/**
* \brief Application entry point for PWM with PDC example.
*
* Outputs a PWM on LED1 & LED2 & LED3 to makes it fade in repeatedly.
* Channel #0, #1, #2 are linked together as synchronous channels, so they have
* the same source clock, the same period, the same alignment and
* are started together. The update of the duty cycle values is made
* automatically by the Peripheral DMA Controller (PDC).
*
* \return Unused (ANSI-C compatibility).
*/
int main(void)
{
uint32_t i;
uint8_t key;
int32_t numkey;
/* Disable watchdog */
WDT_Disable( WDT ) ;
/* Output example information */
printf("-- PWM with PDC Example %s --\n\r", SOFTPACK_VERSION);
printf("-- %s\n\r", BOARD_NAME);
printf("-- Compiled: %s %s --\n\r", __DATE__, __TIME__);
/* PIO configuration */
PIO_Configure(pins, PIO_LISTSIZE(pins));
/* Enable PWMC peripheral clock */
PMC_EnablePeripheral(ID_PWM);
/* Set clock A to run at PWM_FREQUENCY * MAX_DUTY_CYCLE (clock B is not used) */
PWMC_ConfigureClocks(PWM_FREQUENCY * MAX_DUTY_CYCLE, 0, BOARD_MCK);
/* Configure PWMC channel for LED0 (left-aligned, enable dead time generator) */
PWMC_ConfigureChannelExt( PWM,
CHANNEL_PWM_LED0, /* channel */
PWM_CMR_CPRE_CKA, /* prescaler */
0, /* alignment */
0, /* polarity */
0, /* countEventSelect */
PWM_CMR_DTE, /* DTEnable */
0, /* DTHInverte */
0 ); /* DTLInverte */
PWMC_SetPeriod(PWM, CHANNEL_PWM_LED0, MAX_DUTY_CYCLE);
PWMC_SetDutyCycle(PWM, CHANNEL_PWM_LED0, MIN_DUTY_CYCLE);
PWMC_SetDeadTime(PWM, CHANNEL_PWM_LED0, 5, 5);
/* Configure PWMC channel for LED1 */
PWMC_ConfigureChannelExt( PWM,
CHANNEL_PWM_LED1, /* channel */
PWM_CMR_CPRE_CKA, /* prescaler */
0, /* alignment */
0, /* polarity */
0, /* countEventSelect */
0, /* DTEnable */
0, /* DTHInverte */
0 ); /* DTLInverte */
PWMC_SetPeriod(PWM, CHANNEL_PWM_LED1, MAX_DUTY_CYCLE);
PWMC_SetDutyCycle(PWM, CHANNEL_PWM_LED1, MIN_DUTY_CYCLE);
/* Configure PWMC channel for LED2 */
PWMC_ConfigureChannelExt( PWM,
CHANNEL_PWM_LED2, /* channel */
PWM_CMR_CPRE_CKA, /* prescaler */
0, /* alignment */
0, /* polarity */
0, /* countEventSelect */
0, /* DTEnable */
0, /* DTHInverte */
0 ); /* DTLInverte */
PWMC_SetPeriod(PWM, CHANNEL_PWM_LED2, MAX_DUTY_CYCLE);
PWMC_SetDutyCycle(PWM, CHANNEL_PWM_LED2, MIN_DUTY_CYCLE);
/* Set synchronous channels, update mode = 2 */
PWMC_ConfigureSyncChannel(PWM,
(1 << CHANNEL_PWM_LED0) |
(1 << CHANNEL_PWM_LED1) |
(1 << CHANNEL_PWM_LED2),
PWM_SCM_UPDM_MODE2, // (PWMC) Automatic write of data and automatic trigger of the update
0,
0);
/* Set Synchronous channel update period value */
PWMC_SetSyncChannelUpdatePeriod(PWM, PWM_SCUP_UPR(0xF));
/* Configure interrupt for PDC transfer */
NVIC_DisableIRQ(PWM_IRQn);
NVIC_ClearPendingIRQ(PWM_IRQn);
NVIC_SetPriority(PWM_IRQn, 0);
NVIC_EnableIRQ(PWM_IRQn);
PWMC_EnableIt(PWM, 0, PWM_IER2_ENDTX);
/* Set override value to 1 on PWMH0, others is 0. */
PWMC_SetOverrideValue(PWM, PWM_OOV_OOVH0);
/* Fill duty cycle buffer for channel #0, #1 and #2 */
/* For Channel #0, #1, #2 duty cycle are from MIN_DUTY_CYCLE to MAX_DUTY_CYCLE */
for (i = 0; i < DUTY_BUFFER_LENGTH/3; i++) {
dutyBuffer[i*3] = (i + MIN_DUTY_CYCLE);
dutyBuffer[i*3+1] = (i + MIN_DUTY_CYCLE);
dutyBuffer[i*3+2] = (i + MIN_DUTY_CYCLE);
}
/* Define the PDC transfer */
PWMC_WriteBuffer(PWM, dutyBuffer, DUTY_BUFFER_LENGTH);
/* Enable syncronous channels by enable channel #0 */
PWMC_EnableChannel(PWM, CHANNEL_PWM_LED0);
while (1) {
_DisplayMenu();
key = UART_GetChar();
switch (key) {
case 'u':
printf("Input update period between %d to %d.\n\r", 0, PWM_SCUP_UPR_Msk);
numkey = _GetNumkey2Digit();
if(numkey <= PWM_SCUP_UPR_Msk) {
/* Set synchronous channel update period value */
PWMC_SetSyncChannelUpdatePeriod(PWM, numkey);
printf("Done\n\r");
} else {
printf("Invalid input\n\r");
}
break;
case 'd':
