/*****************************************************************************
* Enters 'bootloader mode' where a new encrypted firmware upgrade can be
* sent over UART.
*****************************************************************************/
void enterBootloaderMode(void)
{
FLASH_init();
/* Enable UART */
BLUART_init();
/* If the current firmware is invalid, but temp storage is
* enabled and contains a valid firmware, copy this firmware
* to boot region immediately. */
if ( USE_TEMP_STORAGE && !isFirmwareValid() && isTempStorageValid() )
{
copyFirmwareFromTempStorage();
markFirmwareAsVerified();
}
/* Check if bootloader pin is pulled low. If it is left high
* enter EM2 to save power. The MCU will wake up when pin is
* pulled low. */
if ( GPIO_PinInGet(BOOTLOADER_PIN) ) {
enterLowPowerWait();
}
/* Wait for commands over UART */
commandLoop();
}
inline void setup_handles(void){
myClk = CLK_init((void *)CLK_BASE_ADDR, sizeof(CLK_Obj));
myPll = PLL_init((void *)PLL_BASE_ADDR, sizeof(PLL_Obj));
myWDog = WDOG_init((void *)WDOG_BASE_ADDR, sizeof(WDOG_Obj));
myCpu = CPU_init((void *)NULL, sizeof(CPU_Obj));
myFlash = FLASH_init((void *)FLASH_BASE_ADDR, sizeof(FLASH_Obj));
myGpio = GPIO_init((void *)GPIO_BASE_ADDR, sizeof(GPIO_Obj));
myPie = PIE_init((void *)PIE_BASE_ADDR, sizeof(PIE_Obj));
mySci = SCI_init((void *)SCIA_BASE_ADDR, sizeof(SCI_Obj));
myAdc = ADC_init((void *)ADC_BASE_ADDR, sizeof(ADC_Obj));
myPwm1 = PWM_init((void *)PWM_ePWM1_BASE_ADDR, sizeof(PWM_Obj));
}
/*****************************************************************************
* Bootloader entry point.
*****************************************************************************/
int main(void)
{
CHIP_Init();
gpioSetup();
uint32_t pinTest = GPIO_PinInGet(BOOTLOADER_PIN);
/* The bootloader pin is left high, boot normally */
if ( pinTest )
{
/* Verify firmware before booting */
if ( isFirmwareValid() )
{
BOOT_boot();
}
else
{
/* Firmware is invalid. Check temp storage */
if ( USE_TEMP_STORAGE && isTempStorageValid() )
{
FLASH_init();
copyFirmwareFromTempStorage();
markFirmwareAsVerified();
/* Application will boot after reset */
NVIC_SystemReset();
}
/* No valid application is present. Enter bootloader mode. */
else
{
enterBootloaderMode();
}
}
}
/* The bootloader pin is pulled high, enter bootloader */
else
{
enterBootloaderMode();
}
/* Never reached */
return 0;
}
void main(void)
{
CPU_Handle myCpu;
PLL_Handle myPll;
WDOG_Handle myWDog;
// Initialize all the handles needed for this application
myClk = CLK_init((void *)CLK_BASE_ADDR, sizeof(CLK_Obj));
myCpu = CPU_init((void *)NULL, sizeof(CPU_Obj));
myFlash = FLASH_init((void *)FLASH_BASE_ADDR, sizeof(FLASH_Obj));
myGpio = GPIO_init((void *)GPIO_BASE_ADDR, sizeof(GPIO_Obj));
myPie = PIE_init((void *)PIE_BASE_ADDR, sizeof(PIE_Obj));
myPll = PLL_init((void *)PLL_BASE_ADDR, sizeof(PLL_Obj));
myPwm1 = PWM_init((void *)PWM_ePWM1_BASE_ADDR, sizeof(PWM_Obj));
myPwm2 = PWM_init((void *)PWM_ePWM2_BASE_ADDR, sizeof(PWM_Obj));
myPwm3 = PWM_init((void *)PWM_ePWM3_BASE_ADDR, sizeof(PWM_Obj));
myPwm4 = PWM_init((void *)PWM_ePWM4_BASE_ADDR, sizeof(PWM_Obj));
myWDog = WDOG_init((void *)WDOG_BASE_ADDR, sizeof(WDOG_Obj));
// Perform basic system initialization
WDOG_disable(myWDog);
CLK_enableAdcClock(myClk);
(*Device_cal)();
CLK_disableAdcClock(myClk);
//Select the internal oscillator 1 as the clock source
CLK_setOscSrc(myClk, CLK_OscSrc_Internal);
// Setup the PLL for x12 /2 which will yield 60Mhz = 10Mhz * 12 / 2
PLL_setup(myPll, PLL_Multiplier_12, PLL_DivideSelect_ClkIn_by_2);
// Disable the PIE and all interrupts
PIE_disable(myPie);
PIE_disableAllInts(myPie);
CPU_disableGlobalInts(myCpu);
CPU_clearIntFlags(myCpu);
// If running from flash copy RAM only functions to RAM
#ifdef _FLASH
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t)&RamfuncsLoadSize);
#endif
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the f2802x_SysCtrl.c file.
// InitSysCtrl();
// Step 2. Initialize GPIO:
// This example function is found in the f2802x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio(); // Skipped for this example
// InitEPwmGpio();
// 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 f2802x_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 f2802x_DefaultIsr.c.
