EALLOW;
	SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;   // Disable TBCLK within the ePWM要保证时基同步的话，首先在配置TB/CC寄存器时先把时钟关闭，即所有TBCLK停止，不产生。等全部配置后之后再打开，保证时钟同步
	SysCtrlRegs.PCLKCR1.bit.EPWM1ENCLK = 1;  // 开启ePWM1外设时钟
	EDIS;

// Setup Sync
	EPwm1Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_DISABLE;  // 禁止（即不使用（输出））ePWMxSYNCO信号
	// Allow each timer to be sync'ed
	EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE;//禁止TBCTR加载相位寄存器TBPHS中的值
	EPwm1Regs.TBPHS.half.TBPHS = 0;//将相位寄存器中的值清零
	EPwm1Regs.TBCTR = 0x0000; // Clear counter时间基准计数寄存器设置为0
	EPwm1Regs.TBPRD = tbprd;//设定周期值
	EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP;    // Count up向上计数模式
	EPwm1Regs.TBCTL.bit.HSPCLKDIV=TB_DIV1;//采用系统时钟作为TBCLK
	EPwm1Regs.TBCTL.bit.CLKDIV=TB_DIV1;//同样是配置TBCLK的时钟

// Setup shadow register load on ZERO
	EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;// 使用影子寄存器
	EPwm1Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;// 使用影子寄存器
	EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;//CTR等于0时加载
	EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

	// Set Compare values
	EPwm1Regs.CMPA.half.CMPA = 0;    // Set compare A value
	EPwm1Regs.CMPB = 0;              // Set Compare B value

// Set actions
	EPwm1Regs.AQCTLA.bit.ZRO = AQ_CLEAR;            // Set PWM1A on Zero
	EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;          // Clear PWM1A on event A, up count
	EPwm1Regs.AQCTLB.bit.ZRO = AQ_CLEAR;            // Set PWM1B on Zero
	EPwm1Regs.AQCTLB.bit.CBU = AQ_SET;          // Clear PWM1B on event B, up count

    EPwm6Regs.ETSEL.bit.INTSEL = ET_CTR_ZERO;     // Select INT on Zero event
	EPwm6Regs.ETSEL.bit.INTEN = 1;  // Enable INT
	EPwm6Regs.ETPS.bit.INTPRD = ET_1ST;          
 // Generate INT on 1st event每发生一次事件产生中断信号EPWM6_INT

EALLOW;
	SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;         // Start all the timers synced
	EDIS;

//###########################################################################
//
// 文件名:    Example_2833xEPwmUpDownAQ.c
//
// 标题:   动作限定模块 - 使用增/减计数模式
//
//
//     此程序需要 DSP2833x头文件.
//
//     按以下描述用示波器观察 ePWM1 - ePWM3引脚
//
//        EPWM1A定义在GPIO0上
//        EPWM1B定义在GPIO1上
//
//        EPWM2A定义在GPIO2上
//        EPWM2B定义在GPIO3上
//
//        EPWM3A定义在GPIO4上
//        EPWM3B定义在GPIO5上
//
//    根据在RAM中调试的需要，这个项目配置成"boot to SARAM".2833x引导模式
//    表如下显示. 常用的还有"boot to Flash"模式，当程序在RAM调试完善后就
//    可以将代码烧进Flash中并使用"boot to Flash"引导模式.
//
//       $Boot_Table:
//
//         GPIO87   GPIO86     GPIO85   GPIO84
//          XA15     XA14       XA13     XA12
//           PU       PU         PU       PU
//        ==========================================
//            1        1          1        1    Jump to Flash
//            1        1          1        0    SCI-A boot
//            1        1          0        1    SPI-A boot
//            1        1          0        0    I2C-A boot
//            1        0          1        1    eCAN-A boot
//            1        0          1        0    McBSP-A boot
//            1        0          0        1    Jump to XINTF x16
//            1        0          0        0    Jump to XINTF x32
//            0        1          1        1    Jump to OTP
//            0        1          1        0    Parallel GPIO I/O boot
//            0        1          0        1    Parallel XINTF boot
//            0        1          0        0    Jump to SARAM       <- "boot to SARAM"
//            0        0          1        1    Branch to check boot mode
//            0        0          1        0    Boot to flash, bypass ADC cal
//            0        0          0        1    Boot to SARAM, bypass ADC cal
//            0        0          0        0    Boot to SCI-A, bypass ADC cal
//                                              Boot_Table_End$
//
// 功能描述：
//
//     本例配置ePWM1, ePWM2, ePWM3产生产生EPWMxA和EPWMxB波形
//
//    在ePWM中断子程序中，比较寄存器CMPA和CMPB的值被修改
//
//    本例时基时钟被配置为增减计数模式
//    通过示波器观察EPWM1A/B, EPWM2A/B 和 EPWM3A/B波形
//
//
//###########################################################################
// 释放日期：2013.11.25
//###########################################################################


