/** \brief Sets the period of the given timer, and restarts it from 0.
*
* Restarts the timer from 0, incrementing by 1 every timer clock cycle, and
* changes the period of the timer to the given value. This also clears any CC
* channels on the timer.
*
* \param[in] timer the timer to set (TIMER0 or TIMER1)
* \param[in] period the new timer period (TOP) */
static void SM_timer_set_period(SM_timer_t timer, uint16_t period) {
if (timer == SM_TIMER_NEEDLE) {
TC_SetCount(&TIMER_RING, 0x0000);
TC_SetPeriod(&TIMER_NEEDLE, period);
}
else {
TC_SetCount(&TIMER_RING, 0x0000);
TC_SetPeriod(&TIMER_RING, period);
}
}
void setup_Timer(){
//16 ms
TC0_ConfigClockSource( &TCC0, TC_CLKSEL_DIV8_gc );
//TC0_ConfigClockSource( &TCC0, TC_CLKSEL_DIV1024_gc );
TC_SetPeriod( &TCC0, 0xFA00 ); //Es el periodo o TOP Value para que se active la interrupción. (Equivale a 16ms)
//TC_SetPeriod( &TCC0, 0x7A12 );
}
void startup(void) {
SET_PHASE_STATE_5_MOT2();
TCC0.CNT = 0;
while (TCC0.CNT < 65535) {}
/*
TCF0.CCBBUF = startupPwms[0];
SET_PHASE_STATE_0_MOT2();
TCC0.CNT = 0;
while (TCC0.CNT < startupDelays[0]) {}
TCF0.CCBBUF = startupPwms[1];
SET_PHASE_STATE_1_MOT2();
TCC0.CNT = 0;
while (TCC0.CNT < startupDelays[1]) {}
TCF0.CCBBUF = startupPwms[2];
SET_PHASE_STATE_2_MOT2();
TCC0.CNT = 0;
while (TCC0.CNT < startupDelays[2]) {}
TCF0.CCBBUF = startupPwms[3];
SET_PHASE_STATE_3_MOT2();
TCC0.CNT = 0;
while (TCC0.CNT < startupDelays[3]) {}
TCF0.CCBBUF = startupPwms[4];
SET_PHASE_STATE_4_MOT2();
TCC0.CNT = 0;
while (TCC0.CNT < startupDelays[4]) {}
*/
TCF0.CCBBUF = startupPwms[5];
TCE0.CCBBUF = startupPwms[5]/2;
TC_SetPeriod( &TCD1, 65535 );
//~ xxx TC1_ConfigClockSource( &TCD1, TC_CLKSEL_DIV64_gc );
TC1_ConfigClockSource( &TCD1, TC_CLKSEL_DIV4_gc );
//TC1_ConfigClockSource( &TCD1, TC_CLKSEL_DIV64_gc);
TC1_SetOverflowIntLevel (&TCD1, TC_OVFINTLVL_LO_gc);
missedCommFlag = 1;
SET_PHASE_STATE_0_MOT2();
motor2State = 0;
//~ while (TCC0.CNT < startupDelays[5]) {}
//~ while (1);
}
// This function initializes the PWMs
void Init_PWM( void )
{
// Set PWM outputs
MOTOR_OUTPUT.DIRSET = 0x03; // PD0/PD1 set as outputs
// Configure timer
TC0_ConfigWGM(&MOTOR_TIMER, TC_WGMODE_SS_gc);
TC0_EnableCCChannels(&MOTOR_TIMER, TC0_CCAEN_bm|TC0_CCBEN_bm);
TC_SetCompareA(&MOTOR_TIMER, 0);
TC_SetCompareB(&MOTOR_TIMER, 0);
TC_SetPeriod(&MOTOR_TIMER, MAX_PWM);
TC0_ConfigClockSource(&MOTOR_TIMER, TC_CLKSEL_DIV1_gc); // 32MHz
}
// Configures PWM output on compare a b and c for single slope pwm, with hires, and clk source as sys clk
