text: /**************************************************************************//**
   * @file     epwm.c
   * @version  V3.00
   * @brief    M2351 series EPWM driver source file
   *
   * @note
   * SPDX-License-Identifier: Apache-2.0
   * Copyright (C) 2017-2020 Nuvoton Technology Corp. All rights reserved.
  *****************************************************************************/
  #include "NuMicro.h"
  
  /** @addtogroup Standard_Driver Standard Driver
    @{
  */
  
  /** @addtogroup EPWM_Driver EPWM Driver
    @{
  */
  
  
  /** @addtogroup EPWM_EXPORTED_FUNCTIONS EPWM Exported Functions
    @{
  */
  
  /**
   * @brief Configure EPWM capture and get the nearest unit time.
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @param[in] u32UnitTimeNsec The unit time of counter
   * @param[in] u32CaptureEdge The condition to latch the counter. This parameter is not used
   * @return The nearest unit time in nano second.
   * @details This function is used to Configure EPWM capture and get the nearest unit time.
   */
  uint32_t EPWM_ConfigCaptureChannel(EPWM_T *epwm, uint32_t u32ChannelNum, uint32_t u32UnitTimeNsec, uint32_t u32CaptureEdge)
  {
      uint32_t u32PWMClockSrc;
      uint32_t u32NearestUnitTimeNsec = 0U;
      uint32_t u32Prescale = 1U, u32CNR = 0xFFFFU;
      uint8_t u8BreakLoop = 0U;
  
      (void)u32CaptureEdge;
      /* clock source is from PCLK */
      if((epwm == EPWM0) || (epwm == EPWM0_NS))
      {
          u32PWMClockSrc = CLK_GetPCLK0Freq();
      }
      else /* if((epwm == EPWM1)||(epwm == EPWM1_NS)) */
      {
          u32PWMClockSrc = CLK_GetPCLK1Freq();
      }
  
      u32PWMClockSrc /= 1000UL;
      for(u32Prescale = 1U; u32Prescale <= 0x1000U; u32Prescale++)
      {
          u32NearestUnitTimeNsec = (1000000UL * u32Prescale) / u32PWMClockSrc;
          if(u32NearestUnitTimeNsec < u32UnitTimeNsec)
          {
              if(u32Prescale == 0x1000U)  /* limit to the maximum unit time(nano second) */
              {
                  u8BreakLoop = 1U;
              }
              if(!((1000000UL * (u32Prescale + 1UL) > (u32NearestUnitTimeNsec * u32PWMClockSrc))))
              {
                  u8BreakLoop = 1U;
              }
          }
          else
          {
              u8BreakLoop = 1U;
          }
          if(u8BreakLoop)
          {
              break;
          }
      }
  
      /* convert to real register value */
      u32Prescale = u32Prescale - 1U;
      /* every two channels share a prescaler */
      EPWM_SET_PRESCALER(epwm, u32ChannelNum, u32Prescale);
  
      /* set EPWM to down count type(edge aligned) */
      (epwm)->CTL1 = ((epwm)->CTL1 & ~(EPWM_CTL1_CNTTYPE0_Msk << (u32ChannelNum << 1))) | (1UL << (u32ChannelNum << 1));
      /* set EPWM to auto-reload mode */
      (epwm)->CTL1 &= ~(EPWM_CTL1_CNTMODE0_Msk << u32ChannelNum);
      EPWM_SET_CNR(epwm, u32ChannelNum, u32CNR);
  
      return (u32NearestUnitTimeNsec);
  }
  
  /**
   * @brief This function Configure EPWM generator and get the nearest frequency in edge aligned(up counter type) auto-reload mode
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @param[in] u32Frequency Target generator frequency
   * @param[in] u32DutyCycle Target generator duty cycle percentage. Valid range are between 0 ~ 100. 10 means 10%, 20 means 20%...
   * @return Nearest frequency clock in nano second
   * @note Since every two channels, (0 & 1), (2 & 3), shares a prescaler. Call this API to configure EPWM frequency may affect
   *       existing frequency of other channel.
   * @note This function is used for initial stage.
   *       To change duty cycle later, it should get the configured period value and calculate the new comparator value.
   */
  uint32_t EPWM_ConfigOutputChannel(EPWM_T *epwm, uint32_t u32ChannelNum, uint32_t u32Frequency, uint32_t u32DutyCycle)
  {
      uint32_t u32PWMClockSrc;
      uint32_t i;
      uint32_t u32Prescale = 1U, u32CNR = 0xFFFFU;
  
      /* clock source is from PCLK */
      if((epwm == EPWM0) || (epwm == EPWM0_NS))
      {
          u32PWMClockSrc = CLK_GetPCLK0Freq();
      }
      else /* if((epwm == EPWM1)||(epwm == EPWM1_NS)) */
      {
          u32PWMClockSrc = CLK_GetPCLK1Freq();
      }
  
      for(u32Prescale = 1U; u32Prescale < 0xFFFU; u32Prescale++)/* prescale could be 0~0xFFF */
      {
          i = (u32PWMClockSrc / u32Frequency) / u32Prescale;
          /* If target value is larger than CNR, need to use a larger prescaler */
          if(i <= (0x10000U))
          {
              u32CNR = i;
              break;
          }
      }
      /* Store return value here 'cos we're gonna change u32Prescale & u32CNR to the real value to fill into register */
      i = u32PWMClockSrc / (u32Prescale * u32CNR);
  
      /* convert to real register value */
      u32Prescale = u32Prescale - 1U;
      /* every two channels share a prescaler */
      EPWM_SET_PRESCALER(epwm, u32ChannelNum, u32Prescale);
      /* set EPWM to up counter type(edge aligned) and auto-reload mode */
      (epwm)->CTL1 = ((epwm)->CTL1 & ~((EPWM_CTL1_CNTTYPE0_Msk << (u32ChannelNum << 1)) | (EPWM_CTL1_CNTMODE0_Msk << u32ChannelNum)));
  
      u32CNR = u32CNR - 1U;
      EPWM_SET_CNR(epwm, u32ChannelNum, u32CNR);
      EPWM_SET_CMR(epwm, u32ChannelNum, u32DutyCycle * (u32CNR + 1UL) / 100UL);
  
      (epwm)->WGCTL0 = ((epwm)->WGCTL0 & ~((EPWM_WGCTL0_PRDPCTL0_Msk | EPWM_WGCTL0_ZPCTL0_Msk) << (u32ChannelNum << 1))) | \
                       (EPWM_OUTPUT_HIGH << (u32ChannelNum << 1UL << EPWM_WGCTL0_ZPCTL0_Pos));
      (epwm)->WGCTL1 = ((epwm)->WGCTL1 & ~((EPWM_WGCTL1_CMPDCTL0_Msk | EPWM_WGCTL1_CMPUCTL0_Msk) << (u32ChannelNum << 1))) | \
                       (EPWM_OUTPUT_LOW << (u32ChannelNum << 1UL << EPWM_WGCTL1_CMPUCTL0_Pos));
  
      return(i);
  }
  
  /**
   * @brief Start EPWM module
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelMask Combination of enabled channels. Each bit corresponds to a channel.
   *                           Bit 0 is channel 0, bit 1 is channel 1...
   * @return None
   * @details This function is used to start EPWM module.
   */
  void EPWM_Start(EPWM_T *epwm, uint32_t u32ChannelMask)
  {
      (epwm)->CNTEN |= u32ChannelMask;
  }
  
