/*********************************************************************//**
* @brief c_entry: Main MCPWM program body
* @param[in] None
* @return None
**********************************************************************/
void c_entry(void)
{
// MCPWM Channel configuration data
MCPWM_CHANNEL_CFG_Type channelsetup[3];
uint32_t i;
/* Initialize debug via UART0
* – 115200bps
* – 8 data bit
* – No parity
* – 1 stop bit
* – No flow control
*/
debug_frmwrk_init();
_DBG_(menu);
/* Pin configuration for MCPWM function:
* Assign: - P1.19 as MCOA0 - Motor Control Channel 0 Output A
* - P1.22 as MCOB0 - Motor Control Channel 0 Output B
* - P1.25 as MCOA1 - Motor Control Channel 1 Output A
* - P1.26 as MCOB1 - Motor Control Channel 1 Output B
* - P1.28 as MCOA2 - Motor Control Channel 2 Output A
* - P1.29 as MCOB2 - Motor Control Channel 2 Output B
* - P1.20 as MCI0 - Motor Control Feed Back Channel 0
* Warning: According to Errata.lpc1768-18.March.2010: Input pin (MIC0-2)
* on the Motor Control PWM peripheral are not functional
*/
//MCOA0 — Motor control PWM channel 0, output A
PINSEL_ConfigPin (1, 19, 4);
//MCI0 — Motor control PWM channel 0 input
PINSEL_ConfigPin (1, 20, 4);
//MCOB0 — Motor control PWM channel 0, output B
PINSEL_ConfigPin (1, 22, 4);
// Motor control PWM channel 1, output A.
PINSEL_ConfigPin (1, 25, 4);
//MCOB1 — Motor control PWM channel 1, output B.
PINSEL_ConfigPin (1, 26, 4);
//MCOA2 — Motor control PWM channel 2, output A.
PINSEL_ConfigPin (1, 28, 4);
//MCOB2 — Motor control PWM channel 2, output B.
PINSEL_ConfigPin (1, 29, 1);
/* Disable interrupt for MCPWM */
NVIC_DisableIRQ(MCPWM_IRQn);
/* preemption = 1, sub-priority = 1 */
NVIC_SetPriority(MCPWM_IRQn, ((0x01<<3)|0x01));
/* Init MCPWM peripheral */
MCPWM_Init(LPC_MCPWM);
channelsetup[0].channelType = MCPWM_CHANNEL_EDGE_MODE;
channelsetup[0].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO;
channelsetup[0].channelDeadtimeEnable = DISABLE;
channelsetup[0].channelDeadtimeValue = 0;
channelsetup[0].channelUpdateEnable = ENABLE;
channelsetup[0].channelTimercounterValue = 0;
channelsetup[0].channelPeriodValue = 300;
channelsetup[0].channelPulsewidthValue = 0;
channelsetup[1].channelType = MCPWM_CHANNEL_EDGE_MODE;
channelsetup[1].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO;
channelsetup[1].channelDeadtimeEnable = DISABLE;
channelsetup[1].channelDeadtimeValue = 0;
channelsetup[1].channelUpdateEnable = ENABLE;
channelsetup[1].channelTimercounterValue = 0;
channelsetup[1].channelPeriodValue = 300;
channelsetup[1].channelPulsewidthValue = 100;
channelsetup[2].channelType = MCPWM_CHANNEL_EDGE_MODE;
channelsetup[2].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO;
channelsetup[2].channelDeadtimeEnable = DISABLE;
channelsetup[2].channelDeadtimeValue = 0;
channelsetup[2].channelUpdateEnable = ENABLE;
channelsetup[2].channelTimercounterValue = 0;
channelsetup[2].channelPeriodValue = 300;
channelsetup[2].channelPulsewidthValue = 200;
MCPWM_ConfigChannel(LPC_MCPWM, MCPWM_CHANNEL_0, &channelsetup[0]);
MCPWM_ConfigChannel(LPC_MCPWM, MCPWM_CHANNEL_1, &channelsetup[1]);
MCPWM_ConfigChannel(LPC_MCPWM, MCPWM_CHANNEL_2, &channelsetup[2]);
#if (MCPWM_WORKING_MODE == DC_MODE_TEST)
/*
* - DC mode enabled.
* - Invert Output enabled
* - A0 and A1 output pin is internally routed to A0 signal
*/
MCPWM_DCMode(LPC_MCPWM, ENABLE, ENABLE, (MCPWM_PATENT_A0|MCPWM_PATENT_A1));
#elif (MCPWM_WORKING_MODE == AC_MODE_TEST)
// AC mode is enabled.