#include "DSP2833x_Device.h"     // DSP2833x Headerfile Include File
#include "DSP2833x_Examples.h"   // DSP2833x Examples Include File

typedef struct
{
   volatile struct EPWM_REGS *EPwmRegHandle;
   Uint16 EPwm_CMPA_Direction;
   Uint16 EPwm_CMPB_Direction;
   Uint16 EPwmTimerIntCount;
   Uint16 EPwmMaxCMPA;
   Uint16 EPwmMinCMPA;
   Uint16 EPwmMaxCMPB;
   Uint16 EPwmMinCMPB;
}EPWM_INFO;


// Prototype statements for functions found within this file.
void InitEPwm1Example(void);
void InitEPwm2Example(void);
void InitEPwm3Example(void);
interrupt void epwm1_isr(void);
interrupt void epwm2_isr(void);
interrupt void epwm3_isr(void);
void update_compare(EPWM_INFO*);

// Global variables used in this example
EPWM_INFO epwm1_info;
EPWM_INFO epwm2_info;
EPWM_INFO epwm3_info;

// Configure the period for each timer
#define EPWM1_TIMER_TBPRD  2000  // Period register
#define EPWM1_MAX_CMPA     1950
#define EPWM1_MIN_CMPA       50
#define EPWM1_MAX_CMPB     1950
#define EPWM1_MIN_CMPB       50

#define EPWM2_TIMER_TBPRD  2000  // Period register
#define EPWM2_MAX_CMPA     1950
#define EPWM2_MIN_CMPA       50
#define EPWM2_MAX_CMPB     1950
#define EPWM2_MIN_CMPB       50

#define EPWM3_TIMER_TBPRD  2000  // Period register
#define EPWM3_MAX_CMPA      950
#define EPWM3_MIN_CMPA       50
#define EPWM3_MAX_CMPB     1950
#define EPWM3_MIN_CMPB     1050

// To keep track of which way the compare value is moving
#define EPWM_CMP_UP   1
#define EPWM_CMP_DOWN 0

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. Initalize 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

// For this example, only initialize the ePWM

   EALLOW;
   SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
   EDIS;

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

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

// Step 5. User specific code, enable interrupts:

// 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");
   }

}


interrupt void epwm1_isr(void)
{
   // Update the CMPA and CMPB values
   update_compare(&epwm1_info);

   // 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;
}


interrupt void epwm2_isr(void)
{

   // Update the CMPA and CMPB values
   update_compare(&epwm2_info);

   // 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;
}

interrupt void epwm3_isr(void)
{

   // Update the CMPA and CMPB values
   update_compare(&epwm3_info);

   // 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;
}


void InitEPwm1Example()
{

   // Setup TBCLK  M=100  0000
   EPwm1Regs.TBPRD = 50000;           // Set timer period 801 TBCLKs  频率控制   T =50000 * 1/ 50M hz  = (1/ 1000) s    f=1/T =1000HZ  =1KZ
   EPwm1Regs.TBPHS.half.TBPHS = 0x0000;           // Phase is 0   相位设置
   EPwm1Regs.TBCTR = 0x0000;                      // Clear counter

   // Set Compare values
   EPwm1Regs.CMPA.half.CMPA = EPWM1_MIN_CMPA;     // Set compare A value
   EPwm1Regs.CMPB = EPWM1_MAX_CMPB;               // Set Compare B value