  /**
   * @brief Stop EPWM module
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelMask Combination of enabled channels. Each bit corresponds to a channel.
   *                           Bit 0 is channel 0, bit 1 is channel 1...
   * @return None
   * @details This function is used to stop EPWM module.
   */
  void EPWM_Stop(EPWM_T *epwm, uint32_t u32ChannelMask)
  {
      uint32_t i;
      for(i = 0UL; i < EPWM_CHANNEL_NUM; i ++)
      {
          if(u32ChannelMask & (1UL << i))
          {
              (epwm)->PERIOD[i] = 0UL;
          }
      }
  }
  
  /**
   * @brief Stop EPWM generation immediately by clear channel enable bit
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelMask Combination of enabled channels. Each bit corresponds to a channel.
   *                           Bit 0 is channel 0, bit 1 is channel 1...
   * @return None
   * @details This function is used to stop EPWM generation immediately by clear channel enable bit.
   */
  void EPWM_ForceStop(EPWM_T *epwm, uint32_t u32ChannelMask)
  {
      (epwm)->CNTEN &= ~u32ChannelMask;
  }
  
  /**
   * @brief Enable selected channel to trigger ADC
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @param[in] u32Condition The condition to trigger ADC. Combination of following conditions:
   *                  - \ref EPWM_TRG_ADC_EVEN_ZERO
   *                  - \ref EPWM_TRG_ADC_EVEN_PERIOD
   *                  - \ref EPWM_TRG_ADC_EVEN_ZERO_PERIOD
   *                  - \ref EPWM_TRG_ADC_EVEN_COMPARE_UP
   *                  - \ref EPWM_TRG_ADC_EVEN_COMPARE_DOWN
   *                  - \ref EPWM_TRG_ADC_ODD_ZERO
   *                  - \ref EPWM_TRG_ADC_ODD_PERIOD
   *                  - \ref EPWM_TRG_ADC_ODD_ZERO_PERIOD
   *                  - \ref EPWM_TRG_ADC_ODD_COMPARE_UP
   *                  - \ref EPWM_TRG_ADC_ODD_COMPARE_DOWN
   *                  - \ref EPWM_TRG_ADC_CH_0_FREE_CMP_UP
   *                  - \ref EPWM_TRG_ADC_CH_0_FREE_CMP_DOWN
   *                  - \ref EPWM_TRG_ADC_CH_2_FREE_CMP_UP
   *                  - \ref EPWM_TRG_ADC_CH_2_FREE_CMP_DOWN
   *                  - \ref EPWM_TRG_ADC_CH_4_FREE_CMP_UP
   *                  - \ref EPWM_TRG_ADC_CH_4_FREE_CMP_DOWN
   * @return None
   * @details This function is used to enable selected channel to trigger ADC.
   */
  void EPWM_EnableADCTrigger(EPWM_T *epwm, uint32_t u32ChannelNum, uint32_t u32Condition)
  {
      if(u32ChannelNum < 4UL)
      {
          (epwm)->EADCTS0 &= ~((EPWM_EADCTS0_TRGSEL0_Msk) << (u32ChannelNum << 3));
          (epwm)->EADCTS0 |= ((EPWM_EADCTS0_TRGEN0_Msk | u32Condition) << (u32ChannelNum << 3));
      }
      else
      {
          (epwm)->EADCTS1 &= ~((EPWM_EADCTS1_TRGSEL4_Msk) << ((u32ChannelNum - 4UL) << 3));
          (epwm)->EADCTS1 |= ((EPWM_EADCTS1_TRGEN4_Msk | u32Condition) << ((u32ChannelNum - 4UL) << 3));
      }
  }
  
  /**
   * @brief Disable selected channel to trigger ADC
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to disable selected channel to trigger ADC.
   */
  void EPWM_DisableADCTrigger(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      if(u32ChannelNum < 4UL)
      {
          (epwm)->EADCTS0 &= ~(EPWM_EADCTS0_TRGEN0_Msk << (u32ChannelNum << 3));
      }
      else
      {
          (epwm)->EADCTS1 &= ~(EPWM_EADCTS1_TRGEN4_Msk << ((u32ChannelNum - 4UL) << 3));
      }
  }
  
  /**
   * @brief Clear selected channel trigger ADC flag
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @param[in] u32Condition This parameter is not used
   * @return None
   * @details This function is used to clear selected channel trigger ADC flag.
   */
  void EPWM_ClearADCTriggerFlag(EPWM_T *epwm, uint32_t u32ChannelNum, uint32_t u32Condition)
  {
      (void)u32Condition;
      (epwm)->STATUS = (EPWM_STATUS_EADCTRGF0_Msk << u32ChannelNum);
  }
  
  /**
   * @brief Get selected channel trigger ADC flag
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @retval 0 The specified channel trigger ADC to start of conversion flag is not set
   * @retval 1 The specified channel trigger ADC to start of conversion flag is set
   * @details This function is used to get EPWM trigger ADC to start of conversion flag for specified channel.
   */
  uint32_t EPWM_GetADCTriggerFlag(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      return (((epwm)->STATUS & (EPWM_STATUS_EADCTRGF0_Msk << u32ChannelNum)) ? 1UL : 0UL);
  }
  
  /**
   * @brief Enable selected channel to trigger DAC
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @param[in] u32Condition The condition to trigger DAC. Combination of following conditions:
   *                  - \ref EPWM_TRIGGER_DAC_ZERO
   *                  - \ref EPWM_TRIGGER_DAC_PERIOD
   *                  - \ref EPWM_TRIGGER_DAC_COMPARE_UP
   *                  - \ref EPWM_TRIGGER_DAC_COMPARE_DOWN
   * @return None
   * @details This function is used to enable selected channel to trigger DAC.
   */
  void EPWM_EnableDACTrigger(EPWM_T *epwm, uint32_t u32ChannelNum, uint32_t u32Condition)
  {
      (epwm)->DACTRGEN |= (u32Condition << u32ChannelNum);
  }
  
  /**
   * @brief Disable selected channel to trigger DAC
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to disable selected channel to trigger DAC.
   */
  void EPWM_DisableDACTrigger(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (epwm)->DACTRGEN &= ~((EPWM_TRIGGER_DAC_ZERO | EPWM_TRIGGER_DAC_PERIOD | EPWM_TRIGGER_DAC_COMPARE_UP | EPWM_TRIGGER_DAC_COMPARE_DOWN) << u32ChannelNum);
  }
  