printf("Input dead time for channel #0 between %d to %d.\n\r",
MIN_DUTY_CYCLE, MAX_DUTY_CYCLE);
numkey = _GetNumkey2Digit();
if(numkey >= MIN_DUTY_CYCLE && numkey <= MAX_DUTY_CYCLE) {
/* Set synchronous channel update period value */
PWMC_SetDeadTime(PWM, CHANNEL_PWM_LED0, numkey, numkey);
/* Update synchronous channel */
PWMC_SetSyncChannelUpdateUnlock(PWM);
printf("Done\n\r");
} else {
printf("Invalid input\n\r");
}
break;
case 'o':
printf("0: Disable override output on channel #0\n\r");
printf("1: Enable override output on channel #0\n\r");
key = UART_GetChar();
if (key == '1') {
PWMC_EnableOverrideOutput(PWM, PWM_OSSUPD_OSSUPH0 | PWM_OSSUPD_OSSUPL0, 1);
printf("Done\n\r");
} else if (key == '0') {
PWMC_DisableOverrideOutput(PWM, PWM_OSSUPD_OSSUPH0 | PWM_OSSUPD_OSSUPL0, 1);
printf("Done\n\r");
}
break;
default:
printf("Invalid input\n\r");
break;
}
}
}
/*------------------------------------------------------------------------------
Name: configurePWMC
parameters: -
description: initializes the PWM controller
------------------------------------------------------------------------------*/
void BldcControl::configurePWMC(void)
{
uint32_t clka = 0; /* clock A not used */
uint32_t clkb = 0; /* clock B not used */
uint32_t mck = MCK_CLOCK_42MHZ;
uint16_t duty = 0;
uint16_t deadTime;
pwmPeriod = MCK_CLOCK_42MHZ / this->periphery->Pwm.pwmSwFrq;
deadTime = (uint16_t)(pwmPeriod * (DEAD_TIME * this->periphery->Pwm.pwmSwFrq * 2));
/* disable all 3 channels */
PWMC_DisableChannel(PWM, this->periphery->Pwm.pwmChU);
PWMC_DisableChannel(PWM, this->periphery->Pwm.pwmChV);
PWMC_DisableChannel(PWM, this->periphery->Pwm.pwmChW);
PWMC_ConfigureClocks(clka, clkb, mck);
/* initialize all 3 channels */
PWMC_ConfigureChannelExt(PWM,
this->periphery->Pwm.pwmChU, /* channel ID */
PWM_CMR_CPRE_MCK, /* use main clock */
PWM_CMR_CALG, /* center alligned */
0, /* polarity low level */
0, /* event counter = 0 */
PWM_CMR_DTE, /* enable dead time */
0, /* no inversion of dead time H */
0); /* no inversion of dead time L */
PWMC_ConfigureChannelExt(PWM,
this->periphery->Pwm.pwmChV, /* channel ID */
PWM_CMR_CPRE_MCK,
PWM_CMR_CALG, /* center alligned */
0, /* polarity low level */
0, /* event counter = 0 */
PWM_CMR_DTE, /* enable dead time */
0, /* no inversion of dead time H */
0); /* no inversion of dead time L */
PWMC_ConfigureChannelExt(PWM,
this->periphery->Pwm.pwmChW, /* channel ID */
PWM_CMR_CPRE_MCK,
PWM_CMR_CALG, /* center alligned */
0, /* polarity low level */
0, /* event counter = 0 */
PWM_CMR_DTE, /* enable dead time */
0, /* no inversion of dead time H */
0); /* no inversion of dead time L */
PWMC_ConfigureSyncChannel(PWM,
PWM_SCM_SYNC0|PWM_SCM_SYNC1|PWM_SCM_SYNC2,
PWM_SCM_UPDM_MODE0,
PWM_SCM_PTRM,
PWM_SCM_PTRCS(0)) ;
/* set periods */
PWMC_SetPeriod(PWM, this->periphery->Pwm.pwmChU, pwmPeriod);
PWMC_SetPeriod(PWM, this->periphery->Pwm.pwmChV, pwmPeriod);
PWMC_SetPeriod(PWM, this->periphery->Pwm.pwmChW, pwmPeriod);
/* set duty cycles */
PWMC_SetDutyCycle(PWM, this->periphery->Pwm.pwmChU, duty);
PWMC_SetDutyCycle(PWM, this->periphery->Pwm.pwmChV, duty);
PWMC_SetDutyCycle(PWM, this->periphery->Pwm.pwmChW, duty);
/* set dead times */
PWMC_SetDeadTime(PWM, this->periphery->Pwm.pwmChU, deadTime, deadTime);
PWMC_SetDeadTime(PWM, this->periphery->Pwm.pwmChV, deadTime, deadTime);
PWMC_SetDeadTime(PWM, this->periphery->Pwm.pwmChW, deadTime, deadTime);
/* set overwrites to 0 */
PWMC_SetOverrideValue(PWM, 0);
/* set event for ADC trigger */
PWM->PWM_CMP[this->periphery->Pwm.pwmChU].PWM_CMPM |= PWM_CMPM_CEN | /* enable */
PWM_CMPM_CTR(0) | /* each period */
PWM_CMPM_CPR(0);
PWM->PWM_CMP[this->periphery->Pwm.pwmChU].PWM_CMPV = pwmPeriod/2; /* set trigger */
PWM->PWM_ELMR[0] |= PWM_ELMR_CSEL0; /* enable event line 0 */
}
