void EPwmSetup()
{
InitEPwm1Gpio();
EPwm1Regs.TBSTS.all=0;
EPwm1Regs.TBPHS.half.TBPHS=0;
EPwm1Regs.TBCTR=0;
EPwm1Regs.CMPCTL.all=0x50; // Immediate mode for CMPA and CMPB
EPwm1Regs.CMPA.half.CMPA =SP/4;
EPwm1Regs.CMPB=SP/4;
EPwm1Regs.AQCTLA.all=0x60; // EPWMxA = 1 when CTR=CMPA and counter inc
// EPWMxA = 0 when CTR=CMPA and counter dec
EPwm1Regs.AQCTLB.all=0x60;
// EPwm1Regs.AQCTLB.all=0;
EPwm1Regs.AQSFRC.all=0;
EPwm1Regs.AQCSFRC.all=0;
EPwm1Regs.DBCTL.all=0x23; // EPWMxB is inverted
EPwm1Regs.DBRED=0;
EPwm1Regs.DBFED=0;
EPwm1Regs.TZSEL.all=0;
EPwm1Regs.TZCTL.all=0;
EPwm1Regs.TZEINT.all=0;
EPwm1Regs.TZ**.all=0;
EPwm1Regs.TZCLR.all=0;
EPwm1Regs.TZFRC.all=0;
EPwm1Regs.ETSEL.all=0; // Interrupt when TBCTR = 0x0000
EPwm1Regs.ET**.all=0;
EPwm1Regs.ETCLR.all=0;
EPwm1Regs.ETFRC.all=0;
EPwm1Regs.PCCTL.all=0;
EPwm1Regs.TBCTL.all=0x0010+TBCTLVAL; // Enable Timer
EPwm1Regs.TBPRD=SP;
}
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