  /**
   * @brief Clear selected channel trigger DAC flag
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. This parameter is not used
   * @param[in] u32Condition The condition to trigger DAC. This parameter is not used
   * @return None
   * @details This function is used to clear selected channel trigger DAC flag.
   */
  void EPWM_ClearDACTriggerFlag(EPWM_T *epwm, uint32_t u32ChannelNum, uint32_t u32Condition)
  {
      (void)u32ChannelNum;
      (void)u32Condition;
      (epwm)->STATUS = EPWM_STATUS_DACTRGF_Msk;
  }
  
  /**
   * @brief Get selected channel trigger DAC flag
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. This parameter is not used
   * @retval 0 The specified channel trigger DAC to start of conversion flag is not set
   * @retval 1 The specified channel trigger DAC to start of conversion flag is set
   * @details This function is used to get selected channel trigger DAC flag.
   */
  uint32_t EPWM_GetDACTriggerFlag(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (void)u32ChannelNum;
      return (((epwm)->STATUS & EPWM_STATUS_DACTRGF_Msk) ? 1UL : 0UL);
  }
  
  /**
   * @brief This function enable fault brake of selected channel(s)
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelMask Combination of enabled channels. Each bit corresponds to a channel.
   * @param[in] u32LevelMask Output high or low while fault brake occurs, each bit represent the level of a channel
   *                         while fault brake occurs. Bit 0 represents channel 0, bit 1 represents channel 1...
   * @param[in] u32BrakeSource Fault brake source, could be one of following source
   *                  - \ref EPWM_FB_EDGE_ADCRM
   *                  - \ref EPWM_FB_EDGE_ACMP0
   *                  - \ref EPWM_FB_EDGE_ACMP1
   *                  - \ref EPWM_FB_EDGE_BKP0
   *                  - \ref EPWM_FB_EDGE_BKP1
   *                  - \ref EPWM_FB_EDGE_SYS_CSS
   *                  - \ref EPWM_FB_EDGE_SYS_BOD
   *                  - \ref EPWM_FB_EDGE_SYS_RAM
   *                  - \ref EPWM_FB_EDGE_SYS_COR
   *                  - \ref EPWM_FB_LEVEL_ADCRM
   *                  - \ref EPWM_FB_LEVEL_ACMP0
   *                  - \ref EPWM_FB_LEVEL_ACMP1
   *                  - \ref EPWM_FB_LEVEL_BKP0
   *                  - \ref EPWM_FB_LEVEL_BKP1
   *                  - \ref EPWM_FB_LEVEL_SYS_CSS
   *                  - \ref EPWM_FB_LEVEL_SYS_BOD
   *                  - \ref EPWM_FB_LEVEL_SYS_RAM
   *                  - \ref EPWM_FB_LEVEL_SYS_COR
   * @return None
   * @details This function is used to enable fault brake of selected channel(s).
   *          The write-protection function should be disabled before using this function.
   */
  void EPWM_EnableFaultBrake(EPWM_T *epwm, uint32_t u32ChannelMask, uint32_t u32LevelMask, uint32_t u32BrakeSource)
  {
      uint32_t i;
  
      for(i = 0UL; i < EPWM_CHANNEL_NUM; i++)
      {
          if(u32ChannelMask & (1UL << i))
          {
              if((u32BrakeSource == EPWM_FB_EDGE_SYS_CSS) || (u32BrakeSource == EPWM_FB_EDGE_SYS_BOD) || \
                      (u32BrakeSource == EPWM_FB_EDGE_SYS_RAM) || (u32BrakeSource == EPWM_FB_EDGE_SYS_COR) || \
                      (u32BrakeSource == EPWM_FB_LEVEL_SYS_CSS) || (u32BrakeSource == EPWM_FB_LEVEL_SYS_BOD) || \
                      (u32BrakeSource == EPWM_FB_LEVEL_SYS_RAM) || (u32BrakeSource == EPWM_FB_LEVEL_SYS_COR))
              {
                  (epwm)->BRKCTL[i >> 1] |= (u32BrakeSource & (EPWM_BRKCTL0_1_SYSEBEN_Msk | EPWM_BRKCTL0_1_SYSLBEN_Msk));
                  (epwm)->FAILBRK |= (u32BrakeSource & 0xFUL);
              }
              else
              {
                  (epwm)->BRKCTL[i >> 1] |= u32BrakeSource;
              }
          }
  
          if(u32LevelMask & (1UL << i))
          {
              if((i & 0x1UL) == 0UL)
              {
                  /* set brake action as high level for even channel */
                  (epwm)->BRKCTL[i >> 1] &= ~EPWM_BRKCTL0_1_BRKAEVEN_Msk;
                  (epwm)->BRKCTL[i >> 1] |= ((3UL) << EPWM_BRKCTL0_1_BRKAEVEN_Pos);
              }
              else
              {
                  /* set brake action as high level for odd channel */
                  (epwm)->BRKCTL[i >> 1] &= ~EPWM_BRKCTL0_1_BRKAODD_Msk;
                  (epwm)->BRKCTL[i >> 1] |= ((3UL) << EPWM_BRKCTL0_1_BRKAODD_Pos);
              }
          }
          else
          {
              if((i & 0x1UL) == 0UL)
              {
                  /* set brake action as low level for even channel */
                  (epwm)->BRKCTL[i >> 1] &= ~EPWM_BRKCTL0_1_BRKAEVEN_Msk;
                  (epwm)->BRKCTL[i >> 1] |= ((2UL) << EPWM_BRKCTL0_1_BRKAEVEN_Pos);
              }
              else
              {
                  /* set brake action as low level for odd channel */
                  (epwm)->BRKCTL[i >> 1] &= ~EPWM_BRKCTL0_1_BRKAODD_Msk;
                  (epwm)->BRKCTL[i >> 1] |= ((2UL) << EPWM_BRKCTL0_1_BRKAODD_Pos);
              }
          }
      }
  }
  
  /**
   * @brief Enable capture of selected channel(s)
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelMask Combination of enabled channels. Each bit corresponds to a channel.
   *                           Bit 0 is channel 0, bit 1 is channel 1...
   * @return None
   * @details This function is used to enable capture of selected channel(s).
   */
  void EPWM_EnableCapture(EPWM_T *epwm, uint32_t u32ChannelMask)
  {
      (epwm)->CAPINEN |= u32ChannelMask;
      (epwm)->CAPCTL |= u32ChannelMask;
  }
  
  /**
   * @brief Disable capture of selected channel(s)
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelMask Combination of enabled channels. Each bit corresponds to a channel.
   *                           Bit 0 is channel 0, bit 1 is channel 1...
   * @return None
   * @details This function is used to disable capture of selected channel(s).
   */
  void EPWM_DisableCapture(EPWM_T *epwm, uint32_t u32ChannelMask)
  {
      (epwm)->CAPINEN &= ~u32ChannelMask;
      (epwm)->CAPCTL &= ~u32ChannelMask;
  }
  
