, 28xxx DSP Peripheral
Reference Guide (SPRU566) for a list of all devices with an ePWM module of the same type, to determine
the differences between the types, and for a list of device-specific differences within a type.
1 Introduction
An effective PWM peripheral must be able to generate complex pulse width waveforms with minimal CPU
overhead or intervention. It needs to be highly programmable and very flexible while being easy to
understand and use. The ePWM unit described here addresses these requirements by allocating all
needed timing and control resources on a per PWM channel basis. Cross coupling or sharing of resources
has been avoided; instead, the ePWM is built up from smaller single channel modules with separate
resources that can operate together as required to form a system. This modular approach results in an
orthogonal architecture and provides a more transparent view of the peripheral structure, helping users to
understand its operation quickly.
In this document the letter x within a signal or module name is used to indicate a generic ePWM instance
on a device. For example output signals EPWMxA and EPWMxB refer to the output signals from the
ePWMx instance. Thus, EPWM1A and EPWM1B belong to ePWM1 and likewise EPWM4A and EPWM4B
belong to ePWM4.
1.1 Submodule Overview
The ePWM module represents one complete PWM channel composed of two PWM outputs: EPWMxA
and EPWMxB. Multiple ePWM modules are instanced within a device as shown in Figure 1. Each ePWM
instance is identical with one exception. Some instances include a hardware extension that allows more
precise control of the PWM outputs. This extension is the high-resolution pulse width modulator (HRPWM)
and is described in the TMS320x2833x, 2823x High-Resolution Pulse Width Modulator (HRPWM)
Reference Guide (SPRUG02) . See the device-specific data manual to determine which ePWM instances
include this feature. Each ePWM module is indicated by a numerical value starting with 1. For example
ePWM1 is the first instance and ePWM3 is the 3rd instance in the system and ePWMx indicates any
instance.
The ePWM modules are chained together via a clock synchronization scheme that allows them to operate
as a single system when required. Additionally, this synchronization scheme can be extended to the
capture peripheral modules (eCAP). The number of modules is device-dependent and based on target
application 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
11
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– 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. The signals are described
in detail in subsequent sections.
12 TMS320x2833x, 2823x Enhanced Pulse Width Modulator (ePWM) Module SPRUG04A–October 2008–Revised July 2009
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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
www.ti.com Introduction
Figure 1. Multiple ePWM Modules
The order in which the ePWM modules are connected may differ from what is shown in Figure 1. See
Section 2.2.3.3 for the synchronization scheme for a particular device. Each ePWM module consists of
seven submodules and is connected within a system via the signals shown in Figure 2.
13
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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
Introduction www.ti.com
Figure 2. Submodules and Signal Connections for an ePWM Module
Figure 3 shows more internal details of a single ePWM module. The main signals used by the ePWM
module are:
•PWM output signals (EPWMxA and EPWMxB).
The PWM output signals are made available external to the device through the GPIO peripheral
described in the system control and interrupts guide for your device.
•Trip-zone signals (TZ1 to TZ6).
These input signals alert the ePWM module of fault conditions external to the ePWM module. Each
module on a device can be configured to either use or ignore any of the trip-zone signals. The TZ1 to
TZ6 trip-zone signals can be configured 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 configured
to either use or ignore its synchronization input. The clock synchronization input and output signal are
brought 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 ePWM
module can trigger a start of conversion for either sequencer. Which event triggers the start of
conversion is configured in the Event-Trigger submodule of the ePWM.
•Peripheral Bus
The 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
www.ti.com Introduction
Figure 3. ePWM Submodules and Critical Internal Signal Interconnects
Figure 3 also shows the key internal submodule interconnect signals. Each submodule is described in
detail in its respective section.
1.2 Register Mapping
The complete ePWM module control and status register set is grouped by submodule as shown in
Table 1. Each register set is duplicated for each instance of the ePWM module. The start address for each
ePWM register file instance on a device is specified in the appropriate data manual.