   // Setup counter mode
   EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN; // Count up  增计数模式
   EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE;        // Disable phase loading  禁止相位寄存器加载
   EPwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;       // Clock ratio to SYSCLKOUT   不分频
   EPwm1Regs.TBCTL.bit.CLKDIV = TB_DIV1;        //不分频

   // Setup shadowing
   EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW; // 双缓冲操作，所有的写操作通过CPU访问映射寄存器
   EPwm1Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
   EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;  // Load on Zero   //当时间基准计数器等于0（TBCTR=0X0000）时加载
   EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;


   // Set actions
   EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;   //TBCTR与CMPA在up计数时相等使输出置高          // Set PWM1A on event A, up count
   EPwm1Regs.AQCTLA.bit.CAD = AQ_CLEAR;       //CTR=CAD事件时将EPWM1A置低         // Clear PWM1A on event A, down count

   EPwm1Regs.AQCTLB.bit.CBU = AQ_SET;             // Set PWM1B on event B, up count
   EPwm1Regs.AQCTLB.bit.CBD = AQ_CLEAR;           // Clear PWM1B on event B, down count

   // Interrupt where we will change the Compare Values
   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  //
ETPS域描述（时间触发预分频寄存器）  SOCBCNT：EPWM ADC开始变换B事件（EPWMxSOCB）计数器寄存器，这些位决定有多少选定ETSEL（SOCBSEL）事件已经发生
//：产生几次事件后发出中断信号EPWMx_INT  EPwm1Regs.ETPS.bit.INTPRD=ET_1ST
   /*00：没有
   01：1个
   10：2个
   11：3个  这里 ET_3RD  =11  系统时钟= 150MHZ  / 3  = 50MHZ
     */
   // Information this example uses to keep track
   // of the direction the CMPA/CMPB values are
   // moving, the min and max allowed values and
   // a pointer to the correct ePWM registers
   epwm1_info.EPwm_CMPA_Direction = EPWM_CMP_UP;   // Start by increasing CMPA &
   epwm1_info.EPwm_CMPB_Direction = EPWM_CMP_DOWN; // decreasing CMPB
   epwm1_info.EPwmTimerIntCount = 0;               // Zero the interrupt counter
   epwm1_info.EPwmRegHandle = &EPwm1Regs;          // Set the pointer to the ePWM module
   epwm1_info.EPwmMaxCMPA = EPWM1_MAX_CMPA;        // Setup min/max CMPA/CMPB values
   epwm1_info.EPwmMinCMPA = EPWM1_MIN_CMPA;
   epwm1_info.EPwmMaxCMPB = EPWM1_MAX_CMPB;
   epwm1_info.EPwmMinCMPB = EPWM1_MIN_CMPB;

}


void InitEPwm2Example()
{


   // Setup TBCLK
   EPwm2Regs.TBPRD = EPWM2_TIMER_TBPRD;           // Set timer period 801 TBCLKs
   EPwm2Regs.TBPHS.half.TBPHS = 0x0000;           // Phase is 0
   EPwm2Regs.TBCTR = 0x0000;                      // Clear counter

   // Set Compare values
   EPwm2Regs.CMPA.half.CMPA = EPWM2_MIN_CMPA;     // Set compare A value
   EPwm2Regs.CMPB = EPWM2_MIN_CMPB;               // Set Compare B value

   // Setup counter mode
   EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN; // Count up
   EPwm2Regs.TBCTL.bit.PHSEN = TB_DISABLE;        // Disable phase loading
   EPwm2Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;       // Clock ratio to SYSCLKOUT
   EPwm2Regs.TBCTL.bit.CLKDIV = TB_DIV1;

   // Setup shadowing
   EPwm2Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;
   EPwm2Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
   EPwm2Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;  // Load on Zero
   EPwm2Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;


   // Set actions
   EPwm2Regs.AQCTLA.bit.CAU = AQ_SET;            // Set PWM2A on event A, up count
   EPwm2Regs.AQCTLA.bit.CBD = AQ_CLEAR;          // Clear PWM2A on event B, down count