  /**
   * @brief Enables EPWM output generation of selected channel(s)
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelMask Combination of enabled channels. Each bit corresponds to a channel.
   *                           Set bit 0 to 1 enables channel 0 output, set bit 1 to 1 enables channel 1 output...
   * @return None
   * @details This function is used to enable EPWM output generation of selected channel(s).
   */
  void EPWM_EnableOutput(EPWM_T *epwm, uint32_t u32ChannelMask)
  {
      (epwm)->POEN |= u32ChannelMask;
  }
  
  /**
   * @brief Disables EPWM output generation of selected channel(s)
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelMask Combination of enabled channels. Each bit corresponds to a channel
   *                           Set bit 0 to 1 disables channel 0 output, set bit 1 to 1 disables channel 1 output...
   * @return None
   * @details This function is used to disable EPWM output generation of selected channel(s).
   */
  void EPWM_DisableOutput(EPWM_T *epwm, uint32_t u32ChannelMask)
  {
      (epwm)->POEN &= ~u32ChannelMask;
  }
  
  /**
   * @brief Enables PDMA transfer of selected channel for EPWM capture
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number.
   * @param[in] u32RisingFirst The capture order is rising, falling first. Every two channels share the same setting. Valid values are TRUE and FALSE.
   * @param[in] u32Mode Captured data transferred by PDMA interrupt type. It could be either
   *              - \ref EPWM_CAPTURE_PDMA_RISING_LATCH
   *              - \ref EPWM_CAPTURE_PDMA_FALLING_LATCH
   *              - \ref EPWM_CAPTURE_PDMA_RISING_FALLING_LATCH
   * @return None
   * @details This function is used to enable PDMA transfer of selected channel(s) for EPWM capture.
   * @note This function can only selects even or odd channel of pairs to do PDMA transfer.
   */
  void EPWM_EnablePDMA(EPWM_T *epwm, uint32_t u32ChannelNum, uint32_t u32RisingFirst, uint32_t u32Mode)
  {
      uint32_t u32IsOddCh;
      u32IsOddCh = u32ChannelNum & 0x1UL;
      (epwm)->PDMACTL = ((epwm)->PDMACTL & ~((EPWM_PDMACTL_CHSEL0_1_Msk | EPWM_PDMACTL_CAPORD0_1_Msk | EPWM_PDMACTL_CAPMOD0_1_Msk) << ((u32ChannelNum >> 1) << 3))) | \
                        (((u32IsOddCh << EPWM_PDMACTL_CHSEL0_1_Pos) | (u32RisingFirst << EPWM_PDMACTL_CAPORD0_1_Pos) | \
                          u32Mode | EPWM_PDMACTL_CHEN0_1_Msk) << ((u32ChannelNum >> 1) << 3));
  }
  
  /**
   * @brief Disables PDMA transfer of selected channel for EPWM capture
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number.
   * @return None
   * @details This function is used to enable PDMA transfer of selected channel(s) for EPWM capture.
   */
  void EPWM_DisablePDMA(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (epwm)->PDMACTL &= ~(EPWM_PDMACTL_CHEN0_1_Msk << ((u32ChannelNum >> 1) << 3));
  }
  
  /**
   * @brief Enable Dead zone of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @param[in] u32Duration Dead zone length in EPWM clock count, valid values are between 0~0xFFF, but 0 means there is no Dead zone.
   * @return None
   * @details This function is used to enable Dead zone of selected channel.
   *          The write-protection function should be disabled before using this function.
   * @note Every two channels share the same setting.
   */
  void EPWM_EnableDeadZone(EPWM_T *epwm, uint32_t u32ChannelNum, uint32_t u32Duration)
  {
      /* every two channels share the same setting */
      (epwm)->DTCTL[(u32ChannelNum) >> 1] &= ~EPWM_DTCTL0_1_DTCNT_Msk;
      (epwm)->DTCTL[(u32ChannelNum) >> 1] |= EPWM_DTCTL0_1_DTEN_Msk | u32Duration;
  }
  
  /**
   * @brief Disable Dead zone of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to disable Dead zone of selected channel.
   *          The write-protection function should be disabled before using this function.
   */
  void EPWM_DisableDeadZone(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      /* every two channels shares the same setting */
      (epwm)->DTCTL[(u32ChannelNum) >> 1] &= ~EPWM_DTCTL0_1_DTEN_Msk;
  }
  
  /**
   * @brief Enable capture interrupt of selected channel.
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @param[in] u32Edge Rising or falling edge to latch counter.
   *              - \ref EPWM_CAPTURE_INT_RISING_LATCH
   *              - \ref EPWM_CAPTURE_INT_FALLING_LATCH
   * @return None
   * @details This function is used to enable capture interrupt of selected channel.
   */
  void EPWM_EnableCaptureInt(EPWM_T *epwm, uint32_t u32ChannelNum, uint32_t u32Edge)
  {
      (epwm)->CAPIEN |= (u32Edge << u32ChannelNum);
  }
  
  /**
   * @brief Disable capture interrupt of selected channel.
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @param[in] u32Edge Rising or falling edge to latch counter.
   *              - \ref EPWM_CAPTURE_INT_RISING_LATCH
   *              - \ref EPWM_CAPTURE_INT_FALLING_LATCH
   * @return None
   * @details This function is used to disable capture interrupt of selected channel.
   */
  void EPWM_DisableCaptureInt(EPWM_T *epwm, uint32_t u32ChannelNum, uint32_t u32Edge)
  {
      (epwm)->CAPIEN &= ~(u32Edge << u32ChannelNum);
  }
  
  /**
   * @brief Clear capture interrupt of selected channel.
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @param[in] u32Edge Rising or falling edge to latch counter.
   *              - \ref EPWM_CAPTURE_INT_RISING_LATCH
   *              - \ref EPWM_CAPTURE_INT_FALLING_LATCH
   * @return None
   * @details This function is used to clear capture interrupt of selected channel.
   */
  void EPWM_ClearCaptureIntFlag(EPWM_T *epwm, uint32_t u32ChannelNum, uint32_t u32Edge)
  {
      (epwm)->CAPIF = (u32Edge << u32ChannelNum);
  }
  
