seklyuts
65f17dc051
Учтено инвертирование ШИМ в третьей фазе Настроено масштабирование напряжение (вектор напряжения в вольтах, а не в процентах ШИМ) Напряжение моста фильтруется
268 lines
5.3 KiB
C
268 lines
5.3 KiB
C
/*
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* interrupts.c
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*
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* Created on: 21 àâã. 2023 ã.
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* Author: seklyuts
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*/
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#include <pwm_init.h>
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#include "f28x_project.h"
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#include "frm_uart.h"
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#include "gpio_init.h"
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#include "i2c_init.h"
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#include "timer_base.h"
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#include "vector.h"
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#include "pwm_interrupts.h"
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#include "sdfm.h"
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#include "adc_init.h"
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#include <pwm_init.h>
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volatile uint16_t AutoChange = 0;
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volatile uint16_t PWM_out = 2500;
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//volatile uint16_t PWM_motor = PERIOD_2;
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uint16_t Fault = 0, Fault_fix = 0, Ready = 0, Ready_Fix = 0;
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uint16_t counter1s=0;
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uint16_t FaultABC = 0, FaultABCFix = 0;
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uint16_t PwmFlagStartADC = 0;
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extern volatile struct EPWM_REGS * EPwmRegs[17];
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typedef struct
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{
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int16_t UA;
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int16_t UB;
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int16_t UC;
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}strPWMABC;
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volatile strPWMABC PWM_motor = {PERIOD_2, PERIOD_2, PERIOD_2};
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void pwm_set_volt_3F(float phaseA, float phaseB, float phaseC, float Udc)
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{
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int16_t A,B,C;
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Gpio4out(1);
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A = (int16_t)((phaseA/Udc)*PERIOD_2);
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B = (int16_t)((phaseB/Udc)*PERIOD_2);
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C = (int16_t)((phaseC/Udc)*PERIOD_2);
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Gpio4out(0);
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if(A > 0) A+= EPWM_DB/2;
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else if(A < 0) A-= EPWM_DB/2;
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if(B > 0) B+= EPWM_DB/2;
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else if(B < 0) B-= EPWM_DB/2;
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if(C > 0) C+= EPWM_DB/2;
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else if(C < 0) C-= EPWM_DB/2;
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PWM_motor.UA = PERIOD_2 + A;
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PWM_motor.UB = PERIOD_2 + B;
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PWM_motor.UC = PERIOD_2 - C;
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FaultABC = 0;//(FaultPWM);
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if(FaultABC) FaultABCFix = FaultABC;
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if((FaultABC)||(FaultABCFix))
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{
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PWM_ABC_StopAllClose();
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PWM_motor.UA = PERIOD_2;
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PWM_motor.UB = PERIOD_2;
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PWM_motor.UC = PERIOD_2;
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vectorFault();
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}
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EPwmRegs[PWM_A]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UA;
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EPwmRegs[PWM_B]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UB;
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EPwmRegs[PWM_C]->CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UC;
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}
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//
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// epwm1_isr - EPWM1 ISR
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//
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__interrupt void epwm1_isr(void)
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{
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// if(AutoChange) pwm_AutoChange(1);
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// else
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EPwm1Regs.CMPA.bit.CMPA = PWM_out;
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//
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// Clear INT flag for this timer
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//
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EPwm1Regs.ETCLR.bit.INT = 1;
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MainTimerBaseTimeoutInc();
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//
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// Acknowledge this interrupt to receive more interrupts from group 3
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//
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PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
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}
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//
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// epwm2_isr - EPWM2 ISR
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//
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uint32_t Test_ADC_PWM_Synch1=0, Test_ADC_PWM_Synch2=0;
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uint16_t TestStopSync = 0;
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__interrupt void epwm2_isr(void)
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{
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// Gpio57out(1);
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// EALLOW;
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// Sdfm1Regs.SDDFPARM4.bit.FEN = 1;
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// EDIS;
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// GpioDataRegs.GPADAT.bit.GPIO0 = 1;
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//
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// Clear INT flag for this timer
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//
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EPwm2Regs.ETCLR.bit.INT = 1;
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TimerBaseTimeoutInc();
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if(PwmFlagStartADC) /// àöï íå çàïóñòèëñÿ, òîê íå áûë èçìåðåí
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{
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PwmFlagStartADC = 0;
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FMSTR_enable_set();