// This function is found in f2802x_PieVect.c.
// InitPieVectTable();
// For this case just init GPIO pins for EPwm1, EPwm2, EPwm3, EPwm4
GPIO_setPullUp(myGpio, GPIO_Number_0, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_1, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_0, GPIO_0_Mode_EPWM1A);
GPIO_setMode(myGpio, GPIO_Number_1, GPIO_1_Mode_EPWM1B);
GPIO_setPullUp(myGpio, GPIO_Number_2, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_3, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_2, GPIO_2_Mode_EPWM2A);
GPIO_setMode(myGpio, GPIO_Number_3, GPIO_3_Mode_EPWM2B);
GPIO_setPullUp(myGpio, GPIO_Number_4, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_5, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_4, GPIO_4_Mode_EPWM3A);
GPIO_setMode(myGpio, GPIO_Number_5, GPIO_5_Mode_EPWM3B);
GPIO_setPullUp(myGpio, GPIO_Number_6, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_7, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_6, GPIO_6_Mode_EPWM4A);
GPIO_setMode(myGpio, GPIO_Number_7, GPIO_7_Mode_EPWM4B);
// Setup a debug vector table and enable the PIE
PIE_setDebugIntVectorTable(myPie);
PIE_enable(myPie);
// Step 4. Initialize the Device Peripherals:
CLK_enablePwmClock(myClk, PWM_Number_1);
CLK_enablePwmClock(myClk, PWM_Number_2);
CLK_enablePwmClock(myClk, PWM_Number_3);
CLK_enablePwmClock(myClk, PWM_Number_4);
CLK_enableHrPwmClock(myClk);
// For this example, only initialize the ePWM
// Step 5. User specific code, enable interrupts:
// Calling SFO() updates the HRMSTEP register with calibrated MEP_ScaleFactor.
// HRMSTEP must be populated with a scale factor value prior to enabling
// high resolution period control.
status = SFO_INCOMPLETE;
while (status== SFO_INCOMPLETE) // Call until complete
{
status = SFO();
if (status == SFO_ERROR)
{
error(); // SFO function returns 2 if an error occurs & # of MEP steps/coarse step
} // exceeds maximum of 255.
}
// Some useful PWM period vs Frequency values
// TBCLK = 60 MHz
//===================
// Period Freq
// 1000 30 KHz
// 800 37.5 KHz
// 600 50 KHz
// 500 60 KHz
// 250 120 KHz
// 200 150 KHz
// 100 300 KHz
// 50 600 KHz
// 30 1 MHz
// 25 1.2 MHz
// 20 1.5 MHz
// 12 2.5 MHz
// 10 3 MHz
// 9 3.3 MHz
// 8 3.8 MHz
// 7 4.3 MHz
// 6 5.0 MHz
// 5 6.0 MHz
//====================================================================
// ePWM and HRPWM register initialization
//====================================================================
Period = 500;
PeriodFine=0xFFBF;
CLK_disableTbClockSync(myClk);
HRPWM_Config(myPwm1, Period, 1);
HRPWM_Config(myPwm2, Period, 0);
HRPWM_Config(myPwm3, Period, 0);
HRPWM_Config(myPwm4, Period, 0);
CLK_enableTbClockSync(myClk);
// Software Control variables
Increment_Freq = 1;
Increment_Freq_Fine = 1;
IsrTicker = 0;
UpdatePeriod = 0;
UpdatePeriodFine = 0;
// User control variables:
UpdateCoarse = 0;
UpdateFine = 1;
// Reassign ISRs.
PIE_registerPieIntHandler(myPie, PIE_GroupNumber_3, PIE_SubGroupNumber_1,
(intVec_t)&MainISR);
// Enable PIE group 3 interrupt 1 for EPWM1_INT
PIE_enableInt(myPie, PIE_GroupNumber_3, PIE_InterruptSource_EPWM1);
// Enable CNT_zero interrupt using EPWM1 Time-base
PWM_setIntMode(myPwm1, PWM_IntMode_CounterEqualZero); // Select INT on Zero event
PWM_enableInt(myPwm1); // Enable INT
PWM_setIntPeriod(myPwm1, PWM_IntPeriod_FirstEvent); // Generate INT on 3rd event
PWM_clearIntFlag(myPwm1);
// Enable CPU INT3 for EPWM1_INT:
CPU_enableInt(myCpu, CPU_IntNumber_3);
// Enable global Interrupts and higher priority real-time debug events:
CPU_enableGlobalInts(myCpu);
CPU_enableDebugInt(myCpu);
PWM_forceSync(myPwm1); // Synchronize high resolution phase to start HR period
for(;;)
{
// The below code controls coarse edge movement
if(UpdateCoarse==1)
{
if(Increment_Freq==1) //Increase frequency to 600 kHz
Period= Period - 1;
else
Period= Period + 1; //Decrease frequency to 300 kHz
if(Period<100 && Increment_Freq==1)
Increment_Freq=0;
else if(Period>500 && Increment_Freq==0)
Increment_Freq=1;
UpdatePeriod=1;
}
// The below code controls high-resolution fine edge movement
if(UpdateFine==1)
{
if(Increment_Freq_Fine==1) // Increase high-resolution frequency
PeriodFine=PeriodFine-1;
else
PeriodFine=PeriodFine+1; // Decrement high-resolution frequency
if(PeriodFine<=0x3333 && Increment_Freq_Fine==1)
Increment_Freq_Fine=0;
else if(PeriodFine>= 0xFFBF && Increment_Freq_Fine==0)
Increment_Freq_Fine=1;
UpdatePeriodFine=1;
}
// Call the scale factor optimizer lib function SFO()
// periodically to track for any change due to temp/voltage.