void configPWM (volatile TC0_t * tc, HIRES_t * hires, uint16_t period) {
TC_SetPeriod (tc, period );
TC0_ConfigWGM (tc, TC_WGMODE_NORMAL_gc ); // set to single slope pwm generation mode
TC0_EnableCCChannels (tc, TC0_CCAEN_bm); // enable compare A
TC0_EnableCCChannels (tc, TC0_CCBEN_bm); // enable compare B
TC0_EnableCCChannels (tc, TC0_CCCEN_bm); // enable compare C
TC0_EnableCCChannels (tc, TC0_CCDEN_bm); // enable compare D
//~ TC0_SetCCAIntLevel (tc, TC_CCAINTLVL_HI_gc);
TC0_SetCCBIntLevel (tc, TC_CCBINTLVL_LO_gc);
//~ TC0_SetCCCIntLevel (tc, TC_CCCINTLVL_HI_gc);
//~ TC0_SetCCDIntLevel (tc, TC_CCDINTLVL_HI_gc);
TC0_SetOverflowIntLevel (tc, TC_OVFINTLVL_LO_gc);
PMIC.CTRL |= PMIC_HILVLEN_bm;
TC0_ConfigClockSource (tc, TC_CLKSEL_DIV1_gc);
HIRES_Enable (hires, HIRES_HREN_TC0_gc);
}
void battery_init()
{
PORTD.DIRSET = PIN4_bm | PIN5_bm | PIN6_bm; // battery level indicator
PORTD.OUT = 0x00;
PORTC.DIRSET = PIN7_bm; // signal to stop the boost converters
PORTC.OUTSET = PIN7_bm; // start with the converters stopped to avoid power
// surges on the battery. When the voltage recovers
// the converters will be enabled again
PORTC.DIRCLR = PIN6_bm; // input V_USB_CHG
PORTE.DIRCLR = PIN3_bm; // input CHG_STAT
// update once for each second (1Hz)
TC_SetPeriod(&TCE0, 31250);
TC0_ConfigClockSource(&TCE0, TC_CLKSEL_DIV256_gc);
TC0_ConfigWGM(&TCE0, TC_WGMODE_NORMAL_gc);
TC0_EnableCCChannels(&TCE0, TC0_CCAEN_bm);
TC0_SetCCAIntLevel(&TCE0, TC_CCAINTLVL_LO_gc);
}
int main( void )
{
/* To toggle a LED, set pin 0 as output and high so the LED is default off. */
LEDPORT.OUTSET = PIN0_bm;
LEDPORT.DIRSET = PIN0_bm;
//Add code here that sets the timer compare value for channel A
//ie. CCA register for the TCC0
/* We need to start the counter with correct prescaling,
* and make it count to a specific TOP value, as we did in task1.
* To do this we use the driver functions supplied in TC_driver.c, study the source
* file to see how the timer is configured */
TC_SetPeriod(&TCC0, 0xFFFF);
TC0_ConfigClockSource(&TCC0, TC_CLKSEL_DIV64_gc);
/* This code turn on the LED on compare match, and turn the LED off on timer overflow */
while(1)
{
if((TCC0.INTFLAGS & TC0_OVFIF_bm) != 0)
{
TCC0.INTFLAGS = TC0_OVFIF_bm; // Clear the TC_OVFIF by writing a logical 1 to the flag
LEDPORT.OUTSET = PIN0_bm; // Turn off LED
}
if((TCC0.INTFLAGS & TC0_CCAIF_bm) !=0)
{
TCC0.INTFLAGS = TC0_CCAIF_bm; //Clear the TC_CCAIF by writing a logical 1 to the flag
TCC0.CCABUF += 0x1000; //Update the CCABUF register with a new value to change the LED on time.