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adc_start_set();
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PWM_ABC_StopAllClose();
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PWM_motor.UA = PERIOD_2;
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PWM_motor.UB = PERIOD_2;
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PWM_motor.UC = PERIOD_2;
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vectorFault();
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Test_ADC_PWM_Synch1++;
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if(TestStopSync == 2) TestStopSync = 3;
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}
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else Test_ADC_PWM_Synch2++;
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//
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// Acknowledge this interrupt to receive more interrupts from group 3
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//
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PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
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// Gpio4out(1);
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// GpioDataRegs.GPADAT.bit.GPIO0 = 0;
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// Gpio57out(0);
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}
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//
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// epwm3_isr - EPWM3 ISR
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//
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__interrupt void epwm3_isr(void)
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{
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EPwm3Regs.CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UB;
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//
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// Clear INT flag for this timer
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//
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EPwm3Regs.ETCLR.bit.INT = 1;
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//
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// Acknowledge this interrupt to receive more interrupts from group 3
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//
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PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
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}
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__interrupt void epwm4_isr(void)
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{
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EPwm4Regs.CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor.UC;
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//
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// Clear INT flag for this timer
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//
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EPwm4Regs.ETCLR.bit.INT = 1;
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//
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// Acknowledge this interrupt to receive more interrupts from group 3
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//
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PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
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}
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__interrupt void epwm8_isr(void)
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{
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// Ready = GpioDataRegs.GPADAT.bit.GPIO19;
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// if(Ready == 0)
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// {
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// Ready_Fix = 0;
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// }
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// Fault = !GpioDataRegs.GPADAT.bit.GPIO18;
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// if(Fault) Fault_fix = 1;
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// if(Fault_fix)
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// {
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// EPwm5Regs.CMPA.bit.CMPA = PERIOD_BRAKE;
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// PWM_out = 0;
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// }
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// else
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// {
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EPwm8Regs.CMPA.bit.CMPA = PERIOD_BRAKE - PWM_out;
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// }
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//
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// Clear INT flag for this timer
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//
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EPwm8Regs.ETCLR.bit.INT = 1;
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//
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// Acknowledge this interrupt to receive more interrupts from group 3
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//
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PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
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}
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float Volt=0;
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__interrupt void epwm6_isr(void)
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{
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EPwm6Regs.CMPA.bit.CMPA = PERIOD_MOTOR - PWM_out;
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//
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// Clear INT flag for this timer
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//
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EPwm6Regs.ETCLR.bit.INT = 1;
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//
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// Acknowledge this interrupt to receive more interrupts from group 3
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//
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PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
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}
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uint16_t PWM_test = SDFM_DELAY;
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__interrupt void epwm11_isr(void)
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{
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EPwm11Regs.CMPA.bit.CMPA = PWM_test;
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EPwm11Regs.CMPB.bit.CMPB = PWM_test;
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EPwm11Regs.CMPC = PWM_test;
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EPwm11Regs.CMPD = PWM_test;
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if(TestStopSync != 3) sdfm_start_conversion_current();
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PwmFlagStartADC = 1;
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EPwm11Regs.ETCLR.bit.INT = 1;
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PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
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// Gpio4out(0);
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}
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void pwm_clr_PwmFlagStartADC(void)
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{
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PwmFlagStartADC = 0;
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}
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//
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// InitEPwm1Example - Initialize EPWM1 configuration
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//
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