void GPIO_Test_for_TE(void)
{
if(sys_gpio_test)
{
sys_gpio_test = 0;
GPIO_HAL_SetPinDir(PTA, 4, kGpioDigitalOutput); // INT1 pin
GPIO_HAL_SetPinDir(PTB, 5, kGpioDigitalInput); // INT2 pin
PORT_HAL_SetMuxMode(PORTB,3u,kPortMuxAsGpio);
PORT_HAL_SetMuxMode(PORTB,4u,kPortMuxAsGpio);
GPIO_HAL_SetPinDir(PTB, 3, kGpioDigitalOutput); // SCL pin
GPIO_HAL_SetPinDir(PTB, 4, kGpioDigitalOutput); // SDA pin
while(1)
{
if(GPIO_HAL_ReadPinInput(PTB, 5))
{
GPIO_HAL_ClearPinOutput(PTA, 4); // INT1 set low
GPIO_HAL_SetPinOutput(PTB, 3); // SCL set high
GPIO_HAL_ClearPinOutput(PTB, 4); // SDA set low
}
else
{
GPIO_HAL_SetPinOutput(PTA, 4); // INT1 set high
GPIO_HAL_ClearPinOutput(PTB, 3); // SCL set low
GPIO_HAL_SetPinOutput(PTB, 4); // SDA set high
}
delay_ms(100);
}
}
}
/*FUNCTION**********************************************************************
*
* Function Name : GPIO_DRV_SetPinOutput
* Description : Set output level of individual GPIO pin to logic 1.
*
*END**************************************************************************/
void GPIO_DRV_SetPinOutput(uint32_t pinName)
{
uint32_t gpioBaseAddr = g_gpioBaseAddr[GPIO_EXTRACT_PORT(pinName)];
uint32_t pin = GPIO_EXTRACT_PIN(pinName);
GPIO_HAL_SetPinOutput(gpioBaseAddr, pin);
}
/*************************************************************************
* Function Name: GPIO_init
* Parameters: none
* Return: none
* Description: I/O pins configuration
*************************************************************************/
void GPIO_init(void)
{
// Brake control
PORT_HAL_SetMuxMode(PORTE_BASE_PTR, 24, kPortMuxAsGpio);
PORT_HAL_SetPullMode(PORTE_BASE_PTR, 24, kPortPullDown);
GPIO_HAL_SetPinDir(GPIOE_BASE_PTR, 24, kGpioDigitalOutput);
GPIO_HAL_ClearPinOutput(GPIOE_BASE_PTR, 24);
// LED
PORT_HAL_SetMuxMode(PORTD_BASE_PTR, 6, kPortMuxAsGpio);
PORT_HAL_SetPullMode(PORTD_BASE_PTR, 6, kPortPullDown);
GPIO_HAL_SetPinDir(GPIOD_BASE_PTR, 6, kGpioDigitalOutput);
GPIO_HAL_SetPinOutput(GPIOD_BASE_PTR, 6);// Turn off LED
#if defined(KV10Z7_SERIES)
// Push buttons: PTA4 = SW1, PTB0 = SW2
PORT_HAL_SetMuxMode(PORTA_BASE_PTR, 4, kPortMuxAsGpio);
PORT_HAL_SetPullMode(PORTA_BASE_PTR, 4, kPortPullDown);
PORT_HAL_SetMuxMode(PORTB_BASE_PTR, 0, kPortMuxAsGpio);
PORT_HAL_SetPullMode(PORTB_BASE_PTR, 0, kPortPullDown);
#elif (defined(KV10Z1287_SERIES) || defined(KV11Z7_SERIES))
// Push buttons: PTE20 = SW3, PTA4 = SW2
PORT_HAL_SetMuxMode(PORTE_BASE_PTR, 20, kPortMuxAsGpio);
PORT_HAL_SetPullMode(PORTE_BASE_PTR, 20, kPortPullDown);
PORT_HAL_SetMuxMode(PORTA_BASE_PTR, 4, kPortMuxAsGpio);
PORT_HAL_SetPullMode(PORTA_BASE_PTR, 4, kPortPullDown);
#endif
}
/*FUNCTION**********************************************************************
*
* Function Name : GPIO_DRV_SetPinOutput
* Description : Set output level of individual GPIO pin to logic 1.