// This function generates MEP_ScaleFactor by running the
// MEP calibration module in the HRPWM logic. This scale
// factor can be used for all HRPWM channels. HRMSTEP
// register is automatically updated by the SFO function.
status = SFO(); // in background, MEP calibration module continuously updates MEP_ScaleFactor
if (status == SFO_ERROR)
{
error(); // SFO function returns 2 if an error occurs & # of MEP steps/coarse step
} // exceeds maximum of 255.
}
}// end main
void main(void)
{
CPU_Handle myCpu;
PLL_Handle myPll;
WDOG_Handle myWDog;
// Initialize all the handles needed for this application
myClk = CLK_init((void *)CLK_BASE_ADDR, sizeof(CLK_Obj));
myCpu = CPU_init((void *)NULL, sizeof(CPU_Obj));
myFlash = FLASH_init((void *)FLASH_BASE_ADDR, sizeof(FLASH_Obj));
myGpio = GPIO_init((void *)GPIO_BASE_ADDR, sizeof(GPIO_Obj));
myPie = PIE_init((void *)PIE_BASE_ADDR, sizeof(PIE_Obj));
myPll = PLL_init((void *)PLL_BASE_ADDR, sizeof(PLL_Obj));
myPwm1 = PWM_init((void *)PWM_ePWM1_BASE_ADDR, sizeof(PWM_Obj));
myPwm2 = PWM_init((void *)PWM_ePWM2_BASE_ADDR, sizeof(PWM_Obj));
myPwm3 = PWM_init((void *)PWM_ePWM3_BASE_ADDR, sizeof(PWM_Obj));
myPwm4 = PWM_init((void *)PWM_ePWM4_BASE_ADDR, sizeof(PWM_Obj));
myWDog = WDOG_init((void *)WDOG_BASE_ADDR, sizeof(WDOG_Obj));
// Perform basic system initialization
WDOG_disable(myWDog);
CLK_enableAdcClock(myClk);
(*Device_cal)();
CLK_disableAdcClock(myClk);
//Select the internal oscillator 1 as the clock source
CLK_setOscSrc(myClk, CLK_OscSrc_Internal);
// Setup the PLL for x12 /2 which will yield 60Mhz = 10Mhz * 12 / 2
PLL_setup(myPll, PLL_Multiplier_12, PLL_DivideSelect_ClkIn_by_2);
// Disable the PIE and all interrupts
PIE_disable(myPie);
PIE_disableAllInts(myPie);
CPU_disableGlobalInts(myCpu);
CPU_clearIntFlags(myCpu);
// If running from flash copy RAM only functions to RAM
#ifdef _FLASH
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t)&RamfuncsLoadSize);
#endif
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the f2802x_SysCtrl.c file.
// InitSysCtrl();
// Step 2. Initialize GPIO:
// This example function is found in the f2802x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio(); // Skipped for this example
// InitEPwmGpio();
// 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 f2802x_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 f2802x_DefaultIsr.c.
// This function is found in f2802x_PieVect.c.
// InitPieVectTable();
// For this case just init GPIO pins for EPwm1, EPwm2, EPwm3, EPwm4
GPIO_setPullUp(myGpio, GPIO_Number_0, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_1, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_0, GPIO_0_Mode_EPWM1A);
GPIO_setMode(myGpio, GPIO_Number_1, GPIO_1_Mode_EPWM1B);
GPIO_setPullUp(myGpio, GPIO_Number_2, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_3, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_2, GPIO_2_Mode_EPWM2A);
GPIO_setMode(myGpio, GPIO_Number_3, GPIO_3_Mode_EPWM2B);
GPIO_setPullUp(myGpio, GPIO_Number_4, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_5, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_4, GPIO_4_Mode_EPWM3A);
GPIO_setMode(myGpio, GPIO_Number_5, GPIO_5_Mode_EPWM3B);
GPIO_setPullUp(myGpio, GPIO_Number_6, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_7, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_6, GPIO_6_Mode_EPWM4A);
GPIO_setMode(myGpio, GPIO_Number_7, GPIO_7_Mode_EPWM4B);
// Setup a debug vector table and enable the PIE
PIE_setDebugIntVectorTable(myPie);
PIE_enable(myPie);
CLK_enablePwmClock(myClk, PWM_Number_1);
CLK_enablePwmClock(myClk, PWM_Number_2);
CLK_enablePwmClock(myClk, PWM_Number_3);
CLK_enablePwmClock(myClk, PWM_Number_4);
CLK_enableHrPwmClock(myClk);
// For this example, only initialize the ePWM
// Step 4. User specific code, enable interrupts:
UpdateFine = 1;
PeriodFine = 0;
status = SFO_INCOMPLETE;
// Calling SFO() updates the HRMSTEP register with calibrated MEP_ScaleFactor.