MCPWM_ACMode(LPC_MCPWM, ENABLE);
#endif
#if CAPTURE_MODE_TEST
/*
* Capture mode in this case is used to detect the falling edge on MCO0B output pin.
* The MCFB0 input pin therefore must be connected to MCO0B. (P1.20 - P1.22)
* - Capture Channel 0.
* - Capture falling edge on MCFB0 input pin.
* - Interrupt enabled on capture event.
*/
captureCfg.captureChannel = MCPWM_CHANNEL_0;
captureCfg.captureFalling = ENABLE;
captureCfg.captureRising = DISABLE;
captureCfg.hnfEnable = DISABLE;
captureCfg.timerReset = DISABLE;
MCPWM_ConfigCapture(LPC_MCPWM, MCPWM_CHANNEL_0, &captureCfg);
// Reset flag for the first time
CapFlag = RESET;
// Enable interrupt for capture event on MCI0 (MCFB0)
MCPWM_IntConfig(LPC_MCPWM, MCPWM_INTFLAG_CAP0, ENABLE);
/* Enable interrupt for MCPWM */
NVIC_EnableIRQ(MCPWM_IRQn);
#endif
MCPWM_Start(LPC_MCPWM, ENABLE, ENABLE, ENABLE);
// Main loop
while (1)
{
//delay
for(i = 0; i < 100000; i++);
channelsetup[0].channelPulsewidthValue = (channelsetup[0].channelPulsewidthValue >= 300) ?
0 : channelsetup[0].channelPulsewidthValue + 20;
channelsetup[1].channelPulsewidthValue = (channelsetup[1].channelPulsewidthValue >= 300) ?
0 : channelsetup[1].channelPulsewidthValue + 20;
channelsetup[2].channelPulsewidthValue = (channelsetup[2].channelPulsewidthValue >= 300) ?
0 : channelsetup[2].channelPulsewidthValue + 20;
_DBG_("Update!");
MCPWM_WriteToShadow(LPC_MCPWM, MCPWM_CHANNEL_0, &channelsetup[0]);
MCPWM_WriteToShadow(LPC_MCPWM, MCPWM_CHANNEL_1, &channelsetup[1]);
MCPWM_WriteToShadow(LPC_MCPWM, MCPWM_CHANNEL_2, &channelsetup[2]);
#if CAPTURE_MODE_TEST
// Check capture flag is set or not
if (CapFlag)
{
// Print out the value
_DBG("Capture Value: ");
_DBD32(CapVal); _DBG_("");
// Must be re-configure the Capture Feature as below for the next capturing,
//unless, it will not capture anything more.
// Setup a new capture event
MCPWM_ConfigCapture(LPC_MCPWM, MCPWM_CHANNEL_0, &captureCfg);
// Re-Enable interrupt for capture event on MCI0 (MCFB0)
MCPWM_IntConfig(LPC_MCPWM, MCPWM_INTFLAG_CAP0, ENABLE);
// Reset flag
CapFlag = RESET;
}
#endif
}
}
/*********************************************************************//**
* @brief c_entry: Main MCPWM program body
* @param[in] None
* @return int
**********************************************************************/
int c_entry(void)
{
// MCPWM Channel configuration data
MCPWM_CHANNEL_CFG_Type channelsetup[3];
uint32_t i;
PINSEL_CFG_Type PinCfg;
/* Initialize debug via UART0
* – 115200bps
* – 8 data bit
* – No parity
* – 1 stop bit
* – No flow control
*/
debug_frmwrk_init();
_DBG_("Hello MCPWM ...");
/* Pin configuration for MCPWM function:
* Assign: - P1.19 as MCOA0 - Motor Control Channel 0 Output A
* - P1.22 as MCOB0 - Motor Control Channel 0 Output B
* - P1.25 as MCOA1 - Motor Control Channel 1 Output A
* - P1.26 as MCOB1 - Motor Control Channel 1 Output B
* - P1.28 as MCOA2 - Motor Control Channel 2 Output A
* - P1.29 as MCOB2 - Motor Control Channel 2 Output B
* - P1.20 as MCI0 - Motor Control Feed Back Channel 0
* Warning: According to Errata.lpc1768-18.March.2010: Input pin (MIC0-2)
* on the Motor Control PWM peripheral are not functional
*/
PinCfg.Funcnum = 1;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Portnum = 1;
PinCfg.Pinnum = 19;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 22;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 25;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 26;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 28;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 29;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 20;
PINSEL_ConfigPin(&PinCfg);
/* Disable interrupt for MCPWM */
NVIC_DisableIRQ(MCPWM_IRQn);
/* preemption = 1, sub-priority = 1 */
NVIC_SetPriority(MCPWM_IRQn, ((0x01<<3)|0x01));
