//###########################################################################
//
// FILE:   Example_2833xEPwmDeadBand.c
//
// TITLE:  ePWM Deadband Generation Example
//
//! \addtogroup f2833x_example_list
//! <h1> ePWM Deadband Generation (epwm_deadband)</h1>
//!
//! This example configures ePWM1, ePWM2 and ePWM3 for:
//!   - Count up/down
//!   - Deadband
//! 3 Examples are included:
//!   - ePWM1: Active low PWMs
//!   - ePWM2: Active low complementary PWMs
//!   - ePWM3: Active high complementary PWMs
//!
//! Each ePWM is configured to interrupt on the 3rd zero event
//! when this happens the deadband is modified such that
//! 0 <= DB <= DB_MAX.  That is, the deadband will move up and
//! down between 0 and the maximum value.
//!
//! \b External \b Connections \n
//!  - EPWM1A is on GPIO0
//!  - EPWM1B is on GPIO1
//!  - EPWM2A is on GPIO2
//!  - EPWM2B is on GPIO3
//!  - EPWM3A is on GPIO4
//!  - EPWM3B is on GPIO5
//
//
//###########################################################################
// $TI Release: $
// $Release Date: $
// $Copyright:
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//
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// 
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// 
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// 
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
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// $
//###########################################################################

//
// Included Files
//
#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File

//
// Function Prototypes
//
void InitEPwm1Example(void);
void InitEPwm2Example(void);
void InitEPwm3Example(void);
__interrupt void epwm1_isr(void);
__interrupt void epwm2_isr(void);
__interrupt void epwm3_isr(void);

//
// Globals
//
Uint32  EPwm1TimerIntCount;
Uint32  EPwm2TimerIntCount;
Uint32  EPwm3TimerIntCount;
Uint16  EPwm1_DB_Direction;
Uint16  EPwm2_DB_Direction;
Uint16  EPwm3_DB_Direction;

//
// Defines for the Maximum Dead Band values
//
#define EPWM1_MAX_DB   0x03FF
#define EPWM2_MAX_DB   0x03FF
#define EPWM3_MAX_DB   0x03FF

#define EPWM1_MIN_DB   0
#define EPWM2_MIN_DB   0
#define EPWM3_MIN_DB   0

//
// Defines to keep track of which way the Dead Band is moving
//
#define DB_UP   1
#define DB_DOWN 0

//
// Main
//
void main(void)
{
    //
    // Step 1. Initialize System Control:
    // PLL, WatchDog, enable Peripheral Clocks
    // This example function is found in the DSP2833x_SysCtrl.c file.
    //
    InitSysCtrl();

    //
    // Step 2. Initialize GPIO:
    // This example function is found in the DSP2833x_Gpio.c file and
    // illustrates how to set the GPIO to it's default state.
    //
    // InitGpio();  // Skipped for this example

    //
    // For this case just init GPIO pins for ePWM1, ePWM2, ePWM3
    // These functions are in the DSP2833x_EPwm.c file
    //
    InitEPwm1Gpio();
    InitEPwm2Gpio();
    InitEPwm3Gpio();

    //
    // Step 3. Clear all interrupts and initialize PIE vector table:
    // Disable CPU interrupts
    //
    DINT;

    //
    // Initialize the PIE control registers to their default state.
    // The default state is all PIE interrupts disabled and flags
    // are cleared.
    // This function is found in the DSP2833x_PieCtrl.c file.
    //
    InitPieCtrl();

    //
    // Disable CPU interrupts and clear all CPU interrupt flags
    //
    IER = 0x0000;
    IFR = 0x0000;

    //
    // Initialize the PIE vector table with pointers to the shell Interrupt
    // Service Routines (ISR).
    // This will populate the entire table, even if the interrupt
    // is not used in this example.  This is useful for debug purposes.
    // The shell ISR routines are found in DSP2833x_DefaultIsr.c.
    // This function is found in DSP2833x_PieVect.c.
    //
    InitPieVectTable();

    //
    // Interrupts that are used in this example are re-mapped to
    // ISR functions found within this file.
    //
    EALLOW;    // This is needed to write to EALLOW protected registers
    PieVectTable.EPWM1_INT = &epwm1_isr;
    PieVectTable.EPWM2_INT = &epwm2_isr;
    PieVectTable.EPWM3_INT = &epwm3_isr;
    EDIS;      // This is needed to disable write to EALLOW protected registers

    //
    // Step 4. Initialize all the Device Peripherals:
    // This function is found in DSP2833x_InitPeripherals.c
    //
    // InitPeripherals();  // Not required for this example
    EALLOW;
    SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
    EDIS;

    InitEPwm1Example();
    InitEPwm2Example();
    InitEPwm3Example();

    EALLOW;
    SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
    EDIS;

    //
    // Step 5. User specific code, enable interrupts
    //
    
    //
    // Initialize counters:
    //
    EPwm1TimerIntCount = 0;
    EPwm2TimerIntCount = 0;
    EPwm3TimerIntCount = 0;

    //
    // Enable CPU INT3 which is connected to EPWM1-3 INT
    //
    IER |= M_INT3;