*
*END**************************************************************************/
void GPIO_DRV_SetPinOutput(uint32_t pinName)
{
GPIO_Type * gpioBase = g_gpioBase[GPIO_EXTRACT_PORT(pinName)];
uint32_t pin = GPIO_EXTRACT_PIN(pinName);
GPIO_HAL_SetPinOutput(gpioBase, pin);
}
/*!
* @brief Show a few demo speeds and ramps, called every 1 ms
*
* @param sM_Drive BLDC motor variables structure pointer
*/
void Demonstration(MCSTRUC_BLDC_SNLS_INT_T * sM_Drive)
{
Frac16 f16RequiredSpeedNew, f16RequiredSpeedOld;
// Push buttons signal filtering
#if defined(KV10Z7_SERIES)
if (!FGPIO_HAL_ReadPinInput(FGPIOA_BASE_PTR,4)) // STATUS_SW1
#elif (defined(KV10Z1287_SERIES) || defined(KV11Z7_SERIES))
if (!FGPIO_HAL_ReadPinInput(FGPIOE_BASE_PTR,20)) // STATUS_SW3
#endif
{
if (uw16Sw1FiltCnt <= PUSH_TIME_FILTER) uw16Sw1FiltCnt++;
else uw16SwStatus |= 1;
}
else
{
if (0 < uw16Sw1FiltCnt) uw16Sw1FiltCnt--;
else uw16SwStatus &= ~1;
}
#if defined(KV10Z7_SERIES)
if (!FGPIO_HAL_ReadPinInput(FGPIOB_BASE_PTR,0)) // STATUS_SW2
#elif (defined(KV10Z1287_SERIES) || defined(KV11Z7_SERIES))
if (!FGPIO_HAL_ReadPinInput(FGPIOA_BASE_PTR,4)) // STATUS_SW2
#endif
{
if (uw16Sw2FiltCnt <= PUSH_TIME_FILTER) uw16Sw2FiltCnt++;
else uw16SwStatus |= 2;
}
else
{
if (0 < uw16Sw2FiltCnt) uw16Sw2FiltCnt--;
else uw16SwStatus &= ~2;
}
// Push buttons processing
switch (uw16SwStatus)
{
case 0:
uw16Sw1Cnt = 0;
uw16Sw2Cnt = 0;
uw16SwBothCnt = 0;
break;
case 1: // Switch 1 only
if (0 < uw16Sw1Cnt)
{
uw16Sw1Cnt--;
}
else
{
uw16Sw1Cnt = PUSH_TIME_SHORT;
// Increase speed
if (uw16DemonstrationStatus == 0)
{
f16RequiredSpeedOld = sM_Drive->f16SpeedRequired;
f16RequiredSpeedNew = f16RequiredSpeedOld;
f16RequiredSpeedNew = MLIB_AddSat_F16(f16RequiredSpeedNew, FRAC16(DEMONSTRATION_SPEED_STEP));
sM_Drive->f16SpeedRequired = f16RequiredSpeedNew;
}
}
uw16Sw2Cnt = 0;
uw16SwBothCnt = 0;
break;
case 2: // Switch 2 only
if (0 < uw16Sw2Cnt)
{
uw16Sw2Cnt--;
}
else
{
uw16Sw2Cnt = PUSH_TIME_SHORT;
// Decrease speed
if (uw16DemonstrationStatus == 0)
{
f16RequiredSpeedOld = sM_Drive->f16SpeedRequired;
f16RequiredSpeedNew = f16RequiredSpeedOld;
f16RequiredSpeedNew = MLIB_SubSat_F16(f16RequiredSpeedNew, FRAC16(DEMONSTRATION_SPEED_STEP));
sM_Drive->f16SpeedRequired = f16RequiredSpeedNew;
}
}
uw16Sw1Cnt = 0;
uw16SwBothCnt = 0;
break;
case 3: // Both Switches
if (uw16SwBothCnt < 0x7fff) uw16SwBothCnt++;
if (uw16SwBothCnt == PUSH_TIME_LONG)
{
if (uw16DemonstrationStatus == 0)
{
uw16DemonstrationStatus = 1;