// HRMSTEP must be populated with a scale factor value prior to enabling
// high resolution period control.
while (status== SFO_INCOMPLETE) // Call until complete
{
status = SFO();
if (status == SFO_ERROR)
{
error(); // SFO function returns 2 if an error occurs & # of MEP steps/coarse step
} // exceeds maximum of 255.
}
// Some useful Period vs Frequency values
// SYSCLKOUT = 60 MHz 40 MHz
// --------------------------------------
// Period Frequency Frequency
// 1000 60 kHz 40 kHz
// 800 75 kHz 50 kHz
// 600 100 kHz 67 kHz
// 500 120 kHz 80 kHz
// 250 240 kHz 160 kHz
// 200 300 kHz 200 kHz
// 100 600 kHz 400 kHz
// 50 1.2 Mhz 800 kHz
// 25 2.4 Mhz 1.6 MHz
// 20 3.0 Mhz 2.0 MHz
// 12 5.0 MHz 3.3 MHz
// 10 6.0 MHz 4.0 MHz
// 9 6.7 MHz 4.4 MHz
// 8 7.5 MHz 5.0 MHz
// 7 8.6 MHz 5.7 MHz
// 6 10.0 MHz 6.6 MHz
// 5 12.0 MHz 8.0 MHz
//====================================================================
// ePWM and HRPWM register initialization
//====================================================================
CLK_disableTbClockSync(myClk);
HRPWM_Config(myPwm1, 30); // ePWMx target
HRPWM_Config(myPwm2, 30); // ePWMx target
HRPWM_Config(myPwm3, 30); // ePWMx target
HRPWM_Config(myPwm4, 30); // ePWMx target
CLK_enableTbClockSync(myClk);
PWM_forceSync(myPwm1);
PWM_forceSync(myPwm2);
PWM_forceSync(myPwm3);
PWM_forceSync(myPwm4);
for(;;)
{
// Sweep PeriodFine as a Q16 number from 0.2 - 0.999
for(PeriodFine = 0x3333; PeriodFine < 0xFFBF; PeriodFine++)
{
if(UpdateFine)
{
/*
// Because auto-conversion is enabled, the desired
// fractional period must be written directly to the
// TBPRDHR (or TBPRDHRM) register in Q16 format
// (lower 8-bits are ignored)
EPwm1Regs.TBPRDHR = PeriodFine;
// The hardware will automatically scale
// the fractional period by the MEP_ScaleFactor
// in the HRMSTEP register (which is updated
// by the SFO calibration software).
// Hardware conversion:
// MEP delay movement = ((TBPRDHR(15:0) >> 8) * HRMSTEP(7:0) + 0x80) >> 8
*/
// for(i=1;i<PWM_CH;i++)
// {
// (*ePWM[i]).TBPRDHR = PeriodFine; //In Q16 format
// }
PWM_setPeriodHr(myPwm1, PeriodFine);
PWM_setPeriodHr(myPwm2, PeriodFine);
PWM_setPeriodHr(myPwm3, PeriodFine);
PWM_setPeriodHr(myPwm4, PeriodFine);
}
else
{
// No high-resolution movement on TBPRDHR.
// for(i=1;i<PWM_CH;i++)
// {
// (*ePWM[i]).TBPRDHR = 0;
// }
PWM_setPeriodHr(myPwm1, 0);
PWM_setPeriodHr(myPwm2, 0);
PWM_setPeriodHr(myPwm3, 0);
PWM_setPeriodHr(myPwm4, 0);
}
// Call the scale factor optimizer lib function SFO()
// periodically to track for any change due to temp/voltage.
// This function generates MEP_ScaleFactor by running the
// MEP calibration module in the HRPWM logic. This scale
// factor can be used for all HRPWM channels. HRMSTEP
// register is automatically updated by the SFO function.
status = SFO(); // in background, MEP calibration module continuously updates MEP_ScaleFactor
if (status == SFO_ERROR) {
error(); // SFO function returns 2 if an error occurs & # of MEP steps/coarse step
} // exceeds maximum of 255.