    //
    // Enable EPWM INTn in the PIE: Group 3 interrupt 1-3
    //
    PieCtrlRegs.PIEIER3.bit.INTx1 = 1;
    PieCtrlRegs.PIEIER3.bit.INTx2 = 1;
    PieCtrlRegs.PIEIER3.bit.INTx3 = 1;

    //
    // Enable global Interrupts and higher priority real-time debug events
    //
    EINT;       // Enable Global interrupt INTM
    ERTM;       // Enable Global realtime interrupt DBGM

    //
    // Step 6. IDLE loop. Just sit and loop forever (optional)
    //
    for(;;)
    {
        __asm("          NOP");
    }
}

//
// epwm1_isr - 
//
__interrupt void 
epwm1_isr(void)
{
    if(EPwm1_DB_Direction == DB_UP)
    {
        if(EPwm1Regs.DBFED < EPWM1_MAX_DB)
        {
            EPwm1Regs.DBFED++;
            EPwm1Regs.DBRED++;
        }      
        else
        {   
            EPwm1_DB_Direction = DB_DOWN;
            EPwm1Regs.DBFED--;
            EPwm1Regs.DBRED--;
        }
    }
    else
    {
        if(EPwm1Regs.DBFED == EPWM1_MIN_DB)
        {
            EPwm1_DB_Direction = DB_UP;
            EPwm1Regs.DBFED++;
            EPwm1Regs.DBRED++;
        }
        else
        {
            EPwm1Regs.DBFED--;
            EPwm1Regs.DBRED--;
        }
    }
    EPwm1TimerIntCount++;

    //
    // Clear INT flag for this timer
    //
    EPwm1Regs.ETCLR.bit.INT = 1;

    //
    // Acknowledge this interrupt to receive more interrupts from group 3
    //
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}

//
// epwm2_isr -
//
__interrupt void 
epwm2_isr(void)
{
    if(EPwm2_DB_Direction == DB_UP)
    {
        if(EPwm2Regs.DBFED < EPWM2_MAX_DB)
        {
            EPwm2Regs.DBFED++;
            EPwm2Regs.DBRED++;
        }
        else
        {
            EPwm2_DB_Direction = DB_DOWN;
            EPwm2Regs.DBFED--;
            EPwm2Regs.DBRED--;
        }
    }
    else
    {
        if(EPwm2Regs.DBFED == EPWM2_MIN_DB)
        {
            EPwm2_DB_Direction = DB_UP;
            EPwm2Regs.DBFED++;
            EPwm2Regs.DBRED++;
        }
        else
        {
            EPwm2Regs.DBFED--;
            EPwm2Regs.DBRED--;
        }
    }

    EPwm2TimerIntCount++;

    //
    // Clear INT flag for this timer
    //
    EPwm2Regs.ETCLR.bit.INT = 1;

    //
    // Acknowledge this interrupt to receive more interrupts from group 3
    //
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}

//
// epwm3_isr - 
//
__interrupt void 
epwm3_isr(void)
{
    if(EPwm3_DB_Direction == DB_UP)
    {
        if(EPwm3Regs.DBFED < EPWM3_MAX_DB)
        {
            EPwm3Regs.DBFED++;
            EPwm3Regs.DBRED++;
        }
        else
        {
            EPwm3_DB_Direction = DB_DOWN;
            EPwm3Regs.DBFED--;
            EPwm3Regs.DBRED--;
        }
    }
    else
    {
        if(EPwm3Regs.DBFED == EPWM3_MIN_DB)
        {
            EPwm3_DB_Direction = DB_UP;
            EPwm3Regs.DBFED++;
            EPwm3Regs.DBRED++;
        }
        else
        {
            EPwm3Regs.DBFED--;
            EPwm3Regs.DBRED--;
        }
    }

    EPwm3TimerIntCount++;

    //
    // Clear INT flag for this timer
    //
    EPwm3Regs.ETCLR.bit.INT = 1;

    //
    // Acknowledge this interrupt to receive more interrupts from group 3
    //
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}

//
// InitEPwm1Example - 
//
void 
InitEPwm1Example()
{
    EPwm1Regs.TBPRD = 6000;                        // Set timer period
    EPwm1Regs.TBPHS.half.TBPHS = 0x0000;           // Phase is 0
    EPwm1Regs.TBCTR = 0x0000;                      // Clear counter

    //
    // Setup TBCLK
    //
    EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN; // Count up
    EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE;        // Disable phase loading
    EPwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV4;       // Clock ratio to SYSCLKOUT
    EPwm1Regs.TBCTL.bit.CLKDIV = TB_DIV4;

    EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;    // Load registers every ZERO
    EPwm1Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
    EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
    EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

    //
    // Setup compare
    //
    EPwm1Regs.CMPA.half.CMPA = 3000;

    //
    // Set actions
    //
    EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;             // Set PWM1A on Zero
    EPwm1Regs.AQCTLA.bit.CAD = AQ_CLEAR;

    EPwm1Regs.AQCTLB.bit.CAU = AQ_CLEAR;          // Set PWM1A on Zero
    EPwm1Regs.AQCTLB.bit.CAD = AQ_SET;