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Introduction www.ti.com
Table 1. ePWM Module Control and Status Register Set Grouped by Submodule
Offset Size
Name (1) (x16) Shadow EALLOW Description
Time-Base Submodule Registers
TBCTL 0x0000 1 No Time-Base Control Register
TBSTS 0x0001 1 No Time-Base Status Register
TBPHSHR 0x0002 1 No Extension for HRPWM Phase Register (2)
TBPHS 0x0003 1 No Time-Base Phase Register
TBCTR 0x0004 1 No Time-Base Counter Register
TBPRD 0x0005 1 Yes Time-Base Period Register
Counter-Compare Submodule Registers
CMPCTL 0x0007 1 No Counter-Compare Control Register
CMPAHR 0x0008 1 Yes Extension for HRPWM Counter-Compare A Register (2)
CMPA 0x0009 1 Yes Counter-Compare A Register
CMPB 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 Register
AQCSFRC 0x000E 1 Yes Action-Qualifier Continuous S/W Force Register Set
Dead-Band Generator Submodule Registers
DBCTL 0x000F 1 No Dead-Band Generator Control Register
DBRED 0x0010 1 No Dead-Band Generator Rising Edge Delay Count Register
DBFED 0x0011 1 No Dead-Band Generator Falling Edge Delay Count Register
Trip-Zone Submodule Registers
TZSEL 0x0012 1 Yes Trip-Zone Select Register
TZCTL 0x0014 1 Yes Trip-Zone Control Register (3)
TZEINT 0x0015 1 Yes Trip-Zone Enable Interrupt Register (3)
TZFLG 0x0016 1 Trip-Zone Flag Register (3)
TZCLR 0x0017 1 Yes Trip-Zone Clear Register (3)
TZFRC 0x0018 1 Yes Trip-Zone Force Register (3)
Event-Trigger Submodule Registers
ETSEL 0x0019 1 Event-Trigger Selection Register
ETPS 0x001A 1 Event-Trigger Pre-Scale Register
ETFLG 0x001B 1 Event-Trigger Flag Register
ETCLR 0x001C 1 Event-Trigger Clear Register
ETFRC 0x001D 1 Event-Trigger Force Register
PWM-Chopper Submodule Registers
PCCTL 0x001E 1 PWM-Chopper Control Register
High-Resolution Pulse Width Modulator (HRPWM) Extension
Registers
HRCNFG 0x0020 1 Yes 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 these
locations are reserved. These registers are described in the TMS320x2833x, 2823x High-Resolution Pulse Width Modulator
(HRPWM) Reference Guide (SPRUG02) . See the device specific data manual to determine which instances include the
HRPWM.
(3) EALLOW protected registers as described in the specific device version of the System Control and Interrupts Reference Guide
listed in Related Documentation From Texas Instruments.
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www.ti.com ePWM Submodules
2 ePWM Submodules
Seven submodules are included in every ePWM peripheral. Each of these submodules performs specific
tasks that can be configured by software.
2.1 Overview
Table 2 lists the seven key submodules together with a list of their main configuration parameters. For
example, if you need to adjust or control the duty cycle of a PWM waveform, then you should see the
counter-compare submodule in Section 2.3 for relevant details.
Table 2. 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 output
Action-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 software
Dead-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 through
without 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 through
without modification.
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ePWM Submodules www.ti.com
Table 2. Submodule Configuration Parameters (continued)
Submodule Configuration Parameter or Option
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 pins :
– One-shot
– Cycle-by-cycle
• Enable the trip-zone to initiate an interrupt.
• Bypass the trip-zone module entirely.
Event-trigger (ET) • Enable the ePWM events that will trigger an interrupt.
• Enable ePWM events that will trigger an ADC start-of-conversion event.
• Specify the rate at which events cause triggers (every occurrence or every second or third
occurrence)
• Poll, set, or clear event flags
Code examples are provided in the remainder of this document that show how to implement various
ePWM module configurations. These examples use the constant definitions shown in Example 1. These
definitions are also used in the C2833x/2823x C/C++ Header Files and Peripheral Examples (SPRC530) .