  /**
   * @brief Get capture interrupt of selected channel.
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @retval 0 No capture interrupt
   * @retval 1 Rising edge latch interrupt
   * @retval 2 Falling edge latch interrupt
   * @retval 3 Rising and falling latch interrupt
   * @details This function is used to get capture interrupt of selected channel.
   */
  uint32_t EPWM_GetCaptureIntFlag(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      uint32_t u32CapIf = 0UL;
  
      u32CapIf = ((((epwm)->CAPIF & (EPWM_CAPIF_CFLIF0_Msk << u32ChannelNum)) ? 1UL : 0UL) << 1);
      u32CapIf |= (((epwm)->CAPIF & (EPWM_CAPIF_CRLIF0_Msk << u32ChannelNum)) ? 1UL : 0UL);
      return u32CapIf;
  }
  /**
   * @brief Enable duty interrupt of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @param[in] u32IntDutyType Duty interrupt type, could be either
   *              - \ref EPWM_DUTY_INT_DOWN_COUNT_MATCH_CMP
   *              - \ref EPWM_DUTY_INT_UP_COUNT_MATCH_CMP
   * @return None
   * @details This function is used to enable duty interrupt of selected channel.
   */
  void EPWM_EnableDutyInt(EPWM_T *epwm, uint32_t u32ChannelNum, uint32_t u32IntDutyType)
  {
      (epwm)->INTEN0 |= (u32IntDutyType << u32ChannelNum);
  }
  
  /**
   * @brief Disable duty interrupt of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to disable duty interrupt of selected channel.
   */
  void EPWM_DisableDutyInt(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (epwm)->INTEN0 &= ~((EPWM_DUTY_INT_DOWN_COUNT_MATCH_CMP | EPWM_DUTY_INT_UP_COUNT_MATCH_CMP) << u32ChannelNum);
  }
  
  /**
   * @brief Clear duty interrupt flag of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to clear duty interrupt flag of selected channel.
   */
  void EPWM_ClearDutyIntFlag(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (epwm)->INTSTS0 = (EPWM_INTSTS0_CMPUIF0_Msk | EPWM_INTSTS0_CMPDIF0_Msk) << u32ChannelNum;
  }
  
  /**
   * @brief Get duty interrupt flag of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return Duty interrupt flag of specified channel
   * @retval 0 Duty interrupt did not occur
   * @retval 1 Duty interrupt occurred
   * @details This function is used to get duty interrupt flag of selected channel.
   */
  uint32_t EPWM_GetDutyIntFlag(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      return ((((epwm)->INTSTS0 & ((EPWM_INTSTS0_CMPDIF0_Msk | EPWM_INTSTS0_CMPUIF0_Msk) << u32ChannelNum))) ? 1UL : 0UL);
  }
  
  /**
   * @brief This function enable fault brake interrupt
   * @param[in] epwm The pointer of the specified EPWM module
   * @param[in] u32BrakeSource Fault brake source.
   *              - \ref EPWM_FB_EDGE
   *              - \ref EPWM_FB_LEVEL
   * @return None
   * @details This function is used to enable fault brake interrupt.
   *          The write-protection function should be disabled before using this function.
   * @note Every two channels share the same setting.
   */
  void EPWM_EnableFaultBrakeInt(EPWM_T *epwm, uint32_t u32BrakeSource)
  {
      (epwm)->INTEN1 |= (0x7UL << u32BrakeSource);
  }
  
  /**
   * @brief This function disable fault brake interrupt
   * @param[in] epwm The pointer of the specified EPWM module
   * @param[in] u32BrakeSource Fault brake source.
   *              - \ref EPWM_FB_EDGE
   *              - \ref EPWM_FB_LEVEL
   * @return None
   * @details This function is used to disable fault brake interrupt.
   *          The write-protection function should be disabled before using this function.
   * @note Every two channels share the same setting.
   */
  void EPWM_DisableFaultBrakeInt(EPWM_T *epwm, uint32_t u32BrakeSource)
  {
      (epwm)->INTEN1 &= ~(0x7UL << u32BrakeSource);
  }
  
  /**
   * @brief This function clear fault brake interrupt of selected source
   * @param[in] epwm The pointer of the specified EPWM module
   * @param[in] u32BrakeSource Fault brake source.
   *              - \ref EPWM_FB_EDGE
   *              - \ref EPWM_FB_LEVEL
   * @return None
   * @details This function is used to clear fault brake interrupt of selected source.
   *          The write-protection function should be disabled before using this function.
   */
  void EPWM_ClearFaultBrakeIntFlag(EPWM_T *epwm, uint32_t u32BrakeSource)
  {
      (epwm)->INTSTS1 = (0x3fUL << u32BrakeSource);
  }
  
  /**
   * @brief This function get fault brake interrupt flag of selected source
   * @param[in] epwm The pointer of the specified EPWM module
   * @param[in] u32BrakeSource Fault brake source, could be either
   *              - \ref EPWM_FB_EDGE
   *              - \ref EPWM_FB_LEVEL
   * @return Fault brake interrupt flag of specified source
   * @retval 0 Fault brake interrupt did not occurred
   * @retval 1 Fault brake interrupt occurred
   * @details This function is used to get fault brake interrupt flag of selected source.
   */
  uint32_t EPWM_GetFaultBrakeIntFlag(EPWM_T *epwm, uint32_t u32BrakeSource)
  {
      return (((epwm)->INTSTS1 & (0x3fUL << u32BrakeSource)) ? 1UL : 0UL);
  }
  
  /**
   * @brief Enable period interrupt of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @param[in] u32IntPeriodType Period interrupt type. This parameter is not used.
   * @return None
   * @details This function is used to enable period interrupt of selected channel.
   */
  void EPWM_EnablePeriodInt(EPWM_T *epwm, uint32_t u32ChannelNum,  uint32_t u32IntPeriodType)
  {
      (void)u32IntPeriodType;
      (epwm)->INTEN0 |= (EPWM_INTEN0_PIEN0_Msk << u32ChannelNum);
  }
  
  /**
   * @brief Disable period interrupt of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to disable period interrupt of selected channel.
   */
  void EPWM_DisablePeriodInt(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (epwm)->INTEN0 &= ~(EPWM_INTEN0_PIEN0_Msk << u32ChannelNum);
  }
  
  /**
   * @brief Clear period interrupt of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to clear period interrupt of selected channel.
   */
  void EPWM_ClearPeriodIntFlag(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (epwm)->INTSTS0 = (EPWM_INTSTS0_PIF0_Msk << u32ChannelNum);
  }
  
  /**
   * @brief Get period interrupt of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return Period interrupt flag of specified channel
   * @retval 0 Period interrupt did not occur
   * @retval 1 Period interrupt occurred
   * @details This function is used to get period interrupt of selected channel.
   */
  uint32_t EPWM_GetPeriodIntFlag(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      return ((((epwm)->INTSTS0 & (EPWM_INTSTS0_PIF0_Msk << u32ChannelNum))) ? 1UL : 0UL);
  }
  
  /**
   * @brief Enable zero interrupt of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to enable zero interrupt of selected channel.
   */
  void EPWM_EnableZeroInt(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (epwm)->INTEN0 |= (EPWM_INTEN0_ZIEN0_Msk << u32ChannelNum);
  }
  
  /**
   * @brief Disable zero interrupt of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to disable zero interrupt of selected channel.
   */
  void EPWM_DisableZeroInt(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (epwm)->INTEN0 &= ~(EPWM_INTEN0_ZIEN0_Msk << u32ChannelNum);
  }
  