    //
    // Active Low PWMs - Setup Deadband
    //
    EPwm1Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
    EPwm1Regs.DBCTL.bit.POLSEL = DB_ACTV_LO;
    EPwm1Regs.DBCTL.bit.IN_MODE = DBA_ALL;
    EPwm1Regs.DBRED = EPWM1_MIN_DB;
    EPwm1Regs.DBFED = EPWM1_MIN_DB;
    EPwm1_DB_Direction = DB_UP;

    //
    // Interrupt where we will change the Deadband
    //
    EPwm1Regs.ETSEL.bit.INTSEL = ET_CTR_ZERO;     // Select INT on Zero event
    EPwm1Regs.ETSEL.bit.INTEN = 1;                // Enable INT
    EPwm1Regs.ETPS.bit.INTPRD = ET_3RD;           // Generate INT on 3rd event
}

//
// InitEPwm2Example - 
//
void 
InitEPwm2Example()
{
    EPwm2Regs.TBPRD = 6000;                        // Set timer period
    EPwm2Regs.TBPHS.half.TBPHS = 0x0000;           // Phase is 0
    EPwm2Regs.TBCTR = 0x0000;                      // Clear counter

    //
    // Setup TBCLK
    //
    EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN; // Count up
    EPwm2Regs.TBCTL.bit.PHSEN = TB_DISABLE;        // Disable phase loading
    EPwm2Regs.TBCTL.bit.HSPCLKDIV = TB_DIV4;       // Clock ratio to SYSCLKOUT
    EPwm2Regs.TBCTL.bit.CLKDIV = TB_DIV4;  // Slow just to observe on the scope

    //
    // Setup compare
    //
    EPwm2Regs.CMPA.half.CMPA = 3000;

    //
    // Set actions
    //
    EPwm2Regs.AQCTLA.bit.CAU = AQ_SET;             // Set PWM2A on Zero
    EPwm2Regs.AQCTLA.bit.CAD = AQ_CLEAR;

    EPwm2Regs.AQCTLB.bit.CAU = AQ_CLEAR;           // Set PWM2A on Zero
    EPwm2Regs.AQCTLB.bit.CAD = AQ_SET;

    //
    // Active Low complementary PWMs - setup the deadband
    //
    EPwm2Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
    EPwm2Regs.DBCTL.bit.POLSEL = DB_ACTV_LOC;
    EPwm2Regs.DBCTL.bit.IN_MODE = DBA_ALL;
    EPwm2Regs.DBRED = EPWM2_MIN_DB;
    EPwm2Regs.DBFED = EPWM2_MIN_DB;
    EPwm2_DB_Direction = DB_UP;

    //
    // Interrupt where we will modify the deadband
    //
    EPwm2Regs.ETSEL.bit.INTSEL = ET_CTR_ZERO;      // Select INT on Zero event
    EPwm2Regs.ETSEL.bit.INTEN = 1;                 // Enable INT
    EPwm2Regs.ETPS.bit.INTPRD = ET_3RD;            // Generate INT on 3rd event
}

//
// InitEPwm3Example - 
//
void 
InitEPwm3Example()
{
    EPwm3Regs.TBPRD = 6000;                         // Set timer period
    EPwm3Regs.TBPHS.half.TBPHS = 0x0000;            // Phase is 0
    EPwm3Regs.TBCTR = 0x0000;                       // Clear counter

    //
    // Setup TBCLK
    //
    EPwm3Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN; // Count up
    EPwm3Regs.TBCTL.bit.PHSEN = TB_DISABLE;        // Disable phase loading
    EPwm3Regs.TBCTL.bit.HSPCLKDIV = TB_DIV4;       // Clock ratio to SYSCLKOUT
    EPwm3Regs.TBCTL.bit.CLKDIV = TB_DIV4;// Slow so we can observe on the scope

    //
    // Setup compare
    //
    EPwm3Regs.CMPA.half.CMPA = 3000;

    //
    // Set actions
    //
    EPwm3Regs.AQCTLA.bit.CAU = AQ_SET;          // Set PWM3A on Zero
    EPwm3Regs.AQCTLA.bit.CAD = AQ_CLEAR;

    EPwm3Regs.AQCTLB.bit.CAU = AQ_CLEAR;        // Set PWM3A on Zero
    EPwm3Regs.AQCTLB.bit.CAD = AQ_SET;

    //
    // Active high complementary PWMs - Setup the deadband
    //
    EPwm3Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
    EPwm3Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC;
    EPwm3Regs.DBCTL.bit.IN_MODE = DBA_ALL;
    EPwm3Regs.DBRED = EPWM3_MIN_DB;
    EPwm3Regs.DBFED = EPWM3_MIN_DB;
    EPwm3_DB_Direction = DB_UP;

    //
    // Interrupt where we will change the deadband
    //
    EPwm3Regs.ETSEL.bit.INTSEL = ET_CTR_ZERO;    // Select INT on Zero event
    EPwm3Regs.ETSEL.bit.INTEN = 1;               // Enable INT
    EPwm3Regs.ETPS.bit.INTPRD = ET_3RD;          // Generate INT on 3rd event
}

//
// End of File
//