} // end PeriodFine for loop
} // end infinite for loop
} // end main
void main(void)
{
CPU_Handle myCpu;
PLL_Handle myPll;
WDOG_Handle myWDog;
// Initialize all the handles needed for this application
myClk = CLK_init((void *)CLK_BASE_ADDR, sizeof(CLK_Obj));
myCpu = CPU_init((void *)NULL, sizeof(CPU_Obj));
myFlash = FLASH_init((void *)FLASH_BASE_ADDR, sizeof(FLASH_Obj));
myGpio = GPIO_init((void *)GPIO_BASE_ADDR, sizeof(GPIO_Obj));
myPie = PIE_init((void *)PIE_BASE_ADDR, sizeof(PIE_Obj));
myPll = PLL_init((void *)PLL_BASE_ADDR, sizeof(PLL_Obj));
myPwm1 = PWM_init((void *)PWM_ePWM1_BASE_ADDR, sizeof(PWM_Obj));
myPwm2 = PWM_init((void *)PWM_ePWM2_BASE_ADDR, sizeof(PWM_Obj));
myPwm3 = PWM_init((void *)PWM_ePWM3_BASE_ADDR, sizeof(PWM_Obj));
myPwm4 = PWM_init((void *)PWM_ePWM4_BASE_ADDR, sizeof(PWM_Obj));
myWDog = WDOG_init((void *)WDOG_BASE_ADDR, sizeof(WDOG_Obj));
// Perform basic system initialization
WDOG_disable(myWDog);
CLK_enableAdcClock(myClk);
(*Device_cal)();
CLK_disableAdcClock(myClk);
//Select the internal oscillator 1 as the clock source
CLK_setOscSrc(myClk, CLK_OscSrc_Internal);
// Setup the PLL for x12 /2 which will yield 60Mhz = 10Mhz * 12 / 2
PLL_setup(myPll, PLL_Multiplier_12, PLL_DivideSelect_ClkIn_by_2);
// Disable the PIE and all interrupts
PIE_disable(myPie);
PIE_disableAllInts(myPie);
CPU_disableGlobalInts(myCpu);
CPU_clearIntFlags(myCpu);
// If running from flash copy RAM only functions to RAM
#ifdef _FLASH
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t)&RamfuncsLoadSize);
#endif
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the f2802x_SysCtrl.c file.
// InitSysCtrl();
// Step 2. Initialize GPIO:
// This example function is found in the f2802x_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 for EPwm1-EPwm4
// For this case just init GPIO pins for EPwm1, EPwm2, EPwm3, EPwm4
// These functions are in the f2802x_EPwm.c file
// InitEPwm1Gpio();
// InitEPwm2Gpio();
// InitEPwm3Gpio();
// InitEPwm4Gpio();
// 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 f2802x_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 f2802x_DefaultIsr.c.
// This function is found in f2802x_PieVect.c.
// InitPieVectTable();
// For this case just init GPIO pins for EPwm1, EPwm2, EPwm3, EPwm4
GPIO_setPullUp(myGpio, GPIO_Number_0, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_1, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_0, GPIO_0_Mode_EPWM1A);
GPIO_setMode(myGpio, GPIO_Number_1, GPIO_1_Mode_EPWM1B);
GPIO_setPullUp(myGpio, GPIO_Number_2, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_3, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_2, GPIO_2_Mode_EPWM2A);
GPIO_setMode(myGpio, GPIO_Number_3, GPIO_3_Mode_EPWM2B);
GPIO_setPullUp(myGpio, GPIO_Number_4, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_5, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_4, GPIO_4_Mode_EPWM3A);
GPIO_setMode(myGpio, GPIO_Number_5, GPIO_5_Mode_EPWM3B);
GPIO_setPullUp(myGpio, GPIO_Number_6, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_7, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_6, GPIO_6_Mode_EPWM4A);
GPIO_setMode(myGpio, GPIO_Number_7, GPIO_7_Mode_EPWM4B);
// Setup a debug vector table and enable the PIE
PIE_setDebugIntVectorTable(myPie);
PIE_enable(myPie);
CLK_enablePwmClock(myClk, PWM_Number_1);
CLK_enablePwmClock(myClk, PWM_Number_2);
CLK_enablePwmClock(myClk, PWM_Number_3);
CLK_enablePwmClock(myClk, PWM_Number_4);
// For this example, only initialize the EPwm
// Step 4. User specific code, enable interrupts:
update =1;
DutyFine =0;
CLK_disableTbClockSync(myClk);
// Some useful Period vs Frequency values
// SYSCLKOUT = 60 MHz 40 MHz
// --------------------------------------
// Period Frequency Frequency
// 1000 60 kHz 40 kHz
// 800 75 kHz 50 kHz
// 600 100 kHz 67 kHz
// 500 120 kHz 80 kHz
// 250 240 kHz 160 kHz
// 200 300 kHz 200 kHz
// 100 600 kHz 400 kHz
// 50 1.2 Mhz 800 kHz
// 25 2.4 Mhz 1.6 MHz
// 20 3.0 Mhz 2.0 MHz
// 12 5.0 MHz 3.3 MHz
// 10 6.0 MHz 4.0 MHz
// 9 6.7 MHz 4.4 MHz
// 8 7.5 MHz 5.0 MHz
// 7 8.6 MHz 5.7 MHz
// 6 10.0 MHz 6.6 MHz
// 5 12.0 MHz 8.0 MHz
//====================================================================
// EPwm and HRPWM register initialization
//====================================================================
HRPWM1_Config(10); // EPwm1 target, Period = 10
HRPWM2_Config(20); // EPwm2 target, Period = 20
HRPWM3_Config(10); // EPwm3 target, Period = 10
HRPWM4_Config(20); // EPwm4 target, Period = 20
CLK_enableTbClockSync(myClk);
while (update ==1)
{
PWM_setCmpAHr(myPwm1, DutyFine << 8);
PWM_setCmpAHr(myPwm2, DutyFine << 8);
PWM_setCmpAHr(myPwm3, DutyFine << 8);
PWM_setCmpAHr(myPwm4, DutyFine << 8);
}
}
/**************************************************************************//**
* The main entry point.