/* Init MCPWM peripheral */
MCPWM_Init(LPC_MCPWM);
channelsetup[0].channelType = MCPWM_CHANNEL_EDGE_MODE;
channelsetup[0].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO;
channelsetup[0].channelDeadtimeEnable = DISABLE;
channelsetup[0].channelDeadtimeValue = 0;
channelsetup[0].channelUpdateEnable = ENABLE;
channelsetup[0].channelTimercounterValue = 0;
channelsetup[0].channelPeriodValue = 300;
channelsetup[0].channelPulsewidthValue = 0;
channelsetup[1].channelType = MCPWM_CHANNEL_EDGE_MODE;
channelsetup[1].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO;
channelsetup[1].channelDeadtimeEnable = DISABLE;
channelsetup[1].channelDeadtimeValue = 0;
channelsetup[1].channelUpdateEnable = ENABLE;
channelsetup[1].channelTimercounterValue = 0;
channelsetup[1].channelPeriodValue = 300;
channelsetup[1].channelPulsewidthValue = 100;
channelsetup[2].channelType = MCPWM_CHANNEL_EDGE_MODE;
channelsetup[2].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO;
channelsetup[2].channelDeadtimeEnable = DISABLE;
channelsetup[2].channelDeadtimeValue = 0;
channelsetup[2].channelUpdateEnable = ENABLE;
channelsetup[2].channelTimercounterValue = 0;
channelsetup[2].channelPeriodValue = 300;
channelsetup[2].channelPulsewidthValue = 200;
MCPWM_ConfigChannel(LPC_MCPWM, 0, &channelsetup[0]);
MCPWM_ConfigChannel(LPC_MCPWM, 1, &channelsetup[1]);
MCPWM_ConfigChannel(LPC_MCPWM, 2, &channelsetup[2]);
#if DC_MODE_TEST
/*
* - DC mode enabled.
* - Invert Output enabled
* - A0 and A1 output pin is internally routed to A0 signal
*/
MCPWM_DCMode(LPC_MCPWM, ENABLE, ENABLE, (MCPWM_PATENT_A0|MCPWM_PATENT_A1));
#endif
#if AC_MODE_TEST
/*
* - AC mode is enabled.
*/
MCPWM_ACMode(LPC_MCPWM, ENABLE);
#endif
#if CAPTURE_MODE_TEST
/*
* Capture mode in this case is used to detect the falling edge on MCO0B output pin.
* The MCFB0 input pin therefore must be connected to MCO0B. (P1.20 - P1.22)
* - Capture Channel 0.
* - Capture falling edge on MCFB0 input pin.
* - Interrupt enabled on capture event.
*/
captureCfg.captureChannel = 0;
captureCfg.captureFalling = ENABLE;
captureCfg.captureRising = DISABLE;
captureCfg.hnfEnable = DISABLE;
captureCfg.timerReset = DISABLE;
MCPWM_ConfigCapture(LPC_MCPWM, 0, &captureCfg);
// Reset flag for the first time
CapFlag = RESET;
// Enable interrupt for capture event on MCI0 (MCFB0)
MCPWM_IntConfig(LPC_MCPWM, MCPWM_INTFLAG_CAP0, ENABLE);
/* Enable interrupt for MCPWM */
NVIC_EnableIRQ(MCPWM_IRQn);
#endif
MCPWM_Start(LPC_MCPWM, ENABLE, ENABLE, ENABLE);
// Main loop
while (1) {
// Timer_Wait(LPC_TIM0, 1000);
//delay
for(i=0; i<100000; i++);
channelsetup[0].channelPulsewidthValue = (channelsetup[0].channelPulsewidthValue >= 300) ?
0 : channelsetup[0].channelPulsewidthValue + 20;
channelsetup[1].channelPulsewidthValue = (channelsetup[1].channelPulsewidthValue >= 300) ?
0 : channelsetup[1].channelPulsewidthValue + 20;
channelsetup[2].channelPulsewidthValue = (channelsetup[2].channelPulsewidthValue >= 300) ?
0 : channelsetup[2].channelPulsewidthValue + 20;
_DBG_("Update!");
MCPWM_WriteToShadow(LPC_MCPWM, 0, &channelsetup[0]);
MCPWM_WriteToShadow(LPC_MCPWM, 1, &channelsetup[1]);
MCPWM_WriteToShadow(LPC_MCPWM, 2, &channelsetup[2]);
#if CAPTURE_MODE_TEST
// Check capture flag is set or not
if (CapFlag) {
// Print out the value
_DBG("Capture Value: ");
_DBD32(CapVal);
_DBG_("");
// Setup a new capture event
MCPWM_ConfigCapture(LPC_MCPWM, 0, &captureCfg);
// Re-Enable interrupt for capture event on MCI0 (MCFB0)
MCPWM_IntConfig(LPC_MCPWM, MCPWM_INTFLAG_CAP0, ENABLE);
// Reset flag
CapFlag = RESET;
}
#endif
}
/* Loop forever */
return 1;
}
/********************************************************************//**
* @brief Initializes the MCPWMx channels according to the specified
* parameters.