  /**
   * @brief Clear zero interrupt of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to clear zero interrupt of selected channel.
   */
  void EPWM_ClearZeroIntFlag(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (epwm)->INTSTS0 = (EPWM_INTSTS0_ZIF0_Msk << u32ChannelNum);
  }
  
  /**
   * @brief Get zero interrupt of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return Zero interrupt flag of specified channel
   * @retval 0 Zero interrupt did not occur
   * @retval 1 Zero interrupt occurred
   * @details This function is used to get zero interrupt of selected channel.
   */
  uint32_t EPWM_GetZeroIntFlag(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      return ((((epwm)->INTSTS0 & (EPWM_INTSTS0_ZIF0_Msk << u32ChannelNum))) ? 1UL : 0UL);
  }
  
  /**
   * @brief Enable interrupt flag accumulator of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @param[in] u32IntFlagCnt Interrupt flag counter. Valid values are between 0~65535.
   * @param[in] u32IntAccSrc Interrupt flag accumulator source selection.
   *              - \ref EPWM_IFA_ZERO_POINT
   *              - \ref EPWM_IFA_PERIOD_POINT
   *              - \ref EPWM_IFA_COMPARE_UP_COUNT_POINT
   *              - \ref EPWM_IFA_COMPARE_DOWN_COUNT_POINT
   * @return None
   * @details This function is used to enable interrupt flag accumulator of selected channel.
   */
  void EPWM_EnableAcc(EPWM_T *epwm, uint32_t u32ChannelNum, uint32_t u32IntFlagCnt, uint32_t u32IntAccSrc)
  {
      (epwm)->IFA[u32ChannelNum] = (((epwm)->IFA[u32ChannelNum] & ~((EPWM_IFA0_IFACNT_Msk | EPWM_IFA0_IFASEL_Msk))) | \
                                    (EPWM_IFA0_IFAEN_Msk | (u32IntAccSrc << EPWM_IFA0_IFASEL_Pos) | u32IntFlagCnt));
  }
  
  /**
   * @brief Disable interrupt flag accumulator of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to Disable interrupt flag accumulator of selected channel.
   */
  void EPWM_DisableAcc(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (epwm)->IFA[u32ChannelNum] = ((epwm)->IFA[u32ChannelNum] & ~(EPWM_IFA0_IFAEN_Msk));
  }
  
  /**
   * @brief Enable interrupt flag accumulator interrupt of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to enable interrupt flag accumulator interrupt of selected channel.
   */
  void EPWM_EnableAccInt(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (epwm)->AINTEN |= (1UL << (u32ChannelNum));
  }
  
  /**
   * @brief Disable interrupt flag accumulator interrupt of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to disable interrupt flag accumulator interrupt of selected channel.
   */
  void EPWM_DisableAccInt(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (epwm)->AINTEN &= ~(1UL << (u32ChannelNum));
  }
  
  /**
   * @brief Clear interrupt flag accumulator interrupt of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to clear interrupt flag accumulator interrupt of selected channel.
   */
  void EPWM_ClearAccInt(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (epwm)->AINTSTS = (1UL << (u32ChannelNum));
  }
  
  /**
   * @brief Get interrupt flag accumulator interrupt of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @retval 0 Accumulator interrupt did not occur
   * @retval 1 Accumulator interrupt occurred
   * @details This function is used to Get interrupt flag accumulator interrupt of selected channel.
   */
  uint32_t EPWM_GetAccInt(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      return (((epwm)->AINTSTS & (1UL << (u32ChannelNum))) ? 1UL : 0UL);
  }
  
  /**
   * @brief Enable accumulator PDMA of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to enable accumulator interrupt trigger PDMA of selected channel.
   */
  void EPWM_EnableAccPDMA(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (epwm)->APDMACTL |= (1UL << (u32ChannelNum));
  }
  
  /**
   * @brief Disable accumulator PDMA of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to disable accumulator interrupt trigger PDMA of selected channel.
   */
  void EPWM_DisableAccPDMA(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (epwm)->APDMACTL &= ~(1UL << (u32ChannelNum));
  }
  
  /**
   * @brief Clear free trigger duty interrupt flag of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to clear free trigger duty interrupt flag of selected channel.
   */
  void EPWM_ClearFTDutyIntFlag(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (epwm)->FTCI = ((EPWM_FTCI_FTCMU0_Msk | EPWM_FTCI_FTCMD0_Msk) << (u32ChannelNum >> 1));
  }
  
  /**
   * @brief Get free trigger duty interrupt flag of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return Duty interrupt flag of specified channel
   * @retval 0 Free trigger duty interrupt did not occur
   * @retval 1 Free trigger duty interrupt occurred
   * @details This function is used to get free trigger duty interrupt flag of selected channel.
   */
  uint32_t EPWM_GetFTDutyIntFlag(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      return (((epwm)->FTCI & ((EPWM_FTCI_FTCMU0_Msk | EPWM_FTCI_FTCMD0_Msk) << (u32ChannelNum >> 1))) ? 1UL : 0UL);
  }
  
  /**
   * @brief Enable load mode of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @param[in] u32LoadMode EPWM counter loading mode.
   *              - \ref EPWM_LOAD_MODE_IMMEDIATE
   *              - \ref EPWM_LOAD_MODE_WINDOW
   *              - \ref EPWM_LOAD_MODE_CENTER
   * @return None
   * @details This function is used to enable load mode of selected channel.
   */
  void EPWM_EnableLoadMode(EPWM_T *epwm, uint32_t u32ChannelNum, uint32_t u32LoadMode)
  {
      (epwm)->CTL0 |= (u32LoadMode << u32ChannelNum);
  }
  
  /**
   * @brief Disable load mode of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @param[in] u32LoadMode EPWM counter loading mode.
   *              - \ref EPWM_LOAD_MODE_IMMEDIATE
   *              - \ref EPWM_LOAD_MODE_WINDOW
   *              - \ref EPWM_LOAD_MODE_CENTER
   * @return None
   * @details This function is used to disable load mode of selected channel.
   */
  void EPWM_DisableLoadMode(EPWM_T *epwm, uint32_t u32ChannelNum, uint32_t u32LoadMode)
  {
      (epwm)->CTL0 &= ~(u32LoadMode << u32ChannelNum);
  }
  