*****************************************************************************/
int main(void)
{
int msElapsed, i;
/* Set new vector table pointer */
SCB->VTOR = 0x20000000;
/* Enable peripheral clocks. */
CMU->HFPERCLKDIV = CMU_HFPERCLKDIV_HFPERCLKEN;
CMU->HFPERCLKEN0 = CMU_HFPERCLKEN0_GPIO | BOOTLOADER_USART_CLOCK |
AUTOBAUD_TIMER_CLOCK ;
/* Enable DMA interface */
CMU->HFCORECLKEN0 = CMU_HFCORECLKEN0_DMA;
#if defined( BL_DEBUG )
RETARGET_SerialInit(); /* Setup debug serialport etc. */
USB_PUTS( "EFM32 USB/USART0 bootloader\r\n" );
#endif
/* Calculate CRC16 for the bootloader itself and the Device Information page. */
/* This is used for production testing and can safely be omitted in */
/* your own code. */
bootloaderCRC = CRC_calc((void *) 0x0, (void *) BOOTLOADER_SIZE);
bootloaderCRC |= CRC_calc((void *) 0x0FE081B2, (void *) 0x0FE08200) << 16;
StartRTC();
#if !defined( SIMULATE_SWDCLK_PIN_HI )
while ( SWDCLK_PIN_IS_LO() )
{
USB_PUTS( "SWDCLK is low\r\n" );
if ( BOOT_checkFirmwareIsValid() )
{
USB_PUTS( "Booting application\r\n " );
BOOT_boot();
}
else
{
USB_PUTS( "No valid application, resetting EFM32... \r\n" );
/* Go to EM2 and wait for RTC wakeup. */
EMU_EnterEM2( false );
}
}
#endif
NVIC_DisableIRQ( RTC_IRQn );
/* Try to start HFXO. */
CMU_OscillatorEnable( cmuOsc_HFXO, true, false );
/* Wait approx. 1 second to see if HFXO starts. */
i = 1500000;
while ( i && !( CMU->STATUS & CMU_STATUS_HFXORDY ) )
{
i--;
}
USBTIMER_Init();
if ( i == 0 )
{
CMU_HFRCOBandSet( cmuHFRCOBand_28MHz );
}
else
{
CMU_ClockSelectSet( cmuClock_HF, cmuSelect_HFXO );
USBD_Init( &initstruct ); /* Start USB CDC functionality */
}
AUTOBAUD_start(); /* Start autobaud */
/* Wait 30 seconds for USART or USB connection */
msElapsed = 0;
while ( msElapsed < 30000 )
{
if ( AUTOBAUD_completed() )
break;
if ( CDC_Configured )
{
BOOTLDIO_setMode( CDC_Configured );
break;
}
USBTIMER_DelayMs( 100 );
msElapsed += 100;
}
AUTOBAUD_stop();
if ( msElapsed >= 30000 )
{
USB_PUTS( "USART0/USB timeout, resetting EFM32...\r\n " );
Disconnect( 0, 2000 );
SCB->AIRCR = 0x05FA0004; /* Reset EFM32. */
}
/* Print a message to show that we are in bootloader mode */
BOOTLDIO_printString("\r\n\r\n" BOOTLOADER_VERSION_STRING );
/* Print the chip ID. This is useful for production tracking */
BOOTLDIO_printHex(DEVINFO->UNIQUEH);
BOOTLDIO_printHex(DEVINFO->UNIQUEL);
BOOTLDIO_printString("\r\n");
/* Figure out correct flash geometry. */
FLASH_CalcPageSize();
/* Initialize flash for writing */
FLASH_init();
/* Start executing command line */
commandlineLoop();
}
void main(void)
{
CPU_Handle myCpu;
PLL_Handle myPll;
WDOG_Handle myWDog;
// Initialize all the handles needed for this application
myClk = CLK_init((void *)CLK_BASE_ADDR, sizeof(CLK_Obj));
myCpu = CPU_init((void *)NULL, sizeof(CPU_Obj));
myFlash = FLASH_init((void *)FLASH_BASE_ADDR, sizeof(FLASH_Obj));
myGpio = GPIO_init((void *)GPIO_BASE_ADDR, sizeof(GPIO_Obj));
myPie = PIE_init((void *)PIE_BASE_ADDR, sizeof(PIE_Obj));
myPll = PLL_init((void *)PLL_BASE_ADDR, sizeof(PLL_Obj));
myPwm1 = PWM_init((void *)PWM_ePWM1_BASE_ADDR, sizeof(PWM_Obj));
myPwm2 = PWM_init((void *)PWM_ePWM2_BASE_ADDR, sizeof(PWM_Obj));
myPwm3 = PWM_init((void *)PWM_ePWM3_BASE_ADDR, sizeof(PWM_Obj));
myWDog = WDOG_init((void *)WDOG_BASE_ADDR, sizeof(WDOG_Obj));
// Perform basic system initialization
WDOG_disable(myWDog);
CLK_enableAdcClock(myClk);
(*Device_cal)();
CLK_disableAdcClock(myClk);
//Select the internal oscillator 1 as the clock source
CLK_setOscSrc(myClk, CLK_OscSrc_Internal);
// Setup the PLL for x10 /2 which will yield 50Mhz = 10Mhz * 10 / 2
PLL_setup(myPll, PLL_Multiplier_10, PLL_DivideSelect_ClkIn_by_2);
// Disable the PIE and all interrupts
PIE_disable(myPie);
PIE_disableAllInts(myPie);
CPU_disableGlobalInts(myCpu);
CPU_clearIntFlags(myCpu);
// Setup a debug vector table and enable the PIE
PIE_setDebugIntVectorTable(myPie);
PIE_enable(myPie);
// Register interrupt handlers in the PIE vector table
PIE_registerPieIntHandler(myPie, PIE_GroupNumber_3, PIE_SubGroupNumber_1, (intVec_t)&EPwm1_timer_isr);
PIE_registerPieIntHandler(myPie, PIE_GroupNumber_3, PIE_SubGroupNumber_2, (intVec_t)&EPwm2_timer_isr);
PIE_registerPieIntHandler(myPie, PIE_GroupNumber_3, PIE_SubGroupNumber_3, (intVec_t)&EPwm3_timer_isr);
// Initialize the EPwm Timers used in this example
InitEPwmTimer();
#ifdef _FLASH
// Copy time critical code and Flash setup code to RAM
// This includes the following ISR functions: EPwm1_timer_isr(), EPwm2_timer_isr()
// and FLASH_setup();
// The RamfuncsLoadStart, RamfuncsLoadSize, and RamfuncsRunStart
// symbols are created by the linker. Refer to the F2280270.cmd file.