   EPwm2Regs.AQCTLB.bit.ZRO = AQ_CLEAR;          // Clear PWM2B on zero
   EPwm2Regs.AQCTLB.bit.PRD = AQ_SET  ;          // Set PWM2B on period

   // Interrupt where we will change the Compare Values
   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

   // Information this example uses to keep track
   // of the direction the CMPA/CMPB values are
   // moving, the min and max allowed values and
   // a pointer to the correct ePWM registers
   epwm2_info.EPwm_CMPA_Direction = EPWM_CMP_UP;   // Start by increasing CMPA &
   epwm2_info.EPwm_CMPB_Direction = EPWM_CMP_UP;   // increasing CMPB
   epwm2_info.EPwmTimerIntCount = 0;               // Zero the interrupt counter
   epwm2_info.EPwmRegHandle = &EPwm2Regs;          // Set the pointer to the ePWM module
   epwm2_info.EPwmMaxCMPA = EPWM2_MAX_CMPA;        // Setup min/max CMPA/CMPB values
   epwm2_info.EPwmMinCMPA = EPWM2_MIN_CMPA;
   epwm2_info.EPwmMaxCMPB = EPWM2_MAX_CMPB;
   epwm2_info.EPwmMinCMPB = EPWM2_MIN_CMPB;

}

void InitEPwm3Example(void)
{


   // Setup TBCLK
   EPwm3Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;// Count up/down
   EPwm3Regs.TBPRD = EPWM3_TIMER_TBPRD;          // Set timer period
   EPwm3Regs.TBCTL.bit.PHSEN = TB_DISABLE;       // Disable phase loading
   EPwm3Regs.TBPHS.half.TBPHS = 0x0000;          // Phase is 0
   EPwm3Regs.TBCTR = 0x0000;                     // Clear counter
   EPwm3Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;      // Clock ratio to SYSCLKOUT
   EPwm3Regs.TBCTL.bit.CLKDIV = TB_DIV1;

   // Setup shadow register load on ZERO
   EPwm3Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;
   EPwm3Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
   EPwm3Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
   EPwm3Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

  // Set Compare values
   EPwm3Regs.CMPA.half.CMPA = EPWM3_MIN_CMPA;    // Set compare A value
   EPwm3Regs.CMPB = EPWM3_MAX_CMPB;              // Set Compare B value

   // Set Actions
   EPwm3Regs.AQCTLA.bit.PRD = AQ_SET;            // Set PWM3A on period
   EPwm3Regs.AQCTLA.bit.CBD = AQ_CLEAR;          // Clear PWM3A on event B, down count

   EPwm3Regs.AQCTLB.bit.PRD = AQ_CLEAR;          // Clear PWM3A on period
   EPwm3Regs.AQCTLB.bit.CAU = AQ_SET;            // Set PWM3A on event A, up count

   // Interrupt where we will change the Compare Values
   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

   // Information this example uses to keep track
   // of the direction the CMPA/CMPB values are
   // moving, the min and max allowed values and
   // a pointer to the correct ePWM registers
   epwm3_info.EPwm_CMPA_Direction = EPWM_CMP_UP;   // Start by increasing CMPA &
   epwm3_info.EPwm_CMPB_Direction = EPWM_CMP_DOWN; // decreasing CMPB
   epwm3_info.EPwmTimerIntCount = 0;               // Zero the interrupt counter
   epwm3_info.EPwmRegHandle = &EPwm3Regs;          // Set the pointer to the ePWM module
   epwm3_info.EPwmMaxCMPA = EPWM3_MAX_CMPA;        // Setup min/max CMPA/CMPB values
   epwm3_info.EPwmMinCMPA = EPWM3_MIN_CMPA;
   epwm3_info.EPwmMaxCMPB = EPWM3_MAX_CMPB;
   epwm3_info.EPwmMinCMPB = EPWM3_MIN_CMPB;

}



void update_compare(EPWM_INFO *epwm_info)
{

    epwm_info->EPwmRegHandle->CMPB=12500;  //这里  12500 是因为    50000*0.25  比列的低电平

   return;
}



//===========================================================================
// No more.
//===========================================================================