LEDPORT.OUTCLR = PIN0_bm; //Turn on LED
}
}
}
void TCE0_init()
{
/* Select a Waveform Genreation mode and the CC channels to use*/
TC0_ConfigWGM( &TCE0, TC_WGMODE_SS_gc );
TC0_EnableCCChannels( &TCE0, TC0_CCAEN_bm); // only CCA is used
TC_SetPeriod( &TCE0, 60000);
/* The corresponding port pins MUST be output for the Waveform to be visible */
PORTE.DIRSET = 0xFF;
PORTE.OUTSET = 0xFF; //set port high to switch LEDs off, take INVEN into account
/* To have inverted ouput on some pins we set the corresponding INVEN bit for the pin*/
TC0_ConfigClockSource(&TCE0, TC_CLKSEL_DIV1_gc);
}
void configDelayTimer (volatile TC0_t * tc) {
TC_SetPeriod (tc, (uint16_t)65535); // set tc period
TC0_ConfigWGM (tc, TC_WGMODE_NORMAL_gc); // normal timer countermode
TC0_ConfigClockSource (tc, TC_CLKSEL_DIV1024_gc);
}
int main( void )
{
/* To change the duty cycle for the PWM for the LED control, use a variable to increase/decrease the
* CCx registers once for each period */
int16_t pwm_delta = 300;
// Add code to select a Single Slope PWM as Waveform Generation mode.
// This is done by setting the WGM bits,in the CTRLB register for the TC.
/* Add code to enable the CC channels we wish to use. Each channel must be separately enabled
* by setting the corresponding CCxEN bits in the CTRLB register for the TC.
* Code for enabling CCA is already added, but add code to enable CCB, CCC and CCD */
TCE0.CTRLB |= TC0_CCAEN_bm;
//Insert code to enable CC for the other channels, B, C and D.
/* The corresponding port pins MUST be ouput for the Waveform to be visible
* on the pin. For TCE0 the corresponding port is PORTE, and pin 0 to 3 for
* CC channel A to D */
PORTE.DIRSET = 0x0F;
/* Note how the inverted signal is always controlled from the Port pin configuration in XMEGA
* This can be used with all other peripherals connected to the pin to have inverted output.
* Below is example code on how you can set inverted ouput on a pin using the Pin Control Register*/
//PORTE.PIN0CTRL &= ~PORT_INVEN_bm;
/* Set a compare value for each compare channel, just as in task2.
* The compare value decide the PWM duty cycle for the waveform.
*
* Code for CC channel A is added, add code for channel B, C, and D
* with the compare value 3000 */
TC_SetCompareA(&TCE0, 3000);
//Insert function calls to set the other compare values
/* Using the TC_driver we set the Period and
* start the timer with no prescaling */
TC_SetPeriod(&TCE0, 60000);
TC0_ConfigClockSource(&TCE0, TC_CLKSEL_DIV1_gc);
while(1)
{
/* The code check if the overflow flag is set,
* if so it clears the flag and sets a new duty cycle for all
* CC channels */
/* Check if overflow flag (OVFIF) is set,
* clear flag and set a new duty cycle
*/
if(TC_GetOverflowFlag(&TCE0) != 0)
{
TC_ClearOverflowFlag(&TCE0); //Clear the IF by writing a logical 1 to the flag
if(TCE0.CCA >= 59000)
{ //Some "random" values above 0 and below TOP is selected
pwm_delta = -300; //for the PWM changes, and make the LED look ok.
}
else if(TCE0.CCA <= 5000)
{
pwm_delta = +300;
}
TCE0.CCABUF += pwm_delta; //Change the compare value to change duty cycle
TCE0.CCBBUF += pwm_delta;
TCE0.CCCBUF += pwm_delta;
TCE0.CCDBUF += pwm_delta;
}
}
}
void setup_Timer2(){
//1 min
TC1_ConfigClockSource( &TCC1, TC_CLKSEL_DIV1024_gc );
TC_SetPeriod( &TCC1, 0x8000 ); //Es el periodo o TOP Value para que se active la interrupción. (Equivale a 1030ms)
}
// This function initializes system tick
void Init_SysTick( void )
{
TC_SetPeriod(&TCF0, 124); // 125 ticks at 31.25KHz = 4ms periods
TC0_ConfigClockSource(&TCF0, TC_CLKSEL_DIV1024_gc); // 32MHz/1024=31.25KHz
TC0_SetOverflowIntLevel(&TCF0, TC_OVFINTLVL_LO_gc); // Enable interrupts for overflow
}