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t)&RamfuncsLoadSize);
// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
FLASH_setup(myFlash);
#endif // end #ifdef _FLASH
// Initalize counters:
EPwm1TimerIntCount = 0;
EPwm2TimerIntCount = 0;
EPwm3TimerIntCount = 0;
LoopCount = 0;
// Enable CPU INT3 which is connected to EPwm1-3 INT:
CPU_enableInt(myCpu, CPU_IntNumber_3);
// Enable EPwm INTn in the PIE: Group 3 interrupt 1-3.
PIE_enablePwmInt(myPie, PWM_Number_1);
PIE_enablePwmInt(myPie, PWM_Number_2);
PIE_enablePwmInt(myPie, PWM_Number_3);
// Enable global Interrupts and higher priority real-time debug events
CPU_enableGlobalInts(myCpu);
CPU_enableDebugInt(myCpu);
// Configure GPIO so it can toggle in the idle loop
GPIO_setMode(myGpio, GPIO_Number_34, GPIO_34_Mode_GeneralPurpose);
GPIO_setDirection(myGpio, GPIO_Number_34, GPIO_Direction_Output);
for(;;)
{
// This loop will be interrupted, so the overall
// delay between pin toggles will be longer.
DELAY_US(DELAY);
LoopCount++;
// Toggle GPIO
GPIO_toggle(myGpio, GPIO_Number_34);
}
}
void main(void)
{
ADC_Handle myAdc;
CPU_Handle myCpu;
PLL_Handle myPll;
WDOG_Handle myWDog;
// Initialize all the handles needed for this application
myAdc = ADC_init((void *)ADC_BASE_ADDR, sizeof(ADC_Obj));
myClk = CLK_init((void *)CLK_BASE_ADDR, sizeof(CLK_Obj));
myComp = COMP_init((void *)COMP1_BASE_ADDR, sizeof(COMP_Obj));
myCpu = CPU_init((void *)NULL, sizeof(CPU_Obj));
myFlash = FLASH_init((void *)FLASH_BASE_ADDR, sizeof(FLASH_Obj));
myGpio = GPIO_init((void *)GPIO_BASE_ADDR, sizeof(GPIO_Obj));
myPie = PIE_init((void *)PIE_BASE_ADDR, sizeof(PIE_Obj));
myPll = PLL_init((void *)PLL_BASE_ADDR, sizeof(PLL_Obj));
myPwm1 = PWM_init((void *)PWM_ePWM1_BASE_ADDR, sizeof(PWM_Obj));
myWDog = WDOG_init((void *)WDOG_BASE_ADDR, sizeof(WDOG_Obj));
// Perform basic system initialization
WDOG_disable(myWDog);
CLK_enableAdcClock(myClk);
(*Device_cal)();
CLK_disableAdcClock(myClk);
//Select the internal oscillator 1 as the clock source
CLK_setOscSrc(myClk, CLK_OscSrc_Internal);
// Setup the PLL for x10 /2 which will yield 50Mhz = 10Mhz * 10 / 2
PLL_setup(myPll, PLL_Multiplier_10, PLL_DivideSelect_ClkIn_by_2);
// Disable the PIE and all interrupts
PIE_disable(myPie);
PIE_disableAllInts(myPie);
CPU_disableGlobalInts(myCpu);
CPU_clearIntFlags(myCpu);
// If running from flash copy RAM only functions to RAM
#ifdef _FLASH
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t)&RamfuncsLoadSize);
#endif
// For this case just init GPIO pins for ePWM1
GPIO_setPullUp(myGpio, GPIO_Number_0, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_1, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_0, GPIO_0_Mode_EPWM1A);
GPIO_setMode(myGpio, GPIO_Number_1, GPIO_1_Mode_EPWM1B);
// Setup a debug vector table and enable the PIE
PIE_setDebugIntVectorTable(myPie);
PIE_enable(myPie);
// Register interrupt handlers in the PIE vector table
PIE_registerPieIntHandler(myPie, PIE_GroupNumber_2, PIE_SubGroupNumber_1,
(intVec_t)&epwm1_tzint_isr);
// Enable Clock to the ADC
CLK_enableAdcClock(myClk);
// Comparator shares the internal BG reference of the ADC,
// must be powered even if ADC is unused
ADC_enableBandGap(myAdc);
// Delay to allow BG reference to settle.