  /**
   * @brief Configure synchronization phase of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @param[in] u32SyncSrc EPWM synchronize source selection.
   *              - \ref EPWM_SYNC_OUT_FROM_SYNCIN_SWSYNC
   *              - \ref EPWM_SYNC_OUT_FROM_COUNT_TO_ZERO
   *              - \ref EPWM_SYNC_OUT_FROM_COUNT_TO_COMPARATOR
   *              - \ref EPWM_SYNC_OUT_DISABLE
   * @param[in] u32Direction Phase direction. Control EPWM counter count decrement or increment  after synchronizing.
   *              - \ref EPWM_PHS_DIR_DECREMENT
   *              - \ref EPWM_PHS_DIR_INCREMENT
   * @param[in] u32StartPhase Synchronous start phase value. Valid values are between 0~65535.
   * @return None
   * @details This function is used to configure synchronization phase of selected channel.
   * @note Every two channels share the same setting.
   */
  void EPWM_ConfigSyncPhase(EPWM_T *epwm, uint32_t u32ChannelNum, uint32_t u32SyncSrc, uint32_t u32Direction, uint32_t u32StartPhase)
  {
      /* every two channels shares the same setting */
      u32ChannelNum >>= 1;
      (epwm)->SYNC = (((epwm)->SYNC & ~((EPWM_SYNC_SINSRC0_Msk << (u32ChannelNum << 1)) | (EPWM_SYNC_PHSDIR0_Msk << u32ChannelNum))) | \
                      (u32Direction << EPWM_SYNC_PHSDIR0_Pos << u32ChannelNum) | (u32SyncSrc << EPWM_SYNC_SINSRC0_Pos) << (u32ChannelNum << 1));
      (epwm)->PHS[(u32ChannelNum)] = u32StartPhase;
  }
  
  
  /**
   * @brief Enable SYNC phase of selected channel(s)
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelMask Combination of enabled channels. Each bit corresponds to a channel.
   *                           Bit 0 is channel 0, bit 1 is channel 1...
   * @return None
   * @details This function is used to enable SYNC phase of selected channel(s).
   * @note Every two channels share the same setting.
   */
  void EPWM_EnableSyncPhase(EPWM_T *epwm, uint32_t u32ChannelMask)
  {
      uint32_t i;
      for(i = 0UL; i < EPWM_CHANNEL_NUM; i ++)
      {
          if(u32ChannelMask & (1UL << i))
          {
              (epwm)->SYNC |= (EPWM_SYNC_PHSEN0_Msk << (i >> 1));
          }
      }
  }
  
  /**
   * @brief Disable SYNC phase of selected channel(s)
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelMask Combination of enabled channels. Each bit corresponds to a channel.
   *                           Bit 0 is channel 0, bit 1 is channel 1...
   * @return None
   * @details This function is used to disable SYNC phase of selected channel(s).
   * @note Every two channels share the same setting.
   */
  void EPWM_DisableSyncPhase(EPWM_T *epwm, uint32_t u32ChannelMask)
  {
      uint32_t i;
      for(i = 0UL; i < EPWM_CHANNEL_NUM; i ++)
      {
          if(u32ChannelMask & (1UL << i))
          {
              (epwm)->SYNC &= ~(EPWM_SYNC_PHSEN0_Msk << (i >> 1));
          }
      }
  }
  
  /**
   * @brief Enable EPWM SYNC_IN noise filter function
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ClkCnt SYNC Edge Detector Filter Count. This controls the counter number of edge detector.
   *            The valid value is 0~7.
   * @param[in] u32ClkDivSel SYNC Edge Detector Filter Clock Selection.
   *              - \ref EPWM_NF_CLK_DIV_1
   *              - \ref EPWM_NF_CLK_DIV_2
   *              - \ref EPWM_NF_CLK_DIV_4
   *              - \ref EPWM_NF_CLK_DIV_8
   *              - \ref EPWM_NF_CLK_DIV_16
   *              - \ref EPWM_NF_CLK_DIV_32
   *              - \ref EPWM_NF_CLK_DIV_64
   *              - \ref EPWM_NF_CLK_DIV_128
   * @return None
   * @details This function is used to enable EPWM SYNC_IN noise filter function.
   */
  void EPWM_EnableSyncNoiseFilter(EPWM_T *epwm, uint32_t u32ClkCnt, uint32_t u32ClkDivSel)
  {
      (epwm)->SYNC = ((epwm)->SYNC & ~(EPWM_SYNC_SFLTCNT_Msk | EPWM_SYNC_SFLTCSEL_Msk)) | \
                     ((u32ClkCnt << EPWM_SYNC_SFLTCNT_Pos) | (u32ClkDivSel << EPWM_SYNC_SFLTCSEL_Pos) | EPWM_SYNC_SNFLTEN_Msk);
  }
  
  /**
   * @brief Disable EPWM SYNC_IN noise filter function
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @return None
   * @details This function is used to Disable EPWM SYNC_IN noise filter function.
   */
  void EPWM_DisableSyncNoiseFilter(EPWM_T *epwm)
  {
      (epwm)->SYNC &= ~EPWM_SYNC_SNFLTEN_Msk;
  }
  
  /**
   * @brief Enable EPWM SYNC input pin inverse function
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @return None
   * @details This function is used to enable EPWM SYNC input pin inverse function.
   */
  void EPWM_EnableSyncPinInverse(EPWM_T *epwm)
  {
      (epwm)->SYNC |= EPWM_SYNC_SINPINV_Msk;
  }
  
  /**
   * @brief Disable EPWM SYNC input pin inverse function
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @return None
   * @details This function is used to Disable EPWM SYNC input pin inverse function.
   */
  void EPWM_DisableSyncPinInverse(EPWM_T *epwm)
  {
      (epwm)->SYNC &= (~EPWM_SYNC_SINPINV_Msk);
  }
  
  /**
   * @brief Set EPWM clock source
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @param[in] u32ClkSrcSel EPWM external clock source.
   *              - \ref EPWM_CLKSRC_EPWM_CLK
   *              - \ref EPWM_CLKSRC_TIMER0
   *              - \ref EPWM_CLKSRC_TIMER1
   *              - \ref EPWM_CLKSRC_TIMER2
   *              - \ref EPWM_CLKSRC_TIMER3
   * @return None
   * @details This function is used to set EPWM clock source.
   * @note Every two channels share the same setting.
   * @note If the clock source of EPWM counter is selected from TIMERn interrupt events, the TRGEPWM(TIMERn_TRGCTL[1], n=0,1..3) bit must be set as 1.
   */
  void EPWM_SetClockSource(EPWM_T *epwm, uint32_t u32ChannelNum, uint32_t u32ClkSrcSel)
  {
      (epwm)->CLKSRC = ((epwm)->CLKSRC & ~(EPWM_CLKSRC_ECLKSRC0_Msk << ((u32ChannelNum >> 1) << 3))) | \
                       (u32ClkSrcSel << ((u32ChannelNum >> 1) << 3));
  }
  