uw32DemoTime = 0;
}
else
{
uw16DemonstrationStatus = 0;
// Set default ramp
sM_Drive->f32trSpeedRamp.f32RampDown = SPEED_LOOP_RAMP_DOWN;
sM_Drive->f32trSpeedRamp.f32RampUp = SPEED_LOOP_RAMP_UP;
GPIO_HAL_SetPinOutput(GPIOD_BASE_PTR, 6);//DEMO_LED_OFF;
}
}
uw16Sw1Cnt = 0;
uw16Sw2Cnt = 0;
break;
}
// Demonstration mode
if (uw16DemonstrationStatus == 1)
{
uw32DemoTime++;
if (uw32DemoTime & 128) GPIO_HAL_SetPinOutput(GPIOD_BASE_PTR, 6); //DEMO_LED_OFF;
else GPIO_HAL_ClearPinOutput(GPIOD_BASE_PTR, 6); //DEMO_LED_ON;
switch (uw32DemoTime)
{
case 500:
sM_Drive->f32trSpeedRamp.f32RampDown = FRAC32(0.25 * DEMONSTRATION_SPEED_RAMP_GAIN);
sM_Drive->f32trSpeedRamp.f32RampUp = FRAC32(0.25 * DEMONSTRATION_SPEED_RAMP_GAIN);
sM_Drive->f16SpeedRequired = FRAC16(0.6);
break;
case 3000:
sM_Drive->f32trSpeedRamp.f32RampDown = FRAC32(1.0 * DEMONSTRATION_SPEED_RAMP_GAIN);
sM_Drive->f32trSpeedRamp.f32RampUp = FRAC32(1.0 * DEMONSTRATION_SPEED_RAMP_GAIN);
sM_Drive->f16SpeedRequired = FRAC16(-0.8);
break;
case 5500:
sM_Drive->f16SpeedRequired = FRAC16(0.8);
break;
case 7500:
sM_Drive->f16SpeedRequired = FRAC16(0.2);
break;
case 11000:
sM_Drive->f16SpeedRequired = FRAC16(0.8);
break;
case 13000:
sM_Drive->f16SpeedRequired = FRAC16(0.4);
break;
case 15000:
sM_Drive->f32trSpeedRamp.f32RampDown = FRAC32(0.025 * DEMONSTRATION_SPEED_RAMP_GAIN);
sM_Drive->f32trSpeedRamp.f32RampUp = FRAC32(0.025 * DEMONSTRATION_SPEED_RAMP_GAIN);
sM_Drive->f16SpeedRequired = FRAC16(0.1);
break;
case 25000:
sM_Drive->f32trSpeedRamp.f32RampDown = FRAC32(0.0125 * DEMONSTRATION_SPEED_RAMP_GAIN);
sM_Drive->f32trSpeedRamp.f32RampUp = FRAC32(0.0125 * DEMONSTRATION_SPEED_RAMP_GAIN);
sM_Drive->f16SpeedRequired = FRAC16(0.8);
break;
case 28000:
sM_Drive->f32trSpeedRamp.f32RampDown = FRAC32(0.0625 * DEMONSTRATION_SPEED_RAMP_GAIN);
sM_Drive->f32trSpeedRamp.f32RampUp = FRAC32(0.0625 * DEMONSTRATION_SPEED_RAMP_GAIN);
sM_Drive->f16SpeedRequired = FRAC16(-0.8);
break;
case 30500:
sM_Drive->f32trSpeedRamp.f32RampDown = FRAC32(0.125 * DEMONSTRATION_SPEED_RAMP_GAIN);
sM_Drive->f32trSpeedRamp.f32RampUp = FRAC32(0.125 * DEMONSTRATION_SPEED_RAMP_GAIN);
sM_Drive->f16SpeedRequired = FRAC16(0.8);
break;
case 34000:
sM_Drive->f16SpeedRequired = FRAC16(0.1);
break;
case 50000:
sM_Drive->f32trSpeedRamp.f32RampDown = FRAC32(0.25 * DEMONSTRATION_SPEED_RAMP_GAIN);
sM_Drive->f32trSpeedRamp.f32RampUp = FRAC32(0.25 * DEMONSTRATION_SPEED_RAMP_GAIN);
sM_Drive->f16SpeedRequired = FRAC16(-0.18);