Example 1. Constant Definitions Used in the Code Examples
// TBCTL (Time-Base Control)
//==========================
// TBCTR MODE bits
#define TB_COUNT_UP 0x0
#define TB_COUNT_DOWN 0x1
#define TB_COUNT_UPDOWN 0x2
#define TB_FREEZE 0x3
// PHSEN bit
#define TB_DISABLE 0x0
#define TB_ENABLE 0x1
// PRDLD bit
#define TB_SHADOW 0x0
#define TB_IMMEDIATE 0x1
// SYNCOSEL bits
#define TB_SYNC_IN 0x0
#define TB_CTR_ZERO 0x1
#define TB_CTR_CMPB 0x2
#define TB_SYNC_DISABLE 0x3
// HSPCLKDIV and CLKDIV bits
#define TB_DIV1 0x0
#define TB_DIV2 0x1
#define TB_DIV4 0x2
// PHSDIR bit
#define TB_DOWN 0x0
#define TB_UP 0x1
// CMPCTL (Compare Control)
//==========================
//
LOADAMODE and LOADBMODE bits
#define CC_CTR_ZERO 0x0
#define CC_CTR_PRD 0x1
#define CC_CTR_ZERO_PRD 0x2 #
define CC_LD_DISABLE 0x3
// SHDWAMODE and SHDWBMODE bits
#define CC_SHADOW 0x0
#define CC_IMMEDIATE 0x1
// AQCTLA and AQCTLB (Action-qualifier Control)
//==========================
// ZRO, PRD, CAU, CAD, CBU, CBD bits
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www.ti.com ePWM Submodules
Example 1. Constant Definitions Used in the Code Examples (continued)
#define AQ_NO_ACTION 0x0
#define AQ_CLEAR 0x1
#define AQ_SET 0x2
#define AQ_TOGGLE 0x3
// DBCTL (Dead-Band Control)
//==========================
// MODE bits
#define DB_DISABLE 0x0
#define DBA_ENABLE 0x1
#define DBB_ENABLE 0x2
#define DB_FULL_ENABLE 0x3
// POLSEL bits
#define DB_ACTV_HI 0x0
#define DB_ACTV_LOC 0x1
#define DB_ACTV_HIC 0x2
#define DB_ACTV_LO 0x3 // PCCTL (chopper control)
//==========================
// CHPEN bit
#define CHP_ENABLE 0x0
#define CHP_DISABLE 0x1
// CHPFREQ bits
#define CHP_DIV1 0x0
#define CHP_DIV2 0x1
#define CHP_DIV3 0x2
#define CHP_DIV4 0x3
#define CHP_DIV5 0x4
#define CHP_DIV6 0x5
#define CHP_DIV7 0x6
#define CHP_DIV8 0x7
// CHPDUTY bits
#define CHP1_8TH 0x0
#define CHP2_8TH 0x1
#define CHP3_8TH 0x2
#define CHP4_8TH 0x3
#define CHP5_8TH 0x4
#define CHP6_8TH 0x5 #
define CHP7_8TH 0x6
// TZSEL (Trip-zone Select)
//==========================
// CBCn and OSHTn bits
#define TZ_ENABLE 0x0
#define TZ_DISABLE 0x1
// TZCTL (Trip-zone Control)
//==========================
// TZA and TZB bits
#define TZ_HIZ 0x0
#define TZ_FORCE_HI 0x1
#define TZ_FORCE_LO 0x2
#define TZ_DISABLE 0x3
// ETSEL (Event-trigger Select)
//==========================
// INTSEL, SOCASEL, SOCBSEL bits
#define ET_CTR_ZERO 0x1
#define ET_CTR_PRD 0x2
#define ET_CTRU_CMPA 0x4
#define ET_CTRD_CMPA 0x5
#define ET_CTRU_CMPB 0x6
#define ET_CTRD_CMPB 0x7
// ETPS (Event-trigger Prescale)
//==========================
// INTPRD, SOCAPRD, SOCBPRD bits
#define ET_DISABLE 0x0
#define ET_1ST 0x1
#define ET_2ND 0x2
#define ET_3RD 0x3
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CTR = CMPB
CTR = CMPA
CTR_Dir
CTR = 0
CTR = PRD
Dead
Band
(DB)
Counter
Compare
(CC)
Action
Qualifier
(AQ)
EPWMxA
EPWMxB
CTR = CMPB CTR = 0
EPWMxINT
EPWMxSOCA
EPWMxSOCB
EPWMxA
EPWMxB
TZ1 to TZ6
CTR = CMPA
Time-Base
(TB)
CTR = PRD
CTR = 0
CTR_Dir
EPWMxSYNCI
EPWMxSYNCO
EPWMxTZINT
PWM-
chopper
(PC)
Event
Trigger
and
Interrupt
(ET)
Trip
Zone
(TZ) GPIO
MUX
ADC
PIE
PIE
ePWM Submodules www.ti.com
2.2 Time-Base (TB) Submodule
Each ePWM module has its own time-base submodule that determines all of the event timing for the
ePWM module. Built-in synchronization logic allows the time-base of multiple ePWM modules to work
together as a single system. Figure 4 illustrates the time-base module's place within the ePWM.
Figure 4. Time-Base Submodule Block Diagram
2.2.1 Purpose of the Time-Base Submodule
You can configure the time-base submodule for the following:
• Specify the ePWM time-base counter (TBCTR) frequency or period to control how often events occur.
• Manage time-base synchronization with other ePWM modules.
• Maintain a phase relationship with other ePWM modules.
• Set the time-base counter to count-up, count-down, or count-up-and-down mode.
• Generate the following events:
– CTR = PRD: Time-base counter equal to the specified period (TBCTR = TBPRD) .
– CTR = Zero: Time-base counter equal to zero (TBCTR = 0x0000).
• Configure the rate of the time-base clock; a prescaled version of the CPU system clock
(SYSCLKOUT). This allows the time-base counter to increment/decrement at a slower rate.
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