  /**
   * @brief Enable EPWM brake noise filter function
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32BrakePinNum Brake pin selection. Valid values are 0 or 1.
   * @param[in] u32ClkCnt SYNC Edge Detector Filter Count. This controls the counter number of edge detector
   * @param[in] u32ClkDivSel SYNC Edge Detector Filter Clock Selection.
   *              - \ref EPWM_NF_CLK_DIV_1
   *              - \ref EPWM_NF_CLK_DIV_2
   *              - \ref EPWM_NF_CLK_DIV_4
   *              - \ref EPWM_NF_CLK_DIV_8
   *              - \ref EPWM_NF_CLK_DIV_16
   *              - \ref EPWM_NF_CLK_DIV_32
   *              - \ref EPWM_NF_CLK_DIV_64
   *              - \ref EPWM_NF_CLK_DIV_128
   * @return None
   * @details This function is used to enable EPWM brake noise filter function.
   */
  void EPWM_EnableBrakeNoiseFilter(EPWM_T *epwm, uint32_t u32BrakePinNum, uint32_t u32ClkCnt, uint32_t u32ClkDivSel)
  {
      (epwm)->BNF = ((epwm)->BNF & ~((EPWM_BNF_BRK0FCNT_Msk | EPWM_BNF_BRK0NFSEL_Msk) << (u32BrakePinNum << 3))) | \
                    (((u32ClkCnt << EPWM_BNF_BRK0FCNT_Pos) | (u32ClkDivSel << EPWM_BNF_BRK0NFSEL_Pos) | EPWM_BNF_BRK0NFEN_Msk) << (u32BrakePinNum << 3));
  }
  
  /**
   * @brief Disable EPWM brake noise filter function
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32BrakePinNum Brake pin selection. Valid values are 0 or 1.
   * @return None
   * @details This function is used to disable EPWM brake noise filter function.
   */
  void EPWM_DisableBrakeNoiseFilter(EPWM_T *epwm, uint32_t u32BrakePinNum)
  {
      (epwm)->BNF &= ~(EPWM_BNF_BRK0NFEN_Msk << (u32BrakePinNum << 3));
  }
  
  /**
   * @brief Enable EPWM brake pin inverse function
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32BrakePinNum Brake pin selection. Valid values are 0 or 1.
   * @return None
   * @details This function is used to enable EPWM brake pin inverse function.
   */
  void EPWM_EnableBrakePinInverse(EPWM_T *epwm, uint32_t u32BrakePinNum)
  {
      (epwm)->BNF |= (EPWM_BNF_BRK0PINV_Msk << (u32BrakePinNum << 3));
  }
  
  /**
   * @brief Disable EPWM brake pin inverse function
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32BrakePinNum Brake pin selection. Valid values are 0 or 1.
   * @return None
   * @details This function is used to disable EPWM brake pin inverse function.
   */
  void EPWM_DisableBrakePinInverse(EPWM_T *epwm, uint32_t u32BrakePinNum)
  {
      (epwm)->BNF &= ~(EPWM_BNF_BRK0PINV_Msk << (u32BrakePinNum * (uint32_t)EPWM_BNF_BRK1NFEN_Pos));
  }
  
  /**
   * @brief Set EPWM brake pin source
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32BrakePinNum Brake pin selection. Valid values are 0 or 1.
   * @param[in] u32SelAnotherModule Select to another module. Valid values are TRUE or FALSE.
   * @return None
   * @details This function is used to set EPWM brake pin source.
   */
  void EPWM_SetBrakePinSource(EPWM_T *epwm, uint32_t u32BrakePinNum, uint32_t u32SelAnotherModule)
  {
      (epwm)->BNF = ((epwm)->BNF & ~(EPWM_BNF_BK0SRC_Msk << (u32BrakePinNum << 3))) | (u32SelAnotherModule << ((uint32_t)EPWM_BNF_BK0SRC_Pos + (u32BrakePinNum << 3)));
  }
  
  /**
   * @brief Set EPWM leading edge blanking function
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32TrigSrcSel Leading edge blanking source selection.
   *              - \ref EPWM_LEBCTL_SRCEN0
   *              - \ref EPWM_LEBCTL_SRCEN2
   *              - \ref EPWM_LEBCTL_SRCEN4
   *              - \ref EPWM_LEBCTL_SRCEN0_2
   *              - \ref EPWM_LEBCTL_SRCEN0_4
   *              - \ref EPWM_LEBCTL_SRCEN2_4
   *              - \ref EPWM_LEBCTL_SRCEN0_2_4
   * @param[in] u32TrigType  Leading edge blanking trigger type.
   *              - \ref EPWM_LEBCTL_TRGTYPE_RISING
   *              - \ref EPWM_LEBCTL_TRGTYPE_FALLING
   *              - \ref EPWM_LEBCTL_TRGTYPE_RISING_OR_FALLING
   * @param[in] u32BlankingCnt  Leading Edge Blanking Counter. Valid values are between 1~512.
                                This counter value decides leading edge blanking window size, and this counter clock base is ECLK.
   * @param[in] u32BlankingEnable Enable EPWM leading edge blanking function. Valid values are TRUE (ENABLE) or FALSE (DISABLE).
   *              - \ref FALSE
   *              - \ref TRUE
   * @return None
   * @details This function is used to configure EPWM leading edge blanking function that blank the false trigger from ACMP brake source which may cause by EPWM output transition.
   * @note EPWM leading edge blanking function is only used for brake source from ACMP.
   */
  void EPWM_SetLeadingEdgeBlanking(EPWM_T *epwm, uint32_t u32TrigSrcSel, uint32_t u32TrigType, uint32_t u32BlankingCnt, uint32_t u32BlankingEnable)
  {
      (epwm)->LEBCTL = (u32TrigType) | (u32TrigSrcSel) | (u32BlankingEnable);
      /* Blanking window size = LEBCNT + 1, so LEBCNT = u32BlankingCnt - 1 */
      (epwm)->LEBCNT = (u32BlankingCnt) - 1UL;
  }
  
  /**
   * @brief Get the time-base counter reached its maximum value flag of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return Count to max interrupt flag of specified channel
   * @retval 0 Count to max interrupt did not occur
   * @retval 1 Count to max interrupt occurred
   * @details This function is used to get the time-base counter reached its maximum value flag of selected channel.
   */
  uint32_t EPWM_GetWrapAroundFlag(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      return (((epwm)->STATUS & (EPWM_STATUS_CNTMAXF0_Msk << u32ChannelNum)) ? 1UL : 0UL);
  }
  
  /**
   * @brief Clear the time-base counter reached its maximum value flag of selected channel
   * @param[in] epwm The pointer of the specified EPWM module
   *                - EPWM0 : EPWM Group 0
   *                - EPWM1 : EPWM Group 1
   * @param[in] u32ChannelNum EPWM channel number. Valid values are between 0~5
   * @return None
   * @details This function is used to clear the time-base counter reached its maximum value flag of selected channel.
   */
  void EPWM_ClearWrapAroundFlag(EPWM_T *epwm, uint32_t u32ChannelNum)
  {
      (epwm)->STATUS = (EPWM_STATUS_CNTMAXF0_Msk << u32ChannelNum);
  }
  
  
  /*@}*/ /* end of group EPWM_EXPORTED_FUNCTIONS */
  
  /*@}*/ /* end of group EPWM_Driver */
  
  /*@}*/ /* end of group Standard_Driver */
  
  /*** (C) COPYRIGHT 2017-2020 Nuvoton Technology Corp. ***/
  