* @param[in] MCPWMx MCPWM peripheral selected, should be:
* Should be: LPC_MCPWM
* @return None
*********************************************************************/
void MCPWM_Channel_Config(LPC_MCPWM_TypeDef *MCPWMx, MCPWM_PCFG_TYPE PCfg, MCPWM_MODE_TYPE ModeCfg, MCPWM_INT_TYPE IntCfg)
{
// MCPWM Channel configuration data
MCPWM_CHANNEL_CFG_Type channelsetup;
/** Capture configuration data */
MCPWM_CAPTURE_CFG_Type captureCfg;
// Pin configuration for MCPWM
PINSEL_CFG_Type PinCfg;
if(MCPWMx == LPC_MCPWM)
{
PinCfg.Funcnum = 1;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Portnum = 1;
switch (PCfg)
{
case MCPWM_MR0:
// Configure P1.19 as MCOA0
PinCfg.Pinnum = 19;
PINSEL_ConfigPin(&PinCfg);
// Configure P1.22 as MCOB0
PinCfg.Pinnum = 22;
PINSEL_ConfigPin(&PinCfg);
channelsetup.channelType = MCPWM_CHANNEL_EDGE_MODE;
channelsetup.channelPolarity = MCPWM_CHANNEL_PASSIVE_HI;
channelsetup.channelDeadtimeEnable = ENABLE;
channelsetup.channelDeadtimeValue = 50;
channelsetup.channelUpdateEnable = ENABLE;
channelsetup.channelTimercounterValue = 0;
channelsetup.channelPeriodValue = 500000;
channelsetup.channelPulsewidthValue = 300000;
MCPWM_ConfigChannel(MCPWMx, 0, &channelsetup);
break;
case MCPWM_MR1:
// Pins not available
break;
case MCPWM_MR2:
// Pins not available
break;
case MCPWM_CR0:
// Configure P1.20 as MCI0
PinCfg.Pinnum = 20;
PINSEL_ConfigPin(&PinCfg);
/*
* Capture mode in this case is used to detect the falling edge on MCO0B output pin.
* The MCFB0 input pin therefore must be connected to MCO0B. (P1.20 - P1.22)
* - Capture Channel 0.
* - Capture falling edge on MCFB0 input pin.
* - Interrupt enabled on capture event.
*/
captureCfg.captureChannel = 0;
captureCfg.captureFalling = ENABLE;
captureCfg.captureRising = DISABLE;
captureCfg.hnfEnable = DISABLE;
captureCfg.timerReset = DISABLE;
MCPWM_ConfigCapture(MCPWMx, 0, &captureCfg);
// Reset flag for the first time
CapFlag = RESET;
// Enable interrupt for capture event on MCI0 (MCFB0)
MCPWM_IntConfig(MCPWMx, MCPWM_INTFLAG_CAP0, ENABLE);
break;
case MCPWM_CR1:
// Configure P1.23 as MCI1
PinCfg.Pinnum = 23;
PINSEL_ConfigPin(&PinCfg);
break;
case MCPWM_CR2:
// Configure P1.24 as MCI2
PinCfg.Pinnum = 24;
PINSEL_ConfigPin(&PinCfg);
break;
default:
//Error match value
//Error loop
while(1);
}
if (IntCfg == MCPWM_INT_ENABLE)
{
/* Disable interrupt for MCPWM */
NVIC_DisableIRQ(MCPWM_IRQn);
/* preemption = 1, sub-priority = 1 */
NVIC_SetPriority(MCPWM_IRQn, 4);
}
}
if (ModeCfg == MCPWM_DC)
{
/*
* - DC mode enabled.
* - Invert Output enabled
* - A0 and A1 output pin is internally routed to A0 signal
*/
MCPWM_DCMode(MCPWMx, ENABLE, ENABLE, (MCPWM_PATENT_A0|MCPWM_PATENT_A1));
}
else if(ModeCfg == MCPWM_AC)
{
/*
* - AC mode is enabled.
*/
MCPWM_ACMode(MCPWMx, ENABLE);
}
if (IntCfg == MCPWM_INT_ENABLE)
{
/* Enable interrupt for MCPWM */
NVIC_EnableIRQ(MCPWM_IRQn);
}
}