break;
case 54000:
sM_Drive->f16SpeedRequired = FRAC16(-0.22);
break;
case 58000:
sM_Drive->f16SpeedRequired = FRAC16(-0.18);
break;
case 62000:
sM_Drive->f16SpeedRequired = FRAC16(-0.2);
break;
case 66000:
sM_Drive->f16SpeedRequired = FRAC16(-0.22);
break;
case 70000:
sM_Drive->f16SpeedRequired = FRAC16(-0.2);
break;
case 74000:
sM_Drive->f32trSpeedRamp.f32RampDown = FRAC32(1.0 * DEMONSTRATION_SPEED_RAMP_GAIN);
sM_Drive->f32trSpeedRamp.f32RampUp = FRAC32(1.0 * DEMONSTRATION_SPEED_RAMP_GAIN);
sM_Drive->f16SpeedRequired = FRAC16(-0.18);
break;
case 78000:
sM_Drive->f16SpeedRequired = FRAC16(-0.2);
break;
case 85000:
sM_Drive->f16SpeedRequired = FRAC16(-0.1);
break;
case 90000:
sM_Drive->f16SpeedRequired = FRAC16(-0.8);
break;
case 92000:
sM_Drive->f16SpeedRequired = FRAC16(-0.2);
break;
case 95000:
sM_Drive->f16SpeedRequired = FRAC16(-0.8);
break;
case 98000:
sM_Drive->f16SpeedRequired = FRAC16(-0.2);
break;
case 108000:
uw32DemoTime = 0;
break;
}
}
}
/*************************************************************************
* Function Name: SPI0_init
* Parameters: none
* Return: none
* Description: SPI initialization
*************************************************************************/
void SPI0_init(void)
{
dspi_baud_rate_divisors_t divisors;
divisors.doubleBaudRate = 0;
divisors.baudRateDivisor = 3;
divisors.prescaleDivisor = 3;
dspi_data_format_config_t config;
config.clkPhase = kDspiClockPhase_SecondEdge;
config.bitsPerFrame = 8;
config.clkPolarity = kDspiClockPolarity_ActiveHigh;
config.direction = kDspiMsbFirst;
#if defined(KV10Z7_SERIES)
PORT_HAL_SetMuxMode(PORTC_BASE_PTR,2,kPortMuxAsGpio);// MC33937 RESET
GPIO_HAL_SetPinDir(GPIOC_BASE_PTR, 2, kGpioDigitalOutput);
PORT_HAL_SetMuxMode(PORTD_BASE_PTR,7,kPortMuxAsGpio);// MC33937 DRV_EN
GPIO_HAL_SetPinDir(GPIOD_BASE_PTR, 7, kGpioDigitalOutput);
#elif (defined(KV10Z1287_SERIES) || defined(KV11Z7_SERIES))
PORT_HAL_SetMuxMode(PORTE_BASE_PTR,29,kPortMuxAsGpio);// MC33937 DRV_EN
GPIO_HAL_SetPinDir(GPIOE_BASE_PTR, 29, kGpioDigitalOutput);
#endif
GPIO_HAL_SetPinOutput(GPIOC_BASE_PTR, 2);//MC33937_RESET_HIGH;
#if defined(KV10Z7_SERIES)
GPIO_HAL_SetPinOutput(GPIOD_BASE_PTR, 7);//MC33937_ENABLE_HIGH;
#elif (defined(KV10Z1287_SERIES) || defined(KV11Z7_SERIES))
GPIO_HAL_SetPinOutput(GPIOE_BASE_PTR, 29);
#endif
DSPI_HAL_StopTransfer(SPI0_BASE_PTR);// halt SPI before SPI setting
DSPI_HAL_Enable(SPI0_BASE_PTR);//Enables the DSPI peripheral and sets the MCR MDIS to 0.
