Generating 24-channel PWM waves based on DSP

By using the timer 1 and the compare unit 1, 2 and 3 in the Event Manager A of TMS320LF2407A, the 24-channel PWM waveforms are generated for the servo control in this paper. Based on the time-sharing mechanism, a PWM cycle is divided into eight periods of time and During each time period, 3-channel PWM waves are output from port A, port B and port E of digital I/O ports synchronously by the control of the compare unit 1, unit 2 and unit 3. This method not only avoids the design of complex hardware interface circuits, but also improves the reliability and the control accuracy of system. And moreover, it has been applied successfully in the control system of a humanoid robot of seventeen degrees of freedom.