/**
* \brief ILI9488 Hardware Initialization for SPI/SMC LCD.
*/
static void _ILI9488_Spi_HW_Initialize(void)
{
/* Pin configurations */
PIO_Configure(&lcd_spi_reset_pin, 1);
PIO_Configure(&lcd_spi_cds_pin, 1);
PIO_Configure(lcd_pins, PIO_LISTSIZE(lcd_pins));
PIO_Configure(&lcd_spi_pwm_pin, 1);
/* Enable PWM peripheral clock */
PMC_EnablePeripheral(ID_PWM0);
PMC_EnablePeripheral(ID_SPI0);
/* Set clock A and clock B */
// set for 14.11 KHz for CABC control
//mode = PWM_CLK_PREB(0x0A) | (PWM_CLK_DIVB(110)) |
//PWM_CLK_PREA(0x0A) | (PWM_CLK_DIVA(110));
PWMC_ConfigureClocks(PWM0, 14200, 0, BOARD_MCK);
/* Configure PWM channel 1 for LED0 */
PWMC_DisableChannel(PWM0, CHANNEL_PWM_LCD);
PWMC_ConfigureChannel(PWM0, CHANNEL_PWM_LCD, PWM_CMR_CPRE_CLKA, 0,
PWM_CMR_CPOL);
PWMC_SetPeriod(PWM0, CHANNEL_PWM_LCD, 16);
PWMC_SetDutyCycle(PWM0, CHANNEL_PWM_LCD, 8);
PWMC_EnableChannel(PWM0, CHANNEL_PWM_LCD);
SPI_Configure(ILI9488_SPI, ID_SPI0, (SPI_MR_MSTR | SPI_MR_MODFDIS
| SPI_PCS(SMC_EBI_LCD_CS)));
SPI_ConfigureNPCS(ILI9488_SPI,
SMC_EBI_LCD_CS,
SPI_CSR_CPOL | SPI_CSR_BITS_8_BIT | SPI_DLYBS(6, BOARD_MCK)
| SPI_DLYBCT(100, BOARD_MCK) | SPI_SCBR(20000000, BOARD_MCK));
SPI_Enable(ILI9488_SPI);
}
static void ILI9488_InitInterface(void)
{
PIO_Configure(ILI9488_Reset, PIO_LISTSIZE(ILI9488_Reset));
PIO_Configure(spi_pins, PIO_LISTSIZE(spi_pins));
PIO_Configure(ILI9488_Pwm, PIO_LISTSIZE(ILI9488_Pwm));
/* Enable PWM peripheral clock */
PMC_EnablePeripheral(ID_PWM0);
/* Set clock A and clock B */
// set for 14.11 KHz for CABC control
// mode = PWM_CLK_PREB(0x0A) | (PWM_CLK_DIVB(110)) |
// PWM_CLK_PREA(0x0A) | (PWM_CLK_DIVA(110));
PWMC_ConfigureClocks(PWM0, 14200, 0, BOARD_MCK);
/* Configure PWM channel 1 for LED0 */
PWMC_DisableChannel(PWM0, CHANNEL_PWM_LCD);
PWMC_ConfigureChannel(PWM0, CHANNEL_PWM_LCD, PWM_CMR_CPRE_CLKA,0,PWM_CMR_CPOL);
PWMC_SetPeriod(PWM0, CHANNEL_PWM_LCD, 16);
PWMC_SetDutyCycle(PWM0, CHANNEL_PWM_LCD, 8);
PWMC_EnableChannel(PWM0, CHANNEL_PWM_LCD);
SPI_Configure(ILI9488, ILI9488_ID, (SPI_MR_MSTR | SPI_MR_MODFDIS | SPI_PCS( ILI9488_cs )));
SPI_ConfigureNPCS( ILI9488, ILI9488_cs,
SPI_CSR_CPOL | SPI_CSR_BITS_9_BIT |
SPI_DLYBS(100, BOARD_MCK) | SPI_DLYBCT(100, BOARD_MCK) |
SPI_SCBR( 35000000, BOARD_MCK) ) ;
SPI_Enable(ILI9488);
}
void dc_update_pwm_frequency(void) {
// Calculate best possible frequency
uint8_t cmr_cpre;
for(cmr_cpre = 0; cmr_cpre < DC_NUM_PWM_FREQUENCIES; cmr_cpre++) {
uint32_t frequency = (BOARD_MCK/(1 << cmr_cpre));
if(dc_pwm_frequency > frequency/0xFFFF) {
dc_pwm_scale_value = frequency/dc_pwm_frequency;
break;
}
}
// Set PWM frequency according to PWM mode (drive/brake vs drive/coast)
if(dc_mode == DC_MODE_DRIVE_BRAKE) {
PWMC_DisableChannel(PWM, INPUT1_CHANNEL);
PWMC_DisableChannel(PWM, INPUT2_CHANNEL);
PWMC_ConfigureChannel(PWM, INPUT1_CHANNEL, cmr_cpre, 0, 0);
PWMC_SetPeriod(PWM, INPUT1_CHANNEL, dc_pwm_scale_value);
PWMC_ConfigureChannel(PWM, INPUT2_CHANNEL, cmr_cpre, 0, 0);
PWMC_SetPeriod(PWM, INPUT2_CHANNEL, dc_pwm_scale_value);
PWMC_EnableChannel(PWM, INPUT1_CHANNEL);
PWMC_EnableChannel(PWM, INPUT2_CHANNEL);
dc_velocity_to_pwm();
} else {
PWMC_DisableChannel(PWM, DISABLE1_CHANNEL);
PWMC_ConfigureChannel(PWM, DISABLE1_CHANNEL, cmr_cpre, 0, 0);
PWMC_SetPeriod(PWM, DISABLE1_CHANNEL, dc_pwm_scale_value);
PWMC_EnableChannel(PWM, DISABLE1_CHANNEL);
dc_velocity_to_pwm();
}
}
/*------------------------------------------------------------------------------
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 */
}