DSPI_HAL_SetMasterSlaveMode(SPI0_BASE_PTR, kDspiMaster);//Enable Master Mode
DSPI_HAL_SetPcsPolarityMode(SPI0_BASE_PTR, kDspiPcs0,kDspiPcs_ActiveLow);//The setting for either "active high, inactive low (0)" or "active low, inactive high(1)" of type dspi_pcs_polarity_config_t.
DSPI_HAL_SetFifoCmd(SPI0_BASE_PTR, false, false);//Disable the DSPI FIFOs.
DSPI_HAL_PresetTransferCount(SPI0_BASE_PTR, 0x0000);//Pre-sets the transfer count.
DSPI_HAL_SetDelay(SPI0_BASE_PTR, kDspiCtar0,3,0, kDspiPcsToSck); // CTAR0 selection option for master or slave mode
DSPI_HAL_SetDelay(SPI0_BASE_PTR, kDspiCtar0,2,0, kDspiLastSckToPcs);
DSPI_HAL_SetDelay(SPI0_BASE_PTR, kDspiCtar0,0,2, kDspiAfterTransfer);
DSPI_HAL_SetBaudDivisors(SPI0_BASE_PTR, kDspiCtar0, &divisors);
DSPI_HAL_SetDataFormat(SPI0_BASE_PTR, kDspiCtar0, &config);
DSPI_HAL_ClearStatusFlag(SPI0_BASE_PTR ,kDspiTxComplete);///*!< TCF status/interrupt enable */
DSPI_HAL_ClearStatusFlag(SPI0_BASE_PTR ,kDspiEndOfQueue);///*!< EOQF status/interrupt enable*/
DSPI_HAL_ClearStatusFlag(SPI0_BASE_PTR ,kDspiTxFifoUnderflow);///*!< TFUF status/interrupt enable*/
DSPI_HAL_ClearStatusFlag(SPI0_BASE_PTR ,kDspiTxFifoFillRequest);///*!< TFFF status/interrupt enable*/
DSPI_HAL_ClearStatusFlag(SPI0_BASE_PTR ,kDspiRxFifoOverflow);///*!< RFOF status/interrupt enable*/
DSPI_HAL_SetIntMode(SPI0_BASE_PTR,kDspiTxComplete, false);/*!< TCF status/interrupt disable */
DSPI_HAL_SetIntMode(SPI0_BASE_PTR,kDspiEndOfQueue, false);/*!< EOQF status/interrupt disable */
DSPI_HAL_SetIntMode(SPI0_BASE_PTR,kDspiTxFifoUnderflow, false);/*!< TFUF status/interrupt disable*/
DSPI_HAL_SetIntMode(SPI0_BASE_PTR,kDspiTxFifoFillRequest, false);/*!< TFFF status/interrupt disable*/
DSPI_HAL_SetIntMode(SPI0_BASE_PTR,kDspiRxFifoOverflow, false);/*!< RFOF status/interrupt disable*/
DSPI_HAL_SetIntMode(SPI0_BASE_PTR,kDspiRxFifoDrainRequest, false);/*!< RFDF status/interrupt disable*/
DSPI_HAL_StartTransfer(SPI0_BASE_PTR);// Starts the DSPI transfers, clears HALT bit in MCR.