DELAY_US(1000L);
// Enable clock to the Comparator 1 block
CLK_enableCompClock(myClk, CLK_CompNumber_1);
// Power up Comparator 1 locally
COMP_enable(myComp);
// Connect the inverting input to pin COMP1B
COMP_disableDac(myComp);
////////////////Uncomment following 4 lines to use DAC instead of pin COMP1B //////////////////
// // Connect the inverting input to the internal DAC
// COMP_enableDac(myComp);
// // Set DAC output to midpoint
// COMP_setDacValue(myComp, 512);
//////////////////////////////////////////////////////////////////////////////////////////////
CLK_disableTbClockSync(myClk);
InitEPwm1Example();
CLK_enableTbClockSync(myClk);
// Initialize counters
EPwm1TZIntCount = 0;
// Enable CPU INT3 which is connected to EPWM1-3 INT
CPU_enableInt(myCpu, CPU_IntNumber_2);
// Enable EPWM INTn in the PIE: Group 2 interrupt 1-3
PIE_enablePwmTzInt(myPie, PWM_Number_1);
// Enable global Interrupts and higher priority real-time debug events
CPU_enableGlobalInts(myCpu);
CPU_enableDebugInt(myCpu);
for(;;)
{
__asm(" NOP");
}
}
void main(void)
{
int i;
CPU_Handle myCpu;
PLL_Handle myPll;
WDOG_Handle myWDog;
// Initialize all the handles needed for this application
myClk = CLK_init((void *)CLK_BASE_ADDR, sizeof(CLK_Obj));
myCpu = CPU_init((void *)NULL, sizeof(CPU_Obj));
myFlash = FLASH_init((void *)FLASH_BASE_ADDR, sizeof(FLASH_Obj));
myGpio = GPIO_init((void *)GPIO_BASE_ADDR, sizeof(GPIO_Obj));
myPie = PIE_init((void *)PIE_BASE_ADDR, sizeof(PIE_Obj));
myPll = PLL_init((void *)PLL_BASE_ADDR, sizeof(PLL_Obj));
myPwm1 = PWM_init((void *)PWM_ePWM1_BASE_ADDR, sizeof(PWM_Obj));
myPwm2 = PWM_init((void *)PWM_ePWM2_BASE_ADDR, sizeof(PWM_Obj));
myPwm3 = PWM_init((void *)PWM_ePWM3_BASE_ADDR, sizeof(PWM_Obj));
myWDog = WDOG_init((void *)WDOG_BASE_ADDR, sizeof(WDOG_Obj));
// Perform basic system initialization
WDOG_disable(myWDog);
CLK_enableAdcClock(myClk);
(*Device_cal)();
CLK_disableAdcClock(myClk);
//Select the internal oscillator 1 as the clock source
CLK_setOscSrc(myClk, CLK_OscSrc_Internal);
// Setup the PLL for x10 /2 which will yield 50Mhz = 10Mhz * 10 / 2
PLL_setup(myPll, PLL_Multiplier_10, PLL_DivideSelect_ClkIn_by_2);
// Disable the PIE and all interrupts
PIE_disable(myPie);
PIE_disableAllInts(myPie);
CPU_disableGlobalInts(myCpu);
CPU_clearIntFlags(myCpu);
// If running from flash copy RAM only functions to RAM
#ifdef _FLASH
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t)&RamfuncsLoadSize);
#endif
// Setup a debug vector table and enable the PIE
PIE_setDebugIntVectorTable(myPie);
PIE_enable(myPie);
// Register interrupt handlers in the PIE vector table
PIE_registerPieIntHandler(myPie, PIE_GroupNumber_3, PIE_SubGroupNumber_1,
(intVec_t)&epwm1_timer_isr);
PIE_registerPieIntHandler(myPie, PIE_GroupNumber_3, PIE_SubGroupNumber_2,
(intVec_t)&epwm2_timer_isr);
PIE_registerPieIntHandler(myPie, PIE_GroupNumber_3, PIE_SubGroupNumber_3,
(intVec_t)&epwm3_timer_isr);
InitEPwmTimer(); // For this example, only initialize the ePWM Timers
// Initialize counters:
EPwm1TimerIntCount = 0;
EPwm2TimerIntCount = 0;
EPwm3TimerIntCount = 0;
// Enable CPU INT3 which is connected to EPWM1-6 INT
CPU_enableInt(myCpu, CPU_IntNumber_3);
// Enable EPWM INTn in the PIE: Group 3 interrupt 1-6
PIE_enablePwmInt(myPie, PWM_Number_1);
PIE_enablePwmInt(myPie, PWM_Number_2);
PIE_enablePwmInt(myPie, PWM_Number_3);
// Enable global Interrupts and higher priority real-time debug events
CPU_enableGlobalInts(myCpu);
CPU_enableDebugInt(myCpu);
for(;;)
{
__asm(" NOP");
for(i=1;i<=10;i++)
{
}
}
}