PORT_HAL_SetMuxMode(PORTD_BASE_PTR, 3, kPortMuxAlt2);
PORT_HAL_SetMuxMode(PORTD_BASE_PTR, 2, kPortMuxAlt2);
PORT_HAL_SetMuxMode(PORTC_BASE_PTR, 0, kPortMuxAlt7);
PORT_HAL_SetMuxMode(PORTC_BASE_PTR, 5, kPortMuxAlt2);
}
void timer0(void)
{
GPIO_HAL_SetPinOutput(PTB,9); // debugging signal high during Timer0
// interrupt on PTB9
/************************************************/
// Determine Timer0 state and task groups
/************************************************/
timer_state++; // increment timer_state each time
if (timer_state == 0)
{
long_time_state++; // increment long time state every 25.6 ms
}
/*******************************************************************/
/* 100 us Group */
/*******************************************************************/
// II. 100 us Group
// A. Update Fast Software timers
if (swtimer0 > 0) // if not yet expired,
(swtimer0)--; // then decrement fast timer (1 ms to 256 ms)
if (swtimer1 > 0) // if not yet expired,
(swtimer1)--; // then decrement fast timer (1 ms to 256 ms)
// B. Update Sensors
/*******************************************************************/
/* 200 us Group */
/*******************************************************************/
if ((timer_state & 0x01) != 0) // 2 ms group, odds only
{
;
} // end 2 ms group
/*******************************************************************/
/* 400 us Group */
/*******************************************************************/
else if ((timer_state & 0x02) != 0)
{
// IV. 400 us group
// timer states 2,6,10,14,18,22,...254
// A. Medium Software timers
if (swtimer2 > 0) // if not yet expired, every other time
(swtimer2)--; // then decrement med timer (4 ms to 1024 ms)
if (swtimer3 > 0) // if not yet expired, every other time
(swtimer3)--; // then decrement med timer (4 ms to 1024 ms)
// B.
} // end 4 ms group
/*******************************************************************/
/* 800 us Group */
/*******************************************************************/
else if ((timer_state & 0x04) != 0)
{
// V. 8 ms group
// timer states 4, 12, 20, 28 ... 252 every 1/8
// A. Set
} // end 8 ms group
/*******************************************************************/
/* 1.6 ms Group */
/*******************************************************************/
else if ((timer_state & 0x08) != 0)
{
// VI 1.6 ms group
// timer states 8, 24, 40, 56, .... 248 every 1/16
} // end 1.6 ms group
/*******************************************************************/
/* 3.2 ms Group */
/*******************************************************************/
else if ((timer_state & 0x10) != 0)
{
// VII 3.2 ms group
// timer states 16, 48, 80, 112, 144, 176, 208, 240
// A. Slow Software Timers
if (swtimer4 > 0) // if not yet expired, every 32nd time
(swtimer4)--; // then decrement slow timer (32 ms to 8 s)
if (swtimer5 > 0) // if not yet expired, every 32nd time
(swtimer5)--; // then decrement slow timer (32 ms to 8 s)
// B. Update
} // end 3.2 ms group
/*******************************************************************/
/* 6.4 ms Group A */
/*******************************************************************/
else if ((timer_state & 0x20) != 0)
{
// VIII 6.4 ms group A
// timer states 32, 96, 160, 224
// A. Very Slow Software Timers
if (swtimer6 > 0) // if not yet expired, every 64th
// time
(swtimer6)--; // then decrement very slow timer (6.4 ms to 1.6s)
if (swtimer7 > 0) // if not yet expired, every 64th
// time
(swtimer7)--; // then decrement very slow timer (64 ms to 1.6s)
// B. Update
} // end 6.4 ms group A
/*******************************************************************/
/* 6.4 ms Group B */
/*******************************************************************/
else
{
// IX. 6.4 ms group B
// timer states 0, 64, 128, 192
// A. Update
// A. Display timer and flag
display_timer--; // decrement display timer every 6.4 ms. Total time is
// 256*6.4ms = 1.6384 seconds.
if (display_timer == 1)
display_flag = 1; // every 1.6384 seconds, now OK to display
// B. Heartbeat/ LED outputs
// Generate Outputs ************************************
//ECEN 5003 add code as indicated
// Create an 0.5 second RED LED heartbeat here.
} // end 6.4 ms group B
/*******************************************************************/
/* Long Time Group */
/*******************************************************************/
if (((long_time_state & 0x01) != 0) && (timer_state == 0))
// every other long time, every 51.2 ms
{
// X. Long time group
//
// clear_watchdog_timer();
}
// Re-enable interrupts and return
timer0_count++;
GPIO_HAL_ClearPinOutput(PTB,9); // debugging signal high during
// Timer0 interrupt on PTB9
// unmask Timer interrupt
// enables timer interrupt again
}